move to CCSDS + serde for sat-rs example

2025-11-17 11:13:49 +01:00
parent d7e6732888
commit 033c995138
61 changed files with 1649 additions and 2482 deletions
@@ -0,0 +1,83 @@
+use models::{
+    ccsds::{CcsdsTcPacketOwned, CcsdsTmPacketOwned},
+    control, ComponentId,
+};
+use satrs::spacepackets::CcsdsPacketIdAndPsc;
+
+use crate::ccsds::pack_ccsds_tm_packet_for_now;
+
+pub struct Controller {
+    pub tc_rx: std::sync::mpsc::Receiver<CcsdsTcPacketOwned>,
+    pub tm_tx: std::sync::mpsc::SyncSender<CcsdsTmPacketOwned>,
+    pub event_ctrl_tx: std::sync::mpsc::SyncSender<control::Event>,
+}
+
+impl Controller {
+    pub fn new(
+        tc_rx: std::sync::mpsc::Receiver<CcsdsTcPacketOwned>,
+        tm_tx: std::sync::mpsc::SyncSender<CcsdsTmPacketOwned>,
+        event_ctrl_tx: std::sync::mpsc::SyncSender<control::Event>,
+    ) -> Self {
+        Self {
+            tc_rx,
+            tm_tx,
+            event_ctrl_tx,
+        }
+    }
+
+    pub fn periodic_operation(&mut self) {
+        self.handle_telecommands();
+    }
+
+    pub fn handle_telecommands(&mut self) {
+        loop {
+            match self.tc_rx.try_recv() {
+                Ok(packet) => {
+                    let tc_id = CcsdsPacketIdAndPsc::new_from_ccsds_packet(&packet.sp_header);
+                    match postcard::from_bytes::<control::request::Request>(&packet.payload) {
+                        Ok(request) => {
+                            log::info!(
+                                "received request {:?} with TC ID {:#010x}",
+                                request,
+                                tc_id.raw()
+                            );
+                            match request {
+                                control::request::Request::Ping => self
+                                    .send_telemetry(Some(tc_id), control::response::Response::Ok),
+                                control::request::Request::TestEvent => {
+                                    self.event_ctrl_tx.send(control::Event::TestEvent).unwrap()
+                                }
+                            }
+                        }
+                        Err(e) => {
+                            log::warn!("failed to deserialize request: {}", e);
+                        }
+                    }
+                }
+                Err(e) => match e {
+                    std::sync::mpsc::TryRecvError::Empty => break,
+                    std::sync::mpsc::TryRecvError::Disconnected => {
+                        log::warn!("packet sender disconnected")
+                    }
+                },
+            }
+        }
+    }
+
+    pub fn send_telemetry(
+        &self,
+        tc_id: Option<CcsdsPacketIdAndPsc>,
+        response: control::response::Response,
+    ) {
+        match pack_ccsds_tm_packet_for_now(ComponentId::Controller, tc_id, &response) {
+            Ok(packet) => {
+                if let Err(e) = self.tm_tx.send(packet) {
+                    log::warn!("failed to send TM packet: {}", e);
+                }
+            }
+            Err(e) => {
+                log::warn!("failed to pack TM packet: {}", e);
+            }
+        }
+    }
+}