ops-sat-rs/src/tmtc/tc_source.rs

use satrs::{pool::PoolProvider, tmtc::tc_helper::SharedTcPool};
use std::sync::mpsc::{self, TryRecvError};

use satrs::{
    pool::StoreAddr,
    pus::{MpscTmAsVecSender, MpscTmInSharedPoolSenderBounded},
    spacepackets::ecss::{tc::PusTcReader, PusPacket},
};

use crate::pus::PusTcDistributor;

// TC source components where static pools are the backing memory of the received telecommands.
pub struct TcSourceTaskStatic {
    shared_tc_pool: SharedTcPool,
    tc_receiver: mpsc::Receiver<StoreAddr>,
    tc_buf: [u8; 4096],
    pus_receiver: PusTcDistributor<MpscTmInSharedPoolSenderBounded>,
}

impl TcSourceTaskStatic {
    pub fn new(
        shared_tc_pool: SharedTcPool,
        tc_receiver: mpsc::Receiver<StoreAddr>,
        pus_receiver: PusTcDistributor<MpscTmInSharedPoolSenderBounded>,
    ) -> Self {
        Self {
            shared_tc_pool,
            tc_receiver,
            tc_buf: [0; 4096],
            pus_receiver,
        }
    }

    pub fn periodic_operation(&mut self) {
        self.poll_tc();
    }

    pub fn poll_tc(&mut self) -> bool {
        match self.tc_receiver.try_recv() {
            Ok(addr) => {
                let pool = self
                    .shared_tc_pool
                    .0
                    .read()
                    .expect("locking tc pool failed");
                pool.read(&addr, &mut self.tc_buf)
                    .expect("reading pool failed");
                drop(pool);
                match PusTcReader::new(&self.tc_buf) {
                    Ok((pus_tc, _)) => {
                        self.pus_receiver
                            .handle_tc_packet(
                                satrs::pus::TcInMemory::StoreAddr(addr),
                                pus_tc.service(),
                                &pus_tc,
                            )
                            .ok();
                        true
                    }
                    Err(e) => {
                        log::warn!("error creating PUS TC from raw data: {e}");
                        log::warn!("raw data: {:x?}", self.tc_buf);
                        true
                    }
                }
            }
            Err(e) => match e {
                TryRecvError::Empty => false,
                TryRecvError::Disconnected => {
                    log::warn!("tmtc thread: sender disconnected");
                    false
                }
            },
        }
    }
}

// TC source components where the heap is the backing memory of the received telecommands.
pub struct TcSourceTaskDynamic {
    pub tc_receiver: mpsc::Receiver<Vec<u8>>,
    pus_receiver: PusTcDistributor<MpscTmAsVecSender>,
}

impl TcSourceTaskDynamic {
    pub fn new(
        tc_receiver: mpsc::Receiver<Vec<u8>>,
        pus_receiver: PusTcDistributor<MpscTmAsVecSender>,
    ) -> Self {
        Self {
            tc_receiver,
            pus_receiver,
        }
    }

    pub fn periodic_operation(&mut self) {
        self.poll_tc();
    }

    pub fn poll_tc(&mut self) -> bool {
        // Right now, we only expect PUS packets.
        match self.tc_receiver.try_recv() {
            Ok(tc) => match PusTcReader::new(&tc) {
                Ok((pus_tc, _)) => {
                    self.pus_receiver
                        .handle_tc_packet(
                            satrs::pus::TcInMemory::Vec(tc.clone()),
                            pus_tc.service(),
                            &pus_tc,
                        )
                        .ok();
                    true
                }
                Err(e) => {
                    log::warn!("error creating PUS TC from raw data: {e}");
                    log::warn!("raw data: {:x?}", tc);
                    true
                }
            },
            Err(e) => match e {
                TryRecvError::Empty => false,
                TryRecvError::Disconnected => {
                    log::warn!("tmtc thread: sender disconnected");
                    false
                }
            },
        }
    }
}