Backend/control box

README.md

@@ -44,27 +44,35 @@ Generate random data for development of the frontend. Without the simulator, we
   - Real-time data synchronization with React components
   - Error handling and retry logic
 
-## 🛠️ Prerequisites
-
-- **Node.js** 22+
-- **pnpm** 10.26.1+
-- **Maven** 3.9+
-- **Docker** & **Docker Compose**
-- **Tilt** (for development orchestration)
-
 ## 📋 Installation
 
+Install the required tools:
+- [Node.js](https://nodejs.org/en/download)
+- [pnpm](https://pnpm.io/installation)
+- [Java (JDK)](https://www.oracle.com/ca-en/java/technologies/downloads/)
+- [Maven](https://maven.apache.org/)
+- [Tilt](https://docs.tilt.dev/install.html)
+- [Docker Desktop](https://www.docker.com/products/docker-desktop/)
+
+or if you're on MacOS, install with Homebrew
+```bash
+brew install node pnpm java maven tilt
+brew install --cask docker-desktop
+```
+Then clone the repository and install the dependencies locally.
 ```bash
 # Clone the repository
 git clone https://github.com/McGillRocketTeam/ground-station
 cd ground-station
 # Install dependencies for all packages
 pnpm install
+# Build initial packages
+pnpm build
 ```
 
 ## 🏃‍♂️ Running Everything with Tilt
 
-**Tilt** orchestrates the entire development environment, including all Docker services and applications.
+**Tilt** orchestrates the entire development environment, including all Docker services and applications. **Ensure that Docker Desktop is running before you start Tilt.**
 
 ```bash
 # Start all services and applications
@@ -94,12 +102,6 @@ pnpm --filter @mrt/frontend dev
 YAMCS_INSTANCE=ground_station pnpm --filter @mrt/simulator dev
 ```
 
-### Build All Packages
-
-```bash
-pnpm turbo run build
-```
-
 ### Type Checking
 
 ```bash

Tiltfile

@@ -14,7 +14,6 @@ local_resource(
 		resource_deps=['backend', 'yamcs-effect', 'yamcs-atom']
 )
 
-
 local_resource(
     'backend',
     serve_cmd="cd apps/backend && mvn yamcs:run",
@@ -49,7 +48,7 @@ local_resource(
     }
 
     .\\venv\\Scripts\\pip install -r requirements.txt
-    .\\venv\\Scripts\\python converter.py --output "../backend/src/main/yamcs/mdb/rocket.xml"
+    .\\venv\\Scripts\\python ./src/xtce_generator.py --output-telemetry-xml "../../backend/src/main/yamcs/mdb/rocket.xml" --output-commanding-xml "../../backend/src/main/yamcs/mdb/commands.xml"
     ''' or '''
     set -e
 
@@ -60,15 +59,14 @@ local_resource(
     fi
 
     ./venv/bin/pip install -r requirements.txt
-    ./venv/bin/python converter.py --output "../backend/src/main/yamcs/mdb/rocket.xml"
+    ./venv/bin/python ./src/xtce_generator.py --output-telemetry-xml "../backend/src/main/yamcs/mdb/rocket.xml" --output-commanding-xml "../backend/src/main/yamcs/mdb/commands.xml"
     ''',
     deps=[
         "requirements.txt",
-        "converter.py",
+        "xtce_generator.py",
     ]
 )
 
-
 local_resource(
     'yamcs-effect',
     serve_cmd="pnpm turbo dev --filter @mrt/yamcs-effect",

apps/backend/src/main/java/org/yamcs/mrt/AstraCommandLink.java

@@ -10,6 +10,7 @@
 import org.yamcs.YConfiguration;
 import org.yamcs.YamcsServer;
 import org.yamcs.CommandOption.CommandOptionType;
+import org.yamcs.cmdhistory.CommandHistoryPublisher;
 import org.yamcs.cmdhistory.CommandHistoryPublisher.AckStatus;
 import org.yamcs.commanding.Acknowledgment;
 import org.yamcs.commanding.ActiveCommand;
@@ -61,7 +62,7 @@ public class AstraCommandLink extends AbstractTcDataLink {
 	// time. We store each command and the devices it was sent to.
 	private final AtomicInteger currentCommandId = new AtomicInteger(1);
 
-	private Map<Integer, ArrayList<String>> commandToDeviceMap = new HashMap<>();
+	private Map<Integer, Collection<String>> commandToDeviceMap = new HashMap<>();
 	private Map<Integer, PreparedCommand> commandToPreparedMap = new HashMap<>();
 
 	@Override
@@ -201,6 +202,8 @@ public boolean sendCommand(PreparedCommand preparedCommand) {
 
 		this.commandHistoryPublisher.publish(preparedCommand.getCommandId(),
 				"TX_Devices", String.join(",", devices));
+		this.commandToDeviceMap.put(seqNum, devices);
+
 		for (var device : devices) {
 			try {
 				client.publish(device + "/commands", msg, null, new IMqttActionListener() {
@@ -257,16 +260,33 @@ private void handleMetadata(String deviceName, MqttMessage message) {
 
 	}
 
-	// FIX: Its possible that if there are two radios on the same
-	// frequency (i.e. pad & cs) then the ack will be sent twice.
-	public void handleFCAck(int cmd_id, String frequency) {
+	// FIX: Currently the only way we reigster the FC ack is if the same
+	// radio that sent it recieved it. Reciving FC acks should be
+	// radio agnostic, but we don't do that right now
+	public void handleFCAck(int cmd_id, String frequency, String deviceName) {
 		PreparedCommand command = commandToPreparedMap.get(cmd_id);
+		Collection<String> devices = commandToDeviceMap.get(cmd_id);
+
+		if (devices.contains(deviceName)) {
+			commandHistoryPublisher.publishAck(
+					command.getCommandId(),
+					"fc_" + frequency,
+					timeService.getMissionTime(),
+					AckStatus.OK);
+
+			devices.remove(deviceName);
+		}
+
+		// If both FCs have ack'd then the command
+		// is complete
+		if (devices.size() == 0) {
+			commandHistoryPublisher.publishAck(
+					command.getCommandId(),
+					CommandHistoryPublisher.CommandComplete_KEY,
+					timeService.getMissionTime(),
+					AckStatus.OK);
+		}
 
-		commandHistoryPublisher.publishAck(
-				command.getCommandId(),
-				"fc_" + frequency,
-				timeService.getMissionTime(),
-				AckStatus.OK);
 	}
 
 	private void handleAck(String deviceName, MqttMessage message) {