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add event management, small fix for CAM handler loop

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This commit is contained in:
Robin Müller
2024-04-24 20:02:42 +02:00
parent 707843ec9f
commit dcaf67d6d0
11 changed files with 449 additions and 57 deletions
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72
src/main.rs
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@ -6,25 +6,31 @@ use std::{
};
use log::info;
use ops_sat_rs::config::components::CAMERA_HANDLER;
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,
tasks::{FREQ_MS_CTRL, FREQ_MS_PUS_STACK, STOP_CHECK_FREQUENCY},
tasks::{FREQ_MS_CAMERA_HANDLING, FREQ_MS_CTRL, FREQ_MS_PUS_STACK, STOP_CHECK_FREQUENCY},
VALID_PACKET_ID_LIST,
};
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};
use ops_sat_rs::TimeStampHelper;
use satrs::hal::std::{tcp_server::ServerConfig, udp_server::UdpTcServer};
use crate::handlers::camera::IMS100BatchHandler;
use crate::pus::{
hk::create_hk_service, mode::create_mode_service, scheduler::create_scheduler_service,
PusTcDistributor, PusTcMpscRouter,
use satrs::{
hal::std::{tcp_server::ServerConfig, udp_server::UdpTcServer},
pus::event_man::EventRequestWithToken,
};
use crate::tmtc::tm_sink::TmFunnelDynamic;
use crate::{controller::ExperimentController, pus::test::create_test_service};
use crate::{
events::EventHandler,
pus::{
hk::create_hk_service, mode::create_mode_service, scheduler::create_scheduler_service,
PusTcDistributor, PusTcMpscRouter,
},
};
use crate::{handlers::camera::IMS100BatchHandler, pus::event::create_event_service};
use crate::{
interface::tcp_server::{SyncTcpTmSource, TcpTask},
interface::udp_server::{DynamicUdpTmHandler, UdpTmtcServer},
@ -37,6 +43,7 @@ use crate::{
};
mod controller;
mod events;
mod handlers;
mod interface;
mod logger;
@ -59,12 +66,21 @@ fn main() {
let (tm_tcp_client_tx, tm_tcp_client_rx) = mpsc::channel();
let (pus_test_tx, pus_test_rx) = mpsc::channel();
// let (pus_event_tx, pus_event_rx) = mpsc::channel();
let (pus_event_tx, pus_event_rx) = mpsc::channel();
let (pus_sched_tx, pus_sched_rx) = mpsc::channel();
let (pus_hk_tx, pus_hk_rx) = mpsc::channel();
let (pus_action_tx, pus_action_rx) = mpsc::channel();
let (pus_mode_tx, pus_mode_rx) = mpsc::channel();
// Create event handling components
// These sender handles are used to send event requests, for example to enable or disable
// certain events.
let (event_tx, event_rx) = mpsc::sync_channel(100);
let (event_request_tx, event_request_rx) = mpsc::channel::<EventRequestWithToken>();
// The event task is the core handler to perform the event routing and TM handling as specified
// in the sat-rs documentation.
let mut event_handler = EventHandler::new(tm_funnel_tx.clone(), event_rx, event_request_rx);
let (pus_action_reply_tx, pus_action_reply_rx) = mpsc::channel();
let (_pus_hk_reply_tx, pus_hk_reply_rx) = mpsc::channel();
let (_pus_mode_reply_tx, pus_mode_reply_rx) = mpsc::channel();
@ -83,27 +99,22 @@ fn main() {
let pus_router = PusTcMpscRouter {
test_tc_sender: pus_test_tx,
// event_tc_sender: pus_event_tx,
event_tc_sender: pus_event_tx,
sched_tc_sender: pus_sched_tx,
hk_tc_sender: pus_hk_tx,
action_tc_sender: pus_action_tx,
mode_tc_sender: pus_mode_tx,
};
let pus_test_service = create_test_service(
tm_funnel_tx.clone(),
// event_handler.clone_event_sender(),
pus_test_rx,
);
let pus_test_service = create_test_service(tm_funnel_tx.clone(), event_tx.clone(), pus_test_rx);
let pus_scheduler_service = create_scheduler_service(
tm_funnel_tx.clone(),
tc_source_tx.clone(),
pus_sched_rx,
create_sched_tc_pool(),
);
//
// let pus_event_service =
// create_event_service_dynamic(tm_funnel_tx.clone(), pus_event_rx, event_request_tx);
let pus_event_service =
create_event_service(tm_funnel_tx.clone(), pus_event_rx, event_request_tx);
let pus_action_service = create_action_service(
tm_funnel_tx.clone(),
pus_action_rx,
@ -125,7 +136,7 @@ fn main() {
let mut pus_stack = PusStack::new(
pus_test_service,
pus_hk_service,
// pus_event_service,
pus_event_service,
pus_action_service,
pus_scheduler_service,
pus_mode_service,
@ -163,7 +174,7 @@ fn main() {
)
.expect("tcp server creation failed");
let mut tm_funnel = TmFunnelDynamic::new(
let mut tm_sink = TmFunnelDynamic::new(
sync_tm_tcp_source,
tm_funnel_rx,
tm_tcp_server_tx,
@ -270,17 +281,26 @@ fn main() {
// TM Funnel Task
info!("Starting TM funnel task");
let funnel_stop_signal = stop_signal.clone();
let tm_sink_stop_signal = stop_signal.clone();
let jh_tm_funnel = thread::Builder::new()
.name("ops-sat tm-funnel".to_string())
.name("ops-sat tm-sink".to_string())
.spawn(move || loop {
tm_funnel.operation();
if funnel_stop_signal.load(std::sync::atomic::Ordering::Relaxed) {
tm_sink.operation();
if tm_sink_stop_signal.load(std::sync::atomic::Ordering::Relaxed) {
break;
}
})
.unwrap();
info!("Starting event handling task");
let jh_event_handling = thread::Builder::new()
.name("sat-rs events".to_string())
.spawn(move || loop {
event_handler.periodic_operation();
thread::sleep(Duration::from_millis(FREQ_MS_EVENT_HANDLING));
})
.unwrap();
// PUS Handler Task
info!("Starting PUS handlers task");
let pus_stop_signal = stop_signal.clone();
@ -305,6 +325,7 @@ fn main() {
if camera_stop_signal.load(std::sync::atomic::Ordering::Relaxed) {
break;
}
thread::sleep(Duration::from_millis(FREQ_MS_CAMERA_HANDLING));
})
.unwrap();
@ -327,6 +348,9 @@ fn main() {
jh_pus_handler
.join()
.expect("Joining PUS handlers thread failed");
jh_event_handling
.join()
.expect("Joining PUS handlers thread failed");
jh_camera_handler
.join()
.expect("Joining camera handler thread failed");