rust/sat-rs
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improve the book, add first pictures
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Robin Müller 2023-09-13 15:11:44 +02:00
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2
satrs-book/src/SUMMARY.md
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@ -15,5 +15,5 @@
- [Serialization of Data](./serialization.md) - [Serialization of Data](./serialization.md)
- [Logging](./logging.md) - [Logging](./logging.md)
- [Modelling space systems](./modelling-space-systems.md) - [Modelling space systems](./modelling-space-systems.md)
- [Ground Systems](./ground.md) - [Ground Segments](./ground-segments.md)

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satrs-book/src/actions.md
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@ -1,7 +1,7 @@
# Working with Actions # Working with Actions
Space systems generally need to be commanded regularly. This can include commands periodically Space systems generally need to be commanded regularly. This can include commands periodically
required to ensure a health system, or commands to reach the mission goals. required to ensure a healthy system, or commands to reach the mission goals.
These commands can be modelled using the concept of Actions. the ECSS PUS standard also provides These commands can be modelled using the concept of Actions. the ECSS PUS standard also provides
the PUS service 8 for actions, but provides few concrete subservices and specification on how the PUS service 8 for actions, but provides few concrete subservices and specification on how

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satrs-book/src/communication.md
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@ -1,8 +1,8 @@
# Communication with sat-rs based software # Communication with sat-rs based software
Communication is a huge topic for space systems. They are usually not (directly) connected Communication is a huge topic for space systems. Remote systems are usually not (directly)
to the internet and only have 1-2 communication links during nominal operation. However, most connected to the internet and only have 1-2 communication links during nominal operation. However,
of these systems have internet access during development cycle. There are various standards most of these systems have internet access during development cycle. There are various standards
provided by CCSDS and ECSS which can be useful to determine how to communicate with the satellite provided by CCSDS and ECSS which can be useful to determine how to communicate with the satellite
and the primary On-Board Software. and the primary On-Board Software.
@ -12,7 +12,7 @@ Most communication with space systems is usually packet based. For example, the
packet standard only specifies a 6 byte header with at least 1 byte payload. The PUS packet packet standard only specifies a 6 byte header with at least 1 byte payload. The PUS packet
standard is a subset of the space packet standard, which adds some fields and a 16 bit CRC, but standard is a subset of the space packet standard, which adds some fields and a 16 bit CRC, but
it is still centered around small packets. `sat-rs` provides support for these ECSS and CCSDS it is still centered around small packets. `sat-rs` provides support for these ECSS and CCSDS
standards to also attempts to fill the gap to the internet protocol by providing the following standards and also attempts to fill the gap to the internet protocol by providing the following
components. components.
1. UDP TMTC Server. UDP is already packet based which makes it an excellent fit for exchanging 1. UDP TMTC Server. UDP is already packet based which makes it an excellent fit for exchanging
@ -41,6 +41,6 @@ layer covered by the PUS standard or the CCSDS space packets standard. This ofte
special hardware like dedicated FPGAs to handle forward error correction fast enough. `sat-rs` special hardware like dedicated FPGAs to handle forward error correction fast enough. `sat-rs`
might provide components to handle standard like the Unified Space Data Link Standard (USLP) in might provide components to handle standard like the Unified Space Data Link Standard (USLP) in
software but most of the time the handling of communication is performed through custom software but most of the time the handling of communication is performed through custom
software and hardware. Still, connecting this custom software and hardware can mostly be done software and hardware. Still, connecting this custom software and hardware to `sat-rs` can mostly
by using the concept of TC sources and TM sinks mentioned previously. be done by using the concept of TC sources and TM sinks mentioned previously.

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satrs-book/src/constrained-systems.md
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@ -7,18 +7,19 @@ For these systems, the computation power and the available heap are the most imp
which are constrained. This might make completeley heap based memory management schemes which which are constrained. This might make completeley heap based memory management schemes which
are oftentimes used on host and server based systems unfeasable. Still, completely forbidding are oftentimes used on host and server based systems unfeasable. Still, completely forbidding
heap allocations might make software development unnecessarilly difficult, especially in a heap allocations might make software development unnecessarilly difficult, especially in a
time where the OBSW might be running on Linux based systems with 500 MB RAM. time where the OBSW might be running on Linux based systems with hundreds of MBs of RAM.
A useful pattern used commonly in space systems is to limit heap allocations to program A useful pattern used commonly in space systems is to limit heap allocations to program
initialization time and avoid frequent run-time allocations. This prevents issues like initialization time and avoid frequent run-time allocations. This prevents issues like
running out of memory (something event Rust can not protect from) or heap fragmentation. running out of memory (something even Rust can not protect from) or heap fragmentation.
# Using pre-allocated pool structures # Using pre-allocated pool structures
A huge candidate for heap allocations is the TMTC and handling. TC, TMs and IPC data are all A huge candidate for heap allocations is the TMTC and handling. TC, TMs and IPC data are all
candidates where the data size might vary greatly. The regular solution for host systems candidates where the data size might vary greatly. The regular solution for host systems
might be to send around this data as a `Vec<u8>` until it is dropped. `sat-rs` provides might be to send around this data as a `Vec<u8>` until it is dropped. `sat-rs` provides
another solution to avoid run-time allocations by pre-allocated static pools. another solution to avoid run-time allocations by offering and recommendng pre-allocated static
pools.
These pools are split into subpools where each subpool can have different page sizes. These pools are split into subpools where each subpool can have different page sizes.
For example, a very small TC pool might look like this: For example, a very small TC pool might look like this:
@ -34,7 +35,7 @@ Another common way to use the heap on host systems is using containers like `Str
to work with data where the size is not known beforehand. The most common solution for embedded to work with data where the size is not known beforehand. The most common solution for embedded
systems is to determine the maximum expected size and then use a pre-allocated `u8` buffer and a systems is to determine the maximum expected size and then use a pre-allocated `u8` buffer and a
size variable. Alternatively, you can use the following crates for more convenience or a smart size variable. Alternatively, you can use the following crates for more convenience or a smart
behaviour which at least reduced heap allocations: behaviour which at the very least reduce heap allocations:
1. [`smallvec`](https://docs.rs/smallvec/latest/smallvec/). 1. [`smallvec`](https://docs.rs/smallvec/latest/smallvec/).
2. [`arrayvec`](https://docs.rs/arrayvec/latest/arrayvec/index.html) which also contains an 2. [`arrayvec`](https://docs.rs/arrayvec/latest/arrayvec/index.html) which also contains an
@ -50,7 +51,7 @@ thread might use up the remaining heap of a system, leading to undeterministic e
The most common way to avoid this is to simply spawn all required threads at program initialization The most common way to avoid this is to simply spawn all required threads at program initialization
time. If a thread is done with its task, it can go back to sleeping regularly, only occasionally time. If a thread is done with its task, it can go back to sleeping regularly, only occasionally
checking for new jobs. If a system still needs to handle burst concurrent loads, another possible checking for new jobs. If a system still needs to handle bursty concurrent loads, another possible
way commonly used for host systems as well would be to use a threadpool, for example by using the way commonly used for host systems as well would be to use a threadpool, for example by using the
[`threadpool`](https://crates.io/crates/threadpool) crate. [`threadpool`](https://crates.io/crates/threadpool) crate.

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satrs-book/src/events.md
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# Events # Events
Events can be an extremely important mechanism used for remote systems to monitor unexpected
or expected anomalies and events occuring on these systems. They are oftentimes tied to
Fault Detection, Isolation and Recovery (FDIR) operations, which need to happen autonomously.
Events can also be used as a convenient Inter-Process Communication (IPC) mechansism, which is
also observable for the Ground segment. The PUS Service 5 standardizes how the ground interface
for events might look like, but does not specify how other software components might react
to those events. There is the PUS Service 19, which might be used for that purpose, but the
event components recommended by this framework do not really need this service.
The following images shows how the flow of events could look like in a system where components
can generate events, and where other system components might be interested in those events:
![Event flow](images/event_man_arch.png)

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satrs-book/src/fdir.md
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# Fault Detecion, Isolation And Recovery (FDIR)

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satrs-book/src/ground-segments.md Normal file
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# Ground Segments

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satrs-book/src/ground.md
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satrs-book/src/housekeeping.md
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# Housekeeping Data # Housekeeping Data
Remote systems like satellites and rovers oftentimes generate data autonomously and periodically.
The most common example for this is temperature or attitude data. Data like this is commonly
referred to as housekeeping data, and is usually one of the most important and most resource heavy
data sources received from a satellite. Standards like the PUS Service 3 make recommendation how to
expose housekeeping data, but the applicability of the interface offered by PUS 3 has proven to be
partially difficult and clunky for modular systems.
First, we are going to list some assumption and requirements about Housekeeping (HK) data:
1. HK data is generated periodically by various system components throughout the
systems.
2. An autonomous and periodic sampling of that HK data to be stored and sent to Ground is generally
required. A minimum interface consists of requesting a one-shot sample of HK, enabling and
disabling the periodic autonomous generation of samples and modifying the collection interval
of the periodic autonomous generation.
3. HK data often needs to be shared to other software components. For example, a thermal controller
wants to read the data samples of all sensor components.
A commonly required way to model HK data in a clean way is also to group related HK data into sets,
which can then dumped via a similar interface.
TODO: Write down `sat-rs` recommendations how to expose and work with HK data.

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satrs-book/src/images/event_man_arch.graphml Normal file
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satrs-book/src/modelling-space-systems.md
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# Modelling Space Systems

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satrs-book/src/persistent-tm-storage.md
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# Persistent TM storage # Persistent Telemetry (TM) Storage

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satrs-book/src/power.md
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# Power Components

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satrs-book/src/thermal.md
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# Thermal Components