[nasa/nos3#267] fsw/gsw on separate machines

Makefile

@@ -61,11 +61,6 @@ 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
 
@@ -96,6 +91,9 @@ debug:
 fsw: 
 	./scripts/docker_build_fsw.sh
 
+fsw-launch:
+	./scripts/launch_fsw.sh
+
 gsw:
 	./scripts/docker_build_cryptolib.sh
 	./cfg/build/gsw_build.sh
@@ -109,22 +107,31 @@ log:
 prep:
 	./scripts/prepare.sh
 
+prep-gsw:
+	./scripts/gsw_startup.sh
+
+prep-sat:
+	./scripts/sat_startup.sh
+
 real-clean:
 	$(MAKE) clean
 	./scripts/real_clean.sh
 
 sim:
 	./scripts/docker_build_sim.sh
 
+start-gsw:
+	./scripts/docker_launch_gsw.sh
+
+start-sat:
+	./scripts/docker_launch_sat.sh
+
 stop:
 	./scripts/docker_stop.sh
 	./scripts/stop.sh
 
 stop-gsw:
 	./scripts/stop_gsw.sh
 
-test-fsw:
-	cd $(FSWBUILDDIR)/amd64-posix/default_cpu1 && ctest -O ctest.log
-
 igniter:
 	./scripts/igniter_launch.sh

scripts/docker_launch_gsw.sh

@@ -0,0 +1,87 @@
+#!/bin/bash -i
+#
+# Convenience script for NOS3 development
+# Use with the Dockerfile in the deployment repository
+# https://github.com/nasa-itc/deployment
+#
+
+SCRIPT_DIR=$( cd -- "$( dirname -- "${BASH_SOURCE[0]}" )" &> /dev/null && pwd )
+source $SCRIPT_DIR/env.sh
+
+# Check that local NOS3 directory exists
+if [ ! -d $USER_NOS3_DIR ]; then
+    echo ""
+    echo "    Need to run make prep first!"
+    echo ""
+    exit 1
+fi
+
+# Check that configure build directory exists
+if [ ! -d $BASE_DIR/cfg/build ]; then
+    echo ""
+    echo "    Need to run make config first!"
+    echo ""
+    exit 1
+fi
+
+echo "Make data folders..."
+# FSW Side
+mkdir $FSW_DIR/data 2> /dev/null
+mkdir $FSW_DIR/data/cam 2> /dev/null
+mkdir $FSW_DIR/data/evs 2> /dev/null
+mkdir $FSW_DIR/data/hk 2> /dev/null
+mkdir $FSW_DIR/data/inst 2> /dev/null
+# GSW Side
+mkdir /tmp/nos3 2> /dev/null
+mkdir /tmp/nos3/data 2> /dev/null
+mkdir /tmp/nos3/data/cam 2> /dev/null
+mkdir /tmp/nos3/data/evs 2> /dev/null
+mkdir /tmp/nos3/data/hk 2> /dev/null
+mkdir /tmp/nos3/data/inst 2> /dev/null
+mkdir /tmp/nos3/uplink 2> /dev/null
+cp $BASE_DIR/fsw/build/exe/cpu1/cf/cfe_es_startup.scr /tmp/nos3/uplink/tmp0.so 2> /dev/null
+cp $BASE_DIR/fsw/build/exe/cpu1/cf/sample.so /tmp/nos3/uplink/tmp1.so 2> /dev/null
+
+echo "Create networks..."
+$DNETWORK create \
+    --driver=overlay \
+    --subnet=192.168.41.0/24 \
+    --gateway=192.168.41.1 \
+    --attachable \
+    nos3_core
+
+
+echo "Launch GSW..."
+$BASE_DIR/cfg/build/gsw_launch.sh
+echo ""
+
+# Note only currently working with a single spacecraft
+export SATNUM=1
+
+#
+# Spacecraft Loop
+#
+for (( i=1; i<=$SATNUM; i++ ))
+do
+    export SC_NUM="sc_"$i
+    export SC_NETNAME="nos3_"$SC_NUM
+    export SC_CFG_FILE="-f nos3-simulator.xml" #"-f sc_"$i"_nos3_simulator.xml"
+
+    $DNETWORK create \
+        --driver=overlay \
+        --attachable \
+        $SC_NETNAME
+
+    # Debugging
+    #echo "Spacecraft number        = " $SC_NUM
+    #echo "Spacecraft network       = " $SC_NETNAME
+    #echo "Spacecraft configuration = " $SC_CFG_FILE
+
+    echo $SC_NUM " - Connect COSMOS to spacecraft network..."
+    $DNETWORK connect $SC_NETNAME cosmos_openc3-operator_1 --alias cosmos
+    echo ""
+
+    echo ""
+done
+
+echo "Docker launch script completed!"

scripts/docker_launch_sat.sh

@@ -0,0 +1,131 @@
+#!/bin/bash -i
+#
+# Convenience script for NOS3 development
+# Use with the Dockerfile in the deployment repository
+# https://github.com/nasa-itc/deployment
+#
+
+SCRIPT_DIR=$( cd -- "$( dirname -- "${BASH_SOURCE[0]}" )" &> /dev/null && pwd )
+source $SCRIPT_DIR/env.sh
+
+# Check that local NOS3 directory exists
+if [ ! -d $USER_NOS3_DIR ]; then
+    echo ""
+    echo "    Need to run make prep first!"
+    echo ""
+    exit 1
+fi
+
+# Check that configure build directory exists
+if [ ! -d $BASE_DIR/cfg/build ]; then
+    echo ""
+    echo "    Need to run make config first!"
+    echo ""
+    exit 1
+fi
+
+echo "Make data folders..."
+# FSW Side
+mkdir $FSW_DIR/data 2> /dev/null
+mkdir $FSW_DIR/data/cam 2> /dev/null
+mkdir $FSW_DIR/data/evs 2> /dev/null
+mkdir $FSW_DIR/data/hk 2> /dev/null
+mkdir $FSW_DIR/data/inst 2> /dev/null
+# GSW Side
+mkdir /tmp/nos3 2> /dev/null
+mkdir /tmp/nos3/data 2> /dev/null
+mkdir /tmp/nos3/data/cam 2> /dev/null
+mkdir /tmp/nos3/data/evs 2> /dev/null
+mkdir /tmp/nos3/data/hk 2> /dev/null
+mkdir /tmp/nos3/data/inst 2> /dev/null
+mkdir /tmp/nos3/uplink 2> /dev/null
+cp $BASE_DIR/fsw/build/exe/cpu1/cf/cfe_es_startup.scr /tmp/nos3/uplink/tmp0.so 2> /dev/null
+cp $BASE_DIR/fsw/build/exe/cpu1/cf/sample.so /tmp/nos3/uplink/tmp1.so 2> /dev/null
+
+echo "Create NOS interfaces..."
+export GND_CFG_FILE="-f nos3-simulator.xml"
+gnome-terminal --tab --title="NOS Terminal"      -- $DFLAGS -v $SIM_DIR:$SIM_DIR --name "nos_terminal"        --network=nos3_core -w $SIM_BIN $DBOX ./nos3-single-simulator $GND_CFG_FILE stdio-terminal
+gnome-terminal --tab --title="NOS UDP Terminal"  -- $DFLAGS -v $SIM_DIR:$SIM_DIR --name "nos_udp_terminal"    --network=nos3_core -w $SIM_BIN $DBOX ./nos3-single-simulator $GND_CFG_FILE udp-terminal
+echo ""
+
+# Note only currently working with a single spacecraft
+export SATNUM=1
+
+#
+# Spacecraft Loop
+#
+for (( i=1; i<=$SATNUM; i++ ))
+do
+    export SC_NUM="sc_"$i
+    export SC_NETNAME="nos3_"$SC_NUM
+    export SC_CFG_FILE="-f nos3-simulator.xml" #"-f sc_"$i"_nos3_simulator.xml"
+
+    # Debugging
+    #echo "Spacecraft number        = " $SC_NUM
+    #echo "Spacecraft network       = " $SC_NETNAME
+    #echo "Spacecraft configuration = " $SC_CFG_FILE
+
+    echo $SC_NUM " - 42..."
+    rm -rf $USER_NOS3_DIR/42/NOS3InOut
+    cp -r $BASE_DIR/cfg/build/InOut $USER_NOS3_DIR/42/NOS3InOut
+    xhost +local:*
+    gnome-terminal --tab --title=$SC_NUM" - 42" -- $DFLAGS -e DISPLAY=$DISPLAY -v $USER_NOS3_DIR:$USER_NOS3_DIR -v /tmp/.X11-unix:/tmp/.X11-unix:ro --name $SC_NUM"_fortytwo" -h fortytwo --network=$SC_NETNAME -w $USER_NOS3_DIR/42 -t $DBOX $USER_NOS3_DIR/42/42 NOS3InOut
+    echo ""
+
+    echo $SC_NUM " - Flight Software..."
+    cd $FSW_DIR
+    gnome-terminal --title=$SC_NUM" - NOS3 Flight Software" -- $DFLAGS -v $BASE_DIR:$BASE_DIR --name $SC_NUM"_nos_fsw" -h nos_fsw --network=$SC_NETNAME -w $FSW_DIR --sysctl fs.mqueue.msg_max=10000 --ulimit rtprio=99 --cap-add=sys_nice $DBOX $SCRIPT_DIR/fsw_respawn.sh &
+
+    #gnome-terminal --window-with-profile=KeepOpen --title=$SC_NUM" - NOS3 Flight Software" -- $DFLAGS -v $BASE_DIR:$BASE_DIR --name $SC_NUM"_nos_fsw" -h nos_fsw --network=$SC_NETNAME -w $FSW_DIR --sysctl fs.mqueue.msg_max=10000 --ulimit rtprio=99 --cap-add=sys_nice $DBOX $FSW_DIR/core-cpu1 -R PO &
+    echo ""
+
+    # Debugging
+    # Replace `--tab` with `--window-with-profile=KeepOpen` once you've created this gnome-terminal profile manually
+
+    echo $SC_NUM " - CryptoLib..."
+    gnome-terminal --tab --title=$SC_NUM" - CryptoLib" -- $DFLAGS -v $BASE_DIR:$BASE_DIR --name $SC_NUM"_cryptolib"  --network=$SC_NETNAME --network-alias=cryptolib -w $BASE_DIR/gsw/build $DBOX ./support/standalone
+    echo ""
+
+    echo $SC_NUM " - Simulators..."
+    cd $SIM_BIN
+    gnome-terminal --tab --title=$SC_NUM" - NOS Engine Server" -- $DFLAGS -v $SIM_DIR:$SIM_DIR --name $SC_NUM"_nos_engine_server"  -h nos_engine_server --network=$SC_NETNAME -w $SIM_BIN $DBOX /usr/bin/nos_engine_server_standalone -f $SIM_BIN/nos_engine_server_config.json
+    gnome-terminal --tab --title=$SC_NUM" - 42 Truth Sim"      -- $DFLAGS -v $SIM_DIR:$SIM_DIR --name $SC_NUM"_truth42sim"          -h truth42sim --network=$SC_NETNAME -w $SIM_BIN $DBOX ./nos3-single-simulator $SC_CFG_FILE  truth42sim
+
+    $DNETWORK connect $SC_NETNAME nos_terminal
+    $DNETWORK connect $SC_NETNAME nos_udp_terminal
+
+    # Component simulators
+    gnome-terminal --tab --title=$SC_NUM" - CAM Sim"      -- $DFLAGS -v $SIM_DIR:$SIM_DIR --name $SC_NUM"_cam_sim"      --network=$SC_NETNAME -w $SIM_BIN $DBOX ./nos3-single-simulator $SC_CFG_FILE camsim
+    gnome-terminal --tab --title=$SC_NUM" - CSS Sim"      -- $DFLAGS -v $SIM_DIR:$SIM_DIR --name $SC_NUM"_css_sim"      --network=$SC_NETNAME -w $SIM_BIN $DBOX ./nos3-single-simulator $SC_CFG_FILE generic_css_sim
+    gnome-terminal --tab --title=$SC_NUM" - EPS Sim"      -- $DFLAGS -v $SIM_DIR:$SIM_DIR --name $SC_NUM"_eps_sim"      --network=$SC_NETNAME -w $SIM_BIN $DBOX ./nos3-single-simulator $SC_CFG_FILE generic_eps_sim
+    gnome-terminal --tab --title=$SC_NUM" - FSS Sim"      -- $DFLAGS -v $SIM_DIR:$SIM_DIR --name $SC_NUM"_fss_sim"      --network=$SC_NETNAME -w $SIM_BIN $DBOX ./nos3-single-simulator $SC_CFG_FILE generic_fss_sim
+    gnome-terminal --tab --title=$SC_NUM" - GPS Sim"      -- $DFLAGS -v $SIM_DIR:$SIM_DIR --name $SC_NUM"_gps_sim"      --network=$SC_NETNAME -w $SIM_BIN $DBOX ./nos3-single-simulator $SC_CFG_FILE gps
+    gnome-terminal --tab --title=$SC_NUM" - IMU Sim"      -- $DFLAGS -v $SIM_DIR:$SIM_DIR --name $SC_NUM"_imu_sim"      --network=$SC_NETNAME -w $SIM_BIN $DBOX ./nos3-single-simulator $SC_CFG_FILE generic_imu_sim
+    gnome-terminal --tab --title=$SC_NUM" - MAG Sim"      -- $DFLAGS -v $SIM_DIR:$SIM_DIR --name $SC_NUM"_mag_sim"      --network=$SC_NETNAME -w $SIM_BIN $DBOX ./nos3-single-simulator $SC_CFG_FILE generic_mag_sim
+    gnome-terminal --tab --title=$SC_NUM" - RW 0 Sim"     -- $DFLAGS -v $SIM_DIR:$SIM_DIR --name $SC_NUM"_rw_sim0"      --network=$SC_NETNAME -w $SIM_BIN $DBOX ./nos3-single-simulator $SC_CFG_FILE generic-reactionwheel-sim0
+    gnome-terminal --tab --title=$SC_NUM" - RW 1 Sim"     -- $DFLAGS -v $SIM_DIR:$SIM_DIR --name $SC_NUM"_rw_sim1"      --network=$SC_NETNAME -w $SIM_BIN $DBOX ./nos3-single-simulator $SC_CFG_FILE generic-reactionwheel-sim1
+    gnome-terminal --tab --title=$SC_NUM" - RW 2 Sim"     -- $DFLAGS -v $SIM_DIR:$SIM_DIR --name $SC_NUM"_rw_sim2"      --network=$SC_NETNAME -w $SIM_BIN $DBOX ./nos3-single-simulator $SC_CFG_FILE generic-reactionwheel-sim2
+
+    gnome-terminal --tab --title=$SC_NUM" - Radio Sim"    -- $DFLAGS -v $SIM_DIR:$SIM_DIR --name $SC_NUM"_radio_sim"    -h radio_sim --network=$SC_NETNAME --network-alias=radio_sim -w $SIM_BIN $DBOX ./nos3-single-simulator $SC_CFG_FILE generic_radio_sim
+
+    gnome-terminal --tab --title=$SC_NUM" - Sample Sim"   -- $DFLAGS -v $SIM_DIR:$SIM_DIR --name $SC_NUM"_sample_sim"   --network=$SC_NETNAME -w $SIM_BIN $DBOX ./nos3-single-simulator $SC_CFG_FILE sample_sim
+    gnome-terminal --tab --title=$SC_NUM" - StarTrk Sim"  -- $DFLAGS -v $SIM_DIR:$SIM_DIR --name $SC_NUM"_startrk_sim"  --network=$SC_NETNAME -w $SIM_BIN $DBOX ./nos3-single-simulator $SC_CFG_FILE generic_star_tracker_sim
+    gnome-terminal --tab --title=$SC_NUM" - Torquer Sim"  -- $DFLAGS -v $SIM_DIR:$SIM_DIR --name $SC_NUM"_torquer_sim"  --network=$SC_NETNAME -w $SIM_BIN $DBOX ./nos3-single-simulator $SC_CFG_FILE generic_torquer_sim
+    gnome-terminal --tab --title=$SC_NUM" - Thruster Sim" -- $DFLAGS -v $SIM_DIR:$SIM_DIR --name $SC_NUM"_thruster_sim" --network=$SC_NETNAME -w $SIM_BIN $DBOX ./nos3-single-simulator $SC_CFG_FILE generic_thruster_sim
+    echo ""
+done
+
+echo "NOS Time Driver..."
+sleep 8
+gnome-terminal --tab --title="NOS Time Driver"   -- $DFLAGS -v $SIM_DIR:$SIM_DIR --name nos_time_driver --network=nos3_core -w $SIM_BIN $DBOX ./nos3-single-simulator $GND_CFG_FILE time
+sleep 1
+for (( i=1; i<=$SATNUM; i++ ))
+do
+    export SC_NUM="sc_"$i
+    export SC_NETNAME="nos3_"$SC_NUM
+    export TIMENAME=$SC_NUM"_nos_time_driver"
+    $DNETWORK connect --alias nos_time_driver $SC_NETNAME nos_time_driver
+done
+echo ""
+
+echo "Docker satellite launch script completed!"

scripts/gsw_startup.sh

@@ -0,0 +1,15 @@
+#!/bin/bash
+
+sudo ip addr add 10.10.10.100 dev eth1
+sudo ip route add default via 10.10.10.100 dev eth1
+
+# The next thing to do is to 'create' a docker swarm. Swarm containers are not
+# necessary here, but to connect the two computers it is necessary to run
+# docker swarm init on the main computer (which I have been using as the gsw
+# machine); then "docker swarm join" must be run on the satellite machine. 
+# 
+# The successful output of "docker swarm init" will give the command which must
+# be run on the satellite VM.
+
+docker swarm init --advertise-addr 10.10.10.100
+

scripts/real_clean.sh

@@ -23,4 +23,8 @@ $DCALL system prune -f
 echo "Cleaning up local user directory..."
 yes | rm -r $USER_NOS3_DIR 2> /dev/null
 
+echo "Removing superfluous Docker networks and such..."
+yes | docker network prune
+yes | docker swarm leave --force
+
 exit 0

scripts/sat_startup.sh

@@ -0,0 +1,9 @@
+#!/bin/bash
+
+sudo ip addr add 10.10.10.101 dev eth1
+sudo ip route add default via 10.10.10.101 dev eth1
+
+# Open the relevant ports for a Docker overlay network?
+# 2377, 4789, and 7946 might be all; the first and last
+# on tcp, and the last two on udp.
+