Merge branch 'master' of https://github.com/nasa/trick

.github/workflows/code_coverage.yml

@@ -9,6 +9,7 @@ on:
     - '.github/workflows/**'
     - '!.github/workflows/code_coverage.yml'
   pull_request:
+  workflow_dispatch:
 
 jobs:
   code-coverage:

docs/developer_docs/Developer-Docs-Home.md

@@ -8,3 +8,4 @@ Link documentation for Trick internals, processes, and plans here.
 
 - [Testing](Testing)
 - [How to make a new Trick release on GitHub](How-To-Make-A-Release)
+- [Tooling and Sanitizers](Tooling-and-Sanitizers)

docs/developer_docs/Tooling-and-Sanitizers.md

@@ -0,0 +1,35 @@
+| [Home](/trick) → [Developer Docs](Developer-Docs-Home) → Tooling and Sanitizers |
+|------------------------------------------------------------------|
+
+Lots of development and debugging tools require a binary to be instrumented with compiler flags. Trick does compiling and linking steps separately and uses several variables to propogate flags to different parts of the build. The following is a convenience function that can be added to your bashrc to easily modify the flags in your environment:
+
+```
+add-trickenv () {
+    export CFLAGS="$CFLAGS $1"
+    export CXXFLAGS="$CXXFLAGS $1"
+    export LDFLAGS="$LDFLAGS $1"
+    export TRICK_CFLAGS="$TRICK_CFLAGS $1"
+    export TRICK_CXXFLAGS="$TRICK_CXXFLAGS $1"
+    export TRICK_LDFLAGS="$TRICK_LDFLAGS $1"
+    export TRICK_SYSTEM_CFLAGS="$TRICK_SYSTEM_CFLAGS $1"
+    export TRICK_SYSTEM_CXXFLAGS="$TRICK_SYSTEM_CXXFLAGS $1"
+    export TRICK_SYSTEM_LDFLAGS="$TRICK_SYSTEM_LDFLAGS $1"
+}
+```
+
+To debug a sim, you will likely need to run a clean build of all of Trick with these flags set. 
+
+## Tools that are known to work well with Trick
+
+GDB/LLDB: `-g`
+
+gcov: `-fprofile-arcs -ftest-coverage -O0`
+
+tsan: `-g -fsanitize=thread`
+
+asan: `-g -fsanitize=address -fsanitize-recover=address`
+
+Suggest running asan instrumented sims with:
+
+`ASAN_OPTIONS=halt_on_error=0 ./S_main* <your args>`
+

docs/documentation/building_a_simulation/Model-Source-Code.md

@@ -162,7 +162,7 @@ The `ICG IGNORE TYPES` field lists the structs or classes to be ignored. Any par
 
 ###### `PYTHON_MODULE`
 
-Specifying a `python_module` name will place any class/struct and function definitions in this header file in a python module of the same name. All classes and functions are flattened into the python `trick` namespace by default. This capability allows users to avoid possible name collisions between names when they are flattened.
+Specifying a `python_module` name will place any class/struct and function definitions in this header file in a python module of the same name. All classes and functions are flattened into the python `trick` namespace by default. This capability allows users to avoid possible name collisions between names when they are flattened. An empty `python_module` statement will be ignored.
 
 ##### Compiler Directives
 

docs/documentation/running_a_simulation/Input-File.md

@@ -449,6 +449,9 @@ For information on how Trick processes events during runtime, see [Event Process
 
 # Add the event to the input processor's list of events (it will be processed at top of frame before scheduled jobs)
 trick.add_event(<event name>)
+
+# Tell trick whether to terminate the sim if an error occurs while parsing Python code. Defaults to False
+trick.terminate_on_event_parse_error(<True|False>)
 ```
 
 #### Advanced Event (Malfunction) Usage

include/trick/IPPythonEvent.hh

@@ -184,6 +184,15 @@ namespace Trick {
             */
             static void set_event_info_msg_off() ;
 
+            /**
+             @brief @userdesc Command to set whether the sim should check error codes from
+             Python parsing and terminate if an error is detected. Set to false by default
+             @par Python Usage:
+             @code trick.terminate_on_event_parse_error(True|False) @endcode
+             @return always 0
+            */
+            static void terminate_on_event_parse_error(bool on_off);
+
             /**
              @brief called by the event manager when the event is loaded from a checkpoint
             */
@@ -402,7 +411,7 @@ namespace Trick {
                any events instantiated yet */
             static void set_python_processor(Trick::IPPython * in_ip) ;
             static void set_mtv(Trick::MTV * in_mtv) ;
-
+  
         private:
 
             /* A static pointer to the python input processor set at the S_define level */
@@ -411,6 +420,8 @@ namespace Trick {
             /* A static pointer to the MTV set at the S_define level */
             static Trick::MTV * mtv ;
 
+            /* Defaults to false */
+            static bool terminate_sim_on_event_python_error;
     } ;
 
 }

libexec/trick/pm/html.pm

@@ -31,7 +31,7 @@ sub extract_trick_header($$$$) {
     $header{icg_ignore} = $2 if $trick_header =~  /ICG[ _]IGNORE[ _]TYPE(S)?:[^(]*(.*?)\)([A-Z _\t\n\r]+:|[ \t\n\r]*$)/si ;
     $header{swig}       = $1 if $trick_header =~                       /SWIG:[^(]*\((.*?)\)([A-Z _\t\n\r]+:|[ \t\n\r]*$)/si ;
     $header{default_data} = $1 if $trick_header =~          /DEFAULT[ _]DATA:[^(]*(.*?)\)([A-Z _\t\n\r]+:|[ \t\n\r]*$)/si ;
-    $header{python_module} = $1 if $trick_header =~        /PYTHON[ _]MODULE:[^(]*\((.*?)\)([A-Z _\t\n\r]+:|[ \t\n\r]*$)/si ;
+    $header{python_module} = $1 if $trick_header =~        /PYTHON[ _]MODULE:[^(]*\((.+?)\)([A-Z _\t\n\r]+:|[ \t\n\r]*$)/si ;
     $header{programmers} = $1 if $trick_header =~               /PROGRAMMERS:[^(]*(.*?)\)([A-Z _\t\n\r]+:|[ \t\n\r]*$)/si ;
     $header{language}  = $1 if $trick_header =~                    /LANGUAGE:[^(]*(.*?)\)([A-Z _\t\n\r]+:|[ \t\n\r]*$)/si ;
 

share/trick/swig/shortcuts.py

@@ -44,6 +44,7 @@ if hasattr(top.cvar, 'trick_ip'):
 
 set_event_info_msg_on = trick.IPPythonEvent.set_event_info_msg_on
 set_event_info_msg_off = trick.IPPythonEvent.set_event_info_msg_off
+terminate_on_event_parse_error = trick.IPPythonEvent.terminate_on_event_parse_error
 
 # bind pyton input_processor event routines to shortcut names.
 new_event = trick.ippython_new_event

test/SIM_events/RUN_test/unit_test_error1.py

@@ -0,0 +1,7 @@
+trick.stop(1.0)
+
+# print(dir(trick))
+trick.terminate_on_event_parse_error(True)
+
+# Error in add read
+trick.add_read(0.1, "a = b")

test/SIM_events/RUN_test/unit_test_error2.py

@@ -0,0 +1,12 @@
+trick.terminate_on_event_parse_error(True)
+
+# Error in condition
+event1 = trick.new_event("event1")
+event1.condition(0, "this is a syntax error")
+event1.action(0, "print (\"event1\");")
+event1.action(1, "event1.activate()")
+event1.set_cycle(1.0)
+event1.activate() 
+trick.add_event(event1)
+
+trick.stop(10)

test/SIM_events/RUN_test/unit_test_error3.py

@@ -0,0 +1,12 @@
+trick.terminate_on_event_parse_error(True)
+
+# Error in event action
+event1 = trick.new_event("event1")
+event1.condition(0, "True")
+event1.action(0, "this is a syntax error")
+event1.action(1, "event1.activate()")
+event1.set_cycle(1.0)
+event1.activate() 
+trick.add_event(event1)
+
+trick.stop(10)

test/SIM_python_namespace/RUN_test/unit_test.py

@@ -43,6 +43,13 @@ def main():
     yummy.yummy = trick.Foo.Doughnuts
     TRICK_EXPECT_EQ( yummy.yummy , 2, test_suite , "additional file in same namespace" )
 
+    # new class from TrickFood
+    trickfood = trick.Food()
+    trickfood.print_me()
+    TRICK_EXPECT_EQ( trickfood.fast , 2, test_suite , "blank python_module statement" )
+    trickfood.fast = trick.Pizza
+    TRICK_EXPECT_EQ( trickfood.fast , 0, test_suite , "blank python_module statement" )
+
 if __name__ == "__main__":
     main()
 

test/SIM_python_namespace/S_define

@@ -1,6 +1,6 @@
 /************************TRICK HEADER*************************
 PURPOSE:
-    (blah blah blah)
+    (Test different combinations of Python modules and C++ namespaces)
 *************************************************************/
 
 #include "sim_objects/default_trick_sys.sm"
@@ -9,6 +9,7 @@ PURPOSE:
 ##include "FooInnerFood.hh"
 ##include "BarFood.hh"
 ##include "FooYummyFood.hh"
+##include "TrickFood.hh"
 
 class SimObj : public Trick::SimObject {
 
@@ -17,6 +18,7 @@ class SimObj : public Trick::SimObject {
         Foo::Inner::Food foo_inner_food ;
         Bar::Food bar_food ;
         Foo::YummyFood foo_yummyfood ;
+        Food trick_food;
 
         /** Constructor to add the jobs */
         SimObj() {

test/SIM_python_namespace/models/TrickFood.hh

@@ -0,0 +1,32 @@
+/**
+@file
+
+@verbatim
+PURPOSE: (Test that an empty PYTHON_MODULE won't cause errors or have any effect.)
+PYTHON_MODULE: ()
+@endverbatim
+*******************************************************************************/
+
+#ifndef TRICKFOOD_HH
+#define TRICKFOOD_HH
+
+#include <iostream>
+
+
+
+enum Fast {
+    Pizza,
+    Burger,
+    Taco
+};
+
+class Food {
+  public:
+    Food() : fast(Taco) {}
+    void print_me() { std::cout << "Food::print_me!" << std::endl; }
+    Fast fast;
+};
+
+
+#endif
+

test_sims.yml

@@ -42,13 +42,6 @@ SIM_demo_sdefine:
   runs:
     RUN_test/unit_test.py:
       returns: 0
-SIM_events:
-  path: test/SIM_events
-  build_command: "trick-CP -t"
-  binary: "T_main_{cpu}_test.exe"
-  runs:
-    RUN_test/unit_test.py:
-      returns: 0 
 SIM_exec_set_time_tic_value:
   path: test/SIM_exec_set_time_tic_value
   build_command: "trick-CP -t"
@@ -267,6 +260,21 @@ SIM_checkpoint_data_recording:
     #   compare: 
     #     - test/SIM_checkpoint_data_recording/RUN_test6/ref_log_foo2.csv vs. test/SIM_checkpoint_data_recording/RUN_test6/log_foo2.csv
 
+SIM_events:
+  path: test/SIM_events
+  build_command: "trick-CP -t"
+  binary: "T_main_{cpu}_test.exe"
+  runs:
+    RUN_test/unit_test.py:
+      returns: 0 
+    RUN_test/unit_test_error1.py:
+      returns: 255
+    RUN_test/unit_test_error2.py:
+      returns: 255
+    RUN_test/unit_test_error3.py:
+      returns: 255
+
+
 # The variable server client and SIM_amoeba sometimes fail to connect and need to be retried
 SIM_test_varserv:
   path: test/SIM_test_varserv

trick_sims/SIM_aircraft/RUN_test/input.py

@@ -11,7 +11,7 @@ dyn.aircraft.desired_speed = 200 # meters per second
 # Start the Satellite Graphics Client
 #==========================================
 varServerPort = trick.var_server_get_port();
-AircraftDisplay_path = "models/graphics/dist/AircraftDisplay.jar"
+AircraftDisplay_path = "models/graphics/build/AircraftDisplay.jar"
 
 if (os.path.isfile(AircraftDisplay_path)) :
     AircraftDisplay_cmd = "java -jar " \

trick_sims/SIM_aircraft/models/graphics/Makefile

@@ -1,36 +1,6 @@
-SHELL = /bin/sh
 
-PROJECT_NAME = AircraftDisplay
-SRC_DIR = src
-BUILD_DIR = build
-CLASSES_DIR = $(BUILD_DIR)/classes
-JAR_DIR = dist
-MAIN_CLASS = trick.AircraftDisplay
-
-all: jar
+all:
+	mvn package
 
 clean:
-	rm -rf $(BUILD_DIR)
-	rm -f manifest
-
-spotless: clean
-	rm -rf dist
-
-$(CLASSES_DIR):
-	@ mkdir -p $(CLASSES_DIR)
-
-compile: | $(CLASSES_DIR)
-	javac -sourcepath $(SRC_DIR) -d $(CLASSES_DIR) $(SRC_DIR)/trick/AircraftDisplay.java
-
-manifest:
-	@ echo "Main-Class: $(MAIN_CLASS)" > $@
-
-$(JAR_DIR):
-	@ mkdir -p $(JAR_DIR)
-
-jar: compile manifest | $(JAR_DIR)
-	jar cvfm $(JAR_DIR)/$(PROJECT_NAME).jar manifest -C $(CLASSES_DIR) .
-	@ echo "-------------------------------------------------------------------------------"
-	@ echo "                              BUILD COMPLETE"
-	@ echo "The Java jar file (the Java Executable) is located at: $(JAR_DIR)/$(PROJECT_NAME).jar"
-	@ echo "-------------------------------------------------------------------------------"
+	rm -rf build

trick_sims/SIM_aircraft/models/graphics/pom.xml

@@ -0,0 +1,121 @@
+<?xml version="1.0" encoding="UTF-8"?>
+
+<project xmlns="http://maven.apache.org/POM/4.0.0" xmlns:xsi="http://www.w3.org/2001/XMLSchema-instance"
+  xsi:schemaLocation="http://maven.apache.org/POM/4.0.0 http://maven.apache.org/xsd/maven-4.0.0.xsd">
+  <modelVersion>4.0.0</modelVersion>
+
+  <groupId>trick-java</groupId>
+  <artifactId>trick-java</artifactId>
+  <version>23.0.0-beta</version>
+
+  <name>trick-java</name>
+
+  <url>https://github.com/nasa/trick</url>
+
+  <properties>
+    <project.build.sourceEncoding>UTF-8</project.build.sourceEncoding>
+    <maven.compiler.source>1.8</maven.compiler.source>
+    <maven.compiler.target>1.8</maven.compiler.target>
+  </properties>
+
+  <dependencies>
+    <dependency>
+      <groupId>junit</groupId>
+      <artifactId>junit</artifactId>
+      <version>4.13.1</version>
+      <scope>test</scope>
+    </dependency>
+  </dependencies>
+
+  <build>
+
+    <finalName>AircraftDisplay</finalName>
+
+    <directory>build</directory>
+    <plugins>
+      <plugin>
+        <groupId>org.apache.maven.plugins</groupId>
+        <artifactId>maven-javadoc-plugin</artifactId>
+        <version>3.1.1</version>
+        <configuration>
+          <javadocExecutable>${java.home}/bin/javadoc</javadocExecutable>
+          <destDir>../../share/doc/trick/java</destDir>
+        </configuration>
+      </plugin>
+    </plugins>
+
+    <pluginManagement><!-- lock down plugins versions to avoid using Maven defaults (may be moved to parent pom) -->
+
+      <plugins>
+        <!-- clean lifecycle, see https://maven.apache.org/ref/current/maven-core/lifecycles.html#clean_Lifecycle -->
+        <plugin>
+          <artifactId>maven-clean-plugin</artifactId>
+          <version>3.1.0</version>
+        </plugin>
+
+        <!-- default lifecycle, jar packaging: see https://maven.apache.org/ref/current/maven-core/default-bindings.html#Plugin_bindings_for_jar_packaging -->
+        <plugin>
+          <artifactId>maven-resources-plugin</artifactId>
+          <version>3.0.2</version>
+        </plugin>
+
+        <plugin>
+          <artifactId>maven-compiler-plugin</artifactId>
+          <version>3.8.0</version>
+          <configuration>
+            <compilerArgs>
+              <arg>-g</arg>
+              <arg>-Xlint:unchecked</arg>
+              <arg>-Xlint:deprecation</arg>
+            </compilerArgs>
+          </configuration>
+        </plugin>
+
+        <plugin>
+          <!-- Build an executable JAR -->
+          <groupId>org.apache.maven.plugins</groupId>
+          <artifactId>maven-jar-plugin</artifactId>
+          <version>3.1.0</version>
+          <configuration>
+            <archive>
+              <manifest>
+                <addClasspath>true</addClasspath>
+                <classpathPrefix>lib/</classpathPrefix>
+                <mainClass>AircraftDisplay</mainClass>
+              </manifest>
+            </archive>
+          </configuration>
+        </plugin>
+
+        <plugin>
+          <artifactId>maven-surefire-plugin</artifactId>
+          <version>2.22.1</version>
+        </plugin>
+
+        <plugin>
+          <artifactId>maven-install-plugin</artifactId>
+          <version>2.5.2</version>
+        </plugin>
+
+        <plugin>
+          <artifactId>maven-deploy-plugin</artifactId>
+          <version>2.8.2</version>
+        </plugin>
+
+        <!-- site lifecycle, see https://maven.apache.org/ref/current/maven-core/lifecycles.html#site_Lifecycle -->
+        <plugin>
+          <artifactId>maven-site-plugin</artifactId>
+          <version>3.7.1</version>
+        </plugin>
+
+<!--
+        <plugin>
+          <artifactId>maven-project-info-reports-plugin</artifactId>
+          <version>3.0.0</version>
+        </plugin>
+-->
+
+      </plugins>
+    </pluginManagement>
+  </build>
+</project>

trick_sims/SIM_aircraft/models/graphics/src/main/java/trick/aircraftDisplay/AircraftDisplay.java

@@ -3,7 +3,7 @@
  * 2016 (c) National Aeronautics and Space Administration (NASA)
  */
 
-package trick;
+/* package trick;*/
 
 import java.awt.Graphics2D;
 import java.awt.Graphics;

trick_source/sim_services/InputProcessor/IPPython.cpp

@@ -179,11 +179,11 @@ int Trick::IPPython::parse_condition(std::string in_string, int & cond_return_va
     pthread_mutex_lock(&ip_mutex);
     in_string =  std::string("trick_ip.ip.return_val = ") + in_string + "\n" ;
     // Running the simple string will set return_val.
-    PyRun_SimpleString(in_string.c_str()) ;
+    int py_ret = PyRun_SimpleString(in_string.c_str()) ;
     cond_return_val = return_val ;
     pthread_mutex_unlock(&ip_mutex);
 
-    return 0 ;
+    return py_ret ;
 
 }
 

trick_source/sim_services/InputProcessor/IPPythonEvent.cpp

@@ -29,6 +29,7 @@ extern Trick::MemoryManager * trick_MM ;
 Trick::IPPython * Trick::IPPythonEvent::ip ;
 Trick::MTV * Trick::IPPythonEvent::mtv ;
 bool Trick::IPPythonEvent::info_msg = false ;
+bool Trick::IPPythonEvent::terminate_sim_on_event_python_error = false;
 
 Trick::condition_t::condition_t() {
     enabled = 0 ;
@@ -169,6 +170,10 @@ void Trick::IPPythonEvent::set_event_info_msg_off() {
     info_msg = false;
 }
 
+void Trick::IPPythonEvent::terminate_on_event_parse_error(bool on_off) {
+    terminate_sim_on_event_python_error = on_off;
+}
+
 void Trick::IPPythonEvent::restart() {
     int jj ;
 
@@ -515,7 +520,10 @@ int Trick::IPPythonEvent::process( long long curr_time ) {
             } else {
                 // it's a read event
                 active = false ;
-                ip->parse(action_list[0]->str) ;
+                int ret = ip->parse(action_list[0]->str) ;
+                if (ret != 0 && terminate_sim_on_event_python_error) {
+                    exec_terminate_with_return( ret , __FILE__ , __LINE__ , "Python error in event processing" ) ;
+                }
                 // keep stats so mtv will show when it ran
                 fired_count++ ;
                 fired_time = curr_time ;
@@ -572,7 +580,10 @@ bool Trick::IPPythonEvent::process_user_event( long long curr_time ) {
                 } else {
                 // otherwise use python to evaluate string
                     std::string full_in_string ;
-                    ip->parse_condition(condition_list[ii]->str, return_val) ;
+                    int python_ret = ip->parse_condition(condition_list[ii]->str, return_val) ;
+                    if (python_ret != 0 && terminate_sim_on_event_python_error) {
+                        exec_terminate_with_return( python_ret , __FILE__ , __LINE__ , "Python error in event condition processing" ) ;
+                    }
                 }
                 if (return_val) {
                 //TODO: write to log/send_hs that trigger fired
@@ -639,8 +650,11 @@ bool Trick::IPPythonEvent::process_user_event( long long curr_time ) {
                         break;
                 }
             } else {
-            // otherwise use python to evaluate string
-                ip->parse(action_list[ii]->str) ;
+                // otherwise use python to evaluate string
+                int ret = ip->parse(action_list[ii]->str) ;
+                if (ret != 0 && terminate_sim_on_event_python_error) {
+                    exec_terminate_with_return( ret , __FILE__ , __LINE__ , "Python error in event action processing" ) ;
+                }
             }
             it_ran = true ;
             action_list[ii]->ran = true ;