Update to Ubuntu 18.04 and CentOS 7.6; Add AIT as ground station option;

nasa · Jul 29, 2019 · 5956880 · 5956880
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diff --git a/README.md b/README.md
@@ -1,58 +1,67 @@
 # NASA Operational Simulator for Small Satellites
+The NASA Operational Simulator for Small Satellites (NOS3) is a suite of tools developed by NASA's Katherine Johnson Independent Verification and Validation (IV&V) Facility to aid in areas such as software development, integration & test (I&T), mission operations/training, verification and validation (V&V), and software systems check-out. 
+NOS3 provides a software development environment, a multi-target build system, an operator interface/ground station, dynamics and environment simulations, and software-based hardware models.
 
 ## Getting Started
 This repository allows the user to generate a VM in which to develop and test utilizing Vagrant and Virtual Box enabling every user to have an identical environment.
 
 Various open source packages have been utilized and will be installed, these are explained minimally below:
 * 42 - Spacecraft dynamics and visualization, NASA GSFC
+* AMMOS Instrument Toolkit (AIT) - Ground Station from NASA JPL
 * cFS - core Flight System, NASA GSFC
-* COSMOS - Ball Aerospace
+* COSMOS - Ground Station from Ball Aerospace
 * ITC Common - Loggers and developer tools, NASA IV&V ITC  
 * NOS Engine - Middleware bus simulator, NASA IV&V ITC
 
 ### Prerequisites
 Each of the applications listed below are required prior to performing the installation procedure:
 * [Git 1.8+](https://git-scm.com/)
-* [Vagrant 1.9+](https://www.vagrantup.com/)
-* [VirtualBox 5.1+](https://www.virtualbox.org/)
+* [Vagrant 2.2.3+](https://www.vagrantup.com/)
+* [VirtualBox 6.0+](https://www.virtualbox.org/)
 
 ### Installing
 1. Open a terminal
 2. Navigate to the desired location for the repository
 3. Clone the repository
 4. Navigate to `/nos3/support`
 5. Run `vagrant up` and wait to return to a prompt
-6. Run `vagrant reload` and wait for the VM to restart
-7. Login to the nos3 user using the password `nos3123!` and get to work!
+	- This can take anywhere from 20 minutes to hours depending on internet speeds and host PC specs
+  - The VM will reboot multiple times in order to finish install packages for you automatically so wait for that prompt!
+6. Login to the nos3 user using the password `nos3123!` and get to work!
+7. Try building and running following the instructions below
 
 ### Running
 In both CentOS and Ubuntu, scripts are located on the desktop that enable the user to easily work:
 * `nos3-build.sh` - Build FSW and simulators
 * `nos3-run.sh` - Launch the ground station, FSW, and simulators
 * `nos3-stop.sh` - Safely stop all components
+Note that in Ubuntu the toolbar may be right clicked to select one of these options and defaults to simply running.
 
 ### Directory Layout
 * `~/nos3/` contains the repository at the time of the build locally in the VM.
-	* /apps - the open source cFS apps
-	* /build - the unarchived build directory
-	* /cfe - the core flight system (cFS) source files
-	* /docs - documentation related to cFS
-	* /osal - operating system abstraction layer (OSAL), enables building for linux and flight OS
-	* /psp - platform support package (PSP), enables use on multiple types of boards
-	* /support - all the files needed for ground stations, ION, and installation
+	- /apps - the open source cFS apps
+	- /cfe - the core flight system (cFS) source files
+	- /components - the hardware component apps
+	- /osal - operating system abstraction layer (OSAL), enables building for linux and flight OS
+	- /psp - platform support package (PSP), enables use on multiple types of boards
+	- /sims - the component simulators
+	- /support - all the files needed for ground stations, and installation
+		* /ait - AIT database files
 		* /cosmos - COSMOS database files
 		* /installers - installation scripts
 		* /packages	- installation packages
+		* /planning - pass planning software
 		* /VirtualMachine - files directly releated to the VM, such as desktop scripts and launchers
 		* `Vagrantfile` - main provisioner file used to generate the VM
-	* /tools - standard cFS provided tools
-	* `.gitignore` - list of files and directories to be ommitted from git
-	* `.gitmodules` - list of git submodules utilized
-	* `CMakeLists.txt` - top level cmake file to be used from inside the build directory
-	* `README.md` - this file
+	- /tools - standard cFS provided tools
+	- `.gitignore` - list of files and directories to be ommitted from git
+	- `CMakeLists.txt` - top level make file wrapping CMake functions for ease of use
+	- `README.md` - this file
 
 ## Development
-Work occurs inside the VM, via shared folders, or on the host.  This repository is copied into the `~/nos3` directory on installation, but can be moved / shared to a different location.  Note that changing this directory will cause the scripts provided on the desktop to malfunction. 
+Work occurs inside the VM, via shared folders, or on the host.
+This repository is copied into the `~/nos3` directory on installation, but can be moved / shared to a different location.
+Note that changing this directory will cause the scripts provided on the desktop to malfunction. 
 
 ### Git Flow
 The following flow for development should be adhered to when possible:
@@ -68,13 +77,13 @@ The following flow for development should be adhered to when possible:
     * Commits direct to this branch are only to be hot fixes and are not desired
 
 * Feature Branch
-    * Have a Gitlab issue describing the end goal and path forward
+    * Have an issue describing the end goal and path forward
     * Based out of development and merged back in after testing
 
 ### Example Flow
-Note that the git command line may be substitued for a GUI tool without issue.
+Note that the git command line may be substituted for a GUI tool without issue.
 
-1. Create GitLab issue describing the goal and the path forward
+1. Create an issue describing the goal and the path forward
 2. Open a terminal
 2. Navigate to the top level directory of the working tree.
 4. Checkout the development branch
@@ -92,12 +101,38 @@ Note that the git command line may be substitued for a GUI tool without issue.
 10. Merge feature branch into development
  - `git merge ##-Example-Issue`
 
-### Versioning
-We use [SemVer](http://semver.org/) for versioning. For the versions available, see the tags on this repository.
-
 ## Support
 If this project interests you or if you have any questions, please feel free to contact any developer directly or email `[email protected]`.
 
+### Frequently Asked Questions
+* A GUI environment hasn't shown up after an extended period (> 1.5 hours), what should I do?
+  - Stop the provision, delete the existing VM (if it was created), and try again
+  - `CTRL + C`, `vagrant destroy`, `y`, `vagrant up`, wait, `vagrant reload`
+* What is the root username and password?
+  - `vagrant` with password `vagrant`
+* Why doesn't the shared clipboard work?
+  - You will most likely need to re-install / update the guest additions and reboot for this to function properly
+  - In the VirtualBox menu select: Devices -> Insert Guest Additions CD Image...
+  - Follow the instructions provided
+* How can I mount a shared folder so that I edit on my host and compile / run in the VM?
+  - In the VirtualBox menu select: Devices -> Shared Folders -> Shared Folders Settings...
+  - Select the folder with a plus sign to add your folder
+	  * Provide the path, name, mount point inside the VM
+		* Select `Auto-mount`, `Make Permanent`, and `OK`
+* Additional libraries / tools are needed for a specific mission, how can I include them during the provisioning process?
+  - The `support/installers/$OS/*_CUSTOM.sh` script is designed specifically for this purpose
+* How can I run 42 without the GUI?
+  - Edit the `~/Desktop/nos3-42/NOS3-42InOut/Inp_Sim.txt` and set Graphics Front End to `FALSE` 
+* NOS Engine Standalone server reports `NOSEngine.Uart - close uart port failed` error?
+	- This isn't actually an error and is scheduled to be removed, proceed as usual.
+* `core-linux` fails with a `__pthread_mutex_lock_full` error repeatedly?
+	- This is a known issue that is being investigated, for now simply try to run `core-linux` again.
+* `core-linux` hangs with a `NAV_LibInit()` call?
+	- This is another known issue that is under investigation, for now simply try to run `core-linux` again.
+
+### Versioning
+We use [SemVer](http://semver.org/) for versioning. For the versions available, see the tags on this repository.
+
 ### License
 This project is licensed under the NOSA (NASA Open Source Agreement) License. 
 

diff --git a/apps/hk/fsw/src/hk_app.c b/apps/hk/fsw/src/hk_app.c
@@ -233,8 +233,8 @@ int32 HK_AppInit(void)
             "Error Creating Memory Pool,RC=0x%08X",Status);
         return (Status);
      }
-    HK_AppData.RunStatus = CFE_ES_APP_RUN; // TODO: How did this value change in `CFE_ES_PoolCreate`?
 
+    HK_AppData.RunStatus = CFE_ES_APP_RUN;
     HK_ResetHkData ();
 
 

diff --git a/apps/to_lab/CMakeLists.txt b/apps/to_lab/CMakeLists.txt
@@ -5,6 +5,7 @@ include_directories(fsw/mission_inc)
 include_directories(fsw/platform_inc)
 include_directories(${ci_lab_MISSION_DIR}/fsw/platform_inc)
 include_directories(${sample_app_MISSION_DIR}/fsw/platform_inc)
+include_directories(${hk_MISSION_DIR}/fsw/platform_inc)
 
 include_directories(${arducam_MISSION_DIR}/fsw/platform_inc
 					          ${novatel_oem615_MISSION_DIR}/fsw/platform_inc)

diff --git a/apps/to_lab/fsw/platform_inc/to_lab_sub_table.h b/apps/to_lab/fsw/platform_inc/to_lab_sub_table.h
@@ -27,6 +27,7 @@
 //#include "sample_app_msgids.h"
 #include "cam_msgids.h"
 #include "nav_msgids.h"
+#include "hk_msgids.h"
 
 #if 0
 #include "hs_msgids.h"
@@ -46,7 +47,8 @@ static TO_subsciption_t  TO_SubTable[] =
 			{CAM_HK_TLM_MID,        {0,0},  10},
             {CAM_EXP_TLM_MID,       {0,0}, 100},
             {NAV_SEND_HK_TLM,       {0,0},  10},
-            {TO_UNUSED,              {0,0},  0},
+            {HK_HK_TLM_MID,         {0,0},  24},
+            {HK_COMBINED_PKT1_MID,  {0,0},  20},
 
 #if 0
             /* Add these if needed */

diff --git a/components/hwlib/CMakeLists.txt b/components/hwlib/CMakeLists.txt
@@ -14,10 +14,10 @@ include_directories(fsw/mission_inc
 
 # freertos include directories for flight configuration
 IF(CFE_SYSTEM_PSPNAME STREQUAL FLIGHT_PSPNAME)
-    message(STATUS "FLIGHT configuration")
+    message(STATUS "hwlib: FLIGHT configuration")
     #include_directories(flight needed includes here)
 else()
-    message(STATUS "NON-FLIGHT configuration")
+    message(STATUS "hwlib: NON-FLIGHT configuration")
 ENDIF()
 
 # create the hwlib app module

diff --git a/components/hwlib/fsw/src/hwlib.c b/components/hwlib/fsw/src/hwlib.c
@@ -80,7 +80,7 @@ int32 hwlib_Init(void)
     }
     else
     {
-        CFE_EVS_SendEvent(HWLIB_INIT_EID, CFE_EVS_ERROR, "CAM Lib HW Init ERROR = 0x%lx\n", status);
+        CFE_EVS_SendEvent(HWLIB_INIT_EID, CFE_EVS_ERROR, "CAM Lib HW Init ERROR = 0x%dx\n", status);
     } 
 
     /* Initialize the NAV Lib */
@@ -91,7 +91,7 @@ int32 hwlib_Init(void)
     }
     else
     {
-        CFE_EVS_SendEvent(HWLIB_INIT_EID, CFE_EVS_ERROR, "NAV Lib HW Init ERROR = 0x%lx", status);
+        CFE_EVS_SendEvent(HWLIB_INIT_EID, CFE_EVS_ERROR, "NAV Lib HW Init ERROR = 0x%dx", status);
     }
 
     return OS_SUCCESS;

diff --git a/components/hwlib/sim/CMakeLists.txt b/components/hwlib/sim/CMakeLists.txt
@@ -1,6 +1,21 @@
 project(noslink C)
 cmake_minimum_required(VERSION 2.6.4)
 
+include(CMakeParseArguments)
+
+# find itc cmake module path
+find_path(_ITC_CMAKE_MODULES_
+          NAMES FindITC_Common.cmake
+          PATHS ${ITC_CMAKE_MODULES}
+                ${ITC_DEV_ROOT}/cmake/modules
+                $ENV{ITC_DEV_ROOT}/cmake/modules
+                /usr/local/cmake/modules
+                /usr/cmake/modules)
+if(NOT _ITC_CMAKE_MODULES_)
+    message(WARNING "Unable to find ITC CMake Modules")
+endif()
+set(CMAKE_MODULE_PATH ${CMAKE_MODULE_PATH} ${_ITC_CMAKE_MODULES_})
+
 set(CXX_11 ON)
 
 find_package(NOSENGINE REQUIRED COMPONENTS uart i2c spi)

diff --git a/components/hwlib/sim/src/libuart.c b/components/hwlib/sim/src/libuart.c
@@ -57,11 +57,11 @@ void nos_init_usart_link(void)
 /* destroy nos engine usart link */
 void nos_destroy_usart_link(void)
 {
+    int i;
 
     OS_MutSemTake(nos_usart_mutex);
 
     /* clean up usart buses */
-    int i;
     for(i = 0; i <= NUM_USARTS; i++)
     {
         NE_Uart *dev = usart_device[i];
@@ -137,11 +137,12 @@ int32 uart_write_port(int32 handle, uint8 data[], const uint32 numBytes)
 int32 uart_read_port(int32 handle, uint8 data[], const uint32 numBytes)
 {
     char c = 0;
+    int  i;
     NE_Uart *dev = nos_get_usart_device((int)handle);
     if(dev)
     {
         OS_MutSemTake(nos_usart_mutex);
-        for (int i = 0; i < (int)numBytes; i++)
+        for (i = 0; i < (int)numBytes; i++)
         {
             NE_uart_getc(dev, (uint8_t*)&c);
             data[i] = c;

diff --git a/nasa_defs/cfe_es_startup.scr b/nasa_defs/cfe_es_startup.scr
@@ -4,7 +4,7 @@ CFE_APP, /cf/ci_lab.so,           CI_Lab_AppMain,       CI_LAB_APP,        50,
 CFE_APP, /cf/to_lab.so,           TO_Lab_AppMain,       TO_LAB_APP,        50,   8192,  0x0, 0;
 CFE_APP, /cf/hk.so,               HK_AppMain,           HK,                50,   8192,  0x0, 0;
 
-CFE_LIB, /cf/hwlib.so,            HW_LibInit,           HW_LIB,             0,      0,  0x0, 0;
+CFE_LIB, /cf/hwlib.so,            hwlib_Init,           HW_LIB,             0,      0,  0x0, 0;
 
 CFE_APP, /cf/cam.so,              CAM_AppMain,          CAM,               50,   8192,  0x0, 0;
 CFE_APP, /cf/novatel_oem615.so,   novatel_oem615_Main,  NOVATEL_OEM615,    50,   8192,  0x0, 0;

diff --git a/nasa_defs/tables/hk_cpy_tbl.c b/nasa_defs/tables/hk_cpy_tbl.c
@@ -45,7 +45,6 @@
 #include "hk_msgids.h"
 #include "hk_tbldefs.h"
 #include "cfe_tbl_filedef.h"
-#include "cfe_msgids.h"
 
 hk_copy_table_entry_t      HK_CopyTable[HK_COPY_TABLE_ENTRIES] =
 {

diff --git a/nasa_defs/tables/sch_def_msgtbl.c b/nasa_defs/tables/sch_def_msgtbl.c
@@ -43,6 +43,7 @@
 
 #include "cfe_msgids.h"
 #include "ci_lab_msgids.h"
+#include "hk_msgids.h"
 #include "sch_msgids.h"
 /* #include "sc_msgids.h"  */
 /* #include "cs_msgids.h"  */
@@ -133,8 +134,8 @@ SCH_MessageEntry_t SCH_DefaultMessageTable[SCH_MAX_MESSAGES] =
 /*{ { HTONS(FM_SEND_HK_MID),  HTONS(0xC000), HTONS(0x0001), HTONS(0x0000) } }, */
   { { HTONS(SCH_UNUSED_MID) } },
     /* command ID #9 - Housekeeping HK Request       */
-/*{ { HTONS(HK_SEND_HK_MID),  HTONS(0xC000), HTONS(0x0001), HTONS(0x0000) } }, */
-  { { HTONS(SCH_UNUSED_MID) } },
+  { { HTONS(HK_SEND_HK_MID),  HTONS(0xC000), HTONS(0x0001), HTONS(0x0000) } },
+  /*{ { HTONS(SCH_UNUSED_MID) } },*/
 
     /* command ID #10 - Health & Safety HK Request   */
 /*{ { HTONS(HS_SEND_HK_MID),  HTONS(0xC000), HTONS(0x0001), HTONS(0x0000) } }, */
@@ -158,8 +159,8 @@ SCH_MessageEntry_t SCH_DefaultMessageTable[SCH_MAX_MESSAGES] =
   **  CFS routine messages
   */
     /* command ID #16 - HK Send Combined Housekeeping Msg #1 */
-/*{ { HTONS(HK_SEND_COMBINED_PKT_MID), HTONS(0xC000), HTONS(0x0003), HTONS(0x0000), HTONS(HK_COMBINED_PKT1_MID) } }, */
-  { { HTONS(SCH_UNUSED_MID) } },
+  { { HTONS(HK_SEND_COMBINED_PKT_MID), HTONS(0xC000), HTONS(0x0003), HTONS(0x0000), HK_COMBINED_PKT1_MID } },
+  /*{ { HTONS(SCH_UNUSED_MID) } },*/
     /* command ID #17 - HK Send Combined Housekeeping Msg #2 */
 /*{ { HTONS(HK_SEND_COMBINED_PKT_MID), HTONS(0xC000), HTONS(0x0003), HTONS(0x0000), HTONS(HK_COMBINED_PKT2_MID) } }, */
   { { HTONS(SCH_UNUSED_MID) } },

diff --git a/nasa_defs/tables/sch_def_schtbl.c b/nasa_defs/tables/sch_def_schtbl.c
@@ -103,9 +103,10 @@ SCH_ScheduleEntry_t SCH_DefaultScheduleTable[SCH_TABLE_ENTRIES] =
 
   /* slot #0 */
 /*{  SCH_DISABLED, SCH_ACTIVITY_SEND_MSG,  1,  0, 24, SCH_GROUP_MD_WAKEUP }, */  /* MD Wakeup */
-  {  SCH_UNUSED,   0,      0,  0, 0,  SCH_GROUP_NONE},                                        
-  {  SCH_UNUSED,   0,      0,  0, 0,  SCH_GROUP_NONE},                                        
-  {  SCH_UNUSED,   0,      0,  0, 0,  SCH_GROUP_NONE},                                        
+  {  SCH_ENABLED, SCH_ACTIVITY_SEND_MSG, 5,  0, 37, SCH_GROUP_NONE},                                        
+  {  SCH_ENABLED, SCH_ACTIVITY_SEND_MSG, 1,  0, 9,  SCH_GROUP_NONE},                                        
+  {  SCH_ENABLED, SCH_ACTIVITY_SEND_MSG, 1,  0, 16, SCH_GROUP_NONE},
+  /*{  SCH_UNUSED,   0,      0,  0, 0,  SCH_GROUP_NONE}, */                                       
   {  SCH_UNUSED,   0,      0,  0, 0,  SCH_GROUP_NONE},                                        
   {  SCH_UNUSED,   0,      0,  0, 0,  SCH_GROUP_NONE},                                        
 

diff --git a/nasa_defs/toolchain-linux.cmake b/nasa_defs/toolchain-linux.cmake
@@ -24,5 +24,5 @@ SET(CFE_SYSTEM_PSPNAME      "nos-linux")
 
 SET(OSAL_SYSTEM_OSTYPE      "posix")
 
-SET(CMAKE_C_FLAGS_INIT "-g -Wfatal-errors -Wformat=0" CACHE STRING "C Flags required by platform")
+SET(CMAKE_C_FLAGS_INIT "-g -Wfatal-errors -Wformat=0 -m32" CACHE STRING "C Flags required by platform")
 
diff --git a/nasa_defs/toolchain-linux.cmake.in b/nasa_defs/toolchain-linux.cmake.in
@@ -24,5 +24,5 @@ SET(CFE_SYSTEM_PSPNAME      "${AUTO_LINUX_PSPNAME}")
 
 SET(OSAL_SYSTEM_OSTYPE      "posix")
 
-SET(CMAKE_C_FLAGS_INIT "-g -Wfatal-errors -Wformat=0" CACHE STRING "C Flags required by platform")
+SET(CMAKE_C_FLAGS_INIT "-g -Wfatal-errors -Wformat=0 -m32" CACHE STRING "C Flags required by platform")
 
diff --git a/psp/CMakeLists.txt b/psp/CMakeLists.txt
@@ -1,5 +1,20 @@
 project(CFEPSP C)
 
+include(CMakeParseArguments)
+
+# find itc cmake module path
+find_path(_ITC_CMAKE_MODULES_
+          NAMES FindITC_Common.cmake
+          PATHS ${ITC_CMAKE_MODULES}
+                ${ITC_DEV_ROOT}/cmake/modules
+                $ENV{ITC_DEV_ROOT}/cmake/modules
+                /usr/local/cmake/modules
+                /usr/cmake/modules)
+if(NOT _ITC_CMAKE_MODULES_)
+    message(WARNING "Unable to find ITC CMake Modules")
+endif()
+set(CMAKE_MODULE_PATH ${CMAKE_MODULE_PATH} ${_ITC_CMAKE_MODULES_})
+
 if (NOT CFE_SYSTEM_PSPNAME)
   message(FATAL_ERROR "CFE_SYSTEM_PSPNAME is not defined - do not know which to build")
 endif()
@@ -10,7 +25,7 @@ if (CFE_SYSTEM_PSPNAME STREQUAL "nos-linux")
     find_package(NOSENGINE REQUIRED COMPONENTS client)
     include_directories(include
                         ${NOSENGINE_INCLUDE_DIRS}
-                        ${noslink_SOURCE_DIR}/inc)
+                        ${CMAKE_CURRENT_SOURCE_DIR}/../components/hwlib/sim/inc)
     message(STATUS "Set NOS Engine Includes")
 endif()
 
@@ -31,6 +46,6 @@ aux_source_directory(fsw/${CFE_SYSTEM_PSPNAME}/src PSPFILES)
 add_library(psp-${CFE_SYSTEM_PSPNAME} STATIC ${PSPFILES})
 
 if (CFE_SYSTEM_PSPNAME STREQUAL "nos-linux")
-    target_link_libraries(psp-${CFE_SYSTEM_PSPNAME} ${NOSENGINE_LIBRARIES})
+    target_link_libraries(psp-${CFE_SYSTEM_PSPNAME} ${NOSENGINE_LIBRARIES} noslink)
     message(STATUS "Set NOS Engine Libraries")
 endif()
Original file line number	Diff line number	Diff line change
Expand Up		@@ -24,5 +24,5 @@ SET(CFE_SYSTEM_PSPNAME "nos-linux")

		SET(OSAL_SYSTEM_OSTYPE "posix")

		SET(CMAKE_C_FLAGS_INIT "-g -Wfatal-errors -Wformat=0" CACHE STRING "C Flags required by platform")
		SET(CMAKE_C_FLAGS_INIT "-g -Wfatal-errors -Wformat=0 -m32" CACHE STRING "C Flags required by platform")