74 lines
3.0 KiB
Rust
74 lines
3.0 KiB
Rust
use crate::pus::mode::ModeServiceWrapper;
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use derive_new::new;
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use satrs::{
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pus::{EcssTcInMemConverter, EcssTmSenderCore},
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spacepackets::time::{cds, TimeWriter},
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};
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use super::{
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action::ActionServiceWrapper, event::EventServiceWrapper, hk::HkServiceWrapper,
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scheduler::SchedulingServiceWrapper, test::TestCustomServiceWrapper, HandlingStatus,
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TargetedPusService,
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};
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#[derive(new)]
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pub struct PusStack<TmSender: EcssTmSenderCore, TcInMemConverter: EcssTcInMemConverter> {
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test_srv: TestCustomServiceWrapper<TmSender, TcInMemConverter>,
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hk_srv_wrapper: HkServiceWrapper<TmSender, TcInMemConverter>,
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event_srv: EventServiceWrapper<TmSender, TcInMemConverter>,
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action_srv_wrapper: ActionServiceWrapper<TmSender, TcInMemConverter>,
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schedule_srv: SchedulingServiceWrapper<TmSender, TcInMemConverter>,
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mode_srv: ModeServiceWrapper<TmSender, TcInMemConverter>,
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}
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impl<TmSender: EcssTmSenderCore, TcInMemConverter: EcssTcInMemConverter>
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PusStack<TmSender, TcInMemConverter>
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{
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pub fn periodic_operation(&mut self) {
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// Release all telecommands which reached their release time before calling the service
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// handlers.
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self.schedule_srv.release_tcs();
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let time_stamp = cds::CdsTime::now_with_u16_days()
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.expect("time stamp generation error")
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.to_vec()
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.unwrap();
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loop {
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let mut nothing_to_do = true;
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let mut is_srv_finished =
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|tc_handling_done: bool, reply_handling_done: Option<HandlingStatus>| {
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if !tc_handling_done
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|| (reply_handling_done.is_some()
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&& reply_handling_done.unwrap() == HandlingStatus::Empty)
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{
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nothing_to_do = false;
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}
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};
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is_srv_finished(self.test_srv.poll_and_handle_next_packet(&time_stamp), None);
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is_srv_finished(self.schedule_srv.poll_and_handle_next_tc(&time_stamp), None);
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is_srv_finished(self.event_srv.poll_and_handle_next_tc(&time_stamp), None);
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is_srv_finished(
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self.action_srv_wrapper.poll_and_handle_next_tc(&time_stamp),
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Some(
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self.action_srv_wrapper
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.poll_and_handle_next_reply(&time_stamp),
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),
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);
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is_srv_finished(
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self.hk_srv_wrapper.poll_and_handle_next_tc(&time_stamp),
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Some(self.hk_srv_wrapper.poll_and_handle_next_reply(&time_stamp)),
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);
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is_srv_finished(
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self.mode_srv.poll_and_handle_next_tc(&time_stamp),
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Some(self.mode_srv.poll_and_handle_next_reply(&time_stamp)),
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);
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if nothing_to_do {
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// Timeout checking is only done once.
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self.action_srv_wrapper.check_for_request_timeouts();
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self.hk_srv_wrapper.check_for_request_timeouts();
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self.mode_srv.check_for_request_timeouts();
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break;
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}
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}
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}
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}
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