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more complex app runs as well..

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This commit is contained in:
Robin Müller 2024-04-08 17:29:18 +02:00
parent 18978f807f
commit ef58c54d27
10 changed files with 682 additions and 6 deletions
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47
Cargo.lock generated
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@ -90,8 +90,10 @@ checksum = "8a0d04d43504c61aa6c7531f1871dd0d418d91130162063b789da00fd7057a5e"
dependencies = [
"android-tzdata",
"iana-time-zone",
"js-sys",
"num-traits",
"serde",
"wasm-bindgen",
"windows-targets 0.52.4",
]
@ -184,6 +186,12 @@ dependencies = [
"allocator-api2",
]
[[package]]
name = "heck"
version = "0.4.1"
source = "registry+https://github.com/rust-lang/crates.io-index"
checksum = "95505c38b4572b2d910cecb0281560f54b440a19336cbbcb27bf6ce6adc6f5a8"
[[package]]
name = "hermit-abi"
version = "0.3.9"
@ -232,6 +240,12 @@ dependencies = [
"wasm-bindgen",
]
[[package]]
name = "lazy_static"
version = "1.4.0"
source = "registry+https://github.com/rust-lang/crates.io-index"
checksum = "e2abad23fbc42b3700f2f279844dc832adb2b2eb069b2df918f455c4e18cc646"
[[package]]
name = "libc"
version = "0.2.153"
@ -297,12 +311,15 @@ source = "registry+https://github.com/rust-lang/crates.io-index"
checksum = "3fdb12b2476b595f9358c5161aa467c2438859caa136dec86c26fdd2efe17b92"
[[package]]
name = "ops-sat-sw"
name = "ops-sat-rs"
version = "0.1.0"
dependencies = [
"chrono",
"fern",
"lazy_static",
"log",
"satrs",
"strum",
]
[[package]]
@ -360,6 +377,12 @@ dependencies = [
"bitflags",
]
[[package]]
name = "rustversion"
version = "1.0.15"
source = "registry+https://github.com/rust-lang/crates.io-index"
checksum = "80af6f9131f277a45a3fba6ce8e2258037bb0477a67e610d3c1fe046ab31de47"
[[package]]
name = "satrs"
version = "0.2.0-rc.0"
@ -445,6 +468,28 @@ dependencies = [
"zerocopy",
]
[[package]]
name = "strum"
version = "0.26.2"
source = "registry+https://github.com/rust-lang/crates.io-index"
checksum = "5d8cec3501a5194c432b2b7976db6b7d10ec95c253208b45f83f7136aa985e29"
dependencies = [
"strum_macros",
]
[[package]]
name = "strum_macros"
version = "0.26.2"
source = "registry+https://github.com/rust-lang/crates.io-index"
checksum = "c6cf59daf282c0a494ba14fd21610a0325f9f90ec9d1231dea26bcb1d696c946"
dependencies = [
"heck",
"proc-macro2",
"quote",
"rustversion",
"syn 2.0.58",
]
[[package]]
name = "syn"
version = "1.0.109"

3
Cargo.toml
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@ -7,7 +7,10 @@ edition = "2021"
[dependencies]
fern = "0.6"
chrono = "0.4"
log = "0.4"
lazy_static = "1"
strum = { version = "0.26", features = ["derive"] }
[dependencies.satrs]
version = "0.2.0-rc.0"

53
src/ccsds.rs Normal file
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@ -0,0 +1,53 @@
use satrs::pus::ReceivesEcssPusTc;
use satrs::spacepackets::{CcsdsPacket, SpHeader};
use satrs::tmtc::{CcsdsPacketHandler, ReceivesCcsdsTc};
use satrs::ValidatorU16Id;
use ops_sat_rs::config::components::Apid;
use ops_sat_rs::config::APID_VALIDATOR;
#[derive(Clone)]
pub struct CcsdsReceiver<
TcSource: ReceivesCcsdsTc<Error = E> + ReceivesEcssPusTc<Error = E> + Clone,
E,
> {
pub tc_source: TcSource,
}
impl<
TcSource: ReceivesCcsdsTc<Error = E> + ReceivesEcssPusTc<Error = E> + Clone + 'static,
E: 'static,
> ValidatorU16Id for CcsdsReceiver<TcSource, E>
{
fn validate(&self, apid: u16) -> bool {
APID_VALIDATOR.contains(&apid)
}
}
impl<
TcSource: ReceivesCcsdsTc<Error = E> + ReceivesEcssPusTc<Error = E> + Clone + 'static,
E: 'static,
> CcsdsPacketHandler for CcsdsReceiver<TcSource, E>
{
type Error = E;
fn handle_packet_with_valid_apid(
&mut self,
sp_header: &SpHeader,
tc_raw: &[u8],
) -> Result<(), Self::Error> {
if sp_header.apid() == Apid::Cfdp as u16 {
} else {
return self.tc_source.pass_ccsds(sp_header, tc_raw);
}
Ok(())
}
fn handle_packet_with_unknown_apid(
&mut self,
sp_header: &SpHeader,
_tc_raw: &[u8],
) -> Result<(), Self::Error> {
log::warn!("unknown APID 0x{:x?} detected", sp_header.apid());
Ok(())
}
}

74
src/config.rs Normal file
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@ -0,0 +1,74 @@
use lazy_static::lazy_static;
use satrs::spacepackets::{PacketId, PacketType};
use std::{collections::HashSet, net::Ipv4Addr};
use strum::IntoEnumIterator;
pub const OBSW_SERVER_ADDR: Ipv4Addr = Ipv4Addr::UNSPECIFIED;
pub const SERVER_PORT: u16 = 7301;
lazy_static! {
pub static ref PACKET_ID_VALIDATOR: HashSet<PacketId> = {
let mut set = HashSet::new();
for id in components::Apid::iter() {
set.insert(PacketId::new(PacketType::Tc, true, id as u16));
}
set
};
pub static ref APID_VALIDATOR: HashSet<u16> = {
let mut set = HashSet::new();
for id in components::Apid::iter() {
set.insert(id as u16);
}
set
};
}
pub mod components {
use satrs::request::UniqueApidTargetId;
use strum::EnumIter;
#[derive(Copy, Clone, PartialEq, Eq, EnumIter)]
pub enum Apid {
Sched = 1,
GenericPus = 2,
Cfdp = 4,
}
// Component IDs for components with the PUS APID.
#[derive(Copy, Clone, PartialEq, Eq)]
pub enum PusId {
PusEventManagement = 0,
PusRouting = 1,
PusTest = 2,
PusAction = 3,
PusMode = 4,
PusHk = 5,
}
#[derive(Copy, Clone, PartialEq, Eq)]
pub enum AcsId {
Mgm0 = 0,
}
pub const PUS_ACTION_SERVICE: UniqueApidTargetId =
UniqueApidTargetId::new(Apid::GenericPus as u16, PusId::PusAction as u32);
pub const PUS_EVENT_MANAGEMENT: UniqueApidTargetId =
UniqueApidTargetId::new(Apid::GenericPus as u16, 0);
pub const PUS_ROUTING_SERVICE: UniqueApidTargetId =
UniqueApidTargetId::new(Apid::GenericPus as u16, PusId::PusRouting as u32);
pub const PUS_TEST_SERVICE: UniqueApidTargetId =
UniqueApidTargetId::new(Apid::GenericPus as u16, PusId::PusTest as u32);
pub const PUS_MODE_SERVICE: UniqueApidTargetId =
UniqueApidTargetId::new(Apid::GenericPus as u16, PusId::PusMode as u32);
pub const PUS_HK_SERVICE: UniqueApidTargetId =
UniqueApidTargetId::new(Apid::GenericPus as u16, PusId::PusHk as u32);
pub const PUS_SCHED_SERVICE: UniqueApidTargetId =
UniqueApidTargetId::new(Apid::Sched as u16, 0);
}
pub mod tasks {
pub const FREQ_MS_UDP_TMTC: u64 = 200;
pub const FREQ_MS_EVENT_HANDLING: u64 = 400;
pub const FREQ_MS_AOCS: u64 = 500;
pub const FREQ_MS_PUS_STACK: u64 = 200;
}

3
src/lib.rs Normal file
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@ -0,0 +1,3 @@
use std::net::Ipv4Addr;
pub mod config;

17
src/logger.rs Normal file
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@ -0,0 +1,17 @@
pub fn setup_logger() -> Result<(), fern::InitError> {
fern::Dispatch::new()
.format(|out, message, record| {
out.finish(format_args!(
"{}[{}][{}] {}",
chrono::Local::now().format("[%Y-%m-%d][%H:%M:%S]"),
std::thread::current().name().expect("unnamed_thread"),
record.level(),
message
))
})
.level(log::LevelFilter::Debug)
.chain(std::io::stdout())
.chain(fern::log_file("output.log")?)
.apply()?;
Ok(())
}

98
src/main.rs
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@ -1,7 +1,95 @@
fn main() {
println!("OPSSAT Rust experiment OBSW");
use std::{
net::{IpAddr, SocketAddr},
sync::mpsc,
thread,
time::Duration,
};
loop {
std::thread::sleep(std::time::Duration::from_millis(500));
}
use log::info;
use ops_sat_rs::config::{
tasks::FREQ_MS_UDP_TMTC, OBSW_SERVER_ADDR, PACKET_ID_VALIDATOR, SERVER_PORT,
};
use satrs::{
hal::std::{tcp_server::ServerConfig, udp_server::UdpTcServer},
tmtc::CcsdsDistributor,
};
use crate::{
ccsds::CcsdsReceiver,
logger::setup_logger,
tcp::{SyncTcpTmSource, TcpTask},
tmtc::PusTcSourceProviderDynamic,
udp::{DynamicUdpTmHandler, UdpTmtcServer},
};
mod ccsds;
mod logger;
mod tcp;
mod tmtc;
mod udp;
fn main() {
setup_logger().expect("setting up logging with fern failed");
println!("OPS-SAT Rust experiment OBSW");
let (tc_source_tx, tc_source_rx) = mpsc::channel();
let (tm_server_tx, tm_server_rx) = mpsc::channel();
let tc_source = PusTcSourceProviderDynamic(tc_source_tx);
let ccsds_receiver = CcsdsReceiver { tc_source };
let sock_addr = SocketAddr::new(IpAddr::V4(OBSW_SERVER_ADDR), SERVER_PORT);
let udp_ccsds_distributor = CcsdsDistributor::new(ccsds_receiver.clone());
let udp_tc_server = UdpTcServer::new(sock_addr, 2048, Box::new(udp_ccsds_distributor))
.expect("creating UDP TMTC server failed");
let mut udp_tmtc_server = UdpTmtcServer {
udp_tc_server,
tm_handler: DynamicUdpTmHandler {
tm_rx: tm_server_rx,
},
};
let tcp_ccsds_distributor = CcsdsDistributor::new(ccsds_receiver);
let tcp_server_cfg = ServerConfig::new(sock_addr, Duration::from_millis(400), 4096, 8192);
let sync_tm_tcp_source = SyncTcpTmSource::new(200);
let mut tcp_server = TcpTask::new(
tcp_server_cfg,
sync_tm_tcp_source.clone(),
tcp_ccsds_distributor,
PACKET_ID_VALIDATOR.clone(),
)
.expect("tcp server creation failed");
info!("Starting TMTC and UDP task");
let jh_udp_tmtc = thread::Builder::new()
.name("TMTC and UDP".to_string())
.spawn(move || {
info!("Running UDP server on port {SERVER_PORT}");
loop {
udp_tmtc_server.periodic_operation();
// tmtc_task.periodic_operation();
thread::sleep(Duration::from_millis(FREQ_MS_UDP_TMTC));
}
})
.unwrap();
info!("Starting TCP task");
let jh_tcp = thread::Builder::new()
.name("TCP".to_string())
.spawn(move || {
info!("Running TCP server on port {SERVER_PORT}");
loop {
tcp_server.periodic_operation();
}
})
.unwrap();
jh_udp_tmtc
.join()
.expect("Joining UDP TMTC server thread failed");
jh_tcp
.join()
.expect("Joining TCP TMTC server thread failed");
}

127
src/tcp.rs Normal file
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@ -0,0 +1,127 @@
use std::{
collections::{HashSet, VecDeque},
sync::{Arc, Mutex},
};
use log::{info, warn};
use satrs::{
hal::std::tcp_server::{ServerConfig, TcpSpacepacketsServer},
pus::ReceivesEcssPusTc,
spacepackets::PacketId,
tmtc::{CcsdsDistributor, CcsdsError, ReceivesCcsdsTc, TmPacketSourceCore},
};
use crate::ccsds::CcsdsReceiver;
#[derive(Default, Clone)]
pub struct SyncTcpTmSource {
tm_queue: Arc<Mutex<VecDeque<Vec<u8>>>>,
max_packets_stored: usize,
pub silent_packet_overwrite: bool,
}
impl SyncTcpTmSource {
pub fn new(max_packets_stored: usize) -> Self {
Self {
tm_queue: Arc::default(),
max_packets_stored,
silent_packet_overwrite: true,
}
}
pub fn add_tm(&mut self, tm: &[u8]) {
let mut tm_queue = self.tm_queue.lock().expect("locking tm queue failec");
if tm_queue.len() > self.max_packets_stored {
if !self.silent_packet_overwrite {
warn!("TPC TM source is full, deleting oldest packet");
}
tm_queue.pop_front();
}
tm_queue.push_back(tm.to_vec());
}
}
impl TmPacketSourceCore for SyncTcpTmSource {
type Error = ();
fn retrieve_packet(&mut self, buffer: &mut [u8]) -> Result<usize, Self::Error> {
let mut tm_queue = self.tm_queue.lock().expect("locking tm queue failed");
if !tm_queue.is_empty() {
let next_vec = tm_queue.front().unwrap();
if buffer.len() < next_vec.len() {
panic!(
"provided buffer too small, must be at least {} bytes",
next_vec.len()
);
}
let next_vec = tm_queue.pop_front().unwrap();
buffer[0..next_vec.len()].copy_from_slice(&next_vec);
if next_vec.len() > 9 {
let service = next_vec[7];
let subservice = next_vec[8];
info!("Sending PUS TM[{service},{subservice}]")
} else {
info!("Sending PUS TM");
}
return Ok(next_vec.len());
}
Ok(0)
}
}
pub type TcpServerType<TcSource, MpscErrorType> = TcpSpacepacketsServer<
(),
CcsdsError<MpscErrorType>,
SyncTcpTmSource,
CcsdsDistributor<CcsdsReceiver<TcSource, MpscErrorType>, MpscErrorType>,
HashSet<PacketId>,
>;
pub struct TcpTask<
TcSource: ReceivesCcsdsTc<Error = MpscErrorType>
+ ReceivesEcssPusTc<Error = MpscErrorType>
+ Clone
+ Send
+ 'static,
MpscErrorType: 'static,
> {
server: TcpServerType<TcSource, MpscErrorType>,
}
impl<
TcSource: ReceivesCcsdsTc<Error = MpscErrorType>
+ ReceivesEcssPusTc<Error = MpscErrorType>
+ Clone
+ Send
+ 'static,
MpscErrorType: 'static + core::fmt::Debug,
> TcpTask<TcSource, MpscErrorType>
{
pub fn new(
cfg: ServerConfig,
tm_source: SyncTcpTmSource,
tc_receiver: CcsdsDistributor<CcsdsReceiver<TcSource, MpscErrorType>, MpscErrorType>,
packet_id_lookup: HashSet<PacketId>,
) -> Result<Self, std::io::Error> {
Ok(Self {
server: TcpSpacepacketsServer::new(cfg, tm_source, tc_receiver, packet_id_lookup)?,
})
}
pub fn periodic_operation(&mut self) {
loop {
let result = self.server.handle_next_connection();
match result {
Ok(conn_result) => {
info!(
"Served {} TMs and {} TCs for client {:?}",
conn_result.num_sent_tms, conn_result.num_received_tcs, conn_result.addr
);
}
Err(e) => {
warn!("TCP server error: {e:?}");
}
}
}
}
}

81
src/tmtc.rs Normal file
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@ -0,0 +1,81 @@
use satrs::{
pus::ReceivesEcssPusTc,
spacepackets::{ecss::tc::PusTcReader, SpHeader},
tmtc::ReceivesCcsdsTc,
};
use std::sync::mpsc::{self, SendError, Sender, TryRecvError};
// Newtype, can not implement necessary traits on MPSC sender directly because of orphan rules.
#[derive(Clone)]
pub struct PusTcSourceProviderDynamic(pub Sender<Vec<u8>>);
impl ReceivesEcssPusTc for PusTcSourceProviderDynamic {
type Error = SendError<Vec<u8>>;
fn pass_pus_tc(&mut self, _: &SpHeader, pus_tc: &PusTcReader) -> Result<(), Self::Error> {
self.0.send(pus_tc.raw_data().to_vec())?;
Ok(())
}
}
impl ReceivesCcsdsTc for PusTcSourceProviderDynamic {
type Error = mpsc::SendError<Vec<u8>>;
fn pass_ccsds(&mut self, _: &SpHeader, tc_raw: &[u8]) -> Result<(), Self::Error> {
self.0.send(tc_raw.to_vec())?;
Ok(())
}
}
// TC source components where the heap is the backing memory of the received telecommands.
pub struct TcSourceTaskDynamic {
pub tc_receiver: mpsc::Receiver<Vec<u8>>,
// pus_receiver: PusReceiver<MpscTmAsVecSender>,
}
impl TcSourceTaskDynamic {
pub fn new(
tc_receiver: mpsc::Receiver<Vec<u8>>,
// pus_receiver: PusReceiver<MpscTmAsVecSender>,
) -> Self {
Self {
tc_receiver,
// pus_receiver,
}
}
pub fn periodic_operation(&mut self) {
self.poll_tc();
}
pub fn poll_tc(&mut self) -> bool {
match self.tc_receiver.try_recv() {
Ok(tc) => match PusTcReader::new(&tc) {
Ok((pus_tc, _)) => {
/*
self.pus_receiver
.handle_tc_packet(
satrs::pus::TcInMemory::Vec(tc.clone()),
pus_tc.service(),
&pus_tc,
)
.ok();
*/
true
}
Err(e) => {
log::warn!("error creating PUS TC from raw data: {e}");
log::warn!("raw data: {:x?}", tc);
true
}
},
Err(e) => match e {
TryRecvError::Empty => false,
TryRecvError::Disconnected => {
log::warn!("tmtc thread: sender disconnected");
false
}
},
}
}
}

185
src/udp.rs Normal file
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@ -0,0 +1,185 @@
use std::net::{SocketAddr, UdpSocket};
use std::sync::mpsc;
use log::{info, warn};
use satrs::pus::{PusTmAsVec, PusTmInPool};
use satrs::{
hal::std::udp_server::{ReceiveResult, UdpTcServer},
pool::{PoolProviderWithGuards, SharedStaticMemoryPool},
tmtc::CcsdsError,
};
pub trait UdpTmHandler {
fn send_tm_to_udp_client(&mut self, socket: &UdpSocket, recv_addr: &SocketAddr);
}
pub struct DynamicUdpTmHandler {
pub tm_rx: mpsc::Receiver<PusTmAsVec>,
}
impl UdpTmHandler for DynamicUdpTmHandler {
fn send_tm_to_udp_client(&mut self, socket: &UdpSocket, recv_addr: &SocketAddr) {
while let Ok(tm) = self.tm_rx.try_recv() {
if tm.packet.len() > 9 {
let service = tm.packet[7];
let subservice = tm.packet[8];
info!("Sending PUS TM[{service},{subservice}]")
} else {
info!("Sending PUS TM");
}
let result = socket.send_to(&tm.packet, recv_addr);
if let Err(e) = result {
warn!("Sending TM with UDP socket failed: {e}")
}
}
}
}
pub struct UdpTmtcServer<TmHandler: UdpTmHandler, SendError> {
pub udp_tc_server: UdpTcServer<CcsdsError<SendError>>,
pub tm_handler: TmHandler,
}
impl<TmHandler: UdpTmHandler, SendError: core::fmt::Debug + 'static>
UdpTmtcServer<TmHandler, SendError>
{
pub fn periodic_operation(&mut self) {
while self.poll_tc_server() {}
if let Some(recv_addr) = self.udp_tc_server.last_sender() {
self.tm_handler
.send_tm_to_udp_client(&self.udp_tc_server.socket, &recv_addr);
}
}
fn poll_tc_server(&mut self) -> bool {
match self.udp_tc_server.try_recv_tc() {
Ok(_) => true,
Err(e) => match e {
ReceiveResult::ReceiverError(e) => match e {
CcsdsError::ByteConversionError(e) => {
warn!("packet error: {e:?}");
true
}
CcsdsError::CustomError(e) => {
warn!("mpsc custom error {e:?}");
true
}
},
ReceiveResult::IoError(e) => {
warn!("IO error {e}");
false
}
ReceiveResult::NothingReceived => false,
},
}
}
}
#[cfg(test)]
mod tests {
use std::{
collections::VecDeque,
net::IpAddr,
sync::{Arc, Mutex},
};
use satrs::{
spacepackets::{
ecss::{tc::PusTcCreator, WritablePusPacket},
SpHeader,
},
tmtc::ReceivesTcCore,
};
use satrs_example::config::{components, OBSW_SERVER_ADDR};
use super::*;
#[derive(Default, Debug, Clone)]
pub struct TestReceiver {
tc_vec: Arc<Mutex<VecDeque<Vec<u8>>>>,
}
impl ReceivesTcCore for TestReceiver {
type Error = CcsdsError<()>;
fn pass_tc(&mut self, tc_raw: &[u8]) -> Result<(), Self::Error> {
self.tc_vec.lock().unwrap().push_back(tc_raw.to_vec());
Ok(())
}
}
#[derive(Default, Debug, Clone)]
pub struct TestTmHandler {
addrs_to_send_to: Arc<Mutex<VecDeque<SocketAddr>>>,
}
impl UdpTmHandler for TestTmHandler {
fn send_tm_to_udp_client(&mut self, _socket: &UdpSocket, recv_addr: &SocketAddr) {
self.addrs_to_send_to.lock().unwrap().push_back(*recv_addr);
}
}
#[test]
fn test_basic() {
let sock_addr = SocketAddr::new(IpAddr::V4(OBSW_SERVER_ADDR), 0);
let test_receiver = TestReceiver::default();
let tc_queue = test_receiver.tc_vec.clone();
let udp_tc_server = UdpTcServer::new(sock_addr, 2048, Box::new(test_receiver)).unwrap();
let tm_handler = TestTmHandler::default();
let tm_handler_calls = tm_handler.addrs_to_send_to.clone();
let mut udp_dyn_server = UdpTmtcServer {
udp_tc_server,
tm_handler,
};
udp_dyn_server.periodic_operation();
assert!(tc_queue.lock().unwrap().is_empty());
assert!(tm_handler_calls.lock().unwrap().is_empty());
}
#[test]
fn test_transactions() {
let sock_addr = SocketAddr::new(IpAddr::V4(OBSW_SERVER_ADDR), 0);
let test_receiver = TestReceiver::default();
let tc_queue = test_receiver.tc_vec.clone();
let udp_tc_server = UdpTcServer::new(sock_addr, 2048, Box::new(test_receiver)).unwrap();
let server_addr = udp_tc_server.socket.local_addr().unwrap();
let tm_handler = TestTmHandler::default();
let tm_handler_calls = tm_handler.addrs_to_send_to.clone();
let mut udp_dyn_server = UdpTmtcServer {
udp_tc_server,
tm_handler,
};
let sph = SpHeader::new_for_unseg_tc(components::Apid::GenericPus as u16, 0, 0);
let ping_tc = PusTcCreator::new_simple(sph, 17, 1, &[], true)
.to_vec()
.unwrap();
let client = UdpSocket::bind("127.0.0.1:0").expect("Connecting to UDP server failed");
let client_addr = client.local_addr().unwrap();
client.connect(server_addr).unwrap();
client.send(&ping_tc).unwrap();
udp_dyn_server.periodic_operation();
{
let mut tc_queue = tc_queue.lock().unwrap();
assert!(!tc_queue.is_empty());
let received_tc = tc_queue.pop_front().unwrap();
assert_eq!(received_tc, ping_tc);
}
{
let mut tm_handler_calls = tm_handler_calls.lock().unwrap();
assert!(!tm_handler_calls.is_empty());
assert_eq!(tm_handler_calls.len(), 1);
let received_addr = tm_handler_calls.pop_front().unwrap();
assert_eq!(received_addr, client_addr);
}
udp_dyn_server.periodic_operation();
assert!(tc_queue.lock().unwrap().is_empty());
// Still tries to send to the same client.
{
let mut tm_handler_calls = tm_handler_calls.lock().unwrap();
assert!(!tm_handler_calls.is_empty());
assert_eq!(tm_handler_calls.len(), 1);
let received_addr = tm_handler_calls.pop_front().unwrap();
assert_eq!(received_addr, client_addr);
}
}
}