Infrastructure for the new PSim (#231)

* Restructuring for incoming PSim changes:
 - Removed Docker support.
 - Added a library.json file for better PIO support.
 - Migrate gnc tests and sources to a gnc subdirectory.
 - Refactored test names to be common across all modules.
 - Update the lin submodule and fixed issues with breaking changes.
 - Renamed the //:psim Bazel target to //:gnc
* Added the PSim configuration/parameter system
* Added the PSim state field system
* Added the PSim state registry
* Added the PSim model and simulation base classes
* Added the initial autocoder infrastructure and time model

.bazelrc

@@ -1 +1,2 @@
 build --cxxopt=-std=c++14
+build --python_top=//:venv --incompatible_use_python_toolchains=false

.github/workflows/main.yml → .github/workflows/gnc.yml

@@ -1,4 +1,4 @@
-name: PSim Regression Tests
+name: GNC Regression Tests
 
 on:
   pull_request:
@@ -11,6 +11,7 @@ jobs:
     - uses: actions/checkout@v2
       with:
         submodules: 'recursive'
+
     - uses: actions/setup-python@v1
       with:
         python-version: '3.7'

.github/workflows/psim.yml

@@ -0,0 +1,32 @@
+name: PSim Regression Tests
+
+on:
+  pull_request:
+    branches: [ master ]
+
+jobs:
+  build:
+    runs-on: ubuntu-latest
+    steps:
+    - uses: actions/checkout@v2
+      with:
+        submodules: 'recursive'
+
+    - uses: actions/setup-python@v1
+      with:
+        python-version: '3.7'
+        architecture: 'x64'
+
+    - name: Install dependencies
+      run: |
+        sudo apt-get install bazel
+        python -m venv venv
+        source venv/bin/activate
+        pip install --upgrade pip
+        pip install -r requirements.txt
+
+    - name: Build and Test
+      run: |
+        bazel build //:gnc
+        bazel build //:psim
+        bazel test //test/psim:ci 

.gitignore

@@ -153,3 +153,6 @@ bazel-out
 bazel-psim
 bazel-testlogs
 bazel-genfiles
+
+# Compiler commands from Bazel
+compile_commands.json

BUILD

@@ -1,11 +1,75 @@
+load("@rules_python//python:defs.bzl", "py_runtime", "py_binary")
+load("@rules_cc//cc:defs.bzl", "cc_library")
+
+load("//:tools/psim.bzl", "psim_autocode")
+
+# Build flight software's gnc code as a library.
+cc_library(
+    name = "gnc",
+    srcs = glob([
+        "src/gnc/**/*.hpp", "src/gnc/*.cpp", "src/gnc/**/*.inl",
+        "include/gnc/**/*.inl"
+    ]),
+    hdrs = glob([
+        "include/gnc/**/*.hpp", "include/orb/*.h", "include/orb/*.hpp"
+    ]),
+    includes = ['include'],
+    copts = ['-Isrc'],
+    linkstatic = True,
+    visibility = ["//visibility:public"],
+    deps = ["@lin//:lin"],
+)
+
+# Let bazel know about our virtual environment.
+#
+# Also see additional options passed with .bazelrc to ensure we're using the
+# virtual environment.
+#
+# TODO : This is a little hacky and could be cleaned up with toolchains.
+py_runtime(
+    name = "venv",
+    files = glob(["venv/**"], exclude=["venv/**/* *"]),
+    interpreter = "venv/bin/python",
+    python_version = "PY3",
+    visibility = ["//visibility:private"],
+)
+
+# Register the autocoder as an executable.
+#
+# This is later consumed by the autocoder command. See psim.bzl for more
+# information.
+py_binary(
+    name = "autocoder",
+    srcs = ["tools/autocoder.py"],
+    srcs_version = "PY3",
+    visibility = ["//visibility:private"],
+)
+
+# Autocode the model interfaces
+psim_autocode(
+    name = "autocode",
+    srcs = glob(["include/psim/**/*.yml"]),
+    includes = ["include"],
+    tool = "//:autocoder",
+    visibility = ["//visibility:private"],
+)
+
+# Build all PSim models as a library
+#
+# This will be linked with executables later on.
 cc_library(
     name = "psim",
-    srcs = glob(["src/**/*.cpp", "src/**/*.inl", "src/**/*.hpp", "include/**/*.inl"], exclude=["src/targets/*.cpp"]),
-    hdrs = glob(["include/**/*.hpp", "include/**/*.h"]),
-    copts = ["-Iinclude -Isrc"],
+    srcs = glob([
+        "src/psim/**/*.hpp", "src/psim/**/*.inl", "src/psim/**/*.cpp",
+        "include/psim/**/*.inl", "include/psim/**/*.yml.hpp",
+    ]),
+    hdrs = glob(
+        ["include/psim/**/*.hpp"],
+        exclude = ["include/psim/**/*.yml.hpp"],
+    ),
+    includes = ["include"],
+    copts = ["-Isrc"],
     linkstatic = True,
     visibility = ["//visibility:public"],
-    deps = [
-        "@lin//:lin",
-    ]
+    deps = ["@lin//:lin", "//:gnc", "//:autocode"],
 )

README.md

@@ -1,20 +1,74 @@
 
 # PSim
 
-This repository will hold all GNC code for the PAN mission. It will largely be
-comprised of the two main executables/modules:
+This repository holds all GNC code for the PAN mission. It will be comprised of
+two main modules:
 
- 1. MATLAB simulation to support GNC algorithm development.
- 2. C++ versions of all flight GNC algorithms.
+ 1. GNC algorithms and utility functions implemented in C++ that will be
+    used by flight software and our internal simulation - PSim.
+ 2. PSim models and simulation implementations.
 
-See folder specific READMEs for more information.
+MATLAB code listed in `MATLAB/**` is deprecated and will be phased out by the
+new C++ implementation of PSim.
 
-## Running CXX Tests Locally
+## Getting Setup
 
-Perform the following from the root PSim directory and replace `python` in the following commands with whatver command matches Python 3.7:
+For GNC development, it's only necessary to setup the PlatformIO development
+environment. This requires setting up a local virtual environment as shown
+below:
 
     python -m venv venv
     source venv/bin/activate
+    pip install --upgrade pip
     pip install -r requirements.txt
     pio platform install native
+
+Officially, we support Python 3.7 (this is what continuous integration runs) but
+you'll most likely have success with Python 3.6+.
+
+You can ensure everything is behaving as expected by building and running tests
+for the GNC code with:
+
+    source venv/bin/activate
     pio test -e native
+
+**_Note: Naming your virtual environment `venv` is required for PSim
+development!_**
+
+For PSim development, we need to have the virtual environment setup as shown
+above _and_ setup Bazel. You should be able to install Bazel through your
+system's package manager.
+
+It's also recommended to install the Bazel build tools along with the VSCode
+extensions 'Bazel' by the 'Bazel Build Team'. With this extension plus
+configuring C/C++ intellisense according to
+`tools/bazel-compilation-database.sh` the Bazel build system should integrate
+fairly well  with VSCode.
+
+To ensure everything is working as expected, you should be able to run the
+following successfully:
+
+    bazel test //test/psim:all
+
+## GNC
+
+The GNC library is a set of flight software algorithms (mainly controllers and
+estimators) along with a myriad of utility functions.
+
+The source code for the GNC library lives in `include/gnc/**` and `src/gnc/**`.
+The associated unit tests are located in `test/gnc/**` and can be built with
+PlatformIO using the following command:
+
+    source venv/bin/activate
+    pio test -e native
+
+## PSim
+
+The actual infrastructure for PSim is slightly fluid at the moment; however,
+this PR have a good overview of the architecture: [#231](https://github.com/pathfinder-for-autonomous-navigation/psim/pull/231).
+
+The code lives under `include/psim/**` and `src/psim/**` and leverages the GNC
+modules as a dependency. Unit test are implemented under `test/psim/**` and can
+be run with the following command:
+
+    bazel test //test/psim:all --test_output=all

WORKSPACE

@@ -1,21 +1,27 @@
-load("@bazel_tools//tools/build_defs/repo:git.bzl", "new_git_repository")
+load("@bazel_tools//tools/build_defs/repo:http.bzl", "http_archive")
 load("@bazel_tools//tools/build_defs/repo:git.bzl", "git_repository")
 
-lin_build = """
-cc_library(
-    name = "lin",
-    srcs = glob(["src/**/*.cpp", "include/**/*.inl"]),
-    hdrs = glob(["include/**/*.hpp"]),
-    includes = ["include"],
-    linkstatic = True,
-    visibility = ["//visibility:public"]
+git_repository(
+    name = "rules_python",
+    remote = "https://github.com/bazelbuild/rules_python.git",
+    commit = "3baa2660569a76898d0f520c73b299ea39b6374d",  # (9-8-2020)
+)
+
+http_archive(
+    name = "gtest",
+    url = "https://github.com/google/googletest/archive/release-1.10.0.zip",
+    sha256 = "94c634d499558a76fa649edb13721dce6e98fb1e7018dfaeba3cd7a083945e91",
+    strip_prefix = "googletest-release-1.10.0",
 )
-"""
 
-new_git_repository(
+# http_archive(
+#     name = "sofa",
+#     url = "https://github.com/pathfinder-for-autonomous-navigation/sofa/archive/v1.0.zip",
+#     sha256 = "a5660ff94270934c33b3fdaaf891620c9a454181dad7fb12378e66a5b73c205f",
+#     strip_prefix = "sofa-1.0",
+# )
+
+local_repository(
     name = "lin",
-    init_submodules = True,
-    remote = "https://github.com/pathfinder-for-autonomous-navigation/lin",
-    commit = "f8fafaa5a29190663bc313a0b835201749b876b8",
-    build_file_content = lin_build
+    path = "lib/lin",
 )

estimatortest/pythonwrapper/pwrap.cpp

@@ -7,16 +7,17 @@ mypath=Path(filepath)
 psimpath= mypath.parent.parent.parent
 #flightsoftwarepath= psimpath.parent/'FlightSoftware'
 # 'dependencies' controls what get checked for changes before recompile
-cfg['dependencies'] = [str(p) for p in (psimpath/'src').rglob('*') if p.is_file()]
+cfg['dependencies'] = [str(p) for p in (psimpath/'src/gnc').rglob('*') if p.is_file()]
 cfg['dependencies'] += [str(p) for p in (psimpath/'lib').rglob('*') if p.is_file()]
-cfg['dependencies'] += [str(p) for p in (psimpath/'include').rglob('*') if p.is_file()]
+cfg['dependencies'] += [str(p) for p in (psimpath/'include/gnc').rglob('*') if p.is_file()]
+cfg['dependencies'] += [str(p) for p in (psimpath/'include/orb').rglob('*') if p.is_file()]
 cfg['dependencies'] += [str(mypath.parent/'lin_ext.cpp')]
 cfg['dependencies'] += [str(mypath.parent/'orb_ext.cpp')]
 #cfg['dependencies'] += [str(p) for p in (flightsoftwarepath/'src').rglob('*') if p.is_file()]
 #cfg['dependencies'] += [str(p) for p in (flightsoftwarepath/'lib').rglob('*') if p.is_file()]
 
 cfg['sources'] = ['lin_ext.cpp', 'orb_ext.cpp']
-cfg['sources'] += [str(p) for p in (psimpath/'src').rglob('*.cpp') if (p.is_file() and p.parent.name!='targets')]
+cfg['sources'] += [str(p) for p in (psimpath/'src/gnc').rglob('*.cpp') if (p.is_file() and p.parent.name!='targets')]
 #cfg['sources'] += [str(p) for p in (flightsoftwarepath/'src/fsw').rglob('*.cpp') if (p.is_file() and p.parent.name!='targets')]
 #cfg['sources'] += [str(p) for p in (flightsoftwarepath/'src/common').rglob('*.cpp') if (p.is_file() and p.parent.name!='targets')]