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remove spacepackets to replace with submodule

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Robin Müller 2022-06-18 22:52:49 +02:00
parent d39bbeb044
commit 051efaf7cb
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9 changed files with 18 additions and 1405 deletions
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18
.idea/runConfigurations/Test_spacepackets.xml Normal file
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<component name="ProjectRunConfigurationManager">
<configuration default="false" name="Test spacepackets" type="CargoCommandRunConfiguration" factoryName="Cargo Command">
<option name="command" value="test -p spacepackets" />
<option name="workingDirectory" value="file://$PROJECT_DIR$" />
<option name="channel" value="DEFAULT" />
<option name="requiredFeatures" value="true" />
<option name="allFeatures" value="false" />
<option name="emulateTerminal" value="false" />
<option name="withSudo" value="false" />
<option name="backtrace" value="SHORT" />
<envs />
<option name="isRedirectInput" value="false" />
<option name="redirectInputPath" value="" />
<method v="2">
<option name="CARGO.BUILD_TASK_PROVIDER" enabled="true" />
</method>
</configuration>
</component>

34
spacepackets/Cargo.toml
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[package]
name = "spacepackets"
version = "0.1.0"
edition = "2021"
authors = ["Robin Mueller <muellerr@irs.uni-stuttgart.de>"]
description = "Generic implementations for various CCSDS and ECSS packet standards"
homepage = "https://egit.irs.uni-stuttgart.de/rust/spacepackets"
repository = "https://egit.irs.uni-stuttgart.de/rust/spacepackets"
license = "Apache-2.0"
keywords = ["no-std", "space", "packets", "ccsds", "ecss"]
categories = ["aerospace", "aerospace::space-protocols", "no-std", "hardware-support", "embedded"]
# See more keys and their definitions at https://doc.rust-lang.org/cargo/reference/manifest.html
[dependencies]
num = "0.4"
serde = "1.0.137"
zerocopy = "0.6.1"
crc = "3.0.0"
delegate = "0.7.0"
[dependencies.heapless]
version = "0.7.14"
optional = true
[dev-dependencies]
[dev-dependencies.postcard]
version = "0.7.3"
features = ["use-std"]
[features]
default = ["heapless", "alloc"]
alloc = ["serde/alloc"]

201
spacepackets/LICENSE-APACHE
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@ -1,201 +0,0 @@
Apache License
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http://www.apache.org/licenses/
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or a Contribution incorporated within the Work constitutes direct
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4. Redistribution. You may reproduce and distribute copies of the
Work or Derivative Works thereof in any medium, with or without
modifications, and in Source or Object form, provided that You
meet the following conditions:
(a) You must give any other recipients of the Work or
Derivative Works a copy of this License; and
(b) You must cause any modified files to carry prominent notices
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You may add Your own copyright statement to Your modifications and
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6. Trademarks. This License does not grant permission to use the trade
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3
spacepackets/NOTICE
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Generic implementations for various CCSDS and ECSS packet standards.
This software contains code developed at the University of Stuttgart.

67
spacepackets/examples/test.rs
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use postcard::{from_bytes, to_stdvec};
use serde::{Deserialize, Serialize};
use zerocopy::byteorder::{I32, U16};
use zerocopy::{AsBytes, FromBytes, NetworkEndian, Unaligned};
#[derive(AsBytes, FromBytes, Unaligned, Debug, Eq, PartialEq)]
#[repr(C, packed)]
struct ZeroCopyTest {
some_bool: u8,
some_u16: U16<NetworkEndian>,
some_i32: I32<NetworkEndian>,
some_float: [u8; 4],
}
#[derive(Serialize, Deserialize, Debug, PartialEq)]
struct PostcardTest {
some_bool: u8,
some_u16: u16,
some_i32: i32,
some_float: f32,
}
#[derive(Serialize, Deserialize, Debug, PartialEq)]
struct SliceSerTest<'slice> {
some_u8: u8,
some_u32: u32,
some_slice: &'slice [u8],
}
fn main() {
let pc_test = PostcardTest {
some_bool: true as u8,
some_u16: 0x42,
some_i32: -200,
some_float: 7.7_f32,
};
let out = to_stdvec(&pc_test).unwrap();
println!("{:#04x?}", out);
let sample_hk = ZeroCopyTest {
some_bool: true as u8,
some_u16: U16::from(0x42),
some_i32: I32::from(-200),
some_float: 7.7_f32.to_be_bytes(),
};
let mut slice = [0; 11];
sample_hk.write_to(slice.as_mut_slice());
println!("{:#04x?}", slice);
let ser_vec;
{
let test_buf = [0, 1, 2, 3];
let test_with_slice = SliceSerTest {
some_u8: 12,
some_u32: 1,
some_slice: test_buf.as_slice(),
};
ser_vec = to_stdvec(&test_with_slice).unwrap();
println!("{:#04x?}", out);
}
{
let test_deser: SliceSerTest = from_bytes(ser_vec.as_slice()).unwrap();
println!("{:?}", test_deser);
}
}

37
spacepackets/src/ecss.rs
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use crate::{CcsdsPacket, PacketError};
use core::mem::size_of;
use crc::{Crc, CRC_16_IBM_3740};
use serde::{Deserialize, Serialize};
/// CRC algorithm used by the PUS standard
pub const CRC_CCITT_FALSE: Crc<u16> = Crc::<u16>::new(&CRC_16_IBM_3740);
pub const CCSDS_HEADER_LEN: usize = size_of::<crate::zc::SpHeader>();
/// All PUS versions. Only PUS C is supported by this library
#[derive(PartialEq, Copy, Clone, Serialize, Deserialize, Debug)]
pub enum PusVersion {
EsaPus = 0,
PusA = 1,
PusC = 2,
}
#[derive(Debug, Copy, Clone, PartialEq)]
pub enum PusError {
VersionNotSupported(PusVersion),
IncorrectCrc(u16),
RawDataTooShort(usize),
NoRawData,
/// CRC16 needs to be calculated first
CrcCalculationMissing,
OtherPacketError(PacketError),
}
pub trait PusPacket: CcsdsPacket {
const PUS_VERSION: PusVersion = PusVersion::PusC;
fn service(&self) -> u8;
fn subservice(&self) -> u8;
fn user_data(&self) -> Option<&[u8]>;
fn crc16(&self) -> Option<u16>;
}

586
spacepackets/src/lib.rs
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//! # Space related components including CCSDS and ECSS packet standards
#![no_std]
extern crate alloc;
use crate::ecss::CCSDS_HEADER_LEN;
use serde::{Deserialize, Serialize};
pub mod ecss;
pub mod tc;
pub mod tm;
#[derive(Debug, Copy, Clone, PartialEq)]
pub enum PacketError {
/// The passed slice is too small. Returns the required size of the failed size chgeck
ToBytesSliceTooSmall(usize),
/// The [zerocopy] library failed to write to bytes
ToBytesZeroCopyError,
FromBytesZeroCopyError,
}
#[derive(Serialize, Deserialize, Debug, PartialEq, Copy, Clone)]
pub enum PacketType {
Tm = 0,
Tc = 1,
}
impl TryFrom<u8> for PacketType {
type Error = ();
fn try_from(value: u8) -> Result<Self, Self::Error> {
match value {
x if x == PacketType::Tm as u8 => Ok(PacketType::Tm),
x if x == PacketType::Tc as u8 => Ok(PacketType::Tc),
_ => Err(()),
}
}
}
pub fn packet_type_in_raw_packet_id(packet_id: u16) -> PacketType {
PacketType::try_from((packet_id >> 12) as u8 & 0b1).unwrap()
}
#[derive(Serialize, Deserialize, Debug, PartialEq, Copy, Clone)]
pub enum SequenceFlags {
ContinuationSegment = 0b00,
FirstSegment = 0b01,
LastSegment = 0b10,
Unsegmented = 0b11,
}
impl TryFrom<u8> for SequenceFlags {
type Error = ();
fn try_from(value: u8) -> Result<Self, Self::Error> {
match value {
x if x == SequenceFlags::ContinuationSegment as u8 => {
Ok(SequenceFlags::ContinuationSegment)
}
x if x == SequenceFlags::FirstSegment as u8 => Ok(SequenceFlags::FirstSegment),
x if x == SequenceFlags::LastSegment as u8 => Ok(SequenceFlags::LastSegment),
x if x == SequenceFlags::Unsegmented as u8 => Ok(SequenceFlags::Unsegmented),
_ => Err(()),
}
}
}
#[derive(Serialize, Deserialize, Debug, PartialEq, Copy, Clone)]
pub struct PacketId {
pub ptype: PacketType,
pub sec_header_flag: bool,
apid: u16,
}
impl PacketId {
pub fn new(ptype: PacketType, sec_header_flag: bool, apid: u16) -> Option<PacketId> {
let mut pid = PacketId {
ptype,
sec_header_flag,
apid: 0,
};
pid.set_apid(apid).then(|| pid)
}
pub fn set_apid(&mut self, apid: u16) -> bool {
if apid > num::pow(2, 11) - 1 {
return false;
}
self.apid = apid;
true
}
pub fn apid(&self) -> u16 {
self.apid
}
pub fn raw(&self) -> u16 {
((self.ptype as u16) << 12) | ((self.sec_header_flag as u16) << 11) | self.apid
}
}
impl From<u16> for PacketId {
fn from(raw_id: u16) -> Self {
PacketId {
ptype: PacketType::try_from(((raw_id >> 12) & 0b1) as u8).unwrap(),
sec_header_flag: ((raw_id >> 11) & 0b1) != 0,
apid: raw_id & 0x7FF,
}
}
}
#[derive(Serialize, Deserialize, Debug, PartialEq, Copy, Clone)]
pub struct PacketSequenceCtrl {
pub seq_flags: SequenceFlags,
ssc: u16,
}
impl PacketSequenceCtrl {
pub fn new(seq_flags: SequenceFlags, ssc: u16) -> Option<PacketSequenceCtrl> {
let mut psc = PacketSequenceCtrl { seq_flags, ssc: 0 };
psc.set_ssc(ssc).then(|| psc)
}
pub fn raw(&self) -> u16 {
((self.seq_flags as u16) << 14) | self.ssc
}
pub fn set_ssc(&mut self, ssc: u16) -> bool {
if ssc > num::pow(2, 14) - 1 {
return false;
}
self.ssc = ssc;
true
}
pub fn ssc(&self) -> u16 {
self.ssc
}
}
impl From<u16> for PacketSequenceCtrl {
fn from(raw_id: u16) -> Self {
PacketSequenceCtrl {
seq_flags: SequenceFlags::try_from(((raw_id >> 14) & 0b11) as u8).unwrap(),
ssc: raw_id & SSC_MASK,
}
}
}
macro_rules! sph_from_other {
($Self: path, $other: path) => {
impl From<$other> for $Self {
fn from(other: $other) -> Self {
Self::from_composite_fields(
other.packet_id(),
other.psc(),
other.data_len(),
Some(other.ccsds_version()),
)
}
}
};
}
const SSC_MASK: u16 = 0x3FFF;
const VERSION_MASK: u16 = 0xE000;
/// Generic trait to access fields of a CCSDS space packet header according to CCSDS 133.0-B-2
pub trait CcsdsPacket {
fn ccsds_version(&self) -> u8;
fn packet_id(&self) -> PacketId;
fn psc(&self) -> PacketSequenceCtrl;
/// Retrieve data length field
fn data_len(&self) -> u16;
/// Retrieve the total packet size based on the data length field
fn total_len(&self) -> usize {
usize::from(self.data_len()) + CCSDS_HEADER_LEN + 1
}
/// Retrieve 13 bit Packet Identification field. Can usually be retrieved with a bitwise AND
/// of the first 2 bytes with 0x1FFF
#[inline]
fn packet_id_raw(&self) -> u16 {
self.packet_id().raw()
}
/// Retrieve Packet Sequence Count
#[inline]
fn psc_raw(&self) -> u16 {
self.psc().raw()
}
#[inline]
/// Retrieve Packet Type (TM: 0, TC: 1)
fn ptype(&self) -> PacketType {
// This call should never fail because only 0 and 1 can be passed to the try_from call
self.packet_id().ptype
}
#[inline]
fn is_tm(&self) -> bool {
self.ptype() == PacketType::Tm
}
#[inline]
fn is_tc(&self) -> bool {
self.ptype() == PacketType::Tc
}
/// Retrieve the secondary header flag. Returns true if a secondary header is present
/// and false if it is not
#[inline]
fn sec_header_flag(&self) -> bool {
self.packet_id().sec_header_flag
}
/// Retrieve Application Process ID
#[inline]
fn apid(&self) -> u16 {
self.packet_id().apid
}
#[inline]
fn ssc(&self) -> u16 {
self.psc().ssc
}
#[inline]
fn sequence_flags(&self) -> SequenceFlags {
// This call should never fail because the mask ensures that only valid values are passed
// into the try_from function
self.psc().seq_flags
}
}
pub trait CcsdsPrimaryHeader {
fn from_composite_fields(
packet_id: PacketId,
psc: PacketSequenceCtrl,
data_len: u16,
version: Option<u8>,
) -> Self;
}
pub mod ser {
use crate::{
CcsdsPacket, CcsdsPrimaryHeader, PacketId, PacketSequenceCtrl, PacketType, SequenceFlags,
};
/// Space Packet Primary Header according to CCSDS 133.0-B-2
#[derive(serde::Serialize, serde::Deserialize, Debug, PartialEq, Copy, Clone)]
pub struct SpHeader {
pub version: u8,
pub packet_id: PacketId,
pub psc: PacketSequenceCtrl,
pub data_len: u16,
}
impl Default for SpHeader {
fn default() -> Self {
SpHeader {
version: 0,
packet_id: PacketId {
ptype: PacketType::Tm,
apid: 0,
sec_header_flag: true,
},
psc: PacketSequenceCtrl {
seq_flags: SequenceFlags::Unsegmented,
ssc: 0,
},
data_len: 0,
}
}
}
impl SpHeader {
pub fn new(apid: u16, ptype: PacketType, ssc: u16, data_len: u16) -> Option<Self> {
if ssc > num::pow(2, 14) - 1 || apid > num::pow(2, 11) - 1 {
return None;
}
let mut header = SpHeader::default();
header.packet_id.apid = apid;
header.packet_id.ptype = ptype;
header.psc.ssc = ssc;
header.data_len = data_len;
Some(header)
}
pub fn tm(apid: u16, ssc: u16, data_len: u16) -> Option<Self> {
Self::new(apid, PacketType::Tm, ssc, data_len)
}
pub fn tc(apid: u16, ssc: u16, data_len: u16) -> Option<Self> {
Self::new(apid, PacketType::Tc, ssc, data_len)
}
}
impl CcsdsPacket for SpHeader {
#[inline]
fn ccsds_version(&self) -> u8 {
self.version
}
#[inline]
fn packet_id(&self) -> PacketId {
self.packet_id
}
#[inline]
fn psc(&self) -> PacketSequenceCtrl {
self.psc
}
#[inline]
fn data_len(&self) -> u16 {
self.data_len
}
}
impl CcsdsPrimaryHeader for SpHeader {
fn from_composite_fields(
packet_id: PacketId,
psc: PacketSequenceCtrl,
data_len: u16,
version: Option<u8>,
) -> Self {
let mut version_to_set = 0b000;
if let Some(version) = version {
version_to_set = version;
}
SpHeader {
version: version_to_set,
packet_id,
psc,
data_len,
}
}
}
sph_from_other!(SpHeader, crate::zc::SpHeader);
}
pub mod zc {
use crate::{CcsdsPacket, CcsdsPrimaryHeader, PacketId, PacketSequenceCtrl, VERSION_MASK};
use zerocopy::byteorder::NetworkEndian;
use zerocopy::{AsBytes, FromBytes, Unaligned, U16};
#[derive(FromBytes, AsBytes, Unaligned, Debug)]
#[repr(C)]
pub struct SpHeader {
version_packet_id: U16<NetworkEndian>,
psc: U16<NetworkEndian>,
data_len: U16<NetworkEndian>,
}
impl SpHeader {
pub fn new(
packet_id: PacketId,
psc: PacketSequenceCtrl,
data_len: u16,
version: Option<u8>,
) -> Self {
let mut version_packet_id = packet_id.raw();
if let Some(version) = version {
version_packet_id = ((version as u16) << 13) | packet_id.raw()
}
SpHeader {
version_packet_id: U16::from(version_packet_id),
psc: U16::from(psc.raw()),
data_len: U16::from(data_len),
}
}
pub fn from_bytes(slice: &(impl AsRef<[u8]> + ?Sized)) -> Option<Self> {
SpHeader::read_from(slice.as_ref())
}
pub fn to_bytes(&self, slice: &mut (impl AsMut<[u8]> + ?Sized)) -> Option<()> {
self.write_to(slice.as_mut())
}
}
impl CcsdsPacket for SpHeader {
#[inline]
fn ccsds_version(&self) -> u8 {
((self.version_packet_id.get() >> 13) as u8) & 0b111
}
fn packet_id(&self) -> PacketId {
PacketId::from(self.packet_id_raw())
}
fn psc(&self) -> PacketSequenceCtrl {
PacketSequenceCtrl::from(self.psc_raw())
}
#[inline]
fn data_len(&self) -> u16 {
self.data_len.get()
}
fn packet_id_raw(&self) -> u16 {
self.version_packet_id.get() & (!VERSION_MASK)
}
fn psc_raw(&self) -> u16 {
self.psc.get()
}
}
impl CcsdsPrimaryHeader for SpHeader {
fn from_composite_fields(
packet_id: PacketId,
psc: PacketSequenceCtrl,
data_len: u16,
version: Option<u8>,
) -> Self {
SpHeader::new(packet_id, psc, data_len, version)
}
}
sph_from_other!(SpHeader, crate::ser::SpHeader);
}
#[cfg(test)]
mod tests {
use crate::ser::SpHeader;
use crate::{
packet_type_in_raw_packet_id, zc, CcsdsPacket, CcsdsPrimaryHeader, PacketId,
PacketSequenceCtrl, PacketType, SequenceFlags,
};
use alloc::vec;
use postcard::{from_bytes, to_stdvec};
#[test]
fn test_helpers() {
assert_eq!(
SequenceFlags::try_from(0b00).expect("SEQ flag creation failed"),
SequenceFlags::ContinuationSegment
);
assert_eq!(
SequenceFlags::try_from(0b01).expect("SEQ flag creation failed"),
SequenceFlags::FirstSegment
);
assert_eq!(
SequenceFlags::try_from(0b10).expect("SEQ flag creation failed"),
SequenceFlags::LastSegment
);
assert_eq!(
SequenceFlags::try_from(0b11).expect("SEQ flag creation failed"),
SequenceFlags::Unsegmented
);
assert!(SequenceFlags::try_from(0b100).is_err());
assert!(PacketType::try_from(0b10).is_err());
let packet_id =
PacketId::new(PacketType::Tm, false, 0x42).expect("Packet ID creation failed");
assert_eq!(packet_id.raw(), 0x0042);
let packet_id_from_raw = PacketId::from(packet_id.raw());
assert_eq!(
packet_type_in_raw_packet_id(packet_id.raw()),
PacketType::Tm
);
assert_eq!(packet_id_from_raw, packet_id);
let packet_id_invalid = PacketId::new(PacketType::Tc, true, 0xFFFF);
assert!(packet_id_invalid.is_none());
let packet_id_from_new = PacketId::new(PacketType::Tm, false, 0x42).unwrap();
assert_eq!(packet_id_from_new, packet_id);
let mut psc = PacketSequenceCtrl::new(SequenceFlags::ContinuationSegment, 77)
.expect("PSC creation failed");
assert_eq!(psc.raw(), 77);
let psc_from_raw = PacketSequenceCtrl::from(psc.raw());
assert_eq!(psc_from_raw, psc);
// Fails because SSC is limited to 14 bits
assert!(!psc.set_ssc(num::pow(2, 15)));
assert_eq!(psc.raw(), 77);
let psc_invalid = PacketSequenceCtrl::new(SequenceFlags::FirstSegment, 0xFFFF);
assert!(psc_invalid.is_none());
let psc_from_new = PacketSequenceCtrl::new(SequenceFlags::ContinuationSegment, 77).unwrap();
assert_eq!(psc_from_new, psc);
}
#[test]
fn test_serde_sph() {
let sp_header = SpHeader::tc(0x42, 12, 0).expect("Error creating SP header");
assert_eq!(sp_header.ccsds_version(), 0b000);
assert!(sp_header.is_tc());
assert!(sp_header.sec_header_flag());
assert_eq!(sp_header.ptype(), PacketType::Tc);
assert_eq!(sp_header.ssc(), 12);
assert_eq!(sp_header.apid(), 0x42);
assert_eq!(sp_header.sequence_flags(), SequenceFlags::Unsegmented);
assert_eq!(sp_header.data_len(), 0);
let output = to_stdvec(&sp_header).unwrap();
let sp_header: SpHeader = from_bytes(&output).unwrap();
assert_eq!(sp_header.version, 0b000);
assert!(sp_header.packet_id.sec_header_flag);
assert_eq!(sp_header.ptype(), PacketType::Tc);
assert_eq!(sp_header.ssc(), 12);
assert_eq!(sp_header.apid(), 0x42);
assert_eq!(sp_header.sequence_flags(), SequenceFlags::Unsegmented);
assert_eq!(sp_header.packet_id_raw(), 0x1842);
assert_eq!(sp_header.psc_raw(), 0xC00C);
assert_eq!(sp_header.ccsds_version(), 0b000);
assert_eq!(sp_header.data_len, 0);
let sp_header = SpHeader::tm(0x7, 22, 36).expect("Error creating SP header");
assert_eq!(sp_header.ccsds_version(), 0b000);
assert!(sp_header.is_tm());
assert!(sp_header.sec_header_flag());
assert_eq!(sp_header.ptype(), PacketType::Tm);
assert_eq!(sp_header.ssc(), 22);
assert_eq!(sp_header.apid(), 0x07);
assert_eq!(sp_header.sequence_flags(), SequenceFlags::Unsegmented);
assert_eq!(sp_header.packet_id_raw(), 0x0807);
assert_eq!(sp_header.psc_raw(), 0xC016);
assert_eq!(sp_header.data_len(), 36);
assert_eq!(sp_header.ccsds_version(), 0b000);
let from_comp_fields = SpHeader::from_composite_fields(
PacketId::new(PacketType::Tc, true, 0x42).unwrap(),
PacketSequenceCtrl::new(SequenceFlags::Unsegmented, 0x7).unwrap(),
0,
None,
);
assert_eq!(from_comp_fields.ptype(), PacketType::Tc);
assert_eq!(from_comp_fields.apid(), 0x42);
assert!(from_comp_fields.sec_header_flag());
assert_eq!(
from_comp_fields.sequence_flags(),
SequenceFlags::Unsegmented
);
assert_eq!(from_comp_fields.ssc(), 0x7);
assert_eq!(from_comp_fields.data_len(), 0);
}
#[test]
fn test_zc_sph() {
use zerocopy::AsBytes;
let sp_header =
SpHeader::tc(0x7FF, num::pow(2, 14) - 1, 0).expect("Error creating SP header");
assert_eq!(sp_header.ptype(), PacketType::Tc);
assert_eq!(sp_header.apid(), 0x7FF);
assert_eq!(sp_header.data_len(), 0);
assert_eq!(sp_header.ccsds_version(), 0b000);
assert!(sp_header.is_tc());
let sp_header_zc = zc::SpHeader::from(sp_header);
let slice = sp_header_zc.as_bytes();
assert_eq!(slice.len(), 6);
assert_eq!(slice[0], 0x1F);
assert_eq!(slice[1], 0xFF);
assert_eq!(slice[2], 0xFF);
assert_eq!(slice[3], 0xFF);
assert_eq!(slice[4], 0x00);
assert_eq!(slice[5], 0x00);
let mut slice = [0; 6];
sp_header_zc.write_to(slice.as_mut_slice());
assert_eq!(slice.len(), 6);
assert_eq!(slice[0], 0x1F);
assert_eq!(slice[1], 0xFF);
assert_eq!(slice[2], 0xFF);
assert_eq!(slice[3], 0xFF);
assert_eq!(slice[4], 0x00);
assert_eq!(slice[5], 0x00);
let mut test_vec = vec![0_u8; 6];
let slice = test_vec.as_mut_slice();
sp_header_zc.write_to(slice);
let slice = test_vec.as_slice();
assert_eq!(slice.len(), 6);
assert_eq!(slice[0], 0x1F);
assert_eq!(slice[1], 0xFF);
assert_eq!(slice[2], 0xFF);
assert_eq!(slice[3], 0xFF);
assert_eq!(slice[4], 0x00);
assert_eq!(slice[5], 0x00);
let sp_header = zc::SpHeader::from_bytes(slice);
assert!(sp_header.is_some());
let sp_header = sp_header.unwrap();
assert_eq!(sp_header.ccsds_version(), 0b000);
assert_eq!(sp_header.packet_id_raw(), 0x1FFF);
assert_eq!(sp_header.apid(), 0x7FF);
assert_eq!(sp_header.ptype(), PacketType::Tc);
assert_eq!(sp_header.data_len(), 0);
}
}

476
spacepackets/src/tc.rs
View File

@ -1,476 +0,0 @@
use crate::ecss::PusVersion;
use crate::CCSDS_HEADER_LEN;
use core::mem::size_of;
type CrcType = u16;
/// PUS C secondary header length is fixed
pub const PUC_TC_SECONDARY_HEADER_LEN: usize = size_of::<zc::PusTcDataFieldHeader>();
pub const PUS_TC_MIN_LEN_WITHOUT_APP_DATA: usize =
CCSDS_HEADER_LEN + PUC_TC_SECONDARY_HEADER_LEN + size_of::<CrcType>();
const PUS_VERSION: PusVersion = PusVersion::PusC;
#[derive(Copy, Clone, PartialEq, Debug)]
enum AckOpts {
Acceptance = 0b1000,
Start = 0b0100,
Progress = 0b0010,
Completion = 0b0001,
}
pub const ACK_ALL: u8 = AckOpts::Acceptance as u8
| AckOpts::Start as u8
| AckOpts::Progress as u8
| AckOpts::Completion as u8;
pub trait PusTcSecondaryHeader {
fn ack_flags(&self) -> u8;
fn service(&self) -> u8;
fn subservice(&self) -> u8;
fn source_id(&self) -> u16;
}
pub mod zc {
use crate::ecss::{PusError, PusVersion};
use crate::tc::{ser, PusTcSecondaryHeader};
use zerocopy::{AsBytes, FromBytes, NetworkEndian, Unaligned, U16};
#[derive(FromBytes, AsBytes, Unaligned)]
#[repr(C)]
pub struct PusTcDataFieldHeader {
version_ack: u8,
service: u8,
subservice: u8,
source_id: U16<NetworkEndian>,
}
impl TryFrom<ser::PusTcDataFieldHeader> for PusTcDataFieldHeader {
type Error = PusError;
fn try_from(value: ser::PusTcDataFieldHeader) -> Result<Self, Self::Error> {
if value.version != PusVersion::PusC {
return Err(PusError::VersionNotSupported(value.version));
}
Ok(PusTcDataFieldHeader {
version_ack: ((value.version as u8) << 4) | value.ack,
service: value.service,
subservice: value.subservice,
source_id: U16::from(value.source_id),
})
}
}
impl PusTcSecondaryHeader for PusTcDataFieldHeader {
fn ack_flags(&self) -> u8 {
self.version_ack & 0b1111
}
fn service(&self) -> u8 {
self.service
}
fn subservice(&self) -> u8 {
self.subservice
}
fn source_id(&self) -> u16 {
self.source_id.get()
}
}
impl PusTcDataFieldHeader {
pub fn to_bytes(&self, slice: &mut (impl AsMut<[u8]> + ?Sized)) -> Option<()> {
self.write_to(slice.as_mut())
}
pub fn from_bytes(slice: &(impl AsRef<[u8]> + ?Sized)) -> Option<Self> {
Self::read_from(slice.as_ref())
}
}
}
pub mod ser {
use crate::ecss::{PusError, PusPacket, PusVersion, CRC_CCITT_FALSE};
use crate::ser::SpHeader;
use crate::tc::{
PusTcSecondaryHeader, ACK_ALL, PUC_TC_SECONDARY_HEADER_LEN,
PUS_TC_MIN_LEN_WITHOUT_APP_DATA, PUS_VERSION,
};
use crate::{zc, CcsdsPacket, PacketError, PacketId, PacketSequenceCtrl, PacketType};
use alloc::vec::Vec;
use core::mem::size_of;
use delegate::delegate;
use serde::{Deserialize, Serialize};
use zerocopy::AsBytes;
#[derive(PartialEq, Copy, Clone, Serialize, Deserialize)]
pub struct PusTcDataFieldHeader {
pub service: u8,
pub subservice: u8,
pub source_id: u16,
pub ack: u8,
pub version: PusVersion,
}
impl PusTcSecondaryHeader for PusTcDataFieldHeader {
fn ack_flags(&self) -> u8 {
self.ack
}
fn service(&self) -> u8 {
self.service
}
fn subservice(&self) -> u8 {
self.subservice
}
fn source_id(&self) -> u16 {
self.source_id
}
}
impl TryFrom<super::zc::PusTcDataFieldHeader> for PusTcDataFieldHeader {
type Error = ();
fn try_from(value: super::zc::PusTcDataFieldHeader) -> Result<Self, Self::Error> {
Ok(PusTcDataFieldHeader {
service: value.service(),
subservice: value.subservice(),
source_id: value.source_id(),
ack: value.ack_flags(),
version: PUS_VERSION,
})
}
}
impl PusTcDataFieldHeader {
pub fn new(service: u8, subservice: u8, ack: u8) -> Self {
PusTcDataFieldHeader {
service,
subservice,
ack: ack & 0b1111,
source_id: 0,
version: PusVersion::PusC,
}
}
}
#[derive(PartialEq, Copy, Clone, Serialize, Deserialize)]
pub struct PusTc<'slice> {
pub sph: SpHeader,
pub data_field_header: PusTcDataFieldHeader,
#[serde(skip)]
raw_data: Option<&'slice [u8]>,
app_data: Option<&'slice [u8]>,
crc16: Option<u16>,
}
impl<'slice> PusTc<'slice> {
pub fn new(
sph: &mut SpHeader,
service: u8,
subservice: u8,
app_data: Option<&'slice [u8]>,
) -> Self {
sph.packet_id.ptype = PacketType::Tc;
PusTc {
sph: *sph,
raw_data: None,
app_data,
data_field_header: PusTcDataFieldHeader::new(service, subservice, ACK_ALL),
crc16: None,
}
}
pub fn len_packed(&self) -> usize {
let mut length = super::PUS_TC_MIN_LEN_WITHOUT_APP_DATA;
if let Some(app_data) = self.app_data {
length += app_data.len();
}
length
}
/// Calculate the CCSDS space packet data length field and sets it
pub fn set_ccsds_data_len(&mut self) {
self.sph.data_len =
self.len_packed() as u16 - size_of::<crate::zc::SpHeader>() as u16 - 1;
}
fn crc_from_raw_data(&self) -> Result<u16, PusError> {
if let Some(raw_data) = self.raw_data {
if raw_data.len() < 2 {
return Err(PusError::RawDataTooShort(raw_data.len()));
}
return Ok(u16::from_be_bytes(
raw_data[raw_data.len() - 2..raw_data.len()]
.try_into()
.unwrap(),
));
}
Err(PusError::NoRawData)
}
pub fn calc_crc16(&mut self) {
let mut digest = CRC_CCITT_FALSE.digest();
let sph_zc = crate::zc::SpHeader::from(self.sph);
digest.update(sph_zc.as_bytes());
let pus_tc_header =
super::zc::PusTcDataFieldHeader::try_from(self.data_field_header).unwrap();
digest.update(pus_tc_header.as_bytes());
if let Some(app_data) = self.app_data {
digest.update(app_data);
}
self.crc16 = Some(digest.finalize())
}
/// This function updates two important internal fields: The CCSDS packet length in the
/// space packet header and the CRC16 field. This function should be called before
/// the TC packet is serialized
pub fn update_packet_fields(&mut self) {
self.set_ccsds_data_len();
self.calc_crc16();
}
pub fn copy_to_buf(
&self,
slice: &mut (impl AsMut<[u8]> + ?Sized),
) -> Result<usize, PusError> {
if self.crc16.is_none() {
return Err(PusError::CrcCalculationMissing);
}
let mut_slice = slice.as_mut();
let mut curr_idx = 0;
let sph_zc = crate::zc::SpHeader::from(self.sph);
let tc_header_len = size_of::<super::zc::PusTcDataFieldHeader>();
let mut total_size = super::PUS_TC_MIN_LEN_WITHOUT_APP_DATA;
if let Some(app_data) = self.app_data {
total_size += app_data.len();
};
if total_size > mut_slice.len() {
return Err(PusError::OtherPacketError(
PacketError::ToBytesSliceTooSmall(total_size),
));
}
sph_zc
.to_bytes(&mut mut_slice[curr_idx..curr_idx + 6])
.ok_or(PusError::OtherPacketError(
PacketError::ToBytesZeroCopyError,
))?;
curr_idx += 6;
// The PUS version is hardcoded to PUS C
let pus_tc_header =
super::zc::PusTcDataFieldHeader::try_from(self.data_field_header).unwrap();
pus_tc_header
.to_bytes(&mut mut_slice[curr_idx..curr_idx + tc_header_len])
.ok_or(PusError::OtherPacketError(
PacketError::ToBytesZeroCopyError,
))?;
curr_idx += tc_header_len;
if let Some(app_data) = self.app_data {
mut_slice[curr_idx..curr_idx + app_data.len()].copy_from_slice(app_data);
curr_idx += app_data.len();
}
mut_slice[curr_idx..curr_idx + 2]
.copy_from_slice(self.crc16.unwrap().to_be_bytes().as_slice());
curr_idx += 2;
Ok(curr_idx)
}
pub fn append_to_vec(&self, vec: &mut Vec<u8>) -> Result<usize, PusError> {
if self.crc16.is_none() {
return Err(PusError::CrcCalculationMissing);
}
let sph_zc = crate::zc::SpHeader::from(self.sph);
let mut appended_len = super::PUS_TC_MIN_LEN_WITHOUT_APP_DATA;
if let Some(app_data) = self.app_data {
appended_len += app_data.len();
};
vec.extend_from_slice(sph_zc.as_bytes());
// The PUS version is hardcoded to PUS C
let pus_tc_header =
super::zc::PusTcDataFieldHeader::try_from(self.data_field_header).unwrap();
vec.extend_from_slice(pus_tc_header.as_bytes());
if let Some(app_data) = self.app_data {
vec.extend_from_slice(app_data);
}
vec.extend_from_slice(self.crc16.unwrap().to_be_bytes().as_slice());
Ok(appended_len)
}
pub fn new_from_raw_slice(
slice: &'slice (impl AsRef<[u8]> + ?Sized),
) -> Result<(Self, usize), PusError> {
let slice_ref = slice.as_ref();
let raw_data_len = slice_ref.len();
if raw_data_len < PUS_TC_MIN_LEN_WITHOUT_APP_DATA {
return Err(PusError::RawDataTooShort(raw_data_len));
}
let mut current_idx = 0;
let sph = zc::SpHeader::from_bytes(&slice_ref[current_idx..current_idx + 6]).ok_or(
PusError::OtherPacketError(PacketError::FromBytesZeroCopyError),
)?;
current_idx += 6;
let total_len = sph.total_len();
if raw_data_len < total_len || total_len < PUS_TC_MIN_LEN_WITHOUT_APP_DATA {
return Err(PusError::RawDataTooShort(raw_data_len));
}
let sec_header = crate::tc::zc::PusTcDataFieldHeader::from_bytes(
&slice_ref[current_idx..current_idx + PUC_TC_SECONDARY_HEADER_LEN],
)
.ok_or(PusError::OtherPacketError(
PacketError::FromBytesZeroCopyError,
))?;
current_idx += PUC_TC_SECONDARY_HEADER_LEN;
let mut pus_tc = PusTc {
sph: SpHeader::from(sph),
data_field_header: PusTcDataFieldHeader::try_from(sec_header).unwrap(),
raw_data: Some(slice_ref),
app_data: match current_idx {
_ if current_idx == total_len - 2 => None,
_ if current_idx > total_len - 2 => {
return Err(PusError::RawDataTooShort(raw_data_len))
}
_ => Some(&slice_ref[current_idx..total_len - 2]),
},
crc16: None,
};
pus_tc.crc_from_raw_data()?;
pus_tc.verify()?;
Ok((pus_tc, total_len))
}
fn verify(&mut self) -> Result<(), PusError> {
let mut digest = CRC_CCITT_FALSE.digest();
if self.raw_data.is_none() {
return Err(PusError::NoRawData);
}
let raw_data = self.raw_data.unwrap();
digest.update(raw_data.as_ref());
if digest.finalize() == 0 {
return Ok(());
}
let crc16 = self.crc_from_raw_data()?;
Err(PusError::IncorrectCrc(crc16))
}
}
//noinspection RsTraitImplementation
impl CcsdsPacket for PusTc<'_> {
delegate!(to self.sph {
fn ccsds_version(&self) -> u8;
fn packet_id(&self) -> PacketId;
fn psc(&self) -> PacketSequenceCtrl;
fn data_len(&self) -> u16;
});
}
//noinspection RsTraitImplementation
impl PusPacket for PusTc<'_> {
delegate!(to self.data_field_header {
fn service(&self) -> u8;
fn subservice(&self) -> u8;
});
fn user_data(&self) -> Option<&[u8]> {
self.app_data
}
fn crc16(&self) -> Option<u16> {
self.crc16
}
}
//noinspection RsTraitImplementation
impl PusTcSecondaryHeader for PusTc<'_> {
delegate!(to self.data_field_header {
fn service(&self) -> u8;
fn subservice(&self) -> u8;
fn source_id(&self) -> u16;
fn ack_flags(&self) -> u8;
});
}
}
#[cfg(test)]
mod tests {
use crate::ecss::PusPacket;
use crate::ser::SpHeader;
use crate::tc::ser::PusTc;
use crate::tc::PusTcSecondaryHeader;
use crate::tc::ACK_ALL;
use crate::{CcsdsPacket, PacketType};
use alloc::vec::Vec;
use postcard::to_stdvec;
#[test]
fn test_tc() {
let mut sph = SpHeader::tc(0x01, 0, 0).unwrap();
let mut pus_tc = PusTc::new(&mut sph, 17, 1, None);
let _out = to_stdvec(&pus_tc).unwrap();
assert_eq!(pus_tc.crc16(), None);
let mut test_buf: [u8; 32] = [0; 32];
pus_tc.update_packet_fields();
verify_test_tc(&pus_tc);
assert_eq!(pus_tc.len_packed(), 13);
let size = pus_tc
.copy_to_buf(test_buf.as_mut_slice())
.expect("Error writing TC to buffer");
assert_eq!(size, 13);
let (tc_from_raw, mut size) = PusTc::new_from_raw_slice(&test_buf)
.expect("Creating PUS TC struct from raw buffer failed");
assert_eq!(size, 13);
verify_test_tc(&tc_from_raw);
verify_test_tc_raw(PacketType::Tm, &test_buf);
let mut test_vec = Vec::new();
size = pus_tc
.append_to_vec(&mut test_vec)
.expect("Error writing TC to vector");
assert_eq!(size, 13);
assert_eq!(&test_buf[0..pus_tc.len_packed()], test_vec.as_slice());
verify_test_tc_raw(PacketType::Tm, &test_vec.as_slice());
}
fn verify_test_tc(tc: &PusTc) {
assert_eq!(PusPacket::service(tc), 17);
assert_eq!(PusPacket::subservice(tc), 1);
assert_eq!(tc.user_data(), None);
assert_eq!(tc.source_id(), 0);
assert_eq!(tc.apid(), 0x01);
assert_eq!(tc.ack_flags(), ACK_ALL);
assert_eq!(tc.sph, SpHeader::tc(0x01, 0, 6).unwrap());
}
fn verify_test_tc_raw(ptype: PacketType, slice: &impl AsRef<[u8]>) {
// Reference comparison implementation:
// https://github.com/robamu-org/py-spacepackets/blob/main/examples/example_pus.py
let slice = slice.as_ref();
// 0x1801 is the generic
if ptype == PacketType::Tm {
assert_eq!(slice[0], 0x18);
} else {
assert_eq!(slice[0], 0x08);
}
// APID is 0x01
assert_eq!(slice[1], 0x01);
// Unsegmented packets
assert_eq!(slice[2], 0xc0);
// Sequence count 0
assert_eq!(slice[3], 0x00);
assert_eq!(slice[4], 0x00);
// Space data length of 6 equals total packet length of 13
assert_eq!(slice[5], 0x06);
// PUS Version C 0b0010 and ACK flags 0b1111
assert_eq!(slice[6], 0x2f);
// Service 17
assert_eq!(slice[7], 0x11);
// Subservice 1
assert_eq!(slice[8], 0x01);
// Source ID 0
assert_eq!(slice[9], 0x00);
assert_eq!(slice[10], 0x00);
// CRC first byte assuming big endian format is 0x16 and 0x1d
assert_eq!(slice[11], 0x16);
assert_eq!(slice[12], 0x1d);
}
}

1
spacepackets/src/tm.rs
View File

@ -1 +0,0 @@