Merge pull request 'power_abstractions + request id schedule implementation' (#32) from power_abstractions into main

Reviewed-on: rust/satrs-launchpad#32

satrs-core/src/hk.rs

@@ -0,0 +1,11 @@
+use crate::tmtc::AddressableId;
+
+pub type CollectionIntervalFactor = u32;
+
+#[derive(Debug, Copy, Clone, PartialEq, Eq)]
+pub enum HkRequest {
+    OneShot(AddressableId),
+    Enable(AddressableId),
+    Disable(AddressableId),
+    ModifyCollectionInterval(AddressableId, CollectionIntervalFactor),
+}

satrs-core/src/lib.rs

@@ -25,6 +25,7 @@ pub mod events;
 #[cfg_attr(doc_cfg, doc(cfg(feature = "std")))]
 pub mod executable;
 pub mod hal;
+pub mod hk;
 pub mod objects;
 pub mod params;
 #[cfg(feature = "alloc")]
@@ -32,6 +33,7 @@ pub mod params;
 pub mod pool;
 pub mod power;
 pub mod pus;
+pub mod request;
 pub mod res_code;
 pub mod seq_count;
 pub mod tmtc;

satrs-core/src/power.rs

@@ -27,7 +27,7 @@ pub enum SwitchState {
 pub type SwitchId = u16;
 
 /// Generic trait for a device capable of turning on and off switches.
-pub trait PowerSwitcher {
+pub trait PowerSwitcherCommandSender {
     type Error;
 
     fn send_switch_on_cmd(&mut self, switch_id: SwitchId) -> Result<(), Self::Error>;
@@ -45,12 +45,16 @@ pub trait PowerSwitcher {
     ) -> Result<(), <T as PowerSwitch>::Error> {
         switch.switch_off()
     }
+}
+
+pub trait PowerSwitchInfo {
+    type Error;
 
     /// Retrieve the switch state
-    fn get_switch_state(&mut self, switch_id: SwitchId) -> SwitchState;
+    fn get_switch_state(&mut self, switch_id: SwitchId) -> Result<SwitchState, Self::Error>;
 
-    fn get_is_switch_on(&mut self, switch_id: SwitchId) -> bool {
+    fn get_is_switch_on(&mut self, switch_id: SwitchId) -> Result<bool, Self::Error> {
-        self.get_switch_state(switch_id) == SwitchState::On
+        Ok(self.get_switch_state(switch_id)? == SwitchState::On)
     }
 
     /// The maximum delay it will take to change a switch.
@@ -59,3 +63,54 @@ pub trait PowerSwitcher {
     /// see the switch changed.
     fn switch_delay_ms(&self) -> u32;
 }
+
+pub trait PowerSwitchProvider: PowerSwitcherCommandSender + PowerSwitchInfo {
+    type Error;
+}
+
+#[cfg(test)]
+mod tests {
+    use super::*;
+    use crate::power::PowerSwitcherCommandSender;
+    use std::boxed::Box;
+
+    struct Pcdu {
+        switch_rx: std::sync::mpsc::Receiver<(SwitchId, u16)>,
+    }
+    enum DeviceState {
+        OFF,
+        SwitchingPower,
+        ON,
+        SETUP,
+        IDLE,
+    }
+    struct MyComplexDevice {
+        power_switcher: Box<dyn PowerSwitcherCommandSender<Error = ()>>,
+        switch_id: SwitchId,
+        some_state: u16,
+        dev_state: DeviceState,
+        mode: u32,
+        submode: u16,
+    }
+
+    impl MyComplexDevice {
+        pub fn periodic_op(&mut self) {
+            // .. mode command coming in
+            let mode = 1;
+            if mode == 1 {
+                if self.dev_state == DeviceState::OFF {
+                    self.power_switcher
+                        .send_switch_on_cmd(self.switch_id)
+                        .expect("sending siwthc cmd failed");
+                    self.dev_state = DeviceState::SwitchingPower;
+                }
+                if self.dev_state == DeviceState::SwitchingPower {
+                    if self.power_switcher.get_is_switch_on() {
+                        self.dev_state = DeviceState::ON;
+                        self.mode = 1;
+                    }
+                }
+            }
+        }
+    }
+}

satrs-core/src/request.rs

@@ -0,0 +1 @@
+

satrs-example/src/hk.rs

@@ -1,16 +1,4 @@
-use satrs_core::tmtc::AddressableId;
-
-pub type CollectionIntervalFactor = u32;
-
 #[derive(Debug, Copy, Clone, PartialEq, Eq)]
 pub enum AcsHkIds {
     TestMgmSet = 1,
 }
-
-#[derive(Debug, Copy, Clone, PartialEq, Eq)]
-pub enum HkRequest {
-    OneShot(AddressableId),
-    Enable(AddressableId),
-    Disable(AddressableId),
-    ModifyCollectionInterval(AddressableId, CollectionIntervalFactor),
-}

satrs-example/src/lib.rs

@@ -1,3 +1,4 @@
+use satrs_core::events::{EventU32TypedSev, SeverityInfo};
 use std::net::Ipv4Addr;
 
 use satrs_mib::res_code::{ResultU16, ResultU16Info};
@@ -17,6 +18,9 @@ pub enum GroupId {
 pub const OBSW_SERVER_ADDR: Ipv4Addr = Ipv4Addr::UNSPECIFIED;
 pub const SERVER_PORT: u16 = 7301;
 
+pub const TEST_EVENT: EventU32TypedSev<SeverityInfo> =
+    EventU32TypedSev::<SeverityInfo>::const_new(0, 0);
+
 pub mod tmtc_err {
     use super::*;
 

satrs-example/src/main.rs

@@ -4,7 +4,7 @@ mod pus;
 mod requests;
 mod tmtc;
 
-use crate::hk::{AcsHkIds, HkRequest};
+use crate::hk::AcsHkIds;
 use crate::requests::{Request, RequestWithToken};
 use crate::tmtc::{
     core_tmtc_task, OtherArgs, PusTcSource, TcArgs, TcStore, TmArgs, TmFunnel, TmStore, PUS_APID,
@@ -13,6 +13,7 @@ use satrs_core::event_man::{
     EventManagerWithMpscQueue, MpscEventReceiver, MpscEventU32SendProvider, SendEventProvider,
 };
 use satrs_core::events::EventU32;
+use satrs_core::hk::HkRequest;
 use satrs_core::pool::{LocalPool, PoolCfg, StoreAddr};
 use satrs_core::pus::event_man::{
     DefaultPusMgmtBackendProvider, EventReporter, EventRequest, EventRequestWithToken,

satrs-example/src/pus.rs

@@ -1,7 +1,8 @@
-use crate::hk::{CollectionIntervalFactor, HkRequest};
 use crate::requests::{Request, RequestWithToken};
 use crate::tmtc::{PusTcSource, TmStore};
 use satrs_core::events::EventU32;
+use satrs_core::hk::{CollectionIntervalFactor, HkRequest};
+use satrs_core::params::Params;
 use satrs_core::pool::StoreAddr;
 use satrs_core::pus::event;
 use satrs_core::pus::event_man::{EventRequest, EventRequestWithToken};
@@ -17,7 +18,7 @@ use satrs_core::{
     spacepackets::ecss::PusPacket, spacepackets::tc::PusTc, spacepackets::time::cds::TimeProvider,
     spacepackets::time::TimeWriter, spacepackets::SpHeader,
 };
-use satrs_example::{hk_err, tmtc_err};
+use satrs_example::{hk_err, tmtc_err, TEST_EVENT};
 use std::cell::RefCell;
 use std::collections::HashMap;
 use std::rc::Rc;
@@ -31,6 +32,7 @@ pub struct PusReceiver {
     #[allow(dead_code)]
     tc_source: PusTcSource,
     event_request_tx: Sender<EventRequestWithToken>,
+    event_sender: Sender<(EventU32, Option<Params>)>,
     request_map: HashMap<u32, Sender<RequestWithToken>>,
     stamper: TimeProvider,
     time_stamp: [u8; 7],
@@ -52,6 +54,7 @@ pub struct PusTcArgs {
     pub request_map: HashMap<u32, Sender<RequestWithToken>>,
     /// Required for scheduling of telecommands.
     pub tc_source: PusTcSource,
+    pub event_sender: Sender<(EventU32, Option<Params>)>,
     pub scheduler: Rc<RefCell<PusScheduler>>,
 }
 
@@ -64,6 +67,7 @@ impl PusReceiver {
             verif_reporter: tm_arguments.verif_reporter,
             tc_source: tc_arguments.tc_source,
             event_request_tx: tc_arguments.event_request_tx,
+            event_sender: tc_arguments.event_sender,
             request_map: tc_arguments.request_map,
             stamper: TimeProvider::new_with_u16_days(0, 0),
             time_stamp: [0; 7],
@@ -110,33 +114,49 @@ impl PusServiceProvider for PusReceiver {
 
 impl PusReceiver {
     fn handle_test_service(&mut self, pus_tc: &PusTc, token: VerificationToken<TcStateAccepted>) {
-        if PusPacket::subservice(pus_tc) == 1 {
+        match PusPacket::subservice(pus_tc) {
-            println!("Received PUS ping command TC[17,1]");
+            1 => {
-            println!("Sending ping reply PUS TM[17,2]");
+                println!("Received PUS ping command TC[17,1]");
-            let ping_reply = self.tm_helper.create_pus_tm_timestamp_now(17, 2, None);
+                println!("Sending ping reply PUS TM[17,2]");
-            let addr = self.tm_store.add_pus_tm(&ping_reply);
+                let start_token = self
-            let start_token = self
+                    .verif_reporter
-                .verif_reporter
+                    .start_success(token, Some(&self.time_stamp))
-                .start_success(token, Some(&self.time_stamp))
+                    .expect("Error sending start success");
-                .expect("Error sending start success");
+                let ping_reply = self.tm_helper.create_pus_tm_timestamp_now(17, 2, None);
-            self.tm_tx
+                let addr = self.tm_store.add_pus_tm(&ping_reply);
-                .send(addr)
+                self.tm_tx
-                .expect("Sending TM to TM funnel failed");
+                    .send(addr)
-            self.verif_reporter
+                    .expect("Sending TM to TM funnel failed");
-                .completion_success(start_token, Some(&self.time_stamp))
+                self.verif_reporter
-                .expect("Error sending completion success");
+                    .completion_success(start_token, Some(&self.time_stamp))
-        } else {
+                    .expect("Error sending completion success");
-            self.update_time_stamp();
+            }
-            self.verif_reporter
+            128 => {
-                .start_failure(
+                self.update_time_stamp();
-                    token,
+                self.event_sender
-                    FailParams::new(
+                    .send((TEST_EVENT.into(), None))
-                        Some(&self.time_stamp),
+                    .expect("Sending test event failed");
-                        &tmtc_err::INVALID_PUS_SUBSERVICE,
+                let start_token = self
-                        None,
+                    .verif_reporter
-                    ),
+                    .start_success(token, Some(&self.time_stamp))
-                )
+                    .expect("Error sending start success");
-                .expect("Sending start failure TM failed");
+                self.verif_reporter
+                    .completion_success(start_token, Some(&self.time_stamp))
+                    .expect("Error sending completion success");
+            }
+            _ => {
+                self.update_time_stamp();
+                self.verif_reporter
+                    .start_failure(
+                        token,
+                        FailParams::new(
+                            Some(&self.time_stamp),
+                            &tmtc_err::INVALID_PUS_SUBSERVICE,
+                            None,
+                        ),
+                    )
+                    .expect("Sending start failure TM failed");
+            }
         }
     }
 

satrs-example/src/requests.rs

@@ -1,4 +1,4 @@
-use crate::hk::HkRequest;
+use satrs_core::hk::HkRequest;
 use satrs_core::pus::verification::{TcStateAccepted, VerificationToken};
 
 #[derive(Copy, Clone, Eq, PartialEq, Debug)]

satrs-example/src/tmtc.rs

@@ -177,6 +177,7 @@ pub fn core_tmtc_task(args: OtherArgs, mut tc_args: TcArgs, tm_args: TmArgs) {
         event_request_tx: args.event_request_tx,
         request_map: args.request_map,
         tc_source: tc_args.tc_source.clone(),
+        event_sender: args.event_sender,
         scheduler: sched_clone,
     };
     let mut pus_receiver = PusReceiver::new(PUS_APID, pus_tm_args, pus_tc_args);