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camera_tests #13

Merged
muellerr merged 9 commits from camera_tests into main 2024-04-24 17:43:41 +02:00
Conversation 1 Commits 9 Files Changed 13 +1424 -206
19 changed files with 1424 additions and 206 deletions
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1
.gitignore vendored
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@ -7,3 +7,4 @@
# Ignore logs folder generared by application.
/logs
/exp278.toml

90
Cargo.lock generated
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@ -138,9 +138,9 @@ checksum = "1fd0f2584146f6f2ef48085050886acf353beff7305ebd1ae69500e27c67f64b"
[[package]]
name = "cc"
version = "1.0.94"
version = "1.0.95"
source = "registry+https://github.com/rust-lang/crates.io-index"
checksum = "17f6e324229dc011159fcc089755d1e2e216a90d43a7dea6853ca740b84f35e7"
checksum = "d32a725bc159af97c3e629873bb9f88fb8cf8a4867175f76dc987815ea07c83b"
[[package]]
name = "cfg-if"
@ -251,7 +251,7 @@ checksum = "d150dea618e920167e5973d70ae6ece4385b7164e0d799fe7c122dd0a5d912ad"
dependencies = [
"proc-macro2",
"quote",
"syn 2.0.59",
"syn 2.0.60",
]
[[package]]
@ -590,7 +590,7 @@ dependencies = [
"proc-macro-crate",
"proc-macro2",
"quote",
"syn 2.0.59",
"syn 2.0.60",
]
[[package]]
@ -617,8 +617,10 @@ dependencies = [
"satrs-mib",
"serde",
"serde_json",
"socket2",
"strum",
"thiserror",
"toml",
]
[[package]]
@ -658,7 +660,7 @@ version = "3.1.0"
source = "registry+https://github.com/rust-lang/crates.io-index"
checksum = "6d37c51ca738a55da99dc0c4a34860fd675453b8b36209178c2249bb13651284"
dependencies = [
"toml_edit",
"toml_edit 0.21.1",
]
[[package]]
@ -776,7 +778,7 @@ checksum = "474b583ffa521fbc362ae71da11c9fe29a6b60af47744e067550b6eef4f60d43"
dependencies = [
"proc-macro2",
"quote",
"syn 2.0.59",
"syn 2.0.60",
]
[[package]]
@ -817,7 +819,7 @@ checksum = "e88edab869b01783ba905e7d0153f9fc1a6505a96e4ad3018011eedb838566d9"
dependencies = [
"proc-macro2",
"quote",
"syn 2.0.59",
"syn 2.0.60",
]
[[package]]
@ -832,12 +834,21 @@ dependencies = [
]
[[package]]
<<<<<<< HEAD
name = "slab"
version = "0.4.9"
source = "registry+https://github.com/rust-lang/crates.io-index"
checksum = "8f92a496fb766b417c996b9c5e57daf2f7ad3b0bebe1ccfca4856390e3d3bb67"
dependencies = [
"autocfg",
=======
name = "serde_spanned"
version = "0.6.5"
source = "registry+https://github.com/rust-lang/crates.io-index"
checksum = "eb3622f419d1296904700073ea6cc23ad690adbd66f13ea683df73298736f0c1"
dependencies = [
"serde",
>>>>>>> main
]
[[package]]
@ -867,9 +878,9 @@ dependencies = [
[[package]]
name = "spacepackets"
version = "0.11.0"
version = "0.11.1"
source = "registry+https://github.com/rust-lang/crates.io-index"
checksum = "08e05169d37db5d0f8527f4abcacb72f6d178654879892c0e37ab5f04df85e3e"
checksum = "fa9f4d7df5fa3bc25ecfc95f1f612fc3d16c566df538d3d3c82db0e523096216"
dependencies = [
"chrono",
"crc",
@ -900,7 +911,7 @@ dependencies = [
"proc-macro2",
"quote",
"rustversion",
"syn 2.0.59",
"syn 2.0.60",
]
[[package]]
@ -916,9 +927,9 @@ dependencies = [
[[package]]
name = "syn"
version = "2.0.59"
version = "2.0.60"
source = "registry+https://github.com/rust-lang/crates.io-index"
checksum = "4a6531ffc7b071655e4ce2e04bd464c4830bb585a61cabb96cf808f05172615a"
checksum = "909518bc7b1c9b779f1bbf07f2929d35af9f0f37e47c6e9ef7f9dddc1e1821f3"
dependencies = [
"proc-macro2",
"quote",
@ -927,22 +938,34 @@ dependencies = [
[[package]]
name = "thiserror"
version = "1.0.58"
version = "1.0.59"
source = "registry+https://github.com/rust-lang/crates.io-index"
checksum = "03468839009160513471e86a034bb2c5c0e4baae3b43f79ffc55c4a5427b3297"
checksum = "f0126ad08bff79f29fc3ae6a55cc72352056dfff61e3ff8bb7129476d44b23aa"
dependencies = [
"thiserror-impl",
]
[[package]]
name = "thiserror-impl"
version = "1.0.58"
version = "1.0.59"
source = "registry+https://github.com/rust-lang/crates.io-index"
checksum = "c61f3ba182994efc43764a46c018c347bc492c79f024e705f46567b418f6d4f7"
checksum = "d1cd413b5d558b4c5bf3680e324a6fa5014e7b7c067a51e69dbdf47eb7148b66"
dependencies = [
"proc-macro2",
"quote",
"syn 2.0.59",
"syn 2.0.60",
]
[[package]]
name = "toml"
version = "0.8.12"
source = "registry+https://github.com/rust-lang/crates.io-index"
checksum = "e9dd1545e8208b4a5af1aa9bbd0b4cf7e9ea08fabc5d0a5c67fcaafa17433aa3"
dependencies = [
"serde",
"serde_spanned",
"toml_datetime",
"toml_edit 0.22.12",
]
[[package]]
@ -950,6 +973,9 @@ name = "toml_datetime"
version = "0.6.5"
source = "registry+https://github.com/rust-lang/crates.io-index"
checksum = "3550f4e9685620ac18a50ed434eb3aec30db8ba93b0287467bca5826ea25baf1"
dependencies = [
"serde",
]
[[package]]
name = "toml_edit"
@ -959,7 +985,20 @@ checksum = "6a8534fd7f78b5405e860340ad6575217ce99f38d4d5c8f2442cb5ecb50090e1"
dependencies = [
"indexmap",
"toml_datetime",
"winnow",
"winnow 0.5.40",
]
[[package]]
name = "toml_edit"
version = "0.22.12"
source = "registry+https://github.com/rust-lang/crates.io-index"
checksum = "d3328d4f68a705b2a4498da1d580585d39a6510f98318a2cec3018a7ec61ddef"
dependencies = [
"indexmap",
"serde",
"serde_spanned",
"toml_datetime",
"winnow 0.6.6",
]
[[package]]
@ -1007,7 +1046,7 @@ dependencies = [
"once_cell",
"proc-macro2",
"quote",
"syn 2.0.59",
"syn 2.0.60",
"wasm-bindgen-shared",
]
@ -1029,7 +1068,7 @@ checksum = "e94f17b526d0a461a191c78ea52bbce64071ed5c04c9ffe424dcb38f74171bb7"
dependencies = [
"proc-macro2",
"quote",
"syn 2.0.59",
"syn 2.0.60",
"wasm-bindgen-backend",
"wasm-bindgen-shared",
]
@ -1238,6 +1277,7 @@ dependencies = [
]
[[package]]
<<<<<<< HEAD
name = "wmi"
version = "0.13.3"
source = "registry+https://github.com/rust-lang/crates.io-index"
@ -1249,6 +1289,14 @@ dependencies = [
"serde",
"thiserror",
"windows",
=======
name = "winnow"
version = "0.6.6"
source = "registry+https://github.com/rust-lang/crates.io-index"
checksum = "f0c976aaaa0e1f90dbb21e9587cdaf1d9679a1cde8875c0d6bd83ab96a208352"
dependencies = [
"memchr",
>>>>>>> main
]
[[package]]
@ -1269,5 +1317,5 @@ checksum = "9ce1b18ccd8e73a9321186f97e46f9f04b778851177567b1975109d26a08d2a6"
dependencies = [
"proc-macro2",
"quote",
"syn 2.0.59",
"syn 2.0.60",
]

2
Cargo.toml
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@ -7,6 +7,7 @@ edition = "2021"
[dependencies]
fern = "0.6"
toml = "0.8"
chrono = "0.4"
log = "0.4"
lazy_static = "1"
@ -19,6 +20,7 @@ serde = "1"
serde_json = "1"
mio = "0.8"
homedir = "0.2"
socket2 = "0.5"
[dependencies.satrs]
version = "0.2.0-rc.3"

68
README.md
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@ -2,6 +2,8 @@ ESA OPS-SAT Rust experiment
========
This is the primary repository for the ESA OPS-SAT experiment.
The primary repository to generate packages for ESOC can be found [here](https://egit.irs.uni-stuttgart.de/rust/ops-sat-experiment).
You can also find some more general documentation about OPS-SAT there.
## Pre-Requisites
@ -9,7 +11,7 @@ This is the primary repository for the ESA OPS-SAT experiment.
[podman](https://podman.io/) installed
- [`cross`](https://github.com/cross-rs/cross) package installed
## Build
## Build for Target Hardware
You might need to set the [`CROSS_CONTAINER_ENGINE`](https://github.com/cross-rs/cross/wiki/FAQ#explicitly-choose-the-container-engine)
and [`CROSS_ROOTLESS_CONTAINER_ENGINE`](https://github.com/cross-rs/cross/blob/main/docs/environment_variables.md#configuring-cross-with-environment-variables)
@ -27,16 +29,58 @@ cross build
cross build --release
```
## Documentation
## Build for Host
The [wiki](https://opssat1.esoc.esa.int/projects/experimenter-information/wiki)
appears to be a useful source for documentation.
The software was designed to be runnable and testable on a host computer.
You can use the regular cargo workflow for this.
- [OBSW documents](https://opssat1.esoc.esa.int/projects/experimenter-information/dmsf?folder_id=7)
- [Software Integration Process](https://opssat1.esoc.esa.int/dmsf/files/34/view)
- [SPP/TCP bridge](https://opssat1.esoc.esa.int/dmsf/files/65/view)
- [Cross-compiling SEPP](https://opssat1.esoc.esa.int/projects/experimenter-information/wiki/Cross-compiling_SEPP_application)
- [TMTC infrastructure](https://opssat1.esoc.esa.int/projects/experimenter-information/wiki/Live_TM_TC_data)
- [Submitting an Experiment](https://opssat1.esoc.esa.int/projects/experimenter-information/wiki/Building_and_submitting_your_application_to_ESOC)
- [Building with Yocto and Docker](https://opssat1.esoc.esa.int/projects/experimenter-information/wiki/Building_an_application_locally_using_Yocto_Toolchain_in_a_Docker)
- [SPP over CAN](https://opssat1.esoc.esa.int/projects/experimenter-information/wiki/SPP_over_CAN_communication)
### Running
```sh
cargo run
```
### Testing
```sh
cargo test
```
## Commanding Infrastructure
Commanding of the `ops-sat-rs` application is possible by different means.
<img src="docs/networking-structure.png" alt="Networking and Commanding Structure" width="500"/>
### Using the `pyclient` and `pyserver` applications
You can find both commanding application inside the `pytmtc` folder.
You can also find a `requirements.txt` file there to install all required Python dependencies.
If you want to command the satellite using the OPS-SAT infrastrucute, start the `pyserver.py`
as a background application first, for example by simply running `pyserver.py` inside a
new terminal window.
After that, you can run `pyclient.py -p /test/ping -l` to send a ping telecommand and then
go into listener mode using the following `tmtc_conf.json` file:
```json
{
"com_if": "tcp",
"tcpip_tcp_ip_addr": "127.0.0.1",
"tcpip_tcp_port": 4097
}
```
You can command the TCP server in the OPS-SAT software directly by running the commands with
the following configuration:
```json
{
"com_if": "tcp",
"tcpip_tcp_ip_addr": "127.0.0.1",
"tcpip_tcp_port": 7031
}
```
You can run `pyclient.py -T` or `pyclient.py -h` for more information on the client application.

193
docs/networking-structure.graphml Normal file
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@ -0,0 +1,193 @@
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176
pytmtc/archive/tcp_server.py Normal file
View File

@ -0,0 +1,176 @@
from typing import Any, Optional
import select
import time
import socket
import logging
from threading import Thread, Event, Lock
from collections import deque
from tmtccmd.com import ComInterface
from tmtccmd.tmtc import TelemetryListT
_LOGGER = logging.getLogger(__name__)
class TcpServer(ComInterface):
def __init__(self, port: int):
self.port = port
self._max_num_packets_in_tc_queue = 500
self._max_num_packets_in_tm_queue = 500
self._default_timeout_secs = 0.5
self._server_addr = ("localhost", self.port)
self._tc_packet_queue = deque()
self._tm_packet_queue = deque()
self._tc_lock = Lock()
self._tm_lock = Lock()
self._kill_signal = Event()
self._server_socket: Optional[socket.socket] = None
self._server_thread = Thread(target=self._server_task, daemon=True)
self._connected = False
# self._conn_start = None
# self._writing_done = False
# self._reading_done = False
@property
def connected(self) -> bool:
return self._connected
@property
def id(self) -> str:
return "tcp_server"
def initialize(self, args: Any = 0) -> Any:
"""Perform initializations step which can not be done in constructor or which require
returnvalues.
"""
pass
def open(self, args: Any = 0):
"""Opens the communication interface to allow communication.
:return:
"""
if self.connected:
return
self._connected = True
self._server_thread.start()
def _server_task(self):
self._server_socket = socket.socket(socket.AF_INET, socket.SOCK_STREAM)
self._server_socket.setsockopt(socket.SOL_SOCKET, socket.SO_REUSEADDR, 1)
# We need to check the kill signal periodically to allow closing the server.
self._server_socket.settimeout(self._default_timeout_secs)
self._server_socket.bind(self._server_addr)
self._server_socket.listen()
while True and not self._kill_signal.is_set():
try:
(conn_socket, conn_addr) = self._server_socket.accept()
self._handle_connection(conn_socket, conn_addr)
# conn_socket.close()
"""
if (
self._reading_done and self._writing_done
) or time.time() - self.conn_start > 0.5:
print("reading and writing done")
break
"""
except TimeoutError:
continue
def _handle_connection(self, conn_socket: socket.socket, conn_addr: Any):
_LOGGER.info(f"TCP client {conn_addr} connected")
queue_len = 0
while True:
with self._tc_lock:
queue_len = len(self._tc_packet_queue)
outputs = []
if queue_len > 0:
outputs.append(conn_socket)
(readable, writable, _) = select.select(
[conn_socket],
outputs,
[],
0.2,
)
if writable and writable[0]:
print("writeable")
while queue_len > 0:
next_packet = bytes()
with self._tc_lock:
next_packet = self._tc_packet_queue.popleft()
if len(next_packet) > 0:
conn_socket.sendall(next_packet)
queue_len -= 1
if readable and readable[0]:
print("readable")
while True:
bytes_recvd = conn_socket.recv(4096)
if len(bytes_recvd) > 0:
print(f"Received bytes from TCP client: {bytes_recvd.decode()}")
with self._tm_lock:
self._tm_packet_queue.append(bytes_recvd)
elif len(bytes_recvd) == 0:
break
else:
print("error receiving data from TCP client")
def is_open(self) -> bool:
"""Can be used to check whether the communication interface is open. This is useful if
opening a COM interface takes a longer time and is non-blocking
"""
return self.connected
def close(self, args: Any = 0):
"""Closes the ComIF and releases any held resources (for example a Communication Port).
:return:
"""
self._kill_signal.set()
self._server_thread.join()
self._connected = False
def send(self, data: bytes):
"""Send raw data.
:raises SendError: Sending failed for some reason.
"""
with self._tc_lock:
if len(self._tc_packet_queue) >= self._max_num_packets_in_tc_queue:
# Remove oldest packet
self._tc_packet_queue.popleft()
self._tc_packet_queue.append(data)
def receive(self, parameters: Any = 0) -> TelemetryListT:
"""Returns a list of received packets. The child class can use a separate thread to poll for
the packets or use some other mechanism and container like a deque to store packets
to be returned here.
:param parameters:
:raises ReceptionDecodeError: If the underlying COM interface uses encoding and
decoding and the decoding fails, this exception will be returned.
:return:
"""
with self._tm_lock:
packet_list = []
while self._tm_packet_queue:
packet_list.append(self._tm_packet_queue.popleft())
return packet_list
def data_available(self, timeout: float, parameters: Any = 0) -> int:
"""Check whether TM packets are available.
:param timeout: Can be used to block on available data if supported by the specific
communication interface.
:param parameters: Can be an arbitrary parameter.
:raises ReceptionDecodeError: If the underlying COM interface uses encoding and
decoding when determining the number of available packets, this exception can be
thrown on decoding errors.
:return: 0 if no data is available, number of packets otherwise.
"""
with self._tm_lock:
return len(self._tm_packet_queue)

1
pytmtc/main.py → pytmtc/pyclient.py
View File

@ -1,5 +1,6 @@
#!/usr/bin/env python3
"""Example client for the sat-rs example application"""
from __future__ import annotations
import logging
import sys
import time

185
pytmtc/pyserver.py Executable file
View File

@ -0,0 +1,185 @@
#!/usr/bin/env python3
import socket
import abc
import time
import select
import logging
from typing import Any
from threading import Event, Thread
from collections import deque
from multiprocessing import Queue
from spacepackets.ccsds.spacepacket import parse_space_packets, PacketId
from spacepackets.ecss.tc import PacketType
EXP_ID = 278
EXP_APID = 1024 + EXP_ID
EXP_PACKET_ID_TM = PacketId(PacketType.TM, True, EXP_APID)
EXP_PACKET_ID_TC = PacketId(PacketType.TC, True, EXP_APID)
OPSSAT_SERVER_PORT = 4096
TMTC_SERVER_PORT = 4097
LOG_LEVEL = logging.DEBUG
TC_QUEUE = Queue()
TM_QUEUE = Queue()
KILL_SIGNAL = Event()
_LOGGER = logging.getLogger(__name__)
def main():
logging.basicConfig(
format="[%(asctime)s] [%(levelname)-5s] %(message)s",
level=LOG_LEVEL,
datefmt="%Y-%m-%d %H:%M:%S",
)
print("Starting OPS-SAT ground TMTC server")
KILL_SIGNAL.clear()
ops_sat_thread = OpsSatServer()
ops_sat_thread.start()
tmtc_thread = TmtcServer()
tmtc_thread.start()
try:
while True:
time.sleep(1)
except KeyboardInterrupt:
_LOGGER.info("Shutting down server gracefully")
KILL_SIGNAL.set()
ops_sat_thread.join()
tmtc_thread.join()
class BaseServer(Thread):
def __init__(self, log_prefix: str, port: int):
self.log_prefix = log_prefix
self.server_socket = socket.socket(socket.AF_INET, socket.SOCK_STREAM)
server_addr = ("0.0.0.0", port)
self.server_socket.setsockopt(socket.SOL_SOCKET, socket.SO_REUSEADDR, 1)
self.server_socket.setblocking(False)
self.server_socket.settimeout(0.4)
self.server_socket.bind(server_addr)
super().__init__()
def run(self) -> None:
self.run_sync_version()
def run_sync_version(self) -> None:
self.server_socket.listen()
while True and not KILL_SIGNAL.is_set():
try:
(conn_socket, conn_addr) = self.server_socket.accept()
self.handle_connection(conn_socket, conn_addr)
except TimeoutError:
continue
def handle_connection(self, conn_socket: socket.socket, conn_addr: Any):
conn_socket.setblocking(False)
print(f"{self.log_prefix} TCP client {conn_addr} connected")
analysis_deque = deque()
while True and not KILL_SIGNAL.is_set():
conn_socket.settimeout(0.2)
try:
bytes_recvd = conn_socket.recv(4096)
if len(bytes_recvd) > 0:
_LOGGER.debug(f"{self.log_prefix} RX RAW: {bytes_recvd}")
analysis_deque.append(bytes_recvd)
elif len(bytes_recvd) == 0:
self.handle_read_bytestream(analysis_deque)
break
else:
print("error receiving data from TCP client")
except BlockingIOError:
self.handle_timeout(conn_socket, analysis_deque)
time.sleep(0.2)
except TimeoutError:
self.handle_timeout(conn_socket, analysis_deque)
def handle_timeout(self, conn_socket: socket.socket, analysis_deque: deque):
if len(analysis_deque) > 0:
self.handle_read_bytestream(analysis_deque)
self.send_data_to_client(conn_socket)
def run_select_version(self) -> None:
while True:
self.server_socket.listen()
(conn_socket, conn_addr) = self.server_socket.accept()
print(f"{self.log_prefix} TCP client {conn_addr} connected")
analysis_deque = deque()
while True:
outputs = []
if self.send_data_available():
outputs.append(conn_socket)
(readable, writable, _) = select.select([conn_socket], outputs, [], 0.2)
if readable and readable[0]:
bytes_recvd = conn_socket.recv(4096)
if len(bytes_recvd) > 0:
_LOGGER.debug("received data from TCP client: {}", bytes_recvd)
analysis_deque.append(bytes_recvd)
elif len(bytes_recvd) == 0:
self.handle_read_bytestream(analysis_deque)
break
else:
print("error receiving data from TCP client")
if writable and writable[0]:
self.send_data_to_client(conn_socket)
if not writable and not readable:
if len(analysis_deque) > 0:
self.handle_read_bytestream(analysis_deque)
self.send_data_to_client(conn_socket)
@abc.abstractmethod
def handle_read_bytestream(self, analysis_deque: deque):
pass
@abc.abstractmethod
def send_data_to_client(self, conn_socket: socket.socket):
pass
@abc.abstractmethod
def send_data_available(self) -> bool:
pass
class OpsSatServer(BaseServer):
def __init__(self):
super().__init__("[OPS-SAT]", OPSSAT_SERVER_PORT)
def handle_read_bytestream(self, analysis_deque: deque):
parsed_packets = parse_space_packets(analysis_deque, [EXP_PACKET_ID_TM])
for packet in parsed_packets:
_LOGGER.info(f"{self.log_prefix} RX TM: [{packet.hex(sep=',')}]")
TM_QUEUE.put(packet)
def send_data_to_client(self, conn_socket: socket.socket):
while not TC_QUEUE.empty():
next_packet = TC_QUEUE.get()
_LOGGER.info(f"{self.log_prefix} TX TC [{next_packet.hex(sep=',')}]")
conn_socket.sendall(next_packet)
def send_data_available(self) -> bool:
return not TC_QUEUE.empty()
class TmtcServer(BaseServer):
def __init__(self):
super().__init__("[TMTC]", TMTC_SERVER_PORT)
def handle_read_bytestream(self, analysis_deque: deque):
parsed_packets = parse_space_packets(analysis_deque, [EXP_PACKET_ID_TC])
for packet in parsed_packets:
_LOGGER.info(f"{self.log_prefix} RX TM: [{packet.hex(sep=',')}]")
TC_QUEUE.put(packet)
def send_data_to_client(self, conn_socket: socket.socket):
while not TM_QUEUE.empty():
next_packet = TM_QUEUE.get()
_LOGGER.info(f"{self.log_prefix} TX TM [{next_packet.hex(sep=',')}]")
conn_socket.sendall(next_packet)
def send_data_available(self) -> bool:
return not TM_QUEUE.empty()
if __name__ == "__main__":
main()

12
scripts/bld-deploy-remote.py
View File

@ -4,7 +4,6 @@ on a remote machine, e.g. a Raspberry Pi"""
import argparse
import os
import sys
import platform
import time
from typing import Final
@ -16,10 +15,10 @@ BUILDER = "cross"
# remote configurations by tweaking / hardcoding these parameter, which generally are constant
# for a given board
DEFAULT_USER_NAME: Final = "root"
DEFAULT_ADDRESS: Final = "192.254.108.30"
DEFAULT_ADDRESS: Final = "small_flatsat"
DEFAULT_TOOLCHAIN: Final = "armv7-unknown-linux-gnueabihf"
DEFAULT_APP_NAME: Final = "ops-sat-rs"
DEFAULT_TARGET_FOLDER: Final = "/tmp"
DEFAULT_TARGET_FOLDER: Final = "/home/exp278/"
DEFAULT_DEBUG_PORT: Final = "1234"
DEFAULT_GDB_APP = "gdb-multiarch"
@ -140,10 +139,11 @@ def bld_deploy_run(args):
sshpass_args = f"-f {args.sshfile}"
elif args.sshenv:
sshpass_args = "-e"
ssh_target_ident = f"{args.user}@{args.address}"
# ssh_target_ident = f"{args.user}@{args.address}"
ssh_target_ident = "small_flatsat"
sshpass_cmd = ""
if platform.system() != "Windows":
sshpass_cmd = f"sshpass {sshpass_args}"
# if platform.system() != "Windows":
# sshpass_cmd = f"sshpass {sshpass_args}"
dest_path = f"{args.dest}/{args.app}"
if not args.source:
source_path = f"{os.getcwd()}/target/{args.tc}/{build_folder}/{args.app}"

85
src/config.rs
View File

@ -8,7 +8,8 @@ use std::net::Ipv4Addr;
use std::path::{Path, PathBuf};
pub const STOP_FILE_NAME: &str = "stop-experiment";
pub const HOME_FOLDER_EXPERIMENT: &str = "/home/exp278";
pub const CONFIG_FILE_NAME: &str = "exp278.toml";
pub const HOME_FOLER_EXPERIMENT: &str = "/home/exp278";
pub const LOG_FOLDER: &str = "logs";
pub const OBSW_SERVER_ADDR: Ipv4Addr = Ipv4Addr::UNSPECIFIED;
@ -21,7 +22,8 @@ pub const VALID_PACKET_ID_LIST: &[PacketId] = &[PacketId::new_for_tc(true, EXPER
// TODO: Would be nice if this can be commanded as well..
/// Can be enabled to print all SPP packets received from the SPP server on port 4096.
pub const SPP_CLIENT_WIRETAPPING_RX: bool = false;
pub const SPP_CLIENT_WIRETAPPING_RX: bool = true;
pub const SPP_CLIENT_WIRETAPPING_TX: bool = true;
#[derive(Copy, Clone, PartialEq, Eq, Debug, TryFromPrimitive, IntoPrimitive)]
#[repr(u8)]
@ -52,6 +54,80 @@ lazy_static! {
};
}
pub mod cfg_file {
use std::{
fs::File,
io::Read,
path::{Path, PathBuf},
};
use super::{CONFIG_FILE_NAME, HOME_PATH, TCP_SPP_SERVER_PORT};
pub const SPP_CLIENT_PORT_CFG_KEY: &str = "tcp_spp_server_port";
#[derive(Debug)]
pub struct AppCfg {
pub tcp_spp_server_port: u16,
}
impl Default for AppCfg {
fn default() -> Self {
Self {
tcp_spp_server_port: TCP_SPP_SERVER_PORT,
}
}
}
pub fn create_app_config() -> AppCfg {
let mut cfg_path = HOME_PATH.clone();
cfg_path.push(CONFIG_FILE_NAME);
let cfg_path_home = cfg_path.as_path();
let relevant_path = if Path::new(CONFIG_FILE_NAME).exists() {
Some(PathBuf::from(Path::new(CONFIG_FILE_NAME)))
} else if cfg_path_home.exists() {
Some(PathBuf::from(cfg_path_home))
} else {
None
};
let mut app_cfg = AppCfg::default();
if relevant_path.is_none() {
log::warn!("No config file found, using default values");
return app_cfg;
}
let relevant_path = relevant_path.unwrap();
match File::open(relevant_path.as_path()) {
Ok(mut file) => {
let mut toml_str = String::new();
match file.read_to_string(&mut toml_str) {
Ok(_size) => match toml_str.parse::<toml::Table>() {
Ok(table) => {
handle_config_file_table(table, &mut app_cfg);
}
Err(e) => log::error!("error parsing TOML config file: {e}"),
},
Err(e) => log::error!("error reading TOML config file: {e}"),
}
}
Err(e) => log::error!("error opening TOML config file: {e}"),
}
app_cfg
}
#[allow(clippy::collapsible_match)]
pub fn handle_config_file_table(table: toml::Table, app_cfg: &mut AppCfg) {
if let Some(value) = table.get(SPP_CLIENT_PORT_CFG_KEY) {
if let toml::Value::Integer(port) = value {
if *port < 0 {
log::warn!("invalid port value, is negative");
} else {
app_cfg.tcp_spp_server_port = *port as u16
}
}
}
}
}
pub mod tmtc_err {
use super::*;
use satrs::res_code::ResultU16;
@ -144,11 +220,14 @@ pub mod components {
}
pub mod tasks {
use std::time::Duration;
pub const FREQ_MS_UDP_TMTC: u64 = 200;
pub const FREQ_MS_EVENT_HANDLING: u64 = 400;
pub const FREQ_MS_AOCS: u64 = 500;
pub const FREQ_MS_PUS_STACK: u64 = 200;
pub const FREQ_MS_CTRL: u64 = 400;
pub const STOP_CHECK_FREQUENCY: u64 = 400;
pub const STOP_CHECK_FREQUENCY_MS: u64 = 400;
pub const STOP_CHECK_FREQUENCY: Duration = Duration::from_millis(STOP_CHECK_FREQUENCY_MS);
}

14
src/handlers/camera.rs
View File

@ -177,10 +177,20 @@ impl IMS100BatchHandler {
self.handle_hk_request(&msg.requestor_info, hk_request);
}
CompositeRequest::Action(action_request) => {
self.handle_action_request(&msg.requestor_info, action_request).unwrap();
if let Err(e) =
self.handle_action_request(&msg.requestor_info, action_request)
{
log::warn!("camera action request IO error: {e}");
}
}
},
Err(e) => match e {
mpsc::TryRecvError::Empty => break,
mpsc::TryRecvError::Disconnected => {
log::warn!("composite request receiver disconnected");
break;
}
},
Err(_) => {}
}
}
}

5
src/interface/tcp_server.rs
View File

@ -1,7 +1,6 @@
use std::{
collections::VecDeque,
sync::{atomic::AtomicBool, mpsc, Arc, Mutex},
time::Duration,
};
use log::{info, warn};
@ -113,9 +112,7 @@ impl TcpTask {
}
pub fn periodic_operation(&mut self) {
let result = self
.0
.handle_all_connections(Some(Duration::from_millis(STOP_CHECK_FREQUENCY)));
let result = self.0.handle_all_connections(Some(STOP_CHECK_FREQUENCY));
match result {
Ok(_conn_result) => (),
Err(e) => {

760
src/interface/tcp_spp_client.rs
View File

@ -1,12 +1,13 @@
use std::io::{self, Read, Write};
use std::io::{self, Read};
use std::net::TcpStream as StdTcpStream;
use std::net::{IpAddr, Ipv4Addr, SocketAddr};
use std::sync::mpsc;
use std::time::Duration;
use mio::net::TcpStream;
use mio::net::TcpStream as MioTcpStream;
use mio::{Events, Interest, Poll, Token};
use ops_sat_rs::config::tasks::STOP_CHECK_FREQUENCY;
use ops_sat_rs::config::{SPP_CLIENT_WIRETAPPING_RX, TCP_SPP_SERVER_PORT};
use ops_sat_rs::config::{SPP_CLIENT_WIRETAPPING_RX, SPP_CLIENT_WIRETAPPING_TX};
use satrs::encoding::ccsds::parse_buffer_for_ccsds_space_packets;
use satrs::queue::GenericSendError;
use satrs::spacepackets::PacketId;
@ -17,19 +18,22 @@ use thiserror::Error;
use super::{SimpleSpValidator, TcpComponent};
#[derive(Debug, Error)]
pub enum PacketForwardingError {
pub enum ClientError {
#[error("send error: {0}")]
Send(#[from] GenericSendError),
#[error("io error: {0}")]
Io(#[from] io::Error),
}
pub struct TcpSppClient {
#[derive(Debug)]
pub enum ClientResult {
Ok,
ConnectionLost,
}
#[allow(dead_code)]
pub struct TcpSppClientCommon {
id: ComponentId,
poll: Poll,
events: Events,
// Optional to allow periodic reconnection attempts on the TCP server.
client: Option<TcpStream>,
read_buf: [u8; 4096],
tm_tcp_client_rx: mpsc::Receiver<PacketAsVec>,
server_addr: SocketAddr,
@ -37,143 +41,13 @@ pub struct TcpSppClient {
validator: SimpleSpValidator,
}
impl TcpSppClient {
pub fn new(
id: ComponentId,
tc_source_tx: mpsc::Sender<PacketAsVec>,
tm_tcp_client_rx: mpsc::Receiver<PacketAsVec>,
valid_ids: &'static [PacketId],
) -> io::Result<Self> {
let mut poll = Poll::new()?;
let events = Events::with_capacity(128);
let server_addr =
SocketAddr::new(IpAddr::V4(Ipv4Addr::new(127, 0, 1, 1)), TCP_SPP_SERVER_PORT);
let client = Self::attempt_connection(&mut poll, &server_addr);
if client.is_err() {
log::warn!(
"connection to TCP server {} failed: {}",
server_addr,
client.unwrap_err()
);
return Ok(Self {
id,
poll,
events,
client: None,
read_buf: [0; 4096],
server_addr,
tm_tcp_client_rx,
tc_source_tx,
validator: SimpleSpValidator::new(TcpComponent::Client, valid_ids.to_vec()),
});
}
Ok(Self {
id,
poll,
events,
client: Some(client.unwrap()),
read_buf: [0; 4096],
server_addr,
tm_tcp_client_rx,
tc_source_tx,
validator: SimpleSpValidator::new(TcpComponent::Client, valid_ids.to_vec()),
})
}
pub fn attempt_connection(poll: &mut Poll, server_addr: &SocketAddr) -> io::Result<TcpStream> {
let mut client = TcpStream::connect(*server_addr)?;
poll.registry().register(
&mut client,
Token(0),
Interest::READABLE | Interest::WRITABLE,
)?;
Ok(client)
}
pub fn periodic_operation(&mut self) -> Result<(), PacketForwardingError> {
if self.client.is_some() {
return self.perform_regular_operation();
} else {
let client_result = Self::attempt_connection(&mut self.poll, &self.server_addr);
match client_result {
Ok(client) => {
self.client = Some(client);
self.perform_regular_operation()?;
}
Err(ref e) => {
log::warn!(
"connection to TCP server {} failed: {}",
self.server_addr,
e
);
}
}
}
Ok(())
}
pub fn perform_regular_operation(&mut self) -> Result<(), PacketForwardingError> {
self.poll.poll(
&mut self.events,
Some(Duration::from_millis(STOP_CHECK_FREQUENCY)),
)?;
let events: Vec<mio::event::Event> = self.events.iter().cloned().collect();
for event in events {
if event.token() == Token(0) {
if event.is_readable() {
self.read_from_server()?;
}
if event.is_writable() {
self.write_to_server()?;
}
}
}
Ok(())
}
pub fn read_from_server(&mut self) -> Result<(), PacketForwardingError> {
let client = self
.client
.as_mut()
.expect("TCP stream invalid when it should not be");
match client.read(&mut self.read_buf) {
Ok(0) => return Err(io::Error::from(io::ErrorKind::BrokenPipe).into()),
Ok(read_bytes) => self.handle_read_bytstream(read_bytes)?,
Err(e) => return Err(e.into()),
}
Ok(())
}
pub fn write_to_server(&mut self) -> io::Result<()> {
let client = self
.client
.as_mut()
.expect("TCP stream invalid when it should not be");
loop {
match self.tm_tcp_client_rx.try_recv() {
Ok(tm) => {
client.write_all(&tm.packet)?;
}
Err(e) => match e {
mpsc::TryRecvError::Empty => break,
mpsc::TryRecvError::Disconnected => {
log::error!("TM sender to TCP client has disconnected");
break;
}
},
}
}
Ok(())
}
pub fn handle_read_bytstream(
&mut self,
read_bytes: usize,
) -> Result<(), PacketForwardingError> {
#[allow(dead_code)]
impl TcpSppClientCommon {
pub fn handle_read_bytstream(&mut self, read_bytes: usize) -> Result<(), ClientError> {
let mut dummy = 0;
if SPP_CLIENT_WIRETAPPING_RX {
log::debug!(
"received {} bytes on TCP client: {:x?}",
"SPP TCP RX {} bytes: {:x?}",
read_bytes,
&self.read_buf[..read_bytes]
);
@ -188,4 +62,604 @@ impl TcpSppClient {
)?;
Ok(())
}
pub fn write_to_server(&mut self, client: &mut impl io::Write) -> io::Result<()> {
loop {
match self.tm_tcp_client_rx.try_recv() {
Ok(tm) => {
if SPP_CLIENT_WIRETAPPING_TX {
log::debug!(
"SPP TCP TX {}: {:x?}",
tm.packet.len(),
tm.packet.as_slice()
);
}
client.write_all(&tm.packet)?;
}
Err(e) => match e {
mpsc::TryRecvError::Empty => break,
mpsc::TryRecvError::Disconnected => {
println!("god fuckikng damn it");
log::error!("TM sender to TCP client has disconnected");
break;
}
},
}
}
Ok(())
}
}
pub struct TcpSppClientStd {
common: TcpSppClientCommon,
read_and_idle_delay: Duration,
// Optional to allow periodic reconnection attempts on the TCP server.
stream: Option<StdTcpStream>,
}
impl TcpSppClientStd {
pub fn new(
id: ComponentId,
tc_source_tx: mpsc::Sender<PacketAsVec>,
tm_tcp_client_rx: mpsc::Receiver<PacketAsVec>,
valid_ids: &'static [PacketId],
read_timeout: Duration,
port: u16,
) -> io::Result<Self> {
let server_addr = SocketAddr::new(IpAddr::V4(Ipv4Addr::LOCALHOST), port);
let mut client = Self {
common: TcpSppClientCommon {
id,
read_buf: [0; 4096],
tm_tcp_client_rx,
server_addr,
tc_source_tx,
validator: SimpleSpValidator::new(TcpComponent::Client, valid_ids.to_vec()),
},
read_and_idle_delay: read_timeout,
stream: None,
};
client.attempt_connect(true)?;
Ok(client)
}
pub fn attempt_connect(&mut self, log_error: bool) -> io::Result<bool> {
Ok(match StdTcpStream::connect(self.common.server_addr) {
Ok(stream) => {
stream.set_read_timeout(Some(self.read_and_idle_delay))?;
self.stream = Some(stream);
true
}
Err(e) => {
if log_error {
log::warn!("error connecting to server: {}", e);
}
false
}
})
}
#[allow(dead_code)]
pub fn connected(&self) -> bool {
self.stream.is_some()
}
pub fn operation(&mut self) -> Result<ClientResult, ClientError> {
if let Some(client) = &mut self.stream {
// Write TM first before blocking on the read call.
self.common.write_to_server(client)?;
match client.read(&mut self.common.read_buf) {
// Not sure if this can happen or this is actually an error condition..
Ok(0) => {
log::info!("server closed connection");
self.stream = None;
return Ok(ClientResult::ConnectionLost);
}
Ok(read_bytes) => self.common.handle_read_bytstream(read_bytes)?,
Err(e) => {
if e.kind() == io::ErrorKind::WouldBlock || e.kind() == io::ErrorKind::TimedOut
{
self.common.write_to_server(client)?;
return Ok(ClientResult::ConnectionLost);
}
log::warn!("server error: {e:?}");
if e.kind() == io::ErrorKind::ConnectionReset {
self.stream = None;
return Ok(ClientResult::ConnectionLost);
}
return Err(e.into());
}
}
} else {
if self.attempt_connect(false)? {
log::info!("reconnected to server succesfully");
return self.operation();
}
std::thread::sleep(self.read_and_idle_delay);
}
Ok(ClientResult::Ok)
}
}
#[derive(Debug, PartialEq, Eq)]
pub enum ConnectionStatus {
Unknown,
Connected,
LostConnection,
TryingReconnect,
}
/// Currently not used, not behaving as expected..
#[allow(dead_code)]
pub struct TcpSppClientMio {
common: TcpSppClientCommon,
poll: Poll,
events: Events,
// Optional to allow periodic reconnection attempts on the TCP server.
client: Option<MioTcpStream>,
connection: ConnectionStatus,
}
#[allow(dead_code)]
impl TcpSppClientMio {
pub fn new(
id: ComponentId,
tc_source_tx: mpsc::Sender<PacketAsVec>,
tm_tcp_client_rx: mpsc::Receiver<PacketAsVec>,
valid_ids: &'static [PacketId],
port: u16,
) -> io::Result<Self> {
let poll = Poll::new()?;
let events = Events::with_capacity(128);
let mut client = Self {
common: TcpSppClientCommon {
id,
read_buf: [0; 4096],
tm_tcp_client_rx,
server_addr: SocketAddr::new(IpAddr::V4(Ipv4Addr::LOCALHOST), port),
tc_source_tx,
validator: SimpleSpValidator::new(TcpComponent::Client, valid_ids.to_vec()),
},
poll,
events,
client: None,
connection: ConnectionStatus::Unknown,
};
client.connect()?;
Ok(client)
}
pub fn connect(&mut self) -> io::Result<()> {
let mut client = MioTcpStream::connect(self.common.server_addr)?;
self.poll.registry().register(
&mut client,
Token(0),
Interest::READABLE | Interest::WRITABLE,
)?;
self.client = Some(client);
self.connection = ConnectionStatus::TryingReconnect;
Ok(())
}
pub fn operation(&mut self) -> Result<(), ClientError> {
match self.connection {
ConnectionStatus::TryingReconnect | ConnectionStatus::Unknown => {
self.check_conn_status()?
}
ConnectionStatus::Connected => {
self.check_conn_status()?;
self.poll
.poll(&mut self.events, Some(STOP_CHECK_FREQUENCY))?;
let events: Vec<mio::event::Event> = self.events.iter().cloned().collect();
for event in events {
if event.token() == Token(0) {
if event.is_readable() {
self.read_from_server()?;
}
// For some reason, we only get this once..
if event.is_writable() {
self.common.write_to_server(self.client.as_mut().unwrap())?;
}
}
}
return Ok(());
}
ConnectionStatus::LostConnection => self.connect()?,
};
std::thread::sleep(STOP_CHECK_FREQUENCY);
Ok(())
}
pub fn read_from_server(&mut self) -> Result<(), ClientError> {
match self
.client
.as_mut()
.unwrap()
.read(&mut self.common.read_buf)
{
Ok(0) => (),
Ok(read_bytes) => self.common.handle_read_bytstream(read_bytes)?,
Err(e) => return Err(e.into()),
}
Ok(())
}
pub fn check_conn_status(&mut self) -> io::Result<()> {
match self.client.as_mut().unwrap().peer_addr() {
Ok(_) => {
if self.connection == ConnectionStatus::Unknown
|| self.connection == ConnectionStatus::TryingReconnect
{
self.connection = ConnectionStatus::Connected;
}
Ok(())
}
Err(e) => {
if e.kind() == io::ErrorKind::NotConnected {
log::warn!("lost connection, or do not have one");
self.connection = ConnectionStatus::LostConnection;
return Ok(());
}
Err(e)
}
}
}
}
#[cfg(test)]
mod tests {
use ops_sat_rs::config::EXPERIMENT_APID;
use satrs::spacepackets::{PacketSequenceCtrl, PacketType, SequenceFlags, SpHeader};
use std::{
io::Write,
net::{TcpListener, TcpStream},
sync::{atomic::AtomicBool, Arc},
thread,
time::Duration,
};
use super::*;
const VALID_IDS: &[PacketId] = &[PacketId::new_for_tc(true, EXPERIMENT_APID)];
const TEST_TC: SpHeader = SpHeader::new(
PacketId::new(PacketType::Tc, true, EXPERIMENT_APID),
PacketSequenceCtrl::new(SequenceFlags::Unsegmented, 0),
1,
);
const TEST_TM: SpHeader = SpHeader::new(
PacketId::new(PacketType::Tm, true, EXPERIMENT_APID),
PacketSequenceCtrl::new(SequenceFlags::Unsegmented, 0),
1,
);
fn init() {
let _ = env_logger::builder().is_test(true).try_init();
}
struct TcpServerTestbench {
tcp_server: TcpListener,
}
impl TcpServerTestbench {
fn new(port: u16) -> Self {
let tcp_server =
TcpListener::bind(SocketAddr::new(IpAddr::V4(Ipv4Addr::LOCALHOST), port)).unwrap();
tcp_server
.set_nonblocking(true)
.expect("setting TCP server non-blocking failed");
Self { tcp_server }
}
fn local_addr(&self) -> SocketAddr {
self.tcp_server.local_addr().unwrap()
}
fn check_for_connections(&mut self, limit: u32) -> Result<TcpStream, ()> {
for _ in 0..limit {
match self.tcp_server.accept() {
Ok((stream, _)) => {
return Ok(stream);
}
Err(e) => {
if e.kind() == io::ErrorKind::WouldBlock {
thread::sleep(Duration::from_millis(10));
continue;
}
panic!("TCP server accept error: {:?}", e);
}
}
}
Err(())
}
fn try_reading_one_packet(
&mut self,
stream: &mut TcpStream,
limit: u32,
read_buf: &mut [u8],
) -> usize {
let mut read_data = 0;
for _ in 0..limit {
match stream.read(read_buf) {
Ok(0) => {}
Ok(len) => {
// assert_eq!(&tm_buf, &read_buf[0..len]);
// read_bufd_expected_data = true;
read_data = len;
break;
}
Err(e) => {
if e.kind() == io::ErrorKind::WouldBlock {
continue;
}
panic!("TCP server read error: {:?}", e);
}
}
if read_data > 0 {
break;
}
}
read_data
}
}
// This test just simplifies that the client properly connects to a server.
#[test]
fn basic_client_test() {
let (tc_source_tx, _tc_source_rx) = mpsc::channel();
let (_tm_tcp_client_tx, tm_tcp_client_rx) = mpsc::channel();
let mut tcp_server = TcpServerTestbench::new(0);
let local_addr = tcp_server.local_addr();
let jh0 = thread::spawn(move || {
tcp_server
.check_for_connections(3)
.expect("no client connection detected");
});
let mut spp_client = TcpSppClientStd::new(
1,
tc_source_tx,
tm_tcp_client_rx,
VALID_IDS,
Duration::from_millis(30),
local_addr.port(),
)
.expect("creating TCP SPP client failed");
spp_client.operation().unwrap();
jh0.join().unwrap();
}
// This test verifies that TM is sent to the server properly.
#[test]
fn basic_client_tm_test() {
let (tc_source_tx, _tc_source_rx) = mpsc::channel();
let (tm_tcp_client_tx, tm_tcp_client_rx) = mpsc::channel();
let mut tcp_server = TcpServerTestbench::new(0);
let local_addr = tcp_server.local_addr();
let mut buf: [u8; 7] = [0; 7];
TEST_TM
.write_to_be_bytes(&mut buf)
.expect("writing TM failed");
let jh0 = thread::spawn(move || {
let mut read_buf: [u8; 64] = [0; 64];
let mut stream = tcp_server
.check_for_connections(3)
.expect("no client connection detected");
stream
.set_read_timeout(Some(Duration::from_millis(10)))
.expect("setting read timeout failed");
let read_bytes = tcp_server.try_reading_one_packet(&mut stream, 5, &mut read_buf);
if read_bytes == 0 {
panic!("did not receive expected data");
} else {
assert_eq!(&buf, &read_buf[0..read_bytes]);
}
});
tm_tcp_client_tx
.send(PacketAsVec::new(0, buf.to_vec()))
.unwrap();
let mut spp_client = TcpSppClientStd::new(
1,
tc_source_tx,
tm_tcp_client_rx,
VALID_IDS,
Duration::from_millis(30),
local_addr.port(),
)
.expect("creating TCP SPP client failed");
spp_client.operation().unwrap();
jh0.join().unwrap();
}
// Test that the client can read telecommands from the server.
#[test]
fn basic_client_tc_test() {
let (tc_source_tx, tc_source_rx) = mpsc::channel();
let (_tm_tcp_client_tx, tm_tcp_client_rx) = mpsc::channel();
let mut tcp_server = TcpServerTestbench::new(0);
let local_addr = tcp_server.local_addr();
let mut buf: [u8; 8] = [0; 8];
TEST_TC
.write_to_be_bytes(&mut buf)
.expect("writing TM failed");
let jh0 = thread::spawn(move || {
let mut stream = tcp_server
.check_for_connections(3)
.expect("no client connection detected");
stream
.set_read_timeout(Some(Duration::from_millis(10)))
.expect("setting read timeout failed");
stream.write_all(&buf).expect("writing TC failed");
});
let mut spp_client = TcpSppClientStd::new(
1,
tc_source_tx,
tm_tcp_client_rx,
VALID_IDS,
Duration::from_millis(30),
local_addr.port(),
)
.expect("creating TCP SPP client failed");
assert!(spp_client.connected());
let mut received_packet = false;
(0..3).for_each(|_| {
spp_client.operation().unwrap();
if let Ok(packet) = tc_source_rx.try_recv() {
assert_eq!(packet.packet, buf.to_vec());
received_packet = true;
}
});
if !received_packet {
panic!("did not receive expected data");
}
jh0.join().unwrap();
}
// Test that the client can both read telecommands from the server and send back
// telemetry to the server.
#[test]
fn basic_client_tmtc_test() {
let (tc_source_tx, tc_source_rx) = mpsc::channel();
let (tm_tcp_client_tx, tm_tcp_client_rx) = mpsc::channel();
let mut tcp_server = TcpServerTestbench::new(0);
let local_addr = tcp_server.local_addr();
let mut tc_buf: [u8; 8] = [0; 8];
let mut tm_buf: [u8; 8] = [0; 8];
TEST_TC
.write_to_be_bytes(&mut tc_buf)
.expect("writing TM failed");
TEST_TM
.write_to_be_bytes(&mut tm_buf)
.expect("writing TM failed");
let jh0 = thread::spawn(move || {
let mut read_buf: [u8; 64] = [0; 64];
let mut stream = tcp_server
.check_for_connections(3)
.expect("no client connection detected");
stream
.set_read_timeout(Some(Duration::from_millis(10)))
.expect("setting read timeout failed");
stream.write_all(&tc_buf).expect("writing TC failed");
let read_bytes = tcp_server.try_reading_one_packet(&mut stream, 5, &mut read_buf);
if read_bytes == 0 {
panic!("did not receive expected data");
} else {
assert_eq!(&tm_buf, &read_buf[0..read_bytes]);
}
});
tm_tcp_client_tx
.send(PacketAsVec::new(0, tm_buf.to_vec()))
.unwrap();
let mut spp_client = TcpSppClientStd::new(
1,
tc_source_tx,
tm_tcp_client_rx,
VALID_IDS,
Duration::from_millis(30),
local_addr.port(),
)
.expect("creating TCP SPP client failed");
assert!(spp_client.connected());
let mut received_packet = false;
(0..3).for_each(|_| {
spp_client.operation().unwrap();
if let Ok(packet) = tc_source_rx.try_recv() {
assert_eq!(packet.packet, tc_buf.to_vec());
received_packet = true;
}
});
if !received_packet {
panic!("did not receive expected data");
}
jh0.join().unwrap();
}
#[test]
fn test_broken_connection() {
init();
let (tc_source_tx, _tc_source_rx) = mpsc::channel();
let (tm_tcp_client_tx, tm_tcp_client_rx) = mpsc::channel();
let mut tcp_server = TcpServerTestbench::new(0);
let local_port = tcp_server.local_addr().port();
let drop_signal = Arc::new(AtomicBool::new(false));
let drop_signal_0 = drop_signal.clone();
let mut tc_buf: [u8; 8] = [0; 8];
let mut tm_buf: [u8; 8] = [0; 8];
TEST_TC
.write_to_be_bytes(&mut tc_buf)
.expect("writing TM failed");
TEST_TM
.write_to_be_bytes(&mut tm_buf)
.expect("writing TM failed");
let mut jh0 = thread::spawn(move || {
tcp_server
.check_for_connections(3)
.expect("no client connection detected");
drop_signal_0.store(true, std::sync::atomic::Ordering::Relaxed);
});
let mut spp_client = TcpSppClientStd::new(
1,
tc_source_tx,
tm_tcp_client_rx,
VALID_IDS,
Duration::from_millis(30),
local_port,
)
.expect("creating TCP SPP client failed");
while !drop_signal.load(std::sync::atomic::Ordering::Relaxed) {
std::thread::sleep(Duration::from_millis(100));
}
tm_tcp_client_tx
.send(PacketAsVec::new(0, tm_buf.to_vec()))
.unwrap();
match spp_client.operation() {
Ok(ClientResult::ConnectionLost) => (),
Ok(ClientResult::Ok) => {
panic!("expected operation error");
}
Err(ClientError::Io(e)) => {
println!("io error: {:?}", e);
if e.kind() != io::ErrorKind::ConnectionReset
&& e.kind() != io::ErrorKind::ConnectionAborted
{
panic!("expected some disconnet error");
}
}
_ => {
panic!("unexpected error")
}
};
assert!(!spp_client.connected());
jh0.join().unwrap();
// spp_client.operation();
tcp_server = TcpServerTestbench::new(local_port);
tm_tcp_client_tx
.send(PacketAsVec::new(0, tm_buf.to_vec()))
.unwrap();
jh0 = thread::spawn(move || {
let mut stream = tcp_server
.check_for_connections(3)
.expect("no client connection detected");
let mut read_buf: [u8; 64] = [0; 64];
let read_bytes = tcp_server.try_reading_one_packet(&mut stream, 5, &mut read_buf);
if read_bytes == 0 {
panic!("did not receive expected data");
} else {
assert_eq!(&tm_buf, &read_buf[0..read_bytes]);
}
});
let result = spp_client.operation();
println!("{:?}", result);
assert!(!spp_client.connected());
assert!(result.is_ok());
jh0.join().unwrap();
}
}

22
src/main.rs
View File

@ -8,8 +8,9 @@ use std::{
use log::info;
use ops_sat_rs::config::components::CAMERA_HANDLER;
use ops_sat_rs::config::{
cfg_file::create_app_config,
components::{CONTROLLER_ID, TCP_SERVER, TCP_SPP_CLIENT, UDP_SERVER},
tasks::{FREQ_MS_CTRL, FREQ_MS_PUS_STACK},
tasks::{FREQ_MS_CTRL, FREQ_MS_PUS_STACK, STOP_CHECK_FREQUENCY},
VALID_PACKET_ID_LIST,
};
use ops_sat_rs::config::{tasks::FREQ_MS_UDP_TMTC, OBSW_SERVER_ADDR, SERVER_PORT};
@ -17,7 +18,7 @@ use satrs::hal::std::{tcp_server::ServerConfig, udp_server::UdpTcServer};
use ops_sat_rs::TimeStampHelper;
use crate::handlers::camera::IMS100BatchHandler;
use crate::tmtc::tc_source::TcSourceTaskDynamic;
use crate::pus::{PusTcDistributor, PusTcMpscRouter};
use crate::tmtc::tm_sink::TmFunnelDynamic;
use crate::{controller::ExperimentController, pus::test::create_test_service};
use crate::{
@ -25,10 +26,7 @@ use crate::{
interface::udp_server::{DynamicUdpTmHandler, UdpTmtcServer},
logger::setup_logger,
};
use crate::{
interface::tcp_spp_client::TcpSppClient,
pus::{PusTcDistributor, PusTcMpscRouter},
};
use crate::{interface::tcp_spp_client::TcpSppClientStd, tmtc::tc_source::TcSourceTaskDynamic};
use crate::{
pus::{action::create_action_service, stack::PusStack},
requests::GenericRequestRouter,
@ -46,6 +44,9 @@ fn main() {
setup_logger().expect("setting up logging with fern failed");
println!("OPS-SAT Rust Experiment OBSW");
let app_cfg = create_app_config();
println!("App Configuration: {:?}", app_cfg);
let stop_signal = Arc::new(AtomicBool::new(false));
let (tc_source_tx, tc_source_rx) = mpsc::channel();
@ -172,11 +173,13 @@ fn main() {
stop_signal.clone(),
);
let mut tcp_spp_client = TcpSppClient::new(
let mut tcp_spp_client = TcpSppClientStd::new(
TCP_SPP_CLIENT.id(),
tc_source_tx,
tm_tcp_client_rx,
VALID_PACKET_ID_LIST,
STOP_CHECK_FREQUENCY,
app_cfg.tcp_spp_server_port,
)
.expect("creating TCP SPP client failed");
@ -245,7 +248,10 @@ fn main() {
.spawn(move || {
info!("Running TCP SPP client");
loop {
let _result = tcp_spp_client.periodic_operation();
let result = tcp_spp_client.operation();
if let Err(e) = result {
log::error!("TCP SPP client error: {}", e);
}
if tcp_client_stop_signal.load(std::sync::atomic::Ordering::Relaxed) {
break;
}

3
src/pus/action.rs
View File

@ -432,7 +432,8 @@ mod tests {
.send(EcssTcAndToken::new(
TcInMemory::Vec(PacketAsVec::new(
self.service.service_helper.id(),
tc.to_vec().unwrap().into(),
//tc.to_vec().unwrap().into(),
tc.to_vec().unwrap(),
)),
accepted_token,
))

1
src/pus/test.rs
View File

@ -42,7 +42,6 @@ pub struct TestCustomServiceWrapper {
EcssTcInVecConverter,
VerificationReporter,
>,
// pub test_srv_event_sender: mpsc::Sender<EventMessageU32>,
}
impl TestCustomServiceWrapper {

7
src/tmtc/tm_sink.rs
View File

@ -1,6 +1,6 @@
use std::sync::atomic::AtomicBool;
use std::sync::Arc;
use std::{collections::HashMap, sync::mpsc, time::Duration};
use std::{collections::HashMap, sync::mpsc};
use log::info;
use ops_sat_rs::config::tasks::STOP_CHECK_FREQUENCY;
@ -101,10 +101,7 @@ impl TmFunnelDynamic {
pub fn operation(&mut self) {
loop {
match self
.tm_funnel_rx
.recv_timeout(Duration::from_millis(STOP_CHECK_FREQUENCY))
{
match self.tm_funnel_rx.recv_timeout(STOP_CHECK_FREQUENCY) {
Ok(mut tm) => {
// Read the TM, set sequence counter and message counter, and finally update
// the CRC.

5
templates/exp278.toml Normal file
View File

@ -0,0 +1,5 @@
# This configuration file should either be inside the (experiment) home folder or in the current
# folder the application is run from.
# On the small flatsat, change this to 9999.
tcp_spp_server_port = 4096