Merge pull request #1 from EmOne/master

Review and Merge Official Master from yamcs 5.10.1

.github/workflows/main.yml

@@ -0,0 +1,28 @@
+name: CI
+
+on:
+  push:
+  pull_request:
+  schedule:
+    - cron: '0 0 * * 0'  # Runs every Sunday at midnight
+
+jobs:
+  build:
+    name: Build and Test
+    runs-on: ubuntu-latest
+
+    steps:
+      - uses: actions/checkout@v4
+
+      - name: Install dependencies
+        run: sudo apt-get update && sudo apt-get install -y build-essential
+
+      - name: Run make all and wait for Sent
+        run: make wait-for-sent
+        working-directory: ./docker
+
+      - name: Archive all.txt logs
+        if: always()
+        uses: actions/upload-artifact@v4
+        with:
+          path: /quickstart/docker/all.txt

.gitignore

@@ -8,4 +8,9 @@
 
 # VSCode
 .vscode/settings.json
-/.history/
+
+# Docker logs for CI
+docker/all.log
+
+# Local un-stage files
+/.history/

docker/Dockerfile

@@ -1,3 +1,3 @@
-FROM maven:3.8.5-openjdk-17
+FROM maven:3.9.9-eclipse-temurin-17
 
 WORKDIR /yamcs

docker/Makefile

@@ -1,33 +1,89 @@
-ifeq ($(shell which python3),)
-  PYTHON = python
-else
-  PYTHON = python3
-endif
+SHELL := /bin/bash
+.ONESHELL:
+.SHELLFLAGS := -eu -o pipefail -c
+.DELETE_ON_ERROR:
+MAKEFLAGS += --warn-undefined-variables
+MAKEFLAGS += --no-builtin-rules
+
+PYTHON := $(shell command -v python3 2>/dev/null || echo python)
 
 .DEFAULT_GOAL := help
 
-all: ## run all, yamcs-up (yamcs-down) and yamcs-simulator
-	$(MAKE) yamcs-simulator
-
+# Define function to print messages in different colors
+# Usage: $(call print_message,ANSI_COLOR_CODE,Your message here)
+define print_message
+	@printf "\033[$(1)m$(2)\033[0m\n"
+endef
+
+.PHONY: all all-10hz clean yamcs-up yamcs-down yamcs-simulator yamcs-simulator-10hz yamcs-shell help
+
+all: clean yamcs-up yamcs-simulator ## run all: clean, yamcs-up (yamcs-down) and yamcs-simulator
+
+all-10hz: clean yamcs-up yamcs-simulator-10hz ## run all: clean, yamcs-up (yamcs-down) and yamcs-simulator
+
 yamcs-up: | yamcs-down ## bring up yamcs system
 	docker compose up -d
 
 yamcs-down: ## bring down yamcs system
+	$(call print_message,33,Stopping any running docker-yamcs containers...)
 	docker compose down -v --remove-orphans
 
-yamcs-simulator: yamcs-up ## run yamcs simulator
-	@echo "connect via http://localhost:8090/ system make take about 50 seconds to startup" && \
+yamcs-simulator: ## run yamcs simulator
+	$(call print_message,36,Connect via http://localhost:8090/ system may take about 50 seconds to startup)
 	cd .. && $(PYTHON) ./simulator.py
 
+yamcs-simulator-10hz: ## run yamcs simulator at 10hz
+	$(call print_message,36,Connect via http://localhost:8090/ system may take about 50 seconds to startup)
+	cd .. && $(PYTHON) ./simulator.py --rate=10
+
+yamcs-simulator-down: ## stop the yamcs simulator
+	$(call print_message,33,Stopping the yamcs simulator...)
+	pkill -f simulator.py
+	$(call print_message,32,Simulator stopped successfully)
+
+yamcs-simulator-restart: yamcs-simulator-down yamcs-simulator ## stop the yamcs simulator and start it again
+
 yamcs-shell: ## shell into yamcs container
 	docker compose up -d && docker compose exec yamcs bash
 
-help:
-	@printf "\033[37m%-30s\033[0m %s\n" "#----------------------------------------------------------------------------------"
-	@printf "\033[37m%-30s\033[0m %s\n" "# Makefile                                          "
-	@printf "\033[37m%-30s\033[0m %s\n" "#----------------------------------------------------------------------------------"
-	@printf "\033[37m%-30s\033[0m %s\n" "#-targets----------------------description-----------------------------------------"
-	@grep -E '^[a-zA-Z_-].+:.*?## .*$$' $(MAKEFILE_LIST) | sort | awk 'BEGIN {FS = ":.*?## "}; {printf "\033[36m%-30s\033[0m %s\n", $$1, $$2}'
+clean: | yamcs-down ## remove yamcs build artifacts and docker resources created by this Makefile
+	$(call print_message,33,Cleaning up docker-yamcs resources (containers, volumes, networks)...)
+	docker compose rm -f -s -v
+	$(call print_message,33,Removing docker-yamcs image...)
+	docker image rm -f docker-yamcs 2>/dev/null || true
+	$(call print_message,33,Cleaning up yamcs build artifacts...)
+	rm -rf ../target
+	$(call print_message,32,Done!)
+
+wait-for-sent: | yamcs-up ## run make all and wait up to 10 minutes for "Sent:" in the output
+	@echo "Running make all and waiting for 'Sent:' in the output..." && \
+	nohup $(MAKE) all > all.log 2>&1 & \
+	pid=$$!; \
+	timeout=600; \
+	while ! grep -q "Sent:" all.log; do \
+		sleep 1; \
+		timeout=$$((timeout - 1)); \
+		if [ $$timeout -le 0 ]; then \
+			echo "Timeout waiting for 'Sent:' in the output"; \
+			kill $$pid; \
+			exit 1; \
+		fi; \
+	done; \
+	echo "Found 'Sent:' in the output"; \
+	kill $$pid
+
+TERM_WIDTH := $(shell tput cols 2>/dev/null || echo 80)
+
+define print_header
+	@printf '%*s\n' "$(TERM_WIDTH)" '' | tr ' ' '-'
+	@printf '%-*s\n' "$(TERM_WIDTH)" "$(1)"
+	@printf '%*s\n' "$(TERM_WIDTH)" '' | tr ' ' '-'
+endef
+
+
+help: ## display this help message
+	$(call print_header,"Makefile")
+	@awk 'BEGIN {FS = ":.*##"; printf "\033[36m%-30s\033[0m %s\n", "Target", "Description"} /^[a-zA-Z_-]+:.*?##/ {printf "\033[36m%-30s\033[0m %s\n", $$1, $$2}' $(MAKEFILE_LIST) | sort
 
-print-%:
+print-%: ## Print any variable (e.g., make print-PYTHON)
 	@echo $* = $($*)

pom.xml

@@ -16,7 +16,7 @@
     Update this to the latest Yamcs release.
     Check https://mvnrepository.com/artifact/org.yamcs/yamcs-core
     -->
-    <yamcsVersion>5.9.8</yamcsVersion>
+    <yamcsVersion>5.10.1</yamcsVersion>
   </properties>
 
   <dependencies>
@@ -52,7 +52,7 @@
       <plugin>
         <groupId>org.yamcs</groupId>
         <artifactId>yamcs-maven-plugin</artifactId>
-        <version>1.3.1</version>
+        <version>1.3.2</version>
         <executions>
           <!-- Detect plugins, if any -->
           <execution>

simulator.py

@@ -4,15 +4,42 @@
 import io
 import socket
 import sys
+import argparse
+
 from struct import unpack_from
 from threading import Thread
 from time import sleep
 
+parser = argparse.ArgumentParser(description='Yamcs Simulator')
+parser.add_argument('--testdata', type=str, default='testdata.ccsds', help='simulated testdata.ccsds data')
+
+# telemetry
+parser.add_argument('--tm_host',    type=str, default='127.0.0.1', help='TM host')
+parser.add_argument('--tm_port',    type=int, default=10015,       help='TM port')
+parser.add_argument('-r', '--rate', type=int, default=1,           help='TM playback rate. 1 = 1Hz, 10 = 10Hz, etc.')
+
+# telecommand
+parser.add_argument('--tc_host', type=str, default='127.0.0.1', help='TC host')
+parser.add_argument('--tc_port', type=int, default=10025 ,      help='TC port')
+
+args = vars(parser.parse_args())
+
+# test data
+TEST_DATA = args['testdata']
+
+# telemetry
+TM_SEND_ADDRESS = args['tm_host']
+TM_SEND_PORT    = args['tm_port']
+RATE            = args['rate']
+
+# telecommand
+TC_RECEIVE_ADDRESS = args['tc_host']
+TC_RECEIVE_PORT    = args['tc_port']
 
 def send_tm(simulator):
     tm_socket = socket.socket(socket.AF_INET, socket.SOCK_DGRAM)
 
-    with io.open('testdata.ccsds', 'rb') as f:
+    with io.open(TEST_DATA, 'rb') as f:
         simulator.tm_counter = 1
         header = bytearray(6)
         while f.readinto(header) == 6:
@@ -22,15 +49,15 @@ def send_tm(simulator):
             f.seek(-6, io.SEEK_CUR)
             f.readinto(packet)
 
-            tm_socket.sendto(packet, ('127.0.0.1', 10015))
+            tm_socket.sendto(packet, (TM_SEND_ADDRESS, TM_SEND_PORT))
             simulator.tm_counter += 1
 
-            sleep(1)
+            sleep(1 / simulator.rate)
 
 
 def receive_tc(simulator):
     tc_socket = socket.socket(socket.AF_INET, socket.SOCK_DGRAM)
-    tc_socket.bind(('127.0.0.1', 10025))
+    tc_socket.bind((TC_RECEIVE_ADDRESS, TC_RECEIVE_PORT ))
     while True:
         data, _ = tc_socket.recvfrom(4096)
         simulator.last_tc = data
@@ -39,12 +66,13 @@ def receive_tc(simulator):
 
 class Simulator():
 
-    def __init__(self):
+    def __init__(self, rate):
         self.tm_counter = 0
         self.tc_counter = 0
         self.tm_thread = None
         self.tc_thread = None
         self.last_tc = None
+        self.rate = rate
 
     def start(self):
         self.tm_thread = Thread(target=send_tm, args=(self,))
@@ -63,9 +91,11 @@ def print_status(self):
 
 
 if __name__ == '__main__':
-    simulator = Simulator()
+    simulator = Simulator(RATE)
     simulator.start()
-
+    sys.stdout.write('Using playback rate of ' + str(RATE) + 'Hz, ');
+    sys.stdout.write('TM host=' + str(TM_SEND_ADDRESS) + ', TM port=' + str(TM_SEND_PORT) + ', ');
+    sys.stdout.write('TC host=' + str(TC_RECEIVE_ADDRESS) + ', TC port=' + str(TC_RECEIVE_PORT) + '\r\n');
     try:
         prev_status = None
         while True:

src/main/yamcs/mdb/xtce.xml

@@ -141,6 +141,9 @@
 			<Parameter name="Battery2_Temp" parameterTypeRef="float_t" />
 			<Parameter name="Magnetometer" parameterTypeRef="vec3_t" />
 			<Parameter name="Sunsensor" parameterTypeRef="float_t" />
+			<Parameter name="Sunsensor_Beta" parameterTypeRef="float_t">
+				<ParameterProperties dataSource="derived" />
+			</Parameter>
 			<Parameter name="Gyro" parameterTypeRef="vec3_t" />
 			<Parameter name="Detector_Temp" parameterTypeRef="float_t" />
 			<Parameter name="Shadow" parameterTypeRef="bool_t" />
@@ -262,6 +265,20 @@
 				</BaseContainer>
 			</SequenceContainer>
 		</ContainerSet>
+		<AlgorithmSet>
+			<CustomAlgorithm name="copySunsensor">
+				<AlgorithmText language="java-expression">out0.setFloatValue(in.getEngValue().getFloatValue());</AlgorithmText>
+				<InputSet>
+					<InputParameterInstanceRef parameterRef="Sunsensor" inputName="in"/>
+				</InputSet>
+				<OutputSet>
+					<OutputParameterRef parameterRef="Sunsensor_Beta" outputName="out0"/>
+				</OutputSet>
+				<TriggerSet>
+					<OnParameterUpdateTrigger parameterRef="Sunsensor"/>
+				</TriggerSet>
+			</CustomAlgorithm>
+		</AlgorithmSet>
 	</TelemetryMetaData>
 	<CommandMetaData>
 		<ArgumentTypeSet>