Priority in Microgrid Controller Selection

.github/workflows/TMS.yml

@@ -58,11 +58,24 @@ jobs:
           fetch-depth: 1
           submodules: true
 
+      # Setup stacktrace
+      - name: install gdb
+        if: runner.os == 'Linux'
+        run: |
+          sudo apt-get update
+          sudo apt-get install gdb
+          echo 0 | sudo tee /proc/sys/kernel/yama/ptrace_scope
+      - name: change core file pattern
+        if: runner.os == 'Linux'
+        run: |
+          sudo sysctl -w kernel.core_pattern=core.%e.%p
+          echo Core file pattern set to:
+          cat /proc/sys/kernel/core_pattern
+
       # Get 3rd-party Dependencies
       - name: 'Install openssl, xerces (Linux)'
         if: runner.os == 'Linux'
         run: |-
-          sudo apt-get update
           sudo apt-get -y install libssl-dev libxerces-c-dev
       - name: 'Install xerces (macOS)'
         if: runner.os == 'macOS'
@@ -226,7 +239,7 @@ jobs:
           cd OpenDDS
           . setenv.sh
           cd ../tactical-microgrid-standard
-          cmake -B build_static
+          cmake -B build_static -D BUILD_TESTING=TRUE
           cmake --build build_static
       - name: 'Build TMS application with shared libs (Linux /macOS)'
         if: runner.os == 'Linux' || runner.os == 'macOS'
@@ -235,7 +248,7 @@ jobs:
           cd OpenDDS
           . setenv.sh
           cd ../tactical-microgrid-standard
-          cmake -DBUILD_SHARED_LIBS=yes -B build_shared
+          cmake -DBUILD_SHARED_LIBS=yes -B build_shared -D BUILD_TESTING=TRUE
           cmake --build build_shared
       - name: 'Build TMS application with static libs (Windows)'
         if: runner.os == 'Windows'
@@ -244,7 +257,7 @@ jobs:
           cd OpenDDS
           call setenv.cmd
           cd ..\tactical-microgrid-standard
-          cmake -B build_static
+          cmake -B build_static -D BUILD_TESTING=TRUE
           cmake --build build_static
       - name: 'Build TMS application with shared libs (Windows)'
         if: runner.os == 'Windows'
@@ -253,5 +266,37 @@ jobs:
           cd OpenDDS
           call setenv.cmd
           cd ..\tactical-microgrid-standard
-          cmake -DBUILD_SHARED_LIBS=yes -B build_shared
+          cmake -DBUILD_SHARED_LIBS=yes -B build_shared -D BUILD_TESTING=TRUE
           cmake --build build_shared
+      - name: 'Run tests with static libs (Linux)'
+        if: runner.os == 'Linux'
+        run: |-
+          ulimit -c unlimited
+          cd OpenDDS
+          . setenv.sh
+          cd ../tactical-microgrid-standard/build_static
+          ctest --verbose --output-on-failure
+      - name: 'Run tests with shared libs (Linux)'
+        if: runner.os == 'Linux'
+        run: |-
+          ulimit -c unlimited
+          cd OpenDDS
+          . setenv.sh
+          cd ../tactical-microgrid-standard/build_shared
+          ctest --verbose --output-on-failure
+      - name: 'Run tests with static libs (Windows)'
+        if: runner.os == 'Windows'
+        shell: cmd
+        run: |-
+          cd OpenDDS
+          call setenv.cmd
+          cd ..\tactical-microgrid-standard\build_static
+          ctest --verbose --output-on-failure -C Debug
+      - name: 'Run tests with shared libs (Windows)'
+        if: runner.os == 'Windows'
+        shell: cmd
+        run: |-
+          cd OpenDDS
+          call setenv.cmd
+          cd ..\tactical-microgrid-standard\build_shared
+          ctest --verbose --output-on-failure -C Debug

tactical-microgrid-standard/CMakeLists.txt

@@ -24,6 +24,12 @@ opendds_target_sources(TMS_Common
 target_link_libraries(TMS_Common PUBLIC OpenDDS::Rtps_Udp)
 target_compile_features(TMS_Common PUBLIC cxx_std_17)
 opendds_bigobj(TMS_Common)
+# Generated code with complete type objects enabled for the TMS IDL file
+# causes stack overflow on Windows.
+# Increase the stack size to 2MB (default is 1MB).
+if (MSVC)
+  target_link_options(TMS_Common PUBLIC "/STACK:2097152")
+endif()
 
 add_library(Commands_Idl)
 opendds_target_sources(Commands_Idl
@@ -87,16 +93,6 @@ add_executable(Distribution
 target_include_directories(Distribution PUBLIC ${CMAKE_CURRENT_SOURCE_DIR})
 target_link_libraries(Distribution PRIVATE PowerSim_Idl)
 
-# Generated code with complete type objects enabled for the TMS IDL file
-# causes stack overflow on Windows.
-# Increase the stack size to 2MB (default is 1MB).
-if (MSVC)
-  target_link_options(Controller PRIVATE "/STACK:2097152")
-  target_link_options(CLI PRIVATE "/STACK:2097152")
-  target_link_options(Source PRIVATE "/STACK:2097152")
-  target_link_options(Load PRIVATE "/STACK:2097152")
-  target_link_options(Distribution PRIVATE "/STACK:2097152")
+if(BUILD_TESTING)
+  add_subdirectory(tests)
 endif()
-
-
-add_subdirectory(tests)

tactical-microgrid-standard/README.md

@@ -32,7 +32,7 @@ cmake --build <build_dir>
 - `cli/`: Command-line interface implementation
 - `cli_idl/`: Interface definition files for CLI commands
 - `common/`: Shared libraries and utilities
-  - TMS data model definitions (mil-std-3071_data_model.idl)
+  - TMS data model definitions (`mil-std-3071_data_model.idl`)
   - TMS Handshaking function
   - TMS microgrid controller selection
   - TMS QoS profiles
@@ -46,13 +46,27 @@ cmake --build <build_dir>
 
 ## Testing
 
-Tests can be run using CTest after building the project:
+Tests can be run using CTest after building the project with `-D BUILD_TESTING=TRUE`:
 
 ```bash
 cd <build_dir>
 ctest
 ```
 
+## Configuration
+
+These programs support the following OpenDDS configuration properties. There
+are multiple ways to set these, see
+[OpenDDS runtime configuration](https://opendds.readthedocs.io/en/master/devguide/run_time_configuration.html)
+for more info.
+
+- `TMS_SELECTOR_DEBUG=<boolean>`
+  - Enables debug logging of the microgrid controller selection process of power devices.
+  - Command line option example: `-OpenDDS-tms-selector-debug true`
+- `TMS_CONTROLLER_DEBUG=<boolean>`
+  - Enables debug logging of what devices the controller has learned about.
+  - Command line option example: `-OpenDDS-tms-controller-debug true`
+
 ## References
 
 - [Tactical Microgrid Standard (MIL-STD-3071)](https://quicksearch.dla.mil/qsDocDetails.aspx?ident_number=285095)

tactical-microgrid-standard/common/Configurable.h

@@ -0,0 +1,111 @@
+#ifndef TMS_COMMON_CONFIGURABLE
+#define TMS_COMMON_CONFIGURABLE
+
+#include <dds/DCPS/ConfigStoreImpl.h>
+#include <dds/DCPS/InternalDataReaderListener.h>
+#include <dds/DCPS/Service_Participant.h>
+
+#include <mutex>
+
+class Configurable {
+public:
+  using Mutex = std::recursive_mutex;
+  using Guard = std::lock_guard<Mutex>;
+
+  Configurable(const std::string& prefix)
+    : config_prefix_(prefix)
+  {
+  }
+
+  virtual ~Configurable()
+  {
+    Guard g(config_lock_);
+
+    if (config_reader_) {
+      TheServiceParticipant->config_topic()->disconnect(config_reader_);
+    }
+  }
+
+  void setup_config()
+  {
+    Guard g(config_lock_);
+
+    if (!config_reader_) {
+      config_listener_ = OpenDDS::DCPS::make_rch<ConfigListener>(this, config_prefix_ + "_");
+      config_reader_ = OpenDDS::DCPS::make_rch<OpenDDS::DCPS::ConfigReader>(
+        TheServiceParticipant->config_store()->datareader_qos(), config_listener_);
+      TheServiceParticipant->config_topic()->connect(config_reader_);
+    }
+  }
+
+  const std::string& config_prefix() const
+  {
+    return config_prefix_;
+  }
+
+  static bool convert_bool(const OpenDDS::DCPS::ConfigPair& pair, bool& value)
+  {
+    DDS::Boolean x = 0;
+    if (pair.value() == "true") {
+      value = true;
+      return true;
+    } else if (pair.value() == "false") {
+      value = false;
+      return true;
+    } else if (OpenDDS::DCPS::convertToInteger(pair.value(), x)) {
+      value = x;
+      return true;
+    } else {
+      ACE_ERROR((LM_WARNING, "(%P|%t) WARNING: Configurable::convert_bool: failed to parse boolean for %C=%C\n",
+                 pair.key().c_str(), pair.value().c_str()));
+      return false;
+    }
+  }
+
+  virtual bool got_config(const std::string& name, const OpenDDS::DCPS::ConfigPair& pair) = 0;
+
+private:
+  class ConfigListener : public OpenDDS::DCPS::ConfigListener {
+  public:
+    explicit ConfigListener(Configurable* configurable, const std::string& prefix)
+      : OpenDDS::DCPS::ConfigListener(TheServiceParticipant->job_queue())
+      , configurable_(*configurable)
+      , prefix_(prefix)
+    {
+    }
+
+    void on_data_available(InternalDataReader_rch reader) override
+    {
+      OpenDDS::DCPS::ConfigReader::SampleSequence samples;
+      OpenDDS::DCPS::InternalSampleInfoSequence infos;
+      reader->read(samples, infos, DDS::LENGTH_UNLIMITED,
+                   DDS::NOT_READ_SAMPLE_STATE, DDS::ANY_VIEW_STATE, DDS::ANY_INSTANCE_STATE);
+      for (size_t idx = 0; idx != samples.size(); ++idx) {
+        const auto& info = infos[idx];
+        if (info.valid_data) {
+          const auto& pair = samples[idx];
+          // Match key to prefix and pass rest of key as a short name
+          if (pair.key().substr(0, prefix_.length()) == prefix_) {
+            const auto name = pair.key().substr(prefix_.length());
+            if (!configurable_.got_config(name, pair)) {
+              ACE_ERROR((LM_WARNING, "(%P|%t) WARNING: Configurable::ConfigListener::on_data_available: "
+                "%C is not a valid property for %C\n",
+                name.c_str(), configurable_.config_prefix().c_str()));
+            }
+          }
+        }
+      }
+    }
+
+  private:
+    Configurable& configurable_;
+    const std::string prefix_;
+  };
+
+  mutable Mutex config_lock_;
+  const std::string config_prefix_;
+  OpenDDS::DCPS::RcHandle<OpenDDS::DCPS::ConfigReader> config_reader_;
+  OpenDDS::DCPS::RcHandle<ConfigListener> config_listener_;
+};
+
+#endif