Add action service and controller component #5
136
Cargo.lock
generated
136
Cargo.lock
generated
@ -14,6 +14,15 @@ dependencies = [
|
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"zerocopy",
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]
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[[package]]
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name = "aho-corasick"
|
||||
version = "1.1.3"
|
||||
source = "registry+https://github.com/rust-lang/crates.io-index"
|
||||
checksum = "8e60d3430d3a69478ad0993f19238d2df97c507009a52b3c10addcd7f6bcb916"
|
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dependencies = [
|
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"memchr",
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]
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[[package]]
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name = "allocator-api2"
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version = "0.2.16"
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@ -35,6 +44,54 @@ dependencies = [
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"libc",
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]
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[[package]]
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name = "anstream"
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||||
version = "0.6.13"
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source = "registry+https://github.com/rust-lang/crates.io-index"
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checksum = "d96bd03f33fe50a863e394ee9718a706f988b9079b20c3784fb726e7678b62fb"
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dependencies = [
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"anstyle",
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"anstyle-parse",
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"anstyle-query",
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"anstyle-wincon",
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"colorchoice",
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"utf8parse",
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]
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[[package]]
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name = "anstyle"
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version = "1.0.6"
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source = "registry+https://github.com/rust-lang/crates.io-index"
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checksum = "8901269c6307e8d93993578286ac0edf7f195079ffff5ebdeea6a59ffb7e36bc"
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[[package]]
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name = "anstyle-parse"
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version = "0.2.3"
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source = "registry+https://github.com/rust-lang/crates.io-index"
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checksum = "c75ac65da39e5fe5ab759307499ddad880d724eed2f6ce5b5e8a26f4f387928c"
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dependencies = [
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"utf8parse",
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]
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[[package]]
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name = "anstyle-query"
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version = "1.0.2"
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source = "registry+https://github.com/rust-lang/crates.io-index"
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checksum = "e28923312444cdd728e4738b3f9c9cac739500909bb3d3c94b43551b16517648"
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dependencies = [
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"windows-sys 0.52.0",
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]
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[[package]]
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name = "anstyle-wincon"
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version = "3.0.2"
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source = "registry+https://github.com/rust-lang/crates.io-index"
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checksum = "1cd54b81ec8d6180e24654d0b371ad22fc3dd083b6ff8ba325b72e00c87660a7"
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dependencies = [
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"anstyle",
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"windows-sys 0.52.0",
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]
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[[package]]
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name = "array-init"
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version = "0.0.4"
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@ -111,6 +168,12 @@ name = "cobs"
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version = "0.2.3"
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source = "git+https://github.com/robamu/cobs.rs.git?branch=all_features#c70a7f30fd00a7cbdb7666dec12b437977385d40"
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[[package]]
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name = "colorchoice"
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version = "1.0.0"
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source = "registry+https://github.com/rust-lang/crates.io-index"
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checksum = "acbf1af155f9b9ef647e42cdc158db4b64a1b61f743629225fde6f3e0be2a7c7"
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[[package]]
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name = "core-foundation-sys"
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version = "0.8.6"
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@ -202,6 +265,29 @@ version = "1.0.17"
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source = "registry+https://github.com/rust-lang/crates.io-index"
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checksum = "0d6ef0072f8a535281e4876be788938b528e9a1d43900b82c2569af7da799125"
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[[package]]
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name = "env_filter"
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version = "0.1.0"
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source = "registry+https://github.com/rust-lang/crates.io-index"
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checksum = "a009aa4810eb158359dda09d0c87378e4bbb89b5a801f016885a4707ba24f7ea"
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dependencies = [
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"log",
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"regex",
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]
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[[package]]
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name = "env_logger"
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version = "0.11.3"
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source = "registry+https://github.com/rust-lang/crates.io-index"
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checksum = "38b35839ba51819680ba087cd351788c9a3c476841207e0b8cee0b04722343b9"
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dependencies = [
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"anstream",
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"anstyle",
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"env_filter",
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"humantime",
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"log",
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]
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[[package]]
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name = "equivalent"
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version = "1.0.1"
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@ -239,6 +325,12 @@ version = "0.3.9"
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source = "registry+https://github.com/rust-lang/crates.io-index"
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checksum = "d231dfb89cfffdbc30e7fc41579ed6066ad03abda9e567ccafae602b97ec5024"
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[[package]]
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name = "humantime"
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version = "2.1.0"
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source = "registry+https://github.com/rust-lang/crates.io-index"
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checksum = "9a3a5bfb195931eeb336b2a7b4d761daec841b97f947d34394601737a7bba5e4"
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[[package]]
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name = "iana-time-zone"
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version = "0.1.60"
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@ -387,6 +479,7 @@ version = "0.0.1"
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dependencies = [
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"chrono",
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"derive-new",
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"env_logger",
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"fern",
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"lazy_static",
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"log",
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@ -452,6 +545,35 @@ dependencies = [
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"bitflags",
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]
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[[package]]
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name = "regex"
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version = "1.10.4"
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source = "registry+https://github.com/rust-lang/crates.io-index"
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checksum = "c117dbdfde9c8308975b6a18d71f3f385c89461f7b3fb054288ecf2a2058ba4c"
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dependencies = [
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"aho-corasick",
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"memchr",
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"regex-automata",
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"regex-syntax",
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]
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[[package]]
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name = "regex-automata"
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version = "0.4.6"
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source = "registry+https://github.com/rust-lang/crates.io-index"
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checksum = "86b83b8b9847f9bf95ef68afb0b8e6cdb80f498442f5179a29fad448fcc1eaea"
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dependencies = [
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"aho-corasick",
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"memchr",
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"regex-syntax",
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]
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[[package]]
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name = "regex-syntax"
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version = "0.8.3"
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source = "registry+https://github.com/rust-lang/crates.io-index"
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checksum = "adad44e29e4c806119491a7f06f03de4d1af22c3a680dd47f1e6e179439d1f56"
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[[package]]
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name = "rustversion"
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version = "1.0.15"
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@ -467,7 +589,7 @@ checksum = "e86697c916019a8588c99b5fac3cead74ec0b4b819707a682fd4d23fa0ce1ba1"
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[[package]]
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name = "satrs"
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version = "0.2.0-rc.0"
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source = "git+https://egit.irs.uni-stuttgart.de/rust/sat-rs.git?branch=main#3375780e008506ba413be22d176aa567db04e09e"
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source = "git+https://egit.irs.uni-stuttgart.de/rust/sat-rs.git?branch=main#d43a8eb571ea3f2198f75ecdc125921272d6bc7f"
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dependencies = [
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"bus",
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"cobs",
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@ -492,7 +614,7 @@ dependencies = [
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[[package]]
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name = "satrs-mib"
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version = "0.1.1"
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source = "git+https://egit.irs.uni-stuttgart.de/rust/sat-rs.git?branch=main#3375780e008506ba413be22d176aa567db04e09e"
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source = "git+https://egit.irs.uni-stuttgart.de/rust/sat-rs.git?branch=main#d43a8eb571ea3f2198f75ecdc125921272d6bc7f"
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dependencies = [
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"csv",
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"satrs-mib-codegen",
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@ -504,7 +626,7 @@ dependencies = [
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[[package]]
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name = "satrs-mib-codegen"
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version = "0.1.1"
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source = "git+https://egit.irs.uni-stuttgart.de/rust/sat-rs.git?branch=main#3375780e008506ba413be22d176aa567db04e09e"
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source = "git+https://egit.irs.uni-stuttgart.de/rust/sat-rs.git?branch=main#d43a8eb571ea3f2198f75ecdc125921272d6bc7f"
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dependencies = [
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"proc-macro2",
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"quote",
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@ -514,7 +636,7 @@ dependencies = [
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[[package]]
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name = "satrs-shared"
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version = "0.1.3"
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source = "git+https://egit.irs.uni-stuttgart.de/rust/sat-rs.git?branch=main#3375780e008506ba413be22d176aa567db04e09e"
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source = "git+https://egit.irs.uni-stuttgart.de/rust/sat-rs.git?branch=main#d43a8eb571ea3f2198f75ecdc125921272d6bc7f"
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dependencies = [
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"serde",
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"spacepackets",
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@ -679,6 +801,12 @@ version = "1.0.12"
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source = "registry+https://github.com/rust-lang/crates.io-index"
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checksum = "3354b9ac3fae1ff6755cb6db53683adb661634f67557942dea4facebec0fee4b"
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[[package]]
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name = "utf8parse"
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version = "0.2.1"
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source = "registry+https://github.com/rust-lang/crates.io-index"
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checksum = "711b9620af191e0cdc7468a8d14e709c3dcdb115b36f838e601583af800a370a"
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[[package]]
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name = "version_check"
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version = "0.9.4"
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@ -25,3 +25,6 @@ features = ["test_util"]
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version = "0.1.1"
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git = "https://egit.irs.uni-stuttgart.de/rust/sat-rs.git"
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branch = "main"
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[dev-dependencies]
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env_logger = "0.11"
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@ -5,11 +5,8 @@ import enum
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import struct
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class Apid(enum.IntEnum):
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SCHED = 1
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GENERIC_PUS = 2
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ACS = 3
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CFDP = 4
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EXPERIMENT_ID = 278
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EXPERIMENT_APID = 1024 + EXPERIMENT_ID
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class EventSeverity(enum.IntEnum):
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@ -47,7 +47,7 @@ from tmtccmd.util.obj_id import ObjectIdDictT
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import pus_tc
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from common import Apid, EventU32
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from common import EXPERIMENT_APID, EventU32
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_LOGGER = logging.getLogger()
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@ -64,8 +64,7 @@ class SatRsConfigHook(HookBase):
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assert self.cfg_path is not None
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packet_id_list = []
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for apid in Apid:
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packet_id_list.append(PacketId(PacketType.TM, True, apid))
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packet_id_list.append(PacketId(PacketType.TM, True, EXPERIMENT_APID))
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cfg = create_com_interface_cfg_default(
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com_if_key=com_if_key,
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json_cfg_path=self.cfg_path,
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@ -181,7 +180,7 @@ class TcHandler(TcHandlerBase):
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tc_sched_timestamp_len=CdsShortTimestamp.TIMESTAMP_SIZE,
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seq_cnt_provider=seq_count_provider,
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pus_verificator=self.verif_wrapper.pus_verificator,
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default_pus_apid=None,
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default_pus_apid=EXPERIMENT_APID,
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)
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def send_cb(self, send_params: SendCbParams):
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@ -10,7 +10,6 @@ from tmtccmd.tmtc import DefaultPusQueueHelper
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from tmtccmd.pus.s11_tc_sched import create_time_tagged_cmd
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from tmtccmd.pus.s200_fsfw_mode import Subservice as ModeSubservice
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from common import AcsId, Apid
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_LOGGER = logging.getLogger(__name__)
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@ -66,14 +65,6 @@ def create_cmd_definition_tree() -> CmdTreeNode:
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)
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root_node.add_child(scheduler_node)
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acs_node = CmdTreeNode("acs", "ACS Subsystem Node")
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mgm_node = CmdTreeNode("mgms", "MGM devices node")
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mgm_node.add_child(mode_node)
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mgm_node.add_child(hk_node)
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acs_node.add_child(mgm_node)
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root_node.add_child(acs_node)
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return root_node
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@ -87,14 +78,10 @@ def pack_pus_telecommands(q: DefaultPusQueueHelper, cmd_path: str):
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assert len(cmd_path_list) >= 2
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if cmd_path_list[1] == "ping":
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q.add_log_cmd("Sending PUS ping telecommand")
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return q.add_pus_tc(
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PusTelecommand(apid=Apid.GENERIC_PUS, service=17, subservice=1)
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)
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return q.add_pus_tc(PusTelecommand(service=17, subservice=1))
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elif cmd_path_list[1] == "trigger_event":
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q.add_log_cmd("Triggering test event")
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return q.add_pus_tc(
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PusTelecommand(apid=Apid.GENERIC_PUS, service=17, subservice=128)
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)
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return q.add_pus_tc(PusTelecommand(service=17, subservice=128))
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if cmd_path_list[0] == "scheduler":
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assert len(cmd_path_list) >= 2
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if cmd_path_list[1] == "schedule_ping_10_secs_ahead":
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@ -106,27 +93,10 @@ def pack_pus_telecommands(q: DefaultPusQueueHelper, cmd_path: str):
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create_time_tagged_cmd(
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time_stamp,
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PusTelecommand(service=17, subservice=1),
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apid=Apid.SCHED,
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)
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)
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if cmd_path_list[0] == "acs":
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assert len(cmd_path_list) >= 2
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if cmd_path_list[1] == "mgms":
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assert len(cmd_path_list) >= 3
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if cmd_path_list[2] == "hk":
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if cmd_path_list[3] == "one_shot_hk":
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q.add_log_cmd("Sending HK one shot request")
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# TODO: Fix
|
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# q.add_pus_tc(
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# create_request_one_hk_command(
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# make_addressable_id(Apid.ACS, AcsId.MGM_SET)
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# )
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# )
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if cmd_path_list[2] == "mode":
|
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if cmd_path_list[3] == "set_mode":
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handle_set_mode_cmd(
|
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q, "MGM 0", cmd_path_list[4], Apid.ACS, AcsId.MGM_0
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)
|
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|
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|
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def handle_set_mode_cmd(
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|
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@ -1,32 +1,18 @@
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use lazy_static::lazy_static;
|
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use num_enum::{IntoPrimitive, TryFromPrimitive};
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use satrs::spacepackets::{PacketId, PacketType};
|
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use satrs_mib::res_code::ResultU16Info;
|
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use satrs_mib::resultcode;
|
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use std::{collections::HashSet, net::Ipv4Addr};
|
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use strum::IntoEnumIterator;
|
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use std::env;
|
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use std::net::Ipv4Addr;
|
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use std::path::{Path, PathBuf};
|
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|
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pub const STOP_FILE_NAME: &str = "stop-experiment";
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pub const HOME_FOLER_EXPERIMENT: &str = "/home/exp278";
|
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|
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pub const OBSW_SERVER_ADDR: Ipv4Addr = Ipv4Addr::UNSPECIFIED;
|
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pub const SERVER_PORT: u16 = 7301;
|
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|
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lazy_static! {
|
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pub static ref PACKET_ID_VALIDATOR: HashSet<PacketId> = {
|
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let mut set = HashSet::new();
|
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for id in components::Apid::iter() {
|
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set.insert(PacketId::new(PacketType::Tc, true, id as u16));
|
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}
|
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set
|
||||
};
|
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pub static ref APID_VALIDATOR: HashSet<u16> = {
|
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let mut set = HashSet::new();
|
||||
for id in components::Apid::iter() {
|
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set.insert(id as u16);
|
||||
}
|
||||
set
|
||||
};
|
||||
}
|
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pub const EXPERIMENT_ID: u32 = 278;
|
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pub const EXPERIMENT_APID: u16 = 1024 + EXPERIMENT_ID as u16;
|
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|
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#[derive(Copy, Clone, PartialEq, Eq, Debug, TryFromPrimitive, IntoPrimitive)]
|
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#[repr(u8)]
|
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@ -40,6 +26,20 @@ pub enum GroupId {
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Tmtc = 0,
|
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Hk = 1,
|
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Mode = 2,
|
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Action = 3,
|
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}
|
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|
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lazy_static! {
|
||||
pub static ref HOME_PATH: PathBuf = {
|
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let home_path_default = env::var("HOME").expect("HOME env variable not set");
|
||||
let mut home_path = PathBuf::new();
|
||||
home_path.push(if Path::new(HOME_FOLER_EXPERIMENT).exists() {
|
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HOME_FOLER_EXPERIMENT
|
||||
} else {
|
||||
&home_path_default
|
||||
});
|
||||
home_path
|
||||
};
|
||||
}
|
||||
|
||||
pub mod tmtc_err {
|
||||
@ -78,47 +78,47 @@ pub mod tmtc_err {
|
||||
];
|
||||
}
|
||||
|
||||
pub mod action_err {
|
||||
use super::*;
|
||||
use satrs::res_code::ResultU16;
|
||||
|
||||
#[resultcode]
|
||||
pub const INVALID_ACTION_ID: ResultU16 = ResultU16::new(GroupId::Action as u8, 0);
|
||||
|
||||
pub const ACTION_RESULTS: &[ResultU16Info] = &[INVALID_ACTION_ID_EXT];
|
||||
}
|
||||
|
||||
pub mod components {
|
||||
use satrs::request::UniqueApidTargetId;
|
||||
use strum::EnumIter;
|
||||
|
||||
#[derive(Copy, Clone, PartialEq, Eq, EnumIter)]
|
||||
pub enum Apid {
|
||||
Sched = 1,
|
||||
GenericPus = 2,
|
||||
Cfdp = 4,
|
||||
}
|
||||
use super::EXPERIMENT_APID;
|
||||
|
||||
// Component IDs for components with the PUS APID.
|
||||
#[derive(Copy, Clone, PartialEq, Eq)]
|
||||
pub enum PusId {
|
||||
PusEventManagement = 0,
|
||||
PusRouting = 1,
|
||||
PusTest = 2,
|
||||
PusAction = 3,
|
||||
PusMode = 4,
|
||||
PusHk = 5,
|
||||
}
|
||||
|
||||
#[derive(Copy, Clone, PartialEq, Eq)]
|
||||
pub enum AcsId {
|
||||
Mgm0 = 0,
|
||||
pub enum UniqueId {
|
||||
Controller = 0,
|
||||
PusEventManagement = 1,
|
||||
PusRouting = 2,
|
||||
PusTest = 3,
|
||||
PusAction = 4,
|
||||
PusMode = 5,
|
||||
PusHk = 6,
|
||||
}
|
||||
|
||||
pub const CONTROLLER_ID: UniqueApidTargetId =
|
||||
UniqueApidTargetId::new(EXPERIMENT_APID, UniqueId::Controller as u32);
|
||||
pub const PUS_ACTION_SERVICE: UniqueApidTargetId =
|
||||
UniqueApidTargetId::new(Apid::GenericPus as u16, PusId::PusAction as u32);
|
||||
UniqueApidTargetId::new(EXPERIMENT_APID, UniqueId::PusAction as u32);
|
||||
pub const PUS_EVENT_MANAGEMENT: UniqueApidTargetId =
|
||||
UniqueApidTargetId::new(Apid::GenericPus as u16, 0);
|
||||
UniqueApidTargetId::new(EXPERIMENT_APID, UniqueId::PusEventManagement as u32);
|
||||
pub const PUS_ROUTING_SERVICE: UniqueApidTargetId =
|
||||
UniqueApidTargetId::new(Apid::GenericPus as u16, PusId::PusRouting as u32);
|
||||
UniqueApidTargetId::new(EXPERIMENT_APID, UniqueId::PusRouting as u32);
|
||||
pub const PUS_TEST_SERVICE: UniqueApidTargetId =
|
||||
UniqueApidTargetId::new(Apid::GenericPus as u16, PusId::PusTest as u32);
|
||||
UniqueApidTargetId::new(EXPERIMENT_APID, UniqueId::PusTest as u32);
|
||||
pub const PUS_MODE_SERVICE: UniqueApidTargetId =
|
||||
UniqueApidTargetId::new(Apid::GenericPus as u16, PusId::PusMode as u32);
|
||||
UniqueApidTargetId::new(EXPERIMENT_APID, UniqueId::PusMode as u32);
|
||||
pub const PUS_HK_SERVICE: UniqueApidTargetId =
|
||||
UniqueApidTargetId::new(Apid::GenericPus as u16, PusId::PusHk as u32);
|
||||
pub const PUS_SCHED_SERVICE: UniqueApidTargetId =
|
||||
UniqueApidTargetId::new(Apid::Sched as u16, 0);
|
||||
UniqueApidTargetId::new(EXPERIMENT_APID, UniqueId::PusHk as u32);
|
||||
}
|
||||
|
||||
pub mod tasks {
|
||||
|
||||
128
src/controller.rs
Normal file
128
src/controller.rs
Normal file
@ -0,0 +1,128 @@
|
||||
use num_enum::TryFromPrimitive;
|
||||
use satrs::{
|
||||
action::ActionRequest,
|
||||
pus::action::{ActionReplyVariant, PusActionReply},
|
||||
request::{GenericMessage, MessageMetadata},
|
||||
};
|
||||
use std::{
|
||||
env::temp_dir,
|
||||
path::{Path, PathBuf},
|
||||
sync::{atomic::AtomicBool, mpsc, Arc},
|
||||
};
|
||||
|
||||
use ops_sat_rs::config::{action_err::INVALID_ACTION_ID, HOME_PATH, STOP_FILE_NAME};
|
||||
|
||||
use crate::requests::CompositeRequest;
|
||||
|
||||
#[derive(Debug, Clone, Copy, TryFromPrimitive)]
|
||||
#[repr(u32)]
|
||||
pub enum ActionId {
|
||||
StopExperiment = 1,
|
||||
}
|
||||
|
||||
pub struct ExperimentController {
|
||||
pub composite_request_rx: mpsc::Receiver<GenericMessage<CompositeRequest>>,
|
||||
pub action_reply_tx: mpsc::Sender<GenericMessage<PusActionReply>>,
|
||||
pub stop_signal: Arc<AtomicBool>,
|
||||
home_path_stop_file: PathBuf,
|
||||
tmp_path_stop_file: PathBuf,
|
||||
}
|
||||
|
||||
impl ExperimentController {
|
||||
pub fn new(
|
||||
composite_request_rx: mpsc::Receiver<GenericMessage<CompositeRequest>>,
|
||||
action_reply_tx: mpsc::Sender<GenericMessage<PusActionReply>>,
|
||||
stop_signal: Arc<AtomicBool>,
|
||||
) -> Self {
|
||||
let mut home_path_stop_file = PathBuf::new();
|
||||
home_path_stop_file.push(HOME_PATH.as_path());
|
||||
home_path_stop_file.push(STOP_FILE_NAME);
|
||||
let mut tmp_path_stop_file = temp_dir();
|
||||
tmp_path_stop_file.push(STOP_FILE_NAME);
|
||||
Self {
|
||||
composite_request_rx,
|
||||
action_reply_tx,
|
||||
stop_signal,
|
||||
home_path_stop_file,
|
||||
tmp_path_stop_file,
|
||||
}
|
||||
}
|
||||
}
|
||||
|
||||
impl ExperimentController {
|
||||
pub fn perform_operation(&mut self) {
|
||||
match self.composite_request_rx.try_recv() {
|
||||
Ok(msg) => match msg.message {
|
||||
CompositeRequest::Hk(_) => {
|
||||
log::warn!("hk request handling unimplemented")
|
||||
}
|
||||
CompositeRequest::Action(action_req) => {
|
||||
self.handle_action_request(msg.requestor_info, action_req);
|
||||
}
|
||||
},
|
||||
Err(e) => {
|
||||
if e != mpsc::TryRecvError::Empty {
|
||||
log::error!("composite request rx error: {:?}", e);
|
||||
}
|
||||
}
|
||||
}
|
||||
self.check_stop_file();
|
||||
}
|
||||
|
||||
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 result = self.action_reply_tx.send(GenericMessage::new_action_reply(
|
||||
requestor,
|
||||
action_req.action_id,
|
||||
ActionReplyVariant::CompletionFailed {
|
||||
error_code: INVALID_ACTION_ID,
|
||||
params: None,
|
||||
},
|
||||
));
|
||||
if result.is_err() {
|
||||
log::error!("sending action reply failed");
|
||||
}
|
||||
return;
|
||||
}
|
||||
let action_id = action_id.unwrap();
|
||||
match action_id {
|
||||
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");
|
||||
}
|
||||
}
|
||||
}
|
||||
}
|
||||
|
||||
pub fn check_stop_file(&self) {
|
||||
let check_at_path = |path: &Path| {
|
||||
if path.exists() {
|
||||
log::warn!(
|
||||
"Detected stop file name at {:?}. Initiating experiment shutdown",
|
||||
path
|
||||
);
|
||||
// By default, clear the stop file.
|
||||
let result = std::fs::remove_file(path);
|
||||
if result.is_err() {
|
||||
log::error!(
|
||||
"failed to remove stop file at {:?}: {}",
|
||||
path,
|
||||
result.unwrap_err()
|
||||
);
|
||||
}
|
||||
self.stop_signal
|
||||
.store(true, std::sync::atomic::Ordering::Relaxed);
|
||||
}
|
||||
};
|
||||
check_at_path(self.tmp_path_stop_file.as_path());
|
||||
check_at_path(self.home_path_stop_file.as_path());
|
||||
}
|
||||
}
|
||||
@ -1,5 +1,5 @@
|
||||
use std::{
|
||||
collections::{HashSet, VecDeque},
|
||||
collections::VecDeque,
|
||||
sync::{atomic::AtomicBool, Arc, Mutex},
|
||||
time::Duration,
|
||||
};
|
||||
@ -86,7 +86,7 @@ impl HandledConnectionHandler for ConnectionFinishedHandler {
|
||||
pub type TcpServerType<TcSource, MpscErrorType> = TcpSpacepacketsServer<
|
||||
SyncTcpTmSource,
|
||||
CcsdsDistributor<CcsdsReceiver<TcSource, MpscErrorType>, MpscErrorType>,
|
||||
HashSet<PacketId>,
|
||||
Vec<PacketId>,
|
||||
ConnectionFinishedHandler,
|
||||
(),
|
||||
CcsdsError<MpscErrorType>,
|
||||
@ -116,7 +116,7 @@ impl<
|
||||
cfg: ServerConfig,
|
||||
tm_source: SyncTcpTmSource,
|
||||
tc_receiver: CcsdsDistributor<CcsdsReceiver<TcSource, MpscErrorType>, MpscErrorType>,
|
||||
packet_id_lookup: HashSet<PacketId>,
|
||||
packet_id_lookup: Vec<PacketId>,
|
||||
stop_signal: Arc<AtomicBool>,
|
||||
) -> Result<Self, std::io::Error> {
|
||||
Ok(Self {
|
||||
|
||||
62
src/main.rs
62
src/main.rs
@ -7,22 +7,21 @@ use std::{
|
||||
|
||||
use log::info;
|
||||
use ops_sat_rs::config::{
|
||||
tasks::FREQ_MS_UDP_TMTC, OBSW_SERVER_ADDR, PACKET_ID_VALIDATOR, SERVER_PORT,
|
||||
};
|
||||
use ops_sat_rs::config::{
|
||||
components::CONTROLLER_ID,
|
||||
tasks::{FREQ_MS_CTRL, FREQ_MS_PUS_STACK},
|
||||
STOP_FILE_NAME,
|
||||
EXPERIMENT_APID,
|
||||
};
|
||||
use ops_sat_rs::config::{tasks::FREQ_MS_UDP_TMTC, OBSW_SERVER_ADDR, SERVER_PORT};
|
||||
use satrs::{
|
||||
hal::std::{tcp_server::ServerConfig, udp_server::UdpTcServer},
|
||||
spacepackets::PacketId,
|
||||
tmtc::CcsdsDistributor,
|
||||
};
|
||||
|
||||
use crate::pus::stack::PusStack;
|
||||
use crate::pus::test::create_test_service_dynamic;
|
||||
use crate::pus::{PusReceiver, PusTcMpscRouter};
|
||||
use crate::tmtc::tm_funnel::TmFunnelDynamic;
|
||||
use crate::tmtc::TcSourceTaskDynamic;
|
||||
use crate::{controller::ExperimentController, pus::test::create_test_service};
|
||||
use crate::{
|
||||
interface::tcp::{SyncTcpTmSource, TcpTask},
|
||||
interface::udp::{DynamicUdpTmHandler, UdpTmtcServer},
|
||||
@ -30,7 +29,12 @@ use crate::{
|
||||
tmtc::ccsds::CcsdsReceiver,
|
||||
tmtc::PusTcSourceProviderDynamic,
|
||||
};
|
||||
use crate::{
|
||||
pus::{action::create_action_service, stack::PusStack},
|
||||
requests::GenericRequestRouter,
|
||||
};
|
||||
|
||||
mod controller;
|
||||
mod interface;
|
||||
mod logger;
|
||||
mod pus;
|
||||
@ -53,23 +57,31 @@ fn main() {
|
||||
// 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_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_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 (controller_composite_tx, controller_composite_rx) = mpsc::channel();
|
||||
// let (controller_action_reply_tx, controller_action_reply_rx) = mpsc::channel();
|
||||
|
||||
// Some request are targetable. This map is used to retrieve sender handles based on a target ID.
|
||||
let mut request_map = GenericRequestRouter::default();
|
||||
request_map
|
||||
.composite_router_map
|
||||
.insert(CONTROLLER_ID.id(), controller_composite_tx);
|
||||
|
||||
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,
|
||||
action_tc_sender: pus_action_tx,
|
||||
// mode_tc_sender: pus_mode_tx,
|
||||
};
|
||||
|
||||
let pus_test_service = create_test_service_dynamic(
|
||||
let pus_test_service = create_test_service(
|
||||
tm_funnel_tx.clone(),
|
||||
// event_handler.clone_event_sender(),
|
||||
pus_test_rx,
|
||||
@ -83,12 +95,12 @@ fn main() {
|
||||
//
|
||||
// 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_action_service = create_action_service(
|
||||
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,
|
||||
@ -105,7 +117,7 @@ fn main() {
|
||||
pus_test_service,
|
||||
// pus_hk_service,
|
||||
// pus_event_service,
|
||||
// pus_action_service,
|
||||
pus_action_service,
|
||||
// pus_scheduler_service,
|
||||
// pus_mode_service,
|
||||
);
|
||||
@ -135,7 +147,7 @@ fn main() {
|
||||
tcp_server_cfg,
|
||||
sync_tm_tcp_source.clone(),
|
||||
tcp_ccsds_distributor,
|
||||
PACKET_ID_VALIDATOR.clone(),
|
||||
vec![PacketId::new_for_tc(true, EXPERIMENT_APID)],
|
||||
stop_signal.clone(),
|
||||
)
|
||||
.expect("tcp server creation failed");
|
||||
@ -147,17 +159,19 @@ fn main() {
|
||||
stop_signal.clone(),
|
||||
);
|
||||
|
||||
let mut controller = ExperimentController::new(
|
||||
controller_composite_rx,
|
||||
pus_action_reply_tx,
|
||||
stop_signal.clone(),
|
||||
);
|
||||
|
||||
info!("Starting CTRL task");
|
||||
let ctrl_stop_signal = stop_signal.clone();
|
||||
let jh_ctrl_thread = thread::Builder::new()
|
||||
.name("ops-sat ctrl".to_string())
|
||||
.spawn(move || loop {
|
||||
if std::path::Path::new(STOP_FILE_NAME).exists() {
|
||||
log::warn!(
|
||||
"Detected stop file name at {}. Initiating experiment shutdown",
|
||||
STOP_FILE_NAME
|
||||
);
|
||||
ctrl_stop_signal.store(true, std::sync::atomic::Ordering::Relaxed);
|
||||
controller.perform_operation();
|
||||
if ctrl_stop_signal.load(std::sync::atomic::Ordering::Relaxed) {
|
||||
break;
|
||||
}
|
||||
thread::sleep(Duration::from_millis(FREQ_MS_CTRL));
|
||||
|
||||
715
src/pus/action.rs
Normal file
715
src/pus/action.rs
Normal file
@ -0,0 +1,715 @@
|
||||
use log::{error, warn};
|
||||
use ops_sat_rs::config::components::PUS_ACTION_SERVICE;
|
||||
use ops_sat_rs::config::tmtc_err;
|
||||
use satrs::action::{ActionRequest, ActionRequestVariant};
|
||||
use satrs::params::WritableToBeBytes;
|
||||
use satrs::pus::action::{
|
||||
ActionReplyVariant, ActivePusActionRequestStd, DefaultActiveActionRequestMap, PusActionReply,
|
||||
};
|
||||
use satrs::pus::verification::{
|
||||
FailParams, FailParamsWithStep, TcStateAccepted, TcStateStarted, VerificationReporter,
|
||||
VerificationReportingProvider, VerificationToken,
|
||||
};
|
||||
use satrs::pus::{
|
||||
ActiveRequestProvider, EcssTcAndToken, EcssTcInVecConverter, EcssTmSenderCore, EcssTmtcError,
|
||||
GenericConversionError, PusPacketHandlerResult, PusReplyHandler, PusServiceHelper,
|
||||
PusTcToRequestConverter, PusTmAsVec,
|
||||
};
|
||||
use satrs::request::{GenericMessage, UniqueApidTargetId};
|
||||
use satrs::spacepackets::ecss::tc::PusTcReader;
|
||||
use satrs::spacepackets::ecss::{EcssEnumU16, PusPacket};
|
||||
use std::sync::mpsc;
|
||||
use std::time::Duration;
|
||||
|
||||
use crate::requests::GenericRequestRouter;
|
||||
|
||||
use super::{
|
||||
create_verification_reporter, generic_pus_request_timeout_handler, HandlingStatus,
|
||||
PusTargetedRequestService, TargetedPusService,
|
||||
};
|
||||
|
||||
pub struct ActionReplyHandler {
|
||||
fail_data_buf: [u8; 128],
|
||||
}
|
||||
|
||||
impl Default for ActionReplyHandler {
|
||||
fn default() -> Self {
|
||||
Self {
|
||||
fail_data_buf: [0; 128],
|
||||
}
|
||||
}
|
||||
}
|
||||
|
||||
impl PusReplyHandler<ActivePusActionRequestStd, PusActionReply> for ActionReplyHandler {
|
||||
type Error = EcssTmtcError;
|
||||
|
||||
fn handle_unrequested_reply(
|
||||
&mut self,
|
||||
reply: &GenericMessage<PusActionReply>,
|
||||
_tm_sender: &impl EcssTmSenderCore,
|
||||
) -> Result<(), Self::Error> {
|
||||
warn!("received unexpected reply for service 8: {reply:?}");
|
||||
Ok(())
|
||||
}
|
||||
|
||||
fn handle_reply(
|
||||
&mut self,
|
||||
reply: &GenericMessage<PusActionReply>,
|
||||
active_request: &ActivePusActionRequestStd,
|
||||
tm_sender: &(impl EcssTmSenderCore + ?Sized),
|
||||
verification_handler: &impl VerificationReportingProvider,
|
||||
time_stamp: &[u8],
|
||||
) -> Result<bool, Self::Error> {
|
||||
let verif_token: VerificationToken<TcStateStarted> = active_request
|
||||
.token()
|
||||
.try_into()
|
||||
.expect("invalid token state");
|
||||
let remove_entry = match &reply.message.variant {
|
||||
ActionReplyVariant::CompletionFailed { error_code, params } => {
|
||||
let mut fail_data_len = 0;
|
||||
if let Some(params) = params {
|
||||
fail_data_len = params.write_to_be_bytes(&mut self.fail_data_buf)?;
|
||||
}
|
||||
verification_handler.completion_failure(
|
||||
tm_sender,
|
||||
verif_token,
|
||||
FailParams::new(time_stamp, error_code, &self.fail_data_buf[..fail_data_len]),
|
||||
)?;
|
||||
true
|
||||
}
|
||||
ActionReplyVariant::StepFailed {
|
||||
error_code,
|
||||
step,
|
||||
params,
|
||||
} => {
|
||||
let mut fail_data_len = 0;
|
||||
if let Some(params) = params {
|
||||
fail_data_len = params.write_to_be_bytes(&mut self.fail_data_buf)?;
|
||||
}
|
||||
verification_handler.step_failure(
|
||||
tm_sender,
|
||||
verif_token,
|
||||
FailParamsWithStep::new(
|
||||
time_stamp,
|
||||
&EcssEnumU16::new(*step),
|
||||
error_code,
|
||||
&self.fail_data_buf[..fail_data_len],
|
||||
),
|
||||
)?;
|
||||
true
|
||||
}
|
||||
ActionReplyVariant::Completed => {
|
||||
verification_handler.completion_success(tm_sender, verif_token, time_stamp)?;
|
||||
true
|
||||
}
|
||||
ActionReplyVariant::StepSuccess { step } => {
|
||||
verification_handler.step_success(
|
||||
tm_sender,
|
||||
&verif_token,
|
||||
time_stamp,
|
||||
EcssEnumU16::new(*step),
|
||||
)?;
|
||||
false
|
||||
}
|
||||
_ => false,
|
||||
};
|
||||
Ok(remove_entry)
|
||||
}
|
||||
|
||||
fn handle_request_timeout(
|
||||
&mut self,
|
||||
active_request: &ActivePusActionRequestStd,
|
||||
tm_sender: &impl EcssTmSenderCore,
|
||||
verification_handler: &impl VerificationReportingProvider,
|
||||
time_stamp: &[u8],
|
||||
) -> Result<(), Self::Error> {
|
||||
generic_pus_request_timeout_handler(
|
||||
tm_sender,
|
||||
active_request,
|
||||
verification_handler,
|
||||
time_stamp,
|
||||
"action",
|
||||
)
|
||||
}
|
||||
}
|
||||
|
||||
#[derive(Default)]
|
||||
pub struct ActionRequestConverter {}
|
||||
|
||||
impl PusTcToRequestConverter<ActivePusActionRequestStd, ActionRequest> for ActionRequestConverter {
|
||||
type Error = GenericConversionError;
|
||||
|
||||
fn convert(
|
||||
&mut self,
|
||||
token: VerificationToken<TcStateAccepted>,
|
||||
tc: &PusTcReader,
|
||||
tm_sender: &(impl EcssTmSenderCore + ?Sized),
|
||||
verif_reporter: &impl VerificationReportingProvider,
|
||||
time_stamp: &[u8],
|
||||
) -> Result<(ActivePusActionRequestStd, ActionRequest), Self::Error> {
|
||||
let subservice = tc.subservice();
|
||||
let user_data = tc.user_data();
|
||||
if user_data.len() < 8 {
|
||||
verif_reporter
|
||||
.start_failure(
|
||||
tm_sender,
|
||||
token,
|
||||
FailParams::new_no_fail_data(time_stamp, &tmtc_err::NOT_ENOUGH_APP_DATA),
|
||||
)
|
||||
.expect("Sending start failure failed");
|
||||
return Err(GenericConversionError::NotEnoughAppData {
|
||||
expected: 8,
|
||||
found: user_data.len(),
|
||||
});
|
||||
}
|
||||
let target_id_and_apid = UniqueApidTargetId::from_pus_tc(tc).unwrap();
|
||||
let action_id = u32::from_be_bytes(user_data[4..8].try_into().unwrap());
|
||||
if subservice == 128 {
|
||||
let req_variant = if user_data.len() == 8 {
|
||||
ActionRequestVariant::NoData
|
||||
} else {
|
||||
ActionRequestVariant::VecData(user_data[8..].to_vec())
|
||||
};
|
||||
Ok((
|
||||
ActivePusActionRequestStd::new(
|
||||
action_id,
|
||||
target_id_and_apid.into(),
|
||||
token.into(),
|
||||
Duration::from_secs(30),
|
||||
),
|
||||
ActionRequest::new(action_id, req_variant),
|
||||
))
|
||||
} else {
|
||||
verif_reporter
|
||||
.start_failure(
|
||||
tm_sender,
|
||||
token,
|
||||
FailParams::new_no_fail_data(time_stamp, &tmtc_err::INVALID_PUS_SUBSERVICE),
|
||||
)
|
||||
.expect("Sending start failure failed");
|
||||
Err(GenericConversionError::InvalidSubservice(subservice))
|
||||
}
|
||||
}
|
||||
}
|
||||
|
||||
pub fn create_action_service(
|
||||
tm_funnel_tx: mpsc::Sender<PusTmAsVec>,
|
||||
pus_action_rx: mpsc::Receiver<EcssTcAndToken>,
|
||||
action_router: GenericRequestRouter,
|
||||
reply_receiver: mpsc::Receiver<GenericMessage<PusActionReply>>,
|
||||
) -> ActionServiceWrapper {
|
||||
let action_request_handler = PusTargetedRequestService::new(
|
||||
PusServiceHelper::new(
|
||||
PUS_ACTION_SERVICE.id(),
|
||||
pus_action_rx,
|
||||
tm_funnel_tx,
|
||||
create_verification_reporter(PUS_ACTION_SERVICE.id(), PUS_ACTION_SERVICE.apid),
|
||||
EcssTcInVecConverter::default(),
|
||||
),
|
||||
ActionRequestConverter::default(),
|
||||
DefaultActiveActionRequestMap::default(),
|
||||
ActionReplyHandler::default(),
|
||||
action_router,
|
||||
reply_receiver,
|
||||
);
|
||||
ActionServiceWrapper {
|
||||
service: action_request_handler,
|
||||
}
|
||||
}
|
||||
|
||||
pub struct ActionServiceWrapper {
|
||||
pub(crate) service: PusTargetedRequestService<
|
||||
VerificationReporter,
|
||||
ActionRequestConverter,
|
||||
ActionReplyHandler,
|
||||
DefaultActiveActionRequestMap,
|
||||
ActivePusActionRequestStd,
|
||||
ActionRequest,
|
||||
PusActionReply,
|
||||
>,
|
||||
}
|
||||
|
||||
impl TargetedPusService for ActionServiceWrapper {
|
||||
/// Returns [true] if the packet handling is finished.
|
||||
fn poll_and_handle_next_tc(&mut self, time_stamp: &[u8]) -> HandlingStatus {
|
||||
match self.service.poll_and_handle_next_tc(time_stamp) {
|
||||
Ok(result) => match result {
|
||||
PusPacketHandlerResult::RequestHandled => {}
|
||||
PusPacketHandlerResult::RequestHandledPartialSuccess(e) => {
|
||||
warn!("PUS 8 partial packet handling success: {e:?}")
|
||||
}
|
||||
PusPacketHandlerResult::CustomSubservice(invalid, _) => {
|
||||
warn!("PUS 8 invalid subservice {invalid}");
|
||||
}
|
||||
PusPacketHandlerResult::SubserviceNotImplemented(subservice, _) => {
|
||||
warn!("PUS 8 subservice {subservice} not implemented");
|
||||
}
|
||||
PusPacketHandlerResult::Empty => return HandlingStatus::Empty,
|
||||
},
|
||||
Err(error) => {
|
||||
error!("PUS packet handling error: {error:?}");
|
||||
return HandlingStatus::Empty;
|
||||
}
|
||||
}
|
||||
HandlingStatus::HandledOne
|
||||
}
|
||||
|
||||
fn poll_and_handle_next_reply(&mut self, time_stamp: &[u8]) -> HandlingStatus {
|
||||
// This only fails if all senders disconnected. Treat it like an empty queue.
|
||||
self.service
|
||||
.poll_and_check_next_reply(time_stamp)
|
||||
.unwrap_or_else(|e| {
|
||||
warn!("PUS 8: Handling reply failed with error {e:?}");
|
||||
HandlingStatus::Empty
|
||||
})
|
||||
}
|
||||
|
||||
fn check_for_request_timeouts(&mut self) {
|
||||
self.service.check_for_request_timeouts();
|
||||
}
|
||||
}
|
||||
|
||||
#[cfg(test)]
|
||||
mod tests {
|
||||
use satrs::pus::test_util::{
|
||||
TEST_APID, TEST_COMPONENT_ID_0, TEST_COMPONENT_ID_1, TEST_UNIQUE_ID_0, TEST_UNIQUE_ID_1,
|
||||
};
|
||||
use satrs::pus::verification;
|
||||
use satrs::pus::verification::test_util::TestVerificationReporter;
|
||||
use satrs::request::MessageMetadata;
|
||||
use satrs::ComponentId;
|
||||
use satrs::{
|
||||
res_code::ResultU16,
|
||||
spacepackets::{
|
||||
ecss::{
|
||||
tc::{PusTcCreator, PusTcSecondaryHeader},
|
||||
tm::PusTmReader,
|
||||
WritablePusPacket,
|
||||
},
|
||||
SpHeader,
|
||||
},
|
||||
};
|
||||
|
||||
use crate::{
|
||||
pus::tests::{PusConverterTestbench, ReplyHandlerTestbench, TargetedPusRequestTestbench},
|
||||
requests::CompositeRequest,
|
||||
};
|
||||
|
||||
use super::*;
|
||||
|
||||
impl
|
||||
TargetedPusRequestTestbench<
|
||||
ActionRequestConverter,
|
||||
ActionReplyHandler,
|
||||
DefaultActiveActionRequestMap,
|
||||
ActivePusActionRequestStd,
|
||||
ActionRequest,
|
||||
PusActionReply,
|
||||
>
|
||||
{
|
||||
pub fn new_for_action(owner_id: ComponentId, target_id: ComponentId) -> Self {
|
||||
let _ = env_logger::builder().is_test(true).try_init();
|
||||
let (tm_funnel_tx, tm_funnel_rx) = mpsc::channel();
|
||||
let (pus_action_tx, pus_action_rx) = mpsc::channel();
|
||||
let (action_reply_tx, action_reply_rx) = mpsc::channel();
|
||||
let (action_req_tx, action_req_rx) = mpsc::channel();
|
||||
let verif_reporter = TestVerificationReporter::new(owner_id);
|
||||
let mut generic_req_router = GenericRequestRouter::default();
|
||||
generic_req_router
|
||||
.composite_router_map
|
||||
.insert(target_id, action_req_tx);
|
||||
Self {
|
||||
service: PusTargetedRequestService::new(
|
||||
PusServiceHelper::new(
|
||||
owner_id,
|
||||
pus_action_rx,
|
||||
tm_funnel_tx.clone(),
|
||||
verif_reporter,
|
||||
EcssTcInVecConverter::default(),
|
||||
),
|
||||
ActionRequestConverter::default(),
|
||||
DefaultActiveActionRequestMap::default(),
|
||||
ActionReplyHandler::default(),
|
||||
generic_req_router,
|
||||
action_reply_rx,
|
||||
),
|
||||
request_id: None,
|
||||
pus_packet_tx: pus_action_tx,
|
||||
tm_funnel_rx,
|
||||
reply_tx: action_reply_tx,
|
||||
request_rx: action_req_rx,
|
||||
}
|
||||
}
|
||||
|
||||
pub fn verify_packet_started(&self) {
|
||||
self.service
|
||||
.service_helper
|
||||
.common
|
||||
.verif_reporter
|
||||
.check_next_is_started_success(
|
||||
self.service.service_helper.id(),
|
||||
self.request_id.expect("request ID not set").into(),
|
||||
);
|
||||
}
|
||||
|
||||
pub fn verify_packet_completed(&self) {
|
||||
self.service
|
||||
.service_helper
|
||||
.common
|
||||
.verif_reporter
|
||||
.check_next_is_completion_success(
|
||||
self.service.service_helper.id(),
|
||||
self.request_id.expect("request ID not set").into(),
|
||||
);
|
||||
}
|
||||
|
||||
pub fn verify_tm_empty(&self) {
|
||||
let packet = self.tm_funnel_rx.try_recv();
|
||||
if let Err(mpsc::TryRecvError::Empty) = packet {
|
||||
} else {
|
||||
let tm = packet.unwrap();
|
||||
let unexpected_tm = PusTmReader::new(&tm.packet, 7).unwrap().0;
|
||||
panic!("unexpected TM packet {unexpected_tm:?}");
|
||||
}
|
||||
}
|
||||
|
||||
pub fn verify_next_tc_is_handled_properly(&mut self, time_stamp: &[u8]) {
|
||||
let result = self.service.poll_and_handle_next_tc(time_stamp);
|
||||
if let Err(e) = result {
|
||||
panic!("unexpected error {:?}", e);
|
||||
}
|
||||
let result = result.unwrap();
|
||||
match result {
|
||||
PusPacketHandlerResult::RequestHandled => (),
|
||||
_ => panic!("unexpected result {result:?}"),
|
||||
}
|
||||
}
|
||||
|
||||
pub fn verify_all_tcs_handled(&mut self, time_stamp: &[u8]) {
|
||||
let result = self.service.poll_and_handle_next_tc(time_stamp);
|
||||
if let Err(e) = result {
|
||||
panic!("unexpected error {:?}", e);
|
||||
}
|
||||
let result = result.unwrap();
|
||||
match result {
|
||||
PusPacketHandlerResult::Empty => (),
|
||||
_ => panic!("unexpected result {result:?}"),
|
||||
}
|
||||
}
|
||||
|
||||
pub fn verify_next_reply_is_handled_properly(&mut self, time_stamp: &[u8]) {
|
||||
let result = self.service.poll_and_check_next_reply(time_stamp);
|
||||
assert!(result.is_ok());
|
||||
assert_eq!(result.unwrap(), HandlingStatus::HandledOne);
|
||||
}
|
||||
|
||||
pub fn verify_all_replies_handled(&mut self, time_stamp: &[u8]) {
|
||||
let result = self.service.poll_and_check_next_reply(time_stamp);
|
||||
assert!(result.is_ok());
|
||||
assert_eq!(result.unwrap(), HandlingStatus::Empty);
|
||||
}
|
||||
|
||||
pub fn add_tc(&mut self, tc: &PusTcCreator) {
|
||||
self.request_id = Some(verification::RequestId::new(tc).into());
|
||||
let token = self.service.service_helper.verif_reporter_mut().add_tc(tc);
|
||||
let accepted_token = self
|
||||
.service
|
||||
.service_helper
|
||||
.verif_reporter()
|
||||
.acceptance_success(self.service.service_helper.tm_sender(), token, &[0; 7])
|
||||
.expect("TC acceptance failed");
|
||||
self.service
|
||||
.service_helper
|
||||
.verif_reporter()
|
||||
.check_next_was_added(accepted_token.request_id());
|
||||
let id = self.service.service_helper.id();
|
||||
self.service
|
||||
.service_helper
|
||||
.verif_reporter()
|
||||
.check_next_is_acceptance_success(id, accepted_token.request_id());
|
||||
self.pus_packet_tx
|
||||
.send(EcssTcAndToken::new(tc.to_vec().unwrap(), accepted_token))
|
||||
.unwrap();
|
||||
}
|
||||
}
|
||||
|
||||
#[test]
|
||||
fn basic_request() {
|
||||
let mut testbench = TargetedPusRequestTestbench::new_for_action(
|
||||
TEST_COMPONENT_ID_0.id(),
|
||||
TEST_COMPONENT_ID_1.id(),
|
||||
);
|
||||
// Create a basic action request and verify forwarding.
|
||||
let sp_header = SpHeader::new_from_apid(TEST_APID);
|
||||
let sec_header = PusTcSecondaryHeader::new_simple(8, 128);
|
||||
let action_id = 5_u32;
|
||||
let mut app_data: [u8; 8] = [0; 8];
|
||||
app_data[0..4].copy_from_slice(&TEST_UNIQUE_ID_1.to_be_bytes());
|
||||
app_data[4..8].copy_from_slice(&action_id.to_be_bytes());
|
||||
let pus8_packet = PusTcCreator::new(sp_header, sec_header, &app_data, true);
|
||||
testbench.add_tc(&pus8_packet);
|
||||
let time_stamp: [u8; 7] = [0; 7];
|
||||
testbench.verify_next_tc_is_handled_properly(&time_stamp);
|
||||
testbench.verify_all_tcs_handled(&time_stamp);
|
||||
|
||||
testbench.verify_packet_started();
|
||||
|
||||
let possible_req = testbench.request_rx.try_recv();
|
||||
assert!(possible_req.is_ok());
|
||||
let req = possible_req.unwrap();
|
||||
if let CompositeRequest::Action(action_req) = req.message {
|
||||
assert_eq!(action_req.action_id, action_id);
|
||||
assert_eq!(action_req.variant, ActionRequestVariant::NoData);
|
||||
let action_reply = PusActionReply::new(action_id, ActionReplyVariant::Completed);
|
||||
testbench
|
||||
.reply_tx
|
||||
.send(GenericMessage::new(req.requestor_info, action_reply))
|
||||
.unwrap();
|
||||
} else {
|
||||
panic!("unexpected request type");
|
||||
}
|
||||
testbench.verify_next_reply_is_handled_properly(&time_stamp);
|
||||
testbench.verify_all_replies_handled(&time_stamp);
|
||||
|
||||
testbench.verify_packet_completed();
|
||||
testbench.verify_tm_empty();
|
||||
}
|
||||
|
||||
#[test]
|
||||
fn basic_request_routing_error() {
|
||||
let mut testbench = TargetedPusRequestTestbench::new_for_action(
|
||||
TEST_COMPONENT_ID_0.id(),
|
||||
TEST_COMPONENT_ID_1.id(),
|
||||
);
|
||||
// Create a basic action request and verify forwarding.
|
||||
let sec_header = PusTcSecondaryHeader::new_simple(8, 128);
|
||||
let action_id = 5_u32;
|
||||
let mut app_data: [u8; 8] = [0; 8];
|
||||
// Invalid ID, routing should fail.
|
||||
app_data[0..4].copy_from_slice(&0_u32.to_be_bytes());
|
||||
app_data[4..8].copy_from_slice(&action_id.to_be_bytes());
|
||||
let pus8_packet = PusTcCreator::new(
|
||||
SpHeader::new_from_apid(TEST_APID),
|
||||
sec_header,
|
||||
&app_data,
|
||||
true,
|
||||
);
|
||||
testbench.add_tc(&pus8_packet);
|
||||
let time_stamp: [u8; 7] = [0; 7];
|
||||
|
||||
let result = testbench.service.poll_and_handle_next_tc(&time_stamp);
|
||||
assert!(result.is_err());
|
||||
// Verify the correct result and completion failure.
|
||||
}
|
||||
|
||||
#[test]
|
||||
fn converter_action_req_no_data() {
|
||||
let mut testbench = PusConverterTestbench::new(
|
||||
TEST_COMPONENT_ID_0.raw(),
|
||||
ActionRequestConverter::default(),
|
||||
);
|
||||
let sec_header = PusTcSecondaryHeader::new_simple(8, 128);
|
||||
let action_id = 5_u32;
|
||||
let mut app_data: [u8; 8] = [0; 8];
|
||||
// Invalid ID, routing should fail.
|
||||
app_data[0..4].copy_from_slice(&TEST_UNIQUE_ID_0.to_be_bytes());
|
||||
app_data[4..8].copy_from_slice(&action_id.to_be_bytes());
|
||||
let pus8_packet = PusTcCreator::new(
|
||||
SpHeader::new_from_apid(TEST_APID),
|
||||
sec_header,
|
||||
&app_data,
|
||||
true,
|
||||
);
|
||||
let token = testbench.add_tc(&pus8_packet);
|
||||
let result = testbench.convert(token, &[], TEST_APID, TEST_UNIQUE_ID_0);
|
||||
assert!(result.is_ok());
|
||||
let (active_req, request) = result.unwrap();
|
||||
if let ActionRequestVariant::NoData = request.variant {
|
||||
assert_eq!(request.action_id, action_id);
|
||||
assert_eq!(active_req.action_id, action_id);
|
||||
assert_eq!(
|
||||
active_req.target_id(),
|
||||
UniqueApidTargetId::new(TEST_APID, TEST_UNIQUE_ID_0).raw()
|
||||
);
|
||||
assert_eq!(
|
||||
active_req.token().request_id(),
|
||||
testbench.request_id().unwrap()
|
||||
);
|
||||
} else {
|
||||
panic!("unexpected action request variant");
|
||||
}
|
||||
}
|
||||
|
||||
#[test]
|
||||
fn converter_action_req_with_data() {
|
||||
let mut testbench =
|
||||
PusConverterTestbench::new(TEST_COMPONENT_ID_0.id(), ActionRequestConverter::default());
|
||||
let sec_header = PusTcSecondaryHeader::new_simple(8, 128);
|
||||
let action_id = 5_u32;
|
||||
let mut app_data: [u8; 16] = [0; 16];
|
||||
// Invalid ID, routing should fail.
|
||||
app_data[0..4].copy_from_slice(&TEST_UNIQUE_ID_0.to_be_bytes());
|
||||
app_data[4..8].copy_from_slice(&action_id.to_be_bytes());
|
||||
for i in 0..8 {
|
||||
app_data[i + 8] = i as u8;
|
||||
}
|
||||
let pus8_packet = PusTcCreator::new(
|
||||
SpHeader::new_from_apid(TEST_APID),
|
||||
sec_header,
|
||||
&app_data,
|
||||
true,
|
||||
);
|
||||
let token = testbench.add_tc(&pus8_packet);
|
||||
let result = testbench.convert(token, &[], TEST_APID, TEST_UNIQUE_ID_0);
|
||||
assert!(result.is_ok());
|
||||
let (active_req, request) = result.unwrap();
|
||||
if let ActionRequestVariant::VecData(vec) = request.variant {
|
||||
assert_eq!(request.action_id, action_id);
|
||||
assert_eq!(active_req.action_id, action_id);
|
||||
assert_eq!(vec, app_data[8..].to_vec());
|
||||
} else {
|
||||
panic!("unexpected action request variant");
|
||||
}
|
||||
}
|
||||
|
||||
#[test]
|
||||
fn reply_handling_completion_success() {
|
||||
let mut testbench =
|
||||
ReplyHandlerTestbench::new(TEST_COMPONENT_ID_0.id(), ActionReplyHandler::default());
|
||||
let action_id = 5_u32;
|
||||
let (req_id, active_req) = testbench.add_tc(TEST_APID, TEST_UNIQUE_ID_0, &[]);
|
||||
let active_action_req =
|
||||
ActivePusActionRequestStd::new_from_common_req(action_id, active_req);
|
||||
let reply = PusActionReply::new(action_id, ActionReplyVariant::Completed);
|
||||
let generic_reply = GenericMessage::new(MessageMetadata::new(req_id.into(), 0), reply);
|
||||
let result = testbench.handle_reply(&generic_reply, &active_action_req, &[]);
|
||||
assert!(result.is_ok());
|
||||
assert!(result.unwrap());
|
||||
testbench.verif_reporter.assert_full_completion_success(
|
||||
TEST_COMPONENT_ID_0.id(),
|
||||
req_id,
|
||||
None,
|
||||
);
|
||||
}
|
||||
|
||||
#[test]
|
||||
fn reply_handling_completion_failure() {
|
||||
let mut testbench =
|
||||
ReplyHandlerTestbench::new(TEST_COMPONENT_ID_0.id(), ActionReplyHandler::default());
|
||||
let action_id = 5_u32;
|
||||
let (req_id, active_req) = testbench.add_tc(TEST_APID, TEST_UNIQUE_ID_0, &[]);
|
||||
let active_action_req =
|
||||
ActivePusActionRequestStd::new_from_common_req(action_id, active_req);
|
||||
let error_code = ResultU16::new(2, 3);
|
||||
let reply = PusActionReply::new(
|
||||
action_id,
|
||||
ActionReplyVariant::CompletionFailed {
|
||||
error_code,
|
||||
params: None,
|
||||
},
|
||||
);
|
||||
let generic_reply = GenericMessage::new(MessageMetadata::new(req_id.into(), 0), reply);
|
||||
let result = testbench.handle_reply(&generic_reply, &active_action_req, &[]);
|
||||
assert!(result.is_ok());
|
||||
assert!(result.unwrap());
|
||||
testbench.verif_reporter.assert_completion_failure(
|
||||
TEST_COMPONENT_ID_0.into(),
|
||||
req_id,
|
||||
None,
|
||||
error_code.raw() as u64,
|
||||
);
|
||||
}
|
||||
|
||||
#[test]
|
||||
fn reply_handling_step_success() {
|
||||
let mut testbench =
|
||||
ReplyHandlerTestbench::new(TEST_COMPONENT_ID_0.id(), ActionReplyHandler::default());
|
||||
let action_id = 5_u32;
|
||||
let (req_id, active_req) = testbench.add_tc(TEST_APID, TEST_UNIQUE_ID_0, &[]);
|
||||
let active_action_req =
|
||||
ActivePusActionRequestStd::new_from_common_req(action_id, active_req);
|
||||
let reply = PusActionReply::new(action_id, ActionReplyVariant::StepSuccess { step: 1 });
|
||||
let generic_reply = GenericMessage::new(MessageMetadata::new(req_id.into(), 0), reply);
|
||||
let result = testbench.handle_reply(&generic_reply, &active_action_req, &[]);
|
||||
assert!(result.is_ok());
|
||||
// Entry should not be removed, completion not done yet.
|
||||
assert!(!result.unwrap());
|
||||
testbench.verif_reporter.check_next_was_added(req_id);
|
||||
testbench
|
||||
.verif_reporter
|
||||
.check_next_is_acceptance_success(TEST_COMPONENT_ID_0.raw(), req_id);
|
||||
testbench
|
||||
.verif_reporter
|
||||
.check_next_is_started_success(TEST_COMPONENT_ID_0.raw(), req_id);
|
||||
testbench
|
||||
.verif_reporter
|
||||
.check_next_is_step_success(TEST_COMPONENT_ID_0.raw(), req_id, 1);
|
||||
}
|
||||
|
||||
#[test]
|
||||
fn reply_handling_step_failure() {
|
||||
let mut testbench =
|
||||
ReplyHandlerTestbench::new(TEST_COMPONENT_ID_0.id(), ActionReplyHandler::default());
|
||||
let action_id = 5_u32;
|
||||
let (req_id, active_req) = testbench.add_tc(TEST_APID, TEST_UNIQUE_ID_0, &[]);
|
||||
let active_action_req =
|
||||
ActivePusActionRequestStd::new_from_common_req(action_id, active_req);
|
||||
let error_code = ResultU16::new(2, 3);
|
||||
let reply = PusActionReply::new(
|
||||
action_id,
|
||||
ActionReplyVariant::StepFailed {
|
||||
error_code,
|
||||
step: 1,
|
||||
params: None,
|
||||
},
|
||||
);
|
||||
let generic_reply = GenericMessage::new(MessageMetadata::new(req_id.into(), 0), reply);
|
||||
let result = testbench.handle_reply(&generic_reply, &active_action_req, &[]);
|
||||
assert!(result.is_ok());
|
||||
assert!(result.unwrap());
|
||||
testbench.verif_reporter.check_next_was_added(req_id);
|
||||
testbench
|
||||
.verif_reporter
|
||||
.check_next_is_acceptance_success(TEST_COMPONENT_ID_0.id(), req_id);
|
||||
testbench
|
||||
.verif_reporter
|
||||
.check_next_is_started_success(TEST_COMPONENT_ID_0.id(), req_id);
|
||||
testbench.verif_reporter.check_next_is_step_failure(
|
||||
TEST_COMPONENT_ID_0.id(),
|
||||
req_id,
|
||||
error_code.raw().into(),
|
||||
);
|
||||
}
|
||||
|
||||
#[test]
|
||||
fn reply_handling_unrequested_reply() {
|
||||
let mut testbench =
|
||||
ReplyHandlerTestbench::new(TEST_COMPONENT_ID_0.id(), ActionReplyHandler::default());
|
||||
let action_reply = PusActionReply::new(5_u32, ActionReplyVariant::Completed);
|
||||
let unrequested_reply =
|
||||
GenericMessage::new(MessageMetadata::new(10_u32, 15_u64), action_reply);
|
||||
// Right now this function does not do a lot. We simply check that it does not panic or do
|
||||
// weird stuff.
|
||||
let result = testbench.handle_unrequested_reply(&unrequested_reply);
|
||||
assert!(result.is_ok());
|
||||
}
|
||||
|
||||
#[test]
|
||||
fn reply_handling_reply_timeout() {
|
||||
let mut testbench =
|
||||
ReplyHandlerTestbench::new(TEST_COMPONENT_ID_0.id(), ActionReplyHandler::default());
|
||||
let action_id = 5_u32;
|
||||
let (req_id, active_request) = testbench.add_tc(TEST_APID, TEST_UNIQUE_ID_0, &[]);
|
||||
let result = testbench.handle_request_timeout(
|
||||
&ActivePusActionRequestStd::new_from_common_req(action_id, active_request),
|
||||
&[],
|
||||
);
|
||||
assert!(result.is_ok());
|
||||
testbench.verif_reporter.assert_completion_failure(
|
||||
TEST_COMPONENT_ID_0.raw(),
|
||||
req_id,
|
||||
None,
|
||||
tmtc_err::REQUEST_TIMEOUT.raw() as u64,
|
||||
);
|
||||
}
|
||||
}
|
||||
@ -1,3 +1,4 @@
|
||||
pub mod action;
|
||||
pub mod stack;
|
||||
pub mod test;
|
||||
|
||||
@ -13,9 +14,10 @@ use satrs::pus::verification::{
|
||||
};
|
||||
use satrs::pus::{
|
||||
ActiveRequestMapProvider, ActiveRequestProvider, EcssTcAndToken, EcssTcInMemConverter,
|
||||
EcssTcReceiverCore, EcssTmSenderCore, EcssTmtcError, GenericConversionError,
|
||||
GenericRoutingError, PusPacketHandlerResult, PusPacketHandlingError, PusReplyHandler,
|
||||
PusRequestRouter, PusServiceHelper, PusTcToRequestConverter, TcInMemory,
|
||||
EcssTcInVecConverter, EcssTmSenderCore, EcssTmtcError, GenericConversionError,
|
||||
GenericRoutingError, MpscTcReceiver, MpscTmAsVecSender, PusPacketHandlerResult,
|
||||
PusPacketHandlingError, PusReplyHandler, PusRequestRouter, PusServiceHelper,
|
||||
PusTcToRequestConverter, TcInMemory,
|
||||
};
|
||||
use satrs::queue::GenericReceiveError;
|
||||
use satrs::request::{Apid, GenericMessage, MessageMetadata};
|
||||
@ -53,7 +55,7 @@ pub struct PusTcMpscRouter {
|
||||
// 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 action_tc_sender: Sender<EcssTcAndToken>,
|
||||
// pub mode_tc_sender: Sender<EcssTcAndToken>,
|
||||
}
|
||||
|
||||
@ -98,12 +100,10 @@ impl<TmSender: EcssTmSenderCore> PusReceiver<TmSender> {
|
||||
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::Action => self.pus_router.action_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()),
|
||||
@ -161,7 +161,7 @@ impl<TmSender: EcssTmSenderCore> PusReceiver<TmSender> {
|
||||
|
||||
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_tc(&mut self, time_stamp: &[u8]) -> HandlingStatus;
|
||||
fn poll_and_handle_next_reply(&mut self, time_stamp: &[u8]) -> HandlingStatus;
|
||||
fn check_for_request_timeouts(&mut self);
|
||||
}
|
||||
@ -188,9 +188,6 @@ pub trait TargetedPusService {
|
||||
/// 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>,
|
||||
@ -199,8 +196,12 @@ pub struct PusTargetedRequestService<
|
||||
RequestType,
|
||||
ReplyType,
|
||||
> {
|
||||
pub service_helper:
|
||||
PusServiceHelper<TcReceiver, TmSender, TcInMemConverter, VerificationReporter>,
|
||||
pub service_helper: PusServiceHelper<
|
||||
MpscTcReceiver,
|
||||
MpscTmAsVecSender,
|
||||
EcssTcInVecConverter,
|
||||
VerificationReporter,
|
||||
>,
|
||||
pub request_router: GenericRequestRouter,
|
||||
pub request_converter: RequestConverter,
|
||||
pub active_request_map: ActiveRequestMap,
|
||||
@ -209,11 +210,7 @@ pub struct PusTargetedRequestService<
|
||||
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>,
|
||||
@ -223,9 +220,6 @@ impl<
|
||||
ReplyType,
|
||||
>
|
||||
PusTargetedRequestService<
|
||||
TcReceiver,
|
||||
TmSender,
|
||||
TcInMemConverter,
|
||||
VerificationReporter,
|
||||
RequestConverter,
|
||||
ReplyHandler,
|
||||
@ -239,9 +233,9 @@ where
|
||||
{
|
||||
pub fn new(
|
||||
service_helper: PusServiceHelper<
|
||||
TcReceiver,
|
||||
TmSender,
|
||||
TcInMemConverter,
|
||||
MpscTcReceiver,
|
||||
MpscTmAsVecSender,
|
||||
EcssTcInVecConverter,
|
||||
VerificationReporter,
|
||||
>,
|
||||
request_converter: RequestConverter,
|
||||
@ -471,7 +465,7 @@ pub(crate) mod tests {
|
||||
use satrs::{
|
||||
pus::{
|
||||
verification::test_util::TestVerificationReporter, ActivePusRequestStd,
|
||||
ActiveRequestMapProvider, EcssTcInVecConverter, MpscTcReceiver,
|
||||
ActiveRequestMapProvider,
|
||||
},
|
||||
request::UniqueApidTargetId,
|
||||
spacepackets::{
|
||||
@ -691,9 +685,6 @@ pub(crate) mod tests {
|
||||
ReplyType,
|
||||
> {
|
||||
pub service: PusTargetedRequestService<
|
||||
MpscTcReceiver,
|
||||
MpscTmAsVecSender,
|
||||
EcssTcInVecConverter,
|
||||
TestVerificationReporter,
|
||||
RequestConverter,
|
||||
ReplyHandler,
|
||||
|
||||
@ -1,11 +1,9 @@
|
||||
// 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 satrs::spacepackets::time::{cds, TimeWriter};
|
||||
|
||||
use super::{action::ActionServiceWrapper, TargetedPusService};
|
||||
|
||||
// use super::{
|
||||
// action::ActionServiceWrapper, event::EventServiceWrapper, hk::HkServiceWrapper,
|
||||
@ -14,18 +12,16 @@ use satrs::{
|
||||
// };
|
||||
|
||||
#[derive(new)]
|
||||
pub struct PusStack<TmSender: EcssTmSenderCore, TcInMemConverter: EcssTcInMemConverter> {
|
||||
test_srv: TestCustomServiceWrapper<TmSender, TcInMemConverter>,
|
||||
pub struct PusStack {
|
||||
test_srv: TestCustomServiceWrapper,
|
||||
// hk_srv_wrapper: HkServiceWrapper<TmSender, TcInMemConverter>,
|
||||
// event_srv: EventServiceWrapper<TmSender, TcInMemConverter>,
|
||||
// action_srv_wrapper: ActionServiceWrapper<TmSender, TcInMemConverter>,
|
||||
action_srv_wrapper: ActionServiceWrapper,
|
||||
// schedule_srv: SchedulingServiceWrapper<TmSender, TcInMemConverter>,
|
||||
// mode_srv: ModeServiceWrapper<TmSender, TcInMemConverter>,
|
||||
}
|
||||
|
||||
impl<TmSender: EcssTmSenderCore, TcInMemConverter: EcssTcInMemConverter>
|
||||
PusStack<TmSender, TcInMemConverter>
|
||||
{
|
||||
impl PusStack {
|
||||
pub fn periodic_operation(&mut self) {
|
||||
// Release all telecommands which reached their release time before calling the service
|
||||
// handlers.
|
||||
@ -37,24 +33,31 @@ impl<TmSender: EcssTmSenderCore, TcInMemConverter: EcssTcInMemConverter>
|
||||
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)
|
||||
|_srv_id: u8,
|
||||
tc_handling_status: HandlingStatus,
|
||||
reply_handling_status: Option<HandlingStatus>| {
|
||||
if tc_handling_status == HandlingStatus::HandledOne
|
||||
|| (reply_handling_status.is_some()
|
||||
&& reply_handling_status.unwrap() == HandlingStatus::HandledOne)
|
||||
{
|
||||
nothing_to_do = false;
|
||||
}
|
||||
};
|
||||
is_srv_finished(self.test_srv.poll_and_handle_next_packet(&time_stamp), None);
|
||||
is_srv_finished(
|
||||
17,
|
||||
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(
|
||||
8,
|
||||
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)),
|
||||
@ -65,7 +68,7 @@ impl<TmSender: EcssTmSenderCore, TcInMemConverter: EcssTcInMemConverter>
|
||||
// );
|
||||
if nothing_to_do {
|
||||
// Timeout checking is only done once.
|
||||
// self.action_srv_wrapper.check_for_request_timeouts();
|
||||
self.action_srv_wrapper.check_for_request_timeouts();
|
||||
// self.hk_srv_wrapper.check_for_request_timeouts();
|
||||
// self.mode_srv.check_for_request_timeouts();
|
||||
break;
|
||||
|
||||
@ -6,8 +6,8 @@ use ops_sat_rs::config::tmtc_err;
|
||||
use satrs::pus::test::PusService17TestHandler;
|
||||
use satrs::pus::verification::{FailParams, VerificationReporter, VerificationReportingProvider};
|
||||
use satrs::pus::{
|
||||
EcssTcAndToken, EcssTcInMemConverter, EcssTcInVecConverter, EcssTmSenderCore, MpscTcReceiver,
|
||||
MpscTmAsVecSender, PusPacketHandlerResult, PusServiceHelper, PusTmAsVec,
|
||||
EcssTcAndToken, EcssTcInMemConverter, EcssTcInVecConverter, MpscTcReceiver, MpscTmAsVecSender,
|
||||
PusPacketHandlerResult, PusServiceHelper, PusTmAsVec,
|
||||
};
|
||||
use satrs::spacepackets::ecss::tc::PusTcReader;
|
||||
use satrs::spacepackets::ecss::PusPacket;
|
||||
@ -15,11 +15,13 @@ use satrs::spacepackets::time::cds::CdsTime;
|
||||
use satrs::spacepackets::time::TimeWriter;
|
||||
use std::sync::mpsc;
|
||||
|
||||
pub fn create_test_service_dynamic(
|
||||
use super::HandlingStatus;
|
||||
|
||||
pub fn create_test_service(
|
||||
tm_funnel_tx: mpsc::Sender<PusTmAsVec>,
|
||||
// event_sender: mpsc::Sender<EventMessageU32>,
|
||||
pus_test_rx: mpsc::Receiver<EcssTcAndToken>,
|
||||
) -> TestCustomServiceWrapper<MpscTmAsVecSender, EcssTcInVecConverter> {
|
||||
) -> TestCustomServiceWrapper {
|
||||
let pus17_handler = PusService17TestHandler::new(PusServiceHelper::new(
|
||||
PUS_TEST_SERVICE.id(),
|
||||
pus_test_rx,
|
||||
@ -33,23 +35,22 @@ pub fn create_test_service_dynamic(
|
||||
}
|
||||
}
|
||||
|
||||
pub struct TestCustomServiceWrapper<
|
||||
TmSender: EcssTmSenderCore,
|
||||
TcInMemConverter: EcssTcInMemConverter,
|
||||
> {
|
||||
pub handler:
|
||||
PusService17TestHandler<MpscTcReceiver, TmSender, TcInMemConverter, VerificationReporter>,
|
||||
pub struct TestCustomServiceWrapper {
|
||||
pub handler: PusService17TestHandler<
|
||||
MpscTcReceiver,
|
||||
MpscTmAsVecSender,
|
||||
EcssTcInVecConverter,
|
||||
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 {
|
||||
impl TestCustomServiceWrapper {
|
||||
pub fn poll_and_handle_next_packet(&mut self, time_stamp: &[u8]) -> HandlingStatus {
|
||||
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;
|
||||
return HandlingStatus::Empty;
|
||||
}
|
||||
match res.unwrap() {
|
||||
PusPacketHandlerResult::RequestHandled => {
|
||||
@ -114,10 +115,8 @@ impl<TmSender: EcssTmSenderCore, TcInMemConverter: EcssTcInMemConverter>
|
||||
.expect("Sending start failure verification failed");
|
||||
}
|
||||
}
|
||||
PusPacketHandlerResult::Empty => {
|
||||
return true;
|
||||
}
|
||||
}
|
||||
false
|
||||
PusPacketHandlerResult::Empty => return HandlingStatus::Empty,
|
||||
}
|
||||
HandlingStatus::HandledOne
|
||||
}
|
||||
}
|
||||
|
||||
@ -1,5 +1,4 @@
|
||||
use ops_sat_rs::config::components::Apid;
|
||||
use ops_sat_rs::config::APID_VALIDATOR;
|
||||
use ops_sat_rs::config::EXPERIMENT_APID;
|
||||
use satrs::pus::ReceivesEcssPusTc;
|
||||
use satrs::spacepackets::{CcsdsPacket, SpHeader};
|
||||
use satrs::tmtc::{CcsdsPacketHandler, ReceivesCcsdsTc};
|
||||
@ -19,7 +18,7 @@ impl<
|
||||
> ValidatorU16Id for CcsdsReceiver<TcSource, E>
|
||||
{
|
||||
fn validate(&self, apid: u16) -> bool {
|
||||
APID_VALIDATOR.contains(&apid)
|
||||
apid == EXPERIMENT_APID
|
||||
}
|
||||
}
|
||||
|
||||
@ -35,11 +34,7 @@ impl<
|
||||
sp_header: &SpHeader,
|
||||
tc_raw: &[u8],
|
||||
) -> Result<(), Self::Error> {
|
||||
if sp_header.apid() == Apid::Cfdp as u16 {
|
||||
} else {
|
||||
return self.tc_source.pass_ccsds(sp_header, tc_raw);
|
||||
}
|
||||
Ok(())
|
||||
self.tc_source.pass_ccsds(sp_header, tc_raw)
|
||||
}
|
||||
|
||||
fn handle_packet_with_unknown_apid(
|
||||
@ -47,6 +42,7 @@ impl<
|
||||
sp_header: &SpHeader,
|
||||
_tc_raw: &[u8],
|
||||
) -> Result<(), Self::Error> {
|
||||
// TODO: Log event as telemetry or something similar?
|
||||
log::warn!("unknown APID 0x{:x?} detected", sp_header.apid());
|
||||
Ok(())
|
||||
}
|
||||
|
||||
Loading…
Reference in New Issue
Block a user