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Integration of the mini simulator into the sat-rs example
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This commit is contained in:
Robin Müller
2024-06-03 15:18:23 +02:00
parent a4c433a7be
commit 29167736db
42 changed files with 3578 additions and 697 deletions
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103
satrs-minisim/src/acs.rs
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@ -6,14 +6,17 @@ use asynchronix::{
};
use satrs::power::SwitchStateBinary;
use satrs_minisim::{
acs::{MgmReply, MgmSensorValues, MgtDipole, MgtHkSet, MgtReply, MGT_GEN_MAGNETIC_FIELD},
acs::{
lis3mdl::MgmLis3MdlReply, MgmReplyCommon, MgmReplyProvider, MgmSensorValuesMicroTesla,
MgtDipole, MgtHkSet, MgtReply, MGT_GEN_MAGNETIC_FIELD,
},
SimReply,
};
use crate::time::current_millis;
// Earth magnetic field varies between -30 uT and 30 uT
const AMPLITUDE_MGM: f32 = 0.03;
// Earth magnetic field varies between roughly -30 uT and 30 uT
const AMPLITUDE_MGM_UT: f32 = 30.0;
// Lets start with a simple frequency here.
const FREQUENCY_MGM: f32 = 1.0;
const PHASE_X: f32 = 0.0;
@ -23,38 +26,37 @@ const PHASE_Z: f32 = 0.2;
/// Simple model for a magnetometer where the measure magnetic fields are modeled with sine waves.
///
/// Please note that that a more realistic MGM model wouold include the following components
/// which are not included here to simplify the model:
///
/// 1. It would probably generate signed [i16] values which need to be converted to SI units
/// because it is a digital sensor
/// 2. It would sample the magnetic field at a high fixed rate. This might not be possible for
/// a general purpose OS, but self self-sampling at a relatively high rate (20-40 ms) might
/// stil lbe possible.
pub struct MagnetometerModel {
/// An ideal sensor would sample the magnetic field at a high fixed rate. This might not be
/// possible for a general purpose OS, but self self-sampling at a relatively high rate (20-40 ms)
/// might still be possible and is probably sufficient for many OBSW needs.
pub struct MagnetometerModel<ReplyProvider: MgmReplyProvider> {
pub switch_state: SwitchStateBinary,
pub periodicity: Duration,
pub external_mag_field: Option<MgmSensorValues>,
pub external_mag_field: Option<MgmSensorValuesMicroTesla>,
pub reply_sender: mpsc::Sender<SimReply>,
pub phatom: std::marker::PhantomData<ReplyProvider>,
}
impl MagnetometerModel {
pub fn new(periodicity: Duration, reply_sender: mpsc::Sender<SimReply>) -> Self {
impl MagnetometerModel<MgmLis3MdlReply> {
pub fn new_for_lis3mdl(periodicity: Duration, reply_sender: mpsc::Sender<SimReply>) -> Self {
Self {
switch_state: SwitchStateBinary::Off,
periodicity,
external_mag_field: None,
reply_sender,
phatom: std::marker::PhantomData,
}
}
}
impl<ReplyProvider: MgmReplyProvider> MagnetometerModel<ReplyProvider> {
pub async fn switch_device(&mut self, switch_state: SwitchStateBinary) {
self.switch_state = switch_state;
}
pub async fn send_sensor_values(&mut self, _: (), scheduler: &Scheduler<Self>) {
self.reply_sender
.send(SimReply::new(MgmReply {
.send(ReplyProvider::create_mgm_reply(MgmReplyCommon {
switch_state: self.switch_state,
sensor_values: self.calculate_current_mgm_tuple(current_millis(scheduler.time())),
}))
@ -63,23 +65,23 @@ impl MagnetometerModel {
// Devices like magnetorquers generate a strong magnetic field which overrides the default
// model for the measured magnetic field.
pub async fn apply_external_magnetic_field(&mut self, field: MgmSensorValues) {
pub async fn apply_external_magnetic_field(&mut self, field: MgmSensorValuesMicroTesla) {
self.external_mag_field = Some(field);
}
fn calculate_current_mgm_tuple(&self, time_ms: u64) -> MgmSensorValues {
fn calculate_current_mgm_tuple(&self, time_ms: u64) -> MgmSensorValuesMicroTesla {
if SwitchStateBinary::On == self.switch_state {
if let Some(ext_field) = self.external_mag_field {
return ext_field;
}
let base_sin_val = 2.0 * PI * FREQUENCY_MGM * (time_ms as f32 / 1000.0);
return MgmSensorValues {
x: AMPLITUDE_MGM * (base_sin_val + PHASE_X).sin(),
y: AMPLITUDE_MGM * (base_sin_val + PHASE_Y).sin(),
z: AMPLITUDE_MGM * (base_sin_val + PHASE_Z).sin(),
return MgmSensorValuesMicroTesla {
x: AMPLITUDE_MGM_UT * (base_sin_val + PHASE_X).sin(),
y: AMPLITUDE_MGM_UT * (base_sin_val + PHASE_Y).sin(),
z: AMPLITUDE_MGM_UT * (base_sin_val + PHASE_Z).sin(),
};
}
MgmSensorValues {
MgmSensorValuesMicroTesla {
x: 0.0,
y: 0.0,
z: 0.0,
@ -87,13 +89,13 @@ impl MagnetometerModel {
}
}
impl Model for MagnetometerModel {}
impl<ReplyProvider: MgmReplyProvider> Model for MagnetometerModel<ReplyProvider> {}
pub struct MagnetorquerModel {
switch_state: SwitchStateBinary,
torquing: bool,
torque_dipole: MgtDipole,
pub gen_magnetic_field: Output<MgmSensorValues>,
pub gen_magnetic_field: Output<MgmSensorValuesMicroTesla>,
reply_sender: mpsc::Sender<SimReply>,
}
@ -146,14 +148,14 @@ impl MagnetorquerModel {
pub fn send_housekeeping_data(&mut self) {
self.reply_sender
.send(SimReply::new(MgtReply::Hk(MgtHkSet {
.send(SimReply::new(&MgtReply::Hk(MgtHkSet {
dipole: self.torque_dipole,
torquing: self.torquing,
})))
.unwrap();
}
fn calc_magnetic_field(&self, _: MgtDipole) -> MgmSensorValues {
fn calc_magnetic_field(&self, _: MgtDipole) -> MgmSensorValuesMicroTesla {
// Simplified model: Just returns some fixed magnetic field for now.
// Later, we could make this more fancy by incorporating the commanded dipole.
MGT_GEN_MAGNETIC_FIELD
@ -179,9 +181,12 @@ pub mod tests {
use satrs::power::SwitchStateBinary;
use satrs_minisim::{
acs::{MgmReply, MgmRequest, MgtDipole, MgtHkSet, MgtReply, MgtRequest},
acs::{
lis3mdl::{self, MgmLis3MdlReply},
MgmRequestLis3Mdl, MgtDipole, MgtHkSet, MgtReply, MgtRequest,
},
eps::PcduSwitch,
SerializableSimMsgPayload, SimMessageProvider, SimRequest, SimTarget,
SerializableSimMsgPayload, SimComponent, SimMessageProvider, SimRequest,
};
use crate::{eps::tests::switch_device_on, test_helpers::SimTestbench};
@ -189,7 +194,7 @@ pub mod tests {
#[test]
fn test_basic_mgm_request() {
let mut sim_testbench = SimTestbench::new();
let request = SimRequest::new_with_epoch_time(MgmRequest::RequestSensorData);
let request = SimRequest::new_with_epoch_time(MgmRequestLis3Mdl::RequestSensorData);
sim_testbench
.send_request(request)
.expect("sending MGM request failed");
@ -198,13 +203,13 @@ 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.target(), SimTarget::Mgm);
let reply = MgmReply::from_sim_message(&sim_reply)
assert_eq!(sim_reply.component(), SimComponent::MgmLis3Mdl);
let reply = MgmLis3MdlReply::from_sim_message(&sim_reply)
.expect("failed to deserialize MGM sensor values");
assert_eq!(reply.switch_state, SwitchStateBinary::Off);
assert_eq!(reply.sensor_values.x, 0.0);
assert_eq!(reply.sensor_values.y, 0.0);
assert_eq!(reply.sensor_values.z, 0.0);
assert_eq!(reply.common.switch_state, SwitchStateBinary::Off);
assert_eq!(reply.common.sensor_values.x, 0.0);
assert_eq!(reply.common.sensor_values.y, 0.0);
assert_eq!(reply.common.sensor_values.z, 0.0);
}
#[test]
@ -212,7 +217,7 @@ pub mod tests {
let mut sim_testbench = SimTestbench::new();
switch_device_on(&mut sim_testbench, PcduSwitch::Mgm);
let mut request = SimRequest::new_with_epoch_time(MgmRequest::RequestSensorData);
let mut request = SimRequest::new_with_epoch_time(MgmRequestLis3Mdl::RequestSensorData);
sim_testbench
.send_request(request)
.expect("sending MGM request failed");
@ -221,12 +226,12 @@ 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.target(), SimTarget::Mgm);
let first_reply = MgmReply::from_sim_message(&sim_reply)
assert_eq!(sim_reply.component(), SimComponent::MgmLis3Mdl);
let first_reply = MgmLis3MdlReply::from_sim_message(&sim_reply)
.expect("failed to deserialize MGM sensor values");
sim_testbench.step_by(Duration::from_millis(50));
request = SimRequest::new_with_epoch_time(MgmRequest::RequestSensorData);
request = SimRequest::new_with_epoch_time(MgmRequestLis3Mdl::RequestSensorData);
sim_testbench
.send_request(request)
.expect("sending MGM request failed");
@ -236,8 +241,24 @@ pub mod tests {
assert!(sim_reply_res.is_some());
sim_reply = sim_reply_res.unwrap();
let second_reply = MgmReply::from_sim_message(&sim_reply)
let second_reply = MgmLis3MdlReply::from_sim_message(&sim_reply)
.expect("failed to deserialize MGM sensor values");
let x_conv_back = second_reply.raw.x as f32
* lis3mdl::FIELD_LSB_PER_GAUSS_4_SENS
* lis3mdl::GAUSS_TO_MICROTESLA_FACTOR as f32;
let y_conv_back = second_reply.raw.y as f32
* lis3mdl::FIELD_LSB_PER_GAUSS_4_SENS
* lis3mdl::GAUSS_TO_MICROTESLA_FACTOR as f32;
let z_conv_back = second_reply.raw.z as f32
* lis3mdl::FIELD_LSB_PER_GAUSS_4_SENS
* lis3mdl::GAUSS_TO_MICROTESLA_FACTOR as f32;
let diff_x = (second_reply.common.sensor_values.x - x_conv_back).abs();
assert!(diff_x < 0.01, "diff x too large: {}", diff_x);
let diff_y = (second_reply.common.sensor_values.y - y_conv_back).abs();
assert!(diff_y < 0.01, "diff y too large: {}", diff_y);
let diff_z = (second_reply.common.sensor_values.z - z_conv_back).abs();
assert!(diff_z < 0.01, "diff z too large: {}", diff_z);
// assert_eq!(second_reply.raw_reply, SwitchStateBinary::On);
// Check that the values are changing.
assert!(first_reply != second_reply);
}