improve the book, add first pictures
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@ -15,5 +15,5 @@
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- [Serialization of Data](./serialization.md)
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- [Logging](./logging.md)
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- [Modelling space systems](./modelling-space-systems.md)
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- [Ground Systems](./ground.md)
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- [Ground Segments](./ground-segments.md)
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@ -1,7 +1,7 @@
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# Working with Actions
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Space systems generally need to be commanded regularly. This can include commands periodically
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required to ensure a health system, or commands to reach the mission goals.
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required to ensure a healthy system, or commands to reach the mission goals.
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These commands can be modelled using the concept of Actions. the ECSS PUS standard also provides
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the PUS service 8 for actions, but provides few concrete subservices and specification on how
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@ -1,8 +1,8 @@
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# Communication with sat-rs based software
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Communication is a huge topic for space systems. They are usually not (directly) connected
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to the internet and only have 1-2 communication links during nominal operation. However, most
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of these systems have internet access during development cycle. There are various standards
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Communication is a huge topic for space systems. Remote systems are usually not (directly)
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connected to the internet and only have 1-2 communication links during nominal operation. However,
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most of these systems have internet access during development cycle. There are various standards
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provided by CCSDS and ECSS which can be useful to determine how to communicate with the satellite
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and the primary On-Board Software.
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@ -12,7 +12,7 @@ Most communication with space systems is usually packet based. For example, the
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packet standard only specifies a 6 byte header with at least 1 byte payload. The PUS packet
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standard is a subset of the space packet standard, which adds some fields and a 16 bit CRC, but
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it is still centered around small packets. `sat-rs` provides support for these ECSS and CCSDS
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standards to also attempts to fill the gap to the internet protocol by providing the following
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standards and also attempts to fill the gap to the internet protocol by providing the following
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components.
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1. UDP TMTC Server. UDP is already packet based which makes it an excellent fit for exchanging
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@ -41,6 +41,6 @@ layer covered by the PUS standard or the CCSDS space packets standard. This ofte
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special hardware like dedicated FPGAs to handle forward error correction fast enough. `sat-rs`
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might provide components to handle standard like the Unified Space Data Link Standard (USLP) in
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software but most of the time the handling of communication is performed through custom
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software and hardware. Still, connecting this custom software and hardware can mostly be done
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by using the concept of TC sources and TM sinks mentioned previously.
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software and hardware. Still, connecting this custom software and hardware to `sat-rs` can mostly
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be done by using the concept of TC sources and TM sinks mentioned previously.
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@ -7,18 +7,19 @@ For these systems, the computation power and the available heap are the most imp
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which are constrained. This might make completeley heap based memory management schemes which
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are oftentimes used on host and server based systems unfeasable. Still, completely forbidding
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heap allocations might make software development unnecessarilly difficult, especially in a
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time where the OBSW might be running on Linux based systems with 500 MB RAM.
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time where the OBSW might be running on Linux based systems with hundreds of MBs of RAM.
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A useful pattern used commonly in space systems is to limit heap allocations to program
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initialization time and avoid frequent run-time allocations. This prevents issues like
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running out of memory (something event Rust can not protect from) or heap fragmentation.
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running out of memory (something even Rust can not protect from) or heap fragmentation.
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# Using pre-allocated pool structures
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A huge candidate for heap allocations is the TMTC and handling. TC, TMs and IPC data are all
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candidates where the data size might vary greatly. The regular solution for host systems
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might be to send around this data as a `Vec<u8>` until it is dropped. `sat-rs` provides
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another solution to avoid run-time allocations by pre-allocated static pools.
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another solution to avoid run-time allocations by offering and recommendng pre-allocated static
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pools.
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These pools are split into subpools where each subpool can have different page sizes.
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For example, a very small TC pool might look like this:
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@ -34,7 +35,7 @@ Another common way to use the heap on host systems is using containers like `Str
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to work with data where the size is not known beforehand. The most common solution for embedded
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systems is to determine the maximum expected size and then use a pre-allocated `u8` buffer and a
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size variable. Alternatively, you can use the following crates for more convenience or a smart
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behaviour which at least reduced heap allocations:
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behaviour which at the very least reduce heap allocations:
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1. [`smallvec`](https://docs.rs/smallvec/latest/smallvec/).
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2. [`arrayvec`](https://docs.rs/arrayvec/latest/arrayvec/index.html) which also contains an
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@ -50,7 +51,7 @@ thread might use up the remaining heap of a system, leading to undeterministic e
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The most common way to avoid this is to simply spawn all required threads at program initialization
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time. If a thread is done with its task, it can go back to sleeping regularly, only occasionally
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checking for new jobs. If a system still needs to handle burst concurrent loads, another possible
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checking for new jobs. If a system still needs to handle bursty concurrent loads, another possible
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way commonly used for host systems as well would be to use a threadpool, for example by using the
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[`threadpool`](https://crates.io/crates/threadpool) crate.
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@ -1 +1,16 @@
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# Events
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Events can be an extremely important mechanism used for remote systems to monitor unexpected
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or expected anomalies and events occuring on these systems. They are oftentimes tied to
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Fault Detection, Isolation and Recovery (FDIR) operations, which need to happen autonomously.
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Events can also be used as a convenient Inter-Process Communication (IPC) mechansism, which is
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also observable for the Ground segment. The PUS Service 5 standardizes how the ground interface
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for events might look like, but does not specify how other software components might react
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to those events. There is the PUS Service 19, which might be used for that purpose, but the
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event components recommended by this framework do not really need this service.
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The following images shows how the flow of events could look like in a system where components
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can generate events, and where other system components might be interested in those events:
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@ -0,0 +1 @@
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# Fault Detecion, Isolation And Recovery (FDIR)
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1
satrs-book/src/ground-segments.md
Normal file
1
satrs-book/src/ground-segments.md
Normal file
@ -0,0 +1 @@
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# Ground Segments
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@ -1 +1,24 @@
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# Housekeeping Data
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Remote systems like satellites and rovers oftentimes generate data autonomously and periodically.
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The most common example for this is temperature or attitude data. Data like this is commonly
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referred to as housekeeping data, and is usually one of the most important and most resource heavy
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data sources received from a satellite. Standards like the PUS Service 3 make recommendation how to
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expose housekeeping data, but the applicability of the interface offered by PUS 3 has proven to be
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partially difficult and clunky for modular systems.
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First, we are going to list some assumption and requirements about Housekeeping (HK) data:
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1. HK data is generated periodically by various system components throughout the
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systems.
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2. An autonomous and periodic sampling of that HK data to be stored and sent to Ground is generally
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required. A minimum interface consists of requesting a one-shot sample of HK, enabling and
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disabling the periodic autonomous generation of samples and modifying the collection interval
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of the periodic autonomous generation.
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3. HK data often needs to be shared to other software components. For example, a thermal controller
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wants to read the data samples of all sensor components.
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A commonly required way to model HK data in a clean way is also to group related HK data into sets,
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which can then dumped via a similar interface.
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TODO: Write down `sat-rs` recommendations how to expose and work with HK data.
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259
satrs-book/src/images/event_man_arch.graphml
Normal file
259
satrs-book/src/images/event_man_arch.graphml
Normal file
@ -0,0 +1,259 @@
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Event Reporting
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||||
|
||||
1. Event Creator 0 subscribes
|
||||
for event 0
|
||||
2. Event Creator 1 subscribes
|
||||
for event group 2
|
||||
3. PUS Service 5 handler
|
||||
subscribes for all events
|
||||
4. PUS Service 19 handler
|
||||
subscribes for all events<y:LabelModel><y:SmartNodeLabelModel distance="4.0"/></y:LabelModel><y:ModelParameter><y:SmartNodeLabelModelParameter labelRatioX="-0.5" labelRatioY="-0.5" nodeRatioX="-0.4602795077105583" nodeRatioY="-0.45641605313700395" offsetX="0.0" offsetY="0.0" upX="0.0" upY="-1.0"/></y:ModelParameter></y:NodeLabel>
|
||||
<y:Shape type="rectangle"/>
|
||||
</y:ShapeNode>
|
||||
</data>
|
||||
</node>
|
||||
<edge id="e0" source="n4" target="n1">
|
||||
<data key="d10">
|
||||
<y:PolyLineEdge>
|
||||
<y:Path sx="8.058916256157545" sy="0.0" tx="-10.5" ty="0.0"/>
|
||||
<y:LineStyle color="#000000" type="line" width="1.0"/>
|
||||
<y:Arrows source="none" target="standard"/>
|
||||
<y:EdgeLabel alignment="center" configuration="AutoFlippingLabel" distance="2.0" fontFamily="Ubuntu" fontSize="12" fontStyle="plain" hasBackgroundColor="false" hasLineColor="false" height="30.90418815612793" horizontalTextPosition="center" iconTextGap="4" modelName="custom" preferredPlacement="anywhere" ratio="0.5" textColor="#000000" verticalTextPosition="bottom" visible="true" width="53.92036437988281" x="8.639817810058275" xml:space="preserve" y="29.00100609374465">event 1
|
||||
(group 1)<y:LabelModel><y:SmartEdgeLabelModel autoRotationEnabled="false" defaultAngle="0.0" defaultDistance="10.0"/></y:LabelModel><y:ModelParameter><y:SmartEdgeLabelModelParameter angle="6.283185307179586" distance="35.59999999999969" distanceToCenter="true" position="left" ratio="0.34252387409930674" segment="-1"/></y:ModelParameter><y:PreferredPlacementDescriptor angle="0.0" angleOffsetOnRightSide="0" angleReference="absolute" angleRotationOnRightSide="co" distance="-1.0" frozen="true" placement="anywhere" side="anywhere" sideReference="relative_to_edge_flow"/></y:EdgeLabel>
|
||||
<y:BendStyle smoothed="false"/>
|
||||
</y:PolyLineEdge>
|
||||
</data>
|
||||
</edge>
|
||||
<edge id="e1" source="n2" target="n1">
|
||||
<data key="d10">
|
||||
<y:PolyLineEdge>
|
||||
<y:Path sx="0.0" sy="11.93999999999994" tx="-83.5" ty="0.0">
|
||||
<y:Point x="832.0" y="455.16999999999996"/>
|
||||
</y:Path>
|
||||
<y:LineStyle color="#000000" type="line" width="1.0"/>
|
||||
<y:Arrows source="none" target="standard"/>
|
||||
<y:EdgeLabel alignment="center" configuration="AutoFlippingLabel" distance="2.0" fontFamily="Ubuntu" fontSize="12" fontStyle="plain" hasBackgroundColor="false" hasLineColor="false" height="30.90418815612793" horizontalTextPosition="center" iconTextGap="4" modelName="custom" preferredPlacement="anywhere" ratio="0.5" textColor="#000000" verticalTextPosition="bottom" visible="true" width="53.92036437988281" x="25.334655000000453" xml:space="preserve" y="-40.972107505798476">event 0
|
||||
(group 0)<y:LabelModel><y:SmartEdgeLabelModel autoRotationEnabled="false" defaultAngle="0.0" defaultDistance="10.0"/></y:LabelModel><y:ModelParameter><y:SmartEdgeLabelModelParameter angle="6.283185307179586" distance="25.520000000000095" distanceToCenter="true" position="left" ratio="0.20267159489379444" segment="0"/></y:ModelParameter><y:PreferredPlacementDescriptor angle="0.0" angleOffsetOnRightSide="0" angleReference="absolute" angleRotationOnRightSide="co" distance="-1.0" frozen="true" placement="anywhere" side="anywhere" sideReference="relative_to_edge_flow"/></y:EdgeLabel>
|
||||
<y:BendStyle smoothed="false"/>
|
||||
</y:PolyLineEdge>
|
||||
</data>
|
||||
</edge>
|
||||
<edge id="e2" source="n3" target="n1">
|
||||
<data key="d10">
|
||||
<y:PolyLineEdge>
|
||||
<y:Path sx="-23.719999999999914" sy="5.5" tx="87.56000000000006" ty="0.0"/>
|
||||
<y:LineStyle color="#000000" type="line" width="1.0"/>
|
||||
<y:Arrows source="none" target="standard"/>
|
||||
<y:EdgeLabel alignment="center" configuration="AutoFlippingLabel" distance="2.0" fontFamily="Ubuntu" fontSize="12" fontStyle="plain" hasBackgroundColor="false" hasLineColor="false" height="30.90418815612793" horizontalTextPosition="center" iconTextGap="4" modelName="custom" preferredPlacement="anywhere" ratio="0.5" textColor="#000000" verticalTextPosition="bottom" visible="true" width="53.92036437988281" x="5.6761352539062955" xml:space="preserve" y="27.551854405966765">event 2
|
||||
(group 3)<y:LabelModel><y:SmartEdgeLabelModel autoRotationEnabled="false" defaultAngle="0.0" defaultDistance="10.0"/></y:LabelModel><y:ModelParameter><y:SmartEdgeLabelModelParameter angle="6.283185307179586" distance="5.676132812499983" distanceToCenter="false" position="left" ratio="0.3219761157957032" segment="-1"/></y:ModelParameter><y:PreferredPlacementDescriptor angle="0.0" angleOffsetOnRightSide="0" angleReference="absolute" angleRotationOnRightSide="co" distance="-1.0" frozen="true" placement="anywhere" side="anywhere" sideReference="relative_to_edge_flow"/></y:EdgeLabel>
|
||||
<y:BendStyle smoothed="false"/>
|
||||
</y:PolyLineEdge>
|
||||
</data>
|
||||
</edge>
|
||||
<edge id="e3" source="n5" target="n1">
|
||||
<data key="d10">
|
||||
<y:PolyLineEdge>
|
||||
<y:Path sx="-6.275467980295616" sy="0.0" tx="57.5" ty="8.5">
|
||||
<y:Point x="1149.8845320197042" y="545.1799999999998"/>
|
||||
</y:Path>
|
||||
<y:LineStyle color="#000000" type="line" width="1.0"/>
|
||||
<y:Arrows source="none" target="standard"/>
|
||||
<y:EdgeLabel alignment="center" configuration="AutoFlippingLabel" distance="2.0" fontFamily="Ubuntu" fontSize="12" fontStyle="plain" hasBackgroundColor="false" hasLineColor="false" height="30.90418815612793" horizontalTextPosition="center" iconTextGap="4" modelName="custom" preferredPlacement="anywhere" ratio="0.5" textColor="#000000" verticalTextPosition="bottom" visible="true" width="97.38468933105469" x="26.667665869801795" xml:space="preserve" y="43.287014528669715">event 3 (group 2)
|
||||
event 4 (group 2)<y:LabelModel><y:SmartEdgeLabelModel autoRotationEnabled="false" defaultAngle="0.0" defaultDistance="10.0"/></y:LabelModel><y:ModelParameter><y:SmartEdgeLabelModelParameter angle="6.283185307179586" distance="75.3599999999999" distanceToCenter="true" position="left" ratio="0.2967848459873102" segment="0"/></y:ModelParameter><y:PreferredPlacementDescriptor angle="0.0" angleOffsetOnRightSide="0" angleReference="absolute" angleRotationOnRightSide="co" distance="-1.0" frozen="true" placement="anywhere" side="anywhere" sideReference="relative_to_edge_flow"/></y:EdgeLabel>
|
||||
<y:BendStyle smoothed="false"/>
|
||||
</y:PolyLineEdge>
|
||||
</data>
|
||||
</edge>
|
||||
<edge id="e4" source="n1" target="n6">
|
||||
<data key="d10">
|
||||
<y:PolyLineEdge>
|
||||
<y:Path sx="-65.0" sy="0.0" tx="6.5" ty="0.0"/>
|
||||
<y:LineStyle color="#000000" type="line" width="1.0"/>
|
||||
<y:Arrows source="none" target="standard"/>
|
||||
<y:EdgeLabel alignment="center" configuration="AutoFlippingLabel" distance="2.0" fontFamily="Ubuntu" fontSize="12" fontStyle="plain" hasBackgroundColor="false" hasLineColor="false" height="17.452094078063965" horizontalTextPosition="center" iconTextGap="4" modelName="custom" preferredPlacement="anywhere" ratio="0.5" textColor="#000000" verticalTextPosition="bottom" visible="true" width="83.16456604003906" x="-98.78228302001958" xml:space="preserve" y="16.63042580701972"><<all events>><y:LabelModel><y:SmartEdgeLabelModel autoRotationEnabled="false" defaultAngle="0.0" defaultDistance="10.0"/></y:LabelModel><y:ModelParameter><y:SmartEdgeLabelModelParameter angle="6.283185307179586" distance="57.20000000000004" distanceToCenter="true" position="right" ratio="0.4441995640590947" segment="-1"/></y:ModelParameter><y:PreferredPlacementDescriptor angle="0.0" angleOffsetOnRightSide="0" angleReference="absolute" angleRotationOnRightSide="co" distance="-1.0" frozen="true" placement="anywhere" side="anywhere" sideReference="relative_to_edge_flow"/></y:EdgeLabel>
|
||||
<y:BendStyle smoothed="false"/>
|
||||
</y:PolyLineEdge>
|
||||
</data>
|
||||
</edge>
|
||||
<edge id="e5" source="n1" target="n7">
|
||||
<data key="d10">
|
||||
<y:PolyLineEdge>
|
||||
<y:Path sx="42.660000000000196" sy="0.0" tx="-29.359999999999786" ty="0.0"/>
|
||||
<y:LineStyle color="#000000" type="line" width="1.0"/>
|
||||
<y:Arrows source="none" target="standard"/>
|
||||
<y:EdgeLabel alignment="center" configuration="AutoFlippingLabel" distance="2.0" fontFamily="Ubuntu" fontSize="12" fontStyle="plain" hasBackgroundColor="false" hasLineColor="false" height="17.452094078063965" horizontalTextPosition="center" iconTextGap="4" modelName="custom" preferredPlacement="anywhere" ratio="0.5" textColor="#000000" verticalTextPosition="bottom" visible="true" width="83.16456604003906" x="20.4177438354493" xml:space="preserve" y="17.885881494816203"><<all events>><y:LabelModel><y:SmartEdgeLabelModel autoRotationEnabled="false" defaultAngle="0.0" defaultDistance="10.0"/></y:LabelModel><y:ModelParameter><y:SmartEdgeLabelModelParameter angle="6.283185307179586" distance="62.0" distanceToCenter="true" position="left" ratio="0.492249939452652" segment="-1"/></y:ModelParameter><y:PreferredPlacementDescriptor angle="0.0" angleOffsetOnRightSide="0" angleReference="absolute" angleRotationOnRightSide="co" distance="-1.0" frozen="true" placement="anywhere" side="anywhere" sideReference="relative_to_edge_flow"/></y:EdgeLabel>
|
||||
<y:BendStyle smoothed="false"/>
|
||||
</y:PolyLineEdge>
|
||||
</data>
|
||||
</edge>
|
||||
<edge id="e6" source="n1" target="n2">
|
||||
<data key="d10">
|
||||
<y:PolyLineEdge>
|
||||
<y:Path sx="0.0" sy="0.0" tx="0.0" ty="0.0">
|
||||
<y:Point x="658.6" y="536.6799999999998"/>
|
||||
</y:Path>
|
||||
<y:LineStyle color="#000000" type="line" width="1.0"/>
|
||||
<y:Arrows source="none" target="standard"/>
|
||||
<y:EdgeLabel alignment="center" configuration="AutoFlippingLabel" distance="2.0" fontFamily="Ubuntu" fontSize="12" fontStyle="plain" hasBackgroundColor="false" hasLineColor="false" height="30.90418815612793" horizontalTextPosition="center" iconTextGap="4" modelName="custom" preferredPlacement="anywhere" ratio="0.5" textColor="#000000" verticalTextPosition="bottom" visible="true" width="44.69230651855469" x="-131.99129340961497" xml:space="preserve" y="-45.45208675384538">event 1
|
||||
event 2<y:LabelModel><y:SmartEdgeLabelModel autoRotationEnabled="false" defaultAngle="0.0" defaultDistance="10.0"/></y:LabelModel><y:ModelParameter><y:SmartEdgeLabelModelParameter angle="0.0" distance="30.0" distanceToCenter="true" position="right" ratio="0.6426904695623505" segment="0"/></y:ModelParameter><y:PreferredPlacementDescriptor angle="0.0" angleOffsetOnRightSide="0" angleReference="absolute" angleRotationOnRightSide="co" distance="-1.0" frozen="true" placement="anywhere" side="anywhere" sideReference="relative_to_edge_flow"/></y:EdgeLabel>
|
||||
<y:BendStyle smoothed="false"/>
|
||||
</y:PolyLineEdge>
|
||||
</data>
|
||||
</edge>
|
||||
<edge id="e7" source="n1" target="n4">
|
||||
<data key="d10">
|
||||
<y:PolyLineEdge>
|
||||
<y:Path sx="-35.69940886699487" sy="0.0" tx="-17.140492610837327" ty="1.5"/>
|
||||
<y:LineStyle color="#000000" type="line" width="1.0"/>
|
||||
<y:Arrows source="none" target="standard"/>
|
||||
<y:EdgeLabel alignment="center" configuration="AutoFlippingLabel" distance="2.0" fontFamily="Ubuntu" fontSize="12" fontStyle="plain" hasBackgroundColor="false" hasLineColor="false" height="17.452094078063965" horizontalTextPosition="center" iconTextGap="4" modelName="custom" preferredPlacement="anywhere" ratio="0.5" textColor="#000000" verticalTextPosition="bottom" visible="true" width="46.14430236816406" x="-54.352158195608126" xml:space="preserve" y="-79.29459128622307">group 2<y:LabelModel><y:SmartEdgeLabelModel autoRotationEnabled="false" defaultAngle="0.0" defaultDistance="10.0"/></y:LabelModel><y:ModelParameter><y:SmartEdgeLabelModelParameter angle="6.283185307179586" distance="31.279999999999973" distanceToCenter="true" position="left" ratio="0.6800790648728832" segment="-1"/></y:ModelParameter><y:PreferredPlacementDescriptor angle="0.0" angleOffsetOnRightSide="0" angleReference="absolute" angleRotationOnRightSide="co" distance="-1.0" frozen="true" placement="anywhere" side="anywhere" sideReference="relative_to_edge_flow"/></y:EdgeLabel>
|
||||
<y:BendStyle smoothed="false"/>
|
||||
</y:PolyLineEdge>
|
||||
</data>
|
||||
</edge>
|
||||
<edge id="e8" source="n6" target="n8">
|
||||
<data key="d10">
|
||||
<y:PolyLineEdge>
|
||||
<y:Path sx="0.0" sy="0.0" tx="8.233962264150945" ty="-21.42352238805968"/>
|
||||
<y:LineStyle color="#000000" type="line" width="1.0"/>
|
||||
<y:Arrows source="none" target="standard"/>
|
||||
<y:EdgeLabel alignment="center" configuration="AutoFlippingLabel" distance="2.0" fontFamily="Ubuntu" fontSize="12" fontStyle="plain" hasBackgroundColor="false" hasLineColor="false" height="30.90418815612793" horizontalTextPosition="center" iconTextGap="4" modelName="custom" preferredPlacement="anywhere" ratio="0.5" textColor="#000000" verticalTextPosition="bottom" visible="true" width="87.40060424804688" x="-100.50030212402339" xml:space="preserve" y="11.337896156311103">enabled Events
|
||||
as PUS 5 TM<y:LabelModel><y:SmartEdgeLabelModel autoRotationEnabled="false" defaultAngle="0.0" defaultDistance="10.0"/></y:LabelModel><y:ModelParameter><y:SmartEdgeLabelModelParameter angle="6.283185307179586" distance="56.79999999999995" distanceToCenter="true" position="right" ratio="0.5" segment="0"/></y:ModelParameter><y:PreferredPlacementDescriptor angle="0.0" angleOffsetOnRightSide="0" angleReference="absolute" angleRotationOnRightSide="co" distance="-1.0" frozen="true" placement="anywhere" side="anywhere" sideReference="relative_to_edge_flow"/></y:EdgeLabel>
|
||||
<y:BendStyle smoothed="false"/>
|
||||
</y:PolyLineEdge>
|
||||
</data>
|
||||
</edge>
|
||||
</graph>
|
||||
<data key="d7">
|
||||
<y:Resources/>
|
||||
</data>
|
||||
</graphml>
|
||||
BIN
satrs-book/src/images/event_man_arch.png
Normal file
BIN
satrs-book/src/images/event_man_arch.png
Normal file
Binary file not shown.
|
After Width: | Height: | Size: 70 KiB |
@ -0,0 +1 @@
|
||||
# Modelling Space Systems
|
||||
@ -1 +1 @@
|
||||
# Persistent TM storage
|
||||
# Persistent Telemetry (TM) Storage
|
||||
|
||||
@ -0,0 +1 @@
|
||||
# Power Components
|
||||
@ -0,0 +1 @@
|
||||
# Thermal Components
|
||||
Loading…
Reference in New Issue
Block a user