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

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Reviewed-on: #63
Reviewed-by: Jakob.Meier <meierj@irs.uni-stuttgart.de>
This commit is contained in:
Jakob Meier 2021-07-26 12:07:47 +02:00
commit 7eb57d4027
15 changed files with 88 additions and 30 deletions
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15
README.md
View File

@ -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 \

4
bsp_hosted/InitMission.cpp
View File

@ -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;
}

6
bsp_hosted/ObjectFactory.cpp
View File

@ -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 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);
}

4
bsp_linux_board/InitMission.cpp
View File

@ -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;
}

6
bsp_linux_board/ObjectFactory.cpp
View File

@ -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 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);
GpioIF* gpioIF = new LinuxLibgpioIF(objects::GPIO_IF);
GpioCookie* gpioCookie = nullptr;

20
bsp_q7s/core/CoreController.cpp
View File

@ -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
}

1
bsp_q7s/core/CoreController.h
View File

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

17
bsp_q7s/core/InitMission.cpp
View File

@ -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();
udpPollingTask->startTask();
tmtcBridgeTask->startTask();
tmtcPollingTask->startTask();
coreController->startTask();
taskStarter(pstTasks, "PST task vector");

20
bsp_q7s/core/ObjectFactory.cpp
View File

@ -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);
new UdpTcPollingTask(objects::UDP_POLLING_TASK, objects::UDP_BRIDGE);
#if OBSW_USE_TMTC_TCP_BRIDGE == 0
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

1
common/config/commonConfig.h.in
View File

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

4
common/config/commonObjects.h
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@ -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,
UDP_POLLING_TASK = 0x50000400,
TMTC_BRIDGE = 0x50000300,
TMTC_POLLING_TASK = 0x50000400,
FILE_SYSTEM_HANDLER = 0x50000500,
/* 0x43 ('C') for Controllers */

2
fsfw

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

5
linux/fsfwconfig/OBSWConfig.h.in
View File

@ -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

11
scripts/q7s-port-tcp.sh Executable file
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@ -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'

2
scripts/q7s-port.sh → scripts/q7s-port-udp.sh
View File

@ -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 \