take image metadata generation

Cargo.lock

@@ -504,12 +504,6 @@ dependencies = [
  "wasm-bindgen",
 ]
 
-[[package]]
-name = "lazy_static"
-version = "1.4.0"
-source = "registry+https://github.com/rust-lang/crates.io-index"
-checksum = "e2abad23fbc42b3700f2f279844dc832adb2b2eb069b2df918f455c4e18cc646"
-
 [[package]]
 name = "libc"
 version = "0.2.154"
@@ -636,7 +630,6 @@ dependencies = [
  "fern",
  "homedir",
  "humantime",
- "lazy_static",
  "log",
  "mio",
  "num_enum",
@@ -776,7 +769,7 @@ checksum = "e86697c916019a8588c99b5fac3cead74ec0b4b819707a682fd4d23fa0ce1ba1"
 [[package]]
 name = "satrs"
 version = "0.2.0-rc.5"
-source = "git+https://egit.irs.uni-stuttgart.de/rust/sat-rs.git?branch=main#29f71c2a571e7492cf5d997d4c11c3f844de83bc"
+source = "git+https://egit.irs.uni-stuttgart.de/rust/sat-rs.git?branch=main#424dfc439c52223c8480e67413c8305dad5a75dc"
 dependencies = [
  "bus",
  "cobs",
@@ -835,9 +828,9 @@ dependencies = [
 
 [[package]]
 name = "serde"
-version = "1.0.199"
+version = "1.0.200"
 source = "registry+https://github.com/rust-lang/crates.io-index"
-checksum = "0c9f6e76df036c77cd94996771fb40db98187f096dd0b9af39c6c6e452ba966a"
+checksum = "ddc6f9cc94d67c0e21aaf7eda3a010fd3af78ebf6e096aa6e2e13c79749cce4f"
 dependencies = [
  "serde_derive",
 ]
@@ -855,9 +848,9 @@ dependencies = [
 
 [[package]]
 name = "serde_derive"
-version = "1.0.199"
+version = "1.0.200"
 source = "registry+https://github.com/rust-lang/crates.io-index"
-checksum = "11bd257a6541e141e42ca6d24ae26f7714887b47e89aa739099104c7e4d3b7fc"
+checksum = "856f046b9400cee3c8c94ed572ecdb752444c24528c035cd35882aad6f492bcb"
 dependencies = [
  "proc-macro2",
  "quote",

Cargo.toml

@@ -10,7 +10,6 @@ fern = "0.6"
 toml = "0.8"
 chrono = "0.4"
 log = "0.4"
-lazy_static = "1"
 humantime = "2"
 strum = { version = "0.26", features = ["derive"] }
 thiserror = "1"

src/config.rs

@@ -1,4 +1,3 @@
-use lazy_static::lazy_static;
 use num_enum::{IntoPrimitive, TryFromPrimitive};
 use once_cell::sync::OnceCell;
 use satrs::events::{EventU32TypedSev, SeverityInfo};
@@ -29,8 +28,11 @@ pub const VALID_PACKET_ID_LIST: &[PacketId] = &[PacketId::new_for_tc(true, EXPER
 pub const SPP_CLIENT_WIRETAPPING_RX: bool = false;
 pub const SPP_CLIENT_WIRETAPPING_TX: bool = false;
 
+pub const VERSION: Option<&str> = option_env!("CARGO_PKG_VERSION");
+
 pub static TO_GROUND_FOLDER_DIR: OnceCell<PathBuf> = OnceCell::new();
 pub static TO_GROUND_LP_FOLDER_DIR: OnceCell<PathBuf> = OnceCell::new();
+pub static HOME_PATH: OnceCell<PathBuf> = OnceCell::new();
 
 #[derive(Copy, Clone, PartialEq, Eq, Debug, TryFromPrimitive, IntoPrimitive)]
 #[repr(u8)]
@@ -53,31 +55,32 @@ pub enum GroupId {
 pub const TEST_EVENT: EventU32TypedSev<SeverityInfo> =
     EventU32TypedSev::<SeverityInfo>::new(GroupId::Tmtc as u16, 0);
 
-pub const VERSION: Option<&str> = option_env!("CARGO_PKG_VERSION");
+pub fn set_up_home_path() {
+    let mut home_path = PathBuf::new();
+    let home_path_default = homedir::get_my_home()
+        .expect("Getting home dir from OS failed.")
+        .expect("No home dir found.");
 
-lazy_static! {
+    home_path.push(if Path::new(HOME_FOLDER_EXPERIMENT).exists() {
-    pub static ref HOME_PATH: PathBuf = {
+        HOME_FOLDER_EXPERIMENT
-        let mut home_path = PathBuf::new();
+    } else {
-        let home_path_default = homedir::get_my_home()
+        home_path_default
-            .expect("Getting home dir from OS failed.")
+            .to_str()
-            .expect("No home dir found.");
+            .expect("Error converting to string.")
-
+    });
-        home_path.push(if Path::new(HOME_FOLDER_EXPERIMENT).exists() {
+    HOME_PATH
-            HOME_FOLDER_EXPERIMENT
+        .set(home_path)
-        } else {
+        .expect("attempting to set once cell twice")
-            home_path_default
-                .to_str()
-                .expect("Error converting to string.")
-        });
-        home_path
-    };
 }
 
-pub fn set_up_low_prio_ground_dir() {
+pub fn set_up_low_prio_ground_dir(base_path: PathBuf) {
+    /*
     #[cfg(feature = "host")]
     let mut to_ground_lp_dir = std::env::current_dir().expect("getting current dir failed");
     #[cfg(not(feature = "host"))]
-    let mut to_ground_lp_dir = HOME_PATH.clone();
+    let mut to_ground_lp_dir = home_path;
+    */
+    let mut to_ground_lp_dir = base_path.to_path_buf();
     to_ground_lp_dir.push(TO_GROUND_LP_FOLDER_NAME);
     if !Path::new(&to_ground_lp_dir).exists() {
         log::info!(
@@ -96,11 +99,14 @@ pub fn set_up_low_prio_ground_dir() {
         .expect("attemting to set once cell twice");
 }
 
-pub fn set_up_ground_dir() {
+pub fn set_up_ground_dir(base_path: PathBuf) {
+    /*
     #[cfg(feature = "host")]
     let mut to_ground_dir = std::env::current_dir().expect("getting current dir failed");
     #[cfg(not(feature = "host"))]
     let mut to_ground_dir = HOME_PATH.clone();
+    */
+    let mut to_ground_dir = base_path.to_path_buf();
     to_ground_dir.push(TO_GROUND_FOLDER_NAME);
     if !Path::new(&to_ground_dir).exists() {
         log::info!("creating to ground directory at {:?}", to_ground_dir);
@@ -123,7 +129,7 @@ pub mod cfg_file {
         path::{Path, PathBuf},
     };
 
-    use super::{CONFIG_FILE_NAME, HOME_PATH, TCP_SPP_SERVER_PORT};
+    use super::{CONFIG_FILE_NAME, TCP_SPP_SERVER_PORT};
 
     pub const SPP_CLIENT_PORT_CFG_KEY: &str = "tcp_spp_server_port";
 
@@ -140,8 +146,8 @@ pub mod cfg_file {
         }
     }
 
-    pub fn create_app_config() -> AppCfg {
+    pub fn create_app_config(base_path: PathBuf) -> AppCfg {
-        let mut cfg_path = HOME_PATH.clone();
+        let mut cfg_path = base_path;
         cfg_path.push(CONFIG_FILE_NAME);
         let cfg_path_home = cfg_path.as_path();
         let relevant_path = if Path::new(CONFIG_FILE_NAME).exists() {

src/controller.rs

@@ -47,6 +47,7 @@ pub enum ActionId {
 
 #[derive(Debug)]
 pub struct ControllerPathCollection {
+    pub home_path: PathBuf,
     pub stop_file_home_path: PathBuf,
     pub stop_file_tmp_path: PathBuf,
     pub to_ground_dir: PathBuf,
@@ -55,12 +56,14 @@ pub struct ControllerPathCollection {
 
 impl Default for ControllerPathCollection {
     fn default() -> Self {
+        let home_path = HOME_PATH.get().unwrap();
         let mut home_path_stop_file = PathBuf::new();
-        home_path_stop_file.push(HOME_PATH.as_path());
+        home_path_stop_file.push(home_path);
         home_path_stop_file.push(STOP_FILE_NAME);
         let mut tmp_path_stop_file = temp_dir();
         tmp_path_stop_file.push(STOP_FILE_NAME);
         Self {
+            home_path: home_path.clone(),
             stop_file_home_path: home_path_stop_file,
             stop_file_tmp_path: tmp_path_stop_file,
             to_ground_dir: TO_GROUND_FOLDER_DIR
@@ -159,7 +162,7 @@ impl ExperimentController {
     ) -> io::Result<()> {
         log::info!("moving images into low priority downlink folder");
         let num_moved_files = move_images_inside_home_dir_to_low_prio_ground_dir(
-            &HOME_PATH,
+            HOME_PATH.get().unwrap(),
             &self.paths.to_ground_low_prio_dir,
         )?;
         log::info!("moved {} image files", num_moved_files);
@@ -405,6 +408,7 @@ mod tests {
             to_ground_low_prio_dir.push("toGroundLP");
 
             let test_paths = ControllerPathCollection {
+                home_path: test_tmp_dir.path().to_path_buf(),
                 stop_file_home_path,
                 stop_file_tmp_path,
                 to_ground_dir,

src/handlers/camera.rs

@@ -30,7 +30,7 @@ use derive_new::new;
 use log::info;
 use num_enum::TryFromPrimitive;
 use ops_sat_rs::config::cam_error::{self, CameraError};
-use ops_sat_rs::config::GENERIC_FAILED;
+use ops_sat_rs::config::{GENERIC_FAILED, HOME_PATH};
 use ops_sat_rs::TimeStampHelper;
 use satrs::action::{ActionRequest, ActionRequestVariant};
 use satrs::hk::HkRequest;
@@ -40,8 +40,10 @@ use satrs::request::{GenericMessage, MessageMetadata, UniqueApidTargetId};
 use satrs::res_code::ResultU16;
 use satrs::tmtc::PacketAsVec;
 use serde::{Deserialize, Serialize};
+use std::io::{self, Write};
 use std::process::{Command, Output};
 use std::sync::mpsc;
+use std::time::{SystemTime, UNIX_EPOCH};
 
 const IMS_TESTAPP: &str = "ims100_testapp";
 
@@ -101,7 +103,7 @@ pub enum ActionId {
 
 // TODO what happens if limits are exceded
 #[allow(non_snake_case)]
-#[derive(Debug, Serialize, Deserialize, new)]
+#[derive(Debug, Clone, Serialize, Deserialize, new)]
 pub struct CameraPictureParameters {
     pub R: u8,
     pub G: u8,
@@ -112,19 +114,61 @@ pub struct CameraPictureParameters {
     pub W: u32,  // wait time between pictures in ms, max: 40000
 }
 
-#[derive(Debug)]
+pub trait TakeImageExecutor {
-pub struct Ims100BatchHandler {
+    fn take_image(&self, param: &CameraPictureParameters) -> io::Result<(Command, Output)>;
+}
+
+#[derive(Default)]
+pub struct Ims100ImageExecutor {}
+
+pub fn build_take_image_command(param: &CameraPictureParameters) -> Command {
+    let mut cmd = Command::new(IMS_TESTAPP);
+    cmd.arg("-R")
+        .arg(param.R.to_string())
+        .arg("-G")
+        .arg(param.G.to_string())
+        .arg("-B")
+        .arg(param.B.to_string())
+        .arg("-c")
+        .arg("/dev/cam_tty")
+        .arg("-m")
+        .arg("/dev/cam_sd")
+        .arg("-v")
+        .arg("0")
+        .arg("-n")
+        .arg(param.N.to_string());
+    if param.P {
+        cmd.arg("-p");
+    }
+    cmd.arg("-e")
+        .arg(param.E.to_string())
+        .arg("-w")
+        .arg(param.W.to_string());
+    cmd
+}
+
+impl TakeImageExecutor for Ims100ImageExecutor {
+    fn take_image(&self, param: &CameraPictureParameters) -> io::Result<(Command, Output)> {
+        let mut cmd = build_take_image_command(param);
+        info!("taking image with command: {cmd:?}");
+        let output = cmd.output()?;
+        Ok((cmd, output))
+    }
+}
+
+pub struct Ims100BatchHandler<ImgExecutor: TakeImageExecutor = Ims100ImageExecutor> {
     id: UniqueApidTargetId,
+    image_executor: ImgExecutor,
     composite_request_rx: mpsc::Receiver<GenericMessage<CompositeRequest>>,
     tm_tx: mpsc::Sender<PacketAsVec>,
     action_reply_tx: mpsc::Sender<GenericMessage<ActionReplyPus>>,
     stamp_helper: TimeStampHelper,
 }
 
-#[allow(non_snake_case)]
+impl<ImgExecutor: TakeImageExecutor> Ims100BatchHandler<ImgExecutor> {
-impl Ims100BatchHandler {
     pub fn new(
         id: UniqueApidTargetId,
+        image_executor: ImgExecutor,
         composite_request_rx: mpsc::Receiver<GenericMessage<CompositeRequest>>,
         tm_tx: mpsc::Sender<PacketAsVec>,
         action_reply_tx: mpsc::Sender<GenericMessage<ActionReplyPus>>,
@@ -132,6 +176,7 @@ impl Ims100BatchHandler {
     ) -> Self {
         Self {
             id,
+            image_executor,
             composite_request_rx,
             tm_tx,
             action_reply_tx,
@@ -223,14 +268,17 @@ impl Ims100BatchHandler {
             },
         };
         match self.take_picture(&param) {
-            Ok(ref output) => {
+            Ok((cmd, ref output)) => {
                 self.send_completion_success(requestor_info, action_request);
                 if let Err(e) =
                     send_data_reply(self.id, &output.stdout, &self.stamp_helper, &self.tm_tx)
                 {
                     log::error!("sending data reply unexpectedly failed: {e}");
                 }
-                self.create_metadata_file(&param);
+                if let Err(e) = self.create_metadata_file(cmd, &param) {
+                    // TODO: Generate event?
+                    log::error!("issue creating metadata file: {e}");
+                }
             }
             Err(e) => match e {
                 CameraError::TakeImageError(ref err_str) => {
@@ -262,8 +310,25 @@ impl Ims100BatchHandler {
         }
     }
 
-    pub fn create_metadata_file(&mut self, _param: &CameraPictureParameters) {
+    pub fn create_metadata_file(
-        // TODO: Implement
+        &mut self,
+        cmd: Command,
+        param: &CameraPictureParameters,
+    ) -> io::Result<()> {
+        let now = SystemTime::now();
+        let unix_timestamp = now.duration_since(UNIX_EPOCH);
+        if unix_timestamp.is_err() {
+            log::error!("failed to get unix timestamp, time went backwards?");
+            return Ok(());
+        }
+        let unix_timestamp = unix_timestamp.unwrap().as_millis();
+        let mut metadata_path = HOME_PATH.get().unwrap().clone();
+        metadata_path.push(format!("img_msec_{}.txt", unix_timestamp));
+        let mut file = std::fs::File::create(metadata_path)?;
+        writeln!(file, "time: {}", humantime::format_rfc3339_seconds(now))?;
+        writeln!(file, "cmd params: {:?}", param)?;
+        writeln!(file, "cmd: {:?}", cmd)?;
+        Ok(())
     }
 
     pub fn send_completion_success(&self, requestor: &MessageMetadata, action_req: &ActionRequest) {
@@ -294,31 +359,11 @@ impl Ims100BatchHandler {
         }
     }
 
-    pub fn take_picture(&mut self, param: &CameraPictureParameters) -> Result<Output, CameraError> {
+    pub fn take_picture(
-        let mut cmd = Command::new(IMS_TESTAPP);
+        &mut self,
-        cmd.arg("-R")
+        param: &CameraPictureParameters,
-            .arg(param.R.to_string())
+    ) -> Result<(Command, Output), CameraError> {
-            .arg("-G")
+        let (cmd, output) = self.image_executor.take_image(param)?;
-            .arg(param.G.to_string())
-            .arg("-B")
-            .arg(param.B.to_string())
-            .arg("-c")
-            .arg("/dev/cam_tty")
-            .arg("-m")
-            .arg("/dev/cam_sd")
-            .arg("-v")
-            .arg("0")
-            .arg("-n")
-            .arg(param.N.to_string());
-        if param.P {
-            cmd.arg("-p");
-        }
-        cmd.arg("-e")
-            .arg(param.E.to_string())
-            .arg("-w")
-            .arg(param.W.to_string());
-        info!("taking image with command: {cmd:?}");
-        let output = cmd.output()?;
 
         info!("imager cmd status: {}", &output.status);
         info!("imager output: {}", String::from_utf8_lossy(&output.stdout));
@@ -330,7 +375,7 @@ impl Ims100BatchHandler {
         if !output.status.success() {
             return Err(CameraError::TakeImageError(error_string.to_string()));
         }
-        Ok(output)
+        Ok((cmd, output))
     }
 
     #[allow(dead_code)]
@@ -349,6 +394,25 @@ impl Ims100BatchHandler {
     }
 }
 
+impl Ims100BatchHandler {
+    pub fn new_with_default_img_executor(
+        id: UniqueApidTargetId,
+        composite_request_rx: mpsc::Receiver<GenericMessage<CompositeRequest>>,
+        tm_tx: mpsc::Sender<PacketAsVec>,
+        action_reply_tx: mpsc::Sender<GenericMessage<ActionReplyPus>>,
+        stamp_helper: TimeStampHelper,
+    ) -> Self {
+        Self::new(
+            id,
+            Ims100ImageExecutor::default(),
+            composite_request_rx,
+            tm_tx,
+            action_reply_tx,
+            stamp_helper,
+        )
+    }
+}
+
 #[cfg(test)]
 mod tests {
     use crate::handlers::camera::{
@@ -356,35 +420,76 @@ mod tests {
     };
     use crate::requests::CompositeRequest;
     use ops_sat_rs::config::components::CAMERA_HANDLER;
+    use ops_sat_rs::config::HOME_PATH;
     use ops_sat_rs::TimeStampHelper;
     use satrs::action::{ActionRequest, ActionRequestVariant};
-    use satrs::pus::action::ActionReplyPus;
+    use satrs::pus::action::{ActionReplyPus, ActionReplyVariant};
     use satrs::request::{GenericMessage, MessageMetadata};
     use satrs::tmtc::PacketAsVec;
+    use satrs::ComponentId;
+    use std::cell::RefCell;
+    use std::collections::VecDeque;
+    use std::os::unix::process::ExitStatusExt;
     use std::sync::mpsc;
+    use tempfile::tempdir;
+
+    use super::{build_take_image_command, TakeImageExecutor};
+
+    const REQUESTOR_ID: ComponentId = 1;
+
+    #[derive(Default)]
+    struct Ims100TestImageExecutor {
+        pub called_with_params: RefCell<VecDeque<CameraPictureParameters>>,
+    }
+
+    impl TakeImageExecutor for Ims100TestImageExecutor {
+        fn take_image(
+            &self,
+            param: &CameraPictureParameters,
+        ) -> std::io::Result<(std::process::Command, std::process::Output)> {
+            let mut param_deque = self.called_with_params.borrow_mut();
+            param_deque.push_back(param.clone());
+            // We fake the test output, with no way to execute the actual command.
+            let output = std::process::Output {
+                status: std::process::ExitStatus::from_raw(0),
+                stdout: Vec::new(),
+                stderr: Vec::new(),
+            };
+            // We could generate the files as they are generated by the real batch handler.. But
+            // I think it's okay to verify that the function is called with the correct parameters
+            // and the metadata file is created for now.
+            Ok((build_take_image_command(param), output))
+        }
+    }
 
     #[allow(dead_code)]
-    struct Ims1000Testbench {
+    struct Ims100Testbench {
-        pub handler: Ims100BatchHandler,
+        pub handler: Ims100BatchHandler<Ims100TestImageExecutor>,
         pub composite_req_tx: mpsc::Sender<GenericMessage<CompositeRequest>>,
         pub tm_receiver: mpsc::Receiver<PacketAsVec>,
         pub action_reply_rx: mpsc::Receiver<GenericMessage<ActionReplyPus>>,
     }
 
-    impl Default for Ims1000Testbench {
+    impl Default for Ims100Testbench {
         fn default() -> Self {
+            // TODO: Set home path which is used inside the batch handler for creating metadata.
+            let temp_dir = tempdir().expect("errror creating temp directory");
+            HOME_PATH
+                .set(temp_dir.path().to_path_buf())
+                .expect("error setting test home path");
             let (composite_request_tx, composite_request_rx) = mpsc::channel();
             let (tm_tx, tm_rx) = mpsc::channel();
             let (action_reply_tx, action_reply_rx) = mpsc::channel();
             let time_helper = TimeStampHelper::default();
-            let cam_handler: Ims100BatchHandler = Ims100BatchHandler::new(
+            let cam_handler = Ims100BatchHandler::new(
                 CAMERA_HANDLER,
+                Ims100TestImageExecutor::default(),
                 composite_request_rx,
                 tm_tx,
                 action_reply_tx,
                 time_helper,
             );
-            Ims1000Testbench {
+            Ims100Testbench {
                 handler: cam_handler,
                 composite_req_tx: composite_request_tx,
                 tm_receiver: tm_rx,
@@ -395,7 +500,7 @@ mod tests {
 
     #[test]
     fn command_line_execution() {
-        let mut testbench = Ims1000Testbench::default();
+        let mut testbench = Ims100Testbench::default();
         testbench
             .handler
             .take_picture(&DEFAULT_SINGLE_FLATSAT_CAM_PARAMS)
@@ -411,8 +516,9 @@ mod tests {
     }
 
     #[test]
-    fn test_action_req() {
+    fn test_take_image_action_req() {
-        let mut testbench = Ims1000Testbench::default();
+        let request_id = 5;
+        let mut testbench = Ims100Testbench::default();
         let data = serde_json::to_string(&DEFAULT_SINGLE_FLATSAT_CAM_PARAMS).unwrap();
         let req = ActionRequest::new(
             ActionId::CustomParameters as u32,
@@ -421,12 +527,23 @@ mod tests {
 
         testbench
             .handler
-            .handle_action_request(&MessageMetadata::new(1, 1), &req)
+            .handle_action_request(&MessageMetadata::new(request_id, REQUESTOR_ID), &req);
+        // TODO: Verify execution and generated metadata file.
+        let action_reply = testbench
+            .action_reply_rx
+            .try_recv()
+            .expect("expected action reply");
+        assert!(matches!(
+            action_reply.message.variant,
+            ActionReplyVariant::Completed
+        ));
+        assert_eq!(action_reply.request_id(), request_id);
+        assert_eq!(action_reply.sender_id(), REQUESTOR_ID);
     }
 
     #[test]
     fn test_action_req_channel() {
-        let mut testbench = Ims1000Testbench::default();
+        let mut testbench = Ims100Testbench::default();
 
         let data = serde_json::to_string(&DEFAULT_SINGLE_FLATSAT_CAM_PARAMS).unwrap();
         let req = ActionRequest::new(

src/main.rs

@@ -1,20 +1,21 @@
 use std::{
     env::temp_dir,
     net::{IpAddr, SocketAddr},
-    path::PathBuf,
     sync::{atomic::AtomicBool, mpsc, Arc},
     thread,
     time::Duration,
 };
 
 use log::info;
+#[cfg(not(feature = "host"))]
+use ops_sat_rs::config::HOME_PATH;
 use ops_sat_rs::config::{
     cfg_file::create_app_config,
     components::{CONTROLLER_ID, TCP_SERVER, TCP_SPP_CLIENT, UDP_SERVER},
     pool::create_sched_tc_pool,
-    set_up_ground_dir, set_up_low_prio_ground_dir,
+    set_up_ground_dir, set_up_home_path, set_up_low_prio_ground_dir,
     tasks::{FREQ_MS_CAMERA_HANDLING, FREQ_MS_CTRL, FREQ_MS_PUS_STACK, STOP_CHECK_FREQUENCY},
-    HOME_PATH, STOP_FILE_NAME, VALID_PACKET_ID_LIST, VERSION,
+    STOP_FILE_NAME, VALID_PACKET_ID_LIST, VERSION,
 };
 use ops_sat_rs::config::{components::CAMERA_HANDLER, tasks::FREQ_MS_EVENT_HANDLING};
 use ops_sat_rs::config::{tasks::FREQ_MS_UDP_TMTC, OBSW_SERVER_ADDR, SERVER_PORT};
@@ -58,10 +59,18 @@ fn main() {
     let version_str = VERSION.unwrap_or("?");
     println!("OPS-SAT Rust Experiment OBSW v{}", version_str);
     setup_logger().expect("setting up logging with fern failed");
-    set_up_low_prio_ground_dir();
-    set_up_ground_dir();
 
-    let app_cfg = create_app_config();
+    set_up_home_path();
+    #[cfg(feature = "host")]
+    let base_dir = std::env::current_dir()
+        .expect("getting current dir failed")
+        .to_path_buf();
+    #[cfg(not(feature = "host"))]
+    let base_dir = HOME_PATH.get().unwrap();
+    set_up_low_prio_ground_dir(base_dir.clone());
+    set_up_ground_dir(base_dir.clone());
+
+    let app_cfg = create_app_config(base_dir.clone());
     info!("App Configuration: {:?}", app_cfg);
 
     let stop_signal = Arc::new(AtomicBool::new(false));
@@ -194,8 +203,7 @@ fn main() {
         stop_signal.clone(),
     );
 
-    let mut home_path_stop_file = PathBuf::new();
+    let mut home_path_stop_file = base_dir.clone();
-    home_path_stop_file.push(HOME_PATH.as_path());
     home_path_stop_file.push(STOP_FILE_NAME);
     let mut tmp_path_stop_file = temp_dir();
     tmp_path_stop_file.push(STOP_FILE_NAME);
@@ -217,7 +225,7 @@ fn main() {
     .expect("creating TCP SPP client failed");
 
     let timestamp_helper = TimeStampHelper::default();
-    let mut camera_handler: Ims100BatchHandler = Ims100BatchHandler::new(
+    let mut camera_handler: Ims100BatchHandler = Ims100BatchHandler::new_with_default_img_executor(
         CAMERA_HANDLER,
         camera_composite_rx,
         tm_funnel_tx.clone(),