sat-rs/satrs-minisim/src/lib.rs
Robin Mueller 9d711d2b73
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add fern logging
2024-03-13 10:49:24 +01:00

398 lines
11 KiB
Rust

use asynchronix::time::MonotonicTime;
use serde::{de::DeserializeOwned, Deserialize, Serialize};
pub const SIM_CTRL_UDP_PORT: u16 = 7303;
#[derive(Debug, Copy, Clone, PartialEq, Eq, Serialize, Deserialize)]
pub enum SimTarget {
SimCtrl,
Mgm,
Mgt,
Pcdu,
}
#[derive(Debug, Clone, PartialEq, Eq, Serialize, Deserialize)]
pub struct SimMessage {
pub target: SimTarget,
pub payload: String,
}
/// A generic simulation request type. Right now, the payload data is expected to be
/// JSON, which might be changed in the future.
#[derive(Debug, Clone, PartialEq, Eq, Serialize, Deserialize)]
pub struct SimRequest {
inner: SimMessage,
pub timestamp: MonotonicTime,
}
#[derive(Debug, Clone, PartialEq, Eq, Serialize, Deserialize)]
pub enum SimMessageType {
Request,
Reply,
}
/// Generic trait implemented by simulation request or reply payloads. It ties the request or
/// reply to a specific target and provides an API which does boilerplate tasks like checking the
/// validity of the target.
pub trait SerializableSimMsgPayload<P: SimMessageProvider>:
Serialize + DeserializeOwned + Sized
{
const TARGET: SimTarget;
fn from_sim_message(sim_message: &P) -> Result<Self, SimMessageError<P>> {
if sim_message.target() == Self::TARGET {
return Ok(serde_json::from_str(sim_message.payload())?);
}
Err(SimMessageError::TargetRequestMissmatch(sim_message.clone()))
}
}
pub trait SimMessageProvider: Serialize + DeserializeOwned + Clone + Sized {
fn msg_type(&self) -> SimMessageType;
fn target(&self) -> SimTarget;
fn payload(&self) -> &String;
fn from_raw_data(data: &[u8]) -> serde_json::Result<Self> {
serde_json::from_slice(data)
}
}
impl SimRequest {
pub fn new_with_epoch_time<T: SerializableSimMsgPayload<SimRequest>>(
serializable_request: T,
) -> Self {
Self::new(serializable_request, MonotonicTime::EPOCH)
}
pub fn new<T: SerializableSimMsgPayload<SimRequest>>(
serializable_request: T,
timestamp: MonotonicTime,
) -> Self {
Self {
inner: SimMessage {
target: T::TARGET,
payload: serde_json::to_string(&serializable_request).unwrap(),
},
timestamp,
}
}
}
impl SimMessageProvider for SimRequest {
fn target(&self) -> SimTarget {
self.inner.target
}
fn payload(&self) -> &String {
&self.inner.payload
}
fn msg_type(&self) -> SimMessageType {
SimMessageType::Request
}
}
/// A generic simulation reply type. Right now, the payload data is expected to be
/// JSON, which might be changed inthe future.
#[derive(Debug, Clone, PartialEq, Eq, Serialize, Deserialize)]
pub struct SimReply {
inner: SimMessage,
}
impl SimReply {
pub fn new<T: SerializableSimMsgPayload<SimReply>>(serializable_reply: T) -> Self {
Self {
inner: SimMessage {
target: T::TARGET,
payload: serde_json::to_string(&serializable_reply).unwrap(),
},
}
}
}
impl SimMessageProvider for SimReply {
fn target(&self) -> SimTarget {
self.inner.target
}
fn payload(&self) -> &String {
&self.inner.payload
}
fn msg_type(&self) -> SimMessageType {
SimMessageType::Reply
}
}
#[derive(Debug, Copy, Clone, PartialEq, Eq, Serialize, Deserialize)]
pub enum SimCtrlRequest {
Ping,
}
impl SerializableSimMsgPayload<SimRequest> for SimCtrlRequest {
const TARGET: SimTarget = SimTarget::SimCtrl;
}
pub type SimReplyError = SimMessageError<SimReply>;
pub type SimRequestError = SimMessageError<SimRequest>;
#[derive(Debug, Clone, PartialEq, Eq, Serialize, Deserialize)]
pub enum SimMessageError<P> {
SerdeJson(String),
TargetRequestMissmatch(P),
}
impl<P> From<serde_json::Error> for SimMessageError<P> {
fn from(error: serde_json::Error) -> SimMessageError<P> {
SimMessageError::SerdeJson(error.to_string())
}
}
#[derive(Debug, Clone, PartialEq, Eq, Serialize, Deserialize)]
pub enum SimCtrlReply {
Pong,
InvalidRequest(SimRequestError),
}
impl SerializableSimMsgPayload<SimReply> for SimCtrlReply {
const TARGET: SimTarget = SimTarget::SimCtrl;
}
impl From<SimRequestError> for SimCtrlReply {
fn from(error: SimRequestError) -> Self {
SimCtrlReply::InvalidRequest(error)
}
}
pub mod eps {
use super::*;
use std::collections::HashMap;
use satrs::power::SwitchStateBinary;
pub type SwitchMap = HashMap<PcduSwitch, SwitchStateBinary>;
#[derive(Debug, Copy, Clone, PartialEq, Eq, Serialize, Deserialize, Hash)]
pub enum PcduSwitch {
Mgm = 0,
Mgt = 1,
}
#[derive(Debug, Copy, Clone, Serialize, Deserialize)]
pub enum PcduRequest {
SwitchDevice {
switch: PcduSwitch,
state: SwitchStateBinary,
},
RequestSwitchInfo,
}
impl SerializableSimMsgPayload<SimRequest> for PcduRequest {
const TARGET: SimTarget = SimTarget::Pcdu;
}
#[derive(Debug, Clone, Serialize, Deserialize)]
pub enum PcduReply {
SwitchInfo(SwitchMap),
}
impl SerializableSimMsgPayload<SimReply> for PcduReply {
const TARGET: SimTarget = SimTarget::Pcdu;
}
}
pub mod acs {
use std::time::Duration;
use satrs::power::SwitchStateBinary;
use super::*;
#[derive(Debug, Copy, Clone, Serialize, Deserialize)]
pub enum MgmRequest {
RequestSensorData,
}
impl SerializableSimMsgPayload<SimRequest> for MgmRequest {
const TARGET: SimTarget = SimTarget::Mgm;
}
// Normally, small magnetometers generate their output as a signed 16 bit raw format or something
// similar which needs to be converted to a signed float value with physical units. We will
// simplify this now and generate the signed float values directly.
#[derive(Debug, Copy, Clone, PartialEq, Serialize, Deserialize)]
pub struct MgmSensorValues {
pub x: f32,
pub y: f32,
pub z: f32,
}
#[derive(Debug, Copy, Clone, PartialEq, Serialize, Deserialize)]
pub struct MgmReply {
pub switch_state: SwitchStateBinary,
pub sensor_values: MgmSensorValues,
}
impl SerializableSimMsgPayload<SimReply> for MgmReply {
const TARGET: SimTarget = SimTarget::Mgm;
}
pub const MGT_GEN_MAGNETIC_FIELD: MgmSensorValues = MgmSensorValues {
x: 0.03,
y: -0.03,
z: 0.03,
};
// Simple model using i16 values.
#[derive(Default, Debug, Copy, Clone, PartialEq, Eq, Serialize, Deserialize)]
pub struct MgtDipole {
pub x: i16,
pub y: i16,
pub z: i16,
}
#[derive(Debug, Copy, Clone, PartialEq, Serialize, Deserialize)]
pub enum MgtRequestType {
ApplyTorque,
}
#[derive(Debug, Copy, Clone, Serialize, Deserialize)]
pub enum MgtRequest {
ApplyTorque {
duration: Duration,
dipole: MgtDipole,
},
RequestHk,
}
impl SerializableSimMsgPayload<SimRequest> for MgtRequest {
const TARGET: SimTarget = SimTarget::Mgt;
}
#[derive(Debug, Copy, Clone, PartialEq, Eq, Serialize, Deserialize)]
pub struct MgtHkSet {
pub dipole: MgtDipole,
pub torquing: bool,
}
#[derive(Debug, Copy, Clone, Serialize, Deserialize)]
pub enum MgtReply {
Ack(MgtRequestType),
Nak(MgtRequestType),
Hk(MgtHkSet),
}
impl SerializableSimMsgPayload<SimReply> for MgtReply {
const TARGET: SimTarget = SimTarget::Mgm;
}
}
pub mod udp {
use std::{
net::{SocketAddr, UdpSocket},
time::Duration,
};
use thiserror::Error;
use crate::{SimReply, SimRequest};
#[derive(Error, Debug)]
pub enum ReceptionError {
#[error("IO error: {0}")]
Io(#[from] std::io::Error),
#[error("Serde JSON error: {0}")]
SerdeJson(#[from] serde_json::Error),
}
pub struct SimUdpClient {
socket: UdpSocket,
pub reply_buf: [u8; 4096],
}
impl SimUdpClient {
pub fn new(
server_addr: &SocketAddr,
non_blocking: bool,
read_timeot_ms: Option<u64>,
) -> std::io::Result<Self> {
let socket = UdpSocket::bind("127.0.0.1:0")?;
socket.set_nonblocking(non_blocking)?;
socket
.connect(server_addr)
.expect("could not connect to server addr");
if let Some(read_timeout) = read_timeot_ms {
// Set a read timeout so the test does not hang on failures.
socket.set_read_timeout(Some(Duration::from_millis(read_timeout)))?;
}
Ok(Self {
socket,
reply_buf: [0; 4096],
})
}
pub fn set_nonblocking(&self, non_blocking: bool) -> std::io::Result<()> {
self.socket.set_nonblocking(non_blocking)
}
pub fn set_read_timeout(&self, read_timeout_ms: u64) -> std::io::Result<()> {
self.socket
.set_read_timeout(Some(Duration::from_millis(read_timeout_ms)))
}
pub fn send_request(&self, sim_request: &SimRequest) -> std::io::Result<usize> {
self.socket.send(
&serde_json::to_vec(sim_request).expect("conversion of request to vector failed"),
)
}
pub fn recv_raw(&mut self) -> std::io::Result<usize> {
self.socket.recv(&mut self.reply_buf)
}
pub fn recv_sim_reply(&mut self) -> Result<SimReply, ReceptionError> {
let read_len = self.recv_raw()?;
Ok(serde_json::from_slice(&self.reply_buf[0..read_len])?)
}
}
}
#[cfg(test)]
pub mod tests {
use super::*;
#[derive(Debug, Copy, Clone, PartialEq, Eq, Serialize, Deserialize)]
pub enum DummyRequest {
Ping,
}
impl SerializableSimMsgPayload<SimRequest> for DummyRequest {
const TARGET: SimTarget = SimTarget::SimCtrl;
}
#[derive(Debug, Copy, Clone, PartialEq, Eq, Serialize, Deserialize)]
pub enum DummyReply {
Pong,
}
impl SerializableSimMsgPayload<SimReply> for DummyReply {
const TARGET: SimTarget = SimTarget::SimCtrl;
}
#[test]
fn test_basic_request() {
let sim_request = SimRequest::new_with_epoch_time(DummyRequest::Ping);
assert_eq!(sim_request.target(), SimTarget::SimCtrl);
assert_eq!(sim_request.msg_type(), SimMessageType::Request);
let dummy_request =
DummyRequest::from_sim_message(&sim_request).expect("deserialization failed");
assert_eq!(dummy_request, DummyRequest::Ping);
}
#[test]
fn test_basic_reply() {
let sim_reply = SimReply::new(DummyReply::Pong);
assert_eq!(sim_reply.target(), SimTarget::SimCtrl);
assert_eq!(sim_reply.msg_type(), SimMessageType::Reply);
let dummy_request =
DummyReply::from_sim_message(&sim_reply).expect("deserialization failed");
assert_eq!(dummy_request, DummyReply::Pong);
}
}