introduce new HK helper

satrs-example/src/acs/mgm.rs

@@ -2,9 +2,6 @@ use derive_new::new;
 use satrs::hk::{HkRequest, HkRequestVariant};
 use satrs::power::{PowerSwitchInfo, PowerSwitcherCommandSender};
 use satrs::queue::{GenericSendError, GenericTargetedMessagingError};
-use satrs::spacepackets::ecss::hk;
-use satrs::spacepackets::ecss::tm::{PusTmCreator, PusTmSecondaryHeader};
-use satrs::spacepackets::SpHeader;
 use satrs_example::{DeviceMode, TimestampHelper};
 use satrs_minisim::acs::lis3mdl::{
     MgmLis3MdlReply, MgmLis3RawValues, FIELD_LSB_PER_GAUSS_4_SENS, GAUSS_TO_MICROTESLA_FACTOR,
@@ -24,6 +21,7 @@ use satrs::pus::{EcssTmSender, PusTmVariant};
 use satrs::request::{GenericMessage, MessageMetadata, UniqueApidTargetId};
 use satrs_example::config::components::PUS_MODE_SERVICE;
 
+use crate::hk::PusHkHelper;
 use crate::pus::hk::{HkReply, HkReplyVariant};
 use crate::requests::CompositeRequest;
 
@@ -179,6 +177,8 @@ pub struct MgmHandlerLis3Mdl<
     tm_sender: TmSender,
     pub com_interface: ComInterface,
     shared_mgm_set: Arc<Mutex<MgmData>>,
+    #[new(value = "PusHkHelper::new(id)")]
+    hk_helper: PusHkHelper,
     #[new(default)]
     mode_helpers: ModeHelpers,
     #[new(default)]
@@ -237,39 +237,33 @@ impl<
     pub fn handle_hk_request(&mut self, requestor_info: &MessageMetadata, hk_request: &HkRequest) {
         match hk_request.variant {
             HkRequestVariant::OneShot => {
-                // TODO: We should provide a helper class for generating some of the boilerplate.
+                let mgm_snapshot = *self.shared_mgm_set.lock().unwrap();
-                // This includes the APID, subservice, unique ID and set ID handling. The user
+                if let Ok(hk_tm) = self.hk_helper.generate_hk_report_packet(
-                // should be able to simply specify the HK data as a slice.
+                    self.stamp_helper.stamp(),
+                    SetId::SensorData as u32,
+                    &mut |hk_buf| {
+                        hk_buf[0] = mgm_snapshot.valid as u8;
+                        hk_buf[1..5].copy_from_slice(&mgm_snapshot.x.to_be_bytes());
+                        hk_buf[5..9].copy_from_slice(&mgm_snapshot.y.to_be_bytes());
+                        hk_buf[9..13].copy_from_slice(&mgm_snapshot.z.to_be_bytes());
+                        Ok(13)
+                    },
+                    &mut self.bufs.tm_buf,
+                ) {
+                    // TODO: If sending the TM fails, we should also send a failure reply.
+                    self.tm_sender
+                        .send_tm(self.id.id(), PusTmVariant::Direct(hk_tm))
+                        .expect("failed to send HK TM");
                     self.hk_reply_tx
                         .send(GenericMessage::new(
                             *requestor_info,
                             HkReply::new(hk_request.unique_id, HkReplyVariant::Ack),
                         ))
                         .expect("failed to send HK reply");
-                let sec_header = PusTmSecondaryHeader::new(
+                } else {
-                    3,
+                    // TODO: Send back failure reply. Need result code for this.
-                    hk::Subservice::TmHkPacket as u8,
+                    log::error!("TM buffer too small to generate HK data");
-                    0,
+                }
-                    0,
-                    self.stamp_helper.stamp(),
-                );
-                let mgm_snapshot = *self.shared_mgm_set.lock().unwrap();
-                self.bufs.tm_buf[0..4].copy_from_slice(&self.id.unique_id.to_be_bytes());
-                self.bufs.tm_buf[4..8].copy_from_slice(&(SetId::SensorData as u32).to_be_bytes());
-                // Use binary serialization here. We want the data to be tightly packed.
-                self.bufs.tm_buf[8] = mgm_snapshot.valid as u8;
-                self.bufs.tm_buf[9..13].copy_from_slice(&mgm_snapshot.x.to_be_bytes());
-                self.bufs.tm_buf[13..17].copy_from_slice(&mgm_snapshot.y.to_be_bytes());
-                self.bufs.tm_buf[17..21].copy_from_slice(&mgm_snapshot.z.to_be_bytes());
-                let hk_tm = PusTmCreator::new(
-                    SpHeader::new_from_apid(self.id.apid),
-                    sec_header,
-                    &self.bufs.tm_buf[0..21],
-                    true,
-                );
-                self.tm_sender
-                    .send_tm(self.id.id(), PusTmVariant::Direct(hk_tm))
-                    .expect("failed to send HK TM");
             }
             HkRequestVariant::EnablePeriodic => todo!(),
             HkRequestVariant::DisablePeriodic => todo!(),

satrs-example/src/eps/pcdu.rs

@@ -13,23 +13,20 @@ use satrs::{
     pus::{EcssTmSender, PusTmVariant},
     queue::{GenericSendError, GenericTargetedMessagingError},
     request::{GenericMessage, MessageMetadata, UniqueApidTargetId},
-    spacepackets::{
+    spacepackets::ByteConversionError,
-        ecss::{
-            hk,
-            tm::{PusTmCreator, PusTmSecondaryHeader},
-        },
-        SpHeader,
-    },
 };
 use satrs_example::{config::components::PUS_MODE_SERVICE, DeviceMode, TimestampHelper};
 use satrs_minisim::{
-    eps::{PcduReply, PcduRequest, PcduSwitch, SwitchMap, SwitchMapBinaryWrapper},
+    eps::{
+        PcduReply, PcduRequest, PcduSwitch, SwitchMap, SwitchMapBinaryWrapper, SwitchMapWrapper,
+    },
     SerializableSimMsgPayload, SimReply, SimRequest,
 };
 use serde::{Deserialize, Serialize};
 
 use crate::{
     acs::mgm::MpscModeLeafInterface,
+    hk::PusHkHelper,
     pus::hk::{HkReply, HkReplyVariant},
     requests::CompositeRequest,
 };
@@ -202,6 +199,8 @@ pub struct PcduHandler<ComInterface: SerialInterface, TmSender: EcssTmSender> {
     tm_sender: TmSender,
     pub com_interface: ComInterface,
     shared_switch_map: Arc<Mutex<SwitchSet>>,
+    #[new(value = "PusHkHelper::new(id)")]
+    hk_helper: PusHkHelper,
     #[new(value = "ModeAndSubmode::new(satrs_example::DeviceMode::Off as u32, 0)")]
     mode_and_submode: ModeAndSubmode,
     #[new(default)]
@@ -262,19 +261,10 @@ impl<ComInterface: SerialInterface, TmSender: EcssTmSender> PcduHandler<ComInter
         match hk_request.variant {
             HkRequestVariant::OneShot => {
                 if hk_request.unique_id == SetId::SwitcherSet as u32 {
-                    self.hk_reply_tx
+                    if let Ok(hk_tm) = self.hk_helper.generate_hk_report_packet(
-                        .send(GenericMessage::new(
-                            *requestor_info,
-                            HkReply::new(hk_request.unique_id, HkReplyVariant::Ack),
-                        ))
-                        .expect("failed to send HK reply");
-                    let sec_header = PusTmSecondaryHeader::new(
-                        3,
-                        hk::Subservice::TmHkPacket as u8,
-                        0,
-                        0,
                         self.stamp_helper.stamp(),
-                    );
+                        SetId::SwitcherSet as u32,
+                        &mut |hk_buf| {
                             // Send TM down as JSON.
                             let switch_map_snapshot = self
                                 .shared_switch_map
@@ -283,23 +273,27 @@ impl<ComInterface: SerialInterface, TmSender: EcssTmSender> PcduHandler<ComInter
                                 .clone();
                             let switch_map_json = serde_json::to_string(&switch_map_snapshot)
                                 .expect("failed to serialize switch map");
-                    if switch_map_json.len() > self.tm_buf.len() {
+                            if switch_map_json.len() > hk_buf.len() {
-                        log::error!("switch map JSON too large for telemetry buffer");
+                                log::error!("switch map JSON too large for HK buffer");
-                        return;
+                                return Err(ByteConversionError::ToSliceTooSmall {
+                                    found: hk_buf.len(),
+                                    expected: switch_map_json.len(),
+                                });
                             }
-                    self.tm_buf[0..4].copy_from_slice(&self.id.unique_id.to_be_bytes());
+                            Ok(switch_map_json.len())
-                    self.tm_buf[4..8].copy_from_slice(&(SetId::SwitcherSet as u32).to_be_bytes());
+                        },
-                    self.tm_buf[8..8 + switch_map_json.len()]
+                        &mut self.tm_buf,
-                        .copy_from_slice(switch_map_json.as_bytes());
+                    ) {
-                    let hk_tm = PusTmCreator::new(
-                        SpHeader::new_from_apid(self.id.apid),
-                        sec_header,
-                        &self.tm_buf[0..8 + switch_map_json.len()],
-                        true,
-                    );
                         self.tm_sender
                             .send_tm(self.id.id(), PusTmVariant::Direct(hk_tm))
                             .expect("failed to send HK TM");
+                        self.hk_reply_tx
+                            .send(GenericMessage::new(
+                                *requestor_info,
+                                HkReply::new(hk_request.unique_id, HkReplyVariant::Ack),
+                            ))
+                            .expect("failed to send HK reply");
+                    }
                 }
             }
             HkRequestVariant::EnablePeriodic => todo!(),
@@ -369,7 +363,24 @@ impl<ComInterface: SerialInterface, TmSender: EcssTmSender> PcduHandler<ComInter
         }
     }
 
-    pub fn poll_and_handle_replies(&mut self) {}
+    pub fn poll_and_handle_replies(&mut self) {
+        if let Err(e) = self.com_interface.try_recv_replies(|reply| {
+            let sim_reply: SimReply = serde_json::from_slice(reply).expect("invalid reply format");
+            let pcdu_reply = PcduReply::from_sim_message(&sim_reply).expect("invalid reply format");
+            match pcdu_reply {
+                PcduReply::SwitchInfo(switch_info) => {
+                    let switch_map_wrapper =
+                        SwitchMapWrapper::from_binary_switch_map_ref(&switch_info);
+                    self.shared_switch_map
+                        .lock()
+                        .expect("failed to lock switch map")
+                        .switch_map = switch_map_wrapper.0;
+                }
+            }
+        }) {
+            log::warn!("receiving PCDU replies failed: {:?}", e);
+        }
+    }
 }
 
 impl<ComInterface: SerialInterface, TmSender: EcssTmSender> ModeProvider

satrs-example/src/hk.rs

@@ -1,7 +1,9 @@
 use derive_new::new;
 use satrs::hk::UniqueId;
 use satrs::request::UniqueApidTargetId;
-use satrs::spacepackets::ByteConversionError;
+use satrs::spacepackets::ecss::hk;
+use satrs::spacepackets::ecss::tm::{PusTmCreator, PusTmSecondaryHeader};
+use satrs::spacepackets::{ByteConversionError, SpHeader};
 
 #[derive(Debug, new, Copy, Clone)]
 pub struct HkUniqueId {
@@ -33,3 +35,35 @@ impl HkUniqueId {
         Ok(8)
     }
 }
+
+#[derive(new)]
+pub struct PusHkHelper {
+    component_id: UniqueApidTargetId,
+}
+
+impl PusHkHelper {
+    pub fn generate_hk_report_packet<
+        'a,
+        'b,
+        HkWriter: FnMut(&mut [u8]) -> Result<usize, ByteConversionError>,
+    >(
+        &self,
+        timestamp: &'a [u8],
+        set_id: u32,
+        hk_data_writer: &mut HkWriter,
+        buf: &'b mut [u8],
+    ) -> Result<PusTmCreator<'a, 'b>, ByteConversionError> {
+        let sec_header =
+            PusTmSecondaryHeader::new(3, hk::Subservice::TmHkPacket as u8, 0, 0, timestamp);
+        buf[0..4].copy_from_slice(&self.component_id.unique_id.to_be_bytes());
+        buf[4..8].copy_from_slice(&set_id.to_be_bytes());
+        let (_, second_half) = buf.split_at_mut(8);
+        let hk_data_len = hk_data_writer(second_half)?;
+        Ok(PusTmCreator::new(
+            SpHeader::new_from_apid(self.component_id.apid),
+            sec_header,
+            &buf[0..8 + hk_data_len],
+            true,
+        ))
+    }
+}

satrs-example/src/pus/hk.rs

@@ -12,6 +12,7 @@ use satrs::pus::{
     PusPacketHandlingError, PusReplyHandler, PusServiceHelper, PusTcToRequestConverter,
 };
 use satrs::request::{GenericMessage, UniqueApidTargetId};
+use satrs::res_code::ResultU16;
 use satrs::spacepackets::ecss::tc::PusTcReader;
 use satrs::spacepackets::ecss::{hk, PusPacket, PusServiceId};
 use satrs::tmtc::{PacketAsVec, PacketSenderWithSharedPool};
@@ -34,6 +35,7 @@ pub struct HkReply {
 #[derive(Clone, PartialEq, Debug)]
 pub enum HkReplyVariant {
     Ack,
+    Failed(ResultU16),
 }
 
 #[derive(Default)]
@@ -69,6 +71,15 @@ impl PusReplyHandler<ActivePusRequestStd, HkReply> for HkReplyHandler {
                     .completion_success(tm_sender, started_token, time_stamp)
                     .expect("sending completion success verification failed");
             }
+            HkReplyVariant::Failed(failure_code) => {
+                verification_handler
+                    .completion_failure(
+                        tm_sender,
+                        started_token,
+                        FailParams::new(time_stamp, &failure_code, &[]),
+                    )
+                    .expect("sending completion success verification failed");
+            }
         };
         Ok(true)
     }