diff --git a/.gen-run-complete.sh b/.gen-run-complete.sh
index e71ce07..a3a7764 100644
--- a/.gen-run-complete.sh
+++ b/.gen-run-complete.sh
@@ -1,26 +1,39 @@
#!/bin/bash
-
_run_sh_completions()
{
local cur prev opts
COMPREPLY=()
cur="${COMP_WORDS[COMP_CWORD]}"
prev="${COMP_WORDS[COMP_CWORD-1]}"
- opts="docker-build build inspect exec gds gen-deps teardown update sync test topology --daemon --persist --debug --as-host --local --clean --host-thread-ctl --help --force"
+
+ # Main commands
+ local commands="docker-build build inspect exec update teardown topology sync"
+ # Options/flags
+ local flags="--daemon --debug --as-host --clean --host-thread-ctrl --help"
+ # All options combined
+ local opts="$commands $flags"
if [[ ${cur} == -* ]]; then
- COMPREPLY=( $(compgen -W "${opts}" -- ${cur}) )
+ # If current word starts with a dash, complete with flags
+ COMPREPLY=( $(compgen -W "${flags}" -- ${cur}) )
return 0
fi
case "${prev}" in
inspect)
- # You can add container names here if you want to provide completion for specific containers
+ # Container names for inspect command
local containers="fsw gds"
COMPREPLY=( $(compgen -W "${containers}" -- ${cur}) )
return 0
;;
+ exec)
+ # Executable targets
+ local targets="gds FlightComputer test"
+ COMPREPLY=( $(compgen -W "${targets}" -- ${cur}) )
+ return 0
+ ;;
*)
+ # Default to main commands and flags
COMPREPLY=( $(compgen -W "${opts}" -- ${cur}) )
return 0
;;
diff --git a/.gitignore b/.gitignore
index b248cd0..99b741a 100644
--- a/.gitignore
+++ b/.gitignore
@@ -63,7 +63,7 @@ core
*TopologyAppID.csv
*TopologyAppAi_IDTableLog.txt
-.vscode
+# .vscode
py_dict
.settings
build-fprime-automatic*
diff --git a/.org_out/FlightSM.png b/.org_out/FlightSM.png
new file mode 100644
index 0000000..a66f1e1
Binary files /dev/null and b/.org_out/FlightSM.png differ
diff --git a/.org_out/LegacyDeploymentLink.png b/.org_out/LegacyDeploymentLink.png
new file mode 100644
index 0000000..cc0d6d6
Binary files /dev/null and b/.org_out/LegacyDeploymentLink.png differ
diff --git a/.org_out/NewDeploymentLink.png b/.org_out/NewDeploymentLink.png
new file mode 100644
index 0000000..cab8299
Binary files /dev/null and b/.org_out/NewDeploymentLink.png differ
diff --git a/.org_out/run.png b/.org_out/run.png
index 7ff5ad9..a7de3ca 100644
Binary files a/.org_out/run.png and b/.org_out/run.png differ
diff --git a/.vscode/launch.json b/.vscode/launch.json
index 4ffac02..665b4ff 100644
--- a/.vscode/launch.json
+++ b/.vscode/launch.json
@@ -1,65 +1,201 @@
{
- "version": "0.2.0",
- "configurations": [
- {
- "name": "Launch Program in Docker",
- "type": "cppdbg",
- "request": "launch",
- "program": "${workspaceFolder}/FlightComputer/build-artifacts/Linux/FlightComputer/bin/FlightComputer",
- "args": ["-a", "127.0.0.1", "-u", "${env:UPLINK_TARGET_PORT}", "-d", "${env:DOWNLINK_TARGET_PORT}"],
- "stopAtEntry": false,
- "cwd": "${workspaceFolder}",
- "environment": [
+ "version": "0.2.0",
+ "configurations": [
{
- "name": "FSW_IMG",
- "value": "${env:FSW_IMG}"
- }
- ],
- "MIMode": "gdb",
- "miDebuggerPath": "/usr/bin/gdb",
- "setupCommands": [
+ "name": "Python attach local",
+ "type": "python",
+ "request": "attach",
+ "connect": {
+ "host": "localhost",
+ "port": 5678
+ },
+ "cwd": "${workspaceFolder}/deploy",
+ "console": "integratedTerminal",
+ "justMyCode": false
+ },
{
- "description": "Enable pretty-printing for gdb",
- "text": "-enable-pretty-printing",
- "ignoreFailures": true
- }
- ],
- "externalConsole": false,
- "pipeTransport": {
- "pipeProgram": "docker",
- "pipeArgs": [
- "exec",
- "-i",
- "fsw",
- "gdbserver",
- ":${env:GDB_PORT}",
- "/fsw/target/build-artifacts/Linux/FlightComputer/bin/FlightComputer"
- ],
- "debuggerPath": "/usr/bin/gdb"
- },
- "sourceFileMap": {
- "/fsw": "${workspaceFolder}/fsw"
- }
- },
- {
- "name": "Attach to Program in Docker",
- "type": "cppdbg",
- "request": "attach",
- "program": "${workspaceFolder}/build-artifacts/Linux/FlightComputer/bin/FlightComputer",
- "processId": "${command:pickProcess}",
- "MIMode": "gdb",
- "miDebuggerServerAddress": "localhost:${env:GDB_PORT}",
- "miDebuggerPath": "/usr/bin/gdb",
- "setupCommands": [
+ "name": "MBSE Python attach in docker",
+ "type": "python",
+ "request": "attach",
+ "connect": {
+ "host": "localhost",
+ "port": 5678
+ },
+ "cwd": "${workspaceFolder}/scripts",
+ "console": "integratedTerminal",
+ "justMyCode": false,
+ "pathMappings": [
+ {
+ "localRoot": "/home/reggiemarr/Projects/MBSE_FSW/",
+ "remoteRoot": "/MBSE_FSW"
+ },
+ {
+ "localRoot": "/home/reggiemarr/Projects/MBSE_FSW/scripts/",
+ "remoteRoot": "/MBSE_FSW/scripts"
+ }
+ ]
+ },
+ {
+ "name": "run deployment",
+ "type": "python",
+ "request": "launch",
+ "args": [
+ "${workspaceFolder}/run-paramiko.py"
+ ],
+ "console": "integratedTerminal",
+ "justMyCode": false
+ },
+ {
+ "name": "(gdb) Launch Docker App",
+ "type": "cppdbg",
+ "request": "launch",
+ "program": "${workspaceFolder}/FlightComputer/build-artifacts/Linux/FlightComputer/bin/FlightComputer",
+ "args": [],
+ "stopAtEntry": false,
+ "cwd": "${workspaceFolder}",
+ "miDebuggerServerAddress": "localhost:5555",
+ "environment": [],
+ "externalConsole": true,
+ "MIMode": "gdb",
+ "setupCommands": [
+ {
+ "description": "Docker Debug",
+ "text": "-enable-pretty-printing",
+ "ignoreFailures": true
+ }
+ ],
+ "preLaunchTask": "Attach debug Flight SW"
+ },
+ {
+ "name": "Attach to Flight SW on local",
+ "type": "cppdbg",
+ "request": "launch",
+ "program": "${workspaceFolder}/FlightComputer/build-artifacts/Linux/FlightComputer/bin/FlightComputer",
+ "args": [],
+ "stopAtEntry": false,
+ "cwd": "${workspaceFolder}",
+ "miDebuggerServerAddress": "localhost:5555",
+ "environment": [],
+ "useExtendedRemote": true,
+ "externalConsole": false,
+ "MIMode": "gdb",
+ "sourceFileMap": {
+ "/fsw": "${workspaceFolder}"
+ }
+ },
+ {
+ "name": "Launch GDS Integration tests",
+ "type": "python",
+ "request": "launch",
+ "connect": {
+ "host": "localhost",
+ "port": 5678
+ },
+ "program": "${file}",
+ "console": "externalTerminal",
+ "pathMappings": [
+ {
+ "localRoot": "${workspaceFolder}",
+ "remoteRoot": "/home/fprime/flightcomputer-software"
+ }
+ ]
+ },
+ {
+ "name": "Attach GDS Integration Test Runner",
+ "type": "python",
+ "request": "attach",
+ "connect": {
+ "host": "172.29.1.5",
+ "port": 5678
+ },
+ "program": "${file}",
+ "console": "externalTerminal",
+ "pathMappings": [
+ {
+ "localRoot": "${workspaceFolder}",
+ "remoteRoot": "/home/fprime/flightcomputer-software"
+ }
+ ],
+ "postDebugTask": "Teardown Integration Tests"
+ },
+ {
+ "name": "Launch Flight SW in docker",
+ "type": "cppdbg",
+ "request": "launch",
+ "program": "${workspaceFolder}/FlightComputer/build-artifacts/Linux/FlightComputer/bin/FlightComputer",
+ "args": [
+ "-a",
+ "127.1.1.1",
+ "-u",
+ "50050",
+ "-d",
+ "50000"
+ ],
+ "stopAtEntry": false,
+ "cwd": "${workspaceFolder}",
+ "environment": [],
+ "externalConsole": false,
+ "MIMode": "gdb",
+ "miDebuggerPath": "/usr/bin/gdb",
+ "sourceFileMap": {
+ "/fsw/": "${workspaceFolder}"
+ },
+ "pathMappings": [
+ {
+ "localRoot": "${workspaceFolder}",
+ "remoteRoot": "/fsw/"
+ }
+ ],
+ "setupCommands": [
+ {
+ "description": "Enable pretty-printing for gdb",
+ "text": "-enable-pretty-printing",
+ "ignoreFailures": true
+ }
+ ],
+ "pipeCwd": "${workspaceFolder}",
+ "pipeProgram": "docker",
+ "pipeArgs": [
+ "compose",
+ "run",
+ "-i",
+ "fsw",
+ "bash",
+ "-c"
+ ],
+ "debuggerPath": "/usr/bin/gdb",
+ "preLaunchTask": "Build Flight SW"
+ },
{
- "description": "Enable pretty-printing for gdb",
- "text": "-enable-pretty-printing",
- "ignoreFailures": true
+ "name": "Launch Flight SW on host",
+ "type": "cppdbg",
+ "request": "launch",
+ "program": "${workspaceFolder}/FlightComputer/build-artifacts/Linux/FlightComputer/bin/FlightComputer",
+ "args": [
+ "-a",
+ "127.0.0.1",
+ "-u",
+ "50000",
+ "-d",
+ "50050"
+ ],
+ "stopAtEntry": false,
+ "cwd": "${workspaceFolder}",
+ "environment": [],
+ "externalConsole": false,
+ "MIMode": "gdb",
+ "miDebuggerPath": "/usr/bin/gdb",
+ "useExtendedRemote": true,
+ "sourceFileMap": {
+ "/fsw/": "${workspaceFolder}"
+ },
+ "setupCommands": [
+ {
+ "description": "Enable pretty-printing for gdb",
+ "text": "-enable-pretty-printing",
+ "ignoreFailures": true
+ }
+ ]
}
- ],
- "sourceFileMap": {
- "/fsw": "${workspaceFolder}/fsw"
- }
- }
- ]
+ ]
}
diff --git a/FlightComputer/CCSDSTester/CCSDSTester.cpp b/FlightComputer/CCSDSTester/CCSDSTester.cpp
index 0151bb9..f30ae82 100644
--- a/FlightComputer/CCSDSTester/CCSDSTester.cpp
+++ b/FlightComputer/CCSDSTester/CCSDSTester.cpp
@@ -122,7 +122,7 @@ void CCSDSTester::PING_cmdHandler(const FwOpcodeType opCode, const U32 cmdSeq) {
U32 dfltMessage = 0x9944fead;
com.resetSer();
- U8 packetType = Fw::ComPacket::ComPacketType::FW_PACKET_COMMAND;
+ Fw::ComPacket::ComPacketType packetType = Fw::ComPacket::ComPacketType::FW_PACKET_COMMAND;
com.serialize(packetType);
com.serialize(dfltMessage);
@@ -142,7 +142,6 @@ void CCSDSTester::MESSAGE_cmdHandler(const FwOpcodeType opCode,
com.resetSer();
// U32 starter = 0xFFFF;
// com.serialize(starter);
- // Fw::ComPacket::ComPacketType_t packetType = Fw::ComPacket::ComPacketType_e::FW_PACKET_FILE;
U8 packetType = Fw::ComPacket::ComPacketType::FW_PACKET_FILE;
com.serialize(packetType);
com.serialize(str1);
diff --git a/README.org b/README.org
index 64d18d7..48f4e4b 100644
--- a/README.org
+++ b/README.org
@@ -14,8 +14,8 @@ The project is containerized with Docker, ensuring compatibility across various
**** Clone the repo and submodules
#+BEGIN_SRC bash
#Get the repo
-git clone git@github.com:ReggieMarr/MBSE_FSW.git
-cd MBSE_FSW
+git clone git@github.com:ReggieMarr/space-vehicle-system.git
+cd space-vehicle-system
#pull in the submodules
git submodule update --init --recursive
#+END_SRC
@@ -28,57 +28,63 @@ Commands are summarized as such:
@startuml
skinparam actorStyle awesome
actor User
-
-rectangle "" {
+rectangle "Commands" {
[Docker Build]
[Project Build]
[Container Inspection]
- [FlightSoftware Execution]
- [GDS Execution]
- [Dependency Generation]
+ [Execution Commands]
+ note right of [Execution Commands]
+ exec command with subcommands:
+ - FlightComputer
+ - gds
+ - test
+ end note
[Environment Teardown]
[Update]
[Sync]
- [Test]
[Topology Visualization]
}
-
cloud "Docker Environment" {
[Docker Image]
[FSW Container]
[GDS Container]
}
-
database "Host File System" {
folder "Project Files"
folder "Build Artifacts"
- folder "Dependencies"
}
-
User --> [Docker Build] : docker-build
User --> [Project Build] : build
User --> [Container Inspection] : inspect
-User --> [FlightSoftware Execution] : exec
-User --> [GDS Execution] : gds
-User --> [Dependency Generation] : gen-deps
+User --> [Execution Commands] : exec
+[Execution Commands] --> [FlightComputer Execution]
+[Execution Commands] --> [GDS Execution]
+[Execution Commands] --> [Test Execution]
User --> [Environment Teardown] : teardown
User --> [Update] : update
User --> [Sync] : sync
-User --> [Test] : test
User --> [Topology Visualization] : topology
[Docker Build] --> [Docker Image] : Creates/Updates
[Project Build] --> [Build Artifacts] : Generates
[Container Inspection] --> [FSW Container] : Provides shell
-[FlightSoftware Execution] --> [FSW Container] : Runs FlightSoftware
+[FlightComputer Execution] --> [FSW Container] : Runs FlightSoftware
[GDS Execution] --> [GDS Container] : Runs GDS
-[Dependency Generation] --> [Dependencies] : Extracts
+[Test Execution] --> [GDS Container] : Runs tests
[Environment Teardown] --> [Docker Environment] : Removes containers
[Update] --> [Docker Image] : Pulls latest images
[Sync] --> [Docker Image] : Pushes local changes
-[Test] --> [GDS Container] : Runs tests
[Topology Visualization] --> [Project Files] : Generates topology diagram
+note right of User
+ Available flags:
+ --daemon
+ --debug
+ --as-host
+ --clean
+ --host-thread-ctrl
+ --help
+end note
@enduml
#+end_src
@@ -99,29 +105,25 @@ Options:
--daemon Run as daemon
--debug Enable debug mode
--as-host Run as host
- --persist Ignore startup issues and keep running
- --local Use local environment
--clean Clean build
- --host-thread-ctl Set thread control
+ --host-thread-ctl Set thread control for running without sudo (this itself requires sudo)
--help Show this help message
-
Commands:
+ update Build the Docker image
docker-build Build the Docker image
build Build the project
inspect [container] Inspect a container
- exec Execute the FlightComputer
- gds Run the GDS
- update Pulls the latest version of docker images
- sync Pushes local changes and updates docker images
- gen-deps Generate dependencies (for editor mapping)
+ exec gds Run the GDS
+ exec FlightComputer Run the Flight Software
+ exec test Run integration tests against the Flight Software
+ update Pull latest Docker images
teardown Tear down the environment
- test Run tests
topology Generate topology visualization
#+END_SRC
One use case is building and running the deployment, this can be done like so (note building clean is only necessary when making significant changes):
#+begin_src bash
-❯ ./run.sh build --clean && ./run.sh exec --local
+❯ ./run.sh build --clean && ./run.sh exec FlightComputer
#+end_src
This then provides a web based ui that can be viewed by visiting http://127.0.0.1:5000/#Channels on your preferred web browser.
@@ -129,7 +131,6 @@ This then provides a web based ui that can be viewed by visiting http://127.0.0.
*Note* this example runs a standard version of ~fprime-gds~ and deploys it locally.
More information about the Web UI can be found [[https://nasa.github.io/fprime/UsersGuide/gds/gds-introduction.html][here]].
*** Additional Tips
- - Combine flags: ~./run.sh --clean --debug exec~
- Script uses environment variables from .env file in the same directory
- Use ~--daemon~ flag to run processes in the background
- Use ~--host-thread-ctl~ when building for non-sudo host execution thread control
@@ -177,3 +178,46 @@ IN_FLIGHT --> IDLE: TERMINATE
#+RESULTS:
[[file:.org_out/FlightSM.svg]]
+
+* CCSDS support
+
+** Communication Topology Comparison
+*** Legacy
+[[file:.org_out/LegacyDeploymentLink.png]]
+*** New
+[[file:.org_out/NewDeploymentLink.png]]
+** Arch Layout
+
+#+BEGIN_SRC plantuml :file .org_out/revisedCommsArch.jpg
+!include https://raw.githubusercontent.com/plantuml-stdlib/C4-PlantUML/master/C4_Container.puml
+!include https://raw.githubusercontent.com/plantuml-stdlib/C4-PlantUML/master/C4_Component.puml
+title Updated Comms Architecture
+
+Container_Boundary(obc, "OBC", "Flight Software Deployment") {
+ Component(eventLogger, "Event Logger", "Svc.ActiveLogger")
+ Component(tlmChan, "Tlm Chan", "Svc.TlmChan")
+ Component(obcPacketFramer, "Packet Framer", "Svc.PacketFramer")
+ Component(obcMessageFramer, "Message Framer", "Svc.Framer")
+ Component(obcDeframer, "Deframer", "Svc.Deframer")
+ Component(obcPacketAccumulator, "Packet Accumulator", "Svc.PacketAccumulator")
+ Component(obcFrameAccumulator, "Frame Accumulator", "Svc.FrameAccumulator")
+}
+
+Component(commLink, "Communications Link", "Transport Layer")
+
+Container_Boundary(groundControl, "Ground Dep", "Ground Software Deployment") {
+ Component(cspInterface, "CSP/CCSDS Interface", "Protocol adapter")
+ Component(actuator, "Actuator Module", "Control execution")
+ Component(daq, "Data acquisition Module", "Collects data via drivers")
+}
+
+
+' External Relations
+Rel(obc, rioNode, "Commands", "CSP over UART/CAN")
+Rel(obc, rioNode, "Polls", "CSP over UART/CAN")
+Rel(daq, pressure, "Reads", "ADC")
+Rel(daq, temperature, "Reads", "SPI")
+Rel(actuator, valve, "Controls", "Digital")
+Rel(actuator, heater, "Controls", "PWM")
+@enduml
+#+end_src
diff --git a/fprime b/fprime
index 7cc3b79..47c0fc4 160000
--- a/fprime
+++ b/fprime
@@ -1 +1 @@
-Subproject commit 7cc3b79f06f1f953282ca9576323b6d005c1d125
+Subproject commit 47c0fc4cc828ecf863acd3d65a43e541c192d738
diff --git a/run.sh b/run.sh
index 2fd6347..e2ed6b0 100755
--- a/run.sh
+++ b/run.sh
@@ -36,8 +36,10 @@ Commands:
inspect [container] Inspect a container
exec gds Run the GDS
exec FlightComputer Run the Flight Software
+ exec test Run integration tests against the Flight Software
update Pull latest Docker images
teardown Tear down the environment
+ topology Generate topology visualization
EOF
}
@@ -46,11 +48,13 @@ AS_HOST=0
DAEMON=0
DEBUG=0
SET_THREAD_CTRL=0
+FORCE=0
# Process flags
for arg in "$@"; do
case $arg in
--daemon) DAEMON=1 ;;
+ --force) FORCE=1 ;;
--debug) DEBUG=1 ;;
--as-host) AS_HOST=1 ;;
--clean) CLEAN=1 ;;
@@ -104,7 +108,11 @@ case $1 in
;;
"update")
- exec_cmd "git submodule sync && git submodule update --init --recursive && docker pull $FSW_IMG"
+ PULL_CMD="git pull"
+ [ "$FORCE" -eq 1 ] && PULL_CMD="git fetch -a && git reset --hard origin/$(git rev-parse --abbrev-ref HEAD)"
+ PULL_CMD+=" && git submodule sync && git submodule update --init --recursive"
+
+ exec_cmd "$PULL_CMD"
;;
"docker-build")
@@ -114,8 +122,15 @@ case $1 in
[[ $REPLY =~ ^[Yy]$ ]] || { echo "Build cancelled."; exit 1; }
fi
- if [ "$(git rev-parse HEAD)" != "$(git ls-remote $(git rev-parse --abbrev-ref @{u} | sed 's/\// /g') | cut -f1)" ]; then
- read -p "Current commit not pushed. Continue? (y/n) " -n 1 -r
+ # Fetch from remote to ensure we have latest refs
+ git fetch -q origin
+
+ # Get current commit hash
+ CURRENT_COMMIT=$(git rev-parse HEAD)
+
+ # Check if current commit exists in any remote branch
+ if ! git branch -r --contains "$CURRENT_COMMIT" | grep -q "origin/"; then
+ read -p "Current commit not found in remote repository. Continue? (y/n) " -n 1 -r
echo
[[ $REPLY =~ ^[Yy]$ ]] || { echo "Build cancelled."; exit 1; }
fi
@@ -180,6 +195,12 @@ case $1 in
esac
;;
+ "topology")
+ # NOTE set working dir when we link this to a CI/CD
+ CMD="fprime-util visualize -p ${DEPLOYMENT_ROOT}/Top -r ${DEPLOYMENT_ROOT}"
+ run_docker_compose "fsw bash -c \"$CMD\""
+ ;;
+
"teardown")
echo "Tearing down FSW..."
docker compose down