openc3 5.1.1 → 5.2.0

data/lib/openc3/script/commands.rb

@@ -17,7 +17,7 @@
 # All changes Copyright 2022, OpenC3, Inc.
 # All Rights Reserved
 #
-# This file may also be used under the terms of a commercial license 
+# This file may also be used under the terms of a commercial license
 # if purchased from OpenC3, Inc.
 
 require 'openc3/packets/packet'
@@ -30,8 +30,7 @@ module OpenC3
     private
 
     # Format the command like it appears in a script
-    # TODO: Make this output alternative syntax if any binary data
-    def _cmd_string(target_name, cmd_name, cmd_params, raw, scope: $openc3_scope)
+    def _cmd_string(target_name, cmd_name, cmd_params, raw)
       output_string = $disconnect ? 'DISCONNECT: ' : ''
       if raw
         output_string += 'cmd_raw("'
@@ -68,7 +67,7 @@ module OpenC3
 
     # Log any warnings about disabling checks and log the command itself
     # NOTE: This is a helper method and should not be called directly
-    def _log_cmd(target_name, cmd_name, cmd_params, raw, no_range, no_hazardous, scope: $openc3_scope)
+    def _log_cmd(target_name, cmd_name, cmd_params, raw, no_range, no_hazardous)
       if no_range
         Logger.warn "Command #{target_name} #{cmd_name} being sent ignoring range checks"
       end
@@ -94,6 +93,7 @@ module OpenC3
         # Invalid number of arguments
         raise "ERROR: Invalid number of arguments (#{args.length}) passed to #{cmd}()"
       end
+
       # Get the command and validate the parameters
       command = $api_server.get_command(target_name, cmd_name, scope: scope)
       cmd_params.each do |param_name, param_value|
@@ -106,16 +106,10 @@ module OpenC3
     end
 
     # Send the command and log the results
+    # This method signature has to include the keyword params present in cmd_api.rb cmd_implementation()
     # NOTE: This is a helper method and should not be called directly
-    def _cmd(cmd, cmd_no_hazardous, *args, **kw_args)
-      if kw_args[:scope]
-        scope = kw_args[:scope]
-        kw_args.delete(:scope)
-      else
-        scope = $openc3_scope
-      end
-      args << kw_args if kw_args.length > 0
-
+    def _cmd(cmd, cmd_no_hazardous, *args, scope: $openc3_scope, token: $openc3_token, timeout: nil, **kwargs)
+      extract_string_kwargs_to_args(args, kwargs)
       raw = cmd.include?('raw')
       no_range = cmd.include?('no_range') || cmd.include?('no_checks')
       no_hazardous = cmd.include?('no_hazardous') || cmd.include?('no_checks')
@@ -124,88 +118,64 @@ module OpenC3
         _cmd_disconnect(cmd, raw, no_range, no_hazardous, *args, scope: scope)
       else
         begin
-          target_name, cmd_name, cmd_params = $api_server.method_missing(cmd, *args, scope: scope)
-          _log_cmd(target_name, cmd_name, cmd_params, raw, no_range, no_hazardous, scope: scope)
+          target_name, cmd_name, cmd_params = $api_server.method_missing(cmd, *args, scope: scope, token: token, timeout: timeout)
+          _log_cmd(target_name, cmd_name, cmd_params, raw, no_range, no_hazardous)
         rescue HazardousError => e
           # This opens a prompt at which point they can cancel and stop the script
           # or say Yes and send the command. Thus we don't care about the return value.
           prompt_for_hazardous(e.target_name, e.cmd_name, e.hazardous_description)
-          target_name, cmd_name, cmd_params = $api_server.method_missing(cmd_no_hazardous, *args, scope: scope)
-          _log_cmd(target_name, cmd_name, cmd_params, raw, no_range, no_hazardous, scope: scope)
+          target_name, cmd_name, cmd_params = $api_server.method_missing(cmd_no_hazardous, *args, scope: scope, token: token, timeout: timeout)
+          _log_cmd(target_name, cmd_name, cmd_params, raw, no_range, no_hazardous)
         end
       end
     end
 
-    # Send a command to the specified target
+    # The following methods send a command to the specified target. The equivalent
+    # 'raw' version does not perform command parameter conversions
+    #
     # Usage:
     #   cmd(target_name, cmd_name, cmd_params = {})
     # or
     #   cmd('target_name cmd_name with cmd_param1 value1, cmd_param2 value2')
-    def cmd(*args, **kw_args)
-      _cmd('cmd', 'cmd_no_hazardous_check', *args, **kw_args)
+    def cmd(*args, **kwargs)
+      _cmd('cmd', 'cmd_no_hazardous_check', *args, **kwargs)
+    end
+    def cmd_raw(*args, **kwargs)
+      _cmd('cmd_raw', 'cmd_raw_no_hazardous_check', *args, **kwargs)
     end
 
     # Send a command to the specified target without range checking parameters
-    # Usage:
-    #   cmd_no_range_check(target_name, cmd_name, cmd_params = {})
-    # or
-    #   cmd_no_range_check('target_name cmd_name with cmd_param1 value1, cmd_param2 value2')
-    def cmd_no_range_check(*args, **kw_args)
-      _cmd('cmd_no_range_check', 'cmd_no_checks', *args, **kw_args)
+    def cmd_no_range_check(*args, **kwargs)
+      _cmd('cmd_no_range_check', 'cmd_no_checks', *args, **kwargs)
     end
-
-    # Send a command to the specified target without hazardous checks
-    # Usage:
-    #   cmd_no_hazardous_check(target_name, cmd_name, cmd_params = {})
-    # or
-    #   cmd_no_hazardous_check('target_name cmd_name with cmd_param1 value1, cmd_param2 value2')
-    def cmd_no_hazardous_check(*args, **kw_args)
-      _cmd('cmd_no_hazardous_check', nil, *args, **kw_args)
+    def cmd_raw_no_range_check(*args, **kwargs)
+      _cmd('cmd_raw_no_range_check', 'cmd_raw_no_checks', *args, **kwargs)
     end
 
-    # Send a command to the specified target without range checking or hazardous checks
-    # Usage:
-    #   cmd_no_checks(target_name, cmd_name, cmd_params = {})
-    # or
-    #   cmd_no_checks('target_name cmd_name with cmd_param1 value1, cmd_param2 value2')
-    def cmd_no_checks(*args, **kw_args)
-      _cmd('cmd_no_checks', nil, *args, **kw_args)
+    # Send a command to the specified target without hazardous checks
+    def cmd_no_hazardous_check(*args, **kwargs)
+      _cmd('cmd_no_hazardous_check', nil, *args, **kwargs)
     end
-
-    # Send a command to the specified target without running conversions
-    # Usage:
-    #   cmd_raw(target_name, cmd_name, cmd_params = {})
-    # or
-    #   cmd_raw('target_name cmd_name with cmd_param1 value1, cmd_param2 value2')
-    def cmd_raw(*args, **kw_args)
-      _cmd('cmd_raw', 'cmd_raw_no_hazardous_check', *args, **kw_args)
+    def cmd_raw_no_hazardous_check(*args, **kwargs)
+      _cmd('cmd_raw_no_hazardous_check', nil, *args, **kwargs)
     end
 
-    # Send a command to the specified target without range checking parameters or running conversions
-    # Usage:
-    #   cmd_raw_no_range_check(target_name, cmd_name, cmd_params = {})
-    # or
-    #   cmd_raw_no_range_check('target_name cmd_name with cmd_param1 value1, cmd_param2 value2')
-    def cmd_raw_no_range_check(*args, **kw_args)
-      _cmd('cmd_raw_no_range_check', 'cmd_raw_no_checks', *args, **kw_args)
+    # Send a command to the specified target without range checking or hazardous checks
+    def cmd_no_checks(*args, **kwargs)
+      _cmd('cmd_no_checks', nil, *args, **kwargs)
     end
-
-    # Send a command to the specified target without hazardous checks or running conversions
-    # Usage:
-    #   cmd_raw_no_hazardous_check(target_name, cmd_name, cmd_params = {})
-    # or
-    #   cmd_raw_no_hazardous_check('target_name cmd_name with cmd_param1 value1, cmd_param2 value2')
-    def cmd_raw_no_hazardous_check(*args, **kw_args)
-      _cmd('cmd_raw_no_hazardous_check', nil, *args, **kw_args)
+    def cmd_raw_no_checks(*args, **kwargs)
+      _cmd('cmd_raw_no_checks', nil, *args, **kwargs)
     end
 
-    # Send a command to the specified target without range checking or hazardous checks or running conversions
-    # Usage:
-    #   cmd_raw_no_checks(target_name, cmd_name, cmd_params = {})
-    # or
-    #   cmd_raw_no_checks('target_name cmd_name with cmd_param1 value1, cmd_param2 value2')
-    def cmd_raw_no_checks(*args, **kw_args)
-      _cmd('cmd_raw_no_checks', nil, *args, **kw_args)
+    # Returns whether the specified command is hazardous
+    #
+    # Accepts two different calling styles:
+    #   get_cmd_hazardous("TGT CMD with PARAM1 val, PARAM2 val")
+    #   get_cmd_hazardous('TGT','CMD',{'PARAM1'=>val,'PARAM2'=>val})
+    def get_cmd_hazardous(*args, **kwargs)
+      extract_string_kwargs_to_args(args, kwargs)
+      $api_server.get_cmd_hazardous(*args)
     end
 
     # Sends raw data through an interface from a file

data/lib/openc3/script/extract.rb

@@ -17,7 +17,7 @@
 # All changes Copyright 2022, OpenC3, Inc.
 # All Rights Reserved
 #
-# This file may also be used under the terms of a commercial license 
+# This file may also be used under the terms of a commercial license
 # if purchased from OpenC3, Inc.
 
 require 'openc3/utilities/store'
@@ -28,6 +28,20 @@ module OpenC3
 
     private
 
+    # Pulls all string keyword arguments into the args array. Raises on any symbol keyword arguments.
+    # Thus this method should only be called after you already filter out any symbol keyword arguments.
+    def extract_string_kwargs_to_args(args, kwargs)
+      # Split keywords into string keywords (part of our API, e.g. "PARAM" => 123) and
+      # symbol keywords which are meant for the internal methods, e.g. scope:, token:, timeout:
+      # If the user tries to pass symbol keywords then that is an error
+      str, sym = kwargs.partition {|k, v| k.is_a?(String) }.map(&:to_h)
+      unless sym.empty?
+        raise ArgumentError, "Unknown symbol keyword(s): #{sym.keys.join(', ')}. "\
+          "COSMOS command parameters must be passed as strings: \"#{sym.to_a[0][0].to_s}\" => ..."
+      end
+      args << str unless str.empty?
+    end
+
     def add_cmd_parameter(keyword, value, packet, cmd_params)
       quotes_removed = value.remove_quotes
       if value == quotes_removed

data/lib/openc3/script/{calendar.rb → metadata.rb}

@@ -17,7 +17,7 @@
 # All changes Copyright 2022, OpenC3, Inc.
 # All Rights Reserved
 #
-# This file may also be used under the terms of a commercial license 
+# This file may also be used under the terms of a commercial license
 # if purchased from OpenC3, Inc.
 
 require 'openc3/script/extract'
@@ -29,64 +29,89 @@ module OpenC3
 
     private
 
-    # Gets the current metadata
+    # Gets all the metadata
     #
     # @return The result of the method call.
-    def get_metadata(scope: $openc3_scope)
-      response = $api_server.request('get', "/openc3-api/metadata/latest", scope: scope)
+    def metadata_all(limit: 100, scope: $openc3_scope)
+      response = $api_server.request('get', "/openc3-api/metadata", query: { limit: limit }, scope: scope)
       # Non-existant just returns nil
       return nil if response.nil? || response.code != 200
       return JSON.parse(response.body, :allow_nan => true, :create_additions => true)
     end
+    alias all_metadata metadata_all
 
-    # Sets the metadata
+    # Gets metadata, default is latest if start is nil
+    #
+    # @return The result of the method call.
+    def metadata_get(start: nil, scope: $openc3_scope)
+      if start
+        response = $api_server.request('get', "/openc3-api/metadata/#{start}", scope: scope)
+      else
+        response = $api_server.request('get', "/openc3-api/metadata/latest", scope: scope)
+      end
+      # Non-existant just returns nil
+      return nil if response.nil? || response.code != 200
+      return JSON.parse(response.body, :allow_nan => true, :create_additions => true)
+    end
+    alias get_metadata metadata_get
+
+    # Create a new metadata entry at the given start time or now if no start given
     #
     # @param metadata [Hash<Symbol, Variable>] A hash of metadata
+    # @param start [Integer] Metadata time value as integer seconds from epoch
     # @param color [String] Events color to show on Calendar tool, if nil will be blue
-    # @param start [Time] Metadata time value, if nil will be current time
     # @return The result of the method call.
-    def set_metadata(metadata, color: nil, start: nil, scope: $openc3_scope)
+    def metadata_set(metadata, start: nil, color: nil, scope: $openc3_scope)
       unless metadata.is_a?(Hash)
         raise "metadata must be a Hash: #{metadata} is a #{metadata.class}"
       end
-      color = color.nil? ? '#003784' : color
+      color = '#003784' unless color
       data = { color: color, metadata: metadata }
       data[:start] = start.iso8601 unless start.nil?
       response = $api_server.request('post', '/openc3-api/metadata', data: data, json: true, scope: scope)
-      if response.nil? || response.code != 201
-        raise "Failed to set_metadata"
+      if response.nil?
+        raise "Failed to set metadata due to #{response.code}"
+      elsif response.code == 409
+        raise "Metadata overlaps existing metadata. Did you metadata_set within 1s of another?"
+      elsif response.code != 201
+        raise "Failed to set metadata due to #{response.code}"
       end
       return JSON.parse(response.body, :allow_nan => true, :create_additions => true)
     end
+    alias set_metadata metadata_set
 
-    # Updates the metadata
+    # Updates existing metadata. If no start is given, updates latest metadata.
     #
     # @param metadata [Hash<Symbol, Variable>] A hash of metadata
-    # @param color [String] Events color to show on Calendar tool, if nil will be blue
     # @param start [Integer] Metadata time value as integer seconds from epoch
+    # @param color [String] Events color to show on Calendar tool, if nil will be blue
     # @return The result of the method call.
-    def update_metadata(metadata, color: nil, start: nil, scope: $openc3_scope)
+    def metadata_update(metadata, start: nil, color: nil, scope: $openc3_scope)
       unless metadata.is_a?(Hash)
         raise "metadata must be a Hash: #{metadata} is a #{metadata.class}"
       end
-      color = color.nil? ? '#003784' : color
-      if start == nil
+      if start.nil? # No start so grab latest
         existing = get_metadata()
         start = existing['start']
+        color = existing['color'] unless color
         metadata = existing['metadata'].merge(metadata)
+      else
+        color = '#003784' unless color
       end
       data = { :color => color, :metadata => metadata }
       data[:start] = Time.at(start).iso8601
       response = $api_server.request('put', "/openc3-api/metadata/#{start}", data: data, json: true, scope: scope)
       if response.nil? || response.code != 200
-        raise "Failed to update_metadata"
+        raise "Failed to update metadata"
       end
       return JSON.parse(response.body, :allow_nan => true, :create_additions => true)
     end
+    alias update_metadata metadata_update
 
     # Requests the metadata from the user for a target
-    def input_metadata(*args, **kwargs)
+    def metadata_input(*args, **kwargs)
       raise StandardError "can only be used in Script Runner"
     end
+    alias input_metadata metadata_input
   end
 end

data/lib/openc3/script/script.rb

@@ -24,7 +24,7 @@ require 'openc3'
 require 'openc3/api/api'
 require 'openc3/io/json_drb_object'
 require 'openc3/script/api_shared'
-require 'openc3/script/calendar'
+require 'openc3/script/metadata'
 require 'openc3/script/commands'
 require 'openc3/script/telemetry'
 require 'openc3/script/limits'
@@ -199,8 +199,12 @@ module OpenC3
 
     # generate the auth object
     def generate_auth
-      if ENV['OPENC3_API_USER'].nil?
-        return OpenC3Authentication.new()
+      if ENV['OPENC3_API_TOKEN'].nil? and ENV['OPENC3_API_USER'].nil?
+        if ENV['OPENC3_API_PASSWORD'] || ENV['OPENC3_SERVICE_PASSWORD']
+          return OpenC3Authentication.new()
+        else
+          return nil
+        end
       else
         return OpenC3KeycloakAuthentication.new(ENV['OPENC3_KEYCLOAK_URL'])
       end
@@ -265,8 +269,12 @@ module OpenC3
 
     # generate the auth object
     def generate_auth
-      if ENV['OPENC3_API_USER'].nil?
-        return OpenC3Authentication.new()
+      if ENV['OPENC3_API_TOKEN'].nil? and ENV['OPENC3_API_USER'].nil?
+        if ENV['OPENC3_API_PASSWORD'] || ENV['OPENC3_SERVICE_PASSWORD']
+          return OpenC3Authentication.new()
+        else
+          return nil
+        end
       else
         return OpenC3KeycloakAuthentication.new(ENV['OPENC3_KEYCLOAK_URL'])
       end

data/lib/openc3/script/storage.rb

@@ -17,12 +17,14 @@
 # All changes Copyright 2022, OpenC3, Inc.
 # All Rights Reserved
 #
-# This file may also be used under the terms of a commercial license 
+# This file may also be used under the terms of a commercial license
 # if purchased from OpenC3, Inc.
 
 require 'tempfile'
 require 'net/http'
 
+ENV['OPENC3_CLOUD'] ||= 'local'
+
 module OpenC3
   module Script
     private

data/lib/openc3/system/system.rb

@@ -72,26 +72,28 @@ module OpenC3
     end
 
     def self.setup_targets(target_names, base_dir, scope:)
-      FileUtils.mkdir_p("#{base_dir}/targets")
-      bucket = Bucket.getClient()
-      target_names.each do |target_name|
-        # Retrieve bucket/targets/target_name/target_id.zip
-        zip_path = "#{base_dir}/targets/#{target_name}_current.zip"
-        FileUtils.mkdir_p(File.dirname(zip_path))
-        bucket_key = "#{scope}/target_archives/#{target_name}/#{target_name}_current.zip"
-        Logger.info("Retrieving #{bucket_key} from targets bucket")
-        bucket.get_object(bucket: ENV['OPENC3_CONFIG_BUCKET'], key: bucket_key, path: zip_path)
-        Zip::File.open(zip_path) do |zip_file|
-          zip_file.each do |entry|
-            path = File.join("#{base_dir}/targets", entry.name)
-            FileUtils.mkdir_p(File.dirname(path))
-            zip_file.extract(entry, path) unless File.exist?(path)
+      if @@instance.nil?
+        FileUtils.mkdir_p("#{base_dir}/targets")
+        bucket = Bucket.getClient()
+        target_names.each do |target_name|
+          # Retrieve bucket/targets/target_name/target_id.zip
+          zip_path = "#{base_dir}/targets/#{target_name}_current.zip"
+          FileUtils.mkdir_p(File.dirname(zip_path))
+          bucket_key = "#{scope}/target_archives/#{target_name}/#{target_name}_current.zip"
+          Logger.info("Retrieving #{bucket_key} from targets bucket")
+          bucket.get_object(bucket: ENV['OPENC3_CONFIG_BUCKET'], key: bucket_key, path: zip_path)
+          Zip::File.open(zip_path) do |zip_file|
+            zip_file.each do |entry|
+              path = File.join("#{base_dir}/targets", entry.name)
+              FileUtils.mkdir_p(File.dirname(path))
+              zip_file.extract(entry, path) unless File.exist?(path)
+            end
           end
         end
-      end
 
-      # Build System from targets
-      System.instance(target_names, "#{base_dir}/targets")
+        # Build System from targets
+        System.instance(target_names, "#{base_dir}/targets")
+      end
     end
 
     # Get the singleton instance of System

data/lib/openc3/tools/cmd_tlm_server/interface_thread.rb

@@ -17,7 +17,7 @@
 # All changes Copyright 2022, OpenC3, Inc.
 # All Rights Reserved
 #
-# This file may also be used under the terms of a commercial license 
+# This file may also be used under the terms of a commercial license
 # if purchased from OpenC3, Inc.
 
 module OpenC3
@@ -153,7 +153,7 @@ module OpenC3
     def handle_packet(packet)
       if packet.stored
         # Stored telemetry does not update the current value table
-        identified_packet = System.telemetry.identify_and_define_packet(packet, @interface.target_names)
+        identified_packet = System.telemetry.identify_and_define_packet(packet, @interface.tlm_target_names)
       else
         # Identify and update packet
         if packet.identified?
@@ -169,12 +169,12 @@ module OpenC3
             packet.target_name = nil
             packet.packet_name = nil
             identified_packet = System.telemetry.identify!(packet.buffer,
-                                                           @interface.target_names)
+                                                           @interface.tlm_target_names)
           end
         else
           # Packet needs to be identified
           identified_packet = System.telemetry.identify!(packet.buffer,
-                                                         @interface.target_names)
+                                                         @interface.tlm_target_names)
         end
       end
 

data/lib/openc3/top_level.rb

@@ -17,7 +17,7 @@
 # All changes Copyright 2022, OpenC3, Inc.
 # All Rights Reserved
 #
-# This file may also be used under the terms of a commercial license 
+# This file may also be used under the terms of a commercial license
 # if purchased from OpenC3, Inc.
 
 # This file contains top level functions in the OpenC3 namespace
@@ -354,7 +354,7 @@ module OpenC3
   def self.catch_fatal_exception
     yield
   rescue Exception => error
-    unless error.class == SystemExit or error.class == Interrupt
+    unless SystemExit === error or SignalException === error
       Logger.level = Logger::FATAL
       OpenC3.handle_fatal_exception(error, false)
     end
@@ -366,7 +366,7 @@ module OpenC3
   # @param error [Exception] The exception to handle
   # @param try_gui [Boolean] Whether to try and create a GUI exception popup
   def self.handle_fatal_exception(error, try_gui = true)
-    unless error.class == SystemExit or error.class == Interrupt
+    unless SystemExit === error or SignalException === error
       $openc3_fatal_exception = error
       self.write_exception_file(error)
       Logger.level = Logger::FATAL

data/lib/openc3/topics/command_decom_topic.rb

@@ -17,7 +17,7 @@
 # All changes Copyright 2022, OpenC3, Inc.
 # All Rights Reserved
 #
-# This file may also be used under the terms of a commercial license 
+# This file may also be used under the terms of a commercial license
 # if purchased from OpenC3, Inc.
 
 require 'openc3/topics/topic'
@@ -30,7 +30,7 @@ module OpenC3
 
     def self.write_packet(packet, scope:)
       topic = "#{scope}__DECOMCMD__{#{packet.target_name}}__#{packet.packet_name}"
-      msg_hash = { time: packet.received_time.to_nsec_from_epoch,
+      msg_hash = { time: packet.packet_time.to_nsec_from_epoch,
                    target_name: packet.target_name,
                    packet_name: packet.packet_name,
                    stored: packet.stored.to_s,

data/lib/openc3/topics/command_topic.rb

@@ -17,7 +17,7 @@
 # All changes Copyright 2022, OpenC3, Inc.
 # All Rights Reserved
 #
-# This file may also be used under the terms of a commercial license 
+# This file may also be used under the terms of a commercial license
 # if purchased from OpenC3, Inc.
 
 require 'openc3/topics/topic'
@@ -29,7 +29,8 @@ module OpenC3
 
     def self.write_packet(packet, scope:)
       topic = "#{scope}__COMMAND__{#{packet.target_name}}__#{packet.packet_name}"
-      msg_hash = { time: packet.received_time.to_nsec_from_epoch,
+      msg_hash = { time: packet.packet_time.to_nsec_from_epoch,
+                   received_time: packet.received_time.to_nsec_from_epoch,
                    target_name: packet.target_name,
                    packet_name: packet.packet_name,
                    received_count: packet.received_count,
@@ -39,7 +40,8 @@ module OpenC3
     end
 
     # @param command [Hash] Command hash structure read to be written to a topic
-    def self.send_command(command, scope:)
+    def self.send_command(command, timeout: COMMAND_ACK_TIMEOUT_S, scope:)
+      timeout = COMMAND_ACK_TIMEOUT_S unless timeout
       ack_topic = "{#{scope}__ACKCMD}TARGET__#{command['target_name']}"
       Topic.update_topic_offsets([ack_topic])
       # Save the existing cmd_params Hash and JSON generate before writing to the topic
@@ -47,9 +49,8 @@ module OpenC3
       command['cmd_params'] = JSON.generate(command['cmd_params'].as_json(:allow_nan => true))
       OpenC3.inject_context(command)
       cmd_id = Topic.write_topic("{#{scope}__CMD}TARGET__#{command['target_name']}", command, '*', 100)
-      # TODO: This timeout is fine for most but can we get the write_timeout from the interface here?
       time = Time.now
-      while (Time.now - time) < COMMAND_ACK_TIMEOUT_S
+      while (Time.now - time) < timeout
         Topic.read_topics([ack_topic]) do |topic, msg_id, msg_hash, redis|
           if msg_hash["id"] == cmd_id
             if msg_hash["result"] == "SUCCESS"
@@ -63,7 +64,7 @@ module OpenC3
           end
         end
       end
-      raise "Timeout waiting for cmd ack"
+      raise "Timeout of #{timeout}s waiting for cmd ack"
     end
 
     ###########################################################################

data/lib/openc3/topics/interface_topic.rb

@@ -17,7 +17,7 @@
 # All changes Copyright 2022, OpenC3, Inc.
 # All Rights Reserved
 #
-# This file may also be used under the terms of a commercial license 
+# This file may also be used under the terms of a commercial license
 # if purchased from OpenC3, Inc.
 
 require 'openc3/topics/topic'
@@ -29,7 +29,7 @@ module OpenC3
     def self.topics(interface, scope:)
       topics = []
       topics << "{#{scope}__CMD}INTERFACE__#{interface.name}"
-      interface.target_names.each do |target_name|
+      interface.cmd_target_names.each do |target_name|
         topics << "{#{scope}__CMD}TARGET__#{target_name}"
       end
       topics

data/lib/openc3/topics/router_topic.rb

@@ -29,7 +29,7 @@ module OpenC3
     def self.topics(router, scope:)
       topics = []
       topics << "{#{scope}__CMD}ROUTER__#{router.name}"
-      router.target_names.each do |target_name|
+      router.tlm_target_names.each do |target_name|
         System.telemetry.packets(target_name).each do |packet_name, packet|
           topics << "#{scope}__TELEMETRY__{#{packet.target_name}}__#{packet.packet_name}"
         end

data/lib/openc3/topics/telemetry_topic.rb

@@ -17,7 +17,7 @@
 # All changes Copyright 2022, OpenC3, Inc.
 # All Rights Reserved
 #
-# This file may also be used under the terms of a commercial license 
+# This file may also be used under the terms of a commercial license
 # if purchased from OpenC3, Inc.
 
 require 'openc3/topics/topic'
@@ -27,6 +27,7 @@ module OpenC3
     def self.write_packet(packet, scope:)
       msg_hash = {
         :time => packet.packet_time.to_nsec_from_epoch,
+        :received_time => packet.received_time.to_nsec_from_epoch,
         :stored => packet.stored.to_s,
         :target_name => packet.target_name,
         :packet_name => packet.packet_name,