added scheduling implementation from example
This commit is contained in:
lkoester
parent
62784b32cc
commit
27790242b0
283
Cargo.lock
generated
283
Cargo.lock
generated
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@ -43,12 +43,6 @@ version = "0.13.1"
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[[package]]
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@ -84,6 +78,12 @@ dependencies = [
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"parking_lot_core",
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@ -109,9 +109,12 @@ source = "registry+https://github.com/rust-lang/crates.io-index"
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@ -173,7 +176,7 @@ checksum = "22813a6dc45b335f9bade10bf7271dc477e81113e89eb251a0bc2a8a81c536e1"
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@ -254,6 +257,12 @@ version = "1.0.9"
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@ -266,13 +275,43 @@ dependencies = [
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[[package]]
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@ -284,6 +323,12 @@ dependencies = [
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"ahash",
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[[package]]
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[[package]]
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@ -295,9 +340,9 @@ dependencies = [
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[[package]]
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@ -325,9 +370,12 @@ dependencies = [
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[[package]]
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name = "itoa"
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@ -335,6 +383,12 @@ version = "0.4.8"
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source = "registry+https://github.com/rust-lang/crates.io-index"
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checksum = "b71991ff56294aa922b450139ee08b3bfc70982c6b2c7562771375cf73542dd4"
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[[package]]
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[[package]]
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name = "js-sys"
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@ -387,13 +441,57 @@ source = "registry+https://github.com/rust-lang/crates.io-index"
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[[package]]
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"libc",
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"pin-utils",
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"static_assertions",
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@ -402,6 +500,51 @@ version = "0.1.14"
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source = "registry+https://github.com/rust-lang/crates.io-index"
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"num-iter",
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"num-rational",
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"num-traits",
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[[package]]
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[[package]]
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[[package]]
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name = "num-derive"
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"syn",
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name = "num-integer"
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version = "0.1.45"
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"num-traits",
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]
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name = "num-iter"
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version = "0.1.43"
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source = "registry+https://github.com/rust-lang/crates.io-index"
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[[package]]
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name = "num-traits"
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version = "0.2.15"
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source = "registry+https://github.com/rust-lang/crates.io-index"
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checksum = "cf1c2c742266c2f1041c914ba65355a83ae8747b05f208319784083583494b4b"
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[[package]]
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version = "1.0.47"
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source = "registry+https://github.com/rust-lang/crates.io-index"
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dependencies = [
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"bus",
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"crossbeam-channel",
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"itertools",
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"nb",
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"neli",
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"try_from",
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"crc",
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"zerocopy",
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]
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]
|
||||
|
||||
[[package]]
|
||||
name = "strum_macros"
|
||||
version = "0.24.3"
|
||||
source = "registry+https://github.com/rust-lang/crates.io-index"
|
||||
checksum = "1e385be0d24f186b4ce2f9982191e7101bb737312ad61c1f2f984f34bcf85d59"
|
||||
dependencies = [
|
||||
"heck",
|
||||
"proc-macro2",
|
||||
"quote",
|
||||
"rustversion",
|
||||
"syn",
|
||||
]
|
||||
|
||||
[[package]]
|
||||
name = "syn"
|
||||
version = "1.0.105"
|
||||
|
|
@ -633,10 +853,15 @@ dependencies = [
|
|||
]
|
||||
|
||||
[[package]]
|
||||
name = "try_from"
|
||||
version = "0.2.2"
|
||||
name = "time"
|
||||
version = "0.1.45"
|
||||
source = "registry+https://github.com/rust-lang/crates.io-index"
|
||||
checksum = "923a7ee3e97dbfe8685261beb4511cc9620a1252405d02693d43169729570111"
|
||||
checksum = "1b797afad3f312d1c66a56d11d0316f916356d11bd158fbc6ca6389ff6bf805a"
|
||||
dependencies = [
|
||||
"libc",
|
||||
"wasi",
|
||||
"winapi",
|
||||
]
|
||||
|
||||
[[package]]
|
||||
name = "unicode-ident"
|
||||
|
|
@ -656,6 +881,12 @@ version = "0.9.4"
|
|||
source = "registry+https://github.com/rust-lang/crates.io-index"
|
||||
checksum = "49874b5167b65d7193b8aba1567f5c7d93d001cafc34600cee003eda787e483f"
|
||||
|
||||
[[package]]
|
||||
name = "wasi"
|
||||
version = "0.10.0+wasi-snapshot-preview1"
|
||||
source = "registry+https://github.com/rust-lang/crates.io-index"
|
||||
checksum = "1a143597ca7c7793eff794def352d41792a93c481eb1042423ff7ff72ba2c31f"
|
||||
|
||||
[[package]]
|
||||
name = "wasm-bindgen"
|
||||
version = "0.2.83"
|
||||
|
|
|
|||
20
Cargo.toml
20
Cargo.toml
|
|
@ -13,7 +13,25 @@ categories = ["aerospace", "hardware-support", "embedded"]
|
|||
# See more keys and their definitions at https://doc.rust-lang.org/cargo/reference/manifest.html
|
||||
|
||||
[dependencies]
|
||||
socketcan = {version = "1.7.0", optional = true }
|
||||
# socketcan = {version = "1.7.0", optional = true }
|
||||
serde = { version = "1.0", features = ["derive"] }
|
||||
serde_json = "1.0"
|
||||
log = "0.4"
|
||||
fern = "0.6"
|
||||
chrono = "0.4"
|
||||
embedded-can = "0.4"
|
||||
libc = "0.2"
|
||||
strum = { version = "0.24", features = ["derive"] }
|
||||
strum_macros = "0.24"
|
||||
num = "0.4"
|
||||
num-derive = "0.3"
|
||||
num-traits = "0.2"
|
||||
|
||||
[dependencies.socketcan]
|
||||
git = "https://github.com/socketcan-rs/socketcan-rs.git"
|
||||
rev = "1307b1fa76f7b98bbf7d414b88d8f30a41a753b4"
|
||||
optional = true
|
||||
|
||||
|
||||
#[dependencies.spacepackets]
|
||||
#path = "../satrs-launchpad/spacepackets"
|
||||
|
|
|
|||
|
|
@ -4,19 +4,22 @@ import enum
|
|||
import struct
|
||||
import sys
|
||||
import time
|
||||
from typing import Optional, Tuple
|
||||
from typing import Optional
|
||||
import datetime
|
||||
|
||||
import tmtccmd
|
||||
from spacepackets.ecss import PusTelemetry, PusTelecommand, PusVerificator
|
||||
from spacepackets.ecss.pus_17_test import Service17Tm
|
||||
from spacepackets.ecss.pus_1_verification import UnpackParams, Service1Tm
|
||||
from spacepackets.ccsds.time import CdsShortTimestamp
|
||||
|
||||
from tmtccmd import CcsdsTmtcBackend, TcHandlerBase, ProcedureParamsWrapper
|
||||
from tmtccmd.tc.pus_3_fsfw_hk import generate_one_hk_command, make_sid, Subservices
|
||||
from tmtccmd.tc.pus_3_fsfw_hk import generate_one_hk_command, make_sid
|
||||
from tmtccmd.tc.pus_11_tc_sched import create_time_tagged_cmd
|
||||
from tmtccmd.core.base import BackendRequest
|
||||
from tmtccmd.pus import VerificationWrapper
|
||||
from tmtccmd.tm import CcsdsTmHandler, SpecificApidHandlerBase
|
||||
from tmtccmd.com_if import ComInterface
|
||||
from tmtccmd.com import ComInterface
|
||||
from tmtccmd.config import (
|
||||
default_json_path,
|
||||
SetupParams,
|
||||
|
|
@ -41,7 +44,7 @@ from tmtccmd.tc import (
|
|||
SendCbParams,
|
||||
DefaultPusQueueHelper,
|
||||
)
|
||||
from tmtccmd.tm.pus_5_event import Service5Tm
|
||||
from tmtccmd.tm.pus_5_fsfw_event import Service5Tm
|
||||
from tmtccmd.util import FileSeqCountProvider, PusFileSeqCountProvider
|
||||
from tmtccmd.util.obj_id import ObjectIdDictT
|
||||
|
||||
|
|
@ -108,6 +111,14 @@ class SatRsConfigHook(TmTcCfgHookBase):
|
|||
op_code_entry=oce
|
||||
)
|
||||
|
||||
srv_11 = OpCodeEntry()
|
||||
srv_11.add("0", "Scheduled TC Test")
|
||||
defs.add_service(
|
||||
name=CoreServiceList.SERVICE_11,
|
||||
info="PUS Service 11 TC Scheduling",
|
||||
op_code_entry=srv_11,
|
||||
)
|
||||
|
||||
return defs
|
||||
|
||||
def perform_mode_operation(self, tmtc_backend: CcsdsTmtcBackend, mode: int):
|
||||
|
|
@ -284,6 +295,14 @@ class TcHandler(TcHandlerBase):
|
|||
return q.add_pus_tc(
|
||||
PusTelecommand(service=8, subservice=1, app_data=make_target_id(RequestTargetId.PLD))
|
||||
)
|
||||
if service == CoreServiceList.SERVICE_11:
|
||||
q.add_log_cmd("Sending PUS scheduled TC telecommand")
|
||||
crt_time = CdsShortTimestamp.from_now()
|
||||
time_stamp = crt_time + datetime.timedelta(seconds=10)
|
||||
time_stamp = time_stamp.pack()
|
||||
return q.add_pus_tc(
|
||||
create_time_tagged_cmd(time_stamp, PusTelecommand(service=8, subservice=1, app_data=make_target_id(RequestTargetId.PLD)))
|
||||
)
|
||||
if service == ServiceList.AOCS:
|
||||
if op_code in AocsOpCodes.ONE_SHOT:
|
||||
q.add_log_cmd("Sending HK one shot request")
|
||||
|
|
|
|||
|
|
@ -1 +1,2 @@
|
|||
tmtccmd == 3.0.0
|
||||
# tmtccmd == 3.0.0
|
||||
-e git+https://github.com/robamu-org/tmtccmd@97e5e51101a08b21472b3ddecc2063359f7e307a#egg=tmtccmd
|
||||
|
|
|
|||
|
|
@ -1,5 +1,5 @@
|
|||
use satrs_core::tmtc::AddressableId;
|
||||
use eurosim_obsw::RequestTargetId;
|
||||
use satrs_core::tmtc::AddressableId;
|
||||
|
||||
pub type CollectionIntervalFactor = u32;
|
||||
|
||||
|
|
@ -19,4 +19,4 @@ pub enum Subservice {
|
|||
ImageRequest = 1,
|
||||
OrientationRequest = 2,
|
||||
PointingRequest = 3,
|
||||
}
|
||||
}
|
||||
|
|
|
|||
|
|
@ -0,0 +1 @@
|
|||
|
||||
|
|
@ -4,7 +4,6 @@ pub type CollectionIntervalFactor = u32;
|
|||
|
||||
//#[derive(Debug, Copy, Clone, PartialEq, Eq)]
|
||||
|
||||
|
||||
#[derive(Debug, Copy, Clone, PartialEq, Eq)]
|
||||
pub enum CameraRequest {
|
||||
OneShot(AddressableId),
|
||||
|
|
|
|||
26
src/can.rs
26
src/can.rs
|
|
@ -152,20 +152,20 @@ impl CanTxHandler {
|
|||
let value = self.package_map.get(&package_id).unwrap();
|
||||
if value.get_sender() == DeviceId::OBC {
|
||||
//if value.get_thread() == self.thread_id {
|
||||
if data.len() <= 8 {
|
||||
let frame_id = package_id_to_can_id(&package_id);
|
||||
let frame = CanFrame::new(frame_id, data);
|
||||
if let Some(frame) = frame {
|
||||
self.socket
|
||||
.write_frame(&frame)
|
||||
.expect("Error writing frame.");
|
||||
}
|
||||
} else {
|
||||
warn!(
|
||||
"Message dismissed, data length ({:?}) exceeds 8 bytes",
|
||||
data.len()
|
||||
);
|
||||
if data.len() <= 8 {
|
||||
let frame_id = package_id_to_can_id(&package_id);
|
||||
let frame = CanFrame::new(frame_id, data);
|
||||
if let Some(frame) = frame {
|
||||
self.socket
|
||||
.write_frame(&frame)
|
||||
.expect("Error writing frame.");
|
||||
}
|
||||
} else {
|
||||
warn!(
|
||||
"Message dismissed, data length ({:?}) exceeds 8 bytes",
|
||||
data.len()
|
||||
);
|
||||
}
|
||||
/*} else {
|
||||
warn!(
|
||||
"Message dismissed, mismatched thread id: {:?}",
|
||||
|
|
|
|||
|
|
@ -5,7 +5,6 @@ use std::fs;
|
|||
use std::sync::mpsc::Sender;
|
||||
use std::thread::Thread;
|
||||
|
||||
|
||||
pub use num_derive::{FromPrimitive, ToPrimitive};
|
||||
pub use num_traits::{FromPrimitive, ToPrimitive};
|
||||
pub use strum::IntoEnumIterator; // 0.17.1
|
||||
|
|
@ -61,7 +60,7 @@ pub enum PackageId {
|
|||
AOCSDataSunSensor5 = 69,
|
||||
AOCSDataSunSensor6 = 70,
|
||||
AOCSDataStarTracker = 71,
|
||||
CameraImageRequest = 101 ,
|
||||
CameraImageRequest = 101,
|
||||
CameraImageRequestConfirmation = 102,
|
||||
CameraImageExecutionStart = 103,
|
||||
CameraImageExectutionEnd = 104,
|
||||
|
|
@ -193,7 +192,7 @@ pub fn load_package_ids() -> HashMap<PackageId, SenderReceiverThread> {
|
|||
SenderReceiverThread::new(DeviceId::SunSensor5, DeviceId::OBC, ThreadId::AOCSThread),
|
||||
SenderReceiverThread::new(DeviceId::SunSensor6, DeviceId::OBC, ThreadId::AOCSThread),
|
||||
SenderReceiverThread::new(DeviceId::StarTracker, DeviceId::OBC, ThreadId::AOCSThread),
|
||||
SenderReceiverThread::new(DeviceId:: OBC , DeviceId:: Camera , ThreadId:: PLDThread ),
|
||||
SenderReceiverThread::new(DeviceId::OBC, DeviceId::Camera, ThreadId::PLDThread),
|
||||
SenderReceiverThread::new(DeviceId::Camera, DeviceId::OBC, ThreadId::PLDThread),
|
||||
SenderReceiverThread::new(DeviceId::Camera, DeviceId::OBC, ThreadId::PLDThread),
|
||||
SenderReceiverThread::new(DeviceId::Camera, DeviceId::OBC, ThreadId::PLDThread),
|
||||
|
|
|
|||
|
|
@ -1,15 +1,15 @@
|
|||
use crate::can_ids::{DeviceId, PackageId, PackageModel, ThreadId};
|
||||
use log::{info, warn};
|
||||
use socketcan::{errors, frame, socket, CanFrame, Socket};
|
||||
use std::collections::HashMap;
|
||||
use std::hash::Hash;
|
||||
use std::sync::mpsc::{Receiver, RecvError, Sender};
|
||||
use log::{info, warn};
|
||||
use crate::can_ids::{DeviceId, PackageId, PackageModel, ThreadId};
|
||||
use socketcan::{errors, frame, socket, CanFrame, Socket};
|
||||
|
||||
use crate::can::{CanRxHandler, CanTxHandler};
|
||||
pub use num_derive::{FromPrimitive, ToPrimitive};
|
||||
pub use num_traits::{FromPrimitive, ToPrimitive};
|
||||
pub use strum::IntoEnumIterator; // 0.17.1
|
||||
pub use strum_macros::EnumIter;
|
||||
use crate::can::{CanRxHandler, CanTxHandler}; // 0.17.1
|
||||
pub use strum_macros::EnumIter; // 0.17.1
|
||||
|
||||
#[derive(Copy, Clone, Debug, PartialEq)]
|
||||
pub enum DeviceState {
|
||||
|
|
@ -26,23 +26,31 @@ pub struct CanDeviceHandler {
|
|||
}
|
||||
|
||||
impl CanDeviceHandler {
|
||||
pub fn new(can_tx_handler: CanTxHandler, can_rx_receiver: Receiver<PackageModel>) -> CanDeviceHandler {
|
||||
let mut device_state_map:HashMap<DeviceId, DeviceState> = HashMap::new();
|
||||
pub fn new(
|
||||
can_tx_handler: CanTxHandler,
|
||||
can_rx_receiver: Receiver<PackageModel>,
|
||||
) -> CanDeviceHandler {
|
||||
let mut device_state_map: HashMap<DeviceId, DeviceState> = HashMap::new();
|
||||
|
||||
for id in DeviceId::iter() {
|
||||
device_state_map.insert(id, DeviceState::Unknown);
|
||||
}
|
||||
CanDeviceHandler { device_state_map, can_tx_handler, can_rx_receiver }
|
||||
CanDeviceHandler {
|
||||
device_state_map,
|
||||
can_tx_handler,
|
||||
can_rx_receiver,
|
||||
}
|
||||
}
|
||||
|
||||
pub fn power_on(&mut self, id: DeviceId) -> Result<(),()> {
|
||||
pub fn power_on(&mut self, id: DeviceId) -> Result<(), ()> {
|
||||
if !self.device_state_map.contains_key(&id) {
|
||||
return Err(());
|
||||
}
|
||||
info!("Powering on device {:?}", id);
|
||||
|
||||
let msg_data: [u8; 1] = [id as u8];
|
||||
self.can_tx_handler.tx_socket(PackageId::DevicePowerOnRequest, &msg_data);
|
||||
self.can_tx_handler
|
||||
.tx_socket(PackageId::DevicePowerOnRequest, &msg_data);
|
||||
|
||||
let request_confirmation = self.can_rx_receiver.recv();
|
||||
match request_confirmation {
|
||||
|
|
@ -93,14 +101,15 @@ impl CanDeviceHandler {
|
|||
Ok(())
|
||||
}
|
||||
|
||||
pub fn power_off(&mut self, id: DeviceId) -> Result<(),()> {
|
||||
pub fn power_off(&mut self, id: DeviceId) -> Result<(), ()> {
|
||||
if !self.device_state_map.contains_key(&id) {
|
||||
return Err(());
|
||||
}
|
||||
info!("Powering on device {:?}", id);
|
||||
|
||||
let msg_data: [u8; 1] = [id as u8];
|
||||
self.can_tx_handler.tx_socket(PackageId::DevicePowerOffRequest, &msg_data);
|
||||
self.can_tx_handler
|
||||
.tx_socket(PackageId::DevicePowerOffRequest, &msg_data);
|
||||
|
||||
let request_confirmation = self.can_rx_receiver.recv();
|
||||
match request_confirmation {
|
||||
|
|
@ -153,23 +162,26 @@ impl CanDeviceHandler {
|
|||
|
||||
pub fn get_power_states(&mut self) -> HashMap<DeviceId, DeviceState> {
|
||||
for id in DeviceId::iter() {
|
||||
self.update_power_state(id).expect("Error updating power state.");
|
||||
self.update_power_state(id)
|
||||
.expect("Error updating power state.");
|
||||
}
|
||||
self.device_state_map.clone()
|
||||
}
|
||||
|
||||
pub fn get_power_state(&mut self, id: DeviceId) -> Option<&DeviceState> {
|
||||
self.update_power_state(id).expect("Error updating power state.");
|
||||
self.update_power_state(id)
|
||||
.expect("Error updating power state.");
|
||||
self.device_state_map.get(&id)
|
||||
}
|
||||
|
||||
pub fn update_power_state(&mut self, id: DeviceId) -> Result<(),()> {
|
||||
pub fn update_power_state(&mut self, id: DeviceId) -> Result<(), ()> {
|
||||
if !self.device_state_map.contains_key(&id) {
|
||||
return Err(());
|
||||
}
|
||||
|
||||
let msg_data: [u8; 1] = [id as u8];
|
||||
self.can_tx_handler.tx_socket(PackageId::DevicePowerStatusRequest, &msg_data);
|
||||
self.can_tx_handler
|
||||
.tx_socket(PackageId::DevicePowerStatusRequest, &msg_data);
|
||||
|
||||
let response = self.can_rx_receiver.recv();
|
||||
if let Ok(response) = response {
|
||||
|
|
@ -193,15 +205,18 @@ impl CanDeviceHandler {
|
|||
|
||||
pub fn power_up_sequence(mut device_handler: CanDeviceHandler) -> HashMap<DeviceId, DeviceState> {
|
||||
for id in DeviceId::iter() {
|
||||
device_handler.power_on(id).expect("Error powering on device.");
|
||||
device_handler
|
||||
.power_on(id)
|
||||
.expect("Error powering on device.");
|
||||
}
|
||||
device_handler.get_power_states()
|
||||
}
|
||||
|
||||
pub fn power_down_sequence(mut device_handler: CanDeviceHandler) -> HashMap<DeviceId, DeviceState> {
|
||||
for id in DeviceId::iter() {
|
||||
device_handler.power_off(id).expect("Error powering on device.");
|
||||
device_handler
|
||||
.power_off(id)
|
||||
.expect("Error powering on device.");
|
||||
}
|
||||
device_handler.get_power_states()
|
||||
}
|
||||
|
||||
|
|
|
|||
|
|
@ -13,4 +13,4 @@ pub enum HkRequest {
|
|||
Enable(AddressableId),
|
||||
Disable(AddressableId),
|
||||
ModifyCollectionInterval(AddressableId, CollectionIntervalFactor),
|
||||
}
|
||||
}
|
||||
|
|
|
|||
39
src/main.rs
39
src/main.rs
|
|
@ -1,3 +1,6 @@
|
|||
mod action;
|
||||
mod aocs;
|
||||
mod cam;
|
||||
mod can;
|
||||
mod can_ids;
|
||||
mod ccsds;
|
||||
|
|
@ -7,9 +10,6 @@ mod logger;
|
|||
mod pus;
|
||||
mod requests;
|
||||
mod tmtc;
|
||||
mod aocs;
|
||||
mod cam;
|
||||
mod action;
|
||||
|
||||
use crate::hk::{AcsHkIds, HkRequest};
|
||||
use crate::requests::{Request, RequestWithToken};
|
||||
|
|
@ -332,8 +332,7 @@ fn main() {
|
|||
ActionRequest::ImageRequest(target_id) => {
|
||||
assert_eq!(target_id, RequestTargetId::PldSubsystem);
|
||||
// get current time stamp
|
||||
let cds_stamp =
|
||||
TimeProvider::from_now_with_u16_days().unwrap();
|
||||
let cds_stamp = TimeProvider::from_now_with_u16_days().unwrap();
|
||||
cds_stamp.write_to_bytes(&mut time_stamp_buf);
|
||||
|
||||
// send start verification and get token
|
||||
|
|
@ -353,7 +352,10 @@ fn main() {
|
|||
loop {
|
||||
match pld_can_rx.recv() {
|
||||
Ok(msg) => {
|
||||
if msg.package_id() == PackageId::CameraImageRequestConfirmation && msg.data()[0] == 1 {
|
||||
if msg.package_id()
|
||||
== PackageId::CameraImageRequestConfirmation
|
||||
&& msg.data()[0] == 1
|
||||
{
|
||||
break;
|
||||
}
|
||||
}
|
||||
|
|
@ -366,7 +368,10 @@ fn main() {
|
|||
loop {
|
||||
match pld_can_rx.recv() {
|
||||
Ok(msg) => {
|
||||
if msg.package_id() == PackageId::CameraImageExecutionStart && msg.data()[0] == 1 {
|
||||
if msg.package_id()
|
||||
== PackageId::CameraImageExecutionStart
|
||||
&& msg.data()[0] == 1
|
||||
{
|
||||
break;
|
||||
}
|
||||
}
|
||||
|
|
@ -379,14 +384,21 @@ fn main() {
|
|||
loop {
|
||||
match pld_can_rx.recv() {
|
||||
Ok(msg) => {
|
||||
if msg.package_id() == PackageId::CameraImageExectutionEnd && msg.data()[0] == 1 {
|
||||
if msg.package_id()
|
||||
== PackageId::CameraImageExectutionEnd
|
||||
&& msg.data()[0] == 1
|
||||
{
|
||||
let cds_stamp =
|
||||
TimeProvider::from_now_with_u16_days().unwrap();
|
||||
TimeProvider::from_now_with_u16_days()
|
||||
.unwrap();
|
||||
cds_stamp.write_to_bytes(&mut time_stamp_buf);
|
||||
|
||||
// send end verification with token
|
||||
reporter_pld
|
||||
.completion_success(start_token, Some(&time_stamp_buf))
|
||||
.completion_success(
|
||||
start_token,
|
||||
Some(&time_stamp_buf),
|
||||
)
|
||||
.expect("Error sending start success.");
|
||||
break;
|
||||
}
|
||||
|
|
@ -409,7 +421,6 @@ fn main() {
|
|||
}
|
||||
});
|
||||
|
||||
|
||||
println!("Starting TM funnel task");
|
||||
let builder4 = thread::Builder::new().name("TMFunnelThread".into());
|
||||
let jh4 = builder4.spawn(move || {
|
||||
|
|
@ -427,7 +438,9 @@ fn main() {
|
|||
}
|
||||
});
|
||||
|
||||
jh0.unwrap().join().expect("Joining UDP TMTC server thread failed");
|
||||
jh0.unwrap()
|
||||
.join()
|
||||
.expect("Joining UDP TMTC server thread failed");
|
||||
jh1.unwrap()
|
||||
.join()
|
||||
.expect("Joining CAN Bus Listening thread failed");
|
||||
|
|
@ -446,4 +459,4 @@ struct MgmData {
|
|||
x: i16,
|
||||
y: i16,
|
||||
z: i16,
|
||||
}
|
||||
}
|
||||
|
|
|
|||
190
src/pus.rs
190
src/pus.rs
|
|
@ -1,7 +1,7 @@
|
|||
use crate::hk::{CollectionIntervalFactor, HkRequest};
|
||||
use crate::requests::{Request, RequestWithToken};
|
||||
use crate::tmtc::{PusTcSource, TmStore};
|
||||
use eurosim_obsw::{hk_err, RequestTargetId, tmtc_err};
|
||||
use eurosim_obsw::{hk_err, tmtc_err, RequestTargetId};
|
||||
use satrs_core::events::EventU32;
|
||||
use satrs_core::pool::StoreAddr;
|
||||
use satrs_core::pus::event::Subservices;
|
||||
|
|
@ -14,16 +14,19 @@ use satrs_core::res_code::ResultU16;
|
|||
use satrs_core::tmtc::tm_helper::PusTmWithCdsShortHelper;
|
||||
use satrs_core::tmtc::{AddressableId, PusServiceProvider};
|
||||
use satrs_core::{
|
||||
spacepackets::ecss::PusPacket, spacepackets::tc::PusTc, spacepackets::time::cds::TimeProvider,
|
||||
spacepackets::time::TimeWriter, spacepackets::SpHeader,
|
||||
spacepackets, spacepackets::ecss::PusPacket, spacepackets::tc::PusTc,
|
||||
spacepackets::time::cds::TimeProvider, spacepackets::time::TimeWriter, spacepackets::SpHeader,
|
||||
};
|
||||
use std::cell::RefCell;
|
||||
|
||||
use std::collections::HashMap;
|
||||
use std::sync::mpsc::Sender;
|
||||
use satrs_core::spacepackets::ecss::PusServiceId::Action;
|
||||
use eurosim_obsw::RequestTargetId::{AcsSubsystem, PldSubsystem};
|
||||
use crate::action;
|
||||
use crate::action::ActionRequest;
|
||||
use eurosim_obsw::RequestTargetId::{AcsSubsystem, PldSubsystem};
|
||||
use satrs_core::pus::scheduling::PusScheduler;
|
||||
use satrs_core::spacepackets::ecss::PusServiceId::Action;
|
||||
use std::collections::HashMap;
|
||||
use std::rc::Rc;
|
||||
use std::sync::mpsc::Sender;
|
||||
|
||||
pub struct PusReceiver {
|
||||
pub tm_helper: PusTmWithCdsShortHelper,
|
||||
|
|
@ -36,6 +39,7 @@ pub struct PusReceiver {
|
|||
request_map: HashMap<u32, Sender<RequestWithToken>>,
|
||||
stamper: TimeProvider,
|
||||
time_stamp: [u8; 7],
|
||||
scheduler: Rc<RefCell<PusScheduler>>,
|
||||
}
|
||||
|
||||
impl PusReceiver {
|
||||
|
|
@ -47,6 +51,7 @@ impl PusReceiver {
|
|||
tc_source: PusTcSource,
|
||||
event_request_tx: Sender<EventRequestWithToken>,
|
||||
request_map: HashMap<u32, Sender<RequestWithToken>>,
|
||||
scheduler: Rc<RefCell<PusScheduler>>,
|
||||
) -> Self {
|
||||
Self {
|
||||
tm_helper: PusTmWithCdsShortHelper::new(apid),
|
||||
|
|
@ -58,6 +63,7 @@ impl PusReceiver {
|
|||
request_map,
|
||||
stamper: TimeProvider::new_with_u16_days(0, 0),
|
||||
time_stamp: [0; 7],
|
||||
scheduler,
|
||||
}
|
||||
}
|
||||
}
|
||||
|
|
@ -85,6 +91,8 @@ impl PusServiceProvider for PusReceiver {
|
|||
self.handle_hk_request(pus_tc, accepted_token);
|
||||
} else if service == 8 {
|
||||
self.handle_function_request(pus_tc, accepted_token);
|
||||
} else if service == 11 {
|
||||
self.handle_scheduled_tc(pus_tc, accepted_token);
|
||||
} else {
|
||||
self.update_time_stamp();
|
||||
self.verif_reporter
|
||||
|
|
@ -120,7 +128,11 @@ impl PusReceiver {
|
|||
self.verif_reporter
|
||||
.start_failure(
|
||||
token,
|
||||
FailParams::new(Some(&self.time_stamp), &tmtc_err::INVALID_PUS_SUBSERVICE, None),
|
||||
FailParams::new(
|
||||
Some(&self.time_stamp),
|
||||
&tmtc_err::INVALID_PUS_SUBSERVICE,
|
||||
None,
|
||||
),
|
||||
)
|
||||
.expect("Sending start failure TM failed");
|
||||
}
|
||||
|
|
@ -277,41 +289,38 @@ impl PusReceiver {
|
|||
}
|
||||
}
|
||||
|
||||
|
||||
fn handle_function_request(&mut self, pus_tc: &PusTc, token: VerificationToken<TcStateAccepted>) {
|
||||
fn handle_function_request(
|
||||
&mut self,
|
||||
pus_tc: &PusTc,
|
||||
token: VerificationToken<TcStateAccepted>,
|
||||
) {
|
||||
if pus_tc.user_data().is_none() {
|
||||
self.update_time_stamp();
|
||||
/*self.verif_reporter
|
||||
self.verif_reporter
|
||||
.start_failure(
|
||||
token,
|
||||
FailParams::new(&self.time_stamp, &tmtc_err::NOT_ENOUGH_APP_DATA, None),
|
||||
FailParams::new(Some(&self.time_stamp), &tmtc_err::NOT_ENOUGH_APP_DATA, None),
|
||||
)
|
||||
.expect("Sending start failure TM failed");
|
||||
|
||||
*/
|
||||
return;
|
||||
}
|
||||
|
||||
|
||||
|
||||
let send_request = |request: ActionRequest| {
|
||||
match request {
|
||||
ActionRequest::ImageRequest(target_id) => {
|
||||
let id = target_id as u32;
|
||||
let sender = self.request_map.get(&id).unwrap();
|
||||
sender
|
||||
.send(RequestWithToken(Request::ActionRequest(request), token))
|
||||
.unwrap_or_else(|_| panic!("Sending Action request {:?} failed", request));
|
||||
}
|
||||
ActionRequest::OrientationRequest(target_id) => {
|
||||
let id = target_id as u32;
|
||||
let sender = self.request_map.get(&id).unwrap();
|
||||
sender
|
||||
.send(RequestWithToken(Request::ActionRequest(request), token))
|
||||
.unwrap_or_else(|_| panic!("Sending Action request {:?} failed", request));
|
||||
}
|
||||
_ => {}
|
||||
let send_request = |request: ActionRequest| match request {
|
||||
ActionRequest::ImageRequest(target_id) => {
|
||||
let id = target_id as u32;
|
||||
let sender = self.request_map.get(&id).unwrap();
|
||||
sender
|
||||
.send(RequestWithToken(Request::ActionRequest(request), token))
|
||||
.unwrap_or_else(|_| panic!("Sending Action request {:?} failed", request));
|
||||
}
|
||||
ActionRequest::OrientationRequest(target_id) => {
|
||||
let id = target_id as u32;
|
||||
let sender = self.request_map.get(&id).unwrap();
|
||||
sender
|
||||
.send(RequestWithToken(Request::ActionRequest(request), token))
|
||||
.unwrap_or_else(|_| panic!("Sending Action request {:?} failed", request));
|
||||
}
|
||||
_ => {}
|
||||
};
|
||||
|
||||
if PusPacket::subservice(pus_tc) == action::Subservice::ImageRequest as u8 {
|
||||
|
|
@ -320,4 +329,119 @@ impl PusReceiver {
|
|||
send_request(ActionRequest::OrientationRequest(AcsSubsystem));
|
||||
}
|
||||
}
|
||||
|
||||
fn handle_scheduled_tc(&mut self, pus_tc: &PusTc, token: VerificationToken<TcStateAccepted>) {
|
||||
if pus_tc.user_data().is_none() {
|
||||
self.update_time_stamp();
|
||||
self.verif_reporter
|
||||
.start_failure(
|
||||
token,
|
||||
FailParams::new(Some(&self.time_stamp), &tmtc_err::NOT_ENOUGH_APP_DATA, None),
|
||||
)
|
||||
.expect("Sending start failure TM failed");
|
||||
return;
|
||||
}
|
||||
|
||||
self.update_time_stamp();
|
||||
match pus_tc.subservice() {
|
||||
1 => {
|
||||
let start_token = self
|
||||
.verif_reporter
|
||||
.start_success(token, Some(&self.time_stamp))
|
||||
.expect("Error sending start success");
|
||||
|
||||
let mut scheduler = self.scheduler.borrow_mut();
|
||||
scheduler.enable();
|
||||
if scheduler.is_enabled() {
|
||||
self.verif_reporter
|
||||
.completion_success(start_token, Some(&self.time_stamp))
|
||||
.expect("Error sending completion success");
|
||||
} else {
|
||||
panic!("Failed to enable scheduler");
|
||||
}
|
||||
drop(scheduler);
|
||||
}
|
||||
2 => {
|
||||
let start_token = self
|
||||
.verif_reporter
|
||||
.start_success(token, Some(&self.time_stamp))
|
||||
.expect("Error sending start success");
|
||||
|
||||
let mut scheduler = self.scheduler.borrow_mut();
|
||||
scheduler.disable();
|
||||
if !scheduler.is_enabled() {
|
||||
self.verif_reporter
|
||||
.completion_success(start_token, Some(&self.time_stamp))
|
||||
.expect("Error sending completion success");
|
||||
} else {
|
||||
panic!("Failed to disable scheduler");
|
||||
}
|
||||
drop(scheduler);
|
||||
}
|
||||
3 => {
|
||||
let start_token = self
|
||||
.verif_reporter
|
||||
.start_success(token, Some(&self.time_stamp))
|
||||
.expect("Error sending start success");
|
||||
|
||||
let mut pool = self
|
||||
.tc_source
|
||||
.tc_store
|
||||
.pool
|
||||
.write()
|
||||
.expect("Locking pool failed");
|
||||
|
||||
let mut scheduler = self.scheduler.borrow_mut();
|
||||
scheduler
|
||||
.reset(pool.as_mut())
|
||||
.expect("Error resetting TC Pool");
|
||||
drop(scheduler);
|
||||
|
||||
self.verif_reporter
|
||||
.completion_success(start_token, Some(&self.time_stamp))
|
||||
.expect("Error sending completion success");
|
||||
}
|
||||
4 => {
|
||||
let start_token = self
|
||||
.verif_reporter
|
||||
.start_success(token, Some(&self.time_stamp))
|
||||
.expect("Error sending start success");
|
||||
|
||||
let mut pool = self
|
||||
.tc_source
|
||||
.tc_store
|
||||
.pool
|
||||
.write()
|
||||
.expect("Locking pool failed");
|
||||
let mut scheduler = self.scheduler.borrow_mut();
|
||||
scheduler
|
||||
.insert_wrapped_tc::<TimeProvider>(pus_tc, pool.as_mut())
|
||||
.expect("TODO: panic message");
|
||||
let time =
|
||||
TimeProvider::from_bytes_with_u16_days(&pus_tc.user_data().unwrap()).unwrap();
|
||||
drop(scheduler);
|
||||
|
||||
self.verif_reporter
|
||||
.completion_success(start_token, Some(&self.time_stamp))
|
||||
.expect("Error sending completion success");
|
||||
|
||||
//let addr = self.tc_source.tc_store.add_pus_tc().unwrap();
|
||||
//let unix_time = UnixTimestamp::new_only_seconds(self.stamper.unix_seconds());
|
||||
//let worked = self.scheduler.insert_tc(unix_time, );
|
||||
}
|
||||
_ => {
|
||||
self.verif_reporter
|
||||
.start_failure(
|
||||
token,
|
||||
FailParams::new(
|
||||
Some(&self.time_stamp),
|
||||
&tmtc_err::NOT_ENOUGH_APP_DATA,
|
||||
None,
|
||||
),
|
||||
)
|
||||
.expect("Sending start failure TM failed");
|
||||
return;
|
||||
}
|
||||
}
|
||||
}
|
||||
}
|
||||
|
|
|
|||
|
|
@ -1,7 +1,7 @@
|
|||
use crate::hk::HkRequest;
|
||||
use satrs_core::pus::verification::{TcStateAccepted, VerificationToken};
|
||||
use crate::action::ActionRequest;
|
||||
use crate::cam::CameraRequest;
|
||||
use crate::hk::HkRequest;
|
||||
use satrs_core::pus::verification::{TcStateAccepted, VerificationToken};
|
||||
|
||||
#[derive(Copy, Clone, Eq, PartialEq, Debug)]
|
||||
pub enum Request {
|
||||
|
|
|
|||
88
src/tmtc.rs
88
src/tmtc.rs
|
|
@ -1,11 +1,14 @@
|
|||
use satrs_core::events::EventU32;
|
||||
use satrs_core::hal::host::udp_server::{ReceiveResult, UdpTcServer};
|
||||
use satrs_core::params::Params;
|
||||
use std::cell::RefCell;
|
||||
use std::collections::HashMap;
|
||||
use std::error::Error;
|
||||
use std::fmt::{Display, Formatter};
|
||||
use std::net::SocketAddr;
|
||||
use std::rc::Rc;
|
||||
use std::sync::mpsc::{Receiver, SendError, Sender, TryRecvError};
|
||||
use std::sync::{Arc, LockResult, Mutex};
|
||||
use std::thread;
|
||||
use std::time::Duration;
|
||||
|
||||
|
|
@ -14,16 +17,13 @@ use crate::pus::PusReceiver;
|
|||
use crate::requests::RequestWithToken;
|
||||
use satrs_core::pool::{SharedPool, StoreAddr, StoreError};
|
||||
use satrs_core::pus::event_man::EventRequestWithToken;
|
||||
use satrs_core::pus::scheduling::PusScheduler;
|
||||
use satrs_core::pus::verification::StdVerifReporterWithSender;
|
||||
use satrs_core::spacepackets::{ecss::PusPacket, tc::PusTc, tm::PusTm, SpHeader};
|
||||
use satrs_core::tmtc::{
|
||||
CcsdsDistributor, CcsdsError, PusServiceProvider, ReceivesCcsdsTc, ReceivesEcssPusTc,
|
||||
};
|
||||
|
||||
use satrs_core::{
|
||||
spacepackets::ecss::PusPacket, spacepackets::tc::PusTc, spacepackets::tm::PusTm,
|
||||
spacepackets::SpHeader,
|
||||
};
|
||||
|
||||
pub const PUS_APID: u16 = 0x02;
|
||||
|
||||
pub struct OtherArgs {
|
||||
|
|
@ -45,6 +45,12 @@ pub struct TcArgs {
|
|||
pub tc_receiver: Receiver<StoreAddr>,
|
||||
}
|
||||
|
||||
impl TcArgs {
|
||||
fn split(self) -> (PusTcSource, Receiver<StoreAddr>) {
|
||||
(self.tc_source, self.tc_receiver)
|
||||
}
|
||||
}
|
||||
|
||||
#[derive(Debug, Clone, PartialEq, Eq)]
|
||||
pub enum MpscStoreAndSendError {
|
||||
StoreError(StoreError),
|
||||
|
|
@ -55,10 +61,10 @@ impl Display for MpscStoreAndSendError {
|
|||
fn fmt(&self, f: &mut Formatter<'_>) -> std::fmt::Result {
|
||||
match self {
|
||||
MpscStoreAndSendError::StoreError(s) => {
|
||||
write!(f, "store error {}", s)
|
||||
write!(f, "store error {s}")
|
||||
}
|
||||
MpscStoreAndSendError::SendError(s) => {
|
||||
write!(f, "send error {}", s)
|
||||
write!(f, "send error {s}")
|
||||
}
|
||||
}
|
||||
}
|
||||
|
|
@ -156,6 +162,11 @@ impl ReceivesCcsdsTc for PusTcSource {
|
|||
}
|
||||
}
|
||||
pub fn core_tmtc_task(args: OtherArgs, mut tc_args: TcArgs, tm_args: TmArgs) {
|
||||
let mut scheduler = Rc::new(RefCell::new(
|
||||
PusScheduler::new_with_current_init_time(Duration::from_secs(5)).unwrap(),
|
||||
));
|
||||
|
||||
let mut sched_clone = scheduler.clone();
|
||||
let mut pus_receiver = PusReceiver::new(
|
||||
PUS_APID,
|
||||
tm_args.tm_sink_sender,
|
||||
|
|
@ -164,11 +175,15 @@ pub fn core_tmtc_task(args: OtherArgs, mut tc_args: TcArgs, tm_args: TmArgs) {
|
|||
tc_args.tc_source.clone(),
|
||||
args.event_request_tx,
|
||||
args.request_map,
|
||||
sched_clone,
|
||||
);
|
||||
|
||||
let ccsds_receiver = CcsdsReceiver {
|
||||
tc_source: tc_args.tc_source.clone(),
|
||||
};
|
||||
|
||||
let ccsds_distributor = CcsdsDistributor::new(Box::new(ccsds_receiver));
|
||||
|
||||
let udp_tc_server = UdpTcServer::new(args.sock_addr, 2048, Box::new(ccsds_distributor))
|
||||
.expect("Creating UDP TMTC server failed");
|
||||
|
||||
|
|
@ -177,8 +192,21 @@ pub fn core_tmtc_task(args: OtherArgs, mut tc_args: TcArgs, tm_args: TmArgs) {
|
|||
tm_rx: tm_args.tm_server_rx,
|
||||
tm_store: tm_args.tm_store.pool.clone(),
|
||||
};
|
||||
|
||||
//let (mut tc_source, mut tc_receiver) = tc_args.split();
|
||||
|
||||
let mut tc_buf: [u8; 4096] = [0; 4096];
|
||||
loop {
|
||||
core_tmtc_loop(&mut udp_tmtc_server, &mut tc_args, &mut pus_receiver);
|
||||
let mut tmtc_sched = scheduler.clone();
|
||||
core_tmtc_loop(
|
||||
&mut udp_tmtc_server,
|
||||
&mut tc_args,
|
||||
&mut tc_buf,
|
||||
//&mut tc_source,
|
||||
//&mut tc_receiver,
|
||||
&mut pus_receiver,
|
||||
tmtc_sched,
|
||||
);
|
||||
thread::sleep(Duration::from_millis(400));
|
||||
}
|
||||
}
|
||||
|
|
@ -186,8 +214,40 @@ pub fn core_tmtc_task(args: OtherArgs, mut tc_args: TcArgs, tm_args: TmArgs) {
|
|||
fn core_tmtc_loop(
|
||||
udp_tmtc_server: &mut UdpTmtcServer,
|
||||
tc_args: &mut TcArgs,
|
||||
tc_buf: &mut [u8],
|
||||
//tc_source: &mut PusTcSource,
|
||||
//tc_receiver: &mut Receiver<StoreAddr>,
|
||||
pus_receiver: &mut PusReceiver,
|
||||
scheduler: Rc<RefCell<PusScheduler>>,
|
||||
) {
|
||||
let releaser = |enabled: bool, addr: &StoreAddr| -> bool {
|
||||
match tc_args.tc_source.tc_source.send(*addr) {
|
||||
Ok(_) => true,
|
||||
Err(_) => false,
|
||||
}
|
||||
};
|
||||
|
||||
let mut pool = tc_args
|
||||
.tc_source
|
||||
.tc_store
|
||||
.pool
|
||||
.write()
|
||||
.expect("error locking pool");
|
||||
|
||||
let mut scheduler = scheduler.borrow_mut();
|
||||
scheduler.update_time_from_now().unwrap();
|
||||
match scheduler.release_telecommands(releaser, pool.as_mut()) {
|
||||
Ok(released_tcs) => {
|
||||
if released_tcs > 0 {
|
||||
println!("{} Tc(s) released from scheduler", released_tcs);
|
||||
}
|
||||
}
|
||||
Err(_) => {}
|
||||
}
|
||||
//.expect("error releasing tc");
|
||||
drop(pool);
|
||||
drop(scheduler);
|
||||
|
||||
while poll_tc_server(udp_tmtc_server) {}
|
||||
match tc_args.tc_receiver.try_recv() {
|
||||
Ok(addr) => {
|
||||
|
|
@ -198,15 +258,17 @@ fn core_tmtc_loop(
|
|||
.read()
|
||||
.expect("locking tc pool failed");
|
||||
let data = pool.read(&addr).expect("reading pool failed");
|
||||
match PusTc::from_bytes(data) {
|
||||
tc_buf[0..data.len()].copy_from_slice(data);
|
||||
drop(pool);
|
||||
match PusTc::from_bytes(tc_buf) {
|
||||
Ok((pus_tc, _)) => {
|
||||
pus_receiver
|
||||
.handle_pus_tc_packet(pus_tc.service(), pus_tc.sp_header(), &pus_tc)
|
||||
.ok();
|
||||
}
|
||||
Err(e) => {
|
||||
println!("error creating PUS TC from raw data: {}", e);
|
||||
println!("raw data: {:x?}", data);
|
||||
println!("error creating PUS TC from raw data: {e}");
|
||||
println!("raw data: {tc_buf:x?}");
|
||||
}
|
||||
}
|
||||
}
|
||||
|
|
@ -226,7 +288,7 @@ fn poll_tc_server(udp_tmtc_server: &mut UdpTmtcServer) -> bool {
|
|||
Ok(_) => true,
|
||||
Err(e) => match e {
|
||||
ReceiveResult::ReceiverError(e) => match e {
|
||||
CcsdsError::PacketError(e) => {
|
||||
CcsdsError::ByteConversionError(e) => {
|
||||
println!("Got packet error: {e:?}");
|
||||
true
|
||||
}
|
||||
|
|
@ -255,7 +317,7 @@ fn core_tm_handling(udp_tmtc_server: &mut UdpTmtcServer, recv_addr: &SocketAddr)
|
|||
if buf.len() > 9 {
|
||||
let service = buf[7];
|
||||
let subservice = buf[8];
|
||||
println!("Sending PUS TM[{},{}]", service, subservice)
|
||||
println!("Sending PUS TM[{service},{subservice}]")
|
||||
} else {
|
||||
println!("Sending PUS TM");
|
||||
}
|
||||
|
|
|
|||
Loading…
Reference in New Issue
Block a user