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added new gs_interface for dfgm handler
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@kulovac
kulovac committed Nov 20, 2024
1 parent 7cb1cd1 commit caaaa3c
Showing 1 changed file with 38 additions and 22 deletions.
60 changes: 38 additions & 22 deletions ex3_obc_fsw/handlers/dfgm_handler/src/main.rs
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Original file line number Diff line number Diff line change
Expand Up @@ -13,19 +13,18 @@ TODO - Setup a way to handle opcodes from messages passed to the handler
*/

use ipc::{poll_ipc_server_sockets, IpcServer, IPC_BUFFER_SIZE};
use ipc::{poll_ipc_server_sockets, IpcClient, IpcServer, IPC_BUFFER_SIZE};

//use tcp_interface::BUFFER_SIZE;
use tcp_interface::*;
use common::{opcodes, ports};
use log::{debug, trace, warn};
use logging::*;
use message_structure::*;
use std::fs::OpenOptions;
use std::io::prelude::*;
use std::io::Error;
use std::io::ErrorKind;
use common::{ports, opcodes};
use logging::*;
use log::{debug, trace, warn};

use tcp_interface::*;

const DFGM_DATA_DIR_PATH: &str = "ex3_obc_fsw/handlers/dfgm_handler/dfgm_data";
//const DFGM_PACKET_SIZE: usize = 1252;
Expand All @@ -38,14 +37,16 @@ const DFGM_DATA_DIR_PATH: &str = "ex3_obc_fsw/handlers/dfgm_handler/dfgm_data";
/// Interfaces are option types incase they are not properly created upon running this handler, so the program does not panic
struct DFGMHandler {
toggle_data_collection: bool,
peripheral_interface: Option<TcpInterface>, // For communication with the DFGM peripheral [external to OBC]. Will be dynamic
peripheral_interface: Option<TcpInterface>, // For communication with the DFGM peripheral [external to OBC]. Will be dynamic
msg_dispatcher_interface: Option<IpcServer>, // For communcation with other FSW components [internal to OBC] (i.e. message dispatcher)
gs_interface: Option<IpcClient>, // To send messages to the GS through the coms_handler
}

impl DFGMHandler {
pub fn new(
dfgm_interface: Result<TcpInterface, std::io::Error>,
msg_dispatcher_interface: Result<IpcServer, std::io::Error>,
gs_interface: Result<IpcClient, std::io::Error>,
) -> DFGMHandler {
//if either interfaces are error, print this
if dfgm_interface.is_err() {
Expand All @@ -60,37 +61,52 @@ impl DFGMHandler {
msg_dispatcher_interface.as_ref().err().unwrap()
);
}
if gs_interface.is_err() {
warn!(
"Error creating ground station interface: {:?}",
gs_interface.as_ref().err().unwrap()
);
}

DFGMHandler {
toggle_data_collection: false,
peripheral_interface: dfgm_interface.ok(),
msg_dispatcher_interface: msg_dispatcher_interface.ok(),
gs_interface: gs_interface.ok(),
}
}

fn handle_msg_for_dfgm(&mut self, msg: Msg) -> Result<(), Error> {
// msg body being encoded as ASCII now. Changed handling to so ASCII 48 is 0 and ASCII 49 is 1
self.msg_dispatcher_interface.as_mut().unwrap().clear_buffer();
self.gs_interface.as_mut().unwrap().clear_buffer();
trace!("Matching opcode.");
let opcode_enum = opcodes::DFGM::from(msg.header.op_code);
match opcode_enum {
opcodes::DFGM::ToggleDataCollection => {
if msg.msg_body[0] == 48 { // ASCII 0
if msg.msg_body[0] == 48 {
// ASCII 0
self.toggle_data_collection = false;
trace!("Data toggle set to {}", self.toggle_data_collection);
Ok(())
} else if msg.msg_body[0] == 49 { // ASCII 1
} else if msg.msg_body[0] == 49 {
// ASCII 1
self.toggle_data_collection = true;
trace!("Data toggle set to {}", self.toggle_data_collection);
Ok(())
} else {
debug!("Error: invalid msg body for opcode 0");
Err(Error::new(ErrorKind::InvalidData, "Invalid msg body for opcode 0 on DFGM"))
Err(Error::new(
ErrorKind::InvalidData,
"Invalid msg body for opcode 0 on DFGM",
))
}
}
_ => {
debug!("Error: invalid msg body for opcode 0");
Err(Error::new(ErrorKind::NotFound, format!("Opcode {} not found for DFGM", msg.header.op_code)))
Err(Error::new(
ErrorKind::NotFound,
format!("Opcode {} not found for DFGM", msg.header.op_code),
))
}
}
}
Expand All @@ -101,11 +117,9 @@ impl DFGMHandler {
// Borrowing the dispatcher interfaces
// let msg_dispatcher_interface = self.msg_dispatcher_interface;

let mut clients = vec![
&mut self.msg_dispatcher_interface,
];
let mut clients = vec![&mut self.msg_dispatcher_interface];
poll_ipc_server_sockets(&mut clients);

// Handling the bulk message dispatcher interface
if let Some(cmd_msg_dispatcher) = self.msg_dispatcher_interface.as_mut() {
if cmd_msg_dispatcher.buffer != [0u8; IPC_BUFFER_SIZE] {
Expand All @@ -114,10 +128,11 @@ impl DFGMHandler {
self.handle_msg_for_dfgm(recv_msg)?;
}
}

if self.toggle_data_collection {
let mut tcp_buf = [0u8;BUFFER_SIZE];
let status = TcpInterface::read(self.peripheral_interface.as_mut().unwrap(), &mut tcp_buf);
let mut tcp_buf = [0u8; BUFFER_SIZE];
let status =
TcpInterface::read(self.peripheral_interface.as_mut().unwrap(), &mut tcp_buf);
match status {
Ok(data_len) => {
trace!("Read {}B from DFGM", data_len);
Expand All @@ -130,10 +145,9 @@ impl DFGMHandler {
}
}
}
//TODO - After receiving the message, send a response back to the dispatcher ??
//TODO - After receiving the message, send a response back to the dispatcher ??
}


/// Write DFGM data to a file (for now --- this may changer later if we use a db or other storage)
/// Later on we likely want to specify a path to specific storage medium (sd card 1 or 2)
/// We may also want to implement something generic to handle 'payload data' storage so we can have it duplicated, stored in multiple locations, or compressed etc.
Expand Down Expand Up @@ -161,8 +175,10 @@ fn main() -> Result<(), Error> {
// Interface for IPC of cmd_dispatcher cmds that get sent up with a certain destination
let msg_dispatcher_interface = IpcServer::new("DFGM".to_string());

let gs_interface = IpcClient::new("gs_non_bulk".to_string());

//Create DFGM handler
let mut dfgm_handler = DFGMHandler::new(dfgm_interface, msg_dispatcher_interface);
let mut dfgm_handler = DFGMHandler::new(dfgm_interface, msg_dispatcher_interface, gs_interface);

dfgm_handler.run()
}

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