Merge pull request 'ran cargo update' (#270) from dep-update into main

Reviewed-on: #270

.github/workflows/ci.yml

@@ -11,7 +11,12 @@ jobs:
     steps:
       - uses: actions/checkout@v4
       - uses: dtolnay/rust-toolchain@stable
-      - run: cargo check --release
+      - 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
@@ -21,6 +26,7 @@ jobs:
       - 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
 
@@ -37,7 +43,7 @@ jobs:
       - uses: dtolnay/rust-toolchain@stable
         with:
           targets: "armv7-unknown-linux-gnueabihf, thumbv7em-none-eabihf"
-      - run: cargo check -p satrs --release --target=${{matrix.target}} --no-default-features
+      - run: cargo check -p satrs --target=${{matrix.target}} --no-default-features
 
   fmt:
     name: Check formatting
@@ -45,6 +51,8 @@ jobs:
     steps:
       - uses: actions/checkout@v4
       - uses: dtolnay/rust-toolchain@stable
+        with:
+          components: rustfmt
       - run: cargo fmt --all -- --check
 
   docs:
@@ -53,7 +61,7 @@ jobs:
     steps:
       - uses: actions/checkout@v4
       - uses: dtolnay/rust-toolchain@nightly
-      - run: cargo +nightly doc --all-features --config 'build.rustdocflags=["--cfg", "docs_rs"]'
+      - run: RUSTDOCFLAGS="--cfg docsrs" cargo +nightly doc -p satrs --all-features --no-deps
 
   clippy:
     name: Clippy
@@ -61,4 +69,7 @@ jobs:
     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

Cargo.toml

@@ -4,11 +4,15 @@ members = [
     "satrs",
     "satrs-mib",
     "satrs-example",
-    "satrs-minisim",
+    "satrs-example/models",
+    "satrs-example/client",
+    "satrs-example/minisim",
     "satrs-shared",
+    "embedded-examples/embedded-client",
+    "embedded-examples/models",
 ]
 
 exclude = [
     "embedded-examples/stm32f3-disco-rtic",
-    "embedded-examples/stm32h7-rtic",
+    "embedded-examples/stm32h7-nucleo-rtic",
 ]

README.md

@@ -1,9 +1,10 @@
 <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
 =========
@@ -11,7 +12,7 @@ sat-rs
 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
@@ -38,7 +39,7 @@ This project currently contains following crates:
    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 [asynchronix](https://github.com/asynchronics/asynchronix) which
+   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.
@@ -61,6 +62,8 @@ Each project has its own `CHANGELOG.md`.
    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
 

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 +1,20 @@
+[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" }
+embedded-models = { path = "../models" }
+tmtc-utils = { git = "https://egit.irs.uni-stuttgart.de/rust/tmtc-utils.git", version = "0.1", rev = "d8015379a45e77400dd9c71afbf22ca415ed67d1" }
+postcard = { version = "1", features = ["alloc"] }
+anyhow = "1"
+cobs = "0.5"
+fern = "0.7"
+humantime = "2"
+log = "0.4"

embedded-examples/embedded-client/config.toml

@@ -0,0 +1,3 @@
+[interface]
+serial_port = "/dev/ttyUSB0"
+# udp_addr = "192.168.XXX.XX:7301"

embedded-examples/embedded-client/src/bin/stm32f3-client.rs

@@ -0,0 +1,71 @@
+use std::time::Duration;
+
+use anyhow::bail;
+use clap::Parser;
+use cobs::CobsDecoderOwned;
+use embedded_client::setup_logger;
+use embedded_models::stm32f3;
+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>,
+}
+
+fn main() -> anyhow::Result<()> {
+    setup_logger().expect("failed to initialize logger");
+    println!("-- STM32F3 TMTC client --");
+    let cli = Cli::parse();
+    let config = embedded_client::Config::new_from_file();
+
+    if config.interface.serial_port.is_none() {
+        bail!("Serial port not specified in configuration file.");
+    }
+    let serial_port = config.interface.serial_port.as_ref().unwrap();
+    let serial = serialport::new(serial_port, 115200)
+        .open()
+        .expect("opening serial port failed");
+    let mut transport = PacketTransportSerialCobs::new(serial, CobsDecoderOwned::new(1024));
+
+    if cli.ping {
+        let tc = create_stm32f3_tc(&embedded_models::stm32f3::Request::Ping);
+        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 = stm32f3::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: &stm32f3::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/embedded-client/src/bin/stm32h7-client.rs

@@ -0,0 +1,95 @@
+use std::{net::UdpSocket, time::Duration};
+
+use anyhow::{Context as _, bail};
+use clap::Parser;
+use embedded_client::setup_logger;
+use embedded_models::{TmHeader, stm32h7};
+use spacepackets::{CcsdsPacketCreatorOwned, CcsdsPacketReader, SpHeader};
+use tmtc_utils::transport::udp::PacketTransportUdp;
+
+#[derive(Parser, Debug)]
+struct Cli {
+    #[arg(short, long)]
+    ping: bool,
+
+    /// Set frequency in milliseconds.
+    #[arg(short, long)]
+    set_led_frequency: Option<u32>,
+
+    /// UDP address to bind to.
+    #[arg(short, long)]
+    udp_addr: Option<std::net::SocketAddr>,
+}
+
+fn main() -> anyhow::Result<()> {
+    setup_logger().expect("failed to initialize logger");
+    println!("-- STM32H7 TMTC client --");
+    let cli = Cli::parse();
+    let config = embedded_client::Config::new_from_file();
+    let mut udp_addr = cli.udp_addr;
+    if udp_addr.is_none() {
+        udp_addr = config.interface.udp_addr;
+    }
+    if udp_addr.is_none() {
+        bail!("UDP address not specified in config.toml or via command line");
+    }
+    let udp_addr = udp_addr.unwrap();
+    log::info!("binding to UDP address: {}", udp_addr);
+    let local_socket = UdpSocket::bind("0.0.0.0:0").expect("failed to bind UDP socket");
+    let mut transport = PacketTransportUdp::new(local_socket, udp_addr)
+        .with_context(|| "crateing UDP transport failed")?;
+
+    if cli.ping {
+        let tc = create_stm32h7_tc(&embedded_models::stm32h7::Request::Ping);
+        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 = stm32h7::Request::ChangeBlinkFrequency(Duration::from_millis(freq_ms as u64));
+        let tc = create_stm32h7_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::debug!("Received packet: {:?}", reader);
+                if let Ok(reader) = reader {
+                    let packet_data = reader.packet_data();
+                    let tm_header = postcard::take_from_bytes::<TmHeader>(packet_data);
+                    if let Ok((tm_header, remainder)) = tm_header {
+                        let response = postcard::from_bytes::<stm32h7::Response>(remainder);
+                        if let Ok(response) = response {
+                            log::info!(
+                                "Received TM with header: {:?} and response: {:?}",
+                                tm_header,
+                                response
+                            );
+                        } else {
+                            log::error!("Failed to deserialize response: {:?}", response.err());
+                        }
+                    } else {
+                        log::error!("Failed to deserialize TM header: {:?}", tm_header.err());
+                    }
+                }
+            })
+            .unwrap();
+    }
+}
+
+fn create_stm32h7_tc(request: &stm32h7::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/embedded-client/src/lib.rs

@@ -0,0 +1,43 @@
+use std::{fs::File, io::Read as _, net::SocketAddr, path::Path, time::SystemTime};
+
+#[derive(Debug, serde::Deserialize)]
+pub struct Config {
+    pub interface: Interface,
+}
+
+#[derive(Debug, serde::Deserialize)]
+pub struct Interface {
+    pub serial_port: Option<String>,
+    pub udp_addr: Option<SocketAddr>,
+}
+
+impl Config {
+    pub fn new_from_file() -> Self {
+        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");
+        config
+    }
+}
+
+pub 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::Info)
+        .chain(std::io::stdout())
+        .chain(fern::log_file("output.log")?)
+        .apply()?;
+    Ok(())
+}

embedded-examples/models/Cargo.toml

@@ -0,0 +1,11 @@
+[package]
+name = "embedded-models"
+version = "0.1.0"
+edition = "2024"
+
+[dependencies]
+serde = { version = "1", default-features = false }
+defmt = { version = "1", optional = true }
+spacepackets = { version = "0.17", default-features = false, features = ["defmt", "serde"] }
+postcard = { version = "1", features = ["defmt"] }
+arbitrary-int = "2"

embedded-examples/models/src/lib.rs

@@ -0,0 +1,84 @@
+#![no_std]
+
+use spacepackets::{
+    CcsdsPacketCreationError, CcsdsPacketCreatorWithReservedData, CcsdsPacketIdAndPsc,
+    SpacePacketHeader, ccsds_packet_len_for_user_data_len_with_checksum,
+};
+
+pub mod stm32f3 {
+    use arbitrary_int::u11;
+    use core::time::Duration;
+
+    pub const PUS_APID: u11 = u11::new(0x02);
+
+    #[derive(Copy, Clone, Debug, serde::Serialize, serde::Deserialize)]
+    #[cfg_attr(feature = "defmt", derive(defmt::Format))]
+    pub enum Request {
+        Ping,
+        ChangeBlinkFrequency(Duration),
+    }
+
+    #[derive(Debug, serde::Serialize, serde::Deserialize)]
+    #[cfg_attr(feature = "defmt", derive(defmt::Format))]
+    pub enum Response {
+        Ok,
+    }
+}
+
+/// This might look like a duplication, but we intentionally keep those separate so they can
+/// change independently.
+pub mod stm32h7 {
+    use arbitrary_int::u11;
+    use core::time::Duration;
+
+    pub const PUS_APID: u11 = u11::new(0x03);
+
+    #[derive(Copy, Clone, Debug, serde::Serialize, serde::Deserialize)]
+    #[cfg_attr(feature = "defmt", derive(defmt::Format))]
+    pub enum Request {
+        Ping,
+        ChangeBlinkFrequency(Duration),
+    }
+
+    #[derive(Debug, serde::Serialize, serde::Deserialize)]
+    #[cfg_attr(feature = "defmt", derive(defmt::Format))]
+    pub enum Response {
+        Ok,
+    }
+}
+
+#[derive(Debug, serde::Serialize, serde::Deserialize)]
+#[cfg_attr(feature = "defmt", derive(defmt::Format))]
+pub struct TmHeader {
+    pub tc_packet_id: Option<CcsdsPacketIdAndPsc>,
+    pub uptime_millis: u64,
+}
+
+pub fn tm_size<Response: serde::Serialize>(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<Response: serde::Serialize>(
+    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())
+}
+
+#[cfg(test)]
+mod tests {}

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

@@ -34,4 +34,4 @@ rustflags = [
 target = "thumbv7em-none-eabihf" # Cortex-M4F and Cortex-M7F (with FPU)
 
 [env]
-DEFMT_LOG = "info"
+DEFMT_LOG = "info"

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

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

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

@@ -7,52 +7,32 @@ default-run = "satrs-stm32f3-disco-rtic"
 # See more keys and their definitions at https://doc.rust-lang.org/cargo/reference/manifest.html
 
 [dependencies]
+embedded-models = { path = "../models", features = ["defmt"] }
 cortex-m = { version = "0.7", features = ["critical-section-single-core"] }
 cortex-m-rt = "0.7"
-defmt = "0.3"
-defmt-brtt = { version = "0.1", default-features = false, features = ["rtt"] }
-panic-probe = { version = "0.3", features = ["print-defmt"] }
-embedded-hal = "0.2.7"
+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 = "0.6", features = ["defmt", "stm32f303vc", "memory-x", "unstable-pac", "time-driver-any"] }
+embassy-time = { version = "0.5", features = ["defmt", "generic-queue-16", "defmt-timestamp-uptime-ms"]}
 enumset = "1"
-heapless = "0.8"
+heapless = "0.9"
+embassy-sync = "0.8"
+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"] }
 
-[dependencies.rtic]
-version = "2"
-features = ["thumbv7-backend"]
-
-[dependencies.rtic-monotonics]
-version = "1"
-features = ["cortex-m-systick"]
-
-[dependencies.cobs]
-git = "https://github.com/robamu/cobs.rs.git"
-branch = "all_features"
-default-features = false
-
-[dependencies.stm32f3xx-hal]
-git = "https://github.com/robamu/stm32f3xx-hal"
-version = "0.11.0-alpha.0"
-features = ["stm32f303xc", "rt", "enumset"]
-branch = "complete-dma-update"
-# 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 = "complete-dma-update-hal"
-# Can be used in workspace to develop and update BSP
-# path = "../stm32f3-discovery"
-
-[dependencies.satrs]
-# path = "satrs"
-version = "0.2"
-default-features = false
-features = ["defmt"]
+rtic = { version = "2", features = ["thumbv7-backend"] }
+rtic-sync = { version = "1" }
 
 [dev-dependencies]
-defmt-test = "0.3"
+defmt-test = "0.5"
 
 # cargo test
 [profile.test]

embedded-examples/stm32f3-disco-rtic/legacy/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

embedded-examples/stm32f3-disco-rtic/legacy/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]

embedded-examples/stm32f3-disco-rtic/legacy/openocd.gdb

@@ -1,42 +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
-# # 2000000 is the frequency of the SWO pin. This was added for newer
-# openocd versions like v0.12.0.
-# monitor tpiu config internal itm.txt uart off 8000000 2000000
-
-# # 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

embedded-examples/stm32f3-disco-rtic/memory.x

@@ -1,33 +0,0 @@
-/* Linker script for the STM32F303VCT6 */
-MEMORY
-{
-  /* NOTE 1 K = 1 KiBi = 1024 bytes */
-  FLASH : ORIGIN = 0x08000000, LENGTH = 256K
-  RAM : ORIGIN = 0x20000000, LENGTH = 40K
-}
-
-/* This is where the call stack will be allocated. */
-/* The stack is of the full descending type. */
-/* You may want to use this variable to locate the call stack and static
-   variables in different memory regions. Below is shown the default value */
-/* _stack_start = ORIGIN(RAM) + LENGTH(RAM); */
-
-/* You can use this symbol to customize the location of the .text section */
-/* If omitted the .text section will be placed right after the .vector_table
-   section */
-/* This is required only on microcontrollers that store some configuration right
-   after the vector table */
-/* _stext = ORIGIN(FLASH) + 0x400; */
-
-/* Example of putting non-initialized variables into custom RAM locations. */
-/* This assumes you have defined a region RAM2 above, and in the Rust
-   sources added the attribute `#[link_section = ".ram2bss"]` to the data
-   you want to place there. */
-/* Note that the section will not be zero-initialized by the runtime! */
-/* SECTIONS {
-     .ram2bss (NOLOAD) : ALIGN(4) {
-       *(.ram2bss);
-       . = ALIGN(4);
-     } > RAM2
-   } INSERT AFTER .bss;
-*/

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

@@ -1,8 +0,0 @@
-/venv
-/.tmtc-history.txt
-/log
-/.idea/*
-!/.idea/runConfigurations
-
-/seqcnt.txt
-/tmtc_conf.json

embedded-examples/stm32f3-disco-rtic/pyclient/def_tmtc_conf.json

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

embedded-examples/stm32f3-disco-rtic/pyclient/main.py

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

embedded-examples/stm32f3-disco-rtic/pyclient/requirements.txt

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

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

@@ -1,76 +1,56 @@
-#![no_std]
 #![no_main]
-use satrs_stm32f3_disco_rtic as _;
+#![no_std]
 
-use stm32f3_discovery::leds::Leds;
-use stm32f3_discovery::stm32f3xx_hal::delay::Delay;
-use stm32f3_discovery::stm32f3xx_hal::{pac, prelude::*};
-use stm32f3_discovery::switch_hal::{OutputSwitch, ToggleableOutputSwitch};
+use panic_probe as _;
+use rtic::app;
 
-#[cortex_m_rt::entry]
-fn main() -> ! {
-    defmt::println!("STM32F3 Discovery Blinky");
-    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);
+#[app(device = embassy_stm32)]
+mod app {
+    use embassy_time::Timer;
+    use satrs_stm32f3_disco_rtic::{Direction, LedPinSet, Leds};
 
-    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_n.toggle().ok();
-        delay.delay_ms(delay_ms);
-        leds.ld3_n.toggle().ok();
-        delay.delay_ms(delay_ms);
+    #[shared]
+    struct Shared {}
 
-        //explicit on/off
-        leds.ld4_nw.on().ok();
-        delay.delay_ms(delay_ms);
-        leds.ld4_nw.off().ok();
-        delay.delay_ms(delay_ms);
+    #[local]
+    struct Local {
+        leds: Leds,
+        current_dir: Direction,
+    }
 
-        leds.ld5_ne.on().ok();
-        delay.delay_ms(delay_ms);
-        leds.ld5_ne.off().ok();
-        delay.delay_ms(delay_ms);
+    #[init]
+    fn init(_cx: init::Context) -> (Shared, Local) {
+        let p = embassy_stm32::init(Default::default());
 
-        leds.ld6_w.on().ok();
-        delay.delay_ms(delay_ms);
-        leds.ld6_w.off().ok();
-        delay.delay_ms(delay_ms);
+        defmt::info!("Starting sat-rs demo application for the STM32F3-Discovery using RTICv2");
 
-        leds.ld7_e.on().ok();
-        delay.delay_ms(delay_ms);
-        leds.ld7_e.off().ok();
-        delay.delay_ms(delay_ms);
+        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);
 
-        leds.ld8_sw.on().ok();
-        delay.delay_ms(delay_ms);
-        leds.ld8_sw.off().ok();
-        delay.delay_ms(delay_ms);
+        blinky::spawn().expect("failed to spawn blinky task");
+        (
+            Shared {},
+            Local {
+                leds,
+                current_dir: Direction::North,
+            },
+        )
+    }
 
-        leds.ld9_se.on().ok();
-        delay.delay_ms(delay_ms);
-        leds.ld9_se.off().ok();
-        delay.delay_ms(delay_ms);
-
-        leds.ld10_s.on().ok();
-        delay.delay_ms(delay_ms);
-        leds.ld10_s.off().ok();
-        delay.delay_ms(delay_ms);
+    #[task(local = [leds, current_dir])]
+    async fn blinky(cx: blinky::Context) {
+        loop {
+            cx.local.leds.blink_next(cx.local.current_dir);
+            Timer::after_millis(200).await;
+        }
     }
 }

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

@@ -1,51 +1,145 @@
 #![no_main]
 #![no_std]
 
-use cortex_m_semihosting::debug;
-
-use defmt_brtt as _; // global logger
-
-use stm32f3xx_hal as _; // memory layout
-
+use defmt_rtt as _;
 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()
+use arbitrary_int::u11;
+use embassy_stm32::gpio::Output;
+
+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,
 }
 
-/// Terminates the application and makes a semihosting-capable debug tool exit
-/// with status code 0.
-pub fn exit() -> ! {
-    loop {
-        debug::exit(debug::EXIT_SUCCESS);
+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)
     }
 }
 
-/// 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);
+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);
     }
 }
 
-// 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;
+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>,
+}
 
-    #[test]
-    fn it_works() {
-        assert!(true)
+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

@@ -1,684 +1,336 @@
 #![no_std]
 #![no_main]
-use satrs::pus::verification::{
-    FailParams, TcStateAccepted, VerificationReportCreator, VerificationToken,
-};
-use satrs::spacepackets::ecss::tc::PusTcReader;
-use satrs::spacepackets::ecss::tm::{PusTmCreator, PusTmSecondaryHeader};
-use satrs::spacepackets::ecss::EcssEnumU16;
-use satrs::spacepackets::CcsdsPacket;
-use satrs::spacepackets::{ByteConversionError, SpHeader};
-// global logger + panicking-behavior + memory layout
-use satrs_stm32f3_disco_rtic as _;
+use arbitrary_int::u14;
+use cortex_m_semihosting::debug::{self, EXIT_FAILURE, EXIT_SUCCESS};
+use embassy_sync::blocking_mutex::raw::CriticalSectionRawMutex;
+use embedded_models::{create_tm_packet, stm32f3, tm_size, TmHeader};
+use spacepackets::{CcsdsPacketCreationError, CcsdsPacketIdAndPsc, SpHeader};
+
+use defmt_rtt as _; // global logger
+use panic_probe as _;
 
 use rtic::app;
 
-use heapless::{mpmc::Q8, Vec};
-#[allow(unused_imports)]
-use rtic_monotonics::systick::fugit::{MillisDurationU32, TimerInstantU32};
-use rtic_monotonics::systick::ExtU32;
-use satrs::seq_count::SequenceCountProviderCore;
-use satrs::spacepackets::{ecss::PusPacket, ecss::WritablePusPacket};
-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};
-
 const UART_BAUD: u32 = 115200;
 const DEFAULT_BLINK_FREQ_MS: u32 = 1000;
-const TX_HANDLER_FREQ_MS: u32 = 20;
-const MIN_DELAY_BETWEEN_TX_PACKETS_MS: u32 = 5;
 const MAX_TC_LEN: usize = 128;
 const MAX_TM_LEN: usize = 128;
-pub const PUS_APID: u16 = 0x02;
-
-type TxType = Tx<USART2, PA2<AF7<PushPull>>>;
-type RxType = Rx<USART2, PA3<AF7<PushPull>>>;
-type InstantFugit = TimerInstantU32<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 COBS_TM_OVERHEAD: usize = cobs::max_encoding_overhead(MAX_TM_LEN);
 
-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];
+const TC_DMA_BUF_LEN: usize = 512;
 
-type TmPacket = Vec<u8, MAX_TM_LEN>;
-type TcPacket = Vec<u8, MAX_TC_LEN>;
+type TmPacket = heapless::Vec<u8, MAX_TM_LEN>;
 
-static TM_REQUESTS: Q8<TmPacket> = Q8::new();
+static TM_QUEUE: embassy_sync::channel::Channel<CriticalSectionRawMutex, TmPacket, 16> =
+    embassy_sync::channel::Channel::new();
 
-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);
-
-pub struct TxIdle {
-    tx: TxType,
-    dma_channel: dma1::C7,
-}
-
-#[derive(Debug, defmt::Format)]
+#[derive(Debug, defmt::Format, thiserror::Error)]
 pub enum TmSendError {
-    ByteConversion(ByteConversionError),
+    #[error("packet creation error: {0}")]
+    PacketCreation(#[from] CcsdsPacketCreationError),
+    #[error("queue error")]
     Queue,
 }
 
-impl From<ByteConversionError> for TmSendError {
-    fn from(value: ByteConversionError) -> Self {
-        Self::ByteConversion(value)
-    }
-}
-
-fn send_tm(tm_creator: PusTmCreator) -> Result<(), TmSendError> {
-    if tm_creator.len_written() > MAX_TM_LEN {
-        return Err(ByteConversionError::ToSliceTooSmall {
-            expected: tm_creator.len_written(),
-            found: MAX_TM_LEN,
-        }
-        .into());
-    }
-    let mut tm_vec = TmPacket::new();
-    tm_vec
-        .resize(tm_creator.len_written(), 0)
-        .expect("vec resize failed");
-    tm_creator.write_to_bytes(tm_vec.as_mut_slice())?;
-    defmt::info!(
-        "Sending TM[{},{}] with size {}",
-        tm_creator.service(),
-        tm_creator.subservice(),
-        tm_creator.len_written()
-    );
-    TM_REQUESTS
-        .enqueue(tm_vec)
-        .map_err(|_| TmSendError::Queue)?;
-    Ok(())
-}
-
-fn handle_tm_send_error(error: TmSendError) {
-    defmt::warn!("sending tm failed with error {}", error);
-}
-
-pub enum UartTxState {
-    // Wrapped in an option because we need an owned type later.
-    Idle(Option<TxIdle>),
-    // Same as above
-    Transmitting(Option<TxDmaTransferType>),
-}
-
-pub struct UartTxShared {
-    last_completed: Option<InstantFugit>,
-    state: UartTxState,
-}
-
-pub struct RequestWithToken {
-    token: VerificationToken<TcStateAccepted>,
-    request: Request,
-}
-
 #[derive(Debug, defmt::Format)]
-pub enum Request {
-    Ping,
-    ChangeBlinkFrequency(u32),
+pub struct RequestWithTcId {
+    pub request: stm32f3::Request,
+    pub tc_id: CcsdsPacketIdAndPsc,
 }
 
-#[derive(Debug, defmt::Format)]
-pub enum RequestError {
-    InvalidApid = 1,
-    InvalidService = 2,
-    InvalidSubservice = 3,
-    NotEnoughAppData = 4,
-}
-
-pub fn convert_pus_tc_to_request(
-    tc: &PusTcReader,
-    verif_reporter: &mut VerificationReportCreator,
-    src_data_buf: &mut [u8],
-    timestamp: &[u8],
-) -> Result<RequestWithToken, RequestError> {
-    defmt::info!(
-        "Found PUS TC [{},{}] with length {}",
-        tc.service(),
-        tc.subservice(),
-        tc.len_packed()
-    );
-
-    let token = verif_reporter.add_tc(tc);
-    if tc.apid() != PUS_APID {
-        defmt::warn!("Received tc with unknown APID {}", tc.apid());
-        let result = send_tm(
-            verif_reporter
-                .acceptance_failure(
-                    src_data_buf,
-                    token,
-                    SEQ_COUNT_PROVIDER.get_and_increment(),
-                    0,
-                    FailParams::new(timestamp, &EcssEnumU16::new(0), &[]),
-                )
-                .unwrap(),
-        );
-        if let Err(e) = result {
-            handle_tm_send_error(e);
-        }
-        return Err(RequestError::InvalidApid);
-    }
-    let (tm_creator, accepted_token) = verif_reporter
-        .acceptance_success(
-            src_data_buf,
-            token,
-            SEQ_COUNT_PROVIDER.get_and_increment(),
-            0,
-            timestamp,
-        )
-        .unwrap();
-
-    if let Err(e) = send_tm(tm_creator) {
-        handle_tm_send_error(e);
-    }
-
-    if tc.service() == 17 && tc.subservice() == 1 {
-        if tc.subservice() == 1 {
-            return Ok(RequestWithToken {
-                request: Request::Ping,
-                token: accepted_token,
-            });
-        } else {
-            return Err(RequestError::InvalidSubservice);
-        }
-    } else if tc.service() == 8 {
-        if tc.subservice() == 1 {
-            if tc.user_data().len() < 4 {
-                return Err(RequestError::NotEnoughAppData);
-            }
-            let new_freq_ms = u32::from_be_bytes(tc.user_data()[0..4].try_into().unwrap());
-            return Ok(RequestWithToken {
-                request: Request::ChangeBlinkFrequency(new_freq_ms),
-                token: accepted_token,
-            });
-        } else {
-            return Err(RequestError::InvalidSubservice);
-        }
-    } else {
-        return Err(RequestError::InvalidService);
-    }
-}
-
-#[app(device = stm32f3xx_hal::pac, peripherals = true)]
+#[app(device = embassy_stm32)]
 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)]
-    use stm32f3_discovery::leds::Direction;
-    use stm32f3_discovery::leds::Leds;
-    use stm32f3xx_hal::prelude::*;
+    use core::time::Duration;
 
-    use stm32f3_discovery::switch_hal::OutputSwitch;
-    use stm32f3xx_hal::Switch;
-    #[allow(dead_code)]
-    type SerialType = Serial<USART2, (PA2<AF7<PushPull>>, PA3<AF7<PushPull>>)>;
+    use super::*;
+    use arbitrary_int::u14;
+    use embassy_time::Timer;
+    use embedded_models::stm32f3::{Request, Response};
+    use rtic::Mutex;
+    use rtic_sync::{
+        channel::{Receiver, Sender},
+        make_channel,
+    };
+    use satrs_stm32f3_disco_rtic::LedPinSet;
+    use spacepackets::CcsdsPacketReader;
+
+    embassy_stm32::bind_interrupts!(struct Irqs {
+        USART2 => embassy_stm32::usart::InterruptHandler<embassy_stm32::peripherals::USART2>;
+        DMA1_CHANNEL6 => embassy_stm32::dma::InterruptHandler<embassy_stm32::peripherals::DMA1_CH6>;
+        DMA1_CHANNEL7 => embassy_stm32::dma::InterruptHandler<embassy_stm32::peripherals::DMA1_CH7>;
+    });
 
     #[shared]
     struct Shared {
-        blink_freq: MillisDurationU32,
-        tx_shared: UartTxShared,
-        rx_transfer: Option<RxDmaTransferType>,
+        blink_freq: Duration,
     }
 
     #[local]
     struct Local {
-        verif_reporter: VerificationReportCreator,
-        leds: Leds,
-        last_dir: Direction,
-        curr_dir: Iter<'static, Direction>,
+        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) {
-        let mut rcc = cx.device.RCC.constrain();
+    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]);
 
-        // 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);
+        let p = embassy_stm32::init(Default::default());
 
-        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);
+        let (req_sender, req_receiver) = make_channel!(RequestWithTcId, 16);
 
-        // Set up monotonic timer.
-        //let mono_timer = MonoTimer::new(cx.core.DWT, clocks, &mut cx.core.DCB);
+        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);
 
-        defmt::info!("Starting sat-rs demo application for the STM32F3-Discovery");
-        let mut gpioe = cx.device.GPIOE.split(&mut rcc.ahb);
+        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, p.DMA1_CH7, p.DMA1_CH6, Irqs, config,
+        )
+        .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, Switch::On);
-        // This interrupt is enabled to re-schedule new transfers in the interrupt handler immediately.
-        usart2.configure_tx_interrupt(TxEvent::TransmissionComplete, Switch::On);
-
-        let dma1 = cx.device.DMA1.split(&mut rcc.ahb);
-        let (mut 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);
-        // For some reason, this is also immediately triggered..
-        tx_serial.clear_event(TxEvent::TransmissionComplete);
-        let rx_transfer = rx_serial.read_exact(unsafe { DMA_RX_BUF.as_mut_slice() }, dma1.ch6);
+        let (tx, rx) = uart.split();
         defmt::info!("Spawning tasks");
-        blink::spawn().unwrap();
+        blinky::spawn().unwrap();
         serial_tx_handler::spawn().unwrap();
-
-        let verif_reporter = VerificationReportCreator::new(PUS_APID).unwrap();
+        serial_rx_handler::spawn(req_sender).unwrap();
+        req_handler::spawn(req_receiver).unwrap();
 
         (
             Shared {
-                blink_freq: MillisDurationU32::from_ticks(DEFAULT_BLINK_FREQ_MS),
-                tx_shared: UartTxShared {
-                    last_completed: None,
-                    state: UartTxState::Idle(Some(TxIdle {
-                        tx: tx_serial,
-                        dma_channel: dma1.ch7,
-                    })),
-                },
-                rx_transfer: Some(rx_transfer),
+                blink_freq: Duration::from_millis(DEFAULT_BLINK_FREQ_MS as u64),
             },
             Local {
-                verif_reporter,
                 leds,
-                last_dir: Direction::North,
-                curr_dir: Direction::iter(),
+                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, curr_dir, last_dir], shared=[blink_freq])]
-    async fn blink(mut cx: blink::Context) {
-        let blink::LocalResources {
-            leds,
-            curr_dir,
-            last_dir,
-            ..
-        } = cx.local;
-        let mut toggle_leds = |dir: &Direction| {
-            let last_led = leds.for_direction(*last_dir);
-            last_led.off().ok();
-            let led = leds.for_direction(*dir);
-            led.on().ok();
-            *last_dir = *dir;
-        };
+    #[task(local = [leds, current_dir], shared=[blink_freq])]
+    async fn blinky(mut cx: blinky::Context) {
         loop {
-            match curr_dir.next() {
-                Some(dir) => {
-                    toggle_leds(dir);
-                }
-                None => {
-                    *curr_dir = Direction::iter();
-                    toggle_leds(curr_dir.next().unwrap());
-                }
-            }
+            cx.local.leds.blink_next(cx.local.current_dir);
             let current_blink_freq = cx.shared.blink_freq.lock(|current| *current);
-            Systick::delay(current_blink_freq).await;
-        }
-    }
-
-    #[task(
-        shared = [tx_shared],
-    )]
-    async fn serial_tx_handler(mut cx: serial_tx_handler::Context) {
-        loop {
-            let is_idle = cx.shared.tx_shared.lock(|tx_shared| {
-                if let UartTxState::Idle(_) = tx_shared.state {
-                    return true;
-                }
-                false
-            });
-            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();
-                    if elapsed_ms < MIN_DELAY_BETWEEN_TX_PACKETS_MS {
-                        Systick::delay((MIN_DELAY_BETWEEN_TX_PACKETS_MS - elapsed_ms).millis())
-                            .await;
-                    }
-                }
-            } else {
-                // Check for completion after 1 ms
-                Systick::delay(1.millis()).await;
-                continue;
-            }
-            if let Some(vec) = TM_REQUESTS.dequeue() {
-                cx.shared
-                    .tx_shared
-                    .lock(|tx_shared| match &mut tx_shared.state {
-                        UartTxState::Idle(tx) => {
-                            let encoded_len;
-                            //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.
-                            unsafe {
-                                // 0 sentinel value as start marker
-                                DMA_TX_BUF[0] = 0;
-                                encoded_len =
-                                    cobs::encode(&vec[0..vec.len()], &mut DMA_TX_BUF[1..]);
-                                // Should never panic, we accounted for the overhead.
-                                // Write into transfer buffer directly, no need for intermediate
-                                // encoding buffer.
-                                // 0 end marker
-                                DMA_TX_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.
-                            // SAFETY: The DMA is the exclusive writer to the DMA buffer now.
-                            let transfer = tx_idle.tx.write_all(
-                                unsafe { &DMA_TX_BUF[0..encoded_len + 2] },
-                                tx_idle.dma_channel,
-                            );
-                            tx_shared.state = UartTxState::Transmitting(Some(transfer));
-                            // The memory block is automatically returned to the pool when it is dropped.
-                        }
-                        UartTxState::Transmitting(_) => (),
-                    });
-                // Check for completion after 1 ms
-                Systick::delay(1.millis()).await;
-                continue;
-            }
-            // Nothing to do, and we are idle.
-            Systick::delay(TX_HANDLER_FREQ_MS.millis()).await;
+            Timer::after_millis(current_blink_freq.as_millis() as u64).await;
         }
     }
 
     #[task(
         local = [
-            verif_reporter,
+            tx,
+            encoded_buf: [u8; TM_BUF_LEN] = [0; TM_BUF_LEN]
+        ],
+        shared = [],
+    )]
+    async fn serial_tx_handler(cx: serial_tx_handler::Context) {
+        loop {
+            loop {
+                let vec = TM_QUEUE.receive().await;
+                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();
+            }
+        }
+    }
+
+    #[task(
+        local = [
+            rx,
+            read_buf: [u8; 128] = [0; 128],
             decode_buf: [u8; MAX_TC_LEN] = [0; MAX_TC_LEN],
-            src_data_buf: [u8; MAX_TM_LEN] = [0; MAX_TM_LEN],
-            timestamp: [u8; 7] = [0; 7],
         ],
         shared = [blink_freq]
     )]
     async fn serial_rx_handler(
-        mut cx: serial_rx_handler::Context,
-        received_packet: Vec<u8, MAX_TC_LEN>,
+        cx: serial_rx_handler::Context,
+        mut sender: Sender<'static, RequestWithTcId, 16>,
     ) {
-        cx.local.timestamp[0] = P_FIELD_BASE;
-        defmt::info!("Received packet with {} bytes", received_packet.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() {
-            defmt::warn!("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) => {
-                defmt::info!("Decoded packet length: {}", len);
-                let pus_tc = PusTcReader::new(decode_buf);
-                match pus_tc {
-                    Ok((tc, _tc_len)) => {
-                        match convert_pus_tc_to_request(
-                            &tc,
-                            cx.local.verif_reporter,
-                            cx.local.src_data_buf,
-                            cx.local.timestamp,
-                        ) {
-                            Ok(request_with_token) => {
-                                let started_token = handle_start_verification(
-                                    request_with_token.token,
-                                    cx.local.verif_reporter,
-                                    cx.local.src_data_buf,
-                                    cx.local.timestamp,
-                                );
-
-                                match request_with_token.request {
-                                    Request::Ping => {
-                                        handle_ping_request(cx.local.timestamp);
+        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 tc_packet_id =
+                                            CcsdsPacketIdAndPsc::new_from_ccsds_packet(&packet);
+                                        if let Ok(request) =
+                                            postcard::from_bytes::<Request>(packet.packet_data())
+                                        {
+                                            sender
+                                                .send(RequestWithTcId {
+                                                    request,
+                                                    tc_id: tc_packet_id,
+                                                })
+                                                .await
+                                                .unwrap();
+                                        }
                                     }
-                                    Request::ChangeBlinkFrequency(new_freq_ms) => {
-                                        defmt::info!("Received blink frequency change request with new frequncy {}", new_freq_ms);
-                                        cx.shared.blink_freq.lock(|blink_freq| {
-                                            *blink_freq =
-                                                MillisDurationU32::from_ticks(new_freq_ms);
-                                        });
+                                    Err(e) => {
+                                        defmt::error!("error unpacking ccsds packet: {}", e);
                                     }
                                 }
-                                handle_completion_verification(
-                                    started_token,
-                                    cx.local.verif_reporter,
-                                    cx.local.src_data_buf,
-                                    cx.local.timestamp,
-                                );
                             }
                             Err(e) => {
-                                // TODO: Error handling: Send verification failure based on request error.
-                                defmt::warn!("request error {}", e);
+                                defmt::error!("cobs decoding error: {}", e);
                             }
                         }
                     }
-                    Err(e) => {
-                        defmt::warn!("Error unpacking PUS TC: {}", e);
-                    }
+                }
+                Err(e) => {
+                    defmt::error!("uart read error: {}", e);
                 }
             }
-            Err(_) => {
-                defmt::warn!("decoding error, can only process cobs encoded frames")
-            }
         }
     }
 
-    fn handle_ping_request(timestamp: &[u8]) {
-        defmt::info!("Received PUS ping telecommand, sending ping reply TM[17,2]");
-        let sp_header =
-            SpHeader::new_for_unseg_tc(PUS_APID, SEQ_COUNT_PROVIDER.get_and_increment(), 0);
-        let sec_header = PusTmSecondaryHeader::new_simple(17, 2, timestamp);
-        let ping_reply = PusTmCreator::new(sp_header, sec_header, &[], true);
-        let mut tm_packet = TmPacket::new();
-        tm_packet
-            .resize(ping_reply.len_written(), 0)
-            .expect("vec resize failed");
-        ping_reply.write_to_bytes(&mut tm_packet).unwrap();
-        if TM_REQUESTS.enqueue(tm_packet).is_err() {
-            defmt::warn!("TC queue full");
-            return;
-        }
-    }
-
-    fn handle_start_verification(
-        accepted_token: VerificationToken<TcStateAccepted>,
-        verif_reporter: &mut VerificationReportCreator,
-        src_data_buf: &mut [u8],
-        timestamp: &[u8],
-    ) -> VerificationToken<TcStateStarted> {
-        let (tm_creator, started_token) = verif_reporter
-            .start_success(
-                src_data_buf,
-                accepted_token,
-                SEQ_COUNT_PROVIDER.get(),
-                0,
-                &timestamp,
-            )
-            .unwrap();
-        let result = send_tm(tm_creator);
-        if let Err(e) = result {
-            handle_tm_send_error(e);
-        }
-        started_token
-    }
-
-    fn handle_completion_verification(
-        started_token: VerificationToken<TcStateStarted>,
-        verif_reporter: &mut VerificationReportCreator,
-        src_data_buf: &mut [u8],
-        timestamp: &[u8],
+    #[task(shared = [blink_freq], local = [seq_count])]
+    async fn req_handler(
+        mut cx: req_handler::Context,
+        mut receiver: Receiver<'static, RequestWithTcId, 16>,
     ) {
-        let result = send_tm(
-            verif_reporter
-                .completion_success(
-                    src_data_buf,
-                    started_token,
-                    SEQ_COUNT_PROVIDER.get(),
-                    0,
-                    timestamp,
-                )
-                .unwrap(),
-        );
-        if let Err(e) = result {
-            handle_tm_send_error(e);
+        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).await
+                        }
+                        Request::ChangeBlinkFrequency(duration) => {
+                            handle_change_blink_frequency_request(
+                                &mut cx,
+                                request_with_tc_id.tc_id,
+                                duration,
+                            )
+                            .await
+                        }
+                    };
+                    if let Err(e) = tm_send_result {
+                        defmt::error!("error sending TM response: {}", e);
+                    }
+                }
+                Err(_e) => defmt::error!("request receive error"),
+            }
         }
     }
 
-    #[task(binds = DMA1_CH6, shared = [rx_transfer])]
-    fn rx_dma_isr(mut cx: rx_dma_isr::Context) {
-        let mut tc_packet = TcPacket::new();
-        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 stack allocaed vector here
-                // to do this.
-                tc_packet.resize(buf.len(), 0).expect("vec resize failed");
-                tc_packet.copy_from_slice(buf);
-
-                // Start the next transfer as soon as possible.
-                *rx_transfer = Some(rx.read_exact(buf, c));
-
-                // Send the vector to a regular task.
-                serial_rx_handler::spawn(tc_packet).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.
-                defmt::warn!(
-                    "rx transfer with maximum length {}, might miss data",
-                    TC_BUF_LEN
-                );
-            }
-        });
+    async fn handle_ping_request(
+        cx: &mut req_handler::Context<'_>,
+        tc_packet_id: CcsdsPacketIdAndPsc,
+    ) -> Result<(), TmSendError> {
+        defmt::info!("Received PUS ping telecommand, sending ping reply");
+        send_tm(tc_packet_id, Response::Ok, *cx.local.seq_count).await?;
+        *cx.local.seq_count = cx.local.seq_count.wrapping_add(u14::new(1));
+        Ok(())
     }
 
-    #[task(binds = USART2_EXTI26, shared = [rx_transfer, tx_shared])]
-    fn serial_isr(mut cx: serial_isr::Context) {
+    async fn handle_change_blink_frequency_request(
+        cx: &mut req_handler::Context<'_>,
+        tc_packet_id: CcsdsPacketIdAndPsc,
+        duration: Duration,
+    ) -> Result<(), TmSendError> {
+        defmt::info!(
+            "Received ChangeBlinkFrequency request, new frequency: {} ms",
+            duration.as_millis()
+        );
         cx.shared
-            .tx_shared
-            .lock(|tx_shared| match &mut tx_shared.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, mut tx) = transfer.stop();
-                        tx.clear_event(TxEvent::TransmissionComplete);
-                        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());
-                    }
-                }
-            });
-        let mut tc_packet = TcPacket::new();
-        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 stack
-                // allocated vector to do this.
-                tc_packet
-                    .resize(rx_len as usize, 0)
-                    .expect("vec resize failed");
-                tc_packet[0..rx_len as usize].copy_from_slice(&buf[0..rx_len as usize]);
-                rx.clear_event(RxEvent::Idle);
-                serial_rx_handler::spawn(tc_packet).expect("spawning rx handler failed");
-                *rx_transfer = Some(rx.read_exact(buf, ch));
-            }
-        });
+            .blink_freq
+            .lock(|blink_freq| *blink_freq = duration);
+        send_tm(tc_packet_id, Response::Ok, *cx.local.seq_count).await?;
+        *cx.local.seq_count = cx.local.seq_count.wrapping_add(u14::new(1));
+        Ok(())
+    }
+}
+
+async fn send_tm(
+    tc_packet_id: CcsdsPacketIdAndPsc,
+    response: stm32f3::Response,
+    current_seq_count: u14,
+) -> Result<(), TmSendError> {
+    let sp_header = SpHeader::new_for_unseg_tc(stm32f3::PUS_APID, current_seq_count, 0);
+    let tm_header = TmHeader {
+        tc_packet_id: Some(tc_packet_id),
+        uptime_millis: embassy_time::Instant::now().as_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)?;
+    TM_QUEUE.send(tm_packet).await;
+    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/stm32h7-nucleo-rtic/.cargo/def_config.toml

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

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

@@ -14,37 +14,28 @@ name = "integration"
 harness = false
 
 [dependencies]
+embedded-models = { path = "../models", features = ["defmt"] }
+
 cortex-m = { version = "0.7", features = ["critical-section-single-core"] }
+arbitrary-int = "2"
 cortex-m-rt = "0.7"
-defmt = "0.3"
-defmt-brtt = { version = "0.1", default-features = false, features = ["rtt"] }
-panic-probe = { version = "0.3", features = ["print-defmt"] }
-cortex-m-semihosting = "0.5.0"
-stm32h7xx-hal = { version="0.16", features= ["stm32h743v", "ethernet"] }
-embedded-alloc = "0.5"
-rtic-sync = { version = "1", features = ["defmt-03"] }
+defmt = "1"
+defmt-rtt = "1"
+panic-probe = { version = "1", features = ["print-defmt"] }
+embedded-alloc = "0.7"
+static_cell = "2"
+rtic = { version = "2", features = ["thumbv7-backend"] }
+spacepackets = { version = "0.17", default-features = false, features = ["defmt"] }
+postcard = "1"
 
-[dependencies.smoltcp]
-version = "0.11.0"
-default-features = false
-features = ["medium-ethernet", "proto-ipv4", "socket-raw", "socket-dhcpv4", "socket-udp", "defmt"]
+embassy-stm32 =  { git = "https://github.com/embassy-rs/embassy.git", rev = "dd8e4c14e53f088bae27c5d841ab7a4fa338a52c", version = "0.6", features = ["stm32h743zi", "memory-x", "defmt", "time-driver-any"]}
 
-[dependencies.rtic]
-version = "2"
-features = ["thumbv7-backend"]
-
-[dependencies.rtic-monotonics]
-version = "1"
-features = ["cortex-m-systick"]
-
-[dependencies.satrs]
-path = "../../satrs"
-version = "0.2"
-default-features = false
-features = ["defmt", "heapless"]
+embassy-time = { git = "https://github.com/embassy-rs/embassy.git", rev = "dd8e4c14e53f088bae27c5d841ab7a4fa338a52c", version = "0.5", features = ["defmt-timestamp-uptime-ms", "generic-queue-16"] }
+embassy-net = { git = "https://github.com/embassy-rs/embassy.git", rev = "dd8e4c14e53f088bae27c5d841ab7a4fa338a52c", version = "0.9", features = ["medium-ethernet", "proto-ipv4", "tcp", "udp", "auto-icmp-echo-reply", "dhcpv4", "defmt"] }
+embassy-sync = { git = "https://github.com/embassy-rs/embassy.git", rev = "dd8e4c14e53f088bae27c5d841ab7a4fa338a52c" }
 
 [dev-dependencies]
-defmt-test = "0.3"
+defmt-test = "0.5"
 
 # cargo build/run
 [profile.dev]

embedded-examples/stm32h7-nucleo-rtic/build.rs

@@ -0,0 +1,14 @@
+use std::path::PathBuf;
+use std::{env, fs};
+
+fn main() {
+    let manifest_dir = PathBuf::from(env::var_os("CARGO_MANIFEST_DIR").unwrap());
+    let cargo_dir = manifest_dir.parent().unwrap().join(".cargo");
+    let config = cargo_dir.join("config.toml");
+    let config_template = cargo_dir.join("config.toml.template");
+
+    if !config.exists() && config_template.exists() {
+        fs::create_dir_all(&cargo_dir).unwrap();
+        fs::copy(&config_template, &config).unwrap();
+    }
+}

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

@@ -1,8 +0,0 @@
-/venv
-/.tmtc-history.txt
-/log
-/.idea/*
-!/.idea/runConfigurations
-
-/seqcnt.txt
-/tmtc_conf.json

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

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

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

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

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

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

embedded-examples/stm32h7-nucleo-rtic/rust-toolchain.toml

@@ -0,0 +1,2 @@
+[toolchain]
+targets = ["thumbv7em-none-eabihf"]

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

@@ -5,51 +5,53 @@
 
 #![no_std]
 #![no_main]
+use rtic::app;
 use satrs_stm32h7_nucleo_rtic as _;
 
-use stm32h7xx_hal::{block, prelude::*, timer::Timer};
+#[app(device = embassy_stm32, peripherals = false, dispatchers = [SPI1])]
+mod app {
+    use embassy_stm32::gpio;
 
-use cortex_m_rt::entry;
+    #[shared]
+    struct Shared {}
 
-#[entry]
-fn main() -> ! {
-    defmt::println!("starting stm32h7 blinky example");
+    #[local]
+    struct Local {}
 
-    // Get access to the device specific peripherals from the peripheral access crate
-    let dp = stm32h7xx_hal::stm32::Peripherals::take().unwrap();
+    #[init]
+    fn init(_cx: init::Context) -> (Shared, Local) {
+        let p = embassy_stm32::init(Default::default());
+        defmt::info!("Hello World!");
+        // Configure gpio B pin 0 as a push-pull output.
+        let ld1 = gpio::Output::new(p.PB0, gpio::Level::High, gpio::Speed::Low);
+        let ld2 = gpio::Output::new(p.PB7, gpio::Level::High, gpio::Speed::Low);
+        let ld3 = gpio::Output::new(p.PB14, gpio::Level::High, gpio::Speed::Low);
 
-    // Take ownership over the RCC devices and convert them into the corresponding HAL structs
-    let rcc = dp.RCC.constrain();
+        // Schedule the blinking task
+        blink::spawn(ld1, ld2, ld3).ok();
 
-    let pwr = dp.PWR.constrain();
-    let pwrcfg = pwr.freeze();
+        (Shared {}, Local {})
+    }
 
-    // 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);
+    #[task()]
+    async fn blink(
+        _cx: blink::Context,
+        mut ld1: gpio::Output<'static>,
+        mut ld2: gpio::Output<'static>,
+        mut ld3: gpio::Output<'static>,
+    ) {
+        loop {
+            defmt::info!("high");
+            ld1.set_high();
+            ld2.set_high();
+            ld3.set_high();
+            embassy_time::Timer::after_millis(500).await;
 
-    // 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();
+            defmt::info!("low");
+            ld1.set_low();
+            ld2.set_low();
+            ld3.set_low();
+            embassy_time::Timer::after_millis(500).await;
+        }
     }
 }

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

@@ -1,11 +1,13 @@
 #![no_main]
 #![no_std]
 
-use satrs_stm32h7_nucleo_rtic as _; // global logger + panicking-behavior + memory layout
+// global logger + panicking-behavior + memory layout
+use satrs_stm32h7_nucleo_rtic as _;
 
 #[cortex_m_rt::entry]
 fn main() -> ! {
-    defmt::println!("Hello, world!");
-
-    satrs_stm32h7_nucleo_rtic::exit()
+    loop {
+        defmt::println!("Hello, world!");
+        cortex_m::asm::delay(100_000_000);
+    }
 }

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

@@ -1,13 +1,8 @@
 #![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 defmt_rtt as _;
+use embassy_stm32 as _;
 use panic_probe as _;
 
 // same panicking *behavior* as `panic-probe` but doesn't print a panic message
@@ -17,14 +12,6 @@ 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
@@ -32,9 +19,7 @@ pub fn exit() -> ! {
 /// loop.
 #[cortex_m_rt::exception]
 unsafe fn HardFault(_frame: &cortex_m_rt::ExceptionFrame) -> ! {
-    loop {
-        debug::exit(debug::EXIT_FAILURE);
-    }
+    panic!("unexpected hard fault");
 }
 
 // defmt-test 0.3.0 has the limitation that this `#[tests]` attribute can only be used

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

@@ -3,427 +3,215 @@
 extern crate alloc;
 
 use rtic::app;
-use rtic_monotonics::systick::Systick;
-use rtic_monotonics::Monotonic;
-use satrs::pool::{PoolAddr, PoolProvider, StaticHeaplessMemoryPool};
-use satrs::static_subpool;
 // global logger + panicking-behavior + memory layout
+use embassy_stm32::bind_interrupts;
 use satrs_stm32h7_nucleo_rtic as _;
-use smoltcp::socket::udp::UdpMetadata;
-use smoltcp::socket::{dhcpv4, udp};
 
 use core::mem::MaybeUninit;
-use embedded_alloc::Heap;
-use smoltcp::iface::{Config, Interface, SocketHandle, SocketSet, SocketStorage};
-use smoltcp::wire::{HardwareAddress, IpAddress, IpCidr};
-use stm32h7xx_hal::ethernet;
+use embedded_alloc::LlffHeap as Heap;
 
 const DEFAULT_BLINK_FREQ_MS: u32 = 1000;
 const PORT: u16 = 7301;
 
 const HEAP_SIZE: usize = 131_072;
 
-const TC_SOURCE_CHANNEL_DEPTH: usize = 16;
-pub type SharedPool = StaticHeaplessMemoryPool<3>;
-pub type TcSourceChannel = rtic_sync::channel::Channel<PoolAddr, TC_SOURCE_CHANNEL_DEPTH>;
-pub type TcSourceTx = rtic_sync::channel::Sender<'static, PoolAddr, TC_SOURCE_CHANNEL_DEPTH>;
-pub type TcSourceRx = rtic_sync::channel::Receiver<'static, PoolAddr, TC_SOURCE_CHANNEL_DEPTH>;
-
 #[global_allocator]
 static HEAP: Heap = Heap::empty();
 
-// We place the memory pool buffers inside the larger AXISRAM.
-pub const SUBPOOL_SMALL_NUM_BLOCKS: u16 = 32;
-pub const SUBPOOL_SMALL_BLOCK_SIZE: usize = 32;
-pub const SUBPOOL_MEDIUM_NUM_BLOCKS: u16 = 16;
-pub const SUBPOOL_MEDIUM_BLOCK_SIZE: usize = 128;
-pub const SUBPOOL_LARGE_NUM_BLOCKS: u16 = 8;
-pub const SUBPOOL_LARGE_BLOCK_SIZE: usize = 2048;
-
-// This data will be held by Net through a mutable reference
-pub struct NetStorageStatic<'a> {
-    socket_storage: [SocketStorage<'a>; 8],
-}
-// MaybeUninit allows us write code that is correct even if STORE is not
-// initialised by the runtime
-static mut STORE: MaybeUninit<NetStorageStatic> = MaybeUninit::uninit();
-
-static mut UDP_RX_META: [udp::PacketMetadata; 12] = [udp::PacketMetadata::EMPTY; 12];
-static mut UDP_RX: [u8; 2048] = [0; 2048];
-static mut UDP_TX_META: [udp::PacketMetadata; 12] = [udp::PacketMetadata::EMPTY; 12];
-static mut UDP_TX: [u8; 2048] = [0; 2048];
-
 /// Locally administered MAC address
 const MAC_ADDRESS: [u8; 6] = [0x02, 0x00, 0x11, 0x22, 0x33, 0x44];
 
-pub struct Net {
-    iface: Interface,
-    ethdev: ethernet::EthernetDMA<4, 4>,
-    dhcp_handle: SocketHandle,
-}
+const TC_QUEUE_DEPTH: usize = 32;
+const TM_QUEUE_DEPTH: usize = 32;
 
-impl Net {
-    pub fn new(
-        sockets: &mut SocketSet<'static>,
-        mut ethdev: ethernet::EthernetDMA<4, 4>,
-        ethernet_addr: HardwareAddress,
-    ) -> Self {
-        let config = Config::new(ethernet_addr);
-        let mut iface = Interface::new(
-            config,
-            &mut ethdev,
-            smoltcp::time::Instant::from_millis((Systick::now() - Systick::ZERO).to_millis()),
-        );
-        // Create sockets
-        let dhcp_socket = dhcpv4::Socket::new();
-        iface.update_ip_addrs(|addrs| {
-            let _ = addrs.push(IpCidr::new(IpAddress::v4(192, 168, 1, 99), 0));
-        });
-
-        let dhcp_handle = sockets.add(dhcp_socket);
-        Net {
-            iface,
-            ethdev,
-            dhcp_handle,
-        }
-    }
-
-    /// Polls on the ethernet interface. You should refer to the smoltcp
-    /// documentation for poll() to understand how to call poll efficiently
-    pub fn poll<'a>(&mut self, sockets: &'a mut SocketSet) -> bool {
-        let uptime = Systick::now() - Systick::ZERO;
-        let timestamp = smoltcp::time::Instant::from_millis(uptime.to_millis());
-
-        self.iface.poll(timestamp, &mut self.ethdev, sockets)
-    }
-
-    pub fn poll_dhcp<'a>(&mut self, sockets: &'a mut SocketSet) -> Option<dhcpv4::Event<'a>> {
-        let opt_event = sockets.get_mut::<dhcpv4::Socket>(self.dhcp_handle).poll();
-        if let Some(event) = &opt_event {
-            match event {
-                dhcpv4::Event::Deconfigured => {
-                    defmt::info!("DHCP lost configuration");
-                    self.iface.update_ip_addrs(|addrs| addrs.clear());
-                    self.iface.routes_mut().remove_default_ipv4_route();
-                }
-                dhcpv4::Event::Configured(config) => {
-                    defmt::info!("DHCP configuration acquired");
-                    defmt::info!("IP address: {}", config.address);
-                    self.iface.update_ip_addrs(|addrs| {
-                        addrs.clear();
-                        addrs.push(IpCidr::Ipv4(config.address)).unwrap();
-                    });
-
-                    if let Some(router) = config.router {
-                        defmt::debug!("Default gateway: {}", router);
-                        self.iface
-                            .routes_mut()
-                            .add_default_ipv4_route(router)
-                            .unwrap();
-                    } else {
-                        defmt::debug!("Default gateway: None");
-                        self.iface.routes_mut().remove_default_ipv4_route();
-                    }
-                }
-            }
-        }
-        opt_event
-    }
-}
-
-pub struct UdpNet {
-    udp_handle: SocketHandle,
-    last_client: Option<UdpMetadata>,
-    tc_source_tx: TcSourceTx,
-}
-
-impl UdpNet {
-    pub fn new<'sockets>(sockets: &mut SocketSet<'sockets>, tc_source_tx: TcSourceTx) -> Self {
-        // SAFETY: The RX and TX buffers are passed here and not used anywhere else.
-        let udp_rx_buffer =
-            smoltcp::socket::udp::PacketBuffer::new(unsafe { &mut UDP_RX_META[..] }, unsafe {
-                &mut UDP_RX[..]
-            });
-        let udp_tx_buffer =
-            smoltcp::socket::udp::PacketBuffer::new(unsafe { &mut UDP_TX_META[..] }, unsafe {
-                &mut UDP_TX[..]
-            });
-        let udp_socket = smoltcp::socket::udp::Socket::new(udp_rx_buffer, udp_tx_buffer);
-
-        let udp_handle = sockets.add(udp_socket);
-        Self {
-            udp_handle,
-            last_client: None,
-            tc_source_tx,
-        }
-    }
-
-    pub fn poll<'sockets>(
-        &mut self,
-        sockets: &'sockets mut SocketSet,
-        shared_pool: &mut SharedPool,
-    ) {
-        let socket = sockets.get_mut::<udp::Socket>(self.udp_handle);
-        if !socket.is_open() {
-            if let Err(e) = socket.bind(PORT) {
-                defmt::warn!("binding UDP socket failed: {}", e);
-            }
-        }
-        loop {
-            match socket.recv() {
-                Ok((data, client)) => {
-                    match shared_pool.add(data) {
-                        Ok(store_addr) => {
-                            if let Err(e) = self.tc_source_tx.try_send(store_addr) {
-                                defmt::warn!("TC source channel is full: {}", e);
-                            }
-                        }
-                        Err(e) => {
-                            defmt::warn!("could not add UDP packet to shared pool: {}", e);
-                        }
-                    }
-                    self.last_client = Some(client);
-                    // TODO: Implement packet wiretapping.
-                }
-                Err(e) => match e {
-                    udp::RecvError::Exhausted => {
-                        break;
-                    }
-                    udp::RecvError::Truncated => {
-                        defmt::warn!("UDP packet was truncacted");
-                    }
-                },
-            };
-        }
-    }
-}
-
-#[app(device = stm32h7xx_hal::stm32, peripherals = true)]
+#[app(device = embassy_stm32, peripherals = false)]
 mod app {
-    use core::ptr::addr_of_mut;
 
     use super::*;
-    use rtic_monotonics::systick::fugit::MillisDurationU32;
-    use rtic_monotonics::systick::Systick;
-    use satrs::spacepackets::ecss::tc::PusTcReader;
-    use stm32h7xx_hal::ethernet::{EthernetMAC, PHY};
-    use stm32h7xx_hal::gpio::{Output, Pin};
-    use stm32h7xx_hal::prelude::*;
-    use stm32h7xx_hal::stm32::Interrupt;
+    use arbitrary_int::u14;
+    use embassy_net::udp::UdpSocket;
+    use embassy_net::StackResources;
+    use embassy_stm32::eth;
+    use embassy_stm32::gpio;
+    use embassy_stm32::peripherals;
+    use embassy_stm32::rng;
+    use embassy_sync::blocking_mutex::raw::NoopRawMutex;
+    use embassy_time::Duration;
+    use embassy_time::Timer;
+    use embassy_time::WithTimeout as _;
+    use embedded_models::create_tm_packet;
+    use embedded_models::stm32h7;
+    use embedded_models::tm_size;
+    use embedded_models::TmHeader;
+    use spacepackets::CcsdsPacketCreationError;
+    use spacepackets::CcsdsPacketIdAndPsc;
+    use spacepackets::CcsdsPacketReader;
+    use spacepackets::SpHeader;
+    use static_cell::StaticCell;
+
+    bind_interrupts!(struct Irqs {
+        ETH => eth::InterruptHandler;
+        RNG => rng::InterruptHandler<peripherals::RNG>;
+    });
+
+    type Device = eth::Ethernet<
+        'static,
+        peripherals::ETH,
+        eth::GenericPhy<eth::Sma<'static, peripherals::ETH_SMA>>,
+    >;
 
     struct BlinkyLeds {
-        led1: Pin<'B', 7, Output>,
-        led2: Pin<'B', 14, Output>,
+        led1: gpio::Output<'static>,
+        led2: gpio::Output<'static>,
     }
 
     #[local]
     struct Local {
+        net_runner: embassy_net::Runner<'static, Device>,
+        net_stack: embassy_net::Stack<'static>,
         leds: BlinkyLeds,
-        link_led: Pin<'B', 0, Output>,
-        net: Net,
-        udp: UdpNet,
-        tc_source_rx: TcSourceRx,
-        phy: ethernet::phy::LAN8742A<EthernetMAC>,
+        link_led: gpio::Output<'static>,
+        tc_rx: embassy_sync::channel::Receiver<
+            'static,
+            NoopRawMutex,
+            alloc::vec::Vec<u8>,
+            TC_QUEUE_DEPTH,
+        >,
+        tc_tx: embassy_sync::channel::Sender<
+            'static,
+            NoopRawMutex,
+            alloc::vec::Vec<u8>,
+            TC_QUEUE_DEPTH,
+        >,
+        tm_rx: embassy_sync::channel::Receiver<
+            'static,
+            NoopRawMutex,
+            alloc::vec::Vec<u8>,
+            TM_QUEUE_DEPTH,
+        >,
+        tm_tx: embassy_sync::channel::Sender<
+            'static,
+            NoopRawMutex,
+            alloc::vec::Vec<u8>,
+            TM_QUEUE_DEPTH,
+        >,
     }
 
     #[shared]
     struct Shared {
-        blink_freq: MillisDurationU32,
-        eth_link_up: bool,
-        sockets: SocketSet<'static>,
-        shared_pool: SharedPool,
+        sequence_count: u14,
+        blink_freq: embassy_time::Duration,
     }
 
     #[init]
-    fn init(mut cx: init::Context) -> (Shared, Local) {
+    fn init(_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 mut config = embassy_stm32::Config::default();
+        {
+            use embassy_stm32::rcc::*;
+            config.rcc.hsi = Some(HSIPrescaler::Div1);
+            config.rcc.csi = true;
+            config.rcc.hsi48 = Some(Default::default()); // needed for RNG
+            config.rcc.pll1 = Some(Pll {
+                source: PllSource::Hsi,
+                prediv: PllPreDiv::Div4,
+                mul: PllMul::Mul50,
+                fracn: None,
+                divp: Some(PllDiv::Div2),
+                divq: None,
+                divr: None,
+            });
+            config.rcc.sys = Sysclk::Pll1P; // 400 Mhz
+            config.rcc.ahb_pre = AHBPrescaler::Div2; // 200 Mhz
+            config.rcc.apb1_pre = APBPrescaler::Div2; // 100 Mhz
+            config.rcc.apb2_pre = APBPrescaler::Div2; // 100 Mhz
+            config.rcc.apb3_pre = APBPrescaler::Div2; // 100 Mhz
+            config.rcc.apb4_pre = APBPrescaler::Div2; // 100 Mhz
+            config.rcc.voltage_scale = VoltageScale::Scale1;
+        }
+        let periphs = embassy_stm32::init(config);
 
-        let rcc = cx.device.RCC.constrain();
-        // Try to keep the clock configuration similar to one used in STM examples:
-        // https://github.com/STMicroelectronics/STM32CubeH7/blob/master/Projects/NUCLEO-H743ZI/Examples/GPIO/GPIO_EXTI/Src/main.c
-        let ccdr = rcc
-            .sys_ck(400.MHz())
-            .hclk(200.MHz())
-            .use_hse(8.MHz())
-            .bypass_hse()
-            .pclk1(100.MHz())
-            .pclk2(100.MHz())
-            .pclk3(100.MHz())
-            .pclk4(100.MHz())
-            .freeze(pwrcfg, &cx.device.SYSCFG);
-
-        // Initialize the systick interrupt & obtain the token to prove that we did
-        let systick_mono_token = rtic_monotonics::create_systick_token!();
-        Systick::start(
-            cx.core.SYST,
-            ccdr.clocks.sys_ck().to_Hz(),
-            systick_mono_token,
-        );
-
-        // Those are used in the smoltcp of the stm32h7xx-hal , I am not fully sure what they are
-        // good for.
-        cx.core.SCB.enable_icache();
-        cx.core.DWT.enable_cycle_counter();
-
-        let gpioa = cx.device.GPIOA.split(ccdr.peripheral.GPIOA);
-        let gpiob = cx.device.GPIOB.split(ccdr.peripheral.GPIOB);
-        let gpioc = cx.device.GPIOC.split(ccdr.peripheral.GPIOC);
-        let gpiog = cx.device.GPIOG.split(ccdr.peripheral.GPIOG);
-
-        let link_led = gpiob.pb0.into_push_pull_output();
-        let mut led1 = gpiob.pb7.into_push_pull_output();
-        let mut led2 = gpiob.pb14.into_push_pull_output();
+        let link_led = gpio::Output::new(periphs.PB0, gpio::Level::Low, gpio::Speed::Medium);
+        let mut led1 = gpio::Output::new(periphs.PB7, gpio::Level::Low, gpio::Speed::Medium);
+        let mut led2 = gpio::Output::new(periphs.PB14, gpio::Level::Low, gpio::Speed::Medium);
 
         // 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"
+        static PACKETS: StaticCell<eth::PacketQueue<4, 4>> = StaticCell::new();
+        // warning: Not all STM32H7 devices have the exact same pins here
+        // for STM32H747XIH, replace p.PB13 for PG12
+        let device = eth::Ethernet::new(
+            PACKETS.init(eth::PacketQueue::<4, 4>::new()),
+            periphs.ETH,
+            Irqs,
+            periphs.PA1,  // ref_clk
+            periphs.PA7,  // CRS_DV: Carrier Sense
+            periphs.PC4,  // RX_D0: Received Bit 0
+            periphs.PC5,  // RX_D1: Received Bit 1
+            periphs.PG13, // TX_D0: Transmit Bit 0
+            periphs.PB13, // TX_D1: Transmit Bit 1
+            periphs.PG11, // TX_EN: Transmit Enable
+            MAC_ADDRESS,
+            periphs.ETH_SMA,
+            periphs.PA2, // mdio
+            periphs.PC1, // mdc
         );
 
-        shared_pool
-            .grow(
-                unsafe { SUBPOOL_SMALL.assume_init_mut() },
-                unsafe { SUBPOOL_SMALL_SIZES.assume_init_mut() },
-                SUBPOOL_SMALL_NUM_BLOCKS,
-                true,
-            )
-            .expect("growing heapless memory pool failed");
-        shared_pool
-            .grow(
-                unsafe { SUBPOOL_MEDIUM.assume_init_mut() },
-                unsafe { SUBPOOL_MEDIUM_SIZES.assume_init_mut() },
-                SUBPOOL_MEDIUM_NUM_BLOCKS,
-                true,
-            )
-            .expect("growing heapless memory pool failed");
-        shared_pool
-            .grow(
-                unsafe { SUBPOOL_LARGE.assume_init_mut() },
-                unsafe { SUBPOOL_LARGE_SIZES.assume_init_mut() },
-                SUBPOOL_LARGE_NUM_BLOCKS,
-                true,
-            )
-            .expect("growing heapless memory pool failed");
+        let config = embassy_net::Config::dhcpv4(embassy_net::DhcpConfig::default());
+
+        // Generate random seed.
+        let mut rng = rng::Rng::new(periphs.RNG, Irqs);
+        let mut seed = [0; 8];
+        rng.fill_bytes(&mut seed);
+        let seed = u64::from_le_bytes(seed);
+
+        // Init network stack
+        static RESOURCES: StaticCell<StackResources<3>> = StaticCell::new();
+        let (stack, runner) =
+            embassy_net::new(device, config, RESOURCES.init(StackResources::new()), seed);
 
         // 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");
+        static TC_CHANNEL: static_cell::ConstStaticCell<
+            embassy_sync::channel::Channel<NoopRawMutex, alloc::vec::Vec<u8>, TC_QUEUE_DEPTH>,
+        > = static_cell::ConstStaticCell::new(embassy_sync::channel::Channel::new());
+        let tc_channel = TC_CHANNEL.take();
+        let tc_sender = tc_channel.sender();
+        let tc_receiver = tc_channel.receiver();
+
+        static TM_CHANNEL: static_cell::ConstStaticCell<
+            embassy_sync::channel::Channel<NoopRawMutex, alloc::vec::Vec<u8>, TM_QUEUE_DEPTH>,
+        > = static_cell::ConstStaticCell::new(embassy_sync::channel::Channel::new());
+        let tm_channel = TM_CHANNEL.take();
+        let tm_sender = tm_channel.sender();
+        let tm_receiver = tm_channel.receiver();
+
+        net_lib_task::spawn().expect("spawning net library task failed");
+        net_app_task::spawn().expect("spawning net application task 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");
+        tc_handler::spawn().expect("spawning TC handler task failed");
 
         (
             Shared {
-                blink_freq: MillisDurationU32::from_ticks(DEFAULT_BLINK_FREQ_MS),
-                eth_link_up: false,
-                sockets,
-                shared_pool,
+                blink_freq: Duration::from_millis(DEFAULT_BLINK_FREQ_MS as u64),
+                sequence_count: u14::new(0),
             },
             Local {
                 link_led,
                 leds,
-                net,
-                udp,
-                tc_source_rx,
-                phy: lan8742a,
+                net_runner: runner,
+                net_stack: stack,
+                tc_tx: tc_sender,
+                tc_rx: tc_receiver,
+                tm_tx: tm_sender,
+                tm_rx: tm_receiver,
             },
         )
     }
@@ -435,94 +223,164 @@ 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;
+            Timer::after_millis(current_blink_freq.as_millis()).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;
+    #[task(local=[net_runner])]
+    async fn net_lib_task(cx: net_lib_task::Context) {
+        cx.local.net_runner.run().await;
+    }
+
+    #[task(local = [net_stack, link_led, tc_tx, tm_rx])]
+    async fn net_app_task(cx: net_app_task::Context) {
+        pub const MTU: usize = 1500;
+
+        // Ensure those are in the data section by making them static.
+        static RX_UDP_META: static_cell::ConstStaticCell<[embassy_net::udp::PacketMetadata; 8]> =
+            static_cell::ConstStaticCell::new([embassy_net::udp::PacketMetadata::EMPTY; 8]);
+        static TX_UDP_META: static_cell::ConstStaticCell<[embassy_net::udp::PacketMetadata; 8]> =
+            static_cell::ConstStaticCell::new([embassy_net::udp::PacketMetadata::EMPTY; 8]);
+        static TX_UDP_BUFS: static_cell::ConstStaticCell<[u8; MTU]> =
+            static_cell::ConstStaticCell::new([0; MTU]);
+        static RX_UDP_BUFS: static_cell::ConstStaticCell<[u8; MTU]> =
+            static_cell::ConstStaticCell::new([0; MTU]);
+
+        let rx_udp_meta = RX_UDP_META.take();
+        let rx_udp_bufs = RX_UDP_BUFS.take();
+        let tx_udp_meta = TX_UDP_META.take();
+        let tx_udp_bufs = TX_UDP_BUFS.take();
+
+        let mut rx_buffer = [0; MTU];
+
         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");
+            cx.local.net_stack.wait_link_up().await;
+            cx.local.link_led.set_high();
+            defmt::info!("Network link is up");
+
+            // Ensure DHCP configuration is up before trying connect
+            cx.local.net_stack.wait_config_up().await;
+
+            let config = cx.local.net_stack.config_v4();
+            defmt::info!("Network task initialized, config: {}", config);
+
+            let mut udp = UdpSocket::new(
+                cx.local.net_stack.clone(),
+                rx_udp_meta,
+                rx_udp_bufs,
+                tx_udp_meta,
+                tx_udp_bufs,
+            );
+            defmt::info!("UDP socket bound to port {}", PORT);
+            udp.bind(PORT).expect("failed to bind UDP socket");
+            let mut remote_endpoint = None;
+            loop {
+                if !cx.local.net_stack.is_link_up() {
+                    defmt::warn!("Network link is down");
+                    cx.local.link_led.set_low();
+                    break;
                 }
-            } else if link_was_up {
-                link_led.set_low();
-                cx.shared.eth_link_up.lock(|link_up| *link_up = false);
-                defmt::info!("Ethernet link down");
-            }
-            Systick::delay(100.millis()).await;
-        }
-    }
-
-    #[task(binds=ETH, local=[net], shared=[sockets])]
-    fn eth_isr(mut cx: eth_isr::Context) {
-        // SAFETY: We do not write the register mentioned inside the docs anywhere else.
-        unsafe {
-            ethernet::interrupt_handler();
-        }
-        // Check and process ETH frames and DHCP. UDP is checked in a different task.
-        cx.shared.sockets.lock(|sockets| {
-            cx.local.net.poll(sockets);
-            cx.local.net.poll_dhcp(sockets);
-        });
-    }
-
-    /// This task routes UDP packets.
-    #[task(local=[udp], shared=[sockets, shared_pool])]
-    async fn udp_task(mut cx: udp_task::Context) {
-        loop {
-            cx.shared.sockets.lock(|sockets| {
-                cx.shared.shared_pool.lock(|pool| {
-                    cx.local.udp.poll(sockets, pool);
-                })
-            });
-            Systick::delay(40.millis()).await;
-        }
-    }
-
-    /// This task handles all the incoming telecommands.
-    #[task(local=[read_buf: [u8; 1024] = [0; 1024], tc_source_rx], shared=[shared_pool])]
-    async fn tc_source_task(mut cx: tc_source_task::Context) {
-        loop {
-            let recv_result = cx.local.tc_source_rx.recv().await;
-            match recv_result {
-                Ok(pool_addr) => {
-                    cx.shared.shared_pool.lock(|pool| {
-                        match pool.read(&pool_addr, cx.local.read_buf.as_mut()) {
-                            Ok(packet_len) => {
-                                defmt::info!("received {} bytes in the TC source task", packet_len);
-                                match PusTcReader::new(&cx.local.read_buf[0..packet_len]) {
-                                    Ok((packet, _tc_len)) => {
-                                        // TODO: Handle packet here or dispatch to dedicated PUS
-                                        // handler? Dispatching could simplify some things and make
-                                        // the software more scalable..
-                                        defmt::info!("received PUS packet: {}", packet);
-                                    }
-                                    Err(e) => {
-                                        defmt::info!("invalid TC format, not a PUS packet: {}", e);
-                                    }
-                                }
-                                if let Err(e) = pool.delete(pool_addr) {
-                                    defmt::warn!("deleting TC data failed: {}", e);
-                                }
-                            }
-                            Err(e) => {
-                                defmt::warn!("TC packet read failed: {}", e);
-                            }
+                match udp
+                    .recv_from(&mut rx_buffer)
+                    .with_timeout(Duration::from_millis(200))
+                    .await
+                {
+                    Ok(result) => match result {
+                        Ok((data, meta)) => {
+                            remote_endpoint = Some(meta.endpoint);
+                            defmt::debug!("UDP RX {}, Meta: {}", data, meta);
+                            cx.local.tc_tx.send(rx_buffer[0..data].to_vec()).await;
                         }
-                    });
+                        Err(e) => {
+                            defmt::warn!("udp receive error: {}", e);
+                            Timer::after_millis(100).await;
+                        }
+                    },
+                    Err(_e) => (),
                 }
-                Err(e) => {
-                    defmt::warn!("TC source reception error: {}", e);
+                if let Some(endpoint) = remote_endpoint {
+                    while let Ok(packet) = cx.local.tm_rx.try_receive() {
+                        match udp.send_to(&packet, endpoint).await {
+                            Ok(_) => {
+                                defmt::debug!("UDP TX: {} bytes to: {}", packet.len(), endpoint)
+                            }
+                            Err(e) => defmt::warn!("udp send error: {}", e),
+                        }
+                    }
                 }
-            };
+            }
         }
     }
+
+    #[task(local = [tc_rx, tm_tx], shared=[sequence_count, blink_freq])]
+    async fn tc_handler(mut cx: tc_handler::Context) {
+        loop {
+            let tc = cx.local.tc_rx.receive().await;
+
+            match CcsdsPacketReader::new_with_checksum(&tc) {
+                Ok(packet) => {
+                    let packet_id = packet.packet_id();
+                    let psc = packet.psc();
+                    let tc_packet_id = CcsdsPacketIdAndPsc { packet_id, psc };
+                    if let Ok(request) =
+                        postcard::from_bytes::<stm32h7::Request>(packet.packet_data())
+                    {
+                        let response = match request {
+                            stm32h7::Request::Ping => {
+                                defmt::info!("Received Ping request");
+                                stm32h7::Response::Ok
+                            }
+                            stm32h7::Request::ChangeBlinkFrequency(duration) => {
+                                defmt::info!(
+                                    "Received blinky frequency change request: {} ms",
+                                    duration.as_millis()
+                                );
+                                cx.shared.blink_freq.lock(|current| {
+                                    *current = Duration::from_millis(duration.as_millis() as u64)
+                                });
+                                stm32h7::Response::Ok
+                            }
+                        };
+                        let sequence_count = cx.shared.sequence_count.lock(|v| {
+                            let current = *v;
+                            *v = v.wrapping_add(u14::new(1));
+                            current
+                        });
+
+                        // Send Pong/OK response immediately.
+                        if let Err(e) =
+                            send_tm(tc_packet_id, response, sequence_count, cx.local.tm_tx).await
+                        {
+                            defmt::warn!("Failed to send TM response: {}", e);
+                        }
+                    }
+                }
+                Err(e) => defmt::warn!("Failed to parse received TC packet: {}", e,),
+            }
+            defmt::info!("Received from UDP client: {}", tc.as_slice());
+        }
+    }
+
+    async fn send_tm(
+        tc_packet_id: CcsdsPacketIdAndPsc,
+        response: stm32h7::Response,
+        current_seq_count: u14,
+        sender: &embassy_sync::channel::Sender<
+            'static,
+            NoopRawMutex,
+            alloc::vec::Vec<u8>,
+            TM_QUEUE_DEPTH,
+        >,
+    ) -> Result<(), CcsdsPacketCreationError> {
+        let sp_header = SpHeader::new_for_unseg_tc(stm32h7::PUS_APID, current_seq_count, 0);
+        let tm_header = TmHeader {
+            tc_packet_id: Some(tc_packet_id),
+            uptime_millis: embassy_time::Instant::now().as_millis(),
+        };
+        let tm_size = tm_size(&tm_header, &response);
+        let mut packet = alloc::vec![0; tm_size];
+        create_tm_packet(&mut packet, sp_header, tm_header, response)?;
+        sender.send(packet).await;
+        Ok(())
+    }
 }

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

@@ -1,7 +1,7 @@
 #![no_std]
 #![no_main]
 
-use stm32h7_testapp as _; // memory layout + panic handler
+use satrs_stm32h7_nucleo_rtic as _; // memory layout + panic handler
 
 // See https://crates.io/crates/defmt-test/0.3.0 for more documentation (e.g. about the 'state'
 // feature)

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

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

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

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

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

@@ -1,22 +0,0 @@
-{
-  "version": "0.2.0",
-  "configurations": [
-    {
-      "preLaunchTask": "${defaultBuildTask}",
-      "type": "probe-rs-debug",
-      "request": "launch",
-      "name": "probe-rs Debugging ",
-      "flashingConfig": {
-        "flashingEnabled": true
-      },
-      "chip": "STM32H743ZITx",
-      "coreConfigs": [
-        {
-          "programBinary": "${workspaceFolder}/target/thumbv7em-none-eabihf/debug/satrs-stm32h7-nucleo-rtic",
-          "rttEnabled": true,
-          "svdFile": "STM32H743.svd"
-        }
-      ]
-    }
-  ]
-}

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

@@ -1,20 +0,0 @@
-{
-    // 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();
+        }
+    }
+}

justfile

@@ -0,0 +1,37 @@
+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: embedded-stm32h7 embedded-stm32f3
+  cargo check -p satrs --target=thumbv7em-none-eabihf --no-default-features
+
+[working-directory:"embedded-examples/stm32h7-nucleo-rtic"]
+embedded-stm32h7:
+  cargo build --target=thumbv7em-none-eabihf --release
+
+[working-directory:"embedded-examples/stm32f3-disco-rtic"]
+embedded-stm32f3:
+  cargo build --target=thumbv7em-none-eabihf --release
+
+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/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-example/Cargo.toml

@@ -1,7 +1,7 @@
 [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"
@@ -18,25 +18,24 @@ csv = "1"
 num_enum = "0.7"
 thiserror = "2"
 lazy_static = "1"
-strum = { version = "0.26", features = ["derive"] }
+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]
-path = "../satrs"
-features = ["test_util"]
-
-[dependencies.satrs-minisim]
-path = "../satrs-minisim"
-
-[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.
 

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

@@ -11,18 +11,14 @@ serde_json = "1"
 log = "0.4"
 thiserror = "2"
 fern = "0.7"
-strum = { version = "0.26", features = ["derive"] }
+strum = { version = "0.28", features = ["derive"] }
 num_enum = "0.7"
 humantime = "2"
+tai-time = { version = "0.3", features = ["serde"] }
+nexosim = { version = "0.3.1" }
 
-[dependencies.asynchronix]
-version = "0.2.2"
-# git = "https://github.com/asynchronics/asynchronix.git"
-# branch = "main"
-features = ["serde"]
-
-[dependencies.satrs]
-path = "../satrs"
+satrs = { path = "../../satrs" }
+models = { path = "../models" }
 
 [dev-dependencies]
 delegate = "0.13"

satrs-example/minisim/src/acs.rs

@@ -1,10 +1,10 @@
 use std::{f32::consts::PI, sync::mpsc, time::Duration};
 
-use asynchronix::{
-    model::{Model, Output},
-    time::Scheduler,
+use models::pcdu::SwitchStateBinary;
+use nexosim::{
+    model::{Context, Model},
+    ports::Output,
 };
-use satrs::power::SwitchStateBinary;
 use satrs_minisim::{
     acs::{
         lis3mdl::MgmLis3MdlReply, MgmReplyCommon, MgmReplyProvider, MgmSensorValuesMicroTesla,
@@ -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")
     }
 
@@ -180,13 +179,12 @@ impl Model for MagnetorquerModel {}
 pub mod tests {
     use std::time::Duration;
 
-    use satrs::power::SwitchStateBinary;
+    use models::pcdu::{SwitchId, SwitchStateBinary};
     use satrs_minisim::{
         acs::{
             lis3mdl::{self, MgmLis3MdlReply},
             MgmRequestLis3Mdl, MgtDipole, MgtHkSet, MgtReply, MgtRequest,
         },
-        eps::PcduSwitch,
         SerializableSimMsgPayload, SimComponent, SimMessageProvider, SimRequest,
     };
 
@@ -200,11 +198,11 @@ 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();
-        assert_eq!(sim_reply.component(), SimComponent::MgmLis3Mdl);
+        assert_eq!(sim_reply.component(), SimComponent::Mgm0Lis3Mdl);
         let reply = MgmLis3MdlReply::from_sim_message(&sim_reply)
             .expect("failed to deserialize MGM sensor values");
         assert_eq!(reply.common.switch_state, SwitchStateBinary::Off);
@@ -216,28 +214,28 @@ pub mod tests {
     #[test]
     fn test_basic_mgm_request_switched_on() {
         let mut sim_testbench = SimTestbench::new();
-        switch_device_on(&mut sim_testbench, PcduSwitch::Mgm);
+        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();
+        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);
+        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_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 +270,7 @@ 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());
     }
@@ -280,14 +278,14 @@ pub mod tests {
     #[test]
     fn test_basic_mgt_request_is_on() {
         let mut sim_testbench = SimTestbench::new();
-        switch_device_on(&mut sim_testbench, PcduSwitch::Mgt);
+        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();
+        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 +306,7 @@ 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();
@@ -325,7 +323,7 @@ pub mod tests {
     #[test]
     fn test_basic_mgt_request_is_on_and_torquing() {
         let mut sim_testbench = SimTestbench::new();
-        switch_device_on(&mut sim_testbench, PcduSwitch::Mgt);
+        switch_device_on(&mut sim_testbench, SwitchId::Mgt);
         let commanded_dipole = MgtDipole {
             x: -200,
             y: 200,
@@ -339,7 +337,7 @@ 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 +346,9 @@ 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 {

satrs-example/minisim/src/controller.rs

@@ -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 +23,55 @@ 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 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_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,
-        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 +82,7 @@ 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)
@@ -79,7 +99,8 @@ impl SimController {
                     }
                     if let Err(e) = match request.component() {
                         SimComponent::SimCtrl => self.handle_ctrl_request(&request),
-                        SimComponent::MgmLis3Mdl => self.handle_mgm_request(&request),
+                        SimComponent::Mgm0Lis3Mdl => self.handle_mgm_request(0, &request),
+                        SimComponent::Mgm1Lis3Mdl => self.handle_mgm_request(1, &request),
                         SimComponent::Mgt => self.handle_mgt_request(&request),
                         SimComponent::Pcdu => self.handle_pcdu_request(&request),
                     } {
@@ -99,7 +120,7 @@ impl SimController {
     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);
+            log::info!("received sim ctrl request: {sim_ctrl_request:?}");
         }
         match sim_ctrl_request {
             SimCtrlRequest::Ping => {
@@ -111,18 +132,26 @@ impl SimController {
         Ok(())
     }
 
-    fn handle_mgm_request(&mut self, request: &SimRequest) -> Result<(), SimRequestError> {
+    fn handle_mgm_request(
+        &mut self,
+        mgm_idx: usize,
+        request: &SimRequest,
+    ) -> Result<(), SimRequestError> {
         let mgm_request = MgmRequestLis3Mdl::from_sim_message(request)?;
         if MGM_REQ_WIRETAPPING {
-            log::info!("received MGM request: {:?}", mgm_request);
+            log::info!("received MGM request: {mgm_request:?}");
         }
         match mgm_request {
             MgmRequestLis3Mdl::RequestSensorData => {
-                self.simulation.send_event(
-                    MagnetometerModel::send_sensor_values,
-                    (),
-                    &self.mgm_addr,
-                );
+                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(())
@@ -131,19 +160,26 @@ impl SimController {
     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);
+            log::info!("received PCDU request: {pcdu_request:?}");
         }
         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(())
@@ -152,20 +188,26 @@ impl SimController {
     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);
+            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 +241,7 @@ 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();

satrs-example/minisim/src/eps.rs

@@ -1,20 +1,18 @@
 use std::{sync::mpsc, time::Duration};
 
-use asynchronix::{
-    model::{Model, Output},
-    time::Scheduler,
-};
-use satrs::power::SwitchStateBinary;
-use satrs_minisim::{
-    eps::{PcduReply, PcduSwitch, SwitchMapBinaryWrapper},
-    SimReply,
+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_switch: Output<SwitchStateBinary>,
+    pub mgm_0_switch: Output<SwitchStateBinary>,
+    pub mgm_1_switch: Output<SwitchStateBinary>,
     pub mgt_switch: Output<SwitchStateBinary>,
     pub reply_sender: mpsc::Sender<SimReply>,
 }
@@ -23,20 +21,20 @@ impl PcduModel {
     pub fn new(reply_sender: mpsc::Sender<SimReply>) -> Self {
         Self {
             switcher_map: Default::default(),
-            mgm_switch: Output::new(),
+            mgm_0_switch: Output::new(),
+            mgm_1_switch: Output::new(),
             mgt_switch: Output::new(),
             reply_sender,
         }
     }
 
-    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) {
@@ -44,10 +42,12 @@ impl PcduModel {
         self.reply_sender.send(reply).unwrap();
     }
 
-    pub async fn switch_device(
-        &mut self,
-        switch_and_target_state: (PcduSwitch, SwitchStateBinary),
-    ) {
+    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
@@ -55,12 +55,13 @@ impl PcduModel {
             .unwrap_or_else(|| panic!("switch {:?} not found", switch_and_target_state.0));
         *val = switch_and_target_state.1;
         match switch_and_target_state.0 {
-            PcduSwitch::Mgm => {
-                self.mgm_switch.send(switch_and_target_state.1).await;
+            SwitchId::Mgm0 => {
+                self.mgm_0_switch.send(switch_and_target_state.1).await;
             }
-            PcduSwitch::Mgt => {
+            SwitchId::Mgt => {
                 self.mgt_switch.send(switch_and_target_state.1).await;
             }
+            SwitchId::Mgm1 => todo!(),
         }
     }
 }
@@ -72,16 +73,16 @@ pub(crate) mod tests {
     use super::*;
     use std::time::Duration;
 
+    use models::pcdu::SwitchMapBinary;
     use satrs_minisim::{
-        eps::{PcduRequest, SwitchMapBinary},
-        SerializableSimMsgPayload, SimComponent, SimMessageProvider, SimRequest,
+        eps::PcduRequest, SerializableSimMsgPayload, SimComponent, SimMessageProvider, SimRequest,
     };
 
     use crate::test_helpers::SimTestbench;
 
     fn switch_device(
         sim_testbench: &mut SimTestbench,
-        switch: PcduSwitch,
+        switch: SwitchId,
         target: SwitchStateBinary,
     ) {
         let request = SimRequest::new_with_epoch_time(PcduRequest::SwitchDevice {
@@ -92,14 +93,14 @@ 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)]
-    pub(crate) fn switch_device_off(sim_testbench: &mut SimTestbench, switch: PcduSwitch) {
+    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: PcduSwitch) {
+    pub(crate) fn switch_device_on(sim_testbench: &mut SimTestbench, switch: SwitchId) {
         switch_device(sim_testbench, switch, SwitchStateBinary::On);
     }
 
@@ -113,7 +114,7 @@ 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();
@@ -127,7 +128,7 @@ pub(crate) mod tests {
         }
     }
 
-    fn test_pcdu_switching_single_switch(switch: PcduSwitch, target: SwitchStateBinary) {
+    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();
@@ -143,12 +144,12 @@ 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();
@@ -164,17 +165,17 @@ pub(crate) mod tests {
 
     #[test]
     fn test_pcdu_switching_mgm_on() {
-        test_pcdu_switching_single_switch(PcduSwitch::Mgm, SwitchStateBinary::On);
+        test_pcdu_switching_single_switch(SwitchId::Mgm0, SwitchStateBinary::On);
     }
 
     #[test]
     fn test_pcdu_switching_mgt_on() {
-        test_pcdu_switching_single_switch(PcduSwitch::Mgt, SwitchStateBinary::On);
+        test_pcdu_switching_single_switch(SwitchId::Mgt, SwitchStateBinary::On);
     }
 
     #[test]
     fn test_pcdu_switching_mgt_off() {
-        test_pcdu_switching_single_switch(PcduSwitch::Mgt, SwitchStateBinary::On);
-        test_pcdu_switching_single_switch(PcduSwitch::Mgt, SwitchStateBinary::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

@@ -1,11 +1,11 @@
-use asynchronix::time::MonotonicTime;
-use num_enum::{IntoPrimitive, TryFromPrimitive};
+use nexosim::time::MonotonicTime;
 use serde::{de::DeserializeOwned, Deserialize, Serialize};
 
 #[derive(Debug, Copy, Clone, PartialEq, Eq, Serialize, Deserialize, Hash)]
 pub enum SimComponent {
     SimCtrl,
-    MgmLis3Mdl,
+    Mgm0Lis3Mdl,
+    Mgm1Lis3Mdl,
     Mgt,
     Pcdu,
 }
@@ -161,73 +161,7 @@ impl From<SimRequestError> for SimCtrlReply {
 
 pub mod eps {
     use super::*;
-    use satrs::power::{SwitchState, SwitchStateBinary};
-    use std::collections::HashMap;
-    use strum::{EnumIter, IntoEnumIterator};
-
-    pub type SwitchMap = HashMap<PcduSwitch, SwitchState>;
-    pub type SwitchMapBinary = HashMap<PcduSwitch, SwitchStateBinary>;
-
-    pub struct SwitchMapWrapper(pub SwitchMap);
-    pub struct SwitchMapBinaryWrapper(pub SwitchMapBinary);
-
-    #[derive(
-        Debug,
-        Copy,
-        Clone,
-        PartialEq,
-        Eq,
-        Serialize,
-        Deserialize,
-        Hash,
-        EnumIter,
-        IntoPrimitive,
-        TryFromPrimitive,
-    )]
-    #[repr(u16)]
-    pub enum PcduSwitch {
-        Mgm = 0,
-        Mgt = 1,
-    }
-
-    impl Default for SwitchMapBinaryWrapper {
-        fn default() -> Self {
-            let mut switch_map = SwitchMapBinary::default();
-            for entry in PcduSwitch::iter() {
-                switch_map.insert(entry, SwitchStateBinary::Off);
-            }
-            Self(switch_map)
-        }
-    }
-
-    impl Default for SwitchMapWrapper {
-        fn default() -> Self {
-            let mut switch_map = SwitchMap::default();
-            for entry in PcduSwitch::iter() {
-                switch_map.insert(entry, SwitchState::Unknown);
-            }
-            Self(switch_map)
-        }
-    }
-
-    impl SwitchMapWrapper {
-        pub fn new_with_init_switches_off() -> Self {
-            let mut switch_map = SwitchMap::default();
-            for entry in PcduSwitch::iter() {
-                switch_map.insert(entry, SwitchState::Off);
-            }
-            Self(switch_map)
-        }
-
-        pub fn from_binary_switch_map_ref(switch_map: &SwitchMapBinary) -> Self {
-            Self(
-                switch_map
-                    .iter()
-                    .map(|(key, value)| (*key, SwitchState::from(*value)))
-                    .collect(),
-            )
-        }
-    }
+    use models::pcdu::{SwitchId, SwitchMapBinary, SwitchStateBinary};
 
     #[derive(Debug, Copy, Clone)]
     #[repr(u8)]
@@ -239,7 +173,7 @@ pub mod eps {
     #[derive(Debug, Copy, Clone, PartialEq, Eq, Serialize, Deserialize)]
     pub enum PcduRequest {
         SwitchDevice {
-            switch: PcduSwitch,
+            switch: SwitchId,
             state: SwitchStateBinary,
         },
         RequestSwitchInfo,
@@ -263,7 +197,7 @@ pub mod eps {
 pub mod acs {
     use std::time::Duration;
 
-    use satrs::power::SwitchStateBinary;
+    use models::pcdu::SwitchStateBinary;
 
     use super::*;
 
@@ -277,7 +211,7 @@ pub mod acs {
     }
 
     impl SerializableSimMsgPayload<SimRequest> for MgmRequestLis3Mdl {
-        const TARGET: SimComponent = SimComponent::MgmLis3Mdl;
+        const TARGET: SimComponent = SimComponent::Mgm0Lis3Mdl;
     }
 
     // Normally, small magnetometers generate their output as a signed 16 bit raw format or something
@@ -368,7 +302,7 @@ pub mod acs {
         }
 
         impl SerializableSimMsgPayload<SimReply> for MgmLis3MdlReply {
-            const TARGET: SimComponent = SimComponent::MgmLis3Mdl;
+            const TARGET: SimComponent = SimComponent::Mgm0Lis3Mdl;
         }
 
         impl MgmReplyProvider for MgmLis3MdlReply {
@@ -418,7 +352,7 @@ pub mod acs {
     }
 
     impl SerializableSimMsgPayload<SimReply> for MgtReply {
-        const TARGET: SimComponent = SimComponent::MgmLis3Mdl;
+        const TARGET: SimComponent = SimComponent::Mgm0Lis3Mdl;
     }
 }
 

satrs-example/minisim/src/main.rs

@@ -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;
@@ -31,11 +31,15 @@ fn create_sim_controller(
     request_receiver: mpsc::Receiver<SimRequest>,
 ) -> SimController {
     // Instantiate models and their mailboxes.
-    let mgm_model =
+    let mgm_0_model =
+        MagnetometerModel::new_for_lis3mdl(Duration::from_millis(50), reply_sender.clone());
+    let mgm_1_model =
         MagnetometerModel::new_for_lis3mdl(Duration::from_millis(50), reply_sender.clone());
 
-    let mgm_mailbox = Mailbox::new();
-    let mgm_addr = mgm_mailbox.address();
+    let mgm_0_mailbox = Mailbox::new();
+    let mgm_0_addr = mgm_0_mailbox.address();
+    let mgm_1_mailbox = Mailbox::new();
+    let mgm_1_addr = mgm_1_mailbox.address();
     let pcdu_mailbox = Mailbox::new();
     let pcdu_addr = pcdu_mailbox.address();
     let mgt_mailbox = Mailbox::new();
@@ -43,8 +47,11 @@ fn create_sim_controller(
 
     let mut pcdu_model = PcduModel::new(reply_sender.clone());
     pcdu_model
-        .mgm_switch
-        .connect(MagnetometerModel::switch_device, &mgm_addr);
+        .mgm_0_switch
+        .connect(MagnetometerModel::switch_device, &mgm_0_addr);
+    pcdu_model
+        .mgm_1_switch
+        .connect(MagnetometerModel::switch_device, &mgm_1_addr);
 
     let mut mgt_model = MagnetorquerModel::new(reply_sender.clone());
     // Input connections.
@@ -52,9 +59,14 @@ fn create_sim_controller(
         .mgt_switch
         .connect(MagnetorquerModel::switch_device, &mgt_addr);
     // Output connections.
-    mgt_model
-        .gen_magnetic_field
-        .connect(MagnetometerModel::apply_external_magnetic_field, &mgm_addr);
+    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());
@@ -63,19 +75,21 @@ 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_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,
-        mgm_addr,
-        pcdu_addr,
-        mgt_addr,
+        scheduler,
+        addrs,
     )
 }
 
@@ -116,7 +130,7 @@ fn main() {
     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);
+    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();

satrs-example/minisim/src/test_helpers.rs

@@ -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>;
         }
     }
 

satrs-example/minisim/src/time.rs

@@ -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)

satrs-example/minisim/src/udp.rs

@@ -91,11 +91,8 @@ impl SimUdpServer {
             self.sender_addr = Some(src);
 
             let sim_req = SimRequest::from_raw_data(&self.req_buf[..bytes_read]);
-            if sim_req.is_err() {
-                log::warn!(
-                    "received UDP request with invalid format: {}",
-                    sim_req.unwrap_err()
-                );
+            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();

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()
+        }
+    }
+}

satrs-example/models/src/mgm_assembly.rs

@@ -0,0 +1,109 @@
+use core::str::FromStr;
+
+use crate::DeviceMode;
+
+#[derive(serde::Serialize, serde::Deserialize, Debug, Clone, Copy, PartialEq, Eq)]
+pub enum AssemblyMode {
+    /// The assembly mode ressembles the modes of the devices it controls. It also tries to keep
+    /// the children in the correct mode by re-commanding them into the correct mode.
+    Device(DeviceMode),
+    /// Mode keeping disabled.
+    NoModeKeeping,
+}
+
+impl FromStr for AssemblyMode {
+    type Err = ();
+
+    fn from_str(s: &str) -> Result<Self, Self::Err> {
+        match s.to_lowercase().as_str() {
+            "off" => Ok(AssemblyMode::Device(DeviceMode::Off)),
+            "on" => Ok(AssemblyMode::Device(DeviceMode::On)),
+            "normal" => Ok(AssemblyMode::Device(DeviceMode::Normal)),
+            "no_mode_keeping" => Ok(AssemblyMode::NoModeKeeping),
+            _ => Err(()),
+        }
+    }
+}
+
+pub mod request {
+    use crate::{HkRequestType, Message, mgm_assembly::AssemblyMode};
+
+    #[derive(Debug, PartialEq, Eq, Clone, Copy, serde::Serialize, serde::Deserialize)]
+    pub enum HkId {
+        Sensor,
+    }
+
+    #[derive(Debug, Copy, Clone, PartialEq, Eq, serde::Serialize, serde::Deserialize)]
+    pub enum ModeRequest {
+        SetMode(AssemblyMode),
+        ReadMode,
+    }
+
+    #[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,
+        Mode(ModeRequest),
+    }
+
+    impl Request {
+        fn message_type(&self) -> crate::MessageType {
+            match self {
+                Request::Ping => crate::MessageType::Verification,
+                Request::Mode(_mode) => crate::MessageType::Mode,
+            }
+        }
+    }
+    impl Message for Request {
+        fn message_type(&self) -> crate::MessageType {
+            self.message_type()
+        }
+    }
+}
+
+pub mod response {
+    use crate::{DeviceMode, Message};
+
+    #[derive(serde::Serialize, serde::Deserialize, Clone, Copy, Debug, PartialEq, Eq)]
+    pub enum ModeCommandFailure {
+        Timeout,
+    }
+
+    #[derive(Debug, Copy, Clone, PartialEq, Eq, serde::Serialize, serde::Deserialize)]
+    pub enum ModeReport {
+        /// Mode of the assembly.
+        Mode(super::AssemblyMode),
+        /// Timeout failure setting the children modes.
+        SetModeTimeout([Option<DeviceMode>; 2]),
+        /// Children are in wrong mode after commanding.
+        WrongMode([Option<DeviceMode>; 2]),
+        /// An assembly tried modekeeping but can not keep its mode.
+        CanNotKeepMode([Option<DeviceMode>; 2]),
+    }
+
+    #[derive(serde::Serialize, serde::Deserialize, Clone, Copy, Debug, PartialEq, Eq)]
+    pub enum Response {
+        Ok,
+        Mode(ModeReport),
+    }
+
+    impl Response {
+        fn message_type(&self) -> crate::MessageType {
+            match self {
+                Response::Ok => crate::MessageType::Verification,
+                Response::Mode(_mode_report) => crate::MessageType::Mode,
+            }
+        }
+    }
+
+    impl Message for Response {
+        fn message_type(&self) -> crate::MessageType {
+            self.message_type()
+        }
+    }
+}

satrs-example/models/src/pcdu.rs

@@ -0,0 +1,147 @@
+use std::collections::HashMap;
+
+use strum::IntoEnumIterator as _;
+
+#[bitbybit::bitfield(u16, debug, default = 0x0)]
+#[derive(serde::Serialize, serde::Deserialize)]
+pub struct SwitchesBitfield {
+    #[bit(2, rw)]
+    magnetorquer: bool,
+    #[bit(1, rw)]
+    mgm1: bool,
+    #[bit(0, rw)]
+    mgm0: bool,
+}
+
+#[derive(
+    Debug,
+    Copy,
+    Clone,
+    PartialEq,
+    Eq,
+    serde::Serialize,
+    serde::Deserialize,
+    Hash,
+    strum::EnumIter,
+    num_enum::IntoPrimitive,
+    num_enum::TryFromPrimitive,
+)]
+#[repr(u16)]
+pub enum SwitchId {
+    Mgm0 = 0,
+    Mgm1 = 1,
+    Mgt = 2,
+}
+
+#[derive(Debug, Eq, PartialEq, Copy, Clone, serde::Serialize, serde::Deserialize)]
+pub enum SwitchState {
+    Off = 0,
+    On = 1,
+    Unknown = 2,
+    Faulty = 3,
+}
+
+impl From<SwitchStateBinary> for SwitchState {
+    fn from(value: SwitchStateBinary) -> Self {
+        match value {
+            SwitchStateBinary::Off => SwitchState::Off,
+            SwitchStateBinary::On => SwitchState::On,
+        }
+    }
+}
+
+#[derive(Debug, Eq, PartialEq, Copy, Clone, serde::Serialize, serde::Deserialize)]
+pub enum SwitchStateBinary {
+    Off = 0,
+    On = 1,
+}
+
+pub type SwitchMapBinary = HashMap<SwitchId, SwitchStateBinary>;
+
+pub struct SwitchMapBinaryWrapper(pub SwitchMapBinary);
+
+impl Default for SwitchMapBinaryWrapper {
+    fn default() -> Self {
+        let mut switch_map = SwitchMapBinary::default();
+        for entry in SwitchId::iter() {
+            switch_map.insert(entry, SwitchStateBinary::Off);
+        }
+        Self(switch_map)
+    }
+}
+
+pub struct SwitchRequest {
+    pub switch_id: SwitchId,
+    pub target_state: SwitchStateBinary,
+}
+
+impl SwitchRequest {
+    pub fn new(switch_id: SwitchId, target_state: SwitchStateBinary) -> Self {
+        Self {
+            switch_id,
+            target_state,
+        }
+    }
+
+    pub fn switch_id(&self) -> SwitchId {
+        self.switch_id
+    }
+
+    pub fn target_state(&self) -> SwitchStateBinary {
+        self.target_state
+    }
+}
+
+pub mod request {
+    use crate::{DeviceMode, Message};
+
+    use super::*;
+
+    #[derive(serde::Serialize, serde::Deserialize, Clone, Copy, Debug)]
+    pub enum Request {
+        Mode(DeviceMode),
+        Ping,
+        GetSwitches,
+        EnableSwitches(SwitchesBitfield),
+        DisableSwitches(SwitchesBitfield),
+    }
+
+    impl Request {
+        pub fn message_type(&self) -> crate::MessageType {
+            match self {
+                Request::Mode(_mode) => crate::MessageType::Mode,
+