[#84] fprime building in docker container, pull deployment fprime bra…

…nch locally and build, also target cfs or fprime build-fsw
nasa · Sep 10, 2024 · 180c5e9 · 180c5e9
1 parent 7fd8e4b
commit 180c5e9
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Showing 8 changed files with 237 additions and 14 deletions.
diff --git a/Makefile b/Makefile
@@ -52,17 +52,20 @@ build-cryptolib:
 	$(MAKE) --no-print-directory -C $(GSWBUILDDIR)
 
 build-fsw:
-	ifeq($(FLIGHT_SOFTWARE), fprime)
-		cd fsw/fprime/fprime-nos3
-		. fprime-venv/bin/activate
-		fprime-util build
-	endif
+
+
+ifeq ($(FLIGHT_SOFTWARE), fprime)
+	cd fsw/fprime/fprime-nos3 && fprime-util generate && fprime-util build
 
-	ifeq($(FLIGHT_SOFTWARE), cfs)
-		mkdir -p $(FSWBUILDDIR)
-		cd $(FSWBUILDDIR) && cmake $(PREP_OPTS) ../cfe
-		$(MAKE) --no-print-directory -C $(FSWBUILDDIR) mission-install
-	endif
+endif
+
+ifeq ($(FLIGHT_SOFTWARE), cfs)
+	mkdir -p $(FSWBUILDDIR)
+	cd $(FSWBUILDDIR) && cmake $(PREP_OPTS) ../cfe
+	$(MAKE) --no-print-directory -C $(FSWBUILDDIR) mission-install
+else
+	pwd
+endif
 
 build-sim:
 	mkdir -p $(SIMBUILDDIR)
@@ -103,7 +106,8 @@ fprime:
 	./scripts/fprime.sh
 
 fsw: 
-	./cfg/build/fsw_build.sh
+	./scripts/docker_build_fsw.sh
+	# ./cfg/build/fsw_build.sh
 
 gsw:
 	./scripts/docker_build_cryptolib.sh

diff --git a/scripts/cfs_build_fsw.sh b/scripts/cfs_build_fsw.sh
@@ -0,0 +1,32 @@
+#!/bin/bash -i
+#
+# Convenience script for NOS3 development
+# Use with the Dockerfile in the deployment repository
+# https://github.com/nasa-itc/deployment
+#
+
+SCRIPT_DIR=$( cd -- "$( dirname -- "${BASH_SOURCE[0]}" )" &> /dev/null && pwd )
+source $SCRIPT_DIR/env.sh
+source FLIGHT_SOFTWARE=cfs
+
+# Check that local NOS3 directory exists
+if [ ! -d $USER_NOS3_DIR ]; then
+    echo ""
+    echo "    Need to run make prep first!"
+    echo ""
+    exit 1
+fi
+
+# Check that configure build directory exists
+if [ ! -d $BASE_DIR/cfg/build ]; then
+    echo ""
+    echo "    Need to run make config first!"
+    echo ""
+    exit 1
+fi
+
+# Make flight software build directory
+mkdir -p $BASE_DIR/fsw/build
+
+# Build
+$DFLAGS_CPUS -v $BASE_DIR:$BASE_DIR --name "nos_build_fsw" -w $BASE_DIR $DBOX make -j$NUM_CPUS build-fsw
diff --git a/scripts/cfs_cosmos.sh b/scripts/cfs_cosmos.sh
@@ -0,0 +1,149 @@
+#!/bin/bash -i
+#
+# Convenience script for NOS3 development
+# Use with the Dockerfile in the deployment repository
+# https://github.com/nasa-itc/deployment
+#
+
+SCRIPT_DIR=$( cd -- "$( dirname -- "${BASH_SOURCE[0]}" )" &> /dev/null && pwd )
+source $SCRIPT_DIR/env.sh
+
+# Check that local NOS3 directory exists
+if [ ! -d $USER_NOS3_DIR ]; then
+    echo ""
+    echo "    Need to run make prep first!"
+    echo ""
+    exit 1
+fi
+
+# Check that configure build directory exists
+if [ ! -d $BASE_DIR/cfg/build ]; then
+    echo ""
+    echo "    Need to run make config first!"
+    echo ""
+    exit 1
+fi
+
+echo "Make data folders..."
+# FSW Side
+mkdir $FSW_DIR/data 2> /dev/null
+mkdir $FSW_DIR/data/cam 2> /dev/null
+mkdir $FSW_DIR/data/evs 2> /dev/null
+mkdir $FSW_DIR/data/hk 2> /dev/null
+mkdir $FSW_DIR/data/inst 2> /dev/null
+# GSW Side
+mkdir /tmp/nos3 2> /dev/null
+mkdir /tmp/nos3/data 2> /dev/null
+mkdir /tmp/nos3/data/cam 2> /dev/null
+mkdir /tmp/nos3/data/evs 2> /dev/null
+mkdir /tmp/nos3/data/hk 2> /dev/null
+mkdir /tmp/nos3/data/inst 2> /dev/null
+mkdir /tmp/nos3/uplink 2> /dev/null
+cp $BASE_DIR/fsw/build/exe/cpu1/cf/cfe_es_startup.scr /tmp/nos3/uplink/tmp0.so 2> /dev/null
+cp $BASE_DIR/fsw/build/exe/cpu1/cf/sample.so /tmp/nos3/uplink/tmp1.so 2> /dev/null
+
+echo "Create ground networks..."
+$DNETWORK create \
+    --driver=bridge \
+    --subnet=192.168.41.0/24 \
+    --gateway=192.168.41.1 \
+    nos3_core
+echo ""
+
+#echo "Launch GSW..."
+$BASE_DIR/cfg/build/gsw_launch.sh
+echo ""
+
+echo "Create NOS interfaces..."
+export GND_CFG_FILE="-f nos3-simulator.xml"
+gnome-terminal --tab --title="NOS Terminal"      -- $DFLAGS -v $SIM_DIR:$SIM_DIR --name "nos_terminal"        --network=nos3_core -w $SIM_BIN $DBOX ./nos3-single-simulator $GND_CFG_FILE stdio-terminal
+gnome-terminal --tab --title="NOS UDP Terminal"  -- $DFLAGS -v $SIM_DIR:$SIM_DIR --name "nos_udp_terminal"    --network=nos3_core -w $SIM_BIN $DBOX ./nos3-single-simulator $GND_CFG_FILE udp-terminal
+echo ""
+
+# Note only currently working with a single spacecraft
+export SATNUM=1
+
+#
+# Spacecraft Loop
+#
+for (( i=1; i<=$SATNUM; i++ ))
+do
+    export SC_NUM="sc_"$i
+    export SC_NETNAME="nos3_"$SC_NUM
+    export SC_CFG_FILE="-f nos3-simulator.xml" #"-f sc_"$i"_nos3_simulator.xml"
+
+    # Debugging
+    #echo "Spacecraft number        = " $SC_NUM
+    #echo "Spacecraft network       = " $SC_NETNAME
+    #echo "Spacecraft configuration = " $SC_CFG_FILE
+
+    echo $SC_NUM " - Create spacecraft network..."
+    $DNETWORK create $SC_NETNAME 2> /dev/null
+    echo ""
+
+    echo $SC_NUM " - Connect COSMOS to spacecraft network..."
+    $DNETWORK connect $SC_NETNAME cosmos_openc3-operator_1 --alias cosmos
+    echo ""
+
+    echo $SC_NUM " - 42..."
+    rm -rf $USER_NOS3_DIR/42/NOS3InOut
+    cp -r $BASE_DIR/cfg/build/InOut $USER_NOS3_DIR/42/NOS3InOut
+    xhost +local:*
+    gnome-terminal --tab --title=$SC_NUM" - 42" -- $DFLAGS -e DISPLAY=$DISPLAY -v $USER_NOS3_DIR:$USER_NOS3_DIR -v /tmp/.X11-unix:/tmp/.X11-unix:ro --name $SC_NUM"_fortytwo" -h fortytwo --network=$SC_NETNAME -w $USER_NOS3_DIR/42 -t $DBOX $USER_NOS3_DIR/42/42 NOS3InOut
+    echo ""
+
+    echo $SC_NUM " - Flight Software..."
+    cd $FSW_DIR
+    gnome-terminal --title=$SC_NUM" - NOS3 Flight Software" -- $DFLAGS -v $BASE_DIR:$BASE_DIR --name $SC_NUM"_nos_fsw" -h nos_fsw --network=$SC_NETNAME -w $FSW_DIR --sysctl fs.mqueue.msg_max=10000 --ulimit rtprio=99 --cap-add=sys_nice $DBOX $SCRIPT_DIR/fsw_respawn.sh &
+    #gnome-terminal --window-with-profile=KeepOpen --title=$SC_NUM" - NOS3 Flight Software" -- $DFLAGS -v $BASE_DIR:$BASE_DIR --name $SC_NUM"_nos_fsw" -h nos_fsw --network=$SC_NETNAME -w $FSW_DIR --sysctl fs.mqueue.msg_max=10000 --ulimit rtprio=99 --cap-add=sys_nice $DBOX $FSW_DIR/core-cpu1 -R PO &
+    echo ""
+
+    # Debugging
+    # Replace `--tab` with `--window-with-profile=KeepOpen` once you've created this gnome-terminal profile manually
+
+    echo $SC_NUM " - CryptoLib..."
+    gnome-terminal --tab --title=$SC_NUM" - CryptoLib" -- $DFLAGS -v $BASE_DIR:$BASE_DIR --name $SC_NUM"_cryptolib"  --network=$SC_NETNAME --network-alias=cryptolib -w $BASE_DIR/gsw/build $DBOX ./support/standalone
+    echo ""
+
+    echo $SC_NUM " - Simulators..."
+    cd $SIM_BIN
+    gnome-terminal --tab --title=$SC_NUM" - NOS Engine Server" -- $DFLAGS -v $SIM_DIR:$SIM_DIR --name $SC_NUM"_nos_engine_server"  -h nos_engine_server --network=$SC_NETNAME -w $SIM_BIN $DBOX /usr/bin/nos_engine_server_standalone -f $SIM_BIN/nos_engine_server_config.json
+    gnome-terminal --tab --title=$SC_NUM" - 42 Truth Sim"      -- $DFLAGS -v $SIM_DIR:$SIM_DIR --name $SC_NUM"_truth42sim"          -h truth42sim --network=$SC_NETNAME -w $SIM_BIN $DBOX ./nos3-single-simulator $SC_CFG_FILE  truth42sim
+
+    $DNETWORK connect $SC_NETNAME nos_terminal
+    $DNETWORK connect $SC_NETNAME nos_udp_terminal
+
+    # Component simulators
+    gnome-terminal --tab --title=$SC_NUM" - CAM Sim"      -- $DFLAGS -v $SIM_DIR:$SIM_DIR --name $SC_NUM"_cam_sim"      --network=$SC_NETNAME -w $SIM_BIN $DBOX ./nos3-single-simulator $SC_CFG_FILE camsim
+    gnome-terminal --tab --title=$SC_NUM" - CSS Sim"      -- $DFLAGS -v $SIM_DIR:$SIM_DIR --name $SC_NUM"_css_sim"      --network=$SC_NETNAME -w $SIM_BIN $DBOX ./nos3-single-simulator $SC_CFG_FILE generic_css_sim
+    gnome-terminal --tab --title=$SC_NUM" - EPS Sim"      -- $DFLAGS -v $SIM_DIR:$SIM_DIR --name $SC_NUM"_eps_sim"      --network=$SC_NETNAME -w $SIM_BIN $DBOX ./nos3-single-simulator $SC_CFG_FILE generic_eps_sim
+    gnome-terminal --tab --title=$SC_NUM" - FSS Sim"      -- $DFLAGS -v $SIM_DIR:$SIM_DIR --name $SC_NUM"_fss_sim"      --network=$SC_NETNAME -w $SIM_BIN $DBOX ./nos3-single-simulator $SC_CFG_FILE generic_fss_sim
+    gnome-terminal --tab --title=$SC_NUM" - GPS Sim"      -- $DFLAGS -v $SIM_DIR:$SIM_DIR --name $SC_NUM"_gps_sim"      --network=$SC_NETNAME -w $SIM_BIN $DBOX ./nos3-single-simulator $SC_CFG_FILE gps
+    gnome-terminal --tab --title=$SC_NUM" - IMU Sim"      -- $DFLAGS -v $SIM_DIR:$SIM_DIR --name $SC_NUM"_imu_sim"      --network=$SC_NETNAME -w $SIM_BIN $DBOX ./nos3-single-simulator $SC_CFG_FILE generic_imu_sim
+    gnome-terminal --tab --title=$SC_NUM" - MAG Sim"      -- $DFLAGS -v $SIM_DIR:$SIM_DIR --name $SC_NUM"_mag_sim"      --network=$SC_NETNAME -w $SIM_BIN $DBOX ./nos3-single-simulator $SC_CFG_FILE generic_mag_sim
+    gnome-terminal --tab --title=$SC_NUM" - RW 0 Sim"     -- $DFLAGS -v $SIM_DIR:$SIM_DIR --name $SC_NUM"_rw_sim0"      --network=$SC_NETNAME -w $SIM_BIN $DBOX ./nos3-single-simulator $SC_CFG_FILE generic-reactionwheel-sim0
+    gnome-terminal --tab --title=$SC_NUM" - RW 1 Sim"     -- $DFLAGS -v $SIM_DIR:$SIM_DIR --name $SC_NUM"_rw_sim1"      --network=$SC_NETNAME -w $SIM_BIN $DBOX ./nos3-single-simulator $SC_CFG_FILE generic-reactionwheel-sim1
+    gnome-terminal --tab --title=$SC_NUM" - RW 2 Sim"     -- $DFLAGS -v $SIM_DIR:$SIM_DIR --name $SC_NUM"_rw_sim2"      --network=$SC_NETNAME -w $SIM_BIN $DBOX ./nos3-single-simulator $SC_CFG_FILE generic-reactionwheel-sim2
+
+    gnome-terminal --tab --title=$SC_NUM" - Radio Sim"    -- $DFLAGS -v $SIM_DIR:$SIM_DIR --name $SC_NUM"_radio_sim"    -h radio_sim --network=$SC_NETNAME --network-alias=radio_sim -w $SIM_BIN $DBOX ./nos3-single-simulator $SC_CFG_FILE generic_radio_sim
+
+    gnome-terminal --tab --title=$SC_NUM" - Sample Sim"   -- $DFLAGS -v $SIM_DIR:$SIM_DIR --name $SC_NUM"_sample_sim"   --network=$SC_NETNAME -w $SIM_BIN $DBOX ./nos3-single-simulator $SC_CFG_FILE sample_sim
+    gnome-terminal --tab --title=$SC_NUM" - StarTrk Sim"  -- $DFLAGS -v $SIM_DIR:$SIM_DIR --name $SC_NUM"_startrk_sim"  --network=$SC_NETNAME -w $SIM_BIN $DBOX ./nos3-single-simulator $SC_CFG_FILE generic_star_tracker_sim
+    gnome-terminal --tab --title=$SC_NUM" - Torquer Sim"  -- $DFLAGS -v $SIM_DIR:$SIM_DIR --name $SC_NUM"_torquer_sim"  --network=$SC_NETNAME -w $SIM_BIN $DBOX ./nos3-single-simulator $SC_CFG_FILE generic_torquer_sim
+    echo ""
+done
+
+echo "NOS Time Driver..."
+sleep 8
+gnome-terminal --tab --title="NOS Time Driver"   -- $DFLAGS -v $SIM_DIR:$SIM_DIR --name nos_time_driver --network=nos3_core -w $SIM_BIN $DBOX ./nos3-single-simulator $GND_CFG_FILE time
+sleep 1
+for (( i=1; i<=$SATNUM; i++ ))
+do
+    export SC_NUM="sc_"$i
+    export SC_NETNAME="nos3_"$SC_NUM
+    export TIMENAME=$SC_NUM"_nos_time_driver"
+    $DNETWORK connect --alias nos_time_driver $SC_NETNAME nos_time_driver
+done
+echo ""
+
+echo "Docker launch script completed!"
diff --git a/scripts/configure.py b/scripts/configure.py
@@ -27,12 +27,14 @@
     os.system('cp ./scripts/fsw_fprime_build.sh ./cfg/build/fsw_build.sh')
     os.system('cp ./scripts/fsw_fprime_launch.sh ./cfg/build/fsw_launch.sh')
     os.system('cp ./scripts/fprime.sh ./scripts/docker_launch.sh')
+    os.system('cp ./scripts/fprime_build_fsw.sh ./scripts/docker_build_fsw.sh')
 
 if (fsw_cfg == 'cfs'):
     fsw_identified = 1
     # os.system('cp ./scripts/fsw_fprime_build.sh ./cfg/build/fsw_build.sh')
     # os.system('cp ./scripts/fsw_fprime_launch.sh ./cfg/build/fsw_launch.sh')
     os.system('cp ./scripts/cfs_cosmos.sh ./scripts/docker_launch.sh')
+    os.system('cp ./scripts/cfs_build_fsw.sh ./scripts/docker_build_fsw.sh')
 
 if (fsw_identified == 0):
     print('Invalid FSW in configuration file!')
@@ -53,6 +55,8 @@
 if (gsw_cfg == 'cosmos'):
     # Copy cosmos scripts into ./cfg/build
     gsw_identified = 1
+    os.system('cp ./scripts/gsw_cosmos_build.sh ./cfg/build/gsw_build.sh')
+    os.system('cp ./scripts/gsw_cosmos_launch.sh ./cfg/build/gsw_launch.sh')
 if (gsw_cfg == 'fprime'):
     gsw_identified = 1
     os.system('cp ./scripts/gsw_fprime_build.sh ./cfg/build/gsw_build.sh')

diff --git a/scripts/docker_build_fsw.sh b/scripts/docker_build_fsw.sh
@@ -28,4 +28,4 @@ fi
 mkdir -p $BASE_DIR/fsw/build
 
 # Build
-$DFLAGS_CPUS -v $BASE_DIR:$BASE_DIR --name "nos_build_fsw" -w $BASE_DIR $DBOX make -j$NUM_CPUS build-fsw
+$DFLAGS_CPUS -v $BASE_DIR:$BASE_DIR --name "nos_build_fsw" -w $BASE_DIR $DBOX make -j$NUM_CPUS -e FLIGHT_SOFTWARE=fprime build-fsw
diff --git a/scripts/docker_debug.sh b/scripts/docker_debug.sh
@@ -10,7 +10,8 @@ source $SCRIPT_DIR/env.sh
 
 mkdir -p $BASE_DIR/fsw/build
 # $DFLAGS_CPUS -v $BASE_DIR:$BASE_DIR -v $USER_NOS3_DIR:$USER_NOS3_DIR -w $BASE_DIR --name "nos3_debug" $DBOX bash
-$DFLAGS_CPUS -it -v $BASE_DIR:$BASE_DIR --network nos3_sc_1 -p 5000:5000 -p 50000:50000 -p 5001:5001 -v $USERDIR:$USERDIR -w $BASE_DIR --name "nos3_debug" $DBOX bash
+# $DFLAGS_CPUS -it -v $BASE_DIR:$BASE_DIR --network nos3_sc_1 -p 5000:5000 -p 50000:50000 -p 5001:5001 -v $USERDIR:$USERDIR -w $BASE_DIR --name "nos3_debug" $DBOX bash
+$DFLAGS_CPUS -it -v $BASE_DIR:$BASE_DIR  -p 5000:5000 -p 50000:50000 -p 5001:5001 -v $USERDIR:$USERDIR -w $BASE_DIR --name "nos3_debug" $DBOX bash
 # $DFLAGS_CPUS -v $BASE_DIR:$BASE_DIR --network host -v $USERDIR:$USERDIR -w $BASE_DIR --name "nos3_debug" $DBOX bash
 # $DFLAGS_CPUS -v $BASE_DIR:$BASE_DIR --expose 5000 -v $USERDIR:$USERDIR -w $BASE_DIR --name "nos3_debug" $DBOX bash
 # $DFLAGS_CPUS -v $BASE_DIR:$BASE_DIR -p 5000:5000 -v $USERDIR:$USERDIR -w $BASE_DIR --name "nos3_debug" $DBOX bash
diff --git a/scripts/env.sh b/scripts/env.sh
@@ -10,6 +10,7 @@ GSW_BIN=$BASE_DIR/gsw/cosmos/build/openc3-cosmos-nos3
 GSW_DIR=$BASE_DIR/gsw/cosmos
 SIM_DIR=$BASE_DIR/sims/build
 SIM_BIN=$SIM_DIR/bin
+FLIGHT_SOFTWARE=fprime
 
 if [ -d $SIM_DIR/bin ]; then
     SIMS=$(ls $SIM_BIN/nos3*simulator) 
@@ -41,7 +42,8 @@ OPENC3_PATH=$OPENC3_DIR/openc3.sh
     DNETWORK="docker network"
 #fi
 
-DBOX="ivvitc/nos3-64:20240618"
+# DBOX="ivvitc/nos3-64:20240618"
+DBOX="ivvitc/nos3-64:dev"
 # DBOX="ivvitc/nos3-64:fprime"
 
 # Debugging

diff --git a/scripts/fprime_build_fsw.sh b/scripts/fprime_build_fsw.sh
@@ -0,0 +1,31 @@
+#!/bin/bash -i
+#
+# Convenience script for NOS3 development
+# Use with the Dockerfile in the deployment repository
+# https://github.com/nasa-itc/deployment
+#
+
+SCRIPT_DIR=$( cd -- "$( dirname -- "${BASH_SOURCE[0]}" )" &> /dev/null && pwd )
+source $SCRIPT_DIR/env.sh
+
+# Check that local NOS3 directory exists
+if [ ! -d $USER_NOS3_DIR ]; then
+    echo ""
+    echo "    Need to run make prep first!"
+    echo ""
+    exit 1
+fi
+
+# Check that configure build directory exists
+if [ ! -d $BASE_DIR/cfg/build ]; then
+    echo ""
+    echo "    Need to run make config first!"
+    echo ""
+    exit 1
+fi
+
+# Make flight software build directory
+mkdir -p $BASE_DIR/fsw/build
+
+# Build
+$DFLAGS_CPUS -v $BASE_DIR:$BASE_DIR --name "nos_build_fsw" -w $BASE_DIR $DBOX make -j$NUM_CPUS -e FLIGHT_SOFTWARE=fprime build-fsw