melvin_ob/mode_control/
mode_context.rs

1use crate::flight_control::{
2    orbit::OrbitCharacteristics,
3    Supervisor,
4};
5use crate::objective::{BeaconController, BeaconControllerState, KnownImgObjective};
6use crate::util::KeychainWithOrbit;
7use std::{collections::BinaryHeap, sync::Arc};
8use tokio::sync::{Mutex, RwLock, mpsc::Receiver, watch};
9
10/// [`ModeContext`] is a central context container used by `GlobalMode` in the onboard software.
11/// It provides shared access to key mission-critical resources such as orbit state,
12/// supervisory control, objective channels, and internal buffers.
13///
14/// This structure enables modular FSM behavior by providing thread-safe, concurrent access
15/// to both live and buffered data, allowing `GlobalMode` to remain more or less stateless and focused
16/// solely on decision logic.
17pub(crate) struct ModeContext {
18    /// Shared keychain containing the various controllers and the orbit configuration.
19    k: Arc<KeychainWithOrbit>,
20    /// Orbit characteristics, updated during operation (e.g., after burns).
21    o_ch: Arc<RwLock<OrbitCharacteristics>>,
22    /// Supervisor instance providing new observation data, objective data, etc.
23    super_v: Arc<Supervisor>,
24    /// Receiver for new Known Image Objectives (Zoned Objectives).
25    zo_mon: RwLock<Receiver<KnownImgObjective>>,
26    /// Watch receiver for the current state of the Beacon Controller.
27    bo_mon: RwLock<watch::Receiver<BeaconControllerState>>,
28    /// Priority buffer for scheduled image objectives, used by internal planners.
29    k_buffer: Mutex<BinaryHeap<KnownImgObjective>>,
30    /// Shared access to the Beacon Controller for retrieval logic and updates.
31    beac_cont: Arc<BeaconController>,
32}
33
34impl ModeContext {
35
36    /// Constructs a new [`ModeContext`], initializing all internal references.
37    ///
38    /// # Arguments
39    /// - `key`: The mission keychain, including the basic controllers and the orbit.
40    /// - `o_char`: Initial orbital characteristics.
41    /// - `zo_mon_un`: Receiver for incoming Known Image Objectives.
42    /// - `bo_mon_un`: Watch receiver for beacon controller state updates.
43    /// - `super_v`: Shared [`Supervisor`] handle.
44    /// - `beac_cont`: Shared [`BeaconController`] for beacon objective management.
45    pub(crate) fn new(
46        key: KeychainWithOrbit,
47        o_char: OrbitCharacteristics,
48        zo_mon_un: Receiver<KnownImgObjective>,
49        bo_mon_un: watch::Receiver<BeaconControllerState>,
50        super_v: Arc<Supervisor>,
51        beac_cont: Arc<BeaconController>,
52    ) -> Arc<Self> {
53        let k = Arc::new(key);
54        let o_ch = Arc::new(RwLock::new(o_char));
55        let zo_mon = RwLock::new(zo_mon_un);
56        let bo_mon = RwLock::new(bo_mon_un);
57        Arc::new(Self {
58            k,
59            o_ch,
60            super_v,
61            zo_mon,
62            bo_mon,
63            k_buffer: Mutex::new(BinaryHeap::new()),
64            beac_cont,
65        })
66    }
67
68    /// Provides a reference to the [`KeychainWithOrbit`].
69    pub(super) fn k(&self) -> &Arc<KeychainWithOrbit> { &self.k }
70    /// Provides a copy of the current [`OrbitCharacteristics`]. 
71    pub(crate) async fn o_ch_clone(&self) -> OrbitCharacteristics { *self.o_ch.read().await }
72    /// Provides a reference to the shared and locked [`OrbitCharacteristics`].
73    pub(super) fn o_ch_lock(&self) -> &RwLock<OrbitCharacteristics> { &self.o_ch }
74    /// Provides a reference to the locked Zoned Objective Event Receiver.
75    pub(super) fn zo_mon(&self) -> &RwLock<Receiver<KnownImgObjective>> { &self.zo_mon }
76    /// Provides a reference to the watch resembling the current state of the Beacon controller.
77    pub(super) fn bo_mon(&self) -> &RwLock<watch::Receiver<BeaconControllerState>> { &self.bo_mon }
78    /// Provides a shared reference to the [`Supervisor`].
79    pub(super) fn super_v(&self) -> &Arc<Supervisor> { &self.super_v }
80    /// Provides a reference to the locked Zoned Objective Buffer implemented as a [`BinaryHeap`].
81    pub(super) fn k_buffer(&self) -> &Mutex<BinaryHeap<KnownImgObjective>> { &self.k_buffer }
82    /// Provides a shared reference to the [`BeaconController`].
83    pub(super) fn beac_cont(&self) -> &Arc<BeaconController> { &self.beac_cont }
84}
melvin_ob/mode_control/mode_context.rs

melvin_ob/mode_control/
mode_context.rs
