added stuff, preparing for change of packageids
This commit is contained in:
lkoester
parent
154e4ef4ce
commit
7ae4701e5f
10
.idea/runConfigurations/Cross_Remote_Debug.xml
Normal file
10
.idea/runConfigurations/Cross_Remote_Debug.xml
Normal file
@ -0,0 +1,10 @@
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<component name="ProjectRunConfigurationManager">
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<configuration default="false" name="Cross Remote Debug" type="com.jetbrains.cidr.remote.gdbserver.type" factoryName="com.jetbrains.cidr.remote.gdbserver.factory" REDIRECT_INPUT="false" ELEVATE="false" USE_EXTERNAL_CONSOLE="false" PASS_PARENT_ENVS_2="true" PROJECT_NAME="eurosim-obsw" TARGET_NAME="Cross" CONFIG_NAME="Cross" version="1" RUN_PATH="$PROJECT_DIR$/target/armv7-unknown-linux-gnueabihf/debug/eurosim-obsw">
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<custom-gdb-server version="1" gdb-connect="obc.local:1234" executable="" warmup-ms="0" download-type="ALWAYS" sshConfigName="koesterl@obc.local:22 password" uploadFile="/tmp/CLion/debug/eurosim-obsw" defaultGdbServerArgs=":1234 /tmp/CLion/debug/eurosim-obsw">
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<debugger kind="GDB" isBundled="true" />
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</custom-gdb-server>
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<method v="2">
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<option name="CLION.COMPOUND.BUILD" enabled="true" />
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</method>
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</configuration>
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</component>
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@ -3,7 +3,7 @@
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<option name="command" value="run --package eurosim-obsw --bin eurosim-obsw" />
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<option name="workingDirectory" value="file://$PROJECT_DIR$" />
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<option name="channel" value="DEFAULT" />
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<option name="requiredFeatures" value="true" />
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<option name="requiredFeatures" value="false" />
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<option name="allFeatures" value="false" />
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<option name="emulateTerminal" value="false" />
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<option name="withSudo" value="false" />
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265
Cargo.lock
generated
265
Cargo.lock
generated
@ -23,12 +23,12 @@ dependencies = [
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]
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[[package]]
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name = "atomic-polyfill"
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version = "0.1.11"
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name = "array-init"
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version = "0.0.4"
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source = "registry+https://github.com/rust-lang/crates.io-index"
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checksum = "e3ff7eb3f316534d83a8a2c3d1674ace8a5a71198eba31e2e2b597833f699b28"
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checksum = "23589ecb866b460d3a0f1278834750268c607e8e28a1b982c907219f3178cd72"
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dependencies = [
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"critical-section",
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"nodrop",
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]
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[[package]]
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@ -43,12 +43,30 @@ version = "0.13.1"
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source = "registry+https://github.com/rust-lang/crates.io-index"
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checksum = "9e1b586273c5702936fe7b7d6896644d8be71e6314cfe09d3167c95f712589e8"
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[[package]]
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name = "bitflags"
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version = "0.4.0"
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source = "registry+https://github.com/rust-lang/crates.io-index"
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checksum = "8dead7461c1127cf637931a1e50934eb6eee8bff2f74433ac7909e9afcee04a3"
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[[package]]
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name = "bitflags"
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version = "1.3.2"
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source = "registry+https://github.com/rust-lang/crates.io-index"
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checksum = "bef38d45163c2f1dde094a7dfd33ccf595c92905c8f8f4fdc18d06fb1037718a"
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[[package]]
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name = "bstr"
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version = "0.2.17"
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source = "registry+https://github.com/rust-lang/crates.io-index"
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checksum = "ba3569f383e8f1598449f1a423e72e99569137b47740b1da11ef19af3d5c3223"
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dependencies = [
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"lazy_static",
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"memchr",
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"regex-automata",
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"serde",
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]
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[[package]]
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name = "bumpalo"
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version = "3.11.1"
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@ -93,6 +111,7 @@ dependencies = [
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"iana-time-zone",
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"num-integer",
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"num-traits",
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"serde",
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"winapi",
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]
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@ -127,12 +146,6 @@ version = "2.1.0"
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source = "registry+https://github.com/rust-lang/crates.io-index"
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checksum = "2d0165d2900ae6778e36e80bbc4da3b5eefccee9ba939761f9c2882a5d9af3ff"
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[[package]]
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name = "critical-section"
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version = "1.1.1"
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source = "registry+https://github.com/rust-lang/crates.io-index"
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checksum = "6548a0ad5d2549e111e1f6a11a6c2e2d00ce6a3dafe22948d67c2b443f775e52"
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[[package]]
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name = "crossbeam-channel"
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version = "0.5.6"
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@ -152,6 +165,28 @@ dependencies = [
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"cfg-if",
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]
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[[package]]
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name = "csv"
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version = "1.1.6"
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source = "registry+https://github.com/rust-lang/crates.io-index"
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checksum = "22813a6dc45b335f9bade10bf7271dc477e81113e89eb251a0bc2a8a81c536e1"
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dependencies = [
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"bstr",
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"csv-core",
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"itoa",
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"ryu",
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"serde",
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]
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[[package]]
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name = "csv-core"
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version = "0.1.10"
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source = "registry+https://github.com/rust-lang/crates.io-index"
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checksum = "2b2466559f260f48ad25fe6317b3c8dac77b5bdb5763ac7d9d6103530663bc90"
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dependencies = [
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"memchr",
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]
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[[package]]
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name = "cxx"
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version = "1.0.83"
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@ -196,17 +231,6 @@ dependencies = [
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"syn",
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]
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[[package]]
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name = "delegate"
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version = "0.7.0"
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source = "registry+https://github.com/rust-lang/crates.io-index"
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checksum = "d70a2d4995466955a415223acf3c9c934b9ff2339631cdf4ffc893da4bacd717"
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dependencies = [
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"proc-macro2",
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"quote",
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"syn",
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]
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[[package]]
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name = "delegate"
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version = "0.8.0"
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@ -247,16 +271,8 @@ name = "eurosim-obsw"
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version = "0.1.0"
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dependencies = [
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"satrs-core",
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"spacepackets",
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]
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[[package]]
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name = "hash32"
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version = "0.2.1"
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source = "registry+https://github.com/rust-lang/crates.io-index"
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checksum = "b0c35f58762feb77d74ebe43bdbc3210f09be9fe6742234d573bacc26ed92b67"
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dependencies = [
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"byteorder",
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"satrs-mib",
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"socketcan",
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]
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[[package]]
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@ -268,19 +284,6 @@ dependencies = [
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"ahash",
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]
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[[package]]
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name = "heapless"
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version = "0.7.16"
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source = "registry+https://github.com/rust-lang/crates.io-index"
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checksum = "db04bc24a18b9ea980628ecf00e6c0264f3c1426dac36c00cb49b6fbad8b0743"
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dependencies = [
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"atomic-polyfill",
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"hash32",
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"rustc_version",
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"spin",
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"stable_deref_trait",
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]
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[[package]]
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name = "hermit-abi"
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version = "0.1.19"
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@ -290,6 +293,12 @@ dependencies = [
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"libc",
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]
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[[package]]
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name = "hex"
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version = "0.2.0"
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source = "registry+https://github.com/rust-lang/crates.io-index"
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checksum = "d6a22814455d41612f41161581c2883c0c6a1c41852729b17d5ed88f01e153aa"
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[[package]]
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name = "iana-time-zone"
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version = "0.1.53"
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@ -314,6 +323,18 @@ dependencies = [
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"cxx-build",
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]
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[[package]]
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name = "itertools"
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version = "0.4.19"
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source = "registry+https://github.com/rust-lang/crates.io-index"
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checksum = "c4a9b56eb56058f43dc66e58f40a214b2ccbc9f3df51861b63d51dec7b65bc3f"
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[[package]]
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name = "itoa"
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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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name = "js-sys"
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version = "0.3.60"
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@ -323,6 +344,12 @@ dependencies = [
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"wasm-bindgen",
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]
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[[package]]
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name = "lazy_static"
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version = "1.4.0"
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source = "registry+https://github.com/rust-lang/crates.io-index"
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checksum = "e2abad23fbc42b3700f2f279844dc832adb2b2eb069b2df918f455c4e18cc646"
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[[package]]
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name = "libc"
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version = "0.2.138"
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@ -338,16 +365,6 @@ dependencies = [
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"cc",
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]
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[[package]]
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name = "lock_api"
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version = "0.4.9"
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source = "registry+https://github.com/rust-lang/crates.io-index"
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checksum = "435011366fe56583b16cf956f9df0095b405b82d76425bc8981c0e22e60ec4df"
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dependencies = [
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"autocfg",
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"scopeguard",
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]
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[[package]]
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name = "log"
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version = "0.4.17"
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@ -357,6 +374,34 @@ dependencies = [
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"cfg-if",
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]
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[[package]]
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name = "maybe-uninit"
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version = "2.0.0"
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source = "registry+https://github.com/rust-lang/crates.io-index"
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checksum = "60302e4db3a61da70c0cb7991976248362f30319e88850c487b9b95bbf059e00"
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[[package]]
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name = "memchr"
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version = "2.5.0"
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source = "registry+https://github.com/rust-lang/crates.io-index"
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checksum = "2dffe52ecf27772e601905b7522cb4ef790d2cc203488bbd0e2fe85fcb74566d"
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[[package]]
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name = "nix"
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version = "0.5.1"
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source = "registry+https://github.com/rust-lang/crates.io-index"
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checksum = "bfb3ddedaa14746434a02041940495bf11325c22f6d36125d3bdd56090d50a79"
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dependencies = [
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"bitflags 0.4.0",
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"libc",
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]
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[[package]]
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name = "nodrop"
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version = "0.1.14"
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source = "registry+https://github.com/rust-lang/crates.io-index"
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checksum = "72ef4a56884ca558e5ddb05a1d1e7e1bfd9a68d9ed024c21704cc98872dae1bb"
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[[package]]
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name = "num-integer"
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version = "0.1.45"
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@ -401,7 +446,7 @@ dependencies = [
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"cfg-if",
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"libc",
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"redox_syscall",
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"smallvec",
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"smallvec 1.10.0",
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"windows-sys",
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]
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@ -435,17 +480,20 @@ version = "0.2.16"
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source = "registry+https://github.com/rust-lang/crates.io-index"
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checksum = "fb5a58c1855b4b6819d59012155603f0b22ad30cad752600aadfcb695265519a"
|
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dependencies = [
|
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"bitflags",
|
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"bitflags 1.3.2",
|
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]
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[[package]]
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name = "rustc_version"
|
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version = "0.4.0"
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name = "regex-automata"
|
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version = "0.1.10"
|
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source = "registry+https://github.com/rust-lang/crates.io-index"
|
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checksum = "bfa0f585226d2e68097d4f95d113b15b83a82e819ab25717ec0590d9584ef366"
|
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dependencies = [
|
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"semver",
|
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]
|
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checksum = "6c230d73fb8d8c1b9c0b3135c5142a8acee3a0558fb8db5cf1cb65f8d7862132"
|
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|
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[[package]]
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name = "ryu"
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version = "1.0.12"
|
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source = "registry+https://github.com/rust-lang/crates.io-index"
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checksum = "7b4b9743ed687d4b4bcedf9ff5eaa7398495ae14e61cba0a295704edbc7decde"
|
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|
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[[package]]
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name = "satrs-core"
|
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@ -453,22 +501,37 @@ version = "0.1.0"
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dependencies = [
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"bus",
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"crossbeam-channel",
|
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"delegate 0.8.0",
|
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"delegate",
|
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"downcast-rs",
|
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"dyn-clone",
|
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"embed-doc-image",
|
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"hashbrown",
|
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"heapless",
|
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"num-traits",
|
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"paste",
|
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"serde",
|
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"spacepackets",
|
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]
|
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|
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[[package]]
|
||||
name = "scopeguard"
|
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version = "1.1.0"
|
||||
source = "registry+https://github.com/rust-lang/crates.io-index"
|
||||
checksum = "d29ab0c6d3fc0ee92fe66e2d99f700eab17a8d57d1c1d3b748380fb20baa78cd"
|
||||
name = "satrs-mib"
|
||||
version = "0.1.0"
|
||||
dependencies = [
|
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"csv",
|
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"satrs-core",
|
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"satrs-mib-codegen",
|
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"serde",
|
||||
"serde-hex",
|
||||
]
|
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|
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[[package]]
|
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name = "satrs-mib-codegen"
|
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version = "0.1.0"
|
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dependencies = [
|
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"proc-macro2",
|
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"quote",
|
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"satrs-core",
|
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"syn",
|
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]
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|
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[[package]]
|
||||
name = "scratch"
|
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@ -476,12 +539,6 @@ version = "1.0.2"
|
||||
source = "registry+https://github.com/rust-lang/crates.io-index"
|
||||
checksum = "9c8132065adcfd6e02db789d9285a0deb2f3fcb04002865ab67d5fb103533898"
|
||||
|
||||
[[package]]
|
||||
name = "semver"
|
||||
version = "1.0.14"
|
||||
source = "registry+https://github.com/rust-lang/crates.io-index"
|
||||
checksum = "e25dfac463d778e353db5be2449d1cce89bd6fd23c9f1ea21310ce6e5a1b29c4"
|
||||
|
||||
[[package]]
|
||||
name = "serde"
|
||||
version = "1.0.150"
|
||||
@ -491,6 +548,17 @@ dependencies = [
|
||||
"serde_derive",
|
||||
]
|
||||
|
||||
[[package]]
|
||||
name = "serde-hex"
|
||||
version = "0.1.0"
|
||||
source = "registry+https://github.com/rust-lang/crates.io-index"
|
||||
checksum = "ca37e3e4d1b39afd7ff11ee4e947efae85adfddf4841787bfa47c470e96dc26d"
|
||||
dependencies = [
|
||||
"array-init",
|
||||
"serde",
|
||||
"smallvec 0.6.14",
|
||||
]
|
||||
|
||||
[[package]]
|
||||
name = "serde_derive"
|
||||
version = "1.0.150"
|
||||
@ -502,39 +570,48 @@ dependencies = [
|
||||
"syn",
|
||||
]
|
||||
|
||||
[[package]]
|
||||
name = "smallvec"
|
||||
version = "0.6.14"
|
||||
source = "registry+https://github.com/rust-lang/crates.io-index"
|
||||
checksum = "b97fcaeba89edba30f044a10c6a3cc39df9c3f17d7cd829dd1446cab35f890e0"
|
||||
dependencies = [
|
||||
"maybe-uninit",
|
||||
]
|
||||
|
||||
[[package]]
|
||||
name = "smallvec"
|
||||
version = "1.10.0"
|
||||
source = "registry+https://github.com/rust-lang/crates.io-index"
|
||||
checksum = "a507befe795404456341dfab10cef66ead4c041f62b8b11bbb92bffe5d0953e0"
|
||||
|
||||
[[package]]
|
||||
name = "socketcan"
|
||||
version = "1.7.0"
|
||||
source = "registry+https://github.com/rust-lang/crates.io-index"
|
||||
checksum = "3101efc6ef5af6f1c1a488241b469757b7a183baca63af958cd90e4696446c80"
|
||||
dependencies = [
|
||||
"hex",
|
||||
"itertools",
|
||||
"libc",
|
||||
"nix",
|
||||
"try_from",
|
||||
]
|
||||
|
||||
[[package]]
|
||||
name = "spacepackets"
|
||||
version = "0.2.0"
|
||||
version = "0.4.0"
|
||||
source = "registry+https://github.com/rust-lang/crates.io-index"
|
||||
checksum = "9199251260fa674673a195bbe68703ba8d7ac0875d97df05cd4b5618218da054"
|
||||
dependencies = [
|
||||
"chrono",
|
||||
"crc",
|
||||
"delegate 0.7.0",
|
||||
"delegate",
|
||||
"num-traits",
|
||||
"serde",
|
||||
"zerocopy",
|
||||
]
|
||||
|
||||
[[package]]
|
||||
name = "spin"
|
||||
version = "0.9.4"
|
||||
source = "registry+https://github.com/rust-lang/crates.io-index"
|
||||
checksum = "7f6002a767bff9e83f8eeecf883ecb8011875a21ae8da43bffb817a57e78cc09"
|
||||
dependencies = [
|
||||
"lock_api",
|
||||
]
|
||||
|
||||
[[package]]
|
||||
name = "stable_deref_trait"
|
||||
version = "1.2.0"
|
||||
source = "registry+https://github.com/rust-lang/crates.io-index"
|
||||
checksum = "a8f112729512f8e442d81f95a8a7ddf2b7c6b8a1a6f509a95864142b30cab2d3"
|
||||
|
||||
[[package]]
|
||||
name = "syn"
|
||||
version = "1.0.105"
|
||||
@ -555,6 +632,12 @@ dependencies = [
|
||||
"winapi-util",
|
||||
]
|
||||
|
||||
[[package]]
|
||||
name = "try_from"
|
||||
version = "0.2.2"
|
||||
source = "registry+https://github.com/rust-lang/crates.io-index"
|
||||
checksum = "923a7ee3e97dbfe8685261beb4511cc9620a1252405d02693d43169729570111"
|
||||
|
||||
[[package]]
|
||||
name = "unicode-ident"
|
||||
version = "1.0.5"
|
||||
|
||||
10
Cargo.toml
10
Cargo.toml
@ -13,11 +13,17 @@ 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 }
|
||||
|
||||
[dependencies.spacepackets]
|
||||
path = "../satrs-launchpad/spacepackets"
|
||||
#[dependencies.spacepackets]
|
||||
#path = "../satrs-launchpad/spacepackets"
|
||||
|
||||
[dependencies.satrs-core]
|
||||
path = "../satrs-launchpad/satrs-core"
|
||||
|
||||
[dependencies.satrs-mib]
|
||||
path = "../satrs-launchpad/satrs-mib"
|
||||
|
||||
[features]
|
||||
default = ["can"]
|
||||
can = ["socketcan"]
|
||||
6
pyclient/.gitignore
vendored
Normal file
6
pyclient/.gitignore
vendored
Normal file
@ -0,0 +1,6 @@
|
||||
/venv
|
||||
/log
|
||||
/.idea/*
|
||||
!/.idea/runConfigurations
|
||||
|
||||
/seqcnt.txt
|
||||
322
pyclient/main.py
Normal file
322
pyclient/main.py
Normal file
@ -0,0 +1,322 @@
|
||||
#!/usr/bin/env python3
|
||||
"""Example client for the sat-rs example application"""
|
||||
import enum
|
||||
import struct
|
||||
import sys
|
||||
import time
|
||||
from typing import Optional
|
||||
|
||||
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 tmtccmd import CcsdsTmtcBackend, TcHandlerBase, ProcedureParamsWrapper
|
||||
from tmtccmd.tc.pus_3_fsfw_hk import generate_one_hk_command, make_sid
|
||||
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.config import (
|
||||
default_json_path,
|
||||
SetupParams,
|
||||
TmTcCfgHookBase,
|
||||
TmtcDefinitionWrapper,
|
||||
CoreServiceList,
|
||||
OpCodeEntry,
|
||||
params_to_procedure_conversion,
|
||||
)
|
||||
from tmtccmd.config import PreArgsParsingWrapper, SetupWrapper
|
||||
from tmtccmd.logging import get_console_logger
|
||||
from tmtccmd.logging.pus import (
|
||||
RegularTmtcLogWrapper,
|
||||
RawTmtcTimedLogWrapper,
|
||||
TimedLogWhen,
|
||||
)
|
||||
from tmtccmd.tc import (
|
||||
TcQueueEntryType,
|
||||
ProcedureWrapper,
|
||||
TcProcedureType,
|
||||
FeedWrapper,
|
||||
SendCbParams,
|
||||
DefaultPusQueueHelper,
|
||||
)
|
||||
from tmtccmd.tm.pus_5_event import Service5Tm
|
||||
from tmtccmd.util import FileSeqCountProvider, PusFileSeqCountProvider
|
||||
from tmtccmd.util.obj_id import ObjectIdDictT
|
||||
|
||||
from tmtccmd.util.tmtc_printer import FsfwTmTcPrinter
|
||||
|
||||
LOGGER = get_console_logger()
|
||||
|
||||
EXAMPLE_PUS_APID = 0x02
|
||||
|
||||
|
||||
class SatRsConfigHook(TmTcCfgHookBase):
|
||||
def __init__(self, json_cfg_path: str):
|
||||
super().__init__(json_cfg_path=json_cfg_path)
|
||||
|
||||
def assign_communication_interface(self, com_if_key: str) -> Optional[ComInterface]:
|
||||
from tmtccmd.config.com_if import (
|
||||
create_com_interface_default,
|
||||
create_com_interface_cfg_default,
|
||||
)
|
||||
|
||||
cfg = create_com_interface_cfg_default(
|
||||
com_if_key=com_if_key,
|
||||
json_cfg_path=self.cfg_path,
|
||||
space_packet_ids=None,
|
||||
)
|
||||
return create_com_interface_default(cfg)
|
||||
|
||||
def get_tmtc_definitions(self) -> TmtcDefinitionWrapper:
|
||||
from tmtccmd.config.globals import get_default_tmtc_defs
|
||||
|
||||
defs = get_default_tmtc_defs()
|
||||
srv_5 = OpCodeEntry()
|
||||
srv_5.add("0", "Event Test")
|
||||
defs.add_service(
|
||||
name=CoreServiceList.SERVICE_5.value,
|
||||
info="PUS Service 5 Event",
|
||||
op_code_entry=srv_5,
|
||||
)
|
||||
srv_17 = OpCodeEntry()
|
||||
srv_17.add("0", "Ping Test")
|
||||
defs.add_service(
|
||||
name=CoreServiceList.SERVICE_17_ALT,
|
||||
info="PUS Service 17 Test",
|
||||
op_code_entry=srv_17,
|
||||
)
|
||||
srv_3 = OpCodeEntry()
|
||||
srv_3.add(HkOpCodes.GENERATE_ONE_SHOT, "Generate AOCS one shot HK")
|
||||
defs.add_service(
|
||||
name=CoreServiceList.SERVICE_3,
|
||||
info="PUS Service 3 Housekeeping",
|
||||
op_code_entry=srv_3
|
||||
)
|
||||
return defs
|
||||
|
||||
def perform_mode_operation(self, tmtc_backend: CcsdsTmtcBackend, mode: int):
|
||||
LOGGER.info("Mode operation hook was called")
|
||||
pass
|
||||
|
||||
def get_object_ids(self) -> ObjectIdDictT:
|
||||
from tmtccmd.config.objects import get_core_object_ids
|
||||
|
||||
return get_core_object_ids()
|
||||
|
||||
|
||||
class PusHandler(SpecificApidHandlerBase):
|
||||
def __init__(
|
||||
self,
|
||||
verif_wrapper: VerificationWrapper,
|
||||
printer: FsfwTmTcPrinter,
|
||||
raw_logger: RawTmtcTimedLogWrapper,
|
||||
):
|
||||
super().__init__(EXAMPLE_PUS_APID, None)
|
||||
self.printer = printer
|
||||
self.raw_logger = raw_logger
|
||||
self.verif_wrapper = verif_wrapper
|
||||
|
||||
def handle_tm(self, packet: bytes, _user_args: any):
|
||||
try:
|
||||
tm_packet = PusTelemetry.unpack(packet)
|
||||
except ValueError as e:
|
||||
LOGGER.warning("Could not generate PUS TM object from raw data")
|
||||
LOGGER.warning(f"Raw Packet: [{packet.hex(sep=',')}], REPR: {packet!r}")
|
||||
raise e
|
||||
service = tm_packet.service
|
||||
dedicated_handler = False
|
||||
if service == 1:
|
||||
tm_packet = Service1Tm.unpack(data=packet, params=UnpackParams(1, 2))
|
||||
res = self.verif_wrapper.add_tm(tm_packet)
|
||||
if res is None:
|
||||
LOGGER.info(
|
||||
f"Received Verification TM[{tm_packet.service}, {tm_packet.subservice}] "
|
||||
f"with Request ID {tm_packet.tc_req_id.as_u32():#08x}"
|
||||
)
|
||||
LOGGER.warning(
|
||||
f"No matching telecommand found for {tm_packet.tc_req_id}"
|
||||
)
|
||||
else:
|
||||
self.verif_wrapper.log_to_console(tm_packet, res)
|
||||
self.verif_wrapper.log_to_file(tm_packet, res)
|
||||
dedicated_handler = True
|
||||
if service == 3:
|
||||
LOGGER.info("No handling for HK packets implemented")
|
||||
LOGGER.info(f"Raw packet: 0x[{packet.hex(sep=',')}]")
|
||||
pus_tm = PusTelemetry.unpack(packet)
|
||||
if pus_tm.subservice == 25:
|
||||
if len(pus_tm.source_data) < 8:
|
||||
raise ValueError("No addressable ID in HK packet")
|
||||
json_str = pus_tm.source_data[8:]
|
||||
dedicated_handler = True
|
||||
if service == 5:
|
||||
tm_packet = Service5Tm.unpack(packet)
|
||||
if service == 17:
|
||||
tm_packet = Service17Tm.unpack(packet)
|
||||
dedicated_handler = True
|
||||
if tm_packet.subservice == 2:
|
||||
self.printer.file_logger.info("Received Ping Reply TM[17,2]")
|
||||
LOGGER.info("Received Ping Reply TM[17,2]")
|
||||
else:
|
||||
self.printer.file_logger.info(
|
||||
f"Received Test Packet with unknown subservice {tm_packet.subservice}"
|
||||
)
|
||||
LOGGER.info(
|
||||
f"Received Test Packet with unknown subservice {tm_packet.subservice}"
|
||||
)
|
||||
if tm_packet is None:
|
||||
LOGGER.info(
|
||||
f"The service {service} is not implemented in Telemetry Factory"
|
||||
)
|
||||
tm_packet = PusTelemetry.unpack(packet)
|
||||
self.raw_logger.log_tm(tm_packet)
|
||||
if not dedicated_handler and tm_packet is not None:
|
||||
self.printer.handle_long_tm_print(packet_if=tm_packet, info_if=tm_packet)
|
||||
|
||||
|
||||
def make_addressable_id(target_id: int, unique_id: int) -> bytes:
|
||||
byte_string = bytearray(struct.pack("!I", target_id))
|
||||
byte_string.extend(struct.pack("!I", unique_id))
|
||||
return byte_string
|
||||
|
||||
|
||||
class RequestTargetId(enum.IntEnum):
|
||||
ACS = 1
|
||||
|
||||
|
||||
class AcsHkIds(enum.IntEnum):
|
||||
MGM_SET = 1
|
||||
|
||||
|
||||
class HkOpCodes:
|
||||
GENERATE_ONE_SHOT = ["0", "oneshot"]
|
||||
|
||||
|
||||
class TcHandler(TcHandlerBase):
|
||||
def __init__(
|
||||
self,
|
||||
seq_count_provider: FileSeqCountProvider,
|
||||
verif_wrapper: VerificationWrapper,
|
||||
):
|
||||
super(TcHandler, self).__init__()
|
||||
self.seq_count_provider = seq_count_provider
|
||||
self.verif_wrapper = verif_wrapper
|
||||
self.queue_helper = DefaultPusQueueHelper(
|
||||
queue_wrapper=None,
|
||||
seq_cnt_provider=seq_count_provider,
|
||||
)
|
||||
|
||||
def send_cb(self, send_params: SendCbParams):
|
||||
entry_helper = send_params.entry
|
||||
if entry_helper.is_tc:
|
||||
if entry_helper.entry_type == TcQueueEntryType.PUS_TC:
|
||||
pus_tc_wrapper = entry_helper.to_pus_tc_entry()
|
||||
pus_tc_wrapper.pus_tc.seq_count = (
|
||||
self.seq_count_provider.get_and_increment()
|
||||
)
|
||||
self.verif_wrapper.add_tc(pus_tc_wrapper.pus_tc)
|
||||
raw_tc = pus_tc_wrapper.pus_tc.pack()
|
||||
LOGGER.info(f"Sending {pus_tc_wrapper.pus_tc}")
|
||||
send_params.com_if.send(raw_tc)
|
||||
elif entry_helper.entry_type == TcQueueEntryType.LOG:
|
||||
log_entry = entry_helper.to_log_entry()
|
||||
LOGGER.info(log_entry.log_str)
|
||||
|
||||
def queue_finished_cb(self, helper: ProcedureWrapper):
|
||||
if helper.proc_type == TcProcedureType.DEFAULT:
|
||||
def_proc = helper.to_def_procedure()
|
||||
LOGGER.info(
|
||||
f"Queue handling finished for service {def_proc.service} and "
|
||||
f"op code {def_proc.op_code}"
|
||||
)
|
||||
|
||||
def feed_cb(self, helper: ProcedureWrapper, wrapper: FeedWrapper):
|
||||
q = self.queue_helper
|
||||
q.queue_wrapper = wrapper.queue_wrapper
|
||||
if helper.proc_type == TcProcedureType.DEFAULT:
|
||||
def_proc = helper.to_def_procedure()
|
||||
service = def_proc.service
|
||||
op_code = def_proc.op_code
|
||||
if (
|
||||
service == CoreServiceList.SERVICE_17
|
||||
or service == CoreServiceList.SERVICE_17_ALT
|
||||
):
|
||||
q.add_log_cmd("Sending PUS ping telecommand")
|
||||
return q.add_pus_tc(
|
||||
PusTelecommand(service=17, subservice=1)
|
||||
)
|
||||
if service == CoreServiceList.SERVICE_3:
|
||||
if op_code in HkOpCodes.GENERATE_ONE_SHOT:
|
||||
q.add_log_cmd("Sending HK one shot request")
|
||||
q.add_pus_tc(
|
||||
generate_one_hk_command(make_addressable_id(RequestTargetId.ACS, AcsHkIds.MGM_SET))
|
||||
)
|
||||
pass
|
||||
|
||||
|
||||
def main():
|
||||
tmtccmd.init_printout(False)
|
||||
hook_obj = SatRsConfigHook(json_cfg_path=default_json_path())
|
||||
parser_wrapper = PreArgsParsingWrapper()
|
||||
parser_wrapper.create_default_parent_parser()
|
||||
parser_wrapper.create_default_parser()
|
||||
parser_wrapper.add_def_proc_args()
|
||||
post_args_wrapper = parser_wrapper.parse(hook_obj)
|
||||
params = SetupParams()
|
||||
proc_wrapper = ProcedureParamsWrapper()
|
||||
if post_args_wrapper.use_gui:
|
||||
post_args_wrapper.set_params_without_prompts(params, proc_wrapper)
|
||||
else:
|
||||
post_args_wrapper.set_params_with_prompts(params, proc_wrapper)
|
||||
params.apid = EXAMPLE_PUS_APID
|
||||
setup_args = SetupWrapper(
|
||||
hook_obj=hook_obj, setup_params=params, proc_param_wrapper=proc_wrapper
|
||||
)
|
||||
# Create console logger helper and file loggers
|
||||
tmtc_logger = RegularTmtcLogWrapper()
|
||||
printer = FsfwTmTcPrinter(tmtc_logger.logger)
|
||||
raw_logger = RawTmtcTimedLogWrapper(when=TimedLogWhen.PER_HOUR, interval=1)
|
||||
verificator = PusVerificator()
|
||||
verification_wrapper = VerificationWrapper(verificator, LOGGER, printer.file_logger)
|
||||
# Create primary TM handler and add it to the CCSDS Packet Handler
|
||||
tm_handler = PusHandler(verification_wrapper, printer, raw_logger)
|
||||
ccsds_handler = CcsdsTmHandler(generic_handler=None)
|
||||
ccsds_handler.add_apid_handler(tm_handler)
|
||||
|
||||
# Create TC handler
|
||||
seq_count_provider = PusFileSeqCountProvider()
|
||||
tc_handler = TcHandler(seq_count_provider, verification_wrapper)
|
||||
tmtccmd.setup(setup_args=setup_args)
|
||||
init_proc = params_to_procedure_conversion(setup_args.proc_param_wrapper)
|
||||
tmtc_backend = tmtccmd.create_default_tmtc_backend(
|
||||
setup_wrapper=setup_args,
|
||||
tm_handler=ccsds_handler,
|
||||
tc_handler=tc_handler,
|
||||
init_procedure=init_proc,
|
||||
)
|
||||
tmtccmd.start(tmtc_backend=tmtc_backend, hook_obj=hook_obj)
|
||||
try:
|
||||
while True:
|
||||
state = tmtc_backend.periodic_op(None)
|
||||
if state.request == BackendRequest.TERMINATION_NO_ERROR:
|
||||
sys.exit(0)
|
||||
elif state.request == BackendRequest.DELAY_IDLE:
|
||||
LOGGER.info("TMTC Client in IDLE mode")
|
||||
time.sleep(3.0)
|
||||
elif state.request == BackendRequest.DELAY_LISTENER:
|
||||
time.sleep(0.8)
|
||||
elif state.request == BackendRequest.DELAY_CUSTOM:
|
||||
if state.next_delay.total_seconds() <= 0.4:
|
||||
time.sleep(state.next_delay.total_seconds())
|
||||
else:
|
||||
time.sleep(0.4)
|
||||
elif state.request == BackendRequest.CALL_NEXT:
|
||||
pass
|
||||
except KeyboardInterrupt:
|
||||
sys.exit(0)
|
||||
|
||||
|
||||
if __name__ == "__main__":
|
||||
main()
|
||||
1
pyclient/requirements.txt
Normal file
1
pyclient/requirements.txt
Normal file
@ -0,0 +1 @@
|
||||
tmtccmd == 3.0.0
|
||||
6
pyclient/tmtc_conf.json
Normal file
6
pyclient/tmtc_conf.json
Normal file
@ -0,0 +1,6 @@
|
||||
{
|
||||
"com_if": "udp",
|
||||
"tcpip_udp_ip_addr": "127.0.0.1",
|
||||
"tcpip_udp_port": 7301,
|
||||
"tcpip_udp_recv_max_size": 1500
|
||||
}
|
||||
241
src/can.rs
241
src/can.rs
@ -1,33 +1,218 @@
|
||||
use std::sync::Receiver;
|
||||
use std::sync::Sender;
|
||||
use satrs_core::pool::StoreAddr;
|
||||
#[cfg(feature = "can")]
|
||||
use socketcan;
|
||||
use crate::tmtc::TmStore;
|
||||
#![allow(dead_code)]
|
||||
#![allow(unused_variables)]
|
||||
#![allow(unused_imports)]
|
||||
|
||||
struct CanThreadArgs {
|
||||
rx_can_request: Receiver<HkRequest>,
|
||||
tm_sender: Sender<StoreAddr>,
|
||||
tm_store: TmStore,
|
||||
use crate::device_handler::DeviceState;
|
||||
|
||||
use crate::can_ids::{
|
||||
can_id_to_package_id, package_id_to_can_id, value_to_package_id, DeviceId, PackageId,
|
||||
PackageModel, SenderReceiverThread, ThreadId,
|
||||
};
|
||||
use embedded_can::{self, Frame};
|
||||
use log::{debug, error, info, trace, warn};
|
||||
use serde::{Deserialize, Serialize};
|
||||
use serde_json;
|
||||
use socketcan::{errors, frame, socket, CanFrame, Socket};
|
||||
use std::collections::HashMap;
|
||||
use std::ffi::c_void;
|
||||
use std::io;
|
||||
use std::mem::size_of;
|
||||
use std::sync::mpsc::Sender;
|
||||
|
||||
|
||||
pub struct CanRxHandler {
|
||||
interface: &'static str,
|
||||
socket: socket::CanSocket,
|
||||
//frame_id_to_sender_id: HashMap<embedded_can::Id, u32>, // double hash map: frame id -> receiver id -> sender handle
|
||||
can_senders: HashMap<ThreadId, Sender<PackageModel>>,
|
||||
//dismissed_ids: Vec<embedded_can::Id>,
|
||||
package_map: HashMap<PackageId, SenderReceiverThread>,
|
||||
//packet_id_to_sender_id: HashMap<PackageId, ThreadId>,
|
||||
}
|
||||
|
||||
pub type CollInterval = u32;
|
||||
pub enum HkIds {
|
||||
AcsHk = 0
|
||||
}
|
||||
pub enum HkRequest {
|
||||
OneShot(HkIds),
|
||||
Enable(HkIds, CollInterval), // periodic
|
||||
Disable(HkIds, CollInterval)
|
||||
impl CanRxHandler {
|
||||
pub fn new_socket(
|
||||
interface: &'static str,
|
||||
//frame_id_to_sender_id: HashMap<embedded_can::Id, u32>,
|
||||
can_senders: HashMap<ThreadId, Sender<PackageModel>>,
|
||||
package_map: HashMap<PackageId, SenderReceiverThread>,
|
||||
) -> Result<CanRxHandler, ()> {
|
||||
let socket = socket::CanSocket::open(&interface);
|
||||
if let Ok(socket) = socket {
|
||||
Ok(CanRxHandler {
|
||||
interface,
|
||||
socket,
|
||||
can_senders,
|
||||
package_map,
|
||||
})
|
||||
} else {
|
||||
Err(())
|
||||
}
|
||||
}
|
||||
|
||||
/*
|
||||
pub fn new_socket_with_filter(
|
||||
interface: &'static str,
|
||||
can_id_to_sender_id: HashMap<embedded_can::Id, u32>,
|
||||
can_senders: HashMap<u32, Sender<Vec<u8>>>,
|
||||
can_filters: &[socket::CanFilter],
|
||||
) -> Result<CanRxHandler, ()> {
|
||||
let can_wrapper = Self::new_socket(interface, can_id_to_sender_id, can_senders)?;
|
||||
let filter_result = can_wrapper.socket.set_filters(can_filters);
|
||||
if let Err(e) = filter_result {
|
||||
warn!("Can Bus set filter error: {}", e);
|
||||
}
|
||||
Ok(can_wrapper)
|
||||
}
|
||||
*/
|
||||
|
||||
pub fn read_frame(&self) -> io::Result<frame::CanFrame> {
|
||||
let frame = self.socket.read_frame();
|
||||
if let Err(e) = &frame {
|
||||
warn!("CAN bus read error: {}", e);
|
||||
}
|
||||
frame
|
||||
}
|
||||
|
||||
pub fn rx_socket(&self) -> Option<CanFrame> {
|
||||
let frame = self.socket.read_frame().ok()?;
|
||||
info!("Can Frame read: {:?}.", frame);
|
||||
return Some(frame);
|
||||
/*
|
||||
if let Ok(frame) = frame {
|
||||
println!("Frame received: {:?}", frame);
|
||||
return Some(frame);
|
||||
}
|
||||
None
|
||||
*/
|
||||
}
|
||||
|
||||
pub fn forward_frame(&self, frame: CanFrame) {
|
||||
let frame_id = can_id_to_package_id(frame.id());
|
||||
info!("Frame forwarding with id: {:?}", frame_id);
|
||||
if let Some(frame_id) = frame_id {
|
||||
if self.package_map.contains_key(&frame_id) {
|
||||
let value = self.package_map.get(&frame_id).unwrap();
|
||||
if value.get_sender() != DeviceId::OBC {
|
||||
let message_sender = self.can_senders.get(&value.get_thread()).unwrap();
|
||||
let data = frame.data();
|
||||
let message =
|
||||
PackageModel::new(frame_id, data).expect("Error generating message.");
|
||||
message_sender.send(message).expect(&*format!(
|
||||
"Failure sending can bus frame to thread{:?}, frame id {:?}",
|
||||
value.get_thread(),
|
||||
frame_id
|
||||
));
|
||||
}
|
||||
}
|
||||
}
|
||||
}
|
||||
|
||||
/*
|
||||
pub fn set_filter(&self, filters: &[socket::CanFilter]) -> io::Result<()> {
|
||||
info!("Setting filter with filter {:?}", filters);
|
||||
let result = self.socket.set_filters(filters);
|
||||
if let Err(e) = result {
|
||||
warn!("Can bus socket filter set error: {}", e);
|
||||
}
|
||||
Ok(())
|
||||
}
|
||||
*/
|
||||
}
|
||||
|
||||
// impl CanThreadArgs {
|
||||
// fn operation(&self) {
|
||||
//
|
||||
// }
|
||||
// }
|
||||
fn can_thread(canthreadargs: CanThreadArgs) {
|
||||
// handle tc requests
|
||||
// request from devices
|
||||
// send tms
|
||||
}
|
||||
pub struct CanTxHandler {
|
||||
interface: &'static str,
|
||||
socket: socket::CanSocket,
|
||||
thread_id: ThreadId,
|
||||
package_map: HashMap<PackageId, SenderReceiverThread>,
|
||||
}
|
||||
|
||||
impl CanTxHandler {
|
||||
pub fn new_socket(
|
||||
interface: &'static str,
|
||||
thread_id: ThreadId,
|
||||
package_map: HashMap<PackageId, SenderReceiverThread>,
|
||||
) -> Result<CanTxHandler, ()> {
|
||||
let socket = socket::CanSocket::open(&interface);
|
||||
|
||||
if let Ok(socket) = socket {
|
||||
socket.filter_drop_all().unwrap(); // tx nodes cannot receive data
|
||||
Ok(CanTxHandler {
|
||||
interface,
|
||||
socket,
|
||||
thread_id,
|
||||
package_map,
|
||||
})
|
||||
} else {
|
||||
Err(())
|
||||
}
|
||||
}
|
||||
|
||||
pub fn tx_socket(&self, package_id: PackageId, data: &[u8]) {
|
||||
if self.package_map.contains_key(&package_id) {
|
||||
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()
|
||||
);
|
||||
}
|
||||
} else {
|
||||
warn!(
|
||||
"Message dismissed, mismatched thread id: {:?}",
|
||||
value.get_thread()
|
||||
);
|
||||
}
|
||||
} else {
|
||||
warn!(
|
||||
"Message dismissed, wrong sender id: {:?}",
|
||||
value.get_sender()
|
||||
);
|
||||
}
|
||||
} else {
|
||||
warn!("Message dismissed, wrong package id: {:?}", package_id);
|
||||
}
|
||||
}
|
||||
|
||||
/*
|
||||
pub fn tx_socket_from_frame(&self, frame: frame::CanFrame) -> io::Result<()> {
|
||||
let frame_id = frame.id();
|
||||
if !self.allowed_frame_ids.contains(&frame_id) {
|
||||
warn!(
|
||||
"Requested frame Id {:?} not allowed for current thread",
|
||||
frame.id()
|
||||
);
|
||||
} else if let Err(e) = self.socket.write_frame(&frame) {
|
||||
warn!("CAN bus write error: {}", e);
|
||||
}
|
||||
return Ok(());
|
||||
}
|
||||
|
||||
pub fn tx_socket_from_data(
|
||||
&self,
|
||||
frame_id: embedded_can::Id,
|
||||
frame_data: &[u8],
|
||||
) -> io::Result<()> {
|
||||
let frame = frame::CanFrame::new(frame_id, &frame_data).expect(&*format!(
|
||||
"Failure sending can bus frame with id {:?}",
|
||||
frame_id
|
||||
));
|
||||
self.tx_socket_from_frame(frame)
|
||||
}
|
||||
*/
|
||||
}
|
||||
|
||||
pub fn open_socket(interface: &str) -> Result<socket::CanSocket, errors::CanSocketOpenError> {
|
||||
let socket = socket::CanSocket::open(&interface);
|
||||
return socket;
|
||||
}
|
||||
|
||||
258
src/can_ids.rs
Normal file
258
src/can_ids.rs
Normal file
@ -0,0 +1,258 @@
|
||||
use embedded_can::{Id, StandardId};
|
||||
use log::warn;
|
||||
use std::collections::HashMap;
|
||||
use std::fs;
|
||||
use std::sync::mpsc::Sender;
|
||||
use std::thread::Thread;
|
||||
|
||||
use crate::device_handler::{DeviceProperties, DeviceState, DeviceType};
|
||||
use num_derive::{FromPrimitive, ToPrimitive};
|
||||
use num_traits::{FromPrimitive, ToPrimitive};
|
||||
use strum::IntoEnumIterator; // 0.17.1
|
||||
use strum_macros::EnumIter; // 0.17.1
|
||||
|
||||
#[derive(Debug, EnumIter, Eq, Hash, PartialEq, Copy, Clone, FromPrimitive)]
|
||||
pub enum ThreadId {
|
||||
AOCSThread,
|
||||
TMThread,
|
||||
}
|
||||
|
||||
#[derive(Debug, EnumIter, Eq, Hash, PartialEq, Copy, Clone, FromPrimitive)]
|
||||
pub enum PackageId {
|
||||
PCDUStatusRequest = 10,
|
||||
DevicePowerOnRequest = 11,
|
||||
DevicePowerOffRequest = 12,
|
||||
DevicePowerStatusRequest = 13,
|
||||
PCDUStatusResponse = 20,
|
||||
DevicePowerStatusResponse = 21,
|
||||
DevicePowerOnRequestConfirmation = 22,
|
||||
DevicePowerOffRequestConfirmation = 23,
|
||||
DevicePowerOnConfirmation = 24,
|
||||
DevicePowerOffConfirmation = 25,
|
||||
AOCSControlMGT1 = 31,
|
||||
AOCSControlMGT2 = 32,
|
||||
AOCSControlMGT3 = 33,
|
||||
AOCSControlRWL1 = 34,
|
||||
AOCSControlRWL2 = 35,
|
||||
AOCSControlRWL3 = 36,
|
||||
AOCSDataMGM1 = 41,
|
||||
AOCSDataMGM2 = 42,
|
||||
AOCSDataMGM3 = 43,
|
||||
AOCSDataSunSensor1 = 44,
|
||||
AOCSDataSunSensor2 = 45,
|
||||
AOCSDataSunSensor3 = 46,
|
||||
AOCSDataStarTracker = 47,
|
||||
HousekeepingRequest = 61,
|
||||
HousekeepingMGM1 = 62,
|
||||
HousekeepingMGM2 = 63,
|
||||
HousekeepingMGM3 = 64,
|
||||
HousekeepingSunSensor1 = 65,
|
||||
HousekeepingSunSensor2 = 66,
|
||||
HousekeepingSunSensor3 = 67,
|
||||
HousekeepingStarTracker = 68,
|
||||
HousekeepingMGT1 = 69,
|
||||
HousekeepingMGT2 = 70,
|
||||
HousekeepingMGT3 = 71,
|
||||
HousekeepingRWL1 = 72,
|
||||
HousekeepingRWL2 = 73,
|
||||
HousekeepingRWL3 = 74,
|
||||
CameraImageRequest = 101,
|
||||
CameraImageRequestConfirmation = 102,
|
||||
CameraImageExecutionStart = 103,
|
||||
CameraImageExectutionEnd = 104,
|
||||
}
|
||||
|
||||
#[derive(Debug, EnumIter, Eq, Hash, PartialEq, Copy, Clone, FromPrimitive)]
|
||||
pub enum DeviceId {
|
||||
OBC = 1,
|
||||
PCDU = 2,
|
||||
MGM1 = 3,
|
||||
MGM2 = 4,
|
||||
MGM3 = 5,
|
||||
SunSensor1 = 6,
|
||||
SunSensor2 = 7,
|
||||
SunSensor3 = 8,
|
||||
StarTracker = 9,
|
||||
MGT1 = 10,
|
||||
MGT2 = 11,
|
||||
MGT3 = 12,
|
||||
RWL1 = 13,
|
||||
RWL2 = 14,
|
||||
RWL3 = 15,
|
||||
Camera = 16,
|
||||
All = 17,
|
||||
}
|
||||
|
||||
#[derive(Debug)]
|
||||
pub struct PackageModel {
|
||||
package_id: PackageId,
|
||||
data: Vec<u8>,
|
||||
}
|
||||
|
||||
impl PackageModel {
|
||||
pub fn new(package_id: PackageId, data: &[u8]) -> Result<PackageModel, ()> {
|
||||
if data.len() > 8 {
|
||||
warn!("Data exceeds maximum length.");
|
||||
return Err(());
|
||||
}
|
||||
let vec = Vec::from(data);
|
||||
return Ok(PackageModel {
|
||||
package_id,
|
||||
data: vec,
|
||||
});
|
||||
}
|
||||
|
||||
pub fn package_id(&self) -> PackageId {
|
||||
self.package_id
|
||||
}
|
||||
|
||||
pub fn data(&self) -> &Vec<u8> {
|
||||
&self.data
|
||||
}
|
||||
}
|
||||
|
||||
#[derive(Debug, Copy, Clone)]
|
||||
pub struct SenderReceiverThread {
|
||||
sender: DeviceId,
|
||||
receiver: DeviceId,
|
||||
thread: ThreadId,
|
||||
}
|
||||
|
||||
impl SenderReceiverThread {
|
||||
pub fn new(sender: DeviceId, receiver: DeviceId, thread: ThreadId) -> SenderReceiverThread {
|
||||
SenderReceiverThread {
|
||||
sender,
|
||||
receiver,
|
||||
thread,
|
||||
}
|
||||
}
|
||||
|
||||
pub fn get_sender(&self) -> DeviceId {
|
||||
self.sender
|
||||
}
|
||||
pub fn get_receiver(&self) -> DeviceId {
|
||||
self.receiver
|
||||
}
|
||||
pub fn get_thread(&self) -> ThreadId {
|
||||
self.thread
|
||||
}
|
||||
}
|
||||
|
||||
pub fn load_package_ids() -> HashMap<PackageId, SenderReceiverThread> {
|
||||
let mut package_map: HashMap<PackageId, SenderReceiverThread> = HashMap::new();
|
||||
|
||||
let properties = vec![
|
||||
SenderReceiverThread::new(DeviceId::OBC, DeviceId::PCDU, ThreadId::TMThread),
|
||||
SenderReceiverThread::new(DeviceId::OBC, DeviceId::PCDU, ThreadId::TMThread),
|
||||
SenderReceiverThread::new(DeviceId::OBC, DeviceId::PCDU, ThreadId::TMThread),
|
||||
SenderReceiverThread::new(DeviceId::OBC, DeviceId::PCDU, ThreadId::TMThread),
|
||||
SenderReceiverThread::new(DeviceId::PCDU, DeviceId::OBC, ThreadId::TMThread),
|
||||
SenderReceiverThread::new(DeviceId::PCDU, DeviceId::OBC, ThreadId::TMThread),
|
||||
SenderReceiverThread::new(DeviceId::PCDU, DeviceId::OBC, ThreadId::TMThread),
|
||||
SenderReceiverThread::new(DeviceId::PCDU, DeviceId::OBC, ThreadId::TMThread),
|
||||
SenderReceiverThread::new(DeviceId::PCDU, DeviceId::OBC, ThreadId::TMThread),
|
||||
SenderReceiverThread::new(DeviceId::PCDU, DeviceId::OBC, ThreadId::TMThread),
|
||||
SenderReceiverThread::new(DeviceId::OBC, DeviceId::MGT1, ThreadId::AOCSThread),
|
||||
SenderReceiverThread::new(DeviceId::OBC, DeviceId::MGT2, ThreadId::AOCSThread),
|
||||
SenderReceiverThread::new(DeviceId::OBC, DeviceId::MGT3, ThreadId::AOCSThread),
|
||||
SenderReceiverThread::new(DeviceId::OBC, DeviceId::RWL1, ThreadId::AOCSThread),
|
||||
SenderReceiverThread::new(DeviceId::OBC, DeviceId::RWL2, ThreadId::AOCSThread),
|
||||
SenderReceiverThread::new(DeviceId::OBC, DeviceId::RWL3, ThreadId::AOCSThread),
|
||||
SenderReceiverThread::new(DeviceId::MGM1, DeviceId::OBC, ThreadId::AOCSThread),
|
||||
SenderReceiverThread::new(DeviceId::MGM2, DeviceId::OBC, ThreadId::AOCSThread),
|
||||
SenderReceiverThread::new(DeviceId::MGM3, DeviceId::OBC, ThreadId::AOCSThread),
|
||||
SenderReceiverThread::new(DeviceId::SunSensor1, DeviceId::OBC, ThreadId::AOCSThread),
|
||||
SenderReceiverThread::new(DeviceId::SunSensor2, DeviceId::OBC, ThreadId::AOCSThread),
|
||||
SenderReceiverThread::new(DeviceId::SunSensor3, DeviceId::OBC, ThreadId::AOCSThread),
|
||||
SenderReceiverThread::new(DeviceId::StarTracker, DeviceId::OBC, ThreadId::AOCSThread),
|
||||
SenderReceiverThread::new(DeviceId::OBC, DeviceId::All, ThreadId::TMThread),
|
||||
SenderReceiverThread::new(DeviceId::MGM1, DeviceId::OBC, ThreadId::TMThread),
|
||||
SenderReceiverThread::new(DeviceId::MGM2, DeviceId::OBC, ThreadId::TMThread),
|
||||
SenderReceiverThread::new(DeviceId::MGM3, DeviceId::OBC, ThreadId::TMThread),
|
||||
SenderReceiverThread::new(DeviceId::SunSensor1, DeviceId::OBC, ThreadId::TMThread),
|
||||
SenderReceiverThread::new(DeviceId::SunSensor2, DeviceId::OBC, ThreadId::TMThread),
|
||||
SenderReceiverThread::new(DeviceId::SunSensor3, DeviceId::OBC, ThreadId::TMThread),
|
||||
SenderReceiverThread::new(DeviceId::StarTracker, DeviceId::OBC, ThreadId::TMThread),
|
||||
SenderReceiverThread::new(DeviceId::MGT1, DeviceId::OBC, ThreadId::TMThread),
|
||||
SenderReceiverThread::new(DeviceId::MGT2, DeviceId::OBC, ThreadId::TMThread),
|
||||
SenderReceiverThread::new(DeviceId::MGT3, DeviceId::OBC, ThreadId::TMThread),
|
||||
SenderReceiverThread::new(DeviceId::RWL1, DeviceId::OBC, ThreadId::TMThread),
|
||||
SenderReceiverThread::new(DeviceId::RWL2, DeviceId::OBC, ThreadId::TMThread),
|
||||
SenderReceiverThread::new(DeviceId::RWL3, DeviceId::OBC, ThreadId::TMThread),
|
||||
SenderReceiverThread::new(DeviceId::OBC, DeviceId::Camera, ThreadId::TMThread),
|
||||
SenderReceiverThread::new(DeviceId::Camera, DeviceId::OBC, ThreadId::TMThread),
|
||||
SenderReceiverThread::new(DeviceId::Camera, DeviceId::OBC, ThreadId::TMThread),
|
||||
SenderReceiverThread::new(DeviceId::Camera, DeviceId::OBC, ThreadId::TMThread),
|
||||
];
|
||||
|
||||
let mut i = 0;
|
||||
for id in PackageId::iter() {
|
||||
let value = properties.get(i).unwrap();
|
||||
package_map.insert(id, *value);
|
||||
i += 1;
|
||||
}
|
||||
|
||||
return package_map;
|
||||
}
|
||||
|
||||
pub fn load_device_ids() {
|
||||
let mut package_map: HashMap<DeviceId, DeviceProperties> = HashMap::new();
|
||||
|
||||
let properties = vec![
|
||||
DeviceProperties::new(DeviceType::OBC, DeviceState::Unknown),
|
||||
DeviceProperties::new(DeviceType::PCDU, DeviceState::Unknown),
|
||||
DeviceProperties::new(DeviceType::MGM, DeviceState::Unknown),
|
||||
DeviceProperties::new(DeviceType::MGM, DeviceState::Unknown),
|
||||
DeviceProperties::new(DeviceType::MGM, DeviceState::Unknown),
|
||||
DeviceProperties::new(DeviceType::CRS, DeviceState::Unknown),
|
||||
DeviceProperties::new(DeviceType::CRS, DeviceState::Unknown),
|
||||
DeviceProperties::new(DeviceType::CRS, DeviceState::Unknown),
|
||||
DeviceProperties::new(DeviceType::STR, DeviceState::Unknown),
|
||||
DeviceProperties::new(DeviceType::MGT, DeviceState::Unknown),
|
||||
DeviceProperties::new(DeviceType::MGT, DeviceState::Unknown),
|
||||
DeviceProperties::new(DeviceType::MGT, DeviceState::Unknown),
|
||||
DeviceProperties::new(DeviceType::RWL, DeviceState::Unknown),
|
||||
DeviceProperties::new(DeviceType::RWL, DeviceState::Unknown),
|
||||
DeviceProperties::new(DeviceType::RWL, DeviceState::Unknown),
|
||||
DeviceProperties::new(DeviceType::CAM, DeviceState::Unknown),
|
||||
];
|
||||
|
||||
let mut i = 0;
|
||||
for id in DeviceId::iter() {
|
||||
let value = properties.get(i).unwrap();
|
||||
package_map.insert(id, *value);
|
||||
i += 1;
|
||||
}
|
||||
}
|
||||
|
||||
//TODO: change ids from u32 to embeddedcan ids
|
||||
pub fn package_id_to_value(packageid: &PackageId) -> u32 {
|
||||
*packageid as u32
|
||||
}
|
||||
pub fn package_id_to_can_id(packageid: &PackageId) -> Id {
|
||||
let x = *packageid as u16;
|
||||
Id::Standard(StandardId::new(x).unwrap())
|
||||
}
|
||||
|
||||
pub fn device_id_to_value(deviceid: &DeviceId) -> u32 {
|
||||
*deviceid as u32
|
||||
}
|
||||
|
||||
pub fn value_to_package_id(value: u32) -> Option<PackageId> {
|
||||
let element = FromPrimitive::from_u32(value);
|
||||
return element;
|
||||
}
|
||||
|
||||
pub fn can_id_to_package_id(value: Id) -> Option<PackageId> {
|
||||
let buf = match value {
|
||||
Id::Standard(id) => id.as_raw() as u32,
|
||||
Id::Extended(id) => id.as_raw(),
|
||||
};
|
||||
let element = FromPrimitive::from_u32(buf);
|
||||
return element;
|
||||
}
|
||||
|
||||
pub fn value_to_device_id(value: u32) -> Option<DeviceId> {
|
||||
let element = FromPrimitive::from_u32(value);
|
||||
return element;
|
||||
}
|
||||
14
src/ccsds.rs
14
src/ccsds.rs
@ -1,13 +1,13 @@
|
||||
use crate::tmtc::PUS_APID;
|
||||
use satrs_core::tmtc::{CcsdsPacketHandler, PusDistributor, ReceivesCcsdsTc};
|
||||
use spacepackets::{CcsdsPacket, SpHeader};
|
||||
use crate::tmtc::{MpscStoreAndSendError, PusTcSource, PUS_APID};
|
||||
use satrs_core::tmtc::{CcsdsPacketHandler, ReceivesCcsdsTc};
|
||||
use satrs_core::spacepackets::{CcsdsPacket, SpHeader};
|
||||
|
||||
pub struct CcsdsReceiver {
|
||||
pub pus_handler: PusDistributor<()>,
|
||||
pub tc_source: PusTcSource,
|
||||
}
|
||||
|
||||
impl CcsdsPacketHandler for CcsdsReceiver {
|
||||
type Error = ();
|
||||
type Error = MpscStoreAndSendError;
|
||||
|
||||
fn valid_apids(&self) -> &'static [u16] {
|
||||
&[PUS_APID]
|
||||
@ -19,9 +19,7 @@ impl CcsdsPacketHandler for CcsdsReceiver {
|
||||
tc_raw: &[u8],
|
||||
) -> Result<(), Self::Error> {
|
||||
if sp_header.apid() == PUS_APID {
|
||||
self.pus_handler
|
||||
.pass_ccsds(sp_header, tc_raw)
|
||||
.expect("Handling PUS packet failed");
|
||||
return self.tc_source.pass_ccsds(sp_header, tc_raw);
|
||||
}
|
||||
Ok(())
|
||||
}
|
||||
|
||||
37
src/device_handler.rs
Normal file
37
src/device_handler.rs
Normal file
@ -0,0 +1,37 @@
|
||||
use socketcan::{errors, frame, socket, CanFrame, Socket};
|
||||
use crate::can_ids::DeviceId;
|
||||
|
||||
#[derive(Copy, Clone)]
|
||||
pub enum DeviceState {
|
||||
On,
|
||||
Off,
|
||||
Broken,
|
||||
Unknown,
|
||||
}
|
||||
|
||||
#[derive(Copy, Clone)]
|
||||
pub enum DeviceType {
|
||||
MGM,
|
||||
MGT,
|
||||
RWL,
|
||||
STR,
|
||||
CRS,
|
||||
OBC,
|
||||
PCDU,
|
||||
CAM,
|
||||
}
|
||||
|
||||
#[derive(Copy, Clone)]
|
||||
pub struct DeviceProperties {
|
||||
device_type: DeviceType,
|
||||
device_state: DeviceState,
|
||||
}
|
||||
|
||||
impl DeviceProperties {
|
||||
pub fn new(device_type: DeviceType, device_state: DeviceState) -> DeviceProperties {
|
||||
return DeviceProperties {
|
||||
device_type,
|
||||
device_state,
|
||||
};
|
||||
}
|
||||
}
|
||||
243
src/example_main.rs
Normal file
243
src/example_main.rs
Normal file
@ -0,0 +1,243 @@
|
||||
use crate::hk::{AcsHkIds, HkRequest};
|
||||
use crate::requests::{Request, RequestWithToken};
|
||||
use crate::tmtc::{
|
||||
core_tmtc_task, OtherArgs, PusTcSource, TcArgs, TcStore, TmArgs, TmFunnel, TmStore, PUS_APID,
|
||||
};
|
||||
use satrs_core::event_man::{
|
||||
EventManagerWithMpscQueue, MpscEventReceiver, MpscEventU32SendProvider, SendEventProvider,
|
||||
};
|
||||
use satrs_core::events::EventU32;
|
||||
use satrs_core::pool::{LocalPool, PoolCfg, StoreAddr};
|
||||
use satrs_core::pus::event_man::{
|
||||
DefaultPusMgmtBackendProvider, EventReporter, EventRequest, EventRequestWithToken,
|
||||
PusEventDispatcher,
|
||||
};
|
||||
use satrs_core::pus::hk::Subservice;
|
||||
use satrs_core::pus::verification::{
|
||||
MpscVerifSender, VerificationReporterCfg, VerificationReporterWithSender,
|
||||
};
|
||||
use satrs_core::pus::{EcssTmError, EcssTmSenderCore};
|
||||
use satrs_core::seq_count::{SeqCountProviderSyncClonable, SequenceCountProvider};
|
||||
use eurosim_obsw::{RequestTargetId, OBSW_SERVER_ADDR, SERVER_PORT};
|
||||
use satrs_core::{
|
||||
spacepackets::time::cds::TimeProvider,
|
||||
spacepackets::time::TimeWriter,
|
||||
spacepackets::tm::{PusTm, PusTmSecondaryHeader},
|
||||
spacepackets::{SequenceFlags, SpHeader}
|
||||
};
|
||||
|
||||
use std::collections::HashMap;
|
||||
use std::net::{IpAddr, SocketAddr};
|
||||
use std::sync::mpsc::{channel, TryRecvError};
|
||||
use std::sync::{mpsc, Arc, RwLock};
|
||||
use std::thread;
|
||||
use std::time::Duration;
|
||||
use crate::EventTmSender;
|
||||
|
||||
fn example_main() {
|
||||
let tm_pool = LocalPool::new(PoolCfg::new(vec![
|
||||
(30, 32),
|
||||
(15, 64),
|
||||
(15, 128),
|
||||
(15, 256),
|
||||
(15, 1024),
|
||||
(15, 2048),
|
||||
]));
|
||||
let tm_store = TmStore {
|
||||
pool: Arc::new(RwLock::new(Box::new(tm_pool))),
|
||||
};
|
||||