satrs-core/src/pus/scheduler_srv.rs

@@ -40,6 +40,10 @@ impl PusService11SchedHandler {
             scheduler,
         }
     }
+
+    pub fn scheduler_mut(&mut self) -> &mut PusScheduler {
+        &mut self.scheduler
+    }
 }
 
 impl PusServiceHandler for PusService11SchedHandler {

satrs-example/src/main.rs

@@ -133,7 +133,7 @@ fn main() {
     let (acs_thread_tx, acs_thread_rx) = channel::<RequestWithToken>();
     request_map.insert(RequestTargetId::AcsSubsystem as u32, acs_thread_tx);
 
-    let tc_source = PusTcSource {
+    let tc_source_wrapper = PusTcSource {
         tc_store: tc_store.clone(),
         tc_source: tc_source_tx,
     };
@@ -148,7 +148,7 @@ fn main() {
         seq_count_provider: seq_count_provider_tmtc,
     };
     let tc_args = TcArgs {
-        tc_source,
+        tc_source: tc_source_wrapper.clone(),
         tc_receiver: tc_source_rx,
     };
     let tm_args = TmArgs {
@@ -195,7 +195,10 @@ fn main() {
         verif_reporter.clone(),
         scheduler,
     );
-    let mut pus_11_wrapper = Pus11Wrapper { pus_11_handler };
+    let mut pus_11_wrapper = Pus11Wrapper {
+        pus_11_handler,
+        tc_source_wrapper,
+    };
     let pus_5_handler = PusService5EventHandler::new(
         pus_event_rx,
         tc_store.pool.clone(),
@@ -370,18 +373,23 @@ fn main() {
     let jh4 = thread::Builder::new()
         .name("PUS".to_string())
         .spawn(move || loop {
-            let mut all_queues_empty = true;
-            let mut is_srv_finished = |srv_handler_finished: bool| {
-                if !srv_handler_finished {
-                    all_queues_empty = false;
+            pus_11_wrapper.release_tcs();
+            loop {
+                let mut all_queues_empty = true;
+                let mut is_srv_finished = |srv_handler_finished: bool| {
+                    if !srv_handler_finished {
+                        all_queues_empty = false;
+                    }
+                };
+                is_srv_finished(pus_17_wrapper.handle_next_packet());
+                is_srv_finished(pus_11_wrapper.handle_next_packet());
+                is_srv_finished(pus_5_wrapper.handle_next_packet());
+                if all_queues_empty {
+                    break;
                 }
-            };
-            is_srv_finished(pus_17_wrapper.perform_operation());
-            is_srv_finished(pus_11_wrapper.perform_operation());
-            is_srv_finished(pus_5_wrapper.perform_operation());
-            if all_queues_empty {
-                thread::sleep(Duration::from_millis(200));
             }
+
+            thread::sleep(Duration::from_millis(200));
         })
         .unwrap();
     jh0.join().expect("Joining UDP TMTC server thread failed");

satrs-example/src/pus/event.rs

@@ -7,7 +7,7 @@ pub struct Pus5Wrapper {
 }
 
 impl Pus5Wrapper {
-    pub fn perform_operation(&mut self) -> bool {
+    pub fn handle_next_packet(&mut self) -> bool {
         match self.pus_5_handler.handle_next_packet() {
             Ok(result) => match result {
                 PusPacketHandlerResult::RequestHandled => {}

satrs-example/src/pus/scheduler.rs

@@ -1,13 +1,50 @@
-use log::{error, warn};
+use crate::tmtc::PusTcSource;
+use log::{error, info, warn};
+use satrs_core::pool::{SharedPool, StoreAddr};
+use satrs_core::pus::scheduler::TcInfo;
 use satrs_core::pus::scheduler_srv::PusService11SchedHandler;
 use satrs_core::pus::{PusPacketHandlerResult, PusServiceHandler};
 
 pub struct Pus11Wrapper {
     pub pus_11_handler: PusService11SchedHandler,
+    pub tc_source_wrapper: PusTcSource,
 }
 
 impl Pus11Wrapper {
-    pub fn perform_operation(&mut self) -> bool {
+    pub fn release_tcs(&mut self) {
+        let releaser = |enabled: bool, info: &TcInfo| -> bool {
+            if enabled {
+                self.tc_source_wrapper
+                    .tc_source
+                    .send(info.addr())
+                    .expect("sending TC to TC source failed");
+            }
+            true
+        };
+
+        let mut pool = self
+            .tc_source_wrapper
+            .tc_store
+            .pool
+            .write()
+            .expect("error locking pool");
+
+        self.pus_11_handler
+            .scheduler_mut()
+            .update_time_from_now()
+            .unwrap();
+        if let Ok(released_tcs) = self
+            .pus_11_handler
+            .scheduler_mut()
+            .release_telecommands(releaser, pool.as_mut())
+        {
+            if released_tcs > 0 {
+                info!("{released_tcs} TC(s) released from scheduler");
+            }
+        }
+    }
+
+    pub fn handle_next_packet(&mut self) -> bool {
         match self.pus_11_handler.handle_next_packet() {
             Ok(result) => match result {
                 PusPacketHandlerResult::RequestHandled => {}

satrs-example/src/pus/test.rs

@@ -16,7 +16,7 @@ pub struct Service17CustomWrapper {
 }
 
 impl Service17CustomWrapper {
-    pub fn perform_operation(&mut self) -> bool {
+    pub fn handle_next_packet(&mut self) -> bool {
         let res = self.pus17_handler.handle_next_packet();
         if res.is_err() {
             warn!("PUS17 handler failed with error {:?}", res.unwrap_err());

satrs-example/src/tmtc.rs

@@ -2,12 +2,10 @@ use log::info;
 use satrs_core::events::EventU32;
 use satrs_core::hal::host::udp_server::{ReceiveResult, UdpTcServer};
 use satrs_core::params::Params;
-use std::cell::RefCell;
 use std::collections::HashMap;
 use std::error::Error;
 use std::fmt::{Display, Formatter};
 use std::net::SocketAddr;
-use std::rc::Rc;
 use std::sync::mpsc::{Receiver, SendError, Sender, TryRecvError};
 use std::thread;
 use std::time::Duration;
@@ -16,7 +14,6 @@ use crate::ccsds::CcsdsReceiver;
 use crate::pus::{PusReceiver, PusTcArgs, PusTcMpscRouter, PusTmArgs};
 use crate::requests::RequestWithToken;
 use satrs_core::pool::{SharedPool, StoreAddr, StoreError};
-use satrs_core::pus::scheduler::{PusScheduler, TcInfo};
 use satrs_core::pus::verification::StdVerifReporterWithSender;
 use satrs_core::seq_count::SeqCountProviderSyncClonable;
 use satrs_core::spacepackets::ecss::{PusPacket, SerializablePusPacket};
@@ -154,10 +151,6 @@ pub fn core_tmtc_task(
     tm_args: TmArgs,
     pus_router: PusTcMpscRouter,
 ) {
-    let scheduler = Rc::new(RefCell::new(
-        PusScheduler::new_with_current_init_time(Duration::from_secs(5)).unwrap(),
-    ));
-
     let pus_tm_args = PusTmArgs {
         verif_reporter: args.verif_reporter,
         seq_count_provider: args.seq_count_provider.clone(),
@@ -185,13 +178,11 @@ pub fn core_tmtc_task(
 
     let mut tc_buf: [u8; 4096] = [0; 4096];
     loop {
-        let tmtc_sched = scheduler.clone();
         core_tmtc_loop(
             &mut udp_tmtc_server,
             &mut tc_args,
             &mut tc_buf,
             &mut pus_receiver,
-            tmtc_sched,
         );
         thread::sleep(Duration::from_millis(400));
     }
@@ -202,36 +193,7 @@ fn core_tmtc_loop(
     tc_args: &mut TcArgs,
     tc_buf: &mut [u8],
     pus_receiver: &mut PusReceiver,
-    scheduler: Rc<RefCell<PusScheduler>>,
 ) {
-    let releaser = |enabled: bool, info: &TcInfo| -> bool {
-        if enabled {
-            tc_args
-                .tc_source
-                .tc_source
-                .send(info.addr())
-                .expect("sending TC to TC source failed");
-        }
-        true
-    };
-
-    let mut pool = tc_args
-        .tc_source
-        .tc_store
-        .pool
-        .write()
-        .expect("error locking pool");
-
-    let mut scheduler = scheduler.borrow_mut();
-    scheduler.update_time_from_now().unwrap();
-    if let Ok(released_tcs) = scheduler.release_telecommands(releaser, pool.as_mut()) {
-        if released_tcs > 0 {
-            info!("{released_tcs} TC(s) released from scheduler");
-        }
-    }
-    drop(pool);
-    drop(scheduler);
-
     while poll_tc_server(udp_tmtc_server) {}
     match tc_args.tc_receiver.try_recv() {
         Ok(addr) => {