Fixes and optimizations for camera #27
53
Cargo.lock
generated
53
Cargo.lock
generated
@ -144,9 +144,9 @@ checksum = "1fd0f2584146f6f2ef48085050886acf353beff7305ebd1ae69500e27c67f64b"
|
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|
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[[package]]
|
||||
name = "cc"
|
||||
version = "1.0.95"
|
||||
version = "1.0.96"
|
||||
source = "registry+https://github.com/rust-lang/crates.io-index"
|
||||
checksum = "d32a725bc159af97c3e629873bb9f88fb8cf8a4867175f76dc987815ea07c83b"
|
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checksum = "065a29261d53ba54260972629f9ca6bffa69bac13cd1fed61420f7fa68b9f8bd"
|
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|
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[[package]]
|
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name = "cfg-if"
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@ -172,8 +172,7 @@ dependencies = [
|
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[[package]]
|
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name = "cobs"
|
||||
version = "0.2.3"
|
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source = "registry+https://github.com/rust-lang/crates.io-index"
|
||||
checksum = "67ba02a97a2bd10f4b59b25c7973101c79642302776489e030cd13cdab09ed15"
|
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source = "git+https://github.com/robamu/cobs.rs.git?branch=all_features#c70a7f30fd00a7cbdb7666dec12b437977385d40"
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|
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[[package]]
|
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name = "colorchoice"
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@ -313,9 +312,9 @@ dependencies = [
|
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|
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[[package]]
|
||||
name = "fastrand"
|
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version = "2.0.2"
|
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version = "2.1.0"
|
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source = "registry+https://github.com/rust-lang/crates.io-index"
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checksum = "658bd65b1cf4c852a3cc96f18a8ce7b5640f6b703f905c7d74532294c2a63984"
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checksum = "9fc0510504f03c51ada170672ac806f1f105a88aa97a5281117e1ddc3368e51a"
|
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|
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[[package]]
|
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name = "fern"
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@ -417,9 +416,9 @@ dependencies = [
|
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|
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[[package]]
|
||||
name = "hashbrown"
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||||
version = "0.14.3"
|
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version = "0.14.5"
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source = "registry+https://github.com/rust-lang/crates.io-index"
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checksum = "290f1a1d9242c78d09ce40a5e87e7554ee637af1351968159f4952f028f75604"
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checksum = "e5274423e17b7c9fc20b6e7e208532f9b19825d82dfd615708b70edd83df41f1"
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dependencies = [
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"ahash",
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"allocator-api2",
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@ -513,9 +512,9 @@ checksum = "e2abad23fbc42b3700f2f279844dc832adb2b2eb069b2df918f455c4e18cc646"
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|
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[[package]]
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name = "libc"
|
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version = "0.2.153"
|
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version = "0.2.154"
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source = "registry+https://github.com/rust-lang/crates.io-index"
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checksum = "9c198f91728a82281a64e1f4f9eeb25d82cb32a5de251c6bd1b5154d63a8e7bd"
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checksum = "ae743338b92ff9146ce83992f766a31066a91a8c84a45e0e9f21e7cf6de6d346"
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[[package]]
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name = "linux-raw-sys"
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@ -655,15 +654,15 @@ dependencies = [
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[[package]]
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name = "parking_lot_core"
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version = "0.9.9"
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version = "0.9.10"
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source = "registry+https://github.com/rust-lang/crates.io-index"
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checksum = "4c42a9226546d68acdd9c0a280d17ce19bfe27a46bf68784e4066115788d008e"
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checksum = "1e401f977ab385c9e4e3ab30627d6f26d00e2c73eef317493c4ec6d468726cf8"
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dependencies = [
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"cfg-if",
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"libc",
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"redox_syscall",
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"smallvec 1.13.2",
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"windows-targets 0.48.5",
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"windows-targets 0.52.5",
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]
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[[package]]
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@ -713,11 +712,11 @@ dependencies = [
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[[package]]
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name = "redox_syscall"
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version = "0.4.1"
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version = "0.5.1"
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source = "registry+https://github.com/rust-lang/crates.io-index"
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checksum = "4722d768eff46b75989dd134e5c353f0d6296e5aaa3132e776cbdb56be7731aa"
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checksum = "469052894dcb553421e483e4209ee581a45100d31b4018de03e5a7ad86374a7e"
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dependencies = [
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"bitflags 1.3.2",
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"bitflags 2.5.0",
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]
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[[package]]
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@ -777,14 +776,14 @@ checksum = "e86697c916019a8588c99b5fac3cead74ec0b4b819707a682fd4d23fa0ce1ba1"
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[[package]]
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name = "satrs"
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version = "0.2.0-rc.5"
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source = "registry+https://github.com/rust-lang/crates.io-index"
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checksum = "2adc1d9369e3f7e21dabb3181e36c914d1a3f68f4900207a2baa129c2fd5baba"
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source = "git+https://egit.irs.uni-stuttgart.de/rust/sat-rs.git?branch=main#29f71c2a571e7492cf5d997d4c11c3f844de83bc"
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dependencies = [
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"bus",
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"cobs",
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"crc",
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"crossbeam-channel",
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"delegate",
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"derive-new",
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"downcast-rs",
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"dyn-clone",
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"hashbrown",
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@ -836,9 +835,9 @@ dependencies = [
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[[package]]
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name = "serde"
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version = "1.0.198"
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version = "1.0.199"
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source = "registry+https://github.com/rust-lang/crates.io-index"
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checksum = "9846a40c979031340571da2545a4e5b7c4163bdae79b301d5f86d03979451fcc"
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checksum = "0c9f6e76df036c77cd94996771fb40db98187f096dd0b9af39c6c6e452ba966a"
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dependencies = [
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"serde_derive",
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]
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@ -856,9 +855,9 @@ dependencies = [
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[[package]]
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name = "serde_derive"
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version = "1.0.198"
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version = "1.0.199"
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source = "registry+https://github.com/rust-lang/crates.io-index"
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checksum = "e88edab869b01783ba905e7d0153f9fc1a6505a96e4ad3018011eedb838566d9"
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checksum = "11bd257a6541e141e42ca6d24ae26f7714887b47e89aa739099104c7e4d3b7fc"
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dependencies = [
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"proc-macro2",
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"quote",
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@ -911,9 +910,9 @@ checksum = "3c5e1a9a646d36c3599cd173a41282daf47c44583ad367b8e6837255952e5c67"
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[[package]]
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name = "socket2"
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version = "0.5.6"
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version = "0.5.7"
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source = "registry+https://github.com/rust-lang/crates.io-index"
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checksum = "05ffd9c0a93b7543e062e759284fcf5f5e3b098501104bfbdde4d404db792871"
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checksum = "ce305eb0b4296696835b71df73eb912e0f1ffd2556a501fcede6e0c50349191c"
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dependencies = [
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"libc",
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"windows-sys 0.52.0",
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@ -1053,7 +1052,7 @@ dependencies = [
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"serde",
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"serde_spanned",
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"toml_datetime",
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"winnow 0.6.6",
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"winnow 0.6.7",
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]
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[[package]]
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@ -1333,9 +1332,9 @@ dependencies = [
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[[package]]
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name = "winnow"
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version = "0.6.6"
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version = "0.6.7"
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source = "registry+https://github.com/rust-lang/crates.io-index"
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checksum = "f0c976aaaa0e1f90dbb21e9587cdaf1d9679a1cde8875c0d6bd83ab96a208352"
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checksum = "14b9415ee827af173ebb3f15f9083df5a122eb93572ec28741fb153356ea2578"
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dependencies = [
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"memchr",
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]
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@ -25,8 +25,8 @@ once_cell = "1.19"
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[dependencies.satrs]
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version = "0.2.0-rc.5"
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# git = "https://egit.irs.uni-stuttgart.de/rust/sat-rs.git"
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# branch = "main"
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git = "https://egit.irs.uni-stuttgart.de/rust/sat-rs.git"
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branch = "main"
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features = ["test_util"]
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[dependencies.satrs-mib]
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@ -2,6 +2,7 @@ use lazy_static::lazy_static;
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use num_enum::{IntoPrimitive, TryFromPrimitive};
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use once_cell::sync::OnceCell;
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use satrs::events::{EventU32TypedSev, SeverityInfo};
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use satrs::res_code::ResultU16;
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use satrs::spacepackets::PacketId;
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use satrs_mib::res_code::ResultU16Info;
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use satrs_mib::resultcode;
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@ -40,11 +41,13 @@ pub enum CustomPusServiceId {
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#[derive(Debug)]
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pub enum GroupId {
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Tmtc = 0,
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Hk = 1,
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Mode = 2,
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Action = 3,
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Controller = 4,
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Generic = 0,
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Tmtc = 1,
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Hk = 2,
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Mode = 3,
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Action = 4,
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Controller = 5,
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Camera = 6,
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}
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pub const TEST_EVENT: EventU32TypedSev<SeverityInfo> =
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@ -187,9 +190,11 @@ pub mod cfg_file {
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}
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}
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#[resultcode]
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pub const GENERIC_FAILED: ResultU16 = ResultU16::new(GroupId::Generic as u8, 1);
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pub mod tmtc_err {
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use super::*;
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use satrs::res_code::ResultU16;
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#[resultcode]
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pub const INVALID_PUS_SERVICE: ResultU16 = ResultU16::new(GroupId::Tmtc as u8, 0);
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@ -220,12 +225,12 @@ pub mod tmtc_err {
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UNKNOWN_TARGET_ID_EXT,
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ROUTING_ERROR_EXT,
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NOT_ENOUGH_APP_DATA_EXT,
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REQUEST_TIMEOUT_EXT,
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];
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}
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pub mod action_err {
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use super::*;
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use satrs::res_code::ResultU16;
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#[resultcode]
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pub const INVALID_ACTION_ID: ResultU16 = ResultU16::new(GroupId::Action as u8, 0);
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@ -235,7 +240,6 @@ pub mod action_err {
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pub mod hk_err {
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use super::*;
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use satrs::res_code::ResultU16;
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#[resultcode]
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pub const TARGET_ID_MISSING: ResultU16 = ResultU16::new(GroupId::Hk as u8, 0);
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@ -256,7 +260,6 @@ pub mod hk_err {
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pub mod mode_err {
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use super::*;
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use satrs::res_code::ResultU16;
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#[resultcode]
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pub const WRONG_MODE: ResultU16 = ResultU16::new(GroupId::Mode as u8, 0);
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@ -264,7 +267,6 @@ pub mod mode_err {
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pub mod ctrl_err {
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use super::*;
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use satrs::res_code::ResultU16;
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#[resultcode]
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pub const INVALID_CMD_FORMAT: ResultU16 = ResultU16::new(GroupId::Controller as u8, 0);
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@ -287,6 +289,47 @@ pub mod ctrl_err {
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SHELL_CMD_IO_ERROR_EXT,
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SHELL_CMD_EXECUTION_FAILURE_EXT,
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SHELL_CMD_INVALID_FORMAT_EXT,
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FILESYSTEM_COPY_ERROR_EXT,
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IMAGE_NOT_FOUND_FOR_COPY_EXT,
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INVALID_LOGFILE_PATH_EXT,
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];
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}
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pub mod cam_error {
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use super::*;
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use thiserror::Error;
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#[derive(Debug, Error)]
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pub enum CameraError {
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#[error("Error taking image: {0}")]
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TakeImageError(String),
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#[error("error listing image files: {0}")]
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ListFileError(String),
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#[error("IO error: {0}")]
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IoError(#[from] std::io::Error),
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}
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#[resultcode]
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pub const TAKE_IMAGE_ERROR: ResultU16 = ResultU16::new(GroupId::Camera as u8, 0);
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#[resultcode]
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pub const NO_DATA: ResultU16 = ResultU16::new(GroupId::Camera as u8, 1);
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#[resultcode]
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pub const ACTION_REQ_VARIANT_NOT_IMPL: ResultU16 = ResultU16::new(GroupId::Camera as u8, 2);
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#[resultcode]
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pub const DESERIALIZE_ERROR: ResultU16 = ResultU16::new(GroupId::Camera as u8, 3);
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// TODO: Probably could be in a dedicated modules for these returnvalues.
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#[resultcode]
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pub const LIST_FILE_ERROR: ResultU16 = ResultU16::new(GroupId::Camera as u8, 4);
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#[resultcode]
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pub const IO_ERROR: ResultU16 = ResultU16::new(GroupId::Camera as u8, 5);
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pub const CAM_ERR_RESULTS: &[ResultU16Info] = &[
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TAKE_IMAGE_ERROR_EXT,
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NO_DATA_EXT,
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ACTION_REQ_VARIANT_NOT_IMPL_EXT,
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DESERIALIZE_ERROR_EXT,
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LIST_FILE_ERROR_EXT,
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IO_ERROR_EXT,
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];
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}
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@ -3,7 +3,6 @@ use std::sync::mpsc::{self};
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use crate::pus::create_verification_reporter;
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use ops_sat_rs::config::components::PUS_EVENT_MANAGEMENT;
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use satrs::event_man::{EventMessageU32, EventRoutingError};
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use satrs::params::WritableToBeBytes;
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use satrs::pus::event::EventTmHookProvider;
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use satrs::pus::verification::VerificationReporter;
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use satrs::request::UniqueApidTargetId;
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@ -42,6 +41,7 @@ pub struct PusEventHandler {
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tm_sender: mpsc::Sender<PacketAsVec>,
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time_provider: CdsTime,
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timestamp: [u8; 7],
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small_params_buf: [u8; 64],
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verif_handler: VerificationReporter,
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}
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@ -82,6 +82,7 @@ impl PusEventHandler {
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pus_event_man_rx,
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time_provider: CdsTime::new_with_u16_days(0, 0),
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timestamp: [0; 7],
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small_params_buf: [0; 64],
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verif_handler,
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tm_sender,
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}
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@ -132,19 +133,17 @@ impl PusEventHandler {
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// Perform the generation of PUS event packets
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match self.pus_event_man_rx.try_recv() {
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Ok(event_msg) => {
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update_time(&mut self.time_provider, &mut self.timestamp);
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let param_vec = event_msg.params().map_or(Vec::new(), |param| {
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param.to_vec().expect("failed to convert params to vec")
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});
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// We use the TM modification hook to set the sender APID for each event.
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self.pus_event_tm_creator.reporter.tm_hook.next_apid =
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UniqueApidTargetId::from(event_msg.sender_id()).apid;
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update_time(&mut self.time_provider, &mut self.timestamp);
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self.pus_event_tm_creator
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.generate_pus_event_tm_generic(
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.generate_pus_event_tm_generic_with_generic_params(
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&self.tm_sender,
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&self.timestamp,
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event_msg.event(),
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Some(¶m_vec),
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&mut self.small_params_buf,
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event_msg.params(),
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)
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.expect("Sending TM as event failed");
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}
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@ -174,7 +173,7 @@ impl EventHandler {
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let mut event_manager = EventManagerWithBoundedMpsc::new(event_rx);
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let pus_event_handler = PusEventHandler::new(
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tm_sender,
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create_verification_reporter(PUS_EVENT_MANAGEMENT.id(), PUS_EVENT_MANAGEMENT.apid),
|
||||
create_verification_reporter(PUS_EVENT_MANAGEMENT.id(), PUS_EVENT_MANAGEMENT.apid, 16),
|
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&mut event_manager,
|
||||
event_request_rx,
|
||||
);
|
||||
|
||||
@ -27,22 +27,22 @@
|
||||
use crate::pus::action::send_data_reply;
|
||||
use crate::requests::CompositeRequest;
|
||||
use derive_new::new;
|
||||
use log::{debug, info};
|
||||
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::TimeStampHelper;
|
||||
use satrs::action::{ActionRequest, ActionRequestVariant};
|
||||
use satrs::hk::HkRequest;
|
||||
use satrs::params::Params;
|
||||
use satrs::pus::action::{ActionReplyPus, ActionReplyVariant};
|
||||
use satrs::pus::EcssTmtcError;
|
||||
use satrs::request::{GenericMessage, MessageMetadata, UniqueApidTargetId};
|
||||
use satrs::res_code::ResultU16;
|
||||
use satrs::tmtc::PacketAsVec;
|
||||
use serde::{Deserialize, Serialize};
|
||||
use std::fmt;
|
||||
use std::fmt::Formatter;
|
||||
use std::process::{Command, Output};
|
||||
use std::sync::mpsc;
|
||||
|
||||
// const IMS_TESTAPP: &str = "scripts/ims100_testapp";
|
||||
const IMS_TESTAPP: &str = "ims100_testapp";
|
||||
|
||||
const DEFAULT_SINGLE_CAM_PARAMS: CameraPictureParameters = CameraPictureParameters {
|
||||
@ -112,58 +112,6 @@ pub struct CameraPictureParameters {
|
||||
pub W: u32, // wait time between pictures in ms, max: 40000
|
||||
}
|
||||
|
||||
#[derive(Debug)]
|
||||
#[allow(dead_code)]
|
||||
pub enum CameraError {
|
||||
TakeImageError,
|
||||
NoDataSent,
|
||||
VariantNotImplemented,
|
||||
DeserializeError,
|
||||
ListFileError,
|
||||
IoError(std::io::Error),
|
||||
EcssTmtcError(EcssTmtcError),
|
||||
}
|
||||
|
||||
impl From<std::io::Error> for CameraError {
|
||||
fn from(value: std::io::Error) -> Self {
|
||||
Self::IoError(value)
|
||||
}
|
||||
}
|
||||
|
||||
impl From<EcssTmtcError> for CameraError {
|
||||
fn from(value: EcssTmtcError) -> Self {
|
||||
Self::EcssTmtcError(value)
|
||||
}
|
||||
}
|
||||
|
||||
impl fmt::Display for CameraError {
|
||||
fn fmt(&self, f: &mut Formatter<'_>) -> fmt::Result {
|
||||
match self {
|
||||
CameraError::TakeImageError => {
|
||||
write!(f, "Error taking image.")
|
||||
}
|
||||
CameraError::NoDataSent => {
|
||||
write!(f, "No data sent.")
|
||||
}
|
||||
CameraError::VariantNotImplemented => {
|
||||
write!(f, "Request variant not implemented.")
|
||||
}
|
||||
CameraError::DeserializeError => {
|
||||
write!(f, "Unable to deserialize parameters.")
|
||||
}
|
||||
CameraError::ListFileError => {
|
||||
write!(f, "Error listing image files.")
|
||||
}
|
||||
CameraError::IoError(io_error) => {
|
||||
write!(f, "{}", io_error)
|
||||
}
|
||||
CameraError::EcssTmtcError(ecss_tmtc_error) => {
|
||||
write!(f, "{}", ecss_tmtc_error)
|
||||
}
|
||||
}
|
||||
}
|
||||
}
|
||||
|
||||
#[derive(Debug)]
|
||||
pub struct Ims100BatchHandler {
|
||||
id: UniqueApidTargetId,
|
||||
@ -205,11 +153,7 @@ impl Ims100BatchHandler {
|
||||
self.handle_hk_request(&msg.requestor_info, hk_request);
|
||||
}
|
||||
CompositeRequest::Action(action_request) => {
|
||||
if let Err(e) =
|
||||
self.handle_action_request(&msg.requestor_info, action_request)
|
||||
{
|
||||
log::warn!("camera action request IO error: {e}");
|
||||
}
|
||||
self.handle_action_request(&msg.requestor_info, action_request);
|
||||
}
|
||||
},
|
||||
Err(e) => match e {
|
||||
@ -235,53 +179,124 @@ impl Ims100BatchHandler {
|
||||
&mut self,
|
||||
requestor_info: &MessageMetadata,
|
||||
action_request: &ActionRequest,
|
||||
) -> Result<(), CameraError> {
|
||||
) {
|
||||
let param = match ActionId::try_from(action_request.action_id).expect("Invalid action id") {
|
||||
ActionId::DefaultSingle => DEFAULT_SINGLE_CAM_PARAMS,
|
||||
ActionId::BalancedSingle => BALANCED_SINGLE_CAM_PARAMS,
|
||||
ActionId::DefaultSingleFlatSat => DEFAULT_SINGLE_FLATSAT_CAM_PARAMS,
|
||||
ActionId::BalancedSingleFlatSat => BALANCED_SINGLE_FLATSAT_CAM_PARAMS,
|
||||
ActionId::CustomParameters => match &action_request.variant {
|
||||
ActionRequestVariant::NoData => return Err(CameraError::NoDataSent),
|
||||
ActionRequestVariant::StoreData(_) => {
|
||||
// let param = serde_json::from_slice()
|
||||
// TODO implement non dynamic version
|
||||
return Err(CameraError::VariantNotImplemented);
|
||||
ActionRequestVariant::NoData => {
|
||||
self.send_completion_failure(
|
||||
requestor_info,
|
||||
action_request,
|
||||
cam_error::NO_DATA,
|
||||
None,
|
||||
);
|
||||
return;
|
||||
}
|
||||
ActionRequestVariant::VecData(data) => {
|
||||
let param: serde_json::Result<CameraPictureParameters> =
|
||||
serde_json::from_slice(data.as_slice());
|
||||
match param {
|
||||
Ok(param) => param,
|
||||
Err(_) => {
|
||||
return Err(CameraError::DeserializeError);
|
||||
Err(e) => {
|
||||
self.send_completion_failure(
|
||||
requestor_info,
|
||||
action_request,
|
||||
cam_error::DESERIALIZE_ERROR,
|
||||
Some(e.to_string().into()),
|
||||
);
|
||||
return;
|
||||
}
|
||||
}
|
||||
}
|
||||
_ => return Err(CameraError::VariantNotImplemented),
|
||||
_ => {
|
||||
self.send_completion_failure(
|
||||
requestor_info,
|
||||
action_request,
|
||||
cam_error::ACTION_REQ_VARIANT_NOT_IMPL,
|
||||
None,
|
||||
);
|
||||
return;
|
||||
}
|
||||
},
|
||||
};
|
||||
let output = self.take_picture(param)?;
|
||||
info!("Sending action reply!");
|
||||
send_data_reply(self.id, output.stdout, &self.stamp_helper, &self.tm_tx)?;
|
||||
self.action_reply_tx
|
||||
.send(GenericMessage::new(
|
||||
*requestor_info,
|
||||
ActionReplyPus::new(action_request.action_id, ActionReplyVariant::Completed),
|
||||
))
|
||||
.unwrap();
|
||||
Ok(())
|
||||
match self.take_picture(¶m) {
|
||||
Ok(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}");
|
||||
}
|
||||
}
|
||||
Err(e) => match e {
|
||||
CameraError::TakeImageError(ref err_str) => {
|
||||
self.send_completion_failure(
|
||||
requestor_info,
|
||||
action_request,
|
||||
cam_error::TAKE_IMAGE_ERROR,
|
||||
Some(err_str.to_string().into()),
|
||||
);
|
||||
}
|
||||
CameraError::IoError(ref e) => {
|
||||
self.send_completion_failure(
|
||||
requestor_info,
|
||||
action_request,
|
||||
cam_error::IO_ERROR,
|
||||
Some(e.to_string().into()),
|
||||
);
|
||||
}
|
||||
_ => {
|
||||
log::warn!("unexpected error: {:?}", e);
|
||||
self.send_completion_failure(
|
||||
requestor_info,
|
||||
action_request,
|
||||
GENERIC_FAILED,
|
||||
None,
|
||||
);
|
||||
}
|
||||
},
|
||||
}
|
||||
}
|
||||
|
||||
pub fn take_picture(&mut self, param: CameraPictureParameters) -> Result<Output, CameraError> {
|
||||
info!("Taking image!");
|
||||
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,
|
||||
));
|
||||
if result.is_err() {
|
||||
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 take_picture(&mut self, param: &CameraPictureParameters) -> Result<Output, CameraError> {
|
||||
let mut cmd = Command::new(IMS_TESTAPP);
|
||||
cmd.arg("-R")
|
||||
.arg(¶m.R.to_string())
|
||||
.arg(param.R.to_string())
|
||||
.arg("-G")
|
||||
.arg(¶m.G.to_string())
|
||||
.arg(param.G.to_string())
|
||||
.arg("-B")
|
||||
.arg(¶m.B.to_string())
|
||||
.arg(param.B.to_string())
|
||||
.arg("-c")
|
||||
.arg("/dev/cam_tty")
|
||||
.arg("-m")
|
||||
@ -289,18 +304,27 @@ impl Ims100BatchHandler {
|
||||
.arg("-v")
|
||||
.arg("0")
|
||||
.arg("-n")
|
||||
.arg(¶m.N.to_string());
|
||||
.arg(param.N.to_string());
|
||||
if param.P {
|
||||
cmd.arg("-p");
|
||||
}
|
||||
cmd.arg("-e")
|
||||
.arg(¶m.E.to_string())
|
||||
.arg(param.E.to_string())
|
||||
.arg("-w")
|
||||
.arg(¶m.W.to_string());
|
||||
.arg(param.W.to_string());
|
||||
info!("taking image with command: {cmd:?}");
|
||||
let output = cmd.output()?;
|
||||
|
||||
debug!("Imager Output: {}", String::from_utf8_lossy(&output.stdout));
|
||||
|
||||
info!("imager cmd status: {}", &output.status);
|
||||
info!("imager output: {}", String::from_utf8_lossy(&output.stdout));
|
||||
let mut error_string = String::new();
|
||||
if !output.stderr.is_empty() {
|
||||
error_string = String::from_utf8_lossy(&output.stderr).to_string();
|
||||
log::warn!("imager error: {}", error_string);
|
||||
}
|
||||
if !output.status.success() {
|
||||
return Err(CameraError::TakeImageError(error_string.to_string()));
|
||||
}
|
||||
Ok(output)
|
||||
}
|
||||
|
||||
@ -313,49 +337,11 @@ impl Ims100BatchHandler {
|
||||
let files: Vec<String> = output_str.lines().map(|s| s.to_string()).collect();
|
||||
Ok(files)
|
||||
} else {
|
||||
Err(CameraError::ListFileError)
|
||||
Err(CameraError::ListFileError(
|
||||
String::from_utf8_lossy(&output.stderr).to_string(),
|
||||
))
|
||||
}
|
||||
}
|
||||
|
||||
#[allow(clippy::too_many_arguments)]
|
||||
#[allow(dead_code)]
|
||||
pub fn take_picture_from_str(
|
||||
&mut self,
|
||||
R: &str,
|
||||
G: &str,
|
||||
B: &str,
|
||||
N: &str,
|
||||
P: &str,
|
||||
E: &str,
|
||||
W: &str,
|
||||
) -> Result<(), CameraError> {
|
||||
let mut cmd = Command::new("ims100_testapp");
|
||||
cmd.arg("-R")
|
||||
.arg(R)
|
||||
.arg("-G")
|
||||
.arg(G)
|
||||
.arg("-B")
|
||||
.arg(B)
|
||||
.arg("-c")
|
||||
.arg("/dev/cam_tty")
|
||||
.arg("-m")
|
||||
.arg("/dev/cam_sd")
|
||||
.arg("-v")
|
||||
.arg("0")
|
||||
.arg("-n")
|
||||
.arg(N)
|
||||
.arg(P)
|
||||
.arg("-e")
|
||||
.arg(E)
|
||||
.arg("-w")
|
||||
.arg(W);
|
||||
|
||||
let output = cmd.output()?;
|
||||
|
||||
debug!("{}", String::from_utf8_lossy(&output.stdout));
|
||||
|
||||
Ok(())
|
||||
}
|
||||
}
|
||||
|
||||
#[cfg(test)]
|
||||
@ -372,6 +358,7 @@ mod tests {
|
||||
use satrs::tmtc::PacketAsVec;
|
||||
use std::sync::mpsc;
|
||||
|
||||
#[allow(dead_code)]
|
||||
struct Ims1000Testbench {
|
||||
pub handler: Ims100BatchHandler,
|
||||
pub composite_req_tx: mpsc::Sender<GenericMessage<CompositeRequest>>,
|
||||
@ -393,13 +380,7 @@ mod tests {
|
||||
time_helper,
|
||||
);
|
||||
Ims1000Testbench {
|
||||
handler: Ims100BatchHandler::new(
|
||||
CAMERA_HANDLER,
|
||||
composite_request_rx,
|
||||
tm_tx,
|
||||
action_reply_tx,
|
||||
time_helper,
|
||||
),
|
||||
handler: cam_handler,
|
||||
composite_req_tx: composite_request_tx,
|
||||
tm_receiver: tm_rx,
|
||||
action_reply_rx,
|
||||
@ -412,7 +393,7 @@ mod tests {
|
||||
let mut testbench = Ims1000Testbench::default();
|
||||
testbench
|
||||
.handler
|
||||
.take_picture(DEFAULT_SINGLE_FLATSAT_CAM_PARAMS)
|
||||
.take_picture(&DEFAULT_SINGLE_FLATSAT_CAM_PARAMS)
|
||||
.unwrap();
|
||||
}
|
||||
|
||||
@ -436,7 +417,6 @@ mod tests {
|
||||
testbench
|
||||
.handler
|
||||
.handle_action_request(&MessageMetadata::new(1, 1), &req)
|
||||
.unwrap();
|
||||
}
|
||||
|
||||
#[test]
|
||||
|
||||
@ -1,14 +1,14 @@
|
||||
use log::{debug, error, warn};
|
||||
use log::{error, warn};
|
||||
use ops_sat_rs::config::components::PUS_ACTION_SERVICE;
|
||||
use ops_sat_rs::config::tmtc_err;
|
||||
use ops_sat_rs::TimeStampHelper;
|
||||
use satrs::action::{ActionRequest, ActionRequestVariant};
|
||||
use satrs::params::WritableToBeBytes;
|
||||
use satrs::pus::action::{
|
||||
ActionReplyPus, ActionReplyVariant, ActivePusActionRequestStd, DefaultActiveActionRequestMap,
|
||||
};
|
||||
use satrs::pus::verification::{
|
||||
FailParams, FailParamsWithStep, TcStateAccepted, TcStateStarted, VerificationReporter,
|
||||
handle_completion_failure_with_generic_params, handle_step_failure_with_generic_params,
|
||||
FailParamHelper, FailParams, TcStateAccepted, TcStateStarted, VerificationReporter,
|
||||
VerificationReportingProvider, VerificationToken,
|
||||
};
|
||||
use satrs::pus::{
|
||||
@ -64,7 +64,7 @@ impl PusReplyHandler<ActivePusActionRequestStd, ActionReplyPus> for ActionReplyH
|
||||
active_request: &ActivePusActionRequestStd,
|
||||
tm_sender: &(impl EcssTmSender + ?Sized),
|
||||
verification_handler: &impl VerificationReportingProvider,
|
||||
time_stamp: &[u8],
|
||||
timestamp: &[u8],
|
||||
) -> Result<bool, Self::Error> {
|
||||
let verif_token: VerificationToken<TcStateStarted> = active_request
|
||||
.token()
|
||||
@ -72,15 +72,23 @@ impl PusReplyHandler<ActivePusActionRequestStd, ActionReplyPus> for ActionReplyH
|
||||
.expect("invalid token state");
|
||||
let remove_entry = match &reply.message.variant {
|
||||
ActionReplyVariant::CompletionFailed { error_code, params } => {
|
||||
let mut fail_data_len = 0;
|
||||
if let Some(params) = params {
|
||||
fail_data_len = params.write_to_be_bytes(&mut self.fail_data_buf)?;
|
||||
}
|
||||
verification_handler.completion_failure(
|
||||
let error_propagated = handle_completion_failure_with_generic_params(
|
||||
tm_sender,
|
||||
verif_token,
|
||||
FailParams::new(time_stamp, error_code, &self.fail_data_buf[..fail_data_len]),
|
||||
verification_handler,
|
||||
FailParamHelper {
|
||||
error_code,
|
||||
params: params.as_ref(),
|
||||
timestamp,
|
||||
small_data_buf: &mut self.fail_data_buf,
|
||||
},
|
||||
)?;
|
||||
if !error_propagated {
|
||||
log::warn!(
|
||||
"error params for completion failure were not propated: {:?}",
|
||||
params.as_ref()
|
||||
);
|
||||
}
|
||||
true
|
||||
}
|
||||
ActionReplyVariant::StepFailed {
|
||||
@ -88,31 +96,35 @@ impl PusReplyHandler<ActivePusActionRequestStd, ActionReplyPus> for ActionReplyH
|
||||
step,
|
||||
params,
|
||||
} => {
|
||||
let mut fail_data_len = 0;
|
||||
if let Some(params) = params {
|
||||
fail_data_len = params.write_to_be_bytes(&mut self.fail_data_buf)?;
|
||||
}
|
||||
verification_handler.step_failure(
|
||||
let error_propagated = handle_step_failure_with_generic_params(
|
||||
tm_sender,
|
||||
verif_token,
|
||||
FailParamsWithStep::new(
|
||||
time_stamp,
|
||||
&EcssEnumU16::new(*step),
|
||||
verification_handler,
|
||||
FailParamHelper {
|
||||
error_code,
|
||||
&self.fail_data_buf[..fail_data_len],
|
||||
),
|
||||
params: params.as_ref(),
|
||||
timestamp,
|
||||
small_data_buf: &mut self.fail_data_buf,
|
||||
},
|
||||
&EcssEnumU16::new(*step),
|
||||
)?;
|
||||
if !error_propagated {
|
||||
log::warn!(
|
||||
"error params for completion failure were not propated: {:?}",
|
||||
params.as_ref()
|
||||
);
|
||||
}
|
||||
true
|
||||
}
|
||||
ActionReplyVariant::Completed => {
|
||||
verification_handler.completion_success(tm_sender, verif_token, time_stamp)?;
|
||||
verification_handler.completion_success(tm_sender, verif_token, timestamp)?;
|
||||
true
|
||||
}
|
||||
ActionReplyVariant::StepSuccess { step } => {
|
||||
verification_handler.step_success(
|
||||
tm_sender,
|
||||
&verif_token,
|
||||
time_stamp,
|
||||
timestamp,
|
||||
EcssEnumU16::new(*step),
|
||||
)?;
|
||||
false
|
||||
@ -209,7 +221,7 @@ pub fn create_action_service(
|
||||
PUS_ACTION_SERVICE.id(),
|
||||
pus_action_rx,
|
||||
tm_funnel_tx,
|
||||
create_verification_reporter(PUS_ACTION_SERVICE.id(), PUS_ACTION_SERVICE.apid),
|
||||
create_verification_reporter(PUS_ACTION_SERVICE.id(), PUS_ACTION_SERVICE.apid, 2048),
|
||||
EcssTcInVecConverter::default(),
|
||||
),
|
||||
ActionRequestConverter::default(),
|
||||
@ -277,7 +289,7 @@ impl TargetedPusService for ActionServiceWrapper {
|
||||
|
||||
pub fn send_data_reply<TmSender: EcssTmSender>(
|
||||
apid_target: UniqueApidTargetId,
|
||||
reply_data: Vec<u8>,
|
||||
reply_data: &Vec<u8>,
|
||||
stamp_helper: &TimeStampHelper,
|
||||
tm_sender: &TmSender,
|
||||
) -> Result<(), EcssTmtcError> {
|
||||
@ -287,8 +299,8 @@ pub fn send_data_reply<TmSender: EcssTmSender>(
|
||||
data.extend(apid_target.apid.to_be_bytes());
|
||||
data.extend(apid_target.unique_id.to_be_bytes());
|
||||
data.extend(reply_data);
|
||||
debug!(
|
||||
"{}",
|
||||
log::trace!(
|
||||
"PUS action reply: {}",
|
||||
String::from_utf8(data.clone()[6..].to_vec()).expect("Error decoding data reply.")
|
||||
);
|
||||
let data_reply_tm = PusTmCreator::new(sp_header, sec_header, &data, true);
|
||||
|
||||
@ -22,7 +22,7 @@ pub fn create_event_service(
|
||||
PUS_EVENT_MANAGEMENT.id(),
|
||||
pus_event_rx,
|
||||
tm_funnel_tx,
|
||||
create_verification_reporter(PUS_EVENT_MANAGEMENT.id(), PUS_EVENT_MANAGEMENT.apid),
|
||||
create_verification_reporter(PUS_EVENT_MANAGEMENT.id(), PUS_EVENT_MANAGEMENT.apid, 16),
|
||||
EcssTcInVecConverter::default(),
|
||||
),
|
||||
event_request_tx,
|
||||
|
||||
@ -241,7 +241,7 @@ pub fn create_hk_service(
|
||||
PUS_HK_SERVICE.id(),
|
||||
pus_hk_rx,
|
||||
tm_funnel_tx,
|
||||
create_verification_reporter(PUS_HK_SERVICE.id(), PUS_HK_SERVICE.apid),
|
||||
create_verification_reporter(PUS_HK_SERVICE.id(), PUS_HK_SERVICE.apid, 16),
|
||||
EcssTcInVecConverter::default(),
|
||||
),
|
||||
HkRequestConverter::default(),
|
||||
|
||||
@ -30,8 +30,12 @@ use satrs::ComponentId;
|
||||
use std::fmt::Debug;
|
||||
use std::sync::mpsc::{self, Sender};
|
||||
|
||||
pub fn create_verification_reporter(owner_id: ComponentId, apid: Apid) -> VerificationReporter {
|
||||
let verif_cfg = VerificationReporterCfg::new(apid, 1, 2, 8).unwrap();
|
||||
pub fn create_verification_reporter(
|
||||
owner_id: ComponentId,
|
||||
apid: Apid,
|
||||
max_fail_data_len: usize,
|
||||
) -> VerificationReporter {
|
||||
let verif_cfg = VerificationReporterCfg::new(apid, 1, 2, max_fail_data_len).unwrap();
|
||||
// Every software component which needs to generate verification telemetry, gets a cloned
|
||||
// verification reporter.
|
||||
VerificationReporter::new(owner_id, &verif_cfg)
|
||||
@ -63,6 +67,7 @@ impl<TmSender: EcssTmSender> PusTcDistributor<TmSender> {
|
||||
verif_reporter: create_verification_reporter(
|
||||
PUS_ROUTING_SERVICE.id(),
|
||||
PUS_ROUTING_SERVICE.apid,
|
||||
16,
|
||||
),
|
||||
pus_router,
|
||||
stamp_helper: TimeStampHelper::default(),
|
||||
@ -399,20 +404,17 @@ where
|
||||
return Ok(());
|
||||
}
|
||||
let active_request = active_req_opt.unwrap();
|
||||
let request_finished = self
|
||||
.reply_handler
|
||||
.handle_reply(
|
||||
reply,
|
||||
active_request,
|
||||
&self.service_helper.common.tm_sender,
|
||||
&self.service_helper.common.verif_reporter,
|
||||
time_stamp,
|
||||
)
|
||||
.unwrap_or(false);
|
||||
if request_finished {
|
||||
let result = self.reply_handler.handle_reply(
|
||||
reply,
|
||||
active_request,
|
||||
&self.service_helper.common.tm_sender,
|
||||
&self.service_helper.common.verif_reporter,
|
||||
time_stamp,
|
||||
);
|
||||
if result.is_err() || (result.is_ok() && *result.as_ref().unwrap()) {
|
||||
self.active_request_map.remove(reply.request_id());
|
||||
}
|
||||
Ok(())
|
||||
result.map(|_| ())
|
||||
}
|
||||
|
||||
pub fn check_for_request_timeouts(&mut self) {
|
||||
|
||||
@ -212,7 +212,7 @@ pub fn create_mode_service(
|
||||
PUS_MODE_SERVICE.id(),
|
||||
pus_action_rx,
|
||||
tm_funnel_tx,
|
||||
create_verification_reporter(PUS_MODE_SERVICE.id(), PUS_MODE_SERVICE.apid),
|
||||
create_verification_reporter(PUS_MODE_SERVICE.id(), PUS_MODE_SERVICE.apid, 16),
|
||||
EcssTcInVecConverter::default(),
|
||||
),
|
||||
ModeRequestConverter::default(),
|
||||
|
||||
@ -139,7 +139,11 @@ pub fn create_scheduler_service(
|
||||
PUS_SCHEDULER_SERVICE.id(),
|
||||
pus_sched_rx,
|
||||
tm_funnel_tx,
|
||||
create_verification_reporter(PUS_SCHEDULER_SERVICE.id(), PUS_SCHEDULER_SERVICE.apid),
|
||||
create_verification_reporter(
|
||||
PUS_SCHEDULER_SERVICE.id(),
|
||||
PUS_SCHEDULER_SERVICE.apid,
|
||||
16,
|
||||
),
|
||||
EcssTcInVecConverter::default(),
|
||||
),
|
||||
scheduler,
|
||||
|
||||
@ -27,7 +27,7 @@ pub fn create_test_service(
|
||||
PUS_TEST_SERVICE.id(),
|
||||
pus_test_rx,
|
||||
tm_funnel_tx,
|
||||
create_verification_reporter(PUS_TEST_SERVICE.id(), PUS_TEST_SERVICE.apid),
|
||||
create_verification_reporter(PUS_TEST_SERVICE.id(), PUS_TEST_SERVICE.apid, 16),
|
||||
EcssTcInVecConverter::default(),
|
||||
));
|
||||
TestCustomServiceWrapper {
|
||||
|
||||
Loading…
x
Reference in New Issue
Block a user