Compare commits
2 Commits
| Author | SHA1 | Date | |
|---|---|---|---|
 Robin Mueller
|
5a2a070c48 | ||
|
Robin Mueller
|
a0382a2f27 |
+97
-142
@@ -13,9 +13,9 @@ dependencies = [
|
||||
|
||||
[[package]]
|
||||
name = "aligned"
|
||||
version = "0.4.3"
|
||||
version = "0.4.2"
|
||||
source = "registry+https://github.com/rust-lang/crates.io-index"
|
||||
checksum = "ee4508988c62edf04abd8d92897fca0c2995d907ce1dfeaf369dac3716a40685"
|
||||
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|
||||
dependencies = [
|
||||
"as-slice",
|
||||
]
|
||||
@@ -90,7 +90,7 @@ dependencies = [
|
||||
"arbitrary-int 1.3.0",
|
||||
"proc-macro2",
|
||||
"quote",
|
||||
"syn 2.0.108",
|
||||
"syn",
|
||||
]
|
||||
|
||||
[[package]]
|
||||
@@ -202,7 +202,7 @@ checksum = "e37549a379a9e0e6e576fd208ee60394ccb8be963889eebba3ffe0980364f472"
|
||||
dependencies = [
|
||||
"proc-macro2",
|
||||
"quote",
|
||||
"syn 2.0.108",
|
||||
"syn",
|
||||
]
|
||||
|
||||
[[package]]
|
||||
@@ -255,7 +255,7 @@ dependencies = [
|
||||
"ident_case",
|
||||
"proc-macro2",
|
||||
"quote",
|
||||
"syn 2.0.108",
|
||||
"syn",
|
||||
]
|
||||
|
||||
[[package]]
|
||||
@@ -266,7 +266,7 @@ checksum = "d38308df82d1080de0afee5d069fa14b0326a88c14f15c5ccda35b4a6c414c81"
|
||||
dependencies = [
|
||||
"darling_core",
|
||||
"quote",
|
||||
"syn 2.0.108",
|
||||
"syn",
|
||||
]
|
||||
|
||||
[[package]]
|
||||
@@ -298,7 +298,7 @@ dependencies = [
|
||||
"proc-macro-error2",
|
||||
"proc-macro2",
|
||||
"quote",
|
||||
"syn 2.0.108",
|
||||
"syn",
|
||||
]
|
||||
|
||||
[[package]]
|
||||
@@ -322,24 +322,25 @@ dependencies = [
|
||||
|
||||
[[package]]
|
||||
name = "defmt-test"
|
||||
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|
||||
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|
||||
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||||
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||||
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|
||||
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|
||||
"cortex-m-rt",
|
||||
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|
||||
"defmt 1.0.1",
|
||||
"defmt-test-macros",
|
||||
"semihosting",
|
||||
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|
||||
|
||||
[[package]]
|
||||
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|
||||
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|
||||
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|
||||
source = "registry+https://github.com/rust-lang/crates.io-index"
|
||||
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||||
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|
||||
dependencies = [
|
||||
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|
||||
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|
||||
"syn 2.0.108",
|
||||
"syn",
|
||||
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|
||||
|
||||
[[package]]
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||||
@@ -350,7 +351,7 @@ checksum = "6178a82cf56c836a3ba61a7935cdb1c49bfaa6fa4327cd5bf554a503087de26b"
|
||||
dependencies = [
|
||||
"proc-macro2",
|
||||
"quote",
|
||||
"syn 2.0.108",
|
||||
"syn",
|
||||
]
|
||||
|
||||
[[package]]
|
||||
@@ -364,15 +365,14 @@ dependencies = [
|
||||
|
||||
[[package]]
|
||||
name = "embassy-embedded-hal"
|
||||
version = "0.6.0"
|
||||
version = "0.5.0"
|
||||
source = "registry+https://github.com/rust-lang/crates.io-index"
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||||
checksum = "b0641612053b2f34fc250bb63f6630ae75de46e02ade7f457268447081d709ce"
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||||
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||||
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||||
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||||
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||||
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||||
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||||
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||||
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|
||||
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||||
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|
||||
"embedded-hal-async",
|
||||
@@ -381,12 +381,6 @@ dependencies = [
|
||||
"nb 1.1.0",
|
||||
]
|
||||
|
||||
[[package]]
|
||||
name = "embassy-executor-timer-queue"
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||||
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|
||||
source = "registry+https://github.com/rust-lang/crates.io-index"
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||||
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|
||||
|
||||
[[package]]
|
||||
name = "embassy-futures"
|
||||
version = "0.1.2"
|
||||
@@ -395,18 +389,9 @@ checksum = "dc2d050bdc5c21e0862a89256ed8029ae6c290a93aecefc73084b3002cdebb01"
|
||||
|
||||
[[package]]
|
||||
name = "embassy-hal-internal"
|
||||
version = "0.4.0"
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||||
version = "0.3.0"
|
||||
source = "registry+https://github.com/rust-lang/crates.io-index"
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||||
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|
||||
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|
||||
"num-traits",
|
||||
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|
||||
|
||||
[[package]]
|
||||
name = "embassy-hal-internal"
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||||
version = "0.5.0"
|
||||
source = "registry+https://github.com/rust-lang/crates.io-index"
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||||
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|
||||
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|
||||
dependencies = [
|
||||
"cortex-m",
|
||||
"critical-section",
|
||||
@@ -425,9 +410,9 @@ dependencies = [
|
||||
|
||||
[[package]]
|
||||
name = "embassy-stm32"
|
||||
version = "0.6.0"
|
||||
version = "0.4.0"
|
||||
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||||
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||||
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|
||||
dependencies = [
|
||||
"aligned",
|
||||
"bit_field",
|
||||
@@ -441,12 +426,10 @@ dependencies = [
|
||||
"document-features",
|
||||
"embassy-embedded-hal",
|
||||
"embassy-futures",
|
||||
"embassy-hal-internal 0.5.0",
|
||||
"embassy-hal-internal",
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||||
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|
||||
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|
||||
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|
||||
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|
||||
"embassy-time-queue-utils",
|
||||
"embassy-usb-driver",
|
||||
"embassy-usb-synopsys-otg",
|
||||
"embedded-can",
|
||||
@@ -454,54 +437,50 @@ dependencies = [
|
||||
"embedded-hal 1.0.0",
|
||||
"embedded-hal-async",
|
||||
"embedded-hal-nb",
|
||||
"embedded-io 0.7.1",
|
||||
"embedded-io-async 0.7.0",
|
||||
"embedded-io",
|
||||
"embedded-io-async",
|
||||
"embedded-storage",
|
||||
"embedded-storage-async",
|
||||
"futures-util",
|
||||
"heapless 0.9.1",
|
||||
"nb 1.1.0",
|
||||
"proc-macro2",
|
||||
"quote",
|
||||
"rand_core 0.6.4",
|
||||
"rand_core 0.9.3",
|
||||
"regex",
|
||||
"sdio-host",
|
||||
"static_assertions",
|
||||
"stm32-fmc",
|
||||
"stm32-metapac",
|
||||
"trait-set",
|
||||
"vcell",
|
||||
"volatile-register",
|
||||
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|
||||
|
||||
[[package]]
|
||||
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|
||||
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|
||||
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|
||||
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||||
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||||
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|
||||
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|
||||
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|
||||
"defmt 1.0.1",
|
||||
"embedded-io-async 0.7.0",
|
||||
"embedded-io-async",
|
||||
"futures-core",
|
||||
"futures-sink",
|
||||
"heapless 0.9.1",
|
||||
"heapless 0.8.0",
|
||||
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|
||||
|
||||
[[package]]
|
||||
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|
||||
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|
||||
version = "0.5.0"
|
||||
source = "registry+https://github.com/rust-lang/crates.io-index"
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||||
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||||
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||||
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||||
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||||
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||||
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||||
"embedded-hal-async",
|
||||
@@ -510,23 +489,13 @@ dependencies = [
|
||||
|
||||
[[package]]
|
||||
name = "embassy-time-driver"
|
||||
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||||
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||||
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||||
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||||
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||||
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@@ -534,14 +503,14 @@ source = "registry+https://github.com/rust-lang/crates.io-index"
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||||
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||||
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||||
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||||
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||||
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||||
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||||
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||||
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||||
|
||||
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|
||||
@@ -625,17 +588,8 @@ version = "0.6.1"
|
||||
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||||
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||||
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||||
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||||
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||||
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|
||||
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|
||||
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|
||||
|
||||
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|
||||
@@ -671,7 +625,7 @@ dependencies = [
|
||||
"darling",
|
||||
"proc-macro2",
|
||||
"quote",
|
||||
"syn 2.0.108",
|
||||
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|
||||
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|
||||
|
||||
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||||
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||||
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||||
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||||
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||||
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||||
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||||
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||||
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||||
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||||
|
||||
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|
||||
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||||
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||||
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|
||||
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|
||||
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|
||||
|
||||
[[package]]
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||||
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||||
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||||
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||||
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||||
"syn 2.0.108",
|
||||
"syn",
|
||||
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|
||||
|
||||
[[package]]
|
||||
@@ -996,7 +965,7 @@ dependencies = [
|
||||
"proc-macro-error-attr2",
|
||||
"proc-macro2",
|
||||
"quote",
|
||||
"syn 2.0.108",
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||||
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||||
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||||
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||||
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||||
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||||
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||||
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||||
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||||
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||||
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||||
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||||
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||||
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||||
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|
||||
|
||||
[[package]]
|
||||
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||||
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||||
@@ -1098,7 +1055,20 @@ dependencies = [
|
||||
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|
||||
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|
||||
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|
||||
"syn 2.0.108",
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||||
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|
||||
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||||
|
||||
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||||
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||||
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||||
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||||
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||||
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||||
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||||
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||||
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||||
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|
||||
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|
||||
|
||||
[[package]]
|
||||
@@ -1117,6 +1087,20 @@ dependencies = [
|
||||
"rtic-common",
|
||||
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|
||||
|
||||
[[package]]
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||||
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||||
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|
||||
checksum = "61485474f5a23247ae1d4875f2bfe860be9b3030dbf87c232e50799e021429a1"
|
||||
dependencies = [
|
||||
"critical-section",
|
||||
"embedded-hal 1.0.0",
|
||||
"embedded-hal-async",
|
||||
"fugit",
|
||||
"futures-util",
|
||||
"rtic-common",
|
||||
]
|
||||
|
||||
[[package]]
|
||||
name = "rustc_version"
|
||||
version = "0.2.3"
|
||||
@@ -1154,13 +1138,13 @@ dependencies = [
|
||||
"defmt-rtt",
|
||||
"defmt-test",
|
||||
"embassy-stm32",
|
||||
"embassy-time",
|
||||
"embedded-hal 1.0.0",
|
||||
"enumset",
|
||||
"heapless 0.9.1",
|
||||
"panic-probe",
|
||||
"postcard",
|
||||
"rtic",
|
||||
"rtic-monotonics",
|
||||
"rtic-sync",
|
||||
"serde",
|
||||
"spacepackets",
|
||||
@@ -1186,12 +1170,6 @@ version = "0.9.0"
|
||||
source = "registry+https://github.com/rust-lang/crates.io-index"
|
||||
checksum = "b328e2cb950eeccd55b7f55c3a963691455dcd044cfb5354f0c5e68d2c2d6ee2"
|
||||
|
||||
[[package]]
|
||||
name = "semihosting"
|
||||
version = "0.1.25"
|
||||
source = "registry+https://github.com/rust-lang/crates.io-index"
|
||||
checksum = "f8e4abf97879f4e80db69a9fba7bd64998e9bdad25f58ef045a778e191172fd4"
|
||||
|
||||
[[package]]
|
||||
name = "semver"
|
||||
version = "0.9.0"
|
||||
@@ -1240,7 +1218,7 @@ checksum = "d540f220d3187173da220f885ab66608367b6574e925011a9353e4badda91d79"
|
||||
dependencies = [
|
||||
"proc-macro2",
|
||||
"quote",
|
||||
"syn 2.0.108",
|
||||
"syn",
|
||||
]
|
||||
|
||||
[[package]]
|
||||
@@ -1267,8 +1245,7 @@ checksum = "67b1b7a3b5fe4f1376887184045fcf45c69e92af734b7aaddc05fb777b6fbd03"
|
||||
[[package]]
|
||||
name = "spacepackets"
|
||||
version = "0.17.0"
|
||||
source = "registry+https://github.com/rust-lang/crates.io-index"
|
||||
checksum = "94979a990b4333f43667cba9fe9e72b9c4e9ada82e09fbe8fb250844358590cc"
|
||||
source = "git+https://egit.irs.uni-stuttgart.de/rust/spacepackets.git#2bc61677105765e69cc96bb1ff9960557c00fa8e"
|
||||
dependencies = [
|
||||
"arbitrary-int 2.0.0",
|
||||
"bitbybit",
|
||||
@@ -1316,35 +1293,24 @@ dependencies = [
|
||||
|
||||
[[package]]
|
||||
name = "stm32-fmc"
|
||||
version = "0.4.0"
|
||||
version = "0.3.2"
|
||||
source = "registry+https://github.com/rust-lang/crates.io-index"
|
||||
checksum = "72692594faa67f052e5e06dd34460951c21e83bc55de4feb8d2666e2f15480a2"
|
||||
checksum = "c7f0639399e2307c2446c54d91d4f1596343a1e1d5cab605b9cce11d0ab3858c"
|
||||
dependencies = [
|
||||
"embedded-hal 1.0.0",
|
||||
"embedded-hal 0.2.7",
|
||||
]
|
||||
|
||||
[[package]]
|
||||
name = "stm32-metapac"
|
||||
version = "21.0.0"
|
||||
version = "18.0.0"
|
||||
source = "registry+https://github.com/rust-lang/crates.io-index"
|
||||
checksum = "e74b78632cea498cfb28386a29f8bfae7476d6570a78733eb5fecbee66c2f4ce"
|
||||
checksum = "6fd8ec3a292a0d9fc4798416a61b21da5ae50341b2e7b8d12e662bf305366097"
|
||||
dependencies = [
|
||||
"cortex-m",
|
||||
"cortex-m-rt",
|
||||
"defmt 0.3.100",
|
||||
]
|
||||
|
||||
[[package]]
|
||||
name = "syn"
|
||||
version = "1.0.109"
|
||||
source = "registry+https://github.com/rust-lang/crates.io-index"
|
||||
checksum = "72b64191b275b66ffe2469e8af2c1cfe3bafa67b529ead792a6d0160888b4237"
|
||||
dependencies = [
|
||||
"proc-macro2",
|
||||
"quote",
|
||||
"unicode-ident",
|
||||
]
|
||||
|
||||
[[package]]
|
||||
name = "syn"
|
||||
version = "2.0.108"
|
||||
@@ -1373,7 +1339,7 @@ checksum = "3ff15c8ecd7de3849db632e14d18d2571fa09dfc5ed93479bc4485c7a517c913"
|
||||
dependencies = [
|
||||
"proc-macro2",
|
||||
"quote",
|
||||
"syn 2.0.108",
|
||||
"syn",
|
||||
]
|
||||
|
||||
[[package]]
|
||||
@@ -1434,17 +1400,6 @@ dependencies = [
|
||||
"tracing-log",
|
||||
]
|
||||
|
||||
[[package]]
|
||||
name = "trait-set"
|
||||
version = "0.3.0"
|
||||
source = "registry+https://github.com/rust-lang/crates.io-index"
|
||||
checksum = "b79e2e9c9ab44c6d7c20d5976961b47e8f49ac199154daa514b77cd1ab536625"
|
||||
dependencies = [
|
||||
"proc-macro2",
|
||||
"quote",
|
||||
"syn 1.0.109",
|
||||
]
|
||||
|
||||
[[package]]
|
||||
name = "unicode-ident"
|
||||
version = "1.0.22"
|
||||
@@ -1532,7 +1487,7 @@ checksum = "053e2e040ab57b9dc951b72c264860db7eb3b0200ba345b4e4c3b14f67855ddf"
|
||||
dependencies = [
|
||||
"proc-macro2",
|
||||
"quote",
|
||||
"syn 2.0.108",
|
||||
"syn",
|
||||
]
|
||||
|
||||
[[package]]
|
||||
@@ -1543,7 +1498,7 @@ checksum = "3f316c4a2570ba26bbec722032c4099d8c8bc095efccdc15688708623367e358"
|
||||
dependencies = [
|
||||
"proc-macro2",
|
||||
"quote",
|
||||
"syn 2.0.108",
|
||||
"syn",
|
||||
]
|
||||
|
||||
[[package]]
|
||||
@@ -1621,5 +1576,5 @@ checksum = "88d2b8d9c68ad2b9e4340d7832716a4d21a22a1154777ad56ea55c51a9cf3831"
|
||||
dependencies = [
|
||||
"proc-macro2",
|
||||
"quote",
|
||||
"syn 2.0.108",
|
||||
"syn",
|
||||
]
|
||||
|
||||
@@ -14,8 +14,7 @@ defmt-rtt = { version = "1" }
|
||||
panic-probe = { version = "1", features = ["print-defmt"] }
|
||||
embedded-hal = "1"
|
||||
cortex-m-semihosting = "0.5.0"
|
||||
embassy-stm32 = { version = "0.6", features = ["defmt", "stm32f303vc", "memory-x", "unstable-pac", "time-driver-any"] }
|
||||
embassy-time = { version = "0.5", features = ["defmt", "generic-queue-16", "defmt-timestamp-uptime-ms"]}
|
||||
embassy-stm32 = { version = "0.4", features = ["defmt", "stm32f303vc", "unstable-pac"] }
|
||||
enumset = "1"
|
||||
heapless = "0.9"
|
||||
spacepackets = { version = "0.17", default-features = false, features = ["defmt", "serde"] }
|
||||
@@ -28,9 +27,10 @@ serde = { version = "1", default-features = false, features = ["derive"] }
|
||||
|
||||
rtic = { version = "2", features = ["thumbv7-backend"] }
|
||||
rtic-sync = { version = "1" }
|
||||
rtic-monotonics = { version = "2", features = ["cortex-m-systick"] }
|
||||
|
||||
[dev-dependencies]
|
||||
defmt-test = "0.5"
|
||||
defmt-test = "0.4"
|
||||
|
||||
# cargo test
|
||||
[profile.test]
|
||||
|
||||
@@ -0,0 +1,33 @@
|
||||
/* Linker script for the STM32F303VCT6 */
|
||||
MEMORY
|
||||
{
|
||||
/* NOTE 1 K = 1 KiBi = 1024 bytes */
|
||||
FLASH : ORIGIN = 0x08000000, LENGTH = 256K
|
||||
RAM : ORIGIN = 0x20000000, LENGTH = 40K
|
||||
}
|
||||
|
||||
/* This is where the call stack will be allocated. */
|
||||
/* The stack is of the full descending type. */
|
||||
/* You may want to use this variable to locate the call stack and static
|
||||
variables in different memory regions. Below is shown the default value */
|
||||
/* _stack_start = ORIGIN(RAM) + LENGTH(RAM); */
|
||||
|
||||
/* You can use this symbol to customize the location of the .text section */
|
||||
/* If omitted the .text section will be placed right after the .vector_table
|
||||
section */
|
||||
/* This is required only on microcontrollers that store some configuration right
|
||||
after the vector table */
|
||||
/* _stext = ORIGIN(FLASH) + 0x400; */
|
||||
|
||||
/* Example of putting non-initialized variables into custom RAM locations. */
|
||||
/* This assumes you have defined a region RAM2 above, and in the Rust
|
||||
sources added the attribute `#[link_section = ".ram2bss"]` to the data
|
||||
you want to place there. */
|
||||
/* Note that the section will not be zero-initialized by the runtime! */
|
||||
/* SECTIONS {
|
||||
.ram2bss (NOLOAD) : ALIGN(4) {
|
||||
*(.ram2bss);
|
||||
. = ALIGN(4);
|
||||
} > RAM2
|
||||
} INSERT AFTER .bss;
|
||||
*/
|
||||
@@ -6,8 +6,11 @@ use rtic::app;
|
||||
|
||||
#[app(device = embassy_stm32)]
|
||||
mod app {
|
||||
use embassy_time::Timer;
|
||||
use satrs_stm32f3_disco_rtic::{Direction, LedPinSet, Leds};
|
||||
use rtic_monotonics::fugit::ExtU32;
|
||||
use rtic_monotonics::Monotonic as _;
|
||||
use satrs_stm32f3_disco_rtic::{Direction, LedPinSet, Leds};
|
||||
|
||||
rtic_monotonics::systick_monotonic!(Mono, 1000);
|
||||
|
||||
#[shared]
|
||||
struct Shared {}
|
||||
@@ -19,7 +22,7 @@ use satrs_stm32f3_disco_rtic::{Direction, LedPinSet, Leds};
|
||||
}
|
||||
|
||||
#[init]
|
||||
fn init(_cx: init::Context) -> (Shared, Local) {
|
||||
fn init(cx: init::Context) -> (Shared, Local) {
|
||||
let p = embassy_stm32::init(Default::default());
|
||||
|
||||
defmt::info!("Starting sat-rs demo application for the STM32F3-Discovery using RTICv2");
|
||||
@@ -36,6 +39,8 @@ use satrs_stm32f3_disco_rtic::{Direction, LedPinSet, Leds};
|
||||
};
|
||||
let leds = Leds::new(led_pin_set);
|
||||
|
||||
// Initialize the systick interrupt & obtain the token to prove that we did
|
||||
Mono::start(cx.core.SYST, 8_000_000);
|
||||
blinky::spawn().expect("failed to spawn blinky task");
|
||||
(
|
||||
Shared {},
|
||||
@@ -50,7 +55,7 @@ use satrs_stm32f3_disco_rtic::{Direction, LedPinSet, Leds};
|
||||
async fn blinky(cx: blinky::Context) {
|
||||
loop {
|
||||
cx.local.leds.blink_next(cx.local.current_dir);
|
||||
Timer::after_millis(200).await;
|
||||
Mono::delay(200.millis()).await;
|
||||
}
|
||||
}
|
||||
}
|
||||
|
||||
@@ -1,9 +1,6 @@
|
||||
#![no_main]
|
||||
#![no_std]
|
||||
|
||||
use defmt_rtt as _;
|
||||
use panic_probe as _;
|
||||
|
||||
use arbitrary_int::u11;
|
||||
use core::time::Duration;
|
||||
use embassy_stm32::gpio::Output;
|
||||
|
||||
@@ -2,11 +2,21 @@
|
||||
#![no_main]
|
||||
use arbitrary_int::{u11, u14};
|
||||
use cortex_m_semihosting::debug::{self, EXIT_FAILURE, EXIT_SUCCESS};
|
||||
use satrs_stm32f3_disco_rtic::{create_tm_packet, tm_size, Request, Response};
|
||||
use spacepackets::{CcsdsPacketCreationError, CcsdsPacketIdAndPsc, SpHeader};
|
||||
use satrs_stm32f3_disco_rtic::{create_tm_packet, tm_size, CcsdsPacketId, Request, Response};
|
||||
use spacepackets::{CcsdsPacketCreationError, SpHeader};
|
||||
|
||||
use defmt_rtt as _; // global logger
|
||||
|
||||
use panic_probe as _;
|
||||
|
||||
use rtic::app;
|
||||
|
||||
#[allow(unused_imports)]
|
||||
use rtic_monotonics::fugit::{MillisDurationU32, TimerInstantU32};
|
||||
use rtic_monotonics::systick::prelude::*;
|
||||
|
||||
use crate::app::Mono;
|
||||
|
||||
const UART_BAUD: u32 = 115200;
|
||||
const DEFAULT_BLINK_FREQ_MS: u32 = 1000;
|
||||
const TX_HANDLER_FREQ_MS: u32 = 20;
|
||||
@@ -38,7 +48,7 @@ pub enum TmSendError {
|
||||
#[derive(Debug, defmt::Format)]
|
||||
pub struct RequestWithTcId {
|
||||
pub request: Request,
|
||||
pub tc_id: CcsdsPacketIdAndPsc,
|
||||
pub tc_id: CcsdsPacketId,
|
||||
}
|
||||
|
||||
#[app(device = embassy_stm32)]
|
||||
@@ -47,19 +57,18 @@ mod app {
|
||||
|
||||
use super::*;
|
||||
use arbitrary_int::u14;
|
||||
use embassy_time::Timer;
|
||||
use rtic::Mutex;
|
||||
use rtic_sync::{
|
||||
channel::{Receiver, Sender},
|
||||
make_channel,
|
||||
};
|
||||
use satrs_stm32f3_disco_rtic::{LedPinSet, Request, Response};
|
||||
use satrs_stm32f3_disco_rtic::{CcsdsPacketId, LedPinSet, Request, Response};
|
||||
use spacepackets::CcsdsPacketReader;
|
||||
|
||||
systick_monotonic!(Mono, 1000);
|
||||
|
||||
embassy_stm32::bind_interrupts!(struct Irqs {
|
||||
USART2 => embassy_stm32::usart::InterruptHandler<embassy_stm32::peripherals::USART2>;
|
||||
DMA1_CHANNEL6 => embassy_stm32::dma::InterruptHandler<embassy_stm32::peripherals::DMA1_CH6>;
|
||||
DMA1_CHANNEL7 => embassy_stm32::dma::InterruptHandler<embassy_stm32::peripherals::DMA1_CH7>;
|
||||
});
|
||||
|
||||
#[shared]
|
||||
@@ -77,13 +86,15 @@ mod app {
|
||||
}
|
||||
|
||||
#[init]
|
||||
fn init(_cx: init::Context) -> (Shared, Local) {
|
||||
fn init(cx: init::Context) -> (Shared, Local) {
|
||||
static DMA_BUF: static_cell::ConstStaticCell<[u8; TC_DMA_BUF_LEN]> =
|
||||
static_cell::ConstStaticCell::new([0; TC_DMA_BUF_LEN]);
|
||||
|
||||
let p = embassy_stm32::init(Default::default());
|
||||
|
||||
let (req_sender, req_receiver) = make_channel!(RequestWithTcId, 16);
|
||||
// Initialize the systick interrupt & obtain the token to prove that we did
|
||||
Mono::start(cx.core.SYST, 8_000_000);
|
||||
|
||||
defmt::info!("sat-rs demo application for the STM32F3-Discovery with RTICv2");
|
||||
let led_pin_set = LedPinSet {
|
||||
@@ -101,7 +112,7 @@ mod app {
|
||||
let mut config = embassy_stm32::usart::Config::default();
|
||||
config.baudrate = UART_BAUD;
|
||||
let uart = embassy_stm32::usart::Uart::new(
|
||||
p.USART2, p.PA3, p.PA2, p.DMA1_CH7, p.DMA1_CH6, Irqs, config,
|
||||
p.USART2, p.PA3, p.PA2, Irqs, p.DMA1_CH7, p.DMA1_CH6, config,
|
||||
)
|
||||
.unwrap();
|
||||
|
||||
@@ -131,7 +142,10 @@ mod app {
|
||||
loop {
|
||||
cx.local.leds.blink_next(cx.local.current_dir);
|
||||
let current_blink_freq = cx.shared.blink_freq.lock(|current| *current);
|
||||
Timer::after_millis(current_blink_freq.as_millis() as u64).await;
|
||||
Mono::delay(MillisDurationU32::from_ticks(
|
||||
current_blink_freq.as_millis() as u32,
|
||||
))
|
||||
.await;
|
||||
}
|
||||
}
|
||||
|
||||
@@ -155,7 +169,7 @@ mod app {
|
||||
.unwrap();
|
||||
continue;
|
||||
}
|
||||
Timer::after_millis(TX_HANDLER_FREQ_MS as u64).await;
|
||||
Mono::delay(TX_HANDLER_FREQ_MS.millis()).await;
|
||||
}
|
||||
}
|
||||
|
||||
@@ -184,8 +198,9 @@ mod app {
|
||||
&decoder.dest()[0..packet_size],
|
||||
) {
|
||||
Ok(packet) => {
|
||||
let tc_packet_id =
|
||||
CcsdsPacketIdAndPsc::new_from_ccsds_packet(&packet);
|
||||
let packet_id = packet.packet_id();
|
||||
let psc = packet.psc();
|
||||
let tc_packet_id = CcsdsPacketId { packet_id, psc };
|
||||
if let Ok(request) =
|
||||
postcard::from_bytes::<Request>(packet.packet_data())
|
||||
{
|
||||
@@ -245,7 +260,7 @@ mod app {
|
||||
|
||||
fn handle_ping_request(
|
||||
cx: &mut req_handler::Context,
|
||||
tc_packet_id: CcsdsPacketIdAndPsc,
|
||||
tc_packet_id: CcsdsPacketId,
|
||||
) -> Result<(), TmSendError> {
|
||||
defmt::info!("Received PUS ping telecommand, sending ping reply");
|
||||
send_tm(tc_packet_id, Response::CommandDone, *cx.local.seq_count)?;
|
||||
@@ -255,7 +270,7 @@ mod app {
|
||||
|
||||
fn handle_change_blink_frequency_request(
|
||||
cx: &mut req_handler::Context,
|
||||
tc_packet_id: CcsdsPacketIdAndPsc,
|
||||
tc_packet_id: CcsdsPacketId,
|
||||
duration: Duration,
|
||||
) -> Result<(), TmSendError> {
|
||||
defmt::info!(
|
||||
@@ -272,14 +287,14 @@ mod app {
|
||||
}
|
||||
|
||||
fn send_tm(
|
||||
tc_packet_id: CcsdsPacketIdAndPsc,
|
||||
tc_packet_id: CcsdsPacketId,
|
||||
response: Response,
|
||||
current_seq_count: u14,
|
||||
) -> Result<(), TmSendError> {
|
||||
let sp_header = SpHeader::new_for_unseg_tc(PUS_APID, current_seq_count, 0);
|
||||
let tm_header = satrs_stm32f3_disco_rtic::TmHeader {
|
||||
tc_packet_id: Some(tc_packet_id),
|
||||
uptime_millis: embassy_time::Instant::now().as_millis() as u32,
|
||||
uptime_millis: Mono::now().duration_since_epoch().to_millis(),
|
||||
};
|
||||
let mut tm_packet = TmPacket::new();
|
||||
let tm_size = tm_size(&tm_header, &response);
|
||||
|
||||
@@ -1,7 +1,7 @@
|
||||
use anyhow::bail;
|
||||
use arbitrary_int::u11;
|
||||
use clap::Parser as _;
|
||||
use models::{Apid, MessageType, TcHeader, mgm::request::HkRequest};
|
||||
use models::{Apid, MessageType, TcHeader, acs::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::mgm::request::Request::Ping,
|
||||
models::acs::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::mgm::request::Request::Hk(HkRequest {
|
||||
id: models::mgm::request::HkId::Sensor,
|
||||
models::acs::mgm::request::Request::Hk(HkRequest {
|
||||
id: models::acs::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::mgm::request::Request::Mode(
|
||||
models::mgm::request::ModeRequest::SetMode(dev_mode),
|
||||
models::acs::mgm::request::Request::Mode(
|
||||
models::acs::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::mgm::request::Request::Ping,
|
||||
models::acs::mgm::request::Request::Ping,
|
||||
);
|
||||
let sent_tc_id = CcsdsPacketIdAndPsc::new_from_ccsds_packet(&request.sp_header);
|
||||
log::info!(
|
||||
@@ -207,21 +207,23 @@ fn main() -> anyhow::Result<()> {
|
||||
if let Some(mode) = mgm_assembly_args.mode {
|
||||
let assembly_mode = match mode {
|
||||
AssemblyModeSelect::NoModeKeeping => {
|
||||
models::mgm_assembly::AssemblyMode::NoModeKeeping
|
||||
models::acs::mgm_assembly::Mode::NoModeKeeping
|
||||
}
|
||||
AssemblyModeSelect::Off => {
|
||||
models::mgm_assembly::AssemblyMode::Device(models::DeviceMode::Off)
|
||||
models::acs::mgm_assembly::Mode::Device(models::DeviceMode::Off)
|
||||
}
|
||||
AssemblyModeSelect::Normal => {
|
||||
models::mgm_assembly::AssemblyMode::Device(models::DeviceMode::Normal)
|
||||
models::acs::mgm_assembly::Mode::Device(
|
||||
models::DeviceMode::Normal,
|
||||
)
|
||||
}
|
||||
};
|
||||
|
||||
let request = models::ccsds::CcsdsTcPacketOwned::new_with_request(
|
||||
SpacePacketHeader::new_from_apid(u11::new(Apid::Acs as u16)),
|
||||
TcHeader::new(target_id, models::MessageType::Mode),
|
||||
models::mgm_assembly::request::Request::Mode(
|
||||
models::mgm_assembly::request::ModeRequest::SetMode(assembly_mode),
|
||||
models::acs::mgm_assembly::request::Request::Mode(
|
||||
models::acs::mgm_assembly::request::ModeRequest::SetMode(assembly_mode),
|
||||
),
|
||||
);
|
||||
let sent_tc_id = CcsdsPacketIdAndPsc::new_from_ccsds_packet(&request.sp_header);
|
||||
@@ -304,8 +306,9 @@ fn handle_raw_tm_packet(data: &[u8]) -> anyhow::Result<()> {
|
||||
}
|
||||
models::ComponentId::AcsSubsystem => todo!(),
|
||||
models::ComponentId::AcsMgmAssembly => {
|
||||
let response =
|
||||
postcard::from_bytes::<models::mgm_assembly::response::Response>(remainder);
|
||||
let response = postcard::from_bytes::<
|
||||
models::acs::mgm_assembly::response::Response,
|
||||
>(remainder);
|
||||
log::info!(
|
||||
"Received response from MGM Assembly: {:?}",
|
||||
response.unwrap()
|
||||
@@ -313,12 +316,12 @@ fn handle_raw_tm_packet(data: &[u8]) -> anyhow::Result<()> {
|
||||
}
|
||||
models::ComponentId::AcsMgm0 => {
|
||||
let response =
|
||||
postcard::from_bytes::<models::mgm::response::Response>(remainder);
|
||||
postcard::from_bytes::<models::acs::mgm::response::Response>(remainder);
|
||||
log::info!("Received response from MGM0: {:?}", response.unwrap());
|
||||
}
|
||||
models::ComponentId::AcsMgm1 => {
|
||||
let response =
|
||||
postcard::from_bytes::<models::mgm::response::Response>(remainder);
|
||||
postcard::from_bytes::<models::acs::mgm::response::Response>(remainder);
|
||||
log::info!("Received response from MGM1: {:?}", response.unwrap());
|
||||
}
|
||||
models::ComponentId::EpsSubsystem => todo!(),
|
||||
|
||||
@@ -0,0 +1,28 @@
|
||||
#[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]),
|
||||
}
|
||||
}
|
||||
@@ -42,7 +42,7 @@ pub mod request {
|
||||
}
|
||||
|
||||
#[derive(Default, Debug, Copy, Clone, serde::Serialize, serde::Deserialize)]
|
||||
pub struct MgmData {
|
||||
pub struct SensorData {
|
||||
pub valid: bool,
|
||||
pub x: f32,
|
||||
pub y: f32,
|
||||
@@ -50,11 +50,11 @@ pub struct MgmData {
|
||||
}
|
||||
|
||||
pub mod response {
|
||||
use crate::{DeviceMode, Message, mgm::MgmData};
|
||||
use crate::{DeviceMode, Message, acs::mgm::SensorData};
|
||||
|
||||
#[derive(serde::Serialize, serde::Deserialize, Clone, Copy, Debug)]
|
||||
pub enum HkResponse {
|
||||
MgmData(MgmData),
|
||||
MgmData(SensorData),
|
||||
}
|
||||
|
||||
#[derive(serde::Serialize, serde::Deserialize, Debug, Clone, Copy)]
|
||||
+9
-9
@@ -3,7 +3,7 @@ use core::str::FromStr;
|
||||
use crate::DeviceMode;
|
||||
|
||||
#[derive(serde::Serialize, serde::Deserialize, Debug, Clone, Copy, PartialEq, Eq)]
|
||||
pub enum AssemblyMode {
|
||||
pub enum Mode {
|
||||
/// 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 AssemblyMode {
|
||||
NoModeKeeping,
|
||||
}
|
||||
|
||||
impl FromStr for AssemblyMode {
|
||||
impl FromStr for Mode {
|
||||
type Err = ();
|
||||
|
||||
fn from_str(s: &str) -> Result<Self, Self::Err> {
|
||||
match s.to_lowercase().as_str() {
|
||||
"off" => Ok(AssemblyMode::Device(DeviceMode::Off)),
|
||||
"on" => Ok(AssemblyMode::Device(DeviceMode::On)),
|
||||
"normal" => Ok(AssemblyMode::Device(DeviceMode::Normal)),
|
||||
"no_mode_keeping" => Ok(AssemblyMode::NoModeKeeping),
|
||||
"off" => Ok(Mode::Device(DeviceMode::Off)),
|
||||
"on" => Ok(Mode::Device(DeviceMode::On)),
|
||||
"normal" => Ok(Mode::Device(DeviceMode::Normal)),
|
||||
"no_mode_keeping" => Ok(Mode::NoModeKeeping),
|
||||
_ => Err(()),
|
||||
}
|
||||
}
|
||||
}
|
||||
|
||||
pub mod request {
|
||||
use crate::{HkRequestType, Message, mgm_assembly::AssemblyMode};
|
||||
use crate::{HkRequestType, Message, acs::mgm_assembly::Mode};
|
||||
|
||||
#[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(AssemblyMode),
|
||||
SetMode(Mode),
|
||||
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::AssemblyMode),
|
||||
Mode(super::Mode),
|
||||
/// Timeout failure setting the children modes.
|
||||
SetModeTimeout([Option<DeviceMode>; 2]),
|
||||
/// Children are in wrong mode after commanding.
|
||||
@@ -0,0 +1,27 @@
|
||||
#[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]),
|
||||
}
|
||||
}
|
||||
@@ -0,0 +1,5 @@
|
||||
pub mod ctrl;
|
||||
pub mod mgm;
|
||||
pub mod mgm_assembly;
|
||||
pub mod mgt;
|
||||
pub mod subsystem;
|
||||
@@ -0,0 +1,15 @@
|
||||
#[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,
|
||||
}
|
||||
}
|
||||
}
|
||||
@@ -6,10 +6,9 @@ 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(
|
||||
|
||||
@@ -1,8 +1,8 @@
|
||||
use models::mgm::MgmData;
|
||||
use models::mgm::request::ModeRequest;
|
||||
use models::mgm::response::ModeResponse;
|
||||
use models::acs::mgm::SensorData;
|
||||
use models::acs::mgm::request::ModeRequest;
|
||||
use models::acs::mgm::response::ModeResponse;
|
||||
use models::pcdu::SwitchId;
|
||||
use models::{ComponentId, DeviceMode, HkRequestType, mgm};
|
||||
use models::{ComponentId, DeviceMode, HkRequestType, acs::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<MgmData>>,
|
||||
shared_mgm_set: Arc<Mutex<SensorData>>,
|
||||
buffers: BufWrapper,
|
||||
stamp_helper: TimestampHelper,
|
||||
hk_helper: HkHelperSingleSet,
|
||||
@@ -167,9 +167,9 @@ impl MgmHandlerLis3Mdl {
|
||||
tmtc_queues: TmtcQueues,
|
||||
switch_helper: PowerSwitchHelper,
|
||||
spi_com: SpiCommunication,
|
||||
shared_mgm_set: Arc<Mutex<MgmData>>,
|
||||
shared_mgm_set: Arc<Mutex<SensorData>>,
|
||||
mode_leaf_helper: ModeLeafHelper,
|
||||
mode_timeout: Duration
|
||||
mode_timeout: Duration,
|
||||
) -> Self {
|
||||
Self {
|
||||
id,
|
||||
@@ -308,7 +308,7 @@ impl MgmHandlerLis3Mdl {
|
||||
pub fn handle_hk_request(
|
||||
&mut self,
|
||||
tc_id: Option<CcsdsPacketIdAndPsc>,
|
||||
hk_request: &models::mgm::request::HkRequest,
|
||||
hk_request: &models::acs::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::mgm::request::Request,
|
||||
request: models::acs::mgm::request::Request,
|
||||
) -> models::ccsds::CcsdsTcPacketOwned {
|
||||
models::ccsds::CcsdsTcPacketOwned::new_with_request(
|
||||
SpacePacketHeader::new_from_apid(u11::new(Apid::Acs as u16)),
|
||||
@@ -533,6 +533,7 @@ mod tests {
|
||||
SpiCommunication::Test(TestSpiInterface::default()),
|
||||
shared_mgm_set,
|
||||
mode_leaf_helper,
|
||||
Duration::from_millis(100),
|
||||
);
|
||||
Self {
|
||||
assembly_mode_request_tx,
|
||||
@@ -600,9 +601,10 @@ mod tests {
|
||||
|
||||
assert_eq!(tm_packet.tm_header.sender_id, ComponentId::AcsMgm0);
|
||||
|
||||
let response = postcard::from_bytes::<models::mgm::response::Response>(&tm_packet.payload)
|
||||
.expect("failed to deserialize mode reply");
|
||||
matches!(response, models::mgm::response::Response::Ok);
|
||||
let response =
|
||||
postcard::from_bytes::<models::acs::mgm::response::Response>(&tm_packet.payload)
|
||||
.expect("failed to deserialize mode reply");
|
||||
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();
|
||||
@@ -688,9 +690,10 @@ mod tests {
|
||||
|
||||
assert_eq!(tm_packet.tm_header.sender_id, ComponentId::AcsMgm0);
|
||||
|
||||
let response = postcard::from_bytes::<models::mgm::response::Response>(&tm_packet.payload)
|
||||
.expect("failed to deserialize mode reply");
|
||||
if let models::mgm::response::Response::Hk(mgm::response::HkResponse::MgmData(data)) =
|
||||
let response =
|
||||
postcard::from_bytes::<models::acs::mgm::response::Response>(&tm_packet.payload)
|
||||
.expect("failed to deserialize mode reply");
|
||||
if let models::acs::mgm::response::Response::Hk(mgm::response::HkResponse::MgmData(data)) =
|
||||
response
|
||||
{
|
||||
assert_eq!(data.valid, false);
|
||||
@@ -739,17 +742,18 @@ mod tests {
|
||||
|
||||
assert_eq!(mode_tm.tm_header.sender_id, ComponentId::AcsMgm0);
|
||||
|
||||
let response = postcard::from_bytes::<models::mgm::response::Response>(&mode_tm.payload)
|
||||
.expect("failed to deserialize mode reply");
|
||||
matches!(response, models::mgm::response::Response::Ok);
|
||||
let response =
|
||||
postcard::from_bytes::<models::acs::mgm::response::Response>(&mode_tm.payload)
|
||||
.expect("failed to deserialize mode reply");
|
||||
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::mgm::response::Response>(&hk_tm.payload)
|
||||
let response = postcard::from_bytes::<models::acs::mgm::response::Response>(&hk_tm.payload)
|
||||
.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
|
||||
{
|
||||
// Set is now valid.
|
||||
|
||||
@@ -2,7 +2,7 @@ use std::{sync::mpsc, time::Duration};
|
||||
|
||||
use models::{
|
||||
ComponentId, DeviceMode,
|
||||
mgm_assembly::{AssemblyMode, request, response},
|
||||
acs::mgm_assembly::{Mode, 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::mgm::request::ModeRequest>; 2],
|
||||
pub report_rx_queues: [mpsc::Receiver<models::mgm::response::ModeResponse>; 2],
|
||||
pub request_tx_queues: [mpsc::SyncSender<models::acs::mgm::request::ModeRequest>; 2],
|
||||
pub report_rx_queues: [mpsc::Receiver<models::acs::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<AssemblyMode, TransitionState>,
|
||||
mode_helper: ModeHelper<Mode, 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(AssemblyMode::NoModeKeeping, mode_timeout),
|
||||
mode_helper: ModeHelper::new(Mode::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::mgm_assembly::request::Request>(
|
||||
match postcard::from_bytes::<models::acs::mgm_assembly::request::Request>(
|
||||
&packet.payload,
|
||||
) {
|
||||
Ok(request) => match request {
|
||||
models::mgm_assembly::request::Request::Ping => {
|
||||
models::acs::mgm_assembly::request::Request::Ping => {
|
||||
self.send_telemetry(Some(tc_id), response::Response::Ok)
|
||||
}
|
||||
models::mgm_assembly::request::Request::Mode(request) => {
|
||||
models::acs::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::mgm_assembly::response::Response,
|
||||
response: models::acs::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 {
|
||||
AssemblyMode::Device(_device_mode) => {
|
||||
Mode::Device(_device_mode) => {
|
||||
self.start_transition(false, assembly_mode, None);
|
||||
}
|
||||
AssemblyMode::NoModeKeeping => {
|
||||
self.mode_helper.current = AssemblyMode::NoModeKeeping;
|
||||
Mode::NoModeKeeping => {
|
||||
self.mode_helper.current = Mode::NoModeKeeping;
|
||||
}
|
||||
},
|
||||
request::ModeRequest::ReadMode => self
|
||||
@@ -165,12 +165,12 @@ impl Assembly {
|
||||
loop {
|
||||
match rx.try_recv() {
|
||||
Ok(report) => match report {
|
||||
models::mgm::response::ModeResponse::Mode(device_mode) => {
|
||||
models::acs::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::mgm::response::ModeResponse::SetModeTimeout => {
|
||||
models::acs::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 AssemblyMode::Device(device_mode) = self.mode_helper.target.unwrap()
|
||||
&& let Mode::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 AssemblyMode::Device(device_mode) = self.mode_helper.current
|
||||
if let Mode::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 {
|
||||
AssemblyMode::Device(device_mode) => device_mode,
|
||||
AssemblyMode::NoModeKeeping => {
|
||||
Mode::Device(device_mode) => device_mode,
|
||||
Mode::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::mgm::request::ModeRequest::SetMode(mode))
|
||||
tx.send(models::acs::mgm::request::ModeRequest::SetMode(mode))
|
||||
.unwrap();
|
||||
}
|
||||
}
|
||||
@@ -283,7 +283,7 @@ impl Assembly {
|
||||
pub fn start_transition(
|
||||
&mut self,
|
||||
mode_keeping: bool,
|
||||
target: AssemblyMode,
|
||||
target: Mode,
|
||||
tc_id: Option<CcsdsPacketIdAndPsc>,
|
||||
) {
|
||||
self.mode_keeping_transition = mode_keeping;
|
||||
@@ -304,7 +304,7 @@ impl Assembly {
|
||||
}
|
||||
|
||||
#[inline]
|
||||
pub fn mode(&self) -> AssemblyMode {
|
||||
pub fn mode(&self) -> Mode {
|
||||
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::mgm::request::ModeRequest>; 2],
|
||||
mgm_report_tx: [mpsc::SyncSender<models::mgm::response::ModeResponse>; 2],
|
||||
mgm_request_rx: [mpsc::Receiver<models::acs::mgm::request::ModeRequest>; 2],
|
||||
mgm_report_tx: [mpsc::SyncSender<models::acs::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::mgm_assembly::request::Request,
|
||||
request: models::acs::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(), AssemblyMode::NoModeKeeping);
|
||||
assert_eq!(tb.assembly.mode(), Mode::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(AssemblyMode::Device(DeviceMode::Normal)),
|
||||
request::ModeRequest::SetMode(Mode::Device(DeviceMode::Normal)),
|
||||
)))
|
||||
.unwrap();
|
||||
tb.assembly.periodic_operation();
|
||||
@@ -429,13 +429,13 @@ mod tests {
|
||||
let request = rx.try_recv().unwrap();
|
||||
assert_eq!(
|
||||
request,
|
||||
models::mgm::request::ModeRequest::SetMode(DeviceMode::Normal)
|
||||
models::acs::mgm::request::ModeRequest::SetMode(DeviceMode::Normal)
|
||||
);
|
||||
}
|
||||
|
||||
// Confirm the mode is set.
|
||||
for tx in tb.mgm_report_tx.iter() {
|
||||
tx.send(models::mgm::response::ModeResponse::Mode(
|
||||
tx.send(models::acs::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(), AssemblyMode::Device(DeviceMode::Normal));
|
||||
assert_eq!(tb.assembly.mode(), Mode::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(AssemblyMode::Device(
|
||||
.send(request::ModeRequest::SetMode(Mode::Device(
|
||||
DeviceMode::Normal,
|
||||
)))
|
||||
.unwrap();
|
||||
@@ -467,13 +467,13 @@ mod tests {
|
||||
let request = rx.try_recv().unwrap();
|
||||
assert_eq!(
|
||||
request,
|
||||
models::mgm::request::ModeRequest::SetMode(DeviceMode::Normal)
|
||||
models::acs::mgm::request::ModeRequest::SetMode(DeviceMode::Normal)
|
||||
);
|
||||
}
|
||||
|
||||
// Confirm the mode is set.
|
||||
for tx in tb.mgm_report_tx.iter() {
|
||||
tx.send(models::mgm::response::ModeResponse::Mode(
|
||||
tx.send(models::acs::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(), AssemblyMode::Device(DeviceMode::Normal));
|
||||
assert_eq!(tb.assembly.mode(), Mode::Device(DeviceMode::Normal));
|
||||
|
||||
let report = tb.subsystem_report_rx.try_recv().unwrap();
|
||||
assert_eq!(
|
||||
report,
|
||||
response::ModeReport::Mode(AssemblyMode::Device(DeviceMode::Normal))
|
||||
response::ModeReport::Mode(Mode::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(AssemblyMode::Device(
|
||||
.send(request::ModeRequest::SetMode(Mode::Device(
|
||||
DeviceMode::Normal,
|
||||
)))
|
||||
.unwrap();
|
||||
@@ -505,28 +505,30 @@ mod tests {
|
||||
let request = rx.try_recv().unwrap();
|
||||
assert_eq!(
|
||||
request,
|
||||
models::mgm::request::ModeRequest::SetMode(DeviceMode::Normal)
|
||||
models::acs::mgm::request::ModeRequest::SetMode(DeviceMode::Normal)
|
||||
);
|
||||
}
|
||||
|
||||
// One device is sufficient.
|
||||
tb.mgm_report_tx[0]
|
||||
.send(models::mgm::response::ModeResponse::Mode(
|
||||
.send(models::acs::mgm::response::ModeResponse::Mode(
|
||||
DeviceMode::Normal,
|
||||
))
|
||||
.unwrap();
|
||||
tb.mgm_report_tx[1]
|
||||
.send(models::mgm::response::ModeResponse::Mode(DeviceMode::Off))
|
||||
.send(models::acs::mgm::response::ModeResponse::Mode(
|
||||
DeviceMode::Off,
|
||||
))
|
||||
.unwrap();
|
||||
|
||||
tb.assembly.periodic_operation();
|
||||
assert!(!tb.assembly.mode_transition_active());
|
||||
assert_eq!(tb.assembly.mode(), AssemblyMode::Device(DeviceMode::Normal));
|
||||
assert_eq!(tb.assembly.mode(), Mode::Device(DeviceMode::Normal));
|
||||
|
||||
let report = tb.subsystem_report_rx.try_recv().unwrap();
|
||||
assert_eq!(
|
||||
report,
|
||||
response::ModeReport::Mode(AssemblyMode::Device(DeviceMode::Normal))
|
||||
response::ModeReport::Mode(Mode::Device(DeviceMode::Normal))
|
||||
);
|
||||
}
|
||||
|
||||
@@ -534,7 +536,7 @@ mod tests {
|
||||
fn test_mode_commanding_fails() {
|
||||
let mut tb = Testbench::new();
|
||||
tb.subsystem_req_tx
|
||||
.send(request::ModeRequest::SetMode(AssemblyMode::Device(
|
||||
.send(request::ModeRequest::SetMode(Mode::Device(
|
||||
DeviceMode::Normal,
|
||||
)))
|
||||
.unwrap();
|
||||
@@ -545,19 +547,21 @@ mod tests {
|
||||
let request = rx.try_recv().unwrap();
|
||||
assert_eq!(
|
||||
request,
|
||||
models::mgm::request::ModeRequest::SetMode(DeviceMode::Normal)
|
||||
models::acs::mgm::request::ModeRequest::SetMode(DeviceMode::Normal)
|
||||
);
|
||||
}
|
||||
|
||||
// Confirm the mode is set.
|
||||
for tx in tb.mgm_report_tx.iter() {
|
||||
tx.send(models::mgm::response::ModeResponse::Mode(DeviceMode::Off))
|
||||
.unwrap();
|
||||
tx.send(models::acs::mgm::response::ModeResponse::Mode(
|
||||
DeviceMode::Off,
|
||||
))
|
||||
.unwrap();
|
||||
}
|
||||
|
||||
tb.assembly.periodic_operation();
|
||||
assert!(!tb.assembly.mode_transition_active());
|
||||
assert_eq!(tb.assembly.mode(), AssemblyMode::NoModeKeeping);
|
||||
assert_eq!(tb.assembly.mode(), Mode::NoModeKeeping);
|
||||
|
||||
let report = tb.subsystem_report_rx.try_recv().unwrap();
|
||||
assert_eq!(
|
||||
@@ -570,7 +574,7 @@ mod tests {
|
||||
fn test_mode_keeping_fails() {
|
||||
let mut tb = Testbench::new();
|
||||
tb.subsystem_req_tx
|
||||
.send(request::ModeRequest::SetMode(AssemblyMode::Device(
|
||||
.send(request::ModeRequest::SetMode(Mode::Device(
|
||||
DeviceMode::Normal,
|
||||
)))
|
||||
.unwrap();
|
||||
@@ -581,13 +585,13 @@ mod tests {
|
||||
let request = rx.try_recv().unwrap();
|
||||
assert_eq!(
|
||||
request,
|
||||
models::mgm::request::ModeRequest::SetMode(DeviceMode::Normal)
|
||||
models::acs::mgm::request::ModeRequest::SetMode(DeviceMode::Normal)
|
||||
);
|
||||
}
|
||||
|
||||
// Confirm the mode is set.
|
||||
for tx in tb.mgm_report_tx.iter() {
|
||||
tx.send(models::mgm::response::ModeResponse::Mode(
|
||||
tx.send(models::acs::mgm::response::ModeResponse::Mode(
|
||||
DeviceMode::Normal,
|
||||
))
|
||||
.unwrap();
|
||||
@@ -595,17 +599,19 @@ mod tests {
|
||||
|
||||
tb.assembly.periodic_operation();
|
||||
assert!(!tb.assembly.mode_transition_active());
|
||||
assert_eq!(tb.assembly.mode(), AssemblyMode::Device(DeviceMode::Normal));
|
||||
assert_eq!(tb.assembly.mode(), Mode::Device(DeviceMode::Normal));
|
||||
|
||||
let report = tb.subsystem_report_rx.try_recv().unwrap();
|
||||
assert_eq!(
|
||||
report,
|
||||
response::ModeReport::Mode(AssemblyMode::Device(DeviceMode::Normal))
|
||||
response::ModeReport::Mode(Mode::Device(DeviceMode::Normal))
|
||||
);
|
||||
|
||||
for tx in tb.mgm_report_tx.iter() {
|
||||
tx.send(models::mgm::response::ModeResponse::Mode(DeviceMode::Off))
|
||||
.unwrap();
|
||||
tx.send(models::acs::mgm::response::ModeResponse::Mode(
|
||||
DeviceMode::Off,
|
||||
))
|
||||
.unwrap();
|
||||
}
|
||||
// This should start mode keeping.
|
||||
tb.assembly.periodic_operation();
|
||||
@@ -615,14 +621,16 @@ mod tests {
|
||||
let request = rx.try_recv().unwrap();
|
||||
assert_eq!(
|
||||
request,
|
||||
models::mgm::request::ModeRequest::SetMode(DeviceMode::Normal)
|
||||
models::acs::mgm::request::ModeRequest::SetMode(DeviceMode::Normal)
|
||||
);
|
||||
}
|
||||
|
||||
// Let the mode keeping fail.
|
||||
for tx in tb.mgm_report_tx.iter() {
|
||||
tx.send(models::mgm::response::ModeResponse::Mode(DeviceMode::Off))
|
||||
.unwrap();
|
||||
tx.send(models::acs::mgm::response::ModeResponse::Mode(
|
||||
DeviceMode::Off,
|
||||
))
|
||||
.unwrap();
|
||||
}
|
||||
tb.assembly.periodic_operation();
|
||||
let report = tb.subsystem_report_rx.try_recv().unwrap();
|
||||
|
||||
@@ -0,0 +1 @@
|
||||
|
||||
@@ -1,6 +1,5 @@
|
||||
pub mod ctrl;
|
||||
|
||||
pub mod mgm;
|
||||
pub mod mgm_assembly;
|
||||
|
||||
pub mod mgt;
|
||||
pub mod subsystem;
|
||||
|
||||
@@ -1 +1,116 @@
|
||||
// TODO: Write subsystem
|
||||
use std::sync::mpsc::SyncSender;
|
||||
|
||||
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,
|
||||
}
|
||||
}
|
||||
}
|
||||
|
||||
@@ -188,7 +188,7 @@ fn main() {
|
||||
request_rx: mgm_0_mode_request_rx,
|
||||
report_tx: mgm_0_mode_report_tx,
|
||||
},
|
||||
Duration::from_millis(1000)
|
||||
Duration::from_millis(1000),
|
||||
);
|
||||
let mut mgm_1_handler = mgm::MgmHandlerLis3Mdl::new(
|
||||
mgm::MgmId::_1,
|
||||
@@ -203,7 +203,7 @@ fn main() {
|
||||
request_rx: mgm_1_mode_request_rx,
|
||||
report_tx: mgm_1_mode_report_tx,
|
||||
},
|
||||
Duration::from_millis(1000)
|
||||
Duration::from_millis(1000),
|
||||
);
|
||||
let mut mgm_assembly = mgm_assembly::Assembly::new(
|
||||
mgm_assembly::ParentQueueHelper {
|
||||
|
||||
Reference in New Issue
Block a user