start gettign rid of generics

This commit is contained in:
Robin Müller 2025-02-06 15:33:31 +01:00
parent 6db4bc971c
commit 1d67f102d1
Signed by: muellerr
GPG Key ID: A649FB78196E3849
4 changed files with 73 additions and 49 deletions

View File

@ -15,7 +15,7 @@ use std::sync::{Arc, Mutex};
use std::time::Duration;
use satrs::mode::{
ModeAndSubmode, ModeError, ModeProvider, ModeReply, ModeRequest, ModeRequestHandler,
ModeAndSubmode, ModeError, ModeProvider, ModeReply, ModeRequestHandler,
ModeRequestHandlerMpscBounded,
};
use satrs::pus::{EcssTmSender, PusTmVariant};
@ -25,6 +25,7 @@ use satrs_example::config::components::{NO_SENDER, PUS_MODE_SERVICE};
use crate::hk::PusHkHelper;
use crate::pus::hk::{HkReply, HkReplyVariant};
use crate::requests::CompositeRequest;
use crate::tm_sender::TmSender;
use serde::{Deserialize, Serialize};
@ -130,13 +131,6 @@ pub struct MgmData {
pub z: f32,
}
pub struct MpscModeLeafInterface {
pub request_rx: mpsc::Receiver<GenericMessage<ModeRequest>>,
pub reply_to_pus_tx: mpsc::Sender<GenericMessage<ModeReply>>,
#[allow(dead_code)]
pub reply_to_parent_tx: mpsc::SyncSender<GenericMessage<ModeReply>>,
}
#[derive(Default)]
pub struct BufWrapper {
tx_buf: [u8; 32],
@ -166,8 +160,6 @@ impl Default for ModeHelpers {
#[derive(new)]
#[allow(clippy::too_many_arguments)]
pub struct MgmHandlerLis3Mdl<
ComInterface: SpiInterface,
TmSender: EcssTmSender,
SwitchHelper: PowerSwitchInfo<PcduSwitch> + PowerSwitcherCommandSender<PcduSwitch>,
> {
id: UniqueApidTargetId,
@ -177,7 +169,7 @@ pub struct MgmHandlerLis3Mdl<
hk_reply_tx: mpsc::Sender<GenericMessage<HkReply>>,
switch_helper: SwitchHelper,
tm_sender: TmSender,
pub com_interface: ComInterface,
pub com_interface: SpiSimInterfaceWrapper,
shared_mgm_set: Arc<Mutex<MgmData>>,
#[new(value = "PusHkHelper::new(id)")]
hk_helper: PusHkHelper,
@ -189,11 +181,8 @@ pub struct MgmHandlerLis3Mdl<
stamp_helper: TimestampHelper,
}
impl<
ComInterface: SpiInterface,
TmSender: EcssTmSender,
SwitchHelper: PowerSwitchInfo<PcduSwitch> + PowerSwitcherCommandSender<PcduSwitch>,
> MgmHandlerLis3Mdl<ComInterface, TmSender, SwitchHelper>
impl<SwitchHelper: PowerSwitchInfo<PcduSwitch> + PowerSwitcherCommandSender<PcduSwitch>>
MgmHandlerLis3Mdl<SwitchHelper>
{
pub fn periodic_operation(&mut self) {
self.stamp_helper.update_from_now();
@ -367,22 +356,16 @@ impl<
}
}
impl<
ComInterface: SpiInterface,
TmSender: EcssTmSender,
SwitchHelper: PowerSwitchInfo<PcduSwitch> + PowerSwitcherCommandSender<PcduSwitch>,
> ModeProvider for MgmHandlerLis3Mdl<ComInterface, TmSender, SwitchHelper>
impl<SwitchHelper: PowerSwitchInfo<PcduSwitch> + PowerSwitcherCommandSender<PcduSwitch>>
ModeProvider for MgmHandlerLis3Mdl<SwitchHelper>
{
fn mode_and_submode(&self) -> ModeAndSubmode {
self.mode_helpers.current
}
}
impl<
ComInterface: SpiInterface,
TmSender: EcssTmSender,
SwitchHelper: PowerSwitchInfo<PcduSwitch> + PowerSwitcherCommandSender<PcduSwitch>,
> ModeRequestHandler for MgmHandlerLis3Mdl<ComInterface, TmSender, SwitchHelper>
impl<SwitchHelper: PowerSwitchInfo<PcduSwitch> + PowerSwitcherCommandSender<PcduSwitch>>
ModeRequestHandler for MgmHandlerLis3Mdl<SwitchHelper>
{
type Error = ModeError;
@ -469,10 +452,8 @@ impl<
}
impl<
ComInterface: SpiInterface,
TmSender: EcssTmSender,
SwitchHelper: PowerSwitchInfo<PcduSwitch> + PowerSwitcherCommandSender<PcduSwitch>,
> ModeNode for MgmHandlerLis3Mdl<ComInterface, TmSender, SwitchHelper>
> ModeNode for MgmHandlerLis3Mdl<SwitchHelper>
{
fn id(&self) -> satrs::ComponentId {
self.id.into()
@ -480,10 +461,8 @@ impl<
}
impl<
ComInterface: SpiInterface,
TmSender: EcssTmSender,
SwitchHelper: PowerSwitchInfo<PcduSwitch> + PowerSwitcherCommandSender<PcduSwitch>,
> ModeChild for MgmHandlerLis3Mdl<ComInterface, TmSender, SwitchHelper>
> ModeChild for MgmHandlerLis3Mdl<SwitchHelper>
{
type Sender = mpsc::SyncSender<GenericMessage<ModeReply>>;
@ -535,6 +514,7 @@ mod tests {
}
}
#[allow(dead_code)]
pub struct MgmTestbench {
pub mode_request_tx: mpsc::SyncSender<GenericMessage<ModeRequest>>,
pub mode_reply_rx_to_pus: mpsc::Receiver<GenericMessage<ModeReply>>,
@ -542,8 +522,7 @@ mod tests {
pub composite_request_tx: mpsc::Sender<GenericMessage<CompositeRequest>>,
pub hk_reply_rx: mpsc::Receiver<GenericMessage<HkReply>>,
pub tm_rx: mpsc::Receiver<PacketAsVec>,
pub handler:
MgmHandlerLis3Mdl<TestSpiInterface, mpsc::Sender<PacketAsVec>, TestSwitchHelper>,
pub handler: MgmHandlerLis3Mdl<TestSwitchHelper>,
}
#[derive(Default)]
@ -593,7 +572,8 @@ mod tests {
let mode_node = ModeRequestHandlerMpscBounded::new(id.into(), request_rx);
let (composite_request_tx, composite_request_rx) = mpsc::channel();
let (hk_reply_tx, hk_reply_rx) = mpsc::channel();
let (tm_tx, tm_rx) = mpsc::channel::<PacketAsVec>();
let (tm_tx, tm_rx) = mpsc::channel();
let tm_sender = TmSender::new_heap(tm_tx);
let shared_mgm_set = Arc::default();
let mut handler = MgmHandlerLis3Mdl::new(
id,
@ -602,7 +582,7 @@ mod tests {
composite_request_rx,
hk_reply_tx,
TestSwitchHelper::default(),
tm_tx,
tm_sender,
TestSpiInterface::default(),
shared_mgm_set,
);

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@ -1,5 +1,6 @@
use logger::setup_logger;
use satrs::spacepackets::time::{cds::CdsTime, TimeWriter};
mod tm_sender;
mod main_heap_tmtc;
mod main_static_tmtc;

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@ -1,11 +1,12 @@
use crate::eps::pcdu::{
PcduHandler, SerialInterfaceDummy, SerialInterfaceToSim, SerialSimInterfaceWrapper,
};
use crate::eps::PowerSwitchHelper;
use crate::eps::{self, PowerSwitchHelper};
use crate::events::EventHandler;
use crate::interface::udp::DynamicUdpTmHandler;
use crate::pus::stack::PusStack;
use crate::pus::test::create_test_service_dynamic;
use crate::tm_sender::TmSender;
use crate::tmtc::tc_source::TcSourceTaskDynamic;
use crate::tmtc::tm_sink::TmSinkDynamic;
use log::info;
@ -22,8 +23,7 @@ use satrs_example::config::{OBSW_SERVER_ADDR, PACKET_ID_VALIDATOR, SERVER_PORT};
use satrs_example::DeviceMode;
use crate::acs::mgm::{
MgmHandlerLis3Mdl, MpscModeLeafInterface, SpiDummyInterface, SpiSimInterface,
SpiSimInterfaceWrapper,
MgmHandlerLis3Mdl, SpiDummyInterface, SpiSimInterface, SpiSimInterfaceWrapper,
};
use crate::interface::sim_client_udp::create_sim_client;
use crate::interface::tcp::{SyncTcpTmSource, TcpTask};
@ -94,7 +94,7 @@ pub fn main_with_heap_backed_tmtc_pool() {
let (_pus_action_reply_tx, pus_action_reply_rx) = mpsc::channel();
let (pus_hk_reply_tx, pus_hk_reply_rx) = mpsc::channel();
let (pus_mode_reply_tx, pus_mode_reply_rx) = mpsc::channel();
let (pus_mode_reply_tx, pus_mode_reply_rx) = mpsc::sync_channel(10);
let pus_router = PusTcMpscRouter {
test_tc_sender: pus_test_tx,
@ -202,7 +202,7 @@ pub fn main_with_heap_backed_tmtc_pool() {
mgm_handler_composite_rx,
pus_hk_reply_tx.clone(),
switch_helper.clone(),
tm_sink_tx.clone(),
TmSender::Heap(tm_sink_tx.clone()),
mgm_spi_interface,
shared_mgm_set,
);
@ -213,13 +213,8 @@ pub fn main_with_heap_backed_tmtc_pool() {
mgm_handler_mode_reply_to_parent_tx,
);
let (pcdu_handler_mode_reply_to_parent_tx, _pcdu_handler_mode_reply_to_parent_rx) =
mpsc::sync_channel(10);
let pcdu_mode_leaf_interface = MpscModeLeafInterface {
request_rx: pcdu_handler_mode_rx,
reply_to_pus_tx: pus_mode_reply_tx,
reply_to_parent_tx: pcdu_handler_mode_reply_to_parent_tx,
};
let pcdu_mode_node =
ModeRequestHandlerMpscBounded::new(PCDU_HANDLER.into(), pcdu_handler_mode_rx);
let pcdu_serial_interface = if let Some(sim_client) = opt_sim_client.as_mut() {
sim_client.add_reply_recipient(satrs_minisim::SimComponent::Pcdu, pcdu_sim_reply_tx);
SerialSimInterfaceWrapper::Sim(SerialInterfaceToSim::new(
@ -232,7 +227,7 @@ pub fn main_with_heap_backed_tmtc_pool() {
let mut pcdu_handler = PcduHandler::new(
PCDU_HANDLER,
"PCDU",
pcdu_mode_leaf_interface,
pcdu_mode_node,
pcdu_handler_composite_rx,
pus_hk_reply_tx,
switch_request_rx,
@ -240,6 +235,13 @@ pub fn main_with_heap_backed_tmtc_pool() {
pcdu_serial_interface,
shared_switch_set,
);
connect_mode_nodes(
&mut pus_stack.mode_srv,
pcdu_handler_mode_tx.clone(),
&mut pcdu_handler,
pus_mode_reply_tx,
);
// The PCDU is a critical component which should be in normal mode immediately.
pcdu_handler_mode_tx
.send(GenericMessage::new(

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@ -0,0 +1,41 @@
use std::sync::mpsc;
use satrs::{
pus::EcssTmSender,
queue::GenericSendError,
spacepackets::ecss::WritablePusPacket,
tmtc::{PacketAsVec, PacketSenderWithSharedPool},
};
pub enum TmSender {
Static(PacketSenderWithSharedPool),
Heap(mpsc::Sender<PacketAsVec>),
}
impl TmSender {
pub fn new_static(sender: PacketSenderWithSharedPool) -> Self {
TmSender::Static(sender)
}
pub fn new_heap(sender: mpsc::Sender<PacketAsVec>) -> Self {
TmSender::Heap(sender)
}
}
impl EcssTmSender for TmSender {
fn send_tm(
&self,
sender_id: satrs::ComponentId,
tm: satrs::pus::PusTmVariant,
) -> Result<(), satrs::pus::EcssTmtcError> {
match self {
TmSender::Static(sync_sender) => sync_sender.send_tm(sender_id, tm),
TmSender::Heap(sync_sender) => match tm {
satrs::pus::PusTmVariant::InStore(_) => panic!("can not send TM in store"),
satrs::pus::PusTmVariant::Direct(pus_tm_creator) => sync_sender
.send(PacketAsVec::new(sender_id, pus_tm_creator.to_vec()?))
.map_err(|_| GenericSendError::RxDisconnected.into()),
},
}
}
}