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add additional MGM dev. We need those auto-generators..

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This commit is contained in:
Robin Müller
2025-02-07 17:05:11 +01:00
parent a4bebbbb98
commit e12d328b80
19 changed files with 183 additions and 93 deletions
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5
satrs-example/pytmtc/pytmtc/common.py
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@ -39,7 +39,10 @@ class EventU32:
class AcsId(enum.IntEnum):
MGM_0 = 0
SUBSYSTEM = 1
MGM_ASSEMBLY = 2
MGM_0 = 3
MGM_1 = 4
class AcsHkIds(enum.IntEnum):

5
satrs-example/src/acs/mgm.rs
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@ -2,6 +2,7 @@ use derive_new::new;
use satrs::hk::{HkRequest, HkRequestVariant};
use satrs::mode_tree::{ModeChild, ModeNode};
use satrs::power::{PowerSwitchInfo, PowerSwitcherCommandSender};
use satrs_example::config::pus::PUS_MODE_SERVICE;
use satrs_example::{DeviceMode, TimestampHelper};
use satrs_minisim::acs::lis3mdl::{
MgmLis3MdlReply, MgmLis3RawValues, FIELD_LSB_PER_GAUSS_4_SENS, GAUSS_TO_MICROTESLA_FACTOR,
@ -20,7 +21,7 @@ use satrs::mode::{
};
use satrs::pus::{EcssTmSender, PusTmVariant};
use satrs::request::{GenericMessage, MessageMetadata, UniqueApidTargetId};
use satrs_example::config::components::{NO_SENDER, PUS_MODE_SERVICE};
use satrs_example::config::components::NO_SENDER;
use crate::hk::PusHkHelper;
use crate::pus::hk::{HkReply, HkReplyVariant};
@ -491,7 +492,7 @@ mod tests {
tmtc::PacketAsVec,
ComponentId,
};
use satrs_example::config::components::{Apid, MGM_ASSEMBLY};
use satrs_example::config::{acs::MGM_ASSEMBLY, components::Apid};
use satrs_minisim::acs::lis3mdl::MgmLis3RawValues;
use crate::{eps::TestSwitchHelper, pus::hk::HkReply, requests::CompositeRequest};

67
satrs-example/src/config.rs
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@ -135,23 +135,6 @@ pub mod components {
Eps = 6,
}
// Component IDs for components with the PUS APID.
#[derive(Copy, Clone, PartialEq, Eq)]
pub enum PusId {
PusEventManagement = 0,
PusRouting = 1,
PusTest = 2,
PusAction = 3,
PusMode = 4,
PusHk = 5,
}
#[derive(Copy, Clone, PartialEq, Eq)]
pub enum AcsId {
Mgm0 = 0,
Assembly = 1,
}
#[derive(Copy, Clone, PartialEq, Eq)]
pub enum EpsId {
Pcdu = 0,
@ -164,6 +147,31 @@ pub mod components {
TcpServer = 1,
}
pub const EPS_SUBSYSTEM: UniqueApidTargetId =
UniqueApidTargetId::new(Apid::Eps as u16, EpsId::Subsystem 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 =
UniqueApidTargetId::new(Apid::Tmtc as u16, TmtcId::TcpServer as u32);
pub const NO_SENDER: ComponentId = ComponentId::MAX;
}
pub mod pus {
use super::components::Apid;
use satrs::request::UniqueApidTargetId;
// Component IDs for components with the PUS APID.
#[derive(Copy, Clone, PartialEq, Eq)]
pub enum PusId {
PusEventManagement = 0,
PusRouting = 1,
PusTest = 2,
PusAction = 3,
PusMode = 4,
PusHk = 5,
}
pub const PUS_ACTION_SERVICE: UniqueApidTargetId =
UniqueApidTargetId::new(Apid::GenericPus as u16, PusId::PusAction as u32);
pub const PUS_EVENT_MANAGEMENT: UniqueApidTargetId =
@ -178,19 +186,26 @@ pub mod components {
UniqueApidTargetId::new(Apid::GenericPus as u16, PusId::PusHk as u32);
pub const PUS_SCHED_SERVICE: UniqueApidTargetId =
UniqueApidTargetId::new(Apid::Sched as u16, 0);
}
pub mod acs {
use super::components::Apid;
use satrs::request::UniqueApidTargetId;
#[derive(Copy, Clone, PartialEq, Eq)]
pub enum AcsId {
Subsystem = 1,
Assembly = 2,
Mgm0 = 3,
Mgm1 = 4,
}
pub const MGM_ASSEMBLY: UniqueApidTargetId =
UniqueApidTargetId::new(Apid::Acs as u16, AcsId::Assembly as u32);
pub const MGM_HANDLER_0: UniqueApidTargetId =
UniqueApidTargetId::new(Apid::Acs as u16, AcsId::Mgm0 as u32);
pub const EPS_SUBSYSTEM: UniqueApidTargetId =
UniqueApidTargetId::new(Apid::Eps as u16, EpsId::Subsystem 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 =
UniqueApidTargetId::new(Apid::Tmtc as u16, TmtcId::TcpServer as u32);
pub const NO_SENDER: ComponentId = ComponentId::MAX;
pub const MGM_HANDLER_1: UniqueApidTargetId =
UniqueApidTargetId::new(Apid::Acs as u16, AcsId::Mgm0 as u32);
}
pub mod pool {

10
satrs-example/src/eps/pcdu.rs
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@ -20,7 +20,10 @@ use satrs::{
spacepackets::ByteConversionError,
};
use satrs_example::{
config::components::{NO_SENDER, PCDU_HANDLER, PUS_MODE_SERVICE},
config::{
components::{NO_SENDER, PCDU_HANDLER},
pus::PUS_MODE_SERVICE,
},
DeviceMode, TimestampHelper,
};
use satrs_minisim::{
@ -508,7 +511,10 @@ mod tests {
use satrs::{
mode::ModeRequest, power::SwitchStateBinary, request::GenericMessage, tmtc::PacketAsVec,
};
use satrs_example::config::components::{Apid, EPS_SUBSYSTEM, MGM_HANDLER_0, PCDU_HANDLER};
use satrs_example::config::{
acs::MGM_HANDLER_0,
components::{Apid, EPS_SUBSYSTEM, PCDU_HANDLER},
};
use satrs_minisim::eps::SwitchMapBinary;
use super::*;

2
satrs-example/src/events.rs
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@ -16,7 +16,7 @@ use satrs::{
},
spacepackets::time::cds::CdsTime,
};
use satrs_example::config::components::PUS_EVENT_MANAGEMENT;
use satrs_example::config::pus::PUS_EVENT_MANAGEMENT;
use crate::update_time;

93
satrs-example/src/main.rs
View File

@ -39,7 +39,8 @@ use satrs::{
};
use satrs_example::{
config::{
components::{MGM_HANDLER_0, NO_SENDER, PCDU_HANDLER, TCP_SERVER, UDP_SERVER},
acs::{MGM_HANDLER_0, MGM_HANDLER_1},
components::{NO_SENDER, PCDU_HANDLER, TCP_SERVER, UDP_SERVER},
pool::create_sched_tc_pool,
tasks::{FREQ_MS_AOCS, FREQ_MS_PUS_STACK, FREQ_MS_UDP_TMTC, SIM_CLIENT_IDLE_DELAY_MS},
OBSW_SERVER_ADDR, PACKET_ID_VALIDATOR, SERVER_PORT,
@ -107,20 +108,26 @@ fn main() {
}
let (sim_request_tx, sim_request_rx) = mpsc::channel();
let (mgm_sim_reply_tx, mgm_sim_reply_rx) = mpsc::channel();
let (mgm_0_sim_reply_tx, mgm_0_sim_reply_rx) = mpsc::channel();
let (mgm_1_sim_reply_tx, mgm_1_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::sync_channel(10);
let (mgm_0_handler_composite_tx, mgm_0_handler_composite_rx) = mpsc::sync_channel(10);
let (mgm_1_handler_composite_tx, mgm_1_handler_composite_rx) = mpsc::sync_channel(10);
let (pcdu_handler_composite_tx, pcdu_handler_composite_rx) = mpsc::sync_channel(30);
let (mgm_handler_mode_tx, mgm_handler_mode_rx) = mpsc::sync_channel(5);
let (mgm_0_handler_mode_tx, mgm_0_handler_mode_rx) = mpsc::sync_channel(5);
let (mgm_1_handler_mode_tx, mgm_1_handler_mode_rx) = mpsc::sync_channel(5);
let (pcdu_handler_mode_tx, pcdu_handler_mode_rx) = mpsc::sync_channel(5);
// Some request are targetable. This map is used to retrieve sender handles based on a target ID.
let mut request_map = GenericRequestRouter::default();
request_map
.composite_router_map
.insert(MGM_HANDLER_0.id(), mgm_handler_composite_tx);
.insert(MGM_HANDLER_0.id(), mgm_0_handler_composite_tx);
request_map
.composite_router_map
.insert(MGM_HANDLER_0.id(), mgm_1_handler_composite_tx);
request_map
.composite_router_map
.insert(PCDU_HANDLER.id(), pcdu_handler_composite_tx);
@ -292,34 +299,67 @@ fn main() {
let (switch_request_tx, switch_request_rx) = mpsc::sync_channel(20);
let switch_helper = PowerSwitchHelper::new(switch_request_tx, shared_switch_set.clone());
let shared_mgm_set = Arc::default();
let mgm_mode_node =
ModeRequestHandlerMpscBounded::new(MGM_HANDLER_0.into(), mgm_handler_mode_rx);
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(
let shared_mgm_0_set = Arc::default();
let shared_mgm_1_set = Arc::default();
let mgm_0_mode_node =
ModeRequestHandlerMpscBounded::new(MGM_HANDLER_0.into(), mgm_0_handler_mode_rx);
let mgm_1_mode_node =
ModeRequestHandlerMpscBounded::new(MGM_HANDLER_1.into(), mgm_1_handler_mode_rx);
let (mgm_0_spi_interface, mgm_1_spi_interface) =
if let Some(sim_client) = opt_sim_client.as_mut() {
sim_client
.add_reply_recipient(satrs_minisim::SimComponent::Mgm0Lis3Mdl, mgm_0_sim_reply_tx);
sim_client
.add_reply_recipient(satrs_minisim::SimComponent::Mgm1Lis3Mdl, mgm_1_sim_reply_tx);
(
SpiSimInterfaceWrapper::Sim(SpiSimInterface {
sim_request_tx: sim_request_tx.clone(),
sim_reply_rx: mgm_0_sim_reply_rx,
}),
SpiSimInterfaceWrapper::Sim(SpiSimInterface {
sim_request_tx: sim_request_tx.clone(),
sim_reply_rx: mgm_1_sim_reply_rx,
}),
)
} else {
(
SpiSimInterfaceWrapper::Dummy(SpiDummyInterface::default()),
SpiSimInterfaceWrapper::Dummy(SpiDummyInterface::default()),
)
};
let mut mgm_0_handler = MgmHandlerLis3Mdl::new(
MGM_HANDLER_0,
"MGM_0",
mgm_mode_node,
mgm_handler_composite_rx,
mgm_0_mode_node,
mgm_0_handler_composite_rx,
pus_hk_reply_tx.clone(),
switch_helper.clone(),
tm_sender.clone(),
mgm_spi_interface,
shared_mgm_set,
mgm_0_spi_interface,
shared_mgm_0_set,
);
// Connect PUS service to device handler.
let mut mgm_1_handler = MgmHandlerLis3Mdl::new(
MGM_HANDLER_1,
"MGM_1",
mgm_1_mode_node,
mgm_1_handler_composite_rx,
pus_hk_reply_tx.clone(),
switch_helper.clone(),
tm_sender.clone(),
mgm_1_spi_interface,
shared_mgm_1_set,
);
// Connect PUS service to device handlers.
connect_mode_nodes(
&mut pus_stack.mode_srv,
mgm_handler_mode_tx,
&mut mgm_handler,
mgm_0_handler_mode_tx,
&mut mgm_0_handler,
pus_mode_reply_tx.clone(),
);
connect_mode_nodes(
&mut pus_stack.mode_srv,
mgm_1_handler_mode_tx,
&mut mgm_1_handler,
pus_mode_reply_tx.clone(),
);
@ -414,7 +454,8 @@ fn main() {
let jh_aocs = thread::Builder::new()
.name("sat-rs aocs".to_string())
.spawn(move || loop {
mgm_handler.periodic_operation();
mgm_0_handler.periodic_operation();
mgm_1_handler.periodic_operation();
thread::sleep(Duration::from_millis(FREQ_MS_AOCS));
})
.unwrap();

2
satrs-example/src/pus/action.rs
View File

@ -16,7 +16,7 @@ use satrs::pus::{
use satrs::request::{GenericMessage, UniqueApidTargetId};
use satrs::spacepackets::ecss::tc::PusTcReader;
use satrs::spacepackets::ecss::{EcssEnumU16, PusPacket, PusServiceId};
use satrs_example::config::components::PUS_ACTION_SERVICE;
use satrs_example::config::pus::PUS_ACTION_SERVICE;
use satrs_example::config::tmtc_err;
use std::sync::mpsc;
use std::time::Duration;

2
satrs-example/src/pus/event.rs
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@ -10,7 +10,7 @@ use satrs::pus::{
PartialPusHandlingError, PusServiceHelper,
};
use satrs::spacepackets::ecss::PusServiceId;
use satrs_example::config::components::PUS_EVENT_MANAGEMENT;
use satrs_example::config::pus::PUS_EVENT_MANAGEMENT;
use super::{DirectPusService, HandlingStatus};

2
satrs-example/src/pus/hk.rs
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@ -13,7 +13,7 @@ use satrs::request::{GenericMessage, UniqueApidTargetId};
use satrs::res_code::ResultU16;
use satrs::spacepackets::ecss::tc::PusTcReader;
use satrs::spacepackets::ecss::{hk, PusPacket, PusServiceId};
use satrs_example::config::components::PUS_HK_SERVICE;
use satrs_example::config::pus::PUS_HK_SERVICE;
use satrs_example::config::{hk_err, tmtc_err};
use std::sync::mpsc;
use std::time::Duration;

2
satrs-example/src/pus/mod.rs
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@ -18,7 +18,7 @@ use satrs::spacepackets::ecss::tc::PusTcReader;
use satrs::spacepackets::ecss::{PusPacket, PusServiceId};
use satrs::tmtc::{PacketAsVec, PacketInPool};
use satrs::ComponentId;
use satrs_example::config::components::PUS_ROUTING_SERVICE;
use satrs_example::config::pus::PUS_ROUTING_SERVICE;
use satrs_example::config::{tmtc_err, CustomPusServiceId};
use satrs_example::TimestampHelper;
use std::fmt::Debug;

2
satrs-example/src/pus/mode.rs
View File

@ -1,5 +1,6 @@
use derive_new::new;
use satrs::mode_tree::{ModeNode, ModeParent};
use satrs_example::config::pus::PUS_MODE_SERVICE;
use std::sync::mpsc;
use std::time::Duration;
@ -33,7 +34,6 @@ use satrs::{
},
ComponentId,
};
use satrs_example::config::components::PUS_MODE_SERVICE;
use satrs_example::config::{mode_err, tmtc_err, CustomPusServiceId};
use super::{

2
satrs-example/src/pus/scheduler.rs
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@ -15,7 +15,7 @@ use satrs::pus::{
use satrs::spacepackets::ecss::PusServiceId;
use satrs::tmtc::{PacketAsVec, PacketInPool, PacketSenderWithSharedPool};
use satrs::ComponentId;
use satrs_example::config::components::PUS_SCHED_SERVICE;
use satrs_example::config::pus::PUS_SCHED_SERVICE;
use super::{DirectPusService, HandlingStatus};

2
satrs-example/src/pus/test.rs
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@ -11,7 +11,7 @@ use satrs::pus::{
};
use satrs::spacepackets::ecss::tc::PusTcReader;
use satrs::spacepackets::ecss::{PusPacket, PusServiceId};
use satrs_example::config::components::PUS_TEST_SERVICE;
use satrs_example::config::pus::PUS_TEST_SERVICE;
use satrs_example::config::{tmtc_err, TEST_EVENT};
use std::sync::mpsc;

2
satrs-example/src/requests.rs
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@ -14,7 +14,7 @@ use satrs::request::{GenericMessage, MessageMetadata, UniqueApidTargetId};
use satrs::spacepackets::ecss::tc::PusTcReader;
use satrs::spacepackets::ecss::PusPacket;
use satrs::ComponentId;
use satrs_example::config::components::PUS_ROUTING_SERVICE;
use satrs_example::config::pus::PUS_ROUTING_SERVICE;
use satrs_example::config::tmtc_err;
#[derive(Clone, Debug)]