Yamcs users

.gitignore

@@ -6,3 +6,4 @@ build/**
 .project
 venv
 *.class
+*__pycache__

Makefile

@@ -62,12 +62,23 @@ help::
 	@echo '                              hosted on the generic quad-X airframe with the    '
 	@echo '                              Aerotenna uLanding landing radar system.          '
 	@echo '                              uLanding landing radar system.                    '
+	@echo '    obc-all                 : This will build flight software for both the      '
+	@echo '                              Performance Processing Domain (PPD) and the       '
+	@echo '                              Critical Processing Domain (CPD) of the           '
+	@echo '                              Windhover On-Board Computer (OBC), as well as the '
+	@echo '                              associated ground products.                       '
 	@echo '    obc/ppd                 : This will build flight software for the           '
 	@echo '                              Performance Processing Domain (PPD) of the        '
 	@echo '                              Windhover On-Board Computer (OBC).                '
 	@echo '    obc/cpd                 : This will build flight software for the           '
-	@echo '                              Critical Processing Domain (PPD) of the Windhover '
+	@echo '                              Critical Processing Domain (CPD) of the Windhover '
 	@echo '                              Windhover On-Board Computer (OBC).                '
+	@echo '    obc-sitl                : This will build a SITL versions of both the PPD   '
+	@echo '                              and CPD flight software.                          '
+	@echo '    obc/ppd/sitl            : This will build a SITL version of the PPD flight  '
+	@echo '                              software.                                         '
+	@echo '    obc/cpd/sitl            : This will build a SITL version of the CPD flight  '
+	@echo '                              software.                                         '
 	@echo '    clean                   : This will clean all build flight software build   '
 	@echo '                              targets.  This includes the Commander workspace,  '
 	@echo '                              if one was generated.                             '
@@ -96,6 +107,7 @@ help::
 	@echo '    docs-sphinx             : Generate the Sphinx documentation from the        '
 	@echo '                              reference build.                                  '
 
+
 .PHONY: help Makefile docs obc
 
 
@@ -122,33 +134,26 @@ $(GENERIC_TARGET_NAMES)::
 						-DCMAKE_ECLIPSE_GENERATE_SOURCE_PROJECT=TRUE CMAKE_BUILD_TYPE=Debug $(ROOT_DIR); \
 					$(MAKE) --no-print-directory); \
 				fi \
-		done;
+		done;	
 
 
-obc::
-	@echo 'Building 'OBC'.'
-	@idx=1; \
-	for name in $(GENERIC_TARGET_NAMES); do \
-		if [ "$$name" == "$@" ] ; then \
-			break; \
-		fi; \
-		((idx++)); \
-	done; \
-	TARGET_PATH=$$(echo ${GENERIC_TARGET_PATHS} | cut -d " " -f $$idx); \
-		echo "Generating complete design/configuration definition file, 'wh_defs.yaml'"; \
-	if [ -f "$(CONFIG_DIR)/$$TARGET_PATH/wh_config.yaml" ]; then \
-			mkdir -p build/$$TARGET_PATH/target; \
-			python3 core/base/tools/config/wh_defgen.py $(CONFIG_DIR)/$$TARGET_PATH/ build/$$TARGET_PATH/target/wh_defs.yaml; \
-	fi; \
-		for buildtype in $(BUILD_TYPES); do \
-		if [ -d "$(CONFIG_DIR)/$$TARGET_PATH/$$buildtype" ]; then \
-				mkdir -p build/$$TARGET_PATH/$$buildtype; \
-				(cd build/$$TARGET_PATH/$$buildtype; \
-					cmake -DBUILDNAME:STRING=$$TARGET_PATH -DBUILDTYPE:STRING=$$buildtype -G"Eclipse CDT4 - Unix Makefiles" \
-						-DCMAKE_ECLIPSE_GENERATE_SOURCE_PROJECT=TRUE CMAKE_BUILD_TYPE=Debug $(ROOT_DIR); \
-					$(MAKE) --no-print-directory); \
-				fi \
-		done;
+obc-all:: obc/ppd obc/cpd
+	@echo 'Generating ground products.'
+	@make -C build/obc/ppd/target ground-tools
+	@make -C build/obc/cpd/target ground-tools
+	@echo 'Done'
+
+workspace::
+	rm build/obc/commander_workspace/Displays/Resources/definitions.yaml
+	python3 core/base/tools/config/yaml_path_merger.py --yaml_output build/obc/commander_workspace/Displays/Resources/definitions.yaml --yaml_input build/obc/cpd/target/wh_defs.yaml --yaml_path /modules/cpd
+	python3 core/base/tools/config/yaml_path_merger.py --yaml_output build/obc/commander_workspace/Displays/Resources/definitions.yaml --yaml_input build/obc/ppd/target/wh_defs.yaml --yaml_path /modules/ppd
+
+
+obc-sitl:: obc/ppd/sitl obc/cpd/sitl
+	@echo 'Generating ground products.'
+	@make -C build/obc/ppd/sitl/target ground-tools
+	@make -C build/obc/cpd/sitl/target ground-tools
+	@echo 'Done'
 
 
 docs-doxygen:

apps/pq_lib/fsw/public_inc/pq_platform_cfg.h

@@ -100,6 +100,10 @@ extern "C" {
 
 #define PQ_EVENT_ID_OFFSET             (100)
 
+
+#define PQ_DEFAULT_QUEUE_MSG_LIMIT     (1)
+#define PQ_DEFAULT_QUEUE_IDX           (4)
+
 #ifdef __cplusplus
 }
 #endif

apps/pq_lib/fsw/public_inc/pq_structs.h

@@ -72,7 +72,6 @@ typedef enum
 
 } PQ_PriorityQueueType_t;
 
-
 /** \brief Definition for a single priority queue entry. */
 typedef struct
 {
@@ -274,7 +273,7 @@ CompileTimeAssert((PQ_CHANNEL_STATE_COUNT <= 0xff), PQ_ChannelState_t_less_than_
 
 /** \pqtbl PQ Configuration Table 
  *
- * \brief Definition for a TO Configuration table 
+ * \brief Definition for a PQ Configuration table 
  */
 typedef struct
 {
@@ -319,8 +318,7 @@ typedef struct
 
 } PQ_ChannelTbl_t;
 
-
-/** \brief Definition for a single TO dump table entry */
+/** \brief Definition for a single PQ dump table entry */
 typedef struct
 {
     /**
@@ -437,7 +435,7 @@ typedef struct
     uint32               SentMsgCount;
 
     /** \totlm Queued Channel Telemetry
-    \brief Count of telemetry messages queued on the TO channel's Priority Queues.
+    \brief Count of telemetry messages queued on the PQ channel's Priority Queues.
     Counter begins at zero with app initialization and rolls over. */
     uint32               QueuedMsgCount;
 
@@ -507,7 +505,7 @@ typedef struct
 } PQ_ChannelMemoryInfo_t;
 
 /**
-**  \brief TO application housekeeping data
+**  \brief PQ housekeeping data
 */
 typedef struct
 {
@@ -520,16 +518,16 @@ typedef struct
     \totlmmnemonic PQ_STORSENT
     \brief Count of telemetry messages sent out the channel interface.
     Counter begins at zero with app initialization and rolls over.
-    Index of array is equivalent to the relevant TO channel index. */
+    Index of array is equivalent to the relevant PQ channel index. */
     uint32  uiSentMsgCountChannel;
 
     /** \totlm Queued Channel Telemetry
     \totlmmnemonic  PQ_RDOQUEUED
     \totlmmnemonic  PQ_SNKLQUEUED
     \totlmmnemonic  PQ_STORQUEUED
-    \brief Count of telemetry messages queued on the TO channel's Priority Queues.
+    \brief Count of telemetry messages queued on the PQ channel's Priority Queues.
     Counter begins at zero with app initialization and rolls over.
-    Index of array is equivalent to the relevant TO channel index. */
+    Index of array is equivalent to the relevant PQ channel index. */
     uint32  uiQueuedMsgCountChannel;
 
     /** \totlm Dropped Channel Telemetry
@@ -538,7 +536,7 @@ typedef struct
     \totlmmnemonic PQ_STORDROP
     \brief Count of telemetry messages rejected, and not passed into the channel's Priority Queues.
     Counter begins at zero with app initialization and rolls over.
-    Index of array is equivalent to the relevant TO channel index. */
+    Index of array is equivalent to the relevant PQ channel index. */
     uint32  uiDropMsgCountChannel;
 
     /** \totlm Failed Channel Telemetry
@@ -548,7 +546,7 @@ typedef struct
     \brief Count of telemetry messages failed on interface write after being pulled 
     from the output queue, and lost.
     Counter begins at zero with app initialization and rolls over.
-    Index of array is equivalent to the relevant TO channel index. */
+    Index of array is equivalent to the relevant PQ channel index. */
     uint32  uiFailedMsgCountChannel;
 
     /** \totlm Channel Bytes Sent
@@ -557,7 +555,7 @@ typedef struct
     \totlmmnemonic PQ_STORB
     \brief The number of bytes sent out the channel's interface
     Counter begins at zero with app initialization and rolls over.
-    Index of array is equivalent to the relevant TO channel index. */
+    Index of array is equivalent to the relevant PQ channel index. */
     uint32  uiBytesSentChannel;
 
     /** \totlmmnemonic PQ_CMDACPTCNT
@@ -588,6 +586,8 @@ typedef struct
         \brief Memory information per channel. */
     PQ_ChannelMemoryInfo_t ChannelMemInfo;
 
+    PQ_OutputQueue_t OutputQueue;
+
 } PQ_HkTlm_t;
 
 

apps/pq_lib/fsw/src/pq_channel.c

@@ -52,7 +52,7 @@
 ** Local Structure Declarations
 *************************************************************************/
 
-uint32  PQ_MemPoolDefSize[PQ_MAX_MEMPOOL_BLK_SIZES] =
+uint32 PQ_MemPoolDefSize[PQ_MAX_MEMPOOL_BLK_SIZES] =
 {
     PQ_MAX_BLOCK_SIZE,
     PQ_MEM_BLOCK_SIZE_07,
@@ -405,4 +405,9 @@ void PQ_Channel_CopyStats(PQ_HkTlm_t *HkTlm, PQ_ChannelData_t *Channel)
     //(void) OS_MutSemTake(TO_AppData.MutexID);
     HkTlm->SentBytes                   = Channel->OutputQueue.SentBytes;
     //(void) OS_MutSemGive(TO_AppData.MutexID);
+    HkTlm->OutputQueue.OSALQueueID        = Channel->OutputQueue.OSALQueueID;
+    HkTlm->OutputQueue.SentBytes          = Channel->OutputQueue.SentBytes;
+    HkTlm->OutputQueue.SentCount          = Channel->OutputQueue.SentCount;
+    HkTlm->OutputQueue.CurrentlyQueuedCnt = Channel->OutputQueue.CurrentlyQueuedCnt;
+    HkTlm->OutputQueue.HighwaterMark      = Channel->OutputQueue.HighwaterMark;
 }

apps/pq_lib/fsw/src/pq_classifier.c

@@ -79,19 +79,35 @@ void PQ_Classifier_Run(PQ_ChannelData_t *Channel, CFE_SB_MsgPtr_t DataMsgPtr)
         }
 
         /* Get the first Message Flow object.  If this returns null, the
-         * Message ID is not in the table at all so we shouldn't have
-         * received this message.  Raise an event.
+         * Message ID is not in the table..
          */
         msgFlow = PQ_MessageFlow_GetObject(Channel, DataMsgID, &msgFlowIndex);
         if (NULL == msgFlow)
         {
-            (void) CFE_EVS_SendEvent(PQ_MF_MSG_ID_ERR_EID,
-                                     CFE_EVS_ERROR,
-                                     "Classifier Recvd invalid msgId (0x%04X) or message flow was removed on channel (%u)", 
-                                     (unsigned short)DataMsgID,
-                                     (unsigned short)Channel->channelIdx);
-            Channel->DropMsgCount++;
-            goto end_of_function;
+            osalbool retVal = FALSE;
+
+            /* Add the unknown message to the default pq. */
+            retVal = PQ_MessageFlow_Add(Channel, 
+                                        DataMsgID, 
+                                        PQ_DEFAULT_QUEUE_MSG_LIMIT, 
+                                        PQ_DEFAULT_QUEUE_IDX);
+            if(retVal != TRUE)
+            {
+                Channel->DropMsgCount++;
+                goto end_of_function;
+            }
+
+            msgFlow = PQ_MessageFlow_GetObject(Channel, DataMsgID, &msgFlowIndex);
+            if (NULL == msgFlow)
+            {
+                (void) CFE_EVS_SendEvent(PQ_MF_MSG_ID_ERR_EID,
+                                         CFE_EVS_ERROR,
+                                        "Classifier failed to get message flow object for msgId (0x%04X) on channel (%u)", 
+                                        (unsigned short)DataMsgID,
+                                        (unsigned short)Channel->channelIdx);
+                Channel->DropMsgCount++;
+                goto end_of_function;
+            }
         }
 
         /* Get the Priority Queue assigned to this Message Flow. */