Update to FPrime v3.5.0 (#19)

* Bump to FPrime v3.5.0

* Readd USE_BASIC_TIMER rateDriver cycle

* Cleanup

* Reduce config sizes to decrease memory usage on baremetal

* Use fprime-baremetal OSAL implementations

* Update fprime-arduino and fprime-baremetal

* Update READMEs

* Switch from StaticMemory to BufferManager

* submodule updates

* track main fprime-arduino

* Update/cleanup documentation files

.gitignore

@@ -1,7 +1,16 @@
-.vscode
-.idea
+# fprime items
+logs/
+cmake-build-*
+build-artifacts/
+build-fprime-*
+*-template
+*.template.cpp
+*.template.hpp
+
+# Misc
+/venv/
+/fprime-venv/
+/.idea/
+/.vscode/
 .DS_Store
-venv
-**/logs
-**/build-artifacts
-**/build-fprime-*
+*.gcov

.gitmodules

@@ -5,4 +5,6 @@
 [submodule "fprime-arduino"]
 	path = fprime-arduino
 	url = https://github.com/fprime-community/fprime-arduino.git
-	branch = devel
+[submodule "fprime-baremetal"]
+	path = fprime-baremetal
+	url = https://github.com/fprime-community/fprime-baremetal.git

Components/Led/Led.fpp

@@ -13,7 +13,7 @@ module Components {
             format "Invalid Blinking Argument: {}"
 
         @ Reports the state we set to blinking.
-        event SetBlinkingState(state: Fw.On) \
+        event SetBlinkingState($state: Fw.On) \
             severity activity high \
             format "Set blinking state to {}."
 

LedBlinker/Main.cpp

@@ -1,23 +1,17 @@
 // ======================================================================
 // \title  Main.cpp
-// \brief main program for the F' application. Intended for CLI-based systems (Linux, macOS)
+// \brief main program for the F' application. Intended for Arduino-based systems
 //
 // ======================================================================
 // Used to access topology functions
 #include <LedBlinker/Top/LedBlinkerTopology.hpp>
 #include <LedBlinker/Top/LedBlinkerTopologyAc.hpp>
-// Used for Task Runner
-#include <Os/Baremetal/TaskRunner/TaskRunner.hpp>
 
-// Used for logging
-#include <Arduino/Os/StreamLog.hpp>
-#include <Os/Log.hpp>
-
-// Instantiate a system logger that will handle Fw::Logger::logMsg calls
-Os::Log logger;
+// Used for TaskRunner
+#include <fprime-baremetal/Os/TaskRunner/TaskRunner.hpp>
 
-// Task Runner
-Os::TaskRunner taskrunner;
+// Used for logging
+#include <Arduino/Os/Console.hpp>
 
 /**
  * \brief setup the program
@@ -26,11 +20,12 @@ Os::TaskRunner taskrunner;
  *
  */
 void setup() {
-    // Setup Serial
+    // Initialize OSAL
+    Os::init();
+
+    // Setup Serial and Logging
     Serial.begin(115200);
-    Os::setArduinoStreamLogHandler(&Serial);
-    delay(1000);
-    Fw::Logger::logMsg("Program Started\n");
+    static_cast<Os::Arduino::StreamConsoleHandle*>(Os::Console::getSingleton().getHandle())->setStreamHandler(Serial);
 
     // Object for communicating state to the reference topology
     LedBlinker::TopologyState inputs;
@@ -39,6 +34,8 @@ void setup() {
 
     // Setup topology
     LedBlinker::setupTopology(inputs);
+
+    Fw::Logger::log("Program Started\n");
 }
 
 /**
@@ -51,5 +48,5 @@ void loop() {
 #ifdef USE_BASIC_TIMER
     rateDriver.cycle();
 #endif
-    taskrunner.run();
-}
+    Os::Baremetal::TaskRunner::getSingleton().run();
+}

LedBlinker/README.md

@@ -20,7 +20,9 @@ fprime-util build
 The following command will spin up the F' GDS as well as run the application binary and the components necessary for the GDS and application to communicate.
 
 ```
-fprime-gds -n --dictionary ./build-artifacts/<build name>/LedBlinker/dict/LedBlinkerTopologyAppDictionary.xml --comm-adapter uart --uart-device /dev/ttyACM0 --uart-baud 115200
+fprime-gds -n --dictionary ./build-artifacts/<build name>/LedBlinker/dict/LedBlinkerTopologyAppDictionary.xml --communication-selection uart --uart-device /dev/ttyACM0 --uart-baud 115200
 ```
+> Change `<build name>` to the build of your deployment (i.e. `teensy41`, `featherM0`, etc.).
 
-Change `<build name>` to the build of your deployment (i.e. `teensy41`, `featherM0`, etc.).
+> `/dev/ttyACM0` may vary for your system/device. It may also be `/dev/ttyUSB0`. For MacOS, it will be along the lines of `/dev/tty.usbmodem12345`. Change accordingly.
+> To view the list of your connected devices, run: `ls /dev/tty*`.

LedBlinker/Top/CMakeLists.txt

@@ -7,15 +7,13 @@
 
 set(SOURCE_FILES
   "${CMAKE_CURRENT_LIST_DIR}/instances.fpp"
-  "${CMAKE_CURRENT_LIST_DIR}/LedBlinkerPackets.xml"
   "${CMAKE_CURRENT_LIST_DIR}/topology.fpp"
   "${CMAKE_CURRENT_LIST_DIR}/LedBlinkerTopology.cpp"
 )
 set(MOD_DEPS
   Fw/Logger
-  Arduino/ArduinoTime
   Arduino/Drv/StreamDriver
-  Os/Baremetal/TaskRunner
+  fprime-baremetal/Os/TaskRunner
 )
 
 register_fprime_module()

LedBlinker/Top/LedBlinkerPackets.xml

@@ -16,11 +16,6 @@
         <channel name="systemResources.NON_VOLATILE_FREE"/>
     </packet>
 
-    <packet name="SystemRes2" id="6" level="2">
-        <channel name="systemResources.FRAMEWORK_VERSION"/>
-        <channel name="systemResources.PROJECT_VERSION"/>
-    </packet>
-
     <packet name="SystemRes3" id="7" level="2">
         <channel name="systemResources.CPU"/>
         <channel name="systemResources.CPU_00"/>

LedBlinker/Top/LedBlinkerTopology.cpp

@@ -4,7 +4,6 @@
 //
 // ======================================================================
 // Provides access to autocoded functions
-#include <LedBlinker/Top/LedBlinkerPacketsAc.hpp>
 #include <LedBlinker/Top/LedBlinkerTopologyAc.hpp>
 #include <config/FppConstantsAc.hpp>
 
@@ -31,6 +30,13 @@ Svc::RateGroupDriver::DividerSet rateGroupDivisors{{{100, 0}, {200, 0}, {1000, 0
 // reference topology sets each token to zero as these contexts are unused in this project.
 NATIVE_INT_TYPE rateGroup1Context[FppConstant_PassiveRateGroupOutputPorts::PassiveRateGroupOutputPorts] = {};
 
+// A number of constants are needed for construction of the topology. These are specified here.
+enum TopologyConstants {
+    COM_BUFFER_SIZE   = 140,
+    COM_BUFFER_COUNT  = 3,
+    BUFFER_MANAGER_ID = 200
+};
+
 /**
  * \brief configure/setup components in project-specific way
  *
@@ -45,9 +51,18 @@ void configureTopology() {
     // Rate groups require context arrays.
     rateGroup1.configure(rateGroup1Context, FW_NUM_ARRAY_ELEMENTS(rateGroup1Context));
 
+    // Set up BufferManager
+    Svc::BufferManager::BufferBins buffMgrBins;
+    memset(&buffMgrBins, 0, sizeof(buffMgrBins));
+    buffMgrBins.bins[0].bufferSize = COM_BUFFER_SIZE;
+    buffMgrBins.bins[0].numBuffers = COM_BUFFER_COUNT;
+    bufferManager.setup(BUFFER_MANAGER_ID, 0, mallocator, buffMgrBins);
+
     // Framer and Deframer components need to be passed a protocol handler
     framer.setup(framing);
     deframer.setup(deframing);
+
+    // Configure built-in LED GPIO if available
 #ifndef NO_ONBOARD_LED
     gpioDriver.open(Arduino::DEF_LED_BUILTIN, Arduino::GpioDriver::GpioDirection::OUT);
 #endif

LedBlinker/Top/instances.fpp

@@ -38,30 +38,28 @@ module LedBlinker {
 
   instance rateGroup1: Svc.PassiveRateGroup base id 0x0200
 
+  instance bufferManager: Svc.BufferManager base id 0x1000
+
   instance commDriver: Arduino.StreamDriver base id 0x4000
 
   instance framer: Svc.Framer base id 0x4100
 
-  instance fatalAdapter: Svc.AssertFatalAdapter base id 0x4200
-
-  instance fatalHandler: Svc.FatalHandler base id 0x4300
+  instance fatalHandler: Baremetal.FatalHandler base id 0x4300
 
-  instance timeHandler: Arduino.ArduinoTime base id 0x4400 \
+  instance timeHandler: Arduino.ArduinoTime base id 0x4400
 
   instance rateGroupDriver: Svc.RateGroupDriver base id 0x4500
 
-  instance staticMemory: Svc.StaticMemory base id 0x4600
-
-  instance textLogger: Svc.PassiveTextLogger base id 0x4700
+  instance textLogger: Svc.PassiveTextLogger base id 0x4600
 
-  instance deframer: Svc.Deframer base id 0x4800
+  instance deframer: Svc.Deframer base id 0x4700
 
-  instance systemResources: Svc.SystemResources base id 0x4900
+  instance systemResources: Svc.SystemResources base id 0x4800
 
-  instance rateDriver: Arduino.HardwareRateDriver base id 0x4A00
+  instance rateDriver: Arduino.HardwareRateDriver base id 0x4900
 
-  instance gpioDriver: Arduino.GpioDriver base id 0x4C00
+  instance gpioDriver: Arduino.GpioDriver base id 0x5000
 
-  instance led: Components.Led base id 0x10000 \
+  instance led: Components.Led base id 0x10000
 
 }

LedBlinker/Top/topology.fpp

@@ -8,31 +8,24 @@ module LedBlinker {
       rateGroup1
     }
 
-    enum Ports_StaticMemory {
-      framer
-      deframer
-      deframing
-    }
-
   topology LedBlinker {
 
     # ----------------------------------------------------------------------
     # Instances used in the topology
     # ----------------------------------------------------------------------
 
+    instance bufferManager
     instance cmdDisp
     instance commDriver
     instance deframer
     instance eventLogger
-    instance fatalAdapter
     instance fatalHandler
     instance framer
     instance gpioDriver
     instance led
     instance rateDriver
     instance rateGroup1
     instance rateGroupDriver
-    instance staticMemory
     instance systemResources
     instance timeHandler
     instance textLogger
@@ -61,10 +54,10 @@ module LedBlinker {
       tlmSend.PktSend -> framer.comIn
       eventLogger.PktSend -> framer.comIn
 
-      framer.framedAllocate -> staticMemory.bufferAllocate[Ports_StaticMemory.framer]
+      framer.framedAllocate -> bufferManager.bufferGetCallee
       framer.framedOut -> commDriver.$send
 
-      commDriver.deallocate -> staticMemory.bufferDeallocate[Ports_StaticMemory.framer]
+      commDriver.deallocate -> bufferManager.bufferSendIn
 
     }
 
@@ -87,15 +80,15 @@ module LedBlinker {
 
     connections Uplink {
 
-      commDriver.allocate -> staticMemory.bufferAllocate[Ports_StaticMemory.deframer]
+      commDriver.allocate -> bufferManager.bufferGetCallee
       commDriver.$recv -> deframer.framedIn
-      deframer.framedDeallocate -> staticMemory.bufferDeallocate[Ports_StaticMemory.deframer]
+      deframer.framedDeallocate -> bufferManager.bufferSendIn
 
       deframer.comOut -> cmdDisp.seqCmdBuff
       cmdDisp.seqCmdStatus -> deframer.cmdResponseIn
 
-      deframer.bufferAllocate -> staticMemory.bufferAllocate[Ports_StaticMemory.deframing]
-      deframer.bufferDeallocate -> staticMemory.bufferDeallocate[Ports_StaticMemory.deframing]
+      deframer.bufferAllocate -> bufferManager.bufferGetCallee
+      deframer.bufferDeallocate -> bufferManager.bufferSendIn
       
     }
 

README.md

@@ -11,7 +11,7 @@ In order to run through this tutorial, users should first do the following:
 1. Follow the [Hello World Tutorial](https://fprime-community.github.io/fprime-tutorial-hello-world/)
 2. Ensure F´ tools have been [bootstrapped](https://fprime-community.github.io/fprime-tutorial-hello-world/docs/NewProject.html#bootstrapping-f)
 3. Acquire and set up the appropriate [hardware](docs/hardware.md) for this tutorial
-4. Follow the [arduino-cli installation guide](docs/arduino-cli-install.md)
+4. Follow the [arduino-cli installation guide](https://github.com/fprime-community/fprime-arduino/blob/main/docs/arduino-cli-install.md)
 
 ## Tutorial Steps
 

config/AcConstants.fpp

@@ -18,11 +18,14 @@ constant CmdDispatcherComponentCommandPorts = 5
 @ Used for uplink/sequencer buffer/response ports
 constant CmdDispatcherSequencePorts = 1
 
+@ Used for dispatching sequences to command sequencers
+constant SeqDispatcherSequencerPorts = 2
+
 @ Used for sizing the command splitter input arrays
 constant CmdSplitterPorts = CmdDispatcherSequencePorts
 
 @ Number of static memory allocations
-constant StaticMemoryAllocations = 3
+constant StaticMemoryAllocations = 4
 
 @ Used to ping active components
 constant HealthPingPorts = 1
@@ -45,11 +48,23 @@ constant DpManagerNumPorts = 5
 @ Size of processing port array for DpWriter
 constant DpWriterNumProcPorts = 5
 
+@ The size of a file name string
+constant FileNameStringSize = 200
+
+@ The size of an assert text string
+constant FwAssertTextSize = 256
+
+@ The size of a file name in an AssertFatalAdapter event
+@ Note: File names in assertion failures are also truncated by
+@ the constants FW_ASSERT_TEXT_SIZE and FW_LOG_STRING_MAX_SIZE, set
+@ in FpConfig.h.
+constant AssertFatalAdapterEventFileSize = FileNameStringSize
+
 # ----------------------------------------------------------------------
 # Hub connections. Connections on all deployments should mirror these settings.
 # ----------------------------------------------------------------------
 
-constant GenericHubInputPorts = 5
-constant GenericHubOutputPorts = 5
-constant GenericHubInputBuffers = 5
-constant GenericHubOutputBuffers = 5
+constant GenericHubInputPorts = 10
+constant GenericHubOutputPorts = 10
+constant GenericHubInputBuffers = 10
+constant GenericHubOutputBuffers = 10

config/CMakeLists.txt

@@ -7,5 +7,7 @@ set(SOURCE_FILES
     "${CMAKE_CURRENT_LIST_DIR}/AcConstants.fpp"
     "${CMAKE_CURRENT_LIST_DIR}/DpCfg.fpp"
     "${CMAKE_CURRENT_LIST_DIR}/FpConfig.fpp"
+    "${CMAKE_CURRENT_LIST_DIR}/PolyDbCfg.fpp"
+    "${CMAKE_CURRENT_LIST_DIR}/VersionCfg.fpp"
 )
 register_fprime_module(config)