MGT handler

satrs-example/types/src/acs/mgt.rs

@@ -1,38 +1,104 @@
-#[derive(
-    serde::Serialize,
-    serde::Deserialize,
-    Debug,
-    Clone,
-    Copy,
-    PartialEq,
-    Eq,
-    num_enum::IntoPrimitive,
-    num_enum::TryFromPrimitive,
-)]
-#[repr(u32)]
-pub enum Mode {
-    Off,
-    Normal,
+use crate::DeviceMode;
+
+/// Commanded magnetic dipole. Simple model using raw values per axis.
+#[derive(serde::Serialize, serde::Deserialize, Default, Debug, Clone, Copy, PartialEq, Eq)]
+pub struct Dipole {
+    pub x: i16,
+    pub y: i16,
+    pub z: i16,
+}
+
+#[derive(serde::Serialize, serde::Deserialize, Default, Debug, Clone, Copy, PartialEq, Eq)]
+pub struct HkSet {
+    pub valid: bool,
+    pub dipole: Dipole,
+    pub torquing: bool,
 }
 
 pub mod request {
-    use super::*;
+    use crate::{DeviceMode, HkRequestType, Message};
 
-    #[derive(Debug, Copy, Clone, PartialEq, Eq, serde::Serialize, serde::Deserialize)]
+    use super::Dipole;
+
+    #[derive(serde::Serialize, serde::Deserialize, Debug, Clone, Copy, PartialEq, Eq)]
     pub enum ModeRequest {
-        SetMode(Mode),
+        SetMode(DeviceMode),
         ReadMode,
     }
+
+    #[derive(serde::Serialize, serde::Deserialize, Clone, Copy, Debug)]
+    pub enum Request {
+        Ping,
+        Hk(HkRequestType),
+        Mode(ModeRequest),
+        /// Only accepted in normal mode.
+        ApplyTorque {
+            dipole: Dipole,
+            duration: core::time::Duration,
+        },
+    }
+
+    impl Message for Request {
+        fn message_type(&self) -> crate::MessageType {
+            match self {
+                Request::Ping => crate::MessageType::Verification,
+                Request::Hk(_) => crate::MessageType::Hk,
+                Request::Mode(_) => crate::MessageType::Mode,
+                Request::ApplyTorque { .. } => crate::MessageType::Action,
+            }
+        }
+    }
+}
+
+#[derive(strum::EnumDiscriminants, serde::Serialize, serde::Deserialize, Clone, Copy, Debug)]
+#[strum_discriminants(derive(num_enum::IntoPrimitive))]
+#[repr(u16)]
+pub enum Event {
+    /// A commanded mode transition completed.
+    ModeChanged(DeviceMode),
+}
+
+impl crate::Message for Event {
+    fn message_type(&self) -> crate::MessageType {
+        crate::MessageType::Event
+    }
+}
+
+impl crate::EventId for Event {
+    fn event_id(&self) -> u16 {
+        EventDiscriminants::from(self).into()
+    }
 }
 
 pub mod response {
-    use super::*;
+    use crate::{DeviceMode, Message};
 
-    #[derive(Debug, Copy, Clone, PartialEq, Eq, serde::Serialize, serde::Deserialize)]
-    pub enum ModeReport {
-        /// Mode of the assembly.
-        Mode(super::Mode),
-        /// Children are in wrong mode after commanding.
-        WrongMode([Option<Mode>; 2]),
+    use super::HkSet;
+
+    #[derive(serde::Serialize, serde::Deserialize, Debug, Clone, Copy, PartialEq, Eq)]
+    pub enum ModeResponse {
+        /// New mode has been set.
+        Mode(DeviceMode),
+        /// Setting a mode timed out.
+        SetModeTimeout,
+    }
+
+    #[derive(serde::Serialize, serde::Deserialize, Clone, Copy, Debug, PartialEq, Eq)]
+    pub enum Response {
+        Ok,
+        Hk(HkSet),
+        Mode(ModeResponse),
+        /// The command requires the device to be in normal mode.
+        NotInNormalMode,
+    }
+
+    impl Message for Response {
+        fn message_type(&self) -> crate::MessageType {
+            match self {
+                Response::Ok | Response::NotInNormalMode => crate::MessageType::Verification,
+                Response::Hk(_) => crate::MessageType::Hk,
+                Response::Mode(_) => crate::MessageType::Mode,
+            }
+        }
     }
 }