initial comms
This commit is contained in:
350
Cargo.lock
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350
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@@ -17,15 +17,6 @@ version = "1.0.100"
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|
|
||||||
version = "0.4.6"
|
|
||||||
source = "registry+https://github.com/rust-lang/crates.io-index"
|
|
||||||
checksum = "73f88a1307638156682bada9d7604135552957b7818057dcef22705b4d509495"
|
|
||||||
dependencies = [
|
|
||||||
"num-traits",
|
|
||||||
]
|
|
||||||
|
|
||||||
[[package]]
|
[[package]]
|
||||||
name = "num-integer"
|
name = "num-integer"
|
||||||
version = "0.1.46"
|
version = "0.1.46"
|
||||||
@@ -541,17 +416,6 @@ dependencies = [
|
|||||||
"num-traits",
|
"num-traits",
|
||||||
]
|
]
|
||||||
|
|
||||||
[[package]]
|
|
||||||
name = "num-rational"
|
|
||||||
version = "0.4.2"
|
|
||||||
source = "registry+https://github.com/rust-lang/crates.io-index"
|
|
||||||
checksum = "f83d14da390562dca69fc84082e73e548e1ad308d24accdedd2720017cb37824"
|
|
||||||
dependencies = [
|
|
||||||
"num-bigint",
|
|
||||||
"num-integer",
|
|
||||||
"num-traits",
|
|
||||||
]
|
|
||||||
|
|
||||||
[[package]]
|
[[package]]
|
||||||
name = "num-traits"
|
name = "num-traits"
|
||||||
version = "0.2.19"
|
version = "0.2.19"
|
||||||
@@ -567,12 +431,6 @@ version = "1.21.3"
|
|||||||
source = "registry+https://github.com/rust-lang/crates.io-index"
|
source = "registry+https://github.com/rust-lang/crates.io-index"
|
||||||
checksum = "42f5e15c9953c5e4ccceeb2e7382a716482c34515315f7b03532b8b4e8393d2d"
|
checksum = "42f5e15c9953c5e4ccceeb2e7382a716482c34515315f7b03532b8b4e8393d2d"
|
||||||
|
|
||||||
[[package]]
|
|
||||||
name = "paste"
|
|
||||||
version = "1.0.15"
|
|
||||||
source = "registry+https://github.com/rust-lang/crates.io-index"
|
|
||||||
checksum = "57c0d7b74b563b49d38dae00a0c37d4d6de9b432382b2892f0574ddcae73fd0a"
|
|
||||||
|
|
||||||
[[package]]
|
[[package]]
|
||||||
name = "proc-macro2"
|
name = "proc-macro2"
|
||||||
version = "1.0.94"
|
version = "1.0.94"
|
||||||
@@ -591,12 +449,6 @@ dependencies = [
|
|||||||
"proc-macro2",
|
"proc-macro2",
|
||||||
]
|
]
|
||||||
|
|
||||||
[[package]]
|
|
||||||
name = "rawpointer"
|
|
||||||
version = "0.2.1"
|
|
||||||
source = "registry+https://github.com/rust-lang/crates.io-index"
|
|
||||||
checksum = "60a357793950651c4ed0f3f52338f53b2f809f32d83a07f72909fa13e4c6c1e3"
|
|
||||||
|
|
||||||
[[package]]
|
[[package]]
|
||||||
name = "rpi-pal"
|
name = "rpi-pal"
|
||||||
version = "0.22.2"
|
version = "0.22.2"
|
||||||
@@ -619,12 +471,33 @@ source = "registry+https://github.com/rust-lang/crates.io-index"
|
|||||||
checksum = "eded382c5f5f786b989652c49544c4877d9f015cc22e145a5ea8ea66c2921cd2"
|
checksum = "eded382c5f5f786b989652c49544c4877d9f015cc22e145a5ea8ea66c2921cd2"
|
||||||
|
|
||||||
[[package]]
|
[[package]]
|
||||||
name = "safe_arch"
|
name = "serde"
|
||||||
version = "0.7.4"
|
version = "1.0.228"
|
||||||
source = "registry+https://github.com/rust-lang/crates.io-index"
|
source = "registry+https://github.com/rust-lang/crates.io-index"
|
||||||
checksum = "96b02de82ddbe1b636e6170c21be622223aea188ef2e139be0a5b219ec215323"
|
checksum = "9a8e94ea7f378bd32cbbd37198a4a91436180c5bb472411e48b5ec2e2124ae9e"
|
||||||
dependencies = [
|
dependencies = [
|
||||||
"bytemuck",
|
"serde_core",
|
||||||
|
"serde_derive",
|
||||||
|
]
|
||||||
|
|
||||||
|
[[package]]
|
||||||
|
name = "serde_core"
|
||||||
|
version = "1.0.228"
|
||||||
|
source = "registry+https://github.com/rust-lang/crates.io-index"
|
||||||
|
checksum = "41d385c7d4ca58e59fc732af25c3983b67ac852c1a25000afe1175de458b67ad"
|
||||||
|
dependencies = [
|
||||||
|
"serde_derive",
|
||||||
|
]
|
||||||
|
|
||||||
|
[[package]]
|
||||||
|
name = "serde_derive"
|
||||||
|
version = "1.0.228"
|
||||||
|
source = "registry+https://github.com/rust-lang/crates.io-index"
|
||||||
|
checksum = "d540f220d3187173da220f885ab66608367b6574e925011a9353e4badda91d79"
|
||||||
|
dependencies = [
|
||||||
|
"proc-macro2",
|
||||||
|
"quote",
|
||||||
|
"syn",
|
||||||
]
|
]
|
||||||
|
|
||||||
[[package]]
|
[[package]]
|
||||||
@@ -633,19 +506,6 @@ version = "1.3.0"
|
|||||||
source = "registry+https://github.com/rust-lang/crates.io-index"
|
source = "registry+https://github.com/rust-lang/crates.io-index"
|
||||||
checksum = "0fda2ff0d084019ba4d7c6f371c95d8fd75ce3524c3cb8fb653a3023f6323e64"
|
checksum = "0fda2ff0d084019ba4d7c6f371c95d8fd75ce3524c3cb8fb653a3023f6323e64"
|
||||||
|
|
||||||
[[package]]
|
|
||||||
name = "simba"
|
|
||||||
version = "0.9.0"
|
|
||||||
source = "registry+https://github.com/rust-lang/crates.io-index"
|
|
||||||
checksum = "b3a386a501cd104797982c15ae17aafe8b9261315b5d07e3ec803f2ea26be0fa"
|
|
||||||
dependencies = [
|
|
||||||
"approx",
|
|
||||||
"num-complex 0.4.6",
|
|
||||||
"num-traits",
|
|
||||||
"paste",
|
|
||||||
"wide",
|
|
||||||
]
|
|
||||||
|
|
||||||
[[package]]
|
[[package]]
|
||||||
name = "spin_sleep"
|
name = "spin_sleep"
|
||||||
version = "1.3.1"
|
version = "1.3.1"
|
||||||
@@ -686,12 +546,6 @@ dependencies = [
|
|||||||
"syn",
|
"syn",
|
||||||
]
|
]
|
||||||
|
|
||||||
[[package]]
|
|
||||||
name = "typenum"
|
|
||||||
version = "1.18.0"
|
|
||||||
source = "registry+https://github.com/rust-lang/crates.io-index"
|
|
||||||
checksum = "1dccffe3ce07af9386bfd29e80c0ab1a8205a2fc34e4bcd40364df902cfa8f3f"
|
|
||||||
|
|
||||||
[[package]]
|
[[package]]
|
||||||
name = "unicode-ident"
|
name = "unicode-ident"
|
||||||
version = "1.0.18"
|
version = "1.0.18"
|
||||||
@@ -762,16 +616,6 @@ dependencies = [
|
|||||||
"unicode-ident",
|
"unicode-ident",
|
||||||
]
|
]
|
||||||
|
|
||||||
[[package]]
|
|
||||||
name = "wide"
|
|
||||||
version = "0.7.32"
|
|
||||||
source = "registry+https://github.com/rust-lang/crates.io-index"
|
|
||||||
checksum = "41b5576b9a81633f3e8df296ce0063042a73507636cbe956c61133dd7034ab22"
|
|
||||||
dependencies = [
|
|
||||||
"bytemuck",
|
|
||||||
"safe_arch",
|
|
||||||
]
|
|
||||||
|
|
||||||
[[package]]
|
[[package]]
|
||||||
name = "windows-core"
|
name = "windows-core"
|
||||||
version = "0.52.0"
|
version = "0.52.0"
|
||||||
@@ -868,3 +712,23 @@ name = "windows_x86_64_msvc"
|
|||||||
version = "0.52.6"
|
version = "0.52.6"
|
||||||
source = "registry+https://github.com/rust-lang/crates.io-index"
|
source = "registry+https://github.com/rust-lang/crates.io-index"
|
||||||
checksum = "589f6da84c646204747d1270a2a5661ea66ed1cced2631d546fdfb155959f9ec"
|
checksum = "589f6da84c646204747d1270a2a5661ea66ed1cced2631d546fdfb155959f9ec"
|
||||||
|
|
||||||
|
[[package]]
|
||||||
|
name = "zerocopy"
|
||||||
|
version = "0.8.27"
|
||||||
|
source = "registry+https://github.com/rust-lang/crates.io-index"
|
||||||
|
checksum = "0894878a5fa3edfd6da3f88c4805f4c8558e2b996227a3d864f47fe11e38282c"
|
||||||
|
dependencies = [
|
||||||
|
"zerocopy-derive",
|
||||||
|
]
|
||||||
|
|
||||||
|
[[package]]
|
||||||
|
name = "zerocopy-derive"
|
||||||
|
version = "0.8.27"
|
||||||
|
source = "registry+https://github.com/rust-lang/crates.io-index"
|
||||||
|
checksum = "88d2b8d9c68ad2b9e4340d7832716a4d21a22a1154777ad56ea55c51a9cf3831"
|
||||||
|
dependencies = [
|
||||||
|
"proc-macro2",
|
||||||
|
"quote",
|
||||||
|
"syn",
|
||||||
|
]
|
||||||
|
|||||||
@@ -4,3 +4,11 @@ version = "0.1.0"
|
|||||||
edition = "2024"
|
edition = "2024"
|
||||||
|
|
||||||
[dependencies]
|
[dependencies]
|
||||||
|
anyhow = "1.0.100"
|
||||||
|
fern = { version = "0.7.1", features = ["colored"] }
|
||||||
|
log = { version = "0.4.28", features = ["max_level_trace", "release_max_level_debug"] }
|
||||||
|
chrono = { version = "0.4.42", features = ["serde"] }
|
||||||
|
ctrlc = "3.5.0"
|
||||||
|
serde = { version = "1.0.228", features = ["derive"], default-features = false }
|
||||||
|
ciborium = { version = "0.2.2" }
|
||||||
|
thiserror = "2.0.17"
|
||||||
|
|||||||
6
common/src/command/mod.rs
Normal file
6
common/src/command/mod.rs
Normal file
@@ -0,0 +1,6 @@
|
|||||||
|
use serde::{Deserialize, Serialize};
|
||||||
|
|
||||||
|
#[derive(Clone, Debug, Serialize, Deserialize)]
|
||||||
|
pub enum Command {
|
||||||
|
Shutdown,
|
||||||
|
}
|
||||||
@@ -1,14 +1,16 @@
|
|||||||
pub fn add(left: u64, right: u64) -> u64 {
|
use log::info;
|
||||||
left + right
|
use std::sync::atomic::{AtomicBool, Ordering};
|
||||||
}
|
use std::sync::Arc;
|
||||||
|
|
||||||
#[cfg(test)]
|
pub mod logger;
|
||||||
mod tests {
|
pub mod command;
|
||||||
use super::*;
|
pub mod telemetry;
|
||||||
|
pub mod udp;
|
||||||
|
|
||||||
#[test]
|
pub fn add_ctrlc_handler(flag: Arc<AtomicBool>) -> anyhow::Result<()> {
|
||||||
fn it_works() {
|
ctrlc::set_handler(move || {
|
||||||
let result = add(2, 2);
|
info!("Shutdown Requested");
|
||||||
assert_eq!(result, 4);
|
flag.store(false, Ordering::Relaxed);
|
||||||
}
|
})?;
|
||||||
|
Ok(())
|
||||||
}
|
}
|
||||||
|
|||||||
@@ -5,13 +5,13 @@ use std::fs::create_dir_all;
|
|||||||
use std::str::FromStr;
|
use std::str::FromStr;
|
||||||
use std::{env, thread};
|
use std::{env, thread};
|
||||||
|
|
||||||
pub fn setup_logger() -> Result<()> {
|
pub fn setup_logger(package_name: &'static str) -> Result<()> {
|
||||||
let log_file = env::var("LOG_FILE").or_else(|_| {
|
let log_file = env::var("LOG_FILE").or_else(|_| {
|
||||||
create_dir_all("logs/")?;
|
create_dir_all("logs/")?;
|
||||||
|
|
||||||
anyhow::Ok(format!(
|
anyhow::Ok(format!(
|
||||||
"logs/{}_{}.log",
|
"logs/{}_{}.log",
|
||||||
env!("CARGO_PKG_NAME"),
|
package_name,
|
||||||
chrono::Local::now().format("%Y%m%d_%H%M%S")
|
chrono::Local::now().format("%Y%m%d_%H%M%S")
|
||||||
))
|
))
|
||||||
})?;
|
})?;
|
||||||
8
common/src/telemetry/mod.rs
Normal file
8
common/src/telemetry/mod.rs
Normal file
@@ -0,0 +1,8 @@
|
|||||||
|
use chrono::serde::ts_nanoseconds;
|
||||||
|
use chrono::{DateTime, Utc};
|
||||||
|
use serde::{Deserialize, Serialize};
|
||||||
|
|
||||||
|
#[derive(Clone, Debug, Serialize, Deserialize)]
|
||||||
|
pub enum Telemetry {
|
||||||
|
Timestamp(#[serde(with = "ts_nanoseconds")] DateTime<Utc>)
|
||||||
|
}
|
||||||
80
common/src/udp.rs
Normal file
80
common/src/udp.rs
Normal file
@@ -0,0 +1,80 @@
|
|||||||
|
use crate::udp::UdpSendCborError::LengthMismatch;
|
||||||
|
use log::error;
|
||||||
|
use serde::de::DeserializeOwned;
|
||||||
|
use serde::Serialize;
|
||||||
|
use std::io::{Cursor, ErrorKind};
|
||||||
|
use std::net::{SocketAddr, ToSocketAddrs, UdpSocket};
|
||||||
|
use thiserror::Error;
|
||||||
|
|
||||||
|
#[derive(Error, Debug)]
|
||||||
|
pub enum UdpRecvCborError {
|
||||||
|
#[error("IO Error")]
|
||||||
|
Io(#[from] std::io::Error),
|
||||||
|
#[error("Deserialization Error")]
|
||||||
|
Deserialization(#[from] ciborium::de::Error<std::io::Error>),
|
||||||
|
#[error("No Data")]
|
||||||
|
NoData,
|
||||||
|
}
|
||||||
|
|
||||||
|
#[derive(Error, Debug)]
|
||||||
|
pub enum UdpSendCborError {
|
||||||
|
#[error("IO Error")]
|
||||||
|
Io(#[from] std::io::Error),
|
||||||
|
#[error("Serialization Error")]
|
||||||
|
Serialization(#[from] ciborium::ser::Error<std::io::Error>),
|
||||||
|
#[error("Length Mismatch")]
|
||||||
|
LengthMismatch {
|
||||||
|
expected: usize,
|
||||||
|
actual: usize,
|
||||||
|
},
|
||||||
|
}
|
||||||
|
|
||||||
|
pub trait UdpSocketExt {
|
||||||
|
fn recv_cbor<T: DeserializeOwned, const N: usize>(&self, buffer: &mut Cursor<[u8; N]>) -> Result<(T, SocketAddr), UdpRecvCborError>;
|
||||||
|
fn send_cbor<T: Serialize + ?Sized, A: ToSocketAddrs, const N: usize>(&self, data: &T, buffer: &mut Cursor<[u8; N]>, addr: A) -> Result<(), UdpSendCborError>;
|
||||||
|
}
|
||||||
|
|
||||||
|
impl UdpSocketExt for UdpSocket {
|
||||||
|
fn recv_cbor<T: DeserializeOwned, const N: usize>(&self, buffer: &mut Cursor<[u8; N]>) -> Result<(T, SocketAddr), UdpRecvCborError> {
|
||||||
|
buffer.set_position(0);
|
||||||
|
match self.recv_from(buffer.get_mut()) {
|
||||||
|
Ok((size, addr)) => {
|
||||||
|
match ciborium::from_reader::<T, _>(&buffer.get_ref()[..size]) {
|
||||||
|
Ok(res) => Ok((res, addr)),
|
||||||
|
Err(err) => Err(err.into()),
|
||||||
|
}
|
||||||
|
}
|
||||||
|
Err(err) => {
|
||||||
|
match err.kind() {
|
||||||
|
ErrorKind::WouldBlock | ErrorKind::TimedOut => {
|
||||||
|
Err(UdpRecvCborError::NoData)
|
||||||
|
}
|
||||||
|
_ => Err(err.into())
|
||||||
|
}
|
||||||
|
}
|
||||||
|
}
|
||||||
|
}
|
||||||
|
|
||||||
|
fn send_cbor<T: Serialize + ?Sized, A: ToSocketAddrs, const N: usize>(&self, data: &T, mut buffer: &mut Cursor<[u8; N]>, addr: A) -> Result<(), UdpSendCborError> {
|
||||||
|
buffer.set_position(0);
|
||||||
|
match ciborium::into_writer(data, &mut buffer) {
|
||||||
|
Ok(_) => match self.send_to(&buffer.get_ref()[..buffer.position() as usize], addr) {
|
||||||
|
Ok(size) => {
|
||||||
|
if buffer.position() as usize != size {
|
||||||
|
return Err(LengthMismatch {
|
||||||
|
expected: buffer.position() as usize,
|
||||||
|
actual: size,
|
||||||
|
});
|
||||||
|
}
|
||||||
|
Ok(())
|
||||||
|
}
|
||||||
|
Err(e) => {
|
||||||
|
Err(e.into())
|
||||||
|
}
|
||||||
|
}
|
||||||
|
Err(e) => {
|
||||||
|
Err(e.into())
|
||||||
|
}
|
||||||
|
}
|
||||||
|
}
|
||||||
|
}
|
||||||
@@ -5,19 +5,16 @@ edition = "2024"
|
|||||||
|
|
||||||
[dependencies]
|
[dependencies]
|
||||||
anyhow = "1.0.100"
|
anyhow = "1.0.100"
|
||||||
fern = { version = "0.7.1", features = ["colored"] }
|
|
||||||
log = { version = "0.4.28", features = ["max_level_trace", "release_max_level_debug"] }
|
log = { version = "0.4.28", features = ["max_level_trace", "release_max_level_debug"] }
|
||||||
chrono = "0.4.42"
|
chrono = "0.4.42"
|
||||||
embedded-hal = "1.0.0"
|
embedded-hal = "1.0.0"
|
||||||
embedded-hal-bus = { version = "0.3.0", features = ["std"] }
|
embedded-hal-bus = { version = "0.3.0", features = ["std"] }
|
||||||
embedded-hal-mock = { version = "0.11.1", optional = true }
|
embedded-hal-mock = { version = "0.11.1", optional = true }
|
||||||
rpi-pal = { version = "0.22.2", features = ["hal"], optional = true }
|
rpi-pal = { version = "0.22.2", features = ["hal"], optional = true }
|
||||||
nalgebra = "0.34.1"
|
|
||||||
hex = "0.4.3"
|
hex = "0.4.3"
|
||||||
thiserror = "2.0.17"
|
|
||||||
num-traits = "0.2.19"
|
|
||||||
crc = "3.3.0"
|
crc = "3.3.0"
|
||||||
ctrlc = { version = "3.5" }
|
nautilus_common = { path = "../common" }
|
||||||
|
ciborium = { version = "0.2.2" }
|
||||||
|
|
||||||
[dev-dependencies]
|
[dev-dependencies]
|
||||||
embedded-hal-mock = { version = "0.11.1" }
|
embedded-hal-mock = { version = "0.11.1" }
|
||||||
|
|||||||
64
flight/src/comms/mod.rs
Normal file
64
flight/src/comms/mod.rs
Normal file
@@ -0,0 +1,64 @@
|
|||||||
|
use crate::scheduler::CyclicTask;
|
||||||
|
use anyhow::Result;
|
||||||
|
use log::{error, trace};
|
||||||
|
use nautilus_common::command::Command;
|
||||||
|
use nautilus_common::telemetry::Telemetry;
|
||||||
|
use nautilus_common::udp::{UdpRecvCborError, UdpSocketExt};
|
||||||
|
use std::fmt::Debug;
|
||||||
|
use std::io::Cursor;
|
||||||
|
use std::net::{IpAddr, Ipv4Addr, SocketAddr, ToSocketAddrs, UdpSocket};
|
||||||
|
use std::sync::atomic::{AtomicBool, Ordering};
|
||||||
|
use std::sync::mpsc::Receiver;
|
||||||
|
use std::sync::Arc;
|
||||||
|
use std::time::Instant;
|
||||||
|
|
||||||
|
#[derive(Debug)]
|
||||||
|
pub struct CommsTask<A: ToSocketAddrs> {
|
||||||
|
udp: UdpSocket,
|
||||||
|
ground_address: A,
|
||||||
|
running: Arc<AtomicBool>,
|
||||||
|
}
|
||||||
|
|
||||||
|
impl<A: ToSocketAddrs + Debug> CommsTask<A> {
|
||||||
|
pub fn new(
|
||||||
|
local_port: u16,
|
||||||
|
ground_address: A,
|
||||||
|
running: Arc<AtomicBool>,
|
||||||
|
) -> Result<Self> {
|
||||||
|
trace!("CommsTask::new(local_port: {local_port}, ground_address: {ground_address:?})");
|
||||||
|
let bind_addr = SocketAddr::new(IpAddr::V4(Ipv4Addr::UNSPECIFIED), local_port);
|
||||||
|
// let bind_addr = SocketAddr::new(IpAddr::V6(Ipv6Addr::UNSPECIFIED), local_port);
|
||||||
|
let udp = UdpSocket::bind(bind_addr)?;
|
||||||
|
udp.set_nonblocking(true)?;
|
||||||
|
Ok(Self {
|
||||||
|
udp,
|
||||||
|
ground_address,
|
||||||
|
running,
|
||||||
|
})
|
||||||
|
}
|
||||||
|
}
|
||||||
|
|
||||||
|
impl<A: ToSocketAddrs> CyclicTask for CommsTask<A> {
|
||||||
|
type Message = ();
|
||||||
|
|
||||||
|
fn step(&mut self, _receiver: &Receiver<Self::Message>, _step_time: Instant) {
|
||||||
|
let mut buffer = Cursor::new([0u8; 512]);
|
||||||
|
|
||||||
|
match self.udp.recv_cbor::<Command, _>(&mut buffer) {
|
||||||
|
Ok((cmd, _)) => {
|
||||||
|
match cmd {
|
||||||
|
Command::Shutdown => self.running.store(false, Ordering::Relaxed),
|
||||||
|
}
|
||||||
|
}
|
||||||
|
Err(UdpRecvCborError::NoData) => {}
|
||||||
|
Err(err) => {
|
||||||
|
error!("Rx error: {err}");
|
||||||
|
}
|
||||||
|
}
|
||||||
|
|
||||||
|
let tlm = Telemetry::Timestamp(chrono::Utc::now());
|
||||||
|
if let Err(err) = self.udp.send_cbor(&tlm, &mut buffer, &self.ground_address) {
|
||||||
|
error!("Tx Error: {err}");
|
||||||
|
}
|
||||||
|
}
|
||||||
|
}
|
||||||
@@ -1,14 +1,11 @@
|
|||||||
use crate::hardware::mcp23017::Mcp23017;
|
use crate::hardware::mcp23017::Mcp23017;
|
||||||
use crate::hardware::pin::PinDevice;
|
use crate::hardware::pin::PinDevice;
|
||||||
use anyhow::Result;
|
use crate::scheduler::{CyclicTask, TaskHandle};
|
||||||
use embedded_hal::digital::PinState;
|
use embedded_hal::digital::PinState;
|
||||||
use log::trace;
|
use log::trace;
|
||||||
use std::fmt::Debug;
|
use std::fmt::{Debug, Formatter};
|
||||||
use std::sync::atomic::{AtomicBool, Ordering};
|
use std::sync::mpsc::Receiver;
|
||||||
use std::sync::mpsc::{channel, Sender};
|
use std::time::Instant;
|
||||||
use std::thread;
|
|
||||||
use std::thread::{sleep, Scope, ScopedJoinHandle};
|
|
||||||
use std::time::{Duration, Instant};
|
|
||||||
|
|
||||||
#[derive(Clone, Debug)]
|
#[derive(Clone, Debug)]
|
||||||
pub enum Mcp23017Message {
|
pub enum Mcp23017Message {
|
||||||
@@ -20,14 +17,7 @@ pub enum Mcp23017Message {
|
|||||||
},
|
},
|
||||||
}
|
}
|
||||||
|
|
||||||
#[derive(Clone, Debug)]
|
impl PinDevice for TaskHandle<Mcp23017Message> {
|
||||||
pub struct Mcp23017Task {
|
|
||||||
#[allow(dead_code)]
|
|
||||||
name: String,
|
|
||||||
sender: Sender<Mcp23017Message>,
|
|
||||||
}
|
|
||||||
|
|
||||||
impl PinDevice for Mcp23017Task {
|
|
||||||
fn set_pin(&self, pin: u8, value: PinState, valid_until: Instant, priority: u8) {
|
fn set_pin(&self, pin: u8, value: PinState, valid_until: Instant, priority: u8) {
|
||||||
trace!("Mcp23017Task::set_pin(self: {self:?}, pin: {pin}, value: {value:?})");
|
trace!("Mcp23017Task::set_pin(self: {self:?}, pin: {pin}, value: {value:?})");
|
||||||
// This can only fail if the other end is disconnected - which we intentionally want to
|
// This can only fail if the other end is disconnected - which we intentionally want to
|
||||||
@@ -41,6 +31,17 @@ impl PinDevice for Mcp23017Task {
|
|||||||
}
|
}
|
||||||
}
|
}
|
||||||
|
|
||||||
|
pub struct Mcp23017Task<M: Mcp23017> {
|
||||||
|
mcp23017: M,
|
||||||
|
pins: AllPins,
|
||||||
|
}
|
||||||
|
|
||||||
|
impl<M: Mcp23017 + Debug> Debug for Mcp23017Task<M> {
|
||||||
|
fn fmt(&self, f: &mut Formatter<'_>) -> std::fmt::Result {
|
||||||
|
write!(f, "Mcp23017Task {{ mcp23017: {:?} }}", self.mcp23017)
|
||||||
|
}
|
||||||
|
}
|
||||||
|
|
||||||
struct AllPins {
|
struct AllPins {
|
||||||
pins: [PinData; 16],
|
pins: [PinData; 16],
|
||||||
}
|
}
|
||||||
@@ -137,67 +138,48 @@ impl PinData {
|
|||||||
}
|
}
|
||||||
}
|
}
|
||||||
|
|
||||||
impl Mcp23017Task {
|
impl<M: Mcp23017 + Debug> Mcp23017Task<M> {
|
||||||
pub fn start<'a, M: Mcp23017 + Send + Debug>(
|
pub fn new(mcp23017: M) -> Self {
|
||||||
scope: &'a Scope<'a, '_>,
|
trace!("Mcp23017Task::new(mcp23017: {mcp23017:?})");
|
||||||
running: &'a AtomicBool,
|
Self {
|
||||||
mut mcp23017: M,
|
mcp23017,
|
||||||
name: String,
|
pins: AllPins::new(),
|
||||||
frequency: u64,
|
}
|
||||||
) -> Result<(ScopedJoinHandle<'a, ()>, Self)> where
|
}
|
||||||
M: 'a,
|
}
|
||||||
{
|
|
||||||
trace!("Mcp23017Task::start(scope, running, mcp23017: {mcp23017:?}, name: {name}, frequency: {frequency})");
|
impl<M: Mcp23017> CyclicTask for Mcp23017Task<M> {
|
||||||
|
type Message = Mcp23017Message;
|
||||||
let (sender, receiver) = channel::<Mcp23017Message>();
|
|
||||||
let period = Duration::from_nanos(1_000_000_000 / frequency);
|
fn step(
|
||||||
|
&mut self,
|
||||||
let handle = thread::Builder::new()
|
receiver: &Receiver<Self::Message>,
|
||||||
.name(name.clone())
|
step_time: Instant,
|
||||||
.spawn_scoped(scope, move || {
|
) {
|
||||||
let mut pins = AllPins::new();
|
let mut changed = false;
|
||||||
let mut cycle_start_time = Instant::now();
|
|
||||||
while running.load(Ordering::Relaxed) {
|
while let Ok(recv) = receiver.try_recv() {
|
||||||
let mut changed = false;
|
match recv {
|
||||||
|
Mcp23017Message::SetPin { pin, value, valid_until, priority } => {
|
||||||
while let Ok(recv) = receiver.try_recv() {
|
if (0u8..16u8).contains(&pin) {
|
||||||
match recv {
|
self.pins.pins[pin as usize].set(value, valid_until, priority);
|
||||||
Mcp23017Message::SetPin { pin, value, valid_until, priority } => {
|
}
|
||||||
if (0u8..16u8).contains(&pin) {
|
}
|
||||||
pins.pins[pin as usize].set(value, valid_until, priority);
|
}
|
||||||
}
|
}
|
||||||
}
|
|
||||||
}
|
for pin in 0u8..16u8 {
|
||||||
}
|
// This shouldn't be able to fail
|
||||||
|
// TODO: handle error case
|
||||||
for pin in 0u8..16u8 {
|
let state = self.pins.pins[pin as usize].get(step_time);
|
||||||
// This shouldn't be able to fail
|
if self.pins.pins[pin as usize].changed {
|
||||||
// TODO: handle error case
|
self.pins.pins[pin as usize].changed = false;
|
||||||
let state = pins.pins[pin as usize].get(cycle_start_time);
|
let _ = self.mcp23017.set_pin(pin, state);
|
||||||
if pins.pins[pin as usize].changed {
|
changed = true;
|
||||||
pins.pins[pin as usize].changed = false;
|
}
|
||||||
let _ = mcp23017.set_pin(pin, state);
|
}
|
||||||
changed = true;
|
if changed {
|
||||||
}
|
let _ = self.mcp23017.flush();
|
||||||
}
|
}
|
||||||
if changed {
|
|
||||||
let _ = mcp23017.flush();
|
|
||||||
}
|
|
||||||
|
|
||||||
cycle_start_time += period;
|
|
||||||
let sleep_duration = cycle_start_time - Instant::now();
|
|
||||||
if sleep_duration > Duration::ZERO {
|
|
||||||
sleep(sleep_duration);
|
|
||||||
}
|
|
||||||
}
|
|
||||||
})?;
|
|
||||||
|
|
||||||
Ok((
|
|
||||||
handle,
|
|
||||||
Self {
|
|
||||||
name,
|
|
||||||
sender,
|
|
||||||
}
|
|
||||||
))
|
|
||||||
}
|
}
|
||||||
}
|
}
|
||||||
@@ -44,6 +44,7 @@ impl RaspiHardware {
|
|||||||
Mode::Mode0,
|
Mode::Mode0,
|
||||||
)?), 3.3f64).into(),
|
)?), 3.3f64).into(),
|
||||||
mct8316a: SimMct8316a::new().into(),
|
mct8316a: SimMct8316a::new().into(),
|
||||||
|
// mct8316a: SimMct8316a::new().into(),
|
||||||
})
|
})
|
||||||
}
|
}
|
||||||
}
|
}
|
||||||
|
|||||||
@@ -1,30 +1,23 @@
|
|||||||
|
use crate::comms::CommsTask;
|
||||||
use crate::hardware::channelization::{LED_A, LED_B};
|
use crate::hardware::channelization::{LED_A, LED_B};
|
||||||
use crate::hardware::initialize;
|
use crate::hardware::initialize;
|
||||||
use crate::hardware::mcp23017::{Mcp23017, Mcp23017Task};
|
use crate::hardware::mcp23017::{Mcp23017, Mcp23017Task};
|
||||||
use crate::hardware::mct8316a::Mct8316a;
|
use crate::hardware::mct8316a::Mct8316a;
|
||||||
use crate::hardware::pin::Pin;
|
use crate::hardware::pin::Pin;
|
||||||
use crate::hardware::Hardware;
|
use crate::hardware::Hardware;
|
||||||
use crate::on_drop::on_drop;
|
use crate::scheduler::Scheduler;
|
||||||
use anyhow::Result;
|
use anyhow::Result;
|
||||||
use embedded_hal::digital::PinState;
|
use embedded_hal::digital::PinState;
|
||||||
use embedded_hal::pwm::SetDutyCycle;
|
use embedded_hal::pwm::SetDutyCycle;
|
||||||
use log::{debug, info};
|
use log::{debug, info};
|
||||||
|
use nautilus_common::add_ctrlc_handler;
|
||||||
use std::sync::atomic::{AtomicBool, Ordering};
|
use std::sync::atomic::{AtomicBool, Ordering};
|
||||||
use std::sync::Arc;
|
use std::sync::Arc;
|
||||||
use std::thread;
|
|
||||||
use std::thread::sleep;
|
use std::thread::sleep;
|
||||||
use std::time::{Duration, Instant};
|
use std::time::{Duration, Instant};
|
||||||
|
|
||||||
mod hardware;
|
mod hardware;
|
||||||
|
|
||||||
fn add_ctrlc_handler(flag: Arc<AtomicBool>) -> Result<()> {
|
|
||||||
ctrlc::set_handler(move || {
|
|
||||||
info!("Shutdown Requested");
|
|
||||||
flag.store(false, Ordering::Relaxed);
|
|
||||||
})?;
|
|
||||||
Ok(())
|
|
||||||
}
|
|
||||||
|
|
||||||
pub fn run() -> Result<()> {
|
pub fn run() -> Result<()> {
|
||||||
info!(
|
info!(
|
||||||
"Project Nautilus Flight Software {}",
|
"Project Nautilus Flight Software {}",
|
||||||
@@ -49,21 +42,17 @@ pub fn run() -> Result<()> {
|
|||||||
mcp23017_b.init()?;
|
mcp23017_b.init()?;
|
||||||
mct8316.init()?;
|
mct8316.init()?;
|
||||||
|
|
||||||
thread::scope(|scope| {
|
Scheduler::new(running.clone(), |s| {
|
||||||
// This will automatically set running to false when it drops
|
let task_a = s.run_cyclic("mcp23017-a", Mcp23017Task::new(mcp23017_a), 10)?;
|
||||||
// This means that if the main thread exits this scope, we will
|
let task_b = s.run_cyclic("mcp23017-b", Mcp23017Task::new(mcp23017_b), 10)?;
|
||||||
// shut down any side branches
|
|
||||||
let _shutdown_threads = on_drop(|| running.store(false, Ordering::Relaxed));
|
|
||||||
|
|
||||||
let (_, task_a) = Mcp23017Task::start(scope, &running, mcp23017_a, "mcp23017-a".into(), 10)?;
|
let _comms = s.run_cyclic("comms", CommsTask::new(15000, "192.168.50.157:14000", running.clone())?, 1)?;
|
||||||
|
|
||||||
let (_, task_b) = Mcp23017Task::start(scope, &running, mcp23017_b, "mcp23017-b".into(), 10)?;
|
|
||||||
|
|
||||||
let mut led_pin_a = LED_A.new(&task_a, &task_b)?;
|
let mut led_pin_a = LED_A.new(&task_a, &task_b)?;
|
||||||
let mut led_pin_b = LED_B.new(&task_a, &task_b)?;
|
let mut led_pin_b = LED_B.new(&task_a, &task_b)?;
|
||||||
|
|
||||||
info!("Starting Main Loop");
|
info!("Starting Main Loop");
|
||||||
for _ in 0..2 {
|
loop {
|
||||||
debug!("A On");
|
debug!("A On");
|
||||||
led_pin_a.set(PinState::High, Instant::now() + Duration::from_secs(2), 0);
|
led_pin_a.set(PinState::High, Instant::now() + Duration::from_secs(2), 0);
|
||||||
sleep(Duration::from_secs(1));
|
sleep(Duration::from_secs(1));
|
||||||
@@ -103,3 +92,5 @@ mod test_utils;
|
|||||||
mod data;
|
mod data;
|
||||||
mod on_drop;
|
mod on_drop;
|
||||||
mod rcs;
|
mod rcs;
|
||||||
|
mod comms;
|
||||||
|
mod scheduler;
|
||||||
|
|||||||
@@ -1,11 +1,10 @@
|
|||||||
use crate::logger::setup_logger;
|
|
||||||
use log::error;
|
use log::error;
|
||||||
|
use nautilus_common::logger::setup_logger;
|
||||||
use nautilus_flight::run;
|
use nautilus_flight::run;
|
||||||
|
|
||||||
mod logger;
|
|
||||||
|
|
||||||
fn main() {
|
fn main() {
|
||||||
setup_logger().expect("Failed to setup logger");
|
setup_logger(env!("CARGO_PKG_NAME")).expect("Failed to setup logger");
|
||||||
match run() {
|
match run() {
|
||||||
Ok(_) => {}
|
Ok(_) => {}
|
||||||
Err(err) => {
|
Err(err) => {
|
||||||
|
|||||||
114
flight/src/scheduler/mod.rs
Normal file
114
flight/src/scheduler/mod.rs
Normal file
@@ -0,0 +1,114 @@
|
|||||||
|
use crate::on_drop::on_drop;
|
||||||
|
use anyhow::Result;
|
||||||
|
use log::trace;
|
||||||
|
use std::fmt::Debug;
|
||||||
|
use std::sync::atomic::{AtomicBool, Ordering};
|
||||||
|
use std::sync::mpsc::{channel, Receiver, Sender};
|
||||||
|
use std::sync::Arc;
|
||||||
|
use std::thread;
|
||||||
|
use std::thread::{sleep, Scope};
|
||||||
|
use std::time::{Duration, Instant};
|
||||||
|
|
||||||
|
#[derive(Clone, Debug)]
|
||||||
|
pub struct TaskHandle<Message> {
|
||||||
|
#[allow(dead_code)]
|
||||||
|
pub name: String,
|
||||||
|
pub sender: Sender<Message>,
|
||||||
|
}
|
||||||
|
|
||||||
|
#[allow(dead_code)]
|
||||||
|
pub trait Task {
|
||||||
|
type Message;
|
||||||
|
|
||||||
|
fn run(self, receiver: Receiver<Self::Message>, running: Arc<AtomicBool>);
|
||||||
|
}
|
||||||
|
|
||||||
|
pub trait CyclicTask {
|
||||||
|
type Message;
|
||||||
|
|
||||||
|
fn step(&mut self, receiver: &Receiver<Self::Message>, step_time: Instant);
|
||||||
|
}
|
||||||
|
|
||||||
|
pub struct Scheduler<'s, 'e>
|
||||||
|
{
|
||||||
|
scope: &'s Scope<'s, 'e>,
|
||||||
|
running: Arc<AtomicBool>,
|
||||||
|
}
|
||||||
|
|
||||||
|
impl<'s, 'e> Scheduler<'s, 'e> {
|
||||||
|
pub fn new<'env, F, R>(running: Arc<AtomicBool>, f: F) -> R
|
||||||
|
where
|
||||||
|
F: FnOnce(Scheduler<'_, 'env>) -> R,
|
||||||
|
{
|
||||||
|
trace!("Scheduler::new(running: {running:?}, f)");
|
||||||
|
thread::scope(|scope: &Scope| {
|
||||||
|
// This will automatically set running to false when it drops
|
||||||
|
// This means that if the function returns any side branches
|
||||||
|
// checking running will shut down
|
||||||
|
let _shutdown_threads = on_drop(|| running.store(false, Ordering::Relaxed));
|
||||||
|
|
||||||
|
f(Scheduler {
|
||||||
|
scope,
|
||||||
|
running: running.clone(),
|
||||||
|
})
|
||||||
|
})
|
||||||
|
}
|
||||||
|
|
||||||
|
#[allow(dead_code)]
|
||||||
|
pub fn run<T>(
|
||||||
|
&self,
|
||||||
|
name: impl Into<String>,
|
||||||
|
task: T,
|
||||||
|
) -> Result<TaskHandle<T::Message>> where
|
||||||
|
T: Task + Send + Debug + 's,
|
||||||
|
T::Message: Send,
|
||||||
|
{
|
||||||
|
let name = name.into();
|
||||||
|
trace!("Scheduler::run(name: {name}, task: {task:?})");
|
||||||
|
let running = self.running.clone();
|
||||||
|
let (sender, receiver) = channel::<T::Message>();
|
||||||
|
let _ = thread::Builder::new()
|
||||||
|
.name(name.clone())
|
||||||
|
.spawn_scoped(self.scope, move || {
|
||||||
|
task.run(receiver, running);
|
||||||
|
})?;
|
||||||
|
Ok(TaskHandle {
|
||||||
|
name,
|
||||||
|
sender,
|
||||||
|
})
|
||||||
|
}
|
||||||
|
|
||||||
|
pub fn run_cyclic<T>(
|
||||||
|
&self,
|
||||||
|
name: impl Into<String>,
|
||||||
|
mut task: T,
|
||||||
|
frequency: u64,
|
||||||
|
) -> Result<TaskHandle<T::Message>> where
|
||||||
|
T: CyclicTask + Send + Debug + 's,
|
||||||
|
T::Message: Send,
|
||||||
|
{
|
||||||
|
let name = name.into();
|
||||||
|
trace!("Scheduler::run_cyclic(name: {name}, task: {task:?}, frequency: {frequency})");
|
||||||
|
let running = self.running.clone();
|
||||||
|
let (sender, receiver) = channel::<T::Message>();
|
||||||
|
let _ = thread::Builder::new()
|
||||||
|
.name(name.clone())
|
||||||
|
.spawn_scoped(self.scope, move || {
|
||||||
|
let period = Duration::from_nanos(1_000_000_000 / frequency);
|
||||||
|
let mut cycle_start_time = Instant::now();
|
||||||
|
while running.load(Ordering::Relaxed) {
|
||||||
|
task.step(&receiver, cycle_start_time);
|
||||||
|
|
||||||
|
cycle_start_time += period;
|
||||||
|
let sleep_duration = cycle_start_time - Instant::now();
|
||||||
|
if sleep_duration > Duration::ZERO {
|
||||||
|
sleep(sleep_duration);
|
||||||
|
}
|
||||||
|
}
|
||||||
|
})?;
|
||||||
|
Ok(TaskHandle {
|
||||||
|
name,
|
||||||
|
sender,
|
||||||
|
})
|
||||||
|
}
|
||||||
|
}
|
||||||
@@ -4,3 +4,7 @@ version = "0.1.0"
|
|||||||
edition = "2024"
|
edition = "2024"
|
||||||
|
|
||||||
[dependencies]
|
[dependencies]
|
||||||
|
anyhow = "1.0.100"
|
||||||
|
nautilus_common = { path = "../common" }
|
||||||
|
log = "0.4.28"
|
||||||
|
ciborium = { version = "0.2.2" }
|
||||||
|
|||||||
50
ground/src/lib.rs
Normal file
50
ground/src/lib.rs
Normal file
@@ -0,0 +1,50 @@
|
|||||||
|
use anyhow::Result;
|
||||||
|
use log::{error, info};
|
||||||
|
use nautilus_common::add_ctrlc_handler;
|
||||||
|
use nautilus_common::command::Command;
|
||||||
|
use nautilus_common::telemetry::Telemetry;
|
||||||
|
use nautilus_common::udp::{UdpRecvCborError, UdpSocketExt};
|
||||||
|
use std::io::Cursor;
|
||||||
|
use std::net::{IpAddr, Ipv4Addr, SocketAddr, UdpSocket};
|
||||||
|
use std::sync::atomic::{AtomicBool, Ordering};
|
||||||
|
use std::sync::Arc;
|
||||||
|
use std::time::Duration;
|
||||||
|
|
||||||
|
pub fn run() -> Result<()> {
|
||||||
|
info!(
|
||||||
|
"Project Nautilus Ground Software {}",
|
||||||
|
env!("CARGO_PKG_VERSION")
|
||||||
|
);
|
||||||
|
|
||||||
|
let running = Arc::new(AtomicBool::new(true));
|
||||||
|
|
||||||
|
add_ctrlc_handler(running.clone())?;
|
||||||
|
|
||||||
|
let mut flight_addr = None;
|
||||||
|
let bind_addr = SocketAddr::new(IpAddr::V4(Ipv4Addr::UNSPECIFIED), 14000);
|
||||||
|
let udp = UdpSocket::bind(bind_addr)?;
|
||||||
|
udp.set_read_timeout(Some(Duration::from_millis(100)))?;
|
||||||
|
|
||||||
|
let mut buffer = Cursor::new([0u8; 512]);
|
||||||
|
while running.load(Ordering::Relaxed) {
|
||||||
|
match udp.recv_cbor::<Telemetry, _>(&mut buffer) {
|
||||||
|
Ok((tlm, addr)) => {
|
||||||
|
flight_addr = Some(addr);
|
||||||
|
info!("{tlm:?}");
|
||||||
|
}
|
||||||
|
Err(UdpRecvCborError::NoData) => {
|
||||||
|
// NoOp
|
||||||
|
}
|
||||||
|
Err(err) => {
|
||||||
|
error!("Rx error: {err}");
|
||||||
|
}
|
||||||
|
}
|
||||||
|
}
|
||||||
|
|
||||||
|
if let Some(flight_addr) = flight_addr {
|
||||||
|
let cmd = Command::Shutdown;
|
||||||
|
udp.send_cbor(&cmd, &mut buffer, &flight_addr)?;
|
||||||
|
}
|
||||||
|
|
||||||
|
Ok(())
|
||||||
|
}
|
||||||
@@ -1,3 +1,13 @@
|
|||||||
|
use log::error;
|
||||||
|
use nautilus_common::logger::setup_logger;
|
||||||
|
use nautilus_ground::run;
|
||||||
|
|
||||||
fn main() {
|
fn main() {
|
||||||
println!("Hello, world!");
|
setup_logger(env!("CARGO_PKG_NAME")).expect("Failed to setup logger");
|
||||||
|
match run() {
|
||||||
|
Ok(_) => {}
|
||||||
|
Err(err) => {
|
||||||
|
error!("An unhandled error occurred: {}\n\n{}", err, err.backtrace());
|
||||||
|
}
|
||||||
|
}
|
||||||
}
|
}
|
||||||
|
|||||||
Reference in New Issue
Block a user