...

src/action.rs

@@ -12,6 +12,7 @@ pub enum ActionIds {
 pub enum ActionRequest {
     ImageRequest(RequestTargetId),
     OrientationRequest(RequestTargetId),
+    PointingRequest(RequestTargetId),
 }
 
 pub enum Subservice {

src/can_ids.rs

@@ -16,6 +16,7 @@ pub enum ThreadId {
     AOCSThread,
     PowerThread,
     PLDThread,
+    DeviceHandlerThread,
 }
 
 #[derive(Debug, EnumIter, Eq, Hash, PartialEq, Copy, Clone, FromPrimitive)]

src/device_handler.rs

@@ -1,15 +1,17 @@
 use std::collections::HashMap;
 use std::hash::Hash;
+use std::sync::mpsc::{Receiver, Sender};
 use log::info;
-use crate::can_ids::{DeviceId, PackageId};
+use crate::can_ids::{DeviceId, PackageId, PackageModel, ThreadId};
 use socketcan::{errors, frame, socket, CanFrame, Socket};
 
 pub use num_derive::{FromPrimitive, ToPrimitive};
 pub use num_traits::{FromPrimitive, ToPrimitive};
 pub use strum::IntoEnumIterator; // 0.17.1
-pub use strum_macros::EnumIter; // 0.17.1
+pub use strum_macros::EnumIter;
+use crate::can::{CanRxHandler, CanTxHandler}; // 0.17.1
 
-#[derive(Copy, Clone, Debug)]
+#[derive(Copy, Clone, Debug, PartialEq)]
 pub enum DeviceState {
     On,
     Off,
@@ -18,22 +20,24 @@ pub enum DeviceState {
 }
 
 
-#[derive(Clone, Debug)]
+
 pub struct DeviceHandler {
     device_state_map: HashMap<DeviceId, DeviceState>,
+    can_tx_handler: CanTxHandler,
+    can_rx_receiver: Receiver<PackageModel>,
 }
 
 impl DeviceHandler {
-    pub fn new() -> DeviceHandler {
+    pub fn new(can_tx_handler: CanTxHandler, can_rx_receiver: Receiver<PackageModel>) -> DeviceHandler {
         let mut device_state_map:HashMap<DeviceId, DeviceState> = HashMap::new();
 
         for id in DeviceId::iter() {
             device_state_map.insert(id, DeviceState::Unknown);
         }
-        DeviceHandler{ device_state_map }
+        DeviceHandler{ device_state_map, can_tx_handler, can_rx_receiver }
     }
 
-    pub fn power_up_seq(&self) {
+    pub fn power_up_seq(&mut self) {
         for id in DeviceId::iter() {
             let power_on_success = self.power_on(id);
             match power_on_success{
@@ -43,39 +47,55 @@ impl DeviceHandler {
         }
     }
 
-    pub fn power_on(&self, id: DeviceId) -> Result<(),()> {
-        match id {
-            DeviceId::OBC => {}
-            DeviceId::PCDU => {}
-            DeviceId::MGM1 => {}
-            DeviceId::MGM2 => {}
-            DeviceId::MGM3 => {}
-            DeviceId::MGM4 => {}
-            DeviceId::SunSensor1 => {}
-            DeviceId::SunSensor2 => {}
-            DeviceId::SunSensor3 => {}
-            DeviceId::SunSensor4 => {}
-            DeviceId::SunSensor5 => {}
-            DeviceId::SunSensor6 => {}
-            DeviceId::StarTracker => {}
-            DeviceId::MGT1 => {}
-            DeviceId::MGT2 => {}
-            DeviceId::MGT3 => {}
-            DeviceId::MGT4 => {}
-            DeviceId::RWL1 => {}
-            DeviceId::RWL2 => {}
-            DeviceId::RWL3 => {}
-            DeviceId::RWL4 => {}
-            DeviceId::Camera => {}
-            DeviceId::All => {}
+    pub fn power_on(&mut self, id: DeviceId) -> Result<(),()> {
+        if !self.device_state_map.contains_key(&id) {
+            return Err(());
         }
 
-        self.get_power_state(id)
+        let msg_data: [u8; 1] = [id as u8];
+        self.can_tx_handler.tx_socket(PackageId::DevicePowerOnRequest, &msg_data);
 
+        match self.get_power_state(id) {
+            None => {return Err(());}
+            Some(power_state) => {
+                if *power_state != DeviceState::On {
+                    return Err(());
+                }
+            }
+        }
+
+        Ok(())
     }
 
-    pub fn get_power_state(&self, id: DeviceId) -> Result<(),()> {
-        let power_state:DeviceState = DeviceState::Unknown;
+    pub fn get_power_state(&mut self, id: DeviceId) -> Option<&DeviceState> {
+        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<(),()> {
+        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);
+
+        let response = self.can_rx_receiver.recv();
+        if let Ok(response) = response {
+            let data = response.data();
+
+            if data[0] == id as u8 {
+                if data[1] == 1 {
+                    *self.device_state_map.get_mut(&id).unwrap() = DeviceState::On;
+                } else if data[1] == 0 {
+                    *self.device_state_map.get_mut(&id).unwrap() = DeviceState::Off;
+                } else {
+                    return Err(());
+                }
+            }
+        } else {
+            return Err(());
+        }
         Ok(())
     }
 }

src/main.rs

@@ -218,15 +218,6 @@ fn main() {
         }
     });
 
-    /*
-    let allowed_ids_range = 101..110;
-    let mut allowed_ids_aocs = Vec::new();
-    for id in allowed_ids_range {
-        allowed_ids_aocs.push(Id::Standard(StandardId::new(id).unwrap()));
-    }
-
-     */
-
     let package_map_aocs_tx = load_package_ids();
     let aocs_tm_funnel_tx = tm_funnel_tx.clone();
     let mut aocs_tm_store = tm_store.clone();
@@ -408,6 +399,7 @@ fn main() {
                                     }
                                 }
                                 ActionRequest::OrientationRequest(_) => {}
+                                _ => {}
                             }
                         }
                         _ => {}
@@ -415,9 +407,7 @@ fn main() {
                 }
                 Err(_) => {}
             }
-                //let addr = pld_tm_store.add_pus_tm(&hk_tm);
-                //pld_tm_funnel_tx.send(a).expect("sending failed");
-            }
+        }
     });
 
 
@@ -457,4 +447,4 @@ struct MgmData {
     x: i16,
     y: i16,
     z: i16,
-}
+}

src/pus.rs

@@ -310,6 +310,7 @@ impl PusReceiver {
                         .send(RequestWithToken(Request::ActionRequest(request), token))
                         .unwrap_or_else(|_| panic!("Sending Action request {:?} failed", request));
                 }
+                _ => {}
             }
         };