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optimize PUS stack code
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This commit is contained in:
Robin Müller
2024-05-02 11:58:46 +02:00
parent c586fd7fef
commit a00c843698
5 changed files with 87 additions and 107 deletions
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102
satrs-example/src/pus/stack.rs
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@ -2,19 +2,17 @@ use crate::pus::mode::ModeServiceWrapper;
use derive_new::new;
use satrs::{
pus::{EcssTcInMemConverter, EcssTmSender},
spacepackets::{
ecss::PusServiceId,
time::{cds, TimeWriter},
},
spacepackets::time::{cds, TimeWriter},
};
use satrs_example::config::CustomPusServiceId;
use super::{
action::ActionServiceWrapper, event::EventServiceWrapper, hk::HkServiceWrapper,
scheduler::SchedulingServiceWrapper, test::TestCustomServiceWrapper, HandlingStatus,
TargetedPusService,
scheduler::SchedulingServiceWrapper, test::TestCustomServiceWrapper, DirectPusService,
HandlingStatus, TargetedPusService,
};
// TODO: For better extensibility, we could create 2 vectors: One for direct PUS services and one
// for targeted services..
#[derive(new)]
pub struct PusStack<TmSender: EcssTmSender, TcInMemConverter: EcssTcInMemConverter> {
test_srv: TestCustomServiceWrapper<TmSender, TcInMemConverter>,
@ -28,70 +26,56 @@ pub struct PusStack<TmSender: EcssTmSender, TcInMemConverter: EcssTcInMemConvert
impl<TmSender: EcssTmSender, TcInMemConverter: EcssTcInMemConverter>
PusStack<TmSender, TcInMemConverter>
{
pub fn direct_service_checker<S: DirectPusService>(
service: &mut S,
timestamp: &[u8],
nothing_to_do: &mut bool,
) {
let handling_status = service.poll_and_handle_next_tc(timestamp);
if handling_status == HandlingStatus::HandledOne {
*nothing_to_do = false;
}
}
pub fn targeted_service_checker<S: TargetedPusService>(
service: &mut S,
timestamp: &[u8],
nothing_to_do: &mut bool,
) {
let request_handling = service.poll_and_handle_next_tc_default_handler(timestamp);
let reply_handling = service.poll_and_handle_next_reply_default_handler(timestamp);
if request_handling == HandlingStatus::HandledOne
|| reply_handling == HandlingStatus::HandledOne
{
*nothing_to_do = false;
}
}
pub fn periodic_operation(&mut self) {
// Release all telecommands which reached their release time before calling the service
// handlers.
self.schedule_srv.release_tcs();
let time_stamp = cds::CdsTime::now_with_u16_days()
let timestamp = cds::CdsTime::now_with_u16_days()
.expect("time stamp generation error")
.to_vec()
.unwrap();
// Hot loop which will run continuously until all request and reply handling is done.
loop {
let mut nothing_to_do = true;
let mut is_srv_finished =
|_srv_id: u8,
tc_handling_status: HandlingStatus,
reply_handling_status: Option<HandlingStatus>| {
if tc_handling_status == HandlingStatus::HandledOne
|| (reply_handling_status.is_some()
&& reply_handling_status.unwrap() == HandlingStatus::HandledOne)
{
nothing_to_do = false;
}
};
is_srv_finished(
PusServiceId::Test as u8,
self.test_srv.poll_and_handle_next_tc(&time_stamp),
None,
Self::direct_service_checker(&mut self.test_srv, &timestamp, &mut nothing_to_do);
Self::direct_service_checker(&mut self.schedule_srv, &timestamp, &mut nothing_to_do);
Self::direct_service_checker(&mut self.event_srv, &timestamp, &mut nothing_to_do);
Self::targeted_service_checker(
&mut self.action_srv_wrapper,
&timestamp,
&mut nothing_to_do,
);
is_srv_finished(
PusServiceId::Scheduling as u8,
self.schedule_srv.poll_and_handle_next_tc(&time_stamp),
None,
);
is_srv_finished(
PusServiceId::Event as u8,
self.event_srv.poll_and_handle_next_tc(&time_stamp),
None,
);
is_srv_finished(
PusServiceId::Action as u8,
self.action_srv_wrapper
.poll_and_handle_next_tc_default_handler(&time_stamp),
Some(
self.action_srv_wrapper
.poll_and_handle_next_reply_default_handler(&time_stamp),
),
);
is_srv_finished(
PusServiceId::Housekeeping as u8,
self.hk_srv_wrapper
.poll_and_handle_next_tc_default_handler(&time_stamp),
Some(
self.hk_srv_wrapper
.poll_and_handle_next_reply_default_handler(&time_stamp),
),
);
is_srv_finished(
CustomPusServiceId::Mode as u8,
self.mode_srv
.poll_and_handle_next_tc_default_handler(&time_stamp),
Some(
self.mode_srv
.poll_and_handle_next_reply_default_handler(&time_stamp),
),
Self::targeted_service_checker(
&mut self.hk_srv_wrapper,
&timestamp,
&mut nothing_to_do,
);
Self::targeted_service_checker(&mut self.mode_srv, &timestamp, &mut nothing_to_do);
if nothing_to_do {
// Timeout checking is only done once.
self.action_srv_wrapper.check_for_request_timeouts();