Updated error messages for dependencies

Author: pcanelas

examples/expected/expected-232853.txt

@@ -1,4 +1,4 @@
 ParameterError: The configuration cost_scaling_factor: double is missing from the component instance
 ParameterError: The configuration inflation_radius: double is missing from the component instance
 ParameterError: The configuration robot_radius: double is missing from the component instance
-ParameterDependencyError: node instance configurations for move_base do not respect the dependency defined in the node type: exists(inflation_radius) == exists(cost_scaling_factor) and robot_radius <= inflation_radius
+ParameterDependencyError: node instance configurations for move_base do not respect the dependency defined in the node type: robot_radius <= inflation_radius

examples/expected/expected-28163.txt

@@ -1,2 +1,2 @@
-ParameterDependencyError: node instance configurations for planning_scene_warehouse_viewer do not respect the dependency defined in the node type: is_simulation -> use_monitor and is_simulation -> !(use_robot_data)
+ParameterDependencyError: node instance configurations for planning_scene_warehouse_viewer do not respect the dependency defined in the node type: is_simulation -> use_monitor
 ConnectionError: Publisher not found for subscriber /joint_states in planning_scene_warehouse_viewer

examples/expected/expected-319065.txt

@@ -1 +1 @@
-ParameterDependencyError: node instance configurations for amcl do not respect the dependency defined in the node type: odom_model_type == OmniCorrected -> exists(odom_alpha5) and odom_model_type == DiffCorrected -> odom_alpha1 <= 0.01 and odom_alpha2 <= 0.01 and odom_alpha3 <= 0.01 and odom_alpha4 <= 0.01
+ParameterDependencyError: node instance configurations for amcl do not respect the dependency defined in the node type: odom_model_type == DiffCorrected -> odom_alpha1 <= 0.01 and odom_alpha2 <= 0.01 and odom_alpha3 <= 0.01 and odom_alpha4 <= 0.01

examples/expected/expected-350740.txt

@@ -1 +1 @@
-ParameterDependencyError: node instance configurations for navsat_transform_node do not respect the dependency defined in the node type: version >= V221 -> yaw_orientation == East -> yaw_offset == 0 and version >= V221 -> yaw_orientation != East -> yaw_offset != 0 and version <= V221 -> yaw_orientation == North -> yaw_offset == 0 and version <= V221 -> yaw_orientation != North -> yaw_offset != 0
+ParameterDependencyError: node instance configurations for navsat_transform_node do not respect the dependency defined in the node type: version >= V221 -> yaw_orientation == East -> yaw_offset == 0

examples/expected/expected-401185.txt

@@ -1,2 +1,2 @@
-ParameterDependencyError: node instance configurations for amcl do not respect the dependency defined in the node type: exists(initial_pose) -> set_initial_pose and exists(initial_pose) and set_initial_pose -> always_reset_initial_pose
+ParameterDependencyError: node instance configurations for amcl do not respect the dependency defined in the node type: exists(initial_pose) -> set_initial_pose
 ConnectionError: Publisher not found for subscriber initialpose in amcl

src/rospec/verification/definition_formation.py

@@ -44,7 +44,7 @@
 )
 from rospec.verification.subtyping import is_subtype
 from rospec.verification.type_formation import ty_formation
-from rospec.verification.utils import convert_to_expression, check_policies
+from rospec.verification.utils import check_dependency, convert_to_expression, check_policies
 from rospec import errors
 
 
@@ -272,14 +272,10 @@ def d_node_instance(context: Context, node_instance: NodeInstance) -> Context:
     # ##################################################################################################################
     # PROPERTY: ALL DEPENDENCIES MUST BE SATISFIED
     if dependency is not None:
-        if not interpret(internal_context, dependency):
-            context = context.add_error(
-                errors.DEPENDENCY_NOT_SATISFIED.format(
-                    component_instance_type="node",
-                    name=node_instance.name.name,
-                    dependency=dependency,
-                )
-            )
+        result_errors = check_dependency(internal_context, node_instance, dependency)
+        for error in result_errors:
+            context = context.add_error(error)
+
     # ##################################################################################################################
 
     result_connections: list[Union[Publisher, Subscriber, Service, Action, TFTransform]] = copy.deepcopy(

src/rospec/verification/utils.py

@@ -5,6 +5,7 @@
     FunctionCall,
     Identifier,
     Literal,
+    NodeInstance,
     Publisher,
     Subscriber,
     Action,
@@ -24,7 +25,6 @@
     t_string,
     TType,
     StructType,
-    ArrayType,
     OptionalType,
     BasicType,
     EnumType,
@@ -124,7 +124,6 @@ def convert_to_expression(context: Context, value: Any, ttype: TType) -> Express
             ttype=ttype,
         )
     elif isinstance(value, list):
-        assert isinstance(ttype, ArrayType)
         return Array(elements=[convert_to_expression(context, item, ttype.ttype) for item in value], ttype=ttype)
     raise ValueError(errors.UNSUPPORTED_TYPE.format(type=type(value)))
 
@@ -264,3 +263,27 @@ def aux_replace_enums(enum_type: EnumType, expr: Expression) -> Expression:
         return Array(elements=[aux_replace_enums(enum_type, e) for e in expr.elements], ttype=expr.ttype)
     else:
         raise ValueError(f"Unsupported expression type: {type(expr)}")
+
+
+def check_dependency(context: Context, node_instance: NodeInstance, dependency: Expression):
+    expressions = []
+    current_expression = dependency
+
+    # Split the dependency into a list of expressions, so that we can check each one of them
+    while isinstance(current_expression, FunctionCall) and current_expression.operator.name == "and":
+        expressions.append(current_expression.operands[0])
+        current_expression = current_expression.operands[1]
+    expressions.append(current_expression)
+
+    result_errors = []
+    for expression in expressions:
+        if not interpret(context, expression):
+            result_errors.append(
+                errors.DEPENDENCY_NOT_SATISFIED.format(
+                    component_instance_type="node",
+                    name=node_instance.name.name,
+                    dependency=expression,
+                )
+            )
+
+    return result_errors