rust/sat-rs
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Mode Tree Feature Update

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This commit is contained in:
Robin Müller
2024-11-21 18:35:16 +01:00
parent 719b70d834
commit 05106354e3
56 changed files with 5823 additions and 1670 deletions
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4
satrs-minisim/src/acs.rs
View File

@ -203,7 +203,7 @@ pub mod tests {
let sim_reply = sim_testbench.try_receive_next_reply();
assert!(sim_reply.is_some());
let sim_reply = sim_reply.unwrap();
assert_eq!(sim_reply.component(), SimComponent::MgmLis3Mdl);
assert_eq!(sim_reply.component(), SimComponent::Mgm0Lis3Mdl);
let reply = MgmLis3MdlReply::from_sim_message(&sim_reply)
.expect("failed to deserialize MGM sensor values");
assert_eq!(reply.common.switch_state, SwitchStateBinary::Off);
@ -226,7 +226,7 @@ pub mod tests {
let mut sim_reply_res = sim_testbench.try_receive_next_reply();
assert!(sim_reply_res.is_some());
let mut sim_reply = sim_reply_res.unwrap();
assert_eq!(sim_reply.component(), SimComponent::MgmLis3Mdl);
assert_eq!(sim_reply.component(), SimComponent::Mgm0Lis3Mdl);
let first_reply = MgmLis3MdlReply::from_sim_message(&sim_reply)
.expect("failed to deserialize MGM sensor values");
sim_testbench.step_until(Duration::from_millis(50)).unwrap();

30
satrs-minisim/src/controller.rs
View File

@ -24,7 +24,8 @@ const PCDU_REQ_WIRETAPPING: bool = false;
const MGT_REQ_WIRETAPPING: bool = false;
pub struct ModelAddrWrapper {
mgm_addr: Address<MagnetometerModel<MgmLis3MdlReply>>,
mgm_0_addr: Address<MagnetometerModel<MgmLis3MdlReply>>,
mgm_1_addr: Address<MagnetometerModel<MgmLis3MdlReply>>,
pcdu_addr: Address<PcduModel>,
mgt_addr: Address<MagnetorquerModel>,
}
@ -42,12 +43,14 @@ pub struct SimController {
impl ModelAddrWrapper {
pub fn new(
mgm_addr: Address<MagnetometerModel<MgmLis3MdlReply>>,
mgm_0_addr: Address<MagnetometerModel<MgmLis3MdlReply>>,
mgm_1_addr: Address<MagnetometerModel<MgmLis3MdlReply>>,
pcdu_addr: Address<PcduModel>,
mgt_addr: Address<MagnetorquerModel>,
) -> Self {
Self {
mgm_addr,
mgm_0_addr,
mgm_1_addr,
pcdu_addr,
mgt_addr,
}
@ -96,7 +99,8 @@ impl SimController {
}
if let Err(e) = match request.component() {
SimComponent::SimCtrl => self.handle_ctrl_request(&request),
SimComponent::MgmLis3Mdl => self.handle_mgm_request(&request),
SimComponent::Mgm0Lis3Mdl => self.handle_mgm_request(0, &request),
SimComponent::Mgm1Lis3Mdl => self.handle_mgm_request(1, &request),
SimComponent::Mgt => self.handle_mgt_request(&request),
SimComponent::Pcdu => self.handle_pcdu_request(&request),
} {
@ -128,19 +132,25 @@ impl SimController {
Ok(())
}
fn handle_mgm_request(&mut self, request: &SimRequest) -> Result<(), SimRequestError> {
fn handle_mgm_request(
&mut self,
mgm_idx: usize,
request: &SimRequest,
) -> Result<(), SimRequestError> {
let mgm_request = MgmRequestLis3Mdl::from_sim_message(request)?;
if MGM_REQ_WIRETAPPING {
log::info!("received MGM request: {:?}", mgm_request);
}
match mgm_request {
MgmRequestLis3Mdl::RequestSensorData => {
let addr = match mgm_idx {
0 => &self.addr_wrapper.mgm_0_addr,
1 => &self.addr_wrapper.mgm_1_addr,
_ => panic!("invalid mgm index"),
};
self.simulation
.process_event(
MagnetometerModel::send_sensor_values,
(),
&self.addr_wrapper.mgm_addr,
)
.process_event(MagnetometerModel::send_sensor_values, (), addr)
.expect("event execution error for mgm");
}
}

8
satrs-minisim/src/eps.rs
View File

@ -14,7 +14,8 @@ pub const SWITCH_INFO_DELAY_MS: u64 = 10;
pub struct PcduModel {
pub switcher_map: SwitchMapBinaryWrapper,
pub mgm_switch: Output<SwitchStateBinary>,
pub mgm_0_switch: Output<SwitchStateBinary>,
pub mgm_1_switch: Output<SwitchStateBinary>,
pub mgt_switch: Output<SwitchStateBinary>,
pub reply_sender: mpsc::Sender<SimReply>,
}
@ -23,7 +24,8 @@ impl PcduModel {
pub fn new(reply_sender: mpsc::Sender<SimReply>) -> Self {
Self {
switcher_map: Default::default(),
mgm_switch: Output::new(),
mgm_0_switch: Output::new(),
mgm_1_switch: Output::new(),
mgt_switch: Output::new(),
reply_sender,
}
@ -55,7 +57,7 @@ impl PcduModel {
*val = switch_and_target_state.1;
match switch_and_target_state.0 {
PcduSwitch::Mgm => {
self.mgm_switch.send(switch_and_target_state.1).await;
self.mgm_0_switch.send(switch_and_target_state.1).await;
}
PcduSwitch::Mgt => {
self.mgt_switch.send(switch_and_target_state.1).await;

9
satrs-minisim/src/lib.rs
View File

@ -5,7 +5,8 @@ use serde::{de::DeserializeOwned, Deserialize, Serialize};
#[derive(Debug, Copy, Clone, PartialEq, Eq, Serialize, Deserialize, Hash)]
pub enum SimComponent {
SimCtrl,
MgmLis3Mdl,
Mgm0Lis3Mdl,
Mgm1Lis3Mdl,
Mgt,
Pcdu,
}
@ -277,7 +278,7 @@ pub mod acs {
}
impl SerializableSimMsgPayload<SimRequest> for MgmRequestLis3Mdl {
const TARGET: SimComponent = SimComponent::MgmLis3Mdl;
const TARGET: SimComponent = SimComponent::Mgm0Lis3Mdl;
}
// Normally, small magnetometers generate their output as a signed 16 bit raw format or something
@ -368,7 +369,7 @@ pub mod acs {
}
impl SerializableSimMsgPayload<SimReply> for MgmLis3MdlReply {
const TARGET: SimComponent = SimComponent::MgmLis3Mdl;
const TARGET: SimComponent = SimComponent::Mgm0Lis3Mdl;
}
impl MgmReplyProvider for MgmLis3MdlReply {
@ -418,7 +419,7 @@ pub mod acs {
}
impl SerializableSimMsgPayload<SimReply> for MgtReply {
const TARGET: SimComponent = SimComponent::MgmLis3Mdl;
const TARGET: SimComponent = SimComponent::Mgm0Lis3Mdl;
}
}

33
satrs-minisim/src/main.rs
View File

@ -31,11 +31,15 @@ fn create_sim_controller(
request_receiver: mpsc::Receiver<SimRequest>,
) -> SimController {
// Instantiate models and their mailboxes.
let mgm_model =
let mgm_0_model =
MagnetometerModel::new_for_lis3mdl(Duration::from_millis(50), reply_sender.clone());
let mgm_1_model =
MagnetometerModel::new_for_lis3mdl(Duration::from_millis(50), reply_sender.clone());
let mgm_mailbox = Mailbox::new();
let mgm_addr = mgm_mailbox.address();
let mgm_0_mailbox = Mailbox::new();
let mgm_0_addr = mgm_0_mailbox.address();
let mgm_1_mailbox = Mailbox::new();
let mgm_1_addr = mgm_1_mailbox.address();
let pcdu_mailbox = Mailbox::new();
let pcdu_addr = pcdu_mailbox.address();
let mgt_mailbox = Mailbox::new();
@ -43,8 +47,11 @@ fn create_sim_controller(
let mut pcdu_model = PcduModel::new(reply_sender.clone());
pcdu_model
.mgm_switch
.connect(MagnetometerModel::switch_device, &mgm_addr);
.mgm_0_switch
.connect(MagnetometerModel::switch_device, &mgm_0_addr);
pcdu_model
.mgm_1_switch
.connect(MagnetometerModel::switch_device, &mgm_1_addr);
let mut mgt_model = MagnetorquerModel::new(reply_sender.clone());
// Input connections.
@ -52,9 +59,14 @@ fn create_sim_controller(
.mgt_switch
.connect(MagnetorquerModel::switch_device, &mgt_addr);
// Output connections.
mgt_model
.gen_magnetic_field
.connect(MagnetometerModel::apply_external_magnetic_field, &mgm_addr);
mgt_model.gen_magnetic_field.connect(
MagnetometerModel::apply_external_magnetic_field,
&mgm_0_addr,
);
mgt_model.gen_magnetic_field.connect(
MagnetometerModel::apply_external_magnetic_field,
&mgm_1_addr,
);
// Instantiate the simulator
let sys_clock = SystemClock::from_system_time(start_time, SystemTime::now());
@ -63,9 +75,10 @@ fn create_sim_controller(
} else {
SimInit::new()
};
let addrs = ModelAddrWrapper::new(mgm_addr, pcdu_addr, mgt_addr);
let addrs = ModelAddrWrapper::new(mgm_0_addr, mgm_1_addr, pcdu_addr, mgt_addr);
let (simulation, scheduler) = sim_init
.add_model(mgm_model, mgm_mailbox, "MGM model")
.add_model(mgm_0_model, mgm_0_mailbox, "MGM 0 model")
.add_model(mgm_1_model, mgm_1_mailbox, "MGM 1 model")
.add_model(pcdu_model, pcdu_mailbox, "PCDU model")
.add_model(mgt_model, mgt_mailbox, "MGT model")
.init(start_time)