start integrating sim in example

satrs-example/Cargo.toml

@@ -27,6 +27,9 @@ serde_json = "1"
 path = "../satrs"
 features = ["test_util"]
 
+[dependencies.satrs-minisim]
+path = "../satrs-minisim"
+
 [dependencies.satrs-mib]
 version = "0.1.1"
 path = "../satrs-mib"

satrs-example/src/acs/mgm.rs

@@ -4,7 +4,10 @@ use satrs::queue::{GenericSendError, GenericTargetedMessagingError};
 use satrs::spacepackets::ecss::hk;
 use satrs::spacepackets::ecss::tm::{PusTmCreator, PusTmSecondaryHeader};
 use satrs::spacepackets::SpHeader;
-use satrs_example::{DeviceMode, TimeStampHelper};
+use satrs_example::{DeviceMode, TimestampHelper};
+use satrs_minisim::acs::lis3mdl::{FIELD_LSB_PER_GAUSS_4_SENS, GAUSS_TO_MICROTESLA_FACTOR};
+use satrs_minisim::acs::MgmRequestLis3Mdl;
+use satrs_minisim::{SimReply, SimRequest};
 use std::sync::mpsc::{self};
 use std::sync::{Arc, Mutex};
 
@@ -20,9 +23,12 @@ use crate::requests::CompositeRequest;
 
 use serde::{Deserialize, Serialize};
 
-const GAUSS_TO_MICROTESLA_FACTOR: f32 = 100.0;
-// This is the selected resoltion for the STM LIS3MDL device for the 4 Gauss sensitivity setting.
-const FIELD_LSB_PER_GAUSS_4_SENS: f32 = 1.0 / 6842.0;
+pub const NR_OF_DATA_AND_CFG_REGISTERS: usize = 14;
+
+// Register adresses to access various bytes from the raw reply.
+pub const X_LOWBYTE_IDX: usize = 9;
+pub const Y_LOWBYTE_IDX: usize = 11;
+pub const Z_LOWBYTE_IDX: usize = 13;
 
 pub trait SpiInterface {
     type Error;
@@ -40,13 +46,53 @@ impl SpiInterface for SpiDummyInterface {
     type Error = ();
 
     fn transfer(&mut self, _tx: &[u8], rx: &mut [u8]) -> Result<(), Self::Error> {
-        rx[0..2].copy_from_slice(&self.dummy_val_0.to_be_bytes());
-        rx[2..4].copy_from_slice(&self.dummy_val_1.to_be_bytes());
-        rx[4..6].copy_from_slice(&self.dummy_val_2.to_be_bytes());
+        rx[X_LOWBYTE_IDX..X_LOWBYTE_IDX + 2].copy_from_slice(&self.dummy_val_0.to_le_bytes());
+        rx[Y_LOWBYTE_IDX..Y_LOWBYTE_IDX + 2].copy_from_slice(&self.dummy_val_1.to_be_bytes());
+        rx[Z_LOWBYTE_IDX..Z_LOWBYTE_IDX + 2].copy_from_slice(&self.dummy_val_2.to_be_bytes());
         Ok(())
     }
 }
 
+pub struct SpiSimInterface {
+    pub sim_request_tx: mpsc::Sender<SimRequest>,
+    pub sim_reply_rx: mpsc::Receiver<SimReply>,
+}
+
+impl SpiInterface for SpiSimInterface {
+    type Error = ();
+
+    fn transfer(&mut self, tx: &[u8], rx: &mut [u8]) -> Result<(), Self::Error> {
+        let mgm_sensor_request = MgmRequestLis3Mdl::RequestSensorData;
+        self.sim_request_tx
+            .send(SimRequest::new_with_epoch_time(mgm_sensor_request))
+            .expect("failed to send request");
+        self.sim_reply_rx.recv().expect("reply timeout");
+        /*
+                let mgm_req_json = serde_json::to_string(&mgm_sensor_request)?;
+                self.udp_socket
+                    .send_to(mgm_req_json.as_bytes(), self.sim_addr)
+                    .unwrap();
+        */
+        Ok(())
+    }
+}
+
+pub enum SpiSimInterfaceWrapper {
+    Dummy(SpiDummyInterface),
+    Sim(SpiSimInterface),
+}
+
+impl SpiInterface for SpiSimInterfaceWrapper {
+    type Error = ();
+
+    fn transfer(&mut self, tx: &[u8], rx: &mut [u8]) -> Result<(), Self::Error> {
+        match self {
+            SpiSimInterfaceWrapper::Dummy(dummy) => dummy.transfer(tx, rx),
+            SpiSimInterfaceWrapper::Sim(sim_if) => sim_if.transfer(tx, rx),
+        }
+    }
+}
+
 #[derive(Default, Debug, Copy, Clone, Serialize, Deserialize)]
 pub struct MgmData {
     pub valid: bool,
@@ -76,13 +122,13 @@ pub struct MgmHandlerLis3Mdl<ComInterface: SpiInterface, TmSender: EcssTmSender>
     #[new(value = "ModeAndSubmode::new(satrs_example::DeviceMode::Off as u32, 0)")]
     mode_and_submode: ModeAndSubmode,
     #[new(default)]
-    tx_buf: [u8; 12],
+    tx_buf: [u8; 32],
     #[new(default)]
-    rx_buf: [u8; 12],
+    rx_buf: [u8; 32],
     #[new(default)]
     tm_buf: [u8; 16],
     #[new(default)]
-    stamp_helper: TimeStampHelper,
+    stamp_helper: TimestampHelper,
 }
 
 impl<ComInterface: SpiInterface, TmSender: EcssTmSender> MgmHandlerLis3Mdl<ComInterface, TmSender> {
@@ -94,17 +140,35 @@ impl<ComInterface: SpiInterface, TmSender: EcssTmSender> MgmHandlerLis3Mdl<ComIn
         if self.mode() == DeviceMode::Normal as u32 {
             log::trace!("polling LIS3MDL sensor {}", self.dev_str);
             // Communicate with the device.
-            let result = self.com_interface.transfer(&self.tx_buf, &mut self.rx_buf);
+            let result = self.com_interface.transfer(
+                &self.tx_buf[0..NR_OF_DATA_AND_CFG_REGISTERS + 1],
+                &mut self.rx_buf[0..NR_OF_DATA_AND_CFG_REGISTERS + 1],
+            );
             assert!(result.is_ok());
             // Actual data begins on the second byte, similarly to how a lot of SPI devices behave.
-            let x_raw = i16::from_be_bytes(self.rx_buf[1..3].try_into().unwrap());
-            let y_raw = i16::from_be_bytes(self.rx_buf[3..5].try_into().unwrap());
-            let z_raw = i16::from_be_bytes(self.rx_buf[5..7].try_into().unwrap());
+            let x_raw = i16::from_le_bytes(
+                self.rx_buf[X_LOWBYTE_IDX..X_LOWBYTE_IDX + 2]
+                    .try_into()
+                    .unwrap(),
+            );
+            let y_raw = i16::from_le_bytes(
+                self.rx_buf[Y_LOWBYTE_IDX..Y_LOWBYTE_IDX + 2]
+                    .try_into()
+                    .unwrap(),
+            );
+            let z_raw = i16::from_le_bytes(
+                self.rx_buf[Z_LOWBYTE_IDX..Z_LOWBYTE_IDX + 2]
+                    .try_into()
+                    .unwrap(),
+            );
             // Simple scaling to retrieve the float value, assuming a sensor resolution of
             let mut mgm_guard = self.shared_mgm_set.lock().unwrap();
-            mgm_guard.x = x_raw as f32 * GAUSS_TO_MICROTESLA_FACTOR * FIELD_LSB_PER_GAUSS_4_SENS;
-            mgm_guard.y = y_raw as f32 * GAUSS_TO_MICROTESLA_FACTOR * FIELD_LSB_PER_GAUSS_4_SENS;
-            mgm_guard.z = z_raw as f32 * GAUSS_TO_MICROTESLA_FACTOR * FIELD_LSB_PER_GAUSS_4_SENS;
+            mgm_guard.x =
+                x_raw as f32 * GAUSS_TO_MICROTESLA_FACTOR as f32 * FIELD_LSB_PER_GAUSS_4_SENS;
+            mgm_guard.y =
+                y_raw as f32 * GAUSS_TO_MICROTESLA_FACTOR as f32 * FIELD_LSB_PER_GAUSS_4_SENS;
+            mgm_guard.z =
+                z_raw as f32 * GAUSS_TO_MICROTESLA_FACTOR as f32 * FIELD_LSB_PER_GAUSS_4_SENS;
             drop(mgm_guard);
         }
     }

satrs-example/src/config.rs

@@ -224,7 +224,6 @@ pub mod pool {
 
 pub mod tasks {
     pub const FREQ_MS_UDP_TMTC: u64 = 200;
-    pub const FREQ_MS_EVENT_HANDLING: u64 = 400;
     pub const FREQ_MS_AOCS: u64 = 500;
     pub const FREQ_MS_PUS_STACK: u64 = 200;
 }

satrs-example/src/interface/mod.rs

@@ -1,3 +1,4 @@
 //! This module contains all component related to the direct interface of the example.
+pub mod sim_client_udp;
 pub mod tcp;
 pub mod udp;

satrs-example/src/interface/sim_client_udp.rs

@@ -0,0 +1,172 @@
+use std::{
+    collections::HashMap,
+    net::{Ipv4Addr, SocketAddr, SocketAddrV4, UdpSocket},
+    sync::mpsc,
+    time::Duration,
+};
+
+use satrs_minisim::{udp::SIM_CTRL_PORT, SimComponent, SimMessageProvider, SimReply, SimRequest};
+use satrs_minisim::{SimCtrlReply, SimCtrlRequest};
+
+struct SimReplyMap(pub HashMap<SimComponent, mpsc::Sender<SimReply>>);
+
+pub fn create_sim_client(sim_request_rx: mpsc::Receiver<SimRequest>) -> Option<SimClientUdp> {
+    match SimClientUdp::new(
+        SocketAddr::V4(SocketAddrV4::new(Ipv4Addr::LOCALHOST, SIM_CTRL_PORT)),
+        sim_request_rx,
+    ) {
+        Ok(sim_client) => {
+            log::info!("simulator client connection success");
+            return Some(sim_client);
+        }
+        Err(e) => match e {
+            SimClientCreationResult::Io(e) => {
+                log::warn!("creating SIM client failed with io error {}", e);
+            }
+            SimClientCreationResult::Timeout => {
+                log::warn!("timeout when attempting connection to SIM client");
+            }
+            SimClientCreationResult::InvalidPingReply(reply) => {
+                log::warn!(
+                    "invalid ping reply when attempting connection to SIM client: {}",
+                    reply
+                );
+            }
+        },
+    }
+    None
+}
+
+#[derive(thiserror::Error, Debug)]
+pub enum SimClientCreationResult {
+    #[error("io error: {0}")]
+    Io(#[from] std::io::Error),
+    #[error("timeout when trying to connect to sim UDP server")]
+    Timeout,
+    #[error("invalid ping reply when trying connection to UDP sim server")]
+    InvalidPingReply(#[from] serde_json::Error),
+}
+
+pub struct SimClientUdp {
+    udp_client: UdpSocket,
+    simulator_addr: SocketAddr,
+    sim_request_rx: mpsc::Receiver<SimRequest>,
+    reply_map: SimReplyMap,
+    reply_buf: [u8; 4096],
+}
+
+impl SimClientUdp {
+    pub fn new(
+        simulator_addr: SocketAddr,
+        sim_request_rx: mpsc::Receiver<SimRequest>,
+    ) -> Result<Self, SimClientCreationResult> {
+        let mut reply_buf: [u8; 4096] = [0; 4096];
+        let udp_client = UdpSocket::bind("127.0.0.1:0")?;
+        udp_client.set_read_timeout(Some(Duration::from_millis(100)))?;
+        let sim_req = SimRequest::new_with_epoch_time(SimCtrlRequest::Ping);
+        let sim_req_json = serde_json::to_string(&sim_req).expect("failed to serialize SimRequest");
+        udp_client.send_to(sim_req_json.as_bytes(), simulator_addr)?;
+        match udp_client.recv(&mut reply_buf) {
+            Ok(reply_len) => {
+                let sim_reply: SimCtrlReply = serde_json::from_slice(&reply_buf[0..reply_len])?;
+                udp_client.set_read_timeout(None)?;
+                match sim_reply {
+                    SimCtrlReply::Pong => Ok(Self {
+                        udp_client,
+                        simulator_addr,
+                        sim_request_rx,
+                        reply_map: SimReplyMap(HashMap::new()),
+                        reply_buf,
+                    }),
+                    SimCtrlReply::InvalidRequest(_) => {
+                        panic!("received invalid request reply from UDP sim server")
+                    }
+                }
+            }
+            Err(e) => {
+                if e.kind() == std::io::ErrorKind::TimedOut
+                    || e.kind() == std::io::ErrorKind::WouldBlock
+                {
+                    Err(SimClientCreationResult::Timeout)
+                } else {
+                    Err(SimClientCreationResult::Io(e))
+                }
+            }
+        }
+    }
+
+    pub fn operation(&mut self) {
+        let mut no_sim_requests_handled = true;
+        let mut no_data_from_udp_server_received = true;
+        loop {
+            match self.sim_request_rx.try_recv() {
+                Ok(request) => {
+                    let request_json =
+                        serde_json::to_string(&request).expect("failed to serialize SimRequest");
+                    if let Err(e) = self
+                        .udp_client
+                        .send_to(request_json.as_bytes(), self.simulator_addr)
+                    {
+                        log::error!("error sending data to UDP SIM server: {}", e);
+                        break;
+                    } else {
+                        no_sim_requests_handled = false;
+                    }
+                }
+                Err(e) => match e {
+                    mpsc::TryRecvError::Empty => {
+                        break;
+                    }
+                    mpsc::TryRecvError::Disconnected => {
+                        log::warn!("SIM request sender disconnected");
+                        break;
+                    }
+                },
+            }
+        }
+        loop {
+            match self.udp_client.recv(&mut self.reply_buf) {
+                Ok(recvd_bytes) => {
+                    no_data_from_udp_server_received = false;
+                    let sim_reply_result: serde_json::Result<SimReply> =
+                        serde_json::from_slice(&self.reply_buf[0..recvd_bytes]);
+                    match sim_reply_result {
+                        Ok(sim_reply) => {
+                            if let Some(sender) = self.reply_map.0.get(&sim_reply.component()) {
+                                sender.send(sim_reply).expect("failed to send SIM reply");
+                            } else {
+                                log::warn!(
+                                    "no recipient for SIM reply from component {:?}",
+                                    sim_reply.component()
+                                );
+                            }
+                        }
+                        Err(e) => {
+                            log::warn!("failed to deserialize SIM reply: {}", e);
+                        }
+                    }
+                }
+                Err(e) => {
+                    if e.kind() == std::io::ErrorKind::WouldBlock
+                        || e.kind() == std::io::ErrorKind::TimedOut
+                    {
+                        break;
+                    }
+                    log::error!("error receiving data from UDP SIM server: {}", e);
+                    break;
+                }
+            }
+        }
+        if no_sim_requests_handled && no_data_from_udp_server_received {
+            std::thread::sleep(Duration::from_millis(5));
+        }
+    }
+
+    pub fn add_reply_recipient(
+        &mut self,
+        component: SimComponent,
+        reply_sender: mpsc::Sender<SimReply>,
+    ) {
+        self.reply_map.0.insert(component, reply_sender);
+    }
+}

satrs-example/src/lib.rs

@@ -9,12 +9,12 @@ pub enum DeviceMode {
     Normal = 2,
 }
 
-pub struct TimeStampHelper {
+pub struct TimestampHelper {
     stamper: CdsTime,
     time_stamp: [u8; 7],
 }
 
-impl TimeStampHelper {
+impl TimestampHelper {
     pub fn stamp(&self) -> &[u8] {
         &self.time_stamp
     }
@@ -29,7 +29,7 @@ impl TimeStampHelper {
     }
 }
 
-impl Default for TimeStampHelper {
+impl Default for TimestampHelper {
     fn default() -> Self {
         Self {
             stamper: CdsTime::now_with_u16_days().expect("creating time stamper failed"),

satrs-example/src/main.rs

@@ -19,12 +19,14 @@ use satrs::hal::std::udp_server::UdpTcServer;
 use satrs::request::GenericMessage;
 use satrs::tmtc::{PacketSenderWithSharedPool, SharedPacketPool};
 use satrs_example::config::pool::{create_sched_tc_pool, create_static_pools};
-use satrs_example::config::tasks::{
-    FREQ_MS_AOCS, FREQ_MS_EVENT_HANDLING, FREQ_MS_PUS_STACK, FREQ_MS_UDP_TMTC,
-};
+use satrs_example::config::tasks::{FREQ_MS_AOCS, FREQ_MS_PUS_STACK, FREQ_MS_UDP_TMTC};
 use satrs_example::config::{OBSW_SERVER_ADDR, PACKET_ID_VALIDATOR, SERVER_PORT};
 
-use crate::acs::mgm::{MgmHandlerLis3Mdl, MpscModeLeafInterface, SpiDummyInterface};
+use crate::acs::mgm::{
+    MgmHandlerLis3Mdl, MpscModeLeafInterface, 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::logger::setup_logger;
@@ -60,6 +62,10 @@ fn static_tmtc_pool_main() {
     let tm_sink_tx_sender =
         PacketSenderWithSharedPool::new(tm_sink_tx.clone(), shared_tm_pool_wrapper.clone());
 
+    let (sim_request_tx, sim_request_rx) = mpsc::channel();
+    let (mgm_sim_reply_tx, mgm_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::channel::<GenericMessage<CompositeRequest>>();
     let (mgm_handler_mode_tx, mgm_handler_mode_rx) = mpsc::channel::<GenericMessage<ModeRequest>>();
@@ -197,13 +203,22 @@ fn static_tmtc_pool_main() {
     let (mgm_handler_mode_reply_to_parent_tx, _mgm_handler_mode_reply_to_parent_rx) =
         mpsc::channel();
 
-    let dummy_spi_interface = SpiDummyInterface::default();
     let shared_mgm_set = Arc::default();
     let mode_leaf_interface = MpscModeLeafInterface {
         request_rx: mgm_handler_mode_rx,
         reply_tx_to_pus: pus_mode_reply_tx,
         reply_tx_to_parent: mgm_handler_mode_reply_to_parent_tx,
     };
+
+    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",
@@ -211,7 +226,7 @@ fn static_tmtc_pool_main() {
         mgm_handler_composite_rx,
         pus_hk_reply_tx,
         tm_sink_tx,
-        dummy_spi_interface,
+        mgm_spi_interface,
         shared_mgm_set,
     );
 
@@ -247,14 +262,18 @@ fn static_tmtc_pool_main() {
         })
         .unwrap();
 
-    info!("Starting event handling task");
-    let jh_event_handling = thread::Builder::new()
-        .name("sat-rs events".to_string())
-        .spawn(move || loop {
-            event_handler.periodic_operation();
-            thread::sleep(Duration::from_millis(FREQ_MS_EVENT_HANDLING));
-        })
-        .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 {
+                    sim_client.operation();
+                })
+                .unwrap(),
+        );
+    }
 
     info!("Starting AOCS thread");
     let jh_aocs = thread::Builder::new()
@@ -269,6 +288,7 @@ fn static_tmtc_pool_main() {
     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));
         })
@@ -283,9 +303,11 @@ fn static_tmtc_pool_main() {
     jh_tm_funnel
         .join()
         .expect("Joining TM Funnel thread failed");
-    jh_event_handling
-        .join()
-        .expect("Joining Event Manager 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_pus_handler
         .join()
@@ -298,6 +320,10 @@ fn dyn_tmtc_pool_main() {
     let (tm_funnel_tx, tm_funnel_rx) = mpsc::channel();
     let (tm_server_tx, tm_server_rx) = mpsc::channel();
 
+    let (sim_request_tx, sim_request_rx) = mpsc::channel();
+    let (mgm_sim_reply_tx, mgm_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::channel::<GenericMessage<CompositeRequest>>();
@@ -414,13 +440,22 @@ fn dyn_tmtc_pool_main() {
 
     let (mgm_handler_mode_reply_to_parent_tx, _mgm_handler_mode_reply_to_parent_rx) =
         mpsc::channel();
-    let dummy_spi_interface = SpiDummyInterface::default();
     let shared_mgm_set = Arc::default();
     let mode_leaf_interface = MpscModeLeafInterface {
         request_rx: mgm_handler_mode_rx,
         reply_tx_to_pus: pus_mode_reply_tx,
         reply_tx_to_parent: mgm_handler_mode_reply_to_parent_tx,
     };
+
+    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",
@@ -428,7 +463,7 @@ fn dyn_tmtc_pool_main() {
         mgm_handler_composite_rx,
         pus_hk_reply_tx,
         tm_funnel_tx,
-        dummy_spi_interface,
+        mgm_spi_interface,
         shared_mgm_set,
     );
 
@@ -464,14 +499,18 @@ fn dyn_tmtc_pool_main() {
         })
         .unwrap();
 
-    info!("Starting event handling task");
-    let jh_event_handling = thread::Builder::new()
-        .name("sat-rs events".to_string())
-        .spawn(move || loop {
-            event_handler.periodic_operation();
-            thread::sleep(Duration::from_millis(FREQ_MS_EVENT_HANDLING));
-        })
-        .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 {
+                    sim_client.operation();
+                })
+                .unwrap(),
+        );
+    }
 
     info!("Starting AOCS thread");
     let jh_aocs = thread::Builder::new()
@@ -487,6 +526,7 @@ fn dyn_tmtc_pool_main() {
         .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();
@@ -500,9 +540,11 @@ fn dyn_tmtc_pool_main() {
     jh_tm_funnel
         .join()
         .expect("Joining TM Funnel thread failed");
-    jh_event_handling
-        .join()
-        .expect("Joining Event Manager 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_pus_handler
         .join()

satrs-example/src/pus/mod.rs

@@ -19,7 +19,7 @@ use satrs::tmtc::{PacketAsVec, PacketInPool};
 use satrs::ComponentId;
 use satrs_example::config::components::PUS_ROUTING_SERVICE;
 use satrs_example::config::{tmtc_err, CustomPusServiceId};
-use satrs_example::TimeStampHelper;
+use satrs_example::TimestampHelper;
 use std::fmt::Debug;
 use std::sync::mpsc::{self, Sender};
 
@@ -53,7 +53,7 @@ pub struct PusTcDistributor<TmSender: EcssTmSender> {
     pub tm_sender: TmSender,
     pub verif_reporter: VerificationReporter,
     pub pus_router: PusTcMpscRouter,
-    stamp_helper: TimeStampHelper,
+    stamp_helper: TimestampHelper,
 }
 
 impl<TmSender: EcssTmSender> PusTcDistributor<TmSender> {
@@ -66,7 +66,7 @@ impl<TmSender: EcssTmSender> PusTcDistributor<TmSender> {
                 PUS_ROUTING_SERVICE.apid,
             ),
             pus_router,
-            stamp_helper: TimeStampHelper::default(),
+            stamp_helper: TimestampHelper::default(),
         }
     }