539 lines
18 KiB
Rust
539 lines
18 KiB
Rust
mod acs;
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mod ccsds;
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mod events;
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mod hk;
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mod logger;
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mod pus;
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mod requests;
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mod tcp;
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mod tm_funnel;
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mod tmtc;
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mod udp;
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use crate::events::EventHandler;
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use crate::pus::stack::PusStack;
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use crate::tm_funnel::{TmFunnelDynamic, TmFunnelStatic};
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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::request::GenericMessage;
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use satrs::tmtc::tm_helper::SharedTmPool;
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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_EVENT_HANDLING, FREQ_MS_PUS_STACK, FREQ_MS_UDP_TMTC,
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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 tmtc::PusTcSourceProviderDynamic;
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use udp::DynamicUdpTmHandler;
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use crate::acs::mgm::{MgmHandlerLis3Mdl, MpscModeLeafInterface, SpiDummyInterface};
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use crate::ccsds::CcsdsReceiver;
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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::{PusReceiver, PusTcMpscRouter};
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use crate::requests::{CompositeRequest, GenericRequestRouter};
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use crate::tcp::{SyncTcpTmSource, TcpTask};
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use crate::tmtc::{
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PusTcSourceProviderSharedPool, SharedTcPool, TcSourceTaskDynamic, TcSourceTaskStatic,
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};
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use crate::udp::{StaticUdpTmHandler, UdpTmtcServer};
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use satrs::mode::ModeRequest;
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use satrs::pus::event_man::EventRequestWithToken;
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use satrs::pus::TmInSharedPoolSender;
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use satrs::spacepackets::{time::cds::CdsTime, time::TimeWriter};
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use satrs::tmtc::CcsdsDistributor;
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use satrs_example::config::components::MGM_HANDLER_0;
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use std::net::{IpAddr, SocketAddr};
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use std::sync::mpsc;
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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 = SharedTmPool::new(tm_pool);
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let shared_tc_pool = SharedTcPool {
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pool: Arc::new(RwLock::new(tc_pool)),
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};
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let (tc_source_tx, tc_source_rx) = mpsc::sync_channel(50);
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let (tm_funnel_tx, tm_funnel_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_funnel_tx_sender =
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TmInSharedPoolSender::new(shared_tm_pool.clone(), tm_funnel_tx.clone());
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let (mgm_handler_composite_tx, mgm_handler_composite_rx) =
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mpsc::channel::<GenericMessage<CompositeRequest>>();
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let (mgm_handler_mode_tx, mgm_handler_mode_rx) = mpsc::channel::<GenericMessage<ModeRequest>>();
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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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// 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 = PusTcSourceProviderSharedPool {
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shared_pool: shared_tc_pool.clone(),
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tc_source: tc_source_tx,
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};
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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_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_funnel_tx.clone(), 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_funnel_tx_sender.clone(),
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shared_tc_pool.pool.clone(),
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event_handler.clone_event_sender(),
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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_funnel_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_funnel_tx_sender.clone(),
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shared_tc_pool.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_funnel_tx_sender.clone(),
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shared_tc_pool.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_funnel_tx_sender.clone(),
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shared_tc_pool.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_funnel_tx_sender.clone(),
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shared_tc_pool.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 ccsds_receiver = CcsdsReceiver { tc_source };
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let mut tmtc_task = TcSourceTaskStatic::new(
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shared_tc_pool.clone(),
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tc_source_rx,
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PusReceiver::new(tm_funnel_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_ccsds_distributor = CcsdsDistributor::new(ccsds_receiver.clone());
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let udp_tc_server = UdpTcServer::new(sock_addr, 2048, Box::new(udp_ccsds_distributor))
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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_backing_pool(),
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},
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};
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let tcp_ccsds_distributor = CcsdsDistributor::new(ccsds_receiver);
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let tcp_server_cfg = ServerConfig::new(sock_addr, Duration::from_millis(400), 4096, 8192);
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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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tcp_ccsds_distributor,
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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_funnel = TmFunnelStatic::new(
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shared_tm_pool,
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sync_tm_tcp_source,
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tm_funnel_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::channel();
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let dummy_spi_interface = SpiDummyInterface::default();
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let shared_mgm_set = Arc::default();
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let mode_leaf_interface = MpscModeLeafInterface {
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request_rx: mgm_handler_mode_rx,
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reply_tx_to_pus: pus_mode_reply_tx,
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reply_tx_to_parent: mgm_handler_mode_reply_to_parent_tx,
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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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mode_leaf_interface,
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mgm_handler_composite_rx,
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pus_hk_reply_tx,
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tm_funnel_tx,
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dummy_spi_interface,
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shared_mgm_set,
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);
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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("TMTC and 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("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 Funnel".to_string())
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.spawn(move || loop {
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tm_funnel.operation();
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})
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.unwrap();
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info!("Starting event handling task");
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let jh_event_handling = thread::Builder::new()
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.name("Event".to_string())
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.spawn(move || loop {
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event_handler.periodic_operation();
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thread::sleep(Duration::from_millis(FREQ_MS_EVENT_HANDLING));
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})
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.unwrap();
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info!("Starting AOCS thread");
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let jh_aocs = thread::Builder::new()
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.name("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 PUS handler thread");
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let jh_pus_handler = thread::Builder::new()
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.name("PUS".to_string())
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.spawn(move || loop {
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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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jh_event_handling
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.join()
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.expect("Joining Event Manager thread failed");
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jh_aocs.join().expect("Joining AOCS 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_funnel_tx, tm_funnel_rx) = mpsc::channel();
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let (tm_server_tx, tm_server_rx) = mpsc::channel();
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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::channel::<GenericMessage<CompositeRequest>>();
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let (mgm_handler_mode_tx, mgm_handler_mode_rx) = mpsc::channel::<GenericMessage<ModeRequest>>();
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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.raw(), 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.raw(), mgm_handler_mode_tx);
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let tc_source = PusTcSourceProviderDynamic(tc_source_tx);
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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_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_funnel_tx.clone(), 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_dynamic(
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tm_funnel_tx.clone(),
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event_handler.clone_event_sender(),
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pus_test_rx,
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);
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let pus_scheduler_service = create_scheduler_service_dynamic(
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tm_funnel_tx.clone(),
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tc_source.0.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 =
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create_event_service_dynamic(tm_funnel_tx.clone(), pus_event_rx, event_request_tx);
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let pus_action_service = create_action_service_dynamic(
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tm_funnel_tx.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_dynamic(
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tm_funnel_tx.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_dynamic(
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tm_funnel_tx.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 ccsds_receiver = CcsdsReceiver { tc_source };
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let mut tmtc_task = TcSourceTaskDynamic::new(
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tc_source_rx,
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PusReceiver::new(tm_funnel_tx.clone(), 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_ccsds_distributor = CcsdsDistributor::new(ccsds_receiver.clone());
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let udp_tc_server = UdpTcServer::new(sock_addr, 2048, Box::new(udp_ccsds_distributor))
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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: DynamicUdpTmHandler {
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tm_rx: tm_server_rx,
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},
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};
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let tcp_ccsds_distributor = CcsdsDistributor::new(ccsds_receiver);
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let tcp_server_cfg = ServerConfig::new(sock_addr, Duration::from_millis(400), 4096, 8192);
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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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tcp_ccsds_distributor,
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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_funnel = TmFunnelDynamic::new(sync_tm_tcp_source, tm_funnel_rx, tm_server_tx);
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let (mgm_handler_mode_reply_to_parent_tx, _mgm_handler_mode_reply_to_parent_rx) =
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mpsc::channel();
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let dummy_spi_interface = SpiDummyInterface::default();
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let shared_mgm_set = Arc::default();
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let mode_leaf_interface = MpscModeLeafInterface {
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request_rx: mgm_handler_mode_rx,
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reply_tx_to_pus: pus_mode_reply_tx,
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reply_tx_to_parent: mgm_handler_mode_reply_to_parent_tx,
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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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mode_leaf_interface,
|
|
mgm_handler_composite_rx,
|
|
pus_hk_reply_tx,
|
|
tm_funnel_tx,
|
|
dummy_spi_interface,
|
|
shared_mgm_set,
|
|
);
|
|
|
|
info!("Starting TMTC and UDP task");
|
|
let jh_udp_tmtc = thread::Builder::new()
|
|
.name("TMTC and 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("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("TM Funnel".to_string())
|
|
.spawn(move || loop {
|
|
tm_funnel.operation();
|
|
})
|
|
.unwrap();
|
|
|
|
info!("Starting event handling task");
|
|
let jh_event_handling = thread::Builder::new()
|
|
.name("Event".to_string())
|
|
.spawn(move || loop {
|
|
event_handler.periodic_operation();
|
|
thread::sleep(Duration::from_millis(FREQ_MS_EVENT_HANDLING));
|
|
})
|
|
.unwrap();
|
|
|
|
info!("Starting AOCS thread");
|
|
let jh_aocs = thread::Builder::new()
|
|
.name("AOCS".to_string())
|
|
.spawn(move || loop {
|
|
mgm_handler.periodic_operation();
|
|
thread::sleep(Duration::from_millis(FREQ_MS_AOCS));
|
|
})
|
|
.unwrap();
|
|
|
|
info!("Starting PUS handler thread");
|
|
let jh_pus_handler = thread::Builder::new()
|
|
.name("PUS".to_string())
|
|
.spawn(move || loop {
|
|
pus_stack.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");
|
|
jh_event_handling
|
|
.join()
|
|
.expect("Joining Event Manager thread failed");
|
|
jh_aocs.join().expect("Joining AOCS 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");
|
|
}
|