rust/ops-sat-rs
6
0
Fork 0
Code Issues Pull Requests Packages Projects Releases4 Wiki Activity

bump sat-rs and improve PUS stack

Browse Source
This commit is contained in:
Robin Müller
2024-05-02 12:32:57 +02:00
parent 62cc933f88
commit 66a18e08e5
13 changed files with 397 additions and 396 deletions

94
src/pus/stack.rs

@ -5,7 +5,7 @@ use satrs::spacepackets::time::{cds, TimeWriter};
use super::{
action::ActionServiceWrapper, event::EventServiceWrapper, hk::HkServiceWrapper,
mode::ModeServiceWrapper, scheduler::SchedulingService, TargetedPusService,
mode::ModeServiceWrapper, scheduler::SchedulingService, DirectPusService, TargetedPusService,
};
#[derive(new)]
@ -23,59 +23,28 @@ impl PusStack {
// Release all telecommands which reached their release time before calling the service
// handlers.
self.schedule_srv.release_tcs();
let time_stamp = cds::CdsTime::now_with_u16_days()
let timestamp = cds::CdsTime::now_with_u16_days()
.expect("time stamp generation error")
.to_vec()
.unwrap();
let mut loop_count = 0;
let mut loop_count = 0_u32;
// Hot loop which will run continuously until all request and reply handling is done.
loop {
let mut nothing_to_do = true;
let mut is_srv_finished =
|_srv_id: u8,
tc_handling_status: HandlingStatus,
reply_handling_status: Option<HandlingStatus>| {
if tc_handling_status == HandlingStatus::HandledOne
|| (reply_handling_status.is_some()
&& reply_handling_status.unwrap() == HandlingStatus::HandledOne)
{
nothing_to_do = false;
}
};
is_srv_finished(
17,
self.test_srv.poll_and_handle_next_packet(&time_stamp),
None,
Self::direct_service_checker(&mut self.test_srv, &timestamp, &mut nothing_to_do);
Self::direct_service_checker(&mut self.schedule_srv, &timestamp, &mut nothing_to_do);
Self::direct_service_checker(&mut self.event_srv, &timestamp, &mut nothing_to_do);
Self::targeted_service_checker(
&mut self.action_srv_wrapper,
&timestamp,
&mut nothing_to_do,
);
is_srv_finished(
11,
self.schedule_srv.poll_and_handle_next_tc(&time_stamp),
None,
Self::targeted_service_checker(
&mut self.hk_srv_wrapper,
&timestamp,
&mut nothing_to_do,
);
is_srv_finished(5, self.event_srv.poll_and_handle_next_tc(&time_stamp), None);
is_srv_finished(
8,
self.action_srv_wrapper.poll_and_handle_next_tc(&time_stamp),
Some(
self.action_srv_wrapper
.poll_and_handle_next_reply(&time_stamp),
),
);
is_srv_finished(
3,
self.hk_srv_wrapper.poll_and_handle_next_tc(&time_stamp),
Some(self.hk_srv_wrapper.poll_and_handle_next_reply(&time_stamp)),
);
is_srv_finished(
200,
self.mode_srv.poll_and_handle_next_tc(&time_stamp),
Some(self.mode_srv.poll_and_handle_next_reply(&time_stamp)),
);
// Safety mechanism to avoid infinite loops.
loop_count += 1;
if loop_count >= 500 {
log::warn!("reached PUS stack loop count 500, breaking");
break;
}
Self::targeted_service_checker(&mut self.mode_srv, &timestamp, &mut nothing_to_do);
if nothing_to_do {
// Timeout checking is only done once.
self.action_srv_wrapper.check_for_request_timeouts();
@ -83,6 +52,37 @@ impl PusStack {
self.mode_srv.check_for_request_timeouts();
break;
}
// Safety mechanism to avoid infinite loops.
loop_count += 1;
if loop_count >= 500 {
log::warn!("reached PUS stack loop count 500, breaking");
break;
}
}
}
pub fn direct_service_checker<S: DirectPusService>(
service: &mut S,
timestamp: &[u8],
nothing_to_do: &mut bool,
) {
let handling_status = service.poll_and_handle_next_tc(timestamp);
if handling_status == HandlingStatus::HandledOne {
*nothing_to_do = false;
}
}
pub fn targeted_service_checker<S: TargetedPusService>(
service: &mut S,
timestamp: &[u8],
nothing_to_do: &mut bool,
) {
let request_handling = service.poll_and_handle_next_tc_default_handler(timestamp);
let reply_handling = service.poll_and_handle_next_reply_default_handler(timestamp);
if request_handling == HandlingStatus::HandledOne
|| reply_handling == HandlingStatus::HandledOne
{
*nothing_to_do = false;
}
}
}