initial comms
This commit is contained in:
350
Cargo.lock
generated
350
Cargo.lock
generated
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|
||||
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]]
|
||||
name = "spin_sleep"
|
||||
version = "1.3.1"
|
||||
@@ -686,12 +546,6 @@ dependencies = [
|
||||
"syn",
|
||||
]
|
||||
|
||||
[[package]]
|
||||
name = "typenum"
|
||||
version = "1.18.0"
|
||||
source = "registry+https://github.com/rust-lang/crates.io-index"
|
||||
checksum = "1dccffe3ce07af9386bfd29e80c0ab1a8205a2fc34e4bcd40364df902cfa8f3f"
|
||||
|
||||
[[package]]
|
||||
name = "unicode-ident"
|
||||
version = "1.0.18"
|
||||
@@ -762,16 +616,6 @@ dependencies = [
|
||||
"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]]
|
||||
name = "windows-core"
|
||||
version = "0.52.0"
|
||||
@@ -868,3 +712,23 @@ name = "windows_x86_64_msvc"
|
||||
version = "0.52.6"
|
||||
source = "registry+https://github.com/rust-lang/crates.io-index"
|
||||
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"
|
||||
|
||||
[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 {
|
||||
left + right
|
||||
}
|
||||
use log::info;
|
||||
use std::sync::atomic::{AtomicBool, Ordering};
|
||||
use std::sync::Arc;
|
||||
|
||||
#[cfg(test)]
|
||||
mod tests {
|
||||
use super::*;
|
||||
pub mod logger;
|
||||
pub mod command;
|
||||
pub mod telemetry;
|
||||
pub mod udp;
|
||||
|
||||
#[test]
|
||||
fn it_works() {
|
||||
let result = add(2, 2);
|
||||
assert_eq!(result, 4);
|
||||
}
|
||||
pub fn add_ctrlc_handler(flag: Arc<AtomicBool>) -> anyhow::Result<()> {
|
||||
ctrlc::set_handler(move || {
|
||||
info!("Shutdown Requested");
|
||||
flag.store(false, Ordering::Relaxed);
|
||||
})?;
|
||||
Ok(())
|
||||
}
|
||||
|
||||
@@ -5,13 +5,13 @@ use std::fs::create_dir_all;
|
||||
use std::str::FromStr;
|
||||
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(|_| {
|
||||
create_dir_all("logs/")?;
|
||||
|
||||
anyhow::Ok(format!(
|
||||
"logs/{}_{}.log",
|
||||
env!("CARGO_PKG_NAME"),
|
||||
package_name,
|
||||
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]
|
||||
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 = "0.4.42"
|
||||
embedded-hal = "1.0.0"
|
||||
embedded-hal-bus = { version = "0.3.0", features = ["std"] }
|
||||
embedded-hal-mock = { version = "0.11.1", optional = true }
|
||||
rpi-pal = { version = "0.22.2", features = ["hal"], optional = true }
|
||||
nalgebra = "0.34.1"
|
||||
hex = "0.4.3"
|
||||
thiserror = "2.0.17"
|
||||
num-traits = "0.2.19"
|
||||
crc = "3.3.0"
|
||||
ctrlc = { version = "3.5" }
|
||||
nautilus_common = { path = "../common" }
|
||||
ciborium = { version = "0.2.2" }
|
||||
|
||||
[dev-dependencies]
|
||||
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::pin::PinDevice;
|
||||
use anyhow::Result;
|
||||
use crate::scheduler::{CyclicTask, TaskHandle};
|
||||
use embedded_hal::digital::PinState;
|
||||
use log::trace;
|
||||
use std::fmt::Debug;
|
||||
use std::sync::atomic::{AtomicBool, Ordering};
|
||||
use std::sync::mpsc::{channel, Sender};
|
||||
use std::thread;
|
||||
use std::thread::{sleep, Scope, ScopedJoinHandle};
|
||||
use std::time::{Duration, Instant};
|
||||
use std::fmt::{Debug, Formatter};
|
||||
use std::sync::mpsc::Receiver;
|
||||
use std::time::Instant;
|
||||
|
||||
#[derive(Clone, Debug)]
|
||||
pub enum Mcp23017Message {
|
||||
@@ -20,14 +17,7 @@ pub enum Mcp23017Message {
|
||||
},
|
||||
}
|
||||
|
||||
#[derive(Clone, Debug)]
|
||||
pub struct Mcp23017Task {
|
||||
#[allow(dead_code)]
|
||||
name: String,
|
||||
sender: Sender<Mcp23017Message>,
|
||||
}
|
||||
|
||||
impl PinDevice for Mcp23017Task {
|
||||
impl PinDevice for TaskHandle<Mcp23017Message> {
|
||||
fn set_pin(&self, pin: u8, value: PinState, valid_until: Instant, priority: u8) {
|
||||
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
|
||||
@@ -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 {
|
||||
pins: [PinData; 16],
|
||||
}
|
||||
@@ -137,67 +138,48 @@ impl PinData {
|
||||
}
|
||||
}
|
||||
|
||||
impl Mcp23017Task {
|
||||
pub fn start<'a, M: Mcp23017 + Send + Debug>(
|
||||
scope: &'a Scope<'a, '_>,
|
||||
running: &'a AtomicBool,
|
||||
mut mcp23017: M,
|
||||
name: String,
|
||||
frequency: u64,
|
||||
) -> Result<(ScopedJoinHandle<'a, ()>, Self)> where
|
||||
M: 'a,
|
||||
{
|
||||
trace!("Mcp23017Task::start(scope, running, mcp23017: {mcp23017:?}, name: {name}, frequency: {frequency})");
|
||||
|
||||
let (sender, receiver) = channel::<Mcp23017Message>();
|
||||
let period = Duration::from_nanos(1_000_000_000 / frequency);
|
||||
|
||||
let handle = thread::Builder::new()
|
||||
.name(name.clone())
|
||||
.spawn_scoped(scope, move || {
|
||||
let mut pins = AllPins::new();
|
||||
let mut cycle_start_time = Instant::now();
|
||||
while running.load(Ordering::Relaxed) {
|
||||
let mut changed = false;
|
||||
|
||||
while let Ok(recv) = receiver.try_recv() {
|
||||
match recv {
|
||||
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
|
||||
let state = pins.pins[pin as usize].get(cycle_start_time);
|
||||
if pins.pins[pin as usize].changed {
|
||||
pins.pins[pin as usize].changed = false;
|
||||
let _ = mcp23017.set_pin(pin, state);
|
||||
changed = true;
|
||||
}
|
||||
}
|
||||
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,
|
||||
}
|
||||
))
|
||||
impl<M: Mcp23017 + Debug> Mcp23017Task<M> {
|
||||
pub fn new(mcp23017: M) -> Self {
|
||||
trace!("Mcp23017Task::new(mcp23017: {mcp23017:?})");
|
||||
Self {
|
||||
mcp23017,
|
||||
pins: AllPins::new(),
|
||||
}
|
||||
}
|
||||
}
|
||||
|
||||
impl<M: Mcp23017> CyclicTask for Mcp23017Task<M> {
|
||||
type Message = Mcp23017Message;
|
||||
|
||||
fn step(
|
||||
&mut self,
|
||||
receiver: &Receiver<Self::Message>,
|
||||
step_time: Instant,
|
||||
) {
|
||||
let mut changed = false;
|
||||
|
||||
while let Ok(recv) = receiver.try_recv() {
|
||||
match recv {
|
||||
Mcp23017Message::SetPin { pin, value, valid_until, priority } => {
|
||||
if (0u8..16u8).contains(&pin) {
|
||||
self.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
|
||||
let state = self.pins.pins[pin as usize].get(step_time);
|
||||
if self.pins.pins[pin as usize].changed {
|
||||
self.pins.pins[pin as usize].changed = false;
|
||||
let _ = self.mcp23017.set_pin(pin, state);
|
||||
changed = true;
|
||||
}
|
||||
}
|
||||
if changed {
|
||||
let _ = self.mcp23017.flush();
|
||||
}
|
||||
}
|
||||
}
|
||||
@@ -44,6 +44,7 @@ impl RaspiHardware {
|
||||
Mode::Mode0,
|
||||
)?), 3.3f64).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::initialize;
|
||||
use crate::hardware::mcp23017::{Mcp23017, Mcp23017Task};
|
||||
use crate::hardware::mct8316a::Mct8316a;
|
||||
use crate::hardware::pin::Pin;
|
||||
use crate::hardware::Hardware;
|
||||
use crate::on_drop::on_drop;
|
||||
use crate::scheduler::Scheduler;
|
||||
use anyhow::Result;
|
||||
use embedded_hal::digital::PinState;
|
||||
use embedded_hal::pwm::SetDutyCycle;
|
||||
use log::{debug, info};
|
||||
use nautilus_common::add_ctrlc_handler;
|
||||
use std::sync::atomic::{AtomicBool, Ordering};
|
||||
use std::sync::Arc;
|
||||
use std::thread;
|
||||
use std::thread::sleep;
|
||||
use std::time::{Duration, Instant};
|
||||
|
||||
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<()> {
|
||||
info!(
|
||||
"Project Nautilus Flight Software {}",
|
||||
@@ -49,21 +42,17 @@ pub fn run() -> Result<()> {
|
||||
mcp23017_b.init()?;
|
||||
mct8316.init()?;
|
||||
|
||||
thread::scope(|scope| {
|
||||
// This will automatically set running to false when it drops
|
||||
// This means that if the main thread exits this scope, we will
|
||||
// shut down any side branches
|
||||
let _shutdown_threads = on_drop(|| running.store(false, Ordering::Relaxed));
|
||||
Scheduler::new(running.clone(), |s| {
|
||||
let task_a = s.run_cyclic("mcp23017-a", Mcp23017Task::new(mcp23017_a), 10)?;
|
||||
let task_b = s.run_cyclic("mcp23017-b", Mcp23017Task::new(mcp23017_b), 10)?;
|
||||
|
||||
let (_, task_a) = Mcp23017Task::start(scope, &running, mcp23017_a, "mcp23017-a".into(), 10)?;
|
||||
|
||||
let (_, task_b) = Mcp23017Task::start(scope, &running, mcp23017_b, "mcp23017-b".into(), 10)?;
|
||||
let _comms = s.run_cyclic("comms", CommsTask::new(15000, "192.168.50.157:14000", running.clone())?, 1)?;
|
||||
|
||||
let mut led_pin_a = LED_A.new(&task_a, &task_b)?;
|
||||
let mut led_pin_b = LED_B.new(&task_a, &task_b)?;
|
||||
|
||||
info!("Starting Main Loop");
|
||||
for _ in 0..2 {
|
||||
loop {
|
||||
debug!("A On");
|
||||
led_pin_a.set(PinState::High, Instant::now() + Duration::from_secs(2), 0);
|
||||
sleep(Duration::from_secs(1));
|
||||
@@ -103,3 +92,5 @@ mod test_utils;
|
||||
mod data;
|
||||
mod on_drop;
|
||||
mod rcs;
|
||||
mod comms;
|
||||
mod scheduler;
|
||||
|
||||
@@ -1,11 +1,10 @@
|
||||
use crate::logger::setup_logger;
|
||||
use log::error;
|
||||
use nautilus_common::logger::setup_logger;
|
||||
use nautilus_flight::run;
|
||||
|
||||
mod logger;
|
||||
|
||||
fn main() {
|
||||
setup_logger().expect("Failed to setup logger");
|
||||
setup_logger(env!("CARGO_PKG_NAME")).expect("Failed to setup logger");
|
||||
match run() {
|
||||
Ok(_) => {}
|
||||
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"
|
||||
|
||||
[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() {
|
||||
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