Fixed Makefiles

.gitignore

@@ -8,3 +8,4 @@ ts-VMSd
 .isort.cfg
 .mypy.ini
 .ruff.toml
+src/version.c

Jenkinsfile

@@ -60,7 +60,7 @@ node {
                     make
     
                     cd $WORKSPACE/ts_vms
-                    make simulator
+                    make SIMULATOR=1
                     LSST_DDS_PARTITION_PREFIX=test make junit || true
                  """
              }

Makefile

@@ -26,13 +26,13 @@ src/%.cpp.o: src/%.cpp
 	$(MAKE) -C src $(patsubst src/%,%,$@)
 
 tests: tests/Makefile tests/*.cpp
-	@${MAKE} -C tests
+	@${MAKE} -C SIMULATOR=1 tests
 
 run_tests: tests
 	@${MAKE} -C tests run
 
 junit: tests
-	@${MAKE} -C tests junit
+	@${MAKE} -C SIMULATOR=1 tests junit
 
 doc:
 	${co}doxygen Doxyfile

Makefile.inc

@@ -8,54 +8,47 @@ c_opts := -DSPDLOG_ACTIVE_LEVEL=SPDLOG_LEVEL_TRACE
 
 ifdef DEBUG
   c_opts += -g
+  silence := --silence-errors
 else
   c_opts += -O3
 endif
 
 CRIOCPP := ../ts_cRIOcpp/
 
-BOOST_CPPFLAGS := -I/usr/include/boost169
-SAL_CPPFLAGS := $(shell pkg-config yaml-cpp --cflags $(silence)) \
-        $(shell pkg-config fmt --cflags $(silence)) \
-        $(shell pkg-config spdlog --cflags $(silence)) \
-        $(shell pkg-config fftw3 --cflags $(silence)) \
-        -I${OSPL_HOME}/include -I${OSPL_HOME}/include/sys \
-        -I${OSPL_HOME}/include/dcps/C++/SACPP \
-        -I${SAL_WORK_DIR}/MTVMS/cpp/src \
-        -I${SAL_WORK_DIR}/include \
-        -I${SAL_HOME}/include \
-        -I${LSST_SDK_INSTALL}/include
-
-LIBS := $(shell pkg-config yaml-cpp --libs $(silence)) \
-        $(shell pkg-config fmt --libs $(silence)) \
-        $(shell pkg-config fftw3 --libs $(silence)) \
-        -ldl -ldcpssacpp -ldcpsgapi -lddsuser -lddskernel \
-        -lpthread -lddsserialization -lddsconfparser -lddsconf \
-        -lddsdatabase -lddsutil -lddsos \
-        ${SAL_WORK_DIR}/lib/libSAL_MTVMS.a \
-        -lreadline
-
-C := gcc -Wall ${c_opts}
-CPP := g++ --std=c++17 -Wall -fPIE ${c_opts}
-
-# Simulator is dynamicaly linked, distribution uses static linking
+PKG_CPPFLAGS := \
+	$(shell pkg-config yaml-cpp --cflags $(silence)) \
+	$(shell pkg-config spdlog --cflags $(silence)) \
+	$(shell pkg-config fmt --cflags $(silence)) \
+	$(shell pkg-config fftw3 --cflags $(silence))
+
+SAL_CPPFLAGS += $(PKG_CPPFLAGS) \
+	-I${OSPL_HOME}/include -I${OSPL_HOME}/include/sys -I${OSPL_HOME}/include/dcps/C++/SACPP \
+	-I${SAL_WORK_DIR}/MTM1M3/cpp/src -I${SAL_WORK_DIR}/MTMount/cpp/src -I${SAL_WORK_DIR}/include \
+	-I${SAL_HOME}/include -I${LSST_SDK_INSTALL}/include
+
+PKG_LIBS := \
+	$(shell pkg-config yaml-cpp --libs $(silence)) \
+	$(shell pkg-config fftw3 --libs $(silence)) \
+
+CPP := g++ -std=c++17 -Wall -fPIE ${c_opts}
+
 ifdef SIMULATOR
+  C := gcc -Wall ${c_opts}
   CPP += -pedantic -DSIMULATOR
-  LIBS += $(shell pkg-config spdlog --libs $(silence))
+  PKG_LIBS += $(shell pkg-config spdlog --libs $(silence))
 else
-  C += -fmessage-length=0
-  CPP += -fmessage-length=0 -ldl
-  LIBS += $(shell pkg-config spdlog --libs $(silence) | sed -E 's/-l([a-z0-9]*)/-l:lib\1.a/g')
+  C := gcc -Wall -fmessage-length=0 ${c_opts}
+  CPP += -fmessage-length=0
+  # static linkage for cRIO binary
+  PKG_LIBS += $(shell pkg-config spdlog --libs $(silence) | sed -E 's/-l([a-z0-9]*)/-l:lib\1.a/g')
 endif
 
-LIBS_FLAGS += -L"${OSPL_HOME}/lib" -L"${LSST_SDK_INSTALL}/lib"
+LIBS += $(PKG_LIBS) -ldl -ldcpssacpp -ldcpsgapi -lddsuser -lddskernel \
+	-lpthread -lddsserialization -lddsconfparser -lddsconf \
+	-lddsdatabase -lddsutil -lddsos \
+	${SAL_WORK_DIR}/lib/libSAL_MTVMS.a
 
-GIT := $(shell command -v git 2> /dev/null)
+LIBS_FLAGS += -L${OSPL_HOME}/lib -L${LSST_SDK_INSTALL}/lib
 
-ifndef GIT
-   VERSION := "v0.0.0-None"
-   GIT_HASH := "xxxx-NONE"
-else
-   VERSION := $(shell git describe --tags --dirty)
-   GIT_HASH := $(shell git rev-parse HEAD)
-endif
+VERSION := $(shell git describe --tags --dirty 2>/dev/null || echo "unknown:non-git")
+GIT_HASH := $(shell git rev-parse HEAD 2>/dev/null || echo "unknown-non-git")

doc/version-history.rst

@@ -4,17 +4,18 @@
 Version History
 ===============
 
-v1.1.1
-======
+v1.2.0
+------
 
+* sends Heartbeat signals
 * updated build system
 
 v1.1.0
-======
+------
 
 * improved data readout - in-CSC PSD calculations
 
 v1.0.0
-=======
+------
 
 * First release of the Vibration Monitoring System CSC

src/LSST/VMS/Commands/Update.cpp

@@ -21,13 +21,16 @@
  * along with this program.  If not, see <https://www.gnu.org/licenses/>.
  */
 
+#include <Commands/Update.h>
+#include <Events/Heartbeat.h>
 #include <FPGA.h>
 #include <VMSPublisher.h>
-#include <Commands/Update.h>
 
+using namespace LSST::VMS;
 using namespace LSST::VMS::Commands;
 
 void Update::execute() {
     VMSPublisher::instance().putMiscellaneous(FPGA::instance().chassisTemperature(),
                                               FPGA::instance().chassisTicks());
+    Events::Heartbeat::instance().tryToggle();
 }

src/LSST/VMS/Events/FPGAState.cpp

@@ -23,7 +23,7 @@
 #include <FPGA.h>
 #include <Events/FPGAState.h>
 
-#include <spdlog/fmt/fmt.h>
+#include <spdlog/spdlog.h>
 
 using namespace LSST::VMS;
 using namespace LSST::VMS::Events;

src/LSST/VMS/Events/Heartbeat.cpp

@@ -0,0 +1,53 @@
+/*
+ * This file is part of the LSST M1M3 thermal system package.
+ *
+ * Developed for the Vera C. Rubin Telescope and Site System.
+ * This product includes software developed by the LSST Project
+ * (https://www.lsst.org).
+ * See the COPYRIGHT file at the top-level directory of this distribution
+ * for details of code ownership.
+ *
+ * This program is free software: you can redistribute it and/or modify
+ * it under the terms of the GNU General Public License as published by
+ * the Free Software Foundation, either version 3 of the License, or
+ * (at your option) any later version.
+ *
+ * This program is distributed in the hope that it will be useful,
+ * but WITHOUT ANY WARRANTY; without even the implied warranty of
+ * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
+ * GNU General Public License for more details.
+ *
+ * You should have received a copy of the GNU General Public License
+ * along with this program.  If not, see <https://www.gnu.org/licenses/>.
+ */
+
+#include <spdlog/spdlog.h>
+
+#include <VMSPublisher.h>
+
+#include <Events/Heartbeat.h>
+
+using namespace LSST::VMS::Events;
+
+const float HEARTBEAT_PERIOD = 1.0;  //* Heartbeat period in seconds
+
+Heartbeat::Heartbeat(token) { _lastToggleTimestamp = 0; }
+
+void Heartbeat::tryToggle() {
+    SPDLOG_TRACE("Trying to toggle heartbeat");
+    double timestamp = VMSPublisher::instance().getTimestamp();
+    if (timestamp >= (_lastToggleTimestamp + HEARTBEAT_PERIOD)) {
+        SPDLOG_DEBUG("Toggling heartbeat");
+        auto lag = timestamp - _lastToggleTimestamp;
+        if (_lastToggleTimestamp != 0 && lag > HEARTBEAT_PERIOD * 1.1) {
+            SPDLOG_WARN("Toggling heartbeat after {:0.03f} seconds!", lag);
+        }
+
+        heartbeat = !heartbeat;
+
+        // sends software heartbeat
+        VMSPublisher::instance().logHeartbeat(this);
+
+        _lastToggleTimestamp = timestamp;
+    }
+}

src/LSST/VMS/Events/Heartbeat.h

@@ -0,0 +1,58 @@
+/*
+ * This file is part of the LSST M1M3 thermal system package.
+ *
+ * Developed for the Vera C. Rubin Telescope and Site System.
+ * This product includes software developed by the LSST Project
+ * (https://www.lsst.org).
+ * See the COPYRIGHT file at the top-level directory of this distribution
+ * for details of code ownership.
+ *
+ * This program is free software: you can redistribute it and/or modify
+ * it under the terms of the GNU General Public License as published by
+ * the Free Software Foundation, either version 3 of the License, or
+ * (at your option) any later version.
+ *
+ * This program is distributed in the hope that it will be useful,
+ * but WITHOUT ANY WARRANTY; without even the implied warranty of
+ * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
+ * GNU General Public License for more details.
+ *
+ * You should have received a copy of the GNU General Public License
+ * along with this program.  If not, see <https://www.gnu.org/licenses/>.
+ */
+
+#ifndef LSST_HEARTBEAT_H
+#define LSST_HEARTBEAT_H
+
+#include <chrono>
+
+#include <SAL_MTVMS.h>
+
+#include <cRIO/Singleton.h>
+
+namespace LSST {
+namespace VMS {
+namespace Events {
+
+/**
+ * Wrapper object for MTM1M3_logevent_heartbeatStatusC.
+ */
+class Heartbeat : public MTVMS_logevent_heartbeatC, public cRIO::Singleton<Heartbeat> {
+public:
+    /**
+     * Construct new InterlockStatus
+     */
+    Heartbeat(token);
+
+    /**
+     * Sets heartbeat, publish data if the last heartbeat was send more than 500ms in past.
+     */
+    void tryToggle();
+
+private:
+    double _lastToggleTimestamp;
+};
+
+}}}
+
+#endif  // LSST_INTERLOCKSTATUS_H

src/LSST/VMS/VMSPublisher.h

@@ -30,6 +30,7 @@ class VMSPublisher : public cRIO::Singleton<VMSPublisher> {
 
     void setLogLevel(int newLevel);
 
+    void logHeartbeat(MTVMS_logevent_heartbeatC *data) { _vmsSAL->logEvent_heartbeat(data, 0); }
     void logSoftwareVersions();
     void logSimulationMode();