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refactored example to support different tc sources

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This commit is contained in:
Robin Müller
2022-12-21 22:14:42 +01:00
parent 0b0a929a11
commit 49c5f3eda2
6 changed files with 281 additions and 72 deletions
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200
satrs-example/src/tmtc.rs
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@ -2,89 +2,225 @@ use satrs_core::events::EventU32;
use satrs_core::hal::host::udp_server::{ReceiveResult, UdpTcServer};
use satrs_core::params::Params;
use std::collections::HashMap;
use std::error::Error;
use std::fmt::{Display, Formatter};
use std::net::SocketAddr;
use std::sync::mpsc;
use std::sync::mpsc::Sender;
use std::sync::mpsc::{Receiver, SendError, Sender, TryRecvError};
use std::thread;
use std::time::Duration;
use crate::ccsds::CcsdsReceiver;
use crate::pus::PusReceiver;
use crate::requests::RequestWithToken;
use crate::UdpTmtcServer;
use satrs_core::pool::{SharedPool, StoreAddr};
use satrs_core::pool::{SharedPool, StoreAddr, StoreError};
use satrs_core::pus::event_man::EventRequestWithToken;
use satrs_core::pus::verification::StdVerifReporterWithSender;
use satrs_core::tmtc::{CcsdsDistributor, CcsdsError, PusDistributor};
use satrs_core::tmtc::{
CcsdsDistributor, CcsdsError, PusServiceProvider, ReceivesCcsdsTc, ReceivesEcssPusTc,
};
use spacepackets::ecss::PusPacket;
use spacepackets::tc::PusTc;
use spacepackets::tm::PusTm;
use spacepackets::SpHeader;
pub const PUS_APID: u16 = 0x02;
pub struct CoreTmtcArgs {
pub tm_store: TmStore,
pub tm_sender: Sender<StoreAddr>,
pub struct OtherArgs {
pub sock_addr: SocketAddr,
pub verif_reporter: StdVerifReporterWithSender,
pub event_sender: Sender<(EventU32, Option<Params>)>,
pub event_request_tx: Sender<EventRequestWithToken>,
pub request_map: HashMap<u32, Sender<RequestWithToken>>,
}
pub struct TmArgs {
pub tm_store: TmStore,
pub tm_sink_sender: Sender<StoreAddr>,
pub tm_server_rx: Receiver<StoreAddr>,
}
pub struct TcArgs {
pub tc_source: PusTcSource,
pub tc_receiver: Receiver<StoreAddr>,
}
#[derive(Debug, Clone, PartialEq, Eq)]
pub enum MpscStoreAndSendError {
StoreError(StoreError),
SendError(SendError<StoreAddr>),
}
impl Display for MpscStoreAndSendError {
fn fmt(&self, f: &mut Formatter<'_>) -> std::fmt::Result {
match self {
MpscStoreAndSendError::StoreError(s) => {
write!(f, "store error {}", s)
}
MpscStoreAndSendError::SendError(s) => {
write!(f, "send error {}", s)
}
}
}
}
impl Error for MpscStoreAndSendError {
fn source(&self) -> Option<&(dyn Error + 'static)> {
match self {
MpscStoreAndSendError::StoreError(s) => Some(s),
MpscStoreAndSendError::SendError(s) => Some(s),
}
}
}
impl From<StoreError> for MpscStoreAndSendError {
fn from(value: StoreError) -> Self {
Self::StoreError(value)
}
}
impl From<SendError<StoreAddr>> for MpscStoreAndSendError {
fn from(value: SendError<StoreAddr>) -> Self {
Self::SendError(value)
}
}
#[derive(Clone)]
pub struct TmStore {
pub pool: SharedPool,
}
#[derive(Clone)]
pub struct TcStore {
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 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_bytes(buf)
.expect("Writing PUS TM to store failed");
.expect("writing PUS TM to store failed");
addr
}
}
pub fn core_tmtc_task(
args: CoreTmtcArgs,
tm_server_rx: mpsc::Receiver<StoreAddr>,
addr: SocketAddr,
verif_reporter: StdVerifReporterWithSender,
) {
let pus_receiver = PusReceiver::new(
impl TcStore {
pub fn add_pus_tc(&mut self, pus_tc: &PusTc) -> Result<StoreAddr, StoreError> {
let mut pg = self.pool.write().expect("error locking TC store");
let (addr, buf) = pg.free_element(pus_tc.len_packed())?;
pus_tc
.write_to_bytes(buf)
.expect("writing PUS TC to store failed");
Ok(addr)
}
}
pub struct TmFunnel {
pub tm_funnel_rx: Receiver<StoreAddr>,
pub tm_server_tx: Sender<StoreAddr>,
}
pub struct UdpTmtcServer {
udp_tc_server: UdpTcServer<CcsdsError<MpscStoreAndSendError>>,
tm_rx: Receiver<StoreAddr>,
tm_store: SharedPool,
}
#[derive(Clone)]
pub struct PusTcSource {
pub tc_source: Sender<StoreAddr>,
pub tc_store: TcStore,
}
impl ReceivesEcssPusTc for PusTcSource {
type Error = MpscStoreAndSendError;
fn pass_pus_tc(&mut self, _: &SpHeader, pus_tc: &PusTc) -> Result<(), Self::Error> {
let addr = self.tc_store.add_pus_tc(pus_tc)?;
self.tc_source.send(addr)?;
Ok(())
}
}
impl ReceivesCcsdsTc for PusTcSource {
type Error = MpscStoreAndSendError;
fn pass_ccsds(&mut self, _: &SpHeader, tc_raw: &[u8]) -> Result<(), Self::Error> {
let mut pool = self.tc_store.pool.write().expect("locking pool failed");
let addr = pool.add(tc_raw)?;
drop(pool);
self.tc_source.send(addr)?;
Ok(())
}
}
pub fn core_tmtc_task(args: OtherArgs, mut tc_args: TcArgs, tm_args: TmArgs) {
let mut pus_receiver = PusReceiver::new(
PUS_APID,
args.tm_sender,
args.tm_store.clone(),
verif_reporter,
tm_args.tm_sink_sender,
tm_args.tm_store.clone(),
args.verif_reporter,
tc_args.tc_source.clone(),
args.event_request_tx,
args.request_map,
);
let pus_distributor = PusDistributor::new(Box::new(pus_receiver));
let ccsds_receiver = CcsdsReceiver {
pus_handler: pus_distributor,
tc_source: tc_args.tc_source.clone(),
};
let ccsds_distributor = CcsdsDistributor::new(Box::new(ccsds_receiver));
let udp_tc_server = UdpTcServer::new(addr, 2048, Box::new(ccsds_distributor))
let udp_tc_server = UdpTcServer::new(args.sock_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: args.tm_store.pool.clone(),
tm_rx: tm_args.tm_server_rx,
tm_store: tm_args.tm_store.pool.clone(),
};
loop {
core_tmtc_loop(&mut udp_tmtc_server);
core_tmtc_loop(&mut udp_tmtc_server, &mut tc_args, &mut pus_receiver);
thread::sleep(Duration::from_millis(400));
}
}
fn core_tmtc_loop(udp_tmtc_server: &mut UdpTmtcServer) {
while core_tc_handling(udp_tmtc_server) {}
fn core_tmtc_loop(
udp_tmtc_server: &mut UdpTmtcServer,
tc_args: &mut TcArgs,
pus_receiver: &mut PusReceiver,
) {
while poll_tc_server(udp_tmtc_server) {}
match tc_args.tc_receiver.try_recv() {
Ok(addr) => {
let pool = tc_args
.tc_source
.tc_store
.pool
.read()
.expect("locking tc pool failed");
let data = pool.read(&addr).expect("reading pool failed");
match PusTc::from_bytes(data) {
Ok((pus_tc, _)) => {
pus_receiver
.handle_pus_tc_packet(pus_tc.service(), pus_tc.sp_header(), &pus_tc)
.ok();
}
Err(e) => {
println!("error creating PUS TC from raw data: {}", e);
println!("raw data: {:x?}", data);
}
}
}
Err(e) => {
if let TryRecvError::Disconnected = e {
println!("tmtc thread: sender disconnected")
}
}
}
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 {
fn poll_tc_server(udp_tmtc_server: &mut UdpTmtcServer) -> bool {
match udp_tmtc_server.udp_tc_server.try_recv_tc() {
Ok(_) => true,
Err(e) => match e {
@ -112,9 +248,9 @@ fn core_tm_handling(udp_tmtc_server: &mut UdpTmtcServer, recv_addr: &SocketAddr)
let mut store_lock = udp_tmtc_server
.tm_store
.write()
.expect("Locking TM store failed");
.expect("locking TM store failed");
let pg = store_lock.read_with_guard(addr);
let buf = pg.read().expect("Error reading TM pool data");
let buf = pg.read().expect("error reading TM pool data");
if buf.len() > 9 {
let service = buf[7];
let subservice = buf[8];
@ -126,6 +262,6 @@ fn core_tm_handling(udp_tmtc_server: &mut UdpTmtcServer, recv_addr: &SocketAddr)
.udp_tc_server
.socket
.send_to(buf, recv_addr)
.expect("Sending TM failed");
.expect("sending TM failed");
}
}