rust/sat-rs
rust/sat-rs
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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
Signed by: muellerr
GPG Key ID: A649FB78196E3849
19 changed files with 183 additions and 93 deletions
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5
satrs-example/pytmtc/pytmtc/common.py
View File

@ -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
View File

@ -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
View File

@ -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
View File

@ -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;

85
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);
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_sim_reply_rx,
})
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()),
SpiSimInterfaceWrapper::Dummy(SpiDummyInterface::default()),
)
};
let mut mgm_handler = MgmHandlerLis3Mdl::new(
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
View File

@ -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
View File

@ -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
View File

@ -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
View File

@ -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
View File

@ -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
View File

@ -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)]

4
satrs-minisim/src/acs.rs
View File

@ -203,7 +203,7 @@ 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.component(), SimComponent::MgmLis3Mdl);
assert_eq!(sim_reply.component(), SimComponent::Mgm0Lis3Mdl);
let reply = MgmLis3MdlReply::from_sim_message(&sim_reply)
.expect("failed to deserialize MGM sensor values");
assert_eq!(reply.common.switch_state, SwitchStateBinary::Off);
@ -226,7 +226,7 @@ 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.component(), SimComponent::MgmLis3Mdl);
assert_eq!(sim_reply.component(), SimComponent::Mgm0Lis3Mdl);
let first_reply = MgmLis3MdlReply::from_sim_message(&sim_reply)
.expect("failed to deserialize MGM sensor values");
sim_testbench.step_until(Duration::from_millis(50)).unwrap();

30
satrs-minisim/src/controller.rs
View File

@ -24,7 +24,8 @@ const PCDU_REQ_WIRETAPPING: bool = false;
const MGT_REQ_WIRETAPPING: bool = false;
pub struct ModelAddrWrapper {
mgm_addr: Address<MagnetometerModel<MgmLis3MdlReply>>,
mgm_0_addr: Address<MagnetometerModel<MgmLis3MdlReply>>,
mgm_1_addr: Address<MagnetometerModel<MgmLis3MdlReply>>,
pcdu_addr: Address<PcduModel>,
mgt_addr: Address<MagnetorquerModel>,
}
@ -42,12 +43,14 @@ pub struct SimController {
impl ModelAddrWrapper {
pub fn new(
mgm_addr: Address<MagnetometerModel<MgmLis3MdlReply>>,
mgm_0_addr: Address<MagnetometerModel<MgmLis3MdlReply>>,
mgm_1_addr: Address<MagnetometerModel<MgmLis3MdlReply>>,
pcdu_addr: Address<PcduModel>,
mgt_addr: Address<MagnetorquerModel>,
) -> Self {
Self {
mgm_addr,
mgm_0_addr,
mgm_1_addr,
pcdu_addr,
mgt_addr,
}
@ -96,7 +99,8 @@ impl SimController {
}
if let Err(e) = match request.component() {
SimComponent::SimCtrl => self.handle_ctrl_request(&request),
SimComponent::MgmLis3Mdl => self.handle_mgm_request(&request),
SimComponent::Mgm0Lis3Mdl => self.handle_mgm_request(0, &request),
SimComponent::Mgm1Lis3Mdl => self.handle_mgm_request(1, &request),
SimComponent::Mgt => self.handle_mgt_request(&request),
SimComponent::Pcdu => self.handle_pcdu_request(&request),
} {
@ -128,19 +132,25 @@ impl SimController {
Ok(())
}
fn handle_mgm_request(&mut self, request: &SimRequest) -> Result<(), SimRequestError> {
fn handle_mgm_request(
&mut self,
mgm_idx: usize,
request: &SimRequest,
) -> Result<(), SimRequestError> {
let mgm_request = MgmRequestLis3Mdl::from_sim_message(request)?;
if MGM_REQ_WIRETAPPING {
log::info!("received MGM request: {:?}", mgm_request);
}
match mgm_request {
MgmRequestLis3Mdl::RequestSensorData => {
let addr = match mgm_idx {
0 => &self.addr_wrapper.mgm_0_addr,
1 => &self.addr_wrapper.mgm_1_addr,
_ => panic!("invalid mgm index"),
};
self.simulation
.process_event(
MagnetometerModel::send_sensor_values,
(),
&self.addr_wrapper.mgm_addr,
)
.process_event(MagnetometerModel::send_sensor_values, (), addr)
.expect("event execution error for mgm");
}
}

8
satrs-minisim/src/eps.rs
View File

@ -14,7 +14,8 @@ pub const SWITCH_INFO_DELAY_MS: u64 = 10;
pub struct PcduModel {
pub switcher_map: SwitchMapBinaryWrapper,
pub mgm_switch: Output<SwitchStateBinary>,
pub mgm_0_switch: Output<SwitchStateBinary>,
pub mgm_1_switch: Output<SwitchStateBinary>,
pub mgt_switch: Output<SwitchStateBinary>,
pub reply_sender: mpsc::Sender<SimReply>,
}
@ -23,7 +24,8 @@ impl PcduModel {
pub fn new(reply_sender: mpsc::Sender<SimReply>) -> Self {
Self {
switcher_map: Default::default(),
mgm_switch: Output::new(),
mgm_0_switch: Output::new(),
mgm_1_switch: Output::new(),
mgt_switch: Output::new(),
reply_sender,
}
@ -55,7 +57,7 @@ impl PcduModel {
*val = switch_and_target_state.1;
match switch_and_target_state.0 {
PcduSwitch::Mgm => {
self.mgm_switch.send(switch_and_target_state.1).await;
self.mgm_0_switch.send(switch_and_target_state.1).await;
}
PcduSwitch::Mgt => {
self.mgt_switch.send(switch_and_target_state.1).await;

9
satrs-minisim/src/lib.rs
View File

@ -5,7 +5,8 @@ use serde::{de::DeserializeOwned, Deserialize, Serialize};
#[derive(Debug, Copy, Clone, PartialEq, Eq, Serialize, Deserialize, Hash)]
pub enum SimComponent {
SimCtrl,
MgmLis3Mdl,
Mgm0Lis3Mdl,
Mgm1Lis3Mdl,
Mgt,
Pcdu,
}
@ -277,7 +278,7 @@ pub mod acs {
}
impl SerializableSimMsgPayload<SimRequest> for MgmRequestLis3Mdl {
const TARGET: SimComponent = SimComponent::MgmLis3Mdl;
const TARGET: SimComponent = SimComponent::Mgm0Lis3Mdl;
}
// Normally, small magnetometers generate their output as a signed 16 bit raw format or something
@ -368,7 +369,7 @@ pub mod acs {
}
impl SerializableSimMsgPayload<SimReply> for MgmLis3MdlReply {
const TARGET: SimComponent = SimComponent::MgmLis3Mdl;
const TARGET: SimComponent = SimComponent::Mgm0Lis3Mdl;
}
impl MgmReplyProvider for MgmLis3MdlReply {
@ -418,7 +419,7 @@ pub mod acs {
}
impl SerializableSimMsgPayload<SimReply> for MgtReply {
const TARGET: SimComponent = SimComponent::MgmLis3Mdl;
const TARGET: SimComponent = SimComponent::Mgm0Lis3Mdl;
}
}

27
satrs-minisim/src/main.rs
View File

@ -31,11 +31,15 @@ fn create_sim_controller(
request_receiver: mpsc::Receiver<SimRequest>,
) -> SimController {
// Instantiate models and their mailboxes.
let mgm_model =
let mgm_0_model =
MagnetometerModel::new_for_lis3mdl(Duration::from_millis(50), reply_sender.clone());
let mgm_1_model =
MagnetometerModel::new_for_lis3mdl(Duration::from_millis(50), reply_sender.clone());
let mgm_mailbox = Mailbox::new();
let mgm_addr = mgm_mailbox.address();
let mgm_0_mailbox = Mailbox::new();
let mgm_0_addr = mgm_0_mailbox.address();
let mgm_1_mailbox = Mailbox::new();
let mgm_1_addr = mgm_1_mailbox.address();
let pcdu_mailbox = Mailbox::new();
let pcdu_addr = pcdu_mailbox.address();
let mgt_mailbox = Mailbox::new();
@ -43,8 +47,11 @@ fn create_sim_controller(
let mut pcdu_model = PcduModel::new(reply_sender.clone());
pcdu_model
.mgm_switch
.connect(MagnetometerModel::switch_device, &mgm_addr);
.mgm_0_switch
.connect(MagnetometerModel::switch_device, &mgm_0_addr);
pcdu_model
.mgm_1_switch
.connect(MagnetometerModel::switch_device, &mgm_1_addr);
let mut mgt_model = MagnetorquerModel::new(reply_sender.clone());
// Input connections.
@ -54,7 +61,10 @@ fn create_sim_controller(
// Output connections.
mgt_model
.gen_magnetic_field
.connect(MagnetometerModel::apply_external_magnetic_field, &mgm_addr);
.connect(MagnetometerModel::apply_external_magnetic_field, &mgm_0_addr);
mgt_model
.gen_magnetic_field
.connect(MagnetometerModel::apply_external_magnetic_field, &mgm_1_addr);
// Instantiate the simulator
let sys_clock = SystemClock::from_system_time(start_time, SystemTime::now());
@ -63,9 +73,10 @@ fn create_sim_controller(
} else {
SimInit::new()
};
let addrs = ModelAddrWrapper::new(mgm_addr, pcdu_addr, mgt_addr);
let addrs = ModelAddrWrapper::new(mgm_0_addr, mgm_1_addr, pcdu_addr, mgt_addr);
let (simulation, scheduler) = sim_init
.add_model(mgm_model, mgm_mailbox, "MGM model")
.add_model(mgm_0_model, mgm_0_mailbox, "MGM 0 model")
.add_model(mgm_1_model, mgm_1_mailbox, "MGM 1 model")
.add_model(pcdu_model, pcdu_mailbox, "PCDU model")
.add_model(mgt_model, mgt_mailbox, "MGT model")
.init(start_time)