rust/sat-rs
rust/sat-rs
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still less duplication than before

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This commit is contained in:
Robin Müller 2025-02-07 13:02:41 +01:00
parent 85bf553c96
commit 8458f7605a
Signed by: muellerr
GPG Key ID: A649FB78196E3849
7 changed files with 11 additions and 787 deletions
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13
satrs-example/src/main.rs
View File

@ -71,11 +71,6 @@ use tmtc::tm_sink::TmSinkDynamic;
#[cfg(not(feature = "heap_tmtc"))]
use tmtc::tm_sink::TmSinkStatic;
use tmtc::{tc_source::TcSourceTask, tm_sink::TmSink};
mod spi;
mod tm_sender;
mod main_heap_tmtc;
mod main_static_tmtc;
mod acs;
mod eps;
@ -85,6 +80,8 @@ mod interface;
mod logger;
mod pus;
mod requests;
mod spi;
mod tm_sender;
mod tmtc;
fn main() {
@ -109,9 +106,9 @@ fn main() {
if #[cfg(not(feature = "heap_tmtc"))] {
let tm_sink_tx_sender =
PacketSenderWithSharedPool::new(tm_sink_tx.clone(), shared_tm_pool_wrapper.clone());
let tm_sender = TmSender::new_static(tm_sink_tx_sender.clone());
let tm_sender = TmSender::Static(tm_sink_tx_sender.clone());
} else if #[cfg(feature = "heap_tmtc")] {
let tm_sender = TmSender::new_heap(tm_sink_tx.clone());
let tm_sender = TmSender::Heap(tm_sink_tx.clone());
}
}
@ -279,7 +276,7 @@ fn main() {
PACKET_ID_VALIDATOR.clone(),
)
.expect("tcp server creation failed");
cfg_if::cfg_if! {
if #[cfg(not(feature = "heap_tmtc"))] {
let mut tm_sink = TmSink::Static(TmSinkStatic::new(

368
satrs-example/src/main_heap_tmtc.rs
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@ -1,368 +0,0 @@
use crate::eps::pcdu::{
PcduHandler, SerialInterfaceDummy, SerialInterfaceToSim, SerialSimInterfaceWrapper,
};
use crate::eps::{self, PowerSwitchHelper};
use crate::events::EventHandler;
use crate::interface::udp::DynamicUdpTmHandler;
use crate::pus::stack::PusStack;
use crate::pus::test::create_test_service;
use crate::tm_sender::TmSender;
use crate::tmtc::tc_source::{TcSourceTask, TcSourceTaskDynamic};
use crate::tmtc::tm_sink::TmSinkDynamic;
use log::info;
use satrs::hal::std::tcp_server::ServerConfig;
use satrs::hal::std::udp_server::UdpTcServer;
use satrs::mode_tree::connect_mode_nodes;
use satrs::pus::{EcssTcInMemConverter, EcssTcInVecConverter, HandlingStatus};
use satrs::request::{GenericMessage, MessageMetadata};
use satrs::tmtc::TcSender;
use satrs_example::config::pool::create_sched_tc_pool;
use satrs_example::config::tasks::{
FREQ_MS_AOCS, FREQ_MS_PUS_STACK, FREQ_MS_UDP_TMTC, SIM_CLIENT_IDLE_DELAY_MS,
};
use satrs_example::config::{OBSW_SERVER_ADDR, PACKET_ID_VALIDATOR, SERVER_PORT};
use satrs_example::DeviceMode;
use crate::acs::mgm::{
MgmHandlerLis3Mdl, SpiDummyInterface, SpiSimInterface, SpiSimInterfaceWrapper,
};
use crate::interface::sim_client_udp::create_sim_client;
use crate::interface::tcp::{SyncTcpTmSource, TcpTask};
use crate::interface::udp::UdpTmtcServer;
use crate::pus::action::create_action_service;
use crate::pus::event::create_event_service;
use crate::pus::hk::create_hk_service;
use crate::pus::mode::create_mode_service;
use crate::pus::scheduler::{create_scheduler_service, TcReleaser};
use crate::pus::{PusTcDistributor, PusTcMpscRouter};
use crate::requests::GenericRequestRouter;
use satrs::mode::{Mode, ModeAndSubmode, ModeRequest, ModeRequestHandlerMpscBounded};
use satrs::pus::event_man::EventRequestWithToken;
use satrs_example::config::components::{
MGM_HANDLER_0, NO_SENDER, PCDU_HANDLER, TCP_SERVER, UDP_SERVER,
};
use std::net::{IpAddr, SocketAddr};
use std::sync::Arc;
use std::sync::{mpsc, Mutex};
use std::thread;
use std::time::Duration;
#[allow(dead_code)]
pub fn main_with_heap_backed_tmtc_pool() {
let (tc_source_tx, tc_source_rx) = mpsc::sync_channel(50);
let (tm_sink_tx, tm_sink_rx) = mpsc::sync_channel(50);
let (tm_server_tx, tm_server_rx) = mpsc::sync_channel(50);
let (sim_request_tx, sim_request_rx) = mpsc::channel();
let (mgm_sim_reply_tx, mgm_sim_reply_rx) = mpsc::channel();
let (pcdu_sim_reply_tx, pcdu_sim_reply_rx) = mpsc::channel();
let mut opt_sim_client = create_sim_client(sim_request_rx);
// Some request are targetable. This map is used to retrieve sender handles based on a target ID.
let (mgm_handler_composite_tx, mgm_handler_composite_rx) = mpsc::sync_channel(5);
let (pcdu_handler_composite_tx, pcdu_handler_composite_rx) = mpsc::sync_channel(10);
let (mgm_handler_mode_tx, mgm_handler_mode_rx) = mpsc::sync_channel(5);
let (pcdu_handler_mode_tx, pcdu_handler_mode_rx) = mpsc::sync_channel(10);
// Some request are targetable. This map is used to retrieve sender handles based on a target ID.
let mut request_map = GenericRequestRouter::default();
request_map
.composite_router_map
.insert(MGM_HANDLER_0.id(), mgm_handler_composite_tx);
request_map
.composite_router_map
.insert(PCDU_HANDLER.id(), pcdu_handler_composite_tx);
// Create event handling components
// These sender handles are used to send event requests, for example to enable or disable
// certain events.
let (event_tx, event_rx) = mpsc::sync_channel(100);
let (event_request_tx, event_request_rx) = mpsc::channel::<EventRequestWithToken>();
// The event task is the core handler to perform the event routing and TM handling as specified
// in the sat-rs documentation.
let mut event_handler = EventHandler::new(tm_sink_tx.clone(), event_rx, event_request_rx);
let (pus_test_tx, pus_test_rx) = mpsc::channel();
let (pus_event_tx, pus_event_rx) = mpsc::channel();
let (pus_sched_tx, pus_sched_rx) = mpsc::channel();
let (pus_hk_tx, pus_hk_rx) = mpsc::channel();
let (pus_action_tx, pus_action_rx) = mpsc::channel();
let (pus_mode_tx, pus_mode_rx) = mpsc::channel();
let (_pus_action_reply_tx, pus_action_reply_rx) = mpsc::channel();
let (pus_hk_reply_tx, pus_hk_reply_rx) = mpsc::channel();
let (pus_mode_reply_tx, pus_mode_reply_rx) = mpsc::sync_channel(10);
let pus_router = PusTcMpscRouter {
test_tc_sender: pus_test_tx,
event_tc_sender: pus_event_tx,
sched_tc_sender: pus_sched_tx,
hk_tc_sender: pus_hk_tx,
action_tc_sender: pus_action_tx,
mode_tc_sender: pus_mode_tx,
};
let tm_sender = TmSender::new_heap(tm_sink_tx.clone());
let tc_releaser = TcReleaser::new_heap(tc_source_tx.clone());
let tc_in_mem_converter = EcssTcInMemConverter::new_heap(EcssTcInVecConverter::default());
let pus_test_service = create_test_service(
tm_sender.clone(),
tc_in_mem_converter.clone(),
event_tx.clone(),
pus_test_rx,
);
let pus_scheduler_service = create_scheduler_service(
tm_sender.clone(),
tc_in_mem_converter.clone(),
tc_releaser,
pus_sched_rx,
create_sched_tc_pool(),
);
let pus_event_service = create_event_service(
tm_sender.clone(),
tc_in_mem_converter.clone(),
pus_event_rx,
event_request_tx,
);
let pus_action_service = create_action_service(
tm_sender.clone(),
tc_in_mem_converter.clone(),
pus_action_rx,
request_map.clone(),
pus_action_reply_rx,
);
let pus_hk_service = create_hk_service(
tm_sender.clone(),
tc_in_mem_converter.clone(),
pus_hk_rx,
request_map.clone(),
pus_hk_reply_rx,
);
let pus_mode_service = create_mode_service(
tm_sender.clone(),
tc_in_mem_converter.clone(),
pus_mode_rx,
request_map,
pus_mode_reply_rx,
);
let mut pus_stack = PusStack::new(
pus_test_service,
pus_hk_service,
pus_event_service,
pus_action_service,
pus_scheduler_service,
pus_mode_service,
);
let mut tmtc_task = TcSourceTask::Heap(TcSourceTaskDynamic::new(
tc_source_rx,
PusTcDistributor::new(tm_sender.clone(), pus_router),
));
let sock_addr = SocketAddr::new(IpAddr::V4(OBSW_SERVER_ADDR), SERVER_PORT);
let tc_sender = TcSender::HeapStore(tc_source_tx.clone());
let udp_tc_server = UdpTcServer::new(UDP_SERVER.id(), sock_addr, 2048, tc_sender.clone())
.expect("creating UDP TMTC server failed");
let mut udp_tmtc_server = UdpTmtcServer {
udp_tc_server,
tm_handler: DynamicUdpTmHandler {
tm_rx: tm_server_rx,
},
};
let tcp_server_cfg = ServerConfig::new(
TCP_SERVER.id(),
sock_addr,
Duration::from_millis(400),
4096,
8192,
);
let sync_tm_tcp_source = SyncTcpTmSource::new(200);
let mut tcp_server = TcpTask::new(
tcp_server_cfg,
sync_tm_tcp_source.clone(),
tc_sender.clone(),
PACKET_ID_VALIDATOR.clone(),
)
.expect("tcp server creation failed");
let mut tm_funnel = TmSinkDynamic::new(sync_tm_tcp_source, tm_sink_rx, tm_server_tx);
let shared_switch_set = Arc::new(Mutex::default());
let (switch_request_tx, switch_request_rx) = mpsc::sync_channel(20);
let switch_helper = PowerSwitchHelper::new(switch_request_tx, shared_switch_set.clone());
let (mgm_handler_mode_reply_to_parent_tx, _mgm_handler_mode_reply_to_parent_rx) =
mpsc::sync_channel(5);
let shared_mgm_set = Arc::default();
let mgm_mode_node =
ModeRequestHandlerMpscBounded::new(MGM_HANDLER_0.into(), mgm_handler_mode_rx);
let mgm_spi_interface = if let Some(sim_client) = opt_sim_client.as_mut() {
sim_client.add_reply_recipient(satrs_minisim::SimComponent::MgmLis3Mdl, mgm_sim_reply_tx);
SpiSimInterfaceWrapper::Sim(SpiSimInterface {
sim_request_tx: sim_request_tx.clone(),
sim_reply_rx: mgm_sim_reply_rx,
})
} else {
SpiSimInterfaceWrapper::Dummy(SpiDummyInterface::default())
};
let mut mgm_handler = MgmHandlerLis3Mdl::new(
MGM_HANDLER_0,
"MGM_0",
mgm_mode_node,
mgm_handler_composite_rx,
pus_hk_reply_tx.clone(),
switch_helper.clone(),
TmSender::Heap(tm_sink_tx.clone()),
mgm_spi_interface,
shared_mgm_set,
);
connect_mode_nodes(
&mut pus_stack.mode_srv,
mgm_handler_mode_tx,
&mut mgm_handler,
mgm_handler_mode_reply_to_parent_tx,
);
let pcdu_mode_node =
ModeRequestHandlerMpscBounded::new(PCDU_HANDLER.into(), pcdu_handler_mode_rx);
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(
sim_request_tx.clone(),
pcdu_sim_reply_rx,
))
} else {
SerialSimInterfaceWrapper::Dummy(SerialInterfaceDummy::default())
};
let mut pcdu_handler = PcduHandler::new(
PCDU_HANDLER,
"PCDU",
pcdu_mode_node,
pcdu_handler_composite_rx,
pus_hk_reply_tx,
switch_request_rx,
tm_sink_tx,
pcdu_serial_interface,
shared_switch_set,
);
connect_mode_nodes(
&mut pus_stack.mode_srv,
pcdu_handler_mode_tx.clone(),
&mut pcdu_handler,
pus_mode_reply_tx,
);
// The PCDU is a critical component which should be in normal mode immediately.
pcdu_handler_mode_tx
.send(GenericMessage::new(
MessageMetadata::new(0, NO_SENDER),
ModeRequest::SetMode {
mode_and_submode: ModeAndSubmode::new(DeviceMode::Normal as Mode, 0),
forced: false,
},
))
.expect("sending initial mode request failed");
info!("Starting TMTC and UDP task");
let jh_udp_tmtc = thread::Builder::new()
.name("sat-rs tmtc-udp".to_string())
.spawn(move || {
info!("Running UDP server on port {SERVER_PORT}");
loop {
udp_tmtc_server.periodic_operation();
tmtc_task.periodic_operation();
thread::sleep(Duration::from_millis(FREQ_MS_UDP_TMTC));
}
})
.unwrap();
info!("Starting TCP task");
let jh_tcp = thread::Builder::new()
.name("sat-rs tcp".to_string())
.spawn(move || {
info!("Running TCP server on port {SERVER_PORT}");
loop {
tcp_server.periodic_operation();
}
})
.unwrap();
info!("Starting TM funnel task");
let jh_tm_funnel = thread::Builder::new()
.name("sat-rs tm-sink".to_string())
.spawn(move || loop {
tm_funnel.operation();
})
.unwrap();
let mut opt_jh_sim_client = None;
if let Some(mut sim_client) = opt_sim_client {
info!("Starting UDP sim client task");
opt_jh_sim_client = Some(
thread::Builder::new()
.name("sat-rs sim adapter".to_string())
.spawn(move || loop {
if sim_client.operation() == HandlingStatus::Empty {
std::thread::sleep(Duration::from_millis(SIM_CLIENT_IDLE_DELAY_MS));
}
})
.unwrap(),
);
}
info!("Starting AOCS thread");
let jh_aocs = thread::Builder::new()
.name("sat-rs aocs".to_string())
.spawn(move || loop {
mgm_handler.periodic_operation();
thread::sleep(Duration::from_millis(FREQ_MS_AOCS));
})
.unwrap();
info!("Starting EPS thread");
let jh_eps = thread::Builder::new()
.name("sat-rs eps".to_string())
.spawn(move || loop {
// TODO: We should introduce something like a fixed timeslot helper to allow a more
// declarative API. It would also be very useful for the AOCS task.
pcdu_handler.periodic_operation(eps::pcdu::OpCode::RegularOp);
thread::sleep(Duration::from_millis(50));
pcdu_handler.periodic_operation(eps::pcdu::OpCode::PollAndRecvReplies);
thread::sleep(Duration::from_millis(50));
pcdu_handler.periodic_operation(eps::pcdu::OpCode::PollAndRecvReplies);
thread::sleep(Duration::from_millis(300));
})
.unwrap();
info!("Starting PUS handler thread");
let jh_pus_handler = thread::Builder::new()
.name("sat-rs pus".to_string())
.spawn(move || loop {
pus_stack.periodic_operation();
event_handler.periodic_operation();
thread::sleep(Duration::from_millis(FREQ_MS_PUS_STACK));
})
.unwrap();
jh_udp_tmtc
.join()
.expect("Joining UDP TMTC server thread failed");
jh_tcp
.join()
.expect("Joining TCP TMTC server thread failed");
jh_tm_funnel
.join()
.expect("Joining TM Funnel thread failed");
if let Some(jh_sim_client) = opt_jh_sim_client {
jh_sim_client
.join()
.expect("Joining SIM client thread failed");
}
jh_aocs.join().expect("Joining AOCS thread failed");
jh_eps.join().expect("Joining EPS thread failed");
jh_pus_handler
.join()
.expect("Joining PUS handler thread failed");
}

392
satrs-example/src/main_static_tmtc.rs
View File

@ -1,392 +0,0 @@
use crate::eps::pcdu::{
PcduHandler, SerialInterfaceDummy, SerialInterfaceToSim, SerialSimInterfaceWrapper,
};
use crate::eps::PowerSwitchHelper;
use crate::events::EventHandler;
use crate::pus::stack::PusStack;
use crate::tm_sender::TmSender;
use crate::tmtc::tc_source::TcSourceTaskStatic;
use crate::tmtc::tm_sink::TmSinkStatic;
use log::info;
use satrs::hal::std::tcp_server::ServerConfig;
use satrs::hal::std::udp_server::UdpTcServer;
use satrs::mode_tree::connect_mode_nodes;
use satrs::pus::{EcssTcInMemConverter, EcssTcInSharedPoolConverter, HandlingStatus};
use satrs::request::{GenericMessage, MessageMetadata};
use satrs::tmtc::{PacketSenderWithSharedPool, SharedPacketPool, TcSender};
use satrs_example::config::pool::{create_sched_tc_pool, create_static_pools};
use satrs_example::config::tasks::{
FREQ_MS_AOCS, FREQ_MS_PUS_STACK, FREQ_MS_UDP_TMTC, SIM_CLIENT_IDLE_DELAY_MS,
};
use satrs_example::config::{OBSW_SERVER_ADDR, PACKET_ID_VALIDATOR, SERVER_PORT};
use satrs_example::DeviceMode;
use crate::acs::mgm::{
MgmHandlerLis3Mdl, SpiDummyInterface, SpiSimInterface, SpiSimInterfaceWrapper,
};
use crate::interface::sim_client_udp::create_sim_client;
use crate::interface::tcp::{SyncTcpTmSource, TcpTask};
use crate::interface::udp::{StaticUdpTmHandler, UdpTmtcServer};
use crate::pus::action::create_action_service;
use crate::pus::event::create_event_service;
use crate::pus::hk::create_hk_service;
use crate::pus::mode::create_mode_service;
use crate::pus::scheduler::{create_scheduler_service, TcReleaser};
use crate::pus::test::create_test_service;
use crate::pus::{PusTcDistributor, PusTcMpscRouter};
use crate::requests::{CompositeRequest, GenericRequestRouter};
use satrs::mode::{Mode, ModeAndSubmode, ModeRequest, ModeRequestHandlerMpscBounded};
use satrs::pus::event_man::EventRequestWithToken;
use satrs_example::config::components::{
MGM_HANDLER_0, NO_SENDER, PCDU_HANDLER, TCP_SERVER, UDP_SERVER,
};
use std::net::{IpAddr, SocketAddr};
use std::sync::{mpsc, Mutex};
use std::sync::{Arc, RwLock};
use std::thread;
use std::time::Duration;
#[allow(dead_code)]
pub fn main_with_static_tmtc_pool() {
let (tm_pool, tc_pool) = create_static_pools();
let shared_tm_pool = Arc::new(RwLock::new(tm_pool));
let shared_tc_pool = Arc::new(RwLock::new(tc_pool));
let shared_tm_pool_wrapper = SharedPacketPool::new(&shared_tm_pool);
let shared_tc_pool_wrapper = SharedPacketPool::new(&shared_tc_pool);
let (tc_source_tx, tc_source_rx) = mpsc::sync_channel(50);
let (tm_sink_tx, tm_sink_rx) = mpsc::sync_channel(50);
let (tm_server_tx, tm_server_rx) = mpsc::sync_channel(50);
let tm_sink_tx_sender =
PacketSenderWithSharedPool::new(tm_sink_tx.clone(), shared_tm_pool_wrapper.clone());
let tm_sender = TmSender::new_static(tm_sink_tx_sender.clone());
let (sim_request_tx, sim_request_rx) = mpsc::channel();
let (mgm_sim_reply_tx, mgm_sim_reply_rx) = mpsc::channel();
let (pcdu_sim_reply_tx, pcdu_sim_reply_rx) = mpsc::channel();
let mut opt_sim_client = create_sim_client(sim_request_rx);
let (mgm_handler_composite_tx, mgm_handler_composite_rx) =
mpsc::sync_channel::<GenericMessage<CompositeRequest>>(10);
let (pcdu_handler_composite_tx, pcdu_handler_composite_rx) =
mpsc::sync_channel::<GenericMessage<CompositeRequest>>(30);
let (mgm_handler_mode_tx, mgm_handler_mode_rx) =
mpsc::sync_channel::<GenericMessage<ModeRequest>>(5);
let (pcdu_handler_mode_tx, pcdu_handler_mode_rx) =
mpsc::sync_channel::<GenericMessage<ModeRequest>>(5);
// Some request are targetable. This map is used to retrieve sender handles based on a target ID.
let mut request_map = GenericRequestRouter::default();
request_map
.composite_router_map
.insert(MGM_HANDLER_0.id(), mgm_handler_composite_tx);
request_map
.composite_router_map
.insert(PCDU_HANDLER.id(), pcdu_handler_composite_tx);
// This helper structure is used by all telecommand providers which need to send telecommands
// to the TC source.
let tc_source_tx_with_pool =
PacketSenderWithSharedPool::new(tc_source_tx, shared_tc_pool_wrapper.clone());
let tc_in_mem_converter =
EcssTcInMemConverter::new_static(EcssTcInSharedPoolConverter::new(shared_tc_pool, 4096));
// Create event handling components
// These sender handles are used to send event requests, for example to enable or disable
// certain events.
let (event_tx, event_rx) = mpsc::sync_channel(100);
let (event_request_tx, event_request_rx) = mpsc::channel::<EventRequestWithToken>();
// The event task is the core handler to perform the event routing and TM handling as specified
// in the sat-rs documentation.
let mut event_handler = EventHandler::new(tm_sink_tx.clone(), event_rx, event_request_rx);
let (pus_test_tx, pus_test_rx) = mpsc::channel();
let (pus_event_tx, pus_event_rx) = mpsc::channel();
let (pus_sched_tx, pus_sched_rx) = mpsc::channel();
let (pus_hk_tx, pus_hk_rx) = mpsc::channel();
let (pus_action_tx, pus_action_rx) = mpsc::channel();
let (pus_mode_tx, pus_mode_rx) = mpsc::channel();
let (_pus_action_reply_tx, pus_action_reply_rx) = mpsc::channel();
let (pus_hk_reply_tx, pus_hk_reply_rx) = mpsc::channel();
let (pus_mode_reply_tx, pus_mode_reply_rx) = mpsc::sync_channel(5);
let tc_releaser = TcReleaser::new_static(tc_source_tx_with_pool.clone());
let pus_router = PusTcMpscRouter {
test_tc_sender: pus_test_tx,
event_tc_sender: pus_event_tx,
sched_tc_sender: pus_sched_tx,
hk_tc_sender: pus_hk_tx,
action_tc_sender: pus_action_tx,
mode_tc_sender: pus_mode_tx,
};
let pus_test_service = create_test_service(
tm_sender.clone(),
tc_in_mem_converter.clone(),
event_tx.clone(),
pus_test_rx,
);
let pus_scheduler_service = create_scheduler_service(
tm_sender.clone(),
tc_in_mem_converter.clone(),
tc_releaser,
pus_sched_rx,
create_sched_tc_pool(),
);
let pus_event_service = create_event_service(
tm_sender.clone(),
tc_in_mem_converter.clone(),
pus_event_rx,
event_request_tx,
);
let pus_action_service = create_action_service(
tm_sender.clone(),
tc_in_mem_converter.clone(),
pus_action_rx,
request_map.clone(),
pus_action_reply_rx,
);
let pus_hk_service = create_hk_service(
tm_sender.clone(),
tc_in_mem_converter.clone(),
pus_hk_rx,
request_map.clone(),
pus_hk_reply_rx,
);
let pus_mode_service = create_mode_service(
tm_sender.clone(),
tc_in_mem_converter.clone(),
pus_mode_rx,
request_map,
pus_mode_reply_rx,
);
let mut pus_stack = PusStack::new(
pus_test_service,
pus_hk_service,
pus_event_service,
pus_action_service,
pus_scheduler_service,
pus_mode_service,
);
let mut tmtc_task = TcSourceTaskStatic::new(
shared_tc_pool_wrapper.clone(),
tc_source_rx,
PusTcDistributor::new(tm_sender.clone(), pus_router),
);
let tc_sender = TcSender::StaticStore(tc_source_tx_with_pool);
let sock_addr = SocketAddr::new(IpAddr::V4(OBSW_SERVER_ADDR), SERVER_PORT);
let udp_tc_server = UdpTcServer::new(UDP_SERVER.id(), sock_addr, 2048, tc_sender.clone())
.expect("creating UDP TMTC server failed");
let mut udp_tmtc_server = UdpTmtcServer {
udp_tc_server,
tm_handler: StaticUdpTmHandler {
tm_rx: tm_server_rx,
tm_store: shared_tm_pool.clone(),
},
};
let tcp_server_cfg = ServerConfig::new(
TCP_SERVER.id(),
sock_addr,
Duration::from_millis(400),
4096,
8192,
);
let sync_tm_tcp_source = SyncTcpTmSource::new(200);
let mut tcp_server = TcpTask::new(
tcp_server_cfg,
sync_tm_tcp_source.clone(),
tc_sender,
PACKET_ID_VALIDATOR.clone(),
)
.expect("tcp server creation failed");
let mut tm_sink = TmSinkStatic::new(
shared_tm_pool_wrapper,
sync_tm_tcp_source,
tm_sink_rx,
tm_server_tx,
);
let shared_switch_set = Arc::new(Mutex::default());
let (switch_request_tx, switch_request_rx) = mpsc::sync_channel(20);
let switch_helper = PowerSwitchHelper::new(switch_request_tx, shared_switch_set.clone());
let shared_mgm_set = Arc::default();
let mgm_mode_node =
ModeRequestHandlerMpscBounded::new(MGM_HANDLER_0.into(), mgm_handler_mode_rx);
let mgm_spi_interface = if let Some(sim_client) = opt_sim_client.as_mut() {
sim_client.add_reply_recipient(satrs_minisim::SimComponent::MgmLis3Mdl, mgm_sim_reply_tx);
SpiSimInterfaceWrapper::Sim(SpiSimInterface {
sim_request_tx: sim_request_tx.clone(),
sim_reply_rx: mgm_sim_reply_rx,
})
} else {
SpiSimInterfaceWrapper::Dummy(SpiDummyInterface::default())
};
let mut mgm_handler = MgmHandlerLis3Mdl::new(
MGM_HANDLER_0,
"MGM_0",
mgm_mode_node,
mgm_handler_composite_rx,
pus_hk_reply_tx.clone(),
switch_helper.clone(),
tm_sender,
mgm_spi_interface,
shared_mgm_set,
);
// Connect PUS service to device handler.
connect_mode_nodes(
&mut pus_stack.mode_srv,
mgm_handler_mode_tx,
&mut mgm_handler,
pus_mode_reply_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(
sim_request_tx.clone(),
pcdu_sim_reply_rx,
))
} else {
SerialSimInterfaceWrapper::Dummy(SerialInterfaceDummy::default())
};
let pcdu_mode_node =
ModeRequestHandlerMpscBounded::new(PCDU_HANDLER.into(), pcdu_handler_mode_rx);
let mut pcdu_handler = PcduHandler::new(
PCDU_HANDLER,
"PCDU",
pcdu_mode_node,
pcdu_handler_composite_rx,
pus_hk_reply_tx,
switch_request_rx,
tm_sink_tx,
pcdu_serial_interface,
shared_switch_set,
);
connect_mode_nodes(
&mut pus_stack.mode_srv,
pcdu_handler_mode_tx.clone(),
&mut pcdu_handler,
pus_mode_reply_tx,
);
// The PCDU is a critical component which should be in normal mode immediately.
pcdu_handler_mode_tx
.send(GenericMessage::new(
MessageMetadata::new(0, NO_SENDER),
ModeRequest::SetMode {
mode_and_submode: ModeAndSubmode::new(DeviceMode::Normal as Mode, 0),
forced: false,
},
))
.expect("sending initial mode request failed");
info!("Starting TMTC and UDP task");
let jh_udp_tmtc = thread::Builder::new()
.name("SATRS tmtc-udp".to_string())
.spawn(move || {
info!("Running UDP server on port {SERVER_PORT}");
loop {
udp_tmtc_server.periodic_operation();
tmtc_task.periodic_operation();
thread::sleep(Duration::from_millis(FREQ_MS_UDP_TMTC));
}
})
.unwrap();
info!("Starting TCP task");
let jh_tcp = thread::Builder::new()
.name("sat-rs tcp".to_string())
.spawn(move || {
info!("Running TCP server on port {SERVER_PORT}");
loop {
tcp_server.periodic_operation();
}
})
.unwrap();
info!("Starting TM funnel task");
let jh_tm_funnel = thread::Builder::new()
.name("tm sink".to_string())
.spawn(move || loop {
tm_sink.operation();
})
.unwrap();
let mut opt_jh_sim_client = None;
if let Some(mut sim_client) = opt_sim_client {
info!("Starting UDP sim client task");
opt_jh_sim_client = Some(
thread::Builder::new()
.name("sat-rs sim adapter".to_string())
.spawn(move || loop {
if sim_client.operation() == HandlingStatus::Empty {
std::thread::sleep(Duration::from_millis(SIM_CLIENT_IDLE_DELAY_MS));
}
})
.unwrap(),
);
}
info!("Starting AOCS thread");
let jh_aocs = thread::Builder::new()
.name("sat-rs aocs".to_string())
.spawn(move || loop {
mgm_handler.periodic_operation();
thread::sleep(Duration::from_millis(FREQ_MS_AOCS));
})
.unwrap();
info!("Starting EPS thread");
let jh_eps = thread::Builder::new()
.name("sat-rs eps".to_string())
.spawn(move || loop {
// TODO: We should introduce something like a fixed timeslot helper to allow a more
// declarative API. It would also be very useful for the AOCS task.
//
// TODO: The fixed timeslot handler exists.. use it.
pcdu_handler.periodic_operation(crate::eps::pcdu::OpCode::RegularOp);
thread::sleep(Duration::from_millis(50));
pcdu_handler.periodic_operation(crate::eps::pcdu::OpCode::PollAndRecvReplies);
thread::sleep(Duration::from_millis(50));
pcdu_handler.periodic_operation(crate::eps::pcdu::OpCode::PollAndRecvReplies);
thread::sleep(Duration::from_millis(300));
})
.unwrap();
info!("Starting PUS handler thread");
let jh_pus_handler = thread::Builder::new()
.name("sat-rs pus".to_string())
.spawn(move || loop {
event_handler.periodic_operation();
pus_stack.periodic_operation();
thread::sleep(Duration::from_millis(FREQ_MS_PUS_STACK));
})
.unwrap();
jh_udp_tmtc
.join()
.expect("Joining UDP TMTC server thread failed");
jh_tcp
.join()
.expect("Joining TCP TMTC server thread failed");
jh_tm_funnel
.join()
.expect("Joining TM Funnel thread failed");
if let Some(jh_sim_client) = opt_jh_sim_client {
jh_sim_client
.join()
.expect("Joining SIM client thread failed");
}
jh_aocs.join().expect("Joining AOCS thread failed");
jh_eps.join().expect("Joining EPS thread failed");
jh_pus_handler
.join()
.expect("Joining PUS handler thread failed");
}

10
satrs-example/src/pus/scheduler.rs
View File

@ -65,20 +65,12 @@ impl TcReleaseProvider for mpsc::SyncSender<PacketAsVec> {
}
}
#[allow(dead_code)]
pub enum TcReleaser {
Static(PacketSenderWithSharedPool),
Heap(mpsc::SyncSender<PacketAsVec>),
}
impl TcReleaser {
pub fn new_static(sender: PacketSenderWithSharedPool) -> Self {
Self::Static(sender)
}
pub fn new_heap(sender: mpsc::SyncSender<PacketAsVec>) -> Self {
Self::Heap(sender)
}
}
impl TcReleaseProvider for TcReleaser {
fn release(&mut self, sender_id: ComponentId, enabled: bool, info: &TcInfo, tc: &[u8]) -> bool {
match self {

11
satrs-example/src/tm_sender.rs
View File

@ -7,22 +7,13 @@ use satrs::{
tmtc::{PacketAsVec, PacketSenderWithSharedPool},
};
#[allow(dead_code)]
#[derive(Debug, Clone)]
pub enum TmSender {
Static(PacketSenderWithSharedPool),
Heap(mpsc::SyncSender<PacketAsVec>),
}
impl TmSender {
pub fn new_static(sender: PacketSenderWithSharedPool) -> Self {
TmSender::Static(sender)
}
pub fn new_heap(sender: mpsc::SyncSender<PacketAsVec>) -> Self {
TmSender::Heap(sender)
}
}
impl EcssTmSender for TmSender {
fn send_tm(
&self,

2
satrs-example/src/tmtc/tc_source.rs
View File

@ -15,6 +15,7 @@ pub struct TcSourceTaskStatic {
pus_distributor: PusTcDistributor,
}
#[allow(dead_code)]
impl TcSourceTaskStatic {
pub fn new(
shared_tc_pool: SharedPacketPool,
@ -68,6 +69,7 @@ pub struct TcSourceTaskDynamic {
pus_distributor: PusTcDistributor,
}
#[allow(dead_code)]
impl TcSourceTaskDynamic {
pub fn new(tc_receiver: mpsc::Receiver<PacketAsVec>, pus_receiver: PusTcDistributor) -> Self {
Self {

2
satrs-example/src/tmtc/tm_sink.rs
View File

@ -89,6 +89,7 @@ pub struct TmSinkStatic {
tm_server_tx: mpsc::SyncSender<PacketInPool>,
}
#[allow(dead_code)]
impl TmSinkStatic {
pub fn new(
shared_tm_store: SharedPacketPool,
@ -135,6 +136,7 @@ pub struct TmSinkDynamic {
tm_server_tx: mpsc::SyncSender<PacketAsVec>,
}
#[allow(dead_code)]
impl TmSinkDynamic {
pub fn new(
sync_tm_tcp_source: SyncTcpTmSource,