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Major refactoring and update of PUS module
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This commit is contained in:
Robin Müller
2024-04-02 16:50:09 +02:00
parent 344fe6a4c0
commit 1c22afef31
59 changed files with 8362 additions and 4077 deletions
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5
satrs/CHANGELOG.md
View File

@ -18,11 +18,16 @@ and this project adheres to [Semantic Versioning](http://semver.org/).
- Refactored ECSS TM sender abstractions to be generic over different message queue backends.
- Refactored Verification Reporter abstractions and implementation to be generic over the sender
instead of using trait objects.
- Renamed `WritableToBeBytes::raw_len` to `WritableToBeBytes::written_len` for consistency.
- `PusServiceProvider` renamed to `PusServiceDistributor` to make the purpose of the object
more clear
- `PusServiceProvider::handle_pus_tc_packet` renamed to `PusServiceDistributor::distribute_packet`.
- `PusServiceDistibutor` and `CcsdsDistributor` now use generics instead of trait objects.
This makes accessing the concrete trait implementations more easy as well.
- Major overhaul of the PUS handling module.
- Replace `TargetId` by `ComponentId`.
- Replace most usages of `ChannelId` by `ComponentId`. A dedicated channel ID has limited usage
due to the nature of typed channels in Rust.
## Fixed

3
satrs/Cargo.toml
View File

@ -19,7 +19,7 @@ smallvec = "1"
crc = "3"
[dependencies.satrs-shared]
version = "0.1.2"
version = "0.1.3"
path = "../satrs-shared"
[dependencies.num_enum]
@ -117,6 +117,7 @@ alloc = [
serde = ["dep:serde", "spacepackets/serde", "satrs-shared/serde"]
crossbeam = ["crossbeam-channel"]
heapless = ["dep:heapless"]
test_util = []
doc-images = []
[package.metadata.docs.rs]

114
satrs/src/action.rs
View File

@ -1,63 +1,77 @@
use crate::{pool::StoreAddr, TargetId};
use crate::{params::Params, pool::StoreAddr};
#[cfg(feature = "alloc")]
#[cfg_attr(doc_cfg, doc(cfg(feature = "alloc")))]
pub use alloc_mod::*;
pub type ActionId = u32;
#[derive(Debug, Eq, PartialEq, Clone)]
pub struct ActionRequest {
pub action_id: ActionId,
pub variant: ActionRequestVariant,
}
impl ActionRequest {
pub fn new(action_id: ActionId, variant: ActionRequestVariant) -> Self {
Self { action_id, variant }
}
}
#[non_exhaustive]
#[derive(Clone, Eq, PartialEq, Debug)]
pub enum ActionRequest {
UnsignedIdAndStoreData {
action_id: ActionId,
data_addr: StoreAddr,
},
pub enum ActionRequestVariant {
NoData,
StoreData(StoreAddr),
#[cfg(feature = "alloc")]
UnsignedIdAndVecData {
action_id: ActionId,
data: alloc::vec::Vec<u8>,
},
#[cfg(feature = "alloc")]
StringIdAndVecData {
action_id: alloc::string::String,
data: alloc::vec::Vec<u8>,
},
#[cfg(feature = "alloc")]
StringIdAndStoreData {
action_id: alloc::string::String,
data: StoreAddr,
},
#[cfg_attr(doc_cfg, doc(cfg(feature = "alloc")))]
VecData(alloc::vec::Vec<u8>),
}
#[derive(Debug, Clone, PartialEq, Eq)]
pub struct TargetedActionRequest {
target: TargetId,
action_request: ActionRequest,
}
impl TargetedActionRequest {
pub fn new(target: TargetId, action_request: ActionRequest) -> Self {
Self {
target,
action_request,
}
}
#[derive(Debug, PartialEq, Clone)]
pub struct ActionReply {
pub action_id: ActionId,
pub variant: ActionReplyVariant,
}
/// A reply to an action request.
#[non_exhaustive]
#[derive(Clone, Eq, PartialEq, Debug)]
pub enum ActionReply {
CompletionFailed(ActionId),
StepFailed {
id: ActionId,
step: u32,
},
Completed(ActionId),
#[cfg(feature = "alloc")]
CompletedStringId(alloc::string::String),
#[cfg(feature = "alloc")]
CompletionFailedStringId(alloc::string::String),
#[cfg(feature = "alloc")]
StepFailedStringId {
id: alloc::string::String,
step: u32,
},
#[derive(Clone, Debug, PartialEq)]
pub enum ActionReplyVariant {
CompletionFailed(Params),
StepFailed { step: u32, reason: Params },
Completed,
}
#[cfg(feature = "alloc")]
#[cfg_attr(doc_cfg, doc(cfg(feature = "alloc")))]
pub mod alloc_mod {
use super::*;
#[cfg(feature = "alloc")]
#[cfg_attr(doc_cfg, doc(cfg(feature = "alloc")))]
#[derive(Debug, Eq, PartialEq, Clone)]
pub struct ActionRequestStringId {
pub action_id: alloc::string::String,
pub variant: ActionRequestVariant,
}
#[cfg(feature = "alloc")]
#[cfg_attr(doc_cfg, doc(cfg(feature = "alloc")))]
impl ActionRequestStringId {
pub fn new(action_id: alloc::string::String, variant: ActionRequestVariant) -> Self {
Self { action_id, variant }
}
}
#[cfg(feature = "alloc")]
#[cfg_attr(doc_cfg, doc(cfg(feature = "alloc")))]
#[derive(Debug, PartialEq, Clone)]
pub struct ActionReplyStringId {
pub action_id: alloc::string::String,
pub variant: ActionReplyVariant,
}
}
#[cfg(test)]
mod tests {}

17
satrs/src/cfdp/dest.rs
View File

@ -5,7 +5,7 @@ use std::path::{Path, PathBuf};
use super::{
filestore::{FilestoreError, VirtualFilestore},
user::{CfdpUser, FileSegmentRecvdParams, MetadataReceivedParams},
CheckTimer, CheckTimerCreator, EntityType, LocalEntityConfig, PacketInfo, PacketTarget,
CheckTimerCreator, CountdownProvider, EntityType, LocalEntityConfig, PacketInfo, PacketTarget,
RemoteEntityConfig, RemoteEntityConfigProvider, State, TimerContext, TransactionId,
TransactionStep,
};
@ -54,7 +54,7 @@ struct TransferState {
completion_disposition: CompletionDisposition,
checksum: u32,
current_check_count: u32,
current_check_timer: Option<Box<dyn CheckTimer>>,
current_check_timer: Option<Box<dyn CountdownProvider>>,
}
impl Default for TransferState {
@ -799,9 +799,9 @@ mod tests {
};
use crate::cfdp::{
filestore::NativeFilestore, user::OwnedMetadataRecvdParams, CheckTimer, CheckTimerCreator,
DefaultFaultHandler, IndicationConfig, RemoteEntityConfig, StdRemoteEntityConfigProvider,
UserFaultHandler, CRC_32,
filestore::NativeFilestore, user::OwnedMetadataRecvdParams, CheckTimerCreator,
CountdownProvider, DefaultFaultHandler, IndicationConfig, RemoteEntityConfig,
StdRemoteEntityConfigProvider, UserFaultHandler, CRC_32,
};
use super::*;
@ -1057,7 +1057,7 @@ mod tests {
expired: Arc<AtomicBool>,
}
impl CheckTimer for TestCheckTimer {
impl CountdownProvider for TestCheckTimer {
fn has_expired(&self) -> bool {
self.expired.load(core::sync::atomic::Ordering::Relaxed)
}
@ -1088,7 +1088,10 @@ mod tests {
}
impl CheckTimerCreator for TestCheckTimerCreator {
fn get_check_timer_provider(&self, timer_context: TimerContext) -> Box<dyn CheckTimer> {
fn get_check_timer_provider(
&self,
timer_context: TimerContext,
) -> Box<dyn CountdownProvider> {
match timer_context {
TimerContext::CheckLimit { .. } => {
Box::new(TestCheckTimer::new(self.check_limit_expired_flag.clone()))

29
satrs/src/cfdp/mod.rs
View File

@ -17,6 +17,8 @@ use alloc::boxed::Box;
#[cfg(feature = "serde")]
use serde::{Deserialize, Serialize};
use crate::time::CountdownProvider;
#[cfg(feature = "std")]
pub mod dest;
#[cfg(feature = "alloc")]
@ -45,7 +47,15 @@ pub enum TimerContext {
},
}
/// Generic abstraction for a check timer which is used by 3 mechanisms of the CFDP protocol.
/// A generic trait which allows CFDP entities to create check timers which are required to
/// implement special procedures in unacknowledged transmission mode, as specified in 4.6.3.2
/// and 4.6.3.3.
///
/// This trait also allows the creation of different check timers depending on context and purpose
/// of the timer, the runtime environment (e.g. standard clock timer vs. timer using a RTC) or
/// other factors.
///
/// The countdown timer is used by 3 mechanisms of the CFDP protocol.
///
/// ## 1. Check limit handling
///
@ -74,22 +84,9 @@ pub enum TimerContext {
/// The timer will be used to perform the Positive Acknowledgement Procedures as specified in
/// 4.7. 1of the CFDP standard. The expiration period will be provided by the Positive ACK timer
/// interval of the remote entity configuration.
pub trait CheckTimer: Debug {
fn has_expired(&self) -> bool;
fn reset(&mut self);
}
/// A generic trait which allows CFDP entities to create check timers which are required to
/// implement special procedures in unacknowledged transmission mode, as specified in 4.6.3.2
/// and 4.6.3.3. The [CheckTimer] documentation provides more information about the purpose of the
/// check timer in the context of CFDP.
///
/// This trait also allows the creation of different check timers depending on context and purpose
/// of the timer, the runtime environment (e.g. standard clock timer vs. timer using a RTC) or
/// other factors.
#[cfg(feature = "alloc")]
pub trait CheckTimerCreator {
fn get_check_timer_provider(&self, timer_context: TimerContext) -> Box<dyn CheckTimer>;
fn get_check_timer_provider(&self, timer_context: TimerContext) -> Box<dyn CountdownProvider>;
}
/// Simple implementation of the [CheckTimerCreator] trait assuming a standard runtime.
@ -112,7 +109,7 @@ impl StdCheckTimer {
}
#[cfg(feature = "std")]
impl CheckTimer for StdCheckTimer {
impl CountdownProvider for StdCheckTimer {
fn has_expired(&self) -> bool {
let elapsed_time = self.start_time.elapsed();
if elapsed_time.as_secs() > self.expiry_time_seconds {

136
satrs/src/event_man.rs
View File

@ -11,7 +11,7 @@
//! about events first:
//!
//! The event manager has a listener table abstracted by the [ListenerMapProvider], which maps
//! listener groups identified by [ListenerKey]s to a [sender ID][ChannelId].
//! listener groups identified by [ListenerKey]s to a [sender ID][ComponentId].
//! It also contains a sender table abstracted by the [SenderMapProvider] which maps these sender
//! IDs to concrete [EventSendProvider]s. A simple approach would be to use one send event provider
//! for each OBSW thread and then subscribe for all interesting events for a particular thread
@ -50,7 +50,7 @@ use crate::queue::GenericSendError;
use core::marker::PhantomData;
use core::slice::Iter;
use crate::ChannelId;
use crate::ComponentId;
#[cfg(feature = "alloc")]
pub use alloc_mod::*;
@ -74,7 +74,7 @@ pub type EventU32WithAuxData = EventWithAuxData<EventU32>;
pub type EventU16WithAuxData = EventWithAuxData<EventU16>;
pub trait EventSendProvider<EV: GenericEvent, AuxDataProvider = Params> {
fn channel_id(&self) -> ChannelId;
fn target_id(&self) -> ComponentId;
fn send_no_data(&self, event: EV) -> Result<(), GenericSendError> {
self.send(event, None)
@ -95,46 +95,46 @@ pub trait ListenerMapProvider {
#[cfg_attr(doc_cfg, doc(cfg(feature = "alloc")))]
fn get_listeners(&self) -> alloc::vec::Vec<ListenerKey>;
fn contains_listener(&self, key: &ListenerKey) -> bool;
fn get_listener_ids(&self, key: &ListenerKey) -> Option<Iter<ChannelId>>;
fn add_listener(&mut self, key: ListenerKey, sender_id: ChannelId) -> bool;
fn get_listener_ids(&self, key: &ListenerKey) -> Option<Iter<ComponentId>>;
fn add_listener(&mut self, key: ListenerKey, sender_id: ComponentId) -> bool;
fn remove_duplicates(&mut self, key: &ListenerKey);
}
pub trait SenderMapProvider<
SP: EventSendProvider<EV, AUX>,
EV: GenericEvent = EventU32,
AUX = Params,
EventSender: EventSendProvider<Ev, Data>,
Ev: GenericEvent = EventU32,
Data = Params,
>
{
fn contains_send_event_provider(&self, id: &ChannelId) -> bool;
fn contains_send_event_provider(&self, target_id: &ComponentId) -> bool;
fn get_send_event_provider(&self, id: &ChannelId) -> Option<&SP>;
fn add_send_event_provider(&mut self, send_provider: SP) -> bool;
fn get_send_event_provider(&self, target_id: &ComponentId) -> Option<&EventSender>;
fn add_send_event_provider(&mut self, send_provider: EventSender) -> bool;
}
/// Generic event manager implementation.
///
/// # Generics
///
/// * `ERP`: [EventReceiveProvider] used to receive all events.
/// * `SMP`: [SenderMapProvider] which maps channel IDs to send providers.
/// * `LTR`: [ListenerMapProvider] which maps listener keys to channel IDs.
/// * `SP`: [EventSendProvider] contained within the sender map which sends the events.
/// * `EV`: The event type. This type must implement the [GenericEvent]. Currently only [EventU32]
/// * `EventReceiver`: [EventReceiveProvider] used to receive all events.
/// * `SenderMap`: [SenderMapProvider] which maps channel IDs to send providers.
/// * `ListenerMap`: [ListenerMapProvider] which maps listener keys to channel IDs.
/// * `EventSender`: [EventSendProvider] contained within the sender map which sends the events.
/// * `Ev`: The event type. This type must implement the [GenericEvent]. Currently only [EventU32]
/// and [EventU16] are supported.
/// * `AUX`: Auxiliary data which is sent with the event to provide optional context information
/// * `Data`: Auxiliary data which is sent with the event to provide optional context information
pub struct EventManager<
ERP: EventReceiveProvider<EV, AUX>,
SMP: SenderMapProvider<SP, EV, AUX>,
LTR: ListenerMapProvider,
SP: EventSendProvider<EV, AUX>,
EV: GenericEvent = EventU32,
AUX = Params,
EventReceiver: EventReceiveProvider<Ev, Data>,
SenderMap: SenderMapProvider<EventSender, Ev, Data>,
ListenerMap: ListenerMapProvider,
EventSender: EventSendProvider<Ev, Data>,
Ev: GenericEvent = EventU32,
Data = Params,
> {
event_receiver: ERP,
sender_map: SMP,
listener_map: LTR,
phantom: core::marker::PhantomData<(SP, EV, AUX)>,
event_receiver: EventReceiver,
sender_map: SenderMap,
listener_map: ListenerMap,
phantom: core::marker::PhantomData<(EventSender, Ev, Data)>,
}
#[derive(Debug)]
@ -153,35 +153,35 @@ pub enum EventRoutingResult<EV: GenericEvent, AUX> {
pub enum EventRoutingError {
Send(GenericSendError),
NoSendersForKey(ListenerKey),
NoSenderForId(ChannelId),
NoSenderForId(ComponentId),
}
#[derive(Debug)]
pub struct EventRoutingErrorsWithResult<EV: GenericEvent, AUX> {
pub result: EventRoutingResult<EV, AUX>,
pub struct EventRoutingErrorsWithResult<Ev: GenericEvent, Data> {
pub result: EventRoutingResult<Ev, Data>,
pub errors: [Option<EventRoutingError>; 3],
}
impl<
ER: EventReceiveProvider<EV, AUX>,
S: SenderMapProvider<SP, EV, AUX>,
L: ListenerMapProvider,
SP: EventSendProvider<EV, AUX>,
EV: GenericEvent + Copy,
AUX: Clone,
> EventManager<ER, S, L, SP, EV, AUX>
EventReceiver: EventReceiveProvider<Ev, Data>,
SenderMap: SenderMapProvider<EventSender, Ev, Data>,
ListenerMap: ListenerMapProvider,
EventSender: EventSendProvider<Ev, Data>,
Ev: GenericEvent + Copy,
Data: Clone,
> EventManager<EventReceiver, SenderMap, ListenerMap, EventSender, Ev, Data>
{
pub fn remove_duplicates(&mut self, key: &ListenerKey) {
self.listener_map.remove_duplicates(key)
}
/// Subscribe for a unique event.
pub fn subscribe_single(&mut self, event: &EV, sender_id: ChannelId) {
pub fn subscribe_single(&mut self, event: &Ev, sender_id: ComponentId) {
self.update_listeners(ListenerKey::Single(event.raw_as_largest_type()), sender_id);
}
/// Subscribe for an event group.
pub fn subscribe_group(&mut self, group_id: LargestGroupIdRaw, sender_id: ChannelId) {
pub fn subscribe_group(&mut self, group_id: LargestGroupIdRaw, sender_id: ComponentId) {
self.update_listeners(ListenerKey::Group(group_id), sender_id);
}
@ -189,7 +189,7 @@ impl<
///
/// For example, this can be useful for a handler component which sends every event as
/// a telemetry packet.
pub fn subscribe_all(&mut self, sender_id: ChannelId) {
pub fn subscribe_all(&mut self, sender_id: ComponentId) {
self.update_listeners(ListenerKey::All, sender_id);
}
}
@ -216,14 +216,14 @@ impl<
pub fn add_sender(&mut self, send_provider: SP) {
if !self
.sender_map
.contains_send_event_provider(&send_provider.channel_id())
.contains_send_event_provider(&send_provider.target_id())
{
self.sender_map.add_send_event_provider(send_provider);
}
}
/// Generic function to update the event subscribers.
fn update_listeners(&mut self, key: ListenerKey, sender_id: ChannelId) {
fn update_listeners(&mut self, key: ListenerKey, sender_id: ComponentId) {
self.listener_map.add_listener(key, sender_id);
}
@ -342,7 +342,7 @@ pub mod alloc_mod {
/// Simple implementation which uses a [HashMap] and a [Vec] internally.
#[derive(Default)]
pub struct DefaultListenerMap {
listeners: HashMap<ListenerKey, Vec<ChannelId>>,
listeners: HashMap<ListenerKey, Vec<ComponentId>>,
}
impl ListenerMapProvider for DefaultListenerMap {
@ -358,11 +358,11 @@ pub mod alloc_mod {
self.listeners.contains_key(key)
}
fn get_listener_ids(&self, key: &ListenerKey) -> Option<Iter<ChannelId>> {
fn get_listener_ids(&self, key: &ListenerKey) -> Option<Iter<ComponentId>> {
self.listeners.get(key).map(|vec| vec.iter())
}
fn add_listener(&mut self, key: ListenerKey, sender_id: ChannelId) -> bool {
fn add_listener(&mut self, key: ListenerKey, sender_id: ComponentId) -> bool {
if let Some(existing_list) = self.listeners.get_mut(&key) {
existing_list.push(sender_id);
} else {
@ -388,7 +388,7 @@ pub mod alloc_mod {
EV: GenericEvent = EventU32,
AUX = Params,
> {
senders: HashMap<ChannelId, SP>,
senders: HashMap<ComponentId, SP>,
phantom: PhantomData<(EV, AUX)>,
}
@ -406,18 +406,18 @@ pub mod alloc_mod {
impl<SP: EventSendProvider<EV, AUX>, EV: GenericEvent, AUX> SenderMapProvider<SP, EV, AUX>
for DefaultSenderMap<SP, EV, AUX>
{
fn contains_send_event_provider(&self, id: &ChannelId) -> bool {
fn contains_send_event_provider(&self, id: &ComponentId) -> bool {
self.senders.contains_key(id)
}
fn get_send_event_provider(&self, id: &ChannelId) -> Option<&SP> {
fn get_send_event_provider(&self, id: &ComponentId) -> Option<&SP> {
self.senders
.get(id)
.filter(|sender| sender.channel_id() == *id)
.filter(|sender| sender.target_id() == *id)
}
fn add_send_event_provider(&mut self, send_provider: SP) -> bool {
let id = send_provider.channel_id();
let id = send_provider.target_id();
if self.senders.contains_key(&id) {
return false;
}
@ -458,19 +458,19 @@ pub mod std_mod {
/// send events.
#[derive(Clone)]
pub struct EventSenderMpsc<Event: GenericEvent + Send> {
id: u32,
target_id: ComponentId,
sender: mpsc::Sender<(Event, Option<Params>)>,
}
impl<Event: GenericEvent + Send> EventSenderMpsc<Event> {
pub fn new(id: u32, sender: mpsc::Sender<(Event, Option<Params>)>) -> Self {
Self { id, sender }
pub fn new(target_id: ComponentId, sender: mpsc::Sender<(Event, Option<Params>)>) -> Self {
Self { target_id, sender }
}
}
impl<Event: GenericEvent + Send> EventSendProvider<Event> for EventSenderMpsc<Event> {
fn channel_id(&self) -> u32 {
self.id
fn target_id(&self) -> ComponentId {
self.target_id
}
fn send(&self, event: Event, aux_data: Option<Params>) -> Result<(), GenericSendError> {
self.sender
@ -483,19 +483,19 @@ pub mod std_mod {
/// events. This has the advantage that the channel is bounded and thus more deterministic.
#[derive(Clone)]
pub struct EventSenderMpscBounded<Event: GenericEvent + Send> {
channel_id: u32,
target_id: ComponentId,
sender: mpsc::SyncSender<(Event, Option<Params>)>,
capacity: usize,
}
impl<Event: GenericEvent + Send> EventSenderMpscBounded<Event> {
pub fn new(
channel_id: u32,
target_id: ComponentId,
sender: mpsc::SyncSender<(Event, Option<Params>)>,
capacity: usize,
) -> Self {
Self {
channel_id,
target_id,
sender,
capacity,
}
@ -503,8 +503,8 @@ pub mod std_mod {
}
impl<Event: GenericEvent + Send> EventSendProvider<Event> for EventSenderMpscBounded<Event> {
fn channel_id(&self) -> u32 {
self.channel_id
fn target_id(&self) -> ComponentId {
self.target_id
}
fn send(&self, event: Event, aux_data: Option<Params>) -> Result<(), GenericSendError> {
if let Err(e) = self.sender.try_send((event, aux_data)) {
@ -577,11 +577,11 @@ mod tests {
let event_grp_1_0 = EventU32::new(Severity::HIGH, 1, 0).unwrap();
let (single_event_sender, single_event_receiver) = channel();
let single_event_listener = EventSenderMpsc::new(0, single_event_sender);
event_man.subscribe_single(&event_grp_0, single_event_listener.channel_id());
event_man.subscribe_single(&event_grp_0, single_event_listener.target_id());
event_man.add_sender(single_event_listener);
let (group_event_sender_0, group_event_receiver_0) = channel();
let group_event_listener = EventU32SenderMpsc::new(1, group_event_sender_0);
event_man.subscribe_group(event_grp_1_0.group_id(), group_event_listener.channel_id());
event_man.subscribe_group(event_grp_1_0.group_id(), group_event_listener.target_id());
event_man.add_sender(group_event_listener);
// Test event with one listener
@ -609,7 +609,7 @@ mod tests {
let event_grp_0 = EventU32::new(Severity::INFO, 0, 0).unwrap();
let (single_event_sender, single_event_receiver) = channel();
let single_event_listener = EventSenderMpsc::new(0, single_event_sender);
event_man.subscribe_single(&event_grp_0, single_event_listener.channel_id());
event_man.subscribe_single(&event_grp_0, single_event_listener.target_id());
event_man.add_sender(single_event_listener);
event_sender
.send((event_grp_0, Some(Params::Heapless((2_u32, 3_u32).into()))))
@ -643,11 +643,11 @@ mod tests {
let event_grp_0_and_1_listener = EventU32SenderMpsc::new(0, event_grp_0_sender);
event_man.subscribe_group(
event_grp_0.group_id(),
event_grp_0_and_1_listener.channel_id(),
event_grp_0_and_1_listener.target_id(),
);
event_man.subscribe_group(
event_grp_1_0.group_id(),
event_grp_0_and_1_listener.channel_id(),
event_grp_0_and_1_listener.target_id(),
);
event_man.add_sender(event_grp_0_and_1_listener);
@ -679,10 +679,10 @@ mod tests {
let (event_0_tx_1, event_0_rx_1) = channel();
let event_listener_0 = EventU32SenderMpsc::new(0, event_0_tx_0);
let event_listener_1 = EventU32SenderMpsc::new(1, event_0_tx_1);
let event_listener_0_sender_id = event_listener_0.channel_id();
let event_listener_0_sender_id = event_listener_0.target_id();
event_man.subscribe_single(&event_0, event_listener_0_sender_id);
event_man.add_sender(event_listener_0);
let event_listener_1_sender_id = event_listener_1.channel_id();
let event_listener_1_sender_id = event_listener_1.target_id();
event_man.subscribe_single(&event_0, event_listener_1_sender_id);
event_man.add_sender(event_listener_1);
event_sender
@ -732,7 +732,7 @@ mod tests {
let event_1 = EventU32::new(Severity::HIGH, 1, 0).unwrap();
let (event_0_tx_0, all_events_rx) = channel();
let all_events_listener = EventU32SenderMpsc::new(0, event_0_tx_0);
event_man.subscribe_all(all_events_listener.channel_id());
event_man.subscribe_all(all_events_listener.target_id());
event_man.add_sender(all_events_listener);
event_sender
.send((event_0, None))

44
satrs/src/hk.rs
View File

@ -1,40 +1,40 @@
use crate::{
pus::verification::{TcStateAccepted, VerificationToken},
TargetId,
};
use crate::ComponentId;
pub type CollectionIntervalFactor = u32;
/// Unique Identifier for a certain housekeeping dataset.
pub type UniqueId = u32;
#[derive(Debug, Copy, Clone, PartialEq, Eq)]
pub enum HkRequest {
OneShot(UniqueId),
Enable(UniqueId),
Disable(UniqueId),
ModifyCollectionInterval(UniqueId, CollectionIntervalFactor),
pub struct HkRequest {
pub unique_id: UniqueId,
pub variant: HkRequestVariant,
}
impl HkRequest {
pub fn new(unique_id: UniqueId, variant: HkRequestVariant) -> Self {
Self { unique_id, variant }
}
}
#[derive(Debug, Copy, Clone, PartialEq, Eq)]
pub enum HkRequestVariant {
OneShot,
EnablePeriodic,
DisablePeriodic,
ModifyCollectionInterval(CollectionIntervalFactor),
}
#[derive(Debug, Copy, Clone, PartialEq, Eq)]
pub struct TargetedHkRequest {
pub target_id: TargetId,
pub hk_request: HkRequest,
pub target_id: ComponentId,
pub hk_request: HkRequestVariant,
}
impl TargetedHkRequest {
pub fn new(target_id: TargetId, hk_request: HkRequest) -> Self {
pub fn new(target_id: ComponentId, hk_request: HkRequestVariant) -> Self {
Self {
target_id,
hk_request,
}
}
}
pub trait PusHkRequestRouter {
type Error;
fn route(
&self,
target_id: TargetId,
hk_request: HkRequest,
token: VerificationToken<TcStateAccepted>,
) -> Result<(), Self::Error>;
}

12
satrs/src/lib.rs
View File

@ -32,7 +32,9 @@ pub mod events;
#[cfg_attr(doc_cfg, doc(cfg(feature = "std")))]
pub mod executable;
pub mod hal;
pub mod objects;
#[cfg(feature = "std")]
#[cfg_attr(doc_cfg, doc(cfg(feature = "std")))]
pub mod mode_tree;
pub mod pool;
pub mod power;
pub mod pus;
@ -40,6 +42,7 @@ pub mod queue;
pub mod request;
pub mod res_code;
pub mod seq_count;
pub mod time;
pub mod tmtc;
pub mod action;
@ -49,8 +52,7 @@ pub mod params;
pub use spacepackets;
/// Generic channel ID type.
pub type ChannelId = u32;
pub use queue::ChannelId;
/// Generic target ID type.
pub type TargetId = u64;
/// Generic component ID type.
pub type ComponentId = u64;

533
satrs/src/mode.rs
View File

@ -1,67 +1,95 @@
use core::mem::size_of;
use satrs_shared::res_code::ResultU16;
#[cfg(feature = "serde")]
use serde::{Deserialize, Serialize};
use spacepackets::ByteConversionError;
use crate::TargetId;
#[cfg(feature = "alloc")]
pub use alloc_mod::*;
#[cfg(feature = "std")]
pub use std_mod::*;
use crate::{
queue::GenericTargetedMessagingError,
request::{GenericMessage, MessageMetadata, MessageReceiver, MessageReceiverWithId, RequestId},
ComponentId,
};
pub type Mode = u32;
pub type Submode = u16;
#[derive(Debug, Copy, Clone, PartialEq, Eq)]
#[cfg_attr(feature = "serde", derive(Serialize, Deserialize))]
pub struct ModeAndSubmode {
mode: u32,
submode: u16,
mode: Mode,
submode: Submode,
}
impl ModeAndSubmode {
pub const fn new_mode_only(mode: u32) -> Self {
pub const RAW_LEN: usize = size_of::<Mode>() + size_of::<Submode>();
pub const fn new_mode_only(mode: Mode) -> Self {
Self { mode, submode: 0 }
}
pub const fn new(mode: u32, submode: u16) -> Self {
pub const fn new(mode: Mode, submode: Submode) -> Self {
Self { mode, submode }
}
pub fn raw_len() -> usize {
size_of::<u32>() + size_of::<u16>()
}
pub fn from_be_bytes(buf: &[u8]) -> Result<Self, ByteConversionError> {
if buf.len() < 6 {
return Err(ByteConversionError::FromSliceTooSmall {
expected: 6,
expected: Self::RAW_LEN,
found: buf.len(),
});
}
Ok(Self {
mode: u32::from_be_bytes(buf[0..4].try_into().unwrap()),
submode: u16::from_be_bytes(buf[4..6].try_into().unwrap()),
mode: Mode::from_be_bytes(buf[0..size_of::<Mode>()].try_into().unwrap()),
submode: Submode::from_be_bytes(
buf[size_of::<Mode>()..size_of::<Mode>() + size_of::<Submode>()]
.try_into()
.unwrap(),
),
})
}
pub fn mode(&self) -> u32 {
pub fn write_to_be_bytes(&self, buf: &mut [u8]) -> Result<usize, ByteConversionError> {
if buf.len() < Self::RAW_LEN {
return Err(ByteConversionError::ToSliceTooSmall {
expected: Self::RAW_LEN,
found: buf.len(),
});
}
buf[0..size_of::<Mode>()].copy_from_slice(&self.mode.to_be_bytes());
buf[size_of::<Mode>()..Self::RAW_LEN].copy_from_slice(&self.submode.to_be_bytes());
Ok(Self::RAW_LEN)
}
pub fn mode(&self) -> Mode {
self.mode
}
pub fn submode(&self) -> u16 {
pub fn submode(&self) -> Submode {
self.submode
}
}
#[derive(Debug, Copy, Clone, PartialEq, Eq)]
#[cfg_attr(feature = "serde", derive(Serialize, Deserialize))]
pub struct TargetedModeCommand {
pub address: TargetId,
pub address: ComponentId,
pub mode_submode: ModeAndSubmode,
}
impl TargetedModeCommand {
pub const fn new(address: TargetId, mode_submode: ModeAndSubmode) -> Self {
pub const fn new(address: ComponentId, mode_submode: ModeAndSubmode) -> Self {
Self {
address,
mode_submode,
}
}
pub fn address(&self) -> TargetId {
pub fn address(&self) -> ComponentId {
self.address
}
@ -81,6 +109,8 @@ impl TargetedModeCommand {
#[derive(Debug, Copy, Clone, PartialEq, Eq)]
#[cfg_attr(feature = "serde", derive(Serialize, Deserialize))]
pub enum ModeRequest {
/// Mode information. Can be used to notify other components of changed modes.
ModeInfo(ModeAndSubmode),
SetMode(ModeAndSubmode),
ReadMode,
AnnounceMode,
@ -90,6 +120,473 @@ pub enum ModeRequest {
#[derive(Debug, Copy, Clone, PartialEq, Eq)]
#[cfg_attr(feature = "serde", derive(Serialize, Deserialize))]
pub struct TargetedModeRequest {
target_id: TargetId,
target_id: ComponentId,
mode_request: ModeRequest,
}
#[derive(Debug, Copy, Clone, PartialEq, Eq)]
#[cfg_attr(feature = "serde", derive(Serialize, Deserialize))]
pub enum ModeReply {
/// Reply to a mode request to confirm the commanded mode was reached.
ModeReply(ModeAndSubmode),
// Can not reach the commanded mode. Contains a reason as a [ResultU16].
CantReachMode(ResultU16),
/// We are in the wrong mode for unknown reasons. Contains the expected and reached mode.
WrongMode {
expected: ModeAndSubmode,
reached: ModeAndSubmode,
},
}
pub type GenericModeReply = GenericMessage<ModeReply>;
pub trait ModeRequestSender {
fn local_channel_id(&self) -> ComponentId;
fn send_mode_request(
&self,
request_id: RequestId,
target_id: ComponentId,
request: ModeRequest,
) -> Result<(), GenericTargetedMessagingError>;
}
pub trait ModeRequestReceiver {
fn try_recv_mode_request(
&self,
) -> Result<Option<GenericMessage<ModeRequest>>, GenericTargetedMessagingError>;
}
impl<R: MessageReceiver<ModeRequest>> ModeRequestReceiver
for MessageReceiverWithId<ModeRequest, R>
{
fn try_recv_mode_request(
&self,
) -> Result<Option<GenericMessage<ModeRequest>>, GenericTargetedMessagingError> {
self.try_recv_message()
}
}
#[derive(Debug, Clone)]
pub enum ModeError {
Messaging(GenericTargetedMessagingError),
}
impl From<GenericTargetedMessagingError> for ModeError {
fn from(value: GenericTargetedMessagingError) -> Self {
Self::Messaging(value)
}
}
pub trait ModeProvider {
fn mode_and_submode(&self) -> ModeAndSubmode;
}
pub trait ModeRequestHandler: ModeProvider {
type Error;
fn start_transition(
&mut self,
requestor: MessageMetadata,
mode_and_submode: ModeAndSubmode,
) -> Result<(), Self::Error>;
fn announce_mode(&self, requestor_info: MessageMetadata, recursive: bool);
fn handle_mode_reached(
&mut self,
requestor_info: Option<MessageMetadata>,
) -> Result<(), Self::Error>;
fn handle_mode_info(
&mut self,
requestor_info: MessageMetadata,
info: ModeAndSubmode,
) -> Result<(), Self::Error>;
fn send_mode_reply(
&self,
requestor_info: MessageMetadata,
reply: ModeReply,
) -> Result<(), Self::Error>;
fn handle_mode_request(
&mut self,
request: GenericMessage<ModeRequest>,
) -> Result<(), Self::Error> {
match request.message {
ModeRequest::SetMode(mode_and_submode) => {
self.start_transition(request.requestor_info, mode_and_submode)
}
ModeRequest::ReadMode => self.send_mode_reply(
request.requestor_info,
ModeReply::ModeReply(self.mode_and_submode()),
),
ModeRequest::AnnounceMode => {
self.announce_mode(request.requestor_info, false);
Ok(())
}
ModeRequest::AnnounceModeRecursive => {
self.announce_mode(request.requestor_info, true);
Ok(())
}
ModeRequest::ModeInfo(info) => self.handle_mode_info(request.requestor_info, info),
}
}
}
pub trait ModeReplyReceiver {
fn try_recv_mode_reply(
&self,
) -> Result<Option<GenericMessage<ModeReply>>, GenericTargetedMessagingError>;
}
impl<R: MessageReceiver<ModeReply>> ModeReplyReceiver for MessageReceiverWithId<ModeReply, R> {
fn try_recv_mode_reply(
&self,
) -> Result<Option<GenericMessage<ModeReply>>, GenericTargetedMessagingError> {
self.try_recv_message()
}
}
pub trait ModeReplySender {
fn local_channel_id(&self) -> ComponentId;
/// The requestor is assumed to be the target of the reply.
fn send_mode_reply(
&self,
requestor_info: MessageMetadata,
reply: ModeReply,
) -> Result<(), GenericTargetedMessagingError>;
}
#[cfg(feature = "alloc")]
#[cfg_attr(doc_cfg, doc(cfg(feature = "alloc")))]
pub mod alloc_mod {
use crate::{
mode::ModeRequest,
queue::GenericTargetedMessagingError,
request::{
MessageMetadata, MessageSender, MessageSenderAndReceiver, MessageSenderMap,
RequestAndReplySenderAndReceiver, RequestId,
},
ComponentId,
};
use super::*;
impl<S: MessageSender<ModeReply>> MessageSenderMap<ModeReply, S> {
pub fn send_mode_reply(
&self,
requestor_info: MessageMetadata,
target_id: ComponentId,
request: ModeReply,
) -> Result<(), GenericTargetedMessagingError> {
self.send_message(requestor_info, target_id, request)
}
pub fn add_reply_target(&mut self, target_id: ComponentId, request_sender: S) {
self.add_message_target(target_id, request_sender)
}
}
impl<FROM, S: MessageSender<ModeReply>, R: MessageReceiver<FROM>> ModeReplySender
for MessageSenderAndReceiver<ModeReply, FROM, S, R>
{
fn local_channel_id(&self) -> ComponentId {
self.local_channel_id_generic()
}
fn send_mode_reply(
&self,
requestor_info: MessageMetadata,
request: ModeReply,
) -> Result<(), GenericTargetedMessagingError> {
self.message_sender_map.send_mode_reply(
MessageMetadata::new(requestor_info.request_id(), self.local_channel_id()),
requestor_info.sender_id(),
request,
)
}
}
impl<TO, S: MessageSender<TO>, R: MessageReceiver<ModeReply>> ModeReplyReceiver
for MessageSenderAndReceiver<TO, ModeReply, S, R>
{
fn try_recv_mode_reply(
&self,
) -> Result<Option<GenericMessage<ModeReply>>, GenericTargetedMessagingError> {
self.message_receiver.try_recv_message()
}
}
impl<
REQUEST,
S0: MessageSender<REQUEST>,
R0: MessageReceiver<ModeReply>,
S1: MessageSender<ModeReply>,
R1: MessageReceiver<REQUEST>,
> RequestAndReplySenderAndReceiver<REQUEST, ModeReply, S0, R0, S1, R1>
{
pub fn add_reply_target(&mut self, target_id: ComponentId, reply_sender: S1) {
self.reply_sender_map
.add_message_target(target_id, reply_sender)
}
}
impl<
REQUEST,
S0: MessageSender<REQUEST>,
R0: MessageReceiver<ModeReply>,
S1: MessageSender<ModeReply>,
R1: MessageReceiver<REQUEST>,
> ModeReplySender for RequestAndReplySenderAndReceiver<REQUEST, ModeReply, S0, R0, S1, R1>
{
fn local_channel_id(&self) -> ComponentId {
self.local_channel_id_generic()
}
fn send_mode_reply(
&self,
requestor_info: MessageMetadata,
request: ModeReply,
) -> Result<(), GenericTargetedMessagingError> {
self.reply_sender_map.send_mode_reply(
MessageMetadata::new(requestor_info.request_id(), self.local_channel_id()),
requestor_info.sender_id(),
request,
)
}
}
impl<
REQUEST,
S0: MessageSender<REQUEST>,
R0: MessageReceiver<ModeReply>,
S1: MessageSender<ModeReply>,
R1: MessageReceiver<REQUEST>,
> ModeReplyReceiver
for RequestAndReplySenderAndReceiver<REQUEST, ModeReply, S0, R0, S1, R1>
{
fn try_recv_mode_reply(
&self,
) -> Result<Option<GenericMessage<ModeReply>>, GenericTargetedMessagingError> {
self.reply_receiver.try_recv_message()
}
}
/// Helper type definition for a mode handler which can handle mode requests.
pub type ModeRequestHandlerInterface<S, R> =
MessageSenderAndReceiver<ModeReply, ModeRequest, S, R>;
impl<S: MessageSender<ModeReply>, R: MessageReceiver<ModeRequest>>
ModeRequestHandlerInterface<S, R>
{
pub fn try_recv_mode_request(
&self,
) -> Result<Option<GenericMessage<ModeRequest>>, GenericTargetedMessagingError> {
self.try_recv_message()
}
pub fn send_mode_reply(
&self,
requestor_info: MessageMetadata,
reply: ModeReply,
) -> Result<(), GenericTargetedMessagingError> {
self.send_message(
requestor_info.request_id(),
requestor_info.sender_id(),
reply,
)
}
}
/// Helper type defintion for a mode handler object which can send mode requests and receive
/// mode replies.
pub type ModeRequestorInterface<S, R> = MessageSenderAndReceiver<ModeRequest, ModeReply, S, R>;
impl<S: MessageSender<ModeRequest>, R: MessageReceiver<ModeReply>> ModeRequestorInterface<S, R> {
pub fn try_recv_mode_reply(
&self,
) -> Result<Option<GenericMessage<ModeReply>>, GenericTargetedMessagingError> {
self.try_recv_message()
}
pub fn send_mode_request(
&self,
request_id: RequestId,
target_id: ComponentId,
reply: ModeRequest,
) -> Result<(), GenericTargetedMessagingError> {
self.send_message(request_id, target_id, reply)
}
}
/// Helper type defintion for a mode handler object which can both send mode requests and
/// process mode requests.
pub type ModeInterface<S0, R0, S1, R1> =
RequestAndReplySenderAndReceiver<ModeRequest, ModeReply, S0, R0, S1, R1>;
impl<S: MessageSender<ModeRequest>> MessageSenderMap<ModeRequest, S> {
pub fn send_mode_request(
&self,
requestor_info: MessageMetadata,
target_id: ComponentId,
request: ModeRequest,
) -> Result<(), GenericTargetedMessagingError> {
self.send_message(requestor_info, target_id, request)
}
pub fn add_request_target(&mut self, target_id: ComponentId, request_sender: S) {
self.add_message_target(target_id, request_sender)
}
}
/*
impl<S: MessageSender<ModeRequest>> ModeRequestSender for MessageSenderMapWithId<ModeRequest, S> {
fn local_channel_id(&self) -> ComponentId {
self.local_channel_id
}
fn send_mode_request(
&self,
request_id: RequestId,
target_id: ComponentId,
request: ModeRequest,
) -> Result<(), GenericTargetedMessagingError> {
self.send_message(request_id, target_id, request)
}
}
*/
impl<TO, S: MessageSender<TO>, R: MessageReceiver<ModeRequest>> ModeRequestReceiver
for MessageSenderAndReceiver<TO, ModeRequest, S, R>
{
fn try_recv_mode_request(
&self,
) -> Result<Option<GenericMessage<ModeRequest>>, GenericTargetedMessagingError> {
self.message_receiver.try_recv_message()
}
}
impl<FROM, S: MessageSender<ModeRequest>, R: MessageReceiver<FROM>> ModeRequestSender
for MessageSenderAndReceiver<ModeRequest, FROM, S, R>
{
fn local_channel_id(&self) -> ComponentId {
self.local_channel_id_generic()
}
fn send_mode_request(
&self,
request_id: RequestId,
target_id: ComponentId,
request: ModeRequest,
) -> Result<(), GenericTargetedMessagingError> {
self.message_sender_map.send_mode_request(
MessageMetadata::new(request_id, self.local_channel_id()),
target_id,
request,
)
}
}
impl<
REPLY,
S0: MessageSender<ModeRequest>,
R0: MessageReceiver<REPLY>,
S1: MessageSender<REPLY>,
R1: MessageReceiver<ModeRequest>,
> RequestAndReplySenderAndReceiver<ModeRequest, REPLY, S0, R0, S1, R1>
{
pub fn add_request_target(&mut self, target_id: ComponentId, request_sender: S0) {
self.request_sender_map
.add_message_target(target_id, request_sender)
}
}
impl<
REPLY,
S0: MessageSender<ModeRequest>,
R0: MessageReceiver<REPLY>,
S1: MessageSender<REPLY>,
R1: MessageReceiver<ModeRequest>,
> ModeRequestSender
for RequestAndReplySenderAndReceiver<ModeRequest, REPLY, S0, R0, S1, R1>
{
fn local_channel_id(&self) -> ComponentId {
self.local_channel_id_generic()
}
fn send_mode_request(
&self,
request_id: RequestId,
target_id: ComponentId,
request: ModeRequest,
) -> Result<(), GenericTargetedMessagingError> {
self.request_sender_map.send_mode_request(
MessageMetadata::new(request_id, self.local_channel_id()),
target_id,
request,
)
}
}
impl<
REPLY,
S0: MessageSender<ModeRequest>,
R0: MessageReceiver<REPLY>,
S1: MessageSender<REPLY>,
R1: MessageReceiver<ModeRequest>,
> ModeRequestReceiver
for RequestAndReplySenderAndReceiver<ModeRequest, REPLY, S0, R0, S1, R1>
{
fn try_recv_mode_request(
&self,
) -> Result<Option<GenericMessage<ModeRequest>>, GenericTargetedMessagingError> {
self.request_receiver.try_recv_message()
}
}
}
#[cfg(feature = "std")]
#[cfg_attr(doc_cfg, doc(cfg(feature = "std")))]
pub mod std_mod {
use std::sync::mpsc;
use crate::request::GenericMessage;
use super::*;
pub type ModeRequestHandlerMpsc = ModeRequestHandlerInterface<
mpsc::Sender<GenericMessage<ModeReply>>,
mpsc::Receiver<GenericMessage<ModeRequest>>,
>;
pub type ModeRequestHandlerMpscBounded = ModeRequestHandlerInterface<
mpsc::SyncSender<GenericMessage<ModeReply>>,
mpsc::Receiver<GenericMessage<ModeRequest>>,
>;
pub type ModeRequestorMpsc = ModeRequestorInterface<
mpsc::Sender<GenericMessage<ModeRequest>>,
mpsc::Receiver<GenericMessage<ModeReply>>,
>;
pub type ModeRequestorBoundedMpsc = ModeRequestorInterface<
mpsc::SyncSender<GenericMessage<ModeRequest>>,
mpsc::Receiver<GenericMessage<ModeReply>>,
>;
pub type ModeRequestorAndHandlerMpsc = ModeInterface<
mpsc::Sender<GenericMessage<ModeRequest>>,
mpsc::Receiver<GenericMessage<ModeReply>>,
mpsc::Sender<GenericMessage<ModeReply>>,
mpsc::Receiver<GenericMessage<ModeRequest>>,
>;
pub type ModeRequestorAndHandlerMpscBounded = ModeInterface<
mpsc::SyncSender<GenericMessage<ModeRequest>>,
mpsc::Receiver<GenericMessage<ModeReply>>,
mpsc::SyncSender<GenericMessage<ModeReply>>,
mpsc::Receiver<GenericMessage<ModeRequest>>,
>;
}
#[cfg(test)]
mod tests {}

37
satrs/src/mode_tree.rs Normal file
View File

@ -0,0 +1,37 @@
use alloc::vec::Vec;
use hashbrown::HashMap;
use crate::{
mode::{Mode, ModeAndSubmode, Submode},
ComponentId,
};
#[derive(Debug, Copy, Clone, PartialEq, Eq)]
pub enum TableEntryType {
/// Target table containing information of the expected children modes for given mode.
Target,
/// Sequence table which contains information about how to reach a target table, including
/// the order of the sequences.
Sequence,
}
pub struct ModeTableEntry {
/// Name of respective table entry.
pub name: &'static str,
/// Target channel ID.
pub channel_id: ComponentId,
pub mode_submode: ModeAndSubmode,
pub allowed_submode_mask: Option<Submode>,
pub check_success: bool,
}
pub struct ModeTableMapValue {
/// Name for a given mode table entry.
pub name: &'static str,
pub entries: Vec<ModeTableEntry>,
}
pub type ModeTable = HashMap<Mode, ModeTableMapValue>;
#[cfg(test)]
mod tests {}

308
satrs/src/objects.rs
View File

@ -1,308 +0,0 @@
//! # Module providing addressable object support and a manager for them
//!
//! Each addressable object can be identified using an [object ID][ObjectId].
//! The [system object][ManagedSystemObject] trait also allows storing these objects into the
//! [object manager][ObjectManager]. They can then be retrieved and casted back to a known type
//! using the object ID.
//!
//! # Examples
//!
//! ```rust
//! use std::any::Any;
//! use std::error::Error;
//! use satrs::objects::{ManagedSystemObject, ObjectId, ObjectManager, SystemObject};
//!
//! struct ExampleSysObj {
//! id: ObjectId,
//! dummy: u32,
//! was_initialized: bool,
//! }
//!
//! impl ExampleSysObj {
//! fn new(id: ObjectId, dummy: u32) -> ExampleSysObj {
//! ExampleSysObj {
//! id,
//! dummy,
//! was_initialized: false,
//! }
//! }
//! }
//!
//! impl SystemObject for ExampleSysObj {
//! type Error = ();
//! fn get_object_id(&self) -> &ObjectId {
//! &self.id
//! }
//!
//! fn initialize(&mut self) -> Result<(), Self::Error> {
//! self.was_initialized = true;
//! Ok(())
//! }
//! }
//!
//! impl ManagedSystemObject for ExampleSysObj {}
//!
//! let mut obj_manager = ObjectManager::default();
//! let obj_id = ObjectId { id: 0, name: "Example 0"};
//! let example_obj = ExampleSysObj::new(obj_id, 42);
//! obj_manager.insert(Box::new(example_obj));
//! let obj_back_casted: Option<&ExampleSysObj> = obj_manager.get_ref(&obj_id);
//! let example_obj = obj_back_casted.unwrap();
//! assert_eq!(example_obj.id, obj_id);
//! assert_eq!(example_obj.dummy, 42);
//! ```
#[cfg(feature = "alloc")]
use alloc::boxed::Box;
#[cfg(feature = "alloc")]
pub use alloc_mod::*;
#[cfg(feature = "alloc")]
use downcast_rs::Downcast;
#[cfg(feature = "alloc")]
use hashbrown::HashMap;
#[cfg(feature = "std")]
use std::error::Error;
use crate::TargetId;
#[derive(PartialEq, Eq, Hash, Copy, Clone, Debug)]
pub struct ObjectId {
pub id: TargetId,
pub name: &'static str,
}
#[cfg(feature = "alloc")]
pub mod alloc_mod {
use super::*;
/// Each object which is stored inside the [object manager][ObjectManager] needs to implemented
/// this trait
pub trait SystemObject: Downcast {
type Error;
fn get_object_id(&self) -> &ObjectId;
fn initialize(&mut self) -> Result<(), Self::Error>;
}
downcast_rs::impl_downcast!(SystemObject assoc Error);
pub trait ManagedSystemObject: SystemObject + Send {}
downcast_rs::impl_downcast!(ManagedSystemObject assoc Error);
/// Helper module to manage multiple [ManagedSystemObjects][ManagedSystemObject] by mapping them
/// using an [object ID][ObjectId]
#[cfg(feature = "alloc")]
pub struct ObjectManager<E> {
obj_map: HashMap<ObjectId, Box<dyn ManagedSystemObject<Error = E>>>,
}
#[cfg(feature = "alloc")]
impl<E: 'static> Default for ObjectManager<E> {
fn default() -> Self {
Self::new()
}
}
#[cfg(feature = "alloc")]
impl<E: 'static> ObjectManager<E> {
pub fn new() -> Self {
ObjectManager {
obj_map: HashMap::new(),
}
}
pub fn insert(&mut self, sys_obj: Box<dyn ManagedSystemObject<Error = E>>) -> bool {
let obj_id = sys_obj.get_object_id();
if self.obj_map.contains_key(obj_id) {
return false;
}
self.obj_map.insert(*obj_id, sys_obj).is_none()
}
/// Initializes all System Objects in the hash map and returns the number of successful
/// initializations
pub fn initialize(&mut self) -> Result<u32, Box<dyn Error>> {
let mut init_success = 0;
for val in self.obj_map.values_mut() {
if val.initialize().is_ok() {
init_success += 1
}
}
Ok(init_success)
}
/// Retrieve a reference to an object stored inside the manager. The type to retrieve needs to
/// be explicitly passed as a generic parameter or specified on the left hand side of the
/// expression.
pub fn get_ref<T: ManagedSystemObject<Error = E>>(&self, key: &ObjectId) -> Option<&T> {
self.obj_map.get(key).and_then(|o| o.downcast_ref::<T>())
}
/// Retrieve a mutable reference to an object stored inside the manager. The type to retrieve
/// needs to be explicitly passed as a generic parameter or specified on the left hand side
/// of the expression.
pub fn get_mut<T: ManagedSystemObject<Error = E>>(
&mut self,
key: &ObjectId,
) -> Option<&mut T> {
self.obj_map
.get_mut(key)
.and_then(|o| o.downcast_mut::<T>())
}
}
}
#[cfg(test)]
mod tests {
use crate::objects::{ManagedSystemObject, ObjectId, ObjectManager, SystemObject};
use std::boxed::Box;
use std::string::String;
use std::sync::{Arc, Mutex};
use std::thread;
struct ExampleSysObj {
id: ObjectId,
dummy: u32,
was_initialized: bool,
}
impl ExampleSysObj {
fn new(id: ObjectId, dummy: u32) -> ExampleSysObj {
ExampleSysObj {
id,
dummy,
was_initialized: false,
}
}
}
impl SystemObject for ExampleSysObj {
type Error = ();
fn get_object_id(&self) -> &ObjectId {
&self.id
}
fn initialize(&mut self) -> Result<(), Self::Error> {
self.was_initialized = true;
Ok(())
}
}
impl ManagedSystemObject for ExampleSysObj {}
struct OtherExampleObject {
id: ObjectId,
string: String,
was_initialized: bool,
}
impl SystemObject for OtherExampleObject {
type Error = ();
fn get_object_id(&self) -> &ObjectId {
&self.id
}
fn initialize(&mut self) -> Result<(), Self::Error> {
self.was_initialized = true;
Ok(())
}
}
impl ManagedSystemObject for OtherExampleObject {}
#[test]
fn test_obj_manager_simple() {
let mut obj_manager = ObjectManager::default();
let expl_obj_id = ObjectId {
id: 0,
name: "Example 0",
};
let example_obj = ExampleSysObj::new(expl_obj_id, 42);
assert!(obj_manager.insert(Box::new(example_obj)));
let res = obj_manager.initialize();
assert!(res.is_ok());
assert_eq!(res.unwrap(), 1);
let obj_back_casted: Option<&ExampleSysObj> = obj_manager.get_ref(&expl_obj_id);
assert!(obj_back_casted.is_some());
let expl_obj_back_casted = obj_back_casted.unwrap();
assert_eq!(expl_obj_back_casted.dummy, 42);
assert!(expl_obj_back_casted.was_initialized);
let second_obj_id = ObjectId {
id: 12,
name: "Example 1",
};
let second_example_obj = OtherExampleObject {
id: second_obj_id,
string: String::from("Hello Test"),
was_initialized: false,
};
assert!(obj_manager.insert(Box::new(second_example_obj)));
let res = obj_manager.initialize();
assert!(res.is_ok());
assert_eq!(res.unwrap(), 2);
let obj_back_casted: Option<&OtherExampleObject> = obj_manager.get_ref(&second_obj_id);
assert!(obj_back_casted.is_some());
let expl_obj_back_casted = obj_back_casted.unwrap();
assert_eq!(expl_obj_back_casted.string, String::from("Hello Test"));
assert!(expl_obj_back_casted.was_initialized);
let existing_obj_id = ObjectId {
id: 12,
name: "Example 1",
};
let invalid_obj = OtherExampleObject {
id: existing_obj_id,
string: String::from("Hello Test"),
was_initialized: false,
};
assert!(!obj_manager.insert(Box::new(invalid_obj)));
}
#[test]
fn object_man_threaded() {
let obj_manager = Arc::new(Mutex::new(ObjectManager::new()));
let expl_obj_id = ObjectId {
id: 0,
name: "Example 0",
};
let example_obj = ExampleSysObj::new(expl_obj_id, 42);
let second_obj_id = ObjectId {
id: 12,
name: "Example 1",
};
let second_example_obj = OtherExampleObject {
id: second_obj_id,
string: String::from("Hello Test"),
was_initialized: false,
};
let mut obj_man_handle = obj_manager.lock().expect("Mutex lock failed");
assert!(obj_man_handle.insert(Box::new(example_obj)));
assert!(obj_man_handle.insert(Box::new(second_example_obj)));
let res = obj_man_handle.initialize();
std::mem::drop(obj_man_handle);
assert!(res.is_ok());
assert_eq!(res.unwrap(), 2);
let obj_man_0 = obj_manager.clone();
let jh0 = thread::spawn(move || {
let locked_man = obj_man_0.lock().expect("Mutex lock failed");
let obj_back_casted: Option<&ExampleSysObj> = locked_man.get_ref(&expl_obj_id);
assert!(obj_back_casted.is_some());
let expl_obj_back_casted = obj_back_casted.unwrap();
assert_eq!(expl_obj_back_casted.dummy, 42);
assert!(expl_obj_back_casted.was_initialized);
std::mem::drop(locked_man)
});
let jh1 = thread::spawn(move || {
let locked_man = obj_manager.lock().expect("Mutex lock failed");
let obj_back_casted: Option<&OtherExampleObject> = locked_man.get_ref(&second_obj_id);
assert!(obj_back_casted.is_some());
let expl_obj_back_casted = obj_back_casted.unwrap();
assert_eq!(expl_obj_back_casted.string, String::from("Hello Test"));
assert!(expl_obj_back_casted.was_initialized);
std::mem::drop(locked_man)
});
jh0.join().expect("Joining thread 0 failed");
jh1.join().expect("Joining thread 1 failed");
}
}

606
satrs/src/params.rs
View File

@ -60,21 +60,28 @@ use alloc::vec::Vec;
/// Generic trait which is used for objects which can be converted into a raw network (big) endian
/// byte format.
pub trait WritableToBeBytes {
fn raw_len(&self) -> usize;
fn written_len(&self) -> usize;
/// Writes the object to a raw buffer in network endianness (big)
fn write_to_be_bytes(&self, buf: &mut [u8]) -> Result<usize, ByteConversionError>;
#[cfg(feature = "alloc")]
fn to_vec(&self) -> Result<Vec<u8>, ByteConversionError> {
let mut vec = alloc::vec![0; self.written_len()];
self.write_to_be_bytes(&mut vec)?;
Ok(vec)
}
}
macro_rules! param_to_be_bytes_impl {
($Newtype: ident) => {
impl WritableToBeBytes for $Newtype {
#[inline]
fn raw_len(&self) -> usize {
fn written_len(&self) -> usize {
size_of::<<Self as ToBeBytes>::ByteArray>()
}
fn write_to_be_bytes(&self, buf: &mut [u8]) -> Result<usize, ByteConversionError> {
let raw_len = self.raw_len();
let raw_len = WritableToBeBytes::written_len(self);
if buf.len() < raw_len {
return Err(ByteConversionError::ToSliceTooSmall {
found: buf.len(),
@ -382,32 +389,32 @@ pub enum ParamsRaw {
}
impl WritableToBeBytes for ParamsRaw {
fn raw_len(&self) -> usize {
fn written_len(&self) -> usize {
match self {
ParamsRaw::U8(v) => v.raw_len(),
ParamsRaw::U8Pair(v) => v.raw_len(),
ParamsRaw::U8Triplet(v) => v.raw_len(),
ParamsRaw::I8(v) => v.raw_len(),
ParamsRaw::I8Pair(v) => v.raw_len(),
ParamsRaw::I8Triplet(v) => v.raw_len(),
ParamsRaw::U16(v) => v.raw_len(),
ParamsRaw::U16Pair(v) => v.raw_len(),
ParamsRaw::U16Triplet(v) => v.raw_len(),
ParamsRaw::I16(v) => v.raw_len(),
ParamsRaw::I16Pair(v) => v.raw_len(),
ParamsRaw::I16Triplet(v) => v.raw_len(),
ParamsRaw::U32(v) => v.raw_len(),
ParamsRaw::U32Pair(v) => v.raw_len(),
ParamsRaw::U32Triplet(v) => v.raw_len(),
ParamsRaw::I32(v) => v.raw_len(),
ParamsRaw::I32Pair(v) => v.raw_len(),
ParamsRaw::I32Triplet(v) => v.raw_len(),
ParamsRaw::F32(v) => v.raw_len(),
ParamsRaw::F32Pair(v) => v.raw_len(),
ParamsRaw::F32Triplet(v) => v.raw_len(),
ParamsRaw::U64(v) => v.raw_len(),
ParamsRaw::I64(v) => v.raw_len(),
ParamsRaw::F64(v) => v.raw_len(),
ParamsRaw::U8(v) => WritableToBeBytes::written_len(v),
ParamsRaw::U8Pair(v) => WritableToBeBytes::written_len(v),
ParamsRaw::U8Triplet(v) => WritableToBeBytes::written_len(v),
ParamsRaw::I8(v) => WritableToBeBytes::written_len(v),
ParamsRaw::I8Pair(v) => WritableToBeBytes::written_len(v),
ParamsRaw::I8Triplet(v) => WritableToBeBytes::written_len(v),
ParamsRaw::U16(v) => WritableToBeBytes::written_len(v),
ParamsRaw::U16Pair(v) => WritableToBeBytes::written_len(v),
ParamsRaw::U16Triplet(v) => WritableToBeBytes::written_len(v),
ParamsRaw::I16(v) => WritableToBeBytes::written_len(v),
ParamsRaw::I16Pair(v) => WritableToBeBytes::written_len(v),
ParamsRaw::I16Triplet(v) => WritableToBeBytes::written_len(v),
ParamsRaw::U32(v) => WritableToBeBytes::written_len(v),
ParamsRaw::U32Pair(v) => WritableToBeBytes::written_len(v),
ParamsRaw::U32Triplet(v) => WritableToBeBytes::written_len(v),
ParamsRaw::I32(v) => WritableToBeBytes::written_len(v),
ParamsRaw::I32Pair(v) => WritableToBeBytes::written_len(v),
ParamsRaw::I32Triplet(v) => WritableToBeBytes::written_len(v),
ParamsRaw::F32(v) => WritableToBeBytes::written_len(v),
ParamsRaw::F32Pair(v) => WritableToBeBytes::written_len(v),
ParamsRaw::F32Triplet(v) => WritableToBeBytes::written_len(v),
ParamsRaw::U64(v) => WritableToBeBytes::written_len(v),
ParamsRaw::I64(v) => WritableToBeBytes::written_len(v),
ParamsRaw::F64(v) => WritableToBeBytes::written_len(v),
}
}
@ -460,7 +467,7 @@ params_raw_from_newtype!(
);
#[derive(Debug, Copy, Clone, PartialEq, Eq)]
pub enum EcssEnumParams {
pub enum ParamsEcssEnum {
U8(EcssEnumU8),
U16(EcssEnumU16),
U32(EcssEnumU32),
@ -468,40 +475,46 @@ pub enum EcssEnumParams {
}
macro_rules! writable_as_be_bytes_ecss_enum_impl {
($EnumIdent: ident) => {
($EnumIdent: ident, $Ty: ident) => {
impl From<$EnumIdent> for ParamsEcssEnum {
fn from(e: $EnumIdent) -> Self {
Self::$Ty(e)
}
}
impl WritableToBeBytes for $EnumIdent {
fn raw_len(&self) -> usize {
fn written_len(&self) -> usize {
self.size()
}
fn write_to_be_bytes(&self, buf: &mut [u8]) -> Result<usize, ByteConversionError> {
<Self as UnsignedEnum>::write_to_be_bytes(self, buf).map(|_| self.raw_len())
<Self as UnsignedEnum>::write_to_be_bytes(self, buf).map(|_| self.written_len())
}
}
};
}
writable_as_be_bytes_ecss_enum_impl!(EcssEnumU8);
writable_as_be_bytes_ecss_enum_impl!(EcssEnumU16);
writable_as_be_bytes_ecss_enum_impl!(EcssEnumU32);
writable_as_be_bytes_ecss_enum_impl!(EcssEnumU64);
writable_as_be_bytes_ecss_enum_impl!(EcssEnumU8, U8);
writable_as_be_bytes_ecss_enum_impl!(EcssEnumU16, U16);
writable_as_be_bytes_ecss_enum_impl!(EcssEnumU32, U32);
writable_as_be_bytes_ecss_enum_impl!(EcssEnumU64, U64);
impl WritableToBeBytes for EcssEnumParams {
fn raw_len(&self) -> usize {
impl WritableToBeBytes for ParamsEcssEnum {
fn written_len(&self) -> usize {
match self {
EcssEnumParams::U8(e) => e.raw_len(),
EcssEnumParams::U16(e) => e.raw_len(),
EcssEnumParams::U32(e) => e.raw_len(),
EcssEnumParams::U64(e) => e.raw_len(),
ParamsEcssEnum::U8(e) => e.written_len(),
ParamsEcssEnum::U16(e) => e.written_len(),
ParamsEcssEnum::U32(e) => e.written_len(),
ParamsEcssEnum::U64(e) => e.written_len(),
}
}
fn write_to_be_bytes(&self, buf: &mut [u8]) -> Result<usize, ByteConversionError> {
match self {
EcssEnumParams::U8(e) => WritableToBeBytes::write_to_be_bytes(e, buf),
EcssEnumParams::U16(e) => WritableToBeBytes::write_to_be_bytes(e, buf),
EcssEnumParams::U32(e) => WritableToBeBytes::write_to_be_bytes(e, buf),
EcssEnumParams::U64(e) => WritableToBeBytes::write_to_be_bytes(e, buf),
ParamsEcssEnum::U8(e) => WritableToBeBytes::write_to_be_bytes(e, buf),
ParamsEcssEnum::U16(e) => WritableToBeBytes::write_to_be_bytes(e, buf),
ParamsEcssEnum::U32(e) => WritableToBeBytes::write_to_be_bytes(e, buf),
ParamsEcssEnum::U64(e) => WritableToBeBytes::write_to_be_bytes(e, buf),
}
}
}
@ -510,7 +523,19 @@ impl WritableToBeBytes for EcssEnumParams {
#[derive(Debug, Copy, Clone, PartialEq)]
pub enum ParamsHeapless {
Raw(ParamsRaw),
EcssEnum(EcssEnumParams),
EcssEnum(ParamsEcssEnum),
}
impl From<ParamsRaw> for ParamsHeapless {
fn from(v: ParamsRaw) -> Self {
Self::Raw(v)
}
}
impl From<ParamsEcssEnum> for ParamsHeapless {
fn from(v: ParamsEcssEnum) -> Self {
Self::EcssEnum(v)
}
}
macro_rules! from_conversions_for_raw {
@ -559,7 +584,7 @@ from_conversions_for_raw!(
/// Generic enumeration for additional parameters, including parameters which rely on heap
/// allocations.
#[derive(Debug, Clone)]
#[derive(Debug, Clone, PartialEq)]
#[non_exhaustive]
pub enum Params {
Heapless(ParamsHeapless),
@ -584,6 +609,12 @@ impl From<ParamsHeapless> for Params {
}
}
impl From<ParamsRaw> for Params {
fn from(x: ParamsRaw) -> Self {
Self::Heapless(ParamsHeapless::Raw(x))
}
}
#[cfg(feature = "alloc")]
#[cfg_attr(doc_cfg, doc(cfg(feature = "alloc")))]
impl From<Vec<u8>> for Params {
@ -618,10 +649,90 @@ impl From<&str> for Params {
}
}
/// Please note while [WritableToBeBytes] is implemented for [Params], the default implementation
/// will not be able to process the [Params::Store] parameter variant.
impl WritableToBeBytes for Params {
fn written_len(&self) -> usize {
match self {
Params::Heapless(p) => match p {
ParamsHeapless::Raw(raw) => raw.written_len(),
ParamsHeapless::EcssEnum(enumeration) => enumeration.written_len(),
},
Params::Store(_) => 0,
#[cfg(feature = "alloc")]
Params::Vec(vec) => vec.len(),
#[cfg(feature = "alloc")]
Params::String(string) => string.len(),
}
}
fn write_to_be_bytes(&self, buf: &mut [u8]) -> Result<usize, ByteConversionError> {
match self {
Params::Heapless(p) => match p {
ParamsHeapless::Raw(raw) => raw.write_to_be_bytes(buf),
ParamsHeapless::EcssEnum(enumeration) => enumeration.write_to_be_bytes(buf),
},
Params::Store(_) => Ok(0),
#[cfg(feature = "alloc")]
Params::Vec(vec) => {
if buf.len() < vec.len() {
return Err(ByteConversionError::ToSliceTooSmall {
found: buf.len(),
expected: vec.len(),
});
}
buf[0..vec.len()].copy_from_slice(vec);
Ok(vec.len())
}
#[cfg(feature = "alloc")]
Params::String(string) => {
if buf.len() < string.len() {
return Err(ByteConversionError::ToSliceTooSmall {
found: buf.len(),
expected: string.len(),
});
}
buf[0..string.len()].copy_from_slice(string.as_bytes());
Ok(string.len())
}
}
}
}
#[cfg(test)]
mod tests {
use super::*;
fn test_cloning_works(param_raw: &impl WritableToBeBytes) {
let _new_param = param_raw;
}
fn test_writing_fails(param_raw: &(impl WritableToBeBytes + ToBeBytes)) {
let pair_size = WritableToBeBytes::written_len(param_raw);
assert_eq!(pair_size, ToBeBytes::written_len(param_raw));
let mut vec = alloc::vec![0; pair_size - 1];
let result = param_raw.write_to_be_bytes(&mut vec);
if let Err(ByteConversionError::ToSliceTooSmall { found, expected }) = result {
assert_eq!(found, pair_size - 1);
assert_eq!(expected, pair_size);
} else {
panic!("Expected ByteConversionError::ToSliceTooSmall");
}
}
fn test_writing(params_raw: &ParamsRaw, writeable: &impl WritableToBeBytes) {
assert_eq!(params_raw.written_len(), writeable.written_len());
let mut vec = alloc::vec![0; writeable.written_len()];
writeable
.write_to_be_bytes(&mut vec)
.expect("writing parameter to buffer failed");
let mut other_vec = alloc::vec![0; writeable.written_len()];
params_raw
.write_to_be_bytes(&mut other_vec)
.expect("writing parameter to buffer failed");
assert_eq!(vec, other_vec);
}
#[test]
fn test_basic_u32_pair() {
let u32_pair = U32Pair(4, 8);
@ -632,10 +743,32 @@ mod tests {
assert_eq!(u32_conv_back, 4);
u32_conv_back = u32::from_be_bytes(raw[4..8].try_into().unwrap());
assert_eq!(u32_conv_back, 8);
test_writing_fails(&u32_pair);
test_cloning_works(&u32_pair);
let u32_praw = ParamsRaw::from(u32_pair);
test_writing(&u32_praw, &u32_pair);
}
#[test]
fn basic_signed_test_pair() {
fn test_u16_pair_writing_fails() {
let u16_pair = U16Pair(4, 8);
test_writing_fails(&u16_pair);
test_cloning_works(&u16_pair);
let u16_praw = ParamsRaw::from(u16_pair);
test_writing(&u16_praw, &u16_pair);
}
#[test]
fn test_u8_pair_writing_fails() {
let u8_pair = U8Pair(4, 8);
test_writing_fails(&u8_pair);
test_cloning_works(&u8_pair);
let u8_praw = ParamsRaw::from(u8_pair);
test_writing(&u8_praw, &u8_pair);
}
#[test]
fn basic_i8_test() {
let i8_pair = I8Pair(-3, -16);
assert_eq!(i8_pair.0, -3);
assert_eq!(i8_pair.1, -16);
@ -644,10 +777,31 @@ mod tests {
assert_eq!(i8_conv_back, -3);
i8_conv_back = i8::from_be_bytes(raw[1..2].try_into().unwrap());
assert_eq!(i8_conv_back, -16);
test_writing_fails(&i8_pair);
test_cloning_works(&i8_pair);
let i8_praw = ParamsRaw::from(i8_pair);
test_writing(&i8_praw, &i8_pair);
}
#[test]
fn basic_signed_test_triplet() {
fn test_from_u32_triplet() {
let raw_params = U32Triplet::from((1, 2, 3));
assert_eq!(raw_params.0, 1);
assert_eq!(raw_params.1, 2);
assert_eq!(raw_params.2, 3);
assert_eq!(WritableToBeBytes::written_len(&raw_params), 12);
assert_eq!(
raw_params.to_be_bytes(),
[0, 0, 0, 1, 0, 0, 0, 2, 0, 0, 0, 3]
);
test_writing_fails(&raw_params);
test_cloning_works(&raw_params);
let u32_triplet = ParamsRaw::from(raw_params);
test_writing(&u32_triplet, &raw_params);
}
#[test]
fn test_i8_triplet() {
let i8_triplet = I8Triplet(-3, -16, -126);
assert_eq!(i8_triplet.0, -3);
assert_eq!(i8_triplet.1, -16);
@ -659,6 +813,10 @@ mod tests {
assert_eq!(i8_conv_back, -16);
i8_conv_back = i8::from_be_bytes(raw[2..3].try_into().unwrap());
assert_eq!(i8_conv_back, -126);
test_writing_fails(&i8_triplet);
test_cloning_works(&i8_triplet);
let i8_praw = ParamsRaw::from(i8_triplet);
test_writing(&i8_praw, &i8_triplet);
}
#[test]
@ -681,4 +839,352 @@ mod tests {
panic!("Params type is not a vector")
}
}
#[test]
fn test_params_written_len_raw() {
let param_raw = ParamsRaw::from((500_u32, 1000_u32));
let param: Params = Params::Heapless(param_raw.into());
assert_eq!(param.written_len(), 8);
let mut buf: [u8; 8] = [0; 8];
param
.write_to_be_bytes(&mut buf)
.expect("writing to buffer failed");
assert_eq!(u32::from_be_bytes(buf[0..4].try_into().unwrap()), 500);
assert_eq!(u32::from_be_bytes(buf[4..8].try_into().unwrap()), 1000);
}
#[test]
fn test_params_written_string() {
let string = "Test String".to_string();
let param = Params::String(string.clone());
assert_eq!(param.written_len(), string.len());
let vec = param.to_vec().unwrap();
let string_conv_back = String::from_utf8(vec).expect("conversion to string failed");
assert_eq!(string_conv_back, string);
}
#[test]
fn test_params_written_vec() {
let vec: Vec<u8> = alloc::vec![1, 2, 3, 4, 5];
let param = Params::Vec(vec.clone());
assert_eq!(param.written_len(), vec.len());
assert_eq!(param.to_vec().expect("writing vec params failed"), vec);
}
#[test]
fn test_u32_single() {
let raw_params = U32::from(20);
assert_eq!(raw_params.0, 20);
assert_eq!(WritableToBeBytes::written_len(&raw_params), 4);
assert_eq!(raw_params.to_be_bytes(), [0, 0, 0, 20]);
let other = U32::from(20);
assert_eq!(raw_params, other);
test_writing_fails(&raw_params);
test_cloning_works(&raw_params);
let u32_praw = ParamsRaw::from(raw_params);
test_writing(&u32_praw, &raw_params);
}
#[test]
fn test_i8_single() {
let neg_number: i8 = -5_i8;
let raw_params = I8::from(neg_number);
assert_eq!(raw_params.0, neg_number);
assert_eq!(WritableToBeBytes::written_len(&raw_params), 1);
assert_eq!(raw_params.to_be_bytes(), neg_number.to_be_bytes());
test_writing_fails(&raw_params);
test_cloning_works(&raw_params);
let u8_praw = ParamsRaw::from(raw_params);
test_writing(&u8_praw, &raw_params);
}
#[test]
fn test_u8_single() {
let raw_params = U8::from(20);
assert_eq!(raw_params.0, 20);
assert_eq!(WritableToBeBytes::written_len(&raw_params), 1);
assert_eq!(raw_params.to_be_bytes(), [20]);
test_writing_fails(&raw_params);
test_cloning_works(&raw_params);
let u32_praw = ParamsRaw::from(raw_params);
test_writing(&u32_praw, &raw_params);
}
#[test]
fn test_u16_single() {
let raw_params = U16::from(0x123);
assert_eq!(raw_params.0, 0x123);
assert_eq!(WritableToBeBytes::written_len(&raw_params), 2);
assert_eq!(raw_params.to_be_bytes(), [0x01, 0x23]);
test_writing_fails(&raw_params);
test_cloning_works(&raw_params);
let u16_praw = ParamsRaw::from(raw_params);
test_writing(&u16_praw, &raw_params);
}
#[test]
fn test_u16_triplet() {
let raw_params = U16Triplet::from((1, 2, 3));
assert_eq!(raw_params.0, 1);
assert_eq!(raw_params.1, 2);
assert_eq!(raw_params.2, 3);
assert_eq!(WritableToBeBytes::written_len(&raw_params), 6);
assert_eq!(raw_params.to_be_bytes(), [0, 1, 0, 2, 0, 3]);
test_writing_fails(&raw_params);
test_cloning_works(&raw_params);
let u16_praw = ParamsRaw::from(raw_params);
test_writing(&u16_praw, &raw_params);
}
#[test]
fn test_u8_triplet() {
let raw_params = U8Triplet::from((1, 2, 3));
assert_eq!(raw_params.0, 1);
assert_eq!(raw_params.1, 2);
assert_eq!(raw_params.2, 3);
assert_eq!(WritableToBeBytes::written_len(&raw_params), 3);
assert_eq!(raw_params.to_be_bytes(), [1, 2, 3]);
test_writing_fails(&raw_params);
test_cloning_works(&raw_params);
let u8_praw = ParamsRaw::from(raw_params);
test_writing(&u8_praw, &raw_params);
}
#[test]
fn test_i16_single() {
let value = -300_i16;
let raw_params = I16::from(value);
assert_eq!(raw_params.0, value);
assert_eq!(WritableToBeBytes::written_len(&raw_params), 2);
assert_eq!(raw_params.to_be_bytes(), value.to_be_bytes());
test_writing_fails(&raw_params);
test_cloning_works(&raw_params);
let i16_praw = ParamsRaw::from(raw_params);
test_writing(&i16_praw, &raw_params);
}
#[test]
fn test_i16_pair() {
let raw_params = I16Pair::from((-300, -400));
assert_eq!(raw_params.0, -300);
assert_eq!(raw_params.1, -400);
assert_eq!(WritableToBeBytes::written_len(&raw_params), 4);
test_writing_fails(&raw_params);
test_cloning_works(&raw_params);
let i16_praw = ParamsRaw::from(raw_params);
test_writing(&i16_praw, &raw_params);
}
#[test]
fn test_i16_triplet() {
let raw_params = I16Triplet::from((-300, -400, -350));
assert_eq!(raw_params.0, -300);
assert_eq!(raw_params.1, -400);
assert_eq!(raw_params.2, -350);
assert_eq!(WritableToBeBytes::written_len(&raw_params), 6);
test_writing_fails(&raw_params);
test_cloning_works(&raw_params);
let i16_praw = ParamsRaw::from(raw_params);
test_writing(&i16_praw, &raw_params);
}
#[test]
fn test_i32_single() {
let raw_params = I32::from(-80000);
assert_eq!(raw_params.0, -80000);
assert_eq!(WritableToBeBytes::written_len(&raw_params), 4);
test_writing_fails(&raw_params);
test_cloning_works(&raw_params);
let i32_praw = ParamsRaw::from(raw_params);
test_writing(&i32_praw, &raw_params);
}
#[test]
fn test_i32_pair() {
let raw_params = I32Pair::from((-80000, -200));
assert_eq!(raw_params.0, -80000);
assert_eq!(raw_params.1, -200);
assert_eq!(WritableToBeBytes::written_len(&raw_params), 8);
test_writing_fails(&raw_params);
test_cloning_works(&raw_params);
let i32_praw = ParamsRaw::from(raw_params);
test_writing(&i32_praw, &raw_params);
}
#[test]
fn test_i32_triplet() {
let raw_params = I32Triplet::from((-80000, -5, -200));
assert_eq!(raw_params.0, -80000);
assert_eq!(raw_params.1, -5);
assert_eq!(raw_params.2, -200);
assert_eq!(WritableToBeBytes::written_len(&raw_params), 12);
test_writing_fails(&raw_params);
test_cloning_works(&raw_params);
let i32_praw = ParamsRaw::from(raw_params);
test_writing(&i32_praw, &raw_params);
}
#[test]
fn test_f32_single() {
let param = F32::from(0.1);
assert_eq!(param.0, 0.1);
assert_eq!(WritableToBeBytes::written_len(&param), 4);
let f32_pair_raw = param.to_be_bytes();
let f32_0 = f32::from_be_bytes(f32_pair_raw[0..4].try_into().unwrap());
assert_eq!(f32_0, 0.1);
test_writing_fails(&param);
test_cloning_works(&param);
let praw = ParamsRaw::from(param);
test_writing(&praw, &param);
let p_try_from = F32::try_from(param.to_be_bytes().as_ref()).expect("try_from failed");
assert_eq!(p_try_from, param);
}
#[test]
fn test_f32_pair() {
let param = F32Pair::from((0.1, 0.2));
assert_eq!(param.0, 0.1);
assert_eq!(param.1, 0.2);
assert_eq!(WritableToBeBytes::written_len(&param), 8);
let f32_pair_raw = param.to_be_bytes();
let f32_0 = f32::from_be_bytes(f32_pair_raw[0..4].try_into().unwrap());
assert_eq!(f32_0, 0.1);
let f32_1 = f32::from_be_bytes(f32_pair_raw[4..8].try_into().unwrap());
assert_eq!(f32_1, 0.2);
let other_pair = F32Pair::from((0.1, 0.2));
assert_eq!(param, other_pair);
test_writing_fails(&param);
test_cloning_works(&param);
let praw = ParamsRaw::from(param);
test_writing(&praw, &param);
let p_try_from = F32Pair::try_from(param.to_be_bytes().as_ref()).expect("try_from failed");
assert_eq!(p_try_from, param);
}
#[test]
fn test_f32_triplet() {
let f32 = F32Triplet::from((0.1, -0.1, -5.2));
assert_eq!(f32.0, 0.1);
assert_eq!(f32.1, -0.1);
assert_eq!(f32.2, -5.2);
assert_eq!(WritableToBeBytes::written_len(&f32), 12);
let f32_pair_raw = f32.to_be_bytes();
let f32_0 = f32::from_be_bytes(f32_pair_raw[0..4].try_into().unwrap());
assert_eq!(f32_0, 0.1);
let f32_1 = f32::from_be_bytes(f32_pair_raw[4..8].try_into().unwrap());
assert_eq!(f32_1, -0.1);
let f32_2 = f32::from_be_bytes(f32_pair_raw[8..12].try_into().unwrap());
assert_eq!(f32_2, -5.2);
test_writing_fails(&f32);
test_cloning_works(&f32);
let f32_praw = ParamsRaw::from(f32);
test_writing(&f32_praw, &f32);
let f32_try_from =
F32Triplet::try_from(f32.to_be_bytes().as_ref()).expect("try_from failed");
assert_eq!(f32_try_from, f32);
}
#[test]
fn test_u64_single() {
let u64 = U64::from(0x1010101010);
assert_eq!(u64.0, 0x1010101010);
assert_eq!(WritableToBeBytes::written_len(&u64), 8);
test_writing_fails(&u64);
test_cloning_works(&u64);
let praw = ParamsRaw::from(u64);
test_writing(&praw, &u64);
}
#[test]
fn test_i64_single() {
let i64 = I64::from(-0xfffffffff);
assert_eq!(i64.0, -0xfffffffff);
assert_eq!(WritableToBeBytes::written_len(&i64), 8);
test_writing_fails(&i64);
test_cloning_works(&i64);
let praw = ParamsRaw::from(i64);
test_writing(&praw, &i64);
}
#[test]
fn test_f64_single() {
let value = 823_823_812_832.232_3;
let f64 = F64::from(value);
assert_eq!(f64.0, value);
assert_eq!(WritableToBeBytes::written_len(&f64), 8);
test_writing_fails(&f64);
test_cloning_works(&f64);
let praw = ParamsRaw::from(f64);
test_writing(&praw, &f64);
}
#[test]
fn test_f64_triplet() {
let f64_triplet = F64Triplet::from((0.1, 0.2, 0.3));
assert_eq!(f64_triplet.0, 0.1);
assert_eq!(f64_triplet.1, 0.2);
assert_eq!(f64_triplet.2, 0.3);
assert_eq!(WritableToBeBytes::written_len(&f64_triplet), 24);
let f64_triplet_raw = f64_triplet.to_be_bytes();
let f64_0 = f64::from_be_bytes(f64_triplet_raw[0..8].try_into().unwrap());
assert_eq!(f64_0, 0.1);
let f64_1 = f64::from_be_bytes(f64_triplet_raw[8..16].try_into().unwrap());
assert_eq!(f64_1, 0.2);
let f64_2 = f64::from_be_bytes(f64_triplet_raw[16..24].try_into().unwrap());
assert_eq!(f64_2, 0.3);
test_writing_fails(&f64_triplet);
test_cloning_works(&f64_triplet);
}
#[test]
fn test_u8_ecss_enum() {
let value = 200;
let u8p = EcssEnumU8::new(value);
test_cloning_works(&u8p);
let praw = ParamsEcssEnum::from(u8p);
assert_eq!(praw.written_len(), 1);
let mut buf = [0; 1];
praw.write_to_be_bytes(&mut buf)
.expect("writing to buffer failed");
buf[0] = 200;
}
#[test]
fn test_u16_ecss_enum() {
let value = 60000;
let u16p = EcssEnumU16::new(value);
test_cloning_works(&u16p);
let praw = ParamsEcssEnum::from(u16p);
assert_eq!(praw.written_len(), 2);
let mut buf = [0; 2];
praw.write_to_be_bytes(&mut buf)
.expect("writing to buffer failed");
assert_eq!(u16::from_be_bytes(buf), value);
}
#[test]
fn test_u32_ecss_enum() {
let value = 70000;
let u32p = EcssEnumU32::new(value);
test_cloning_works(&u32p);
let praw = ParamsEcssEnum::from(u32p);
assert_eq!(praw.written_len(), 4);
let mut buf = [0; 4];
praw.write_to_be_bytes(&mut buf)
.expect("writing to buffer failed");
assert_eq!(u32::from_be_bytes(buf), value);
}
#[test]
fn test_u64_ecss_enum() {
let value = 0xffffffffff;
let u64p = EcssEnumU64::new(value);
test_cloning_works(&u64p);
let praw = ParamsEcssEnum::from(u64p);
assert_eq!(praw.written_len(), 8);
let mut buf = [0; 8];
praw.write_to_be_bytes(&mut buf)
.expect("writing to buffer failed");
assert_eq!(u64::from_be_bytes(buf), value);
}
}

877
satrs/src/pus/action.rs
View File

@ -1,6 +1,10 @@
use crate::{action::ActionRequest, TargetId};
use crate::{
action::{ActionId, ActionRequest},
params::Params,
request::{GenericMessage, MessageMetadata, RequestId},
};
use super::verification::{TcStateAccepted, VerificationToken};
use satrs_shared::res_code::ResultU16;
#[cfg(feature = "std")]
#[cfg_attr(doc_cfg, doc(cfg(feature = "std")))]
@ -8,219 +12,278 @@ pub use std_mod::*;
#[cfg(feature = "alloc")]
#[cfg_attr(doc_cfg, doc(cfg(feature = "alloc")))]
#[allow(unused_imports)]
pub use alloc_mod::*;
/// This trait is an abstraction for the routing of PUS service 8 action requests to a dedicated
/// recipient using the generic [TargetId].
pub trait PusActionRequestRouter {
type Error;
fn route(
&self,
target_id: TargetId,
hk_request: ActionRequest,
token: VerificationToken<TcStateAccepted>,
) -> Result<(), Self::Error>;
#[derive(Clone, Debug)]
pub struct ActionRequestWithId {
pub request_id: RequestId,
pub request: ActionRequest,
}
/// A reply to an action request, but tailored to the PUS standard verification process.
#[non_exhaustive]
#[derive(Clone, PartialEq, Debug)]
pub enum ActionReplyVariant {
Completed,
StepSuccess {
step: u16,
},
CompletionFailed {
error_code: ResultU16,
params: Option<Params>,
},
StepFailed {
error_code: ResultU16,
step: u16,
params: Option<Params>,
},
}
#[derive(Debug, PartialEq, Clone)]
pub struct PusActionReply {
pub action_id: ActionId,
pub variant: ActionReplyVariant,
}
impl PusActionReply {
pub fn new(action_id: ActionId, variant: ActionReplyVariant) -> Self {
Self { action_id, variant }
}
}
pub type GenericActionReplyPus = GenericMessage<PusActionReply>;
impl GenericActionReplyPus {
pub fn new_action_reply(
requestor_info: MessageMetadata,
action_id: ActionId,
reply: ActionReplyVariant,
) -> Self {
Self::new(requestor_info, PusActionReply::new(action_id, reply))
}
}
#[cfg(feature = "alloc")]
#[cfg_attr(doc_cfg, doc(cfg(feature = "alloc")))]
pub mod alloc_mod {
use spacepackets::ecss::tc::PusTcReader;
use crate::{
action::ActionRequest,
queue::GenericTargetedMessagingError,
request::{
GenericMessage, MessageReceiver, MessageSender, MessageSenderAndReceiver, RequestId,
},
ComponentId,
};
use crate::pus::verification::VerificationReportingProvider;
use super::PusActionReply;
use super::*;
/// Helper type definition for a mode handler which can handle mode requests.
pub type ActionRequestHandlerInterface<S, R> =
MessageSenderAndReceiver<PusActionReply, ActionRequest, S, R>;
/// This trait is an abstraction for the conversion of a PUS service 8 action telecommand into
/// an [ActionRequest].
///
/// Having a dedicated trait for this allows maximum flexiblity and tailoring of the standard.
/// The only requirement is that a valid [TargetId] and an [ActionRequest] are returned by the
/// core conversion function.
///
/// The user should take care of performing the error handling as well. Some of the following
/// aspects might be relevant:
///
/// - Checking the validity of the APID, service ID, subservice ID.
/// - Checking the validity of the user data.
///
/// A [VerificationReportingProvider] instance is passed to the user to also allow handling
/// of the verification process as part of the PUS standard requirements.
pub trait PusActionToRequestConverter {
type Error;
fn convert(
&mut self,
token: VerificationToken<TcStateAccepted>,
tc: &PusTcReader,
time_stamp: &[u8],
verif_reporter: &impl VerificationReportingProvider,
) -> Result<(TargetId, ActionRequest), Self::Error>;
impl<S: MessageSender<PusActionReply>, R: MessageReceiver<ActionRequest>>
ActionRequestHandlerInterface<S, R>
{
pub fn try_recv_action_request(
&self,
) -> Result<Option<GenericMessage<ActionRequest>>, GenericTargetedMessagingError> {
self.try_recv_message()
}
pub fn send_action_reply(
&self,
request_id: RequestId,
target_id: ComponentId,
reply: PusActionReply,
) -> Result<(), GenericTargetedMessagingError> {
self.send_message(request_id, target_id, reply)
}
}
/// Helper type defintion for a mode handler object which can send mode requests and receive
/// mode replies.
pub type ActionRequestorInterface<S, R> =
MessageSenderAndReceiver<ActionRequest, PusActionReply, S, R>;
impl<S: MessageSender<ActionRequest>, R: MessageReceiver<PusActionReply>>
ActionRequestorInterface<S, R>
{
pub fn try_recv_action_reply(
&self,
) -> Result<Option<GenericMessage<PusActionReply>>, GenericTargetedMessagingError> {
self.try_recv_message()
}
pub fn send_action_request(
&self,
request_id: RequestId,
target_id: ComponentId,
request: ActionRequest,
) -> Result<(), GenericTargetedMessagingError> {
self.send_message(request_id, target_id, request)
}
}
}
#[cfg(feature = "std")]
#[cfg_attr(doc_cfg, doc(cfg(feature = "std")))]
pub mod std_mod {
use crate::pus::{
get_current_cds_short_timestamp, verification::VerificationReportingProvider,
EcssTcInMemConverter, EcssTcReceiverCore, EcssTmSenderCore, GenericRoutingError,
PusPacketHandlerResult, PusPacketHandlingError, PusRoutingErrorHandler, PusServiceHelper,
use std::sync::mpsc;
use crate::{
pus::{
verification::{self, TcStateToken},
ActivePusRequestStd, ActiveRequestProvider, DefaultActiveRequestMap,
},
ComponentId,
};
use super::*;
/// This is a high-level handler for the PUS service 8 action service.
///
/// It performs the following handling steps:
///
/// 1. Retrieve the next TC packet from the [PusServiceHelper]. The [EcssTcInMemConverter]
/// allows to configure the used telecommand memory backend.
/// 2. Convert the TC to a targeted action request using the provided
/// [PusActionToRequestConverter]. The generic error type is constrained to the
/// [PusPacketHandlingError] for the concrete implementation which offers a packet handler.
/// 3. Route the action request using the provided [PusActionRequestRouter].
/// 4. Handle all routing errors using the provided [PusRoutingErrorHandler].
pub struct PusService8ActionHandler<
TcReceiver: EcssTcReceiverCore,
TmSender: EcssTmSenderCore,
TcInMemConverter: EcssTcInMemConverter,
VerificationReporter: VerificationReportingProvider,
RequestConverter: PusActionToRequestConverter,
RequestRouter: PusActionRequestRouter<Error = RoutingError>,
RoutingErrorHandler: PusRoutingErrorHandler<Error = RoutingError>,
RoutingError = GenericRoutingError,
> {
service_helper:
PusServiceHelper<TcReceiver, TmSender, TcInMemConverter, VerificationReporter>,
pub request_converter: RequestConverter,
pub request_router: RequestRouter,
pub routing_error_handler: RoutingErrorHandler,
#[derive(Debug, Clone, PartialEq, Eq)]
pub struct ActivePusActionRequestStd {
pub action_id: ActionId,
common: ActivePusRequestStd,
}
impl<
TcReceiver: EcssTcReceiverCore,
TmSender: EcssTmSenderCore,
TcInMemConverter: EcssTcInMemConverter,
VerificationReporter: VerificationReportingProvider,
RequestConverter: PusActionToRequestConverter<Error = PusPacketHandlingError>,
RequestRouter: PusActionRequestRouter<Error = RoutingError>,
RoutingErrorHandler: PusRoutingErrorHandler<Error = RoutingError>,
RoutingError: Clone,
>
PusService8ActionHandler<
TcReceiver,
TmSender,
TcInMemConverter,
VerificationReporter,
RequestConverter,
RequestRouter,
RoutingErrorHandler,
RoutingError,
>
where
PusPacketHandlingError: From<RoutingError>,
{
impl ActiveRequestProvider for ActivePusActionRequestStd {
delegate::delegate! {
to self.common {
fn target_id(&self) -> ComponentId;
fn token(&self) -> verification::TcStateToken;
fn set_token(&mut self, token: verification::TcStateToken);
fn has_timed_out(&self) -> bool;
fn timeout(&self) -> core::time::Duration;
}
}
}
impl ActivePusActionRequestStd {
pub fn new_from_common_req(action_id: ActionId, common: ActivePusRequestStd) -> Self {
Self { action_id, common }
}
pub fn new(
service_helper: PusServiceHelper<
TcReceiver,
TmSender,
TcInMemConverter,
VerificationReporter,
>,
request_converter: RequestConverter,
request_router: RequestRouter,
routing_error_handler: RoutingErrorHandler,
action_id: ActionId,
target_id: ComponentId,
token: TcStateToken,
timeout: core::time::Duration,
) -> Self {
Self {
service_helper,
request_converter,
request_router,
routing_error_handler,
action_id,
common: ActivePusRequestStd::new(target_id, token, timeout),
}
}
/// Core function to poll the next TC packet and try to handle it.
pub fn handle_one_tc(&mut self) -> Result<PusPacketHandlerResult, PusPacketHandlingError> {
let possible_packet = self.service_helper.retrieve_and_accept_next_packet()?;
if possible_packet.is_none() {
return Ok(PusPacketHandlerResult::Empty);
}
let ecss_tc_and_token = possible_packet.unwrap();
let tc = self
.service_helper
.tc_in_mem_converter
.convert_ecss_tc_in_memory_to_reader(&ecss_tc_and_token.tc_in_memory)?;
let mut partial_error = None;
let time_stamp = get_current_cds_short_timestamp(&mut partial_error);
let (target_id, action_request) = self.request_converter.convert(
ecss_tc_and_token.token,
&tc,
&time_stamp,
&self.service_helper.common.verification_handler,
)?;
if let Err(e) =
self.request_router
.route(target_id, action_request, ecss_tc_and_token.token)
{
self.routing_error_handler.handle_error(
target_id,
ecss_tc_and_token.token,
&tc,
e.clone(),
&time_stamp,
&self.service_helper.common.verification_handler,
);
return Err(e.into());
}
Ok(PusPacketHandlerResult::RequestHandled)
}
}
pub type DefaultActiveActionRequestMap = DefaultActiveRequestMap<ActivePusActionRequestStd>;
pub type ActionRequestHandlerMpsc = ActionRequestHandlerInterface<
mpsc::Sender<GenericMessage<PusActionReply>>,
mpsc::Receiver<GenericMessage<ActionRequest>>,
>;
pub type ActionRequestHandlerMpscBounded = ActionRequestHandlerInterface<
mpsc::SyncSender<GenericMessage<PusActionReply>>,
mpsc::Receiver<GenericMessage<ActionRequest>>,
>;
pub type ActionRequestorMpsc = ActionRequestorInterface<
mpsc::Sender<GenericMessage<ActionRequest>>,
mpsc::Receiver<GenericMessage<PusActionReply>>,
>;
pub type ActionRequestorBoundedMpsc = ActionRequestorInterface<
mpsc::SyncSender<GenericMessage<ActionRequest>>,
mpsc::Receiver<GenericMessage<PusActionReply>>,
>;
/*
pub type ModeRequestorAndHandlerMpsc = ModeInterface<
mpsc::Sender<GenericMessage<ModeRequest>>,
mpsc::Receiver<GenericMessage<ModeReply>>,
mpsc::Sender<GenericMessage<ModeReply>>,
mpsc::Receiver<GenericMessage<ModeRequest>>,
>;
pub type ModeRequestorAndHandlerMpscBounded = ModeInterface<
mpsc::SyncSender<GenericMessage<ModeRequest>>,
mpsc::Receiver<GenericMessage<ModeReply>>,
mpsc::SyncSender<GenericMessage<ModeReply>>,
mpsc::Receiver<GenericMessage<ModeRequest>>,
>;
*/
}
#[cfg(test)]
mod tests {
/*
use core::{cell::RefCell, time::Duration};
use std::{sync::mpsc, time::SystemTimeError};
use alloc::{collections::VecDeque, vec::Vec};
use delegate::delegate;
use spacepackets::{
ecss::{
tc::{PusTcCreator, PusTcReader, PusTcSecondaryHeader},
tc::{PusTcCreator, PusTcReader},
tm::PusTmReader,
PusPacket,
},
CcsdsPacket, SequenceFlags, SpHeader,
time::{cds, TimeWriter},
CcsdsPacket,
};
use crate::pus::{
tests::{
PusServiceHandlerWithVecCommon, PusTestHarness, SimplePusPacketHandler, TestConverter,
TestRouter, TestRoutingErrorHandler, APP_DATA_TOO_SHORT, TEST_APID,
use crate::{
action::ActionRequestVariant,
params::{self, ParamsRaw, WritableToBeBytes},
pus::{
tests::{
PusServiceHandlerWithVecCommon, PusTestHarness, SimplePusPacketHandler,
TestConverter, TestRouter, APP_DATA_TOO_SHORT,
},
verification::{
self,
tests::{SharedVerificationMap, TestVerificationReporter, VerificationStatus},
FailParams, TcStateAccepted, TcStateNone, TcStateStarted,
VerificationReportingProvider,
},
EcssTcInMemConverter, EcssTcInVecConverter, EcssTmtcError, GenericRoutingError,
MpscTcReceiver, PusPacketHandlerResult, PusPacketHandlingError, PusRequestRouter,
PusServiceHelper, PusTcToRequestConverter, TmAsVecSenderWithMpsc,
},
verification::{
tests::TestVerificationReporter, FailParams, RequestId, VerificationReportingProvider,
},
EcssTcInVecConverter, GenericRoutingError, MpscTcReceiver, PusPacketHandlerResult,
PusPacketHandlingError, TmAsVecSenderWithMpsc,
};
use super::*;
impl PusActionRequestRouter for TestRouter<ActionRequest> {
impl<Request> PusRequestRouter<Request> for TestRouter<Request> {
type Error = GenericRoutingError;
fn route(
&self,
target_id: TargetId,
hk_request: ActionRequest,
request: Request,
_token: VerificationToken<TcStateAccepted>,
) -> Result<(), Self::Error> {
self.routing_requests
.borrow_mut()
.push_back((target_id, hk_request));
.push_back((target_id, request));
self.check_for_injected_error()
}
fn handle_error(
&self,
target_id: TargetId,
token: VerificationToken<TcStateAccepted>,
tc: &PusTcReader,
error: Self::Error,
time_stamp: &[u8],
verif_reporter: &impl VerificationReportingProvider,
) {
self.routing_errors
.borrow_mut()
.push_back((target_id, error));
}
}
impl PusActionToRequestConverter for TestConverter<8> {
impl PusTcToRequestConverter<ActionRequest> for TestConverter<8> {
type Error = PusPacketHandlingError;
fn convert(
&mut self,
@ -254,9 +317,9 @@ mod tests {
.expect("start success failure");
return Ok((
target_id.into(),
ActionRequest::UnsignedIdAndVecData {
ActionRequest {
action_id: u32::from_be_bytes(tc.user_data()[0..4].try_into().unwrap()),
data: tc.user_data()[4..].to_vec(),
variant: ActionRequestVariant::VecData(tc.user_data()[4..].to_vec()),
},
));
}
@ -266,31 +329,32 @@ mod tests {
}
}
struct Pus8HandlerWithVecTester {
common: PusServiceHandlerWithVecCommon<TestVerificationReporter>,
handler: PusService8ActionHandler<
pub struct PusDynRequestHandler<const SERVICE: u8, Request> {
srv_helper: PusServiceHelper<
MpscTcReceiver,
TmAsVecSenderWithMpsc,
EcssTcInVecConverter,
TestVerificationReporter,
TestConverter<8>,
TestRouter<ActionRequest>,
TestRoutingErrorHandler,
>,
request_converter: TestConverter<SERVICE>,
request_router: TestRouter<Request>,
}
impl Pus8HandlerWithVecTester {
struct Pus8RequestTestbenchWithVec {
common: PusServiceHandlerWithVecCommon<TestVerificationReporter>,
handler: PusDynRequestHandler<8, ActionRequest>,
}
impl Pus8RequestTestbenchWithVec {
pub fn new() -> Self {
let (common, srv_handler) =
PusServiceHandlerWithVecCommon::new_with_test_verif_sender();
let (common, srv_helper) = PusServiceHandlerWithVecCommon::new_with_test_verif_sender();
Self {
common,
handler: PusService8ActionHandler::new(
srv_handler,
TestConverter::default(),
TestRouter::default(),
TestRoutingErrorHandler::default(),
),
handler: PusDynRequestHandler {
srv_helper,
request_converter: TestConverter::default(),
request_router: TestRouter::default(),
},
}
}
@ -305,13 +369,13 @@ mod tests {
}
}
delegate! {
to self.handler.routing_error_handler {
pub fn retrieve_next_error(&mut self) -> (TargetId, GenericRoutingError);
to self.handler.request_router {
pub fn retrieve_next_routing_error(&mut self) -> (TargetId, GenericRoutingError);
}
}
}
impl PusTestHarness for Pus8HandlerWithVecTester {
impl PusTestHarness for Pus8RequestTestbenchWithVec {
delegate! {
to self.common {
fn send_tc(&mut self, tc: &PusTcCreator) -> VerificationToken<TcStateAccepted>;
@ -320,78 +384,421 @@ mod tests {
fn check_next_verification_tm(
&self,
subservice: u8,
expected_request_id: RequestId,
expected_request_id: verification::RequestId,
);
}
}
}
impl SimplePusPacketHandler for Pus8HandlerWithVecTester {
impl SimplePusPacketHandler for Pus8RequestTestbenchWithVec {
fn handle_one_tc(&mut self) -> Result<PusPacketHandlerResult, PusPacketHandlingError> {
let possible_packet = self.handler.srv_helper.retrieve_and_accept_next_packet()?;
if possible_packet.is_none() {
return Ok(PusPacketHandlerResult::Empty);
}
let ecss_tc_and_token = possible_packet.unwrap();
let tc = self
.handler
.srv_helper
.tc_in_mem_converter
.convert_ecss_tc_in_memory_to_reader(&ecss_tc_and_token.tc_in_memory)?;
let time_stamp = cds::TimeProvider::from_now_with_u16_days()
.expect("timestamp generation failed")
.to_vec()
.unwrap();
let (target_id, action_request) = self.handler.request_converter.convert(
ecss_tc_and_token.token,
&tc,
&time_stamp,
&self.handler.srv_helper.common.verification_handler,
)?;
if let Err(e) = self.handler.request_router.route(
target_id,
action_request,
ecss_tc_and_token.token,
) {
self.handler.request_router.handle_error(
target_id,
ecss_tc_and_token.token,
&tc,
e.clone(),
&time_stamp,
&self.handler.srv_helper.common.verification_handler,
);
return Err(e.into());
}
Ok(PusPacketHandlerResult::RequestHandled)
}
}
const TIMEOUT_ERROR_CODE: ResultU16 = ResultU16::new(1, 2);
const COMPLETION_ERROR_CODE: ResultU16 = ResultU16::new(2, 0);
const COMPLETION_ERROR_CODE_STEP: ResultU16 = ResultU16::new(2, 1);
#[derive(Default)]
pub struct TestReplyHandlerHook {
pub unexpected_replies: VecDeque<GenericActionReplyPus>,
pub timeouts: RefCell<VecDeque<ActivePusActionRequest>>,
}
impl ReplyHandlerHook<ActivePusActionRequest, ActionReplyPusWithActionId> for TestReplyHandlerHook {
fn handle_unexpected_reply(&mut self, reply: &GenericActionReplyPus) {
self.unexpected_replies.push_back(reply.clone());
}
fn timeout_callback(&self, active_request: &ActivePusActionRequest) {
self.timeouts.borrow_mut().push_back(active_request.clone());
}
fn timeout_error_code(&self) -> ResultU16 {
TIMEOUT_ERROR_CODE
}
}
pub struct Pus8ReplyTestbench {
verif_reporter: TestVerificationReporter,
#[allow(dead_code)]
ecss_tm_receiver: mpsc::Receiver<Vec<u8>>,
handler: PusService8ReplyHandler<
TestVerificationReporter,
DefaultActiveActionRequestMap,
TestReplyHandlerHook,
mpsc::Sender<Vec<u8>>,
>,
}
impl Pus8ReplyTestbench {
pub fn new(normal_ctor: bool) -> Self {
let reply_handler_hook = TestReplyHandlerHook::default();
let shared_verif_map = SharedVerificationMap::default();
let test_verif_reporter = TestVerificationReporter::new(shared_verif_map.clone());
let (ecss_tm_sender, ecss_tm_receiver) = mpsc::channel();
let reply_handler = if normal_ctor {
PusService8ReplyHandler::new_from_now_with_default_map(
test_verif_reporter.clone(),
128,
reply_handler_hook,
ecss_tm_sender,
)
.expect("creating reply handler failed")
} else {
PusService8ReplyHandler::new_from_now(
test_verif_reporter.clone(),
DefaultActiveActionRequestMap::default(),
128,
reply_handler_hook,
ecss_tm_sender,
)
.expect("creating reply handler failed")
};
Self {
verif_reporter: test_verif_reporter,
ecss_tm_receiver,
handler: reply_handler,
}
}
pub fn init_handling_for_request(
&mut self,
request_id: RequestId,
_action_id: ActionId,
) -> VerificationToken<TcStateStarted> {
assert!(!self.handler.request_active(request_id));
// let action_req = ActionRequest::new(action_id, ActionRequestVariant::NoData);
let token = self.add_tc_with_req_id(request_id.into());
let token = self
.verif_reporter
.acceptance_success(token, &[])
.expect("acceptance success failure");
let token = self
.verif_reporter
.start_success(token, &[])
.expect("start success failure");
let verif_info = self
.verif_reporter
.verification_info(&verification::RequestId::from(request_id))
.expect("no verification info found");
assert!(verif_info.started.expect("request was not started"));
assert!(verif_info.accepted.expect("request was not accepted"));
token
}
pub fn next_unrequested_reply(&self) -> Option<GenericActionReplyPus> {
self.handler.user_hook.unexpected_replies.front().cloned()
}
pub fn assert_request_completion_success(&self, step: Option<u16>, request_id: RequestId) {
let verif_info = self
.verif_reporter
.verification_info(&verification::RequestId::from(request_id))
.expect("no verification info found");
self.assert_request_completion_common(request_id, &verif_info, step, true);
}
pub fn assert_request_completion_failure(
&self,
step: Option<u16>,
request_id: RequestId,
fail_enum: ResultU16,
fail_data: &[u8],
) {
let verif_info = self
.verif_reporter
.verification_info(&verification::RequestId::from(request_id))
.expect("no verification info found");
self.assert_request_completion_common(request_id, &verif_info, step, false);
assert_eq!(verif_info.fail_enum.unwrap(), fail_enum.raw() as u64);
assert_eq!(verif_info.failure_data.unwrap(), fail_data);
}
pub fn assert_request_completion_common(
&self,
request_id: RequestId,
verif_info: &VerificationStatus,
step: Option<u16>,
completion_success: bool,
) {
if let Some(step) = step {
assert!(verif_info.step_status.is_some());
assert!(verif_info.step_status.unwrap());
assert_eq!(step, verif_info.step);
}
assert_eq!(
verif_info.completed.expect("request is not completed"),
completion_success
);
assert!(!self.handler.request_active(request_id));
}
pub fn assert_request_step_failure(&self, step: u16, request_id: RequestId) {
let verif_info = self
.verif_reporter
.verification_info(&verification::RequestId::from(request_id))
.expect("no verification info found");
assert!(verif_info.step_status.is_some());
assert!(!verif_info.step_status.unwrap());
assert_eq!(step, verif_info.step);
}
pub fn add_routed_request(
&mut self,
request_id: verification::RequestId,
target_id: TargetId,
action_id: ActionId,
token: VerificationToken<TcStateStarted>,
timeout: Duration,
) {
if self.handler.request_active(request_id.into()) {
panic!("request already present");
}
self.handler
.add_routed_action_request(request_id, target_id, action_id, token, timeout);
if !self.handler.request_active(request_id.into()) {
panic!("request should be active now");
}
}
delegate! {
to self.handler {
fn handle_one_tc(&mut self) -> Result<PusPacketHandlerResult, PusPacketHandlingError>;
pub fn request_active(&self, request_id: RequestId) -> bool;
pub fn handle_action_reply(
&mut self,
action_reply_with_ids: GenericMessage<ActionReplyPusWithActionId>,
time_stamp: &[u8]
) -> Result<(), EcssTmtcError>;
pub fn update_time_from_now(&mut self) -> Result<(), SystemTimeError>;
pub fn check_for_timeouts(&mut self, time_stamp: &[u8]) -> Result<(), EcssTmtcError>;
}
to self.verif_reporter {
fn add_tc_with_req_id(&mut self, req_id: verification::RequestId) -> VerificationToken<TcStateNone>;
}
}
}
#[test]
fn basic_test() {
let mut action_handler = Pus8HandlerWithVecTester::new();
let mut sp_header = SpHeader::tc(TEST_APID, SequenceFlags::Unsegmented, 0, 0).unwrap();
let sec_header = PusTcSecondaryHeader::new_simple(8, 1);
let action_id: u32 = 1;
let action_id_raw = action_id.to_be_bytes();
let tc = PusTcCreator::new(&mut sp_header, sec_header, action_id_raw.as_ref(), true);
action_handler.send_tc(&tc);
let result = action_handler.handle_one_tc();
assert!(result.is_ok());
action_handler.check_next_conversion(&tc);
let (target_id, action_req) = action_handler.retrieve_next_request();
assert_eq!(target_id, TEST_APID.into());
if let ActionRequest::UnsignedIdAndVecData { action_id, data } = action_req {
assert_eq!(action_id, 1);
assert_eq!(data, &[]);
}
fn test_reply_handler_completion_success() {
let mut reply_testbench = Pus8ReplyTestbench::new(true);
let sender_id = 0x06;
let request_id = 0x02;
let target_id = 0x05;
let action_id = 0x03;
let token = reply_testbench.init_handling_for_request(request_id, action_id);
reply_testbench.add_routed_request(
request_id.into(),
target_id,
action_id,
token,
Duration::from_millis(1),
);
assert!(reply_testbench.request_active(request_id));
let action_reply = GenericMessage::new(
request_id,
sender_id,
ActionReplyPusWithActionId {
action_id,
variant: ActionReplyPus::Completed,
},
);
reply_testbench
.handle_action_reply(action_reply, &[])
.expect("reply handling failure");
reply_testbench.assert_request_completion_success(None, request_id);
}
#[test]
fn test_routing_error() {
let mut action_handler = Pus8HandlerWithVecTester::new();
let mut sp_header = SpHeader::tc(TEST_APID, SequenceFlags::Unsegmented, 0, 0).unwrap();
let sec_header = PusTcSecondaryHeader::new_simple(8, 1);
let action_id: u32 = 1;
let action_id_raw = action_id.to_be_bytes();
let tc = PusTcCreator::new(&mut sp_header, sec_header, action_id_raw.as_ref(), true);
let error = GenericRoutingError::UnknownTargetId(25);
action_handler
.handler
.request_router
.inject_routing_error(error);
action_handler.send_tc(&tc);
let result = action_handler.handle_one_tc();
assert!(result.is_err());
let check_error = |routing_error: GenericRoutingError| {
if let GenericRoutingError::UnknownTargetId(id) = routing_error {
assert_eq!(id, 25);
} else {
panic!("unexpected error type");
}
};
if let PusPacketHandlingError::RequestRoutingError(routing_error) = result.unwrap_err() {
check_error(routing_error);
} else {
panic!("unexpected error type");
}
action_handler.check_next_conversion(&tc);
let (target_id, action_req) = action_handler.retrieve_next_request();
assert_eq!(target_id, TEST_APID.into());
if let ActionRequest::UnsignedIdAndVecData { action_id, data } = action_req {
assert_eq!(action_id, 1);
assert_eq!(data, &[]);
}
let (target_id, found_error) = action_handler.retrieve_next_error();
assert_eq!(target_id, TEST_APID.into());
check_error(found_error);
fn test_reply_handler_step_success() {
let mut reply_testbench = Pus8ReplyTestbench::new(false);
let request_id = 0x02;
let target_id = 0x05;
let action_id = 0x03;
let token = reply_testbench.init_handling_for_request(request_id, action_id);
reply_testbench.add_routed_request(
request_id.into(),
target_id,
action_id,
token,
Duration::from_millis(1),
);
let action_reply = GenericActionReplyPus::new_action_reply(
request_id,
action_id,
action_id,
ActionReplyPus::StepSuccess { step: 1 },
);
reply_testbench
.handle_action_reply(action_reply, &[])
.expect("reply handling failure");
let action_reply = GenericActionReplyPus::new_action_reply(
request_id,
action_id,
action_id,
ActionReplyPus::Completed,
);
reply_testbench
.handle_action_reply(action_reply, &[])
.expect("reply handling failure");
reply_testbench.assert_request_completion_success(Some(1), request_id);
}
#[test]
fn test_reply_handler_completion_failure() {
let mut reply_testbench = Pus8ReplyTestbench::new(true);
let sender_id = 0x01;
let request_id = 0x02;
let target_id = 0x05;
let action_id = 0x03;
let token = reply_testbench.init_handling_for_request(request_id, action_id);
reply_testbench.add_routed_request(
request_id.into(),
target_id,
action_id,
token,
Duration::from_millis(1),
);
let params_raw = ParamsRaw::U32(params::U32(5));
let action_reply = GenericActionReplyPus::new_action_reply(
request_id,
sender_id,
action_id,
ActionReplyPus::CompletionFailed {
error_code: COMPLETION_ERROR_CODE,
params: params_raw.into(),
},
);
reply_testbench
.handle_action_reply(action_reply, &[])
.expect("reply handling failure");
reply_testbench.assert_request_completion_failure(
None,
request_id,
COMPLETION_ERROR_CODE,
&params_raw.to_vec().unwrap(),
);
}
#[test]
fn test_reply_handler_step_failure() {
let mut reply_testbench = Pus8ReplyTestbench::new(false);
let sender_id = 0x01;
let request_id = 0x02;
let target_id = 0x05;
let action_id = 0x03;
let token = reply_testbench.init_handling_for_request(request_id, action_id);
reply_testbench.add_routed_request(
request_id.into(),
target_id,
action_id,
token,
Duration::from_millis(1),
);
let action_reply = GenericActionReplyPus::new_action_reply(
request_id,
sender_id,
action_id,
ActionReplyPus::StepFailed {
error_code: COMPLETION_ERROR_CODE_STEP,
step: 2,
params: ParamsRaw::U32(crate::params::U32(5)).into(),
},
);
reply_testbench
.handle_action_reply(action_reply, &[])
.expect("reply handling failure");
reply_testbench.assert_request_step_failure(2, request_id);
}
#[test]
fn test_reply_handler_timeout_handling() {
let mut reply_testbench = Pus8ReplyTestbench::new(true);
let request_id = 0x02;
let target_id = 0x06;
let action_id = 0x03;
let token = reply_testbench.init_handling_for_request(request_id, action_id);
reply_testbench.add_routed_request(
request_id.into(),
target_id,
action_id,
token,
Duration::from_millis(1),
);
let timeout_param = Duration::from_millis(1).as_millis() as u64;
let timeout_param_raw = timeout_param.to_be_bytes();
std::thread::sleep(Duration::from_millis(2));
reply_testbench
.update_time_from_now()
.expect("time update failure");
reply_testbench.check_for_timeouts(&[]).unwrap();
reply_testbench.assert_request_completion_failure(
None,
request_id,
TIMEOUT_ERROR_CODE,
&timeout_param_raw,
);
}
#[test]
fn test_unrequested_reply() {
let mut reply_testbench = Pus8ReplyTestbench::new(true);
let sender_id = 0x01;
let request_id = 0x02;
let action_id = 0x03;
let action_reply = GenericActionReplyPus::new_action_reply(
request_id,
sender_id,
action_id,
ActionReplyPus::Completed,
);
reply_testbench
.handle_action_reply(action_reply, &[])
.expect("reply handling failure");
let reply = reply_testbench.next_unrequested_reply();
assert!(reply.is_some());
let reply = reply.unwrap();
assert_eq!(reply.message.action_id, action_id);
assert_eq!(reply.request_id, request_id);
assert_eq!(reply.message.variant, ActionReplyPus::Completed);
}
*/
}

118
satrs/src/pus/event.rs
View File

@ -28,7 +28,7 @@ impl EventReportCreator {
}
pub fn event_info<'time, 'src_data>(
&mut self,
&self,
src_data_buf: &'src_data mut [u8],
time_stamp: &'time [u8],
event_id: impl EcssEnumeration,
@ -44,7 +44,7 @@ impl EventReportCreator {
}
pub fn event_low_severity<'time, 'src_data>(
&mut self,
&self,
src_data_buf: &'src_data mut [u8],
time_stamp: &'time [u8],
event_id: impl EcssEnumeration,
@ -60,7 +60,7 @@ impl EventReportCreator {
}
pub fn event_medium_severity<'time, 'src_data>(
&mut self,
&self,
buf: &'src_data mut [u8],
time_stamp: &'time [u8],
event_id: impl EcssEnumeration,
@ -76,7 +76,7 @@ impl EventReportCreator {
}
pub fn event_high_severity<'time, 'src_data>(
&mut self,
&self,
src_data_buf: &'src_data mut [u8],
time_stamp: &'time [u8],
event_id: impl EcssEnumeration,
@ -92,7 +92,7 @@ impl EventReportCreator {
}
fn generate_and_send_generic_tm<'time, 'src_data>(
&mut self,
&self,
src_data_buf: &'src_data mut [u8],
subservice: Subservice,
time_stamp: &'time [u8],
@ -137,99 +137,94 @@ impl EventReportCreator {
#[cfg(feature = "alloc")]
mod alloc_mod {
use super::*;
use crate::ComponentId;
use alloc::vec;
use alloc::vec::Vec;
use core::cell::RefCell;
pub struct EventReporter {
source_data_buf: Vec<u8>,
pub reporter: EventReportCreator,
id: ComponentId,
// Use interior mutability pattern here. This is just an intermediate buffer to the PUS event packet
// generation.
source_data_buf: RefCell<Vec<u8>>,
pub report_creator: EventReportCreator,
}
impl EventReporter {
pub fn new(apid: u16, max_event_id_and_aux_data_size: usize) -> Option<Self> {
pub fn new(
id: ComponentId,
apid: u16,
max_event_id_and_aux_data_size: usize,
) -> Option<Self> {
let reporter = EventReportCreator::new(apid)?;
Some(Self {
source_data_buf: vec![0; max_event_id_and_aux_data_size],
reporter,
id,
source_data_buf: RefCell::new(vec![0; max_event_id_and_aux_data_size]),
report_creator: reporter,
})
}
pub fn event_info(
&mut self,
sender: &mut (impl EcssTmSenderCore + ?Sized),
&self,
sender: &(impl EcssTmSenderCore + ?Sized),
time_stamp: &[u8],
event_id: impl EcssEnumeration,
aux_data: Option<&[u8]>,
) -> Result<(), EcssTmtcError> {
let mut mut_buf = self.source_data_buf.borrow_mut();
let tm_creator = self
.reporter
.event_info(
self.source_data_buf.as_mut_slice(),
time_stamp,
event_id,
aux_data,
)
.report_creator
.event_info(mut_buf.as_mut_slice(), time_stamp, event_id, aux_data)
.map_err(PusError::ByteConversion)?;
sender.send_tm(tm_creator.into())?;
sender.send_tm(self.id, tm_creator.into())?;
Ok(())
}
pub fn event_low_severity(
&mut self,
sender: &mut (impl EcssTmSenderCore + ?Sized),
&self,
sender: &(impl EcssTmSenderCore + ?Sized),
time_stamp: &[u8],
event_id: impl EcssEnumeration,
aux_data: Option<&[u8]>,
) -> Result<(), EcssTmtcError> {
let mut mut_buf = self.source_data_buf.borrow_mut();
let tm_creator = self
.reporter
.event_low_severity(
self.source_data_buf.as_mut_slice(),
time_stamp,
event_id,
aux_data,
)
.report_creator
.event_low_severity(mut_buf.as_mut_slice(), time_stamp, event_id, aux_data)
.map_err(PusError::ByteConversion)?;
sender.send_tm(tm_creator.into())?;
sender.send_tm(self.id, tm_creator.into())?;
Ok(())
}
pub fn event_medium_severity(
&mut self,
sender: &mut (impl EcssTmSenderCore + ?Sized),
&self,
sender: &(impl EcssTmSenderCore + ?Sized),
time_stamp: &[u8],
event_id: impl EcssEnumeration,
aux_data: Option<&[u8]>,
) -> Result<(), EcssTmtcError> {
let mut mut_buf = self.source_data_buf.borrow_mut();
let tm_creator = self
.reporter
.event_medium_severity(
self.source_data_buf.as_mut_slice(),
time_stamp,
event_id,
aux_data,
)
.report_creator
.event_medium_severity(mut_buf.as_mut_slice(), time_stamp, event_id, aux_data)
.map_err(PusError::ByteConversion)?;
sender.send_tm(tm_creator.into())?;
sender.send_tm(self.id, tm_creator.into())?;
Ok(())
}
pub fn event_high_severity(
&mut self,
sender: &mut (impl EcssTmSenderCore + ?Sized),
&self,
sender: &(impl EcssTmSenderCore + ?Sized),
time_stamp: &[u8],
event_id: impl EcssEnumeration,
aux_data: Option<&[u8]>,
) -> Result<(), EcssTmtcError> {
let mut mut_buf = self.source_data_buf.borrow_mut();
let tm_creator = self
.reporter
.event_high_severity(
self.source_data_buf.as_mut_slice(),
time_stamp,
event_id,
aux_data,
)
.report_creator
.event_high_severity(mut_buf.as_mut_slice(), time_stamp, event_id, aux_data)
.map_err(PusError::ByteConversion)?;
sender.send_tm(tm_creator.into())?;
sender.send_tm(self.id, tm_creator.into())?;
Ok(())
}
}
@ -239,9 +234,10 @@ mod alloc_mod {
mod tests {
use super::*;
use crate::events::{EventU32, Severity};
use crate::pus::test_util::TEST_COMPONENT_ID;
use crate::pus::tests::CommonTmInfo;
use crate::pus::{EcssChannel, PusTmWrapper};
use crate::ChannelId;
use crate::pus::{ChannelWithId, PusTmVariant};
use crate::ComponentId;
use spacepackets::ByteConversionError;
use std::cell::RefCell;
use std::collections::VecDeque;
@ -255,6 +251,7 @@ mod tests {
#[derive(Debug, Eq, PartialEq, Clone)]
struct TmInfo {
pub sender_id: ComponentId,
pub common: CommonTmInfo,
pub event: EventU32,
pub aux_data: Vec<u8>,
@ -265,19 +262,19 @@ mod tests {
pub service_queue: RefCell<VecDeque<TmInfo>>,
}
impl EcssChannel for TestSender {
fn channel_id(&self) -> ChannelId {
impl ChannelWithId for TestSender {
fn id(&self) -> ComponentId {
0
}
}
impl EcssTmSenderCore for TestSender {
fn send_tm(&self, tm: PusTmWrapper) -> Result<(), EcssTmtcError> {
fn send_tm(&self, sender_id: ComponentId, tm: PusTmVariant) -> Result<(), EcssTmtcError> {
match tm {
PusTmWrapper::InStore(_) => {
PusTmVariant::InStore(_) => {
panic!("TestSender: unexpected call with address");
}
PusTmWrapper::Direct(tm) => {
PusTmVariant::Direct(tm) => {
assert!(!tm.source_data().is_empty());
let src_data = tm.source_data();
assert!(src_data.len() >= 4);
@ -288,6 +285,7 @@ mod tests {
aux_data.extend_from_slice(&src_data[4..]);
}
self.service_queue.borrow_mut().push_back(TmInfo {
sender_id,
common: CommonTmInfo::new_from_tm(&tm),
event,
aux_data,
@ -345,7 +343,8 @@ mod tests {
error_data: Option<&[u8]>,
) {
let mut sender = TestSender::default();
let reporter = EventReporter::new(EXAMPLE_APID, max_event_aux_data_buf);
let reporter =
EventReporter::new(TEST_COMPONENT_ID.id(), EXAMPLE_APID, max_event_aux_data_buf);
assert!(reporter.is_some());
let mut reporter = reporter.unwrap();
let time_stamp_empty: [u8; 7] = [0; 7];
@ -375,6 +374,7 @@ mod tests {
assert_eq!(tm_info.common.msg_counter, 0);
assert_eq!(tm_info.common.apid, EXAMPLE_APID);
assert_eq!(tm_info.event, event);
assert_eq!(tm_info.sender_id, TEST_COMPONENT_ID.id());
assert_eq!(tm_info.aux_data, error_copy);
}
@ -437,7 +437,7 @@ mod tests {
fn insufficient_buffer() {
let mut sender = TestSender::default();
for i in 0..3 {
let reporter = EventReporter::new(EXAMPLE_APID, i);
let reporter = EventReporter::new(0, EXAMPLE_APID, i);
assert!(reporter.is_some());
let mut reporter = reporter.unwrap();
check_buf_too_small(&mut reporter, &mut sender, i);

40
satrs/src/pus/event_man.rs
View File

@ -177,8 +177,8 @@ pub mod alloc_mod {
}
pub fn generate_pus_event_tm_generic(
&mut self,
sender: &mut (impl EcssTmSenderCore + ?Sized),
&self,
sender: &(impl EcssTmSenderCore + ?Sized),
time_stamp: &[u8],
event: EV,
aux_data: Option<&[u8]>,
@ -239,8 +239,8 @@ pub mod alloc_mod {
}
pub fn generate_pus_event_tm<Severity: HasSeverity>(
&mut self,
sender: &mut (impl EcssTmSenderCore + ?Sized),
&self,
sender: &(impl EcssTmSenderCore + ?Sized),
time_stamp: &[u8],
event: EventU32TypedSev<Severity>,
aux_data: Option<&[u8]>,
@ -257,31 +257,36 @@ pub mod alloc_mod {
#[cfg(test)]
mod tests {
use super::*;
use crate::{events::SeverityInfo, pus::TmAsVecSenderWithMpsc};
use crate::events::SeverityInfo;
use crate::pus::PusTmAsVec;
use crate::request::UniqueApidTargetId;
use std::sync::mpsc::{self, TryRecvError};
const INFO_EVENT: EventU32TypedSev<SeverityInfo> =
EventU32TypedSev::<SeverityInfo>::const_new(1, 0);
const LOW_SEV_EVENT: EventU32 = EventU32::const_new(Severity::LOW, 1, 5);
const EMPTY_STAMP: [u8; 7] = [0; 7];
const TEST_APID: u16 = 0x02;
const TEST_ID: UniqueApidTargetId = UniqueApidTargetId::new(TEST_APID, 0x05);
fn create_basic_man_1() -> DefaultPusEventU32Dispatcher<()> {
let reporter = EventReporter::new(0x02, 128).expect("Creating event repoter failed");
let reporter = EventReporter::new(TEST_ID.raw(), TEST_APID, 128)
.expect("Creating event repoter failed");
PusEventDispatcher::new_with_default_backend(reporter)
}
fn create_basic_man_2() -> DefaultPusEventU32Dispatcher<()> {
let reporter = EventReporter::new(0x02, 128).expect("Creating event repoter failed");
let reporter = EventReporter::new(TEST_ID.raw(), TEST_APID, 128)
.expect("Creating event repoter failed");
let backend = DefaultPusEventMgmtBackend::default();
PusEventDispatcher::new(reporter, backend)
}
#[test]
fn test_basic() {
let mut event_man = create_basic_man_1();
let (event_tx, event_rx) = mpsc::channel();
let mut sender = TmAsVecSenderWithMpsc::new(0, "test_sender", event_tx);
let event_man = create_basic_man_1();
let (event_tx, event_rx) = mpsc::channel::<PusTmAsVec>();
let event_sent = event_man
.generate_pus_event_tm(&mut sender, &EMPTY_STAMP, INFO_EVENT, None)
.generate_pus_event_tm(&event_tx, &EMPTY_STAMP, INFO_EVENT, None)
.expect("Sending info event failed");
assert!(event_sent);
@ -292,13 +297,13 @@ mod tests {
#[test]
fn test_disable_event() {
let mut event_man = create_basic_man_2();
let (event_tx, event_rx) = mpsc::channel();
let mut sender = TmAsVecSenderWithMpsc::new(0, "test", event_tx);
let (event_tx, event_rx) = mpsc::channel::<PusTmAsVec>();
// let mut sender = TmAsVecSenderWithMpsc::new(0, "test", event_tx);
let res = event_man.disable_tm_for_event(&LOW_SEV_EVENT);
assert!(res.is_ok());
assert!(res.unwrap());
let mut event_sent = event_man
.generate_pus_event_tm_generic(&mut sender, &EMPTY_STAMP, LOW_SEV_EVENT, None)
.generate_pus_event_tm_generic(&event_tx, &EMPTY_STAMP, LOW_SEV_EVENT, None)
.expect("Sending low severity event failed");
assert!(!event_sent);
let res = event_rx.try_recv();
@ -306,7 +311,7 @@ mod tests {
assert!(matches!(res.unwrap_err(), TryRecvError::Empty));
// Check that only the low severity event was disabled
event_sent = event_man
.generate_pus_event_tm(&mut sender, &EMPTY_STAMP, INFO_EVENT, None)
.generate_pus_event_tm(&event_tx, &EMPTY_STAMP, INFO_EVENT, None)
.expect("Sending info event failed");
assert!(event_sent);
event_rx.try_recv().expect("No info event received");
@ -315,8 +320,7 @@ mod tests {
#[test]
fn test_reenable_event() {
let mut event_man = create_basic_man_1();
let (event_tx, event_rx) = mpsc::channel();
let mut sender = TmAsVecSenderWithMpsc::new(0, "test", event_tx);
let (event_tx, event_rx) = mpsc::channel::<PusTmAsVec>();
let mut res = event_man.disable_tm_for_event_with_sev(&INFO_EVENT);
assert!(res.is_ok());
assert!(res.unwrap());
@ -324,7 +328,7 @@ mod tests {
assert!(res.is_ok());
assert!(res.unwrap());
let event_sent = event_man
.generate_pus_event_tm(&mut sender, &EMPTY_STAMP, INFO_EVENT, None)
.generate_pus_event_tm(&event_tx, &EMPTY_STAMP, INFO_EVENT, None)
.expect("Sending info event failed");
assert!(event_sent);
event_rx.try_recv().expect("No info event received");

183
satrs/src/pus/event_srv.rs
View File

@ -2,17 +2,18 @@ use crate::events::EventU32;
use crate::pus::event_man::{EventRequest, EventRequestWithToken};
use crate::pus::verification::TcStateToken;
use crate::pus::{PartialPusHandlingError, PusPacketHandlerResult, PusPacketHandlingError};
use crate::queue::GenericSendError;
use spacepackets::ecss::event::Subservice;
use spacepackets::ecss::PusPacket;
use std::sync::mpsc::Sender;
use super::verification::VerificationReportingProvider;
use super::{
get_current_cds_short_timestamp, EcssTcInMemConverter, EcssTcReceiverCore, EcssTmSenderCore,
PusServiceHelper,
EcssTcInMemConverter, EcssTcReceiverCore, EcssTmSenderCore, GenericConversionError,
GenericRoutingError, PusServiceHelper,
};
pub struct PusService5EventHandler<
pub struct PusEventServiceHandler<
TcReceiver: EcssTcReceiverCore,
TmSender: EcssTmSenderCore,
TcInMemConverter: EcssTcInMemConverter,
@ -28,7 +29,7 @@ impl<
TmSender: EcssTmSenderCore,
TcInMemConverter: EcssTcInMemConverter,
VerificationReporter: VerificationReportingProvider,
> PusService5EventHandler<TcReceiver, TmSender, TcInMemConverter, VerificationReporter>
> PusEventServiceHandler<TcReceiver, TmSender, TcInMemConverter, VerificationReporter>
{
pub fn new(
service_helper: PusServiceHelper<
@ -45,16 +46,19 @@ impl<
}
}
pub fn handle_one_tc(&mut self) -> Result<PusPacketHandlerResult, PusPacketHandlingError> {
pub fn poll_and_handle_next_tc(
&mut self,
time_stamp: &[u8],
) -> Result<PusPacketHandlerResult, PusPacketHandlingError> {
let possible_packet = self.service_helper.retrieve_and_accept_next_packet()?;
if possible_packet.is_none() {
return Ok(PusPacketHandlerResult::Empty);
}
let ecss_tc_and_token = possible_packet.unwrap();
let tc = self
.service_helper
.tc_in_mem_converter
.convert_ecss_tc_in_memory_to_reader(&ecss_tc_and_token.tc_in_memory)?;
self.service_helper
.tc_in_mem_converter_mut()
.cache(&ecss_tc_and_token.tc_in_memory)?;
let tc = self.service_helper.tc_in_mem_converter().convert()?;
let subservice = tc.subservice();
let srv = Subservice::try_from(subservice);
if srv.is_err() {
@ -63,63 +67,74 @@ impl<
ecss_tc_and_token.token,
));
}
let handle_enable_disable_request = |enable: bool, stamp: [u8; 7]| {
if tc.user_data().len() < 4 {
return Err(PusPacketHandlingError::NotEnoughAppData {
expected: 4,
found: tc.user_data().len(),
});
}
let user_data = tc.user_data();
let event_u32 = EventU32::from(u32::from_be_bytes(user_data[0..4].try_into().unwrap()));
let start_token = self
.service_helper
.common
.verification_handler
.start_success(ecss_tc_and_token.token, &stamp)
.map_err(|_| PartialPusHandlingError::Verification);
let partial_error = start_token.clone().err();
let mut token: TcStateToken = ecss_tc_and_token.token.into();
if let Ok(start_token) = start_token {
token = start_token.into();
}
let event_req_with_token = if enable {
EventRequestWithToken {
request: EventRequest::Enable(event_u32),
token,
let handle_enable_disable_request =
|enable: bool| -> Result<PusPacketHandlerResult, PusPacketHandlingError> {
if tc.user_data().len() < 4 {
return Err(GenericConversionError::NotEnoughAppData {
expected: 4,
found: tc.user_data().len(),
}
.into());
}
} else {
EventRequestWithToken {
request: EventRequest::Disable(event_u32),
token,
let user_data = tc.user_data();
let event_u32 =
EventU32::from(u32::from_be_bytes(user_data[0..4].try_into().unwrap()));
let start_token = self
.service_helper
.common
.verif_reporter
.start_success(
self.service_helper.common.id,
&self.service_helper.common.tm_sender,
ecss_tc_and_token.token,
time_stamp,
)
.map_err(|_| PartialPusHandlingError::Verification);
let partial_error = start_token.clone().err();
let mut token: TcStateToken = ecss_tc_and_token.token.into();
if let Ok(start_token) = start_token {
token = start_token.into();
}
let event_req_with_token = if enable {
EventRequestWithToken {
request: EventRequest::Enable(event_u32),
token,
}
} else {
EventRequestWithToken {
request: EventRequest::Disable(event_u32),
token,
}
};
self.event_request_tx
.send(event_req_with_token)
.map_err(|_| {
PusPacketHandlingError::RequestRouting(GenericRoutingError::Send(
GenericSendError::RxDisconnected,
))
})?;
if let Some(partial_error) = partial_error {
return Ok(PusPacketHandlerResult::RequestHandledPartialSuccess(
partial_error,
));
}
Ok(PusPacketHandlerResult::RequestHandled)
};
self.event_request_tx
.send(event_req_with_token)
.map_err(|_| {
PusPacketHandlingError::Other("Forwarding event request failed".into())
})?;
if let Some(partial_error) = partial_error {
return Ok(PusPacketHandlerResult::RequestHandledPartialSuccess(
partial_error,
));
}
Ok(PusPacketHandlerResult::RequestHandled)
};
let mut partial_error = None;
let time_stamp = get_current_cds_short_timestamp(&mut partial_error);
match srv.unwrap() {
Subservice::TmInfoReport
| Subservice::TmLowSeverityReport
| Subservice::TmMediumSeverityReport
| Subservice::TmHighSeverityReport => {
return Err(PusPacketHandlingError::InvalidSubservice(tc.subservice()))
return Err(PusPacketHandlingError::RequestConversion(
GenericConversionError::WrongService(tc.subservice()),
))
}
Subservice::TcEnableEventGeneration => {
handle_enable_disable_request(true, time_stamp)?;
handle_enable_disable_request(true)?;
}
Subservice::TcDisableEventGeneration => {
handle_enable_disable_request(false, time_stamp)?;
handle_enable_disable_request(false)?;
}
Subservice::TcReportDisabledList | Subservice::TmDisabledEventsReport => {
return Ok(PusPacketHandlerResult::SubserviceNotImplemented(
@ -137,6 +152,7 @@ impl<
mod tests {
use delegate::delegate;
use spacepackets::ecss::event::Subservice;
use spacepackets::time::{cds, TimeWriter};
use spacepackets::util::UnsignedEnum;
use spacepackets::{
ecss::{
@ -148,49 +164,63 @@ mod tests {
use std::sync::mpsc::{self, Sender};
use crate::pus::event_man::EventRequest;
use crate::pus::tests::SimplePusPacketHandler;
use crate::pus::test_util::{PusTestHarness, SimplePusPacketHandler, TEST_APID};
use crate::pus::verification::{
RequestId, VerificationReporterWithSharedPoolMpscBoundedSender,
RequestId, VerificationReporter, VerificationReportingProvider,
};
use crate::pus::{MpscTcReceiver, TmInSharedPoolSenderWithBoundedMpsc};
use crate::pus::{GenericConversionError, MpscTcReceiver, MpscTmInSharedPoolSenderBounded};
use crate::{
events::EventU32,
pus::{
event_man::EventRequestWithToken,
tests::{PusServiceHandlerWithSharedStoreCommon, PusTestHarness, TEST_APID},
tests::PusServiceHandlerWithSharedStoreCommon,
verification::{TcStateAccepted, VerificationToken},
EcssTcInSharedStoreConverter, PusPacketHandlerResult, PusPacketHandlingError,
},
};
use super::PusService5EventHandler;
use super::PusEventServiceHandler;
const TEST_EVENT_0: EventU32 = EventU32::const_new(crate::events::Severity::INFO, 5, 25);
struct Pus5HandlerWithStoreTester {
common: PusServiceHandlerWithSharedStoreCommon,
handler: PusService5EventHandler<
handler: PusEventServiceHandler<
MpscTcReceiver,
TmInSharedPoolSenderWithBoundedMpsc,
MpscTmInSharedPoolSenderBounded,
EcssTcInSharedStoreConverter,
VerificationReporterWithSharedPoolMpscBoundedSender,
VerificationReporter,
>,
}
impl Pus5HandlerWithStoreTester {
pub fn new(event_request_tx: Sender<EventRequestWithToken>) -> Self {
let (common, srv_handler) = PusServiceHandlerWithSharedStoreCommon::new();
let (common, srv_handler) = PusServiceHandlerWithSharedStoreCommon::new(0);
Self {
common,
handler: PusService5EventHandler::new(srv_handler, event_request_tx),
handler: PusEventServiceHandler::new(srv_handler, event_request_tx),
}
}
}
impl PusTestHarness for Pus5HandlerWithStoreTester {
fn init_verification(&mut self, tc: &PusTcCreator) -> VerificationToken<TcStateAccepted> {
let init_token = self.handler.service_helper.verif_reporter_mut().add_tc(tc);
self.handler
.service_helper
.verif_reporter()
.acceptance_success(
self.handler.service_helper.id(),
self.handler.service_helper.tm_sender(),
init_token,
&[0; 7],
)
.expect("acceptance success failure")
}
delegate! {
to self.common {
fn send_tc(&mut self, tc: &PusTcCreator) -> VerificationToken<TcStateAccepted>;
fn send_tc(&self, token: &VerificationToken<TcStateAccepted>, tc: &PusTcCreator);
fn read_next_tm(&mut self) -> PusTmReader<'_>;
fn check_no_tm_available(&self) -> bool;
fn check_next_verification_tm(&self, subservice: u8, expected_request_id: RequestId);
@ -200,10 +230,9 @@ mod tests {
}
impl SimplePusPacketHandler for Pus5HandlerWithStoreTester {
delegate! {
to self.handler {
fn handle_one_tc(&mut self) -> Result<PusPacketHandlerResult, PusPacketHandlingError>;
}
fn handle_one_tc(&mut self) -> Result<PusPacketHandlerResult, PusPacketHandlingError> {
let time_stamp = cds::CdsTime::new_with_u16_days(0, 0).to_vec().unwrap();
self.handler.poll_and_handle_next_tc(&time_stamp)
}
}
@ -220,8 +249,9 @@ mod tests {
.write_to_be_bytes(&mut app_data)
.expect("writing test event failed");
let ping_tc = PusTcCreator::new(&mut sp_header, sec_header, &app_data, true);
let token = test_harness.send_tc(&ping_tc);
let request_id = token.req_id();
let token = test_harness.init_verification(&ping_tc);
test_harness.send_tc(&token, &ping_tc);
let request_id = token.request_id();
test_harness.handle_one_tc().unwrap();
test_harness.check_next_verification_tm(1, request_id);
test_harness.check_next_verification_tm(3, request_id);
@ -277,7 +307,8 @@ mod tests {
let mut sp_header = SpHeader::tc(TEST_APID, SequenceFlags::Unsegmented, 0, 0).unwrap();
let sec_header = PusTcSecondaryHeader::new_simple(5, 200);
let ping_tc = PusTcCreator::new_no_app_data(&mut sp_header, sec_header, true);
test_harness.send_tc(&ping_tc);
let token = test_harness.init_verification(&ping_tc);
test_harness.send_tc(&token, &ping_tc);
let result = test_harness.handle_one_tc();
assert!(result.is_ok());
let result = result.unwrap();
@ -296,11 +327,15 @@ mod tests {
let sec_header =
PusTcSecondaryHeader::new_simple(5, Subservice::TcEnableEventGeneration as u8);
let ping_tc = PusTcCreator::new(&mut sp_header, sec_header, &[0, 1, 2], true);
test_harness.send_tc(&ping_tc);
let token = test_harness.init_verification(&ping_tc);
test_harness.send_tc(&token, &ping_tc);
let result = test_harness.handle_one_tc();
assert!(result.is_err());
let result = result.unwrap_err();
if let PusPacketHandlingError::NotEnoughAppData { expected, found } = result {
if let PusPacketHandlingError::RequestConversion(
GenericConversionError::NotEnoughAppData { expected, found },
) = result
{
assert_eq!(expected, 4);
assert_eq!(found, 3);
} else {

406
satrs/src/pus/hk.rs
View File

@ -1,406 +0,0 @@
pub use spacepackets::ecss::hk::*;
#[cfg(feature = "std")]
#[cfg_attr(doc_cfg, doc(cfg(feature = "std")))]
pub use std_mod::*;
#[cfg(feature = "alloc")]
#[cfg_attr(doc_cfg, doc(cfg(feature = "alloc")))]
pub use alloc_mod::*;
use crate::{hk::HkRequest, TargetId};
use super::verification::{TcStateAccepted, VerificationToken};
/// This trait is an abstraction for the routing of PUS service 3 housekeeping requests to a
/// dedicated recipient using the generic [TargetId].
pub trait PusHkRequestRouter {
type Error;
fn route(
&self,
target_id: TargetId,
hk_request: HkRequest,
token: VerificationToken<TcStateAccepted>,
) -> Result<(), Self::Error>;
}
#[cfg(feature = "alloc")]
#[cfg_attr(doc_cfg, doc(cfg(feature = "alloc")))]
pub mod alloc_mod {
use spacepackets::ecss::tc::PusTcReader;
use crate::pus::verification::VerificationReportingProvider;
use super::*;
/// This trait is an abstraction for the conversion of a PUS service 8 action telecommand into
/// a [HkRequest].
///
/// Having a dedicated trait for this allows maximum flexiblity and tailoring of the standard.
/// The only requirement is that a valid [TargetId] and a [HkRequest] are returned by the
/// core conversion function.
///
/// The user should take care of performing the error handling as well. Some of the following
/// aspects might be relevant:
///
/// - Checking the validity of the APID, service ID, subservice ID.
/// - Checking the validity of the user data.
///
/// A [VerificationReportingProvider] is passed to the user to also allow handling
/// of the verification process as part of the PUS standard requirements.
pub trait PusHkToRequestConverter {
type Error;
fn convert(
&mut self,
token: VerificationToken<TcStateAccepted>,
tc: &PusTcReader,
time_stamp: &[u8],
verif_reporter: &impl VerificationReportingProvider,
) -> Result<(TargetId, HkRequest), Self::Error>;
}
}
#[cfg(feature = "std")]
#[cfg_attr(doc_cfg, doc(cfg(feature = "std")))]
pub mod std_mod {
use crate::pus::{
get_current_cds_short_timestamp, verification::VerificationReportingProvider,
EcssTcInMemConverter, EcssTcReceiverCore, EcssTmSenderCore, GenericRoutingError,
PusPacketHandlerResult, PusPacketHandlingError, PusRoutingErrorHandler, PusServiceHelper,
};
use super::*;
/// This is a generic high-level handler for the PUS service 3 housekeeping service.
///
/// It performs the following handling steps:
///
/// 1. Retrieve the next TC packet from the [PusServiceHelper]. The [EcssTcInMemConverter]
/// allows to configure the used telecommand memory backend.
/// 2. Convert the TC to a targeted action request using the provided
/// [PusHkToRequestConverter]. The generic error type is constrained to the
/// [PusPacketHandlerResult] for the concrete implementation which offers a packet handler.
/// 3. Route the action request using the provided [PusHkRequestRouter]. The generic error
/// type is constrained to the [GenericRoutingError] for the concrete implementation.
/// 4. Handle all routing errors using the provided [PusRoutingErrorHandler]. The generic error
/// type is constrained to the [GenericRoutingError] for the concrete implementation.
pub struct PusService3HkHandler<
TcReceiver: EcssTcReceiverCore,
TmSender: EcssTmSenderCore,
TcInMemConverter: EcssTcInMemConverter,
VerificationReporter: VerificationReportingProvider,
RequestConverter: PusHkToRequestConverter,
RequestRouter: PusHkRequestRouter<Error = RoutingError>,
RoutingErrorHandler: PusRoutingErrorHandler<Error = RoutingError>,
RoutingError = GenericRoutingError,
> {
service_helper:
PusServiceHelper<TcReceiver, TmSender, TcInMemConverter, VerificationReporter>,
pub request_converter: RequestConverter,
pub request_router: RequestRouter,
pub routing_error_handler: RoutingErrorHandler,
}
impl<
TcReceiver: EcssTcReceiverCore,
TmSender: EcssTmSenderCore,
TcInMemConverter: EcssTcInMemConverter,
VerificationReporter: VerificationReportingProvider,
RequestConverter: PusHkToRequestConverter<Error = PusPacketHandlingError>,
RequestRouter: PusHkRequestRouter<Error = RoutingError>,
RoutingErrorHandler: PusRoutingErrorHandler<Error = RoutingError>,
RoutingError: Clone,
>
PusService3HkHandler<
TcReceiver,
TmSender,
TcInMemConverter,
VerificationReporter,
RequestConverter,
RequestRouter,
RoutingErrorHandler,
RoutingError,
>
where
PusPacketHandlingError: From<RoutingError>,
{
pub fn new(
service_helper: PusServiceHelper<
TcReceiver,
TmSender,
TcInMemConverter,
VerificationReporter,
>,
request_converter: RequestConverter,
request_router: RequestRouter,
routing_error_handler: RoutingErrorHandler,
) -> Self {
Self {
service_helper,
request_converter,
request_router,
routing_error_handler,
}
}
pub fn handle_one_tc(&mut self) -> Result<PusPacketHandlerResult, PusPacketHandlingError> {
let possible_packet = self.service_helper.retrieve_and_accept_next_packet()?;
if possible_packet.is_none() {
return Ok(PusPacketHandlerResult::Empty);
}
let ecss_tc_and_token = possible_packet.unwrap();
let tc = self
.service_helper
.tc_in_mem_converter
.convert_ecss_tc_in_memory_to_reader(&ecss_tc_and_token.tc_in_memory)?;
let mut partial_error = None;
let time_stamp = get_current_cds_short_timestamp(&mut partial_error);
let (target_id, hk_request) = self.request_converter.convert(
ecss_tc_and_token.token,
&tc,
&time_stamp,
&self.service_helper.common.verification_handler,
)?;
if let Err(e) =
self.request_router
.route(target_id, hk_request, ecss_tc_and_token.token)
{
self.routing_error_handler.handle_error(
target_id,
ecss_tc_and_token.token,
&tc,
e.clone(),
&time_stamp,
&self.service_helper.common.verification_handler,
);
return Err(e.into());
}
Ok(PusPacketHandlerResult::RequestHandled)
}
}
}
#[cfg(test)]
mod tests {
use delegate::delegate;
use spacepackets::ecss::hk::Subservice;
use spacepackets::{
ecss::{
tc::{PusTcCreator, PusTcReader, PusTcSecondaryHeader},
tm::PusTmReader,
PusPacket,
},
CcsdsPacket, SequenceFlags, SpHeader,
};
use crate::pus::{MpscTcReceiver, TmAsVecSenderWithMpsc};
use crate::{
hk::HkRequest,
pus::{
tests::{
PusServiceHandlerWithVecCommon, PusTestHarness, SimplePusPacketHandler,
TestConverter, TestRouter, TestRoutingErrorHandler, APP_DATA_TOO_SHORT, TEST_APID,
},
verification::{
tests::TestVerificationReporter, FailParams, RequestId, TcStateAccepted,
VerificationReportingProvider, VerificationToken,
},
EcssTcInVecConverter, GenericRoutingError, PusPacketHandlerResult,
PusPacketHandlingError,
},
TargetId,
};
use super::{PusHkRequestRouter, PusHkToRequestConverter, PusService3HkHandler};
impl PusHkRequestRouter for TestRouter<HkRequest> {
type Error = GenericRoutingError;
fn route(
&self,
target_id: TargetId,
hk_request: HkRequest,
_token: VerificationToken<TcStateAccepted>,
) -> Result<(), Self::Error> {
self.routing_requests
.borrow_mut()
.push_back((target_id, hk_request));
self.check_for_injected_error()
}
}
impl PusHkToRequestConverter for TestConverter<3> {
type Error = PusPacketHandlingError;
fn convert(
&mut self,
token: VerificationToken<TcStateAccepted>,
tc: &PusTcReader,
time_stamp: &[u8],
verif_reporter: &impl VerificationReportingProvider,
) -> Result<(TargetId, HkRequest), Self::Error> {
self.conversion_request.push_back(tc.raw_data().to_vec());
self.check_service(tc)?;
let target_id = tc.apid();
if tc.user_data().len() < 4 {
verif_reporter
.start_failure(
token,
FailParams::new(
time_stamp,
&APP_DATA_TOO_SHORT,
(tc.user_data().len() as u32).to_be_bytes().as_ref(),
),
)
.expect("start success failure");
return Err(PusPacketHandlingError::NotEnoughAppData {
expected: 4,
found: tc.user_data().len(),
});
}
if tc.subservice() == Subservice::TcGenerateOneShotHk as u8 {
verif_reporter
.start_success(token, time_stamp)
.expect("start success failure");
return Ok((
target_id.into(),
HkRequest::OneShot(u32::from_be_bytes(
tc.user_data()[0..4].try_into().unwrap(),
)),
));
}
Err(PusPacketHandlingError::InvalidAppData(
"unexpected app data".into(),
))
}
}
struct Pus3HandlerWithVecTester {
common: PusServiceHandlerWithVecCommon<TestVerificationReporter>,
handler: PusService3HkHandler<
MpscTcReceiver,
TmAsVecSenderWithMpsc,
EcssTcInVecConverter,
TestVerificationReporter,
TestConverter<3>,
TestRouter<HkRequest>,
TestRoutingErrorHandler,
>,
}
impl Pus3HandlerWithVecTester {
pub fn new() -> Self {
let (common, srv_handler) =
PusServiceHandlerWithVecCommon::new_with_test_verif_sender();
Self {
common,
handler: PusService3HkHandler::new(
srv_handler,
TestConverter::default(),
TestRouter::default(),
TestRoutingErrorHandler::default(),
),
}
}
delegate! {
to self.handler.request_converter {
pub fn check_next_conversion(&mut self, tc: &PusTcCreator);
}
}
delegate! {
to self.handler.request_router {
pub fn retrieve_next_request(&mut self) -> (TargetId, HkRequest);
}
}
delegate! {
to self.handler.routing_error_handler {
pub fn retrieve_next_error(&mut self) -> (TargetId, GenericRoutingError);
}
}
}
impl PusTestHarness for Pus3HandlerWithVecTester {
delegate! {
to self.common {
fn send_tc(&mut self, tc: &PusTcCreator) -> VerificationToken<TcStateAccepted>;
fn read_next_tm(&mut self) -> PusTmReader<'_>;
fn check_no_tm_available(&self) -> bool;
fn check_next_verification_tm(
&self,
subservice: u8,
expected_request_id: RequestId,
);
}
}
}
impl SimplePusPacketHandler for Pus3HandlerWithVecTester {
delegate! {
to self.handler {
fn handle_one_tc(&mut self) -> Result<PusPacketHandlerResult, PusPacketHandlingError>;
}
}
}
#[test]
fn basic_test() {
let mut hk_handler = Pus3HandlerWithVecTester::new();
let mut sp_header = SpHeader::tc(TEST_APID, SequenceFlags::Unsegmented, 0, 0).unwrap();
let sec_header = PusTcSecondaryHeader::new_simple(3, Subservice::TcGenerateOneShotHk as u8);
let unique_id: u32 = 1;
let unique_id_raw = unique_id.to_be_bytes();
let tc = PusTcCreator::new(&mut sp_header, sec_header, unique_id_raw.as_ref(), true);
hk_handler.send_tc(&tc);
let result = hk_handler.handle_one_tc();
assert!(result.is_ok());
hk_handler.check_next_conversion(&tc);
let (target_id, hk_request) = hk_handler.retrieve_next_request();
assert_eq!(target_id, TEST_APID.into());
if let HkRequest::OneShot(id) = hk_request {
assert_eq!(id, unique_id);
} else {
panic!("unexpected request");
}
}
#[test]
fn test_routing_error() {
let mut hk_handler = Pus3HandlerWithVecTester::new();
let mut sp_header = SpHeader::tc(TEST_APID, SequenceFlags::Unsegmented, 0, 0).unwrap();
let sec_header = PusTcSecondaryHeader::new_simple(3, Subservice::TcGenerateOneShotHk as u8);
let unique_id: u32 = 1;
let unique_id_raw = unique_id.to_be_bytes();
let tc = PusTcCreator::new(&mut sp_header, sec_header, unique_id_raw.as_ref(), true);
let error = GenericRoutingError::UnknownTargetId(25);
hk_handler
.handler
.request_router
.inject_routing_error(error);
hk_handler.send_tc(&tc);
let result = hk_handler.handle_one_tc();
assert!(result.is_err());
let check_error = |routing_error: GenericRoutingError| {
if let GenericRoutingError::UnknownTargetId(id) = routing_error {
assert_eq!(id, 25);
} else {
panic!("unexpected error type");
}
};
if let PusPacketHandlingError::RequestRoutingError(routing_error) = result.unwrap_err() {
check_error(routing_error);
} else {
panic!("unexpected error type");
}
hk_handler.check_next_conversion(&tc);
let (target_id, hk_req) = hk_handler.retrieve_next_request();
assert_eq!(target_id, TEST_APID.into());
if let HkRequest::OneShot(unique_id) = hk_req {
assert_eq!(unique_id, 1);
}
let (target_id, found_error) = hk_handler.retrieve_next_error();
assert_eq!(target_id, TEST_APID.into());
check_error(found_error);
}
}

1198
satrs/src/pus/mod.rs
View File

File diff suppressed because it is too large Load Diff

141
satrs/src/pus/mode.rs
View File

@ -2,6 +2,16 @@ use num_enum::{IntoPrimitive, TryFromPrimitive};
#[cfg(feature = "serde")]
use serde::{Deserialize, Serialize};
#[cfg(feature = "alloc")]
#[allow(unused_imports)]
pub use alloc_mod::*;
#[cfg(feature = "std")]
#[allow(unused_imports)]
pub use std_mod::*;
pub const MODE_SERVICE_ID: u8 = 200;
#[derive(Debug, Eq, PartialEq, Copy, Clone, IntoPrimitive, TryFromPrimitive)]
#[cfg_attr(feature = "serde", derive(Serialize, Deserialize))]
#[repr(u8)]
@ -14,3 +24,134 @@ pub enum Subservice {
TmCantReachMode = 7,
TmWrongModeReply = 8,
}
#[cfg(feature = "alloc")]
#[cfg_attr(doc_cfg, doc(cfg(feature = "alloc")))]
pub mod alloc_mod {}
#[cfg(feature = "alloc")]
#[cfg_attr(doc_cfg, doc(cfg(feature = "alloc")))]
pub mod std_mod {}
#[cfg(test)]
mod tests {
use std::sync::mpsc;
use crate::{
mode::{
ModeAndSubmode, ModeReply, ModeReplySender, ModeRequest, ModeRequestSender,
ModeRequestorAndHandlerMpsc, ModeRequestorMpsc,
},
request::{GenericMessage, MessageMetadata},
};
const TEST_COMPONENT_ID_0: u64 = 5;
const TEST_COMPONENT_ID_1: u64 = 6;
const TEST_COMPONENT_ID_2: u64 = 7;
#[test]
fn test_simple_mode_requestor() {
let (reply_sender, reply_receiver) = mpsc::channel();
let (request_sender, request_receiver) = mpsc::channel();
let mut mode_requestor = ModeRequestorMpsc::new(TEST_COMPONENT_ID_0, reply_receiver);
mode_requestor.add_message_target(TEST_COMPONENT_ID_1, request_sender);
// Send a request and verify it arrives at the receiver.
let request_id = 2;
let sent_request = ModeRequest::ReadMode;
mode_requestor
.send_mode_request(request_id, TEST_COMPONENT_ID_1, sent_request)
.expect("send failed");
let request = request_receiver.recv().expect("recv failed");
assert_eq!(request.request_id(), 2);
assert_eq!(request.sender_id(), TEST_COMPONENT_ID_0);
assert_eq!(request.message, sent_request);
// Send a reply and verify it arrives at the requestor.
let mode_reply = ModeReply::ModeReply(ModeAndSubmode::new(1, 5));
reply_sender
.send(GenericMessage::new(
MessageMetadata::new(request_id, TEST_COMPONENT_ID_1),
mode_reply,
))
.expect("send failed");
let reply = mode_requestor.try_recv_mode_reply().expect("recv failed");
assert!(reply.is_some());
let reply = reply.unwrap();
assert_eq!(reply.sender_id(), TEST_COMPONENT_ID_1);
assert_eq!(reply.request_id(), 2);
assert_eq!(reply.message, mode_reply);
}
#[test]
fn test_mode_requestor_and_request_handler_request_sending() {
let (_reply_sender_to_connector, reply_receiver_of_connector) = mpsc::channel();
let (_request_sender_to_connector, request_receiver_of_connector) = mpsc::channel();
let (request_sender_to_channel_1, request_receiver_channel_1) = mpsc::channel();
//let (reply_sender_to_channel_2, reply_receiver_channel_2) = mpsc::channel();
let mut mode_connector = ModeRequestorAndHandlerMpsc::new(
TEST_COMPONENT_ID_0,
request_receiver_of_connector,
reply_receiver_of_connector,
);
assert_eq!(
ModeRequestSender::local_channel_id(&mode_connector),
TEST_COMPONENT_ID_0
);
assert_eq!(
ModeReplySender::local_channel_id(&mode_connector),
TEST_COMPONENT_ID_0
);
assert_eq!(
mode_connector.local_channel_id_generic(),
TEST_COMPONENT_ID_0
);
mode_connector.add_request_target(TEST_COMPONENT_ID_1, request_sender_to_channel_1);
// Send a request and verify it arrives at the receiver.
let request_id = 2;
let sent_request = ModeRequest::ReadMode;
mode_connector
.send_mode_request(request_id, TEST_COMPONENT_ID_1, sent_request)
.expect("send failed");
let request = request_receiver_channel_1.recv().expect("recv failed");
assert_eq!(request.request_id(), 2);
assert_eq!(request.sender_id(), TEST_COMPONENT_ID_0);
assert_eq!(request.message, ModeRequest::ReadMode);
}
#[test]
fn test_mode_requestor_and_request_handler_reply_sending() {
let (_reply_sender_to_connector, reply_receiver_of_connector) = mpsc::channel();
let (_request_sender_to_connector, request_receiver_of_connector) = mpsc::channel();
let (reply_sender_to_channel_2, reply_receiver_channel_2) = mpsc::channel();
let mut mode_connector = ModeRequestorAndHandlerMpsc::new(
TEST_COMPONENT_ID_0,
request_receiver_of_connector,
reply_receiver_of_connector,
);
mode_connector.add_reply_target(TEST_COMPONENT_ID_2, reply_sender_to_channel_2);
// Send a reply and verify it arrives at the receiver.
let request_id = 2;
let sent_reply = ModeReply::ModeReply(ModeAndSubmode::new(3, 5));
mode_connector
.send_mode_reply(
MessageMetadata::new(request_id, TEST_COMPONENT_ID_2),
sent_reply,
)
.expect("send failed");
let reply = reply_receiver_channel_2.recv().expect("recv failed");
assert_eq!(reply.request_id(), 2);
assert_eq!(reply.sender_id(), TEST_COMPONENT_ID_0);
assert_eq!(reply.message, sent_reply);
}
#[test]
fn test_mode_reply_handler() {}
}

205
satrs/src/pus/scheduler_srv.rs
View File

@ -1,20 +1,16 @@
use super::scheduler::PusSchedulerProvider;
use super::verification::{
VerificationReporterWithSharedPoolMpscBoundedSender,
VerificationReporterWithSharedPoolMpscSender, VerificationReporterWithVecMpscBoundedSender,
VerificationReporterWithVecMpscSender, VerificationReportingProvider,
};
use super::verification::{VerificationReporter, VerificationReportingProvider};
use super::{
get_current_cds_short_timestamp, EcssTcInMemConverter, EcssTcInSharedStoreConverter,
EcssTcInVecConverter, EcssTcReceiverCore, EcssTmSenderCore, MpscTcReceiver, PusServiceHelper,
TmAsVecSenderWithBoundedMpsc, TmAsVecSenderWithMpsc, TmInSharedPoolSenderWithBoundedMpsc,
TmInSharedPoolSenderWithMpsc,
EcssTcInMemConverter, EcssTcInSharedStoreConverter, EcssTcInVecConverter, EcssTcReceiverCore,
EcssTmSenderCore, MpscTcReceiver, MpscTmInSharedPoolSender, MpscTmInSharedPoolSenderBounded,
PusServiceHelper, PusTmAsVec,
};
use crate::pool::PoolProvider;
use crate::pus::{PusPacketHandlerResult, PusPacketHandlingError};
use alloc::string::ToString;
use spacepackets::ecss::{scheduling, PusPacket};
use spacepackets::time::cds::CdsTime;
use std::sync::mpsc;
/// This is a helper class for [std] environments to handle generic PUS 11 (scheduling service)
/// packets. This handler is able to handle the most important PUS requests for a scheduling
@ -24,7 +20,7 @@ use spacepackets::time::cds::CdsTime;
/// telecommands inside the scheduler. The user can retrieve the wrapped scheduler via the
/// [Self::scheduler] and [Self::scheduler_mut] function and then use the scheduler API to release
/// telecommands when applicable.
pub struct PusService11SchedHandler<
pub struct PusSchedServiceHandler<
TcReceiver: EcssTcReceiverCore,
TmSender: EcssTmSenderCore,
TcInMemConverter: EcssTcInMemConverter,
@ -43,13 +39,7 @@ impl<
VerificationReporter: VerificationReportingProvider,
Scheduler: PusSchedulerProvider,
>
PusService11SchedHandler<
TcReceiver,
TmSender,
TcInMemConverter,
VerificationReporter,
Scheduler,
>
PusSchedServiceHandler<TcReceiver, TmSender, TcInMemConverter, VerificationReporter, Scheduler>
{
pub fn new(
service_helper: PusServiceHelper<
@ -74,8 +64,9 @@ impl<
&self.scheduler
}
pub fn handle_one_tc(
pub fn poll_and_handle_next_tc(
&mut self,
time_stamp: &[u8],
sched_tc_pool: &mut (impl PoolProvider + ?Sized),
) -> Result<PusPacketHandlerResult, PusPacketHandlingError> {
let possible_packet = self.service_helper.retrieve_and_accept_next_packet()?;
@ -83,10 +74,10 @@ impl<
return Ok(PusPacketHandlerResult::Empty);
}
let ecss_tc_and_token = possible_packet.unwrap();
let tc = self
.service_helper
.tc_in_mem_converter
.convert_ecss_tc_in_memory_to_reader(&ecss_tc_and_token.tc_in_memory)?;
self.service_helper
.tc_in_mem_converter_mut()
.cache(&ecss_tc_and_token.tc_in_memory)?;
let tc = self.service_helper.tc_in_mem_converter().convert()?;
let subservice = PusPacket::subservice(&tc);
let standard_subservice = scheduling::Subservice::try_from(subservice);
if standard_subservice.is_err() {
@ -95,23 +86,30 @@ impl<
ecss_tc_and_token.token,
));
}
let mut partial_error = None;
let time_stamp = get_current_cds_short_timestamp(&mut partial_error);
let partial_error = None;
match standard_subservice.unwrap() {
scheduling::Subservice::TcEnableScheduling => {
let start_token = self
.service_helper
.common
.verification_handler
.start_success(ecss_tc_and_token.token, &time_stamp)
.verif_reporter()
.start_success(
self.service_helper.common.id,
&self.service_helper.common.tm_sender,
ecss_tc_and_token.token,
time_stamp,
)
.expect("Error sending start success");
self.scheduler.enable();
if self.scheduler.is_enabled() {
self.service_helper
.common
.verification_handler
.completion_success(start_token, &time_stamp)
.verif_reporter()
.completion_success(
self.service_helper.common.id,
&self.service_helper.common.tm_sender,
start_token,
time_stamp,
)
.expect("Error sending completion success");
} else {
return Err(PusPacketHandlingError::Other(
@ -122,17 +120,25 @@ impl<
scheduling::Subservice::TcDisableScheduling => {
let start_token = self
.service_helper
.common
.verification_handler
.start_success(ecss_tc_and_token.token, &time_stamp)
.verif_reporter()
.start_success(
self.service_helper.common.id,
&self.service_helper.common.tm_sender,
ecss_tc_and_token.token,
time_stamp,
)
.expect("Error sending start success");
self.scheduler.disable();
if !self.scheduler.is_enabled() {
self.service_helper
.common
.verification_handler
.completion_success(start_token, &time_stamp)
.verif_reporter()
.completion_success(
self.service_helper.common.id,
&self.service_helper.common.tm_sender,
start_token,
time_stamp,
)
.expect("Error sending completion success");
} else {
return Err(PusPacketHandlingError::Other(
@ -143,9 +149,13 @@ impl<
scheduling::Subservice::TcResetScheduling => {
let start_token = self
.service_helper
.common
.verification_handler
.start_success(ecss_tc_and_token.token, &time_stamp)
.verif_reporter()
.start_success(
self.service_helper.common.id,
&self.service_helper.common.tm_sender,
ecss_tc_and_token.token,
time_stamp,
)
.expect("Error sending start success");
self.scheduler
@ -153,17 +163,26 @@ impl<
.expect("Error resetting TC Pool");
self.service_helper
.common
.verification_handler
.completion_success(start_token, &time_stamp)
.verif_reporter()
.completion_success(
self.service_helper.common.id,
&self.service_helper.common.tm_sender,
start_token,
time_stamp,
)
.expect("Error sending completion success");
}
scheduling::Subservice::TcInsertActivity => {
let start_token = self
.service_helper
.common
.verification_handler
.start_success(ecss_tc_and_token.token, &time_stamp)
.verif_reporter
.start_success(
self.service_helper.common.id,
&self.service_helper.common.tm_sender,
ecss_tc_and_token.token,
time_stamp,
)
.expect("error sending start success");
// let mut pool = self.sched_tc_pool.write().expect("locking pool failed");
@ -172,9 +191,13 @@ impl<
.expect("insertion of activity into pool failed");
self.service_helper
.common
.verification_handler
.completion_success(start_token, &time_stamp)
.verif_reporter()
.completion_success(
self.service_helper.common.id,
&self.service_helper.common.tm_sender,
start_token,
time_stamp,
)
.expect("sending completion success failed");
}
_ => {
@ -195,53 +218,57 @@ impl<
}
/// Helper type definition for a PUS 11 handler with a dynamic TMTC memory backend and regular
/// mpsc queues.
pub type PusService11SchedHandlerDynWithMpsc<PusScheduler> = PusService11SchedHandler<
pub type PusService11SchedHandlerDynWithMpsc<PusScheduler> = PusSchedServiceHandler<
MpscTcReceiver,
TmAsVecSenderWithMpsc,
mpsc::Sender<PusTmAsVec>,
EcssTcInVecConverter,
VerificationReporterWithVecMpscSender,
VerificationReporter,
PusScheduler,
>;
/// Helper type definition for a PUS 11 handler with a dynamic TMTC memory backend and bounded MPSC
/// queues.
pub type PusService11SchedHandlerDynWithBoundedMpsc<PusScheduler> = PusService11SchedHandler<
pub type PusService11SchedHandlerDynWithBoundedMpsc<PusScheduler> = PusSchedServiceHandler<
MpscTcReceiver,
TmAsVecSenderWithBoundedMpsc,
mpsc::SyncSender<PusTmAsVec>,
EcssTcInVecConverter,
VerificationReporterWithVecMpscBoundedSender,
VerificationReporter,
PusScheduler,
>;
/// Helper type definition for a PUS 11 handler with a shared store TMTC memory backend and regular
/// mpsc queues.
pub type PusService11SchedHandlerStaticWithMpsc<PusScheduler> = PusService11SchedHandler<
pub type PusService11SchedHandlerStaticWithMpsc<PusScheduler> = PusSchedServiceHandler<
MpscTcReceiver,
TmInSharedPoolSenderWithMpsc,
MpscTmInSharedPoolSender,
EcssTcInSharedStoreConverter,
VerificationReporterWithSharedPoolMpscSender,
VerificationReporter,
PusScheduler,
>;
/// Helper type definition for a PUS 11 handler with a shared store TMTC memory backend and bounded
/// mpsc queues.
pub type PusService11SchedHandlerStaticWithBoundedMpsc<PusScheduler> = PusService11SchedHandler<
pub type PusService11SchedHandlerStaticWithBoundedMpsc<PusScheduler> = PusSchedServiceHandler<
MpscTcReceiver,
TmInSharedPoolSenderWithBoundedMpsc,
MpscTmInSharedPoolSenderBounded,
EcssTcInSharedStoreConverter,
VerificationReporterWithSharedPoolMpscBoundedSender,
VerificationReporter,
PusScheduler,
>;
#[cfg(test)]
mod tests {
use crate::pool::{StaticMemoryPool, StaticPoolConfig};
use crate::pus::tests::TEST_APID;
use crate::pus::verification::VerificationReporterWithSharedPoolMpscBoundedSender;
use crate::pus::test_util::{PusTestHarness, TEST_APID};
use crate::pus::verification::{VerificationReporter, VerificationReportingProvider};
use crate::pus::{
scheduler::{self, PusSchedulerProvider, TcInfo},
tests::{PusServiceHandlerWithSharedStoreCommon, PusTestHarness},
tests::PusServiceHandlerWithSharedStoreCommon,
verification::{RequestId, TcStateAccepted, VerificationToken},
EcssTcInSharedStoreConverter,
};
use crate::pus::{MpscTcReceiver, TmInSharedPoolSenderWithBoundedMpsc};
use crate::pus::{
MpscTcReceiver, MpscTmInSharedPoolSenderBounded, PusPacketHandlerResult,
PusPacketHandlingError,
};
use alloc::collections::VecDeque;
use delegate::delegate;
use spacepackets::ecss::scheduling::Subservice;
@ -254,15 +281,15 @@ mod tests {
time::cds,
};
use super::PusService11SchedHandler;
use super::PusSchedServiceHandler;
struct Pus11HandlerWithStoreTester {
common: PusServiceHandlerWithSharedStoreCommon,
handler: PusService11SchedHandler<
handler: PusSchedServiceHandler<
MpscTcReceiver,
TmInSharedPoolSenderWithBoundedMpsc,
MpscTmInSharedPoolSenderBounded,
EcssTcInSharedStoreConverter,
VerificationReporterWithSharedPoolMpscBoundedSender,
VerificationReporter,
TestScheduler,
>,
sched_tc_pool: StaticMemoryPool,
@ -273,19 +300,39 @@ mod tests {
let test_scheduler = TestScheduler::default();
let pool_cfg = StaticPoolConfig::new(alloc::vec![(16, 16), (8, 32), (4, 64)], false);
let sched_tc_pool = StaticMemoryPool::new(pool_cfg.clone());
let (common, srv_handler) = PusServiceHandlerWithSharedStoreCommon::new();
let (common, srv_handler) = PusServiceHandlerWithSharedStoreCommon::new(0);
Self {
common,
handler: PusService11SchedHandler::new(srv_handler, test_scheduler),
handler: PusSchedServiceHandler::new(srv_handler, test_scheduler),
sched_tc_pool,
}
}
pub fn handle_one_tc(&mut self) -> Result<PusPacketHandlerResult, PusPacketHandlingError> {
let time_stamp = cds::CdsTime::new_with_u16_days(0, 0).to_vec().unwrap();
self.handler
.poll_and_handle_next_tc(&time_stamp, &mut self.sched_tc_pool)
}
}
impl PusTestHarness for Pus11HandlerWithStoreTester {
fn init_verification(&mut self, tc: &PusTcCreator) -> VerificationToken<TcStateAccepted> {
let init_token = self.handler.service_helper.verif_reporter_mut().add_tc(tc);
self.handler
.service_helper
.verif_reporter()
.acceptance_success(
self.handler.service_helper.id(),
self.handler.service_helper.tm_sender(),
init_token,
&[0; 7],
)
.expect("acceptance success failure")
}
delegate! {
to self.common {
fn send_tc(&mut self, tc: &PusTcCreator) -> VerificationToken<TcStateAccepted>;
fn send_tc(&self, token: &VerificationToken<TcStateAccepted>, tc: &PusTcCreator);
fn read_next_tm(&mut self) -> PusTmReader<'_>;
fn check_no_tm_available(&self) -> bool;
fn check_next_verification_tm(&self, subservice: u8, expected_request_id: RequestId);
@ -344,12 +391,14 @@ mod tests {
let mut reply_header = SpHeader::tm_unseg(TEST_APID, 0, 0).unwrap();
let tc_header = PusTcSecondaryHeader::new_simple(11, subservice as u8);
let enable_scheduling = PusTcCreator::new(&mut reply_header, tc_header, &[0; 7], true);
let token = test_harness.send_tc(&enable_scheduling);
let token = test_harness.init_verification(&enable_scheduling);
test_harness.send_tc(&token, &enable_scheduling);
let request_id = token.req_id();
let request_id = token.request_id();
let time_stamp = cds::CdsTime::new_with_u16_days(0, 0).to_vec().unwrap();
test_harness
.handler
.handle_one_tc(&mut test_harness.sched_tc_pool)
.poll_and_handle_next_tc(&time_stamp, &mut test_harness.sched_tc_pool)
.unwrap();
test_harness.check_next_verification_tm(1, request_id);
test_harness.check_next_verification_tm(3, request_id);
@ -404,13 +453,11 @@ mod tests {
&sched_app_data[..written_len],
true,
);
let token = test_harness.send_tc(&enable_scheduling);
let token = test_harness.init_verification(&enable_scheduling);
test_harness.send_tc(&token, &enable_scheduling);
let request_id = token.req_id();
test_harness
.handler
.handle_one_tc(&mut test_harness.sched_tc_pool)
.unwrap();
let request_id = token.request_id();
test_harness.handle_one_tc().unwrap();
test_harness.check_next_verification_tm(1, request_id);
test_harness.check_next_verification_tm(3, request_id);
test_harness.check_next_verification_tm(7, request_id);

181
satrs/src/pus/test.rs
View File

@ -1,20 +1,17 @@
use crate::pus::{
PartialPusHandlingError, PusPacketHandlerResult, PusPacketHandlingError, PusTmWrapper,
PartialPusHandlingError, PusPacketHandlerResult, PusPacketHandlingError, PusTmAsVec,
PusTmInPool, PusTmVariant,
};
use spacepackets::ecss::tm::{PusTmCreator, PusTmSecondaryHeader};
use spacepackets::ecss::PusPacket;
use spacepackets::SpHeader;
use std::sync::mpsc;
use super::verification::{
VerificationReporterWithSharedPoolMpscBoundedSender,
VerificationReporterWithSharedPoolMpscSender, VerificationReporterWithVecMpscBoundedSender,
VerificationReporterWithVecMpscSender, VerificationReportingProvider,
};
use super::verification::{VerificationReporter, VerificationReportingProvider};
use super::{
get_current_cds_short_timestamp, EcssTcInMemConverter, EcssTcInSharedStoreConverter,
EcssTcInVecConverter, EcssTcReceiverCore, EcssTmSenderCore, MpscTcReceiver, PusServiceHelper,
TmAsVecSenderWithBoundedMpsc, TmAsVecSenderWithMpsc, TmInSharedPoolSenderWithBoundedMpsc,
TmInSharedPoolSenderWithMpsc,
EcssTcInMemConverter, EcssTcInSharedStoreConverter, EcssTcInVecConverter, EcssTcReceiverCore,
EcssTmSenderCore, GenericConversionError, MpscTcReceiver, MpscTmInSharedPoolSender,
MpscTmInSharedPoolSenderBounded, PusServiceHelper,
};
/// This is a helper class for [std] environments to handle generic PUS 17 (test service) packets.
@ -47,27 +44,33 @@ impl<
Self { service_helper }
}
pub fn handle_one_tc(&mut self) -> Result<PusPacketHandlerResult, PusPacketHandlingError> {
pub fn poll_and_handle_next_tc(
&mut self,
time_stamp: &[u8],
) -> Result<PusPacketHandlerResult, PusPacketHandlingError> {
let possible_packet = self.service_helper.retrieve_and_accept_next_packet()?;
if possible_packet.is_none() {
return Ok(PusPacketHandlerResult::Empty);
}
let ecss_tc_and_token = possible_packet.unwrap();
let tc = self
.service_helper
.tc_in_mem_converter
.convert_ecss_tc_in_memory_to_reader(&ecss_tc_and_token.tc_in_memory)?;
self.service_helper
.tc_in_mem_converter_mut()
.cache(&ecss_tc_and_token.tc_in_memory)?;
let tc = self.service_helper.tc_in_mem_converter().convert()?;
if tc.service() != 17 {
return Err(PusPacketHandlingError::WrongService(tc.service()));
return Err(GenericConversionError::WrongService(tc.service()).into());
}
if tc.subservice() == 1 {
let mut partial_error = None;
let time_stamp = get_current_cds_short_timestamp(&mut partial_error);
let result = self
.service_helper
.common
.verification_handler
.start_success(ecss_tc_and_token.token, &time_stamp)
.verif_reporter()
.start_success(
self.service_helper.common.id,
&self.service_helper.common.tm_sender,
ecss_tc_and_token.token,
time_stamp,
)
.map_err(|_| PartialPusHandlingError::Verification);
let start_token = if let Ok(result) = result {
Some(result)
@ -77,14 +80,14 @@ impl<
};
// Sequence count will be handled centrally in TM funnel.
let mut reply_header =
SpHeader::tm_unseg(self.service_helper.common.tm_apid, 0, 0).unwrap();
let tc_header = PusTmSecondaryHeader::new_simple(17, 2, &time_stamp);
SpHeader::tm_unseg(self.service_helper.verif_reporter().apid(), 0, 0).unwrap();
let tc_header = PusTmSecondaryHeader::new_simple(17, 2, time_stamp);
let ping_reply = PusTmCreator::new(&mut reply_header, tc_header, &[], true);
let result = self
.service_helper
.common
.tm_sender
.send_tm(PusTmWrapper::Direct(ping_reply))
.send_tm(self.service_helper.id(), PusTmVariant::Direct(ping_reply))
.map_err(PartialPusHandlingError::TmSend);
if let Err(err) = result {
partial_error = Some(err);
@ -93,9 +96,13 @@ impl<
if let Some(start_token) = start_token {
if self
.service_helper
.common
.verification_handler
.completion_success(start_token, &time_stamp)
.verif_reporter()
.completion_success(
self.service_helper.common.id,
&self.service_helper.common.tm_sender,
start_token,
time_stamp,
)
.is_err()
{
partial_error = Some(PartialPusHandlingError::Verification)
@ -120,54 +127,56 @@ impl<
/// mpsc queues.
pub type PusService17TestHandlerDynWithMpsc = PusService17TestHandler<
MpscTcReceiver,
TmAsVecSenderWithMpsc,
mpsc::Sender<PusTmAsVec>,
EcssTcInVecConverter,
VerificationReporterWithVecMpscSender,
VerificationReporter,
>;
/// Helper type definition for a PUS 17 handler with a dynamic TMTC memory backend and bounded MPSC
/// queues.
pub type PusService17TestHandlerDynWithBoundedMpsc = PusService17TestHandler<
MpscTcReceiver,
TmAsVecSenderWithBoundedMpsc,
mpsc::SyncSender<PusTmInPool>,
EcssTcInVecConverter,
VerificationReporterWithVecMpscBoundedSender,
VerificationReporter,
>;
/// Helper type definition for a PUS 17 handler with a shared store TMTC memory backend and regular
/// mpsc queues.
pub type PusService17TestHandlerStaticWithMpsc = PusService17TestHandler<
MpscTcReceiver,
TmInSharedPoolSenderWithMpsc,
MpscTmInSharedPoolSender,
EcssTcInSharedStoreConverter,
VerificationReporterWithSharedPoolMpscSender,
VerificationReporter,
>;
/// Helper type definition for a PUS 17 handler with a shared store TMTC memory backend and bounded
/// mpsc queues.
pub type PusService17TestHandlerStaticWithBoundedMpsc = PusService17TestHandler<
MpscTcReceiver,
TmInSharedPoolSenderWithBoundedMpsc,
MpscTmInSharedPoolSenderBounded,
EcssTcInSharedStoreConverter,
VerificationReporterWithSharedPoolMpscBoundedSender,
VerificationReporter,
>;
#[cfg(test)]
mod tests {
use crate::pus::test_util::{PusTestHarness, SimplePusPacketHandler, TEST_APID};
use crate::pus::tests::{
PusServiceHandlerWithSharedStoreCommon, PusServiceHandlerWithVecCommon, PusTestHarness,
SimplePusPacketHandler, TEST_APID,
PusServiceHandlerWithSharedStoreCommon, PusServiceHandlerWithVecCommon,
};
use crate::pus::verification::std_mod::{
VerificationReporterWithSharedPoolMpscBoundedSender, VerificationReporterWithVecMpscSender,
use crate::pus::verification::{
RequestId, VerificationReporter, VerificationReportingProvider,
};
use crate::pus::verification::RequestId;
use crate::pus::verification::{TcStateAccepted, VerificationToken};
use crate::pus::{
EcssTcInSharedStoreConverter, EcssTcInVecConverter, MpscTcReceiver, PusPacketHandlerResult,
PusPacketHandlingError, TmAsVecSenderWithMpsc, TmInSharedPoolSenderWithBoundedMpsc,
EcssTcInSharedStoreConverter, EcssTcInVecConverter, GenericConversionError, MpscTcReceiver,
MpscTmAsVecSender, MpscTmInSharedPoolSenderBounded, PusPacketHandlerResult,
PusPacketHandlingError,
};
use crate::ComponentId;
use delegate::delegate;
use spacepackets::ecss::tc::{PusTcCreator, PusTcSecondaryHeader};
use spacepackets::ecss::tm::PusTmReader;
use spacepackets::ecss::PusPacket;
use spacepackets::time::{cds, TimeWriter};
use spacepackets::{SequenceFlags, SpHeader};
use super::PusService17TestHandler;
@ -176,15 +185,15 @@ mod tests {
common: PusServiceHandlerWithSharedStoreCommon,
handler: PusService17TestHandler<
MpscTcReceiver,
TmInSharedPoolSenderWithBoundedMpsc,
MpscTmInSharedPoolSenderBounded,
EcssTcInSharedStoreConverter,
VerificationReporterWithSharedPoolMpscBoundedSender,
VerificationReporter,
>,
}
impl Pus17HandlerWithStoreTester {
pub fn new() -> Self {
let (common, srv_handler) = PusServiceHandlerWithSharedStoreCommon::new();
pub fn new(id: ComponentId) -> Self {
let (common, srv_handler) = PusServiceHandlerWithSharedStoreCommon::new(id);
let pus_17_handler = PusService17TestHandler::new(srv_handler);
Self {
common,
@ -194,10 +203,24 @@ mod tests {
}
impl PusTestHarness for Pus17HandlerWithStoreTester {
fn init_verification(&mut self, tc: &PusTcCreator) -> VerificationToken<TcStateAccepted> {
let init_token = self.handler.service_helper.verif_reporter_mut().add_tc(tc);
self.handler
.service_helper
.verif_reporter()
.acceptance_success(
self.handler.service_helper.id(),
self.handler.service_helper.tm_sender(),
init_token,
&[0; 7],
)
.expect("acceptance success failure")
}
delegate! {
to self.common {
fn send_tc(&mut self, tc: &PusTcCreator) -> VerificationToken<TcStateAccepted>;
fn read_next_tm(&mut self) -> PusTmReader<'_>;
fn send_tc(&self, token: &VerificationToken<TcStateAccepted>, tc: &PusTcCreator);
fn check_no_tm_available(&self) -> bool;
fn check_next_verification_tm(
&self,
@ -208,27 +231,26 @@ mod tests {
}
}
impl SimplePusPacketHandler for Pus17HandlerWithStoreTester {
delegate! {
to self.handler {
fn handle_one_tc(&mut self) -> Result<PusPacketHandlerResult, PusPacketHandlingError>;
}
fn handle_one_tc(&mut self) -> Result<PusPacketHandlerResult, PusPacketHandlingError> {
let time_stamp = cds::CdsTime::new_with_u16_days(0, 0).to_vec().unwrap();
self.handler.poll_and_handle_next_tc(&time_stamp)
}
}
struct Pus17HandlerWithVecTester {
common: PusServiceHandlerWithVecCommon<VerificationReporterWithVecMpscSender>,
common: PusServiceHandlerWithVecCommon,
handler: PusService17TestHandler<
MpscTcReceiver,
TmAsVecSenderWithMpsc,
MpscTmAsVecSender,
EcssTcInVecConverter,
VerificationReporterWithVecMpscSender,
VerificationReporter,
>,
}
impl Pus17HandlerWithVecTester {
pub fn new() -> Self {
pub fn new(id: ComponentId) -> Self {
let (common, srv_handler) =
PusServiceHandlerWithVecCommon::new_with_standard_verif_reporter();
PusServiceHandlerWithVecCommon::new_with_standard_verif_reporter(id);
Self {
common,
handler: PusService17TestHandler::new(srv_handler),
@ -237,9 +259,23 @@ mod tests {
}
impl PusTestHarness for Pus17HandlerWithVecTester {
fn init_verification(&mut self, tc: &PusTcCreator) -> VerificationToken<TcStateAccepted> {
let init_token = self.handler.service_helper.verif_reporter_mut().add_tc(tc);
self.handler
.service_helper
.verif_reporter()
.acceptance_success(
self.handler.service_helper.id(),
self.handler.service_helper.tm_sender(),
init_token,
&[0; 7],
)
.expect("acceptance success failure")
}
delegate! {
to self.common {
fn send_tc(&mut self, tc: &PusTcCreator) -> VerificationToken<TcStateAccepted>;
fn send_tc(&self, token: &VerificationToken<TcStateAccepted>, tc: &PusTcCreator);
fn read_next_tm(&mut self) -> PusTmReader<'_>;
fn check_no_tm_available(&self) -> bool;
fn check_next_verification_tm(
@ -251,10 +287,9 @@ mod tests {
}
}
impl SimplePusPacketHandler for Pus17HandlerWithVecTester {
delegate! {
to self.handler {
fn handle_one_tc(&mut self) -> Result<PusPacketHandlerResult, PusPacketHandlingError>;
}
fn handle_one_tc(&mut self) -> Result<PusPacketHandlerResult, PusPacketHandlingError> {
let time_stamp = cds::CdsTime::new_with_u16_days(0, 0).to_vec().unwrap();
self.handler.poll_and_handle_next_tc(&time_stamp)
}
}
@ -263,8 +298,9 @@ mod tests {
let mut sp_header = SpHeader::tc(TEST_APID, SequenceFlags::Unsegmented, 0, 0).unwrap();
let sec_header = PusTcSecondaryHeader::new_simple(17, 1);
let ping_tc = PusTcCreator::new_no_app_data(&mut sp_header, sec_header, true);
let token = test_harness.send_tc(&ping_tc);
let request_id = token.req_id();
let token = test_harness.init_verification(&ping_tc);
test_harness.send_tc(&token, &ping_tc);
let request_id = token.request_id();
let result = test_harness.handle_one_tc();
assert!(result.is_ok());
// We should see 4 replies in the TM queue now: Acceptance TM, Start TM, ping reply and
@ -288,19 +324,19 @@ mod tests {
#[test]
fn test_basic_ping_processing_using_store() {
let mut test_harness = Pus17HandlerWithStoreTester::new();
let mut test_harness = Pus17HandlerWithStoreTester::new(0);
ping_test(&mut test_harness);
}
#[test]
fn test_basic_ping_processing_using_vec() {
let mut test_harness = Pus17HandlerWithVecTester::new();
let mut test_harness = Pus17HandlerWithVecTester::new(0);
ping_test(&mut test_harness);
}
#[test]
fn test_empty_tc_queue() {
let mut test_harness = Pus17HandlerWithStoreTester::new();
let mut test_harness = Pus17HandlerWithStoreTester::new(0);
let result = test_harness.handle_one_tc();
assert!(result.is_ok());
let result = result.unwrap();
@ -312,15 +348,19 @@ mod tests {
#[test]
fn test_sending_unsupported_service() {
let mut test_harness = Pus17HandlerWithStoreTester::new();
let mut test_harness = Pus17HandlerWithStoreTester::new(0);
let mut sp_header = SpHeader::tc(TEST_APID, SequenceFlags::Unsegmented, 0, 0).unwrap();
let sec_header = PusTcSecondaryHeader::new_simple(3, 1);
let ping_tc = PusTcCreator::new_no_app_data(&mut sp_header, sec_header, true);
test_harness.send_tc(&ping_tc);
let token = test_harness.init_verification(&ping_tc);
test_harness.send_tc(&token, &ping_tc);
let result = test_harness.handle_one_tc();
assert!(result.is_err());
let error = result.unwrap_err();
if let PusPacketHandlingError::WrongService(num) = error {
if let PusPacketHandlingError::RequestConversion(GenericConversionError::WrongService(
num,
)) = error
{
assert_eq!(num, 3);
} else {
panic!("unexpected error type {error}")
@ -329,11 +369,12 @@ mod tests {
#[test]
fn test_sending_custom_subservice() {
let mut test_harness = Pus17HandlerWithStoreTester::new();
let mut test_harness = Pus17HandlerWithStoreTester::new(0);
let mut sp_header = SpHeader::tc(TEST_APID, SequenceFlags::Unsegmented, 0, 0).unwrap();
let sec_header = PusTcSecondaryHeader::new_simple(17, 200);
let ping_tc = PusTcCreator::new_no_app_data(&mut sp_header, sec_header, true);
test_harness.send_tc(&ping_tc);
let token = test_harness.init_verification(&ping_tc);
test_harness.send_tc(&token, &ping_tc);
let result = test_harness.handle_one_tc();
assert!(result.is_ok());
let result = result.unwrap();

2097
satrs/src/pus/verification.rs
View File

File diff suppressed because it is too large Load Diff

61
satrs/src/queue.rs
View File

@ -4,11 +4,17 @@ use std::error::Error;
#[cfg(feature = "std")]
use std::sync::mpsc;
use crate::ComponentId;
/// Generic channel ID type.
pub type ChannelId = u32;
/// Generic error type for sending something via a message queue.
#[derive(Debug, Copy, Clone)]
#[derive(Debug, Copy, Clone, PartialEq, Eq)]
pub enum GenericSendError {
RxDisconnected,
QueueFull(Option<u32>),
TargetDoesNotExist(ComponentId),
}
impl Display for GenericSendError {
@ -20,6 +26,9 @@ impl Display for GenericSendError {
GenericSendError::QueueFull(max_cap) => {
write!(f, "queue with max capacity of {max_cap:?} is full")
}
GenericSendError::TargetDoesNotExist(target) => {
write!(f, "target queue with ID {target} does not exist")
}
}
}
}
@ -28,17 +37,17 @@ impl Display for GenericSendError {
impl Error for GenericSendError {}
/// Generic error type for sending something via a message queue.
#[derive(Debug, Copy, Clone)]
pub enum GenericRecvError {
#[derive(Debug, Copy, Clone, PartialEq, Eq)]
pub enum GenericReceiveError {
Empty,
TxDisconnected,
TxDisconnected(Option<ComponentId>),
}
impl Display for GenericRecvError {
impl Display for GenericReceiveError {
fn fmt(&self, f: &mut Formatter<'_>) -> core::fmt::Result {
match self {
Self::TxDisconnected => {
write!(f, "tx side has disconnected")
Self::TxDisconnected(channel_id) => {
write!(f, "tx side with id {channel_id:?} has disconnected")
}
Self::Empty => {
write!(f, "nothing to receive")
@ -48,7 +57,43 @@ impl Display for GenericRecvError {
}
#[cfg(feature = "std")]
impl Error for GenericRecvError {}
impl Error for GenericReceiveError {}
#[derive(Debug, Clone)]
pub enum GenericTargetedMessagingError {
Send(GenericSendError),
Receive(GenericReceiveError),
}
impl From<GenericSendError> for GenericTargetedMessagingError {
fn from(value: GenericSendError) -> Self {
Self::Send(value)
}
}
impl From<GenericReceiveError> for GenericTargetedMessagingError {
fn from(value: GenericReceiveError) -> Self {
Self::Receive(value)
}
}
impl Display for GenericTargetedMessagingError {
fn fmt(&self, f: &mut Formatter<'_>) -> core::fmt::Result {
match self {
Self::Send(err) => write!(f, "generic targeted messaging error: {}", err),
Self::Receive(err) => write!(f, "generic targeted messaging error: {}", err),
}
}
}
#[cfg(feature = "std")]
impl Error for GenericTargetedMessagingError {
fn source(&self) -> Option<&(dyn Error + 'static)> {
match self {
GenericTargetedMessagingError::Send(send) => Some(send),
GenericTargetedMessagingError::Receive(receive) => Some(receive),
}
}
}
#[cfg(feature = "std")]
impl<T> From<mpsc::SendError<T>> for GenericSendError {

633
satrs/src/request.rs
View File

@ -1,110 +1,587 @@
use core::fmt;
use core::{fmt, marker::PhantomData};
#[cfg(feature = "serde")]
use serde::{Deserialize, Serialize};
#[cfg(feature = "alloc")]
#[cfg_attr(doc_cfg, doc(cfg(feature = "alloc")))]
pub use alloc_mod::*;
#[cfg(feature = "std")]
use std::error::Error;
#[cfg_attr(doc_cfg, doc(cfg(feature = "std")))]
pub use std_mod::*;
use spacepackets::{
ecss::{tc::IsPusTelecommand, PusPacket},
ByteConversionError, CcsdsPacket,
};
use crate::TargetId;
use crate::{queue::GenericTargetedMessagingError, ComponentId};
/// Generic request ID type. Requests can be associated with an ID to have a unique identifier
/// for them. This can be useful for tasks like tracking their progress.
pub type RequestId = u32;
/// CCSDS APID type definition. Please note that the APID is a 14 bit value.
pub type Apid = u16;
#[derive(Debug, Clone, PartialEq, Eq)]
pub enum TargetIdCreationError {
ByteConversion(ByteConversionError),
NotEnoughAppData(usize),
#[derive(Copy, Clone, PartialEq, Eq, Hash, Debug)]
pub struct UniqueApidTargetId {
pub apid: Apid,
pub unique_id: u32,
}
impl From<ByteConversionError> for TargetIdCreationError {
fn from(e: ByteConversionError) -> Self {
Self::ByteConversion(e)
impl UniqueApidTargetId {
pub const fn new(apid: Apid, target: u32) -> Self {
Self {
apid,
unique_id: target,
}
}
pub fn raw(&self) -> ComponentId {
((self.apid as u64) << 32) | (self.unique_id as u64)
}
pub fn id(&self) -> ComponentId {
self.raw()
}
/// This function attempts to build the ID from a PUS telecommand by extracting the APID
/// and the first four bytes of the application data field as the target field.
pub fn from_pus_tc(
tc: &(impl CcsdsPacket + PusPacket + IsPusTelecommand),
) -> Result<Self, ByteConversionError> {
if tc.user_data().len() < 4 {
return Err(ByteConversionError::FromSliceTooSmall {
found: tc.user_data().len(),
expected: 4,
});
}
Ok(Self::new(
tc.apid(),
u32::from_be_bytes(tc.user_data()[0..4].try_into().unwrap()),
))
}
}
impl fmt::Display for TargetIdCreationError {
impl From<u64> for UniqueApidTargetId {
fn from(raw: u64) -> Self {
Self {
apid: (raw >> 32) as u16,
unique_id: raw as u32,
}
}
}
impl From<UniqueApidTargetId> for u64 {
fn from(target_and_apid_id: UniqueApidTargetId) -> Self {
target_and_apid_id.raw()
}
}
impl fmt::Display for UniqueApidTargetId {
fn fmt(&self, f: &mut fmt::Formatter) -> fmt::Result {
match self {
Self::ByteConversion(e) => write!(f, "target ID creation: {}", e),
Self::NotEnoughAppData(len) => {
write!(f, "not enough app data to generate target ID: {}", len)
write!(
f,
"Target and APID ID with APID {:#03x} and target {}",
self.apid, self.unique_id
)
}
}
#[derive(Debug, Copy, PartialEq, Eq, Clone)]
#[cfg_attr(feature = "serde", derive(Serialize, Deserialize))]
pub struct MessageMetadata {
request_id: RequestId,
sender_id: ComponentId,
}
impl MessageMetadata {
pub const fn new(request_id: RequestId, sender_id: ComponentId) -> Self {
Self {
request_id,
sender_id,
}
}
pub fn request_id(&self) -> RequestId {
self.request_id
}
pub fn sender_id(&self) -> ComponentId {
self.sender_id
}
}
/// Generic message type which is associated with a sender using a [ChannelId] and associated
/// with a request using a [RequestId].
#[derive(Debug, Clone, PartialEq, Eq)]
#[cfg_attr(feature = "serde", derive(Serialize, Deserialize))]
pub struct GenericMessage<MSG> {
pub requestor_info: MessageMetadata,
pub message: MSG,
}
impl<MSG> GenericMessage<MSG> {
pub fn new(requestor_info: MessageMetadata, message: MSG) -> Self {
Self {
requestor_info,
message,
}
}
delegate::delegate! {
to self.requestor_info {
pub fn request_id(&self) -> RequestId;
pub fn sender_id(&self) -> ComponentId;
}
}
}
/// Generic trait for objects which can send targeted messages.
pub trait MessageSender<MSG>: Send {
fn send(&self, message: GenericMessage<MSG>) -> Result<(), GenericTargetedMessagingError>;
}
// Generic trait for objects which can receive targeted messages.
pub trait MessageReceiver<MSG> {
fn try_recv(&self) -> Result<Option<GenericMessage<MSG>>, GenericTargetedMessagingError>;
}
pub struct MessageWithSenderIdReceiver<MSG, R: MessageReceiver<MSG>>(pub R, PhantomData<MSG>);
impl<MSG, R: MessageReceiver<MSG>> From<R> for MessageWithSenderIdReceiver<MSG, R> {
fn from(receiver: R) -> Self {
MessageWithSenderIdReceiver(receiver, PhantomData)
}
}
impl<MSG, R: MessageReceiver<MSG>> MessageWithSenderIdReceiver<MSG, R> {
pub fn try_recv_message(
&self,
) -> Result<Option<GenericMessage<MSG>>, GenericTargetedMessagingError> {
self.0.try_recv()
}
}
pub struct MessageReceiverWithId<MSG, R: MessageReceiver<MSG>> {
local_channel_id: ComponentId,
reply_receiver: MessageWithSenderIdReceiver<MSG, R>,
}
impl<MSG, R: MessageReceiver<MSG>> MessageReceiverWithId<MSG, R> {
pub fn new(local_channel_id: ComponentId, reply_receiver: R) -> Self {
Self {
local_channel_id,
reply_receiver: MessageWithSenderIdReceiver::from(reply_receiver),
}
}
pub fn local_channel_id(&self) -> ComponentId {
self.local_channel_id
}
}
impl<MSG, R: MessageReceiver<MSG>> MessageReceiverWithId<MSG, R> {
pub fn try_recv_message(
&self,
) -> Result<Option<GenericMessage<MSG>>, GenericTargetedMessagingError> {
self.reply_receiver.0.try_recv()
}
}
#[cfg(feature = "alloc")]
#[cfg_attr(doc_cfg, doc(cfg(feature = "alloc")))]
pub mod alloc_mod {
use core::marker::PhantomData;
use crate::queue::GenericSendError;
use super::*;
use hashbrown::HashMap;
pub struct MessageSenderMap<MSG, S: MessageSender<MSG>>(
pub HashMap<ComponentId, S>,
pub(crate) PhantomData<MSG>,
);
impl<MSG, S: MessageSender<MSG>> Default for MessageSenderMap<MSG, S> {
fn default() -> Self {
Self(Default::default(), PhantomData)
}
}
impl<MSG, S: MessageSender<MSG>> MessageSenderMap<MSG, S> {
pub fn add_message_target(&mut self, target_id: ComponentId, message_sender: S) {
self.0.insert(target_id, message_sender);
}
pub fn send_message(
&self,
requestor_info: MessageMetadata,
target_channel_id: ComponentId,
message: MSG,
) -> Result<(), GenericTargetedMessagingError> {
if self.0.contains_key(&target_channel_id) {
return self
.0
.get(&target_channel_id)
.unwrap()
.send(GenericMessage::new(requestor_info, message));
}
Err(GenericSendError::TargetDoesNotExist(target_channel_id).into())
}
}
pub struct MessageSenderAndReceiver<TO, FROM, S: MessageSender<TO>, R: MessageReceiver<FROM>> {
pub local_channel_id: ComponentId,
pub message_sender_map: MessageSenderMap<TO, S>,
pub message_receiver: MessageWithSenderIdReceiver<FROM, R>,
}
impl<TO, FROM, S: MessageSender<TO>, R: MessageReceiver<FROM>>
MessageSenderAndReceiver<TO, FROM, S, R>
{
pub fn new(local_channel_id: ComponentId, message_receiver: R) -> Self {
Self {
local_channel_id,
message_sender_map: Default::default(),
message_receiver: MessageWithSenderIdReceiver::from(message_receiver),
}
}
pub fn add_message_target(&mut self, target_id: ComponentId, message_sender: S) {
self.message_sender_map
.add_message_target(target_id, message_sender)
}
pub fn local_channel_id_generic(&self) -> ComponentId {
self.local_channel_id
}
/// Try to send a message, which can be a reply or a request, depending on the generics.
pub fn send_message(
&self,
request_id: RequestId,
target_id: ComponentId,
message: TO,
) -> Result<(), GenericTargetedMessagingError> {
self.message_sender_map.send_message(
MessageMetadata::new(request_id, self.local_channel_id_generic()),
target_id,
message,
)
}
/// Try to receive a message, which can be a reply or a request, depending on the generics.
pub fn try_recv_message(
&self,
) -> Result<Option<GenericMessage<FROM>>, GenericTargetedMessagingError> {
self.message_receiver.try_recv_message()
}
}
pub struct RequestAndReplySenderAndReceiver<
REQUEST,
REPLY,
S0: MessageSender<REQUEST>,
R0: MessageReceiver<REPLY>,
S1: MessageSender<REPLY>,
R1: MessageReceiver<REQUEST>,
> {
pub local_channel_id: ComponentId,
// These 2 are a functional group.
pub request_sender_map: MessageSenderMap<REQUEST, S0>,
pub reply_receiver: MessageWithSenderIdReceiver<REPLY, R0>,
// These 2 are a functional group.
pub request_receiver: MessageWithSenderIdReceiver<REQUEST, R1>,
pub reply_sender_map: MessageSenderMap<REPLY, S1>,
}
impl<
REQUEST,
REPLY,
S0: MessageSender<REQUEST>,
R0: MessageReceiver<REPLY>,
S1: MessageSender<REPLY>,
R1: MessageReceiver<REQUEST>,
> RequestAndReplySenderAndReceiver<REQUEST, REPLY, S0, R0, S1, R1>
{
pub fn new(
local_channel_id: ComponentId,
request_receiver: R1,
reply_receiver: R0,
) -> Self {
Self {
local_channel_id,
request_receiver: request_receiver.into(),
reply_receiver: reply_receiver.into(),
request_sender_map: Default::default(),
reply_sender_map: Default::default(),
}
}
pub fn local_channel_id_generic(&self) -> ComponentId {
self.local_channel_id
}
}
}
#[cfg(feature = "std")]
impl Error for TargetIdCreationError {
fn source(&self) -> Option<&(dyn Error + 'static)> {
if let Self::ByteConversion(e) = self {
return Some(e);
#[cfg_attr(doc_cfg, doc(cfg(feature = "std")))]
pub mod std_mod {
use super::*;
use std::sync::mpsc;
use crate::queue::{GenericReceiveError, GenericSendError, GenericTargetedMessagingError};
impl<MSG: Send> MessageSender<MSG> for mpsc::Sender<GenericMessage<MSG>> {
fn send(&self, message: GenericMessage<MSG>) -> Result<(), GenericTargetedMessagingError> {
self.send(message)
.map_err(|_| GenericSendError::RxDisconnected)?;
Ok(())
}
None
}
}
#[derive(Copy, Clone, PartialEq, Eq, Hash, Debug)]
pub struct TargetAndApidId {
pub apid: Apid,
pub target: u32,
}
impl TargetAndApidId {
pub fn new(apid: Apid, target: u32) -> Self {
Self { apid, target }
}
pub fn apid(&self) -> Apid {
self.apid
}
pub fn target(&self) -> u32 {
self.target
}
pub fn raw(&self) -> TargetId {
((self.apid as u64) << 32) | (self.target as u64)
}
pub fn target_id(&self) -> TargetId {
self.raw()
}
pub fn from_pus_tc(
tc: &(impl CcsdsPacket + PusPacket + IsPusTelecommand),
) -> Result<Self, TargetIdCreationError> {
if tc.user_data().len() < 4 {
return Err(ByteConversionError::FromSliceTooSmall {
found: tc.user_data().len(),
expected: 8,
impl<MSG: Send> MessageSender<MSG> for mpsc::SyncSender<GenericMessage<MSG>> {
fn send(&self, message: GenericMessage<MSG>) -> Result<(), GenericTargetedMessagingError> {
if let Err(e) = self.try_send(message) {
return match e {
mpsc::TrySendError::Full(_) => Err(GenericSendError::QueueFull(None).into()),
mpsc::TrySendError::Disconnected(_) => {
Err(GenericSendError::RxDisconnected.into())
}
};
}
.into());
Ok(())
}
Ok(Self {
apid: tc.apid(),
target: u32::from_be_bytes(tc.user_data()[0..4].try_into().unwrap()),
})
}
pub type MessageSenderMapMpsc<MSG> = MessageReceiverWithId<MSG, mpsc::Sender<MSG>>;
pub type MessageSenderMapBoundedMpsc<MSG> = MessageReceiverWithId<MSG, mpsc::SyncSender<MSG>>;
impl<MSG> MessageReceiver<MSG> for mpsc::Receiver<GenericMessage<MSG>> {
fn try_recv(&self) -> Result<Option<GenericMessage<MSG>>, GenericTargetedMessagingError> {
match self.try_recv() {
Ok(msg) => Ok(Some(msg)),
Err(e) => match e {
mpsc::TryRecvError::Empty => Ok(None),
mpsc::TryRecvError::Disconnected => {
Err(GenericReceiveError::TxDisconnected(None).into())
}
},
}
}
}
pub type MessageReceiverWithIdMpsc<MSG> = MessageReceiverWithId<MSG, mpsc::Receiver<MSG>>;
}
impl From<u64> for TargetAndApidId {
fn from(raw: u64) -> Self {
Self {
apid: (raw >> 32) as u16,
target: raw as u32,
#[cfg(test)]
mod tests {
use std::sync::mpsc;
use alloc::string::ToString;
use spacepackets::{
ecss::tc::{PusTcCreator, PusTcSecondaryHeader},
ByteConversionError, SpHeader,
};
use crate::{
queue::{GenericReceiveError, GenericSendError, GenericTargetedMessagingError},
request::{MessageMetadata, MessageSenderMap},
};
use super::{GenericMessage, MessageReceiverWithId, UniqueApidTargetId};
const TEST_CHANNEL_ID_0: u64 = 1;
const TEST_CHANNEL_ID_1: u64 = 2;
const TEST_CHANNEL_ID_2: u64 = 3;
#[test]
fn test_basic_target_id_with_apid() {
let id = UniqueApidTargetId::new(0x111, 0x01);
assert_eq!(id.apid, 0x111);
assert_eq!(id.unique_id, 0x01);
assert_eq!(id.id(), id.raw());
assert_eq!(u64::from(id), id.raw());
let id_raw = id.raw();
let id_from_raw = UniqueApidTargetId::from(id_raw);
assert_eq!(id_from_raw, id);
assert_eq!(id.id(), (0x111 << 32) | 0x01);
let string = id.to_string();
assert_eq!(
string,
"Target and APID ID with APID 0x111 and target 1".to_string()
);
}
#[test]
fn test_basic_target_id_with_apid_from_pus_tc() {
let mut sp_header = SpHeader::tc_unseg(0x111, 5, 0).unwrap();
let app_data = 1_u32.to_be_bytes();
let pus_tc = PusTcCreator::new_simple(&mut sp_header, 17, 1, Some(&app_data), true);
let id = UniqueApidTargetId::from_pus_tc(&pus_tc).unwrap();
assert_eq!(id.apid, 0x111);
assert_eq!(id.unique_id, 1);
}
#[test]
fn test_basic_target_id_with_apid_from_pus_tc_invalid_app_data() {
let mut sp_header = SpHeader::tc_unseg(0x111, 5, 0).unwrap();
let sec_header = PusTcSecondaryHeader::new_simple(17, 1);
let pus_tc = PusTcCreator::new_no_app_data(&mut sp_header, sec_header, true);
let error = UniqueApidTargetId::from_pus_tc(&pus_tc);
assert!(error.is_err());
let error = error.unwrap_err();
if let ByteConversionError::FromSliceTooSmall { found, expected } = error {
assert_eq!(found, 0);
assert_eq!(expected, 4);
} else {
panic!("Unexpected error type");
}
}
#[test]
fn test_receiver_only() {
let (sender, receiver) = mpsc::channel();
// Test structure with only a receiver which has a channel ID.
let receiver = MessageReceiverWithId::new(TEST_CHANNEL_ID_0, receiver);
let request_id = 5;
sender
.send(GenericMessage::new(
MessageMetadata::new(request_id, TEST_CHANNEL_ID_1),
5,
))
.unwrap();
let reply = receiver.try_recv_message().unwrap();
assert!(reply.is_some());
assert_eq!(receiver.local_channel_id(), TEST_CHANNEL_ID_0);
let reply = reply.unwrap();
assert_eq!(reply.requestor_info.request_id, request_id);
assert_eq!(reply.requestor_info.sender_id, TEST_CHANNEL_ID_1);
assert_eq!(reply.message, 5);
}
#[test]
fn test_receiver_empty() {
let (_sender, receiver) = mpsc::sync_channel::<GenericMessage<i32>>(2);
// Test structure with only a receiver which has a channel ID.
let receiver = MessageReceiverWithId::new(TEST_CHANNEL_ID_0, receiver);
let reply = receiver.try_recv_message().unwrap();
assert!(reply.is_none());
}
#[test]
fn test_all_tx_disconnected() {
let (sender, receiver) = mpsc::sync_channel::<GenericMessage<i32>>(2);
// Test structure with only a receiver which has a channel ID.
let receiver = MessageReceiverWithId::new(TEST_CHANNEL_ID_0, receiver);
drop(sender);
let reply = receiver.try_recv_message();
assert!(reply.is_err());
let error = reply.unwrap_err();
if let GenericTargetedMessagingError::Receive(GenericReceiveError::TxDisconnected(None)) =
error
{
} else {
panic!("unexpected error type");
}
}
#[test]
fn test_sender_map() {
let (sender0, receiver0) = mpsc::channel();
let (sender1, receiver1) = mpsc::channel();
let mut sender_map = MessageSenderMap::default();
sender_map.add_message_target(TEST_CHANNEL_ID_1, sender0);
sender_map.add_message_target(TEST_CHANNEL_ID_2, sender1);
sender_map
.send_message(
MessageMetadata::new(1, TEST_CHANNEL_ID_0),
TEST_CHANNEL_ID_1,
5,
)
.expect("sending message failed");
let mut reply = receiver0.recv().expect("receiving message failed");
assert_eq!(reply.request_id(), 1);
assert_eq!(reply.sender_id(), TEST_CHANNEL_ID_0);
assert_eq!(reply.message, 5);
sender_map
.send_message(
MessageMetadata::new(2, TEST_CHANNEL_ID_0),
TEST_CHANNEL_ID_2,
10,
)
.expect("sending message failed");
reply = receiver1.recv().expect("receiving message failed");
assert_eq!(reply.request_id(), 2);
assert_eq!(reply.sender_id(), TEST_CHANNEL_ID_0);
assert_eq!(reply.message, 10);
}
#[test]
fn test_sender_map_target_does_not_exist() {
let (sender0, _) = mpsc::channel();
let mut sender_map_with_id = MessageSenderMap::default();
sender_map_with_id.add_message_target(TEST_CHANNEL_ID_1, sender0);
let result = sender_map_with_id.send_message(
MessageMetadata::new(1, TEST_CHANNEL_ID_0),
TEST_CHANNEL_ID_2,
5,
);
assert!(result.is_err());
let error = result.unwrap_err();
if let GenericTargetedMessagingError::Send(GenericSendError::TargetDoesNotExist(target)) =
error
{
assert_eq!(target, TEST_CHANNEL_ID_2);
} else {
panic!("Unexpected error type");
}
}
#[test]
fn test_sender_map_queue_full() {
let (sender0, _receiver0) = mpsc::sync_channel(1);
let mut sender_map_with_id = MessageSenderMap::default();
sender_map_with_id.add_message_target(TEST_CHANNEL_ID_1, sender0);
sender_map_with_id
.send_message(
MessageMetadata::new(1, TEST_CHANNEL_ID_0),
TEST_CHANNEL_ID_1,
5,
)
.expect("sending message failed");
let result = sender_map_with_id.send_message(
MessageMetadata::new(1, TEST_CHANNEL_ID_0),
TEST_CHANNEL_ID_1,
5,
);
assert!(result.is_err());
let error = result.unwrap_err();
if let GenericTargetedMessagingError::Send(GenericSendError::QueueFull(capacity)) = error {
assert!(capacity.is_none());
} else {
panic!("Unexpected error type {}", error);
}
}
#[test]
fn test_sender_map_queue_receiver_disconnected() {
let (sender0, receiver0) = mpsc::sync_channel(1);
let mut sender_map_with_id = MessageSenderMap::default();
sender_map_with_id.add_message_target(TEST_CHANNEL_ID_1, sender0);
drop(receiver0);
let result = sender_map_with_id.send_message(
MessageMetadata::new(1, TEST_CHANNEL_ID_0),
TEST_CHANNEL_ID_1,
5,
);
assert!(result.is_err());
let error = result.unwrap_err();
if let GenericTargetedMessagingError::Send(GenericSendError::RxDisconnected) = error {
} else {
panic!("Unexpected error type {}", error);
}
}
}
impl From<TargetAndApidId> for u64 {
fn from(target_and_apid_id: TargetAndApidId) -> Self {
target_and_apid_id.raw()
}
}
impl fmt::Display for TargetAndApidId {
fn fmt(&self, f: &mut fmt::Formatter) -> fmt::Result {
write!(f, "{}, {}", self.apid, self.target)
}
}

7
satrs/src/time.rs Normal file
View File

@ -0,0 +1,7 @@
use core::fmt::Debug;
/// Generic abstraction for a check/countdown timer.
pub trait CountdownProvider: Debug {
fn has_expired(&self) -> bool;
fn reset(&mut self);
}

1
satrs/src/tmtc/ccsds_distrib.rs
View File

@ -96,6 +96,7 @@ use std::error::Error;
pub trait CcsdsPacketHandler {
type Error;
// TODO: Rework this to return a boolean based on u16 input..
fn valid_apids(&self) -> &'static [u16];
fn handle_known_apid(&mut self, sp_header: &SpHeader, tc_raw: &[u8])
-> Result<(), Self::Error>;

6
satrs/src/tmtc/tm_helper.rs
View File

@ -8,7 +8,9 @@ pub use std_mod::*;
#[cfg(feature = "std")]
pub mod std_mod {
use crate::pool::{PoolProvider, SharedStaticMemoryPool, StaticMemoryPool, StoreAddr};
use crate::pool::{
PoolProvider, SharedStaticMemoryPool, StaticMemoryPool, StoreAddr, StoreError,
};
use crate::pus::EcssTmtcError;
use spacepackets::ecss::tm::PusTmCreator;
use spacepackets::ecss::WritablePusPacket;
@ -34,7 +36,7 @@ pub mod std_mod {
}
pub fn add_pus_tm(&self, pus_tm: &PusTmCreator) -> Result<StoreAddr, EcssTmtcError> {
let mut pg = self.0.write().map_err(|_| EcssTmtcError::StoreLock)?;
let mut pg = self.0.write().map_err(|_| StoreError::LockError)?;
let addr = pg.free_element(pus_tm.len_written(), |buf| {
pus_tm
.write_to_bytes(buf)

358
satrs/tests/mode_tree.rs Normal file
View File

@ -0,0 +1,358 @@
use core::cell::Cell;
use std::{println, sync::mpsc};
use satrs::mode::{
ModeError, ModeProvider, ModeReplyReceiver, ModeReplySender, ModeRequestHandler,
ModeRequestHandlerMpscBounded, ModeRequestReceiver, ModeRequestorAndHandlerMpscBounded,
ModeRequestorBoundedMpsc,
};
use satrs::request::MessageMetadata;
use satrs::{
mode::{ModeAndSubmode, ModeReply, ModeRequest},
queue::GenericTargetedMessagingError,
request::GenericMessage,
ComponentId,
};
use std::string::{String, ToString};
pub enum TestComponentId {
Device1 = 1,
Device2 = 2,
Assembly = 3,
PusModeService = 4,
}
struct PusModeService {
pub request_id_counter: Cell<u32>,
pub mode_node: ModeRequestorBoundedMpsc,
}
impl PusModeService {
pub fn send_announce_mode_cmd_to_assy(&self) {
self.mode_node
.send_mode_request(
self.request_id_counter.get(),
TestComponentId::Assembly as ComponentId,
ModeRequest::AnnounceModeRecursive,
)
.unwrap();
self.request_id_counter
.replace(self.request_id_counter.get() + 1);
}
}
struct TestDevice {
pub name: String,
pub mode_node: ModeRequestHandlerMpscBounded,
pub mode_and_submode: ModeAndSubmode,
}
impl TestDevice {
pub fn run(&mut self) {
self.check_mode_requests().expect("mode messaging error");
}
pub fn check_mode_requests(&mut self) -> Result<(), ModeError> {
if let Some(request) = self.mode_node.try_recv_mode_request()? {
self.handle_mode_request(request)?
}
Ok(())
}
}
impl ModeProvider for TestDevice {
fn mode_and_submode(&self) -> ModeAndSubmode {
self.mode_and_submode
}
}
impl ModeRequestHandler for TestDevice {
type Error = ModeError;
fn start_transition(
&mut self,
requestor: MessageMetadata,
mode_and_submode: ModeAndSubmode,
) -> Result<(), ModeError> {
self.mode_and_submode = mode_and_submode;
self.handle_mode_reached(Some(requestor))?;
Ok(())
}
fn announce_mode(&self, _requestor_info: MessageMetadata, _recursive: bool) {
println!(
"{}: announcing mode: {:?}",
self.name, self.mode_and_submode
);
}
fn handle_mode_reached(&mut self, requestor: Option<MessageMetadata>) -> Result<(), ModeError> {
if let Some(requestor) = requestor {
self.send_mode_reply(requestor, ModeReply::ModeReply(self.mode_and_submode))?;
}
Ok(())
}
fn send_mode_reply(
&self,
requestor_info: MessageMetadata,
reply: ModeReply,
) -> Result<(), ModeError> {
self.mode_node.send_mode_reply(requestor_info, reply)?;
Ok(())
}
fn handle_mode_info(
&mut self,
requestor_info: MessageMetadata,
info: ModeAndSubmode,
) -> Result<(), ModeError> {
// A device is a leaf in the tree.. so this really should not happen
println!(
"{}: unexpected mode info from {:?} with mode: {:?}",
self.name,
requestor_info.sender_id(),
info
);
Ok(())
}
}
struct TestAssembly {
pub mode_node: ModeRequestorAndHandlerMpscBounded,
pub mode_requestor_info: Option<MessageMetadata>,
pub mode_and_submode: ModeAndSubmode,
pub target_mode_and_submode: Option<ModeAndSubmode>,
}
impl ModeProvider for TestAssembly {
fn mode_and_submode(&self) -> ModeAndSubmode {
self.mode_and_submode
}
}
impl TestAssembly {
pub fn run(&mut self) {
self.check_mode_requests().expect("mode messaging error");
self.check_mode_replies().expect("mode messaging error");
}
pub fn check_mode_requests(&mut self) -> Result<(), GenericTargetedMessagingError> {
if let Some(request) = self.mode_node.try_recv_mode_request()? {
match request.message {
ModeRequest::SetMode(mode_and_submode) => {
self.start_transition(request.requestor_info, mode_and_submode)
.unwrap();
}
ModeRequest::ReadMode => self
.mode_node
.send_mode_reply(
request.requestor_info,
ModeReply::ModeReply(self.mode_and_submode),
)
.unwrap(),
ModeRequest::AnnounceMode => self.announce_mode(request.requestor_info, false),
ModeRequest::AnnounceModeRecursive => {
self.announce_mode(request.requestor_info, true)
}
ModeRequest::ModeInfo(_) => todo!(),
}
}
Ok(())
}
pub fn check_mode_replies(&mut self) -> Result<(), GenericTargetedMessagingError> {
if let Some(reply_and_id) = self.mode_node.try_recv_mode_reply()? {
match reply_and_id.message {
ModeReply::ModeReply(reply) => {
println!(
"TestAssembly: Received mode reply from {:?}, reached: {:?}",
reply_and_id.sender_id(),
reply
);
}
ModeReply::CantReachMode(_) => todo!(),
ModeReply::WrongMode { expected, reached } => {
println!(
"TestAssembly: Wrong mode reply from {:?}, reached {:?}, expected {:?}",
reply_and_id.sender_id(),
reached,
expected
);
}
}
}
Ok(())
}
}
impl ModeRequestHandler for TestAssembly {
type Error = ModeError;
fn start_transition(
&mut self,
requestor: MessageMetadata,
mode_and_submode: ModeAndSubmode,
) -> Result<(), Self::Error> {
self.mode_requestor_info = Some(requestor);
self.target_mode_and_submode = Some(mode_and_submode);
Ok(())
}
fn announce_mode(&self, requestor_info: MessageMetadata, recursive: bool) {
println!(
"TestAssembly: Announcing mode (recursively: {}): {:?}",
recursive, self.mode_and_submode
);
// self.mode_requestor_info = Some((request_id, sender_id));
let mut mode_request = ModeRequest::AnnounceMode;
if recursive {
mode_request = ModeRequest::AnnounceModeRecursive;
}
self.mode_node
.request_sender_map
.0
.iter()
.for_each(|(_, sender)| {
sender
.send(GenericMessage::new(
MessageMetadata::new(
requestor_info.request_id(),
self.mode_node.local_channel_id_generic(),
),
mode_request,
))
.expect("sending mode request failed");
});
}
fn handle_mode_reached(
&mut self,
mode_requestor: Option<MessageMetadata>,
) -> Result<(), Self::Error> {
if let Some(requestor) = mode_requestor {
self.send_mode_reply(requestor, ModeReply::ModeReply(self.mode_and_submode))?;
}
Ok(())
}
fn send_mode_reply(
&self,
requestor: MessageMetadata,
reply: ModeReply,
) -> Result<(), Self::Error> {
self.mode_node.send_mode_reply(requestor, reply)?;
Ok(())
}
fn handle_mode_info(
&mut self,
_requestor_info: MessageMetadata,
_info: ModeAndSubmode,
) -> Result<(), Self::Error> {
// TODO: A proper assembly must reach to mode changes of its children..
Ok(())
}
}
fn main() {
// All request channel handles.
let (request_sender_to_dev1, request_receiver_dev1) = mpsc::sync_channel(10);
let (request_sender_to_dev2, request_receiver_dev2) = mpsc::sync_channel(10);
let (request_sender_to_assy, request_receiver_assy) = mpsc::sync_channel(10);
// All reply channel handles.
let (reply_sender_to_assy, reply_receiver_assy) = mpsc::sync_channel(10);
let (reply_sender_to_pus, reply_receiver_pus) = mpsc::sync_channel(10);
// Mode requestors and handlers.
let mut mode_node_assy = ModeRequestorAndHandlerMpscBounded::new(
TestComponentId::Assembly as ComponentId,
request_receiver_assy,
reply_receiver_assy,
);
// Mode requestors only.
let mut mode_node_pus = ModeRequestorBoundedMpsc::new(
TestComponentId::PusModeService as ComponentId,
reply_receiver_pus,
);
// Request handlers only.
let mut mode_node_dev1 = ModeRequestHandlerMpscBounded::new(
TestComponentId::Device1 as ComponentId,
request_receiver_dev1,
);
let mut mode_node_dev2 = ModeRequestHandlerMpscBounded::new(
TestComponentId::Device2 as ComponentId,
request_receiver_dev2,
);
// Set up mode request senders first.
mode_node_pus.add_message_target(
TestComponentId::Assembly as ComponentId,
request_sender_to_assy,
);
mode_node_pus.add_message_target(
TestComponentId::Device1 as ComponentId,
request_sender_to_dev1.clone(),
);
mode_node_pus.add_message_target(
TestComponentId::Device2 as ComponentId,
request_sender_to_dev2.clone(),
);
mode_node_assy.add_request_target(
TestComponentId::Device1 as ComponentId,
request_sender_to_dev1,
);
mode_node_assy.add_request_target(
TestComponentId::Device2 as ComponentId,
request_sender_to_dev2,
);
// Set up mode reply senders.
mode_node_dev1.add_message_target(
TestComponentId::Assembly as ComponentId,
reply_sender_to_assy.clone(),
);
mode_node_dev1.add_message_target(
TestComponentId::PusModeService as ComponentId,
reply_sender_to_pus.clone(),
);
mode_node_dev2.add_message_target(
TestComponentId::Assembly as ComponentId,
reply_sender_to_assy,
);
mode_node_dev2.add_message_target(
TestComponentId::PusModeService as ComponentId,
reply_sender_to_pus.clone(),
);
mode_node_assy.add_reply_target(
TestComponentId::PusModeService as ComponentId,
reply_sender_to_pus,
);
let mut device1 = TestDevice {
name: "Test Device 1".to_string(),
mode_node: mode_node_dev1,
mode_and_submode: ModeAndSubmode::new(0, 0),
};
let mut device2 = TestDevice {
name: "Test Device 2".to_string(),
mode_node: mode_node_dev2,
mode_and_submode: ModeAndSubmode::new(0, 0),
};
let mut assy = TestAssembly {
mode_node: mode_node_assy,
mode_requestor_info: None,
mode_and_submode: ModeAndSubmode::new(0, 0),
target_mode_and_submode: None,
};
let pus_service = PusModeService {
request_id_counter: Cell::new(0),
mode_node: mode_node_pus,
};
pus_service.send_announce_mode_cmd_to_assy();
assy.run();
device1.run();
device2.run();
assy.run();
}

32
satrs/tests/pus_events.rs
View File

@ -5,7 +5,8 @@ use satrs::events::{EventU32, EventU32TypedSev, Severity, SeverityInfo};
use satrs::params::U32Pair;
use satrs::params::{Params, ParamsHeapless, WritableToBeBytes};
use satrs::pus::event_man::{DefaultPusEventMgmtBackend, EventReporter, PusEventDispatcher};
use satrs::pus::TmAsVecSenderWithMpsc;
use satrs::pus::PusTmAsVec;
use satrs::request::UniqueApidTargetId;
use spacepackets::ecss::tm::PusTmReader;
use spacepackets::ecss::{PusError, PusPacket};
use std::sync::mpsc::{self, SendError, TryRecvError};
@ -15,6 +16,8 @@ const INFO_EVENT: EventU32TypedSev<SeverityInfo> =
EventU32TypedSev::<SeverityInfo>::const_new(1, 0);
const LOW_SEV_EVENT: EventU32 = EventU32::const_new(Severity::LOW, 1, 5);
const EMPTY_STAMP: [u8; 7] = [0; 7];
const TEST_APID: u16 = 0x02;
const TEST_ID: UniqueApidTargetId = UniqueApidTargetId::new(TEST_APID, 0x05);
#[derive(Debug, Clone)]
pub enum CustomTmSenderError {
@ -30,15 +33,14 @@ fn test_threaded_usage() {
let (pus_event_man_tx, pus_event_man_rx) = mpsc::channel();
let pus_event_man_send_provider = EventU32SenderMpsc::new(1, pus_event_man_tx);
event_man.subscribe_all(pus_event_man_send_provider.channel_id());
event_man.subscribe_all(pus_event_man_send_provider.target_id());
event_man.add_sender(pus_event_man_send_provider);
let (event_tx, event_rx) = mpsc::channel();
let reporter = EventReporter::new(0x02, 128).expect("Creating event reporter failed");
let mut pus_event_man =
PusEventDispatcher::new(reporter, DefaultPusEventMgmtBackend::default());
let (event_tx, event_rx) = mpsc::channel::<PusTmAsVec>();
let reporter =
EventReporter::new(TEST_ID.raw(), 0x02, 128).expect("Creating event reporter failed");
let pus_event_man = PusEventDispatcher::new(reporter, DefaultPusEventMgmtBackend::default());
// PUS + Generic event manager thread
let jh0 = thread::spawn(move || {
let mut sender = TmAsVecSenderWithMpsc::new(0, "event_sender", event_tx);
let mut event_cnt = 0;
let mut params_array: [u8; 128] = [0; 128];
loop {
@ -46,9 +48,9 @@ fn test_threaded_usage() {
assert!(res.is_ok());
match pus_event_man_rx.try_recv() {
Ok((event, aux_data)) => {
let mut gen_event = |aux_data| {
let gen_event = |aux_data| {
pus_event_man.generate_pus_event_tm_generic(
&mut sender,
&event_tx,
&EMPTY_STAMP,
event,
aux_data,
@ -60,12 +62,12 @@ fn test_threaded_usage() {
ParamsHeapless::Raw(raw) => {
raw.write_to_be_bytes(&mut params_array)
.expect("Writing raw parameter failed");
gen_event(Some(&params_array[0..raw.raw_len()]))
gen_event(Some(&params_array[0..raw.written_len()]))
}
ParamsHeapless::EcssEnum(e) => {
e.write_to_be_bytes(&mut params_array)
.expect("Writing ECSS enum failed");
gen_event(Some(&params_array[0..e.raw_len()]))
gen_event(Some(&params_array[0..e.written_len()]))
}
},
Params::Vec(vec) => gen_event(Some(vec.as_slice())),
@ -101,8 +103,8 @@ fn test_threaded_usage() {
match event_rx.try_recv() {
// Event TM received successfully
Ok(event_tm) => {
let tm =
PusTmReader::new(event_tm.as_slice(), 7).expect("Deserializing TM failed");
let tm = PusTmReader::new(event_tm.packet.as_slice(), 7)
.expect("Deserializing TM failed");
assert_eq!(tm.0.service(), 5);
assert_eq!(tm.0.subservice(), 1);
let src_data = tm.0.source_data();
@ -127,8 +129,8 @@ fn test_threaded_usage() {
match event_rx.try_recv() {
// Event TM received successfully
Ok(event_tm) => {
let tm =
PusTmReader::new(event_tm.as_slice(), 7).expect("Deserializing TM failed");
let tm = PusTmReader::new(event_tm.packet.as_slice(), 7)
.expect("Deserializing TM failed");
assert_eq!(tm.0.service(), 5);
assert_eq!(tm.0.subservice(), 2);
let src_data = tm.0.source_data();

47
satrs/tests/pus_verification.rs
View File

@ -3,10 +3,11 @@ pub mod crossbeam_test {
use hashbrown::HashMap;
use satrs::pool::{PoolProvider, PoolProviderWithGuards, StaticMemoryPool, StaticPoolConfig};
use satrs::pus::verification::{
FailParams, RequestId, VerificationReporterCfg, VerificationReporterWithSender,
FailParams, RequestId, VerificationReporter, VerificationReporterCfg,
VerificationReportingProvider,
};
use satrs::pus::TmInSharedPoolSenderWithCrossbeam;
use satrs::request::UniqueApidTargetId;
use satrs::tmtc::tm_helper::SharedTmPool;
use spacepackets::ecss::tc::{PusTcCreator, PusTcReader, PusTcSecondaryHeader};
use spacepackets::ecss::tm::PusTmReader;
@ -17,6 +18,8 @@ pub mod crossbeam_test {
use std::time::Duration;
const TEST_APID: u16 = 0x03;
const TEST_ID: TargetAndApidId = TargetAndApidId::new(TEST_APID, 0x05);
const FIXED_STAMP: [u8; 7] = [0; 7];
const PACKETS_SENT: u8 = 8;
@ -40,13 +43,9 @@ pub mod crossbeam_test {
let shared_tc_pool_0 = Arc::new(RwLock::new(StaticMemoryPool::new(pool_cfg)));
let shared_tc_pool_1 = shared_tc_pool_0.clone();
let (tx, rx) = crossbeam_channel::bounded(10);
let sender = TmInSharedPoolSenderWithCrossbeam::new(
0,
"verif_sender",
shared_tm_pool.clone(),
tx.clone(),
);
let mut reporter_with_sender_0 = VerificationReporterWithSender::new(&cfg, sender);
let sender_0 = TmInSharedPoolSenderWithCrossbeam::new(shared_tm_pool.clone(), tx.clone());
let sender_1 = sender_0.clone();
let mut reporter_with_sender_0 = VerificationReporter::new(&cfg);
let mut reporter_with_sender_1 = reporter_with_sender_0.clone();
// For test purposes, we retrieve the request ID from the TCs and pass them to the receiver
// tread.
@ -93,24 +92,36 @@ pub mod crossbeam_test {
let token = reporter_with_sender_0.add_tc_with_req_id(req_id_0);
let accepted_token = reporter_with_sender_0
.acceptance_success(token, &FIXED_STAMP)
.acceptance_success(TEST_ID.raw(), &sender_0, token, &FIXED_STAMP)
.expect("Acceptance success failed");
// Do some start handling here
let started_token = reporter_with_sender_0
.start_success(accepted_token, &FIXED_STAMP)
.start_success(TEST_ID.raw(), &sender_0, accepted_token, &FIXED_STAMP)
.expect("Start success failed");
// Do some step handling here
reporter_with_sender_0
.step_success(&started_token, &FIXED_STAMP, EcssEnumU8::new(0))
.step_success(
TEST_ID.raw(),
&sender_0,
&started_token,
&FIXED_STAMP,
EcssEnumU8::new(0),
)
.expect("Start success failed");
// Finish up
reporter_with_sender_0
.step_success(&started_token, &FIXED_STAMP, EcssEnumU8::new(1))
.step_success(
TEST_ID.raw(),
&sender_0,
&started_token,
&FIXED_STAMP,
EcssEnumU8::new(1),
)
.expect("Start success failed");
reporter_with_sender_0
.completion_success(started_token, &FIXED_STAMP)
.completion_success(TEST_ID.raw(), &sender_0, started_token, &FIXED_STAMP)
.expect("Completion success failed");
});
@ -128,15 +139,15 @@ pub mod crossbeam_test {
let (tc, _) = PusTcReader::new(&tc_buf[0..tc_len]).unwrap();
let token = reporter_with_sender_1.add_tc(&tc);
let accepted_token = reporter_with_sender_1
.acceptance_success(token, &FIXED_STAMP)
.acceptance_success(TEST_ID.raw(), &sender_1, token, &FIXED_STAMP)
.expect("Acceptance success failed");
let started_token = reporter_with_sender_1
.start_success(accepted_token, &FIXED_STAMP)
.start_success(TEST_ID.raw(), &sender_1, accepted_token, &FIXED_STAMP)
.expect("Start success failed");
let fail_code = EcssEnumU16::new(2);
let params = FailParams::new_no_fail_data(&FIXED_STAMP, &fail_code);
reporter_with_sender_1
.completion_failure(started_token, params)
.completion_failure(TEST_ID.raw(), &sender_1, started_token, params)
.expect("Completion success failed");
});
@ -145,14 +156,14 @@ pub mod crossbeam_test {
let mut tm_buf: [u8; 1024] = [0; 1024];
let mut verif_map = HashMap::new();
while packet_counter < PACKETS_SENT {
let verif_addr = rx
let tm_in_pool = rx
.recv_timeout(Duration::from_millis(50))
.expect("Packet reception timeout");
let tm_len;
let shared_tm_store = shared_tm_pool.clone_backing_pool();
{
let mut rg = shared_tm_store.write().expect("Error locking shared pool");
let store_guard = rg.read_with_guard(verif_addr);
let store_guard = rg.read_with_guard(tm_in_pool.store_addr);
tm_len = store_guard
.read(&mut tm_buf)
.expect("Error reading TM slice");