Files

adcs_api

lib.rs

cbor_protocol

lib.rs

channel_protocol

error.rslib.rsparsers.rsprotocol.rs

clyde_3g_eps_api

commands

board_status.rschecksum.rslast_error.rsmod.rsreset.rsversion.rswatchdog.rs

telemetry

daughterboard.rslib.rsmod.rsmotherboard.rsreset.rs

eps.rslib.rs

clyde_3g_eps_service

models

board_status.rsdaughterboard_telemetry.rslast_error.rsmod.rsmotherboard_telemetry.rsreset_telemetry.rssubsystem.rsversion.rs

schema

mod.rsmutation.rsquery.rs

main.rs

comms_service

config.rserrors.rslib.rspacket.rsservice.rsspacepacket.rstelemetry.rs

db_test

main.rs

eps_api

lib.rs

example_rust_c_service

main.rsmodel.rsschema.rs

example_rust_service

main.rsmodel.rsschema.rs

extern_lib

lib.rs

file_protocol

error.rslib.rsmessages.rsparsers.rsprotocol.rsstorage.rs

file_service

lib.rs

iobc_supervisor_service

main.rsmodel.rsschema.rs

isis_ants

main.rs

isis_ants_api

ants.rsffi.rslib.rsparse.rs

isis_ants_service

main.rsmodel.rsobjects.rsschema.rs

isis_imtq_api

ffi.rsimtq.rslib.rs

isis_iobc_supervisor

ffi.rslib.rs

kubos_app

framework.rslib.rsquery.rs

kubos_app_service

app_entry.rserror.rsmain.rsmonitor.rsobjects.rsregistry.rsschema.rs

kubos_build_helper

lib.rs

kubos_file_client

main.rs

kubos_service

lib.rsmacros.rsservice.rs

kubos_shell_client

main.rs

kubos_system

config.rslib.rslogger.rsuboot.rs

kubos_telemetry_db

lib.rsmodels.rs

large_download

main.rs

large_upload

main.rs

local_comms_service

comms.rsmain.rs

mai400

main.rs

mai400_api

messages

rx

irehs.rsmod.rsraw_imu.rsrotating.rsstd_telem.rs

mod.rstx.rs

lib.rsmai400.rs

mai400_service

main.rsmodel.rsobjects.rsschema.rs

monitor_service

main.rsmeminfo.rsobjects.rsprocess.rsschema.rsuserinfo.rs

novatel_oem6_api

messages

commands

log.rsmod.rsunlog.rsunlog_all.rs

logs

best_xyz.rsmod.rsrxstatusevent.rsversion.rs

mod.rs

crc32.rslib.rsoem6.rs

novatel_oem6_service

main.rsmodel.rsobjects.rsschema.rs

nsl_duplex_d2

messages

file.rsgeo_record.rsmod.rsstate_of_health.rs

duplex_d2.rslib.rsserial_comm.rs

nsl_duplex_d2_comms_service

comms.rsmain.rsmodel.rsschema.rs

obc_hs

check_fs.rscheck_mem.rscheck_reset.rsclean_db.rsmain.rsping.rs

radio_api

lib.rs

rust_i2c

lib.rs

rust_mission_app

main.rs

rust_uart

error.rslib.rsmock.rs

scheduler_service

app.rserror.rsmain.rsmode.rsscheduler.rsschema.rstask.rstask_list.rs

serial_comms_service

comms.rskiss.rsmain.rsmodel.rsschema.rs

shell_protocol

messages

error.rsexit.rskill.rslist.rsmod.rspid.rsspawn.rsstderr.rsstdin.rsstdout.rs

error.rslib.rsprocess.rsprotocol.rs

shell_service

lib.rs

telemetry_service

main.rsschema.rsudp.rs

uart_comms_client

comms.rskiss.rsmain.rs

udp_client

main.rs

utils

lib.rstesting.rs

>

//
// Copyright (C) 2018 Kubos Corporation
//
// Licensed under the Apache License, Version 2.0 (the "License")
// you may not use this file except in compliance with the License.
// You may obtain a copy of the License at
//
// http://www.apache.org/licenses/LICENSE-2.0
//
// Unless required by applicable law or agreed to in writing, software
// distributed under the License is distributed on an "AS IS" BASIS,
// WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
// See the License for the specific language governing permissions and
// limitations under the License.
//

use crate::model::*;
use crate::objects::*;
use juniper::FieldResult;
use kubos_service;

type Context = kubos_service::Context<Subsystem>;

pub struct QueryRoot;

// Base GraphQL query model
graphql_object!(QueryRoot: Context as "Query" |&self| {

    // Test query to verify service is running without attempting
    // to communicate with the underlying subsystem
    //
    // {
    //     ping: "pong"
    // }
    field ping() -> FieldResult<String>
    {
        Ok(String::from("pong"))
    }

    //----- Generic Queries -----//

    // Get the last run mutation
    //
    // {
    //     ack: AckCommand
    // }
    field ack(&executor) -> FieldResult<AckCommand>
    {
        let last_cmd = executor.context().subsystem().last_cmd.read()?;
        Ok(*last_cmd)
    }

    // Get all errors encountered since the last time this field was queried
    //
    // {
    //     errors: [String]
    // }
    field errors(&executor) -> FieldResult<Vec<String>>
    {
        match executor.context().subsystem().errors.write() {
            Ok(mut master_vec) => {
                let current = master_vec.clone();
                master_vec.clear();
                master_vec.shrink_to_fit();
                Ok(current)
            },
            _ => Ok(vec!["Error: Failed to borrow master errors vector".to_owned()])
        }
    }

    // Get the current power state and uptime of the system
    //
    // {
    //     power {
    //         state: PowerState,
    //         uptime: Int
    //     }
    // }        
    field power(&executor) -> FieldResult<GetPowerResponse>
        as "Antenna System Power State"
    {
        Ok(executor.context().subsystem().get_power()?)
    }

    // Get the current microcontroller which commands will be sent to
    //
    // {
    //     config: ConfigureController
    // }
    field config(&executor) -> FieldResult<ConfigureController>
    {
        // Future development: Once Rust lifetimes have been figured out,
        // this could be updated to return the controller previously set
        // with the 'configureHardware' mutation
        Ok(executor.context().subsystem().get_config()?)
    }

    // Get current telemetry information for the system
    //
    // {
    //     telemetry {
    //         nominal {
    //             rawTemp: Int,
    //             uptime: Int,
    //             sysBurnActive: Boolean,
    //             sysIgnoreDeploy: Boolean,
    //             sysArmed: Boolean,
    //             ant1NotDeployed: Boolean,
    //             ant1StoppedTime: Boolean,
    //             ant1Active: Boolean,
    //             ant2NotDeployed: Boolean,
    //             ant2StoppedTime: Boolean,
    //             ant2Active: Boolean,
    //             ant3NotDeployed: Boolean,
    //             ant3StoppedTime: Boolean,
    //             ant3Active: Boolean,
    //             ant4NotDeployed: Boolean,
    //             ant4StoppedTime: Boolean,
    //             ant4Active: Boolean
    //         },
    //     	   debug {
    //             ant1ActivationCount: Int,
    //             ant1ActivationTime: Int,
    //             ant2ActivationCount: Int,
    //             ant2ActivationTime: Int,
    //             ant3ActivationCount: Int,
    //             ant3ActivationTime: Int,
    //             ant4ActivationCount: Int,
    //             ant4ActivationTime: Int,
    //         }
    //     }
    // }
    field telemetry(&executor) -> FieldResult<Telemetry>
    {
        Ok(executor.context().subsystem().get_telemetry()?)
    }

    // Get the test results of the last run test
    //
    // Note: For this service, this actually just fetches the nominal
    // and debug telemetry of the system, since there is no actual
    // built-in test
    //
    // {
    //     testResults{
    //         success,
    //         telemetryNominal{...},
    //         telemetryDebug{...}
    //     }
    // }
    field test_results(&executor) -> FieldResult<IntegrationTestResults> {
        Ok(executor.context().subsystem().get_test_results()?)
    }

    //----- Deployable-specific Queries -----//

    // Get the current armed/disarmed status of the system
    //
    // {
    //     armStatus: ArmStatus
    // }
    field arm_status(&executor) -> FieldResult<ArmStatus>
    {
        Ok(executor.context().subsystem().get_arm_status()?)
    }

    // Get the current deployment status of the system
    //
    // {
    //     deploymentStatus {
    //         status: DeploymentStatus,
    //         sysBurnActive: Boolean,
    //         sysIgnoreDeploy: Boolean,
    //         sysArmed: Boolean,
    //         ant1NotDeployed: Boolean,
    //         ant1StoppedTime: Boolean,
    //         ant1Active: Boolean,
    //         ant2NotDeployed: Boolean,
    //         ant2StoppedTime: Boolean,
    //         ant2Active: Boolean,
    //         ant3NotDeployed: Boolean,
    //         ant3StoppedTime: Boolean,
    //         ant3Active: Boolean,
    //         ant4NotDeployed: Boolean,
    //         ant4StoppedTime: Boolean,
    //         ant4Active: Boolean
    // }
    field deployment_status(&executor) -> FieldResult<GetDeployResponse>
    {
        Ok(executor.context().subsystem().get_deploy_status()?)
    }
});

pub struct MutationRoot;

// Base GraphQL mutation model
graphql_object!(MutationRoot: Context as "Mutation" |&self| {

    // Get all errors encountered while processing this GraphQL request
    //
    // Note: This will only return errors thrown by fields which have
    // already been processed, so it is recommended that this field be specified last.
    //
    // mutation {
    //     errors: [String]
    // }
    field errors(&executor) -> FieldResult<Vec<String>>
    {
        match executor.context().subsystem().errors.read() {
            Ok(master_vec) => Ok(master_vec.clone()),
            _ => Ok(vec!["Error: Failed to borrow master errors vector".to_owned()])
        }
    }

    // Execute a trivial command against the system
    //
    // mutation {
    //     noop {
    //         errors: String,
    //         success: Boolean
    //    }
    // }
    field noop(&executor) -> FieldResult<NoopResponse>
    {
        let mut last_cmd = executor.context().subsystem().last_cmd.write()?;
        *last_cmd = AckCommand::Noop;
        Ok(executor.context().subsystem().noop()?)
    }

    // Control the power state of the system
    //
    // state: Power state the system should be changed to
    //   Note: The only valid input for this service is RESET
    //
    // mutation {
    //     controlPower(state: PowerState) {
    //         errors: String,
    //         success: Boolean,
    //         power: PowerState
    //     }
    // }
    field control_power(&executor, state: PowerState) -> FieldResult<ControlPowerResponse>
    {
        let mut last_cmd = executor.context().subsystem().last_cmd.write()?;
        *last_cmd = AckCommand::ControlPower;
        Ok(executor.context().subsystem().control_power(state)?)
    }

    // Configure the system
    //
    // config: Set which microcontroller future commands should be issued from
    //
    // mutation {
    //     configureHardware(config: ConfigureController) {
    //         errors: String,
    //         success: Boolean,
    //         config: ConfigureController
    //    }
    // }
    field configure_hardware(&executor, config: ConfigureController) -> FieldResult<ConfigureHardwareResponse>
    {
        let mut last_cmd = executor.context().subsystem().last_cmd.write()?;
        *last_cmd = AckCommand::ConfigureHardware;
        Ok(executor.context().subsystem().configure_hardware(config)?)
    }

    // Run a system self-test
    //
    // test: Type of self-test to perform
    //
    // mutation {
    //     testHardware(test: TestType) {
    //         ... on IntegrationTestResults {
    //             errors: String,
    //             success: Boolean,
    //             telemetryNominal{...},
    //             telemetryDebug{...}
    //         }
    //         ... on HardwareTestResults {
    //             errors: "Not Implemented",
    //             success: true,
    //             data: Empty
    //         }
    //    }
    // }
    field test_hardware(&executor, test: TestType) -> FieldResult<TestResults>
    {
        let mut last_cmd = executor.context().subsystem().last_cmd.write()?;
        *last_cmd = AckCommand::TestHardware;

        match test {
            TestType::Integration => Ok(TestResults::Integration(executor.context().subsystem().integration_test().unwrap())),
            TestType::Hardware => Ok(TestResults::Hardware(HardwareTestResults { errors: "Not Implemented".to_owned(), success: true, data: "".to_owned()}))
        }
    }

    // Pass a custom command through to the system
    //
    // command: String containing the hex values to be sent (ex. "C3")
    //   It will be converted to a byte array before transfer.
    // rxLen: Number of response bytes to read
    //
    // mutation {
    //     issueRawCommand(command: String, rx_len: Int) {
    //         errors: String,
    //         success: Boolean,
    //         response: String
    //     }
    // }
    field issue_raw_command(&executor, command: String, rx_len = 0: i32) -> FieldResult<RawCommandResponse>
    {
        let mut last_cmd = executor.context().subsystem().last_cmd.write()?;
        *last_cmd = AckCommand::IssueRawCommand;
        Ok(executor.context().subsystem().passthrough(command, rx_len)?)
    }

    //----- Deployable-specific mutations -----//

    // Arm/Disarm the system
    //
    // state: Armed/Disarmed state the system should be changed to
    //
    // mutation {
    //     arm(state: ArmState) {
    //         errors: String,
    //         success: Boolean
    //    }
    // }
    field arm(&executor, state: ArmState) -> FieldResult<ArmResponse>
    {
        let mut last_cmd = executor.context().subsystem().last_cmd.write()?;
        *last_cmd = AckCommand::Arm;
        Ok(executor.context().subsystem().arm(state)?)
    }

    // Deploy antenna/s
    //
    // ant: (Default - All) Antenna to deploy
    // force: (Default - false) Whether current deployment state should be ignored/overridden
    // time: Maximum amount of time to spend attempting to deploy the antenna
    //   (for 'All', this is the amount of time spent for each antenna)
    //
    // mutation {
    //     deploy(ant: DeployType = DeployType::All, force: Boolean = false, time: Int) {
    //         errors: String,
    //         success: Boolean
    //    }
    // }
    field deploy(&executor, ant = (DeployType::All): DeployType, force = false: bool, time: i32) -> FieldResult<DeployResponse>
    {
        let mut last_cmd = executor.context().subsystem().last_cmd.write()?;
        *last_cmd = AckCommand::Deploy;
        Ok(executor.context().subsystem().deploy(ant, force, time)?)
    }

});