Restore ci_lab/to_lab for direct cFS GroundSystem commanding and telemetry

.gitmodules

@@ -37,3 +37,11 @@
 [submodule "apps/sch_lab"]
 	path = apps/sch_lab
 	url = https://github.com/nasa/sch_lab.git
+[submodule "apps/ci_lab"]
+	path = apps/ci_lab
+	url = https://github.com/nasa/ci_lab.git
+	branch = main
+[submodule "apps/to_lab"]
+	path = apps/to_lab
+	url = https://github.com/nasa/to_lab.git
+	branch = main

README.md

@@ -5,16 +5,26 @@ This repository contains a minimal cFS system that demonstrates the use of cFS a
 1. `fprime_app`: A simple demonstration app showing how to construct cFS applications using F Prime
 2. `fprime_gds`: An application that bridges the F Prime GDS to the cFS messaging bus
 
-The system also includes the standard cFS `sch_lab` scheduler app, which publishes the 1 Hz tick
-that drives the F Prime application's rate groups.
+The system also includes the standard cFS lab apps:
 
+- `sch_lab`: publishes the 1 Hz tick that drives the F Prime application's rate groups
+- `ci_lab`: command ingest, receiving cFS command packets over UDP (port `1234`)
+- `to_lab`: telemetry output, forwarding subscribed software bus telemetry over UDP (port `2234`)
+
+`ci_lab` and `to_lab` give the [cFS GroundSystem](https://github.com/nasa/cFS-GroundSystem)
+a direct path to the software bus; `to_lab` is subscribed to the F Prime packetized
+telemetry message (`0x0820`) in `fprime_cfs_reference_defs/tables/cpu1_to_lab_sub.c`.
 
 ```mermaid
 flowchart LR
     fprime_app(("fprime_app")) --- Bus[cFS Messaging Bus]
     fprime_gds(("fprime_gds")) --- Bus
     sch_lab(("sch_lab")) --- Bus
+    ci_lab(("ci_lab")) --- Bus
+    to_lab(("to_lab")) --- Bus
     gds["F Prime GDS"] --- fprime_gds
+    cfsgds["cFS GroundSystem"] -- "UDP :1234" --> ci_lab
+    to_lab -- "UDP :2234" --> cfsgds
 ```
 
 ## Setup
@@ -75,4 +85,16 @@ The reference hosts a TCP server for the GDS to connect on port `15010`. The GDS
 fprime-gds --ip-port 15010 --dictionary ./build-artifacts/exe/Linux/fprime_app/dict/*Dictionary.json  -n --ip-client
 ```
 
+## Running the cFS GroundSystem
+
+The cFS GroundSystem can command and monitor the system directly through `ci_lab` and
+`to_lab` using the `fprime-cfs` tooling from the
+[fprime_cfs](https://github.com/fprime-community/fprime_cfs) library:
+
+```bash
+fprime-cfs --dictionary ./build-artifacts/exe/Linux/fprime_app/dict/*Dictionary.json \
+    --ground-system-dir tools/cFS-GroundSystem \
+    --deployment build-artifacts/exe/cpu1 --app build-artifacts/exe/cpu1/core-cpu1
+```
+
 Enjoy!

fprime_cfs_reference_defs/cpu1_cfe_es_startup.scr

@@ -2,6 +2,8 @@ CFE_LIB, cfe_assert,  CFE_Assert_LibInit, ASSERT_LIB,    0,   0,     0x0, 0;
 CFE_APP, sch_lab,     SCH_LAB_AppMain,    SCH_LAB,  30,   16384, 0x0, 0;
 CFE_APP, fprime_gds,  FPRIME_GDS_Main,    FPRIME_GDS,   25,   16384, 0x0, 0;
 CFE_APP, fprime_app,  FPRIME_APP_Main,    FPRIME_APP,   25,   65536, 0x0, 0;
+CFE_APP, ci_lab,      CI_LAB_AppMain,     CI_LAB,       60,   16384, 0x0, 0;
+CFE_APP, to_lab,      TO_LAB_AppMain,     TO_LAB,       70,   16384, 0x0, 0;
 !
 ! Startup script fields:
 ! 1. Object Type      -- CFE_APP for an Application, or CFE_LIB for a library.

fprime_cfs_reference_defs/tables/cpu1_to_lab_sub.c

@@ -0,0 +1,28 @@
+/*
+** Mission override of the to_lab subscription table.
+**
+** Subscribes TO_LAB to the F Prime packetized telemetry stream so the
+** cFS GroundSystem receives it directly over UDP. The fprime_app telemetry
+** framing produces space packets with the secondary header flag set, so the
+** message ID is the secondary header flag (0x0800) plus the packetized
+** telemetry APID (ComCfg.Apid.FW_PACKET_PACKETIZED_TLM = 0x020, chosen to
+** stay clear of the default cFE core housekeeping telemetry topics).
+*/
+
+#include "cfe_tbl_filedef.h" /* Required to obtain the CFE_TBL_FILEDEF macro definition */
+#include "cfe_sb_api_typedefs.h"
+#include "to_lab_tbl.h"
+#include "cfe_msgids.h"
+
+#include "to_lab_msgids.h"
+
+/* F Prime packetized telemetry: secondary header flag + APID 0x020 (see fprime_app) */
+#define FPRIME_PACKETIZED_TLM_MID 0x0820
+
+TO_LAB_Subs_t Subscriptions = { .Subs = {
+                                    { CFE_SB_MSGID_WRAP_VALUE(FPRIME_PACKETIZED_TLM_MID), { 0, 0 }, 4 },
+
+                                    /* CFE_SB_MSGID_RESERVED entry to mark the end of valid MsgIds */
+                                    { CFE_SB_MSGID_RESERVED, { 0, 0 }, 0 } } };
+
+CFE_TBL_FILEDEF(Subscriptions, TO_LAB.Subscriptions, TO Lab Sub Tbl, to_lab_sub.tbl)

fprime_cfs_reference_defs/targets.cmake

@@ -86,7 +86,7 @@ SET(SPACECRAFT_ID 0x42)
 # and must be loaded explicitly via startup script or command.
 # This list is effectively appended to every TGTx_APPLIST in targets.cmake.
 # Example:
-list(APPEND MISSION_GLOBAL_APPLIST fprime fprime_cfs fprime_app fprime_gds sch_lab)
+list(APPEND MISSION_GLOBAL_APPLIST fprime fprime_cfs fprime_app fprime_gds sch_lab ci_lab to_lab)
 
 # The "MISSION_GLOBAL_STATIC_APPLIST" is similar to MISSION_GLOBAL_APPLIST
 # but the apps are statically linked.