Compare commits
27 Commits
satrs-shar
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3268b07ad9
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@@ -10,5 +10,5 @@ members = [
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238
embedded-examples/stm32f3-disco-rtic/Cargo.lock
generated
238
embedded-examples/stm32f3-disco-rtic/Cargo.lock
generated
@@ -1,6 +1,6 @@
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||||
source = "registry+https://github.com/rust-lang/crates.io-index"
|
||||
checksum = "da25490ff9892aab3fcf7c36f08cfb902dd3e71ca0f9f9517bea02a73a5ce38c"
|
||||
checksum = "280dc24453071f1b63954171985a0b0d30058d287960968b9b2aca264c8d4ee6"
|
||||
|
||||
[[package]]
|
||||
name = "proc-macro-error-attr2"
|
||||
version = "2.0.0"
|
||||
source = "registry+https://github.com/rust-lang/crates.io-index"
|
||||
checksum = "96de42df36bb9bba5542fe9f1a054b8cc87e172759a1868aa05c1f3acc89dfc5"
|
||||
dependencies = [
|
||||
"proc-macro-error-attr",
|
||||
"proc-macro2",
|
||||
"quote",
|
||||
"syn 1.0.109",
|
||||
"version_check",
|
||||
]
|
||||
|
||||
[[package]]
|
||||
name = "proc-macro-error-attr"
|
||||
version = "1.0.4"
|
||||
name = "proc-macro-error2"
|
||||
version = "2.0.1"
|
||||
source = "registry+https://github.com/rust-lang/crates.io-index"
|
||||
checksum = "a1be40180e52ecc98ad80b184934baf3d0d29f979574e439af5a55274b35f869"
|
||||
checksum = "11ec05c52be0a07b08061f7dd003e7d7092e0472bc731b4af7bb1ef876109802"
|
||||
dependencies = [
|
||||
"proc-macro-error-attr2",
|
||||
"proc-macro2",
|
||||
"quote",
|
||||
"version_check",
|
||||
"syn 2.0.96",
|
||||
]
|
||||
|
||||
[[package]]
|
||||
name = "proc-macro2"
|
||||
version = "1.0.83"
|
||||
version = "1.0.93"
|
||||
source = "registry+https://github.com/rust-lang/crates.io-index"
|
||||
checksum = "0b33eb56c327dec362a9e55b3ad14f9d2f0904fb5a5b03b513ab5465399e9f43"
|
||||
checksum = "60946a68e5f9d28b0dc1c21bb8a97ee7d018a8b322fa57838ba31cc878e22d99"
|
||||
dependencies = [
|
||||
"unicode-ident",
|
||||
]
|
||||
|
||||
[[package]]
|
||||
name = "quote"
|
||||
version = "1.0.36"
|
||||
version = "1.0.38"
|
||||
source = "registry+https://github.com/rust-lang/crates.io-index"
|
||||
checksum = "0fa76aaf39101c457836aec0ce2316dbdc3ab723cdda1c6bd4e6ad4208acaca7"
|
||||
checksum = "0e4dccaaaf89514f546c693ddc140f729f958c247918a13380cccc6078391acc"
|
||||
dependencies = [
|
||||
"proc-macro2",
|
||||
]
|
||||
@@ -654,14 +662,14 @@ dependencies = [
|
||||
|
||||
[[package]]
|
||||
name = "rtic"
|
||||
version = "2.1.1"
|
||||
version = "2.1.2"
|
||||
source = "registry+https://github.com/rust-lang/crates.io-index"
|
||||
checksum = "c443db16326376bdd64377da268f6616d5f804aba8ce799bac7d1f7f244e9d51"
|
||||
checksum = "401961431a1e491124cdd216a313fada2d395aa2b5bee2867c872fc8af7c1bc1"
|
||||
dependencies = [
|
||||
"atomic-polyfill",
|
||||
"bare-metal 1.0.0",
|
||||
"cortex-m",
|
||||
"critical-section",
|
||||
"portable-atomic",
|
||||
"rtic-core",
|
||||
"rtic-macros",
|
||||
]
|
||||
@@ -683,38 +691,40 @@ checksum = "d9369355b04d06a3780ec0f51ea2d225624db777acbc60abd8ca4832da5c1a42"
|
||||
|
||||
[[package]]
|
||||
name = "rtic-macros"
|
||||
version = "2.1.0"
|
||||
version = "2.1.2"
|
||||
source = "registry+https://github.com/rust-lang/crates.io-index"
|
||||
checksum = "54053598ea24b1b74937724e366558412a1777eb2680b91ef646db540982789a"
|
||||
checksum = "ac22ab522d80079b48f46ac66ded4d349e1adf81b52430d6a74faa3a7790ed80"
|
||||
dependencies = [
|
||||
"indexmap",
|
||||
"proc-macro-error",
|
||||
"proc-macro-error2",
|
||||
"proc-macro2",
|
||||
"quote",
|
||||
"syn 2.0.65",
|
||||
"syn 2.0.96",
|
||||
]
|
||||
|
||||
[[package]]
|
||||
name = "rtic-monotonics"
|
||||
version = "1.5.0"
|
||||
version = "2.0.3"
|
||||
source = "registry+https://github.com/rust-lang/crates.io-index"
|
||||
checksum = "058c2397dbd5bb4c5650a0e368c3920953e458805ff5097a0511b8147b3619d7"
|
||||
checksum = "f1cb90bcfdbbacf3ca37340cdab52ec2de5611c744095ef7889e9c50c233b748"
|
||||
dependencies = [
|
||||
"atomic-polyfill",
|
||||
"cfg-if",
|
||||
"cortex-m",
|
||||
"embedded-hal 1.0.0",
|
||||
"fugit",
|
||||
"portable-atomic",
|
||||
"rtic-time",
|
||||
]
|
||||
|
||||
[[package]]
|
||||
name = "rtic-time"
|
||||
version = "1.3.0"
|
||||
version = "2.0.0"
|
||||
source = "registry+https://github.com/rust-lang/crates.io-index"
|
||||
checksum = "75b232e7aebc045cfea81cdd164bc2727a10aca9a4568d406d0a5661cdfd0f19"
|
||||
checksum = "a7b1d853fa50dc125695414ce4510567a0d420221e455b1568cfa8c9aece9614"
|
||||
dependencies = [
|
||||
"critical-section",
|
||||
"embedded-hal 1.0.0",
|
||||
"embedded-hal-async",
|
||||
"fugit",
|
||||
"futures-util",
|
||||
"rtic-common",
|
||||
]
|
||||
@@ -730,11 +740,11 @@ dependencies = [
|
||||
|
||||
[[package]]
|
||||
name = "rustc_version"
|
||||
version = "0.4.0"
|
||||
version = "0.4.1"
|
||||
source = "registry+https://github.com/rust-lang/crates.io-index"
|
||||
checksum = "bfa0f585226d2e68097d4f95d113b15b83a82e819ab25717ec0590d9584ef366"
|
||||
checksum = "cfcb3a22ef46e85b45de6ee7e79d063319ebb6594faafcf1c225ea92ab6e9b92"
|
||||
dependencies = [
|
||||
"semver 1.0.23",
|
||||
"semver 1.0.25",
|
||||
]
|
||||
|
||||
[[package]]
|
||||
@@ -743,7 +753,7 @@ version = "0.2.1"
|
||||
source = "registry+https://github.com/rust-lang/crates.io-index"
|
||||
checksum = "866fcae3b683ccc37b5ad77982483a0ee01d5dc408dea5aad2117ad404b60fe1"
|
||||
dependencies = [
|
||||
"cobs 0.2.3 (registry+https://github.com/rust-lang/crates.io-index)",
|
||||
"cobs 0.2.3",
|
||||
"crc",
|
||||
"defmt",
|
||||
"delegate",
|
||||
@@ -769,7 +779,7 @@ dependencies = [
|
||||
name = "satrs-stm32f3-disco-rtic"
|
||||
version = "0.1.0"
|
||||
dependencies = [
|
||||
"cobs 0.2.3 (git+https://github.com/robamu/cobs.rs.git?branch=all_features)",
|
||||
"cobs 0.3.0",
|
||||
"cortex-m",
|
||||
"cortex-m-rt",
|
||||
"cortex-m-semihosting",
|
||||
@@ -798,9 +808,9 @@ dependencies = [
|
||||
|
||||
[[package]]
|
||||
name = "semver"
|
||||
version = "1.0.23"
|
||||
version = "1.0.25"
|
||||
source = "registry+https://github.com/rust-lang/crates.io-index"
|
||||
checksum = "61697e0a1c7e512e84a621326239844a24d8207b4669b41bc18b32ea5cbf988b"
|
||||
checksum = "f79dfe2d285b0488816f30e700a7438c5a73d816b5b7d3ac72fbc48b0d185e03"
|
||||
|
||||
[[package]]
|
||||
name = "semver-parser"
|
||||
@@ -922,9 +932,9 @@ dependencies = [
|
||||
|
||||
[[package]]
|
||||
name = "syn"
|
||||
version = "2.0.65"
|
||||
version = "2.0.96"
|
||||
source = "registry+https://github.com/rust-lang/crates.io-index"
|
||||
checksum = "d2863d96a84c6439701d7a38f9de935ec562c8832cc55d1dde0f513b52fad106"
|
||||
checksum = "d5d0adab1ae378d7f53bdebc67a39f1f151407ef230f0ce2883572f5d8985c80"
|
||||
dependencies = [
|
||||
"proc-macro2",
|
||||
"quote",
|
||||
@@ -933,22 +943,22 @@ dependencies = [
|
||||
|
||||
[[package]]
|
||||
name = "thiserror"
|
||||
version = "1.0.61"
|
||||
version = "2.0.11"
|
||||
source = "registry+https://github.com/rust-lang/crates.io-index"
|
||||
checksum = "c546c80d6be4bc6a00c0f01730c08df82eaa7a7a61f11d656526506112cc1709"
|
||||
checksum = "d452f284b73e6d76dd36758a0c8684b1d5be31f92b89d07fd5822175732206fc"
|
||||
dependencies = [
|
||||
"thiserror-impl",
|
||||
]
|
||||
|
||||
[[package]]
|
||||
name = "thiserror-impl"
|
||||
version = "1.0.61"
|
||||
version = "2.0.11"
|
||||
source = "registry+https://github.com/rust-lang/crates.io-index"
|
||||
checksum = "46c3384250002a6d5af4d114f2845d37b57521033f30d5c3f46c4d70e1197533"
|
||||
checksum = "26afc1baea8a989337eeb52b6e72a039780ce45c3edfcc9c5b9d112feeb173c2"
|
||||
dependencies = [
|
||||
"proc-macro2",
|
||||
"quote",
|
||||
"syn 2.0.65",
|
||||
"syn 2.0.96",
|
||||
]
|
||||
|
||||
[[package]]
|
||||
@@ -959,9 +969,9 @@ checksum = "42ff0bf0c66b8238c6f3b578df37d0b7848e55df8577b3f74f92a69acceeb825"
|
||||
|
||||
[[package]]
|
||||
name = "unicode-ident"
|
||||
version = "1.0.12"
|
||||
version = "1.0.16"
|
||||
source = "registry+https://github.com/rust-lang/crates.io-index"
|
||||
checksum = "3354b9ac3fae1ff6755cb6db53683adb661634f67557942dea4facebec0fee4b"
|
||||
checksum = "a210d160f08b701c8721ba1c726c11662f877ea6b7094007e1ca9a1041945034"
|
||||
|
||||
[[package]]
|
||||
name = "usb-device"
|
||||
@@ -977,9 +987,9 @@ checksum = "77439c1b53d2303b20d9459b1ade71a83c716e3f9c34f3228c00e6f185d6c002"
|
||||
|
||||
[[package]]
|
||||
name = "version_check"
|
||||
version = "0.9.4"
|
||||
version = "0.9.5"
|
||||
source = "registry+https://github.com/rust-lang/crates.io-index"
|
||||
checksum = "49874b5167b65d7193b8aba1567f5c7d93d001cafc34600cee003eda787e483f"
|
||||
checksum = "0b928f33d975fc6ad9f86c8f283853ad26bdd5b10b7f1542aa2fa15e2289105a"
|
||||
|
||||
[[package]]
|
||||
name = "void"
|
||||
@@ -998,9 +1008,9 @@ dependencies = [
|
||||
|
||||
[[package]]
|
||||
name = "zerocopy"
|
||||
version = "0.7.34"
|
||||
version = "0.7.35"
|
||||
source = "registry+https://github.com/rust-lang/crates.io-index"
|
||||
checksum = "ae87e3fcd617500e5d106f0380cf7b77f3c6092aae37191433159dda23cfb087"
|
||||
checksum = "1b9b4fd18abc82b8136838da5d50bae7bdea537c574d8dc1a34ed098d6c166f0"
|
||||
dependencies = [
|
||||
"byteorder",
|
||||
"zerocopy-derive",
|
||||
@@ -1008,11 +1018,11 @@ dependencies = [
|
||||
|
||||
[[package]]
|
||||
name = "zerocopy-derive"
|
||||
version = "0.7.34"
|
||||
version = "0.7.35"
|
||||
source = "registry+https://github.com/rust-lang/crates.io-index"
|
||||
checksum = "15e934569e47891f7d9411f1a451d947a60e000ab3bd24fbb970f000387d1b3b"
|
||||
checksum = "fa4f8080344d4671fb4e831a13ad1e68092748387dfc4f55e356242fae12ce3e"
|
||||
dependencies = [
|
||||
"proc-macro2",
|
||||
"quote",
|
||||
"syn 2.0.65",
|
||||
"syn 2.0.96",
|
||||
]
|
||||
|
||||
@@ -22,12 +22,11 @@ version = "2"
|
||||
features = ["thumbv7-backend"]
|
||||
|
||||
[dependencies.rtic-monotonics]
|
||||
version = "1"
|
||||
version = "2"
|
||||
features = ["cortex-m-systick"]
|
||||
|
||||
[dependencies.cobs]
|
||||
git = "https://github.com/robamu/cobs.rs.git"
|
||||
branch = "all_features"
|
||||
version = "0.3"
|
||||
default-features = false
|
||||
|
||||
[dependencies.stm32f3xx-hal]
|
||||
|
||||
@@ -15,8 +15,8 @@ use rtic::app;
|
||||
|
||||
use heapless::{mpmc::Q8, Vec};
|
||||
#[allow(unused_imports)]
|
||||
use rtic_monotonics::systick::fugit::{MillisDurationU32, TimerInstantU32};
|
||||
use rtic_monotonics::systick::ExtU32;
|
||||
use rtic_monotonics::fugit::{MillisDurationU32, TimerInstantU32};
|
||||
use rtic_monotonics::systick::prelude::*;
|
||||
use satrs::seq_count::SequenceCountProviderCore;
|
||||
use satrs::spacepackets::{ecss::PusPacket, ecss::WritablePusPacket};
|
||||
use stm32f3xx_hal::dma::dma1;
|
||||
@@ -245,8 +245,6 @@ pub fn convert_pus_tc_to_request(
|
||||
mod app {
|
||||
use super::*;
|
||||
use core::slice::Iter;
|
||||
use rtic_monotonics::systick::Systick;
|
||||
use rtic_monotonics::Monotonic;
|
||||
use satrs::pus::verification::{TcStateStarted, VerificationReportCreator};
|
||||
use satrs::spacepackets::{ecss::tc::PusTcReader, time::cds::P_FIELD_BASE};
|
||||
#[allow(unused_imports)]
|
||||
@@ -259,6 +257,8 @@ mod app {
|
||||
#[allow(dead_code)]
|
||||
type SerialType = Serial<USART2, (PA2<AF7<PushPull>>, PA3<AF7<PushPull>>)>;
|
||||
|
||||
systick_monotonic!(Mono, 1000);
|
||||
|
||||
#[shared]
|
||||
struct Shared {
|
||||
blink_freq: MillisDurationU32,
|
||||
@@ -279,8 +279,7 @@ mod app {
|
||||
let mut rcc = cx.device.RCC.constrain();
|
||||
|
||||
// Initialize the systick interrupt & obtain the token to prove that we did
|
||||
let systick_mono_token = rtic_monotonics::create_systick_token!();
|
||||
Systick::start(cx.core.SYST, 8_000_000, systick_mono_token);
|
||||
Mono::start(cx.core.SYST, 8_000_000);
|
||||
|
||||
let mut flash = cx.device.FLASH.constrain();
|
||||
let clocks = rcc
|
||||
@@ -394,7 +393,7 @@ mod app {
|
||||
}
|
||||
}
|
||||
let current_blink_freq = cx.shared.blink_freq.lock(|current| *current);
|
||||
Systick::delay(current_blink_freq).await;
|
||||
Mono::delay(current_blink_freq).await;
|
||||
}
|
||||
}
|
||||
|
||||
@@ -412,15 +411,14 @@ mod app {
|
||||
if is_idle {
|
||||
let last_completed = cx.shared.tx_shared.lock(|shared| shared.last_completed);
|
||||
if let Some(last_completed) = last_completed {
|
||||
let elapsed_ms = (Systick::now() - last_completed).to_millis();
|
||||
let elapsed_ms = (Mono::now() - last_completed).to_millis();
|
||||
if elapsed_ms < MIN_DELAY_BETWEEN_TX_PACKETS_MS {
|
||||
Systick::delay((MIN_DELAY_BETWEEN_TX_PACKETS_MS - elapsed_ms).millis())
|
||||
.await;
|
||||
Mono::delay((MIN_DELAY_BETWEEN_TX_PACKETS_MS - elapsed_ms).millis()).await;
|
||||
}
|
||||
}
|
||||
} else {
|
||||
// Check for completion after 1 ms
|
||||
Systick::delay(1.millis()).await;
|
||||
Mono::delay(1.millis()).await;
|
||||
continue;
|
||||
}
|
||||
if let Some(vec) = TM_REQUESTS.dequeue() {
|
||||
@@ -459,11 +457,11 @@ mod app {
|
||||
UartTxState::Transmitting(_) => (),
|
||||
});
|
||||
// Check for completion after 1 ms
|
||||
Systick::delay(1.millis()).await;
|
||||
Mono::delay(1.millis()).await;
|
||||
continue;
|
||||
}
|
||||
// Nothing to do, and we are idle.
|
||||
Systick::delay(TX_HANDLER_FREQ_MS.millis()).await;
|
||||
Mono::delay(TX_HANDLER_FREQ_MS.millis()).await;
|
||||
}
|
||||
}
|
||||
|
||||
@@ -657,7 +655,7 @@ mod app {
|
||||
tx_shared.state = UartTxState::Idle(Some(TxIdle { tx, dma_channel }));
|
||||
// We cache the last completed time to ensure that there is a minimum delay between consecutive
|
||||
// transferred packets.
|
||||
tx_shared.last_completed = Some(Systick::now());
|
||||
tx_shared.last_completed = Some(Mono::now());
|
||||
}
|
||||
}
|
||||
});
|
||||
|
||||
346
embedded-examples/stm32h7-nucleo-rtic/Cargo.lock
generated
346
embedded-examples/stm32h7-nucleo-rtic/Cargo.lock
generated
@@ -1,21 +1,12 @@
|
||||
# This file is automatically @generated by Cargo.
|
||||
# It is not intended for manual editing.
|
||||
version = 3
|
||||
|
||||
[[package]]
|
||||
name = "atomic-polyfill"
|
||||
version = "1.0.3"
|
||||
source = "registry+https://github.com/rust-lang/crates.io-index"
|
||||
checksum = "8cf2bce30dfe09ef0bfaef228b9d414faaf7e563035494d7fe092dba54b300f4"
|
||||
dependencies = [
|
||||
"critical-section",
|
||||
]
|
||||
version = 4
|
||||
|
||||
[[package]]
|
||||
name = "autocfg"
|
||||
version = "1.3.0"
|
||||
version = "1.4.0"
|
||||
source = "registry+https://github.com/rust-lang/crates.io-index"
|
||||
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|
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source = "registry+https://github.com/rust-lang/crates.io-index"
|
||||
checksum = "8ad3d49ab951a01fbaafe34f2ec74122942fe18a3f9814c3268f1bb72042131b"
|
||||
checksum = "60946a68e5f9d28b0dc1c21bb8a97ee7d018a8b322fa57838ba31cc878e22d99"
|
||||
dependencies = [
|
||||
"unicode-ident",
|
||||
]
|
||||
|
||||
[[package]]
|
||||
name = "quote"
|
||||
version = "1.0.36"
|
||||
version = "1.0.38"
|
||||
source = "registry+https://github.com/rust-lang/crates.io-index"
|
||||
checksum = "0fa76aaf39101c457836aec0ce2316dbdc3ab723cdda1c6bd4e6ad4208acaca7"
|
||||
checksum = "0e4dccaaaf89514f546c693ddc140f729f958c247918a13380cccc6078391acc"
|
||||
dependencies = [
|
||||
"proc-macro2",
|
||||
]
|
||||
|
||||
[[package]]
|
||||
name = "rtic"
|
||||
version = "2.1.1"
|
||||
name = "rlsf"
|
||||
version = "0.2.1"
|
||||
source = "registry+https://github.com/rust-lang/crates.io-index"
|
||||
checksum = "c443db16326376bdd64377da268f6616d5f804aba8ce799bac7d1f7f244e9d51"
|
||||
checksum = "222fb240c3286247ecdee6fa5341e7cdad0ffdf8e7e401d9937f2d58482a20bf"
|
||||
dependencies = [
|
||||
"cfg-if",
|
||||
"const-default",
|
||||
"libc",
|
||||
"svgbobdoc",
|
||||
]
|
||||
|
||||
[[package]]
|
||||
name = "rtic"
|
||||
version = "2.1.2"
|
||||
source = "registry+https://github.com/rust-lang/crates.io-index"
|
||||
checksum = "401961431a1e491124cdd216a313fada2d395aa2b5bee2867c872fc8af7c1bc1"
|
||||
dependencies = [
|
||||
"atomic-polyfill",
|
||||
"bare-metal 1.0.0",
|
||||
"cortex-m",
|
||||
"critical-section",
|
||||
"portable-atomic",
|
||||
"rtic-core",
|
||||
"rtic-macros",
|
||||
]
|
||||
@@ -559,28 +552,27 @@ checksum = "d9369355b04d06a3780ec0f51ea2d225624db777acbc60abd8ca4832da5c1a42"
|
||||
|
||||
[[package]]
|
||||
name = "rtic-macros"
|
||||
version = "2.1.0"
|
||||
version = "2.1.2"
|
||||
source = "registry+https://github.com/rust-lang/crates.io-index"
|
||||
checksum = "54053598ea24b1b74937724e366558412a1777eb2680b91ef646db540982789a"
|
||||
checksum = "ac22ab522d80079b48f46ac66ded4d349e1adf81b52430d6a74faa3a7790ed80"
|
||||
dependencies = [
|
||||
"indexmap",
|
||||
"proc-macro-error",
|
||||
"proc-macro-error2",
|
||||
"proc-macro2",
|
||||
"quote",
|
||||
"syn 2.0.64",
|
||||
"syn 2.0.96",
|
||||
]
|
||||
|
||||
[[package]]
|
||||
name = "rtic-monotonics"
|
||||
version = "1.5.0"
|
||||
version = "2.0.3"
|
||||
source = "registry+https://github.com/rust-lang/crates.io-index"
|
||||
checksum = "058c2397dbd5bb4c5650a0e368c3920953e458805ff5097a0511b8147b3619d7"
|
||||
checksum = "f1cb90bcfdbbacf3ca37340cdab52ec2de5611c744095ef7889e9c50c233b748"
|
||||
dependencies = [
|
||||
"atomic-polyfill",
|
||||
"cfg-if",
|
||||
"cortex-m",
|
||||
"embedded-hal 1.0.0",
|
||||
"fugit",
|
||||
"portable-atomic",
|
||||
"rtic-time",
|
||||
]
|
||||
|
||||
@@ -595,18 +587,21 @@ dependencies = [
|
||||
"embedded-hal 1.0.0",
|
||||
"embedded-hal-async",
|
||||
"embedded-hal-bus",
|
||||
"heapless 0.8.0",
|
||||
"heapless",
|
||||
"portable-atomic",
|
||||
"rtic-common",
|
||||
]
|
||||
|
||||
[[package]]
|
||||
name = "rtic-time"
|
||||
version = "1.3.0"
|
||||
version = "2.0.0"
|
||||
source = "registry+https://github.com/rust-lang/crates.io-index"
|
||||
checksum = "75b232e7aebc045cfea81cdd164bc2727a10aca9a4568d406d0a5661cdfd0f19"
|
||||
checksum = "a7b1d853fa50dc125695414ce4510567a0d420221e455b1568cfa8c9aece9614"
|
||||
dependencies = [
|
||||
"critical-section",
|
||||
"embedded-hal 1.0.0",
|
||||
"embedded-hal-async",
|
||||
"fugit",
|
||||
"futures-util",
|
||||
"rtic-common",
|
||||
]
|
||||
@@ -617,16 +612,7 @@ version = "0.2.3"
|
||||
source = "registry+https://github.com/rust-lang/crates.io-index"
|
||||
checksum = "138e3e0acb6c9fb258b19b67cb8abd63c00679d2851805ea151465464fe9030a"
|
||||
dependencies = [
|
||||
"semver 0.9.0",
|
||||
]
|
||||
|
||||
[[package]]
|
||||
name = "rustc_version"
|
||||
version = "0.4.0"
|
||||
source = "registry+https://github.com/rust-lang/crates.io-index"
|
||||
checksum = "bfa0f585226d2e68097d4f95d113b15b83a82e819ab25717ec0590d9584ef366"
|
||||
dependencies = [
|
||||
"semver 1.0.23",
|
||||
"semver",
|
||||
]
|
||||
|
||||
[[package]]
|
||||
@@ -638,20 +624,22 @@ dependencies = [
|
||||
"defmt",
|
||||
"delegate",
|
||||
"derive-new",
|
||||
"heapless 0.7.17",
|
||||
"heapless",
|
||||
"num-traits",
|
||||
"num_enum",
|
||||
"paste",
|
||||
"satrs-shared",
|
||||
"smallvec",
|
||||
"spacepackets",
|
||||
"static_cell",
|
||||
"thiserror",
|
||||
]
|
||||
|
||||
[[package]]
|
||||
name = "satrs-shared"
|
||||
version = "0.1.4"
|
||||
version = "0.2.1"
|
||||
source = "registry+https://github.com/rust-lang/crates.io-index"
|
||||
checksum = "6042477018c2d43fffccaaa5099bc299a58485139b4d31c5b276889311e474f1"
|
||||
checksum = "f10b962c131d0bcb0de06fefa5d4716cbd7f836167f90229f7f38405dc573bd3"
|
||||
dependencies = [
|
||||
"spacepackets",
|
||||
]
|
||||
@@ -676,12 +664,6 @@ dependencies = [
|
||||
"stm32h7xx-hal",
|
||||
]
|
||||
|
||||
[[package]]
|
||||
name = "scopeguard"
|
||||
version = "1.2.0"
|
||||
source = "registry+https://github.com/rust-lang/crates.io-index"
|
||||
checksum = "94143f37725109f92c262ed2cf5e59bce7498c01bcc1502d7b9afe439a4e9f49"
|
||||
|
||||
[[package]]
|
||||
name = "semver"
|
||||
version = "0.9.0"
|
||||
@@ -691,12 +673,6 @@ dependencies = [
|
||||
"semver-parser",
|
||||
]
|
||||
|
||||
[[package]]
|
||||
name = "semver"
|
||||
version = "1.0.23"
|
||||
source = "registry+https://github.com/rust-lang/crates.io-index"
|
||||
checksum = "61697e0a1c7e512e84a621326239844a24d8207b4669b41bc18b32ea5cbf988b"
|
||||
|
||||
[[package]]
|
||||
name = "semver-parser"
|
||||
version = "0.7.0"
|
||||
@@ -719,39 +695,41 @@ dependencies = [
|
||||
"byteorder",
|
||||
"cfg-if",
|
||||
"defmt",
|
||||
"heapless 0.8.0",
|
||||
"heapless",
|
||||
"managed",
|
||||
]
|
||||
|
||||
[[package]]
|
||||
name = "spacepackets"
|
||||
version = "0.11.2"
|
||||
version = "0.13.0"
|
||||
source = "registry+https://github.com/rust-lang/crates.io-index"
|
||||
checksum = "e85574d113a06312010c0ba51aadccd4ba2806231ebe9a49fc6473d0534d8696"
|
||||
checksum = "591d42bfa6af2ab308e5efd8f0870e2d0eb5dd19a141bdcb7da731f5ff9cc11c"
|
||||
dependencies = [
|
||||
"crc",
|
||||
"defmt",
|
||||
"delegate",
|
||||
"num-traits",
|
||||
"num_enum",
|
||||
"paste",
|
||||
"thiserror",
|
||||
"zerocopy",
|
||||
]
|
||||
|
||||
[[package]]
|
||||
name = "spin"
|
||||
version = "0.9.8"
|
||||
source = "registry+https://github.com/rust-lang/crates.io-index"
|
||||
checksum = "6980e8d7511241f8acf4aebddbb1ff938df5eebe98691418c4468d0b72a96a67"
|
||||
dependencies = [
|
||||
"lock_api",
|
||||
]
|
||||
|
||||
[[package]]
|
||||
name = "stable_deref_trait"
|
||||
version = "1.2.0"
|
||||
source = "registry+https://github.com/rust-lang/crates.io-index"
|
||||
checksum = "a8f112729512f8e442d81f95a8a7ddf2b7c6b8a1a6f509a95864142b30cab2d3"
|
||||
|
||||
[[package]]
|
||||
name = "static_cell"
|
||||
version = "2.1.0"
|
||||
source = "registry+https://github.com/rust-lang/crates.io-index"
|
||||
checksum = "d89b0684884a883431282db1e4343f34afc2ff6996fe1f4a1664519b66e14c1e"
|
||||
dependencies = [
|
||||
"portable-atomic",
|
||||
]
|
||||
|
||||
[[package]]
|
||||
name = "stm32h7"
|
||||
version = "0.15.1"
|
||||
@@ -784,6 +762,19 @@ dependencies = [
|
||||
"void",
|
||||
]
|
||||
|
||||
[[package]]
|
||||
name = "svgbobdoc"
|
||||
version = "0.3.0"
|
||||
source = "registry+https://github.com/rust-lang/crates.io-index"
|
||||
checksum = "f2c04b93fc15d79b39c63218f15e3fdffaa4c227830686e3b7c5f41244eb3e50"
|
||||
dependencies = [
|
||||
"base64",
|
||||
"proc-macro2",
|
||||
"quote",
|
||||
"syn 1.0.109",
|
||||
"unicode-width",
|
||||
]
|
||||
|
||||
[[package]]
|
||||
name = "syn"
|
||||
version = "1.0.109"
|
||||
@@ -797,9 +788,9 @@ dependencies = [
|
||||
|
||||
[[package]]
|
||||
name = "syn"
|
||||
version = "2.0.64"
|
||||
version = "2.0.96"
|
||||
source = "registry+https://github.com/rust-lang/crates.io-index"
|
||||
checksum = "7ad3dee41f36859875573074334c200d1add8e4a87bb37113ebd31d926b7b11f"
|
||||
checksum = "d5d0adab1ae378d7f53bdebc67a39f1f151407ef230f0ce2883572f5d8985c80"
|
||||
dependencies = [
|
||||
"proc-macro2",
|
||||
"quote",
|
||||
@@ -808,29 +799,35 @@ dependencies = [
|
||||
|
||||
[[package]]
|
||||
name = "thiserror"
|
||||
version = "1.0.61"
|
||||
version = "2.0.11"
|
||||
source = "registry+https://github.com/rust-lang/crates.io-index"
|
||||
checksum = "c546c80d6be4bc6a00c0f01730c08df82eaa7a7a61f11d656526506112cc1709"
|
||||
checksum = "d452f284b73e6d76dd36758a0c8684b1d5be31f92b89d07fd5822175732206fc"
|
||||
dependencies = [
|
||||
"thiserror-impl",
|
||||
]
|
||||
|
||||
[[package]]
|
||||
name = "thiserror-impl"
|
||||
version = "1.0.61"
|
||||
version = "2.0.11"
|
||||
source = "registry+https://github.com/rust-lang/crates.io-index"
|
||||
checksum = "46c3384250002a6d5af4d114f2845d37b57521033f30d5c3f46c4d70e1197533"
|
||||
checksum = "26afc1baea8a989337eeb52b6e72a039780ce45c3edfcc9c5b9d112feeb173c2"
|
||||
dependencies = [
|
||||
"proc-macro2",
|
||||
"quote",
|
||||
"syn 2.0.64",
|
||||
"syn 2.0.96",
|
||||
]
|
||||
|
||||
[[package]]
|
||||
name = "unicode-ident"
|
||||
version = "1.0.12"
|
||||
version = "1.0.16"
|
||||
source = "registry+https://github.com/rust-lang/crates.io-index"
|
||||
checksum = "3354b9ac3fae1ff6755cb6db53683adb661634f67557942dea4facebec0fee4b"
|
||||
checksum = "a210d160f08b701c8721ba1c726c11662f877ea6b7094007e1ca9a1041945034"
|
||||
|
||||
[[package]]
|
||||
name = "unicode-width"
|
||||
version = "0.1.14"
|
||||
source = "registry+https://github.com/rust-lang/crates.io-index"
|
||||
checksum = "7dd6e30e90baa6f72411720665d41d89b9a3d039dc45b8faea1ddd07f617f6af"
|
||||
|
||||
[[package]]
|
||||
name = "vcell"
|
||||
@@ -838,12 +835,6 @@ version = "0.1.3"
|
||||
source = "registry+https://github.com/rust-lang/crates.io-index"
|
||||
checksum = "77439c1b53d2303b20d9459b1ade71a83c716e3f9c34f3228c00e6f185d6c002"
|
||||
|
||||
[[package]]
|
||||
name = "version_check"
|
||||
version = "0.9.4"
|
||||
source = "registry+https://github.com/rust-lang/crates.io-index"
|
||||
checksum = "49874b5167b65d7193b8aba1567f5c7d93d001cafc34600cee003eda787e483f"
|
||||
|
||||
[[package]]
|
||||
name = "void"
|
||||
version = "1.0.2"
|
||||
@@ -861,21 +852,20 @@ dependencies = [
|
||||
|
||||
[[package]]
|
||||
name = "zerocopy"
|
||||
version = "0.7.34"
|
||||
version = "0.8.14"
|
||||
source = "registry+https://github.com/rust-lang/crates.io-index"
|
||||
checksum = "ae87e3fcd617500e5d106f0380cf7b77f3c6092aae37191433159dda23cfb087"
|
||||
checksum = "a367f292d93d4eab890745e75a778da40909cab4d6ff8173693812f79c4a2468"
|
||||
dependencies = [
|
||||
"byteorder",
|
||||
"zerocopy-derive",
|
||||
]
|
||||
|
||||
[[package]]
|
||||
name = "zerocopy-derive"
|
||||
version = "0.7.34"
|
||||
version = "0.8.14"
|
||||
source = "registry+https://github.com/rust-lang/crates.io-index"
|
||||
checksum = "15e934569e47891f7d9411f1a451d947a60e000ab3bd24fbb970f000387d1b3b"
|
||||
checksum = "d3931cb58c62c13adec22e38686b559c86a30565e16ad6e8510a337cedc611e1"
|
||||
dependencies = [
|
||||
"proc-macro2",
|
||||
"quote",
|
||||
"syn 2.0.64",
|
||||
"syn 2.0.96",
|
||||
]
|
||||
|
||||
@@ -21,11 +21,11 @@ defmt-brtt = { version = "0.1", default-features = false, features = ["rtt"] }
|
||||
panic-probe = { version = "0.3", features = ["print-defmt"] }
|
||||
cortex-m-semihosting = "0.5.0"
|
||||
stm32h7xx-hal = { version="0.16", features= ["stm32h743v", "ethernet"] }
|
||||
embedded-alloc = "0.5"
|
||||
embedded-alloc = "0.6"
|
||||
rtic-sync = { version = "1", features = ["defmt-03"] }
|
||||
|
||||
[dependencies.smoltcp]
|
||||
version = "0.11.0"
|
||||
version = "0.11"
|
||||
default-features = false
|
||||
features = ["medium-ethernet", "proto-ipv4", "socket-raw", "socket-dhcpv4", "socket-udp", "defmt"]
|
||||
|
||||
@@ -34,7 +34,7 @@ version = "2"
|
||||
features = ["thumbv7-backend"]
|
||||
|
||||
[dependencies.rtic-monotonics]
|
||||
version = "1"
|
||||
version = "2"
|
||||
features = ["cortex-m-systick"]
|
||||
|
||||
[dependencies.satrs]
|
||||
|
||||
@@ -3,8 +3,8 @@
|
||||
extern crate alloc;
|
||||
|
||||
use rtic::app;
|
||||
use rtic_monotonics::systick::Systick;
|
||||
use rtic_monotonics::Monotonic;
|
||||
use rtic_monotonics::fugit::TimerInstantU32;
|
||||
use rtic_monotonics::systick::prelude::*;
|
||||
use satrs::pool::{PoolAddr, PoolProvider, StaticHeaplessMemoryPool};
|
||||
use satrs::static_subpool;
|
||||
// global logger + panicking-behavior + memory layout
|
||||
@@ -13,7 +13,7 @@ use smoltcp::socket::udp::UdpMetadata;
|
||||
use smoltcp::socket::{dhcpv4, udp};
|
||||
|
||||
use core::mem::MaybeUninit;
|
||||
use embedded_alloc::Heap;
|
||||
use embedded_alloc::LlffHeap as Heap;
|
||||
use smoltcp::iface::{Config, Interface, SocketHandle, SocketSet, SocketStorage};
|
||||
use smoltcp::wire::{HardwareAddress, IpAddress, IpCidr};
|
||||
use stm32h7xx_hal::ethernet;
|
||||
@@ -32,6 +32,8 @@ pub type TcSourceRx = rtic_sync::channel::Receiver<'static, PoolAddr, TC_SOURCE_
|
||||
#[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;
|
||||
@@ -72,7 +74,9 @@ impl Net {
|
||||
let mut iface = Interface::new(
|
||||
config,
|
||||
&mut ethdev,
|
||||
smoltcp::time::Instant::from_millis((Systick::now() - Systick::ZERO).to_millis()),
|
||||
smoltcp::time::Instant::from_millis(
|
||||
(Mono::now() - TimerInstantU32::<1000>::from_ticks(0)).to_millis(),
|
||||
),
|
||||
);
|
||||
// Create sockets
|
||||
let dhcp_socket = dhcpv4::Socket::new();
|
||||
@@ -91,7 +95,7 @@ impl Net {
|
||||
/// Polls on the ethernet interface. You should refer to the smoltcp
|
||||
/// documentation for poll() to understand how to call poll efficiently
|
||||
pub fn poll<'a>(&mut self, sockets: &'a mut SocketSet) -> bool {
|
||||
let uptime = Systick::now() - Systick::ZERO;
|
||||
let uptime = Mono::now() - TimerInstantU32::<1000>::from_ticks(0);
|
||||
let timestamp = smoltcp::time::Instant::from_millis(uptime.to_millis());
|
||||
|
||||
self.iface.poll(timestamp, &mut self.ethdev, sockets)
|
||||
@@ -203,8 +207,7 @@ mod app {
|
||||
use core::ptr::addr_of_mut;
|
||||
|
||||
use super::*;
|
||||
use rtic_monotonics::systick::fugit::MillisDurationU32;
|
||||
use rtic_monotonics::systick::Systick;
|
||||
use rtic_monotonics::fugit::MillisDurationU32;
|
||||
use satrs::spacepackets::ecss::tc::PusTcReader;
|
||||
use stm32h7xx_hal::ethernet::{EthernetMAC, PHY};
|
||||
use stm32h7xx_hal::gpio::{Output, Pin};
|
||||
@@ -256,12 +259,7 @@ mod app {
|
||||
.freeze(pwrcfg, &cx.device.SYSCFG);
|
||||
|
||||
// Initialize the systick interrupt & obtain the token to prove that we did
|
||||
let systick_mono_token = rtic_monotonics::create_systick_token!();
|
||||
Systick::start(
|
||||
cx.core.SYST,
|
||||
ccdr.clocks.sys_ck().to_Hz(),
|
||||
systick_mono_token,
|
||||
);
|
||||
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.
|
||||
@@ -377,24 +375,24 @@ mod app {
|
||||
|
||||
shared_pool
|
||||
.grow(
|
||||
unsafe { SUBPOOL_SMALL.assume_init_mut() },
|
||||
unsafe { SUBPOOL_SMALL_SIZES.assume_init_mut() },
|
||||
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(
|
||||
unsafe { SUBPOOL_MEDIUM.assume_init_mut() },
|
||||
unsafe { SUBPOOL_MEDIUM_SIZES.assume_init_mut() },
|
||||
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(
|
||||
unsafe { SUBPOOL_LARGE.assume_init_mut() },
|
||||
unsafe { SUBPOOL_LARGE_SIZES.assume_init_mut() },
|
||||
SUBPOOL_LARGE.get_mut().unwrap(),
|
||||
SUBPOOL_LARGE_SIZES.get_mut().unwrap(),
|
||||
SUBPOOL_LARGE_NUM_BLOCKS,
|
||||
true,
|
||||
)
|
||||
@@ -403,7 +401,7 @@ mod app {
|
||||
// Set up global allocator. Use AXISRAM for the heap.
|
||||
#[link_section = ".axisram"]
|
||||
static mut HEAP_MEM: [MaybeUninit<u8>; HEAP_SIZE] = [MaybeUninit::uninit(); HEAP_SIZE];
|
||||
unsafe { HEAP.init(HEAP_MEM.as_ptr() as usize, HEAP_SIZE) }
|
||||
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");
|
||||
@@ -435,7 +433,7 @@ mod app {
|
||||
leds.led1.toggle();
|
||||
leds.led2.toggle();
|
||||
let current_blink_freq = cx.shared.blink_freq.lock(|current| *current);
|
||||
Systick::delay(current_blink_freq).await;
|
||||
Mono::delay(current_blink_freq).await;
|
||||
}
|
||||
}
|
||||
|
||||
@@ -457,7 +455,7 @@ mod app {
|
||||
cx.shared.eth_link_up.lock(|link_up| *link_up = false);
|
||||
defmt::info!("Ethernet link down");
|
||||
}
|
||||
Systick::delay(100.millis()).await;
|
||||
Mono::delay(100.millis()).await;
|
||||
}
|
||||
}
|
||||
|
||||
@@ -483,7 +481,7 @@ mod app {
|
||||
cx.local.udp.poll(sockets, pool);
|
||||
})
|
||||
});
|
||||
Systick::delay(40.millis()).await;
|
||||
Mono::delay(40.millis()).await;
|
||||
}
|
||||
}
|
||||
|
||||
|
||||
@@ -1,5 +1,6 @@
|
||||
#!/usr/bin/env python3
|
||||
"""Example client for the sat-rs example application"""
|
||||
|
||||
import logging
|
||||
import sys
|
||||
import time
|
||||
|
||||
@@ -12,7 +12,7 @@ authors = [
|
||||
{name = "Robin Mueller", email = "robin.mueller.m@gmail.com"},
|
||||
]
|
||||
dependencies = [
|
||||
"tmtccmd~=8.0",
|
||||
"tmtccmd~=8.1",
|
||||
"pydantic~=2.7"
|
||||
]
|
||||
|
||||
|
||||
11
satrs-example/pytmtc/pytmtc/acs/__init__.py
Normal file
11
satrs-example/pytmtc/pytmtc/acs/__init__.py
Normal file
@@ -0,0 +1,11 @@
|
||||
from tmtccmd.config import CmdTreeNode
|
||||
|
||||
|
||||
def create_acs_node(mode_node: CmdTreeNode, hk_node: CmdTreeNode) -> CmdTreeNode:
|
||||
acs_node = CmdTreeNode("acs", "ACS Subsystem Node")
|
||||
mgm_node = CmdTreeNode("mgms", "MGM devices node")
|
||||
mgm_node.add_child(mode_node)
|
||||
mgm_node.add_child(hk_node)
|
||||
|
||||
acs_node.add_child(mgm_node)
|
||||
return acs_node
|
||||
@@ -12,7 +12,7 @@ from pytmtc.pus_tc import create_cmd_definition_tree
|
||||
|
||||
class SatrsConfigHook(HookBase):
|
||||
def __init__(self, json_cfg_path: str):
|
||||
super().__init__(json_cfg_path=json_cfg_path)
|
||||
super().__init__(json_cfg_path)
|
||||
|
||||
def get_communication_interface(self, com_if_key: str) -> Optional[ComInterface]:
|
||||
from tmtccmd.config.com import (
|
||||
|
||||
0
satrs-example/pytmtc/pytmtc/eps/__init__.py
Normal file
0
satrs-example/pytmtc/pytmtc/eps/__init__.py
Normal file
0
satrs-example/pytmtc/pytmtc/eps/pcdu.py
Normal file
0
satrs-example/pytmtc/pytmtc/eps/pcdu.py
Normal file
@@ -4,7 +4,7 @@ from spacepackets.ecss.pus_3_hk import Subservice
|
||||
from spacepackets.ecss import PusTm
|
||||
|
||||
from pytmtc.common import AcsId, Apid
|
||||
from pytmtc.mgms import handle_mgm_hk_report
|
||||
from pytmtc.acs.mgms import handle_mgm_hk_report
|
||||
|
||||
|
||||
_LOGGER = logging.getLogger(__name__)
|
||||
|
||||
@@ -17,8 +17,9 @@ from tmtccmd.tmtc import (
|
||||
)
|
||||
from tmtccmd.pus.s11_tc_sched import create_time_tagged_cmd
|
||||
|
||||
from pytmtc.acs import create_acs_node
|
||||
from pytmtc.common import Apid
|
||||
from pytmtc.mgms import create_mgm_cmds
|
||||
from pytmtc.acs.mgms import create_mgm_cmds
|
||||
|
||||
_LOGGER = logging.getLogger(__name__)
|
||||
|
||||
@@ -67,7 +68,6 @@ class TcHandler(TcHandlerBase):
|
||||
|
||||
|
||||
def create_cmd_definition_tree() -> CmdTreeNode:
|
||||
|
||||
root_node = CmdTreeNode.root_node()
|
||||
|
||||
hk_node = CmdTreeNode("hk", "Housekeeping Node", hide_children_for_print=True)
|
||||
@@ -101,15 +101,7 @@ def create_cmd_definition_tree() -> CmdTreeNode:
|
||||
)
|
||||
)
|
||||
root_node.add_child(scheduler_node)
|
||||
|
||||
acs_node = CmdTreeNode("acs", "ACS Subsystem Node")
|
||||
mgm_node = CmdTreeNode("mgms", "MGM devices node")
|
||||
mgm_node.add_child(mode_node)
|
||||
mgm_node.add_child(hk_node)
|
||||
|
||||
acs_node.add_child(mgm_node)
|
||||
root_node.add_child(acs_node)
|
||||
|
||||
root_node.add_child(create_acs_node(mode_node, hk_node))
|
||||
return root_node
|
||||
|
||||
|
||||
|
||||
@@ -25,7 +25,6 @@ optional = true
|
||||
[dependencies.satrs-shared]
|
||||
version = ">=0.1.3, <=0.2"
|
||||
features = ["serde"]
|
||||
path = "../satrs-shared"
|
||||
|
||||
[dependencies.satrs-mib-codegen]
|
||||
path = "codegen"
|
||||
|
||||
@@ -29,7 +29,6 @@ trybuild = { version = "1", features = ["diff"] }
|
||||
|
||||
[dev-dependencies.satrs-shared]
|
||||
version = ">=0.1.3, <=0.2"
|
||||
path = "../../satrs-shared"
|
||||
|
||||
[dev-dependencies.satrs-mib]
|
||||
path = ".."
|
||||
|
||||
@@ -14,12 +14,10 @@ fern = "0.7"
|
||||
strum = { version = "0.26", features = ["derive"] }
|
||||
num_enum = "0.7"
|
||||
humantime = "2"
|
||||
tai-time = { version = "0.3", features = ["serde"] }
|
||||
|
||||
[dependencies.asynchronix]
|
||||
version = "0.2.2"
|
||||
# git = "https://github.com/asynchronics/asynchronix.git"
|
||||
# branch = "main"
|
||||
features = ["serde"]
|
||||
[dependencies.nexosim]
|
||||
version = "0.3.1"
|
||||
|
||||
[dependencies.satrs]
|
||||
path = "../satrs"
|
||||
|
||||
@@ -1,8 +1,8 @@
|
||||
use std::{f32::consts::PI, sync::mpsc, time::Duration};
|
||||
|
||||
use asynchronix::{
|
||||
model::{Model, Output},
|
||||
time::Scheduler,
|
||||
use nexosim::{
|
||||
model::{Context, Model},
|
||||
ports::Output,
|
||||
};
|
||||
use satrs::power::SwitchStateBinary;
|
||||
use satrs_minisim::{
|
||||
@@ -55,7 +55,7 @@ impl<ReplyProvider: MgmReplyProvider> MagnetometerModel<ReplyProvider> {
|
||||
self.switch_state = switch_state;
|
||||
}
|
||||
|
||||
pub async fn send_sensor_values(&mut self, _: (), scheduler: &Scheduler<Self>) {
|
||||
pub async fn send_sensor_values(&mut self, _: (), scheduler: &mut Context<Self>) {
|
||||
self.reply_sender
|
||||
.send(ReplyProvider::create_mgm_reply(MgmReplyCommon {
|
||||
switch_state: self.switch_state,
|
||||
@@ -114,11 +114,11 @@ impl MagnetorquerModel {
|
||||
pub async fn apply_torque(
|
||||
&mut self,
|
||||
duration_and_dipole: (Duration, MgtDipole),
|
||||
scheduler: &Scheduler<Self>,
|
||||
cx: &mut Context<Self>,
|
||||
) {
|
||||
self.torque_dipole = duration_and_dipole.1;
|
||||
self.torquing = true;
|
||||
if scheduler
|
||||
if cx
|
||||
.schedule_event(duration_and_dipole.0, Self::clear_torque, ())
|
||||
.is_err()
|
||||
{
|
||||
@@ -138,12 +138,11 @@ impl MagnetorquerModel {
|
||||
self.generate_magnetic_field(()).await;
|
||||
}
|
||||
|
||||
pub async fn request_housekeeping_data(&mut self, _: (), scheduler: &Scheduler<Self>) {
|
||||
pub async fn request_housekeeping_data(&mut self, _: (), cx: &mut Context<Self>) {
|
||||
if self.switch_state != SwitchStateBinary::On {
|
||||
return;
|
||||
}
|
||||
scheduler
|
||||
.schedule_event(Duration::from_millis(15), Self::send_housekeeping_data, ())
|
||||
cx.schedule_event(Duration::from_millis(15), Self::send_housekeeping_data, ())
|
||||
.expect("requesting housekeeping data failed")
|
||||
}
|
||||
|
||||
@@ -200,7 +199,7 @@ pub mod tests {
|
||||
.send_request(request)
|
||||
.expect("sending MGM request failed");
|
||||
sim_testbench.handle_sim_requests_time_agnostic();
|
||||
sim_testbench.step();
|
||||
sim_testbench.step().unwrap();
|
||||
let sim_reply = sim_testbench.try_receive_next_reply();
|
||||
assert!(sim_reply.is_some());
|
||||
let sim_reply = sim_reply.unwrap();
|
||||
@@ -223,21 +222,21 @@ pub mod tests {
|
||||
.send_request(request)
|
||||
.expect("sending MGM request failed");
|
||||
sim_testbench.handle_sim_requests_time_agnostic();
|
||||
sim_testbench.step();
|
||||
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::MgmLis3Mdl);
|
||||
let first_reply = MgmLis3MdlReply::from_sim_message(&sim_reply)
|
||||
.expect("failed to deserialize MGM sensor values");
|
||||
sim_testbench.step_by(Duration::from_millis(50));
|
||||
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();
|
||||
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();
|
||||
@@ -272,7 +271,7 @@ pub mod tests {
|
||||
.send_request(request)
|
||||
.expect("sending MGM request failed");
|
||||
sim_testbench.handle_sim_requests_time_agnostic();
|
||||
sim_testbench.step();
|
||||
sim_testbench.step().unwrap();
|
||||
let sim_reply_res = sim_testbench.try_receive_next_reply();
|
||||
assert!(sim_reply_res.is_none());
|
||||
}
|
||||
@@ -287,7 +286,7 @@ pub mod tests {
|
||||
.send_request(request)
|
||||
.expect("sending MGM request failed");
|
||||
sim_testbench.handle_sim_requests_time_agnostic();
|
||||
sim_testbench.step();
|
||||
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();
|
||||
@@ -308,7 +307,7 @@ pub mod tests {
|
||||
.send_request(request)
|
||||
.expect("sending MGM request failed");
|
||||
sim_testbench.handle_sim_requests_time_agnostic();
|
||||
sim_testbench.step();
|
||||
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();
|
||||
@@ -339,7 +338,7 @@ pub mod tests {
|
||||
.send_request(request)
|
||||
.expect("sending MGM request failed");
|
||||
sim_testbench.handle_sim_requests_time_agnostic();
|
||||
sim_testbench.step_by(Duration::from_millis(5));
|
||||
sim_testbench.step_until(Duration::from_millis(5)).unwrap();
|
||||
|
||||
check_mgt_hk(
|
||||
&mut sim_testbench,
|
||||
@@ -348,7 +347,9 @@ pub mod tests {
|
||||
torquing: true,
|
||||
},
|
||||
);
|
||||
sim_testbench.step_by(Duration::from_millis(100));
|
||||
sim_testbench
|
||||
.step_until(Duration::from_millis(100))
|
||||
.unwrap();
|
||||
check_mgt_hk(
|
||||
&mut sim_testbench,
|
||||
MgtHkSet {
|
||||
|
||||
@@ -1,7 +1,7 @@
|
||||
use std::{sync::mpsc, time::Duration};
|
||||
|
||||
use asynchronix::{
|
||||
simulation::{Address, Simulation},
|
||||
use nexosim::{
|
||||
simulation::{Address, Scheduler, Simulation},
|
||||
time::{Clock, MonotonicTime, SystemClock},
|
||||
};
|
||||
use satrs_minisim::{
|
||||
@@ -23,35 +23,52 @@ const MGM_REQ_WIRETAPPING: bool = false;
|
||||
const PCDU_REQ_WIRETAPPING: bool = false;
|
||||
const MGT_REQ_WIRETAPPING: bool = false;
|
||||
|
||||
pub struct ModelAddrWrapper {
|
||||
mgm_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 mgm_addr: Address<MagnetometerModel<MgmLis3MdlReply>>,
|
||||
pub pcdu_addr: Address<PcduModel>,
|
||||
pub mgt_addr: Address<MagnetorquerModel>,
|
||||
pub scheduler: Scheduler,
|
||||
pub addr_wrapper: ModelAddrWrapper,
|
||||
}
|
||||
|
||||
impl ModelAddrWrapper {
|
||||
pub fn new(
|
||||
mgm_addr: Address<MagnetometerModel<MgmLis3MdlReply>>,
|
||||
pcdu_addr: Address<PcduModel>,
|
||||
mgt_addr: Address<MagnetorquerModel>,
|
||||
) -> Self {
|
||||
Self {
|
||||
mgm_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,
|
||||
mgm_addr: Address<MagnetometerModel<MgmLis3MdlReply>>,
|
||||
pcdu_addr: Address<PcduModel>,
|
||||
mgt_addr: Address<MagnetorquerModel>,
|
||||
scheduler: Scheduler,
|
||||
addr_wrapper: ModelAddrWrapper,
|
||||
) -> Self {
|
||||
Self {
|
||||
sys_clock,
|
||||
request_receiver,
|
||||
reply_sender,
|
||||
simulation,
|
||||
mgm_addr,
|
||||
pcdu_addr,
|
||||
mgt_addr,
|
||||
scheduler,
|
||||
addr_wrapper,
|
||||
}
|
||||
}
|
||||
|
||||
@@ -62,7 +79,7 @@ impl SimController {
|
||||
// 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);
|
||||
self.sys_clock.synchronize(t);
|
||||
let _synch_status = self.sys_clock.synchronize(t);
|
||||
self.handle_sim_requests(t_old);
|
||||
self.simulation
|
||||
.step_until(t)
|
||||
@@ -118,11 +135,13 @@ impl SimController {
|
||||
}
|
||||
match mgm_request {
|
||||
MgmRequestLis3Mdl::RequestSensorData => {
|
||||
self.simulation.send_event(
|
||||
MagnetometerModel::send_sensor_values,
|
||||
(),
|
||||
&self.mgm_addr,
|
||||
);
|
||||
self.simulation
|
||||
.process_event(
|
||||
MagnetometerModel::send_sensor_values,
|
||||
(),
|
||||
&self.addr_wrapper.mgm_addr,
|
||||
)
|
||||
.expect("event execution error for mgm");
|
||||
}
|
||||
}
|
||||
Ok(())
|
||||
@@ -136,14 +155,21 @@ impl SimController {
|
||||
match pcdu_request {
|
||||
PcduRequest::RequestSwitchInfo => {
|
||||
self.simulation
|
||||
.send_event(PcduModel::request_switch_info, (), &self.pcdu_addr);
|
||||
.process_event(
|
||||
PcduModel::request_switch_info,
|
||||
(),
|
||||
&self.addr_wrapper.pcdu_addr,
|
||||
)
|
||||
.unwrap();
|
||||
}
|
||||
PcduRequest::SwitchDevice { switch, state } => {
|
||||
self.simulation.send_event(
|
||||
PcduModel::switch_device,
|
||||
(switch, state),
|
||||
&self.pcdu_addr,
|
||||
);
|
||||
self.simulation
|
||||
.process_event(
|
||||
PcduModel::switch_device,
|
||||
(switch, state),
|
||||
&self.addr_wrapper.pcdu_addr,
|
||||
)
|
||||
.unwrap();
|
||||
}
|
||||
}
|
||||
Ok(())
|
||||
@@ -155,17 +181,23 @@ impl SimController {
|
||||
log::info!("received MGT request: {:?}", mgt_request);
|
||||
}
|
||||
match mgt_request {
|
||||
MgtRequest::ApplyTorque { duration, dipole } => self.simulation.send_event(
|
||||
MagnetorquerModel::apply_torque,
|
||||
(duration, dipole),
|
||||
&self.mgt_addr,
|
||||
),
|
||||
MgtRequest::RequestHk => self.simulation.send_event(
|
||||
MagnetorquerModel::request_housekeeping_data,
|
||||
(),
|
||||
&self.mgt_addr,
|
||||
),
|
||||
}
|
||||
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(())
|
||||
}
|
||||
|
||||
@@ -199,7 +231,7 @@ mod tests {
|
||||
.send_request(request)
|
||||
.expect("sending sim ctrl request failed");
|
||||
sim_testbench.handle_sim_requests_time_agnostic();
|
||||
sim_testbench.step();
|
||||
sim_testbench.step().unwrap();
|
||||
let sim_reply = sim_testbench.try_receive_next_reply();
|
||||
assert!(sim_reply.is_some());
|
||||
let sim_reply = sim_reply.unwrap();
|
||||
|
||||
@@ -1,8 +1,8 @@
|
||||
use std::{sync::mpsc, time::Duration};
|
||||
|
||||
use asynchronix::{
|
||||
model::{Model, Output},
|
||||
time::Scheduler,
|
||||
use nexosim::{
|
||||
model::{Context, Model},
|
||||
ports::Output,
|
||||
};
|
||||
use satrs::power::SwitchStateBinary;
|
||||
use satrs_minisim::{
|
||||
@@ -29,14 +29,13 @@ impl PcduModel {
|
||||
}
|
||||
}
|
||||
|
||||
pub async fn request_switch_info(&mut self, _: (), scheduler: &Scheduler<Self>) {
|
||||
scheduler
|
||||
.schedule_event(
|
||||
Duration::from_millis(SWITCH_INFO_DELAY_MS),
|
||||
Self::send_switch_info,
|
||||
(),
|
||||
)
|
||||
.expect("requesting switch info failed");
|
||||
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) {
|
||||
@@ -92,7 +91,7 @@ pub(crate) mod tests {
|
||||
.send_request(request)
|
||||
.expect("sending MGM switch request failed");
|
||||
sim_testbench.handle_sim_requests_time_agnostic();
|
||||
sim_testbench.step();
|
||||
sim_testbench.step().unwrap();
|
||||
}
|
||||
|
||||
#[allow(dead_code)]
|
||||
@@ -113,7 +112,7 @@ pub(crate) mod tests {
|
||||
.send_request(request)
|
||||
.expect("sending MGM request failed");
|
||||
sim_testbench.handle_sim_requests_time_agnostic();
|
||||
sim_testbench.step();
|
||||
sim_testbench.step().unwrap();
|
||||
let sim_reply = sim_testbench.try_receive_next_reply();
|
||||
assert!(sim_reply.is_some());
|
||||
let sim_reply = sim_reply.unwrap();
|
||||
@@ -143,12 +142,12 @@ pub(crate) mod tests {
|
||||
.send_request(request)
|
||||
.expect("sending MGM request failed");
|
||||
sim_testbench.handle_sim_requests_time_agnostic();
|
||||
sim_testbench.step_by(Duration::from_millis(1));
|
||||
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_by(Duration::from_millis(25));
|
||||
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();
|
||||
|
||||
@@ -1,4 +1,4 @@
|
||||
use asynchronix::time::MonotonicTime;
|
||||
use nexosim::time::MonotonicTime;
|
||||
use num_enum::{IntoPrimitive, TryFromPrimitive};
|
||||
use serde::{de::DeserializeOwned, Deserialize, Serialize};
|
||||
|
||||
|
||||
@@ -1,8 +1,8 @@
|
||||
use acs::{MagnetometerModel, MagnetorquerModel};
|
||||
use asynchronix::simulation::{Mailbox, SimInit};
|
||||
use asynchronix::time::{MonotonicTime, SystemClock};
|
||||
use controller::SimController;
|
||||
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;
|
||||
@@ -63,19 +63,20 @@ fn create_sim_controller(
|
||||
} else {
|
||||
SimInit::new()
|
||||
};
|
||||
let simulation = sim_init
|
||||
.add_model(mgm_model, mgm_mailbox)
|
||||
.add_model(pcdu_model, pcdu_mailbox)
|
||||
.add_model(mgt_model, mgt_mailbox)
|
||||
.init(start_time);
|
||||
let addrs = ModelAddrWrapper::new(mgm_addr, pcdu_addr, mgt_addr);
|
||||
let (simulation, scheduler) = sim_init
|
||||
.add_model(mgm_model, mgm_mailbox, "MGM 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,
|
||||
mgm_addr,
|
||||
pcdu_addr,
|
||||
mgt_addr,
|
||||
scheduler,
|
||||
addrs,
|
||||
)
|
||||
}
|
||||
|
||||
|
||||
@@ -1,7 +1,10 @@
|
||||
use delegate::delegate;
|
||||
use std::{sync::mpsc, time::Duration};
|
||||
use std::sync::mpsc;
|
||||
|
||||
use asynchronix::time::MonotonicTime;
|
||||
use nexosim::{
|
||||
simulation::ExecutionError,
|
||||
time::{Deadline, MonotonicTime},
|
||||
};
|
||||
use satrs_minisim::{SimReply, SimRequest};
|
||||
|
||||
use crate::{controller::SimController, create_sim_controller, ThreadingModel};
|
||||
@@ -35,8 +38,8 @@ impl SimTestbench {
|
||||
pub fn handle_sim_requests(&mut self, old_timestamp: MonotonicTime);
|
||||
}
|
||||
to self.sim_controller.simulation {
|
||||
pub fn step(&mut self);
|
||||
pub fn step_by(&mut self, duration: Duration);
|
||||
pub fn step(&mut self) -> Result<(), ExecutionError>;
|
||||
pub fn step_until(&mut self, duration: impl Deadline) -> Result<(), ExecutionError>;
|
||||
}
|
||||
}
|
||||
|
||||
|
||||
@@ -1,4 +1,4 @@
|
||||
use asynchronix::time::MonotonicTime;
|
||||
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)
|
||||
|
||||
@@ -8,6 +8,10 @@ and this project adheres to [Semantic Versioning](http://semver.org/).
|
||||
|
||||
# [unreleased]
|
||||
|
||||
# [v0.2.1] 2024-11-15
|
||||
|
||||
Increased allowed spacepackets to v0.13
|
||||
|
||||
# [v0.2.0] 2024-11-04
|
||||
|
||||
Semver bump, due to added features in v0.1.4
|
||||
|
||||
@@ -19,6 +19,7 @@ and this project adheres to [Semantic Versioning](http://semver.org/).
|
||||
## Added
|
||||
|
||||
- `StaticHeaplessMemoryPool` which can be grown with user-provided static buffers.
|
||||
- Scheduling table for systems with a standard runtime
|
||||
|
||||
# [v0.2.1] 2024-05-19
|
||||
|
||||
|
||||
@@ -13,89 +13,36 @@ keywords = ["no-std", "space", "aerospace"]
|
||||
categories = ["aerospace", "aerospace::space-protocols", "no-std", "hardware-support", "embedded"]
|
||||
|
||||
[dependencies]
|
||||
satrs-shared = ">=0.1.3, <=0.2"
|
||||
delegate = ">0.7, <=0.13"
|
||||
paste = "1"
|
||||
derive-new = ">=0.6, <=0.7"
|
||||
smallvec = "1"
|
||||
crc = "3"
|
||||
num_enum = { version = ">0.5, <=0.7", default-features = false }
|
||||
spacepackets = { version = "0.13", default-features = false }
|
||||
cobs = { version = "0.3", default-features = false }
|
||||
num-traits = { version = "0.2", default-features = false }
|
||||
thiserror = { version = "2", default-features = false }
|
||||
|
||||
[dependencies.satrs-shared]
|
||||
version = ">=0.1.3, <=0.2"
|
||||
path = "../satrs-shared"
|
||||
|
||||
[dependencies.num_enum]
|
||||
version = ">0.5, <=0.7"
|
||||
default-features = false
|
||||
|
||||
[dependencies.spacepackets]
|
||||
version = "0.13"
|
||||
default-features = false
|
||||
|
||||
[dependencies.cobs]
|
||||
git = "https://github.com/robamu/cobs.rs.git"
|
||||
version = "0.2.3"
|
||||
branch = "all_features"
|
||||
default-features = false
|
||||
|
||||
[dependencies.num-traits]
|
||||
version = "0.2"
|
||||
default-features = false
|
||||
|
||||
[dependencies.dyn-clone]
|
||||
version = "1"
|
||||
optional = true
|
||||
|
||||
[dependencies.hashbrown]
|
||||
version = ">=0.14, <=0.15"
|
||||
optional = true
|
||||
|
||||
[dependencies.heapless]
|
||||
version = "0.8"
|
||||
optional = true
|
||||
|
||||
[dependencies.downcast-rs]
|
||||
version = "1.2"
|
||||
default-features = false
|
||||
optional = true
|
||||
|
||||
[dependencies.bus]
|
||||
version = "2.2"
|
||||
optional = true
|
||||
|
||||
[dependencies.crossbeam-channel]
|
||||
version= "0.5"
|
||||
default-features = false
|
||||
optional = true
|
||||
|
||||
[dependencies.thiserror]
|
||||
version = "2"
|
||||
default-features = false
|
||||
|
||||
[dependencies.serde]
|
||||
version = "1"
|
||||
default-features = false
|
||||
optional = true
|
||||
|
||||
[dependencies.socket2]
|
||||
version = "0.5.4"
|
||||
features = ["all"]
|
||||
optional = true
|
||||
|
||||
[dependencies.mio]
|
||||
version = "1"
|
||||
features = ["os-poll", "net"]
|
||||
optional = true
|
||||
|
||||
[dependencies.defmt]
|
||||
version = "0.3"
|
||||
optional = true
|
||||
hashbrown = { version = ">=0.14, <=0.15", optional = true }
|
||||
static_cell = { version = "2", optional = true }
|
||||
dyn-clone = { version = "1", optional = true }
|
||||
heapless = { version = "0.8", optional = true }
|
||||
downcast-rs = { version = "2", default-features = false, optional = true }
|
||||
bus = { version = "2.2", optional = true }
|
||||
crossbeam-channel = { version = "0.5", default-features = false, optional = true }
|
||||
serde = { version = "1", default-features = false, optional = true }
|
||||
socket2 = { version = "0.5", features = ["all"], optional = true }
|
||||
mio = { version = "1", features = ["os-poll", "net"], optional = true }
|
||||
defmt = { version = "0.3", optional = true }
|
||||
|
||||
[dev-dependencies]
|
||||
serde = "1"
|
||||
zerocopy = "0.8"
|
||||
once_cell = "1"
|
||||
serde_json = "1"
|
||||
rand = "0.8"
|
||||
rand = "0.9"
|
||||
tempfile = "3"
|
||||
|
||||
[dev-dependencies.postcard]
|
||||
@@ -107,7 +54,6 @@ std = [
|
||||
"downcast-rs/std",
|
||||
"alloc",
|
||||
"bus",
|
||||
"postcard/use-std",
|
||||
"crossbeam-channel/std",
|
||||
"serde/std",
|
||||
"spacepackets/std",
|
||||
@@ -125,10 +71,15 @@ alloc = [
|
||||
]
|
||||
serde = ["dep:serde", "spacepackets/serde", "satrs-shared/serde"]
|
||||
crossbeam = ["crossbeam-channel"]
|
||||
heapless = ["dep:heapless"]
|
||||
heapless = ["dep:heapless", "static_cell"]
|
||||
defmt = ["dep:defmt", "spacepackets/defmt"]
|
||||
test_util = []
|
||||
|
||||
[package.metadata.docs.rs]
|
||||
all-features = true
|
||||
rustdoc-args = ["--generate-link-to-definition"]
|
||||
|
||||
[[test]]
|
||||
name = "event_test"
|
||||
path = "tests/pus_events.rs"
|
||||
required-features = ["test_util"]
|
||||
|
||||
@@ -15,20 +15,24 @@ pub enum OpResult {
|
||||
TerminationRequested,
|
||||
}
|
||||
|
||||
#[derive(Debug)]
|
||||
pub enum ExecutionType {
|
||||
Infinite,
|
||||
Cycles(u32),
|
||||
OneShot,
|
||||
}
|
||||
|
||||
pub trait Executable: Send {
|
||||
pub trait Executable {
|
||||
type Error;
|
||||
|
||||
fn exec_type(&self) -> ExecutionType;
|
||||
fn task_name(&self) -> &'static str;
|
||||
fn periodic_op(&mut self, op_code: i32) -> Result<OpResult, Self::Error>;
|
||||
}
|
||||
|
||||
pub trait ExecutableWithType: Executable {
|
||||
fn exec_type(&self) -> ExecutionType;
|
||||
}
|
||||
|
||||
/// This function allows executing one task which implements the [Executable] trait
|
||||
///
|
||||
/// # Arguments
|
||||
@@ -39,7 +43,10 @@ pub trait Executable: Send {
|
||||
/// * `op_code`: Operation code which is passed to the executable task
|
||||
/// [operation call][Executable::periodic_op]
|
||||
/// * `termination`: Optional termination handler which can cancel threads with a broadcast
|
||||
pub fn exec_sched_single<T: Executable<Error = E> + Send + 'static + ?Sized, E: Send + 'static>(
|
||||
pub fn exec_sched_single<
|
||||
T: ExecutableWithType<Error = E> + Send + 'static + ?Sized,
|
||||
E: Send + 'static,
|
||||
>(
|
||||
mut executable: Box<T>,
|
||||
task_freq: Option<Duration>,
|
||||
op_code: i32,
|
||||
@@ -88,7 +95,10 @@ pub fn exec_sched_single<T: Executable<Error = E> + Send + 'static + ?Sized, E:
|
||||
/// * `task_freq`: Optional frequency of task. Required for periodic and fixed cycle tasks
|
||||
/// * `op_code`: Operation code which is passed to the executable task [operation call][Executable::periodic_op]
|
||||
/// * `termination`: Optional termination handler which can cancel threads with a broadcast
|
||||
pub fn exec_sched_multi<T: Executable<Error = E> + Send + 'static + ?Sized, E: Send + 'static>(
|
||||
pub fn exec_sched_multi<
|
||||
T: ExecutableWithType<Error = E> + Send + 'static + ?Sized,
|
||||
E: Send + 'static,
|
||||
>(
|
||||
task_name: &'static str,
|
||||
mut executable_vec: Vec<Box<T>>,
|
||||
task_freq: Option<Duration>,
|
||||
@@ -142,7 +152,10 @@ pub fn exec_sched_multi<T: Executable<Error = E> + Send + 'static + ?Sized, E: S
|
||||
|
||||
#[cfg(test)]
|
||||
mod tests {
|
||||
use super::{exec_sched_multi, exec_sched_single, Executable, ExecutionType, OpResult};
|
||||
use super::{
|
||||
exec_sched_multi, exec_sched_single, Executable, ExecutableWithType, ExecutionType,
|
||||
OpResult,
|
||||
};
|
||||
use bus::Bus;
|
||||
use std::boxed::Box;
|
||||
use std::error::Error;
|
||||
@@ -208,10 +221,6 @@ mod tests {
|
||||
impl Executable for OneShotTask {
|
||||
type Error = ExampleError;
|
||||
|
||||
fn exec_type(&self) -> ExecutionType {
|
||||
ExecutionType::OneShot
|
||||
}
|
||||
|
||||
fn task_name(&self) -> &'static str {
|
||||
ONE_SHOT_TASK_NAME
|
||||
}
|
||||
@@ -229,15 +238,17 @@ mod tests {
|
||||
}
|
||||
}
|
||||
|
||||
impl ExecutableWithType for OneShotTask {
|
||||
fn exec_type(&self) -> ExecutionType {
|
||||
ExecutionType::OneShot
|
||||
}
|
||||
}
|
||||
|
||||
const CYCLE_TASK_NAME: &str = "Fixed Cycles Task";
|
||||
|
||||
impl Executable for FixedCyclesTask {
|
||||
type Error = ExampleError;
|
||||
|
||||
fn exec_type(&self) -> ExecutionType {
|
||||
ExecutionType::Cycles(self.cycles)
|
||||
}
|
||||
|
||||
fn task_name(&self) -> &'static str {
|
||||
CYCLE_TASK_NAME
|
||||
}
|
||||
@@ -255,15 +266,17 @@ mod tests {
|
||||
}
|
||||
}
|
||||
|
||||
impl ExecutableWithType for FixedCyclesTask {
|
||||
fn exec_type(&self) -> ExecutionType {
|
||||
ExecutionType::Cycles(self.cycles)
|
||||
}
|
||||
}
|
||||
|
||||
const PERIODIC_TASK_NAME: &str = "Periodic Task";
|
||||
|
||||
impl Executable for PeriodicTask {
|
||||
type Error = ExampleError;
|
||||
|
||||
fn exec_type(&self) -> ExecutionType {
|
||||
ExecutionType::Infinite
|
||||
}
|
||||
|
||||
fn task_name(&self) -> &'static str {
|
||||
PERIODIC_TASK_NAME
|
||||
}
|
||||
@@ -281,6 +294,12 @@ mod tests {
|
||||
}
|
||||
}
|
||||
|
||||
impl ExecutableWithType for PeriodicTask {
|
||||
fn exec_type(&self) -> ExecutionType {
|
||||
ExecutionType::Infinite
|
||||
}
|
||||
}
|
||||
|
||||
#[test]
|
||||
fn test_simple_one_shot() {
|
||||
let expected_op_code = 42;
|
||||
@@ -423,7 +442,7 @@ mod tests {
|
||||
});
|
||||
assert_eq!(cycled_task_0.task_name(), CYCLE_TASK_NAME);
|
||||
assert_eq!(one_shot_task.task_name(), ONE_SHOT_TASK_NAME);
|
||||
let task_vec: Vec<Box<dyn Executable<Error = ExampleError>>> =
|
||||
let task_vec: Vec<Box<dyn ExecutableWithType<Error = ExampleError> + Send>> =
|
||||
vec![one_shot_task, cycled_task_0, cycled_task_1];
|
||||
let jh = exec_sched_multi(
|
||||
"multi-task-name",
|
||||
@@ -493,7 +512,7 @@ mod tests {
|
||||
});
|
||||
assert_eq!(periodic_task_0.task_name(), PERIODIC_TASK_NAME);
|
||||
assert_eq!(periodic_task_1.task_name(), PERIODIC_TASK_NAME);
|
||||
let task_vec: Vec<Box<dyn Executable<Error = ExampleError>>> =
|
||||
let task_vec: Vec<Box<dyn ExecutableWithType<Error = ExampleError> + Send>> =
|
||||
vec![cycled_task, periodic_task_0, periodic_task_1];
|
||||
let jh = exec_sched_multi(
|
||||
"multi-task-name",
|
||||
|
||||
@@ -36,6 +36,8 @@ pub mod pus;
|
||||
pub mod queue;
|
||||
pub mod request;
|
||||
pub mod res_code;
|
||||
#[cfg(feature = "alloc")]
|
||||
pub mod scheduling;
|
||||
pub mod time;
|
||||
pub mod tmtc;
|
||||
|
||||
|
||||
@@ -387,18 +387,18 @@ pub mod heapless_mod {
|
||||
#[macro_export]
|
||||
macro_rules! static_subpool {
|
||||
($pool_name: ident, $sizes_list_name: ident, $num_blocks: expr, $block_size: expr) => {
|
||||
static mut $pool_name: core::mem::MaybeUninit<[u8; $num_blocks * $block_size]> =
|
||||
core::mem::MaybeUninit::new([0; $num_blocks * $block_size]);
|
||||
static mut $sizes_list_name: core::mem::MaybeUninit<[usize; $num_blocks]> =
|
||||
core::mem::MaybeUninit::new([$crate::pool::STORE_FREE; $num_blocks]);
|
||||
static $pool_name: static_cell::ConstStaticCell<[u8; $num_blocks * $block_size]> =
|
||||
static_cell::ConstStaticCell::new([0; $num_blocks * $block_size]);
|
||||
static $sizes_list_name: static_cell::ConstStaticCell<[usize; $num_blocks]> =
|
||||
static_cell::ConstStaticCell::new([$crate::pool::STORE_FREE; $num_blocks]);
|
||||
};
|
||||
($pool_name: ident, $sizes_list_name: ident, $num_blocks: expr, $block_size: expr, $meta_data: meta) => {
|
||||
#[$meta_data]
|
||||
static mut $pool_name: core::mem::MaybeUninit<[u8; $num_blocks * $block_size]> =
|
||||
core::mem::MaybeUninit::new([0; $num_blocks * $block_size]);
|
||||
static $pool_name: static_cell::ConstStaticCell<[u8; $num_blocks * $block_size]> =
|
||||
static_cell::ConstStaticCell::new([0; $num_blocks * $block_size]);
|
||||
#[$meta_data]
|
||||
static mut $sizes_list_name: core::mem::MaybeUninit<[usize; $num_blocks]> =
|
||||
core::mem::MaybeUninit::new([$crate::pool::STORE_FREE; $num_blocks]);
|
||||
static $sizes_list_name: static_cell::ConstStaticCell<[usize; $num_blocks]> =
|
||||
static_cell::ConstStaticCell::new([$crate::pool::STORE_FREE; $num_blocks]);
|
||||
};
|
||||
}
|
||||
|
||||
@@ -435,17 +435,17 @@ pub mod heapless_mod {
|
||||
///
|
||||
/// let mut mem_pool: StaticHeaplessMemoryPool<2> = StaticHeaplessMemoryPool::new(true);
|
||||
/// mem_pool.grow(
|
||||
/// unsafe { SUBPOOL_SMALL.assume_init_mut() },
|
||||
/// unsafe { SUBPOOL_SMALL_SIZES.assume_init_mut() },
|
||||
/// SUBPOOL_SMALL.take(),
|
||||
/// SUBPOOL_SMALL_SIZES.take(),
|
||||
/// SUBPOOL_SMALL_NUM_BLOCKS,
|
||||
/// false
|
||||
/// );
|
||||
/// ).unwrap();
|
||||
/// mem_pool.grow(
|
||||
/// unsafe { SUBPOOL_LARGE.assume_init_mut() },
|
||||
/// unsafe { SUBPOOL_LARGE_SIZES.assume_init_mut() },
|
||||
/// SUBPOOL_LARGE.take(),
|
||||
/// SUBPOOL_LARGE_SIZES.take(),
|
||||
/// SUBPOOL_LARGE_NUM_BLOCKS,
|
||||
/// false
|
||||
/// );
|
||||
/// ).unwrap();
|
||||
///
|
||||
/// let mut read_buf: [u8; 16] = [0; 16];
|
||||
/// let mut addr;
|
||||
@@ -522,12 +522,14 @@ pub mod heapless_mod {
|
||||
num_blocks: NumBlocks,
|
||||
set_sizes_list_to_all_free: bool,
|
||||
) -> Result<(), PoolIsFull> {
|
||||
assert!(
|
||||
(subpool_memory.len() % num_blocks as usize) == 0,
|
||||
assert_eq!(
|
||||
(subpool_memory.len() % num_blocks as usize),
|
||||
0,
|
||||
"pool slice length must be multiple of number of blocks"
|
||||
);
|
||||
assert!(
|
||||
num_blocks as usize == sizes_list.len(),
|
||||
assert_eq!(
|
||||
num_blocks as usize,
|
||||
sizes_list.len(),
|
||||
"used block size list slice must be of same length as number of blocks"
|
||||
);
|
||||
let subpool_config = SubpoolConfig {
|
||||
@@ -1584,21 +1586,33 @@ mod tests {
|
||||
mod heapless_tests {
|
||||
use super::*;
|
||||
use crate::static_subpool;
|
||||
use core::ptr::addr_of_mut;
|
||||
use std::cell::UnsafeCell;
|
||||
use std::sync::Mutex;
|
||||
|
||||
const SUBPOOL_1_BLOCK_SIZE: usize = 4;
|
||||
const SUBPOOL_1_NUM_ELEMENTS: u16 = 4;
|
||||
static mut SUBPOOL_1: [u8; SUBPOOL_1_NUM_ELEMENTS as usize * SUBPOOL_1_BLOCK_SIZE] =
|
||||
[0; SUBPOOL_1_NUM_ELEMENTS as usize * SUBPOOL_1_BLOCK_SIZE];
|
||||
static mut SUBPOOL_1_SIZES: [usize; SUBPOOL_1_NUM_ELEMENTS as usize] =
|
||||
[STORE_FREE; SUBPOOL_1_NUM_ELEMENTS as usize];
|
||||
|
||||
static SUBPOOL_1: static_cell::ConstStaticCell<
|
||||
[u8; SUBPOOL_1_NUM_ELEMENTS as usize * SUBPOOL_1_BLOCK_SIZE],
|
||||
> = static_cell::ConstStaticCell::new(
|
||||
[0; SUBPOOL_1_NUM_ELEMENTS as usize * SUBPOOL_1_BLOCK_SIZE],
|
||||
);
|
||||
|
||||
static SUBPOOL_1_SIZES: Mutex<UnsafeCell<[usize; SUBPOOL_1_NUM_ELEMENTS as usize]>> =
|
||||
Mutex::new(UnsafeCell::new(
|
||||
[STORE_FREE; SUBPOOL_1_NUM_ELEMENTS as usize],
|
||||
));
|
||||
|
||||
const SUBPOOL_2_NUM_ELEMENTS: u16 = 2;
|
||||
const SUBPOOL_2_BLOCK_SIZE: usize = 8;
|
||||
static mut SUBPOOL_2: [u8; SUBPOOL_2_NUM_ELEMENTS as usize * SUBPOOL_2_BLOCK_SIZE] =
|
||||
[0; SUBPOOL_2_NUM_ELEMENTS as usize * SUBPOOL_2_BLOCK_SIZE];
|
||||
static mut SUBPOOL_2_SIZES: [usize; SUBPOOL_2_NUM_ELEMENTS as usize] =
|
||||
[STORE_FREE; SUBPOOL_2_NUM_ELEMENTS as usize];
|
||||
static SUBPOOL_2: static_cell::ConstStaticCell<
|
||||
[u8; SUBPOOL_2_NUM_ELEMENTS as usize * SUBPOOL_2_BLOCK_SIZE],
|
||||
> = static_cell::ConstStaticCell::new(
|
||||
[0; SUBPOOL_2_NUM_ELEMENTS as usize * SUBPOOL_2_BLOCK_SIZE],
|
||||
);
|
||||
static SUBPOOL_2_SIZES: static_cell::ConstStaticCell<
|
||||
[usize; SUBPOOL_2_NUM_ELEMENTS as usize],
|
||||
> = static_cell::ConstStaticCell::new([STORE_FREE; SUBPOOL_2_NUM_ELEMENTS as usize]);
|
||||
|
||||
const SUBPOOL_3_NUM_ELEMENTS: u16 = 1;
|
||||
const SUBPOOL_3_BLOCK_SIZE: usize = 16;
|
||||
@@ -1641,24 +1655,24 @@ mod tests {
|
||||
StaticHeaplessMemoryPool::new(false);
|
||||
assert!(heapless_pool
|
||||
.grow(
|
||||
unsafe { &mut *addr_of_mut!(SUBPOOL_1) },
|
||||
unsafe { &mut *addr_of_mut!(SUBPOOL_1_SIZES) },
|
||||
SUBPOOL_1.take(),
|
||||
unsafe { &mut *SUBPOOL_1_SIZES.lock().unwrap().get() },
|
||||
SUBPOOL_1_NUM_ELEMENTS,
|
||||
true
|
||||
)
|
||||
.is_ok());
|
||||
assert!(heapless_pool
|
||||
.grow(
|
||||
unsafe { &mut *addr_of_mut!(SUBPOOL_2) },
|
||||
unsafe { &mut *addr_of_mut!(SUBPOOL_2_SIZES) },
|
||||
SUBPOOL_2.take(),
|
||||
SUBPOOL_2_SIZES.take(),
|
||||
SUBPOOL_2_NUM_ELEMENTS,
|
||||
true
|
||||
)
|
||||
.is_ok());
|
||||
assert!(heapless_pool
|
||||
.grow(
|
||||
unsafe { SUBPOOL_3.assume_init_mut() },
|
||||
unsafe { SUBPOOL_3_SIZES.assume_init_mut() },
|
||||
SUBPOOL_3.take(),
|
||||
SUBPOOL_3_SIZES.take(),
|
||||
SUBPOOL_3_NUM_ELEMENTS,
|
||||
true
|
||||
)
|
||||
@@ -1780,16 +1794,16 @@ mod tests {
|
||||
StaticHeaplessMemoryPool::new(true);
|
||||
assert!(heapless_pool
|
||||
.grow(
|
||||
unsafe { &mut *addr_of_mut!(SUBPOOL_2) },
|
||||
unsafe { &mut *addr_of_mut!(SUBPOOL_2_SIZES) },
|
||||
SUBPOOL_2.take(),
|
||||
SUBPOOL_2_SIZES.take(),
|
||||
SUBPOOL_2_NUM_ELEMENTS,
|
||||
true
|
||||
)
|
||||
.is_ok());
|
||||
assert!(heapless_pool
|
||||
.grow(
|
||||
unsafe { SUBPOOL_4.assume_init_mut() },
|
||||
unsafe { SUBPOOL_4_SIZES.assume_init_mut() },
|
||||
SUBPOOL_4.take(),
|
||||
SUBPOOL_4_SIZES.take(),
|
||||
SUBPOOL_4_NUM_ELEMENTS,
|
||||
true
|
||||
)
|
||||
@@ -1803,16 +1817,16 @@ mod tests {
|
||||
StaticHeaplessMemoryPool::new(true);
|
||||
assert!(heapless_pool
|
||||
.grow(
|
||||
unsafe { SUBPOOL_5.assume_init_mut() },
|
||||
unsafe { SUBPOOL_5_SIZES.assume_init_mut() },
|
||||
SUBPOOL_5.take(),
|
||||
SUBPOOL_5_SIZES.take(),
|
||||
SUBPOOL_5_NUM_ELEMENTS,
|
||||
true
|
||||
)
|
||||
.is_ok());
|
||||
assert!(heapless_pool
|
||||
.grow(
|
||||
unsafe { SUBPOOL_3.assume_init_mut() },
|
||||
unsafe { SUBPOOL_3_SIZES.assume_init_mut() },
|
||||
SUBPOOL_3.take(),
|
||||
SUBPOOL_3_SIZES.take(),
|
||||
SUBPOOL_3_NUM_ELEMENTS,
|
||||
true
|
||||
)
|
||||
@@ -1826,24 +1840,24 @@ mod tests {
|
||||
StaticHeaplessMemoryPool::new(true);
|
||||
assert!(heapless_pool
|
||||
.grow(
|
||||
unsafe { SUBPOOL_5.assume_init_mut() },
|
||||
unsafe { SUBPOOL_5_SIZES.assume_init_mut() },
|
||||
SUBPOOL_5.take(),
|
||||
SUBPOOL_5_SIZES.take(),
|
||||
SUBPOOL_5_NUM_ELEMENTS,
|
||||
true
|
||||
)
|
||||
.is_ok());
|
||||
assert!(heapless_pool
|
||||
.grow(
|
||||
unsafe { SUBPOOL_6.assume_init_mut() },
|
||||
unsafe { SUBPOOL_6_SIZES.assume_init_mut() },
|
||||
SUBPOOL_6.take(),
|
||||
SUBPOOL_6_SIZES.take(),
|
||||
SUBPOOL_6_NUM_ELEMENTS,
|
||||
true
|
||||
)
|
||||
.is_ok());
|
||||
assert!(heapless_pool
|
||||
.grow(
|
||||
unsafe { SUBPOOL_3.assume_init_mut() },
|
||||
unsafe { SUBPOOL_3_SIZES.assume_init_mut() },
|
||||
SUBPOOL_3.take(),
|
||||
SUBPOOL_3_SIZES.take(),
|
||||
SUBPOOL_3_NUM_ELEMENTS,
|
||||
true
|
||||
)
|
||||
@@ -1857,24 +1871,24 @@ mod tests {
|
||||
StaticHeaplessMemoryPool::new(true);
|
||||
assert!(heapless_pool
|
||||
.grow(
|
||||
unsafe { SUBPOOL_5.assume_init_mut() },
|
||||
unsafe { SUBPOOL_5_SIZES.assume_init_mut() },
|
||||
SUBPOOL_5.take(),
|
||||
SUBPOOL_5_SIZES.take(),
|
||||
SUBPOOL_5_NUM_ELEMENTS,
|
||||
true
|
||||
)
|
||||
.is_ok());
|
||||
assert!(heapless_pool
|
||||
.grow(
|
||||
unsafe { SUBPOOL_6.assume_init_mut() },
|
||||
unsafe { SUBPOOL_6_SIZES.assume_init_mut() },
|
||||
SUBPOOL_6.take(),
|
||||
SUBPOOL_6_SIZES.take(),
|
||||
SUBPOOL_6_NUM_ELEMENTS,
|
||||
true
|
||||
)
|
||||
.is_ok());
|
||||
assert!(heapless_pool
|
||||
.grow(
|
||||
unsafe { SUBPOOL_3.assume_init_mut() },
|
||||
unsafe { SUBPOOL_3_SIZES.assume_init_mut() },
|
||||
SUBPOOL_3.take(),
|
||||
SUBPOOL_3_SIZES.take(),
|
||||
SUBPOOL_3_NUM_ELEMENTS,
|
||||
true
|
||||
)
|
||||
|
||||
416
satrs/src/scheduling.rs
Normal file
416
satrs/src/scheduling.rs
Normal file
@@ -0,0 +1,416 @@
|
||||
use core::{convert::Infallible, fmt::Debug, time::Duration};
|
||||
use std::time::Instant;
|
||||
|
||||
use thiserror::Error;
|
||||
|
||||
use crate::executable::Executable;
|
||||
|
||||
#[cfg(feature = "std")]
|
||||
pub use std_mod::*;
|
||||
|
||||
#[derive(Debug, Default)]
|
||||
pub struct SchedulingTable {
|
||||
execution_frequency: Duration,
|
||||
pub table: alloc::vec::Vec<u32>,
|
||||
}
|
||||
|
||||
#[derive(Debug, Error)]
|
||||
pub enum InvalidSlotError {
|
||||
#[error("slot time is larger than the execution frequency")]
|
||||
SlotTimeLargerThanFrequency,
|
||||
#[error("slot time is smaller than previous slot")]
|
||||
SmallerThanPreviousSlot {
|
||||
slot_time_ms: u32,
|
||||
prev_slot_time_ms: u32,
|
||||
},
|
||||
}
|
||||
|
||||
impl SchedulingTable {
|
||||
pub fn new(execution_frequency: Duration) -> Self {
|
||||
Self {
|
||||
execution_frequency,
|
||||
table: Default::default(),
|
||||
}
|
||||
}
|
||||
|
||||
pub fn add_slot(&mut self, relative_execution_time_ms: u32) -> Result<(), InvalidSlotError> {
|
||||
if relative_execution_time_ms > self.execution_frequency.as_millis() as u32 {
|
||||
return Err(InvalidSlotError::SlotTimeLargerThanFrequency);
|
||||
}
|
||||
|
||||
if !self.table.is_empty() {
|
||||
let prev_slot_ms = *self.table.last().unwrap();
|
||||
if relative_execution_time_ms < prev_slot_ms {
|
||||
return Err(InvalidSlotError::SmallerThanPreviousSlot {
|
||||
slot_time_ms: relative_execution_time_ms,
|
||||
prev_slot_time_ms: *self.table.last().unwrap(),
|
||||
});
|
||||
}
|
||||
}
|
||||
self.table.push(relative_execution_time_ms);
|
||||
Ok(())
|
||||
}
|
||||
}
|
||||
|
||||
#[derive(Debug, Error)]
|
||||
pub enum TaskWithSchedulingTableError {
|
||||
#[error("scheudlig table error: {0}")]
|
||||
InvalidSlot(#[from] InvalidSlotError),
|
||||
#[error("task lock error")]
|
||||
LockError,
|
||||
#[error("task borrow error")]
|
||||
BorrowError,
|
||||
}
|
||||
|
||||
pub trait DeadlineMissedHandler {
|
||||
fn deadline_missed_callback(&mut self, task_name: &'static str, op_code: i32);
|
||||
}
|
||||
|
||||
pub trait TaskExecutor {
|
||||
fn with_task<F: FnOnce(&mut dyn Executable<Error = Infallible>)>(&self, f: F);
|
||||
}
|
||||
|
||||
#[cfg(feature = "std")]
|
||||
pub mod std_mod {
|
||||
use core::cell::RefCell;
|
||||
use std::{
|
||||
rc::Rc,
|
||||
sync::{Arc, Mutex},
|
||||
vec::Vec,
|
||||
};
|
||||
|
||||
use super::*;
|
||||
|
||||
impl TaskExecutor for Arc<Mutex<dyn Executable<Error = Infallible> + Send>> {
|
||||
fn with_task<F: FnOnce(&mut dyn Executable<Error = Infallible>)>(&self, f: F) {
|
||||
let mut task = self.lock().unwrap();
|
||||
f(&mut *task);
|
||||
}
|
||||
}
|
||||
|
||||
impl TaskExecutor for Rc<RefCell<dyn Executable<Error = Infallible>>> {
|
||||
fn with_task<F: FnOnce(&mut dyn Executable<Error = Infallible>)>(&self, f: F) {
|
||||
let mut task = self.borrow_mut();
|
||||
f(&mut *task);
|
||||
}
|
||||
}
|
||||
|
||||
pub struct TaskWithOpCode<T: TaskExecutor> {
|
||||
task: T,
|
||||
op_code: i32,
|
||||
}
|
||||
|
||||
pub struct TaskWithSchedulingTable<T: TaskExecutor> {
|
||||
start_of_slot: Instant,
|
||||
end_of_slot: Instant,
|
||||
deadline_missed_ms_count: u32,
|
||||
table: SchedulingTable,
|
||||
tasks: Vec<TaskWithOpCode<T>>,
|
||||
}
|
||||
|
||||
impl TaskWithSchedulingTable<Rc<RefCell<dyn Executable<Error = Infallible>>>> {
|
||||
/// Add a new task to the scheduling table
|
||||
///
|
||||
/// The task needs to be wrapped inside [Rc] and [RefCell]. The task is not sendable and
|
||||
/// needs to be created inside the target thread.
|
||||
pub fn add_task(
|
||||
&mut self,
|
||||
relative_execution_time_ms: u32,
|
||||
task: Rc<RefCell<dyn Executable<Error = Infallible>>>,
|
||||
op_code: i32,
|
||||
) -> Result<(), TaskWithSchedulingTableError> {
|
||||
self.table.add_slot(relative_execution_time_ms)?;
|
||||
self.tasks.push(TaskWithOpCode { task, op_code });
|
||||
Ok(())
|
||||
}
|
||||
}
|
||||
|
||||
impl TaskWithSchedulingTable<Arc<Mutex<dyn Executable<Error = Infallible> + Send>>> {
|
||||
/// Add a new task to the scheduling table
|
||||
///
|
||||
/// The task needs to be wrapped inside [Arc] and [Mutex], but the task can be sent to
|
||||
/// a different thread.
|
||||
pub fn add_task_sendable(
|
||||
&mut self,
|
||||
relative_execution_time_ms: u32,
|
||||
task: Arc<Mutex<dyn Executable<Error = Infallible> + Send>>,
|
||||
op_code: i32,
|
||||
) -> Result<(), TaskWithSchedulingTableError> {
|
||||
self.table.add_slot(relative_execution_time_ms)?;
|
||||
self.tasks.push(TaskWithOpCode { task, op_code });
|
||||
Ok(())
|
||||
}
|
||||
}
|
||||
|
||||
impl<T: TaskExecutor> TaskWithSchedulingTable<T> {
|
||||
pub fn new(execution_frequency: Duration) -> Self {
|
||||
Self {
|
||||
start_of_slot: Instant::now(),
|
||||
end_of_slot: Instant::now(),
|
||||
deadline_missed_ms_count: 10,
|
||||
table: SchedulingTable::new(execution_frequency),
|
||||
tasks: Default::default(),
|
||||
}
|
||||
}
|
||||
|
||||
/// Can be used to set the start of the slot to the current time. This is useful if a custom
|
||||
/// runner implementation is used instead of the [Self::start] method.
|
||||
pub fn init_start_of_slot(&mut self) {
|
||||
self.start_of_slot = Instant::now();
|
||||
}
|
||||
|
||||
pub fn run_one_task_cycle(
|
||||
&mut self,
|
||||
deadline_missed_cb: &mut impl DeadlineMissedHandler,
|
||||
) -> Result<(), TaskWithSchedulingTableError> {
|
||||
self.end_of_slot = self.start_of_slot + self.table.execution_frequency;
|
||||
|
||||
for (&relative_execution_time_ms, task_with_op_code) in
|
||||
self.table.table.iter().zip(self.tasks.iter_mut())
|
||||
{
|
||||
let scheduled_execution_time = self.start_of_slot
|
||||
+ core::time::Duration::from_millis(relative_execution_time_ms as u64);
|
||||
let now = Instant::now();
|
||||
|
||||
if now < scheduled_execution_time {
|
||||
std::thread::sleep(scheduled_execution_time - now);
|
||||
} else if (now - scheduled_execution_time).as_millis()
|
||||
> self.deadline_missed_ms_count.into()
|
||||
{
|
||||
task_with_op_code.task.with_task(|task| {
|
||||
deadline_missed_cb
|
||||
.deadline_missed_callback(task.task_name(), task_with_op_code.op_code);
|
||||
});
|
||||
}
|
||||
|
||||
task_with_op_code.task.with_task(|task| {
|
||||
// Unwrapping is okay here because we constrain the tasks to be infallible.
|
||||
task.periodic_op(task_with_op_code.op_code).unwrap();
|
||||
});
|
||||
}
|
||||
|
||||
let now = Instant::now();
|
||||
if now <= self.end_of_slot {
|
||||
let diff = self.end_of_slot - now;
|
||||
std::thread::sleep(diff);
|
||||
self.start_of_slot = self.end_of_slot;
|
||||
} else if now > self.end_of_slot + self.table.execution_frequency {
|
||||
// We're getting strongly out of sync. Set the new start timt to now.
|
||||
self.start_of_slot = now;
|
||||
}
|
||||
|
||||
Ok(())
|
||||
}
|
||||
}
|
||||
}
|
||||
|
||||
#[cfg(test)]
|
||||
mod tests {
|
||||
use core::{cell::RefCell, convert::Infallible, time::Duration};
|
||||
use std::{
|
||||
println,
|
||||
rc::Rc,
|
||||
sync::{
|
||||
mpsc::{self, TryRecvError},
|
||||
Arc, Mutex,
|
||||
},
|
||||
time::Instant,
|
||||
};
|
||||
|
||||
use crate::executable::{Executable, OpResult};
|
||||
|
||||
use super::{DeadlineMissedHandler, TaskWithSchedulingTable};
|
||||
|
||||
#[derive(Debug)]
|
||||
pub struct CallInfo {
|
||||
time: std::time::Instant,
|
||||
op_code: i32,
|
||||
}
|
||||
|
||||
pub struct Task1 {
|
||||
called_queue: mpsc::Sender<CallInfo>,
|
||||
}
|
||||
|
||||
impl Executable for Task1 {
|
||||
type Error = Infallible;
|
||||
fn task_name(&self) -> &'static str {
|
||||
"Task1"
|
||||
}
|
||||
fn periodic_op(&mut self, op_code: i32) -> Result<OpResult, Self::Error> {
|
||||
self.called_queue
|
||||
.send(CallInfo {
|
||||
time: Instant::now(),
|
||||
op_code,
|
||||
})
|
||||
.unwrap();
|
||||
Ok(OpResult::Ok)
|
||||
}
|
||||
}
|
||||
|
||||
pub struct Task2 {
|
||||
called_queue: mpsc::Sender<CallInfo>,
|
||||
}
|
||||
|
||||
impl Executable for Task2 {
|
||||
type Error = Infallible;
|
||||
fn task_name(&self) -> &'static str {
|
||||
"Task2"
|
||||
}
|
||||
fn periodic_op(&mut self, op_code: i32) -> Result<OpResult, Self::Error> {
|
||||
self.called_queue
|
||||
.send(CallInfo {
|
||||
time: Instant::now(),
|
||||
op_code,
|
||||
})
|
||||
.unwrap();
|
||||
Ok(OpResult::Ok)
|
||||
}
|
||||
}
|
||||
|
||||
#[derive(Default)]
|
||||
pub struct DeadlineMissed {
|
||||
call_count: u32,
|
||||
}
|
||||
|
||||
impl DeadlineMissedHandler for DeadlineMissed {
|
||||
fn deadline_missed_callback(&mut self, task_name: &'static str, _op_code: i32) {
|
||||
println!("task name {task_name} missed the deadline");
|
||||
self.call_count += 1;
|
||||
}
|
||||
}
|
||||
|
||||
#[test]
|
||||
pub fn basic_test() {
|
||||
let (tx_t1, rx_t1) = mpsc::channel();
|
||||
let (tx_t2, rx_t2) = mpsc::channel();
|
||||
let t1 = Task1 {
|
||||
called_queue: tx_t1,
|
||||
};
|
||||
let t2 = Task2 {
|
||||
called_queue: tx_t2,
|
||||
};
|
||||
let mut deadline_missed_cb = DeadlineMissed::default();
|
||||
let mut exec_task = TaskWithSchedulingTable::new(Duration::from_millis(200));
|
||||
let t1_first_slot = Rc::new(RefCell::new(t1));
|
||||
let t1_second_slot = t1_first_slot.clone();
|
||||
let t2_first_slot = Rc::new(RefCell::new(t2));
|
||||
let t2_second_slot = t2_first_slot.clone();
|
||||
|
||||
exec_task.add_task(0, t1_first_slot, 0).unwrap();
|
||||
exec_task.add_task(50, t1_second_slot, -1).unwrap();
|
||||
exec_task.add_task(100, t2_first_slot, 1).unwrap();
|
||||
exec_task.add_task(150, t2_second_slot, 2).unwrap();
|
||||
let now = Instant::now();
|
||||
exec_task.init_start_of_slot();
|
||||
exec_task
|
||||
.run_one_task_cycle(&mut deadline_missed_cb)
|
||||
.unwrap();
|
||||
let mut call_info = rx_t1.try_recv().unwrap();
|
||||
assert_eq!(call_info.op_code, 0);
|
||||
let diff_call_to_start = call_info.time - now;
|
||||
assert!(diff_call_to_start.as_millis() < 30);
|
||||
call_info = rx_t1.try_recv().unwrap();
|
||||
assert_eq!(call_info.op_code, -1);
|
||||
let diff_call_to_start = call_info.time - now;
|
||||
assert!(diff_call_to_start.as_millis() < 80);
|
||||
assert!(diff_call_to_start.as_millis() >= 50);
|
||||
matches!(rx_t1.try_recv().unwrap_err(), TryRecvError::Empty);
|
||||
|
||||
call_info = rx_t2.try_recv().unwrap();
|
||||
assert_eq!(call_info.op_code, 1);
|
||||
let diff_call_to_start = call_info.time - now;
|
||||
assert!(diff_call_to_start.as_millis() < 120);
|
||||
assert!(diff_call_to_start.as_millis() >= 100);
|
||||
call_info = rx_t2.try_recv().unwrap();
|
||||
assert_eq!(call_info.op_code, 2);
|
||||
let diff_call_to_start = call_info.time - now;
|
||||
assert!(diff_call_to_start.as_millis() < 180);
|
||||
assert!(diff_call_to_start.as_millis() >= 150);
|
||||
matches!(rx_t2.try_recv().unwrap_err(), TryRecvError::Empty);
|
||||
assert_eq!(deadline_missed_cb.call_count, 0);
|
||||
}
|
||||
|
||||
#[test]
|
||||
pub fn basic_test_with_arc_mutex() {
|
||||
let (tx_t1, rx_t1) = mpsc::channel();
|
||||
let (tx_t2, rx_t2) = mpsc::channel();
|
||||
let t1 = Task1 {
|
||||
called_queue: tx_t1,
|
||||
};
|
||||
let t2 = Task2 {
|
||||
called_queue: tx_t2,
|
||||
};
|
||||
let mut deadline_missed_cb = DeadlineMissed::default();
|
||||
let mut exec_task = TaskWithSchedulingTable::new(Duration::from_millis(200));
|
||||
let t1_first_slot = Arc::new(Mutex::new(t1));
|
||||
let t1_second_slot = t1_first_slot.clone();
|
||||
let t2_first_slot = Arc::new(Mutex::new(t2));
|
||||
let t2_second_slot = t2_first_slot.clone();
|
||||
|
||||
exec_task.add_task_sendable(0, t1_first_slot, 0).unwrap();
|
||||
exec_task.add_task_sendable(50, t1_second_slot, -1).unwrap();
|
||||
exec_task.add_task_sendable(100, t2_first_slot, 1).unwrap();
|
||||
exec_task.add_task_sendable(150, t2_second_slot, 2).unwrap();
|
||||
let now = Instant::now();
|
||||
exec_task.init_start_of_slot();
|
||||
exec_task
|
||||
.run_one_task_cycle(&mut deadline_missed_cb)
|
||||
.unwrap();
|
||||
let mut call_info = rx_t1.try_recv().unwrap();
|
||||
assert_eq!(call_info.op_code, 0);
|
||||
let diff_call_to_start = call_info.time - now;
|
||||
assert!(diff_call_to_start.as_millis() < 30);
|
||||
call_info = rx_t1.try_recv().unwrap();
|
||||
assert_eq!(call_info.op_code, -1);
|
||||
let diff_call_to_start = call_info.time - now;
|
||||
assert!(diff_call_to_start.as_millis() < 80);
|
||||
assert!(diff_call_to_start.as_millis() >= 50);
|
||||
matches!(rx_t1.try_recv().unwrap_err(), TryRecvError::Empty);
|
||||
|
||||
call_info = rx_t2.try_recv().unwrap();
|
||||
assert_eq!(call_info.op_code, 1);
|
||||
let diff_call_to_start = call_info.time - now;
|
||||
assert!(diff_call_to_start.as_millis() < 120);
|
||||
assert!(diff_call_to_start.as_millis() >= 100);
|
||||
call_info = rx_t2.try_recv().unwrap();
|
||||
assert_eq!(call_info.op_code, 2);
|
||||
let diff_call_to_start = call_info.time - now;
|
||||
assert!(diff_call_to_start.as_millis() < 180);
|
||||
assert!(diff_call_to_start.as_millis() >= 150);
|
||||
matches!(rx_t2.try_recv().unwrap_err(), TryRecvError::Empty);
|
||||
assert_eq!(deadline_missed_cb.call_count, 0);
|
||||
}
|
||||
|
||||
#[test]
|
||||
pub fn basic_test_in_thread() {
|
||||
let mut deadline_missed_cb = DeadlineMissed::default();
|
||||
std::thread::spawn(move || {
|
||||
let (tx_t1, _rx_t1) = mpsc::channel();
|
||||
let t1 = Task1 {
|
||||
called_queue: tx_t1,
|
||||
};
|
||||
// Need to construct this in the thread, the task table in not [Send]
|
||||
let mut exec_task = TaskWithSchedulingTable::new(Duration::from_millis(200));
|
||||
let t1_wrapper = Rc::new(RefCell::new(t1));
|
||||
exec_task.add_task(0, t1_wrapper, 0).unwrap();
|
||||
exec_task
|
||||
.run_one_task_cycle(&mut deadline_missed_cb)
|
||||
.unwrap();
|
||||
});
|
||||
|
||||
let mut deadline_missed_cb = DeadlineMissed::default();
|
||||
let (tx_t1, _rx_t1) = mpsc::channel();
|
||||
let t1 = Task1 {
|
||||
called_queue: tx_t1,
|
||||
};
|
||||
let mut exec_task_sendable = TaskWithSchedulingTable::new(Duration::from_millis(200));
|
||||
exec_task_sendable
|
||||
.add_task_sendable(0, Arc::new(Mutex::new(t1)), 1)
|
||||
.unwrap();
|
||||
std::thread::spawn(move || {
|
||||
exec_task_sendable
|
||||
.run_one_task_cycle(&mut deadline_missed_cb)
|
||||
.unwrap();
|
||||
});
|
||||
}
|
||||
}
|
||||
@@ -17,37 +17,37 @@ impl PusTmWithCdsShortHelper {
|
||||
}
|
||||
|
||||
#[cfg(feature = "std")]
|
||||
pub fn create_pus_tm_timestamp_now<'a>(
|
||||
&'a mut self,
|
||||
pub fn create_pus_tm_timestamp_now<'data>(
|
||||
&mut self,
|
||||
service: u8,
|
||||
subservice: u8,
|
||||
source_data: &'a [u8],
|
||||
source_data: &'data [u8],
|
||||
seq_count: u16,
|
||||
) -> PusTmCreator {
|
||||
) -> PusTmCreator<'_, 'data> {
|
||||
let time_stamp = CdsTime::now_with_u16_days().unwrap();
|
||||
time_stamp.write_to_bytes(&mut self.cds_short_buf).unwrap();
|
||||
self.create_pus_tm_common(service, subservice, source_data, seq_count)
|
||||
}
|
||||
|
||||
pub fn create_pus_tm_with_stamper<'a>(
|
||||
&'a mut self,
|
||||
pub fn create_pus_tm_with_stamper<'data>(
|
||||
&mut self,
|
||||
service: u8,
|
||||
subservice: u8,
|
||||
source_data: &'a [u8],
|
||||
source_data: &'data [u8],
|
||||
stamper: &CdsTime,
|
||||
seq_count: u16,
|
||||
) -> PusTmCreator {
|
||||
) -> PusTmCreator<'_, 'data> {
|
||||
stamper.write_to_bytes(&mut self.cds_short_buf).unwrap();
|
||||
self.create_pus_tm_common(service, subservice, source_data, seq_count)
|
||||
}
|
||||
|
||||
fn create_pus_tm_common<'a>(
|
||||
&'a self,
|
||||
fn create_pus_tm_common<'data>(
|
||||
&self,
|
||||
service: u8,
|
||||
subservice: u8,
|
||||
source_data: &'a [u8],
|
||||
source_data: &'data [u8],
|
||||
seq_count: u16,
|
||||
) -> PusTmCreator {
|
||||
) -> PusTmCreator<'_, 'data> {
|
||||
let reply_header = SpHeader::new_for_unseg_tm(self.apid, seq_count, 0);
|
||||
let tc_header = PusTmSecondaryHeader::new_simple(service, subservice, &self.cds_short_buf);
|
||||
PusTmCreator::new(reply_header, tc_header, source_data, true)
|
||||
|
||||
Reference in New Issue
Block a user