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// // 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)?) } });