rust/sat-rs
rust/sat-rs
5
1
Fork 0
Code Issues 9 Pull Requests Projects Releases 20 Wiki Activity

Merge branch 'main' into

Browse Source 
pn
This commit is contained in:
Paul Nehlich 2022-09-23 10:09:46 +02:00
commit 23c4f35bce
39 changed files with 4077 additions and 785 deletions
Show Stats Download Patch File Download Diff File Expand all files Collapse all files

7
.idea/runConfigurations/Check.xml
View File

@ -1,12 +1,13 @@
<component name="ProjectRunConfigurationManager">
<configuration default="false" name="Check" type="CargoCommandRunConfiguration" factoryName="Cargo Command">
<option name="command" value="run" />
<option name="command" value="check" />
<option name="workingDirectory" value="file://$PROJECT_DIR$" />
<option name="channel" value="DEFAULT" />
<option name="requiredFeatures" value="true" />
<option name="allFeatures" value="true" />
<option name="requiredFeatures" value="false" />
<option name="allFeatures" value="false" />
<option name="emulateTerminal" value="false" />
<option name="withSudo" value="false" />
<option name="buildTarget" value="REMOTE" />
<option name="backtrace" value="SHORT" />
<envs />
<option name="isRedirectInput" value="false" />

2
.idea/runConfigurations/Clippy.xml
View File

@ -4,7 +4,7 @@
<option name="workingDirectory" value="file://$PROJECT_DIR$" />
<option name="channel" value="DEFAULT" />
<option name="requiredFeatures" value="true" />
<option name="allFeatures" value="false" />
<option name="allFeatures" value="true" />
<option name="emulateTerminal" value="false" />
<option name="withSudo" value="false" />
<option name="buildTarget" value="REMOTE" />

19
.idea/runConfigurations/Doctest.xml Normal file
View File

@ -0,0 +1,19 @@
<component name="ProjectRunConfigurationManager">
<configuration default="false" name="Doctest" type="CargoCommandRunConfiguration" factoryName="Cargo Command">
<option name="command" value="test --doc" />
<option name="workingDirectory" value="file://$PROJECT_DIR$" />
<option name="channel" value="DEFAULT" />
<option name="requiredFeatures" value="true" />
<option name="allFeatures" value="false" />
<option name="emulateTerminal" value="false" />
<option name="withSudo" value="false" />
<option name="buildTarget" value="REMOTE" />
<option name="backtrace" value="SHORT" />
<envs />
<option name="isRedirectInput" value="false" />
<option name="redirectInputPath" value="" />
<method v="2">
<option name="CARGO.BUILD_TASK_PROVIDER" enabled="true" />
</method>
</configuration>
</component>

19
.idea/runConfigurations/Run_obsw_client_example.xml Normal file
View File

@ -0,0 +1,19 @@
<component name="ProjectRunConfigurationManager">
<configuration default="false" name="Run obsw client example" type="CargoCommandRunConfiguration" factoryName="Cargo Command">
<option name="command" value="run --package fsrc-example --bin client" />
<option name="workingDirectory" value="file://$PROJECT_DIR$" />
<option name="channel" value="DEFAULT" />
<option name="requiredFeatures" value="true" />
<option name="allFeatures" value="false" />
<option name="emulateTerminal" value="false" />
<option name="withSudo" value="false" />
<option name="buildTarget" value="REMOTE" />
<option name="backtrace" value="SHORT" />
<envs />
<option name="isRedirectInput" value="false" />
<option name="redirectInputPath" value="" />
<method v="2">
<option name="CARGO.BUILD_TASK_PROVIDER" enabled="true" />
</method>
</configuration>
</component>

19
.idea/runConfigurations/Run_obsw_example.xml Normal file
View File

@ -0,0 +1,19 @@
<component name="ProjectRunConfigurationManager">
<configuration default="false" name="Run obsw example" type="CargoCommandRunConfiguration" factoryName="Cargo Command">
<option name="command" value="run --package fsrc-example --bin obsw" />
<option name="workingDirectory" value="file://$PROJECT_DIR$" />
<option name="channel" value="DEFAULT" />
<option name="requiredFeatures" value="true" />
<option name="allFeatures" value="false" />
<option name="emulateTerminal" value="false" />
<option name="withSudo" value="false" />
<option name="buildTarget" value="REMOTE" />
<option name="backtrace" value="SHORT" />
<envs />
<option name="isRedirectInput" value="false" />
<option name="redirectInputPath" value="" />
<method v="2">
<option name="CARGO.BUILD_TASK_PROVIDER" enabled="true" />
</method>
</configuration>
</component>

3
.idea/runConfigurations/Test.xml
View File

@ -4,9 +4,10 @@
<option name="workingDirectory" value="file://$PROJECT_DIR$" />
<option name="channel" value="DEFAULT" />
<option name="requiredFeatures" value="true" />
<option name="allFeatures" value="false" />
<option name="allFeatures" value="true" />
<option name="emulateTerminal" value="false" />
<option name="withSudo" value="false" />
<option name="buildTarget" value="REMOTE" />
<option name="backtrace" value="SHORT" />
<envs />
<option name="isRedirectInput" value="false" />

408
Cargo.lock generated
View File

@ -3,25 +3,39 @@
version = 3
[[package]]
name = "aho-corasick"
version = "0.7.18"
name = "ahash"
version = "0.7.6"
source = "registry+https://github.com/rust-lang/crates.io-index"
checksum = "1e37cfd5e7657ada45f742d6e99ca5788580b5c529dc78faf11ece6dc702656f"
checksum = "fcb51a0695d8f838b1ee009b3fbf66bda078cd64590202a864a8f3e8c4315c47"
dependencies = [
"getrandom",
"once_cell",
"version_check",
]
[[package]]
name = "aho-corasick"
version = "0.7.19"
source = "registry+https://github.com/rust-lang/crates.io-index"
checksum = "b4f55bd91a0978cbfd91c457a164bab8b4001c833b7f323132c0a4e1922dd44e"
dependencies = [
"memchr",
]
[[package]]
name = "atomic-option"
version = "0.1.2"
name = "android_system_properties"
version = "0.1.5"
source = "registry+https://github.com/rust-lang/crates.io-index"
checksum = "0db678acb667b525ac40a324fc5f7d3390e29239b31c7327bb8157f5b4fff593"
checksum = "819e7219dbd41043ac279b19830f2efc897156490d7fd6ea916720117ee66311"
dependencies = [
"libc",
]
[[package]]
name = "atomic-polyfill"
version = "0.1.8"
version = "0.1.10"
source = "registry+https://github.com/rust-lang/crates.io-index"
checksum = "e14bf7b4f565e5e717d7a7a65b2a05c0b8c96e4db636d6f780f03b15108cdd1b"
checksum = "9c041a8d9751a520ee19656232a18971f18946a7900f1520ee4400002244dd89"
dependencies = [
"critical-section",
]
@ -67,17 +81,16 @@ checksum = "bef38d45163c2f1dde094a7dfd33ccf595c92905c8f8f4fdc18d06fb1037718a"
[[package]]
name = "bumpalo"
version = "3.10.0"
version = "3.11.0"
source = "registry+https://github.com/rust-lang/crates.io-index"
checksum = "37ccbd214614c6783386c1af30caf03192f17891059cecc394b4fb119e363de3"
checksum = "c1ad822118d20d2c234f427000d5acc36eabe1e29a348c89b63dd60b13f28e5d"
[[package]]
name = "bus"
version = "2.2.3"
version = "2.3.0"
source = "registry+https://github.com/rust-lang/crates.io-index"
checksum = "f1e66e1779f5b1440f1a58220ba3b3ded4427175f0a9fb8d7066521f8b4e8f2b"
checksum = "80cb4625f5b60155ff1018c9d4ce2e38bf5ae3e5780dfab9fa68bb44a6b751e2"
dependencies = [
"atomic-option",
"crossbeam-channel",
"num_cpus",
"parking_lot_core",
@ -89,12 +102,6 @@ version = "1.4.3"
source = "registry+https://github.com/rust-lang/crates.io-index"
checksum = "14c189c53d098945499cdfa7ecc63567cf3886b3332b312a5b4585d8d3a6a610"
[[package]]
name = "cfg-if"
version = "0.1.10"
source = "registry+https://github.com/rust-lang/crates.io-index"
checksum = "4785bdd1c96b2a846b2bd7cc02e86b6b3dbf14e7e53446c4f54c92a361040822"
[[package]]
name = "cfg-if"
version = "1.0.0"
@ -103,32 +110,33 @@ checksum = "baf1de4339761588bc0619e3cbc0120ee582ebb74b53b4efbf79117bd2da40fd"
[[package]]
name = "chrono"
version = "0.4.20"
version = "0.4.22"
source = "registry+https://github.com/rust-lang/crates.io-index"
checksum = "6127248204b9aba09a362f6c930ef6a78f2c1b2215f8a7b398c06e1083f17af0"
checksum = "bfd4d1b31faaa3a89d7934dbded3111da0d2ef28e3ebccdb4f0179f5929d1ef1"
dependencies = [
"js-sys",
"iana-time-zone",
"num-integer",
"num-traits",
"time",
"wasm-bindgen",
"winapi",
]
[[package]]
name = "cloudabi"
version = "0.0.3"
name = "cobs"
version = "0.2.3"
source = "registry+https://github.com/rust-lang/crates.io-index"
checksum = "ddfc5b9aa5d4507acaf872de71051dfd0e309860e88966e1051e462a077aac4f"
dependencies = [
"bitflags",
]
checksum = "67ba02a97a2bd10f4b59b25c7973101c79642302776489e030cd13cdab09ed15"
[[package]]
name = "core-foundation-sys"
version = "0.8.3"
source = "registry+https://github.com/rust-lang/crates.io-index"
checksum = "5827cebf4670468b8772dd191856768aedcb1b0278a04f989f7766351917b9dc"
[[package]]
name = "cortex-m"
version = "0.7.5"
version = "0.7.6"
source = "registry+https://github.com/rust-lang/crates.io-index"
checksum = "cd20d4ac4aa86f4f75f239d59e542ef67de87cce2c282818dc6e84155d3ea126"
checksum = "70858629a458fdfd39f9675c4dc309411f2a3f83bede76988d81bf1a0ecee9e0"
dependencies = [
"bare-metal 0.2.5",
"bitfield",
@ -158,30 +166,29 @@ source = "registry+https://github.com/rust-lang/crates.io-index"
checksum = "95da181745b56d4bd339530ec393508910c909c784e8962d15d722bacf0bcbcd"
dependencies = [
"bare-metal 1.0.0",
"cfg-if 1.0.0",
"cfg-if",
"cortex-m",
"riscv",
]
[[package]]
name = "crossbeam-channel"
version = "0.4.4"
version = "0.5.6"
source = "registry+https://github.com/rust-lang/crates.io-index"
checksum = "b153fe7cbef478c567df0f972e02e6d736db11affe43dfc9c56a9374d1adfb87"
checksum = "c2dd04ddaf88237dc3b8d8f9a3c1004b506b54b3313403944054d23c0870c521"
dependencies = [
"cfg-if",
"crossbeam-utils",
"maybe-uninit",
]
[[package]]
name = "crossbeam-utils"
version = "0.7.2"
version = "0.8.11"
source = "registry+https://github.com/rust-lang/crates.io-index"
checksum = "c3c7c73a2d1e9fc0886a08b93e98eb643461230d5f1925e4036204d5f2e261a8"
checksum = "51887d4adc7b564537b15adcfb307936f8075dfcd5f00dde9a9f1d29383682bc"
dependencies = [
"autocfg",
"cfg-if 0.1.10",
"lazy_static",
"cfg-if",
"once_cell",
]
[[package]]
@ -195,6 +202,23 @@ dependencies = [
"syn",
]
[[package]]
name = "delegate"
version = "0.8.0"
source = "registry+https://github.com/rust-lang/crates.io-index"
checksum = "082a24a9967533dc5d743c602157637116fc1b52806d694a5a45e6f32567fcdd"
dependencies = [
"proc-macro2",
"quote",
"syn",
]
[[package]]
name = "downcast-rs"
version = "1.2.0"
source = "registry+https://github.com/rust-lang/crates.io-index"
checksum = "9ea835d29036a4087793836fa931b08837ad5e957da9e23886b29586fb9b6650"
[[package]]
name = "embedded-hal"
version = "0.2.7"
@ -210,9 +234,37 @@ name = "fsrc-core"
version = "0.1.0"
dependencies = [
"bus",
"num",
"crossbeam-channel",
"delegate 0.8.0",
"downcast-rs",
"hashbrown",
"num-traits",
"once_cell",
"postcard",
"serde",
"spacepackets",
"thiserror",
"zerocopy",
]
[[package]]
name = "fsrc-example"
version = "0.1.0"
dependencies = [
"crossbeam-channel",
"delegate 0.8.0",
"fsrc-core",
"spacepackets",
]
[[package]]
name = "getrandom"
version = "0.2.7"
source = "registry+https://github.com/rust-lang/crates.io-index"
checksum = "4eb1a864a501629691edf6c15a593b7a51eebaa1e8468e9ddc623de7c9b58ec6"
dependencies = [
"cfg-if",
"libc",
"wasi",
]
[[package]]
@ -225,10 +277,19 @@ dependencies = [
]
[[package]]
name = "heapless"
version = "0.7.14"
name = "hashbrown"
version = "0.12.3"
source = "registry+https://github.com/rust-lang/crates.io-index"
checksum = "065681e99f9ef7e0e813702a0326aedbcbbde7db5e55f097aedd1bf50b9dca43"
checksum = "8a9ee70c43aaf417c914396645a0fa852624801b24ebb7ae78fe8272889ac888"
dependencies = [
"ahash",
]
[[package]]
name = "heapless"
version = "0.7.16"
source = "registry+https://github.com/rust-lang/crates.io-index"
checksum = "db04bc24a18b9ea980628ecf00e6c0264f3c1426dac36c00cb49b6fbad8b0743"
dependencies = [
"atomic-polyfill",
"hash32",
@ -247,6 +308,20 @@ dependencies = [
"libc",
]
[[package]]
name = "iana-time-zone"
version = "0.1.47"
source = "registry+https://github.com/rust-lang/crates.io-index"
checksum = "4c495f162af0bf17656d0014a0eded5f3cd2f365fdd204548c2869db89359dc7"
dependencies = [
"android_system_properties",
"core-foundation-sys",
"js-sys",
"once_cell",
"wasm-bindgen",
"winapi",
]
[[package]]
name = "js-sys"
version = "0.3.59"
@ -264,15 +339,15 @@ checksum = "e2abad23fbc42b3700f2f279844dc832adb2b2eb069b2df918f455c4e18cc646"
[[package]]
name = "libc"
version = "0.2.126"
version = "0.2.132"
source = "registry+https://github.com/rust-lang/crates.io-index"
checksum = "349d5a591cd28b49e1d1037471617a32ddcda5731b99419008085f72d5a53836"
checksum = "8371e4e5341c3a96db127eb2465ac681ced4c433e01dd0e938adbef26ba93ba5"
[[package]]
name = "lock_api"
version = "0.4.7"
version = "0.4.8"
source = "registry+https://github.com/rust-lang/crates.io-index"
checksum = "327fa5b6a6940e4699ec49a9beae1ea4845c6bab9314e4f84ac68742139d8c53"
checksum = "9f80bf5aacaf25cbfc8210d1cfb718f2bf3b11c4c54e5afe36c236853a8ec390"
dependencies = [
"autocfg",
"scopeguard",
@ -284,15 +359,9 @@ version = "0.4.17"
source = "registry+https://github.com/rust-lang/crates.io-index"
checksum = "abb12e687cfb44aa40f41fc3978ef76448f9b6038cad6aef4259d3c095a2382e"
dependencies = [
"cfg-if 1.0.0",
"cfg-if",
]
[[package]]
name = "maybe-uninit"
version = "2.0.0"
source = "registry+https://github.com/rust-lang/crates.io-index"
checksum = "60302e4db3a61da70c0cb7991976248362f30319e88850c487b9b95bbf059e00"
[[package]]
name = "memchr"
version = "2.5.0"
@ -314,40 +383,6 @@ version = "1.0.0"
source = "registry+https://github.com/rust-lang/crates.io-index"
checksum = "546c37ac5d9e56f55e73b677106873d9d9f5190605e41a856503623648488cae"
[[package]]
name = "num"
version = "0.4.0"
source = "registry+https://github.com/rust-lang/crates.io-index"
checksum = "43db66d1170d347f9a065114077f7dccb00c1b9478c89384490a3425279a4606"
dependencies = [
"num-bigint",
"num-complex",
"num-integer",
"num-iter",
"num-rational",
"num-traits",
]
[[package]]
name = "num-bigint"
version = "0.4.3"
source = "registry+https://github.com/rust-lang/crates.io-index"
checksum = "f93ab6289c7b344a8a9f60f88d80aa20032336fe78da341afc91c8a2341fc75f"
dependencies = [
"autocfg",
"num-integer",
"num-traits",
]
[[package]]
name = "num-complex"
version = "0.4.1"
source = "registry+https://github.com/rust-lang/crates.io-index"
checksum = "97fbc387afefefd5e9e39493299f3069e14a140dd34dc19b4c1c1a8fddb6a790"
dependencies = [
"num-traits",
]
[[package]]
name = "num-integer"
version = "0.1.45"
@ -358,29 +393,6 @@ dependencies = [
"num-traits",
]
[[package]]
name = "num-iter"
version = "0.1.43"
source = "registry+https://github.com/rust-lang/crates.io-index"
checksum = "7d03e6c028c5dc5cac6e2dec0efda81fc887605bb3d884578bb6d6bf7514e252"
dependencies = [
"autocfg",
"num-integer",
"num-traits",
]
[[package]]
name = "num-rational"
version = "0.4.0"
source = "registry+https://github.com/rust-lang/crates.io-index"
checksum = "d41702bd167c2df5520b384281bc111a4b5efcf7fbc4c9c222c815b07e0a6a6a"
dependencies = [
"autocfg",
"num-bigint",
"num-integer",
"num-traits",
]
[[package]]
name = "num-traits"
version = "0.2.15"
@ -402,70 +414,66 @@ dependencies = [
[[package]]
name = "once_cell"
version = "1.13.0"
version = "1.14.0"
source = "registry+https://github.com/rust-lang/crates.io-index"
checksum = "18a6dbe30758c9f83eb00cbea4ac95966305f5a7772f3f42ebfc7fc7eddbd8e1"
checksum = "2f7254b99e31cad77da24b08ebf628882739a608578bb1bcdfc1f9c21260d7c0"
[[package]]
name = "parking_lot_core"
version = "0.7.2"
version = "0.9.3"
source = "registry+https://github.com/rust-lang/crates.io-index"
checksum = "d58c7c768d4ba344e3e8d72518ac13e259d7c7ade24167003b8488e10b6740a3"
checksum = "09a279cbf25cb0757810394fbc1e359949b59e348145c643a939a525692e6929"
dependencies = [
"cfg-if 0.1.10",
"cloudabi",
"cfg-if",
"libc",
"redox_syscall",
"smallvec",
"winapi",
"windows-sys",
]
[[package]]
name = "postcard"
version = "0.7.3"
version = "1.0.2"
source = "registry+https://github.com/rust-lang/crates.io-index"
checksum = "a25c0b0ae06fcffe600ad392aabfa535696c8973f2253d9ac83171924c58a858"
checksum = "1c2b180dc0bade59f03fd005cb967d3f1e5f69b13922dad0cd6e047cb8af2363"
dependencies = [
"cobs",
"heapless",
"postcard-cobs",
"serde",
]
[[package]]
name = "postcard-cobs"
version = "0.1.5-pre"
source = "registry+https://github.com/rust-lang/crates.io-index"
checksum = "7c68cb38ed13fd7bc9dd5db8f165b7c8d9c1a315104083a2b10f11354c2af97f"
[[package]]
name = "proc-macro2"
version = "1.0.39"
version = "1.0.43"
source = "registry+https://github.com/rust-lang/crates.io-index"
checksum = "c54b25569025b7fc9651de43004ae593a75ad88543b17178aa5e1b9c4f15f56f"
checksum = "0a2ca2c61bc9f3d74d2886294ab7b9853abd9c1ad903a3ac7815c58989bb7bab"
dependencies = [
"unicode-ident",
]
[[package]]
name = "quote"
version = "1.0.18"
version = "1.0.21"
source = "registry+https://github.com/rust-lang/crates.io-index"
checksum = "a1feb54ed693b93a84e14094943b84b7c4eae204c512b7ccb95ab0c66d278ad1"
checksum = "bbe448f377a7d6961e30f5955f9b8d106c3f5e449d493ee1b125c1d43c2b5179"
dependencies = [
"proc-macro2",
]
[[package]]
name = "redox_syscall"
version = "0.1.57"
version = "0.2.16"
source = "registry+https://github.com/rust-lang/crates.io-index"
checksum = "41cc0f7e4d5d4544e8861606a285bb08d3e70712ccc7d2b84d7c0ccfaf4b05ce"
checksum = "fb5a58c1855b4b6819d59012155603f0b22ad30cad752600aadfcb695265519a"
dependencies = [
"bitflags",
]
[[package]]
name = "regex"
version = "1.5.6"
version = "1.6.0"
source = "registry+https://github.com/rust-lang/crates.io-index"
checksum = "d83f127d94bdbcda4c8cc2e50f6f84f4b611f69c902699ca385a39c3a75f9ff1"
checksum = "4c4eb3267174b8c6c2f654116623910a0fef09c4753f8dd83db29c48a0df988b"
dependencies = [
"aho-corasick",
"memchr",
@ -474,9 +482,9 @@ dependencies = [
[[package]]
name = "regex-syntax"
version = "0.6.26"
version = "0.6.27"
source = "registry+https://github.com/rust-lang/crates.io-index"
checksum = "49b3de9ec5dc0a3417da371aab17d729997c15010e7fd24ff707773a33bddb64"
checksum = "a3f87b73ce11b1619a3c6332f45341e0047173771e8b8b73f87bfeefb7b56244"
[[package]]
name = "riscv"
@ -514,7 +522,7 @@ version = "0.4.0"
source = "registry+https://github.com/rust-lang/crates.io-index"
checksum = "bfa0f585226d2e68097d4f95d113b15b83a82e819ab25717ec0590d9584ef366"
dependencies = [
"semver 1.0.10",
"semver 1.0.13",
]
[[package]]
@ -534,9 +542,9 @@ dependencies = [
[[package]]
name = "semver"
version = "1.0.10"
version = "1.0.13"
source = "registry+https://github.com/rust-lang/crates.io-index"
checksum = "a41d061efea015927ac527063765e73601444cdc344ba855bc7bd44578b25e1c"
checksum = "93f6841e709003d68bb2deee8c343572bf446003ec20a583e76f7b15cebf3711"
[[package]]
name = "semver-parser"
@ -546,18 +554,18 @@ checksum = "388a1df253eca08550bef6c72392cfe7c30914bf41df5269b68cbd6ff8f570a3"
[[package]]
name = "serde"
version = "1.0.142"
version = "1.0.144"
source = "registry+https://github.com/rust-lang/crates.io-index"
checksum = "e590c437916fb6b221e1d00df6e3294f3fccd70ca7e92541c475d6ed6ef5fee2"
checksum = "0f747710de3dcd43b88c9168773254e809d8ddbdf9653b84e2554ab219f17860"
dependencies = [
"serde_derive",
]
[[package]]
name = "serde_derive"
version = "1.0.142"
version = "1.0.144"
source = "registry+https://github.com/rust-lang/crates.io-index"
checksum = "34b5b8d809babe02f538c2cfec6f2c1ed10804c0e5a6a041a049a4f5588ccc2e"
checksum = "94ed3a816fb1d101812f83e789f888322c34e291f894f19590dc310963e87a00"
dependencies = [
"proc-macro2",
"quote",
@ -566,9 +574,9 @@ dependencies = [
[[package]]
name = "smallvec"
version = "1.8.0"
version = "1.9.0"
source = "registry+https://github.com/rust-lang/crates.io-index"
checksum = "f2dd574626839106c320a323308629dcb1acfc96e32a8cba364ddc61ac23ee83"
checksum = "2fd0db749597d91ff862fd1d55ea87f7855a744a8425a64695b6fca237d1dad1"
[[package]]
name = "spacepackets"
@ -576,8 +584,8 @@ version = "0.1.0"
dependencies = [
"chrono",
"crc",
"delegate",
"num",
"delegate 0.7.0",
"num-traits",
"postcard",
"serde",
"zerocopy",
@ -585,9 +593,9 @@ dependencies = [
[[package]]
name = "spin"
version = "0.9.3"
version = "0.9.4"
source = "registry+https://github.com/rust-lang/crates.io-index"
checksum = "c530c2b0d0bf8b69304b39fe2001993e267461948b890cd037d8ad4293fa1a0d"
checksum = "7f6002a767bff9e83f8eeecf883ecb8011875a21ae8da43bffb817a57e78cc09"
dependencies = [
"lock_api",
]
@ -600,9 +608,9 @@ checksum = "a8f112729512f8e442d81f95a8a7ddf2b7c6b8a1a6f509a95864142b30cab2d3"
[[package]]
name = "syn"
version = "1.0.96"
version = "1.0.99"
source = "registry+https://github.com/rust-lang/crates.io-index"
checksum = "0748dd251e24453cb8717f0354206b91557e4ec8703673a4b30208f2abaf1ebf"
checksum = "58dbef6ec655055e20b86b15a8cc6d439cca19b667537ac6a1369572d151ab13"
dependencies = [
"proc-macro2",
"quote",
@ -621,42 +629,11 @@ dependencies = [
"unicode-xid",
]
[[package]]
name = "thiserror"
version = "1.0.31"
source = "registry+https://github.com/rust-lang/crates.io-index"
checksum = "bd829fe32373d27f76265620b5309d0340cb8550f523c1dda251d6298069069a"
dependencies = [
"thiserror-impl",
]
[[package]]
name = "thiserror-impl"
version = "1.0.31"
source = "registry+https://github.com/rust-lang/crates.io-index"
checksum = "0396bc89e626244658bef819e22d0cc459e795a5ebe878e6ec336d1674a8d79a"
dependencies = [
"proc-macro2",
"quote",
"syn",
]
[[package]]
name = "time"
version = "0.1.44"
source = "registry+https://github.com/rust-lang/crates.io-index"
checksum = "6db9e6914ab8b1ae1c260a4ae7a49b6c5611b40328a735b21862567685e73255"
dependencies = [
"libc",
"wasi",
"winapi",
]
[[package]]
name = "unicode-ident"
version = "1.0.1"
version = "1.0.3"
source = "registry+https://github.com/rust-lang/crates.io-index"
checksum = "5bd2fe26506023ed7b5e1e315add59d6f584c621d037f9368fea9cfb988f368c"
checksum = "c4f5b37a154999a8f3f98cc23a628d850e154479cd94decf3414696e12e31aaf"
[[package]]
name = "unicode-xid"
@ -670,6 +647,12 @@ version = "0.1.3"
source = "registry+https://github.com/rust-lang/crates.io-index"
checksum = "77439c1b53d2303b20d9459b1ade71a83c716e3f9c34f3228c00e6f185d6c002"
[[package]]
name = "version_check"
version = "0.9.4"
source = "registry+https://github.com/rust-lang/crates.io-index"
checksum = "49874b5167b65d7193b8aba1567f5c7d93d001cafc34600cee003eda787e483f"
[[package]]
name = "void"
version = "1.0.2"
@ -687,9 +670,9 @@ dependencies = [
[[package]]
name = "wasi"
version = "0.10.0+wasi-snapshot-preview1"
version = "0.11.0+wasi-snapshot-preview1"
source = "registry+https://github.com/rust-lang/crates.io-index"
checksum = "1a143597ca7c7793eff794def352d41792a93c481eb1042423ff7ff72ba2c31f"
checksum = "9c8d87e72b64a3b4db28d11ce29237c246188f4f51057d65a7eab63b7987e423"
[[package]]
name = "wasm-bindgen"
@ -697,7 +680,7 @@ version = "0.2.82"
source = "registry+https://github.com/rust-lang/crates.io-index"
checksum = "fc7652e3f6c4706c8d9cd54832c4a4ccb9b5336e2c3bd154d5cccfbf1c1f5f7d"
dependencies = [
"cfg-if 1.0.0",
"cfg-if",
"wasm-bindgen-macro",
]
@ -767,6 +750,49 @@ version = "0.4.0"
source = "registry+https://github.com/rust-lang/crates.io-index"
checksum = "712e227841d057c1ee1cd2fb22fa7e5a5461ae8e48fa2ca79ec42cfc1931183f"
[[package]]
name = "windows-sys"
version = "0.36.1"
source = "registry+https://github.com/rust-lang/crates.io-index"
checksum = "ea04155a16a59f9eab786fe12a4a450e75cdb175f9e0d80da1e17db09f55b8d2"
dependencies = [
"windows_aarch64_msvc",
"windows_i686_gnu",
"windows_i686_msvc",
"windows_x86_64_gnu",
"windows_x86_64_msvc",
]
[[package]]
name = "windows_aarch64_msvc"
version = "0.36.1"
source = "registry+https://github.com/rust-lang/crates.io-index"
checksum = "9bb8c3fd39ade2d67e9874ac4f3db21f0d710bee00fe7cab16949ec184eeaa47"
[[package]]
name = "windows_i686_gnu"
version = "0.36.1"
source = "registry+https://github.com/rust-lang/crates.io-index"
checksum = "180e6ccf01daf4c426b846dfc66db1fc518f074baa793aa7d9b9aaeffad6a3b6"
[[package]]
name = "windows_i686_msvc"
version = "0.36.1"
source = "registry+https://github.com/rust-lang/crates.io-index"
checksum = "e2e7917148b2812d1eeafaeb22a97e4813dfa60a3f8f78ebe204bcc88f12f024"
[[package]]
name = "windows_x86_64_gnu"
version = "0.36.1"
source = "registry+https://github.com/rust-lang/crates.io-index"
checksum = "4dcd171b8776c41b97521e5da127a2d86ad280114807d0b2ab1e462bc764d9e1"
[[package]]
name = "windows_x86_64_msvc"
version = "0.36.1"
source = "registry+https://github.com/rust-lang/crates.io-index"
checksum = "c811ca4a8c853ef420abd8592ba53ddbbac90410fab6903b3e79972a631f7680"
[[package]]
name = "zerocopy"
version = "0.6.1"

1
Cargo.toml
View File

@ -3,4 +3,5 @@
members = [
"fsrc-core",
"spacepackets",
"fsrc-example"
]

39
fsrc-core/Cargo.toml
View File

@ -6,11 +6,38 @@ edition = "2021"
# See more keys and their definitions at https://doc.rust-lang.org/cargo/reference/manifest.html
[dependencies]
thiserror = "1.0"
bus = "2.2.3"
num = "0.4"
spacepackets = { path = "../spacepackets"}
delegate = "0.8.0"
hashbrown = "0.12.3"
[dependencies.num-traits]
version = "0.2"
default-features = false
[dependencies.downcast-rs]
version = "1.2.0"
default-features = false
[dependencies.bus]
version = "2.2.3"
optional = true
[dependencies.crossbeam-channel]
version= "0.5"
default-features = false
[dependencies.spacepackets]
path = "../spacepackets"
[dev-dependencies]
serde = "1.0.143"
zerocopy = "0.6.1"
once_cell = "1.13.1"
[dev-dependencies.postcard]
version = "1.0.1"
[features]
default = ["use_std"]
use_std = []
default = ["std"]
std = ["downcast-rs/std", "alloc", "bus", "postcard/use-std", "crossbeam-channel/std"]
alloc = []

9
fsrc-core/examples/tc_server.rs
View File

@ -4,15 +4,6 @@ use std::net::{IpAddr, Ipv4Addr, SocketAddr, UdpSocket};
use std::thread;
fn main() {
if cfg!(tcp) {
tcp();
} else {
upd();
};
}
fn udp() {
let server_addr = SocketAddr::new(IpAddr::V4(Ipv4Addr::new(127, 0, 0, 1)), 7301);
let socket = UdpSocket::bind(&server_addr.clone()).expect("Error opening UDP socket");

67
fsrc-core/examples/test.rs
View File

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

1
fsrc-core/src/error.rs
View File

@ -35,6 +35,7 @@ impl FsrcErrorRaw {
}
}
#[derive(Clone, Copy, Default)]
pub struct SimpleStdErrorHandler {}
#[cfg(feature = "use_std")]

19
fsrc-core/src/event_man.rs
View File

@ -1,6 +1,9 @@
//! [Event][crate::events::Event] management and forwarding
use crate::events::{Event, EventRaw, GroupId};
use std::collections::HashMap;
use alloc::boxed::Box;
use alloc::vec;
use alloc::vec::Vec;
use hashbrown::HashMap;
#[derive(PartialEq, Eq, Hash, Copy, Clone)]
enum ListenerType {
@ -62,11 +65,14 @@ impl<E> EventManager<E> {
key: ListenerType,
dest: impl EventListener<Error = E> + 'static,
) {
if let std::collections::hash_map::Entry::Vacant(e) = self.listeners.entry(key) {
e.insert(vec![Listener {
ltype: key,
dest: Box::new(dest),
}]);
if !self.listeners.contains_key(&key) {
self.listeners.insert(
key,
vec![Listener {
ltype: key,
dest: Box::new(dest),
}],
);
} else {
let vec = self.listeners.get_mut(&key).unwrap();
// To prevent double insertions
@ -117,6 +123,7 @@ mod tests {
use super::{EventListener, HandlerResult, ReceivesAllEvent};
use crate::event_man::EventManager;
use crate::events::{Event, Severity};
use alloc::boxed::Box;
use std::sync::mpsc::{channel, Receiver, SendError, Sender};
use std::thread;
use std::time::Duration;

7
fsrc-core/src/events.rs
View File

@ -1,11 +1,10 @@
//! Event support module
use num::pow;
pub type GroupId = u16;
pub type UniqueId = u16;
pub type EventRaw = u32;
#[derive(Copy, Clone, PartialEq, Debug)]
#[derive(Copy, Clone, PartialEq, Eq, Debug)]
pub enum Severity {
INFO = 1,
LOW = 2,
@ -27,7 +26,7 @@ impl TryFrom<u8> for Severity {
}
}
#[derive(Copy, Clone, Debug, PartialEq)]
#[derive(Copy, Clone, Debug, PartialEq, Eq)]
pub struct Event {
severity: Severity,
group_id: GroupId,
@ -47,7 +46,7 @@ impl Event {
/// * `unique_id`: Each event has a unique 16 bit ID occupying the last 16 bits of the
/// raw event ID
pub fn new(severity: Severity, group_id: GroupId, unique_id: UniqueId) -> Option<Event> {
if group_id > (pow::pow(2u8 as u16, 13) - 1) {
if group_id > (2u16.pow(13) - 1) {
return None;
}
Some(Event {

10
fsrc-core/src/executable.rs
View File

@ -1,12 +1,15 @@
//! Task scheduling module
use bus::BusReader;
use std::boxed::Box;
use std::error::Error;
use std::sync::mpsc::TryRecvError;
use std::thread;
use std::thread::JoinHandle;
use std::time::Duration;
use std::vec;
use std::vec::Vec;
#[derive(Debug, PartialEq)]
#[derive(Debug, PartialEq, Eq)]
pub enum OpResult {
Ok,
TerminationRequested,
@ -138,10 +141,13 @@ pub fn exec_sched_multi<
mod tests {
use super::{exec_sched_multi, exec_sched_single, Executable, ExecutionType, OpResult};
use bus::Bus;
use std::boxed::Box;
use std::error::Error;
use std::string::{String, ToString};
use std::sync::{Arc, Mutex};
use std::time::Duration;
use std::{fmt, thread};
use std::vec::Vec;
use std::{fmt, thread, vec};
struct TestInfo {
exec_num: u32,

1
fsrc-core/src/hal/host/mod.rs
View File

@ -1 +1,2 @@
//! Helper modules intended to be used on hosts with a full [std] runtime
pub mod udp_server;

197
fsrc-core/src/hal/host/udp_server.rs
View File

@ -1,29 +1,200 @@
//! UDP server helper components
use crate::tmtc::ReceivesTc;
use std::boxed::Box;
use std::io::{Error, ErrorKind};
use std::net::{SocketAddr, ToSocketAddrs, UdpSocket};
use std::vec;
use std::vec::Vec;
pub struct UdpTmtcServer {
socket: UdpSocket,
/// This TC server helper can be used to receive raw PUS telecommands thorough a UDP interface.
///
/// It caches all received telecomands into a vector. The maximum expected telecommand size should
/// be declared upfront. This avoids dynamic allocation during run-time. The user can specify a TC
/// receiver in form of a special trait object which implements [ReceivesTc]. Please note that the
/// receiver should copy out the received data if it the data is required past the
/// [ReceivesTc::pass_tc] call.
///
/// # Examples
///
/// ```
/// use std::net::{IpAddr, Ipv4Addr, SocketAddr, UdpSocket};
/// use fsrc_core::hal::host::udp_server::UdpTcServer;
/// use fsrc_core::tmtc::ReceivesTc;
/// use spacepackets::SpHeader;
/// use spacepackets::tc::PusTc;
///
/// #[derive (Default)]
/// struct PingReceiver {}
/// impl ReceivesTc for PingReceiver {
/// type Error = ();
/// fn pass_tc(&mut self, tc_raw: &[u8]) -> Result<(), Self::Error> {
/// assert_eq!(tc_raw.len(), 13);
/// Ok(())
/// }
/// }
///
/// let mut buf = [0; 32];
/// let dest_addr = SocketAddr::new(IpAddr::V4(Ipv4Addr::new(127, 0, 0, 1)), 7777);
/// let ping_receiver = PingReceiver::default();
/// let mut udp_tc_server = UdpTcServer::new(dest_addr, 2048, Box::new(ping_receiver))
/// .expect("Creating UDP TMTC server failed");
/// let mut sph = SpHeader::tc(0x02, 0, 0).unwrap();
/// let pus_tc = PusTc::new_simple(&mut sph, 17, 1, None, true);
/// let len = pus_tc
/// .write_to(&mut buf)
/// .expect("Error writing PUS TC packet");
/// assert_eq!(len, 13);
/// let client = UdpSocket::bind("127.0.0.1:7778").expect("Connecting to UDP server failed");
/// client
/// .send_to(&buf[0..len], dest_addr)
/// .expect("Error sending PUS TC via UDP");
/// ```
///
/// The [fsrc-example crate](https://egit.irs.uni-stuttgart.de/rust/fsrc-launchpad/src/branch/main/fsrc-example)
/// server code also includes
/// [example code](https://egit.irs.uni-stuttgart.de/rust/fsrc-launchpad/src/branch/main/fsrc-example/src/bin/obsw/tmtc.rs)
/// on how to use this TC server. It uses the server to receive PUS telecommands on a specific port
/// and then forwards them to a generic CCSDS packet receiver.
pub struct UdpTcServer<E> {
pub socket: UdpSocket,
recv_buf: Vec<u8>,
tc_receiver: Box<dyn ReceivesTc>,
sender_addr: Option<SocketAddr>,
tc_receiver: Box<dyn ReceivesTc<Error = E>>,
}
impl UdpTmtcServer {
pub fn new<A: ToSocketAddrs, E>(
#[derive(Debug)]
pub enum ReceiveResult<E> {
NothingReceived,
IoError(Error),
ReceiverError(E),
}
impl<E> From<Error> for ReceiveResult<E> {
fn from(e: Error) -> Self {
ReceiveResult::IoError(e)
}
}
impl<E: PartialEq> PartialEq for ReceiveResult<E> {
fn eq(&self, other: &Self) -> bool {
use ReceiveResult::*;
match (self, other) {
(IoError(ref e), IoError(ref other_e)) => e.kind() == other_e.kind(),
(NothingReceived, NothingReceived) => true,
(ReceiverError(e), ReceiverError(other_e)) => e == other_e,
_ => false,
}
}
}
impl<E: Eq + PartialEq> Eq for ReceiveResult<E> {}
impl<E: 'static> UdpTcServer<E> {
pub fn new<A: ToSocketAddrs>(
addr: A,
max_recv_size: usize,
tc_receiver: Box<dyn ReceivesTc>,
) -> Result<Self, std::io::Error> {
Ok(Self {
tc_receiver: Box<dyn ReceivesTc<Error = E>>,
) -> Result<Self, Error> {
let server = Self {
socket: UdpSocket::bind(addr)?,
recv_buf: Vec::with_capacity(max_recv_size),
recv_buf: vec![0; max_recv_size],
sender_addr: None,
tc_receiver,
})
};
server.socket.set_nonblocking(true)?;
Ok(server)
}
pub fn recv_tc(&mut self) -> Result<(usize, SocketAddr), std::io::Error> {
let res = self.socket.recv_from(&mut self.recv_buf)?;
self.tc_receiver.pass_tc(&self.recv_buf[0..res.0]);
pub fn try_recv_tc(&mut self) -> Result<(usize, SocketAddr), ReceiveResult<E>> {
let res = match self.socket.recv_from(&mut self.recv_buf) {
Ok(res) => res,
Err(e) => {
return if e.kind() == ErrorKind::WouldBlock || e.kind() == ErrorKind::TimedOut {
Err(ReceiveResult::NothingReceived)
} else {
Err(e.into())
}
}
};
let (num_bytes, from) = res;
self.sender_addr = Some(from);
self.tc_receiver
.pass_tc(&self.recv_buf[0..num_bytes])
.map_err(|e| ReceiveResult::ReceiverError(e))?;
Ok(res)
}
pub fn last_sender(&self) -> Option<SocketAddr> {
self.sender_addr
}
}
#[cfg(test)]
mod tests {
use crate::hal::host::udp_server::{ReceiveResult, UdpTcServer};
use crate::tmtc::ReceivesTc;
use spacepackets::tc::PusTc;
use spacepackets::SpHeader;
use std::boxed::Box;
use std::collections::VecDeque;
use std::net::{IpAddr, Ipv4Addr, SocketAddr, UdpSocket};
use std::vec::Vec;
#[derive(Default)]
struct PingReceiver {
pub sent_cmds: VecDeque<Vec<u8>>,
}
impl ReceivesTc for PingReceiver {
type Error = ();
fn pass_tc(&mut self, tc_raw: &[u8]) -> Result<(), Self::Error> {
let mut sent_data = Vec::new();
sent_data.extend_from_slice(tc_raw);
self.sent_cmds.push_back(sent_data);
Ok(())
}
}
#[test]
fn basic_test() {
let mut buf = [0; 32];
let dest_addr = SocketAddr::new(IpAddr::V4(Ipv4Addr::new(127, 0, 0, 1)), 7777);
let ping_receiver = PingReceiver::default();
let mut udp_tc_server = UdpTcServer::new(dest_addr, 2048, Box::new(ping_receiver))
.expect("Creating UDP TMTC server failed");
let mut sph = SpHeader::tc(0x02, 0, 0).unwrap();
let pus_tc = PusTc::new_simple(&mut sph, 17, 1, None, true);
let len = pus_tc
.write_to(&mut buf)
.expect("Error writing PUS TC packet");
let client = UdpSocket::bind("127.0.0.1:7778").expect("Connecting to UDP server failed");
client
.send_to(&buf[0..len], dest_addr)
.expect("Error sending PUS TC via UDP");
let local_addr = client.local_addr().unwrap();
udp_tc_server
.try_recv_tc()
.expect("Error receiving sent telecommand");
assert_eq!(
udp_tc_server.last_sender().expect("No sender set"),
local_addr
);
let ping_receiver: &mut PingReceiver = udp_tc_server.tc_receiver.downcast_mut().unwrap();
assert_eq!(ping_receiver.sent_cmds.len(), 1);
let sent_cmd = ping_receiver.sent_cmds.pop_front().unwrap();
assert_eq!(sent_cmd, buf[0..len]);
}
#[test]
fn test_nothing_received() {
let dest_addr = SocketAddr::new(IpAddr::V4(Ipv4Addr::new(127, 0, 0, 1)), 7779);
let ping_receiver = PingReceiver::default();
let mut udp_tc_server = UdpTcServer::new(dest_addr, 2048, Box::new(ping_receiver))
.expect("Creating UDP TMTC server failed");
let res = udp_tc_server.try_recv_tc();
assert!(res.is_err());
let err = res.unwrap_err();
assert_eq!(err, ReceiveResult::NothingReceived);
}
}

3
fsrc-core/src/hal/mod.rs
View File

@ -1,2 +1,3 @@
#[cfg(feature = "use_std")]
//! # Hardware Abstraction Layer module
#[cfg(feature = "std")]
pub mod host;

20
fsrc-core/src/lib.rs
View File

@ -1,9 +1,29 @@
//! # Core components of the Flight Software Rust Crate (FSRC) collection
//!
//! This is a collection of Rust crates which can be used to build On-Board Software for remote
//! systems like satellites of rovers. It has special support for space tailored protocols
//! like the ones provided by CCSDS and ECSS.
//!
//! The crates can generally be used in a `no_std` environment, but some crates expect that the
//! [alloc](https://doc.rust-lang.org/alloc) crate is available to allow boxed trait objects.
//! These are used to supply user code to the crates.
#![no_std]
#[cfg(feature = "alloc")]
extern crate alloc;
#[cfg(any(feature = "std", test))]
extern crate std;
pub mod error;
#[cfg(feature = "alloc")]
pub mod event_man;
pub mod events;
#[cfg(feature = "std")]
pub mod executable;
pub mod hal;
pub mod objects;
#[cfg(feature = "alloc")]
pub mod pool;
pub mod pus;
pub mod tmtc;
extern crate downcast_rs;

94
fsrc-core/src/objects.rs
View File

@ -7,7 +7,7 @@
//!
//! # Examples
//!
//! ```
//! ```rust
//! use std::any::Any;
//! use std::error::Error;
//! use fsrc_core::objects::{ManagedSystemObject, ObjectId, ObjectManager, SystemObject};
@ -29,35 +29,34 @@
//! }
//!
//! impl SystemObject for ExampleSysObj {
//! fn as_any(&self) -> &dyn Any {
//! self
//! }
//!
//! type Error = ();
//! fn get_object_id(&self) -> &ObjectId {
//! &self.id
//! }
//!
//! fn initialize(&mut self) -> Result<(), Box<dyn Error>> {
//! fn initialize(&mut self) -> Result<(), Self::Error> {
//! self.was_initialized = true;
//! Ok(())
//! }
//! 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(&obj_id);
//! 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);
//! ```
use std::any::Any;
use std::collections::HashMap;
use alloc::boxed::Box;
#[cfg(not(feature = "std"))]
use alloc::vec::Vec;
use downcast_rs::Downcast;
use hashbrown::HashMap;
#[cfg(feature = "std")]
use std::error::Error;
#[derive(PartialEq, Eq, Hash, Copy, Clone, Debug)]
@ -68,33 +67,38 @@ pub struct ObjectId {
/// Each object which is stored inside the [object manager][ObjectManager] needs to implemented
/// this trait
pub trait SystemObject {
fn as_any(&self) -> &dyn Any;
pub trait SystemObject: Downcast {
type Error;
fn get_object_id(&self) -> &ObjectId;
fn initialize(&mut self) -> Result<(), Box<dyn Error>>;
fn initialize(&mut self) -> Result<(), Self::Error>;
}
downcast_rs::impl_downcast!(SystemObject assoc Error);
pub trait ManagedSystemObject: SystemObject + Any + Send {}
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]
pub struct ObjectManager {
obj_map: HashMap<ObjectId, Box<dyn ManagedSystemObject>>,
#[cfg(feature = "alloc")]
pub struct ObjectManager<E> {
obj_map: HashMap<ObjectId, Box<dyn ManagedSystemObject<Error = E>>>,
}
impl Default for ObjectManager {
#[cfg(feature = "alloc")]
impl<E: 'static> Default for ObjectManager<E> {
fn default() -> Self {
Self::new()
}
}
impl ObjectManager {
pub fn new() -> ObjectManager {
#[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>) -> bool {
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;
@ -114,20 +118,28 @@ impl ObjectManager {
Ok(init_success)
}
/// Retrieve an object stored inside the manager. The type to retrieve needs to be explicitly
/// passed as a generic parameter
pub fn get<T: Any>(&self, key: &ObjectId) -> Option<&T> {
/// 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(key)
.and_then(|o| o.as_ref().as_any().downcast_ref::<T>())
.get_mut(key)
.and_then(|o| o.downcast_mut::<T>())
}
}
#[cfg(test)]
mod tests {
use crate::objects::{ManagedSystemObject, ObjectId, ObjectManager, SystemObject};
use std::any::Any;
use std::error::Error;
use std::boxed::Box;
use std::string::String;
use std::sync::{Arc, Mutex};
use std::thread;
@ -148,15 +160,12 @@ mod tests {
}
impl SystemObject for ExampleSysObj {
fn as_any(&self) -> &dyn Any {
self
}
type Error = ();
fn get_object_id(&self) -> &ObjectId {
&self.id
}
fn initialize(&mut self) -> Result<(), Box<dyn Error>> {
fn initialize(&mut self) -> Result<(), Self::Error> {
self.was_initialized = true;
Ok(())
}
@ -171,15 +180,12 @@ mod tests {
}
impl SystemObject for OtherExampleObject {
fn as_any(&self) -> &dyn Any {
self
}
type Error = ();
fn get_object_id(&self) -> &ObjectId {
&self.id
}
fn initialize(&mut self) -> Result<(), Box<dyn Error>> {
fn initialize(&mut self) -> Result<(), Self::Error> {
self.was_initialized = true;
Ok(())
}
@ -199,7 +205,7 @@ mod tests {
let res = obj_manager.initialize();
assert!(res.is_ok());
assert_eq!(res.unwrap(), 1);
let obj_back_casted: Option<&ExampleSysObj> = obj_manager.get(&expl_obj_id);
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);
@ -219,7 +225,7 @@ mod tests {
let res = obj_manager.initialize();
assert!(res.is_ok());
assert_eq!(res.unwrap(), 2);
let obj_back_casted: Option<&OtherExampleObject> = obj_manager.get(&second_obj_id);
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"));
@ -266,7 +272,7 @@ mod tests {
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(&expl_obj_id);
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);
@ -276,7 +282,7 @@ mod tests {
let jh1 = thread::spawn(move || {
let locked_man = obj_manager.lock().expect("Mutex lock failed");
let obj_back_casted: Option<&OtherExampleObject> = locked_man.get(&second_obj_id);
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"));

605
fsrc-core/src/pool.rs
View File

@ -6,14 +6,14 @@
//! embedded environments. The pool implementation will also track the size of the data stored
//! inside it.
//!
//! Transaction with the [pool][LocalPool] are done using a special [address][StoreAddr] type.
//! Transactions with the [pool][LocalPool] are done using a special [address][StoreAddr] type.
//! Adding any data to the pool will yield a store address. Modification and read operations are
//! done using a reference to a store address. Deletion will consume the store address.
//!
//! # Example
//!
//! ```
//! use fsrc_core::pool::{LocalPool, PoolCfg};
//! use fsrc_core::pool::{LocalPool, PoolCfg, PoolProvider};
//!
//! // 4 buckets of 4 bytes, 2 of 8 bytes and 1 of 16 bytes
//! let pool_cfg = PoolCfg::new(vec![(4, 4), (2, 8), (1, 16)]);
@ -23,7 +23,7 @@
//! // Add new data to the pool
//! let mut example_data = [0; 4];
//! example_data[0] = 42;
//! let res = local_pool.add(example_data);
//! let res = local_pool.add(&example_data);
//! assert!(res.is_ok());
//! addr = res.unwrap();
//! }
@ -73,14 +73,30 @@
//! assert_eq!(buf_read_back[0], 7);
//! }
//! ```
use alloc::format;
use alloc::string::String;
use alloc::vec;
use alloc::vec::Vec;
use delegate::delegate;
#[cfg(feature = "std")]
use std::boxed::Box;
#[cfg(feature = "std")]
use std::sync::{Arc, RwLock};
type NumBlocks = u16;
#[cfg(feature = "std")]
pub type ShareablePoolProvider = Box<dyn PoolProvider + Send + Sync>;
#[cfg(feature = "std")]
pub type SharedPool = Arc<RwLock<ShareablePoolProvider>>;
/// Configuration structure of the [local pool][LocalPool]
///
/// # Parameters
///
/// * `cfg`: Vector of tuples which represent a subpool. The first entry in the tuple specifies the
/// number of memory blocks in the subpool, the second entry the size of the blocks
#[derive(Clone)]
pub struct PoolCfg {
cfg: Vec<(NumBlocks, usize)>,
}
@ -110,7 +126,7 @@ pub struct LocalPool {
}
/// Simple address type used for transactions with the local pool.
#[derive(Debug, Copy, Clone, PartialEq)]
#[derive(Debug, Copy, Clone, PartialEq, Eq)]
pub struct StoreAddr {
pool_idx: u16,
packet_idx: NumBlocks,
@ -124,13 +140,13 @@ impl StoreAddr {
}
}
#[derive(Debug, Clone, PartialEq)]
#[derive(Debug, Clone, PartialEq, Eq)]
pub enum StoreIdError {
InvalidSubpool(u16),
InvalidPacketIdx(u16),
}
#[derive(Debug, Clone, PartialEq)]
#[derive(Debug, Clone, PartialEq, Eq)]
pub enum StoreError {
/// Requested data block is too large
DataTooLarge(usize),
@ -144,10 +160,52 @@ pub enum StoreError {
InternalError(String),
}
pub trait PoolProvider {
/// Add new data to the pool. The provider should attempt to reserve a memory block with the
/// appropriate size and then copy the given data to the block. Yields a [StoreAddr] which can
/// be used to access the data stored in the pool
fn add(&mut self, data: &[u8]) -> Result<StoreAddr, StoreError>;
/// The provider should attempt to reserve a free memory block with the appropriate size and
/// then return a mutable reference to it. Yields a [StoreAddr] which can be used to access
/// the data stored in the pool
fn free_element(&mut self, len: usize) -> Result<(StoreAddr, &mut [u8]), StoreError>;
/// Modify data added previously using a given [StoreAddr] by yielding a mutable reference
/// to it
fn modify(&mut self, addr: &StoreAddr) -> Result<&mut [u8], StoreError>;
/// This function behaves like [Self::modify], but consumes the provided address and returns a
/// RAII conformant guard object.
///
/// Unless the guard [PoolRwGuard::release] method is called, the data for the
/// given address will be deleted automatically when the guard is dropped.
/// This can prevent memory leaks. Users can read (and modify) the data and release the guard
/// if the data in the store is valid for further processing. If the data is faulty, no
/// manual deletion is necessary when returning from a processing function prematurely.
fn modify_with_guard(&mut self, addr: StoreAddr) -> PoolRwGuard;
/// Read data by yielding a read-only reference given a [StoreAddr]
fn read(&self, addr: &StoreAddr) -> Result<&[u8], StoreError>;
/// This function behaves like [Self::read], but consumes the provided address and returns a
/// RAII conformant guard object.
///
/// Unless the guard [PoolRwGuard::release] method is called, the data for the
/// given address will be deleted automatically when the guard is dropped.
/// This can prevent memory leaks. Users can read the data and release the guard
/// if the data in the store is valid for further processing. If the data is faulty, no
/// manual deletion is necessary when returning from a processing function prematurely.
fn read_with_guard(&mut self, addr: StoreAddr) -> PoolGuard;
/// Delete data inside the pool given a [StoreAddr]
fn delete(&mut self, addr: StoreAddr) -> Result<(), StoreError>;
fn has_element_at(&self, addr: &StoreAddr) -> Result<bool, StoreError>;
}
impl LocalPool {
const STORE_FREE: PoolSize = PoolSize::MAX;
const MAX_SIZE: PoolSize = Self::STORE_FREE - 1;
/// Create a new local pool from the [given configuration][PoolCfg]. This function will sanitize
/// the given configuration as well.
pub fn new(mut cfg: PoolCfg) -> LocalPool {
@ -168,61 +226,18 @@ impl LocalPool {
local_pool
}
/// Add new data to the pool. It will attempt to reserve a memory block with the appropriate
/// size and then copy the given data to the block. Yields a [StoreAddr] which can be used
/// to access the data stored in the pool
pub fn add(&mut self, data: &[u8]) -> Result<StoreAddr, StoreError> {
let data_len = data.as_ref().len();
if data_len > Self::MAX_SIZE {
return Err(StoreError::DataTooLarge(data_len));
}
let addr = self.reserve(data_len)?;
self.write(&addr, data.as_ref())?;
Ok(addr)
}
/// Reserves a free memory block with the appropriate size and returns a mutable reference
/// to it. Yields a [StoreAddr] which can be used to access the data stored in the pool
pub fn free_element(&mut self, len: usize) -> Result<(StoreAddr, &mut [u8]), StoreError> {
if len > Self::MAX_SIZE {
return Err(StoreError::DataTooLarge(len));
}
let addr = self.reserve(len)?;
let raw_pos = self.raw_pos(&addr).unwrap();
let block = &mut self.pool.get_mut(addr.pool_idx as usize).unwrap()[raw_pos..len];
Ok((addr, block))
}
/// Modify data added previously using a given [StoreAddr] by yielding a mutable reference
/// to it
pub fn modify(&mut self, addr: &StoreAddr) -> Result<&mut [u8], StoreError> {
let curr_size = self.addr_check(addr)?;
let raw_pos = self.raw_pos(addr).unwrap();
let block = &mut self.pool.get_mut(addr.pool_idx as usize).unwrap()[raw_pos..curr_size];
Ok(block)
}
/// Read data by yielding a read-only reference given a [StoreAddr]
pub fn read(&self, addr: &StoreAddr) -> Result<&[u8], StoreError> {
let curr_size = self.addr_check(addr)?;
let raw_pos = self.raw_pos(addr).unwrap();
let block = &self.pool.get(addr.pool_idx as usize).unwrap()[raw_pos..curr_size];
Ok(block)
}
/// Delete data inside the pool given a [StoreAddr]
pub fn delete(&mut self, addr: StoreAddr) -> Result<(), StoreError> {
self.addr_check(&addr)?;
let block_size = self.pool_cfg.cfg.get(addr.pool_idx as usize).unwrap().1;
let raw_pos = self.raw_pos(&addr).unwrap();
let block = &mut self.pool.get_mut(addr.pool_idx as usize).unwrap()[raw_pos..block_size];
let size_list = self.sizes_lists.get_mut(addr.pool_idx as usize).unwrap();
size_list[addr.packet_idx as usize] = Self::STORE_FREE;
block.fill(0);
Ok(())
}
fn addr_check(&self, addr: &StoreAddr) -> Result<usize, StoreError> {
self.validate_addr(addr)?;
let pool_idx = addr.pool_idx as usize;
let size_list = self.sizes_lists.get(pool_idx).unwrap();
let curr_size = size_list[addr.packet_idx as usize];
if curr_size == Self::STORE_FREE {
return Err(StoreError::DataDoesNotExist(*addr));
}
Ok(curr_size)
}
fn validate_addr(&self, addr: &StoreAddr) -> Result<(), StoreError> {
let pool_idx = addr.pool_idx as usize;
if pool_idx as usize >= self.pool_cfg.cfg.len() {
return Err(StoreError::InvalidStoreId(
@ -236,12 +251,7 @@ impl LocalPool {
Some(*addr),
));
}
let size_list = self.sizes_lists.get(pool_idx).unwrap();
let curr_size = size_list[addr.packet_idx as usize];
if curr_size == Self::STORE_FREE {
return Err(StoreError::DataDoesNotExist(*addr));
}
Ok(curr_size)
Ok(())
}
fn reserve(&mut self, data_len: usize) -> Result<StoreAddr, StoreError> {
@ -279,7 +289,7 @@ impl LocalPool {
addr
))
})?;
let pool_slice = &mut subpool[packet_pos..self.pool_cfg.cfg[addr.pool_idx as usize].1];
let pool_slice = &mut subpool[packet_pos..packet_pos + data.len()];
pool_slice.copy_from_slice(data);
Ok(())
}
@ -306,9 +316,146 @@ impl LocalPool {
}
}
impl PoolProvider for LocalPool {
fn add(&mut self, data: &[u8]) -> Result<StoreAddr, StoreError> {
let data_len = data.len();
if data_len > Self::MAX_SIZE {
return Err(StoreError::DataTooLarge(data_len));
}
let addr = self.reserve(data_len)?;
self.write(&addr, data)?;
Ok(addr)
}
fn free_element(&mut self, len: usize) -> Result<(StoreAddr, &mut [u8]), StoreError> {
if len > Self::MAX_SIZE {
return Err(StoreError::DataTooLarge(len));
}
let addr = self.reserve(len)?;
let raw_pos = self.raw_pos(&addr).unwrap();
let block = &mut self.pool.get_mut(addr.pool_idx as usize).unwrap()[raw_pos..raw_pos + len];
Ok((addr, block))
}
fn modify(&mut self, addr: &StoreAddr) -> Result<&mut [u8], StoreError> {
let curr_size = self.addr_check(addr)?;
let raw_pos = self.raw_pos(addr).unwrap();
let block = &mut self.pool.get_mut(addr.pool_idx as usize).unwrap()[raw_pos..curr_size];
Ok(block)
}
fn modify_with_guard(&mut self, addr: StoreAddr) -> PoolRwGuard {
PoolRwGuard::new(self, addr)
}
fn read(&self, addr: &StoreAddr) -> Result<&[u8], StoreError> {
let curr_size = self.addr_check(addr)?;
let raw_pos = self.raw_pos(addr).unwrap();
let block = &self.pool.get(addr.pool_idx as usize).unwrap()[raw_pos..raw_pos + curr_size];
Ok(block)
}
fn read_with_guard(&mut self, addr: StoreAddr) -> PoolGuard {
PoolGuard::new(self, addr)
}
fn delete(&mut self, addr: StoreAddr) -> Result<(), StoreError> {
self.addr_check(&addr)?;
let block_size = self.pool_cfg.cfg.get(addr.pool_idx as usize).unwrap().1;
let raw_pos = self.raw_pos(&addr).unwrap();
let block =
&mut self.pool.get_mut(addr.pool_idx as usize).unwrap()[raw_pos..raw_pos + block_size];
let size_list = self.sizes_lists.get_mut(addr.pool_idx as usize).unwrap();
size_list[addr.packet_idx as usize] = Self::STORE_FREE;
block.fill(0);
Ok(())
}
fn has_element_at(&self, addr: &StoreAddr) -> Result<bool, StoreError> {
self.validate_addr(addr)?;
let pool_idx = addr.pool_idx as usize;
let size_list = self.sizes_lists.get(pool_idx).unwrap();
let curr_size = size_list[addr.packet_idx as usize];
if curr_size == Self::STORE_FREE {
return Ok(false);
}
Ok(true)
}
}
pub struct PoolGuard<'a> {
pool: &'a mut LocalPool,
pub addr: StoreAddr,
no_deletion: bool,
deletion_failed_error: Option<StoreError>,
}
/// This helper object
impl<'a> PoolGuard<'a> {
pub fn new(pool: &'a mut LocalPool, addr: StoreAddr) -> Self {
Self {
pool,
addr,
no_deletion: false,
deletion_failed_error: None,
}
}
pub fn read(&self) -> Result<&[u8], StoreError> {
self.pool.read(&self.addr)
}
pub fn release(&mut self) {
self.no_deletion = true;
}
}
impl Drop for PoolGuard<'_> {
fn drop(&mut self) {
if !self.no_deletion {
if let Err(e) = self.pool.delete(self.addr) {
self.deletion_failed_error = Some(e);
}
}
}
}
pub struct PoolRwGuard<'a> {
guard: PoolGuard<'a>,
}
impl<'a> PoolRwGuard<'a> {
pub fn new(pool: &'a mut LocalPool, addr: StoreAddr) -> Self {
Self {
guard: PoolGuard::new(pool, addr),
}
}
pub fn modify(&mut self) -> Result<&mut [u8], StoreError> {
self.guard.pool.modify(&self.guard.addr)
}
delegate!(
to self.guard {
pub fn read(&self) -> Result<&[u8], StoreError>;
pub fn release(&mut self);
}
);
}
#[cfg(test)]
mod tests {
use crate::pool::{LocalPool, PoolCfg, StoreAddr, StoreError, StoreIdError};
use crate::pool::{
LocalPool, PoolCfg, PoolGuard, PoolProvider, PoolRwGuard, StoreAddr, StoreError,
StoreIdError,
};
use std::vec;
fn basic_small_pool() -> LocalPool {
// 4 buckets of 4 bytes, 2 of 8 bytes and 1 of 16 bytes
let pool_cfg = PoolCfg::new(vec![(4, 4), (2, 8), (1, 16)]);
LocalPool::new(pool_cfg)
}
#[test]
fn test_cfg() {
@ -330,10 +477,100 @@ mod tests {
}
#[test]
fn test_basic() {
// 4 buckets of 4 bytes, 2 of 8 bytes and 1 of 16 bytes
let pool_cfg = PoolCfg::new(vec![(4, 4), (2, 8), (1, 16)]);
let mut local_pool = LocalPool::new(pool_cfg);
fn test_add_and_read() {
let mut local_pool = basic_small_pool();
let mut test_buf: [u8; 16] = [0; 16];
for (i, val) in test_buf.iter_mut().enumerate() {
*val = i as u8;
}
let addr = local_pool.add(&test_buf).expect("Adding data failed");
// Read back data and verify correctness
let res = local_pool.read(&addr);
assert!(res.is_ok());
let buf_read_back = res.unwrap();
assert_eq!(buf_read_back.len(), 16);
for (i, &val) in buf_read_back.iter().enumerate() {
assert_eq!(val, i as u8);
}
}
#[test]
fn test_add_smaller_than_full_slot() {
let mut local_pool = basic_small_pool();
let test_buf: [u8; 12] = [0; 12];
let addr = local_pool.add(&test_buf).expect("Adding data failed");
let res = local_pool.read(&addr).expect("Read back failed");
assert_eq!(res.len(), 12);
}
#[test]
fn test_delete() {
let mut local_pool = basic_small_pool();
let test_buf: [u8; 16] = [0; 16];
let addr = local_pool.add(&test_buf).expect("Adding data failed");
// Delete the data
let res = local_pool.delete(addr);
assert!(res.is_ok());
// Verify that the slot is free by trying to get a reference to it
let res = local_pool.free_element(12);
assert!(res.is_ok());
let (addr, buf_ref) = res.unwrap();
assert_eq!(
addr,
StoreAddr {
pool_idx: 2,
packet_idx: 0
}
);
assert_eq!(buf_ref.len(), 12);
}
#[test]
fn test_modify() {
let mut local_pool = basic_small_pool();
let mut test_buf: [u8; 16] = [0; 16];
for (i, val) in test_buf.iter_mut().enumerate() {
*val = i as u8;
}
let addr = local_pool.add(&test_buf).expect("Adding data failed");
{
// Verify that the slot is free by trying to get a reference to it
let res = local_pool.modify(&addr).expect("Modifying data failed");
res[0] = 0;
res[1] = 0x42;
}
let res = local_pool.read(&addr).expect("Reading back data failed");
assert_eq!(res[0], 0);
assert_eq!(res[1], 0x42);
assert_eq!(res[2], 2);
assert_eq!(res[3], 3);
}
#[test]
fn test_consecutive_reservation() {
let mut local_pool = basic_small_pool();
// Reserve two smaller blocks consecutively and verify that the third reservation fails
let res = local_pool.free_element(8);
assert!(res.is_ok());
let (addr0, _) = res.unwrap();
let res = local_pool.free_element(8);
assert!(res.is_ok());
let (addr1, _) = res.unwrap();
let res = local_pool.free_element(8);
assert!(res.is_err());
let err = res.unwrap_err();
assert_eq!(err, StoreError::StoreFull(1));
// Verify that the two deletions are successful
assert!(local_pool.delete(addr0).is_ok());
assert!(local_pool.delete(addr1).is_ok());
}
#[test]
fn test_read_does_not_exist() {
let local_pool = basic_small_pool();
// Try to access data which does not exist
let res = local_pool.read(&StoreAddr {
packet_idx: 0,
@ -344,22 +581,13 @@ mod tests {
res.unwrap_err(),
StoreError::DataDoesNotExist { .. }
));
let mut test_buf: [u8; 16] = [0; 16];
for (i, val) in test_buf.iter_mut().enumerate() {
*val = i as u8;
}
let res = local_pool.add(&test_buf);
assert!(res.is_ok());
let addr = res.unwrap();
// Only the second subpool has enough storage and only one bucket
assert_eq!(
addr,
StoreAddr {
pool_idx: 2,
packet_idx: 0
}
);
}
#[test]
fn test_store_full() {
let mut local_pool = basic_small_pool();
let test_buf: [u8; 16] = [0; 16];
assert!(local_pool.add(&test_buf).is_ok());
// The subpool is now full and the call should fail accordingly
let res = local_pool.add(&test_buf);
assert!(res.is_err());
@ -368,112 +596,121 @@ mod tests {
if let StoreError::StoreFull(subpool) = err {
assert_eq!(subpool, 2);
}
}
// Read back data and verify correctness
#[test]
fn test_invalid_pool_idx() {
let local_pool = basic_small_pool();
let addr = StoreAddr {
pool_idx: 3,
packet_idx: 0,
};
let res = local_pool.read(&addr);
assert!(res.is_ok());
let buf_read_back = res.unwrap();
assert_eq!(buf_read_back.len(), 16);
for (i, &val) in buf_read_back.iter().enumerate() {
assert_eq!(val, i as u8);
}
assert!(res.is_err());
let err = res.unwrap_err();
assert!(matches!(
err,
StoreError::InvalidStoreId(StoreIdError::InvalidSubpool(3), Some(_))
));
}
// Delete the data
let res = local_pool.delete(addr);
assert!(res.is_ok());
#[test]
fn test_invalid_packet_idx() {
let local_pool = basic_small_pool();
let addr = StoreAddr {
pool_idx: 2,
packet_idx: 1,
};
assert_eq!(addr.raw(), 0x00020001);
let res = local_pool.read(&addr);
assert!(res.is_err());
let err = res.unwrap_err();
assert!(matches!(
err,
StoreError::InvalidStoreId(StoreIdError::InvalidPacketIdx(1), Some(_))
));
}
{
// Verify that the slot is free by trying to get a reference to it
let res = local_pool.free_element(12);
assert!(res.is_ok());
let (addr, buf_ref) = res.unwrap();
assert_eq!(
addr,
StoreAddr {
pool_idx: 2,
packet_idx: 0
}
);
assert_eq!(buf_ref.len(), 12);
assert_eq!(buf_ref, [0; 12]);
buf_ref[0] = 5;
buf_ref[11] = 12;
}
#[test]
fn test_add_too_large() {
let mut local_pool = basic_small_pool();
let data_too_large = [0; 20];
let res = local_pool.add(&data_too_large);
assert!(res.is_err());
let err = res.unwrap_err();
assert_eq!(err, StoreError::DataTooLarge(20));
}
{
// Try to request a slot which is too large
let res = local_pool.free_element(20);
assert!(res.is_err());
assert_eq!(res.unwrap_err(), StoreError::DataTooLarge(20));
#[test]
fn test_data_too_large_1() {
let mut local_pool = basic_small_pool();
let res = local_pool.free_element(LocalPool::MAX_SIZE + 1);
assert!(res.is_err());
assert_eq!(
res.unwrap_err(),
StoreError::DataTooLarge(LocalPool::MAX_SIZE + 1)
);
}
// Try to modify the 12 bytes requested previously
let res = local_pool.modify(&addr);
assert!(res.is_ok());
let buf_ref = res.unwrap();
assert_eq!(buf_ref[0], 5);
assert_eq!(buf_ref[11], 12);
buf_ref[0] = 0;
buf_ref[11] = 0;
}
#[test]
fn test_free_element_too_large() {
let mut local_pool = basic_small_pool();
// Try to request a slot which is too large
let res = local_pool.free_element(20);
assert!(res.is_err());
assert_eq!(res.unwrap_err(), StoreError::DataTooLarge(20));
}
{
let addr = StoreAddr {
pool_idx: 3,
packet_idx: 0,
};
let res = local_pool.read(&addr);
assert!(res.is_err());
let err = res.unwrap_err();
assert!(matches!(
err,
StoreError::InvalidStoreId(StoreIdError::InvalidSubpool(3), Some(_))
));
}
#[test]
fn test_pool_guard_deletion_man_creation() {
let mut local_pool = basic_small_pool();
let test_buf: [u8; 16] = [0; 16];
let addr = local_pool.add(&test_buf).expect("Adding data failed");
let read_guard = PoolGuard::new(&mut local_pool, addr);
drop(read_guard);
assert!(!local_pool.has_element_at(&addr).expect("Invalid address"));
}
{
let addr = StoreAddr {
pool_idx: 2,
packet_idx: 1,
};
assert_eq!(addr.raw(), 0x00020001);
let res = local_pool.read(&addr);
assert!(res.is_err());
let err = res.unwrap_err();
assert!(matches!(
err,
StoreError::InvalidStoreId(StoreIdError::InvalidPacketIdx(1), Some(_))
));
#[test]
fn test_pool_guard_deletion() {
let mut local_pool = basic_small_pool();
let test_buf: [u8; 16] = [0; 16];
let addr = local_pool.add(&test_buf).expect("Adding data failed");
let read_guard = local_pool.read_with_guard(addr);
drop(read_guard);
assert!(!local_pool.has_element_at(&addr).expect("Invalid address"));
}
let data_too_large = [0; 20];
let res = local_pool.add(&data_too_large);
assert!(res.is_err());
let err = res.unwrap_err();
assert_eq!(err, StoreError::DataTooLarge(20));
#[test]
fn test_pool_guard_with_release() {
let mut local_pool = basic_small_pool();
let test_buf: [u8; 16] = [0; 16];
let addr = local_pool.add(&test_buf).expect("Adding data failed");
let mut read_guard = PoolGuard::new(&mut local_pool, addr);
read_guard.release();
drop(read_guard);
assert!(local_pool.has_element_at(&addr).expect("Invalid address"));
}
let res = local_pool.free_element(LocalPool::MAX_SIZE + 1);
assert!(res.is_err());
assert_eq!(
res.unwrap_err(),
StoreError::DataTooLarge(LocalPool::MAX_SIZE + 1)
);
}
#[test]
fn test_pool_modify_guard_man_creation() {
let mut local_pool = basic_small_pool();
let test_buf: [u8; 16] = [0; 16];
let addr = local_pool.add(&test_buf).expect("Adding data failed");
let mut rw_guard = PoolRwGuard::new(&mut local_pool, addr);
let _ = rw_guard.modify().expect("modify failed");
drop(rw_guard);
assert!(!local_pool.has_element_at(&addr).expect("Invalid address"));
}
{
// Reserve two smaller blocks consecutively and verify that the third reservation fails
let res = local_pool.free_element(8);
assert!(res.is_ok());
let (addr0, _) = res.unwrap();
let res = local_pool.free_element(8);
assert!(res.is_ok());
let (addr1, _) = res.unwrap();
let res = local_pool.free_element(8);
assert!(res.is_err());
let err = res.unwrap_err();
assert_eq!(err, StoreError::StoreFull(1));
// Verify that the two deletions are successful
assert!(local_pool.delete(addr0).is_ok());
assert!(local_pool.delete(addr1).is_ok());
}
#[test]
fn test_pool_modify_guard() {
let mut local_pool = basic_small_pool();
let test_buf: [u8; 16] = [0; 16];
let addr = local_pool.add(&test_buf).expect("Adding data failed");
let mut rw_guard = local_pool.modify_with_guard(addr);
let _ = rw_guard.modify().expect("modify failed");
drop(rw_guard);
assert!(!local_pool.has_element_at(&addr).expect("Invalid address"));
}
}

92
fsrc-core/src/pool_test.rs
View File

@ -1,92 +0,0 @@
use std::sync::{Arc, RwLock};
use std::thread;
struct PoolDummy {
test_buf: [u8; 128],
}
struct PoolAccessDummy<'a> {
pool_dummy: &'a mut PoolDummy,
no_deletion: bool,
}
impl PoolAccessDummy<'_> {
fn modify(&mut self) -> &mut [u8] {
self.pool_dummy.modify()
}
fn release(&mut self) {
self.no_deletion = true;
}
}
impl Drop for PoolAccessDummy<'_> {
fn drop(&mut self) {
if self.no_deletion {
println!("Pool access: Drop with no deletion")
} else {
self.pool_dummy.delete();
println!("Pool access: Drop with deletion");
}
}
}
impl Default for PoolDummy {
fn default() -> Self {
PoolDummy { test_buf: [0; 128] }
}
}
impl PoolDummy {
fn modify(&mut self) -> &mut [u8] {
self.test_buf.as_mut_slice()
}
fn modify_with_accessor(&mut self) -> PoolAccessDummy {
PoolAccessDummy {
pool_dummy: self,
no_deletion: false,
}
}
fn read(&self) -> &[u8] {
self.test_buf.as_slice()
}
fn delete(&mut self) {
println!("Store content was deleted");
}
}
fn pool_test() {
println!("Hello World");
let shared_dummy = Arc::new(RwLock::new(PoolDummy::default()));
let shared_clone = shared_dummy.clone();
let jh0 = thread::spawn(move || loop {
{
let mut dummy = shared_dummy.write().unwrap();
let buf = dummy.modify();
buf[0] = 1;
let mut accessor = dummy.modify_with_accessor();
let buf = accessor.modify();
buf[0] = 2;
}
});
let jh1 = thread::spawn(move || loop {
{
let dummy = shared_clone.read().unwrap();
let buf = dummy.read();
println!("Buffer 0: {:?}", buf[0]);
}
let mut dummy = shared_clone.write().unwrap();
let mut accessor = dummy.modify_with_accessor();
let buf = accessor.modify();
buf[0] = 3;
accessor.release();
});
jh0.join().unwrap();
jh1.join().unwrap();
}

7
fsrc-core/src/pus/mod.rs Normal file
View File

@ -0,0 +1,7 @@
//! All PUS support modules
//!
//! Currenty includes:
//!
//! 1. PUS Verification Service 1 module inside [verification]. Requires [alloc] support.
#[cfg(feature = "alloc")]
pub mod verification;

1631
fsrc-core/src/pus/verification.rs Normal file
View File

File diff suppressed because it is too large Load Diff

363
fsrc-core/src/tmtc/ccsds_distrib.rs
View File

@ -1,62 +1,327 @@
use crate::error::FsrcErrorHandler;
use crate::tmtc::{
ReceivesCcsds, ReceivesTc, FROM_BYTES_SLICE_TOO_SMALL_ERROR, FROM_BYTES_ZEROCOPY_ERROR,
};
use spacepackets::{CcsdsPacket, PacketError, SpHeader};
//! CCSDS packet routing components.
//!
//! The routing components consist of two core components:
//! 1. [CcsdsDistributor] component which dispatches received packets to a user-provided handler
//! 2. [CcsdsPacketHandler] trait which should be implemented by the user-provided packet handler.
//!
//! The [CcsdsDistributor] implements the [ReceivesCcsdsTc] and [ReceivesTc] trait which allows to
//! pass raw or CCSDS packets to it. Upon receiving a packet, it performs the following steps:
//!
//! 1. It tries to identify the target Application Process Identifier (APID) based on the
//! respective CCSDS space packet header field. If that process fails, a [ByteConversionError] is
//! returned to the user
//! 2. If a valid APID is found and matches one of the APIDs provided by
//! [CcsdsPacketHandler::valid_apids], it will pass the packet to the user provided
//! [CcsdsPacketHandler::handle_known_apid] function. If no valid APID is found, the packet
//! will be passed to the [CcsdsPacketHandler::handle_unknown_apid] function.
//!
//! # Example
//!
//! ```rust
//! use fsrc_core::tmtc::ccsds_distrib::{CcsdsPacketHandler, CcsdsDistributor};
//! use fsrc_core::tmtc::ReceivesTc;
//! use spacepackets::{CcsdsPacket, SpHeader};
//! use spacepackets::tc::PusTc;
//!
//! #[derive (Default)]
//! struct ConcreteApidHandler {
//! known_call_count: u32,
//! unknown_call_count: u32
//! }
//!
//! impl ConcreteApidHandler {
//! fn mutable_foo(&mut self) {}
//! }
//!
//! impl CcsdsPacketHandler for ConcreteApidHandler {
//! type Error = ();
//! fn valid_apids(&self) -> &'static [u16] { &[0x002] }
//! fn handle_known_apid(&mut self, sp_header: &SpHeader, tc_raw: &[u8]) -> Result<(), Self::Error> {
//! assert_eq!(sp_header.apid(), 0x002);
//! assert_eq!(tc_raw.len(), 13);
//! self.known_call_count += 1;
//! Ok(())
//! }
//! fn handle_unknown_apid(&mut self, sp_header: &SpHeader, tc_raw: &[u8]) -> Result<(), Self::Error> {
//! assert_eq!(sp_header.apid(), 0x003);
//! assert_eq!(tc_raw.len(), 13);
//! self.unknown_call_count += 1;
//! Ok(())
//! }
//! }
//!
//! let apid_handler = ConcreteApidHandler::default();
//! let mut ccsds_distributor = CcsdsDistributor::new(Box::new(apid_handler));
//!
//! // Create and pass PUS telecommand with a valid APID
//! let mut space_packet_header = SpHeader::tc(0x002, 0x34, 0).unwrap();
//! let mut pus_tc = PusTc::new_simple(&mut space_packet_header, 17, 1, None, true);
//! let mut test_buf: [u8; 32] = [0; 32];
//! let mut size = pus_tc
//! .write_to(test_buf.as_mut_slice())
//! .expect("Error writing TC to buffer");
//! let tc_slice = &test_buf[0..size];
//! ccsds_distributor.pass_tc(&tc_slice).expect("Passing TC slice failed");
//!
//! // Now pass a packet with an unknown APID to the distributor
//! pus_tc.set_apid(0x003);
//! size = pus_tc
//! .write_to(test_buf.as_mut_slice())
//! .expect("Error writing TC to buffer");
//! let tc_slice = &test_buf[0..size];
//! ccsds_distributor.pass_tc(&tc_slice).expect("Passing TC slice failed");
//!
//! // User helper function to retrieve concrete class
//! let concrete_handler_ref: &ConcreteApidHandler = ccsds_distributor
//! .apid_handler_ref()
//! .expect("Casting back to concrete type failed");
//! assert_eq!(concrete_handler_ref.known_call_count, 1);
//! assert_eq!(concrete_handler_ref.unknown_call_count, 1);
//!
//! // It's also possible to retrieve a mutable reference
//! let mutable_ref: &mut ConcreteApidHandler = ccsds_distributor
//! .apid_handler_mut()
//! .expect("Casting back to concrete type failed");
//! mutable_ref.mutable_foo();
//! ```
use crate::tmtc::{ReceivesCcsdsTc, ReceivesTc};
use alloc::boxed::Box;
use downcast_rs::Downcast;
use spacepackets::{ByteConversionError, CcsdsPacket, SizeMissmatch, SpHeader};
pub trait HandlesPacketForApid {
fn get_apid_handler(&mut self, apid: u16) -> Option<&mut Box<dyn ReceivesCcsds>>;
fn handle_unknown_apid(&mut self, sp_header: &SpHeader, tc_raw: &[u8]);
/// Generic trait for a handler or dispatcher object handling CCSDS packets.
///
/// Users should implement this trait on their custom CCSDS packet handler and then pass a boxed
/// instance of this handler to the [CcsdsDistributor]. The distributor will use the trait
/// interface to dispatch received packets to the user based on the Application Process Identifier
/// (APID) field of the CCSDS packet.
///
/// This trait automatically implements the [downcast_rs::Downcast] to allow a more convenient API
/// to cast trait objects back to their concrete type after the handler was passed to the
/// distributor.
pub trait CcsdsPacketHandler: Downcast {
type Error;
fn valid_apids(&self) -> &'static [u16];
fn handle_known_apid(&mut self, sp_header: &SpHeader, tc_raw: &[u8])
-> Result<(), Self::Error>;
fn handle_unknown_apid(
&mut self,
sp_header: &SpHeader,
tc_raw: &[u8],
) -> Result<(), Self::Error>;
}
pub struct CcsdsDistributor {
apid_handlers: Box<dyn HandlesPacketForApid>,
error_handler: Box<dyn FsrcErrorHandler>,
downcast_rs::impl_downcast!(CcsdsPacketHandler assoc Error);
/// The CCSDS distributor dispatches received CCSDS packets to a user provided packet handler.
pub struct CcsdsDistributor<E> {
/// User provided APID handler stored as a generic trait object.
/// It can be cast back to the original concrete type using the [Self::apid_handler_ref] or
/// the [Self::apid_handler_mut] method.
pub apid_handler: Box<dyn CcsdsPacketHandler<Error = E>>,
}
impl CcsdsDistributor {
pub fn new(
apid_handlers: Box<dyn HandlesPacketForApid>,
error_handler: Box<dyn FsrcErrorHandler>,
) -> Self {
CcsdsDistributor {
apid_handlers,
error_handler,
}
#[derive(Debug, Copy, Clone, PartialEq, Eq)]
pub enum CcsdsError<E> {
CustomError(E),
PacketError(ByteConversionError),
}
impl<E: 'static> ReceivesCcsdsTc for CcsdsDistributor<E> {
type Error = CcsdsError<E>;
fn pass_ccsds(&mut self, header: &SpHeader, tc_raw: &[u8]) -> Result<(), Self::Error> {
self.dispatch_ccsds(header, tc_raw)
}
}
impl ReceivesTc for CcsdsDistributor {
fn pass_tc(&mut self, tm_raw: &[u8]) {
let sp_header = match SpHeader::from_raw_slice(tm_raw) {
Ok(header) => header,
Err(e) => {
match e {
PacketError::FromBytesSliceTooSmall(missmatch) => {
self.error_handler.error_with_two_params(
FROM_BYTES_SLICE_TOO_SMALL_ERROR,
missmatch.found as u32,
missmatch.expected as u32,
);
}
PacketError::FromBytesZeroCopyError => {
self.error_handler.error(FROM_BYTES_ZEROCOPY_ERROR);
}
_ => {
// TODO: Unexpected error
}
}
return;
}
};
impl<E: 'static> ReceivesTc for CcsdsDistributor<E> {
type Error = CcsdsError<E>;
fn pass_tc(&mut self, tc_raw: &[u8]) -> Result<(), Self::Error> {
if tc_raw.len() < 7 {
return Err(CcsdsError::PacketError(
ByteConversionError::FromSliceTooSmall(SizeMissmatch {
found: tc_raw.len(),
expected: 7,
}),
));
}
let sp_header = SpHeader::from_raw_slice(tc_raw).map_err(|e| CcsdsError::PacketError(e))?;
self.dispatch_ccsds(&sp_header, tc_raw)
}
}
impl<E: 'static> CcsdsDistributor<E> {
pub fn new(apid_handler: Box<dyn CcsdsPacketHandler<Error = E>>) -> Self {
CcsdsDistributor { apid_handler }
}
/// This function can be used to retrieve a reference to the concrete instance of the APID
/// handler after it was passed to the distributor. See the
/// [module documentation][crate::tmtc::ccsds_distrib] for an fsrc-example.
pub fn apid_handler_ref<T: CcsdsPacketHandler<Error = E>>(&self) -> Option<&T> {
self.apid_handler.downcast_ref::<T>()
}
/// This function can be used to retrieve a mutable reference to the concrete instance of the
/// APID handler after it was passed to the distributor.
pub fn apid_handler_mut<T: CcsdsPacketHandler<Error = E>>(&mut self) -> Option<&mut T> {
self.apid_handler.downcast_mut::<T>()
}
fn dispatch_ccsds(&mut self, sp_header: &SpHeader, tc_raw: &[u8]) -> Result<(), CcsdsError<E>> {
let apid = sp_header.apid();
match self.apid_handlers.get_apid_handler(apid) {
None => {
self.apid_handlers.handle_unknown_apid(&sp_header, tm_raw);
}
Some(handler) => {
handler.pass_ccsds(&sp_header, tm_raw).ok();
let valid_apids = self.apid_handler.valid_apids();
for &valid_apid in valid_apids {
if valid_apid == apid {
return self
.apid_handler
.handle_known_apid(sp_header, tc_raw)
.map_err(|e| CcsdsError::CustomError(e));
}
}
self.apid_handler
.handle_unknown_apid(sp_header, tc_raw)
.map_err(|e| CcsdsError::CustomError(e))
}
}
#[cfg(test)]
pub(crate) mod tests {
use super::*;
use crate::tmtc::ccsds_distrib::{CcsdsDistributor, CcsdsPacketHandler};
use spacepackets::tc::PusTc;
use spacepackets::CcsdsPacket;
use std::collections::VecDeque;
use std::sync::{Arc, Mutex};
use std::vec::Vec;
pub fn generate_ping_tc(buf: &mut [u8]) -> &[u8] {
let mut sph = SpHeader::tc(0x002, 0x34, 0).unwrap();
let pus_tc = PusTc::new_simple(&mut sph, 17, 1, None, true);
let size = pus_tc.write_to(buf).expect("Error writing TC to buffer");
assert_eq!(size, 13);
&buf[0..size]
}
pub struct BasicApidHandlerSharedQueue {
pub known_packet_queue: Arc<Mutex<VecDeque<(u16, Vec<u8>)>>>,
pub unknown_packet_queue: Arc<Mutex<VecDeque<(u16, Vec<u8>)>>>,
}
#[derive(Default)]
pub struct BasicApidHandlerOwnedQueue {
pub known_packet_queue: VecDeque<(u16, Vec<u8>)>,
pub unknown_packet_queue: VecDeque<(u16, Vec<u8>)>,
}
impl CcsdsPacketHandler for BasicApidHandlerSharedQueue {
type Error = ();
fn valid_apids(&self) -> &'static [u16] {
&[0x000, 0x002]
}
fn handle_known_apid(
&mut self,
sp_header: &SpHeader,
tc_raw: &[u8],
) -> Result<(), Self::Error> {
let mut vec = Vec::new();
vec.extend_from_slice(tc_raw);
Ok(self
.known_packet_queue
.lock()
.unwrap()
.push_back((sp_header.apid(), vec)))
}
fn handle_unknown_apid(
&mut self,
sp_header: &SpHeader,
tc_raw: &[u8],
) -> Result<(), Self::Error> {
let mut vec = Vec::new();
vec.extend_from_slice(tc_raw);
Ok(self
.unknown_packet_queue
.lock()
.unwrap()
.push_back((sp_header.apid(), vec)))
}
}
impl CcsdsPacketHandler for BasicApidHandlerOwnedQueue {
type Error = ();
fn valid_apids(&self) -> &'static [u16] {
&[0x000, 0x002]
}
fn handle_known_apid(
&mut self,
sp_header: &SpHeader,
tc_raw: &[u8],
) -> Result<(), Self::Error> {
let mut vec = Vec::new();
vec.extend_from_slice(tc_raw);
Ok(self.known_packet_queue.push_back((sp_header.apid(), vec)))
}
fn handle_unknown_apid(
&mut self,
sp_header: &SpHeader,
tc_raw: &[u8],
) -> Result<(), Self::Error> {
let mut vec = Vec::new();
vec.extend_from_slice(tc_raw);
Ok(self.unknown_packet_queue.push_back((sp_header.apid(), vec)))
}
}
#[test]
fn test_distribs_known_apid() {
let known_packet_queue = Arc::new(Mutex::default());
let unknown_packet_queue = Arc::new(Mutex::default());
let apid_handler = BasicApidHandlerSharedQueue {
known_packet_queue: known_packet_queue.clone(),
unknown_packet_queue: unknown_packet_queue.clone(),
};
let mut ccsds_distrib = CcsdsDistributor::new(Box::new(apid_handler));
let mut test_buf: [u8; 32] = [0; 32];
let tc_slice = generate_ping_tc(test_buf.as_mut_slice());
ccsds_distrib.pass_tc(tc_slice).expect("Passing TC failed");
let recvd = known_packet_queue.lock().unwrap().pop_front();
assert!(unknown_packet_queue.lock().unwrap().is_empty());
assert!(recvd.is_some());
let (apid, packet) = recvd.unwrap();
assert_eq!(apid, 0x002);
assert_eq!(packet, tc_slice);
}
#[test]
fn test_distribs_unknown_apid() {
let known_packet_queue = Arc::new(Mutex::default());
let unknown_packet_queue = Arc::new(Mutex::default());
let apid_handler = BasicApidHandlerSharedQueue {
known_packet_queue: known_packet_queue.clone(),
unknown_packet_queue: unknown_packet_queue.clone(),
};
let mut ccsds_distrib = CcsdsDistributor::new(Box::new(apid_handler));
let mut sph = SpHeader::tc(0x004, 0x34, 0).unwrap();
let pus_tc = PusTc::new_simple(&mut sph, 17, 1, None, true);
let mut test_buf: [u8; 32] = [0; 32];
pus_tc
.write_to(test_buf.as_mut_slice())
.expect("Error writing TC to buffer");
ccsds_distrib.pass_tc(&test_buf).expect("Passing TC failed");
let recvd = unknown_packet_queue.lock().unwrap().pop_front();
assert!(known_packet_queue.lock().unwrap().is_empty());
assert!(recvd.is_some());
let (apid, packet) = recvd.unwrap();
assert_eq!(apid, 0x004);
assert_eq!(packet.as_slice(), test_buf);
}
}

117
fsrc-core/src/tmtc/mod.rs
View File

@ -1,96 +1,71 @@
//! Telemetry and Telecommanding (TMTC) module. Contains packet routing components with special
//! support for CCSDS and ECSS packets.
//!
//! The distributor modules provided by this module use trait objects provided by the user to
//! directly dispatch received packets to packet listeners based on packet fields like the CCSDS
//! Application Process ID (APID) or the ECSS PUS service type. This allows for fast packet
//! routing without the overhead and complication of using message queues. However, it also requires
use crate::error::{FsrcErrorRaw, FsrcGroupIds};
use spacepackets::ecss::PusError;
use downcast_rs::{impl_downcast, Downcast};
use spacepackets::tc::PusTc;
use spacepackets::{PacketError, SpHeader};
use spacepackets::SpHeader;
#[cfg(feature = "alloc")]
pub mod ccsds_distrib;
#[cfg(feature = "alloc")]
pub mod pus_distrib;
pub mod tm_helper;
const RAW_PACKET_ERROR: &str = "raw-tmtc";
pub use ccsds_distrib::{CcsdsDistributor, CcsdsError, CcsdsPacketHandler};
pub use pus_distrib::{PusDistributor, PusServiceProvider};
const _RAW_PACKET_ERROR: &str = "raw-tmtc";
const _CCSDS_ERROR: &str = "ccsds-tmtc";
const _PUS_ERROR: &str = "pus-tmtc";
// TODO: A macro for general and unknown errors would be nice
const FROM_BYTES_SLICE_TOO_SMALL_ERROR: FsrcErrorRaw = FsrcErrorRaw::new(
const _FROM_BYTES_SLICE_TOO_SMALL_ERROR: FsrcErrorRaw = FsrcErrorRaw::new(
FsrcGroupIds::Tmtc as u8,
0,
RAW_PACKET_ERROR,
_RAW_PACKET_ERROR,
"FROM_BYTES_SLICE_TOO_SMALL_ERROR",
);
const FROM_BYTES_ZEROCOPY_ERROR: FsrcErrorRaw = FsrcErrorRaw::new(
const _FROM_BYTES_ZEROCOPY_ERROR: FsrcErrorRaw = FsrcErrorRaw::new(
FsrcGroupIds::Tmtc as u8,
1,
RAW_PACKET_ERROR,
_RAW_PACKET_ERROR,
"FROM_BYTES_ZEROCOPY_ERROR",
);
pub trait ReceivesTc {
fn pass_tc(&mut self, tc_raw: &[u8]);
/// Generic trait for object which can receive any telecommands in form of a raw bytestream, with
/// no assumptions about the received protocol.
///
/// This trait is implemented by both the [crate::tmtc::pus_distrib::PusDistributor] and the
/// [crate::tmtc::ccsds_distrib::CcsdsDistributor] which allows to pass the respective packets in
/// raw byte format into them.
pub trait ReceivesTc: Downcast {
type Error;
fn pass_tc(&mut self, tc_raw: &[u8]) -> Result<(), Self::Error>;
}
pub trait ReceivesCcsds {
fn pass_ccsds(&mut self, header: &SpHeader, tm_raw: &[u8]) -> Result<(), PacketError>;
impl_downcast!(ReceivesTc assoc Error);
/// Generic trait for object which can receive CCSDS space packets, for fsrc-example ECSS PUS packets
/// for CCSDS File Delivery Protocol (CFDP) packets.
///
/// This trait is implemented by both the [crate::tmtc::pus_distrib::PusDistributor] and the
/// [crate::tmtc::ccsds_distrib::CcsdsDistributor] which allows
/// to pass the respective packets in raw byte format or in CCSDS format into them.
pub trait ReceivesCcsdsTc {
type Error;
fn pass_ccsds(&mut self, header: &SpHeader, tc_raw: &[u8]) -> Result<(), Self::Error>;
}
pub trait ReceivesPus {
fn pass_pus(&mut self, pus_tc: &PusTc) -> Result<(), PusError>;
}
#[cfg(test)]
mod tests {
use super::*;
use crate::error::SimpleStdErrorHandler;
use crate::tmtc::ccsds_distrib::{CcsdsDistributor, HandlesPacketForApid};
use spacepackets::CcsdsPacket;
use std::collections::HashMap;
#[derive(Copy, Clone)]
struct DummyCcsdsHandler {}
impl ReceivesCcsds for DummyCcsdsHandler {
fn pass_ccsds(&mut self, header: &SpHeader, tm_raw: &[u8]) -> Result<(), PacketError> {
println!("CCSDS packet with header {:?} received", header);
println!("Raw data with len {}: {:x?}", tm_raw.len(), tm_raw);
Ok(())
}
}
struct ApidHandler {
handler_map: HashMap<u16, Box<dyn ReceivesCcsds>>,
}
impl ApidHandler {
pub fn add_ccsds_handler(&mut self, apid: u16, ccsds_receiver: Box<dyn ReceivesCcsds>) {
// TODO: Error handling
self.handler_map.insert(apid, ccsds_receiver);
}
}
impl HandlesPacketForApid for ApidHandler {
fn get_apid_handler(&mut self, apid: u16) -> Option<&mut Box<dyn ReceivesCcsds>> {
self.handler_map.get_mut(&apid)
}
fn handle_unknown_apid(&mut self, sp_header: &SpHeader, tc_raw: &[u8]) {
println!("Packet with unknown APID {} received", sp_header.apid());
println!("Packet with len {}: {:x?}", tc_raw.len(), tc_raw);
}
}
#[test]
fn test_distribs() {
let ccsds_handler = DummyCcsdsHandler {};
let mut apid_handler = ApidHandler {
handler_map: HashMap::new(),
};
let error_handler = SimpleStdErrorHandler {};
apid_handler.add_ccsds_handler(0, Box::new(ccsds_handler));
let mut ccsds_distrib =
CcsdsDistributor::new(Box::new(apid_handler), Box::new(error_handler));
let mut sph = SpHeader::tc(0, 0x34, 0).unwrap();
let pus_tc = PusTc::new_simple(&mut sph, 17, 1, None, true);
let mut test_buf: [u8; 32] = [0; 32];
pus_tc
.write_to(test_buf.as_mut_slice())
.expect("Error writing TC to buffer");
ccsds_distrib.pass_tc(&test_buf);
}
/// Generic trait for objects which can receive ECSS PUS telecommands. This trait is
/// implemented by the [crate::tmtc::pus_distrib::PusDistributor] objects to allow passing PUS TC
/// packets into it.
pub trait ReceivesEcssPusTc {
type Error;
fn pass_pus_tc(&mut self, header: &SpHeader, pus_tc: &PusTc) -> Result<(), Self::Error>;
}

358
fsrc-core/src/tmtc/pus_distrib.rs
View File

@ -1,54 +1,332 @@
use crate::error::FsrcErrorHandler;
use crate::tmtc::{ReceivesCcsds, ReceivesPus, ReceivesTc};
//! ECSS PUS packet routing components.
//!
//! The routing components consist of two core components:
//! 1. [PusDistributor] component which dispatches received packets to a user-provided handler.
//! 2. [PusServiceProvider] trait which should be implemented by the user-provided PUS packet
//! handler.
//!
//! The [PusDistributor] implements the [ReceivesEcssPusTc], [ReceivesCcsdsTc] and the [ReceivesTc]
//! trait which allows to pass raw packets, CCSDS packets and PUS TC packets into it.
//! Upon receiving a packet, it performs the following steps:
//!
//! 1. It tries to extract the [SpHeader] and [PusTc] objects from the raw bytestream. If this
//! process fails, a [PusDistribError::PusError] is returned to the user.
//! 2. If it was possible to extract both components, the packet will be passed to the
//! [PusServiceProvider::handle_pus_tc_packet] method provided by the user.
//!
//! # Example
//!
//! ```rust
//! use fsrc_core::tmtc::pus_distrib::{PusDistributor, PusServiceProvider};
//! use fsrc_core::tmtc::ReceivesTc;
//! use spacepackets::SpHeader;
//! use spacepackets::tc::PusTc;
//! struct ConcretePusHandler {
//! handler_call_count: u32
//! }
//!
//! // This is a very simple possible service provider. It increments an internal call count field,
//! // which is used to verify the handler was called
//! impl PusServiceProvider for ConcretePusHandler {
//! type Error = ();
//! fn handle_pus_tc_packet(&mut self, service: u8, header: &SpHeader, pus_tc: &PusTc) -> Result<(), Self::Error> {
//! assert_eq!(service, 17);
//! assert_eq!(pus_tc.len_packed(), 13);
//! self.handler_call_count += 1;
//! Ok(())
//! }
//! }
//!
//! let service_handler = ConcretePusHandler {
//! handler_call_count: 0
//! };
//! let mut pus_distributor = PusDistributor::new(Box::new(service_handler));
//!
//! // Create and pass PUS ping telecommand with a valid APID
//! let mut space_packet_header = SpHeader::tc(0x002, 0x34, 0).unwrap();
//! let mut pus_tc = PusTc::new_simple(&mut space_packet_header, 17, 1, None, true);
//! let mut test_buf: [u8; 32] = [0; 32];
//! let mut size = pus_tc
//! .write_to(test_buf.as_mut_slice())
//! .expect("Error writing TC to buffer");
//! let tc_slice = &test_buf[0..size];
//!
//! pus_distributor.pass_tc(tc_slice).expect("Passing PUS telecommand failed");
//!
//! // User helper function to retrieve concrete class. We check the call count here to verify
//! // that the PUS ping telecommand was routed successfully.
//! let concrete_handler_ref: &ConcretePusHandler = pus_distributor
//! .service_provider_ref()
//! .expect("Casting back to concrete type failed");
//! assert_eq!(concrete_handler_ref.handler_call_count, 1);
//! ```
use crate::tmtc::{ReceivesCcsdsTc, ReceivesEcssPusTc, ReceivesTc};
use alloc::boxed::Box;
use downcast_rs::Downcast;
use spacepackets::ecss::{PusError, PusPacket};
use spacepackets::tc::PusTc;
use spacepackets::{CcsdsPacket, PacketError, SpHeader};
use spacepackets::SpHeader;
pub trait PusServiceProvider {
fn get_apid(&self, service: u8) -> u16;
fn get_service_handler(&self, service: u8, subservice: u8) -> Box<dyn ReceivesPus>;
pub trait PusServiceProvider: Downcast {
type Error;
fn handle_pus_tc_packet(
&mut self,
service: u8,
header: &SpHeader,
pus_tc: &PusTc,
) -> Result<(), Self::Error>;
}
downcast_rs::impl_downcast!(PusServiceProvider assoc Error);
pub struct PusDistributor<E> {
pub service_provider: Box<dyn PusServiceProvider<Error = E>>,
}
pub struct PusDistributor {
_error_handler: Box<dyn FsrcErrorHandler>,
service_provider: Box<dyn PusServiceProvider>,
}
impl ReceivesTc for PusDistributor {
fn pass_tc(&mut self, tm_raw: &[u8]) {
// Convert to ccsds and call pass_ccsds
let sp_header = SpHeader::from_raw_slice(tm_raw).unwrap();
self.pass_ccsds(&sp_header, tm_raw).unwrap();
impl<E> PusDistributor<E> {
pub fn new(service_provider: Box<dyn PusServiceProvider<Error = E>>) -> Self {
PusDistributor { service_provider }
}
}
impl ReceivesCcsds for PusDistributor {
fn pass_ccsds(&mut self, _header: &SpHeader, tm_raw: &[u8]) -> Result<(), PacketError> {
// TODO: Better error handling
let (tc, _) = match PusTc::new_from_raw_slice(tm_raw) {
Ok(tuple) => tuple,
Err(e) => {
match e {
PusError::VersionNotSupported(_) => {}
PusError::IncorrectCrc(_) => {}
PusError::RawDataTooShort(_) => {}
PusError::NoRawData => {}
PusError::CrcCalculationMissing => {}
PusError::PacketError(_) => {}
#[derive(Debug, Copy, Clone, PartialEq, Eq)]
pub enum PusDistribError<E> {
CustomError(E),
PusError(PusError),
}
impl<E: 'static> ReceivesTc for PusDistributor<E> {
type Error = PusDistribError<E>;
fn pass_tc(&mut self, tm_raw: &[u8]) -> Result<(), Self::Error> {
// Convert to ccsds and call pass_ccsds
let sp_header = SpHeader::from_raw_slice(tm_raw)
.map_err(|e| PusDistribError::PusError(PusError::PacketError(e)))?;
self.pass_ccsds(&sp_header, tm_raw)
}
}
impl<E: 'static> ReceivesCcsdsTc for PusDistributor<E> {
type Error = PusDistribError<E>;
fn pass_ccsds(&mut self, header: &SpHeader, tm_raw: &[u8]) -> Result<(), Self::Error> {
let (tc, _) =
PusTc::new_from_raw_slice(tm_raw).map_err(|e| PusDistribError::PusError(e))?;
self.pass_pus_tc(header, &tc)
}
}
impl<E: 'static> ReceivesEcssPusTc for PusDistributor<E> {
type Error = PusDistribError<E>;
fn pass_pus_tc(&mut self, header: &SpHeader, pus_tc: &PusTc) -> Result<(), Self::Error> {
self.service_provider
.handle_pus_tc_packet(pus_tc.service(), header, pus_tc)
.map_err(|e| PusDistribError::CustomError(e))
}
}
impl<E: 'static> PusDistributor<E> {
pub fn service_provider_ref<T: PusServiceProvider<Error = E>>(&self) -> Option<&T> {
self.service_provider.downcast_ref::<T>()
}
pub fn service_provider_mut<T: PusServiceProvider<Error = E>>(&mut self) -> Option<&mut T> {
self.service_provider.downcast_mut::<T>()
}
}
#[cfg(test)]
mod tests {
use super::*;
use crate::tmtc::ccsds_distrib::tests::{
generate_ping_tc, BasicApidHandlerOwnedQueue, BasicApidHandlerSharedQueue,
};
use crate::tmtc::ccsds_distrib::{CcsdsDistributor, CcsdsPacketHandler};
use alloc::vec::Vec;
use spacepackets::ecss::PusError;
use spacepackets::tc::PusTc;
use spacepackets::CcsdsPacket;
#[cfg(feature = "std")]
use std::collections::VecDeque;
#[cfg(feature = "std")]
use std::sync::{Arc, Mutex};
struct PusHandlerSharedQueue {
pub pus_queue: Arc<Mutex<VecDeque<(u8, u16, Vec<u8>)>>>,
}
#[derive(Default)]
struct PusHandlerOwnedQueue {
pub pus_queue: VecDeque<(u8, u16, Vec<u8>)>,
}
impl PusServiceProvider for PusHandlerSharedQueue {
type Error = PusError;
fn handle_pus_tc_packet(
&mut self,
service: u8,
sp_header: &SpHeader,
pus_tc: &PusTc,
) -> Result<(), Self::Error> {
let mut vec: Vec<u8> = Vec::new();
pus_tc.append_to_vec(&mut vec)?;
Ok(self
.pus_queue
.lock()
.expect("Mutex lock failed")
.push_back((service, sp_header.apid(), vec)))
}
}
impl PusServiceProvider for PusHandlerOwnedQueue {
type Error = PusError;
fn handle_pus_tc_packet(
&mut self,
service: u8,
sp_header: &SpHeader,
pus_tc: &PusTc,
) -> Result<(), Self::Error> {
let mut vec: Vec<u8> = Vec::new();
pus_tc.append_to_vec(&mut vec)?;
Ok(self.pus_queue.push_back((service, sp_header.apid(), vec)))
}
}
struct ApidHandlerShared {
pub pus_distrib: PusDistributor<PusError>,
pub handler_base: BasicApidHandlerSharedQueue,
}
struct ApidHandlerOwned {
pub pus_distrib: PusDistributor<PusError>,
handler_base: BasicApidHandlerOwnedQueue,
}
macro_rules! apid_handler_impl {
() => {
type Error = PusError;
fn valid_apids(&self) -> &'static [u16] {
&[0x000, 0x002]
}
fn handle_known_apid(
&mut self,
sp_header: &SpHeader,
tc_raw: &[u8],
) -> Result<(), Self::Error> {
self.handler_base
.handle_known_apid(&sp_header, tc_raw)
.ok()
.expect("Unexpected error");
match self.pus_distrib.pass_ccsds(&sp_header, tc_raw) {
Ok(_) => Ok(()),
Err(e) => match e {
PusDistribError::CustomError(_) => Ok(()),
PusDistribError::PusError(e) => Err(e),
},
}
return Ok(());
}
fn handle_unknown_apid(
&mut self,
sp_header: &SpHeader,
tc_raw: &[u8],
) -> Result<(), Self::Error> {
self.handler_base
.handle_unknown_apid(&sp_header, tc_raw)
.ok()
.expect("Unexpected error");
Ok(())
}
};
}
let mut srv_provider = self
.service_provider
.get_service_handler(tc.service(), tc.subservice());
let apid = self.service_provider.get_apid(tc.service());
if apid != tc.apid() {
// TODO: Dedicated error
return Ok(());
}
srv_provider.pass_pus(&tc).unwrap();
Ok(())
impl CcsdsPacketHandler for ApidHandlerOwned {
apid_handler_impl!();
}
impl CcsdsPacketHandler for ApidHandlerShared {
apid_handler_impl!();
}
#[test]
#[cfg(feature = "std")]
fn test_pus_distribution() {
let known_packet_queue = Arc::new(Mutex::default());
let unknown_packet_queue = Arc::new(Mutex::default());
let pus_queue = Arc::new(Mutex::default());
let pus_handler = PusHandlerSharedQueue {
pus_queue: pus_queue.clone(),
};
let handler_base = BasicApidHandlerSharedQueue {
known_packet_queue: known_packet_queue.clone(),
unknown_packet_queue: unknown_packet_queue.clone(),
};
let pus_distrib = PusDistributor {
service_provider: Box::new(pus_handler),
};
let apid_handler = ApidHandlerShared {
pus_distrib,
handler_base,
};
let mut ccsds_distrib = CcsdsDistributor::new(Box::new(apid_handler));
let mut test_buf: [u8; 32] = [0; 32];
let tc_slice = generate_ping_tc(test_buf.as_mut_slice());
// Pass packet to distributor
ccsds_distrib
.pass_tc(tc_slice)
.expect("Passing TC slice failed");
let recvd_ccsds = known_packet_queue.lock().unwrap().pop_front();
assert!(unknown_packet_queue.lock().unwrap().is_empty());
assert!(recvd_ccsds.is_some());
let (apid, packet) = recvd_ccsds.unwrap();
assert_eq!(apid, 0x002);
assert_eq!(packet.as_slice(), tc_slice);
let recvd_pus = pus_queue.lock().unwrap().pop_front();
assert!(recvd_pus.is_some());
let (service, apid, tc_raw) = recvd_pus.unwrap();
assert_eq!(service, 17);
assert_eq!(apid, 0x002);
assert_eq!(tc_raw, tc_slice);
}
#[test]
fn test_as_any_cast() {
let pus_handler = PusHandlerOwnedQueue::default();
let handler_base = BasicApidHandlerOwnedQueue::default();
let pus_distrib = PusDistributor {
service_provider: Box::new(pus_handler),
};
let apid_handler = ApidHandlerOwned {
pus_distrib,
handler_base,
};
let mut ccsds_distrib = CcsdsDistributor::new(Box::new(apid_handler));
let mut test_buf: [u8; 32] = [0; 32];
let tc_slice = generate_ping_tc(test_buf.as_mut_slice());
ccsds_distrib
.pass_tc(tc_slice)
.expect("Passing TC slice failed");
let apid_handler_casted_back: &mut ApidHandlerOwned = ccsds_distrib
.apid_handler_mut()
.expect("Cast to concrete type ApidHandler failed");
assert!(!apid_handler_casted_back
.handler_base
.known_packet_queue
.is_empty());
let handler_casted_back: &mut PusHandlerOwnedQueue = apid_handler_casted_back
.pus_distrib
.service_provider_mut()
.expect("Cast to concrete type PusHandlerOwnedQueue failed");
assert!(!handler_casted_back.pus_queue.is_empty());
let (service, apid, packet_raw) = handler_casted_back.pus_queue.pop_front().unwrap();
assert_eq!(service, 17);
assert_eq!(apid, 0x002);
assert_eq!(packet_raw.as_slice(), tc_slice);
}
}

51
fsrc-core/src/tmtc/tm_helper.rs Normal file
View File

@ -0,0 +1,51 @@
use spacepackets::time::{CdsShortTimeProvider, TimeWriter};
use spacepackets::tm::{PusTm, PusTmSecondaryHeader};
use spacepackets::SpHeader;
pub struct PusTmWithCdsShortHelper {
apid: u16,
cds_short_buf: [u8; 7],
}
impl PusTmWithCdsShortHelper {
pub fn new(apid: u16) -> Self {
Self {
apid,
cds_short_buf: [0; 7],
}
}
#[cfg(feature = "std")]
pub fn create_pus_tm_timestamp_now<'a>(
&'a mut self,
service: u8,
subservice: u8,
source_data: Option<&'a [u8]>,
) -> PusTm {
let time_stamp = CdsShortTimeProvider::from_now().unwrap();
time_stamp.write_to_bytes(&mut self.cds_short_buf).unwrap();
self.create_pus_tm_common(service, subservice, source_data)
}
pub fn create_pus_tm_with_stamp<'a>(
&'a mut self,
service: u8,
subservice: u8,
source_data: Option<&'a [u8]>,
stamper: &CdsShortTimeProvider,
) -> PusTm {
stamper.write_to_bytes(&mut self.cds_short_buf).unwrap();
self.create_pus_tm_common(service, subservice, source_data)
}
fn create_pus_tm_common<'a>(
&'a self,
service: u8,
subservice: u8,
source_data: Option<&'a [u8]>,
) -> PusTm {
let mut reply_header = SpHeader::tm(self.apid, 0, 0).unwrap();
let tc_header = PusTmSecondaryHeader::new_simple(service, subservice, &self.cds_short_buf);
PusTm::new(&mut reply_header, tc_header, source_data, true)
}
}

35
fsrc-core/tests/pool_test.rs Normal file
View File

@ -0,0 +1,35 @@
use fsrc_core::pool::{LocalPool, PoolCfg, PoolGuard, PoolProvider, StoreAddr};
use std::ops::DerefMut;
use std::sync::mpsc;
use std::sync::mpsc::{Receiver, Sender};
use std::sync::{Arc, RwLock};
use std::thread;
const DUMMY_DATA: [u8; 4] = [0, 1, 2, 3];
#[test]
fn threaded_usage() {
let pool_cfg = PoolCfg::new(vec![(16, 6), (32, 3), (8, 12)]);
let shared_pool = Arc::new(RwLock::new(LocalPool::new(pool_cfg)));
let shared_clone = shared_pool.clone();
let (tx, rx): (Sender<StoreAddr>, Receiver<StoreAddr>) = mpsc::channel();
let jh0 = thread::spawn(move || {
let mut dummy = shared_pool.write().unwrap();
let addr = dummy.add(&DUMMY_DATA).expect("Writing data failed");
tx.send(addr).expect("Sending store address failed");
});
let jh1 = thread::spawn(move || {
let mut pool_access = shared_clone.write().unwrap();
let addr;
{
addr = rx.recv().expect("Receiving store address failed");
let pg = PoolGuard::new(pool_access.deref_mut(), addr);
let read_res = pg.read().expect("Reading failed");
assert_eq!(read_res, DUMMY_DATA);
}
assert!(!pool_access.has_element_at(&addr).expect("Invalid address"));
});
jh0.join().unwrap();
jh1.join().unwrap();
}

188
fsrc-core/tests/verification_test.rs Normal file
View File

@ -0,0 +1,188 @@
use fsrc_core::pool::{LocalPool, PoolCfg, PoolProvider, SharedPool};
use fsrc_core::pus::verification::{
CrossbeamVerifSender, FailParams, RequestId, VerificationReporterCfg,
VerificationReporterWithSender,
};
use hashbrown::HashMap;
use spacepackets::ecss::{EcssEnumU16, EcssEnumU8, PusPacket};
use spacepackets::tc::{PusTc, PusTcSecondaryHeader};
use spacepackets::tm::PusTm;
use spacepackets::SpHeader;
use std::sync::{Arc, Mutex, RwLock};
use std::thread;
use std::time::Duration;
const TEST_APID: u16 = 0x03;
const FIXED_STAMP: [u8; 7] = [0; 7];
const PACKETS_SENT: u8 = 8;
/// This test also shows how the verification report could be used in a multi-threaded context,
/// wrapping it into an [Arc] and [Mutex] and then passing it to two threads.
///
/// - The first thread generates a acceptance, a start, two steps and one completion report
/// - The second generates an acceptance and start success report and a completion failure
/// - The third thread is the verification receiver. In the test case, it verifies the other two
/// threads have sent the correct expected verification reports
#[test]
fn test_shared_reporter() {
let cfg = VerificationReporterCfg::new(TEST_APID, 1, 2, 8);
// Shared pool object to store the verification PUS telemetry
let pool_cfg = PoolCfg::new(vec![(10, 32), (10, 64), (10, 128), (10, 1024)]);
let shared_tm_pool: SharedPool =
Arc::new(RwLock::new(Box::new(LocalPool::new(pool_cfg.clone()))));
let shared_tc_pool_0 = Arc::new(RwLock::new(LocalPool::new(pool_cfg)));
let shared_tc_pool_1 = shared_tc_pool_0.clone();
let (tx, rx) = crossbeam_channel::bounded(5);
let sender = CrossbeamVerifSender::new(shared_tm_pool.clone(), tx.clone());
let reporter_with_sender_0 = Arc::new(Mutex::new(VerificationReporterWithSender::new(
cfg,
Box::new(sender),
)));
let 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.
let req_id_0;
let req_id_1;
let (tx_tc_0, rx_tc_0) = crossbeam_channel::bounded(3);
let (tx_tc_1, rx_tc_1) = crossbeam_channel::bounded(3);
{
let mut tc_guard = shared_tc_pool_0.write().unwrap();
let mut sph = SpHeader::tc(TEST_APID, 0, 0).unwrap();
let tc_header = PusTcSecondaryHeader::new_simple(17, 1);
let pus_tc_0 = PusTc::new(&mut sph, tc_header, None, true);
req_id_0 = RequestId::new(&pus_tc_0);
let (addr, mut buf) = tc_guard.free_element(pus_tc_0.len_packed()).unwrap();
pus_tc_0.write_to(&mut buf).unwrap();
tx_tc_0.send(addr).unwrap();
let mut sph = SpHeader::tc(TEST_APID, 1, 0).unwrap();
let tc_header = PusTcSecondaryHeader::new_simple(5, 1);
let pus_tc_1 = PusTc::new(&mut sph, tc_header, None, true);
req_id_1 = RequestId::new(&pus_tc_1);
let (addr, mut buf) = tc_guard.free_element(pus_tc_0.len_packed()).unwrap();
pus_tc_1.write_to(&mut buf).unwrap();
tx_tc_1.send(addr).unwrap();
}
let verif_sender_0 = thread::spawn(move || {
let mut tc_buf: [u8; 1024] = [0; 1024];
let tc_addr = rx_tc_0
.recv_timeout(Duration::from_millis(20))
.expect("Receive timeout");
let tc_len;
{
let mut tc_guard = shared_tc_pool_0.write().unwrap();
let pg = tc_guard.read_with_guard(tc_addr);
let buf = pg.read().unwrap();
tc_len = buf.len();
tc_buf[0..tc_len].copy_from_slice(buf);
}
let (_tc, _) = PusTc::new_from_raw_slice(&tc_buf[0..tc_len]).unwrap();
let accepted_token;
{
let mut mg = reporter_with_sender_0.lock().expect("Locking mutex failed");
let token = mg.add_tc_with_req_id(req_id_0);
accepted_token = mg
.acceptance_success(token, &FIXED_STAMP)
.expect("Acceptance success failed");
}
// Do some start handling here
let started_token;
{
let mut mg = reporter_with_sender_0.lock().expect("Locking mutex failed");
started_token = mg
.start_success(accepted_token, &FIXED_STAMP)
.expect("Start success failed");
// Do some step handling here
mg.step_success(&started_token, &FIXED_STAMP, EcssEnumU8::new(0))
.expect("Start success failed");
}
// Finish up
let mut mg = reporter_with_sender_0.lock().expect("Locking mutex failed");
mg.step_success(&started_token, &FIXED_STAMP, EcssEnumU8::new(1))
.expect("Start success failed");
mg.completion_success(started_token, &FIXED_STAMP)
.expect("Completion success failed");
});
let verif_sender_1 = thread::spawn(move || {
let mut tc_buf: [u8; 1024] = [0; 1024];
let tc_addr = rx_tc_1
.recv_timeout(Duration::from_millis(20))
.expect("Receive timeout");
let tc_len;
{
let mut tc_guard = shared_tc_pool_1.write().unwrap();
let pg = tc_guard.read_with_guard(tc_addr);
let buf = pg.read().unwrap();
tc_len = buf.len();
tc_buf[0..tc_len].copy_from_slice(buf);
}
let (tc, _) = PusTc::new_from_raw_slice(&tc_buf[0..tc_len]).unwrap();
let mut mg = reporter_with_sender_1
.lock()
.expect("Locking reporter failed");
let token = mg.add_tc(&tc);
let accepted_token = mg
.acceptance_success(token, &FIXED_STAMP)
.expect("Acceptance success failed");
let started_token = mg
.start_success(accepted_token, &FIXED_STAMP)
.expect("Start success failed");
let fail_code = EcssEnumU16::new(2);
let params = FailParams::new(&FIXED_STAMP, &fail_code, None);
mg.completion_failure(started_token, params)
.expect("Completion success failed");
});
let verif_receiver = thread::spawn(move || {
let mut packet_counter = 0;
let mut tm_buf: [u8; 1024] = [0; 1024];
let mut verif_map = HashMap::new();
while packet_counter < PACKETS_SENT {
let verif_addr = rx
.recv_timeout(Duration::from_millis(50))
.expect("Packet reception timeout");
let tm_len;
{
let mut rg = shared_tm_pool.write().expect("Error locking shared pool");
let store_guard = rg.read_with_guard(verif_addr);
let slice = store_guard.read().expect("Error reading TM slice");
tm_len = slice.len();
tm_buf[0..tm_len].copy_from_slice(slice);
}
let (pus_tm, _) = PusTm::new_from_raw_slice(&tm_buf[0..tm_len], 7)
.expect("Error reading verification TM");
let req_id = RequestId::from_bytes(
&pus_tm.source_data().expect("Invalid TM source data")[0..RequestId::SIZE_AS_BYTES],
)
.unwrap();
if !verif_map.contains_key(&req_id) {
let mut content = Vec::new();
content.push(pus_tm.subservice());
verif_map.insert(req_id, content);
} else {
let content = verif_map.get_mut(&req_id).unwrap();
content.push(pus_tm.subservice())
}
packet_counter += 1;
}
for (req_id, content) in verif_map {
if req_id == req_id_1 {
assert_eq!(content[0], 1);
assert_eq!(content[1], 3);
assert_eq!(content[2], 8);
} else if req_id == req_id_0 {
assert_eq!(content[0], 1);
assert_eq!(content[1], 3);
assert_eq!(content[2], 5);
assert_eq!(content[3], 5);
assert_eq!(content[4], 7);
} else {
panic!("Unexpected request ID {:?}", req_id);
}
}
});
verif_sender_0.join().expect("Joining thread 0 failed");
verif_sender_1.join().expect("Joining thread 1 failed");
verif_receiver.join().expect("Joining thread 2 failed");
}

15
fsrc-example/Cargo.toml Normal file
View File

@ -0,0 +1,15 @@
[package]
name = "fsrc-example"
version = "0.1.0"
edition = "2021"
authors = ["Robin Mueller <muellerr@irs.uni-stuttgart.de>"]
[dependencies]
crossbeam-channel = "0.5"
delegate = "0.8"
[dependencies.spacepackets]
path = "../spacepackets"
[dependencies.fsrc-core]
path = "../fsrc-core"

95
fsrc-example/src/bin/client.rs Normal file
View File

@ -0,0 +1,95 @@
use fsrc_core::pus::verification::RequestId;
use fsrc_example::{OBSW_SERVER_ADDR, SERVER_PORT};
use spacepackets::ecss::PusPacket;
use spacepackets::tc::PusTc;
use spacepackets::tm::PusTm;
use spacepackets::SpHeader;
use std::net::{IpAddr, SocketAddr, UdpSocket};
use std::time::Duration;
fn main() {
let mut buf = [0; 32];
let addr = SocketAddr::new(IpAddr::V4(OBSW_SERVER_ADDR), SERVER_PORT);
let mut sph = SpHeader::tc(0x02, 0, 0).unwrap();
let pus_tc = PusTc::new_simple(&mut sph, 17, 1, None, true);
let client = UdpSocket::bind("127.0.0.1:7302").expect("Connecting to UDP server failed");
let tc_req_id = RequestId::new(&pus_tc);
println!(
"Packing and sending PUS ping command TC[17,1] with request ID {}",
tc_req_id
);
let size = pus_tc.write_to(&mut buf).expect("Creating PUS TC failed");
client
.send_to(&buf[0..size], &addr)
.expect(&*format!("Sending to {:?} failed", addr));
client
.set_read_timeout(Some(Duration::from_secs(2)))
.expect("Setting read timeout failed");
loop {
let res = client.recv(&mut buf);
match res {
Ok(_len) => {
let (pus_tm, size) =
PusTm::new_from_raw_slice(&buf, 7).expect("Parsing PUS TM failed");
if pus_tm.service() == 17 && pus_tm.subservice() == 2 {
println!("Received PUS Ping Reply TM[17,2]")
} else if pus_tm.service() == 1 {
if pus_tm.source_data().is_none() {
println!("Invalid verification TM, no source data");
}
let src_data = pus_tm.source_data().unwrap();
if src_data.len() < 4 {
println!("Invalid verification TM source data, less than 4 bytes")
}
let req_id = RequestId::from_bytes(src_data).unwrap();
if pus_tm.subservice() == 1 {
println!(
"Received TM[1,1] acceptance success for request ID {}",
req_id
)
} else if pus_tm.subservice() == 2 {
println!(
"Received TM[1,2] acceptance failure for request ID {}",
req_id
)
} else if pus_tm.subservice() == 3 {
println!("Received TM[1,3] start success for request ID {}", req_id)
} else if pus_tm.subservice() == 4 {
println!("Received TM[1,2] start failure for request ID {}", req_id)
} else if pus_tm.subservice() == 5 {
println!("Received TM[1,5] step success for request ID {}", req_id)
} else if pus_tm.subservice() == 6 {
println!("Received TM[1,6] step failure for request ID {}", req_id)
} else if pus_tm.subservice() == 7 {
println!(
"Received TM[1,7] completion success for request ID {}",
req_id
)
} else if pus_tm.subservice() == 8 {
println!(
"Received TM[1,8] completion failure for request ID {}",
req_id
);
}
} else {
println!(
"Received TM[{}, {}] with {} bytes",
pus_tm.service(),
pus_tm.subservice(),
size
);
}
}
Err(ref e)
if e.kind() == std::io::ErrorKind::WouldBlock
|| e.kind() == std::io::ErrorKind::TimedOut =>
{
println!("No reply received for 2 seconds");
break;
}
_ => {
println!("UDP receive error {:?}", res.unwrap_err());
}
}
}
}

37
fsrc-example/src/bin/obsw/ccsds.rs Normal file
View File

@ -0,0 +1,37 @@
use crate::tmtc::PUS_APID;
use fsrc_core::tmtc::{CcsdsPacketHandler, PusDistributor, ReceivesCcsdsTc};
use spacepackets::{CcsdsPacket, SpHeader};
pub struct CcsdsReceiver {
pub pus_handler: PusDistributor<()>,
}
impl CcsdsPacketHandler for CcsdsReceiver {
type Error = ();
fn valid_apids(&self) -> &'static [u16] {
&[PUS_APID]
}
fn handle_known_apid(
&mut self,
sp_header: &SpHeader,
tc_raw: &[u8],
) -> Result<(), Self::Error> {
if sp_header.apid() == PUS_APID {
self.pus_handler
.pass_ccsds(sp_header, tc_raw)
.expect("Handling PUS packet failed");
}
Ok(())
}
fn handle_unknown_apid(
&mut self,
_sp_header: &SpHeader,
_tc_raw: &[u8],
) -> Result<(), Self::Error> {
println!("Unknown APID detected");
Ok(())
}
}

73
fsrc-example/src/bin/obsw/main.rs Normal file
View File

@ -0,0 +1,73 @@
mod ccsds;
mod pus;
mod tmtc;
use crate::tmtc::{core_tmtc_task, TmStore, PUS_APID};
use fsrc_core::hal::host::udp_server::UdpTcServer;
use fsrc_core::pool::{LocalPool, PoolCfg, SharedPool, StoreAddr};
use fsrc_core::pus::verification::{
MpscVerifSender, VerificationReporterCfg, VerificationReporterWithSender,
};
use fsrc_core::tmtc::CcsdsError;
use fsrc_example::{OBSW_SERVER_ADDR, SERVER_PORT};
use std::net::{IpAddr, SocketAddr};
use std::sync::{mpsc, Arc, Mutex, RwLock};
use std::thread;
struct TmFunnel {
tm_funnel_rx: mpsc::Receiver<StoreAddr>,
tm_server_tx: mpsc::Sender<StoreAddr>,
}
struct UdpTmtcServer {
udp_tc_server: UdpTcServer<CcsdsError<()>>,
tm_rx: mpsc::Receiver<StoreAddr>,
tm_store: SharedPool,
}
unsafe impl Send for UdpTmtcServer {}
fn main() {
println!("Running OBSW example");
let pool_cfg = PoolCfg::new(vec![(8, 32), (4, 64), (2, 128)]);
let tm_pool = LocalPool::new(pool_cfg);
let tm_store: SharedPool = Arc::new(RwLock::new(Box::new(tm_pool)));
let tm_store_helper = TmStore {
pool: tm_store.clone(),
};
let addr = SocketAddr::new(IpAddr::V4(OBSW_SERVER_ADDR), SERVER_PORT);
let (tm_funnel_tx, tm_funnel_rx) = mpsc::channel();
let (tm_server_tx, tm_server_rx) = mpsc::channel();
let sender = MpscVerifSender::new(tm_store.clone(), tm_funnel_tx.clone());
let verif_cfg = VerificationReporterCfg::new(PUS_APID, 1, 2, 8);
let reporter_with_sender_0 = Arc::new(Mutex::new(VerificationReporterWithSender::new(
verif_cfg,
Box::new(sender),
)));
let jh0 = thread::spawn(move || {
core_tmtc_task(
tm_funnel_tx.clone(),
tm_server_rx,
tm_store_helper.clone(),
addr,
reporter_with_sender_0,
);
});
let jh1 = thread::spawn(move || {
let tm_funnel = TmFunnel {
tm_server_tx,
tm_funnel_rx,
};
loop {
if let Ok(addr) = tm_funnel.tm_funnel_rx.recv() {
tm_funnel
.tm_server_tx
.send(addr)
.expect("Sending TM to server failed");
}
}
});
jh0.join().expect("Joining UDP TMTC server thread failed");
jh1.join().expect("Joining TM Funnel thread failed");
}

93
fsrc-example/src/bin/obsw/pus.rs Normal file
View File

@ -0,0 +1,93 @@
use crate::tmtc::TmStore;
use fsrc_core::pool::StoreAddr;
use fsrc_core::pus::verification::{
SharedStdVerifReporterWithSender, StateAccepted, VerificationToken,
};
use fsrc_core::tmtc::tm_helper::PusTmWithCdsShortHelper;
use fsrc_core::tmtc::PusServiceProvider;
use spacepackets::tc::{PusTc, PusTcSecondaryHeaderT};
use spacepackets::time::{CdsShortTimeProvider, TimeWriter};
use spacepackets::SpHeader;
use std::sync::mpsc;
pub struct PusReceiver {
pub tm_helper: PusTmWithCdsShortHelper,
pub tm_tx: mpsc::Sender<StoreAddr>,
pub tm_store: TmStore,
pub verif_reporter: SharedStdVerifReporterWithSender,
stamper: CdsShortTimeProvider,
time_stamp: [u8; 7],
}
impl PusReceiver {
pub fn new(
apid: u16,
tm_tx: mpsc::Sender<StoreAddr>,
tm_store: TmStore,
verif_reporter: SharedStdVerifReporterWithSender,
) -> Self {
Self {
tm_helper: PusTmWithCdsShortHelper::new(apid),
tm_tx,
tm_store,
verif_reporter,
stamper: CdsShortTimeProvider::default(),
time_stamp: [0; 7],
}
}
}
impl PusServiceProvider for PusReceiver {
type Error = ();
fn handle_pus_tc_packet(
&mut self,
service: u8,
_header: &SpHeader,
pus_tc: &PusTc,
) -> Result<(), Self::Error> {
let mut reporter = self
.verif_reporter
.lock()
.expect("Locking Verification Reporter failed");
let init_token = reporter.add_tc(pus_tc);
self.stamper
.update_from_now()
.expect("Updating time for time stamp failed");
self.stamper
.write_to_bytes(&mut self.time_stamp)
.expect("Writing time stamp failed");
let accepted_token = reporter
.acceptance_success(init_token, &self.time_stamp)
.expect("Acceptance success failure");
drop(reporter);
if service == 17 {
self.handle_test_service(pus_tc, accepted_token);
}
Ok(())
}
}
impl PusReceiver {
fn handle_test_service(&mut self, pus_tc: &PusTc, token: VerificationToken<StateAccepted>) {
if pus_tc.subservice() == 1 {
println!("Received PUS ping command TC[17,1]");
println!("Sending ping reply PUS TM[17,2]");
let ping_reply = self.tm_helper.create_pus_tm_timestamp_now(17, 2, None);
let addr = self.tm_store.add_pus_tm(&ping_reply);
let mut reporter = self
.verif_reporter
.lock()
.expect("Error locking verification reporter");
let start_token = reporter
.start_success(token, &self.time_stamp)
.expect("Error sending start success");
self.tm_tx
.send(addr)
.expect("Sending TM to TM funnel failed");
reporter
.completion_success(start_token, &self.time_stamp)
.expect("Error sending completion success");
}
}
}

110
fsrc-example/src/bin/obsw/tmtc.rs Normal file
View File

@ -0,0 +1,110 @@
use fsrc_core::hal::host::udp_server::{ReceiveResult, UdpTcServer};
use std::net::SocketAddr;
use std::sync::mpsc;
use std::thread;
use std::time::Duration;
use crate::ccsds::CcsdsReceiver;
use crate::pus::PusReceiver;
use crate::UdpTmtcServer;
use fsrc_core::pool::{SharedPool, StoreAddr};
use fsrc_core::pus::verification::SharedStdVerifReporterWithSender;
use fsrc_core::tmtc::{CcsdsDistributor, CcsdsError, PusDistributor};
use spacepackets::tm::PusTm;
pub const PUS_APID: u16 = 0x02;
#[derive(Clone)]
pub struct TmStore {
pub pool: SharedPool,
}
impl TmStore {
pub fn add_pus_tm(&mut self, pus_tm: &PusTm) -> StoreAddr {
let mut pg = self.pool.write().expect("Error locking TM store");
let (addr, buf) = pg.free_element(pus_tm.len_packed()).expect("Store error");
pus_tm
.write_to(buf)
.expect("Writing PUS TM to store failed");
addr
}
}
pub fn core_tmtc_task(
tm_creator_tx: mpsc::Sender<StoreAddr>,
tm_server_rx: mpsc::Receiver<StoreAddr>,
tm_store_helper: TmStore,
addr: SocketAddr,
verif_reporter: SharedStdVerifReporterWithSender,
) {
let pus_receiver = PusReceiver::new(
PUS_APID,
tm_creator_tx,
tm_store_helper.clone(),
verif_reporter,
);
let pus_distributor = PusDistributor::new(Box::new(pus_receiver));
let ccsds_receiver = CcsdsReceiver {
pus_handler: pus_distributor,
};
let ccsds_distributor = CcsdsDistributor::new(Box::new(ccsds_receiver));
let udp_tc_server = UdpTcServer::new(addr, 2048, Box::new(ccsds_distributor))
.expect("Creating UDP TMTC server failed");
let mut udp_tmtc_server = UdpTmtcServer {
udp_tc_server,
tm_rx: tm_server_rx,
tm_store: tm_store_helper.pool.clone(),
};
loop {
core_tmtc_loop(&mut udp_tmtc_server);
thread::sleep(Duration::from_millis(400));
}
}
fn core_tmtc_loop(udp_tmtc_server: &mut UdpTmtcServer) {
while core_tc_handling(udp_tmtc_server) {}
if let Some(recv_addr) = udp_tmtc_server.udp_tc_server.last_sender() {
core_tm_handling(udp_tmtc_server, &recv_addr);
}
}
fn core_tc_handling(udp_tmtc_server: &mut UdpTmtcServer) -> bool {
match udp_tmtc_server.udp_tc_server.try_recv_tc() {
Ok(_) => true,
Err(e) => match e {
ReceiveResult::ReceiverError(e) => match e {
CcsdsError::PacketError(e) => {
println!("Got packet error: {e:?}");
true
}
CcsdsError::CustomError(_) => {
println!("Unknown receiver error");
true
}
},
ReceiveResult::IoError(e) => {
println!("IO error {e}");
false
}
ReceiveResult::NothingReceived => false,
},
}
}
fn core_tm_handling(udp_tmtc_server: &mut UdpTmtcServer, recv_addr: &SocketAddr) {
while let Ok(addr) = udp_tmtc_server.tm_rx.try_recv() {
let mut store_lock = udp_tmtc_server
.tm_store
.write()
.expect("Locking TM store failed");
let pg = store_lock.read_with_guard(addr);
let buf = pg.read().expect("Error reading TM pool data");
println!("Sending TM");
udp_tmtc_server
.udp_tc_server
.socket
.send_to(buf, recv_addr)
.expect("Sending TM failed");
}
}

41
fsrc-example/src/bin/test.rs Normal file
View File

@ -0,0 +1,41 @@
use crossbeam_channel::{bounded, Receiver, Sender};
use std::thread;
trait FieldDataProvider: Send {
fn get_data(&self) -> &[u8];
}
struct FixedFieldDataWrapper {
data: [u8; 8],
}
impl FixedFieldDataWrapper {
pub fn from_two_u32(p0: u32, p1: u32) -> Self {
let mut data = [0; 8];
data[0..4].copy_from_slice(p0.to_be_bytes().as_slice());
data[4..8].copy_from_slice(p1.to_be_bytes().as_slice());
Self { data }
}
}
impl FieldDataProvider for FixedFieldDataWrapper {
fn get_data(&self) -> &[u8] {
self.data.as_slice()
}
}
type FieldDataTraitObj = Box<dyn FieldDataProvider>;
fn main() {
let (s0, r0): (Sender<FieldDataTraitObj>, Receiver<FieldDataTraitObj>) = bounded(5);
let data_wrapper = FixedFieldDataWrapper::from_two_u32(2, 3);
s0.send(Box::new(data_wrapper)).unwrap();
let jh0 = thread::spawn(move || {
let data = r0.recv().unwrap();
let raw = data.get_data();
println!("Received data {:?}", raw);
});
let jh1 = thread::spawn(|| {});
jh0.join().unwrap();
jh1.join().unwrap();
}

4
fsrc-example/src/lib.rs Normal file
View File

@ -0,0 +1,4 @@
use std::net::Ipv4Addr;
pub const OBSW_SERVER_ADDR: Ipv4Addr = Ipv4Addr::new(127, 0, 0, 1);
pub const SERVER_PORT: u16 = 7301;

2
spacepackets

@ -1 +1 @@
Subproject commit fde3fe9cba62b816e004a174821b2d4760003d23
Subproject commit 94489da00323dc6caf24e05e240c80fc10b5d8cc