diff --git a/Cargo.lock b/Cargo.lock index 423e078..6d5110c 100644 --- a/Cargo.lock +++ b/Cargo.lock @@ -113,6 +113,12 @@ version = "1.3.2" source = "registry+https://github.com/rust-lang/crates.io-index" checksum = "bef38d45163c2f1dde094a7dfd33ccf595c92905c8f8f4fdc18d06fb1037718a" +[[package]] +name = "bitflags" +version = "2.5.0" +source = "registry+https://github.com/rust-lang/crates.io-index" +checksum = "cf4b9d6a944f767f8e5e0db018570623c85f3d925ac718db4e06d0187adb21c1" + [[package]] name = "bumpalo" version = "3.16.0" @@ -295,6 +301,22 @@ version = "1.0.1" source = "registry+https://github.com/rust-lang/crates.io-index" checksum = "5443807d6dff69373d433ab9ef5378ad8df50ca6298caf15de6e52e24aaf54d5" +[[package]] +name = "errno" +version = "0.3.8" +source = "registry+https://github.com/rust-lang/crates.io-index" +checksum = "a258e46cdc063eb8519c00b9fc845fc47bcfca4130e2f08e88665ceda8474245" +dependencies = [ + "libc", + "windows-sys 0.52.0", +] + +[[package]] +name = "fastrand" +version = "2.0.2" +source = "registry+https://github.com/rust-lang/crates.io-index" +checksum = "658bd65b1cf4c852a3cc96f18a8ce7b5640f6b703f905c7d74532294c2a63984" + [[package]] name = "fern" version = "0.6.2" @@ -495,6 +517,12 @@ version = "0.2.153" source = "registry+https://github.com/rust-lang/crates.io-index" checksum = "9c198f91728a82281a64e1f4f9eeb25d82cb32a5de251c6bd1b5154d63a8e7bd" +[[package]] +name = "linux-raw-sys" +version = "0.4.13" +source = "registry+https://github.com/rust-lang/crates.io-index" +checksum = "01cda141df6706de531b6c46c3a33ecca755538219bd484262fa09410c13539c" + [[package]] name = "log" version = "0.4.21" @@ -540,7 +568,7 @@ version = "0.26.4" source = "registry+https://github.com/rust-lang/crates.io-index" checksum = "598beaf3cc6fdd9a5dfb1630c2800c7acd31df7aaf0f565796fba2b53ca1af1b" dependencies = [ - "bitflags", + "bitflags 1.3.2", "cfg-if", "libc", "memoffset", @@ -620,6 +648,7 @@ dependencies = [ "serde_json", "socket2", "strum", + "tempfile", "thiserror", "toml", ] @@ -688,7 +717,7 @@ version = "0.4.1" source = "registry+https://github.com/rust-lang/crates.io-index" checksum = "4722d768eff46b75989dd134e5c353f0d6296e5aaa3132e776cbdb56be7731aa" dependencies = [ - "bitflags", + "bitflags 1.3.2", ] [[package]] @@ -720,6 +749,19 @@ version = "0.8.3" source = "registry+https://github.com/rust-lang/crates.io-index" checksum = "adad44e29e4c806119491a7f06f03de4d1af22c3a680dd47f1e6e179439d1f56" +[[package]] +name = "rustix" +version = "0.38.34" +source = "registry+https://github.com/rust-lang/crates.io-index" +checksum = "70dc5ec042f7a43c4a73241207cecc9873a06d45debb38b329f8541d85c2730f" +dependencies = [ + "bitflags 2.5.0", + "errno", + "libc", + "linux-raw-sys", + "windows-sys 0.52.0", +] + [[package]] name = "rustversion" version = "1.0.15" @@ -937,6 +979,18 @@ dependencies = [ "unicode-ident", ] +[[package]] +name = "tempfile" +version = "3.10.1" +source = "registry+https://github.com/rust-lang/crates.io-index" +checksum = "85b77fafb263dd9d05cbeac119526425676db3784113aa9295c88498cbf8bff1" +dependencies = [ + "cfg-if", + "fastrand", + "rustix", + "windows-sys 0.52.0", +] + [[package]] name = "thiserror" version = "1.0.59" diff --git a/Cargo.toml b/Cargo.toml index f0093c1..5405a8a 100644 --- a/Cargo.toml +++ b/Cargo.toml @@ -34,6 +34,7 @@ version = ">=0.1.2, <0.2" [dev-dependencies] env_logger = "0.11" +tempfile = "3" # I don't think we need insane performance. If anything, a small binary is easier to upload # to the satellite. diff --git a/pytmtc/opssat_tmtc/pus_tc.py b/pytmtc/opssat_tmtc/pus_tc.py index f24fa6b..d148fbd 100644 --- a/pytmtc/opssat_tmtc/pus_tc.py +++ b/pytmtc/opssat_tmtc/pus_tc.py @@ -171,15 +171,16 @@ def pack_pus_telecommands(q: DefaultPusQueueHelper, cmd_path: str): assert len(cmd_path_list) >= 3 data = bytearray() if cmd_path_list[2] == "downlink_logs": - data.extend(make_action_cmd_header(UniqueId.Controller, 2)) + data.extend(make_action_cmd_header(UniqueId.Controller, 2)) if cmd_path_list[2] == "downlink_last_img": - data.extend(make_action_cmd_header(UniqueId.Controller, 3)) + data.extend(make_action_cmd_header(UniqueId.Controller, 3)) return q.add_pus_tc( PusTelecommand( service=8, subservice=128, apid=EXPERIMENT_APID, app_data=data ) ) + def handle_set_mode_cmd( q: DefaultPusQueueHelper, target_str: str, mode_str: str, apid: int, unique_id: int ): diff --git a/src/config.rs b/src/config.rs index c8c08ab..a1284b4 100644 --- a/src/config.rs +++ b/src/config.rs @@ -40,6 +40,7 @@ pub enum GroupId { Hk = 1, Mode = 2, Action = 3, + Controller = 4, } pub const TEST_EVENT: EventU32TypedSev = @@ -214,6 +215,27 @@ pub mod mode_err { pub const WRONG_MODE: ResultU16 = ResultU16::new(GroupId::Mode as u8, 0); } +pub mod ctrl_err { + use super::*; + use satrs::res_code::ResultU16; + + #[resultcode] + pub const INVALID_CMD_FORMAT: ResultU16 = ResultU16::new(GroupId::Controller as u8, 0); + #[resultcode] + pub const SHELL_CMD_IO_ERROR: ResultU16 = ResultU16::new(GroupId::Controller as u8, 1); + #[resultcode] + pub const SHELL_CMD_EXECUTION_FAILURE: ResultU16 = ResultU16::new(GroupId::Controller as u8, 2); + #[resultcode] + pub const SHELL_CMD_INVALID_FORMAT: ResultU16 = ResultU16::new(GroupId::Controller as u8, 3); + + pub const CTRL_ERR_RESULTS: &[ResultU16Info] = &[ + INVALID_CMD_FORMAT_EXT, + SHELL_CMD_IO_ERROR_EXT, + SHELL_CMD_EXECUTION_FAILURE_EXT, + SHELL_CMD_INVALID_FORMAT_EXT, + ]; +} + pub mod pool { use satrs::pool::{StaticMemoryPool, StaticPoolConfig}; @@ -295,7 +317,7 @@ pub mod tasks { } pub fn create_low_priority_ground_dir() { - log::info!("Creating low priority to ground directory"); + log::info!("creating low priority to ground directory"); if !Path::new(TO_GROUND_LP_FOLDER_EXPERIMENT).exists() && std::fs::create_dir_all(TO_GROUND_LP_FOLDER_EXPERIMENT).is_err() { diff --git a/src/controller.rs b/src/controller.rs index 7f5a6cc..e548528 100644 --- a/src/controller.rs +++ b/src/controller.rs @@ -7,23 +7,38 @@ use ops_sat_rs::config::{ use satrs::action::ActionRequestVariant; use satrs::{ action::ActionRequest, + params::Params, pus::action::{ActionReplyPus, ActionReplyVariant}, request::{GenericMessage, MessageMetadata}, + res_code::ResultU16, }; +use serde::{Deserialize, Serialize}; use std::{ env::temp_dir, path::{Path, PathBuf}, + process::Command, sync::{atomic::AtomicBool, mpsc, Arc}, }; +use ops_sat_rs::config::ctrl_err::{ + SHELL_CMD_EXECUTION_FAILURE, SHELL_CMD_INVALID_FORMAT, SHELL_CMD_IO_ERROR, +}; + use crate::requests::CompositeRequest; +#[derive(Serialize, Deserialize, Debug)] +pub struct ShellCmd<'a> { + cmd: &'a str, + args: Vec<&'a str>, +} + #[derive(Debug, Clone, Copy, TryFromPrimitive)] #[repr(u32)] pub enum ActionId { StopExperiment = 1, DownlinkLogfile = 2, DownlinkImages = 3, + ExecuteShellCommandBlocking = 4, } pub struct ExperimentController { @@ -76,53 +91,31 @@ impl ExperimentController { } pub fn handle_action_request(&mut self, requestor: MessageMetadata, action_req: ActionRequest) { - let action_id = ActionId::try_from(action_req.action_id); - if action_id.is_err() { + let send_completion_failure = |error_code: ResultU16, params: Option| { let result = self.action_reply_tx.send(GenericMessage::new_action_reply( requestor, action_req.action_id, - ActionReplyVariant::CompletionFailed { - error_code: INVALID_ACTION_ID, - params: None, - }, + ActionReplyVariant::CompletionFailed { error_code, params }, )); if result.is_err() { log::error!("sending action reply failed"); } + }; + let action_id = ActionId::try_from(action_req.action_id); + if action_id.is_err() { + send_completion_failure(INVALID_ACTION_ID, None); return; } - let action_id = action_id.unwrap(); - match action_id { + match action_id.unwrap() { ActionId::StopExperiment => { self.stop_signal .store(true, std::sync::atomic::Ordering::Relaxed); - let result = self.action_reply_tx.send(GenericMessage::new_action_reply( - requestor, - action_req.action_id, - ActionReplyVariant::Completed, - )); - if result.is_err() { - log::error!("Sending action reply failed"); - } + self.send_completion_success(&requestor, &action_req); } - ActionId::DownlinkLogfile => { - log::info!("Copying logfile into downlink folder"); - if let Some(logfile_path) = LOGFILE_PATH.get() { - if let Ok(logfile_path) = ::clone(logfile_path) - .into_os_string() - .into_string() - { - if std::fs::copy(logfile_path.as_str(), TO_GROUND_FOLDER_EXPERIMENT) - .is_err() - { - log::error!("Copying logfile into downlink path failed") - } - } - } else { - log::error!("Downlink path emtpy") - } + ActionId::ExecuteShellCommandBlocking => { + self.handle_shell_command_execution(&requestor, &action_req); } - + ActionId::DownlinkLogfile => self.handle_downlink_logfile(&requestor, &action_req), // downlink images, default will be the last image, otherwise specified counting down (2 = second to last image, etc.) ActionId::DownlinkImages => { log::info!("Copying images into low priority downlink folder"); @@ -146,6 +139,104 @@ impl ExperimentController { } } + pub fn handle_downlink_logfile(&self, requestor: &MessageMetadata, action_req: &ActionRequest) { + log::info!("copying logfile into downlink folder"); + if let Some(logfile_path) = LOGFILE_PATH.get() { + if let Ok(logfile_path) = ::clone(logfile_path) + .into_os_string() + .into_string() + { + if std::fs::copy(logfile_path.as_str(), TO_GROUND_FOLDER_EXPERIMENT).is_err() { + log::warn!("copying logfile into downlink path failed") + } + self.send_completion_success(requestor, action_req) + } + } else { + log::warn!("downlink path emtpy") + } + } + + pub fn send_completion_success(&self, requestor: &MessageMetadata, action_req: &ActionRequest) { + let result = self.action_reply_tx.send(GenericMessage::new_action_reply( + *requestor, + action_req.action_id, + ActionReplyVariant::Completed, + )); + if result.is_err() { + log::error!("sending action reply failed"); + } + } + + pub fn send_completion_failure( + &self, + requestor: &MessageMetadata, + action_req: &ActionRequest, + error_code: ResultU16, + params: Option, + ) { + let result = self.action_reply_tx.send(GenericMessage::new_action_reply( + *requestor, + action_req.action_id, + ActionReplyVariant::CompletionFailed { error_code, params }, + )); + if result.is_err() { + log::error!("sending action reply failed"); + } + } + + pub fn handle_shell_command_execution( + &self, + requestor: &MessageMetadata, + action_req: &ActionRequest, + ) { + if let ActionRequestVariant::VecData(data) = &action_req.variant { + let shell_cmd_result: serde_json::Result = serde_json::from_slice(data); + match shell_cmd_result { + Ok(shell_cmd) => { + log::info!("executing shell cmd {:?}", shell_cmd); + match Command::new(shell_cmd.cmd).args(shell_cmd.args).status() { + Ok(status) => { + if status.success() { + self.send_completion_success(requestor, action_req); + } else { + log::warn!("execution of command failed: {}", status); + self.send_completion_failure( + requestor, + action_req, + SHELL_CMD_EXECUTION_FAILURE, + Some(status.to_string().into()), + ); + } + } + Err(e) => { + log::warn!("execution of command failed with IO error: {}", e); + self.send_completion_failure( + requestor, + action_req, + SHELL_CMD_IO_ERROR, + Some(e.to_string().into()), + ); + } + } + } + Err(e) => { + log::warn!("failed to deserialize shell command: {}", e); + let result = self.action_reply_tx.send(GenericMessage::new_action_reply( + *requestor, + action_req.action_id, + ActionReplyVariant::Completed, + )); + if result.is_err() { + log::error!("Sending action reply failed"); + } + } + } + } else { + log::warn!("no shell command was supplied for shell command action command"); + self.send_completion_failure(requestor, action_req, SHELL_CMD_INVALID_FORMAT, None); + } + } + pub fn check_stop_file(&self) { let check_at_path = |path: &Path| { if path.exists() { @@ -202,3 +293,61 @@ pub fn get_latest_image(index: usize) -> Result { } Err(std::io::Error::other("No latest image found")) } +#[cfg(test)] +mod tests { + use std::sync::{mpsc, Arc}; + + use tempfile::NamedTempFile; + + use super::*; + + fn init() { + env_logger::builder().is_test(true).init(); + } + + #[test] + fn test_shell_cmd_exection() { + init(); + let (composite_req_tx, composite_req_rx) = mpsc::channel(); + let (action_reply_tx, action_reply_rx) = mpsc::channel(); + let stop_signal = Arc::default(); + let mut exp_ctrl = + ExperimentController::new(composite_req_rx, action_reply_tx, stop_signal); + let named_temp_file = NamedTempFile::new().expect("creating temp file failed"); + let args = vec![named_temp_file + .path() + .to_str() + .expect("converting path to str failed")]; + + let cmd = ShellCmd { cmd: "rm", args }; + let cmd_serialized = serde_json::to_string(&cmd).expect("serialization failed"); + let action_req = satrs::action::ActionRequest { + action_id: ActionId::ExecuteShellCommandBlocking as u32, + variant: satrs::action::ActionRequestVariant::VecData(cmd_serialized.into_bytes()), + }; + composite_req_tx + .send(GenericMessage::new( + MessageMetadata::new(1, 2), + CompositeRequest::Action(action_req), + )) + .expect("sending action request failed"); + exp_ctrl.perform_operation(); + assert!(!named_temp_file.path().exists()); + let action_reply = action_reply_rx + .try_recv() + .expect("receiving action reply failed"); + assert_eq!( + action_reply.message.action_id, + ActionId::ExecuteShellCommandBlocking as u32 + ); + match action_reply.message.variant { + ActionReplyVariant::Completed => (), + _ => { + panic!( + "unexecpted action reply variant {:?}", + action_reply.message.variant + ) + } + } + } +} diff --git a/src/logger.rs b/src/logger.rs index f502ac1..7981a0b 100644 --- a/src/logger.rs +++ b/src/logger.rs @@ -12,9 +12,9 @@ pub fn setup_logger() -> Result<(), fern::InitError> { path_buf.push( format!( "output_{}.log", - humantime::format_rfc3339_seconds(std::time::SystemTime::now()).to_string() + humantime::format_rfc3339_seconds(std::time::SystemTime::now()) ) - .replace(":", "_"), + .replace(':', "_"), ); println!("Creating logfile {:?}", path_buf); LOGFILE_PATH diff --git a/src/main.rs b/src/main.rs index 40ab124..9612ed9 100644 --- a/src/main.rs +++ b/src/main.rs @@ -5,7 +5,7 @@ use std::{ time::Duration, }; -use log::{debug, info}; +use log::info; use ops_sat_rs::config::{ cfg_file::create_app_config, components::{CONTROLLER_ID, TCP_SERVER, TCP_SPP_CLIENT, UDP_SERVER}, @@ -53,9 +53,9 @@ mod requests; mod tmtc; fn main() { - setup_logger().expect("setting up logging with fern failed"); let version_str = VERSION.unwrap_or("?"); println!("OPS-SAT Rust Experiment OBSW v{}", version_str); + setup_logger().expect("setting up logging with fern failed"); create_low_priority_ground_dir(); let app_cfg = create_app_config();