start gettign rid of generics
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@ -15,7 +15,7 @@ use std::sync::{Arc, Mutex};
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use std::time::Duration;
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use satrs::mode::{
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ModeAndSubmode, ModeError, ModeProvider, ModeReply, ModeRequest, ModeRequestHandler,
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ModeAndSubmode, ModeError, ModeProvider, ModeReply, ModeRequestHandler,
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ModeRequestHandlerMpscBounded,
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};
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use satrs::pus::{EcssTmSender, PusTmVariant};
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@ -25,6 +25,7 @@ use satrs_example::config::components::{NO_SENDER, PUS_MODE_SERVICE};
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use crate::hk::PusHkHelper;
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use crate::pus::hk::{HkReply, HkReplyVariant};
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use crate::requests::CompositeRequest;
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use crate::tm_sender::TmSender;
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use serde::{Deserialize, Serialize};
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@ -130,13 +131,6 @@ pub struct MgmData {
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pub z: f32,
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}
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pub struct MpscModeLeafInterface {
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pub request_rx: mpsc::Receiver<GenericMessage<ModeRequest>>,
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pub reply_to_pus_tx: mpsc::Sender<GenericMessage<ModeReply>>,
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#[allow(dead_code)]
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pub reply_to_parent_tx: mpsc::SyncSender<GenericMessage<ModeReply>>,
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}
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#[derive(Default)]
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pub struct BufWrapper {
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tx_buf: [u8; 32],
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@ -166,8 +160,6 @@ impl Default for ModeHelpers {
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#[derive(new)]
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#[allow(clippy::too_many_arguments)]
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pub struct MgmHandlerLis3Mdl<
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ComInterface: SpiInterface,
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TmSender: EcssTmSender,
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SwitchHelper: PowerSwitchInfo<PcduSwitch> + PowerSwitcherCommandSender<PcduSwitch>,
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> {
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id: UniqueApidTargetId,
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@ -177,7 +169,7 @@ pub struct MgmHandlerLis3Mdl<
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hk_reply_tx: mpsc::Sender<GenericMessage<HkReply>>,
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switch_helper: SwitchHelper,
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tm_sender: TmSender,
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pub com_interface: ComInterface,
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pub com_interface: SpiSimInterfaceWrapper,
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shared_mgm_set: Arc<Mutex<MgmData>>,
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#[new(value = "PusHkHelper::new(id)")]
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hk_helper: PusHkHelper,
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@ -189,11 +181,8 @@ pub struct MgmHandlerLis3Mdl<
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stamp_helper: TimestampHelper,
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}
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impl<
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ComInterface: SpiInterface,
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TmSender: EcssTmSender,
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SwitchHelper: PowerSwitchInfo<PcduSwitch> + PowerSwitcherCommandSender<PcduSwitch>,
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> MgmHandlerLis3Mdl<ComInterface, TmSender, SwitchHelper>
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impl<SwitchHelper: PowerSwitchInfo<PcduSwitch> + PowerSwitcherCommandSender<PcduSwitch>>
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MgmHandlerLis3Mdl<SwitchHelper>
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{
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pub fn periodic_operation(&mut self) {
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self.stamp_helper.update_from_now();
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@ -367,22 +356,16 @@ impl<
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}
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}
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impl<
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ComInterface: SpiInterface,
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TmSender: EcssTmSender,
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SwitchHelper: PowerSwitchInfo<PcduSwitch> + PowerSwitcherCommandSender<PcduSwitch>,
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> ModeProvider for MgmHandlerLis3Mdl<ComInterface, TmSender, SwitchHelper>
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impl<SwitchHelper: PowerSwitchInfo<PcduSwitch> + PowerSwitcherCommandSender<PcduSwitch>>
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ModeProvider for MgmHandlerLis3Mdl<SwitchHelper>
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{
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fn mode_and_submode(&self) -> ModeAndSubmode {
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self.mode_helpers.current
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}
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}
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impl<
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ComInterface: SpiInterface,
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TmSender: EcssTmSender,
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SwitchHelper: PowerSwitchInfo<PcduSwitch> + PowerSwitcherCommandSender<PcduSwitch>,
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> ModeRequestHandler for MgmHandlerLis3Mdl<ComInterface, TmSender, SwitchHelper>
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impl<SwitchHelper: PowerSwitchInfo<PcduSwitch> + PowerSwitcherCommandSender<PcduSwitch>>
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ModeRequestHandler for MgmHandlerLis3Mdl<SwitchHelper>
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{
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type Error = ModeError;
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@ -469,10 +452,8 @@ impl<
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}
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impl<
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ComInterface: SpiInterface,
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TmSender: EcssTmSender,
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SwitchHelper: PowerSwitchInfo<PcduSwitch> + PowerSwitcherCommandSender<PcduSwitch>,
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> ModeNode for MgmHandlerLis3Mdl<ComInterface, TmSender, SwitchHelper>
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> ModeNode for MgmHandlerLis3Mdl<SwitchHelper>
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{
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fn id(&self) -> satrs::ComponentId {
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self.id.into()
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@ -480,10 +461,8 @@ impl<
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}
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impl<
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ComInterface: SpiInterface,
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TmSender: EcssTmSender,
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SwitchHelper: PowerSwitchInfo<PcduSwitch> + PowerSwitcherCommandSender<PcduSwitch>,
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> ModeChild for MgmHandlerLis3Mdl<ComInterface, TmSender, SwitchHelper>
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> ModeChild for MgmHandlerLis3Mdl<SwitchHelper>
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{
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type Sender = mpsc::SyncSender<GenericMessage<ModeReply>>;
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@ -535,6 +514,7 @@ mod tests {
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}
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}
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#[allow(dead_code)]
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pub struct MgmTestbench {
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pub mode_request_tx: mpsc::SyncSender<GenericMessage<ModeRequest>>,
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pub mode_reply_rx_to_pus: mpsc::Receiver<GenericMessage<ModeReply>>,
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@ -542,8 +522,7 @@ mod tests {
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pub composite_request_tx: mpsc::Sender<GenericMessage<CompositeRequest>>,
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pub hk_reply_rx: mpsc::Receiver<GenericMessage<HkReply>>,
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pub tm_rx: mpsc::Receiver<PacketAsVec>,
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pub handler:
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MgmHandlerLis3Mdl<TestSpiInterface, mpsc::Sender<PacketAsVec>, TestSwitchHelper>,
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pub handler: MgmHandlerLis3Mdl<TestSwitchHelper>,
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}
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#[derive(Default)]
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@ -593,7 +572,8 @@ mod tests {
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let mode_node = ModeRequestHandlerMpscBounded::new(id.into(), request_rx);
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let (composite_request_tx, composite_request_rx) = mpsc::channel();
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let (hk_reply_tx, hk_reply_rx) = mpsc::channel();
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let (tm_tx, tm_rx) = mpsc::channel::<PacketAsVec>();
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let (tm_tx, tm_rx) = mpsc::channel();
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let tm_sender = TmSender::new_heap(tm_tx);
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let shared_mgm_set = Arc::default();
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let mut handler = MgmHandlerLis3Mdl::new(
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id,
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@ -602,7 +582,7 @@ mod tests {
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composite_request_rx,
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hk_reply_tx,
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TestSwitchHelper::default(),
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tm_tx,
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tm_sender,
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TestSpiInterface::default(),
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shared_mgm_set,
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);
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@ -1,5 +1,6 @@
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use logger::setup_logger;
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use satrs::spacepackets::time::{cds::CdsTime, TimeWriter};
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mod tm_sender;
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mod main_heap_tmtc;
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mod main_static_tmtc;
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@ -1,11 +1,12 @@
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use crate::eps::pcdu::{
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PcduHandler, SerialInterfaceDummy, SerialInterfaceToSim, SerialSimInterfaceWrapper,
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};
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use crate::eps::PowerSwitchHelper;
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use crate::eps::{self, PowerSwitchHelper};
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use crate::events::EventHandler;
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use crate::interface::udp::DynamicUdpTmHandler;
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use crate::pus::stack::PusStack;
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use crate::pus::test::create_test_service_dynamic;
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use crate::tm_sender::TmSender;
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use crate::tmtc::tc_source::TcSourceTaskDynamic;
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use crate::tmtc::tm_sink::TmSinkDynamic;
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use log::info;
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@ -22,8 +23,7 @@ use satrs_example::config::{OBSW_SERVER_ADDR, PACKET_ID_VALIDATOR, SERVER_PORT};
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use satrs_example::DeviceMode;
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use crate::acs::mgm::{
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MgmHandlerLis3Mdl, MpscModeLeafInterface, SpiDummyInterface, SpiSimInterface,
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SpiSimInterfaceWrapper,
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MgmHandlerLis3Mdl, SpiDummyInterface, SpiSimInterface, SpiSimInterfaceWrapper,
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};
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use crate::interface::sim_client_udp::create_sim_client;
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use crate::interface::tcp::{SyncTcpTmSource, TcpTask};
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@ -94,7 +94,7 @@ pub fn main_with_heap_backed_tmtc_pool() {
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let (_pus_action_reply_tx, pus_action_reply_rx) = mpsc::channel();
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let (pus_hk_reply_tx, pus_hk_reply_rx) = mpsc::channel();
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let (pus_mode_reply_tx, pus_mode_reply_rx) = mpsc::channel();
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let (pus_mode_reply_tx, pus_mode_reply_rx) = mpsc::sync_channel(10);
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let pus_router = PusTcMpscRouter {
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test_tc_sender: pus_test_tx,
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@ -202,7 +202,7 @@ pub fn main_with_heap_backed_tmtc_pool() {
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mgm_handler_composite_rx,
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pus_hk_reply_tx.clone(),
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switch_helper.clone(),
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tm_sink_tx.clone(),
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TmSender::Heap(tm_sink_tx.clone()),
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mgm_spi_interface,
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shared_mgm_set,
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);
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@ -213,13 +213,8 @@ pub fn main_with_heap_backed_tmtc_pool() {
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mgm_handler_mode_reply_to_parent_tx,
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);
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let (pcdu_handler_mode_reply_to_parent_tx, _pcdu_handler_mode_reply_to_parent_rx) =
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mpsc::sync_channel(10);
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let pcdu_mode_leaf_interface = MpscModeLeafInterface {
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request_rx: pcdu_handler_mode_rx,
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reply_to_pus_tx: pus_mode_reply_tx,
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reply_to_parent_tx: pcdu_handler_mode_reply_to_parent_tx,
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};
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let pcdu_mode_node =
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ModeRequestHandlerMpscBounded::new(PCDU_HANDLER.into(), pcdu_handler_mode_rx);
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let pcdu_serial_interface = if let Some(sim_client) = opt_sim_client.as_mut() {
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sim_client.add_reply_recipient(satrs_minisim::SimComponent::Pcdu, pcdu_sim_reply_tx);
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SerialSimInterfaceWrapper::Sim(SerialInterfaceToSim::new(
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@ -232,7 +227,7 @@ pub fn main_with_heap_backed_tmtc_pool() {
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let mut pcdu_handler = PcduHandler::new(
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PCDU_HANDLER,
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"PCDU",
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pcdu_mode_leaf_interface,
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pcdu_mode_node,
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pcdu_handler_composite_rx,
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pus_hk_reply_tx,
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switch_request_rx,
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@ -240,6 +235,13 @@ pub fn main_with_heap_backed_tmtc_pool() {
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pcdu_serial_interface,
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shared_switch_set,
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);
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connect_mode_nodes(
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&mut pus_stack.mode_srv,
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pcdu_handler_mode_tx.clone(),
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&mut pcdu_handler,
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pus_mode_reply_tx,
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);
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// The PCDU is a critical component which should be in normal mode immediately.
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pcdu_handler_mode_tx
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.send(GenericMessage::new(
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41
satrs-example/src/tm_sender.rs
Normal file
41
satrs-example/src/tm_sender.rs
Normal file
@ -0,0 +1,41 @@
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use std::sync::mpsc;
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use satrs::{
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pus::EcssTmSender,
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queue::GenericSendError,
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spacepackets::ecss::WritablePusPacket,
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tmtc::{PacketAsVec, PacketSenderWithSharedPool},
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};
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pub enum TmSender {
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Static(PacketSenderWithSharedPool),
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Heap(mpsc::Sender<PacketAsVec>),
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}
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impl TmSender {
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pub fn new_static(sender: PacketSenderWithSharedPool) -> Self {
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TmSender::Static(sender)
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}
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pub fn new_heap(sender: mpsc::Sender<PacketAsVec>) -> Self {
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TmSender::Heap(sender)
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}
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}
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impl EcssTmSender for TmSender {
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fn send_tm(
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&self,
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sender_id: satrs::ComponentId,
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tm: satrs::pus::PusTmVariant,
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) -> Result<(), satrs::pus::EcssTmtcError> {
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match self {
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TmSender::Static(sync_sender) => sync_sender.send_tm(sender_id, tm),
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TmSender::Heap(sync_sender) => match tm {
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satrs::pus::PusTmVariant::InStore(_) => panic!("can not send TM in store"),
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satrs::pus::PusTmVariant::Direct(pus_tm_creator) => sync_sender
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.send(PacketAsVec::new(sender_id, pus_tm_creator.to_vec()?))
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.map_err(|_| GenericSendError::RxDisconnected.into()),
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},
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}
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}
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}
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