initial camera handling things

src/handlers/camera.rs

@@ -0,0 +1,114 @@
+/// Device handler implementation for the IMS-100 Imager used on the OPS-SAT mission.
+///
+/// see also https://opssat1.esoc.esa.int/dmsf/files/6/view
+use crate::interface::serial::SerialInterface;
+use crate::requests::CompositeRequest;
+use derive_new::new;
+use ops_sat_rs::TimeStampHelper;
+use satrs::action::ActionRequest;
+use satrs::hk::HkRequest;
+use satrs::pus::EcssTmSenderCore;
+use satrs::request::{GenericMessage, MessageMetadata, UniqueApidTargetId};
+use std::sync::mpsc;
+use std::sync::mpsc::TryRecvError;
+use chrono::Duration;
+
+const SERIAL_PORT_ATTRIBUTE: &str = "opssat.camera.port";
+const SERIAL_PORT_DEFAULT: &str = "/dev/ttyACM0";
+const BLOCK_DEVICE_ATTRIBUTE: &str = "opssat.camera.blockdev";
+const BLOCK_DEVICE_DEFAULT: &str = "/dev/sda";
+const USE_WATCHDOG_ATTRIBUTE: &str = "opssat.camera.usewatchdog";
+const USE_WATCHDOG_DEFAULT: &str = "true";
+const PREVIEW_EXPOSURE_TIME: Duration = Duration::milliseconds(100);
+const MINIMUM_PERIOD: Duration = Duration::milliseconds(1000);
+const PREVIEW_GAIN: f64 = 10.0;
+
+const CRC8_TABLE: [u8; 256] = [
+    0x00, 0x07, 0x0e, 0x09, 0x1c, 0x1b, 0x12, 0x15, 0x38, 0x3f, 0x36, 0x31, 0x24, 0x23, 0x2a, 0x2d,
+    0x70, 0x77, 0x7e, 0x79, 0x6c, 0x6b, 0x62, 0x65, 0x48, 0x4f, 0x46, 0x41, 0x54, 0x53, 0x5a, 0x5d,
+    0xe0, 0xe7, 0xee, 0xe9, 0xfc, 0xfb, 0xf2, 0xf5, 0xd8, 0xdf, 0xd6, 0xd1, 0xc4, 0xc3, 0xca, 0xcd,
+    0x90, 0x97, 0x9e, 0x99, 0x8c, 0x8b, 0x82, 0x85, 0xa8, 0xaf, 0xa6, 0xa1, 0xb4, 0xb3, 0xba, 0xbd,
+    0xc7, 0xc0, 0xc9, 0xce, 0xdb, 0xdc, 0xd5, 0xd2, 0xff, 0xf8, 0xf1, 0xf6, 0xe3, 0xe4, 0xed, 0xea,
+    0xb7, 0xb0, 0xb9, 0xbe, 0xab, 0xac, 0xa5, 0xa2, 0x8f, 0x88, 0x81, 0x86, 0x93, 0x94, 0x9d, 0x9a,
+    0x27, 0x20, 0x29, 0x2e, 0x3b, 0x3c, 0x35, 0x32, 0x1f, 0x18, 0x11, 0x16, 0x03, 0x04, 0x0d, 0x0a,
+    0x57, 0x50, 0x59, 0x5e, 0x4b, 0x4c, 0x45, 0x42, 0x6f, 0x68, 0x61, 0x66, 0x73, 0x74, 0x7d, 0x7a,
+    0x89, 0x8e, 0x87, 0x80, 0x95, 0x92, 0x9b, 0x9c, 0xb1, 0xb6, 0xbf, 0xb8, 0xad, 0xaa, 0xa3, 0xa4,
+    0xf9, 0xfe, 0xf7, 0xf0, 0xe5, 0xe2, 0xeb, 0xec, 0xc1, 0xc6, 0xcf, 0xc8, 0xdd, 0xda, 0xd3, 0xd4,
+    0x69, 0x6e, 0x67, 0x60, 0x75, 0x72, 0x7b, 0x7c, 0x51, 0x56, 0x5f, 0x58, 0x4d, 0x4a, 0x43, 0x44,
+    0x19, 0x1e, 0x17, 0x10, 0x05, 0x02, 0x0b, 0x0c, 0x21, 0x26, 0x2f, 0x28, 0x3d, 0x3a, 0x33, 0x34,
+    0x4e, 0x49, 0x40, 0x47, 0x52, 0x55, 0x5c, 0x5b, 0x76, 0x71, 0x78, 0x7f, 0x6a, 0x6d, 0x64, 0x63,
+    0x3e, 0x39, 0x30, 0x37, 0x22, 0x25, 0x2c, 0x2b, 0x06, 0x01, 0x08, 0x0f, 0x1a, 0x1d, 0x14, 0x13,
+    0xae, 0xa9, 0xa0, 0xa7, 0xb2, 0xb5, 0xbc, 0xbb, 0x96, 0x91, 0x98, 0x9f, 0x8a, 0x8d, 0x84, 0x83,
+    0xde, 0xd9, 0xd0, 0xd7, 0xc2, 0xc5, 0xcc, 0xcb, 0xe6, 0xe1, 0xe8, 0xef, 0xfa, 0xfd, 0xf4, 0xf3,
+];
+
+pub fn calculate_crc8(data: &[u8], n: usize) -> u8 {
+    let mut crc: u8 = 0;
+    for el in data {
+        let i: usize = (crc ^ el).into();
+        crc = CRC8_TABLE[i];
+    }
+    crc
+}
+
+pub struct IMS100Settings {}
+
+#[derive(new)]
+pub struct IMS100Handler<ComInterface: SerialInterface, TmSender: EcssTmSenderCore> {
+    id: UniqueApidTargetId,
+    // mode_interface: MpscModeLeafInterface,
+    composite_request_receiver: mpsc::Receiver<GenericMessage<CompositeRequest>>,
+    // hk_reply_sender: mpsc::Sender<GenericMessage<HkReply>>,
+    tm_sender: TmSender,
+    com_interface: ComInterface,
+    stamp_helper: TimeStampHelper,
+}
+
+impl<ComInterface: SerialInterface, TmSender: EcssTmSenderCore>
+    IMS100Handler<ComInterface, TmSender>
+{
+    pub fn periodic_operation(&mut self) {
+        self.stamp_helper.update_from_now();
+        // Handle requests.
+        self.handle_composite_requests();
+        // self.handle_mode_requests();
+    }
+
+    pub fn handle_composite_requests(&mut self) {
+        loop {
+            match self.composite_request_receiver.try_recv() {
+                Ok(ref msg) => match &msg.message {
+                    CompositeRequest::Hk(hk_request) => {
+                        self.handle_hk_request(&msg.requestor_info, hk_request);
+                    }
+                    CompositeRequest::Action(action_request) => {
+                        self.handle_action_request(&msg.requestor_info, action_request);
+                    }
+                },
+                Err(_) => {}
+            }
+        }
+    }
+
+    pub fn handle_hk_request(&mut self, requestor_info: &MessageMetadata, hk_request: &HkRequest) {
+        // TODO add hk to opssat
+    }
+
+    pub fn handle_action_request(
+        &mut self,
+        requestor_info: &MessageMetadata,
+        action_request: &ActionRequest,
+    ) {
+        // TODO implement actions
+    }
+
+    pub fn take_picture(&mut self) {}
+}
+
+#[cfg(test)]
+mod tests {
+    #[test]
+    fn test_crc() {
+        // TODO
+    }
+}

src/handlers/mod.rs

@@ -0,0 +1 @@
+pub mod camera;

src/interface/mod.rs

@@ -1,3 +1,4 @@
 pub mod can;
+pub mod serial;
 pub mod tcp;
 pub mod udp;

src/interface/serial.rs

@@ -0,0 +1 @@
+pub trait SerialInterface {}

src/main.rs

@@ -35,6 +35,7 @@ use crate::{
 };
 
 mod controller;
+mod handlers;
 mod interface;
 mod logger;
 mod pus;
@@ -222,7 +223,7 @@ fn main() {
         })
         .unwrap();
 
-    info!("Starting PUS handler thread");
+    info!("Starting PUS handlers thread");
     let pus_stop_signal = stop_signal.clone();
     let jh_pus_handler = thread::Builder::new()
         .name("ops-sat pus".to_string())
@@ -249,5 +250,5 @@ fn main() {
         .expect("Joining TM Funnel thread failed");
     jh_pus_handler
         .join()
-        .expect("Joining PUS handler thread failed");
+        .expect("Joining PUS handlers thread failed");
 }

src/pus/mod.rs

@@ -166,7 +166,7 @@ pub trait TargetedPusService {
     fn check_for_request_timeouts(&mut self);
 }
 
-/// This is a generic handler class for all PUS services where a PUS telecommand is converted
+/// This is a generic handlers class for all PUS services where a PUS telecommand is converted
 /// to a targeted request.
 ///
 /// The generic steps for this process are the following
@@ -176,12 +176,12 @@ pub trait TargetedPusService {
 ///  3. Convert the PUS TC to a typed request using the [PusTcToRequestConverter].
 ///  4. Route the requests using the [GenericRequestRouter].
 ///  5. Add the request to the active request map using the [ActiveRequestMapProvider] abstraction.
-///  6. Check for replies which complete the forwarded request. The handler takes care of
+///  6. Check for replies which complete the forwarded request. The handlers takes care of
 ///     the verification process.
 ///  7. Check for timeouts of active requests. Generally, the timeout on the service level should
 ///     be highest expected timeout for the given target.
 ///
-/// The handler exposes the following API:
+/// The handlers exposes the following API:
 ///
 ///  1. [Self::handle_one_tc] which tries to poll and handle one TC packet, covering steps 1-5.
 ///  2. [Self::check_one_reply] which tries to poll and handle one reply, covering step 6.

src/pus/test.rs

@@ -49,7 +49,7 @@ impl TestCustomServiceWrapper {
     pub fn poll_and_handle_next_packet(&mut self, time_stamp: &[u8]) -> HandlingStatus {
         let res = self.handler.poll_and_handle_next_tc(time_stamp);
         if res.is_err() {
-            warn!("PUS17 handler failed with error {:?}", res.unwrap_err());
+            warn!("PUS17 handlers failed with error {:?}", res.unwrap_err());
             return HandlingStatus::Empty;
         }
         match res.unwrap() {