continued sample PCDU handler

satrs-example/src/acs/mgm.rs

@@ -233,6 +233,32 @@ impl<ComInterface: SpiInterface, TmSender: EcssTmSender> MgmHandlerLis3Mdl<ComIn
         }
     }
 
+    pub fn handle_mode_requests(&mut self) {
+        loop {
+            // TODO: Only allow one set mode request per cycle?
+            match self.mode_interface.request_rx.try_recv() {
+                Ok(msg) => {
+                    let result = self.handle_mode_request(msg);
+                    // TODO: Trigger event?
+                    if result.is_err() {
+                        log::warn!(
+                            "{}: mode request failed with error {:?}",
+                            self.dev_str,
+                            result.err().unwrap()
+                        );
+                    }
+                }
+                Err(e) => {
+                    if e != mpsc::TryRecvError::Empty {
+                        log::warn!("{}: failed to receive mode request: {:?}", self.dev_str, e);
+                    } else {
+                        break;
+                    }
+                }
+            }
+        }
+    }
+
     pub fn poll_sensor(&mut self) {
         // Communicate with the device. This is actually how to read the data from the LIS3 device
         // SPI interface.
@@ -265,32 +291,6 @@ impl<ComInterface: SpiInterface, TmSender: EcssTmSender> MgmHandlerLis3Mdl<ComIn
         mgm_guard.valid = true;
         drop(mgm_guard);
     }
-
-    pub fn handle_mode_requests(&mut self) {
-        loop {
-            // TODO: Only allow one set mode request per cycle?
-            match self.mode_interface.request_rx.try_recv() {
-                Ok(msg) => {
-                    let result = self.handle_mode_request(msg);
-                    // TODO: Trigger event?
-                    if result.is_err() {
-                        log::warn!(
-                            "{}: mode request failed with error {:?}",
-                            self.dev_str,
-                            result.err().unwrap()
-                        );
-                    }
-                }
-                Err(e) => {
-                    if e != mpsc::TryRecvError::Empty {
-                        log::warn!("{}: failed to receive mode request: {:?}", self.dev_str, e);
-                    } else {
-                        break;
-                    }
-                }
-            }
-        }
-    }
 }
 
 impl<ComInterface: SpiInterface, TmSender: EcssTmSender> ModeProvider

satrs-example/src/eps/pcdu.rs

@@ -5,18 +5,33 @@ use std::{
 
 use derive_new::new;
 use satrs::{
-    mode::ModeAndSubmode,
+    hk::{HkRequest, HkRequestVariant},
+    mode::{ModeAndSubmode, ModeError, ModeProvider, ModeReply, ModeRequestHandler},
     power::SwitchState,
     pus::EcssTmSender,
-    request::{GenericMessage, UniqueApidTargetId},
+    queue::{GenericSendError, GenericTargetedMessagingError},
+    request::{GenericMessage, MessageMetadata, UniqueApidTargetId},
 };
-use satrs_example::TimestampHelper;
+use satrs_example::{config::components::PUS_MODE_SERVICE, DeviceMode, TimestampHelper};
 
 use crate::{acs::mgm::MpscModeLeafInterface, pus::hk::HkReply, requests::CompositeRequest};
 
-pub trait SerialInterface {}
+pub trait SerialInterface {
+    type Error;
+    /// Send some data via the serial interface.
+    fn send(&self, data: &[u8]) -> Result<(), Self::Error>;
+    /// Receive all replies received on the serial interface so far. This function takes a closure
+    /// and call its for each received packet, passing the received packet into it.
+    fn recv_replies<ReplyHandler: FnMut(&[u8])>(&self, f: ReplyHandler) -> Result<(), Self::Error>;
+}
 
-#[derive(Copy, Clone, PartialEq, Eq, Hash)]
+#[derive(Debug, Copy, Clone, PartialEq, Eq)]
+pub enum OpCode {
+    RegularOp = 0,
+    PollAndRecvReplies = 1,
+}
+
+#[derive(Debug, Copy, Clone, PartialEq, Eq, Hash)]
 #[repr(u32)]
 pub enum SwitchId {
     Mgm0 = 0,
@@ -25,6 +40,12 @@ pub enum SwitchId {
 
 pub type SwitchMap = HashMap<SwitchId, SwitchState>;
 
+#[derive(Clone, PartialEq, Eq)]
+pub struct SwitchSet {
+    pub valid: bool,
+    pub switch_map: SwitchMap,
+}
+
 /// Example PCDU device handler.
 #[derive(new)]
 #[allow(clippy::too_many_arguments)]
@@ -36,9 +57,168 @@ pub struct PcduHandler<ComInterface: SerialInterface, TmSender: EcssTmSender> {
     hk_reply_tx: mpsc::Sender<GenericMessage<HkReply>>,
     tm_sender: TmSender,
     pub com_interface: ComInterface,
-    shared_switch_map: Arc<Mutex<SwitchMap>>,
+    shared_switch_map: Arc<Mutex<SwitchSet>>,
     #[new(value = "ModeAndSubmode::new(satrs_example::DeviceMode::Off as u32, 0)")]
     mode_and_submode: ModeAndSubmode,
     #[new(default)]
     stamp_helper: TimestampHelper,
 }
+
+impl<ComInterface: SerialInterface, TmSender: EcssTmSender> PcduHandler<ComInterface, TmSender> {
+    pub fn periodic_operation(&mut self, op_code: OpCode) {
+        match op_code {
+            OpCode::RegularOp => {
+                self.stamp_helper.update_from_now();
+                // Handle requests.
+                self.handle_composite_requests();
+                self.handle_mode_requests();
+            }
+            OpCode::PollAndRecvReplies => {}
+        }
+    }
+
+    pub fn handle_composite_requests(&mut self) {
+        loop {
+            match self.composite_request_rx.try_recv() {
+                Ok(ref msg) => match &msg.message {
+                    CompositeRequest::Hk(hk_request) => {
+                        self.handle_hk_request(&msg.requestor_info, hk_request)
+                    }
+                    // TODO: This object does not have actions (yet).. Still send back completion failure
+                    // reply.
+                    CompositeRequest::Action(_action_req) => {}
+                },
+
+                Err(e) => {
+                    if e != mpsc::TryRecvError::Empty {
+                        log::warn!(
+                            "{}: failed to receive composite request: {:?}",
+                            self.dev_str,
+                            e
+                        );
+                    } else {
+                        break;
+                    }
+                }
+            }
+        }
+    }
+
+    pub fn handle_hk_request(&mut self, requestor_info: &MessageMetadata, hk_request: &HkRequest) {
+        match hk_request.variant {
+            HkRequestVariant::OneShot => todo!(),
+            HkRequestVariant::EnablePeriodic => todo!(),
+            HkRequestVariant::DisablePeriodic => todo!(),
+            HkRequestVariant::ModifyCollectionInterval(_) => todo!(),
+        }
+    }
+
+    pub fn handle_mode_requests(&mut self) {
+        loop {
+            // TODO: Only allow one set mode request per cycle?
+            match self.mode_interface.request_rx.try_recv() {
+                Ok(msg) => {
+                    let result = self.handle_mode_request(msg);
+                    // TODO: Trigger event?
+                    if result.is_err() {
+                        log::warn!(
+                            "{}: mode request failed with error {:?}",
+                            self.dev_str,
+                            result.err().unwrap()
+                        );
+                    }
+                }
+                Err(e) => {
+                    if e != mpsc::TryRecvError::Empty {
+                        log::warn!("{}: failed to receive mode request: {:?}", self.dev_str, e);
+                    } else {
+                        break;
+                    }
+                }
+            }
+        }
+    }
+}
+
+impl<ComInterface: SerialInterface, TmSender: EcssTmSender> ModeProvider
+    for PcduHandler<ComInterface, TmSender>
+{
+    fn mode_and_submode(&self) -> ModeAndSubmode {
+        self.mode_and_submode
+    }
+}
+
+impl<ComInterface: SerialInterface, TmSender: EcssTmSender> ModeRequestHandler
+    for PcduHandler<ComInterface, TmSender>
+{
+    type Error = ModeError;
+    fn start_transition(
+        &mut self,
+        requestor: MessageMetadata,
+        mode_and_submode: ModeAndSubmode,
+    ) -> Result<(), satrs::mode::ModeError> {
+        log::info!(
+            "{}: transitioning to mode {:?}",
+            self.dev_str,
+            mode_and_submode
+        );
+        self.mode_and_submode = mode_and_submode;
+        if mode_and_submode.mode() == DeviceMode::Off as u32 {
+            self.shared_switch_map.lock().unwrap().valid = false;
+        }
+        self.handle_mode_reached(Some(requestor))?;
+        Ok(())
+    }
+
+    fn announce_mode(&self, _requestor_info: Option<MessageMetadata>, _recursive: bool) {
+        log::info!(
+            "{} announcing mode: {:?}",
+            self.dev_str,
+            self.mode_and_submode
+        );
+    }
+
+    fn handle_mode_reached(
+        &mut self,
+        requestor: Option<MessageMetadata>,
+    ) -> Result<(), Self::Error> {
+        self.announce_mode(requestor, false);
+        if let Some(requestor) = requestor {
+            if requestor.sender_id() != PUS_MODE_SERVICE.id() {
+                log::warn!(
+                    "can not send back mode reply to sender {}",
+                    requestor.sender_id()
+                );
+            } else {
+                self.send_mode_reply(requestor, ModeReply::ModeReply(self.mode_and_submode()))?;
+            }
+        }
+        Ok(())
+    }
+
+    fn send_mode_reply(
+        &self,
+        requestor: MessageMetadata,
+        reply: ModeReply,
+    ) -> Result<(), Self::Error> {
+        if requestor.sender_id() != PUS_MODE_SERVICE.id() {
+            log::warn!(
+                "can not send back mode reply to sender {}",
+                requestor.sender_id()
+            );
+        }
+        self.mode_interface
+            .reply_to_pus_tx
+            .send(GenericMessage::new(requestor, reply))
+            .map_err(|_| GenericTargetedMessagingError::Send(GenericSendError::RxDisconnected))?;
+        Ok(())
+    }
+
+    fn handle_mode_info(
+        &mut self,
+        _requestor_info: MessageMetadata,
+        _info: ModeAndSubmode,
+    ) -> Result<(), Self::Error> {
+        Ok(())
+    }
+}