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;
+pub const NR_OF_DATA_AND_CFG_REGISTERS: usize = 14;
-// 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;
+// 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[X_LOWBYTE_IDX..X_LOWBYTE_IDX + 2].copy_from_slice(&self.dummy_val_0.to_le_bytes());
-        rx[2..4].copy_from_slice(&self.dummy_val_1.to_be_bytes());
+        rx[Y_LOWBYTE_IDX..Y_LOWBYTE_IDX + 2].copy_from_slice(&self.dummy_val_1.to_be_bytes());
-        rx[4..6].copy_from_slice(&self.dummy_val_2.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 x_raw = i16::from_le_bytes(
-            let y_raw = i16::from_be_bytes(self.rx_buf[3..5].try_into().unwrap());
+                self.rx_buf[X_LOWBYTE_IDX..X_LOWBYTE_IDX + 2]
-            let z_raw = i16::from_be_bytes(self.rx_buf[5..7].try_into().unwrap());
+                    .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.x =
-            mgm_guard.y = y_raw as f32 * GAUSS_TO_MICROTESLA_FACTOR * FIELD_LSB_PER_GAUSS_4_SENS;
+                x_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 * 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::{
+use satrs_example::config::tasks::{FREQ_MS_AOCS, FREQ_MS_PUS_STACK, FREQ_MS_UDP_TMTC};
-    FREQ_MS_AOCS, FREQ_MS_EVENT_HANDLING, 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 mut opt_jh_sim_client = None;
-    let jh_event_handling = thread::Builder::new()
+    if let Some(mut sim_client) = opt_sim_client {
-        .name("sat-rs events".to_string())
+        info!("Starting UDP sim client task");
+        opt_jh_sim_client = Some(
+            thread::Builder::new()
+                .name("sat-rs sim adapter".to_string())
                 .spawn(move || loop {
-            event_handler.periodic_operation();
+                    sim_client.operation();
-            thread::sleep(Duration::from_millis(FREQ_MS_EVENT_HANDLING));
                 })
-        .unwrap();
+                .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
+    if let Some(jh_sim_client) = opt_jh_sim_client {
+        jh_sim_client
             .join()
-        .expect("Joining Event Manager thread failed");
+            .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 mut opt_jh_sim_client = None;
-    let jh_event_handling = thread::Builder::new()
+    if let Some(mut sim_client) = opt_sim_client {
-        .name("sat-rs events".to_string())
+        info!("Starting UDP sim client task");
+        opt_jh_sim_client = Some(
+            thread::Builder::new()
+                .name("sat-rs sim adapter".to_string())
                 .spawn(move || loop {
-            event_handler.periodic_operation();
+                    sim_client.operation();
-            thread::sleep(Duration::from_millis(FREQ_MS_EVENT_HANDLING));
                 })
-        .unwrap();
+                .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
+    if let Some(jh_sim_client) = opt_jh_sim_client {
+        jh_sim_client
             .join()
-        .expect("Joining Event Manager thread failed");
+            .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(),
         }
     }
 

satrs-minisim/src/acs.rs

@@ -6,14 +6,17 @@ use asynchronix::{
 };
 use satrs::power::SwitchStateBinary;
 use satrs_minisim::{
-    acs::{MgmReply, MgmSensorValues, MgtDipole, MgtHkSet, MgtReply, MGT_GEN_MAGNETIC_FIELD},
+    acs::{
+        lis3mdl::MgmLis3MdlReply, MgmReplyCommon, MgmReplyProvider, MgmSensorValuesMicroTesla,
+        MgtDipole, MgtHkSet, MgtReply, MGT_GEN_MAGNETIC_FIELD,
+    },
     SimReply,
 };
 
 use crate::time::current_millis;
 
 // Earth magnetic field varies between -30 uT and 30 uT
-const AMPLITUDE_MGM: f32 = 0.03;
+const AMPLITUDE_MGM_UT: f32 = 30.0;
 // Lets start with a simple frequency here.
 const FREQUENCY_MGM: f32 = 1.0;
 const PHASE_X: f32 = 0.0;
@@ -31,30 +34,34 @@ const PHASE_Z: f32 = 0.2;
 /// 2. It would sample the magnetic field at a high fixed rate. This might not be possible for
 ///    a general purpose OS, but self self-sampling at a relatively high rate (20-40 ms) might
 ///    stil lbe possible.
-pub struct MagnetometerModel {
+pub struct MagnetometerModel<ReplyProvider: MgmReplyProvider> {
     pub switch_state: SwitchStateBinary,
     pub periodicity: Duration,
-    pub external_mag_field: Option<MgmSensorValues>,
+    pub external_mag_field: Option<MgmSensorValuesMicroTesla>,
     pub reply_sender: mpsc::Sender<SimReply>,
+    pub phatom: std::marker::PhantomData<ReplyProvider>,
 }
 
-impl MagnetometerModel {
+impl MagnetometerModel<MgmLis3MdlReply> {
-    pub fn new(periodicity: Duration, reply_sender: mpsc::Sender<SimReply>) -> Self {
+    pub fn new_for_lis3mdl(periodicity: Duration, reply_sender: mpsc::Sender<SimReply>) -> Self {
         Self {
             switch_state: SwitchStateBinary::Off,
             periodicity,
             external_mag_field: None,
             reply_sender,
+            phatom: std::marker::PhantomData,
+        }
     }
 }
 
+impl<ReplyProvider: MgmReplyProvider> MagnetometerModel<ReplyProvider> {
     pub async fn switch_device(&mut self, switch_state: SwitchStateBinary) {
         self.switch_state = switch_state;
     }
 
     pub async fn send_sensor_values(&mut self, _: (), scheduler: &Scheduler<Self>) {
         self.reply_sender
-            .send(SimReply::new(MgmReply {
+            .send(ReplyProvider::create_mgm_reply(MgmReplyCommon {
                 switch_state: self.switch_state,
                 sensor_values: self.calculate_current_mgm_tuple(current_millis(scheduler.time())),
             }))
@@ -63,23 +70,23 @@ impl MagnetometerModel {
 
     // Devices like magnetorquers generate a strong magnetic field which overrides the default
     // model for the measured magnetic field.
-    pub async fn apply_external_magnetic_field(&mut self, field: MgmSensorValues) {
+    pub async fn apply_external_magnetic_field(&mut self, field: MgmSensorValuesMicroTesla) {
         self.external_mag_field = Some(field);
     }
 
-    fn calculate_current_mgm_tuple(&self, time_ms: u64) -> MgmSensorValues {
+    fn calculate_current_mgm_tuple(&self, time_ms: u64) -> MgmSensorValuesMicroTesla {
         if SwitchStateBinary::On == self.switch_state {
             if let Some(ext_field) = self.external_mag_field {
                 return ext_field;
             }
             let base_sin_val = 2.0 * PI * FREQUENCY_MGM * (time_ms as f32 / 1000.0);
-            return MgmSensorValues {
+            return MgmSensorValuesMicroTesla {
-                x: AMPLITUDE_MGM * (base_sin_val + PHASE_X).sin(),
+                x: AMPLITUDE_MGM_UT * (base_sin_val + PHASE_X).sin(),
-                y: AMPLITUDE_MGM * (base_sin_val + PHASE_Y).sin(),
+                y: AMPLITUDE_MGM_UT * (base_sin_val + PHASE_Y).sin(),
-                z: AMPLITUDE_MGM * (base_sin_val + PHASE_Z).sin(),
+                z: AMPLITUDE_MGM_UT * (base_sin_val + PHASE_Z).sin(),
             };
         }
-        MgmSensorValues {
+        MgmSensorValuesMicroTesla {
             x: 0.0,
             y: 0.0,
             z: 0.0,
@@ -87,13 +94,13 @@ impl MagnetometerModel {
     }
 }
 
-impl Model for MagnetometerModel {}
+impl<ReplyProvider: MgmReplyProvider> Model for MagnetometerModel<ReplyProvider> {}
 
 pub struct MagnetorquerModel {
     switch_state: SwitchStateBinary,
     torquing: bool,
     torque_dipole: MgtDipole,
-    pub gen_magnetic_field: Output<MgmSensorValues>,
+    pub gen_magnetic_field: Output<MgmSensorValuesMicroTesla>,
     reply_sender: mpsc::Sender<SimReply>,
 }
 
@@ -153,7 +160,7 @@ impl MagnetorquerModel {
             .unwrap();
     }
 
-    fn calc_magnetic_field(&self, _: MgtDipole) -> MgmSensorValues {
+    fn calc_magnetic_field(&self, _: MgtDipole) -> MgmSensorValuesMicroTesla {
         // Simplified model: Just returns some fixed magnetic field for now.
         // Later, we could make this more fancy by incorporating the commanded dipole.
         MGT_GEN_MAGNETIC_FIELD
@@ -179,7 +186,10 @@ pub mod tests {
 
     use satrs::power::SwitchStateBinary;
     use satrs_minisim::{
-        acs::{MgmReply, MgmRequest, MgtDipole, MgtHkSet, MgtReply, MgtRequest},
+        acs::{
+            lis3mdl::{self, MgmLis3MdlReply},
+            MgmRequest, MgtDipole, MgtHkSet, MgtReply, MgtRequest,
+        },
         eps::PcduSwitch,
         SerializableSimMsgPayload, SimMessageProvider, SimRequest, SimTarget,
     };
@@ -198,13 +208,13 @@ pub mod tests {
         let sim_reply = sim_testbench.try_receive_next_reply();
         assert!(sim_reply.is_some());
         let sim_reply = sim_reply.unwrap();
-        assert_eq!(sim_reply.target(), SimTarget::Mgm);
+        assert_eq!(sim_reply.component(), SimTarget::MgmLis3Mdl);
-        let reply = MgmReply::from_sim_message(&sim_reply)
+        let reply = MgmLis3MdlReply::from_sim_message(&sim_reply)
             .expect("failed to deserialize MGM sensor values");
-        assert_eq!(reply.switch_state, SwitchStateBinary::Off);
+        assert_eq!(reply.common.switch_state, SwitchStateBinary::Off);
-        assert_eq!(reply.sensor_values.x, 0.0);
+        assert_eq!(reply.common.sensor_values.x, 0.0);
-        assert_eq!(reply.sensor_values.y, 0.0);
+        assert_eq!(reply.common.sensor_values.y, 0.0);
-        assert_eq!(reply.sensor_values.z, 0.0);
+        assert_eq!(reply.common.sensor_values.z, 0.0);
     }
 
     #[test]
@@ -221,8 +231,8 @@ pub mod tests {
         let mut sim_reply_res = sim_testbench.try_receive_next_reply();
         assert!(sim_reply_res.is_some());
         let mut sim_reply = sim_reply_res.unwrap();
-        assert_eq!(sim_reply.target(), SimTarget::Mgm);
+        assert_eq!(sim_reply.component(), SimTarget::MgmLis3Mdl);
-        let first_reply = MgmReply::from_sim_message(&sim_reply)
+        let first_reply = MgmLis3MdlReply::from_sim_message(&sim_reply)
             .expect("failed to deserialize MGM sensor values");
         sim_testbench.step_by(Duration::from_millis(50));
 
@@ -236,8 +246,24 @@ pub mod tests {
         assert!(sim_reply_res.is_some());
         sim_reply = sim_reply_res.unwrap();
 
-        let second_reply = MgmReply::from_sim_message(&sim_reply)
+        let second_reply = MgmLis3MdlReply::from_sim_message(&sim_reply)
             .expect("failed to deserialize MGM sensor values");
+        let x_conv_back = second_reply.raw.x as f32
+            * lis3mdl::FIELD_LSB_PER_GAUSS_4_SENS
+            * lis3mdl::GAUSS_TO_MICROTESLA_FACTOR as f32;
+        let y_conv_back = second_reply.raw.y as f32
+            * lis3mdl::FIELD_LSB_PER_GAUSS_4_SENS
+            * lis3mdl::GAUSS_TO_MICROTESLA_FACTOR as f32;
+        let z_conv_back = second_reply.raw.z as f32
+            * lis3mdl::FIELD_LSB_PER_GAUSS_4_SENS
+            * lis3mdl::GAUSS_TO_MICROTESLA_FACTOR as f32;
+        let diff_x = (second_reply.common.sensor_values.x - x_conv_back).abs();
+        assert!(diff_x < 0.01, "diff x too large: {}", diff_x);
+        let diff_y = (second_reply.common.sensor_values.y - y_conv_back).abs();
+        assert!(diff_y < 0.01, "diff y too large: {}", diff_y);
+        let diff_z = (second_reply.common.sensor_values.z - z_conv_back).abs();
+        assert!(diff_z < 0.01, "diff z too large: {}", diff_z);
+        // assert_eq!(second_reply.raw_reply, SwitchStateBinary::On);
         // Check that the values are changing.
         assert!(first_reply != second_reply);
     }

satrs-minisim/src/controller.rs

@@ -5,10 +5,10 @@ use asynchronix::{
     time::{Clock, MonotonicTime, SystemClock},
 };
 use satrs_minisim::{
-    acs::{MgmRequest, MgtRequest},
+    acs::{lis3mdl::MgmLis3MdlReply, MgmRequestLis3Mdl, MgtRequest},
     eps::PcduRequest,
-    SerializableSimMsgPayload, SimCtrlReply, SimCtrlRequest, SimMessageProvider, SimReply,
+    SerializableSimMsgPayload, SimComponent, SimCtrlReply, SimCtrlRequest, SimMessageProvider,
-    SimRequest, SimRequestError, SimTarget,
+    SimReply, SimRequest, SimRequestError,
 };
 
 use crate::{
@@ -22,7 +22,7 @@ pub struct SimController {
     pub request_receiver: mpsc::Receiver<SimRequest>,
     pub reply_sender: mpsc::Sender<SimReply>,
     pub simulation: Simulation,
-    pub mgm_addr: Address<MagnetometerModel>,
+    pub mgm_addr: Address<MagnetometerModel<MgmLis3MdlReply>>,
     pub pcdu_addr: Address<PcduModel>,
     pub mgt_addr: Address<MagnetorquerModel>,
 }
@@ -33,7 +33,7 @@ impl SimController {
         request_receiver: mpsc::Receiver<SimRequest>,
         reply_sender: mpsc::Sender<SimReply>,
         simulation: Simulation,
-        mgm_addr: Address<MagnetometerModel>,
+        mgm_addr: Address<MagnetometerModel<MgmLis3MdlReply>>,
         pcdu_addr: Address<PcduModel>,
         mgt_addr: Address<MagnetorquerModel>,
     ) -> Self {
@@ -70,11 +70,11 @@ impl SimController {
                     if request.timestamp < old_timestamp {
                         log::warn!("stale data with timestamp {:?} received", request.timestamp);
                     }
-                    if let Err(e) = match request.target() {
+                    if let Err(e) = match request.component() {
-                        SimTarget::SimCtrl => self.handle_ctrl_request(&request),
+                        SimComponent::SimCtrl => self.handle_ctrl_request(&request),
-                        SimTarget::Mgm => self.handle_mgm_request(&request),
+                        SimComponent::MgmLis3Mdl => self.handle_mgm_request(&request),
-                        SimTarget::Mgt => self.handle_mgt_request(&request),
+                        SimComponent::Mgt => self.handle_mgt_request(&request),
-                        SimTarget::Pcdu => self.handle_pcdu_request(&request),
+                        SimComponent::Pcdu => self.handle_pcdu_request(&request),
                     } {
                         self.handle_invalid_request_with_valid_target(e, &request)
                     }
@@ -100,10 +100,11 @@ impl SimController {
         }
         Ok(())
     }
+
     fn handle_mgm_request(&mut self, request: &SimRequest) -> Result<(), SimRequestError> {
-        let mgm_request = MgmRequest::from_sim_message(request)?;
+        let mgm_request = MgmRequestLis3Mdl::from_sim_message(request)?;
         match mgm_request {
-            MgmRequest::RequestSensorData => {
+            MgmRequestLis3Mdl::RequestSensorData => {
                 self.simulation.send_event(
                     MagnetometerModel::send_sensor_values,
                     (),
@@ -156,7 +157,7 @@ impl SimController {
     ) {
         log::warn!(
             "received invalid {:?} request: {:?}",
-            request.target(),
+            request.component(),
             error
         );
         self.reply_sender
@@ -183,7 +184,7 @@ mod tests {
         let sim_reply = sim_testbench.try_receive_next_reply();
         assert!(sim_reply.is_some());
         let sim_reply = sim_reply.unwrap();
-        assert_eq!(sim_reply.target(), SimTarget::SimCtrl);
+        assert_eq!(sim_reply.component(), SimComponent::SimCtrl);
         let reply = SimCtrlReply::from_sim_message(&sim_reply)
             .expect("failed to deserialize MGM sensor values");
         assert_eq!(reply, SimCtrlReply::Pong);

satrs-minisim/src/eps.rs

@@ -76,7 +76,7 @@ pub(crate) mod tests {
     use std::time::Duration;
 
     use satrs_minisim::{
-        eps::PcduRequest, SerializableSimMsgPayload, SimMessageProvider, SimRequest, SimTarget,
+        eps::PcduRequest, SerializableSimMsgPayload, SimComponent, SimMessageProvider, SimRequest,
     };
 
     use crate::test_helpers::SimTestbench;
@@ -122,7 +122,7 @@ pub(crate) mod tests {
         let sim_reply = sim_testbench.try_receive_next_reply();
         assert!(sim_reply.is_some());
         let sim_reply = sim_reply.unwrap();
-        assert_eq!(sim_reply.target(), SimTarget::Pcdu);
+        assert_eq!(sim_reply.component(), SimComponent::Pcdu);
         let pcdu_reply = PcduReply::from_sim_message(&sim_reply)
             .expect("failed to deserialize PCDU switch info");
         match pcdu_reply {
@@ -157,7 +157,7 @@ pub(crate) mod tests {
         let sim_reply = sim_testbench.try_receive_next_reply();
         assert!(sim_reply.is_some());
         let sim_reply = sim_reply.unwrap();
-        assert_eq!(sim_reply.target(), SimTarget::Pcdu);
+        assert_eq!(sim_reply.component(), SimComponent::Pcdu);
         let pcdu_reply = PcduReply::from_sim_message(&sim_reply)
             .expect("failed to deserialize PCDU switch info");
         match pcdu_reply {

satrs-minisim/src/lib.rs

@@ -1,19 +1,17 @@
 use asynchronix::time::MonotonicTime;
 use serde::{de::DeserializeOwned, Deserialize, Serialize};
 
-pub const SIM_CTRL_UDP_PORT: u16 = 7303;
+#[derive(Debug, Copy, Clone, PartialEq, Eq, Serialize, Deserialize, Hash)]
-
+pub enum SimComponent {
-#[derive(Debug, Copy, Clone, PartialEq, Eq, Serialize, Deserialize)]
-pub enum SimTarget {
     SimCtrl,
-    Mgm,
+    MgmLis3Mdl,
     Mgt,
     Pcdu,
 }
 
 #[derive(Debug, Clone, PartialEq, Eq, Serialize, Deserialize)]
 pub struct SimMessage {
-    pub target: SimTarget,
+    pub target: SimComponent,
     pub payload: String,
 }
 
@@ -37,10 +35,10 @@ pub enum SimMessageType {
 pub trait SerializableSimMsgPayload<P: SimMessageProvider>:
     Serialize + DeserializeOwned + Sized
 {
-    const TARGET: SimTarget;
+    const TARGET: SimComponent;
 
     fn from_sim_message(sim_message: &P) -> Result<Self, SimMessageError<P>> {
-        if sim_message.target() == Self::TARGET {
+        if sim_message.component() == Self::TARGET {
             return Ok(serde_json::from_str(sim_message.payload())?);
         }
         Err(SimMessageError::TargetRequestMissmatch(sim_message.clone()))
@@ -49,7 +47,7 @@ pub trait SerializableSimMsgPayload<P: SimMessageProvider>:
 
 pub trait SimMessageProvider: Serialize + DeserializeOwned + Clone + Sized {
     fn msg_type(&self) -> SimMessageType;
-    fn target(&self) -> SimTarget;
+    fn component(&self) -> SimComponent;
     fn payload(&self) -> &String;
     fn from_raw_data(data: &[u8]) -> serde_json::Result<Self> {
         serde_json::from_slice(data)
@@ -78,7 +76,7 @@ impl SimRequest {
 }
 
 impl SimMessageProvider for SimRequest {
-    fn target(&self) -> SimTarget {
+    fn component(&self) -> SimComponent {
         self.inner.target
     }
     fn payload(&self) -> &String {
@@ -109,7 +107,7 @@ impl SimReply {
 }
 
 impl SimMessageProvider for SimReply {
-    fn target(&self) -> SimTarget {
+    fn component(&self) -> SimComponent {
         self.inner.target
     }
     fn payload(&self) -> &String {
@@ -126,7 +124,7 @@ pub enum SimCtrlRequest {
 }
 
 impl SerializableSimMsgPayload<SimRequest> for SimCtrlRequest {
-    const TARGET: SimTarget = SimTarget::SimCtrl;
+    const TARGET: SimComponent = SimComponent::SimCtrl;
 }
 
 pub type SimReplyError = SimMessageError<SimReply>;
@@ -151,7 +149,7 @@ pub enum SimCtrlReply {
 }
 
 impl SerializableSimMsgPayload<SimReply> for SimCtrlReply {
-    const TARGET: SimTarget = SimTarget::SimCtrl;
+    const TARGET: SimComponent = SimComponent::SimCtrl;
 }
 
 impl From<SimRequestError> for SimCtrlReply {
@@ -184,7 +182,7 @@ pub mod eps {
     }
 
     impl SerializableSimMsgPayload<SimRequest> for PcduRequest {
-        const TARGET: SimTarget = SimTarget::Pcdu;
+        const TARGET: SimComponent = SimComponent::Pcdu;
     }
 
     #[derive(Debug, Clone, Serialize, Deserialize)]
@@ -193,7 +191,7 @@ pub mod eps {
     }
 
     impl SerializableSimMsgPayload<SimReply> for PcduReply {
-        const TARGET: SimTarget = SimTarget::Pcdu;
+        const TARGET: SimComponent = SimComponent::Pcdu;
     }
 }
 
@@ -204,41 +202,104 @@ pub mod acs {
 
     use super::*;
 
+    pub trait MgmReplyProvider: Send + 'static {
+        fn create_mgm_reply(common: MgmReplyCommon) -> SimReply;
+    }
+
     #[derive(Debug, Copy, Clone, Serialize, Deserialize)]
-    pub enum MgmRequest {
+    pub enum MgmRequestLis3Mdl {
         RequestSensorData,
     }
 
-    impl SerializableSimMsgPayload<SimRequest> for MgmRequest {
+    impl SerializableSimMsgPayload<SimRequest> for MgmRequestLis3Mdl {
-        const TARGET: SimTarget = SimTarget::Mgm;
+        const TARGET: SimComponent = SimComponent::MgmLis3Mdl;
     }
 
     // Normally, small magnetometers generate their output as a signed 16 bit raw format or something
     // similar which needs to be converted to a signed float value with physical units. We will
-    // simplify this now and generate the signed float values directly.
+    // simplify this now and generate the signed float values directly. The unit is micro tesla.
     #[derive(Debug, Copy, Clone, PartialEq, Serialize, Deserialize)]
-    pub struct MgmSensorValues {
+    pub struct MgmSensorValuesMicroTesla {
         pub x: f32,
         pub y: f32,
         pub z: f32,
     }
 
     #[derive(Debug, Copy, Clone, PartialEq, Serialize, Deserialize)]
-    pub struct MgmReply {
+    pub struct MgmReplyCommon {
         pub switch_state: SwitchStateBinary,
-        pub sensor_values: MgmSensorValues,
+        pub sensor_values: MgmSensorValuesMicroTesla,
     }
 
-    impl SerializableSimMsgPayload<SimReply> for MgmReply {
+    pub const MGT_GEN_MAGNETIC_FIELD: MgmSensorValuesMicroTesla = MgmSensorValuesMicroTesla {
-        const TARGET: SimTarget = SimTarget::Mgm;
+        x: 30.0,
-    }
+        y: -30.0,
-
+        z: 30.0,
-    pub const MGT_GEN_MAGNETIC_FIELD: MgmSensorValues = MgmSensorValues {
-        x: 0.03,
-        y: -0.03,
-        z: 0.03,
     };
 
+    pub mod lis3mdl {
+        use super::*;
+
+        // Field data register scaling
+        pub const GAUSS_TO_MICROTESLA_FACTOR: u32 = 100;
+        pub const FIELD_LSB_PER_GAUSS_4_SENS: f32 = 1.0 / 6842.0;
+        pub const FIELD_LSB_PER_GAUSS_8_SENS: f32 = 1.0 / 3421.0;
+        pub const FIELD_LSB_PER_GAUSS_12_SENS: f32 = 1.0 / 2281.0;
+        pub const FIELD_LSB_PER_GAUSS_16_SENS: f32 = 1.0 / 1711.0;
+
+        #[derive(Debug, Copy, Clone, PartialEq, Serialize, Deserialize)]
+        pub struct MgmLis3RawValues {
+            pub x: i16,
+            pub y: i16,
+            pub z: i16,
+        }
+
+        #[derive(Debug, Copy, Clone, PartialEq, Serialize, Deserialize)]
+        pub struct MgmLis3MdlReply {
+            pub common: MgmReplyCommon,
+            // Raw sensor values which are transmitted by the LIS3 device in little-endian
+            // order.
+            pub raw: MgmLis3RawValues,
+        }
+
+        impl MgmLis3MdlReply {
+            pub fn new(common: MgmReplyCommon) -> Self {
+                let mut raw_reply: [u8; 7] = [0; 7];
+                let raw_x: i16 = (common.sensor_values.x
+                    / (GAUSS_TO_MICROTESLA_FACTOR as f32 * FIELD_LSB_PER_GAUSS_4_SENS))
+                    .round() as i16;
+                let raw_y: i16 = (common.sensor_values.y
+                    / (GAUSS_TO_MICROTESLA_FACTOR as f32 * FIELD_LSB_PER_GAUSS_4_SENS))
+                    .round() as i16;
+                let raw_z: i16 = (common.sensor_values.z
+                    / (GAUSS_TO_MICROTESLA_FACTOR as f32 * FIELD_LSB_PER_GAUSS_4_SENS))
+                    .round() as i16;
+                // The first byte is a dummy byte.
+                raw_reply[1..3].copy_from_slice(&raw_x.to_be_bytes());
+                raw_reply[3..5].copy_from_slice(&raw_y.to_be_bytes());
+                raw_reply[5..7].copy_from_slice(&raw_z.to_be_bytes());
+                Self {
+                    common,
+                    raw: MgmLis3RawValues {
+                        x: raw_x,
+                        y: raw_y,
+                        z: raw_z,
+                    },
+                }
+            }
+        }
+
+        impl SerializableSimMsgPayload<SimReply> for MgmLis3MdlReply {
+            const TARGET: SimComponent = SimComponent::MgmLis3Mdl;
+        }
+
+        impl MgmReplyProvider for MgmLis3MdlReply {
+            fn create_mgm_reply(common: MgmReplyCommon) -> SimReply {
+                SimReply::new(Self::new(common))
+            }
+        }
+    }
+
     // Simple model using i16 values.
     #[derive(Default, Debug, Copy, Clone, PartialEq, Eq, Serialize, Deserialize)]
     pub struct MgtDipole {
@@ -262,7 +323,7 @@ pub mod acs {
     }
 
     impl SerializableSimMsgPayload<SimRequest> for MgtRequest {
-        const TARGET: SimTarget = SimTarget::Mgt;
+        const TARGET: SimComponent = SimComponent::Mgt;
     }
 
     #[derive(Debug, Copy, Clone, PartialEq, Eq, Serialize, Deserialize)]
@@ -279,78 +340,12 @@ pub mod acs {
     }
 
     impl SerializableSimMsgPayload<SimReply> for MgtReply {
-        const TARGET: SimTarget = SimTarget::Mgm;
+        const TARGET: SimComponent = SimComponent::MgmLis3Mdl;
     }
 }
 
 pub mod udp {
-    use std::{
+    pub const SIM_CTRL_PORT: u16 = 7303;
-        net::{SocketAddr, UdpSocket},
-        time::Duration,
-    };
-
-    use thiserror::Error;
-
-    use crate::{SimReply, SimRequest};
-
-    #[derive(Error, Debug)]
-    pub enum ReceptionError {
-        #[error("IO error: {0}")]
-        Io(#[from] std::io::Error),
-        #[error("Serde JSON error: {0}")]
-        SerdeJson(#[from] serde_json::Error),
-    }
-
-    pub struct SimUdpClient {
-        socket: UdpSocket,
-        pub reply_buf: [u8; 4096],
-    }
-
-    impl SimUdpClient {
-        pub fn new(
-            server_addr: &SocketAddr,
-            non_blocking: bool,
-            read_timeot_ms: Option<u64>,
-        ) -> std::io::Result<Self> {
-            let socket = UdpSocket::bind("127.0.0.1:0")?;
-            socket.set_nonblocking(non_blocking)?;
-            socket
-                .connect(server_addr)
-                .expect("could not connect to server addr");
-            if let Some(read_timeout) = read_timeot_ms {
-                // Set a read timeout so the test does not hang on failures.
-                socket.set_read_timeout(Some(Duration::from_millis(read_timeout)))?;
-            }
-            Ok(Self {
-                socket,
-                reply_buf: [0; 4096],
-            })
-        }
-
-        pub fn set_nonblocking(&self, non_blocking: bool) -> std::io::Result<()> {
-            self.socket.set_nonblocking(non_blocking)
-        }
-
-        pub fn set_read_timeout(&self, read_timeout_ms: u64) -> std::io::Result<()> {
-            self.socket
-                .set_read_timeout(Some(Duration::from_millis(read_timeout_ms)))
-        }
-
-        pub fn send_request(&self, sim_request: &SimRequest) -> std::io::Result<usize> {
-            self.socket.send(
-                &serde_json::to_vec(sim_request).expect("conversion of request to vector failed"),
-            )
-        }
-
-        pub fn recv_raw(&mut self) -> std::io::Result<usize> {
-            self.socket.recv(&mut self.reply_buf)
-        }
-
-        pub fn recv_sim_reply(&mut self) -> Result<SimReply, ReceptionError> {
-            let read_len = self.recv_raw()?;
-            Ok(serde_json::from_slice(&self.reply_buf[0..read_len])?)
-        }
-    }
 }
 
 #[cfg(test)]
@@ -363,7 +358,7 @@ pub mod tests {
     }
 
     impl SerializableSimMsgPayload<SimRequest> for DummyRequest {
-        const TARGET: SimTarget = SimTarget::SimCtrl;
+        const TARGET: SimComponent = SimComponent::SimCtrl;
     }
 
     #[derive(Debug, Copy, Clone, PartialEq, Eq, Serialize, Deserialize)]
@@ -372,13 +367,13 @@ pub mod tests {
     }
 
     impl SerializableSimMsgPayload<SimReply> for DummyReply {
-        const TARGET: SimTarget = SimTarget::SimCtrl;
+        const TARGET: SimComponent = SimComponent::SimCtrl;
     }
 
     #[test]
     fn test_basic_request() {
         let sim_request = SimRequest::new_with_epoch_time(DummyRequest::Ping);
-        assert_eq!(sim_request.target(), SimTarget::SimCtrl);
+        assert_eq!(sim_request.component(), SimComponent::SimCtrl);
         assert_eq!(sim_request.msg_type(), SimMessageType::Request);
         let dummy_request =
             DummyRequest::from_sim_message(&sim_request).expect("deserialization failed");
@@ -388,7 +383,7 @@ pub mod tests {
     #[test]
     fn test_basic_reply() {
         let sim_reply = SimReply::new(DummyReply::Pong);
-        assert_eq!(sim_reply.target(), SimTarget::SimCtrl);
+        assert_eq!(sim_reply.component(), SimComponent::SimCtrl);
         assert_eq!(sim_reply.msg_type(), SimMessageType::Reply);
         let dummy_request =
             DummyReply::from_sim_message(&sim_reply).expect("deserialization failed");

satrs-minisim/src/main.rs

@@ -3,7 +3,8 @@ use asynchronix::simulation::{Mailbox, SimInit};
 use asynchronix::time::{MonotonicTime, SystemClock};
 use controller::SimController;
 use eps::PcduModel;
-use satrs_minisim::{SimReply, SimRequest, SIM_CTRL_UDP_PORT};
+use satrs_minisim::udp::SIM_CTRL_PORT;
+use satrs_minisim::{SimReply, SimRequest};
 use std::sync::mpsc;
 use std::thread;
 use std::time::{Duration, SystemTime};
@@ -30,7 +31,8 @@ fn create_sim_controller(
     request_receiver: mpsc::Receiver<SimRequest>,
 ) -> SimController {
     // Instantiate models and their mailboxes.
-    let mgm_model = MagnetometerModel::new(Duration::from_millis(50), reply_sender.clone());
+    let mgm_model =
+        MagnetometerModel::new_for_lis3mdl(Duration::from_millis(50), reply_sender.clone());
 
     let mgm_mailbox = Mailbox::new();
     let mgm_addr = mgm_mailbox.address();
@@ -112,9 +114,9 @@ fn main() {
     });
 
     let mut udp_server =
-        SimUdpServer::new(SIM_CTRL_UDP_PORT, request_sender, reply_receiver, 200, None)
+        SimUdpServer::new(SIM_CTRL_PORT, request_sender, reply_receiver, 200, None)
             .expect("could not create UDP request server");
-    log::info!("starting UDP server on port {}", SIM_CTRL_UDP_PORT);
+    log::info!("starting UDP server on port {}", SIM_CTRL_PORT);
     // This thread manages the simulator UDP server.
     let udp_tc_thread = thread::spawn(move || {
         udp_server.run();