217 lines
8.3 KiB
Markdown
217 lines
8.3 KiB
Markdown
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# Flight Software Framework (FSFW)
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The Flight Software Framework is a C++ Object Oriented Framework for unmanned,
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automated systems like Satellites.
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The initial version of the Flight Software Framework was developed during
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the Flying Laptop Project by the University of Stuttgart in cooperation
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with Airbus Defence and Space GmbH.
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## Quick facts
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The framework is designed for systems, which communicate with external devices, perform control loops,
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receive telecommands and send telemetry, and need to maintain a high level of availability. Therefore,
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a mode and health system provides control over the states of the software and the controlled devices.
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In addition, a simple mechanism of event based fault detection, isolation and recovery is implemented as well.
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The FSFW provides abstraction layers for operating systems to provide a uniform operating system
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abstraction layer (OSAL). Some components of this OSAL are required internally by the FSFW but is
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also very useful for developers to implement the same application logic on different operating
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systems with a uniform interface.
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Currently, the FSFW provides the following OSALs:
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- Linux
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- Host
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- FreeRTOS
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- RTEMS
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The recommended hardware is a microprocessor with more than 1 MB of RAM and 1 MB of non-volatile
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memory. For reference, current applications use a Cobham Gaisler UT699 (LEON3FT), a
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ISISPACE IOBC or a Zynq-7020 SoC. The `fsfw` was also successfully run on the
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STM32H743ZI-Nucleo board and on a Raspberry Pi and is currently running on the active
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satellite mission Flying Laptop.
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## Getting started
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The [Hosted FSFW example](https://egit.irs.uni-stuttgart.de/fsfw/fsfw-example-hosted) provides a
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good starting point and a demo to see the FSFW capabilities.
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It is recommended to get started by building and playing around with the demo application.
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There are also other examples provided for all OSALs using the popular embedded platforms
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Raspberry Pi, Beagle Bone Black and STM32H7.
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Generally, the FSFW is included in a project by providing
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a configuration folder, building the static library and linking against it.
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There are some functions like `printChar` which are different depending on the target architecture
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and need to be implemented by the mission developer.
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A template configuration folder was provided and can be copied into the project root to have
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a starting point. The [configuration section](docs/README-config.md#top) provides more specific
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information about the possible options.
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## Prerequisites
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The Embedded Template Library (etl) is a dependency of the FSFW which is automatically
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installed and provided by the build system unless the correction version was installed.
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The current recommended version can be found inside the fsfw `CMakeLists.txt` file or by using
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`ccmake` and looking up the `FSFW_ETL_LIB_MAJOR_VERSION` variable.
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You can install the ETL library like this. On Linux, it might be necessary to add `sudo` before
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the install call:
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```cpp
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git clone https://github.com/ETLCPP/etl
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cd etl
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git checkout <currentRecommendedVersion>
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mkdir build && cd build
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cmake ..
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cmake --install .
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```
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It is recommended to install `20.27.2` or newer for the package version handling of
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ETL to work.
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## Adding the library
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The following steps show how to add and use FSFW components. It is still recommended to
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try out the example mentioned above to get started, but the following steps show how to
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add and link against the FSFW library in general.
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1. Add this repository as a submodule
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```sh
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git submodule add https://egit.irs.uni-stuttgart.de/fsfw/fsfw.git fsfw
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```
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2. Add the following directive inside the uppermost `CMakeLists.txt` file of your project
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```cmake
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add_subdirectory(fsfw)
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```
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3. Make sure to provide a configuration folder and supply the path to that folder with
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the `FSFW_CONFIG_PATH` CMake variable from the uppermost `CMakeLists.txt` file.
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It is also necessary to provide the `printChar` function. You can find an example
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implementation for a hosted build
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[here](https://egit.irs.uni-stuttgart.de/fsfw/fsfw-example-hosted/src/branch/master/bsp_hosted/utility/printChar.c).
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4. Link against the FSFW library
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```sh
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target_link_libraries(${YourProjectName} PRIVATE fsfw)
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```
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5. It should now be possible use the FSFW as a static library from the user code.
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## Current dependencies
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This library currently has the following vendored dependencies:
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- [Embedded Template Library (etl) v20.39.4](https://github.com/ETLCPP/etl/releases/tag/20.39.4)
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- [Catch2 v3.7.1](https://github.com/catchorg/Catch2/releases/tag/v3.7.1)
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- sgp4 propagator
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## Building the unittests
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The FSFW also has unittests which use the [Catch2 library](https://github.com/catchorg/Catch2).
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These are built by setting the CMake option `FSFW_BUILD_UNITTESTS` to `ON` or `TRUE`
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from your project `CMakeLists.txt` file or from the command line.
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You can install the Catch2 library, which prevents the build system to avoid re-downloading
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the dependency if the unit tests are completely rebuilt. The current recommended version
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can be found inside the fsfw `CMakeLists.txt` file or by using `ccmake` and looking up
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the `FSFW_CATCH2_LIB_VERSION` variable.
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```sh
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git clone https://github.com/catchorg/Catch2.git
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cd Catch2
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git checkout <currentRecommendedVersion>
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cmake -Bbuild -H. -DBUILD_TESTING=OFF
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sudo cmake --build build/ --target install
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```
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The fsfw-tests binary will be built as part of the static library and dropped alongside it.
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If the unittests are built, the library and the tests will be built with coverage information by
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default. This can be disabled by setting the `FSFW_TESTS_COV_GEN` option to `OFF` or `FALSE`.
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You can use the following commands inside the `fsfw` folder to set up the build system
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```sh
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mkdir build-tests && cd build-tests
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cmake -DFSFW_BUILD_TESTS=ON -DFSFW_OSAL=host -DCMAKE_BUILD_TYPE=Debug ..
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```
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You can also use `-DFSFW_OSAL=linux` on Linux systems.
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Coverage data in HTML format can be generated using the `CodeCoverage`
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[CMake module](https://github.com/bilke/cmake-modules/tree/master).
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To build the unittests, run them and then generate the coverage data in this format,
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the following command can be used inside the build directory after the build system was set up
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```sh
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cmake --build . -- fsfw-tests_coverage -j
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```
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The `coverage.py` script located in the `script` folder can also be used to do this conveniently.
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## Building the documentations
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The FSFW documentation is built using the tools Sphinx, doxygen and breathe based on the
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instructions provided in [this blogpost](https://devblogs.microsoft.com/cppblog/clear-functional-c-documentation-with-sphinx-breathe-doxygen-cmake/). If you
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want to do this locally, set up the prerequisites first. This requires a ``python3``
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installation as well. Example here is for Ubuntu.
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```sh
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sudo apt-get install doxygen graphviz
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```
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And the following Python packages
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```sh
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python3 -m pip install sphinx breathe
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```
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You can set up a documentation build system using the following commands
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```sh
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mkdir build-docs && cd build-docs
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cmake -DFSFW_BUILD_DOCS=ON -DFSFW_OSAL=host ..
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```
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Then you can generate the documentation using
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```sh
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cmake --build . -- Sphinx -j
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```
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You can find the generated documentation inside the `docs/sphinx` folder inside the build
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folder. Simply open the `index.html` in the webbrowser of your choice.
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The `helper.py` script located in the script` folder can also be used to create, build
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and open the documentation conveniently. Try `helper.py -h for more information.
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## Formatting the sources
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The formatting is done by the `clang-format` tool. The configuration is contained within the
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`.clang-format` file in the repository root. As long as `clang-format` is installed, you
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can run the `auto-format.sh` helper script to format all source files consistently. Furthermore cmake-format is required to format CMake files which can be installed with:
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````sh
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sudo pip install cmakelang
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````
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## Index
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[1. High-level overview](docs/README-highlevel.md#top) <br>
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[2. Core components](docs/README-core.md#top) <br>
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[3. Configuration](docs/README-config.md#top) <br>
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[4. OSAL overview](docs/README-osal.md#top) <br>
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[5. PUS services](docs/README-pus.md#top) <br>
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[6. Device Handler overview](docs/README-devicehandlers.md#top) <br>
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[7. Controller overview](docs/README-controllers.md#top) <br>
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[8. Local Data Pools](docs/README-localpools.md#top) <br>
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