rust/sat-rs
rust/sat-rs
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why is this so problematic..

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This commit is contained in:
Robin Müller 2023-09-27 00:21:03 +02:00
parent 7ca8d52368
commit 5a3b9fb46b
Signed by: muellerr
GPG Key ID: FCE0B2BD2195142F
3 changed files with 134 additions and 128 deletions
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2
satrs-example/pyclient/requirements.txt
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@ -1,2 +1,2 @@
tmtccmd == 5.0.0rc0
tmtccmd == 6.0.0
# -e git+https://github.com/robamu-org/tmtccmd@97e5e51101a08b21472b3ddecc2063359f7e307a#egg=tmtccmd

27
satrs-example/src/main.rs
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@ -6,7 +6,9 @@ mod requests;
mod tmtc;
use log::{info, warn};
use satrs_core::hal::std::udp_server::UdpTcServer;
use crate::ccsds::CcsdsReceiver;
use crate::hk::AcsHkIds;
use crate::logging::setup_logger;
use crate::pus::action::{Pus8Wrapper, PusService8ActionHandler};
@ -14,9 +16,9 @@ use crate::pus::event::Pus5Wrapper;
use crate::pus::hk::{Pus3Wrapper, PusService3HkHandler};
use crate::pus::scheduler::Pus11Wrapper;
use crate::pus::test::Service17CustomWrapper;
use crate::pus::PusTcMpscRouter;
use crate::pus::{PusReceiver, PusTcMpscRouter};
use crate::requests::{Request, RequestWithToken};
use crate::tmtc::{core_tmtc_task, PusTcSource, TcArgs, TcStore, TmArgs, TmFunnel};
use crate::tmtc::{PusTcSource, TcArgs, TcStore, TmArgs, TmFunnel, TmtcTask, UdpTmtcServer};
use satrs_core::event_man::{
EventManagerWithMpscQueue, MpscEventReceiver, MpscEventU32SendProvider, SendEventProvider,
};
@ -43,7 +45,7 @@ use satrs_core::spacepackets::{
SpHeader,
};
use satrs_core::tmtc::tm_helper::SharedTmStore;
use satrs_core::tmtc::{AddressableId, TargetId};
use satrs_core::tmtc::{AddressableId, CcsdsDistributor, TargetId};
use satrs_core::ChannelId;
use satrs_example::{
RequestTargetId, TcReceiverId, TmSenderId, OBSW_SERVER_ADDR, PUS_APID, SERVER_PORT,
@ -266,11 +268,27 @@ fn main() {
);
let mut pus_3_wrapper = Pus3Wrapper { pus_3_handler };
let ccsds_receiver = CcsdsReceiver {
tc_source: tc_args.tc_source.clone(),
};
let mut tmtc_task = TmtcTask::new(tc_args, PusReceiver::new(verif_reporter, pus_router));
let ccsds_distributor = CcsdsDistributor::new(Box::new(ccsds_receiver));
let udp_tc_server = UdpTcServer::new(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_args.tm_server_rx,
tm_store: tm_args.tm_store.clone_backing_pool(),
};
info!("Starting TMTC task");
let jh0 = thread::Builder::new()
.name("TMTC".to_string())
.spawn(move || {
core_tmtc_task(sock_addr, tc_args, tm_args, verif_reporter, pus_router);
udp_tmtc_server.periodic_operation();
tmtc_task.periodic_operation();
thread::sleep(Duration::from_millis(400));
})
.unwrap();
@ -382,6 +400,7 @@ fn main() {
let mut timestamp: [u8; 7] = [0; 7];
let mut time_provider = TimeProvider::new_with_u16_days(0, 0);
loop {
// TODO: Move this into a separate thread..
match acs_thread_rx.try_recv() {
Ok(request) => {
info!(

233
satrs-example/src/tmtc.rs
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@ -1,21 +1,18 @@
use log::{info, warn};
use satrs_core::hal::std::udp_server::{ReceiveResult, UdpTcServer};
use satrs_core::pus::ReceivesEcssPusTc;
use satrs_core::spacepackets::SpHeader;
use std::net::SocketAddr;
use std::sync::mpsc::{Receiver, SendError, Sender, TryRecvError};
use std::thread;
use std::time::Duration;
use thiserror::Error;
use crate::ccsds::CcsdsReceiver;
use crate::pus::{PusReceiver, PusTcMpscRouter};
use crate::pus::PusReceiver;
use satrs_core::pool::{SharedPool, StoreAddr, StoreError};
use satrs_core::pus::verification::StdVerifReporterWithSender;
use satrs_core::pus::{ReceivesEcssPusTc, TcAddrWithToken};
use satrs_core::pus::TcAddrWithToken;
use satrs_core::spacepackets::ecss::tc::PusTcReader;
use satrs_core::spacepackets::ecss::PusPacket;
use satrs_core::spacepackets::SpHeader;
use satrs_core::tmtc::tm_helper::SharedTmStore;
use satrs_core::tmtc::{CcsdsDistributor, CcsdsError, ReceivesCcsdsTc};
use satrs_core::tmtc::{CcsdsError, ReceivesCcsdsTc};
pub struct TmArgs {
pub tm_store: SharedTmStore,
@ -65,9 +62,9 @@ pub struct TmFunnel {
}
pub struct UdpTmtcServer {
udp_tc_server: UdpTcServer<CcsdsError<MpscStoreAndSendError>>,
tm_rx: Receiver<StoreAddr>,
tm_store: SharedPool,
pub udp_tc_server: UdpTcServer<CcsdsError<MpscStoreAndSendError>>,
pub tm_rx: Receiver<StoreAddr>,
pub tm_store: SharedPool,
}
#[derive(Clone)]
@ -98,131 +95,121 @@ impl ReceivesCcsdsTc for PusTcSource {
}
}
pub fn core_tmtc_task(
socket_addr: SocketAddr,
mut tc_args: TcArgs,
tm_args: TmArgs,
verif_reporter: StdVerifReporterWithSender,
pus_router: PusTcMpscRouter,
) {
let mut pus_receiver = PusReceiver::new(verif_reporter, pus_router);
let ccsds_receiver = CcsdsReceiver {
tc_source: tc_args.tc_source.clone(),
};
let ccsds_distributor = CcsdsDistributor::new(Box::new(ccsds_receiver));
let udp_tc_server = UdpTcServer::new(socket_addr, 2048, Box::new(ccsds_distributor))
.expect("creating UDP TMTC server failed");
let mut udp_tmtc_server = UdpTmtcServer {
udp_tc_server,
tm_rx: tm_args.tm_server_rx,
tm_store: tm_args.tm_store.clone_backing_pool(),
};
let mut tc_buf: [u8; 4096] = [0; 4096];
loop {
core_tmtc_loop(
&mut udp_tmtc_server,
&mut tc_args,
&mut tc_buf,
&mut pus_receiver,
);
thread::sleep(Duration::from_millis(400));
}
pub struct TmtcTask {
tc_args: TcArgs,
tc_buf: [u8; 4096],
pus_receiver: PusReceiver,
}
fn core_tmtc_loop(
udp_tmtc_server: &mut UdpTmtcServer,
tc_args: &mut TcArgs,
tc_buf: &mut [u8],
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");
tc_buf[0..data.len()].copy_from_slice(data);
drop(pool);
match PusTcReader::new(tc_buf) {
Ok((pus_tc, _)) => {
pus_receiver
.handle_tc_packet(addr, pus_tc.service(), &pus_tc)
.ok();
}
Err(e) => {
warn!("error creating PUS TC from raw data: {e}");
warn!("raw data: {tc_buf:x?}");
}
}
}
Err(e) => {
if let TryRecvError::Disconnected = e {
warn!("tmtc thread: sender disconnected")
}
impl TmtcTask {
pub fn new(tc_args: TcArgs, pus_receiver: PusReceiver) -> Self {
Self {
tc_args,
tc_buf: [0; 4096],
pus_receiver,
}
}
if let Some(recv_addr) = udp_tmtc_server.udp_tc_server.last_sender() {
core_tm_handling(udp_tmtc_server, &recv_addr);
}
}
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 {
ReceiveResult::ReceiverError(e) => match e {
CcsdsError::ByteConversionError(e) => {
warn!("packet error: {e:?}");
true
pub fn periodic_operation(&mut self) {
//while self.poll_tc() {}
self.poll_tc();
}
pub fn poll_tc(&mut self) -> bool {
match self.tc_args.tc_receiver.try_recv() {
Ok(addr) => {
let pool = self
.tc_args
.tc_source
.tc_store
.pool
.read()
.expect("locking tc pool failed");
let data = pool.read(&addr).expect("reading pool failed");
self.tc_buf[0..data.len()].copy_from_slice(data);
drop(pool);
match PusTcReader::new(&self.tc_buf) {
Ok((pus_tc, _)) => {
self.pus_receiver
.handle_tc_packet(addr, pus_tc.service(), &pus_tc)
.ok();
true
}
Err(e) => {
warn!("error creating PUS TC from raw data: {e}");
warn!("raw data: {:x?}", self.tc_buf);
true
}
}
CcsdsError::CustomError(e) => {
warn!("mpsc store and send error {e:?}");
true
}
Err(e) => match e {
TryRecvError::Empty => false,
TryRecvError::Disconnected => {
warn!("tmtc thread: sender disconnected");
false
}
},
ReceiveResult::IoError(e) => {
warn!("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 store_lock = udp_tmtc_server.tm_store.write();
if store_lock.is_err() {
warn!("Locking TM store failed");
continue;
impl UdpTmtcServer {
pub fn periodic_operation(&mut self) {
while self.poll_tc_server() {}
if let Some(recv_addr) = self.udp_tc_server.last_sender() {
self.send_tm_to_udp_client(&recv_addr);
}
let mut store_lock = store_lock.unwrap();
let pg = store_lock.read_with_guard(addr);
let read_res = pg.read();
if read_res.is_err() {
warn!("Error reading TM pool data");
continue;
}
fn poll_tc_server(&mut self) -> bool {
match self.udp_tc_server.try_recv_tc() {
Ok(_) => true,
Err(e) => match e {
ReceiveResult::ReceiverError(e) => match e {
CcsdsError::ByteConversionError(e) => {
warn!("packet error: {e:?}");
true
}
CcsdsError::CustomError(e) => {
warn!("mpsc store and send error {e:?}");
true
}
},
ReceiveResult::IoError(e) => {
warn!("IO error {e}");
false
}
ReceiveResult::NothingReceived => false,
},
}
let buf = read_res.unwrap();
if buf.len() > 9 {
let service = buf[7];
let subservice = buf[8];
info!("Sending PUS TM[{service},{subservice}]")
} else {
info!("Sending PUS TM");
}
let result = udp_tmtc_server.udp_tc_server.socket.send_to(buf, recv_addr);
if let Err(e) = result {
warn!("Sending TM with UDP socket failed: {e}")
}
fn send_tm_to_udp_client(&mut self, recv_addr: &SocketAddr) {
while let Ok(addr) = self.tm_rx.try_recv() {
let store_lock = self.tm_store.write();
if store_lock.is_err() {
warn!("Locking TM store failed");
continue;
}
let mut store_lock = store_lock.unwrap();
let pg = store_lock.read_with_guard(addr);
let read_res = pg.read();
if read_res.is_err() {
warn!("Error reading TM pool data");
continue;
}
let buf = read_res.unwrap();
if buf.len() > 9 {
let service = buf[7];
let subservice = buf[8];
info!("Sending PUS TM[{service},{subservice}]")
} else {
info!("Sending PUS TM");
}
let result = self.udp_tc_server.socket.send_to(buf, recv_addr);
if let Err(e) = result {
warn!("Sending TM with UDP socket failed: {e}")
}
}
}
}