724 lines
26 KiB
Rust
724 lines
26 KiB
Rust
mod acs;
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mod eps;
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mod events;
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mod hk;
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mod interface;
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mod logger;
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mod pus;
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mod requests;
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mod tmtc;
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use crate::eps::pcdu::{
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PcduHandler, SerialInterfaceDummy, SerialInterfaceToSim, SerialSimInterfaceWrapper,
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};
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use crate::eps::PowerSwitchHelper;
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use crate::events::EventHandler;
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use crate::interface::udp::DynamicUdpTmHandler;
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use crate::pus::stack::PusStack;
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use crate::tmtc::tc_source::{TcSourceTaskDynamic, TcSourceTaskStatic};
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use crate::tmtc::tm_sink::{TmSinkDynamic, TmSinkStatic};
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use log::info;
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use pus::test::create_test_service_dynamic;
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use satrs::hal::std::tcp_server::ServerConfig;
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use satrs::hal::std::udp_server::UdpTcServer;
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use satrs::pus::HandlingStatus;
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use satrs::request::{GenericMessage, MessageMetadata};
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use satrs::tmtc::{PacketSenderWithSharedPool, SharedPacketPool};
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use satrs_example::config::pool::{create_sched_tc_pool, create_static_pools};
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use satrs_example::config::tasks::{
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FREQ_MS_AOCS, FREQ_MS_PUS_STACK, FREQ_MS_UDP_TMTC, SIM_CLIENT_IDLE_DELAY_MS,
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};
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use satrs_example::config::{OBSW_SERVER_ADDR, PACKET_ID_VALIDATOR, SERVER_PORT};
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use satrs_example::DeviceMode;
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use crate::acs::mgm::{
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MgmHandlerLis3Mdl, MpscModeLeafInterface, SpiDummyInterface, SpiSimInterface,
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SpiSimInterfaceWrapper,
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};
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use crate::interface::sim_client_udp::create_sim_client;
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use crate::interface::tcp::{SyncTcpTmSource, TcpTask};
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use crate::interface::udp::{StaticUdpTmHandler, UdpTmtcServer};
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use crate::logger::setup_logger;
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use crate::pus::action::{create_action_service_dynamic, create_action_service_static};
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use crate::pus::event::{create_event_service_dynamic, create_event_service_static};
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use crate::pus::hk::{create_hk_service_dynamic, create_hk_service_static};
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use crate::pus::mode::{create_mode_service_dynamic, create_mode_service_static};
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use crate::pus::scheduler::{create_scheduler_service_dynamic, create_scheduler_service_static};
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use crate::pus::test::create_test_service_static;
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use crate::pus::{PusTcDistributor, PusTcMpscRouter};
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use crate::requests::{CompositeRequest, GenericRequestRouter};
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use satrs::mode::{Mode, ModeAndSubmode, ModeRequest};
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use satrs::pus::event_man::EventRequestWithToken;
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use satrs::spacepackets::{time::cds::CdsTime, time::TimeWriter};
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use satrs_example::config::components::{
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MGM_HANDLER_0, NO_SENDER, PCDU_HANDLER, TCP_SERVER, UDP_SERVER,
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};
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use std::net::{IpAddr, SocketAddr};
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use std::sync::{mpsc, Mutex};
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use std::sync::{Arc, RwLock};
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use std::thread;
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use std::time::Duration;
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#[allow(dead_code)]
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fn static_tmtc_pool_main() {
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let (tm_pool, tc_pool) = create_static_pools();
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let shared_tm_pool = Arc::new(RwLock::new(tm_pool));
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let shared_tc_pool = Arc::new(RwLock::new(tc_pool));
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let shared_tm_pool_wrapper = SharedPacketPool::new(&shared_tm_pool);
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let shared_tc_pool_wrapper = SharedPacketPool::new(&shared_tc_pool);
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let (tc_source_tx, tc_source_rx) = mpsc::sync_channel(50);
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let (tm_sink_tx, tm_sink_rx) = mpsc::sync_channel(50);
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let (tm_server_tx, tm_server_rx) = mpsc::sync_channel(50);
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let tm_sink_tx_sender =
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PacketSenderWithSharedPool::new(tm_sink_tx.clone(), shared_tm_pool_wrapper.clone());
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let (sim_request_tx, sim_request_rx) = mpsc::channel();
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let (mgm_sim_reply_tx, mgm_sim_reply_rx) = mpsc::channel();
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let (pcdu_sim_reply_tx, pcdu_sim_reply_rx) = mpsc::channel();
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let mut opt_sim_client = create_sim_client(sim_request_rx);
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let (mgm_handler_composite_tx, mgm_handler_composite_rx) =
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mpsc::sync_channel::<GenericMessage<CompositeRequest>>(10);
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let (pcdu_handler_composite_tx, pcdu_handler_composite_rx) =
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mpsc::sync_channel::<GenericMessage<CompositeRequest>>(30);
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let (mgm_handler_mode_tx, mgm_handler_mode_rx) =
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mpsc::sync_channel::<GenericMessage<ModeRequest>>(5);
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let (pcdu_handler_mode_tx, pcdu_handler_mode_rx) =
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mpsc::sync_channel::<GenericMessage<ModeRequest>>(5);
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// Some request are targetable. This map is used to retrieve sender handles based on a target ID.
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let mut request_map = GenericRequestRouter::default();
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request_map
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.composite_router_map
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.insert(MGM_HANDLER_0.id(), mgm_handler_composite_tx);
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request_map
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.mode_router_map
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.insert(MGM_HANDLER_0.id(), mgm_handler_mode_tx);
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request_map
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.composite_router_map
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.insert(PCDU_HANDLER.id(), pcdu_handler_composite_tx);
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request_map
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.mode_router_map
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.insert(PCDU_HANDLER.id(), pcdu_handler_mode_tx.clone());
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// This helper structure is used by all telecommand providers which need to send telecommands
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// to the TC source.
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let tc_source = PacketSenderWithSharedPool::new(tc_source_tx, shared_tc_pool_wrapper.clone());
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// Create event handling components
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// These sender handles are used to send event requests, for example to enable or disable
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// certain events.
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let (event_tx, event_rx) = mpsc::sync_channel(100);
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let (event_request_tx, event_request_rx) = mpsc::channel::<EventRequestWithToken>();
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// The event task is the core handler to perform the event routing and TM handling as specified
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// in the sat-rs documentation.
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let mut event_handler = EventHandler::new(tm_sink_tx.clone(), event_rx, event_request_rx);
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let (pus_test_tx, pus_test_rx) = mpsc::channel();
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let (pus_event_tx, pus_event_rx) = mpsc::channel();
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let (pus_sched_tx, pus_sched_rx) = mpsc::channel();
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let (pus_hk_tx, pus_hk_rx) = mpsc::channel();
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let (pus_action_tx, pus_action_rx) = mpsc::channel();
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let (pus_mode_tx, pus_mode_rx) = mpsc::channel();
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let (_pus_action_reply_tx, pus_action_reply_rx) = mpsc::channel();
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let (pus_hk_reply_tx, pus_hk_reply_rx) = mpsc::channel();
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let (pus_mode_reply_tx, pus_mode_reply_rx) = mpsc::channel();
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let pus_router = PusTcMpscRouter {
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test_tc_sender: pus_test_tx,
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event_tc_sender: pus_event_tx,
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sched_tc_sender: pus_sched_tx,
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hk_tc_sender: pus_hk_tx,
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action_tc_sender: pus_action_tx,
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mode_tc_sender: pus_mode_tx,
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};
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let pus_test_service = create_test_service_static(
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tm_sink_tx_sender.clone(),
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shared_tc_pool.clone(),
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event_tx.clone(),
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pus_test_rx,
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);
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let pus_scheduler_service = create_scheduler_service_static(
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tm_sink_tx_sender.clone(),
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tc_source.clone(),
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pus_sched_rx,
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create_sched_tc_pool(),
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);
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let pus_event_service = create_event_service_static(
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tm_sink_tx_sender.clone(),
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shared_tc_pool.clone(),
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pus_event_rx,
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event_request_tx,
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);
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let pus_action_service = create_action_service_static(
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tm_sink_tx_sender.clone(),
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shared_tc_pool.clone(),
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pus_action_rx,
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request_map.clone(),
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pus_action_reply_rx,
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);
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let pus_hk_service = create_hk_service_static(
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tm_sink_tx_sender.clone(),
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shared_tc_pool.clone(),
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pus_hk_rx,
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request_map.clone(),
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pus_hk_reply_rx,
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);
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let pus_mode_service = create_mode_service_static(
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tm_sink_tx_sender.clone(),
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shared_tc_pool.clone(),
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pus_mode_rx,
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request_map,
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pus_mode_reply_rx,
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);
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let mut pus_stack = PusStack::new(
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pus_test_service,
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pus_hk_service,
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pus_event_service,
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pus_action_service,
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pus_scheduler_service,
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pus_mode_service,
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);
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let mut tmtc_task = TcSourceTaskStatic::new(
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shared_tc_pool_wrapper.clone(),
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tc_source_rx,
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PusTcDistributor::new(tm_sink_tx_sender, pus_router),
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);
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let sock_addr = SocketAddr::new(IpAddr::V4(OBSW_SERVER_ADDR), SERVER_PORT);
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let udp_tc_server = UdpTcServer::new(UDP_SERVER.id(), sock_addr, 2048, tc_source.clone())
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.expect("creating UDP TMTC server failed");
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let mut udp_tmtc_server = UdpTmtcServer {
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udp_tc_server,
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tm_handler: StaticUdpTmHandler {
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tm_rx: tm_server_rx,
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tm_store: shared_tm_pool.clone(),
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},
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};
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let tcp_server_cfg = ServerConfig::new(
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TCP_SERVER.id(),
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sock_addr,
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Duration::from_millis(400),
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4096,
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8192,
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);
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let sync_tm_tcp_source = SyncTcpTmSource::new(200);
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let mut tcp_server = TcpTask::new(
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tcp_server_cfg,
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sync_tm_tcp_source.clone(),
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tc_source.clone(),
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PACKET_ID_VALIDATOR.clone(),
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)
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.expect("tcp server creation failed");
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let mut tm_sink = TmSinkStatic::new(
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shared_tm_pool_wrapper,
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sync_tm_tcp_source,
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tm_sink_rx,
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tm_server_tx,
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);
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let (mgm_handler_mode_reply_to_parent_tx, _mgm_handler_mode_reply_to_parent_rx) =
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mpsc::sync_channel(5);
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let shared_switch_set = Arc::new(Mutex::default());
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let (switch_request_tx, switch_request_rx) = mpsc::sync_channel(20);
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let switch_helper = PowerSwitchHelper::new(switch_request_tx, shared_switch_set.clone());
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let shared_mgm_set = Arc::default();
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let mgm_mode_leaf_interface = MpscModeLeafInterface {
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request_rx: mgm_handler_mode_rx,
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reply_to_pus_tx: pus_mode_reply_tx.clone(),
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reply_to_parent_tx: mgm_handler_mode_reply_to_parent_tx,
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};
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let mgm_spi_interface = if let Some(sim_client) = opt_sim_client.as_mut() {
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sim_client.add_reply_recipient(satrs_minisim::SimComponent::MgmLis3Mdl, mgm_sim_reply_tx);
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SpiSimInterfaceWrapper::Sim(SpiSimInterface {
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sim_request_tx: sim_request_tx.clone(),
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sim_reply_rx: mgm_sim_reply_rx,
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})
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} else {
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SpiSimInterfaceWrapper::Dummy(SpiDummyInterface::default())
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};
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let mut mgm_handler = MgmHandlerLis3Mdl::new(
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MGM_HANDLER_0,
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"MGM_0",
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mgm_mode_leaf_interface,
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mgm_handler_composite_rx,
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pus_hk_reply_tx.clone(),
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switch_helper.clone(),
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tm_sink_tx.clone(),
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mgm_spi_interface,
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shared_mgm_set,
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);
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let (pcdu_handler_mode_reply_to_parent_tx, _pcdu_handler_mode_reply_to_parent_rx) =
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mpsc::sync_channel(10);
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let pcdu_mode_leaf_interface = MpscModeLeafInterface {
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request_rx: pcdu_handler_mode_rx,
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reply_to_pus_tx: pus_mode_reply_tx,
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reply_to_parent_tx: pcdu_handler_mode_reply_to_parent_tx,
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};
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let pcdu_serial_interface = if let Some(sim_client) = opt_sim_client.as_mut() {
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sim_client.add_reply_recipient(satrs_minisim::SimComponent::Pcdu, pcdu_sim_reply_tx);
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SerialSimInterfaceWrapper::Sim(SerialInterfaceToSim::new(
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sim_request_tx.clone(),
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pcdu_sim_reply_rx,
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))
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} else {
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SerialSimInterfaceWrapper::Dummy(SerialInterfaceDummy::default())
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};
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let mut pcdu_handler = PcduHandler::new(
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PCDU_HANDLER,
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"PCDU",
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pcdu_mode_leaf_interface,
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pcdu_handler_composite_rx,
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pus_hk_reply_tx,
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switch_request_rx,
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tm_sink_tx,
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pcdu_serial_interface,
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shared_switch_set,
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);
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// The PCDU is a critical component which should be in normal mode immediately.
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pcdu_handler_mode_tx
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.send(GenericMessage::new(
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MessageMetadata::new(0, NO_SENDER),
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ModeRequest::SetMode(ModeAndSubmode::new(DeviceMode::Normal as Mode, 0)),
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))
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.expect("sending initial mode request failed");
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info!("Starting TMTC and UDP task");
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let jh_udp_tmtc = thread::Builder::new()
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.name("SATRS tmtc-udp".to_string())
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.spawn(move || {
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info!("Running UDP server on port {SERVER_PORT}");
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loop {
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udp_tmtc_server.periodic_operation();
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tmtc_task.periodic_operation();
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thread::sleep(Duration::from_millis(FREQ_MS_UDP_TMTC));
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}
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})
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.unwrap();
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info!("Starting TCP task");
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let jh_tcp = thread::Builder::new()
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.name("sat-rs tcp".to_string())
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.spawn(move || {
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info!("Running TCP server on port {SERVER_PORT}");
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loop {
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tcp_server.periodic_operation();
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}
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})
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.unwrap();
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info!("Starting TM funnel task");
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let jh_tm_funnel = thread::Builder::new()
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.name("tm sink".to_string())
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.spawn(move || loop {
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tm_sink.operation();
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})
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.unwrap();
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let mut opt_jh_sim_client = None;
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if let Some(mut sim_client) = opt_sim_client {
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info!("Starting UDP sim client task");
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opt_jh_sim_client = Some(
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thread::Builder::new()
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.name("sat-rs sim adapter".to_string())
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.spawn(move || loop {
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if sim_client.operation() == HandlingStatus::Empty {
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std::thread::sleep(Duration::from_millis(SIM_CLIENT_IDLE_DELAY_MS));
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}
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})
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.unwrap(),
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);
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}
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info!("Starting AOCS thread");
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let jh_aocs = thread::Builder::new()
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.name("sat-rs aocs".to_string())
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.spawn(move || loop {
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mgm_handler.periodic_operation();
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thread::sleep(Duration::from_millis(FREQ_MS_AOCS));
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})
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.unwrap();
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info!("Starting EPS thread");
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let jh_eps = thread::Builder::new()
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.name("sat-rs eps".to_string())
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.spawn(move || loop {
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// TODO: We should introduce something like a fixed timeslot helper to allow a more
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// declarative API. It would also be very useful for the AOCS task.
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pcdu_handler.periodic_operation(eps::pcdu::OpCode::RegularOp);
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thread::sleep(Duration::from_millis(50));
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pcdu_handler.periodic_operation(eps::pcdu::OpCode::PollAndRecvReplies);
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thread::sleep(Duration::from_millis(50));
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pcdu_handler.periodic_operation(eps::pcdu::OpCode::PollAndRecvReplies);
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thread::sleep(Duration::from_millis(300));
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})
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.unwrap();
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info!("Starting PUS handler thread");
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let jh_pus_handler = thread::Builder::new()
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.name("sat-rs pus".to_string())
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.spawn(move || loop {
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event_handler.periodic_operation();
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pus_stack.periodic_operation();
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thread::sleep(Duration::from_millis(FREQ_MS_PUS_STACK));
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})
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.unwrap();
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jh_udp_tmtc
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.join()
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.expect("Joining UDP TMTC server thread failed");
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jh_tcp
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.join()
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.expect("Joining TCP TMTC server thread failed");
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jh_tm_funnel
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.join()
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.expect("Joining TM Funnel thread failed");
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if let Some(jh_sim_client) = opt_jh_sim_client {
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jh_sim_client
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.join()
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.expect("Joining SIM client thread failed");
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}
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jh_aocs.join().expect("Joining AOCS thread failed");
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jh_eps.join().expect("Joining EPS thread failed");
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jh_pus_handler
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.join()
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.expect("Joining PUS handler thread failed");
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}
|
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|
|
#[allow(dead_code)]
|
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fn dyn_tmtc_pool_main() {
|
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let (tc_source_tx, tc_source_rx) = mpsc::channel();
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let (tm_sink_tx, tm_sink_rx) = mpsc::channel();
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let (tm_server_tx, tm_server_rx) = mpsc::channel();
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let (sim_request_tx, sim_request_rx) = mpsc::channel();
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let (mgm_sim_reply_tx, mgm_sim_reply_rx) = mpsc::channel();
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let (pcdu_sim_reply_tx, pcdu_sim_reply_rx) = mpsc::channel();
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let mut opt_sim_client = create_sim_client(sim_request_rx);
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// Some request are targetable. This map is used to retrieve sender handles based on a target ID.
|
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let (mgm_handler_composite_tx, mgm_handler_composite_rx) =
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mpsc::sync_channel::<GenericMessage<CompositeRequest>>(5);
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let (pcdu_handler_composite_tx, pcdu_handler_composite_rx) =
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mpsc::sync_channel::<GenericMessage<CompositeRequest>>(10);
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let (mgm_handler_mode_tx, mgm_handler_mode_rx) =
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mpsc::sync_channel::<GenericMessage<ModeRequest>>(5);
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let (pcdu_handler_mode_tx, pcdu_handler_mode_rx) =
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mpsc::sync_channel::<GenericMessage<ModeRequest>>(10);
|
|
|
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// Some request are targetable. This map is used to retrieve sender handles based on a target ID.
|
|
let mut request_map = GenericRequestRouter::default();
|
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request_map
|
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.composite_router_map
|
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.insert(MGM_HANDLER_0.id(), mgm_handler_composite_tx);
|
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request_map
|
|
.mode_router_map
|
|
.insert(MGM_HANDLER_0.id(), mgm_handler_mode_tx);
|
|
request_map
|
|
.composite_router_map
|
|
.insert(PCDU_HANDLER.id(), pcdu_handler_composite_tx);
|
|
request_map
|
|
.mode_router_map
|
|
.insert(PCDU_HANDLER.id(), pcdu_handler_mode_tx.clone());
|
|
|
|
// Create event handling components
|
|
// These sender handles are used to send event requests, for example to enable or disable
|
|
// certain events.
|
|
let (event_tx, event_rx) = mpsc::sync_channel(100);
|
|
let (event_request_tx, event_request_rx) = mpsc::channel::<EventRequestWithToken>();
|
|
// The event task is the core handler to perform the event routing and TM handling as specified
|
|
// in the sat-rs documentation.
|
|
let mut event_handler = EventHandler::new(tm_sink_tx.clone(), event_rx, event_request_rx);
|
|
|
|
let (pus_test_tx, pus_test_rx) = mpsc::channel();
|
|
let (pus_event_tx, pus_event_rx) = mpsc::channel();
|
|
let (pus_sched_tx, pus_sched_rx) = mpsc::channel();
|
|
let (pus_hk_tx, pus_hk_rx) = mpsc::channel();
|
|
let (pus_action_tx, pus_action_rx) = mpsc::channel();
|
|
let (pus_mode_tx, pus_mode_rx) = mpsc::channel();
|
|
|
|
let (_pus_action_reply_tx, pus_action_reply_rx) = mpsc::channel();
|
|
let (pus_hk_reply_tx, pus_hk_reply_rx) = mpsc::channel();
|
|
let (pus_mode_reply_tx, pus_mode_reply_rx) = mpsc::channel();
|
|
|
|
let pus_router = PusTcMpscRouter {
|
|
test_tc_sender: pus_test_tx,
|
|
event_tc_sender: pus_event_tx,
|
|
sched_tc_sender: pus_sched_tx,
|
|
hk_tc_sender: pus_hk_tx,
|
|
action_tc_sender: pus_action_tx,
|
|
mode_tc_sender: pus_mode_tx,
|
|
};
|
|
|
|
let pus_test_service =
|
|
create_test_service_dynamic(tm_sink_tx.clone(), event_tx.clone(), pus_test_rx);
|
|
let pus_scheduler_service = create_scheduler_service_dynamic(
|
|
tm_sink_tx.clone(),
|
|
tc_source_tx.clone(),
|
|
pus_sched_rx,
|
|
create_sched_tc_pool(),
|
|
);
|
|
|
|
let pus_event_service =
|
|
create_event_service_dynamic(tm_sink_tx.clone(), pus_event_rx, event_request_tx);
|
|
let pus_action_service = create_action_service_dynamic(
|
|
tm_sink_tx.clone(),
|
|
pus_action_rx,
|
|
request_map.clone(),
|
|
pus_action_reply_rx,
|
|
);
|
|
let pus_hk_service = create_hk_service_dynamic(
|
|
tm_sink_tx.clone(),
|
|
pus_hk_rx,
|
|
request_map.clone(),
|
|
pus_hk_reply_rx,
|
|
);
|
|
let pus_mode_service = create_mode_service_dynamic(
|
|
tm_sink_tx.clone(),
|
|
pus_mode_rx,
|
|
request_map,
|
|
pus_mode_reply_rx,
|
|
);
|
|
let mut pus_stack = PusStack::new(
|
|
pus_test_service,
|
|
pus_hk_service,
|
|
pus_event_service,
|
|
pus_action_service,
|
|
pus_scheduler_service,
|
|
pus_mode_service,
|
|
);
|
|
|
|
let mut tmtc_task = TcSourceTaskDynamic::new(
|
|
tc_source_rx,
|
|
PusTcDistributor::new(tm_sink_tx.clone(), pus_router),
|
|
);
|
|
|
|
let sock_addr = SocketAddr::new(IpAddr::V4(OBSW_SERVER_ADDR), SERVER_PORT);
|
|
let udp_tc_server = UdpTcServer::new(UDP_SERVER.id(), sock_addr, 2048, tc_source_tx.clone())
|
|
.expect("creating UDP TMTC server failed");
|
|
let mut udp_tmtc_server = UdpTmtcServer {
|
|
udp_tc_server,
|
|
tm_handler: DynamicUdpTmHandler {
|
|
tm_rx: tm_server_rx,
|
|
},
|
|
};
|
|
|
|
let tcp_server_cfg = ServerConfig::new(
|
|
TCP_SERVER.id(),
|
|
sock_addr,
|
|
Duration::from_millis(400),
|
|
4096,
|
|
8192,
|
|
);
|
|
let sync_tm_tcp_source = SyncTcpTmSource::new(200);
|
|
let mut tcp_server = TcpTask::new(
|
|
tcp_server_cfg,
|
|
sync_tm_tcp_source.clone(),
|
|
tc_source_tx.clone(),
|
|
PACKET_ID_VALIDATOR.clone(),
|
|
)
|
|
.expect("tcp server creation failed");
|
|
|
|
let mut tm_funnel = TmSinkDynamic::new(sync_tm_tcp_source, tm_sink_rx, tm_server_tx);
|
|
|
|
let shared_switch_set = Arc::new(Mutex::default());
|
|
let (switch_request_tx, switch_request_rx) = mpsc::sync_channel(20);
|
|
let switch_helper = PowerSwitchHelper::new(switch_request_tx, shared_switch_set.clone());
|
|
|
|
let (mgm_handler_mode_reply_to_parent_tx, _mgm_handler_mode_reply_to_parent_rx) =
|
|
mpsc::sync_channel(5);
|
|
let shared_mgm_set = Arc::default();
|
|
let mode_leaf_interface = MpscModeLeafInterface {
|
|
request_rx: mgm_handler_mode_rx,
|
|
reply_to_pus_tx: pus_mode_reply_tx.clone(),
|
|
reply_to_parent_tx: mgm_handler_mode_reply_to_parent_tx,
|
|
};
|
|
|
|
let mgm_spi_interface = if let Some(sim_client) = opt_sim_client.as_mut() {
|
|
sim_client.add_reply_recipient(satrs_minisim::SimComponent::MgmLis3Mdl, mgm_sim_reply_tx);
|
|
SpiSimInterfaceWrapper::Sim(SpiSimInterface {
|
|
sim_request_tx: sim_request_tx.clone(),
|
|
sim_reply_rx: mgm_sim_reply_rx,
|
|
})
|
|
} else {
|
|
SpiSimInterfaceWrapper::Dummy(SpiDummyInterface::default())
|
|
};
|
|
let mut mgm_handler = MgmHandlerLis3Mdl::new(
|
|
MGM_HANDLER_0,
|
|
"MGM_0",
|
|
mode_leaf_interface,
|
|
mgm_handler_composite_rx,
|
|
pus_hk_reply_tx.clone(),
|
|
switch_helper.clone(),
|
|
tm_sink_tx.clone(),
|
|
mgm_spi_interface,
|
|
shared_mgm_set,
|
|
);
|
|
|
|
let (pcdu_handler_mode_reply_to_parent_tx, _pcdu_handler_mode_reply_to_parent_rx) =
|
|
mpsc::sync_channel(10);
|
|
let pcdu_mode_leaf_interface = MpscModeLeafInterface {
|
|
request_rx: pcdu_handler_mode_rx,
|
|
reply_to_pus_tx: pus_mode_reply_tx,
|
|
reply_to_parent_tx: pcdu_handler_mode_reply_to_parent_tx,
|
|
};
|
|
let pcdu_serial_interface = if let Some(sim_client) = opt_sim_client.as_mut() {
|
|
sim_client.add_reply_recipient(satrs_minisim::SimComponent::Pcdu, pcdu_sim_reply_tx);
|
|
SerialSimInterfaceWrapper::Sim(SerialInterfaceToSim::new(
|
|
sim_request_tx.clone(),
|
|
pcdu_sim_reply_rx,
|
|
))
|
|
} else {
|
|
SerialSimInterfaceWrapper::Dummy(SerialInterfaceDummy::default())
|
|
};
|
|
let mut pcdu_handler = PcduHandler::new(
|
|
PCDU_HANDLER,
|
|
"PCDU",
|
|
pcdu_mode_leaf_interface,
|
|
pcdu_handler_composite_rx,
|
|
pus_hk_reply_tx,
|
|
switch_request_rx,
|
|
tm_sink_tx,
|
|
pcdu_serial_interface,
|
|
shared_switch_set,
|
|
);
|
|
// The PCDU is a critical component which should be in normal mode immediately.
|
|
pcdu_handler_mode_tx
|
|
.send(GenericMessage::new(
|
|
MessageMetadata::new(0, NO_SENDER),
|
|
ModeRequest::SetMode(ModeAndSubmode::new(DeviceMode::Normal as Mode, 0)),
|
|
))
|
|
.expect("sending initial mode request failed");
|
|
|
|
info!("Starting TMTC and UDP task");
|
|
let jh_udp_tmtc = thread::Builder::new()
|
|
.name("sat-rs tmtc-udp".to_string())
|
|
.spawn(move || {
|
|
info!("Running UDP server on port {SERVER_PORT}");
|
|
loop {
|
|
udp_tmtc_server.periodic_operation();
|
|
tmtc_task.periodic_operation();
|
|
thread::sleep(Duration::from_millis(FREQ_MS_UDP_TMTC));
|
|
}
|
|
})
|
|
.unwrap();
|
|
|
|
info!("Starting TCP task");
|
|
let jh_tcp = thread::Builder::new()
|
|
.name("sat-rs tcp".to_string())
|
|
.spawn(move || {
|
|
info!("Running TCP server on port {SERVER_PORT}");
|
|
loop {
|
|
tcp_server.periodic_operation();
|
|
}
|
|
})
|
|
.unwrap();
|
|
|
|
info!("Starting TM funnel task");
|
|
let jh_tm_funnel = thread::Builder::new()
|
|
.name("sat-rs tm-sink".to_string())
|
|
.spawn(move || loop {
|
|
tm_funnel.operation();
|
|
})
|
|
.unwrap();
|
|
|
|
let mut opt_jh_sim_client = None;
|
|
if let Some(mut sim_client) = opt_sim_client {
|
|
info!("Starting UDP sim client task");
|
|
opt_jh_sim_client = Some(
|
|
thread::Builder::new()
|
|
.name("sat-rs sim adapter".to_string())
|
|
.spawn(move || loop {
|
|
if sim_client.operation() == HandlingStatus::Empty {
|
|
std::thread::sleep(Duration::from_millis(SIM_CLIENT_IDLE_DELAY_MS));
|
|
}
|
|
})
|
|
.unwrap(),
|
|
);
|
|
}
|
|
|
|
info!("Starting AOCS thread");
|
|
let jh_aocs = thread::Builder::new()
|
|
.name("sat-rs aocs".to_string())
|
|
.spawn(move || loop {
|
|
mgm_handler.periodic_operation();
|
|
thread::sleep(Duration::from_millis(FREQ_MS_AOCS));
|
|
})
|
|
.unwrap();
|
|
|
|
info!("Starting EPS thread");
|
|
let jh_eps = thread::Builder::new()
|
|
.name("sat-rs eps".to_string())
|
|
.spawn(move || loop {
|
|
// TODO: We should introduce something like a fixed timeslot helper to allow a more
|
|
// declarative API. It would also be very useful for the AOCS task.
|
|
pcdu_handler.periodic_operation(eps::pcdu::OpCode::RegularOp);
|
|
thread::sleep(Duration::from_millis(50));
|
|
pcdu_handler.periodic_operation(eps::pcdu::OpCode::PollAndRecvReplies);
|
|
thread::sleep(Duration::from_millis(50));
|
|
pcdu_handler.periodic_operation(eps::pcdu::OpCode::PollAndRecvReplies);
|
|
thread::sleep(Duration::from_millis(300));
|
|
})
|
|
.unwrap();
|
|
|
|
info!("Starting PUS handler thread");
|
|
let jh_pus_handler = thread::Builder::new()
|
|
.name("sat-rs pus".to_string())
|
|
.spawn(move || loop {
|
|
pus_stack.periodic_operation();
|
|
event_handler.periodic_operation();
|
|
thread::sleep(Duration::from_millis(FREQ_MS_PUS_STACK));
|
|
})
|
|
.unwrap();
|
|
|
|
jh_udp_tmtc
|
|
.join()
|
|
.expect("Joining UDP TMTC server thread failed");
|
|
jh_tcp
|
|
.join()
|
|
.expect("Joining TCP TMTC server thread failed");
|
|
jh_tm_funnel
|
|
.join()
|
|
.expect("Joining TM Funnel thread failed");
|
|
if let Some(jh_sim_client) = opt_jh_sim_client {
|
|
jh_sim_client
|
|
.join()
|
|
.expect("Joining SIM client thread failed");
|
|
}
|
|
jh_aocs.join().expect("Joining AOCS thread failed");
|
|
jh_eps.join().expect("Joining EPS thread failed");
|
|
jh_pus_handler
|
|
.join()
|
|
.expect("Joining PUS handler thread failed");
|
|
}
|
|
|
|
fn main() {
|
|
setup_logger().expect("setting up logging with fern failed");
|
|
println!("Running OBSW example");
|
|
#[cfg(not(feature = "dyn_tmtc"))]
|
|
static_tmtc_pool_main();
|
|
#[cfg(feature = "dyn_tmtc")]
|
|
dyn_tmtc_pool_main();
|
|
}
|
|
|
|
pub fn update_time(time_provider: &mut CdsTime, timestamp: &mut [u8]) {
|
|
time_provider
|
|
.update_from_now()
|
|
.expect("Could not get current time");
|
|
time_provider
|
|
.write_to_bytes(timestamp)
|
|
.expect("Writing timestamp failed");
|
|
}
|