rust/sat-rs
rust/sat-rs
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This commit is contained in:
Robin Müller 2023-07-04 21:13:26 +02:00
parent 6723fd9e5c
commit 17c5b3d93e
Signed by: muellerr
GPG Key ID: 407F9B00F858F270
4 changed files with 178 additions and 129 deletions
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43
satrs-example/src/main.rs
View File

@ -9,7 +9,7 @@ use log::{info, warn};
use crate::hk::AcsHkIds;
use crate::logging::setup_logger;
use crate::pus::test::{PacketHandlerResult, PusService17TestHandler};
use crate::pus::test::{PusService17TestHandler, Service17CustomWrapper};
use crate::pus::PusTcMpscRouter;
use crate::requests::{Request, RequestWithToken};
use crate::tmtc::{
@ -109,6 +109,7 @@ fn main() {
// The event manager will receive the RX handle to receive all the events.
let (event_sender, event_man_rx) = channel();
let event_recv = MpscEventReceiver::<EventU32>::new(event_man_rx);
let test_srv_event_sender = event_sender.clone();
let mut event_man = EventManagerWithMpscQueue::new(Box::new(event_recv));
// All events sent to the manager are routed to the PUS event manager, which generates PUS event
@ -174,6 +175,10 @@ fn main() {
tm_store.clone(),
verif_reporter.clone(),
);
let mut srv_17_wrapper = Service17CustomWrapper {
pus17_handler,
test_srv_event_sender,
};
info!("Starting TMTC task");
let jh0 = thread::Builder::new()
@ -337,38 +342,10 @@ fn main() {
info!("Starting PUS handler thread");
let jh4 = thread::Builder::new()
.name("PUS".to_string())
.spawn(move || {
loop {
let mut handled_pings = 0;
// TODO: Better error handling
let res = pus17_handler.handle_next_packet().unwrap();
match res {
PacketHandlerResult::PingRequestHandled => {
handled_pings += 1;
}
PacketHandlerResult::CustomSubservice => {
let (buf, _) = pus17_handler.pus_tc_buf();
let (tc, size) = PusTc::from_bytes(&buf).unwrap();
if tc.subservice() == 128 {
info!("Generating test event");
event_sender
.send((TEST_EVENT.into(), None))
.expect("Sending test event failed");
let start_token = pus17_handler
.verification_handler()
.start_success(token, Some(&stamp_buf))
.expect("Error sending start success");
pus17_handler
.verification_handler()
.completion_success(start_token, Some(&stamp_buf))
.expect("Error sending completion success");
}
}
PacketHandlerResult::Empty => {
thread::sleep(Duration::from_millis(400));
}
}
res.expect("some PUS17 error");
.spawn(move || loop {
let queue_empty = srv_17_wrapper.perform_operation();
if queue_empty {
thread::sleep(Duration::from_millis(400));
}
})
.unwrap();

36
satrs-example/src/pus/mod.rs
View File

@ -5,7 +5,7 @@ use satrs_core::hk::{CollectionIntervalFactor, HkRequest};
use satrs_core::mode::{ModeAndSubmode, ModeRequest};
use satrs_core::objects::ObjectId;
use satrs_core::params::Params;
use satrs_core::pool::{PoolProvider, SharedPool, StoreAddr};
use satrs_core::pool::{PoolProvider, SharedPool, StoreAddr, StoreError};
use satrs_core::pus::event_man::{EventRequest, EventRequestWithToken};
use satrs_core::pus::hk;
use satrs_core::pus::mode::Subservice;
@ -18,8 +18,8 @@ use satrs_core::pus::{event, EcssTcSenderCore, GenericTcCheckError, MpscTmtcInSt
use satrs_core::pus::{mode, EcssTcSender};
use satrs_core::res_code::ResultU16;
use satrs_core::seq_count::{SeqCountProviderSyncClonable, SequenceCountProviderCore};
use satrs_core::spacepackets::ecss::{scheduling, PusServiceId};
use satrs_core::spacepackets::time::CcsdsTimeProvider;
use satrs_core::spacepackets::ecss::{scheduling, PusError, PusServiceId};
use satrs_core::spacepackets::time::{CcsdsTimeProvider, StdTimestampError};
use satrs_core::tmtc::tm_helper::{PusTmWithCdsShortHelper, SharedTmStore};
use satrs_core::tmtc::{AddressableId, PusServiceProvider, TargetId};
use satrs_core::{
@ -36,6 +36,36 @@ use std::sync::mpsc::{Receiver, SendError, Sender};
pub mod scheduler;
pub mod test;
#[derive(Debug, Clone)]
pub enum PusPacketHandlingError {
PusError(PusError),
WrongService(u8),
StoreError(StoreError),
RwGuardError(String),
TimeError(StdTimestampError),
TmSendError(String),
QueueDisconnected,
OtherError(String),
}
impl From<PusError> for PusPacketHandlingError {
fn from(value: PusError) -> Self {
Self::PusError(value)
}
}
impl From<StdTimestampError> for PusPacketHandlingError {
fn from(value: StdTimestampError) -> Self {
Self::TimeError(value)
}
}
#[derive(Debug, Copy, Clone, PartialEq, Eq)]
pub enum PusPacketHandlerResult {
RequestHandled,
CustomSubservice(VerificationToken<TcStateAccepted>),
Empty,
}
pub struct PusServiceBase {
tc_rx: Receiver<AcceptedTc>,
tc_store: SharedPool,

27
satrs-example/src/pus/scheduler.rs
View File

@ -1,4 +1,4 @@
use crate::pus::{AcceptedTc, PusServiceBase};
use crate::pus::{AcceptedTc, PusPacketHandlerResult, PusPacketHandlingError, PusServiceBase};
use delegate::delegate;
use satrs_core::pool::{SharedPool, StoreAddr};
use satrs_core::pus::scheduling::PusScheduler;
@ -12,7 +12,7 @@ use satrs_core::spacepackets::tc::PusTc;
use satrs_core::spacepackets::time::cds::TimeProvider;
use satrs_core::tmtc::tm_helper::{PusTmWithCdsShortHelper, SharedTmStore};
use satrs_example::tmtc_err;
use std::sync::mpsc::{Receiver, Sender};
use std::sync::mpsc::{Receiver, Sender, TryRecvError};
pub struct PusService11SchedHandler {
psb: PusServiceBase,
@ -41,12 +41,27 @@ impl PusService11SchedHandler {
scheduler,
}
}
// TODO: Return errors which occured
pub fn periodic_operation(&mut self) -> Result<u32, ()> {
Ok(self.psb.handled_tcs)
pub fn handle_next_packet(&mut self) -> Result<PusPacketHandlerResult, PusPacketHandlingError> {
return match self.psb.tc_rx.try_recv() {
Ok((addr, token)) => {
if self.handle_one_tc(addr, token)? {
return Ok(PusPacketHandlerResult::RequestHandled);
}
Ok(PusPacketHandlerResult::CustomSubservice(token))
}
Err(e) => match e {
TryRecvError::Empty => Ok(PusPacketHandlerResult::Empty),
TryRecvError::Disconnected => Err(PusPacketHandlingError::QueueDisconnected),
},
};
}
pub fn handle_one_tc(&mut self, addr: StoreAddr, token: VerificationToken<TcStateAccepted>) {
pub fn handle_one_tc(
&mut self,
addr: StoreAddr,
token: VerificationToken<TcStateAccepted>,
) -> Result<bool, PusPacketHandlingError> {
let time_provider = TimeProvider::from_now_with_u16_days().unwrap();
// TODO: Better error handling
{

201
satrs-example/src/pus/test.rs
View File

@ -1,36 +1,91 @@
use crate::pus::{AcceptedTc, PusServiceBase};
use crate::pus::{AcceptedTc, PusPacketHandlerResult, PusPacketHandlingError, PusServiceBase};
use delegate::delegate;
use log::info;
use log::{error, info, warn};
use satrs_core::events::EventU32;
use satrs_core::params::Params;
use satrs_core::pool::{SharedPool, StoreAddr};
use satrs_core::pool::{SharedPool, StoreAddr, StoreError};
use satrs_core::pus::verification::{
StdVerifReporterWithSender, TcStateAccepted, VerificationToken,
FailParams, StdVerifReporterWithSender, TcStateAccepted, TcStateStarted,
VerificationOrSendErrorWithToken, VerificationToken,
};
use satrs_core::seq_count::{SeqCountProviderSyncClonable, SequenceCountProviderCore};
use satrs_core::spacepackets::ecss::PusPacket;
use satrs_core::spacepackets::ecss::{PusError, PusPacket};
use satrs_core::spacepackets::tc::PusTc;
use satrs_core::spacepackets::time::cds::TimeProvider;
use satrs_core::spacepackets::time::TimeWriter;
use satrs_core::spacepackets::time::{StdTimestampError, TimeWriter};
use satrs_core::spacepackets::tm::PusTm;
use satrs_core::tmtc::tm_helper::{PusTmWithCdsShortHelper, SharedTmStore};
use satrs_example::TEST_EVENT;
use satrs_example::{tmtc_err, TEST_EVENT};
use std::sync::mpsc::{Receiver, Sender, TryRecvError};
use std::thread;
use std::time::Duration;
pub struct SatrsTestServiceCustomHandler {
pub event_sender: Sender<(EventU32, Option<Params>)>,
pub struct Service17CustomWrapper {
pub pus17_handler: PusService17TestHandler,
pub test_srv_event_sender: Sender<(EventU32, Option<Params>)>,
}
impl Service17CustomWrapper {
pub fn perform_operation(&mut self) -> bool {
let mut handled_pings = 0;
let res = self.pus17_handler.handle_next_packet();
if res.is_err() {
warn!("PUS17 handler failed with error {:?}", res.unwrap_err());
return true;
}
match res.unwrap() {
PusPacketHandlerResult::RequestHandled => {
info!("Received PUS ping command TC[17,1]");
info!("Sent ping reply PUS TM[17,2]");
handled_pings += 1;
}
PusPacketHandlerResult::CustomSubservice(token) => {
let (buf, _) = self.pus17_handler.pus_tc_buf();
let (tc, size) = PusTc::from_bytes(buf).unwrap();
let time_stamper = TimeProvider::from_now_with_u16_days().unwrap();
let mut stamp_buf: [u8; 7] = [0; 7];
time_stamper.write_to_bytes(&mut stamp_buf).unwrap();
if tc.subservice() == 128 {
info!("Generating test event");
self.test_srv_event_sender
.send((TEST_EVENT.into(), None))
.expect("Sending test event failed");
let start_token = self
.pus17_handler
.verification_handler()
.start_success(token, Some(&stamp_buf))
.expect("Error sending start success");
self.pus17_handler
.verification_handler()
.completion_success(start_token, Some(&stamp_buf))
.expect("Error sending completion success");
} else {
let fail_data = [tc.subservice()];
self.pus17_handler
.verification_handler()
.start_failure(
token,
FailParams::new(
Some(&stamp_buf),
&tmtc_err::INVALID_PUS_SUBSERVICE,
Some(&fail_data),
),
)
.expect("Sending start failure verification failed");
}
}
PusPacketHandlerResult::Empty => {
return false;
}
}
true
}
}
pub struct PusService17TestHandler {
psb: PusServiceBase,
}
pub enum PacketHandlerResult {
PingRequestHandled,
CustomSubservice(VerificationToken<TcStateAccepted>),
Empty,
}
impl PusService17TestHandler {
pub fn new(
receiver: Receiver<AcceptedTc>,
@ -60,75 +115,57 @@ impl PusService17TestHandler {
(&self.psb.pus_buf, self.psb.pus_size)
}
// TODO: Return errors which occured
pub fn periodic_operation(&mut self) -> Result<u32, ()> {
self.psb.handled_tcs = 0;
loop {
match self.psb.tc_rx.try_recv() {
Ok((addr, token)) => {
self.handle_one_tc(addr, token);
}
Err(e) => {
match e {
TryRecvError::Empty => return Ok(self.psb.handled_tcs),
TryRecvError::Disconnected => {
// TODO: Replace panic by something cleaner
panic!("PusService17Handler: Sender disconnected");
}
}
}
}
}
}
pub fn handle_next_packet(&mut self) -> Result<PacketHandlerResult, ()> {
match self.psb.tc_rx.try_recv() {
pub fn handle_next_packet(&mut self) -> Result<PusPacketHandlerResult, PusPacketHandlingError> {
return match self.psb.tc_rx.try_recv() {
Ok((addr, token)) => {
if self.handle_one_tc(addr, token) {
return Ok(PacketHandlerResult::PingRequestHandled);
} else {
return Ok(PacketHandlerResult::CustomSubservice);
if self.handle_one_tc(addr, token)? {
return Ok(PusPacketHandlerResult::RequestHandled);
}
Ok(PusPacketHandlerResult::CustomSubservice(token))
}
Err(e) => {
match e {
TryRecvError::Empty => return Ok(PacketHandlerResult::Empty),
TryRecvError::Disconnected => {
// TODO: Replace panic by something cleaner
panic!("PusService17Handler: Sender disconnected");
}
}
}
}
Err(e) => match e {
TryRecvError::Empty => Ok(PusPacketHandlerResult::Empty),
TryRecvError::Disconnected => Err(PusPacketHandlingError::QueueDisconnected),
},
};
}
pub fn handle_one_tc(
&mut self,
addr: StoreAddr,
token: VerificationToken<TcStateAccepted>,
) -> bool {
let time_provider = TimeProvider::from_now_with_u16_days().unwrap();
// TODO: Better error handling
) -> Result<bool, PusPacketHandlingError> {
{
// Keep locked section as short as possible.
let mut tc_pool = self.psb.tc_store.write().unwrap();
let mut tc_pool = self
.psb
.tc_store
.write()
.map_err(|e| PusPacketHandlingError::RwGuardError(format!("{e}")))?;
let tc_guard = tc_pool.read_with_guard(addr);
let tc_raw = tc_guard.read().unwrap();
let tc_raw = tc_guard.read().expect("Reading pool guard failed");
self.psb.pus_buf[0..tc_raw.len()].copy_from_slice(tc_raw);
}
let (tc, tc_size) = PusTc::from_bytes(&self.psb.pus_buf).unwrap();
// TODO: Robustness: Check that service is 17
let (tc, tc_size) = PusTc::from_bytes(&self.psb.pus_buf)?;
if tc.service() != 17 {
return Err(PusPacketHandlingError::WrongService(tc.service()));
}
if tc.subservice() == 1 {
info!("Received PUS ping command TC[17,1]");
info!("Sending ping reply PUS TM[17,2]");
let time_provider = TimeProvider::from_now_with_u16_days()?;
// Can not fail, buffer is large enough.
time_provider
.write_to_bytes(&mut self.psb.stamp_buf)
.unwrap();
let start_token = self
let result = self
.psb
.verification_handler
.start_success(token, Some(&self.psb.stamp_buf))
.expect("Error sending start success");
.start_success(token, Some(&self.psb.stamp_buf));
let start_token = if result.is_err() {
error!("Could not send start success verification");
None
} else {
Some(result.unwrap())
};
// Sequence count will be handled centrally in TM funnel.
let ping_reply =
self.psb
@ -138,29 +175,19 @@ impl PusService17TestHandler {
self.psb
.tm_tx
.send(addr)
.expect("Sending TM to TM funnel failed");
self.psb
.verification_handler
.completion_success(start_token, Some(&self.psb.stamp_buf))
.expect("Error sending completion success");
self.psb.handled_tcs += 1;
true
.map_err(|e| PusPacketHandlingError::TmSendError(format!("{e}")))?;
if let Some(start_token) = start_token {
if self
.psb
.verification_handler
.completion_success(start_token, Some(&self.psb.stamp_buf))
.is_err()
{
error!("Could not send completion success verification");
}
}
return Ok(true);
}
false
// TODO: How to handle invalid subservice?
// TODO: How do we handle custom code like this? Custom subservice handler via trait?
// if tc.subservice() == 128 {
// info!("Generating test event");
// self.event_sender
// .send((TEST_EVENT.into(), None))
// .expect("Sending test event failed");
// let start_token =
// verification_handler
// .start_success(token, Some(&stamp_buf))
// .expect("Error sending start success");
// verification_handler
// .completion_success(start_token, Some(&stamp_buf))
// .expect("Error sending completion success");
//
Ok(false)
}
}