bump minor version

Reviewed-on: #22

CHANGELOG.md

@@ -6,6 +6,21 @@ All notable changes to this project will be documented in this file.
 The format is based on [Keep a Changelog](http://keepachangelog.com/)
 and this project adheres to [Semantic Versioning](http://semver.org/).
 
+# [v0.1.1] 2024-04-26
+
+Various smaller improvements and tweaks.
+
+## Fixed
+
+- Logger file now has unique time-stamped name.
+
+## Added
+
+- Printout of SW version at startup.
+- Setup of to ground directories.
+- Camera handler commands: Image copying and shell command execution.
+- host feature for testing on the development computer.
+
 # [v0.1.0] 2024-04-24
 
 Initial release with PUS stack, TM sink, TC source, TMTC TCP/IP infrastructure

Cargo.lock

@@ -113,6 +113,12 @@ version = "1.3.2"
 source = "registry+https://github.com/rust-lang/crates.io-index"
 checksum = "bef38d45163c2f1dde094a7dfd33ccf595c92905c8f8f4fdc18d06fb1037718a"
 
+[[package]]
+name = "bitflags"
+version = "2.5.0"
+source = "registry+https://github.com/rust-lang/crates.io-index"
+checksum = "cf4b9d6a944f767f8e5e0db018570623c85f3d925ac718db4e06d0187adb21c1"
+
 [[package]]
 name = "bumpalo"
 version = "3.16.0"
@@ -295,6 +301,22 @@ version = "1.0.1"
 source = "registry+https://github.com/rust-lang/crates.io-index"
 checksum = "5443807d6dff69373d433ab9ef5378ad8df50ca6298caf15de6e52e24aaf54d5"
 
+[[package]]
+name = "errno"
+version = "0.3.8"
+source = "registry+https://github.com/rust-lang/crates.io-index"
+checksum = "a258e46cdc063eb8519c00b9fc845fc47bcfca4130e2f08e88665ceda8474245"
+dependencies = [
+ "libc",
+ "windows-sys 0.52.0",
+]
+
+[[package]]
+name = "fastrand"
+version = "2.0.2"
+source = "registry+https://github.com/rust-lang/crates.io-index"
+checksum = "658bd65b1cf4c852a3cc96f18a8ce7b5640f6b703f905c7d74532294c2a63984"
+
 [[package]]
 name = "fern"
 version = "0.6.2"
@@ -495,6 +517,12 @@ version = "0.2.153"
 source = "registry+https://github.com/rust-lang/crates.io-index"
 checksum = "9c198f91728a82281a64e1f4f9eeb25d82cb32a5de251c6bd1b5154d63a8e7bd"
 
+[[package]]
+name = "linux-raw-sys"
+version = "0.4.13"
+source = "registry+https://github.com/rust-lang/crates.io-index"
+checksum = "01cda141df6706de531b6c46c3a33ecca755538219bd484262fa09410c13539c"
+
 [[package]]
 name = "log"
 version = "0.4.21"
@@ -540,7 +568,7 @@ version = "0.26.4"
 source = "registry+https://github.com/rust-lang/crates.io-index"
 checksum = "598beaf3cc6fdd9a5dfb1630c2800c7acd31df7aaf0f565796fba2b53ca1af1b"
 dependencies = [
- "bitflags",
+ "bitflags 1.3.2",
  "cfg-if",
  "libc",
  "memoffset",
@@ -613,12 +641,14 @@ dependencies = [
  "log",
  "mio",
  "num_enum",
+ "once_cell",
  "satrs",
  "satrs-mib",
  "serde",
  "serde_json",
  "socket2",
  "strum",
+ "tempfile",
  "thiserror",
  "toml",
 ]
@@ -687,7 +717,7 @@ version = "0.4.1"
 source = "registry+https://github.com/rust-lang/crates.io-index"
 checksum = "4722d768eff46b75989dd134e5c353f0d6296e5aaa3132e776cbdb56be7731aa"
 dependencies = [
- "bitflags",
+ "bitflags 1.3.2",
 ]
 
 [[package]]
@@ -719,6 +749,19 @@ version = "0.8.3"
 source = "registry+https://github.com/rust-lang/crates.io-index"
 checksum = "adad44e29e4c806119491a7f06f03de4d1af22c3a680dd47f1e6e179439d1f56"
 
+[[package]]
+name = "rustix"
+version = "0.38.34"
+source = "registry+https://github.com/rust-lang/crates.io-index"
+checksum = "70dc5ec042f7a43c4a73241207cecc9873a06d45debb38b329f8541d85c2730f"
+dependencies = [
+ "bitflags 2.5.0",
+ "errno",
+ "libc",
+ "linux-raw-sys",
+ "windows-sys 0.52.0",
+]
+
 [[package]]
 name = "rustversion"
 version = "1.0.15"
@@ -936,6 +979,18 @@ dependencies = [
  "unicode-ident",
 ]
 
+[[package]]
+name = "tempfile"
+version = "3.10.1"
+source = "registry+https://github.com/rust-lang/crates.io-index"
+checksum = "85b77fafb263dd9d05cbeac119526425676db3784113aa9295c88498cbf8bff1"
+dependencies = [
+ "cfg-if",
+ "fastrand",
+ "rustix",
+ "windows-sys 0.52.0",
+]
+
 [[package]]
 name = "thiserror"
 version = "1.0.59"

Cargo.toml

@@ -1,6 +1,6 @@
 [package]
 name = "ops-sat-rs"
-version = "0.1.0"
+version = "0.1.1"
 edition = "2021"
 
 # See more keys and their definitions at https://doc.rust-lang.org/cargo/reference/manifest.html
@@ -21,6 +21,7 @@ serde_json = "1"
 mio = "0.8"
 homedir = "0.2"
 socket2 = "0.5"
+once_cell = "1.19"
 
 [dependencies.satrs]
 version = "0.2.0-rc.5"
@@ -33,6 +34,10 @@ version = ">=0.1.2, <0.2"
 
 [dev-dependencies]
 env_logger = "0.11"
+tempfile = "3"
+
+[features]
+host = []
 
 # I don't think we need insane performance. If anything, a small binary is easier to upload
 # to the satellite.

README.md

@@ -37,7 +37,7 @@ You can use the regular cargo workflow for this.
 ### Running
 
 ```sh
-cargo run
+cargo run --features host
 ```
 
 ### Testing

pytmtc/opssat_tmtc/pus_tc.py

@@ -96,6 +96,16 @@ def create_cmd_definition_tree() -> CmdTreeNode:
         CmdTreeNode("custom_params", "Custom Camera Parameters as specified from file")
     )
     action_node.add_child(cam_node)
+
+    controller_node = CmdTreeNode("controller", "Main OBSW Controller")
+    controller_node.add_child(
+        CmdTreeNode("downlink_logs", "Downlink Logs via toGround folder")
+    )
+    controller_node.add_child(
+        CmdTreeNode("downlink_last_img", "Downlink last image via toGroundLP folder")
+    )
+    action_node.add_child(controller_node)
+
     root_node.add_child(action_node)
 
     return root_node
@@ -157,6 +167,18 @@ def pack_pus_telecommands(q: DefaultPusQueueHelper, cmd_path: str):
                     service=8, subservice=128, apid=EXPERIMENT_APID, app_data=data
                 )
             )
+        if cmd_path_list[1] == "controller":
+            assert len(cmd_path_list) >= 3
+            data = bytearray()
+            if cmd_path_list[2] == "downlink_logs":
+                data.extend(make_action_cmd_header(UniqueId.Controller, 2))
+            if cmd_path_list[2] == "downlink_last_img":
+                data.extend(make_action_cmd_header(UniqueId.Controller, 3))
+            return q.add_pus_tc(
+                PusTelecommand(
+                    service=8, subservice=128, apid=EXPERIMENT_APID, app_data=data
+                )
+            )
 
 
 def handle_set_mode_cmd(

src/config.rs

@@ -1,5 +1,6 @@
 use lazy_static::lazy_static;
 use num_enum::{IntoPrimitive, TryFromPrimitive};
+use once_cell::sync::OnceCell;
 use satrs::events::{EventU32TypedSev, SeverityInfo};
 use satrs::spacepackets::PacketId;
 use satrs_mib::res_code::ResultU16Info;
@@ -9,7 +10,9 @@ use std::path::{Path, PathBuf};
 
 pub const STOP_FILE_NAME: &str = "stop-experiment";
 pub const CONFIG_FILE_NAME: &str = "exp278.toml";
-pub const HOME_FOLDER_EXPERIMENT: &str = "/home/exp278";
+pub const HOME_FOLDER_EXPERIMENT: &str = "/home/exp278"; // also where IMS-100 images are placed
+pub const TO_GROUND_FOLDER_NAME: &str = "toGround";
+pub const TO_GROUND_LP_FOLDER_NAME: &str = "toGroundLP";
 pub const LOG_FOLDER: &str = "logs";
 
 pub const OBSW_SERVER_ADDR: Ipv4Addr = Ipv4Addr::UNSPECIFIED;
@@ -25,6 +28,9 @@ 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 static TO_GROUND_FOLDER_DIR: OnceCell<PathBuf> = OnceCell::new();
+pub static TO_GROUND_LP_FOLDER_DIR: OnceCell<PathBuf> = OnceCell::new();
+
 #[derive(Copy, Clone, PartialEq, Eq, Debug, TryFromPrimitive, IntoPrimitive)]
 #[repr(u8)]
 pub enum CustomPusServiceId {
@@ -38,6 +44,7 @@ pub enum GroupId {
     Hk = 1,
     Mode = 2,
     Action = 3,
+    Controller = 4,
 }
 
 pub const TEST_EVENT: EventU32TypedSev<SeverityInfo> =
@@ -63,6 +70,49 @@ lazy_static! {
     };
 }
 
+pub fn set_up_low_prio_ground_dir() {
+    #[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();
+    to_ground_lp_dir.push(TO_GROUND_LP_FOLDER_NAME);
+    if !Path::new(&to_ground_lp_dir).exists() {
+        log::info!(
+            "creating low priority to ground directory at {:?}",
+            to_ground_lp_dir
+        );
+        if std::fs::create_dir_all(&to_ground_lp_dir).is_err() {
+            log::error!(
+                "Failed to create low priority to ground directory '{:?}'",
+                to_ground_lp_dir
+            );
+        }
+    }
+    TO_GROUND_LP_FOLDER_DIR
+        .set(to_ground_lp_dir)
+        .expect("attemting to set once cell twice");
+}
+
+pub fn set_up_ground_dir() {
+    #[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();
+    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);
+        if std::fs::create_dir_all(&to_ground_dir).is_err() {
+            log::error!(
+                "Failed to create low priority to ground directory '{:?}'",
+                to_ground_dir
+            );
+        }
+    }
+    TO_GROUND_FOLDER_DIR
+        .set(to_ground_dir)
+        .expect("attemting to set once cell twice");
+}
+
 pub mod cfg_file {
     use std::{
         fs::File,
@@ -212,6 +262,34 @@ pub mod mode_err {
     pub const WRONG_MODE: ResultU16 = ResultU16::new(GroupId::Mode as u8, 0);
 }
 
+pub mod ctrl_err {
+    use super::*;
+    use satrs::res_code::ResultU16;
+
+    #[resultcode]
+    pub const INVALID_CMD_FORMAT: ResultU16 = ResultU16::new(GroupId::Controller as u8, 0);
+    #[resultcode]
+    pub const SHELL_CMD_IO_ERROR: ResultU16 = ResultU16::new(GroupId::Controller as u8, 1);
+    #[resultcode]
+    pub const SHELL_CMD_EXECUTION_FAILURE: ResultU16 = ResultU16::new(GroupId::Controller as u8, 2);
+    #[resultcode]
+    pub const SHELL_CMD_INVALID_FORMAT: ResultU16 = ResultU16::new(GroupId::Controller as u8, 3);
+    // TODO: Probably could be in a dedicated modules for these returnvalues.
+    #[resultcode]
+    pub const FILESYSTEM_COPY_ERROR: ResultU16 = ResultU16::new(GroupId::Controller as u8, 4);
+    #[resultcode]
+    pub const IMAGE_NOT_FOUND_FOR_COPY: ResultU16 = ResultU16::new(GroupId::Controller as u8, 5);
+    #[resultcode]
+    pub const INVALID_LOGFILE_PATH: ResultU16 = ResultU16::new(GroupId::Controller as u8, 6);
+
+    pub const CTRL_ERR_RESULTS: &[ResultU16Info] = &[
+        INVALID_CMD_FORMAT_EXT,
+        SHELL_CMD_IO_ERROR_EXT,
+        SHELL_CMD_EXECUTION_FAILURE_EXT,
+        SHELL_CMD_INVALID_FORMAT_EXT,
+    ];
+}
+
 pub mod pool {
     use satrs::pool::{StaticMemoryPool, StaticPoolConfig};
 

src/controller.rs

@@ -1,31 +1,81 @@
+use crate::logger::LOGFILE_PATH;
 use num_enum::TryFromPrimitive;
+use ops_sat_rs::config::{action_err::INVALID_ACTION_ID, HOME_FOLDER_EXPERIMENT};
+use ops_sat_rs::config::{
+    HOME_PATH, STOP_FILE_NAME, TO_GROUND_FOLDER_DIR, TO_GROUND_LP_FOLDER_DIR,
+};
+use satrs::action::ActionRequestVariant;
 use satrs::{
     action::ActionRequest,
+    params::Params,
     pus::action::{ActionReplyPus, ActionReplyVariant},
     request::{GenericMessage, MessageMetadata},
+    res_code::ResultU16,
 };
+use serde::{Deserialize, Serialize};
+use std::env::temp_dir;
 use std::{
-    env::temp_dir,
     path::{Path, PathBuf},
+    process::Command,
     sync::{atomic::AtomicBool, mpsc, Arc},
 };
 
-use ops_sat_rs::config::{action_err::INVALID_ACTION_ID, HOME_PATH, STOP_FILE_NAME};
+use ops_sat_rs::config::ctrl_err::{
+    FILESYSTEM_COPY_ERROR, IMAGE_NOT_FOUND_FOR_COPY, INVALID_LOGFILE_PATH,
+    SHELL_CMD_EXECUTION_FAILURE, SHELL_CMD_INVALID_FORMAT, SHELL_CMD_IO_ERROR,
+};
 
 use crate::requests::CompositeRequest;
 
+#[derive(Serialize, Deserialize, Debug)]
+pub struct ShellCmd<'a> {
+    cmd: &'a str,
+    args: Vec<&'a str>,
+}
+
 #[derive(Debug, Clone, Copy, TryFromPrimitive)]
 #[repr(u32)]
 pub enum ActionId {
     StopExperiment = 1,
+    DownlinkLogfile = 2,
+    DownlinkImages = 3,
+    ExecuteShellCommandBlocking = 4,
 }
 
+#[derive(Debug)]
+pub struct ControllerPathCollection {
+    pub stop_file_home_path: PathBuf,
+    pub stop_file_tmp_path: PathBuf,
+    pub to_ground_dir: PathBuf,
+    pub to_ground_low_prio_dir: PathBuf,
+}
+
+impl Default for ControllerPathCollection {
+    fn default() -> Self {
+        let mut home_path_stop_file = PathBuf::new();
+        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);
+        Self {
+            stop_file_home_path: home_path_stop_file,
+            stop_file_tmp_path: tmp_path_stop_file,
+            to_ground_dir: TO_GROUND_FOLDER_DIR
+                .get()
+                .expect("to ground directory not set")
+                .clone(),
+            to_ground_low_prio_dir: TO_GROUND_LP_FOLDER_DIR
+                .get()
+                .expect("to ground low prio directory not set")
+                .clone(),
+        }
+    }
+}
 pub struct ExperimentController {
     pub composite_request_rx: mpsc::Receiver<GenericMessage<CompositeRequest>>,
     pub action_reply_tx: mpsc::Sender<GenericMessage<ActionReplyPus>>,
     pub stop_signal: Arc<AtomicBool>,
-    home_path_stop_file: PathBuf,
-    tmp_path_stop_file: PathBuf,
+    pub paths: ControllerPathCollection,
 }
 
 impl ExperimentController {
@@ -33,18 +83,13 @@ impl ExperimentController {
         composite_request_rx: mpsc::Receiver<GenericMessage<CompositeRequest>>,
         action_reply_tx: mpsc::Sender<GenericMessage<ActionReplyPus>>,
         stop_signal: Arc<AtomicBool>,
+        paths: ControllerPathCollection,
     ) -> Self {
-        let mut home_path_stop_file = PathBuf::new();
-        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);
         Self {
             composite_request_rx,
             action_reply_tx,
             stop_signal,
-            home_path_stop_file,
-            tmp_path_stop_file,
+            paths,
         }
     }
 }
@@ -70,28 +115,106 @@ impl ExperimentController {
     }
 
     pub fn handle_action_request(&mut self, requestor: MessageMetadata, action_req: ActionRequest) {
-        let action_id = ActionId::try_from(action_req.action_id);
-        if action_id.is_err() {
+        let send_completion_failure = |error_code: ResultU16, params: Option<Params>| {
             let result = self.action_reply_tx.send(GenericMessage::new_action_reply(
                 requestor,
                 action_req.action_id,
-                ActionReplyVariant::CompletionFailed {
-                    error_code: INVALID_ACTION_ID,
-                    params: None,
-                },
+                ActionReplyVariant::CompletionFailed { error_code, params },
             ));
             if result.is_err() {
                 log::error!("sending action reply failed");
             }
+        };
+        let action_id = ActionId::try_from(action_req.action_id);
+        if action_id.is_err() {
+            send_completion_failure(INVALID_ACTION_ID, None);
             return;
         }
-        let action_id = action_id.unwrap();
-        match action_id {
+        match action_id.unwrap() {
             ActionId::StopExperiment => {
                 self.stop_signal
                     .store(true, std::sync::atomic::Ordering::Relaxed);
-                let result = self.action_reply_tx.send(GenericMessage::new_action_reply(
+                self.send_completion_success(&requestor, &action_req);
+            }
+            ActionId::ExecuteShellCommandBlocking => {
+                self.handle_shell_command_execution(&requestor, &action_req);
+            }
+            ActionId::DownlinkLogfile => self.handle_downlink_logfile(&requestor, &action_req),
+            // downlink images, default will be the last image, otherwise specified counting down (2 = second to last image, etc.)
+            ActionId::DownlinkImages => self.handle_downlink_cam_image(&requestor, &action_req),
+        }
+    }
+
+    pub fn handle_downlink_cam_image(
+        &self,
+        requestor: &MessageMetadata,
+        action_req: &ActionRequest,
+    ) {
+        log::info!("copying images into low priority downlink folder");
+        let image_path_result = match &action_req.variant {
+            ActionRequestVariant::VecData(data) => {
+                let index = data[0];
+                get_latest_image(index as usize)
+            }
+            _ => get_latest_image(0),
+        };
+        match image_path_result {
+            Ok(image_path) => self.handle_file_copy(
                 requestor,
+                action_req,
+                &image_path,
+                &self.paths.to_ground_dir,
+            ),
+            Err(e) => {
+                log::warn!("could not retrieve image path: {}", e);
+                self.send_completion_failure(
+                    requestor,
+                    action_req,
+                    IMAGE_NOT_FOUND_FOR_COPY,
+                    Some(e.to_string().into()),
+                );
+            }
+        }
+    }
+
+    pub fn handle_downlink_logfile(&self, requestor: &MessageMetadata, action_req: &ActionRequest) {
+        log::info!("copying logfile into {:?}", self.paths.to_ground_dir);
+        if let Some(logfile_path) = LOGFILE_PATH.get() {
+            self.handle_file_copy(
+                requestor,
+                action_req,
+                logfile_path,
+                &self.paths.to_ground_dir,
+            )
+        } else {
+            log::error!("downlink path emtpy");
+            self.send_completion_failure(requestor, action_req, INVALID_LOGFILE_PATH, None);
+        }
+    }
+
+    pub fn handle_file_copy(
+        &self,
+        requestor: &MessageMetadata,
+        action_req: &ActionRequest,
+        source_path: &Path,
+        target_path: &Path,
+    ) {
+        if let Err(e) = std::fs::copy(source_path, target_path) {
+            log::warn!("copying logfile into downlink path failed: {}", e);
+            self.send_completion_failure(
+                requestor,
+                action_req,
+                FILESYSTEM_COPY_ERROR,
+                Some(e.to_string().into()),
+            );
+            return;
+        }
+        self.send_completion_success(requestor, action_req)
+    }
+
+    pub fn send_completion_success(&self, requestor: &MessageMetadata, action_req: &ActionRequest) {
+        let result = self.action_reply_tx.send(GenericMessage::new_action_reply(
+            *requestor,
             action_req.action_id,
             ActionReplyVariant::Completed,
         ));
@@ -99,6 +222,74 @@ impl ExperimentController {
             log::error!("sending action reply failed");
         }
     }
+
+    pub fn send_completion_failure(
+        &self,
+        requestor: &MessageMetadata,
+        action_req: &ActionRequest,
+        error_code: ResultU16,
+        params: Option<Params>,
+    ) {
+        let result = self.action_reply_tx.send(GenericMessage::new_action_reply(
+            *requestor,
+            action_req.action_id,
+            ActionReplyVariant::CompletionFailed { error_code, params },
+        ));
+        if result.is_err() {
+            log::error!("sending action reply failed");
+        }
+    }
+
+    pub fn handle_shell_command_execution(
+        &self,
+        requestor: &MessageMetadata,
+        action_req: &ActionRequest,
+    ) {
+        if let ActionRequestVariant::VecData(data) = &action_req.variant {
+            let shell_cmd_result: serde_json::Result<ShellCmd> = serde_json::from_slice(data);
+            match shell_cmd_result {
+                Ok(shell_cmd) => {
+                    log::info!("executing shell cmd {:?}", shell_cmd);
+                    match Command::new(shell_cmd.cmd).args(shell_cmd.args).status() {
+                        Ok(status) => {
+                            if status.success() {
+                                self.send_completion_success(requestor, action_req);
+                            } else {
+                                log::warn!("execution of command failed: {}", status);
+                                self.send_completion_failure(
+                                    requestor,
+                                    action_req,
+                                    SHELL_CMD_EXECUTION_FAILURE,
+                                    Some(status.to_string().into()),
+                                );
+                            }
+                        }
+                        Err(e) => {
+                            log::warn!("execution of command failed with IO error: {}", e);
+                            self.send_completion_failure(
+                                requestor,
+                                action_req,
+                                SHELL_CMD_IO_ERROR,
+                                Some(e.to_string().into()),
+                            );
+                        }
+                    }
+                }
+                Err(e) => {
+                    log::warn!("failed to deserialize shell command: {}", e);
+                    let result = self.action_reply_tx.send(GenericMessage::new_action_reply(
+                        *requestor,
+                        action_req.action_id,
+                        ActionReplyVariant::Completed,
+                    ));
+                    if result.is_err() {
+                        log::error!("Sending action reply failed");
+                    }
+                }
+            }
+        } else {
+            log::warn!("no shell command was supplied for shell command action command");
+            self.send_completion_failure(requestor, action_req, SHELL_CMD_INVALID_FORMAT, None);
         }
     }
 
@@ -122,7 +313,195 @@ impl ExperimentController {
                     .store(true, std::sync::atomic::Ordering::Relaxed);
             }
         };
-        check_at_path(self.tmp_path_stop_file.as_path());
-        check_at_path(self.home_path_stop_file.as_path());
+        check_at_path(self.paths.stop_file_tmp_path.as_path());
+        check_at_path(self.paths.stop_file_home_path.as_path());
     }
 }
+
+// TODO no idea if this works in any way shape or form
+pub fn get_latest_image(index: usize) -> Result<PathBuf, std::io::Error> {
+    // Get the most recently modified file
+    let mut png_files = std::fs::read_dir(HOME_FOLDER_EXPERIMENT)?
+        .flatten()
+        .filter(|f| match f.metadata() {
+            Ok(metadata) => metadata.is_file(),
+            Err(_) => false,
+        })
+        .filter(|f| match f.file_name().into_string() {
+            Ok(name) => name.ends_with(".png"),
+            Err(_) => false,
+        })
+        .collect::<Vec<std::fs::DirEntry>>();
+    png_files.sort_by_key(|x| match x.metadata() {
+        Ok(metadata) => {
+            if let Ok(time) = metadata.modified() {
+                time
+            } else {
+                std::time::SystemTime::UNIX_EPOCH
+            }
+        }
+        Err(_) => std::time::SystemTime::UNIX_EPOCH,
+    });
+
+    png_files.reverse();
+    if let Some(png) = png_files.into_iter().nth(index) {
+        return Ok(png.path());
+    }
+    Err(std::io::Error::other("No latest image found"))
+}
+
+#[cfg(test)]
+mod tests {
+    use std::sync::{mpsc, Arc};
+
+    use tempfile::NamedTempFile;
+
+    use super::*;
+
+    fn init() {
+        env_logger::builder().is_test(true).init();
+    }
+    pub struct ControllerTestbench {
+        pub composite_req_tx: mpsc::Sender<GenericMessage<CompositeRequest>>,
+        pub action_reply_rx: mpsc::Receiver<GenericMessage<ActionReplyPus>>,
+        pub stop_signal: Arc<AtomicBool>,
+        pub ctrl: ExperimentController,
+    }
+
+    impl ControllerTestbench {
+        pub fn new() -> Self {
+            init();
+            let (composite_req_tx, composite_req_rx) = mpsc::channel();
+            let (action_reply_tx, action_reply_rx) = mpsc::channel();
+            let stop_signal = Arc::new(AtomicBool::new(false));
+            let test_tmp_dir = tempfile::tempdir().expect("creating tmpdir failed");
+            let base_dir = PathBuf::from(test_tmp_dir.path());
+            let mut stop_file_tmp_path = base_dir.clone();
+            stop_file_tmp_path.push(STOP_FILE_NAME);
+            let mut stop_file_home_path = base_dir.clone();
+            stop_file_home_path.push("home");
+            stop_file_home_path.push(STOP_FILE_NAME);
+            let mut to_ground_dir = base_dir.clone();
+            to_ground_dir.push("toGround");
+            let mut to_ground_low_prio_dir = base_dir.clone();
+            to_ground_low_prio_dir.push("toGroundLP");
+
+            let test_paths = ControllerPathCollection {
+                stop_file_home_path,
+                stop_file_tmp_path,
+                to_ground_dir,
+                to_ground_low_prio_dir,
+            };
+            ControllerTestbench {
+                composite_req_tx,
+                action_reply_rx,
+                stop_signal: stop_signal.clone(),
+                ctrl: ExperimentController::new(
+                    composite_req_rx,
+                    action_reply_tx,
+                    stop_signal,
+                    test_paths,
+                ),
+            }
+        }
+    }
+
+    #[test]
+    fn test_shell_cmd_exection() {
+        let mut testbench = ControllerTestbench::new();
+        let named_temp_file = NamedTempFile::new().expect("creating temp file failed");
+        let args = vec![named_temp_file
+            .path()
+            .to_str()
+            .expect("converting path to str failed")];
+
+        let cmd = ShellCmd { cmd: "rm", args };
+        let cmd_serialized = serde_json::to_string(&cmd).expect("serialization failed");
+        let action_req = satrs::action::ActionRequest {
+            action_id: ActionId::ExecuteShellCommandBlocking as u32,
+            variant: satrs::action::ActionRequestVariant::VecData(cmd_serialized.into_bytes()),
+        };
+        testbench
+            .composite_req_tx
+            .send(GenericMessage::new(
+                MessageMetadata::new(1, 2),
+                CompositeRequest::Action(action_req),
+            ))
+            .expect("sending action request failed");
+        testbench.ctrl.perform_operation();
+        assert!(!named_temp_file.path().exists());
+        let action_reply = testbench
+            .action_reply_rx
+            .try_recv()
+            .expect("receiving action reply failed");
+        assert_eq!(
+            action_reply.message.action_id,
+            ActionId::ExecuteShellCommandBlocking as u32
+        );
+        match action_reply.message.variant {
+            ActionReplyVariant::Completed => (),
+            _ => {
+                panic!(
+                    "unexecpted action reply variant {:?}",
+                    action_reply.message.variant
+                )
+            }
+        }
+    }
+}
+
+// Need to think about the value of this again. This is not easy to do in Rust..
+/*
+pub trait ActionHelperHook {
+    fn is_valid_action_id(&self, action_id: satrs::action::ActionId) -> bool;
+    fn send_reply(&self, action_reply: GenericActionReplyPus) -> Result<(), GenericSendError>;
+}
+
+pub struct ActionHelper<Hook: ActionHelperHook> {
+    pub requestor: MessageMetadata,
+    pub action_id: satrs::action::ActionId,
+    pub user_hook: Hook,
+}
+
+impl<Hook: ActionHelperHook> ActionHelper<Hook> {
+    fn new(
+        &mut self,
+        requestor: MessageMetadata,
+        action_id: satrs::action::ActionId,
+    ) -> Result<Option<Self>, GenericSendError> {
+        if !self.user_hook.is_valid_action_id(action_id) {
+            self.report_completion_failed(INVALID_ACTION_ID, None)?;
+            return Ok(None);
+        }
+        Ok(Some(Self {
+            requestor,
+            action_id
+
+
+
+        }))
+    }
+
+    fn report_completion_success(&self) -> Result<(), GenericSendError> {
+        self.user_hook.send_reply(GenericMessage::new_action_reply(
+            self.requestor,
+            self.action_id,
+            ActionReplyVariant::Completed,
+        ))?;
+        Ok(())
+    }
+
+    fn report_completion_failed(
+        &self,
+        error_code: ResultU16,
+        params: Option<Params>,
+    ) -> Result<(), GenericSendError> {
+        self.user_hook.send_reply(GenericMessage::new_action_reply(
+            self.requestor,
+            self.action_id,
+            ActionReplyVariant::CompletionFailed { error_code, params },
+        ))?;
+        Ok(())
+    }
+}
+*/

src/handlers/camera.rs

@@ -291,7 +291,7 @@ impl IMS100BatchHandler {
                 },
             };
         let output = self.take_picture(param)?;
-        debug!("Sending action reply!");
+        info!("Sending action reply!");
         send_data_reply(self.id, output.stdout, &self.stamp_helper, &self.tm_tx)?;
         self.action_reply_tx
             .send(GenericMessage::new(

src/logger.rs

@@ -1,13 +1,25 @@
+use once_cell::sync::OnceCell;
+use ops_sat_rs::config::LOG_FOLDER;
 use std::path::{Path, PathBuf};
 
-use ops_sat_rs::config::LOG_FOLDER;
+pub static LOGFILE_PATH: OnceCell<PathBuf> = OnceCell::new();
 
 pub fn setup_logger() -> Result<(), fern::InitError> {
     if !Path::new(LOG_FOLDER).exists() && std::fs::create_dir_all(LOG_FOLDER).is_err() {
         eprintln!("Failed to create log folder '{}'", LOG_FOLDER);
     }
     let mut path_buf = PathBuf::from(LOG_FOLDER);
-    path_buf.push("output.log");
+    path_buf.push(
+        format!(
+            "output_{}.log",
+            humantime::format_rfc3339_seconds(std::time::SystemTime::now())
+        )
+        .replace(':', "_"),
+    );
+    println!("Creating logfile {:?}", path_buf);
+    LOGFILE_PATH
+        .set(path_buf.clone())
+        .expect("Error setting global logfile path");
     fern::Dispatch::new()
         .format(move |out, message, record| {
             out.finish(format_args!(

src/main.rs

@@ -1,5 +1,7 @@
 use std::{
+    env::temp_dir,
     net::{IpAddr, SocketAddr},
+    path::PathBuf,
     sync::{atomic::AtomicBool, mpsc, Arc},
     thread,
     time::Duration,
@@ -10,8 +12,9 @@ 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,
     tasks::{FREQ_MS_CAMERA_HANDLING, FREQ_MS_CTRL, FREQ_MS_PUS_STACK, STOP_CHECK_FREQUENCY},
-    VALID_PACKET_ID_LIST, VERSION,
+    HOME_PATH, 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};
@@ -21,7 +24,7 @@ use satrs::{
     pus::event_man::EventRequestWithToken,
 };
 
-use crate::tmtc::tm_sink::TmFunnelDynamic;
+use crate::{controller::ControllerPathCollection, tmtc::tm_sink::TmFunnelDynamic};
 use crate::{controller::ExperimentController, pus::test::create_test_service};
 use crate::{
     events::EventHandler,
@@ -52,12 +55,14 @@ mod requests;
 mod tmtc;
 
 fn main() {
-    setup_logger().expect("setting up logging with fern failed");
     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();
-    println!("App Configuration: {:?}", app_cfg);
+    info!("App Configuration: {:?}", app_cfg);
 
     let stop_signal = Arc::new(AtomicBool::new(false));
 
@@ -183,10 +188,16 @@ fn main() {
         stop_signal.clone(),
     );
 
+    let mut home_path_stop_file = PathBuf::new();
+    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);
     let mut controller = ExperimentController::new(
         controller_composite_rx,
         pus_action_reply_tx.clone(),
         stop_signal.clone(),
+        ControllerPathCollection::default(),
     );
 
     let mut tcp_spp_client = TcpSppClientStd::new(