<img align="center" src="https://egit.irs.uni-stuttgart.de/fsfw/fsfw/raw/branch/master/misc/logo/FSFW_Logo_V3_bw.png" width="50%">

# <a id="top"></a> <a name="linux"></a> FSFW Example Application

This repository features a demo application. The example has been run successfully on the following 
platforms:

 - Linux host machine with the Linux OSAL or the Host OSAL
 - Windows with the Host OSAL
 - STM32H743ZI-Nucleo with the FreeRTOS OSAL
 - Raspberry Pi with the Linux OSAL
 - STM32H743ZI-Nucleo with the RTEMS OSAL

The purpose of this example is to provide a demo of the FSFW capabilities.
However, it can also be used as a starting point to set up a repository for
new flight software. It also aims to provide developers with practical examples
of how the FSFW is inteded to be used and how project using the FSFW should or can be
set up and it might serve as a basic test platform for the FSFW as well to ensure all OSALs
are compiling and running as expected.

The repository contains a Python TMTC program which can be used to showcase
the TMTC capabilities of the FSFW (currently, using the ECSS PUS packet standard).

# Configuring the Example

The build system will copy three configuration files into the build directory:

1. `commonConfig.h` which contains common configuration parameters
2. `OBSWConfig.h` which can contain machine and architecture specific configuration options
3. `FSFWConfig.h` which contains the configuration for the flight software framework

These files can be edited manually after `CMake` build generation.

# Index

[Getting started with Eclipse for C/C++](https://egit.irs.uni-stuttgart.de/fsfw/fsfw-example-common/src/branch/master/doc/README-eclipse.md)<br>
[Getting started with CMake](https://egit.irs.uni-stuttgart.de/fsfw/fsfw-example-common/src/branch/master/doc/README-cmake.md)<br>

[Getting started with the Hosted OSAL](#this)<br>
[Getting started with the FreeRTOS OSAL on a STM32](https://egit.irs.uni-stuttgart.de/fsfw/fsfw-example-stm32h7-freertos)<br>
[Getting started with the RTEMS OSAL on a STM32](https://egit.irs.uni-stuttgart.de/fsfw/fsfw-example-stm32h7-rtems)<br>
[Getting started with the Raspberry Pi](https://egit.irs.uni-stuttgart.de/fsfw/fsfw-example-linux-mcu)<br>
[Getting started with the Beagle Bone Black](https://egit.irs.uni-stuttgart.de/fsfw/fsfw-example-linux-mcu)<br>

# <a id="this"></a> FSFW demo with Host OSAL on Windows or Linux

This demo has been tested for Windows and Linux. It uses 
the host abstraction layer of the FSFW.

## General Information

This demo provides the opportunity to to test functionality of the
FSFW on a host computer without the need of setting up external embedded hardware.


## Prerequisites

If you need to set up these prerequisites, you can find some more information in the dedicated
[chapter](#prereqsetup).

1. Makefile build: make installed (bundled with MSYS2 on Windows or via [xPacks Windows Build Tools](https://xpack.github.io/windows-build-tools/install/)). Natively installed on Linux.
2. Recommended for application code development: [Eclipse for C/C++](https://www.eclipse.org/downloads/packages/) . 
   Project files and launch configuration are provided for Eclipse to ease development.
   Visual Studio support might follow soon following CMake implementation.
3. CMake Build: Correct CMake installation
4. Recommended: Python 3 and [just](https://github.com/casey/just) installed for easy build
   generation

## Commanding the Software

When the software is running, it opens a TCP oder UDP server, depending on the configuration,
on port 7301. You can send PUS telecommands to that port to interactively command the
software.

The following steps set up a virtual environment, install all the dependencies, and then use
the `tmtcc.py` utility to send a ping telecommand to the running OBSW

```sh
cd tmtc
python3 -m venv venv
cd deps/tmtccmd
pip install .[gui]
```

Now you can command the software using the `tmtcc.py` command for the CLI mode and `tmtcc.py -g`
for the GUI mode inside the virtual environment. For example, you can use `tmtcc.py -s 17 -o 0`
to send a ping command.

## <a id="prereqsetup"></a> Setting up Prerequisites

### Windows - MinGW64 build

1. [MSYS2 and MinGW64](https://www.msys2.org/) installed
2. Update MSYS2 by opening it and running
   ```sh
   pacman -Syuuu
   ```

   After that, the gcc toolchain, git, make and CMake should be installed with
   ```sh
   pacman -S git mingw-w64-x86_64-gcc mingw-w64-x86_64-gdb mingw-w64-x86_64-make mingw-w64-x86_64-cmake
   ```

   You can install a full development environment with
   ```sh
   pacman -S base-devel
   ```

   or install `gcc`, `gdb` and `mingw32-make` with the following command 

   ```sh
   pacman -S mingw-w64-x86_64-toolchain
   ```

   It is recommended to set up aliases to get to the example directory
   quickly.
   
3. It is recommended to add the MinGW64 bit binaries to the system path so Eclipse can use 
   them. It is also recommended to run `git config --global core.autocrlf true` when using MinGW64 
   to have consistent line endings on Windows systems.
   
### Linux - Enabling RTOS functionalities

The dedicated [Linux README](https://egit.irs.uni-stuttgart.de/fsfw/fsfw-example-linux-mcu/src/branch/mueller/master/doc/README-linux.md#top)
specifies some steps required to cleanly run the FSFW.

## Building the Software with CMake

### Recommended way using the `Justfile` and Python

You can use the `Justfile` provided to get a list of common build targets and generate
the correct build configuration. Install [Python 3](https://www.python.org/downloads/)
first. The easiest way to install [just](https://github.com/casey/just) is to install
[Cargo](https://doc.rust-lang.org/cargo/getting-started/installation.html) first and the run
the following command

```sh
cargo install just
```

After that, you can display common build targets with

```sh
just -l
```

and create a build configuration with

```sh
just <build-target>
```

All commands run will be display


### Manual Way using CMake

CMake should be [installed](https://cmake.org/install/) first.
More detailed information on the CMake build process and options
can be found in the [CMake README](https://egit.irs.uni-stuttgart.de/fsfw/fsfw-example-common/src/branch/master/doc/README-cmake.md).
Readers unfamiliar with CMake should read this first. The following steps will show to to build
the Debug executable using either the `"Unix Makefiles"` generator on Linux or
the `"MinGW Makefiles"` generator in Windows in the command line to be as generic as possible.

You can also install [Ninja](https://ninja-build.org/) and then supply `-G "Ninja"` to the build
generation as a cross-platform solution.

### Linux Build

1. Create a new folder for the executable.
   ```sh
   mkdir cmake-build-debug
   cd cmake-build-debug
   ```

2. Configure the build system 
   ```sh
   cmake -G "Unix Makefiles" -DCMAKE_BUILD_TYPE=Debug -DFSFW_OSAL=host ..
   ```
   
   You can also use `-DOS_FSFW=linux` to use the Linux OSAL of the FSFW.

3. Build the software
   ```sh
   cmake --build . -j
   ```

4. The binary will be located inside the Debug folder and can be run there
   ```sh
   ./fsfw-example
   ```
   
### MinGW64 Build

Set up MinGW64 like explained previously. 

The CMake build can be generated either with the CMake GUI tool or with the MinGW64 command line.
Steps will be shown with the MinGW64 command line tool, but the CMake GUI can be used on Windows 
as well to have a convenient way to configure the CMake build.

1. Open the MinGW64 terminal and navigate to the `fsfw_example` folder
2. Create a new folder for the executable.
   ```sh
   mkdir cmake-build-debug
   cd cmake-build-debug
   ```

   The build options can be displayed with `cmake -L` . 

3. Configure the project and generate the native MinGW64 buildsystem
   ```sh
   cmake -G "MinGW Makefiles" -DCMAKE_BUILD_TYPE=Debug -DFSFW_OSAL=host ..
   ```

   The build configuration can also be performed with the shell scripts located
   inside `cmake/scripts/Host` or the Python helper script `cmake_build_config.py`
   inside `cmake/scripts`. The configured build options can now be shown with `cmake -L`.

4. Call the build system (Make)
   ```
   cmake --build . -j
   ```

5. Like already mentioned, it is recommended to run the binary directly as an executable by 
   double-clicking it or in the Windows Terminal.
   
## Setting up Eclipse for CMake projects

The separate [Eclipse README](https://egit.irs.uni-stuttgart.de/fsfw/fsfw-example-common/src/branch/master/doc/README-eclipse.md)
specifies how to set up Eclipse to build CMake
projects. Separate project files and launch configurations for the MinGW build were provided.
The debug output is colored by default. It is recommended to install the
`ANSI Escape in Console` plugin in Eclipse so the coloring works in the Eclipse console. 

**Windows**

On Windows, it is recommended to run the applicaton with the Windows command line for the printout
to work 
properly. You can do this by simply double-clicking the binary or using `start <Exe>` in the
Windows command line