Merge pull request 'improve system view' (#279) from improve-system-view into main
Reviewed-on: #279
This commit was merged in pull request #279.
This commit is contained in:
@@ -7,3 +7,7 @@
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- [Modelling space systems](./modelling-space-systems.md)
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- [Ground Segments](./ground-segments.md)
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Refer to new sections in the system view page:
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- [Fault, Detection, Isolation and Recovery (FDIR)](./fdir.md)
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- and the [mode tree](./mode-tree.md)
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@@ -2,3 +2,95 @@
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Events are an important mechanism used for remote systems to monitor unexpected
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or expected anomalies and events occuring on these systems.
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They can improve the observability of a system significantly and provide a
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"paper trail" of what is happening or has happened on a satellite where regular
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housekeeping packets might not be sufficient. They can also be used for fault
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detection, isolation and recovery (FDIR) purposes. For example, higher level
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system objects can listen on certain high criticality events to initiate
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custom system responses.
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## Event Severity
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Generally, it also makes sense to classify events according to a severity system
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so operators can quickly judge the importance of an event. `sat-rs` does not
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constrain the severity classes or enforce their usage, but a severity
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classification like this can make sense:
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- INFO
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- LOW ERROR
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- MEDIUM ERROR
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- HIGH ERROR
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## Modelling Events with Rust
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Usually, events will be associated with certain software objects or handlers.
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Oftentimes, developers and operators want to supply parameters or metadata
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associated with an event. This can all be done using the Rust `enum` type.
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Let's start with an example: a camera device
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handler might have the following events:
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- Image taken event
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- Communication error event including an error classifier
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- Communication timeout event with the configured timeout
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- Overheating event
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You can model these events using the following data structure, also including
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a `severity` method.
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```rust
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#[derive(Debug, serde::Serialize, serde::Deserialize, Clone)]
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pub enum Event {
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ImageTaken,
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CommunicationError(ErrorType),
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CommunicationTimeout(core::time::Duration),
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Overheating
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}
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impl Event {
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pub fn severity(&self) -> Severity {
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match self {
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Event::ImageTaken => Severity::Info,
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Event::CommunicationError(_) => Severity::Low,
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Event::CommunicationTimeout(_) => Severity::Low,
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Event::Overheating => Severity::High,
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}
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}
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}
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```
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Depending on the requirements of your system, you might want to filter which
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events are packaged and sent as telemetry. This requires an identification
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system. A simple scheme would be to add something like this:
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```rust
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impl Event {
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pub fn id(&self) -> u32 {
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match self {
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Event::ImageTaken => 0,
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Event::CommunicationError(_) => 1,
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Event::CommunicationTimeout(_) => 2,
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Event::Overheating => 3,
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}
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}
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}
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```
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## Handling events
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When an event occurs in the system, you want to trigger the event.
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This usually includes sending the event to a centralized event funnel. The funnel
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takes care of packing the event into a telemetry packet as well as forwarding
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the event to any other objects which are interested in the event. A message
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queue system is the best solution for this. For example, on an embedded Linux
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system, you might have an event sender handle like this inside your camera
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device handler:
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```rust
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pub struct CameraHandler {
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// (...)
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event_sender: std::sync::mpsc::SyncSender<Event>
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}
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```
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<mxCell id="mcy6J03i3kvHfejOpHHr-35" parent="1" style="rounded=1;whiteSpace=wrap;html=1;fillColor=#FED7AA;fontColor=#6B2F00;strokeColor=#EA580C;labelBackgroundColor=none;strokeWidth=2;align=center;verticalAlign=middle;fontFamily=Helvetica;fontSize=14;fontStyle=1;aspect=fixed;" value="<span style="font-weight: normal;">Logging<br></span><div><span style="font-weight: normal;"><font face="Courier New" style="font-size: 12px;">log + fern</font></span></div>" vertex="1">
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<mxGeometry height="40" width="125" x="495" y="189.49" as="geometry" />
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</mxCell>
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<mxCell id="mcy6J03i3kvHfejOpHHr-35" parent="mcy6J03i3kvHfejOpHHr-43" style="rounded=1;whiteSpace=wrap;html=1;fillColor=#FED7AA;fontColor=#6B2F00;strokeColor=#EA580C;labelBackgroundColor=none;strokeWidth=2;align=center;verticalAlign=top;fontFamily=Helvetica;fontSize=14;fontStyle=1;" value="<span style="font-weight: normal;">Logging<br></span><div><span style="font-weight: normal;"><font face="Courier New" style="font-size: 12px;">log + fern</font></span></div>" vertex="1">
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<mxGeometry height="43.67" width="125" x="13" y="49.49" as="geometry" />
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<mxCell id="mcy6J03i3kvHfejOpHHr-36" parent="1" style="rounded=1;whiteSpace=wrap;html=1;fillColor=#FED7AA;fontColor=#6B2F00;strokeColor=#EA580C;labelBackgroundColor=none;strokeWidth=2;align=center;verticalAlign=middle;fontFamily=Helvetica;fontSize=14;fontStyle=1;aspect=fixed;" value="<span style="font-weight: normal;">Serialization<br><font face="Courier New" style="font-size: 12px;">serde + postcard</font></span>" vertex="1">
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<mxGeometry height="40" width="134.66" x="634" y="189.18367088607596" as="geometry" />
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</mxCell>
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<mxCell id="mcy6J03i3kvHfejOpHHr-36" parent="mcy6J03i3kvHfejOpHHr-43" style="rounded=1;whiteSpace=wrap;html=1;fillColor=#FED7AA;fontColor=#6B2F00;strokeColor=#EA580C;labelBackgroundColor=none;strokeWidth=2;align=center;verticalAlign=top;fontFamily=Helvetica;fontSize=14;fontStyle=1;" value="<span style="font-weight: normal;">Serialization<br><font face="Courier New" style="font-size: 12px;">serde + postcard</font></span>" vertex="1">
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<mxGeometry height="44.689873417721515" width="134.66" x="152" y="50.00367088607595" as="geometry" />
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<mxCell id="mcy6J03i3kvHfejOpHHr-37" parent="1" style="rounded=1;whiteSpace=wrap;html=1;fillColor=#FED7AA;fontColor=#6B2F00;strokeColor=#EA580C;labelBackgroundColor=none;strokeWidth=2;align=center;verticalAlign=middle;fontFamily=Helvetica;fontSize=14;fontStyle=1;aspect=fixed;" value="<span style="font-weight: normal;">Containers<br><font face="Courier New" style="font-size: 12px;">heapless + std</font></span>" vertex="1">
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<mxGeometry height="40" width="115" x="782.79" y="189.18" as="geometry" />
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</mxCell>
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<mxCell id="mcy6J03i3kvHfejOpHHr-37" parent="mcy6J03i3kvHfejOpHHr-43" style="rounded=1;whiteSpace=wrap;html=1;fillColor=#FED7AA;fontColor=#6B2F00;strokeColor=#EA580C;labelBackgroundColor=none;strokeWidth=2;align=center;verticalAlign=top;fontFamily=Helvetica;fontSize=14;fontStyle=1;" value="<span style="font-weight: normal;">Containers<br><font face="Courier New" style="font-size: 12px;">heapless + std</font></span>" vertex="1">
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<mxGeometry height="44.28" width="115" x="300.79" y="49.18" as="geometry" />
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<mxCell id="mcy6J03i3kvHfejOpHHr-38" parent="1" style="rounded=1;whiteSpace=wrap;html=1;fillColor=#FED7AA;fontColor=#6B2F00;strokeColor=#EA580C;labelBackgroundColor=none;strokeWidth=2;align=center;verticalAlign=middle;fontFamily=Helvetica;fontSize=14;fontStyle=1;aspect=fixed;" value="<span style="font-weight: normal;">Time<br><font style="font-size: 12px;" face="Courier New">std</font></span>" vertex="1">
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<mxGeometry height="40" width="125" x="494" y="236" as="geometry" />
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</mxCell>
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<mxCell id="mcy6J03i3kvHfejOpHHr-38" parent="mcy6J03i3kvHfejOpHHr-43" style="rounded=1;whiteSpace=wrap;html=1;fillColor=#FED7AA;fontColor=#6B2F00;strokeColor=#EA580C;labelBackgroundColor=none;strokeWidth=2;align=center;verticalAlign=top;fontFamily=Helvetica;fontSize=14;fontStyle=1;" value="<span style="font-weight: normal;">Time<br><font style="font-size: 12px;" face="Courier New">std</font></span>" vertex="1">
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<mxGeometry height="46.58" width="125" x="13" y="105.78" as="geometry" />
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<mxCell id="mcy6J03i3kvHfejOpHHr-39" parent="1" style="rounded=1;whiteSpace=wrap;html=1;fillColor=#FED7AA;fontColor=#6B2F00;strokeColor=#EA580C;labelBackgroundColor=none;strokeWidth=2;align=center;verticalAlign=middle;fontFamily=Helvetica;fontSize=14;fontStyle=1;aspect=fixed;" value="<span style="font-weight: normal;">IPC / Sync<br></span><div><span style="font-weight: normal;"><font style="font-size: 12px;" face="Courier New">std</font></span></div>" vertex="1">
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<mxGeometry height="40" width="135" x="633" y="236" as="geometry" />
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</mxCell>
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<mxCell id="mcy6J03i3kvHfejOpHHr-39" parent="mcy6J03i3kvHfejOpHHr-43" style="rounded=1;whiteSpace=wrap;html=1;fillColor=#FED7AA;fontColor=#6B2F00;strokeColor=#EA580C;labelBackgroundColor=none;strokeWidth=2;align=center;verticalAlign=top;fontFamily=Helvetica;fontSize=14;fontStyle=1;" value="<span style="font-weight: normal;">IPC / Sync<br></span><div><span style="font-weight: normal;"><font style="font-size: 12px;" face="Courier New">std</font></span></div>" vertex="1">
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<mxGeometry height="45.61" width="135" x="152" y="107" as="geometry" />
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<mxCell id="mcy6J03i3kvHfejOpHHr-40" parent="1" style="rounded=1;whiteSpace=wrap;html=1;fillColor=#FED7AA;fontColor=#6B2F00;strokeColor=#EA580C;labelBackgroundColor=none;strokeWidth=2;align=center;verticalAlign=middle;fontFamily=Helvetica;fontSize=14;fontStyle=1;aspect=fixed;" value="<span style="font-weight: normal;">Memory<br><font face="Courier New" style="font-size: 12px;">alloc</font></span>" vertex="1">
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<mxGeometry height="40" width="113.79" x="782" y="235.99628691983122" as="geometry" />
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</mxCell>
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<mxCell id="mcy6J03i3kvHfejOpHHr-40" parent="mcy6J03i3kvHfejOpHHr-43" style="rounded=1;whiteSpace=wrap;html=1;fillColor=#FED7AA;fontColor=#6B2F00;strokeColor=#EA580C;labelBackgroundColor=none;strokeWidth=2;align=center;verticalAlign=top;fontFamily=Helvetica;fontSize=14;fontStyle=1;" value="<span style="font-weight: normal;">Memory<br><font face="Courier New" style="font-size: 12px;">alloc</font></span>" vertex="1">
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<mxGeometry height="46.09704641350211" width="113.79" x="302.21" y="107.23628691983123" as="geometry" />
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<mxCell id="mcy6J03i3kvHfejOpHHr-41" parent="1" style="rounded=1;whiteSpace=wrap;html=1;fillColor=#FED7AA;fontColor=#6B2F00;strokeColor=#EA580C;labelBackgroundColor=none;strokeWidth=2;align=center;verticalAlign=middle;fontFamily=Helvetica;fontSize=14;fontStyle=1;aspect=fixed;" value="<span style="font-weight: normal;">Tasks<br><font face="Courier New"><span style="font-size: 12px;">std</span></font></span>" vertex="1">
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<mxGeometry height="40" width="125" x="495" y="283" as="geometry" />
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</mxCell>
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<mxCell id="mcy6J03i3kvHfejOpHHr-41" parent="mcy6J03i3kvHfejOpHHr-43" style="rounded=1;whiteSpace=wrap;html=1;fillColor=#FED7AA;fontColor=#6B2F00;strokeColor=#EA580C;labelBackgroundColor=none;strokeWidth=2;align=center;verticalAlign=top;fontFamily=Helvetica;fontSize=14;fontStyle=1;" value="<span style="font-weight: normal;">Tasks<br><font face="Courier New"><span style="font-size: 12px;">std</span></font></span>" vertex="1">
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<mxGeometry height="43.67" width="125" x="13" y="164.01" as="geometry" />
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<mxCell id="mcy6J03i3kvHfejOpHHr-42" parent="1" style="rounded=1;whiteSpace=wrap;html=1;fillColor=#FED7AA;fontColor=#6B2F00;strokeColor=#EA580C;labelBackgroundColor=none;strokeWidth=2;align=center;verticalAlign=middle;fontFamily=Helvetica;fontSize=14;fontStyle=1;aspect=fixed;" value="<span style="font-weight: normal;">Hardware API</span><div><span style="font-weight: normal;"><font style="font-size: 12px;">Linux + <font face="Courier New">uio</font></font></span></div>" vertex="1">
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<mxGeometry height="40" width="137.7" x="633" y="282.9989029535865" as="geometry" />
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</mxCell>
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<mxCell id="mcy6J03i3kvHfejOpHHr-42" parent="mcy6J03i3kvHfejOpHHr-43" style="rounded=1;whiteSpace=wrap;html=1;fillColor=#FED7AA;fontColor=#6B2F00;strokeColor=#EA580C;labelBackgroundColor=none;strokeWidth=2;align=center;verticalAlign=top;fontFamily=Helvetica;fontSize=14;fontStyle=1;" value="<span style="font-weight: normal;">Hardware API</span><div><span style="font-weight: normal;"><font style="font-size: 12px;">Linux + <font face="Courier New">uio</font></font></span></div>" vertex="1">
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<mxGeometry height="42.70042194092827" width="137.7" x="151" y="164.9989029535865" as="geometry" />
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</mxCell>
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<mxCell id="6sRxE-k6t311zxd993k4-5" parent="mcy6J03i3kvHfejOpHHr-43" style="rounded=1;whiteSpace=wrap;html=1;fillColor=#FED7AA;fontColor=#6B2F00;strokeColor=#EA580C;labelBackgroundColor=none;strokeWidth=2;align=center;verticalAlign=top;fontFamily=Helvetica;fontSize=14;fontStyle=1;" value="<span style="font-weight: normal;">Filesystem<br><font face="Courier New" style="font-size: 12px;">std</font></span>" vertex="1">
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<mxGeometry height="44.69" width="113.79" x="302" y="163.5" as="geometry" />
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</mxCell>
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<mxGeometry height="107.41" width="430" x="480" y="4.59" as="geometry" />
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</mxCell>
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<mxCell id="mcy6J03i3kvHfejOpHHr-46" parent="1" style="rounded=1;whiteSpace=wrap;html=1;fillColor=#BFDCEC;fontColor=#003A5D;strokeColor=#0072B2;labelBackgroundColor=none;strokeWidth=2;align=center;verticalAlign=top;fontFamily=Helvetica;fontSize=14;fontStyle=1;spacingTop=0;arcSize=20;" value="<span style="font-weight: normal;">Mission Logic</span>" vertex="1">
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<mxGeometry height="30.95" width="121" x="499" y="36.05" as="geometry" />
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</mxCell>
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<mxCell id="mcy6J03i3kvHfejOpHHr-47" parent="1" style="rounded=1;whiteSpace=wrap;html=1;fillColor=#BFDCEC;fontColor=#003A5D;strokeColor=#0072B2;labelBackgroundColor=none;strokeWidth=2;align=center;verticalAlign=top;fontFamily=Helvetica;fontSize=14;fontStyle=1;spacingTop=0;arcSize=20;" value="<span style="font-weight: normal;"><font face="Courier New">sat-rs</font></span>" vertex="1">
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<mxGeometry height="32.554621848739494" width="113.16" x="770" y="35.25042016806722" as="geometry" />
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</mxCell>
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<mxCell id="mcy6J03i3kvHfejOpHHr-48" parent="1" style="rounded=1;whiteSpace=wrap;html=1;fillColor=#BFDCEC;fontColor=#003A5D;strokeColor=#0072B2;labelBackgroundColor=none;strokeWidth=2;align=center;verticalAlign=top;fontFamily=Helvetica;fontSize=14;fontStyle=1;spacingTop=0;arcSize=20;" value="<span style="font-weight: normal;">Mission Types</span>" vertex="1">
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<mxGeometry height="32.55" width="121" x="634.5" y="34.449999999999996" as="geometry" />
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</mxCell>
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<mxCell id="6sRxE-k6t311zxd993k4-3" parent="1" style="rounded=1;whiteSpace=wrap;html=1;fillColor=#BFDCEC;fontColor=#003A5D;strokeColor=#0072B2;labelBackgroundColor=none;strokeWidth=2;align=center;verticalAlign=top;fontFamily=Helvetica;fontSize=14;fontStyle=1;spacingTop=0;arcSize=20;" value="<span style="font-weight: normal;"><font face="Courier New">spacepackets</font></span>" vertex="1">
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<mxGeometry height="29.8" width="121" x="499" y="74" as="geometry" />
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<mxCell id="6sRxE-k6t311zxd993k4-4" parent="1" style="rounded=1;whiteSpace=wrap;html=1;fillColor=#BFDCEC;fontColor=#003A5D;strokeColor=#0072B2;labelBackgroundColor=none;strokeWidth=2;align=center;verticalAlign=top;fontFamily=Helvetica;fontSize=14;fontStyle=1;spacingTop=0;arcSize=20;" value="<span style="font-weight: normal;"><font face="Courier New">cfdp</font></span>" vertex="1">
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<mxGeometry height="29.8" width="121" x="634.5" y="74" as="geometry" />
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<mxCell id="6sRxE-k6t311zxd993k4-5" parent="1" style="rounded=1;whiteSpace=wrap;html=1;fillColor=#FED7AA;fontColor=#6B2F00;strokeColor=#EA580C;labelBackgroundColor=none;strokeWidth=2;align=center;verticalAlign=middle;fontFamily=Helvetica;fontSize=14;fontStyle=1;aspect=fixed;" value="<span style="font-weight: normal;">Filesystem<br><font face="Courier New" style="font-size: 12px;">std</font></span>" vertex="1">
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Binary file not shown.
|
Before Width: | Height: | Size: 256 KiB After Width: | Height: | Size: 271 KiB |
@@ -13,9 +13,7 @@ Flight software built with `sat-rs` is generally structured into three layers.
|
||||
|
||||
|
||||
- **Application**: The mission specific logic. This is the code a developer writes for a
|
||||
particular mission. It covers mission logic, TMTC handling, event handling, FDIR and command
|
||||
scheduling. `sat-rs` provides re-usable building blocks for all of these, but the concrete
|
||||
wiring and mission behaviour lives here.
|
||||
particular mission.
|
||||
- **System / platform**: The set of services the application is built on. This covers
|
||||
concepts like logging, serialization, IPC, task and memory management, hardware
|
||||
access, filesystem access and time. Most of these components are provided by external libraries
|
||||
@@ -25,6 +23,12 @@ Flight software built with `sat-rs` is generally structured into three layers.
|
||||
The application layer stays largely the same across missions and targets. The system / platform
|
||||
layer is where the target environment determines which concrete crates and mechanisms are used.
|
||||
|
||||
The book has specified chapters for some of the topics:
|
||||
|
||||
- [TMTC handling and Serialization](./tmtc-modelling.md)
|
||||
- [Events](./events.md)
|
||||
- [Modes](./modes-and-health.md)
|
||||
|
||||
## Embedded Linux
|
||||
|
||||
On an embedded Linux target, the platform layer is provided by the Rust standard library and a
|
||||
|
||||
Reference in New Issue
Block a user