satrs-mib/Cargo.toml

@@ -25,6 +25,7 @@ optional = true
 [dependencies.satrs-shared]
 version = ">=0.1.3, <=0.2"
 features = ["serde"]
+path = "../satrs-shared"
 
 [dependencies.satrs-mib-codegen]
 path = "codegen"

satrs-mib/codegen/Cargo.toml

@@ -29,6 +29,7 @@ trybuild = { version = "1", features = ["diff"] }
 
 [dev-dependencies.satrs-shared]
 version = ">=0.1.3, <=0.2"
+path = "../../satrs-shared"
 
 [dev-dependencies.satrs-mib]
 path = ".."

satrs-shared/CHANGELOG.md

@@ -8,10 +8,6 @@ and this project adheres to [Semantic Versioning](http://semver.org/).
 
 # [unreleased]
 
-# [v0.2.1] 2024-11-15
-
-Increased allowed spacepackets to v0.13
-
 # [v0.2.0] 2024-11-04
 
 Semver bump, due to added features in v0.1.4

satrs/CHANGELOG.md

@@ -19,7 +19,6 @@ and this project adheres to [Semantic Versioning](http://semver.org/).
 ## Added
 
 - `StaticHeaplessMemoryPool` which can be grown with user-provided static buffers.
-- Scheduling table for systems with a standard runtime
 
 # [v0.2.1] 2024-05-19
 

satrs/Cargo.toml

@@ -21,6 +21,7 @@ crc = "3"
 
 [dependencies.satrs-shared]
 version = ">=0.1.3, <=0.2"
+path = "../satrs-shared"
 
 [dependencies.num_enum]
 version = ">0.5, <=0.7"

satrs/src/executable.rs

@@ -15,24 +15,20 @@ pub enum OpResult {
     TerminationRequested,
 }
 
-#[derive(Debug)]
 pub enum ExecutionType {
     Infinite,
     Cycles(u32),
     OneShot,
 }
 
-pub trait Executable {
+pub trait Executable: Send {
     type Error;
 
+    fn exec_type(&self) -> ExecutionType;
     fn task_name(&self) -> &'static str;
     fn periodic_op(&mut self, op_code: i32) -> Result<OpResult, Self::Error>;
 }
 
-pub trait ExecutableWithType: Executable {
-    fn exec_type(&self) -> ExecutionType;
-}
-
 /// This function allows executing one task which implements the [Executable] trait
 ///
 /// # Arguments
@@ -43,10 +39,7 @@ pub trait ExecutableWithType: Executable {
 /// * `op_code`: Operation code which is passed to the executable task
 ///    [operation call][Executable::periodic_op]
 /// * `termination`: Optional termination handler which can cancel threads with a broadcast
-pub fn exec_sched_single<
+pub fn exec_sched_single<T: Executable<Error = E> + Send + 'static + ?Sized, E: Send + 'static>(
-    T: ExecutableWithType<Error = E> + Send + 'static + ?Sized,
-    E: Send + 'static,
->(
     mut executable: Box<T>,
     task_freq: Option<Duration>,
     op_code: i32,
@@ -95,10 +88,7 @@ pub fn exec_sched_single<
 /// * `task_freq`: Optional frequency of task. Required for periodic and fixed cycle tasks
 /// * `op_code`: Operation code which is passed to the executable task [operation call][Executable::periodic_op]
 /// * `termination`: Optional termination handler which can cancel threads with a broadcast
-pub fn exec_sched_multi<
+pub fn exec_sched_multi<T: Executable<Error = E> + Send + 'static + ?Sized, E: Send + 'static>(
-    T: ExecutableWithType<Error = E> + Send + 'static + ?Sized,
-    E: Send + 'static,
->(
     task_name: &'static str,
     mut executable_vec: Vec<Box<T>>,
     task_freq: Option<Duration>,
@@ -152,10 +142,7 @@ pub fn exec_sched_multi<
 
 #[cfg(test)]
 mod tests {
-    use super::{
+    use super::{exec_sched_multi, exec_sched_single, Executable, ExecutionType, OpResult};
-        exec_sched_multi, exec_sched_single, Executable, ExecutableWithType, ExecutionType,
-        OpResult,
-    };
     use bus::Bus;
     use std::boxed::Box;
     use std::error::Error;
@@ -221,6 +208,10 @@ mod tests {
     impl Executable for OneShotTask {
         type Error = ExampleError;
 
+        fn exec_type(&self) -> ExecutionType {
+            ExecutionType::OneShot
+        }
+
         fn task_name(&self) -> &'static str {
             ONE_SHOT_TASK_NAME
         }
@@ -238,17 +229,15 @@ mod tests {
         }
     }
 
-    impl ExecutableWithType for OneShotTask {
-        fn exec_type(&self) -> ExecutionType {
-            ExecutionType::OneShot
-        }
-    }
-
     const CYCLE_TASK_NAME: &str = "Fixed Cycles Task";
 
     impl Executable for FixedCyclesTask {
         type Error = ExampleError;
 
+        fn exec_type(&self) -> ExecutionType {
+            ExecutionType::Cycles(self.cycles)
+        }
+
         fn task_name(&self) -> &'static str {
             CYCLE_TASK_NAME
         }
@@ -266,17 +255,15 @@ mod tests {
         }
     }
 
-    impl ExecutableWithType for FixedCyclesTask {
-        fn exec_type(&self) -> ExecutionType {
-            ExecutionType::Cycles(self.cycles)
-        }
-    }
-
     const PERIODIC_TASK_NAME: &str = "Periodic Task";
 
     impl Executable for PeriodicTask {
         type Error = ExampleError;
 
+        fn exec_type(&self) -> ExecutionType {
+            ExecutionType::Infinite
+        }
+
         fn task_name(&self) -> &'static str {
             PERIODIC_TASK_NAME
         }
@@ -294,12 +281,6 @@ mod tests {
         }
     }
 
-    impl ExecutableWithType for PeriodicTask {
-        fn exec_type(&self) -> ExecutionType {
-            ExecutionType::Infinite
-        }
-    }
-
     #[test]
     fn test_simple_one_shot() {
         let expected_op_code = 42;
@@ -442,7 +423,7 @@ mod tests {
         });
         assert_eq!(cycled_task_0.task_name(), CYCLE_TASK_NAME);
         assert_eq!(one_shot_task.task_name(), ONE_SHOT_TASK_NAME);
-        let task_vec: Vec<Box<dyn ExecutableWithType<Error = ExampleError> + Send>> =
+        let task_vec: Vec<Box<dyn Executable<Error = ExampleError>>> =
             vec![one_shot_task, cycled_task_0, cycled_task_1];
         let jh = exec_sched_multi(
             "multi-task-name",
@@ -512,7 +493,7 @@ mod tests {
         });
         assert_eq!(periodic_task_0.task_name(), PERIODIC_TASK_NAME);
         assert_eq!(periodic_task_1.task_name(), PERIODIC_TASK_NAME);
-        let task_vec: Vec<Box<dyn ExecutableWithType<Error = ExampleError> + Send>> =
+        let task_vec: Vec<Box<dyn Executable<Error = ExampleError>>> =
             vec![cycled_task, periodic_task_0, periodic_task_1];
         let jh = exec_sched_multi(
             "multi-task-name",

satrs/src/lib.rs

@@ -38,8 +38,6 @@ pub mod request;
 pub mod res_code;
 pub mod time;
 pub mod tmtc;
-#[cfg(feature = "alloc")]
-pub mod scheduling;
 
 pub mod action;
 pub mod hk;

satrs/src/scheduling.rs

@@ -1,416 +0,0 @@
-use core::{convert::Infallible, fmt::Debug, time::Duration};
-use std::time::Instant;
-
-use thiserror::Error;
-
-use crate::executable::Executable;
-
-#[cfg(feature = "std")]
-pub use std_mod::*;
-
-#[derive(Debug, Default)]
-pub struct SchedulingTable {
-    execution_frequency: Duration,
-    pub table: alloc::vec::Vec<u32>,
-}
-
-#[derive(Debug, Error)]
-pub enum InvalidSlotError {
-    #[error("slot time is larger than the execution frequency")]
-    SlotTimeLargerThanFrequency,
-    #[error("slot time is smaller than previous slot")]
-    SmallerThanPreviousSlot {
-        slot_time_ms: u32,
-        prev_slot_time_ms: u32,
-    },
-}
-
-impl SchedulingTable {
-    pub fn new(execution_frequency: Duration) -> Self {
-        Self {
-            execution_frequency,
-            table: Default::default(),
-        }
-    }
-
-    pub fn add_slot(&mut self, relative_execution_time_ms: u32) -> Result<(), InvalidSlotError> {
-        if relative_execution_time_ms > self.execution_frequency.as_millis() as u32 {
-            return Err(InvalidSlotError::SlotTimeLargerThanFrequency);
-        }
-
-        if !self.table.is_empty() {
-            let prev_slot_ms = *self.table.last().unwrap();
-            if relative_execution_time_ms < prev_slot_ms {
-                return Err(InvalidSlotError::SmallerThanPreviousSlot {
-                    slot_time_ms: relative_execution_time_ms,
-                    prev_slot_time_ms: *self.table.last().unwrap(),
-                });
-            }
-        }
-        self.table.push(relative_execution_time_ms);
-        Ok(())
-    }
-}
-
-#[derive(Debug, Error)]
-pub enum TaskWithSchedulingTableError {
-    #[error("scheudlig table error: {0}")]
-    InvalidSlot(#[from] InvalidSlotError),
-    #[error("task lock error")]
-    LockError,
-    #[error("task borrow error")]
-    BorrowError,
-}
-
-pub trait DeadlineMissedHandler {
-    fn deadline_missed_callback(&mut self, task_name: &'static str, op_code: i32);
-}
-
-pub trait TaskExecutor {
-    fn with_task<F: FnOnce(&mut dyn Executable<Error = Infallible>)>(&self, f: F);
-}
-
-#[cfg(feature = "std")]
-pub mod std_mod {
-    use core::cell::RefCell;
-    use std::{
-        rc::Rc,
-        sync::{Arc, Mutex},
-        vec::Vec,
-    };
-
-    use super::*;
-
-    impl TaskExecutor for Arc<Mutex<dyn Executable<Error = Infallible> + Send>> {
-        fn with_task<F: FnOnce(&mut dyn Executable<Error = Infallible>)>(&self, f: F) {
-            let mut task = self.lock().unwrap();
-            f(&mut *task);
-        }
-    }
-
-    impl TaskExecutor for Rc<RefCell<dyn Executable<Error = Infallible>>> {
-        fn with_task<F: FnOnce(&mut dyn Executable<Error = Infallible>)>(&self, f: F) {
-            let mut task = self.borrow_mut();
-            f(&mut *task);
-        }
-    }
-
-    pub struct TaskWithOpCode<T: TaskExecutor> {
-        task: T,
-        op_code: i32,
-    }
-
-    pub struct TaskWithSchedulingTable<T: TaskExecutor> {
-        start_of_slot: Instant,
-        end_of_slot: Instant,
-        deadline_missed_ms_count: u32,
-        table: SchedulingTable,
-        tasks: Vec<TaskWithOpCode<T>>,
-    }
-
-    impl TaskWithSchedulingTable<Rc<RefCell<dyn Executable<Error = Infallible>>>> {
-        /// Add a new task to the scheduling table
-        ///
-        /// The task needs to be wrapped inside [Rc] and [RefCell]. The task is not sendable and
-        /// needs to be created inside the target thread.
-        pub fn add_task(
-            &mut self,
-            relative_execution_time_ms: u32,
-            task: Rc<RefCell<dyn Executable<Error = Infallible>>>,
-            op_code: i32,
-        ) -> Result<(), TaskWithSchedulingTableError> {
-            self.table.add_slot(relative_execution_time_ms)?;
-            self.tasks.push(TaskWithOpCode { task, op_code });
-            Ok(())
-        }
-    }
-
-    impl TaskWithSchedulingTable<Arc<Mutex<dyn Executable<Error = Infallible> + Send>>> {
-        /// Add a new task to the scheduling table
-        ///
-        /// The task needs to be wrapped inside [Arc] and [Mutex], but the task can be sent to
-        /// a different thread.
-        pub fn add_task_sendable(
-            &mut self,
-            relative_execution_time_ms: u32,
-            task: Arc<Mutex<dyn Executable<Error = Infallible> + Send>>,
-            op_code: i32,
-        ) -> Result<(), TaskWithSchedulingTableError> {
-            self.table.add_slot(relative_execution_time_ms)?;
-            self.tasks.push(TaskWithOpCode { task, op_code });
-            Ok(())
-        }
-    }
-
-    impl<T: TaskExecutor> TaskWithSchedulingTable<T> {
-        pub fn new(execution_frequency: Duration) -> Self {
-            Self {
-                start_of_slot: Instant::now(),
-                end_of_slot: Instant::now(),
-                deadline_missed_ms_count: 10,
-                table: SchedulingTable::new(execution_frequency),
-                tasks: Default::default(),
-            }
-        }
-
-        /// Can be used to set the start of the slot to the current time. This is useful if a custom
-        /// runner implementation is used instead of the [Self::start] method.
-        pub fn init_start_of_slot(&mut self) {
-            self.start_of_slot = Instant::now();
-        }
-
-        pub fn run_one_task_cycle(
-            &mut self,
-            deadline_missed_cb: &mut impl DeadlineMissedHandler,
-        ) -> Result<(), TaskWithSchedulingTableError> {
-            self.end_of_slot = self.start_of_slot + self.table.execution_frequency;
-
-            for (&relative_execution_time_ms, task_with_op_code) in
-                self.table.table.iter().zip(self.tasks.iter_mut())
-            {
-                let scheduled_execution_time = self.start_of_slot
-                    + core::time::Duration::from_millis(relative_execution_time_ms as u64);
-                let now = Instant::now();
-
-                if now < scheduled_execution_time {
-                    std::thread::sleep(scheduled_execution_time - now);
-                } else if (now - scheduled_execution_time).as_millis()
-                    > self.deadline_missed_ms_count.into()
-                {
-                    task_with_op_code.task.with_task(|task| {
-                        deadline_missed_cb
-                            .deadline_missed_callback(task.task_name(), task_with_op_code.op_code);
-                    });
-                }
-
-                task_with_op_code.task.with_task(|task| {
-                    // Unwrapping is okay here because we constrain the tasks to be infallible.
-                    task.periodic_op(task_with_op_code.op_code).unwrap();
-                });
-            }
-
-            let now = Instant::now();
-            if now <= self.end_of_slot {
-                let diff = self.end_of_slot - now;
-                std::thread::sleep(diff);
-                self.start_of_slot = self.end_of_slot;
-            } else if now > self.end_of_slot + self.table.execution_frequency {
-                // We're getting strongly out of sync. Set the new start timt to now.
-                self.start_of_slot = now;
-            }
-
-            Ok(())
-        }
-    }
-}
-
-#[cfg(test)]
-mod tests {
-    use core::{cell::RefCell, convert::Infallible, time::Duration};
-    use std::{
-        println,
-        rc::Rc,
-        sync::{
-            mpsc::{self, TryRecvError},
-            Arc, Mutex,
-        },
-        time::Instant,
-    };
-
-    use crate::executable::{Executable, OpResult};
-
-    use super::{DeadlineMissedHandler, TaskWithSchedulingTable};
-
-    #[derive(Debug)]
-    pub struct CallInfo {
-        time: std::time::Instant,
-        op_code: i32,
-    }
-
-    pub struct Task1 {
-        called_queue: mpsc::Sender<CallInfo>,
-    }
-
-    impl Executable for Task1 {
-        type Error = Infallible;
-        fn task_name(&self) -> &'static str {
-            "Task1"
-        }
-        fn periodic_op(&mut self, op_code: i32) -> Result<OpResult, Self::Error> {
-            self.called_queue
-                .send(CallInfo {
-                    time: Instant::now(),
-                    op_code,
-                })
-                .unwrap();
-            Ok(OpResult::Ok)
-        }
-    }
-
-    pub struct Task2 {
-        called_queue: mpsc::Sender<CallInfo>,
-    }
-
-    impl Executable for Task2 {
-        type Error = Infallible;
-        fn task_name(&self) -> &'static str {
-            "Task2"
-        }
-        fn periodic_op(&mut self, op_code: i32) -> Result<OpResult, Self::Error> {
-            self.called_queue
-                .send(CallInfo {
-                    time: Instant::now(),
-                    op_code,
-                })
-                .unwrap();
-            Ok(OpResult::Ok)
-        }
-    }
-
-    #[derive(Default)]
-    pub struct DeadlineMissed {
-        call_count: u32,
-    }
-
-    impl DeadlineMissedHandler for DeadlineMissed {
-        fn deadline_missed_callback(&mut self, task_name: &'static str, _op_code: i32) {
-            println!("task name {task_name} missed the deadline");
-            self.call_count += 1;
-        }
-    }
-
-    #[test]
-    pub fn basic_test() {
-        let (tx_t1, rx_t1) = mpsc::channel();
-        let (tx_t2, rx_t2) = mpsc::channel();
-        let t1 = Task1 {
-            called_queue: tx_t1,
-        };
-        let t2 = Task2 {
-            called_queue: tx_t2,
-        };
-        let mut deadline_missed_cb = DeadlineMissed::default();
-        let mut exec_task = TaskWithSchedulingTable::new(Duration::from_millis(200));
-        let t1_first_slot = Rc::new(RefCell::new(t1));
-        let t1_second_slot = t1_first_slot.clone();
-        let t2_first_slot = Rc::new(RefCell::new(t2));
-        let t2_second_slot = t2_first_slot.clone();
-
-        exec_task.add_task(0, t1_first_slot, 0).unwrap();
-        exec_task.add_task(50, t1_second_slot, -1).unwrap();
-        exec_task.add_task(100, t2_first_slot, 1).unwrap();
-        exec_task.add_task(150, t2_second_slot, 2).unwrap();
-        let now = Instant::now();
-        exec_task.init_start_of_slot();
-        exec_task
-            .run_one_task_cycle(&mut deadline_missed_cb)
-            .unwrap();
-        let mut call_info = rx_t1.try_recv().unwrap();
-        assert_eq!(call_info.op_code, 0);
-        let diff_call_to_start = call_info.time - now;
-        assert!(diff_call_to_start.as_millis() < 30);
-        call_info = rx_t1.try_recv().unwrap();
-        assert_eq!(call_info.op_code, -1);
-        let diff_call_to_start = call_info.time - now;
-        assert!(diff_call_to_start.as_millis() < 80);
-        assert!(diff_call_to_start.as_millis() >= 50);
-        matches!(rx_t1.try_recv().unwrap_err(), TryRecvError::Empty);
-
-        call_info = rx_t2.try_recv().unwrap();
-        assert_eq!(call_info.op_code, 1);
-        let diff_call_to_start = call_info.time - now;
-        assert!(diff_call_to_start.as_millis() < 120);
-        assert!(diff_call_to_start.as_millis() >= 100);
-        call_info = rx_t2.try_recv().unwrap();
-        assert_eq!(call_info.op_code, 2);
-        let diff_call_to_start = call_info.time - now;
-        assert!(diff_call_to_start.as_millis() < 180);
-        assert!(diff_call_to_start.as_millis() >= 150);
-        matches!(rx_t2.try_recv().unwrap_err(), TryRecvError::Empty);
-        assert_eq!(deadline_missed_cb.call_count, 0);
-    }
-
-    #[test]
-    pub fn basic_test_with_arc_mutex() {
-        let (tx_t1, rx_t1) = mpsc::channel();
-        let (tx_t2, rx_t2) = mpsc::channel();
-        let t1 = Task1 {
-            called_queue: tx_t1,
-        };
-        let t2 = Task2 {
-            called_queue: tx_t2,
-        };
-        let mut deadline_missed_cb = DeadlineMissed::default();
-        let mut exec_task = TaskWithSchedulingTable::new(Duration::from_millis(200));
-        let t1_first_slot = Arc::new(Mutex::new(t1));
-        let t1_second_slot = t1_first_slot.clone();
-        let t2_first_slot = Arc::new(Mutex::new(t2));
-        let t2_second_slot = t2_first_slot.clone();
-
-        exec_task.add_task_sendable(0, t1_first_slot, 0).unwrap();
-        exec_task.add_task_sendable(50, t1_second_slot, -1).unwrap();
-        exec_task.add_task_sendable(100, t2_first_slot, 1).unwrap();
-        exec_task.add_task_sendable(150, t2_second_slot, 2).unwrap();
-        let now = Instant::now();
-        exec_task.init_start_of_slot();
-        exec_task
-            .run_one_task_cycle(&mut deadline_missed_cb)
-            .unwrap();
-        let mut call_info = rx_t1.try_recv().unwrap();
-        assert_eq!(call_info.op_code, 0);
-        let diff_call_to_start = call_info.time - now;
-        assert!(diff_call_to_start.as_millis() < 30);
-        call_info = rx_t1.try_recv().unwrap();
-        assert_eq!(call_info.op_code, -1);
-        let diff_call_to_start = call_info.time - now;
-        assert!(diff_call_to_start.as_millis() < 80);
-        assert!(diff_call_to_start.as_millis() >= 50);
-        matches!(rx_t1.try_recv().unwrap_err(), TryRecvError::Empty);
-
-        call_info = rx_t2.try_recv().unwrap();
-        assert_eq!(call_info.op_code, 1);
-        let diff_call_to_start = call_info.time - now;
-        assert!(diff_call_to_start.as_millis() < 120);
-        assert!(diff_call_to_start.as_millis() >= 100);
-        call_info = rx_t2.try_recv().unwrap();
-        assert_eq!(call_info.op_code, 2);
-        let diff_call_to_start = call_info.time - now;
-        assert!(diff_call_to_start.as_millis() < 180);
-        assert!(diff_call_to_start.as_millis() >= 150);
-        matches!(rx_t2.try_recv().unwrap_err(), TryRecvError::Empty);
-        assert_eq!(deadline_missed_cb.call_count, 0);
-    }
-
-    #[test]
-    pub fn basic_test_in_thread() {
-        let mut deadline_missed_cb = DeadlineMissed::default();
-        std::thread::spawn(move || {
-            let (tx_t1, _rx_t1) = mpsc::channel();
-            let t1 = Task1 {
-                called_queue: tx_t1,
-            };
-            // Need to construct this in the thread, the task table in not [Send]
-            let mut exec_task = TaskWithSchedulingTable::new(Duration::from_millis(200));
-            let t1_wrapper = Rc::new(RefCell::new(t1));
-            exec_task.add_task(0, t1_wrapper, 0).unwrap();
-            exec_task
-                .run_one_task_cycle(&mut deadline_missed_cb)
-                .unwrap();
-        });
-
-        let mut deadline_missed_cb = DeadlineMissed::default();
-        let (tx_t1, _rx_t1) = mpsc::channel();
-        let t1 = Task1 {
-            called_queue: tx_t1,
-        };
-        let mut exec_task_sendable = TaskWithSchedulingTable::new(Duration::from_millis(200));
-        exec_task_sendable
-            .add_task_sendable(0, Arc::new(Mutex::new(t1)), 1)
-            .unwrap();
-        std::thread::spawn(move || {
-            exec_task_sendable
-                .run_one_task_cycle(&mut deadline_missed_cb)
-                .unwrap();
-        });
-    }
-}