130 lines
3.9 KiB
Rust
130 lines
3.9 KiB
Rust
use satrs::{pool::PoolProvider, tmtc::tc_helper::SharedTcPool};
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use std::sync::mpsc::{self, TryRecvError};
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use satrs::{
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pool::StoreAddr,
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pus::{MpscTmAsVecSender, MpscTmInSharedPoolSenderBounded},
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spacepackets::ecss::{tc::PusTcReader, PusPacket},
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};
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use crate::pus::PusTcDistributor;
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// TC source components where static pools are the backing memory of the received telecommands.
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pub struct TcSourceTaskStatic {
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shared_tc_pool: SharedTcPool,
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tc_receiver: mpsc::Receiver<StoreAddr>,
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tc_buf: [u8; 4096],
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pus_receiver: PusTcDistributor<MpscTmInSharedPoolSenderBounded>,
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}
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impl TcSourceTaskStatic {
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pub fn new(
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shared_tc_pool: SharedTcPool,
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tc_receiver: mpsc::Receiver<StoreAddr>,
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pus_receiver: PusTcDistributor<MpscTmInSharedPoolSenderBounded>,
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) -> Self {
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Self {
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shared_tc_pool,
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tc_receiver,
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tc_buf: [0; 4096],
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pus_receiver,
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}
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}
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pub fn periodic_operation(&mut self) {
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self.poll_tc();
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}
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pub fn poll_tc(&mut self) -> bool {
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match self.tc_receiver.try_recv() {
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Ok(addr) => {
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let pool = self
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.shared_tc_pool
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.0
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.read()
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.expect("locking tc pool failed");
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pool.read(&addr, &mut self.tc_buf)
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.expect("reading pool failed");
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drop(pool);
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match PusTcReader::new(&self.tc_buf) {
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Ok((pus_tc, _)) => {
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self.pus_receiver
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.handle_tc_packet(
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satrs::pus::TcInMemory::StoreAddr(addr),
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pus_tc.service(),
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&pus_tc,
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)
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.ok();
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true
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}
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Err(e) => {
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log::warn!("error creating PUS TC from raw data: {e}");
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log::warn!("raw data: {:x?}", self.tc_buf);
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true
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}
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}
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}
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Err(e) => match e {
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TryRecvError::Empty => false,
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TryRecvError::Disconnected => {
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log::warn!("tmtc thread: sender disconnected");
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false
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}
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},
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}
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}
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}
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// TC source components where the heap is the backing memory of the received telecommands.
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pub struct TcSourceTaskDynamic {
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pub tc_receiver: mpsc::Receiver<Vec<u8>>,
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pus_receiver: PusTcDistributor<MpscTmAsVecSender>,
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}
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impl TcSourceTaskDynamic {
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pub fn new(
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tc_receiver: mpsc::Receiver<Vec<u8>>,
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pus_receiver: PusTcDistributor<MpscTmAsVecSender>,
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) -> Self {
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Self {
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tc_receiver,
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pus_receiver,
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}
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}
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pub fn periodic_operation(&mut self) {
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self.poll_tc();
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}
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pub fn poll_tc(&mut self) -> bool {
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// Right now, we only expect PUS packets.
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match self.tc_receiver.try_recv() {
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Ok(tc) => match PusTcReader::new(&tc) {
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Ok((pus_tc, _)) => {
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self.pus_receiver
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.handle_tc_packet(
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satrs::pus::TcInMemory::Vec(tc.clone()),
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pus_tc.service(),
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&pus_tc,
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)
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.ok();
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true
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}
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Err(e) => {
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log::warn!("error creating PUS TC from raw data: {e}");
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log::warn!("raw data: {:x?}", tc);
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true
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}
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},
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Err(e) => match e {
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TryRecvError::Empty => false,
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TryRecvError::Disconnected => {
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log::warn!("tmtc thread: sender disconnected");
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false
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}
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},
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}
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}
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}
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