Merge pull request 'Rework ACS' (#264) from rework-acs into main

Reviewed-on: #264

.github/workflows/ci.yml

@@ -0,0 +1,75 @@
+name: ci
+on: [push, pull_request]
+
+jobs:
+  check:
+    name: Check build
+    strategy:
+      matrix:
+        os: [ubuntu-latest, macos-latest, windows-latest]
+    runs-on: ${{ matrix.os }}
+    steps:
+      - uses: actions/checkout@v4
+      - uses: dtolnay/rust-toolchain@stable
+      - name: Install libudev-dev on Ubuntu
+        if: ${{ matrix.os == 'ubuntu-latest' }}
+        run: sudo apt update && sudo apt install -y libudev-dev
+      - run: cargo check
+      # Check example with static pool configuration
+      - run: cargo check -p satrs-example --no-default-features
+
+  test:
+    name: Run Tests
+    runs-on: ubuntu-latest
+    steps:
+      - uses: actions/checkout@v4
+      - uses: dtolnay/rust-toolchain@stable
+      - name: Install nextest
+        uses: taiki-e/install-action@nextest
+      - run: sudo apt update && sudo apt install -y libudev-dev
+      - run: cargo nextest run --all-features
+      - run: cargo test --doc --all-features
+
+  cross-check:
+    name: Check Cross-Compilation
+    runs-on: ubuntu-latest
+    strategy:
+      matrix:
+        target:
+          - armv7-unknown-linux-gnueabihf
+          - thumbv7em-none-eabihf
+    steps:
+      - uses: actions/checkout@v4
+      - uses: dtolnay/rust-toolchain@stable
+        with:
+          targets: "armv7-unknown-linux-gnueabihf, thumbv7em-none-eabihf"
+      - run: cargo check -p satrs --target=${{matrix.target}} --no-default-features
+
+  fmt:
+    name: Check formatting
+    runs-on: ubuntu-latest
+    steps:
+      - uses: actions/checkout@v4
+      - uses: dtolnay/rust-toolchain@stable
+        with:
+          components: rustfmt
+      - run: cargo fmt --all -- --check
+
+  docs:
+    name: Check Documentation Build
+    runs-on: ubuntu-latest
+    steps:
+      - uses: actions/checkout@v4
+      - uses: dtolnay/rust-toolchain@nightly
+      - run: RUSTDOCFLAGS="--cfg docsrs" cargo +nightly doc -p satrs --all-features --no-deps
+
+  clippy:
+    name: Clippy
+    runs-on: ubuntu-latest
+    steps:
+      - uses: actions/checkout@v4
+      - uses: dtolnay/rust-toolchain@stable
+        with:
+          components: clippy
+      - run: sudo apt update && sudo apt install -y libudev-dev
+      - run: cargo clippy -- -D warnings

.gitignore

@@ -1,5 +1,10 @@
-/target
+target/
+
+output.log
 /Cargo.lock
+output.log
+
+output.log
 
 /.idea/*
 !/.idea/runConfigurations

Cargo.toml

@@ -4,10 +4,14 @@ members = [
     "satrs",
     "satrs-mib",
     "satrs-example",
+    "satrs-example/models",
+    "satrs-example/client",
+    "satrs-example/minisim",
     "satrs-shared",
+    "embedded-examples/embedded-client",
 ]
 
 exclude = [
-    "satrs-example-stm32f3-disco",
+    "embedded-examples/stm32f3-disco-rtic",
+    "embedded-examples/stm32h7-nucleo-rtic",
 ]
-

README.md

@@ -1,19 +1,25 @@
-<p align="center"> <img src="misc/satrs-logo.png" width="40%"> </p>
+<p align="center"> <img src="misc/satrs-logo-v2.png" width="40%"> </p>
 
 [![sat-rs website](https://img.shields.io/badge/sat--rs-website-darkgreen?style=flat)](https://absatsw.irs.uni-stuttgart.de/projects/sat-rs/)
-[![sat-rs book](https://img.shields.io/badge/sat--rs-book-darkgreen?style=flat)](https://absatsw.irs.uni-stuttgart.de/projects/sat-rs/book/)
+[![sat-rs book](https://img.shields.io/badge/sat--rs-book-darkgreen?style=flat)](https://robamu.github.io/sat-rs/book/)
 [![Crates.io](https://img.shields.io/crates/v/satrs)](https://crates.io/crates/satrs)
 [![docs.rs](https://img.shields.io/docsrs/satrs)](https://docs.rs/satrs)
+[![matrix chat](https://img.shields.io/matrix/sat-rs%3Amatrix.org)](https://matrix.to/#/#sat-rs:matrix.org)
 
 sat-rs
 =========
 
-This is the repository of the sat-rs framework. Its primary goal is to provide re-usable components
+This is the repository of the sat-rs library. Its primary goal is to provide re-usable components
 to write on-board software for remote systems like rovers or satellites. It is specifically written
 for the special requirements for these systems. You can find an overview of the project and the
-link to the [more high-level sat-rs book](https://absatsw.irs.uni-stuttgart.de/projects/sat-rs/)
+link to the [more high-level sat-rs book](https://robamu.github.io/sat-rs/book/)
 at the [IRS software projects website](https://absatsw.irs.uni-stuttgart.de/projects/sat-rs/).
 
+This is early-stage software. Important features are missing. New releases
+with breaking changes are released regularly, with all changes documented inside respective
+changelog files. You should only use this library if your are willing to work in this
+environment.
+
 A lot of the architecture and general design considerations are based on the
 [FSFW](https://egit.irs.uni-stuttgart.de/fsfw/fsfw) C++ framework which has flight heritage
 through the 2 missions [FLP](https://www.irs.uni-stuttgart.de/en/research/satellitetechnology-and-instruments/smallsatelliteprogram/flying-laptop/)
@@ -32,22 +38,47 @@ This project currently contains following crates:
 * [`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
    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 [nexosim](https://github.com/asynchronics/nexosim) 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):
    Components to build a mission information base from the on-board software directly.
-* [`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 on-board software using sat-rs components on a bare-metal system
-   with constrained resources.
+* [`satrs-stm32f3-disco-rtic`](https://egit.irs.uni-stuttgart.de/rust/sat-rs/src/branch/main/embedded-examples/stm32f3-disco-rtic):
+   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)
+   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`.
 
 # Related projects
- 
+
  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
    packet protocol implementations. This repository is re-exported in the
    [`satrs`](https://egit.irs.uni-stuttgart.de/rust/satrs/src/branch/main/satrs)
    crate.
+ * [`cfdp`](https://egit.irs.uni-stuttgart.de/rust/cfdp): CCSDS File Delivery Protocol
+   (CFDP) high-level library components.
+
+# 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
 
@@ -59,5 +90,5 @@ rustup component add llvm-tools-preview
 cargo install grcov --locked
 ```
 
-After that, you can simply run `coverage.py` to test the `satrs-core` crate with coverage. You can
+After that, you can simply run `coverage.py` to test the `satrs` crate with coverage. You can
 optionally supply the `--open` flag to open the coverage report in your webbrowser.

automation/Jenkinsfile

@@ -33,6 +33,7 @@ pipeline {
     stage('Test') {
       steps {
         sh 'cargo nextest r --all-features'
+        sh 'cargo test --doc --all-features'
       }
     }
     stage('Check with all features') {

coverage.py

@@ -18,15 +18,19 @@ def generate_cov_report(open_report: bool, format: str, package: str):
     out_path = "./target/debug/coverage"
     if format == "lcov":
         out_path = "./target/debug/lcov.info"
-    os.system(
+    grcov_cmd = (
         f"grcov . -s . --binary-path ./target/debug/ -t {format} --branch --ignore-not-existing "
         f"-o {out_path}"
     )
+    print(f"Running: {grcov_cmd}")
+    os.system(grcov_cmd)
     if format == "lcov":
-        os.system(
+        lcov_cmd = (
             "genhtml -o ./target/debug/coverage/ --show-details --highlight --ignore-errors source "
             "--legend ./target/debug/lcov.info"
         )
+        print(f"Running: {lcov_cmd}")
+        os.system(lcov_cmd)
     if open_report:
         coverage_report_path = os.path.abspath("./target/debug/coverage/index.html")
         webbrowser.open_new_tab(coverage_report_path)
@@ -43,7 +47,7 @@ def main():
     parser.add_argument(
         "-p",
         "--package",
-        choices=["satrs"],
+        choices=["satrs", "satrs-minisim", "satrs-example"],
         default="satrs",
         help="Choose project to generate coverage for",
     )

docs.sh

@@ -0,0 +1,3 @@
+#!/bin/sh
+export RUSTDOCFLAGS="--cfg docsrs --generate-link-to-definition -Z unstable-options"
+cargo +nightly doc --all-features --open

embedded-examples/embedded-client/Cargo.toml

@@ -0,0 +1,18 @@
+[package]
+name = "embedded-client"
+version = "0.1.0"
+edition = "2024"
+
+[dependencies]
+clap = { version = "4", features = ["derive"] }
+serialport = "4"
+toml = "0.9"
+serde = { version = "1", features = ["derive"] }
+satrs-stm32f3-disco-rtic = { path = "../stm32f3-disco-rtic" }
+spacepackets = { version = "0.17" }
+tmtc-utils = { git = "https://egit.irs.uni-stuttgart.de/rust/tmtc-utils.git", version = "0.1" }
+postcard = { version = "1", features = ["alloc"] }
+cobs = "0.5"
+fern = "0.7"
+humantime = "2"
+log = "0.4"

embedded-examples/embedded-client/config.toml

@@ -0,0 +1,2 @@
+[interface]
+serial_port = "/dev/ttyUSB0"

embedded-examples/embedded-client/src/main.rs

@@ -0,0 +1,107 @@
+use std::{
+    fs::File,
+    io::Read,
+    path::Path,
+    time::{Duration, SystemTime},
+};
+
+use clap::Parser;
+use cobs::CobsDecoderOwned;
+use satrs_stm32f3_disco_rtic::Request;
+use spacepackets::{CcsdsPacketCreatorOwned, CcsdsPacketReader, SpHeader};
+use tmtc_utils::transport::serial::PacketTransportSerialCobs;
+
+#[derive(Parser, Debug)]
+struct Cli {
+    #[arg(short, long)]
+    ping: bool,
+
+    /// Set frequency in milliseconds.
+    #[arg(short, long)]
+    set_led_frequency: Option<u32>,
+}
+
+#[derive(Debug, serde::Deserialize)]
+struct Config {
+    interface: Interface,
+}
+
+#[derive(Debug, serde::Deserialize)]
+struct Interface {
+    serial_port: String,
+}
+
+fn setup_logger() -> Result<(), fern::InitError> {
+    fern::Dispatch::new()
+        .format(|out, message, record| {
+            out.finish(format_args!(
+                "[{} {} {}] {}",
+                humantime::format_rfc3339_seconds(SystemTime::now()),
+                record.level(),
+                record.target(),
+                message
+            ))
+        })
+        .level(log::LevelFilter::Debug)
+        .chain(std::io::stdout())
+        .chain(fern::log_file("output.log")?)
+        .apply()?;
+    Ok(())
+}
+
+fn main() {
+    setup_logger().expect("failed to initialize logger");
+    println!("sat-rs embedded examples TMTC client");
+
+    let cli = Cli::parse();
+    let mut config_file =
+        File::open(Path::new("config.toml")).expect("opening config.toml file failed");
+    let mut toml_str = String::new();
+    config_file
+        .read_to_string(&mut toml_str)
+        .expect("reading config.toml file failed");
+    let config: Config = toml::from_str(&toml_str).expect("parsing config.toml file failed");
+    println!("Connecting to serial port {}", config.interface.serial_port);
+
+    let serial = serialport::new(config.interface.serial_port, 115200)
+        .open()
+        .expect("opening serial port failed");
+    let mut transport = PacketTransportSerialCobs::new(serial, CobsDecoderOwned::new(1024));
+
+    if cli.ping {
+        let request = Request::Ping;
+        let tc = create_stm32f3_tc(&request);
+        log::info!(
+            "Sending ping request with TC ID: {:#010x}",
+            tc.ccsds_packet_id_and_psc().raw()
+        );
+        transport.send(&tc.to_vec()).unwrap();
+    }
+
+    if let Some(freq_ms) = cli.set_led_frequency {
+        let request = Request::ChangeBlinkFrequency(Duration::from_millis(freq_ms as u64));
+        let tc = create_stm32f3_tc(&request);
+        log::info!(
+            "Sending change blink frequency request {:?} with TC ID: {:#010x}",
+            request,
+            tc.ccsds_packet_id_and_psc().raw()
+        );
+        transport.send(&tc.to_vec()).unwrap();
+    }
+
+    log::info!("Waiting for response...");
+    loop {
+        transport
+            .receive(|packet: &[u8]| {
+                let reader = CcsdsPacketReader::new_with_checksum(packet);
+                log::info!("Received packet: {:?}", reader);
+            })
+            .unwrap();
+    }
+}
+
+fn create_stm32f3_tc(request: &Request) -> CcsdsPacketCreatorOwned {
+    let req_raw = postcard::to_allocvec(&request).unwrap();
+    let sp_header = SpHeader::new_from_apid(satrs_stm32f3_disco_rtic::APID);
+    CcsdsPacketCreatorOwned::new_tc_with_checksum(sp_header, &req_raw).unwrap()
+}

embedded-examples/stm32f3-disco-rtic/.cargo/config.toml.template

@@ -0,0 +1,37 @@
+[target.'cfg(all(target_arch = "arm", target_os = "none"))']
+# uncomment ONE of these three option to make `cargo run` start a GDB session
+# which option to pick depends on your system
+# You can also replace openocd.gdb by jlink.gdb when using a J-Link.
+# runner = "arm-none-eabi-gdb -q -x openocd.gdb"
+# runner = "gdb-multiarch -q -x openocd.gdb"
+# runner = "gdb -q -x openocd.gdb"
+runner = "probe-rs run --chip STM32F303VCTx"
+
+rustflags = [
+  "-C", "linker=flip-link",
+  # LLD (shipped with the Rust toolchain) is used as the default linker
+  "-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",
+
+  # if you run into problems with LLD switch to the GNU linker by commenting out
+  # this line
+  # "-C", "linker=arm-none-eabi-ld",
+
+  # if you need to link to pre-compiled C libraries provided by a C toolchain
+  # use GCC as the linker by commenting out both lines above and then
+  # uncommenting the three lines below
+  # "-C", "linker=arm-none-eabi-gcc",
+  # "-C", "link-arg=-Wl,-Tlink.x",
+  # "-C", "link-arg=-nostartfiles",
+]
+
+[build]
+# comment out the following line if you intend to run unit tests on host machine
+target = "thumbv7em-none-eabihf" # Cortex-M4F and Cortex-M7F (with FPU)
+
+[env]
+DEFMT_LOG = "info"

embedded-examples/stm32f3-disco-rtic/.gitignore

@@ -0,0 +1,4 @@
+/target
+/itm.txt
+/.cargo/config.toml
+/.vscode

embedded-examples/stm32f3-disco-rtic/Cargo.toml

@@ -0,0 +1,62 @@
+[package]
+name = "satrs-stm32f3-disco-rtic"
+version = "0.1.0"
+edition = "2021"
+default-run = "satrs-stm32f3-disco-rtic"
+
+# See more keys and their definitions at https://doc.rust-lang.org/cargo/reference/manifest.html
+
+[dependencies]
+cortex-m = { version = "0.7", features = ["critical-section-single-core"] }
+cortex-m-rt = "0.7"
+defmt = "1"
+defmt-rtt = { version = "1" }
+panic-probe = { version = "1", features = ["print-defmt"] }
+embedded-hal = "1"
+cortex-m-semihosting = "0.5.0"
+embassy-stm32 = { version = "0.4", features = ["defmt", "stm32f303vc", "unstable-pac"] }
+enumset = "1"
+heapless = "0.9"
+spacepackets = { version = "0.17", default-features = false, features = ["defmt", "serde"] }
+static_cell = "2"
+cobs = { version = "0.5", default-features = false, features = ["defmt"] }
+postcard = { version = "1" }
+arbitrary-int = "2"
+thiserror = { version = "2", default-features = false }
+serde = { version = "1", default-features = false, features = ["derive"] }
+
+rtic = { version = "2", features = ["thumbv7-backend"] }
+rtic-sync = { version = "1" }
+rtic-monotonics = { version = "2", features = ["cortex-m-systick"] }
+
+[dev-dependencies]
+defmt-test = "0.4"
+
+# cargo test
+[profile.test]
+codegen-units = 1
+debug = 2
+debug-assertions = true # <-
+incremental = false
+opt-level = "s" # <-
+overflow-checks = true # <-
+
+# cargo build/run --release
+[profile.release]
+codegen-units = 1
+debug = 2
+debug-assertions = false # <-
+incremental = false
+lto = 'fat'
+opt-level = "s" # <-
+overflow-checks = false # <-
+
+# cargo test --release
+[profile.bench]
+codegen-units = 1
+debug = 2
+debug-assertions = false # <-
+incremental = false
+lto = 'fat'
+opt-level = "s" # <-
+overflow-checks = false # <-

embedded-examples/stm32f3-disco-rtic/README.md

@@ -0,0 +1,114 @@
+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)
+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 STM32F3-Discovery device was picked because it is a cheap Cortex-M4 based device which is also
+used by the [Rust Embedded Book](https://docs.rust-embedded.org/book/intro/hardware.html) and the
+[Rust Discovery](https://docs.rust-embedded.org/discovery/f3discovery/) book as an introduction
+to embedded Rust.
+
+## 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 STM32F303VCTx
+```
+
+## 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.

embedded-examples/stm32f3-disco-rtic/src/bin/blinky.rs

@@ -0,0 +1,61 @@
+#![no_main]
+#![no_std]
+
+use panic_probe as _;
+use rtic::app;
+
+#[app(device = embassy_stm32)]
+mod app {
+    use rtic_monotonics::fugit::ExtU32;
+    use rtic_monotonics::Monotonic as _;
+    use satrs_stm32f3_disco_rtic::{Direction, LedPinSet, Leds};
+
+    rtic_monotonics::systick_monotonic!(Mono, 1000);
+
+    #[shared]
+    struct Shared {}
+
+    #[local]
+    struct Local {
+        leds: Leds,
+        current_dir: Direction,
+    }
+
+    #[init]
+    fn init(cx: init::Context) -> (Shared, Local) {
+        let p = embassy_stm32::init(Default::default());
+
+        defmt::info!("Starting sat-rs demo application for the STM32F3-Discovery using RTICv2");
+
+        let led_pin_set = LedPinSet {
+            pin_n: p.PE8,
+            pin_ne: p.PE9,
+            pin_e: p.PE10,
+            pin_se: p.PE11,
+            pin_s: p.PE12,
+            pin_sw: p.PE13,
+            pin_w: p.PE14,
+            pin_nw: p.PE15,
+        };
+        let leds = Leds::new(led_pin_set);
+
+        // Initialize the systick interrupt & obtain the token to prove that we did
+        Mono::start(cx.core.SYST, 8_000_000);
+        blinky::spawn().expect("failed to spawn blinky task");
+        (
+            Shared {},
+            Local {
+                leds,
+                current_dir: Direction::North,
+            },
+        )
+    }
+
+    #[task(local = [leds, current_dir])]
+    async fn blinky(cx: blinky::Context) {
+        loop {
+            cx.local.leds.blink_next(cx.local.current_dir);
+            Mono::delay(200.millis()).await;
+        }
+    }
+}

embedded-examples/stm32f3-disco-rtic/src/lib.rs

@@ -0,0 +1,190 @@
+#![no_main]
+#![no_std]
+
+use arbitrary_int::u11;
+use core::time::Duration;
+use embassy_stm32::gpio::Output;
+use spacepackets::{
+    ccsds_packet_len_for_user_data_len_with_checksum, CcsdsPacketCreationError,
+    CcsdsPacketCreatorWithReservedData, CcsdsPacketIdAndPsc, SpacePacketHeader,
+};
+
+pub const APID: u11 = u11::new(0x02);
+
+#[derive(defmt::Format, serde::Serialize, serde::Deserialize, PartialEq, Eq, Clone, Copy)]
+pub enum Direction {
+    North,
+    NorthEast,
+    East,
+    SouthEast,
+    South,
+    SouthWest,
+    West,
+    NorthWest,
+}
+
+impl Direction {
+    pub fn switch_to_next(&mut self) -> (Self, Self) {
+        let curr = *self;
+        *self = match self {
+            Direction::North => Direction::NorthEast,
+            Direction::NorthEast => Direction::East,
+            Direction::East => Direction::SouthEast,
+            Direction::SouthEast => Direction::South,
+            Direction::South => Direction::SouthWest,
+            Direction::SouthWest => Direction::West,
+            Direction::West => Direction::NorthWest,
+            Direction::NorthWest => Direction::North,
+        };
+        (curr, *self)
+    }
+}
+
+#[derive(Copy, Clone, Debug, defmt::Format, serde::Serialize, serde::Deserialize)]
+pub enum Request {
+    Ping,
+    ChangeBlinkFrequency(Duration),
+}
+
+#[derive(Debug, defmt::Format, serde::Serialize, serde::Deserialize)]
+pub struct TmHeader {
+    pub tc_packet_id: Option<CcsdsPacketIdAndPsc>,
+    pub uptime_millis: u32,
+}
+
+#[derive(Debug, defmt::Format, serde::Serialize, serde::Deserialize)]
+pub enum Response {
+    CommandDone,
+}
+
+pub fn tm_size(tm_header: &TmHeader, response: &Response) -> usize {
+    ccsds_packet_len_for_user_data_len_with_checksum(
+        postcard::experimental::serialized_size(tm_header).unwrap()
+            + postcard::experimental::serialized_size(response).unwrap(),
+    )
+    .unwrap()
+}
+
+pub fn create_tm_packet(
+    buf: &mut [u8],
+    sp_header: SpacePacketHeader,
+    tm_header: TmHeader,
+    response: Response,
+) -> Result<usize, CcsdsPacketCreationError> {
+    let packet_data_size = postcard::experimental::serialized_size(&tm_header).unwrap()
+        + postcard::experimental::serialized_size(&response).unwrap();
+    let mut creator =
+        CcsdsPacketCreatorWithReservedData::new_tm_with_checksum(sp_header, packet_data_size, buf)?;
+
+    let current_index = postcard::to_slice(&tm_header, creator.packet_data_mut())
+        .unwrap()
+        .len();
+    postcard::to_slice(&response, &mut creator.packet_data_mut()[current_index..]).unwrap();
+    Ok(creator.finish())
+}
+
+pub struct Leds {
+    pub north: Output<'static>,
+    pub north_east: Output<'static>,
+    pub east: Output<'static>,
+    pub south_east: Output<'static>,
+    pub south: Output<'static>,
+    pub south_west: Output<'static>,
+    pub west: Output<'static>,
+    pub north_west: Output<'static>,
+}
+
+impl Leds {
+    pub fn blink_next(&mut self, current_dir: &mut Direction) {
+        let (prev, curr) = current_dir.switch_to_next();
+        self.set_dir_low(prev);
+        self.set_dir_high(curr);
+    }
+
+    pub fn set_dir(&mut self, dir: Direction, level: embassy_stm32::gpio::Level) {
+        match dir {
+            Direction::North => self.north.set_level(level),
+            Direction::NorthEast => self.north_east.set_level(level),
+            Direction::East => self.east.set_level(level),
+            Direction::SouthEast => self.south_east.set_level(level),
+            Direction::South => self.south.set_level(level),
+            Direction::SouthWest => self.south_west.set_level(level),
+            Direction::West => self.west.set_level(level),
+            Direction::NorthWest => self.north_west.set_level(level),
+        }
+    }
+
+    pub fn set_dir_low(&mut self, dir: Direction) {
+        self.set_dir(dir, embassy_stm32::gpio::Level::Low);
+    }
+
+    pub fn set_dir_high(&mut self, dir: Direction) {
+        self.set_dir(dir, embassy_stm32::gpio::Level::High);
+    }
+}
+
+pub struct LedPinSet {
+    pub pin_n: embassy_stm32::Peri<'static, embassy_stm32::peripherals::PE8>,
+    pub pin_ne: embassy_stm32::Peri<'static, embassy_stm32::peripherals::PE9>,
+    pub pin_e: embassy_stm32::Peri<'static, embassy_stm32::peripherals::PE10>,
+    pub pin_se: embassy_stm32::Peri<'static, embassy_stm32::peripherals::PE11>,
+    pub pin_s: embassy_stm32::Peri<'static, embassy_stm32::peripherals::PE12>,
+    pub pin_sw: embassy_stm32::Peri<'static, embassy_stm32::peripherals::PE13>,
+    pub pin_w: embassy_stm32::Peri<'static, embassy_stm32::peripherals::PE14>,
+    pub pin_nw: embassy_stm32::Peri<'static, embassy_stm32::peripherals::PE15>,
+}
+
+impl Leds {
+    pub fn new(pin_set: LedPinSet) -> Self {
+        let led_n = Output::new(
+            pin_set.pin_n,
+            embassy_stm32::gpio::Level::Low,
+            embassy_stm32::gpio::Speed::Medium,
+        );
+        let led_ne = Output::new(
+            pin_set.pin_ne,
+            embassy_stm32::gpio::Level::Low,
+            embassy_stm32::gpio::Speed::Medium,
+        );
+        let led_e = Output::new(
+            pin_set.pin_e,
+            embassy_stm32::gpio::Level::Low,
+            embassy_stm32::gpio::Speed::Medium,
+        );
+        let led_se = Output::new(
+            pin_set.pin_se,
+            embassy_stm32::gpio::Level::Low,
+            embassy_stm32::gpio::Speed::Medium,
+        );
+        let led_s = Output::new(
+            pin_set.pin_s,
+            embassy_stm32::gpio::Level::Low,
+            embassy_stm32::gpio::Speed::Medium,
+        );
+        let led_sw = Output::new(
+            pin_set.pin_sw,
+            embassy_stm32::gpio::Level::Low,
+            embassy_stm32::gpio::Speed::Medium,
+        );
+        let led_w = Output::new(
+            pin_set.pin_w,
+            embassy_stm32::gpio::Level::Low,
+            embassy_stm32::gpio::Speed::Medium,
+        );
+        let led_nw = Output::new(
+            pin_set.pin_nw,
+            embassy_stm32::gpio::Level::Low,
+            embassy_stm32::gpio::Speed::Medium,
+        );
+        Self {
+            north: led_n,
+            north_east: led_ne,
+            east: led_e,
+            south_east: led_se,
+            south: led_s,
+            south_west: led_sw,
+            west: led_w,
+            north_west: led_nw,
+        }
+    }
+}

embedded-examples/stm32f3-disco-rtic/src/main.rs

@@ -0,0 +1,349 @@
+#![no_std]
+#![no_main]
+use arbitrary_int::{u11, u14};
+use cortex_m_semihosting::debug::{self, EXIT_FAILURE, EXIT_SUCCESS};
+use satrs_stm32f3_disco_rtic::{create_tm_packet, tm_size, CcsdsPacketId, Request, Response};
+use spacepackets::{CcsdsPacketCreationError, SpHeader};
+
+use defmt_rtt as _; // global logger
+
+use panic_probe as _;
+
+use rtic::app;
+
+#[allow(unused_imports)]
+use rtic_monotonics::fugit::{MillisDurationU32, TimerInstantU32};
+use rtic_monotonics::systick::prelude::*;
+
+use crate::app::Mono;
+
+const UART_BAUD: u32 = 115200;
+const DEFAULT_BLINK_FREQ_MS: u32 = 1000;
+const TX_HANDLER_FREQ_MS: u32 = 20;
+const MAX_TC_LEN: usize = 128;
+const MAX_TM_LEN: usize = 128;
+
+pub const PUS_APID: u11 = u11::new(0x02);
+
+// This is the predictable maximum overhead of the COBS encoding scheme.
+// It is simply the maximum packet lenght dividied by 254 rounded up.
+const COBS_TM_OVERHEAD: usize = cobs::max_encoding_overhead(MAX_TM_LEN);
+
+const TM_BUF_LEN: usize = MAX_TC_LEN + COBS_TM_OVERHEAD;
+
+const TC_DMA_BUF_LEN: usize = 512;
+
+type TmPacket = heapless::Vec<u8, MAX_TM_LEN>;
+
+static TM_QUEUE: heapless::mpmc::Queue<TmPacket, 16> = heapless::mpmc::Queue::new();
+
+#[derive(Debug, defmt::Format, thiserror::Error)]
+pub enum TmSendError {
+    #[error("packet creation error: {0}")]
+    PacketCreation(#[from] CcsdsPacketCreationError),
+    #[error("queue error")]
+    Queue,
+}
+
+#[derive(Debug, defmt::Format)]
+pub struct RequestWithTcId {
+    pub request: Request,
+    pub tc_id: CcsdsPacketId,
+}
+
+#[app(device = embassy_stm32)]
+mod app {
+    use core::time::Duration;
+
+    use super::*;
+    use arbitrary_int::u14;
+    use rtic::Mutex;
+    use rtic_sync::{
+        channel::{Receiver, Sender},
+        make_channel,
+    };
+    use satrs_stm32f3_disco_rtic::{CcsdsPacketId, LedPinSet, Request, Response};
+    use spacepackets::CcsdsPacketReader;
+
+    systick_monotonic!(Mono, 1000);
+
+    embassy_stm32::bind_interrupts!(struct Irqs {
+        USART2 => embassy_stm32::usart::InterruptHandler<embassy_stm32::peripherals::USART2>;
+    });
+
+    #[shared]
+    struct Shared {
+        blink_freq: Duration,
+    }
+
+    #[local]
+    struct Local {
+        leds: satrs_stm32f3_disco_rtic::Leds,
+        current_dir: satrs_stm32f3_disco_rtic::Direction,
+        seq_count: u14,
+        tx: embassy_stm32::usart::UartTx<'static, embassy_stm32::mode::Async>,
+        rx: embassy_stm32::usart::RingBufferedUartRx<'static>,
+    }
+
+    #[init]
+    fn init(cx: init::Context) -> (Shared, Local) {
+        static DMA_BUF: static_cell::ConstStaticCell<[u8; TC_DMA_BUF_LEN]> =
+            static_cell::ConstStaticCell::new([0; TC_DMA_BUF_LEN]);
+
+        let p = embassy_stm32::init(Default::default());
+
+        let (req_sender, req_receiver) = make_channel!(RequestWithTcId, 16);
+        // Initialize the systick interrupt & obtain the token to prove that we did
+        Mono::start(cx.core.SYST, 8_000_000);
+
+        defmt::info!("sat-rs demo application for the STM32F3-Discovery with RTICv2");
+        let led_pin_set = LedPinSet {
+            pin_n: p.PE8,
+            pin_ne: p.PE9,
+            pin_e: p.PE10,
+            pin_se: p.PE11,
+            pin_s: p.PE12,
+            pin_sw: p.PE13,
+            pin_w: p.PE14,
+            pin_nw: p.PE15,
+        };
+        let leds = satrs_stm32f3_disco_rtic::Leds::new(led_pin_set);
+
+        let mut config = embassy_stm32::usart::Config::default();
+        config.baudrate = UART_BAUD;
+        let uart = embassy_stm32::usart::Uart::new(
+            p.USART2, p.PA3, p.PA2, Irqs, p.DMA1_CH7, p.DMA1_CH6, config,
+        )
+        .unwrap();
+
+        let (tx, rx) = uart.split();
+        defmt::info!("Spawning tasks");
+        blinky::spawn().unwrap();
+        serial_tx_handler::spawn().unwrap();
+        serial_rx_handler::spawn(req_sender).unwrap();
+        req_handler::spawn(req_receiver).unwrap();
+
+        (
+            Shared {
+                blink_freq: Duration::from_millis(DEFAULT_BLINK_FREQ_MS as u64),
+            },
+            Local {
+                leds,
+                tx,
+                seq_count: u14::new(0),
+                rx: rx.into_ring_buffered(DMA_BUF.take()),
+                current_dir: satrs_stm32f3_disco_rtic::Direction::North,
+            },
+        )
+    }
+
+    #[task(local = [leds, current_dir], shared=[blink_freq])]
+    async fn blinky(mut cx: blinky::Context) {
+        loop {
+            cx.local.leds.blink_next(cx.local.current_dir);
+            let current_blink_freq = cx.shared.blink_freq.lock(|current| *current);
+            Mono::delay(MillisDurationU32::from_ticks(
+                current_blink_freq.as_millis() as u32,
+            ))
+            .await;
+        }
+    }
+
+    #[task(
+        local = [
+            tx,
+            encoded_buf: [u8; TM_BUF_LEN] = [0; TM_BUF_LEN]
+        ],
+        shared = [],
+    )]
+    async fn serial_tx_handler(cx: serial_tx_handler::Context) {
+        loop {
+            while let Some(vec) = TM_QUEUE.dequeue() {
+                let encoded_len =
+                    cobs::encode_including_sentinels(&vec[0..vec.len()], cx.local.encoded_buf);
+                defmt::debug!("sending {} bytes over UART", encoded_len);
+                cx.local
+                    .tx
+                    .write(&cx.local.encoded_buf[0..encoded_len])
+                    .await
+                    .unwrap();
+                continue;
+            }
+            Mono::delay(TX_HANDLER_FREQ_MS.millis()).await;
+        }
+    }
+
+    #[task(
+        local = [
+            rx,
+            read_buf: [u8; 128] = [0; 128],
+            decode_buf: [u8; MAX_TC_LEN] = [0; MAX_TC_LEN],
+        ],
+        shared = [blink_freq]
+    )]
+    async fn serial_rx_handler(
+        cx: serial_rx_handler::Context,
+        mut sender: Sender<'static, RequestWithTcId, 16>,
+    ) {
+        let mut decoder = cobs::CobsDecoder::new(cx.local.decode_buf);
+        loop {
+            match cx.local.rx.read(cx.local.read_buf).await {
+                Ok(bytes) => {
+                    defmt::debug!("received {} bytes over UART", bytes);
+                    for byte in cx.local.read_buf[0..bytes].iter() {
+                        match decoder.feed(*byte) {
+                            Ok(None) => (),
+                            Ok(Some(packet_size)) => {
+                                match CcsdsPacketReader::new_with_checksum(
+                                    &decoder.dest()[0..packet_size],
+                                ) {
+                                    Ok(packet) => {
+                                        let packet_id = packet.packet_id();
+                                        let psc = packet.psc();
+                                        let tc_packet_id = CcsdsPacketId { packet_id, psc };
+                                        if let Ok(request) =
+                                            postcard::from_bytes::<Request>(packet.packet_data())
+                                        {
+                                            sender
+                                                .send(RequestWithTcId {
+                                                    request,
+                                                    tc_id: tc_packet_id,
+                                                })
+                                                .await
+                                                .unwrap();
+                                        }
+                                    }
+                                    Err(e) => {
+                                        defmt::error!("error unpacking ccsds packet: {}", e);
+                                    }
+                                }
+                            }
+                            Err(e) => {
+                                defmt::error!("cobs decoding error: {}", e);
+                            }
+                        }
+                    }
+                }
+                Err(e) => {
+                    defmt::error!("uart read error: {}", e);
+                }
+            }
+        }
+    }
+
+    #[task(shared = [blink_freq], local = [seq_count])]
+    async fn req_handler(
+        mut cx: req_handler::Context,
+        mut receiver: Receiver<'static, RequestWithTcId, 16>,
+    ) {
+        loop {
+            match receiver.recv().await {
+                Ok(request_with_tc_id) => {
+                    let tm_send_result = match request_with_tc_id.request {
+                        Request::Ping => handle_ping_request(&mut cx, request_with_tc_id.tc_id),
+                        Request::ChangeBlinkFrequency(duration) => {
+                            handle_change_blink_frequency_request(
+                                &mut cx,
+                                request_with_tc_id.tc_id,
+                                duration,
+                            )
+                        }
+                    };
+                    if let Err(e) = tm_send_result {
+                        defmt::error!("error sending TM response: {}", e);
+                    }
+                }
+                Err(_e) => defmt::error!("request receive error"),
+            }
+        }
+    }
+
+    fn handle_ping_request(
+        cx: &mut req_handler::Context,
+        tc_packet_id: CcsdsPacketId,
+    ) -> Result<(), TmSendError> {
+        defmt::info!("Received PUS ping telecommand, sending ping reply");
+        send_tm(tc_packet_id, Response::CommandDone, *cx.local.seq_count)?;
+        *cx.local.seq_count = cx.local.seq_count.wrapping_add(u14::new(1));
+        Ok(())
+    }
+
+    fn handle_change_blink_frequency_request(
+        cx: &mut req_handler::Context,
+        tc_packet_id: CcsdsPacketId,
+        duration: Duration,
+    ) -> Result<(), TmSendError> {
+        defmt::info!(
+            "Received ChangeBlinkFrequency request, new frequency: {} ms",
+            duration.as_millis()
+        );
+        cx.shared
+            .blink_freq
+            .lock(|blink_freq| *blink_freq = duration);
+        send_tm(tc_packet_id, Response::CommandDone, *cx.local.seq_count)?;
+        *cx.local.seq_count = cx.local.seq_count.wrapping_add(u14::new(1));
+        Ok(())
+    }
+}
+
+fn send_tm(
+    tc_packet_id: CcsdsPacketId,
+    response: Response,
+    current_seq_count: u14,
+) -> Result<(), TmSendError> {
+    let sp_header = SpHeader::new_for_unseg_tc(PUS_APID, current_seq_count, 0);
+    let tm_header = satrs_stm32f3_disco_rtic::TmHeader {
+        tc_packet_id: Some(tc_packet_id),
+        uptime_millis: Mono::now().duration_since_epoch().to_millis(),
+    };
+    let mut tm_packet = TmPacket::new();
+    let tm_size = tm_size(&tm_header, &response);
+    tm_packet.resize(tm_size, 0).expect("vec resize failed");
+    create_tm_packet(&mut tm_packet, sp_header, tm_header, response)?;
+    if TM_QUEUE.enqueue(tm_packet).is_err() {
+        defmt::warn!("TC queue full");
+        return Err(TmSendError::Queue);
+    }
+    Ok(())
+}
+
+// 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(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(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)
+    }
+}

embedded-examples/stm32f3-disco-rtic/vscode/extensions.json

@@ -5,8 +5,8 @@
 	// List of extensions which should be recommended for users of this workspace.
 	"recommendations": [
 		"rust-lang.rust",
-		"marus25.cortex-debug",
+		"probe-rs.probe-rs-debugger"
 	],
 	// List of extensions recommended by VS Code that should not be recommended for users of this workspace.
 	"unwantedRecommendations": []
-}
+}

embedded-examples/stm32f3-disco-rtic/vscode/launch.json

@@ -0,0 +1,22 @@
+{
+  "version": "0.2.0",
+  "configurations": [
+    {
+      "preLaunchTask": "${defaultBuildTask}",
+      "type": "probe-rs-debug",
+      "request": "launch",
+      "name": "probe-rs Debugging ",
+      "flashingConfig": {
+        "flashingEnabled": true
+      },
+      "chip": "STM32F303VCTx",
+      "coreConfigs": [
+        {
+          "programBinary": "${workspaceFolder}/target/thumbv7em-none-eabihf/debug/satrs-stm32f3-disco-rtic",
+          "rttEnabled": true,
+          "svdFile": "STM32F303.svd"
+        }
+      ]
+    }
+  ]
+}

embedded-examples/stm32f3-disco-rtic/vscode/openocd-helpers.tcl

@@ -11,7 +11,8 @@ proc CDSWOConfigure { CDCPUFreqHz CDSWOFreqHz CDSWOOutput } {
     # Alternative option: Pipe ITM output into itm.txt file
     # tpiu config internal itm.txt uart off $CDCPUFreqHz
 
-    # Default option so SWO display of VS code works.
+    # Default option so SWO display of VS code works. Please note that this might not be required
+    # anymore starting at openocd v0.12.0
     tpiu config internal $CDSWOOutput uart off $CDCPUFreqHz $CDSWOFreqHz
     itm port 0 on
 }

embedded-examples/stm32h7-nucleo-rtic/.cargo/def_config.toml

@@ -0,0 +1,29 @@
+[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"

embedded-examples/stm32h7-nucleo-rtic/.gitignore

@@ -1,3 +1,4 @@
 /target
-/itm.txt
 /.cargo/config*
+/.vscode
+/app.map

embedded-examples/stm32h7-nucleo-rtic/Cargo.toml

@@ -0,0 +1,85 @@
+[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 = "1"
+defmt-brtt = { version = "0.1", default-features = false, features = ["rtt"] }
+panic-probe = { version = "1", features = ["print-defmt"] }
+cortex-m-semihosting = "0.5.0"
+# TODO: Replace with embassy-hal.
+stm32h7xx-hal = { version="0.16", features= ["stm32h743v", "ethernet"] }
+embedded-alloc = "0.6"
+rtic-sync = { version = "1", features = ["defmt-03"] }
+
+[dependencies.smoltcp]
+version = "0.12"
+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 = "2"
+features = ["cortex-m-systick"]
+
+[dependencies.satrs]
+path = "../../satrs"
+default-features = false
+features = ["defmt", "heapless"]
+
+[dev-dependencies]
+defmt-test = "0.4"
+
+# 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  # <-

embedded-examples/stm32h7-nucleo-rtic/LICENSE-APACHE

@@ -0,0 +1,201 @@
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embedded-examples/stm32h7-nucleo-rtic/README.md

@@ -0,0 +1,118 @@
+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)

embedded-examples/stm32h7-nucleo-rtic/memory.x

@@ -0,0 +1,119 @@
+/* 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
+
+};

embedded-examples/stm32h7-nucleo-rtic/pyclient/.gitignore

@@ -1,9 +1,8 @@
-__pycache__
-
 /venv
+/.tmtc-history.txt
 /log
 /.idea/*
 !/.idea/runConfigurations
 
 /seqcnt.txt
-/.tmtc-history.txt
+/tmtc_conf.json

embedded-examples/stm32h7-nucleo-rtic/pyclient/def_tmtc_conf.json

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

embedded-examples/stm32h7-nucleo-rtic/pyclient/main.py

@@ -1,20 +1,22 @@
 #!/usr/bin/env python3
 """Example client for the sat-rs example application"""
+import struct
 import logging
 import sys
 import time
-from typing import Optional
-from prompt_toolkit.history import History
-from prompt_toolkit.history import FileHistory
+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, PusVerificator
+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 spacepackets.ccsds.time import CdsShortTimestamp
 
 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
@@ -25,8 +27,8 @@ from tmtccmd.config import (
     HookBase,
     params_to_procedure_conversion,
 )
+from tmtccmd.config.com import SerialCfgWrapper
 from tmtccmd.config import PreArgsParsingWrapper, SetupWrapper
-from tmtccmd.logging import add_colorlog_console_logger
 from tmtccmd.logging.pus import (
     RegularTmtcLogWrapper,
     RawTmtcTimedLogWrapper,
@@ -39,21 +41,19 @@ from tmtccmd.tmtc import (
     FeedWrapper,
     SendCbParams,
     DefaultPusQueueHelper,
-    QueueWrapper,
 )
+from tmtccmd.pus.s5_fsfw_event import Service5Tm
 from spacepackets.seqcount import FileSeqCountProvider, PusFileSeqCountProvider
 from tmtccmd.util.obj_id import ObjectIdDictT
 
-
-import pus_tc
-from common import EXAMPLE_PUS_APID, TM_PACKET_IDS, EventU32
-
 _LOGGER = logging.getLogger()
 
+EXAMPLE_PUS_APID = 0x02
+
 
 class SatRsConfigHook(HookBase):
     def __init__(self, json_cfg_path: str):
-        super().__init__(json_cfg_path=json_cfg_path)
+        super().__init__(json_cfg_path)
 
     def get_communication_interface(self, com_if_key: str) -> Optional[ComInterface]:
         from tmtccmd.config.com import (
@@ -65,14 +65,20 @@ class SatRsConfigHook(HookBase):
         cfg = create_com_interface_cfg_default(
             com_if_key=com_if_key,
             json_cfg_path=self.cfg_path,
-            space_packet_ids=TM_PACKET_IDS,
+            space_packet_ids=None,
         )
-        assert cfg is not 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 pus_tc.create_cmd_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
@@ -85,6 +91,13 @@ class SatRsConfigHook(HookBase):
         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,
@@ -97,17 +110,20 @@ class PusHandler(SpecificApidHandlerBase):
         self.raw_logger = raw_logger
         self.verif_wrapper = verif_wrapper
 
-    def handle_tm(self, packet: bytes, _user_args: any):
+    def handle_tm(self, packet: bytes, _user_args: Any):
         try:
-            pus_tm = PusTelemetry.unpack(packet, time_reader=CdsShortTimestamp.empty())
+            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.empty(), 1, 2)
+                data=packet, params=UnpackParams(CdsShortTimestamp.TIMESTAMP_SIZE, 1, 2)
             )
             res = self.verif_wrapper.add_tm(tm_packet)
             if res is None:
@@ -121,48 +137,39 @@ class PusHandler(SpecificApidHandlerBase):
             else:
                 self.verif_wrapper.log_to_console(tm_packet, res)
                 self.verif_wrapper.log_to_file(tm_packet, res)
-        elif service == 3:
+        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, time_reader=CdsShortTimestamp.empty())
+            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(json_str)
-        elif service == 5:
-            tm_packet = PusTelemetry.unpack(
-                packet, time_reader=CdsShortTimestamp.empty()
-            )
-            src_data = tm_packet.source_data
-            event_u32 = EventU32.unpack(src_data)
-            _LOGGER.info(f"Received event packet. 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, time_reader=CdsShortTimestamp.empty()
-            )
+                _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:
-                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:
+        if tm_packet is None:
             _LOGGER.info(
                 f"The service {service} is not implemented in Telemetry Factory"
             )
-            tm_packet = PusTelemetry.unpack(
-                packet, time_reader=CdsShortTimestamp.empty()
-            )
+            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,
@@ -174,9 +181,9 @@ class TcHandler(TcHandlerBase):
         self.verif_wrapper = verif_wrapper
         self.queue_helper = DefaultPusQueueHelper(
             queue_wrapper=QueueWrapper.empty(),
-            tc_sched_timestamp_len=CdsShortTimestamp.TIMESTAMP_SIZE,
+            tc_sched_timestamp_len=7,
             seq_cnt_provider=seq_count_provider,
-            pus_verificator=self.verif_wrapper.pus_verificator,
+            pus_verificator=verif_wrapper.pus_verificator,
             default_pus_apid=EXAMPLE_PUS_APID,
         )
 
@@ -185,6 +192,10 @@ class TcHandler(TcHandlerBase):
         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)
@@ -193,17 +204,38 @@ class TcHandler(TcHandlerBase):
             _LOGGER.info(log_entry.log_str)
 
     def queue_finished_cb(self, info: ProcedureWrapper):
-        if info.proc_type == TcProcedureType.DEFAULT:
-            def_proc = info.to_def_procedure()
+        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.DEFAULT:
-            def_proc = info.to_def_procedure()
-            assert def_proc.cmd_path is not None
-            pus_tc.pack_pus_telecommands(q, def_proc.cmd_path)
+        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():

embedded-examples/stm32h7-nucleo-rtic/pyclient/requirements.txt

@@ -1,2 +1,2 @@
-tmtccmd == 4.0.0a0
+tmtccmd == 8.0.1
 # -e git+https://github.com/robamu-org/tmtccmd.git@main#egg=tmtccmd

embedded-examples/stm32h7-nucleo-rtic/src/bin/blinky.rs

@@ -0,0 +1,55 @@
+//! 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();
+    }
+}

embedded-examples/stm32h7-nucleo-rtic/src/bin/hello.rs

@@ -0,0 +1,11 @@
+#![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()
+}

embedded-examples/stm32h7-nucleo-rtic/src/lib.rs

@@ -0,0 +1,52 @@
+#![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)
+    }
+}

embedded-examples/stm32h7-nucleo-rtic/src/main.rs

@@ -0,0 +1,523 @@
+#![no_main]
+#![no_std]
+extern crate alloc;
+
+use rtic::app;
+use rtic_monotonics::systick::prelude::*;
+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::LlffHeap as 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();
+
+systick_monotonic!(Mono, 1000);
+
+// 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(Mono::now().duration_since_epoch().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 = Mono::now().duration_since_epoch();
+        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::fugit::MillisDurationU32;
+    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
+        Mono::start(cx.core.SYST, ccdr.clocks.sys_ck().to_Hz());
+
+        // 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(
+                SUBPOOL_SMALL.get_mut().unwrap(),
+                SUBPOOL_SMALL_SIZES.get_mut().unwrap(),
+                SUBPOOL_SMALL_NUM_BLOCKS,
+                true,
+            )
+            .expect("growing heapless memory pool failed");
+        shared_pool
+            .grow(
+                SUBPOOL_MEDIUM.get_mut().unwrap(),
+                SUBPOOL_MEDIUM_SIZES.get_mut().unwrap(),
+                SUBPOOL_MEDIUM_NUM_BLOCKS,
+                true,
+            )
+            .expect("growing heapless memory pool failed");
+        shared_pool
+            .grow(
+                SUBPOOL_LARGE.get_mut().unwrap(),
+                SUBPOOL_LARGE_SIZES.get_mut().unwrap(),
+                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(&raw mut HEAP_MEM 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);
+            Mono::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");
+            }
+            Mono::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);
+                })
+            });
+            Mono::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);
+                }
+            };
+        }
+    }
+}

embedded-examples/stm32h7-nucleo-rtic/tests/integration.rs

@@ -0,0 +1,16 @@
+#![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)
+    }
+}

embedded-examples/stm32h7-nucleo-rtic/vscode/.gitignore

@@ -0,0 +1,2 @@
+/settings.json
+/.cortex-debug.*

embedded-examples/stm32h7-nucleo-rtic/vscode/extensions.json

@@ -0,0 +1,12 @@
+{
+	// 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": []
+}

embedded-examples/stm32h7-nucleo-rtic/vscode/launch.json

@@ -0,0 +1,22 @@
+{
+  "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"
+        }
+      ]
+    }
+  ]
+}

embedded-examples/stm32h7-nucleo-rtic/vscode/tasks.json

@@ -0,0 +1,20 @@
+{
+    // See https://go.microsoft.com/fwlink/?LinkId=733558 
+    // for the documentation about the tasks.json format
+    "version": "2.0.0",
+    "tasks": [
+        {
+            "label": "cargo build",
+            "type": "shell",
+            "command": "~/.cargo/bin/cargo", // note: full path to the cargo
+            "args": [
+                "build"
+            ],
+            "group": {
+                "kind": "build",
+                "isDefault": true
+            }
+        },
+
+    ]
+}

experiments/satrs-gen/Cargo.toml

@@ -0,0 +1,8 @@
+[package]
+name = "satrs-gen"
+version = "0.1.0"
+edition = "2024"
+
+[dependencies]
+toml = "0.8"
+heck = "0.5"

experiments/satrs-gen/components.toml

@@ -0,0 +1,34 @@
+[apid]
+Sched = 1
+GenericPus = 2
+Acs = 3
+Cfdp = 4
+Tmtc = 5
+Eps = 6
+
+
+[ids]
+[ids.Eps]
+Pcdu = 0
+Subsystem = 1
+
+[ids.Tmtc]
+UdpServer = 0
+TcpServer = 1
+
+[ids.GenericPus]
+PusEventManagement = 0
+PusRouting = 1
+PusTest = 2
+PusAction = 3
+PusMode = 4
+PusHk = 5
+
+[ids.Sched]
+PusSched = 0
+
+[ids.Acs]
+Subsystem = 1
+Assembly = 2
+Mgm0 = 3
+Mgm1 = 4

experiments/satrs-gen/src/main.rs

@@ -0,0 +1,91 @@
+use heck::{ToShoutySnakeCase, ToSnakeCase};
+use std::{
+    collections::BTreeMap,
+    fs::{self, File},
+    io::{self, Write},
+};
+
+use toml::{Value, map::Map};
+
+fn main() -> io::Result<()> {
+    // Read the configuration file
+    let config_str = fs::read_to_string("components.toml").expect("Unable to read file");
+    let config: Value = toml::from_str(&config_str).expect("Unable to parse TOML");
+
+    let mut output = File::create("../satrs-example/src/ids.rs")?;
+
+    generate_rust_code(&config, &mut output);
+    Ok(())
+}
+
+fn sort_enum_table(table_map: &Map<String, Value>) -> BTreeMap<u64, &str> {
+    // Collect entries into a BTreeMap to sort them by key
+    let mut sorted_entries: BTreeMap<u64, &str> = BTreeMap::new();
+
+    for (key, value) in table_map {
+        if let Some(value) = value.as_integer() {
+            if !(0..=0x7FF).contains(&value) {
+                panic!("Invalid APID value: {}", value);
+            }
+            sorted_entries.insert(value as u64, key);
+        }
+    }
+    sorted_entries
+}
+
+fn generate_rust_code(config: &Value, writer: &mut impl Write) {
+    writeln!(
+        writer,
+        "//! This is an auto-generated configuration module."
+    )
+    .unwrap();
+    writeln!(writer, "use satrs::request::UniqueApidTargetId;").unwrap();
+    writeln!(writer).unwrap();
+
+    // Generate the main module
+    writeln!(
+        writer,
+        "#[derive(Debug, Copy, Clone, PartialEq, Eq, strum::EnumIter)]"
+    )
+    .unwrap();
+    writeln!(writer, "pub enum Apid {{").unwrap();
+
+    // Generate constants for the main module
+    if let Some(apid_table) = config.get("apid").and_then(Value::as_table) {
+        let sorted_entries = sort_enum_table(apid_table);
+        // Write the sorted entries to the writer
+        for (value, key) in sorted_entries {
+            writeln!(writer, "    {} = {},", key, value).unwrap();
+        }
+    }
+    writeln!(writer, "}}").unwrap();
+
+    // Generate ID tables.
+    if let Some(id_tables) = config.get("ids").and_then(Value::as_table) {
+        for (mod_name, table) in id_tables {
+            let mod_name_as_snake = mod_name.to_snake_case();
+            writeln!(writer).unwrap();
+            writeln!(writer, "pub mod {} {{", mod_name_as_snake).unwrap();
+            let sorted_entries = sort_enum_table(table.as_table().unwrap());
+            writeln!(writer, "    #[derive(Debug, Copy, Clone, PartialEq, Eq)]").unwrap();
+            writeln!(writer, "    pub enum Id {{").unwrap();
+            // Write the sorted entries to the writer
+            for (value, key) in &sorted_entries {
+                writeln!(writer, "        {} = {},", key, value).unwrap();
+            }
+            writeln!(writer, "    }}").unwrap();
+            writeln!(writer).unwrap();
+
+            for (_value, key) in sorted_entries {
+                let key_shouting = key.to_shouty_snake_case();
+                writeln!(
+                    writer,
+                    "    pub const {}: super::UniqueApidTargetId = super::UniqueApidTargetId::new(super::Apid::{} as u16, Id::{} as u32);",
+                key_shouting, mod_name, key
+                ).unwrap();
+            }
+
+            writeln!(writer, "}}").unwrap();
+        }
+    }
+}

images/minisim-arch/minisim-arch.graphml

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images/satrs-example-goal/satrs-example-goal.graphml

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+          <y:NodeLabel alignment="center" autoSizePolicy="content" fontFamily="Dialog" fontSize="16" fontStyle="plain" hasBackgroundColor="false" hasLineColor="false" height="41.25" horizontalTextPosition="center" iconTextGap="4" modelName="custom" textColor="#000000" verticalTextPosition="bottom" visible="true" width="374.8359375" x="110.3824039294143" xml:space="preserve" y="0.12842465753431043">pytmtc
 Command-line interface based TMTC handling<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>
           <y:Shape type="rectangle"/>
         </y:ShapeNode>

justfile

@@ -0,0 +1,29 @@
+all: check build embedded test check-fmt clippy docs
+
+check:
+  cargo check
+  cargo check -p satrs-example --no-default-features
+
+build:
+  cargo build
+
+test:
+  cargo nextest run --all-features
+  cargo test --doc --all-features
+
+embedded:
+  cargo check -p satrs --target=thumbv7em-none-eabihf --no-default-features
+
+check-fmt:
+  cargo fmt --all -- --check
+
+fmt:
+  cargo fmt --all
+
+clippy:
+  cargo clippy -- -D warnings
+
+docs-satrs:
+  RUSTDOCFLAGS="--cfg docsrs --generate-link-to-definition -Z unstable-options" cargo +nightly doc -p satrs --all-features
+
+docs: docs-satrs

satrs-book/src/actions.md

@@ -15,7 +15,7 @@ action commanding could look like.
 2. Target ID and Action String based. The target ID is the same as in the first proposal, but
    the unique action is identified by a string.
 
-The framework provides an `ActionRequest` abstraction to model both of these cases.
+The library provides an `ActionRequest` abstraction to model both of these cases.
 
 ## Commanding with ECSS PUS 8
 

satrs-book/src/communication.md

@@ -17,10 +17,10 @@ it is still centered around small packets. `sat-rs` provides support for these E
 standards and also attempts to fill the gap to the internet protocol by providing the following
 components.
 
-1. [UDP TMTC Server](https://docs.rs/satrs/latest/satrs/hal/host/udp_server/index.html).
+1. [UDP TMTC Server](https://docs.rs/satrs/latest/satrs/hal/std/udp_server/index.html).
    UDP is already packet based which makes it an excellent fit for exchanging space packets.
 2. [TCP TMTC Server Components](https://docs.rs/satrs/latest/satrs/hal/std/tcp_server/index.html).
-   TCP is a stream based protocol, so the framework provides building blocks to parse telemetry
+   TCP is a stream based protocol, so the library provides building blocks to parse telemetry
    from an arbitrary bytestream. Two concrete implementations are provided:
     - [TCP spacepackets server](https://docs.rs/satrs/latest/satrs/hal/std/tcp_server/struct.TcpSpacepacketsServer.html)
       to parse tightly packed CCSDS Spacepackets.
@@ -39,8 +39,12 @@ task might be to store all arriving telemetry persistently. This is especially i
 space systems which do not have permanent contact like low-earth-orbit (LEO) satellites.
 
 The most important task of a TC source is to deliver the telecommands to the correct recipients.
-For modern component oriented software using message passing, this usually includes staged
-demultiplexing components to determine where a command needs to be sent.
+For component oriented software using message passing, this usually includes staged demultiplexing
+components to determine where a command needs to be sent.
+
+Using a generic concept of a TC source and a TM sink as part of the software design simplifies
+the flexibility of the TMTC infrastructure: Newly added TM generators and TC receiver only have to
+forward their generated or received packets to those handler objects.
 
 # Low-level protocols and the bridge to the communcation subsystem
 

satrs-book/src/constrained-systems.md

@@ -3,20 +3,20 @@
 Software for space systems oftentimes has different requirements than the software for host
 systems or servers. Currently, most space systems are considered embedded systems.
 
-For these systems, the computation power and the available heap are the most important resources
-which are constrained. This might make completeley heap based memory management schemes which
+For these systems, the computation power and the available heap are important resources
+which are also constrained. This might make completeley heap based memory management schemes which
 are oftentimes used on host and server based systems unfeasable. Still, completely forbidding
 heap allocations might make software development unnecessarilly difficult, especially in a
 time where the OBSW might be running on Linux based systems with hundreds of MBs of RAM.
 
-A useful pattern used commonly in space systems is to limit heap allocations to program
+A useful pattern commonly used in space systems is to limit heap allocations to program
 initialization time and avoid frequent run-time allocations. This prevents issues like
 running out of memory (something even Rust can not protect from) or heap fragmentation on systems
 without a MMU.
 
 # Using pre-allocated pool structures
 
-A huge candidate for heap allocations is the TMTC and  handling. TC, TMs and IPC data are all
+A candidate for heap allocations is the TMTC and  handling. TC, TMs and IPC data are all
 candidates where the data size might vary greatly. The regular solution for host systems
 might be to send around this data as a `Vec<u8>` until it is dropped. `sat-rs` provides
 another solution to avoid run-time allocations by offering pre-allocated static

satrs-book/src/design.md

@@ -1,13 +1,14 @@
-# Framework Design
+# Library Design
 
 Satellites and space systems in general are complex systems with a wide range of requirements for
-both the hardware and the software. Consequently, the general design of the framework is centered
+both the hardware and the software. Consequently, the general design of the library is centered
 around many light-weight components which try to impose as few restrictions as possible on how to
-solve certain problems.
+solve certain problems. This is also the reason why sat-rs is explicitely called a library
+instead of a framework.
 
 There are still a lot of common patterns and architectures across these systems where guidance
 of how to solve a problem and a common structure would still be extremely useful to avoid pitfalls
-which were already solved and to avoid boilerplate code. This framework tries to provide this
+which were already solved and to avoid boilerplate code. This library tries to provide this
 structure and guidance the following way:
 
 1. Providing this book which explains the architecture and design patterns in respect to common
@@ -18,7 +19,7 @@ structure and guidance the following way:
 3. Providing a good test suite. This includes both unittests and integration tests. The integration
    tests can also serve as smaller usage examples than the large `satrs-example` application.
 
-This framework has special support for standards used in the space industry. This especially
+This library has special support for standards used in the space industry. This especially
 includes standards provided by Consultative Committee for Space Data Systems (CCSDS) and European
 Cooperation for Space Standardization (ECSS). It does not enforce using any of those standards,
 but it is always recommended to use some sort of standard for interoperability.
@@ -30,10 +31,10 @@ Flying Laptop Project by the University of Stuttgart with Airbus Defence and Spa
 It has flight heritage through the 2 mssions [FLP](https://www.irs.uni-stuttgart.de/en/research/satellitetechnology-and-instruments/smallsatelliteprogram/flying-laptop/)
 and [EIVE](https://www.irs.uni-stuttgart.de/en/research/satellitetechnology-and-instruments/smallsatelliteprogram/EIVE/).
 Therefore, a lot of the design concepts were ported more or less unchanged to the `sat-rs`
-framework.
+library.
 FLP is a medium-size small satellite with a higher budget and longer development time than EIVE,
 which allowed to build a highly reliable system while EIVE is a smaller 6U+ cubesat which had a
-shorter development cycle and was built using cheaper COTS components. This framework also tries
+shorter development cycle and was built using cheaper COTS components. This library also tries
 to accumulate the knowledge of developing the OBSW and operating the satellite for both these
 different systems and provide a solution for a wider range of small satellite systems.
 

satrs-book/src/events.md

@@ -1,16 +1,24 @@
 # Events
 
-Events can be an extremely important mechanism used for remote systems to monitor unexpected
-or expected anomalies and events occuring on these systems. They are oftentimes tied to
+Events are an important mechanism used for remote systems to monitor unexpected
+or expected anomalies and events occuring on these systems. 
+
+One common use case for events on remote systems is to offer a light-weight publish-subscribe
+mechanism and IPC mechanism for software and hardware events which are also packaged as telemetry
+(TM) or can trigger a system response. They can also be tied to
 Fault Detection, Isolation and Recovery (FDIR) operations, which need to happen autonomously.
 
-Events can also be used as a convenient Inter-Process Communication (IPC) mechansism, which is
-also observable for the Ground segment. The PUS Service 5 standardizes how the ground interface
-for events might look like, but does not specify how other software components might react
-to those events. There is the PUS Service 19, which might be used for that purpose, but the
-event components recommended by this framework do not really need this service.
+The PUS Service 5 standardizes how the ground interface for events might look like, but does not
+specify how other software components might react to those events. There is the PUS Service 19,
+which might be used for that purpose, but the event components recommended by this framework do not
+rely on the present of this service.
 
 The following images shows how the flow of events could look like in a system where components
 can generate events, and where other system components might be interested in those events:
 
 ![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.

satrs-book/src/example.md

@@ -1,6 +1,6 @@
 # sat-rs Example Application
 
-The `sat-rs` framework includes a monolithic example application which can be found inside
+The `sat-rs` library includes a monolithic example application which can be found inside
 the [`satrs-example`](https://egit.irs.uni-stuttgart.de/rust/sat-rs/src/branch/main/satrs-example)
 subdirectory of the repository. The primary purpose of this example application is to show how
 the various components of the sat-rs framework could be used as part of a larger on-board

satrs-book/src/introduction.md

@@ -1,21 +1,24 @@
 The sat-rs book
 ======
 
-This book is the primary information resource for the [sat-rs framework](https://egit.irs.uni-stuttgart.de/rust/sat-rs)
+This book is the primary information resource for the [sat-rs library](https://egit.irs.uni-stuttgart.de/rust/sat-rs)
 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.
-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.
-2. A Getting-Started workshop where a small On-Board Software is built from scratch using
-   sat-rs components.
 
 # Introduction
 
-The primary goal of the sat-rs framework is to provide re-usable components
+The primary goal of the sat-rs library is to provide re-usable components
 to write on-board software for remote systems like rovers or satellites. It is specifically written
 for the special requirements for these systems.
 
+It should be noted that sat-rs is early-stage software. Important features are missing. New releases
+with breaking changes are released regularly, with all changes documented inside respective
+changelog files. You should only use this library if your are willing to work in this
+environment.
+
 A lot of the architecture and general design considerations are based on the
 [FSFW](https://egit.irs.uni-stuttgart.de/fsfw/fsfw) C++ framework which has flight heritage
 through the 2 missions [FLP](https://www.irs.uni-stuttgart.de/en/research/satellitetechnology-and-instruments/smallsatelliteprogram/flying-laptop/)
@@ -26,4 +29,21 @@ 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)
 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 example application.
+the example application. The [`satrs-minisim`](https://egit.irs.uni-stuttgart.de/rust/sat-rs/src/branch/main/satrs-minisim)
+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/).

satrs-book/src/modes-and-health.md

@@ -1,11 +1,11 @@
 # Modes
 
-Modes are an extremely useful concept for complex system in general. They also allow simplified
-system reasoning for both system operators and OBSW developers. They model the behaviour of a
-component and also provide observability of a system. A few examples of how to model
-different components of a space system with modes will be given.
+Modes are an extremely useful concept to model complex systems. They allow simplified
+system reasoning for both system operators and OBSW developers. They also provide a way to alter
+the behaviour of a component and also provide observability of a system. A few examples of how to
+model the mode of different components within a space system with modes will be given.
 
-## Modelling a pyhsical devices with modes
+## Pyhsical device component with modes
 
 The following simple mode scheme with the following three mode
 
@@ -13,7 +13,8 @@ The following simple mode scheme with the following three mode
 - `ON`
 - `NORMAL`
 
-can be applied to a large number of simpler devices of a remote system, for example sensors.
+can be applied to a large number of simpler device controllers of a remote system, for example
+sensors.
 
 1. `OFF` means that a device is physically switched off, and the corresponding software component
 does not poll the device regularly.
@@ -31,7 +32,7 @@ for the majority of devices:
 2. `NORMAL` or `ON` to `OFF`: Any important shutdown configuration or handling must be performed
    before powering off the device.
 
-## Modelling a controller with modes
+## Controller components with modes
 
 Controller components are not modelling physical devices, but a mode scheme is still the best
 way to model most of these components.

satrs-example-stm32f3-disco/.vscode/launch.json

@@ -1,66 +0,0 @@
-{
-    /* 
-     * Requires the Rust Language Server (RLS) and Cortex-Debug extensions
-     * https://marketplace.visualstudio.com/items?itemName=rust-lang.rust
-     * https://marketplace.visualstudio.com/items?itemName=marus25.cortex-debug
-     */
-    "version": "0.2.0",
-    "configurations": [
-        {
-            /* Launches debug session for currently open example */
-            "type": "cortex-debug",
-            "request": "launch",
-            "name": "Debug",
-            "servertype": "openocd",
-            "cwd": "${workspaceRoot}",
-            "preLaunchTask": "cargo build",
-            "runToEntryPoint": "true",
-            "executable": "./target/thumbv7em-none-eabihf/debug/satrs-example-stm32f3-disco",
-            "preLaunchCommands": ["break rust_begin_unwind"],
-            "device": "STM32F303VCT6",
-            "configFiles": [
-                "${workspaceRoot}/.vscode/openocd-helpers.tcl",
-                "interface/stlink.cfg",
-                "target/stm32f3x.cfg"
-            ],
-            "svdFile": "${env:HOME}/.svd/STM32F303.svd",
-            "swoConfig": {
-                "enabled": true,
-                "cpuFrequency": 8000000,
-                "swoFrequency": 2000000,
-                "source": "probe",
-                "decoders": [
-                    { "type": "console", "label": "ITM", "port": 0 }
-                ]
-            }
-        },
-        {
-            /* Launches debug session for currently open example */
-            "type": "cortex-debug",
-            "request": "launch",
-            "name": "Release",
-            "servertype": "openocd",
-            "cwd": "${workspaceRoot}",
-            "preLaunchTask": "cargo build",
-            "runToEntryPoint": "true",
-            "executable": "./target/thumbv7em-none-eabihf/release/satrs-example-stm32f3-disco",
-            "preLaunchCommands": ["break rust_begin_unwind"],
-            "device": "STM32F303VCT6",
-            "configFiles": [
-                "${workspaceRoot}/.vscode/openocd-helpers.tcl",
-                "interface/stlink.cfg",
-                "target/stm32f3x.cfg"
-            ],
-            "svdFile": "${env:HOME}/.svd/STM32F303.svd",
-            "swoConfig": {
-                "enabled": true,
-                "cpuFrequency": 8000000,
-                "swoFrequency": 2000000,
-                "source": "probe",
-                "decoders": [
-                    { "type": "console", "label": "ITM", "port": 0 }
-                ]
-            }
-        }
-    ]
-}

satrs-example-stm32f3-disco/.vscode/settings_default.json

@@ -1,3 +0,0 @@
-{
-    "cortex-debug.gdbPath.linux": "gdb-multiarch"
-}

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satrs-example-stm32f3-disco/Cargo.toml

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-features = ["stm32f303xc", "rt", "enumset"]
-branch = "all_features"
-# Can be used in workspace to develop and update HAL
-# path = "../stm32f3xx-hal"
-
-[dependencies.stm32f3-discovery]
-git = "https://github.com/robamu/stm32f3-discovery"
-version = "0.8.0-alpha.0"
-branch = "all_features"
-# Can be used in workspace to develop and update BSP
-# path = "../stm32f3-discovery"
-
-[dependencies.satrs-core]
-git = "https://egit.irs.uni-stuttgart.de/rust/satrs-core.git"
-version = "0.1.0-alpha.0"
-default-features = false
-
-# this lets you use `cargo fix`!
-# [[bin]]
-# name = "stm32f3-blinky"
-# test = false
-# bench = false
-
-[profile.release]
-codegen-units = 1 # better optimizations
-debug = true # symbols are nice and they don't increase the size on Flash
-lto = true # better optimizations

satrs-example-stm32f3-disco/README.md

@@ -1,75 +0,0 @@
-sat-rs example for the STM32F3-Discovery board
-=======
-
-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. It also shows how a relatively simple OBSW could be built when no
-standard runtime is available. It uses [RTIC](https://rtic.rs/1/book/en/) as the concurrency
-framework.
-
-The STM32F3-Discovery device was picked because it is a cheap Cortex-M4 based device which is also
-used by the [Rust Embedded Book](https://docs.rust-embedded.org/book/intro/hardware.html) and the
-[Rust Discovery](https://docs.rust-embedded.org/discovery/f3discovery/) book as an introduction
-to embedded Rust.
-
-## 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 and Debugging from the command line
-
-TODO
-
-## 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 `openocd`
-and the VS Code [`Cortex-Debug` plugin](https://marketplace.visualstudio.com/items?itemName=marus25.cortex-debug).
-
-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.
-
-If you would like to use a custom GDB application, you can specify the gdb binary in the following
-configuration variables in your `settings.json`:
-
-- `"cortex-debug.gdbPath"`
-- `"cortex-debug.gdbPath.linux"`
-- `"cortex-debug.gdbPath.windows"`
-- `"cortex-debug.gdbPath.osx"`
-
-## Commanding with Python
-
-When the SW is running on the Discovery board, you can command the MCU via a serial interface,
-using COBS encoded CCSDS packets.
- 
-TODO:
-  - How and where to connect serial interface on the MCU
-  - How to set up Python venv (or at least strongly recommend it) and install deps
-  - How to copy `def_tmtc_conf.json` to `tmtc_conf.json` and adapt it for custom serial port

satrs-example-stm32f3-disco/build.rs

@@ -1,18 +0,0 @@
-use std::env;
-use std::fs::File;
-use std::io::Write;
-use std::path::PathBuf;
-
-fn main() {
-    // Put the linker script somewhere the linker can find it
-    let out = &PathBuf::from(env::var_os("OUT_DIR").unwrap());
-    File::create(out.join("memory.x"))
-        .unwrap()
-        .write_all(include_bytes!("memory.x"))
-        .unwrap();
-    println!("cargo:rustc-link-search={}", out.display());
-
-    // Only re-run the build script when memory.x is changed,
-    // instead of when any part of the source code changes.
-    println!("cargo:rerun-if-changed=memory.x");
-}

satrs-example-stm32f3-disco/jlink.gdb

@@ -1,10 +0,0 @@
-target extended-remote localhost:2331
-
-monitor reset
-
-# *try* to stop at the user entry point (it might be gone due to inlining)
-break main
-
-load
-
-continue

satrs-example-stm32f3-disco/openocd.cfg

@@ -1,12 +0,0 @@
-# Sample OpenOCD configuration for the STM32F3DISCOVERY development board
-
-# Depending on the hardware revision you got you'll have to pick ONE of these
-# interfaces. At any time only one interface should be commented out.
-
-# Revision C (newer revision)
-source [find interface/stlink.cfg]
-
-# Revision A and B (older revisions)
-# source [find interface/stlink-v2.cfg]
-
-source [find target/stm32f3x.cfg]

satrs-example-stm32f3-disco/openocd.gdb

@@ -1,40 +0,0 @@
-target extended-remote :3333
-
-# print demangled symbols
-set print asm-demangle on
-
-# set backtrace limit to not have infinite backtrace loops
-set backtrace limit 32
-
-# detect unhandled exceptions, hard faults and panics
-break DefaultHandler
-break HardFault
-break rust_begin_unwind
-# # run the next few lines so the panic message is printed immediately
-# # the number needs to be adjusted for your panic handler
-# commands $bpnum
-# next 4
-# end
-
-# *try* to stop at the user entry point (it might be gone due to inlining)
-break main
-
-# monitor arm semihosting enable
-
-# # send captured ITM to the file itm.fifo
-# # (the microcontroller SWO pin must be connected to the programmer SWO pin)
-# # 8000000 must match the core clock frequency
-monitor tpiu config internal itm.txt uart off 8000000
-
-# # OR: make the microcontroller SWO pin output compatible with UART (8N1)
-# # 8000000 must match the core clock frequency
-# # 2000000 is the frequency of the SWO pin
-# monitor tpiu config external uart off 8000000 2000000
-
-# # enable ITM port 0
-monitor itm port 0 on
-
-load
-
-# start the process but immediately halt the processor
-stepi

satrs-example-stm32f3-disco/pyclient/.gitignore

@@ -1,7 +0,0 @@
-/venv
-/log
-/.idea/*
-!/.idea/runConfigurations
-
-/seqcnt.txt
-/tmtc_conf.json

satrs-example-stm32f3-disco/pyclient/def_tmtc_conf.json

@@ -1,4 +0,0 @@
-{
-    "com_if": "serial_cobs",
-    "serial_baudrate": 115200
-}

satrs-example-stm32f3-disco/pyclient/main.py

@@ -1,307 +0,0 @@
-#!/usr/bin/env python3
-"""Example client for the sat-rs example application"""
-import enum
-import struct
-import sys
-import time
-from typing import Optional, cast
-
-import tmtccmd
-from spacepackets.ecss import PusTelemetry, PusTelecommand, PusVerificator
-from spacepackets.ecss.pus_17_test import Service17Tm
-from spacepackets.ecss.pus_1_verification import UnpackParams, Service1Tm
-
-from tmtccmd import CcsdsTmtcBackend, TcHandlerBase, ProcedureParamsWrapper
-from tmtccmd.core.base import BackendRequest
-from tmtccmd.pus import VerificationWrapper
-from tmtccmd.tm import CcsdsTmHandler, SpecificApidHandlerBase
-from tmtccmd.com_if import ComInterface
-from tmtccmd.config import (
-    default_json_path,
-    SetupParams,
-    TmTcCfgHookBase,
-    TmtcDefinitionWrapper,
-    CoreServiceList,
-    OpCodeEntry,
-    params_to_procedure_conversion,
-)
-from tmtccmd.config.com_if import SerialCfgWrapper
-from tmtccmd.config import PreArgsParsingWrapper, SetupWrapper
-from tmtccmd.logging import get_console_logger
-from tmtccmd.logging.pus import (
-    RegularTmtcLogWrapper,
-    RawTmtcTimedLogWrapper,
-    TimedLogWhen,
-)
-from tmtccmd.tc import (
-    TcQueueEntryType,
-    ProcedureWrapper,
-    TcProcedureType,
-    FeedWrapper,
-    SendCbParams,
-    DefaultPusQueueHelper,
-)
-from tmtccmd.tm.pus_5_event import Service5Tm
-from tmtccmd.util import FileSeqCountProvider, PusFileSeqCountProvider
-from tmtccmd.util.obj_id import ObjectIdDictT
-
-from tmtccmd.util.tmtc_printer import FsfwTmTcPrinter
-
-LOGGER = get_console_logger()
-
-EXAMPLE_PUS_APID = 0x02
-
-
-class SatRsConfigHook(TmTcCfgHookBase):
-    def __init__(self, json_cfg_path: str):
-        super().__init__(json_cfg_path=json_cfg_path)
-
-    def assign_communication_interface(self, com_if_key: str) -> Optional[ComInterface]:
-        from tmtccmd.config.com_if import (
-            create_com_interface_default,
-            create_com_interface_cfg_default,
-        )
-
-        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_tmtc_definitions(self) -> TmtcDefinitionWrapper:
-        from tmtccmd.config.globals import get_default_tmtc_defs
-
-        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("0", "Ping Test")
-        defs.add_service(
-            name=CoreServiceList.SERVICE_17_ALT,
-            info="PUS Service 17 Test",
-            op_code_entry=srv_17,
-        )
-        srv_3 = OpCodeEntry()
-        defs.add_service(
-            name=CoreServiceList.SERVICE_3,
-            info="PUS Service 3 Housekeeping",
-            op_code_entry=srv_3,
-        )
-        return defs
-
-    def perform_mode_operation(self, tmtc_backend: CcsdsTmtcBackend, mode: int):
-        LOGGER.info("Mode operation hook was called")
-        pass
-
-    def get_object_ids(self) -> ObjectIdDictT:
-        from tmtccmd.config.objects import get_core_object_ids
-
-        return get_core_object_ids()
-
-
-class PusHandler(SpecificApidHandlerBase):
-    def __init__(
-        self,
-        verif_wrapper: VerificationWrapper,
-        printer: FsfwTmTcPrinter,
-        raw_logger: RawTmtcTimedLogWrapper,
-    ):
-        super().__init__(EXAMPLE_PUS_APID, None)
-        self.printer = printer
-        self.raw_logger = raw_logger
-        self.verif_wrapper = verif_wrapper
-
-    def handle_tm(self, packet: bytes, _user_args: any):
-        try:
-            tm_packet = PusTelemetry.unpack(packet)
-        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 = tm_packet.service
-        dedicated_handler = False
-        if service == 1:
-            tm_packet = Service1Tm.unpack(data=packet, params=UnpackParams(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)
-            dedicated_handler = True
-        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)
-            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:]
-            dedicated_handler = True
-        if service == 5:
-            tm_packet = Service5Tm.unpack(packet)
-        if service == 17:
-            tm_packet = Service17Tm.unpack(packet)
-            dedicated_handler = True
-            if tm_packet.subservice == 2:
-                self.printer.file_logger.info("Received Ping Reply TM[17,2]")
-                LOGGER.info("Received Ping Reply TM[17,2]")
-            else:
-                self.printer.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}"
-                )
-        if tm_packet is None:
-            LOGGER.info(
-                f"The service {service} is not implemented in Telemetry Factory"
-            )
-            tm_packet = PusTelemetry.unpack(packet)
-        self.raw_logger.log_tm(tm_packet)
-        if not dedicated_handler and tm_packet is not None:
-            self.printer.handle_long_tm_print(packet_if=tm_packet, info_if=tm_packet)
-
-
-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=None,
-            seq_cnt_provider=seq_count_provider,
-        )
-
-    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, helper: ProcedureWrapper):
-        if helper.proc_type == TcProcedureType.DEFAULT:
-            def_proc = helper.to_def_procedure()
-            LOGGER.info(
-                f"Queue handling finished for service {def_proc.service} and "
-                f"op code {def_proc.op_code}"
-            )
-
-    def feed_cb(self, helper: ProcedureWrapper, wrapper: FeedWrapper):
-        q = self.queue_helper
-        q.queue_wrapper = wrapper.queue_wrapper
-        if helper.proc_type == TcProcedureType.DEFAULT:
-            def_proc = helper.to_def_procedure()
-            service = def_proc.service
-            op_code = def_proc.op_code
-            if (
-                service == CoreServiceList.SERVICE_17
-                or service == CoreServiceList.SERVICE_17_ALT
-            ):
-                q.add_log_cmd("Sending PUS ping telecommand")
-                return q.add_pus_tc(PusTelecommand(service=17, subservice=1))
-
-
-def main():
-    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()
-    post_args_wrapper = parser_wrapper.parse(hook_obj)
-    params = SetupParams()
-    proc_wrapper = ProcedureParamsWrapper()
-    if post_args_wrapper.use_gui:
-        post_args_wrapper.set_params_without_prompts(params, proc_wrapper)
-    else:
-        post_args_wrapper.set_params_with_prompts(params, 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()
-    printer = FsfwTmTcPrinter(tmtc_logger.logger)
-    raw_logger = RawTmtcTimedLogWrapper(when=TimedLogWhen.PER_HOUR, interval=1)
-    verificator = PusVerificator()
-    verification_wrapper = VerificationWrapper(verificator, LOGGER, printer.file_logger)
-    # Create primary TM handler and add it to the CCSDS Packet Handler
-    tm_handler = PusHandler(verification_wrapper, printer, 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()

satrs-example-stm32f3-disco/src/blinky.rs

@@ -1,78 +0,0 @@
-#![no_std]
-#![no_main]
-
-extern crate panic_itm;
-
-use cortex_m_rt::entry;
-
-use stm32f3_discovery::stm32f3xx_hal::delay::Delay;
-use stm32f3_discovery::stm32f3xx_hal::{pac, prelude::*};
-use stm32f3_discovery::leds::Leds;
-use stm32f3_discovery::switch_hal::{OutputSwitch, ToggleableOutputSwitch};
-
-#[entry]
-fn main()-> ! {
-    let dp = pac::Peripherals::take().unwrap();
-    let mut rcc = dp.RCC.constrain();
-    let cp = cortex_m::Peripherals::take().unwrap();
-    let mut flash = dp.FLASH.constrain();
-    let clocks = rcc.cfgr.freeze(&mut flash.acr);
-    let mut delay = Delay::new(cp.SYST, clocks);
-
-    let mut gpioe = dp.GPIOE.split(&mut rcc.ahb);
-    let mut leds = Leds::new(
-        gpioe.pe8,
-        gpioe.pe9,
-        gpioe.pe10,
-        gpioe.pe11,
-        gpioe.pe12,
-        gpioe.pe13,
-        gpioe.pe14,
-        gpioe.pe15,
-        &mut gpioe.moder,
-        &mut gpioe.otyper
-    );
-    let delay_ms = 200u16;
-    loop {
-        leds.ld3.toggle().ok();
-        delay.delay_ms(delay_ms);
-        leds.ld3.toggle().ok();
-        delay.delay_ms(delay_ms);
-
-        //explicit on/off
-        leds.ld4.on().ok();
-        delay.delay_ms(delay_ms);
-        leds.ld4.off().ok();
-        delay.delay_ms(delay_ms);
-
-        leds.ld5.on().ok();
-        delay.delay_ms(delay_ms);
-        leds.ld5.off().ok();
-        delay.delay_ms(delay_ms);
-
-        leds.ld6.on().ok();
-        delay.delay_ms(delay_ms);
-        leds.ld6.off().ok();
-        delay.delay_ms(delay_ms);
-        
-        leds.ld7.on().ok();
-        delay.delay_ms(delay_ms);
-        leds.ld7.off().ok();
-        delay.delay_ms(delay_ms);
-        
-        leds.ld8.on().ok();
-        delay.delay_ms(delay_ms);
-        leds.ld8.off().ok();
-        delay.delay_ms(delay_ms);
-        
-        leds.ld9.on().ok();
-        delay.delay_ms(delay_ms);
-        leds.ld9.off().ok();
-        delay.delay_ms(delay_ms);
-
-        leds.ld10.on().ok();
-        delay.delay_ms(delay_ms);
-        leds.ld10.off().ok();
-        delay.delay_ms(delay_ms);
-    }
-}

satrs-example-stm32f3-disco/src/main.rs

@@ -1,604 +0,0 @@
-#![no_std]
-#![no_main]
-extern crate panic_itm;
-
-use rtic::app;
-
-use heapless::{
-    mpmc::Q16,
-    pool,
-    pool::singleton::{Box, Pool},
-};
-#[allow(unused_imports)]
-use itm_logger::{debug, info, logger_init, warn};
-use satrs_core::spacepackets::{ecss::PusPacket, tm::PusTm};
-use satrs_core::{
-    pus::{EcssTmErrorWithSend, EcssTmSenderCore},
-    seq_count::SequenceCountProviderCore,
-};
-use stm32f3xx_hal::dma::dma1;
-use stm32f3xx_hal::gpio::{PushPull, AF7, PA2, PA3};
-use stm32f3xx_hal::pac::USART2;
-use stm32f3xx_hal::serial::{Rx, RxEvent, Serial, SerialDmaRx, SerialDmaTx, Tx, TxEvent};
-use systick_monotonic::{fugit::Duration, Systick};
-
-const UART_BAUD: u32 = 115200;
-const BLINK_FREQ_MS: u64 = 1000;
-const TX_HANDLER_FREQ_MS: u64 = 20;
-const MIN_DELAY_BETWEEN_TX_PACKETS_MS: u16 = 5;
-const MAX_TC_LEN: usize = 200;
-const MAX_TM_LEN: usize = 200;
-pub const PUS_APID: u16 = 0x02;
-
-type TxType = Tx<USART2, PA2<AF7<PushPull>>>;
-type RxType = Rx<USART2, PA3<AF7<PushPull>>>;
-type MsDuration = Duration<u64, 1, 1000>;
-type TxDmaTransferType = SerialDmaTx<&'static [u8], dma1::C7, TxType>;
-type RxDmaTransferType = SerialDmaRx<&'static mut [u8], dma1::C6, RxType>;
-
-// This is the predictable maximum overhead of the COBS encoding scheme.
-// It is simply the maximum packet lenght dividied by 254 rounded up.
-const COBS_TC_OVERHEAD: usize = (MAX_TC_LEN + 254 - 1) / 254;
-const COBS_TM_OVERHEAD: usize = (MAX_TM_LEN + 254 - 1) / 254;
-
-const TC_BUF_LEN: usize = MAX_TC_LEN + COBS_TC_OVERHEAD;
-const TM_BUF_LEN: usize = MAX_TC_LEN + COBS_TM_OVERHEAD;
-
-// This is a static buffer which should ONLY (!) be used as the TX DMA
-// transfer buffer.
-static mut DMA_TX_BUF: [u8; TM_BUF_LEN] = [0; TM_BUF_LEN];
-// This is a static buffer which should ONLY (!) be used as the RX DMA
-// transfer buffer.
-static mut DMA_RX_BUF: [u8; TC_BUF_LEN] = [0; TC_BUF_LEN];
-
-static TX_REQUESTS: Q16<(Box<poolmod::TM>, usize)> = Q16::new();
-
-const TC_POOL_SLOTS: usize = 12;
-const TM_POOL_SLOTS: usize = 12;
-use core::sync::atomic::{AtomicU16, Ordering};
-
-pub struct SeqCountProviderAtomicRef {
-    atomic: AtomicU16,
-    ordering: Ordering,
-}
-
-impl SeqCountProviderAtomicRef {
-    pub const fn new(ordering: Ordering) -> Self {
-        Self {
-            atomic: AtomicU16::new(0),
-            ordering,
-        }
-    }
-}
-
-impl SequenceCountProviderCore<u16> for SeqCountProviderAtomicRef {
-    fn get(&self) -> u16 {
-        self.atomic.load(self.ordering)
-    }
-
-    fn increment(&self) {
-        self.atomic.fetch_add(1, self.ordering);
-    }
-
-    fn get_and_increment(&self) -> u16 {
-        self.atomic.fetch_add(1, self.ordering)
-    }
-}
-
-static SEQ_COUNT_PROVIDER: SeqCountProviderAtomicRef =
-    SeqCountProviderAtomicRef::new(Ordering::Relaxed);
-
-// Otherwise, warnings because of heapless pool macro.
-#[allow(non_camel_case_types)]
-mod poolmod {
-    use super::*;
-    // Must hold full TC length including COBS overhead.
-    pool!(TC: [u8; TC_BUF_LEN]);
-    // Only encoded at the end, so no need to account for COBS overhead.
-    pool!(TM: [u8; MAX_TM_LEN]);
-}
-
-pub struct TxIdle {
-    tx: TxType,
-    dma_channel: dma1::C7,
-}
-
-#[derive(Debug)]
-pub enum TmStoreError {
-    StoreFull,
-    StoreSlotsTooSmall,
-}
-
-impl From<TmStoreError> for EcssTmErrorWithSend<TmStoreError> {
-    fn from(value: TmStoreError) -> Self {
-        Self::SendError(value)
-    }
-}
-
-pub struct TmSender {
-    mem_block: Option<Box<poolmod::TM>>,
-    ctx: &'static str,
-}
-
-impl TmSender {
-    pub fn new(mem_block: Box<poolmod::TM>, ctx: &'static str) -> Self {
-        Self {
-            mem_block: Some(mem_block),
-            ctx,
-        }
-    }
-}
-
-impl EcssTmSenderCore for TmSender {
-    type Error = TmStoreError;
-
-    fn send_tm(
-        &mut self,
-        tm: PusTm,
-    ) -> Result<(), satrs_core::pus::EcssTmErrorWithSend<Self::Error>> {
-        let mem_block = self.mem_block.take();
-        if mem_block.is_none() {
-            panic!("send_tm should only be called once");
-        }
-        let mut mem_block = mem_block.unwrap();
-        if tm.len_packed() > MAX_TM_LEN {
-            return Err(EcssTmErrorWithSend::SendError(
-                TmStoreError::StoreSlotsTooSmall,
-            ));
-        }
-        tm.write_to_bytes(mem_block.as_mut_slice())
-            .map_err(|e| EcssTmErrorWithSend::EcssTmError(e.into()))?;
-        info!(target: self.ctx, "Sending TM[{},{}] with size {}", tm.service(), tm.subservice(), tm.len_packed());
-        TX_REQUESTS
-            .enqueue((mem_block, tm.len_packed()))
-            .map_err(|_| TmStoreError::StoreFull)?;
-        Ok(())
-    }
-}
-
-pub enum UartTxState {
-    // Wrapped in an option because we need an owned type later.
-    Idle(Option<TxIdle>),
-    // Same as above
-    Transmitting(Option<TxDmaTransferType>),
-}
-
-#[app(device = stm32f3xx_hal::pac, peripherals = true, dispatchers = [TIM20_BRK, TIM20_UP, TIM20_TRG_COM])]
-mod app {
-    use super::*;
-    use core::slice::Iter;
-    use cortex_m::iprintln;
-    use satrs_core::pus::verification::FailParams;
-    use satrs_core::pus::verification::VerificationReporterCore;
-    use satrs_core::spacepackets::{
-        ecss::EcssEnumU16,
-        tc::PusTc,
-        time::cds::P_FIELD_BASE,
-        tm::{PusTm, PusTmSecondaryHeader},
-        CcsdsPacket, SpHeader,
-    };
-    #[allow(unused_imports)]
-    use stm32f3_discovery::leds::Direction;
-    use stm32f3_discovery::leds::Leds;
-    use stm32f3xx_hal::prelude::*;
-    use stm32f3xx_hal::Toggle;
-
-    use stm32f3_discovery::switch_hal::OutputSwitch;
-    #[allow(dead_code)]
-    type SerialType = Serial<USART2, (PA2<AF7<PushPull>>, PA3<AF7<PushPull>>)>;
-
-    #[shared]
-    struct Shared {
-        tx_transfer: UartTxState,
-        rx_transfer: Option<RxDmaTransferType>,
-    }
-
-    #[local]
-    struct Local {
-        leds: Leds,
-        last_dir: Direction,
-        verif_reporter: VerificationReporterCore,
-        curr_dir: Iter<'static, Direction>,
-    }
-
-    #[monotonic(binds = SysTick, default = true)]
-    type MonoTimer = Systick<1000>;
-
-    #[init(local = [
-        tc_pool_mem: [u8; TC_BUF_LEN * TC_POOL_SLOTS] = [0; TC_BUF_LEN * TC_POOL_SLOTS],
-        tm_pool_mem: [u8; MAX_TM_LEN * TM_POOL_SLOTS] = [0; MAX_TM_LEN * TM_POOL_SLOTS]
-    ])]
-    fn init(mut cx: init::Context) -> (Shared, Local, init::Monotonics) {
-        let mut rcc = cx.device.RCC.constrain();
-
-        let mono = Systick::new(cx.core.SYST, 8_000_000);
-        logger_init();
-        let mut flash = cx.device.FLASH.constrain();
-        let clocks = rcc
-            .cfgr
-            .use_hse(8.MHz())
-            .sysclk(8.MHz())
-            .pclk1(8.MHz())
-            .freeze(&mut flash.acr);
-        // setup ITM output
-        iprintln!(
-            &mut cx.core.ITM.stim[0],
-            "Starting sat-rs demo application for the STM32F3-Discovery"
-        );
-        let mut gpioe = cx.device.GPIOE.split(&mut rcc.ahb);
-        // Assign memory to the pools.
-        poolmod::TC::grow(cx.local.tc_pool_mem);
-        poolmod::TM::grow(cx.local.tm_pool_mem);
-
-        let verif_reporter = VerificationReporterCore::new(PUS_APID).unwrap();
-
-        let leds = Leds::new(
-            gpioe.pe8,
-            gpioe.pe9,
-            gpioe.pe10,
-            gpioe.pe11,
-            gpioe.pe12,
-            gpioe.pe13,
-            gpioe.pe14,
-            gpioe.pe15,
-            &mut gpioe.moder,
-            &mut gpioe.otyper,
-        );
-        let mut gpioa = cx.device.GPIOA.split(&mut rcc.ahb);
-        // USART2 pins
-        let mut pins = (
-            // TX pin: PA2
-            gpioa
-                .pa2
-                .into_af_push_pull(&mut gpioa.moder, &mut gpioa.otyper, &mut gpioa.afrl),
-            // RX pin: PA3
-            gpioa
-                .pa3
-                .into_af_push_pull(&mut gpioa.moder, &mut gpioa.otyper, &mut gpioa.afrl),
-        );
-        pins.1.internal_pull_up(&mut gpioa.pupdr, true);
-        let mut usart2 = Serial::new(
-            cx.device.USART2,
-            pins,
-            UART_BAUD.Bd(),
-            clocks,
-            &mut rcc.apb1,
-        );
-        usart2.configure_rx_interrupt(RxEvent::Idle, Toggle::On);
-        // This interrupt is enabled to re-schedule new transfers in the interrupt handler immediately.
-        usart2.configure_tx_interrupt(TxEvent::TransmissionComplete, Toggle::On);
-
-        let dma1 = cx.device.DMA1.split(&mut rcc.ahb);
-        let (tx_serial, mut rx_serial) = usart2.split();
-
-        // This interrupt is immediately triggered, clear it. It will only be reset
-        // by the hardware when data is received on RX (RXNE event)
-        rx_serial.clear_event(RxEvent::Idle);
-        let rx_transfer = rx_serial.read_exact(unsafe { DMA_RX_BUF.as_mut_slice() }, dma1.ch6);
-        info!(target: "init", "Spawning tasks");
-        blink::spawn().unwrap();
-        serial_tx_handler::spawn().unwrap();
-        (
-            Shared {
-                tx_transfer: UartTxState::Idle(Some(TxIdle {
-                    tx: tx_serial,
-                    dma_channel: dma1.ch7,
-                })),
-                rx_transfer: Some(rx_transfer),
-            },
-            Local {
-                leds,
-                last_dir: Direction::North,
-                curr_dir: Direction::iter(),
-                verif_reporter,
-            },
-            init::Monotonics(mono),
-        )
-    }
-
-    #[task(local = [leds, curr_dir, last_dir])]
-    fn blink(cx: blink::Context) {
-        let toggle_leds = |dir: &Direction| {
-            let leds = cx.local.leds;
-            let last_led = leds.for_direction(*cx.local.last_dir);
-            last_led.off().ok();
-            let led = leds.for_direction(*dir);
-            led.on().ok();
-            *cx.local.last_dir = *dir;
-        };
-
-        match cx.local.curr_dir.next() {
-            Some(dir) => {
-                toggle_leds(dir);
-            }
-            None => {
-                *cx.local.curr_dir = Direction::iter();
-                toggle_leds(cx.local.curr_dir.next().unwrap());
-            }
-        }
-        blink::spawn_after(MsDuration::from_ticks(BLINK_FREQ_MS)).unwrap();
-    }
-
-    #[task(
-        shared = [tx_transfer],
-        local = []
-    )]
-    fn serial_tx_handler(mut cx: serial_tx_handler::Context) {
-        if let Some((buf, len)) = TX_REQUESTS.dequeue() {
-            cx.shared.tx_transfer.lock(|tx_state| match tx_state {
-                UartTxState::Idle(tx) => {
-                    //debug!(target: "serial_tx_handler", "bytes: {:x?}", &buf[0..len]);
-                    // Safety: We only copy the data into the TX DMA buffer in this task.
-                    // If the DMA is active, another branch will be taken.
-                    let mut_tx_dma_buf = unsafe { &mut DMA_TX_BUF };
-                    // 0 sentinel value as start marker
-                    mut_tx_dma_buf[0] = 0;
-                    // Should never panic, we accounted for the overhead.
-                    // Write into transfer buffer directly, no need for intermediate
-                    // encoding buffer.
-                    let encoded_len = cobs::encode(&buf[0..len], &mut mut_tx_dma_buf[1..]);
-                    // 0 end marker
-                    mut_tx_dma_buf[encoded_len + 1] = 0;
-                    //debug!(target: "serial_tx_handler", "Sending {} bytes", encoded_len + 2);
-                    //debug!("sent: {:x?}", &mut_tx_dma_buf[0..encoded_len + 2]);
-                    let tx_idle = tx.take().unwrap();
-                    // Transfer completion and re-scheduling of new TX transfers will be done
-                    // by the IRQ handler.
-                    let transfer = tx_idle
-                        .tx
-                        .write_all(&mut_tx_dma_buf[0..encoded_len + 2], tx_idle.dma_channel);
-                    *tx_state = UartTxState::Transmitting(Some(transfer));
-                    // The memory block is automatically returned to the pool when it is dropped.
-                }
-                UartTxState::Transmitting(_) => {
-                    // This is a SW configuration error. Only the ISR which
-                    // detects transfer completion should be able to spawn a new
-                    // task, and that ISR should set the state to IDLE.
-                    panic!("invalid internal tx state detected")
-                }
-            })
-        } else {
-            cx.shared.tx_transfer.lock(|tx_state| {
-                if let UartTxState::Idle(_) = tx_state {
-                    serial_tx_handler::spawn_after(MsDuration::from_ticks(TX_HANDLER_FREQ_MS))
-                        .unwrap();
-                }
-            });
-        }
-    }
-
-    #[task(
-        local = [
-            stamp_buf: [u8; 7] = [0; 7],
-            decode_buf: [u8; MAX_TC_LEN] = [0; MAX_TC_LEN],
-            src_data_buf: [u8; MAX_TM_LEN] = [0; MAX_TM_LEN],
-            verif_reporter
-        ],
-    )]
-    fn serial_rx_handler(
-        cx: serial_rx_handler::Context,
-        received_packet: Box<poolmod::TC>,
-        rx_len: usize,
-    ) {
-        let tgt: &'static str = "serial_rx_handler";
-        cx.local.stamp_buf[0] = P_FIELD_BASE;
-        info!(target: tgt, "Received packet with {} bytes", rx_len);
-        let decode_buf = cx.local.decode_buf;
-        let packet = received_packet.as_slice();
-        let mut start_idx = None;
-        for (idx, byte) in packet.iter().enumerate() {
-            if *byte != 0 {
-                start_idx = Some(idx);
-                break;
-            }
-        }
-        if start_idx.is_none() {
-            warn!(
-                target: tgt,
-                "decoding error, can only process cobs encoded frames, data is all 0"
-            );
-            return;
-        }
-        let start_idx = start_idx.unwrap();
-        match cobs::decode(&received_packet.as_slice()[start_idx..], decode_buf) {
-            Ok(len) => {
-                info!(target: tgt, "Decoded packet length: {}", len);
-                let pus_tc = PusTc::from_bytes(decode_buf);
-                let verif_reporter = cx.local.verif_reporter;
-                match pus_tc {
-                    Ok((tc, tc_len)) => handle_tc(
-                        tc,
-                        tc_len,
-                        verif_reporter,
-                        cx.local.src_data_buf,
-                        cx.local.stamp_buf,
-                        tgt,
-                    ),
-                    Err(e) => {
-                        warn!(target: tgt, "Error unpacking PUS TC: {}", e);
-                    }
-                }
-            }
-            Err(_) => {
-                warn!(
-                    target: tgt,
-                    "decoding error, can only process cobs encoded frames"
-                )
-            }
-        }
-    }
-
-    fn handle_tc(
-        tc: PusTc,
-        tc_len: usize,
-        verif_reporter: &mut VerificationReporterCore,
-        src_data_buf: &mut [u8; MAX_TM_LEN],
-        stamp_buf: &[u8; 7],
-        tgt: &'static str,
-    ) {
-        info!(
-            target: tgt,
-            "Found PUS TC [{},{}] with length {}",
-            tc.service(),
-            tc.subservice(),
-            tc_len
-        );
-
-        let token = verif_reporter.add_tc(&tc);
-        if tc.apid() != PUS_APID {
-            warn!(target: tgt, "Received tc with unknown APID {}", tc.apid());
-            let sendable = verif_reporter
-                .acceptance_failure(
-                    src_data_buf,
-                    token,
-                    &SEQ_COUNT_PROVIDER,
-                    FailParams::new(stamp_buf, &EcssEnumU16::new(0), None),
-                )
-                .unwrap();
-            let mem_block = poolmod::TM::alloc().unwrap().init([0u8; MAX_TM_LEN]);
-            let mut sender = TmSender::new(mem_block, tgt);
-            if let Err(e) =
-                verif_reporter.send_acceptance_failure(sendable, &SEQ_COUNT_PROVIDER, &mut sender)
-            {
-                warn!(target: tgt, "Sending acceptance failure failed: {:?}", e.0);
-            };
-            return;
-        }
-        let sendable = verif_reporter
-            .acceptance_success(src_data_buf, token, &SEQ_COUNT_PROVIDER, stamp_buf)
-            .unwrap();
-
-        let mem_block = poolmod::TM::alloc().unwrap().init([0u8; MAX_TM_LEN]);
-        let mut sender = TmSender::new(mem_block, tgt);
-        let accepted_token = match verif_reporter.send_acceptance_success(
-            sendable,
-            &SEQ_COUNT_PROVIDER,
-            &mut sender,
-        ) {
-            Ok(token) => token,
-            Err(e) => {
-                warn!(target: "serial_rx_handler", "Sending acceptance success failed: {:?}", e.0);
-                return;
-            }
-        };
-
-        if tc.service() == 17 {
-            if tc.subservice() == 1 {
-                let sendable = verif_reporter
-                    .start_success(src_data_buf, accepted_token, &SEQ_COUNT_PROVIDER, stamp_buf)
-                    .unwrap();
-                let mem_block = poolmod::TM::alloc().unwrap().init([0u8; MAX_TM_LEN]);
-                let mut sender = TmSender::new(mem_block, tgt);
-                let started_token = match verif_reporter.send_start_success(
-                    sendable,
-                    &SEQ_COUNT_PROVIDER,
-                    &mut sender,
-                ) {
-                    Ok(token) => token,
-                    Err(e) => {
-                        warn!(target: tgt, "Sending acceptance success failed: {:?}", e.0);
-                        return;
-                    }
-                };
-                info!(
-                    target: tgt,
-                    "Received PUS ping telecommand, sending ping reply TM[17,2]"
-                );
-                let mut sp_header =
-                    SpHeader::tc_unseg(PUS_APID, SEQ_COUNT_PROVIDER.get(), 0).unwrap();
-                let sec_header = PusTmSecondaryHeader::new_simple(17, 2, stamp_buf);
-                let ping_reply = PusTm::new(&mut sp_header, sec_header, None, true);
-                let mut mem_block = poolmod::TM::alloc().unwrap().init([0u8; MAX_TM_LEN]);
-                let reply_len = ping_reply.write_to_bytes(mem_block.as_mut_slice()).unwrap();
-                if TX_REQUESTS.enqueue((mem_block, reply_len)).is_err() {
-                    warn!(target: tgt, "TC queue full");
-                    return;
-                }
-                SEQ_COUNT_PROVIDER.increment();
-                let sendable = verif_reporter
-                    .completion_success(src_data_buf, started_token, &SEQ_COUNT_PROVIDER, stamp_buf)
-                    .unwrap();
-                let mem_block = poolmod::TM::alloc().unwrap().init([0u8; MAX_TM_LEN]);
-                let mut sender = TmSender::new(mem_block, tgt);
-                if let Err(e) = verif_reporter.send_step_or_completion_success(
-                    sendable,
-                    &SEQ_COUNT_PROVIDER,
-                    &mut sender,
-                ) {
-                    warn!(target: tgt, "Sending completion success failed: {:?}", e.0);
-                }
-            } else {
-                // TODO: Invalid subservice
-            }
-        }
-    }
-
-    #[task(binds = DMA1_CH6, shared = [rx_transfer])]
-    fn rx_dma_isr(mut cx: rx_dma_isr::Context) {
-        cx.shared.rx_transfer.lock(|rx_transfer| {
-            let rx_ref = rx_transfer.as_ref().unwrap();
-            if rx_ref.is_complete() {
-                let uart_rx_owned = rx_transfer.take().unwrap();
-                let (buf, c, rx) = uart_rx_owned.stop();
-                // The received data is transferred to another task now to avoid any processing overhead
-                // during the interrupt. There are multiple ways to do this, we use a memory pool here
-                // to do this.
-                let mut mem_block = poolmod::TC::alloc()
-                    .expect("allocating memory block for rx failed")
-                    .init([0u8; TC_BUF_LEN]);
-                // Copy data into memory pool.
-                mem_block.copy_from_slice(buf);
-                *rx_transfer = Some(rx.read_exact(buf, c));
-                // Only send owning pointer to pool memory and the received packet length.
-                serial_rx_handler::spawn(mem_block, TC_BUF_LEN)
-                    .expect("spawning rx handler task failed");
-                // If this happens, there is a high chance that the maximum packet length was
-                // exceeded. Circular mode is not used here, so data might be missed.
-                warn!(
-                    "rx transfer with maximum length {}, might miss data",
-                    TC_BUF_LEN
-                );
-            }
-        });
-    }
-
-    #[task(binds = USART2_EXTI26, shared = [rx_transfer, tx_transfer])]
-    fn serial_isr(mut cx: serial_isr::Context) {
-        cx.shared.tx_transfer.lock(|tx_state| match tx_state {
-            UartTxState::Idle(_) => (),
-            UartTxState::Transmitting(transfer) => {
-                let transfer_ref = transfer.as_ref().unwrap();
-                if transfer_ref.is_complete() {
-                    let transfer = transfer.take().unwrap();
-                    let (_, dma_channel, tx) = transfer.stop();
-                    *tx_state = UartTxState::Idle(Some(TxIdle { tx, dma_channel }));
-                    serial_tx_handler::spawn_after(MsDuration::from_ticks(
-                        MIN_DELAY_BETWEEN_TX_PACKETS_MS.into(),
-                    ))
-                    .unwrap();
-                }
-            }
-        });
-        cx.shared.rx_transfer.lock(|rx_transfer| {
-            let rx_transfer_ref = rx_transfer.as_ref().unwrap();
-            // Received a partial packet.
-            if rx_transfer_ref.is_event_triggered(RxEvent::Idle) {
-                let rx_transfer_owned = rx_transfer.take().unwrap();
-                let (buf, ch, mut rx, rx_len) = rx_transfer_owned.stop_and_return_received_bytes();
-                // The received data is transferred to another task now to avoid any processing overhead
-                // during the interrupt. There are multiple ways to do this, we use a memory pool here
-                // to do this.
-                let mut mem_block = poolmod::TC::alloc()
-                    .expect("allocating memory block for rx failed")
-                    .init([0u8; TC_BUF_LEN]);
-                // Copy data into memory pool.
-                mem_block[0..rx_len as usize].copy_from_slice(&buf[0..rx_len as usize]);
-                rx.clear_event(RxEvent::Idle);
-                // Only send owning pointer to pool memory and the received packet length.
-                serial_rx_handler::spawn(mem_block, rx_len as usize)
-                    .expect("spawning rx handler task failed");
-                *rx_transfer = Some(rx.read_exact(buf, ch));
-            }
-        });
-    }
-}

satrs-example/CHANGELOG.md

@@ -7,3 +7,13 @@ The format is based on [Keep a Changelog](http://keepachangelog.com/)
 and this project adheres to [Semantic Versioning](http://semver.org/).
 
 # [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

satrs-example/Cargo.toml

@@ -1,32 +1,41 @@
 [package]
 name = "satrs-example"
 version = "0.1.1"
-edition = "2021"
+edition = "2024"
 authors = ["Robin Mueller <muellerr@irs.uni-stuttgart.de>"]
 default-run = "satrs-example"
 homepage = "https://egit.irs.uni-stuttgart.de/rust/sat-rs"
 repository = "https://egit.irs.uni-stuttgart.de/rust/sat-rs"
 
 [dependencies]
-fern = "0.6"
+fern = "0.7"
 chrono = "0.4"
 log = "0.4"
 crossbeam-channel = "0.5"
-delegate = "0.10"
-zerocopy = "0.6"
+delegate = "0.13"
+zerocopy = "0.8"
 csv = "1"
 num_enum = "0.7"
-thiserror = "1"
-derive-new = "0.5"
+thiserror = "2"
+lazy_static = "1"
+strum = { version = "0.28", features = ["derive"] }
+derive-new = "0.7"
+cfg-if = "1"
+arbitrary-int = "2"
+bitbybit = "2"
+postcard = "1"
+ctrlc = "3"
+serde = { version = "1", features = ["derive"] }
+serde_json = "1"
 
-[dependencies.satrs]
-version = "0.2.0-rc.0"
-# path = "../satrs"
-
-[dependencies.satrs-mib]
-version = "0.1.1"
-# path = "../satrs-mib"
+satrs = { path = "../satrs", features = ["test_util"] }
+models = { path = "./models" }
+satrs-minisim = { path = "./minisim" }
+satrs-mib = { path = "../satrs-mib" }
 
 [features]
-dyn_tmtc = []
-default = ["dyn_tmtc"]
+# default = ["heap_tmtc"]
+# heap_tmtc = []
+
+[dev-dependencies]
+env_logger = "0.11"

satrs-example/README.md

@@ -14,7 +14,7 @@ You can run the application using `cargo run`.
 
 # Features
 
-The example has the `dyn_tmtc` feature which is enabled by default. With this feature enabled,
+The example has the `heap_tmtc` feature which is enabled by default. With this feature enabled,
 TMTC packets are exchanged using the heap as the backing memory instead of pre-allocated static
 stores.
 
@@ -48,16 +48,17 @@ 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.
 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:
+dependency interactively:
 
 ```sh
-pip install -r requirements.txt
+pip install -e .
 ```
 
 Alternatively, if you would like to use the GUI functionality provided by `tmtccmd`, you can also
 install it manually with
 
 ```sh
+pip install -e .
 pip install tmtccmd[gui]
 ```
 
@@ -72,3 +73,22 @@ the `simpleclient`:
 ```
 
 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`.

satrs-example/client/Cargo.toml

@@ -0,0 +1,19 @@
+[package]
+name = "client"
+version = "0.1.0"
+edition = "2024"
+
+[dependencies]
+clap = { version = "4", features = ["derive"] }
+log = "0.4"
+fern = "0.7"
+humantime = "2"
+serde = { version = "1" }
+satrs-example = { path = ".." }
+models = { path = "../models" }
+spacepackets = { version = "0.17", git = "https://egit.irs.uni-stuttgart.de/rust/spacepackets.git", default-features = false }
+bitbybit = "2"
+arbitrary-int = "2"
+ctrlc = { version = "3.5" }
+postcard = { version = "1" }
+anyhow = "1"

satrs-example/client/src/main.rs

@@ -0,0 +1,334 @@
+use anyhow::bail;
+use arbitrary_int::u11;
+use clap::Parser as _;
+use models::{Apid, MessageType, TcHeader, mgm::request::HkRequest};
+use satrs_example::config::{OBSW_SERVER_ADDR, SERVER_PORT};
+use spacepackets::{CcsdsPacketIdAndPsc, SpacePacketHeader};
+use std::{
+    net::{IpAddr, SocketAddr, UdpSocket},
+    sync::{
+        Arc,
+        atomic::{AtomicBool, Ordering},
+    },
+    time::{Duration, SystemTime},
+};
+
+#[derive(clap::Parser)]
+pub struct Cli {
+    #[arg(short, long)]
+    ping: bool,
+    #[arg(short, long)]
+    test_event: bool,
+
+    #[command(subcommand)]
+    commands: Option<Commands>,
+}
+
+#[derive(clap::Subcommand)]
+enum Commands {
+    Mgm0(MgmArgs),
+    Mgm1(MgmArgs),
+    MgmAssy(MgmAssemblyArgs),
+}
+
+impl Commands {
+    #[inline]
+    pub fn target_id(&self) -> models::ComponentId {
+        match self {
+            Commands::Mgm0(_mgm_args) => models::ComponentId::AcsMgm0,
+            Commands::Mgm1(_mgm_args) => models::ComponentId::AcsMgm1,
+            Commands::MgmAssy(_mgm_assembly_args) => models::ComponentId::AcsMgmAssembly,
+        }
+    }
+}
+
+#[derive(Debug, PartialEq, Eq, Clone, Copy, clap::Parser)]
+struct MgmArgs {
+    #[arg(short, long)]
+    ping: bool,
+    #[arg(long)]
+    request_hk: bool,
+    #[arg(short, long)]
+    mode: Option<DeviceModeSelect>,
+}
+
+#[derive(Debug, PartialEq, Eq, Clone, Copy, clap::Parser)]
+struct MgmAssemblyArgs {
+    #[arg(short, long)]
+    ping: bool,
+    #[arg(short, long)]
+    mode: Option<AssemblyModeSelect>,
+}
+
+#[derive(Debug, PartialEq, Eq, Clone, Copy, clap::ValueEnum)]
+pub enum DeviceModeSelect {
+    Off,
+    Normal,
+}
+
+#[derive(Debug, PartialEq, Eq, Clone, Copy, clap::ValueEnum)]
+pub enum AssemblyModeSelect {
+    NoModeKeeping,
+    Off,
+    Normal,
+}
+
+fn setup_logger(level: log::LevelFilter) -> Result<(), fern::InitError> {
+    fern::Dispatch::new()
+        .format(|out, message, record| {
+            out.finish(format_args!(
+                "[{} {} {}] {}",
+                humantime::format_rfc3339_seconds(SystemTime::now()),
+                record.level(),
+                record.target(),
+                message
+            ))
+        })
+        .level(level)
+        .chain(std::io::stdout())
+        .chain(fern::log_file("output.log")?)
+        .apply()?;
+    Ok(())
+}
+
+fn main() -> anyhow::Result<()> {
+    setup_logger(log::LevelFilter::Debug).unwrap();
+    let kill_signal = Arc::new(AtomicBool::new(false));
+    let ctrl_kill_signal = kill_signal.clone();
+    ctrlc::set_handler(move || ctrl_kill_signal.store(true, Ordering::Relaxed)).unwrap();
+    let cli = Cli::parse();
+
+    let addr = SocketAddr::new(IpAddr::V4(OBSW_SERVER_ADDR), SERVER_PORT);
+    let client = UdpSocket::bind("127.0.0.1:7302").expect("Connecting to UDP server failed");
+    client.set_nonblocking(true)?;
+    client.set_read_timeout(Some(Duration::from_millis(200)))?;
+
+    if cli.ping {
+        let request = models::ccsds::CcsdsTcPacketOwned::new_with_request(
+            SpacePacketHeader::new_from_apid(u11::new(Apid::Tmtc as u16)),
+            TcHeader::new(models::ComponentId::Controller, models::MessageType::Ping),
+            models::control::request::Request::Ping,
+        );
+        let sent_tc_id = CcsdsPacketIdAndPsc::new_from_ccsds_packet(&request.sp_header);
+        log::info!("sending ping request with TC ID {:#010x}", sent_tc_id.raw());
+        let request_packet = request.to_vec();
+        client.send_to(&request_packet, addr).unwrap();
+    }
+    if cli.test_event {
+        let request = models::ccsds::CcsdsTcPacketOwned::new_with_request(
+            SpacePacketHeader::new_from_apid(u11::new(Apid::Tmtc as u16)),
+            TcHeader::new(models::ComponentId::Controller, models::MessageType::Event),
+            models::control::request::Request::TestEvent,
+        );
+        let sent_tc_id = CcsdsPacketIdAndPsc::new_from_ccsds_packet(&request.sp_header);
+        log::info!(
+            "sending event request with TC ID {:#010x}",
+            sent_tc_id.raw()
+        );
+        let request_packet = request.to_vec();
+        client.send_to(&request_packet, addr).unwrap();
+    }
+    if let Some(cmd) = cli.commands {
+        let target_id = cmd.target_id();
+        match cmd {
+            Commands::Mgm0(args) | Commands::Mgm1(args) => {
+                if args.ping {
+                    let request = models::ccsds::CcsdsTcPacketOwned::new_with_request(
+                        SpacePacketHeader::new_from_apid(u11::new(Apid::Acs as u16)),
+                        TcHeader::new(cmd.target_id(), models::MessageType::Ping),
+                        models::mgm::request::Request::Ping,
+                    );
+                    let sent_tc_id = CcsdsPacketIdAndPsc::new_from_ccsds_packet(&request.sp_header);
+                    log::info!(
+                        "sending {:?} ping request with TC ID {:#010x}",
+                        target_id,
+                        sent_tc_id.raw()
+                    );
+                    let request_packet = request.to_vec();
+                    client.send_to(&request_packet, addr).unwrap();
+                }
+                if args.request_hk {
+                    let request = models::ccsds::CcsdsTcPacketOwned::new_with_request(
+                        SpacePacketHeader::new_from_apid(u11::new(Apid::Acs as u16)),
+                        TcHeader::new(target_id, models::MessageType::Hk),
+                        models::mgm::request::Request::Hk(HkRequest {
+                            id: models::mgm::request::HkId::Sensor,
+                            req_type: models::HkRequestType::OneShot,
+                        }),
+                    );
+                    let sent_tc_id = CcsdsPacketIdAndPsc::new_from_ccsds_packet(&request.sp_header);
+                    log::info!(
+                        "sending {:?} HK request with TC ID {:#010x}",
+                        target_id,
+                        sent_tc_id.raw()
+                    );
+                    let request_packet = request.to_vec();
+                    client.send_to(&request_packet, addr).unwrap();
+                }
+                if let Some(mode) = args.mode {
+                    let dev_mode = match mode {
+                        DeviceModeSelect::Off => models::DeviceMode::Off,
+                        DeviceModeSelect::Normal => models::DeviceMode::Normal,
+                    };
+
+                    let request = models::ccsds::CcsdsTcPacketOwned::new_with_request(
+                        SpacePacketHeader::new_from_apid(u11::new(Apid::Acs as u16)),
+                        TcHeader::new(target_id, models::MessageType::Mode),
+                        models::mgm::request::Request::Mode(
+                            models::mgm::request::ModeRequest::SetMode(dev_mode),
+                        ),
+                    );
+                    let sent_tc_id = CcsdsPacketIdAndPsc::new_from_ccsds_packet(&request.sp_header);
+                    log::info!(
+                        "sending {:?} HK request with TC ID {:#010x}",
+                        target_id,
+                        sent_tc_id.raw()
+                    );
+                    let request_packet = request.to_vec();
+                    client.send_to(&request_packet, addr).unwrap();
+                }
+            }
+            Commands::MgmAssy(mgm_assembly_args) => {
+                if mgm_assembly_args.ping {
+                    let request = models::ccsds::CcsdsTcPacketOwned::new_with_request(
+                        SpacePacketHeader::new_from_apid(u11::new(Apid::Acs as u16)),
+                        TcHeader::new(cmd.target_id(), models::MessageType::Ping),
+                        models::mgm::request::Request::Ping,
+                    );
+                    let sent_tc_id = CcsdsPacketIdAndPsc::new_from_ccsds_packet(&request.sp_header);
+                    log::info!(
+                        "sending {:?} ping request with TC ID {:#010x}",
+                        target_id,
+                        sent_tc_id.raw()
+                    );
+                    let request_packet = request.to_vec();
+                    client.send_to(&request_packet, addr).unwrap();
+                }
+                if let Some(mode) = mgm_assembly_args.mode {
+                    let assembly_mode = match mode {
+                        AssemblyModeSelect::NoModeKeeping => {
+                            models::mgm_assembly::AssemblyMode::NoModeKeeping
+                        }
+                        AssemblyModeSelect::Off => {
+                            models::mgm_assembly::AssemblyMode::Device(models::DeviceMode::Off)
+                        }
+                        AssemblyModeSelect::Normal => {
+                            models::mgm_assembly::AssemblyMode::Device(models::DeviceMode::Normal)
+                        }
+                    };
+
+                    let request = models::ccsds::CcsdsTcPacketOwned::new_with_request(
+                        SpacePacketHeader::new_from_apid(u11::new(Apid::Acs as u16)),
+                        TcHeader::new(target_id, models::MessageType::Mode),
+                        models::mgm_assembly::request::Request::Mode(
+                            models::mgm_assembly::request::ModeRequest::SetMode(assembly_mode),
+                        ),
+                    );
+                    let sent_tc_id = CcsdsPacketIdAndPsc::new_from_ccsds_packet(&request.sp_header);
+                    log::info!(
+                        "sending {:?} HK request with TC ID {:#010x}",
+                        target_id,
+                        sent_tc_id.raw()
+                    );
+                    let request_packet = request.to_vec();
+                    client.send_to(&request_packet, addr).unwrap();
+                }
+            }
+        }
+    }
+
+    let mut recv_buf: Box<[u8; 2048]> = Box::new([0; 2048]);
+    log::info!("entering listening loop");
+    loop {
+        if kill_signal.load(std::sync::atomic::Ordering::Relaxed) {
+            log::info!("received kill signal, exiting");
+            break;
+        }
+        match client.recv(recv_buf.as_mut_slice()) {
+            Ok(received_bytes) => handle_raw_tm_packet(&recv_buf.as_slice()[0..received_bytes])?,
+            Err(e) => {
+                if e.kind() == std::io::ErrorKind::WouldBlock
+                    || e.kind() == std::io::ErrorKind::TimedOut
+                {
+                    continue;
+                }
+                log::warn!("UDP reception error: {}", e)
+            }
+        }
+    }
+    Ok(())
+}
+
+fn handle_raw_tm_packet(data: &[u8]) -> anyhow::Result<()> {
+    match spacepackets::CcsdsPacketReader::new_with_checksum(data) {
+        Ok(packet) => {
+            let tm_header_result =
+                postcard::take_from_bytes::<models::TmHeader>(packet.user_data());
+            if let Err(e) = tm_header_result {
+                bail!("Failed to deserialize TM header: {}", e);
+            }
+            let (tm_header, remainder) = tm_header_result.unwrap();
+            if let Some(tc_id) = tm_header.tc_id {
+                log::info!(
+                    "Received TM with APID {} and from sender {:?} for TC ID {:#010x}",
+                    packet.apid(),
+                    tm_header.sender_id,
+                    tc_id.raw()
+                );
+            } else {
+                log::info!(
+                    "Received unsolicited TM with APID {} and from sender {:?}",
+                    packet.apid(),
+                    tm_header.sender_id,
+                );
+            }
+            if tm_header.message_type == MessageType::Event {
+                let response = postcard::from_bytes::<models::Event>(remainder);
+                log::info!(
+                    "Received event from {:?}: {:?}",
+                    tm_header.sender_id,
+                    response.unwrap()
+                );
+                return Ok(());
+            }
+            match tm_header.sender_id {
+                models::ComponentId::EpsPcdu => {
+                    let response =
+                        postcard::from_bytes::<models::pcdu::response::Response>(remainder);
+                    log::info!("Received response from PCDU: {:?}", response.unwrap());
+                }
+                models::ComponentId::Controller => {
+                    let response =
+                        postcard::from_bytes::<models::control::response::Response>(remainder);
+                    log::info!("Received response from controller: {:?}", response.unwrap());
+                }
+                models::ComponentId::AcsSubsystem => todo!(),
+                models::ComponentId::AcsMgmAssembly => {
+                    let response =
+                        postcard::from_bytes::<models::mgm_assembly::response::Response>(remainder);
+                    log::info!(
+                        "Received response from MGM Assembly: {:?}",
+                        response.unwrap()
+                    );
+                }
+                models::ComponentId::AcsMgm0 => {
+                    let response =
+                        postcard::from_bytes::<models::mgm::response::Response>(remainder);
+                    log::info!("Received response from MGM0: {:?}", response.unwrap());
+                }
+                models::ComponentId::AcsMgm1 => {
+                    let response =
+                        postcard::from_bytes::<models::mgm::response::Response>(remainder);
+                    log::info!("Received response from MGM1: {:?}", response.unwrap());
+                }
+                models::ComponentId::EpsSubsystem => todo!(),
+                models::ComponentId::UdpServer => todo!(),
+                models::ComponentId::TcpServer => todo!(),
+                models::ComponentId::Ground => todo!(),
+                models::ComponentId::EventManager => {}
+            }
+        }
+        Err(_) => todo!(),
+    }
+    Ok(())
+}

satrs-example/minisim/Cargo.toml

@@ -0,0 +1,24 @@
+[package]
+name = "satrs-minisim"
+version = "0.1.0"
+edition = "2021"
+
+# See more keys and their definitions at https://doc.rust-lang.org/cargo/reference/manifest.html
+
+[dependencies]
+serde = { version = "1", features = ["derive"] }
+serde_json = "1"
+log = "0.4"
+thiserror = "2"
+fern = "0.7"
+strum = { version = "0.28", features = ["derive"] }
+num_enum = "0.7"
+humantime = "2"
+tai-time = { version = "0.3", features = ["serde"] }
+nexosim = { version = "0.3.1" }
+
+satrs = { path = "../../satrs" }
+models = { path = "../models" }
+
+[dev-dependencies]
+delegate = "0.13"

satrs-example/minisim/README.md

@@ -0,0 +1,32 @@
+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"/>

satrs-example/minisim/src/acs.rs

@@ -0,0 +1,360 @@
+use std::{f32::consts::PI, sync::mpsc, time::Duration};
+
+use models::pcdu::SwitchStateBinary;
+use nexosim::{
+    model::{Context, Model},
+    ports::Output,
+};
+use satrs_minisim::{
+    acs::{
+        lis3mdl::MgmLis3MdlReply, MgmReplyCommon, MgmReplyProvider, MgmSensorValuesMicroTesla,
+        MgtDipole, MgtHkSet, MgtReply, MGT_GEN_MAGNETIC_FIELD,
+    },
+    SimReply,
+};
+
+use crate::time::current_millis;
+
+// Earth magnetic field varies between roughly -30 uT and 30 uT
+const AMPLITUDE_MGM_UT: f32 = 30.0;
+// Lets start with a simple frequency here.
+const FREQUENCY_MGM: f32 = 1.0;
+const PHASE_X: f32 = 0.0;
+// Different phases to have different values on the other axes.
+const PHASE_Y: f32 = 0.1;
+const PHASE_Z: f32 = 0.2;
+
+/// 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
+/// possible for a general purpose OS, but self self-sampling at a relatively high rate (20-40 ms)
+/// might still be possible and is probably sufficient for many OBSW needs.
+pub struct MagnetometerModel<ReplyProvider: MgmReplyProvider> {
+    pub switch_state: SwitchStateBinary,
+    #[allow(dead_code)]
+    pub periodicity: Duration,
+    pub external_mag_field: Option<MgmSensorValuesMicroTesla>,
+    pub reply_sender: mpsc::Sender<SimReply>,
+    pub phatom: std::marker::PhantomData<ReplyProvider>,
+}
+
+impl MagnetometerModel<MgmLis3MdlReply> {
+    pub fn new_for_lis3mdl(periodicity: Duration, reply_sender: mpsc::Sender<SimReply>) -> Self {
+        Self {
+            switch_state: SwitchStateBinary::Off,
+            periodicity,
+            external_mag_field: None,
+            reply_sender,
+            phatom: std::marker::PhantomData,
+        }
+    }
+}
+
+impl<ReplyProvider: MgmReplyProvider> MagnetometerModel<ReplyProvider> {
+    pub async fn switch_device(&mut self, switch_state: SwitchStateBinary) {
+        self.switch_state = switch_state;
+    }
+
+    pub async fn send_sensor_values(&mut self, _: (), scheduler: &mut Context<Self>) {
+        self.reply_sender
+            .send(ReplyProvider::create_mgm_reply(MgmReplyCommon {
+                switch_state: self.switch_state,
+                sensor_values: self.calculate_current_mgm_tuple(current_millis(scheduler.time())),
+            }))
+            .expect("sending MGM sensor values failed");
+    }
+
+    // Devices like magnetorquers generate a strong magnetic field which overrides the default
+    // model for the measured magnetic field.
+    pub async fn apply_external_magnetic_field(&mut self, field: MgmSensorValuesMicroTesla) {
+        self.external_mag_field = Some(field);
+    }
+
+    fn calculate_current_mgm_tuple(&self, time_ms: u64) -> MgmSensorValuesMicroTesla {
+        if SwitchStateBinary::On == self.switch_state {
+            if let Some(ext_field) = self.external_mag_field {
+                return ext_field;
+            }
+            let base_sin_val = 2.0 * PI * FREQUENCY_MGM * (time_ms as f32 / 1000.0);
+            return MgmSensorValuesMicroTesla {
+                x: AMPLITUDE_MGM_UT * (base_sin_val + PHASE_X).sin(),
+                y: AMPLITUDE_MGM_UT * (base_sin_val + PHASE_Y).sin(),
+                z: AMPLITUDE_MGM_UT * (base_sin_val + PHASE_Z).sin(),
+            };
+        }
+        MgmSensorValuesMicroTesla {
+            x: 0.0,
+            y: 0.0,
+            z: 0.0,
+        }
+    }
+}
+
+impl<ReplyProvider: MgmReplyProvider> Model for MagnetometerModel<ReplyProvider> {}
+
+pub struct MagnetorquerModel {
+    switch_state: SwitchStateBinary,
+    torquing: bool,
+    torque_dipole: MgtDipole,
+    pub gen_magnetic_field: Output<MgmSensorValuesMicroTesla>,
+    reply_sender: mpsc::Sender<SimReply>,
+}
+
+impl MagnetorquerModel {
+    pub fn new(reply_sender: mpsc::Sender<SimReply>) -> Self {
+        Self {
+            switch_state: SwitchStateBinary::Off,
+            torquing: false,
+            torque_dipole: MgtDipole::default(),
+            gen_magnetic_field: Output::new(),
+            reply_sender,
+        }
+    }
+
+    pub async fn apply_torque(
+        &mut self,
+        duration_and_dipole: (Duration, MgtDipole),
+        cx: &mut Context<Self>,
+    ) {
+        self.torque_dipole = duration_and_dipole.1;
+        self.torquing = true;
+        if cx
+            .schedule_event(duration_and_dipole.0, Self::clear_torque, ())
+            .is_err()
+        {
+            log::warn!("torque clearing can only be set for a future time.");
+        }
+        self.generate_magnetic_field(()).await;
+    }
+
+    pub async fn clear_torque(&mut self, _: ()) {
+        self.torque_dipole = MgtDipole::default();
+        self.torquing = false;
+        self.generate_magnetic_field(()).await;
+    }
+
+    pub async fn switch_device(&mut self, switch_state: SwitchStateBinary) {
+        self.switch_state = switch_state;
+        self.generate_magnetic_field(()).await;
+    }
+
+    pub async fn request_housekeeping_data(&mut self, _: (), cx: &mut Context<Self>) {
+        if self.switch_state != SwitchStateBinary::On {
+            return;
+        }
+        cx.schedule_event(Duration::from_millis(15), Self::send_housekeeping_data, ())
+            .expect("requesting housekeeping data failed")
+    }
+
+    pub fn send_housekeeping_data(&mut self) {
+        self.reply_sender
+            .send(SimReply::new(&MgtReply::Hk(MgtHkSet {
+                dipole: self.torque_dipole,
+                torquing: self.torquing,
+            })))
+            .unwrap();
+    }
+
+    fn calc_magnetic_field(&self, _: MgtDipole) -> MgmSensorValuesMicroTesla {
+        // Simplified model: Just returns some fixed magnetic field for now.
+        // Later, we could make this more fancy by incorporating the commanded dipole.
+        MGT_GEN_MAGNETIC_FIELD
+    }
+
+    /// A torquing magnetorquer generates a magnetic field. This function can be used to apply
+    /// the magnetic field.
+    async fn generate_magnetic_field(&mut self, _: ()) {
+        if self.switch_state != SwitchStateBinary::On || !self.torquing {
+            return;
+        }
+        self.gen_magnetic_field
+            .send(self.calc_magnetic_field(self.torque_dipole))
+            .await;
+    }
+}
+
+impl Model for MagnetorquerModel {}
+
+#[cfg(test)]
+pub mod tests {
+    use std::time::Duration;
+
+    use models::pcdu::{SwitchId, SwitchStateBinary};
+    use satrs_minisim::{
+        acs::{
+            lis3mdl::{self, MgmLis3MdlReply},
+            MgmRequestLis3Mdl, MgtDipole, MgtHkSet, MgtReply, MgtRequest,
+        },
+        SerializableSimMsgPayload, SimComponent, SimMessageProvider, SimRequest,
+    };
+
+    use crate::{eps::tests::switch_device_on, test_helpers::SimTestbench};
+
+    #[test]
+    fn test_basic_mgm_request() {
+        let mut sim_testbench = SimTestbench::new();
+        let request = SimRequest::new_with_epoch_time(MgmRequestLis3Mdl::RequestSensorData);
+        sim_testbench
+            .send_request(request)
+            .expect("sending MGM request failed");
+        sim_testbench.handle_sim_requests_time_agnostic();
+        sim_testbench.step().unwrap();
+        let sim_reply = sim_testbench.try_receive_next_reply();
+        assert!(sim_reply.is_some());
+        let sim_reply = sim_reply.unwrap();
+        assert_eq!(sim_reply.component(), SimComponent::Mgm0Lis3Mdl);
+        let reply = MgmLis3MdlReply::from_sim_message(&sim_reply)
+            .expect("failed to deserialize MGM sensor values");
+        assert_eq!(reply.common.switch_state, SwitchStateBinary::Off);
+        assert_eq!(reply.common.sensor_values.x, 0.0);
+        assert_eq!(reply.common.sensor_values.y, 0.0);
+        assert_eq!(reply.common.sensor_values.z, 0.0);
+    }
+
+    #[test]
+    fn test_basic_mgm_request_switched_on() {
+        let mut sim_testbench = SimTestbench::new();
+        switch_device_on(&mut sim_testbench, SwitchId::Mgm0);
+
+        let mut request = SimRequest::new_with_epoch_time(MgmRequestLis3Mdl::RequestSensorData);
+        sim_testbench
+            .send_request(request)
+            .expect("sending MGM request failed");
+        sim_testbench.handle_sim_requests_time_agnostic();
+        sim_testbench.step().unwrap();
+        let mut sim_reply_res = sim_testbench.try_receive_next_reply();
+        assert!(sim_reply_res.is_some());
+        let mut sim_reply = sim_reply_res.unwrap();
+        assert_eq!(sim_reply.component(), SimComponent::Mgm0Lis3Mdl);
+        let first_reply = MgmLis3MdlReply::from_sim_message(&sim_reply)
+            .expect("failed to deserialize MGM sensor values");
+        sim_testbench.step_until(Duration::from_millis(50)).unwrap();
+
+        request = SimRequest::new_with_epoch_time(MgmRequestLis3Mdl::RequestSensorData);
+        sim_testbench
+            .send_request(request)
+            .expect("sending MGM request failed");
+        sim_testbench.handle_sim_requests_time_agnostic();
+        sim_testbench.step().unwrap();
+        sim_reply_res = sim_testbench.try_receive_next_reply();
+        assert!(sim_reply_res.is_some());
+        sim_reply = sim_reply_res.unwrap();
+
+        let second_reply = MgmLis3MdlReply::from_sim_message(&sim_reply)
+            .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.
+        assert!(first_reply != second_reply);
+    }
+
+    #[test]
+    fn test_basic_mgt_request_is_off() {
+        let mut sim_testbench = SimTestbench::new();
+        let request = SimRequest::new_with_epoch_time(MgtRequest::RequestHk);
+        sim_testbench
+            .send_request(request)
+            .expect("sending MGM request failed");
+        sim_testbench.handle_sim_requests_time_agnostic();
+        sim_testbench.step().unwrap();
+        let sim_reply_res = sim_testbench.try_receive_next_reply();
+        assert!(sim_reply_res.is_none());
+    }
+
+    #[test]
+    fn test_basic_mgt_request_is_on() {
+        let mut sim_testbench = SimTestbench::new();
+        switch_device_on(&mut sim_testbench, SwitchId::Mgt);
+        let request = SimRequest::new_with_epoch_time(MgtRequest::RequestHk);
+
+        sim_testbench
+            .send_request(request)
+            .expect("sending MGM request failed");
+        sim_testbench.handle_sim_requests_time_agnostic();
+        sim_testbench.step().unwrap();
+        let sim_reply_res = sim_testbench.try_receive_next_reply();
+        assert!(sim_reply_res.is_some());
+        let sim_reply = sim_reply_res.unwrap();
+        let mgt_reply = MgtReply::from_sim_message(&sim_reply)
+            .expect("failed to deserialize MGM sensor values");
+        match mgt_reply {
+            MgtReply::Hk(hk) => {
+                assert_eq!(hk.dipole, MgtDipole::default());
+                assert!(!hk.torquing);
+            }
+            _ => panic!("unexpected reply"),
+        }
+    }
+
+    fn check_mgt_hk(sim_testbench: &mut SimTestbench, expected_hk_set: MgtHkSet) {
+        let request = SimRequest::new_with_epoch_time(MgtRequest::RequestHk);
+        sim_testbench
+            .send_request(request)
+            .expect("sending MGM request failed");
+        sim_testbench.handle_sim_requests_time_agnostic();
+        sim_testbench.step().unwrap();
+        let sim_reply_res = sim_testbench.try_receive_next_reply();
+        assert!(sim_reply_res.is_some());
+        let sim_reply = sim_reply_res.unwrap();
+        let mgt_reply = MgtReply::from_sim_message(&sim_reply)
+            .expect("failed to deserialize MGM sensor values");
+        match mgt_reply {
+            MgtReply::Hk(hk) => {
+                assert_eq!(hk, expected_hk_set);
+            }
+            _ => panic!("unexpected reply"),
+        }
+    }
+
+    #[test]
+    fn test_basic_mgt_request_is_on_and_torquing() {
+        let mut sim_testbench = SimTestbench::new();
+        switch_device_on(&mut sim_testbench, SwitchId::Mgt);
+        let commanded_dipole = MgtDipole {
+            x: -200,
+            y: 200,
+            z: 1000,
+        };
+        let request = SimRequest::new_with_epoch_time(MgtRequest::ApplyTorque {
+            duration: Duration::from_millis(100),
+            dipole: commanded_dipole,
+        });
+        sim_testbench
+            .send_request(request)
+            .expect("sending MGM request failed");
+        sim_testbench.handle_sim_requests_time_agnostic();
+        sim_testbench.step_until(Duration::from_millis(5)).unwrap();
+
+        check_mgt_hk(
+            &mut sim_testbench,
+            MgtHkSet {
+                dipole: commanded_dipole,
+                torquing: true,
+            },
+        );
+        sim_testbench
+            .step_until(Duration::from_millis(100))
+            .unwrap();
+        check_mgt_hk(
+            &mut sim_testbench,
+            MgtHkSet {
+                dipole: MgtDipole::default(),
+                torquing: false,
+            },
+        );
+    }
+}

satrs-example/minisim/src/controller.rs

@@ -0,0 +1,253 @@
+use std::{sync::mpsc, time::Duration};
+
+use nexosim::{
+    simulation::{Address, Scheduler, Simulation},
+    time::{Clock, MonotonicTime, SystemClock},
+};
+use satrs_minisim::{
+    acs::{lis3mdl::MgmLis3MdlReply, MgmRequestLis3Mdl, MgtRequest},
+    eps::PcduRequest,
+    SerializableSimMsgPayload, SimComponent, SimCtrlReply, SimCtrlRequest, SimMessageProvider,
+    SimReply, SimRequest, SimRequestError,
+};
+
+use crate::{
+    acs::{MagnetometerModel, MagnetorquerModel},
+    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;
+
+pub struct ModelAddrWrapper {
+    mgm_0_addr: Address<MagnetometerModel<MgmLis3MdlReply>>,
+    mgm_1_addr: Address<MagnetometerModel<MgmLis3MdlReply>>,
+    pcdu_addr: Address<PcduModel>,
+    mgt_addr: Address<MagnetorquerModel>,
+}
+
+// The simulation controller processes requests and drives the simulation.
+#[allow(dead_code)]
+pub struct SimController {
+    pub sys_clock: SystemClock,
+    pub request_receiver: mpsc::Receiver<SimRequest>,
+    pub reply_sender: mpsc::Sender<SimReply>,
+    pub simulation: Simulation,
+    pub scheduler: Scheduler,
+    pub addr_wrapper: ModelAddrWrapper,
+}
+
+impl ModelAddrWrapper {
+    pub fn new(
+        mgm_0_addr: Address<MagnetometerModel<MgmLis3MdlReply>>,
+        mgm_1_addr: Address<MagnetometerModel<MgmLis3MdlReply>>,
+        pcdu_addr: Address<PcduModel>,
+        mgt_addr: Address<MagnetorquerModel>,
+    ) -> Self {
+        Self {
+            mgm_0_addr,
+            mgm_1_addr,
+            pcdu_addr,
+            mgt_addr,
+        }
+    }
+}
+impl SimController {
+    pub fn new(
+        sys_clock: SystemClock,
+        request_receiver: mpsc::Receiver<SimRequest>,
+        reply_sender: mpsc::Sender<SimReply>,
+        simulation: Simulation,
+        scheduler: Scheduler,
+        addr_wrapper: ModelAddrWrapper,
+    ) -> Self {
+        Self {
+            sys_clock,
+            request_receiver,
+            reply_sender,
+            simulation,
+            scheduler,
+            addr_wrapper,
+        }
+    }
+
+    pub fn run(&mut self, start_time: MonotonicTime, udp_polling_interval_ms: u64) {
+        let mut t = start_time;
+        loop {
+            let t_old = t;
+            // Check for UDP requests every millisecond. Shift the simulator ahead here to prevent
+            // replies lying in the past.
+            t += Duration::from_millis(udp_polling_interval_ms);
+            let _synch_status = self.sys_clock.synchronize(t);
+            self.handle_sim_requests(t_old);
+            self.simulation
+                .step_until(t)
+                .expect("simulation step failed");
+        }
+    }
+
+    pub fn handle_sim_requests(&mut self, old_timestamp: MonotonicTime) {
+        loop {
+            match self.request_receiver.try_recv() {
+                Ok(request) => {
+                    if request.timestamp < old_timestamp && WARNING_FOR_STALE_DATA {
+                        log::warn!("stale data with timestamp {:?} received", request.timestamp);
+                    }
+                    if let Err(e) = match request.component() {
+                        SimComponent::SimCtrl => self.handle_ctrl_request(&request),
+                        SimComponent::Mgm0Lis3Mdl => self.handle_mgm_request(0, &request),
+                        SimComponent::Mgm1Lis3Mdl => self.handle_mgm_request(1, &request),
+                        SimComponent::Mgt => self.handle_mgt_request(&request),
+                        SimComponent::Pcdu => self.handle_pcdu_request(&request),
+                    } {
+                        self.handle_invalid_request_with_valid_target(e, &request)
+                    }
+                }
+                Err(e) => match e {
+                    mpsc::TryRecvError::Empty => break,
+                    mpsc::TryRecvError::Disconnected => {
+                        panic!("all request sender disconnected")
+                    }
+                },
+            }
+        }
+    }
+
+    fn handle_ctrl_request(&mut self, request: &SimRequest) -> Result<(), SimRequestError> {
+        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 {
+            SimCtrlRequest::Ping => {
+                self.reply_sender
+                    .send(SimReply::new(&SimCtrlReply::Pong))
+                    .expect("sending reply from sim controller failed");
+            }
+        }
+        Ok(())
+    }
+
+    fn handle_mgm_request(
+        &mut self,
+        mgm_idx: usize,
+        request: &SimRequest,
+    ) -> Result<(), SimRequestError> {
+        let mgm_request = MgmRequestLis3Mdl::from_sim_message(request)?;
+        if MGM_REQ_WIRETAPPING {
+            log::info!("received MGM request: {mgm_request:?}");
+        }
+        match mgm_request {
+            MgmRequestLis3Mdl::RequestSensorData => {
+                let addr = match mgm_idx {
+                    0 => &self.addr_wrapper.mgm_0_addr,
+                    1 => &self.addr_wrapper.mgm_1_addr,
+
+                    _ => panic!("invalid mgm index"),
+                };
+                self.simulation
+                    .process_event(MagnetometerModel::send_sensor_values, (), addr)
+                    .expect("event execution error for mgm");
+            }
+        }
+        Ok(())
+    }
+
+    fn handle_pcdu_request(&mut self, request: &SimRequest) -> Result<(), SimRequestError> {
+        let pcdu_request = PcduRequest::from_sim_message(request)?;
+        if PCDU_REQ_WIRETAPPING {
+            log::info!("received PCDU request: {pcdu_request:?}");
+        }
+        match pcdu_request {
+            PcduRequest::RequestSwitchInfo => {
+                self.simulation
+                    .process_event(
+                        PcduModel::request_switch_info,
+                        (),
+                        &self.addr_wrapper.pcdu_addr,
+                    )
+                    .unwrap();
+            }
+            PcduRequest::SwitchDevice { switch, state } => {
+                self.simulation
+                    .process_event(
+                        PcduModel::switch_device,
+                        (switch, state),
+                        &self.addr_wrapper.pcdu_addr,
+                    )
+                    .unwrap();
+            }
+        }
+        Ok(())
+    }
+
+    fn handle_mgt_request(&mut self, request: &SimRequest) -> Result<(), SimRequestError> {
+        let mgt_request = MgtRequest::from_sim_message(request)?;
+        if MGT_REQ_WIRETAPPING {
+            log::info!("received MGT request: {mgt_request:?}");
+        }
+        match mgt_request {
+            MgtRequest::ApplyTorque { duration, dipole } => self
+                .simulation
+                .process_event(
+                    MagnetorquerModel::apply_torque,
+                    (duration, dipole),
+                    &self.addr_wrapper.mgt_addr,
+                )
+                .unwrap(),
+            MgtRequest::RequestHk => self
+                .simulation
+                .process_event(
+                    MagnetorquerModel::request_housekeeping_data,
+                    (),
+                    &self.addr_wrapper.mgt_addr,
+                )
+                .unwrap(),
+        };
+        Ok(())
+    }
+
+    fn handle_invalid_request_with_valid_target(
+        &self,
+        error: SimRequestError,
+        request: &SimRequest,
+    ) {
+        log::warn!(
+            "received invalid {:?} request: {:?}",
+            request.component(),
+            error
+        );
+        self.reply_sender
+            .send(SimReply::new(&SimCtrlReply::from(error)))
+            .expect("sending reply from sim controller failed");
+    }
+}
+
+#[cfg(test)]
+mod tests {
+    use crate::test_helpers::SimTestbench;
+
+    use super::*;
+
+    #[test]
+    fn test_basic_ping() {
+        let mut sim_testbench = SimTestbench::new();
+        let request = SimRequest::new_with_epoch_time(SimCtrlRequest::Ping);
+        sim_testbench
+            .send_request(request)
+            .expect("sending sim ctrl request failed");
+        sim_testbench.handle_sim_requests_time_agnostic();
+        sim_testbench.step().unwrap();
+        let sim_reply = sim_testbench.try_receive_next_reply();
+        assert!(sim_reply.is_some());
+        let sim_reply = sim_reply.unwrap();
+        assert_eq!(sim_reply.component(), SimComponent::SimCtrl);
+        let reply = SimCtrlReply::from_sim_message(&sim_reply)
+            .expect("failed to deserialize MGM sensor values");
+        assert_eq!(reply, SimCtrlReply::Pong);
+    }
+}

satrs-example/minisim/src/eps.rs

@@ -0,0 +1,181 @@
+use std::{sync::mpsc, time::Duration};
+
+use models::pcdu::{SwitchId, SwitchMapBinaryWrapper, SwitchStateBinary};
+use nexosim::{
+    model::{Context, Model},
+    ports::Output,
+};
+use satrs_minisim::{eps::PcduReply, SimReply};
+
+pub const SWITCH_INFO_DELAY_MS: u64 = 10;
+
+pub struct PcduModel {
+    pub switcher_map: SwitchMapBinaryWrapper,
+    pub mgm_0_switch: Output<SwitchStateBinary>,
+    pub mgm_1_switch: Output<SwitchStateBinary>,
+    pub mgt_switch: Output<SwitchStateBinary>,
+    pub reply_sender: mpsc::Sender<SimReply>,
+}
+
+impl PcduModel {
+    pub fn new(reply_sender: mpsc::Sender<SimReply>) -> Self {
+        Self {
+            switcher_map: Default::default(),
+            mgm_0_switch: Output::new(),
+            mgm_1_switch: Output::new(),
+            mgt_switch: Output::new(),
+            reply_sender,
+        }
+    }
+
+    pub async fn request_switch_info(&mut self, _: (), cx: &mut Context<Self>) {
+        cx.schedule_event(
+            Duration::from_millis(SWITCH_INFO_DELAY_MS),
+            Self::send_switch_info,
+            (),
+        )
+        .expect("requesting switch info failed");
+    }
+
+    pub fn send_switch_info(&mut self) {
+        let reply = SimReply::new(&PcduReply::SwitchInfo(self.switcher_map.0.clone()));
+        self.reply_sender.send(reply).unwrap();
+    }
+
+    pub async fn switch_device(&mut self, switch_and_target_state: (SwitchId, SwitchStateBinary)) {
+        log::info!(
+            "switching {:?} to {:?}",
+            switch_and_target_state.0,
+            switch_and_target_state.1
+        );
+        let val = self
+            .switcher_map
+            .0
+            .get_mut(&switch_and_target_state.0)
+            .unwrap_or_else(|| panic!("switch {:?} not found", switch_and_target_state.0));
+        *val = switch_and_target_state.1;
+        match switch_and_target_state.0 {
+            SwitchId::Mgm0 => {
+                self.mgm_0_switch.send(switch_and_target_state.1).await;
+            }
+            SwitchId::Mgt => {
+                self.mgt_switch.send(switch_and_target_state.1).await;
+            }
+            SwitchId::Mgm1 => todo!(),
+        }
+    }
+}
+
+impl Model for PcduModel {}
+
+#[cfg(test)]
+pub(crate) mod tests {
+    use super::*;
+    use std::time::Duration;
+
+    use models::pcdu::SwitchMapBinary;
+    use satrs_minisim::{
+        eps::PcduRequest, SerializableSimMsgPayload, SimComponent, SimMessageProvider, SimRequest,
+    };
+
+    use crate::test_helpers::SimTestbench;
+
+    fn switch_device(
+        sim_testbench: &mut SimTestbench,
+        switch: SwitchId,
+        target: SwitchStateBinary,
+    ) {
+        let request = SimRequest::new_with_epoch_time(PcduRequest::SwitchDevice {
+            switch,
+            state: target,
+        });
+        sim_testbench
+            .send_request(request)
+            .expect("sending MGM switch request failed");
+        sim_testbench.handle_sim_requests_time_agnostic();
+        sim_testbench.step().unwrap();
+    }
+
+    #[allow(dead_code)]
+    pub(crate) fn switch_device_off(sim_testbench: &mut SimTestbench, switch: SwitchId) {
+        switch_device(sim_testbench, switch, SwitchStateBinary::Off);
+    }
+    pub(crate) fn switch_device_on(sim_testbench: &mut SimTestbench, switch: SwitchId) {
+        switch_device(sim_testbench, switch, SwitchStateBinary::On);
+    }
+
+    pub(crate) fn get_all_off_switch_map() -> SwitchMapBinary {
+        SwitchMapBinaryWrapper::default().0
+    }
+
+    fn check_switch_state(sim_testbench: &mut SimTestbench, expected_switch_map: &SwitchMapBinary) {
+        let request = SimRequest::new_with_epoch_time(PcduRequest::RequestSwitchInfo);
+        sim_testbench
+            .send_request(request)
+            .expect("sending MGM request failed");
+        sim_testbench.handle_sim_requests_time_agnostic();
+        sim_testbench.step().unwrap();
+        let sim_reply = sim_testbench.try_receive_next_reply();
+        assert!(sim_reply.is_some());
+        let sim_reply = sim_reply.unwrap();
+        assert_eq!(sim_reply.component(), SimComponent::Pcdu);
+        let pcdu_reply = PcduReply::from_sim_message(&sim_reply)
+            .expect("failed to deserialize PCDU switch info");
+        match pcdu_reply {
+            PcduReply::SwitchInfo(switch_map) => {
+                assert_eq!(switch_map, *expected_switch_map);
+            }
+        }
+    }
+
+    fn test_pcdu_switching_single_switch(switch: SwitchId, target: SwitchStateBinary) {
+        let mut sim_testbench = SimTestbench::new();
+        switch_device(&mut sim_testbench, switch, target);
+        let mut switcher_map = get_all_off_switch_map();
+        *switcher_map.get_mut(&switch).unwrap() = target;
+        check_switch_state(&mut sim_testbench, &switcher_map);
+    }
+
+    #[test]
+    fn test_pcdu_switcher_request() {
+        let mut sim_testbench = SimTestbench::new();
+        let request = SimRequest::new_with_epoch_time(PcduRequest::RequestSwitchInfo);
+        sim_testbench
+            .send_request(request)
+            .expect("sending MGM request failed");
+        sim_testbench.handle_sim_requests_time_agnostic();
+        sim_testbench.step_until(Duration::from_millis(1)).unwrap();
+
+        let sim_reply = sim_testbench.try_receive_next_reply();
+        assert!(sim_reply.is_none());
+        // Reply takes 20ms
+        sim_testbench.step_until(Duration::from_millis(25)).unwrap();
+        let sim_reply = sim_testbench.try_receive_next_reply();
+        assert!(sim_reply.is_some());
+        let sim_reply = sim_reply.unwrap();
+        assert_eq!(sim_reply.component(), SimComponent::Pcdu);
+        let pcdu_reply = PcduReply::from_sim_message(&sim_reply)
+            .expect("failed to deserialize PCDU switch info");
+        match pcdu_reply {
+            PcduReply::SwitchInfo(switch_map) => {
+                assert_eq!(switch_map, get_all_off_switch_map());
+            }
+        }
+    }
+
+    #[test]
+    fn test_pcdu_switching_mgm_on() {
+        test_pcdu_switching_single_switch(SwitchId::Mgm0, SwitchStateBinary::On);
+    }
+
+    #[test]
+    fn test_pcdu_switching_mgt_on() {
+        test_pcdu_switching_single_switch(SwitchId::Mgt, SwitchStateBinary::On);
+    }
+
+    #[test]
+    fn test_pcdu_switching_mgt_off() {
+        test_pcdu_switching_single_switch(SwitchId::Mgt, SwitchStateBinary::On);
+        test_pcdu_switching_single_switch(SwitchId::Mgt, SwitchStateBinary::Off);
+    }
+}

satrs-example/minisim/src/lib.rs

@@ -0,0 +1,404 @@
+use nexosim::time::MonotonicTime;
+use serde::{de::DeserializeOwned, Deserialize, Serialize};
+
+#[derive(Debug, Copy, Clone, PartialEq, Eq, Serialize, Deserialize, Hash)]
+pub enum SimComponent {
+    SimCtrl,
+    Mgm0Lis3Mdl,
+    Mgm1Lis3Mdl,
+    Mgt,
+    Pcdu,
+}
+
+#[derive(Debug, Clone, PartialEq, Eq, Serialize, Deserialize)]
+pub struct SimMessage {
+    pub target: SimComponent,
+    pub payload: String,
+}
+
+/// A generic simulation request type. Right now, the payload data is expected to be
+/// JSON, which might be changed in the future.
+#[derive(Debug, Clone, PartialEq, Eq, Serialize, Deserialize)]
+pub struct SimRequest {
+    inner: SimMessage,
+    pub timestamp: MonotonicTime,
+}
+
+#[derive(Debug, Clone, PartialEq, Eq, Serialize, Deserialize)]
+pub enum SimMessageType {
+    Request,
+    Reply,
+}
+
+/// Generic trait implemented by simulation request or reply payloads. It ties the request or
+/// reply to a specific target and provides an API which does boilerplate tasks like checking the
+/// validity of the target.
+pub trait SerializableSimMsgPayload<P: SimMessageProvider>:
+    Serialize + DeserializeOwned + Sized
+{
+    const TARGET: SimComponent;
+
+    fn from_sim_message(sim_message: &P) -> Result<Self, SimMessageError<P>> {
+        if sim_message.component() == Self::TARGET {
+            return Ok(serde_json::from_str(sim_message.payload())?);
+        }
+        Err(SimMessageError::TargetRequestMissmatch(sim_message.clone()))
+    }
+}
+
+pub trait SimMessageProvider: Serialize + DeserializeOwned + Clone + Sized {
+    fn msg_type(&self) -> SimMessageType;
+    fn component(&self) -> SimComponent;
+    fn payload(&self) -> &String;
+    fn from_raw_data(data: &[u8]) -> serde_json::Result<Self> {
+        serde_json::from_slice(data)
+    }
+}
+
+impl SimRequest {
+    pub fn new_with_epoch_time<T: SerializableSimMsgPayload<SimRequest>>(
+        serializable_request: T,
+    ) -> Self {
+        Self::new(serializable_request, MonotonicTime::EPOCH)
+    }
+
+    pub fn new<T: SerializableSimMsgPayload<SimRequest>>(
+        serializable_request: T,
+        timestamp: MonotonicTime,
+    ) -> Self {
+        Self {
+            inner: SimMessage {
+                target: T::TARGET,
+                payload: serde_json::to_string(&serializable_request).unwrap(),
+            },
+            timestamp,
+        }
+    }
+}
+
+impl SimMessageProvider for SimRequest {
+    fn component(&self) -> SimComponent {
+        self.inner.target
+    }
+    fn payload(&self) -> &String {
+        &self.inner.payload
+    }
+
+    fn msg_type(&self) -> SimMessageType {
+        SimMessageType::Request
+    }
+}
+
+/// A generic simulation reply type. Right now, the payload data is expected to be
+/// JSON, which might be changed in the future.
+#[derive(Debug, Clone, PartialEq, Eq, Serialize, Deserialize)]
+pub struct SimReply {
+    inner: SimMessage,
+}
+
+impl SimReply {
+    pub fn new<T: SerializableSimMsgPayload<SimReply>>(serializable_reply: &T) -> Self {
+        Self {
+            inner: SimMessage {
+                target: T::TARGET,
+                payload: serde_json::to_string(serializable_reply).unwrap(),
+            },
+        }
+    }
+}
+
+impl SimMessageProvider for SimReply {
+    fn component(&self) -> SimComponent {
+        self.inner.target
+    }
+    fn payload(&self) -> &String {
+        &self.inner.payload
+    }
+    fn msg_type(&self) -> SimMessageType {
+        SimMessageType::Reply
+    }
+}
+
+#[derive(Debug, Copy, Clone, PartialEq, Eq, Serialize, Deserialize)]
+pub enum SimCtrlRequest {
+    Ping,
+}
+
+impl SerializableSimMsgPayload<SimRequest> for SimCtrlRequest {
+    const TARGET: SimComponent = SimComponent::SimCtrl;
+}
+
+pub type SimReplyError = SimMessageError<SimReply>;
+pub type SimRequestError = SimMessageError<SimRequest>;
+
+#[derive(Debug, Clone, PartialEq, Eq, Serialize, Deserialize)]
+pub enum SimMessageError<P> {
+    SerdeJson(String),
+    TargetRequestMissmatch(P),
+}
+
+impl<P> From<serde_json::Error> for SimMessageError<P> {
+    fn from(error: serde_json::Error) -> SimMessageError<P> {
+        SimMessageError::SerdeJson(error.to_string())
+    }
+}
+
+#[derive(Debug, Clone, PartialEq, Eq, Serialize, Deserialize)]
+pub enum SimCtrlReply {
+    Pong,
+    InvalidRequest(SimRequestError),
+}
+
+impl SerializableSimMsgPayload<SimReply> for SimCtrlReply {
+    const TARGET: SimComponent = SimComponent::SimCtrl;
+}
+
+impl From<SimRequestError> for SimCtrlReply {
+    fn from(error: SimRequestError) -> Self {
+        SimCtrlReply::InvalidRequest(error)
+    }
+}
+
+pub mod eps {
+    use super::*;
+    use models::pcdu::{SwitchId, SwitchMapBinary, SwitchStateBinary};
+
+    #[derive(Debug, Copy, Clone)]
+    #[repr(u8)]
+    pub enum PcduRequestId {
+        SwitchDevice = 0,
+        RequestSwitchInfo = 1,
+    }
+
+    #[derive(Debug, Copy, Clone, PartialEq, Eq, Serialize, Deserialize)]
+    pub enum PcduRequest {
+        SwitchDevice {
+            switch: SwitchId,
+            state: SwitchStateBinary,
+        },
+        RequestSwitchInfo,
+    }
+
+    impl SerializableSimMsgPayload<SimRequest> for PcduRequest {
+        const TARGET: SimComponent = SimComponent::Pcdu;
+    }
+
+    #[derive(Debug, Clone, Serialize, Deserialize, PartialEq, Eq)]
+    pub enum PcduReply {
+        // Ack,
+        SwitchInfo(SwitchMapBinary),
+    }
+
+    impl SerializableSimMsgPayload<SimReply> for PcduReply {
+        const TARGET: SimComponent = SimComponent::Pcdu;
+    }
+}
+
+pub mod acs {
+    use std::time::Duration;
+
+    use models::pcdu::SwitchStateBinary;
+
+    use super::*;
+
+    pub trait MgmReplyProvider: Send + 'static {
+        fn create_mgm_reply(common: MgmReplyCommon) -> SimReply;
+    }
+
+    #[derive(Debug, Copy, Clone, Serialize, Deserialize)]
+    pub enum MgmRequestLis3Mdl {
+        RequestSensorData,
+    }
+
+    impl SerializableSimMsgPayload<SimRequest> for MgmRequestLis3Mdl {
+        const TARGET: SimComponent = SimComponent::Mgm0Lis3Mdl;
+    }
+
+    // Normally, small magnetometers generate their output as a signed 16 bit raw format or something
+    // similar which needs to be converted to a signed float value with physical units. We will
+    // simplify this now and generate the signed float values directly. The unit is micro tesla.
+    #[derive(Debug, Copy, Clone, PartialEq, Serialize, Deserialize)]
+    pub struct MgmSensorValuesMicroTesla {
+        pub x: f32,
+        pub y: f32,
+        pub z: f32,
+    }
+
+    #[derive(Debug, Copy, Clone, PartialEq, Serialize, Deserialize)]
+    pub struct MgmReplyCommon {
+        pub switch_state: SwitchStateBinary,
+        pub sensor_values: MgmSensorValuesMicroTesla,
+    }
+
+    pub const MGT_GEN_MAGNETIC_FIELD: MgmSensorValuesMicroTesla = MgmSensorValuesMicroTesla {
+        x: 30.0,
+        y: -30.0,
+        z: 30.0,
+    };
+    pub const ALL_ONES_SENSOR_VAL: i16 = 0xffff_u16 as i16;
+
+    pub mod lis3mdl {
+        use super::*;
+
+        // Field data register scaling
+        pub const GAUSS_TO_MICROTESLA_FACTOR: u32 = 100;
+        pub const FIELD_LSB_PER_GAUSS_4_SENS: f32 = 1.0 / 6842.0;
+        pub const FIELD_LSB_PER_GAUSS_8_SENS: f32 = 1.0 / 3421.0;
+        pub const FIELD_LSB_PER_GAUSS_12_SENS: f32 = 1.0 / 2281.0;
+        pub const FIELD_LSB_PER_GAUSS_16_SENS: f32 = 1.0 / 1711.0;
+
+        #[derive(Default, Debug, Copy, Clone, PartialEq, Serialize, Deserialize)]
+        pub struct MgmLis3RawValues {
+            pub x: i16,
+            pub y: i16,
+            pub z: i16,
+        }
+
+        #[derive(Debug, Copy, Clone, PartialEq, Serialize, Deserialize)]
+        pub struct MgmLis3MdlReply {
+            pub common: MgmReplyCommon,
+            // Raw sensor values which are transmitted by the LIS3 device in little-endian
+            // order.
+            pub raw: MgmLis3RawValues,
+        }
+
+        impl MgmLis3MdlReply {
+            pub fn new(common: MgmReplyCommon) -> Self {
+                match common.switch_state {
+                    SwitchStateBinary::Off => Self {
+                        common,
+                        raw: MgmLis3RawValues {
+                            x: ALL_ONES_SENSOR_VAL,
+                            y: ALL_ONES_SENSOR_VAL,
+                            z: ALL_ONES_SENSOR_VAL,
+                        },
+                    },
+                    SwitchStateBinary::On => {
+                        let mut raw_reply: [u8; 7] = [0; 7];
+                        let raw_x: i16 = (common.sensor_values.x
+                            / (GAUSS_TO_MICROTESLA_FACTOR as f32 * FIELD_LSB_PER_GAUSS_4_SENS))
+                            .round() as i16;
+                        let raw_y: i16 = (common.sensor_values.y
+                            / (GAUSS_TO_MICROTESLA_FACTOR as f32 * FIELD_LSB_PER_GAUSS_4_SENS))
+                            .round() as i16;
+                        let raw_z: i16 = (common.sensor_values.z
+                            / (GAUSS_TO_MICROTESLA_FACTOR as f32 * FIELD_LSB_PER_GAUSS_4_SENS))
+                            .round() as i16;
+                        // The first byte is a dummy byte.
+                        raw_reply[1..3].copy_from_slice(&raw_x.to_be_bytes());
+                        raw_reply[3..5].copy_from_slice(&raw_y.to_be_bytes());
+                        raw_reply[5..7].copy_from_slice(&raw_z.to_be_bytes());
+                        Self {
+                            common,
+                            raw: MgmLis3RawValues {
+                                x: raw_x,
+                                y: raw_y,
+                                z: raw_z,
+                            },
+                        }
+                    }
+                }
+            }
+        }
+
+        impl SerializableSimMsgPayload<SimReply> for MgmLis3MdlReply {
+            const TARGET: SimComponent = SimComponent::Mgm0Lis3Mdl;
+        }
+
+        impl MgmReplyProvider for MgmLis3MdlReply {
+            fn create_mgm_reply(common: MgmReplyCommon) -> SimReply {
+                SimReply::new(&Self::new(common))
+            }
+        }
+    }
+
+    // Simple model using i16 values.
+    #[derive(Default, Debug, Copy, Clone, PartialEq, Eq, Serialize, Deserialize)]
+    pub struct MgtDipole {
+        pub x: i16,
+        pub y: i16,
+        pub z: i16,
+    }
+
+    #[derive(Debug, Copy, Clone, PartialEq, Serialize, Deserialize)]
+    pub enum MgtRequestType {
+        ApplyTorque,
+    }
+
+    #[derive(Debug, Copy, Clone, Serialize, Deserialize)]
+    pub enum MgtRequest {
+        ApplyTorque {
+            duration: Duration,
+            dipole: MgtDipole,
+        },
+        RequestHk,
+    }
+
+    impl SerializableSimMsgPayload<SimRequest> for MgtRequest {
+        const TARGET: SimComponent = SimComponent::Mgt;
+    }
+
+    #[derive(Debug, Copy, Clone, PartialEq, Eq, Serialize, Deserialize)]
+    pub struct MgtHkSet {
+        pub dipole: MgtDipole,
+        pub torquing: bool,
+    }
+
+    #[derive(Debug, Copy, Clone, Serialize, Deserialize)]
+    pub enum MgtReply {
+        Ack(MgtRequestType),
+        Nak(MgtRequestType),
+        Hk(MgtHkSet),
+    }
+
+    impl SerializableSimMsgPayload<SimReply> for MgtReply {
+        const TARGET: SimComponent = SimComponent::Mgm0Lis3Mdl;
+    }
+}
+
+pub mod udp {
+    pub const SIM_CTRL_PORT: u16 = 7303;
+}
+
+#[cfg(test)]
+pub mod tests {
+    use super::*;
+
+    #[derive(Debug, Copy, Clone, PartialEq, Eq, Serialize, Deserialize)]
+    pub enum DummyRequest {
+        Ping,
+    }
+
+    impl SerializableSimMsgPayload<SimRequest> for DummyRequest {
+        const TARGET: SimComponent = SimComponent::SimCtrl;
+    }
+
+    #[derive(Debug, Copy, Clone, PartialEq, Eq, Serialize, Deserialize)]
+    pub enum DummyReply {
+        Pong,
+    }
+
+    impl SerializableSimMsgPayload<SimReply> for DummyReply {
+        const TARGET: SimComponent = SimComponent::SimCtrl;
+    }
+
+    #[test]
+    fn test_basic_request() {
+        let sim_request = SimRequest::new_with_epoch_time(DummyRequest::Ping);
+        assert_eq!(sim_request.component(), SimComponent::SimCtrl);
+        assert_eq!(sim_request.msg_type(), SimMessageType::Request);
+        let dummy_request =
+            DummyRequest::from_sim_message(&sim_request).expect("deserialization failed");
+        assert_eq!(dummy_request, DummyRequest::Ping);
+    }
+
+    #[test]
+    fn test_basic_reply() {
+        let sim_reply = SimReply::new(&DummyReply::Pong);
+        assert_eq!(sim_reply.component(), SimComponent::SimCtrl);
+        assert_eq!(sim_reply.msg_type(), SimMessageType::Reply);
+        let dummy_request =
+            DummyReply::from_sim_message(&sim_reply).expect("deserialization failed");
+        assert_eq!(dummy_request, DummyReply::Pong);
+    }
+}

satrs-example/minisim/src/main.rs

@@ -0,0 +1,143 @@
+use acs::{MagnetometerModel, MagnetorquerModel};
+use controller::{ModelAddrWrapper, SimController};
+use eps::PcduModel;
+use nexosim::simulation::{Mailbox, SimInit};
+use nexosim::time::{MonotonicTime, SystemClock};
+use satrs_minisim::udp::SIM_CTRL_PORT;
+use satrs_minisim::{SimReply, SimRequest};
+use std::sync::mpsc;
+use std::thread;
+use std::time::{Duration, SystemTime};
+use udp::SimUdpServer;
+
+mod acs;
+mod controller;
+mod eps;
+#[cfg(test)]
+mod test_helpers;
+mod time;
+mod udp;
+
+#[derive(Debug, Copy, Clone, PartialEq, Eq)]
+pub enum ThreadingModel {
+    Default = 0,
+    Single = 1,
+}
+
+fn create_sim_controller(
+    threading_model: ThreadingModel,
+    start_time: MonotonicTime,
+    reply_sender: mpsc::Sender<SimReply>,
+    request_receiver: mpsc::Receiver<SimRequest>,
+) -> SimController {
+    // Instantiate models and their mailboxes.
+    let mgm_0_model =
+        MagnetometerModel::new_for_lis3mdl(Duration::from_millis(50), reply_sender.clone());
+    let mgm_1_model =
+        MagnetometerModel::new_for_lis3mdl(Duration::from_millis(50), reply_sender.clone());
+
+    let mgm_0_mailbox = Mailbox::new();
+    let mgm_0_addr = mgm_0_mailbox.address();
+    let mgm_1_mailbox = Mailbox::new();
+    let mgm_1_addr = mgm_1_mailbox.address();
+    let pcdu_mailbox = Mailbox::new();
+    let pcdu_addr = pcdu_mailbox.address();
+    let mgt_mailbox = Mailbox::new();
+    let mgt_addr = mgt_mailbox.address();
+
+    let mut pcdu_model = PcduModel::new(reply_sender.clone());
+    pcdu_model
+        .mgm_0_switch
+        .connect(MagnetometerModel::switch_device, &mgm_0_addr);
+    pcdu_model
+        .mgm_1_switch
+        .connect(MagnetometerModel::switch_device, &mgm_1_addr);
+
+    let mut mgt_model = MagnetorquerModel::new(reply_sender.clone());
+    // Input connections.
+    pcdu_model
+        .mgt_switch
+        .connect(MagnetorquerModel::switch_device, &mgt_addr);
+    // Output connections.
+    mgt_model.gen_magnetic_field.connect(
+        MagnetometerModel::apply_external_magnetic_field,
+        &mgm_0_addr,
+    );
+    mgt_model.gen_magnetic_field.connect(
+        MagnetometerModel::apply_external_magnetic_field,
+        &mgm_1_addr,
+    );
+
+    // Instantiate the simulator
+    let sys_clock = SystemClock::from_system_time(start_time, SystemTime::now());
+    let sim_init = if threading_model == ThreadingModel::Single {
+        SimInit::with_num_threads(1)
+    } else {
+        SimInit::new()
+    };
+    let addrs = ModelAddrWrapper::new(mgm_0_addr, mgm_1_addr, pcdu_addr, mgt_addr);
+    let (simulation, scheduler) = sim_init
+        .add_model(mgm_0_model, mgm_0_mailbox, "MGM 0 model")
+        .add_model(mgm_1_model, mgm_1_mailbox, "MGM 1 model")
+        .add_model(pcdu_model, pcdu_mailbox, "PCDU model")
+        .add_model(mgt_model, mgt_mailbox, "MGT model")
+        .init(start_time)
+        .unwrap();
+    SimController::new(
+        sys_clock,
+        request_receiver,
+        reply_sender,
+        simulation,
+        scheduler,
+        addrs,
+    )
+}
+
+fn main() {
+    let (request_sender, request_receiver) = mpsc::channel();
+    let (reply_sender, reply_receiver) = mpsc::channel();
+    let t0 = MonotonicTime::EPOCH;
+    let mut sim_ctrl =
+        create_sim_controller(ThreadingModel::Default, t0, reply_sender, request_receiver);
+    // Configure logger at runtime
+    fern::Dispatch::new()
+        // Perform allocation-free log formatting
+        .format(|out, message, record| {
+            out.finish(format_args!(
+                "[{} {} {}] {}",
+                humantime::format_rfc3339(std::time::SystemTime::now()),
+                record.level(),
+                record.target(),
+                message
+            ))
+        })
+        // Add blanket level filter -
+        .level(log::LevelFilter::Debug)
+        // - and per-module overrides
+        // Output to stdout, files, and other Dispatch configurations
+        .chain(std::io::stdout())
+        .chain(fern::log_file("output.log").expect("could not open log output file"))
+        // Apply globally
+        .apply()
+        .expect("could not apply logger configuration");
+
+    log::info!("starting simulation thread");
+    // This thread schedules the simulator.
+    let sim_thread = thread::spawn(move || {
+        sim_ctrl.run(t0, 1);
+    });
+
+    let mut udp_server =
+        SimUdpServer::new(SIM_CTRL_PORT, request_sender, reply_receiver, 200, None)
+            .expect("could not create UDP request server");
+    log::info!("starting UDP server on port {SIM_CTRL_PORT}");
+    // This thread manages the simulator UDP server.
+    let udp_tc_thread = thread::spawn(move || {
+        udp_server.run();
+    });
+
+    sim_thread.join().expect("joining simulation thread failed");
+    udp_tc_thread
+        .join()
+        .expect("joining UDP server thread failed");
+}

satrs-example/minisim/src/test_helpers.rs

@@ -0,0 +1,62 @@
+use delegate::delegate;
+use std::sync::mpsc;
+
+use nexosim::{
+    simulation::ExecutionError,
+    time::{Deadline, MonotonicTime},
+};
+use satrs_minisim::{SimReply, SimRequest};
+
+use crate::{controller::SimController, create_sim_controller, ThreadingModel};
+
+pub struct SimTestbench {
+    pub sim_controller: SimController,
+    pub reply_receiver: mpsc::Receiver<SimReply>,
+    pub request_sender: mpsc::Sender<SimRequest>,
+}
+
+impl SimTestbench {
+    pub fn new() -> Self {
+        let (request_sender, request_receiver) = mpsc::channel();
+        let (reply_sender, reply_receiver) = mpsc::channel();
+        let t0 = MonotonicTime::EPOCH;
+        let sim_ctrl =
+            create_sim_controller(ThreadingModel::Single, t0, reply_sender, request_receiver);
+
+        Self {
+            sim_controller: sim_ctrl,
+            reply_receiver,
+            request_sender,
+        }
+    }
+    pub fn handle_sim_requests_time_agnostic(&mut self) {
+        self.handle_sim_requests(MonotonicTime::EPOCH);
+    }
+
+    delegate! {
+        to self.sim_controller {
+            pub fn handle_sim_requests(&mut self, old_timestamp: MonotonicTime);
+        }
+        to self.sim_controller.simulation {
+            pub fn step(&mut self) -> Result<(), ExecutionError>;
+            pub fn step_until(&mut self, duration: impl Deadline) -> Result<(), ExecutionError>;
+        }
+    }
+
+    pub fn send_request(&self, request: SimRequest) -> Result<(), mpsc::SendError<SimRequest>> {
+        self.request_sender.send(request)
+    }
+
+    pub fn try_receive_next_reply(&self) -> Option<SimReply> {
+        match self.reply_receiver.try_recv() {
+            Ok(reply) => Some(reply),
+            Err(e) => {
+                if e == mpsc::TryRecvError::Empty {
+                    None
+                } else {
+                    panic!("reply_receiver disconnected");
+                }
+            }
+        }
+    }
+}

satrs-example/minisim/src/time.rs

@@ -0,0 +1,5 @@
+use nexosim::time::MonotonicTime;
+
+pub fn current_millis(time: MonotonicTime) -> u64 {
+    (time.as_secs() as u64 * 1000) + (time.subsec_nanos() as u64 / 1_000_000)
+}

satrs-example/minisim/src/udp.rs

@@ -0,0 +1,436 @@
+use std::{
+    collections::VecDeque,
+    io::ErrorKind,
+    net::{SocketAddr, UdpSocket},
+    sync::{atomic::AtomicBool, mpsc, Arc},
+    time::Duration,
+};
+
+use satrs_minisim::{SimMessageProvider, SimReply, SimRequest};
+
+// A UDP server which handles all TC received by a client application.
+pub struct SimUdpServer {
+    socket: UdpSocket,
+    request_sender: mpsc::Sender<SimRequest>,
+    // shared_last_sender: SharedSocketAddr,
+    reply_receiver: mpsc::Receiver<SimReply>,
+    reply_queue: VecDeque<SimReply>,
+    max_num_replies: usize,
+    // Stop signal to stop the server. Required for unittests and useful to allow clean shutdown
+    // of the application.
+    stop_signal: Option<Arc<AtomicBool>>,
+    idle_sleep_period_ms: u64,
+    req_buf: [u8; 4096],
+    sender_addr: Option<SocketAddr>,
+}
+
+impl SimUdpServer {
+    pub fn new(
+        local_port: u16,
+        request_sender: mpsc::Sender<SimRequest>,
+        reply_receiver: mpsc::Receiver<SimReply>,
+        max_num_replies: usize,
+        stop_signal: Option<Arc<AtomicBool>>,
+    ) -> std::io::Result<Self> {
+        let socket = UdpSocket::bind(SocketAddr::from(([0, 0, 0, 0], local_port)))?;
+        socket.set_nonblocking(true)?;
+        Ok(Self {
+            socket,
+            request_sender,
+            reply_receiver,
+            reply_queue: VecDeque::new(),
+            max_num_replies,
+            stop_signal,
+            idle_sleep_period_ms: 3,
+            req_buf: [0; 4096],
+            sender_addr: None,
+        })
+    }
+
+    #[allow(dead_code)]
+    pub fn server_addr(&self) -> std::io::Result<SocketAddr> {
+        self.socket.local_addr()
+    }
+
+    pub fn run(&mut self) {
+        loop {
+            if let Some(stop_signal) = &self.stop_signal {
+                if stop_signal.load(std::sync::atomic::Ordering::Relaxed) {
+                    break;
+                }
+            }
+            let processed_requests = self.process_requests();
+            let processed_replies = self.process_replies();
+            let sent_replies = self.send_replies();
+            // Sleep for a bit if there is nothing to do to prevent burning CPU cycles. Delay
+            // should be kept short to ensure responsiveness of the system.
+            if !processed_requests && !processed_replies && !sent_replies {
+                std::thread::sleep(Duration::from_millis(self.idle_sleep_period_ms));
+            }
+        }
+    }
+
+    fn process_requests(&mut self) -> bool {
+        let mut processed_requests = false;
+        loop {
+            // Blocks for a certain amount of time until data is received to allow doing periodic
+            // work like checking the stop signal.
+            let (bytes_read, src) = match self.socket.recv_from(&mut self.req_buf) {
+                Ok((bytes_read, src)) => (bytes_read, src),
+                Err(e) if e.kind() == ErrorKind::WouldBlock => {
+                    // Continue to perform regular checks like the stop signal.
+                    break;
+                }
+                Err(e) => {
+                    // Handle unexpected errors (e.g., socket closed) here.
+                    log::error!("unexpected request server error: {e}");
+                    break;
+                }
+            };
+
+            self.sender_addr = Some(src);
+
+            let sim_req = SimRequest::from_raw_data(&self.req_buf[..bytes_read]);
+            if let Err(e) = sim_req {
+                log::warn!("received UDP request with invalid format: {}", e);
+                return processed_requests;
+            }
+            self.request_sender.send(sim_req.unwrap()).unwrap();
+            processed_requests = true;
+        }
+        processed_requests
+    }
+
+    fn process_replies(&mut self) -> bool {
+        let mut processed_replies = false;
+        loop {
+            match self.reply_receiver.try_recv() {
+                Ok(reply) => {
+                    if self.reply_queue.len() >= self.max_num_replies {
+                        self.reply_queue.pop_front();
+                    }
+                    self.reply_queue.push_back(reply);
+                    processed_replies = true;
+                }
+                Err(e) => match e {
+                    mpsc::TryRecvError::Empty => return processed_replies,
+                    mpsc::TryRecvError::Disconnected => {
+                        log::error!("all UDP reply senders disconnected")
+                    }
+                },
+            }
+        }
+    }
+
+    fn send_replies(&mut self) -> bool {
+        if self.sender_addr.is_none() {
+            return false;
+        }
+        let mut sent_replies = false;
+        while !self.reply_queue.is_empty() {
+            let next_reply_to_send = self.reply_queue.pop_front().unwrap();
+            self.socket
+                .send_to(
+                    serde_json::to_string(&next_reply_to_send)
+                        .unwrap()
+                        .as_bytes(),
+                    self.sender_addr.unwrap(),
+                )
+                .expect("sending reply failed");
+            sent_replies = true;
+        }
+        sent_replies
+    }
+}
+
+#[cfg(test)]
+mod tests {
+    use std::{
+        io::ErrorKind,
+        net::{SocketAddr, UdpSocket},
+        sync::{
+            atomic::{AtomicBool, Ordering},
+            mpsc, Arc,
+        },
+        time::Duration,
+    };
+
+    use satrs_minisim::{
+        eps::{PcduReply, PcduRequest},
+        SimCtrlReply, SimCtrlRequest, SimReply, SimRequest,
+    };
+
+    use crate::eps::tests::get_all_off_switch_map;
+    use delegate::delegate;
+
+    use super::SimUdpServer;
+
+    // Wait time to ensure even possibly laggy systems like CI servers can run the tests.
+    const SERVER_WAIT_TIME_MS: u64 = 50;
+
+    #[derive(thiserror::Error, Debug)]
+    pub enum ReceptionError {
+        #[error("IO error: {0}")]
+        Io(#[from] std::io::Error),
+        #[error("Serde JSON error: {0}")]
+        SerdeJson(#[from] serde_json::Error),
+    }
+
+    pub struct SimUdpTestClient {
+        socket: UdpSocket,
+        pub reply_buf: [u8; 4096],
+    }
+
+    impl SimUdpTestClient {
+        pub fn new(
+            server_addr: &SocketAddr,
+            non_blocking: bool,
+            read_timeot_ms: Option<u64>,
+        ) -> std::io::Result<Self> {
+            let socket = UdpSocket::bind("127.0.0.1:0")?;
+            socket.set_nonblocking(non_blocking)?;
+            socket
+                .connect(server_addr)
+                .expect("could not connect to server addr");
+            if let Some(read_timeout) = read_timeot_ms {
+                // Set a read timeout so the test does not hang on failures.
+                socket.set_read_timeout(Some(Duration::from_millis(read_timeout)))?;
+            }
+            Ok(Self {
+                socket,
+                reply_buf: [0; 4096],
+            })
+        }
+
+        pub fn send_request(&self, sim_request: &SimRequest) -> std::io::Result<usize> {
+            self.socket.send(
+                &serde_json::to_vec(sim_request).expect("conversion of request to vector failed"),
+            )
+        }
+
+        pub fn recv_raw(&mut self) -> std::io::Result<usize> {
+            self.socket.recv(&mut self.reply_buf)
+        }
+
+        pub fn recv_sim_reply(&mut self) -> Result<SimReply, ReceptionError> {
+            let read_len = self.recv_raw()?;
+            Ok(serde_json::from_slice(&self.reply_buf[0..read_len])?)
+        }
+    }
+    struct UdpTestbench {
+        client: SimUdpTestClient,
+        stop_signal: Arc<AtomicBool>,
+        request_receiver: mpsc::Receiver<SimRequest>,
+        reply_sender: mpsc::Sender<SimReply>,
+    }
+
+    impl UdpTestbench {
+        pub fn new(
+            client_non_blocking: bool,
+            client_read_timeout_ms: Option<u64>,
+            max_num_replies: usize,
+        ) -> std::io::Result<(Self, SimUdpServer)> {
+            let (request_sender, request_receiver) = mpsc::channel();
+            let (reply_sender, reply_receiver) = mpsc::channel();
+            let stop_signal = Arc::new(AtomicBool::new(false));
+            let server = SimUdpServer::new(
+                0,
+                request_sender,
+                reply_receiver,
+                max_num_replies,
+                Some(stop_signal.clone()),
+            )?;
+            let server_addr = server.server_addr()?;
+            Ok((
+                Self {
+                    client: SimUdpTestClient::new(
+                        &server_addr,
+                        client_non_blocking,
+                        client_read_timeout_ms,
+                    )?,
+                    stop_signal,
+                    request_receiver,
+                    reply_sender,
+                },
+                server,
+            ))
+        }
+
+        pub fn try_recv_request(&self) -> Result<SimRequest, mpsc::TryRecvError> {
+            self.request_receiver.try_recv()
+        }
+
+        pub fn stop(&self) {
+            self.stop_signal.store(true, Ordering::Relaxed);
+        }
+
+        pub fn send_reply(&self, sim_reply: &SimReply) {
+            self.reply_sender
+                .send(sim_reply.clone())
+                .expect("sending sim reply failed");
+        }
+
+        delegate! {
+            to self.client {
+                pub fn send_request(&self, sim_request: &SimRequest) -> std::io::Result<usize>;
+                pub fn recv_sim_reply(&mut self) -> Result<SimReply, ReceptionError>;
+            }
+        }
+
+        pub fn check_no_sim_reply_available(&mut self) {
+            if let Err(ReceptionError::Io(ref io_error)) = self.recv_sim_reply() {
+                if io_error.kind() == ErrorKind::WouldBlock {
+                    // Continue to perform regular checks like the stop signal.
+                    return;
+                } else {
+                    // Handle unexpected errors (e.g., socket closed) here.
+                    panic!("unexpected request server error: {io_error}");
+                }
+            }
+            panic!("unexpected reply available");
+        }
+
+        pub fn check_next_sim_reply(&mut self, expected_reply: &SimReply) {
+            match self.recv_sim_reply() {
+                Ok(received_sim_reply) => assert_eq!(expected_reply, &received_sim_reply),
+                Err(e) => match e {
+                    ReceptionError::Io(ref io_error) => {
+                        if io_error.kind() == ErrorKind::WouldBlock {
+                            // Continue to perform regular checks like the stop signal.
+                            panic!("no simulation reply received");
+                        } else {
+                            // Handle unexpected errors (e.g., socket closed) here.
+                            panic!("unexpected request server error: {e}");
+                        }
+                    }
+                    ReceptionError::SerdeJson(json_error) => {
+                        panic!("unexpected JSON error: {json_error}");
+                    }
+                },
+            }
+        }
+    }
+    #[test]
+    fn test_basic_udp_request_reception() {
+        let (udp_testbench, mut udp_server) =
+            UdpTestbench::new(true, Some(SERVER_WAIT_TIME_MS), 10)
+                .expect("could not create testbench");
+        let server_thread = std::thread::spawn(move || udp_server.run());
+        let sim_request = SimRequest::new_with_epoch_time(PcduRequest::RequestSwitchInfo);
+        udp_testbench
+            .send_request(&sim_request)
+            .expect("sending request failed");
+        std::thread::sleep(Duration::from_millis(SERVER_WAIT_TIME_MS));
+        // Check that the sim request has arrives and was forwarded.
+        let received_sim_request = udp_testbench
+            .try_recv_request()
+            .expect("did not receive request");
+        assert_eq!(sim_request, received_sim_request);
+        // Stop the server.
+        udp_testbench.stop();
+        server_thread.join().unwrap();
+    }
+
+    #[test]
+    fn test_udp_reply_server() {
+        let (mut udp_testbench, mut udp_server) =
+            UdpTestbench::new(false, Some(SERVER_WAIT_TIME_MS), 10)
+                .expect("could not create testbench");
+        let server_thread = std::thread::spawn(move || udp_server.run());
+        udp_testbench
+            .send_request(&SimRequest::new_with_epoch_time(SimCtrlRequest::Ping))
+            .expect("sending request failed");
+
+        let sim_reply = SimReply::new(&PcduReply::SwitchInfo(get_all_off_switch_map()));
+        udp_testbench.send_reply(&sim_reply);
+
+        udp_testbench.check_next_sim_reply(&sim_reply);
+
+        // Stop the server.
+        udp_testbench.stop();
+        server_thread.join().unwrap();
+    }
+
+    #[test]
+    fn test_udp_req_server_and_reply_sender() {
+        let (mut udp_testbench, mut udp_server) =
+            UdpTestbench::new(false, Some(SERVER_WAIT_TIME_MS), 10)
+                .expect("could not create testbench");
+
+        let server_thread = std::thread::spawn(move || udp_server.run());
+
+        // Send a ping so that the server knows the address of the client.
+        // Do not check that the request arrives on the receiver side, is done by other test.
+        udp_testbench
+            .send_request(&SimRequest::new_with_epoch_time(SimCtrlRequest::Ping))
+            .expect("sending request failed");
+
+        // Send a reply to the server, ensure it gets forwarded to the client.
+        let sim_reply = SimReply::new(&PcduReply::SwitchInfo(get_all_off_switch_map()));
+        udp_testbench.send_reply(&sim_reply);
+        std::thread::sleep(Duration::from_millis(SERVER_WAIT_TIME_MS));
+
+        // Now we check that the reply server can send back replies to the client.
+        udp_testbench.check_next_sim_reply(&sim_reply);
+
+        udp_testbench.stop();
+        server_thread.join().unwrap();
+    }
+
+    #[test]
+    fn test_udp_replies_client_unconnected() {
+        let (mut udp_testbench, mut udp_server) =
+            UdpTestbench::new(true, None, 10).expect("could not create testbench");
+
+        let server_thread = std::thread::spawn(move || udp_server.run());
+
+        // Send a reply to the server. The client is not connected, so it won't get forwarded.
+        let sim_reply = SimReply::new(&PcduReply::SwitchInfo(get_all_off_switch_map()));
+        udp_testbench.send_reply(&sim_reply);
+        std::thread::sleep(Duration::from_millis(10));
+
+        udp_testbench.check_no_sim_reply_available();
+
+        // Connect by sending a ping.
+        udp_testbench
+            .send_request(&SimRequest::new_with_epoch_time(SimCtrlRequest::Ping))
+            .expect("sending request failed");
+        std::thread::sleep(Duration::from_millis(SERVER_WAIT_TIME_MS));
+
+        udp_testbench.check_next_sim_reply(&sim_reply);
+
+        // Now we check that the reply server can sent back replies to the client.
+        udp_testbench.stop();
+        server_thread.join().unwrap();
+    }
+
+    #[test]
+    fn test_udp_reply_server_old_replies_overwritten() {
+        let (mut udp_testbench, mut udp_server) =
+            UdpTestbench::new(true, None, 3).expect("could not create testbench");
+
+        let server_thread = std::thread::spawn(move || udp_server.run());
+
+        // The server only caches up to 3 replies.
+        let sim_reply = SimReply::new(&SimCtrlReply::Pong);
+        for _ in 0..4 {
+            udp_testbench.send_reply(&sim_reply);
+        }
+        std::thread::sleep(Duration::from_millis(20));
+
+        udp_testbench.check_no_sim_reply_available();
+
+        // Connect by sending a ping.
+        udp_testbench
+            .send_request(&SimRequest::new_with_epoch_time(SimCtrlRequest::Ping))
+            .expect("sending request failed");
+        std::thread::sleep(Duration::from_millis(SERVER_WAIT_TIME_MS));
+
+        for _ in 0..3 {
+            udp_testbench.check_next_sim_reply(&sim_reply);
+        }
+        udp_testbench.check_no_sim_reply_available();
+        udp_testbench.stop();
+        server_thread.join().unwrap();
+    }
+}

satrs-example/models/Cargo.toml

@@ -0,0 +1,15 @@
+[package]
+name = "models"
+version = "0.1.0"
+edition = "2024"
+
+[dependencies]
+serde = { version = "1", features = ["derive"] }
+spacepackets = { version = "0.17", git = "https://egit.irs.uni-stuttgart.de/rust/spacepackets.git", default-features = false }
+satrs = { path = "../../satrs" }
+num_enum = { version = "0.7" }
+strum = { version = "0.28", features = ["derive"] }
+postcard = { version = "1" }
+thiserror = { version = "2" }
+bitbybit = "2"
+arbitrary-int = "2"

satrs-example/models/src/ccsds.rs

@@ -0,0 +1,130 @@
+use crate::TmHeader;
+use serde::Serialize;
+use spacepackets::{
+    CcsdsPacketCreationError, CcsdsPacketCreatorWithReservedData, SpHeader, SpacePacketHeader,
+    ccsds_packet_len_for_user_data_len_with_checksum,
+};
+
+use crate::TcHeader;
+
+#[derive(Debug, Clone, PartialEq, Eq)]
+pub struct CcsdsTcPacketOwned {
+    pub sp_header: SpacePacketHeader,
+    pub tc_header: TcHeader,
+    pub payload: alloc::vec::Vec<u8>,
+}
+
+impl CcsdsTcPacketOwned {
+    pub fn new_with_request<R: serde::Serialize>(
+        sp_header: SpacePacketHeader,
+        tc_header: TcHeader,
+        request: R,
+    ) -> Self {
+        let request_serialized = postcard::to_allocvec(&request).unwrap();
+        Self::new(sp_header, tc_header, request_serialized)
+    }
+
+    pub fn new(
+        sp_header: SpacePacketHeader,
+        tc_header: TcHeader,
+        payload: alloc::vec::Vec<u8>,
+    ) -> Self {
+        Self {
+            sp_header,
+            tc_header,
+            payload,
+        }
+    }
+
+    pub fn write_to_bytes(&self, buf: &mut [u8]) -> Result<usize, CcsdsCreationError> {
+        let response_len =
+            postcard::experimental::serialized_size(&self.tc_header)? + self.payload.len();
+        let mut ccsds_tc = CcsdsPacketCreatorWithReservedData::new_tc_with_checksum(
+            self.sp_header,
+            response_len,
+            buf,
+        )?;
+        let user_data = ccsds_tc.packet_data_mut();
+        let ser_len = postcard::to_slice(&self.tc_header, user_data)?.len();
+        user_data[ser_len..ser_len + self.payload.len()].copy_from_slice(&self.payload);
+        let ccsds_packet_len = ccsds_tc.finish();
+        Ok(ccsds_packet_len)
+    }
+
+    pub fn len_written(&self) -> usize {
+        ccsds_packet_len_for_user_data_len_with_checksum(
+            postcard::experimental::serialized_size(&self.tc_header).unwrap() as usize
+                + postcard::experimental::serialized_size(&self.payload).unwrap() as usize,
+        )
+        .unwrap()
+    }
+
+    pub fn to_vec(&self) -> alloc::vec::Vec<u8> {
+        let mut buf = alloc::vec![0u8; self.len_written()];
+        let len = self.write_to_bytes(&mut buf).unwrap();
+        buf.truncate(len);
+        buf
+    }
+}
+
+#[derive(Debug, thiserror::Error)]
+pub enum CcsdsCreationError {
+    #[error("CCSDS packet creation error: {0}")]
+    CcsdsPacketCreation(#[from] CcsdsPacketCreationError),
+    #[error("postcard error: {0}")]
+    Postcard(#[from] postcard::Error),
+    #[error("timestamp generation error")]
+    Time,
+}
+
+/// Unserialized owned TM packet which can be cloned and sent around.
+#[derive(Debug, Clone, PartialEq, Eq)]
+pub struct CcsdsTmPacketOwned {
+    pub sp_header: SpacePacketHeader,
+    pub tm_header: TmHeader,
+    pub payload: alloc::vec::Vec<u8>,
+}
+
+impl CcsdsTmPacketOwned {
+    pub fn new_with_serde_payload(
+        sp_header: SpHeader,
+        tm_header: &TmHeader,
+        payload: &impl Serialize,
+    ) -> Result<Self, postcard::Error> {
+        Ok(CcsdsTmPacketOwned {
+            sp_header,
+            tm_header: *tm_header,
+            payload: postcard::to_allocvec(&payload)?,
+        })
+    }
+
+    pub fn write_to_bytes(&self, buf: &mut [u8]) -> Result<usize, CcsdsCreationError> {
+        let response_len =
+            postcard::experimental::serialized_size(&self.tm_header)? + self.payload.len();
+        let mut ccsds_tm = CcsdsPacketCreatorWithReservedData::new_tm_with_checksum(
+            self.sp_header,
+            response_len,
+            buf,
+        )?;
+        let user_data = ccsds_tm.packet_data_mut();
+        let ser_len = postcard::to_slice(&self.tm_header, user_data)?.len();
+        user_data[ser_len..ser_len + self.payload.len()].copy_from_slice(&self.payload);
+        let ccsds_packet_len = ccsds_tm.finish();
+        Ok(ccsds_packet_len)
+    }
+
+    pub fn len_written(&self) -> usize {
+        ccsds_packet_len_for_user_data_len_with_checksum(
+            postcard::experimental::serialized_size(&self.tm_header).unwrap() as usize
+                + postcard::experimental::serialized_size(&self.payload).unwrap() as usize,
+        )
+        .unwrap()
+    }
+
+    pub fn to_vec(&self) -> alloc::vec::Vec<u8> {
+        let mut buf = alloc::vec![0u8; self.len_written()];
+        let len = self.write_to_bytes(&mut buf).unwrap();
+        buf.truncate(len);
+        buf
+    }
+}

satrs-example/models/src/control.rs

@@ -0,0 +1,39 @@
+use crate::Message;
+
+#[derive(serde::Serialize, serde::Deserialize, Clone, Copy, Debug)]
+pub enum Event {
+    TestEvent,
+}
+
+impl Message for Event {
+    fn message_type(&self) -> crate::MessageType {
+        crate::MessageType::Event
+    }
+}
+
+pub mod request {
+    #[derive(serde::Serialize, serde::Deserialize, Clone, Copy, Debug)]
+    pub enum Request {
+        Ping,
+        TestEvent,
+    }
+}
+
+pub mod response {
+    use crate::Message;
+
+    #[derive(serde::Serialize, serde::Deserialize, Clone, Copy, Debug)]
+    pub enum Response {
+        Ok,
+        Event(super::Event),
+    }
+
+    impl Message for Response {
+        fn message_type(&self) -> crate::MessageType {
+            match self {
+                Response::Ok => crate::MessageType::Verification,
+                Response::Event(_event) => crate::MessageType::Event,
+            }
+        }
+    }
+}

satrs-example/models/src/lib.rs

@@ -0,0 +1,196 @@
+extern crate alloc;
+use core::str::FromStr;
+
+use spacepackets::{
+    CcsdsPacketIdAndPsc,
+    time::cds::{CdsTime, MIN_CDS_FIELD_LEN},
+};
+
+pub mod ccsds;
+pub mod control;
+pub mod mgm;
+pub mod mgm_assembly;
+pub mod pcdu;
+
+#[derive(
+    Debug,
+    Copy,
+    Clone,
+    PartialEq,
+    Eq,
+    Hash,
+    serde::Serialize,
+    serde::Deserialize,
+    num_enum::TryFromPrimitive,
+    num_enum::IntoPrimitive,
+)]
+#[repr(u64)]
+pub enum ComponentId {
+    Controller,
+
+    AcsSubsystem,
+    AcsMgmAssembly,
+    AcsMgm0,
+    AcsMgm1,
+
+    EpsSubsystem,
+    EpsPcdu,
+
+    UdpServer,
+    TcpServer,
+    EventManager,
+
+    Ground,
+}
+
+#[derive(Debug, PartialEq, Eq, strum::EnumIter)]
+#[bitbybit::bitenum(u11)]
+pub enum Apid {
+    Tmtc = 1,
+    Cfdp = 2,
+
+    Acs = 3,
+    Eps = 6,
+}
+
+#[derive(Debug, Copy, Clone, serde::Serialize, serde::Deserialize)]
+pub enum Event {
+    ControllerEvent(control::Event),
+}
+
+impl Message for Event {
+    fn message_type(&self) -> MessageType {
+        MessageType::Event
+    }
+}
+
+#[derive(Debug, Copy, Clone, PartialEq, Eq, serde::Serialize, serde::Deserialize)]
+#[non_exhaustive]
+pub struct TmHeader {
+    pub sender_id: ComponentId,
+    pub target_id: ComponentId,
+    pub message_type: MessageType,
+    /// Telemetry can either be sent unsolicited, or as a response to telecommands.
+    pub tc_id: Option<CcsdsPacketIdAndPsc>,
+    /// Raw CDS short timestamp.
+    pub timestamp: Option<[u8; 7]>,
+}
+
+impl TmHeader {
+    pub fn new(
+        sender_id: ComponentId,
+        target_id: ComponentId,
+        message_type: MessageType,
+        tc_id: Option<CcsdsPacketIdAndPsc>,
+        cds_timestamp: &CdsTime,
+    ) -> Self {
+        // Can not fail, CDS short always requires 7 bytes.
+        let mut stamp_buf: [u8; MIN_CDS_FIELD_LEN] = [0; MIN_CDS_FIELD_LEN];
+        cds_timestamp.write_to_bytes(&mut stamp_buf).unwrap();
+        Self {
+            sender_id,
+            target_id,
+            tc_id,
+            message_type,
+            timestamp: Some(stamp_buf),
+        }
+    }
+    pub fn new_for_unsolicited_tm(
+        sender_id: ComponentId,
+        target_id: ComponentId,
+        message_type: MessageType,
+        cds_timestamp: &CdsTime,
+    ) -> Self {
+        Self::new(sender_id, target_id, message_type, None, cds_timestamp)
+    }
+
+    pub fn new_for_tc_response(
+        sender_id: ComponentId,
+        target_id: ComponentId,
+        message_type: MessageType,
+        tc_id: CcsdsPacketIdAndPsc,
+        cds_timestamp: &CdsTime,
+    ) -> Self {
+        Self::new(
+            sender_id,
+            target_id,
+            message_type,
+            Some(tc_id),
+            cds_timestamp,
+        )
+    }
+
+    pub fn from_bytes_postcard(data: &[u8]) -> Result<(Self, &[u8]), postcard::Error> {
+        postcard::take_from_bytes::<TmHeader>(data)
+    }
+}
+
+#[derive(Debug, Copy, Clone, PartialEq, Eq, serde::Serialize, serde::Deserialize)]
+#[non_exhaustive]
+pub struct TcHeader {
+    pub target_id: ComponentId,
+    pub request_type: MessageType,
+}
+
+impl TcHeader {
+    pub fn new(target_id: ComponentId, request_type: MessageType) -> Self {
+        Self {
+            target_id,
+            request_type,
+        }
+    }
+}
+
+#[derive(Debug, Copy, Clone, PartialEq, Eq, serde::Serialize, serde::Deserialize)]
+pub enum MessageType {
+    Ping,
+    Mode,
+    Hk,
+    Action,
+    Event,
+    Verification,
+}
+
+pub trait Message {
+    fn message_type(&self) -> MessageType;
+}
+
+/// Generic device mode which covers the requirements of most devices.
+///
+/// The states are related both to the physical and the logical state of the device. Some
+/// device handlers control the power supply of their own device and an off state might also
+/// mean that the device is physically off.
+#[derive(serde::Serialize, serde::Deserialize, Debug, PartialEq, Eq, Copy, Clone)]
+pub enum DeviceMode {
+    Off = 0,
+    On = 1,
+    /// Normal operation mode where periodic polling might be done as well.
+    Normal = 2,
+}
+
+impl FromStr for DeviceMode {
+    type Err = ();
+
+    fn from_str(s: &str) -> Result<Self, Self::Err> {
+        match s.to_lowercase().as_str() {
+            "off" => Ok(DeviceMode::Off),
+            "on" => Ok(DeviceMode::On),
+            "normal" => Ok(DeviceMode::Normal),
+            _ => Err(()),
+        }
+    }
+}
+
+#[derive(Debug, Copy, Clone, PartialEq, Eq, serde::Serialize, serde::Deserialize)]
+#[non_exhaustive]
+pub enum HkRequestType {
+    OneShot,
+    /// Enable periodic HK generation with a specified frequency.
+    EnablePeriodic(core::time::Duration),
+    DisablePeriodic,
+    /// Modify periodic HK generation interval.
+    ModifyInterval(core::time::Duration),
+}
+
+#[cfg(test)]
+mod tests {}

satrs-example/models/src/mgm.rs

@@ -0,0 +1,90 @@
+pub mod request {
+    use crate::{DeviceMode, HkRequestType, Message};
+
+    #[derive(serde::Serialize, serde::Deserialize, Debug, Clone, Copy, PartialEq, Eq)]
+    pub enum ModeRequest {
+        SetMode(DeviceMode),
+        ReadMode,
+    }
+
+    #[derive(Debug, PartialEq, Eq, Clone, Copy, serde::Serialize, serde::Deserialize)]
+    pub enum HkId {
+        Sensor,
+    }
+
+    #[derive(Debug, PartialEq, Eq, Clone, Copy, serde::Serialize, serde::Deserialize)]
+    pub struct HkRequest {
+        pub id: HkId,
+        pub req_type: HkRequestType,
+    }
+
+    #[derive(serde::Serialize, serde::Deserialize, Clone, Copy, Debug)]
+    pub enum Request {
+        Ping,
+        Hk(HkRequest),
+        Mode(ModeRequest),
+    }
+
+    impl Request {
+        fn message_type(&self) -> crate::MessageType {
+            match self {
+                Request::Ping => crate::MessageType::Verification,
+                Request::Hk(_hk_request) => crate::MessageType::Hk,
+                Request::Mode(_mode) => crate::MessageType::Mode,
+            }
+        }
+    }
+    impl Message for Request {
+        fn message_type(&self) -> crate::MessageType {
+            self.message_type()
+        }
+    }
+}
+
+#[derive(Default, Debug, Copy, Clone, serde::Serialize, serde::Deserialize)]
+pub struct MgmData {
+    pub valid: bool,
+    pub x: f32,
+    pub y: f32,
+    pub z: f32,
+}
+
+pub mod response {
+    use crate::{DeviceMode, Message, mgm::MgmData};
+
+    #[derive(serde::Serialize, serde::Deserialize, Clone, Copy, Debug)]
+    pub enum HkResponse {
+        MgmData(MgmData),
+    }
+
+    #[derive(serde::Serialize, serde::Deserialize, Debug, Clone, Copy)]
+    pub enum ModeResponse {
+        /// New mode has been set.
+        Mode(DeviceMode),
+        /// Setting a mode timed out.
+        SetModeTimeout,
+    }
+
+    #[derive(serde::Serialize, serde::Deserialize, Clone, Copy, Debug)]
+    pub enum Response {
+        Ok,
+        Hk(HkResponse),
+        Mode(ModeResponse),
+    }
+
+    impl Response {
+        fn message_type(&self) -> crate::MessageType {
+            match self {
+                Response::Ok => crate::MessageType::Verification,
+                Response::Hk(_hk_response) => crate::MessageType::Hk,
+                Response::Mode(_mode_failure) => crate::MessageType::Mode,
+            }
+        }
+    }
+
+    impl Message for Response {
+        fn message_type(&self) -> crate::MessageType {
+            self.message_type()
+        }
+    }
+}