14.3. Using juicer to generate the message database

These instructions describe how to run juicer to create a database for use with BRASH.

14.3.1. Run the database conversion node

You can generate the database by running the following launch file in the brash workspace:

$ cd ~/code/brash
$ source install/setup.bash
$ ros2 launch juicer_util generate_juicer_database.launch.py

You might need to modify the launch arguments if your cFS and juicer installation paths are different than the default arguments:

  • cfs_path: ~/code/cFS

  • juicer_path: ~/code/juicer

  • output: combined.sqlite

The default input_list of objects to be processed is composed by the libraries found in the cf/ folder. If you create a new cFS application, you’ll want to add its library here:

['core-cpu1', 'cf/cfe_assert.so', 'cf/ci_lab.so',
'cf/ros_app.so', 'cf/sample_app.so', 'cf/sample_lib.so',
'cf/sbn_f_remap.so', 'cf/sbn.so', 'cf/sbn_udp.so',
'cf/sch_lab.so', 'cf/to_lab.so', 'cf/robot_sim.so',
'cf/cf.so', 'cf/rover_app.so']

The launch file executes the generate_juicer_database node, which generates an sqlite database file at <juicer_path>/dbs with the name specified by <output>. You might need to create the folder dbs in the juicer_path, if it does not exist yet.

14.3.2. View the database

$ sqlitebrowser

brings up this window

Enable TO output

  1. Select Open Database and select the combined.sqlite file generated above (or whatever you defined the output name above as).

  2. Select the Browse Data tab.

  3. From the Table dropdown select symbols.

    Enable TO output