added pus components and ping #1
1
.gitignore
vendored
1
.gitignore
vendored
@ -4,3 +4,4 @@
|
||||
/.vscode
|
||||
# Ignore this, may include user specific paths.
|
||||
/.cargo/config.toml
|
||||
output.log
|
||||
115
Cargo.lock
generated
115
Cargo.lock
generated
@ -35,6 +35,15 @@ dependencies = [
|
||||
"libc",
|
||||
]
|
||||
|
||||
[[package]]
|
||||
name = "array-init"
|
||||
version = "0.0.4"
|
||||
source = "registry+https://github.com/rust-lang/crates.io-index"
|
||||
checksum = "23589ecb866b460d3a0f1278834750268c607e8e28a1b982c907219f3178cd72"
|
||||
dependencies = [
|
||||
"nodrop",
|
||||
]
|
||||
|
||||
[[package]]
|
||||
name = "autocfg"
|
||||
version = "1.2.0"
|
||||
@ -138,6 +147,27 @@ version = "0.8.19"
|
||||
source = "registry+https://github.com/rust-lang/crates.io-index"
|
||||
checksum = "248e3bacc7dc6baa3b21e405ee045c3047101a49145e7e9eca583ab4c2ca5345"
|
||||
|
||||
[[package]]
|
||||
name = "csv"
|
||||
version = "1.3.0"
|
||||
source = "registry+https://github.com/rust-lang/crates.io-index"
|
||||
checksum = "ac574ff4d437a7b5ad237ef331c17ccca63c46479e5b5453eb8e10bb99a759fe"
|
||||
dependencies = [
|
||||
"csv-core",
|
||||
"itoa",
|
||||
"ryu",
|
||||
"serde",
|
||||
]
|
||||
|
||||
[[package]]
|
||||
name = "csv-core"
|
||||
version = "0.1.11"
|
||||
source = "registry+https://github.com/rust-lang/crates.io-index"
|
||||
checksum = "5efa2b3d7902f4b634a20cae3c9c4e6209dc4779feb6863329607560143efa70"
|
||||
dependencies = [
|
||||
"memchr",
|
||||
]
|
||||
|
||||
[[package]]
|
||||
name = "delegate"
|
||||
version = "0.10.0"
|
||||
@ -149,6 +179,17 @@ dependencies = [
|
||||
"syn 1.0.109",
|
||||
]
|
||||
|
||||
[[package]]
|
||||
name = "derive-new"
|
||||
version = "0.6.0"
|
||||
source = "registry+https://github.com/rust-lang/crates.io-index"
|
||||
checksum = "d150dea618e920167e5973d70ae6ece4385b7164e0d799fe7c122dd0a5d912ad"
|
||||
dependencies = [
|
||||
"proc-macro2",
|
||||
"quote",
|
||||
"syn 2.0.58",
|
||||
]
|
||||
|
||||
[[package]]
|
||||
name = "downcast-rs"
|
||||
version = "1.2.1"
|
||||
@ -231,6 +272,12 @@ dependencies = [
|
||||
"hashbrown",
|
||||
]
|
||||
|
||||
[[package]]
|
||||
name = "itoa"
|
||||
version = "1.0.11"
|
||||
source = "registry+https://github.com/rust-lang/crates.io-index"
|
||||
checksum = "49f1f14873335454500d59611f1cf4a4b0f786f9ac11f4312a78e4cf2566695b"
|
||||
|
||||
[[package]]
|
||||
name = "js-sys"
|
||||
version = "0.3.69"
|
||||
@ -258,12 +305,24 @@ version = "0.4.21"
|
||||
source = "registry+https://github.com/rust-lang/crates.io-index"
|
||||
checksum = "90ed8c1e510134f979dbc4f070f87d4313098b704861a105fe34231c70a3901c"
|
||||
|
||||
[[package]]
|
||||
name = "maybe-uninit"
|
||||
version = "2.0.0"
|
||||
source = "registry+https://github.com/rust-lang/crates.io-index"
|
||||
checksum = "60302e4db3a61da70c0cb7991976248362f30319e88850c487b9b95bbf059e00"
|
||||
|
||||
[[package]]
|
||||
name = "memchr"
|
||||
version = "2.7.2"
|
||||
source = "registry+https://github.com/rust-lang/crates.io-index"
|
||||
checksum = "6c8640c5d730cb13ebd907d8d04b52f55ac9a2eec55b440c8892f40d56c76c1d"
|
||||
|
||||
[[package]]
|
||||
name = "nodrop"
|
||||
version = "0.1.14"
|
||||
source = "registry+https://github.com/rust-lang/crates.io-index"
|
||||
checksum = "72ef4a56884ca558e5ddb05a1d1e7e1bfd9a68d9ed024c21704cc98872dae1bb"
|
||||
|
||||
[[package]]
|
||||
name = "num-traits"
|
||||
version = "0.2.18"
|
||||
@ -315,11 +374,15 @@ name = "ops-sat-rs"
|
||||
version = "0.1.0"
|
||||
dependencies = [
|
||||
"chrono",
|
||||
"derive-new",
|
||||
"fern",
|
||||
"lazy_static",
|
||||
"log",
|
||||
"num_enum",
|
||||
"satrs",
|
||||
"satrs-mib",
|
||||
"strum",
|
||||
"thiserror",
|
||||
]
|
||||
|
||||
[[package]]
|
||||
@ -331,7 +394,7 @@ dependencies = [
|
||||
"cfg-if",
|
||||
"libc",
|
||||
"redox_syscall",
|
||||
"smallvec",
|
||||
"smallvec 1.13.2",
|
||||
"windows-targets 0.48.5",
|
||||
]
|
||||
|
||||
@ -383,6 +446,12 @@ version = "1.0.15"
|
||||
source = "registry+https://github.com/rust-lang/crates.io-index"
|
||||
checksum = "80af6f9131f277a45a3fba6ce8e2258037bb0477a67e610d3c1fe046ab31de47"
|
||||
|
||||
[[package]]
|
||||
name = "ryu"
|
||||
version = "1.0.17"
|
||||
source = "registry+https://github.com/rust-lang/crates.io-index"
|
||||
checksum = "e86697c916019a8588c99b5fac3cead74ec0b4b819707a682fd4d23fa0ce1ba1"
|
||||
|
||||
[[package]]
|
||||
name = "satrs"
|
||||
version = "0.2.0-rc.0"
|
||||
@ -401,12 +470,34 @@ dependencies = [
|
||||
"paste",
|
||||
"satrs-shared",
|
||||
"serde",
|
||||
"smallvec",
|
||||
"smallvec 1.13.2",
|
||||
"socket2",
|
||||
"spacepackets",
|
||||
"thiserror",
|
||||
]
|
||||
|
||||
[[package]]
|
||||
name = "satrs-mib"
|
||||
version = "0.1.1"
|
||||
source = "git+https://egit.irs.uni-stuttgart.de/rust/sat-rs.git?branch=main#0fec99402803b69fbba8ac7537197e0c7f1c836f"
|
||||
dependencies = [
|
||||
"csv",
|
||||
"satrs-mib-codegen",
|
||||
"satrs-shared",
|
||||
"serde",
|
||||
"serde-hex",
|
||||
]
|
||||
|
||||
[[package]]
|
||||
name = "satrs-mib-codegen"
|
||||
version = "0.1.1"
|
||||
source = "git+https://egit.irs.uni-stuttgart.de/rust/sat-rs.git?branch=main#0fec99402803b69fbba8ac7537197e0c7f1c836f"
|
||||
dependencies = [
|
||||
"proc-macro2",
|
||||
"quote",
|
||||
"syn 2.0.58",
|
||||
]
|
||||
|
||||
[[package]]
|
||||
name = "satrs-shared"
|
||||
version = "0.1.3"
|
||||
@ -425,6 +516,17 @@ dependencies = [
|
||||
"serde_derive",
|
||||
]
|
||||
|
||||
[[package]]
|
||||
name = "serde-hex"
|
||||
version = "0.1.0"
|
||||
source = "registry+https://github.com/rust-lang/crates.io-index"
|
||||
checksum = "ca37e3e4d1b39afd7ff11ee4e947efae85adfddf4841787bfa47c470e96dc26d"
|
||||
dependencies = [
|
||||
"array-init",
|
||||
"serde",
|
||||
"smallvec 0.6.14",
|
||||
]
|
||||
|
||||
[[package]]
|
||||
name = "serde_derive"
|
||||
version = "1.0.197"
|
||||
@ -436,6 +538,15 @@ dependencies = [
|
||||
"syn 2.0.58",
|
||||
]
|
||||
|
||||
[[package]]
|
||||
name = "smallvec"
|
||||
version = "0.6.14"
|
||||
source = "registry+https://github.com/rust-lang/crates.io-index"
|
||||
checksum = "b97fcaeba89edba30f044a10c6a3cc39df9c3f17d7cd829dd1446cab35f890e0"
|
||||
dependencies = [
|
||||
"maybe-uninit",
|
||||
]
|
||||
|
||||
[[package]]
|
||||
name = "smallvec"
|
||||
version = "1.13.2"
|
||||
|
||||
@ -11,8 +11,16 @@ chrono = "0.4"
|
||||
log = "0.4"
|
||||
lazy_static = "1"
|
||||
strum = { version = "0.26", features = ["derive"] }
|
||||
thiserror = "1"
|
||||
derive-new = "0.6"
|
||||
num_enum = "0.7"
|
||||
|
||||
[dependencies.satrs]
|
||||
version = "0.2.0-rc.0"
|
||||
git = "https://egit.irs.uni-stuttgart.de/rust/sat-rs.git"
|
||||
branch = "main"
|
||||
|
||||
[dependencies.satrs-mib]
|
||||
version = "0.1.1"
|
||||
git = "https://egit.irs.uni-stuttgart.de/rust/sat-rs.git"
|
||||
branch = "main"
|
||||
|
||||
9
ops-sat-rs-tmtc/.gitignore
vendored
Normal file
9
ops-sat-rs-tmtc/.gitignore
vendored
Normal file
@ -0,0 +1,9 @@
|
||||
__pycache__
|
||||
|
||||
/venv
|
||||
/log
|
||||
/.idea/*
|
||||
!/.idea/runConfigurations
|
||||
|
||||
/seqcnt.txt
|
||||
/.tmtc-history.txt
|
||||
51
ops-sat-rs-tmtc/common.py
Normal file
51
ops-sat-rs-tmtc/common.py
Normal file
@ -0,0 +1,51 @@
|
||||
from __future__ import annotations
|
||||
|
||||
import dataclasses
|
||||
import enum
|
||||
import struct
|
||||
|
||||
|
||||
class Apid(enum.IntEnum):
|
||||
SCHED = 1
|
||||
GENERIC_PUS = 2
|
||||
ACS = 3
|
||||
CFDP = 4
|
||||
|
||||
|
||||
class EventSeverity(enum.IntEnum):
|
||||
INFO = 0
|
||||
LOW = 1
|
||||
MEDIUM = 2
|
||||
HIGH = 3
|
||||
|
||||
|
||||
@dataclasses.dataclass
|
||||
class EventU32:
|
||||
severity: EventSeverity
|
||||
group_id: int
|
||||
unique_id: int
|
||||
|
||||
@classmethod
|
||||
def unpack(cls, data: bytes) -> EventU32:
|
||||
if len(data) < 4:
|
||||
raise ValueError("passed data too short")
|
||||
event_raw = struct.unpack("!I", data[0:4])[0]
|
||||
return cls(
|
||||
severity=EventSeverity((event_raw >> 30) & 0b11),
|
||||
group_id=(event_raw >> 16) & 0x3FFF,
|
||||
unique_id=event_raw & 0xFFFF,
|
||||
)
|
||||
|
||||
|
||||
class AcsId(enum.IntEnum):
|
||||
MGM_0 = 0
|
||||
|
||||
|
||||
class AcsHkIds(enum.IntEnum):
|
||||
MGM_SET = 1
|
||||
|
||||
|
||||
def make_addressable_id(target_id: int, unique_id: int) -> bytes:
|
||||
byte_string = bytearray(struct.pack("!I", target_id))
|
||||
byte_string.extend(struct.pack("!I", unique_id))
|
||||
return byte_string
|
||||
277
ops-sat-rs-tmtc/main.py
Normal file
277
ops-sat-rs-tmtc/main.py
Normal file
@ -0,0 +1,277 @@
|
||||
#!/usr/bin/env python3
|
||||
"""Example client for the sat-rs example application"""
|
||||
import logging
|
||||
import sys
|
||||
import time
|
||||
from typing import Any, Optional
|
||||
from prompt_toolkit.history import History
|
||||
from prompt_toolkit.history import FileHistory
|
||||
|
||||
from spacepackets.ccsds import PacketId, PacketType
|
||||
import tmtccmd
|
||||
from spacepackets.ecss import PusTelemetry, PusVerificator
|
||||
from spacepackets.ecss.pus_17_test import Service17Tm
|
||||
from spacepackets.ecss.pus_1_verification import UnpackParams, Service1Tm
|
||||
from spacepackets.ccsds.time import CdsShortTimestamp
|
||||
|
||||
from tmtccmd import TcHandlerBase, ProcedureParamsWrapper
|
||||
from tmtccmd.core.base import BackendRequest
|
||||
from tmtccmd.pus import VerificationWrapper
|
||||
from tmtccmd.tmtc import CcsdsTmHandler, GenericApidHandlerBase
|
||||
from tmtccmd.com import ComInterface
|
||||
from tmtccmd.config import (
|
||||
CmdTreeNode,
|
||||
default_json_path,
|
||||
SetupParams,
|
||||
HookBase,
|
||||
params_to_procedure_conversion,
|
||||
)
|
||||
from tmtccmd.config import PreArgsParsingWrapper, SetupWrapper
|
||||
from tmtccmd.logging import add_colorlog_console_logger
|
||||
from tmtccmd.logging.pus import (
|
||||
RegularTmtcLogWrapper,
|
||||
RawTmtcTimedLogWrapper,
|
||||
TimedLogWhen,
|
||||
)
|
||||
from tmtccmd.tmtc import (
|
||||
TcQueueEntryType,
|
||||
ProcedureWrapper,
|
||||
TcProcedureType,
|
||||
FeedWrapper,
|
||||
SendCbParams,
|
||||
DefaultPusQueueHelper,
|
||||
QueueWrapper,
|
||||
)
|
||||
from spacepackets.seqcount import FileSeqCountProvider, PusFileSeqCountProvider
|
||||
from tmtccmd.util.obj_id import ObjectIdDictT
|
||||
|
||||
|
||||
import pus_tc
|
||||
from common import Apid, EventU32
|
||||
|
||||
_LOGGER = logging.getLogger()
|
||||
|
||||
|
||||
class SatRsConfigHook(HookBase):
|
||||
def __init__(self, json_cfg_path: str):
|
||||
super().__init__(json_cfg_path=json_cfg_path)
|
||||
|
||||
def get_communication_interface(self, com_if_key: str) -> Optional[ComInterface]:
|
||||
from tmtccmd.config.com import (
|
||||
create_com_interface_default,
|
||||
create_com_interface_cfg_default,
|
||||
)
|
||||
|
||||
assert self.cfg_path is not None
|
||||
packet_id_list = []
|
||||
for apid in Apid:
|
||||
packet_id_list.append(PacketId(PacketType.TM, True, apid))
|
||||
cfg = create_com_interface_cfg_default(
|
||||
com_if_key=com_if_key,
|
||||
json_cfg_path=self.cfg_path,
|
||||
space_packet_ids=packet_id_list,
|
||||
)
|
||||
assert cfg is not None
|
||||
return create_com_interface_default(cfg)
|
||||
|
||||
def get_command_definitions(self) -> CmdTreeNode:
|
||||
"""This function should return the root node of the command definition tree."""
|
||||
return pus_tc.create_cmd_definition_tree()
|
||||
|
||||
def get_cmd_history(self) -> Optional[History]:
|
||||
"""Optionlly return a history class for the past command paths which will be used
|
||||
when prompting a command path from the user in CLI mode."""
|
||||
return FileHistory(".tmtc-history.txt")
|
||||
|
||||
def get_object_ids(self) -> ObjectIdDictT:
|
||||
from tmtccmd.config.objects import get_core_object_ids
|
||||
|
||||
return get_core_object_ids()
|
||||
|
||||
|
||||
class PusHandler(GenericApidHandlerBase):
|
||||
def __init__(
|
||||
self,
|
||||
file_logger: logging.Logger,
|
||||
verif_wrapper: VerificationWrapper,
|
||||
raw_logger: RawTmtcTimedLogWrapper,
|
||||
):
|
||||
super().__init__(None)
|
||||
self.file_logger = file_logger
|
||||
self.raw_logger = raw_logger
|
||||
self.verif_wrapper = verif_wrapper
|
||||
|
||||
def handle_tm(self, apid: int, packet: bytes, _user_args: Any):
|
||||
try:
|
||||
pus_tm = PusTelemetry.unpack(packet, time_reader=CdsShortTimestamp.empty())
|
||||
except ValueError as e:
|
||||
_LOGGER.warning("Could not generate PUS TM object from raw data")
|
||||
_LOGGER.warning(f"Raw Packet: [{packet.hex(sep=',')}], REPR: {packet!r}")
|
||||
raise e
|
||||
service = pus_tm.service
|
||||
if service == 1:
|
||||
tm_packet = Service1Tm.unpack(
|
||||
data=packet, params=UnpackParams(CdsShortTimestamp.empty(), 1, 2)
|
||||
)
|
||||
res = self.verif_wrapper.add_tm(tm_packet)
|
||||
if res is None:
|
||||
_LOGGER.info(
|
||||
f"Received Verification TM[{tm_packet.service}, {tm_packet.subservice}] "
|
||||
f"with Request ID {tm_packet.tc_req_id.as_u32():#08x}"
|
||||
)
|
||||
_LOGGER.warning(
|
||||
f"No matching telecommand found for {tm_packet.tc_req_id}"
|
||||
)
|
||||
else:
|
||||
self.verif_wrapper.log_to_console(tm_packet, res)
|
||||
self.verif_wrapper.log_to_file(tm_packet, res)
|
||||
elif service == 3:
|
||||
_LOGGER.info("No handling for HK packets implemented")
|
||||
_LOGGER.info(f"Raw packet: 0x[{packet.hex(sep=',')}]")
|
||||
pus_tm = PusTelemetry.unpack(packet, time_reader=CdsShortTimestamp.empty())
|
||||
if pus_tm.subservice == 25:
|
||||
if len(pus_tm.source_data) < 8:
|
||||
raise ValueError("No addressable ID in HK packet")
|
||||
json_str = pus_tm.source_data[8:]
|
||||
_LOGGER.info(json_str)
|
||||
elif service == 5:
|
||||
tm_packet = PusTelemetry.unpack(
|
||||
packet, time_reader=CdsShortTimestamp.empty()
|
||||
)
|
||||
src_data = tm_packet.source_data
|
||||
event_u32 = EventU32.unpack(src_data)
|
||||
_LOGGER.info(f"Received event packet. Event: {event_u32}")
|
||||
if event_u32.group_id == 0 and event_u32.unique_id == 0:
|
||||
_LOGGER.info("Received test event")
|
||||
elif service == 17:
|
||||
tm_packet = Service17Tm.unpack(
|
||||
packet, time_reader=CdsShortTimestamp.empty()
|
||||
)
|
||||
if tm_packet.subservice == 2:
|
||||
self.file_logger.info("Received Ping Reply TM[17,2]")
|
||||
_LOGGER.info("Received Ping Reply TM[17,2]")
|
||||
else:
|
||||
self.file_logger.info(
|
||||
f"Received Test Packet with unknown subservice {tm_packet.subservice}"
|
||||
)
|
||||
_LOGGER.info(
|
||||
f"Received Test Packet with unknown subservice {tm_packet.subservice}"
|
||||
)
|
||||
else:
|
||||
_LOGGER.info(
|
||||
f"The service {service} is not implemented in Telemetry Factory"
|
||||
)
|
||||
tm_packet = PusTelemetry.unpack(
|
||||
packet, time_reader=CdsShortTimestamp.empty()
|
||||
)
|
||||
self.raw_logger.log_tm(pus_tm)
|
||||
|
||||
|
||||
class TcHandler(TcHandlerBase):
|
||||
def __init__(
|
||||
self,
|
||||
seq_count_provider: FileSeqCountProvider,
|
||||
verif_wrapper: VerificationWrapper,
|
||||
):
|
||||
super(TcHandler, self).__init__()
|
||||
self.seq_count_provider = seq_count_provider
|
||||
self.verif_wrapper = verif_wrapper
|
||||
self.queue_helper = DefaultPusQueueHelper(
|
||||
queue_wrapper=QueueWrapper.empty(),
|
||||
tc_sched_timestamp_len=CdsShortTimestamp.TIMESTAMP_SIZE,
|
||||
seq_cnt_provider=seq_count_provider,
|
||||
pus_verificator=self.verif_wrapper.pus_verificator,
|
||||
default_pus_apid=None,
|
||||
)
|
||||
|
||||
def send_cb(self, send_params: SendCbParams):
|
||||
entry_helper = send_params.entry
|
||||
if entry_helper.is_tc:
|
||||
if entry_helper.entry_type == TcQueueEntryType.PUS_TC:
|
||||
pus_tc_wrapper = entry_helper.to_pus_tc_entry()
|
||||
raw_tc = pus_tc_wrapper.pus_tc.pack()
|
||||
_LOGGER.info(f"Sending {pus_tc_wrapper.pus_tc}")
|
||||
send_params.com_if.send(raw_tc)
|
||||
elif entry_helper.entry_type == TcQueueEntryType.LOG:
|
||||
log_entry = entry_helper.to_log_entry()
|
||||
_LOGGER.info(log_entry.log_str)
|
||||
|
||||
def queue_finished_cb(self, info: ProcedureWrapper):
|
||||
if info.proc_type == TcProcedureType.DEFAULT:
|
||||
def_proc = info.to_def_procedure()
|
||||
_LOGGER.info(f"Queue handling finished for command {def_proc.cmd_path}")
|
||||
|
||||
def feed_cb(self, info: ProcedureWrapper, wrapper: FeedWrapper):
|
||||
q = self.queue_helper
|
||||
q.queue_wrapper = wrapper.queue_wrapper
|
||||
if info.proc_type == TcProcedureType.DEFAULT:
|
||||
def_proc = info.to_def_procedure()
|
||||
assert def_proc.cmd_path is not None
|
||||
pus_tc.pack_pus_telecommands(q, def_proc.cmd_path)
|
||||
|
||||
|
||||
def main():
|
||||
add_colorlog_console_logger(_LOGGER)
|
||||
tmtccmd.init_printout(False)
|
||||
hook_obj = SatRsConfigHook(json_cfg_path=default_json_path())
|
||||
parser_wrapper = PreArgsParsingWrapper()
|
||||
parser_wrapper.create_default_parent_parser()
|
||||
parser_wrapper.create_default_parser()
|
||||
parser_wrapper.add_def_proc_args()
|
||||
params = SetupParams()
|
||||
post_args_wrapper = parser_wrapper.parse(hook_obj, params)
|
||||
proc_wrapper = ProcedureParamsWrapper()
|
||||
if post_args_wrapper.use_gui:
|
||||
post_args_wrapper.set_params_without_prompts(proc_wrapper)
|
||||
else:
|
||||
post_args_wrapper.set_params_with_prompts(proc_wrapper)
|
||||
setup_args = SetupWrapper(
|
||||
hook_obj=hook_obj, setup_params=params, proc_param_wrapper=proc_wrapper
|
||||
)
|
||||
# Create console logger helper and file loggers
|
||||
tmtc_logger = RegularTmtcLogWrapper()
|
||||
file_logger = tmtc_logger.logger
|
||||
raw_logger = RawTmtcTimedLogWrapper(when=TimedLogWhen.PER_HOUR, interval=1)
|
||||
verificator = PusVerificator()
|
||||
verification_wrapper = VerificationWrapper(verificator, _LOGGER, file_logger)
|
||||
# Create primary TM handler and add it to the CCSDS Packet Handler
|
||||
tm_handler = PusHandler(file_logger, verification_wrapper, raw_logger)
|
||||
ccsds_handler = CcsdsTmHandler(generic_handler=tm_handler)
|
||||
# TODO: We could add the CFDP handler for the CFDP APID at a later stage.
|
||||
# ccsds_handler.add_apid_handler(tm_handler)
|
||||
|
||||
# Create TC handler
|
||||
seq_count_provider = PusFileSeqCountProvider()
|
||||
tc_handler = TcHandler(seq_count_provider, verification_wrapper)
|
||||
tmtccmd.setup(setup_args=setup_args)
|
||||
init_proc = params_to_procedure_conversion(setup_args.proc_param_wrapper)
|
||||
tmtc_backend = tmtccmd.create_default_tmtc_backend(
|
||||
setup_wrapper=setup_args,
|
||||
tm_handler=ccsds_handler,
|
||||
tc_handler=tc_handler,
|
||||
init_procedure=init_proc,
|
||||
)
|
||||
tmtccmd.start(tmtc_backend=tmtc_backend, hook_obj=hook_obj)
|
||||
try:
|
||||
while True:
|
||||
state = tmtc_backend.periodic_op(None)
|
||||
if state.request == BackendRequest.TERMINATION_NO_ERROR:
|
||||
sys.exit(0)
|
||||
elif state.request == BackendRequest.DELAY_IDLE:
|
||||
_LOGGER.info("TMTC Client in IDLE mode")
|
||||
time.sleep(3.0)
|
||||
elif state.request == BackendRequest.DELAY_LISTENER:
|
||||
time.sleep(0.8)
|
||||
elif state.request == BackendRequest.DELAY_CUSTOM:
|
||||
if state.next_delay.total_seconds() <= 0.4:
|
||||
time.sleep(state.next_delay.total_seconds())
|
||||
else:
|
||||
time.sleep(0.4)
|
||||
elif state.request == BackendRequest.CALL_NEXT:
|
||||
pass
|
||||
except KeyboardInterrupt:
|
||||
sys.exit(0)
|
||||
|
||||
|
||||
if __name__ == "__main__":
|
||||
main()
|
||||
143
ops-sat-rs-tmtc/pus_tc.py
Normal file
143
ops-sat-rs-tmtc/pus_tc.py
Normal file
@ -0,0 +1,143 @@
|
||||
import datetime
|
||||
import struct
|
||||
import logging
|
||||
|
||||
from spacepackets.ccsds import CdsShortTimestamp
|
||||
from spacepackets.ecss import PusTelecommand
|
||||
from tmtccmd.config import CmdTreeNode
|
||||
from tmtccmd.pus.tc.s200_fsfw_mode import Mode
|
||||
from tmtccmd.tmtc import DefaultPusQueueHelper
|
||||
from tmtccmd.pus.s11_tc_sched import create_time_tagged_cmd
|
||||
from tmtccmd.pus.s200_fsfw_mode import Subservice as ModeSubservice
|
||||
|
||||
from common import AcsId, Apid
|
||||
|
||||
_LOGGER = logging.getLogger(__name__)
|
||||
|
||||
|
||||
def create_set_mode_cmd(
|
||||
apid: int, unique_id: int, mode: int, submode: int
|
||||
) -> PusTelecommand:
|
||||
app_data = bytearray()
|
||||
app_data.extend(struct.pack("!I", unique_id))
|
||||
app_data.extend(struct.pack("!I", mode))
|
||||
app_data.extend(struct.pack("!H", submode))
|
||||
return PusTelecommand(
|
||||
service=200,
|
||||
subservice=ModeSubservice.TC_MODE_COMMAND,
|
||||
apid=apid,
|
||||
app_data=app_data,
|
||||
)
|
||||
|
||||
|
||||
def create_cmd_definition_tree() -> CmdTreeNode:
|
||||
|
||||
root_node = CmdTreeNode.root_node()
|
||||
|
||||
hk_node = CmdTreeNode("hk", "Housekeeping Node", hide_children_for_print=True)
|
||||
hk_node.add_child(CmdTreeNode("one_shot_hk", "Request One Shot HK set"))
|
||||
hk_node.add_child(
|
||||
CmdTreeNode("enable", "Enable periodic housekeeping data generation")
|
||||
)
|
||||
hk_node.add_child(
|
||||
CmdTreeNode("disable", "Disable periodic housekeeping data generation")
|
||||
)
|
||||
|
||||
mode_node = CmdTreeNode("mode", "Mode Node", hide_children_for_print=True)
|
||||
set_mode_node = CmdTreeNode(
|
||||
"set_mode", "Set Node", hide_children_which_are_leaves=True
|
||||
)
|
||||
set_mode_node.add_child(CmdTreeNode("off", "Set OFF Mode"))
|
||||
set_mode_node.add_child(CmdTreeNode("on", "Set ON Mode"))
|
||||
set_mode_node.add_child(CmdTreeNode("normal", "Set NORMAL Mode"))
|
||||
mode_node.add_child(set_mode_node)
|
||||
mode_node.add_child(CmdTreeNode("read_mode", "Read Mode"))
|
||||
|
||||
test_node = CmdTreeNode("test", "Test Node")
|
||||
test_node.add_child(CmdTreeNode("ping", "Send PUS ping TC"))
|
||||
test_node.add_child(CmdTreeNode("trigger_event", "Send PUS test to trigger event"))
|
||||
root_node.add_child(test_node)
|
||||
|
||||
scheduler_node = CmdTreeNode("scheduler", "Scheduler Node")
|
||||
scheduler_node.add_child(
|
||||
CmdTreeNode(
|
||||
"schedule_ping_10_secs_ahead", "Schedule Ping to execute in 10 seconds"
|
||||
)
|
||||
)
|
||||
root_node.add_child(scheduler_node)
|
||||
|
||||
acs_node = CmdTreeNode("acs", "ACS Subsystem Node")
|
||||
mgm_node = CmdTreeNode("mgms", "MGM devices node")
|
||||
mgm_node.add_child(mode_node)
|
||||
mgm_node.add_child(hk_node)
|
||||
|
||||
acs_node.add_child(mgm_node)
|
||||
root_node.add_child(acs_node)
|
||||
|
||||
return root_node
|
||||
|
||||
|
||||
def pack_pus_telecommands(q: DefaultPusQueueHelper, cmd_path: str):
|
||||
# It should always be at least the root path "/", so we split of the empty portion left of it.
|
||||
cmd_path_list = cmd_path.split("/")[1:]
|
||||
if len(cmd_path_list) == 0:
|
||||
_LOGGER.warning("empty command path")
|
||||
return
|
||||
if cmd_path_list[0] == "test":
|
||||
assert len(cmd_path_list) >= 2
|
||||
if cmd_path_list[1] == "ping":
|
||||
q.add_log_cmd("Sending PUS ping telecommand")
|
||||
return q.add_pus_tc(
|
||||
PusTelecommand(apid=Apid.GENERIC_PUS, service=17, subservice=1)
|
||||
)
|
||||
elif cmd_path_list[1] == "trigger_event":
|
||||
q.add_log_cmd("Triggering test event")
|
||||
return q.add_pus_tc(
|
||||
PusTelecommand(apid=Apid.GENERIC_PUS, service=17, subservice=128)
|
||||
)
|
||||
if cmd_path_list[0] == "scheduler":
|
||||
assert len(cmd_path_list) >= 2
|
||||
if cmd_path_list[1] == "schedule_ping_10_secs_ahead":
|
||||
q.add_log_cmd("Sending PUS scheduled TC telecommand")
|
||||
crt_time = CdsShortTimestamp.from_now()
|
||||
time_stamp = crt_time + datetime.timedelta(seconds=10)
|
||||
time_stamp = time_stamp.pack()
|
||||
return q.add_pus_tc(
|
||||
create_time_tagged_cmd(
|
||||
time_stamp,
|
||||
PusTelecommand(service=17, subservice=1),
|
||||
apid=Apid.SCHED,
|
||||
)
|
||||
)
|
||||
if cmd_path_list[0] == "acs":
|
||||
assert len(cmd_path_list) >= 2
|
||||
if cmd_path_list[1] == "mgms":
|
||||
assert len(cmd_path_list) >= 3
|
||||
if cmd_path_list[2] == "hk":
|
||||
if cmd_path_list[3] == "one_shot_hk":
|
||||
q.add_log_cmd("Sending HK one shot request")
|
||||
# TODO: Fix
|
||||
# q.add_pus_tc(
|
||||
# create_request_one_hk_command(
|
||||
# make_addressable_id(Apid.ACS, AcsId.MGM_SET)
|
||||
# )
|
||||
# )
|
||||
if cmd_path_list[2] == "mode":
|
||||
if cmd_path_list[3] == "set_mode":
|
||||
handle_set_mode_cmd(
|
||||
q, "MGM 0", cmd_path_list[4], Apid.ACS, AcsId.MGM_0
|
||||
)
|
||||
|
||||
|
||||
def handle_set_mode_cmd(
|
||||
q: DefaultPusQueueHelper, target_str: str, mode_str: str, apid: int, unique_id: int
|
||||
):
|
||||
if mode_str == "off":
|
||||
q.add_log_cmd(f"Sending Mode OFF to {target_str}")
|
||||
q.add_pus_tc(create_set_mode_cmd(apid, unique_id, Mode.OFF, 0))
|
||||
elif mode_str == "on":
|
||||
q.add_log_cmd(f"Sending Mode ON to {target_str}")
|
||||
q.add_pus_tc(create_set_mode_cmd(apid, unique_id, Mode.ON, 0))
|
||||
elif mode_str == "normal":
|
||||
q.add_log_cmd(f"Sending Mode NORMAL to {target_str}")
|
||||
q.add_pus_tc(create_set_mode_cmd(apid, unique_id, Mode.NORMAL, 0))
|
||||
0
ops-sat-rs-tmtc/pus_tm.py
Normal file
0
ops-sat-rs-tmtc/pus_tm.py
Normal file
2
ops-sat-rs-tmtc/requirements.txt
Normal file
2
ops-sat-rs-tmtc/requirements.txt
Normal file
@ -0,0 +1,2 @@
|
||||
tmtccmd == 8.0.0rc1
|
||||
# -e git+https://github.com/robamu-org/tmtccmd@97e5e51101a08b21472b3ddecc2063359f7e307a#egg=tmtccmd
|
||||
38
ops-sat-rs-tmtc/tc_definitions.py
Normal file
38
ops-sat-rs-tmtc/tc_definitions.py
Normal file
@ -0,0 +1,38 @@
|
||||
from tmtccmd.config import OpCodeEntry, TmtcDefinitionWrapper, CoreServiceList
|
||||
from tmtccmd.config.globals import get_default_tmtc_defs
|
||||
|
||||
from common import HkOpCodes
|
||||
|
||||
|
||||
def tc_definitions() -> TmtcDefinitionWrapper:
|
||||
defs = get_default_tmtc_defs()
|
||||
srv_5 = OpCodeEntry()
|
||||
srv_5.add("0", "Event Test")
|
||||
defs.add_service(
|
||||
name=CoreServiceList.SERVICE_5.value,
|
||||
info="PUS Service 5 Event",
|
||||
op_code_entry=srv_5,
|
||||
)
|
||||
srv_17 = OpCodeEntry()
|
||||
srv_17.add("ping", "Ping Test")
|
||||
srv_17.add("trigger_event", "Trigger Event")
|
||||
defs.add_service(
|
||||
name=CoreServiceList.SERVICE_17_ALT,
|
||||
info="PUS Service 17 Test",
|
||||
op_code_entry=srv_17,
|
||||
)
|
||||
srv_3 = OpCodeEntry()
|
||||
srv_3.add(HkOpCodes.GENERATE_ONE_SHOT, "Generate AOCS one shot HK")
|
||||
defs.add_service(
|
||||
name=CoreServiceList.SERVICE_3,
|
||||
info="PUS Service 3 Housekeeping",
|
||||
op_code_entry=srv_3,
|
||||
)
|
||||
srv_11 = OpCodeEntry()
|
||||
srv_11.add("0", "Scheduled TC Test")
|
||||
defs.add_service(
|
||||
name=CoreServiceList.SERVICE_11,
|
||||
info="PUS Service 11 TC Scheduling",
|
||||
op_code_entry=srv_11,
|
||||
)
|
||||
return defs
|
||||
8
ops-sat-rs-tmtc/tmtc_conf.json
Normal file
8
ops-sat-rs-tmtc/tmtc_conf.json
Normal file
@ -0,0 +1,8 @@
|
||||
{
|
||||
"com_if": "tcp",
|
||||
"tcpip_udp_ip_addr": "127.0.0.1",
|
||||
"tcpip_udp_port": 7301,
|
||||
"tcpip_udp_recv_max_size": 1500,
|
||||
"tcpip_tcp_ip_addr": "127.0.0.1",
|
||||
"tcpip_tcp_port": 7301
|
||||
}
|
||||
@ -2,6 +2,9 @@ use lazy_static::lazy_static;
|
||||
use satrs::spacepackets::{PacketId, PacketType};
|
||||
use std::{collections::HashSet, net::Ipv4Addr};
|
||||
use strum::IntoEnumIterator;
|
||||
use satrs_mib::resultcode;
|
||||
use satrs_mib::res_code::ResultU16Info;
|
||||
use num_enum::{IntoPrimitive, TryFromPrimitive};
|
||||
|
||||
pub const OBSW_SERVER_ADDR: Ipv4Addr = Ipv4Addr::UNSPECIFIED;
|
||||
pub const SERVER_PORT: u16 = 7301;
|
||||
@ -23,6 +26,56 @@ lazy_static! {
|
||||
};
|
||||
}
|
||||
|
||||
#[derive(Copy, Clone, PartialEq, Eq, Debug, TryFromPrimitive, IntoPrimitive)]
|
||||
#[repr(u8)]
|
||||
pub enum CustomPusServiceId {
|
||||
Mode = 200,
|
||||
Health = 201,
|
||||
}
|
||||
|
||||
#[derive(Debug)]
|
||||
pub enum GroupId {
|
||||
Tmtc = 0,
|
||||
Hk = 1,
|
||||
Mode = 2,
|
||||
}
|
||||
|
||||
pub mod tmtc_err {
|
||||
use satrs::res_code::ResultU16;
|
||||
use super::*;
|
||||
|
||||
#[resultcode]
|
||||
pub const INVALID_PUS_SERVICE: ResultU16 = ResultU16::new(GroupId::Tmtc as u8, 0);
|
||||
#[resultcode]
|
||||
pub const INVALID_PUS_SUBSERVICE: ResultU16 = ResultU16::new(GroupId::Tmtc as u8, 1);
|
||||
#[resultcode]
|
||||
pub const PUS_SERVICE_NOT_IMPLEMENTED: ResultU16 = ResultU16::new(GroupId::Tmtc as u8, 2);
|
||||
#[resultcode]
|
||||
pub const PUS_SUBSERVICE_NOT_IMPLEMENTED: ResultU16 = ResultU16::new(GroupId::Tmtc as u8, 3);
|
||||
#[resultcode]
|
||||
pub const UNKNOWN_TARGET_ID: ResultU16 = ResultU16::new(GroupId::Tmtc as u8, 4);
|
||||
#[resultcode]
|
||||
pub const ROUTING_ERROR: ResultU16 = ResultU16::new(GroupId::Tmtc as u8, 5);
|
||||
#[resultcode(info = "Request timeout for targeted PUS request. P1: Request ID. P2: Target ID")]
|
||||
pub const REQUEST_TIMEOUT: ResultU16 = ResultU16::new(GroupId::Tmtc as u8, 6);
|
||||
|
||||
#[resultcode(
|
||||
info = "Not enough data inside the TC application data field. Optionally includes: \
|
||||
8 bytes of failure data containing 2 failure parameters, \
|
||||
P1 (u32 big endian): Expected data length, P2: Found data length"
|
||||
)]
|
||||
pub const NOT_ENOUGH_APP_DATA: ResultU16 = ResultU16::new(GroupId::Tmtc as u8, 2);
|
||||
|
||||
pub const TMTC_RESULTS: &[ResultU16Info] = &[
|
||||
INVALID_PUS_SERVICE_EXT,
|
||||
INVALID_PUS_SUBSERVICE_EXT,
|
||||
PUS_SERVICE_NOT_IMPLEMENTED_EXT,
|
||||
UNKNOWN_TARGET_ID_EXT,
|
||||
ROUTING_ERROR_EXT,
|
||||
NOT_ENOUGH_APP_DATA_EXT,
|
||||
];
|
||||
}
|
||||
|
||||
pub mod components {
|
||||
use satrs::request::UniqueApidTargetId;
|
||||
use strum::EnumIter;
|
||||
|
||||
2
src/interface/mod.rs
Normal file
2
src/interface/mod.rs
Normal file
@ -0,0 +1,2 @@
|
||||
pub mod tcp;
|
||||
pub mod udp;
|
||||
31
src/lib.rs
31
src/lib.rs
@ -1,3 +1,34 @@
|
||||
use std::net::Ipv4Addr;
|
||||
use satrs::spacepackets::time::cds::CdsTime;
|
||||
use satrs::spacepackets::time::TimeWriter;
|
||||
|
||||
pub mod config;
|
||||
|
||||
pub struct TimeStampHelper {
|
||||
stamper: CdsTime,
|
||||
time_stamp: [u8; 7],
|
||||
}
|
||||
|
||||
impl TimeStampHelper {
|
||||
pub fn stamp(&self) -> &[u8] {
|
||||
&self.time_stamp
|
||||
}
|
||||
|
||||
pub fn update_from_now(&mut self) {
|
||||
self.stamper
|
||||
.update_from_now()
|
||||
.expect("Updating timestamp failed");
|
||||
self.stamper
|
||||
.write_to_bytes(&mut self.time_stamp)
|
||||
.expect("Writing timestamp failed");
|
||||
}
|
||||
}
|
||||
|
||||
impl Default for TimeStampHelper {
|
||||
fn default() -> Self {
|
||||
Self {
|
||||
stamper: CdsTime::now_with_u16_days().expect("creating time stamper failed"),
|
||||
time_stamp: Default::default(),
|
||||
}
|
||||
}
|
||||
}
|
||||
|
||||
113
src/main.rs
113
src/main.rs
@ -13,37 +13,113 @@ use satrs::{
|
||||
hal::std::{tcp_server::ServerConfig, udp_server::UdpTcServer},
|
||||
tmtc::CcsdsDistributor,
|
||||
};
|
||||
use ops_sat_rs::config::tasks::FREQ_MS_PUS_STACK;
|
||||
|
||||
use crate::{
|
||||
ccsds::CcsdsReceiver,
|
||||
logger::setup_logger,
|
||||
tcp::{SyncTcpTmSource, TcpTask},
|
||||
interface::tcp::{SyncTcpTmSource, TcpTask},
|
||||
tmtc::PusTcSourceProviderDynamic,
|
||||
udp::{DynamicUdpTmHandler, UdpTmtcServer},
|
||||
interface::udp::{DynamicUdpTmHandler, UdpTmtcServer},
|
||||
};
|
||||
use crate::pus::{PusReceiver, PusTcMpscRouter};
|
||||
use crate::pus::stack::PusStack;
|
||||
use crate::pus::test::create_test_service_dynamic;
|
||||
use crate::requests::GenericRequestRouter;
|
||||
use crate::tm_funnel::TmFunnelDynamic;
|
||||
use crate::tmtc::TcSourceTaskDynamic;
|
||||
|
||||
mod ccsds;
|
||||
mod logger;
|
||||
mod tcp;
|
||||
mod tmtc;
|
||||
mod udp;
|
||||
mod requests;
|
||||
mod pus;
|
||||
mod tm_funnel;
|
||||
mod interface;
|
||||
|
||||
#[allow(dead_code)]
|
||||
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_funnel_tx, tm_funnel_rx) = mpsc::channel();
|
||||
let (tm_server_tx, tm_server_rx) = mpsc::channel();
|
||||
|
||||
let tc_source = PusTcSourceProviderDynamic(tc_source_tx);
|
||||
|
||||
let (pus_test_tx, pus_test_rx) = mpsc::channel();
|
||||
// let (pus_event_tx, pus_event_rx) = mpsc::channel();
|
||||
// let (pus_sched_tx, pus_sched_rx) = mpsc::channel();
|
||||
// let (pus_hk_tx, pus_hk_rx) = mpsc::channel();
|
||||
// let (pus_action_tx, pus_action_rx) = mpsc::channel();
|
||||
// let (pus_mode_tx, pus_mode_rx) = mpsc::channel();
|
||||
|
||||
// let (_pus_action_reply_tx, pus_action_reply_rx) = mpsc::channel();
|
||||
// let (pus_hk_reply_tx, pus_hk_reply_rx) = mpsc::channel();
|
||||
// let (pus_mode_reply_tx, pus_mode_reply_rx) = mpsc::channel();
|
||||
|
||||
let pus_router = PusTcMpscRouter {
|
||||
test_tc_sender: pus_test_tx,
|
||||
// event_tc_sender: pus_event_tx,
|
||||
// sched_tc_sender: pus_sched_tx,
|
||||
// hk_tc_sender: pus_hk_tx,
|
||||
// action_tc_sender: pus_action_tx,
|
||||
// mode_tc_sender: pus_mode_tx,
|
||||
};
|
||||
|
||||
let pus_test_service = create_test_service_dynamic(
|
||||
tm_funnel_tx.clone(),
|
||||
// event_handler.clone_event_sender(),
|
||||
pus_test_rx,
|
||||
);
|
||||
// let pus_scheduler_service = create_scheduler_service_dynamic(
|
||||
// tm_funnel_tx.clone(),
|
||||
// tc_source.0.clone(),
|
||||
// pus_sched_rx,
|
||||
// create_sched_tc_pool(),
|
||||
// );
|
||||
//
|
||||
// let pus_event_service =
|
||||
// create_event_service_dynamic(tm_funnel_tx.clone(), pus_event_rx, event_request_tx);
|
||||
// let pus_action_service = create_action_service_dynamic(
|
||||
// tm_funnel_tx.clone(),
|
||||
// pus_action_rx,
|
||||
// request_map.clone(),
|
||||
// pus_action_reply_rx,
|
||||
// );
|
||||
// let pus_hk_service = create_hk_service_dynamic(
|
||||
// tm_funnel_tx.clone(),
|
||||
// pus_hk_rx,
|
||||
// request_map.clone(),
|
||||
// pus_hk_reply_rx,
|
||||
// );
|
||||
// let pus_mode_service = create_mode_service_dynamic(
|
||||
// tm_funnel_tx.clone(),
|
||||
// pus_mode_rx,
|
||||
// request_map,
|
||||
// pus_mode_reply_rx,
|
||||
// );
|
||||
let mut pus_stack = PusStack::new(
|
||||
pus_test_service,
|
||||
// pus_hk_service,
|
||||
// pus_event_service,
|
||||
// pus_action_service,
|
||||
// pus_scheduler_service,
|
||||
// pus_mode_service,
|
||||
);
|
||||
|
||||
let ccsds_receiver = CcsdsReceiver { tc_source };
|
||||
|
||||
let mut tmtc_task = TcSourceTaskDynamic::new(
|
||||
tc_source_rx,
|
||||
PusReceiver::new(tm_funnel_tx.clone(), pus_router),
|
||||
);
|
||||
|
||||
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 {
|
||||
@ -62,6 +138,8 @@ fn main() {
|
||||
)
|
||||
.expect("tcp server creation failed");
|
||||
|
||||
let mut tm_funnel = TmFunnelDynamic::new(sync_tm_tcp_source, tm_funnel_rx, tm_server_tx);
|
||||
|
||||
info!("Starting TMTC and UDP task");
|
||||
let jh_udp_tmtc = thread::Builder::new()
|
||||
.name("TMTC and UDP".to_string())
|
||||
@ -69,7 +147,7 @@ fn main() {
|
||||
info!("Running UDP server on port {SERVER_PORT}");
|
||||
loop {
|
||||
udp_tmtc_server.periodic_operation();
|
||||
// tmtc_task.periodic_operation();
|
||||
tmtc_task.periodic_operation();
|
||||
thread::sleep(Duration::from_millis(FREQ_MS_UDP_TMTC));
|
||||
}
|
||||
})
|
||||
@ -86,10 +164,33 @@ fn main() {
|
||||
})
|
||||
.unwrap();
|
||||
|
||||
info!("Starting TM funnel task");
|
||||
let jh_tm_funnel = thread::Builder::new()
|
||||
.name("TM Funnel".to_string())
|
||||
.spawn(move || loop {
|
||||
tm_funnel.operation();
|
||||
})
|
||||
.unwrap();
|
||||
|
||||
info!("Starting PUS handler thread");
|
||||
let jh_pus_handler = thread::Builder::new()
|
||||
.name("PUS".to_string())
|
||||
.spawn(move || loop {
|
||||
pus_stack.periodic_operation();
|
||||
thread::sleep(Duration::from_millis(FREQ_MS_PUS_STACK));
|
||||
})
|
||||
.unwrap();
|
||||
|
||||
jh_udp_tmtc
|
||||
.join()
|
||||
.expect("Joining UDP TMTC server thread failed");
|
||||
jh_tcp
|
||||
.join()
|
||||
.expect("Joining TCP TMTC server thread failed");
|
||||
jh_tm_funnel
|
||||
.join()
|
||||
.expect("Joining TM Funnel thread failed");
|
||||
jh_pus_handler
|
||||
.join()
|
||||
.expect("Joining PUS handler thread failed");
|
||||
}
|
||||
707
src/pus/mod.rs
Normal file
707
src/pus/mod.rs
Normal file
@ -0,0 +1,707 @@
|
||||
pub mod test;
|
||||
pub mod stack;
|
||||
|
||||
use crate::requests::GenericRequestRouter;
|
||||
use log::warn;
|
||||
use satrs::pus::verification::{
|
||||
self, FailParams, TcStateAccepted, TcStateStarted, VerificationReporter,
|
||||
VerificationReporterCfg, VerificationReportingProvider, VerificationToken,
|
||||
};
|
||||
use satrs::pus::{
|
||||
ActiveRequestMapProvider, ActiveRequestProvider, EcssTcAndToken, EcssTcInMemConverter,
|
||||
EcssTcReceiverCore, EcssTmSenderCore, EcssTmtcError, GenericConversionError,
|
||||
GenericRoutingError, PusPacketHandlerResult, PusPacketHandlingError, PusReplyHandler,
|
||||
PusRequestRouter, PusServiceHelper, PusTcToRequestConverter, TcInMemory,
|
||||
};
|
||||
use satrs::queue::GenericReceiveError;
|
||||
use satrs::request::{Apid, GenericMessage, MessageMetadata};
|
||||
use satrs::spacepackets::ecss::tc::PusTcReader;
|
||||
use satrs::spacepackets::ecss::PusServiceId;
|
||||
use satrs::ComponentId;
|
||||
use ops_sat_rs::config::{tmtc_err, CustomPusServiceId};
|
||||
use ops_sat_rs::TimeStampHelper;
|
||||
use std::fmt::Debug;
|
||||
use std::sync::mpsc::{self, Sender};
|
||||
use ops_sat_rs::config::components::PUS_ROUTING_SERVICE;
|
||||
use crate::tmtc::MpscStoreAndSendError;
|
||||
|
||||
// pub mod action;
|
||||
// pub mod event;
|
||||
// pub mod hk;
|
||||
// pub mod mode;
|
||||
// pub mod scheduler;
|
||||
// pub mod stack;
|
||||
// pub mod test;
|
||||
|
||||
#[derive(Debug, PartialEq, Eq, Copy, Clone)]
|
||||
pub enum HandlingStatus {
|
||||
Empty,
|
||||
HandledOne,
|
||||
}
|
||||
|
||||
pub fn create_verification_reporter(owner_id: ComponentId, apid: Apid) -> VerificationReporter {
|
||||
let verif_cfg = VerificationReporterCfg::new(apid, 1, 2, 8).unwrap();
|
||||
// Every software component which needs to generate verification telemetry, gets a cloned
|
||||
// verification reporter.
|
||||
VerificationReporter::new(owner_id, &verif_cfg)
|
||||
}
|
||||
|
||||
/// Simple router structure which forwards PUS telecommands to dedicated handlers.
|
||||
pub struct PusTcMpscRouter {
|
||||
pub test_tc_sender: Sender<EcssTcAndToken>,
|
||||
// pub event_tc_sender: Sender<EcssTcAndToken>,
|
||||
// pub sched_tc_sender: Sender<EcssTcAndToken>,
|
||||
// pub hk_tc_sender: Sender<EcssTcAndToken>,
|
||||
// pub action_tc_sender: Sender<EcssTcAndToken>,
|
||||
// pub mode_tc_sender: Sender<EcssTcAndToken>,
|
||||
}
|
||||
|
||||
pub struct PusReceiver<TmSender: EcssTmSenderCore> {
|
||||
pub id: ComponentId,
|
||||
pub tm_sender: TmSender,
|
||||
pub verif_reporter: VerificationReporter,
|
||||
pub pus_router: PusTcMpscRouter,
|
||||
stamp_helper: TimeStampHelper,
|
||||
}
|
||||
|
||||
impl<TmSender: EcssTmSenderCore> PusReceiver<TmSender> {
|
||||
pub fn new(tm_sender: TmSender, pus_router: PusTcMpscRouter) -> Self {
|
||||
Self {
|
||||
id: PUS_ROUTING_SERVICE.raw(),
|
||||
tm_sender,
|
||||
verif_reporter: create_verification_reporter(
|
||||
PUS_ROUTING_SERVICE.id(),
|
||||
PUS_ROUTING_SERVICE.apid,
|
||||
),
|
||||
pus_router,
|
||||
stamp_helper: TimeStampHelper::default(),
|
||||
}
|
||||
}
|
||||
|
||||
pub fn handle_tc_packet(
|
||||
&mut self,
|
||||
tc_in_memory: TcInMemory,
|
||||
service: u8,
|
||||
pus_tc: &PusTcReader,
|
||||
) -> Result<PusPacketHandlerResult, MpscStoreAndSendError> {
|
||||
let init_token = self.verif_reporter.add_tc(pus_tc);
|
||||
self.stamp_helper.update_from_now();
|
||||
let accepted_token = self
|
||||
.verif_reporter
|
||||
.acceptance_success(&self.tm_sender, init_token, self.stamp_helper.stamp())
|
||||
.expect("Acceptance success failure");
|
||||
let service = PusServiceId::try_from(service);
|
||||
match service {
|
||||
Ok(standard_service) => match standard_service {
|
||||
PusServiceId::Test => self.pus_router.test_tc_sender.send(EcssTcAndToken {
|
||||
tc_in_memory,
|
||||
token: Some(accepted_token.into()),
|
||||
})?,
|
||||
// PusServiceId::Housekeeping => {
|
||||
// self.pus_router.hk_tc_sender.send(EcssTcAndToken {
|
||||
// tc_in_memory,
|
||||
// token: Some(accepted_token.into()),
|
||||
// })?
|
||||
// }
|
||||
// PusServiceId::Event => self.pus_router.event_tc_sender.send(EcssTcAndToken {
|
||||
// tc_in_memory,
|
||||
// token: Some(accepted_token.into()),
|
||||
// })?,
|
||||
// PusServiceId::Scheduling => {
|
||||
// self.pus_router.sched_tc_sender.send(EcssTcAndToken {
|
||||
// tc_in_memory,
|
||||
// token: Some(accepted_token.into()),
|
||||
// })?
|
||||
// }
|
||||
_ => {
|
||||
let result = self.verif_reporter.start_failure(
|
||||
&self.tm_sender,
|
||||
accepted_token,
|
||||
FailParams::new(
|
||||
self.stamp_helper.stamp(),
|
||||
&tmtc_err::PUS_SERVICE_NOT_IMPLEMENTED,
|
||||
&[standard_service as u8],
|
||||
),
|
||||
);
|
||||
if result.is_err() {
|
||||
warn!("Sending verification failure failed");
|
||||
}
|
||||
}
|
||||
},
|
||||
Err(e) => {
|
||||
if let Ok(custom_service) = CustomPusServiceId::try_from(e.number) {
|
||||
match custom_service {
|
||||
CustomPusServiceId::Mode => {
|
||||
// self.pus_router.mode_tc_sender.send(EcssTcAndToken {
|
||||
// tc_in_memory,
|
||||
// token: Some(accepted_token.into()),
|
||||
// })?
|
||||
}
|
||||
CustomPusServiceId::Health => {}
|
||||
}
|
||||
} else {
|
||||
self.verif_reporter
|
||||
.start_failure(
|
||||
&self.tm_sender,
|
||||
accepted_token,
|
||||
FailParams::new(
|
||||
self.stamp_helper.stamp(),
|
||||
&tmtc_err::INVALID_PUS_SUBSERVICE,
|
||||
&[e.number],
|
||||
),
|
||||
)
|
||||
.expect("Start failure verification failed")
|
||||
}
|
||||
}
|
||||
}
|
||||
Ok(PusPacketHandlerResult::RequestHandled)
|
||||
}
|
||||
}
|
||||
|
||||
pub trait TargetedPusService {
|
||||
/// Returns [true] interface the packet handling is finished.
|
||||
fn poll_and_handle_next_tc(&mut self, time_stamp: &[u8]) -> bool;
|
||||
fn poll_and_handle_next_reply(&mut self, time_stamp: &[u8]) -> HandlingStatus;
|
||||
fn check_for_request_timeouts(&mut self);
|
||||
}
|
||||
|
||||
/// This is a generic handler class for all PUS services where a PUS telecommand is converted
|
||||
/// to a targeted request.
|
||||
///
|
||||
/// The generic steps for this process are the following
|
||||
///
|
||||
/// 1. Poll for TC packets
|
||||
/// 2. Convert the raw packets to a [PusTcReader].
|
||||
/// 3. Convert the PUS TC to a typed request using the [PusTcToRequestConverter].
|
||||
/// 4. Route the requests using the [GenericRequestRouter].
|
||||
/// 5. Add the request to the active request map using the [ActiveRequestMapProvider] abstraction.
|
||||
/// 6. Check for replies which complete the forwarded request. The handler takes care of
|
||||
/// the verification process.
|
||||
/// 7. Check for timeouts of active requests. Generally, the timeout on the service level should
|
||||
/// be highest expected timeout for the given target.
|
||||
///
|
||||
/// The handler exposes the following API:
|
||||
///
|
||||
/// 1. [Self::handle_one_tc] which tries to poll and handle one TC packet, covering steps 1-5.
|
||||
/// 2. [Self::check_one_reply] which tries to poll and handle one reply, covering step 6.
|
||||
/// 3. [Self::check_for_request_timeouts] which checks for request timeouts, covering step 7.
|
||||
pub struct PusTargetedRequestService<
|
||||
TcReceiver: EcssTcReceiverCore,
|
||||
TmSender: EcssTmSenderCore,
|
||||
TcInMemConverter: EcssTcInMemConverter,
|
||||
VerificationReporter: VerificationReportingProvider,
|
||||
RequestConverter: PusTcToRequestConverter<ActiveRequestInfo, RequestType, Error = GenericConversionError>,
|
||||
ReplyHandler: PusReplyHandler<ActiveRequestInfo, ReplyType, Error = EcssTmtcError>,
|
||||
ActiveRequestMap: ActiveRequestMapProvider<ActiveRequestInfo>,
|
||||
ActiveRequestInfo: ActiveRequestProvider,
|
||||
RequestType,
|
||||
ReplyType,
|
||||
> {
|
||||
pub service_helper:
|
||||
PusServiceHelper<TcReceiver, TmSender, TcInMemConverter, VerificationReporter>,
|
||||
pub request_router: GenericRequestRouter,
|
||||
pub request_converter: RequestConverter,
|
||||
pub active_request_map: ActiveRequestMap,
|
||||
pub reply_handler: ReplyHandler,
|
||||
pub reply_receiver: mpsc::Receiver<GenericMessage<ReplyType>>,
|
||||
phantom: std::marker::PhantomData<(RequestType, ActiveRequestInfo, ReplyType)>,
|
||||
}
|
||||
|
||||
impl<
|
||||
TcReceiver: EcssTcReceiverCore,
|
||||
TmSender: EcssTmSenderCore,
|
||||
TcInMemConverter: EcssTcInMemConverter,
|
||||
VerificationReporter: VerificationReportingProvider,
|
||||
RequestConverter: PusTcToRequestConverter<ActiveRequestInfo, RequestType, Error = GenericConversionError>,
|
||||
ReplyHandler: PusReplyHandler<ActiveRequestInfo, ReplyType, Error = EcssTmtcError>,
|
||||
ActiveRequestMap: ActiveRequestMapProvider<ActiveRequestInfo>,
|
||||
ActiveRequestInfo: ActiveRequestProvider,
|
||||
RequestType,
|
||||
ReplyType,
|
||||
>
|
||||
PusTargetedRequestService<
|
||||
TcReceiver,
|
||||
TmSender,
|
||||
TcInMemConverter,
|
||||
VerificationReporter,
|
||||
RequestConverter,
|
||||
ReplyHandler,
|
||||
ActiveRequestMap,
|
||||
ActiveRequestInfo,
|
||||
RequestType,
|
||||
ReplyType,
|
||||
>
|
||||
where
|
||||
GenericRequestRouter: PusRequestRouter<RequestType, Error = GenericRoutingError>,
|
||||
{
|
||||
pub fn new(
|
||||
service_helper: PusServiceHelper<
|
||||
TcReceiver,
|
||||
TmSender,
|
||||
TcInMemConverter,
|
||||
VerificationReporter,
|
||||
>,
|
||||
request_converter: RequestConverter,
|
||||
active_request_map: ActiveRequestMap,
|
||||
reply_hook: ReplyHandler,
|
||||
request_router: GenericRequestRouter,
|
||||
reply_receiver: mpsc::Receiver<GenericMessage<ReplyType>>,
|
||||
) -> Self {
|
||||
Self {
|
||||
service_helper,
|
||||
request_converter,
|
||||
active_request_map,
|
||||
reply_handler: reply_hook,
|
||||
request_router,
|
||||
reply_receiver,
|
||||
phantom: std::marker::PhantomData,
|
||||
}
|
||||
}
|
||||
|
||||
pub fn poll_and_handle_next_tc(
|
||||
&mut self,
|
||||
time_stamp: &[u8],
|
||||
) -> Result<PusPacketHandlerResult, PusPacketHandlingError> {
|
||||
let possible_packet = self.service_helper.retrieve_and_accept_next_packet()?;
|
||||
if possible_packet.is_none() {
|
||||
return Ok(PusPacketHandlerResult::Empty);
|
||||
}
|
||||
let ecss_tc_and_token = possible_packet.unwrap();
|
||||
self.service_helper
|
||||
.tc_in_mem_converter_mut()
|
||||
.cache(&ecss_tc_and_token.tc_in_memory)?;
|
||||
let tc = self.service_helper.tc_in_mem_converter().convert()?;
|
||||
let (mut request_info, request) = match self.request_converter.convert(
|
||||
ecss_tc_and_token.token,
|
||||
&tc,
|
||||
self.service_helper.tm_sender(),
|
||||
&self.service_helper.common.verif_reporter,
|
||||
time_stamp,
|
||||
) {
|
||||
Ok((info, req)) => (info, req),
|
||||
Err(e) => {
|
||||
self.handle_conversion_to_request_error(&e, ecss_tc_and_token.token, time_stamp);
|
||||
return Err(e.into());
|
||||
}
|
||||
};
|
||||
let accepted_token: VerificationToken<TcStateAccepted> = request_info
|
||||
.token()
|
||||
.try_into()
|
||||
.expect("token not in expected accepted state");
|
||||
let verif_request_id = verification::RequestId::new(&tc).raw();
|
||||
match self.request_router.route(
|
||||
MessageMetadata::new(verif_request_id, self.service_helper.id()),
|
||||
request_info.target_id(),
|
||||
request,
|
||||
) {
|
||||
Ok(()) => {
|
||||
let started_token = self
|
||||
.service_helper
|
||||
.verif_reporter()
|
||||
.start_success(
|
||||
&self.service_helper.common.tm_sender,
|
||||
accepted_token,
|
||||
time_stamp,
|
||||
)
|
||||
.expect("Start success failure");
|
||||
request_info.set_token(started_token.into());
|
||||
self.active_request_map
|
||||
.insert(&verif_request_id, request_info);
|
||||
}
|
||||
Err(e) => {
|
||||
self.request_router.handle_error_generic(
|
||||
&request_info,
|
||||
&tc,
|
||||
e.clone(),
|
||||
self.service_helper.tm_sender(),
|
||||
self.service_helper.verif_reporter(),
|
||||
time_stamp,
|
||||
);
|
||||
return Err(e.into());
|
||||
}
|
||||
}
|
||||
Ok(PusPacketHandlerResult::RequestHandled)
|
||||
}
|
||||
|
||||
fn handle_conversion_to_request_error(
|
||||
&mut self,
|
||||
error: &GenericConversionError,
|
||||
token: VerificationToken<TcStateAccepted>,
|
||||
time_stamp: &[u8],
|
||||
) {
|
||||
match error {
|
||||
GenericConversionError::WrongService(service) => {
|
||||
let service_slice: [u8; 1] = [*service];
|
||||
self.service_helper
|
||||
.verif_reporter()
|
||||
.completion_failure(
|
||||
self.service_helper.tm_sender(),
|
||||
token,
|
||||
FailParams::new(time_stamp, &tmtc_err::INVALID_PUS_SERVICE, &service_slice),
|
||||
)
|
||||
.expect("Sending completion failure failed");
|
||||
}
|
||||
GenericConversionError::InvalidSubservice(subservice) => {
|
||||
let subservice_slice: [u8; 1] = [*subservice];
|
||||
self.service_helper
|
||||
.verif_reporter()
|
||||
.completion_failure(
|
||||
self.service_helper.tm_sender(),
|
||||
token,
|
||||
FailParams::new(
|
||||
time_stamp,
|
||||
&tmtc_err::INVALID_PUS_SUBSERVICE,
|
||||
&subservice_slice,
|
||||
),
|
||||
)
|
||||
.expect("Sending completion failure failed");
|
||||
}
|
||||
GenericConversionError::NotEnoughAppData { expected, found } => {
|
||||
let mut context_info = (*found as u32).to_be_bytes().to_vec();
|
||||
context_info.extend_from_slice(&(*expected as u32).to_be_bytes());
|
||||
self.service_helper
|
||||
.verif_reporter()
|
||||
.completion_failure(
|
||||
self.service_helper.tm_sender(),
|
||||
token,
|
||||
FailParams::new(time_stamp, &tmtc_err::NOT_ENOUGH_APP_DATA, &context_info),
|
||||
)
|
||||
.expect("Sending completion failure failed");
|
||||
}
|
||||
// Do nothing.. this is service-level and can not be handled generically here.
|
||||
GenericConversionError::InvalidAppData(_) => (),
|
||||
}
|
||||
}
|
||||
|
||||
pub fn poll_and_check_next_reply(
|
||||
&mut self,
|
||||
time_stamp: &[u8],
|
||||
) -> Result<HandlingStatus, EcssTmtcError> {
|
||||
match self.reply_receiver.try_recv() {
|
||||
Ok(reply) => {
|
||||
self.handle_reply(&reply, time_stamp)?;
|
||||
Ok(HandlingStatus::HandledOne)
|
||||
}
|
||||
Err(e) => match e {
|
||||
mpsc::TryRecvError::Empty => Ok(HandlingStatus::Empty),
|
||||
mpsc::TryRecvError::Disconnected => Err(EcssTmtcError::Receive(
|
||||
GenericReceiveError::TxDisconnected(None),
|
||||
)),
|
||||
},
|
||||
}
|
||||
}
|
||||
|
||||
pub fn handle_reply(
|
||||
&mut self,
|
||||
reply: &GenericMessage<ReplyType>,
|
||||
time_stamp: &[u8],
|
||||
) -> Result<(), EcssTmtcError> {
|
||||
let active_req_opt = self.active_request_map.get(reply.request_id());
|
||||
if active_req_opt.is_none() {
|
||||
self.reply_handler
|
||||
.handle_unrequested_reply(reply, &self.service_helper.common.tm_sender)?;
|
||||
return Ok(());
|
||||
}
|
||||
let active_request = active_req_opt.unwrap();
|
||||
let request_finished = self
|
||||
.reply_handler
|
||||
.handle_reply(
|
||||
reply,
|
||||
active_request,
|
||||
&self.service_helper.common.tm_sender,
|
||||
&self.service_helper.common.verif_reporter,
|
||||
time_stamp,
|
||||
)
|
||||
.unwrap_or(false);
|
||||
if request_finished {
|
||||
self.active_request_map.remove(reply.request_id());
|
||||
}
|
||||
Ok(())
|
||||
}
|
||||
|
||||
pub fn check_for_request_timeouts(&mut self) {
|
||||
let mut requests_to_delete = Vec::new();
|
||||
self.active_request_map
|
||||
.for_each(|request_id, request_info| {
|
||||
if request_info.has_timed_out() {
|
||||
requests_to_delete.push(*request_id);
|
||||
}
|
||||
});
|
||||
if !requests_to_delete.is_empty() {
|
||||
for request_id in requests_to_delete {
|
||||
self.active_request_map.remove(request_id);
|
||||
}
|
||||
}
|
||||
}
|
||||
}
|
||||
|
||||
/// Generic timeout handling: Handle the verification failure with a dedicated return code
|
||||
/// and also log the error.
|
||||
pub fn generic_pus_request_timeout_handler(
|
||||
sender: &(impl EcssTmSenderCore + ?Sized),
|
||||
active_request: &(impl ActiveRequestProvider + Debug),
|
||||
verification_handler: &impl VerificationReportingProvider,
|
||||
time_stamp: &[u8],
|
||||
service_str: &'static str,
|
||||
) -> Result<(), EcssTmtcError> {
|
||||
log::warn!("timeout for active request {active_request:?} on {service_str} service");
|
||||
let started_token: VerificationToken<TcStateStarted> = active_request
|
||||
.token()
|
||||
.try_into()
|
||||
.expect("token not in expected started state");
|
||||
verification_handler.completion_failure(
|
||||
sender,
|
||||
started_token,
|
||||
FailParams::new(time_stamp, &tmtc_err::REQUEST_TIMEOUT, &[]),
|
||||
)?;
|
||||
Ok(())
|
||||
}
|
||||
|
||||
#[cfg(test)]
|
||||
pub(crate) mod tests {
|
||||
use std::time::Duration;
|
||||
|
||||
use satrs::pus::test_util::TEST_COMPONENT_ID_0;
|
||||
use satrs::pus::{MpscTmAsVecSender, PusTmAsVec, PusTmVariant};
|
||||
use satrs::request::RequestId;
|
||||
use satrs::{
|
||||
pus::{
|
||||
verification::test_util::TestVerificationReporter, ActivePusRequestStd,
|
||||
ActiveRequestMapProvider, EcssTcInVecConverter, MpscTcReceiver,
|
||||
},
|
||||
request::UniqueApidTargetId,
|
||||
spacepackets::{
|
||||
ecss::{
|
||||
tc::{PusTcCreator, PusTcSecondaryHeader},
|
||||
WritablePusPacket,
|
||||
},
|
||||
SpHeader,
|
||||
},
|
||||
};
|
||||
|
||||
use crate::requests::CompositeRequest;
|
||||
|
||||
use super::*;
|
||||
|
||||
// Testbench dedicated to the testing of [PusReplyHandler]s
|
||||
pub struct ReplyHandlerTestbench<
|
||||
ReplyHandler: PusReplyHandler<ActiveRequestInfo, Reply, Error = EcssTmtcError>,
|
||||
ActiveRequestInfo: ActiveRequestProvider,
|
||||
Reply,
|
||||
> {
|
||||
pub id: ComponentId,
|
||||
pub verif_reporter: TestVerificationReporter,
|
||||
pub reply_handler: ReplyHandler,
|
||||
pub tm_receiver: mpsc::Receiver<PusTmAsVec>,
|
||||
pub default_timeout: Duration,
|
||||
tm_sender: MpscTmAsVecSender,
|
||||
phantom: std::marker::PhantomData<(ActiveRequestInfo, Reply)>,
|
||||
}
|
||||
|
||||
impl<
|
||||
ReplyHandler: PusReplyHandler<ActiveRequestInfo, Reply, Error = EcssTmtcError>,
|
||||
ActiveRequestInfo: ActiveRequestProvider,
|
||||
Reply,
|
||||
> ReplyHandlerTestbench<ReplyHandler, ActiveRequestInfo, Reply>
|
||||
{
|
||||
pub fn new(owner_id: ComponentId, reply_handler: ReplyHandler) -> Self {
|
||||
let test_verif_reporter = TestVerificationReporter::new(owner_id);
|
||||
let (tm_sender, tm_receiver) = mpsc::channel();
|
||||
Self {
|
||||
id: TEST_COMPONENT_ID_0.raw(),
|
||||
verif_reporter: test_verif_reporter,
|
||||
reply_handler,
|
||||
default_timeout: Duration::from_secs(30),
|
||||
tm_sender,
|
||||
tm_receiver,
|
||||
phantom: std::marker::PhantomData,
|
||||
}
|
||||
}
|
||||
|
||||
pub fn add_tc(
|
||||
&mut self,
|
||||
apid: u16,
|
||||
apid_target: u32,
|
||||
time_stamp: &[u8],
|
||||
) -> (verification::RequestId, ActivePusRequestStd) {
|
||||
let sp_header = SpHeader::new_from_apid(apid);
|
||||
let sec_header_dummy = PusTcSecondaryHeader::new_simple(0, 0);
|
||||
let init = self.verif_reporter.add_tc(&PusTcCreator::new(
|
||||
sp_header,
|
||||
sec_header_dummy,
|
||||
&[],
|
||||
true,
|
||||
));
|
||||
let accepted = self
|
||||
.verif_reporter
|
||||
.acceptance_success(&self.tm_sender, init, time_stamp)
|
||||
.expect("acceptance failed");
|
||||
let started = self
|
||||
.verif_reporter
|
||||
.start_success(&self.tm_sender, accepted, time_stamp)
|
||||
.expect("start failed");
|
||||
(
|
||||
started.request_id(),
|
||||
ActivePusRequestStd::new(
|
||||
UniqueApidTargetId::new(apid, apid_target).raw(),
|
||||
started,
|
||||
self.default_timeout,
|
||||
),
|
||||
)
|
||||
}
|
||||
|
||||
pub fn handle_reply(
|
||||
&mut self,
|
||||
reply: &GenericMessage<Reply>,
|
||||
active_request: &ActiveRequestInfo,
|
||||
time_stamp: &[u8],
|
||||
) -> Result<bool, ReplyHandler::Error> {
|
||||
self.reply_handler.handle_reply(
|
||||
reply,
|
||||
active_request,
|
||||
&self.tm_sender,
|
||||
&self.verif_reporter,
|
||||
time_stamp,
|
||||
)
|
||||
}
|
||||
|
||||
pub fn handle_unrequested_reply(
|
||||
&mut self,
|
||||
reply: &GenericMessage<Reply>,
|
||||
) -> Result<(), ReplyHandler::Error> {
|
||||
self.reply_handler
|
||||
.handle_unrequested_reply(reply, &self.tm_sender)
|
||||
}
|
||||
pub fn handle_request_timeout(
|
||||
&mut self,
|
||||
active_request_info: &ActiveRequestInfo,
|
||||
time_stamp: &[u8],
|
||||
) -> Result<(), ReplyHandler::Error> {
|
||||
self.reply_handler.handle_request_timeout(
|
||||
active_request_info,
|
||||
&self.tm_sender,
|
||||
&self.verif_reporter,
|
||||
time_stamp,
|
||||
)
|
||||
}
|
||||
}
|
||||
|
||||
#[derive(Default)]
|
||||
pub struct DummySender {}
|
||||
|
||||
/// Dummy sender component which does nothing on the [Self::send_tm] call.
|
||||
///
|
||||
/// Useful for unit tests.
|
||||
impl EcssTmSenderCore for DummySender {
|
||||
fn send_tm(&self, _source_id: ComponentId, _tm: PusTmVariant) -> Result<(), EcssTmtcError> {
|
||||
Ok(())
|
||||
}
|
||||
}
|
||||
|
||||
// Testbench dedicated to the testing of [PusTcToRequestConverter]s
|
||||
pub struct PusConverterTestbench<
|
||||
Converter: PusTcToRequestConverter<ActiveRequestInfo, Request, Error = GenericConversionError>,
|
||||
ActiveRequestInfo: ActiveRequestProvider,
|
||||
Request,
|
||||
> {
|
||||
pub id: ComponentId,
|
||||
pub verif_reporter: TestVerificationReporter,
|
||||
pub converter: Converter,
|
||||
dummy_sender: DummySender,
|
||||
current_request_id: Option<verification::RequestId>,
|
||||
current_packet: Option<Vec<u8>>,
|
||||
phantom: std::marker::PhantomData<(ActiveRequestInfo, Request)>,
|
||||
}
|
||||
|
||||
impl<
|
||||
Converter: PusTcToRequestConverter<ActiveRequestInfo, Request, Error = GenericConversionError>,
|
||||
ActiveRequestInfo: ActiveRequestProvider,
|
||||
Request,
|
||||
> PusConverterTestbench<Converter, ActiveRequestInfo, Request>
|
||||
{
|
||||
pub fn new(owner_id: ComponentId, converter: Converter) -> Self {
|
||||
let test_verif_reporter = TestVerificationReporter::new(owner_id);
|
||||
Self {
|
||||
id: owner_id,
|
||||
verif_reporter: test_verif_reporter,
|
||||
converter,
|
||||
dummy_sender: DummySender::default(),
|
||||
current_request_id: None,
|
||||
current_packet: None,
|
||||
phantom: std::marker::PhantomData,
|
||||
}
|
||||
}
|
||||
|
||||
pub fn add_tc(&mut self, tc: &PusTcCreator) -> VerificationToken<TcStateAccepted> {
|
||||
let token = self.verif_reporter.add_tc(tc);
|
||||
self.current_request_id = Some(verification::RequestId::new(tc));
|
||||
self.current_packet = Some(tc.to_vec().unwrap());
|
||||
self.verif_reporter
|
||||
.acceptance_success(&self.dummy_sender, token, &[])
|
||||
.expect("acceptance failed")
|
||||
}
|
||||
|
||||
pub fn request_id(&self) -> Option<verification::RequestId> {
|
||||
self.current_request_id
|
||||
}
|
||||
|
||||
pub fn convert(
|
||||
&mut self,
|
||||
token: VerificationToken<TcStateAccepted>,
|
||||
time_stamp: &[u8],
|
||||
expected_apid: u16,
|
||||
expected_apid_target: u32,
|
||||
) -> Result<(ActiveRequestInfo, Request), Converter::Error> {
|
||||
if self.current_packet.is_none() {
|
||||
return Err(GenericConversionError::InvalidAppData(
|
||||
"call add_tc first".to_string(),
|
||||
));
|
||||
}
|
||||
let current_packet = self.current_packet.take().unwrap();
|
||||
let tc_reader = PusTcReader::new(¤t_packet).unwrap();
|
||||
let (active_info, request) = self.converter.convert(
|
||||
token,
|
||||
&tc_reader.0,
|
||||
&self.dummy_sender,
|
||||
&self.verif_reporter,
|
||||
time_stamp,
|
||||
)?;
|
||||
assert_eq!(
|
||||
active_info.token().request_id(),
|
||||
self.request_id().expect("no request id is set")
|
||||
);
|
||||
assert_eq!(
|
||||
active_info.target_id(),
|
||||
UniqueApidTargetId::new(expected_apid, expected_apid_target).raw()
|
||||
);
|
||||
Ok((active_info, request))
|
||||
}
|
||||
}
|
||||
|
||||
pub struct TargetedPusRequestTestbench<
|
||||
RequestConverter: PusTcToRequestConverter<ActiveRequestInfo, RequestType, Error = GenericConversionError>,
|
||||
ReplyHandler: PusReplyHandler<ActiveRequestInfo, ReplyType, Error = EcssTmtcError>,
|
||||
ActiveRequestMap: ActiveRequestMapProvider<ActiveRequestInfo>,
|
||||
ActiveRequestInfo: ActiveRequestProvider,
|
||||
RequestType,
|
||||
ReplyType,
|
||||
> {
|
||||
pub service: PusTargetedRequestService<
|
||||
MpscTcReceiver,
|
||||
MpscTmAsVecSender,
|
||||
EcssTcInVecConverter,
|
||||
TestVerificationReporter,
|
||||
RequestConverter,
|
||||
ReplyHandler,
|
||||
ActiveRequestMap,
|
||||
ActiveRequestInfo,
|
||||
RequestType,
|
||||
ReplyType,
|
||||
>,
|
||||
pub request_id: Option<RequestId>,
|
||||
pub tm_funnel_rx: mpsc::Receiver<PusTmAsVec>,
|
||||
pub pus_packet_tx: mpsc::Sender<EcssTcAndToken>,
|
||||
pub reply_tx: mpsc::Sender<GenericMessage<ReplyType>>,
|
||||
pub request_rx: mpsc::Receiver<GenericMessage<CompositeRequest>>,
|
||||
}
|
||||
}
|
||||
75
src/pus/stack.rs
Normal file
75
src/pus/stack.rs
Normal file
@ -0,0 +1,75 @@
|
||||
// use crate::pus::mode::ModeServiceWrapper;
|
||||
use derive_new::new;
|
||||
use satrs::{
|
||||
pus::{EcssTcInMemConverter, EcssTmSenderCore},
|
||||
spacepackets::time::{cds, TimeWriter},
|
||||
};
|
||||
use crate::pus::HandlingStatus;
|
||||
use crate::pus::test::TestCustomServiceWrapper;
|
||||
|
||||
// use super::{
|
||||
// action::ActionServiceWrapper, event::EventServiceWrapper, hk::HkServiceWrapper,
|
||||
// scheduler::SchedulingServiceWrapper, test::TestCustomServiceWrapper, HandlingStatus,
|
||||
// TargetedPusService,
|
||||
// };
|
||||
|
||||
#[derive(new)]
|
||||
pub struct PusStack<TmSender: EcssTmSenderCore, TcInMemConverter: EcssTcInMemConverter> {
|
||||
test_srv: TestCustomServiceWrapper<TmSender, TcInMemConverter>,
|
||||
// hk_srv_wrapper: HkServiceWrapper<TmSender, TcInMemConverter>,
|
||||
// event_srv: EventServiceWrapper<TmSender, TcInMemConverter>,
|
||||
// action_srv_wrapper: ActionServiceWrapper<TmSender, TcInMemConverter>,
|
||||
// schedule_srv: SchedulingServiceWrapper<TmSender, TcInMemConverter>,
|
||||
// mode_srv: ModeServiceWrapper<TmSender, TcInMemConverter>,
|
||||
}
|
||||
|
||||
impl<TmSender: EcssTmSenderCore, TcInMemConverter: EcssTcInMemConverter>
|
||||
PusStack<TmSender, TcInMemConverter>
|
||||
{
|
||||
pub fn periodic_operation(&mut self) {
|
||||
// Release all telecommands which reached their release time before calling the service
|
||||
// handlers.
|
||||
// self.schedule_srv.release_tcs();
|
||||
let time_stamp = cds::CdsTime::now_with_u16_days()
|
||||
.expect("time stamp generation error")
|
||||
.to_vec()
|
||||
.unwrap();
|
||||
loop {
|
||||
let mut nothing_to_do = true;
|
||||
let mut is_srv_finished =
|
||||
|tc_handling_done: bool, reply_handling_done: Option<HandlingStatus>| {
|
||||
if !tc_handling_done
|
||||
|| (reply_handling_done.is_some()
|
||||
&& reply_handling_done.unwrap() == HandlingStatus::Empty)
|
||||
{
|
||||
nothing_to_do = false;
|
||||
}
|
||||
};
|
||||
is_srv_finished(self.test_srv.poll_and_handle_next_packet(&time_stamp), None);
|
||||
// is_srv_finished(self.schedule_srv.poll_and_handle_next_tc(&time_stamp), None);
|
||||
// is_srv_finished(self.event_srv.poll_and_handle_next_tc(&time_stamp), None);
|
||||
// is_srv_finished(
|
||||
// self.action_srv_wrapper.poll_and_handle_next_tc(&time_stamp),
|
||||
// Some(
|
||||
// self.action_srv_wrapper
|
||||
// .poll_and_handle_next_reply(&time_stamp),
|
||||
// ),
|
||||
// );
|
||||
// is_srv_finished(
|
||||
// self.hk_srv_wrapper.poll_and_handle_next_tc(&time_stamp),
|
||||
// Some(self.hk_srv_wrapper.poll_and_handle_next_reply(&time_stamp)),
|
||||
// );
|
||||
// is_srv_finished(
|
||||
// self.mode_srv.poll_and_handle_next_tc(&time_stamp),
|
||||
// Some(self.mode_srv.poll_and_handle_next_reply(&time_stamp)),
|
||||
// );
|
||||
if nothing_to_do {
|
||||
// Timeout checking is only done once.
|
||||
// self.action_srv_wrapper.check_for_request_timeouts();
|
||||
// self.hk_srv_wrapper.check_for_request_timeouts();
|
||||
// self.mode_srv.check_for_request_timeouts();
|
||||
break;
|
||||
}
|
||||
}
|
||||
}
|
||||
}
|
||||
127
src/pus/test.rs
Normal file
127
src/pus/test.rs
Normal file
@ -0,0 +1,127 @@
|
||||
use crate::pus::create_verification_reporter;
|
||||
use log::{info, warn};
|
||||
use satrs::event_man::{EventMessage, EventMessageU32};
|
||||
use satrs::pool::SharedStaticMemoryPool;
|
||||
use satrs::pus::test::PusService17TestHandler;
|
||||
use satrs::pus::verification::{FailParams, VerificationReporter, VerificationReportingProvider};
|
||||
use satrs::pus::EcssTcInSharedStoreConverter;
|
||||
use satrs::pus::{
|
||||
EcssTcAndToken, EcssTcInMemConverter, EcssTcInVecConverter, EcssTmSenderCore, MpscTcReceiver,
|
||||
MpscTmAsVecSender, MpscTmInSharedPoolSenderBounded, PusPacketHandlerResult, PusServiceHelper,
|
||||
PusTmAsVec, PusTmInPool, TmInSharedPoolSender,
|
||||
};
|
||||
use satrs::spacepackets::ecss::tc::PusTcReader;
|
||||
use satrs::spacepackets::ecss::PusPacket;
|
||||
use satrs::spacepackets::time::cds::CdsTime;
|
||||
use satrs::spacepackets::time::TimeWriter;
|
||||
use std::sync::mpsc;
|
||||
use std::sync::mpsc::Sender;
|
||||
use ops_sat_rs::config::components::PUS_TEST_SERVICE;
|
||||
use ops_sat_rs::config::tmtc_err;
|
||||
|
||||
pub fn create_test_service_dynamic(
|
||||
tm_funnel_tx: mpsc::Sender<PusTmAsVec>,
|
||||
// event_sender: mpsc::Sender<EventMessageU32>,
|
||||
pus_test_rx: mpsc::Receiver<EcssTcAndToken>,
|
||||
) -> TestCustomServiceWrapper<Sender<PusTmAsVec>, EcssTcInVecConverter> {
|
||||
let pus17_handler = PusService17TestHandler::new(PusServiceHelper::new(
|
||||
PUS_TEST_SERVICE.id(),
|
||||
pus_test_rx,
|
||||
tm_funnel_tx,
|
||||
create_verification_reporter(PUS_TEST_SERVICE.id(), PUS_TEST_SERVICE.apid),
|
||||
EcssTcInVecConverter::default(),
|
||||
));
|
||||
TestCustomServiceWrapper {
|
||||
handler: pus17_handler,
|
||||
// test_srv_event_sender: event_sender,
|
||||
}
|
||||
}
|
||||
|
||||
pub struct TestCustomServiceWrapper<
|
||||
TmSender: EcssTmSenderCore,
|
||||
TcInMemConverter: EcssTcInMemConverter,
|
||||
> {
|
||||
pub handler:
|
||||
PusService17TestHandler<MpscTcReceiver, TmSender, TcInMemConverter, VerificationReporter>,
|
||||
// pub test_srv_event_sender: mpsc::Sender<EventMessageU32>,
|
||||
}
|
||||
|
||||
impl<TmSender: EcssTmSenderCore, TcInMemConverter: EcssTcInMemConverter>
|
||||
TestCustomServiceWrapper<TmSender, TcInMemConverter>
|
||||
{
|
||||
pub fn poll_and_handle_next_packet(&mut self, time_stamp: &[u8]) -> bool {
|
||||
let res = self.handler.poll_and_handle_next_tc(time_stamp);
|
||||
if res.is_err() {
|
||||
warn!("PUS17 handler failed with error {:?}", res.unwrap_err());
|
||||
return true;
|
||||
}
|
||||
match res.unwrap() {
|
||||
PusPacketHandlerResult::RequestHandled => {
|
||||
info!("Received PUS ping command TC[17,1]");
|
||||
info!("Sent ping reply PUS TM[17,2]");
|
||||
}
|
||||
PusPacketHandlerResult::RequestHandledPartialSuccess(partial_err) => {
|
||||
warn!(
|
||||
"Handled PUS ping command with partial success: {:?}",
|
||||
partial_err
|
||||
);
|
||||
}
|
||||
PusPacketHandlerResult::SubserviceNotImplemented(subservice, _) => {
|
||||
warn!("PUS17: Subservice {subservice} not implemented")
|
||||
}
|
||||
// TODO: adapt interface events are implemented
|
||||
PusPacketHandlerResult::CustomSubservice(subservice, token) => {
|
||||
let (tc, _) = PusTcReader::new(
|
||||
self.handler
|
||||
.service_helper
|
||||
.tc_in_mem_converter
|
||||
.tc_slice_raw(),
|
||||
)
|
||||
.unwrap();
|
||||
let time_stamper = CdsTime::now_with_u16_days().unwrap();
|
||||
let mut stamp_buf: [u8; 7] = [0; 7];
|
||||
time_stamper.write_to_bytes(&mut stamp_buf).unwrap();
|
||||
if subservice == 128 {
|
||||
info!("Generating test event");
|
||||
// self.test_srv_event_sender
|
||||
// .send(EventMessage::new(PUS_TEST_SERVICE.id(), TEST_EVENT.into()))
|
||||
// .expect("Sending test event failed");
|
||||
let start_token = self
|
||||
.handler
|
||||
.service_helper
|
||||
.verif_reporter()
|
||||
.start_success(self.handler.service_helper.tm_sender(), token, &stamp_buf)
|
||||
.expect("Error sending start success");
|
||||
self.handler
|
||||
.service_helper
|
||||
.verif_reporter()
|
||||
.completion_success(
|
||||
self.handler.service_helper.tm_sender(),
|
||||
start_token,
|
||||
&stamp_buf,
|
||||
)
|
||||
.expect("Error sending completion success");
|
||||
} else {
|
||||
let fail_data = [tc.subservice()];
|
||||
self.handler
|
||||
.service_helper
|
||||
.verif_reporter()
|
||||
.start_failure(
|
||||
self.handler.service_helper.tm_sender(),
|
||||
token,
|
||||
FailParams::new(
|
||||
&stamp_buf,
|
||||
&tmtc_err::INVALID_PUS_SUBSERVICE,
|
||||
&fail_data,
|
||||
),
|
||||
)
|
||||
.expect("Sending start failure verification failed");
|
||||
}
|
||||
}
|
||||
PusPacketHandlerResult::Empty => {
|
||||
return true;
|
||||
}
|
||||
}
|
||||
false
|
||||
}
|
||||
}
|
||||
152
src/requests.rs
Normal file
152
src/requests.rs
Normal file
@ -0,0 +1,152 @@
|
||||
use std::collections::HashMap;
|
||||
use std::sync::mpsc;
|
||||
|
||||
use log::warn;
|
||||
use satrs::action::ActionRequest;
|
||||
use satrs::hk::HkRequest;
|
||||
use satrs::mode::ModeRequest;
|
||||
use satrs::pus::verification::{
|
||||
FailParams, TcStateAccepted, VerificationReportingProvider, VerificationToken,
|
||||
};
|
||||
use satrs::pus::{ActiveRequestProvider, EcssTmSenderCore, GenericRoutingError, PusRequestRouter};
|
||||
use satrs::queue::GenericSendError;
|
||||
use satrs::request::{GenericMessage, MessageMetadata, UniqueApidTargetId};
|
||||
use satrs::spacepackets::ecss::tc::PusTcReader;
|
||||
use satrs::spacepackets::ecss::PusPacket;
|
||||
use satrs::ComponentId;
|
||||
use ops_sat_rs::config::components::PUS_ROUTING_SERVICE;
|
||||
use ops_sat_rs::config::tmtc_err;
|
||||
|
||||
#[derive(Clone, Debug)]
|
||||
#[non_exhaustive]
|
||||
pub enum CompositeRequest {
|
||||
Hk(HkRequest),
|
||||
Action(ActionRequest),
|
||||
}
|
||||
|
||||
#[derive(Clone)]
|
||||
pub struct GenericRequestRouter {
|
||||
pub id: ComponentId,
|
||||
// All messages which do not have a dedicated queue.
|
||||
pub composite_router_map: HashMap<ComponentId, mpsc::Sender<GenericMessage<CompositeRequest>>>,
|
||||
pub mode_router_map: HashMap<ComponentId, mpsc::Sender<GenericMessage<ModeRequest>>>,
|
||||
}
|
||||
|
||||
impl Default for GenericRequestRouter {
|
||||
fn default() -> Self {
|
||||
Self {
|
||||
id: PUS_ROUTING_SERVICE.raw(),
|
||||
composite_router_map: Default::default(),
|
||||
mode_router_map: Default::default(),
|
||||
}
|
||||
}
|
||||
}
|
||||
impl GenericRequestRouter {
|
||||
pub(crate) fn handle_error_generic(
|
||||
&self,
|
||||
active_request: &impl ActiveRequestProvider,
|
||||
tc: &PusTcReader,
|
||||
error: GenericRoutingError,
|
||||
tm_sender: &(impl EcssTmSenderCore + ?Sized),
|
||||
verif_reporter: &impl VerificationReportingProvider,
|
||||
time_stamp: &[u8],
|
||||
) {
|
||||
warn!(
|
||||
"Routing request for service {} failed: {error:?}",
|
||||
tc.service()
|
||||
);
|
||||
let accepted_token: VerificationToken<TcStateAccepted> = active_request
|
||||
.token()
|
||||
.try_into()
|
||||
.expect("token is not in accepted state");
|
||||
match error {
|
||||
GenericRoutingError::UnknownTargetId(id) => {
|
||||
let apid_target_id = UniqueApidTargetId::from(id);
|
||||
warn!("Target APID for request: {}", apid_target_id.apid);
|
||||
warn!("Target Unique ID for request: {}", apid_target_id.unique_id);
|
||||
let mut fail_data: [u8; 8] = [0; 8];
|
||||
fail_data.copy_from_slice(&id.to_be_bytes());
|
||||
verif_reporter
|
||||
.completion_failure(
|
||||
tm_sender,
|
||||
accepted_token,
|
||||
FailParams::new(time_stamp, &tmtc_err::UNKNOWN_TARGET_ID, &fail_data),
|
||||
)
|
||||
.expect("Sending start failure failed");
|
||||
}
|
||||
GenericRoutingError::Send(_) => {
|
||||
let mut fail_data: [u8; 8] = [0; 8];
|
||||
fail_data.copy_from_slice(&active_request.target_id().to_be_bytes());
|
||||
verif_reporter
|
||||
.completion_failure(
|
||||
tm_sender,
|
||||
accepted_token,
|
||||
FailParams::new(time_stamp, &tmtc_err::ROUTING_ERROR, &fail_data),
|
||||
)
|
||||
.expect("Sending start failure failed");
|
||||
}
|
||||
}
|
||||
}
|
||||
}
|
||||
impl PusRequestRouter<HkRequest> for GenericRequestRouter {
|
||||
type Error = GenericRoutingError;
|
||||
|
||||
fn route(
|
||||
&self,
|
||||
requestor_info: MessageMetadata,
|
||||
target_id: ComponentId,
|
||||
hk_request: HkRequest,
|
||||
) -> Result<(), Self::Error> {
|
||||
if let Some(sender) = self.composite_router_map.get(&target_id) {
|
||||
sender
|
||||
.send(GenericMessage::new(
|
||||
requestor_info,
|
||||
CompositeRequest::Hk(hk_request),
|
||||
))
|
||||
.map_err(|_| GenericRoutingError::Send(GenericSendError::RxDisconnected))?;
|
||||
return Ok(());
|
||||
}
|
||||
Err(GenericRoutingError::UnknownTargetId(target_id))
|
||||
}
|
||||
}
|
||||
|
||||
impl PusRequestRouter<ActionRequest> for GenericRequestRouter {
|
||||
type Error = GenericRoutingError;
|
||||
|
||||
fn route(
|
||||
&self,
|
||||
requestor_info: MessageMetadata,
|
||||
target_id: ComponentId,
|
||||
action_request: ActionRequest,
|
||||
) -> Result<(), Self::Error> {
|
||||
if let Some(sender) = self.composite_router_map.get(&target_id) {
|
||||
sender
|
||||
.send(GenericMessage::new(
|
||||
requestor_info,
|
||||
CompositeRequest::Action(action_request),
|
||||
))
|
||||
.map_err(|_| GenericRoutingError::Send(GenericSendError::RxDisconnected))?;
|
||||
return Ok(());
|
||||
}
|
||||
Err(GenericRoutingError::UnknownTargetId(target_id))
|
||||
}
|
||||
}
|
||||
|
||||
impl PusRequestRouter<ModeRequest> for GenericRequestRouter {
|
||||
type Error = GenericRoutingError;
|
||||
|
||||
fn route(
|
||||
&self,
|
||||
requestor_info: MessageMetadata,
|
||||
target_id: ComponentId,
|
||||
request: ModeRequest,
|
||||
) -> Result<(), Self::Error> {
|
||||
if let Some(sender) = self.mode_router_map.get(&target_id) {
|
||||
sender
|
||||
.send(GenericMessage::new(requestor_info, request))
|
||||
.map_err(|_| GenericRoutingError::Send(GenericSendError::RxDisconnected))?;
|
||||
return Ok(());
|
||||
}
|
||||
Err(GenericRoutingError::UnknownTargetId(target_id))
|
||||
}
|
||||
}
|
||||
157
src/tm_funnel.rs
Normal file
157
src/tm_funnel.rs
Normal file
@ -0,0 +1,157 @@
|
||||
use std::{
|
||||
collections::HashMap,
|
||||
sync::mpsc::{self},
|
||||
};
|
||||
|
||||
use log::info;
|
||||
use satrs::pus::{PusTmAsVec, PusTmInPool};
|
||||
use satrs::{
|
||||
pool::PoolProvider,
|
||||
seq_count::{CcsdsSimpleSeqCountProvider, SequenceCountProviderCore},
|
||||
spacepackets::{
|
||||
ecss::{tm::PusTmZeroCopyWriter, PusPacket},
|
||||
time::cds::MIN_CDS_FIELD_LEN,
|
||||
CcsdsPacket,
|
||||
},
|
||||
tmtc::tm_helper::SharedTmPool,
|
||||
};
|
||||
|
||||
use crate::interface::tcp::SyncTcpTmSource;
|
||||
|
||||
#[derive(Default)]
|
||||
pub struct CcsdsSeqCounterMap {
|
||||
apid_seq_counter_map: HashMap<u16, CcsdsSimpleSeqCountProvider>,
|
||||
}
|
||||
impl CcsdsSeqCounterMap {
|
||||
pub fn get_and_increment(&mut self, apid: u16) -> u16 {
|
||||
self.apid_seq_counter_map
|
||||
.entry(apid)
|
||||
.or_default()
|
||||
.get_and_increment()
|
||||
}
|
||||
}
|
||||
|
||||
pub struct TmFunnelCommon {
|
||||
seq_counter_map: CcsdsSeqCounterMap,
|
||||
msg_counter_map: HashMap<u8, u16>,
|
||||
sync_tm_tcp_source: SyncTcpTmSource,
|
||||
}
|
||||
|
||||
impl TmFunnelCommon {
|
||||
pub fn new(sync_tm_tcp_source: SyncTcpTmSource) -> Self {
|
||||
Self {
|
||||
seq_counter_map: Default::default(),
|
||||
msg_counter_map: Default::default(),
|
||||
sync_tm_tcp_source,
|
||||
}
|
||||
}
|
||||
|
||||
// Applies common packet processing operations for PUS TM packets. This includes setting
|
||||
// a sequence counter
|
||||
fn apply_packet_processing(&mut self, mut zero_copy_writer: PusTmZeroCopyWriter) {
|
||||
// zero_copy_writer.set_apid(PUS_APID);
|
||||
zero_copy_writer.set_seq_count(
|
||||
self.seq_counter_map
|
||||
.get_and_increment(zero_copy_writer.apid()),
|
||||
);
|
||||
let entry = self
|
||||
.msg_counter_map
|
||||
.entry(zero_copy_writer.service())
|
||||
.or_insert(0);
|
||||
zero_copy_writer.set_msg_count(*entry);
|
||||
if *entry == u16::MAX {
|
||||
*entry = 0;
|
||||
} else {
|
||||
*entry += 1;
|
||||
}
|
||||
|
||||
Self::packet_printout(&zero_copy_writer);
|
||||
// This operation has to come last!
|
||||
zero_copy_writer.finish();
|
||||
}
|
||||
|
||||
fn packet_printout(tm: &PusTmZeroCopyWriter) {
|
||||
info!("Sending PUS TM[{},{}]", tm.service(), tm.subservice());
|
||||
}
|
||||
}
|
||||
|
||||
pub struct TmFunnelStatic {
|
||||
common: TmFunnelCommon,
|
||||
shared_tm_store: SharedTmPool,
|
||||
tm_funnel_rx: mpsc::Receiver<PusTmInPool>,
|
||||
tm_server_tx: mpsc::SyncSender<PusTmInPool>,
|
||||
}
|
||||
|
||||
impl TmFunnelStatic {
|
||||
pub fn new(
|
||||
shared_tm_store: SharedTmPool,
|
||||
sync_tm_tcp_source: SyncTcpTmSource,
|
||||
tm_funnel_rx: mpsc::Receiver<PusTmInPool>,
|
||||
tm_server_tx: mpsc::SyncSender<PusTmInPool>,
|
||||
) -> Self {
|
||||
Self {
|
||||
common: TmFunnelCommon::new(sync_tm_tcp_source),
|
||||
shared_tm_store,
|
||||
tm_funnel_rx,
|
||||
tm_server_tx,
|
||||
}
|
||||
}
|
||||
|
||||
pub fn operation(&mut self) {
|
||||
if let Ok(pus_tm_in_pool) = self.tm_funnel_rx.recv() {
|
||||
// Read the TM, set sequence counter and message counter, and finally update
|
||||
// the CRC.
|
||||
let shared_pool = self.shared_tm_store.clone_backing_pool();
|
||||
let mut pool_guard = shared_pool.write().expect("Locking TM pool failed");
|
||||
let mut tm_copy = Vec::new();
|
||||
pool_guard
|
||||
.modify(&pus_tm_in_pool.store_addr, |buf| {
|
||||
let zero_copy_writer = PusTmZeroCopyWriter::new(buf, MIN_CDS_FIELD_LEN)
|
||||
.expect("Creating TM zero copy writer failed");
|
||||
self.common.apply_packet_processing(zero_copy_writer);
|
||||
tm_copy = buf.to_vec()
|
||||
})
|
||||
.expect("Reading TM from pool failed");
|
||||
self.tm_server_tx
|
||||
.send(pus_tm_in_pool)
|
||||
.expect("Sending TM to server failed");
|
||||
// We could also do this step in the update closure, but I'd rather avoid this, could
|
||||
// lead to nested locking.
|
||||
self.common.sync_tm_tcp_source.add_tm(&tm_copy);
|
||||
}
|
||||
}
|
||||
}
|
||||
|
||||
pub struct TmFunnelDynamic {
|
||||
common: TmFunnelCommon,
|
||||
tm_funnel_rx: mpsc::Receiver<PusTmAsVec>,
|
||||
tm_server_tx: mpsc::Sender<PusTmAsVec>,
|
||||
}
|
||||
|
||||
impl TmFunnelDynamic {
|
||||
pub fn new(
|
||||
sync_tm_tcp_source: SyncTcpTmSource,
|
||||
tm_funnel_rx: mpsc::Receiver<PusTmAsVec>,
|
||||
tm_server_tx: mpsc::Sender<PusTmAsVec>,
|
||||
) -> Self {
|
||||
Self {
|
||||
common: TmFunnelCommon::new(sync_tm_tcp_source),
|
||||
tm_funnel_rx,
|
||||
tm_server_tx,
|
||||
}
|
||||
}
|
||||
|
||||
pub fn operation(&mut self) {
|
||||
if let Ok(mut tm) = self.tm_funnel_rx.recv() {
|
||||
// Read the TM, set sequence counter and message counter, and finally update
|
||||
// the CRC.
|
||||
let zero_copy_writer = PusTmZeroCopyWriter::new(&mut tm.packet, MIN_CDS_FIELD_LEN)
|
||||
.expect("Creating TM zero copy writer failed");
|
||||
self.common.apply_packet_processing(zero_copy_writer);
|
||||
self.common.sync_tm_tcp_source.add_tm(&tm.packet);
|
||||
self.tm_server_tx
|
||||
.send(tm)
|
||||
.expect("Sending TM to server failed");
|
||||
}
|
||||
}
|
||||
}
|
||||
23
src/tmtc.rs
23
src/tmtc.rs
@ -4,6 +4,21 @@ use satrs::{
|
||||
tmtc::ReceivesCcsdsTc,
|
||||
};
|
||||
use std::sync::mpsc::{self, SendError, Sender, TryRecvError};
|
||||
use satrs::pool::{StoreAddr, StoreError};
|
||||
use satrs::pus::{EcssTcAndToken, MpscTmAsVecSender};
|
||||
use satrs::spacepackets::ecss::PusPacket;
|
||||
use crate::pus::PusReceiver;
|
||||
use thiserror::Error;
|
||||
|
||||
#[derive(Debug, Clone, PartialEq, Eq, Error)]
|
||||
pub enum MpscStoreAndSendError {
|
||||
#[error("Store error: {0}")]
|
||||
Store(#[from] StoreError),
|
||||
#[error("TC send error: {0}")]
|
||||
TcSend(#[from] SendError<EcssTcAndToken>),
|
||||
#[error("TMTC send error: {0}")]
|
||||
TmTcSend(#[from] SendError<StoreAddr>),
|
||||
}
|
||||
|
||||
// Newtype, can not implement necessary traits on MPSC sender directly because of orphan rules.
|
||||
#[derive(Clone)]
|
||||
@ -30,17 +45,17 @@ impl ReceivesCcsdsTc for PusTcSourceProviderDynamic {
|
||||
// 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>,
|
||||
pus_receiver: PusReceiver<MpscTmAsVecSender>,
|
||||
}
|
||||
|
||||
impl TcSourceTaskDynamic {
|
||||
pub fn new(
|
||||
tc_receiver: mpsc::Receiver<Vec<u8>>,
|
||||
// pus_receiver: PusReceiver<MpscTmAsVecSender>,
|
||||
pus_receiver: PusReceiver<MpscTmAsVecSender>,
|
||||
) -> Self {
|
||||
Self {
|
||||
tc_receiver,
|
||||
// pus_receiver,
|
||||
pus_receiver,
|
||||
}
|
||||
}
|
||||
|
||||
@ -52,7 +67,6 @@ impl TcSourceTaskDynamic {
|
||||
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()),
|
||||
@ -60,7 +74,6 @@ impl TcSourceTaskDynamic {
|
||||
&pus_tc,
|
||||
)
|
||||
.ok();
|
||||
*/
|
||||
true
|
||||
}
|
||||
Err(e) => {
|
||||
|
||||
Loading…
Reference in New Issue
Block a user