[#381] Merge branch 'dev' into nos3#381-rw-checkout-application

nasa · Dec 18, 2024 · 455ad27 · 455ad27
2 parents e51bf53 + 9e643f4
commit 455ad27
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Showing 11 changed files with 55 additions and 21 deletions.
diff --git a/cfg/nos3-mission.xml b/cfg/nos3-mission.xml
@@ -15,7 +15,7 @@
 
     <!-- Spacecraft 1 Configuration -->
     <!-- sc-full-config.xml or sc-minimal-config.xml -->
-    <sc-1-cfg>sc-full-config.xml</sc-1-cfg>
+    <sc-1-cfg>sc-minimal-config.xml</sc-1-cfg>
 
     <!-- Spacecraft N Configuration -->
     <!-- <sc-N-cfg>sc-minimal-config.xml</sc-N-cfg> -->

diff --git a/cfg/sc-full-config.xml b/cfg/sc-full-config.xml
@@ -77,4 +77,7 @@
         <tipoff_y>1.0</tipoff_y>
         <tipoff_z>-1.0</tipoff_z>
     </orbit>
+    <sim>
+        <sim_truth_interface>true</sim_truth_interface>
+    </sim>
 </sc-1-config>
diff --git a/cfg/sc-minimal-config.xml b/cfg/sc-minimal-config.xml
@@ -33,7 +33,7 @@
             <enable>false</enable>
         </eps>
         <fss>
-            <enable>false</enable>
+            <enable>true</enable>
         </fss>
         <gps>
             <enable>false</enable>
@@ -73,8 +73,11 @@
         <enable>false</enable>
     </gui>
     <orbit>
-        <tipoff_x>0.1</tipoff_x>
-        <tipoff_y>1.0</tipoff_y>
-        <tipoff_z>-1.0</tipoff_z>
+        <tipoff_x>5.0</tipoff_x>
+        <tipoff_y>-5.0</tipoff_y>
+        <tipoff_z>5.0</tipoff_z>
     </orbit>
+    <sim>
+        <sim_truth_interface>false</sim_truth_interface>
+    </sim>
 </sc-1-config>
diff --git a/components/generic_adcs b/components/generic_adcs
diff --git a/components/generic_fss b/components/generic_fss
diff --git a/scripts/cfg/configure.py b/scripts/cfg/configure.py
@@ -118,6 +118,7 @@
         sc_orbit_tipoff_x = sc_root.find('orbit/tipoff_x').text
         sc_orbit_tipoff_y = sc_root.find('orbit/tipoff_y').text
         sc_orbit_tipoff_z = sc_root.find('orbit/tipoff_z').text
+        sc_sim_truth_en = sc_root.find('sim/sim_truth_interface').text
 
         ###
         ### Flight Software - Startup Script
@@ -311,6 +312,7 @@
         st_index = 999
         torquer_index = 999
         thruster_index = 999
+        truth_index = 999
 
         with open('./cfg/InOut/Inp_IPC.txt', 'r') as fp:
             lines = fp.readlines()
@@ -360,6 +362,9 @@
                 if line.find('Thruster IPC') != -1:
                     if (lines.index(line)) < thruster_index:
                         thruster_index = lines.index(line) + 1
+                if line.find('Truth data') != -1:
+                    if (lines.index(line)) < truth_index:
+                        truth_index = lines.index(line) + 1
 
         ipc_off = 'OFF                                     ! IPC Mode (OFF,TX,RX,TXRX,ACS,WRITEFILE,READFILE)\n'
         if (sc_css_en != 'true'):
@@ -387,6 +392,8 @@
             lines[torquer_index] = ipc_off
         if (sc_thruster_en != 'true'):
             lines[thruster_index] = ipc_off
+        if (sc_sim_truth_en != 'true'):
+            lines[truth_index] = ipc_off
 
         with open('./cfg/build/InOut/Inp_IPC.txt', 'w') as fp:
             lines = "".join(lines)

diff --git a/scripts/cfg/prepare.sh b/scripts/cfg/prepare.sh
@@ -36,6 +36,11 @@ echo "Proceeding to optional additions."
 echo ""
 echo ""
 
+echo "Preparing Shared Folders for Fprime..."
+mkdir $USER_FPRIME_PATH 2> /dev/null
+echo ""
+echo ""
+
 echo "Prepare Igniter (optional)..."
 pip3 install pyside6 xmltodict
 cd $BASE_DIR

diff --git a/scripts/cfg/uninstall.sh b/scripts/cfg/uninstall.sh
@@ -21,6 +21,7 @@ yes | rm $BASE_DIR/minicom.cap 2> /dev/null
 echo "Cleaning up local user directory..."
 $DFLAGS -v $USER_NOS3_DIR:$USER_NOS3_DIR $DBOX rm -rf $USER_NOS3_DIR
 rm -rf $USER_NOS3_DIR/*
+rm -rf $USER_FPRIME_PATH
 
 yes | rm -rf $USER_NOS3_DIR/.m2 2> /dev/null
 yes | rm -rf $USER_NOS3_DIR 2> /dev/null

diff --git a/scripts/checkout.sh b/scripts/checkout.sh
@@ -19,41 +19,55 @@ echo ""
 # Debugging
 # Replace `--tab` with `--window-with-profile=KeepOpen` once you've created this gnome-terminal profile manually
 
-#echo "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 "NOS Core..."
 gnome-terminal --tab --title="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="NOS Time Driver"   -- $DFLAGS -v $SIM_DIR:$SIM_DIR --name nos_time_driver --network=$SC_NETNAME -w $SIM_BIN $DBOX ./nos3-single-simulator $SC_CFG_FILE time
 gnome-terminal --tab --title="NOS Terminal"      -- $DFLAGS -v $SIM_DIR:$SIM_DIR --name "nos_terminal"        --network=$SC_NETNAME -w $SIM_BIN $DBOX ./nos3-single-simulator $SC_CFG_FILE stdio-terminal
+echo ""
 
-echo " Checkout..."
-# Rename for your simulator under test to allow checkout, uncomment if already exists
-
-# Example manual build for sample checkout:
+##
+## HOW TO CHECKOUT
+##
+# Rename for your simulator under test in this file below to allow checkout, uncomment if already exists
+# Change configuration for your selected component (if using 42 for data)
+#   Modify ./cfg/nos3-mission.xml to use `<sc-1-cfg>sc-minimal-config.xml</sc-1-cfg>` 
+#   Modify ./cfg/sc_minimal-config.xml to enable your specific component to test
+# Manually build checkout: (sample shown as reference)
 #   make debug
 #   cd ./components/sample/fsw/standalone
 #   mkdir build
 #   cd build
 #   cmake .. -DTGTNAME=cpu1
 #   make
 #   exit
+# Run `make clean; make; make checkout`
+#   Double check everything running as expected
+#   Run tests as needed
+# Run `make stop` and repeat until feature complete
+echo "Checkout..."
 
 ##
 ## Arducam
 ##
 #gnome-terminal --tab --title="Arducam 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 --title="Arducam Checkout"   -- $DFLAGS -v $BASE_DIR:$BASE_DIR --name $SC_NUM"_arducam_checkout"   --network=$SC_NETNAME -w $BASE_DIR $DBOX ./components/arducam/fsw/standalone/build/arducam_checkout
 
+##
+## Fine Sun Sensor (FSS)
+##
+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 $USER_NOS3_DIR/42/42 NOS3InOut
+echo ""
+gnome-terminal --tab --title=$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 --title="FSS Checkout" -- $DFLAGS -v $BASE_DIR:$BASE_DIR --name $SC_NUM"_fss_checkout" --network=$SC_NETNAME -w $BASE_DIR $DBOX ./components/generic_fss/fsw/standalone/build/generic_fss_checkout
+
 ##
 ## Sample
 ##
-gnome-terminal --tab --title="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 --title="Sample Checkout"   -- $DFLAGS -v $BASE_DIR:$BASE_DIR --name $SC_NUM"_sample_checkout"   --network=$SC_NETNAME -w $BASE_DIR $DBOX ./components/sample/fsw/standalone/build/sample_checkout
+#gnome-terminal --tab --title="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 --title="Sample Checkout" -- $DFLAGS -v $BASE_DIR:$BASE_DIR --name $SC_NUM"_sample_checkout" --network=$SC_NETNAME -w $BASE_DIR $DBOX ./components/sample/fsw/standalone/build/sample_checkout
 
 # sleep 1
 # urlIP=$(docker container inspect sc_1_sample_checkout | grep -i IPAddress | grep -oE "\b([0-9]{1,3}\.){3}[0-9]{1,3}\b")

diff --git a/scripts/debug.sh b/scripts/debug.sh
@@ -9,4 +9,4 @@ SCRIPT_DIR=$( cd -- "$( dirname -- "${BASH_SOURCE[0]}" )" &> /dev/null && pwd )
 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 -v $MVN_DIR:$MVN_DIR -p 8090:8090 -p 5012:5012 -w $BASE_DIR --sysctl fs.mqueue.msg_max=10000 --ulimit rtprio=99 --cap-add=sys_nice --name "nos3_debug" $DBOX bash
+$DFLAGS_CPUS -v $USER_FPRIME_PATH:$USER_FPRIME_PATH -v $BASE_DIR:$BASE_DIR -v $USER_NOS3_DIR:$USER_NOS3_DIR -v $MVN_DIR:$MVN_DIR -p 8090:8090 -p 5012:5012  -w $BASE_DIR --sysctl fs.mqueue.msg_max=10000 --ulimit rtprio=99 --cap-add=sys_nice --name "nos3_debug" $DBOX bash
diff --git a/scripts/env.sh b/scripts/env.sh
@@ -20,6 +20,7 @@ NUM_CPUS="$( nproc )"
 
 USERDIR=$(cd ~/ && pwd)
 USER_NOS3_DIR=$(cd ~/ && pwd)/.nos3
+USER_FPRIME_PATH=$USERDIR/.cookiecutter_replay
 
 OPENC3_DIR=$USER_NOS3_DIR/cosmos
 OPENC3_PATH=$OPENC3_DIR/openc3.sh
+16 −0		.gitignore
+3 −1		fsw/cfs/CMakeLists.txt
+0 −185		fsw/cfs/src/generic_fss_device.c
+0 −32		fsw/fprime/src/generic_fss_device.h
+7 −22		fsw/shared/generic_fss_device.c
+47 −32		fsw/shared/generic_fss_device.h
+65 −0		fsw/standalone/CMakeLists.txt
+20 −0		fsw/standalone/device_cfg.h
+216 −0		fsw/standalone/generic_fss_checkout.c
+67 −0		fsw/standalone/generic_fss_checkout.h