continue device handler

satrs-example/src/acs/mgm.rs

@@ -1,7 +1,6 @@
-// TODO: Remove this at a later stage.
-#![allow(dead_code)]
 use derive_new::new;
-use satrs::hk::HkRequestVariant;
+use satrs::hk::{HkRequest, HkRequestVariant};
+use satrs::queue::{GenericSendError, GenericTargetedMessagingError};
 use satrs::spacepackets::ecss::hk;
 use satrs::spacepackets::ecss::tm::{PusTmCreator, PusTmSecondaryHeader};
 use satrs::spacepackets::SpHeader;
@@ -23,16 +22,23 @@ use serde::{Deserialize, Serialize};
 
 pub trait SpiInterface {
     type Error;
-    fn transfer(&mut self, data: &mut [u8]) -> Result<(), Self::Error>;
+    fn transfer(&mut self, tx: &[u8], rx: &mut [u8]) -> Result<(), Self::Error>;
 }
 
 #[derive(Default)]
-pub struct SpiDummyInterface {}
+pub struct SpiDummyInterface {
+    dummy_val_0: i16,
+    dummy_val_1: i16,
+    dummy_val_2: i16,
+}
 
 impl SpiInterface for SpiDummyInterface {
     type Error = ();
 
-    fn transfer(&mut self, _data: &mut [u8]) -> Result<(), Self::Error> {
+    fn transfer(&mut self, _tx: &[u8], rx: &mut [u8]) -> Result<(), Self::Error> {
+        rx[0..2].copy_from_slice(&self.dummy_val_0.to_be_bytes());
+        rx[2..4].copy_from_slice(&self.dummy_val_1.to_be_bytes());
+        rx[4..6].copy_from_slice(&self.dummy_val_2.to_be_bytes());
         Ok(())
     }
 }
@@ -64,22 +70,59 @@ pub struct MgmHandler<ComInterface: SpiInterface, TmSender: EcssTmSenderCore> {
     #[new(value = "ModeAndSubmode::new(satrs_example::DeviceMode::Off as u32, 0)")]
     mode: ModeAndSubmode,
     #[new(default)]
+    tx_buf: [u8; 12],
+    #[new(default)]
+    rx_buf: [u8; 12],
+    #[new(default)]
     stamp_helper: TimeStampHelper,
 }
 
 impl<ComInterface: SpiInterface, TmSender: EcssTmSenderCore> MgmHandler<ComInterface, TmSender> {
     pub fn periodic_operation(&mut self) {
         self.stamp_helper.update_from_now();
-        // Handle messages.
-        // TODO: Put  this in loop/seprate function.
+        // Handle requests.
+        self.handle_composite_requests();
+        self.handle_mode_requests();
+        // Communicate with the device.
+        let result = self.com_interface.transfer(&self.tx_buf, &mut self.rx_buf);
+        assert!(result.is_ok());
+        // TODO: Convert the raw data back to floats.
+    }
+
+    pub fn handle_composite_requests(&mut self) {
+        loop {
             match self.composite_request_receiver.try_recv() {
                 Ok(ref msg) => match &msg.message {
-                CompositeRequest::Hk(hk_req) => match hk_req.variant {
+                    CompositeRequest::Hk(hk_request) => {
+                        self.handle_hk_request(&msg.requestor_info, hk_request)
+                    }
+                    // TODO: This object does not have actions (yet).. Still send back completion failure
+                    // reply.
+                    CompositeRequest::Action(_action_req) => {}
+                },
+
+                Err(e) => {
+                    if e != mpsc::TryRecvError::Empty {
+                        log::warn!(
+                            "{}: failed to receive composite request: {:?}",
+                            self.dev_str,
+                            e
+                        );
+                    } else {
+                        break;
+                    }
+                }
+            }
+        }
+    }
+
+    pub fn handle_hk_request(&mut self, requestor_info: &MessageMetadata, hk_request: &HkRequest) {
+        match hk_request.variant {
             HkRequestVariant::OneShot => {
                 self.hk_reply_sender
                     .send(GenericMessage::new(
-                                msg.requestor_info,
-                                HkReply::new(hk_req.unique_id, HkReplyVariant::Ack),
+                        *requestor_info,
+                        HkReply::new(hk_request.unique_id, HkReplyVariant::Ack),
                     ))
                     .expect("failed to send HK reply");
                 let mut sp_header = SpHeader::tm_unseg(self.id.apid, 0, 0).unwrap();
@@ -94,12 +137,8 @@ impl<ComInterface: SpiInterface, TmSender: EcssTmSenderCore> MgmHandler<ComInter
                 // serialization.
                 let mgm_data_serialized =
                     serde_json::to_vec(&*self.shared_mgm_set.lock().unwrap()).unwrap();
-                        let hk_tm = PusTmCreator::new(
-                            &mut sp_header,
-                            sec_header,
-                            &mgm_data_serialized,
-                            true,
-                        );
+                let hk_tm =
+                    PusTmCreator::new(&mut sp_header, sec_header, &mgm_data_serialized, true);
                 self.tm_sender
                     .send_tm(self.id.id(), PusTmVariant::Direct(hk_tm))
                     .expect("failed to send HK TM");
@@ -107,23 +146,12 @@ impl<ComInterface: SpiInterface, TmSender: EcssTmSenderCore> MgmHandler<ComInter
             HkRequestVariant::EnablePeriodic => todo!(),
             HkRequestVariant::DisablePeriodic => todo!(),
             HkRequestVariant::ModifyCollectionInterval(_) => todo!(),
-                },
-                // TODO: This object does not have actions (yet).. Still send back completion failure
-                // reply.
-                CompositeRequest::Action(_action_req) => {}
-            },
+        }
+    }
 
-            Err(e) => {
-                if e != mpsc::TryRecvError::Empty {
-                    log::warn!(
-                        "{}: failed to receive composite request: {:?}",
-                        self.dev_str,
-                        e
-                    );
-                }
-            }
-        }
-        // TODO: Put this in loop and only allow one set mode request per cycle?
+    pub fn handle_mode_requests(&mut self) {
+        loop {
+            // TODO: Only allow one set mode request per cycle?
             match self.mode_interface.request_rx.try_recv() {
                 Ok(msg) => {
                     let result = self.handle_mode_request(msg);
@@ -139,6 +167,9 @@ impl<ComInterface: SpiInterface, TmSender: EcssTmSenderCore> MgmHandler<ComInter
                 Err(e) => {
                     if e != mpsc::TryRecvError::Empty {
                         log::warn!("{}: failed to receive mode request: {:?}", self.dev_str, e);
+                    } else {
+                        break;
+                    }
                 }
             }
         }
@@ -167,19 +198,24 @@ impl<ComInterface: SpiInterface, TmSender: EcssTmSenderCore> ModeRequestHandler
         Ok(())
     }
 
-    fn announce_mode(&self, _requestor_info: MessageMetadata, _recursive: bool) {
+    fn announce_mode(&self, _requestor_info: Option<MessageMetadata>, _recursive: bool) {
         log::info!("{} announcing mode: {:?}", self.dev_str, self.mode);
+        // TODO: Trigger event.
     }
 
     fn handle_mode_reached(
         &mut self,
         requestor: Option<MessageMetadata>,
     ) -> Result<(), Self::Error> {
+        self.announce_mode(requestor, false);
         if let Some(requestor) = requestor {
-            if requestor.sender_id() == PUS_MODE_SERVICE.raw() {
-                // self.mode_reply_sender_to_pus.send(
-                //GenericMessage::new(requestor.request_id, requestor.sender_id, ModeReply::ModeReply(self.mode))
-                // )?;
+            if requestor.sender_id() != PUS_MODE_SERVICE.id() {
+                log::warn!(
+                    "can not send back mode reply to sender {}",
+                    requestor.sender_id()
+                );
+            } else {
+                self.send_mode_reply(requestor, ModeReply::ModeReply(self.mode_and_submode()))?;
             }
         }
         Ok(())
@@ -187,9 +223,19 @@ impl<ComInterface: SpiInterface, TmSender: EcssTmSenderCore> ModeRequestHandler
 
     fn send_mode_reply(
         &self,
-        _requestor: MessageMetadata,
-        _reply: ModeReply,
+        requestor: MessageMetadata,
+        reply: ModeReply,
     ) -> Result<(), Self::Error> {
+        if requestor.sender_id() != PUS_MODE_SERVICE.id() {
+            log::warn!(
+                "can not send back mode reply to sender {}",
+                requestor.sender_id()
+            );
+        }
+        self.mode_interface
+            .reply_tx_to_pus
+            .send(GenericMessage::new(requestor, reply))
+            .map_err(|_| GenericTargetedMessagingError::Send(GenericSendError::RxDisconnected))?;
         Ok(())
     }
 

satrs/src/mode.rs

@@ -190,7 +190,7 @@ pub trait ModeRequestHandler: ModeProvider {
         mode_and_submode: ModeAndSubmode,
     ) -> Result<(), Self::Error>;
 
-    fn announce_mode(&self, requestor_info: MessageMetadata, recursive: bool);
+    fn announce_mode(&self, requestor_info: Option<MessageMetadata>, recursive: bool);
 
     fn handle_mode_reached(
         &mut self,
@@ -222,11 +222,11 @@ pub trait ModeRequestHandler: ModeProvider {
                 ModeReply::ModeReply(self.mode_and_submode()),
             ),
             ModeRequest::AnnounceMode => {
-                self.announce_mode(request.requestor_info, false);
+                self.announce_mode(Some(request.requestor_info), false);
                 Ok(())
             }
             ModeRequest::AnnounceModeRecursive => {
-                self.announce_mode(request.requestor_info, true);
+                self.announce_mode(Some(request.requestor_info), true);
                 Ok(())
             }
             ModeRequest::ModeInfo(info) => self.handle_mode_info(request.requestor_info, info),

satrs/tests/mode_tree.rs

@@ -79,7 +79,7 @@ impl ModeRequestHandler for TestDevice {
         Ok(())
     }
 
-    fn announce_mode(&self, _requestor_info: MessageMetadata, _recursive: bool) {
+    fn announce_mode(&self, _requestor_info: Option<MessageMetadata>, _recursive: bool) {
         println!(
             "{}: announcing mode: {:?}",
             self.name, self.mode_and_submode
@@ -150,9 +150,11 @@ impl TestAssembly {
                         ModeReply::ModeReply(self.mode_and_submode),
                     )
                     .unwrap(),
-                ModeRequest::AnnounceMode => self.announce_mode(request.requestor_info, false),
+                ModeRequest::AnnounceMode => {
+                    self.announce_mode(Some(request.requestor_info), false)
+                }
                 ModeRequest::AnnounceModeRecursive => {
-                    self.announce_mode(request.requestor_info, true)
+                    self.announce_mode(Some(request.requestor_info), true)
                 }
                 ModeRequest::ModeInfo(_) => todo!(),
             }
@@ -197,7 +199,7 @@ impl ModeRequestHandler for TestAssembly {
         Ok(())
     }
 
-    fn announce_mode(&self, requestor_info: MessageMetadata, recursive: bool) {
+    fn announce_mode(&self, requestor_info: Option<MessageMetadata>, recursive: bool) {
         println!(
             "TestAssembly: Announcing mode (recursively: {}): {:?}",
             recursive, self.mode_and_submode
@@ -207,6 +209,7 @@ impl ModeRequestHandler for TestAssembly {
         if recursive {
             mode_request = ModeRequest::AnnounceModeRecursive;
         }
+        let request_id = requestor_info.map_or(0, |info| info.request_id());
         self.mode_node
             .request_sender_map
             .0
@@ -214,10 +217,7 @@ impl ModeRequestHandler for TestAssembly {
             .for_each(|(_, sender)| {
                 sender
                     .send(GenericMessage::new(
-                        MessageMetadata::new(
-                            requestor_info.request_id(),
-                            self.mode_node.local_channel_id_generic(),
-                        ),
+                        MessageMetadata::new(request_id, self.mode_node.local_channel_id_generic()),
                         mode_request,
                     ))
                     .expect("sending mode request failed");