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This commit is contained in:
Robin Müller
2024-04-15 11:11:34 +02:00
parent 6c7f9d10fb
commit 2292b1118a
31 changed files with 715 additions and 1074 deletions
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11
satrs-example/src/config.rs
View File

@ -132,6 +132,7 @@ pub mod components {
GenericPus = 2,
Acs = 3,
Cfdp = 4,
Tmtc = 5,
}
// Component IDs for components with the PUS APID.
@ -150,6 +151,12 @@ pub mod components {
Mgm0 = 0,
}
#[derive(Copy, Clone, PartialEq, Eq)]
pub enum TmtcId {
UdpServer = 0,
TcpServer = 1,
}
pub const PUS_ACTION_SERVICE: UniqueApidTargetId =
UniqueApidTargetId::new(Apid::GenericPus as u16, PusId::PusAction as u32);
pub const PUS_EVENT_MANAGEMENT: UniqueApidTargetId =
@ -166,6 +173,10 @@ pub mod components {
UniqueApidTargetId::new(Apid::Sched as u16, 0);
pub const MGM_HANDLER_0: UniqueApidTargetId =
UniqueApidTargetId::new(Apid::Acs as u16, AcsId::Mgm0 as u32);
pub const UDP_SERVER: UniqueApidTargetId =
UniqueApidTargetId::new(Apid::Tmtc as u16, TmtcId::UdpServer as u32);
pub const TCP_SERVER: UniqueApidTargetId =
UniqueApidTargetId::new(Apid::Tmtc as u16, TmtcId::TcpServer as u32);
}
pub mod pool {

4
satrs-example/src/interface/tcp.rs
View File

@ -9,7 +9,7 @@ use log::{info, warn};
use satrs::{
hal::std::tcp_server::{HandledConnectionHandler, ServerConfig, TcpSpacepacketsServer},
spacepackets::PacketId,
tmtc::{PacketSenderRaw, TmPacketSource},
tmtc::{PacketSenderRaw, PacketSource},
};
#[derive(Default)]
@ -52,7 +52,7 @@ impl SyncTcpTmSource {
}
}
impl TmPacketSource for SyncTcpTmSource {
impl PacketSource for SyncTcpTmSource {
type Error = ();
fn retrieve_packet(&mut self, buffer: &mut [u8]) -> Result<usize, Self::Error> {

26
satrs-example/src/interface/udp.rs
View File

@ -3,7 +3,7 @@ use std::net::{SocketAddr, UdpSocket};
use std::sync::mpsc;
use log::{info, warn};
use satrs::pus::{PusTmAsVec, PusTmInPool};
use satrs::pus::{PacketAsVec, PacketInPool};
use satrs::tmtc::PacketSenderRaw;
use satrs::{
hal::std::udp_server::{ReceiveResult, UdpTcServer},
@ -17,7 +17,7 @@ pub trait UdpTmHandler {
}
pub struct StaticUdpTmHandler {
pub tm_rx: mpsc::Receiver<PusTmInPool>,
pub tm_rx: mpsc::Receiver<PacketInPool>,
pub tm_store: SharedStaticMemoryPool,
}
@ -46,7 +46,7 @@ impl UdpTmHandler for StaticUdpTmHandler {
}
pub struct DynamicUdpTmHandler {
pub tm_rx: mpsc::Receiver<PusTmAsVec>,
pub tm_rx: mpsc::Receiver<PacketAsVec>,
}
impl UdpTmHandler for DynamicUdpTmHandler {
@ -128,21 +128,25 @@ mod tests {
SpHeader,
},
tmtc::PacketSenderRaw,
ComponentId,
};
use satrs_example::config::{components, OBSW_SERVER_ADDR};
use super::*;
const UDP_SERVER_ID: ComponentId = 0x05;
#[derive(Default, Debug)]
pub struct TestSender {
tc_vec: RefCell<VecDeque<Vec<u8>>>,
tc_vec: RefCell<VecDeque<PacketAsVec>>,
}
impl PacketSenderRaw for TestSender {
type Error = ();
fn send_raw_tc(&self, tc_raw: &[u8]) -> Result<(), Self::Error> {
fn send_packet(&self, sender_id: ComponentId, tc_raw: &[u8]) -> Result<(), Self::Error> {
let mut mut_queue = self.tc_vec.borrow_mut();
mut_queue.push_back(tc_raw.to_vec());
mut_queue.push_back(PacketAsVec::new(sender_id, tc_raw.to_vec()));
Ok(())
}
}
@ -163,7 +167,8 @@ mod tests {
let sock_addr = SocketAddr::new(IpAddr::V4(OBSW_SERVER_ADDR), 0);
let test_receiver = TestSender::default();
// let tc_queue = test_receiver.tc_vec.clone();
let udp_tc_server = UdpTcServer::new(sock_addr, 2048, test_receiver).unwrap();
let udp_tc_server =
UdpTcServer::new(UDP_SERVER_ID, sock_addr, 2048, test_receiver).unwrap();
let tm_handler = TestTmHandler::default();
let tm_handler_calls = tm_handler.addrs_to_send_to.clone();
let mut udp_dyn_server = UdpTmtcServer {
@ -181,7 +186,8 @@ mod tests {
let sock_addr = SocketAddr::new(IpAddr::V4(OBSW_SERVER_ADDR), 0);
let test_receiver = TestSender::default();
// let tc_queue = test_receiver.tc_vec.clone();
let udp_tc_server = UdpTcServer::new(sock_addr, 2048, test_receiver).unwrap();
let udp_tc_server =
UdpTcServer::new(UDP_SERVER_ID, sock_addr, 2048, test_receiver).unwrap();
let server_addr = udp_tc_server.socket.local_addr().unwrap();
let tm_handler = TestTmHandler::default();
let tm_handler_calls = tm_handler.addrs_to_send_to.clone();
@ -201,7 +207,9 @@ mod tests {
{
let mut queue = udp_dyn_server.udp_tc_server.tc_sender.tc_vec.borrow_mut();
assert!(!queue.is_empty());
assert_eq!(queue.pop_front().unwrap(), ping_tc);
let packet_with_sender = queue.pop_front().unwrap();
assert_eq!(packet_with_sender.packet, ping_tc);
assert_eq!(packet_with_sender.sender_id, UDP_SERVER_ID);
}
{

51
satrs-example/src/main.rs
View File

@ -17,7 +17,7 @@ use pus::test::create_test_service_dynamic;
use satrs::hal::std::tcp_server::ServerConfig;
use satrs::hal::std::udp_server::UdpTcServer;
use satrs::request::GenericMessage;
use satrs::tmtc::tc_helper::{PacketSenderSharedPool, SharedPacketPool};
use satrs::tmtc::{PacketSenderWithSharedPool, SharedPacketPool};
use satrs_example::config::pool::{create_sched_tc_pool, create_static_pools};
use satrs_example::config::tasks::{
FREQ_MS_AOCS, FREQ_MS_EVENT_HANDLING, FREQ_MS_PUS_STACK, FREQ_MS_UDP_TMTC,
@ -38,9 +38,8 @@ use crate::pus::{PusTcDistributor, PusTcMpscRouter};
use crate::requests::{CompositeRequest, GenericRequestRouter};
use satrs::mode::ModeRequest;
use satrs::pus::event_man::EventRequestWithToken;
use satrs::pus::TmInSharedPoolSender;
use satrs::spacepackets::{time::cds::CdsTime, time::TimeWriter};
use satrs_example::config::components::MGM_HANDLER_0;
use satrs_example::config::components::{MGM_HANDLER_0, TCP_SERVER, UDP_SERVER};
use std::net::{IpAddr, SocketAddr};
use std::sync::mpsc;
use std::sync::{Arc, RwLock};
@ -50,14 +49,16 @@ use std::time::Duration;
#[allow(dead_code)]
fn static_tmtc_pool_main() {
let (tm_pool, tc_pool) = create_static_pools();
let shared_tm_pool = (Arc::new(RwLock::new(tm_pool)));
let shared_tc_pool = (Arc::new(RwLock::new(tc_pool)));
let shared_tm_pool = Arc::new(RwLock::new(tm_pool));
let shared_tc_pool = Arc::new(RwLock::new(tc_pool));
let shared_tm_pool_wrapper = SharedPacketPool::new(&shared_tm_pool);
let shared_tc_pool_wrapper = SharedPacketPool::new(&shared_tc_pool);
let (tc_source_tx, tc_source_rx) = mpsc::sync_channel(50);
let (tm_funnel_tx, tm_funnel_rx) = mpsc::sync_channel(50);
let (tm_server_tx, tm_server_rx) = mpsc::sync_channel(50);
let tm_funnel_tx_sender =
TmInSharedPoolSender::new(shared_tm_pool.clone(), tm_funnel_tx.clone());
PacketSenderWithSharedPool::new(tm_funnel_tx.clone(), shared_tm_pool_wrapper.clone());
let (mgm_handler_composite_tx, mgm_handler_composite_rx) =
mpsc::channel::<GenericMessage<CompositeRequest>>();
@ -74,7 +75,7 @@ fn static_tmtc_pool_main() {
// This helper structure is used by all telecommand providers which need to send telecommands
// to the TC source.
let tc_source = PacketSenderSharedPool::new(tc_source_tx, shared_tc_pool.clone());
let tc_source = PacketSenderWithSharedPool::new(tc_source_tx, shared_tc_pool_wrapper.clone());
// Create event handling components
// These sender handles are used to send event requests, for example to enable or disable
@ -106,7 +107,7 @@ fn static_tmtc_pool_main() {
};
let pus_test_service = create_test_service_static(
tm_funnel_tx_sender.clone(),
shared_tc_pool.0.clone(),
shared_tc_pool.clone(),
event_handler.clone_event_sender(),
pus_test_rx,
);
@ -118,27 +119,27 @@ fn static_tmtc_pool_main() {
);
let pus_event_service = create_event_service_static(
tm_funnel_tx_sender.clone(),
shared_tc_pool.0.clone(),
shared_tc_pool.clone(),
pus_event_rx,
event_request_tx,
);
let pus_action_service = create_action_service_static(
tm_funnel_tx_sender.clone(),
shared_tc_pool.0.clone(),
shared_tc_pool.clone(),
pus_action_rx,
request_map.clone(),
pus_action_reply_rx,
);
let pus_hk_service = create_hk_service_static(
tm_funnel_tx_sender.clone(),
shared_tc_pool.0.clone(),
shared_tc_pool.clone(),
pus_hk_rx,
request_map.clone(),
pus_hk_reply_rx,
);
let pus_mode_service = create_mode_service_static(
tm_funnel_tx_sender.clone(),
shared_tc_pool.0.clone(),
shared_tc_pool.clone(),
pus_mode_rx,
request_map,
pus_mode_reply_rx,
@ -153,23 +154,29 @@ fn static_tmtc_pool_main() {
);
let mut tmtc_task = TcSourceTaskStatic::new(
shared_tc_pool.clone(),
shared_tc_pool_wrapper.clone(),
tc_source_rx,
PusTcDistributor::new(tm_funnel_tx_sender, pus_router),
);
let sock_addr = SocketAddr::new(IpAddr::V4(OBSW_SERVER_ADDR), SERVER_PORT);
let udp_tc_server = UdpTcServer::new(sock_addr, 2048, tc_source.clone())
let udp_tc_server = UdpTcServer::new(UDP_SERVER.id(), sock_addr, 2048, tc_source.clone())
.expect("creating UDP TMTC server failed");
let mut udp_tmtc_server = UdpTmtcServer {
udp_tc_server,
tm_handler: StaticUdpTmHandler {
tm_rx: tm_server_rx,
tm_store: shared_tm_pool.clone_backing_pool(),
tm_store: shared_tm_pool.clone(),
},
};
let tcp_server_cfg = ServerConfig::new(sock_addr, Duration::from_millis(400), 4096, 8192);
let tcp_server_cfg = ServerConfig::new(
TCP_SERVER.id(),
sock_addr,
Duration::from_millis(400),
4096,
8192,
);
let sync_tm_tcp_source = SyncTcpTmSource::new(200);
let mut tcp_server = TcpTask::new(
tcp_server_cfg,
@ -180,7 +187,7 @@ fn static_tmtc_pool_main() {
.expect("tcp server creation failed");
let mut tm_funnel = TmFunnelStatic::new(
shared_tm_pool,
shared_tm_pool_wrapper,
sync_tm_tcp_source,
tm_funnel_rx,
tm_server_tx,
@ -379,7 +386,7 @@ fn dyn_tmtc_pool_main() {
);
let sock_addr = SocketAddr::new(IpAddr::V4(OBSW_SERVER_ADDR), SERVER_PORT);
let udp_tc_server = UdpTcServer::new(sock_addr, 2048, tc_source_tx.clone())
let udp_tc_server = UdpTcServer::new(UDP_SERVER.id(), sock_addr, 2048, tc_source_tx.clone())
.expect("creating UDP TMTC server failed");
let mut udp_tmtc_server = UdpTmtcServer {
udp_tc_server,
@ -388,7 +395,13 @@ fn dyn_tmtc_pool_main() {
},
};
let tcp_server_cfg = ServerConfig::new(sock_addr, Duration::from_millis(400), 4096, 8192);
let tcp_server_cfg = ServerConfig::new(
TCP_SERVER.id(),
sock_addr,
Duration::from_millis(400),
4096,
8192,
);
let sync_tm_tcp_source = SyncTcpTmSource::new(200);
let mut tcp_server = TcpTask::new(
tcp_server_cfg,

11
satrs-example/src/pus/action.rs
View File

@ -12,12 +12,13 @@ use satrs::pus::verification::{
use satrs::pus::{
ActiveRequestProvider, EcssTcAndToken, EcssTcInMemConverter, EcssTcInSharedStoreConverter,
EcssTcInVecConverter, EcssTmSender, EcssTmtcError, GenericConversionError, MpscTcReceiver,
MpscTmAsVecSender, MpscTmInSharedPoolSenderBounded, PusPacketHandlerResult, PusReplyHandler,
PusServiceHelper, PusTcToRequestConverter, PusTmAsVec, PusTmInPool, TmInSharedPoolSender,
MpscTmAsVecSender, PacketAsVec, PusPacketHandlerResult, PusReplyHandler, PusServiceHelper,
PusTcToRequestConverter,
};
use satrs::request::{GenericMessage, UniqueApidTargetId};
use satrs::spacepackets::ecss::tc::PusTcReader;
use satrs::spacepackets::ecss::{EcssEnumU16, PusPacket};
use satrs::tmtc::PacketSenderWithSharedPool;
use satrs_example::config::components::PUS_ACTION_SERVICE;
use satrs_example::config::tmtc_err;
use std::sync::mpsc;
@ -195,12 +196,12 @@ impl PusTcToRequestConverter<ActivePusActionRequestStd, ActionRequest> for Actio
}
pub fn create_action_service_static(
tm_sender: TmInSharedPoolSender<mpsc::SyncSender<PusTmInPool>>,
tm_sender: PacketSenderWithSharedPool,
tc_pool: SharedStaticMemoryPool,
pus_action_rx: mpsc::Receiver<EcssTcAndToken>,
action_router: GenericRequestRouter,
reply_receiver: mpsc::Receiver<GenericMessage<ActionReplyPus>>,
) -> ActionServiceWrapper<MpscTmInSharedPoolSenderBounded, EcssTcInSharedStoreConverter> {
) -> ActionServiceWrapper<PacketSenderWithSharedPool, EcssTcInSharedStoreConverter> {
let action_request_handler = PusTargetedRequestService::new(
PusServiceHelper::new(
PUS_ACTION_SERVICE.id(),
@ -223,7 +224,7 @@ pub fn create_action_service_static(
}
pub fn create_action_service_dynamic(
tm_funnel_tx: mpsc::Sender<PusTmAsVec>,
tm_funnel_tx: mpsc::Sender<PacketAsVec>,
pus_action_rx: mpsc::Receiver<EcssTcAndToken>,
action_router: GenericRequestRouter,
reply_receiver: mpsc::Receiver<GenericMessage<ActionReplyPus>>,

11
satrs-example/src/pus/event.rs
View File

@ -8,19 +8,20 @@ use satrs::pus::event_srv::PusEventServiceHandler;
use satrs::pus::verification::VerificationReporter;
use satrs::pus::{
EcssTcAndToken, EcssTcInMemConverter, EcssTcInSharedStoreConverter, EcssTcInVecConverter,
EcssTmSender, MpscTcReceiver, MpscTmAsVecSender, MpscTmInSharedPoolSenderBounded,
PusPacketHandlerResult, PusServiceHelper, PusTmAsVec, PusTmInPool, TmInSharedPoolSender,
EcssTmSender, MpscTcReceiver, MpscTmAsVecSender, PacketAsVec, PusPacketHandlerResult,
PusServiceHelper,
};
use satrs::tmtc::PacketSenderWithSharedPool;
use satrs_example::config::components::PUS_EVENT_MANAGEMENT;
use super::HandlingStatus;
pub fn create_event_service_static(
tm_sender: TmInSharedPoolSender<mpsc::SyncSender<PusTmInPool>>,
tm_sender: PacketSenderWithSharedPool,
tc_pool: SharedStaticMemoryPool,
pus_event_rx: mpsc::Receiver<EcssTcAndToken>,
event_request_tx: mpsc::Sender<EventRequestWithToken>,
) -> EventServiceWrapper<MpscTmInSharedPoolSenderBounded, EcssTcInSharedStoreConverter> {
) -> EventServiceWrapper<PacketSenderWithSharedPool, EcssTcInSharedStoreConverter> {
let pus_5_handler = PusEventServiceHandler::new(
PusServiceHelper::new(
PUS_EVENT_MANAGEMENT.id(),
@ -37,7 +38,7 @@ pub fn create_event_service_static(
}
pub fn create_event_service_dynamic(
tm_funnel_tx: mpsc::Sender<PusTmAsVec>,
tm_funnel_tx: mpsc::Sender<PacketAsVec>,
pus_event_rx: mpsc::Receiver<EcssTcAndToken>,
event_request_tx: mpsc::Sender<EventRequestWithToken>,
) -> EventServiceWrapper<MpscTmAsVecSender, EcssTcInVecConverter> {

12
satrs-example/src/pus/hk.rs
View File

@ -9,13 +9,13 @@ use satrs::pus::verification::{
use satrs::pus::{
ActivePusRequestStd, ActiveRequestProvider, DefaultActiveRequestMap, EcssTcAndToken,
EcssTcInMemConverter, EcssTcInSharedStoreConverter, EcssTcInVecConverter, EcssTmSender,
EcssTmtcError, GenericConversionError, MpscTcReceiver, MpscTmAsVecSender,
MpscTmInSharedPoolSenderBounded, PusPacketHandlerResult, PusReplyHandler, PusServiceHelper,
PusTcToRequestConverter, PusTmAsVec, PusTmInPool, TmInSharedPoolSender,
EcssTmtcError, GenericConversionError, MpscTcReceiver, MpscTmAsVecSender, PacketAsVec,
PusPacketHandlerResult, PusReplyHandler, PusServiceHelper, PusTcToRequestConverter,
};
use satrs::request::{GenericMessage, UniqueApidTargetId};
use satrs::spacepackets::ecss::tc::PusTcReader;
use satrs::spacepackets::ecss::{hk, PusPacket};
use satrs::tmtc::PacketSenderWithSharedPool;
use satrs_example::config::components::PUS_HK_SERVICE;
use satrs_example::config::{hk_err, tmtc_err};
use std::sync::mpsc;
@ -232,12 +232,12 @@ impl PusTcToRequestConverter<ActivePusRequestStd, HkRequest> for HkRequestConver
}
pub fn create_hk_service_static(
tm_sender: TmInSharedPoolSender<mpsc::SyncSender<PusTmInPool>>,
tm_sender: PacketSenderWithSharedPool,
tc_pool: SharedStaticMemoryPool,
pus_hk_rx: mpsc::Receiver<EcssTcAndToken>,
request_router: GenericRequestRouter,
reply_receiver: mpsc::Receiver<GenericMessage<HkReply>>,
) -> HkServiceWrapper<MpscTmInSharedPoolSenderBounded, EcssTcInSharedStoreConverter> {
) -> HkServiceWrapper<PacketSenderWithSharedPool, EcssTcInSharedStoreConverter> {
let pus_3_handler = PusTargetedRequestService::new(
PusServiceHelper::new(
PUS_HK_SERVICE.id(),
@ -258,7 +258,7 @@ pub fn create_hk_service_static(
}
pub fn create_hk_service_dynamic(
tm_funnel_tx: mpsc::Sender<PusTmAsVec>,
tm_funnel_tx: mpsc::Sender<PacketAsVec>,
pus_hk_rx: mpsc::Receiver<EcssTcAndToken>,
request_router: GenericRequestRouter,
reply_receiver: mpsc::Receiver<GenericMessage<HkReply>>,

12
satrs-example/src/pus/mod.rs
View File

@ -6,7 +6,7 @@ use satrs::pus::verification::{
};
use satrs::pus::{
ActiveRequestMapProvider, ActiveRequestProvider, EcssTcAndToken, EcssTcInMemConverter,
EcssTcReceiverCore, EcssTmSender, EcssTmtcError, GenericConversionError, GenericRoutingError,
EcssTcReceiver, EcssTmSender, EcssTmtcError, GenericConversionError, GenericRoutingError,
PusPacketHandlerResult, PusPacketHandlingError, PusReplyHandler, PusRequestRouter,
PusServiceHelper, PusTcToRequestConverter, TcInMemory,
};
@ -185,7 +185,7 @@ pub trait TargetedPusService {
/// 2. [Self::poll_and_check_next_reply] which tries to poll and handle one reply, covering step 6.
/// 3. [Self::check_for_request_timeouts] which checks for request timeouts, covering step 7.
pub struct PusTargetedRequestService<
TcReceiver: EcssTcReceiverCore,
TcReceiver: EcssTcReceiver,
TmSender: EcssTmSender,
TcInMemConverter: EcssTcInMemConverter,
VerificationReporter: VerificationReportingProvider,
@ -207,7 +207,7 @@ pub struct PusTargetedRequestService<
}
impl<
TcReceiver: EcssTcReceiverCore,
TcReceiver: EcssTcReceiver,
TmSender: EcssTmSender,
TcInMemConverter: EcssTcInMemConverter,
VerificationReporter: VerificationReportingProvider,
@ -461,7 +461,7 @@ pub(crate) mod tests {
use std::time::Duration;
use satrs::pus::test_util::TEST_COMPONENT_ID_0;
use satrs::pus::{MpscTmAsVecSender, PusTmAsVec, PusTmVariant};
use satrs::pus::{MpscTmAsVecSender, PacketAsVec, PusTmVariant};
use satrs::request::RequestId;
use satrs::{
pus::{
@ -491,7 +491,7 @@ pub(crate) mod tests {
pub id: ComponentId,
pub verif_reporter: TestVerificationReporter,
pub reply_handler: ReplyHandler,
pub tm_receiver: mpsc::Receiver<PusTmAsVec>,
pub tm_receiver: mpsc::Receiver<PacketAsVec>,
pub default_timeout: Duration,
tm_sender: MpscTmAsVecSender,
phantom: std::marker::PhantomData<(ActiveRequestInfo, Reply)>,
@ -698,7 +698,7 @@ pub(crate) mod tests {
ReplyType,
>,
pub request_id: Option<RequestId>,
pub tm_funnel_rx: mpsc::Receiver<PusTmAsVec>,
pub tm_funnel_rx: mpsc::Receiver<PacketAsVec>,
pub pus_packet_tx: mpsc::Sender<EcssTcAndToken>,
pub reply_tx: mpsc::Sender<GenericMessage<ReplyType>>,
pub request_rx: mpsc::Receiver<GenericMessage<CompositeRequest>>,

11
satrs-example/src/pus/mode.rs
View File

@ -1,5 +1,6 @@
use derive_new::new;
use log::{error, warn};
use satrs::tmtc::PacketSenderWithSharedPool;
use std::sync::mpsc;
use std::time::Duration;
@ -8,8 +9,8 @@ use satrs::pool::SharedStaticMemoryPool;
use satrs::pus::verification::VerificationReporter;
use satrs::pus::{
DefaultActiveRequestMap, EcssTcAndToken, EcssTcInMemConverter, EcssTcInSharedStoreConverter,
EcssTcInVecConverter, MpscTcReceiver, MpscTmAsVecSender, MpscTmInSharedPoolSenderBounded,
PusPacketHandlerResult, PusServiceHelper, PusTmAsVec, PusTmInPool, TmInSharedPoolSender,
EcssTcInVecConverter, MpscTcReceiver, MpscTmAsVecSender, PacketAsVec, PusPacketHandlerResult,
PusServiceHelper,
};
use satrs::request::GenericMessage;
use satrs::{
@ -203,12 +204,12 @@ impl PusTcToRequestConverter<ActivePusRequestStd, ModeRequest> for ModeRequestCo
}
pub fn create_mode_service_static(
tm_sender: TmInSharedPoolSender<mpsc::SyncSender<PusTmInPool>>,
tm_sender: PacketSenderWithSharedPool,
tc_pool: SharedStaticMemoryPool,
pus_action_rx: mpsc::Receiver<EcssTcAndToken>,
mode_router: GenericRequestRouter,
reply_receiver: mpsc::Receiver<GenericMessage<ModeReply>>,
) -> ModeServiceWrapper<MpscTmInSharedPoolSenderBounded, EcssTcInSharedStoreConverter> {
) -> ModeServiceWrapper<PacketSenderWithSharedPool, EcssTcInSharedStoreConverter> {
let mode_request_handler = PusTargetedRequestService::new(
PusServiceHelper::new(
PUS_MODE_SERVICE.id(),
@ -229,7 +230,7 @@ pub fn create_mode_service_static(
}
pub fn create_mode_service_dynamic(
tm_funnel_tx: mpsc::Sender<PusTmAsVec>,
tm_funnel_tx: mpsc::Sender<PacketAsVec>,
pus_action_rx: mpsc::Receiver<EcssTcAndToken>,
mode_router: GenericRequestRouter,
reply_receiver: mpsc::Receiver<GenericMessage<ModeReply>>,

48
satrs-example/src/pus/scheduler.rs
View File

@ -9,20 +9,27 @@ use satrs::pus::scheduler_srv::PusSchedServiceHandler;
use satrs::pus::verification::VerificationReporter;
use satrs::pus::{
EcssTcAndToken, EcssTcInMemConverter, EcssTcInSharedStoreConverter, EcssTcInVecConverter,
EcssTmSender, MpscTcReceiver, MpscTmAsVecSender, MpscTmInSharedPoolSenderBounded,
PusPacketHandlerResult, PusServiceHelper, PusTmAsVec, PusTmInPool, TmInSharedPoolSender,
EcssTmSender, MpscTcReceiver, MpscTmAsVecSender, PacketAsVec, PacketInPool,
PusPacketHandlerResult, PusServiceHelper,
};
use satrs::tmtc::tc_helper::{PacketSenderSharedPool, SharedPacketPool};
use satrs::tmtc::PacketSenderWithSharedPool;
use satrs::ComponentId;
use satrs_example::config::components::PUS_SCHED_SERVICE;
use super::HandlingStatus;
pub trait TcReleaser {
fn release(&mut self, enabled: bool, info: &TcInfo, tc: &[u8]) -> bool;
fn release(&mut self, sender_id: ComponentId, enabled: bool, info: &TcInfo, tc: &[u8]) -> bool;
}
impl TcReleaser for PacketSenderSharedPool<SharedPacketPool> {
fn release(&mut self, enabled: bool, _info: &TcInfo, tc: &[u8]) -> bool {
impl TcReleaser for PacketSenderWithSharedPool {
fn release(
&mut self,
sender_id: ComponentId,
enabled: bool,
_info: &TcInfo,
tc: &[u8],
) -> bool {
if enabled {
let shared_pool = self.shared_pool.get_mut();
// Transfer TC from scheduler TC pool to shared TC pool.
@ -32,19 +39,25 @@ impl TcReleaser for PacketSenderSharedPool<SharedPacketPool> {
.expect("locking pool failed")
.add(tc)
.expect("adding TC to shared pool failed");
self.tc_source
.send(released_tc_addr)
self.sender
.send(PacketInPool::new(sender_id, released_tc_addr))
.expect("sending TC to TC source failed");
}
true
}
}
impl TcReleaser for mpsc::Sender<Vec<u8>> {
fn release(&mut self, enabled: bool, _info: &TcInfo, tc: &[u8]) -> bool {
impl TcReleaser for mpsc::Sender<PacketAsVec> {
fn release(
&mut self,
sender_id: ComponentId,
enabled: bool,
_info: &TcInfo,
tc: &[u8],
) -> bool {
if enabled {
// Send released TC to centralized TC source.
self.send(tc.to_vec())
self.send(PacketAsVec::new(sender_id, tc.to_vec()))
.expect("sending TC to TC source failed");
}
true
@ -69,8 +82,9 @@ impl<TmSender: EcssTmSender, TcInMemConverter: EcssTcInMemConverter>
SchedulingServiceWrapper<TmSender, TcInMemConverter>
{
pub fn release_tcs(&mut self) {
let id = self.pus_11_handler.service_helper.id();
let releaser = |enabled: bool, info: &TcInfo, tc: &[u8]| -> bool {
self.tc_releaser.release(enabled, info, tc)
self.tc_releaser.release(id, enabled, info, tc)
};
self.pus_11_handler
@ -118,11 +132,11 @@ impl<TmSender: EcssTmSender, TcInMemConverter: EcssTcInMemConverter>
}
pub fn create_scheduler_service_static(
tm_sender: TmInSharedPoolSender<mpsc::SyncSender<PusTmInPool>>,
tc_releaser: PacketSenderSharedPool<SharedPacketPool>,
tm_sender: PacketSenderWithSharedPool,
tc_releaser: PacketSenderWithSharedPool,
pus_sched_rx: mpsc::Receiver<EcssTcAndToken>,
sched_tc_pool: StaticMemoryPool,
) -> SchedulingServiceWrapper<MpscTmInSharedPoolSenderBounded, EcssTcInSharedStoreConverter> {
) -> SchedulingServiceWrapper<PacketSenderWithSharedPool, EcssTcInSharedStoreConverter> {
let scheduler = PusScheduler::new_with_current_init_time(Duration::from_secs(5))
.expect("Creating PUS Scheduler failed");
let pus_11_handler = PusSchedServiceHandler::new(
@ -144,8 +158,8 @@ pub fn create_scheduler_service_static(
}
pub fn create_scheduler_service_dynamic(
tm_funnel_tx: mpsc::Sender<PusTmAsVec>,
tc_source_sender: mpsc::Sender<Vec<u8>>,
tm_funnel_tx: mpsc::Sender<PacketAsVec>,
tc_source_sender: mpsc::Sender<PacketAsVec>,
pus_sched_rx: mpsc::Receiver<EcssTcAndToken>,
sched_tc_pool: StaticMemoryPool,
) -> SchedulingServiceWrapper<MpscTmAsVecSender, EcssTcInVecConverter> {

10
satrs-example/src/pus/test.rs
View File

@ -7,13 +7,13 @@ use satrs::pus::verification::{FailParams, VerificationReporter, VerificationRep
use satrs::pus::EcssTcInSharedStoreConverter;
use satrs::pus::{
EcssTcAndToken, EcssTcInMemConverter, EcssTcInVecConverter, EcssTmSender, MpscTcReceiver,
MpscTmAsVecSender, MpscTmInSharedPoolSenderBounded, PusPacketHandlerResult, PusServiceHelper,
PusTmAsVec, PusTmInPool, TmInSharedPoolSender,
MpscTmAsVecSender, PacketAsVec, PusPacketHandlerResult, PusServiceHelper,
};
use satrs::spacepackets::ecss::tc::PusTcReader;
use satrs::spacepackets::ecss::PusPacket;
use satrs::spacepackets::time::cds::CdsTime;
use satrs::spacepackets::time::TimeWriter;
use satrs::tmtc::PacketSenderWithSharedPool;
use satrs_example::config::components::PUS_TEST_SERVICE;
use satrs_example::config::{tmtc_err, TEST_EVENT};
use std::sync::mpsc;
@ -21,11 +21,11 @@ use std::sync::mpsc;
use super::HandlingStatus;
pub fn create_test_service_static(
tm_sender: TmInSharedPoolSender<mpsc::SyncSender<PusTmInPool>>,
tm_sender: PacketSenderWithSharedPool,
tc_pool: SharedStaticMemoryPool,
event_sender: mpsc::Sender<EventMessageU32>,
pus_test_rx: mpsc::Receiver<EcssTcAndToken>,
) -> TestCustomServiceWrapper<MpscTmInSharedPoolSenderBounded, EcssTcInSharedStoreConverter> {
) -> TestCustomServiceWrapper<PacketSenderWithSharedPool, EcssTcInSharedStoreConverter> {
let pus17_handler = PusService17TestHandler::new(PusServiceHelper::new(
PUS_TEST_SERVICE.id(),
pus_test_rx,
@ -40,7 +40,7 @@ pub fn create_test_service_static(
}
pub fn create_test_service_dynamic(
tm_funnel_tx: mpsc::Sender<PusTmAsVec>,
tm_funnel_tx: mpsc::Sender<PacketAsVec>,
event_sender: mpsc::Sender<EventMessageU32>,
pus_test_rx: mpsc::Receiver<EcssTcAndToken>,
) -> TestCustomServiceWrapper<MpscTmAsVecSender, EcssTcInVecConverter> {

33
satrs-example/src/tmtc/tc_source.rs
View File

@ -1,9 +1,12 @@
use satrs::{pool::PoolProvider, tmtc::tc_helper::SharedPacketPool};
use satrs::{
pool::PoolProvider,
pus::{PacketAsVec, PacketInPool},
tmtc::{PacketSenderWithSharedPool, SharedPacketPool},
};
use std::sync::mpsc::{self, TryRecvError};
use satrs::{
pool::StoreAddr,
pus::{MpscTmAsVecSender, MpscTmInSharedPoolSenderBounded},
pus::MpscTmAsVecSender,
spacepackets::ecss::{tc::PusTcReader, PusPacket},
};
@ -12,16 +15,16 @@ use crate::pus::PusTcDistributor;
// TC source components where static pools are the backing memory of the received telecommands.
pub struct TcSourceTaskStatic {
shared_tc_pool: SharedPacketPool,
tc_receiver: mpsc::Receiver<StoreAddr>,
tc_receiver: mpsc::Receiver<PacketInPool>,
tc_buf: [u8; 4096],
pus_receiver: PusTcDistributor<MpscTmInSharedPoolSenderBounded>,
pus_receiver: PusTcDistributor<PacketSenderWithSharedPool>,
}
impl TcSourceTaskStatic {
pub fn new(
shared_tc_pool: SharedPacketPool,
tc_receiver: mpsc::Receiver<StoreAddr>,
pus_receiver: PusTcDistributor<MpscTmInSharedPoolSenderBounded>,
tc_receiver: mpsc::Receiver<PacketInPool>,
pus_receiver: PusTcDistributor<PacketSenderWithSharedPool>,
) -> Self {
Self {
shared_tc_pool,
@ -37,20 +40,20 @@ impl TcSourceTaskStatic {
pub fn poll_tc(&mut self) -> bool {
match self.tc_receiver.try_recv() {
Ok(addr) => {
Ok(packet_in_pool) => {
let pool = self
.shared_tc_pool
.0
.read()
.expect("locking tc pool failed");
pool.read(&addr, &mut self.tc_buf)
pool.read(&packet_in_pool.store_addr, &mut self.tc_buf)
.expect("reading pool failed");
drop(pool);
match PusTcReader::new(&self.tc_buf) {
Ok((pus_tc, _)) => {
self.pus_receiver
.handle_tc_packet(
satrs::pus::TcInMemory::StoreAddr(addr),
satrs::pus::TcInMemory::StoreAddr(packet_in_pool.store_addr),
pus_tc.service(),
&pus_tc,
)
@ -77,13 +80,13 @@ impl TcSourceTaskStatic {
// TC source components where the heap is the backing memory of the received telecommands.
pub struct TcSourceTaskDynamic {
pub tc_receiver: mpsc::Receiver<Vec<u8>>,
pub tc_receiver: mpsc::Receiver<PacketAsVec>,
pus_receiver: PusTcDistributor<MpscTmAsVecSender>,
}
impl TcSourceTaskDynamic {
pub fn new(
tc_receiver: mpsc::Receiver<Vec<u8>>,
tc_receiver: mpsc::Receiver<PacketAsVec>,
pus_receiver: PusTcDistributor<MpscTmAsVecSender>,
) -> Self {
Self {
@ -99,11 +102,11 @@ impl TcSourceTaskDynamic {
pub fn poll_tc(&mut self) -> bool {
// Right now, we only expect PUS packets.
match self.tc_receiver.try_recv() {
Ok(tc) => match PusTcReader::new(&tc) {
Ok(packet_as_vec) => match PusTcReader::new(&packet_as_vec.packet) {
Ok((pus_tc, _)) => {
self.pus_receiver
.handle_tc_packet(
satrs::pus::TcInMemory::Vec(tc.clone()),
satrs::pus::TcInMemory::Vec(packet_as_vec.packet.clone()),
pus_tc.service(),
&pus_tc,
)
@ -112,7 +115,7 @@ impl TcSourceTaskDynamic {
}
Err(e) => {
log::warn!("error creating PUS TC from raw data: {e}");
log::warn!("raw data: {:x?}", tc);
log::warn!("raw data: {:x?}", packet_as_vec.packet);
true
}
},

28
satrs-example/src/tmtc/tm_sink.rs
View File

@ -4,7 +4,6 @@ use std::{
};
use log::info;
use satrs::pus::{PusTmAsVec, PusTmInPool};
use satrs::{
pool::PoolProvider,
seq_count::{CcsdsSimpleSeqCountProvider, SequenceCountProviderCore},
@ -13,7 +12,10 @@ use satrs::{
time::cds::MIN_CDS_FIELD_LEN,
CcsdsPacket,
},
tmtc::tm_helper::SharedTmPool,
};
use satrs::{
pus::{PacketAsVec, PacketInPool},
tmtc::SharedPacketPool,
};
use crate::interface::tcp::SyncTcpTmSource;
@ -77,17 +79,17 @@ impl TmFunnelCommon {
pub struct TmFunnelStatic {
common: TmFunnelCommon,
shared_tm_store: SharedTmPool,
tm_funnel_rx: mpsc::Receiver<PusTmInPool>,
tm_server_tx: mpsc::SyncSender<PusTmInPool>,
shared_tm_store: SharedPacketPool,
tm_funnel_rx: mpsc::Receiver<PacketInPool>,
tm_server_tx: mpsc::SyncSender<PacketInPool>,
}
impl TmFunnelStatic {
pub fn new(
shared_tm_store: SharedTmPool,
shared_tm_store: SharedPacketPool,
sync_tm_tcp_source: SyncTcpTmSource,
tm_funnel_rx: mpsc::Receiver<PusTmInPool>,
tm_server_tx: mpsc::SyncSender<PusTmInPool>,
tm_funnel_rx: mpsc::Receiver<PacketInPool>,
tm_server_tx: mpsc::SyncSender<PacketInPool>,
) -> Self {
Self {
common: TmFunnelCommon::new(sync_tm_tcp_source),
@ -101,7 +103,7 @@ impl TmFunnelStatic {
if let Ok(pus_tm_in_pool) = self.tm_funnel_rx.recv() {
// Read the TM, set sequence counter and message counter, and finally update
// the CRC.
let shared_pool = self.shared_tm_store.clone_backing_pool();
let shared_pool = self.shared_tm_store.0.clone();
let mut pool_guard = shared_pool.write().expect("Locking TM pool failed");
let mut tm_copy = Vec::new();
pool_guard
@ -124,15 +126,15 @@ impl TmFunnelStatic {
pub struct TmFunnelDynamic {
common: TmFunnelCommon,
tm_funnel_rx: mpsc::Receiver<PusTmAsVec>,
tm_server_tx: mpsc::Sender<PusTmAsVec>,
tm_funnel_rx: mpsc::Receiver<PacketAsVec>,
tm_server_tx: mpsc::Sender<PacketAsVec>,
}
impl TmFunnelDynamic {
pub fn new(
sync_tm_tcp_source: SyncTcpTmSource,
tm_funnel_rx: mpsc::Receiver<PusTmAsVec>,
tm_server_tx: mpsc::Sender<PusTmAsVec>,
tm_funnel_rx: mpsc::Receiver<PacketAsVec>,
tm_server_tx: mpsc::Sender<PacketAsVec>,
) -> Self {
Self {
common: TmFunnelCommon::new(sync_tm_tcp_source),