merged develop

README.md

@@ -1,7 +1,25 @@
+<img align="center" src="./doc/img/eive-logo.png" width="20%">
+
 <a id="top"></a> <a name="linux"></a> EIVE On-Board Software
 ======
 
-# General information
+# Index
+
+1. [General](#general)
+2. [Prerequisites](#prereq)
+3. [Building the Software](#build)
+4. [Useful and Common Host Commands](#host-commands)
+5. [Setting up Prerequisites](#set-up-prereq)
+6. [Remote Debugging](#remote-debugging)
+7. [Direct Debugging](#direct-debugging)
+8. [Transfering Files to the Q7S](#file-transfer)
+9. [Q7S OBC](#q7s)
+10. [Static Code Analysis](#static-code-analysis)
+11. [Eclipse](#eclipse)
+12. [Running the OBSW on a Raspberry Pi](#rpi)
+13. [FSFW](#fsfw)
+
+# <a id="general"></a> General information
 
 Target systems:
 
@@ -36,16 +54,210 @@ The CMake build system can be used to generate build systems as well (see helper
 - Linux Host:  Uses the `bsp_hosted` BSP folder and the CMake Unix Makefiles generator.
 - Windows Host: Uses the `bsp_hosted` BSP folder, the CMake MinGW Makefiles generator and MSYS2.
 
-# Setting up development environment
+# <a id="prereq"></a> Prerequisites
 
-## Installing Vivado the the Xilinx development tools
+There is a separate [prerequisites](#set-up-prereq) which specifies how to set up all
+prerequisites.
+
+## Building the OBSW and flashing it on the Q7S
+
+1. ARM cross-compiler installed, either as part of [Vivado 2018.2 installation](#vivado) or
+   as a [separate download](#arm-toolchain)
+2. [Q7S sysroot](#q7s-sysroot) on local development machine
+3. Recommended: Eclipse or [Vivado 2018.2 SDK](#vivado) for OBSW development
+3. [TCF agent] running on Q7S
+
+## Hardware Design
+
+1. [Vivado 2018.2](#vivado) for programmable logic design
+
+# <a id="build"></a> Building the software
+
+## CMake
+
+When using Windows, run theses steps in MSYS2.
+
+1. Clone the repository with
+
+   ```sh
+   git clone https://egit.irs.uni-stuttgart.de/eive/eive_obsw.git
+   ```
+
+2. Update all the submodules
+
+   ```sh
+   git submodule init
+   git submodule sync
+   git submodule update
+   ```
+
+3. Ensure that the cross-compiler is working with `arm-linux-gnueabihf-gcc --version`.
+   It is recommended to set up a shell script which takes care of setting up the environment
+   for convenience or to set up the 
+   [PATH and the CROSS_COMPILE variable permanently](https://unix.stackexchange.com/questions/26047/how-to-correctly-add-a-path-to-path)
+   in the `.profile` file.
+
+4. Run the CMake configuration to create the build system in a `build-Debug-Q7S` folder.
+   Add `-G "MinGW Makefiles` in MinGW64 on Windows.
+
+   ```sh
+   mkdir build-Debug-Q7S && cd build-Debug-Q7S
+   cmake -DTGT_BSP="arm/q7s" -DCMAKE_BUILD_TYPE=Debug -DOS_FSFW=linux ..
+   cmake --build . -j
+   ```
+
+   You can also use provided shell scripts to perform these commands
+
+   ```sh
+   cd cmake/scripts/Q7S
+   ./make_debug_cfg.sh
+   cd ../../..
+   ```
+
+   This will invoke a Python script which in turn invokes CMake with the correct
+   arguments to configure CMake for Q7S cross-compilation.
+   
+   You can build the hosted variant of the OBSW by replacing `-DOS_FSFW=linux` with 
+   `-DOS_FSFW=host`. There are also different values for `-DTGT_BSP` to build for the Raspberry Pi
+   or the Beagle Bone Black: `arm/raspberrypi` and `arm/beagleboneblack`.
+   
+5. Build the software with
+   ```sh
+   cd build-Debug-Q7S
+   cmake --build . -j
+   ```
+
+## Building in Xilinx SDK 2018.2
+
+1. Open Xilinx SDK 2018.2
+2. Import project
+   * File &rarr; Import &rarr; C/C++ &rarr; Existing Code as Makefile Project
+3. Set build command. Replace \<target\> with either debug or release.
+   * When on Linux right click project &rarr; Properties &rarr; C/C++ Build &rarr; Set build command to `make <target>  -j`
+      * -j causes the compiler to use all available cores
+      * The target is used to either compile the debug or the optimized release build.
+   * On windows create a make target additionally (Windows &rarr; Show View &rarr; Make Target)
+      * Right click eive_obsw &rarr; New
+      * Target name: all
+      * Uncheck "Same as the target name"
+      * Uncheck "Use builder settings"
+      * As build command type: `cmake --build .`
+      * In the Behaviour tab, you can enable build acceleration
+4. Run build command by double clicking the created target or by right clicking
+   the project folder and selecting Build Project.
+
+# <a id="host-commands"></a> Useful and Common Commands (Host)
+
+## Connect to EIVE flatsat
+
+### DNS
+
+```sh
+ssh eive@flatsat.eive.absatvirt.lw
+```
+
+### IPv6
+```sh
+ssh eive@2001:7c0:2018:1099:babe:0:e1fe:f1a5
+```
+
+### IPv4
+
+```sh
+ssh eive@192.168.199.227
+```
+
+## Connecting to the serial console or ssh console
+
+A serial console session is up permanently in a `tmux` session
+
+### Serial console
+
+You can check whether the sessions exist with `tmux ls`
+
+```sh
+tmux a -t q7s-serial
+```
+
+If the session does not exist, you can create it like this
+
+```sh
+tmux new -s q7s-serial
+/bin/bash
+q7s_serial
+```
+
+### SSH console
+
+You can use the following command to connect to the Q7S with `ssh`:
+
+```sh
+q7s_ssh
+```
+
+## Port forwarding for connection to TCF agent
+
+This is a required step to connect to the `tcf-agent` on the Q7S, which is required for convenient
+remote debugging. Assuming the IPv6
+
+```sh
+ssh -L 1534:192.168.133.10:1534 eive@2001:7c0:2018:1099:babe:0:e1fe:f1a5 -t /bin/bash
+```
+
+You then need to connect to `localhost` with port `1534`.
+
+## Port forwarding for file transfers with `scp`
+
+```sh
+ssh -L 1535:192.168.133.10:22 eive@2001:7c0:2018:1099:babe:0:e1fe:f1a5 -t /bin/bash
+```
+
+You then need to run `scp` with the `-P 1535` flag with `localhost` as the target IP address.
+
+## Port forwarding for TMTC commanding
+
+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.
+Example for using the UDP communication interface:
+
+```sh
+ssh -L 1534:192.168.133.10:1534 \
+   -L 1535:192.168.133.10:22 \
+   -L 1536:192.168.133.10:7301 \
+   eive@2001:7c0:2018:1099:babe:0:e1fe:f1a5 \
+   -t 'export CONSOLE_PREFIX="[Q7S Tunnel] /bin/bash'
+```
+
+There is also a shell script called `q7s-port.sh` which can be used to achieve the same.
+
+# <a id="set-up-prereq"></a> Setting up prerequisites
+
+## <a id="vivado"></a> Installing Vivado the the Xilinx development tools
 
 It's also possible to perform debugging with a normal Eclipse installation by installing 
 the TCF plugin and downloading the cross-compiler as specified in the section below. However,
 if you want to generate the `*.xdi` files necessary to update the firmware, you need to
 installed Vivado with the SDK core tools.
 
-* Install Vivado 2018.2 and Xilinx SDK from https://www.xilinx.com/support/download/index.html/content/xilinx/en/downloadNav/vivado-design-tools/archive.html.
+* Install Vivado 2018.2 and 
+  [Xilinx SDK](https://www.xilinx.com/support/download/index.html/content/xilinx/en/downloadNav/vivado-design-tools/archive.html).
   Install the Vivado Design Suite - HLx Editions - 2018.2  Full Product Installation instead of
   the updates. It is recommended to use the installer.
   
@@ -85,7 +297,7 @@ For Linux, you can also download a more recent version of the
 [Linaro 8.3.0 cross-compiler](https://developer.arm.com/tools-and-software/open-source-software/developer-tools/gnu-toolchain/gnu-a/downloads)
 from [here](https://developer.arm.com/-/media/Files/downloads/gnu-a/8.3-2019.03/binrel/gcc-arm-8.3-2019.03-x86_64-arm-linux-gnueabihf.tar.xz?revision=e09a1c45-0ed3-4a8e-b06b-db3978fd8d56&la=en&hash=93ED4444B8B3A812B893373B490B90BBB28FD2E3)
 
-## Installing toolchain without Vivado
+## <a id="arm-toolchain"></a> Installing toolchain without Vivado
 
 You can download the toolchains for Windows and Linux
 [from the EIVE cloud](https://eive-cloud.irs.uni-stuttgart.de/index.php/apps/files?dir=/EIVE_IRS/Software/tools&fileid=831898).
@@ -136,7 +348,7 @@ wget https://eive-cloud.irs.uni-stuttgart.de/index.php/s/2Fp2ag6NGnbtAsK/downloa
    sudo apt-get install cmake
    ```` 
    
-## Getting the Q7S system root
+## <a id="q7s-sysroot"></a> Getting the Q7S system root
 
 It is necessary to copy the Q7S system root to your local development machine for libraries
 like `libgpio`. You can find the system root for the Q7S, the Raspberry Pi and the
@@ -151,102 +363,58 @@ wget https://eive-cloud.irs.uni-stuttgart.de/index.php/s/agnJGYeRf6fw2ci/downloa
 
 Then, create a new environmental variables `Q7S_SYSROOT` and set it to the local system root path.
 
-# Building the software with CMake
+## Setting up UNIX environment for real-time functionalities
 
-When using Windows, run theses steps in MSYS2.
+Please note that on most UNIX environments (e.g. Ubuntu), the real time functionalities 
+used by the UNIX pthread module are restricted, which will lead to permission errors when creating
+these tasks and configuring real-time properites like scheduling priorities.
 
-1. Clone the repository with
+To solve this issues, try following steps:
+
+1. Edit the /etc/security/limits.conf 
+file and add following lines at the end:
+```sh
+<username>   hard   rtprio  99
+<username>   soft   rtprio  99
+```
+The soft limit can also be set in the console with `ulimit -Sr` if the hard
+limit has been increased, but it is recommended to add it to the file as well for convenience.
+If adding the second line is not desired for security reasons,
+the soft limit needs to be set for each session. If using an IDE like eclipse 
+in that case, the IDE needs to be started from the console after setting
+the soft limit higher there. After adding the two lines to the file,
+the computer needs to be restarted.
+
+It is also recommended to perform the following change so that the unlockRealtime
+script does not need to be run anymore each time. The following steps
+raise the maximum allowed message queue length to a higher number permanently, which is 
+required for some framework components. The recommended values for the new message
+length is 130.
+
+2. Edit the /etc/sysctl.conf file
 
    ```sh
-   git clone https://egit.irs.uni-stuttgart.de/eive/eive_obsw.git
+   sudo nano /etc/sysctl.conf
    ```
 
-2. Update all the submodules
+   Append at end: 
-
    ```sh
-   git submodule init
+   fs/mqueue/msg_max = <newMsgMaxLen>
-   git submodule sync
-   git submodule update
-   ```
-
-3. Ensure that the cross-compiler is working with `arm-linux-gnueabihf-gcc --version`.
-   It is recommended to run the shell script `win_path_helper_xilinx_tools.sh` in `cmake/scripts/Q7S`
-   or to set up the [PATH and the CROSS_COMPILE variable permanently](https://unix.stackexchange.com/questions/26047/how-to-correctly-add-a-path-to-path)
-   in the `.profile` file.
-
-4. Run the CMake configuration to create the build system in a `build-Debug-Q7S` folder.
-   Add `-G "MinGW Makefiles` in MinGW64 on Windows.
-
-   ```sh
-   mkdir build-Debug-Q7S && cd build-Debug-Q7S
-   cmake -DTGT_BSP="arm/q7s" -DCMAKE_BUILD_TYPE=Debug -DOS_FSFW=linux ..
-   cmake --build . -j
-   ```
-
-   You can also use provided shell scripts to perform these commands
-
-   ```sh
-   cd cmake/scripts/Q7S
-   ./make_debug_cfg.sh
-   cd ../../..
-   ```
-
-   This will invoke a Python script which in turn invokes CMake with the correct
-   arguments to configure CMake for Q7S cross-compilation.
-   
-   You can build the hosted variant of the OBSW by replacing `-DOS_FSFW=linux` with 
-   `-DOS_FSFW=host`. There are also different values for `-DTGT_BSP` to build for the Raspberry Pi
-   or the Beagle Bone Black: `arm/raspberrypi` and `arm/beagleboneblack`.
-   
-5. Build the software with
-   ```sh
-   cd Debug
-   cmake --build . -j
    ```
    
-## Setting up default Eclipse for Q7S projects - TCF agent
+   Apply changes with: 
+   ```sh
+   sudo sysctl -p
+   ```
 
-The [TCF agent](https://wiki.eclipse.org/TCF) can be used to perform remote debugging on the Q7S.
+   A possible solution which only persists for the current session is
+   ```sh
+   echo <newMsgMax> | sudo tee /proc/sys/fs/mqueue/msg_max
+   ```
 
-1. Install the TCF agent plugin in Eclipse from the [releases](https://www.eclipse.org/tcf/downloads.php). Go to Help &rarr; Install New Software and use the download page, for example https://download.eclipse.org/tools/tcf/releases/1.6/1.6.2/ to search for the plugin and install it.
+## <a id="tcf-agent"></a> TCF-Agent 
 
-2. Go to Window &rarr; Perspective &rarr; Open Perspective and open the **Target Explorer Perspective**. 
+Most of the steps specified here were already automated
-   Here, the Q7S should show up if the local port forwarding was set up as explained previously. Please note that you have to connect to `localhost` and port `1534` with port forwaring set up.
-   
-3. A launch configuration was provided, but it might be necessary to adapt it for your own needs. Alternatively:
-
- - Create a new **TCF Remote Application** by pressing the cogs button at the top or going to Run &rarr; Debug Configurations &rarr; Remote Application and creating a new one there. 
-
- - Set up the correct image in the main tab (it might be necessary to send the image to the Q7S manually once) and file transfer properties
-
- - It is also recommended to link the correct Eclipse project. 
-
-After that, comfortable remote debugging should be possible with the Debug button.
-
-A build configuration and a shell helper script has been provided to set up the path variables and 
-build the Q7S binary on Windows, but a launch configuration needs to be newly created because the 
-IP address and path settings differ from machine to machine.
-
-## Building in Xilinx SDK 2018.2
-
-1. Open Xilinx SDK 2018.2
-2. Import project
-	* File &rarr; Import &rarr; C/C++ &rarr; Existing Code as Makefile Project
-3. Set build command. Replace \<target\> with either debug or release.
-	* When on Linux right click project &rarr; Properties &rarr; C/C++ Build &rarr; Set build command to `make <target>  -j`
-		* -j causes the compiler to use all available cores
-		* The target is used to either compile the debug or the optimized release build.
-	* On windows create a make target additionally (Windows &rarr; Show View &rarr; Make Target)
-		* Right click eive_obsw &rarr; New
-		* Target name: all
-		* Uncheck "Same as the target name"
-		* Uncheck "Use builder settings"
-		* As build command type: `cmake --build .`
-		* In the Behaviour tab, you can enable build acceleration
-4. Run build command by double clicking the created target or by right clicking
-   the project folder and selecting Build Project.
-
-## TCF-Agent 
 
 1. On reboot, some steps have to be taken on the Q7S. Set static IP address and netmask
 
@@ -264,7 +432,7 @@ IP address and path settings differ from machine to machine.
    You can run it manually there. To perform auto-start on boot, have a look at the start-up 
    application section.
 
-# Debugging the software via Flatsat PC
+# <a id="remote-debugging"></a> Remote Debugging
 
 Open SSH connection to flatsat PC:
 
@@ -298,6 +466,7 @@ console of the Q7S like this to set it
 picocom -b 115200 /dev/ttyUSB0
 ```
 
+The flatsat has the aliases and shell scripts `q7s_ssh` and `q7s_serial` for this task as well.
 If the serial port is blocked for some reason, you can kill 
 the process using it with `q7s_kill`.
 
@@ -325,13 +494,68 @@ ssh -L 1534:192.168.133.10:1534 eive@2001:7c0:2018:1099:babe:0:e1fe:f1a5 -t bash
 ```
 
 This forwards any requests to localhost:1534 to the port 1534 of the Q7S with the IP address
-192.168.133.10.
+192.168.133.10. This needs to be done every time, so it is recommended to create an
-This needs to be done every time, so it is recommended to create an alias to do this quickly.
+alias or shell script to do this quickly.
 
 Note: When now setting up a debug session in the Xilinx SDK or Eclipse, the host must be set 
 to localhost instead of the IP address of the Q7S.
 
-# Transfering files via SCP
+# <a id="direct-debugging"></a> Direct Debugging
+
+1. Assign static IP address to Q7S
+   * Open serial console of Q7S (Accessible via the micro-USB of the PIM, see also Q7S user
+   manual chapter 10.3)
+   * Baudrate 115200
+   * Login to Q7S:
+      * user: root
+      * pw: root
+   
+2. Connect Q7S to workstation via ethernet
+3. Make sure the netmask of the ehternet interface of the workstation matches the netmask of the Q7S
+   * When IP address is set to 192.168.133.10 and the netmask is 255.255.255.0, an example IP address for the workstation
+     is 192.168.133.2
+     
+4. Run tcf-agent on Q7S
+
+   * Tcf-agent is not yet integrated in the rootfs of the Q7S. Therefore build tcf-agent manually
+   
+    ```sh
+    git clone git://git.eclipse.org/gitroot/tcf/org.eclipse.tcf.agent.git
+    cd org.eclipse.tcf.agent/agent
+    make CC=arm-linux-gnueabihf-gcc LD=arm-linux-gnueabihf-ld MACHINE=arm NO_SSL=1 NO_UUID=1
+    ```
+
+   * Transfer executable agent from org.eclipse.tcf.agent/agent/obj/GNU/Linux/arm/Debug to /tmp of Q7S
+   
+    ```sh
+    cd obj/GNU/Linux/arm/Debug
+    scp agent root@192.168.133.10:/tmp
+    ```
+
+   * On Q7S 
+    ```sh
+    cd /tmp
+    chmod +x agent
+    ```
+
+   * Run agent
+    ```sh
+    ./agent
+    ```
+
+5. In Xilinx SDK 2018.2 right click on project &rarr; Debug As &rarr; Debug Configurations
+6. Right click Xilinx C/C++ applicaton (System Debugger) &rarr; New &rarr; 
+7. Set Debug Type to Linux Application Debug and Connectin to Linux Agent
+8. Click New
+9. Give connection a name
+10. Set Host to static IP address of Q7S. e.g. 192.168.133.10
+11. Test connection (This ensures the TCF Agent is running on the Q7S)
+12. Select Application tab
+   * Project Name: eive_obsw
+   * Local File Path: Path to eiveobsw-linux.elf (in `_bin\linux\devel`)
+   * Remote File Path: `/tmp/eive_obsw.elf`
+
+# <a id="file-transfer"></a> Transfering Files to the Q7S
 
 To transfer files from the local machine to the Q7S, use port forwarding
 
@@ -355,7 +579,11 @@ From a windows machine files can be copied with putty tools (note: use IPv4 addr
 pscp -scp -P 22 eive@192.168.199.227:</directory-to-example-file/>/example-file </windows-machine-path/>
 ````
 
-# Launching an application at start-up
+More detailed information about the used q7s commands can be found in the Q7S user manual.
+
+# <a id="q7s"></a> Q7S
+
+## Launching an application at start-up
 
 Load the root partiton from the flash memory (there are to nor-flash memories and each flash holds
 two xdi images). Note: It is not possible to modify the currently loaded root partition, e.g.
@@ -420,58 +648,7 @@ creating directories. To do this, the parition needs to be mounted.
    systemctl status example
    ```
 
-More detailed information about the used q7s commands can be found in the Q7S user manual.
+## PCDU
-
-## Setting up UNIX environment for real-time functionalities
-
-Please note that on most UNIX environments (e.g. Ubuntu), the real time functionalities 
-used by the UNIX pthread module are restricted, which will lead to permission errors when creating
-these tasks and configuring real-time properites like scheduling priorities.
-
-To solve this issues, try following steps:
-
-1. Edit the /etc/security/limits.conf 
-file and add following lines at the end:
-```sh
-<username>   hard   rtprio  99
-<username>   soft   rtprio  99
-```
-The soft limit can also be set in the console with `ulimit -Sr` if the hard
-limit has been increased, but it is recommended to add it to the file as well for convenience.
-If adding the second line is not desired for security reasons,
-the soft limit needs to be set for each session. If using an IDE like eclipse 
-in that case, the IDE needs to be started from the console after setting
-the soft limit higher there. After adding the two lines to the file,
-the computer needs to be restarted.
-
-It is also recommended to perform the following change so that the unlockRealtime
-script does not need to be run anymore each time. The following steps
-raise the maximum allowed message queue length to a higher number permanently, which is 
-required for some framework components. The recommended values for the new message
-length is 130.
-
-2. Edit the /etc/sysctl.conf file
-
-   ```sh
-   sudo nano /etc/sysctl.conf
-   ```
-
-   Append at end: 
-   ```sh
-   fs/mqueue/msg_max = <newMsgMaxLen>
-   ```
-   
-   Apply changes with: 
-   ```sh
-   sudo sysctl -p
-   ```
-
-   A possible solution which only persists for the current session is
-   ```sh
-   echo <newMsgMax> | sudo tee /proc/sys/fs/mqueue/msg_max
-   ```
-
-# PCDU
 
 Connect to serial console of P60 Dock
 ````
@@ -496,102 +673,6 @@ p60-dock # param get out_en[0]
 GET out_en[0] = 1
 ````
 
-# Debugging the software (when workstation is directly conncected to Q7S)
-
-1. Assign static IP address to Q7S
-	* Open serial console of Q7S (Accessible via the micro-USB of the PIM, see also Q7S user
-   manual chapter 10.3)
-	* Baudrate 115200
-	* Login to Q7S:
-		* user: root
-		* pw: root
-	
-2. Connect Q7S to workstation via ethernet
-3. Make sure the netmask of the ehternet interface of the workstation matches the netmask of the Q7S
-	* When IP address is set to 192.168.133.10 and the netmask is 255.255.255.0, an example IP address for the workstation
-	  is 192.168.133.2
-	  
-4. Run tcf-agent on Q7S
-
-	* Tcf-agent is not yet integrated in the rootfs of the Q7S. Therefore build tcf-agent manually
-	
-    ```sh
-    git clone git://git.eclipse.org/gitroot/tcf/org.eclipse.tcf.agent.git
-    cd org.eclipse.tcf.agent/agent
-    make CC=arm-linux-gnueabihf-gcc LD=arm-linux-gnueabihf-ld MACHINE=arm NO_SSL=1 NO_UUID=1
-    ```
-
-	* Transfer executable agent from org.eclipse.tcf.agent/agent/obj/GNU/Linux/arm/Debug to /tmp of Q7S
-	
-    ```sh
-    cd obj/GNU/Linux/arm/Debug
-    scp agent root@192.168.133.10:/tmp
-    ```
-
-	* On Q7S 
-    ```sh
-    cd /tmp
-    chmod +x agent
-    ```
-
-	* Run agent
-    ```sh
-    ./agent
-    ```
-
-5. In Xilinx SDK 2018.2 right click on project &rarr; Debug As &rarr; Debug Configurations
-6. Right click Xilinx C/C++ applicaton (System Debugger) &rarr; New &rarr; 
-7. Set Debug Type to Linux Application Debug and Connectin to Linux Agent
-8. Click New
-9. Give connection a name
-10. Set Host to static IP address of Q7S. e.g. 192.168.133.10
-11. Test connection (This ensures the TCF Agent is running on the Q7S)
-12. Select Application tab
-	* Project Name: eive_obsw
-	* Local File Path: Path to eiveobsw-linux.elf (in `_bin\linux\devel`)
-	* Remote File Path: `/tmp/eive_obsw.elf`
-
-# Running cppcheck on the Software
-
-Static code analysis can be useful to find bugs.
-`cppcheck` can be used for this purpose. On Windows you can use MinGW64 to do this.
-
-```sh
-pacman -S mingw-w64-x86_64-cppcheck
-```
-
-On Ubuntu, install with
-
-```sh
-sudo apt-get install cppcheck
-```
-
-You can use the Eclipse integration or you can perform the scanning manually from the command line.
-CMake will be used for this.
-
-Run the CMake build generation commands specified above but supply
-`-DCMAKE_EXPORT_COMPILE_COMMANDS=ON` to the build generation. Invoking the build command will
-generate a `compile_commands.json` file which can be used by cppcheck.
-
-```sh
-cppcheck --project=compile_commands.json --xml 2> report.xml
-```
-
-Finally, you can convert the generated `.xml` file to HTML with the following command
-
-```sh
-cppcheck-htmlreport --file=report.xml --report-dir=cppcheck --source-dir=..
-```
-
-# Special notes on Eclipse
-
-When using Eclipse, there are two special build variables in the project properties
-&rarr; C/C++ Build &rarr; Build Variables called `Q7S_SYSROOT` or `RPI_SYSROOT`. You can set 
-the sysroot path in those variables to get any additional includes like `gpiod.h` in the 
-Eclipse indexer.
-
-# Q7S Utilities and Troubleshooting
-
 ## Core commands
 
 Display currently running image:
@@ -773,7 +854,10 @@ EIVE implementation
 - Mount point `/mnt/sd0` created for SD card 0. Created with `mkdir`
 - Mount point `/mnt/sd1` created for SD card 1. Created with `mkdir`
 - Folder `scripts` in `/home/root` folder.
-- `scripts` folder currently contains `update_main_components.sh` script
+- `scripts` folder currently contains a few shell helper scripts
+- Folder `profile.d` in `/etc` folder which contains the `path-set.sh` script
+  which is sourced at software startup
+- Library `libwire.so` in `/usr/lib` folder
 
 ### SD Cards
 
@@ -783,7 +867,76 @@ EIVE implementation
 - Folder `tm` for telemetry
 - Folder `xdi` for XDI components (e.g. for firmware or device tree updates)
 
-# Running the EIVE OBSW on a Raspberry Pi
+# <a id="static-code-analysis"></a> Running cppcheck on the Software
+
+Static code analysis can be useful to find bugs.
+`cppcheck` can be used for this purpose. On Windows you can use MinGW64 to do this.
+
+```sh
+pacman -S mingw-w64-x86_64-cppcheck
+```
+
+On Ubuntu, install with
+
+```sh
+sudo apt-get install cppcheck
+```
+
+You can use the Eclipse integration or you can perform the scanning manually from the command line.
+CMake will be used for this.
+
+Run the CMake build generation commands specified above but supply
+`-DCMAKE_EXPORT_COMPILE_COMMANDS=ON` to the build generation. Invoking the build command will
+generate a `compile_commands.json` file which can be used by cppcheck.
+
+```sh
+cppcheck --project=compile_commands.json --xml 2> report.xml
+```
+
+Finally, you can convert the generated `.xml` file to HTML with the following command
+
+```sh
+cppcheck-htmlreport --file=report.xml --report-dir=cppcheck --source-dir=..
+```
+
+# <a id="eclipse"></a> Eclipse
+
+When using Eclipse, there are two special build variables in the project properties
+&rarr; C/C++ Build &rarr; Build Variables called `Q7S_SYSROOT` or `RPI_SYSROOT`. You can set 
+the sysroot path in those variables to get any additional includes like `gpiod.h` in the 
+Eclipse indexer.
+
+## Setting up default Eclipse for Q7S projects - TCF agent
+
+The [TCF agent](https://wiki.eclipse.org/TCF) can be used to perform remote debugging on the Q7S.
+
+1. Install the TCF agent plugin in Eclipse from
+   the [releases](https://www.eclipse.org/tcf/downloads.php). Go to
+   Help &rarr; Install New Software and use the download page, for
+   example https://download.eclipse.org/tools/tcf/releases/1.6/1.6.2/ to search for the plugin and install it.
+
+2. Go to Window &rarr; Perspective &rarr; Open Perspective and open the **Target Explorer Perspective**. 
+   Here, the Q7S should show up if the local port forwarding was set up as explained previously.
+   Please note that you have to connect to `localhost` and port `1534` with port forwaring set up.
+   
+3. A launch configuration was provided, but it might be necessary to adapt it for your own needs.
+   Alternatively:
+
+ - Create a new **TCF Remote Application** by pressing the cogs button at the top or going to
+   Run &rarr; Debug Configurations &rarr; Remote Application and creating a new one there. 
+
+ - Set up the correct image in the main tab (it might be necessary to send the image to the
+   Q7S manually once) and file transfer properties
+
+ - It is also recommended to link the correct Eclipse project. 
+
+After that, comfortable remote debugging should be possible with the Debug button.
+
+A build configuration and a shell helper script has been provided to set up the path variables and 
+build the Q7S binary on Windows, but a launch configuration needs to be newly created because the 
+IP address and path settings differ from machine to machine.
+
+# <a id="rpi"></a> Running the EIVE OBSW on a Raspberry Pi
 
 Special section for running the EIVE OBSW on the Raspberry Pi.
 The Raspberry Pi build uses the `bsp_rpi` BSP folder, and a very similar cross-compiler.
@@ -799,7 +952,7 @@ sudo apt-get install gpiod libgpiod-dev
 
 to install the required GPIO libraries before cloning the system root folder.
 
-# Flight Software Framework (FSFW)
+# <a id="fsfw"></a> Flight Software Framework (FSFW)
 
 An EIVE fork of the FSFW is submodules into this repository.
 To add the master upstream branch and merge changes and updates from it 
@@ -816,4 +969,5 @@ After that, an update can be merged by running
 git merge upstream/master
 ```
 
-Alternatively, changes from other upstreams (forks) and branches can be merged like that in the same way.
+Alternatively, changes from other upstreams (forks) and branches can be merged like that
+in the same way.

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;
 }
 
@@ -269,7 +275,8 @@ ReturnValue_t CoreController::incrementAllocationFailureCount() {
 ReturnValue_t CoreController::versionFileInit() {
 
     std::string unameFileName = "/tmp/uname_version.txt";
-    std::string unameCmd = "uname -a > " + unameFileName;
+    // TODO: No -v flag for now. If the kernel version is used, need to cut off first few letters
+    std::string unameCmd = "uname -mnrso > " + unameFileName;
     int result = std::system(unameCmd.c_str());
     if(result != 0) {
         utility::handleSystemError(result, "CoreController::versionFileInit");
@@ -348,3 +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 b83259592a1f0ae5af20b00d1aef813fa26cd350
+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-cp.py

@@ -0,0 +1,42 @@
+#!/usr/bin/env python3
+import argparse
+import os
+
+
+def main():
+    args = handle_args()
+    cmd = build_cmd(args)
+    # Run the command
+    print(f'Running command: {cmd}')
+    os.system(cmd)
+
+
+def handle_args():
+    help_string = 'This script copies files to the Q7S as long as port forwarding is active.\n'
+    help_string += 'You can set up port forwarding with ' \
+        '"ssh -L 1535:192.168.133.10:22 <eive-flatsat-ip>" -t /bin/bash'
+    parser = argparse.ArgumentParser(
+        description=help_string
+    )
+    # Optional arguments
+    parser.add_argument('-r', '--recursive', dest='recursive', default=False, action='store_true')
+    parser.add_argument('-t', '--target', help='Target destination', default='/tmp')
+    parser.add_argument('-P', '--port', help='Target port', default=1535)
+    # Positional argument(s)
+    parser.add_argument('source', help='Source files to copy')
+    return parser.parse_args()
+
+
+def build_cmd(args):
+    # Build run command
+    cmd = 'scp '
+    if args.recursive:
+        cmd += '-r '
+    cmd += f'-P {args.port} {args.source} root@localhost:'
+    if args.target:
+        cmd += args.target
+    return cmd
+
+
+if __name__ == "__main__":
+    main()

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

@@ -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 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 \
+   -L 1536:192.168.133.10:7301 \
+   eive@2001:7c0:2018:1099:babe:0:e1fe:f1a5 \
+   -t 'CONSOLE_PREFIX="[Q7S Tunnel]" /bin/bash'

thirdparty/arcsec_star_tracker

@@ -1 +1 @@
-Subproject commit f596c53315f1f81facb28faec3150612a5ad2ca0
+Subproject commit c468400aaf8470a31e393f53c858d2bf2c361273