Struct ZOPrepMode

pub(super) struct ZOPrepMode {
    base: BaseMode,
    exit_burn: ExitBurnResult,
    target: KnownImgObjective,
    left_orbit: AtomicBool,
}

ZOPrepMode is a mission-critical mode responsible for preparing and scheduling orbital exit maneuvers to complete a given KnownImgObjective. It calculates optimal burn sequences, evaluates feasibility, and executes scheduled preparatory tasks.

This mode can re-prioritize based on new objectives, dynamically adapt to changing beacon conditions, and transition into a ZORetrievalMode once the exit burn is executed.

Fields

base: BaseMode

Underlying pre-exit behavior context (Mapping or Beacon Scanning).

exit_burn: ExitBurnResult

The precomputed exit burn sequence to leave the current orbit.

target: KnownImgObjective

The currently targeted zoned objective.

left_orbit: AtomicBool

Indicates whether the satellite has already left its orbit.

Implementations

impl ZOPrepMode

const MODE_NAME: &'static str = "ZOPrepMode"

Internal name used for logging and identification.

const MIN_REPLANNING_DT: TimeDelta

Minimum time before scheduled burn start during which re-planning is allowed.

pub(super) async fn from_obj( context: &Arc<ModeContext>, zo: KnownImgObjective, curr_base: BaseMode, ) -> Option<Self>

Constructs a ZOPrepMode from a known zoned objective if a valid maneuver is found.

Arguments

• context – Shared mode context .
• zo – The target zoned objective.
• curr_base – The current base mode (Mapping or Beacon).

Returns

• Some(ZOPrepMode) if a valid burn sequence can be computed.
• None if the objective is unreachable.

fn log_burn(exit_burn: &ExitBurnResult, target: &KnownImgObjective)

Logs key information about the generated burn sequence.

Arguments

• exit_burn – The calculated burn data.
• target – The objective the burn aims to reach.

fn new_base(&self, base: BaseMode) -> Self

Clones the current ZOPrepMode but with an updated base mode.

Arguments

• base – The new base mode.

Returns

• Self – A modified copy of the current mode.

async fn overthink_base( c: &Arc<ModeContext>, base: BaseMode, burn: &BurnSequence, ) -> BaseMode

Determines whether the current base mode should change based on the burn timing and worst-case beacon communication schedules.

Arguments

• c – Shared context.
• base – Proposed base mode.
• burn – Calculated burn sequence.

Returns

• BaseMode – The chosen base mode to continue with.

Trait Implementations

impl Clone for ZOPrepMode

fn clone(&self) -> Self

Returns a copy of the value.

fn clone_from(&mut self, source: &Self)

Performs copy-assignment from source.

impl GlobalMode for ZOPrepMode

fn type_name(&self) -> &'static str

Returns the internal name of this mode.

fn init_mode<'life0, 'async_trait>( &'life0 self, context: Arc<ModeContext>, ) -> Pin<Box<dyn Future<Output = OpExitSignal> + Send + 'async_trait>>

where Self: 'async_trait, 'life0: 'async_trait,

Initializes scheduling and preparatory logic for the exit burn.

If a base mode change is required due to beacon conflicts, the mode reinitializes. Otherwise, a scheduler is launched and the burn is queued for execution.

Arguments

• context – Shared mode context.

Returns

• OpExitSignal – Indicates whether to continue or reinitialize.

fn exec_task_wait<'life0, 'async_trait>( &'life0 self, c: Arc<ModeContext>, due: DateTime<Utc>, ) -> Pin<Box<dyn Future<Output = WaitExitSignal> + Send + 'async_trait>>

where Self: 'async_trait, 'life0: 'async_trait,

Waits until the next scheduled task using a default primitive, while monitoring safe mode and events.

fn exec_task<'life0, 'async_trait>( &'life0 self, context: Arc<ModeContext>, task: Task, ) -> Pin<Box<dyn Future<Output = ExecExitSignal> + Send + 'async_trait>>

where Self: 'async_trait, 'life0: 'async_trait,

Executes a scheduled task (only [SwitchState] or [VelocityChange] tasks are allowed).

Arguments

• context – Shared mode context.
• task – The task to execute.

Returns

• ExecExitSignal::Continue – Always continues unless an illegal task is found.

fn safe_handler<'life0, 'async_trait>( &'life0 self, context: Arc<ModeContext>, ) -> Pin<Box<dyn Future<Output = OpExitSignal> + Send + 'async_trait>>

where Self: 'async_trait, 'life0: 'async_trait,

Responds to a safe mode interrupt by escaping and attempting to reinitiate the mode.

fn zo_handler<'life0, 'life1, 'async_trait>( &'life0 self, c: &'life1 Arc<ModeContext>, obj: KnownImgObjective, ) -> Pin<Box<dyn Future<Output = Option<OpExitSignal>> + Send + 'async_trait>>

where Self: 'async_trait, 'life0: 'async_trait, 'life1: 'async_trait,

Handles a newly received zoned objective. Replaces the current target if the new one ends earlier and sufficient time remains.

Arguments

• c – Shared context.
• obj – The new zoned objective.

Returns

• Some(OpExitSignal::ReInit) if reprioritization occurs.
• None otherwise.

fn bo_event_handler<'life0, 'life1, 'async_trait>( &'life0 self, context: &'life1 Arc<ModeContext>, ) -> Pin<Box<dyn Future<Output = Option<OpExitSignal>> + Send + 'async_trait>>

where Self: 'async_trait, 'life0: 'async_trait, 'life1: 'async_trait,

Reacts to a Beacon Objective state change by potentially switching the base mode.

Arguments

• context – Shared mode context.

Returns

• Some(OpExitSignal::ReInit) if a base mode change is needed.
• None if the current base mode is still valid.

fn exit_mode<'life0, 'async_trait>( &'life0 self, context: Arc<ModeContext>, ) -> Pin<Box<dyn Future<Output = Box<dyn GlobalMode>> + Send + 'async_trait>>

where Self: 'async_trait, 'life0: 'async_trait,

Finalizes the mode and transitions into a ZORetrievalMode if the satellite has left orbit.

Arguments

• context – Shared mode context.

Returns

• Box<dyn GlobalMode> – The next mode (retrieval or fallback).

fn safe_mode_rationale(&self) -> &'static str

Returns the rationale string for finishing the current phase due to safe mode entry.

fn new_zo_rationale(&self) -> &'static str

Returns the rationale string for finishing the current phase due to a new Zoned Objective.

fn new_bo_rationale(&self) -> &'static str

Returns the rationale string for finishing the current phase due to a new Beacon Objective.

fn tasks_done_rationale(&self) -> &'static str

Returns the rationale string used when the task queue has completed.

fn tasks_done_exit_rationale(&self) -> &'static str

Returns the rationale for finishing the task queue and exiting the orbit for ZO Retrieval.

fn out_of_orbit_rationale(&self) -> &'static str

Returns the rationale for finishing the current phase due to being outside of orbit without a valid reason.

fn bo_done_rationale(&self) -> &'static str

Returns the rationale used for finishing the current phase when a beacon objective has been completed or expired.

fn exec_task_queue<'life0, 'async_trait>( &'life0 self, context: Arc<ModeContext>, ) -> Pin<Box<dyn Future<Output = OpExitSignal> + Send + 'async_trait>>

where Self: 'async_trait, 'life0: 'async_trait,

Executes all tasks in the current task queue in sequence. Waits for each task’s scheduled time and handles early exit signals such as safe transitions or new objectives.

impl OrbitalMode for ZOPrepMode

fn base(&self) -> &BaseMode

Returns the current base mode for delegation.

fn get_max_dt() -> TimeDelta

Returns the maximum duration allowed for scheduled task waiting. If the remaining time until a task is due exceeds this value, the mode may begin long-wait procedures; otherwise, a fallback short sleep is used.

async fn exec_task_wait( &self, context: Arc<ModeContext>, due: DateTime<Utc>, ) -> WaitExitSignal

Waits until a scheduled task’s due time or returns early if a notable event occurs.

async fn monitor_bo_mon_change( sig: BeaconControllerState, bo_mon: &RwLock<Receiver<BeaconControllerState>>, )

Continuously monitors the BeaconControllerState until it changes to the expected value.

async fn log_bo_event(&self, context: &Arc<ModeContext>, base: BaseMode)

Logs a beacon-related event and finalizes the orbit at the current satellite position.