moos-app-builder

MOOS App Builder

Overview

Use this skill for user application development against the local MOOS-IvP checkout. Treat MOOS-IvP itself as the dependency and example source unless the user explicitly asks to patch core MOOS-IvP.

MOOS-IvP Checkout Resolution

When this skill needs a local MOOS-IvP checkout, resolve it in this order:

1. Path explicitly provided by the user.
2. MOOS_IVP_ROOT from the shell environment.
3. Active task workspace if it contains ivp/src.
4. Parent or sibling directories near the active task workspace.
5. Common home locations such as ~/moos-ivp, ~/src/moos-ivp, ~/repos/moos-ivp, and ~/projects/moos-ivp.
6. A bounded shallow home search for a directory named moos-ivp, excluding noisy folders.

Validate a candidate by confirming ivp/src exists and scripts/GenMOOSApp_AppCasting is executable.

If no valid checkout is found and the task requires app source generation, build wiring, examples, headers, or libraries, stop and ask the user for the checkout path before editing code, generating build files, or using placeholder paths.

Core Rules

• Use GenMOOSApp_AppCasting for new apps.
• If the project has src/CMakeLists.txt, update it with ADD_SUBDIRECTORY(<app-dir>).
• If the project has no build skeleton, create the smallest project-level CMake needed for the new app and point it at the resolved MOOS_IVP_ROOT.
• Keep MOOS communication boundaries clear: OnNewMail() ingests mail, validates messages, and updates state through handleMail* helpers; Iterate() owns most business logic, recurring work, and state-derived publications.
• Keep config parsing in OnStartUp(), using handleConfig* helpers for nontrivial values and AppCasting warnings for bad or unhandled config.
• Keep subscriptions centralized in registerVariables() and call AppCastingMOOSApp::RegisterVariables() in AppCasting apps.
• Update _Info.cpp as part of the app implementation: synopsis, example config, subscriptions, publications, and options must describe the real app.
• Preserve the generator-style metadata comment box at the top of source files and update NAME, ORGN, FILE, and DATE to match the user project.
• Use short comments before non-obvious logic blocks; do not add comments that merely restate simple code.
• Reuse existing MOOS-IvP libraries and helpers before writing new parsing, geometry, contact, logic, or AppCasting support code.
• Use local style: MOOS variables are usually uppercase with underscores; mission config params are usually lowercase snake case; C++ members use m_; helpers commonly use handleMail*, handleConfig*, post*, update*.
• Build and run --help, --example, and --interface as binary smoke checks before finishing when feasible. These prove the app starts and its self-documentation is wired; they do not prove mission runtime config.
• Do not commit or present build directories/binaries as source changes unless the user's project already tracks generated artifacts.

Workflow

1. Identify the app role and prefix.
   • p: process/control/monitoring app
   • u: utility or simulation-support app
   • uFld: shoreside field app
   • i: interface/driver app
   • If the user did not specify a prefix, use p for process/control/monitoring apps and u for utilities or simulation helpers.
2. Generate the starting point.
   • New app: run $MOOS_IVP_ROOT/scripts/GenMOOSApp_AppCasting <Name> <prefix> "<Author>" from the project source directory.
   • Inspect existing apps as references. Copy an existing app when the user explicitly asks or when it is obviously the nearest local-project base.
3. Wire the build.
   • Read references/app-build.md before creating or repairing project-level CMake.
   • Preserve existing project CMake style when present.
4. Implement app behavior.
   • Read references/app-patterns.md for mail/config/iterate/AppCasting conventions.
   • Store the latest relevant mail in state; keep expensive, repeated, or state-combining work in Iterate(). Publish directly from OnNewMail() only for trivial acknowledgments or explicitly requested immediate reactions.
   • Validate message type before using GetDouble() or GetString().
5. Update user-facing app metadata.
   • showSynopsis()
   • showExampleConfigAndExit()
   • showInterfaceAndExit()
6. Add or update mission config only if the task needs a runnable mission. Use moos-ivp-mission-builder for broader launcher, ANTLER, vehicle, or shoreside mission work.
   • Use ProcessConfig = <AppName> with realistic AppTick and CommsTick.
   • If only source was requested, an example ProcessConfig in _Info.cpp is enough. If a runnable sample mission was requested, include the ProcessConfig and the pAntler or launcher context that actually starts the app.
   • Add the app to pAntler or the mission launcher pattern only if the existing mission uses that style.
   • Ensure the launcher can find the built app binary. For external projects, prefer a minimal pAntler validation mission with a launcher-local PATH=<project>/bin:$PATH extension, or document the persistent shell setup that puts the project bin/ on PATH.
7. Validate.
   • Configure/build the project or target when feasible.
   • Run the generated binary with --help, --example, and --interface as smoke checks when those options are supported.
   • If runtime config matters, validate through a normal pAntler launch with ProcessConfig = <AppName> rather than treating a direct binary run as equivalent.
   • If a mission was touched, launch only when the user asked for runtime validation or the change is risky enough to justify it.

Reference Use

• Read references/app-build.md when the project build layout is missing, broken, or unfamiliar.
• Read references/app-patterns.md before implementing nontrivial app logic.
• Read references/app-examples.md when choosing a representative app to inspect in the resolved MOOS_IVP_ROOT.

Validation Checklist

• App has a project build entry.
• App links only the libraries it actually needs, plus apputil for AppCasting and mbutil for common utilities.
• OnNewMail() handles or deliberately ignores subscribed mail without warning on APPCAST_REQ.
• registerVariables() lists every subscribed variable.
• showInterfaceAndExit() matches actual subscriptions/publications.
• Build succeeds, or the blocker is reported with the exact missing dependency/error.
• --help, --example, and --interface reflect the real app and do not crash when supported.
• Runtime config, when relevant, is verified through pAntler with ProcessConfig = <AppName>, not by direct app-by-path execution alone.