continue PCDU

satrs-example/src/config.rs

@@ -132,6 +132,7 @@ pub mod components {
         Acs = 3,
         Cfdp = 4,
         Tmtc = 5,
+        Eps = 6,
     }
 
     // Component IDs for components with the PUS APID.
@@ -150,6 +151,11 @@ pub mod components {
         Mgm0 = 0,
     }
 
+    #[derive(Copy, Clone, PartialEq, Eq)]
+    pub enum EpsId {
+        Pcdu = 0,
+    }
+
     #[derive(Copy, Clone, PartialEq, Eq)]
     pub enum TmtcId {
         UdpServer = 0,
@@ -172,6 +178,8 @@ pub mod components {
         UniqueApidTargetId::new(Apid::Sched as u16, 0);
     pub const MGM_HANDLER_0: UniqueApidTargetId =
         UniqueApidTargetId::new(Apid::Acs as u16, AcsId::Mgm0 as u32);
+    pub const PCDU_HANDLER: UniqueApidTargetId =
+        UniqueApidTargetId::new(Apid::Eps as u16, EpsId::Pcdu as u32);
     pub const UDP_SERVER: UniqueApidTargetId =
         UniqueApidTargetId::new(Apid::Tmtc as u16, TmtcId::UdpServer as u32);
     pub const TCP_SERVER: UniqueApidTargetId =

satrs-example/src/eps/pcdu.rs

@@ -1,5 +1,6 @@
 use std::{
-    collections::HashMap,
+    cell::RefCell,
+    collections::VecDeque,
     sync::{mpsc, Arc, Mutex},
 };
 
@@ -7,13 +8,16 @@ use derive_new::new;
 use satrs::{
     hk::{HkRequest, HkRequestVariant},
     mode::{ModeAndSubmode, ModeError, ModeProvider, ModeReply, ModeRequestHandler},
-    power::SwitchState,
+    power::{SwitchState, SwitchStateBinary},
     pus::EcssTmSender,
     queue::{GenericSendError, GenericTargetedMessagingError},
     request::{GenericMessage, MessageMetadata, UniqueApidTargetId},
 };
 use satrs_example::{config::components::PUS_MODE_SERVICE, DeviceMode, TimestampHelper};
-use satrs_minisim::{SimReply, SimRequest};
+use satrs_minisim::{
+    eps::{PcduReply, PcduRequest, SwitchMap, SwitchMapWrapper},
+    SerializableSimMsgPayload, SimReply, SimRequest,
+};
 
 use crate::{acs::mgm::MpscModeLeafInterface, pus::hk::HkReply, requests::CompositeRequest};
 
@@ -29,12 +33,13 @@ pub trait SerialInterface {
     ) -> Result<(), Self::Error>;
 }
 
-pub struct SimSerialInterface {
+#[derive(new)]
+pub struct SerialInterfaceToSim {
     pub sim_request_tx: mpsc::Sender<SimRequest>,
     pub sim_reply_rx: mpsc::Receiver<SimReply>,
 }
 
-impl SerialInterface for SimSerialInterface {
+impl SerialInterface for SerialInterfaceToSim {
     type Error = ();
 
     fn send(&self, data: &[u8]) -> Result<(), Self::Error> {
@@ -68,27 +73,112 @@ impl SerialInterface for SimSerialInterface {
     }
 }
 
+#[derive(Default)]
+pub struct SerialInterfaceDummy {
+    // Need interior mutability here for both fields.
+    pub switch_map: RefCell<SwitchMapWrapper>,
+    pub reply_deque: RefCell<VecDeque<SimReply>>,
+}
+
+impl SerialInterface for SerialInterfaceDummy {
+    type Error = ();
+
+    fn send(&self, data: &[u8]) -> Result<(), Self::Error> {
+        let sim_req: SimRequest = serde_json::from_slice(data).unwrap();
+        let pcdu_req =
+            PcduRequest::from_sim_message(&sim_req).expect("PCDU request creation failed");
+        let switch_map_mut = &mut self.switch_map.borrow_mut().0;
+        match pcdu_req {
+            PcduRequest::SwitchDevice { switch, state } => {
+                match switch_map_mut.entry(switch) {
+                    std::collections::hash_map::Entry::Occupied(mut val) => {
+                        match state {
+                            SwitchStateBinary::Off => {
+                                *val.get_mut() = SwitchState::Off;
+                            }
+                            SwitchStateBinary::On => {
+                                *val.get_mut() = SwitchState::On;
+                            }
+                        };
+                    }
+                    std::collections::hash_map::Entry::Vacant(vacant) => {
+                        match state {
+                            SwitchStateBinary::Off => vacant.insert(SwitchState::Off),
+                            SwitchStateBinary::On => vacant.insert(SwitchState::On),
+                        };
+                    }
+                };
+            }
+            PcduRequest::RequestSwitchInfo => {
+                let mut reply_deque_mut = self.reply_deque.borrow_mut();
+                reply_deque_mut.push_back(SimReply::new(&PcduReply::SwitchInfo(
+                    self.switch_map.borrow().0.clone(),
+                )));
+            }
+        };
+        Ok(())
+    }
+
+    fn try_recv_replies<ReplyHandler: FnMut(&[u8])>(
+        &self,
+        mut f: ReplyHandler,
+    ) -> Result<(), Self::Error> {
+        if self.reply_deque.borrow().is_empty() {
+            return Ok(());
+        }
+        loop {
+            let mut reply_deque_mut = self.reply_deque.borrow_mut();
+            let next_reply = reply_deque_mut.pop_front().unwrap();
+            let reply = serde_json::to_string(&next_reply).unwrap();
+            f(reply.as_bytes());
+            if reply_deque_mut.is_empty() {
+                break;
+            }
+        }
+        Ok(())
+    }
+}
+
+pub enum SerialSimInterfaceWrapper {
+    Dummy(SerialInterfaceDummy),
+    Sim(SerialInterfaceToSim),
+}
+
+impl SerialInterface for SerialSimInterfaceWrapper {
+    type Error = ();
+
+    fn send(&self, data: &[u8]) -> Result<(), Self::Error> {
+        match self {
+            SerialSimInterfaceWrapper::Dummy(dummy) => dummy.send(data),
+            SerialSimInterfaceWrapper::Sim(sim) => sim.send(data),
+        }
+    }
+
+    fn try_recv_replies<ReplyHandler: FnMut(&[u8])>(
+        &self,
+        f: ReplyHandler,
+    ) -> Result<(), Self::Error> {
+        match self {
+            SerialSimInterfaceWrapper::Dummy(dummy) => dummy.try_recv_replies(f),
+            SerialSimInterfaceWrapper::Sim(sim) => sim.try_recv_replies(f),
+        }
+    }
+}
+
 #[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,
-    Mgt = 1,
-}
-
-pub type SwitchMap = HashMap<SwitchId, SwitchState>;
-
-#[derive(Clone, PartialEq, Eq)]
+#[derive(Clone, PartialEq, Eq, Default)]
 pub struct SwitchSet {
     pub valid: bool,
     pub switch_map: SwitchMap,
 }
 
+pub type SharedSwitchSet = Arc<Mutex<SwitchSet>>;
+
 /// Example PCDU device handler.
 #[derive(new)]
 #[allow(clippy::too_many_arguments)]

satrs-example/src/main.rs

@@ -8,6 +8,9 @@ mod pus;
 mod requests;
 mod tmtc;
 
+use crate::eps::pcdu::{
+    PcduHandler, SerialInterfaceDummy, SerialInterfaceToSim, SerialSimInterfaceWrapper,
+};
 use crate::events::EventHandler;
 use crate::interface::udp::DynamicUdpTmHandler;
 use crate::pus::stack::PusStack;
@@ -45,7 +48,7 @@ use crate::requests::{CompositeRequest, GenericRequestRouter};
 use satrs::mode::ModeRequest;
 use satrs::pus::event_man::EventRequestWithToken;
 use satrs::spacepackets::{time::cds::CdsTime, time::TimeWriter};
-use satrs_example::config::components::{MGM_HANDLER_0, TCP_SERVER, UDP_SERVER};
+use satrs_example::config::components::{MGM_HANDLER_0, PCDU_HANDLER, TCP_SERVER, UDP_SERVER};
 use std::net::{IpAddr, SocketAddr};
 use std::sync::mpsc;
 use std::sync::{Arc, RwLock};
@@ -68,11 +71,17 @@ fn static_tmtc_pool_main() {
 
     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::channel::<GenericMessage<CompositeRequest>>();
+    let (pcdu_handler_composite_tx, pcdu_handler_composite_rx) =
+        mpsc::channel::<GenericMessage<CompositeRequest>>();
+
     let (mgm_handler_mode_tx, mgm_handler_mode_rx) = mpsc::channel::<GenericMessage<ModeRequest>>();
+    let (pcdu_handler_mode_tx, pcdu_handler_mode_rx) =
+        mpsc::channel::<GenericMessage<ModeRequest>>();
 
     // Some request are targetable. This map is used to retrieve sender handles based on a target ID.
     let mut request_map = GenericRequestRouter::default();
@@ -82,6 +91,12 @@ fn static_tmtc_pool_main() {
     request_map
         .mode_router_map
         .insert(MGM_HANDLER_0.id(), mgm_handler_mode_tx);
+    request_map
+        .composite_router_map
+        .insert(PCDU_HANDLER.id(), pcdu_handler_composite_tx);
+    request_map
+        .mode_router_map
+        .insert(PCDU_HANDLER.id(), pcdu_handler_mode_tx);
 
     // This helper structure is used by all telecommand providers which need to send telecommands
     // to the TC source.
@@ -207,10 +222,11 @@ fn static_tmtc_pool_main() {
     let (mgm_handler_mode_reply_to_parent_tx, _mgm_handler_mode_reply_to_parent_rx) =
         mpsc::channel();
 
+    let shared_switch_set = Arc::default();
     let shared_mgm_set = Arc::default();
-    let mode_leaf_interface = MpscModeLeafInterface {
+    let mgm_mode_leaf_interface = MpscModeLeafInterface {
         request_rx: mgm_handler_mode_rx,
-        reply_to_pus_tx: pus_mode_reply_tx,
+        reply_to_pus_tx: pus_mode_reply_tx.clone(),
         reply_to_parent_tx: mgm_handler_mode_reply_to_parent_tx,
     };
 
@@ -226,14 +242,41 @@ fn static_tmtc_pool_main() {
     let mut mgm_handler = MgmHandlerLis3Mdl::new(
         MGM_HANDLER_0,
         "MGM_0",
-        mode_leaf_interface,
+        mgm_mode_leaf_interface,
         mgm_handler_composite_rx,
-        pus_hk_reply_tx,
-        tm_sink_tx,
+        pus_hk_reply_tx.clone(),
+        tm_sink_tx.clone(),
         mgm_spi_interface,
         shared_mgm_set,
     );
 
+    let (pcdu_handler_mode_reply_to_parent_tx, _pcdu_handler_mode_reply_to_parent_rx) =
+        mpsc::channel();
+    let pcdu_mode_leaf_interface = MpscModeLeafInterface {
+        request_rx: pcdu_handler_mode_rx,
+        reply_to_pus_tx: pus_mode_reply_tx,
+        reply_to_parent_tx: pcdu_handler_mode_reply_to_parent_tx,
+    };
+    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_leaf_interface,
+        pcdu_handler_composite_rx,
+        pus_hk_reply_tx,
+        tm_sink_tx,
+        pcdu_serial_interface,
+        shared_switch_set,
+    );
+
     info!("Starting TMTC and UDP task");
     let jh_udp_tmtc = thread::Builder::new()
         .name("SATRS tmtc-udp".to_string())
@@ -290,6 +333,21 @@ fn static_tmtc_pool_main() {
         })
         .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())
@@ -315,6 +373,7 @@ fn static_tmtc_pool_main() {
             .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");
@@ -328,6 +387,7 @@ fn dyn_tmtc_pool_main() {
 
     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.

satrs-minisim/Cargo.toml

@@ -11,6 +11,7 @@ serde_json = "1"
 log = "0.4"
 thiserror = "1"
 fern = "0.5"
+strum = { version = "0.26", features = ["derive"] }
 humantime = "2"
 
 [dependencies.asynchronix]

satrs-minisim/src/eps.rs

@@ -1,4 +1,4 @@
-use std::{collections::HashMap, sync::mpsc, time::Duration};
+use std::{sync::mpsc, time::Duration};
 
 use asynchronix::{
     model::{Model, Output},
@@ -6,14 +6,14 @@ use asynchronix::{
 };
 use satrs::power::SwitchStateBinary;
 use satrs_minisim::{
-    eps::{PcduReply, PcduSwitch, SwitchMap},
+    eps::{PcduReply, PcduSwitch, SwitchMapBinaryWrapper},
     SimReply,
 };
 
 pub const SWITCH_INFO_DELAY_MS: u64 = 10;
 
 pub struct PcduModel {
-    pub switcher_map: SwitchMap,
+    pub switcher_map: SwitchMapBinaryWrapper,
     pub mgm_switch: Output<SwitchStateBinary>,
     pub mgt_switch: Output<SwitchStateBinary>,
     pub reply_sender: mpsc::Sender<SimReply>,
@@ -21,12 +21,8 @@ pub struct PcduModel {
 
 impl PcduModel {
     pub fn new(reply_sender: mpsc::Sender<SimReply>) -> Self {
-        let mut switcher_map = HashMap::new();
-        switcher_map.insert(PcduSwitch::Mgm, SwitchStateBinary::Off);
-        switcher_map.insert(PcduSwitch::Mgt, SwitchStateBinary::Off);
-
         Self {
-            switcher_map,
+            switcher_map: Default::default(),
             mgm_switch: Output::new(),
             mgt_switch: Output::new(),
             reply_sender,
@@ -44,7 +40,7 @@ impl PcduModel {
     }
 
     pub fn send_switch_info(&mut self) {
-        let reply = SimReply::new(&PcduReply::SwitchInfo(self.switcher_map.clone()));
+        let reply = SimReply::new(&PcduReply::SwitchInfo(self.switcher_map.0.clone()));
         self.reply_sender.send(reply).unwrap();
     }
 
@@ -54,6 +50,7 @@ impl PcduModel {
     ) {
         let val = self
             .switcher_map
+            .0
             .get_mut(&switch_and_target_state.0)
             .unwrap_or_else(|| panic!("switch {:?} not found", switch_and_target_state.0));
         *val = switch_and_target_state.1;
@@ -76,7 +73,8 @@ pub(crate) mod tests {
     use std::time::Duration;
 
     use satrs_minisim::{
-        eps::PcduRequest, SerializableSimMsgPayload, SimComponent, SimMessageProvider, SimRequest,
+        eps::{PcduRequest, SwitchMapBinary},
+        SerializableSimMsgPayload, SimComponent, SimMessageProvider, SimRequest,
     };
 
     use crate::test_helpers::SimTestbench;
@@ -105,14 +103,11 @@ pub(crate) mod tests {
         switch_device(sim_testbench, switch, SwitchStateBinary::On);
     }
 
-    pub(crate) fn get_all_off_switch_map() -> SwitchMap {
-        let mut switcher_map = SwitchMap::new();
-        switcher_map.insert(super::PcduSwitch::Mgm, super::SwitchStateBinary::Off);
-        switcher_map.insert(super::PcduSwitch::Mgt, super::SwitchStateBinary::Off);
-        switcher_map
+    pub(crate) fn get_all_off_switch_map() -> SwitchMapBinary {
+        SwitchMapBinary::default()
     }
 
-    fn check_switch_state(sim_testbench: &mut SimTestbench, expected_switch_map: &SwitchMap) {
+    fn check_switch_state(sim_testbench: &mut SimTestbench, expected_switch_map: &SwitchMapBinary) {
         let request = SimRequest::new_with_epoch_time(PcduRequest::RequestSwitchInfo);
         sim_testbench
             .send_request(request)

satrs-minisim/src/lib.rs

@@ -160,18 +160,62 @@ impl From<SimRequestError> for SimCtrlReply {
 
 pub mod eps {
     use super::*;
+    use satrs::power::{SwitchState, SwitchStateBinary};
     use std::collections::HashMap;
+    use strum::{EnumIter, IntoEnumIterator};
 
-    use satrs::power::SwitchStateBinary;
+    pub type SwitchMap = HashMap<PcduSwitch, SwitchState>;
+    pub type SwitchMapBinary = HashMap<PcduSwitch, SwitchStateBinary>;
 
-    pub type SwitchMap = HashMap<PcduSwitch, SwitchStateBinary>;
+    pub struct SwitchMapWrapper(pub SwitchMap);
+    pub struct SwitchMapBinaryWrapper(pub SwitchMapBinary);
 
-    #[derive(Debug, Copy, Clone, PartialEq, Eq, Serialize, Deserialize, Hash)]
+    #[derive(Debug, Copy, Clone, PartialEq, Eq, Serialize, Deserialize, Hash, EnumIter)]
     pub enum PcduSwitch {
         Mgm = 0,
         Mgt = 1,
     }
 
+    impl Default for SwitchMapBinaryWrapper {
+        fn default() -> Self {
+            let mut switch_map = SwitchMapBinary::default();
+            for entry in PcduSwitch::iter() {
+                switch_map.insert(entry, SwitchStateBinary::Off);
+            }
+            Self(switch_map)
+        }
+    }
+
+    impl Default for SwitchMapWrapper {
+        fn default() -> Self {
+            let mut switch_map = SwitchMap::default();
+            for entry in PcduSwitch::iter() {
+                switch_map.insert(entry, SwitchState::Unknown);
+            }
+            Self(switch_map)
+        }
+    }
+
+    impl SwitchMapWrapper {
+        pub fn new_with_init_switches_off() -> Self {
+            let mut switch_map = SwitchMap::default();
+            for entry in PcduSwitch::iter() {
+                switch_map.insert(entry, SwitchState::Off);
+            }
+            Self(switch_map)
+        }
+    }
+
+    impl From<SwitchMapBinaryWrapper> for SwitchMapWrapper {
+        fn from(value: SwitchMapBinaryWrapper) -> Self {
+            value
+                .0
+                .iter()
+                .map(|(key, value)| (*key, SwitchState::from(value.into())))
+                .collect()
+        }
+    }
+
     #[derive(Debug, Copy, Clone)]
     #[repr(u8)]
     pub enum PcduRequestId {
@@ -188,31 +232,14 @@ pub mod eps {
         RequestSwitchInfo,
     }
 
-    /*
-    impl PcduRequest {
-        /// The sole purpose of this method
-        pub fn write_to_be_bytes(&self, buf: &mut [u8]) {
-            match self {
-                PcduRequest::SwitchDevice { switch, state } => {
-                    buf[0] = PcduRequestId::SwitchDevice as u8;
-                    buf[1..3].copy_from_slice(&(*switch as u16).to_be_bytes());
-                    buf[4] = *state as u8;
-                }
-                PcduRequest::RequestSwitchInfo => {
-                    buf[0] = PcduRequestId::RequestSwitchInfo as u8;
-                }
-            }
-        }
-    }
-    */
-
     impl SerializableSimMsgPayload<SimRequest> for PcduRequest {
         const TARGET: SimComponent = SimComponent::Pcdu;
     }
 
     #[derive(Debug, Clone, Serialize, Deserialize, PartialEq, Eq)]
     pub enum PcduReply {
-        SwitchInfo(SwitchMap),
+        // Ack,
+        SwitchInfo(SwitchMapBinary),
     }
 
     impl SerializableSimMsgPayload<SimReply> for PcduReply {