the PCDU handler is already required

satrs-example/src/acs/mgm.rs

@@ -6,7 +6,7 @@ use satrs::spacepackets::ecss::tm::{PusTmCreator, PusTmSecondaryHeader};
 use satrs::spacepackets::SpHeader;
 use satrs_example::{DeviceMode, TimestampHelper};
 use satrs_minisim::acs::lis3mdl::{
-    MgmLis3MdlReply, FIELD_LSB_PER_GAUSS_4_SENS, GAUSS_TO_MICROTESLA_FACTOR,
+    MgmLis3MdlReply, MgmLis3RawValues, FIELD_LSB_PER_GAUSS_4_SENS, GAUSS_TO_MICROTESLA_FACTOR,
 };
 use satrs_minisim::acs::MgmRequestLis3Mdl;
 use satrs_minisim::{SerializableSimMsgPayload, SimReply, SimRequest};
@@ -47,18 +47,16 @@ pub trait SpiInterface {
 
 #[derive(Default)]
 pub struct SpiDummyInterface {
-    pub dummy_val_0: i16,
-    pub dummy_val_1: i16,
-    pub dummy_val_2: i16,
+    pub dummy_values: MgmLis3RawValues,
 }
 
 impl SpiInterface for SpiDummyInterface {
     type Error = ();
 
     fn transfer(&mut self, _tx: &[u8], rx: &mut [u8]) -> Result<(), Self::Error> {
-        rx[X_LOWBYTE_IDX..X_LOWBYTE_IDX + 2].copy_from_slice(&self.dummy_val_0.to_le_bytes());
-        rx[Y_LOWBYTE_IDX..Y_LOWBYTE_IDX + 2].copy_from_slice(&self.dummy_val_1.to_be_bytes());
-        rx[Z_LOWBYTE_IDX..Z_LOWBYTE_IDX + 2].copy_from_slice(&self.dummy_val_2.to_be_bytes());
+        rx[X_LOWBYTE_IDX..X_LOWBYTE_IDX + 2].copy_from_slice(&self.dummy_values.x.to_le_bytes());
+        rx[Y_LOWBYTE_IDX..Y_LOWBYTE_IDX + 2].copy_from_slice(&self.dummy_values.y.to_be_bytes());
+        rx[Z_LOWBYTE_IDX..Z_LOWBYTE_IDX + 2].copy_from_slice(&self.dummy_values.z.to_be_bytes());
         Ok(())
     }
 }
@@ -74,18 +72,27 @@ impl SpiInterface for SpiSimInterface {
     // Right now, we only support requesting sensor data and not configuration of the sensor.
     fn transfer(&mut self, _tx: &[u8], rx: &mut [u8]) -> Result<(), Self::Error> {
         let mgm_sensor_request = MgmRequestLis3Mdl::RequestSensorData;
-        self.sim_request_tx
+        if let Err(e) = self
+            .sim_request_tx
             .send(SimRequest::new_with_epoch_time(mgm_sensor_request))
-            .expect("failed to send request");
-        let sim_reply = self
-            .sim_reply_rx
-            .recv_timeout(Duration::from_millis(100))
-            .expect("reply timeout");
-        let sim_reply_lis3 =
-            MgmLis3MdlReply::from_sim_message(&sim_reply).expect("failed to parse LIS3 reply");
-        rx[X_LOWBYTE_IDX..X_LOWBYTE_IDX + 2].copy_from_slice(&sim_reply_lis3.raw.x.to_le_bytes());
-        rx[Y_LOWBYTE_IDX..Y_LOWBYTE_IDX + 2].copy_from_slice(&sim_reply_lis3.raw.y.to_le_bytes());
-        rx[Z_LOWBYTE_IDX..Z_LOWBYTE_IDX + 2].copy_from_slice(&sim_reply_lis3.raw.z.to_le_bytes());
+        {
+            log::error!("failed to send MGM LIS3 request: {}", e);
+        }
+        match self.sim_reply_rx.recv_timeout(Duration::from_millis(50)) {
+            Ok(sim_reply) => {
+                let sim_reply_lis3 = MgmLis3MdlReply::from_sim_message(&sim_reply)
+                    .expect("failed to parse LIS3 reply");
+                rx[X_LOWBYTE_IDX..X_LOWBYTE_IDX + 2]
+                    .copy_from_slice(&sim_reply_lis3.raw.x.to_le_bytes());
+                rx[Y_LOWBYTE_IDX..Y_LOWBYTE_IDX + 2]
+                    .copy_from_slice(&sim_reply_lis3.raw.y.to_le_bytes());
+                rx[Z_LOWBYTE_IDX..Z_LOWBYTE_IDX + 2]
+                    .copy_from_slice(&sim_reply_lis3.raw.z.to_le_bytes());
+            }
+            Err(e) => {
+                log::warn!("MGM LIS3 SIM reply timeout: {}", e);
+            }
+        }
         Ok(())
     }
 }

satrs-example/src/eps/mod.rs

@@ -0,0 +1 @@
+pub mod pcdu;

satrs-example/src/eps/pcdu.rs

@@ -0,0 +1,44 @@
+use std::{
+    collections::HashMap,
+    sync::{mpsc, Arc, Mutex},
+};
+
+use derive_new::new;
+use satrs::{
+    mode::ModeAndSubmode,
+    power::SwitchState,
+    pus::EcssTmSender,
+    request::{GenericMessage, UniqueApidTargetId},
+};
+use satrs_example::TimestampHelper;
+
+use crate::{acs::mgm::MpscModeLeafInterface, pus::hk::HkReply, requests::CompositeRequest};
+
+pub trait SerialInterface {}
+
+#[derive(Copy, Clone, PartialEq, Eq, Hash)]
+#[repr(u32)]
+pub enum SwitchId {
+    Mgm0 = 0,
+    Mgt = 1,
+}
+
+pub type SwitchMap = HashMap<SwitchId, SwitchState>;
+
+/// Example PCDU device handler.
+#[derive(new)]
+#[allow(clippy::too_many_arguments)]
+pub struct PcduHandler<ComInterface: SerialInterface, TmSender: EcssTmSender> {
+    id: UniqueApidTargetId,
+    dev_str: &'static str,
+    mode_interface: MpscModeLeafInterface,
+    composite_request_rx: mpsc::Receiver<GenericMessage<CompositeRequest>>,
+    hk_reply_tx: mpsc::Sender<GenericMessage<HkReply>>,
+    tm_sender: TmSender,
+    pub com_interface: ComInterface,
+    shared_switch_map: Arc<Mutex<SwitchMap>>,
+    #[new(value = "ModeAndSubmode::new(satrs_example::DeviceMode::Off as u32, 0)")]
+    mode_and_submode: ModeAndSubmode,
+    #[new(default)]
+    stamp_helper: TimestampHelper,
+}

satrs-example/src/main.rs

@@ -1,4 +1,5 @@
 mod acs;
+mod eps;
 mod events;
 mod hk;
 mod interface;