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continue PCDU integration
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This commit is contained in:
Robin Müller 2024-05-22 18:34:37 +02:00
parent b4febefa33
commit 2507469e68
Signed by: muellerr
GPG Key ID: A649FB78196E3849
5 changed files with 99 additions and 45 deletions
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2
satrs-example/src/acs/mgm.rs
View File

@ -134,7 +134,7 @@ pub struct MgmData {
pub struct MpscModeLeafInterface {
pub request_rx: mpsc::Receiver<GenericMessage<ModeRequest>>,
pub reply_to_pus_tx: mpsc::Sender<GenericMessage<ModeReply>>,
pub reply_to_parent_tx: mpsc::Sender<GenericMessage<ModeReply>>,
pub reply_to_parent_tx: mpsc::SyncSender<GenericMessage<ModeReply>>,
}
#[derive(Default)]

17
satrs-example/src/eps/mod.rs
View File

@ -1,16 +1,9 @@
use derive_new::new;
use std::{
borrow::BorrowMut,
cell::RefCell,
collections::VecDeque,
sync::mpsc,
time::{Duration, Instant},
};
use std::{cell::RefCell, collections::VecDeque, sync::mpsc, time::Duration};
use satrs::{
power::{
PowerSwitchInfo, PowerSwitcherCommandSender, SwitchId, SwitchRequest, SwitchState,
SwitchStateBinary,
PowerSwitchInfo, PowerSwitcherCommandSender, SwitchRequest, SwitchState, SwitchStateBinary,
},
queue::GenericSendError,
request::{GenericMessage, MessageMetadata},
@ -26,17 +19,14 @@ pub mod pcdu;
pub struct PowerSwitchHelper {
switcher_tx: mpsc::SyncSender<GenericMessage<SwitchRequest>>,
shared_switch_set: SharedSwitchSet,
#[new(default)]
switch_cmd_sent_instant: Option<Instant>,
}
#[derive(Debug, Error, Copy, Clone, PartialEq, Eq)]
pub enum SwitchCommandingError {
#[error("invalid switch id")]
InvalidSwitchId(SwitchId),
#[error("send error: {0}")]
Send(#[from] GenericSendError),
}
#[derive(Debug, Error, Copy, Clone, PartialEq, Eq)]
pub enum SwitchInfoError {
/// This is a configuration error which should not occur.
@ -196,6 +186,7 @@ impl PowerSwitcherCommandSender<PcduSwitch> for TestSwitchHelper {
}
}
#[allow(dead_code)]
impl TestSwitchHelper {
// Helper function which can be used to force a switch to another state for test purposes.
pub fn set_switch_state(&mut self, switch: PcduSwitch, state: SwitchState) {

14
satrs-example/src/eps/pcdu.rs
View File

@ -22,7 +22,8 @@ use satrs_minisim::{
use crate::{acs::mgm::MpscModeLeafInterface, pus::hk::HkReply, requests::CompositeRequest};
pub trait SerialInterface {
type Error;
type Error: core::fmt::Debug;
/// Send some data via the serial interface.
fn send(&self, data: &[u8]) -> Result<(), Self::Error>;
/// Receive all replies received on the serial interface so far. This function takes a closure
@ -289,13 +290,18 @@ impl<ComInterface: SerialInterface, TmSender: EcssTmSender> PcduHandler<ComInter
state: switch_req.message.target_state(),
};
let pcdu_req_ser = serde_json::to_string(&pcdu_req).unwrap();
self.com_interface.send(pcdu_req_ser.as_bytes())
self.com_interface
.send(pcdu_req_ser.as_bytes())
.expect("failed to send switch request to PCDU");
}
Err(e) => todo!("failed to convert switch ID {:?} to typed PCDU switch", e),
},
Err(e) => match e {
mpsc::TryRecvError::Empty => todo!(),
mpsc::TryRecvError::Disconnected => todo!(),
mpsc::TryRecvError::Empty => break,
mpsc::TryRecvError::Disconnected => {
log::warn!("switch request receiver has disconnected");
break;
}
},
};
}

106
satrs-example/src/main.rs
View File

@ -76,13 +76,14 @@ fn static_tmtc_pool_main() {
let mut opt_sim_client = create_sim_client(sim_request_rx);
let (mgm_handler_composite_tx, mgm_handler_composite_rx) =
mpsc::channel::<GenericMessage<CompositeRequest>>();
mpsc::sync_channel::<GenericMessage<CompositeRequest>>(10);
let (pcdu_handler_composite_tx, pcdu_handler_composite_rx) =
mpsc::channel::<GenericMessage<CompositeRequest>>();
mpsc::sync_channel::<GenericMessage<CompositeRequest>>(30);
let (mgm_handler_mode_tx, mgm_handler_mode_rx) = mpsc::channel::<GenericMessage<ModeRequest>>();
let (mgm_handler_mode_tx, mgm_handler_mode_rx) =
mpsc::sync_channel::<GenericMessage<ModeRequest>>(5);
let (pcdu_handler_mode_tx, pcdu_handler_mode_rx) =
mpsc::channel::<GenericMessage<ModeRequest>>();
mpsc::sync_channel::<GenericMessage<ModeRequest>>(5);
// Some request are targetable. This map is used to retrieve sender handles based on a target ID.
let mut request_map = GenericRequestRouter::default();
@ -221,7 +222,7 @@ fn static_tmtc_pool_main() {
);
let (mgm_handler_mode_reply_to_parent_tx, _mgm_handler_mode_reply_to_parent_rx) =
mpsc::channel();
mpsc::sync_channel(5);
let shared_switch_set = Arc::new(Mutex::default());
let (switch_request_tx, switch_request_rx) = mpsc::sync_channel(20);
@ -256,7 +257,7 @@ fn static_tmtc_pool_main() {
);
let (pcdu_handler_mode_reply_to_parent_tx, _pcdu_handler_mode_reply_to_parent_rx) =
mpsc::channel();
mpsc::sync_channel(10);
let pcdu_mode_leaf_interface = MpscModeLeafInterface {
request_rx: pcdu_handler_mode_rx,
reply_to_pus_tx: pus_mode_reply_tx,
@ -388,27 +389,38 @@ fn static_tmtc_pool_main() {
#[allow(dead_code)]
fn dyn_tmtc_pool_main() {
let (tc_source_tx, tc_source_rx) = mpsc::channel();
let (tm_funnel_tx, tm_funnel_rx) = mpsc::channel();
let (tm_sink_tx, tm_sink_rx) = mpsc::channel();
let (tm_server_tx, tm_server_rx) = mpsc::channel();
let (sim_request_tx, sim_request_rx) = mpsc::channel();
let (mgm_sim_reply_tx, mgm_sim_reply_rx) = mpsc::channel();
// let (pcdu_sim_reply_tx, pcdu_sim_reply_rx) = mpsc::channel();
let (pcdu_sim_reply_tx, pcdu_sim_reply_rx) = mpsc::channel();
let mut opt_sim_client = create_sim_client(sim_request_rx);
// Some request are targetable. This map is used to retrieve sender handles based on a target ID.
let (mgm_handler_composite_tx, mgm_handler_composite_rx) =
mpsc::channel::<GenericMessage<CompositeRequest>>();
let (mgm_handler_mode_tx, mgm_handler_mode_rx) = mpsc::channel::<GenericMessage<ModeRequest>>();
mpsc::sync_channel::<GenericMessage<CompositeRequest>>(5);
let (pcdu_handler_composite_tx, pcdu_handler_composite_rx) =
mpsc::sync_channel::<GenericMessage<CompositeRequest>>(10);
let (mgm_handler_mode_tx, mgm_handler_mode_rx) =
mpsc::sync_channel::<GenericMessage<ModeRequest>>(5);
let (pcdu_handler_mode_tx, pcdu_handler_mode_rx) =
mpsc::sync_channel::<GenericMessage<ModeRequest>>(10);
// Some request are targetable. This map is used to retrieve sender handles based on a target ID.
let mut request_map = GenericRequestRouter::default();
request_map
.composite_router_map
.insert(MGM_HANDLER_0.raw(), mgm_handler_composite_tx);
.insert(MGM_HANDLER_0.id(), mgm_handler_composite_tx);
request_map
.mode_router_map
.insert(MGM_HANDLER_0.raw(), mgm_handler_mode_tx);
.insert(MGM_HANDLER_0.id(), mgm_handler_mode_tx);
request_map
.composite_router_map
.insert(PCDU_HANDLER.id(), pcdu_handler_composite_tx);
request_map
.mode_router_map
.insert(PCDU_HANDLER.id(), pcdu_handler_mode_tx);
// Create event handling components
// These sender handles are used to send event requests, for example to enable or disable
@ -417,7 +429,7 @@ fn dyn_tmtc_pool_main() {
let (event_request_tx, event_request_rx) = mpsc::channel::<EventRequestWithToken>();
// The event task is the core handler to perform the event routing and TM handling as specified
// in the sat-rs documentation.
let mut event_handler = EventHandler::new(tm_funnel_tx.clone(), event_rx, event_request_rx);
let mut event_handler = EventHandler::new(tm_sink_tx.clone(), event_rx, event_request_rx);
let (pus_test_tx, pus_test_rx) = mpsc::channel();
let (pus_event_tx, pus_event_rx) = mpsc::channel();
@ -440,30 +452,30 @@ fn dyn_tmtc_pool_main() {
};
let pus_test_service =
create_test_service_dynamic(tm_funnel_tx.clone(), event_tx.clone(), pus_test_rx);
create_test_service_dynamic(tm_sink_tx.clone(), event_tx.clone(), pus_test_rx);
let pus_scheduler_service = create_scheduler_service_dynamic(
tm_funnel_tx.clone(),
tm_sink_tx.clone(),
tc_source_tx.clone(),
pus_sched_rx,
create_sched_tc_pool(),
);
let pus_event_service =
create_event_service_dynamic(tm_funnel_tx.clone(), pus_event_rx, event_request_tx);
create_event_service_dynamic(tm_sink_tx.clone(), pus_event_rx, event_request_tx);
let pus_action_service = create_action_service_dynamic(
tm_funnel_tx.clone(),
tm_sink_tx.clone(),
pus_action_rx,
request_map.clone(),
pus_action_reply_rx,
);
let pus_hk_service = create_hk_service_dynamic(
tm_funnel_tx.clone(),
tm_sink_tx.clone(),
pus_hk_rx,
request_map.clone(),
pus_hk_reply_rx,
);
let pus_mode_service = create_mode_service_dynamic(
tm_funnel_tx.clone(),
tm_sink_tx.clone(),
pus_mode_rx,
request_map,
pus_mode_reply_rx,
@ -479,7 +491,7 @@ fn dyn_tmtc_pool_main() {
let mut tmtc_task = TcSourceTaskDynamic::new(
tc_source_rx,
PusTcDistributor::new(tm_funnel_tx.clone(), pus_router),
PusTcDistributor::new(tm_sink_tx.clone(), pus_router),
);
let sock_addr = SocketAddr::new(IpAddr::V4(OBSW_SERVER_ADDR), SERVER_PORT);
@ -508,18 +520,18 @@ fn dyn_tmtc_pool_main() {
)
.expect("tcp server creation failed");
let mut tm_funnel = TmSinkDynamic::new(sync_tm_tcp_source, tm_funnel_rx, tm_server_tx);
let mut tm_funnel = TmSinkDynamic::new(sync_tm_tcp_source, tm_sink_rx, tm_server_tx);
let shared_switch_set = Arc::new(Mutex::default());
let (switch_request_tx, switch_request_rx) = mpsc::sync_channel(20);
let switch_helper = PowerSwitchHelper::new(switch_request_tx, shared_switch_set.clone());
let (mgm_handler_mode_reply_to_parent_tx, _mgm_handler_mode_reply_to_parent_rx) =
mpsc::channel();
mpsc::sync_channel(5);
let shared_mgm_set = Arc::default();
let mode_leaf_interface = MpscModeLeafInterface {
request_rx: mgm_handler_mode_rx,
reply_to_pus_tx: pus_mode_reply_tx,
reply_to_pus_tx: pus_mode_reply_tx.clone(),
reply_to_parent_tx: mgm_handler_mode_reply_to_parent_tx,
};
@ -537,13 +549,41 @@ fn dyn_tmtc_pool_main() {
"MGM_0",
mode_leaf_interface,
mgm_handler_composite_rx,
pus_hk_reply_tx,
pus_hk_reply_tx.clone(),
switch_helper.clone(),
tm_funnel_tx,
tm_sink_tx.clone(),
mgm_spi_interface,
shared_mgm_set,
);
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_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(
sim_request_tx.clone(),
pcdu_sim_reply_rx,
))
} else {
SerialSimInterfaceWrapper::Dummy(SerialInterfaceDummy::default())
};
let mut pcdu_handler = PcduHandler::new(
PCDU_HANDLER,
"PCDU",
pcdu_mode_leaf_interface,
pcdu_handler_composite_rx,
pus_hk_reply_tx,
switch_request_rx,
tm_sink_tx,
pcdu_serial_interface,
shared_switch_set,
);
info!("Starting TMTC and UDP task");
let jh_udp_tmtc = thread::Builder::new()
.name("sat-rs tmtc-udp".to_string())
@ -600,6 +640,21 @@ fn dyn_tmtc_pool_main() {
})
.unwrap();
info!("Starting EPS thread");
let jh_eps = thread::Builder::new()
.name("sat-rs eps".to_string())
.spawn(move || loop {
// TODO: We should introduce something like a fixed timeslot helper to allow a more
// declarative API. It would also be very useful for the AOCS task.
pcdu_handler.periodic_operation(eps::pcdu::OpCode::RegularOp);
thread::sleep(Duration::from_millis(50));
pcdu_handler.periodic_operation(eps::pcdu::OpCode::PollAndRecvReplies);
thread::sleep(Duration::from_millis(50));
pcdu_handler.periodic_operation(eps::pcdu::OpCode::PollAndRecvReplies);
thread::sleep(Duration::from_millis(300));
})
.unwrap();
info!("Starting PUS handler thread");
let jh_pus_handler = thread::Builder::new()
.name("sat-rs pus".to_string())
@ -625,6 +680,7 @@ fn dyn_tmtc_pool_main() {
.expect("Joining SIM client thread failed");
}
jh_aocs.join().expect("Joining AOCS thread failed");
jh_eps.join().expect("Joining EPS thread failed");
jh_pus_handler
.join()
.expect("Joining PUS handler thread failed");

5
satrs-example/src/requests.rs
View File

@ -28,8 +28,9 @@ pub enum CompositeRequest {
pub struct GenericRequestRouter {
pub id: ComponentId,
// All messages which do not have a dedicated queue.
pub composite_router_map: HashMap<ComponentId, mpsc::Sender<GenericMessage<CompositeRequest>>>,
pub mode_router_map: HashMap<ComponentId, mpsc::Sender<GenericMessage<ModeRequest>>>,
pub composite_router_map:
HashMap<ComponentId, mpsc::SyncSender<GenericMessage<CompositeRequest>>>,
pub mode_router_map: HashMap<ComponentId, mpsc::SyncSender<GenericMessage<ModeRequest>>>,
}
impl Default for GenericRequestRouter {