Merge pull request 'Raspberry Pi fixes, GPS Handler update, Stripped Executable' (#84) from mueller/stripped-exec into develop

Reviewed-on: #84
Reviewed-by: Jakob.Meier <meierj@irs.uni-stuttgart.de>

CMakeLists.txt

@@ -153,8 +153,6 @@ if(ADD_JSON_LIB)
     add_subdirectory(${LIB_JSON_PATH})
 endif()
 
-
-
 if(NOT EIVE_BUILD_WATCHDOG)
     if(ADD_LINUX_FILES)
         add_subdirectory(${LINUX_PATH})
@@ -190,8 +188,13 @@ if((NOT BUILD_Q7S_SIMPLE_MODE) AND (NOT EIVE_BUILD_WATCHDOG))
         ${LIB_FSFW_NAME}
         ${LIB_OS_NAME}
         ${LIB_LWGPS_NAME}
-        ${LIB_ARCSEC}
     )
+
+    if(TGT_BSP MATCHES "arm/q7s")
+        target_link_libraries(${TARGET_NAME} PRIVATE
+            ${LIB_ARCSEC}
+        )
+    endif()
 endif()
 
 if(NOT EIVE_BUILD_WATCHDOG)
@@ -214,8 +217,6 @@ if(ADD_JSON_LIB)
     )
 endif()
 
-
-
 target_link_libraries(${TARGET_NAME} PRIVATE
     ${LIB_CXX_FS}
 )
@@ -228,6 +229,11 @@ target_include_directories(${TARGET_NAME} PRIVATE
 	${ARCSEC_LIB_PATH}
 )	
 
+if(TGT_BSP MATCHES "arm/q7s")
+    target_include_directories(${TARGET_NAME} PRIVATE
+        ${ARCSEC_LIB_PATH}
+    )
+endif()
 
 if(CMAKE_CXX_COMPILER_ID STREQUAL "GNU")
 	set(WARNING_FLAGS

bsp_linux_board/InitMission.cpp

@@ -134,12 +134,14 @@ void initmission::initTasks() {
                 objects::INTERNAL_ERROR_REPORTER);
     }
 
+    bool startTestPst = true;
 #if OBSW_ADD_TEST_PST == 1
     FixedTimeslotTaskIF* pstTestTask = factory->createFixedTimeslotTask("ACS_PST", 50,
             PeriodicTaskIF::MINIMUM_STACK_SIZE * 2, 2.0, missedDeadlineFunc);
     result = pst::pstTest(pstTestTask);
     if(result != HasReturnvaluesIF::RETURN_OK) {
-        sif::warning << "initmission::initTasks: ACS PST initialization failed!" << std::endl;
+        sif::info << "initmission::initTasks: ACS PST empty or invalid" << std::endl;
+        startTestPst = false;
     }
 #endif /* RPI_TEST_ACS_BOARD == 1 */
 
@@ -186,7 +188,9 @@ void initmission::initTasks() {
 #endif /* OBSW_ADD_TEST_CODE == 1 */
 
 #if OBSW_ADD_TEST_PST == 1
-    pstTestTask->startTask();
+    if(startTestPst) {
+        pstTestTask->startTask();
+    }
 #endif /* RPI_TEST_ACS_BOARD == 1 */
     sif::info << "Tasks started.." << std::endl;
 }

bsp_linux_board/ObjectFactory.cpp

@@ -1,6 +1,3 @@
-#include <fsfw_hal/linux/uart/UartComIF.h>
-#include <fsfw_hal/linux/uart/UartCookie.h>
-#include <mission/devices/GPSHyperionHandler.h>
 #include "ObjectFactory.h"
 
 #include "objects/systemObjectList.h"
@@ -17,6 +14,7 @@
 
 #include "mission/core/GenericFactory.h"
 #include "mission/utility/TmFunnel.h"
+#include <mission/devices/GPSHyperionHandler.h>
 #include "mission/devices/MGMHandlerLIS3MDL.h"
 #include "mission/devices/MGMHandlerRM3100.h"
 #include "mission/devices/GyroADIS16507Handler.h"
@@ -28,8 +26,13 @@
 #include "fsfw/tasks/TaskFactory.h"
 
 /* UDP server includes */
+#if OBSW_USE_TMTC_TCP_BRIDGE == 1
+#include <fsfw/src/fsfw/osal/common/TcpTmTcBridge.h>
+#include <fsfw/src/fsfw/osal/common/TcpTmTcServer.h>
+#else
 #include "fsfw/osal/common/UdpTmTcBridge.h"
 #include "fsfw/osal/common/UdpTcPollingTask.h"
+#endif
 
 #include "fsfw_hal/devicehandlers/GyroL3GD20Handler.h"
 #include "fsfw_hal/linux/gpio/LinuxLibgpioIF.h"
@@ -37,6 +40,8 @@
 #include "fsfw_hal/common/gpio/GpioCookie.h"
 #include "fsfw_hal/linux/spi/SpiCookie.h"
 #include "fsfw_hal/linux/spi/SpiComIF.h"
+#include <fsfw_hal/linux/uart/UartComIF.h>
+#include <fsfw_hal/linux/uart/UartCookie.h>
 
 void Factory::setStaticFrameworkObjectIds() {
     PusServiceBase::packetSource = objects::PUS_PACKET_DISTRIBUTOR;
@@ -59,12 +64,27 @@ void ObjectFactory::produce(void* args){
     Factory::setStaticFrameworkObjectIds();
     ObjectFactory::produceGenericObjects();
 
+#if OBSW_USE_TMTC_TCP_BRIDGE == 1
+    new TcpTmTcBridge(objects::TMTC_BRIDGE, objects::CCSDS_PACKET_DISTRIBUTOR);
+    new TcpTmTcServer(objects::TMTC_POLLING_TASK, objects::TMTC_BRIDGE);
+#else
     new UdpTmTcBridge(objects::TMTC_BRIDGE, objects::CCSDS_PACKET_DISTRIBUTOR);
     new UdpTcPollingTask(objects::TMTC_POLLING_TASK, objects::TMTC_BRIDGE);
+#endif
 
     GpioIF* gpioIF = new LinuxLibgpioIF(objects::GPIO_IF);
     GpioCookie* gpioCookie = nullptr;
     static_cast<void>(gpioCookie);
+
+    new SpiComIF(objects::SPI_COM_IF, gpioIF);
+
+    std::string spiDev;
+    SpiCookie* spiCookie = nullptr;
+    static_cast<void>(spiCookie);
+
+#if OBSW_ADD_TEST_CODE == 1
+    new TestTask(objects::TEST_TASK);
+
 #if RPI_ADD_SPI_TEST == 1
     new SpiTestClass(objects::SPI_TEST, gpioIF);
 #endif
@@ -89,12 +109,6 @@ void ObjectFactory::produce(void* args){
     new LibgpiodTest(objects::LIBGPIOD_TEST, objects::GPIO_IF, gpioCookieLoopback);
 #endif /* RPI_LOOPBACK_TEST_GPIO == 1 */
 
-    new SpiComIF(objects::SPI_COM_IF, gpioIF);
-
-    std::string spiDev;
-    SpiCookie* spiCookie = nullptr;
-    static_cast<void>(spiCookie);
-
 #if RPI_TEST_ACS_BOARD == 1
     if(gpioCookie == nullptr) {
         gpioCookie = new GpioCookie();
@@ -158,8 +172,9 @@ void ObjectFactory::produce(void* args){
     uartCookie->setToFlushInput(true);
     uartCookie->setReadCycles(6);
     GPSHyperionHandler* gpsHandler = new GPSHyperionHandler(objects::GPS0_HANDLER,
-            objects::UART_COM_IF, uartCookie);
+            objects::UART_COM_IF, uartCookie, false);
     gpsHandler->setStartUpImmediately();
 #endif
 
+#endif /* OBSW_ADD_TEST_CODE == 1 */
 }

bsp_linux_board/boardconfig/rpiConfig.h.in

@@ -15,10 +15,7 @@
 #define RPI_TEST_ACS_BOARD              0
 #endif
 
-#define RPI_ADD_UART_TEST               1
-#if RPI_ADD_UART_TEST == 1
-#define RPI_TEST_GPS_DEVICE             0
-#endif
+#define RPI_ADD_UART_TEST               0
 
 /* Adapt these values accordingly */
 namespace gpio {

bsp_linux_board/main.cpp

@@ -1,4 +1,5 @@
 #include "InitMission.h"
+#include "OBSWConfig.h"
 #include "OBSWVersion.h"
 
 #include "fsfw/FSFWVersion.h"

cmake/HardwareOsPostConfig.cmake

@@ -11,17 +11,6 @@ if(LINK_LWIP)
 	endif()
 endif()
 
-if(LINK_HAL)
-	message(STATUS "Linking against ${LIB_HAL_NAME} HAL library")
-	if(LIB_HAL_NAME)
-		target_link_libraries(${TARGET_NAME} PUBLIC
-			${LIB_HAL_NAME}
-		)
-	else()
-		message(WARNING "HAL library name not set!")
-	endif()
-endif()
-
 if(LINKER_SCRIPT)
 	target_link_options(${TARGET_NAME} PRIVATE
 		-T${LINKER_SCRIPT}
@@ -52,11 +41,14 @@ target_compile_options(${TARGET_NAME} PRIVATE
 	$<$<COMPILE_LANGUAGE:ASM>:${ASM_FLAGS}>
 )
 
+set(STRIPPED_TARGET_NAME ${TARGET_NAME}-stripped)
+
 add_custom_command(
 	TARGET ${TARGET_NAME}
 	POST_BUILD
-	COMMAND ${CMAKE_OBJCOPY} -O binary ${TARGET_NAME} ${TARGET_NAME}.bin
-	COMMENT "Generating binary file ${CMAKE_PROJECT_NAME}.bin.."
+	COMMAND ${CMAKE_STRIP} --strip-all ${TARGET_NAME} -o ${STRIPPED_TARGET_NAME}
+	BYPRODUCTS ${STRIPPED_TARGET_NAME}
+	COMMENT "Generating stripped executable ${STRIPPED_TARGET_NAME}.."
 )
 
 endfunction()

cmake/Q7SCrossCompileConfig.cmake

@@ -42,6 +42,7 @@ find_program (CMAKE_CXX_COMPILER ${CROSS_COMPILE_CXX} REQUIRED)
 # Useful utilities, not strictly necessary
 find_program(CMAKE_SIZE ${CROSS_COMPILE_SIZE})
 find_program(CMAKE_OBJCOPY ${CROSS_COMPILE_OBJCOPY})
+find_program(CMAKE_STRIP ${CROSS_COMPILE_STRIP})
 
 set(CMAKE_CROSSCOMPILING TRUE)
 set(CMAKE_SYSROOT "${SYSROOT_PATH}")

cmake/scripts/Q7S/make-size-cfg.sh

@@ -0,0 +1,35 @@
+#!/bin/sh
+counter=0
+cfg_script_name="cmake-build-cfg.py"
+while [ ${counter} -lt 5 ]
+do
+    cd ..
+    if [ -f ${cfg_script_name} ];then
+        break
+    fi
+    counter=$((counter=counter + 1))
+done
+
+if [ "${counter}" -ge 5 ];then
+    echo "${cfg_script_name} not found in upper directories!"
+    exit 1
+fi
+
+os_fsfw="linux"
+tgt_bsp="arm/q7s"
+build_dir="build-Release-Q7S"
+build_generator=""
+if [ "${OS}" = "Windows_NT" ]; then
+	build_generator="MinGW Makefiles"
+    python="py"
+# Could be other OS but this works for now.
+else
+	build_generator="Unix Makefiles"
+    python="python3"
+fi
+
+echo "Running command (without the leading +):"
+set -x # Print command 
+${python} ${cfg_script_name} -o "${os_fsfw}" -g "${build_generator}" -b "size" -t "${tgt_bsp}" \
+	-l"${build_dir}"
+# set +x

linux/fsfwconfig/OBSWConfig.h.in

@@ -6,7 +6,7 @@
 #ifndef FSFWCONFIG_OBSWCONFIG_H_
 #define FSFWCONFIG_OBSWCONFIG_H_
 
-#cmakedefine RASPBERRY_Pi
+#cmakedefine RASPBERRY_PI
 #cmakedefine XIPHOS_Q7S
 #cmakedefine BEAGLEBONEBLACK
 

linux/fsfwconfig/pollingsequence/pollingSequenceFactory.cpp

@@ -606,7 +606,9 @@ ReturnValue_t pst::pstGompaceCan(FixedTimeslotTaskIF *thisSequence){
 ReturnValue_t pst::pstTest(FixedTimeslotTaskIF* thisSequence) {
     /* Length of a communication cycle */
     uint32_t length = thisSequence->getPeriodMs();
+    bool notEmpty = false;
 #if OBSW_ADD_ACS_BOARD == 1
+    notEmpty = true;
     thisSequence->addSlot(objects::MGM_0_LIS3_HANDLER, length * 0,
             DeviceHandlerIF::PERFORM_OPERATION);
     thisSequence->addSlot(objects::MGM_0_LIS3_HANDLER, length * 0.2,
@@ -678,6 +680,7 @@ ReturnValue_t pst::pstTest(FixedTimeslotTaskIF* thisSequence) {
 #endif
 
 #if RPI_TEST_ADIS16507 == 1
+    notEmpty = true;
     thisSequence->addSlot(objects::GYRO_0_ADIS_HANDLER, length * 0,
             DeviceHandlerIF::PERFORM_OPERATION);
     thisSequence->addSlot(objects::GYRO_0_ADIS_HANDLER, length * 0.2, DeviceHandlerIF::SEND_WRITE);
@@ -687,6 +690,7 @@ ReturnValue_t pst::pstTest(FixedTimeslotTaskIF* thisSequence) {
 #endif
 
 #if RPI_TEST_GPS_HANDLER == 1
+    notEmpty = true;
     thisSequence->addSlot(objects::GPS0_HANDLER, length * 0, DeviceHandlerIF::PERFORM_OPERATION);
 
     thisSequence->addSlot(objects::GPS0_HANDLER, length * 0, DeviceHandlerIF::SEND_READ);
@@ -696,6 +700,9 @@ ReturnValue_t pst::pstTest(FixedTimeslotTaskIF* thisSequence) {
     thisSequence->addSlot(objects::GPS0_HANDLER, length * 0.5, DeviceHandlerIF::GET_READ);
 #endif
     static_cast<void>(length);
+    if(not notEmpty) {
+        return HasReturnvaluesIF::RETURN_FAILED;
+    }
     if (thisSequence->checkSequence() != HasReturnvaluesIF::RETURN_OK) {
         sif::error << "Test PST initialization failed" << std::endl;
         return HasReturnvaluesIF::RETURN_FAILED;

mission/devices/GPSHyperionHandler.cpp

@@ -7,8 +7,9 @@
 #include "lwgps/lwgps.h"
 
 GPSHyperionHandler::GPSHyperionHandler(object_id_t objectId, object_id_t deviceCommunication,
-		CookieIF *comCookie):
-		DeviceHandlerBase(objectId, deviceCommunication, comCookie), gpsSet(this) {
+        CookieIF *comCookie, bool debugHyperionGps):
+        DeviceHandlerBase(objectId, deviceCommunication, comCookie), gpsSet(this),
+        debugHyperionGps(debugHyperionGps) {
     lwgps_init(&gpsData);
 }
 
@@ -36,21 +37,21 @@ void GPSHyperionHandler::doShutDown() {
 }
 
 ReturnValue_t GPSHyperionHandler::buildTransitionDeviceCommand(DeviceCommandId_t *id) {
-	return HasReturnvaluesIF::RETURN_OK;
+    return HasReturnvaluesIF::RETURN_OK;
 }
 
 ReturnValue_t GPSHyperionHandler::buildNormalDeviceCommand(DeviceCommandId_t *id) {
-	return HasReturnvaluesIF::RETURN_OK;
+    return HasReturnvaluesIF::RETURN_OK;
 }
 
 ReturnValue_t GPSHyperionHandler::buildCommandFromCommand(
-		DeviceCommandId_t deviceCommand, const uint8_t *commandData,
-		size_t commandDataLen) {
-	return HasReturnvaluesIF::RETURN_OK;
+        DeviceCommandId_t deviceCommand, const uint8_t *commandData,
+        size_t commandDataLen) {
+    return HasReturnvaluesIF::RETURN_OK;
 }
 
 ReturnValue_t GPSHyperionHandler::scanForReply(const uint8_t *start, size_t len,
-		DeviceCommandId_t *foundId, size_t *foundLen) {
+        DeviceCommandId_t *foundId, size_t *foundLen) {
     // Pass data to GPS library
     if(len > 0) {
         sif::info << "GPSHandler::scanForReply: Received " << len << " bytes" << std::endl;
@@ -100,31 +101,31 @@ ReturnValue_t GPSHyperionHandler::scanForReply(const uint8_t *start, size_t len,
             gpsSet.hours = gpsData.hours;
             gpsSet.minutes = gpsData.minutes;
             gpsSet.seconds = gpsData.seconds;
-#if FSFW_HAL_DEBUG_HYPERION_GPS == 1
-            sif::info << "GPS Data" << std::endl;
-            printf("Valid status: %d\n", gpsData.is_valid);
-            printf("Latitude: %f degrees\n", gpsData.latitude);
-            printf("Longitude: %f degrees\n", gpsData.longitude);
-            printf("Altitude: %f meters\n", gpsData.altitude);
-#endif
+            if(debugHyperionGps) {
+                sif::info << "GPS Data" << std::endl;
+                printf("Valid status: %d\n", gpsData.is_valid);
+                printf("Latitude: %f degrees\n", gpsData.latitude);
+                printf("Longitude: %f degrees\n", gpsData.longitude);
+                printf("Altitude: %f meters\n", gpsData.altitude);
+            }
         }
         *foundLen = len;
     }
-	return HasReturnvaluesIF::RETURN_OK;
+    return HasReturnvaluesIF::RETURN_OK;
 
 }
 
 ReturnValue_t GPSHyperionHandler::interpretDeviceReply(DeviceCommandId_t id,
-		const uint8_t *packet) {
-	return HasReturnvaluesIF::RETURN_OK;
+        const uint8_t *packet) {
+    return HasReturnvaluesIF::RETURN_OK;
 }
 
 uint32_t GPSHyperionHandler::getTransitionDelayMs(Mode_t from, Mode_t to) {
-	return 5000;
+    return 5000;
 }
 
 ReturnValue_t GPSHyperionHandler::initializeLocalDataPool(
-		localpool::DataPool &localDataPoolMap, LocalDataPoolManager &poolManager) {
+        localpool::DataPool &localDataPoolMap, LocalDataPoolManager &poolManager) {
     localDataPoolMap.emplace(GpsHyperion::ALTITUDE, new PoolEntry<double>({0.0}));
     localDataPoolMap.emplace(GpsHyperion::LONGITUDE, new PoolEntry<double>({0.0}));
     localDataPoolMap.emplace(GpsHyperion::LATITUDE, new PoolEntry<double>({0.0}));
@@ -137,12 +138,13 @@ ReturnValue_t GPSHyperionHandler::initializeLocalDataPool(
     localDataPoolMap.emplace(GpsHyperion::UNIX_SECONDS, new PoolEntry<uint32_t>());
     localDataPoolMap.emplace(GpsHyperion::SATS_IN_USE, new PoolEntry<uint8_t>());
     localDataPoolMap.emplace(GpsHyperion::FIX_MODE, new PoolEntry<uint8_t>());
-	return HasReturnvaluesIF::RETURN_OK;
+    poolManager.subscribeForPeriodicPacket(gpsSet.getSid(), true, 2.0, false);
+    return HasReturnvaluesIF::RETURN_OK;
 }
 
 void GPSHyperionHandler::fillCommandAndReplyMap() {
     // Reply length does not matter, packets should always arrive periodically
-    insertInReplyMap(GpsHyperion::GPS_REPLY, 4, nullptr, 0, true);
+    insertInReplyMap(GpsHyperion::GPS_REPLY, 4, &gpsSet, 0, true);
 }
 
 void GPSHyperionHandler::modeChanged() {

mission/devices/GPSHyperionHandler.h

@@ -1,13 +1,11 @@
 #ifndef MISSION_DEVICES_GPSHYPERIONHANDLER_H_
 #define MISSION_DEVICES_GPSHYPERIONHANDLER_H_
 
+#include "fsfw/FSFW.h"
 #include "fsfw/devicehandlers/DeviceHandlerBase.h"
 #include "devicedefinitions/GPSDefinitions.h"
 #include "lwgps/lwgps.h"
 
-#ifndef FSFW_HAL_DEBUG_HYPERION_GPS
-#define FSFW_HAL_DEBUG_HYPERION_GPS     0
-#endif
 
 /**
  * @brief   Device handler for the Hyperion HT-GPS200 device
@@ -18,10 +16,11 @@
 class GPSHyperionHandler: public DeviceHandlerBase {
 public:
 	GPSHyperionHandler(object_id_t objectId, object_id_t deviceCommunication,
-	        CookieIF* comCookie);
+	        CookieIF* comCookie, bool debugHyperionGps = false);
 	virtual ~GPSHyperionHandler();
 
 protected:
+
 	enum class InternalStates {
 	    NONE,
 	    WAIT_FIRST_MESSAGE,
@@ -54,6 +53,7 @@ protected:
 private:
 	lwgps_t gpsData = {};
 	GpsPrimaryDataset gpsSet;
+	bool debugHyperionGps = false;
 };
 
 #endif /* MISSION_DEVICES_GPSHYPERIONHANDLER_H_ */

tmtc

@@ -1 +1 @@
-Subproject commit cc6dbd8ef9d5bd028835f37a24a5617224569862
+Subproject commit 387a076a2180c14da8de086d690a2ebb5ad63649