updated tmtc
This commit is contained in:
Jakob.Meier
commit
72533f1d14
103
CMakeLists.txt
103
CMakeLists.txt
@ -14,7 +14,8 @@ cmake_minimum_required(VERSION 3.13)
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set(CMAKE_SCRIPT_PATH "${CMAKE_CURRENT_SOURCE_DIR}/cmake")
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if(TGT_BSP MATCHES "arm/q7s")
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option(Q7S_SIMPLE_MODE OFF "Simple mode with a minimal main function")
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option(BUILD_WATCHDOG "Compile the OBSW watchdog insted" OFF)
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option(BUILD_Q7S_SIMPLE_MODE OFF "Simple mode with a minimal main function")
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endif()
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option(ADD_ETL_LIB "Add ETL library" ON)
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@ -32,8 +33,13 @@ endif()
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include(${CMAKE_SCRIPT_PATH}/PreProjectConfig.cmake)
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pre_project_config()
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set(PROJECT_NAME_TO_SET eive-obsw-$ENV{USERNAME})
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if(BUILD_WATCHDOG)
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set(PROJECT_NAME_TO_SET eive-watchdog)
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endif()
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# Project Name
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project(eive_obsw ASM C CXX)
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project(${PROJECT_NAME_TO_SET} ASM C CXX)
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################################################################################
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# Pre-Sources preparation
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@ -60,6 +66,7 @@ set(MISSION_PATH mission)
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set(TEST_PATH test/testtasks)
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set(LINUX_PATH linux)
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set(COMMON_PATH common)
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set(WATCHDOG_PATH watchdog)
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set(COMMON_CONFIG_PATH ${COMMON_PATH}/config)
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set(FSFW_HAL_LIB_PATH fsfw_hal)
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@ -82,24 +89,27 @@ if(TGT_BSP)
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OR TGT_BSP MATCHES "arm/beagleboneblack"
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)
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set(FSFW_CONFIG_PATH "linux/fsfwconfig")
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if(NOT Q7S_SIMPLE_MODE)
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if(NOT BUILD_Q7S_SIMPLE_MODE)
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set(ADD_LINUX_FILES TRUE)
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set(ADD_CSP_LIB TRUE)
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set(FSFW_HAL_ADD_LINUX ON)
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endif()
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endif()
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if(${TGT_BSP} MATCHES "arm/raspberrypi")
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add_definitions(-DRASPBERRY_PI)
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if(${TGT_BSP} MATCHES "arm/raspberrypi")
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# Used by configure file
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set(RASPBERRY_PI ON)
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set(FSFW_HAL_ADD_RASPBERRY_PI ON)
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endif()
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if(${TGT_BSP} MATCHES "arm/beagleboneblack")
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add_definitions(-DBEAGLEBONEBLACK)
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if(${TGT_BSP} MATCHES "arm/beagleboneblack")
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# Used by configure file
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set(BEAGLEBONEBLACK ON)
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endif()
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if(${TGT_BSP} MATCHES "arm/q7s")
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add_definitions(-DXIPHOS_Q7S)
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# Used by configure file
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set(XIPHOS_Q7S ON)
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endif()
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else()
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# Required by FSFW library
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@ -107,14 +117,17 @@ else()
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endif()
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# Configuration files
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configure_file(${COMMON_CONFIG_PATH}/commonConfig.h.in commonConfig.h)
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configure_file(${FSFW_CONFIG_PATH}/FSFWConfig.h.in FSFWConfig.h)
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configure_file(${FSFW_CONFIG_PATH}/OBSWConfig.h.in OBSWConfig.h)
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if(${TGT_BSP} MATCHES "arm/q7s")
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configure_file(${BSP_PATH}/boardconfig/q7sConfig.h.in q7sConfig.h)
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elseif(${TGT_BSP} MATCHES "arm/raspberrypi")
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configure_file(${BSP_PATH}/boardconfig/rpiConfig.h.in rpiConfig.h)
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if(NOT BUILD_WATCHDOG)
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configure_file(${COMMON_CONFIG_PATH}/commonConfig.h.in commonConfig.h)
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configure_file(${FSFW_CONFIG_PATH}/FSFWConfig.h.in FSFWConfig.h)
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configure_file(${FSFW_CONFIG_PATH}/OBSWConfig.h.in OBSWConfig.h)
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if(${TGT_BSP} MATCHES "arm/q7s")
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configure_file(${BSP_PATH}/boardconfig/q7sConfig.h.in q7sConfig.h)
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elseif(${TGT_BSP} MATCHES "arm/raspberrypi")
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configure_file(${BSP_PATH}/boardconfig/rpiConfig.h.in rpiConfig.h)
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endif()
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endif()
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configure_file(${WATCHDOG_PATH}/watchdogConf.h.in watchdogConf.h)
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# Set common config path for FSFW
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set(FSFW_ADDITIONAL_INC_PATHS
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@ -131,26 +144,28 @@ set(LWGPS_CONFIG_PATH "${COMMON_PATH}/config")
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# Add executable
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add_executable(${TARGET_NAME})
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if(ADD_CSP_LIB)
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add_subdirectory(${CSP_LIB_PATH})
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endif()
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if(ADD_ETL_LIB)
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add_subdirectory(${ETL_LIB_PATH})
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endif()
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if(ADD_LINUX_FILES)
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add_subdirectory(${LINUX_PATH})
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endif()
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if(ADD_JSON_LIB)
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add_subdirectory(${LIB_JSON_PATH})
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endif()
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add_subdirectory(${BSP_PATH})
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add_subdirectory(${COMMON_PATH})
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if(NOT Q7S_SIMPLE_MODE)
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if(NOT BUILD_WATCHDOG)
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if(ADD_LINUX_FILES)
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add_subdirectory(${LINUX_PATH})
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endif()
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add_subdirectory(${BSP_PATH})
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add_subdirectory(${COMMON_PATH})
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if(ADD_CSP_LIB)
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add_subdirectory(${CSP_LIB_PATH})
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endif()
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endif()
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if((NOT BUILD_Q7S_SIMPLE_MODE) AND (NOT BUILD_WATCHDOG))
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add_subdirectory(${LWGPS_LIB_PATH})
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add_subdirectory(${FSFW_PATH})
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add_subdirectory(${MISSION_PATH})
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@ -158,6 +173,9 @@ if(NOT Q7S_SIMPLE_MODE)
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add_subdirectory(${ARCSEC_LIB_PATH})
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endif()
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if(BUILD_WATCHDOG)
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add_subdirectory(${WATCHDOG_PATH})
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endif()
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################################################################################
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# Post-Sources preparation
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@ -165,35 +183,42 @@ endif()
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set_property(CACHE FSFW_OSAL PROPERTY STRINGS host linux)
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if(NOT Q7S_SIMPLE_MODE)
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if((NOT BUILD_Q7S_SIMPLE_MODE) AND (NOT BUILD_WATCHDOG))
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# Add libraries for all sources.
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target_link_libraries(${TARGET_NAME} PRIVATE
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${LIB_FSFW_NAME}
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${LIB_OS_NAME}
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${LIB_LWGPS_NAME}
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${LIB_ARCSEC}
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${LIB_CXX_FS}
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)
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endif()
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if(NOT BUILD_WATCHDOG)
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if(ADD_CSP_LIB)
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target_link_libraries(${TARGET_NAME} PRIVATE
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${LIB_CSP_NAME}
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)
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endif()
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endif()
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if(ADD_ETL_LIB)
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target_link_libraries(${TARGET_NAME} PRIVATE
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${LIB_ETL_NAME}
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)
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endif()
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if(ADD_CSP_LIB)
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target_link_libraries(${TARGET_NAME} PRIVATE
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${LIB_CSP_NAME}
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)
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endif()
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if(ADD_JSON_LIB)
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target_link_libraries(${TARGET_NAME} PRIVATE
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${LIB_JSON_NAME}
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)
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endif()
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target_link_libraries(${TARGET_NAME} PRIVATE
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${LIB_CXX_FS}
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)
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# Add include paths for all sources.
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target_include_directories(${TARGET_NAME} PRIVATE
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${CMAKE_CURRENT_SOURCE_DIR}
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@ -249,10 +274,14 @@ if(NOT CMAKE_SIZE)
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endif()
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endif()
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if(TGT_BSP)
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set(TARGET_STRING "Target BSP: ${TGT_BSP}")
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if(BUILD_WATCHDOG)
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set(TARGET_STRING "OBSW Watchdog")
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else()
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set(TARGET_STRING "Target BSP: Hosted")
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if(TGT_BSP)
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set(TARGET_STRING "Target BSP: ${TGT_BSP}")
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else()
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set(TARGET_STRING "Target BSP: Hosted")
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endif()
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endif()
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string(CONCAT POST_BUILD_COMMENT
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100
README.md
100
README.md
@ -148,6 +148,29 @@ When using Windows, run theses steps in MSYS2.
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# <a id="host-commands"></a> Useful and Common Commands (Host)
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## Build generation
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Replace `Debug` with `Release` for release build. Add `-G "MinGW Makefiles` or `-G "Ninja"`
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on Windows or when `ninja` should be used. You can build with `cmake --build . -j` after
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build generation. You can finds scripts in `cmake/scripts` to perform the build commands
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automatically.
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### Q7S OBSW
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```sh
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mkdir build-Debug-Q7S && cd build-Debug-Q7S
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cmake -DTGT_BSP=arm/q7s -DFSFW_OSAL=linux -DCMAKE_BUILD_TYPE=Debug ..
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cmake --build . -j
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```
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### Q7S Watchdog
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```sh
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mkdir build-Debug-Q7S && cd build-Debug-Q7S
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cmake -DTGT_BSP=arm/q7s -DFSFW_OSAL=linux -DBUILD_WATCHDOG=ON -DCMAKE_BUILD_TYPE=Debug ..
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cmake --build . -j
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```
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## Connect to EIVE flatsat
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### DNS
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@ -187,6 +210,18 @@ tmux new -s q7s-serial
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q7s_serial
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```
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Other useful tmux commands:
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- Enable scroll mode: You can press `ctrl + b` and then `[` (`AltGr + 8`) to enable scroll mode.
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You can quit scroll mode with `q`.
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- Kill a tmux session: run `ctrl + b` and then `k`.
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- Detach from a tmux session: run `ctrl + b` and then `d`
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- [Pipe last 3000 lines](https://unix.stackexchange.com/questions/26548/write-all-tmux-scrollback-to-a-file)
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into file for copying or analysis:
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1. `ctrl + b` and `:`
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2. `capture-pane -S -3000` + `enter`
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3. `save-buffer /tmp/tmux-output.txt` + `enter`
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### SSH console
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You can use the following command to connect to the Q7S with `ssh`:
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@ -312,7 +347,7 @@ wget https://eive-cloud.irs.uni-stuttgart.de/index.php/s/rfoaistRd67yBbH/downloa
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or the following command for Linux (could be useful for CI/CD)
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```sh
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wget https://eive-cloud.irs.uni-stuttgart.de/index.php/s/2Fp2ag6NGnbtAsK/download/gcc-arm-linux-gnueabi.tar.gz
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wget https://eive-cloud.irs.uni-stuttgart.de/index.php/s/MRaeA2XnMXpZ5Pp/download/gcc-arm-8.3-2019.03-x86_64-arm-linux-gnueabihf.tar.xz
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```
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## Installing CMake and MSYS2 on Windows
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@ -581,10 +616,14 @@ pscp -scp -P 22 eive@192.168.199.227:</directory-to-example-file/>/example-file
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More detailed information about the used q7s commands can be found in the Q7S user manual.
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# <a id="q7s"></a> Q7S
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# <a id="q7s"></a> Q7S OBC
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## Launching an application at start-up
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You can also do the steps performed here on a host computer inside the `q7s-rootfs` directory
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of the [Q7S base repository](https://egit.irs.uni-stuttgart.de/eive/q7s-base). This might
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be more convenient while also allowing to update all images at once with the finished `rootfs.xdi`.
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Load the root partiton from the flash memory (there are to nor-flash memories and each flash holds
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two xdi images). Note: It is not possible to modify the currently loaded root partition, e.g.
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creating directories. To do this, the parition needs to be mounted.
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@ -610,7 +649,7 @@ creating directories. To do this, the parition needs to be mounted.
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chmod +x application
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```
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5. Create systemd service in /lib/systemd/system. The following shows an example service.
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5. Create systemd service in `/etc/systemd/system`. The following shows an example service.
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```sh
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cat > example.service
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@ -628,11 +667,19 @@ creating directories. To do this, the parition needs to be mounted.
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[Install]
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WantedBy=multi-user.target
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```
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6. Enable the service. This is normally done with systemctl enable. However, this is not possible
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when the service is created for a mounted root partition. Therefore create a symlink as follows.
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6. Enable the service. This is normally done with `systemctl enable <service>` which would create
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a symlink in the `multi-user.target.wants` directory. However, this is not possible
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when the service is created for a mounted root partition. It is also not possible during run
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time because symlinks can't be created in a read-only filesystem. Therefore, relative symlinks
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are used like this:
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```sh
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ln -s '/tmp/the-mounted-xdi-image/lib/systemd/system/example.service' '/tmp/the-mounted-xdi-image/etc/systemd/system/multi-user.target.wants/example.service'
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cd etc/systemd/system/multi-user.target.wants/
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ln -s ../example.service example.service
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```
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You can check the symlinnks with `ls -l`
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7. The modified root partition is written back when the partion is locked again.
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```sh
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@ -648,6 +695,47 @@ creating directories. To do this, the parition needs to be mounted.
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systemctl status example
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```
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## Current user systemd services
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The following custom `systemd` services are currently running on the Q7S and can be found in
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the `/etc/systemd/system` folder.
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You can query that status of a service by running `systemctl status <serviceName>`.
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### `eive-watchdog`
|
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The watchdog will create a pipe at `/tmp/watchdog-pipe` which can be used both by the watchdog and
|
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the EIVE OBSW. The watchdog will only read from this pipe while the OBSW will only write
|
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to this pipe. The watchdog checks for basic ASCII commands as a first basic feature set.
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The most important functionality is that the watchdog cant detect if a timeout
|
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has happened. This can happen beause the OBSW is hanging (or at least the CoreController thread) or
|
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there is simply now OBSW running on the system. It does to by checking whether the FIFO is
|
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regulary written to, which means the EIVE OBSW is alive.
|
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|
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If the EIVE OBSW is alive, a special file called `/tmp/obsw-running` will be created.
|
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This file can be used by any other software component to query whether the EIVE OBSW is running.
|
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The EIVE OBSW itself can be configured to check whether this file exists, which prevents two
|
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EIVE OBSW instances running on the Q7S at once.
|
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|
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If a timeout occurs, this special file will be deleted as well.
|
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The watchdog and its configuration will be directly integrated into this repostory, which
|
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makes adaptions easy.
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|
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### `tcfagent`
|
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|
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This starts the `/usr/bin/agent` program to allows remote debugging. Might not be part of
|
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the mission code
|
||||
|
||||
### `eive-early-config`
|
||||
|
||||
This is a configuration script which runs early after `local-fs.target` and `sysinit.target`
|
||||
Currently only pipes the output of `xsc_boot_copy` into the file `/tmp/curr_copy.txt` which can be
|
||||
used by other software components to read the current chip and copy.
|
||||
|
||||
### `eive-post-ntpd-config`
|
||||
|
||||
This is a configuration scripts which runs after the Network Time Protocol has run. This script
|
||||
currently sets the static IP address `192.168.133.10` and starts the `can` interface.
|
||||
|
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## PCDU
|
||||
|
||||
Connect to serial console of P60 Dock
|
||||
|
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19
automation/Dockerfile-q7s
Normal file
19
automation/Dockerfile-q7s
Normal file
@ -0,0 +1,19 @@
|
||||
FROM ubuntu:focal
|
||||
|
||||
RUN apt-get update
|
||||
RUN apt-get --yes upgrade
|
||||
RUN apt-get --yes install cmake libgpiod-dev xz-utils nano curl
|
||||
|
||||
# Q7S root filesystem, required for cross-compilation.
|
||||
RUN mkdir -p /usr/rootfs; \
|
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curl https://buggy.irs.uni-stuttgart.de/eive/tools/cortexa9hf-neon-xiphos-linux-gnueabi.tar.gz \
|
||||
| tar -xz -C /usr/rootfs
|
||||
|
||||
# Cross compiler
|
||||
RUN mkdir -p /usr/tools; \
|
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curl https://buggy.irs.uni-stuttgart.de/eive/tools/gcc-arm-8.3-2019.03-x86_64-arm-linux-gnueabihf.tar.gz \
|
||||
| tar -xz -C /usr/tools
|
||||
|
||||
|
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ENV Q7S_SYSROOT="/usr/rootfs/cortexa9hf-neon-xiphos-linux-gnueabi"
|
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ENV PATH=$PATH:"/usr/tools/gcc-arm-8.3-2019.03-x86_64-arm-linux-gnueabihf/bin"
|
||||
49
automation/Jenkinsfile
vendored
Normal file
49
automation/Jenkinsfile
vendored
Normal file
@ -0,0 +1,49 @@
|
||||
pipeline {
|
||||
agent any
|
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stages {
|
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stage('Build Container') {
|
||||
when {
|
||||
changeset "automation/Dockerfile-q7s"
|
||||
branch 'develop'
|
||||
}
|
||||
steps {
|
||||
sh 'docker build -t eive-fsw-build-q7s:gcc8 - < automation/Dockerfile-q7s'
|
||||
|
||||
}
|
||||
}
|
||||
stage('Clean') {
|
||||
when {
|
||||
anyOf {
|
||||
changelog 'cleanCI'
|
||||
changeset '*.cmake'
|
||||
changeset 'CMakeLists.txt'
|
||||
}
|
||||
}
|
||||
steps {
|
||||
sh 'rm -rf build-q7s-debug'
|
||||
}
|
||||
}
|
||||
stage('Build Q7S') {
|
||||
agent {
|
||||
docker {
|
||||
image 'eive-fsw-build-q7s:gcc8'
|
||||
reuseNode true
|
||||
}
|
||||
}
|
||||
steps {
|
||||
dir('build-q7s-debug') {
|
||||
sh 'cmake -DTGT_BSP="arm/q7s" -DCMAKE_BUILD_TYPE=Debug -DFSFW_OSAL=linux ..'
|
||||
sh 'cmake --build . -j'
|
||||
}
|
||||
}
|
||||
}
|
||||
stage('Deploy') {
|
||||
when {
|
||||
tag 'v*.*.*'
|
||||
}
|
||||
steps {
|
||||
sh 'echo Deploying'
|
||||
}
|
||||
}
|
||||
}
|
||||
}
|
||||
@ -70,15 +70,15 @@ void initmission::initTasks() {
|
||||
}
|
||||
|
||||
/* UDP bridge */
|
||||
PeriodicTaskIF* udpBridgeTask = factory->createPeriodicTask(
|
||||
"UDP_UNIX_BRIDGE", 50, PeriodicTaskIF::MINIMUM_STACK_SIZE, 0.2, missedDeadlineFunc);
|
||||
result = udpBridgeTask->addComponent(objects::TMTC_BRIDGE);
|
||||
PeriodicTaskIF* tmtcBridgeTask = factory->createPeriodicTask(
|
||||
"TMTC_UNIX_BRIDGE", 50, PeriodicTaskIF::MINIMUM_STACK_SIZE, 0.2, missedDeadlineFunc);
|
||||
result = tmtcBridgeTask->addComponent(objects::TMTC_BRIDGE);
|
||||
if(result != HasReturnvaluesIF::RETURN_OK) {
|
||||
sif::error << "Add component UDP Unix Bridge failed" << std::endl;
|
||||
}
|
||||
PeriodicTaskIF* udpPollingTask = factory->createPeriodicTask(
|
||||
PeriodicTaskIF* tmtcPollingTask = factory->createPeriodicTask(
|
||||
"UDP_POLLING", 80, PeriodicTaskIF::MINIMUM_STACK_SIZE, 2.0, missedDeadlineFunc);
|
||||
result = udpPollingTask->addComponent(objects::TMTC_POLLING_TASK);
|
||||
result = tmtcPollingTask->addComponent(objects::TMTC_POLLING_TASK);
|
||||
if(result != HasReturnvaluesIF::RETURN_OK) {
|
||||
sif::error << "Add component UDP Polling failed" << std::endl;
|
||||
}
|
||||
@ -142,8 +142,8 @@ void initmission::initTasks() {
|
||||
|
||||
sif::info << "Starting tasks.." << std::endl;
|
||||
tmTcDistributor->startTask();
|
||||
udpBridgeTask->startTask();
|
||||
udpPollingTask->startTask();
|
||||
tmtcBridgeTask->startTask();
|
||||
tmtcPollingTask->startTask();
|
||||
|
||||
pusVerification->startTask();
|
||||
pusEvents->startTask();
|
||||
|
||||
@ -1,6 +1,5 @@
|
||||
#include "ObjectFactory.h"
|
||||
|
||||
#include <OBSWConfig.h>
|
||||
#include "OBSWConfig.h"
|
||||
#include <objects/systemObjectList.h>
|
||||
#include <tmtc/apid.h>
|
||||
#include <tmtc/pusIds.h>
|
||||
@ -11,8 +10,13 @@
|
||||
#include <mission/core/GenericFactory.h>
|
||||
#include <mission/utility/TmFunnel.h>
|
||||
|
||||
#include <fsfw/osal/common/UdpTcPollingTask.h>
|
||||
#include <fsfw/osal/common/UdpTmTcBridge.h>
|
||||
#if OBSW_USE_TMTC_TCP_BRIDGE == 0
|
||||
#include "fsfw/osal/common/UdpTcPollingTask.h"
|
||||
#include "fsfw/osal/common/UdpTmTcBridge.h"
|
||||
#else
|
||||
#include "fsfw/osal/common/TcpTmTcBridge.h"
|
||||
#include "fsfw/osal/common/TcpTmTcServer.h"
|
||||
#endif
|
||||
|
||||
#include <fsfw/tmtcpacket/pus/tm.h>
|
||||
|
||||
@ -40,7 +44,18 @@ void ObjectFactory::produce(void* args){
|
||||
Factory::setStaticFrameworkObjectIds();
|
||||
ObjectFactory::produceGenericObjects();
|
||||
|
||||
#if OBSW_USE_TMTC_TCP_BRIDGE == 0
|
||||
sif::info << "Setting up UDP TMTC bridge with listener port " <<
|
||||
UdpTmTcBridge::DEFAULT_SERVER_PORT << std::endl;
|
||||
new UdpTmTcBridge(objects::TMTC_BRIDGE, objects::CCSDS_PACKET_DISTRIBUTOR);
|
||||
new UdpTcPollingTask(objects::TMTC_POLLING_TASK, objects::TMTC_BRIDGE);
|
||||
#else
|
||||
sif::info << "Setting up TCP TMTC bridge with listener port " <<
|
||||
TcpTmTcBridge::DEFAULT_SERVER_PORT << std::endl;
|
||||
new TcpTmTcBridge(objects::TMTC_BRIDGE, objects::CCSDS_PACKET_DISTRIBUTOR);
|
||||
new TcpTmTcServer(objects::TMTC_POLLING_TASK, objects::TMTC_BRIDGE);
|
||||
#endif
|
||||
|
||||
new TestTask(objects::TEST_TASK);
|
||||
|
||||
}
|
||||
|
||||
@ -1,9 +1,10 @@
|
||||
#include "InitMission.h"
|
||||
#include "OBSWVersion.h"
|
||||
|
||||
#include "fsfw/FSFWVersion.h"
|
||||
#include "fsfw/tasks/TaskFactory.h"
|
||||
|
||||
#include <OBSWVersion.h>
|
||||
#include <fsfw/tasks/TaskFactory.h>
|
||||
#include <iostream>
|
||||
|
||||
#ifdef WIN32
|
||||
static const char* COMPILE_PRINTOUT = "Windows";
|
||||
#elif LINUX
|
||||
@ -20,8 +21,9 @@ int main(void)
|
||||
{
|
||||
std::cout << "-- EIVE OBSW --" << std::endl;
|
||||
std::cout << "-- Compiled for " << COMPILE_PRINTOUT << " --" << std::endl;
|
||||
std::cout << "-- Software version " << SW_NAME << " v" << SW_VERSION << "."
|
||||
<< SW_SUBVERSION << "." << SW_REVISION << " -- " << std::endl;
|
||||
std::cout << "-- OBSW " << SW_NAME << " v" << SW_VERSION << "." << SW_SUBVERSION <<
|
||||
"." << SW_REVISION << ", FSFW v" << FSFW_VERSION << "." << FSFW_SUBVERSION << "." <<
|
||||
FSFW_REVISION << "--" << std::endl;
|
||||
std::cout << "-- " << __DATE__ << " " << __TIME__ << " --" << std::endl;
|
||||
|
||||
initmission::initMission();
|
||||
|
||||
@ -1,35 +0,0 @@
|
||||
FROM ubuntu:latest
|
||||
# FROM alpine:latest
|
||||
|
||||
ENV TZ=Europe/Berlin
|
||||
RUN ln -snf /usr/share/zoneinfo/$TZ /etc/localtime && echo $TZ > /etc/timezone
|
||||
|
||||
RUN apt-get update && apt-get install -y curl cmake g++
|
||||
|
||||
# Q7S root filesystem, required for cross-compilation. Use IPv6 for curl
|
||||
RUN mkdir -p /usr/rootfs; \
|
||||
curl -6 https://eive-cloud.irs.uni-stuttgart.de/index.php/s/dnfMy9kGpgynN6J/download/cortexa9hf-neon-xiphos-linux-gnueabi.tar.gz \
|
||||
| tar xvz -C /usr/rootfs
|
||||
# Q7S C++ cross-compiler. Use IPv6 for curl
|
||||
RUN mkdir -p /usr/tools; \
|
||||
curl -6 https://eive-cloud.irs.uni-stuttgart.de/index.php/s/RMsbHydJc6PSqcz/download/gcc-arm-linux-gnueabi.tar.gz \
|
||||
| tar xvz -C /usr/tools
|
||||
|
||||
# RUN apk add cmake make g++
|
||||
|
||||
# Required for cmake build
|
||||
ENV Q7S_SYSROOT="/usr/rootfs/cortexa9hf-neon-xiphos-linux-gnueabi"
|
||||
ENV PATH=$PATH:"/usr/tools/gcc-arm-linux-gnueabi/bin"
|
||||
|
||||
WORKDIR /usr/src/app
|
||||
COPY . .
|
||||
|
||||
RUN set -ex; \
|
||||
rm -rf build-q7s; \
|
||||
mkdir build-q7s; \
|
||||
cd build-q7s; \
|
||||
cmake -DCMAKE_BUILD_TYPE=Release -DOS_FSFW=linux -DTGT_BSP="arm/q7s" ..;
|
||||
|
||||
ENTRYPOINT ["cmake", "--build", "build-q7s"]
|
||||
CMD ["-j"]
|
||||
# CMD ["bash"]
|
||||
@ -5,9 +5,9 @@
|
||||
|
||||
#cmakedefine01 Q7S_SIMPLE_MODE
|
||||
|
||||
#define Q7S_SD_NONE 0
|
||||
#define Q7S_SD_COLD_REDUNDANT 1
|
||||
#define Q7S_SD_HOT_REDUNDANT 2
|
||||
#define Q7S_SD_NONE 0
|
||||
#define Q7S_SD_COLD_REDUNDANT 1
|
||||
#define Q7S_SD_HOT_REDUNDANT 2
|
||||
// The OBSW will perform different actions to set up the SD cards depending on the flag set here
|
||||
// Set to Q7S_SD_NONE: Don't do anything
|
||||
// Set to Q7S_COLD_REDUNDANT: On startup, get the prefered SD card, turn it on and mount it, and
|
||||
@ -15,7 +15,9 @@
|
||||
// Set to Q7S_HOT_REDUNDANT: On startup, turn on both SD cards and mount them
|
||||
#define Q7S_SD_CARD_CONFIG Q7S_SD_COLD_REDUNDANT
|
||||
|
||||
#define Q7S_ADD_RTD_DEVICES 0
|
||||
// Probably better if this is disabled for mission code. Convenient for development
|
||||
#define Q7S_CHECK_FOR_ALREADY_RUNNING_IMG 1
|
||||
#define Q7S_ADD_RTD_DEVICES 0
|
||||
|
||||
/* Only one of those 2 should be enabled! */
|
||||
/* Add code for ACS board */
|
||||
|
||||
@ -1,6 +1,7 @@
|
||||
#include "CoreController.h"
|
||||
#include "OBSWConfig.h"
|
||||
#include "OBSWVersion.h"
|
||||
#include "watchdogConf.h"
|
||||
|
||||
#include "fsfw/FSFWVersion.h"
|
||||
#include "fsfw/serviceinterface/ServiceInterface.h"
|
||||
@ -13,10 +14,38 @@
|
||||
#include "bsp_q7s/memory/scratchApi.h"
|
||||
#include "bsp_q7s/memory/SdCardManager.h"
|
||||
|
||||
#include <fcntl.h>
|
||||
#include <unistd.h>
|
||||
|
||||
#include <filesystem>
|
||||
|
||||
CoreController::Chip CoreController::currentChip = Chip::NO_CHIP;
|
||||
CoreController::Copy CoreController::currentCopy = Copy::NO_COPY;
|
||||
|
||||
CoreController::CoreController(object_id_t objectId):
|
||||
ExtendedControllerBase(objectId, objects::NO_OBJECT, 5) {
|
||||
ExtendedControllerBase(objectId, objects::NO_OBJECT, 5),
|
||||
opDivider(5) {
|
||||
ReturnValue_t result = HasReturnvaluesIF::RETURN_OK;
|
||||
try {
|
||||
result = initWatchdogFifo();
|
||||
if(result != HasReturnvaluesIF::RETURN_OK) {
|
||||
sif::warning << "CoreController::CoreController: Watchdog FIFO init failed" <<
|
||||
std::endl;
|
||||
}
|
||||
result = initSdCard();
|
||||
if(result != HasReturnvaluesIF::RETURN_OK) {
|
||||
sif::warning << "CoreController::CoreController: SD card init failed" << std::endl;
|
||||
}
|
||||
result = initBootCopy();
|
||||
if(result != HasReturnvaluesIF::RETURN_OK) {
|
||||
sif::warning << "CoreController::CoreController: Boot copy init" << std::endl;
|
||||
}
|
||||
|
||||
}
|
||||
catch(const std::filesystem::filesystem_error& e) {
|
||||
sif::error << "CoreController::CoreController: Failed with exception " <<
|
||||
e.what() << std::endl;
|
||||
}
|
||||
}
|
||||
|
||||
ReturnValue_t CoreController::handleCommandMessage(CommandMessage *message) {
|
||||
@ -24,6 +53,7 @@ ReturnValue_t CoreController::handleCommandMessage(CommandMessage *message) {
|
||||
}
|
||||
|
||||
void CoreController::performControlOperation() {
|
||||
performWatchdogControlOperation();
|
||||
}
|
||||
|
||||
ReturnValue_t CoreController::initializeLocalDataPool(localpool::DataPool &localDataPoolMap,
|
||||
@ -37,16 +67,6 @@ LocalPoolDataSetBase* CoreController::getDataSetHandle(sid_t sid) {
|
||||
|
||||
ReturnValue_t CoreController::initialize() {
|
||||
ReturnValue_t result = HasReturnvaluesIF::RETURN_OK;
|
||||
try {
|
||||
result = sdCardInit();
|
||||
if(result != HasReturnvaluesIF::RETURN_OK) {
|
||||
sif::warning << "CoreController::initialize: SD card init failed" << std::endl;
|
||||
}
|
||||
}
|
||||
catch(const std::filesystem::filesystem_error& e) {
|
||||
sif::error << "CoreController::initialize: sdCardInit failed with exception " << e.what()
|
||||
<< std::endl;
|
||||
}
|
||||
|
||||
result = scratch::writeNumber(scratch::ALLOC_FAILURE_COUNT, 0);
|
||||
if(result != HasReturnvaluesIF::RETURN_OK) {
|
||||
@ -62,7 +82,7 @@ ReturnValue_t CoreController::checkModeCommand(Mode_t mode, Submode_t submode,
|
||||
return HasReturnvaluesIF::RETURN_OK;
|
||||
}
|
||||
|
||||
ReturnValue_t CoreController::sdCardInit() {
|
||||
ReturnValue_t CoreController::initSdCard() {
|
||||
#if Q7S_SD_CARD_CONFIG == Q7S_SD_NONE
|
||||
sif::info << "No SD card initialization will be performed" << std::endl;
|
||||
return HasReturnvaluesIF::RETURN_OK;
|
||||
@ -136,51 +156,11 @@ ReturnValue_t CoreController::executeAction(ActionId_t actionId, MessageQueueId_
|
||||
const uint8_t *data, size_t size) {
|
||||
switch(actionId) {
|
||||
case(LIST_DIRECTORY_INTO_FILE): {
|
||||
// TODO: Packet definition for clean deserialization
|
||||
// 2 bytes for a and R flag, at least 5 bytes for minimum valid path /tmp with
|
||||
// null termination, at least 7 bytes for minimum target file name /tmp/a with
|
||||
// null termination.
|
||||
if(size < 14) {
|
||||
return HasActionsIF::INVALID_PARAMETERS;
|
||||
}
|
||||
// We could also make -l optional, but I can't think of a reason why to not use -l..
|
||||
|
||||
// This flag specifies to run ls with -a
|
||||
bool aFlag = data[0];
|
||||
data += 1;
|
||||
// This flag specifies to run ls with -R
|
||||
bool RFlag = data[1];
|
||||
data += 1;
|
||||
|
||||
size_t remainingSize = size - 2;
|
||||
// One larger for null termination, which prevents undefined behaviour if the sent
|
||||
// strings are not 0 terminated properly
|
||||
std::vector<uint8_t> repoAndTargetFileBuffer(remainingSize + 1, 0);
|
||||
std::memcpy(repoAndTargetFileBuffer.data(), data, remainingSize);
|
||||
const char* currentCharPtr = reinterpret_cast<const char*>(repoAndTargetFileBuffer.data());
|
||||
// Full target file name
|
||||
std::string repoName(currentCharPtr);
|
||||
size_t repoLength = repoName.length();
|
||||
// The other string needs to be at least one letter plus NULL termination to be valid at all
|
||||
// The first string also needs to be NULL terminated, but the termination is not included
|
||||
// in the string length, so this is subtracted from the remaining size as well
|
||||
if(repoLength > remainingSize - 3) {
|
||||
return HasActionsIF::INVALID_PARAMETERS;
|
||||
}
|
||||
// The file length will not include the NULL termination, so we skip it
|
||||
currentCharPtr += repoLength + 1;
|
||||
std::string targetFileName(currentCharPtr);
|
||||
std::ostringstream oss;
|
||||
oss << "ls -l";
|
||||
if(aFlag) {
|
||||
oss << "a";
|
||||
}
|
||||
if(RFlag) {
|
||||
oss << "R";
|
||||
}
|
||||
oss << " " << repoName << " > " << targetFileName;
|
||||
std::system(oss.str().c_str());
|
||||
return actionListDirectoryIntoFile(actionId, commandedBy, data, size);
|
||||
}
|
||||
case(REBOOT_OBC): {
|
||||
return HasReturnvaluesIF::RETURN_OK;
|
||||
break;
|
||||
}
|
||||
default: {
|
||||
return HasActionsIF::INVALID_ACTION_ID;
|
||||
@ -189,7 +169,7 @@ ReturnValue_t CoreController::executeAction(ActionId_t actionId, MessageQueueId_
|
||||
}
|
||||
|
||||
ReturnValue_t CoreController::initializeAfterTaskCreation() {
|
||||
ReturnValue_t result = versionFileInit();
|
||||
ReturnValue_t result = initVersionFile();
|
||||
if(result != HasReturnvaluesIF::RETURN_OK) {
|
||||
sif::warning << "CoreController::initialize: Version initialization failed" << std::endl;
|
||||
}
|
||||
@ -272,7 +252,7 @@ ReturnValue_t CoreController::incrementAllocationFailureCount() {
|
||||
return scratch::writeNumber(scratch::ALLOC_FAILURE_COUNT, count);
|
||||
}
|
||||
|
||||
ReturnValue_t CoreController::versionFileInit() {
|
||||
ReturnValue_t CoreController::initVersionFile() {
|
||||
|
||||
std::string unameFileName = "/tmp/uname_version.txt";
|
||||
// TODO: No -v flag for now. If the kernel version is used, need to cut off first few letters
|
||||
@ -356,14 +336,157 @@ ReturnValue_t CoreController::versionFileInit() {
|
||||
return HasReturnvaluesIF::RETURN_OK;
|
||||
}
|
||||
|
||||
ReturnValue_t CoreController::actionListDirectoryIntoFile(ActionId_t actionId,
|
||||
MessageQueueId_t commandedBy, const uint8_t *data, size_t size) {
|
||||
// TODO: Packet definition for clean deserialization
|
||||
// 2 bytes for a and R flag, at least 5 bytes for minimum valid path /tmp with
|
||||
// null termination, at least 7 bytes for minimum target file name /tmp/a with
|
||||
// null termination.
|
||||
if(size < 14) {
|
||||
return HasActionsIF::INVALID_PARAMETERS;
|
||||
}
|
||||
// We could also make -l optional, but I can't think of a reason why to not use -l..
|
||||
|
||||
// This flag specifies to run ls with -a
|
||||
bool aFlag = data[0];
|
||||
data += 1;
|
||||
// This flag specifies to run ls with -R
|
||||
bool RFlag = data[1];
|
||||
data += 1;
|
||||
|
||||
size_t remainingSize = size - 2;
|
||||
// One larger for null termination, which prevents undefined behaviour if the sent
|
||||
// strings are not 0 terminated properly
|
||||
std::vector<uint8_t> repoAndTargetFileBuffer(remainingSize + 1, 0);
|
||||
std::memcpy(repoAndTargetFileBuffer.data(), data, remainingSize);
|
||||
const char* currentCharPtr = reinterpret_cast<const char*>(repoAndTargetFileBuffer.data());
|
||||
// Full target file name
|
||||
std::string repoName(currentCharPtr);
|
||||
size_t repoLength = repoName.length();
|
||||
// The other string needs to be at least one letter plus NULL termination to be valid at all
|
||||
// The first string also needs to be NULL terminated, but the termination is not included
|
||||
// in the string length, so this is subtracted from the remaining size as well
|
||||
if(repoLength > remainingSize - 3) {
|
||||
return HasActionsIF::INVALID_PARAMETERS;
|
||||
}
|
||||
// The file length will not include the NULL termination, so we skip it
|
||||
currentCharPtr += repoLength + 1;
|
||||
std::string targetFileName(currentCharPtr);
|
||||
std::ostringstream oss;
|
||||
oss << "ls -l";
|
||||
if(aFlag) {
|
||||
oss << "a";
|
||||
}
|
||||
if(RFlag) {
|
||||
oss << "R";
|
||||
}
|
||||
oss << " " << repoName << " > " << targetFileName;
|
||||
int result = std::system(oss.str().c_str());
|
||||
if(result != 0) {
|
||||
utility::handleSystemError(result, "CoreController::actionListDirectoryIntoFile");
|
||||
actionHelper.finish(false, commandedBy, actionId);
|
||||
}
|
||||
return HasReturnvaluesIF::RETURN_OK;
|
||||
}
|
||||
|
||||
ReturnValue_t CoreController::initBootCopy() {
|
||||
std::string fileName = "/tmp/curr_copy.txt";
|
||||
if(not std::filesystem::exists(fileName)) {
|
||||
// Thils file is created by the systemd service eive-early-config so this should
|
||||
// not happen normally
|
||||
std::string cmd = "xsc_boot_copy > " + fileName;
|
||||
int result = std::system(cmd.c_str());
|
||||
if(result != 0) {
|
||||
utility::handleSystemError(result, "CoreController::initBootCopy");
|
||||
}
|
||||
}
|
||||
std::ifstream file(fileName);
|
||||
std::string line;
|
||||
std::getline(file, line);
|
||||
std::istringstream iss(line);
|
||||
int value = 0;
|
||||
iss >> value;
|
||||
currentChip = static_cast<Chip>(value);
|
||||
iss >> value;
|
||||
currentCopy = static_cast<Copy>(value);
|
||||
return HasReturnvaluesIF::RETURN_OK;
|
||||
}
|
||||
|
||||
void CoreController::getCurrentBootCopy(Chip &chip, Copy ©) {
|
||||
// Not really thread-safe but it does not need to be
|
||||
chip = currentChip;
|
||||
copy = currentCopy;
|
||||
}
|
||||
|
||||
ReturnValue_t CoreController::initWatchdogFifo() {
|
||||
if(not std::filesystem::exists(watchdog::FIFO_NAME)) {
|
||||
// Still return RETURN_OK for now
|
||||
sif::info << "Watchdog FIFO " << watchdog::FIFO_NAME << " does not exist, can't initiate" <<
|
||||
" watchdog" << std::endl;
|
||||
return HasReturnvaluesIF::RETURN_OK;
|
||||
}
|
||||
// Open FIFO write only and non-blocking to prevent SW from killing itself.
|
||||
watchdogFifoFd = open(watchdog::FIFO_NAME.c_str(), O_WRONLY | O_NONBLOCK);
|
||||
if(watchdogFifoFd < 0) {
|
||||
if(errno == ENXIO) {
|
||||
watchdogFifoFd = RETRY_FIFO_OPEN;
|
||||
sif::info << "eive-watchdog not running. FIFO can not be opened" << std::endl;
|
||||
}
|
||||
else {
|
||||
sif::error << "Opening pipe " << watchdog::FIFO_NAME << " write-only failed with " <<
|
||||
errno << ": " << strerror(errno) << std::endl;
|
||||
return HasReturnvaluesIF::RETURN_FAILED;
|
||||
}
|
||||
}
|
||||
return HasReturnvaluesIF::RETURN_OK;
|
||||
}
|
||||
|
||||
void CoreController::initPrint() {
|
||||
#if OBSW_VERBOSE_LEVEL >= 1
|
||||
#if OBSW_USE_TMTC_TCP_BRIDGE == 0
|
||||
sif::info << "Created UDP server for TMTC commanding with listener port " <<
|
||||
UdpTmTcBridge::DEFAULT_UDP_SERVER_PORT << std::endl;
|
||||
UdpTmTcBridge::DEFAULT_SERVER_PORT << std::endl;
|
||||
#else
|
||||
sif::info << "Created TCP server for TMTC commanding with listener port " <<
|
||||
TcpTmTcBridge::DEFAULT_TCP_SERVER_PORT << std::endl;
|
||||
TcpTmTcBridge::DEFAULT_SERVER_PORT << std::endl;
|
||||
#endif
|
||||
|
||||
if(watchdogFifoFd > 0) {
|
||||
sif::info << "Opened watchdog FIFO successfully.." << std::endl;
|
||||
}
|
||||
#endif
|
||||
}
|
||||
|
||||
void CoreController::performWatchdogControlOperation() {
|
||||
// Only perform each fifth iteration
|
||||
if(watchdogFifoFd != 0 and opDivider.checkAndIncrement()) {
|
||||
if(watchdogFifoFd == RETRY_FIFO_OPEN) {
|
||||
// Open FIFO write only and non-blocking
|
||||
watchdogFifoFd = open(watchdog::FIFO_NAME.c_str(), O_WRONLY | O_NONBLOCK);
|
||||
if(watchdogFifoFd < 0) {
|
||||
if(errno == ENXIO) {
|
||||
watchdogFifoFd = RETRY_FIFO_OPEN;
|
||||
// No printout for now, would be spam
|
||||
return;
|
||||
}
|
||||
else {
|
||||
sif::error << "Opening pipe " << watchdog::FIFO_NAME <<
|
||||
" write-only failed with " << errno << ": " <<
|
||||
strerror(errno) << std::endl;
|
||||
return;
|
||||
}
|
||||
}
|
||||
sif::info << "Opened " << watchdog::FIFO_NAME << " successfully" << std::endl;
|
||||
}
|
||||
else if(watchdogFifoFd > 0) {
|
||||
// Write to OBSW watchdog FIFO here
|
||||
const char writeChar = 'a';
|
||||
ssize_t writtenBytes = write(watchdogFifoFd, &writeChar, 1);
|
||||
if(writtenBytes < 0) {
|
||||
sif::error << "Errors writing to watchdog FIFO, code " << errno << ": " <<
|
||||
strerror(errno) << std::endl;
|
||||
}
|
||||
}
|
||||
}
|
||||
|
||||
}
|
||||
|
||||
@ -1,19 +1,36 @@
|
||||
#ifndef BSP_Q7S_CORE_CORECONTROLLER_H_
|
||||
#define BSP_Q7S_CORE_CORECONTROLLER_H_
|
||||
|
||||
#include <fsfw/globalfunctions/PeriodicOperationDivider.h>
|
||||
#include "fsfw/controller/ExtendedControllerBase.h"
|
||||
#include "bsp_q7s/memory/SdCardManager.h"
|
||||
|
||||
#include "events/subsystemIdRanges.h"
|
||||
|
||||
|
||||
|
||||
class CoreController: public ExtendedControllerBase {
|
||||
public:
|
||||
enum Chip: uint8_t {
|
||||
CHIP_0,
|
||||
CHIP_1,
|
||||
NO_CHIP
|
||||
};
|
||||
|
||||
enum Copy: uint8_t {
|
||||
COPY_0,
|
||||
COPY_1,
|
||||
NO_COPY
|
||||
};
|
||||
|
||||
static constexpr ActionId_t LIST_DIRECTORY_INTO_FILE = 0;
|
||||
static constexpr ActionId_t REBOOT_OBC = 1;
|
||||
|
||||
static constexpr uint8_t SUBSYSTEM_ID = SUBSYSTEM_ID::CORE;
|
||||
|
||||
static constexpr Event ALLOC_FAILURE = event::makeEvent(SUBSYSTEM_ID, 0, severity::MEDIUM);
|
||||
|
||||
|
||||
CoreController(object_id_t objectId);
|
||||
|
||||
ReturnValue_t initialize() override;
|
||||
@ -27,22 +44,39 @@ public:
|
||||
void performControlOperation() override;
|
||||
|
||||
static ReturnValue_t incrementAllocationFailureCount();
|
||||
static void getCurrentBootCopy(Chip& chip, Copy& copy);
|
||||
|
||||
private:
|
||||
static Chip currentChip;
|
||||
static Copy currentCopy;
|
||||
|
||||
ReturnValue_t initializeLocalDataPool(localpool::DataPool& localDataPoolMap,
|
||||
LocalDataPoolManager& poolManager) override;
|
||||
LocalPoolDataSetBase* getDataSetHandle(sid_t sid) override;
|
||||
ReturnValue_t checkModeCommand(Mode_t mode, Submode_t submode,
|
||||
uint32_t *msToReachTheMode);
|
||||
|
||||
ReturnValue_t sdCardInit();
|
||||
ReturnValue_t initSdCard();
|
||||
ReturnValue_t sdCardSetup(SdCardManager& sdcMan, SdCardManager::SdStatusPair& statusPair,
|
||||
sd::SdCard sdCard, sd::SdStatus status, std::string sdString);
|
||||
ReturnValue_t sdCardColdRedundantInit(SdCardManager* sdcMan,
|
||||
SdCardManager::SdStatusPair& statusPair);
|
||||
|
||||
ReturnValue_t versionFileInit();
|
||||
ReturnValue_t initVersionFile();
|
||||
ReturnValue_t initBootCopy();
|
||||
ReturnValue_t initWatchdogFifo();
|
||||
|
||||
ReturnValue_t actionListDirectoryIntoFile(ActionId_t actionId, MessageQueueId_t commandedBy,
|
||||
const uint8_t *data, size_t size);
|
||||
|
||||
void initPrint();
|
||||
|
||||
// Designated value for rechecking FIFO open
|
||||
static constexpr int RETRY_FIFO_OPEN = -2;
|
||||
int watchdogFifoFd = 0;
|
||||
|
||||
PeriodicOperationDivider opDivider;
|
||||
void performWatchdogControlOperation();
|
||||
};
|
||||
|
||||
|
||||
|
||||
@ -2,11 +2,15 @@
|
||||
#include "OBSWVersion.h"
|
||||
#include "OBSWConfig.h"
|
||||
#include "InitMission.h"
|
||||
#include "watchdogConf.h"
|
||||
|
||||
#include "fsfw/tasks/TaskFactory.h"
|
||||
#include "fsfw/FSFWVersion.h"
|
||||
|
||||
#include <iostream>
|
||||
#include <filesystem>
|
||||
|
||||
static int OBSW_ALREADY_RUNNING = -2;
|
||||
|
||||
int obsw::obsw() {
|
||||
std::cout << "-- EIVE OBSW --" << std::endl;
|
||||
@ -20,6 +24,15 @@ int obsw::obsw() {
|
||||
FSFW_REVISION << "--" << std::endl;
|
||||
std::cout << "-- " << __DATE__ << " " << __TIME__ << " --" << std::endl;
|
||||
|
||||
#if Q7S_CHECK_FOR_ALREADY_RUNNING_IMG == 1
|
||||
// Check special file here. This file is created or deleted by the eive-watchdog application
|
||||
// or systemd service!
|
||||
if(std::filesystem::exists(watchdog::RUNNING_FILE_NAME)) {
|
||||
sif::warning << "File " << watchdog::RUNNING_FILE_NAME << " exists so the software might "
|
||||
"already be running. Aborting.." << std::endl;
|
||||
return OBSW_ALREADY_RUNNING;
|
||||
}
|
||||
#endif
|
||||
initmission::initMission();
|
||||
|
||||
for(;;) {
|
||||
|
||||
@ -18,7 +18,7 @@ os_fsfw="linux"
|
||||
tgt_bsp="arm/q7s"
|
||||
build_dir="build-Simple-Q7S"
|
||||
build_generator=""
|
||||
definitions="Q7S_SIMPLE_MODE=On"
|
||||
definitions="BUILD_Q7S_SIMPLE_MODE=On"
|
||||
if [ "${OS}" = "Windows_NT" ]; then
|
||||
build_generator="MinGW Makefiles"
|
||||
python="py"
|
||||
|
||||
@ -18,7 +18,7 @@ os_fsfw="linux"
|
||||
tgt_bsp="arm/q7s"
|
||||
build_dir="build-Simple-Q7S"
|
||||
build_generator="Ninja"
|
||||
definitions="Q7S_SIMPLE_MODE=On"
|
||||
definitions="BUILD_Q7S_SIMPLE_MODE=On"
|
||||
if [ "${OS}" = "Windows_NT" ]; then
|
||||
python="py"
|
||||
# Could be other OS but this works for now.
|
||||
|
||||
36
cmake/scripts/Q7S/watchdog/make_debug_cfg.sh
Executable file
36
cmake/scripts/Q7S/watchdog/make_debug_cfg.sh
Executable file
@ -0,0 +1,36 @@
|
||||
#!/bin/sh
|
||||
counter=0
|
||||
while [ ${counter} -lt 5 ]
|
||||
do
|
||||
cd ..
|
||||
if [ -f "cmake_build_config.py" ];then
|
||||
break
|
||||
fi
|
||||
counter=$((counter=counter + 1))
|
||||
done
|
||||
|
||||
if [ "${counter}" -ge 5 ];then
|
||||
echo "cmake_build_config.py not found in upper directories!"
|
||||
exit 1
|
||||
fi
|
||||
|
||||
os_fsfw="linux"
|
||||
tgt_bsp="arm/q7s"
|
||||
build_dir="build-Debug-Watchdog"
|
||||
build_generator=""
|
||||
definitions="BUILD_WATCHDOG=ON"
|
||||
if [ "${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
|
||||
${python} cmake_build_config.py -o "${os_fsfw}" -g "${build_generator}" -b "debug" -t "${tgt_bsp}" \
|
||||
-d "${definitions}" -l"${build_dir}"
|
||||
# set +x
|
||||
|
||||
36
cmake/scripts/Q7S/watchdog/make_release_cfg.sh
Executable file
36
cmake/scripts/Q7S/watchdog/make_release_cfg.sh
Executable file
@ -0,0 +1,36 @@
|
||||
#!/bin/sh
|
||||
counter=0
|
||||
while [ ${counter} -lt 5 ]
|
||||
do
|
||||
cd ..
|
||||
if [ -f "cmake_build_config.py" ];then
|
||||
break
|
||||
fi
|
||||
counter=$((counter=counter + 1))
|
||||
done
|
||||
|
||||
if [ "${counter}" -ge 5 ];then
|
||||
echo "cmake_build_config.py not found in upper directories!"
|
||||
exit 1
|
||||
fi
|
||||
|
||||
os_fsfw="linux"
|
||||
tgt_bsp="arm/q7s"
|
||||
build_dir="build-Release-Watchdog"
|
||||
build_generator=""
|
||||
definitions="BUILD_WATCHDOG=ON"
|
||||
if [ "${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
|
||||
${python} cmake_build_config.py -o "${os_fsfw}" -g "${build_generator}" -b "release" -t "${tgt_bsp}" \
|
||||
-d "${definitions} -l"${build_dir}"
|
||||
# set +x
|
||||
|
||||
34
cmake/scripts/Q7S/watchdog/ninja_debug_cfg.sh
Executable file
34
cmake/scripts/Q7S/watchdog/ninja_debug_cfg.sh
Executable file
@ -0,0 +1,34 @@
|
||||
#!/bin/sh
|
||||
counter=0
|
||||
while [ ${counter} -lt 5 ]
|
||||
do
|
||||
cd ..
|
||||
if [ -f "cmake_build_config.py" ];then
|
||||
break
|
||||
fi
|
||||
counter=$((counter=counter + 1))
|
||||
done
|
||||
|
||||
if [ "${counter}" -ge 5 ];then
|
||||
echo "cmake_build_config.py not found in upper directories!"
|
||||
exit 1
|
||||
fi
|
||||
|
||||
os_fsfw="linux"
|
||||
tgt_bsp="arm/q7s"
|
||||
build_dir="build-Debug-Watchdog"
|
||||
build_generator="Ninja"
|
||||
definitions="-DBUILD_WATCHDOG=ON"
|
||||
if [ "${OS}" = "Windows_NT" ]; then
|
||||
python="py"
|
||||
# Could be other OS but this works for now.
|
||||
else
|
||||
python="python3"
|
||||
fi
|
||||
|
||||
echo "Running command (without the leading +):"
|
||||
set -x # Print command
|
||||
${python} cmake_build_config.py -o "${os_fsfw}" -g "${build_generator}" -b "debug" -t "${tgt_bsp}" \
|
||||
-d "${definitions}" -l "${build_dir}"
|
||||
# set +x
|
||||
|
||||
34
cmake/scripts/Q7S/watchdog/ninja_release_cfg.sh
Executable file
34
cmake/scripts/Q7S/watchdog/ninja_release_cfg.sh
Executable file
@ -0,0 +1,34 @@
|
||||
#!/bin/sh
|
||||
counter=0
|
||||
while [ ${counter} -lt 5 ]
|
||||
do
|
||||
cd ..
|
||||
if [ -f "cmake_build_config.py" ];then
|
||||
break
|
||||
fi
|
||||
counter=$((counter=counter + 1))
|
||||
done
|
||||
|
||||
if [ "${counter}" -ge 5 ];then
|
||||
echo "cmake_build_config.py not found in upper directories!"
|
||||
exit 1
|
||||
fi
|
||||
|
||||
os_fsfw="linux"
|
||||
tgt_bsp="arm/q7s"
|
||||
build_dir="build-Release-Watchdog"
|
||||
build_generator="Ninja"
|
||||
definitions="BUILD_WATCHDOG=ON"
|
||||
if [ "${OS}" = "Windows_NT" ]; then
|
||||
python="py"
|
||||
# Could be other OS but this works for now.
|
||||
else
|
||||
python="python3"
|
||||
fi
|
||||
|
||||
echo "Running command (without the leading +):"
|
||||
set -x # Print command
|
||||
${python} cmake_build_config.py -o "${os_fsfw}" -g "${build_generator}" -b "release" -t "${tgt_bsp}" \
|
||||
-d "${definitions}" -l"${build_dir}"
|
||||
# set +x
|
||||
|
||||
@ -1,6 +1,10 @@
|
||||
#ifndef COMMON_CONFIG_COMMONCONFIG_H_
|
||||
#define COMMON_CONFIG_COMMONCONFIG_H_
|
||||
|
||||
#define OBSW_ADD_LWGPS_TEST 0
|
||||
#define OBSW_ADD_LWGPS_TEST 0
|
||||
|
||||
// Use TCP instead of UDP for the TMTC bridge. This allows using the TMTC client locally
|
||||
// because UDP packets are not allowed in the VPN
|
||||
#define OBSW_USE_TMTC_TCP_BRIDGE 0
|
||||
|
||||
#endif /* COMMON_CONFIG_COMMONCONFIG_H_ */
|
||||
|
||||
2
fsfw
2
fsfw
@ -1 +1 @@
|
||||
Subproject commit 1f6a5e635fcd6bd812e262cc65a15a8a054f7ecf
|
||||
Subproject commit 54c028f913e81077855aa1ed727bac43e7efea82
|
||||
@ -1,4 +1,5 @@
|
||||
#include "SpiTestClass.h"
|
||||
#include "OBSWConfig.h"
|
||||
|
||||
#include "devices/gpioIds.h"
|
||||
|
||||
|
||||
@ -6,6 +6,10 @@
|
||||
#ifndef FSFWCONFIG_OBSWCONFIG_H_
|
||||
#define FSFWCONFIG_OBSWCONFIG_H_
|
||||
|
||||
#cmakedefine RASPBERRY_Pi
|
||||
#cmakedefine XIPHOS_Q7S
|
||||
#cmakedefine BEAGLEBONEBLACK
|
||||
|
||||
#ifdef RASPBERRY_PI
|
||||
#include "rpiConfig.h"
|
||||
#elif defined(XIPHOS_Q7S)
|
||||
@ -18,10 +22,6 @@
|
||||
debugging. */
|
||||
#define OBSW_VERBOSE_LEVEL 1
|
||||
|
||||
// Use TCP instead of UDP for the TMTC bridge. This allows using the TMTC client locally
|
||||
// because UDP packets are not allowed in the VPN
|
||||
#define OBSW_USE_TMTC_TCP_BRIDGE 0
|
||||
|
||||
#define OBSW_PRINT_MISSED_DEADLINES 1
|
||||
#define OBSW_ADD_TEST_CODE 1
|
||||
#define OBSW_ADD_TEST_PST 1
|
||||
|
||||
@ -254,7 +254,7 @@
|
||||
</extensions>
|
||||
</storageModule>
|
||||
<storageModule moduleId="cdtBuildSystem" version="4.0.0">
|
||||
<configuration artifactName="${ProjName}" buildProperties="" description="" errorParsers="org.eclipse.cdt.core.GASErrorParser;org.eclipse.cdt.core.GmakeErrorParser;org.eclipse.cdt.core.GLDErrorParser;org.eclipse.cdt.core.CWDLocator;org.eclipse.cdt.core.GCCErrorParser" id="cdt.managedbuild.toolchain.gnu.mingw.base.1455833186.1840876443.2117915473.688890851" name="eive-rpi-debug" optionalBuildProperties="org.eclipse.cdt.docker.launcher.containerbuild.property.enablement=null,org.eclipse.cdt.docker.launcher.containerbuild.property.volumes=,org.eclipse.cdt.docker.launcher.containerbuild.property.connection=null,org.eclipse.cdt.docker.launcher.containerbuild.property.selectedvolumes=,org.eclipse.cdt.docker.launcher.containerbuild.property.image=null" parent="org.eclipse.cdt.build.core.emptycfg">
|
||||
<configuration artifactName="${ProjName}" buildProperties="" description="" errorParsers="org.eclipse.cdt.core.GASErrorParser;org.eclipse.cdt.core.GmakeErrorParser;org.eclipse.cdt.core.GLDErrorParser;org.eclipse.cdt.core.CWDLocator;org.eclipse.cdt.core.GCCErrorParser" id="cdt.managedbuild.toolchain.gnu.mingw.base.1455833186.1840876443.2117915473.688890851" name="eive-rpi-debug" optionalBuildProperties="org.eclipse.cdt.docker.launcher.containerbuild.property.enablement=null,org.eclipse.cdt.docker.launcher.containerbuild.property.selectedvolumes=,org.eclipse.cdt.docker.launcher.containerbuild.property.volumes=,org.eclipse.cdt.docker.launcher.containerbuild.property.image=null,org.eclipse.cdt.docker.launcher.containerbuild.property.connection=null" parent="org.eclipse.cdt.build.core.emptycfg">
|
||||
<folderInfo id="cdt.managedbuild.toolchain.gnu.mingw.base.1455833186.1840876443.2117915473.688890851." name="/" resourcePath="">
|
||||
<toolChain id="ilg.gnuarmeclipse.managedbuild.cross.toolchain.base.1971474557" name="Arm Cross GCC" superClass="ilg.gnuarmeclipse.managedbuild.cross.toolchain.base">
|
||||
<option id="ilg.gnuarmeclipse.managedbuild.cross.option.architecture.1813444167" name="Architecture" superClass="ilg.gnuarmeclipse.managedbuild.cross.option.architecture" value="ilg.gnuarmeclipse.managedbuild.cross.option.architecture.arm" valueType="enumerated"/>
|
||||
@ -1031,6 +1031,332 @@
|
||||
</storageModule>
|
||||
<storageModule moduleId="org.eclipse.cdt.core.externalSettings"/>
|
||||
</cconfiguration>
|
||||
<cconfiguration id="cdt.managedbuild.toolchain.gnu.mingw.base.1455833186.1840876443.2117915473.688890851.1707795689.1631077874">
|
||||
<storageModule buildSystemId="org.eclipse.cdt.managedbuilder.core.configurationDataProvider" id="cdt.managedbuild.toolchain.gnu.mingw.base.1455833186.1840876443.2117915473.688890851.1707795689.1631077874" moduleId="org.eclipse.cdt.core.settings" name="q7s-watchdog-debug">
|
||||
<macros>
|
||||
<stringMacro name="Q7S_SYSROOT_UNIX" type="VALUE_PATH_DIR" value="/home/rmueller/Xilinx/cortexa9hf-neon-xiphos-linux-gnueabi"/>
|
||||
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<targetPlatform archList="all" binaryParser="org.eclipse.cdt.core.ELF" id="ilg.gnuarmeclipse.managedbuild.cross.targetPlatform.381962613" isAbstract="false" osList="all" superClass="ilg.gnuarmeclipse.managedbuild.cross.targetPlatform"/>
|
||||
<builder arguments="--build . -j" buildPath="${workspace_loc:/eive-obsw/build-Release-Watchdog}" command="cmake" enableCleanBuild="false" enabledIncrementalBuild="true" id="ilg.gnuarmeclipse.managedbuild.cross.builder.1784164529" incrementalBuildTarget="" keepEnvironmentInBuildfile="false" managedBuildOn="false" name="Gnu Make Builder" parallelBuildOn="true" parallelizationNumber="optimal" superClass="ilg.gnuarmeclipse.managedbuild.cross.builder"/>
|
||||
<tool id="ilg.gnuarmeclipse.managedbuild.cross.tool.assembler.926630835" name="GNU Arm Cross Assembler" superClass="ilg.gnuarmeclipse.managedbuild.cross.tool.assembler">
|
||||
<option id="ilg.gnuarmeclipse.managedbuild.cross.option.assembler.usepreprocessor.243911424" name="Use preprocessor" superClass="ilg.gnuarmeclipse.managedbuild.cross.option.assembler.usepreprocessor" value="true" valueType="boolean"/>
|
||||
<option IS_BUILTIN_EMPTY="false" IS_VALUE_EMPTY="false" id="ilg.gnuarmeclipse.managedbuild.cross.option.assembler.include.paths.473023042" name="Include paths (-I)" superClass="ilg.gnuarmeclipse.managedbuild.cross.option.assembler.include.paths" valueType="includePath">
|
||||
<listOptionValue builtIn="false" value=""${Q7S_SYSROOT_UNIX}/usr/include""/>
|
||||
<listOptionValue builtIn="false" value=""${workspace_loc:/eive-obsw/fsfw/src}""/>
|
||||
</option>
|
||||
<inputType id="ilg.gnuarmeclipse.managedbuild.cross.tool.assembler.input.1421275058" superClass="ilg.gnuarmeclipse.managedbuild.cross.tool.assembler.input"/>
|
||||
</tool>
|
||||
<tool id="ilg.gnuarmeclipse.managedbuild.cross.tool.c.compiler.449221513" name="GNU Arm Cross C Compiler" superClass="ilg.gnuarmeclipse.managedbuild.cross.tool.c.compiler">
|
||||
<option IS_BUILTIN_EMPTY="false" IS_VALUE_EMPTY="false" id="ilg.gnuarmeclipse.managedbuild.cross.option.c.compiler.include.paths.518907687" name="Include paths (-I)" superClass="ilg.gnuarmeclipse.managedbuild.cross.option.c.compiler.include.paths" useByScannerDiscovery="true" valueType="includePath">
|
||||
<listOptionValue builtIn="false" value=""${Q7S_SYSROOT_UNIX}/usr/include""/>
|
||||
<listOptionValue builtIn="false" value=""${workspace_loc:/eive-obsw/common/config}""/>
|
||||
<listOptionValue builtIn="false" value=""${workspace_loc:/eive-obsw}""/>
|
||||
<listOptionValue builtIn="false" value=""${workspace_loc:/eive-obsw/linux/fsfwconfig}""/>
|
||||
<listOptionValue builtIn="false" value=""${workspace_loc:/eive-obsw/fsfw/src}""/>
|
||||
</option>
|
||||
<option IS_BUILTIN_EMPTY="false" IS_VALUE_EMPTY="false" id="ilg.gnuarmeclipse.managedbuild.cross.option.c.compiler.defs.1215245446" name="Defined symbols (-D)" superClass="ilg.gnuarmeclipse.managedbuild.cross.option.c.compiler.defs" useByScannerDiscovery="true" valueType="definedSymbols">
|
||||
<listOptionValue builtIn="false" value="LINUX=1"/>
|
||||
</option>
|
||||
<inputType id="ilg.gnuarmeclipse.managedbuild.cross.tool.c.compiler.input.1048106331" superClass="ilg.gnuarmeclipse.managedbuild.cross.tool.c.compiler.input"/>
|
||||
</tool>
|
||||
<tool id="ilg.gnuarmeclipse.managedbuild.cross.tool.cpp.compiler.1358447993" name="GNU Arm Cross C++ Compiler" superClass="ilg.gnuarmeclipse.managedbuild.cross.tool.cpp.compiler">
|
||||
<option IS_BUILTIN_EMPTY="false" IS_VALUE_EMPTY="false" id="ilg.gnuarmeclipse.managedbuild.cross.option.cpp.compiler.include.paths.1479238966" name="Include paths (-I)" superClass="ilg.gnuarmeclipse.managedbuild.cross.option.cpp.compiler.include.paths" useByScannerDiscovery="true" valueType="includePath">
|
||||
<listOptionValue builtIn="false" value=""../${Q7S_SYSROOT}/usr/include""/>
|
||||
<listOptionValue builtIn="false" value=""${Q7S_SYSROOT_UNIX}/usr/include""/>
|
||||
<listOptionValue builtIn="false" value=""${workspace_loc:/eive-obsw/linux/fsfwconfig}""/>
|
||||
<listOptionValue builtIn="false" value=""${workspace_loc:/eive-obsw/common/config}""/>
|
||||
<listOptionValue builtIn="false" value=""${workspace_loc:/eive-obsw}""/>
|
||||
<listOptionValue builtIn="false" value=""${workspace_loc:/eive-obsw/build-Debug-Q7S}""/>
|
||||
<listOptionValue builtIn="false" value=""${workspace_loc:/eive-obsw/fsfw/src}""/>
|
||||
</option>
|
||||
<option IS_BUILTIN_EMPTY="false" IS_VALUE_EMPTY="false" id="ilg.gnuarmeclipse.managedbuild.cross.option.cpp.compiler.defs.1072937788" name="Defined symbols (-D)" superClass="ilg.gnuarmeclipse.managedbuild.cross.option.cpp.compiler.defs" useByScannerDiscovery="true" valueType="definedSymbols">
|
||||
<listOptionValue builtIn="false" value="LINUX=1"/>
|
||||
</option>
|
||||
<inputType id="ilg.gnuarmeclipse.managedbuild.cross.tool.cpp.compiler.input.1822075528" superClass="ilg.gnuarmeclipse.managedbuild.cross.tool.cpp.compiler.input"/>
|
||||
</tool>
|
||||
<tool id="ilg.gnuarmeclipse.managedbuild.cross.tool.c.linker.24089673" name="GNU Arm Cross C Linker" superClass="ilg.gnuarmeclipse.managedbuild.cross.tool.c.linker">
|
||||
<option id="ilg.gnuarmeclipse.managedbuild.cross.option.c.linker.gcsections.520318104" name="Remove unused sections (-Xlinker --gc-sections)" superClass="ilg.gnuarmeclipse.managedbuild.cross.option.c.linker.gcsections" value="true" valueType="boolean"/>
|
||||
</tool>
|
||||
<tool id="ilg.gnuarmeclipse.managedbuild.cross.tool.cpp.linker.497099701" name="GNU Arm Cross C++ Linker" superClass="ilg.gnuarmeclipse.managedbuild.cross.tool.cpp.linker">
|
||||
<option id="ilg.gnuarmeclipse.managedbuild.cross.option.cpp.linker.gcsections.230575607" name="Remove unused sections (-Xlinker --gc-sections)" superClass="ilg.gnuarmeclipse.managedbuild.cross.option.cpp.linker.gcsections" value="true" valueType="boolean"/>
|
||||
<inputType id="ilg.gnuarmeclipse.managedbuild.cross.tool.cpp.linker.input.1250155843" superClass="ilg.gnuarmeclipse.managedbuild.cross.tool.cpp.linker.input">
|
||||
<additionalInput kind="additionalinputdependency" paths="$(USER_OBJS)"/>
|
||||
<additionalInput kind="additionalinput" paths="$(LIBS)"/>
|
||||
</inputType>
|
||||
</tool>
|
||||
<tool id="ilg.gnuarmeclipse.managedbuild.cross.tool.archiver.1661455988" name="GNU Arm Cross Archiver" superClass="ilg.gnuarmeclipse.managedbuild.cross.tool.archiver"/>
|
||||
<tool id="ilg.gnuarmeclipse.managedbuild.cross.tool.createflash.1439410817" name="GNU Arm Cross Create Flash Image" superClass="ilg.gnuarmeclipse.managedbuild.cross.tool.createflash"/>
|
||||
<tool id="ilg.gnuarmeclipse.managedbuild.cross.tool.createlisting.660901959" name="GNU Arm Cross Create Listing" superClass="ilg.gnuarmeclipse.managedbuild.cross.tool.createlisting">
|
||||
<option id="ilg.gnuarmeclipse.managedbuild.cross.option.createlisting.source.1807964015" name="Display source (--source|-S)" superClass="ilg.gnuarmeclipse.managedbuild.cross.option.createlisting.source" value="true" valueType="boolean"/>
|
||||
<option id="ilg.gnuarmeclipse.managedbuild.cross.option.createlisting.allheaders.1831292329" name="Display all headers (--all-headers|-x)" superClass="ilg.gnuarmeclipse.managedbuild.cross.option.createlisting.allheaders" value="true" valueType="boolean"/>
|
||||
<option id="ilg.gnuarmeclipse.managedbuild.cross.option.createlisting.demangle.1766387449" name="Demangle names (--demangle|-C)" superClass="ilg.gnuarmeclipse.managedbuild.cross.option.createlisting.demangle" value="true" valueType="boolean"/>
|
||||
<option id="ilg.gnuarmeclipse.managedbuild.cross.option.createlisting.linenumbers.2058436534" name="Display line numbers (--line-numbers|-l)" superClass="ilg.gnuarmeclipse.managedbuild.cross.option.createlisting.linenumbers" value="true" valueType="boolean"/>
|
||||
<option id="ilg.gnuarmeclipse.managedbuild.cross.option.createlisting.wide.663388579" name="Wide lines (--wide|-w)" superClass="ilg.gnuarmeclipse.managedbuild.cross.option.createlisting.wide" value="true" valueType="boolean"/>
|
||||
</tool>
|
||||
<tool id="ilg.gnuarmeclipse.managedbuild.cross.tool.printsize.688188043" name="GNU Arm Cross Print Size" superClass="ilg.gnuarmeclipse.managedbuild.cross.tool.printsize">
|
||||
<option id="ilg.gnuarmeclipse.managedbuild.cross.option.printsize.format.703088320" name="Size format" superClass="ilg.gnuarmeclipse.managedbuild.cross.option.printsize.format"/>
|
||||
</tool>
|
||||
</toolChain>
|
||||
</folderInfo>
|
||||
<sourceEntries>
|
||||
<entry flags="VALUE_WORKSPACE_PATH|RESOLVED" kind="sourcePath" name=""/>
|
||||
</sourceEntries>
|
||||
</configuration>
|
||||
</storageModule>
|
||||
<storageModule moduleId="org.eclipse.cdt.core.externalSettings"/>
|
||||
<storageModule moduleId="ilg.gnumcueclipse.managedbuild.packs"/>
|
||||
</cconfiguration>
|
||||
</storageModule>
|
||||
<storageModule moduleId="cdtBuildSystem" version="4.0.0">
|
||||
<project id="eive_obsw.null.1109622296" name="eive_obsw"/>
|
||||
@ -1044,6 +1370,9 @@
|
||||
<resource resourceType="PROJECT" workspacePath="/eive_obsw"/>
|
||||
</configuration>
|
||||
<configuration configurationName="eive-mingw-release"/>
|
||||
<configuration configurationName="q7s-watchdog-release">
|
||||
<resource resourceType="PROJECT" workspacePath="/eive-obsw"/>
|
||||
</configuration>
|
||||
<configuration configurationName="eive-rpi-release-win"/>
|
||||
<configuration configurationName="Default">
|
||||
<resource resourceType="PROJECT" workspacePath="/eive_obsw"/>
|
||||
@ -1060,6 +1389,7 @@
|
||||
<configuration configurationName="eive-mingw-debug">
|
||||
<resource resourceType="PROJECT" workspacePath="/eive_obsw"/>
|
||||
</configuration>
|
||||
<configuration configurationName="q7s-watchdog"/>
|
||||
<configuration configurationName="eive-rpi-debug"/>
|
||||
</storageModule>
|
||||
<storageModule moduleId="org.eclipse.cdt.internal.ui.text.commentOwnerProjectMappings">
|
||||
|
||||
@ -1,5 +1,7 @@
|
||||
#include "Max31865PT1000Handler.h"
|
||||
|
||||
#include "fsfw/datapool/PoolReadGuard.h"
|
||||
|
||||
#include <bitset>
|
||||
#include <cmath>
|
||||
|
||||
@ -360,7 +362,6 @@ ReturnValue_t Max31865PT1000Handler::interpretDeviceReply(
|
||||
// do something with rtd value, will propably be stored in
|
||||
// dataset.
|
||||
float rtdValue = adcCode * RTD_RREF_PT1000 / INT16_MAX;
|
||||
|
||||
// calculate approximation
|
||||
float approxTemp = adcCode / 32.0 - 256.0;
|
||||
|
||||
@ -369,7 +370,7 @@ ReturnValue_t Max31865PT1000Handler::interpretDeviceReply(
|
||||
#if FSFW_CPP_OSTREAM_ENABLED == 1
|
||||
sif::info << "Max31865PT1000Handler::interpretDeviceReply: Measured "
|
||||
<< "resistance is " << rtdValue << " Ohms." << std::endl;
|
||||
sif::info << "Approximated temperature is " << approxTemp << " °C"
|
||||
sif::info << "Approximated temperature is " << approxTemp << " C"
|
||||
<< std::endl;
|
||||
#else
|
||||
sif::printInfo("Max31865PT1000Handler::interpretDeviceReply: Measured resistance is %f"
|
||||
@ -380,8 +381,8 @@ ReturnValue_t Max31865PT1000Handler::interpretDeviceReply(
|
||||
}
|
||||
#endif
|
||||
|
||||
ReturnValue_t result = sensorDataset.read();
|
||||
if(result != HasReturnvaluesIF::RETURN_OK) {
|
||||
PoolReadGuard pg(&sensorDataset);
|
||||
if(pg.getReadResult() != HasReturnvaluesIF::RETURN_OK) {
|
||||
// Configuration error
|
||||
#if FSFW_CPP_OSTREAM_ENABLED == 1
|
||||
sif::debug << "Max31865PT1000Handler::interpretDeviceReply: Error reading dataset!"
|
||||
@ -389,29 +390,17 @@ ReturnValue_t Max31865PT1000Handler::interpretDeviceReply(
|
||||
#else
|
||||
sif::printDebug("Max31865PT1000Handler::interpretDeviceReply: Error reading dataset!\n");
|
||||
#endif
|
||||
return result;
|
||||
return pg.getReadResult();
|
||||
}
|
||||
|
||||
if(not sensorDataset.isValid()) {
|
||||
sensorDataset.setValidity(true, false);
|
||||
sensorDataset.rtdValue.setValid(true);
|
||||
sensorDataset.temperatureCelcius.setValid(true);
|
||||
}
|
||||
|
||||
sensorDataset.rtdValue = rtdValue;
|
||||
sensorDataset.temperatureCelcius = approxTemp;
|
||||
|
||||
result = sensorDataset.commit();
|
||||
|
||||
if(result != HasReturnvaluesIF::RETURN_OK) {
|
||||
// Configuration error
|
||||
#if FSFW_CPP_OSTREAM_ENABLED == 1
|
||||
sif::debug << "Max31865PT1000Handler::interpretDeviceReply: "
|
||||
"Error commiting dataset!" << std::endl;
|
||||
#else
|
||||
sif::printDebug("Max31865PT1000Handler::interpretDeviceReply: "
|
||||
"Error commiting dataset!\n");
|
||||
#endif
|
||||
return result;
|
||||
}
|
||||
|
||||
break;
|
||||
}
|
||||
case(Max31865Definitions::REQUEST_FAULT_BYTE): {
|
||||
@ -485,6 +474,7 @@ void Max31865PT1000Handler::doTransition(Mode_t modeFrom,
|
||||
|
||||
ReturnValue_t Max31865PT1000Handler::initializeLocalDataPool(localpool::DataPool& localDataPoolMap,
|
||||
LocalDataPoolManager& poolManager) {
|
||||
localDataPoolMap.emplace(Max31865Definitions::PoolIds::RTD_VALUE, new PoolEntry<float>({0}));
|
||||
localDataPoolMap.emplace(Max31865Definitions::PoolIds::TEMPERATURE_C,
|
||||
new PoolEntry<float>({0}, 1, true));
|
||||
localDataPoolMap.emplace(Max31865Definitions::PoolIds::FAULT_BYTE,
|
||||
|
||||
@ -9,6 +9,7 @@
|
||||
namespace Max31865Definitions {
|
||||
|
||||
enum PoolIds: lp_id_t {
|
||||
RTD_VALUE,
|
||||
TEMPERATURE_C,
|
||||
FAULT_BYTE
|
||||
};
|
||||
@ -46,6 +47,8 @@ public:
|
||||
StaticLocalDataSet(sid_t(objectId, MAX31865_SET_ID)) {
|
||||
}
|
||||
|
||||
lp_var_t<float> rtdValue = lp_var_t<float>(sid.objectId,
|
||||
PoolIds::RTD_VALUE, this);
|
||||
lp_var_t<float> temperatureCelcius = lp_var_t<float>(sid.objectId,
|
||||
PoolIds::TEMPERATURE_C, this);
|
||||
lp_var_t<uint8_t> errorByte = lp_var_t<uint8_t>(sid.objectId,
|
||||
|
||||
@ -8,7 +8,13 @@ def main():
|
||||
cmd = build_cmd(args)
|
||||
# Run the command
|
||||
print(f'Running command: {cmd}')
|
||||
os.system(cmd)
|
||||
result = os.system(cmd)
|
||||
if result != 0:
|
||||
print('')
|
||||
print('Removing problematic SSH key and trying again..')
|
||||
remove_ssh_key_cmd = 'ssh-keygen -f "${HOME}/.ssh/known_hosts" -R "[localhost]:1535"'
|
||||
os.system(remove_ssh_key_cmd)
|
||||
result = os.system(cmd)
|
||||
|
||||
|
||||
def handle_args():
|
||||
|
||||
4
watchdog/CMakeLists.txt
Normal file
4
watchdog/CMakeLists.txt
Normal file
@ -0,0 +1,4 @@
|
||||
target_sources(${TARGET_NAME} PRIVATE
|
||||
main.cpp
|
||||
Watchdog.cpp
|
||||
)
|
||||
258
watchdog/Watchdog.cpp
Normal file
258
watchdog/Watchdog.cpp
Normal file
@ -0,0 +1,258 @@
|
||||
#include "Watchdog.h"
|
||||
#include "watchdogConf.h"
|
||||
|
||||
#include <errno.h>
|
||||
#include <sys/types.h>
|
||||
#include <sys/stat.h>
|
||||
#include <poll.h>
|
||||
#include <unistd.h>
|
||||
#include <fcntl.h>
|
||||
|
||||
#include <iostream>
|
||||
#include <fstream>
|
||||
#include <thread>
|
||||
#include <cstring>
|
||||
#include <filesystem>
|
||||
|
||||
|
||||
WatchdogTask::WatchdogTask (): fd(0) {
|
||||
int result = 0;
|
||||
// Only create the FIFO if it does not exist yet
|
||||
if(not std::filesystem::exists(watchdog::FIFO_NAME)) {
|
||||
// Permission 666 or rw-rw-rw-
|
||||
mode_t mode = DEFFILEMODE;
|
||||
result = mkfifo(watchdog::FIFO_NAME.c_str(), mode);
|
||||
if(result != 0) {
|
||||
std::cerr << "eive-watchdog: Could not created named pipe at " <<
|
||||
watchdog::FIFO_NAME << ", error " << errno << ": " << strerror(errno) <<
|
||||
std::endl;
|
||||
throw std::runtime_error("eive-watchdog: FIFO creation failed");
|
||||
}
|
||||
#if WATCHDOG_VERBOSE_LEVEL >= 1
|
||||
std::cout << "eive-watchdog: Pipe at " << watchdog::FIFO_NAME <<
|
||||
" created successfully" << std::endl;
|
||||
#endif
|
||||
}
|
||||
}
|
||||
|
||||
WatchdogTask::~WatchdogTask() {
|
||||
|
||||
}
|
||||
|
||||
int WatchdogTask::performOperation() {
|
||||
// Open FIFO read only and non-blocking
|
||||
fd = open(watchdog::FIFO_NAME.c_str(), O_RDONLY | O_NONBLOCK);
|
||||
if(fd < 0) {
|
||||
std::cerr << "eive-watchdog: Opening pipe " << watchdog::FIFO_NAME <<
|
||||
"read-only failed with " << errno << ": " << strerror(errno) << std::endl;
|
||||
return -1;
|
||||
}
|
||||
state = States::RUNNING;
|
||||
|
||||
while(true) {
|
||||
WatchdogTask::LoopResult loopResult = watchdogLoop();
|
||||
switch(loopResult) {
|
||||
case(LoopResult::OK): {
|
||||
performRunningOperation();
|
||||
break;
|
||||
}
|
||||
case(LoopResult::CANCEL_RQ): {
|
||||
std::cout << "eive-watchdog: Received cancel request, closing watchdog.." << std::endl;
|
||||
return 0;
|
||||
}
|
||||
case(LoopResult::SUSPEND_RQ): {
|
||||
performSuspendOperation();
|
||||
break;
|
||||
}
|
||||
case(LoopResult::TIMEOUT): {
|
||||
performNotRunningOperation(loopResult);
|
||||
break;
|
||||
}
|
||||
case(LoopResult::HUNG_UP): {
|
||||
performNotRunningOperation(loopResult);
|
||||
break;
|
||||
}
|
||||
case(LoopResult::RESTART_RQ): {
|
||||
if(state == States::SUSPENDED or state == States::FAULTY) {
|
||||
performRunningOperation();
|
||||
}
|
||||
break;
|
||||
}
|
||||
case(LoopResult::FAULT): {
|
||||
using namespace std::chrono_literals;
|
||||
// Configuration error
|
||||
std::cerr << "Fault has occured in watchdog loop" << std::endl;
|
||||
// Prevent spam
|
||||
std::this_thread::sleep_for(2000ms);
|
||||
|
||||
}
|
||||
}
|
||||
}
|
||||
if (close(fd) < 0) {
|
||||
std::cerr << "eive-watchdog: Closing named pipe at " << watchdog::FIFO_NAME <<
|
||||
"failed, error " << errno << ": " << strerror(errno) << std::endl;
|
||||
}
|
||||
std::cout << "eive-watchdog: Finished" << std::endl;
|
||||
return 0;
|
||||
}
|
||||
|
||||
WatchdogTask::LoopResult WatchdogTask::watchdogLoop() {
|
||||
using namespace std::chrono_literals;
|
||||
struct pollfd waiter = {};
|
||||
waiter.fd = fd;
|
||||
waiter.events = POLLIN;
|
||||
|
||||
switch(state) {
|
||||
case(States::SUSPENDED): {
|
||||
// Sleep, then check whether a restart request was received
|
||||
std::this_thread::sleep_for(1000ms);
|
||||
break;
|
||||
}
|
||||
case(States::RUNNING): {
|
||||
// Continue as usual
|
||||
break;
|
||||
}
|
||||
case(States::NOT_STARTED): {
|
||||
// This should not happen
|
||||
std::cerr << "eive-watchdog: State is NOT_STARTED, configuration error" << std::endl;
|
||||
break;
|
||||
}
|
||||
case(States::FAULTY): {
|
||||
// TODO: Not sure what to do yet. Continue for now
|
||||
break;
|
||||
}
|
||||
}
|
||||
|
||||
// 10 seconds timeout, only poll one file descriptor
|
||||
switch(poll(&waiter, 1, watchdog::TIMEOUT_MS)) {
|
||||
case(0): {
|
||||
return LoopResult::TIMEOUT;
|
||||
}
|
||||
case(1): {
|
||||
return pollEvent(waiter);
|
||||
}
|
||||
default: {
|
||||
std::cerr << "eive-watchdog: Unknown poll error at " << watchdog::FIFO_NAME << ", error " <<
|
||||
errno << ": " << strerror(errno) << std::endl;
|
||||
break;
|
||||
}
|
||||
}
|
||||
return LoopResult::OK;
|
||||
}
|
||||
|
||||
WatchdogTask::LoopResult WatchdogTask::pollEvent(struct pollfd& waiter) {
|
||||
if (waiter.revents & POLLIN) {
|
||||
ssize_t readLen = read(fd, buf.data(), buf.size());
|
||||
if (readLen < 0) {
|
||||
std::cerr << "eive-watchdog: Read error on pipe " << watchdog::FIFO_NAME <<
|
||||
", error " << errno << ": " << strerror(errno) << std::endl;
|
||||
return LoopResult::OK;
|
||||
}
|
||||
#if WATCHDOG_VERBOSE_LEVEL == 2
|
||||
std::cout << "Read " << readLen << " byte(s) on the pipe " << FIFO_NAME
|
||||
<< std::endl;
|
||||
#endif
|
||||
else if(readLen >= 1) {
|
||||
return parseCommandByte(readLen);
|
||||
}
|
||||
|
||||
}
|
||||
else if(waiter.revents & POLLERR) {
|
||||
std::cerr << "eive-watchdog: Poll error error on pipe " << watchdog::FIFO_NAME <<
|
||||
std::endl;
|
||||
return LoopResult::FAULT;
|
||||
}
|
||||
else if (waiter.revents & POLLHUP) {
|
||||
// Writer closed its end
|
||||
return LoopResult::HUNG_UP;
|
||||
}
|
||||
return LoopResult::FAULT;
|
||||
}
|
||||
|
||||
WatchdogTask::LoopResult WatchdogTask::parseCommandByte(ssize_t readLen) {
|
||||
for(ssize_t idx = 0; idx < readLen; idx++) {
|
||||
char readChar = buf[idx];
|
||||
// Cancel request
|
||||
if(readChar == watchdog::CANCEL_CHAR) {
|
||||
return LoopResult::CANCEL_RQ;
|
||||
}
|
||||
// Begin request. Does not work if the operation was not suspended before
|
||||
else if(readChar == watchdog::RESTART_CHAR) {
|
||||
return LoopResult::RESTART_RQ;
|
||||
}
|
||||
// Suspend request
|
||||
else if(readChar == watchdog::SUSPEND_CHAR) {
|
||||
return LoopResult::SUSPEND_RQ;
|
||||
}
|
||||
// Everything else: All working as expected
|
||||
}
|
||||
return LoopResult::OK;
|
||||
}
|
||||
|
||||
int WatchdogTask::performRunningOperation() {
|
||||
if(state != States::RUNNING) {
|
||||
state = States::RUNNING;
|
||||
}
|
||||
|
||||
if(not obswRunning) {
|
||||
if(printNotRunningLatch) {
|
||||
// Reset latch so user can see timeouts
|
||||
printNotRunningLatch = false;
|
||||
}
|
||||
|
||||
obswRunning = true;
|
||||
std::cout << "eive-watchdog: Running OBSW detected.." << std::endl;
|
||||
#if WATCHDOG_CREATE_FILE_IF_RUNNING == 1
|
||||
std::cout << "eive-watchdog: Creating " << watchdog::RUNNING_FILE_NAME << std::endl;
|
||||
if (not std::filesystem::exists(watchdog::RUNNING_FILE_NAME)) {
|
||||
std::ofstream obswRunningFile(watchdog::RUNNING_FILE_NAME);
|
||||
if(not obswRunningFile.good()) {
|
||||
std::cerr << "Creating file " << watchdog::RUNNING_FILE_NAME << " failed"
|
||||
<< std::endl;
|
||||
}
|
||||
}
|
||||
#endif
|
||||
}
|
||||
return 0;
|
||||
}
|
||||
|
||||
int WatchdogTask::performNotRunningOperation(LoopResult type) {
|
||||
// Latch prevents spam on console
|
||||
if(not printNotRunningLatch) {
|
||||
if(type == LoopResult::HUNG_UP) {
|
||||
std::cout << "eive-watchdog: FIFO writer hung up!" << std::endl;
|
||||
}
|
||||
else {
|
||||
std::cout << "eive-watchdog: The FIFO timed out!" << std::endl;
|
||||
}
|
||||
printNotRunningLatch = true;
|
||||
}
|
||||
|
||||
if(obswRunning) {
|
||||
#if WATCHDOG_CREATE_FILE_IF_RUNNING == 1
|
||||
if (std::filesystem::exists(watchdog::RUNNING_FILE_NAME)) {
|
||||
int result = std::remove(watchdog::RUNNING_FILE_NAME.c_str());
|
||||
if(result != 0) {
|
||||
std::cerr << "Removing " << watchdog::RUNNING_FILE_NAME << " failed with code " <<
|
||||
errno << ": " << strerror(errno) << std::endl;
|
||||
}
|
||||
}
|
||||
#endif
|
||||
obswRunning = false;
|
||||
}
|
||||
if(type == LoopResult::HUNG_UP) {
|
||||
using namespace std::chrono_literals;
|
||||
// Prevent spam
|
||||
std::this_thread::sleep_for(2000ms);
|
||||
}
|
||||
return 0;
|
||||
}
|
||||
|
||||
int WatchdogTask::performSuspendOperation() {
|
||||
if(state == States::RUNNING or state == States::FAULTY) {
|
||||
std::cout << "eive-watchdog: Suspending watchdog operations" << std::endl;
|
||||
watchdogRunning = false;
|
||||
state = States::SUSPENDED;
|
||||
}
|
||||
return 0;
|
||||
}
|
||||
49
watchdog/Watchdog.h
Normal file
49
watchdog/Watchdog.h
Normal file
@ -0,0 +1,49 @@
|
||||
#ifndef WATCHDOG_WATCHDOG_H_
|
||||
#define WATCHDOG_WATCHDOG_H_
|
||||
|
||||
#include <array>
|
||||
|
||||
|
||||
class WatchdogTask {
|
||||
public:
|
||||
enum class States {
|
||||
NOT_STARTED,
|
||||
RUNNING,
|
||||
SUSPENDED,
|
||||
FAULTY
|
||||
};
|
||||
|
||||
enum class LoopResult {
|
||||
OK,
|
||||
SUSPEND_RQ,
|
||||
CANCEL_RQ,
|
||||
RESTART_RQ,
|
||||
TIMEOUT,
|
||||
HUNG_UP,
|
||||
FAULT
|
||||
};
|
||||
|
||||
WatchdogTask();
|
||||
|
||||
virtual ~WatchdogTask();
|
||||
|
||||
int performOperation();
|
||||
private:
|
||||
int fd = 0;
|
||||
|
||||
bool obswRunning = false;
|
||||
bool watchdogRunning = false;
|
||||
bool printNotRunningLatch = false;
|
||||
std::array<uint8_t, 64> buf;
|
||||
States state = States::NOT_STARTED;
|
||||
|
||||
LoopResult watchdogLoop();
|
||||
LoopResult pollEvent(struct pollfd& waiter);
|
||||
LoopResult parseCommandByte(ssize_t readLen);
|
||||
|
||||
int performRunningOperation();
|
||||
int performNotRunningOperation(LoopResult type);
|
||||
int performSuspendOperation();
|
||||
};
|
||||
|
||||
#endif /* WATCHDOG_WATCHDOG_H_ */
|
||||
24
watchdog/main.cpp
Normal file
24
watchdog/main.cpp
Normal file
@ -0,0 +1,24 @@
|
||||
#include "Watchdog.h"
|
||||
|
||||
#include <iostream>
|
||||
|
||||
/**
|
||||
* @brief This watchdog application uses a FIFO to check whether the OBSW is still running.
|
||||
* It checks whether the OBSW writes to the the FIFO regularly.
|
||||
*/
|
||||
int main() {
|
||||
std::cout << "eive-watchdog: Starting OBSW watchdog.." << std::endl;
|
||||
try {
|
||||
WatchdogTask watchdogTask;
|
||||
int result = watchdogTask.performOperation();
|
||||
if(result != 0) {
|
||||
return result;
|
||||
}
|
||||
}
|
||||
catch(const std::runtime_error& e) {
|
||||
std::cerr << "eive-watchdog: Run time exception " << e.what() << std::endl;
|
||||
return -1;
|
||||
}
|
||||
return 0;
|
||||
}
|
||||
|
||||
24
watchdog/watchdogConf.h.in
Normal file
24
watchdog/watchdogConf.h.in
Normal file
@ -0,0 +1,24 @@
|
||||
#include <cstdint>
|
||||
#include <string>
|
||||
|
||||
#define WATCHDOG_VERBOSE_LEVEL 1
|
||||
/**
|
||||
* This flag instructs the watchdog to create a special file in /tmp if the OBSW is running
|
||||
* or to delete it if it is not running
|
||||
*/
|
||||
#define WATCHDOG_CREATE_FILE_IF_RUNNING 1
|
||||
|
||||
namespace watchdog {
|
||||
|
||||
static constexpr int TIMEOUT_MS = 5 * 1000;
|
||||
const std::string FIFO_NAME = "/tmp/watchdog-pipe";
|
||||
const std::string RUNNING_FILE_NAME = "/tmp/obsw-running";
|
||||
|
||||
// Suspend watchdog operations temporarily
|
||||
static constexpr char SUSPEND_CHAR = 's';
|
||||
// Resume watchdog operations
|
||||
static constexpr char RESTART_CHAR = 'b';
|
||||
// Causes the watchdog to close down
|
||||
static constexpr char CANCEL_CHAR = 'c';
|
||||
|
||||
}
|
||||
Loading…
Reference in New Issue
Block a user