Remotely Trigger Simulations on Hardware

app/backplane/deployment_module/src/main.cpp

@@ -6,9 +6,19 @@
 #include "c_deployment_module.h"
 
 #include <f_core/os/n_rtos.h>
+#ifdef CONFIG_ARCH_POSIX
+#include <signal.h>
+#include <nsi_main.h>
+#endif
 
 LOG_MODULE_REGISTER(main);
 
+#ifdef CONFIG_ARCH_POSIX
+static volatile sig_atomic_t shutdownRequested = 0;
+
+static void NativeSimSignalHandler(int) { shutdownRequested = 1; }
+#endif
+
 int main() {
     static CDeploymentModule deploymentModule{};
 
@@ -19,9 +29,16 @@ int main() {
     NRtos::StartRtos();
 
 #ifdef CONFIG_ARCH_POSIX
-    k_sleep(K_SECONDS(900));
+    signal(SIGINT, NativeSimSignalHandler);
+    signal(SIGTERM, NativeSimSignalHandler);
+
+    while (!shutdownRequested) {
+        k_sleep(K_MSEC(100));
+    }
+
     NRtos::StopRtos();
     deploymentModule.Cleanup();
+    nsi_exit(0);
 #endif
 
     return 0;

app/backplane/power_module/src/main.cpp

@@ -9,9 +9,19 @@
 #include <f_core/os/c_task.h>
 #include <f_core/os/n_rtos.h>
 #include <n_autocoder_network_defs.h>
+#ifdef CONFIG_ARCH_POSIX
+#include <signal.h>
+#include <nsi_main.h>
+#endif
 
 LOG_MODULE_REGISTER(main);
 
+#ifdef CONFIG_ARCH_POSIX
+static volatile sig_atomic_t shutdownRequested = 0;
+
+static void NativeSimSignalHandler(int) { shutdownRequested = 1; }
+#endif
+
 int main() {
     static CPowerModule powerModule{};
 
@@ -22,10 +32,16 @@ int main() {
     NRtos::StartRtos();
 
 #ifdef CONFIG_ARCH_POSIX
-    k_sleep(K_SECONDS(300));
+    signal(SIGINT, NativeSimSignalHandler);
+    signal(SIGTERM, NativeSimSignalHandler);
+
+    while (!shutdownRequested) {
+        k_sleep(K_MSEC(100));
+    }
+
     NRtos::StopRtos();
     powerModule.Cleanup();
-    k_sleep(K_FOREVER);
+    nsi_exit(0);
 #endif
 
     return 0;

app/backplane/radio_module/src/main.cpp

@@ -8,9 +8,19 @@
 
 #include <f_core/os/c_task.h>
 #include <f_core/os/n_rtos.h>
+#ifdef CONFIG_ARCH_POSIX
+#include <signal.h>
+#include <nsi_main.h>
+#endif
 
 LOG_MODULE_REGISTER(main);
 
+#ifdef CONFIG_ARCH_POSIX
+static volatile sig_atomic_t shutdownRequested = 0;
+
+static void NativeSimSignalHandler(int) { shutdownRequested = 1; }
+#endif
+
 int main() {
 #ifdef CONFIG_LICENSED_FREQUENCY
     LOG_INF("Radio module boot: 433 MHz build, callsign=%s", CONFIG_RADIO_MODULE_CALLSIGN);
@@ -28,8 +38,15 @@ int main() {
     NRtos::StartRtos();
 
 #ifdef CONFIG_ARCH_POSIX
-    k_sleep(K_SECONDS(300));
+    signal(SIGINT, NativeSimSignalHandler);
+    signal(SIGTERM, NativeSimSignalHandler);
+
+    while (!shutdownRequested) {
+        k_sleep(K_MSEC(100));
+    }
+
     NRtos::StopRtos();
+    nsi_exit(0);
 #endif
 
     return 0;

app/backplane/sensor_module/boards/sensor_hw_sim.conf

@@ -6,6 +6,13 @@ CONFIG_OPENROCKET_SENSORS=y
 CONFIG_OPENROCKET_DATA_FILE="../../../data/orksim_csv/l1.csv"
 CONFIG_OPENROCKET_MS_BEFORE_LAUNCH=10000
 CONFIG_OPENROCKET_SCALAR_TYPE_DOUBLE=y
-CONFIG_OPENROCKET_EVENT_LOG=n
+CONFIG_OPENROCKET_EVENT_LOG=y
 CONFIG_OPENROCKET_IMU=y
 CONFIG_OPENROCKET_BAROMETER=y
+CONFIG_OPENROCKET_MANUAL_LAUNCH_TRIGGER=y
+
+CONFIG_CONSOLE=y
+CONFIG_CONSOLE_SUBSYS=y
+CONFIG_SERIAL=y
+CONFIG_UART_CONSOLE=y
+

app/backplane/sensor_module/core.conf

@@ -31,4 +31,3 @@ CONFIG_EVENTS=y
 CONFIG_I2C=y
 CONFIG_SPI=y
 CONFIG_SENSOR=y
-CONFIG_LSM6DSL_ACCEL_FS=16

app/backplane/sensor_module/include/c_ork_toggle_tenant.h

@@ -0,0 +1,24 @@
+#pragma once
+
+#include <f_core/net/network/c_ipv4.h>
+#include <f_core/net/transport/c_udp_socket.h>
+#include <f_core/os/c_runnable_tenant.h>
+
+class COrkToggleTenant : public CRunnableTenant {
+  public:
+    /**
+     * @param name Tenant name
+     * @param ipStr IP address to bind the UDP socket to
+     * @param port UDP port used to receive launch trigger packets
+     */
+    COrkToggleTenant(const char* name, const char* ipStr, int port);
+
+    /**
+     * See parent docs
+     */
+    void Run() override;
+
+  private:
+    CUdpSocket udp;
+    int port;
+};

app/backplane/sensor_module/include/c_sensor_module.h

@@ -2,6 +2,9 @@
 
 #include "c_sensing_tenant.h"
 #include "flight.hpp"
+#ifdef CONFIG_OPENROCKET_MANUAL_LAUNCH_TRIGGER
+#include "c_ork_toggle_tenant.h"
+#endif
 
 // F-Core Includes
 #include <f_core/c_project_configuration.h>
@@ -50,6 +53,9 @@ class CSensorModule : public CProjectConfiguration {
     static constexpr int telemetryBroadcastPort = NNetworkDefs::SENSOR_MODULE_TELEMETRY_PORT;
     static constexpr int telemetryDownlinkPort = NNetworkDefs::SENSOR_MODULE_DOWNLINK_DATA_PORT;
     static constexpr int alertPort = NNetworkDefs::ALERT_PORT;
+#ifdef CONFIG_OPENROCKET_MANUAL_LAUNCH_TRIGGER
+    static constexpr int orkLaunchTriggerPort = NNetworkDefs::SENSOR_MODULE_ORK_LAUNCH_TRIGGER_PORT;
+#endif
 
     // Devices
     CRtc rtc{*DEVICE_DT_GET(DT_ALIAS(rtc))};
@@ -82,6 +88,9 @@ class CSensorModule : public CProjectConfiguration {
                                                                       sensorDataLogMessagePort,
                                                                       K_SECONDS(3),
                                                                       64};
+#ifdef CONFIG_OPENROCKET_MANUAL_LAUNCH_TRIGGER
+    COrkToggleTenant orkLaunchTriggerTenant{"Ork Toggle Tenant", ipAddrStr.c_str(), orkLaunchTriggerPort};
+#endif
 
     // Tasks
     CTask networkTask{"Networking Task", 15, 3072, 10};

app/backplane/sensor_module/sim.conf

@@ -1,11 +1,11 @@
 # Sensors
 CONFIG_OPENROCKET_SENSORS=y
 CONFIG_OPENROCKET_DATA_FILE="../../../data/orksim_csv/l1.csv"
-CONFIG_OPENROCKET_MS_BEFORE_LAUNCH=10000
 CONFIG_OPENROCKET_SCALAR_TYPE_DOUBLE=y
 CONFIG_OPENROCKET_EVENT_LOG=y
 CONFIG_OPENROCKET_IMU=y
 CONFIG_OPENROCKET_BAROMETER=y
+CONFIG_OPENROCKET_MANUAL_LAUNCH_TRIGGER=y
 
 CONFIG_RTC=y
 CONFIG_RTC_EMUL=y

app/backplane/sensor_module/src/c_ork_toggle_tenant.cpp

@@ -0,0 +1,28 @@
+#include "c_ork_toggle_tenant.h"
+
+#include <errno.h>
+
+#include <f_core/device/openrocket_launch.h>
+#include <zephyr/logging/log.h>
+
+LOG_MODULE_REGISTER(COrkToggleTenant);
+
+COrkToggleTenant::COrkToggleTenant(const char* name, const char* ipStr, const int port)
+    : CRunnableTenant(name), udp(CIPv4(ipStr), port, port), port(port) {}
+
+void COrkToggleTenant::Run() {
+    uint8_t trigger = 0;
+    const int ret = udp.ReceiveAsynchronous(&trigger, sizeof(trigger));
+    if (ret <= 0) {
+        return;
+    }
+
+    const int err = ork_trigger_launch();
+    if (err == 0) {
+        LOG_INF("Received OpenRocket launch trigger on UDP port %d", port);
+    } else if (err == -EALREADY) {
+        LOG_WRN("Ignoring duplicate OpenRocket launch trigger on UDP port %d", port);
+    } else {
+        LOG_ERR("Failed to trigger OpenRocket launch (%d)", err);
+    }
+}

app/backplane/sensor_module/src/c_sensor_module.cpp

@@ -26,6 +26,9 @@ void CSensorModule::AddTenantsToTasks() {
     networkTask.AddTenant(broadcastTenant);
     networkTask.AddTenant(downlinkTelemTenant);
     networkTask.AddTenant(udpAlertTenant);
+#ifdef CONFIG_OPENROCKET_MANUAL_LAUNCH_TRIGGER
+    networkTask.AddTenant(orkLaunchTriggerTenant);
+#endif
 
     // Sensing
     sensingTask.AddTenant(sensingTenant);

app/backplane/sensor_module/src/main.cpp

@@ -6,6 +6,16 @@
 #include "c_sensor_module.h"
 
 #include <f_core/os/n_rtos.h>
+#ifdef CONFIG_ARCH_POSIX
+#include <signal.h>
+#include <nsi_main.h>
+#endif
+
+#ifdef CONFIG_ARCH_POSIX
+static volatile sig_atomic_t shutdownRequested = 0;
+
+static void NativeSimSignalHandler(int) { shutdownRequested = 1; }
+#endif
 
 int main() {
     static CSensorModule sensorModule{};
@@ -17,9 +27,16 @@ int main() {
     NRtos::StartRtos();
 
 #ifdef CONFIG_ARCH_POSIX
-    k_sleep(K_SECONDS(900));
+    signal(SIGINT, NativeSimSignalHandler);
+    signal(SIGTERM, NativeSimSignalHandler);
+
+    while (!shutdownRequested) {
+        k_sleep(K_MSEC(100));
+    }
+
     NRtos::StopRtos();
     sensorModule.Cleanup();
+    nsi_exit(0);
 #endif
 
     return 0;

app/ground/receiver_module/src/main.cpp

@@ -10,9 +10,19 @@
 #include <f_core/os/n_rtos.h>
 #include <zephyr/drivers/gpio.h>
 #include <zephyr/logging/log.h>
+#ifdef CONFIG_ARCH_POSIX
+#include <signal.h>
+#include <nsi_main.h>
+#endif
 
 LOG_MODULE_REGISTER(main);
 
+#ifdef CONFIG_ARCH_POSIX
+static volatile sig_atomic_t shutdownRequested = 0;
+
+static void NativeSimSignalHandler(int) { shutdownRequested = 1; }
+#endif
+
 int main() {
     LOG_INF("Receiver starting");
     static CReceiverModule receiverModule{};
@@ -25,8 +35,15 @@ int main() {
     NRtos::StartRtos();
 
 #ifdef CONFIG_ARCH_POSIX
-    k_sleep(K_SECONDS(300));
+    signal(SIGINT, NativeSimSignalHandler);
+    signal(SIGTERM, NativeSimSignalHandler);
+
+    while (!shutdownRequested) {
+        k_sleep(K_MSEC(100));
+    }
+
     NRtos::StopRtos();
+    nsi_exit(0);
 #endif
 
     return 0;

app/payload/control_freak/flight-software/sample.yaml

@@ -1,5 +1,5 @@
 sample:
-  description: control_freak
+  description: Control Freak flight software
   name: control_freak
 common:
   build_only: true

data/autocoder_inputs/network_defs.yaml

@@ -37,6 +37,8 @@ modules:
     id: 3
     base_port: 13000
     port_offsets:
+      ork_launch_trigger:
+        port_number: 999
       downlink_data:
         port_number: 20
       telemetry:

drivers/sensor/openrocket/Kconfig

@@ -35,11 +35,21 @@ if OPENROCKET_SENSORS
 
     config OPENROCKET_MS_BEFORE_LAUNCH
         int "OpenRocket ms before launch"
-        depends on OPENROCKET_SENSORS
+        depends on OPENROCKET_SENSORS && !OPENROCKET_MANUAL_LAUNCH_TRIGGER
         default 1000
         help
             Milliseconds to delay the launch from the device booting.
 
+    config OPENROCKET_MANUAL_LAUNCH_TRIGGER
+        bool "OpenRocket Manual Launch Trigger"
+        depends on OPENROCKET_SENSORS
+        default n
+        help
+            When enabled, the simulation does not start on a fixed delay after boot.
+            Instead, sensor reads return pad values until or_trigger_launch() is called
+            (e.g. from a ground station command). The event log thread also waits for
+            the trigger before beginning.
+
     config OPENROCKET_NOISE
         bool "OpenRocket Sensor Noise"
         depends on OPENROCKET_SENSORS