Merge remote-tracking branch 'origin/develop' into mueller/tcs_subsystem

bsp_hosted/OBSWConfig.h.in

@@ -102,11 +102,8 @@
 /** CMake Defines                                                  */
 /*******************************************************************/
 
-// Use TCP instead of UDP for the TMTC bridge. This allows using the TMTC client locally
+#define OBSW_ADD_TMTC_UDP_SERVER            1
-// because UDP packets are not allowed in the VPN
+#define OBSW_ADD_TMTC_TCP_SERVER            1
-// This will cause the OBSW to initialize the TMTC bridge responsible for exchanging data with the
-// CCSDS IP Cores. 
-#define OBSW_USE_TMTC_TCP_BRIDGE            0
 
 #cmakedefine EIVE_BUILD_GPSD_GPS_HANDLER
 

bsp_hosted/ObjectFactory.cpp

@@ -15,10 +15,11 @@
 #include "fsfw_tests/integration/task/TestTask.h"
 #include "tmtc/pusIds.h"
 
-#if OBSW_USE_TMTC_TCP_BRIDGE == 0
+#if OBSW_ADD_TMTC_UDP_SERVER == 1
 #include "fsfw/osal/common/UdpTcPollingTask.h"
 #include "fsfw/osal/common/UdpTmTcBridge.h"
-#else
+#endif
+#if OBSW_ADD_TMTC_TCP_SERVER == 1
 #include "fsfw/osal/common/TcpTmTcBridge.h"
 #include "fsfw/osal/common/TcpTmTcServer.h"
 #endif

bsp_hosted/scheduling.cpp

@@ -68,14 +68,24 @@ void scheduling::initTasks() {
   if (result != returnvalue::OK) {
     sif::error << "Object add component failed" << std::endl;
   }
-  result = tmtcDistributor->addComponent(objects::TMTC_BRIDGE);
+  result = tmtcDistributor->addComponent(objects::UDP_TMTC_SERVER);
+  if (result != returnvalue::OK) {
+    sif::error << "Add component UDP Unix Bridge failed" << std::endl;
+  }
+  result = tmtcDistributor->addComponent(objects::TCP_TMTC_SERVER);
   if (result != returnvalue::OK) {
     sif::error << "Add component UDP Unix Bridge failed" << std::endl;
   }
 
-  PeriodicTaskIF* tmtcPollingTask = factory->createPeriodicTask(
+  PeriodicTaskIF* udpPollingTask = factory->createPeriodicTask(
-      "UDP_POLLING", 80, PeriodicTaskIF::MINIMUM_STACK_SIZE, 2.0, missedDeadlineFunc);
+      "UDP_POLLING", 70, PeriodicTaskIF::MINIMUM_STACK_SIZE, 2.0, missedDeadlineFunc);
-  result = tmtcPollingTask->addComponent(objects::TMTC_POLLING_TASK);
+  result = udpPollingTask->addComponent(objects::UDP_TMTC_POLLING_TASK);
+  if (result != returnvalue::OK) {
+    sif::error << "Add component UDP Polling failed" << std::endl;
+  }
+  PeriodicTaskIF* tcpPollingTask = factory->createPeriodicTask(
+      "TCP_POLLING", 70, PeriodicTaskIF::MINIMUM_STACK_SIZE, 2.0, missedDeadlineFunc);
+  result = tcpPollingTask->addComponent(objects::TCP_TMTC_POLLING_TASK);
   if (result != returnvalue::OK) {
     sif::error << "Add component UDP Polling failed" << std::endl;
   }
@@ -138,15 +148,6 @@ void scheduling::initTasks() {
 
   PeriodicTaskIF* thermalTask = factory->createPeriodicTask(
       "THERMAL_CTL_TASK", 40, PeriodicTaskIF::MINIMUM_STACK_SIZE, 1.0, missedDeadlineFunc);
-  result = thermalTask->addComponent(objects::RTD_0_IC3_PLOC_HEATSPREADER);
-  if (result != returnvalue::OK) {
-    scheduling::printAddObjectError("RTD_0_dummy", objects::RTD_0_IC3_PLOC_HEATSPREADER);
-  }
-  result = thermalTask->addComponent(objects::SUS_0_N_LOC_XFYFZM_PT_XF);
-  if (result != returnvalue::OK) {
-    scheduling::printAddObjectError("SUS_0_dummy", objects::SUS_0_N_LOC_XFYFZM_PT_XF);
-  }
-
   result = thermalTask->addComponent(objects::CORE_CONTROLLER);
   if (result != returnvalue::OK) {
     scheduling::printAddObjectError("Core controller dummy", objects::CORE_CONTROLLER);
@@ -183,9 +184,41 @@ void scheduling::initTasks() {
   }
 #endif /* OBSW_ADD_TEST_CODE == 1 */
 
+  PeriodicTaskIF* dummyTask = factory->createPeriodicTask(
+      "DUMMY_TASK", 30, PeriodicTaskIF::MINIMUM_STACK_SIZE, 1.0, missedDeadlineFunc);
+  dummyTask->addComponent(objects::SUS_0_N_LOC_XFYFZM_PT_XF);
+  dummyTask->addComponent(objects::SUS_1_N_LOC_XBYFZM_PT_XB);
+  dummyTask->addComponent(objects::SUS_2_N_LOC_XFYBZB_PT_YB);
+  dummyTask->addComponent(objects::SUS_3_N_LOC_XFYBZF_PT_YF);
+  dummyTask->addComponent(objects::SUS_4_N_LOC_XMYFZF_PT_ZF);
+  dummyTask->addComponent(objects::SUS_5_N_LOC_XFYMZB_PT_ZB);
+  dummyTask->addComponent(objects::SUS_6_R_LOC_XFYBZM_PT_XF);
+  dummyTask->addComponent(objects::SUS_7_R_LOC_XBYBZM_PT_XB);
+  dummyTask->addComponent(objects::SUS_8_R_LOC_XBYBZB_PT_YB);
+  dummyTask->addComponent(objects::SUS_9_R_LOC_XBYBZB_PT_YF);
+  dummyTask->addComponent(objects::SUS_10_N_LOC_XMYBZF_PT_ZF);
+  dummyTask->addComponent(objects::SUS_11_R_LOC_XBYMZB_PT_ZB);
+  dummyTask->addComponent(objects::RTD_0_IC3_PLOC_HEATSPREADER);
+  dummyTask->addComponent(objects::RTD_1_IC4_PLOC_MISSIONBOARD);
+  dummyTask->addComponent(objects::RTD_2_IC5_4K_CAMERA);
+  dummyTask->addComponent(objects::RTD_3_IC6_DAC_HEATSPREADER);
+  dummyTask->addComponent(objects::RTD_4_IC7_STARTRACKER);
+  dummyTask->addComponent(objects::RTD_5_IC8_RW1_MX_MY);
+  dummyTask->addComponent(objects::RTD_6_IC9_DRO);
+  dummyTask->addComponent(objects::RTD_7_IC10_SCEX);
+  dummyTask->addComponent(objects::RTD_8_IC11_X8);
+  dummyTask->addComponent(objects::RTD_9_IC12_HPA);
+  dummyTask->addComponent(objects::RTD_10_IC13_PL_TX);
+  dummyTask->addComponent(objects::RTD_11_IC14_MPA);
+  dummyTask->addComponent(objects::RTD_12_IC15_ACU);
+  dummyTask->addComponent(objects::RTD_13_IC16_PLPCDU_HEATSPREADER);
+  dummyTask->addComponent(objects::RTD_14_IC17_TCS_BOARD);
+  dummyTask->addComponent(objects::RTD_15_IC18_IMTQ);
+
   sif::info << "Starting tasks.." << std::endl;
   tmtcDistributor->startTask();
-  tmtcPollingTask->startTask();
+  udpPollingTask->startTask();
+  tcpPollingTask->startTask();
 
   pusVerification->startTask();
   eventHandling->startTask();
@@ -195,6 +228,7 @@ void scheduling::initTasks() {
 
   pstTask->startTask();
   thermalTask->startTask();
+  dummyTask->startTask();
 #if OBSW_ADD_PLOC_SUPERVISOR == 1
   supvHelperTask->startTask();
 #endif

bsp_q7s/OBSWConfig.h.in

@@ -124,7 +124,8 @@
 // because UDP packets are not allowed in the VPN
 // This will cause the OBSW to initialize the TMTC bridge responsible for exchanging data with the
 // CCSDS IP Cores. 
-#define OBSW_USE_TMTC_TCP_BRIDGE            1
+#define OBSW_ADD_TMTC_TCP_SERVER            1
+#define OBSW_ADD_TMTC_UDP_SERVER            1
 
 #cmakedefine EIVE_BUILD_GPSD_GPS_HANDLER
 

bsp_q7s/core/CoreController.cpp

@@ -10,9 +10,10 @@
 #include "fsfw/timemanager/Stopwatch.h"
 #include "fsfw/version.h"
 #include "watchdog/definitions.h"
-#if OBSW_USE_TMTC_TCP_BRIDGE == 0
+#if OBSW_ADD_TMTC_UDP_SERVER == 1
 #include "fsfw/osal/common/UdpTmTcBridge.h"
-#else
+#endif
+#if OBSW_ADD_TMTC_TCP_SERVER == 1
 #include "fsfw/osal/common/TcpTmTcServer.h"
 #endif
 #include <fcntl.h>

bsp_q7s/core/scheduling.cpp

@@ -92,11 +92,19 @@ void scheduling::initTasks() {
   /* TMTC Distribution */
   PeriodicTaskIF* tmTcDistributor = factory->createPeriodicTask(
       "DIST", 45, PeriodicTaskIF::MINIMUM_STACK_SIZE, 0.2, missedDeadlineFunc);
-#if OBSW_ADD_TCPIP_BRIDGE == 1
+#if OBSW_ADD_TCPIP_SERVERS == 1
-  result = tmTcDistributor->addComponent(objects::TMTC_BRIDGE);
+#if OBSW_ADD_TMTC_UDP_SERVER == 1
+  result = tmTcDistributor->addComponent(objects::UDP_TMTC_SERVER);
   if (result != returnvalue::OK) {
-    scheduling::printAddObjectError("TMTC_BRIDGE", objects::TMTC_BRIDGE);
+    scheduling::printAddObjectError("UDP_TMTC_SERVER", objects::UDP_TMTC_SERVER);
   }
+#endif
+#if OBSW_ADD_TMTC_TCP_SERVER == 1
+  result = tmTcDistributor->addComponent(objects::TCP_TMTC_SERVER);
+  if (result != returnvalue::OK) {
+    scheduling::printAddObjectError("TCP_TMTC_SERVER", objects::TCP_TMTC_SERVER);
+  }
+#endif
 #endif
   result = tmTcDistributor->addComponent(objects::CCSDS_PACKET_DISTRIBUTOR);
   if (result != returnvalue::OK) {
@@ -115,14 +123,24 @@ void scheduling::initTasks() {
     scheduling::printAddObjectError("TM_FUNNEL", objects::TM_FUNNEL);
   }
 
-#if OBSW_ADD_TCPIP_BRIDGE == 1
+#if OBSW_ADD_TCPIP_SERVERS == 1
-  PeriodicTaskIF* tmtcPollingTask = factory->createPeriodicTask(
+#if OBSW_ADD_TMTC_UDP_SERVER == 1
-      "TMTC_POLLING", 80, PeriodicTaskIF::MINIMUM_STACK_SIZE, 2.0, missedDeadlineFunc);
+  PeriodicTaskIF* udpPollingTask = factory->createPeriodicTask(
-  result = tmtcPollingTask->addComponent(objects::TMTC_POLLING_TASK);
+      "UDP_TMTC_POLLING", 65, PeriodicTaskIF::MINIMUM_STACK_SIZE, 2.0, missedDeadlineFunc);
+  result = udpPollingTask->addComponent(objects::UDP_TMTC_POLLING_TASK);
   if (result != returnvalue::OK) {
-    scheduling::printAddObjectError("UDP_POLLING", objects::TMTC_POLLING_TASK);
+    scheduling::printAddObjectError("UDP_POLLING", objects::UDP_TMTC_POLLING_TASK);
   }
 #endif
+#if OBSW_ADD_TMTC_TCP_SERVER == 1
+  PeriodicTaskIF* tcpPollingTask = factory->createPeriodicTask(
+      "TCP_TMTC_POLLING", 65, PeriodicTaskIF::MINIMUM_STACK_SIZE, 2.0, missedDeadlineFunc);
+  result = tcpPollingTask->addComponent(objects::TCP_TMTC_POLLING_TASK);
+  if (result != returnvalue::OK) {
+    scheduling::printAddObjectError("UDP_POLLING", objects::TCP_TMTC_POLLING_TASK);
+  }
+#endif
+#endif
 
 #if OBSW_ADD_CCSDS_IP_CORES == 1
   PeriodicTaskIF* ccsdsHandlerTask = factory->createPeriodicTask(
@@ -349,8 +367,13 @@ void scheduling::initTasks() {
   sif::info << "Starting tasks.." << std::endl;
   tmTcDistributor->startTask();
 
-#if OBSW_ADD_TCPIP_BRIDGE == 1
+#if OBSW_ADD_TCPIP_SERVERS == 1
-  tmtcPollingTask->startTask();
+#if OBSW_ADD_TMTC_UDP_SERVER == 1
+  udpPollingTask->startTask();
+#endif
+#if OBSW_ADD_TMTC_TCP_SERVER == 1
+  tcpPollingTask->startTask();
+#endif
 #endif
 
 #if OBSW_ADD_CCSDS_IP_CORES == 1

common/config/commonConfig.h.in

@@ -17,7 +17,7 @@ debugging. */
 #define OBSW_ADD_LWGPS_TEST                 0   
 
 // Disable this for mission code. It allows exchanging TMTC packets via the Ethernet port
-#define OBSW_ADD_TCPIP_BRIDGE               1
+#define OBSW_ADD_TCPIP_SERVERS              1
 
 #define OBSW_ADD_CFDP_COMPONENTS            1
 

common/config/eive/objects.h

@@ -8,8 +8,10 @@ enum commonObjects : uint32_t {
   /* First Byte 0x50-0x52 reserved for PUS Services **/
   CCSDS_PACKET_DISTRIBUTOR = 0x50000100,
   PUS_PACKET_DISTRIBUTOR = 0x50000200,
-  TMTC_BRIDGE = 0x50000300,
+  TCP_TMTC_SERVER = 0x50000300,
-  TMTC_POLLING_TASK = 0x50000400,
+  UDP_TMTC_SERVER = 0x50000301,
+  TCP_TMTC_POLLING_TASK = 0x50000400,
+  UDP_TMTC_POLLING_TASK = 0x50000401,
   FILE_SYSTEM_HANDLER = 0x50000500,
   SDC_MANAGER = 0x50000550,
   PTME = 0x50000600,

fsfw

@@ -1 +1 @@
-Subproject commit 5b0ea91222a6b8efb2f4562cfecbcb735dfeedd5
+Subproject commit 05cad893a2b713827cf4cdc9afe49675f18afcc7

mission/core/GenericFactory.cpp

@@ -33,12 +33,13 @@
 #include "objects/systemObjectList.h"
 #include "tmtc/pusIds.h"
 
-#if OBSW_ADD_TCPIP_BRIDGE == 1
+#if OBSW_ADD_TCPIP_SERVERS == 1
-#if OBSW_USE_TMTC_TCP_BRIDGE == 0
+#if OBSW_ADD_TMTC_UDP_SERVER == 1
 // UDP server includes
 #include "fsfw/osal/common/UdpTcPollingTask.h"
 #include "fsfw/osal/common/UdpTmTcBridge.h"
-#else
+#endif
+#if OBSW_ADD_TMTC_TCP_SERVER == 1
 // TCP server includes
 #include "fsfw/osal/common/TcpTmTcBridge.h"
 #include "fsfw/osal/common/TcpTmTcServer.h"
@@ -97,24 +98,23 @@ void ObjectFactory::produceGenericObjects(HealthTableIF** healthTable_, PusTmFun
     new PoolManager(objects::IPC_STORE, poolCfg);
   }
 
-#if OBSW_ADD_TCPIP_BRIDGE == 1
+#if OBSW_ADD_TCPIP_SERVERS == 1
-#if OBSW_USE_TMTC_TCP_BRIDGE == 0
+#if OBSW_ADD_TMTC_UDP_SERVER == 1
-  auto tmtcBridge = new UdpTmTcBridge(objects::TMTC_BRIDGE, objects::CCSDS_PACKET_DISTRIBUTOR);
+  auto udpBridge = new UdpTmTcBridge(objects::UDP_TMTC_SERVER, objects::CCSDS_PACKET_DISTRIBUTOR);
-  new UdpTcPollingTask(objects::TMTC_POLLING_TASK, objects::TMTC_BRIDGE);
+  new UdpTcPollingTask(objects::UDP_TMTC_POLLING_TASK, objects::UDP_TMTC_SERVER);
   sif::info << "Created UDP server for TMTC commanding with listener port "
-            << tmtcBridge->getUdpPort() << std::endl;
+            << udpBridge->getUdpPort() << std::endl;
-#else
+  udpBridge->setMaxNumberOfPacketsStored(150);
-  auto tmtcBridge = new TcpTmTcBridge(objects::TMTC_BRIDGE, objects::CCSDS_PACKET_DISTRIBUTOR);
+#endif
-  auto tcpServer = new TcpTmTcServer(objects::TMTC_POLLING_TASK, objects::TMTC_BRIDGE);
+#if OBSW_ADD_TMTC_TCP_SERVER == 1
+  auto tcpBridge = new TcpTmTcBridge(objects::TCP_TMTC_SERVER, objects::CCSDS_PACKET_DISTRIBUTOR);
+  auto tcpServer = new TcpTmTcServer(objects::TCP_TMTC_POLLING_TASK, objects::TCP_TMTC_SERVER);
   // TCP is stream based. Use packet ID as start marker when parsing for space packets
   tcpServer->setSpacePacketParsingOptions({common::PUS_PACKET_ID, common::CFDP_PACKET_ID});
   sif::info << "Created TCP server for TMTC commanding with listener port "
             << tcpServer->getTcpPort() << std::endl;
-#if OBSW_TCP_SERVER_WIRETAPPING == 1
+  tcpBridge->setMaxNumberOfPacketsStored(150);
-  tcpServer->enableWiretapping(true);
-#endif /* OBSW_TCP_SERVER_WIRETAPPING == 1 */
 #endif /* OBSW_USE_TMTC_TCP_BRIDGE == 0 */
-  tmtcBridge->setMaxNumberOfPacketsStored(150);
 #endif /* OBSW_ADD_TCPIP_BRIDGE == 1 */
 
   auto* ccsdsDistrib =
@@ -123,9 +123,15 @@ void ObjectFactory::produceGenericObjects(HealthTableIF** healthTable_, PusTmFun
 
   *cfdpFunnel = new CfdpTmFunnel(objects::CFDP_TM_FUNNEL, config::EIVE_CFDP_APID, *tmStore, 50);
   *pusFunnel = new PusTmFunnel(objects::PUS_TM_FUNNEL, *timeStamper, *tmStore, 80);
-#if OBSW_ADD_TCPIP_BRIDGE == 1
+#if OBSW_ADD_TCPIP_SERVERS == 1
-  (*cfdpFunnel)->addDestination(*tmtcBridge, 0);
+#if OBSW_ADD_TMTC_UDP_SERVER == 1
-  (*pusFunnel)->addDestination(*tmtcBridge, 0);
+  (*cfdpFunnel)->addDestination(*udpBridge, 0);
+  (*pusFunnel)->addDestination(*udpBridge, 0);
+#endif
+#if OBSW_ADD_TMTC_TCP_SERVER == 1
+  (*cfdpFunnel)->addDestination(*tcpBridge, 0);
+  (*pusFunnel)->addDestination(*tcpBridge, 0);
+#endif
 #endif
   // Every TM packet goes through this funnel
   new TmFunnelHandler(objects::TM_FUNNEL, **pusFunnel, **cfdpFunnel);

mission/devices/devicedefinitions/GPSDefinitions.h

@@ -1,9 +1,9 @@
 #ifndef MISSION_DEVICES_DEVICEDEFINITIONS_GPSDEFINITIONS_H_
 #define MISSION_DEVICES_DEVICEDEFINITIONS_GPSDEFINITIONS_H_
 
+#include "eive/eventSubsystemIds.h"
 #include "fsfw/datapoollocal/StaticLocalDataSet.h"
 #include "fsfw/devicehandlers/DeviceHandlerIF.h"
-#include "eive/eventSubsystemIds.h"
 
 namespace GpsHyperion {
 

tmtc

@@ -1 +1 @@
-Subproject commit 56d0f26cbffbfbf4e790d3a19858162291104934
+Subproject commit 30cf47365fec68a4b78395de03ecb2ae95af4e7e

unittest/controller/testThermalController.cpp

@@ -13,7 +13,7 @@ TEST_CASE("Thermal Controller", "[ThermalController]") {
   const object_id_t THERMAL_CONTROLLER_ID = 0x123;
 
   new TemperatureSensorsDummy();
-  //new SusDummy();
+  // new SusDummy();
 
   // testEnvironment::initialize();