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This commit is contained in:
Robin Müller
2023-07-05 21:08:04 +02:00
parent 8210e01615
commit 5f5b77b721
13 changed files with 297 additions and 142 deletions
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8
satrs-example/src/lib.rs
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@ -1,5 +1,6 @@
use num_enum::{IntoPrimitive, TryFromPrimitive};
use satrs_core::events::{EventU32TypedSev, SeverityInfo};
use satrs_core::objects::ObjectId;
use std::net::Ipv4Addr;
use satrs_mib::res_code::{ResultU16, ResultU16Info};
@ -17,6 +18,11 @@ pub enum RequestTargetId {
AcsSubsystem = 1,
}
pub const ACS_OBJECT_ID: ObjectId = ObjectId {
id: RequestTargetId::AcsSubsystem as u32,
name: "ACS_SUBSYSTEM",
};
#[derive(Debug)]
pub enum GroupId {
Tmtc = 0,
@ -38,6 +44,8 @@ pub mod tmtc_err {
pub const INVALID_PUS_SUBSERVICE: ResultU16 = ResultU16::const_new(GroupId::Tmtc as u8, 1);
#[resultcode]
pub const PUS_SERVICE_NOT_IMPLEMENTED: ResultU16 = ResultU16::const_new(GroupId::Tmtc as u8, 2);
#[resultcode]
pub const UNKNOWN_TARGET_ID: ResultU16 = ResultU16::const_new(GroupId::Tmtc as u8, 3);
#[resultcode(
info = "Not enough data inside the TC application data field. Optionally includes: \

29
satrs-example/src/main.rs
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@ -9,6 +9,7 @@ use log::{info, warn};
use crate::hk::AcsHkIds;
use crate::logging::setup_logger;
use crate::pus::action::{Pus8Wrapper, PusService8ActionHandler};
use crate::pus::event::Pus5Wrapper;
use crate::pus::scheduler::Pus11Wrapper;
use crate::pus::test::Service17CustomWrapper;
@ -45,7 +46,7 @@ use satrs_core::spacepackets::{
SequenceFlags, SpHeader,
};
use satrs_core::tmtc::tm_helper::SharedTmStore;
use satrs_core::tmtc::AddressableId;
use satrs_core::tmtc::{AddressableId, TargetId};
use satrs_example::{RequestTargetId, OBSW_SERVER_ADDR, SERVER_PORT};
use std::collections::HashMap;
use std::net::{IpAddr, SocketAddr};
@ -123,7 +124,7 @@ fn main() {
// Some request are targetable. This map is used to retrieve sender handles based on a target ID.
let mut request_map = HashMap::new();
let (acs_thread_tx, acs_thread_rx) = channel::<RequestWithToken>();
request_map.insert(RequestTargetId::AcsSubsystem as u32, acs_thread_tx);
request_map.insert(RequestTargetId::AcsSubsystem as TargetId, acs_thread_tx);
let tc_source_wrapper = PusTcSource {
tc_store: tc_store.clone(),
@ -135,7 +136,6 @@ fn main() {
sock_addr,
verif_reporter: verif_reporter.clone(),
event_sender,
request_map,
};
let tc_args = TcArgs {
tc_source: tc_source_wrapper.clone(),
@ -153,7 +153,7 @@ fn main() {
let (pus_test_tx, pus_test_rx) = channel();
let (pus_event_tx, pus_event_rx) = channel();
let (pus_sched_tx, pus_sched_rx) = channel();
let (pus_hk_tx, pus_hk_rx) = channel();
let (pus_hk_tx, _pus_hk_rx) = channel();
let (pus_action_tx, pus_action_rx) = channel();
let pus_router = PusTcMpscRouter {
test_service_receiver: pus_test_tx,
@ -195,11 +195,22 @@ fn main() {
tm_funnel_tx.clone(),
tm_store.clone(),
PUS_APID,
verif_reporter,
verif_reporter.clone(),
event_request_tx,
);
let mut pus_5_wrapper = Pus5Wrapper { pus_5_handler };
let pus_8_handler = PusService8ActionHandler::new(
pus_action_rx,
tc_store.pool.clone(),
tm_funnel_tx.clone(),
tm_store.clone(),
PUS_APID,
verif_reporter,
request_map.clone(),
);
let mut pus_8_wrapper = Pus8Wrapper { pus_8_handler };
info!("Starting TMTC task");
let jh0 = thread::Builder::new()
.name("TMTC".to_string())
@ -320,7 +331,7 @@ fn main() {
);
update_time(&mut time_provider, &mut timestamp);
match request.targeted_request.request {
Request::HkRequest(hk_req) => match hk_req {
Request::Hk(hk_req) => match hk_req {
HkRequest::OneShot(unique_id) => {
let target = request.targeted_request.target_id;
assert_eq!(target, RequestTargetId::AcsSubsystem as u32);
@ -359,9 +370,12 @@ fn main() {
HkRequest::Disable(_) => {}
HkRequest::ModifyCollectionInterval(_, _) => {}
},
Request::ModeRequest(_mode_req) => {
Request::Mode(_mode_req) => {
warn!("mode request handling not implemented yet")
}
Request::Action(_action_req) => {
warn!("action request handling not implemented yet")
}
}
let started_token = reporter_aocs
.start_success(request.token, Some(&timestamp))
@ -397,6 +411,7 @@ fn main() {
is_srv_finished(pus_17_wrapper.handle_next_packet());
is_srv_finished(pus_11_wrapper.handle_next_packet());
is_srv_finished(pus_5_wrapper.handle_next_packet());
is_srv_finished(pus_8_wrapper.handle_next_packet());
if all_queues_empty {
break;
}

165
satrs-example/src/pus/action.rs Normal file
View File

@ -0,0 +1,165 @@
use crate::requests::{ActionRequest, Request, RequestWithToken};
use log::{error, warn};
use satrs_core::pool::{SharedPool, StoreAddr};
use satrs_core::pus::verification::{
FailParams, StdVerifReporterWithSender, TcStateAccepted, VerificationToken,
};
use satrs_core::pus::{
AcceptedTc, PusPacketHandlerResult, PusPacketHandlingError, PusServiceBase, PusServiceHandler,
};
use satrs_core::spacepackets::ecss::PusPacket;
use satrs_core::spacepackets::tc::PusTc;
use satrs_core::tmtc::tm_helper::SharedTmStore;
use satrs_core::tmtc::TargetId;
use satrs_example::tmtc_err;
use std::collections::HashMap;
use std::sync::mpsc::{Receiver, Sender};
pub struct PusService8ActionHandler {
psb: PusServiceBase,
request_handlers: HashMap<TargetId, Sender<RequestWithToken>>,
}
impl PusService8ActionHandler {
pub fn new(
receiver: Receiver<AcceptedTc>,
tc_pool: SharedPool,
tm_tx: Sender<StoreAddr>,
tm_store: SharedTmStore,
tm_apid: u16,
verification_handler: StdVerifReporterWithSender,
request_handlers: HashMap<TargetId, Sender<RequestWithToken>>,
) -> Self {
Self {
psb: PusServiceBase::new(
receiver,
tc_pool,
tm_tx,
tm_store,
tm_apid,
verification_handler,
),
request_handlers,
}
}
}
impl PusServiceHandler for PusService8ActionHandler {
fn psb_mut(&mut self) -> &mut PusServiceBase {
&mut self.psb
}
fn psb(&self) -> &PusServiceBase {
&self.psb
}
fn handle_one_tc(
&mut self,
addr: StoreAddr,
token: VerificationToken<TcStateAccepted>,
) -> Result<PusPacketHandlerResult, PusPacketHandlingError> {
self.copy_tc_to_buf(addr)?;
let (tc, _) = PusTc::from_bytes(&self.psb().pus_buf).unwrap();
let subservice = tc.subservice();
let mut partial_error = None;
let time_stamp = self.psb().get_current_timestamp(&mut partial_error);
match subservice {
128 => {
let user_data = tc.user_data();
if user_data.is_none() || user_data.unwrap().len() < 8 {
self.psb_mut()
.verification_handler
.start_failure(
token,
FailParams::new(
Some(&time_stamp),
&tmtc_err::NOT_ENOUGH_APP_DATA,
None,
),
)
.expect("Sending start failure failed");
return Err(PusPacketHandlingError::NotEnoughAppData(
"Expected at least 4 bytes".into(),
));
}
let user_data = user_data.unwrap();
let target_id = u32::from_be_bytes(user_data[0..4].try_into().unwrap());
let action_id = u32::from_be_bytes(user_data[4..8].try_into().unwrap());
if let Some(sender) = self.request_handlers.get(&target_id) {
sender
.send(RequestWithToken::new(
target_id,
Request::Action(ActionRequest::CmdWithU32Id((
action_id,
Vec::from(&user_data[8..]),
))),
token,
))
.expect("Forwarding action request failed");
} else {
let mut fail_data: [u8; 4] = [0; 4];
fail_data.copy_from_slice(&target_id.to_be_bytes());
self.psb_mut()
.verification_handler
.start_failure(
token,
FailParams::new(
Some(&time_stamp),
&tmtc_err::UNKNOWN_TARGET_ID,
Some(&fail_data),
),
)
.expect("Sending start failure failed");
return Err(PusPacketHandlingError::OtherError(format!(
"Unknown target ID {target_id}"
)));
}
}
_ => {
let fail_data = [subservice];
self.psb_mut()
.verification_handler
.start_failure(
token,
FailParams::new(
Some(&time_stamp),
&tmtc_err::INVALID_PUS_SUBSERVICE,
Some(&fail_data),
),
)
.expect("Sending start failure failed");
return Err(PusPacketHandlingError::InvalidSubservice(subservice));
}
}
Ok(PusPacketHandlerResult::RequestHandled)
}
}
pub struct Pus8Wrapper {
pub(crate) pus_8_handler: PusService8ActionHandler,
}
impl Pus8Wrapper {
pub fn handle_next_packet(&mut self) -> bool {
match self.pus_8_handler.handle_next_packet() {
Ok(result) => match result {
PusPacketHandlerResult::RequestHandled => {}
PusPacketHandlerResult::RequestHandledPartialSuccess(e) => {
warn!("PUS 8 partial packet handling success: {e:?}")
}
PusPacketHandlerResult::CustomSubservice(invalid, _) => {
warn!("PUS 8 invalid subservice {invalid}");
}
PusPacketHandlerResult::SubserviceNotImplemented(subservice, _) => {
warn!("PUS 8 subservice {subservice} not implemented");
}
PusPacketHandlerResult::Empty => {
return true;
}
},
Err(error) => {
error!("PUS packet handling error: {error:?}")
}
}
false
}
}

1
satrs-example/src/pus/mod.rs
View File

@ -12,6 +12,7 @@ use satrs_core::tmtc::tm_helper::PusTmWithCdsShortHelper;
use satrs_example::{tmtc_err, CustomPusServiceId};
use std::sync::mpsc::Sender;
pub mod action;
pub mod event;
pub mod scheduler;
pub mod test;

25
satrs-example/src/pus/test.rs
View File

@ -2,6 +2,7 @@ use log::{info, warn};
use satrs_core::events::EventU32;
use satrs_core::params::Params;
use satrs_core::pus::test::PusService17TestHandler;
use satrs_core::pus::verification::FailParams;
use satrs_core::pus::{PusPacketHandlerResult, PusServiceHandler};
use satrs_core::spacepackets::ecss::PusPacket;
use satrs_core::spacepackets::tc::PusTc;
@ -37,8 +38,9 @@ impl Service17CustomWrapper {
warn!("PUS17: Subservice {subservice} not implemented")
}
PusPacketHandlerResult::CustomSubservice(subservice, token) => {
let (buf, _) = self.pus17_handler.pus_tc_buf();
let (tc, _) = PusTc::from_bytes(buf).unwrap();
let psb_mut = self.pus17_handler.psb_mut();
let buf = psb_mut.pus_buf;
let (tc, _) = PusTc::from_bytes(&buf).unwrap();
let time_stamper = TimeProvider::from_now_with_u16_days().unwrap();
let mut stamp_buf: [u8; 7] = [0; 7];
time_stamper.write_to_bytes(&mut stamp_buf).unwrap();
@ -47,23 +49,26 @@ impl Service17CustomWrapper {
self.test_srv_event_sender
.send((TEST_EVENT.into(), None))
.expect("Sending test event failed");
let start_token = self
.pus17_handler
.verification_reporter()
let start_token = psb_mut
.verification_handler
.start_success(token, Some(&stamp_buf))
.expect("Error sending start success");
self.pus17_handler
.verification_reporter()
psb_mut
.verification_handler
.completion_success(start_token, Some(&stamp_buf))
.expect("Error sending completion success");
} else {
let fail_data = [tc.subservice()];
self.pus17_handler
.psb_mut()
.report_start_failure(
.verification_handler
.start_failure(
token,
&tmtc_err::INVALID_PUS_SUBSERVICE,
Some(&fail_data),
FailParams::new(
Some(&stamp_buf),
&tmtc_err::INVALID_PUS_SUBSERVICE,
Some(&fail_data),
),
)
.expect("Sending start failure verification failed");
}

23
satrs-example/src/requests.rs
View File

@ -3,14 +3,23 @@ use satrs_core::mode::ModeRequest;
use satrs_core::pus::verification::{TcStateAccepted, VerificationToken};
use satrs_core::tmtc::TargetId;
#[derive(Copy, Clone, Eq, PartialEq, Debug)]
#[non_exhaustive]
pub enum Request {
HkRequest(HkRequest),
ModeRequest(ModeRequest),
#[allow(dead_code)]
#[derive(Clone, Eq, PartialEq, Debug)]
pub enum ActionRequest {
CmdWithU32Id((u32, Vec<u8>)),
CmdWithStringId((String, Vec<u8>)),
}
#[derive(Copy, Clone, Eq, PartialEq, Debug)]
#[allow(dead_code)]
#[derive(Clone, Eq, PartialEq, Debug)]
#[non_exhaustive]
pub enum Request {
Hk(HkRequest),
Mode(ModeRequest),
Action(ActionRequest),
}
#[derive(Clone, Eq, PartialEq, Debug)]
pub struct TargetedRequest {
pub(crate) target_id: TargetId,
pub(crate) request: Request,
@ -22,7 +31,7 @@ impl TargetedRequest {
}
}
#[derive(Copy, Clone, Eq, PartialEq, Debug)]
#[derive(Clone, Eq, PartialEq, Debug)]
pub struct RequestWithToken {
pub(crate) targeted_request: TargetedRequest,
pub(crate) token: VerificationToken<TcStateAccepted>,

3
satrs-example/src/tmtc.rs
View File

@ -2,7 +2,6 @@ use log::info;
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;
@ -12,7 +11,6 @@ use std::time::Duration;
use crate::ccsds::CcsdsReceiver;
use crate::pus::{PusReceiver, PusTcArgs, PusTcMpscRouter, PusTmArgs};
use crate::requests::RequestWithToken;
use satrs_core::pool::{SharedPool, StoreAddr, StoreError};
use satrs_core::pus::verification::StdVerifReporterWithSender;
use satrs_core::spacepackets::ecss::{PusPacket, SerializablePusPacket};
@ -27,7 +25,6 @@ pub struct OtherArgs {
pub sock_addr: SocketAddr,
pub verif_reporter: StdVerifReporterWithSender,
pub event_sender: Sender<(EventU32, Option<Params>)>,
pub request_map: HashMap<u32, Sender<RequestWithToken>>,
}
pub struct TmArgs {