Merge pull request 'Added TCP support' (#63) from mueller/added-tcp-support into develop

Reviewed-on: #63
Reviewed-by: Jakob.Meier <meierj@irs.uni-stuttgart.de>

README.md

@@ -216,15 +216,26 @@ You then need to run `scp` with the `-P 1535` flag with `localhost` as the targe
 
 ## Port forwarding for TMTC commanding
 
-This requires using the TCP on sender side (Python client) and receiver side (OBSW TMTC TCP server).
+If you are using the UDP communication interface, you can use:
 
 ```sh
 ssh -L 1536:192.168.133.10:7301 eive@2001:7c0:2018:1099:babe:0:e1fe:f1a5 -t /bin/bash
 ```
 
+This forwards UDP TMTC packets on port `1536` of localhost to the TMTC reception port of the Q7S.
+
+For TCP, you can use
+
+```sh
+ssh -L 1537:192.168.133.10:7303 eive@2001:7c0:2018:1099:babe:0:e1fe:f1a5 -t /bin/bash
+```
+
+This forwards TCP TMTC packets on port `1537` of localhost to the TMTC reception port of the Q7S.
+
 ## Set up all port forwarding at once
 
-You can specify the `-L` option multiple times to set up all port forwarding at once
+You can specify the `-L` option multiple times to set up all port forwarding at once.
+Example for using the UDP communication interface:
 
 ```sh
 ssh -L 1534:192.168.133.10:1534 \

bsp_hosted/InitMission.cpp

@@ -72,13 +72,13 @@ void initmission::initTasks() {
     /* UDP bridge */
     PeriodicTaskIF* udpBridgeTask = factory->createPeriodicTask(
             "UDP_UNIX_BRIDGE", 50, PeriodicTaskIF::MINIMUM_STACK_SIZE, 0.2, missedDeadlineFunc);
-    result = udpBridgeTask->addComponent(objects::UDP_BRIDGE);
+    result = udpBridgeTask->addComponent(objects::TMTC_BRIDGE);
     if(result != HasReturnvaluesIF::RETURN_OK) {
         sif::error << "Add component UDP Unix Bridge failed" << std::endl;
     }
     PeriodicTaskIF* udpPollingTask = factory->createPeriodicTask(
             "UDP_POLLING", 80, PeriodicTaskIF::MINIMUM_STACK_SIZE, 2.0, missedDeadlineFunc);
-    result = udpPollingTask->addComponent(objects::UDP_POLLING_TASK);
+    result = udpPollingTask->addComponent(objects::TMTC_POLLING_TASK);
     if(result != HasReturnvaluesIF::RETURN_OK) {
         sif::error << "Add component UDP Polling failed" << std::endl;
     }

bsp_hosted/ObjectFactory.cpp

@@ -28,7 +28,7 @@ void Factory::setStaticFrameworkObjectIds(){
 	CommandingServiceBase::defaultPacketSource = objects::PUS_PACKET_DISTRIBUTOR;
 	CommandingServiceBase::defaultPacketDestination = objects::TM_FUNNEL;
 
-	TmFunnel::downlinkDestination = objects::UDP_BRIDGE;
+	TmFunnel::downlinkDestination = objects::TMTC_BRIDGE;
 	// No storage object for now.
 	TmFunnel::storageDestination = objects::NO_OBJECT;
 
@@ -40,7 +40,7 @@ void ObjectFactory::produce(void* args){
 	Factory::setStaticFrameworkObjectIds();
 	ObjectFactory::produceGenericObjects();
 
-    new UdpTmTcBridge(objects::UDP_BRIDGE, objects::CCSDS_PACKET_DISTRIBUTOR);
+    new UdpTmTcBridge(objects::TMTC_BRIDGE, objects::CCSDS_PACKET_DISTRIBUTOR);
-    new UdpTcPollingTask(objects::UDP_POLLING_TASK, objects::UDP_BRIDGE);
+    new UdpTcPollingTask(objects::TMTC_POLLING_TASK, objects::TMTC_BRIDGE);
 
 }

bsp_linux_board/InitMission.cpp

@@ -66,13 +66,13 @@ void initmission::initTasks() {
     /* UDP bridge */
     PeriodicTaskIF* udpBridgeTask = factory->createPeriodicTask(
             "UDP_UNIX_BRIDGE", 50, PeriodicTaskIF::MINIMUM_STACK_SIZE, 0.2, missedDeadlineFunc);
-    result = udpBridgeTask->addComponent(objects::UDP_BRIDGE);
+    result = udpBridgeTask->addComponent(objects::TMTC_BRIDGE);
     if(result != HasReturnvaluesIF::RETURN_OK) {
         sif::error << "Add component UDP Unix Bridge failed" << std::endl;
     }
     PeriodicTaskIF* udpPollingTask = factory->createPeriodicTask(
             "UDP_POLLING", 80, PeriodicTaskIF::MINIMUM_STACK_SIZE, 2.0, missedDeadlineFunc);
-    result = udpPollingTask->addComponent(objects::UDP_POLLING_TASK);
+    result = udpPollingTask->addComponent(objects::TMTC_POLLING_TASK);
     if(result != HasReturnvaluesIF::RETURN_OK) {
         sif::error << "Add component UDP Polling failed" << std::endl;
     }

bsp_linux_board/ObjectFactory.cpp

@@ -45,7 +45,7 @@ void Factory::setStaticFrameworkObjectIds() {
     CommandingServiceBase::defaultPacketSource = objects::PUS_PACKET_DISTRIBUTOR;
     CommandingServiceBase::defaultPacketDestination = objects::TM_FUNNEL;
 
-    TmFunnel::downlinkDestination = objects::UDP_BRIDGE;
+    TmFunnel::downlinkDestination = objects::TMTC_BRIDGE;
     // No storage object for now.
     TmFunnel::storageDestination = objects::NO_OBJECT;
 
@@ -59,8 +59,8 @@ void ObjectFactory::produce(void* args){
     Factory::setStaticFrameworkObjectIds();
     ObjectFactory::produceGenericObjects();
 
-    new UdpTmTcBridge(objects::UDP_BRIDGE, objects::CCSDS_PACKET_DISTRIBUTOR);
+    new UdpTmTcBridge(objects::TMTC_BRIDGE, objects::CCSDS_PACKET_DISTRIBUTOR);
-    new UdpTcPollingTask(objects::UDP_POLLING_TASK, objects::UDP_BRIDGE);
+    new UdpTcPollingTask(objects::TMTC_POLLING_TASK, objects::TMTC_BRIDGE);
 
     GpioIF* gpioIF = new LinuxLibgpioIF(objects::GPIO_IF);
     GpioCookie* gpioCookie = nullptr;

bsp_q7s/core/CoreController.cpp

@@ -1,9 +1,14 @@
 #include "CoreController.h"
-#include "q7sConfig.h"
+#include "OBSWConfig.h"
 #include "OBSWVersion.h"
 
 #include "fsfw/FSFWVersion.h"
 #include "fsfw/serviceinterface/ServiceInterface.h"
+#if OBSW_USE_TMTC_TCP_BRIDGE == 0
+#include "fsfw/osal/common/UdpTmTcBridge.h"
+#else
+#include "fsfw/osal/common/TcpTmTcBridge.h"
+#endif
 
 #include "bsp_q7s/memory/scratchApi.h"
 #include "bsp_q7s/memory/SdCardManager.h"
@@ -188,6 +193,7 @@ ReturnValue_t CoreController::initializeAfterTaskCreation() {
     if(result != HasReturnvaluesIF::RETURN_OK) {
         sif::warning << "CoreController::initialize: Version initialization failed" << std::endl;
     }
+    initPrint();
     return result;
 }
 
@@ -349,3 +355,15 @@ ReturnValue_t CoreController::versionFileInit() {
 
     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 " <<
+            TcpTmTcBridge::DEFAULT_UDP_SERVER_PORT << std::endl;
+#else
+    sif::info << "Created TCP server for TMTC commanding with listener port " <<
+            TcpTmTcBridge::DEFAULT_TCP_SERVER_PORT << std::endl;
+#endif
+#endif
+}

bsp_q7s/core/CoreController.h

@@ -41,6 +41,7 @@ private:
             SdCardManager::SdStatusPair& statusPair);
 
     ReturnValue_t versionFileInit();
+    void initPrint();
 
 };
 

bsp_q7s/core/InitMission.cpp

@@ -82,19 +82,20 @@ void initmission::initTasks() {
     }
 
     /* UDP bridge */
-    PeriodicTaskIF* udpBridgeTask = factory->createPeriodicTask(
+    PeriodicTaskIF* tmtcBridgeTask = factory->createPeriodicTask(
             "UDP_UNIX_BRIDGE", 50, PeriodicTaskIF::MINIMUM_STACK_SIZE, 0.2, missedDeadlineFunc);
-    result = udpBridgeTask->addComponent(objects::UDP_BRIDGE);
+    result = tmtcBridgeTask->addComponent(objects::TMTC_BRIDGE);
     if(result != HasReturnvaluesIF::RETURN_OK) {
-        initmission::printAddObjectError("UDP_BRIDGE", objects::UDP_BRIDGE);
+        initmission::printAddObjectError("UDP_BRIDGE", objects::TMTC_BRIDGE);
     }
-    PeriodicTaskIF* udpPollingTask = factory->createPeriodicTask(
+    PeriodicTaskIF* tmtcPollingTask = factory->createPeriodicTask(
             "UDP_POLLING", 80, PeriodicTaskIF::MINIMUM_STACK_SIZE, 2.0, missedDeadlineFunc);
-    result = udpPollingTask->addComponent(objects::UDP_POLLING_TASK);
+    result = tmtcPollingTask->addComponent(objects::TMTC_POLLING_TASK);
     if(result != HasReturnvaluesIF::RETURN_OK) {
-        initmission::printAddObjectError("UDP_POLLING", objects::UDP_POLLING_TASK);
+        initmission::printAddObjectError("UDP_POLLING", objects::TMTC_POLLING_TASK);
     }
 
+
     // FS task, task interval does not matter because it runs in permanent loop, priority low
     // because it is a non-essential background task
     PeriodicTaskIF* fsTask = factory->createPeriodicTask(
@@ -133,8 +134,8 @@ void initmission::initTasks() {
 
     sif::info << "Starting tasks.." << std::endl;
     tmTcDistributor->startTask();
-    udpBridgeTask->startTask();
+    tmtcBridgeTask->startTask();
-    udpPollingTask->startTask();
+    tmtcPollingTask->startTask();
     coreController->startTask();
 
     taskStarter(pstTasks, "PST task vector");

bsp_q7s/core/ObjectFactory.cpp

@@ -63,9 +63,16 @@
 #include "fsfw/tmtcservices/PusServiceBase.h"
 #include "fsfw/tmtcpacket/pus/tm.h"
 
-/* UDP server includes */
+#if OBSW_USE_TMTC_TCP_BRIDGE == 0
+// UDP server includes
 #include "fsfw/osal/common/UdpTmTcBridge.h"
 #include "fsfw/osal/common/UdpTcPollingTask.h"
+#else
+// TCP server includes
+#include "fsfw/osal/common/TcpTmTcBridge.h"
+#include "fsfw/osal/common/TcpTmTcServer.h"
+#endif
+
 #include "linux/boardtest/SpiTestClass.h"
 
 #if TEST_LIBGPIOD == 1
@@ -83,7 +90,7 @@ void Factory::setStaticFrameworkObjectIds() {
     CommandingServiceBase::defaultPacketSource = objects::PUS_PACKET_DISTRIBUTOR;
     CommandingServiceBase::defaultPacketDestination = objects::TM_FUNNEL;
 
-    TmFunnel::downlinkDestination = objects::UDP_BRIDGE;
+    TmFunnel::downlinkDestination = objects::TMTC_BRIDGE;
     // No storage object for now.
     TmFunnel::storageDestination = objects::NO_OBJECT;
 
@@ -131,8 +138,13 @@ void ObjectFactory::produce(void* args){
     createReactionWheelComponents(gpioComIF);
 #endif /* TE7020 != 0 */
 
-    new UdpTmTcBridge(objects::UDP_BRIDGE, objects::CCSDS_PACKET_DISTRIBUTOR);
+#if OBSW_USE_TMTC_TCP_BRIDGE == 0
-    new UdpTcPollingTask(objects::UDP_POLLING_TASK, objects::UDP_BRIDGE);
+    new UdpTmTcBridge(objects::TMTC_BRIDGE, objects::CCSDS_PACKET_DISTRIBUTOR);
+    new UdpTcPollingTask(objects::TMTC_POLLING_TASK, objects::TMTC_BRIDGE);
+#else
+    new TcpTmTcBridge(objects::TMTC_BRIDGE, objects::CCSDS_PACKET_DISTRIBUTOR);
+    new TcpTmTcServer(objects::TMTC_POLLING_TASK, objects::TMTC_BRIDGE);
+#endif
 
     /* Test Task */
 #if OBSW_ADD_TEST_CODE == 1

common/config/commonConfig.h.in

@@ -3,5 +3,4 @@
 
 #define OBSW_ADD_LWGPS_TEST     0
 
-
 #endif /* COMMON_CONFIG_COMMONCONFIG_H_ */

common/config/commonObjects.h

@@ -8,8 +8,8 @@ enum commonObjects: uint32_t {
 	/* First Byte 0x50-0x52 reserved for PUS Services **/
     CCSDS_PACKET_DISTRIBUTOR = 0x50000100,
     PUS_PACKET_DISTRIBUTOR = 0x50000200,
-    UDP_BRIDGE = 0x50000300,
+    TMTC_BRIDGE = 0x50000300,
-    UDP_POLLING_TASK = 0x50000400,
+    TMTC_POLLING_TASK = 0x50000400,
     FILE_SYSTEM_HANDLER = 0x50000500,
 
     /* 0x43 ('C') for Controllers */

fsfw

@@ -1 +1 @@
-Subproject commit c5b4b0136217219a4443d858f42c368af9b15f27
+Subproject commit 1f6a5e635fcd6bd812e262cc65a15a8a054f7ecf

linux/fsfwconfig/OBSWConfig.h.in

@@ -17,6 +17,11 @@
 /* These defines should be disabled for mission code but are useful for
 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

scripts/q7s-port-tcp.sh

@@ -0,0 +1,11 @@
+#!/bin/bash
+echo "Setting up all Q7S ports"
+echo "-L 1534:192.168.133.10:1534 for connection to TCF agent"
+echo "-L 1535:192.168.133.10:22 for file transfers"
+echo "-L 1537:192.168.133.10:7303 to TMTC commanding using TCP"
+
+ssh -L 1534:192.168.133.10:1534 \
+   -L 1535:192.168.133.10:22 \
+   -L 1537:192.168.133.10:7303 \
+   eive@2001:7c0:2018:1099:babe:0:e1fe:f1a5 \
+   -t 'CONSOLE_PREFIX="[Q7S Tunnel]" /bin/bash'

scripts/q7s-port-udp.sh

@@ -2,7 +2,7 @@
 echo "Setting up all Q7S ports"
 echo "-L 1534:192.168.133.10:1534 for connection to TCF agent"
 echo "-L 1535:192.168.133.10:22 for file transfers"
-echo "-L 1536:192.168.133.10:7301 to TMTC commanding using TCP"
+echo "-L 1536:192.168.133.10:7301 to TMTC commanding using UDP"
 
 ssh -L 1534:192.168.133.10:1534 \
    -L 1535:192.168.133.10:22 \