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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 ffi; use parse::*; use std::ptr; /// Common Error for AntS Actions #[derive(Fail, Debug, Clone)] pub enum AntsError { /// Catch-all error #[fail(display = "Generic error")] GenericError, /// Configuration error. Thrown when a parameter passed to a C API function /// is out-of-bounds. #[fail(display = "Configuration error")] ConfigError, } /// Custom result type for antenna operations pub type AntSResult<T> = Result<T, AntsError>; /// Trait used to represent the AntS object. Allows for mock objects to be created for unit tests pub trait IAntS { /// Construct a new AntS instance fn new(bus: &str, primary: u8, secondary: u8, ant_count: u8, timeout: u32) -> AntSResult<Self> where Self: ::std::marker::Sized; /// Configure which microcontroller should be used to control the system fn configure(&self, config: KANTSController) -> AntSResult<()>; /// Perform a software reset of the microcontrollers fn reset(&self) -> AntSResult<()>; /// Arm the system for deployment fn arm(&self) -> AntSResult<()>; /// Disable deployment fn disarm(&self) -> AntSResult<()>; /// Deploy one antenna fn deploy(&self, antenna: KANTSAnt, force: bool, timeout: u8) -> AntSResult<()>; /// Automatically deploy all antennas fn auto_deploy(&self, timeout: u8) -> AntSResult<()>; /// Cancel all current deployment actions fn cancel_deploy(&self) -> AntSResult<()>; /// Get the current deployment status of the system fn get_deploy(&self) -> AntSResult<DeployStatus>; /// Get the system uptime fn get_uptime(&self) -> AntSResult<u32>; /// Get the system telemetry data fn get_system_telemetry(&self) -> AntSResult<AntsTelemetry>; /// Get an antenna's activation count fn get_activation_count(&self, antenna: KANTSAnt) -> AntSResult<u8>; /// Get the amount of time spent attempting to deploy an antenna fn get_activation_time(&self, antenna: KANTSAnt) -> AntSResult<u16>; /// Kick the hardware watchdog fn watchdog_kick(&self) -> AntSResult<()>; /// Start automatic watchdog kicking fn watchdog_start(&self) -> AntSResult<()>; /// Stop automatic watchdog kicking fn watchdog_stop(&self) -> AntSResult<()>; /// Pass a data packet directly through to the device fn passthrough(&self, tx: &[u8], rx_in: &mut [u8]) -> AntSResult<()>; } /// Structure for interacting with an ISIS Antenna System pub struct AntS; impl IAntS for AntS { /// Constructor /// /// Opens a connection to the underlying I<sup>2</sup>C device /// /// # Arguments /// /// * bus - The I<sup>2</sup>C bus to use to communicate with the device /// * primary - The I<sup>2</sup>C address of the system's primary microcontroller /// * secondary - The I<sup>2</sup>C address of the system's secondary microcontroller /// (should be `0x00` if no secondary microcontroller is available) /// * ant_count - The number of antennas present in the antenna system /// * timeout - The watchdog timeout interval, in seconds /// /// # Errors /// /// If this function encounters any errors, an [`AntsError`] variant will be returned. /// /// # Examples /// /// ``` /// use isis_ants_api::*; /// /// # fn func() -> AntSResult<()> { /// let ants = AntS::new("KI2C1", 0x31, 0x32, 4, 10)?; /// # Ok(()) /// # } /// ``` /// /// [`AntsError`]: enum.AntsError.html fn new(bus: &str, primary: u8, secondary: u8, ant_count: u8, timeout: u32) -> AntSResult<AntS> { match unsafe { ffi::k_ants_init(convert_bus(bus), primary, secondary, ant_count, timeout) } { ffi::KANTSStatus::AntsOK => { if timeout > 0 { match unsafe { ffi::k_ants_watchdog_start() } { ffi::KANTSStatus::AntsOK => Ok(AntS), ffi::KANTSStatus::AntsErrorConfig => Err(AntsError::ConfigError.into()), _ => Err(AntsError::GenericError.into()), } } else { Ok(AntS) } } ffi::KANTSStatus::AntsErrorConfig => Err(AntsError::ConfigError.into()), _ => Err(AntsError::GenericError.into()), } } /// Configure the system to send future commands to the requested microcontroller /// /// # Arguments /// /// * config - The microcontroller which should be used for future commands to the antenna system /// /// # Errors /// /// If this function encounters any errors, an [`AntsError`] variant will be returned. /// /// # Examples /// /// ``` /// # use isis_ants_api::*; /// # fn func() -> AntSResult<()> { /// let ants = AntS::new("KI2C1", 0x31, 0x00, 2, 20)?; /// ants.configure(KANTSController::Secondary)?; /// # Ok(()) /// # } /// ``` /// /// [`AntsError`]: enum.AntsError.html fn configure(&self, config: KANTSController) -> AntSResult<()> { match unsafe { ffi::k_ants_configure(convert_controller(config)) } { ffi::KANTSStatus::AntsOK => Ok(()), ffi::KANTSStatus::AntsErrorConfig => Err(AntsError::ConfigError.into()), _ => Err(AntsError::GenericError.into()), } } /// Reset both of the antenna's microcontrollers /// /// # Errors /// /// If this function encounters any errors, an [`AntsError`] variant will be returned. /// /// # Examples /// /// ``` /// # use isis_ants_api::*; /// # fn func() -> AntSResult<()> { /// let ants = AntS::new("KI2C1", 0x31, 0x32, 4, 10)?; /// ants.reset()?; /// # Ok(()) /// # } /// ``` /// /// [`AntsError`]: enum.AntsError.html fn reset(&self) -> AntSResult<()> { match unsafe { ffi::k_ants_reset() } { ffi::KANTSStatus::AntsOK => Ok(()), ffi::KANTSStatus::AntsErrorConfig => Err(AntsError::ConfigError.into()), _ => Err(AntsError::GenericError.into()), } } /// Arm the antenna system for deployment /// /// # Errors /// /// If this function encounters any errors, an [`AntsError`] variant will be returned. /// /// # Examples /// /// ``` /// # use isis_ants_api::*; /// # fn func() -> AntSResult<()> { /// let ants = AntS::new("KI2C1", 0x31, 0x32, 4, 10)?; /// ants.arm()?; /// # Ok(()) /// # } /// ``` /// /// [`AntsError`]: enum.AntsError.html fn arm(&self) -> AntSResult<()> { match unsafe { ffi::k_ants_arm() } { ffi::KANTSStatus::AntsOK => Ok(()), ffi::KANTSStatus::AntsErrorConfig => Err(AntsError::ConfigError.into()), _ => Err(AntsError::GenericError.into()), } } /// Disarm the antenna system /// /// # Errors /// /// If this function encounters any errors, an [`AntsError`] variant will be returned. /// /// # Examples /// /// ``` /// # use isis_ants_api::*; /// # fn func() -> AntSResult<()> { /// let ants = AntS::new("KI2C1", 0x31, 0x32, 4, 10)?; /// ants.disarm()?; /// # Ok(()) /// # } /// ``` /// /// [`AntsError`]: enum.AntsError.html fn disarm(&self) -> AntSResult<()> { match unsafe { ffi::k_ants_disarm() } { ffi::KANTSStatus::AntsOK => Ok(()), ffi::KANTSStatus::AntsErrorConfig => Err(AntsError::ConfigError.into()), _ => Err(AntsError::GenericError.into()), } } /// Deploy a particular antenna /// /// # Arguments /// /// * antenna - The antenna to deploy /// * force - Whether the system should ignore previous successful deployment /// * timeout - The maximum time, in seconds, the system should spend deploying the antenna /// /// # Errors /// /// If this function encounters any errors, an [`AntsError`] variant will be returned. /// /// # Examples /// /// ``` /// # use isis_ants_api::*; /// # fn func() -> AntSResult<()> { /// let ants = AntS::new("KI2C1", 0x31, 0x00, 2, 20)?; /// ants.deploy(KANTSAnt::Ant2, false, 10)?; /// # Ok(()) /// # } /// ``` /// /// [`AntsError`]: enum.AntsError.html fn deploy(&self, antenna: KANTSAnt, force: bool, timeout: u8) -> AntSResult<()> { match unsafe { ffi::k_ants_deploy(convert_antenna(antenna), force, timeout) } { ffi::KANTSStatus::AntsOK => Ok(()), ffi::KANTSStatus::AntsErrorConfig => Err(AntsError::ConfigError.into()), _ => Err(AntsError::GenericError.into()), } } /// Auto-deploy all antennas sequentially. /// /// # Arguments /// /// * timeout - The maximum time, in seconds, the system should spend deploying each antenna /// /// # Errors /// /// If this function encounters any errors, an [`AntsError`] variant will be returned. /// /// # Examples /// /// ``` /// # use isis_ants_api::*; /// # fn func() -> AntSResult<()> { /// let ants = AntS::new("KI2C1", 0x31, 0x00, 2, 20)?; /// ants.auto_deploy(5)?; /// # Ok(()) /// # } /// ``` /// /// [`AntsError`]: enum.AntsError.html fn auto_deploy(&self, timeout: u8) -> AntSResult<()> { match unsafe { ffi::k_ants_auto_deploy(timeout) } { ffi::KANTSStatus::AntsOK => Ok(()), ffi::KANTSStatus::AntsErrorConfig => Err(AntsError::ConfigError.into()), _ => Err(AntsError::GenericError.into()), } } /// Cancel all current deployment actions /// /// # Errors /// /// If this function encounters any errors, an [`AntsError`] variant will be returned. /// /// # Examples /// /// ``` /// # use isis_ants_api::*; /// # fn func() -> AntSResult<()> { /// let ants = AntS::new("KI2C1", 0x31, 0x32, 4, 10)?; /// ants.cancel_deploy()?; /// # Ok(()) /// # } /// ``` /// /// [`AntsError`]: enum.AntsError.html fn cancel_deploy(&self) -> AntSResult<()> { match unsafe { ffi::k_ants_cancel_deploy() } { ffi::KANTSStatus::AntsOK => Ok(()), ffi::KANTSStatus::AntsErrorConfig => Err(AntsError::ConfigError.into()), _ => Err(AntsError::GenericError.into()), } } /// Get the current deployment status /// /// # Errors /// /// If this function encounters any errors, an [`AntsError`] variant will be returned. /// /// # Examples /// /// ``` /// # use isis_ants_api::*; /// # fn func() -> AntSResult<()> { /// let ants = AntS::new("KI2C1", 0x31, 0x32, 4, 10)?; /// let deploy = ants.get_deploy()?; /// println!("Antenna 1 deployed: {}", !deploy.ant_1_not_deployed); /// println!("Antenna 2 deployment active: {}", deploy.ant_2_active); /// # Ok(()) /// # } /// ``` /// /// [`AntsError`]: enum.AntsError.html fn get_deploy(&self) -> AntSResult<DeployStatus> { let mut status: [u8; 2] = [0; 2]; match unsafe { ffi::k_ants_get_deploy_status(status.as_mut_ptr()) } { ffi::KANTSStatus::AntsOK => { let decoded = DeployStatus::new(&status)?; Ok(decoded) } ffi::KANTSStatus::AntsErrorConfig => Err(AntsError::ConfigError.into()), _ => Err(AntsError::GenericError.into()), } } /// Get the system's uptime /// /// Returns the systems uptime, in seconds /// /// # Errors /// /// If this function encounters any errors, an [`AntsError`] variant will be returned. /// /// # Examples /// /// ``` /// # use isis_ants_api::*; /// # fn func() -> AntSResult<()> { /// let ants = AntS::new("KI2C1", 0x31, 0x32, 4, 10)?; /// let uptime = ants.get_uptime()?; /// println!("Antenna system uptime: {}", uptime); /// # Ok(()) /// # } /// ``` /// /// [`AntsError`]: enum.AntsError.html fn get_uptime(&self) -> AntSResult<u32> { let mut uptime = 0; match unsafe { ffi::k_ants_get_uptime(&mut uptime) } { ffi::KANTSStatus::AntsOK => Ok(uptime), ffi::KANTSStatus::AntsErrorConfig => Err(AntsError::ConfigError.into()), _ => Err(AntsError::GenericError.into()), } } /// Get the current system telemetry /// /// # Errors /// /// If this function encounters any errors, an [`AntsError`] variant will be returned. /// /// # Examples /// /// ``` /// # use isis_ants_api::*; /// # fn func() -> AntSResult<()> { /// let ants = AntS::new("KI2C1", 0x31, 0x32, 4, 10)?; /// let sys_telem = ants.get_system_telemetry()?; /// /// println!("Antenna system telemetry:"); /// println!(" raw_temp: {}", sys_telem.raw_temp); /// println!(" deploy_status:"); /// println!(" Antenna 1 deployed: {}", !sys_telem.deploy_status.ant_1_not_deployed); /// println!(" Antenna 2 deployment active: {}", sys_telem.deploy_status.ant_2_active); /// println!(" uptime: {}\n", sys_telem.uptime); /// # Ok(()) /// # } /// ``` /// /// [`AntsError`]: enum.AntsError.html fn get_system_telemetry(&self) -> AntSResult<AntsTelemetry> { let mut c_telem = ffi::AntsTelemetry { raw_temp: 0, deploy_status: 0, uptime: 0, }; match unsafe { ffi::k_ants_get_system_telemetry(&mut c_telem) } { ffi::KANTSStatus::AntsOK => { let telem = AntsTelemetry::new(c_telem)?; Ok(telem) } ffi::KANTSStatus::AntsErrorConfig => Err(AntsError::ConfigError.into()), _ => Err(AntsError::GenericError.into()), } } /// Get an antenna's activation count /// /// # Arguments /// /// * antenna - Antenna to query /// /// # Errors /// /// If this function encounters any errors, an [`AntsError`] variant will be returned. /// /// # Examples /// /// ``` /// # use isis_ants_api::*; /// # fn func() -> AntSResult<()> { /// let ants = AntS::new("KI2C1", 0x31, 0x00, 2, 20)?; /// let act_count = ants.get_activation_count(KANTSAnt::Ant3)?; /// /// println!("Antenna 3 activation count - {}", act_count); /// # Ok(()) /// # } /// ``` /// /// [`AntsError`]: enum.AntsError.html fn get_activation_count(&self, antenna: KANTSAnt) -> AntSResult<u8> { let mut count: u8 = 0; match unsafe { ffi::k_ants_get_activation_count(convert_antenna(antenna), &mut count) } { ffi::KANTSStatus::AntsOK => Ok(count), ffi::KANTSStatus::AntsErrorConfig => Err(AntsError::ConfigError.into()), _ => Err(AntsError::GenericError.into()), } } /// Get an antenna's activation time /// /// Returns the total amount of time spent attempting to active the antenna, in seconds /// /// # Arguments /// /// * antenna - Antenna to query /// /// # Errors /// /// If this function encounters any errors, an [`AntsError`] variant will be returned. /// /// # Examples /// /// ``` /// # use isis_ants_api::*; /// # fn func() -> AntSResult<()> { /// let ants = AntS::new("KI2C1", 0x31, 0x00, 2, 20)?; /// let act_count = ants.get_activation_time(KANTSAnt::Ant1)?; /// /// println!("Antenna 1 activation time - {}", act_count); /// # Ok(()) /// # } /// ``` /// /// [`AntsError`]: enum.AntsError.html fn get_activation_time(&self, antenna: KANTSAnt) -> AntSResult<u16> { let mut time: u16 = 0; match unsafe { ffi::k_ants_get_activation_time(convert_antenna(antenna), &mut time) } { ffi::KANTSStatus::AntsOK => Ok(time), ffi::KANTSStatus::AntsErrorConfig => Err(AntsError::ConfigError.into()), _ => Err(AntsError::GenericError.into()), } } /// Kick both antenna system's watchdogs once /// /// # Errors /// /// If this function encounters any errors, an [`AntsError`] variant will be returned. /// /// # Examples /// /// ``` /// # use isis_ants_api::*; /// # fn func() -> AntSResult<()> { /// let ants = AntS::new("KI2C1", 0x31, 0x32, 4, 10)?; /// ants.watchdog_kick()?; /// # Ok(()) /// # } /// ``` /// /// [`AntsError`]: enum.AntsError.html fn watchdog_kick(&self) -> AntSResult<()> { match unsafe { ffi::k_ants_watchdog_kick() } { ffi::KANTSStatus::AntsOK => Ok(()), ffi::KANTSStatus::AntsErrorConfig => Err(AntsError::ConfigError.into()), _ => Err(AntsError::GenericError.into()), } } /// Start a thread to kick the system's watchdogs at an interval of /// (timeout)/3 seconds /// /// # Errors /// /// If this function encounters any errors, an [`AntsError`] variant will be returned. /// /// # Examples /// /// ``` /// # use isis_ants_api::*; /// # fn func() -> AntSResult<()> { /// let ants = AntS::new("KI2C1", 0x31, 0x32, 4, 10)?; /// ants.watchdog_start()?; /// # Ok(()) /// # } /// ``` /// /// [`AntsError`]: enum.AntsError.html fn watchdog_start(&self) -> AntSResult<()> { match unsafe { ffi::k_ants_watchdog_start() } { ffi::KANTSStatus::AntsOK => Ok(()), ffi::KANTSStatus::AntsErrorConfig => Err(AntsError::ConfigError.into()), _ => Err(AntsError::GenericError.into()), } } /// Stop the watchdog thread /// /// # Errors /// /// If this function encounters any errors, an [`AntsError`] variant will be returned. /// /// # Examples /// /// ``` /// # use isis_ants_api::*; /// # fn func() -> AntSResult<()> { /// let ants = AntS::new("KI2C1", 0x31, 0x32, 4, 10)?; /// ants.watchdog_start()?; /// //... /// ants.watchdog_stop()?; /// # Ok(()) /// # } /// ``` /// /// [`AntsError`]: enum.AntsError.html fn watchdog_stop(&self) -> AntSResult<()> { match unsafe { ffi::k_ants_watchdog_stop() } { ffi::KANTSStatus::AntsOK => Ok(()), ffi::KANTSStatus::AntsErrorConfig => Err(AntsError::ConfigError.into()), _ => Err(AntsError::GenericError.into()), } } /// Pass a command packet directly through to the antenna system /// Useful for executing commands which have not been implemented in either the /// generic or specific antenna APIs. /// /// # Arguments /// /// * tx - Reference to byte array data to send /// * rx - Reference to byte array which returned data should be stored in /// /// # Errors /// /// If this function encounters any errors, an [`AntsError`] variant will be returned. /// /// # Examples /// /// ``` /// # use isis_ants_api::*; /// # fn func() -> AntSResult<()> { /// let ants = AntS::new("KI2C1", 0x31, 0x00, 2, 20)?; /// let tx: [u8; 1] = [0xC3]; /// let mut rx: [u8; 2] = [0; 2]; /// /// ants.passthrough(&tx, &mut rx).unwrap(); /// println!("Antenna passthrough response: {:?}", rx); /// # Ok(()) /// # } /// ``` /// /// [`AntsError`]: enum.AntsError.html fn passthrough(&self, tx: &[u8], rx_in: &mut [u8]) -> AntSResult<()> { let tx_len: u8 = tx.len() as u8; let rx_len: u8 = rx_in.len() as u8; let rx: *mut u8 = match rx_len { 0 => ptr::null_mut(), _ => rx_in.as_mut_ptr(), }; match unsafe { ffi::k_ants_passthrough(tx.as_ptr(), tx_len, rx, rx_len) } { ffi::KANTSStatus::AntsOK => Ok(()), ffi::KANTSStatus::AntsErrorConfig => Err(AntsError::ConfigError.into()), _ => Err(AntsError::GenericError.into()), } } } /// Close the connection to the I2C bus impl Drop for AntS { fn drop(&mut self) { let _ = self.watchdog_stop(); unsafe { ffi::k_ants_terminate() } } }