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base: rust:main
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rust:main
rust:serialization-prototyping
rust:satrs-shared-v0.2.1
rust:satrs-shared-v0.2.0
rust:satrs-v0.2.1
rust:satrs-v0.2.0
rust:satrs-v0.2.0-rc.4
rust:satrs-v0.2.0-rc.3
rust:satrs-v0.2.0-rc.2
rust:satrs-mib-v0.1.2
rust:satrs-v0.2.0-rc.0
rust:satrs-v0.2.0-rc.1
rust:satrs-example-v0.1.1
rust:satrs-mib-v0.1.1
rust:satrs-example-v0.1.0
rust:satrs-v0.1.1
rust:satrs-v0.1.0
rust:satrs-mib-v0.1.0
rust:satrs-mib-v0.1.0-alpha.2
rust:satrs-core-v0.1.0-alpha.3
rust:satrs-core-v0.1.0-alpha.2
rust:satrs-mib-v0.1.0-alpha.1
rust:satrs-core-v0.1.0-alpha.1
rust:satrs-core-v0.1.0-alpha.0
..
compare: rust:satrs-v0.2.0
Branches Tags
rust:main
rust:serialization-prototyping
rust:satrs-shared-v0.2.1
rust:satrs-shared-v0.2.0
rust:satrs-v0.2.1
rust:satrs-v0.2.0
rust:satrs-v0.2.0-rc.4
rust:satrs-v0.2.0-rc.3
rust:satrs-v0.2.0-rc.2
rust:satrs-mib-v0.1.2
rust:satrs-v0.2.0-rc.0
rust:satrs-v0.2.0-rc.1
rust:satrs-example-v0.1.1
rust:satrs-mib-v0.1.1
rust:satrs-example-v0.1.0
rust:satrs-v0.1.1
rust:satrs-v0.1.0
rust:satrs-mib-v0.1.0
rust:satrs-mib-v0.1.0-alpha.2
rust:satrs-core-v0.1.0-alpha.3
rust:satrs-core-v0.1.0-alpha.2
rust:satrs-mib-v0.1.0-alpha.1
rust:satrs-core-v0.1.0-alpha.1
rust:satrs-core-v0.1.0-alpha.0

No commits in common. "main" and "satrs-v0.2.0" have entirely different histories.
main ... satrs-v0.2

131 changed files with 5066 additions and 115911 deletions
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2
.github/workflows/ci.yml vendored
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@ -22,7 +22,7 @@ jobs:
- name: Install nextest - name: Install nextest
uses: taiki-e/install-action@nextest uses: taiki-e/install-action@nextest
- run: cargo nextest run --all-features - run: cargo nextest run --all-features
- run: cargo test --doc --all-features - run: cargo test --doc
cross-check: cross-check:
name: Check Cross-Compilation name: Check Cross-Compilation

1
.gitignore vendored
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@ -2,7 +2,6 @@ target/
output.log output.log
/Cargo.lock /Cargo.lock
output.log
output.log output.log

4
Cargo.toml
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@ -9,6 +9,6 @@ members = [
] ]
exclude = [ exclude = [
"embedded-examples/stm32f3-disco-rtic", "satrs-example-stm32f3-disco",
"embedded-examples/stm32h7-rtic",
] ]

31
README.md
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@ -37,24 +37,16 @@ This project currently contains following crates:
* [`satrs-example`](https://egit.irs.uni-stuttgart.de/rust/sat-rs/src/branch/main/satrs-example): * [`satrs-example`](https://egit.irs.uni-stuttgart.de/rust/sat-rs/src/branch/main/satrs-example):
Example of a simple example on-board software using various sat-rs components which can be run Example of a simple example on-board software using various sat-rs components which can be run
on a host computer or on any system with a standard runtime like a Raspberry Pi. on a host computer or on any system with a standard runtime like a Raspberry Pi.
* [`satrs-minisim`](https://egit.irs.uni-stuttgart.de/rust/sat-rs/src/branch/main/satrs-minisim):
Mini-Simulator based on [asynchronix](https://github.com/asynchronics/asynchronix) which
simulates some physical devices for the `satrs-example` application device handlers.
* [`satrs-mib`](https://egit.irs.uni-stuttgart.de/rust/sat-rs/src/branch/main/satrs-mib): * [`satrs-mib`](https://egit.irs.uni-stuttgart.de/rust/sat-rs/src/branch/main/satrs-mib):
Components to build a mission information base from the on-board software directly. Components to build a mission information base from the on-board software directly.
* [`satrs-stm32f3-disco-rtic`](https://egit.irs.uni-stuttgart.de/rust/sat-rs/src/branch/main/embedded-examples/stm32f3-disco-rtic): * [`satrs-example-stm32f3-disco`](https://egit.irs.uni-stuttgart.de/rust/sat-rs/src/branch/main/satrs-example-stm32f3-disco):
Example of a simple example using low-level sat-rs components on a bare-metal system Example of a simple example using low-level sat-rs components on a bare-metal system
with constrained resources. This example uses the [RTIC](https://github.com/rtic-rs/rtic) with constrained resources.
framework on the STM32F3-Discovery device.
* [`satrs-stm32h-nucleo-rtic`](https://egit.irs.uni-stuttgart.de/rust/sat-rs/src/branch/main/embedded-examples/stm32h7-nucleo-rtic):
Example of a simple example using sat-rs components on a bare-metal system
with constrained resources. This example uses the [RTIC](https://github.com/rtic-rs/rtic)
framework on the STM32H743ZIT device.
Each project has its own `CHANGELOG.md`. Each project has its own `CHANGELOG.md`.
# Related projects # Related projects
In addition to the crates in this repository, the sat-rs project also maintains other libraries. In addition to the crates in this repository, the sat-rs project also maintains other libraries.
* [`spacepackets`](https://egit.irs.uni-stuttgart.de/rust/spacepackets): Basic ECSS and CCSDS * [`spacepackets`](https://egit.irs.uni-stuttgart.de/rust/spacepackets): Basic ECSS and CCSDS
@ -62,21 +54,6 @@ Each project has its own `CHANGELOG.md`.
[`satrs`](https://egit.irs.uni-stuttgart.de/rust/satrs/src/branch/main/satrs) [`satrs`](https://egit.irs.uni-stuttgart.de/rust/satrs/src/branch/main/satrs)
crate. crate.
# Flight Heritage
There is an active and continuous effort to get early flight heritage for the sat-rs library.
Currently this library has the following flight heritage:
- Submission as an [OPS-SAT experiment](https://www.esa.int/Enabling_Support/Operations/OPS-SAT)
which has also
[flown on the satellite](https://blogs.esa.int/rocketscience/2024/05/21/ops-sat-reentry-tomorrow-final-experiments-continue/).
The application is strongly based on the sat-rs example application. You can find the repository
of the experiment [here](https://egit.irs.uni-stuttgart.de/rust/ops-sat-rs).
- Development and use of a sat-rs-based [demonstration on-board software](https://egit.irs.uni-stuttgart.de/rust/eurosim-obsw)
alongside a Flight System Simulator in the context of a
[Bachelors Thesis](https://www.researchgate.net/publication/380785984_Design_and_Development_of_a_Hardware-in-the-Loop_EuroSim_Demonstrator)
at [Airbus Netherlands](https://www.airbusdefenceandspacenetherlands.nl/).
# Coverage # Coverage
Coverage was generated using [`grcov`](https://github.com/mozilla/grcov). If you have not done so Coverage was generated using [`grcov`](https://github.com/mozilla/grcov). If you have not done so
@ -87,5 +64,5 @@ rustup component add llvm-tools-preview
cargo install grcov --locked cargo install grcov --locked
``` ```
After that, you can simply run `coverage.py` to test the `satrs` crate with coverage. You can After that, you can simply run `coverage.py` to test the `satrs-core` crate with coverage. You can
optionally supply the `--open` flag to open the coverage report in your webbrowser. optionally supply the `--open` flag to open the coverage report in your webbrowser.

2
automation/Jenkinsfile vendored
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@ -33,7 +33,7 @@ pipeline {
stage('Test') { stage('Test') {
steps { steps {
sh 'cargo nextest r --all-features' sh 'cargo nextest r --all-features'
sh 'cargo test --doc --all-features' sh 'cargo test --doc'
} }
} }
stage('Check with all features') { stage('Check with all features') {

305
embedded-examples/stm32f3-disco-rtic/pyclient/main.py
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@ -1,305 +0,0 @@
#!/usr/bin/env python3
"""Example client for the sat-rs example application"""
import struct
import logging
import sys
import time
from typing import Any, Optional, cast
from prompt_toolkit.history import FileHistory, History
from spacepackets.ecss.tm import CdsShortTimestamp
import tmtccmd
from spacepackets.ecss import PusTelemetry, PusTelecommand, PusTm, PusVerificator
from spacepackets.ecss.pus_17_test import Service17Tm
from spacepackets.ecss.pus_1_verification import UnpackParams, Service1Tm
from tmtccmd import TcHandlerBase, ProcedureParamsWrapper
from tmtccmd.core.base import BackendRequest
from tmtccmd.core.ccsds_backend import QueueWrapper
from tmtccmd.logging import add_colorlog_console_logger
from tmtccmd.pus import VerificationWrapper
from tmtccmd.tmtc import CcsdsTmHandler, SpecificApidHandlerBase
from tmtccmd.com import ComInterface
from tmtccmd.config import (
CmdTreeNode,
default_json_path,
SetupParams,
HookBase,
params_to_procedure_conversion,
)
from tmtccmd.config.com import SerialCfgWrapper
from tmtccmd.config import PreArgsParsingWrapper, SetupWrapper
from tmtccmd.logging.pus import (
RegularTmtcLogWrapper,
RawTmtcTimedLogWrapper,
TimedLogWhen,
)
from tmtccmd.tmtc import (
TcQueueEntryType,
ProcedureWrapper,
TcProcedureType,
FeedWrapper,
SendCbParams,
DefaultPusQueueHelper,
)
from tmtccmd.pus.s5_fsfw_event import Service5Tm
from spacepackets.seqcount import FileSeqCountProvider, PusFileSeqCountProvider
from tmtccmd.util.obj_id import ObjectIdDictT
_LOGGER = logging.getLogger()
EXAMPLE_PUS_APID = 0x02
class SatRsConfigHook(HookBase):
def __init__(self, json_cfg_path: str):
super().__init__(json_cfg_path)
def get_communication_interface(self, com_if_key: str) -> Optional[ComInterface]:
from tmtccmd.config.com import (
create_com_interface_default,
create_com_interface_cfg_default,
)
assert self.cfg_path is not None
cfg = create_com_interface_cfg_default(
com_if_key=com_if_key,
json_cfg_path=self.cfg_path,
space_packet_ids=None,
)
if cfg is None:
raise ValueError(
f"No valid configuration could be retrieved for the COM IF with key {com_if_key}"
)
if cfg.com_if_key == "serial_cobs":
cfg = cast(SerialCfgWrapper, cfg)
cfg.serial_cfg.serial_timeout = 0.5
return create_com_interface_default(cfg)
def get_command_definitions(self) -> CmdTreeNode:
"""This function should return the root node of the command definition tree."""
return create_cmd_definition_tree()
def get_cmd_history(self) -> Optional[History]:
"""Optionlly return a history class for the past command paths which will be used
when prompting a command path from the user in CLI mode."""
return FileHistory(".tmtc-history.txt")
def get_object_ids(self) -> ObjectIdDictT:
from tmtccmd.config.objects import get_core_object_ids
return get_core_object_ids()
def create_cmd_definition_tree() -> CmdTreeNode:
root_node = CmdTreeNode.root_node()
root_node.add_child(CmdTreeNode("ping", "Send PUS ping TC"))
root_node.add_child(CmdTreeNode("change_blink_freq", "Change blink frequency"))
return root_node
class PusHandler(SpecificApidHandlerBase):
def __init__(
self,
file_logger: logging.Logger,
verif_wrapper: VerificationWrapper,
raw_logger: RawTmtcTimedLogWrapper,
):
super().__init__(EXAMPLE_PUS_APID, None)
self.file_logger = file_logger
self.raw_logger = raw_logger
self.verif_wrapper = verif_wrapper
def handle_tm(self, packet: bytes, _user_args: Any):
try:
pus_tm = PusTm.unpack(
packet, timestamp_len=CdsShortTimestamp.TIMESTAMP_SIZE
)
except ValueError as e:
_LOGGER.warning("Could not generate PUS TM object from raw data")
_LOGGER.warning(f"Raw Packet: [{packet.hex(sep=',')}], REPR: {packet!r}")
raise e
service = pus_tm.service
tm_packet = None
if service == 1:
tm_packet = Service1Tm.unpack(
data=packet, params=UnpackParams(CdsShortTimestamp.TIMESTAMP_SIZE, 1, 2)
)
res = self.verif_wrapper.add_tm(tm_packet)
if res is None:
_LOGGER.info(
f"Received Verification TM[{tm_packet.service}, {tm_packet.subservice}] "
f"with Request ID {tm_packet.tc_req_id.as_u32():#08x}"
)
_LOGGER.warning(
f"No matching telecommand found for {tm_packet.tc_req_id}"
)
else:
self.verif_wrapper.log_to_console(tm_packet, res)
self.verif_wrapper.log_to_file(tm_packet, res)
if service == 3:
_LOGGER.info("No handling for HK packets implemented")
_LOGGER.info(f"Raw packet: 0x[{packet.hex(sep=',')}]")
pus_tm = PusTelemetry.unpack(packet, CdsShortTimestamp.TIMESTAMP_SIZE)
if pus_tm.subservice == 25:
if len(pus_tm.source_data) < 8:
raise ValueError("No addressable ID in HK packet")
json_str = pus_tm.source_data[8:]
_LOGGER.info("received JSON string: " + json_str.decode("utf-8"))
if service == 5:
tm_packet = Service5Tm.unpack(packet, CdsShortTimestamp.TIMESTAMP_SIZE)
if service == 17:
tm_packet = Service17Tm.unpack(packet, CdsShortTimestamp.TIMESTAMP_SIZE)
if tm_packet.subservice == 2:
_LOGGER.info("Received Ping Reply TM[17,2]")
else:
_LOGGER.info(
f"Received Test Packet with unknown subservice {tm_packet.subservice}"
)
if tm_packet is None:
_LOGGER.info(
f"The service {service} is not implemented in Telemetry Factory"
)
tm_packet = PusTelemetry.unpack(packet, CdsShortTimestamp.TIMESTAMP_SIZE)
self.raw_logger.log_tm(pus_tm)
def make_addressable_id(target_id: int, unique_id: int) -> bytes:
byte_string = bytearray(struct.pack("!I", target_id))
byte_string.extend(struct.pack("!I", unique_id))
return byte_string
class TcHandler(TcHandlerBase):
def __init__(
self,
seq_count_provider: FileSeqCountProvider,
verif_wrapper: VerificationWrapper,
):
super(TcHandler, self).__init__()
self.seq_count_provider = seq_count_provider
self.verif_wrapper = verif_wrapper
self.queue_helper = DefaultPusQueueHelper(
queue_wrapper=QueueWrapper.empty(),
tc_sched_timestamp_len=7,
seq_cnt_provider=seq_count_provider,
pus_verificator=verif_wrapper.pus_verificator,
default_pus_apid=EXAMPLE_PUS_APID,
)
def send_cb(self, send_params: SendCbParams):
entry_helper = send_params.entry
if entry_helper.is_tc:
if entry_helper.entry_type == TcQueueEntryType.PUS_TC:
pus_tc_wrapper = entry_helper.to_pus_tc_entry()
pus_tc_wrapper.pus_tc.seq_count = (
self.seq_count_provider.get_and_increment()
)
self.verif_wrapper.add_tc(pus_tc_wrapper.pus_tc)
raw_tc = pus_tc_wrapper.pus_tc.pack()
_LOGGER.info(f"Sending {pus_tc_wrapper.pus_tc}")
send_params.com_if.send(raw_tc)
elif entry_helper.entry_type == TcQueueEntryType.LOG:
log_entry = entry_helper.to_log_entry()
_LOGGER.info(log_entry.log_str)
def queue_finished_cb(self, info: ProcedureWrapper):
if info.proc_type == TcProcedureType.TREE_COMMANDING:
def_proc = info.to_tree_commanding_procedure()
_LOGGER.info(f"Queue handling finished for command {def_proc.cmd_path}")
def feed_cb(self, info: ProcedureWrapper, wrapper: FeedWrapper):
q = self.queue_helper
q.queue_wrapper = wrapper.queue_wrapper
if info.proc_type == TcProcedureType.TREE_COMMANDING:
def_proc = info.to_tree_commanding_procedure()
cmd_path = def_proc.cmd_path
if cmd_path == "/ping":
q.add_log_cmd("Sending PUS ping telecommand")
q.add_pus_tc(PusTelecommand(service=17, subservice=1))
if cmd_path == "/change_blink_freq":
self.create_change_blink_freq_command(q)
def create_change_blink_freq_command(self, q: DefaultPusQueueHelper):
q.add_log_cmd("Changing blink frequency")
while True:
blink_freq = int(
input(
"Please specify new blink frequency in ms. Valid Range [2..10000]: "
)
)
if blink_freq < 2 or blink_freq > 10000:
print(
"Invalid blink frequency. Please specify a value between 2 and 10000."
)
continue
break
app_data = struct.pack("!I", blink_freq)
q.add_pus_tc(PusTelecommand(service=8, subservice=1, app_data=app_data))
def main():
add_colorlog_console_logger(_LOGGER)
tmtccmd.init_printout(False)
hook_obj = SatRsConfigHook(json_cfg_path=default_json_path())
parser_wrapper = PreArgsParsingWrapper()
parser_wrapper.create_default_parent_parser()
parser_wrapper.create_default_parser()
parser_wrapper.add_def_proc_args()
params = SetupParams()
post_args_wrapper = parser_wrapper.parse(hook_obj, params)
proc_wrapper = ProcedureParamsWrapper()
if post_args_wrapper.use_gui:
post_args_wrapper.set_params_without_prompts(proc_wrapper)
else:
post_args_wrapper.set_params_with_prompts(proc_wrapper)
params.apid = EXAMPLE_PUS_APID
setup_args = SetupWrapper(
hook_obj=hook_obj, setup_params=params, proc_param_wrapper=proc_wrapper
)
# Create console logger helper and file loggers
tmtc_logger = RegularTmtcLogWrapper()
file_logger = tmtc_logger.logger
raw_logger = RawTmtcTimedLogWrapper(when=TimedLogWhen.PER_HOUR, interval=1)
verificator = PusVerificator()
verification_wrapper = VerificationWrapper(verificator, _LOGGER, file_logger)
# Create primary TM handler and add it to the CCSDS Packet Handler
tm_handler = PusHandler(file_logger, verification_wrapper, raw_logger)
ccsds_handler = CcsdsTmHandler(generic_handler=None)
ccsds_handler.add_apid_handler(tm_handler)
# Create TC handler
seq_count_provider = PusFileSeqCountProvider()
tc_handler = TcHandler(seq_count_provider, verification_wrapper)
tmtccmd.setup(setup_args=setup_args)
init_proc = params_to_procedure_conversion(setup_args.proc_param_wrapper)
tmtc_backend = tmtccmd.create_default_tmtc_backend(
setup_wrapper=setup_args,
tm_handler=ccsds_handler,
tc_handler=tc_handler,
init_procedure=init_proc,
)
tmtccmd.start(tmtc_backend=tmtc_backend, hook_obj=hook_obj)
try:
while True:
state = tmtc_backend.periodic_op(None)
if state.request == BackendRequest.TERMINATION_NO_ERROR:
sys.exit(0)
elif state.request == BackendRequest.DELAY_IDLE:
_LOGGER.info("TMTC Client in IDLE mode")
time.sleep(3.0)
elif state.request == BackendRequest.DELAY_LISTENER:
time.sleep(0.8)
elif state.request == BackendRequest.DELAY_CUSTOM:
if state.next_delay.total_seconds() <= 0.4:
time.sleep(state.next_delay.total_seconds())
else:
time.sleep(0.4)
elif state.request == BackendRequest.CALL_NEXT:
pass
except KeyboardInterrupt:
sys.exit(0)
if __name__ == "__main__":
main()

29
embedded-examples/stm32h7-nucleo-rtic/.cargo/def_config.toml
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@ -1,29 +0,0 @@
[target.'cfg(all(target_arch = "arm", target_os = "none"))']
runner = "probe-rs run --chip STM32H743ZITx"
# runner = ["probe-rs", "run", "--chip", "$CHIP", "--log-format", "{L} {s}"]
rustflags = [
"-C", "linker=flip-link",
"-C", "link-arg=-Tlink.x",
"-C", "link-arg=-Tdefmt.x",
# This is needed if your flash or ram addresses are not aligned to 0x10000 in memory.x
# See https://github.com/rust-embedded/cortex-m-quickstart/pull/95
"-C", "link-arg=--nmagic",
# Can be useful for debugging.
# "-Clink-args=-Map=app.map"
]
[build]
# (`thumbv6m-*` is compatible with all ARM Cortex-M chips but using the right
# target improves performance)
# target = "thumbv6m-none-eabi" # Cortex-M0 and Cortex-M0+
# target = "thumbv7m-none-eabi" # Cortex-M3
# target = "thumbv7em-none-eabi" # Cortex-M4 and Cortex-M7 (no FPU)
target = "thumbv7em-none-eabihf" # Cortex-M4F and Cortex-M7F (with FPU)
[alias]
rb = "run --bin"
rrb = "run --release --bin"
[env]
DEFMT_LOG = "info"

4
embedded-examples/stm32h7-nucleo-rtic/.gitignore vendored
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@ -1,4 +0,0 @@
/target
/.cargo/config*
/.vscode
/app.map

881
embedded-examples/stm32h7-nucleo-rtic/Cargo.lock generated
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@ -1,881 +0,0 @@
# This file is automatically @generated by Cargo.
# It is not intended for manual editing.
version = 3
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version = "1.0.3"
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]
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version = "0.2.3"
source = "git+https://github.com/robamu/cobs.rs.git?branch=all_features#c70a7f30fd00a7cbdb7666dec12b437977385d40"
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85
embedded-examples/stm32h7-nucleo-rtic/Cargo.toml
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@ -1,85 +0,0 @@
[package]
authors = ["Robin Mueller <robin.mueller.m@gmail.com>"]
name = "satrs-stm32h7-nucleo-rtic"
edition = "2021"
version = "0.1.0"
default-run = "satrs-stm32h7-nucleo-rtic"
[lib]
harness = false
# needed for each integration test
[[test]]
name = "integration"
harness = false
[dependencies]
cortex-m = { version = "0.7", features = ["critical-section-single-core"] }
cortex-m-rt = "0.7"
defmt = "0.3"
defmt-brtt = { version = "0.1", default-features = false, features = ["rtt"] }
panic-probe = { version = "0.3", features = ["print-defmt"] }
cortex-m-semihosting = "0.5.0"
stm32h7xx-hal = { version="0.16", features= ["stm32h743v", "ethernet"] }
embedded-alloc = "0.5"
rtic-sync = { version = "1", features = ["defmt-03"] }
[dependencies.smoltcp]
version = "0.11.0"
default-features = false
features = ["medium-ethernet", "proto-ipv4", "socket-raw", "socket-dhcpv4", "socket-udp", "defmt"]
[dependencies.rtic]
version = "2"
features = ["thumbv7-backend"]
[dependencies.rtic-monotonics]
version = "1"
features = ["cortex-m-systick"]
[dependencies.satrs]
path = "../../satrs"
version = "0.2"
default-features = false
features = ["defmt", "heapless"]
[dev-dependencies]
defmt-test = "0.3"
# cargo build/run
[profile.dev]
codegen-units = 1
debug = 2
debug-assertions = true # <-
incremental = false
opt-level = 's' # <-
overflow-checks = true # <-
# cargo test
[profile.test]
codegen-units = 1
debug = 2
debug-assertions = true # <-
incremental = false
opt-level = 3 # <-
overflow-checks = true # <-
# cargo build/run --release
[profile.release]
codegen-units = 1
debug = 2
debug-assertions = false # <-
incremental = false
lto = 'fat'
opt-level = 3 # <-
overflow-checks = false # <-
# cargo test --release
[profile.bench]
codegen-units = 1
debug = 2
debug-assertions = false # <-
incremental = false
lto = 'fat'
opt-level = 3 # <-
overflow-checks = false # <-

201
embedded-examples/stm32h7-nucleo-rtic/LICENSE-APACHE
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@ -1,201 +0,0 @@
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118
embedded-examples/stm32h7-nucleo-rtic/README.md
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@ -1,118 +0,0 @@
sat-rs example for the STM32H73ZI-Nucleo board
=======
This example application shows how the [sat-rs library](https://egit.irs.uni-stuttgart.de/rust/sat-rs)
can be used on an embedded target.
It also shows how a relatively simple OBSW could be built when no standard runtime is available.
It uses [RTIC](https://rtic.rs/2/book/en/) as the concurrency framework and the
[defmt](https://defmt.ferrous-systems.com/) framework for logging.
The STM32H743ZIT device was picked because it is one of the more powerful Cortex-M based devices
available for STM with which also has a little bit more RAM available and also allows commanding
via TCP/IP.
## Pre-Requisites
Make sure the following tools are installed:
1. [`probe-rs`](https://probe.rs/): Application used to flash and debug the MCU.
2. Optional and recommended: [VS Code](https://code.visualstudio.com/) with
[probe-rs plugin](https://marketplace.visualstudio.com/items?itemName=probe-rs.probe-rs-debugger)
for debugging.
## Preparing Rust and the repository
Building an application requires the `thumbv7em-none-eabihf` cross-compiler toolchain.
If you have not installed it yet, you can do so with
```sh
rustup target add thumbv7em-none-eabihf
```
A default `.cargo` config file is provided for this project, but needs to be copied to have
the correct name. This is so that the config file can be updated or edited for custom needs
without being tracked by git.
```sh
cp def_config.toml config.toml
```
The configuration file will also set the target so it does not always have to be specified with
the `--target` argument.
## Building
After that, assuming that you have a `.cargo/config.toml` setting the correct build target,
you can simply build the application with
```sh
cargo build
```
## Flashing from the command line
You can flash the application from the command line using `probe-rs`:
```sh
probe-rs run --chip STM32H743ZITx
```
## Debugging with VS Code
The STM32F3-Discovery comes with an on-board ST-Link so all that is required to flash and debug
the board is a Mini-USB cable. The code in this repository was debugged using [`probe-rs`](https://probe.rs/docs/tools/debuggerA)
and the VS Code [`probe-rs` plugin](https://marketplace.visualstudio.com/items?itemName=probe-rs.probe-rs-debugger).
Make sure to install this plugin first.
Sample configuration files are provided inside the `vscode` folder.
Use `cp vscode .vscode -r` to use them for your project.
Some sample configuration files for VS Code were provided as well. You can simply use `Run` and `Debug`
to automatically rebuild and flash your application.
The `tasks.json` and `launch.json` files are generic and you can use them immediately by opening
the folder in VS code or adding it to a workspace.
## Commanding with Python
When the SW is running on the Discovery board, you can command the MCU via a serial interface,
using COBS encoded PUS packets.
It is recommended to use a virtual environment to do this. To set up one in the command line,
you can use `python3 -m venv venv` on Unix systems or `py -m venv venv` on Windows systems.
After doing this, you can check the [venv tutorial](https://docs.python.org/3/tutorial/venv.html)
on how to activate the environment and then use the following command to install the required
dependency:
```sh
pip install -r requirements.txt
```
The packets are exchanged using a dedicated serial interface. You can use any generic USB-to-UART
converter device with the TX pin connected to the PA3 pin and the RX pin connected to the PA2 pin.
A default configuration file for the python application is provided and can be used by running
```sh
cp def_tmtc_conf.json tmtc_conf.json
```
After that, you can for example send a ping to the MCU using the following command
```sh
./main.py -p /ping
```
You can configure the blinky frequency using
```sh
./main.py -p /change_blink_freq
```
All these commands will package a PUS telecommand which will be sent to the MCU using the COBS
format as the packet framing format.
## Resources
- [STM32H743ZI Ethernet link checker example](https://github.com/stm32-rs/stm32h7xx-hal/blob/master/examples/ethernet-nucleo-h743zi2.rs)
- [smoltcp DHCP client](https://github.com/smoltcp-rs/smoltcp/blob/main/examples/dhcp_client.rs)

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embedded-examples/stm32h7-nucleo-rtic/memory.x
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/* Taken from https://github.com/stm32-rs/stm32h7xx-hal/pull/299, adapted slightly to work with */
/* flip-link */
MEMORY
{
/* This file is intended for parts in the STM32H743/743v/753/753v families (RM0433), */
/* with the exception of the STM32H742/742v parts which have a different RAM layout. */
/* - FLASH and RAM are mandatory memory sections. */
/* - The sum of all non-FLASH sections must add to 1060K total device RAM. */
/* - The FLASH section size must match your device, see table below. */
/* FLASH */
/* Flash is divided in two independent banks (except 750xB). */
/* Select the appropriate FLASH size for your device. */
/* - STM32H750xB 128K (only FLASH1) */
/* - STM32H750xB 1M (512K + 512K) */
/* - STM32H743xI/753xI 2M ( 1M + 1M) */
FLASH1 : ORIGIN = 0x08000000, LENGTH = 1M
FLASH2 : ORIGIN = 0x08100000, LENGTH = 1M
/* Data TCM */
/* - Two contiguous 64KB RAMs. */
/* - Used for interrupt handlers, stacks and general RAM. */
/* - Zero wait-states. */
/* - The DTCM is taken as the origin of the base ram. (See below.) */
/* This is also where the interrupt table and such will live, */
/* which is required for deterministic performance. */
/* Need a region called RAM */
/* DTCM : ORIGIN = 0x20000000, LENGTH = 128K */
RAM : ORIGIN = 0x20000000, LENGTH = 128K
/* Instruction TCM */
/* - Used for latency-critical interrupt handlers etc. */
/* - Zero wait-states. */
ITCM : ORIGIN = 0x00000000, LENGTH = 64K
/* AXI SRAM */
/* - AXISRAM is in D1 and accessible by all system masters except BDMA. */
/* - Suitable for application data not stored in DTCM. */
/* - Zero wait-states. */
AXISRAM : ORIGIN = 0x24000000, LENGTH = 512K
/* AHB SRAM */
/* - SRAM1-3 are in D2 and accessible by all system masters except BDMA. */
/* Suitable for use as DMA buffers. */
/* - SRAM4 is in D3 and additionally accessible by the BDMA. Used for BDMA */
/* buffers, for storing application data in lower-power modes. */
/* - Zero wait-states. */
SRAM1 : ORIGIN = 0x30000000, LENGTH = 128K
SRAM2 : ORIGIN = 0x30020000, LENGTH = 128K
SRAM3 : ORIGIN = 0x30040000, LENGTH = 32K
SRAM4 : ORIGIN = 0x38000000, LENGTH = 64K
/* Backup SRAM */
BSRAM : ORIGIN = 0x38800000, LENGTH = 4K
}
/*
/* Assign the memory regions defined above for use. */
/*
/* Provide the mandatory FLASH and RAM definitions for cortex-m-rt's linker script. */
/* These do not work with flip-link */
REGION_ALIAS(FLASH, FLASH1);
/* REGION_ALIAS(RAM, DTCM); */
/* The location of the stack can be overridden using the `_stack_start` symbol. */
/* - Set the stack location at the end of RAM, using all remaining space. */
_stack_start = ORIGIN(RAM) + LENGTH(RAM);
/* The location of the .text section can be overridden using the */
/* `_stext` symbol. By default it will place after .vector_table. */
/* _stext = ORIGIN(FLASH) + 0x40c; */
/* Define sections for placing symbols into the extra memory regions above. */
/* This makes them accessible from code. */
/* - ITCM, DTCM and AXISRAM connect to a 64-bit wide bus -> align to 8 bytes. */
/* - All other memories connect to a 32-bit wide bus -> align to 4 bytes. */
SECTIONS {
.flash2 (NOLOAD) : ALIGN(4) {
*(.flash2 .flash2.*);
. = ALIGN(4);
} > FLASH2
.itcm (NOLOAD) : ALIGN(8) {
*(.itcm .itcm.*);
. = ALIGN(8);
} > ITCM
.axisram (NOLOAD) : ALIGN(8) {
*(.axisram .axisram.*);
. = ALIGN(8);
} > AXISRAM
.sram1 (NOLOAD) : ALIGN(8) {
*(.sram1 .sram1.*);
. = ALIGN(4);
} > SRAM1
.sram2 (NOLOAD) : ALIGN(8) {
*(.sram2 .sram2.*);
. = ALIGN(4);
} > SRAM2
.sram3 (NOLOAD) : ALIGN(4) {
*(.sram3 .sram3.*);
. = ALIGN(4);
} > SRAM3
.sram4 (NOLOAD) : ALIGN(4) {
*(.sram4 .sram4.*);
. = ALIGN(4);
} > SRAM4
.bsram (NOLOAD) : ALIGN(4) {
*(.bsram .bsram.*);
. = ALIGN(4);
} > BSRAM
};

8
embedded-examples/stm32h7-nucleo-rtic/pyclient/.gitignore vendored
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@ -1,8 +0,0 @@
/venv
/.tmtc-history.txt
/log
/.idea/*
!/.idea/runConfigurations
/seqcnt.txt
/tmtc_conf.json

4
embedded-examples/stm32h7-nucleo-rtic/pyclient/def_tmtc_conf.json
View File

@ -1,4 +0,0 @@
{
"com_if": "udp",
"tcpip_udp_port": 7301
}

2
embedded-examples/stm32h7-nucleo-rtic/pyclient/requirements.txt
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@ -1,2 +0,0 @@
tmtccmd == 8.0.1
# -e git+https://github.com/robamu-org/tmtccmd.git@main#egg=tmtccmd

55
embedded-examples/stm32h7-nucleo-rtic/src/bin/blinky.rs
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//! Blinks an LED
//!
//! This assumes that LD2 (blue) is connected to pb7 and LD3 (red) is connected
//! to pb14. This assumption is true for the nucleo-h743zi board.
#![no_std]
#![no_main]
use satrs_stm32h7_nucleo_rtic as _;
use stm32h7xx_hal::{block, prelude::*, timer::Timer};
use cortex_m_rt::entry;
#[entry]
fn main() -> ! {
defmt::println!("starting stm32h7 blinky example");
// Get access to the device specific peripherals from the peripheral access crate
let dp = stm32h7xx_hal::stm32::Peripherals::take().unwrap();
// Take ownership over the RCC devices and convert them into the corresponding HAL structs
let rcc = dp.RCC.constrain();
let pwr = dp.PWR.constrain();
let pwrcfg = pwr.freeze();
// Freeze the configuration of all the clocks in the system and
// retrieve the Core Clock Distribution and Reset (CCDR) object
let rcc = rcc.use_hse(8.MHz()).bypass_hse();
let ccdr = rcc.freeze(pwrcfg, &dp.SYSCFG);
// Acquire the GPIOB peripheral
let gpiob = dp.GPIOB.split(ccdr.peripheral.GPIOB);
// Configure gpio B pin 0 as a push-pull output.
let mut ld1 = gpiob.pb0.into_push_pull_output();
// Configure gpio B pin 7 as a push-pull output.
let mut ld2 = gpiob.pb7.into_push_pull_output();
// Configure gpio B pin 14 as a push-pull output.
let mut ld3 = gpiob.pb14.into_push_pull_output();
// Configure the timer to trigger an update every second
let mut timer = Timer::tim1(dp.TIM1, ccdr.peripheral.TIM1, &ccdr.clocks);
timer.start(1.Hz());
// Wait for the timer to trigger an update and change the state of the LED
loop {
ld1.toggle();
ld2.toggle();
ld3.toggle();
block!(timer.wait()).unwrap();
}
}

11
embedded-examples/stm32h7-nucleo-rtic/src/bin/hello.rs
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#![no_main]
#![no_std]
use satrs_stm32h7_nucleo_rtic as _; // global logger + panicking-behavior + memory layout
#[cortex_m_rt::entry]
fn main() -> ! {
defmt::println!("Hello, world!");
satrs_stm32h7_nucleo_rtic::exit()
}

52
embedded-examples/stm32h7-nucleo-rtic/src/lib.rs
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#![no_main]
#![no_std]
use cortex_m_semihosting::debug;
use defmt_brtt as _; // global logger
// TODO(5) adjust HAL import
use stm32h7xx_hal as _; // memory layout
use panic_probe as _;
// same panicking *behavior* as `panic-probe` but doesn't print a panic message
// this prevents the panic message being printed *twice* when `defmt::panic` is invoked
#[defmt::panic_handler]
fn panic() -> ! {
cortex_m::asm::udf()
}
/// Terminates the application and makes a semihosting-capable debug tool exit
/// with status code 0.
pub fn exit() -> ! {
loop {
debug::exit(debug::EXIT_SUCCESS);
}
}
/// Hardfault handler.
///
/// Terminates the application and makes a semihosting-capable debug tool exit
/// with an error. This seems better than the default, which is to spin in a
/// loop.
#[cortex_m_rt::exception]
unsafe fn HardFault(_frame: &cortex_m_rt::ExceptionFrame) -> ! {
loop {
debug::exit(debug::EXIT_FAILURE);
}
}
// defmt-test 0.3.0 has the limitation that this `#[tests]` attribute can only be used
// once within a crate. the module can be in any file but there can only be at most
// one `#[tests]` module in this library crate
#[cfg(test)]
#[defmt_test::tests]
mod unit_tests {
use defmt::assert;
#[test]
fn it_works() {
assert!(true)
}
}

528
embedded-examples/stm32h7-nucleo-rtic/src/main.rs
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@ -1,528 +0,0 @@
#![no_main]
#![no_std]
extern crate alloc;
use rtic::app;
use rtic_monotonics::systick::Systick;
use rtic_monotonics::Monotonic;
use satrs::pool::{PoolAddr, PoolProvider, StaticHeaplessMemoryPool};
use satrs::static_subpool;
// global logger + panicking-behavior + memory layout
use satrs_stm32h7_nucleo_rtic as _;
use smoltcp::socket::udp::UdpMetadata;
use smoltcp::socket::{dhcpv4, udp};
use core::mem::MaybeUninit;
use embedded_alloc::Heap;
use smoltcp::iface::{Config, Interface, SocketHandle, SocketSet, SocketStorage};
use smoltcp::wire::{HardwareAddress, IpAddress, IpCidr};
use stm32h7xx_hal::ethernet;
const DEFAULT_BLINK_FREQ_MS: u32 = 1000;
const PORT: u16 = 7301;
const HEAP_SIZE: usize = 131_072;
const TC_SOURCE_CHANNEL_DEPTH: usize = 16;
pub type SharedPool = StaticHeaplessMemoryPool<3>;
pub type TcSourceChannel = rtic_sync::channel::Channel<PoolAddr, TC_SOURCE_CHANNEL_DEPTH>;
pub type TcSourceTx = rtic_sync::channel::Sender<'static, PoolAddr, TC_SOURCE_CHANNEL_DEPTH>;
pub type TcSourceRx = rtic_sync::channel::Receiver<'static, PoolAddr, TC_SOURCE_CHANNEL_DEPTH>;
#[global_allocator]
static HEAP: Heap = Heap::empty();
// We place the memory pool buffers inside the larger AXISRAM.
pub const SUBPOOL_SMALL_NUM_BLOCKS: u16 = 32;
pub const SUBPOOL_SMALL_BLOCK_SIZE: usize = 32;
pub const SUBPOOL_MEDIUM_NUM_BLOCKS: u16 = 16;
pub const SUBPOOL_MEDIUM_BLOCK_SIZE: usize = 128;
pub const SUBPOOL_LARGE_NUM_BLOCKS: u16 = 8;
pub const SUBPOOL_LARGE_BLOCK_SIZE: usize = 2048;
// This data will be held by Net through a mutable reference
pub struct NetStorageStatic<'a> {
socket_storage: [SocketStorage<'a>; 8],
}
// MaybeUninit allows us write code that is correct even if STORE is not
// initialised by the runtime
static mut STORE: MaybeUninit<NetStorageStatic> = MaybeUninit::uninit();
static mut UDP_RX_META: [udp::PacketMetadata; 12] = [udp::PacketMetadata::EMPTY; 12];
static mut UDP_RX: [u8; 2048] = [0; 2048];
static mut UDP_TX_META: [udp::PacketMetadata; 12] = [udp::PacketMetadata::EMPTY; 12];
static mut UDP_TX: [u8; 2048] = [0; 2048];
/// Locally administered MAC address
const MAC_ADDRESS: [u8; 6] = [0x02, 0x00, 0x11, 0x22, 0x33, 0x44];
pub struct Net {
iface: Interface,
ethdev: ethernet::EthernetDMA<4, 4>,
dhcp_handle: SocketHandle,
}
impl Net {
pub fn new(
sockets: &mut SocketSet<'static>,
mut ethdev: ethernet::EthernetDMA<4, 4>,
ethernet_addr: HardwareAddress,
) -> Self {
let config = Config::new(ethernet_addr);
let mut iface = Interface::new(
config,
&mut ethdev,
smoltcp::time::Instant::from_millis((Systick::now() - Systick::ZERO).to_millis()),
);
// Create sockets
let dhcp_socket = dhcpv4::Socket::new();
iface.update_ip_addrs(|addrs| {
let _ = addrs.push(IpCidr::new(IpAddress::v4(192, 168, 1, 99), 0));
});
let dhcp_handle = sockets.add(dhcp_socket);
Net {
iface,
ethdev,
dhcp_handle,
}
}
/// Polls on the ethernet interface. You should refer to the smoltcp
/// documentation for poll() to understand how to call poll efficiently
pub fn poll<'a>(&mut self, sockets: &'a mut SocketSet) -> bool {
let uptime = Systick::now() - Systick::ZERO;
let timestamp = smoltcp::time::Instant::from_millis(uptime.to_millis());
self.iface.poll(timestamp, &mut self.ethdev, sockets)
}
pub fn poll_dhcp<'a>(&mut self, sockets: &'a mut SocketSet) -> Option<dhcpv4::Event<'a>> {
let opt_event = sockets.get_mut::<dhcpv4::Socket>(self.dhcp_handle).poll();
if let Some(event) = &opt_event {
match event {
dhcpv4::Event::Deconfigured => {
defmt::info!("DHCP lost configuration");
self.iface.update_ip_addrs(|addrs| addrs.clear());
self.iface.routes_mut().remove_default_ipv4_route();
}
dhcpv4::Event::Configured(config) => {
defmt::info!("DHCP configuration acquired");
defmt::info!("IP address: {}", config.address);
self.iface.update_ip_addrs(|addrs| {
addrs.clear();
addrs.push(IpCidr::Ipv4(config.address)).unwrap();
});
if let Some(router) = config.router {
defmt::debug!("Default gateway: {}", router);
self.iface
.routes_mut()
.add_default_ipv4_route(router)
.unwrap();
} else {
defmt::debug!("Default gateway: None");
self.iface.routes_mut().remove_default_ipv4_route();
}
}
}
}
opt_event
}
}
pub struct UdpNet {
udp_handle: SocketHandle,
last_client: Option<UdpMetadata>,
tc_source_tx: TcSourceTx,
}
impl UdpNet {
pub fn new<'sockets>(sockets: &mut SocketSet<'sockets>, tc_source_tx: TcSourceTx) -> Self {
// SAFETY: The RX and TX buffers are passed here and not used anywhere else.
let udp_rx_buffer =
smoltcp::socket::udp::PacketBuffer::new(unsafe { &mut UDP_RX_META[..] }, unsafe {
&mut UDP_RX[..]
});
let udp_tx_buffer =
smoltcp::socket::udp::PacketBuffer::new(unsafe { &mut UDP_TX_META[..] }, unsafe {
&mut UDP_TX[..]
});
let udp_socket = smoltcp::socket::udp::Socket::new(udp_rx_buffer, udp_tx_buffer);
let udp_handle = sockets.add(udp_socket);
Self {
udp_handle,
last_client: None,
tc_source_tx,
}
}
pub fn poll<'sockets>(
&mut self,
sockets: &'sockets mut SocketSet,
shared_pool: &mut SharedPool,
) {
let socket = sockets.get_mut::<udp::Socket>(self.udp_handle);
if !socket.is_open() {
if let Err(e) = socket.bind(PORT) {
defmt::warn!("binding UDP socket failed: {}", e);
}
}
loop {
match socket.recv() {
Ok((data, client)) => {
match shared_pool.add(data) {
Ok(store_addr) => {
if let Err(e) = self.tc_source_tx.try_send(store_addr) {
defmt::warn!("TC source channel is full: {}", e);
}
}
Err(e) => {
defmt::warn!("could not add UDP packet to shared pool: {}", e);
}
}
self.last_client = Some(client);
// TODO: Implement packet wiretapping.
}
Err(e) => match e {
udp::RecvError::Exhausted => {
break;
}
udp::RecvError::Truncated => {
defmt::warn!("UDP packet was truncacted");
}
},
};
}
}
}
#[app(device = stm32h7xx_hal::stm32, peripherals = true)]
mod app {
use core::ptr::addr_of_mut;
use super::*;
use rtic_monotonics::systick::fugit::MillisDurationU32;
use rtic_monotonics::systick::Systick;
use satrs::spacepackets::ecss::tc::PusTcReader;
use stm32h7xx_hal::ethernet::{EthernetMAC, PHY};
use stm32h7xx_hal::gpio::{Output, Pin};
use stm32h7xx_hal::prelude::*;
use stm32h7xx_hal::stm32::Interrupt;
struct BlinkyLeds {
led1: Pin<'B', 7, Output>,
led2: Pin<'B', 14, Output>,
}
#[local]
struct Local {
leds: BlinkyLeds,
link_led: Pin<'B', 0, Output>,
net: Net,
udp: UdpNet,
tc_source_rx: TcSourceRx,
phy: ethernet::phy::LAN8742A<EthernetMAC>,
}
#[shared]
struct Shared {
blink_freq: MillisDurationU32,
eth_link_up: bool,
sockets: SocketSet<'static>,
shared_pool: SharedPool,
}
#[init]
fn init(mut cx: init::Context) -> (Shared, Local) {
defmt::println!("Starting sat-rs demo application for the STM32H743ZIT");
let pwr = cx.device.PWR.constrain();
let pwrcfg = pwr.freeze();
let rcc = cx.device.RCC.constrain();
// Try to keep the clock configuration similar to one used in STM examples:
// https://github.com/STMicroelectronics/STM32CubeH7/blob/master/Projects/NUCLEO-H743ZI/Examples/GPIO/GPIO_EXTI/Src/main.c
let ccdr = rcc
.sys_ck(400.MHz())
.hclk(200.MHz())
.use_hse(8.MHz())
.bypass_hse()
.pclk1(100.MHz())
.pclk2(100.MHz())
.pclk3(100.MHz())
.pclk4(100.MHz())
.freeze(pwrcfg, &cx.device.SYSCFG);
// Initialize the systick interrupt & obtain the token to prove that we did
let systick_mono_token = rtic_monotonics::create_systick_token!();
Systick::start(
cx.core.SYST,
ccdr.clocks.sys_ck().to_Hz(),
systick_mono_token,
);
// Those are used in the smoltcp of the stm32h7xx-hal , I am not fully sure what they are
// good for.
cx.core.SCB.enable_icache();
cx.core.DWT.enable_cycle_counter();
let gpioa = cx.device.GPIOA.split(ccdr.peripheral.GPIOA);
let gpiob = cx.device.GPIOB.split(ccdr.peripheral.GPIOB);
let gpioc = cx.device.GPIOC.split(ccdr.peripheral.GPIOC);
let gpiog = cx.device.GPIOG.split(ccdr.peripheral.GPIOG);
let link_led = gpiob.pb0.into_push_pull_output();
let mut led1 = gpiob.pb7.into_push_pull_output();
let mut led2 = gpiob.pb14.into_push_pull_output();
// Criss-cross pattern looks cooler.
led1.set_high();
led2.set_low();
let leds = BlinkyLeds { led1, led2 };
let rmii_ref_clk = gpioa.pa1.into_alternate::<11>();
let rmii_mdio = gpioa.pa2.into_alternate::<11>();
let rmii_mdc = gpioc.pc1.into_alternate::<11>();
let rmii_crs_dv = gpioa.pa7.into_alternate::<11>();
let rmii_rxd0 = gpioc.pc4.into_alternate::<11>();
let rmii_rxd1 = gpioc.pc5.into_alternate::<11>();
let rmii_tx_en = gpiog.pg11.into_alternate::<11>();
let rmii_txd0 = gpiog.pg13.into_alternate::<11>();
let rmii_txd1 = gpiob.pb13.into_alternate::<11>();
let mac_addr = smoltcp::wire::EthernetAddress::from_bytes(&MAC_ADDRESS);
/// Ethernet descriptor rings are a global singleton
#[link_section = ".sram3.eth"]
static mut DES_RING: MaybeUninit<ethernet::DesRing<4, 4>> = MaybeUninit::uninit();
let (eth_dma, eth_mac) = ethernet::new(
cx.device.ETHERNET_MAC,
cx.device.ETHERNET_MTL,
cx.device.ETHERNET_DMA,
(
rmii_ref_clk,
rmii_mdio,
rmii_mdc,
rmii_crs_dv,
rmii_rxd0,
rmii_rxd1,
rmii_tx_en,
rmii_txd0,
rmii_txd1,
),
// SAFETY: We do not move the returned DMA struct across thread boundaries, so this
// should be safe according to the docs.
unsafe { DES_RING.assume_init_mut() },
mac_addr,
ccdr.peripheral.ETH1MAC,
&ccdr.clocks,
);
// Initialise ethernet PHY...
let mut lan8742a = ethernet::phy::LAN8742A::new(eth_mac.set_phy_addr(0));
lan8742a.phy_reset();
lan8742a.phy_init();
unsafe {
ethernet::enable_interrupt();
cx.core.NVIC.set_priority(Interrupt::ETH, 196); // Mid prio
cortex_m::peripheral::NVIC::unmask(Interrupt::ETH);
}
// unsafe: mutable reference to static storage, we only do this once
let store = unsafe {
let store_ptr = STORE.as_mut_ptr();
// Initialise the socket_storage field. Using `write` instead of
// assignment via `=` to not call `drop` on the old, uninitialised
// value
addr_of_mut!((*store_ptr).socket_storage).write([SocketStorage::EMPTY; 8]);
// Now that all fields are initialised we can safely use
// assume_init_mut to return a mutable reference to STORE
STORE.assume_init_mut()
};
let (tc_source_tx, tc_source_rx) =
rtic_sync::make_channel!(PoolAddr, TC_SOURCE_CHANNEL_DEPTH);
let mut sockets = SocketSet::new(&mut store.socket_storage[..]);
let net = Net::new(&mut sockets, eth_dma, mac_addr.into());
let udp = UdpNet::new(&mut sockets, tc_source_tx);
let mut shared_pool: SharedPool = StaticHeaplessMemoryPool::new(true);
static_subpool!(
SUBPOOL_SMALL,
SUBPOOL_SMALL_SIZES,
SUBPOOL_SMALL_NUM_BLOCKS as usize,
SUBPOOL_SMALL_BLOCK_SIZE,
link_section = ".axisram"
);
static_subpool!(
SUBPOOL_MEDIUM,
SUBPOOL_MEDIUM_SIZES,
SUBPOOL_MEDIUM_NUM_BLOCKS as usize,
SUBPOOL_MEDIUM_BLOCK_SIZE,
link_section = ".axisram"
);
static_subpool!(
SUBPOOL_LARGE,
SUBPOOL_LARGE_SIZES,
SUBPOOL_LARGE_NUM_BLOCKS as usize,
SUBPOOL_LARGE_BLOCK_SIZE,
link_section = ".axisram"
);
shared_pool
.grow(
unsafe { SUBPOOL_SMALL.assume_init_mut() },
unsafe { SUBPOOL_SMALL_SIZES.assume_init_mut() },
SUBPOOL_SMALL_NUM_BLOCKS,
true,
)
.expect("growing heapless memory pool failed");
shared_pool
.grow(
unsafe { SUBPOOL_MEDIUM.assume_init_mut() },
unsafe { SUBPOOL_MEDIUM_SIZES.assume_init_mut() },
SUBPOOL_MEDIUM_NUM_BLOCKS,
true,
)
.expect("growing heapless memory pool failed");
shared_pool
.grow(
unsafe { SUBPOOL_LARGE.assume_init_mut() },
unsafe { SUBPOOL_LARGE_SIZES.assume_init_mut() },
SUBPOOL_LARGE_NUM_BLOCKS,
true,
)
.expect("growing heapless memory pool failed");
// Set up global allocator. Use AXISRAM for the heap.
#[link_section = ".axisram"]
static mut HEAP_MEM: [MaybeUninit<u8>; HEAP_SIZE] = [MaybeUninit::uninit(); HEAP_SIZE];
unsafe { HEAP.init(HEAP_MEM.as_ptr() as usize, HEAP_SIZE) }
eth_link_check::spawn().expect("eth link check failed");
blinky::spawn().expect("spawning blink task failed");
udp_task::spawn().expect("spawning UDP task failed");
tc_source_task::spawn().expect("spawning TC source task failed");
(
Shared {
blink_freq: MillisDurationU32::from_ticks(DEFAULT_BLINK_FREQ_MS),
eth_link_up: false,
sockets,
shared_pool,
},
Local {
link_led,
leds,
net,
udp,
tc_source_rx,
phy: lan8742a,
},
)
}
#[task(local = [leds], shared=[blink_freq])]
async fn blinky(mut cx: blinky::Context) {
let leds = cx.local.leds;
loop {
leds.led1.toggle();
leds.led2.toggle();
let current_blink_freq = cx.shared.blink_freq.lock(|current| *current);
Systick::delay(current_blink_freq).await;
}
}
/// This task checks for the network link.
#[task(local=[link_led, phy], shared=[eth_link_up])]
async fn eth_link_check(mut cx: eth_link_check::Context) {
let phy = cx.local.phy;
let link_led = cx.local.link_led;
loop {
let link_was_up = cx.shared.eth_link_up.lock(|link_up| *link_up);
if phy.poll_link() {
if !link_was_up {
link_led.set_high();
cx.shared.eth_link_up.lock(|link_up| *link_up = true);
defmt::info!("Ethernet link up");
}
} else if link_was_up {
link_led.set_low();
cx.shared.eth_link_up.lock(|link_up| *link_up = false);
defmt::info!("Ethernet link down");
}
Systick::delay(100.millis()).await;
}
}
#[task(binds=ETH, local=[net], shared=[sockets])]
fn eth_isr(mut cx: eth_isr::Context) {
// SAFETY: We do not write the register mentioned inside the docs anywhere else.
unsafe {
ethernet::interrupt_handler();
}
// Check and process ETH frames and DHCP. UDP is checked in a different task.
cx.shared.sockets.lock(|sockets| {
cx.local.net.poll(sockets);
cx.local.net.poll_dhcp(sockets);
});
}
/// This task routes UDP packets.
#[task(local=[udp], shared=[sockets, shared_pool])]
async fn udp_task(mut cx: udp_task::Context) {
loop {
cx.shared.sockets.lock(|sockets| {
cx.shared.shared_pool.lock(|pool| {
cx.local.udp.poll(sockets, pool);
})
});
Systick::delay(40.millis()).await;
}
}
/// This task handles all the incoming telecommands.
#[task(local=[read_buf: [u8; 1024] = [0; 1024], tc_source_rx], shared=[shared_pool])]
async fn tc_source_task(mut cx: tc_source_task::Context) {
loop {
let recv_result = cx.local.tc_source_rx.recv().await;
match recv_result {
Ok(pool_addr) => {
cx.shared.shared_pool.lock(|pool| {
match pool.read(&pool_addr, cx.local.read_buf.as_mut()) {
Ok(packet_len) => {
defmt::info!("received {} bytes in the TC source task", packet_len);
match PusTcReader::new(&cx.local.read_buf[0..packet_len]) {
Ok((packet, _tc_len)) => {
// TODO: Handle packet here or dispatch to dedicated PUS
// handler? Dispatching could simplify some things and make
// the software more scalable..
defmt::info!("received PUS packet: {}", packet);
}
Err(e) => {
defmt::info!("invalid TC format, not a PUS packet: {}", e);
}
}
if let Err(e) = pool.delete(pool_addr) {
defmt::warn!("deleting TC data failed: {}", e);
}
}
Err(e) => {
defmt::warn!("TC packet read failed: {}", e);
}
}
});
}
Err(e) => {
defmt::warn!("TC source reception error: {}", e);
}
};
}
}
}

16
embedded-examples/stm32h7-nucleo-rtic/tests/integration.rs
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@ -1,16 +0,0 @@
#![no_std]
#![no_main]
use stm32h7_testapp as _; // memory layout + panic handler
// See https://crates.io/crates/defmt-test/0.3.0 for more documentation (e.g. about the 'state'
// feature)
#[defmt_test::tests]
mod tests {
use defmt::assert;
#[test]
fn it_works() {
assert!(true)
}
}

2
embedded-examples/stm32h7-nucleo-rtic/vscode/.gitignore vendored
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@ -1,2 +0,0 @@
/settings.json
/.cortex-debug.*

12
embedded-examples/stm32h7-nucleo-rtic/vscode/extensions.json
View File

@ -1,12 +0,0 @@
{
// See https://go.microsoft.com/fwlink/?LinkId=827846 to learn about workspace recommendations.
// Extension identifier format: ${publisher}.${name}. Example: vscode.csharp
// List of extensions which should be recommended for users of this workspace.
"recommendations": [
"rust-lang.rust",
"probe-rs.probe-rs-debugger"
],
// List of extensions recommended by VS Code that should not be recommended for users of this workspace.
"unwantedRecommendations": []
}

22
embedded-examples/stm32h7-nucleo-rtic/vscode/launch.json
View File

@ -1,22 +0,0 @@
{
"version": "0.2.0",
"configurations": [
{
"preLaunchTask": "${defaultBuildTask}",
"type": "probe-rs-debug",
"request": "launch",
"name": "probe-rs Debugging ",
"flashingConfig": {
"flashingEnabled": true
},
"chip": "STM32H743ZITx",
"coreConfigs": [
{
"programBinary": "${workspaceFolder}/target/thumbv7em-none-eabihf/debug/satrs-stm32h7-nucleo-rtic",
"rttEnabled": true,
"svdFile": "STM32H743.svd"
}
]
}
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{
// See https://go.microsoft.com/fwlink/?LinkId=733558
// for the documentation about the tasks.json format
"version": "2.0.0",
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"type": "shell",
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Simulator based on asynchronix<y:LabelModel><y:SmartNodeLabelModel distance="4.0"/></y:LabelModel><y:ModelParameter><y:SmartNodeLabelModelParameter labelRatioX="0.0" labelRatioY="0.0" nodeRatioX="-0.028136269449041573" nodeRatioY="-0.08493150684931505" offsetX="0.0" offsetY="0.0" upX="0.0" upY="-1.0"/></y:ModelParameter></y:NodeLabel> Simulator based on asynchronix<y:LabelModel><y:SmartNodeLabelModel distance="4.0"/></y:LabelModel><y:ModelParameter><y:SmartNodeLabelModelParameter labelRatioX="0.0" labelRatioY="0.0" nodeRatioX="-0.028136269449041573" nodeRatioY="-0.08493150684931505" offsetX="0.0" offsetY="0.0" upX="0.0" upY="-1.0"/></y:ModelParameter></y:NodeLabel>
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1088
images/satrs-example-goal/satrs-example-goal.pdf
View File

File diff suppressed because it is too large Load Diff

5
satrs-book/src/events.md
View File

@ -17,8 +17,3 @@ The following images shows how the flow of events could look like in a system wh
can generate events, and where other system components might be interested in those events: can generate events, and where other system components might be interested in those events:
![Event flow](images/events/event_man_arch.png) ![Event flow](images/events/event_man_arch.png)
For the concrete implementation of your own event management and/or event routing system, you
can have a look at the event management documentation inside the
[API documentation](https://docs.rs/satrs/latest/satrs/event_man/index.html) where you can also
find references to all examples.

23
satrs-book/src/introduction.md
View File

@ -5,8 +5,10 @@ This book is the primary information resource for the [sat-rs library](https://e
in addition to the regular API documentation. It contains the following resources: in addition to the regular API documentation. It contains the following resources:
1. Architecture informations and consideration which would exceeds the scope of the regular API. 1. Architecture informations and consideration which would exceeds the scope of the regular API.
2. General information on how to build on-board Software and how `sat-rs` can help to fulfill 2. General information on how to build On-Board Software and how `sat-rs` can help to fulfill
the unique requirements of writing software for remote systems. the unique requirements of writing software for remote systems.
2. A Getting-Started workshop where a small On-Board Software is built from scratch using
sat-rs components.
# Introduction # Introduction
@ -29,21 +31,4 @@ and [EIVE](https://www.irs.uni-stuttgart.de/en/research/satellitetechnology-and-
The [`satrs-example`](https://egit.irs.uni-stuttgart.de/rust/sat-rs/src/branch/main/satrs-example) The [`satrs-example`](https://egit.irs.uni-stuttgart.de/rust/sat-rs/src/branch/main/satrs-example)
provides various practical usage examples of the `sat-rs` framework. If you are more interested in provides various practical usage examples of the `sat-rs` framework. If you are more interested in
the practical application of `sat-rs` inside an application, it is recommended to have a look at the practical application of `sat-rs` inside an application, it is recommended to have a look at
the example application. The [`satrs-minisim`](https://egit.irs.uni-stuttgart.de/rust/sat-rs/src/branch/main/satrs-minisim) the example application.
applicatin complements the example application and can be used to simulate some physical devices
for the `satrs-example` device handlers.
# Flight Heritage
There is an active and continuous effort to get early flight heritage for the sat-rs library.
Currently this library has the following flight heritage:
- Submission as an [OPS-SAT experiment](https://www.esa.int/Enabling_Support/Operations/OPS-SAT)
which has also
[flown on the satellite](https://blogs.esa.int/rocketscience/2024/05/21/ops-sat-reentry-tomorrow-final-experiments-continue/).
The application is strongly based on the sat-rs example application. You can find the repository
of the experiment [here](https://egit.irs.uni-stuttgart.de/rust/ops-sat-rs).
- Development and use of a sat-rs-based [demonstration on-board software](https://egit.irs.uni-stuttgart.de/rust/eurosim-obsw)
alongside a Flight System Simulator in the context of a
[Bachelors Thesis](https://www.researchgate.net/publication/380785984_Design_and_Development_of_a_Hardware-in-the-Loop_EuroSim_Demonstrator)
at [Airbus Netherlands](https://www.airbusdefenceandspacenetherlands.nl/).

0
embedded-examples/stm32f3-disco-rtic/.cargo/def_config.toml → satrs-example-stm32f3-disco/.cargo/def_config.toml
View File

0
embedded-examples/stm32f3-disco-rtic/.gitignore → satrs-example-stm32f3-disco/.gitignore vendored
View File

157
embedded-examples/stm32f3-disco-rtic/Cargo.lock → satrs-example-stm32f3-disco/Cargo.lock generated
View File

@ -22,9 +22,9 @@ dependencies = [
[[package]] [[package]]
name = "autocfg" name = "autocfg"
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[[package]] [[package]]
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@ -121,9 +115,9 @@ dependencies = [
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[[package]] [[package]]
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[[package]] [[package]]
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[[package]] [[package]]
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@ -627,18 +610,18 @@ dependencies = [
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"proc-macro2", "proc-macro2",
"quote", "quote",
"syn 2.0.65", "syn 2.0.58",
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[[package]] [[package]]
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name = "satrs-shared" name = "satrs-example-stm32f3-disco"
version = "0.1.4"
source = "registry+https://github.com/rust-lang/crates.io-index"
checksum = "6042477018c2d43fffccaaa5099bc299a58485139b4d31c5b276889311e474f1"
dependencies = [
"spacepackets",
]
[[package]]
name = "satrs-stm32f3-disco-rtic"
version = "0.1.0" version = "0.1.0"
dependencies = [ dependencies = [
"cobs 0.2.3 (git+https://github.com/robamu/cobs.rs.git?branch=all_features)", "cobs",
"cortex-m", "cortex-m",
"cortex-m-rt", "cortex-m-rt",
"cortex-m-semihosting", "cortex-m-semihosting",
@ -787,6 +757,13 @@ dependencies = [
"stm32f3xx-hal", "stm32f3xx-hal",
] ]
[[package]]
name = "satrs-shared"
version = "0.1.3"
dependencies = [
"spacepackets",
]
[[package]] [[package]]
name = "semver" name = "semver"
version = "0.9.0" version = "0.9.0"
@ -798,9 +775,9 @@ dependencies = [
[[package]] [[package]]
name = "semver" name = "semver"
version = "1.0.23" version = "1.0.22"
source = "registry+https://github.com/rust-lang/crates.io-index" source = "registry+https://github.com/rust-lang/crates.io-index"
checksum = "61697e0a1c7e512e84a621326239844a24d8207b4669b41bc18b32ea5cbf988b" checksum = "92d43fe69e652f3df9bdc2b85b2854a0825b86e4fb76bc44d945137d053639ca"
[[package]] [[package]]
name = "semver-parser" name = "semver-parser"
@ -822,9 +799,9 @@ checksum = "3c5e1a9a646d36c3599cd173a41282daf47c44583ad367b8e6837255952e5c67"
[[package]] [[package]]
name = "spacepackets" name = "spacepackets"
version = "0.11.2" version = "0.11.0-rc.2"
source = "registry+https://github.com/rust-lang/crates.io-index" source = "registry+https://github.com/rust-lang/crates.io-index"
checksum = "e85574d113a06312010c0ba51aadccd4ba2806231ebe9a49fc6473d0534d8696" checksum = "c2cfd5f9a4c7f10714d21f9bc61f2d176cb7ae092cdd687e7ade2d4e6f7d7125"
dependencies = [ dependencies = [
"crc", "crc",
"defmt", "defmt",
@ -922,9 +899,9 @@ dependencies = [
[[package]] [[package]]
name = "syn" name = "syn"
version = "2.0.65" version = "2.0.58"
source = "registry+https://github.com/rust-lang/crates.io-index" source = "registry+https://github.com/rust-lang/crates.io-index"
checksum = "d2863d96a84c6439701d7a38f9de935ec562c8832cc55d1dde0f513b52fad106" checksum = "44cfb93f38070beee36b3fef7d4f5a16f27751d94b187b666a5cc5e9b0d30687"
dependencies = [ dependencies = [
"proc-macro2", "proc-macro2",
"quote", "quote",
@ -933,22 +910,22 @@ dependencies = [
[[package]] [[package]]
name = "thiserror" name = "thiserror"
version = "1.0.61" version = "1.0.58"
source = "registry+https://github.com/rust-lang/crates.io-index" source = "registry+https://github.com/rust-lang/crates.io-index"
checksum = "c546c80d6be4bc6a00c0f01730c08df82eaa7a7a61f11d656526506112cc1709" checksum = "03468839009160513471e86a034bb2c5c0e4baae3b43f79ffc55c4a5427b3297"
dependencies = [ dependencies = [
"thiserror-impl", "thiserror-impl",
] ]
[[package]] [[package]]
name = "thiserror-impl" name = "thiserror-impl"
version = "1.0.61" version = "1.0.58"
source = "registry+https://github.com/rust-lang/crates.io-index" source = "registry+https://github.com/rust-lang/crates.io-index"
checksum = "46c3384250002a6d5af4d114f2845d37b57521033f30d5c3f46c4d70e1197533" checksum = "c61f3ba182994efc43764a46c018c347bc492c79f024e705f46567b418f6d4f7"
dependencies = [ dependencies = [
"proc-macro2", "proc-macro2",
"quote", "quote",
"syn 2.0.65", "syn 2.0.58",
] ]
[[package]] [[package]]
@ -998,9 +975,9 @@ dependencies = [
[[package]] [[package]]
name = "zerocopy" name = "zerocopy"
version = "0.7.34" version = "0.7.32"
source = "registry+https://github.com/rust-lang/crates.io-index" source = "registry+https://github.com/rust-lang/crates.io-index"
checksum = "ae87e3fcd617500e5d106f0380cf7b77f3c6092aae37191433159dda23cfb087" checksum = "74d4d3961e53fa4c9a25a8637fc2bfaf2595b3d3ae34875568a5cf64787716be"
dependencies = [ dependencies = [
"byteorder", "byteorder",
"zerocopy-derive", "zerocopy-derive",
@ -1008,11 +985,11 @@ dependencies = [
[[package]] [[package]]
name = "zerocopy-derive" name = "zerocopy-derive"
version = "0.7.34" version = "0.7.32"
source = "registry+https://github.com/rust-lang/crates.io-index" source = "registry+https://github.com/rust-lang/crates.io-index"
checksum = "15e934569e47891f7d9411f1a451d947a60e000ab3bd24fbb970f000387d1b3b" checksum = "9ce1b18ccd8e73a9321186f97e46f9f04b778851177567b1975109d26a08d2a6"
dependencies = [ dependencies = [
"proc-macro2", "proc-macro2",
"quote", "quote",
"syn 2.0.65", "syn 2.0.58",
] ]

7
embedded-examples/stm32f3-disco-rtic/Cargo.toml → satrs-example-stm32f3-disco/Cargo.toml
View File

@ -1,8 +1,8 @@
[package] [package]
name = "satrs-stm32f3-disco-rtic" name = "satrs-example-stm32f3-disco"
version = "0.1.0" version = "0.1.0"
edition = "2021" edition = "2021"
default-run = "satrs-stm32f3-disco-rtic" default-run = "satrs-example-stm32f3-disco"
# See more keys and their definitions at https://doc.rust-lang.org/cargo/reference/manifest.html # See more keys and their definitions at https://doc.rust-lang.org/cargo/reference/manifest.html
@ -46,8 +46,7 @@ branch = "complete-dma-update-hal"
# path = "../stm32f3-discovery" # path = "../stm32f3-discovery"
[dependencies.satrs] [dependencies.satrs]
# path = "satrs" path = "../satrs"
version = "0.2"
default-features = false default-features = false
features = ["defmt"] features = ["defmt"]

0
embedded-examples/stm32f3-disco-rtic/LICENSE-APACHE → satrs-example-stm32f3-disco/LICENSE-APACHE
View File

0
embedded-examples/stm32f3-disco-rtic/NOTICE → satrs-example-stm32f3-disco/NOTICE
View File

4
embedded-examples/stm32f3-disco-rtic/README.md → satrs-example-stm32f3-disco/README.md
View File

@ -1,10 +1,10 @@
sat-rs example for the STM32F3-Discovery board sat-rs example for the STM32F3-Discovery board
======= =======
This example application shows how the [sat-rs library](https://egit.irs.uni-stuttgart.de/rust/sat-rs) This example application shows how the [sat-rs framework](https://egit.irs.uni-stuttgart.de/rust/satrs-launchpad)
can be used on an embedded target. can be used on an embedded target.
It also shows how a relatively simple OBSW could be built when no standard runtime is available. It also shows how a relatively simple OBSW could be built when no standard runtime is available.
It uses [RTIC](https://rtic.rs/2/book/en/) as the concurrency framework and the It uses [RTIC](https://rtic.rs/1/book/en/) as the concurrency framework and the
[defmt](https://defmt.ferrous-systems.com/) framework for logging. [defmt](https://defmt.ferrous-systems.com/) framework for logging.
The STM32F3-Discovery device was picked because it is a cheap Cortex-M4 based device which is also The STM32F3-Discovery device was picked because it is a cheap Cortex-M4 based device which is also

0
embedded-examples/stm32f3-disco-rtic/STM32F303.svd → satrs-example-stm32f3-disco/STM32F303.svd
View File

0
embedded-examples/stm32f3-disco-rtic/legacy/jlink.gdb → satrs-example-stm32f3-disco/legacy/jlink.gdb
View File

0
embedded-examples/stm32f3-disco-rtic/legacy/openocd.cfg → satrs-example-stm32f3-disco/legacy/openocd.cfg
View File

0
embedded-examples/stm32f3-disco-rtic/legacy/openocd.gdb → satrs-example-stm32f3-disco/legacy/openocd.gdb
View File

0
embedded-examples/stm32f3-disco-rtic/memory.x → satrs-example-stm32f3-disco/memory.x
View File

0
embedded-examples/stm32f3-disco-rtic/pyclient/.gitignore → satrs-example-stm32f3-disco/pyclient/.gitignore vendored
View File

0
embedded-examples/stm32f3-disco-rtic/pyclient/def_tmtc_conf.json → satrs-example-stm32f3-disco/pyclient/def_tmtc_conf.json
View File

29
embedded-examples/stm32h7-nucleo-rtic/pyclient/main.py → satrs-example-stm32f3-disco/pyclient/main.py
View File

@ -9,7 +9,7 @@ from prompt_toolkit.history import FileHistory, History
from spacepackets.ecss.tm import CdsShortTimestamp from spacepackets.ecss.tm import CdsShortTimestamp
import tmtccmd import tmtccmd
from spacepackets.ecss import PusTelemetry, PusTelecommand, PusTm, PusVerificator from spacepackets.ecss import PusTelemetry, PusTelecommand, PusVerificator
from spacepackets.ecss.pus_17_test import Service17Tm from spacepackets.ecss.pus_17_test import Service17Tm
from spacepackets.ecss.pus_1_verification import UnpackParams, Service1Tm from spacepackets.ecss.pus_1_verification import UnpackParams, Service1Tm
@ -43,7 +43,7 @@ from tmtccmd.tmtc import (
DefaultPusQueueHelper, DefaultPusQueueHelper,
) )
from tmtccmd.pus.s5_fsfw_event import Service5Tm from tmtccmd.pus.s5_fsfw_event import Service5Tm
from spacepackets.seqcount import FileSeqCountProvider, PusFileSeqCountProvider from tmtccmd.util import FileSeqCountProvider, PusFileSeqCountProvider
from tmtccmd.util.obj_id import ObjectIdDictT from tmtccmd.util.obj_id import ObjectIdDictT
_LOGGER = logging.getLogger() _LOGGER = logging.getLogger()
@ -53,7 +53,7 @@ EXAMPLE_PUS_APID = 0x02
class SatRsConfigHook(HookBase): class SatRsConfigHook(HookBase):
def __init__(self, json_cfg_path: str): def __init__(self, json_cfg_path: str):
super().__init__(json_cfg_path) super().__init__(json_cfg_path=json_cfg_path)
def get_communication_interface(self, com_if_key: str) -> Optional[ComInterface]: def get_communication_interface(self, com_if_key: str) -> Optional[ComInterface]:
from tmtccmd.config.com import ( from tmtccmd.config.com import (
@ -111,10 +111,9 @@ class PusHandler(SpecificApidHandlerBase):
self.verif_wrapper = verif_wrapper self.verif_wrapper = verif_wrapper
def handle_tm(self, packet: bytes, _user_args: Any): def handle_tm(self, packet: bytes, _user_args: Any):
time_reader = CdsShortTimestamp.empty()
try: try:
pus_tm = PusTm.unpack( pus_tm = PusTelemetry.unpack(packet, time_reader=CdsShortTimestamp.empty())
packet, timestamp_len=CdsShortTimestamp.TIMESTAMP_SIZE
)
except ValueError as e: except ValueError as e:
_LOGGER.warning("Could not generate PUS TM object from raw data") _LOGGER.warning("Could not generate PUS TM object from raw data")
_LOGGER.warning(f"Raw Packet: [{packet.hex(sep=',')}], REPR: {packet!r}") _LOGGER.warning(f"Raw Packet: [{packet.hex(sep=',')}], REPR: {packet!r}")
@ -123,7 +122,7 @@ class PusHandler(SpecificApidHandlerBase):
tm_packet = None tm_packet = None
if service == 1: if service == 1:
tm_packet = Service1Tm.unpack( tm_packet = Service1Tm.unpack(
data=packet, params=UnpackParams(CdsShortTimestamp.TIMESTAMP_SIZE, 1, 2) data=packet, params=UnpackParams(time_reader, 1, 2)
) )
res = self.verif_wrapper.add_tm(tm_packet) res = self.verif_wrapper.add_tm(tm_packet)
if res is None: if res is None:
@ -140,16 +139,16 @@ class PusHandler(SpecificApidHandlerBase):
if service == 3: if service == 3:
_LOGGER.info("No handling for HK packets implemented") _LOGGER.info("No handling for HK packets implemented")
_LOGGER.info(f"Raw packet: 0x[{packet.hex(sep=',')}]") _LOGGER.info(f"Raw packet: 0x[{packet.hex(sep=',')}]")
pus_tm = PusTelemetry.unpack(packet, CdsShortTimestamp.TIMESTAMP_SIZE) pus_tm = PusTelemetry.unpack(packet, CdsShortTimestamp.empty())
if pus_tm.subservice == 25: if pus_tm.subservice == 25:
if len(pus_tm.source_data) < 8: if len(pus_tm.source_data) < 8:
raise ValueError("No addressable ID in HK packet") raise ValueError("No addressable ID in HK packet")
json_str = pus_tm.source_data[8:] json_str = pus_tm.source_data[8:]
_LOGGER.info("received JSON string: " + json_str.decode("utf-8")) _LOGGER.info("received JSON string: " + json_str.decode("utf-8"))
if service == 5: if service == 5:
tm_packet = Service5Tm.unpack(packet, CdsShortTimestamp.TIMESTAMP_SIZE) tm_packet = Service5Tm.unpack(packet, time_reader)
if service == 17: if service == 17:
tm_packet = Service17Tm.unpack(packet, CdsShortTimestamp.TIMESTAMP_SIZE) tm_packet = Service17Tm.unpack(packet, time_reader)
if tm_packet.subservice == 2: if tm_packet.subservice == 2:
_LOGGER.info("Received Ping Reply TM[17,2]") _LOGGER.info("Received Ping Reply TM[17,2]")
else: else:
@ -160,7 +159,7 @@ class PusHandler(SpecificApidHandlerBase):
_LOGGER.info( _LOGGER.info(
f"The service {service} is not implemented in Telemetry Factory" f"The service {service} is not implemented in Telemetry Factory"
) )
tm_packet = PusTelemetry.unpack(packet, CdsShortTimestamp.TIMESTAMP_SIZE) tm_packet = PusTelemetry.unpack(packet, time_reader)
self.raw_logger.log_tm(pus_tm) self.raw_logger.log_tm(pus_tm)
@ -204,15 +203,15 @@ class TcHandler(TcHandlerBase):
_LOGGER.info(log_entry.log_str) _LOGGER.info(log_entry.log_str)
def queue_finished_cb(self, info: ProcedureWrapper): def queue_finished_cb(self, info: ProcedureWrapper):
if info.proc_type == TcProcedureType.TREE_COMMANDING: if info.proc_type == TcProcedureType.DEFAULT:
def_proc = info.to_tree_commanding_procedure() def_proc = info.to_def_procedure()
_LOGGER.info(f"Queue handling finished for command {def_proc.cmd_path}") _LOGGER.info(f"Queue handling finished for command {def_proc.cmd_path}")
def feed_cb(self, info: ProcedureWrapper, wrapper: FeedWrapper): def feed_cb(self, info: ProcedureWrapper, wrapper: FeedWrapper):
q = self.queue_helper q = self.queue_helper
q.queue_wrapper = wrapper.queue_wrapper q.queue_wrapper = wrapper.queue_wrapper
if info.proc_type == TcProcedureType.TREE_COMMANDING: if info.proc_type == TcProcedureType.DEFAULT:
def_proc = info.to_tree_commanding_procedure() def_proc = info.to_def_procedure()
cmd_path = def_proc.cmd_path cmd_path = def_proc.cmd_path
if cmd_path == "/ping": if cmd_path == "/ping":
q.add_log_cmd("Sending PUS ping telecommand") q.add_log_cmd("Sending PUS ping telecommand")

2
embedded-examples/stm32f3-disco-rtic/pyclient/requirements.txt → satrs-example-stm32f3-disco/pyclient/requirements.txt
View File

@ -1,2 +1,2 @@
tmtccmd == 8.0.1 tmtccmd == 8.0.0rc.0
# -e git+https://github.com/robamu-org/tmtccmd.git@main#egg=tmtccmd # -e git+https://github.com/robamu-org/tmtccmd.git@main#egg=tmtccmd

2
embedded-examples/stm32f3-disco-rtic/src/bin/blinky.rs → satrs-example-stm32f3-disco/src/bin/blinky.rs
View File

@ -1,6 +1,6 @@
#![no_std] #![no_std]
#![no_main] #![no_main]
use satrs_stm32f3_disco_rtic as _; use satrs_example_stm32f3_disco as _;
use stm32f3_discovery::leds::Leds; use stm32f3_discovery::leds::Leds;
use stm32f3_discovery::stm32f3xx_hal::delay::Delay; use stm32f3_discovery::stm32f3xx_hal::delay::Delay;

0
embedded-examples/stm32f3-disco-rtic/src/lib.rs → satrs-example-stm32f3-disco/src/lib.rs
View File

2
embedded-examples/stm32f3-disco-rtic/src/main.rs → satrs-example-stm32f3-disco/src/main.rs
View File

@ -9,7 +9,7 @@ use satrs::spacepackets::ecss::EcssEnumU16;
use satrs::spacepackets::CcsdsPacket; use satrs::spacepackets::CcsdsPacket;
use satrs::spacepackets::{ByteConversionError, SpHeader}; use satrs::spacepackets::{ByteConversionError, SpHeader};
// global logger + panicking-behavior + memory layout // global logger + panicking-behavior + memory layout
use satrs_stm32f3_disco_rtic as _; use satrs_example_stm32f3_disco as _;
use rtic::app; use rtic::app;

0
embedded-examples/stm32f3-disco-rtic/vscode/.gitignore → satrs-example-stm32f3-disco/vscode/.gitignore vendored
View File

0
embedded-examples/stm32f3-disco-rtic/vscode/extensions.json → satrs-example-stm32f3-disco/vscode/extensions.json
View File

4
embedded-examples/stm32f3-disco-rtic/vscode/launch.json → satrs-example-stm32f3-disco/vscode/launch.json
View File

@ -12,11 +12,11 @@
"chip": "STM32F303VCTx", "chip": "STM32F303VCTx",
"coreConfigs": [ "coreConfigs": [
{ {
"programBinary": "${workspaceFolder}/target/thumbv7em-none-eabihf/debug/satrs-stm32f3-disco-rtic", "programBinary": "${workspaceFolder}/target/thumbv7em-none-eabihf/debug/satrs-example-stm32f3-disco",
"rttEnabled": true, "rttEnabled": true,
"svdFile": "STM32F303.svd" "svdFile": "STM32F303.svd"
} }
] ]
} }
] ]
} }

0
embedded-examples/stm32f3-disco-rtic/vscode/openocd-helpers.tcl → satrs-example-stm32f3-disco/vscode/openocd-helpers.tcl
View File

0
embedded-examples/stm32f3-disco-rtic/vscode/tasks.json → satrs-example-stm32f3-disco/vscode/tasks.json
View File

10
satrs-example/CHANGELOG.md
View File

@ -7,13 +7,3 @@ The format is based on [Keep a Changelog](http://keepachangelog.com/)
and this project adheres to [Semantic Versioning](http://semver.org/). and this project adheres to [Semantic Versioning](http://semver.org/).
# [unreleased] # [unreleased]
# [v0.1.1] 2024-02-21
satrs v0.2.0-rc.0
satrs-mib v0.1.1
# [v0.1.0] 2024-02-13
satrs v0.1.1
satrs-mib v0.1.0

13
satrs-example/Cargo.toml
View File

@ -8,18 +8,18 @@ homepage = "https://egit.irs.uni-stuttgart.de/rust/sat-rs"
repository = "https://egit.irs.uni-stuttgart.de/rust/sat-rs" repository = "https://egit.irs.uni-stuttgart.de/rust/sat-rs"
[dependencies] [dependencies]
fern = "0.7" fern = "0.6"
chrono = "0.4" chrono = "0.4"
log = "0.4" log = "0.4"
crossbeam-channel = "0.5" crossbeam-channel = "0.5"
delegate = "0.13" delegate = "0.10"
zerocopy = "0.8" zerocopy = "0.6"
csv = "1" csv = "1"
num_enum = "0.7" num_enum = "0.7"
thiserror = "2" thiserror = "1"
lazy_static = "1" lazy_static = "1"
strum = { version = "0.26", features = ["derive"] } strum = { version = "0.26", features = ["derive"] }
derive-new = "0.7" derive-new = "0.5"
serde = { version = "1", features = ["derive"] } serde = { version = "1", features = ["derive"] }
serde_json = "1" serde_json = "1"
@ -27,9 +27,6 @@ serde_json = "1"
path = "../satrs" path = "../satrs"
features = ["test_util"] features = ["test_util"]
[dependencies.satrs-minisim]
path = "../satrs-minisim"
[dependencies.satrs-mib] [dependencies.satrs-mib]
version = "0.1.1" version = "0.1.1"
path = "../satrs-mib" path = "../satrs-mib"

24
satrs-example/README.md
View File

@ -48,17 +48,16 @@ It is recommended to use a virtual environment to do this. To set up one in the
you can use `python3 -m venv venv` on Unix systems or `py -m venv venv` on Windows systems. you can use `python3 -m venv venv` on Unix systems or `py -m venv venv` on Windows systems.
After doing this, you can check the [venv tutorial](https://docs.python.org/3/tutorial/venv.html) After doing this, you can check the [venv tutorial](https://docs.python.org/3/tutorial/venv.html)
on how to activate the environment and then use the following command to install the required on how to activate the environment and then use the following command to install the required
dependency interactively: dependency:
```sh ```sh
pip install -e . pip install -r requirements.txt
``` ```
Alternatively, if you would like to use the GUI functionality provided by `tmtccmd`, you can also Alternatively, if you would like to use the GUI functionality provided by `tmtccmd`, you can also
install it manually with install it manually with
```sh ```sh
pip install -e .
pip install tmtccmd[gui] pip install tmtccmd[gui]
``` ```
@ -73,22 +72,3 @@ the `simpleclient`:
``` ```
You can also simply call the script without any arguments to view the command tree. You can also simply call the script without any arguments to view the command tree.
## Adding the mini simulator application
This example application features a few device handlers. The
[`satrs-minisim`](https://egit.irs.uni-stuttgart.de/rust/sat-rs/src/branch/main/satrs-minisim)
can be used to simulate the physical devices managed by these device handlers.
The example application will attempt communication with the mini simulator on UDP port 7303.
If this works, the device handlers will use communication interfaces dedicated to the communication
with the mini simulator. Otherwise, they will be replaced by dummy interfaces which either
return constant values or behave like ideal devices.
In summary, you can use the following command command to run the mini-simulator first:
```sh
cargo run -p satrs-minisim
```
and then start the example using `cargo run -p satrs-example`.

134
satrs-example/pytmtc/.gitignore vendored
View File

@ -1,4 +1,3 @@
/tmtc_conf.json
__pycache__ __pycache__
/venv /venv
@ -8,136 +7,3 @@ __pycache__
/seqcnt.txt /seqcnt.txt
/.tmtc-history.txt /.tmtc-history.txt
# Byte-compiled / optimized / DLL files
__pycache__/
*.py[cod]
*$py.class
# C extensions
*.so
# Distribution / packaging
.Python
build/
develop-eggs/
dist/
downloads/
eggs/
.eggs/
lib/
lib64/
parts/
sdist/
var/
wheels/
pip-wheel-metadata/
share/python-wheels/
*.egg-info/
.installed.cfg
*.egg
MANIFEST
# PyInstaller
# Usually these files are written by a python script from a template
# before PyInstaller builds the exe, so as to inject date/other infos into it.
*.manifest
*.spec
# Installer logs
pip-log.txt
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*.mo
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*.log
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# However, in case of collaboration, if having platform-specific dependencies or dependencies
# having no cross-platform support, pipenv may install dependencies that don't work, or not
# install all needed dependencies.
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.idea

0
satrs-example/pytmtc/pytmtc/common.py → satrs-example/pytmtc/common.py
View File

199
satrs-example/pytmtc/main.py
View File

@ -3,17 +3,27 @@
import logging import logging
import sys import sys
import time import time
from typing import Any, Optional
from prompt_toolkit.history import History
from prompt_toolkit.history import FileHistory
from spacepackets.ccsds import PacketId, PacketType
import tmtccmd import tmtccmd
from spacepackets.ecss import PusVerificator from spacepackets.ecss import PusTelemetry, PusVerificator
from spacepackets.ecss.pus_17_test import Service17Tm
from spacepackets.ecss.pus_1_verification import UnpackParams, Service1Tm
from spacepackets.ccsds.time import CdsShortTimestamp
from tmtccmd import ProcedureParamsWrapper from tmtccmd import TcHandlerBase, ProcedureParamsWrapper
from tmtccmd.core.base import BackendRequest from tmtccmd.core.base import BackendRequest
from tmtccmd.pus import VerificationWrapper from tmtccmd.pus import VerificationWrapper
from tmtccmd.tmtc import CcsdsTmHandler from tmtccmd.tmtc import CcsdsTmHandler, GenericApidHandlerBase
from tmtccmd.com import ComInterface
from tmtccmd.config import ( from tmtccmd.config import (
CmdTreeNode,
default_json_path, default_json_path,
SetupParams, SetupParams,
HookBase,
params_to_procedure_conversion, params_to_procedure_conversion,
) )
from tmtccmd.config import PreArgsParsingWrapper, SetupWrapper from tmtccmd.config import PreArgsParsingWrapper, SetupWrapper
@ -23,20 +33,193 @@ from tmtccmd.logging.pus import (
RawTmtcTimedLogWrapper, RawTmtcTimedLogWrapper,
TimedLogWhen, TimedLogWhen,
) )
from spacepackets.seqcount import PusFileSeqCountProvider from tmtccmd.tmtc import (
TcQueueEntryType,
ProcedureWrapper,
TcProcedureType,
FeedWrapper,
SendCbParams,
DefaultPusQueueHelper,
QueueWrapper,
)
from spacepackets.seqcount import FileSeqCountProvider, PusFileSeqCountProvider
from tmtccmd.util.obj_id import ObjectIdDictT
from pytmtc.config import SatrsConfigHook import pus_tc
from pytmtc.pus_tc import TcHandler from common import Apid, EventU32
from pytmtc.pus_tm import PusHandler
_LOGGER = logging.getLogger() _LOGGER = logging.getLogger()
class SatRsConfigHook(HookBase):
def __init__(self, json_cfg_path: str):
super().__init__(json_cfg_path=json_cfg_path)
def get_communication_interface(self, com_if_key: str) -> Optional[ComInterface]:
from tmtccmd.config.com import (
create_com_interface_default,
create_com_interface_cfg_default,
)
assert self.cfg_path is not None
packet_id_list = []
for apid in Apid:
packet_id_list.append(PacketId(PacketType.TM, True, apid))
cfg = create_com_interface_cfg_default(
com_if_key=com_if_key,
json_cfg_path=self.cfg_path,
space_packet_ids=packet_id_list,
)
assert cfg is not None
return create_com_interface_default(cfg)
def get_command_definitions(self) -> CmdTreeNode:
"""This function should return the root node of the command definition tree."""
return pus_tc.create_cmd_definition_tree()
def get_cmd_history(self) -> Optional[History]:
"""Optionlly return a history class for the past command paths which will be used
when prompting a command path from the user in CLI mode."""
return FileHistory(".tmtc-history.txt")
def get_object_ids(self) -> ObjectIdDictT:
from tmtccmd.config.objects import get_core_object_ids
return get_core_object_ids()
class PusHandler(GenericApidHandlerBase):
def __init__(
self,
file_logger: logging.Logger,
verif_wrapper: VerificationWrapper,
raw_logger: RawTmtcTimedLogWrapper,
):
super().__init__(None)
self.file_logger = file_logger
self.raw_logger = raw_logger
self.verif_wrapper = verif_wrapper
def handle_tm(self, apid: int, packet: bytes, _user_args: Any):
try:
pus_tm = PusTelemetry.unpack(
packet, timestamp_len=CdsShortTimestamp.TIMESTAMP_SIZE
)
except ValueError as e:
_LOGGER.warning("Could not generate PUS TM object from raw data")
_LOGGER.warning(f"Raw Packet: [{packet.hex(sep=',')}], REPR: {packet!r}")
raise e
service = pus_tm.service
if service == 1:
tm_packet = Service1Tm.unpack(
data=packet, params=UnpackParams(CdsShortTimestamp.TIMESTAMP_SIZE, 1, 2)
)
res = self.verif_wrapper.add_tm(tm_packet)
if res is None:
_LOGGER.info(
f"Received Verification TM[{tm_packet.service}, {tm_packet.subservice}] "
f"with Request ID {tm_packet.tc_req_id.as_u32():#08x}"
)
_LOGGER.warning(
f"No matching telecommand found for {tm_packet.tc_req_id}"
)
else:
self.verif_wrapper.log_to_console(tm_packet, res)
self.verif_wrapper.log_to_file(tm_packet, res)
elif service == 3:
_LOGGER.info("No handling for HK packets implemented")
_LOGGER.info(f"Raw packet: 0x[{packet.hex(sep=',')}]")
pus_tm = PusTelemetry.unpack(
packet, timestamp_len=CdsShortTimestamp.TIMESTAMP_SIZE
)
if pus_tm.subservice == 25:
if len(pus_tm.source_data) < 8:
raise ValueError("No addressable ID in HK packet")
json_str = pus_tm.source_data[8:]
_LOGGER.info(json_str)
elif service == 5:
tm_packet = PusTelemetry.unpack(
packet, timestamp_len=CdsShortTimestamp.TIMESTAMP_SIZE
)
src_data = tm_packet.source_data
event_u32 = EventU32.unpack(src_data)
_LOGGER.info(
f"Received event packet. Source APID: {Apid(tm_packet.apid)!r}, Event: {event_u32}"
)
if event_u32.group_id == 0 and event_u32.unique_id == 0:
_LOGGER.info("Received test event")
elif service == 17:
tm_packet = Service17Tm.unpack(
packet, timestamp_len=CdsShortTimestamp.TIMESTAMP_SIZE
)
if tm_packet.subservice == 2:
self.file_logger.info("Received Ping Reply TM[17,2]")
_LOGGER.info("Received Ping Reply TM[17,2]")
else:
self.file_logger.info(
f"Received Test Packet with unknown subservice {tm_packet.subservice}"
)
_LOGGER.info(
f"Received Test Packet with unknown subservice {tm_packet.subservice}"
)
else:
_LOGGER.info(
f"The service {service} is not implemented in Telemetry Factory"
)
tm_packet = PusTelemetry.unpack(
packet, timestamp_len=CdsShortTimestamp.TIMESTAMP_SIZE
)
self.raw_logger.log_tm(pus_tm)
class TcHandler(TcHandlerBase):
def __init__(
self,
seq_count_provider: FileSeqCountProvider,
verif_wrapper: VerificationWrapper,
):
super(TcHandler, self).__init__()
self.seq_count_provider = seq_count_provider
self.verif_wrapper = verif_wrapper
self.queue_helper = DefaultPusQueueHelper(
queue_wrapper=QueueWrapper.empty(),
tc_sched_timestamp_len=CdsShortTimestamp.TIMESTAMP_SIZE,
seq_cnt_provider=seq_count_provider,
pus_verificator=self.verif_wrapper.pus_verificator,
default_pus_apid=None,
)
def send_cb(self, send_params: SendCbParams):
entry_helper = send_params.entry
if entry_helper.is_tc:
if entry_helper.entry_type == TcQueueEntryType.PUS_TC:
pus_tc_wrapper = entry_helper.to_pus_tc_entry()
raw_tc = pus_tc_wrapper.pus_tc.pack()
_LOGGER.info(f"Sending {pus_tc_wrapper.pus_tc}")
send_params.com_if.send(raw_tc)
elif entry_helper.entry_type == TcQueueEntryType.LOG:
log_entry = entry_helper.to_log_entry()
_LOGGER.info(log_entry.log_str)
def queue_finished_cb(self, info: ProcedureWrapper):
if info.proc_type == TcProcedureType.TREE_COMMANDING:
def_proc = info.to_tree_commanding_procedure()
_LOGGER.info(f"Queue handling finished for command {def_proc.cmd_path}")
def feed_cb(self, info: ProcedureWrapper, wrapper: FeedWrapper):
q = self.queue_helper
q.queue_wrapper = wrapper.queue_wrapper
if info.proc_type == TcProcedureType.TREE_COMMANDING:
def_proc = info.to_tree_commanding_procedure()
assert def_proc.cmd_path is not None
pus_tc.pack_pus_telecommands(q, def_proc.cmd_path)
def main(): def main():
add_colorlog_console_logger(_LOGGER) add_colorlog_console_logger(_LOGGER)
tmtccmd.init_printout(False) tmtccmd.init_printout(False)
hook_obj = SatrsConfigHook(json_cfg_path=default_json_path()) hook_obj = SatRsConfigHook(json_cfg_path=default_json_path())
parser_wrapper = PreArgsParsingWrapper() parser_wrapper = PreArgsParsingWrapper()
parser_wrapper.create_default_parent_parser() parser_wrapper.create_default_parent_parser()
parser_wrapper.create_default_parser() parser_wrapper.create_default_parser()

102
satrs-example/pytmtc/pytmtc/pus_tc.py → satrs-example/pytmtc/pus_tc.py
View File

@ -1,69 +1,33 @@
import datetime import datetime
import struct
import logging import logging
from spacepackets.ccsds import CdsShortTimestamp from spacepackets.ccsds import CdsShortTimestamp
from spacepackets.ecss import PusTelecommand from spacepackets.ecss import PusTelecommand
from spacepackets.seqcount import FileSeqCountProvider
from tmtccmd import ProcedureWrapper, TcHandlerBase
from tmtccmd.config import CmdTreeNode from tmtccmd.config import CmdTreeNode
from tmtccmd.pus import VerificationWrapper from tmtccmd.pus.tc.s200_fsfw_mode import Mode
from tmtccmd.tmtc import ( from tmtccmd.tmtc import DefaultPusQueueHelper
DefaultPusQueueHelper,
FeedWrapper,
QueueWrapper,
SendCbParams,
TcProcedureType,
TcQueueEntryType,
)
from tmtccmd.pus.s11_tc_sched import create_time_tagged_cmd from tmtccmd.pus.s11_tc_sched import create_time_tagged_cmd
from tmtccmd.pus.s200_fsfw_mode import Subservice as ModeSubservice
from pytmtc.common import Apid from common import AcsId, Apid
from pytmtc.mgms import create_mgm_cmds
_LOGGER = logging.getLogger(__name__) _LOGGER = logging.getLogger(__name__)
class TcHandler(TcHandlerBase): def create_set_mode_cmd(
def __init__( apid: int, unique_id: int, mode: int, submode: int
self, ) -> PusTelecommand:
seq_count_provider: FileSeqCountProvider, app_data = bytearray()
verif_wrapper: VerificationWrapper, app_data.extend(struct.pack("!I", unique_id))
): app_data.extend(struct.pack("!I", mode))
super(TcHandler, self).__init__() app_data.extend(struct.pack("!H", submode))
self.seq_count_provider = seq_count_provider return PusTelecommand(
self.verif_wrapper = verif_wrapper service=200,
self.queue_helper = DefaultPusQueueHelper( subservice=ModeSubservice.TC_MODE_COMMAND,
queue_wrapper=QueueWrapper.empty(), apid=apid,
tc_sched_timestamp_len=CdsShortTimestamp.TIMESTAMP_SIZE, app_data=app_data,
seq_cnt_provider=seq_count_provider, )
pus_verificator=self.verif_wrapper.pus_verificator,
default_pus_apid=None,
)
def send_cb(self, send_params: SendCbParams):
entry_helper = send_params.entry
if entry_helper.is_tc:
if entry_helper.entry_type == TcQueueEntryType.PUS_TC:
pus_tc_wrapper = entry_helper.to_pus_tc_entry()
raw_tc = pus_tc_wrapper.pus_tc.pack()
_LOGGER.info(f"Sending {pus_tc_wrapper.pus_tc}")
send_params.com_if.send(raw_tc)
elif entry_helper.entry_type == TcQueueEntryType.LOG:
log_entry = entry_helper.to_log_entry()
_LOGGER.info(log_entry.log_str)
def queue_finished_cb(self, info: ProcedureWrapper):
if info.proc_type == TcProcedureType.TREE_COMMANDING:
def_proc = info.to_tree_commanding_procedure()
_LOGGER.info(f"Queue handling finished for command {def_proc.cmd_path}")
def feed_cb(self, info: ProcedureWrapper, wrapper: FeedWrapper):
q = self.queue_helper
q.queue_wrapper = wrapper.queue_wrapper
if info.proc_type == TcProcedureType.TREE_COMMANDING:
def_proc = info.to_tree_commanding_procedure()
assert def_proc.cmd_path is not None
pack_pus_telecommands(q, def_proc.cmd_path)
def create_cmd_definition_tree() -> CmdTreeNode: def create_cmd_definition_tree() -> CmdTreeNode:
@ -148,4 +112,32 @@ def pack_pus_telecommands(q: DefaultPusQueueHelper, cmd_path: str):
if cmd_path_list[0] == "acs": if cmd_path_list[0] == "acs":
assert len(cmd_path_list) >= 2 assert len(cmd_path_list) >= 2
if cmd_path_list[1] == "mgms": if cmd_path_list[1] == "mgms":
create_mgm_cmds(q, cmd_path_list) assert len(cmd_path_list) >= 3
if cmd_path_list[2] == "hk":
if cmd_path_list[3] == "one_shot_hk":
q.add_log_cmd("Sending HK one shot request")
# TODO: Fix
# q.add_pus_tc(
# create_request_one_hk_command(
# make_addressable_id(Apid.ACS, AcsId.MGM_SET)
# )
# )
if cmd_path_list[2] == "mode":
if cmd_path_list[3] == "set_mode":
handle_set_mode_cmd(
q, "MGM 0", cmd_path_list[4], Apid.ACS, AcsId.MGM_0
)
def handle_set_mode_cmd(
q: DefaultPusQueueHelper, target_str: str, mode_str: str, apid: int, unique_id: int
):
if mode_str == "off":
q.add_log_cmd(f"Sending Mode OFF to {target_str}")
q.add_pus_tc(create_set_mode_cmd(apid, unique_id, Mode.OFF, 0))
elif mode_str == "on":
q.add_log_cmd(f"Sending Mode ON to {target_str}")
q.add_pus_tc(create_set_mode_cmd(apid, unique_id, Mode.ON, 0))
elif mode_str == "normal":
q.add_log_cmd(f"Sending Mode NORMAL to {target_str}")
q.add_pus_tc(create_set_mode_cmd(apid, unique_id, Mode.NORMAL, 0))

0
satrs-example/pytmtc/pytmtc/__init__.py → satrs-example/pytmtc/pus_tm.py
View File

27
satrs-example/pytmtc/pyproject.toml
View File

@ -1,27 +0,0 @@
[build-system]
requires = ["setuptools>=61.0"]
build-backend = "setuptools.build_meta"
[project]
name = "pytmtc"
description = "Python TMTC client for OPS-SAT"
readme = "README.md"
version = "0.1.0"
requires-python = ">=3.8"
authors = [
{name = "Robin Mueller", email = "robin.mueller.m@gmail.com"},
]
dependencies = [
"tmtccmd~=8.0",
"pydantic~=2.7"
]
[tool.setuptools.packages]
find = {}
[tool.ruff]
extend-exclude = ["archive"]
[tool.ruff.lint]
ignore = ["E501"]
[tool.ruff.lint.extend-per-file-ignores]
"__init__.py" = ["F401"]

47
satrs-example/pytmtc/pytmtc/config.py
View File

@ -1,47 +0,0 @@
from typing import Optional
from prompt_toolkit.history import FileHistory, History
from spacepackets.ccsds import PacketId, PacketType
from tmtccmd import HookBase
from tmtccmd.com import ComInterface
from tmtccmd.config import CmdTreeNode
from tmtccmd.util.obj_id import ObjectIdDictT
from pytmtc.common import Apid
from pytmtc.pus_tc import create_cmd_definition_tree
class SatrsConfigHook(HookBase):
def __init__(self, json_cfg_path: str):
super().__init__(json_cfg_path=json_cfg_path)
def get_communication_interface(self, com_if_key: str) -> Optional[ComInterface]:
from tmtccmd.config.com import (
create_com_interface_default,
create_com_interface_cfg_default,
)
assert self.cfg_path is not None
packet_id_list = []
for apid in Apid:
packet_id_list.append(PacketId(PacketType.TM, True, apid))
cfg = create_com_interface_cfg_default(
com_if_key=com_if_key,
json_cfg_path=self.cfg_path,
space_packet_ids=packet_id_list,
)
assert cfg is not None
return create_com_interface_default(cfg)
def get_command_definitions(self) -> CmdTreeNode:
"""This function should return the root node of the command definition tree."""
return create_cmd_definition_tree()
def get_cmd_history(self) -> Optional[History]:
"""Optionlly return a history class for the past command paths which will be used
when prompting a command path from the user in CLI mode."""
return FileHistory(".tmtc-history.txt")
def get_object_ids(self) -> ObjectIdDictT:
from tmtccmd.config.objects import get_core_object_ids
return get_core_object_ids()

42
satrs-example/pytmtc/pytmtc/hk.py
View File

@ -1,42 +0,0 @@
import logging
import struct
from spacepackets.ecss.pus_3_hk import Subservice
from spacepackets.ecss import PusTm
from pytmtc.common import AcsId, Apid
from pytmtc.mgms import handle_mgm_hk_report
_LOGGER = logging.getLogger(__name__)
def handle_hk_packet(pus_tm: PusTm):
if len(pus_tm.source_data) < 4:
raise ValueError("no unique ID in HK packet")
unique_id = struct.unpack("!I", pus_tm.source_data[:4])[0]
if (
pus_tm.subservice == Subservice.TM_HK_REPORT
or pus_tm.subservice == Subservice.TM_DIAGNOSTICS_REPORT
):
if len(pus_tm.source_data) < 8:
raise ValueError("no set ID in HK packet")
set_id = struct.unpack("!I", pus_tm.source_data[4:8])[0]
handle_hk_report(pus_tm, unique_id, set_id)
_LOGGER.warning(
f"handling for HK packet with subservice {pus_tm.subservice} not implemented yet"
)
def handle_hk_report(pus_tm: PusTm, unique_id: int, set_id: int):
hk_data = pus_tm.source_data[8:]
if pus_tm.apid == Apid.ACS:
if unique_id == AcsId.MGM_0:
handle_mgm_hk_report(pus_tm, set_id, hk_data)
else:
_LOGGER.warning(
f"handling for HK report with unique ID {unique_id} not implemented yet"
)
else:
_LOGGER.warning(
f"handling for HK report with apid {pus_tm.apid} not implemented yet"
)

16
satrs-example/pytmtc/pytmtc/hk_common.py
View File

@ -1,16 +0,0 @@
import struct
from spacepackets.ecss import PusService, PusTc
from spacepackets.ecss.pus_3_hk import Subservice
def create_request_one_shot_hk_cmd(apid: int, unique_id: int, set_id: int) -> PusTc:
app_data = bytearray()
app_data.extend(struct.pack("!I", unique_id))
app_data.extend(struct.pack("!I", set_id))
return PusTc(
service=PusService.S3_HOUSEKEEPING,
subservice=Subservice.TC_GENERATE_ONE_PARAMETER_REPORT,
apid=apid,
app_data=app_data,
)

45
satrs-example/pytmtc/pytmtc/mgms.py
View File

@ -1,45 +0,0 @@
import logging
import struct
import enum
from typing import List
from spacepackets.ecss import PusTm
from tmtccmd.tmtc import DefaultPusQueueHelper
from pytmtc.common import AcsId, Apid
from pytmtc.hk_common import create_request_one_shot_hk_cmd
from pytmtc.mode import handle_set_mode_cmd
_LOGGER = logging.getLogger(__name__)
class SetId(enum.IntEnum):
SENSOR_SET = 0
def create_mgm_cmds(q: DefaultPusQueueHelper, cmd_path: List[str]):
assert len(cmd_path) >= 3
if cmd_path[2] == "hk":
if cmd_path[3] == "one_shot_hk":
q.add_log_cmd("Sending HK one shot request")
q.add_pus_tc(
create_request_one_shot_hk_cmd(Apid.ACS, AcsId.MGM_0, SetId.SENSOR_SET)
)
if cmd_path[2] == "mode":
if cmd_path[3] == "set_mode":
handle_set_mode_cmd(q, "MGM 0", cmd_path[4], Apid.ACS, AcsId.MGM_0)
def handle_mgm_hk_report(pus_tm: PusTm, set_id: int, hk_data: bytes):
if set_id == SetId.SENSOR_SET:
if len(hk_data) != 13:
raise ValueError(f"invalid HK data length, expected 13, got {len(hk_data)}")
data_valid = hk_data[0]
mgm_x = struct.unpack("!f", hk_data[1:5])[0]
mgm_y = struct.unpack("!f", hk_data[5:9])[0]
mgm_z = struct.unpack("!f", hk_data[9:13])[0]
_LOGGER.info(
f"received MGM HK set in uT: Valid {data_valid} X {mgm_x} Y {mgm_y} Z {mgm_z}"
)
pass

31
satrs-example/pytmtc/pytmtc/mode.py
View File

@ -1,31 +0,0 @@
import struct
from spacepackets.ecss import PusTc
from tmtccmd.pus.s200_fsfw_mode import Mode, Subservice
from tmtccmd.tmtc import DefaultPusQueueHelper
def create_set_mode_cmd(apid: int, unique_id: int, mode: int, submode: int) -> PusTc:
app_data = bytearray()
app_data.extend(struct.pack("!I", unique_id))
app_data.extend(struct.pack("!I", mode))
app_data.extend(struct.pack("!H", submode))
return PusTc(
service=200,
subservice=Subservice.TC_MODE_COMMAND,
apid=apid,
app_data=app_data,
)
def handle_set_mode_cmd(
q: DefaultPusQueueHelper, target_str: str, mode_str: str, apid: int, unique_id: int
):
if mode_str == "off":
q.add_log_cmd(f"Sending Mode OFF to {target_str}")
q.add_pus_tc(create_set_mode_cmd(apid, unique_id, Mode.OFF, 0))
elif mode_str == "on":
q.add_log_cmd(f"Sending Mode ON to {target_str}")
q.add_pus_tc(create_set_mode_cmd(apid, unique_id, Mode.ON, 0))
elif mode_str == "normal":
q.add_log_cmd(f"Sending Mode NORMAL to {target_str}")
q.add_pus_tc(create_set_mode_cmd(apid, unique_id, Mode.NORMAL, 0))

93
satrs-example/pytmtc/pytmtc/pus_tm.py
View File

@ -1,93 +0,0 @@
import logging
from typing import Any
from spacepackets.ccsds.time import CdsShortTimestamp
from spacepackets.ecss import PusTm
from spacepackets.ecss.pus_17_test import Service17Tm
from spacepackets.ecss.pus_1_verification import Service1Tm, UnpackParams
from tmtccmd.logging.pus import RawTmtcTimedLogWrapper
from tmtccmd.pus import VerificationWrapper
from tmtccmd.tmtc import GenericApidHandlerBase
from pytmtc.common import Apid, EventU32
from pytmtc.hk import handle_hk_packet
_LOGGER = logging.getLogger(__name__)
class PusHandler(GenericApidHandlerBase):
def __init__(
self,
file_logger: logging.Logger,
verif_wrapper: VerificationWrapper,
raw_logger: RawTmtcTimedLogWrapper,
):
super().__init__(None)
self.file_logger = file_logger
self.raw_logger = raw_logger
self.verif_wrapper = verif_wrapper
def handle_tm(self, apid: int, packet: bytes, _user_args: Any):
try:
pus_tm = PusTm.unpack(
packet, timestamp_len=CdsShortTimestamp.TIMESTAMP_SIZE
)
except ValueError as e:
_LOGGER.warning("Could not generate PUS TM object from raw data")
_LOGGER.warning(f"Raw Packet: [{packet.hex(sep=',')}], REPR: {packet!r}")
raise e
service = pus_tm.service
if service == 1:
tm_packet = Service1Tm.unpack(
data=packet, params=UnpackParams(CdsShortTimestamp.TIMESTAMP_SIZE, 1, 2)
)
res = self.verif_wrapper.add_tm(tm_packet)
if res is None:
_LOGGER.info(
f"Received Verification TM[{tm_packet.service}, {tm_packet.subservice}] "
f"with Request ID {tm_packet.tc_req_id.as_u32():#08x}"
)
_LOGGER.warning(
f"No matching telecommand found for {tm_packet.tc_req_id}"
)
else:
self.verif_wrapper.log_to_console(tm_packet, res)
self.verif_wrapper.log_to_file(tm_packet, res)
elif service == 3:
pus_tm = PusTm.unpack(
packet, timestamp_len=CdsShortTimestamp.TIMESTAMP_SIZE
)
handle_hk_packet(pus_tm)
elif service == 5:
tm_packet = PusTm.unpack(
packet, timestamp_len=CdsShortTimestamp.TIMESTAMP_SIZE
)
src_data = tm_packet.source_data
event_u32 = EventU32.unpack(src_data)
_LOGGER.info(
f"Received event packet. Source APID: {Apid(tm_packet.apid)!r}, Event: {event_u32}"
)
if event_u32.group_id == 0 and event_u32.unique_id == 0:
_LOGGER.info("Received test event")
elif service == 17:
tm_packet = Service17Tm.unpack(
packet, timestamp_len=CdsShortTimestamp.TIMESTAMP_SIZE
)
if tm_packet.subservice == 2:
self.file_logger.info("Received Ping Reply TM[17,2]")
_LOGGER.info("Received Ping Reply TM[17,2]")
else:
self.file_logger.info(
f"Received Test Packet with unknown subservice {tm_packet.subservice}"
)
_LOGGER.info(
f"Received Test Packet with unknown subservice {tm_packet.subservice}"
)
else:
_LOGGER.info(
f"The service {service} is not implemented in Telemetry Factory"
)
tm_packet = PusTm.unpack(
packet, timestamp_len=CdsShortTimestamp.TIMESTAMP_SIZE
)
self.raw_logger.log_tm(pus_tm)

3
satrs-example/pytmtc/requirements.txt
View File

@ -1 +1,2 @@
. tmtccmd == 8.0.0rc2
# -e git+https://github.com/robamu-org/tmtccmd@97e5e51101a08b21472b3ddecc2063359f7e307a#egg=tmtccmd

38
satrs-example/pytmtc/tc_definitions.py Normal file
View File

@ -0,0 +1,38 @@
from tmtccmd.config import OpCodeEntry, TmtcDefinitionWrapper, CoreServiceList
from tmtccmd.config.globals import get_default_tmtc_defs
from common import HkOpCodes
def tc_definitions() -> TmtcDefinitionWrapper:
defs = get_default_tmtc_defs()
srv_5 = OpCodeEntry()
srv_5.add("0", "Event Test")
defs.add_service(
name=CoreServiceList.SERVICE_5.value,
info="PUS Service 5 Event",
op_code_entry=srv_5,
)
srv_17 = OpCodeEntry()
srv_17.add("ping", "Ping Test")
srv_17.add("trigger_event", "Trigger Event")
defs.add_service(
name=CoreServiceList.SERVICE_17_ALT,
info="PUS Service 17 Test",
op_code_entry=srv_17,
)
srv_3 = OpCodeEntry()
srv_3.add(HkOpCodes.GENERATE_ONE_SHOT, "Generate AOCS one shot HK")
defs.add_service(
name=CoreServiceList.SERVICE_3,
info="PUS Service 3 Housekeeping",
op_code_entry=srv_3,
)
srv_11 = OpCodeEntry()
srv_11.add("0", "Scheduled TC Test")
defs.add_service(
name=CoreServiceList.SERVICE_11,
info="PUS Service 11 TC Scheduling",
op_code_entry=srv_11,
)
return defs

0
satrs-example/pytmtc/tests/__init__.py
View File

48
satrs-example/pytmtc/tests/test_tc_mods.py
View File

@ -1,48 +0,0 @@
from unittest import TestCase
from spacepackets.ccsds import CdsShortTimestamp
from tmtccmd.tmtc import DefaultPusQueueHelper, QueueEntryHelper
from tmtccmd.tmtc.queue import QueueWrapper
from pytmtc.config import SatrsConfigHook
from pytmtc.pus_tc import pack_pus_telecommands
class TestTcModules(TestCase):
def setUp(self):
self.hook = SatrsConfigHook(json_cfg_path="tmtc_conf.json")
self.queue_helper = DefaultPusQueueHelper(
queue_wrapper=QueueWrapper.empty(),
tc_sched_timestamp_len=CdsShortTimestamp.TIMESTAMP_SIZE,
seq_cnt_provider=None,
pus_verificator=None,
default_pus_apid=None,
)
def test_cmd_tree_creation_works_without_errors(self):
cmd_defs = self.hook.get_command_definitions()
self.assertIsNotNone(cmd_defs)
def test_ping_cmd_generation(self):
pack_pus_telecommands(self.queue_helper, "/test/ping")
queue_entry = self.queue_helper.queue_wrapper.queue.popleft()
entry_helper = QueueEntryHelper(queue_entry)
log_queue = entry_helper.to_log_entry()
self.assertEqual(log_queue.log_str, "Sending PUS ping telecommand")
queue_entry = self.queue_helper.queue_wrapper.queue.popleft()
entry_helper.entry = queue_entry
pus_tc_entry = entry_helper.to_pus_tc_entry()
self.assertEqual(pus_tc_entry.pus_tc.service, 17)
self.assertEqual(pus_tc_entry.pus_tc.subservice, 1)
def test_event_trigger_generation(self):
pack_pus_telecommands(self.queue_helper, "/test/trigger_event")
queue_entry = self.queue_helper.queue_wrapper.queue.popleft()
entry_helper = QueueEntryHelper(queue_entry)
log_queue = entry_helper.to_log_entry()
self.assertEqual(log_queue.log_str, "Triggering test event")
queue_entry = self.queue_helper.queue_wrapper.queue.popleft()
entry_helper.entry = queue_entry
pus_tc_entry = entry_helper.to_pus_tc_entry()
self.assertEqual(pus_tc_entry.pus_tc.service, 17)
self.assertEqual(pus_tc_entry.pus_tc.subservice, 128)

533
satrs-example/src/acs/mgm.rs
View File

@ -1,126 +1,52 @@
use derive_new::new; use derive_new::new;
use satrs::hk::{HkRequest, HkRequestVariant}; use satrs::hk::{HkRequest, HkRequestVariant};
use satrs::power::{PowerSwitchInfo, PowerSwitcherCommandSender};
use satrs::queue::{GenericSendError, GenericTargetedMessagingError}; use satrs::queue::{GenericSendError, GenericTargetedMessagingError};
use satrs_example::{DeviceMode, TimestampHelper}; use satrs::spacepackets::ecss::hk;
use satrs_minisim::acs::lis3mdl::{ use satrs::spacepackets::ecss::tm::{PusTmCreator, PusTmSecondaryHeader};
MgmLis3MdlReply, MgmLis3RawValues, FIELD_LSB_PER_GAUSS_4_SENS, GAUSS_TO_MICROTESLA_FACTOR, use satrs::spacepackets::SpHeader;
}; use satrs_example::{DeviceMode, TimeStampHelper};
use satrs_minisim::acs::MgmRequestLis3Mdl;
use satrs_minisim::eps::PcduSwitch;
use satrs_minisim::{SerializableSimMsgPayload, SimReply, SimRequest};
use std::fmt::Debug;
use std::sync::mpsc::{self}; use std::sync::mpsc::{self};
use std::sync::{Arc, Mutex}; use std::sync::{Arc, Mutex};
use std::time::Duration;
use satrs::mode::{ use satrs::mode::{
ModeAndSubmode, ModeError, ModeProvider, ModeReply, ModeRequest, ModeRequestHandler, ModeAndSubmode, ModeError, ModeProvider, ModeReply, ModeRequest, ModeRequestHandler,
}; };
use satrs::pus::{EcssTmSender, PusTmVariant}; use satrs::pus::{EcssTmSender, PusTmVariant};
use satrs::request::{GenericMessage, MessageMetadata, UniqueApidTargetId}; use satrs::request::{GenericMessage, MessageMetadata, UniqueApidTargetId};
use satrs_example::config::components::{NO_SENDER, PUS_MODE_SERVICE}; use satrs_example::config::components::PUS_MODE_SERVICE;
use crate::hk::PusHkHelper;
use crate::pus::hk::{HkReply, HkReplyVariant}; use crate::pus::hk::{HkReply, HkReplyVariant};
use crate::requests::CompositeRequest; use crate::requests::CompositeRequest;
use serde::{Deserialize, Serialize}; use serde::{Deserialize, Serialize};
pub const NR_OF_DATA_AND_CFG_REGISTERS: usize = 14; const GAUSS_TO_MICROTESLA_FACTOR: f32 = 100.0;
// This is the selected resoltion for the STM LIS3MDL device for the 4 Gauss sensitivity setting.
// Register adresses to access various bytes from the raw reply. const FIELD_LSB_PER_GAUSS_4_SENS: f32 = 1.0 / 6842.0;
pub const X_LOWBYTE_IDX: usize = 9;
pub const Y_LOWBYTE_IDX: usize = 11;
pub const Z_LOWBYTE_IDX: usize = 13;
#[derive(Debug, Copy, Clone, Serialize, Deserialize)]
#[repr(u32)]
pub enum SetId {
SensorData = 0,
}
#[derive(Default, Debug, PartialEq, Eq)]
pub enum TransitionState {
#[default]
Idle,
PowerSwitching,
Done,
}
pub trait SpiInterface { pub trait SpiInterface {
type Error: Debug; type Error;
fn transfer(&mut self, tx: &[u8], rx: &mut [u8]) -> Result<(), Self::Error>; fn transfer(&mut self, tx: &[u8], rx: &mut [u8]) -> Result<(), Self::Error>;
} }
#[derive(Default)] #[derive(Default)]
pub struct SpiDummyInterface { pub struct SpiDummyInterface {
pub dummy_values: MgmLis3RawValues, pub dummy_val_0: i16,
pub dummy_val_1: i16,
pub dummy_val_2: i16,
} }
impl SpiInterface for SpiDummyInterface { impl SpiInterface for SpiDummyInterface {
type Error = (); type Error = ();
fn transfer(&mut self, _tx: &[u8], rx: &mut [u8]) -> Result<(), Self::Error> { fn transfer(&mut self, _tx: &[u8], rx: &mut [u8]) -> Result<(), Self::Error> {
rx[X_LOWBYTE_IDX..X_LOWBYTE_IDX + 2].copy_from_slice(&self.dummy_values.x.to_le_bytes()); rx[0..2].copy_from_slice(&self.dummy_val_0.to_be_bytes());
rx[Y_LOWBYTE_IDX..Y_LOWBYTE_IDX + 2].copy_from_slice(&self.dummy_values.y.to_be_bytes()); rx[2..4].copy_from_slice(&self.dummy_val_1.to_be_bytes());
rx[Z_LOWBYTE_IDX..Z_LOWBYTE_IDX + 2].copy_from_slice(&self.dummy_values.z.to_be_bytes()); rx[4..6].copy_from_slice(&self.dummy_val_2.to_be_bytes());
Ok(()) Ok(())
} }
} }
pub struct SpiSimInterface {
pub sim_request_tx: mpsc::Sender<SimRequest>,
pub sim_reply_rx: mpsc::Receiver<SimReply>,
}
impl SpiInterface for SpiSimInterface {
type Error = ();
// Right now, we only support requesting sensor data and not configuration of the sensor.
fn transfer(&mut self, _tx: &[u8], rx: &mut [u8]) -> Result<(), Self::Error> {
let mgm_sensor_request = MgmRequestLis3Mdl::RequestSensorData;
if let Err(e) = self
.sim_request_tx
.send(SimRequest::new_with_epoch_time(mgm_sensor_request))
{
log::error!("failed to send MGM LIS3 request: {}", e);
}
match self.sim_reply_rx.recv_timeout(Duration::from_millis(50)) {
Ok(sim_reply) => {
let sim_reply_lis3 = MgmLis3MdlReply::from_sim_message(&sim_reply)
.expect("failed to parse LIS3 reply");
rx[X_LOWBYTE_IDX..X_LOWBYTE_IDX + 2]
.copy_from_slice(&sim_reply_lis3.raw.x.to_le_bytes());
rx[Y_LOWBYTE_IDX..Y_LOWBYTE_IDX + 2]
.copy_from_slice(&sim_reply_lis3.raw.y.to_le_bytes());
rx[Z_LOWBYTE_IDX..Z_LOWBYTE_IDX + 2]
.copy_from_slice(&sim_reply_lis3.raw.z.to_le_bytes());
}
Err(e) => {
log::warn!("MGM LIS3 SIM reply timeout: {}", e);
}
}
Ok(())
}
}
pub enum SpiSimInterfaceWrapper {
Dummy(SpiDummyInterface),
Sim(SpiSimInterface),
}
impl SpiInterface for SpiSimInterfaceWrapper {
type Error = ();
fn transfer(&mut self, tx: &[u8], rx: &mut [u8]) -> Result<(), Self::Error> {
match self {
SpiSimInterfaceWrapper::Dummy(dummy) => dummy.transfer(tx, rx),
SpiSimInterfaceWrapper::Sim(sim_if) => sim_if.transfer(tx, rx),
}
}
}
#[derive(Default, Debug, Copy, Clone, Serialize, Deserialize)] #[derive(Default, Debug, Copy, Clone, Serialize, Deserialize)]
pub struct MgmData { pub struct MgmData {
pub valid: bool, pub valid: bool,
@ -131,86 +57,61 @@ pub struct MgmData {
pub struct MpscModeLeafInterface { pub struct MpscModeLeafInterface {
pub request_rx: mpsc::Receiver<GenericMessage<ModeRequest>>, pub request_rx: mpsc::Receiver<GenericMessage<ModeRequest>>,
pub reply_to_pus_tx: mpsc::Sender<GenericMessage<ModeReply>>, pub reply_tx_to_pus: mpsc::Sender<GenericMessage<ModeReply>>,
#[allow(dead_code)] pub reply_tx_to_parent: mpsc::Sender<GenericMessage<ModeReply>>,
pub reply_to_parent_tx: mpsc::SyncSender<GenericMessage<ModeReply>>,
}
#[derive(Default)]
pub struct BufWrapper {
tx_buf: [u8; 32],
rx_buf: [u8; 32],
tm_buf: [u8; 32],
}
pub struct ModeHelpers {
current: ModeAndSubmode,
target: Option<ModeAndSubmode>,
requestor_info: Option<MessageMetadata>,
transition_state: TransitionState,
}
impl Default for ModeHelpers {
fn default() -> Self {
Self {
current: ModeAndSubmode::new(DeviceMode::Off as u32, 0),
target: Default::default(),
requestor_info: Default::default(),
transition_state: Default::default(),
}
}
} }
/// Example MGM device handler strongly based on the LIS3MDL MEMS device. /// Example MGM device handler strongly based on the LIS3MDL MEMS device.
#[derive(new)] #[derive(new)]
#[allow(clippy::too_many_arguments)] #[allow(clippy::too_many_arguments)]
pub struct MgmHandlerLis3Mdl< pub struct MgmHandlerLis3Mdl<ComInterface: SpiInterface, TmSender: EcssTmSender> {
ComInterface: SpiInterface,
TmSender: EcssTmSender,
SwitchHelper: PowerSwitchInfo<PcduSwitch> + PowerSwitcherCommandSender<PcduSwitch>,
> {
id: UniqueApidTargetId, id: UniqueApidTargetId,
dev_str: &'static str, dev_str: &'static str,
mode_interface: MpscModeLeafInterface, mode_interface: MpscModeLeafInterface,
composite_request_rx: mpsc::Receiver<GenericMessage<CompositeRequest>>, composite_request_receiver: mpsc::Receiver<GenericMessage<CompositeRequest>>,
hk_reply_tx: mpsc::Sender<GenericMessage<HkReply>>, hk_reply_sender: mpsc::Sender<GenericMessage<HkReply>>,
switch_helper: SwitchHelper,
tm_sender: TmSender, tm_sender: TmSender,
pub com_interface: ComInterface, com_interface: ComInterface,
shared_mgm_set: Arc<Mutex<MgmData>>, shared_mgm_set: Arc<Mutex<MgmData>>,
#[new(value = "PusHkHelper::new(id)")] #[new(value = "ModeAndSubmode::new(satrs_example::DeviceMode::Off as u32, 0)")]
hk_helper: PusHkHelper, mode_and_submode: ModeAndSubmode,
#[new(default)] #[new(default)]
mode_helpers: ModeHelpers, tx_buf: [u8; 12],
#[new(default)] #[new(default)]
bufs: BufWrapper, rx_buf: [u8; 12],
#[new(default)] #[new(default)]
stamp_helper: TimestampHelper, tm_buf: [u8; 16],
#[new(default)]
stamp_helper: TimeStampHelper,
} }
impl< impl<ComInterface: SpiInterface, TmSender: EcssTmSender> MgmHandlerLis3Mdl<ComInterface, TmSender> {
ComInterface: SpiInterface,
TmSender: EcssTmSender,
SwitchHelper: PowerSwitchInfo<PcduSwitch> + PowerSwitcherCommandSender<PcduSwitch>,
> MgmHandlerLis3Mdl<ComInterface, TmSender, SwitchHelper>
{
pub fn periodic_operation(&mut self) { pub fn periodic_operation(&mut self) {
self.stamp_helper.update_from_now(); self.stamp_helper.update_from_now();
// Handle requests. // Handle requests.
self.handle_composite_requests(); self.handle_composite_requests();
self.handle_mode_requests(); self.handle_mode_requests();
if let Some(target_mode_submode) = self.mode_helpers.target {
self.handle_mode_transition(target_mode_submode);
}
if self.mode() == DeviceMode::Normal as u32 { if self.mode() == DeviceMode::Normal as u32 {
log::trace!("polling LIS3MDL sensor {}", self.dev_str); log::trace!("polling LIS3MDL sensor {}", self.dev_str);
self.poll_sensor(); // Communicate with the device.
let result = self.com_interface.transfer(&self.tx_buf, &mut self.rx_buf);
assert!(result.is_ok());
// Actual data begins on the second byte, similarly to how a lot of SPI devices behave.
let x_raw = i16::from_be_bytes(self.rx_buf[1..3].try_into().unwrap());
let y_raw = i16::from_be_bytes(self.rx_buf[3..5].try_into().unwrap());
let z_raw = i16::from_be_bytes(self.rx_buf[5..7].try_into().unwrap());
// Simple scaling to retrieve the float value, assuming a sensor resolution of
let mut mgm_guard = self.shared_mgm_set.lock().unwrap();
mgm_guard.x = x_raw as f32 * GAUSS_TO_MICROTESLA_FACTOR * FIELD_LSB_PER_GAUSS_4_SENS;
mgm_guard.y = y_raw as f32 * GAUSS_TO_MICROTESLA_FACTOR * FIELD_LSB_PER_GAUSS_4_SENS;
mgm_guard.z = z_raw as f32 * GAUSS_TO_MICROTESLA_FACTOR * FIELD_LSB_PER_GAUSS_4_SENS;
drop(mgm_guard);
} }
} }
pub fn handle_composite_requests(&mut self) { pub fn handle_composite_requests(&mut self) {
loop { loop {
match self.composite_request_rx.try_recv() { match self.composite_request_receiver.try_recv() {
Ok(ref msg) => match &msg.message { Ok(ref msg) => match &msg.message {
CompositeRequest::Hk(hk_request) => { CompositeRequest::Hk(hk_request) => {
self.handle_hk_request(&msg.requestor_info, hk_request) self.handle_hk_request(&msg.requestor_info, hk_request)
@ -238,33 +139,34 @@ impl<
pub fn handle_hk_request(&mut self, requestor_info: &MessageMetadata, hk_request: &HkRequest) { pub fn handle_hk_request(&mut self, requestor_info: &MessageMetadata, hk_request: &HkRequest) {
match hk_request.variant { match hk_request.variant {
HkRequestVariant::OneShot => { HkRequestVariant::OneShot => {
let mgm_snapshot = *self.shared_mgm_set.lock().unwrap(); self.hk_reply_sender
if let Ok(hk_tm) = self.hk_helper.generate_hk_report_packet( .send(GenericMessage::new(
*requestor_info,
HkReply::new(hk_request.unique_id, HkReplyVariant::Ack),
))
.expect("failed to send HK reply");
let sec_header = PusTmSecondaryHeader::new(
3,
hk::Subservice::TmHkPacket as u8,
0,
0,
self.stamp_helper.stamp(), self.stamp_helper.stamp(),
SetId::SensorData as u32, );
&mut |hk_buf| { let mgm_snapshot = *self.shared_mgm_set.lock().unwrap();
hk_buf[0] = mgm_snapshot.valid as u8; // Use binary serialization here. We want the data to be tightly packed.
hk_buf[1..5].copy_from_slice(&mgm_snapshot.x.to_be_bytes()); self.tm_buf[0] = mgm_snapshot.valid as u8;
hk_buf[5..9].copy_from_slice(&mgm_snapshot.y.to_be_bytes()); self.tm_buf[1..5].copy_from_slice(&mgm_snapshot.x.to_be_bytes());
hk_buf[9..13].copy_from_slice(&mgm_snapshot.z.to_be_bytes()); self.tm_buf[5..9].copy_from_slice(&mgm_snapshot.y.to_be_bytes());
Ok(13) self.tm_buf[9..13].copy_from_slice(&mgm_snapshot.z.to_be_bytes());
}, let hk_tm = PusTmCreator::new(
&mut self.bufs.tm_buf, SpHeader::new_from_apid(self.id.apid),
) { sec_header,
// TODO: If sending the TM fails, we should also send a failure reply. &self.tm_buf[0..12],
self.tm_sender true,
.send_tm(self.id.id(), PusTmVariant::Direct(hk_tm)) );
.expect("failed to send HK TM"); self.tm_sender
self.hk_reply_tx .send_tm(self.id.id(), PusTmVariant::Direct(hk_tm))
.send(GenericMessage::new( .expect("failed to send HK TM");
*requestor_info,
HkReply::new(hk_request.unique_id, HkReplyVariant::Ack),
))
.expect("failed to send HK reply");
} else {
// TODO: Send back failure reply. Need result code for this.
log::error!("TM buffer too small to generate HK data");
}
} }
HkRequestVariant::EnablePeriodic => todo!(), HkRequestVariant::EnablePeriodic => todo!(),
HkRequestVariant::DisablePeriodic => todo!(), HkRequestVariant::DisablePeriodic => todo!(),
@ -297,91 +199,20 @@ impl<
} }
} }
} }
pub fn poll_sensor(&mut self) {
// Communicate with the device. This is actually how to read the data from the LIS3 device
// SPI interface.
self.com_interface
.transfer(
&self.bufs.tx_buf[0..NR_OF_DATA_AND_CFG_REGISTERS + 1],
&mut self.bufs.rx_buf[0..NR_OF_DATA_AND_CFG_REGISTERS + 1],
)
.expect("failed to transfer data");
let x_raw = i16::from_le_bytes(
self.bufs.rx_buf[X_LOWBYTE_IDX..X_LOWBYTE_IDX + 2]
.try_into()
.unwrap(),
);
let y_raw = i16::from_le_bytes(
self.bufs.rx_buf[Y_LOWBYTE_IDX..Y_LOWBYTE_IDX + 2]
.try_into()
.unwrap(),
);
let z_raw = i16::from_le_bytes(
self.bufs.rx_buf[Z_LOWBYTE_IDX..Z_LOWBYTE_IDX + 2]
.try_into()
.unwrap(),
);
// Simple scaling to retrieve the float value, assuming the best sensor resolution.
let mut mgm_guard = self.shared_mgm_set.lock().unwrap();
mgm_guard.x = x_raw as f32 * GAUSS_TO_MICROTESLA_FACTOR as f32 * FIELD_LSB_PER_GAUSS_4_SENS;
mgm_guard.y = y_raw as f32 * GAUSS_TO_MICROTESLA_FACTOR as f32 * FIELD_LSB_PER_GAUSS_4_SENS;
mgm_guard.z = z_raw as f32 * GAUSS_TO_MICROTESLA_FACTOR as f32 * FIELD_LSB_PER_GAUSS_4_SENS;
mgm_guard.valid = true;
drop(mgm_guard);
}
pub fn handle_mode_transition(&mut self, target_mode_submode: ModeAndSubmode) {
if target_mode_submode.mode() == DeviceMode::On as u32
|| target_mode_submode.mode() == DeviceMode::Normal as u32
{
if self.mode_helpers.transition_state == TransitionState::Idle {
let result = self
.switch_helper
.send_switch_on_cmd(MessageMetadata::new(0, self.id.id()), PcduSwitch::Mgm);
if result.is_err() {
// Could not send switch command.. still continue with transition.
log::error!("failed to send switch on command");
}
self.mode_helpers.transition_state = TransitionState::PowerSwitching;
}
if self.mode_helpers.transition_state == TransitionState::PowerSwitching
&& self
.switch_helper
.is_switch_on(PcduSwitch::Mgm)
.expect("switch info error")
{
self.mode_helpers.transition_state = TransitionState::Done;
}
if self.mode_helpers.transition_state == TransitionState::Done {
self.mode_helpers.current = self.mode_helpers.target.unwrap();
self.handle_mode_reached(self.mode_helpers.requestor_info)
.expect("failed to handle mode reached");
self.mode_helpers.transition_state = TransitionState::Idle;
}
}
}
} }
impl< impl<ComInterface: SpiInterface, TmSender: EcssTmSender> ModeProvider
ComInterface: SpiInterface, for MgmHandlerLis3Mdl<ComInterface, TmSender>
TmSender: EcssTmSender,
SwitchHelper: PowerSwitchInfo<PcduSwitch> + PowerSwitcherCommandSender<PcduSwitch>,
> ModeProvider for MgmHandlerLis3Mdl<ComInterface, TmSender, SwitchHelper>
{ {
fn mode_and_submode(&self) -> ModeAndSubmode { fn mode_and_submode(&self) -> ModeAndSubmode {
self.mode_helpers.current self.mode_and_submode
} }
} }
impl< impl<ComInterface: SpiInterface, TmSender: EcssTmSender> ModeRequestHandler
ComInterface: SpiInterface, for MgmHandlerLis3Mdl<ComInterface, TmSender>
TmSender: EcssTmSender,
SwitchHelper: PowerSwitchInfo<PcduSwitch> + PowerSwitcherCommandSender<PcduSwitch>,
> ModeRequestHandler for MgmHandlerLis3Mdl<ComInterface, TmSender, SwitchHelper>
{ {
type Error = ModeError; type Error = ModeError;
fn start_transition( fn start_transition(
&mut self, &mut self,
requestor: MessageMetadata, requestor: MessageMetadata,
@ -392,18 +223,8 @@ impl<
self.dev_str, self.dev_str,
mode_and_submode mode_and_submode
); );
self.mode_helpers.current = mode_and_submode; self.mode_and_submode = mode_and_submode;
if mode_and_submode.mode() == DeviceMode::Off as u32 { self.handle_mode_reached(Some(requestor))?;
self.shared_mgm_set.lock().unwrap().valid = false;
self.handle_mode_reached(Some(requestor))?;
} else if mode_and_submode.mode() == DeviceMode::Normal as u32
|| mode_and_submode.mode() == DeviceMode::On as u32
{
// TODO: Write helper method for the struct? Might help for other handlers as well..
self.mode_helpers.transition_state = TransitionState::Idle;
self.mode_helpers.requestor_info = Some(requestor);
self.mode_helpers.target = Some(mode_and_submode);
}
Ok(()) Ok(())
} }
@ -411,7 +232,7 @@ impl<
log::info!( log::info!(
"{} announcing mode: {:?}", "{} announcing mode: {:?}",
self.dev_str, self.dev_str,
self.mode_and_submode() self.mode_and_submode
); );
} }
@ -419,15 +240,11 @@ impl<
&mut self, &mut self,
requestor: Option<MessageMetadata>, requestor: Option<MessageMetadata>,
) -> Result<(), Self::Error> { ) -> Result<(), Self::Error> {
self.mode_helpers.target = None;
self.announce_mode(requestor, false); self.announce_mode(requestor, false);
if let Some(requestor) = requestor { if let Some(requestor) = requestor {
if requestor.sender_id() == NO_SENDER {
return Ok(());
}
if requestor.sender_id() != PUS_MODE_SERVICE.id() { if requestor.sender_id() != PUS_MODE_SERVICE.id() {
log::warn!( log::warn!(
"can not send back mode reply to sender {:x}", "can not send back mode reply to sender {}",
requestor.sender_id() requestor.sender_id()
); );
} else { } else {
@ -449,7 +266,7 @@ impl<
); );
} }
self.mode_interface self.mode_interface
.reply_to_pus_tx .reply_tx_to_pus
.send(GenericMessage::new(requestor, reply)) .send(GenericMessage::new(requestor, reply))
.map_err(|_| GenericTargetedMessagingError::Send(GenericSendError::RxDisconnected))?; .map_err(|_| GenericTargetedMessagingError::Send(GenericSendError::RxDisconnected))?;
Ok(()) Ok(())
@ -463,193 +280,3 @@ impl<
Ok(()) Ok(())
} }
} }
#[cfg(test)]
mod tests {
use std::sync::{mpsc, Arc};
use satrs::{
mode::{ModeReply, ModeRequest},
power::SwitchStateBinary,
request::{GenericMessage, UniqueApidTargetId},
tmtc::PacketAsVec,
};
use satrs_example::config::components::Apid;
use satrs_minisim::acs::lis3mdl::MgmLis3RawValues;
use crate::{eps::TestSwitchHelper, pus::hk::HkReply, requests::CompositeRequest};
use super::*;
#[derive(Default)]
pub struct TestSpiInterface {
pub call_count: u32,
pub next_mgm_data: MgmLis3RawValues,
}
impl SpiInterface for TestSpiInterface {
type Error = ();
fn transfer(&mut self, _tx: &[u8], rx: &mut [u8]) -> Result<(), Self::Error> {
rx[X_LOWBYTE_IDX..X_LOWBYTE_IDX + 2]
.copy_from_slice(&self.next_mgm_data.x.to_le_bytes());
rx[Y_LOWBYTE_IDX..Y_LOWBYTE_IDX + 2]
.copy_from_slice(&self.next_mgm_data.y.to_le_bytes());
rx[Z_LOWBYTE_IDX..Z_LOWBYTE_IDX + 2]
.copy_from_slice(&self.next_mgm_data.z.to_le_bytes());
self.call_count += 1;
Ok(())
}
}
pub struct MgmTestbench {
pub mode_request_tx: mpsc::Sender<GenericMessage<ModeRequest>>,
pub mode_reply_rx_to_pus: mpsc::Receiver<GenericMessage<ModeReply>>,
pub mode_reply_rx_to_parent: mpsc::Receiver<GenericMessage<ModeReply>>,
pub composite_request_tx: mpsc::Sender<GenericMessage<CompositeRequest>>,
pub hk_reply_rx: mpsc::Receiver<GenericMessage<HkReply>>,
pub tm_rx: mpsc::Receiver<PacketAsVec>,
pub handler:
MgmHandlerLis3Mdl<TestSpiInterface, mpsc::Sender<PacketAsVec>, TestSwitchHelper>,
}
impl MgmTestbench {
pub fn new() -> Self {
let (request_tx, request_rx) = mpsc::channel();
let (reply_tx_to_pus, reply_rx_to_pus) = mpsc::channel();
let (reply_tx_to_parent, reply_rx_to_parent) = mpsc::sync_channel(5);
let mode_interface = MpscModeLeafInterface {
request_rx,
reply_to_pus_tx: reply_tx_to_pus,
reply_to_parent_tx: reply_tx_to_parent,
};
let (composite_request_tx, composite_request_rx) = mpsc::channel();
let (hk_reply_tx, hk_reply_rx) = mpsc::channel();
let (tm_tx, tm_rx) = mpsc::channel::<PacketAsVec>();
let shared_mgm_set = Arc::default();
Self {
mode_request_tx: request_tx,
mode_reply_rx_to_pus: reply_rx_to_pus,
mode_reply_rx_to_parent: reply_rx_to_parent,
composite_request_tx,
tm_rx,
hk_reply_rx,
handler: MgmHandlerLis3Mdl::new(
UniqueApidTargetId::new(Apid::Acs as u16, 1),
"TEST_MGM",
mode_interface,
composite_request_rx,
hk_reply_tx,
TestSwitchHelper::default(),
tm_tx,
TestSpiInterface::default(),
shared_mgm_set,
),
}
}
}
#[test]
fn test_basic_handler() {
let mut testbench = MgmTestbench::new();
assert_eq!(testbench.handler.com_interface.call_count, 0);
assert_eq!(
testbench.handler.mode_and_submode().mode(),
DeviceMode::Off as u32
);
assert_eq!(testbench.handler.mode_and_submode().submode(), 0_u16);
testbench.handler.periodic_operation();
// Handler is OFF, no changes expected.
assert_eq!(testbench.handler.com_interface.call_count, 0);
assert_eq!(
testbench.handler.mode_and_submode().mode(),
DeviceMode::Off as u32
);
assert_eq!(testbench.handler.mode_and_submode().submode(), 0_u16);
}
#[test]
fn test_normal_handler() {
let mut testbench = MgmTestbench::new();
testbench
.mode_request_tx
.send(GenericMessage::new(
MessageMetadata::new(0, PUS_MODE_SERVICE.id()),
ModeRequest::SetMode(ModeAndSubmode::new(DeviceMode::Normal as u32, 0)),
))
.expect("failed to send mode request");
testbench.handler.periodic_operation();
assert_eq!(
testbench.handler.mode_and_submode().mode(),
DeviceMode::Normal as u32
);
assert_eq!(testbench.handler.mode_and_submode().submode(), 0);
// Verify power switch handling.
let mut switch_requests = testbench.handler.switch_helper.switch_requests.borrow_mut();
assert_eq!(switch_requests.len(), 1);
let switch_req = switch_requests.pop_front().expect("no switch request");
assert_eq!(switch_req.target_state, SwitchStateBinary::On);
assert_eq!(switch_req.switch_id, PcduSwitch::Mgm);
let mut switch_info_requests = testbench
.handler
.switch_helper
.switch_info_requests
.borrow_mut();
assert_eq!(switch_info_requests.len(), 1);
let switch_info_req = switch_info_requests.pop_front().expect("no switch request");
assert_eq!(switch_info_req, PcduSwitch::Mgm);
let mode_reply = testbench
.mode_reply_rx_to_pus
.try_recv()
.expect("no mode reply generated");
match mode_reply.message {
ModeReply::ModeReply(mode) => {
assert_eq!(mode.mode(), DeviceMode::Normal as u32);
assert_eq!(mode.submode(), 0);
}
_ => panic!("unexpected mode reply"),
}
// The device should have been polled once.
assert_eq!(testbench.handler.com_interface.call_count, 1);
let mgm_set = *testbench.handler.shared_mgm_set.lock().unwrap();
assert!(mgm_set.x < 0.001);
assert!(mgm_set.y < 0.001);
assert!(mgm_set.z < 0.001);
assert!(mgm_set.valid);
}
#[test]
fn test_normal_handler_mgm_set_conversion() {
let mut testbench = MgmTestbench::new();
let raw_values = MgmLis3RawValues {
x: 1000,
y: -1000,
z: 1000,
};
testbench.handler.com_interface.next_mgm_data = raw_values;
testbench
.mode_request_tx
.send(GenericMessage::new(
MessageMetadata::new(0, PUS_MODE_SERVICE.id()),
ModeRequest::SetMode(ModeAndSubmode::new(DeviceMode::Normal as u32, 0)),
))
.expect("failed to send mode request");
testbench.handler.periodic_operation();
let mgm_set = *testbench.handler.shared_mgm_set.lock().unwrap();
let expected_x =
raw_values.x as f32 * GAUSS_TO_MICROTESLA_FACTOR as f32 * FIELD_LSB_PER_GAUSS_4_SENS;
let expected_y =
raw_values.y as f32 * GAUSS_TO_MICROTESLA_FACTOR as f32 * FIELD_LSB_PER_GAUSS_4_SENS;
let expected_z =
raw_values.z as f32 * GAUSS_TO_MICROTESLA_FACTOR as f32 * FIELD_LSB_PER_GAUSS_4_SENS;
let x_diff = (mgm_set.x - expected_x).abs();
let y_diff = (mgm_set.y - expected_y).abs();
let z_diff = (mgm_set.z - expected_z).abs();
assert!(x_diff < 0.001, "x diff too large: {}", x_diff);
assert!(y_diff < 0.001, "y diff too large: {}", y_diff);
assert!(z_diff < 0.001, "z diff too large: {}", z_diff);
assert!(mgm_set.valid);
}
}

4
satrs-example/src/bin/test.rs
View File

@ -3,7 +3,7 @@
use crossbeam_channel::{bounded, Receiver, Sender}; use crossbeam_channel::{bounded, Receiver, Sender};
use std::sync::atomic::{AtomicU16, Ordering}; use std::sync::atomic::{AtomicU16, Ordering};
use std::thread; use std::thread;
use zerocopy::{FromBytes, Immutable, IntoBytes, NetworkEndian, Unaligned, U16}; use zerocopy::{AsBytes, FromBytes, NetworkEndian, Unaligned, U16};
trait FieldDataProvider: Send { trait FieldDataProvider: Send {
fn get_data(&self) -> &[u8]; fn get_data(&self) -> &[u8];
@ -35,7 +35,7 @@ struct ExampleMgmSet {
temperature: u16, temperature: u16,
} }
#[derive(FromBytes, IntoBytes, Immutable, Unaligned)] #[derive(FromBytes, AsBytes, Unaligned)]
#[repr(C)] #[repr(C)]
struct ExampleMgmSetZc { struct ExampleMgmSetZc {
mgm_vec: [u8; 12], mgm_vec: [u8; 12],

19
satrs-example/src/config.rs
View File

@ -122,7 +122,7 @@ pub mod mode_err {
} }
pub mod components { pub mod components {
use satrs::{request::UniqueApidTargetId, ComponentId}; use satrs::request::UniqueApidTargetId;
use strum::EnumIter; use strum::EnumIter;
#[derive(Copy, Clone, PartialEq, Eq, EnumIter)] #[derive(Copy, Clone, PartialEq, Eq, EnumIter)]
@ -132,7 +132,6 @@ pub mod components {
Acs = 3, Acs = 3,
Cfdp = 4, Cfdp = 4,
Tmtc = 5, Tmtc = 5,
Eps = 6,
} }
// Component IDs for components with the PUS APID. // Component IDs for components with the PUS APID.
@ -151,11 +150,6 @@ pub mod components {
Mgm0 = 0, Mgm0 = 0,
} }
#[derive(Copy, Clone, PartialEq, Eq)]
pub enum EpsId {
Pcdu = 0,
}
#[derive(Copy, Clone, PartialEq, Eq)] #[derive(Copy, Clone, PartialEq, Eq)]
pub enum TmtcId { pub enum TmtcId {
UdpServer = 0, UdpServer = 0,
@ -178,20 +172,17 @@ pub mod components {
UniqueApidTargetId::new(Apid::Sched as u16, 0); UniqueApidTargetId::new(Apid::Sched as u16, 0);
pub const MGM_HANDLER_0: UniqueApidTargetId = pub const MGM_HANDLER_0: UniqueApidTargetId =
UniqueApidTargetId::new(Apid::Acs as u16, AcsId::Mgm0 as u32); UniqueApidTargetId::new(Apid::Acs as u16, AcsId::Mgm0 as u32);
pub const PCDU_HANDLER: UniqueApidTargetId =
UniqueApidTargetId::new(Apid::Eps as u16, EpsId::Pcdu as u32);
pub const UDP_SERVER: UniqueApidTargetId = pub const UDP_SERVER: UniqueApidTargetId =
UniqueApidTargetId::new(Apid::Tmtc as u16, TmtcId::UdpServer as u32); UniqueApidTargetId::new(Apid::Tmtc as u16, TmtcId::UdpServer as u32);
pub const TCP_SERVER: UniqueApidTargetId = pub const TCP_SERVER: UniqueApidTargetId =
UniqueApidTargetId::new(Apid::Tmtc as u16, TmtcId::TcpServer as u32); UniqueApidTargetId::new(Apid::Tmtc as u16, TmtcId::TcpServer as u32);
pub const NO_SENDER: ComponentId = ComponentId::MAX;
} }
pub mod pool { pub mod pool {
use super::*; use super::*;
pub fn create_static_pools() -> (StaticMemoryPool, StaticMemoryPool) { pub fn create_static_pools() -> (StaticMemoryPool, StaticMemoryPool) {
( (
StaticMemoryPool::new(StaticPoolConfig::new_from_subpool_cfg_tuples( StaticMemoryPool::new(StaticPoolConfig::new(
vec![ vec![
(30, 32), (30, 32),
(15, 64), (15, 64),
@ -202,7 +193,7 @@ pub mod pool {
], ],
true, true,
)), )),
StaticMemoryPool::new(StaticPoolConfig::new_from_subpool_cfg_tuples( StaticMemoryPool::new(StaticPoolConfig::new(
vec![ vec![
(30, 32), (30, 32),
(15, 64), (15, 64),
@ -217,7 +208,7 @@ pub mod pool {
} }
pub fn create_sched_tc_pool() -> StaticMemoryPool { pub fn create_sched_tc_pool() -> StaticMemoryPool {
StaticMemoryPool::new(StaticPoolConfig::new_from_subpool_cfg_tuples( StaticMemoryPool::new(StaticPoolConfig::new(
vec![ vec![
(30, 32), (30, 32),
(15, 64), (15, 64),
@ -233,7 +224,7 @@ pub mod pool {
pub mod tasks { pub mod tasks {
pub const FREQ_MS_UDP_TMTC: u64 = 200; pub const FREQ_MS_UDP_TMTC: u64 = 200;
pub const FREQ_MS_EVENT_HANDLING: u64 = 400;
pub const FREQ_MS_AOCS: u64 = 500; pub const FREQ_MS_AOCS: u64 = 500;
pub const FREQ_MS_PUS_STACK: u64 = 200; pub const FREQ_MS_PUS_STACK: u64 = 200;
pub const SIM_CLIENT_IDLE_DELAY_MS: u64 = 5;
} }

197
satrs-example/src/eps/mod.rs
View File

@ -1,197 +0,0 @@
use derive_new::new;
use std::{cell::RefCell, collections::VecDeque, sync::mpsc, time::Duration};
use satrs::{
power::{
PowerSwitchInfo, PowerSwitcherCommandSender, SwitchRequest, SwitchState, SwitchStateBinary,
},
queue::GenericSendError,
request::{GenericMessage, MessageMetadata},
};
use satrs_minisim::eps::{PcduSwitch, SwitchMapWrapper};
use thiserror::Error;
use self::pcdu::SharedSwitchSet;
pub mod pcdu;
#[derive(new, Clone)]
pub struct PowerSwitchHelper {
switcher_tx: mpsc::SyncSender<GenericMessage<SwitchRequest>>,
shared_switch_set: SharedSwitchSet,
}
#[derive(Debug, Error, Copy, Clone, PartialEq, Eq)]
pub enum SwitchCommandingError {
#[error("send error: {0}")]
Send(#[from] GenericSendError),
}
#[derive(Debug, Error, Copy, Clone, PartialEq, Eq)]
pub enum SwitchInfoError {
/// This is a configuration error which should not occur.
#[error("switch ID not in map")]
SwitchIdNotInMap(PcduSwitch),
#[error("switch set invalid")]
SwitchSetInvalid,
}
impl PowerSwitchInfo<PcduSwitch> for PowerSwitchHelper {
type Error = SwitchInfoError;
fn switch_state(
&self,
switch_id: PcduSwitch,
) -> Result<satrs::power::SwitchState, Self::Error> {
let switch_set = self
.shared_switch_set
.lock()
.expect("failed to lock switch set");
if !switch_set.valid {
return Err(SwitchInfoError::SwitchSetInvalid);
}
if let Some(state) = switch_set.switch_map.get(&switch_id) {
return Ok(*state);
}
Err(SwitchInfoError::SwitchIdNotInMap(switch_id))
}
fn switch_delay_ms(&self) -> Duration {
// Here, we could set device specific switch delays theoretically. Set it to this value
// for now.
Duration::from_millis(1000)
}
}
impl PowerSwitcherCommandSender<PcduSwitch> for PowerSwitchHelper {
type Error = SwitchCommandingError;
fn send_switch_on_cmd(
&self,
requestor_info: satrs::request::MessageMetadata,
switch_id: PcduSwitch,
) -> Result<(), Self::Error> {
self.switcher_tx
.send_switch_on_cmd(requestor_info, switch_id)?;
Ok(())
}
fn send_switch_off_cmd(
&self,
requestor_info: satrs::request::MessageMetadata,
switch_id: PcduSwitch,
) -> Result<(), Self::Error> {
self.switcher_tx
.send_switch_off_cmd(requestor_info, switch_id)?;
Ok(())
}
}
#[allow(dead_code)]
#[derive(new)]
pub struct SwitchRequestInfo {
pub requestor_info: MessageMetadata,
pub switch_id: PcduSwitch,
pub target_state: satrs::power::SwitchStateBinary,
}
// Test switch helper which can be used for unittests.
pub struct TestSwitchHelper {
pub switch_requests: RefCell<VecDeque<SwitchRequestInfo>>,
pub switch_info_requests: RefCell<VecDeque<PcduSwitch>>,
#[allow(dead_code)]
pub switch_delay_request_count: u32,
pub next_switch_delay: Duration,
pub switch_map: RefCell<SwitchMapWrapper>,
pub switch_map_valid: bool,
}
impl Default for TestSwitchHelper {
fn default() -> Self {
Self {
switch_requests: Default::default(),
switch_info_requests: Default::default(),
switch_delay_request_count: Default::default(),
next_switch_delay: Duration::from_millis(1000),
switch_map: Default::default(),
switch_map_valid: true,
}
}
}
impl PowerSwitchInfo<PcduSwitch> for TestSwitchHelper {
type Error = SwitchInfoError;
fn switch_state(
&self,
switch_id: PcduSwitch,
) -> Result<satrs::power::SwitchState, Self::Error> {
let mut switch_info_requests_mut = self.switch_info_requests.borrow_mut();
switch_info_requests_mut.push_back(switch_id);
if !self.switch_map_valid {
return Err(SwitchInfoError::SwitchSetInvalid);
}
let switch_map_mut = self.switch_map.borrow_mut();
if let Some(state) = switch_map_mut.0.get(&switch_id) {
return Ok(*state);
}
Err(SwitchInfoError::SwitchIdNotInMap(switch_id))
}
fn switch_delay_ms(&self) -> Duration {
self.next_switch_delay
}
}
impl PowerSwitcherCommandSender<PcduSwitch> for TestSwitchHelper {
type Error = SwitchCommandingError;
fn send_switch_on_cmd(
&self,
requestor_info: MessageMetadata,
switch_id: PcduSwitch,
) -> Result<(), Self::Error> {
let mut switch_requests_mut = self.switch_requests.borrow_mut();
switch_requests_mut.push_back(SwitchRequestInfo {
requestor_info,
switch_id,
target_state: SwitchStateBinary::On,
});
// By default, the test helper immediately acknowledges the switch request by setting
// the appropriate switch state in the internal switch map.
let mut switch_map_mut = self.switch_map.borrow_mut();
if let Some(switch_state) = switch_map_mut.0.get_mut(&switch_id) {
*switch_state = SwitchState::On;
}
Ok(())
}
fn send_switch_off_cmd(
&self,
requestor_info: MessageMetadata,
switch_id: PcduSwitch,
) -> Result<(), Self::Error> {
let mut switch_requests_mut = self.switch_requests.borrow_mut();
switch_requests_mut.push_back(SwitchRequestInfo {
requestor_info,
switch_id,
target_state: SwitchStateBinary::Off,
});
// By default, the test helper immediately acknowledges the switch request by setting
// the appropriate switch state in the internal switch map.
let mut switch_map_mut = self.switch_map.borrow_mut();
if let Some(switch_state) = switch_map_mut.0.get_mut(&switch_id) {
*switch_state = SwitchState::Off;
}
Ok(())
}
}
#[allow(dead_code)]
impl TestSwitchHelper {
// Helper function which can be used to force a switch to another state for test purposes.
pub fn set_switch_state(&mut self, switch: PcduSwitch, state: SwitchState) {
self.switch_map.get_mut().0.insert(switch, state);
}
}

722
satrs-example/src/eps/pcdu.rs
View File

@ -1,722 +0,0 @@
use std::{
cell::RefCell,
collections::VecDeque,
sync::{mpsc, Arc, Mutex},
};
use derive_new::new;
use num_enum::{IntoPrimitive, TryFromPrimitive};
use satrs::{
hk::{HkRequest, HkRequestVariant},
mode::{ModeAndSubmode, ModeError, ModeProvider, ModeReply, ModeRequestHandler},
power::SwitchRequest,
pus::{EcssTmSender, PusTmVariant},
queue::{GenericSendError, GenericTargetedMessagingError},
request::{GenericMessage, MessageMetadata, UniqueApidTargetId},
spacepackets::ByteConversionError,
};
use satrs_example::{
config::components::{NO_SENDER, PUS_MODE_SERVICE},
DeviceMode, TimestampHelper,
};
use satrs_minisim::{
eps::{
PcduReply, PcduRequest, PcduSwitch, SwitchMap, SwitchMapBinaryWrapper, SwitchMapWrapper,
},
SerializableSimMsgPayload, SimReply, SimRequest,
};
use serde::{Deserialize, Serialize};
use crate::{
acs::mgm::MpscModeLeafInterface,
hk::PusHkHelper,
pus::hk::{HkReply, HkReplyVariant},
requests::CompositeRequest,
};
pub trait SerialInterface {
type Error: core::fmt::Debug;
/// Send some data via the serial interface.
fn send(&self, data: &[u8]) -> Result<(), Self::Error>;
/// Receive all replies received on the serial interface so far. This function takes a closure
/// and call its for each received packet, passing the received packet into it.
fn try_recv_replies<ReplyHandler: FnMut(&[u8])>(
&self,
f: ReplyHandler,
) -> Result<(), Self::Error>;
}
#[derive(new)]
pub struct SerialInterfaceToSim {
pub sim_request_tx: mpsc::Sender<SimRequest>,
pub sim_reply_rx: mpsc::Receiver<SimReply>,
}
#[derive(Debug, Copy, Clone, PartialEq, Eq, TryFromPrimitive, IntoPrimitive)]
#[repr(u32)]
pub enum SetId {
SwitcherSet = 0,
}
impl SerialInterface for SerialInterfaceToSim {
type Error = ();
fn send(&self, data: &[u8]) -> Result<(), Self::Error> {
let request: PcduRequest = serde_json::from_slice(data).expect("expected a PCDU request");
self.sim_request_tx
.send(SimRequest::new_with_epoch_time(request))
.expect("failed to send request to simulation");
Ok(())
}
fn try_recv_replies<ReplyHandler: FnMut(&[u8])>(
&self,
mut f: ReplyHandler,
) -> Result<(), Self::Error> {
loop {
match self.sim_reply_rx.try_recv() {
Ok(reply) => {
let reply = serde_json::to_string(&reply).unwrap();
f(reply.as_bytes());
}
Err(e) => match e {
mpsc::TryRecvError::Empty => break,
mpsc::TryRecvError::Disconnected => {
log::warn!("sim reply sender has disconnected");
break;
}
},
}
}
Ok(())
}
}
#[derive(Default)]
pub struct SerialInterfaceDummy {
// Need interior mutability here for both fields.
pub switch_map: RefCell<SwitchMapBinaryWrapper>,
pub reply_deque: RefCell<VecDeque<SimReply>>,
}
impl SerialInterface for SerialInterfaceDummy {
type Error = ();
fn send(&self, data: &[u8]) -> Result<(), Self::Error> {
let pcdu_req: PcduRequest = serde_json::from_slice(data).unwrap();
let switch_map_mut = &mut self.switch_map.borrow_mut().0;
match pcdu_req {
PcduRequest::SwitchDevice { switch, state } => {
match switch_map_mut.entry(switch) {
std::collections::hash_map::Entry::Occupied(mut val) => {
*val.get_mut() = state;
}
std::collections::hash_map::Entry::Vacant(vacant) => {
vacant.insert(state);
}
};
}
PcduRequest::RequestSwitchInfo => {
let mut reply_deque_mut = self.reply_deque.borrow_mut();
reply_deque_mut.push_back(SimReply::new(&PcduReply::SwitchInfo(
switch_map_mut.clone(),
)));
}
};
Ok(())
}
fn try_recv_replies<ReplyHandler: FnMut(&[u8])>(
&self,
mut f: ReplyHandler,
) -> Result<(), Self::Error> {
if self.reply_queue_empty() {
return Ok(());
}
loop {
let reply = self.get_next_reply_as_string();
f(reply.as_bytes());
if self.reply_queue_empty() {
break;
}
}
Ok(())
}
}
impl SerialInterfaceDummy {
fn get_next_reply_as_string(&self) -> String {
let mut reply_deque_mut = self.reply_deque.borrow_mut();
let next_reply = reply_deque_mut.pop_front().unwrap();
serde_json::to_string(&next_reply).unwrap()
}
fn reply_queue_empty(&self) -> bool {
self.reply_deque.borrow().is_empty()
}
}
pub enum SerialSimInterfaceWrapper {
Dummy(SerialInterfaceDummy),
Sim(SerialInterfaceToSim),
}
impl SerialInterface for SerialSimInterfaceWrapper {
type Error = ();
fn send(&self, data: &[u8]) -> Result<(), Self::Error> {
match self {
SerialSimInterfaceWrapper::Dummy(dummy) => dummy.send(data),
SerialSimInterfaceWrapper::Sim(sim) => sim.send(data),
}
}
fn try_recv_replies<ReplyHandler: FnMut(&[u8])>(
&self,
f: ReplyHandler,
) -> Result<(), Self::Error> {
match self {
SerialSimInterfaceWrapper::Dummy(dummy) => dummy.try_recv_replies(f),
SerialSimInterfaceWrapper::Sim(sim) => sim.try_recv_replies(f),
}
}
}
#[derive(Debug, Copy, Clone, PartialEq, Eq)]
pub enum OpCode {
RegularOp = 0,
PollAndRecvReplies = 1,
}
#[derive(Clone, PartialEq, Eq, Default, Serialize, Deserialize)]
pub struct SwitchSet {
pub valid: bool,
pub switch_map: SwitchMap,
}
pub type SharedSwitchSet = Arc<Mutex<SwitchSet>>;
/// Example PCDU device handler.
#[derive(new)]
#[allow(clippy::too_many_arguments)]
pub struct PcduHandler<ComInterface: SerialInterface, TmSender: EcssTmSender> {
id: UniqueApidTargetId,
dev_str: &'static str,
mode_interface: MpscModeLeafInterface,
composite_request_rx: mpsc::Receiver<GenericMessage<CompositeRequest>>,
hk_reply_tx: mpsc::Sender<GenericMessage<HkReply>>,
switch_request_rx: mpsc::Receiver<GenericMessage<SwitchRequest>>,
tm_sender: TmSender,
pub com_interface: ComInterface,
shared_switch_map: Arc<Mutex<SwitchSet>>,
#[new(value = "PusHkHelper::new(id)")]
hk_helper: PusHkHelper,
#[new(value = "ModeAndSubmode::new(satrs_example::DeviceMode::Off as u32, 0)")]
mode_and_submode: ModeAndSubmode,
#[new(default)]
stamp_helper: TimestampHelper,
#[new(value = "[0; 256]")]
tm_buf: [u8; 256],
}
impl<ComInterface: SerialInterface, TmSender: EcssTmSender> PcduHandler<ComInterface, TmSender> {
pub fn periodic_operation(&mut self, op_code: OpCode) {
match op_code {
OpCode::RegularOp => {
self.stamp_helper.update_from_now();
// Handle requests.
self.handle_composite_requests();
self.handle_mode_requests();
self.handle_switch_requests();
// Poll the switch states and/or telemetry regularly here.
if self.mode() == DeviceMode::Normal as u32 || self.mode() == DeviceMode::On as u32
{
self.handle_periodic_commands();
}
}
OpCode::PollAndRecvReplies => {
self.poll_and_handle_replies();
}
}
}
pub fn handle_composite_requests(&mut self) {
loop {
match self.composite_request_rx.try_recv() {
Ok(ref msg) => match &msg.message {
CompositeRequest::Hk(hk_request) => {
self.handle_hk_request(&msg.requestor_info, hk_request)
}
// TODO: This object does not have actions (yet).. Still send back completion failure
// reply.
CompositeRequest::Action(_action_req) => {}
},
Err(e) => {
if e != mpsc::TryRecvError::Empty {
log::warn!(
"{}: failed to receive composite request: {:?}",
self.dev_str,
e
);
} else {
break;
}
}
}
}
}
pub fn handle_hk_request(&mut self, requestor_info: &MessageMetadata, hk_request: &HkRequest) {
match hk_request.variant {
HkRequestVariant::OneShot => {
if hk_request.unique_id == SetId::SwitcherSet as u32 {
if let Ok(hk_tm) = self.hk_helper.generate_hk_report_packet(
self.stamp_helper.stamp(),
SetId::SwitcherSet as u32,
&mut |hk_buf| {
// Send TM down as JSON.
let switch_map_snapshot = self
.shared_switch_map
.lock()
.expect("failed to lock switch map")
.clone();
let switch_map_json = serde_json::to_string(&switch_map_snapshot)
.expect("failed to serialize switch map");
if switch_map_json.len() > hk_buf.len() {
log::error!("switch map JSON too large for HK buffer");
return Err(ByteConversionError::ToSliceTooSmall {
found: hk_buf.len(),
expected: switch_map_json.len(),
});
}
Ok(switch_map_json.len())
},
&mut self.tm_buf,
) {
self.tm_sender
.send_tm(self.id.id(), PusTmVariant::Direct(hk_tm))
.expect("failed to send HK TM");
self.hk_reply_tx
.send(GenericMessage::new(
*requestor_info,
HkReply::new(hk_request.unique_id, HkReplyVariant::Ack),
))
.expect("failed to send HK reply");
}
}
}
HkRequestVariant::EnablePeriodic => todo!(),
HkRequestVariant::DisablePeriodic => todo!(),
HkRequestVariant::ModifyCollectionInterval(_) => todo!(),
}
}
pub fn handle_periodic_commands(&self) {
let pcdu_req = PcduRequest::RequestSwitchInfo;
let pcdu_req_ser = serde_json::to_string(&pcdu_req).unwrap();
if let Err(_e) = self.com_interface.send(pcdu_req_ser.as_bytes()) {
log::warn!("polling PCDU switch info failed");
}
}
pub fn handle_mode_requests(&mut self) {
loop {
// TODO: Only allow one set mode request per cycle?
match self.mode_interface.request_rx.try_recv() {
Ok(msg) => {
let result = self.handle_mode_request(msg);
// TODO: Trigger event?
if result.is_err() {
log::warn!(
"{}: mode request failed with error {:?}",
self.dev_str,
result.err().unwrap()
);
}
}
Err(e) => {
if e != mpsc::TryRecvError::Empty {
log::warn!("{}: failed to receive mode request: {:?}", self.dev_str, e);
} else {
break;
}
}
}
}
}
pub fn handle_switch_requests(&mut self) {
loop {
match self.switch_request_rx.try_recv() {
Ok(switch_req) => match PcduSwitch::try_from(switch_req.message.switch_id()) {
Ok(pcdu_switch) => {
let pcdu_req = PcduRequest::SwitchDevice {
switch: pcdu_switch,
state: switch_req.message.target_state(),
};
let pcdu_req_ser = serde_json::to_string(&pcdu_req).unwrap();
self.com_interface
.send(pcdu_req_ser.as_bytes())
.expect("failed to send switch request to PCDU");
}
Err(e) => todo!("failed to convert switch ID {:?} to typed PCDU switch", e),
},
Err(e) => match e {
mpsc::TryRecvError::Empty => break,
mpsc::TryRecvError::Disconnected => {
log::warn!("switch request receiver has disconnected");
break;
}
},
};
}
}
pub fn poll_and_handle_replies(&mut self) {
if let Err(e) = self.com_interface.try_recv_replies(|reply| {
let sim_reply: SimReply = serde_json::from_slice(reply).expect("invalid reply format");
let pcdu_reply = PcduReply::from_sim_message(&sim_reply).expect("invalid reply format");
match pcdu_reply {
PcduReply::SwitchInfo(switch_info) => {
let switch_map_wrapper =
SwitchMapWrapper::from_binary_switch_map_ref(&switch_info);
let mut shared_switch_map = self
.shared_switch_map
.lock()
.expect("failed to lock switch map");
shared_switch_map.switch_map = switch_map_wrapper.0;
shared_switch_map.valid = true;
}
}
}) {
log::warn!("receiving PCDU replies failed: {:?}", e);
}
}
}
impl<ComInterface: SerialInterface, TmSender: EcssTmSender> ModeProvider
for PcduHandler<ComInterface, TmSender>
{
fn mode_and_submode(&self) -> ModeAndSubmode {
self.mode_and_submode
}
}
impl<ComInterface: SerialInterface, TmSender: EcssTmSender> ModeRequestHandler
for PcduHandler<ComInterface, TmSender>
{
type Error = ModeError;
fn start_transition(
&mut self,
requestor: MessageMetadata,
mode_and_submode: ModeAndSubmode,
) -> Result<(), satrs::mode::ModeError> {
log::info!(
"{}: transitioning to mode {:?}",
self.dev_str,
mode_and_submode
);
self.mode_and_submode = mode_and_submode;
if mode_and_submode.mode() == DeviceMode::Off as u32 {
self.shared_switch_map.lock().unwrap().valid = false;
}
self.handle_mode_reached(Some(requestor))?;
Ok(())
}
fn announce_mode(&self, _requestor_info: Option<MessageMetadata>, _recursive: bool) {
log::info!(
"{} announcing mode: {:?}",
self.dev_str,
self.mode_and_submode
);
}
fn handle_mode_reached(
&mut self,
requestor: Option<MessageMetadata>,
) -> Result<(), Self::Error> {
self.announce_mode(requestor, false);
if let Some(requestor) = requestor {
if requestor.sender_id() == NO_SENDER {
return Ok(());
}
if requestor.sender_id() != PUS_MODE_SERVICE.id() {
log::warn!(
"can not send back mode reply to sender {}",
requestor.sender_id()
);
} else {
self.send_mode_reply(requestor, ModeReply::ModeReply(self.mode_and_submode()))?;
}
}
Ok(())
}
fn send_mode_reply(
&self,
requestor: MessageMetadata,
reply: ModeReply,
) -> Result<(), Self::Error> {
if requestor.sender_id() != PUS_MODE_SERVICE.id() {
log::warn!(
"can not send back mode reply to sender {}",
requestor.sender_id()
);
}
self.mode_interface
.reply_to_pus_tx
.send(GenericMessage::new(requestor, reply))
.map_err(|_| GenericTargetedMessagingError::Send(GenericSendError::RxDisconnected))?;
Ok(())
}
fn handle_mode_info(
&mut self,
_requestor_info: MessageMetadata,
_info: ModeAndSubmode,
) -> Result<(), Self::Error> {
Ok(())
}
}
#[cfg(test)]
mod tests {
use std::sync::mpsc;
use satrs::{
mode::ModeRequest, power::SwitchStateBinary, request::GenericMessage, tmtc::PacketAsVec,
};
use satrs_example::config::components::{Apid, MGM_HANDLER_0};
use satrs_minisim::eps::SwitchMapBinary;
use super::*;
#[derive(Default)]
pub struct SerialInterfaceTest {
pub inner: SerialInterfaceDummy,
pub send_queue: RefCell<VecDeque<Vec<u8>>>,
pub reply_queue: RefCell<VecDeque<String>>,
}
impl SerialInterface for SerialInterfaceTest {
type Error = ();
fn send(&self, data: &[u8]) -> Result<(), Self::Error> {
let mut send_queue_mut = self.send_queue.borrow_mut();
send_queue_mut.push_back(data.to_vec());
self.inner.send(data)
}
fn try_recv_replies<ReplyHandler: FnMut(&[u8])>(
&self,
mut f: ReplyHandler,
) -> Result<(), Self::Error> {
if self.inner.reply_queue_empty() {
return Ok(());
}
loop {
let reply = self.inner.get_next_reply_as_string();
self.reply_queue.borrow_mut().push_back(reply.clone());
f(reply.as_bytes());
if self.inner.reply_queue_empty() {
break;
}
}
Ok(())
}
}
pub struct PcduTestbench {
pub mode_request_tx: mpsc::Sender<GenericMessage<ModeRequest>>,
pub mode_reply_rx_to_pus: mpsc::Receiver<GenericMessage<ModeReply>>,
pub mode_reply_rx_to_parent: mpsc::Receiver<GenericMessage<ModeReply>>,
pub composite_request_tx: mpsc::Sender<GenericMessage<CompositeRequest>>,
pub hk_reply_rx: mpsc::Receiver<GenericMessage<HkReply>>,
pub tm_rx: mpsc::Receiver<PacketAsVec>,
pub switch_request_tx: mpsc::Sender<GenericMessage<SwitchRequest>>,
pub handler: PcduHandler<SerialInterfaceTest, mpsc::Sender<PacketAsVec>>,
}
impl PcduTestbench {
pub fn new() -> Self {
let (mode_request_tx, mode_request_rx) = mpsc::channel();
let (mode_reply_tx_to_pus, mode_reply_rx_to_pus) = mpsc::channel();
let (mode_reply_tx_to_parent, mode_reply_rx_to_parent) = mpsc::sync_channel(5);
let mode_interface = MpscModeLeafInterface {
request_rx: mode_request_rx,
reply_to_pus_tx: mode_reply_tx_to_pus,
reply_to_parent_tx: mode_reply_tx_to_parent,
};
let (composite_request_tx, composite_request_rx) = mpsc::channel();
let (hk_reply_tx, hk_reply_rx) = mpsc::channel();
let (tm_tx, tm_rx) = mpsc::channel::<PacketAsVec>();
let (switch_request_tx, switch_reqest_rx) = mpsc::channel();
let shared_switch_map = Arc::new(Mutex::new(SwitchSet::default()));
Self {
mode_request_tx,
mode_reply_rx_to_pus,
mode_reply_rx_to_parent,
composite_request_tx,
hk_reply_rx,
tm_rx,
switch_request_tx,
handler: PcduHandler::new(
UniqueApidTargetId::new(Apid::Eps as u16, 0),
"TEST_PCDU",
mode_interface,
composite_request_rx,
hk_reply_tx,
switch_reqest_rx,
tm_tx,
SerialInterfaceTest::default(),
shared_switch_map,
),
}
}
pub fn verify_switch_info_req_was_sent(&self, expected_queue_len: usize) {
// Check that there is now communication happening.
let mut send_queue_mut = self.handler.com_interface.send_queue.borrow_mut();
assert_eq!(send_queue_mut.len(), expected_queue_len);
let packet_sent = send_queue_mut.pop_front().unwrap();
drop(send_queue_mut);
let pcdu_req: PcduRequest = serde_json::from_slice(&packet_sent).unwrap();
assert_eq!(pcdu_req, PcduRequest::RequestSwitchInfo);
}
pub fn verify_switch_req_was_sent(
&self,
expected_queue_len: usize,
switch_id: PcduSwitch,
target_state: SwitchStateBinary,
) {
// Check that there is now communication happening.
let mut send_queue_mut = self.handler.com_interface.send_queue.borrow_mut();
assert_eq!(send_queue_mut.len(), expected_queue_len);
let packet_sent = send_queue_mut.pop_front().unwrap();
drop(send_queue_mut);
let pcdu_req: PcduRequest = serde_json::from_slice(&packet_sent).unwrap();
assert_eq!(
pcdu_req,
PcduRequest::SwitchDevice {
switch: switch_id,
state: target_state
}
)
}
pub fn verify_switch_reply_received(
&self,
expected_queue_len: usize,
expected_map: SwitchMapBinary,
) {
// Check that a switch reply was read back.
let mut reply_received_mut = self.handler.com_interface.reply_queue.borrow_mut();
assert_eq!(reply_received_mut.len(), expected_queue_len);
let reply_received = reply_received_mut.pop_front().unwrap();
let sim_reply: SimReply = serde_json::from_str(&reply_received).unwrap();
let pcdu_reply = PcduReply::from_sim_message(&sim_reply).unwrap();
assert_eq!(pcdu_reply, PcduReply::SwitchInfo(expected_map));
}
}
#[test]
fn test_basic_handler() {
let mut testbench = PcduTestbench::new();
assert_eq!(testbench.handler.com_interface.send_queue.borrow().len(), 0);
assert_eq!(
testbench.handler.com_interface.reply_queue.borrow().len(),
0
);
assert_eq!(
testbench.handler.mode_and_submode().mode(),
DeviceMode::Off as u32
);
assert_eq!(testbench.handler.mode_and_submode().submode(), 0_u16);
testbench.handler.periodic_operation(OpCode::RegularOp);
testbench
.handler
.periodic_operation(OpCode::PollAndRecvReplies);
// Handler is OFF, no changes expected.
assert_eq!(testbench.handler.com_interface.send_queue.borrow().len(), 0);
assert_eq!(
testbench.handler.com_interface.reply_queue.borrow().len(),
0
);
assert_eq!(
testbench.handler.mode_and_submode().mode(),
DeviceMode::Off as u32
);
assert_eq!(testbench.handler.mode_and_submode().submode(), 0_u16);
}
#[test]
fn test_normal_mode() {
let mut testbench = PcduTestbench::new();
testbench
.mode_request_tx
.send(GenericMessage::new(
MessageMetadata::new(0, PUS_MODE_SERVICE.id()),
ModeRequest::SetMode(ModeAndSubmode::new(DeviceMode::Normal as u32, 0)),
))
.expect("failed to send mode request");
let switch_map_shared = testbench.handler.shared_switch_map.lock().unwrap();
assert!(!switch_map_shared.valid);
drop(switch_map_shared);
testbench.handler.periodic_operation(OpCode::RegularOp);
testbench
.handler
.periodic_operation(OpCode::PollAndRecvReplies);
// Check correctness of mode.
assert_eq!(
testbench.handler.mode_and_submode().mode(),
DeviceMode::Normal as u32
);
assert_eq!(testbench.handler.mode_and_submode().submode(), 0);
testbench.verify_switch_info_req_was_sent(1);
testbench.verify_switch_reply_received(1, SwitchMapBinaryWrapper::default().0);
let switch_map_shared = testbench.handler.shared_switch_map.lock().unwrap();
assert!(switch_map_shared.valid);
drop(switch_map_shared);
}
#[test]
fn test_switch_request_handling() {
let mut testbench = PcduTestbench::new();
testbench
.mode_request_tx
.send(GenericMessage::new(
MessageMetadata::new(0, PUS_MODE_SERVICE.id()),
ModeRequest::SetMode(ModeAndSubmode::new(DeviceMode::Normal as u32, 0)),
))
.expect("failed to send mode request");
testbench
.switch_request_tx
.send(GenericMessage::new(
MessageMetadata::new(0, MGM_HANDLER_0.id()),
SwitchRequest::new(0, SwitchStateBinary::On),
))
.expect("failed to send switch request");
testbench.handler.periodic_operation(OpCode::RegularOp);
testbench
.handler
.periodic_operation(OpCode::PollAndRecvReplies);
testbench.verify_switch_req_was_sent(2, PcduSwitch::Mgm, SwitchStateBinary::On);
testbench.verify_switch_info_req_was_sent(1);
let mut switch_map = SwitchMapBinaryWrapper::default().0;
*switch_map
.get_mut(&PcduSwitch::Mgm)
.expect("switch state setting failed") = SwitchStateBinary::On;
testbench.verify_switch_reply_received(1, switch_map);
let switch_map_shared = testbench.handler.shared_switch_map.lock().unwrap();
assert!(switch_map_shared.valid);
drop(switch_map_shared);
}
}

36
satrs-example/src/hk.rs
View File

@ -1,9 +1,7 @@
use derive_new::new; use derive_new::new;
use satrs::hk::UniqueId; use satrs::hk::UniqueId;
use satrs::request::UniqueApidTargetId; use satrs::request::UniqueApidTargetId;
use satrs::spacepackets::ecss::hk; use satrs::spacepackets::ByteConversionError;
use satrs::spacepackets::ecss::tm::{PusTmCreator, PusTmSecondaryHeader};
use satrs::spacepackets::{ByteConversionError, SpHeader};
#[derive(Debug, new, Copy, Clone)] #[derive(Debug, new, Copy, Clone)]
pub struct HkUniqueId { pub struct HkUniqueId {
@ -35,35 +33,3 @@ impl HkUniqueId {
Ok(8) Ok(8)
} }
} }
#[derive(new)]
pub struct PusHkHelper {
component_id: UniqueApidTargetId,
}
impl PusHkHelper {
pub fn generate_hk_report_packet<
'a,
'b,
HkWriter: FnMut(&mut [u8]) -> Result<usize, ByteConversionError>,
>(
&self,
timestamp: &'a [u8],
set_id: u32,
hk_data_writer: &mut HkWriter,
buf: &'b mut [u8],
) -> Result<PusTmCreator<'a, 'b>, ByteConversionError> {
let sec_header =
PusTmSecondaryHeader::new(3, hk::Subservice::TmHkPacket as u8, 0, 0, timestamp);
buf[0..4].copy_from_slice(&self.component_id.unique_id.to_be_bytes());
buf[4..8].copy_from_slice(&set_id.to_be_bytes());
let (_, second_half) = buf.split_at_mut(8);
let hk_data_len = hk_data_writer(second_half)?;
Ok(PusTmCreator::new(
SpHeader::new_from_apid(self.component_id.apid),
sec_header,
&buf[0..8 + hk_data_len],
true,
))
}
}

1
satrs-example/src/interface/mod.rs
View File

@ -1,4 +1,3 @@
//! This module contains all component related to the direct interface of the example. //! This module contains all component related to the direct interface of the example.
pub mod sim_client_udp;
pub mod tcp; pub mod tcp;
pub mod udp; pub mod udp;

420
satrs-example/src/interface/sim_client_udp.rs
View File

@ -1,420 +0,0 @@
use std::{
collections::HashMap,
net::{Ipv4Addr, SocketAddr, SocketAddrV4, UdpSocket},
sync::mpsc,
time::Duration,
};
use satrs::pus::HandlingStatus;
use satrs_minisim::{
udp::SIM_CTRL_PORT, SerializableSimMsgPayload, SimComponent, SimMessageProvider, SimReply,
SimRequest,
};
use satrs_minisim::{SimCtrlReply, SimCtrlRequest};
struct SimReplyMap(pub HashMap<SimComponent, mpsc::Sender<SimReply>>);
pub fn create_sim_client(sim_request_rx: mpsc::Receiver<SimRequest>) -> Option<SimClientUdp> {
match SimClientUdp::new(
SocketAddr::V4(SocketAddrV4::new(Ipv4Addr::LOCALHOST, SIM_CTRL_PORT)),
sim_request_rx,
) {
Ok(sim_client) => {
log::info!("simulator client connection success");
return Some(sim_client);
}
Err(e) => {
log::warn!("sim client creation error: {}", e);
}
}
None
}
#[derive(thiserror::Error, Debug)]
pub enum SimClientCreationError {
#[error("io error: {0}")]
Io(#[from] std::io::Error),
#[error("timeout when trying to connect to sim UDP server")]
Timeout,
#[error("invalid ping reply when trying connection to UDP sim server")]
InvalidReplyJsonError(#[from] serde_json::Error),
#[error("invalid sim reply, not pong reply as expected: {0:?}")]
ReplyIsNotPong(SimReply),
}
pub struct SimClientUdp {
udp_client: UdpSocket,
simulator_addr: SocketAddr,
sim_request_rx: mpsc::Receiver<SimRequest>,
reply_map: SimReplyMap,
reply_buf: [u8; 4096],
}
impl SimClientUdp {
pub fn new(
simulator_addr: SocketAddr,
sim_request_rx: mpsc::Receiver<SimRequest>,
) -> Result<Self, SimClientCreationError> {
let mut reply_buf: [u8; 4096] = [0; 4096];
let mut udp_client = UdpSocket::bind("127.0.0.1:0")?;
udp_client.set_read_timeout(Some(Duration::from_millis(100)))?;
Self::attempt_connection(&mut udp_client, simulator_addr, &mut reply_buf)?;
udp_client.set_nonblocking(true)?;
Ok(Self {
udp_client,
simulator_addr,
sim_request_rx,
reply_map: SimReplyMap(HashMap::new()),
reply_buf,
})
}
pub fn attempt_connection(
udp_client: &mut UdpSocket,
simulator_addr: SocketAddr,
reply_buf: &mut [u8],
) -> Result<(), SimClientCreationError> {
let sim_req = SimRequest::new_with_epoch_time(SimCtrlRequest::Ping);
let sim_req_json = serde_json::to_string(&sim_req).expect("failed to serialize SimRequest");
udp_client.send_to(sim_req_json.as_bytes(), simulator_addr)?;
match udp_client.recv(reply_buf) {
Ok(reply_len) => {
let sim_reply: SimReply = serde_json::from_slice(&reply_buf[0..reply_len])?;
if sim_reply.component() != SimComponent::SimCtrl {
return Err(SimClientCreationError::ReplyIsNotPong(sim_reply));
}
let sim_ctrl_reply =
SimCtrlReply::from_sim_message(&sim_reply).expect("invalid SIM reply");
match sim_ctrl_reply {
SimCtrlReply::InvalidRequest(_) => {
panic!("received invalid request reply from UDP sim server")
}
SimCtrlReply::Pong => Ok(()),
}
}
Err(e) => {
if e.kind() == std::io::ErrorKind::TimedOut
|| e.kind() == std::io::ErrorKind::WouldBlock
{
Err(SimClientCreationError::Timeout)
} else {
Err(SimClientCreationError::Io(e))
}
}
}
}
pub fn operation(&mut self) -> HandlingStatus {
let mut no_sim_requests_handled = true;
let mut no_data_from_udp_server_received = true;
loop {
match self.sim_request_rx.try_recv() {
Ok(request) => {
let request_json =
serde_json::to_string(&request).expect("failed to serialize SimRequest");
if let Err(e) = self
.udp_client
.send_to(request_json.as_bytes(), self.simulator_addr)
{
log::error!("error sending data to UDP SIM server: {}", e);
break;
} else {
no_sim_requests_handled = false;
}
}
Err(e) => match e {
mpsc::TryRecvError::Empty => {
break;
}
mpsc::TryRecvError::Disconnected => {
log::warn!("SIM request sender disconnected");
break;
}
},
}
}
loop {
match self.udp_client.recv(&mut self.reply_buf) {
Ok(recvd_bytes) => {
no_data_from_udp_server_received = false;
let sim_reply_result: serde_json::Result<SimReply> =
serde_json::from_slice(&self.reply_buf[0..recvd_bytes]);
match sim_reply_result {
Ok(sim_reply) => {
if let Some(sender) = self.reply_map.0.get(&sim_reply.component()) {
sender.send(sim_reply).expect("failed to send SIM reply");
} else {
log::warn!(
"no recipient for SIM reply from component {:?}",
sim_reply.component()
);
}
}
Err(e) => {
log::warn!("failed to deserialize SIM reply: {}", e);
}
}
}
Err(e) => {
if e.kind() == std::io::ErrorKind::WouldBlock
|| e.kind() == std::io::ErrorKind::TimedOut
{
break;
}
log::error!("error receiving data from UDP SIM server: {}", e);
break;
}
}
}
if no_sim_requests_handled && no_data_from_udp_server_received {
return HandlingStatus::Empty;
}
HandlingStatus::HandledOne
}
pub fn add_reply_recipient(
&mut self,
component: SimComponent,
reply_sender: mpsc::Sender<SimReply>,
) {
self.reply_map.0.insert(component, reply_sender);
}
}
#[cfg(test)]
pub mod tests {
use std::{
collections::HashMap,
net::{SocketAddr, UdpSocket},
sync::{
atomic::{AtomicBool, Ordering},
mpsc, Arc,
},
time::Duration,
};
use satrs_minisim::{
eps::{PcduReply, PcduRequest},
SerializableSimMsgPayload, SimComponent, SimCtrlReply, SimCtrlRequest, SimMessageProvider,
SimReply, SimRequest,
};
use super::SimClientUdp;
struct UdpSimTestServer {
udp_server: UdpSocket,
request_tx: mpsc::Sender<SimRequest>,
reply_rx: mpsc::Receiver<SimReply>,
last_sender: Option<SocketAddr>,
stop_signal: Arc<AtomicBool>,
recv_buf: [u8; 1024],
}
impl UdpSimTestServer {
pub fn new(
request_tx: mpsc::Sender<SimRequest>,
reply_rx: mpsc::Receiver<SimReply>,
stop_signal: Arc<AtomicBool>,
) -> Self {
let udp_server = UdpSocket::bind("127.0.0.1:0").expect("creating UDP server failed");
udp_server
.set_nonblocking(true)
.expect("failed to set UDP server to non-blocking");
Self {
udp_server,
request_tx,
reply_rx,
last_sender: None,
stop_signal,
recv_buf: [0; 1024],
}
}
pub fn operation(&mut self) {
loop {
let mut no_sim_replies_handled = true;
let mut no_data_received = true;
if self.stop_signal.load(Ordering::Relaxed) {
break;
}
if let Some(last_sender) = self.last_sender {
loop {
match self.reply_rx.try_recv() {
Ok(sim_reply) => {
let sim_reply_json = serde_json::to_string(&sim_reply)
.expect("failed to serialize SimReply");
self.udp_server
.send_to(sim_reply_json.as_bytes(), last_sender)
.expect("failed to send reply to client from UDP server");
no_sim_replies_handled = false;
}
Err(e) => match e {
mpsc::TryRecvError::Empty => break,
mpsc::TryRecvError::Disconnected => {
panic!("reply sender disconnected")
}
},
}
}
}
loop {
match self.udp_server.recv_from(&mut self.recv_buf) {
Ok((read_bytes, from)) => {
let sim_request: SimRequest =
serde_json::from_slice(&self.recv_buf[0..read_bytes])
.expect("failed to deserialize SimRequest");
if sim_request.component() == SimComponent::SimCtrl {
// For a ping, we perform the reply handling here directly
let sim_ctrl_request =
SimCtrlRequest::from_sim_message(&sim_request)
.expect("failed to convert SimRequest to SimCtrlRequest");
match sim_ctrl_request {
SimCtrlRequest::Ping => {
no_data_received = false;
self.last_sender = Some(from);
let sim_reply = SimReply::new(&SimCtrlReply::Pong);
let sim_reply_json = serde_json::to_string(&sim_reply)
.expect("failed to serialize SimReply");
self.udp_server
.send_to(sim_reply_json.as_bytes(), from)
.expect(
"failed to send reply to client from UDP server",
);
}
};
}
// Forward each SIM request for testing purposes.
self.request_tx
.send(sim_request)
.expect("failed to send request");
}
Err(e) => {
if e.kind() != std::io::ErrorKind::WouldBlock
&& e.kind() != std::io::ErrorKind::TimedOut
{
panic!("UDP server error: {}", e);
}
break;
}
}
}
if no_sim_replies_handled && no_data_received {
std::thread::sleep(Duration::from_millis(5));
}
}
}
pub fn local_addr(&self) -> SocketAddr {
self.udp_server.local_addr().unwrap()
}
}
#[test]
fn basic_connection_test() {
let (server_sim_request_tx, server_sim_request_rx) = mpsc::channel();
let (_server_sim_reply_tx, server_sim_reply_rx) = mpsc::channel();
let stop_signal = Arc::new(AtomicBool::new(false));
let mut udp_server = UdpSimTestServer::new(
server_sim_request_tx,
server_sim_reply_rx,
stop_signal.clone(),
);
let server_addr = udp_server.local_addr();
let (_client_sim_req_tx, client_sim_req_rx) = mpsc::channel();
// Need to spawn the simulator UDP server before calling the client constructor.
let jh0 = std::thread::spawn(move || {
udp_server.operation();
});
// Creating the client also performs the connection test.
SimClientUdp::new(server_addr, client_sim_req_rx).unwrap();
let sim_request = server_sim_request_rx
.recv_timeout(Duration::from_millis(50))
.expect("no SIM request received");
let ping_request = SimCtrlRequest::from_sim_message(&sim_request)
.expect("failed to create SimCtrlRequest");
assert_eq!(ping_request, SimCtrlRequest::Ping);
// Stop the server.
stop_signal.store(true, Ordering::Relaxed);
jh0.join().unwrap();
}
#[test]
fn basic_request_reply_test() {
let (server_sim_request_tx, server_sim_request_rx) = mpsc::channel();
let (server_sim_reply_tx, sever_sim_reply_rx) = mpsc::channel();
let stop_signal = Arc::new(AtomicBool::new(false));
let mut udp_server = UdpSimTestServer::new(
server_sim_request_tx,
sever_sim_reply_rx,
stop_signal.clone(),
);
let server_addr = udp_server.local_addr();
let (client_sim_req_tx, client_sim_req_rx) = mpsc::channel();
let (client_pcdu_reply_tx, client_pcdu_reply_rx) = mpsc::channel();
// Need to spawn the simulator UDP server before calling the client constructor.
let jh0 = std::thread::spawn(move || {
udp_server.operation();
});
// Creating the client also performs the connection test.
let mut client = SimClientUdp::new(server_addr, client_sim_req_rx).unwrap();
client.add_reply_recipient(SimComponent::Pcdu, client_pcdu_reply_tx);
let sim_request = server_sim_request_rx
.recv_timeout(Duration::from_millis(50))
.expect("no SIM request received");
let ping_request = SimCtrlRequest::from_sim_message(&sim_request)
.expect("failed to create SimCtrlRequest");
assert_eq!(ping_request, SimCtrlRequest::Ping);
let pcdu_req = PcduRequest::RequestSwitchInfo;
client_sim_req_tx
.send(SimRequest::new_with_epoch_time(pcdu_req))
.expect("send failed");
client.operation();
// Check that the request arrives properly at the server.
let sim_request = server_sim_request_rx
.recv_timeout(Duration::from_millis(50))
.expect("no SIM request received");
let req_recvd_on_server =
PcduRequest::from_sim_message(&sim_request).expect("failed to create SimCtrlRequest");
matches!(req_recvd_on_server, PcduRequest::RequestSwitchInfo);
// We inject the reply ourselves.
let pcdu_reply = PcduReply::SwitchInfo(HashMap::new());
server_sim_reply_tx
.send(SimReply::new(&pcdu_reply))
.expect("sending PCDU reply failed");
// Now we verify that the reply is sent by the UDP server back to the client, and then
// forwarded by the clients internal map.
let mut pcdu_reply_received = false;
for _ in 0..3 {
client.operation();
match client_pcdu_reply_rx.try_recv() {
Ok(sim_reply) => {
assert_eq!(sim_reply.component(), SimComponent::Pcdu);
let pcdu_reply_from_client = PcduReply::from_sim_message(&sim_reply)
.expect("failed to create PcduReply");
assert_eq!(pcdu_reply_from_client, pcdu_reply);
pcdu_reply_received = true;
break;
}
Err(e) => match e {
mpsc::TryRecvError::Empty => std::thread::sleep(Duration::from_millis(10)),
mpsc::TryRecvError::Disconnected => panic!("reply sender disconnected"),
},
}
}
if !pcdu_reply_received {
panic!("no reply received");
}
// Stop the server.
stop_signal.store(true, Ordering::Relaxed);
jh0.join().unwrap();
}
}

6
satrs-example/src/lib.rs
View File

@ -9,12 +9,12 @@ pub enum DeviceMode {
Normal = 2, Normal = 2,
} }
pub struct TimestampHelper { pub struct TimeStampHelper {
stamper: CdsTime, stamper: CdsTime,
time_stamp: [u8; 7], time_stamp: [u8; 7],
} }
impl TimestampHelper { impl TimeStampHelper {
pub fn stamp(&self) -> &[u8] { pub fn stamp(&self) -> &[u8] {
&self.time_stamp &self.time_stamp
} }
@ -29,7 +29,7 @@ impl TimestampHelper {
} }
} }
impl Default for TimestampHelper { impl Default for TimeStampHelper {
fn default() -> Self { fn default() -> Self {
Self { Self {
stamper: CdsTime::now_with_u16_days().expect("creating time stamper failed"), stamper: CdsTime::now_with_u16_days().expect("creating time stamper failed"),

315
satrs-example/src/main.rs
View File

@ -1,5 +1,4 @@
mod acs; mod acs;
mod eps;
mod events; mod events;
mod hk; mod hk;
mod interface; mod interface;
@ -8,10 +7,6 @@ mod pus;
mod requests; mod requests;
mod tmtc; mod tmtc;
use crate::eps::pcdu::{
PcduHandler, SerialInterfaceDummy, SerialInterfaceToSim, SerialSimInterfaceWrapper,
};
use crate::eps::PowerSwitchHelper;
use crate::events::EventHandler; use crate::events::EventHandler;
use crate::interface::udp::DynamicUdpTmHandler; use crate::interface::udp::DynamicUdpTmHandler;
use crate::pus::stack::PusStack; use crate::pus::stack::PusStack;
@ -21,21 +16,15 @@ use log::info;
use pus::test::create_test_service_dynamic; use pus::test::create_test_service_dynamic;
use satrs::hal::std::tcp_server::ServerConfig; use satrs::hal::std::tcp_server::ServerConfig;
use satrs::hal::std::udp_server::UdpTcServer; use satrs::hal::std::udp_server::UdpTcServer;
use satrs::pus::HandlingStatus; use satrs::request::GenericMessage;
use satrs::request::{GenericMessage, MessageMetadata};
use satrs::tmtc::{PacketSenderWithSharedPool, SharedPacketPool}; use satrs::tmtc::{PacketSenderWithSharedPool, SharedPacketPool};
use satrs_example::config::pool::{create_sched_tc_pool, create_static_pools}; use satrs_example::config::pool::{create_sched_tc_pool, create_static_pools};
use satrs_example::config::tasks::{ use satrs_example::config::tasks::{
FREQ_MS_AOCS, FREQ_MS_PUS_STACK, FREQ_MS_UDP_TMTC, SIM_CLIENT_IDLE_DELAY_MS, FREQ_MS_AOCS, FREQ_MS_EVENT_HANDLING, FREQ_MS_PUS_STACK, FREQ_MS_UDP_TMTC,
}; };
use satrs_example::config::{OBSW_SERVER_ADDR, PACKET_ID_VALIDATOR, SERVER_PORT}; use satrs_example::config::{OBSW_SERVER_ADDR, PACKET_ID_VALIDATOR, SERVER_PORT};
use satrs_example::DeviceMode;
use crate::acs::mgm::{ use crate::acs::mgm::{MgmHandlerLis3Mdl, MpscModeLeafInterface, SpiDummyInterface};
MgmHandlerLis3Mdl, MpscModeLeafInterface, SpiDummyInterface, SpiSimInterface,
SpiSimInterfaceWrapper,
};
use crate::interface::sim_client_udp::create_sim_client;
use crate::interface::tcp::{SyncTcpTmSource, TcpTask}; use crate::interface::tcp::{SyncTcpTmSource, TcpTask};
use crate::interface::udp::{StaticUdpTmHandler, UdpTmtcServer}; use crate::interface::udp::{StaticUdpTmHandler, UdpTmtcServer};
use crate::logger::setup_logger; use crate::logger::setup_logger;
@ -47,14 +36,12 @@ use crate::pus::scheduler::{create_scheduler_service_dynamic, create_scheduler_s
use crate::pus::test::create_test_service_static; use crate::pus::test::create_test_service_static;
use crate::pus::{PusTcDistributor, PusTcMpscRouter}; use crate::pus::{PusTcDistributor, PusTcMpscRouter};
use crate::requests::{CompositeRequest, GenericRequestRouter}; use crate::requests::{CompositeRequest, GenericRequestRouter};
use satrs::mode::{Mode, ModeAndSubmode, ModeRequest}; use satrs::mode::ModeRequest;
use satrs::pus::event_man::EventRequestWithToken; use satrs::pus::event_man::EventRequestWithToken;
use satrs::spacepackets::{time::cds::CdsTime, time::TimeWriter}; use satrs::spacepackets::{time::cds::CdsTime, time::TimeWriter};
use satrs_example::config::components::{ use satrs_example::config::components::{MGM_HANDLER_0, TCP_SERVER, UDP_SERVER};
MGM_HANDLER_0, NO_SENDER, PCDU_HANDLER, TCP_SERVER, UDP_SERVER,
};
use std::net::{IpAddr, SocketAddr}; use std::net::{IpAddr, SocketAddr};
use std::sync::{mpsc, Mutex}; use std::sync::mpsc;
use std::sync::{Arc, RwLock}; use std::sync::{Arc, RwLock};
use std::thread; use std::thread;
use std::time::Duration; use std::time::Duration;
@ -73,20 +60,9 @@ fn static_tmtc_pool_main() {
let tm_sink_tx_sender = let tm_sink_tx_sender =
PacketSenderWithSharedPool::new(tm_sink_tx.clone(), shared_tm_pool_wrapper.clone()); PacketSenderWithSharedPool::new(tm_sink_tx.clone(), shared_tm_pool_wrapper.clone());
let (sim_request_tx, sim_request_rx) = mpsc::channel();
let (mgm_sim_reply_tx, mgm_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) = let (mgm_handler_composite_tx, mgm_handler_composite_rx) =
mpsc::sync_channel::<GenericMessage<CompositeRequest>>(10); mpsc::channel::<GenericMessage<CompositeRequest>>();
let (pcdu_handler_composite_tx, pcdu_handler_composite_rx) = let (mgm_handler_mode_tx, mgm_handler_mode_rx) = mpsc::channel::<GenericMessage<ModeRequest>>();
mpsc::sync_channel::<GenericMessage<CompositeRequest>>(30);
let (mgm_handler_mode_tx, mgm_handler_mode_rx) =
mpsc::sync_channel::<GenericMessage<ModeRequest>>(5);
let (pcdu_handler_mode_tx, pcdu_handler_mode_rx) =
mpsc::sync_channel::<GenericMessage<ModeRequest>>(5);
// Some request are targetable. This map is used to retrieve sender handles based on a target ID. // Some request are targetable. This map is used to retrieve sender handles based on a target ID.
let mut request_map = GenericRequestRouter::default(); let mut request_map = GenericRequestRouter::default();
@ -96,12 +72,6 @@ fn static_tmtc_pool_main() {
request_map request_map
.mode_router_map .mode_router_map
.insert(MGM_HANDLER_0.id(), mgm_handler_mode_tx); .insert(MGM_HANDLER_0.id(), mgm_handler_mode_tx);
request_map
.composite_router_map
.insert(PCDU_HANDLER.id(), pcdu_handler_composite_tx);
request_map
.mode_router_map
.insert(PCDU_HANDLER.id(), pcdu_handler_mode_tx.clone());
// This helper structure is used by all telecommand providers which need to send telecommands // This helper structure is used by all telecommand providers which need to send telecommands
// to the TC source. // to the TC source.
@ -225,76 +195,26 @@ fn static_tmtc_pool_main() {
); );
let (mgm_handler_mode_reply_to_parent_tx, _mgm_handler_mode_reply_to_parent_rx) = let (mgm_handler_mode_reply_to_parent_tx, _mgm_handler_mode_reply_to_parent_rx) =
mpsc::sync_channel(5); mpsc::channel();
let shared_switch_set = Arc::new(Mutex::default());
let (switch_request_tx, switch_request_rx) = mpsc::sync_channel(20);
let switch_helper = PowerSwitchHelper::new(switch_request_tx, shared_switch_set.clone());
let dummy_spi_interface = SpiDummyInterface::default();
let shared_mgm_set = Arc::default(); let shared_mgm_set = Arc::default();
let mgm_mode_leaf_interface = MpscModeLeafInterface { let mode_leaf_interface = MpscModeLeafInterface {
request_rx: mgm_handler_mode_rx, request_rx: mgm_handler_mode_rx,
reply_to_pus_tx: pus_mode_reply_tx.clone(), reply_tx_to_pus: pus_mode_reply_tx,
reply_to_parent_tx: mgm_handler_mode_reply_to_parent_tx, reply_tx_to_parent: mgm_handler_mode_reply_to_parent_tx,
};
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 mut mgm_handler = MgmHandlerLis3Mdl::new(
MGM_HANDLER_0, MGM_HANDLER_0,
"MGM_0", "MGM_0",
mgm_mode_leaf_interface, mode_leaf_interface,
mgm_handler_composite_rx, mgm_handler_composite_rx,
pus_hk_reply_tx.clone(), pus_hk_reply_tx,
switch_helper.clone(), tm_sink_tx,
tm_sink_tx.clone(), dummy_spi_interface,
mgm_spi_interface,
shared_mgm_set, shared_mgm_set,
); );
let (pcdu_handler_mode_reply_to_parent_tx, _pcdu_handler_mode_reply_to_parent_rx) =
mpsc::sync_channel(10);
let pcdu_mode_leaf_interface = MpscModeLeafInterface {
request_rx: pcdu_handler_mode_rx,
reply_to_pus_tx: pus_mode_reply_tx,
reply_to_parent_tx: pcdu_handler_mode_reply_to_parent_tx,
};
let pcdu_serial_interface = if let Some(sim_client) = opt_sim_client.as_mut() {
sim_client.add_reply_recipient(satrs_minisim::SimComponent::Pcdu, pcdu_sim_reply_tx);
SerialSimInterfaceWrapper::Sim(SerialInterfaceToSim::new(
sim_request_tx.clone(),
pcdu_sim_reply_rx,
))
} else {
SerialSimInterfaceWrapper::Dummy(SerialInterfaceDummy::default())
};
let mut pcdu_handler = PcduHandler::new(
PCDU_HANDLER,
"PCDU",
pcdu_mode_leaf_interface,
pcdu_handler_composite_rx,
pus_hk_reply_tx,
switch_request_rx,
tm_sink_tx,
pcdu_serial_interface,
shared_switch_set,
);
// The PCDU is a critical component which should be in normal mode immediately.
pcdu_handler_mode_tx
.send(GenericMessage::new(
MessageMetadata::new(0, NO_SENDER),
ModeRequest::SetMode(ModeAndSubmode::new(DeviceMode::Normal as Mode, 0)),
))
.expect("sending initial mode request failed");
info!("Starting TMTC and UDP task"); info!("Starting TMTC and UDP task");
let jh_udp_tmtc = thread::Builder::new() let jh_udp_tmtc = thread::Builder::new()
.name("SATRS tmtc-udp".to_string()) .name("SATRS tmtc-udp".to_string())
@ -327,20 +247,14 @@ fn static_tmtc_pool_main() {
}) })
.unwrap(); .unwrap();
let mut opt_jh_sim_client = None; info!("Starting event handling task");
if let Some(mut sim_client) = opt_sim_client { let jh_event_handling = thread::Builder::new()
info!("Starting UDP sim client task"); .name("sat-rs events".to_string())
opt_jh_sim_client = Some( .spawn(move || loop {
thread::Builder::new() event_handler.periodic_operation();
.name("sat-rs sim adapter".to_string()) thread::sleep(Duration::from_millis(FREQ_MS_EVENT_HANDLING));
.spawn(move || loop { })
if sim_client.operation() == HandlingStatus::Empty { .unwrap();
std::thread::sleep(Duration::from_millis(SIM_CLIENT_IDLE_DELAY_MS));
}
})
.unwrap(),
);
}
info!("Starting AOCS thread"); info!("Starting AOCS thread");
let jh_aocs = thread::Builder::new() let jh_aocs = thread::Builder::new()
@ -351,26 +265,10 @@ fn static_tmtc_pool_main() {
}) })
.unwrap(); .unwrap();
info!("Starting EPS thread");
let jh_eps = thread::Builder::new()
.name("sat-rs eps".to_string())
.spawn(move || loop {
// TODO: We should introduce something like a fixed timeslot helper to allow a more
// declarative API. It would also be very useful for the AOCS task.
pcdu_handler.periodic_operation(eps::pcdu::OpCode::RegularOp);
thread::sleep(Duration::from_millis(50));
pcdu_handler.periodic_operation(eps::pcdu::OpCode::PollAndRecvReplies);
thread::sleep(Duration::from_millis(50));
pcdu_handler.periodic_operation(eps::pcdu::OpCode::PollAndRecvReplies);
thread::sleep(Duration::from_millis(300));
})
.unwrap();
info!("Starting PUS handler thread"); info!("Starting PUS handler thread");
let jh_pus_handler = thread::Builder::new() let jh_pus_handler = thread::Builder::new()
.name("sat-rs pus".to_string()) .name("sat-rs pus".to_string())
.spawn(move || loop { .spawn(move || loop {
event_handler.periodic_operation();
pus_stack.periodic_operation(); pus_stack.periodic_operation();
thread::sleep(Duration::from_millis(FREQ_MS_PUS_STACK)); thread::sleep(Duration::from_millis(FREQ_MS_PUS_STACK));
}) })
@ -385,13 +283,10 @@ fn static_tmtc_pool_main() {
jh_tm_funnel jh_tm_funnel
.join() .join()
.expect("Joining TM Funnel thread failed"); .expect("Joining TM Funnel thread failed");
if let Some(jh_sim_client) = opt_jh_sim_client { jh_event_handling
jh_sim_client .join()
.join() .expect("Joining Event Manager thread failed");
.expect("Joining SIM client thread failed");
}
jh_aocs.join().expect("Joining AOCS thread failed"); jh_aocs.join().expect("Joining AOCS thread failed");
jh_eps.join().expect("Joining EPS thread failed");
jh_pus_handler jh_pus_handler
.join() .join()
.expect("Joining PUS handler thread failed"); .expect("Joining PUS handler thread failed");
@ -400,38 +295,22 @@ fn static_tmtc_pool_main() {
#[allow(dead_code)] #[allow(dead_code)]
fn dyn_tmtc_pool_main() { fn dyn_tmtc_pool_main() {
let (tc_source_tx, tc_source_rx) = mpsc::channel(); let (tc_source_tx, tc_source_rx) = mpsc::channel();
let (tm_sink_tx, tm_sink_rx) = mpsc::channel(); let (tm_funnel_tx, tm_funnel_rx) = mpsc::channel();
let (tm_server_tx, tm_server_rx) = mpsc::channel(); let (tm_server_tx, tm_server_rx) = mpsc::channel();
let (sim_request_tx, sim_request_rx) = mpsc::channel();
let (mgm_sim_reply_tx, mgm_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);
// Some request are targetable. This map is used to retrieve sender handles based on a target ID. // Some request are targetable. This map is used to retrieve sender handles based on a target ID.
let (mgm_handler_composite_tx, mgm_handler_composite_rx) = let (mgm_handler_composite_tx, mgm_handler_composite_rx) =
mpsc::sync_channel::<GenericMessage<CompositeRequest>>(5); mpsc::channel::<GenericMessage<CompositeRequest>>();
let (pcdu_handler_composite_tx, pcdu_handler_composite_rx) = let (mgm_handler_mode_tx, mgm_handler_mode_rx) = mpsc::channel::<GenericMessage<ModeRequest>>();
mpsc::sync_channel::<GenericMessage<CompositeRequest>>(10);
let (mgm_handler_mode_tx, mgm_handler_mode_rx) =
mpsc::sync_channel::<GenericMessage<ModeRequest>>(5);
let (pcdu_handler_mode_tx, pcdu_handler_mode_rx) =
mpsc::sync_channel::<GenericMessage<ModeRequest>>(10);
// Some request are targetable. This map is used to retrieve sender handles based on a target ID. // Some request are targetable. This map is used to retrieve sender handles based on a target ID.
let mut request_map = GenericRequestRouter::default(); let mut request_map = GenericRequestRouter::default();
request_map request_map
.composite_router_map .composite_router_map
.insert(MGM_HANDLER_0.id(), mgm_handler_composite_tx); .insert(MGM_HANDLER_0.raw(), mgm_handler_composite_tx);
request_map request_map
.mode_router_map .mode_router_map
.insert(MGM_HANDLER_0.id(), mgm_handler_mode_tx); .insert(MGM_HANDLER_0.raw(), mgm_handler_mode_tx);
request_map
.composite_router_map
.insert(PCDU_HANDLER.id(), pcdu_handler_composite_tx);
request_map
.mode_router_map
.insert(PCDU_HANDLER.id(), pcdu_handler_mode_tx.clone());
// Create event handling components // Create event handling components
// These sender handles are used to send event requests, for example to enable or disable // These sender handles are used to send event requests, for example to enable or disable
@ -440,7 +319,7 @@ fn dyn_tmtc_pool_main() {
let (event_request_tx, event_request_rx) = mpsc::channel::<EventRequestWithToken>(); let (event_request_tx, event_request_rx) = mpsc::channel::<EventRequestWithToken>();
// The event task is the core handler to perform the event routing and TM handling as specified // The event task is the core handler to perform the event routing and TM handling as specified
// in the sat-rs documentation. // in the sat-rs documentation.
let mut event_handler = EventHandler::new(tm_sink_tx.clone(), event_rx, event_request_rx); let mut event_handler = EventHandler::new(tm_funnel_tx.clone(), event_rx, event_request_rx);
let (pus_test_tx, pus_test_rx) = mpsc::channel(); let (pus_test_tx, pus_test_rx) = mpsc::channel();
let (pus_event_tx, pus_event_rx) = mpsc::channel(); let (pus_event_tx, pus_event_rx) = mpsc::channel();
@ -463,30 +342,30 @@ fn dyn_tmtc_pool_main() {
}; };
let pus_test_service = let pus_test_service =
create_test_service_dynamic(tm_sink_tx.clone(), event_tx.clone(), pus_test_rx); create_test_service_dynamic(tm_funnel_tx.clone(), event_tx.clone(), pus_test_rx);
let pus_scheduler_service = create_scheduler_service_dynamic( let pus_scheduler_service = create_scheduler_service_dynamic(
tm_sink_tx.clone(), tm_funnel_tx.clone(),
tc_source_tx.clone(), tc_source_tx.clone(),
pus_sched_rx, pus_sched_rx,
create_sched_tc_pool(), create_sched_tc_pool(),
); );
let pus_event_service = let pus_event_service =
create_event_service_dynamic(tm_sink_tx.clone(), pus_event_rx, event_request_tx); create_event_service_dynamic(tm_funnel_tx.clone(), pus_event_rx, event_request_tx);
let pus_action_service = create_action_service_dynamic( let pus_action_service = create_action_service_dynamic(
tm_sink_tx.clone(), tm_funnel_tx.clone(),
pus_action_rx, pus_action_rx,
request_map.clone(), request_map.clone(),
pus_action_reply_rx, pus_action_reply_rx,
); );
let pus_hk_service = create_hk_service_dynamic( let pus_hk_service = create_hk_service_dynamic(
tm_sink_tx.clone(), tm_funnel_tx.clone(),
pus_hk_rx, pus_hk_rx,
request_map.clone(), request_map.clone(),
pus_hk_reply_rx, pus_hk_reply_rx,
); );
let pus_mode_service = create_mode_service_dynamic( let pus_mode_service = create_mode_service_dynamic(
tm_sink_tx.clone(), tm_funnel_tx.clone(),
pus_mode_rx, pus_mode_rx,
request_map, request_map,
pus_mode_reply_rx, pus_mode_reply_rx,
@ -502,7 +381,7 @@ fn dyn_tmtc_pool_main() {
let mut tmtc_task = TcSourceTaskDynamic::new( let mut tmtc_task = TcSourceTaskDynamic::new(
tc_source_rx, tc_source_rx,
PusTcDistributor::new(tm_sink_tx.clone(), pus_router), PusTcDistributor::new(tm_funnel_tx.clone(), pus_router),
); );
let sock_addr = SocketAddr::new(IpAddr::V4(OBSW_SERVER_ADDR), SERVER_PORT); let sock_addr = SocketAddr::new(IpAddr::V4(OBSW_SERVER_ADDR), SERVER_PORT);
@ -531,77 +410,28 @@ fn dyn_tmtc_pool_main() {
) )
.expect("tcp server creation failed"); .expect("tcp server creation failed");
let mut tm_funnel = TmSinkDynamic::new(sync_tm_tcp_source, tm_sink_rx, tm_server_tx); let mut tm_funnel = TmSinkDynamic::new(sync_tm_tcp_source, tm_funnel_rx, tm_server_tx);
let shared_switch_set = Arc::new(Mutex::default());
let (switch_request_tx, switch_request_rx) = mpsc::sync_channel(20);
let switch_helper = PowerSwitchHelper::new(switch_request_tx, shared_switch_set.clone());
let (mgm_handler_mode_reply_to_parent_tx, _mgm_handler_mode_reply_to_parent_rx) = let (mgm_handler_mode_reply_to_parent_tx, _mgm_handler_mode_reply_to_parent_rx) =
mpsc::sync_channel(5); mpsc::channel();
let dummy_spi_interface = SpiDummyInterface::default();
let shared_mgm_set = Arc::default(); let shared_mgm_set = Arc::default();
let mode_leaf_interface = MpscModeLeafInterface { let mode_leaf_interface = MpscModeLeafInterface {
request_rx: mgm_handler_mode_rx, request_rx: mgm_handler_mode_rx,
reply_to_pus_tx: pus_mode_reply_tx.clone(), reply_tx_to_pus: pus_mode_reply_tx,
reply_to_parent_tx: mgm_handler_mode_reply_to_parent_tx, reply_tx_to_parent: mgm_handler_mode_reply_to_parent_tx,
};
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 mut mgm_handler = MgmHandlerLis3Mdl::new(
MGM_HANDLER_0, MGM_HANDLER_0,
"MGM_0", "MGM_0",
mode_leaf_interface, mode_leaf_interface,
mgm_handler_composite_rx, mgm_handler_composite_rx,
pus_hk_reply_tx.clone(), pus_hk_reply_tx,
switch_helper.clone(), tm_funnel_tx,
tm_sink_tx.clone(), dummy_spi_interface,
mgm_spi_interface,
shared_mgm_set, shared_mgm_set,
); );
let (pcdu_handler_mode_reply_to_parent_tx, _pcdu_handler_mode_reply_to_parent_rx) =
mpsc::sync_channel(10);
let pcdu_mode_leaf_interface = MpscModeLeafInterface {
request_rx: pcdu_handler_mode_rx,
reply_to_pus_tx: pus_mode_reply_tx,
reply_to_parent_tx: pcdu_handler_mode_reply_to_parent_tx,
};
let pcdu_serial_interface = if let Some(sim_client) = opt_sim_client.as_mut() {
sim_client.add_reply_recipient(satrs_minisim::SimComponent::Pcdu, pcdu_sim_reply_tx);
SerialSimInterfaceWrapper::Sim(SerialInterfaceToSim::new(
sim_request_tx.clone(),
pcdu_sim_reply_rx,
))
} else {
SerialSimInterfaceWrapper::Dummy(SerialInterfaceDummy::default())
};
let mut pcdu_handler = PcduHandler::new(
PCDU_HANDLER,
"PCDU",
pcdu_mode_leaf_interface,
pcdu_handler_composite_rx,
pus_hk_reply_tx,
switch_request_rx,
tm_sink_tx,
pcdu_serial_interface,
shared_switch_set,
);
// The PCDU is a critical component which should be in normal mode immediately.
pcdu_handler_mode_tx
.send(GenericMessage::new(
MessageMetadata::new(0, NO_SENDER),
ModeRequest::SetMode(ModeAndSubmode::new(DeviceMode::Normal as Mode, 0)),
))
.expect("sending initial mode request failed");
info!("Starting TMTC and UDP task"); info!("Starting TMTC and UDP task");
let jh_udp_tmtc = thread::Builder::new() let jh_udp_tmtc = thread::Builder::new()
.name("sat-rs tmtc-udp".to_string()) .name("sat-rs tmtc-udp".to_string())
@ -634,20 +464,14 @@ fn dyn_tmtc_pool_main() {
}) })
.unwrap(); .unwrap();
let mut opt_jh_sim_client = None; info!("Starting event handling task");
if let Some(mut sim_client) = opt_sim_client { let jh_event_handling = thread::Builder::new()
info!("Starting UDP sim client task"); .name("sat-rs events".to_string())
opt_jh_sim_client = Some( .spawn(move || loop {
thread::Builder::new() event_handler.periodic_operation();
.name("sat-rs sim adapter".to_string()) thread::sleep(Duration::from_millis(FREQ_MS_EVENT_HANDLING));
.spawn(move || loop { })
if sim_client.operation() == HandlingStatus::Empty { .unwrap();
std::thread::sleep(Duration::from_millis(SIM_CLIENT_IDLE_DELAY_MS));
}
})
.unwrap(),
);
}
info!("Starting AOCS thread"); info!("Starting AOCS thread");
let jh_aocs = thread::Builder::new() let jh_aocs = thread::Builder::new()
@ -658,27 +482,11 @@ fn dyn_tmtc_pool_main() {
}) })
.unwrap(); .unwrap();
info!("Starting EPS thread");
let jh_eps = thread::Builder::new()
.name("sat-rs eps".to_string())
.spawn(move || loop {
// TODO: We should introduce something like a fixed timeslot helper to allow a more
// declarative API. It would also be very useful for the AOCS task.
pcdu_handler.periodic_operation(eps::pcdu::OpCode::RegularOp);
thread::sleep(Duration::from_millis(50));
pcdu_handler.periodic_operation(eps::pcdu::OpCode::PollAndRecvReplies);
thread::sleep(Duration::from_millis(50));
pcdu_handler.periodic_operation(eps::pcdu::OpCode::PollAndRecvReplies);
thread::sleep(Duration::from_millis(300));
})
.unwrap();
info!("Starting PUS handler thread"); info!("Starting PUS handler thread");
let jh_pus_handler = thread::Builder::new() let jh_pus_handler = thread::Builder::new()
.name("sat-rs pus".to_string()) .name("sat-rs pus".to_string())
.spawn(move || loop { .spawn(move || loop {
pus_stack.periodic_operation(); pus_stack.periodic_operation();
event_handler.periodic_operation();
thread::sleep(Duration::from_millis(FREQ_MS_PUS_STACK)); thread::sleep(Duration::from_millis(FREQ_MS_PUS_STACK));
}) })
.unwrap(); .unwrap();
@ -692,13 +500,10 @@ fn dyn_tmtc_pool_main() {
jh_tm_funnel jh_tm_funnel
.join() .join()
.expect("Joining TM Funnel thread failed"); .expect("Joining TM Funnel thread failed");
if let Some(jh_sim_client) = opt_jh_sim_client { jh_event_handling
jh_sim_client .join()
.join() .expect("Joining Event Manager thread failed");
.expect("Joining SIM client thread failed");
}
jh_aocs.join().expect("Joining AOCS thread failed"); jh_aocs.join().expect("Joining AOCS thread failed");
jh_eps.join().expect("Joining EPS thread failed");
jh_pus_handler jh_pus_handler
.join() .join()
.expect("Joining PUS handler thread failed"); .expect("Joining PUS handler thread failed");

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

@ -341,7 +341,7 @@ mod tests {
let (tm_funnel_tx, tm_funnel_rx) = mpsc::channel(); let (tm_funnel_tx, tm_funnel_rx) = mpsc::channel();
let (pus_action_tx, pus_action_rx) = mpsc::channel(); let (pus_action_tx, pus_action_rx) = mpsc::channel();
let (action_reply_tx, action_reply_rx) = mpsc::channel(); let (action_reply_tx, action_reply_rx) = mpsc::channel();
let (action_req_tx, action_req_rx) = mpsc::sync_channel(10); let (action_req_tx, action_req_rx) = mpsc::channel();
let verif_reporter = TestVerificationReporter::new(owner_id); let verif_reporter = TestVerificationReporter::new(owner_id);
let mut generic_req_router = GenericRequestRouter::default(); let mut generic_req_router = GenericRequestRouter::default();
generic_req_router generic_req_router

12
satrs-example/src/pus/hk.rs
View File

@ -12,7 +12,6 @@ use satrs::pus::{
PusPacketHandlingError, PusReplyHandler, PusServiceHelper, PusTcToRequestConverter, PusPacketHandlingError, PusReplyHandler, PusServiceHelper, PusTcToRequestConverter,
}; };
use satrs::request::{GenericMessage, UniqueApidTargetId}; use satrs::request::{GenericMessage, UniqueApidTargetId};
use satrs::res_code::ResultU16;
use satrs::spacepackets::ecss::tc::PusTcReader; use satrs::spacepackets::ecss::tc::PusTcReader;
use satrs::spacepackets::ecss::{hk, PusPacket, PusServiceId}; use satrs::spacepackets::ecss::{hk, PusPacket, PusServiceId};
use satrs::tmtc::{PacketAsVec, PacketSenderWithSharedPool}; use satrs::tmtc::{PacketAsVec, PacketSenderWithSharedPool};
@ -33,10 +32,8 @@ pub struct HkReply {
} }
#[derive(Clone, PartialEq, Debug)] #[derive(Clone, PartialEq, Debug)]
#[allow(dead_code)]
pub enum HkReplyVariant { pub enum HkReplyVariant {
Ack, Ack,
Failed(ResultU16),
} }
#[derive(Default)] #[derive(Default)]
@ -72,15 +69,6 @@ impl PusReplyHandler<ActivePusRequestStd, HkReply> for HkReplyHandler {
.completion_success(tm_sender, started_token, time_stamp) .completion_success(tm_sender, started_token, time_stamp)
.expect("sending completion success verification failed"); .expect("sending completion success verification failed");
} }
HkReplyVariant::Failed(failure_code) => {
verification_handler
.completion_failure(
tm_sender,
started_token,
FailParams::new(time_stamp, &failure_code, &[]),
)
.expect("sending completion success verification failed");
}
}; };
Ok(true) Ok(true)
} }

8
satrs-example/src/pus/mod.rs
View File

@ -19,7 +19,7 @@ use satrs::tmtc::{PacketAsVec, PacketInPool};
use satrs::ComponentId; use satrs::ComponentId;
use satrs_example::config::components::PUS_ROUTING_SERVICE; use satrs_example::config::components::PUS_ROUTING_SERVICE;
use satrs_example::config::{tmtc_err, CustomPusServiceId}; use satrs_example::config::{tmtc_err, CustomPusServiceId};
use satrs_example::TimestampHelper; use satrs_example::TimeStampHelper;
use std::fmt::Debug; use std::fmt::Debug;
use std::sync::mpsc::{self, Sender}; use std::sync::mpsc::{self, Sender};
@ -44,18 +44,16 @@ pub struct PusTcMpscRouter {
pub event_tc_sender: Sender<EcssTcAndToken>, pub event_tc_sender: Sender<EcssTcAndToken>,
pub sched_tc_sender: Sender<EcssTcAndToken>, pub sched_tc_sender: Sender<EcssTcAndToken>,
pub hk_tc_sender: Sender<EcssTcAndToken>, pub hk_tc_sender: Sender<EcssTcAndToken>,
#[allow(dead_code)]
pub action_tc_sender: Sender<EcssTcAndToken>, pub action_tc_sender: Sender<EcssTcAndToken>,
pub mode_tc_sender: Sender<EcssTcAndToken>, pub mode_tc_sender: Sender<EcssTcAndToken>,
} }
pub struct PusTcDistributor<TmSender: EcssTmSender> { pub struct PusTcDistributor<TmSender: EcssTmSender> {
#[allow(dead_code)]
pub id: ComponentId, pub id: ComponentId,
pub tm_sender: TmSender, pub tm_sender: TmSender,
pub verif_reporter: VerificationReporter, pub verif_reporter: VerificationReporter,
pub pus_router: PusTcMpscRouter, pub pus_router: PusTcMpscRouter,
stamp_helper: TimestampHelper, stamp_helper: TimeStampHelper,
} }
impl<TmSender: EcssTmSender> PusTcDistributor<TmSender> { impl<TmSender: EcssTmSender> PusTcDistributor<TmSender> {
@ -68,7 +66,7 @@ impl<TmSender: EcssTmSender> PusTcDistributor<TmSender> {
PUS_ROUTING_SERVICE.apid, PUS_ROUTING_SERVICE.apid,
), ),
pus_router, pus_router,
stamp_helper: TimestampHelper::default(), stamp_helper: TimeStampHelper::default(),
} }
} }

6
satrs-example/src/requests.rs
View File

@ -26,12 +26,10 @@ pub enum CompositeRequest {
#[derive(Clone)] #[derive(Clone)]
pub struct GenericRequestRouter { pub struct GenericRequestRouter {
#[allow(dead_code)]
pub id: ComponentId, pub id: ComponentId,
// All messages which do not have a dedicated queue. // All messages which do not have a dedicated queue.
pub composite_router_map: pub composite_router_map: HashMap<ComponentId, mpsc::Sender<GenericMessage<CompositeRequest>>>,
HashMap<ComponentId, mpsc::SyncSender<GenericMessage<CompositeRequest>>>, pub mode_router_map: HashMap<ComponentId, mpsc::Sender<GenericMessage<ModeRequest>>>,
pub mode_router_map: HashMap<ComponentId, mpsc::SyncSender<GenericMessage<ModeRequest>>>,
} }
impl Default for GenericRequestRouter { impl Default for GenericRequestRouter {

7
satrs-example/src/tmtc/tm_sink.rs
View File

@ -4,19 +4,16 @@ use std::{
}; };
use log::info; use log::info;
use satrs::tmtc::{PacketAsVec, PacketInPool, SharedPacketPool};
use satrs::{ use satrs::{
pool::PoolProvider, pool::PoolProvider,
seq_count::{CcsdsSimpleSeqCountProvider, SequenceCountProviderCore},
spacepackets::{ spacepackets::{
ecss::{tm::PusTmZeroCopyWriter, PusPacket}, ecss::{tm::PusTmZeroCopyWriter, PusPacket},
seq_count::CcsdsSimpleSeqCountProvider,
time::cds::MIN_CDS_FIELD_LEN, time::cds::MIN_CDS_FIELD_LEN,
CcsdsPacket, CcsdsPacket,
}, },
}; };
use satrs::{
spacepackets::seq_count::SequenceCountProvider,
tmtc::{PacketAsVec, PacketInPool, SharedPacketPool},
};
use crate::interface::tcp::SyncTcpTmSource; use crate::interface::tcp::SyncTcpTmSource;

2
satrs-mib/Cargo.toml
View File

@ -23,7 +23,7 @@ version = "1"
optional = true optional = true
[dependencies.satrs-shared] [dependencies.satrs-shared]
version = ">=0.1.3, <=0.2" version = ">=0.1.3, <0.2"
features = ["serde"] features = ["serde"]
[dependencies.satrs-mib-codegen] [dependencies.satrs-mib-codegen]

2
satrs-mib/codegen/Cargo.toml
View File

@ -28,7 +28,7 @@ features = ["full"]
trybuild = { version = "1", features = ["diff"] } trybuild = { version = "1", features = ["diff"] }
[dev-dependencies.satrs-shared] [dev-dependencies.satrs-shared]
version = ">=0.1.3, <=0.2" version = ">=0.1.3, <0.2"
[dev-dependencies.satrs-mib] [dev-dependencies.satrs-mib]
path = ".." path = ".."

2
satrs-mib/src/lib.rs
View File

@ -1,4 +1,6 @@
#![no_std] #![no_std]
#[cfg(feature = "alloc")]
extern crate alloc;
#[cfg(any(feature = "std", test))] #[cfg(any(feature = "std", test))]
extern crate std; extern crate std;

13
satrs-minisim/Cargo.toml
View File

@ -9,20 +9,13 @@ edition = "2021"
serde = { version = "1", features = ["derive"] } serde = { version = "1", features = ["derive"] }
serde_json = "1" serde_json = "1"
log = "0.4" log = "0.4"
thiserror = "2" thiserror = "1"
fern = "0.7"
strum = { version = "0.26", features = ["derive"] }
num_enum = "0.7"
humantime = "2"
[dependencies.asynchronix] [dependencies.asynchronix]
version = "0.2.2" version = "0.2.1"
# git = "https://github.com/asynchronics/asynchronix.git"
# branch = "main"
features = ["serde"]
[dependencies.satrs] [dependencies.satrs]
path = "../satrs" path = "../satrs"
[dev-dependencies] [dev-dependencies]
delegate = "0.13" delegate = "0.12"

32
satrs-minisim/README.md
View File

@ -1,32 +0,0 @@
sat-rs minisim
======
This crate contains a mini-simulator based on the open-source discrete-event simulation framework
[asynchronix](https://github.com/asynchronics/asynchronix).
Right now, this crate is primarily used together with the
[`satrs-example` application](https://egit.irs.uni-stuttgart.de/rust/sat-rs/src/branch/main/satrs-example)
to simulate the devices connected to the example application.
You can simply run this application using
```sh
cargo run
```
or
```sh
cargo run -p satrs-minisim
```
in the workspace. The mini simulator uses the UDP port 7303 to exchange simulation requests and
simulation replies with any other application.
The simulator was designed in a modular way to be scalable and adaptable to other communication
schemes. This might allow it to serve a mini-simulator for other example applications which
still have similar device handlers.
The following graph shows the high-level architecture of the mini-simulator.
<img src="../images/minisim-arch/minisim-arch.png" alt="Mini simulator architecture" width="500" class="center"/>

126
satrs-minisim/src/acs.rs
View File

@ -6,17 +6,14 @@ use asynchronix::{
}; };
use satrs::power::SwitchStateBinary; use satrs::power::SwitchStateBinary;
use satrs_minisim::{ use satrs_minisim::{
acs::{ acs::{MgmReply, MgmSensorValues, MgtDipole, MgtHkSet, MgtReply, MGT_GEN_MAGNETIC_FIELD},
lis3mdl::MgmLis3MdlReply, MgmReplyCommon, MgmReplyProvider, MgmSensorValuesMicroTesla,
MgtDipole, MgtHkSet, MgtReply, MGT_GEN_MAGNETIC_FIELD,
},
SimReply, SimReply,
}; };
use crate::time::current_millis; use crate::time::current_millis;
// Earth magnetic field varies between roughly -30 uT and 30 uT // Earth magnetic field varies between -30 uT and 30 uT
const AMPLITUDE_MGM_UT: f32 = 30.0; const AMPLITUDE_MGM: f32 = 0.03;
// Lets start with a simple frequency here. // Lets start with a simple frequency here.
const FREQUENCY_MGM: f32 = 1.0; const FREQUENCY_MGM: f32 = 1.0;
const PHASE_X: f32 = 0.0; const PHASE_X: f32 = 0.0;
@ -26,38 +23,38 @@ const PHASE_Z: f32 = 0.2;
/// Simple model for a magnetometer where the measure magnetic fields are modeled with sine waves. /// Simple model for a magnetometer where the measure magnetic fields are modeled with sine waves.
/// ///
/// An ideal sensor would sample the magnetic field at a high fixed rate. This might not be /// Please note that that a more realistic MGM model wouold include the following components
/// possible for a general purpose OS, but self self-sampling at a relatively high rate (20-40 ms) /// which are not included here to simplify the model:
/// might still be possible and is probably sufficient for many OBSW needs. ///
pub struct MagnetometerModel<ReplyProvider: MgmReplyProvider> { /// 1. It would probably generate signed [i16] values which need to be converted to SI units
/// because it is a digital sensor
/// 2. It would sample the magnetic field at a high fixed rate. This might not be possible for
/// a general purpose OS, but self self-sampling at a relatively high rate (20-40 ms) might
/// stil lbe possible.
pub struct MagnetometerModel {
pub switch_state: SwitchStateBinary, pub switch_state: SwitchStateBinary,
#[allow(dead_code)]
pub periodicity: Duration, pub periodicity: Duration,
pub external_mag_field: Option<MgmSensorValuesMicroTesla>, pub external_mag_field: Option<MgmSensorValues>,
pub reply_sender: mpsc::Sender<SimReply>, pub reply_sender: mpsc::Sender<SimReply>,
pub phatom: std::marker::PhantomData<ReplyProvider>,
} }
impl MagnetometerModel<MgmLis3MdlReply> { impl MagnetometerModel {
pub fn new_for_lis3mdl(periodicity: Duration, reply_sender: mpsc::Sender<SimReply>) -> Self { pub fn new(periodicity: Duration, reply_sender: mpsc::Sender<SimReply>) -> Self {
Self { Self {
switch_state: SwitchStateBinary::Off, switch_state: SwitchStateBinary::Off,
periodicity, periodicity,
external_mag_field: None, external_mag_field: None,
reply_sender, reply_sender,
phatom: std::marker::PhantomData,
} }
} }
}
impl<ReplyProvider: MgmReplyProvider> MagnetometerModel<ReplyProvider> {
pub async fn switch_device(&mut self, switch_state: SwitchStateBinary) { pub async fn switch_device(&mut self, switch_state: SwitchStateBinary) {
self.switch_state = switch_state; self.switch_state = switch_state;
} }
pub async fn send_sensor_values(&mut self, _: (), scheduler: &Scheduler<Self>) { pub async fn send_sensor_values(&mut self, _: (), scheduler: &Scheduler<Self>) {
self.reply_sender self.reply_sender
.send(ReplyProvider::create_mgm_reply(MgmReplyCommon { .send(SimReply::new(MgmReply {
switch_state: self.switch_state, switch_state: self.switch_state,
sensor_values: self.calculate_current_mgm_tuple(current_millis(scheduler.time())), sensor_values: self.calculate_current_mgm_tuple(current_millis(scheduler.time())),
})) }))
@ -66,23 +63,23 @@ impl<ReplyProvider: MgmReplyProvider> MagnetometerModel<ReplyProvider> {
// Devices like magnetorquers generate a strong magnetic field which overrides the default // Devices like magnetorquers generate a strong magnetic field which overrides the default
// model for the measured magnetic field. // model for the measured magnetic field.
pub async fn apply_external_magnetic_field(&mut self, field: MgmSensorValuesMicroTesla) { pub async fn apply_external_magnetic_field(&mut self, field: MgmSensorValues) {
self.external_mag_field = Some(field); self.external_mag_field = Some(field);
} }
fn calculate_current_mgm_tuple(&self, time_ms: u64) -> MgmSensorValuesMicroTesla { fn calculate_current_mgm_tuple(&self, time_ms: u64) -> MgmSensorValues {
if SwitchStateBinary::On == self.switch_state { if SwitchStateBinary::On == self.switch_state {
if let Some(ext_field) = self.external_mag_field { if let Some(ext_field) = self.external_mag_field {
return ext_field; return ext_field;
} }
let base_sin_val = 2.0 * PI * FREQUENCY_MGM * (time_ms as f32 / 1000.0); let base_sin_val = 2.0 * PI * FREQUENCY_MGM * (time_ms as f32 / 1000.0);
return MgmSensorValuesMicroTesla { return MgmSensorValues {
x: AMPLITUDE_MGM_UT * (base_sin_val + PHASE_X).sin(), x: AMPLITUDE_MGM * (base_sin_val + PHASE_X).sin(),
y: AMPLITUDE_MGM_UT * (base_sin_val + PHASE_Y).sin(), y: AMPLITUDE_MGM * (base_sin_val + PHASE_Y).sin(),
z: AMPLITUDE_MGM_UT * (base_sin_val + PHASE_Z).sin(), z: AMPLITUDE_MGM * (base_sin_val + PHASE_Z).sin(),
}; };
} }
MgmSensorValuesMicroTesla { MgmSensorValues {
x: 0.0, x: 0.0,
y: 0.0, y: 0.0,
z: 0.0, z: 0.0,
@ -90,13 +87,13 @@ impl<ReplyProvider: MgmReplyProvider> MagnetometerModel<ReplyProvider> {
} }
} }
impl<ReplyProvider: MgmReplyProvider> Model for MagnetometerModel<ReplyProvider> {} impl Model for MagnetometerModel {}
pub struct MagnetorquerModel { pub struct MagnetorquerModel {
switch_state: SwitchStateBinary, switch_state: SwitchStateBinary,
torquing: bool, torquing: bool,
torque_dipole: MgtDipole, torque_dipole: MgtDipole,
pub gen_magnetic_field: Output<MgmSensorValuesMicroTesla>, pub gen_magnetic_field: Output<MgmSensorValues>,
reply_sender: mpsc::Sender<SimReply>, reply_sender: mpsc::Sender<SimReply>,
} }
@ -149,14 +146,14 @@ impl MagnetorquerModel {
pub fn send_housekeeping_data(&mut self) { pub fn send_housekeeping_data(&mut self) {
self.reply_sender self.reply_sender
.send(SimReply::new(&MgtReply::Hk(MgtHkSet { .send(SimReply::new(MgtReply::Hk(MgtHkSet {
dipole: self.torque_dipole, dipole: self.torque_dipole,
torquing: self.torquing, torquing: self.torquing,
}))) })))
.unwrap(); .unwrap();
} }
fn calc_magnetic_field(&self, _: MgtDipole) -> MgmSensorValuesMicroTesla { fn calc_magnetic_field(&self, _: MgtDipole) -> MgmSensorValues {
// Simplified model: Just returns some fixed magnetic field for now. // Simplified model: Just returns some fixed magnetic field for now.
// Later, we could make this more fancy by incorporating the commanded dipole. // Later, we could make this more fancy by incorporating the commanded dipole.
MGT_GEN_MAGNETIC_FIELD MGT_GEN_MAGNETIC_FIELD
@ -182,12 +179,9 @@ pub mod tests {
use satrs::power::SwitchStateBinary; use satrs::power::SwitchStateBinary;
use satrs_minisim::{ use satrs_minisim::{
acs::{ acs::{MgmReply, MgmRequest, MgtDipole, MgtHkSet, MgtReply, MgtRequest},
lis3mdl::{self, MgmLis3MdlReply},
MgmRequestLis3Mdl, MgtDipole, MgtHkSet, MgtReply, MgtRequest,
},
eps::PcduSwitch, eps::PcduSwitch,
SerializableSimMsgPayload, SimComponent, SimMessageProvider, SimRequest, SerializableSimMsgPayload, SimMessageProvider, SimRequest, SimTarget,
}; };
use crate::{eps::tests::switch_device_on, test_helpers::SimTestbench}; use crate::{eps::tests::switch_device_on, test_helpers::SimTestbench};
@ -195,22 +189,22 @@ pub mod tests {
#[test] #[test]
fn test_basic_mgm_request() { fn test_basic_mgm_request() {
let mut sim_testbench = SimTestbench::new(); let mut sim_testbench = SimTestbench::new();
let request = SimRequest::new_with_epoch_time(MgmRequestLis3Mdl::RequestSensorData); let request = SimRequest::new(MgmRequest::RequestSensorData);
sim_testbench sim_testbench
.send_request(request) .send_request(request)
.expect("sending MGM request failed"); .expect("sending MGM request failed");
sim_testbench.handle_sim_requests_time_agnostic(); sim_testbench.handle_sim_requests();
sim_testbench.step(); sim_testbench.step();
let sim_reply = sim_testbench.try_receive_next_reply(); let sim_reply = sim_testbench.try_receive_next_reply();
assert!(sim_reply.is_some()); assert!(sim_reply.is_some());
let sim_reply = sim_reply.unwrap(); let sim_reply = sim_reply.unwrap();
assert_eq!(sim_reply.component(), SimComponent::MgmLis3Mdl); assert_eq!(sim_reply.target(), SimTarget::Mgm);
let reply = MgmLis3MdlReply::from_sim_message(&sim_reply) let reply = MgmReply::from_sim_message(&sim_reply)
.expect("failed to deserialize MGM sensor values"); .expect("failed to deserialize MGM sensor values");
assert_eq!(reply.common.switch_state, SwitchStateBinary::Off); assert_eq!(reply.switch_state, SwitchStateBinary::Off);
assert_eq!(reply.common.sensor_values.x, 0.0); assert_eq!(reply.sensor_values.x, 0.0);
assert_eq!(reply.common.sensor_values.y, 0.0); assert_eq!(reply.sensor_values.y, 0.0);
assert_eq!(reply.common.sensor_values.z, 0.0); assert_eq!(reply.sensor_values.z, 0.0);
} }
#[test] #[test]
@ -218,48 +212,32 @@ pub mod tests {
let mut sim_testbench = SimTestbench::new(); let mut sim_testbench = SimTestbench::new();
switch_device_on(&mut sim_testbench, PcduSwitch::Mgm); switch_device_on(&mut sim_testbench, PcduSwitch::Mgm);
let mut request = SimRequest::new_with_epoch_time(MgmRequestLis3Mdl::RequestSensorData); let mut request = SimRequest::new(MgmRequest::RequestSensorData);
sim_testbench sim_testbench
.send_request(request) .send_request(request)
.expect("sending MGM request failed"); .expect("sending MGM request failed");
sim_testbench.handle_sim_requests_time_agnostic(); sim_testbench.handle_sim_requests();
sim_testbench.step(); sim_testbench.step();
let mut sim_reply_res = sim_testbench.try_receive_next_reply(); let mut sim_reply_res = sim_testbench.try_receive_next_reply();
assert!(sim_reply_res.is_some()); assert!(sim_reply_res.is_some());
let mut sim_reply = sim_reply_res.unwrap(); let mut sim_reply = sim_reply_res.unwrap();
assert_eq!(sim_reply.component(), SimComponent::MgmLis3Mdl); assert_eq!(sim_reply.target(), SimTarget::Mgm);
let first_reply = MgmLis3MdlReply::from_sim_message(&sim_reply) let first_reply = MgmReply::from_sim_message(&sim_reply)
.expect("failed to deserialize MGM sensor values"); .expect("failed to deserialize MGM sensor values");
sim_testbench.step_by(Duration::from_millis(50)); sim_testbench.step_by(Duration::from_millis(50));
request = SimRequest::new_with_epoch_time(MgmRequestLis3Mdl::RequestSensorData); request = SimRequest::new(MgmRequest::RequestSensorData);
sim_testbench sim_testbench
.send_request(request) .send_request(request)
.expect("sending MGM request failed"); .expect("sending MGM request failed");
sim_testbench.handle_sim_requests_time_agnostic(); sim_testbench.handle_sim_requests();
sim_testbench.step(); sim_testbench.step();
sim_reply_res = sim_testbench.try_receive_next_reply(); sim_reply_res = sim_testbench.try_receive_next_reply();
assert!(sim_reply_res.is_some()); assert!(sim_reply_res.is_some());
sim_reply = sim_reply_res.unwrap(); sim_reply = sim_reply_res.unwrap();
let second_reply = MgmLis3MdlReply::from_sim_message(&sim_reply) let second_reply = MgmReply::from_sim_message(&sim_reply)
.expect("failed to deserialize MGM sensor values"); .expect("failed to deserialize MGM sensor values");
let x_conv_back = second_reply.raw.x as f32
* lis3mdl::FIELD_LSB_PER_GAUSS_4_SENS
* lis3mdl::GAUSS_TO_MICROTESLA_FACTOR as f32;
let y_conv_back = second_reply.raw.y as f32
* lis3mdl::FIELD_LSB_PER_GAUSS_4_SENS
* lis3mdl::GAUSS_TO_MICROTESLA_FACTOR as f32;
let z_conv_back = second_reply.raw.z as f32
* lis3mdl::FIELD_LSB_PER_GAUSS_4_SENS
* lis3mdl::GAUSS_TO_MICROTESLA_FACTOR as f32;
let diff_x = (second_reply.common.sensor_values.x - x_conv_back).abs();
assert!(diff_x < 0.01, "diff x too large: {}", diff_x);
let diff_y = (second_reply.common.sensor_values.y - y_conv_back).abs();
assert!(diff_y < 0.01, "diff y too large: {}", diff_y);
let diff_z = (second_reply.common.sensor_values.z - z_conv_back).abs();
assert!(diff_z < 0.01, "diff z too large: {}", diff_z);
// assert_eq!(second_reply.raw_reply, SwitchStateBinary::On);
// Check that the values are changing. // Check that the values are changing.
assert!(first_reply != second_reply); assert!(first_reply != second_reply);
} }
@ -267,11 +245,11 @@ pub mod tests {
#[test] #[test]
fn test_basic_mgt_request_is_off() { fn test_basic_mgt_request_is_off() {
let mut sim_testbench = SimTestbench::new(); let mut sim_testbench = SimTestbench::new();
let request = SimRequest::new_with_epoch_time(MgtRequest::RequestHk); let request = SimRequest::new(MgtRequest::RequestHk);
sim_testbench sim_testbench
.send_request(request) .send_request(request)
.expect("sending MGM request failed"); .expect("sending MGM request failed");
sim_testbench.handle_sim_requests_time_agnostic(); sim_testbench.handle_sim_requests();
sim_testbench.step(); sim_testbench.step();
let sim_reply_res = sim_testbench.try_receive_next_reply(); let sim_reply_res = sim_testbench.try_receive_next_reply();
assert!(sim_reply_res.is_none()); assert!(sim_reply_res.is_none());
@ -281,12 +259,12 @@ pub mod tests {
fn test_basic_mgt_request_is_on() { fn test_basic_mgt_request_is_on() {
let mut sim_testbench = SimTestbench::new(); let mut sim_testbench = SimTestbench::new();
switch_device_on(&mut sim_testbench, PcduSwitch::Mgt); switch_device_on(&mut sim_testbench, PcduSwitch::Mgt);
let request = SimRequest::new_with_epoch_time(MgtRequest::RequestHk); let request = SimRequest::new(MgtRequest::RequestHk);
sim_testbench sim_testbench
.send_request(request) .send_request(request)
.expect("sending MGM request failed"); .expect("sending MGM request failed");
sim_testbench.handle_sim_requests_time_agnostic(); sim_testbench.handle_sim_requests();
sim_testbench.step(); sim_testbench.step();
let sim_reply_res = sim_testbench.try_receive_next_reply(); let sim_reply_res = sim_testbench.try_receive_next_reply();
assert!(sim_reply_res.is_some()); assert!(sim_reply_res.is_some());
@ -303,11 +281,11 @@ pub mod tests {
} }
fn check_mgt_hk(sim_testbench: &mut SimTestbench, expected_hk_set: MgtHkSet) { fn check_mgt_hk(sim_testbench: &mut SimTestbench, expected_hk_set: MgtHkSet) {
let request = SimRequest::new_with_epoch_time(MgtRequest::RequestHk); let request = SimRequest::new(MgtRequest::RequestHk);
sim_testbench sim_testbench
.send_request(request) .send_request(request)
.expect("sending MGM request failed"); .expect("sending MGM request failed");
sim_testbench.handle_sim_requests_time_agnostic(); sim_testbench.handle_sim_requests();
sim_testbench.step(); sim_testbench.step();
let sim_reply_res = sim_testbench.try_receive_next_reply(); let sim_reply_res = sim_testbench.try_receive_next_reply();
assert!(sim_reply_res.is_some()); assert!(sim_reply_res.is_some());
@ -331,14 +309,14 @@ pub mod tests {
y: 200, y: 200,
z: 1000, z: 1000,
}; };
let request = SimRequest::new_with_epoch_time(MgtRequest::ApplyTorque { let request = SimRequest::new(MgtRequest::ApplyTorque {
duration: Duration::from_millis(100), duration: Duration::from_millis(100),
dipole: commanded_dipole, dipole: commanded_dipole,
}); });
sim_testbench sim_testbench
.send_request(request) .send_request(request)
.expect("sending MGM request failed"); .expect("sending MGM request failed");
sim_testbench.handle_sim_requests_time_agnostic(); sim_testbench.handle_sim_requests();
sim_testbench.step_by(Duration::from_millis(5)); sim_testbench.step_by(Duration::from_millis(5));
check_mgt_hk( check_mgt_hk(

70
satrs-minisim/src/controller.rs
View File

@ -5,10 +5,10 @@ use asynchronix::{
time::{Clock, MonotonicTime, SystemClock}, time::{Clock, MonotonicTime, SystemClock},
}; };
use satrs_minisim::{ use satrs_minisim::{
acs::{lis3mdl::MgmLis3MdlReply, MgmRequestLis3Mdl, MgtRequest}, acs::{MgmRequest, MgtRequest},
eps::PcduRequest, eps::PcduRequest,
SerializableSimMsgPayload, SimComponent, SimCtrlReply, SimCtrlRequest, SimMessageProvider, SerializableSimMsgPayload, SimCtrlReply, SimCtrlRequest, SimMessageProvider, SimReply,
SimReply, SimRequest, SimRequestError, SimRequest, SimRequestError, SimTarget,
}; };
use crate::{ use crate::{
@ -16,20 +16,13 @@ use crate::{
eps::PcduModel, eps::PcduModel,
}; };
const WARNING_FOR_STALE_DATA: bool = false;
const SIM_CTRL_REQ_WIRETAPPING: bool = false;
const MGM_REQ_WIRETAPPING: bool = false;
const PCDU_REQ_WIRETAPPING: bool = false;
const MGT_REQ_WIRETAPPING: bool = false;
// The simulation controller processes requests and drives the simulation. // The simulation controller processes requests and drives the simulation.
pub struct SimController { pub struct SimController {
pub sys_clock: SystemClock, pub sys_clock: SystemClock,
pub request_receiver: mpsc::Receiver<SimRequest>, pub request_receiver: mpsc::Receiver<SimRequest>,
pub reply_sender: mpsc::Sender<SimReply>, pub reply_sender: mpsc::Sender<SimReply>,
pub simulation: Simulation, pub simulation: Simulation,
pub mgm_addr: Address<MagnetometerModel<MgmLis3MdlReply>>, pub mgm_addr: Address<MagnetometerModel>,
pub pcdu_addr: Address<PcduModel>, pub pcdu_addr: Address<PcduModel>,
pub mgt_addr: Address<MagnetorquerModel>, pub mgt_addr: Address<MagnetorquerModel>,
} }
@ -40,7 +33,7 @@ impl SimController {
request_receiver: mpsc::Receiver<SimRequest>, request_receiver: mpsc::Receiver<SimRequest>,
reply_sender: mpsc::Sender<SimReply>, reply_sender: mpsc::Sender<SimReply>,
simulation: Simulation, simulation: Simulation,
mgm_addr: Address<MagnetometerModel<MgmLis3MdlReply>>, mgm_addr: Address<MagnetometerModel>,
pcdu_addr: Address<PcduModel>, pcdu_addr: Address<PcduModel>,
mgt_addr: Address<MagnetorquerModel>, mgt_addr: Address<MagnetorquerModel>,
) -> Self { ) -> Self {
@ -56,32 +49,30 @@ impl SimController {
} }
pub fn run(&mut self, start_time: MonotonicTime, udp_polling_interval_ms: u64) { pub fn run(&mut self, start_time: MonotonicTime, udp_polling_interval_ms: u64) {
let mut t = start_time; let mut t = start_time + Duration::from_millis(udp_polling_interval_ms);
self.sys_clock.synchronize(t);
loop { loop {
let t_old = t;
// Check for UDP requests every millisecond. Shift the simulator ahead here to prevent // Check for UDP requests every millisecond. Shift the simulator ahead here to prevent
// replies lying in the past. // replies lying in the past.
t += Duration::from_millis(udp_polling_interval_ms); t += Duration::from_millis(udp_polling_interval_ms);
self.sys_clock.synchronize(t);
self.handle_sim_requests(t_old);
self.simulation self.simulation
.step_until(t) .step_until(t)
.expect("simulation step failed"); .expect("simulation step failed");
self.handle_sim_requests();
self.sys_clock.synchronize(t);
} }
} }
pub fn handle_sim_requests(&mut self, old_timestamp: MonotonicTime) { pub fn handle_sim_requests(&mut self) {
loop { loop {
match self.request_receiver.try_recv() { match self.request_receiver.try_recv() {
Ok(request) => { Ok(request) => {
if request.timestamp < old_timestamp && WARNING_FOR_STALE_DATA { if let Err(e) = match request.target() {
log::warn!("stale data with timestamp {:?} received", request.timestamp); SimTarget::SimCtrl => self.handle_ctrl_request(&request),
} SimTarget::Mgm => self.handle_mgm_request(&request),
if let Err(e) = match request.component() { SimTarget::Mgt => self.handle_mgt_request(&request),
SimComponent::SimCtrl => self.handle_ctrl_request(&request), SimTarget::Pcdu => self.handle_pcdu_request(&request),
SimComponent::MgmLis3Mdl => self.handle_mgm_request(&request),
SimComponent::Mgt => self.handle_mgt_request(&request),
SimComponent::Pcdu => self.handle_pcdu_request(&request),
} { } {
self.handle_invalid_request_with_valid_target(e, &request) self.handle_invalid_request_with_valid_target(e, &request)
} }
@ -98,26 +89,19 @@ impl SimController {
fn handle_ctrl_request(&mut self, request: &SimRequest) -> Result<(), SimRequestError> { fn handle_ctrl_request(&mut self, request: &SimRequest) -> Result<(), SimRequestError> {
let sim_ctrl_request = SimCtrlRequest::from_sim_message(request)?; let sim_ctrl_request = SimCtrlRequest::from_sim_message(request)?;
if SIM_CTRL_REQ_WIRETAPPING {
log::info!("received sim ctrl request: {:?}", sim_ctrl_request);
}
match sim_ctrl_request { match sim_ctrl_request {
SimCtrlRequest::Ping => { SimCtrlRequest::Ping => {
self.reply_sender self.reply_sender
.send(SimReply::new(&SimCtrlReply::Pong)) .send(SimReply::new(SimCtrlReply::Pong))
.expect("sending reply from sim controller failed"); .expect("sending reply from sim controller failed");
} }
} }
Ok(()) Ok(())
} }
fn handle_mgm_request(&mut self, request: &SimRequest) -> Result<(), SimRequestError> { fn handle_mgm_request(&mut self, request: &SimRequest) -> Result<(), SimRequestError> {
let mgm_request = MgmRequestLis3Mdl::from_sim_message(request)?; let mgm_request = MgmRequest::from_sim_message(request)?;
if MGM_REQ_WIRETAPPING {
log::info!("received MGM request: {:?}", mgm_request);
}
match mgm_request { match mgm_request {
MgmRequestLis3Mdl::RequestSensorData => { MgmRequest::RequestSensorData => {
self.simulation.send_event( self.simulation.send_event(
MagnetometerModel::send_sensor_values, MagnetometerModel::send_sensor_values,
(), (),
@ -130,9 +114,6 @@ impl SimController {
fn handle_pcdu_request(&mut self, request: &SimRequest) -> Result<(), SimRequestError> { fn handle_pcdu_request(&mut self, request: &SimRequest) -> Result<(), SimRequestError> {
let pcdu_request = PcduRequest::from_sim_message(request)?; let pcdu_request = PcduRequest::from_sim_message(request)?;
if PCDU_REQ_WIRETAPPING {
log::info!("received PCDU request: {:?}", pcdu_request);
}
match pcdu_request { match pcdu_request {
PcduRequest::RequestSwitchInfo => { PcduRequest::RequestSwitchInfo => {
self.simulation self.simulation
@ -151,9 +132,6 @@ impl SimController {
fn handle_mgt_request(&mut self, request: &SimRequest) -> Result<(), SimRequestError> { fn handle_mgt_request(&mut self, request: &SimRequest) -> Result<(), SimRequestError> {
let mgt_request = MgtRequest::from_sim_message(request)?; let mgt_request = MgtRequest::from_sim_message(request)?;
if MGT_REQ_WIRETAPPING {
log::info!("received MGT request: {:?}", mgt_request);
}
match mgt_request { match mgt_request {
MgtRequest::ApplyTorque { duration, dipole } => self.simulation.send_event( MgtRequest::ApplyTorque { duration, dipole } => self.simulation.send_event(
MagnetorquerModel::apply_torque, MagnetorquerModel::apply_torque,
@ -176,11 +154,11 @@ impl SimController {
) { ) {
log::warn!( log::warn!(
"received invalid {:?} request: {:?}", "received invalid {:?} request: {:?}",
request.component(), request.target(),
error error
); );
self.reply_sender self.reply_sender
.send(SimReply::new(&SimCtrlReply::from(error))) .send(SimReply::new(SimCtrlReply::from(error)))
.expect("sending reply from sim controller failed"); .expect("sending reply from sim controller failed");
} }
} }
@ -194,16 +172,16 @@ mod tests {
#[test] #[test]
fn test_basic_ping() { fn test_basic_ping() {
let mut sim_testbench = SimTestbench::new(); let mut sim_testbench = SimTestbench::new();
let request = SimRequest::new_with_epoch_time(SimCtrlRequest::Ping); let request = SimRequest::new(SimCtrlRequest::Ping);
sim_testbench sim_testbench
.send_request(request) .send_request(request)
.expect("sending sim ctrl request failed"); .expect("sending sim ctrl request failed");
sim_testbench.handle_sim_requests_time_agnostic(); sim_testbench.handle_sim_requests();
sim_testbench.step(); sim_testbench.step();
let sim_reply = sim_testbench.try_receive_next_reply(); let sim_reply = sim_testbench.try_receive_next_reply();
assert!(sim_reply.is_some()); assert!(sim_reply.is_some());
let sim_reply = sim_reply.unwrap(); let sim_reply = sim_reply.unwrap();
assert_eq!(sim_reply.component(), SimComponent::SimCtrl); assert_eq!(sim_reply.target(), SimTarget::SimCtrl);
let reply = SimCtrlReply::from_sim_message(&sim_reply) let reply = SimCtrlReply::from_sim_message(&sim_reply)
.expect("failed to deserialize MGM sensor values"); .expect("failed to deserialize MGM sensor values");
assert_eq!(reply, SimCtrlReply::Pong); assert_eq!(reply, SimCtrlReply::Pong);

43
satrs-minisim/src/eps.rs
View File

@ -1,4 +1,4 @@
use std::{sync::mpsc, time::Duration}; use std::{collections::HashMap, sync::mpsc, time::Duration};
use asynchronix::{ use asynchronix::{
model::{Model, Output}, model::{Model, Output},
@ -6,14 +6,14 @@ use asynchronix::{
}; };
use satrs::power::SwitchStateBinary; use satrs::power::SwitchStateBinary;
use satrs_minisim::{ use satrs_minisim::{
eps::{PcduReply, PcduSwitch, SwitchMapBinaryWrapper}, eps::{PcduReply, PcduSwitch, SwitchMap},
SimReply, SimReply,
}; };
pub const SWITCH_INFO_DELAY_MS: u64 = 10; pub const SWITCH_INFO_DELAY_MS: u64 = 10;
pub struct PcduModel { pub struct PcduModel {
pub switcher_map: SwitchMapBinaryWrapper, pub switcher_map: SwitchMap,
pub mgm_switch: Output<SwitchStateBinary>, pub mgm_switch: Output<SwitchStateBinary>,
pub mgt_switch: Output<SwitchStateBinary>, pub mgt_switch: Output<SwitchStateBinary>,
pub reply_sender: mpsc::Sender<SimReply>, pub reply_sender: mpsc::Sender<SimReply>,
@ -21,8 +21,12 @@ pub struct PcduModel {
impl PcduModel { impl PcduModel {
pub fn new(reply_sender: mpsc::Sender<SimReply>) -> Self { pub fn new(reply_sender: mpsc::Sender<SimReply>) -> Self {
let mut switcher_map = HashMap::new();
switcher_map.insert(PcduSwitch::Mgm, SwitchStateBinary::Off);
switcher_map.insert(PcduSwitch::Mgt, SwitchStateBinary::Off);
Self { Self {
switcher_map: Default::default(), switcher_map,
mgm_switch: Output::new(), mgm_switch: Output::new(),
mgt_switch: Output::new(), mgt_switch: Output::new(),
reply_sender, reply_sender,
@ -40,7 +44,7 @@ impl PcduModel {
} }
pub fn send_switch_info(&mut self) { pub fn send_switch_info(&mut self) {
let reply = SimReply::new(&PcduReply::SwitchInfo(self.switcher_map.0.clone())); let reply = SimReply::new(PcduReply::SwitchInfo(self.switcher_map.clone()));
self.reply_sender.send(reply).unwrap(); self.reply_sender.send(reply).unwrap();
} }
@ -50,7 +54,6 @@ impl PcduModel {
) { ) {
let val = self let val = self
.switcher_map .switcher_map
.0
.get_mut(&switch_and_target_state.0) .get_mut(&switch_and_target_state.0)
.unwrap_or_else(|| panic!("switch {:?} not found", switch_and_target_state.0)); .unwrap_or_else(|| panic!("switch {:?} not found", switch_and_target_state.0));
*val = switch_and_target_state.1; *val = switch_and_target_state.1;
@ -73,8 +76,7 @@ pub(crate) mod tests {
use std::time::Duration; use std::time::Duration;
use satrs_minisim::{ use satrs_minisim::{
eps::{PcduRequest, SwitchMapBinary}, eps::PcduRequest, SerializableSimMsgPayload, SimMessageProvider, SimRequest, SimTarget,
SerializableSimMsgPayload, SimComponent, SimMessageProvider, SimRequest,
}; };
use crate::test_helpers::SimTestbench; use crate::test_helpers::SimTestbench;
@ -84,14 +86,14 @@ pub(crate) mod tests {
switch: PcduSwitch, switch: PcduSwitch,
target: SwitchStateBinary, target: SwitchStateBinary,
) { ) {
let request = SimRequest::new_with_epoch_time(PcduRequest::SwitchDevice { let request = SimRequest::new(PcduRequest::SwitchDevice {
switch, switch,
state: target, state: target,
}); });
sim_testbench sim_testbench
.send_request(request) .send_request(request)
.expect("sending MGM switch request failed"); .expect("sending MGM switch request failed");
sim_testbench.handle_sim_requests_time_agnostic(); sim_testbench.handle_sim_requests();
sim_testbench.step(); sim_testbench.step();
} }
@ -103,21 +105,24 @@ pub(crate) mod tests {
switch_device(sim_testbench, switch, SwitchStateBinary::On); switch_device(sim_testbench, switch, SwitchStateBinary::On);
} }
pub(crate) fn get_all_off_switch_map() -> SwitchMapBinary { pub(crate) fn get_all_off_switch_map() -> SwitchMap {
SwitchMapBinaryWrapper::default().0 let mut switcher_map = SwitchMap::new();
switcher_map.insert(super::PcduSwitch::Mgm, super::SwitchStateBinary::Off);
switcher_map.insert(super::PcduSwitch::Mgt, super::SwitchStateBinary::Off);
switcher_map
} }
fn check_switch_state(sim_testbench: &mut SimTestbench, expected_switch_map: &SwitchMapBinary) { fn check_switch_state(sim_testbench: &mut SimTestbench, expected_switch_map: &SwitchMap) {
let request = SimRequest::new_with_epoch_time(PcduRequest::RequestSwitchInfo); let request = SimRequest::new(PcduRequest::RequestSwitchInfo);
sim_testbench sim_testbench
.send_request(request) .send_request(request)
.expect("sending MGM request failed"); .expect("sending MGM request failed");
sim_testbench.handle_sim_requests_time_agnostic(); sim_testbench.handle_sim_requests();
sim_testbench.step(); sim_testbench.step();
let sim_reply = sim_testbench.try_receive_next_reply(); let sim_reply = sim_testbench.try_receive_next_reply();
assert!(sim_reply.is_some()); assert!(sim_reply.is_some());
let sim_reply = sim_reply.unwrap(); let sim_reply = sim_reply.unwrap();
assert_eq!(sim_reply.component(), SimComponent::Pcdu); assert_eq!(sim_reply.target(), SimTarget::Pcdu);
let pcdu_reply = PcduReply::from_sim_message(&sim_reply) let pcdu_reply = PcduReply::from_sim_message(&sim_reply)
.expect("failed to deserialize PCDU switch info"); .expect("failed to deserialize PCDU switch info");
match pcdu_reply { match pcdu_reply {
@ -138,11 +143,11 @@ pub(crate) mod tests {
#[test] #[test]
fn test_pcdu_switcher_request() { fn test_pcdu_switcher_request() {
let mut sim_testbench = SimTestbench::new(); let mut sim_testbench = SimTestbench::new();
let request = SimRequest::new_with_epoch_time(PcduRequest::RequestSwitchInfo); let request = SimRequest::new(PcduRequest::RequestSwitchInfo);
sim_testbench sim_testbench
.send_request(request) .send_request(request)
.expect("sending MGM request failed"); .expect("sending MGM request failed");
sim_testbench.handle_sim_requests_time_agnostic(); sim_testbench.handle_sim_requests();
sim_testbench.step_by(Duration::from_millis(1)); sim_testbench.step_by(Duration::from_millis(1));
let sim_reply = sim_testbench.try_receive_next_reply(); let sim_reply = sim_testbench.try_receive_next_reply();
@ -152,7 +157,7 @@ pub(crate) mod tests {
let sim_reply = sim_testbench.try_receive_next_reply(); let sim_reply = sim_testbench.try_receive_next_reply();
assert!(sim_reply.is_some()); assert!(sim_reply.is_some());
let sim_reply = sim_reply.unwrap(); let sim_reply = sim_reply.unwrap();
assert_eq!(sim_reply.component(), SimComponent::Pcdu); assert_eq!(sim_reply.target(), SimTarget::Pcdu);
let pcdu_reply = PcduReply::from_sim_message(&sim_reply) let pcdu_reply = PcduReply::from_sim_message(&sim_reply)
.expect("failed to deserialize PCDU switch info"); .expect("failed to deserialize PCDU switch info");
match pcdu_reply { match pcdu_reply {

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