openc3 5.14.1 → 5.14.2

data/lib/openc3/packets/packet_config.rb

@@ -14,7 +14,7 @@
 # GNU Affero General Public License for more details.
 
 # Modified by OpenC3, Inc.
-# All changes Copyright 2022, OpenC3, Inc.
+# All changes Copyright 2024, OpenC3, Inc.
 # All Rights Reserved
 #
 # This file may also be used under the terms of a commercial license
@@ -31,6 +31,7 @@ require 'openc3/packets/parsers/format_string_parser'
 require 'openc3/packets/parsers/processor_parser'
 require 'openc3/packets/parsers/xtce_parser'
 require 'openc3/packets/parsers/xtce_converter'
+require 'openc3/utilities/python_proxy'
 require 'openc3/conversions'
 require 'openc3/processors'
 require 'nokogiri'
@@ -82,6 +83,9 @@ module OpenC3
     # defined by that identification.  Telemetry version
     attr_reader :tlm_id_value_hash
 
+    # @return [String] Language of current target (ruby or python)
+    attr_reader :language
+
     COMMAND = "Command"
     TELEMETRY = "Telemetry"
 
@@ -117,7 +121,7 @@ module OpenC3
     # @param filename [String] The name of the configuration file
     # @param process_target_name [String] The target name. Pass nil when parsing
     #   an xtce file to automatically determine the target name.
-    def process_file(filename, process_target_name)
+    def process_file(filename, process_target_name, language = 'ruby')
       # Handle .xtce files
       extension = File.extname(filename).to_s.downcase
       if extension == ".xtce" or extension == ".xml"
@@ -128,13 +132,14 @@ module OpenC3
       # Partial files are included into another file and thus aren't directly processed
       return if File.basename(filename)[0] == '_' # Partials start with underscore
 
+      @language = language
       @converted_type = nil
       @converted_bit_size = nil
       @proc_text = ''
       @building_generic_conversion = false
 
       process_target_name = process_target_name.upcase
-      parser = ConfigParser.new("https://openc3.com/docs/v5")
+      parser = ConfigParser.new("https://docs.openc3.com/docs")
       parser.instance_variable_set(:@target_name, process_target_name)
       parser.parse_file(filename) do |keyword, params|
         if @building_generic_conversion
@@ -258,7 +263,7 @@ module OpenC3
         rescue
           # Doesn't exist
         end
-        packets.each do |packet_name, packet|
+        packets.each do |_packet_name, packet|
           File.open(filename, 'a') do |file|
             file.puts packet.to_config(:TELEMETRY)
             file.puts ""
@@ -276,7 +281,7 @@ module OpenC3
         rescue
           # Doesn't exist
         end
-        packets.each do |packet_name, packet|
+        packets.each do |_packet_name, packet|
           File.open(filename, 'a') do |file|
             file.puts packet.to_config(:COMMAND)
             file.puts ""
@@ -424,7 +429,7 @@ module OpenC3
 
       # Define a processor class that will be called once when a packet is received
       when 'PROCESSOR'
-        ProcessorParser.parse(parser, @current_packet, @current_cmd_or_tlm)
+        ProcessorParser.parse(parser, @current_packet, @current_cmd_or_tlm, @language)
 
       when 'DISABLE_MESSAGES'
         usage = "#{keyword}"
@@ -463,18 +468,27 @@ module OpenC3
         parser.verify_num_parameters(0, 0, usage)
         @current_packet.hidden = true
         @current_packet.disabled = true
+
       when 'ACCESSOR'
         usage = "#{keyword} <Accessor class name>"
         parser.verify_num_parameters(1, nil, usage)
         begin
-          klass = OpenC3.require_class(params[0])
-          if params.length > 1
-            @current_packet.accessor = klass.new(@current_packet, *params[1..-1])
+          if @language == 'ruby'
+            klass = OpenC3.require_class(params[0])
+            if params.length > 1
+              @current_packet.accessor = klass.new(@current_packet, *params[1..-1])
+            else
+              @current_packet.accessor = klass.new(@current_packet)
+            end
           else
-            @current_packet.accessor = klass.new(@current_packet)
+            if params.length > 1
+              @current_packet.accessor = PythonProxy.new('Accessor', params[0], @current_packet, *params[1..-1])
+            else
+              @current_packet.accessor = PythonProxy.new('Accessor', params[0], @current_packet)
+            end
           end
-        rescue Exception => err
-          raise parser.error(err)
+        rescue Exception => e
+          raise parser.error(e)
         end
 
       when 'TEMPLATE'
@@ -488,8 +502,8 @@ module OpenC3
 
         begin
           @current_packet.template = parser.read_file(params[0])
-        rescue Exception => err
-          raise parser.error(err)
+        rescue Exception => e
+          raise parser.error(e)
         end
 
       when 'RESPONSE'
@@ -530,16 +544,19 @@ module OpenC3
         usage = "#{keyword} <conversion class filename> <custom parameters> ..."
         parser.verify_num_parameters(1, nil, usage)
         begin
-          klass = OpenC3.require_class(params[0])
-          conversion = klass.new(*params[1..(params.length - 1)])
-          @current_item.public_send("#{keyword.downcase}=".to_sym, conversion)
-          if klass != ProcessorConversion and (conversion.converted_type.nil? or conversion.converted_bit_size.nil?)
-            msg = "Read Conversion #{params[0]} on item #{@current_item.name} does not specify converted type or bit size"
-            @warnings << msg
-            Logger.instance.warn @warnings[-1]
+          if @language == 'ruby'
+            klass = OpenC3.require_class(params[0])
+            conversion = klass.new(*params[1..(params.length - 1)])
+            @current_item.public_send("#{keyword.downcase}=".to_sym, conversion)
+            if klass != ProcessorConversion and (conversion.converted_type.nil? or conversion.converted_bit_size.nil?)
+              msg = "Read Conversion #{params[0]} on item #{@current_item.name} does not specify converted type or bit size"
+              @warnings << msg
+              Logger.instance.warn @warnings[-1]
+            end
+          else
+            conversion = PythonProxy.new('Conversion', params[0], *params[1..(params.length - 1)])
+            @current_item.public_send("#{keyword.downcase}=".to_sym, conversion)
           end
-        rescue Exception => err
-          raise parser.error(err)
         end
 
       # Apply a polynomial conversion to the current item
@@ -600,7 +617,7 @@ module OpenC3
       # Define a response class that will be called when the limits state of the
       # current item changes.
       when 'LIMITS_RESPONSE'
-        LimitsResponseParser.parse(parser, @current_item, @current_cmd_or_tlm)
+        LimitsResponseParser.parse(parser, @current_item, @current_cmd_or_tlm, @language)
 
       # Define a printf style formatting string for the current telemetry item
       when 'FORMAT_STRING'

data/lib/openc3/packets/packet_item.rb

@@ -23,6 +23,7 @@
 require 'openc3/packets/structure_item'
 require 'openc3/packets/packet_item_limits'
 require 'openc3/conversions/conversion'
+require 'openc3/utilities/python_proxy'
 require 'openc3/io/json_rpc' # Includes needed as_json code
 
 module OpenC3
@@ -129,7 +130,7 @@ module OpenC3
 
     def read_conversion=(read_conversion)
       if read_conversion
-        raise ArgumentError, "#{@name}: read_conversion must be a OpenC3::Conversion but is a #{read_conversion.class}" unless OpenC3::Conversion === read_conversion
+        raise ArgumentError, "#{@name}: read_conversion must be a OpenC3::Conversion but is a #{read_conversion.class}" unless OpenC3::Conversion === read_conversion or OpenC3::PythonProxy === read_conversion
 
         @read_conversion = read_conversion.clone
       else
@@ -139,7 +140,7 @@ module OpenC3
 
     def write_conversion=(write_conversion)
       if write_conversion
-        raise ArgumentError, "#{@name}: write_conversion must be a OpenC3::Conversion but is a #{write_conversion.class}" unless OpenC3::Conversion === write_conversion
+        raise ArgumentError, "#{@name}: write_conversion must be a OpenC3::Conversion but is a #{write_conversion.class}" unless OpenC3::Conversion === write_conversion or OpenC3::PythonProxy === write_conversion
 
         @write_conversion = write_conversion.clone
       else

data/lib/openc3/packets/packet_item_limits.rb

@@ -21,6 +21,7 @@
 # if purchased from OpenC3, Inc.
 
 require 'openc3/packets/limits_response'
+require 'openc3/utilities/python_proxy'
 
 module OpenC3
   # Maintains knowledge of limits for a PacketItem
@@ -96,7 +97,7 @@ module OpenC3
 
     def response=(response)
       if response
-        raise ArgumentError, "response must be a OpenC3::LimitsResponse but is a #{response.class}" unless OpenC3::LimitsResponse === response
+        raise ArgumentError, "response must be a OpenC3::LimitsResponse but is a #{response.class}" unless OpenC3::LimitsResponse === response or OpenC3::PythonProxy === response
 
         @response = response.clone
       else

data/lib/openc3/packets/parsers/limits_response_parser.rb

@@ -14,26 +14,29 @@
 # GNU Affero General Public License for more details.
 
 # Modified by OpenC3, Inc.
-# All changes Copyright 2023, OpenC3, Inc.
+# All changes Copyright 2024, OpenC3, Inc.
 # All Rights Reserved
 #
 # This file may also be used under the terms of a commercial license
 # if purchased from OpenC3, Inc.
 
+require 'openc3/utilities/python_proxy'
+
 module OpenC3
   class LimitsResponseParser
     # @param parser [ConfigParser] Configuration parser
     # @param item [Packet] The current item
     # @param cmd_or_tlm [String] Whether this is a command or telemetry packet
-    def self.parse(parser, item, cmd_or_tlm)
-      parser = LimitsResponseParser.new(parser)
+    def self.parse(parser, item, cmd_or_tlm, language = 'ruby')
+      parser = LimitsResponseParser.new(parser, language)
       parser.verify_parameters(cmd_or_tlm)
       parser.create_limits_response(item)
     end
 
     # @param parser [ConfigParser] Configuration parser
-    def initialize(parser)
+    def initialize(parser, language = 'ruby')
       @parser = parser
+      @language = language
     end
 
     # @param cmd_or_tlm [String] Whether this is a command or telemetry packet
@@ -48,15 +51,23 @@ module OpenC3
 
     # @param item [PacketItem] The item the limits response should be added to
     def create_limits_response(item)
-      klass = OpenC3.require_class(@parser.parameters[0])
+      if @language == 'ruby'
+        klass = OpenC3.require_class(@parser.parameters[0])
 
-      if @parser.parameters[1]
-        item.limits.response = klass.new(*@parser.parameters[1..(@parser.parameters.length - 1)])
+        if @parser.parameters[1]
+          item.limits.response = klass.new(*@parser.parameters[1..(@parser.parameters.length - 1)])
+        else
+          item.limits.response = klass.new
+        end
       else
-        item.limits.response = klass.new
+        if @parser.parameters[1]
+          item.limits.response = PythonProxy.new('LimitsResponse', @parser.parameters[0], *@parser.parameters[1..(@parser.parameters.length - 1)])
+        else
+          item.limits.response = PythonProxy.new('LimitsResponse', @parser.parameters[0], [])
+        end
       end
-    rescue Exception => err
-      raise @parser.error(err, @usage)
+    rescue Exception => e
+      raise @parser.error(e, @usage)
     end
   end
 end

data/lib/openc3/packets/parsers/processor_parser.rb

@@ -21,21 +21,23 @@
 # if purchased from OpenC3, Inc.
 
 require 'openc3/processors'
+require 'openc3/utilities/python_proxy'
 
 module OpenC3
   class ProcessorParser
     # @param parser [ConfigParser] Configuration parser
     # @param packet [Packet] The current packet
     # @param cmd_or_tlm [String] Whether this is a command or telemetry packet
-    def self.parse(parser, packet, cmd_or_tlm)
-      parser = ProcessorParser.new(parser)
+    def self.parse(parser, packet, cmd_or_tlm, language = 'ruby')
+      parser = ProcessorParser.new(parser, language)
       parser.verify_parameters(cmd_or_tlm)
       parser.create_processor(packet)
     end
 
     # @param parser [ConfigParser] Configuration parser
-    def initialize(parser)
+    def initialize(parser, language = 'ruby')
       @parser = parser
+      @language = language
     end
 
     # @param cmd_or_tlm [String] Whether this is a command or telemetry packet
@@ -50,16 +52,23 @@ module OpenC3
 
     # @param packet [Packet] The packet the processor should be added to
     def create_processor(packet)
-      # require should be performed in target.txt
-      klass = OpenC3.require_class(@parser.parameters[1])
+      if @language == 'ruby'
+        # require should be performed in target.txt
+        klass = OpenC3.require_class(@parser.parameters[1])
 
-      if @parser.parameters[2]
-        processor = klass.new(*@parser.parameters[2..(@parser.parameters.length - 1)])
+        if @parser.parameters[2]
+          processor = klass.new(*@parser.parameters[2..(@parser.parameters.length - 1)])
+        else
+          processor = klass.new
+        end
+        raise ArgumentError, "processor must be a OpenC3::Processor but is a #{processor.class}" unless OpenC3::Processor === processor
       else
-        processor = klass.new
+        if @parser.parameters[2]
+          processor = PythonProxy.new('Processor', @parser.parameters[1], *@parser.parameters[2..(@parser.parameters.length - 1)])
+        else
+          processor = PythonProxy.new('Processor', @parser.parameters[1], [])
+        end
       end
-      raise ArgumentError, "processor must be a OpenC3::Processor but is a #{processor.class}" unless OpenC3::Processor === processor
-
       processor.name = get_processor_name()
       packet.processors[processor.name] = processor
     rescue Exception => err

data/lib/openc3/system/system.rb

@@ -179,7 +179,7 @@ module OpenC3
       @targets[target.name] = target
       errors = [] # Store all errors processing the cmd_tlm files
       target.cmd_tlm_files.each do |cmd_tlm_file|
-        @packet_config.process_file(cmd_tlm_file, target.name)
+        @packet_config.process_file(cmd_tlm_file, target.name, target.language)
       rescue Exception => error
         errors << "Error processing #{cmd_tlm_file}:\n#{error.message}"
       end

data/lib/openc3/system/system_config.rb

@@ -14,10 +14,10 @@
 # GNU Affero General Public License for more details.
 
 # Modified by OpenC3, Inc.
-# All changes Copyright 2022, OpenC3, Inc.
+# All changes Copyright 2024, 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/config/config_parser'
@@ -30,7 +30,6 @@ require 'openc3/logs'
 require 'fileutils'
 require 'openc3/utilities/zip'
 require 'bundler'
-require 'thread'
 
 module OpenC3
   # System is the primary entry point into the OpenC3 framework. It captures
@@ -90,7 +89,7 @@ module OpenC3
     # @param targets_config_dir [String] The configuration directory to
     #   search for the target command and telemetry files.
     def process_file(filename, targets_config_dir)
-      parser = ConfigParser.new("https://openc3.com/docs/v5")
+      parser = ConfigParser.new("https://docs.openc3.com/docs")
 
       # First pass - Everything except targets
       parser.parse_file(filename) do |keyword, parameters|
@@ -192,7 +191,7 @@ module OpenC3
                 # If any of the targets original directory name matches the
                 # current directory then it must have been already processed by
                 # DECLARE_TARGET so we skip it.
-                next if @targets.select { |name, target| target.original_name == dir_filename }.length > 0
+                next if @targets.select { |_name, target| target.original_name == dir_filename }.length > 0
                 next if dir_filename == 'SYSTEM'
 
                 target = Target.new(dir_filename, nil, targets_config_dir)
@@ -352,7 +351,7 @@ module OpenC3
               # If any of the targets original directory name matches the
               # current directory then it must have been already processed by
               # DECLARE_TARGET so we skip it.
-              next if @targets.select { |name, target| target.original_name == target_name }.length > 0
+              next if @targets.select { |_name, target| target.original_name == target_name }.length > 0
 
               target = Target.new(target_name, nil, nil, nil, spec.gem_dir)
               @targets[target.name] = target
@@ -377,7 +376,7 @@ module OpenC3
 
             # Copy target files into archive
             zip_targets = []
-            @targets.each do |target_name, target|
+            @targets.each do |_target_name, target|
               entries = Dir.entries(target.dir) - %w(. ..)
               zip_target = File.join(zip_file_path, target.original_name)
               # Check the stored list of targets. We can't ask the zip file
@@ -390,7 +389,7 @@ module OpenC3
 
             # Create custom system.txt file
             zipfile.get_output_stream(File.join(zip_file_path, 'system.txt')) do |file|
-              @targets.each do |target_name, target|
+              @targets.each do |_target_name, target|
                 target_filename = File.basename(target.filename)
                 target_filename = nil unless File.exist?(target.filename)
                 # Create a newline character since Zip opens files in binary mode
@@ -405,8 +404,8 @@ module OpenC3
           end
           File.rename(configuration_tmp, configuration)
           File.chmod(0444, configuration) # Mark readonly
-        rescue Exception => error
-          Logger.error "Problem saving configuration to #{configuration}: #{error.class}:#{error.message}\n#{error.backtrace.join("\n")}\n"
+        rescue Exception => e
+          Logger.error "Problem saving configuration to #{configuration}: #{e.class}:#{e.message}\n#{e.backtrace.join("\n")}\n"
         end
       end
     end

data/lib/openc3/system/target.rb

@@ -14,7 +14,7 @@
 # GNU Affero General Public License for more details.
 
 # Modified by OpenC3, Inc.
-# All changes Copyright 2022, OpenC3, Inc.
+# All changes Copyright 2024, OpenC3, Inc.
 # All Rights Reserved
 #
 # This file may also be used under the terms of a commercial license
@@ -114,8 +114,8 @@ module OpenC3
     #
     # @param filename [String] The target configuration file to parse
     def process_file(filename)
-      Logger.instance.info "Processing ruby target definition in file '#{filename}'"
-      parser = ConfigParser.new("https://openc3.com/docs/v5/target")
+      Logger.instance.info "Processing target definition in file '#{filename}'"
+      parser = ConfigParser.new("https://docs.openc3.com/docs/configuration/target")
       parser.parse_file(filename) do |keyword, parameters|
         case keyword
         when 'LANGUAGE'
@@ -143,8 +143,8 @@ module OpenC3
             rescue Exception => err
               raise parser.error(err.message)
             end
-          rescue Exception => err
-            raise parser.error(err.message)
+          rescue Exception => e
+            raise parser.error(e.message)
           end
 
           # This code resolves any relative paths to absolute before putting into the @requires array
@@ -196,7 +196,7 @@ module OpenC3
       end
     end
 
-    def as_json(*a)
+    def as_json(*_a)
       config = {}
       config['name'] = @name
       config['requires'] = @requires

data/lib/openc3/utilities/cli_generator.rb

@@ -128,6 +128,16 @@ module OpenC3
         gemspec = File.read(gemspec_filename)
         gemspec.gsub!('plugin.txt', 'plugin.txt requirements.txt')
         File.write(gemspec_filename, gemspec)
+
+        target_txt_filename = "targets/#{target_name}/target.txt"
+        target_txt = File.read(target_txt_filename)
+        target_txt.gsub!('LANGUAGE ruby', 'LANGUAGE python')
+        File.write(target_txt_filename, target_txt)
+      end
+
+      interface_line = "INTERFACE <%= #{target_name.downcase}_target_name %>_INT tcpip_client_interface.rb host.docker.internal 8080 8081 10.0 nil BURST"
+      if @@language == 'py'
+        interface_line = "INTERFACE <%= #{target_name.downcase}_target_name %>_INT openc3/interfaces/tcpip_client_interface.py host.docker.internal 8080 8081 10.0 None BURST"
       end
 
       # Add this target to plugin.txt
@@ -137,7 +147,7 @@ module OpenC3
           VARIABLE #{target_name.downcase}_target_name #{target_name}
 
           TARGET #{target_name} <%= #{target_name.downcase}_target_name %>
-          INTERFACE <%= #{target_name.downcase}_target_name %>_INT tcpip_client_interface.rb host.docker.internal 8080 8081 10.0 nil BURST
+          #{interface_line}
             MAP_TARGET <%= #{target_name.downcase}_target_name %>
         DOC
       end
@@ -167,12 +177,17 @@ module OpenC3
         false
       end
 
+      cmd_line = "CMD ruby #{microservice_name.downcase}.rb"
+      if @@language == 'py'
+        cmd_line = "CMD python #{microservice_name.downcase}.py"
+      end
+
       # Add this microservice to plugin.txt
       File.open("plugin.txt", 'a') do |file|
         file.puts <<~DOC
 
           MICROSERVICE #{microservice_name} #{microservice_name.downcase.gsub('_','-')}-microservice
-            CMD ruby #{microservice_name.downcase}.rb
+            #{cmd_line}
         DOC
       end
 
@@ -222,7 +237,7 @@ module OpenC3
       end
 
       puts "Widget #{widget_name} successfully generated!"
-      puts "Please be sure #{widget_name} does not overlap an existing widget: https://openc3.com/docs/v5/telemetry-screens"
+      puts "Please be sure #{widget_name} does not overlap an existing widget: https://docs.openc3.com/docs/configuration/telemetry-screens"
       return widget_name
     end
 

data/lib/openc3/utilities/python_proxy.rb

@@ -0,0 +1,52 @@
+# encoding: ascii-8bit
+
+# Copyright 2024 OpenC3, Inc.
+# All Rights Reserved.
+#
+# This program is free software; you can modify and/or redistribute it
+# under the terms of the GNU Affero General Public License
+# as published by the Free Software Foundation; version 3 with
+# attribution addendums as found in the LICENSE.txt
+#
+# This program is distributed in the hope that it will be useful,
+# but WITHOUT ANY WARRANTY; without even the implied warranty of
+# MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
+# GNU Affero General Public License for more details.
+#
+# This file may also be used under the terms of a commercial license
+# if purchased from OpenC3, Inc.
+
+# TODO: Delegate to actual Python to verify that classes exist
+# and to get proper data from them like converted_type
+
+module OpenC3
+  class PythonProxy
+    attr_accessor :name
+    attr_accessor :args
+
+    def initialize(type, class_name, *params)
+      @type = type
+      @class_name = class_name
+      @params = params
+      @args = params
+      @name = nil
+    end
+
+    def class
+      return @class_name
+    end
+
+    def as_json(*args, **kw_args)
+      case @type
+      when "Processor"
+        return { 'name' => @name, 'class' => @class_name, 'params' => @params }
+      when "Conversion"
+        return { 'class' => @class_name, 'params' => @params }
+      when "LimitsResponse"
+        return { "class" => @class_name, 'params' => @params }
+      else
+        raise "Unknown PythonProxy type: #{@type}"
+      end
+    end
+  end
+end

data/lib/openc3/version.rb

@@ -1,14 +1,14 @@
 # encoding: ascii-8bit
 
-OPENC3_VERSION = '5.14.1'
+OPENC3_VERSION = '5.14.2'
 module OpenC3
   module Version
     MAJOR = '5'
     MINOR = '14'
-    PATCH = '1'
+    PATCH = '2'
     OTHER = ''
-    BUILD = '902e54e502f6070c58183746a7db21a50e7b5263'
+    BUILD = 'e5d9da06d95d4404fba6f9fd5a74a130ef176bd4'
   end
-  VERSION = '5.14.1'
-  GEM_VERSION = '5.14.1'
+  VERSION = '5.14.2'
+  GEM_VERSION = '5.14.2'
 end

data/templates/conversion/conversion.py

@@ -1,7 +1,7 @@
 from openc3.conversions.conversion import Conversion
 
 # Custom conversion class
-# See https://openc3.com/docs/v5/telemetry#read_conversion
+# See https://docs.openc3.com/docs/configuration/telemetry#read_conversion
 class <%= conversion_class %>(Conversion):
     def __init__(self):
         super().__init__()

data/templates/conversion/conversion.rb

@@ -3,7 +3,7 @@ require 'openc3/conversions/conversion'
 
 module OpenC3
   # Custom conversion class
-  # See https://openc3.com/docs/v5/telemetry#read_conversion
+  # See https://docs.openc3.com/docs/configuration/telemetry#read_conversion
   class <%= conversion_class %> < Conversion
     def initialize
       super()

data/templates/limits_response/response.py

@@ -24,13 +24,13 @@ class <%= response_class %>(LimitsResponse):
                 pass
             # GREEN limits are only available if a telemetry item has them defined
             # COSMOS refers to these as "operational limits"
-            # See https://openc3.com/docs/v5/telemetry#limits
+            # See https://docs.openc3.com/docs/configuration/telemetry#limits
             case "GREEN_LOW":
                 pass
             case "GREEN_HIGH":
                 pass
             # :RED and :YELLOW limits are triggered for STATES with defined RED and YELLOW states
-            # See https://openc3.com/docs/v5/telemetry#state
+            # See https://docs.openc3.com/docs/configuration/telemetry#state
             case "RED":
                 pass
             case "YELLOW":

data/templates/limits_response/response.rb

@@ -21,11 +21,11 @@ module OpenC3
       when :YELLOW_HIGH
       # GREEN limits are only available if a telemetry item has them defined
       # COSMOS refers to these as "operational limits"
-      # See https://openc3.com/docs/v5/telemetry#limits
+      # See https://docs.openc3.com/docs/configuration/telemetry#limits
       when :GREEN_LOW
       when :GREEN_HIGH
       # :RED and :YELLOW limits are triggered for STATES with defined RED and YELLOW states
-      # See https://openc3.com/docs/v5/telemetry#state
+      # See https://docs.openc3.com/docs/configuration/telemetry#state
       when :RED
       when :YELLOW
       end

data/templates/microservice/microservices/TEMPLATE/microservice.py

@@ -14,14 +14,17 @@ class <%= microservice_class %>(Microservice):
                     self.period = int(option[1])
                 case _:
                     self.logger.error(
-                        "Unknown option passed to microservice #{@name}: #{option}"
+                        f"Unknown option passed to microservice {name}: {option}"
                     )
 
-        if not self.period:
+        if not hasattr(self, 'period'):
             self.period = 60  # 1 minutes
         self.sleeper = Sleeper()
 
     def run(self):
+        # Allow the other target processes to start before running the microservice
+        self.sleeper.sleep(self.period)
+
         while True:
             start_time = time.time()
             if self.cancel_thread:
@@ -51,4 +54,4 @@ class <%= microservice_class %>(Microservice):
 
 
 if __name__ == "__main__":
-    <%= microservice_class %>.run()
+    <%= microservice_class %>.class_run()