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added pus components and ping #1

Merged
muellerr merged 4 commits from pus_and_ping into main 2024-04-09 13:56:38 +02:00
Conversation 0 Commits 4 Files Changed 24 +2043 -25
24 changed files with 2043 additions and 25 deletions
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1
.gitignore vendored
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@ -4,3 +4,4 @@
/.vscode
# Ignore this, may include user specific paths.
/.cargo/config.toml
output.log

127
Cargo.lock generated
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@ -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"
@ -49,9 +58,9 @@ checksum = "bef38d45163c2f1dde094a7dfd33ccf595c92905c8f8f4fdc18d06fb1037718a"
[[package]]
name = "bumpalo"
version = "3.15.4"
version = "3.16.0"
source = "registry+https://github.com/rust-lang/crates.io-index"
checksum = "7ff69b9dd49fd426c69a0db9fc04dd934cdb6645ff000864d98f7e2af8830eaa"
checksum = "79296716171880943b8470b5f8d03aa55eb2e645a4874bdbb28adb49162e012c"
[[package]]
name = "bus"
@ -72,9 +81,9 @@ checksum = "1fd0f2584146f6f2ef48085050886acf353beff7305ebd1ae69500e27c67f64b"
[[package]]
name = "cc"
version = "1.0.91"
version = "1.0.92"
source = "registry+https://github.com/rust-lang/crates.io-index"
checksum = "1fd97381a8cc6493395a5afc4c691c1084b3768db713b73aa215217aa245d153"
checksum = "2678b2e3449475e95b0aa6f9b506a28e61b3dc8996592b983695e8ebb58a8b41"
[[package]]
name = "cfg-if"
@ -110,9 +119,9 @@ checksum = "06ea2b9bc92be3c2baa9334a323ebca2d6f074ff852cd1d7b11064035cd3868f"
[[package]]
name = "crc"
version = "3.2.0"
version = "3.2.1"
source = "registry+https://github.com/rust-lang/crates.io-index"
checksum = "c2b432c56615136f8dba245fed7ec3d5518c500a31108661067e61e72fe7e6bc"
checksum = "69e6e4d7b33a94f0991c26729976b10ebde1d34c3ee82408fb536164fa10d636"
dependencies = [
"crc-catalog",
]
@ -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"

9
Cargo.toml
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@ -11,8 +11,17 @@ 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"
features = ["test_util"]
[dependencies.satrs-mib]
version = "0.1.1"
git = "https://egit.irs.uni-stuttgart.de/rust/sat-rs.git"
branch = "main"

9
pytmtc/.gitignore vendored Normal file
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@ -0,0 +1,9 @@
__pycache__
/venv
/log
/.idea/*
!/.idea/runConfigurations
/seqcnt.txt
/.tmtc-history.txt

51
pytmtc/common.py Normal file
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@ -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
pytmtc/main.py Executable file
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@ -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
pytmtc/pus_tc.py Normal file
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@ -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
pytmtc/pus_tm.py Normal file
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2
pytmtc/requirements.txt Normal file
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@ -0,0 +1,2 @@
tmtccmd == 8.0.0rc1
# -e git+https://github.com/robamu-org/tmtccmd@97e5e51101a08b21472b3ddecc2063359f7e307a#egg=tmtccmd

38
pytmtc/tc_definitions.py Normal file
View 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
pytmtc/tmtc_conf.json Normal file
View 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
}

4
src/ccsds.rs
View File

@ -1,9 +1,9 @@
use ops_sat_rs::config::components::Apid;
use ops_sat_rs::config::APID_VALIDATOR;
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<

53
src/config.rs
View File

@ -1,5 +1,8 @@
use lazy_static::lazy_static;
use num_enum::{IntoPrimitive, TryFromPrimitive};
use satrs::spacepackets::{PacketId, PacketType};
use satrs_mib::res_code::ResultU16Info;
use satrs_mib::resultcode;
use std::{collections::HashSet, net::Ipv4Addr};
use strum::IntoEnumIterator;
@ -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 super::*;
use satrs::res_code::ResultU16;
#[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
View File

@ -0,0 +1,2 @@
pub mod tcp;
pub mod udp;

0
src/tcp.rs → src/interface/tcp.rs
View File

5
src/udp.rs → src/interface/udp.rs
View File

@ -2,10 +2,9 @@ use std::net::{SocketAddr, UdpSocket};
use std::sync::mpsc;
use log::{info, warn};
use satrs::pus::{PusTmAsVec, PusTmInPool};
use satrs::pus::PusTmAsVec;
use satrs::{
hal::std::udp_server::{ReceiveResult, UdpTcServer},
pool::{PoolProviderWithGuards, SharedStaticMemoryPool},
tmtc::CcsdsError,
};
@ -90,7 +89,7 @@ mod tests {
},
tmtc::ReceivesTcCore,
};
use satrs_example::config::{components, OBSW_SERVER_ADDR};
use ops_sat_rs::config::{components, OBSW_SERVER_ADDR};
use super::*;

32
src/lib.rs
View File

@ -1,3 +1,33 @@
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(),
}
}
}

112
src/main.rs
View File

@ -6,6 +6,7 @@ use std::{
};
use log::info;
use ops_sat_rs::config::tasks::FREQ_MS_PUS_STACK;
use ops_sat_rs::config::{
tasks::FREQ_MS_UDP_TMTC, OBSW_SERVER_ADDR, PACKET_ID_VALIDATOR, SERVER_PORT,
};
@ -14,36 +15,110 @@ use satrs::{
tmtc::CcsdsDistributor,
};
use crate::pus::stack::PusStack;
use crate::pus::test::create_test_service_dynamic;
use crate::pus::{PusReceiver, PusTcMpscRouter};
use crate::tm_funnel::TmFunnelDynamic;
use crate::tmtc::TcSourceTaskDynamic;
use crate::{
ccsds::CcsdsReceiver,
interface::tcp::{SyncTcpTmSource, TcpTask},
interface::udp::{DynamicUdpTmHandler, UdpTmtcServer},
logger::setup_logger,
tcp::{SyncTcpTmSource, TcpTask},
tmtc::PusTcSourceProviderDynamic,
udp::{DynamicUdpTmHandler, UdpTmtcServer},
};
mod ccsds;
mod interface;
mod logger;
mod tcp;
mod pus;
mod requests;
mod tm_funnel;
mod tmtc;
mod udp;
#[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 +137,8 @@ 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 +146,7 @@ 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 +163,33 @@ 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");
}

711
src/pus/mod.rs Normal file
View File

@ -0,0 +1,711 @@
pub mod stack;
pub mod test;
use crate::requests::GenericRequestRouter;
use crate::tmtc::MpscStoreAndSendError;
use log::warn;
use ops_sat_rs::config::components::PUS_ROUTING_SERVICE;
use ops_sat_rs::config::{tmtc_err, CustomPusServiceId};
use ops_sat_rs::TimeStampHelper;
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 std::fmt::Debug;
use std::sync::mpsc::{self, Sender};
// 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)]
#[allow(dead_code)]
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.
#[allow(dead_code)]
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)>,
}
#[allow(dead_code)]
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.
#[allow(dead_code)]
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(&current_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>>,
}
}

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// use crate::pus::mode::ModeServiceWrapper;
use crate::pus::test::TestCustomServiceWrapper;
use crate::pus::HandlingStatus;
use derive_new::new;
use satrs::{
pus::{EcssTcInMemConverter, EcssTmSenderCore},
spacepackets::time::{cds, TimeWriter},
};
// 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;
}
}
}
}

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use crate::pus::create_verification_reporter;
use log::{info, warn};
use ops_sat_rs::config::components::PUS_TEST_SERVICE;
use ops_sat_rs::config::tmtc_err;
// use satrs::event_man::{EventMessage, EventMessageU32};
use satrs::pus::test::PusService17TestHandler;
use satrs::pus::verification::{FailParams, VerificationReporter, VerificationReportingProvider};
use satrs::pus::{
EcssTcAndToken, EcssTcInMemConverter, EcssTcInVecConverter, EcssTmSenderCore, MpscTcReceiver,
MpscTmAsVecSender, PusPacketHandlerResult, PusServiceHelper, PusTmAsVec,
};
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;
pub fn create_test_service_dynamic(
tm_funnel_tx: mpsc::Sender<PusTmAsVec>,
// event_sender: mpsc::Sender<EventMessageU32>,
pus_test_rx: mpsc::Receiver<EcssTcAndToken>,
) -> TestCustomServiceWrapper<MpscTmAsVecSender, 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
}
}

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use std::collections::HashMap;
use std::sync::mpsc;
use log::warn;
use ops_sat_rs::config::components::PUS_ROUTING_SERVICE;
use ops_sat_rs::config::tmtc_err;
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;
#[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(),
}
}
}
#[allow(dead_code)]
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))
}
}

109
src/tm_funnel.rs Normal file
View File

@ -0,0 +1,109 @@
use std::{
collections::HashMap,
sync::mpsc::{self},
};
use log::info;
use satrs::pus::PusTmAsVec;
use satrs::{
seq_count::{CcsdsSimpleSeqCountProvider, SequenceCountProviderCore},
spacepackets::{
ecss::{tm::PusTmZeroCopyWriter, PusPacket},
time::cds::MIN_CDS_FIELD_LEN,
CcsdsPacket,
},
};
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 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
View File

@ -1,9 +1,24 @@
use crate::pus::PusReceiver;
use satrs::pool::{StoreAddr, StoreError};
use satrs::pus::{EcssTcAndToken, MpscTmAsVecSender};
use satrs::spacepackets::ecss::PusPacket;
use satrs::{
pus::ReceivesEcssPusTc,
spacepackets::{ecss::tc::PusTcReader, SpHeader},
tmtc::ReceivesCcsdsTc,
};
use std::sync::mpsc::{self, SendError, Sender, TryRecvError};
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) => {