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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. // #![deny(missing_docs)] #![deny(warnings)] //! Kubos Service for interacting with an [Adcole Maryland Aerospace MAI-400](https://www.adcolemai.com/adacs) //! //! # Configuration //! //! The service can be configured in the `/home/system/etc/config.toml` with the following fields: //! //! ```toml //! [mai400-service.addr] //! ip = "127.0.0.1" //! port = 8082 //! ``` //! //! Where `ip` specifies the service's IP address, and `port` specifies the port which UDP requests should be sent to. //! //! # Starting the Service //! //! The service should be started automatically by its init script, but may also be started manually: //! //! ```shell //! $ mai400-service //! Kubos MAI-400 service started //! Listening on: 10.63.1.20:8082 //! ``` //! //! # Queries //! //! ## Ping //! //! Test query to verify service is running without attempting //! to communicate with the underlying subsystem //! //! ```json //! { //! ping: "pong" //! } //! ``` //! //! ## ACK //! //! Get the last run mutation //! //! ```json //! { //! ack: AckCommand //! } //! ``` //! //! ## Errors //! //! Get all errors encountered since the last time this field was queried //! //! ```json //! { //! errors: [String] //! } //! ``` //! //! ## Power Status //! //! Get the current power state and uptime of the system //! //! ```json //! { //! power { //! state: PowerState, //! uptime: Int //! } //! } //! ``` //! //! ## Configuration //! //! Get the current configuration of the system //! //! ```json //! { //! config: "Not Implemented" //! } //! ``` //! //! ## Telemetry //! //! Get current telemetry information for the system //! //! ```json //! { //! telemetry{ //! nominal{ //! gpsTime: i32, //! timeSubsec: i32, //! cmdValidCntr: i32, //! cmdInvalidCntr: i32, //! cmdInvalidChksumCntr: i32, //! lastCommand: i32, //! acsMode: i32, //! css: [i32; 6], //! eclipseFlag: i32, //! sunVecB: [i32; 3], //! iBFieldMeas: [i32; 3], //! bd: [f64; 3], //! rwsSpeedCmd: [i32; 3], //! rwsSpeedTach: [i32; 3], //! rwaTorqueCmd: [f64; 3], //! gcRwaTorqueCmd: [i32; 3], //! torqueCoilCmd: [f64; 3], //! gcTorqueCoilCmd: [i32; 3], //! qboCmd: [i32; 4], //! qboHat: [i32; 4], //! angleToGo: f64, //! qError: [i32; 4], //! omegaB: [f64; 3], //! nb: [i32; 3], //! neci: [i32; 3], //! }, //! debug{ //! irhes{ //! thermopilesA: [i32; 4], //! thermopilesB: [i32; 4], //! tempA: [i32; 4], //! tempB: [i32; 4], //! dipAngleA: i32, //! dipAngleB: i32, //! solutionDegraded: [Vec<String>; 8], //! thermopileStructA{ //! dipAngle: i32, //! earthLimb: { //! adc: i32, //! temp: i32, //! errors: bool, //! flags: Vec<String>, //! }, //! earthRef: {...}, //! spaceRef: {...}, //! wideFov: {...}, //! thermopileStructB{...} //! }, //! rawImu{ //! accel: [i32; 3], //! gyro: [i32; 3], //! gyroTemp: i32, //! }, //! rotating{ //! bFieldIgrf: [f64; 3], //! sunVecEph: [f64; 3], //! scPosEci: [f64; 3], //! scVelEci: [f64; 3], //! keplerElem{ //! semiMajorAxis: f32, //! eccentricity: f32, //! inclination: f32, //! raan: f32, //! argParigee: f32, //! trueAnomoly: f32, //! }, //! kBdot: [f64; 3], //! kp: [f64; 3], //! kd: [f64; 3], //! kUnload: [f64; 3], //! cssBias: [i32; 6], //! magBias: [i32; 3], //! rwsVolt: i32, //! rwsPress: i32, //! attDetMode: i32, //! rwsResetCntr: [i32; 3], //! sunMagAligned: i32, //! minorVersion: i32, //! maiSn: i32, //! orbitPropMode: i32, //! acsOpMode: i32, //! procResetCntr: i32, //! majorVersion: i32, //! adsOpMode: i32, //! cssGain: [f64; 6], //! magGain: [f64; 3], //! orbitEpoch: i32, //! trueAnomolyEpoch: f64, //! orbitEpochNext: i32, //! scPosEciEpoch: [f64; 3], //! scVelEciEpoch: [f64; 3], //! qbXWheelSpeed: i32, //! qbXFilterGain: f64, //! qbXDipoleGain: f64, //! dipoleGain: [f64; 3], //! wheelSpeedBias: [i32; 3], //! cosSunMagAlignThresh: f64, //! unloadAngThresh: f64, //! qSat: f64, //! rwaTrqMax: f64, //! rwsMotorCurrent: [i32; 3], //! rwsMotorTemp: i32, //! } //! } //! } //! } //! ``` //! //! ## Test Results //! //! 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 //! //! ```json //! { //! testResults{ //! success, //! telemetryNominal{...}, //! telemetryDebug{...} //! } //! } //! ``` //! //! ## System Mode //! //! Get the current mode of the system //! //! ```json //! { //! mode: Mode //! } //! ``` //! //! ## System Orientation //! //! Get the last reported orientation of the system //! //! ```json //! { //! orientation: "Not Implemented" //! } //! ``` //! //! ## System Spin //! //! Get the last reported spin values of the system //! Note: The spin values are automatically updated every six seconds //! //! ```json //! { //! spin{ //! x: f64, //! y: f64, //! z: f64 //! } //! } //! ``` //! //! # Mutations //! //! ## Errors //! //! 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. //! //! ```json //! mutation { //! errors: [String] //! } //! ``` //! //! ## No-Op //! //! Execute a trivial command against the system //! //! ```json //! mutation { //! noop { //! errors: String, //! success: Boolean //! } //! } //! ``` //! //! ## Set Power State //! //! 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` //! //! ```json //! mutation { //! controlPower(state: PowerState) { //! errors: String, //! success: Boolean, //! power: PowerState //! } //! } //! ``` //! //! ## Configuration //! //! Configure the system //! //! ```json //! mutation { //! configureHardware: "Not Implemented" //! } //! ``` //! //! ## System Self-Test //! //! Run a system self-test //! //! - test: Type of self-test to perform //! //! ```json //! mutation { //! testHardware(test: TestType) { //! ... on IntegrationTestRsults { //! errors: String, //! success: Boolean, //! telemetryNominal{...}, //! telemetryDebug{...} //! } //! ... on HardwareTestResults { //! errors: "Not Implemented", //! success: true, //! data: Empty //! } //! } //! } //! ``` //! //! ## Passthrough //! //! 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. //! //! ```json //! mutation { //! issueRawCommand(command: String) { //! errors: String, //! success: Boolean, //! response: String //! } //! } //! ``` //! //! ## Set ADC Mode //! //! Set the attitude control mode //! //! - mode: Control mode to change to //! - qbiCmd: Optional array of four values needed for Qinertial and Qtable mode //! - sunAngleEnable: Optional. Specifies whether the sun rotating angle should be updated when //! using Normal-Sun or LatLong-Sun mode //! sunRotAngle: Optional. The sun rotating angle for use in Normal-Sun and LatLong-Sun mode //! //! ```json //! mutation { //! setMode(mode: Mode, qbiCmd: Vec<i32>, sunAngleEnable: bool, sunRotAngle: f64) { //! errors: String, //! success: Boolean, //! response: String //! } //! } //! ``` //! //! ## Set System Values //! //! Update system values //! //! - gpsTime: Optional. If specified, updates the system's ADACS clock //! - rv: Optional. If specified, updates the orbital position and velocity at epoch. //! The argument has the following sub-fields: //! - eciPos: Vector containing the new X, Y, and Z ECI position values //! - eciVel: Vector containing the new X, Y, and Z ECI velocity values //! - timeEpoch: GPS time at which the eciPos and eciVel values will go into effect //! //! ```json //! mutation { //! update(gps_time: Option<i32>, //! rv: Option<{eciPos: [f64; 3], eciVel: [f64; 3], timeEpoch: i32}>) { //! errors: String, //! success: Boolean, //! } //! } //! ``` //! #![recursion_limit = "256"] #[macro_use] extern crate failure; #[macro_use] extern crate juniper; #[macro_use] extern crate kubos_service; #[macro_use] extern crate log; extern crate mai400_api; #[cfg(test)] #[macro_use] extern crate serde_json; extern crate syslog; mod model; mod objects; mod schema; #[cfg(test)] mod tests; use kubos_service::{Config, Service}; use mai400_api::MAIResult; use model::{ReadData, Subsystem}; pub use objects::*; use schema::{MutationRoot, QueryRoot}; use std::sync::Arc; use syslog::Facility; fn main() -> MAIResult<()> { syslog::init( Facility::LOG_DAEMON, log::LevelFilter::Debug, Some("mai400-service"), ).unwrap(); Service::new( Config::new("mai400-service"), Subsystem::new("/dev/ttyS5", Arc::new(ReadData::new()))?, QueryRoot, MutationRoot, ).start(); Ok(()) }