added monitor build to cmakelist (ie colcon build builds monitor firs…

README.md

@@ -52,7 +52,7 @@ A comprehensive RTLola tutorial can be found [here](https://rtlola.cispa.de/play
 
 Tested using Rust Version 1.87.0
 
-> If you want to use ``ros2 run rtlola_node rtlola_ros2_monitor`` then call ``colcon build`` within [rtlola_node](rtlola_node) to build a workspace you can source (ie the monitor must be build first).
+> If you want to use ``ros2 run rtlola_node rtlola_ros2_monitor`` then call ``colcon build`` within [rtlola_node](rtlola_node) to build a workspace you can source.
 
 ## Contributors
 - Sebastian Schirmer

monitor/build.rs

@@ -57,7 +57,7 @@ fn main() {
         let mut rust_generator =
             RustFileGenerator::new(ros2_reader, config.Destination.path.clone());
         rust_generator.generate_file_inputs(&subscribable_topics, &rtlolaout_service);
-        rust_generator.generate_file_main(&subscribable_topics, rtlolaout_service.is_some());
+        rust_generator.generate_file_main( &config.Specification.location, &subscribable_topics, rtlolaout_service.is_some());
         rust_generator.generate_file_ros2handler(
             &config,
             &subscribable_topics,

monitor/build_src/config.rs

@@ -6,6 +6,7 @@ use serde::Deserialize;
 #[allow(non_snake_case)]
 #[derive(Debug, Deserialize)]
 pub struct Config {
+    pub Specification: Specification,
     pub GenerateFlag: GenerateFlag,
     pub LocalSetupScript: LocalSetupScript,
     pub QoS_Default: QoS,
@@ -15,6 +16,11 @@ pub struct Config {
     pub Destination: Destination,
 }
 
+#[derive(Debug, Deserialize)]
+pub struct Specification {
+    pub location: String,
+}
+
 #[derive(Debug, Deserialize)]
 pub struct GenerateFlag {
     pub generate: bool,

monitor/build_src/fn_generator/generate_main.rs

@@ -8,7 +8,7 @@ use std::{
 };
 
 impl RustFileGenerator {
-    pub fn generate_file_main(&self, topics: &Vec<(String, String, QoS)>, has_service: bool) {
+    pub fn generate_file_main(&self, spec_location: &String, topics: &Vec<(String, String, QoS)>, has_service: bool) {
         // File that is generated
         let file_location = format!("{}/main.rs", self.dest_path);
         let file = File::create(&file_location).unwrap();
@@ -35,6 +35,7 @@ impl RustFileGenerator {
             file_content = file_content.replace("$SERVICEAVAILABLE$", "");
         }
         file_content = file_content.replace("$INPUTMODS$", &pub_mods_content);
+        file_content = file_content.replace("$SPECLOCATION$", &spec_location);
         // Write input source codeto file
         writeln!(&file, "{}", file_content).unwrap();
         // Format generated file

monitor/build_src/templates/t_main.rs

@@ -16,14 +16,11 @@ use crate::{
     input::rtloladata::RTLolaData, input::rtloladata::RTLolaDataFactory, ros2_handler::Ros2Handler,
 };
 use rtlola_interpreter::{input::AssociatedFactory, monitor::Incremental, ConfigBuilder, Monitor};
-use std::{env, fs};
+use std::fs;
 
 #[tokio::main]
 async fn main() {
-    let args: Vec<String> = env::args().collect();
-    assert_eq!(args.len(), 2);
-    // Reads specification
-    let spec = fs::read_to_string(&args[1]).unwrap();
+    let spec = fs::read_to_string("$SPECLOCATION$").unwrap();
     // Creates monitor
     let monitor: Monitor<RTLolaDataFactory, rtlola_interpreter::config::OnlineMode> =
         ConfigBuilder::new()

monitor/ros2_config.toml

@@ -1,6 +1,9 @@
 # SPDX-FileCopyrightText: 2023 German Aerospace Center (DLR)
 # SPDX-License-Identifier: Apache-2.0
 
+[Specification]
+location = "../specs/test_spec.lola"
+
 # allows to freeze, i.e., disables build.rs
 [GenerateFlag]
 generate = true

rtlola_node/CMakeLists.txt

@@ -3,6 +3,26 @@
 cmake_minimum_required(VERSION 3.5)
 project(rtlola_node)
 
+
+###
+# Build the monitor first
+###
+
+execute_process(
+    COMMAND cargo build
+    WORKING_DIRECTORY ${CMAKE_CURRENT_SOURCE_DIR}/../monitor
+    RESULT_VARIABLE CARGO_RESULT
+)
+
+if(NOT CARGO_RESULT EQUAL 0)
+    message(FATAL_ERROR "cargo build failed")
+endif()
+
+
+###
+# Wrap the result as a Ros2 Node
+###
+
 find_package(ament_cmake REQUIRED)
 
 set(MONITOR_EXECUTABLE ${CMAKE_CURRENT_SOURCE_DIR}/../monitor/target/release/rtlola_ros2_monitor)