Release 1.7.1

.github/workflows/build.yml

@@ -0,0 +1,48 @@
+name: Build
+
+on: 
+  push:
+  pull_request:
+
+jobs:
+    fsw:
+      runs-on: ubuntu-latest
+      container:
+        image: ivvitc/nos3-64:20240618
+      steps:
+        - uses: actions/checkout@v4
+          with:
+            submodules: recursive
+        - name: Update
+          run: apt-get update
+        - name: Install dependencies
+          run: apt-get install -y python3 docker docker.io
+        - name: prep
+          run: make prep
+        - name: config
+          run: make config  
+        - name: build directory
+          run: mkdir ./fsw/build
+        - name: build
+          run: make build-fsw
+
+    sim:
+      runs-on: ubuntu-latest
+      container:
+        image: ivvitc/nos3-64:20240618
+      steps:
+        - uses: actions/checkout@v2
+          with:
+            submodules: recursive
+        - name: Update
+          run: apt-get update
+        - name: Install dependencies
+          run: apt-get install -y python3 docker docker.io
+        - name: prep
+          run: make prep
+        - name: config
+          run: make config  
+        - name: build directory
+          run: mkdir ./sims/build
+        - name: build
+          run: make build-sim

.gitignore

@@ -12,3 +12,6 @@ build
 support/nos3_install.log
 tmp
 core.*
+.cdskeyfile
+.reservedkeyfile
+.resetkeyfile

.gitmodules

@@ -131,3 +131,6 @@
 	path = components/syn
 	url = https://github.com/nasa-itc/syn.git
 	branch = main
+[submodule "components/generic_thruster"]
+	path = components/generic_thruster
+	url = https://github.com/nasa-itc/generic_thruster.git

Makefile

@@ -61,6 +61,11 @@ build-sim:
 	cd $(SIMBUILDDIR) && cmake -DCMAKE_INSTALL_PREFIX=$(SIMBUILDDIR) ..
 	$(MAKE) --no-print-directory -C $(SIMBUILDDIR) install
 
+build-test:
+	mkdir -p $(FSWBUILDDIR)
+	cd $(FSWBUILDDIR) && cmake $(PREP_OPTS) -DENABLE_UNIT_TESTS=true ../cfe
+	$(MAKE) --no-print-directory -C $(FSWBUILDDIR) mission-install
+
 checkout:
 	./scripts/docker_checkout.sh
 
@@ -118,5 +123,8 @@ stop:
 stop-gsw:
 	./scripts/stop_gsw.sh
 
+test-fsw:
+	cd $(FSWBUILDDIR)/amd64-posix/default_cpu1 && ctest -O ctest.log
+
 igniter:
 	./scripts/igniter_launch.sh

cfg/InOut/Inp_IPC.txt

@@ -70,6 +70,16 @@ FALSE                                   ! Allow Blocking (i.e. wait on RX)
 FALSE                                   ! Echo to stdout
 1                                       ! Number of TX prefixes
 "SC"                                    ! Prefix 0
+**********************************  Thruster IPC  ****************************
+RX                                      ! IPC Mode (OFF,TX,RX,TXRX,ACS,WRITEFILE,READFILE)
+1                                       ! AC.ID for ACS mode
+"Thruster.Rx"                           ! File name for WRITE or READ
+SERVER                                  ! Socket Role (SERVER,CLIENT,GMSEC_CLIENT)
+fortytwo       4280                     ! Server Host Name, Port 
+FALSE                                   ! Allow Blocking (i.e. wait on RX)
+FALSE                                   ! Echo to stdout
+1                                       ! Number of TX prefixes
+"SC"                                    ! Prefix 0
 **********************************  GPS IPC  *****************************
 TX                                      ! IPC Mode (OFF,TX,RX,TXRX,ACS,WRITEFILE,READFILE)
 0                                       ! AC.ID for ACS mode

cfg/InOut/Nodes_Simple.txt

@@ -0,0 +1,8 @@
+<<<<<<<<<<<<<<<<  Body Node Inputs for 42  >>>>>>>>>>>>>>>>>>>>>
+Simple Nodes                    ! Description
+4                               ! Number of Nodes
+******************* Node Location, Comment *********************
+ 0.1  -0.4  0.25                   "Thrusters"
+ 0.1  -0.1  0.25                   "Thrusters"
+ 0.1  -0.4  0.15                   "Thrusters"
+ 0.1  -0.1  0.15                   "Thrusters"

cfg/InOut/SC_NOS3.txt

@@ -11,7 +11,7 @@ CM                          !  Pos of CM or ORIGIN, wrt F
 0.0  0.0  0.0               !  Vel wrt Formation (m/s), expressed in F
 *************************** Initial Attitude ***************************
 NAN                         ! Ang Vel wrt [NL], Att [QA] wrt [NLF]
-0.3    0.4    0.5           ! Ang Vel (deg/sec)
+0.0    0.0    0.0           ! Ang Vel (deg/sec)
 0.0    0.0    0.0    1.0    ! Quaternion
 60.0  40.0   20.0    213    ! Angles (deg) & Euler Sequence
 ***************************  Dynamics Flags  ***************************
@@ -34,7 +34,7 @@ NONE                        ! Shaker File Name
 0.0  0.0  0.0               ! Constant Embedded Momentum (Nms)
 0.0  0.0  0.0               ! Constant Embedded Magnetic Dipole (A-m^2)
 stf1_red.obj                ! Geometry Input File Name
-NONE                        ! Node File Name
+Nodes_Simple.txt            ! Node File Name
 NONE                        ! Flex File Name
 ************************************************************************
 *************************** Joint Parameters ***************************
@@ -99,13 +99,31 @@ NONE                        ! Drag/Jitter Input File Name
 0.0   0.0   1.0             ! MTB Axis Components, [X, Y, Z]
 0                           ! Flex Node Index
 ************************* Thruster Parameters **************************
-0                           ! Number of Thrusters
+4                           ! Number of Thrusters
 ==============================  Thr 0  =================================
-PULSED                      ! Mode (PULSED or PROPORTIONAL)
- 1.0                        ! Thrust Force (N)
--1.0  0.0  0.0              ! Thrust Axis 
+PROPORTIONAL                ! Mode (PULSED or PROPORTIONAL)
+0.01                        ! Thrust Force (N)
+1.0  0.0  0.0               ! Thrust Axis 
 0                           ! Body
 0                           ! Node
+==============================  Thr 1  =================================
+PROPORTIONAL                ! Mode (PULSED or PROPORTIONAL)
+0.01                        ! Thrust Force (N)
+1.0  0.0  0.0               ! Thrust Axis 
+0                           ! Body
+1                           ! Node
+==============================  Thr 2  =================================
+PROPORTIONAL                ! Mode (PULSED or PROPORTIONAL)
+0.01                        ! Thrust Force (N)
+1.0  0.0  0.0               ! Thrust Axis 
+0                           ! Body
+2                           ! Node
+==============================  Thr 3  =================================
+PROPORTIONAL                ! Mode (PULSED or PROPORTIONAL)
+0.01                        ! Thrust Force (N)
+1.0  0.0  0.0               ! Thrust Axis 
+0                           ! Body
+3                           ! Node
 ******************************* Gyro ************************************
 3                           ! Number of Gyro Axes
 ============================== Axis 0 ===================================

cfg/gui/cfg_gui_main.py

@@ -90,7 +90,7 @@ def saveText(self, layout:QLayout, config_value:int):
 
         # TODO: change to dynamically pull apps/components from xml file or directory, but how?
         applications = ['cf', 'ds', 'fm', 'lc', 'sc']
-        components = ['adcs', 'cam', 'css', 'eps', 'fss', 'gps', 'imu', 'mag', 'radio', 'rw', 'sample', 'st', 'syn', 'torquer']
+        components = ['adcs', 'cam', 'css', 'eps', 'fss', 'gps', 'imu', 'mag', 'radio', 'rw', 'sample', 'st', 'syn', 'torquer', 'thruster']
 
         i = 0
         while layout.itemAt(i) != None:

cfg/nos3_defs/cpu1_cfe_es_startup.scr

@@ -32,6 +32,7 @@ CFE_APP, novatel_oem615,            NOVATEL_AppMain,          NAV,
 CFE_APP, sample,                    SAMPLE_AppMain,           SAMPLE,           71, 32768, 0x0, 0;
 CFE_APP, generic_st,                ST_AppMain,               ST,               71, 32768, 0x0, 0;
 CFE_APP, syn,                       SYN_AppMain,              SYN,              72, 32768, 0x0, 0;
+CFE_APP, generic_thruster,          GENERIC_THR_AppMain,      THRUSTER,         73, 32768, 0x0, 0;
 
 CFE_LIB, cfs_lib,                   CFS_LibInit,              CFS_LIB,          0,  0,     0x0, 0;
 CFE_APP, cs,                        CS_AppMain,               CS,               55, 16384, 0x0, 0;

cfg/nos3_defs/tables/sc_rts001.c

@@ -23,18 +23,21 @@
 /* Custom table structure, modify as needed to add desired commands */
 typedef struct
 {
+    /* 1 - Enable DS */
     SC_RtsEntryHeader_t hdr1;
     DS_AppStateCmd_t cmd1;
+    /* 2 - Enable Debug */
     SC_RtsEntryHeader_t hdr2;
     TO_LAB_EnableOutputCmd_t cmd2;
+    /* 3 - Enable RTS 3-64 */
     SC_RtsEntryHeader_t hdr3;
     SC_RtsGrpCmd_t cmd3;
+    /* 4 - Enable LC */
     SC_RtsEntryHeader_t hdr4;
-    SAMPLE_NoArgs_cmd_t cmd4;
+    LC_SetLCState_t cmd4;
+    /* 5 - Start RTS 3 (Safe Mode) */
     SC_RtsEntryHeader_t hdr5;
-    SAMPLE_NoArgs_cmd_t cmd5;
-    SC_RtsEntryHeader_t hdr6;
-    LC_SetLCState_t cmd6;
+    SC_RtsCmd_t cmd5;
 } SC_RtsStruct001_t;
 
 /* Define the union to size the table correctly */
@@ -67,21 +70,18 @@ SC_RtsTable001_t SC_Rts001 = {
         .cmd3.FirstRtsId = 3,
         .cmd3.LastRtsId = 64,
 
-        /* 4 - Sample NOOP */
+        /* 4 - Enable LC */
         .hdr4.TimeTag = 1,
-        .cmd4.CmdHeader = CFE_MSG_CMD_HDR_INIT(SAMPLE_CMD_MID, SC_MEMBER_SIZE(cmd4), SAMPLE_NOOP_CC, 0x00),
+        .cmd4.CmdHeader = CFE_MSG_CMD_HDR_INIT(LC_CMD_MID, SC_MEMBER_SIZE(cmd4), LC_SET_LC_STATE_CC, 0x00),
+        .cmd4.NewLCState = LC_STATE_ACTIVE,
+        .cmd4.Padding = 0x0000,
 
-        /* 5 - Sample Enable */
+        /* 5 - Start RTS 3 (Safe Mode) */
         .hdr5.TimeTag = 1,
-        .cmd5.CmdHeader = CFE_MSG_CMD_HDR_INIT(SAMPLE_CMD_MID, SC_MEMBER_SIZE(cmd5), SAMPLE_ENABLE_CC, 0x00),
-
-        /* 6 - Enable LC */
-        .hdr6.TimeTag = 1,
-        .cmd6.CmdHeader = CFE_MSG_CMD_HDR_INIT(LC_CMD_MID, SC_MEMBER_SIZE(cmd6), LC_SET_LC_STATE_CC, 0x00),
-        .cmd6.NewLCState = LC_STATE_ACTIVE,
-        .cmd6.Padding = 0x0000,
+        .cmd5.CmdHeader = CFE_MSG_CMD_HDR_INIT(SC_CMD_MID, SC_MEMBER_SIZE(cmd5), SC_START_RTS_CC, 0x00),
+        .cmd5.RtsId = 3,
     }
 };
 
 /* Macro for table structure */
-CFE_TBL_FILEDEF(SC_Rts001, SC.RTS_TBL001, SC Example RTS_TBL001, sc_rts001.tbl)
+CFE_TBL_FILEDEF(SC_Rts001, SC.RTS_TBL001, POR RTS001, sc_rts001.tbl)

cfg/nos3_defs/tables/sc_rts003.c

@@ -0,0 +1,98 @@
+#include "cfe.h"
+#include "cfe_tbl_filedef.h"
+
+#include "sc_tbldefs.h"      /* defines SC table headers */
+#include "sc_platform_cfg.h" /* defines table buffer size */
+#include "sc_msgdefs.h"      /* defines SC command code values */
+#include "sc_msgids.h"       /* defines SC packet msg ID's */
+#include "sc_msg.h"          /* defines SC message structures */
+
+/* Command Includes */
+#include "generic_css_msg.h"
+#include "generic_css_msgids.h"
+#include "generic_fss_msg.h"
+#include "generic_fss_msgids.h"
+#include "generic_imu_msg.h"
+#include "generic_imu_msgids.h"
+#include "generic_mag_msg.h"
+#include "generic_mag_msgids.h"
+#include "generic_torquer_msg.h"
+#include "generic_torquer_msgids.h"
+#include "novatel_oem615_msg.h"
+#include "novatel_oem615_msgids.h"
+#include "generic_adcs_msg.h"
+#include "generic_adcs_msgids.h"
+#include "generic_adcs_adac.h"
+
+/* Custom table structure, modify as needed to add desired commands */
+typedef struct
+{
+    /* 1 - Enable CSS */
+    SC_RtsEntryHeader_t hdr1;
+    GENERIC_CSS_NoArgs_cmd_t cmd1;
+    /* 2 - Enable FSS */
+    SC_RtsEntryHeader_t hdr2;
+    GENERIC_FSS_NoArgs_cmd_t cmd2;
+    /* 3 - Enable IMU */
+    SC_RtsEntryHeader_t hdr3;
+    GENERIC_IMU_NoArgs_cmd_t cmd3;
+    /* 4 - Enable MAG */
+    SC_RtsEntryHeader_t hdr4;
+    GENERIC_MAG_NoArgs_cmd_t cmd4;
+    /* 5 - Enable torquers */
+    SC_RtsEntryHeader_t hdr5;
+    GENERIC_TORQUER_NoArgs_cmd_t cmd5;
+    /* 6 - Enable GPS */
+    SC_RtsEntryHeader_t hdr6;
+    NOVATEL_OEM615_NoArgs_cmd_t cmd6;
+    /* 7 - Set ADCS to SUNSAFE_MODE */
+    SC_RtsEntryHeader_t hdr7;
+    Generic_ADCS_Mode_cmd_t cmd7;
+} SC_RtsStruct003_t;
+
+/* Define the union to size the table correctly */
+typedef union
+{
+    SC_RtsStruct003_t rts;
+    uint16            buf[SC_RTS_BUFF_SIZE];
+} SC_RtsTable003_t;
+
+/* Helper macro to get size of structure elements */
+#define SC_MEMBER_SIZE(member) (sizeof(((SC_RtsStruct003_t *)0)->member))
+
+/* Used designated intializers to be verbose, modify as needed/desired */
+SC_RtsTable003_t SC_Rts003 = {
+.rts = {
+        /* 1 - Enable CSS */
+        .hdr1.TimeTag = 1,
+        .cmd1.CmdHeader = CFE_MSG_CMD_HDR_INIT(GENERIC_CSS_CMD_MID, SC_MEMBER_SIZE(cmd1), GENERIC_CSS_ENABLE_CC, 0x00),
+
+        /* 2 - Enable FSS */
+        .hdr2.TimeTag = 1,
+        .cmd2.CmdHeader = CFE_MSG_CMD_HDR_INIT(GENERIC_FSS_CMD_MID, SC_MEMBER_SIZE(cmd2), GENERIC_FSS_ENABLE_CC, 0x00),
+
+        /* 3 - Enable IMU */
+        .hdr3.TimeTag = 1,
+        .cmd3.CmdHeader = CFE_MSG_CMD_HDR_INIT(GENERIC_IMU_CMD_MID, SC_MEMBER_SIZE(cmd3), GENERIC_IMU_ENABLE_CC, 0x00),
+
+        /* 4 - Enable MAG */
+        .hdr4.TimeTag = 1,
+        .cmd4.CmdHeader = CFE_MSG_CMD_HDR_INIT(GENERIC_MAG_CMD_MID, SC_MEMBER_SIZE(cmd4), GENERIC_MAG_ENABLE_CC, 0x00),
+
+        /* 5 - Enable torquers */
+        .hdr5.TimeTag = 1,
+        .cmd5.CmdHeader = CFE_MSG_CMD_HDR_INIT(GENERIC_TORQUER_CMD_MID, SC_MEMBER_SIZE(cmd5), GENERIC_TORQUER_ENABLE_CC, 0x00),
+
+        /* 6 - Enable GPS */
+        .hdr6.TimeTag = 1,
+        .cmd6.CmdHeader = CFE_MSG_CMD_HDR_INIT(NOVATEL_OEM615_CMD_MID, SC_MEMBER_SIZE(cmd6), NOVATEL_OEM615_ENABLE_CC, 0x00),
+
+        /* 7 - Set ADCS to SUNSAFE_MODE */
+        .hdr7.TimeTag = 5,
+        .cmd7.CmdHeader = CFE_MSG_CMD_HDR_INIT(GENERIC_ADCS_CMD_MID, SC_MEMBER_SIZE(cmd7), GENERIC_ADCS_SET_MODE_CC, 0x00),
+        .cmd7.Mode = SUNSAFE_MODE,
+    }
+};
+
+/* Macro for table structure */
+CFE_TBL_FILEDEF(SC_Rts003, SC.RTS_TBL003, Safe Mode RTS003, sc_rts003.tbl)

cfg/nos3_defs/tables/sch_def_msgtbl.c

@@ -47,19 +47,19 @@
 ** Component Include Files
 */
 #include "cam_msgids.h"
+#include "generic_adcs_msgids.h"
 #include "generic_css_msgids.h"
 #include "generic_eps_msgids.h"
 #include "generic_fss_msgids.h"
 #include "generic_imu_msgids.h"
 #include "generic_mag_msgids.h"
 #include "generic_radio_msgids.h"
 #include "generic_reaction_wheel_msgids.h"
+#include "generic_star_tracker_msgids.h"
+#include "generic_thruster_msgids.h"
 #include "generic_torquer_msgids.h"
 #include "novatel_oem615_msgids.h"
 #include "sample_msgids.h"
-#include "generic_adcs_msgids.h"
-#include "generic_star_tracker_msgids.h"
-
 #include "syn_msgids.h"
 
 /*
@@ -326,8 +326,8 @@ SCH_MessageEntry_t SCH_DefaultMessageTable[SCH_MAX_MESSAGES] =
   { { CFE_MAKE_BIG16(SCH_UNUSED_MID) } },
     /* command ID #104 */
   { { CFE_MAKE_BIG16(SCH_UNUSED_MID) } },
-    /* command ID #105 */
-  { { CFE_MAKE_BIG16(SCH_UNUSED_MID) } },
+    /* command ID #105 - Thruster HK */
+  { { CFE_MAKE_BIG16(GENERIC_THRUSTER_REQ_HK_MID),  CFE_MAKE_BIG16(0xC000), CFE_MAKE_BIG16(0x0001), CFE_MAKE_BIG16(0x0000) } },
     /* command ID #106 */
   { { CFE_MAKE_BIG16(SCH_UNUSED_MID) } },
     /* command ID #107 */