added data reply to camera handler, now only missing tmtcpy counterpart

src/handlers/camera.rs

@@ -35,11 +35,14 @@ use satrs::hk::HkRequest;
 use satrs::request::{GenericMessage, MessageMetadata, UniqueApidTargetId};
 use satrs::tmtc::PacketAsVec;
 use serde::{Deserialize, Serialize};
-use std::process::Command;
+use std::process::{Command, Output};
 use std::sync::mpsc;
 use satrs::pus::action::{ActionReplyPus, ActionReplyVariant};
+use satrs::pus::EcssTmtcError;
+use crate::pus::action::send_data_reply;
 
-const IMS_TESTAPP: &str = "scripts/ims100_testapp";
+// const IMS_TESTAPP: &str = "scripts/ims100_testapp";
+const IMS_TESTAPP: &str = "ims100_testapp";
 
 const DEFAULT_SINGLE_CAM_PARAMS: CameraPictureParameters = CameraPictureParameters {
     R: 8,
@@ -141,6 +144,7 @@ pub enum CameraError {
     DeserializeError,
     ListFileError,
     IoError(std::io::Error),
+    EcssTmtcError(EcssTmtcError),
 }
 
 impl From<std::io::Error> for CameraError {
@@ -149,6 +153,12 @@ impl From<std::io::Error> for CameraError {
     }
 }
 
+impl From<EcssTmtcError> for CameraError {
+    fn from(value: EcssTmtcError) -> Self {
+        Self::EcssTmtcError(value)
+    }
+}
+
 impl fmt::Display for CameraError {
     fn fmt(&self, f: &mut Formatter<'_>) -> fmt::Result {
         match self {
@@ -170,6 +180,9 @@ impl fmt::Display for CameraError {
             CameraError::IoError(io_error) => {
                 write!(f, "{}", io_error)
             }
+            CameraError::EcssTmtcError(ecss_tmtc_error) => {
+                write!(f ,"{}", ecss_tmtc_error)
+            }
         }
     }
 }
@@ -276,12 +289,14 @@ impl IMS100BatchHandler {
                 _ => return Err(CameraError::VariantNotImplemented),
             },
         };
-        self.take_picture(param)?;
+        let output = self.take_picture(param)?;
+        debug!("Sending action reply!");
+        send_data_reply(self.id, output.stdout, &self.stamp_helper, &self.tm_tx)?;
         self.action_reply_tx.send(GenericMessage::new(*requestor_info, ActionReplyPus::new(action_request.action_id, ActionReplyVariant::Completed))).unwrap();
         Ok(())
     }
 
-    pub fn take_picture(&mut self, param: CameraPictureParameters) -> Result<(), CameraError> {
+    pub fn take_picture(&mut self, param: CameraPictureParameters) -> Result<Output, CameraError> {
         info!("Taking image!");
         let mut cmd = Command::new(IMS_TESTAPP);
         cmd.arg("-R")
@@ -305,12 +320,11 @@ impl IMS100BatchHandler {
             .arg(&param.E.to_string())
             .arg("-w")
             .arg(&param.W.to_string());
-
         let output = cmd.output()?;
 
-        debug!("{}", String::from_utf8_lossy(&output.stdout));
+        debug!("Imager Output: {}", String::from_utf8_lossy(&output.stdout));
 
-        Ok(())
+        Ok(output)
     }
 
     pub fn list_current_images(&self) -> Result<Vec<String>, CameraError> {

src/pus/action.rs

@@ -1,5 +1,4 @@
 use log::{error, warn};
-use ops_sat_rs::config::components::PUS_ACTION_SERVICE;
 use ops_sat_rs::config::tmtc_err;
 use satrs::action::{ActionRequest, ActionRequestVariant};
 use satrs::params::WritableToBeBytes;
@@ -10,17 +9,17 @@ use satrs::pus::verification::{
     FailParams, FailParamsWithStep, TcStateAccepted, TcStateStarted, VerificationReporter,
     VerificationReportingProvider, VerificationToken,
 };
-use satrs::pus::{
+use satrs::pus::{ActiveRequestProvider, EcssTcAndToken, EcssTcInVecConverter, EcssTmSender, EcssTmtcError, GenericConversionError, PusPacketHandlerResult, PusReplyHandler, PusServiceHelper, PusTcToRequestConverter, PusTmVariant};
-    ActiveRequestProvider, EcssTcAndToken, EcssTcInVecConverter, EcssTmSender, EcssTmtcError,
-    GenericConversionError, PusPacketHandlerResult, PusReplyHandler, PusServiceHelper,
-    PusTcToRequestConverter,
-};
 use satrs::request::{GenericMessage, UniqueApidTargetId};
 use satrs::spacepackets::ecss::tc::PusTcReader;
 use satrs::spacepackets::ecss::{EcssEnumU16, PusPacket};
 use satrs::tmtc::PacketAsVec;
 use std::sync::mpsc;
 use std::time::Duration;
+use satrs::spacepackets::ecss::tm::{PusTmCreator, PusTmSecondaryHeader};
+use satrs::spacepackets::SpHeader;
+use ops_sat_rs::config::components::PUS_ACTION_SERVICE;
+use ops_sat_rs::TimeStampHelper;
 
 use crate::requests::GenericRequestRouter;
 
@@ -29,6 +28,8 @@ use super::{
     PusTargetedRequestService, TargetedPusService,
 };
 
+pub const DATA_REPLY: u8 = 130;
+
 pub struct ActionReplyHandler {
     fail_data_buf: [u8; 128],
 }
@@ -270,6 +271,22 @@ impl TargetedPusService for ActionServiceWrapper {
     }
 }
 
+pub fn send_data_reply<TmSender: EcssTmSender>(apid_target: UniqueApidTargetId, reply_data: Vec<u8>, stamp_helper: &TimeStampHelper, tm_sender: &TmSender) -> Result<(), EcssTmtcError> {
+    let sp_header = SpHeader::new_from_apid(apid_target.apid);
+    let sec_header = PusTmSecondaryHeader::new(8, DATA_REPLY, 0, 0, stamp_helper.stamp());
+    let mut data = Vec::new();
+    data.extend(apid_target.apid.to_be_bytes());
+    data.extend(apid_target.unique_id.to_be_bytes());
+    data.extend(reply_data);
+    let data_reply_tm = PusTmCreator::new(
+        sp_header,
+        sec_header,
+        &data,
+        true,
+    );
+    tm_sender.send_tm(apid_target.id(), PusTmVariant::Direct(data_reply_tm))
+}
+
 #[cfg(test)]
 mod tests {
     use satrs::pus::test_util::{