rust/sat-rs
rust/sat-rs
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some things in rust are really hard

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This commit is contained in:
Robin Müller 2023-07-04 22:26:41 +02:00
parent 17c5b3d93e
commit 2ba93b9942
Signed by: muellerr
GPG Key ID: 407F9B00F858F270
5 changed files with 143 additions and 91 deletions
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13
satrs-core/src/tmtc/tm_helper.rs
View File

@ -64,7 +64,7 @@ impl PusTmWithCdsShortHelper {
self.create_pus_tm_common(service, subservice, source_data, seq_count)
}
pub fn create_pus_tm_with_stamp<'a>(
pub fn create_pus_tm_with_stamper<'a>(
&'a mut self,
service: u8,
subservice: u8,
@ -76,6 +76,17 @@ impl PusTmWithCdsShortHelper {
self.create_pus_tm_common(service, subservice, source_data, seq_count)
}
pub fn create_pus_tm_with_stamp<'a>(
&'a mut self,
service: u8,
subservice: u8,
source_data: Option<&'a [u8]>,
timestamp: &'a [u8],
seq_count: u16,
) -> PusTm {
self.create_pus_tm_common(service, subservice, source_data, seq_count)
}
fn create_pus_tm_common<'a>(
&'a self,
service: u8,

4
satrs-example/src/main.rs
View File

@ -170,9 +170,9 @@ fn main() {
let mut pus17_handler = PusService17TestHandler::new(
pus_test_rx,
tc_store.pool.clone(),
PusTmWithCdsShortHelper::new(PUS_APID),
tm_funnel_tx.clone(),
tm_store.clone(),
PUS_APID,
verif_reporter.clone(),
);
let mut srv_17_wrapper = Service17CustomWrapper {
@ -345,7 +345,7 @@ fn main() {
.spawn(move || loop {
let queue_empty = srv_17_wrapper.perform_operation();
if queue_empty {
thread::sleep(Duration::from_millis(400));
thread::sleep(Duration::from_millis(200));
}
})
.unwrap();

73
satrs-example/src/pus/mod.rs
View File

@ -11,7 +11,7 @@ use satrs_core::pus::hk;
use satrs_core::pus::mode::Subservice;
use satrs_core::pus::scheduling::PusScheduler;
use satrs_core::pus::verification::{
pus_11_generic_tc_check, FailParams, StdVerifReporterWithSender, TcStateAccepted,
pus_11_generic_tc_check, FailParams, StdVerifReporterWithSender, TcStateAccepted, TcStateToken,
VerificationToken,
};
use satrs_core::pus::{event, EcssTcSenderCore, GenericTcCheckError, MpscTmtcInStoreSender};
@ -19,7 +19,7 @@ use satrs_core::pus::{mode, EcssTcSender};
use satrs_core::res_code::ResultU16;
use satrs_core::seq_count::{SeqCountProviderSyncClonable, SequenceCountProviderCore};
use satrs_core::spacepackets::ecss::{scheduling, PusError, PusServiceId};
use satrs_core::spacepackets::time::{CcsdsTimeProvider, StdTimestampError};
use satrs_core::spacepackets::time::{CcsdsTimeProvider, StdTimestampError, TimestampError};
use satrs_core::tmtc::tm_helper::{PusTmWithCdsShortHelper, SharedTmStore};
use satrs_core::tmtc::{AddressableId, PusServiceProvider, TargetId};
use satrs_core::{
@ -31,7 +31,7 @@ use std::cell::RefCell;
use std::collections::HashMap;
use std::convert::TryFrom;
use std::rc::Rc;
use std::sync::mpsc::{Receiver, SendError, Sender};
use std::sync::mpsc::{Receiver, SendError, Sender, TryRecvError};
pub mod scheduler;
pub mod test;
@ -40,10 +40,9 @@ pub mod test;
pub enum PusPacketHandlingError {
PusError(PusError),
WrongService(u8),
NotEnoughAppData(String),
StoreError(StoreError),
RwGuardError(String),
TimeError(StdTimestampError),
TmSendError(String),
QueueDisconnected,
OtherError(String),
}
@ -54,24 +53,44 @@ impl From<PusError> for PusPacketHandlingError {
}
}
impl From<StdTimestampError> for PusPacketHandlingError {
impl From<StoreError> for PusPacketHandlingError {
fn from(value: StoreError) -> Self {
Self::StoreError(value)
}
}
#[derive(Debug, Clone)]
pub enum PartialPusHandlingError {
TimeError(StdTimestampError),
TmSendError(String),
VerificationError,
}
impl From<StdTimestampError> for PartialPusHandlingError {
fn from(value: StdTimestampError) -> Self {
Self::TimeError(value)
}
}
#[derive(Debug, Copy, Clone, PartialEq, Eq)]
impl From<TimestampError> for PartialPusHandlingError {
fn from(value: TimestampError) -> Self {
Self::TimeError(StdTimestampError::TimestampError(value))
}
}
#[derive(Debug, Clone)]
pub enum PusPacketHandlerResult {
RequestHandled,
RequestHandledPartialSuccess(PartialPusHandlingError),
CustomSubservice(VerificationToken<TcStateAccepted>),
Empty,
}
pub struct PusServiceBase {
tc_rx: Receiver<AcceptedTc>,
tc_store: SharedPool,
tm_helper: PusTmWithCdsShortHelper,
tm_tx: Sender<StoreAddr>,
tm_store: SharedTmStore,
tm_apid: u16,
verification_handler: StdVerifReporterWithSender,
stamp_buf: [u8; 7],
pus_buf: [u8; 2048],
@ -82,15 +101,15 @@ impl PusServiceBase {
pub fn new(
receiver: Receiver<AcceptedTc>,
tc_pool: SharedPool,
tm_helper: PusTmWithCdsShortHelper,
tm_tx: Sender<StoreAddr>,
tm_store: SharedTmStore,
tm_apid: u16,
verification_handler: StdVerifReporterWithSender,
) -> Self {
Self {
tc_rx: receiver,
tc_store: tc_pool,
tm_helper,
tm_apid,
tm_tx,
tm_store,
verification_handler,
@ -99,6 +118,40 @@ impl PusServiceBase {
pus_size: 0,
}
}
pub fn handle_next_packet<
T: FnOnce(
StoreAddr,
VerificationToken<TcStateAccepted>,
) -> Result<PusPacketHandlerResult, PusPacketHandlingError>,
>(
&mut self,
handle_one_packet: T,
) -> Result<PusPacketHandlerResult, PusPacketHandlingError> {
return match self.tc_rx.try_recv() {
Ok((addr, token)) => handle_one_packet(addr, token),
Err(e) => match e {
TryRecvError::Empty => Ok(PusPacketHandlerResult::Empty),
TryRecvError::Disconnected => Err(PusPacketHandlingError::QueueDisconnected),
},
};
}
pub fn update_stamp(&mut self) -> Result<(), PartialPusHandlingError> {
let time_provider = TimeProvider::from_now_with_u16_days()
.map_err(|e| PartialPusHandlingError::TimeError(e));
return if time_provider.is_ok() {
// Can not fail, buffer is large enough.
time_provider
.unwrap()
.write_to_bytes(&mut self.stamp_buf)
.unwrap();
Ok(())
} else {
self.stamp_buf = [0; 7];
Err(time_provider.unwrap_err())
};
}
}
// pub trait PusTcRouter {

75
satrs-example/src/pus/scheduler.rs
View File

@ -1,4 +1,7 @@
use crate::pus::{AcceptedTc, PusPacketHandlerResult, PusPacketHandlingError, PusServiceBase};
use crate::pus::{
AcceptedTc, PartialPusHandlingError, PusPacketHandlerResult, PusPacketHandlingError,
PusServiceBase,
};
use delegate::delegate;
use satrs_core::pool::{SharedPool, StoreAddr};
use satrs_core::pus::scheduling::PusScheduler;
@ -7,9 +10,10 @@ use satrs_core::pus::verification::{
VerificationToken,
};
use satrs_core::pus::GenericTcCheckError;
use satrs_core::spacepackets::ecss::scheduling;
use satrs_core::spacepackets::ecss::{scheduling, PusPacket};
use satrs_core::spacepackets::tc::PusTc;
use satrs_core::spacepackets::time::cds::TimeProvider;
use satrs_core::spacepackets::time::TimeWriter;
use satrs_core::tmtc::tm_helper::{PusTmWithCdsShortHelper, SharedTmStore};
use satrs_example::tmtc_err;
use std::sync::mpsc::{Receiver, Sender, TryRecvError};
@ -23,9 +27,9 @@ impl PusService11SchedHandler {
pub fn new(
receiver: Receiver<AcceptedTc>,
tc_pool: SharedPool,
tm_helper: PusTmWithCdsShortHelper,
tm_tx: Sender<StoreAddr>,
tm_store: SharedTmStore,
tm_apid: u16,
verification_handler: StdVerifReporterWithSender,
scheduler: PusScheduler,
) -> Self {
@ -33,9 +37,9 @@ impl PusService11SchedHandler {
psb: PusServiceBase::new(
receiver,
tc_pool,
tm_helper,
tm_tx,
tm_store,
tm_apid,
verification_handler,
),
scheduler,
@ -44,68 +48,36 @@ impl PusService11SchedHandler {
pub fn handle_next_packet(&mut self) -> Result<PusPacketHandlerResult, PusPacketHandlingError> {
return match self.psb.tc_rx.try_recv() {
Ok((addr, token)) => {
if self.handle_one_tc(addr, token)? {
return Ok(PusPacketHandlerResult::RequestHandled);
}
Ok(PusPacketHandlerResult::CustomSubservice(token))
}
Ok((addr, token)) => self.handle_one_tc(addr, token),
Err(e) => match e {
TryRecvError::Empty => Ok(PusPacketHandlerResult::Empty),
TryRecvError::Disconnected => Err(PusPacketHandlingError::QueueDisconnected),
},
};
}
pub fn handle_one_tc(
&mut self,
addr: StoreAddr,
token: VerificationToken<TcStateAccepted>,
) -> Result<bool, PusPacketHandlingError> {
let time_provider = TimeProvider::from_now_with_u16_days().unwrap();
// TODO: Better error handling
) -> Result<PusPacketHandlerResult, PusPacketHandlingError> {
let mut partial_result = self.psb.update_stamp().err();
{
// Keep locked section as short as possible.
let mut tc_pool = self.psb.tc_store.write().unwrap();
let mut tc_pool = self
.psb
.tc_store
.write()
.map_err(|e| PusPacketHandlingError::RwGuardError(format!("{e}")))?;
let tc_guard = tc_pool.read_with_guard(addr);
let tc_raw = tc_guard.read().unwrap();
self.psb.pus_buf[0..tc_raw.len()].copy_from_slice(tc_raw);
}
let (tc, tc_size) = PusTc::from_bytes(&self.psb.pus_buf).unwrap();
let subservice = match pus_11_generic_tc_check(&tc) {
Ok(subservice) => subservice,
Err(e) => match e {
GenericTcCheckError::NotEnoughAppData => {
self.psb
.verification_handler
.start_failure(
token,
FailParams::new(
Some(&self.psb.stamp_buf),
&tmtc_err::NOT_ENOUGH_APP_DATA,
None,
),
)
.expect("could not sent verification error");
return;
}
GenericTcCheckError::InvalidSubservice => {
self.psb
.verification_handler
.start_failure(
token,
FailParams::new(
Some(&self.psb.stamp_buf),
&tmtc_err::INVALID_PUS_SUBSERVICE,
None,
),
)
.expect("could not sent verification error");
return;
}
},
};
match subservice {
let std_service = scheduling::Subservice::try_from(tc.subservice());
if std_service.is_err() {
return Ok(PusPacketHandlerResult::CustomSubservice(token));
}
match std_service.unwrap() {
scheduling::Subservice::TcEnableScheduling => {
let start_token = self
.psb
@ -175,7 +147,10 @@ impl PusService11SchedHandler {
.completion_success(start_token, Some(&self.psb.stamp_buf))
.expect("sending completion success failed");
}
_ => {}
_ => {
return Ok(PusPacketHandlerResult::CustomSubservice(token));
}
}
Ok(PusPacketHandlerResult::CustomSubservice(token))
}
}

69
satrs-example/src/pus/test.rs
View File

@ -1,4 +1,7 @@
use crate::pus::{AcceptedTc, PusPacketHandlerResult, PusPacketHandlingError, PusServiceBase};
use crate::pus::{
AcceptedTc, PartialPusHandlingError, PusPacketHandlerResult, PusPacketHandlingError,
PusServiceBase,
};
use delegate::delegate;
use log::{error, info, warn};
use satrs_core::events::EventU32;
@ -13,7 +16,8 @@ use satrs_core::spacepackets::ecss::{PusError, PusPacket};
use satrs_core::spacepackets::tc::PusTc;
use satrs_core::spacepackets::time::cds::TimeProvider;
use satrs_core::spacepackets::time::{StdTimestampError, TimeWriter};
use satrs_core::spacepackets::tm::PusTm;
use satrs_core::spacepackets::tm::{PusTm, PusTmSecondaryHeader};
use satrs_core::spacepackets::SpHeader;
use satrs_core::tmtc::tm_helper::{PusTmWithCdsShortHelper, SharedTmStore};
use satrs_example::{tmtc_err, TEST_EVENT};
use std::sync::mpsc::{Receiver, Sender, TryRecvError};
@ -39,6 +43,13 @@ impl Service17CustomWrapper {
info!("Sent ping reply PUS TM[17,2]");
handled_pings += 1;
}
PusPacketHandlerResult::RequestHandledPartialSuccess(partial_err) => {
warn!(
"Handled PUS ping command with partial success: {:?}",
partial_err
);
handled_pings += 1;
}
PusPacketHandlerResult::CustomSubservice(token) => {
let (buf, _) = self.pus17_handler.pus_tc_buf();
let (tc, size) = PusTc::from_bytes(buf).unwrap();
@ -90,18 +101,18 @@ impl PusService17TestHandler {
pub fn new(
receiver: Receiver<AcceptedTc>,
tc_pool: SharedPool,
tm_helper: PusTmWithCdsShortHelper,
tm_tx: Sender<StoreAddr>,
tm_store: SharedTmStore,
tm_apid: u16,
verification_handler: StdVerifReporterWithSender,
) -> Self {
Self {
psb: PusServiceBase::new(
receiver,
tc_pool,
tm_helper,
tm_tx,
tm_store,
tm_apid,
verification_handler,
),
}
@ -117,12 +128,7 @@ impl PusService17TestHandler {
pub fn handle_next_packet(&mut self) -> Result<PusPacketHandlerResult, PusPacketHandlingError> {
return match self.psb.tc_rx.try_recv() {
Ok((addr, token)) => {
if self.handle_one_tc(addr, token)? {
return Ok(PusPacketHandlerResult::RequestHandled);
}
Ok(PusPacketHandlerResult::CustomSubservice(token))
}
Ok((addr, token)) => self.handle_one_tc(addr, token),
Err(e) => match e {
TryRecvError::Empty => Ok(PusPacketHandlerResult::Empty),
TryRecvError::Disconnected => Err(PusPacketHandlingError::QueueDisconnected),
@ -134,7 +140,8 @@ impl PusService17TestHandler {
&mut self,
addr: StoreAddr,
token: VerificationToken<TcStateAccepted>,
) -> Result<bool, PusPacketHandlingError> {
) -> Result<PusPacketHandlerResult, PusPacketHandlingError> {
let mut partial_result = None;
{
// Keep locked section as short as possible.
let mut tc_pool = self
@ -143,39 +150,40 @@ impl PusService17TestHandler {
.write()
.map_err(|e| PusPacketHandlingError::RwGuardError(format!("{e}")))?;
let tc_guard = tc_pool.read_with_guard(addr);
let tc_raw = tc_guard.read().expect("Reading pool guard failed");
let tc_raw = tc_guard.read()?;
self.psb.pus_buf[0..tc_raw.len()].copy_from_slice(tc_raw);
}
let mut partial_error = None;
let (tc, tc_size) = PusTc::from_bytes(&self.psb.pus_buf)?;
if tc.service() != 17 {
return Err(PusPacketHandlingError::WrongService(tc.service()));
}
if tc.subservice() == 1 {
let time_provider = TimeProvider::from_now_with_u16_days()?;
// Can not fail, buffer is large enough.
time_provider
.write_to_bytes(&mut self.psb.stamp_buf)
.unwrap();
partial_result = self.psb.update_stamp().err();
let result = self
.psb
.verification_handler
.start_success(token, Some(&self.psb.stamp_buf));
.start_success(token, Some(&self.psb.stamp_buf))
.map_err(|e| PartialPusHandlingError::VerificationError);
let start_token = if result.is_err() {
error!("Could not send start success verification");
partial_error = Some(result.unwrap_err());
None
} else {
Some(result.unwrap())
};
// Sequence count will be handled centrally in TM funnel.
let ping_reply =
self.psb
.tm_helper
.create_pus_tm_with_stamp(17, 2, None, &time_provider, 0);
let mut reply_header = SpHeader::tm_unseg(self.psb.tm_apid, 0, 0).unwrap();
let tc_header = PusTmSecondaryHeader::new_simple(17, 2, &self.psb.stamp_buf);
let ping_reply = PusTm::new(&mut reply_header, tc_header, None, true);
let addr = self.psb.tm_store.add_pus_tm(&ping_reply);
self.psb
if let Err(e) = self
.psb
.tm_tx
.send(addr)
.map_err(|e| PusPacketHandlingError::TmSendError(format!("{e}")))?;
.map_err(|e| PartialPusHandlingError::TmSendError(format!("{e}")))
{
partial_error = Some(e);
}
if let Some(start_token) = start_token {
if self
.psb
@ -183,11 +191,16 @@ impl PusService17TestHandler {
.completion_success(start_token, Some(&self.psb.stamp_buf))
.is_err()
{
error!("Could not send completion success verification");
partial_error = Some(PartialPusHandlingError::VerificationError)
}
}
return Ok(true);
if partial_error.is_some() {
return Ok(PusPacketHandlerResult::RequestHandledPartialSuccess(
partial_error.unwrap(),
));
}
return Ok(PusPacketHandlerResult::RequestHandled);
}
Ok(false)
Ok(PusPacketHandlerResult::CustomSubservice(token))
}
}