need to add UDP to tmtc-utils

Cargo.toml

@@ -9,6 +9,7 @@ members = [
     "satrs-example/minisim",
     "satrs-shared",
     "embedded-examples/embedded-client",
+    "embedded-examples/models",
 ]
 
 exclude = [

embedded-examples/embedded-client/Cargo.toml

@@ -10,6 +10,7 @@ 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" }
 postcard = { version = "1", features = ["alloc"] }
 cobs = "0.5"

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

@@ -1,13 +1,9 @@
-use std::{
+use std::time::Duration;
-    fs::File,
-    io::Read,
-    path::Path,
-    time::{Duration, SystemTime},
-};
 
 use clap::Parser;
 use cobs::CobsDecoderOwned;
-use satrs_stm32f3_disco_rtic::Request;
+use embedded_client::setup_logger;
+use embedded_models::stm32f3;
 use spacepackets::{CcsdsPacketCreatorOwned, CcsdsPacketReader, SpHeader};
 use tmtc_utils::transport::serial::PacketTransportSerialCobs;
 
@@ -21,47 +17,11 @@ struct Cli {
     set_led_frequency: Option<u32>,
 }
 
-#[derive(Debug, serde::Deserialize)]
-struct Config {
-    interface: Interface,
-}
-
-#[derive(Debug, serde::Deserialize)]
-struct Interface {
-    serial_port: String,
-}
-
-fn setup_logger() -> Result<(), fern::InitError> {
-    fern::Dispatch::new()
-        .format(|out, message, record| {
-            out.finish(format_args!(
-                "[{} {} {}] {}",
-                humantime::format_rfc3339_seconds(SystemTime::now()),
-                record.level(),
-                record.target(),
-                message
-            ))
-        })
-        .level(log::LevelFilter::Debug)
-        .chain(std::io::stdout())
-        .chain(fern::log_file("output.log")?)
-        .apply()?;
-    Ok(())
-}
-
 fn main() {
     setup_logger().expect("failed to initialize logger");
-    println!("sat-rs embedded examples TMTC client");
+    println!("-- STM32F3 TMTC client --");
-
     let cli = Cli::parse();
-    let mut config_file =
+    let config = embedded_client::Config::new_from_file();
-        File::open(Path::new("config.toml")).expect("opening config.toml file failed");
-    let mut toml_str = String::new();
-    config_file
-        .read_to_string(&mut toml_str)
-        .expect("reading config.toml file failed");
-    let config: Config = toml::from_str(&toml_str).expect("parsing config.toml file failed");
-    println!("Connecting to serial port {}", config.interface.serial_port);
 
     let serial = serialport::new(config.interface.serial_port, 115200)
         .open()
@@ -69,8 +29,7 @@ fn main() {
     let mut transport = PacketTransportSerialCobs::new(serial, CobsDecoderOwned::new(1024));
 
     if cli.ping {
-        let request = Request::Ping;
+        let tc = create_stm32f3_tc(&embedded_models::stm32f3::Request::Ping);
-        let tc = create_stm32f3_tc(&request);
         log::info!(
             "Sending ping request with TC ID: {:#010x}",
             tc.ccsds_packet_id_and_psc().raw()
@@ -79,7 +38,7 @@ fn main() {
     }
 
     if let Some(freq_ms) = cli.set_led_frequency {
-        let request = Request::ChangeBlinkFrequency(Duration::from_millis(freq_ms as u64));
+        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}",
@@ -100,7 +59,7 @@ fn main() {
     }
 }
 
-fn create_stm32f3_tc(request: &Request) -> CcsdsPacketCreatorOwned {
+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 +1,64 @@
+use std::{fs::File, io::Read, path::Path, time::Duration};
+
+use clap::Parser;
+use cobs::CobsDecoderOwned;
+use embedded_client::setup_logger;
+use embedded_models::{stm32f3, stm32h7};
+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() {
+    setup_logger().expect("failed to initialize logger");
+    println!("-- STM32H7 TMTC client --");
+    let cli = Cli::parse();
+    let config = embedded_client::Config::new_from_file();
+
+
+    /*
+    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_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 +1,42 @@
+use std::{fs::File, io::Read as _, path::Path, time::SystemTime};
+
+#[derive(Debug, serde::Deserialize)]
+pub struct Config {
+    pub interface: Interface,
+}
+
+#[derive(Debug, serde::Deserialize)]
+pub struct Interface {
+    pub serial_port: String,
+}
+
+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");
+        println!("Connecting to serial port {}", config.interface.serial_port);
+        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::Debug)
+        .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.lock

@@ -592,6 +592,17 @@ dependencies = [
  "embedded-io",
 ]
 
+[[package]]
+name = "embedded-models"
+version = "0.1.0"
+dependencies = [
+ "arbitrary-int 2.0.0",
+ "defmt 1.0.1",
+ "postcard",
+ "serde",
+ "spacepackets",
+]
+
 [[package]]
 name = "embedded-storage"
 version = "0.3.1"
@@ -942,6 +953,7 @@ source = "registry+https://github.com/rust-lang/crates.io-index"
 checksum = "6764c3b5dd454e283a30e6dfe78e9b31096d9e32036b5d1eaac7a6119ccb9a24"
 dependencies = [
  "cobs 0.3.0",
+ "defmt 1.0.1",
  "heapless 0.7.17",
  "serde",
 ]
@@ -1139,6 +1151,7 @@ dependencies = [
  "defmt-test",
  "embassy-stm32",
  "embedded-hal 1.0.0",
+ "embedded-models",
  "enumset",
  "heapless 0.9.1",
  "panic-probe",
@@ -1245,7 +1258,8 @@ checksum = "67b1b7a3b5fe4f1376887184045fcf45c69e92af734b7aaddc05fb777b6fbd03"
 [[package]]
 name = "spacepackets"
 version = "0.17.0"
-source = "git+https://egit.irs.uni-stuttgart.de/rust/spacepackets.git#2bc61677105765e69cc96bb1ff9960557c00fa8e"
+source = "registry+https://github.com/rust-lang/crates.io-index"
+checksum = "94979a990b4333f43667cba9fe9e72b9c4e9ada82e09fbe8fb250844358590cc"
 dependencies = [
  "arbitrary-int 2.0.0",
  "bitbybit",

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

@@ -7,6 +7,7 @@ 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 = "1"

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

@@ -1,13 +1,10 @@
 #![no_main]
 #![no_std]
 
+use defmt_rtt as _;
+
 use arbitrary_int::u11;
-use core::time::Duration;
 use embassy_stm32::gpio::Output;
-use spacepackets::{
-    ccsds_packet_len_for_user_data_len_with_checksum, CcsdsPacketCreationError,
-    CcsdsPacketCreatorWithReservedData, CcsdsPacketIdAndPsc, SpacePacketHeader,
-};
 
 pub const APID: u11 = u11::new(0x02);
 
@@ -40,49 +37,6 @@ impl Direction {
     }
 }
 
-#[derive(Copy, Clone, Debug, defmt::Format, serde::Serialize, serde::Deserialize)]
-pub enum Request {
-    Ping,
-    ChangeBlinkFrequency(Duration),
-}
-
-#[derive(Debug, defmt::Format, serde::Serialize, serde::Deserialize)]
-pub struct TmHeader {
-    pub tc_packet_id: Option<CcsdsPacketIdAndPsc>,
-    pub uptime_millis: u32,
-}
-
-#[derive(Debug, defmt::Format, serde::Serialize, serde::Deserialize)]
-pub enum Response {
-    CommandDone,
-}
-
-pub fn tm_size(tm_header: &TmHeader, response: &Response) -> usize {
-    ccsds_packet_len_for_user_data_len_with_checksum(
-        postcard::experimental::serialized_size(tm_header).unwrap()
-            + postcard::experimental::serialized_size(response).unwrap(),
-    )
-    .unwrap()
-}
-
-pub fn create_tm_packet(
-    buf: &mut [u8],
-    sp_header: SpacePacketHeader,
-    tm_header: TmHeader,
-    response: Response,
-) -> Result<usize, CcsdsPacketCreationError> {
-    let packet_data_size = postcard::experimental::serialized_size(&tm_header).unwrap()
-        + postcard::experimental::serialized_size(&response).unwrap();
-    let mut creator =
-        CcsdsPacketCreatorWithReservedData::new_tm_with_checksum(sp_header, packet_data_size, buf)?;
-
-    let current_index = postcard::to_slice(&tm_header, creator.packet_data_mut())
-        .unwrap()
-        .len();
-    postcard::to_slice(&response, &mut creator.packet_data_mut()[current_index..]).unwrap();
-    Ok(creator.finish())
-}
-
 pub struct Leds {
     pub north: Output<'static>,
     pub north_east: Output<'static>,

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

@@ -1,9 +1,9 @@
 #![no_std]
 #![no_main]
-use arbitrary_int::{u11, u14};
+use arbitrary_int::u14;
 use cortex_m_semihosting::debug::{self, EXIT_FAILURE, EXIT_SUCCESS};
-use satrs_stm32f3_disco_rtic::{create_tm_packet, tm_size, CcsdsPacketId, Request, Response};
+use embedded_models::{create_tm_packet, stm32f3, tm_size, TmHeader};
-use spacepackets::{CcsdsPacketCreationError, SpHeader};
+use spacepackets::{CcsdsPacketCreationError, CcsdsPacketIdAndPsc, SpHeader};
 
 use defmt_rtt as _; // global logger
 
@@ -23,8 +23,6 @@ const TX_HANDLER_FREQ_MS: u32 = 20;
 const MAX_TC_LEN: usize = 128;
 const MAX_TM_LEN: usize = 128;
 
-pub const PUS_APID: u11 = u11::new(0x02);
-
 // This is the predictable maximum overhead of the COBS encoding scheme.
 // It is simply the maximum packet lenght dividied by 254 rounded up.
 const COBS_TM_OVERHEAD: usize = cobs::max_encoding_overhead(MAX_TM_LEN);
@@ -47,8 +45,8 @@ pub enum TmSendError {
 
 #[derive(Debug, defmt::Format)]
 pub struct RequestWithTcId {
-    pub request: Request,
+    pub request: stm32f3::Request,
-    pub tc_id: CcsdsPacketId,
+    pub tc_id: CcsdsPacketIdAndPsc,
 }
 
 #[app(device = embassy_stm32)]
@@ -57,12 +55,13 @@ mod app {
 
     use super::*;
     use arbitrary_int::u14;
+    use embedded_models::stm32f3::{Request, Response};
     use rtic::Mutex;
     use rtic_sync::{
         channel::{Receiver, Sender},
         make_channel,
     };
-    use satrs_stm32f3_disco_rtic::{CcsdsPacketId, LedPinSet, Request, Response};
+    use satrs_stm32f3_disco_rtic::LedPinSet;
     use spacepackets::CcsdsPacketReader;
 
     systick_monotonic!(Mono, 1000);
@@ -200,7 +199,7 @@ mod app {
                                     Ok(packet) => {
                                         let packet_id = packet.packet_id();
                                         let psc = packet.psc();
-                                        let tc_packet_id = CcsdsPacketId { packet_id, psc };
+                                        let tc_packet_id = CcsdsPacketIdAndPsc { packet_id, psc };
                                         if let Ok(request) =
                                             postcard::from_bytes::<Request>(packet.packet_data())
                                         {
@@ -260,17 +259,17 @@ mod app {
 
     fn handle_ping_request(
         cx: &mut req_handler::Context,
-        tc_packet_id: CcsdsPacketId,
+        tc_packet_id: CcsdsPacketIdAndPsc,
     ) -> Result<(), TmSendError> {
         defmt::info!("Received PUS ping telecommand, sending ping reply");
-        send_tm(tc_packet_id, Response::CommandDone, *cx.local.seq_count)?;
+        send_tm(tc_packet_id, Response::Ok, *cx.local.seq_count)?;
         *cx.local.seq_count = cx.local.seq_count.wrapping_add(u14::new(1));
         Ok(())
     }
 
     fn handle_change_blink_frequency_request(
         cx: &mut req_handler::Context,
-        tc_packet_id: CcsdsPacketId,
+        tc_packet_id: CcsdsPacketIdAndPsc,
         duration: Duration,
     ) -> Result<(), TmSendError> {
         defmt::info!(
@@ -280,21 +279,21 @@ mod app {
         cx.shared
             .blink_freq
             .lock(|blink_freq| *blink_freq = duration);
-        send_tm(tc_packet_id, Response::CommandDone, *cx.local.seq_count)?;
+        send_tm(tc_packet_id, Response::Ok, *cx.local.seq_count)?;
         *cx.local.seq_count = cx.local.seq_count.wrapping_add(u14::new(1));
         Ok(())
     }
 }
 
 fn send_tm(
-    tc_packet_id: CcsdsPacketId,
+    tc_packet_id: CcsdsPacketIdAndPsc,
-    response: Response,
+    response: stm32f3::Response,
     current_seq_count: u14,
 ) -> Result<(), TmSendError> {
-    let sp_header = SpHeader::new_for_unseg_tc(PUS_APID, current_seq_count, 0);
+    let sp_header = SpHeader::new_for_unseg_tc(stm32f3::PUS_APID, current_seq_count, 0);
-    let tm_header = satrs_stm32f3_disco_rtic::TmHeader {
+    let tm_header = TmHeader {
         tc_packet_id: Some(tc_packet_id),
-        uptime_millis: Mono::now().duration_since_epoch().to_millis(),
+        uptime_millis: Mono::now().duration_since_epoch().to_millis() as u64,
     };
     let mut tm_packet = TmPacket::new();
     let tm_size = tm_size(&tm_header, &response);

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 = "1"
-defmt-brtt = { version = "0.1", default-features = false, features = ["rtt"] }
+defmt-rtt = "1"
 panic-probe = { version = "1", features = ["print-defmt"] }
-cortex-m-semihosting = "0.5.0"
+embedded-alloc = "0.7"
-# TODO: Replace with embassy-hal.
+static_cell = "2"
-stm32h7xx-hal = { version="0.16", features= ["stm32h743v", "ethernet"] }
+rtic = { version = "2", features = ["thumbv7-backend"] }
-embedded-alloc = "0.6"
+spacepackets = { version = "0.17", default-features = false, features = ["defmt"] }
-rtic-sync = { version = "1", features = ["defmt-03"] }
+postcard = "1"
 
-[dependencies.smoltcp]
+embassy-stm32 =  { git = "https://github.com/embassy-rs/embassy.git", rev = "dd8e4c14e53f088bae27c5d841ab7a4fa338a52c", version = "0.6", features = ["stm32h743zi", "memory-x", "defmt", "time-driver-any"]}
-version = "0.12"
-default-features = false
-features = ["medium-ethernet", "proto-ipv4", "socket-raw", "socket-dhcpv4", "socket-udp", "defmt"]
 
-[dependencies.rtic]
+embassy-time = { git = "https://github.com/embassy-rs/embassy.git", rev = "dd8e4c14e53f088bae27c5d841ab7a4fa338a52c", version = "0.5", features = ["defmt-timestamp-uptime-ms", "generic-queue-16"] }
-version = "2"
+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"] }
-features = ["thumbv7-backend"]
+embassy-sync = { git = "https://github.com/embassy-rs/embassy.git", rev = "dd8e4c14e53f088bae27c5d841ab7a4fa338a52c" }
-
-[dependencies.rtic-monotonics]
-version = "2"
-features = ["cortex-m-systick"]
-
-[dependencies.satrs]
-path = "../../satrs"
-default-features = false
-features = ["defmt", "heapless"]
 
 [dev-dependencies]
-defmt-test = "0.4"
+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]
+    #[local]
-fn main() -> ! {
+    struct Local {}
-    defmt::println!("starting stm32h7 blinky example");
 
-    // Get access to the device specific peripherals from the peripheral access crate
+    #[init]
-    let dp = stm32h7xx_hal::stm32::Peripherals::take().unwrap();
+    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
+        // Schedule the blinking task
-    let rcc = dp.RCC.constrain();
+        blink::spawn(ld1, ld2, ld3).ok();
 
-    let pwr = dp.PWR.constrain();
+        (Shared {}, Local {})
-    let pwrcfg = pwr.freeze();
+    }
 
-    // Freeze the configuration of all the clocks in the system and
+    #[task()]
-    // retrieve the Core Clock Distribution and Reset (CCDR) object
+    async fn blink(
-    let rcc = rcc.use_hse(8.MHz()).bypass_hse();
+        _cx: blink::Context,
-    let ccdr = rcc.freeze(pwrcfg, &dp.SYSCFG);
+        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
+            defmt::info!("low");
-    let gpiob = dp.GPIOB.split(ccdr.peripheral.GPIOB);
+            ld1.set_low();
-
+            ld2.set_low();
-    // Configure gpio B pin 0 as a push-pull output.
+            ld3.set_low();
-    let mut ld1 = gpiob.pb0.into_push_pull_output();
+            embassy_time::Timer::after_millis(500).await;
-
+        }
-    // Configure gpio B pin 7 as a push-pull output.
-    let mut ld2 = gpiob.pb7.into_push_pull_output();
-
-    // Configure gpio B pin 14 as a push-pull output.
-    let mut ld3 = gpiob.pb14.into_push_pull_output();
-
-    // Configure the timer to trigger an update every second
-    let mut timer = Timer::tim1(dp.TIM1, ccdr.peripheral.TIM1, &ccdr.clocks);
-    timer.start(1.Hz());
-
-    // Wait for the timer to trigger an update and change the state of the LED
-    loop {
-        ld1.toggle();
-        ld2.toggle();
-        ld3.toggle();
-        block!(timer.wait()).unwrap();
     }
 }

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

@@ -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!");
+    loop {
-
+        defmt::println!("Hello, world!");
-    satrs_stm32h7_nucleo_rtic::exit()
+        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_rtt as _;
-
+use embassy_stm32 as _;
-use defmt_brtt as _; // global logger
-
-// TODO(5) adjust HAL import
-use stm32h7xx_hal as _; // memory layout
-
 use panic_probe as _;
 
 // same panicking *behavior* as `panic-probe` but doesn't print a panic message
@@ -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 {
+    panic!("unexpected hard fault");
-        debug::exit(debug::EXIT_FAILURE);
-    }
 }
 
 // defmt-test 0.3.0 has the limitation that this `#[tests]` attribute can only be used

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

@@ -3,422 +3,215 @@
 extern crate alloc;
 
 use rtic::app;
-use rtic_monotonics::systick::prelude::*;
-use satrs::pool::{PoolAddr, PoolProvider, StaticHeaplessMemoryPool};
-use satrs::static_subpool;
 // global logger + panicking-behavior + memory layout
+use 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::LlffHeap as Heap;
-use smoltcp::iface::{Config, Interface, SocketHandle, SocketSet, SocketStorage};
-use smoltcp::wire::{HardwareAddress, IpAddress, IpCidr};
-use stm32h7xx_hal::ethernet;
 
 const DEFAULT_BLINK_FREQ_MS: u32 = 1000;
 const PORT: u16 = 7301;
 
 const HEAP_SIZE: usize = 131_072;
 
-const TC_SOURCE_CHANNEL_DEPTH: usize = 16;
-pub type SharedPool = StaticHeaplessMemoryPool<3>;
-pub type TcSourceChannel = rtic_sync::channel::Channel<PoolAddr, TC_SOURCE_CHANNEL_DEPTH>;
-pub type TcSourceTx = rtic_sync::channel::Sender<'static, PoolAddr, TC_SOURCE_CHANNEL_DEPTH>;
-pub type TcSourceRx = rtic_sync::channel::Receiver<'static, PoolAddr, TC_SOURCE_CHANNEL_DEPTH>;
-
 #[global_allocator]
 static HEAP: Heap = Heap::empty();
 
-systick_monotonic!(Mono, 1000);
-
-// We place the memory pool buffers inside the larger AXISRAM.
-pub const SUBPOOL_SMALL_NUM_BLOCKS: u16 = 32;
-pub const SUBPOOL_SMALL_BLOCK_SIZE: usize = 32;
-pub const SUBPOOL_MEDIUM_NUM_BLOCKS: u16 = 16;
-pub const SUBPOOL_MEDIUM_BLOCK_SIZE: usize = 128;
-pub const SUBPOOL_LARGE_NUM_BLOCKS: u16 = 8;
-pub const SUBPOOL_LARGE_BLOCK_SIZE: usize = 2048;
-
-// This data will be held by Net through a mutable reference
-pub struct NetStorageStatic<'a> {
-    socket_storage: [SocketStorage<'a>; 8],
-}
-// MaybeUninit allows us write code that is correct even if STORE is not
-// initialised by the runtime
-static mut STORE: MaybeUninit<NetStorageStatic> = MaybeUninit::uninit();
-
-static mut UDP_RX_META: [udp::PacketMetadata; 12] = [udp::PacketMetadata::EMPTY; 12];
-static mut UDP_RX: [u8; 2048] = [0; 2048];
-static mut UDP_TX_META: [udp::PacketMetadata; 12] = [udp::PacketMetadata::EMPTY; 12];
-static mut UDP_TX: [u8; 2048] = [0; 2048];
-
 /// Locally administered MAC address
 const MAC_ADDRESS: [u8; 6] = [0x02, 0x00, 0x11, 0x22, 0x33, 0x44];
 
-pub struct Net {
+const TC_QUEUE_DEPTH: usize = 32;
-    iface: Interface,
+const TM_QUEUE_DEPTH: usize = 32;
-    ethdev: ethernet::EthernetDMA<4, 4>,
-    dhcp_handle: SocketHandle,
-}
 
-impl Net {
+#[app(device = embassy_stm32, peripherals = false)]
-    pub fn new(
-        sockets: &mut SocketSet<'static>,
-        mut ethdev: ethernet::EthernetDMA<4, 4>,
-        ethernet_addr: HardwareAddress,
-    ) -> Self {
-        let config = Config::new(ethernet_addr);
-        let mut iface = Interface::new(
-            config,
-            &mut ethdev,
-            smoltcp::time::Instant::from_millis(Mono::now().duration_since_epoch().to_millis()),
-        );
-        // Create sockets
-        let dhcp_socket = dhcpv4::Socket::new();
-        iface.update_ip_addrs(|addrs| {
-            let _ = addrs.push(IpCidr::new(IpAddress::v4(192, 168, 1, 99), 0));
-        });
-
-        let dhcp_handle = sockets.add(dhcp_socket);
-        Net {
-            iface,
-            ethdev,
-            dhcp_handle,
-        }
-    }
-
-    /// Polls on the ethernet interface. You should refer to the smoltcp
-    /// documentation for poll() to understand how to call poll efficiently
-    pub fn poll<'a>(&mut self, sockets: &'a mut SocketSet) -> bool {
-        let uptime = Mono::now().duration_since_epoch();
-        let timestamp = smoltcp::time::Instant::from_millis(uptime.to_millis());
-
-        self.iface.poll(timestamp, &mut self.ethdev, sockets)
-    }
-
-    pub fn poll_dhcp<'a>(&mut self, sockets: &'a mut SocketSet) -> Option<dhcpv4::Event<'a>> {
-        let opt_event = sockets.get_mut::<dhcpv4::Socket>(self.dhcp_handle).poll();
-        if let Some(event) = &opt_event {
-            match event {
-                dhcpv4::Event::Deconfigured => {
-                    defmt::info!("DHCP lost configuration");
-                    self.iface.update_ip_addrs(|addrs| addrs.clear());
-                    self.iface.routes_mut().remove_default_ipv4_route();
-                }
-                dhcpv4::Event::Configured(config) => {
-                    defmt::info!("DHCP configuration acquired");
-                    defmt::info!("IP address: {}", config.address);
-                    self.iface.update_ip_addrs(|addrs| {
-                        addrs.clear();
-                        addrs.push(IpCidr::Ipv4(config.address)).unwrap();
-                    });
-
-                    if let Some(router) = config.router {
-                        defmt::debug!("Default gateway: {}", router);
-                        self.iface
-                            .routes_mut()
-                            .add_default_ipv4_route(router)
-                            .unwrap();
-                    } else {
-                        defmt::debug!("Default gateway: None");
-                        self.iface.routes_mut().remove_default_ipv4_route();
-                    }
-                }
-            }
-        }
-        opt_event
-    }
-}
-
-pub struct UdpNet {
-    udp_handle: SocketHandle,
-    last_client: Option<UdpMetadata>,
-    tc_source_tx: TcSourceTx,
-}
-
-impl UdpNet {
-    pub fn new<'sockets>(sockets: &mut SocketSet<'sockets>, tc_source_tx: TcSourceTx) -> Self {
-        // SAFETY: The RX and TX buffers are passed here and not used anywhere else.
-        let udp_rx_buffer =
-            smoltcp::socket::udp::PacketBuffer::new(unsafe { &mut UDP_RX_META[..] }, unsafe {
-                &mut UDP_RX[..]
-            });
-        let udp_tx_buffer =
-            smoltcp::socket::udp::PacketBuffer::new(unsafe { &mut UDP_TX_META[..] }, unsafe {
-                &mut UDP_TX[..]
-            });
-        let udp_socket = smoltcp::socket::udp::Socket::new(udp_rx_buffer, udp_tx_buffer);
-
-        let udp_handle = sockets.add(udp_socket);
-        Self {
-            udp_handle,
-            last_client: None,
-            tc_source_tx,
-        }
-    }
-
-    pub fn poll<'sockets>(
-        &mut self,
-        sockets: &'sockets mut SocketSet,
-        shared_pool: &mut SharedPool,
-    ) {
-        let socket = sockets.get_mut::<udp::Socket>(self.udp_handle);
-        if !socket.is_open() {
-            if let Err(e) = socket.bind(PORT) {
-                defmt::warn!("binding UDP socket failed: {}", e);
-            }
-        }
-        loop {
-            match socket.recv() {
-                Ok((data, client)) => {
-                    match shared_pool.add(data) {
-                        Ok(store_addr) => {
-                            if let Err(e) = self.tc_source_tx.try_send(store_addr) {
-                                defmt::warn!("TC source channel is full: {}", e);
-                            }
-                        }
-                        Err(e) => {
-                            defmt::warn!("could not add UDP packet to shared pool: {}", e);
-                        }
-                    }
-                    self.last_client = Some(client);
-                    // TODO: Implement packet wiretapping.
-                }
-                Err(e) => match e {
-                    udp::RecvError::Exhausted => {
-                        break;
-                    }
-                    udp::RecvError::Truncated => {
-                        defmt::warn!("UDP packet was truncacted");
-                    }
-                },
-            };
-        }
-    }
-}
-
-#[app(device = stm32h7xx_hal::stm32, peripherals = true)]
 mod app {
-    use core::ptr::addr_of_mut;
 
     use super::*;
-    use rtic_monotonics::fugit::MillisDurationU32;
+    use arbitrary_int::u14;
-    use satrs::spacepackets::ecss::tc::PusTcReader;
+    use embassy_net::udp::UdpSocket;
-    use stm32h7xx_hal::ethernet::{EthernetMAC, PHY};
+    use embassy_net::StackResources;
-    use stm32h7xx_hal::gpio::{Output, Pin};
+    use embassy_stm32::eth;
-    use stm32h7xx_hal::prelude::*;
+    use embassy_stm32::gpio;
-    use stm32h7xx_hal::stm32::Interrupt;
+    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>,
+        led1: gpio::Output<'static>,
-        led2: Pin<'B', 14, Output>,
+        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>,
+        link_led: gpio::Output<'static>,
-        net: Net,
+        tc_rx: embassy_sync::channel::Receiver<
-        udp: UdpNet,
+            'static,
-        tc_source_rx: TcSourceRx,
+            NoopRawMutex,
-        phy: ethernet::phy::LAN8742A<EthernetMAC>,
+            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,
+        sequence_count: u14,
-        eth_link_up: bool,
+        blink_freq: embassy_time::Duration,
-        sockets: SocketSet<'static>,
-        shared_pool: SharedPool,
     }
 
     #[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 mut config = embassy_stm32::Config::default();
-        let pwrcfg = pwr.freeze();
+        {
+            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();
+        let link_led = gpio::Output::new(periphs.PB0, gpio::Level::Low, gpio::Speed::Medium);
-        // Try to keep the clock configuration similar to one used in STM examples:
+        let mut led1 = gpio::Output::new(periphs.PB7, gpio::Level::Low, gpio::Speed::Medium);
-        // https://github.com/STMicroelectronics/STM32CubeH7/blob/master/Projects/NUCLEO-H743ZI/Examples/GPIO/GPIO_EXTI/Src/main.c
+        let mut led2 = gpio::Output::new(periphs.PB14, gpio::Level::Low, gpio::Speed::Medium);
-        let ccdr = rcc
-            .sys_ck(400.MHz())
-            .hclk(200.MHz())
-            .use_hse(8.MHz())
-            .bypass_hse()
-            .pclk1(100.MHz())
-            .pclk2(100.MHz())
-            .pclk3(100.MHz())
-            .pclk4(100.MHz())
-            .freeze(pwrcfg, &cx.device.SYSCFG);
-
-        // Initialize the systick interrupt & obtain the token to prove that we did
-        Mono::start(cx.core.SYST, ccdr.clocks.sys_ck().to_Hz());
-
-        // Those are used in the smoltcp of the stm32h7xx-hal , I am not fully sure what they are
-        // good for.
-        cx.core.SCB.enable_icache();
-        cx.core.DWT.enable_cycle_counter();
-
-        let gpioa = cx.device.GPIOA.split(ccdr.peripheral.GPIOA);
-        let gpiob = cx.device.GPIOB.split(ccdr.peripheral.GPIOB);
-        let gpioc = cx.device.GPIOC.split(ccdr.peripheral.GPIOC);
-        let gpiog = cx.device.GPIOG.split(ccdr.peripheral.GPIOG);
-
-        let link_led = gpiob.pb0.into_push_pull_output();
-        let mut led1 = gpiob.pb7.into_push_pull_output();
-        let mut led2 = gpiob.pb14.into_push_pull_output();
 
         // Criss-cross pattern looks cooler.
         led1.set_high();
         led2.set_low();
         let leds = BlinkyLeds { led1, led2 };
 
-        let rmii_ref_clk = gpioa.pa1.into_alternate::<11>();
+        static PACKETS: StaticCell<eth::PacketQueue<4, 4>> = StaticCell::new();
-        let rmii_mdio = gpioa.pa2.into_alternate::<11>();
+        // warning: Not all STM32H7 devices have the exact same pins here
-        let rmii_mdc = gpioc.pc1.into_alternate::<11>();
+        // for STM32H747XIH, replace p.PB13 for PG12
-        let rmii_crs_dv = gpioa.pa7.into_alternate::<11>();
+        let device = eth::Ethernet::new(
-        let rmii_rxd0 = gpioc.pc4.into_alternate::<11>();
+            PACKETS.init(eth::PacketQueue::<4, 4>::new()),
-        let rmii_rxd1 = gpioc.pc5.into_alternate::<11>();
+            periphs.ETH,
-        let rmii_tx_en = gpiog.pg11.into_alternate::<11>();
+            Irqs,
-        let rmii_txd0 = gpiog.pg13.into_alternate::<11>();
+            periphs.PA1,  // ref_clk
-        let rmii_txd1 = gpiob.pb13.into_alternate::<11>();
+            periphs.PA7,  // CRS_DV: Carrier Sense
-
+            periphs.PC4,  // RX_D0: Received Bit 0
-        let mac_addr = smoltcp::wire::EthernetAddress::from_bytes(&MAC_ADDRESS);
+            periphs.PC5,  // RX_D1: Received Bit 1
-
+            periphs.PG13, // TX_D0: Transmit Bit 0
-        /// Ethernet descriptor rings are a global singleton
+            periphs.PB13, // TX_D1: Transmit Bit 1
-        #[link_section = ".sram3.eth"]
+            periphs.PG11, // TX_EN: Transmit Enable
-        static mut DES_RING: MaybeUninit<ethernet::DesRing<4, 4>> = MaybeUninit::uninit();
+            MAC_ADDRESS,
-
+            periphs.ETH_SMA,
-        let (eth_dma, eth_mac) = ethernet::new(
+            periphs.PA2, // mdio
-            cx.device.ETHERNET_MAC,
+            periphs.PC1, // mdc
-            cx.device.ETHERNET_MTL,
-            cx.device.ETHERNET_DMA,
-            (
-                rmii_ref_clk,
-                rmii_mdio,
-                rmii_mdc,
-                rmii_crs_dv,
-                rmii_rxd0,
-                rmii_rxd1,
-                rmii_tx_en,
-                rmii_txd0,
-                rmii_txd1,
-            ),
-            // SAFETY: We do not move the returned DMA struct across thread boundaries, so this
-            // should be safe according to the docs.
-            unsafe { DES_RING.assume_init_mut() },
-            mac_addr,
-            ccdr.peripheral.ETH1MAC,
-            &ccdr.clocks,
-        );
-        // Initialise ethernet PHY...
-        let mut lan8742a = ethernet::phy::LAN8742A::new(eth_mac.set_phy_addr(0));
-        lan8742a.phy_reset();
-        lan8742a.phy_init();
-
-        unsafe {
-            ethernet::enable_interrupt();
-            cx.core.NVIC.set_priority(Interrupt::ETH, 196); // Mid prio
-            cortex_m::peripheral::NVIC::unmask(Interrupt::ETH);
-        }
-
-        // unsafe: mutable reference to static storage, we only do this once
-        let store = unsafe {
-            let store_ptr = STORE.as_mut_ptr();
-
-            // Initialise the socket_storage field. Using `write` instead of
-            // assignment via `=` to not call `drop` on the old, uninitialised
-            // value
-            addr_of_mut!((*store_ptr).socket_storage).write([SocketStorage::EMPTY; 8]);
-
-            // Now that all fields are initialised we can safely use
-            // assume_init_mut to return a mutable reference to STORE
-            STORE.assume_init_mut()
-        };
-
-        let (tc_source_tx, tc_source_rx) =
-            rtic_sync::make_channel!(PoolAddr, TC_SOURCE_CHANNEL_DEPTH);
-
-        let mut sockets = SocketSet::new(&mut store.socket_storage[..]);
-        let net = Net::new(&mut sockets, eth_dma, mac_addr.into());
-        let udp = UdpNet::new(&mut sockets, tc_source_tx);
-
-        let mut shared_pool: SharedPool = StaticHeaplessMemoryPool::new(true);
-        static_subpool!(
-            SUBPOOL_SMALL,
-            SUBPOOL_SMALL_SIZES,
-            SUBPOOL_SMALL_NUM_BLOCKS as usize,
-            SUBPOOL_SMALL_BLOCK_SIZE,
-            link_section = ".axisram"
-        );
-        static_subpool!(
-            SUBPOOL_MEDIUM,
-            SUBPOOL_MEDIUM_SIZES,
-            SUBPOOL_MEDIUM_NUM_BLOCKS as usize,
-            SUBPOOL_MEDIUM_BLOCK_SIZE,
-            link_section = ".axisram"
-        );
-        static_subpool!(
-            SUBPOOL_LARGE,
-            SUBPOOL_LARGE_SIZES,
-            SUBPOOL_LARGE_NUM_BLOCKS as usize,
-            SUBPOOL_LARGE_BLOCK_SIZE,
-            link_section = ".axisram"
         );
 
-        shared_pool
+        let config = embassy_net::Config::dhcpv4(embassy_net::DhcpConfig::default());
-            .grow(
+
-                SUBPOOL_SMALL.get_mut().unwrap(),
+        // Generate random seed.
-                SUBPOOL_SMALL_SIZES.get_mut().unwrap(),
+        let mut rng = rng::Rng::new(periphs.RNG, Irqs);
-                SUBPOOL_SMALL_NUM_BLOCKS,
+        let mut seed = [0; 8];
-                true,
+        rng.fill_bytes(&mut seed);
-            )
+        let seed = u64::from_le_bytes(seed);
-            .expect("growing heapless memory pool failed");
+
-        shared_pool
+        // Init network stack
-            .grow(
+        static RESOURCES: StaticCell<StackResources<3>> = StaticCell::new();
-                SUBPOOL_MEDIUM.get_mut().unwrap(),
+        let (stack, runner) =
-                SUBPOOL_MEDIUM_SIZES.get_mut().unwrap(),
+            embassy_net::new(device, config, RESOURCES.init(StackResources::new()), seed);
-                SUBPOOL_MEDIUM_NUM_BLOCKS,
-                true,
-            )
-            .expect("growing heapless memory pool failed");
-        shared_pool
-            .grow(
-                SUBPOOL_LARGE.get_mut().unwrap(),
-                SUBPOOL_LARGE_SIZES.get_mut().unwrap(),
-                SUBPOOL_LARGE_NUM_BLOCKS,
-                true,
-            )
-            .expect("growing heapless memory pool failed");
 
         // Set up global allocator. Use AXISRAM for the heap.
         #[link_section = ".axisram"]
         static mut HEAP_MEM: [MaybeUninit<u8>; HEAP_SIZE] = [MaybeUninit::uninit(); HEAP_SIZE];
         unsafe { HEAP.init(&raw mut HEAP_MEM as usize, HEAP_SIZE) }
 
-        eth_link_check::spawn().expect("eth link check failed");
+        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_handler::spawn().expect("spawning TC handler task failed");
-        tc_source_task::spawn().expect("spawning TC source task failed");
 
         (
             Shared {
-                blink_freq: MillisDurationU32::from_ticks(DEFAULT_BLINK_FREQ_MS),
+                blink_freq: Duration::from_millis(DEFAULT_BLINK_FREQ_MS as u64),
-                eth_link_up: false,
+                sequence_count: u14::new(0),
-                sockets,
-                shared_pool,
             },
             Local {
                 link_led,
                 leds,
-                net,
+                net_runner: runner,
-                udp,
+                net_stack: stack,
-                tc_source_rx,
+                tc_tx: tc_sender,
-                phy: lan8742a,
+                tc_rx: tc_receiver,
+                tm_tx: tm_sender,
+                tm_rx: tm_receiver,
             },
         )
     }
@@ -430,94 +223,159 @@ mod app {
             leds.led1.toggle();
             leds.led2.toggle();
             let current_blink_freq = cx.shared.blink_freq.lock(|current| *current);
-            Mono::delay(current_blink_freq).await;
+            Timer::after_millis(current_blink_freq.as_millis()).await;
         }
     }
 
-    /// This task checks for the network link.
+    #[task(local=[net_runner])]
-    #[task(local=[link_led, phy], shared=[eth_link_up])]
+    async fn net_lib_task(cx: net_lib_task::Context) {
-    async fn eth_link_check(mut cx: eth_link_check::Context) {
+        cx.local.net_runner.run().await;
-        let phy = cx.local.phy;
+    }
-        let link_led = cx.local.link_led;
+
+    #[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);
+            cx.local.net_stack.wait_link_up().await;
-            if phy.poll_link() {
+            cx.local.link_led.set_high();
-                if !link_was_up {
+            defmt::info!("Network link is up");
-                    link_led.set_high();
+
-                    cx.shared.eth_link_up.lock(|link_up| *link_up = true);
+            // Ensure DHCP configuration is up before trying connect
-                    defmt::info!("Ethernet link up");
+            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 {
+                match udp
-                link_led.set_low();
+                    .recv_from(&mut rx_buffer)
-                cx.shared.eth_link_up.lock(|link_up| *link_up = false);
+                    .with_timeout(Duration::from_millis(200))
-                defmt::info!("Ethernet link down");
+                    .await
-            }
+                {
-            Mono::delay(100.millis()).await;
+                    Ok(result) => match result {
-        }
+                        Ok((data, meta)) => {
-    }
+                            remote_endpoint = Some(meta.endpoint);
-
+                            defmt::debug!("UDP RX {}, Meta: {}", data, meta);
-    #[task(binds=ETH, local=[net], shared=[sockets])]
+                            cx.local.tc_tx.send(rx_buffer[0..data].to_vec()).await;
-    fn eth_isr(mut cx: eth_isr::Context) {
-        // SAFETY: We do not write the register mentioned inside the docs anywhere else.
-        unsafe {
-            ethernet::interrupt_handler();
-        }
-        // Check and process ETH frames and DHCP. UDP is checked in a different task.
-        cx.shared.sockets.lock(|sockets| {
-            cx.local.net.poll(sockets);
-            cx.local.net.poll_dhcp(sockets);
-        });
-    }
-
-    /// This task routes UDP packets.
-    #[task(local=[udp], shared=[sockets, shared_pool])]
-    async fn udp_task(mut cx: udp_task::Context) {
-        loop {
-            cx.shared.sockets.lock(|sockets| {
-                cx.shared.shared_pool.lock(|pool| {
-                    cx.local.udp.poll(sockets, pool);
-                })
-            });
-            Mono::delay(40.millis()).await;
-        }
-    }
-
-    /// This task handles all the incoming telecommands.
-    #[task(local=[read_buf: [u8; 1024] = [0; 1024], tc_source_rx], shared=[shared_pool])]
-    async fn tc_source_task(mut cx: tc_source_task::Context) {
-        loop {
-            let recv_result = cx.local.tc_source_rx.recv().await;
-            match recv_result {
-                Ok(pool_addr) => {
-                    cx.shared.shared_pool.lock(|pool| {
-                        match pool.read(&pool_addr, cx.local.read_buf.as_mut()) {
-                            Ok(packet_len) => {
-                                defmt::info!("received {} bytes in the TC source task", packet_len);
-                                match PusTcReader::new(&cx.local.read_buf[0..packet_len]) {
-                                    Ok((packet, _tc_len)) => {
-                                        // TODO: Handle packet here or dispatch to dedicated PUS
-                                        // handler? Dispatching could simplify some things and make
-                                        // the software more scalable..
-                                        defmt::info!("received PUS packet: {}", packet);
-                                    }
-                                    Err(e) => {
-                                        defmt::info!("invalid TC format, not a PUS packet: {}", e);
-                                    }
-                                }
-                                if let Err(e) = pool.delete(pool_addr) {
-                                    defmt::warn!("deleting TC data failed: {}", e);
-                                }
-                            }
-                            Err(e) => {
-                                defmt::warn!("TC packet read failed: {}", e);
-                            }
                         }
-                    });
+                        Err(e) => {
+                            defmt::warn!("udp receive error: {}", e);
+                            Timer::after_millis(100).await;
+                        }
+                    },
+                    Err(_e) => (),
                 }
-                Err(e) => {
+                if let Some(endpoint) = remote_endpoint {
-                    defmt::warn!("TC source reception error: {}", e);
+                    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 => {
+                                stm32h7::Response::Ok
+                            }
+                            stm32h7::Request::ChangeBlinkFrequency(duration) => {
+                                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
-            }
-        },
-
-    ]
-}

justfile

@@ -11,9 +11,17 @@ test:
   cargo nextest run --all-features
   cargo test --doc --all-features
 
-embedded:
+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
 

satrs-example/client/src/main.rs

@@ -1,7 +1,7 @@
 use anyhow::bail;
 use arbitrary_int::u11;
 use clap::Parser as _;
-use models::{Apid, MessageType, TcHeader, acs::mgm::request::HkRequest};
+use models::{Apid, MessageType, TcHeader, mgm::request::HkRequest};
 use satrs_example::config::{OBSW_SERVER_ADDR, SERVER_PORT};
 use spacepackets::{CcsdsPacketIdAndPsc, SpacePacketHeader};
 use std::{
@@ -136,7 +136,7 @@ fn main() -> anyhow::Result<()> {
                     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::acs::mgm::request::Request::Ping,
+                        models::mgm::request::Request::Ping,
                     );
                     let sent_tc_id = CcsdsPacketIdAndPsc::new_from_ccsds_packet(&request.sp_header);
                     log::info!(
@@ -151,8 +151,8 @@ fn main() -> anyhow::Result<()> {
                     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::acs::mgm::request::Request::Hk(HkRequest {
+                        models::mgm::request::Request::Hk(HkRequest {
-                            id: models::acs::mgm::request::HkId::Sensor,
+                            id: models::mgm::request::HkId::Sensor,
                             req_type: models::HkRequestType::OneShot,
                         }),
                     );
@@ -174,8 +174,8 @@ fn main() -> anyhow::Result<()> {
                     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::acs::mgm::request::Request::Mode(
+                        models::mgm::request::Request::Mode(
-                            models::acs::mgm::request::ModeRequest::SetMode(dev_mode),
+                            models::mgm::request::ModeRequest::SetMode(dev_mode),
                         ),
                     );
                     let sent_tc_id = CcsdsPacketIdAndPsc::new_from_ccsds_packet(&request.sp_header);
@@ -193,7 +193,7 @@ fn main() -> anyhow::Result<()> {
                     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::acs::mgm::request::Request::Ping,
+                        models::mgm::request::Request::Ping,
                     );
                     let sent_tc_id = CcsdsPacketIdAndPsc::new_from_ccsds_packet(&request.sp_header);
                     log::info!(
@@ -207,23 +207,21 @@ fn main() -> anyhow::Result<()> {
                 if let Some(mode) = mgm_assembly_args.mode {
                     let assembly_mode = match mode {
                         AssemblyModeSelect::NoModeKeeping => {
-                            models::acs::mgm_assembly::Mode::NoModeKeeping
+                            models::mgm_assembly::AssemblyMode::NoModeKeeping
                         }
                         AssemblyModeSelect::Off => {
-                            models::acs::mgm_assembly::Mode::Device(models::DeviceMode::Off)
+                            models::mgm_assembly::AssemblyMode::Device(models::DeviceMode::Off)
                         }
                         AssemblyModeSelect::Normal => {
-                            models::acs::mgm_assembly::Mode::Device(
+                            models::mgm_assembly::AssemblyMode::Device(models::DeviceMode::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::acs::mgm_assembly::request::Request::Mode(
+                        models::mgm_assembly::request::Request::Mode(
-                            models::acs::mgm_assembly::request::ModeRequest::SetMode(assembly_mode),
+                            models::mgm_assembly::request::ModeRequest::SetMode(assembly_mode),
                         ),
                     );
                     let sent_tc_id = CcsdsPacketIdAndPsc::new_from_ccsds_packet(&request.sp_header);
@@ -306,9 +304,8 @@ fn handle_raw_tm_packet(data: &[u8]) -> anyhow::Result<()> {
                 }
                 models::ComponentId::AcsSubsystem => todo!(),
                 models::ComponentId::AcsMgmAssembly => {
-                    let response = postcard::from_bytes::<
+                    let response =
-                        models::acs::mgm_assembly::response::Response,
+                        postcard::from_bytes::<models::mgm_assembly::response::Response>(remainder);
-                    >(remainder);
                     log::info!(
                         "Received response from MGM Assembly: {:?}",
                         response.unwrap()
@@ -316,12 +313,12 @@ fn handle_raw_tm_packet(data: &[u8]) -> anyhow::Result<()> {
                 }
                 models::ComponentId::AcsMgm0 => {
                     let response =
-                        postcard::from_bytes::<models::acs::mgm::response::Response>(remainder);
+                        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::acs::mgm::response::Response>(remainder);
+                        postcard::from_bytes::<models::mgm::response::Response>(remainder);
                     log::info!("Received response from MGM1: {:?}", response.unwrap());
                 }
                 models::ComponentId::EpsSubsystem => todo!(),

satrs-example/models/src/acs/ctrl.rs

@@ -1,28 +0,0 @@
-#[derive(serde::Serialize, serde::Deserialize, Debug, Clone, Copy, PartialEq, Eq)]
-pub enum Mode {
-    Passive,
-    Safe,
-    Idle,
-}
-
-pub mod request {
-    use super::Mode;
-
-    #[derive(Debug, Copy, Clone, PartialEq, Eq, serde::Serialize, serde::Deserialize)]
-    pub enum ModeRequest {
-        SetMode(Mode),
-        ReadMode,
-    }
-}
-
-pub mod response {
-    use super::Mode;
-
-    #[derive(Debug, Copy, Clone, PartialEq, Eq, serde::Serialize, serde::Deserialize)]
-    pub enum ModeReport {
-        /// Mode of the assembly.
-        Mode(super::Mode),
-        /// Children are in wrong mode after commanding.
-        WrongMode([Option<Mode>; 2]),
-    }
-}

satrs-example/models/src/acs/mgt.rs

@@ -1,27 +0,0 @@
-#[derive(serde::Serialize, serde::Deserialize, Debug, Clone, Copy, PartialEq, Eq)]
-pub enum Mode {
-    Off,
-    Normal,
-}
-
-pub mod request {
-    use super::*;
-
-    #[derive(Debug, Copy, Clone, PartialEq, Eq, serde::Serialize, serde::Deserialize)]
-    pub enum ModeRequest {
-        SetMode(Mode),
-        ReadMode,
-    }
-}
-
-pub mod response {
-    use super::*;
-
-    #[derive(Debug, Copy, Clone, PartialEq, Eq, serde::Serialize, serde::Deserialize)]
-    pub enum ModeReport {
-        /// Mode of the assembly.
-        Mode(super::Mode),
-        /// Children are in wrong mode after commanding.
-        WrongMode([Option<Mode>; 2]),
-    }
-}

satrs-example/models/src/acs/mod.rs

@@ -1,5 +0,0 @@
-pub mod ctrl;
-pub mod mgm;
-pub mod mgm_assembly;
-pub mod mgt;
-pub mod subsystem;

satrs-example/models/src/acs/subsystem.rs

@@ -1,15 +0,0 @@
-#[derive(serde::Serialize, serde::Deserialize, Debug, Clone, Copy, PartialEq, Eq)]
-pub enum Mode {
-    Off,
-    Safe,
-}
-
-impl Mode {
-    /// Each subsystem mode has a fallback mode to allow clean transitions.
-    pub const fn fallback_mode(&self) -> Self {
-        match self {
-            Mode::Off => Mode::Safe,
-            Mode::Safe => Mode::Safe,
-        }
-    }
-}

satrs-example/models/src/lib.rs

@@ -6,9 +6,10 @@ use spacepackets::{
     time::cds::{CdsTime, MIN_CDS_FIELD_LEN},
 };
 
-pub mod acs;
 pub mod ccsds;
 pub mod control;
+pub mod mgm;
+pub mod mgm_assembly;
 pub mod pcdu;
 
 #[derive(

satrs-example/models/src/mgm.rs

@@ -42,7 +42,7 @@ pub mod request {
 }
 
 #[derive(Default, Debug, Copy, Clone, serde::Serialize, serde::Deserialize)]
-pub struct SensorData {
+pub struct MgmData {
     pub valid: bool,
     pub x: f32,
     pub y: f32,
@@ -50,11 +50,11 @@ pub struct SensorData {
 }
 
 pub mod response {
-    use crate::{DeviceMode, Message, acs::mgm::SensorData};
+    use crate::{DeviceMode, Message, mgm::MgmData};
 
     #[derive(serde::Serialize, serde::Deserialize, Clone, Copy, Debug)]
     pub enum HkResponse {
-        MgmData(SensorData),
+        MgmData(MgmData),
     }
 
     #[derive(serde::Serialize, serde::Deserialize, Debug, Clone, Copy)]

satrs-example/models/src/mgm_assembly.rs

@@ -3,7 +3,7 @@ use core::str::FromStr;
 use crate::DeviceMode;
 
 #[derive(serde::Serialize, serde::Deserialize, Debug, Clone, Copy, PartialEq, Eq)]
-pub enum Mode {
+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),
@@ -11,22 +11,22 @@ pub enum Mode {
     NoModeKeeping,
 }
 
-impl FromStr for Mode {
+impl FromStr for AssemblyMode {
     type Err = ();
 
     fn from_str(s: &str) -> Result<Self, Self::Err> {
         match s.to_lowercase().as_str() {
-            "off" => Ok(Mode::Device(DeviceMode::Off)),
+            "off" => Ok(AssemblyMode::Device(DeviceMode::Off)),
-            "on" => Ok(Mode::Device(DeviceMode::On)),
+            "on" => Ok(AssemblyMode::Device(DeviceMode::On)),
-            "normal" => Ok(Mode::Device(DeviceMode::Normal)),
+            "normal" => Ok(AssemblyMode::Device(DeviceMode::Normal)),
-            "no_mode_keeping" => Ok(Mode::NoModeKeeping),
+            "no_mode_keeping" => Ok(AssemblyMode::NoModeKeeping),
             _ => Err(()),
         }
     }
 }
 
 pub mod request {
-    use crate::{HkRequestType, Message, acs::mgm_assembly::Mode};
+    use crate::{HkRequestType, Message, mgm_assembly::AssemblyMode};
 
     #[derive(Debug, PartialEq, Eq, Clone, Copy, serde::Serialize, serde::Deserialize)]
     pub enum HkId {
@@ -35,7 +35,7 @@ pub mod request {
 
     #[derive(Debug, Copy, Clone, PartialEq, Eq, serde::Serialize, serde::Deserialize)]
     pub enum ModeRequest {
-        SetMode(Mode),
+        SetMode(AssemblyMode),
         ReadMode,
     }
 
@@ -77,7 +77,7 @@ pub mod response {
     #[derive(Debug, Copy, Clone, PartialEq, Eq, serde::Serialize, serde::Deserialize)]
     pub enum ModeReport {
         /// Mode of the assembly.
-        Mode(super::Mode),
+        Mode(super::AssemblyMode),
         /// Timeout failure setting the children modes.
         SetModeTimeout([Option<DeviceMode>; 2]),
         /// Children are in wrong mode after commanding.

satrs-example/src/acs/mgm.rs

@@ -1,8 +1,8 @@
-use models::acs::mgm::SensorData;
+use models::mgm::MgmData;
-use models::acs::mgm::request::ModeRequest;
+use models::mgm::request::ModeRequest;
-use models::acs::mgm::response::ModeResponse;
+use models::mgm::response::ModeResponse;
 use models::pcdu::SwitchId;
-use models::{ComponentId, DeviceMode, HkRequestType, acs::mgm};
+use models::{ComponentId, DeviceMode, HkRequestType, mgm};
 use satrs::spacepackets::CcsdsPacketIdAndPsc;
 use satrs_example::{HkHelperSingleSet, ModeHelper, TimestampHelper, TmtcQueues};
 use satrs_minisim::acs::MgmRequestLis3Mdl;
@@ -153,7 +153,7 @@ pub struct MgmHandlerLis3Mdl {
     switch_helper: PowerSwitchHelper,
     tmtc_queues: TmtcQueues,
     pub spi_com: SpiCommunication,
-    shared_mgm_set: Arc<Mutex<SensorData>>,
+    shared_mgm_set: Arc<Mutex<MgmData>>,
     buffers: BufWrapper,
     stamp_helper: TimestampHelper,
     hk_helper: HkHelperSingleSet,
@@ -167,7 +167,7 @@ impl MgmHandlerLis3Mdl {
         tmtc_queues: TmtcQueues,
         switch_helper: PowerSwitchHelper,
         spi_com: SpiCommunication,
-        shared_mgm_set: Arc<Mutex<SensorData>>,
+        shared_mgm_set: Arc<Mutex<MgmData>>,
         mode_leaf_helper: ModeLeafHelper,
         mode_timeout: Duration,
     ) -> Self {
@@ -308,7 +308,7 @@ impl MgmHandlerLis3Mdl {
     pub fn handle_hk_request(
         &mut self,
         tc_id: Option<CcsdsPacketIdAndPsc>,
-        hk_request: &models::acs::mgm::request::HkRequest,
+        hk_request: &models::mgm::request::HkRequest,
     ) {
         match hk_request.req_type {
             HkRequestType::OneShot => {
@@ -462,8 +462,8 @@ mod tests {
     use arbitrary_int::u11;
     use models::{
         Apid, ComponentId, TcHeader,
-        acs::mgm::request::HkRequest,
         ccsds::{CcsdsTcPacketOwned, CcsdsTmPacketOwned},
+        mgm::request::HkRequest,
         pcdu::{SwitchRequest, SwitchState, SwitchStateBinary},
     };
     use satrs::{request::GenericMessage, spacepackets::SpacePacketHeader};
@@ -490,7 +490,7 @@ mod tests {
 
     pub fn create_request_tc(
         select: MgmSelect,
-        request: models::acs::mgm::request::Request,
+        request: models::mgm::request::Request,
     ) -> models::ccsds::CcsdsTcPacketOwned {
         models::ccsds::CcsdsTcPacketOwned::new_with_request(
             SpacePacketHeader::new_from_apid(u11::new(Apid::Acs as u16)),
@@ -533,7 +533,7 @@ mod tests {
                 SpiCommunication::Test(TestSpiInterface::default()),
                 shared_mgm_set,
                 mode_leaf_helper,
-                Duration::from_millis(100),
+                Duration::from_millis(200),
             );
             Self {
                 assembly_mode_request_tx,
@@ -601,10 +601,9 @@ mod tests {
 
         assert_eq!(tm_packet.tm_header.sender_id, ComponentId::AcsMgm0);
 
-        let response =
+        let response = postcard::from_bytes::<models::mgm::response::Response>(&tm_packet.payload)
-            postcard::from_bytes::<models::acs::mgm::response::Response>(&tm_packet.payload)
+            .expect("failed to deserialize mode reply");
-                .expect("failed to deserialize mode reply");
+        matches!(response, models::mgm::response::Response::Ok);
-        matches!(response, models::acs::mgm::response::Response::Ok);
         // The device should have been polled once.
         assert_eq!(testbench.test_spi_interface().call_count, 1);
         let mgm_set = *testbench.handler.shared_mgm_set.lock().unwrap();
@@ -690,10 +689,9 @@ mod tests {
 
         assert_eq!(tm_packet.tm_header.sender_id, ComponentId::AcsMgm0);
 
-        let response =
+        let response = postcard::from_bytes::<models::mgm::response::Response>(&tm_packet.payload)
-            postcard::from_bytes::<models::acs::mgm::response::Response>(&tm_packet.payload)
+            .expect("failed to deserialize mode reply");
-                .expect("failed to deserialize mode reply");
+        if let models::mgm::response::Response::Hk(mgm::response::HkResponse::MgmData(data)) =
-        if let models::acs::mgm::response::Response::Hk(mgm::response::HkResponse::MgmData(data)) =
             response
         {
             assert_eq!(data.valid, false);
@@ -742,18 +740,17 @@ mod tests {
 
         assert_eq!(mode_tm.tm_header.sender_id, ComponentId::AcsMgm0);
 
-        let response =
+        let response = postcard::from_bytes::<models::mgm::response::Response>(&mode_tm.payload)
-            postcard::from_bytes::<models::acs::mgm::response::Response>(&mode_tm.payload)
+            .expect("failed to deserialize mode reply");
-                .expect("failed to deserialize mode reply");
+        matches!(response, models::mgm::response::Response::Ok);
-        matches!(response, models::acs::mgm::response::Response::Ok);
 
         let hk_tm = testbench.tm_rx.try_recv().expect("no hk reply generated");
 
         assert_eq!(hk_tm.tm_header.sender_id, ComponentId::AcsMgm0);
 
-        let response = postcard::from_bytes::<models::acs::mgm::response::Response>(&hk_tm.payload)
+        let response = postcard::from_bytes::<models::mgm::response::Response>(&hk_tm.payload)
             .expect("failed to deserialize mode reply");
-        if let models::acs::mgm::response::Response::Hk(mgm::response::HkResponse::MgmData(data)) =
+        if let models::mgm::response::Response::Hk(mgm::response::HkResponse::MgmData(data)) =
             response
         {
             // Set is now valid.

satrs-example/src/acs/mgm_assembly.rs

@@ -2,7 +2,7 @@ use std::{sync::mpsc, time::Duration};
 
 use models::{
     ComponentId, DeviceMode,
-    acs::mgm_assembly::{Mode, request, response},
+    mgm_assembly::{AssemblyMode, request, response},
 };
 use satrs::spacepackets::CcsdsPacketIdAndPsc;
 use satrs_example::{ModeHelper, TmtcQueues};
@@ -16,8 +16,8 @@ pub struct ParentQueueHelper {
 
 /// Helper component for communication with a parent component, which is usually as assembly.
 pub struct ChildrenQueueHelper {
-    pub request_tx_queues: [mpsc::SyncSender<models::acs::mgm::request::ModeRequest>; 2],
+    pub request_tx_queues: [mpsc::SyncSender<models::mgm::request::ModeRequest>; 2],
-    pub report_rx_queues: [mpsc::Receiver<models::acs::mgm::response::ModeResponse>; 2],
+    pub report_rx_queues: [mpsc::Receiver<models::mgm::response::ModeResponse>; 2],
 }
 
 #[derive(Debug, Default, Clone, Copy, PartialEq, Eq)]
@@ -35,7 +35,7 @@ pub struct MgmInfo {
 
 /// MGM assembly component.
 pub struct Assembly {
-    mode_helper: ModeHelper<Mode, TransitionState>,
+    mode_helper: ModeHelper<AssemblyMode, TransitionState>,
     /// This boolean is used for the distinction between transitions commanded by the parent
     /// or by ground, and transitions which were commanded autonomously as part of children
     /// mode keeping.
@@ -56,7 +56,7 @@ impl Assembly {
         mode_timeout: Duration,
     ) -> Self {
         Self {
-            mode_helper: ModeHelper::new(Mode::NoModeKeeping, mode_timeout),
+            mode_helper: ModeHelper::new(AssemblyMode::NoModeKeeping, mode_timeout),
             mode_keeping_transition: false,
             tmtc_queues,
             mgm_modes: [MgmInfo::default(); 2],
@@ -80,14 +80,14 @@ impl Assembly {
             match self.tmtc_queues.tc_rx.try_recv() {
                 Ok(packet) => {
                     let tc_id = CcsdsPacketIdAndPsc::new_from_ccsds_packet(&packet.sp_header);
-                    match postcard::from_bytes::<models::acs::mgm_assembly::request::Request>(
+                    match postcard::from_bytes::<models::mgm_assembly::request::Request>(
                         &packet.payload,
                     ) {
                         Ok(request) => match request {
-                            models::acs::mgm_assembly::request::Request::Ping => {
+                            models::mgm_assembly::request::Request::Ping => {
                                 self.send_telemetry(Some(tc_id), response::Response::Ok)
                             }
-                            models::acs::mgm_assembly::request::Request::Mode(request) => {
+                            models::mgm_assembly::request::Request::Mode(request) => {
                                 match request {
                                     request::ModeRequest::SetMode(assembly_mode) => {
                                         self.start_transition(false, assembly_mode, Some(tc_id))
@@ -117,7 +117,7 @@ impl Assembly {
     pub fn send_telemetry(
         &self,
         tc_id: Option<CcsdsPacketIdAndPsc>,
-        response: models::acs::mgm_assembly::response::Response,
+        response: models::mgm_assembly::response::Response,
     ) {
         match pack_ccsds_tm_packet_for_now(Self::ID, tc_id, &response) {
             Ok(packet) => {
@@ -136,11 +136,11 @@ impl Assembly {
             match self.parent_queues.request_rx.try_recv() {
                 Ok(request) => match request {
                     request::ModeRequest::SetMode(assembly_mode) => match assembly_mode {
-                        Mode::Device(_device_mode) => {
+                        AssemblyMode::Device(_device_mode) => {
                             self.start_transition(false, assembly_mode, None);
                         }
-                        Mode::NoModeKeeping => {
+                        AssemblyMode::NoModeKeeping => {
-                            self.mode_helper.current = Mode::NoModeKeeping;
+                            self.mode_helper.current = AssemblyMode::NoModeKeeping;
                         }
                     },
                     request::ModeRequest::ReadMode => self
@@ -165,12 +165,12 @@ impl Assembly {
             loop {
                 match rx.try_recv() {
                     Ok(report) => match report {
-                        models::acs::mgm::response::ModeResponse::Mode(device_mode) => {
+                        models::mgm::response::ModeResponse::Mode(device_mode) => {
                             self.mgm_modes[idx].mode = Some(device_mode);
                             self.mgm_modes[idx].reply_received = true;
                             mode_report_received = true;
                         }
-                        models::acs::mgm::response::ModeResponse::SetModeTimeout => {
+                        models::mgm::response::ModeResponse::SetModeTimeout => {
                             // Ignore, handle this with our own timeout.
                             log::warn!("MGM {} mode timeout", idx);
                         }
@@ -191,7 +191,7 @@ impl Assembly {
         // Transition is active, check for completion.
         if self.mode_helper.transition_active()
             && self.mgm_modes.iter().all(|i| i.reply_received)
-            && let Mode::Device(device_mode) = self.mode_helper.target.unwrap()
+            && let AssemblyMode::Device(device_mode) = self.mode_helper.target.unwrap()
         {
             // If at least one child reached the correct mode, we are done.
             if self.mgm_modes.iter().any(|i| i.mode == Some(device_mode)) {
@@ -207,7 +207,7 @@ impl Assembly {
         }
 
         // Mode keeping active: Check children modes.
-        if let Mode::Device(device_mode) = self.mode_helper.current
+        if let AssemblyMode::Device(device_mode) = self.mode_helper.current
             && self
                 .mgm_modes
                 .iter()
@@ -226,8 +226,8 @@ impl Assembly {
         }
         let target = self.mode_helper.target.unwrap();
         let device_mode = match target {
-            Mode::Device(device_mode) => device_mode,
+            AssemblyMode::Device(device_mode) => device_mode,
-            Mode::NoModeKeeping => {
+            AssemblyMode::NoModeKeeping => {
                 self.handle_mode_reached(true);
                 return;
             }
@@ -275,7 +275,7 @@ impl Assembly {
 
     pub fn command_children(&self, mode: DeviceMode) {
         for tx in &self.children_queues.request_tx_queues {
-            tx.send(models::acs::mgm::request::ModeRequest::SetMode(mode))
+            tx.send(models::mgm::request::ModeRequest::SetMode(mode))
                 .unwrap();
         }
     }
@@ -283,7 +283,7 @@ impl Assembly {
     pub fn start_transition(
         &mut self,
         mode_keeping: bool,
-        target: Mode,
+        target: AssemblyMode,
         tc_id: Option<CcsdsPacketIdAndPsc>,
     ) {
         self.mode_keeping_transition = mode_keeping;
@@ -304,7 +304,7 @@ impl Assembly {
     }
 
     #[inline]
-    pub fn mode(&self) -> Mode {
+    pub fn mode(&self) -> AssemblyMode {
         self.mode_helper.current
     }
 
@@ -322,8 +322,8 @@ mod tests {
     use arbitrary_int::u11;
     use models::{
         Apid, Message, MessageType, TcHeader,
-        acs::mgm_assembly,
         ccsds::{CcsdsTcPacketOwned, CcsdsTmPacketOwned},
+        mgm_assembly,
     };
     use satrs::spacepackets::SpacePacketHeader;
 
@@ -332,8 +332,8 @@ mod tests {
     pub struct Testbench {
         subsystem_req_tx: mpsc::SyncSender<request::ModeRequest>,
         subsystem_report_rx: mpsc::Receiver<response::ModeReport>,
-        mgm_request_rx: [mpsc::Receiver<models::acs::mgm::request::ModeRequest>; 2],
+        mgm_request_rx: [mpsc::Receiver<models::mgm::request::ModeRequest>; 2],
-        mgm_report_tx: [mpsc::SyncSender<models::acs::mgm::response::ModeResponse>; 2],
+        mgm_report_tx: [mpsc::SyncSender<models::mgm::response::ModeResponse>; 2],
         tc_tx: mpsc::SyncSender<CcsdsTcPacketOwned>,
         tm_rx: mpsc::Receiver<CcsdsTmPacketOwned>,
         assembly: Assembly,
@@ -396,7 +396,7 @@ mod tests {
     }
 
     pub fn create_request_tc(
-        request: models::acs::mgm_assembly::request::Request,
+        request: models::mgm_assembly::request::Request,
     ) -> models::ccsds::CcsdsTcPacketOwned {
         models::ccsds::CcsdsTcPacketOwned::new_with_request(
             SpacePacketHeader::new_from_apid(u11::new(Apid::Acs as u16)),
@@ -411,7 +411,7 @@ mod tests {
         tb.assert_all_queues_empty();
         tb.assembly.periodic_operation();
         tb.assert_all_queues_empty();
-        assert_eq!(tb.assembly.mode(), Mode::NoModeKeeping);
+        assert_eq!(tb.assembly.mode(), AssemblyMode::NoModeKeeping);
     }
 
     #[test]
@@ -419,7 +419,7 @@ mod tests {
         let mut tb = Testbench::new();
         tb.tc_tx
             .send(create_request_tc(mgm_assembly::request::Request::Mode(
-                request::ModeRequest::SetMode(Mode::Device(DeviceMode::Normal)),
+                request::ModeRequest::SetMode(AssemblyMode::Device(DeviceMode::Normal)),
             )))
             .unwrap();
         tb.assembly.periodic_operation();
@@ -429,13 +429,13 @@ mod tests {
             let request = rx.try_recv().unwrap();
             assert_eq!(
                 request,
-                models::acs::mgm::request::ModeRequest::SetMode(DeviceMode::Normal)
+                models::mgm::request::ModeRequest::SetMode(DeviceMode::Normal)
             );
         }
 
         // Confirm the mode is set.
         for tx in tb.mgm_report_tx.iter() {
-            tx.send(models::acs::mgm::response::ModeResponse::Mode(
+            tx.send(models::mgm::response::ModeResponse::Mode(
                 DeviceMode::Normal,
             ))
             .unwrap();
@@ -443,7 +443,7 @@ mod tests {
 
         tb.assembly.periodic_operation();
         assert!(!tb.assembly.mode_transition_active());
-        assert_eq!(tb.assembly.mode(), Mode::Device(DeviceMode::Normal));
+        assert_eq!(tb.assembly.mode(), AssemblyMode::Device(DeviceMode::Normal));
 
         let response = tb.tm_rx.try_recv().unwrap();
         assert_eq!(response.tm_header.sender_id, Assembly::ID);
@@ -456,7 +456,7 @@ mod tests {
     fn test_parent_commanded_transition() {
         let mut tb = Testbench::new();
         tb.subsystem_req_tx
-            .send(request::ModeRequest::SetMode(Mode::Device(
+            .send(request::ModeRequest::SetMode(AssemblyMode::Device(
                 DeviceMode::Normal,
             )))
             .unwrap();
@@ -467,13 +467,13 @@ mod tests {
             let request = rx.try_recv().unwrap();
             assert_eq!(
                 request,
-                models::acs::mgm::request::ModeRequest::SetMode(DeviceMode::Normal)
+                models::mgm::request::ModeRequest::SetMode(DeviceMode::Normal)
             );
         }
 
         // Confirm the mode is set.
         for tx in tb.mgm_report_tx.iter() {
-            tx.send(models::acs::mgm::response::ModeResponse::Mode(
+            tx.send(models::mgm::response::ModeResponse::Mode(
                 DeviceMode::Normal,
             ))
             .unwrap();
@@ -481,12 +481,12 @@ mod tests {
 
         tb.assembly.periodic_operation();
         assert!(!tb.assembly.mode_transition_active());
-        assert_eq!(tb.assembly.mode(), Mode::Device(DeviceMode::Normal));
+        assert_eq!(tb.assembly.mode(), AssemblyMode::Device(DeviceMode::Normal));
 
         let report = tb.subsystem_report_rx.try_recv().unwrap();
         assert_eq!(
             report,
-            response::ModeReport::Mode(Mode::Device(DeviceMode::Normal))
+            response::ModeReport::Mode(AssemblyMode::Device(DeviceMode::Normal))
         );
     }
 
@@ -494,7 +494,7 @@ mod tests {
     fn test_one_mgm_is_sufficient() {
         let mut tb = Testbench::new();
         tb.subsystem_req_tx
-            .send(request::ModeRequest::SetMode(Mode::Device(
+            .send(request::ModeRequest::SetMode(AssemblyMode::Device(
                 DeviceMode::Normal,
             )))
             .unwrap();
@@ -505,30 +505,28 @@ mod tests {
             let request = rx.try_recv().unwrap();
             assert_eq!(
                 request,
-                models::acs::mgm::request::ModeRequest::SetMode(DeviceMode::Normal)
+                models::mgm::request::ModeRequest::SetMode(DeviceMode::Normal)
             );
         }
 
         // One device is sufficient.
         tb.mgm_report_tx[0]
-            .send(models::acs::mgm::response::ModeResponse::Mode(
+            .send(models::mgm::response::ModeResponse::Mode(
                 DeviceMode::Normal,
             ))
             .unwrap();
         tb.mgm_report_tx[1]
-            .send(models::acs::mgm::response::ModeResponse::Mode(
+            .send(models::mgm::response::ModeResponse::Mode(DeviceMode::Off))
-                DeviceMode::Off,
-            ))
             .unwrap();
 
         tb.assembly.periodic_operation();
         assert!(!tb.assembly.mode_transition_active());
-        assert_eq!(tb.assembly.mode(), Mode::Device(DeviceMode::Normal));
+        assert_eq!(tb.assembly.mode(), AssemblyMode::Device(DeviceMode::Normal));
 
         let report = tb.subsystem_report_rx.try_recv().unwrap();
         assert_eq!(
             report,
-            response::ModeReport::Mode(Mode::Device(DeviceMode::Normal))
+            response::ModeReport::Mode(AssemblyMode::Device(DeviceMode::Normal))
         );
     }
 
@@ -536,7 +534,7 @@ mod tests {
     fn test_mode_commanding_fails() {
         let mut tb = Testbench::new();
         tb.subsystem_req_tx
-            .send(request::ModeRequest::SetMode(Mode::Device(
+            .send(request::ModeRequest::SetMode(AssemblyMode::Device(
                 DeviceMode::Normal,
             )))
             .unwrap();
@@ -547,21 +545,19 @@ mod tests {
             let request = rx.try_recv().unwrap();
             assert_eq!(
                 request,
-                models::acs::mgm::request::ModeRequest::SetMode(DeviceMode::Normal)
+                models::mgm::request::ModeRequest::SetMode(DeviceMode::Normal)
             );
         }
 
         // Confirm the mode is set.
         for tx in tb.mgm_report_tx.iter() {
-            tx.send(models::acs::mgm::response::ModeResponse::Mode(
+            tx.send(models::mgm::response::ModeResponse::Mode(DeviceMode::Off))
-                DeviceMode::Off,
+                .unwrap();
-            ))
-            .unwrap();
         }
 
         tb.assembly.periodic_operation();
         assert!(!tb.assembly.mode_transition_active());
-        assert_eq!(tb.assembly.mode(), Mode::NoModeKeeping);
+        assert_eq!(tb.assembly.mode(), AssemblyMode::NoModeKeeping);
 
         let report = tb.subsystem_report_rx.try_recv().unwrap();
         assert_eq!(
@@ -574,7 +570,7 @@ mod tests {
     fn test_mode_keeping_fails() {
         let mut tb = Testbench::new();
         tb.subsystem_req_tx
-            .send(request::ModeRequest::SetMode(Mode::Device(
+            .send(request::ModeRequest::SetMode(AssemblyMode::Device(
                 DeviceMode::Normal,
             )))
             .unwrap();
@@ -585,13 +581,13 @@ mod tests {
             let request = rx.try_recv().unwrap();
             assert_eq!(
                 request,
-                models::acs::mgm::request::ModeRequest::SetMode(DeviceMode::Normal)
+                models::mgm::request::ModeRequest::SetMode(DeviceMode::Normal)
             );
         }
 
         // Confirm the mode is set.
         for tx in tb.mgm_report_tx.iter() {
-            tx.send(models::acs::mgm::response::ModeResponse::Mode(
+            tx.send(models::mgm::response::ModeResponse::Mode(
                 DeviceMode::Normal,
             ))
             .unwrap();
@@ -599,19 +595,17 @@ mod tests {
 
         tb.assembly.periodic_operation();
         assert!(!tb.assembly.mode_transition_active());
-        assert_eq!(tb.assembly.mode(), Mode::Device(DeviceMode::Normal));
+        assert_eq!(tb.assembly.mode(), AssemblyMode::Device(DeviceMode::Normal));
 
         let report = tb.subsystem_report_rx.try_recv().unwrap();
         assert_eq!(
             report,
-            response::ModeReport::Mode(Mode::Device(DeviceMode::Normal))
+            response::ModeReport::Mode(AssemblyMode::Device(DeviceMode::Normal))
         );
 
         for tx in tb.mgm_report_tx.iter() {
-            tx.send(models::acs::mgm::response::ModeResponse::Mode(
+            tx.send(models::mgm::response::ModeResponse::Mode(DeviceMode::Off))
-                DeviceMode::Off,
+                .unwrap();
-            ))
-            .unwrap();
         }
         // This should start mode keeping.
         tb.assembly.periodic_operation();
@@ -621,16 +615,14 @@ mod tests {
             let request = rx.try_recv().unwrap();
             assert_eq!(
                 request,
-                models::acs::mgm::request::ModeRequest::SetMode(DeviceMode::Normal)
+                models::mgm::request::ModeRequest::SetMode(DeviceMode::Normal)
             );
         }
 
         // Let the mode keeping fail.
         for tx in tb.mgm_report_tx.iter() {
-            tx.send(models::acs::mgm::response::ModeResponse::Mode(
+            tx.send(models::mgm::response::ModeResponse::Mode(DeviceMode::Off))
-                DeviceMode::Off,
+                .unwrap();
-            ))
-            .unwrap();
         }
         tb.assembly.periodic_operation();
         let report = tb.subsystem_report_rx.try_recv().unwrap();

satrs-example/src/acs/mgt.rs

@@ -1 +0,0 @@
-

satrs-example/src/acs/mod.rs

@@ -1,5 +1,6 @@
 pub mod ctrl;
+
 pub mod mgm;
 pub mod mgm_assembly;
-pub mod mgt;
+
 pub mod subsystem;

satrs-example/src/acs/subsystem.rs

@@ -1,116 +1 @@
-use std::sync::mpsc::SyncSender;
+// TODO: Write subsystem
-
-use models::ComponentId;
-
-#[derive(Debug)]
-pub struct TransitionInfo {
-    check_mode_reached: bool,
-}
-
-#[derive(Debug)]
-pub struct ChildModes {
-    mgm_assembly_mode: models::acs::mgm_assembly::Mode,
-    mgt_mode: models::acs::mgt::Mode,
-    controller_mode: models::acs::ctrl::Mode,
-}
-
-#[derive(Debug)]
-pub struct TransitionCommands {
-    mgm_assembly_mode: Option<(models::acs::mgm_assembly::Mode, TransitionInfo)>,
-    mgt_mode: Option<(models::acs::mgt::Mode, TransitionInfo)>,
-    controller_mode: Option<(models::acs::ctrl::Mode, TransitionInfo)>,
-}
-
-const OFF_SEQUENCE: [TransitionCommands; 2] = [
-    TransitionCommands {
-        mgm_assembly_mode: None,
-        mgt_mode: None,
-        controller_mode: Some((
-            models::acs::ctrl::Mode::Passive,
-            TransitionInfo {
-                check_mode_reached: true,
-            },
-        )),
-    },
-    TransitionCommands {
-        mgm_assembly_mode: Some((
-            models::acs::mgm_assembly::Mode::Device(models::DeviceMode::Off),
-            TransitionInfo {
-                check_mode_reached: false,
-            },
-        )),
-        mgt_mode: Some((
-            models::acs::mgt::Mode::Off,
-            TransitionInfo {
-                check_mode_reached: false,
-            },
-        )),
-        controller_mode: None,
-    },
-];
-
-const SAFE_SEQUENCE: [TransitionCommands; 2] = [
-    TransitionCommands {
-        mgm_assembly_mode: Some((
-            models::acs::mgm_assembly::Mode::Device(models::DeviceMode::Normal),
-            TransitionInfo {
-                check_mode_reached: false,
-            },
-        )),
-        mgt_mode: Some((
-            models::acs::mgt::Mode::Normal,
-            TransitionInfo {
-                check_mode_reached: false,
-            },
-        )),
-        controller_mode: None,
-    },
-    TransitionCommands {
-        mgm_assembly_mode: None,
-        mgt_mode: None,
-        controller_mode: Some((
-            models::acs::ctrl::Mode::Safe,
-            TransitionInfo {
-                check_mode_reached: false,
-            },
-        )),
-    },
-];
-
-#[derive(Debug)]
-pub struct ModeRequestSenders {
-    mode_request_ctrl: SyncSender<models::acs::ctrl::request::ModeRequest>,
-    mode_request_assy: SyncSender<models::acs::mgm_assembly::request::ModeRequest>,
-    mode_request_mgt: SyncSender<models::acs::mgt::request::ModeRequest>,
-}
-
-#[derive(Debug)]
-pub struct ModeReportReceivers {
-    mode_response_ctrl: SyncSender<models::acs::ctrl::response::ModeReport>,
-    mode_response_assy: SyncSender<models::acs::mgm_assembly::response::ModeReport>,
-    mode_response_mgt: SyncSender<models::acs::mgt::response::ModeReport>,
-}
-
-#[derive(Debug)]
-pub struct Subsystem {
-    current_mode: models::acs::subsystem::Mode,
-    current_child_modes: Option<ChildModes>,
-    mode_request_senders: ModeRequestSenders,
-    mode_report_receivers: ModeReportReceivers,
-}
-
-impl Subsystem {
-    pub const ID: ComponentId = ComponentId::AcsSubsystem;
-
-    pub fn new(
-        mode_request_senders: ModeRequestSenders,
-        mode_report_receivers: ModeReportReceivers,
-    ) -> Self {
-        Self {
-            current_mode: models::acs::subsystem::Mode::Off,
-            current_child_modes: None,
-            mode_request_senders,
-            mode_report_receivers,
-        }
-    }
-}