Struct ZORetrievalMode

pub(super) struct ZORetrievalMode {
    target: KnownImgObjective,
    add_target: Option<Vec2D<I32F32>>,
    unwrapped_pos: Arc<Mutex<Vec2D<I32F32>>>,
}

ZORetrievalMode is responsible for completing the final phase of a zoned objective after the spacecraft has exited its original orbit. In this mode, the spacecraft aligns, captures imagery, and uploads results.

The mode is considered time-sensitive, interruptible (e.g., safe mode), and does not allow velocity change tasks. It can optionally perform a secondary targeting maneuver if a secondary objective is provided.

Fields

target: KnownImgObjective

The primary zoned objective this mode attempts to complete.

add_target: Option<Vec2D<I32F32>>

An optional second imaging target (used for dual-image objectives).

unwrapped_pos: Arc<Mutex<Vec2D<I32F32>>>

Unwrapped position of the target objective on the map (absolute), perspective from the burn exit point

Implementations

impl ZORetrievalMode

const MODE_NAME: &'static str = "ZORetrievalMode"

The static name for identification/logging.

const SINGLE_TARGET_ACQ_DT: TimeDelta

Default imaging acquisition duration for a single objective.

pub(super) fn new( target: KnownImgObjective, add_target: Option<Vec2D<I32F32>>, unwrapped_pos: Vec2D<I32F32>, ) -> Self

Creates a new retrieval mode for the given zoned objective.

Arguments

• target – The objective to fulfill.
• add_target – Optional second target position for dual-acquisition.
• unwrapped_pos – Global position of the target on the map, perspective from the burn exit point.

Returns

• ZORetrievalMode – An initialized mode for retrieval.

async fn get_img_fut( second_target: Option<Vec2D<I32F32>>, unwrapped_pos: Vec2D<I32F32>, context: &Arc<ModeContext>, ) -> (DateTime<Utc>, Pin<Box<dyn Future<Output = ()> + Send + Sync>>)

Prepares the async future for imaging, including timing and potential turning to a second imaging target.

Arguments

• second_target – Optional target coordinates.
• unwrapped_pos – Current position.
• context – Shared mode context.

Returns

• (deadline, future) – Deadline for task completion and associated future.

async fn exec_img_task( target: KnownImgObjective, unwrapped_target: Vec2D<I32F32>, second_target: Option<Vec2D<I32F32>>, context: Arc<ModeContext>, c_tok: CancellationToken, )

Executes the full retrieval task including imaging and export/upload.

Arguments

• target – The zoned objective to complete.
• unwrapped_target – Absolute coordinates for targeting.
• second_target – Optional second target for multi-point objectives.
• context – Shared context.
• c_tok – Cancellation token for task coordination.

Trait Implementations

impl Clone for ZORetrievalMode

fn clone(&self) -> ZORetrievalMode

Returns a copy of the value.

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

Performs copy-assignment from source.

impl GlobalMode for ZORetrievalMode

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

Returns the static name of the 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 the mode by performing detumbling, scheduling, and target alignment.

Arguments

• context – Shared context for access to controllers and state.

Returns

• OpExitSignal – Whether to continue or reinitialize the mode.

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

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

Waits until the due time of the next task or exits early on a Safe Mode event.

Arguments

• context – Mode context.
• due – Scheduled execution time.

Returns

• WaitExitSignal – Indicates continuation or interruption.

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 given task: imaging or state transition. Velocity change tasks are not allowed and result in a logged error.

Arguments

• context – Shared context.
• task – Task to be executed.

Returns

• ExecExitSignal – Indicates result of execution.

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,

Handles a safe-mode event, evaluating whether the current objective is still reachable. If reachable, reinitializes in the same mode. Otherwise, exits to OrbitReturnMode.

Arguments

• context – Shared context.

Returns

• OpExitSignal – ReInit or transition to fallback.

fn zo_handler<'life0, 'life1, 'async_trait>( &'life0 self, _: &'life1 Arc<ModeContext>, __arg2: KnownImgObjective, ) -> Pin<Box<dyn Future<Output = Option<OpExitSignal>> + Send + 'async_trait>>

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

Not implemented – ZO handoffs do not apply during retrieval phase.

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

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

Not implemented – Beacon Objective events are ignored in this mode.

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 retrieval mode and transitions to OrbitReturnMode.

Arguments

• context – Shared context.

Returns

• Box<dyn GlobalMode> – Next mode to execute.

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.