From 075dc3843467b41e3112b82a8d4130576cd3cb5d Mon Sep 17 00:00:00 2001 From: lkoester Date: Tue, 15 Aug 2023 08:49:54 +0200 Subject: [PATCH] first implementation of apid with target id, currently main broken --- satrs-core/src/tmtc/mod.rs | 35 +------------ satrs-example/Cargo.toml | 7 +++ satrs-example/src/lib.rs | 93 +++++++++++++++++++++++++++++++++ satrs-example/src/logger.rs | 22 ++++++++ satrs-example/src/main.rs | 22 ++++---- satrs-example/src/pus/action.rs | 11 ++-- satrs-example/src/pus/hk.rs | 38 +++++++------- satrs-example/src/requests.rs | 14 ++--- 8 files changed, 163 insertions(+), 79 deletions(-) create mode 100644 satrs-example/src/logger.rs diff --git a/satrs-core/src/tmtc/mod.rs b/satrs-core/src/tmtc/mod.rs index 5d5f306..03edbd7 100644 --- a/satrs-core/src/tmtc/mod.rs +++ b/satrs-core/src/tmtc/mod.rs @@ -10,6 +10,7 @@ use downcast_rs::{impl_downcast, Downcast}; #[cfg(feature = "serde")] use serde::{Deserialize, Serialize}; use spacepackets::{ByteConversionError, SizeMissmatch, SpHeader}; +use spacepackets::ecss::tc::PusTc; #[cfg(feature = "alloc")] pub mod ccsds_distrib; @@ -24,40 +25,6 @@ pub use pus_distrib::{PusDistributor, PusServiceProvider}; pub type TargetId = u32; -#[derive(Copy, Clone, PartialEq, Eq, Debug, Hash)] -#[cfg_attr(feature = "serde", derive(Serialize, Deserialize))] -pub struct AddressableId { - pub target_id: TargetId, - pub unique_id: u32, -} - -impl AddressableId { - pub fn from_raw_be(buf: &[u8]) -> Result { - if buf.len() < 8 { - return Err(ByteConversionError::FromSliceTooSmall(SizeMissmatch { - found: buf.len(), - expected: 8, - })); - } - Ok(Self { - target_id: u32::from_be_bytes(buf[0..4].try_into().unwrap()), - unique_id: u32::from_be_bytes(buf[4..8].try_into().unwrap()), - }) - } - - pub fn write_to_be_bytes(&self, buf: &mut [u8]) -> Result { - if buf.len() < 8 { - return Err(ByteConversionError::ToSliceTooSmall(SizeMissmatch { - found: buf.len(), - expected: 8, - })); - } - buf[0..4].copy_from_slice(&self.target_id.to_be_bytes()); - buf[4..8].copy_from_slice(&self.unique_id.to_be_bytes()); - Ok(8) - } -} - /// Generic trait for object which can receive any telecommands in form of a raw bytestream, with /// no assumptions about the received protocol. /// diff --git a/satrs-example/Cargo.toml b/satrs-example/Cargo.toml index 34d8491..5e6e72f 100644 --- a/satrs-example/Cargo.toml +++ b/satrs-example/Cargo.toml @@ -15,9 +15,16 @@ zerocopy = "0.6" csv = "1" num_enum = "0.6" thiserror = "1" +embedded-can = "0.4" +#socketcan = "2.0" +derive-new = "0.5" +num-traits = "0.2" +num-derive = "0.3" [dependencies.satrs-core] path = "../satrs-core" [dependencies.satrs-mib] path = "../satrs-mib" + + diff --git a/satrs-example/src/lib.rs b/satrs-example/src/lib.rs index ed2d226..4e76618 100644 --- a/satrs-example/src/lib.rs +++ b/satrs-example/src/lib.rs @@ -1,11 +1,102 @@ +use std::fmt; use num_enum::{IntoPrimitive, TryFromPrimitive}; use satrs_core::events::{EventU32TypedSev, SeverityInfo}; use satrs_core::objects::ObjectId; use std::net::Ipv4Addr; +use delegate::delegate; +use derive_new::new; +use thiserror::Error; +use satrs_core::spacepackets::{ByteConversionError, CcsdsPacket, SizeMissmatch}; +use satrs_core::spacepackets::ecss::PusPacket; +use satrs_core::spacepackets::ecss::tc::{GenericPusTcSecondaryHeader, IsPusTelecommand, PusTc}; +use satrs_core::tmtc::TargetId; use satrs_mib::res_code::{ResultU16, ResultU16Info}; use satrs_mib::resultcode; +//pub mod can; +//mod can_ids; +mod logger; + +pub type Apid = u16; + +#[derive(Debug, Error)] +pub enum TargetIdCreationError { + #[error("byte conversion")] + ByteConversion(#[from] ByteConversionError), + #[error("not enough app data to generate target ID")] + NotEnoughAppData(usize) +} + +// TODO: can these stay pub? +#[derive(Copy, Clone, PartialEq, Eq, Hash, Debug, new)] +pub struct TargetIdWithApid { + pub apid: Apid, + pub target: TargetId, +} + +impl fmt::Display for TargetIdWithApid { + fn fmt(&self, f: &mut fmt::Formatter) -> fmt::Result { + write!(f, "{}, {}", self.apid, self.target) + } +} + +impl TargetIdWithApid { + pub fn apid(&self) -> Apid { + self.apid + } + pub fn target_id(&self) -> TargetId{ + self.target + } +} + +impl TargetIdWithApid { + pub fn from_tc(tc: &(impl CcsdsPacket + PusPacket + IsPusTelecommand)) -> Result { + if tc.user_data().len() < 4 { + return Err(ByteConversionError::FromSliceTooSmall(SizeMissmatch { + found: tc.user_data().len(), + expected: 8, + }).into()); + } + let target_id = u32::from_be_bytes(tc.user_data()[0..4].try_into().unwrap()); + Ok(Self { + apid: tc.apid(), + target: u32::from_be_bytes(tc.user_data()[0..4].try_into().unwrap()), + }) + } +} + +// #[derive(Copy, Clone, PartialEq, Eq, Debug, Hash, new)] +// #[cfg_attr(feature = "serde", derive(Serialize, Deserialize))] +// pub struct TargetIdWithUniqueId { +// target_id: TargetIdWithApid, +// unique_id: u32, +// } +// +// impl TargetIdWithUniqueId { +// delegate! { +// to self.target_id { +// pub fn apid(&self) -> Apid; +// pub fn target_id(&self) -> TargetId; +// } +// } +// pub fn unique_id(&self) -> u32 { +// self.unique_id +// } +// +// pub fn write_target_id_and_unique_id_as_pus_header(&self, buf: &mut [u8]) -> Result { +// if buf.len() < 8 { +// return Err(ByteConversionError::ToSliceTooSmall(SizeMissmatch { +// found: buf.len(), +// expected: 8, +// })); +// } +// buf[0..4].copy_from_slice(&self.target_id.target_id().to_be_bytes()); +// buf[4..8].copy_from_slice(&self.unique_id.to_be_bytes()); +// Ok(8) +// } +// } +// pub const PUS_APID: u16 = 0x02; #[derive(Copy, Clone, PartialEq, Eq, Debug, TryFromPrimitive, IntoPrimitive)] @@ -20,6 +111,8 @@ pub enum RequestTargetId { AcsSubsystem = 1, } +pub const AOCS_APID: u16 = 1; + pub const ACS_OBJECT_ID: ObjectId = ObjectId { id: RequestTargetId::AcsSubsystem as u32, name: "ACS_SUBSYSTEM", diff --git a/satrs-example/src/logger.rs b/satrs-example/src/logger.rs new file mode 100644 index 0000000..52d46b0 --- /dev/null +++ b/satrs-example/src/logger.rs @@ -0,0 +1,22 @@ +#![allow(unused_imports)] + +use chrono; +use log::{debug, error, info, trace, warn}; + +pub fn setup_logger() -> Result<(), fern::InitError> { + fern::Dispatch::new() + .format(|out, message, record| { + out.finish(format_args!( + "{}[{}][{}] {}", + chrono::Local::now().format("[%Y-%m-%d][%H:%M:%S]"), + std::thread::current().name().expect("unnamed_thread"), + record.level(), + message + )) + }) + .level(log::LevelFilter::Debug) + .chain(std::io::stdout()) + .chain(fern::log_file("output.log")?) + .apply()?; + Ok(()) +} diff --git a/satrs-example/src/main.rs b/satrs-example/src/main.rs index 4053e50..0c4bbb5 100644 --- a/satrs-example/src/main.rs +++ b/satrs-example/src/main.rs @@ -4,6 +4,8 @@ mod logging; mod pus; mod requests; mod tmtc; +//mod can; +//mod can_ids; use log::{info, warn}; @@ -43,11 +45,9 @@ use satrs_core::spacepackets::{ SpHeader, }; use satrs_core::tmtc::tm_helper::SharedTmStore; -use satrs_core::tmtc::{AddressableId, TargetId}; +use satrs_core::tmtc::{TargetId}; use satrs_core::ChannelId; -use satrs_example::{ - RequestTargetId, TcReceiverId, TmSenderId, OBSW_SERVER_ADDR, PUS_APID, SERVER_PORT, -}; +use satrs_example::{RequestTargetId, TcReceiverId, TmSenderId, OBSW_SERVER_ADDR, PUS_APID, SERVER_PORT, TargetIdWithApid}; use std::collections::HashMap; use std::net::{IpAddr, SocketAddr}; use std::sync::mpsc::{channel, TryRecvError}; @@ -124,7 +124,8 @@ fn main() { // Some request are targetable. This map is used to retrieve sender handles based on a target ID. let mut request_map = HashMap::new(); let (acs_thread_tx, acs_thread_rx) = channel::(); - request_map.insert(RequestTargetId::AcsSubsystem as TargetId, acs_thread_tx); + let target_apid = TargetIdWithApid::new(PUS_APID, RequestTargetId::AcsSubsystem as TargetId); + request_map.insert(target_apid, acs_thread_tx); let tc_source_wrapper = PusTcSource { tc_store: tc_store.clone(), @@ -393,8 +394,8 @@ fn main() { Request::Hk(hk_req) => match hk_req { HkRequest::OneShot(unique_id) => { let target = request.targeted_request.target_id; - assert_eq!(target, RequestTargetId::AcsSubsystem as u32); - if request.targeted_request.target_id + assert_eq!(target.target_id(), RequestTargetId::AcsSubsystem as u32); + if request.targeted_request.target_id.target == AcsHkIds::TestMgmSet as u32 { let mut sp_header = SpHeader::tm( @@ -410,11 +411,8 @@ fn main() { ×tamp, ); let mut buf: [u8; 8] = [0; 8]; - let addressable_id = AddressableId { - target_id: target, - unique_id, - }; - addressable_id.write_to_be_bytes(&mut buf).unwrap(); + + target.target.write_to_be_bytes(&mut buf).unwrap(); let pus_tm = PusTmCreator::new( &mut sp_header, sec_header, diff --git a/satrs-example/src/pus/action.rs b/satrs-example/src/pus/action.rs index 76e27cf..89fea24 100644 --- a/satrs-example/src/pus/action.rs +++ b/satrs-example/src/pus/action.rs @@ -11,13 +11,13 @@ use satrs_core::pus::{ use satrs_core::spacepackets::ecss::tc::PusTcReader; use satrs_core::spacepackets::ecss::PusPacket; use satrs_core::tmtc::TargetId; -use satrs_example::tmtc_err; +use satrs_example::{TargetIdWithApid, tmtc_err}; use std::collections::HashMap; use std::sync::mpsc::Sender; pub struct PusService8ActionHandler { psb: PusServiceBase, - request_handlers: HashMap>, + request_handlers: HashMap>, } impl PusService8ActionHandler { @@ -27,7 +27,7 @@ impl PusService8ActionHandler { tm_sender: Box, tm_apid: u16, verification_handler: StdVerifReporterWithSender, - request_handlers: HashMap>, + request_handlers: HashMap>, ) -> Self { Self { psb: PusServiceBase::new( @@ -63,7 +63,8 @@ impl PusService8ActionHandler { "Expected at least 4 bytes".into(), )); } - let target_id = u32::from_be_bytes(user_data[0..4].try_into().unwrap()); + //let target_id = u32::from_be_bytes(user_data[0..4].try_into().unwrap()); + let target_id = TargetIdWithApid::from_tc(tc).unwrap(); let action_id = u32::from_be_bytes(user_data[4..8].try_into().unwrap()); if let Some(sender) = self.request_handlers.get(&target_id) { sender @@ -78,7 +79,7 @@ impl PusService8ActionHandler { .expect("Forwarding action request failed"); } else { let mut fail_data: [u8; 4] = [0; 4]; - fail_data.copy_from_slice(&target_id.to_be_bytes()); + fail_data.copy_from_slice(&target_id.target.to_be_bytes()); self.psb() .verification_handler .borrow_mut() diff --git a/satrs-example/src/pus/hk.rs b/satrs-example/src/pus/hk.rs index d4c8bee..15573a5 100644 --- a/satrs-example/src/pus/hk.rs +++ b/satrs-example/src/pus/hk.rs @@ -1,6 +1,6 @@ use crate::requests::{Request, RequestWithToken}; use log::{error, warn}; -use satrs_core::hk::{CollectionIntervalFactor, HkRequest}; +use satrs_core::hk::{CollectionIntervalFactor, HkRequest, UniqueId}; use satrs_core::pool::{SharedPool, StoreAddr}; use satrs_core::pus::verification::{ FailParams, StdVerifReporterWithSender, TcStateAccepted, VerificationToken, @@ -11,14 +11,14 @@ use satrs_core::pus::{ }; use satrs_core::spacepackets::ecss::tc::PusTcReader; use satrs_core::spacepackets::ecss::{hk, PusPacket}; -use satrs_core::tmtc::{AddressableId, TargetId}; -use satrs_example::{hk_err, tmtc_err}; +use satrs_core::tmtc::TargetId; +use satrs_example::{hk_err, TargetIdWithApid, tmtc_err}; use std::collections::HashMap; use std::sync::mpsc::Sender; pub struct PusService3HkHandler { psb: PusServiceBase, - request_handlers: HashMap>, + request_handlers: HashMap>, } impl PusService3HkHandler { @@ -28,7 +28,7 @@ impl PusService3HkHandler { tm_sender: Box, tm_apid: u16, verification_handler: StdVerifReporterWithSender, - request_handlers: HashMap>, + request_handlers: HashMap>, ) -> Self { Self { psb: PusServiceBase::new( @@ -90,10 +90,11 @@ impl PusServiceHandler for PusService3HkHandler { "Expected at least 8 bytes of app data".into(), )); } - let addressable_id = AddressableId::from_raw_be(user_data).unwrap(); + let target_id = TargetIdWithApid::from_tc(&tc).expect("invalid tc format"); + let unique_id = u32::from_be_bytes(tc.user_data()[0..4].try_into().unwrap()); if !self .request_handlers - .contains_key(&addressable_id.target_id) + .contains_key(&target_id) { self.psb .verification_handler @@ -103,15 +104,14 @@ impl PusServiceHandler for PusService3HkHandler { FailParams::new(Some(&time_stamp), &hk_err::UNKNOWN_TARGET_ID, None), ) .expect("Sending start failure TM failed"); - let tgt_id = addressable_id.target_id; return Err(PusPacketHandlingError::NotEnoughAppData(format!( - "Unknown target ID {tgt_id}" + "Unknown target ID {target_id}" ))); } - let send_request = |target: TargetId, request: HkRequest| { + let send_request = |target: TargetIdWithApid, request: HkRequest| { let sender = self .request_handlers - .get(&addressable_id.target_id) + .get(&target) .unwrap(); sender .send(RequestWithToken::new(target, Request::Hk(request), token)) @@ -119,18 +119,18 @@ impl PusServiceHandler for PusService3HkHandler { }; if subservice == hk::Subservice::TcEnableHkGeneration as u8 { send_request( - addressable_id.target_id, - HkRequest::Enable(addressable_id.unique_id), + target_id, + HkRequest::Enable(unique_id), ); } else if subservice == hk::Subservice::TcDisableHkGeneration as u8 { send_request( - addressable_id.target_id, - HkRequest::Disable(addressable_id.unique_id), + target_id, + HkRequest::Disable(unique_id), ); } else if subservice == hk::Subservice::TcGenerateOneShotHk as u8 { send_request( - addressable_id.target_id, - HkRequest::OneShot(addressable_id.unique_id), + target_id, + HkRequest::OneShot(unique_id), ); } else if subservice == hk::Subservice::TcModifyHkCollectionInterval as u8 { if user_data.len() < 12 { @@ -151,9 +151,9 @@ impl PusServiceHandler for PusService3HkHandler { )); } send_request( - addressable_id.target_id, + target_id, HkRequest::ModifyCollectionInterval( - addressable_id.unique_id, + unique_id, CollectionIntervalFactor::from_be_bytes(user_data[8..12].try_into().unwrap()), ), ); diff --git a/satrs-example/src/requests.rs b/satrs-example/src/requests.rs index 5fa2549..4640a91 100644 --- a/satrs-example/src/requests.rs +++ b/satrs-example/src/requests.rs @@ -1,7 +1,9 @@ +use derive_new::new; use satrs_core::hk::HkRequest; use satrs_core::mode::ModeRequest; use satrs_core::pus::verification::{TcStateAccepted, VerificationToken}; use satrs_core::tmtc::TargetId; +use satrs_example::TargetIdWithApid; #[allow(dead_code)] #[derive(Clone, Eq, PartialEq, Debug)] @@ -19,18 +21,12 @@ pub enum Request { Action(ActionRequest), } -#[derive(Clone, Eq, PartialEq, Debug)] +#[derive(Clone, Eq, PartialEq, Debug, new)] pub struct TargetedRequest { - pub(crate) target_id: TargetId, + pub(crate) target_id: TargetIdWithApid, pub(crate) request: Request, } -impl TargetedRequest { - pub fn new(target_id: TargetId, request: Request) -> Self { - Self { target_id, request } - } -} - #[derive(Clone, Eq, PartialEq, Debug)] pub struct RequestWithToken { pub(crate) targeted_request: TargetedRequest, @@ -39,7 +35,7 @@ pub struct RequestWithToken { impl RequestWithToken { pub fn new( - target_id: u32, + target_id: TargetIdWithApid, request: Request, token: VerificationToken, ) -> Self {