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continue with ACS subsystem

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This commit is contained in:
Robin Mueller
2026-07-10 17:09:08 +02:00
parent 8209bcb520
commit 7efaa0757b
7 changed files with 259 additions and 34 deletions
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satrs-example/client/src/main.rs
+1 -3
View File
@@ -213,9 +213,7 @@ fn main() -> anyhow::Result<()> {
models::acs::mgm_assembly::Mode::Device(models::DeviceMode::Off)
}
AssemblyModeSelect::Normal => {
models::acs::mgm_assembly::Mode::Device(
models::DeviceMode::Normal,
)
models::acs::mgm_assembly::Mode::Device(models::DeviceMode::Normal)
}
};
satrs-example/models/src/acs/mgm_assembly.rs
+2 -2
View File
@@ -75,7 +75,7 @@ pub mod response {
}
#[derive(Debug, Copy, Clone, PartialEq, Eq, serde::Serialize, serde::Deserialize)]
pub enum ModeReport {
pub enum ModeResponse {
/// Mode of the assembly.
Mode(super::Mode),
/// Timeout failure setting the children modes.
@@ -89,7 +89,7 @@ pub mod response {
#[derive(serde::Serialize, serde::Deserialize, Clone, Copy, Debug, PartialEq, Eq)]
pub enum Response {
Ok,
Mode(ModeReport),
Mode(ModeResponse),
}
impl Response {
satrs-example/models/src/acs/subsystem.rs
+73
View File
@@ -4,6 +4,13 @@ pub enum Mode {
Safe,
}
#[derive(serde::Serialize, serde::Deserialize, Debug, Clone, Copy, PartialEq, Eq)]
pub enum ModeChild {
MgmAssembly,
Mgt,
Controller,
}
impl Mode {
/// Each subsystem mode has a fallback mode to allow clean transitions.
pub const fn fallback_mode(&self) -> Self {
@@ -13,3 +20,69 @@ impl Mode {
}
}
}
pub mod request {
use crate::Message;
#[derive(Debug, Copy, Clone, PartialEq, Eq, serde::Serialize, serde::Deserialize)]
pub enum ModeRequest {
SetMode(super::Mode),
ReadMode,
}
#[derive(serde::Serialize, serde::Deserialize, Clone, Copy, Debug)]
pub enum Request {
Ping,
Mode(ModeRequest),
}
impl Request {
fn message_type(&self) -> crate::MessageType {
match self {
Request::Ping => crate::MessageType::Verification,
Request::Mode(_mode) => crate::MessageType::Mode,
}
}
}
impl Message for Request {
fn message_type(&self) -> crate::MessageType {
self.message_type()
}
}
}
pub mod response {
use crate::Message;
#[derive(Debug, Copy, Clone, PartialEq, Eq, serde::Serialize, serde::Deserialize)]
pub enum ModeResponse {
/// Mode of the subsystem.
Mode(super::Mode),
/// Command timeout when commanding a child.
CommandTimeout(super::ModeChild),
/// Can not keep mode because a child changed mode unexpectedly.
CanNotKeepMode(super::ModeChild),
}
#[derive(serde::Serialize, serde::Deserialize, Clone, Copy, Debug)]
pub enum Response {
Ok,
Mode(ModeResponse),
}
impl Response {
fn message_type(&self) -> crate::MessageType {
match self {
Response::Ok => crate::MessageType::Verification,
Response::Mode(_mode_report) => crate::MessageType::Mode,
}
}
}
impl Message for Response {
fn message_type(&self) -> crate::MessageType {
self.message_type()
}
}
}
satrs-example/src/acs/mgm_assembly.rs
+16 -16
View File
@@ -11,7 +11,7 @@ use crate::ccsds::pack_ccsds_tm_packet_for_now;
pub struct ParentQueueHelper {
pub request_rx: mpsc::Receiver<request::ModeRequest>,
pub report_tx: mpsc::SyncSender<response::ModeReport>,
pub report_tx: mpsc::SyncSender<response::ModeResponse>,
}
/// Helper component for communication with a parent component, which is usually as assembly.
@@ -94,7 +94,7 @@ impl Assembly {
}
request::ModeRequest::ReadMode => self.send_telemetry(
Some(tc_id),
response::Response::Mode(response::ModeReport::Mode(
response::Response::Mode(response::ModeResponse::Mode(
self.mode(),
)),
),
@@ -146,7 +146,7 @@ impl Assembly {
request::ModeRequest::ReadMode => self
.parent_queues
.report_tx
.send(response::ModeReport::Mode(self.mode_helper.current))
.send(response::ModeResponse::Mode(self.mode_helper.current))
.unwrap(),
},
Err(e) => match e {
@@ -198,9 +198,9 @@ impl Assembly {
self.handle_mode_reached(true);
} else {
let report = if self.mode_keeping_transition {
response::ModeReport::CanNotKeepMode(self.mgm_modes.map(|info| info.mode))
response::ModeResponse::CanNotKeepMode(self.mgm_modes.map(|info| info.mode))
} else {
response::ModeReport::WrongMode(self.mgm_modes.map(|info| info.mode))
response::ModeResponse::WrongMode(self.mgm_modes.map(|info| info.mode))
};
self.handle_mode_transition_failure(report);
}
@@ -240,9 +240,9 @@ impl Assembly {
&& self.mode_helper.timed_out()
{
let report = if self.mode_keeping_transition {
response::ModeReport::CanNotKeepMode(self.mgm_modes.map(|info| info.mode))
response::ModeResponse::CanNotKeepMode(self.mgm_modes.map(|info| info.mode))
} else {
response::ModeReport::SetModeTimeout(self.mgm_modes.map(|info| info.mode))
response::ModeResponse::SetModeTimeout(self.mgm_modes.map(|info| info.mode))
};
self.handle_mode_transition_failure(report);
}
@@ -256,15 +256,15 @@ impl Assembly {
}
self.parent_queues
.report_tx
.send(response::ModeReport::Mode(self.mode_helper.current))
.send(response::ModeResponse::Mode(self.mode_helper.current))
.unwrap();
}
pub fn handle_mode_transition_failure(&mut self, report: response::ModeReport) {
pub fn handle_mode_transition_failure(&mut self, report: response::ModeResponse) {
if self.mode_helper.tc_commander.is_some() {
self.send_telemetry(
self.mode_helper.tc_commander,
response::Response::Mode(response::ModeReport::SetModeTimeout(
response::Response::Mode(response::ModeResponse::SetModeTimeout(
self.mgm_modes.map(|info| info.mode),
)),
);
@@ -331,7 +331,7 @@ mod tests {
pub struct Testbench {
subsystem_req_tx: mpsc::SyncSender<request::ModeRequest>,
subsystem_report_rx: mpsc::Receiver<response::ModeReport>,
subsystem_report_rx: mpsc::Receiver<response::ModeResponse>,
mgm_request_rx: [mpsc::Receiver<models::acs::mgm::request::ModeRequest>; 2],
mgm_report_tx: [mpsc::SyncSender<models::acs::mgm::response::ModeResponse>; 2],
tc_tx: mpsc::SyncSender<CcsdsTcPacketOwned>,
@@ -486,7 +486,7 @@ mod tests {
let report = tb.subsystem_report_rx.try_recv().unwrap();
assert_eq!(
report,
response::ModeReport::Mode(Mode::Device(DeviceMode::Normal))
response::ModeResponse::Mode(Mode::Device(DeviceMode::Normal))
);
}
@@ -528,7 +528,7 @@ mod tests {
let report = tb.subsystem_report_rx.try_recv().unwrap();
assert_eq!(
report,
response::ModeReport::Mode(Mode::Device(DeviceMode::Normal))
response::ModeResponse::Mode(Mode::Device(DeviceMode::Normal))
);
}
@@ -566,7 +566,7 @@ mod tests {
let report = tb.subsystem_report_rx.try_recv().unwrap();
assert_eq!(
report,
response::ModeReport::WrongMode([Some(DeviceMode::Off), Some(DeviceMode::Off)])
response::ModeResponse::WrongMode([Some(DeviceMode::Off), Some(DeviceMode::Off)])
);
}
@@ -604,7 +604,7 @@ mod tests {
let report = tb.subsystem_report_rx.try_recv().unwrap();
assert_eq!(
report,
response::ModeReport::Mode(Mode::Device(DeviceMode::Normal))
response::ModeResponse::Mode(Mode::Device(DeviceMode::Normal))
);
for tx in tb.mgm_report_tx.iter() {
@@ -636,7 +636,7 @@ mod tests {
let report = tb.subsystem_report_rx.try_recv().unwrap();
assert_eq!(
report,
response::ModeReport::CanNotKeepMode([Some(DeviceMode::Off), Some(DeviceMode::Off)])
response::ModeResponse::CanNotKeepMode([Some(DeviceMode::Off), Some(DeviceMode::Off)])
);
}
}
satrs-example/src/acs/subsystem.rs
+137 -10
View File
@@ -1,12 +1,27 @@
use std::sync::mpsc::SyncSender;
use std::{
sync::mpsc::{self, Receiver, SyncSender},
time::Duration,
};
use models::ComponentId;
use models::{
ComponentId,
acs::subsystem::{Mode, response},
};
use satrs::spacepackets::CcsdsPacketIdAndPsc;
use satrs_example::{ModeHelper, TmtcQueues};
#[derive(Debug)]
pub struct TransitionInfo {
check_mode_reached: bool,
}
#[derive(Debug, Default, Clone, Copy, PartialEq, Eq)]
pub enum TransitionState {
#[default]
Idle,
AwaitingReplies,
}
#[derive(Debug)]
pub struct ChildModes {
mgm_assembly_mode: models::acs::mgm_assembly::Mode,
@@ -79,24 +94,26 @@ const SAFE_SEQUENCE: [TransitionCommands; 2] = [
#[derive(Debug)]
pub struct ModeRequestSenders {
mode_request_ctrl: SyncSender<models::acs::ctrl::request::ModeRequest>,
mode_request_assy: SyncSender<models::acs::mgm_assembly::request::ModeRequest>,
mode_request_mgt: SyncSender<models::acs::mgt::request::ModeRequest>,
pub mode_request_ctrl: SyncSender<models::acs::ctrl::request::ModeRequest>,
pub mode_request_assy: SyncSender<models::acs::mgm_assembly::request::ModeRequest>,
pub mode_request_mgt: SyncSender<models::acs::mgt::request::ModeRequest>,
}
#[derive(Debug)]
pub struct ModeReportReceivers {
mode_response_ctrl: SyncSender<models::acs::ctrl::response::ModeReport>,
mode_response_assy: SyncSender<models::acs::mgm_assembly::response::ModeReport>,
mode_response_mgt: SyncSender<models::acs::mgt::response::ModeReport>,
pub mode_response_ctrl: Receiver<models::acs::ctrl::response::ModeReport>,
pub mode_response_assy: Receiver<models::acs::mgm_assembly::response::ModeResponse>,
pub mode_response_mgt: Receiver<models::acs::mgt::response::ModeReport>,
}
#[derive(Debug)]
pub struct Subsystem {
current_mode: models::acs::subsystem::Mode,
mode_helper: ModeHelper<models::acs::subsystem::Mode, TransitionState>,
transition_step: usize,
current_child_modes: Option<ChildModes>,
mode_request_senders: ModeRequestSenders,
mode_report_receivers: ModeReportReceivers,
tmtc_queues: TmtcQueues,
}
impl Subsystem {
@@ -105,12 +122,122 @@ impl Subsystem {
pub fn new(
mode_request_senders: ModeRequestSenders,
mode_report_receivers: ModeReportReceivers,
tmtc_queues: TmtcQueues,
) -> Self {
Self {
current_mode: models::acs::subsystem::Mode::Off,
mode_helper: ModeHelper::new(
models::acs::subsystem::Mode::Off,
Duration::from_millis(2000),
),
current_child_modes: None,
mode_request_senders,
mode_report_receivers,
tmtc_queues,
transition_step: 0,
}
}
pub fn periodic_operation(&mut self) {
self.handle_telecommands();
}
pub fn handle_telecommands(&mut self) {
loop {
match self.tmtc_queues.tc_rx.try_recv() {
Ok(packet) => {
let tc_id = CcsdsPacketIdAndPsc::new_from_ccsds_packet(&packet.sp_header);
match postcard::from_bytes::<models::acs::subsystem::request::Request>(
&packet.payload,
) {
Ok(request) => match request {
models::acs::subsystem::request::Request::Ping => {
self.send_telemetry(Some(tc_id), response::Response::Ok)
}
models::acs::subsystem::request::Request::Mode(mode_request) => {
self.handle_mode_request(mode_request);
}
},
Err(e) => {
log::warn!("failed to deserialize request: {}", e);
}
}
}
Err(e) => match e {
mpsc::TryRecvError::Empty => break,
mpsc::TryRecvError::Disconnected => log::warn!("packet sender disconnected"),
},
}
}
}
pub fn transition_sequence_for_mode(mode: Mode) -> &'static [TransitionCommands] {
match mode {
Mode::Off => &OFF_SEQUENCE,
Mode::Safe => &SAFE_SEQUENCE,
}
}
pub fn handle_mode_request(
&mut self,
mode_request: models::acs::subsystem::request::ModeRequest,
) {
match mode_request {
models::acs::subsystem::request::ModeRequest::SetMode(target_mode) => {
self.mode_helper.start(target_mode);
match target_mode {
models::acs::subsystem::Mode::Off => {
// TODO: We need to start executing the transition table here..
/*
self.mode_request_senders
.mode_request_assy
.send(models::acs::mgm_assembly::request::ModeRequest::SetMode(
models::acs::mgm_assembly::Mode::Device(models::DeviceMode::Off),
))
.expect("failed to send mode request to MGM assembly");
self.mode_request_senders
.mode_request_mgt
.send(models::acs::mgt::request::ModeRequest::SetMode(
models::acs::mgt::Mode::Normal,
))
.expect("failed to send mode request to MGM assembly");
self.mode_request_senders
.mode_request_ctrl
.send(models::acs::ctrl::request::ModeRequest::SetMode(
models::acs::ctrl::Mode::Passive,
))
.expect("failed to send mode request to MGM assembly");
*/
}
models::acs::subsystem::Mode::Safe => {
// TODO: Perform SAFE sequence.
}
}
}
models::acs::subsystem::request::ModeRequest::ReadMode => {
self.send_telemetry(
None,
response::Response::Mode(response::ModeResponse::Mode(
self.mode_helper.current,
)),
);
}
}
}
pub fn send_telemetry(
&self,
tc_id: Option<CcsdsPacketIdAndPsc>,
response: models::acs::subsystem::response::Response,
) {
match crate::ccsds::pack_ccsds_tm_packet_for_now(Self::ID, tc_id, &response) {
Ok(packet) => {
if let Err(e) = self.tmtc_queues.tm_tx.send(packet) {
log::warn!("failed to send TM packet: {}", e);
}
}
Err(e) => {
log::warn!("failed to pack TM packet: {}", e);
}
}
}
}
satrs-example/src/lib.rs
+1
View File
@@ -95,6 +95,7 @@ impl HkHelperSingleSet {
}
}
#[derive(Debug)]
pub struct TmtcQueues {
pub tc_rx: mpsc::Receiver<CcsdsTcPacketOwned>,
pub tm_tx: mpsc::SyncSender<CcsdsTmPacketOwned>,
satrs-example/src/main.rs
+29 -3
View File
@@ -40,7 +40,7 @@ use tmtc::sender::TmTcSender;
use tmtc::{tc_source::TcSourceTask, tm_sink::TmSink};
use crate::{
acs::{mgm, mgm_assembly},
acs::{mgm, mgm_assembly, subsystem},
control::Controller,
eps::pcdu::SwitchSet,
event_manager::EventManager,
@@ -80,12 +80,19 @@ fn main() {
let (mgm_0_handler_tc_tx, mgm_0_handler_tc_rx) = mpsc::sync_channel(10);
let (mgm_1_handler_tc_tx, mgm_1_handler_tc_rx) = mpsc::sync_channel(10);
let (mgm_assembly_tc_tx, mgm_assembly_tc_rx) = mpsc::sync_channel(10);
let (acs_subsystem_tc_tx, acs_subsystem_tc_rx) = mpsc::sync_channel(10);
let (pcdu_handler_tc_tx, pcdu_handler_tc_rx) = mpsc::sync_channel(30);
let (controller_tc_tx, controller_tc_rx) = mpsc::sync_channel(10);
let (mgt_request_tx, _mgt_request_rx) = mpsc::sync_channel(5);
let (_mgt_report_tx, mgt_report_rx) = mpsc::sync_channel(5);
let (acs_ctrl_request_tx, _acs_ctrl_request_rx) = mpsc::sync_channel(5);
let (_acs_ctrl_response_tx, acs_ctrl_response_rx) = mpsc::sync_channel(5);
// These message handles need to go into the MGM assembly and ACS subsystem.
let (_mgm_assembly_request_tx, mgm_assembly_request_rx) = mpsc::sync_channel(5);
let (mgm_assembly_report_tx, _mgm_assembly_report_rx) = mpsc::sync_channel(5);
let (mgm_assembly_request_tx, mgm_assembly_request_rx) = mpsc::sync_channel(5);
let (mgm_assembly_report_tx, mgm_assembly_report_rx) = mpsc::sync_channel(5);
// These message handles need to go into the MGM assembly and MGM devices.
let (mgm_0_mode_request_tx, mgm_0_mode_request_rx) = mpsc::sync_channel(5);
@@ -110,6 +117,7 @@ fn main() {
tc_source.add_target(ComponentId::AcsMgm0, mgm_0_handler_tc_tx);
tc_source.add_target(ComponentId::AcsMgm1, mgm_1_handler_tc_tx);
tc_source.add_target(ComponentId::AcsMgmAssembly, mgm_assembly_tc_tx);
tc_source.add_target(ComponentId::AcsSubsystem, acs_subsystem_tc_tx);
let tc_sender = TmTcSender::Normal(tc_source_tx.clone());
let udp_tm_handler = UdpTmHandlerWithChannel {
@@ -221,6 +229,23 @@ fn main() {
Duration::from_millis(2000),
);
let mut acs_subsystem = subsystem::Subsystem::new(
subsystem::ModeRequestSenders {
mode_request_ctrl: acs_ctrl_request_tx,
mode_request_assy: mgm_assembly_request_tx,
mode_request_mgt: mgt_request_tx,
},
subsystem::ModeReportReceivers {
mode_response_ctrl: acs_ctrl_response_rx,
mode_response_assy: mgm_assembly_report_rx,
mode_response_mgt: mgt_report_rx,
},
TmtcQueues {
tc_rx: acs_subsystem_tc_rx,
tm_tx: tm_sink_tx.clone(),
},
);
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(
@@ -324,6 +349,7 @@ fn main() {
mgm_0_handler.periodic_operation();
mgm_1_handler.periodic_operation();
mgm_assembly.periodic_operation();
acs_subsystem.periodic_operation();
thread::sleep(Duration::from_millis(FREQ_MS_AOCS));
}
})