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Re-worked TMTC modules
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This commit is contained in:
Robin Müller
2024-04-16 11:04:22 +02:00
parent 8cfe3b81e7
commit 63f37f0917
53 changed files with 2030 additions and 2939 deletions
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4
satrs/src/action.rs
View File

@ -1,4 +1,4 @@
use crate::{params::Params, pool::StoreAddr};
use crate::{params::Params, pool::PoolAddr};
#[cfg(feature = "alloc")]
pub use alloc_mod::*;
@ -21,7 +21,7 @@ impl ActionRequest {
#[derive(Clone, Eq, PartialEq, Debug)]
pub enum ActionRequestVariant {
NoData,
StoreData(StoreAddr),
StoreData(PoolAddr),
#[cfg(feature = "alloc")]
VecData(alloc::vec::Vec<u8>),
}

207
satrs/src/encoding/ccsds.rs
View File

@ -1,23 +1,52 @@
use crate::{tmtc::ReceivesTcCore, ValidatorU16Id};
use spacepackets::{CcsdsPacket, SpHeader};
use crate::{tmtc::PacketSenderRaw, ComponentId};
#[derive(Debug, Copy, Clone, PartialEq, Eq)]
pub enum SpValidity {
Valid,
/// The space packet can be assumed to have a valid format, but the packet should
/// be skipped.
Skip,
/// The space packet or space packet header has an invalid format, for example a CRC check
/// failed. In that case, the parser loses the packet synchronization and needs to check for
/// the start of a new space packet header start again. The space packet header
/// [spacepackets::PacketId] can be used as a synchronization marker to detect the start
/// of a possible valid packet again.
Invalid,
}
/// Simple trait to allow user code to check the validity of a space packet.
pub trait SpacePacketValidator {
fn validate(&self, sp_header: &SpHeader, raw_buf: &[u8]) -> SpValidity;
}
/// This function parses a given buffer for tightly packed CCSDS space packets. It uses the
/// [PacketId] field of the CCSDS packets to detect the start of a CCSDS space packet and then
/// uses the length field of the packet to extract CCSDS packets.
/// [spacepackets::SpHeader] of the CCSDS packets and a user provided [SpacePacketValidator]
/// to check whether a received space packet is relevant for processing.
///
/// This function is also able to deal with broken tail packets at the end as long a the parser
/// can read the full 7 bytes which constitue a space packet header plus one byte minimal size.
/// If broken tail packets are detected, they are moved to the front of the buffer, and the write
/// index for future write operations will be written to the `next_write_idx` argument.
///
/// The parser will write all packets which were decoded successfully to the given `tc_receiver`
/// and return the number of packets found. If the [ReceivesTcCore::pass_tc] calls fails, the
/// error will be returned.
pub fn parse_buffer_for_ccsds_space_packets<E>(
/// The parses will behave differently based on the [SpValidity] returned from the user provided
/// [SpacePacketValidator]:
///
/// 1. [SpValidity::Valid]: The parser will forward all packets to the given `packet_sender` and
/// return the number of packets found.If the [PacketSenderRaw::send_packet] calls fails, the
/// error will be returned.
/// 2. [SpValidity::Invalid]: The parser assumes that the synchronization is lost and tries to
/// find the start of a new space packet header by scanning all the following bytes.
/// 3. [SpValidity::Skip]: The parser skips the packet using the packet length determined from the
/// space packet header.
pub fn parse_buffer_for_ccsds_space_packets<SendError>(
buf: &mut [u8],
packet_id_validator: &(impl ValidatorU16Id + ?Sized),
tc_receiver: &mut (impl ReceivesTcCore<Error = E> + ?Sized),
packet_validator: &(impl SpacePacketValidator + ?Sized),
sender_id: ComponentId,
packet_sender: &(impl PacketSenderRaw<Error = SendError> + ?Sized),
next_write_idx: &mut usize,
) -> Result<u32, E> {
) -> Result<u32, SendError> {
*next_write_idx = 0;
let mut packets_found = 0;
let mut current_idx = 0;
@ -26,25 +55,33 @@ pub fn parse_buffer_for_ccsds_space_packets<E>(
if current_idx + 7 >= buf.len() {
break;
}
let packet_id = u16::from_be_bytes(buf[current_idx..current_idx + 2].try_into().unwrap());
if packet_id_validator.validate(packet_id) {
let length_field =
u16::from_be_bytes(buf[current_idx + 4..current_idx + 6].try_into().unwrap());
let packet_size = length_field + 7;
if (current_idx + packet_size as usize) <= buf_len {
tc_receiver.pass_tc(&buf[current_idx..current_idx + packet_size as usize])?;
packets_found += 1;
} else {
// Move packet to start of buffer if applicable.
if current_idx > 0 {
buf.copy_within(current_idx.., 0);
*next_write_idx = buf.len() - current_idx;
let sp_header = SpHeader::from_be_bytes(&buf[current_idx..]).unwrap().0;
// let packet_id = u16::from_be_bytes(buf[current_idx..current_idx + 2].try_into().unwrap());
match packet_validator.validate(&sp_header, &buf[current_idx..]) {
SpValidity::Valid => {
let packet_size = sp_header.total_len();
if (current_idx + packet_size) <= buf_len {
packet_sender
.send_packet(sender_id, &buf[current_idx..current_idx + packet_size])?;
packets_found += 1;
} else {
// Move packet to start of buffer if applicable.
if current_idx > 0 {
buf.copy_within(current_idx.., 0);
*next_write_idx = buf.len() - current_idx;
}
}
current_idx += packet_size;
continue;
}
SpValidity::Skip => {
current_idx += sp_header.total_len();
}
// We might have lost sync. Try to find the start of a new space packet header.
SpValidity::Invalid => {
current_idx += 1;
}
current_idx += packet_size as usize;
continue;
}
current_idx += 1;
}
Ok(packets_found)
}
@ -53,18 +90,43 @@ pub fn parse_buffer_for_ccsds_space_packets<E>(
mod tests {
use spacepackets::{
ecss::{tc::PusTcCreator, WritablePusPacket},
PacketId, SpHeader,
CcsdsPacket, PacketId, SpHeader,
};
use crate::encoding::tests::TcCacher;
use crate::{encoding::tests::TcCacher, ComponentId};
use super::parse_buffer_for_ccsds_space_packets;
use super::{parse_buffer_for_ccsds_space_packets, SpValidity, SpacePacketValidator};
const PARSER_ID: ComponentId = 0x05;
const TEST_APID_0: u16 = 0x02;
const TEST_APID_1: u16 = 0x10;
const TEST_PACKET_ID_0: PacketId = PacketId::new_for_tc(true, TEST_APID_0);
const TEST_PACKET_ID_1: PacketId = PacketId::new_for_tc(true, TEST_APID_1);
#[derive(Default)]
struct SimpleVerificator {
pub enable_second_id: bool,
}
impl SimpleVerificator {
pub fn new_with_second_id() -> Self {
Self {
enable_second_id: true,
}
}
}
impl SpacePacketValidator for SimpleVerificator {
fn validate(&self, sp_header: &SpHeader, _raw_buf: &[u8]) -> super::SpValidity {
if sp_header.packet_id() == TEST_PACKET_ID_0
|| (self.enable_second_id && sp_header.packet_id() == TEST_PACKET_ID_1)
{
return SpValidity::Valid;
}
SpValidity::Skip
}
}
#[test]
fn test_basic() {
let sph = SpHeader::new_from_apid(TEST_APID_0);
@ -73,23 +135,23 @@ mod tests {
let packet_len = ping_tc
.write_to_bytes(&mut buffer)
.expect("writing packet failed");
let valid_packet_ids = [TEST_PACKET_ID_0];
let mut tc_cacher = TcCacher::default();
let tc_cacher = TcCacher::default();
let mut next_write_idx = 0;
let parse_result = parse_buffer_for_ccsds_space_packets(
&mut buffer,
valid_packet_ids.as_slice(),
&mut tc_cacher,
&SimpleVerificator::default(),
PARSER_ID,
&tc_cacher,
&mut next_write_idx,
);
assert!(parse_result.is_ok());
let parsed_packets = parse_result.unwrap();
assert_eq!(parsed_packets, 1);
assert_eq!(tc_cacher.tc_queue.len(), 1);
assert_eq!(
tc_cacher.tc_queue.pop_front().unwrap(),
buffer[..packet_len]
);
let mut queue = tc_cacher.tc_queue.borrow_mut();
assert_eq!(queue.len(), 1);
let packet_with_sender = queue.pop_front().unwrap();
assert_eq!(packet_with_sender.packet, buffer[..packet_len]);
assert_eq!(packet_with_sender.sender_id, PARSER_ID);
}
#[test]
@ -104,25 +166,27 @@ mod tests {
let packet_len_action = action_tc
.write_to_bytes(&mut buffer[packet_len_ping..])
.expect("writing packet failed");
let valid_packet_ids = [TEST_PACKET_ID_0];
let mut tc_cacher = TcCacher::default();
let tc_cacher = TcCacher::default();
let mut next_write_idx = 0;
let parse_result = parse_buffer_for_ccsds_space_packets(
&mut buffer,
valid_packet_ids.as_slice(),
&mut tc_cacher,
&SimpleVerificator::default(),
PARSER_ID,
&tc_cacher,
&mut next_write_idx,
);
assert!(parse_result.is_ok());
let parsed_packets = parse_result.unwrap();
assert_eq!(parsed_packets, 2);
assert_eq!(tc_cacher.tc_queue.len(), 2);
let mut queue = tc_cacher.tc_queue.borrow_mut();
assert_eq!(queue.len(), 2);
let packet_with_addr = queue.pop_front().unwrap();
assert_eq!(packet_with_addr.packet, buffer[..packet_len_ping]);
assert_eq!(packet_with_addr.sender_id, PARSER_ID);
let packet_with_addr = queue.pop_front().unwrap();
assert_eq!(packet_with_addr.sender_id, PARSER_ID);
assert_eq!(
tc_cacher.tc_queue.pop_front().unwrap(),
buffer[..packet_len_ping]
);
assert_eq!(
tc_cacher.tc_queue.pop_front().unwrap(),
packet_with_addr.packet,
buffer[packet_len_ping..packet_len_ping + packet_len_action]
);
}
@ -140,25 +204,26 @@ mod tests {
let packet_len_action = action_tc
.write_to_bytes(&mut buffer[packet_len_ping..])
.expect("writing packet failed");
let valid_packet_ids = [TEST_PACKET_ID_0, TEST_PACKET_ID_1];
let mut tc_cacher = TcCacher::default();
let tc_cacher = TcCacher::default();
let mut next_write_idx = 0;
let verificator = SimpleVerificator::new_with_second_id();
let parse_result = parse_buffer_for_ccsds_space_packets(
&mut buffer,
valid_packet_ids.as_slice(),
&mut tc_cacher,
&verificator,
PARSER_ID,
&tc_cacher,
&mut next_write_idx,
);
assert!(parse_result.is_ok());
let parsed_packets = parse_result.unwrap();
assert_eq!(parsed_packets, 2);
assert_eq!(tc_cacher.tc_queue.len(), 2);
let mut queue = tc_cacher.tc_queue.borrow_mut();
assert_eq!(queue.len(), 2);
let packet_with_addr = queue.pop_front().unwrap();
assert_eq!(packet_with_addr.packet, buffer[..packet_len_ping]);
let packet_with_addr = queue.pop_front().unwrap();
assert_eq!(
tc_cacher.tc_queue.pop_front().unwrap(),
buffer[..packet_len_ping]
);
assert_eq!(
tc_cacher.tc_queue.pop_front().unwrap(),
packet_with_addr.packet,
buffer[packet_len_ping..packet_len_ping + packet_len_action]
);
}
@ -176,19 +241,22 @@ mod tests {
let packet_len_action = action_tc
.write_to_bytes(&mut buffer[packet_len_ping..])
.expect("writing packet failed");
let valid_packet_ids = [TEST_PACKET_ID_0, TEST_PACKET_ID_1];
let mut tc_cacher = TcCacher::default();
let tc_cacher = TcCacher::default();
let mut next_write_idx = 0;
let verificator = SimpleVerificator::new_with_second_id();
let parse_result = parse_buffer_for_ccsds_space_packets(
&mut buffer[..packet_len_ping + packet_len_action - 4],
valid_packet_ids.as_slice(),
&mut tc_cacher,
&verificator,
PARSER_ID,
&tc_cacher,
&mut next_write_idx,
);
assert!(parse_result.is_ok());
let parsed_packets = parse_result.unwrap();
assert_eq!(parsed_packets, 1);
assert_eq!(tc_cacher.tc_queue.len(), 1);
let queue = tc_cacher.tc_queue.borrow();
assert_eq!(queue.len(), 1);
// The broken packet was moved to the start, so the next write index should be after the
// last segment missing 4 bytes.
assert_eq!(next_write_idx, packet_len_action - 4);
@ -202,19 +270,22 @@ mod tests {
let packet_len_ping = ping_tc
.write_to_bytes(&mut buffer)
.expect("writing packet failed");
let valid_packet_ids = [TEST_PACKET_ID_0, TEST_PACKET_ID_1];
let mut tc_cacher = TcCacher::default();
let tc_cacher = TcCacher::default();
let verificator = SimpleVerificator::new_with_second_id();
let mut next_write_idx = 0;
let parse_result = parse_buffer_for_ccsds_space_packets(
&mut buffer[..packet_len_ping - 4],
valid_packet_ids.as_slice(),
&mut tc_cacher,
&verificator,
PARSER_ID,
&tc_cacher,
&mut next_write_idx,
);
assert_eq!(next_write_idx, 0);
assert!(parse_result.is_ok());
let parsed_packets = parse_result.unwrap();
assert_eq!(parsed_packets, 0);
assert_eq!(tc_cacher.tc_queue.len(), 0);
let queue = tc_cacher.tc_queue.borrow();
assert_eq!(queue.len(), 0);
}
}

86
satrs/src/encoding/cobs.rs
View File

@ -1,4 +1,4 @@
use crate::tmtc::ReceivesTcCore;
use crate::{tmtc::PacketSenderRaw, ComponentId};
use cobs::{decode_in_place, encode, max_encoding_length};
/// This function encodes the given packet with COBS and also wraps the encoded packet with
@ -55,11 +55,12 @@ pub fn encode_packet_with_cobs(
/// future write operations will be written to the `next_write_idx` argument.
///
/// The parser will write all packets which were decoded successfully to the given `tc_receiver`.
pub fn parse_buffer_for_cobs_encoded_packets<E>(
pub fn parse_buffer_for_cobs_encoded_packets<SendError>(
buf: &mut [u8],
tc_receiver: &mut dyn ReceivesTcCore<Error = E>,
sender_id: ComponentId,
packet_sender: &(impl PacketSenderRaw<Error = SendError> + ?Sized),
next_write_idx: &mut usize,
) -> Result<u32, E> {
) -> Result<u32, SendError> {
let mut start_index_packet = 0;
let mut start_found = false;
let mut last_byte = false;
@ -78,8 +79,10 @@ pub fn parse_buffer_for_cobs_encoded_packets<E>(
let decode_result = decode_in_place(&mut buf[start_index_packet..i]);
if let Ok(packet_len) = decode_result {
packets_found += 1;
tc_receiver
.pass_tc(&buf[start_index_packet..start_index_packet + packet_len])?;
packet_sender.send_packet(
sender_id,
&buf[start_index_packet..start_index_packet + packet_len],
)?;
}
start_found = false;
} else {
@ -100,32 +103,39 @@ pub fn parse_buffer_for_cobs_encoded_packets<E>(
pub(crate) mod tests {
use cobs::encode;
use crate::encoding::tests::{encode_simple_packet, TcCacher, INVERTED_PACKET, SIMPLE_PACKET};
use crate::{
encoding::tests::{encode_simple_packet, TcCacher, INVERTED_PACKET, SIMPLE_PACKET},
ComponentId,
};
use super::parse_buffer_for_cobs_encoded_packets;
const PARSER_ID: ComponentId = 0x05;
#[test]
fn test_parsing_simple_packet() {
let mut test_sender = TcCacher::default();
let test_sender = TcCacher::default();
let mut encoded_buf: [u8; 16] = [0; 16];
let mut current_idx = 0;
encode_simple_packet(&mut encoded_buf, &mut current_idx);
let mut next_read_idx = 0;
let packets = parse_buffer_for_cobs_encoded_packets(
&mut encoded_buf[0..current_idx],
&mut test_sender,
PARSER_ID,
&test_sender,
&mut next_read_idx,
)
.unwrap();
assert_eq!(packets, 1);
assert_eq!(test_sender.tc_queue.len(), 1);
let packet = &test_sender.tc_queue[0];
assert_eq!(packet, &SIMPLE_PACKET);
let queue = test_sender.tc_queue.borrow();
assert_eq!(queue.len(), 1);
let packet = &queue[0];
assert_eq!(packet.packet, &SIMPLE_PACKET);
}
#[test]
fn test_parsing_consecutive_packets() {
let mut test_sender = TcCacher::default();
let test_sender = TcCacher::default();
let mut encoded_buf: [u8; 16] = [0; 16];
let mut current_idx = 0;
encode_simple_packet(&mut encoded_buf, &mut current_idx);
@ -139,21 +149,23 @@ pub(crate) mod tests {
let mut next_read_idx = 0;
let packets = parse_buffer_for_cobs_encoded_packets(
&mut encoded_buf[0..current_idx],
&mut test_sender,
PARSER_ID,
&test_sender,
&mut next_read_idx,
)
.unwrap();
assert_eq!(packets, 2);
assert_eq!(test_sender.tc_queue.len(), 2);
let packet0 = &test_sender.tc_queue[0];
assert_eq!(packet0, &SIMPLE_PACKET);
let packet1 = &test_sender.tc_queue[1];
assert_eq!(packet1, &INVERTED_PACKET);
let queue = test_sender.tc_queue.borrow();
assert_eq!(queue.len(), 2);
let packet0 = &queue[0];
assert_eq!(packet0.packet, &SIMPLE_PACKET);
let packet1 = &queue[1];
assert_eq!(packet1.packet, &INVERTED_PACKET);
}
#[test]
fn test_split_tail_packet_only() {
let mut test_sender = TcCacher::default();
let test_sender = TcCacher::default();
let mut encoded_buf: [u8; 16] = [0; 16];
let mut current_idx = 0;
encode_simple_packet(&mut encoded_buf, &mut current_idx);
@ -161,17 +173,19 @@ pub(crate) mod tests {
let packets = parse_buffer_for_cobs_encoded_packets(
// Cut off the sentinel byte at the end.
&mut encoded_buf[0..current_idx - 1],
&mut test_sender,
PARSER_ID,
&test_sender,
&mut next_read_idx,
)
.unwrap();
assert_eq!(packets, 0);
assert_eq!(test_sender.tc_queue.len(), 0);
let queue = test_sender.tc_queue.borrow();
assert_eq!(queue.len(), 0);
assert_eq!(next_read_idx, 0);
}
fn generic_test_split_packet(cut_off: usize) {
let mut test_sender = TcCacher::default();
let test_sender = TcCacher::default();
let mut encoded_buf: [u8; 16] = [0; 16];
assert!(cut_off < INVERTED_PACKET.len() + 1);
let mut current_idx = 0;
@ -193,13 +207,15 @@ pub(crate) mod tests {
let packets = parse_buffer_for_cobs_encoded_packets(
// Cut off the sentinel byte at the end.
&mut encoded_buf[0..current_idx - cut_off],
&mut test_sender,
PARSER_ID,
&test_sender,
&mut next_write_idx,
)
.unwrap();
assert_eq!(packets, 1);
assert_eq!(test_sender.tc_queue.len(), 1);
assert_eq!(&test_sender.tc_queue[0], &SIMPLE_PACKET);
let queue = test_sender.tc_queue.borrow();
assert_eq!(queue.len(), 1);
assert_eq!(&queue[0].packet, &SIMPLE_PACKET);
assert_eq!(next_write_idx, next_expected_write_idx);
assert_eq!(encoded_buf[..next_expected_write_idx], expected_at_start);
}
@ -221,7 +237,7 @@ pub(crate) mod tests {
#[test]
fn test_zero_at_end() {
let mut test_sender = TcCacher::default();
let test_sender = TcCacher::default();
let mut encoded_buf: [u8; 16] = [0; 16];
let mut next_write_idx = 0;
let mut current_idx = 0;
@ -233,31 +249,35 @@ pub(crate) mod tests {
let packets = parse_buffer_for_cobs_encoded_packets(
// Cut off the sentinel byte at the end.
&mut encoded_buf[0..current_idx],
&mut test_sender,
PARSER_ID,
&test_sender,
&mut next_write_idx,
)
.unwrap();
assert_eq!(packets, 1);
assert_eq!(test_sender.tc_queue.len(), 1);
assert_eq!(&test_sender.tc_queue[0], &SIMPLE_PACKET);
let queue = test_sender.tc_queue.borrow_mut();
assert_eq!(queue.len(), 1);
assert_eq!(&queue[0].packet, &SIMPLE_PACKET);
assert_eq!(next_write_idx, 1);
assert_eq!(encoded_buf[0], 0);
}
#[test]
fn test_all_zeroes() {
let mut test_sender = TcCacher::default();
let test_sender = TcCacher::default();
let mut all_zeroes: [u8; 5] = [0; 5];
let mut next_write_idx = 0;
let packets = parse_buffer_for_cobs_encoded_packets(
// Cut off the sentinel byte at the end.
&mut all_zeroes,
&mut test_sender,
PARSER_ID,
&test_sender,
&mut next_write_idx,
)
.unwrap();
assert_eq!(packets, 0);
assert!(test_sender.tc_queue.is_empty());
let queue = test_sender.tc_queue.borrow();
assert!(queue.is_empty());
assert_eq!(next_write_idx, 0);
}
}

18
satrs/src/encoding/mod.rs
View File

@ -6,9 +6,14 @@ pub use crate::encoding::cobs::{encode_packet_with_cobs, parse_buffer_for_cobs_e
#[cfg(test)]
pub(crate) mod tests {
use alloc::{collections::VecDeque, vec::Vec};
use core::cell::RefCell;
use crate::tmtc::ReceivesTcCore;
use alloc::collections::VecDeque;
use crate::{
tmtc::{PacketAsVec, PacketSenderRaw},
ComponentId,
};
use super::cobs::encode_packet_with_cobs;
@ -17,14 +22,15 @@ pub(crate) mod tests {
#[derive(Default)]
pub(crate) struct TcCacher {
pub(crate) tc_queue: VecDeque<Vec<u8>>,
pub(crate) tc_queue: RefCell<VecDeque<PacketAsVec>>,
}
impl ReceivesTcCore for TcCacher {
impl PacketSenderRaw for TcCacher {
type Error = ();
fn pass_tc(&mut self, tc_raw: &[u8]) -> Result<(), Self::Error> {
self.tc_queue.push_back(tc_raw.to_vec());
fn send_packet(&self, sender_id: ComponentId, tc_raw: &[u8]) -> Result<(), Self::Error> {
let mut mut_queue = self.tc_queue.borrow_mut();
mut_queue.push_back(PacketAsVec::new(sender_id, tc_raw.to_vec()));
Ok(())
}
}

113
satrs/src/hal/std/tcp_cobs_server.rs
View File

@ -10,12 +10,13 @@ use std::net::SocketAddr;
use std::vec::Vec;
use crate::encoding::parse_buffer_for_cobs_encoded_packets;
use crate::tmtc::ReceivesTc;
use crate::tmtc::TmPacketSource;
use crate::tmtc::PacketSenderRaw;
use crate::tmtc::PacketSource;
use crate::hal::std::tcp_server::{
ConnectionResult, ServerConfig, TcpTcParser, TcpTmSender, TcpTmtcError, TcpTmtcGenericServer,
};
use crate::ComponentId;
use super::tcp_server::HandledConnectionHandler;
use super::tcp_server::HandledConnectionInfo;
@ -28,14 +29,16 @@ impl<TmError, TcError: 'static> TcpTcParser<TmError, TcError> for CobsTcParser {
fn handle_tc_parsing(
&mut self,
tc_buffer: &mut [u8],
tc_receiver: &mut (impl ReceivesTc<Error = TcError> + ?Sized),
sender_id: ComponentId,
tc_sender: &(impl PacketSenderRaw<Error = TcError> + ?Sized),
conn_result: &mut HandledConnectionInfo,
current_write_idx: usize,
next_write_idx: &mut usize,
) -> Result<(), TcpTmtcError<TmError, TcError>> {
conn_result.num_received_tcs += parse_buffer_for_cobs_encoded_packets(
&mut tc_buffer[..current_write_idx],
tc_receiver.upcast_mut(),
sender_id,
tc_sender,
next_write_idx,
)
.map_err(|e| TcpTmtcError::TcError(e))?;
@ -62,7 +65,7 @@ impl<TmError, TcError> TcpTmSender<TmError, TcError> for CobsTmSender {
fn handle_tm_sending(
&mut self,
tm_buffer: &mut [u8],
tm_source: &mut (impl TmPacketSource<Error = TmError> + ?Sized),
tm_source: &mut (impl PacketSource<Error = TmError> + ?Sized),
conn_result: &mut HandledConnectionInfo,
stream: &mut TcpStream,
) -> Result<bool, TcpTmtcError<TmError, TcError>> {
@ -101,7 +104,7 @@ impl<TmError, TcError> TcpTmSender<TmError, TcError> for CobsTmSender {
/// Telemetry will be encoded with the COBS protocol using [cobs::encode] in addition to being
/// wrapped with the sentinel value 0 as the packet delimiter as well before being sent back to
/// the client. Please note that the server will send as much data as it can retrieve from the
/// [TmPacketSource] in its current implementation.
/// [PacketSource] in its current implementation.
///
/// Using a framing protocol like COBS imposes minimal restrictions on the type of TMTC data
/// exchanged while also allowing packets with flexible size and a reliable way to reconstruct full
@ -115,26 +118,26 @@ impl<TmError, TcError> TcpTmSender<TmError, TcError> for CobsTmSender {
/// The [TCP integration tests](https://egit.irs.uni-stuttgart.de/rust/sat-rs/src/branch/main/satrs/tests/tcp_servers.rs)
/// test also serves as the example application for this module.
pub struct TcpTmtcInCobsServer<
TmSource: TmPacketSource<Error = TmError>,
TcReceiver: ReceivesTc<Error = TcError>,
TmSource: PacketSource<Error = TmError>,
TcSender: PacketSenderRaw<Error = SendError>,
HandledConnection: HandledConnectionHandler,
TmError,
TcError: 'static,
SendError: 'static,
> {
pub generic_server: TcpTmtcGenericServer<
TmSource,
TcReceiver,
TcSender,
CobsTmSender,
CobsTcParser,
HandledConnection,
TmError,
TcError,
SendError,
>,
}
impl<
TmSource: TmPacketSource<Error = TmError>,
TcReceiver: ReceivesTc<Error = TcError>,
TmSource: PacketSource<Error = TmError>,
TcReceiver: PacketSenderRaw<Error = TcError>,
HandledConnection: HandledConnectionHandler,
TmError: 'static,
TcError: 'static,
@ -178,8 +181,8 @@ impl<
/// useful if using the port number 0 for OS auto-assignment.
pub fn local_addr(&self) -> std::io::Result<SocketAddr>;
/// Delegation to the [TcpTmtcGenericServer::handle_next_connection] call.
pub fn handle_next_connection(
/// Delegation to the [TcpTmtcGenericServer::handle_all_connections] call.
pub fn handle_all_connections(
&mut self,
poll_duration: Option<Duration>,
) -> Result<ConnectionResult, TcpTmtcError<TmError, TcError>>;
@ -196,22 +199,29 @@ mod tests {
use std::{
io::{Read, Write},
net::{IpAddr, Ipv4Addr, SocketAddr, TcpStream},
panic, thread,
panic,
sync::mpsc,
thread,
time::Instant,
};
use crate::{
encoding::tests::{INVERTED_PACKET, SIMPLE_PACKET},
hal::std::tcp_server::{
tests::{ConnectionFinishedHandler, SyncTcCacher, SyncTmSource},
tests::{ConnectionFinishedHandler, SyncTmSource},
ConnectionResult, ServerConfig,
},
queue::GenericSendError,
tmtc::PacketAsVec,
ComponentId,
};
use alloc::sync::Arc;
use cobs::encode;
use super::TcpTmtcInCobsServer;
const TCP_SERVER_ID: ComponentId = 0x05;
fn encode_simple_packet(encoded_buf: &mut [u8], current_idx: &mut usize) {
encode_packet(&SIMPLE_PACKET, encoded_buf, current_idx)
}
@ -230,14 +240,20 @@ mod tests {
fn generic_tmtc_server(
addr: &SocketAddr,
tc_receiver: SyncTcCacher,
tc_sender: mpsc::Sender<PacketAsVec>,
tm_source: SyncTmSource,
stop_signal: Option<Arc<AtomicBool>>,
) -> TcpTmtcInCobsServer<SyncTmSource, SyncTcCacher, ConnectionFinishedHandler, (), ()> {
) -> TcpTmtcInCobsServer<
SyncTmSource,
mpsc::Sender<PacketAsVec>,
ConnectionFinishedHandler,
(),
GenericSendError,
> {
TcpTmtcInCobsServer::new(
ServerConfig::new(*addr, Duration::from_millis(2), 1024, 1024),
ServerConfig::new(TCP_SERVER_ID, *addr, Duration::from_millis(2), 1024, 1024),
tm_source,
tc_receiver,
tc_sender,
ConnectionFinishedHandler::default(),
stop_signal,
)
@ -247,10 +263,10 @@ mod tests {
#[test]
fn test_server_basic_no_tm() {
let auto_port_addr = SocketAddr::new(IpAddr::V4(Ipv4Addr::new(127, 0, 0, 1)), 0);
let tc_receiver = SyncTcCacher::default();
let (tc_sender, tc_receiver) = mpsc::channel();
let tm_source = SyncTmSource::default();
let mut tcp_server =
generic_tmtc_server(&auto_port_addr, tc_receiver.clone(), tm_source, None);
generic_tmtc_server(&auto_port_addr, tc_sender.clone(), tm_source, None);
let dest_addr = tcp_server
.local_addr()
.expect("retrieving dest addr failed");
@ -258,7 +274,7 @@ mod tests {
let set_if_done = conn_handled.clone();
// Call the connection handler in separate thread, does block.
thread::spawn(move || {
let result = tcp_server.handle_next_connection(Some(Duration::from_millis(100)));
let result = tcp_server.handle_all_connections(Some(Duration::from_millis(100)));
if result.is_err() {
panic!("handling connection failed: {:?}", result.unwrap_err());
}
@ -293,28 +309,20 @@ mod tests {
panic!("connection was not handled properly");
}
// Check that the packet was received and decoded successfully.
let mut tc_queue = tc_receiver
.tc_queue
.lock()
.expect("locking tc queue failed");
assert_eq!(tc_queue.len(), 1);
assert_eq!(tc_queue.pop_front().unwrap(), &SIMPLE_PACKET);
drop(tc_queue);
let packet_with_sender = tc_receiver.recv().expect("receiving TC failed");
assert_eq!(packet_with_sender.packet, &SIMPLE_PACKET);
matches!(tc_receiver.try_recv(), Err(mpsc::TryRecvError::Empty));
}
#[test]
fn test_server_basic_multi_tm_multi_tc() {
let auto_port_addr = SocketAddr::new(IpAddr::V4(Ipv4Addr::new(127, 0, 0, 1)), 0);
let tc_receiver = SyncTcCacher::default();
let (tc_sender, tc_receiver) = mpsc::channel();
let mut tm_source = SyncTmSource::default();
tm_source.add_tm(&INVERTED_PACKET);
tm_source.add_tm(&SIMPLE_PACKET);
let mut tcp_server = generic_tmtc_server(
&auto_port_addr,
tc_receiver.clone(),
tm_source.clone(),
None,
);
let mut tcp_server =
generic_tmtc_server(&auto_port_addr, tc_sender.clone(), tm_source.clone(), None);
let dest_addr = tcp_server
.local_addr()
.expect("retrieving dest addr failed");
@ -322,7 +330,7 @@ mod tests {
let set_if_done = conn_handled.clone();
// Call the connection handler in separate thread, does block.
thread::spawn(move || {
let result = tcp_server.handle_next_connection(Some(Duration::from_millis(100)));
let result = tcp_server.handle_all_connections(Some(Duration::from_millis(100)));
if result.is_err() {
panic!("handling connection failed: {:?}", result.unwrap_err());
}
@ -409,27 +417,26 @@ mod tests {
panic!("connection was not handled properly");
}
// Check that the packet was received and decoded successfully.
let mut tc_queue = tc_receiver
.tc_queue
.lock()
.expect("locking tc queue failed");
assert_eq!(tc_queue.len(), 2);
assert_eq!(tc_queue.pop_front().unwrap(), &SIMPLE_PACKET);
assert_eq!(tc_queue.pop_front().unwrap(), &INVERTED_PACKET);
drop(tc_queue);
let packet_with_sender = tc_receiver.recv().expect("receiving TC failed");
let packet = &packet_with_sender.packet;
assert_eq!(packet, &SIMPLE_PACKET);
let packet_with_sender = tc_receiver.recv().expect("receiving TC failed");
let packet = &packet_with_sender.packet;
assert_eq!(packet, &INVERTED_PACKET);
matches!(tc_receiver.try_recv(), Err(mpsc::TryRecvError::Empty));
}
#[test]
fn test_server_accept_timeout() {
let auto_port_addr = SocketAddr::new(IpAddr::V4(Ipv4Addr::new(127, 0, 0, 1)), 0);
let tc_receiver = SyncTcCacher::default();
let (tc_sender, _tc_receiver) = mpsc::channel();
let tm_source = SyncTmSource::default();
let mut tcp_server =
generic_tmtc_server(&auto_port_addr, tc_receiver.clone(), tm_source, None);
generic_tmtc_server(&auto_port_addr, tc_sender.clone(), tm_source, None);
let start = Instant::now();
// Call the connection handler in separate thread, does block.
let thread_jh = thread::spawn(move || loop {
let result = tcp_server.handle_next_connection(Some(Duration::from_millis(20)));
let result = tcp_server.handle_all_connections(Some(Duration::from_millis(20)));
if result.is_err() {
panic!("handling connection failed: {:?}", result.unwrap_err());
}
@ -447,12 +454,12 @@ mod tests {
#[test]
fn test_server_stop_signal() {
let auto_port_addr = SocketAddr::new(IpAddr::V4(Ipv4Addr::new(127, 0, 0, 1)), 0);
let tc_receiver = SyncTcCacher::default();
let (tc_sender, _tc_receiver) = mpsc::channel();
let tm_source = SyncTmSource::default();
let stop_signal = Arc::new(AtomicBool::new(false));
let mut tcp_server = generic_tmtc_server(
&auto_port_addr,
tc_receiver.clone(),
tc_sender.clone(),
tm_source,
Some(stop_signal.clone()),
);
@ -463,7 +470,7 @@ mod tests {
let start = Instant::now();
// Call the connection handler in separate thread, does block.
let thread_jh = thread::spawn(move || loop {
let result = tcp_server.handle_next_connection(Some(Duration::from_millis(20)));
let result = tcp_server.handle_all_connections(Some(Duration::from_millis(20)));
if result.is_err() {
panic!("handling connection failed: {:?}", result.unwrap_err());
}

105
satrs/src/hal/std/tcp_server.rs
View File

@ -13,14 +13,13 @@ use std::net::SocketAddr;
// use std::net::{SocketAddr, TcpStream};
use std::thread;
use crate::tmtc::{ReceivesTc, TmPacketSource};
use crate::tmtc::{PacketSenderRaw, PacketSource};
use crate::ComponentId;
use thiserror::Error;
// Re-export the TMTC in COBS server.
pub use crate::hal::std::tcp_cobs_server::{CobsTcParser, CobsTmSender, TcpTmtcInCobsServer};
pub use crate::hal::std::tcp_spacepackets_server::{
SpacepacketsTcParser, SpacepacketsTmSender, TcpSpacepacketsServer,
};
pub use crate::hal::std::tcp_spacepackets_server::{SpacepacketsTmSender, TcpSpacepacketsServer};
/// Configuration struct for the generic TCP TMTC server
///
@ -30,7 +29,7 @@ pub use crate::hal::std::tcp_spacepackets_server::{
/// * `inner_loop_delay` - If a client connects for a longer period, but no TC is received or
/// no TM needs to be sent, the TCP server will delay for the specified amount of time
/// to reduce CPU load.
/// * `tm_buffer_size` - Size of the TM buffer used to read TM from the [TmPacketSource] and
/// * `tm_buffer_size` - Size of the TM buffer used to read TM from the [PacketSource] and
/// encoding of that data. This buffer should at large enough to hold the maximum expected
/// TM size read from the packet source.
/// * `tc_buffer_size` - Size of the TC buffer used to read encoded telecommands sent from
@ -46,6 +45,7 @@ pub use crate::hal::std::tcp_spacepackets_server::{
/// default.
#[derive(Debug, Copy, Clone)]
pub struct ServerConfig {
pub id: ComponentId,
pub addr: SocketAddr,
pub inner_loop_delay: Duration,
pub tm_buffer_size: usize,
@ -56,12 +56,14 @@ pub struct ServerConfig {
impl ServerConfig {
pub fn new(
id: ComponentId,
addr: SocketAddr,
inner_loop_delay: Duration,
tm_buffer_size: usize,
tc_buffer_size: usize,
) -> Self {
Self {
id,
addr,
inner_loop_delay,
tm_buffer_size,
@ -116,28 +118,29 @@ pub trait HandledConnectionHandler {
}
/// Generic parser abstraction for an object which can parse for telecommands given a raw
/// bytestream received from a TCP socket and send them to a generic [ReceivesTc] telecommand
/// receiver. This allows different encoding schemes for telecommands.
pub trait TcpTcParser<TmError, TcError> {
/// bytestream received from a TCP socket and send them using a generic [PacketSenderRaw]
/// implementation. This allows different encoding schemes for telecommands.
pub trait TcpTcParser<TmError, SendError> {
fn handle_tc_parsing(
&mut self,
tc_buffer: &mut [u8],
tc_receiver: &mut (impl ReceivesTc<Error = TcError> + ?Sized),
sender_id: ComponentId,
tc_sender: &(impl PacketSenderRaw<Error = SendError> + ?Sized),
conn_result: &mut HandledConnectionInfo,
current_write_idx: usize,
next_write_idx: &mut usize,
) -> Result<(), TcpTmtcError<TmError, TcError>>;
) -> Result<(), TcpTmtcError<TmError, SendError>>;
}
/// Generic sender abstraction for an object which can pull telemetry from a given TM source
/// using a [TmPacketSource] and then send them back to a client using a given [TcpStream].
/// using a [PacketSource] and then send them back to a client using a given [TcpStream].
/// The concrete implementation can also perform any encoding steps which are necessary before
/// sending back the data to a client.
pub trait TcpTmSender<TmError, TcError> {
fn handle_tm_sending(
&mut self,
tm_buffer: &mut [u8],
tm_source: &mut (impl TmPacketSource<Error = TmError> + ?Sized),
tm_source: &mut (impl PacketSource<Error = TmError> + ?Sized),
conn_result: &mut HandledConnectionInfo,
stream: &mut TcpStream,
) -> Result<bool, TcpTmtcError<TmError, TcError>>;
@ -150,9 +153,9 @@ pub trait TcpTmSender<TmError, TcError> {
/// through the following 4 core abstractions:
///
/// 1. [TcpTcParser] to parse for telecommands from the raw bytestream received from a client.
/// 2. Parsed telecommands will be sent to the [ReceivesTc] telecommand receiver.
/// 2. Parsed telecommands will be sent using the [PacketSenderRaw] object.
/// 3. [TcpTmSender] to send telemetry pulled from a TM source back to the client.
/// 4. [TmPacketSource] as a generic TM source used by the [TcpTmSender].
/// 4. [PacketSource] as a generic TM source used by the [TcpTmSender].
///
/// It is possible to specify custom abstractions to build a dedicated TCP TMTC server without
/// having to re-implement common logic.
@ -160,46 +163,48 @@ pub trait TcpTmSender<TmError, TcError> {
/// Currently, this framework offers the following concrete implementations:
///
/// 1. [TcpTmtcInCobsServer] to exchange TMTC wrapped inside the COBS framing protocol.
/// 2. [TcpSpacepacketsServer] to exchange space packets via TCP.
pub struct TcpTmtcGenericServer<
TmSource: TmPacketSource<Error = TmError>,
TcReceiver: ReceivesTc<Error = TcError>,
TmSender: TcpTmSender<TmError, TcError>,
TcParser: TcpTcParser<TmError, TcError>,
TmSource: PacketSource<Error = TmError>,
TcSender: PacketSenderRaw<Error = TcSendError>,
TmSender: TcpTmSender<TmError, TcSendError>,
TcParser: TcpTcParser<TmError, TcSendError>,
HandledConnection: HandledConnectionHandler,
TmError,
TcError,
TcSendError,
> {
pub id: ComponentId,
pub finished_handler: HandledConnection,
pub(crate) listener: TcpListener,
pub(crate) inner_loop_delay: Duration,
pub(crate) tm_source: TmSource,
pub(crate) tm_buffer: Vec<u8>,
pub(crate) tc_receiver: TcReceiver,
pub(crate) tc_sender: TcSender,
pub(crate) tc_buffer: Vec<u8>,
poll: Poll,
events: Events,
tc_handler: TcParser,
tm_handler: TmSender,
pub tc_handler: TcParser,
pub tm_handler: TmSender,
stop_signal: Option<Arc<AtomicBool>>,
}
impl<
TmSource: TmPacketSource<Error = TmError>,
TcReceiver: ReceivesTc<Error = TcError>,
TmSender: TcpTmSender<TmError, TcError>,
TcParser: TcpTcParser<TmError, TcError>,
TmSource: PacketSource<Error = TmError>,
TcSender: PacketSenderRaw<Error = TcSendError>,
TmSender: TcpTmSender<TmError, TcSendError>,
TcParser: TcpTcParser<TmError, TcSendError>,
HandledConnection: HandledConnectionHandler,
TmError: 'static,
TcError: 'static,
TcSendError: 'static,
>
TcpTmtcGenericServer<
TmSource,
TcReceiver,
TcSender,
TmSender,
TcParser,
HandledConnection,
TmError,
TcError,
TcSendError,
>
{
/// Create a new generic TMTC server instance.
@ -212,15 +217,15 @@ impl<
/// * `tm_sender` - Sends back telemetry to the client using the specified TM source.
/// * `tm_source` - Generic TM source used by the server to pull telemetry packets which are
/// then sent back to the client.
/// * `tc_receiver` - Any received telecommand which was decoded successfully will be forwarded
/// to this TC receiver.
/// * `tc_sender` - Any received telecommand which was decoded successfully will be forwarded
/// using this TC sender.
/// * `stop_signal` - Can be used to stop the server even if a connection is ongoing.
pub fn new(
cfg: ServerConfig,
tc_parser: TcParser,
tm_sender: TmSender,
tm_source: TmSource,
tc_receiver: TcReceiver,
tc_receiver: TcSender,
finished_handler: HandledConnection,
stop_signal: Option<Arc<AtomicBool>>,
) -> Result<Self, std::io::Error> {
@ -248,6 +253,7 @@ impl<
.register(&mut mio_listener, Token(0), Interest::READABLE)?;
Ok(Self {
id: cfg.id,
tc_handler: tc_parser,
tm_handler: tm_sender,
poll,
@ -256,7 +262,7 @@ impl<
inner_loop_delay: cfg.inner_loop_delay,
tm_source,
tm_buffer: vec![0; cfg.tm_buffer_size],
tc_receiver,
tc_sender: tc_receiver,
tc_buffer: vec![0; cfg.tc_buffer_size],
stop_signal,
finished_handler,
@ -287,10 +293,10 @@ impl<
/// The server will delay for a user-specified period if the client connects to the server
/// for prolonged periods and there is no traffic for the server. This is the case if the
/// client does not send any telecommands and no telemetry needs to be sent back to the client.
pub fn handle_next_connection(
pub fn handle_all_connections(
&mut self,
poll_timeout: Option<Duration>,
) -> Result<ConnectionResult, TcpTmtcError<TmError, TcError>> {
) -> Result<ConnectionResult, TcpTmtcError<TmError, TcSendError>> {
let mut handled_connections = 0;
// Poll Mio for events.
self.poll.poll(&mut self.events, poll_timeout)?;
@ -329,7 +335,7 @@ impl<
&mut self,
mut stream: TcpStream,
addr: SocketAddr,
) -> Result<(), TcpTmtcError<TmError, TcError>> {
) -> Result<(), TcpTmtcError<TmError, TcSendError>> {
let mut current_write_idx;
let mut next_write_idx = 0;
let mut connection_result = HandledConnectionInfo::new(addr);
@ -343,7 +349,8 @@ impl<
if current_write_idx > 0 {
self.tc_handler.handle_tc_parsing(
&mut self.tc_buffer,
&mut self.tc_receiver,
self.id,
&self.tc_sender,
&mut connection_result,
current_write_idx,
&mut next_write_idx,
@ -357,7 +364,8 @@ impl<
if current_write_idx == self.tc_buffer.capacity() {
self.tc_handler.handle_tc_parsing(
&mut self.tc_buffer,
&mut self.tc_receiver,
self.id,
&self.tc_sender,
&mut connection_result,
current_write_idx,
&mut next_write_idx,
@ -371,7 +379,8 @@ impl<
std::io::ErrorKind::WouldBlock | std::io::ErrorKind::TimedOut => {
self.tc_handler.handle_tc_parsing(
&mut self.tc_buffer,
&mut self.tc_receiver,
self.id,
&self.tc_sender,
&mut connection_result,
current_write_idx,
&mut next_write_idx,
@ -424,24 +433,10 @@ pub(crate) mod tests {
use alloc::{collections::VecDeque, sync::Arc, vec::Vec};
use crate::tmtc::{ReceivesTcCore, TmPacketSourceCore};
use crate::tmtc::PacketSource;
use super::*;
#[derive(Default, Clone)]
pub(crate) struct SyncTcCacher {
pub(crate) tc_queue: Arc<Mutex<VecDeque<Vec<u8>>>>,
}
impl ReceivesTcCore for SyncTcCacher {
type Error = ();
fn pass_tc(&mut self, tc_raw: &[u8]) -> Result<(), Self::Error> {
let mut tc_queue = self.tc_queue.lock().expect("tc forwarder failed");
tc_queue.push_back(tc_raw.to_vec());
Ok(())
}
}
#[derive(Default, Clone)]
pub(crate) struct SyncTmSource {
tm_queue: Arc<Mutex<VecDeque<Vec<u8>>>>,
@ -454,7 +449,7 @@ pub(crate) mod tests {
}
}
impl TmPacketSourceCore for SyncTmSource {
impl PacketSource for SyncTmSource {
type Error = ();
fn retrieve_packet(&mut self, buffer: &mut [u8]) -> Result<usize, Self::Error> {

183
satrs/src/hal/std/tcp_spacepackets_server.rs
View File

@ -5,9 +5,9 @@ use mio::net::{TcpListener, TcpStream};
use std::{io::Write, net::SocketAddr};
use crate::{
encoding::parse_buffer_for_ccsds_space_packets,
tmtc::{ReceivesTc, TmPacketSource},
ValidatorU16Id,
encoding::{ccsds::SpacePacketValidator, parse_buffer_for_ccsds_space_packets},
tmtc::{PacketSenderRaw, PacketSource},
ComponentId,
};
use super::tcp_server::{
@ -15,24 +15,12 @@ use super::tcp_server::{
TcpTmSender, TcpTmtcError, TcpTmtcGenericServer,
};
/// Concrete [TcpTcParser] implementation for the [TcpSpacepacketsServer].
pub struct SpacepacketsTcParser<PacketIdChecker: ValidatorU16Id> {
packet_id_lookup: PacketIdChecker,
}
impl<PacketIdChecker: ValidatorU16Id> SpacepacketsTcParser<PacketIdChecker> {
pub fn new(packet_id_lookup: PacketIdChecker) -> Self {
Self { packet_id_lookup }
}
}
impl<PacketIdChecker: ValidatorU16Id, TmError, TcError: 'static> TcpTcParser<TmError, TcError>
for SpacepacketsTcParser<PacketIdChecker>
{
impl<T: SpacePacketValidator, TmError, TcError: 'static> TcpTcParser<TmError, TcError> for T {
fn handle_tc_parsing(
&mut self,
tc_buffer: &mut [u8],
tc_receiver: &mut (impl ReceivesTc<Error = TcError> + ?Sized),
sender_id: ComponentId,
tc_sender: &(impl PacketSenderRaw<Error = TcError> + ?Sized),
conn_result: &mut HandledConnectionInfo,
current_write_idx: usize,
next_write_idx: &mut usize,
@ -40,8 +28,9 @@ impl<PacketIdChecker: ValidatorU16Id, TmError, TcError: 'static> TcpTcParser<TmE
// Reader vec full, need to parse for packets.
conn_result.num_received_tcs += parse_buffer_for_ccsds_space_packets(
&mut tc_buffer[..current_write_idx],
&self.packet_id_lookup,
tc_receiver.upcast_mut(),
self,
sender_id,
tc_sender,
next_write_idx,
)
.map_err(|e| TcpTmtcError::TcError(e))?;
@ -57,7 +46,7 @@ impl<TmError, TcError> TcpTmSender<TmError, TcError> for SpacepacketsTmSender {
fn handle_tm_sending(
&mut self,
tm_buffer: &mut [u8],
tm_source: &mut (impl TmPacketSource<Error = TmError> + ?Sized),
tm_source: &mut (impl PacketSource<Error = TmError> + ?Sized),
conn_result: &mut HandledConnectionInfo,
stream: &mut TcpStream,
) -> Result<bool, TcpTmtcError<TmError, TcError>> {
@ -85,48 +74,41 @@ impl<TmError, TcError> TcpTmSender<TmError, TcError> for SpacepacketsTmSender {
///
/// This serves only works if
/// [CCSDS 133.0-B-2 space packets](https://public.ccsds.org/Pubs/133x0b2e1.pdf) are the only
/// packet type being exchanged. It uses the CCSDS [spacepackets::PacketId] as the packet delimiter
/// and start marker when parsing for packets. The user specifies a set of expected
/// [spacepackets::PacketId]s as part of the server configuration for that purpose.
/// packet type being exchanged. It uses the CCSDS space packet header [spacepackets::SpHeader] and
/// a user specified [SpacePacketValidator] to determine the space packets relevant for further
/// processing.
///
/// ## Example
///
/// The [TCP server integration tests](https://egit.irs.uni-stuttgart.de/rust/sat-rs/src/branch/main/satrs/tests/tcp_servers.rs)
/// also serves as the example application for this module.
pub struct TcpSpacepacketsServer<
TmSource: TmPacketSource<Error = TmError>,
TcReceiver: ReceivesTc<Error = TcError>,
PacketIdChecker: ValidatorU16Id,
TmSource: PacketSource<Error = TmError>,
TcSender: PacketSenderRaw<Error = SendError>,
Validator: SpacePacketValidator,
HandledConnection: HandledConnectionHandler,
TmError,
TcError: 'static,
SendError: 'static,
> {
pub generic_server: TcpTmtcGenericServer<
TmSource,
TcReceiver,
TcSender,
SpacepacketsTmSender,
SpacepacketsTcParser<PacketIdChecker>,
Validator,
HandledConnection,
TmError,
TcError,
SendError,
>,
}
impl<
TmSource: TmPacketSource<Error = TmError>,
TcReceiver: ReceivesTc<Error = TcError>,
PacketIdChecker: ValidatorU16Id,
TmSource: PacketSource<Error = TmError>,
TcSender: PacketSenderRaw<Error = TcError>,
Validator: SpacePacketValidator,
HandledConnection: HandledConnectionHandler,
TmError: 'static,
TcError: 'static,
>
TcpSpacepacketsServer<
TmSource,
TcReceiver,
PacketIdChecker,
HandledConnection,
TmError,
TcError,
>
> TcpSpacepacketsServer<TmSource, TcSender, Validator, HandledConnection, TmError, TcError>
{
///
/// ## Parameter
@ -134,26 +116,30 @@ impl<
/// * `cfg` - Configuration of the server.
/// * `tm_source` - Generic TM source used by the server to pull telemetry packets which are
/// then sent back to the client.
/// * `tc_receiver` - Any received telecommands which were decoded successfully will be
/// forwarded to this TC receiver.
/// * `packet_id_lookup` - This lookup table contains the relevant packets IDs for packet
/// parsing. This mechanism is used to have a start marker for finding CCSDS packets.
/// * `tc_sender` - Any received telecommands which were decoded successfully will be
/// forwarded using this [PacketSenderRaw].
/// * `validator` - Used to determine the space packets relevant for further processing and
/// to detect broken space packets.
/// * `handled_connection_hook` - Called to notify the user about a succesfully handled
/// connection.
/// * `stop_signal` - Can be used to shut down the TCP server even for longer running
/// connections.
pub fn new(
cfg: ServerConfig,
tm_source: TmSource,
tc_receiver: TcReceiver,
packet_id_checker: PacketIdChecker,
handled_connection: HandledConnection,
tc_sender: TcSender,
validator: Validator,
handled_connection_hook: HandledConnection,
stop_signal: Option<Arc<AtomicBool>>,
) -> Result<Self, std::io::Error> {
Ok(Self {
generic_server: TcpTmtcGenericServer::new(
cfg,
SpacepacketsTcParser::new(packet_id_checker),
validator,
SpacepacketsTmSender::default(),
tm_source,
tc_receiver,
handled_connection,
tc_sender,
handled_connection_hook,
stop_signal,
)?,
})
@ -167,8 +153,8 @@ impl<
/// useful if using the port number 0 for OS auto-assignment.
pub fn local_addr(&self) -> std::io::Result<SocketAddr>;
/// Delegation to the [TcpTmtcGenericServer::handle_next_connection] call.
pub fn handle_next_connection(
/// Delegation to the [TcpTmtcGenericServer::handle_all_connections] call.
pub fn handle_all_connections(
&mut self,
poll_timeout: Option<Duration>
) -> Result<ConnectionResult, TcpTmtcError<TmError, TcError>>;
@ -187,6 +173,7 @@ mod tests {
use std::{
io::{Read, Write},
net::{IpAddr, Ipv4Addr, SocketAddr, TcpStream},
sync::mpsc,
thread,
};
@ -194,40 +181,60 @@ mod tests {
use hashbrown::HashSet;
use spacepackets::{
ecss::{tc::PusTcCreator, WritablePusPacket},
PacketId, SpHeader,
CcsdsPacket, PacketId, SpHeader,
};
use crate::hal::std::tcp_server::{
tests::{ConnectionFinishedHandler, SyncTcCacher, SyncTmSource},
ConnectionResult, ServerConfig,
use crate::{
encoding::ccsds::{SpValidity, SpacePacketValidator},
hal::std::tcp_server::{
tests::{ConnectionFinishedHandler, SyncTmSource},
ConnectionResult, ServerConfig,
},
queue::GenericSendError,
tmtc::PacketAsVec,
ComponentId,
};
use super::TcpSpacepacketsServer;
const TCP_SERVER_ID: ComponentId = 0x05;
const TEST_APID_0: u16 = 0x02;
const TEST_PACKET_ID_0: PacketId = PacketId::new_for_tc(true, TEST_APID_0);
const TEST_APID_1: u16 = 0x10;
const TEST_PACKET_ID_1: PacketId = PacketId::new_for_tc(true, TEST_APID_1);
#[derive(Default)]
pub struct SimpleValidator(pub HashSet<PacketId>);
impl SpacePacketValidator for SimpleValidator {
fn validate(&self, sp_header: &SpHeader, _raw_buf: &[u8]) -> SpValidity {
if self.0.contains(&sp_header.packet_id()) {
return SpValidity::Valid;
}
// Simple case: Assume that the interface always contains valid space packets.
SpValidity::Skip
}
}
fn generic_tmtc_server(
addr: &SocketAddr,
tc_receiver: SyncTcCacher,
tc_sender: mpsc::Sender<PacketAsVec>,
tm_source: SyncTmSource,
packet_id_lookup: HashSet<PacketId>,
validator: SimpleValidator,
stop_signal: Option<Arc<AtomicBool>>,
) -> TcpSpacepacketsServer<
SyncTmSource,
SyncTcCacher,
HashSet<PacketId>,
mpsc::Sender<PacketAsVec>,
SimpleValidator,
ConnectionFinishedHandler,
(),
(),
GenericSendError,
> {
TcpSpacepacketsServer::new(
ServerConfig::new(*addr, Duration::from_millis(2), 1024, 1024),
ServerConfig::new(TCP_SERVER_ID, *addr, Duration::from_millis(2), 1024, 1024),
tm_source,
tc_receiver,
packet_id_lookup,
tc_sender,
validator,
ConnectionFinishedHandler::default(),
stop_signal,
)
@ -237,15 +244,15 @@ mod tests {
#[test]
fn test_basic_tc_only() {
let auto_port_addr = SocketAddr::new(IpAddr::V4(Ipv4Addr::new(127, 0, 0, 1)), 0);
let tc_receiver = SyncTcCacher::default();
let (tc_sender, tc_receiver) = mpsc::channel();
let tm_source = SyncTmSource::default();
let mut packet_id_lookup = HashSet::new();
packet_id_lookup.insert(TEST_PACKET_ID_0);
let mut validator = SimpleValidator::default();
validator.0.insert(TEST_PACKET_ID_0);
let mut tcp_server = generic_tmtc_server(
&auto_port_addr,
tc_receiver.clone(),
tc_sender.clone(),
tm_source,
packet_id_lookup,
validator,
None,
);
let dest_addr = tcp_server
@ -255,7 +262,7 @@ mod tests {
let set_if_done = conn_handled.clone();
// Call the connection handler in separate thread, does block.
thread::spawn(move || {
let result = tcp_server.handle_next_connection(Some(Duration::from_millis(100)));
let result = tcp_server.handle_all_connections(Some(Duration::from_millis(100)));
if result.is_err() {
panic!("handling connection failed: {:?}", result.unwrap_err());
}
@ -289,16 +296,15 @@ mod tests {
if !conn_handled.load(Ordering::Relaxed) {
panic!("connection was not handled properly");
}
// Check that TC has arrived.
let mut tc_queue = tc_receiver.tc_queue.lock().unwrap();
assert_eq!(tc_queue.len(), 1);
assert_eq!(tc_queue.pop_front().unwrap(), tc_0);
let packet = tc_receiver.try_recv().expect("receiving TC failed");
assert_eq!(packet.packet, tc_0);
matches!(tc_receiver.try_recv(), Err(mpsc::TryRecvError::Empty));
}
#[test]
fn test_multi_tc_multi_tm() {
let auto_port_addr = SocketAddr::new(IpAddr::V4(Ipv4Addr::new(127, 0, 0, 1)), 0);
let tc_receiver = SyncTcCacher::default();
let (tc_sender, tc_receiver) = mpsc::channel();
let mut tm_source = SyncTmSource::default();
// Add telemetry
@ -315,14 +321,14 @@ mod tests {
tm_source.add_tm(&tm_1);
// Set up server
let mut packet_id_lookup = HashSet::new();
packet_id_lookup.insert(TEST_PACKET_ID_0);
packet_id_lookup.insert(TEST_PACKET_ID_1);
let mut validator = SimpleValidator::default();
validator.0.insert(TEST_PACKET_ID_0);
validator.0.insert(TEST_PACKET_ID_1);
let mut tcp_server = generic_tmtc_server(
&auto_port_addr,
tc_receiver.clone(),
tc_sender.clone(),
tm_source,
packet_id_lookup,
validator,
None,
);
let dest_addr = tcp_server
@ -333,7 +339,7 @@ mod tests {
// Call the connection handler in separate thread, does block.
thread::spawn(move || {
let result = tcp_server.handle_next_connection(Some(Duration::from_millis(100)));
let result = tcp_server.handle_all_connections(Some(Duration::from_millis(100)));
if result.is_err() {
panic!("handling connection failed: {:?}", result.unwrap_err());
}
@ -397,9 +403,10 @@ mod tests {
panic!("connection was not handled properly");
}
// Check that TC has arrived.
let mut tc_queue = tc_receiver.tc_queue.lock().unwrap();
assert_eq!(tc_queue.len(), 2);
assert_eq!(tc_queue.pop_front().unwrap(), tc_0);
assert_eq!(tc_queue.pop_front().unwrap(), tc_1);
let packet_0 = tc_receiver.try_recv().expect("receiving TC failed");
assert_eq!(packet_0.packet, tc_0);
let packet_1 = tc_receiver.try_recv().expect("receiving TC failed");
assert_eq!(packet_1.packet, tc_1);
matches!(tc_receiver.try_recv(), Err(mpsc::TryRecvError::Empty));
}
}

149
satrs/src/hal/std/udp_server.rs
View File

@ -1,7 +1,8 @@
//! Generic UDP TC server.
use crate::tmtc::{ReceivesTc, ReceivesTcCore};
use std::boxed::Box;
use std::io::{Error, ErrorKind};
use crate::tmtc::PacketSenderRaw;
use crate::ComponentId;
use core::fmt::Debug;
use std::io::{self, ErrorKind};
use std::net::{SocketAddr, ToSocketAddrs, UdpSocket};
use std::vec;
use std::vec::Vec;
@ -11,45 +12,46 @@ use std::vec::Vec;
///
/// It caches all received telecomands into a vector. The maximum expected telecommand size should
/// be declared upfront. This avoids dynamic allocation during run-time. The user can specify a TC
/// receiver in form of a special trait object which implements [ReceivesTc]. Please note that the
/// receiver should copy out the received data if it the data is required past the
/// [ReceivesTcCore::pass_tc] call.
/// sender in form of a special trait object which implements [PacketSenderRaw]. For example, this
/// can be used to send the telecommands to a centralized TC source component for further
/// processing and routing.
///
/// # Examples
///
/// ```
/// use std::net::{IpAddr, Ipv4Addr, SocketAddr, UdpSocket};
/// use std::sync::mpsc;
/// use spacepackets::ecss::WritablePusPacket;
/// use satrs::hal::std::udp_server::UdpTcServer;
/// use satrs::tmtc::{ReceivesTc, ReceivesTcCore};
/// use satrs::ComponentId;
/// use satrs::tmtc::PacketSenderRaw;
/// use spacepackets::SpHeader;
/// use spacepackets::ecss::tc::PusTcCreator;
///
/// #[derive (Default)]
/// struct PingReceiver {}
/// impl ReceivesTcCore for PingReceiver {
/// type Error = ();
/// fn pass_tc(&mut self, tc_raw: &[u8]) -> Result<(), Self::Error> {
/// assert_eq!(tc_raw.len(), 13);
/// Ok(())
/// }
/// }
/// const UDP_SERVER_ID: ComponentId = 0x05;
///
/// let mut buf = [0; 32];
/// let (packet_sender, packet_receiver) = mpsc::channel();
/// let dest_addr = SocketAddr::new(IpAddr::V4(Ipv4Addr::new(127, 0, 0, 1)), 7777);
/// let ping_receiver = PingReceiver::default();
/// let mut udp_tc_server = UdpTcServer::new(dest_addr, 2048, Box::new(ping_receiver))
/// let mut udp_tc_server = UdpTcServer::new(UDP_SERVER_ID, dest_addr, 2048, packet_sender)
/// .expect("Creating UDP TMTC server failed");
/// let sph = SpHeader::new_from_apid(0x02);
/// let pus_tc = PusTcCreator::new_simple(sph, 17, 1, &[], true);
/// let len = pus_tc
/// .write_to_bytes(&mut buf)
/// .expect("Error writing PUS TC packet");
/// assert_eq!(len, 13);
/// let client = UdpSocket::bind("127.0.0.1:7778").expect("Connecting to UDP server failed");
/// // Can not fail.
/// let ping_tc_raw = pus_tc.to_vec().unwrap();
///
/// // Now create a UDP client and send the ping telecommand to the server.
/// let client = UdpSocket::bind("127.0.0.1:0").expect("creating UDP client failed");
/// client
/// .send_to(&buf[0..len], dest_addr)
/// .send_to(&ping_tc_raw, dest_addr)
/// .expect("Error sending PUS TC via UDP");
/// let recv_result = udp_tc_server.try_recv_tc();
/// assert!(recv_result.is_ok());
/// // The packet is received by the UDP TC server and sent via the mpsc channel.
/// let sent_packet_with_sender = packet_receiver.try_recv().expect("expected telecommand");
/// assert_eq!(sent_packet_with_sender.packet, ping_tc_raw);
/// assert_eq!(sent_packet_with_sender.sender_id, UDP_SERVER_ID);
/// // No more packets received.
/// matches!(packet_receiver.try_recv(), Err(mpsc::TryRecvError::Empty));
/// ```
///
/// The [satrs-example crate](https://egit.irs.uni-stuttgart.de/rust/fsrc-launchpad/src/branch/main/satrs-example)
@ -57,65 +59,45 @@ use std::vec::Vec;
/// [example code](https://egit.irs.uni-stuttgart.de/rust/sat-rs/src/branch/main/satrs-example/src/tmtc.rs#L67)
/// on how to use this TC server. It uses the server to receive PUS telecommands on a specific port
/// and then forwards them to a generic CCSDS packet receiver.
pub struct UdpTcServer<E> {
pub struct UdpTcServer<TcSender: PacketSenderRaw<Error = SendError>, SendError> {
pub id: ComponentId,
pub socket: UdpSocket,
recv_buf: Vec<u8>,
sender_addr: Option<SocketAddr>,
tc_receiver: Box<dyn ReceivesTc<Error = E>>,
pub tc_sender: TcSender,
}
#[derive(Debug)]
pub enum ReceiveResult<E> {
#[derive(Debug, thiserror::Error)]
pub enum ReceiveResult<SendError: Debug + 'static> {
#[error("nothing was received")]
NothingReceived,
IoError(Error),
ReceiverError(E),
#[error(transparent)]
Io(#[from] io::Error),
#[error(transparent)]
Send(SendError),
}
impl<E> From<Error> for ReceiveResult<E> {
fn from(e: Error) -> Self {
ReceiveResult::IoError(e)
}
}
impl<E: PartialEq> PartialEq for ReceiveResult<E> {
fn eq(&self, other: &Self) -> bool {
use ReceiveResult::*;
match (self, other) {
(IoError(ref e), IoError(ref other_e)) => e.kind() == other_e.kind(),
(NothingReceived, NothingReceived) => true,
(ReceiverError(e), ReceiverError(other_e)) => e == other_e,
_ => false,
}
}
}
impl<E: Eq + PartialEq> Eq for ReceiveResult<E> {}
impl<E: 'static> ReceivesTcCore for UdpTcServer<E> {
type Error = E;
fn pass_tc(&mut self, tc_raw: &[u8]) -> Result<(), Self::Error> {
self.tc_receiver.pass_tc(tc_raw)
}
}
impl<E: 'static> UdpTcServer<E> {
impl<TcSender: PacketSenderRaw<Error = SendError>, SendError: Debug + 'static>
UdpTcServer<TcSender, SendError>
{
pub fn new<A: ToSocketAddrs>(
id: ComponentId,
addr: A,
max_recv_size: usize,
tc_receiver: Box<dyn ReceivesTc<Error = E>>,
) -> Result<Self, Error> {
tc_sender: TcSender,
) -> Result<Self, io::Error> {
let server = Self {
id,
socket: UdpSocket::bind(addr)?,
recv_buf: vec![0; max_recv_size],
sender_addr: None,
tc_receiver,
tc_sender,
};
server.socket.set_nonblocking(true)?;
Ok(server)
}
pub fn try_recv_tc(&mut self) -> Result<(usize, SocketAddr), ReceiveResult<E>> {
pub fn try_recv_tc(&mut self) -> Result<(usize, SocketAddr), ReceiveResult<SendError>> {
let res = match self.socket.recv_from(&mut self.recv_buf) {
Ok(res) => res,
Err(e) => {
@ -128,9 +110,9 @@ impl<E: 'static> UdpTcServer<E> {
};
let (num_bytes, from) = res;
self.sender_addr = Some(from);
self.tc_receiver
.pass_tc(&self.recv_buf[0..num_bytes])
.map_err(|e| ReceiveResult::ReceiverError(e))?;
self.tc_sender
.send_packet(self.id, &self.recv_buf[0..num_bytes])
.map_err(ReceiveResult::Send)?;
Ok(res)
}
@ -142,29 +124,35 @@ impl<E: 'static> UdpTcServer<E> {
#[cfg(test)]
mod tests {
use crate::hal::std::udp_server::{ReceiveResult, UdpTcServer};
use crate::tmtc::ReceivesTcCore;
use crate::queue::GenericSendError;
use crate::tmtc::PacketSenderRaw;
use crate::ComponentId;
use core::cell::RefCell;
use spacepackets::ecss::tc::PusTcCreator;
use spacepackets::ecss::WritablePusPacket;
use spacepackets::SpHeader;
use std::boxed::Box;
use std::collections::VecDeque;
use std::net::{IpAddr, Ipv4Addr, SocketAddr, UdpSocket};
use std::vec::Vec;
fn is_send<T: Send>(_: &T) {}
const UDP_SERVER_ID: ComponentId = 0x05;
#[derive(Default)]
struct PingReceiver {
pub sent_cmds: VecDeque<Vec<u8>>,
pub sent_cmds: RefCell<VecDeque<Vec<u8>>>,
}
impl ReceivesTcCore for PingReceiver {
type Error = ();
impl PacketSenderRaw for PingReceiver {
type Error = GenericSendError;
fn pass_tc(&mut self, tc_raw: &[u8]) -> Result<(), Self::Error> {
fn send_packet(&self, sender_id: ComponentId, tc_raw: &[u8]) -> Result<(), Self::Error> {
assert_eq!(sender_id, UDP_SERVER_ID);
let mut sent_data = Vec::new();
sent_data.extend_from_slice(tc_raw);
self.sent_cmds.push_back(sent_data);
let mut queue = self.sent_cmds.borrow_mut();
queue.push_back(sent_data);
Ok(())
}
}
@ -175,7 +163,7 @@ mod tests {
let dest_addr = SocketAddr::new(IpAddr::V4(Ipv4Addr::new(127, 0, 0, 1)), 7777);
let ping_receiver = PingReceiver::default();
is_send(&ping_receiver);
let mut udp_tc_server = UdpTcServer::new(dest_addr, 2048, Box::new(ping_receiver))
let mut udp_tc_server = UdpTcServer::new(UDP_SERVER_ID, dest_addr, 2048, ping_receiver)
.expect("Creating UDP TMTC server failed");
is_send(&udp_tc_server);
let sph = SpHeader::new_from_apid(0x02);
@ -195,9 +183,10 @@ mod tests {
udp_tc_server.last_sender().expect("No sender set"),
local_addr
);
let ping_receiver: &mut PingReceiver = udp_tc_server.tc_receiver.downcast_mut().unwrap();
assert_eq!(ping_receiver.sent_cmds.len(), 1);
let sent_cmd = ping_receiver.sent_cmds.pop_front().unwrap();
let ping_receiver = &mut udp_tc_server.tc_sender;
let mut queue = ping_receiver.sent_cmds.borrow_mut();
assert_eq!(queue.len(), 1);
let sent_cmd = queue.pop_front().unwrap();
assert_eq!(sent_cmd, buf[0..len]);
}
@ -205,11 +194,11 @@ mod tests {
fn test_nothing_received() {
let dest_addr = SocketAddr::new(IpAddr::V4(Ipv4Addr::new(127, 0, 0, 1)), 7779);
let ping_receiver = PingReceiver::default();
let mut udp_tc_server = UdpTcServer::new(dest_addr, 2048, Box::new(ping_receiver))
let mut udp_tc_server = UdpTcServer::new(UDP_SERVER_ID, dest_addr, 2048, ping_receiver)
.expect("Creating UDP TMTC server failed");
let res = udp_tc_server.try_recv_tc();
assert!(res.is_err());
let err = res.unwrap_err();
assert_eq!(err, ReceiveResult::NothingReceived);
matches!(err, ReceiveResult::NothingReceived);
}
}

12
satrs/src/lib.rs
View File

@ -72,6 +72,18 @@ impl ValidatorU16Id for hashbrown::HashSet<u16> {
}
}
impl ValidatorU16Id for u16 {
fn validate(&self, id: u16) -> bool {
id == *self
}
}
impl ValidatorU16Id for &u16 {
fn validate(&self, id: u16) -> bool {
id == **self
}
}
impl ValidatorU16Id for [u16] {
fn validate(&self, id: u16) -> bool {
self.binary_search(&id).is_ok()

12
satrs/src/mode.rs
View File

@ -269,14 +269,8 @@ pub trait ModeReplySender {
#[cfg(feature = "alloc")]
pub mod alloc_mod {
use crate::{
mode::ModeRequest,
queue::GenericTargetedMessagingError,
request::{
MessageMetadata, MessageSender, MessageSenderAndReceiver, MessageSenderMap,
RequestAndReplySenderAndReceiver, RequestId,
},
ComponentId,
use crate::request::{
MessageSender, MessageSenderAndReceiver, MessageSenderMap, RequestAndReplySenderAndReceiver,
};
use super::*;
@ -558,8 +552,6 @@ pub mod alloc_mod {
pub mod std_mod {
use std::sync::mpsc;
use crate::request::GenericMessage;
use super::*;
pub type ModeRequestHandlerMpsc = ModeRequestHandlerInterface<

8
satrs/src/params.rs
View File

@ -43,7 +43,7 @@
//! This includes the [ParamsHeapless] enumeration for contained values which do not require heap
//! allocation, and the [Params] which enumerates [ParamsHeapless] and some additional types which
//! require [alloc] support but allow for more flexbility.
use crate::pool::StoreAddr;
use crate::pool::PoolAddr;
use core::fmt::Debug;
use core::mem::size_of;
use paste::paste;
@ -588,15 +588,15 @@ from_conversions_for_raw!(
#[non_exhaustive]
pub enum Params {
Heapless(ParamsHeapless),
Store(StoreAddr),
Store(PoolAddr),
#[cfg(feature = "alloc")]
Vec(Vec<u8>),
#[cfg(feature = "alloc")]
String(String),
}
impl From<StoreAddr> for Params {
fn from(x: StoreAddr) -> Self {
impl From<PoolAddr> for Params {
fn from(x: PoolAddr) -> Self {
Self::Store(x)
}
}

178
satrs/src/pool.rs
View File

@ -82,7 +82,7 @@ use spacepackets::ByteConversionError;
use std::error::Error;
type NumBlocks = u16;
pub type StoreAddr = u64;
pub type PoolAddr = u64;
/// Simple address type used for transactions with the local pool.
#[derive(Debug, Copy, Clone, PartialEq, Eq)]
@ -100,14 +100,14 @@ impl StaticPoolAddr {
}
}
impl From<StaticPoolAddr> for StoreAddr {
impl From<StaticPoolAddr> for PoolAddr {
fn from(value: StaticPoolAddr) -> Self {
((value.pool_idx as u64) << 16) | value.packet_idx as u64
}
}
impl From<StoreAddr> for StaticPoolAddr {
fn from(value: StoreAddr) -> Self {
impl From<PoolAddr> for StaticPoolAddr {
fn from(value: PoolAddr) -> Self {
Self {
pool_idx: ((value >> 16) & 0xff) as u16,
packet_idx: (value & 0xff) as u16,
@ -150,59 +150,59 @@ impl Error for StoreIdError {}
#[derive(Debug, Clone, PartialEq, Eq)]
#[cfg_attr(feature = "serde", derive(Serialize, Deserialize))]
pub enum StoreError {
pub enum PoolError {
/// Requested data block is too large
DataTooLarge(usize),
/// The store is full. Contains the index of the full subpool
StoreFull(u16),
/// Store ID is invalid. This also includes partial errors where only the subpool is invalid
InvalidStoreId(StoreIdError, Option<StoreAddr>),
InvalidStoreId(StoreIdError, Option<PoolAddr>),
/// Valid subpool and packet index, but no data is stored at the given address
DataDoesNotExist(StoreAddr),
DataDoesNotExist(PoolAddr),
ByteConversionError(spacepackets::ByteConversionError),
LockError,
/// Internal or configuration errors
InternalError(u32),
}
impl Display for StoreError {
impl Display for PoolError {
fn fmt(&self, f: &mut Formatter<'_>) -> core::fmt::Result {
match self {
StoreError::DataTooLarge(size) => {
PoolError::DataTooLarge(size) => {
write!(f, "data to store with size {size} is too large")
}
StoreError::StoreFull(u16) => {
PoolError::StoreFull(u16) => {
write!(f, "store is too full. index for full subpool: {u16}")
}
StoreError::InvalidStoreId(id_e, addr) => {
PoolError::InvalidStoreId(id_e, addr) => {
write!(f, "invalid store ID: {id_e}, address: {addr:?}")
}
StoreError::DataDoesNotExist(addr) => {
PoolError::DataDoesNotExist(addr) => {
write!(f, "no data exists at address {addr:?}")
}
StoreError::InternalError(e) => {
PoolError::InternalError(e) => {
write!(f, "internal error: {e}")
}
StoreError::ByteConversionError(e) => {
PoolError::ByteConversionError(e) => {
write!(f, "store error: {e}")
}
StoreError::LockError => {
PoolError::LockError => {
write!(f, "lock error")
}
}
}
}
impl From<ByteConversionError> for StoreError {
impl From<ByteConversionError> for PoolError {
fn from(value: ByteConversionError) -> Self {
Self::ByteConversionError(value)
}
}
#[cfg(feature = "std")]
impl Error for StoreError {
impl Error for PoolError {
fn source(&self) -> Option<&(dyn Error + 'static)> {
if let StoreError::InvalidStoreId(e, _) = self {
if let PoolError::InvalidStoreId(e, _) = self {
return Some(e);
}
None
@ -217,44 +217,41 @@ impl Error for StoreError {
/// pool structure being wrapped inside a lock.
pub trait PoolProvider {
/// Add new data to the pool. The provider should attempt to reserve a memory block with the
/// appropriate size and then copy the given data to the block. Yields a [StoreAddr] which can
/// appropriate size and then copy the given data to the block. Yields a [PoolAddr] which can
/// be used to access the data stored in the pool
fn add(&mut self, data: &[u8]) -> Result<StoreAddr, StoreError>;
fn add(&mut self, data: &[u8]) -> Result<PoolAddr, PoolError>;
/// The provider should attempt to reserve a free memory block with the appropriate size first.
/// It then executes a user-provided closure and passes a mutable reference to that memory
/// block to the closure. This allows the user to write data to the memory block.
/// The function should yield a [StoreAddr] which can be used to access the data stored in the
/// The function should yield a [PoolAddr] which can be used to access the data stored in the
/// pool.
fn free_element<W: FnMut(&mut [u8])>(
&mut self,
len: usize,
writer: W,
) -> Result<StoreAddr, StoreError>;
) -> Result<PoolAddr, PoolError>;
/// Modify data added previously using a given [StoreAddr]. The provider should use the store
/// Modify data added previously using a given [PoolAddr]. The provider should use the store
/// address to determine if a memory block exists for that address. If it does, it should
/// call the user-provided closure and pass a mutable reference to the memory block
/// to the closure. This allows the user to modify the memory block.
fn modify<U: FnMut(&mut [u8])>(
&mut self,
addr: &StoreAddr,
updater: U,
) -> Result<(), StoreError>;
fn modify<U: FnMut(&mut [u8])>(&mut self, addr: &PoolAddr, updater: U)
-> Result<(), PoolError>;
/// The provider should copy the data from the memory block to the user-provided buffer if
/// it exists.
fn read(&self, addr: &StoreAddr, buf: &mut [u8]) -> Result<usize, StoreError>;
fn read(&self, addr: &PoolAddr, buf: &mut [u8]) -> Result<usize, PoolError>;
/// Delete data inside the pool given a [StoreAddr].
fn delete(&mut self, addr: StoreAddr) -> Result<(), StoreError>;
fn has_element_at(&self, addr: &StoreAddr) -> Result<bool, StoreError>;
/// Delete data inside the pool given a [PoolAddr].
fn delete(&mut self, addr: PoolAddr) -> Result<(), PoolError>;
fn has_element_at(&self, addr: &PoolAddr) -> Result<bool, PoolError>;
/// Retrieve the length of the data at the given store address.
fn len_of_data(&self, addr: &StoreAddr) -> Result<usize, StoreError>;
fn len_of_data(&self, addr: &PoolAddr) -> Result<usize, PoolError>;
#[cfg(feature = "alloc")]
fn read_as_vec(&self, addr: &StoreAddr) -> Result<alloc::vec::Vec<u8>, StoreError> {
fn read_as_vec(&self, addr: &PoolAddr) -> Result<alloc::vec::Vec<u8>, PoolError> {
let mut vec = alloc::vec![0; self.len_of_data(addr)?];
self.read(addr, &mut vec)?;
Ok(vec)
@ -271,7 +268,7 @@ pub trait PoolProviderWithGuards: PoolProvider {
/// This can prevent memory leaks. Users can read the data and release the guard
/// if the data in the store is valid for further processing. If the data is faulty, no
/// manual deletion is necessary when returning from a processing function prematurely.
fn read_with_guard(&mut self, addr: StoreAddr) -> PoolGuard<Self>;
fn read_with_guard(&mut self, addr: PoolAddr) -> PoolGuard<Self>;
/// This function behaves like [PoolProvider::modify], but consumes the provided
/// address and returns a RAII conformant guard object.
@ -281,20 +278,20 @@ pub trait PoolProviderWithGuards: PoolProvider {
/// This can prevent memory leaks. Users can read (and modify) the data and release the guard
/// if the data in the store is valid for further processing. If the data is faulty, no
/// manual deletion is necessary when returning from a processing function prematurely.
fn modify_with_guard(&mut self, addr: StoreAddr) -> PoolRwGuard<Self>;
fn modify_with_guard(&mut self, addr: PoolAddr) -> PoolRwGuard<Self>;
}
pub struct PoolGuard<'a, MemProvider: PoolProvider + ?Sized> {
pool: &'a mut MemProvider,
pub addr: StoreAddr,
pub addr: PoolAddr,
no_deletion: bool,
deletion_failed_error: Option<StoreError>,
deletion_failed_error: Option<PoolError>,
}
/// This helper object can be used to safely access pool data without worrying about memory
/// leaks.
impl<'a, MemProvider: PoolProvider> PoolGuard<'a, MemProvider> {
pub fn new(pool: &'a mut MemProvider, addr: StoreAddr) -> Self {
pub fn new(pool: &'a mut MemProvider, addr: PoolAddr) -> Self {
Self {
pool,
addr,
@ -303,12 +300,12 @@ impl<'a, MemProvider: PoolProvider> PoolGuard<'a, MemProvider> {
}
}
pub fn read(&self, buf: &mut [u8]) -> Result<usize, StoreError> {
pub fn read(&self, buf: &mut [u8]) -> Result<usize, PoolError> {
self.pool.read(&self.addr, buf)
}
#[cfg(feature = "alloc")]
pub fn read_as_vec(&self) -> Result<alloc::vec::Vec<u8>, StoreError> {
pub fn read_as_vec(&self) -> Result<alloc::vec::Vec<u8>, PoolError> {
self.pool.read_as_vec(&self.addr)
}
@ -334,19 +331,19 @@ pub struct PoolRwGuard<'a, MemProvider: PoolProvider + ?Sized> {
}
impl<'a, MemProvider: PoolProvider> PoolRwGuard<'a, MemProvider> {
pub fn new(pool: &'a mut MemProvider, addr: StoreAddr) -> Self {
pub fn new(pool: &'a mut MemProvider, addr: PoolAddr) -> Self {
Self {
guard: PoolGuard::new(pool, addr),
}
}
pub fn update<U: FnMut(&mut [u8])>(&mut self, updater: &mut U) -> Result<(), StoreError> {
pub fn update<U: FnMut(&mut [u8])>(&mut self, updater: &mut U) -> Result<(), PoolError> {
self.guard.pool.modify(&self.guard.addr, updater)
}
delegate!(
to self.guard {
pub fn read(&self, buf: &mut [u8]) -> Result<usize, StoreError>;
pub fn read(&self, buf: &mut [u8]) -> Result<usize, PoolError>;
/// Releasing the pool guard will disable the automatic deletion of the data when the guard
/// is dropped.
pub fn release(&mut self);
@ -357,7 +354,7 @@ impl<'a, MemProvider: PoolProvider> PoolRwGuard<'a, MemProvider> {
#[cfg(feature = "alloc")]
mod alloc_mod {
use super::{PoolGuard, PoolProvider, PoolProviderWithGuards, PoolRwGuard, StaticPoolAddr};
use crate::pool::{NumBlocks, StoreAddr, StoreError, StoreIdError};
use crate::pool::{NumBlocks, PoolAddr, PoolError, StoreIdError};
use alloc::vec;
use alloc::vec::Vec;
use spacepackets::ByteConversionError;
@ -422,7 +419,7 @@ mod alloc_mod {
/// fitting subpool is full. This might be added in the future.
///
/// Transactions with the [pool][StaticMemoryPool] are done using a generic
/// [address][StoreAddr] type. Adding any data to the pool will yield a store address.
/// [address][PoolAddr] type. Adding any data to the pool will yield a store address.
/// Modification and read operations are done using a reference to a store address. Deletion
/// will consume the store address.
pub struct StaticMemoryPool {
@ -452,41 +449,41 @@ mod alloc_mod {
local_pool
}
fn addr_check(&self, addr: &StaticPoolAddr) -> Result<usize, StoreError> {
fn addr_check(&self, addr: &StaticPoolAddr) -> Result<usize, PoolError> {
self.validate_addr(addr)?;
let pool_idx = addr.pool_idx as usize;
let size_list = self.sizes_lists.get(pool_idx).unwrap();
let curr_size = size_list[addr.packet_idx as usize];
if curr_size == STORE_FREE {
return Err(StoreError::DataDoesNotExist(StoreAddr::from(*addr)));
return Err(PoolError::DataDoesNotExist(PoolAddr::from(*addr)));
}
Ok(curr_size)
}
fn validate_addr(&self, addr: &StaticPoolAddr) -> Result<(), StoreError> {
fn validate_addr(&self, addr: &StaticPoolAddr) -> Result<(), PoolError> {
let pool_idx = addr.pool_idx as usize;
if pool_idx >= self.pool_cfg.cfg.len() {
return Err(StoreError::InvalidStoreId(
return Err(PoolError::InvalidStoreId(
StoreIdError::InvalidSubpool(addr.pool_idx),
Some(StoreAddr::from(*addr)),
Some(PoolAddr::from(*addr)),
));
}
if addr.packet_idx >= self.pool_cfg.cfg[addr.pool_idx as usize].0 {
return Err(StoreError::InvalidStoreId(
return Err(PoolError::InvalidStoreId(
StoreIdError::InvalidPacketIdx(addr.packet_idx),
Some(StoreAddr::from(*addr)),
Some(PoolAddr::from(*addr)),
));
}
Ok(())
}
fn reserve(&mut self, data_len: usize) -> Result<StaticPoolAddr, StoreError> {
fn reserve(&mut self, data_len: usize) -> Result<StaticPoolAddr, PoolError> {
let mut subpool_idx = self.find_subpool(data_len, 0)?;
if self.pool_cfg.spill_to_higher_subpools {
while let Err(StoreError::StoreFull(_)) = self.find_empty(subpool_idx) {
while let Err(PoolError::StoreFull(_)) = self.find_empty(subpool_idx) {
if (subpool_idx + 1) as usize == self.sizes_lists.len() {
return Err(StoreError::StoreFull(subpool_idx));
return Err(PoolError::StoreFull(subpool_idx));
}
subpool_idx += 1;
}
@ -500,7 +497,7 @@ mod alloc_mod {
})
}
fn find_subpool(&self, req_size: usize, start_at_subpool: u16) -> Result<u16, StoreError> {
fn find_subpool(&self, req_size: usize, start_at_subpool: u16) -> Result<u16, PoolError> {
for (i, &(_, elem_size)) in self.pool_cfg.cfg.iter().enumerate() {
if i < start_at_subpool as usize {
continue;
@ -509,21 +506,21 @@ mod alloc_mod {
return Ok(i as u16);
}
}
Err(StoreError::DataTooLarge(req_size))
Err(PoolError::DataTooLarge(req_size))
}
fn write(&mut self, addr: &StaticPoolAddr, data: &[u8]) -> Result<(), StoreError> {
let packet_pos = self.raw_pos(addr).ok_or(StoreError::InternalError(0))?;
fn write(&mut self, addr: &StaticPoolAddr, data: &[u8]) -> Result<(), PoolError> {
let packet_pos = self.raw_pos(addr).ok_or(PoolError::InternalError(0))?;
let subpool = self
.pool
.get_mut(addr.pool_idx as usize)
.ok_or(StoreError::InternalError(1))?;
.ok_or(PoolError::InternalError(1))?;
let pool_slice = &mut subpool[packet_pos..packet_pos + data.len()];
pool_slice.copy_from_slice(data);
Ok(())
}
fn find_empty(&mut self, subpool: u16) -> Result<(u16, &mut usize), StoreError> {
fn find_empty(&mut self, subpool: u16) -> Result<(u16, &mut usize), PoolError> {
if let Some(size_list) = self.sizes_lists.get_mut(subpool as usize) {
for (i, elem_size) in size_list.iter_mut().enumerate() {
if *elem_size == STORE_FREE {
@ -531,12 +528,12 @@ mod alloc_mod {
}
}
} else {
return Err(StoreError::InvalidStoreId(
return Err(PoolError::InvalidStoreId(
StoreIdError::InvalidSubpool(subpool),
None,
));
}
Err(StoreError::StoreFull(subpool))
Err(PoolError::StoreFull(subpool))
}
fn raw_pos(&self, addr: &StaticPoolAddr) -> Option<usize> {
@ -546,10 +543,10 @@ mod alloc_mod {
}
impl PoolProvider for StaticMemoryPool {
fn add(&mut self, data: &[u8]) -> Result<StoreAddr, StoreError> {
fn add(&mut self, data: &[u8]) -> Result<PoolAddr, PoolError> {
let data_len = data.len();
if data_len > POOL_MAX_SIZE {
return Err(StoreError::DataTooLarge(data_len));
return Err(PoolError::DataTooLarge(data_len));
}
let addr = self.reserve(data_len)?;
self.write(&addr, data)?;
@ -560,9 +557,9 @@ mod alloc_mod {
&mut self,
len: usize,
mut writer: W,
) -> Result<StoreAddr, StoreError> {
) -> Result<PoolAddr, PoolError> {
if len > POOL_MAX_SIZE {
return Err(StoreError::DataTooLarge(len));
return Err(PoolError::DataTooLarge(len));
}
let addr = self.reserve(len)?;
let raw_pos = self.raw_pos(&addr).unwrap();
@ -574,9 +571,9 @@ mod alloc_mod {
fn modify<U: FnMut(&mut [u8])>(
&mut self,
addr: &StoreAddr,
addr: &PoolAddr,
mut updater: U,
) -> Result<(), StoreError> {
) -> Result<(), PoolError> {
let addr = StaticPoolAddr::from(*addr);
let curr_size = self.addr_check(&addr)?;
let raw_pos = self.raw_pos(&addr).unwrap();
@ -586,7 +583,7 @@ mod alloc_mod {
Ok(())
}
fn read(&self, addr: &StoreAddr, buf: &mut [u8]) -> Result<usize, StoreError> {
fn read(&self, addr: &PoolAddr, buf: &mut [u8]) -> Result<usize, PoolError> {
let addr = StaticPoolAddr::from(*addr);
let curr_size = self.addr_check(&addr)?;
if buf.len() < curr_size {
@ -604,7 +601,7 @@ mod alloc_mod {
Ok(curr_size)
}
fn delete(&mut self, addr: StoreAddr) -> Result<(), StoreError> {
fn delete(&mut self, addr: PoolAddr) -> Result<(), PoolError> {
let addr = StaticPoolAddr::from(addr);
self.addr_check(&addr)?;
let block_size = self.pool_cfg.cfg.get(addr.pool_idx as usize).unwrap().1;
@ -617,7 +614,7 @@ mod alloc_mod {
Ok(())
}
fn has_element_at(&self, addr: &StoreAddr) -> Result<bool, StoreError> {
fn has_element_at(&self, addr: &PoolAddr) -> Result<bool, PoolError> {
let addr = StaticPoolAddr::from(*addr);
self.validate_addr(&addr)?;
let pool_idx = addr.pool_idx as usize;
@ -629,7 +626,7 @@ mod alloc_mod {
Ok(true)
}
fn len_of_data(&self, addr: &StoreAddr) -> Result<usize, StoreError> {
fn len_of_data(&self, addr: &PoolAddr) -> Result<usize, PoolError> {
let addr = StaticPoolAddr::from(*addr);
self.validate_addr(&addr)?;
let pool_idx = addr.pool_idx as usize;
@ -643,11 +640,11 @@ mod alloc_mod {
}
impl PoolProviderWithGuards for StaticMemoryPool {
fn modify_with_guard(&mut self, addr: StoreAddr) -> PoolRwGuard<Self> {
fn modify_with_guard(&mut self, addr: PoolAddr) -> PoolRwGuard<Self> {
PoolRwGuard::new(self, addr)
}
fn read_with_guard(&mut self, addr: StoreAddr) -> PoolGuard<Self> {
fn read_with_guard(&mut self, addr: PoolAddr) -> PoolGuard<Self> {
PoolGuard::new(self, addr)
}
}
@ -656,8 +653,8 @@ mod alloc_mod {
#[cfg(test)]
mod tests {
use crate::pool::{
PoolGuard, PoolProvider, PoolProviderWithGuards, PoolRwGuard, StaticMemoryPool,
StaticPoolAddr, StaticPoolConfig, StoreError, StoreIdError, POOL_MAX_SIZE,
PoolError, PoolGuard, PoolProvider, PoolProviderWithGuards, PoolRwGuard, StaticMemoryPool,
StaticPoolAddr, StaticPoolConfig, StoreIdError, POOL_MAX_SIZE,
};
use std::vec;
@ -781,7 +778,7 @@ mod tests {
let res = local_pool.free_element(8, |_| {});
assert!(res.is_err());
let err = res.unwrap_err();
assert_eq!(err, StoreError::StoreFull(1));
assert_eq!(err, PoolError::StoreFull(1));
// Verify that the two deletions are successful
assert!(local_pool.delete(addr0).is_ok());
@ -803,7 +800,7 @@ mod tests {
assert!(res.is_err());
assert!(matches!(
res.unwrap_err(),
StoreError::DataDoesNotExist { .. }
PoolError::DataDoesNotExist { .. }
));
}
@ -816,8 +813,8 @@ mod tests {
let res = local_pool.add(&test_buf);
assert!(res.is_err());
let err = res.unwrap_err();
assert!(matches!(err, StoreError::StoreFull { .. }));
if let StoreError::StoreFull(subpool) = err {
assert!(matches!(err, PoolError::StoreFull { .. }));
if let PoolError::StoreFull(subpool) = err {
assert_eq!(subpool, 2);
}
}
@ -835,7 +832,7 @@ mod tests {
let err = res.unwrap_err();
assert!(matches!(
err,
StoreError::InvalidStoreId(StoreIdError::InvalidSubpool(3), Some(_))
PoolError::InvalidStoreId(StoreIdError::InvalidSubpool(3), Some(_))
));
}
@ -852,7 +849,7 @@ mod tests {
let err = res.unwrap_err();
assert!(matches!(
err,
StoreError::InvalidStoreId(StoreIdError::InvalidPacketIdx(1), Some(_))
PoolError::InvalidStoreId(StoreIdError::InvalidPacketIdx(1), Some(_))
));
}
@ -863,7 +860,7 @@ mod tests {
let res = local_pool.add(&data_too_large);
assert!(res.is_err());
let err = res.unwrap_err();
assert_eq!(err, StoreError::DataTooLarge(20));
assert_eq!(err, PoolError::DataTooLarge(20));
}
#[test]
@ -871,10 +868,7 @@ mod tests {
let mut local_pool = basic_small_pool();
let res = local_pool.free_element(POOL_MAX_SIZE + 1, |_| {});
assert!(res.is_err());
assert_eq!(
res.unwrap_err(),
StoreError::DataTooLarge(POOL_MAX_SIZE + 1)
);
assert_eq!(res.unwrap_err(), PoolError::DataTooLarge(POOL_MAX_SIZE + 1));
}
#[test]
@ -883,7 +877,7 @@ mod tests {
// Try to request a slot which is too large
let res = local_pool.free_element(20, |_| {});
assert!(res.is_err());
assert_eq!(res.unwrap_err(), StoreError::DataTooLarge(20));
assert_eq!(res.unwrap_err(), PoolError::DataTooLarge(20));
}
#[test]
@ -1003,7 +997,7 @@ mod tests {
let should_fail = local_pool.free_element(8, |_| {});
assert!(should_fail.is_err());
if let Err(err) = should_fail {
assert_eq!(err, StoreError::StoreFull(1));
assert_eq!(err, PoolError::StoreFull(1));
} else {
panic!("unexpected store address");
}
@ -1034,7 +1028,7 @@ mod tests {
let should_fail = local_pool.free_element(8, |_| {});
assert!(should_fail.is_err());
if let Err(err) = should_fail {
assert_eq!(err, StoreError::StoreFull(2));
assert_eq!(err, PoolError::StoreFull(2));
} else {
panic!("unexpected store address");
}

605
satrs/src/pus/action.rs
View File

@ -195,610 +195,7 @@ pub mod std_mod {
mpsc::SyncSender<GenericMessage<ActionRequest>>,
mpsc::Receiver<GenericMessage<ActionReplyPus>>,
>;
/*
pub type ModeRequestorAndHandlerMpsc = ModeInterface<
mpsc::Sender<GenericMessage<ModeRequest>>,
mpsc::Receiver<GenericMessage<ModeReply>>,
mpsc::Sender<GenericMessage<ModeReply>>,
mpsc::Receiver<GenericMessage<ModeRequest>>,
>;
pub type ModeRequestorAndHandlerMpscBounded = ModeInterface<
mpsc::SyncSender<GenericMessage<ModeRequest>>,
mpsc::Receiver<GenericMessage<ModeReply>>,
mpsc::SyncSender<GenericMessage<ModeReply>>,
mpsc::Receiver<GenericMessage<ModeRequest>>,
>;
*/
}
#[cfg(test)]
mod tests {
/*
use core::{cell::RefCell, time::Duration};
use std::{sync::mpsc, time::SystemTimeError};
use alloc::{collections::VecDeque, vec::Vec};
use delegate::delegate;
use spacepackets::{
ecss::{
tc::{PusTcCreator, PusTcReader},
tm::PusTmReader,
PusPacket,
},
time::{cds, TimeWriter},
CcsdsPacket,
};
use crate::{
action::ActionRequestVariant,
params::{self, ParamsRaw, WritableToBeBytes},
pus::{
tests::{
PusServiceHandlerWithVecCommon, PusTestHarness, SimplePusPacketHandler,
TestConverter, TestRouter, APP_DATA_TOO_SHORT,
},
verification::{
self,
tests::{SharedVerificationMap, TestVerificationReporter, VerificationStatus},
FailParams, TcStateAccepted, TcStateNone, TcStateStarted,
VerificationReportingProvider,
},
EcssTcInMemConverter, EcssTcInVecConverter, EcssTmtcError, GenericRoutingError,
MpscTcReceiver, PusPacketHandlerResult, PusPacketHandlingError, PusRequestRouter,
PusServiceHelper, PusTcToRequestConverter, TmAsVecSenderWithMpsc,
},
};
use super::*;
impl<Request> PusRequestRouter<Request> for TestRouter<Request> {
type Error = GenericRoutingError;
fn route(
&self,
target_id: TargetId,
request: Request,
_token: VerificationToken<TcStateAccepted>,
) -> Result<(), Self::Error> {
self.routing_requests
.borrow_mut()
.push_back((target_id, request));
self.check_for_injected_error()
}
fn handle_error(
&self,
target_id: TargetId,
token: VerificationToken<TcStateAccepted>,
tc: &PusTcReader,
error: Self::Error,
time_stamp: &[u8],
verif_reporter: &impl VerificationReportingProvider,
) {
self.routing_errors
.borrow_mut()
.push_back((target_id, error));
}
}
impl PusTcToRequestConverter<ActionRequest> for TestConverter<8> {
type Error = PusPacketHandlingError;
fn convert(
&mut self,
token: VerificationToken<TcStateAccepted>,
tc: &PusTcReader,
time_stamp: &[u8],
verif_reporter: &impl VerificationReportingProvider,
) -> Result<(TargetId, ActionRequest), Self::Error> {
self.conversion_request.push_back(tc.raw_data().to_vec());
self.check_service(tc)?;
let target_id = tc.apid();
if tc.user_data().len() < 4 {
verif_reporter
.start_failure(
token,
FailParams::new(
time_stamp,
&APP_DATA_TOO_SHORT,
(tc.user_data().len() as u32).to_be_bytes().as_ref(),
),
)
.expect("start success failure");
return Err(PusPacketHandlingError::NotEnoughAppData {
expected: 4,
found: tc.user_data().len(),
});
}
if tc.subservice() == 1 {
verif_reporter
.start_success(token, time_stamp)
.expect("start success failure");
return Ok((
target_id.into(),
ActionRequest {
action_id: u32::from_be_bytes(tc.user_data()[0..4].try_into().unwrap()),
variant: ActionRequestVariant::VecData(tc.user_data()[4..].to_vec()),
},
));
}
Err(PusPacketHandlingError::InvalidAppData(
"unexpected app data".into(),
))
}
}
pub struct PusDynRequestHandler<const SERVICE: u8, Request> {
srv_helper: PusServiceHelper<
MpscTcReceiver,
TmAsVecSenderWithMpsc,
EcssTcInVecConverter,
TestVerificationReporter,
>,
request_converter: TestConverter<SERVICE>,
request_router: TestRouter<Request>,
}
struct Pus8RequestTestbenchWithVec {
common: PusServiceHandlerWithVecCommon<TestVerificationReporter>,
handler: PusDynRequestHandler<8, ActionRequest>,
}
impl Pus8RequestTestbenchWithVec {
pub fn new() -> Self {
let (common, srv_helper) = PusServiceHandlerWithVecCommon::new_with_test_verif_sender();
Self {
common,
handler: PusDynRequestHandler {
srv_helper,
request_converter: TestConverter::default(),
request_router: TestRouter::default(),
},
}
}
delegate! {
to self.handler.request_converter {
pub fn check_next_conversion(&mut self, tc: &PusTcCreator);
}
}
delegate! {
to self.handler.request_router {
pub fn retrieve_next_request(&mut self) -> (TargetId, ActionRequest);
}
}
delegate! {
to self.handler.request_router {
pub fn retrieve_next_routing_error(&mut self) -> (TargetId, GenericRoutingError);
}
}
}
impl PusTestHarness for Pus8RequestTestbenchWithVec {
delegate! {
to self.common {
fn send_tc(&mut self, tc: &PusTcCreator) -> VerificationToken<TcStateAccepted>;
fn read_next_tm(&mut self) -> PusTmReader<'_>;
fn check_no_tm_available(&self) -> bool;
fn check_next_verification_tm(
&self,
subservice: u8,
expected_request_id: verification::RequestId,
);
}
}
}
impl SimplePusPacketHandler for Pus8RequestTestbenchWithVec {
fn handle_one_tc(&mut self) -> Result<PusPacketHandlerResult, PusPacketHandlingError> {
let possible_packet = self.handler.srv_helper.retrieve_and_accept_next_packet()?;
if possible_packet.is_none() {
return Ok(PusPacketHandlerResult::Empty);
}
let ecss_tc_and_token = possible_packet.unwrap();
let tc = self
.handler
.srv_helper
.tc_in_mem_converter
.convert_ecss_tc_in_memory_to_reader(&ecss_tc_and_token.tc_in_memory)?;
let time_stamp = cds::TimeProvider::from_now_with_u16_days()
.expect("timestamp generation failed")
.to_vec()
.unwrap();
let (target_id, action_request) = self.handler.request_converter.convert(
ecss_tc_and_token.token,
&tc,
&time_stamp,
&self.handler.srv_helper.common.verification_handler,
)?;
if let Err(e) = self.handler.request_router.route(
target_id,
action_request,
ecss_tc_and_token.token,
) {
self.handler.request_router.handle_error(
target_id,
ecss_tc_and_token.token,
&tc,
e.clone(),
&time_stamp,
&self.handler.srv_helper.common.verification_handler,
);
return Err(e.into());
}
Ok(PusPacketHandlerResult::RequestHandled)
}
}
const TIMEOUT_ERROR_CODE: ResultU16 = ResultU16::new(1, 2);
const COMPLETION_ERROR_CODE: ResultU16 = ResultU16::new(2, 0);
const COMPLETION_ERROR_CODE_STEP: ResultU16 = ResultU16::new(2, 1);
#[derive(Default)]
pub struct TestReplyHandlerHook {
pub unexpected_replies: VecDeque<GenericActionReplyPus>,
pub timeouts: RefCell<VecDeque<ActivePusActionRequest>>,
}
impl ReplyHandlerHook<ActivePusActionRequest, ActionReplyPusWithActionId> for TestReplyHandlerHook {
fn handle_unexpected_reply(&mut self, reply: &GenericActionReplyPus) {
self.unexpected_replies.push_back(reply.clone());
}
fn timeout_callback(&self, active_request: &ActivePusActionRequest) {
self.timeouts.borrow_mut().push_back(active_request.clone());
}
fn timeout_error_code(&self) -> ResultU16 {
TIMEOUT_ERROR_CODE
}
}
pub struct Pus8ReplyTestbench {
verif_reporter: TestVerificationReporter,
#[allow(dead_code)]
ecss_tm_receiver: mpsc::Receiver<Vec<u8>>,
handler: PusService8ReplyHandler<
TestVerificationReporter,
DefaultActiveActionRequestMap,
TestReplyHandlerHook,
mpsc::Sender<Vec<u8>>,
>,
}
impl Pus8ReplyTestbench {
pub fn new(normal_ctor: bool) -> Self {
let reply_handler_hook = TestReplyHandlerHook::default();
let shared_verif_map = SharedVerificationMap::default();
let test_verif_reporter = TestVerificationReporter::new(shared_verif_map.clone());
let (ecss_tm_sender, ecss_tm_receiver) = mpsc::channel();
let reply_handler = if normal_ctor {
PusService8ReplyHandler::new_from_now_with_default_map(
test_verif_reporter.clone(),
128,
reply_handler_hook,
ecss_tm_sender,
)
.expect("creating reply handler failed")
} else {
PusService8ReplyHandler::new_from_now(
test_verif_reporter.clone(),
DefaultActiveActionRequestMap::default(),
128,
reply_handler_hook,
ecss_tm_sender,
)
.expect("creating reply handler failed")
};
Self {
verif_reporter: test_verif_reporter,
ecss_tm_receiver,
handler: reply_handler,
}
}
pub fn init_handling_for_request(
&mut self,
request_id: RequestId,
_action_id: ActionId,
) -> VerificationToken<TcStateStarted> {
assert!(!self.handler.request_active(request_id));
// let action_req = ActionRequest::new(action_id, ActionRequestVariant::NoData);
let token = self.add_tc_with_req_id(request_id.into());
let token = self
.verif_reporter
.acceptance_success(token, &[])
.expect("acceptance success failure");
let token = self
.verif_reporter
.start_success(token, &[])
.expect("start success failure");
let verif_info = self
.verif_reporter
.verification_info(&verification::RequestId::from(request_id))
.expect("no verification info found");
assert!(verif_info.started.expect("request was not started"));
assert!(verif_info.accepted.expect("request was not accepted"));
token
}
pub fn next_unrequested_reply(&self) -> Option<GenericActionReplyPus> {
self.handler.user_hook.unexpected_replies.front().cloned()
}
pub fn assert_request_completion_success(&self, step: Option<u16>, request_id: RequestId) {
let verif_info = self
.verif_reporter
.verification_info(&verification::RequestId::from(request_id))
.expect("no verification info found");
self.assert_request_completion_common(request_id, &verif_info, step, true);
}
pub fn assert_request_completion_failure(
&self,
step: Option<u16>,
request_id: RequestId,
fail_enum: ResultU16,
fail_data: &[u8],
) {
let verif_info = self
.verif_reporter
.verification_info(&verification::RequestId::from(request_id))
.expect("no verification info found");
self.assert_request_completion_common(request_id, &verif_info, step, false);
assert_eq!(verif_info.fail_enum.unwrap(), fail_enum.raw() as u64);
assert_eq!(verif_info.failure_data.unwrap(), fail_data);
}
pub fn assert_request_completion_common(
&self,
request_id: RequestId,
verif_info: &VerificationStatus,
step: Option<u16>,
completion_success: bool,
) {
if let Some(step) = step {
assert!(verif_info.step_status.is_some());
assert!(verif_info.step_status.unwrap());
assert_eq!(step, verif_info.step);
}
assert_eq!(
verif_info.completed.expect("request is not completed"),
completion_success
);
assert!(!self.handler.request_active(request_id));
}
pub fn assert_request_step_failure(&self, step: u16, request_id: RequestId) {
let verif_info = self
.verif_reporter
.verification_info(&verification::RequestId::from(request_id))
.expect("no verification info found");
assert!(verif_info.step_status.is_some());
assert!(!verif_info.step_status.unwrap());
assert_eq!(step, verif_info.step);
}
pub fn add_routed_request(
&mut self,
request_id: verification::RequestId,
target_id: TargetId,
action_id: ActionId,
token: VerificationToken<TcStateStarted>,
timeout: Duration,
) {
if self.handler.request_active(request_id.into()) {
panic!("request already present");
}
self.handler
.add_routed_action_request(request_id, target_id, action_id, token, timeout);
if !self.handler.request_active(request_id.into()) {
panic!("request should be active now");
}
}
delegate! {
to self.handler {
pub fn request_active(&self, request_id: RequestId) -> bool;
pub fn handle_action_reply(
&mut self,
action_reply_with_ids: GenericMessage<ActionReplyPusWithActionId>,
time_stamp: &[u8]
) -> Result<(), EcssTmtcError>;
pub fn update_time_from_now(&mut self) -> Result<(), SystemTimeError>;
pub fn check_for_timeouts(&mut self, time_stamp: &[u8]) -> Result<(), EcssTmtcError>;
}
to self.verif_reporter {
fn add_tc_with_req_id(&mut self, req_id: verification::RequestId) -> VerificationToken<TcStateNone>;
}
}
}
#[test]
fn test_reply_handler_completion_success() {
let mut reply_testbench = Pus8ReplyTestbench::new(true);
let sender_id = 0x06;
let request_id = 0x02;
let target_id = 0x05;
let action_id = 0x03;
let token = reply_testbench.init_handling_for_request(request_id, action_id);
reply_testbench.add_routed_request(
request_id.into(),
target_id,
action_id,
token,
Duration::from_millis(1),
);
assert!(reply_testbench.request_active(request_id));
let action_reply = GenericMessage::new(
request_id,
sender_id,
ActionReplyPusWithActionId {
action_id,
variant: ActionReplyPus::Completed,
},
);
reply_testbench
.handle_action_reply(action_reply, &[])
.expect("reply handling failure");
reply_testbench.assert_request_completion_success(None, request_id);
}
#[test]
fn test_reply_handler_step_success() {
let mut reply_testbench = Pus8ReplyTestbench::new(false);
let request_id = 0x02;
let target_id = 0x05;
let action_id = 0x03;
let token = reply_testbench.init_handling_for_request(request_id, action_id);
reply_testbench.add_routed_request(
request_id.into(),
target_id,
action_id,
token,
Duration::from_millis(1),
);
let action_reply = GenericActionReplyPus::new_action_reply(
request_id,
action_id,
action_id,
ActionReplyPus::StepSuccess { step: 1 },
);
reply_testbench
.handle_action_reply(action_reply, &[])
.expect("reply handling failure");
let action_reply = GenericActionReplyPus::new_action_reply(
request_id,
action_id,
action_id,
ActionReplyPus::Completed,
);
reply_testbench
.handle_action_reply(action_reply, &[])
.expect("reply handling failure");
reply_testbench.assert_request_completion_success(Some(1), request_id);
}
#[test]
fn test_reply_handler_completion_failure() {
let mut reply_testbench = Pus8ReplyTestbench::new(true);
let sender_id = 0x01;
let request_id = 0x02;
let target_id = 0x05;
let action_id = 0x03;
let token = reply_testbench.init_handling_for_request(request_id, action_id);
reply_testbench.add_routed_request(
request_id.into(),
target_id,
action_id,
token,
Duration::from_millis(1),
);
let params_raw = ParamsRaw::U32(params::U32(5));
let action_reply = GenericActionReplyPus::new_action_reply(
request_id,
sender_id,
action_id,
ActionReplyPus::CompletionFailed {
error_code: COMPLETION_ERROR_CODE,
params: params_raw.into(),
},
);
reply_testbench
.handle_action_reply(action_reply, &[])
.expect("reply handling failure");
reply_testbench.assert_request_completion_failure(
None,
request_id,
COMPLETION_ERROR_CODE,
&params_raw.to_vec().unwrap(),
);
}
#[test]
fn test_reply_handler_step_failure() {
let mut reply_testbench = Pus8ReplyTestbench::new(false);
let sender_id = 0x01;
let request_id = 0x02;
let target_id = 0x05;
let action_id = 0x03;
let token = reply_testbench.init_handling_for_request(request_id, action_id);
reply_testbench.add_routed_request(
request_id.into(),
target_id,
action_id,
token,
Duration::from_millis(1),
);
let action_reply = GenericActionReplyPus::new_action_reply(
request_id,
sender_id,
action_id,
ActionReplyPus::StepFailed {
error_code: COMPLETION_ERROR_CODE_STEP,
step: 2,
params: ParamsRaw::U32(crate::params::U32(5)).into(),
},
);
reply_testbench
.handle_action_reply(action_reply, &[])
.expect("reply handling failure");
reply_testbench.assert_request_step_failure(2, request_id);
}
#[test]
fn test_reply_handler_timeout_handling() {
let mut reply_testbench = Pus8ReplyTestbench::new(true);
let request_id = 0x02;
let target_id = 0x06;
let action_id = 0x03;
let token = reply_testbench.init_handling_for_request(request_id, action_id);
reply_testbench.add_routed_request(
request_id.into(),
target_id,
action_id,
token,
Duration::from_millis(1),
);
let timeout_param = Duration::from_millis(1).as_millis() as u64;
let timeout_param_raw = timeout_param.to_be_bytes();
std::thread::sleep(Duration::from_millis(2));
reply_testbench
.update_time_from_now()
.expect("time update failure");
reply_testbench.check_for_timeouts(&[]).unwrap();
reply_testbench.assert_request_completion_failure(
None,
request_id,
TIMEOUT_ERROR_CODE,
&timeout_param_raw,
);
}
#[test]
fn test_unrequested_reply() {
let mut reply_testbench = Pus8ReplyTestbench::new(true);
let sender_id = 0x01;
let request_id = 0x02;
let action_id = 0x03;
let action_reply = GenericActionReplyPus::new_action_reply(
request_id,
sender_id,
action_id,
ActionReplyPus::Completed,
);
reply_testbench
.handle_action_reply(action_reply, &[])
.expect("reply handling failure");
let reply = reply_testbench.next_unrequested_reply();
assert!(reply.is_some());
let reply = reply.unwrap();
assert_eq!(reply.message.action_id, action_id);
assert_eq!(reply.request_id, request_id);
assert_eq!(reply.message.variant, ActionReplyPus::Completed);
}
*/
}
mod tests {}

14
satrs/src/pus/event.rs
View File

@ -132,7 +132,7 @@ impl EventReportCreator {
#[cfg(feature = "alloc")]
mod alloc_mod {
use super::*;
use crate::pus::{EcssTmSenderCore, EcssTmtcError};
use crate::pus::{EcssTmSender, EcssTmtcError};
use crate::ComponentId;
use alloc::vec;
use alloc::vec::Vec;
@ -194,7 +194,7 @@ mod alloc_mod {
pub fn event_info(
&self,
sender: &(impl EcssTmSenderCore + ?Sized),
sender: &(impl EcssTmSender + ?Sized),
time_stamp: &[u8],
event_id: impl EcssEnumeration,
params: Option<&[u8]>,
@ -211,7 +211,7 @@ mod alloc_mod {
pub fn event_low_severity(
&self,
sender: &(impl EcssTmSenderCore + ?Sized),
sender: &(impl EcssTmSender + ?Sized),
time_stamp: &[u8],
event_id: impl EcssEnumeration,
params: Option<&[u8]>,
@ -228,7 +228,7 @@ mod alloc_mod {
pub fn event_medium_severity(
&self,
sender: &(impl EcssTmSenderCore + ?Sized),
sender: &(impl EcssTmSender + ?Sized),
time_stamp: &[u8],
event_id: impl EcssEnumeration,
params: Option<&[u8]>,
@ -245,7 +245,7 @@ mod alloc_mod {
pub fn event_high_severity(
&self,
sender: &(impl EcssTmSenderCore + ?Sized),
sender: &(impl EcssTmSender + ?Sized),
time_stamp: &[u8],
event_id: impl EcssEnumeration,
params: Option<&[u8]>,
@ -268,7 +268,7 @@ mod tests {
use crate::events::{EventU32, Severity};
use crate::pus::test_util::TEST_COMPONENT_ID_0;
use crate::pus::tests::CommonTmInfo;
use crate::pus::{ChannelWithId, EcssTmSenderCore, EcssTmtcError, PusTmVariant};
use crate::pus::{ChannelWithId, EcssTmSender, EcssTmtcError, PusTmVariant};
use crate::ComponentId;
use spacepackets::ecss::PusError;
use spacepackets::ByteConversionError;
@ -301,7 +301,7 @@ mod tests {
}
}
impl EcssTmSenderCore for TestSender {
impl EcssTmSender for TestSender {
fn send_tm(&self, sender_id: ComponentId, tm: PusTmVariant) -> Result<(), EcssTmtcError> {
match tm {
PusTmVariant::InStore(_) => {

15
satrs/src/pus/event_man.rs
View File

@ -10,7 +10,7 @@ use hashbrown::HashSet;
pub use crate::pus::event::EventReporter;
use crate::pus::verification::TcStateToken;
#[cfg(feature = "alloc")]
use crate::pus::EcssTmSenderCore;
use crate::pus::EcssTmSender;
use crate::pus::EcssTmtcError;
#[cfg(feature = "alloc")]
#[cfg_attr(doc_cfg, doc(cfg(feature = "alloc")))]
@ -178,7 +178,7 @@ pub mod alloc_mod {
pub fn generate_pus_event_tm_generic(
&self,
sender: &(impl EcssTmSenderCore + ?Sized),
sender: &(impl EcssTmSender + ?Sized),
time_stamp: &[u8],
event: Event,
params: Option<&[u8]>,
@ -240,7 +240,7 @@ pub mod alloc_mod {
pub fn generate_pus_event_tm<Severity: HasSeverity>(
&self,
sender: &(impl EcssTmSenderCore + ?Sized),
sender: &(impl EcssTmSender + ?Sized),
time_stamp: &[u8],
event: EventU32TypedSev<Severity>,
aux_data: Option<&[u8]>,
@ -257,9 +257,8 @@ pub mod alloc_mod {
#[cfg(test)]
mod tests {
use super::*;
use crate::events::SeverityInfo;
use crate::pus::PusTmAsVec;
use crate::request::UniqueApidTargetId;
use crate::{events::SeverityInfo, tmtc::PacketAsVec};
use std::sync::mpsc::{self, TryRecvError};
const INFO_EVENT: EventU32TypedSev<SeverityInfo> =
@ -284,7 +283,7 @@ mod tests {
#[test]
fn test_basic() {
let event_man = create_basic_man_1();
let (event_tx, event_rx) = mpsc::channel::<PusTmAsVec>();
let (event_tx, event_rx) = mpsc::channel::<PacketAsVec>();
let event_sent = event_man
.generate_pus_event_tm(&event_tx, &EMPTY_STAMP, INFO_EVENT, None)
.expect("Sending info event failed");
@ -297,7 +296,7 @@ mod tests {
#[test]
fn test_disable_event() {
let mut event_man = create_basic_man_2();
let (event_tx, event_rx) = mpsc::channel::<PusTmAsVec>();
let (event_tx, event_rx) = mpsc::channel::<PacketAsVec>();
// let mut sender = TmAsVecSenderWithMpsc::new(0, "test", event_tx);
let res = event_man.disable_tm_for_event(&LOW_SEV_EVENT);
assert!(res.is_ok());
@ -320,7 +319,7 @@ mod tests {
#[test]
fn test_reenable_event() {
let mut event_man = create_basic_man_1();
let (event_tx, event_rx) = mpsc::channel::<PusTmAsVec>();
let (event_tx, event_rx) = mpsc::channel::<PacketAsVec>();
let mut res = event_man.disable_tm_for_event_with_sev(&INFO_EVENT);
assert!(res.is_ok());
assert!(res.unwrap());

21
satrs/src/pus/event_srv.rs
View File

@ -9,13 +9,13 @@ use std::sync::mpsc::Sender;
use super::verification::VerificationReportingProvider;
use super::{
EcssTcInMemConverter, EcssTcReceiverCore, EcssTmSenderCore, GenericConversionError,
EcssTcInMemConverter, EcssTcReceiver, EcssTmSender, GenericConversionError,
GenericRoutingError, PusServiceHelper,
};
pub struct PusEventServiceHandler<
TcReceiver: EcssTcReceiverCore,
TmSender: EcssTmSenderCore,
TcReceiver: EcssTcReceiver,
TmSender: EcssTmSender,
TcInMemConverter: EcssTcInMemConverter,
VerificationReporter: VerificationReportingProvider,
> {
@ -25,8 +25,8 @@ pub struct PusEventServiceHandler<
}
impl<
TcReceiver: EcssTcReceiverCore,
TmSender: EcssTmSenderCore,
TcReceiver: EcssTcReceiver,
TmSender: EcssTmSender,
TcInMemConverter: EcssTcInMemConverter,
VerificationReporter: VerificationReportingProvider,
> PusEventServiceHandler<TcReceiver, TmSender, TcInMemConverter, VerificationReporter>
@ -167,7 +167,8 @@ mod tests {
use crate::pus::verification::{
RequestId, VerificationReporter, VerificationReportingProvider,
};
use crate::pus::{GenericConversionError, MpscTcReceiver, MpscTmInSharedPoolSenderBounded};
use crate::pus::{GenericConversionError, MpscTcReceiver};
use crate::tmtc::PacketSenderWithSharedPool;
use crate::{
events::EventU32,
pus::{
@ -186,7 +187,7 @@ mod tests {
common: PusServiceHandlerWithSharedStoreCommon,
handler: PusEventServiceHandler<
MpscTcReceiver,
MpscTmInSharedPoolSenderBounded,
PacketSenderWithSharedPool,
EcssTcInSharedStoreConverter,
VerificationReporter,
>,
@ -212,9 +213,13 @@ mod tests {
.expect("acceptance success failure")
}
fn send_tc(&self, token: &VerificationToken<TcStateAccepted>, tc: &PusTcCreator) {
self.common
.send_tc(self.handler.service_helper.id(), token, tc);
}
delegate! {
to self.common {
fn send_tc(&self, token: &VerificationToken<TcStateAccepted>, tc: &PusTcCreator);
fn read_next_tm(&mut self) -> PusTmReader<'_>;
fn check_no_tm_available(&self) -> bool;
fn check_next_verification_tm(&self, subservice: u8, expected_request_id: RequestId);

327
satrs/src/pus/mod.rs
View File

@ -2,10 +2,13 @@
//!
//! This module contains structures to make working with the PUS C standard easier.
//! The satrs-example application contains various usage examples of these components.
use crate::pool::{StoreAddr, StoreError};
use crate::pool::{PoolAddr, PoolError};
use crate::pus::verification::{TcStateAccepted, TcStateToken, VerificationToken};
use crate::queue::{GenericReceiveError, GenericSendError};
use crate::request::{GenericMessage, MessageMetadata, RequestId};
#[cfg(feature = "alloc")]
use crate::tmtc::PacketAsVec;
use crate::tmtc::PacketInPool;
use crate::ComponentId;
use core::fmt::{Display, Formatter};
use core::time::Duration;
@ -44,12 +47,12 @@ use self::verification::VerificationReportingProvider;
#[derive(Debug, PartialEq, Eq, Clone)]
pub enum PusTmVariant<'time, 'src_data> {
InStore(StoreAddr),
InStore(PoolAddr),
Direct(PusTmCreator<'time, 'src_data>),
}
impl From<StoreAddr> for PusTmVariant<'_, '_> {
fn from(value: StoreAddr) -> Self {
impl From<PoolAddr> for PusTmVariant<'_, '_> {
fn from(value: PoolAddr) -> Self {
Self::InStore(value)
}
}
@ -62,10 +65,10 @@ impl<'time, 'src_data> From<PusTmCreator<'time, 'src_data>> for PusTmVariant<'ti
#[derive(Debug, Clone, PartialEq, Eq)]
pub enum EcssTmtcError {
Store(StoreError),
Store(PoolError),
ByteConversion(ByteConversionError),
Pus(PusError),
CantSendAddr(StoreAddr),
CantSendAddr(PoolAddr),
CantSendDirectTm,
Send(GenericSendError),
Receive(GenericReceiveError),
@ -99,8 +102,8 @@ impl Display for EcssTmtcError {
}
}
impl From<StoreError> for EcssTmtcError {
fn from(value: StoreError) -> Self {
impl From<PoolError> for EcssTmtcError {
fn from(value: PoolError) -> Self {
Self::Store(value)
}
}
@ -153,15 +156,15 @@ pub trait ChannelWithId: Send {
/// Generic trait for a user supplied sender object.
///
/// This sender object is responsible for sending PUS telemetry to a TM sink.
pub trait EcssTmSenderCore: Send {
fn send_tm(&self, source_id: ComponentId, tm: PusTmVariant) -> Result<(), EcssTmtcError>;
pub trait EcssTmSender: Send {
fn send_tm(&self, sender_id: ComponentId, tm: PusTmVariant) -> Result<(), EcssTmtcError>;
}
/// Generic trait for a user supplied sender object.
///
/// This sender object is responsible for sending PUS telecommands to a TC recipient. Each
/// telecommand can optionally have a token which contains its verification state.
pub trait EcssTcSenderCore {
pub trait EcssTcSender {
fn send_tc(&self, tc: PusTcCreator, token: Option<TcStateToken>) -> Result<(), EcssTmtcError>;
}
@ -169,32 +172,32 @@ pub trait EcssTcSenderCore {
#[derive(Default)]
pub struct EcssTmDummySender {}
impl EcssTmSenderCore for EcssTmDummySender {
impl EcssTmSender for EcssTmDummySender {
fn send_tm(&self, _source_id: ComponentId, _tm: PusTmVariant) -> Result<(), EcssTmtcError> {
Ok(())
}
}
/// A PUS telecommand packet can be stored in memory using different methods. Right now,
/// A PUS telecommand packet can be stored in memory and sent using different methods. Right now,
/// storage inside a pool structure like [crate::pool::StaticMemoryPool], and storage inside a
/// `Vec<u8>` are supported.
#[non_exhaustive]
#[derive(Debug, Clone, PartialEq, Eq)]
pub enum TcInMemory {
StoreAddr(StoreAddr),
Pool(PacketInPool),
#[cfg(feature = "alloc")]
Vec(alloc::vec::Vec<u8>),
Vec(PacketAsVec),
}
impl From<StoreAddr> for TcInMemory {
fn from(value: StoreAddr) -> Self {
Self::StoreAddr(value)
impl From<PacketInPool> for TcInMemory {
fn from(value: PacketInPool) -> Self {
Self::Pool(value)
}
}
#[cfg(feature = "alloc")]
impl From<alloc::vec::Vec<u8>> for TcInMemory {
fn from(value: alloc::vec::Vec<u8>) -> Self {
impl From<PacketAsVec> for TcInMemory {
fn from(value: PacketAsVec) -> Self {
Self::Vec(value)
}
}
@ -262,25 +265,26 @@ impl From<PusError> for TryRecvTmtcError {
}
}
impl From<StoreError> for TryRecvTmtcError {
fn from(value: StoreError) -> Self {
impl From<PoolError> for TryRecvTmtcError {
fn from(value: PoolError) -> Self {
Self::Tmtc(value.into())
}
}
/// Generic trait for a user supplied receiver object.
pub trait EcssTcReceiverCore {
pub trait EcssTcReceiver {
fn recv_tc(&self) -> Result<EcssTcAndToken, TryRecvTmtcError>;
}
/// Generic trait for objects which can receive ECSS PUS telecommands. This trait is
/// implemented by the [crate::tmtc::pus_distrib::PusDistributor] objects to allow passing PUS TC
/// packets into it. It is generally assumed that the telecommand is stored in some pool structure,
/// and the store address is passed as well. This allows efficient zero-copy forwarding of
/// telecommands.
pub trait ReceivesEcssPusTc {
/// Generic trait for objects which can send ECSS PUS telecommands.
pub trait PacketSenderPusTc: Send {
type Error;
fn pass_pus_tc(&mut self, header: &SpHeader, pus_tc: &PusTcReader) -> Result<(), Self::Error>;
fn send_pus_tc(
&self,
sender_id: ComponentId,
header: &SpHeader,
pus_tc: &PusTcReader,
) -> Result<(), Self::Error>;
}
pub trait ActiveRequestMapProvider<V>: Sized {
@ -326,7 +330,7 @@ pub trait PusReplyHandler<ActiveRequestInfo: ActiveRequestProvider, ReplyType> {
&mut self,
reply: &GenericMessage<ReplyType>,
active_request: &ActiveRequestInfo,
tm_sender: &impl EcssTmSenderCore,
tm_sender: &impl EcssTmSender,
verification_handler: &impl VerificationReportingProvider,
time_stamp: &[u8],
) -> Result<bool, Self::Error>;
@ -334,14 +338,14 @@ pub trait PusReplyHandler<ActiveRequestInfo: ActiveRequestProvider, ReplyType> {
fn handle_unrequested_reply(
&mut self,
reply: &GenericMessage<ReplyType>,
tm_sender: &impl EcssTmSenderCore,
tm_sender: &impl EcssTmSender,
) -> Result<(), Self::Error>;
/// Handle the timeout of an active request.
fn handle_request_timeout(
&mut self,
active_request: &ActiveRequestInfo,
tm_sender: &impl EcssTmSenderCore,
tm_sender: &impl EcssTmSender,
verification_handler: &impl VerificationReportingProvider,
time_stamp: &[u8],
) -> Result<(), Self::Error>;
@ -353,9 +357,7 @@ pub mod alloc_mod {
use super::*;
use crate::pus::verification::VerificationReportingProvider;
/// Extension trait for [EcssTmSenderCore].
/// Extension trait for [EcssTmSender].
///
/// It provides additional functionality, for example by implementing the [Downcast] trait
/// and the [DynClone] trait.
@ -367,36 +369,36 @@ pub mod alloc_mod {
/// [Clone].
#[cfg(feature = "alloc")]
#[cfg_attr(doc_cfg, doc(cfg(feature = "alloc")))]
pub trait EcssTmSender: EcssTmSenderCore + Downcast + DynClone {
pub trait EcssTmSenderExt: EcssTmSender + Downcast + DynClone {
// Remove this once trait upcasting coercion has been implemented.
// Tracking issue: https://github.com/rust-lang/rust/issues/65991
fn upcast(&self) -> &dyn EcssTmSenderCore;
fn upcast(&self) -> &dyn EcssTmSender;
// Remove this once trait upcasting coercion has been implemented.
// Tracking issue: https://github.com/rust-lang/rust/issues/65991
fn upcast_mut(&mut self) -> &mut dyn EcssTmSenderCore;
fn upcast_mut(&mut self) -> &mut dyn EcssTmSender;
}
/// Blanket implementation for all types which implement [EcssTmSenderCore] and are clonable.
impl<T> EcssTmSender for T
/// Blanket implementation for all types which implement [EcssTmSender] and are clonable.
impl<T> EcssTmSenderExt for T
where
T: EcssTmSenderCore + Clone + 'static,
T: EcssTmSender + Clone + 'static,
{
// Remove this once trait upcasting coercion has been implemented.
// Tracking issue: https://github.com/rust-lang/rust/issues/65991
fn upcast(&self) -> &dyn EcssTmSenderCore {
fn upcast(&self) -> &dyn EcssTmSender {
self
}
// Remove this once trait upcasting coercion has been implemented.
// Tracking issue: https://github.com/rust-lang/rust/issues/65991
fn upcast_mut(&mut self) -> &mut dyn EcssTmSenderCore {
fn upcast_mut(&mut self) -> &mut dyn EcssTmSender {
self
}
}
dyn_clone::clone_trait_object!(EcssTmSender);
impl_downcast!(EcssTmSender);
dyn_clone::clone_trait_object!(EcssTmSenderExt);
impl_downcast!(EcssTmSenderExt);
/// Extension trait for [EcssTcSenderCore].
/// Extension trait for [EcssTcSender].
///
/// It provides additional functionality, for example by implementing the [Downcast] trait
/// and the [DynClone] trait.
@ -408,15 +410,15 @@ pub mod alloc_mod {
/// [Clone].
#[cfg(feature = "alloc")]
#[cfg_attr(doc_cfg, doc(cfg(feature = "alloc")))]
pub trait EcssTcSender: EcssTcSenderCore + Downcast + DynClone {}
pub trait EcssTcSenderExt: EcssTcSender + Downcast + DynClone {}
/// Blanket implementation for all types which implement [EcssTcSenderCore] and are clonable.
impl<T> EcssTcSender for T where T: EcssTcSenderCore + Clone + 'static {}
/// Blanket implementation for all types which implement [EcssTcSender] and are clonable.
impl<T> EcssTcSenderExt for T where T: EcssTcSender + Clone + 'static {}
dyn_clone::clone_trait_object!(EcssTcSender);
impl_downcast!(EcssTcSender);
dyn_clone::clone_trait_object!(EcssTcSenderExt);
impl_downcast!(EcssTcSenderExt);
/// Extension trait for [EcssTcReceiverCore].
/// Extension trait for [EcssTcReceiver].
///
/// It provides additional functionality, for example by implementing the [Downcast] trait
/// and the [DynClone] trait.
@ -428,12 +430,12 @@ pub mod alloc_mod {
/// [Clone].
#[cfg(feature = "alloc")]
#[cfg_attr(doc_cfg, doc(cfg(feature = "alloc")))]
pub trait EcssTcReceiver: EcssTcReceiverCore + Downcast {}
pub trait EcssTcReceiverExt: EcssTcReceiver + Downcast {}
/// Blanket implementation for all types which implement [EcssTcReceiverCore] and are clonable.
impl<T> EcssTcReceiver for T where T: EcssTcReceiverCore + 'static {}
/// Blanket implementation for all types which implement [EcssTcReceiver] and are clonable.
impl<T> EcssTcReceiverExt for T where T: EcssTcReceiver + 'static {}
impl_downcast!(EcssTcReceiver);
impl_downcast!(EcssTcReceiverExt);
/// This trait is an abstraction for the conversion of a PUS telecommand into a generic request
/// type.
@ -457,7 +459,7 @@ pub mod alloc_mod {
&mut self,
token: VerificationToken<TcStateAccepted>,
tc: &PusTcReader,
tm_sender: &(impl EcssTmSenderCore + ?Sized),
tm_sender: &(impl EcssTmSender + ?Sized),
verif_reporter: &impl VerificationReportingProvider,
time_stamp: &[u8],
) -> Result<(ActiveRequestInfo, Request), Self::Error>;
@ -654,19 +656,18 @@ pub mod alloc_mod {
#[cfg_attr(doc_cfg, doc(cfg(feature = "std")))]
pub mod std_mod {
use crate::pool::{
PoolProvider, PoolProviderWithGuards, SharedStaticMemoryPool, StoreAddr, StoreError,
PoolAddr, PoolError, PoolProvider, PoolProviderWithGuards, SharedStaticMemoryPool,
};
use crate::pus::verification::{TcStateAccepted, VerificationToken};
use crate::pus::{
EcssTcAndToken, EcssTcReceiverCore, EcssTmSenderCore, EcssTmtcError, GenericReceiveError,
EcssTcAndToken, EcssTcReceiver, EcssTmSender, EcssTmtcError, GenericReceiveError,
GenericSendError, PusTmVariant, TryRecvTmtcError,
};
use crate::tmtc::tm_helper::SharedTmPool;
use crate::tmtc::{PacketAsVec, PacketSenderWithSharedPool};
use crate::ComponentId;
use alloc::vec::Vec;
use core::time::Duration;
use spacepackets::ecss::tc::PusTcReader;
use spacepackets::ecss::tm::PusTmCreator;
use spacepackets::ecss::WritablePusPacket;
use spacepackets::time::StdTimestampError;
use spacepackets::ByteConversionError;
@ -680,25 +681,20 @@ pub mod std_mod {
use super::verification::{TcStateToken, VerificationReportingProvider};
use super::{AcceptedEcssTcAndToken, ActiveRequestProvider, TcInMemory};
use crate::tmtc::PacketInPool;
#[derive(Debug)]
pub struct PusTmInPool {
pub source_id: ComponentId,
pub store_addr: StoreAddr,
}
impl From<mpsc::SendError<StoreAddr>> for EcssTmtcError {
fn from(_: mpsc::SendError<StoreAddr>) -> Self {
impl From<mpsc::SendError<PoolAddr>> for EcssTmtcError {
fn from(_: mpsc::SendError<PoolAddr>) -> Self {
Self::Send(GenericSendError::RxDisconnected)
}
}
impl EcssTmSenderCore for mpsc::Sender<PusTmInPool> {
impl EcssTmSender for mpsc::Sender<PacketInPool> {
fn send_tm(&self, source_id: ComponentId, tm: PusTmVariant) -> Result<(), EcssTmtcError> {
match tm {
PusTmVariant::InStore(store_addr) => self
.send(PusTmInPool {
source_id,
.send(PacketInPool {
sender_id: source_id,
store_addr,
})
.map_err(|_| GenericSendError::RxDisconnected)?,
@ -708,12 +704,12 @@ pub mod std_mod {
}
}
impl EcssTmSenderCore for mpsc::SyncSender<PusTmInPool> {
impl EcssTmSender for mpsc::SyncSender<PacketInPool> {
fn send_tm(&self, source_id: ComponentId, tm: PusTmVariant) -> Result<(), EcssTmtcError> {
match tm {
PusTmVariant::InStore(store_addr) => self
.try_send(PusTmInPool {
source_id,
.try_send(PacketInPool {
sender_id: source_id,
store_addr,
})
.map_err(|e| EcssTmtcError::Send(e.into()))?,
@ -723,21 +719,15 @@ pub mod std_mod {
}
}
#[derive(Debug)]
pub struct PusTmAsVec {
pub source_id: ComponentId,
pub packet: Vec<u8>,
}
pub type MpscTmAsVecSender = mpsc::Sender<PacketAsVec>;
pub type MpscTmAsVecSender = mpsc::Sender<PusTmAsVec>;
impl EcssTmSenderCore for MpscTmAsVecSender {
impl EcssTmSender for MpscTmAsVecSender {
fn send_tm(&self, source_id: ComponentId, tm: PusTmVariant) -> Result<(), EcssTmtcError> {
match tm {
PusTmVariant::InStore(addr) => return Err(EcssTmtcError::CantSendAddr(addr)),
PusTmVariant::Direct(tm) => self
.send(PusTmAsVec {
source_id,
.send(PacketAsVec {
sender_id: source_id,
packet: tm.to_vec()?,
})
.map_err(|e| EcssTmtcError::Send(e.into()))?,
@ -746,15 +736,15 @@ pub mod std_mod {
}
}
pub type MpscTmAsVecSenderBounded = mpsc::SyncSender<PusTmAsVec>;
pub type MpscTmAsVecSenderBounded = mpsc::SyncSender<PacketAsVec>;
impl EcssTmSenderCore for MpscTmAsVecSenderBounded {
impl EcssTmSender for MpscTmAsVecSenderBounded {
fn send_tm(&self, source_id: ComponentId, tm: PusTmVariant) -> Result<(), EcssTmtcError> {
match tm {
PusTmVariant::InStore(addr) => return Err(EcssTmtcError::CantSendAddr(addr)),
PusTmVariant::Direct(tm) => self
.send(PusTmAsVec {
source_id,
.send(PacketAsVec {
sender_id: source_id,
packet: tm.to_vec()?,
})
.map_err(|e| EcssTmtcError::Send(e.into()))?,
@ -763,47 +753,9 @@ pub mod std_mod {
}
}
#[derive(Clone)]
pub struct TmInSharedPoolSender<Sender: EcssTmSenderCore> {
shared_tm_store: SharedTmPool,
sender: Sender,
}
impl<Sender: EcssTmSenderCore> TmInSharedPoolSender<Sender> {
pub fn send_direct_tm(
&self,
source_id: ComponentId,
tm: PusTmCreator,
) -> Result<(), EcssTmtcError> {
let addr = self.shared_tm_store.add_pus_tm(&tm)?;
self.sender.send_tm(source_id, PusTmVariant::InStore(addr))
}
}
impl<Sender: EcssTmSenderCore> EcssTmSenderCore for TmInSharedPoolSender<Sender> {
fn send_tm(&self, source_id: ComponentId, tm: PusTmVariant) -> Result<(), EcssTmtcError> {
if let PusTmVariant::Direct(tm) = tm {
return self.send_direct_tm(source_id, tm);
}
self.sender.send_tm(source_id, tm)
}
}
impl<Sender: EcssTmSenderCore> TmInSharedPoolSender<Sender> {
pub fn new(shared_tm_store: SharedTmPool, sender: Sender) -> Self {
Self {
shared_tm_store,
sender,
}
}
}
pub type MpscTmInSharedPoolSender = TmInSharedPoolSender<mpsc::Sender<PusTmInPool>>;
pub type MpscTmInSharedPoolSenderBounded = TmInSharedPoolSender<mpsc::SyncSender<PusTmInPool>>;
pub type MpscTcReceiver = mpsc::Receiver<EcssTcAndToken>;
impl EcssTcReceiverCore for MpscTcReceiver {
impl EcssTcReceiver for MpscTcReceiver {
fn recv_tc(&self) -> Result<EcssTcAndToken, TryRecvTmtcError> {
self.try_recv().map_err(|e| match e {
TryRecvError::Empty => TryRecvTmtcError::Empty,
@ -819,16 +771,14 @@ pub mod std_mod {
use super::*;
use crossbeam_channel as cb;
pub type TmInSharedPoolSenderWithCrossbeam = TmInSharedPoolSender<cb::Sender<PusTmInPool>>;
impl From<cb::SendError<StoreAddr>> for EcssTmtcError {
fn from(_: cb::SendError<StoreAddr>) -> Self {
impl From<cb::SendError<PoolAddr>> for EcssTmtcError {
fn from(_: cb::SendError<PoolAddr>) -> Self {
Self::Send(GenericSendError::RxDisconnected)
}
}
impl From<cb::TrySendError<StoreAddr>> for EcssTmtcError {
fn from(value: cb::TrySendError<StoreAddr>) -> Self {
impl From<cb::TrySendError<PoolAddr>> for EcssTmtcError {
fn from(value: cb::TrySendError<PoolAddr>) -> Self {
match value {
cb::TrySendError::Full(_) => Self::Send(GenericSendError::QueueFull(None)),
cb::TrySendError::Disconnected(_) => {
@ -838,37 +788,31 @@ pub mod std_mod {
}
}
impl EcssTmSenderCore for cb::Sender<PusTmInPool> {
impl EcssTmSender for cb::Sender<PacketInPool> {
fn send_tm(
&self,
source_id: ComponentId,
sender_id: ComponentId,
tm: PusTmVariant,
) -> Result<(), EcssTmtcError> {
match tm {
PusTmVariant::InStore(addr) => self
.try_send(PusTmInPool {
source_id,
store_addr: addr,
})
.try_send(PacketInPool::new(sender_id, addr))
.map_err(|e| EcssTmtcError::Send(e.into()))?,
PusTmVariant::Direct(_) => return Err(EcssTmtcError::CantSendDirectTm),
};
Ok(())
}
}
impl EcssTmSenderCore for cb::Sender<PusTmAsVec> {
impl EcssTmSender for cb::Sender<PacketAsVec> {
fn send_tm(
&self,
source_id: ComponentId,
sender_id: ComponentId,
tm: PusTmVariant,
) -> Result<(), EcssTmtcError> {
match tm {
PusTmVariant::InStore(addr) => return Err(EcssTmtcError::CantSendAddr(addr)),
PusTmVariant::Direct(tm) => self
.send(PusTmAsVec {
source_id,
packet: tm.to_vec()?,
})
.send(PacketAsVec::new(sender_id, tm.to_vec()?))
.map_err(|e| EcssTmtcError::Send(e.into()))?,
};
Ok(())
@ -1010,6 +954,8 @@ pub mod std_mod {
fn tc_slice_raw(&self) -> &[u8];
fn sender_id(&self) -> Option<ComponentId>;
fn cache_and_convert(
&mut self,
possible_packet: &TcInMemory,
@ -1032,6 +978,7 @@ pub mod std_mod {
/// [SharedStaticMemoryPool].
#[derive(Default, Clone)]
pub struct EcssTcInVecConverter {
sender_id: Option<ComponentId>,
pub pus_tc_raw: Option<Vec<u8>>,
}
@ -1039,16 +986,21 @@ pub mod std_mod {
fn cache(&mut self, tc_in_memory: &TcInMemory) -> Result<(), PusTcFromMemError> {
self.pus_tc_raw = None;
match tc_in_memory {
super::TcInMemory::StoreAddr(_) => {
super::TcInMemory::Pool(_packet_in_pool) => {
return Err(PusTcFromMemError::InvalidFormat(tc_in_memory.clone()));
}
super::TcInMemory::Vec(vec) => {
self.pus_tc_raw = Some(vec.clone());
super::TcInMemory::Vec(packet_with_sender) => {
self.pus_tc_raw = Some(packet_with_sender.packet.clone());
self.sender_id = Some(packet_with_sender.sender_id);
}
};
Ok(())
}
fn sender_id(&self) -> Option<ComponentId> {
self.sender_id
}
fn tc_slice_raw(&self) -> &[u8] {
if self.pus_tc_raw.is_none() {
return &[];
@ -1062,6 +1014,7 @@ pub mod std_mod {
/// packets should be avoided. Please note that this structure is not able to convert TCs which
/// are stored as a `Vec<u8>`.
pub struct EcssTcInSharedStoreConverter {
sender_id: Option<ComponentId>,
shared_tc_store: SharedStaticMemoryPool,
pus_buf: Vec<u8>,
}
@ -1069,15 +1022,16 @@ pub mod std_mod {
impl EcssTcInSharedStoreConverter {
pub fn new(shared_tc_store: SharedStaticMemoryPool, max_expected_tc_size: usize) -> Self {
Self {
sender_id: None,
shared_tc_store,
pus_buf: alloc::vec![0; max_expected_tc_size],
}
}
pub fn copy_tc_to_buf(&mut self, addr: StoreAddr) -> Result<(), PusTcFromMemError> {
pub fn copy_tc_to_buf(&mut self, addr: PoolAddr) -> Result<(), PusTcFromMemError> {
// Keep locked section as short as possible.
let mut tc_pool = self.shared_tc_store.write().map_err(|_| {
PusTcFromMemError::EcssTmtc(EcssTmtcError::Store(StoreError::LockError))
PusTcFromMemError::EcssTmtc(EcssTmtcError::Store(PoolError::LockError))
})?;
let tc_size = tc_pool.len_of_data(&addr).map_err(EcssTmtcError::Store)?;
if tc_size > self.pus_buf.len() {
@ -1099,8 +1053,9 @@ pub mod std_mod {
impl EcssTcInMemConverter for EcssTcInSharedStoreConverter {
fn cache(&mut self, tc_in_memory: &TcInMemory) -> Result<(), PusTcFromMemError> {
match tc_in_memory {
super::TcInMemory::StoreAddr(addr) => {
self.copy_tc_to_buf(*addr)?;
super::TcInMemory::Pool(packet_in_pool) => {
self.copy_tc_to_buf(packet_in_pool.store_addr)?;
self.sender_id = Some(packet_in_pool.sender_id);
}
super::TcInMemory::Vec(_) => {
return Err(PusTcFromMemError::InvalidFormat(tc_in_memory.clone()));
@ -1112,11 +1067,15 @@ pub mod std_mod {
fn tc_slice_raw(&self) -> &[u8] {
self.pus_buf.as_ref()
}
fn sender_id(&self) -> Option<ComponentId> {
self.sender_id
}
}
pub struct PusServiceBase<
TcReceiver: EcssTcReceiverCore,
TmSender: EcssTmSenderCore,
TcReceiver: EcssTcReceiver,
TmSender: EcssTmSender,
VerificationReporter: VerificationReportingProvider,
> {
pub id: ComponentId,
@ -1135,8 +1094,8 @@ pub mod std_mod {
/// by using the [EcssTcInMemConverter] abstraction. This object provides some convenience
/// methods to make the generic parts of TC handling easier.
pub struct PusServiceHelper<
TcReceiver: EcssTcReceiverCore,
TmSender: EcssTmSenderCore,
TcReceiver: EcssTcReceiver,
TmSender: EcssTmSender,
TcInMemConverter: EcssTcInMemConverter,
VerificationReporter: VerificationReportingProvider,
> {
@ -1145,8 +1104,8 @@ pub mod std_mod {
}
impl<
TcReceiver: EcssTcReceiverCore,
TmSender: EcssTmSenderCore,
TcReceiver: EcssTcReceiver,
TmSender: EcssTmSender,
TcInMemConverter: EcssTcInMemConverter,
VerificationReporter: VerificationReportingProvider,
> PusServiceHelper<TcReceiver, TmSender, TcInMemConverter, VerificationReporter>
@ -1177,7 +1136,7 @@ pub mod std_mod {
&self.common.tm_sender
}
/// This function can be used to poll the internal [EcssTcReceiverCore] object for the next
/// This function can be used to poll the internal [EcssTcReceiver] object for the next
/// telecommand packet. It will return `Ok(None)` if there are not packets available.
/// In any other case, it will perform the acceptance of the ECSS TC packet using the
/// internal [VerificationReportingProvider] object. It will then return the telecommand
@ -1236,14 +1195,14 @@ pub mod std_mod {
pub type PusServiceHelperStaticWithMpsc<TcInMemConverter, VerificationReporter> =
PusServiceHelper<
MpscTcReceiver,
MpscTmInSharedPoolSender,
PacketSenderWithSharedPool,
TcInMemConverter,
VerificationReporter,
>;
pub type PusServiceHelperStaticWithBoundedMpsc<TcInMemConverter, VerificationReporter> =
PusServiceHelper<
MpscTcReceiver,
MpscTmInSharedPoolSenderBounded,
PacketSenderWithSharedPool,
TcInMemConverter,
VerificationReporter,
>;
@ -1313,7 +1272,7 @@ pub mod tests {
use crate::pool::{PoolProvider, SharedStaticMemoryPool, StaticMemoryPool, StaticPoolConfig};
use crate::pus::verification::{RequestId, VerificationReporter};
use crate::tmtc::tm_helper::SharedTmPool;
use crate::tmtc::{PacketAsVec, PacketInPool, PacketSenderWithSharedPool, SharedPacketPool};
use crate::ComponentId;
use super::test_util::{TEST_APID, TEST_COMPONENT_ID_0};
@ -1370,14 +1329,14 @@ pub mod tests {
pus_buf: RefCell<[u8; 2048]>,
tm_buf: [u8; 2048],
tc_pool: SharedStaticMemoryPool,
tm_pool: SharedTmPool,
tm_pool: SharedPacketPool,
tc_sender: mpsc::SyncSender<EcssTcAndToken>,
tm_receiver: mpsc::Receiver<PusTmInPool>,
tm_receiver: mpsc::Receiver<PacketInPool>,
}
pub type PusServiceHelperStatic = PusServiceHelper<
MpscTcReceiver,
MpscTmInSharedPoolSenderBounded,
PacketSenderWithSharedPool,
EcssTcInSharedStoreConverter,
VerificationReporter,
>;
@ -1392,14 +1351,16 @@ pub mod tests {
let tc_pool = StaticMemoryPool::new(pool_cfg.clone());
let tm_pool = StaticMemoryPool::new(pool_cfg);
let shared_tc_pool = SharedStaticMemoryPool::new(RwLock::new(tc_pool));
let shared_tm_pool = SharedTmPool::new(tm_pool);
let shared_tm_pool = SharedStaticMemoryPool::new(RwLock::new(tm_pool));
let shared_tm_pool_wrapper = SharedPacketPool::new(&shared_tm_pool);
let (test_srv_tc_tx, test_srv_tc_rx) = mpsc::sync_channel(10);
let (tm_tx, tm_rx) = mpsc::sync_channel(10);
let verif_cfg = VerificationReporterCfg::new(TEST_APID, 1, 2, 8).unwrap();
let verification_handler =
VerificationReporter::new(TEST_COMPONENT_ID_0.id(), &verif_cfg);
let test_srv_tm_sender = TmInSharedPoolSender::new(shared_tm_pool.clone(), tm_tx);
let test_srv_tm_sender =
PacketSenderWithSharedPool::new(tm_tx, shared_tm_pool_wrapper.clone());
let in_store_converter =
EcssTcInSharedStoreConverter::new(shared_tc_pool.clone(), 2048);
(
@ -1407,7 +1368,7 @@ pub mod tests {
pus_buf: RefCell::new([0; 2048]),
tm_buf: [0; 2048],
tc_pool: shared_tc_pool,
tm_pool: shared_tm_pool,
tm_pool: shared_tm_pool_wrapper,
tc_sender: test_srv_tc_tx,
tm_receiver: tm_rx,
},
@ -1420,7 +1381,12 @@ pub mod tests {
),
)
}
pub fn send_tc(&self, token: &VerificationToken<TcStateAccepted>, tc: &PusTcCreator) {
pub fn send_tc(
&self,
sender_id: ComponentId,
token: &VerificationToken<TcStateAccepted>,
tc: &PusTcCreator,
) {
let mut mut_buf = self.pus_buf.borrow_mut();
let tc_size = tc.write_to_bytes(mut_buf.as_mut_slice()).unwrap();
let mut tc_pool = self.tc_pool.write().unwrap();
@ -1428,7 +1394,10 @@ pub mod tests {
drop(tc_pool);
// Send accepted TC to test service handler.
self.tc_sender
.send(EcssTcAndToken::new(addr, *token))
.send(EcssTcAndToken::new(
PacketInPool::new(sender_id, addr),
*token,
))
.expect("sending tc failed");
}
@ -1469,7 +1438,7 @@ pub mod tests {
pub struct PusServiceHandlerWithVecCommon {
current_tm: Option<Vec<u8>>,
tc_sender: mpsc::Sender<EcssTcAndToken>,
tm_receiver: mpsc::Receiver<PusTmAsVec>,
tm_receiver: mpsc::Receiver<PacketAsVec>,
}
pub type PusServiceHelperDynamic = PusServiceHelper<
MpscTcReceiver,
@ -1542,11 +1511,19 @@ pub mod tests {
}
impl PusServiceHandlerWithVecCommon {
pub fn send_tc(&self, token: &VerificationToken<TcStateAccepted>, tc: &PusTcCreator) {
pub fn send_tc(
&self,
sender_id: ComponentId,
token: &VerificationToken<TcStateAccepted>,
tc: &PusTcCreator,
) {
// Send accepted TC to test service handler.
self.tc_sender
.send(EcssTcAndToken::new(
TcInMemory::Vec(tc.to_vec().expect("pus tc conversion to vec failed")),
TcInMemory::Vec(PacketAsVec::new(
sender_id,
tc.to_vec().expect("pus tc conversion to vec failed"),
)),
*token,
))
.expect("sending tc failed");

59
satrs/src/pus/scheduler.rs
View File

@ -14,7 +14,7 @@ use spacepackets::{ByteConversionError, CcsdsPacket};
#[cfg(feature = "std")]
use std::error::Error;
use crate::pool::{PoolProvider, StoreError};
use crate::pool::{PoolError, PoolProvider};
#[cfg(feature = "alloc")]
pub use alloc_mod::*;
@ -151,7 +151,7 @@ pub enum ScheduleError {
},
/// Nested time-tagged commands are not allowed.
NestedScheduledTc,
StoreError(StoreError),
StoreError(PoolError),
TcDataEmpty,
TimestampError(TimestampError),
WrongSubservice(u8),
@ -206,8 +206,8 @@ impl From<PusError> for ScheduleError {
}
}
impl From<StoreError> for ScheduleError {
fn from(e: StoreError) -> Self {
impl From<PoolError> for ScheduleError {
fn from(e: PoolError) -> Self {
Self::StoreError(e)
}
}
@ -240,7 +240,7 @@ impl Error for ScheduleError {
pub trait PusSchedulerProvider {
type TimeProvider: CcsdsTimeProvider + TimeReader;
fn reset(&mut self, store: &mut (impl PoolProvider + ?Sized)) -> Result<(), StoreError>;
fn reset(&mut self, store: &mut (impl PoolProvider + ?Sized)) -> Result<(), PoolError>;
fn is_enabled(&self) -> bool;
@ -345,12 +345,9 @@ pub mod alloc_mod {
},
vec::Vec,
};
use spacepackets::time::{
cds::{self, DaysLen24Bits},
UnixTime,
};
use spacepackets::time::cds::{self, DaysLen24Bits};
use crate::pool::StoreAddr;
use crate::pool::PoolAddr;
use super::*;
@ -371,8 +368,8 @@ pub mod alloc_mod {
}
enum DeletionResult {
WithoutStoreDeletion(Option<StoreAddr>),
WithStoreDeletion(Result<bool, StoreError>),
WithoutStoreDeletion(Option<PoolAddr>),
WithStoreDeletion(Result<bool, PoolError>),
}
/// This is the core data structure for scheduling PUS telecommands with [alloc] support.
@ -528,7 +525,7 @@ pub mod alloc_mod {
&mut self,
time_window: TimeWindow<TimeProvider>,
pool: &mut (impl PoolProvider + ?Sized),
) -> Result<u64, (u64, StoreError)> {
) -> Result<u64, (u64, PoolError)> {
let range = self.retrieve_by_time_filter(time_window);
let mut del_packets = 0;
let mut res_if_fails = None;
@ -558,7 +555,7 @@ pub mod alloc_mod {
pub fn delete_all(
&mut self,
pool: &mut (impl PoolProvider + ?Sized),
) -> Result<u64, (u64, StoreError)> {
) -> Result<u64, (u64, PoolError)> {
self.delete_by_time_filter(TimeWindow::<cds::CdsTime>::new_select_all(), pool)
}
@ -604,7 +601,7 @@ pub mod alloc_mod {
/// Please note that this function will stop on the first telecommand with a request ID match.
/// In case of duplicate IDs (which should generally not happen), this function needs to be
/// called repeatedly.
pub fn delete_by_request_id(&mut self, req_id: &RequestId) -> Option<StoreAddr> {
pub fn delete_by_request_id(&mut self, req_id: &RequestId) -> Option<PoolAddr> {
if let DeletionResult::WithoutStoreDeletion(v) =
self.delete_by_request_id_internal_without_store_deletion(req_id)
{
@ -618,7 +615,7 @@ pub mod alloc_mod {
&mut self,
req_id: &RequestId,
pool: &mut (impl PoolProvider + ?Sized),
) -> Result<bool, StoreError> {
) -> Result<bool, PoolError> {
if let DeletionResult::WithStoreDeletion(v) =
self.delete_by_request_id_internal_with_store_deletion(req_id, pool)
{
@ -696,7 +693,7 @@ pub mod alloc_mod {
releaser: R,
tc_store: &mut (impl PoolProvider + ?Sized),
tc_buf: &mut [u8],
) -> Result<u64, (u64, StoreError)> {
) -> Result<u64, (u64, PoolError)> {
self.release_telecommands_internal(releaser, tc_store, Some(tc_buf))
}
@ -710,7 +707,7 @@ pub mod alloc_mod {
&mut self,
releaser: R,
tc_store: &mut (impl PoolProvider + ?Sized),
) -> Result<u64, (u64, StoreError)> {
) -> Result<u64, (u64, PoolError)> {
self.release_telecommands_internal(releaser, tc_store, None)
}
@ -719,7 +716,7 @@ pub mod alloc_mod {
mut releaser: R,
tc_store: &mut (impl PoolProvider + ?Sized),
mut tc_buf: Option<&mut [u8]>,
) -> Result<u64, (u64, StoreError)> {
) -> Result<u64, (u64, PoolError)> {
let tcs_to_release = self.telecommands_to_release();
let mut released_tcs = 0;
let mut store_error = Ok(());
@ -765,7 +762,7 @@ pub mod alloc_mod {
mut releaser: R,
tc_store: &(impl PoolProvider + ?Sized),
tc_buf: &mut [u8],
) -> Result<alloc::vec::Vec<TcInfo>, (alloc::vec::Vec<TcInfo>, StoreError)> {
) -> Result<alloc::vec::Vec<TcInfo>, (alloc::vec::Vec<TcInfo>, PoolError)> {
let tcs_to_release = self.telecommands_to_release();
let mut released_tcs = alloc::vec::Vec::new();
for tc in tcs_to_release {
@ -796,7 +793,7 @@ pub mod alloc_mod {
/// The holding store for the telecommands needs to be passed so all the stored telecommands
/// can be deleted to avoid a memory leak. If at last one deletion operation fails, the error
/// will be returned but the method will still try to delete all the commands in the schedule.
fn reset(&mut self, store: &mut (impl PoolProvider + ?Sized)) -> Result<(), StoreError> {
fn reset(&mut self, store: &mut (impl PoolProvider + ?Sized)) -> Result<(), PoolError> {
self.enabled = false;
let mut deletion_ok = Ok(());
for tc_lists in &mut self.tc_map {
@ -854,7 +851,7 @@ pub mod alloc_mod {
mod tests {
use super::*;
use crate::pool::{
PoolProvider, StaticMemoryPool, StaticPoolAddr, StaticPoolConfig, StoreAddr, StoreError,
PoolAddr, PoolError, PoolProvider, StaticMemoryPool, StaticPoolAddr, StaticPoolConfig,
};
use alloc::collections::btree_map::Range;
use spacepackets::ecss::tc::{PusTcCreator, PusTcReader, PusTcSecondaryHeader};
@ -993,7 +990,7 @@ mod tests {
.insert_unwrapped_and_stored_tc(
UnixTime::new_only_secs(100),
TcInfo::new(
StoreAddr::from(StaticPoolAddr {
PoolAddr::from(StaticPoolAddr {
pool_idx: 0,
packet_idx: 1,
}),
@ -1010,7 +1007,7 @@ mod tests {
.insert_unwrapped_and_stored_tc(
UnixTime::new_only_secs(100),
TcInfo::new(
StoreAddr::from(StaticPoolAddr {
PoolAddr::from(StaticPoolAddr {
pool_idx: 0,
packet_idx: 2,
}),
@ -1054,8 +1051,8 @@ mod tests {
fn common_check(
enabled: bool,
store_addr: &StoreAddr,
expected_store_addrs: Vec<StoreAddr>,
store_addr: &PoolAddr,
expected_store_addrs: Vec<PoolAddr>,
counter: &mut usize,
) {
assert!(enabled);
@ -1064,8 +1061,8 @@ mod tests {
}
fn common_check_disabled(
enabled: bool,
store_addr: &StoreAddr,
expected_store_addrs: Vec<StoreAddr>,
store_addr: &PoolAddr,
expected_store_addrs: Vec<PoolAddr>,
counter: &mut usize,
) {
assert!(!enabled);
@ -1519,7 +1516,7 @@ mod tests {
// TC could not even be read..
assert_eq!(err.0, 0);
match err.1 {
StoreError::DataDoesNotExist(addr) => {
PoolError::DataDoesNotExist(addr) => {
assert_eq!(tc_info_0.addr(), addr);
}
_ => panic!("unexpected error {}", err.1),
@ -1542,7 +1539,7 @@ mod tests {
assert!(reset_res.is_err());
let err = reset_res.unwrap_err();
match err {
StoreError::DataDoesNotExist(addr) => {
PoolError::DataDoesNotExist(addr) => {
assert_eq!(addr, tc_info_0.addr());
}
_ => panic!("unexpected error {err}"),
@ -1644,7 +1641,7 @@ mod tests {
let err = insert_res.unwrap_err();
match err {
ScheduleError::StoreError(e) => match e {
StoreError::StoreFull(_) => {}
PoolError::StoreFull(_) => {}
_ => panic!("unexpected store error {e}"),
},
_ => panic!("unexpected error {err}"),

38
satrs/src/pus/scheduler_srv.rs
View File

@ -1,12 +1,12 @@
use super::scheduler::PusSchedulerProvider;
use super::verification::{VerificationReporter, VerificationReportingProvider};
use super::{
EcssTcInMemConverter, EcssTcInSharedStoreConverter, EcssTcInVecConverter, EcssTcReceiverCore,
EcssTmSenderCore, MpscTcReceiver, MpscTmInSharedPoolSender, MpscTmInSharedPoolSenderBounded,
PusServiceHelper, PusTmAsVec,
EcssTcInMemConverter, EcssTcInSharedStoreConverter, EcssTcInVecConverter, EcssTcReceiver,
EcssTmSender, MpscTcReceiver, PusServiceHelper,
};
use crate::pool::PoolProvider;
use crate::pus::{PusPacketHandlerResult, PusPacketHandlingError};
use crate::tmtc::{PacketAsVec, PacketSenderWithSharedPool};
use alloc::string::ToString;
use spacepackets::ecss::{scheduling, PusPacket};
use spacepackets::time::cds::CdsTime;
@ -21,8 +21,8 @@ use std::sync::mpsc;
/// [Self::scheduler] and [Self::scheduler_mut] function and then use the scheduler API to release
/// telecommands when applicable.
pub struct PusSchedServiceHandler<
TcReceiver: EcssTcReceiverCore,
TmSender: EcssTmSenderCore,
TcReceiver: EcssTcReceiver,
TmSender: EcssTmSender,
TcInMemConverter: EcssTcInMemConverter,
VerificationReporter: VerificationReportingProvider,
PusScheduler: PusSchedulerProvider,
@ -33,8 +33,8 @@ pub struct PusSchedServiceHandler<
}
impl<
TcReceiver: EcssTcReceiverCore,
TmSender: EcssTmSenderCore,
TcReceiver: EcssTcReceiver,
TmSender: EcssTmSender,
TcInMemConverter: EcssTcInMemConverter,
VerificationReporter: VerificationReportingProvider,
Scheduler: PusSchedulerProvider,
@ -212,7 +212,7 @@ impl<
/// mpsc queues.
pub type PusService11SchedHandlerDynWithMpsc<PusScheduler> = PusSchedServiceHandler<
MpscTcReceiver,
mpsc::Sender<PusTmAsVec>,
mpsc::Sender<PacketAsVec>,
EcssTcInVecConverter,
VerificationReporter,
PusScheduler,
@ -221,7 +221,7 @@ pub type PusService11SchedHandlerDynWithMpsc<PusScheduler> = PusSchedServiceHand
/// queues.
pub type PusService11SchedHandlerDynWithBoundedMpsc<PusScheduler> = PusSchedServiceHandler<
MpscTcReceiver,
mpsc::SyncSender<PusTmAsVec>,
mpsc::SyncSender<PacketAsVec>,
EcssTcInVecConverter,
VerificationReporter,
PusScheduler,
@ -230,7 +230,7 @@ pub type PusService11SchedHandlerDynWithBoundedMpsc<PusScheduler> = PusSchedServ
/// mpsc queues.
pub type PusService11SchedHandlerStaticWithMpsc<PusScheduler> = PusSchedServiceHandler<
MpscTcReceiver,
MpscTmInSharedPoolSender,
PacketSenderWithSharedPool,
EcssTcInSharedStoreConverter,
VerificationReporter,
PusScheduler,
@ -239,7 +239,7 @@ pub type PusService11SchedHandlerStaticWithMpsc<PusScheduler> = PusSchedServiceH
/// mpsc queues.
pub type PusService11SchedHandlerStaticWithBoundedMpsc<PusScheduler> = PusSchedServiceHandler<
MpscTcReceiver,
MpscTmInSharedPoolSenderBounded,
PacketSenderWithSharedPool,
EcssTcInSharedStoreConverter,
VerificationReporter,
PusScheduler,
@ -257,10 +257,8 @@ mod tests {
verification::{RequestId, TcStateAccepted, VerificationToken},
EcssTcInSharedStoreConverter,
};
use crate::pus::{
MpscTcReceiver, MpscTmInSharedPoolSenderBounded, PusPacketHandlerResult,
PusPacketHandlingError,
};
use crate::pus::{MpscTcReceiver, PusPacketHandlerResult, PusPacketHandlingError};
use crate::tmtc::PacketSenderWithSharedPool;
use alloc::collections::VecDeque;
use delegate::delegate;
use spacepackets::ecss::scheduling::Subservice;
@ -279,7 +277,7 @@ mod tests {
common: PusServiceHandlerWithSharedStoreCommon,
handler: PusSchedServiceHandler<
MpscTcReceiver,
MpscTmInSharedPoolSenderBounded,
PacketSenderWithSharedPool,
EcssTcInSharedStoreConverter,
VerificationReporter,
TestScheduler,
@ -317,9 +315,13 @@ mod tests {
.expect("acceptance success failure")
}
fn send_tc(&self, token: &VerificationToken<TcStateAccepted>, tc: &PusTcCreator) {
self.common
.send_tc(self.handler.service_helper.id(), token, tc);
}
delegate! {
to self.common {
fn send_tc(&self, token: &VerificationToken<TcStateAccepted>, tc: &PusTcCreator);
fn read_next_tm(&mut self) -> PusTmReader<'_>;
fn check_no_tm_available(&self) -> bool;
fn check_next_verification_tm(&self, subservice: u8, expected_request_id: RequestId);
@ -342,7 +344,7 @@ mod tests {
fn reset(
&mut self,
_store: &mut (impl crate::pool::PoolProvider + ?Sized),
) -> Result<(), crate::pool::StoreError> {
) -> Result<(), crate::pool::PoolError> {
self.reset_count += 1;
Ok(())
}

49
satrs/src/pus/test.rs
View File

@ -1,7 +1,7 @@
use crate::pus::{
PartialPusHandlingError, PusPacketHandlerResult, PusPacketHandlingError, PusTmAsVec,
PusTmInPool, PusTmVariant,
PartialPusHandlingError, PusPacketHandlerResult, PusPacketHandlingError, PusTmVariant,
};
use crate::tmtc::{PacketAsVec, PacketSenderWithSharedPool};
use spacepackets::ecss::tm::{PusTmCreator, PusTmSecondaryHeader};
use spacepackets::ecss::PusPacket;
use spacepackets::SpHeader;
@ -9,16 +9,15 @@ use std::sync::mpsc;
use super::verification::{VerificationReporter, VerificationReportingProvider};
use super::{
EcssTcInMemConverter, EcssTcInSharedStoreConverter, EcssTcInVecConverter, EcssTcReceiverCore,
EcssTmSenderCore, GenericConversionError, MpscTcReceiver, MpscTmInSharedPoolSender,
MpscTmInSharedPoolSenderBounded, PusServiceHelper,
EcssTcInMemConverter, EcssTcInSharedStoreConverter, EcssTcInVecConverter, EcssTcReceiver,
EcssTmSender, GenericConversionError, MpscTcReceiver, PusServiceHelper,
};
/// This is a helper class for [std] environments to handle generic PUS 17 (test service) packets.
/// This handler only processes ping requests and generates a ping reply for them accordingly.
pub struct PusService17TestHandler<
TcReceiver: EcssTcReceiverCore,
TmSender: EcssTmSenderCore,
TcReceiver: EcssTcReceiver,
TmSender: EcssTmSender,
TcInMemConverter: EcssTcInMemConverter,
VerificationReporter: VerificationReportingProvider,
> {
@ -27,8 +26,8 @@ pub struct PusService17TestHandler<
}
impl<
TcReceiver: EcssTcReceiverCore,
TmSender: EcssTmSenderCore,
TcReceiver: EcssTcReceiver,
TmSender: EcssTmSender,
TcInMemConverter: EcssTcInMemConverter,
VerificationReporter: VerificationReportingProvider,
> PusService17TestHandler<TcReceiver, TmSender, TcInMemConverter, VerificationReporter>
@ -127,7 +126,7 @@ impl<
/// mpsc queues.
pub type PusService17TestHandlerDynWithMpsc = PusService17TestHandler<
MpscTcReceiver,
mpsc::Sender<PusTmAsVec>,
mpsc::Sender<PacketAsVec>,
EcssTcInVecConverter,
VerificationReporter,
>;
@ -135,23 +134,15 @@ pub type PusService17TestHandlerDynWithMpsc = PusService17TestHandler<
/// queues.
pub type PusService17TestHandlerDynWithBoundedMpsc = PusService17TestHandler<
MpscTcReceiver,
mpsc::SyncSender<PusTmInPool>,
mpsc::SyncSender<PacketAsVec>,
EcssTcInVecConverter,
VerificationReporter,
>;
/// Helper type definition for a PUS 17 handler with a shared store TMTC memory backend and regular
/// mpsc queues.
pub type PusService17TestHandlerStaticWithMpsc = PusService17TestHandler<
MpscTcReceiver,
MpscTmInSharedPoolSender,
EcssTcInSharedStoreConverter,
VerificationReporter,
>;
/// Helper type definition for a PUS 17 handler with a shared store TMTC memory backend and bounded
/// mpsc queues.
pub type PusService17TestHandlerStaticWithBoundedMpsc = PusService17TestHandler<
MpscTcReceiver,
MpscTmInSharedPoolSenderBounded,
PacketSenderWithSharedPool,
EcssTcInSharedStoreConverter,
VerificationReporter,
>;
@ -168,9 +159,9 @@ mod tests {
use crate::pus::verification::{TcStateAccepted, VerificationToken};
use crate::pus::{
EcssTcInSharedStoreConverter, EcssTcInVecConverter, GenericConversionError, MpscTcReceiver,
MpscTmAsVecSender, MpscTmInSharedPoolSenderBounded, PusPacketHandlerResult,
PusPacketHandlingError,
MpscTmAsVecSender, PusPacketHandlerResult, PusPacketHandlingError,
};
use crate::tmtc::PacketSenderWithSharedPool;
use crate::ComponentId;
use delegate::delegate;
use spacepackets::ecss::tc::{PusTcCreator, PusTcSecondaryHeader};
@ -185,7 +176,7 @@ mod tests {
common: PusServiceHandlerWithSharedStoreCommon,
handler: PusService17TestHandler<
MpscTcReceiver,
MpscTmInSharedPoolSenderBounded,
PacketSenderWithSharedPool,
EcssTcInSharedStoreConverter,
VerificationReporter,
>,
@ -212,10 +203,14 @@ mod tests {
.expect("acceptance success failure")
}
fn send_tc(&self, token: &VerificationToken<TcStateAccepted>, tc: &PusTcCreator) {
self.common
.send_tc(self.handler.service_helper.id(), token, tc);
}
delegate! {
to self.common {
fn read_next_tm(&mut self) -> PusTmReader<'_>;
fn send_tc(&self, token: &VerificationToken<TcStateAccepted>, tc: &PusTcCreator);
fn check_no_tm_available(&self) -> bool;
fn check_next_verification_tm(
&self,
@ -263,9 +258,13 @@ mod tests {
.expect("acceptance success failure")
}
fn send_tc(&self, token: &VerificationToken<TcStateAccepted>, tc: &PusTcCreator) {
self.common
.send_tc(self.handler.service_helper.id(), token, tc);
}
delegate! {
to self.common {
fn send_tc(&self, token: &VerificationToken<TcStateAccepted>, tc: &PusTcCreator);
fn read_next_tm(&mut self) -> PusTmReader<'_>;
fn check_no_tm_available(&self) -> bool;
fn check_next_verification_tm(

83
satrs/src/pus/verification.rs
View File

@ -19,10 +19,9 @@
//! use satrs::pus::verification::{
//! VerificationReportingProvider, VerificationReporterCfg, VerificationReporter
//! };
//! use satrs::tmtc::{SharedStaticMemoryPool, PacketSenderWithSharedPool};
//! use satrs::seq_count::SeqCountProviderSimple;
//! use satrs::request::UniqueApidTargetId;
//! use satrs::pus::MpscTmInSharedPoolSender;
//! use satrs::tmtc::tm_helper::SharedTmPool;
//! use spacepackets::ecss::PusPacket;
//! use spacepackets::SpHeader;
//! use spacepackets::ecss::tc::{PusTcCreator, PusTcSecondaryHeader};
@ -34,10 +33,9 @@
//!
//! let pool_cfg = StaticPoolConfig::new(vec![(10, 32), (10, 64), (10, 128), (10, 1024)], false);
//! let tm_pool = StaticMemoryPool::new(pool_cfg.clone());
//! let shared_tm_store = SharedTmPool::new(tm_pool);
//! let tm_store = shared_tm_store.clone_backing_pool();
//! let (verif_tx, verif_rx) = mpsc::channel();
//! let sender = MpscTmInSharedPoolSender::new(shared_tm_store, verif_tx);
//! let shared_tm_pool = SharedStaticMemoryPool::new(RwLock::new(tm_pool));
//! let (verif_tx, verif_rx) = mpsc::sync_channel(10);
//! let sender = PacketSenderWithSharedPool::new_with_shared_packet_pool(verif_tx, &shared_tm_pool);
//! let cfg = VerificationReporterCfg::new(TEST_APID, 1, 2, 8).unwrap();
//! let mut reporter = VerificationReporter::new(TEST_COMPONENT_ID.id(), &cfg);
//!
@ -61,7 +59,7 @@
//! let tm_in_store = verif_rx.recv_timeout(Duration::from_millis(10)).unwrap();
//! let tm_len;
//! {
//! let mut rg = tm_store.write().expect("Error locking shared pool");
//! let mut rg = shared_tm_pool.write().expect("Error locking shared pool");
//! let store_guard = rg.read_with_guard(tm_in_store.store_addr);
//! tm_len = store_guard.read(&mut tm_buf).expect("Error reading TM slice");
//! }
@ -81,7 +79,7 @@
//! The [integration test](https://egit.irs.uni-stuttgart.de/rust/fsrc-launchpad/src/branch/main/fsrc-core/tests/verification_test.rs)
//! for the verification module contains examples how this module could be used in a more complex
//! context involving multiple threads
use crate::pus::{source_buffer_large_enough, EcssTmSenderCore, EcssTmtcError};
use crate::pus::{source_buffer_large_enough, EcssTmSender, EcssTmtcError};
use core::fmt::{Debug, Display, Formatter};
use core::hash::{Hash, Hasher};
use core::marker::PhantomData;
@ -425,35 +423,35 @@ pub trait VerificationReportingProvider {
fn acceptance_success(
&self,
sender: &(impl EcssTmSenderCore + ?Sized),
sender: &(impl EcssTmSender + ?Sized),
token: VerificationToken<TcStateNone>,
time_stamp: &[u8],
) -> Result<VerificationToken<TcStateAccepted>, EcssTmtcError>;
fn acceptance_failure(
&self,
sender: &(impl EcssTmSenderCore + ?Sized),
sender: &(impl EcssTmSender + ?Sized),
token: VerificationToken<TcStateNone>,
params: FailParams,
) -> Result<(), EcssTmtcError>;
fn start_success(
&self,
sender: &(impl EcssTmSenderCore + ?Sized),
sender: &(impl EcssTmSender + ?Sized),
token: VerificationToken<TcStateAccepted>,
time_stamp: &[u8],
) -> Result<VerificationToken<TcStateStarted>, EcssTmtcError>;
fn start_failure(
&self,
sender: &(impl EcssTmSenderCore + ?Sized),
sender: &(impl EcssTmSender + ?Sized),
token: VerificationToken<TcStateAccepted>,
params: FailParams,
) -> Result<(), EcssTmtcError>;
fn step_success(
&self,
sender: &(impl EcssTmSenderCore + ?Sized),
sender: &(impl EcssTmSender + ?Sized),
token: &VerificationToken<TcStateStarted>,
time_stamp: &[u8],
step: impl EcssEnumeration,
@ -461,21 +459,21 @@ pub trait VerificationReportingProvider {
fn step_failure(
&self,
sender: &(impl EcssTmSenderCore + ?Sized),
sender: &(impl EcssTmSender + ?Sized),
token: VerificationToken<TcStateStarted>,
params: FailParamsWithStep,
) -> Result<(), EcssTmtcError>;
fn completion_success<TcState: WasAtLeastAccepted + Copy>(
&self,
sender: &(impl EcssTmSenderCore + ?Sized),
sender: &(impl EcssTmSender + ?Sized),
token: VerificationToken<TcState>,
time_stamp: &[u8],
) -> Result<(), EcssTmtcError>;
fn completion_failure<TcState: WasAtLeastAccepted + Copy>(
&self,
sender: &(impl EcssTmSenderCore + ?Sized),
sender: &(impl EcssTmSender + ?Sized),
token: VerificationToken<TcState>,
params: FailParams,
) -> Result<(), EcssTmtcError>;
@ -886,7 +884,7 @@ pub mod alloc_mod {
use spacepackets::ecss::PusError;
use super::*;
use crate::{pus::PusTmVariant, ComponentId};
use crate::pus::PusTmVariant;
use core::cell::RefCell;
#[derive(Clone)]
@ -1027,7 +1025,7 @@ pub mod alloc_mod {
/// Package and send a PUS TM\[1, 1\] packet, see 8.1.2.1 of the PUS standard
fn acceptance_success(
&self,
sender: &(impl EcssTmSenderCore + ?Sized),
sender: &(impl EcssTmSender + ?Sized),
token: VerificationToken<TcStateNone>,
time_stamp: &[u8],
) -> Result<VerificationToken<TcStateAccepted>, EcssTmtcError> {
@ -1044,7 +1042,7 @@ pub mod alloc_mod {
/// Package and send a PUS TM\[1, 2\] packet, see 8.1.2.2 of the PUS standard
fn acceptance_failure(
&self,
sender: &(impl EcssTmSenderCore + ?Sized),
sender: &(impl EcssTmSender + ?Sized),
token: VerificationToken<TcStateNone>,
params: FailParams,
) -> Result<(), EcssTmtcError> {
@ -1063,7 +1061,7 @@ pub mod alloc_mod {
/// Requires a token previously acquired by calling [Self::acceptance_success].
fn start_success(
&self,
sender: &(impl EcssTmSenderCore + ?Sized),
sender: &(impl EcssTmSender + ?Sized),
token: VerificationToken<TcStateAccepted>,
time_stamp: &[u8],
) -> Result<VerificationToken<TcStateStarted>, EcssTmtcError> {
@ -1083,7 +1081,7 @@ pub mod alloc_mod {
/// the token because verification handling is done.
fn start_failure(
&self,
sender: &(impl EcssTmSenderCore + ?Sized),
sender: &(impl EcssTmSender + ?Sized),
token: VerificationToken<TcStateAccepted>,
params: FailParams,
) -> Result<(), EcssTmtcError> {
@ -1102,7 +1100,7 @@ pub mod alloc_mod {
/// Requires a token previously acquired by calling [Self::start_success].
fn step_success(
&self,
sender: &(impl EcssTmSenderCore + ?Sized),
sender: &(impl EcssTmSender + ?Sized),
token: &VerificationToken<TcStateStarted>,
time_stamp: &[u8],
step: impl EcssEnumeration,
@ -1123,7 +1121,7 @@ pub mod alloc_mod {
/// token because verification handling is done.
fn step_failure(
&self,
sender: &(impl EcssTmSenderCore + ?Sized),
sender: &(impl EcssTmSender + ?Sized),
token: VerificationToken<TcStateStarted>,
params: FailParamsWithStep,
) -> Result<(), EcssTmtcError> {
@ -1144,7 +1142,7 @@ pub mod alloc_mod {
fn completion_success<TcState: WasAtLeastAccepted + Copy>(
&self,
// sender_id: ComponentId,
sender: &(impl EcssTmSenderCore + ?Sized),
sender: &(impl EcssTmSender + ?Sized),
token: VerificationToken<TcState>,
time_stamp: &[u8],
) -> Result<(), EcssTmtcError> {
@ -1164,7 +1162,7 @@ pub mod alloc_mod {
/// token because verification handling is done.
fn completion_failure<TcState: WasAtLeastAccepted + Copy>(
&self,
sender: &(impl EcssTmSenderCore + ?Sized),
sender: &(impl EcssTmSender + ?Sized),
token: VerificationToken<TcState>,
params: FailParams,
) -> Result<(), EcssTmtcError> {
@ -1269,7 +1267,7 @@ pub mod test_util {
fn acceptance_success(
&self,
_sender: &(impl EcssTmSenderCore + ?Sized),
_sender: &(impl EcssTmSender + ?Sized),
token: VerificationToken<TcStateNone>,
time_stamp: &[u8],
) -> Result<VerificationToken<TcStateAccepted>, EcssTmtcError> {
@ -1288,7 +1286,7 @@ pub mod test_util {
fn acceptance_failure(
&self,
_sender: &(impl EcssTmSenderCore + ?Sized),
_sender: &(impl EcssTmSender + ?Sized),
token: VerificationToken<TcStateNone>,
params: FailParams,
) -> Result<(), EcssTmtcError> {
@ -1306,7 +1304,7 @@ pub mod test_util {
fn start_success(
&self,
_sender: &(impl EcssTmSenderCore + ?Sized),
_sender: &(impl EcssTmSender + ?Sized),
token: VerificationToken<TcStateAccepted>,
time_stamp: &[u8],
) -> Result<VerificationToken<TcStateStarted>, EcssTmtcError> {
@ -1325,7 +1323,7 @@ pub mod test_util {
fn start_failure(
&self,
_sender: &(impl EcssTmSenderCore + ?Sized),
_sender: &(impl EcssTmSender + ?Sized),
token: VerificationToken<super::TcStateAccepted>,
params: FailParams,
) -> Result<(), EcssTmtcError> {
@ -1343,7 +1341,7 @@ pub mod test_util {
fn step_success(
&self,
_sender: &(impl EcssTmSenderCore + ?Sized),
_sender: &(impl EcssTmSender + ?Sized),
token: &VerificationToken<TcStateStarted>,
time_stamp: &[u8],
step: impl EcssEnumeration,
@ -1363,7 +1361,7 @@ pub mod test_util {
fn step_failure(
&self,
_sender: &(impl EcssTmSenderCore + ?Sized),
_sender: &(impl EcssTmSender + ?Sized),
token: VerificationToken<TcStateStarted>,
params: FailParamsWithStep,
) -> Result<(), EcssTmtcError> {
@ -1381,7 +1379,7 @@ pub mod test_util {
fn completion_success<TcState: super::WasAtLeastAccepted + Copy>(
&self,
_sender: &(impl EcssTmSenderCore + ?Sized),
_sender: &(impl EcssTmSender + ?Sized),
token: VerificationToken<TcState>,
time_stamp: &[u8],
) -> Result<(), EcssTmtcError> {
@ -1397,7 +1395,7 @@ pub mod test_util {
fn completion_failure<TcState: WasAtLeastAccepted + Copy>(
&self,
_sender: &(impl EcssTmSenderCore + ?Sized),
_sender: &(impl EcssTmSender + ?Sized),
token: VerificationToken<TcState>,
params: FailParams,
) -> Result<(), EcssTmtcError> {
@ -1636,17 +1634,17 @@ pub mod test_util {
#[cfg(test)]
pub mod tests {
use crate::pool::{StaticMemoryPool, StaticPoolConfig};
use crate::pool::{SharedStaticMemoryPool, StaticMemoryPool, StaticPoolConfig};
use crate::pus::test_util::{TEST_APID, TEST_COMPONENT_ID_0};
use crate::pus::tests::CommonTmInfo;
use crate::pus::verification::{
EcssTmSenderCore, EcssTmtcError, FailParams, FailParamsWithStep, RequestId, TcStateNone,
EcssTmSender, EcssTmtcError, FailParams, FailParamsWithStep, RequestId, TcStateNone,
VerificationReporter, VerificationReporterCfg, VerificationToken,
};
use crate::pus::{ChannelWithId, MpscTmInSharedPoolSender, PusTmVariant};
use crate::pus::{ChannelWithId, PusTmVariant};
use crate::request::MessageMetadata;
use crate::seq_count::{CcsdsSimpleSeqCountProvider, SequenceCountProviderCore};
use crate::tmtc::tm_helper::SharedTmPool;
use crate::tmtc::{PacketSenderWithSharedPool, SharedPacketPool};
use crate::ComponentId;
use alloc::format;
use spacepackets::ecss::tc::{PusTcCreator, PusTcReader, PusTcSecondaryHeader};
@ -1658,7 +1656,7 @@ pub mod tests {
use spacepackets::{ByteConversionError, SpHeader};
use std::cell::RefCell;
use std::collections::VecDeque;
use std::sync::mpsc;
use std::sync::{mpsc, RwLock};
use std::vec;
use std::vec::Vec;
@ -1694,7 +1692,7 @@ pub mod tests {
}
}
impl EcssTmSenderCore for TestSender {
impl EcssTmSender for TestSender {
fn send_tm(&self, sender_id: ComponentId, tm: PusTmVariant) -> Result<(), EcssTmtcError> {
match tm {
PusTmVariant::InStore(_) => {
@ -2128,9 +2126,10 @@ pub mod tests {
#[test]
fn test_mpsc_verif_send() {
let pool = StaticMemoryPool::new(StaticPoolConfig::new(vec![(8, 8)], false));
let shared_tm_store = SharedTmPool::new(pool);
let (tx, _) = mpsc::channel();
let mpsc_verif_sender = MpscTmInSharedPoolSender::new(shared_tm_store, tx);
let shared_tm_store =
SharedPacketPool::new(&SharedStaticMemoryPool::new(RwLock::new(pool)));
let (tx, _) = mpsc::sync_channel(10);
let mpsc_verif_sender = PacketSenderWithSharedPool::new(tx, shared_tm_store);
is_send(&mpsc_verif_sender);
}

4
satrs/src/request.rs
View File

@ -193,8 +193,6 @@ impl<MSG, R: MessageReceiver<MSG>> MessageReceiverWithId<MSG, R> {
#[cfg(feature = "alloc")]
pub mod alloc_mod {
use core::marker::PhantomData;
use crate::queue::GenericSendError;
use super::*;
@ -333,7 +331,7 @@ pub mod std_mod {
use super::*;
use std::sync::mpsc;
use crate::queue::{GenericReceiveError, GenericSendError, GenericTargetedMessagingError};
use crate::queue::{GenericReceiveError, GenericSendError};
impl<MSG: Send> MessageSender<MSG> for mpsc::Sender<GenericMessage<MSG>> {
fn send(&self, message: GenericMessage<MSG>) -> Result<(), GenericTargetedMessagingError> {

403
satrs/src/tmtc/ccsds_distrib.rs
View File

@ -1,403 +0,0 @@
//! CCSDS packet routing components.
//!
//! The routing components consist of two core components:
//! 1. [CcsdsDistributor] component which dispatches received packets to a user-provided handler
//! 2. [CcsdsPacketHandler] trait which should be implemented by the user-provided packet handler.
//!
//! The [CcsdsDistributor] implements the [ReceivesCcsdsTc] and [ReceivesTcCore] trait which allows to
//! pass raw or CCSDS packets to it. Upon receiving a packet, it performs the following steps:
//!
//! 1. It tries to identify the target Application Process Identifier (APID) based on the
//! respective CCSDS space packet header field. If that process fails, a [ByteConversionError] is
//! returned to the user
//! 2. If a valid APID is found and matches one of the APIDs provided by
//! [CcsdsPacketHandler::valid_apids], it will pass the packet to the user provided
//! [CcsdsPacketHandler::handle_known_apid] function. If no valid APID is found, the packet
//! will be passed to the [CcsdsPacketHandler::handle_unknown_apid] function.
//!
//! # Example
//!
//! ```rust
//! use satrs::ValidatorU16Id;
//! use satrs::tmtc::ccsds_distrib::{CcsdsPacketHandler, CcsdsDistributor};
//! use satrs::tmtc::{ReceivesTc, ReceivesTcCore};
//! use spacepackets::{CcsdsPacket, SpHeader};
//! use spacepackets::ecss::WritablePusPacket;
//! use spacepackets::ecss::tc::PusTcCreator;
//!
//! #[derive (Default)]
//! struct ConcreteApidHandler {
//! known_call_count: u32,
//! unknown_call_count: u32
//! }
//!
//! impl ConcreteApidHandler {
//! fn mutable_foo(&mut self) {}
//! }
//!
//! impl ValidatorU16Id for ConcreteApidHandler {
//! fn validate(&self, apid: u16) -> bool { apid == 0x0002 }
//! }
//!
//! impl CcsdsPacketHandler for ConcreteApidHandler {
//! type Error = ();
//! fn handle_packet_with_valid_apid(&mut self, sp_header: &SpHeader, tc_raw: &[u8]) -> Result<(), Self::Error> {
//! assert_eq!(sp_header.apid(), 0x002);
//! assert_eq!(tc_raw.len(), 13);
//! self.known_call_count += 1;
//! Ok(())
//! }
//! fn handle_packet_with_unknown_apid(&mut self, sp_header: &SpHeader, tc_raw: &[u8]) -> Result<(), Self::Error> {
//! assert_eq!(sp_header.apid(), 0x003);
//! assert_eq!(tc_raw.len(), 13);
//! self.unknown_call_count += 1;
//! Ok(())
//! }
//! }
//!
//! let apid_handler = ConcreteApidHandler::default();
//! let mut ccsds_distributor = CcsdsDistributor::new(apid_handler);
//!
//! // Create and pass PUS telecommand with a valid APID
//! let sp_header = SpHeader::new_for_unseg_tc(0x002, 0x34, 0);
//! let mut pus_tc = PusTcCreator::new_simple(sp_header, 17, 1, &[], true);
//! let mut test_buf: [u8; 32] = [0; 32];
//! let mut size = pus_tc
//! .write_to_bytes(test_buf.as_mut_slice())
//! .expect("Error writing TC to buffer");
//! let tc_slice = &test_buf[0..size];
//! ccsds_distributor.pass_tc(&tc_slice).expect("Passing TC slice failed");
//!
//! // Now pass a packet with an unknown APID to the distributor
//! pus_tc.set_apid(0x003);
//! size = pus_tc
//! .write_to_bytes(test_buf.as_mut_slice())
//! .expect("Error writing TC to buffer");
//! let tc_slice = &test_buf[0..size];
//! ccsds_distributor.pass_tc(&tc_slice).expect("Passing TC slice failed");
//!
//! // Retrieve the APID handler.
//! let handler_ref = ccsds_distributor.packet_handler();
//! assert_eq!(handler_ref.known_call_count, 1);
//! assert_eq!(handler_ref.unknown_call_count, 1);
//!
//! // Mutable access to the handler.
//! let mutable_handler_ref = ccsds_distributor.packet_handler_mut();
//! mutable_handler_ref.mutable_foo();
//! ```
use crate::{
tmtc::{ReceivesCcsdsTc, ReceivesTcCore},
ValidatorU16Id,
};
use core::fmt::{Display, Formatter};
use spacepackets::{ByteConversionError, CcsdsPacket, SpHeader};
#[cfg(feature = "std")]
use std::error::Error;
/// Generic trait for a handler or dispatcher object handling CCSDS packets.
///
/// Users should implement this trait on their custom CCSDS packet handler and then pass a boxed
/// instance of this handler to the [CcsdsDistributor]. The distributor will use the trait
/// interface to dispatch received packets to the user based on the Application Process Identifier
/// (APID) field of the CCSDS packet. The APID will be checked using the generic [ValidatorU16Id]
/// trait.
pub trait CcsdsPacketHandler: ValidatorU16Id {
type Error;
fn handle_packet_with_valid_apid(
&mut self,
sp_header: &SpHeader,
tc_raw: &[u8],
) -> Result<(), Self::Error>;
fn handle_packet_with_unknown_apid(
&mut self,
sp_header: &SpHeader,
tc_raw: &[u8],
) -> Result<(), Self::Error>;
}
/// The CCSDS distributor dispatches received CCSDS packets to a user provided packet handler.
pub struct CcsdsDistributor<PacketHandler: CcsdsPacketHandler<Error = E>, E> {
/// User provided APID handler stored as a generic trait object.
/// It can be cast back to the original concrete type using [Self::packet_handler] or
/// the [Self::packet_handler_mut] method.
packet_handler: PacketHandler,
}
#[derive(Debug, Copy, Clone, PartialEq, Eq)]
pub enum CcsdsError<E> {
CustomError(E),
ByteConversionError(ByteConversionError),
}
impl<E: Display> Display for CcsdsError<E> {
fn fmt(&self, f: &mut Formatter<'_>) -> core::fmt::Result {
match self {
Self::CustomError(e) => write!(f, "{e}"),
Self::ByteConversionError(e) => write!(f, "{e}"),
}
}
}
#[cfg(feature = "std")]
impl<E: Error> Error for CcsdsError<E> {
fn source(&self) -> Option<&(dyn Error + 'static)> {
match self {
Self::CustomError(e) => e.source(),
Self::ByteConversionError(e) => e.source(),
}
}
}
impl<PacketHandler: CcsdsPacketHandler<Error = E>, E: 'static> ReceivesCcsdsTc
for CcsdsDistributor<PacketHandler, E>
{
type Error = CcsdsError<E>;
fn pass_ccsds(&mut self, header: &SpHeader, tc_raw: &[u8]) -> Result<(), Self::Error> {
self.dispatch_ccsds(header, tc_raw)
}
}
impl<PacketHandler: CcsdsPacketHandler<Error = E>, E: 'static> ReceivesTcCore
for CcsdsDistributor<PacketHandler, E>
{
type Error = CcsdsError<E>;
fn pass_tc(&mut self, tc_raw: &[u8]) -> Result<(), Self::Error> {
if tc_raw.len() < 7 {
return Err(CcsdsError::ByteConversionError(
ByteConversionError::FromSliceTooSmall {
found: tc_raw.len(),
expected: 7,
},
));
}
let (sp_header, _) =
SpHeader::from_be_bytes(tc_raw).map_err(|e| CcsdsError::ByteConversionError(e))?;
self.dispatch_ccsds(&sp_header, tc_raw)
}
}
impl<PacketHandler: CcsdsPacketHandler<Error = E>, E: 'static> CcsdsDistributor<PacketHandler, E> {
pub fn new(packet_handler: PacketHandler) -> Self {
CcsdsDistributor { packet_handler }
}
pub fn packet_handler(&self) -> &PacketHandler {
&self.packet_handler
}
pub fn packet_handler_mut(&mut self) -> &mut PacketHandler {
&mut self.packet_handler
}
fn dispatch_ccsds(&mut self, sp_header: &SpHeader, tc_raw: &[u8]) -> Result<(), CcsdsError<E>> {
let valid_apid = self.packet_handler().validate(sp_header.apid());
if valid_apid {
self.packet_handler
.handle_packet_with_valid_apid(sp_header, tc_raw)
.map_err(|e| CcsdsError::CustomError(e))?;
return Ok(());
}
self.packet_handler
.handle_packet_with_unknown_apid(sp_header, tc_raw)
.map_err(|e| CcsdsError::CustomError(e))
}
}
#[cfg(test)]
pub(crate) mod tests {
use super::*;
use crate::tmtc::ccsds_distrib::{CcsdsDistributor, CcsdsPacketHandler};
use spacepackets::ecss::tc::PusTcCreator;
use spacepackets::ecss::WritablePusPacket;
use spacepackets::CcsdsPacket;
use std::collections::VecDeque;
use std::sync::{Arc, Mutex};
use std::vec::Vec;
fn is_send<T: Send>(_: &T) {}
pub fn generate_ping_tc(buf: &mut [u8]) -> &[u8] {
let sph = SpHeader::new_for_unseg_tc(0x002, 0x34, 0);
let pus_tc = PusTcCreator::new_simple(sph, 17, 1, &[], true);
let size = pus_tc
.write_to_bytes(buf)
.expect("Error writing TC to buffer");
assert_eq!(size, 13);
&buf[0..size]
}
pub fn generate_ping_tc_as_vec() -> Vec<u8> {
let sph = SpHeader::new_for_unseg_tc(0x002, 0x34, 0);
PusTcCreator::new_simple(sph, 17, 1, &[], true)
.to_vec()
.unwrap()
}
type SharedPacketQueue = Arc<Mutex<VecDeque<(u16, Vec<u8>)>>>;
pub struct BasicApidHandlerSharedQueue {
pub known_packet_queue: SharedPacketQueue,
pub unknown_packet_queue: SharedPacketQueue,
}
#[derive(Default)]
pub struct BasicApidHandlerOwnedQueue {
pub known_packet_queue: VecDeque<(u16, Vec<u8>)>,
pub unknown_packet_queue: VecDeque<(u16, Vec<u8>)>,
}
impl ValidatorU16Id for BasicApidHandlerSharedQueue {
fn validate(&self, packet_id: u16) -> bool {
[0x000, 0x002].contains(&packet_id)
}
}
impl CcsdsPacketHandler for BasicApidHandlerSharedQueue {
type Error = ();
fn handle_packet_with_valid_apid(
&mut self,
sp_header: &SpHeader,
tc_raw: &[u8],
) -> Result<(), Self::Error> {
let mut vec = Vec::new();
vec.extend_from_slice(tc_raw);
self.known_packet_queue
.lock()
.unwrap()
.push_back((sp_header.apid(), vec));
Ok(())
}
fn handle_packet_with_unknown_apid(
&mut self,
sp_header: &SpHeader,
tc_raw: &[u8],
) -> Result<(), Self::Error> {
let mut vec = Vec::new();
vec.extend_from_slice(tc_raw);
self.unknown_packet_queue
.lock()
.unwrap()
.push_back((sp_header.apid(), vec));
Ok(())
}
}
impl ValidatorU16Id for BasicApidHandlerOwnedQueue {
fn validate(&self, packet_id: u16) -> bool {
[0x000, 0x002].contains(&packet_id)
}
}
impl CcsdsPacketHandler for BasicApidHandlerOwnedQueue {
type Error = ();
fn handle_packet_with_valid_apid(
&mut self,
sp_header: &SpHeader,
tc_raw: &[u8],
) -> Result<(), Self::Error> {
let mut vec = Vec::new();
vec.extend_from_slice(tc_raw);
self.known_packet_queue.push_back((sp_header.apid(), vec));
Ok(())
}
fn handle_packet_with_unknown_apid(
&mut self,
sp_header: &SpHeader,
tc_raw: &[u8],
) -> Result<(), Self::Error> {
let mut vec = Vec::new();
vec.extend_from_slice(tc_raw);
self.unknown_packet_queue.push_back((sp_header.apid(), vec));
Ok(())
}
}
#[test]
fn test_distribs_known_apid() {
let known_packet_queue = Arc::new(Mutex::default());
let unknown_packet_queue = Arc::new(Mutex::default());
let apid_handler = BasicApidHandlerSharedQueue {
known_packet_queue: known_packet_queue.clone(),
unknown_packet_queue: unknown_packet_queue.clone(),
};
let mut ccsds_distrib = CcsdsDistributor::new(apid_handler);
is_send(&ccsds_distrib);
let mut test_buf: [u8; 32] = [0; 32];
let tc_slice = generate_ping_tc(test_buf.as_mut_slice());
ccsds_distrib.pass_tc(tc_slice).expect("Passing TC failed");
let recvd = known_packet_queue.lock().unwrap().pop_front();
assert!(unknown_packet_queue.lock().unwrap().is_empty());
assert!(recvd.is_some());
let (apid, packet) = recvd.unwrap();
assert_eq!(apid, 0x002);
assert_eq!(packet, tc_slice);
}
#[test]
fn test_unknown_apid_handling() {
let apid_handler = BasicApidHandlerOwnedQueue::default();
let mut ccsds_distrib = CcsdsDistributor::new(apid_handler);
let sph = SpHeader::new_for_unseg_tc(0x004, 0x34, 0);
let pus_tc = PusTcCreator::new_simple(sph, 17, 1, &[], true);
let mut test_buf: [u8; 32] = [0; 32];
pus_tc
.write_to_bytes(test_buf.as_mut_slice())
.expect("Error writing TC to buffer");
ccsds_distrib.pass_tc(&test_buf).expect("Passing TC failed");
assert!(ccsds_distrib.packet_handler().known_packet_queue.is_empty());
let apid_handler = ccsds_distrib.packet_handler_mut();
let recvd = apid_handler.unknown_packet_queue.pop_front();
assert!(recvd.is_some());
let (apid, packet) = recvd.unwrap();
assert_eq!(apid, 0x004);
assert_eq!(packet.as_slice(), test_buf);
}
#[test]
fn test_ccsds_distribution() {
let mut ccsds_distrib = CcsdsDistributor::new(BasicApidHandlerOwnedQueue::default());
let sph = SpHeader::new_for_unseg_tc(0x002, 0x34, 0);
let pus_tc = PusTcCreator::new_simple(sph, 17, 1, &[], true);
let tc_vec = pus_tc.to_vec().unwrap();
ccsds_distrib
.pass_ccsds(&sph, &tc_vec)
.expect("passing CCSDS TC failed");
let recvd = ccsds_distrib
.packet_handler_mut()
.known_packet_queue
.pop_front();
assert!(recvd.is_some());
let recvd = recvd.unwrap();
assert_eq!(recvd.0, 0x002);
assert_eq!(recvd.1, tc_vec);
}
#[test]
fn test_distribution_short_packet_fails() {
let mut ccsds_distrib = CcsdsDistributor::new(BasicApidHandlerOwnedQueue::default());
let sph = SpHeader::new_for_unseg_tc(0x002, 0x34, 0);
let pus_tc = PusTcCreator::new_simple(sph, 17, 1, &[], true);
let tc_vec = pus_tc.to_vec().unwrap();
let result = ccsds_distrib.pass_tc(&tc_vec[0..6]);
assert!(result.is_err());
let error = result.unwrap_err();
if let CcsdsError::ByteConversionError(ByteConversionError::FromSliceTooSmall {
found,
expected,
}) = error
{
assert_eq!(found, 6);
assert_eq!(expected, 7);
} else {
panic!("Unexpected error variant");
}
}
}

640
satrs/src/tmtc/mod.rs
View File

@ -1,115 +1,651 @@
//! Telemetry and Telecommanding (TMTC) module. Contains packet routing components with special
//! support for CCSDS and ECSS packets.
//!
//! The distributor modules provided by this module use trait objects provided by the user to
//! directly dispatch received packets to packet listeners based on packet fields like the CCSDS
//! Application Process ID (APID) or the ECSS PUS service type. This allows for fast packet
//! routing without the overhead and complication of using message queues. However, it also requires
//! It is recommended to read the [sat-rs book chapter](https://absatsw.irs.uni-stuttgart.de/projects/sat-rs/book/communication.html)
//! about communication first. The TMTC abstractions provided by this framework are based on the
//! assumption that all telemetry is sent to a special handler object called the TM sink while
//! all received telecommands are sent to a special handler object called TC source. Using
//! a design like this makes it simpler to add new TC packet sources or new telemetry generators:
//! They only need to send the received and generated data to these objects.
use crate::queue::GenericSendError;
use crate::{
pool::{PoolAddr, PoolError},
ComponentId,
};
#[cfg(feature = "std")]
pub use alloc_mod::*;
#[cfg(feature = "alloc")]
use downcast_rs::{impl_downcast, Downcast};
use spacepackets::SpHeader;
use spacepackets::{
ecss::{
tc::PusTcReader,
tm::{PusTmCreator, PusTmReader},
},
SpHeader,
};
#[cfg(feature = "std")]
use std::sync::mpsc;
#[cfg(feature = "std")]
pub use std_mod::*;
#[cfg(feature = "alloc")]
pub mod ccsds_distrib;
#[cfg(feature = "alloc")]
pub mod pus_distrib;
pub mod tm_helper;
#[cfg(feature = "alloc")]
pub use ccsds_distrib::{CcsdsDistributor, CcsdsError, CcsdsPacketHandler};
#[cfg(feature = "alloc")]
pub use pus_distrib::{PusDistributor, PusServiceDistributor};
/// Simple type modelling packet stored inside a pool structure. This structure is intended to
/// be used when sending a packet via a message queue, so it also contains the sender ID.
#[derive(Debug, PartialEq, Eq, Clone)]
pub struct PacketInPool {
pub sender_id: ComponentId,
pub store_addr: PoolAddr,
}
/// Generic trait for object which can receive any telecommands in form of a raw bytestream, with
impl PacketInPool {
pub fn new(sender_id: ComponentId, store_addr: PoolAddr) -> Self {
Self {
sender_id,
store_addr,
}
}
}
/// Generic trait for object which can send any packets in form of a raw bytestream, with
/// no assumptions about the received protocol.
///
/// This trait is implemented by both the [crate::tmtc::pus_distrib::PusDistributor] and the
/// [crate::tmtc::ccsds_distrib::CcsdsDistributor] which allows to pass the respective packets in
/// raw byte format into them.
pub trait ReceivesTcCore {
pub trait PacketSenderRaw: Send {
type Error;
fn pass_tc(&mut self, tc_raw: &[u8]) -> Result<(), Self::Error>;
fn send_packet(&self, sender_id: ComponentId, packet: &[u8]) -> Result<(), Self::Error>;
}
/// Extension trait of [ReceivesTcCore] which allows downcasting by implementing [Downcast] and
/// is also sendable.
/// Extension trait of [PacketSenderRaw] which allows downcasting by implementing [Downcast].
#[cfg(feature = "alloc")]
pub trait ReceivesTc: ReceivesTcCore + Downcast + Send {
pub trait PacketSenderRawExt: PacketSenderRaw + Downcast {
// Remove this once trait upcasting coercion has been implemented.
// Tracking issue: https://github.com/rust-lang/rust/issues/65991
fn upcast(&self) -> &dyn ReceivesTcCore<Error = Self::Error>;
fn upcast(&self) -> &dyn PacketSenderRaw<Error = Self::Error>;
// Remove this once trait upcasting coercion has been implemented.
// Tracking issue: https://github.com/rust-lang/rust/issues/65991
fn upcast_mut(&mut self) -> &mut dyn ReceivesTcCore<Error = Self::Error>;
fn upcast_mut(&mut self) -> &mut dyn PacketSenderRaw<Error = Self::Error>;
}
/// Blanket implementation to automatically implement [ReceivesTc] when the [alloc] feature
/// is enabled.
/// Blanket implementation to automatically implement [PacketSenderRawExt] when the [alloc]
/// feature is enabled.
#[cfg(feature = "alloc")]
impl<T> ReceivesTc for T
impl<T> PacketSenderRawExt for T
where
T: ReceivesTcCore + Send + 'static,
T: PacketSenderRaw + Send + 'static,
{
// Remove this once trait upcasting coercion has been implemented.
// Tracking issue: https://github.com/rust-lang/rust/issues/65991
fn upcast(&self) -> &dyn ReceivesTcCore<Error = Self::Error> {
fn upcast(&self) -> &dyn PacketSenderRaw<Error = Self::Error> {
self
}
// Remove this once trait upcasting coercion has been implemented.
// Tracking issue: https://github.com/rust-lang/rust/issues/65991
fn upcast_mut(&mut self) -> &mut dyn ReceivesTcCore<Error = Self::Error> {
fn upcast_mut(&mut self) -> &mut dyn PacketSenderRaw<Error = Self::Error> {
self
}
}
#[cfg(feature = "alloc")]
impl_downcast!(ReceivesTc assoc Error);
impl_downcast!(PacketSenderRawExt assoc Error);
/// Generic trait for object which can receive CCSDS space packets, for example ECSS PUS packets
/// for CCSDS File Delivery Protocol (CFDP) packets.
///
/// This trait is implemented by both the [crate::tmtc::pus_distrib::PusDistributor] and the
/// [crate::tmtc::ccsds_distrib::CcsdsDistributor] which allows
/// to pass the respective packets in raw byte format or in CCSDS format into them.
pub trait ReceivesCcsdsTc {
/// Generic trait for object which can send CCSDS space packets, for example ECSS PUS packets
/// or CCSDS File Delivery Protocol (CFDP) packets wrapped in space packets.
pub trait PacketSenderCcsds: Send {
type Error;
fn pass_ccsds(&mut self, header: &SpHeader, tc_raw: &[u8]) -> Result<(), Self::Error>;
fn send_ccsds(
&self,
sender_id: ComponentId,
header: &SpHeader,
tc_raw: &[u8],
) -> Result<(), Self::Error>;
}
/// Generic trait for a TM packet source, with no restrictions on the type of TM.
#[cfg(feature = "std")]
impl PacketSenderCcsds for mpsc::Sender<PacketAsVec> {
type Error = GenericSendError;
fn send_ccsds(
&self,
sender_id: ComponentId,
_: &SpHeader,
tc_raw: &[u8],
) -> Result<(), Self::Error> {
self.send(PacketAsVec::new(sender_id, tc_raw.to_vec()))
.map_err(|_| GenericSendError::RxDisconnected)
}
}
#[cfg(feature = "std")]
impl PacketSenderCcsds for mpsc::SyncSender<PacketAsVec> {
type Error = GenericSendError;
fn send_ccsds(
&self,
sender_id: ComponentId,
_: &SpHeader,
packet_raw: &[u8],
) -> Result<(), Self::Error> {
self.try_send(PacketAsVec::new(sender_id, packet_raw.to_vec()))
.map_err(|e| match e {
mpsc::TrySendError::Full(_) => GenericSendError::QueueFull(None),
mpsc::TrySendError::Disconnected(_) => GenericSendError::RxDisconnected,
})
}
}
/// Generic trait for a packet receiver, with no restrictions on the type of packet.
/// Implementors write the telemetry into the provided buffer and return the size of the telemetry.
pub trait TmPacketSourceCore {
pub trait PacketSource: Send {
type Error;
fn retrieve_packet(&mut self, buffer: &mut [u8]) -> Result<usize, Self::Error>;
}
/// Extension trait of [TmPacketSourceCore] which allows downcasting by implementing [Downcast] and
/// is also sendable.
/// Extension trait of [PacketSource] which allows downcasting by implementing [Downcast].
#[cfg(feature = "alloc")]
pub trait TmPacketSource: TmPacketSourceCore + Downcast + Send {
pub trait PacketSourceExt: PacketSource + Downcast {
// Remove this once trait upcasting coercion has been implemented.
// Tracking issue: https://github.com/rust-lang/rust/issues/65991
fn upcast(&self) -> &dyn TmPacketSourceCore<Error = Self::Error>;
fn upcast(&self) -> &dyn PacketSource<Error = Self::Error>;
// Remove this once trait upcasting coercion has been implemented.
// Tracking issue: https://github.com/rust-lang/rust/issues/65991
fn upcast_mut(&mut self) -> &mut dyn TmPacketSourceCore<Error = Self::Error>;
fn upcast_mut(&mut self) -> &mut dyn PacketSource<Error = Self::Error>;
}
/// Blanket implementation to automatically implement [ReceivesTc] when the [alloc] feature
/// Blanket implementation to automatically implement [PacketSourceExt] when the [alloc] feature
/// is enabled.
#[cfg(feature = "alloc")]
impl<T> TmPacketSource for T
impl<T> PacketSourceExt for T
where
T: TmPacketSourceCore + Send + 'static,
T: PacketSource + 'static,
{
// Remove this once trait upcasting coercion has been implemented.
// Tracking issue: https://github.com/rust-lang/rust/issues/65991
fn upcast(&self) -> &dyn TmPacketSourceCore<Error = Self::Error> {
fn upcast(&self) -> &dyn PacketSource<Error = Self::Error> {
self
}
// Remove this once trait upcasting coercion has been implemented.
// Tracking issue: https://github.com/rust-lang/rust/issues/65991
fn upcast_mut(&mut self) -> &mut dyn TmPacketSourceCore<Error = Self::Error> {
fn upcast_mut(&mut self) -> &mut dyn PacketSource<Error = Self::Error> {
self
}
}
/// Helper trait for any generic (static) store which allows storing raw or CCSDS packets.
pub trait CcsdsPacketPool {
fn add_ccsds_tc(&mut self, _: &SpHeader, tc_raw: &[u8]) -> Result<PoolAddr, PoolError> {
self.add_raw_tc(tc_raw)
}
fn add_raw_tc(&mut self, tc_raw: &[u8]) -> Result<PoolAddr, PoolError>;
}
/// Helper trait for any generic (static) store which allows storing ECSS PUS Telecommand packets.
pub trait PusTcPool {
fn add_pus_tc(&mut self, pus_tc: &PusTcReader) -> Result<PoolAddr, PoolError>;
}
/// Helper trait for any generic (static) store which allows storing ECSS PUS Telemetry packets.
pub trait PusTmPool {
fn add_pus_tm_from_reader(&mut self, pus_tm: &PusTmReader) -> Result<PoolAddr, PoolError>;
fn add_pus_tm_from_creator(&mut self, pus_tm: &PusTmCreator) -> Result<PoolAddr, PoolError>;
}
/// Generic trait for any sender component able to send packets stored inside a pool structure.
pub trait PacketInPoolSender: Send {
fn send_packet(
&self,
sender_id: ComponentId,
store_addr: PoolAddr,
) -> Result<(), GenericSendError>;
}
#[cfg(feature = "alloc")]
pub mod alloc_mod {
use alloc::vec::Vec;
use super::*;
/// Simple type modelling packet stored in the heap. This structure is intended to
/// be used when sending a packet via a message queue, so it also contains the sender ID.
#[derive(Debug, PartialEq, Eq, Clone)]
pub struct PacketAsVec {
pub sender_id: ComponentId,
pub packet: Vec<u8>,
}
impl PacketAsVec {
pub fn new(sender_id: ComponentId, packet: Vec<u8>) -> Self {
Self { sender_id, packet }
}
}
}
#[cfg(feature = "std")]
pub mod std_mod {
use core::cell::RefCell;
#[cfg(feature = "crossbeam")]
use crossbeam_channel as cb;
use spacepackets::ecss::WritablePusPacket;
use thiserror::Error;
use crate::pool::PoolProvider;
use crate::pus::{EcssTmSender, EcssTmtcError, PacketSenderPusTc};
use super::*;
/// Newtype wrapper around the [SharedStaticMemoryPool] to enable extension helper traits on
/// top of the regular shared memory pool API.
#[derive(Clone)]
pub struct SharedPacketPool(pub SharedStaticMemoryPool);
impl SharedPacketPool {
pub fn new(pool: &SharedStaticMemoryPool) -> Self {
Self(pool.clone())
}
}
impl PusTcPool for SharedPacketPool {
fn add_pus_tc(&mut self, pus_tc: &PusTcReader) -> Result<PoolAddr, PoolError> {
let mut pg = self.0.write().map_err(|_| PoolError::LockError)?;
let addr = pg.free_element(pus_tc.len_packed(), |buf| {
buf[0..pus_tc.len_packed()].copy_from_slice(pus_tc.raw_data());
})?;
Ok(addr)
}
}
impl PusTmPool for SharedPacketPool {
fn add_pus_tm_from_reader(&mut self, pus_tm: &PusTmReader) -> Result<PoolAddr, PoolError> {
let mut pg = self.0.write().map_err(|_| PoolError::LockError)?;
let addr = pg.free_element(pus_tm.len_packed(), |buf| {
buf[0..pus_tm.len_packed()].copy_from_slice(pus_tm.raw_data());
})?;
Ok(addr)
}
fn add_pus_tm_from_creator(
&mut self,
pus_tm: &PusTmCreator,
) -> Result<PoolAddr, PoolError> {
let mut pg = self.0.write().map_err(|_| PoolError::LockError)?;
let mut result = Ok(0);
let addr = pg.free_element(pus_tm.len_written(), |buf| {
result = pus_tm.write_to_bytes(buf);
})?;
result?;
Ok(addr)
}
}
impl CcsdsPacketPool for SharedPacketPool {
fn add_raw_tc(&mut self, tc_raw: &[u8]) -> Result<PoolAddr, PoolError> {
let mut pg = self.0.write().map_err(|_| PoolError::LockError)?;
let addr = pg.free_element(tc_raw.len(), |buf| {
buf[0..tc_raw.len()].copy_from_slice(tc_raw);
})?;
Ok(addr)
}
}
#[cfg(feature = "std")]
impl PacketSenderRaw for mpsc::Sender<PacketAsVec> {
type Error = GenericSendError;
fn send_packet(&self, sender_id: ComponentId, packet: &[u8]) -> Result<(), Self::Error> {
self.send(PacketAsVec::new(sender_id, packet.to_vec()))
.map_err(|_| GenericSendError::RxDisconnected)
}
}
#[cfg(feature = "std")]
impl PacketSenderRaw for mpsc::SyncSender<PacketAsVec> {
type Error = GenericSendError;
fn send_packet(&self, sender_id: ComponentId, tc_raw: &[u8]) -> Result<(), Self::Error> {
self.try_send(PacketAsVec::new(sender_id, tc_raw.to_vec()))
.map_err(|e| match e {
mpsc::TrySendError::Full(_) => GenericSendError::QueueFull(None),
mpsc::TrySendError::Disconnected(_) => GenericSendError::RxDisconnected,
})
}
}
#[derive(Debug, Clone, PartialEq, Eq, Error)]
pub enum StoreAndSendError {
#[error("Store error: {0}")]
Store(#[from] PoolError),
#[error("Genreric send error: {0}")]
Send(#[from] GenericSendError),
}
pub use crate::pool::SharedStaticMemoryPool;
impl PacketInPoolSender for mpsc::Sender<PacketInPool> {
fn send_packet(
&self,
sender_id: ComponentId,
store_addr: PoolAddr,
) -> Result<(), GenericSendError> {
self.send(PacketInPool::new(sender_id, store_addr))
.map_err(|_| GenericSendError::RxDisconnected)
}
}
impl PacketInPoolSender for mpsc::SyncSender<PacketInPool> {
fn send_packet(
&self,
sender_id: ComponentId,
store_addr: PoolAddr,
) -> Result<(), GenericSendError> {
self.try_send(PacketInPool::new(sender_id, store_addr))
.map_err(|e| match e {
mpsc::TrySendError::Full(_) => GenericSendError::QueueFull(None),
mpsc::TrySendError::Disconnected(_) => GenericSendError::RxDisconnected,
})
}
}
#[cfg(feature = "crossbeam")]
impl PacketInPoolSender for cb::Sender<PacketInPool> {
fn send_packet(
&self,
sender_id: ComponentId,
store_addr: PoolAddr,
) -> Result<(), GenericSendError> {
self.try_send(PacketInPool::new(sender_id, store_addr))
.map_err(|e| match e {
cb::TrySendError::Full(_) => GenericSendError::QueueFull(None),
cb::TrySendError::Disconnected(_) => GenericSendError::RxDisconnected,
})
}
}
/// This is the primary structure used to send packets stored in a dedicated memory pool
/// structure.
#[derive(Clone)]
pub struct PacketSenderWithSharedPool<
Sender: PacketInPoolSender = mpsc::SyncSender<PacketInPool>,
PacketPool: CcsdsPacketPool = SharedPacketPool,
> {
pub sender: Sender,
pub shared_pool: RefCell<PacketPool>,
}
impl<Sender: PacketInPoolSender> PacketSenderWithSharedPool<Sender, SharedPacketPool> {
pub fn new_with_shared_packet_pool(
packet_sender: Sender,
shared_pool: &SharedStaticMemoryPool,
) -> Self {
Self {
sender: packet_sender,
shared_pool: RefCell::new(SharedPacketPool::new(shared_pool)),
}
}
}
impl<Sender: PacketInPoolSender, PacketStore: CcsdsPacketPool>
PacketSenderWithSharedPool<Sender, PacketStore>
{
pub fn new(packet_sender: Sender, shared_pool: PacketStore) -> Self {
Self {
sender: packet_sender,
shared_pool: RefCell::new(shared_pool),
}
}
}
impl<Sender: PacketInPoolSender, PacketStore: CcsdsPacketPool + Clone>
PacketSenderWithSharedPool<Sender, PacketStore>
{
pub fn shared_packet_store(&self) -> PacketStore {
let pool = self.shared_pool.borrow();
pool.clone()
}
}
impl<Sender: PacketInPoolSender, PacketStore: CcsdsPacketPool + Send> PacketSenderRaw
for PacketSenderWithSharedPool<Sender, PacketStore>
{
type Error = StoreAndSendError;
fn send_packet(&self, sender_id: ComponentId, packet: &[u8]) -> Result<(), Self::Error> {
let mut shared_pool = self.shared_pool.borrow_mut();
let store_addr = shared_pool.add_raw_tc(packet)?;
drop(shared_pool);
self.sender
.send_packet(sender_id, store_addr)
.map_err(StoreAndSendError::Send)?;
Ok(())
}
}
impl<Sender: PacketInPoolSender, PacketStore: CcsdsPacketPool + PusTcPool + Send>
PacketSenderPusTc for PacketSenderWithSharedPool<Sender, PacketStore>
{
type Error = StoreAndSendError;
fn send_pus_tc(
&self,
sender_id: ComponentId,
_: &SpHeader,
pus_tc: &PusTcReader,
) -> Result<(), Self::Error> {
let mut shared_pool = self.shared_pool.borrow_mut();
let store_addr = shared_pool.add_raw_tc(pus_tc.raw_data())?;
drop(shared_pool);
self.sender
.send_packet(sender_id, store_addr)
.map_err(StoreAndSendError::Send)?;
Ok(())
}
}
impl<Sender: PacketInPoolSender, PacketStore: CcsdsPacketPool + Send> PacketSenderCcsds
for PacketSenderWithSharedPool<Sender, PacketStore>
{
type Error = StoreAndSendError;
fn send_ccsds(
&self,
sender_id: ComponentId,
_sp_header: &SpHeader,
tc_raw: &[u8],
) -> Result<(), Self::Error> {
self.send_packet(sender_id, tc_raw)
}
}
impl<Sender: PacketInPoolSender, PacketStore: CcsdsPacketPool + PusTmPool + Send> EcssTmSender
for PacketSenderWithSharedPool<Sender, PacketStore>
{
fn send_tm(
&self,
sender_id: crate::ComponentId,
tm: crate::pus::PusTmVariant,
) -> Result<(), crate::pus::EcssTmtcError> {
let send_addr = |store_addr: PoolAddr| {
self.sender
.send_packet(sender_id, store_addr)
.map_err(EcssTmtcError::Send)
};
match tm {
crate::pus::PusTmVariant::InStore(store_addr) => send_addr(store_addr),
crate::pus::PusTmVariant::Direct(tm_creator) => {
let mut pool = self.shared_pool.borrow_mut();
let store_addr = pool.add_pus_tm_from_creator(&tm_creator)?;
send_addr(store_addr)
}
}
}
}
}
#[cfg(test)]
pub(crate) mod tests {
use alloc::vec;
use std::sync::RwLock;
use crate::pool::{PoolProviderWithGuards, StaticMemoryPool, StaticPoolConfig};
use super::*;
use std::sync::mpsc;
pub(crate) fn send_with_sender<SendError>(
sender_id: ComponentId,
packet_sender: &(impl PacketSenderRaw<Error = SendError> + ?Sized),
packet: &[u8],
) -> Result<(), SendError> {
packet_sender.send_packet(sender_id, packet)
}
#[test]
fn test_basic_mpsc_channel_sender_bounded() {
let (tx, rx) = mpsc::channel();
let some_packet = vec![1, 2, 3, 4, 5];
send_with_sender(1, &tx, &some_packet).expect("failed to send packet");
let rx_packet = rx.try_recv().unwrap();
assert_eq!(some_packet, rx_packet.packet);
assert_eq!(1, rx_packet.sender_id);
}
#[test]
fn test_basic_mpsc_channel_receiver_dropped() {
let (tx, rx) = mpsc::channel();
let some_packet = vec![1, 2, 3, 4, 5];
drop(rx);
let result = send_with_sender(2, &tx, &some_packet);
assert!(result.is_err());
matches!(result.unwrap_err(), GenericSendError::RxDisconnected);
}
#[test]
fn test_basic_mpsc_sync_sender() {
let (tx, rx) = mpsc::sync_channel(3);
let some_packet = vec![1, 2, 3, 4, 5];
send_with_sender(3, &tx, &some_packet).expect("failed to send packet");
let rx_packet = rx.try_recv().unwrap();
assert_eq!(some_packet, rx_packet.packet);
assert_eq!(3, rx_packet.sender_id);
}
#[test]
fn test_basic_mpsc_sync_sender_receiver_dropped() {
let (tx, rx) = mpsc::sync_channel(3);
let some_packet = vec![1, 2, 3, 4, 5];
drop(rx);
let result = send_with_sender(0, &tx, &some_packet);
assert!(result.is_err());
matches!(result.unwrap_err(), GenericSendError::RxDisconnected);
}
#[test]
fn test_basic_mpsc_sync_sender_queue_full() {
let (tx, rx) = mpsc::sync_channel(1);
let some_packet = vec![1, 2, 3, 4, 5];
send_with_sender(0, &tx, &some_packet).expect("failed to send packet");
let result = send_with_sender(1, &tx, &some_packet);
assert!(result.is_err());
matches!(result.unwrap_err(), GenericSendError::QueueFull(None));
let rx_packet = rx.try_recv().unwrap();
assert_eq!(some_packet, rx_packet.packet);
}
#[test]
fn test_basic_shared_store_sender_unbounded_sender() {
let (tc_tx, tc_rx) = mpsc::channel();
let pool_cfg = StaticPoolConfig::new(vec![(2, 8)], true);
let shared_pool = SharedPacketPool::new(&SharedStaticMemoryPool::new(RwLock::new(
StaticMemoryPool::new(pool_cfg),
)));
let some_packet = vec![1, 2, 3, 4, 5];
let tc_sender = PacketSenderWithSharedPool::new(tc_tx, shared_pool.clone());
send_with_sender(5, &tc_sender, &some_packet).expect("failed to send packet");
let packet_in_pool = tc_rx.try_recv().unwrap();
let mut pool = shared_pool.0.write().unwrap();
let read_guard = pool.read_with_guard(packet_in_pool.store_addr);
assert_eq!(read_guard.read_as_vec().unwrap(), some_packet);
assert_eq!(packet_in_pool.sender_id, 5)
}
#[test]
fn test_basic_shared_store_sender() {
let (tc_tx, tc_rx) = mpsc::sync_channel(10);
let pool_cfg = StaticPoolConfig::new(vec![(2, 8)], true);
let shared_pool = SharedPacketPool::new(&SharedStaticMemoryPool::new(RwLock::new(
StaticMemoryPool::new(pool_cfg),
)));
let some_packet = vec![1, 2, 3, 4, 5];
let tc_sender = PacketSenderWithSharedPool::new(tc_tx, shared_pool.clone());
send_with_sender(5, &tc_sender, &some_packet).expect("failed to send packet");
let packet_in_pool = tc_rx.try_recv().unwrap();
let mut pool = shared_pool.0.write().unwrap();
let read_guard = pool.read_with_guard(packet_in_pool.store_addr);
assert_eq!(read_guard.read_as_vec().unwrap(), some_packet);
assert_eq!(packet_in_pool.sender_id, 5)
}
#[test]
fn test_basic_shared_store_sender_rx_dropped() {
let (tc_tx, tc_rx) = mpsc::sync_channel(10);
let pool_cfg = StaticPoolConfig::new(vec![(2, 8)], true);
let shared_pool = SharedPacketPool::new(&SharedStaticMemoryPool::new(RwLock::new(
StaticMemoryPool::new(pool_cfg),
)));
let some_packet = vec![1, 2, 3, 4, 5];
drop(tc_rx);
let tc_sender = PacketSenderWithSharedPool::new(tc_tx, shared_pool.clone());
let result = send_with_sender(2, &tc_sender, &some_packet);
assert!(result.is_err());
matches!(
result.unwrap_err(),
StoreAndSendError::Send(GenericSendError::RxDisconnected)
);
}
#[test]
fn test_basic_shared_store_sender_queue_full() {
let (tc_tx, tc_rx) = mpsc::sync_channel(1);
let pool_cfg = StaticPoolConfig::new(vec![(2, 8)], true);
let shared_pool = SharedPacketPool::new(&SharedStaticMemoryPool::new(RwLock::new(
StaticMemoryPool::new(pool_cfg),
)));
let some_packet = vec![1, 2, 3, 4, 5];
let tc_sender = PacketSenderWithSharedPool::new(tc_tx, shared_pool.clone());
send_with_sender(3, &tc_sender, &some_packet).expect("failed to send packet");
let result = send_with_sender(3, &tc_sender, &some_packet);
assert!(result.is_err());
matches!(
result.unwrap_err(),
StoreAndSendError::Send(GenericSendError::RxDisconnected)
);
let packet_in_pool = tc_rx.try_recv().unwrap();
let mut pool = shared_pool.0.write().unwrap();
let read_guard = pool.read_with_guard(packet_in_pool.store_addr);
assert_eq!(read_guard.read_as_vec().unwrap(), some_packet);
assert_eq!(packet_in_pool.sender_id, 3);
}
#[test]
fn test_basic_shared_store_store_error() {
let (tc_tx, tc_rx) = mpsc::sync_channel(1);
let pool_cfg = StaticPoolConfig::new(vec![(1, 8)], true);
let shared_pool = SharedPacketPool::new(&SharedStaticMemoryPool::new(RwLock::new(
StaticMemoryPool::new(pool_cfg),
)));
let some_packet = vec![1, 2, 3, 4, 5];
let tc_sender = PacketSenderWithSharedPool::new(tc_tx, shared_pool.clone());
send_with_sender(4, &tc_sender, &some_packet).expect("failed to send packet");
let result = send_with_sender(4, &tc_sender, &some_packet);
assert!(result.is_err());
matches!(
result.unwrap_err(),
StoreAndSendError::Store(PoolError::StoreFull(..))
);
let packet_in_pool = tc_rx.try_recv().unwrap();
let mut pool = shared_pool.0.write().unwrap();
let read_guard = pool.read_with_guard(packet_in_pool.store_addr);
assert_eq!(read_guard.read_as_vec().unwrap(), some_packet);
assert_eq!(packet_in_pool.sender_id, 4);
}
}

414
satrs/src/tmtc/pus_distrib.rs
View File

@ -1,414 +0,0 @@
//! ECSS PUS packet routing components.
//!
//! The routing components consist of two core components:
//! 1. [PusDistributor] component which dispatches received packets to a user-provided handler.
//! 2. [PusServiceDistributor] trait which should be implemented by the user-provided PUS packet
//! handler.
//!
//! The [PusDistributor] implements the [ReceivesEcssPusTc], [ReceivesCcsdsTc] and the
//! [ReceivesTcCore] trait which allows to pass raw packets, CCSDS packets and PUS TC packets into
//! it. Upon receiving a packet, it performs the following steps:
//!
//! 1. It tries to extract the [SpHeader] and [spacepackets::ecss::tc::PusTcReader] objects from
//! the raw bytestream. If this process fails, a [PusDistribError::PusError] is returned to the
//! user.
//! 2. If it was possible to extract both components, the packet will be passed to the
//! [PusServiceDistributor::distribute_packet] method provided by the user.
//!
//! # Example
//!
//! ```rust
//! use spacepackets::ecss::WritablePusPacket;
//! use satrs::tmtc::pus_distrib::{PusDistributor, PusServiceDistributor};
//! use satrs::tmtc::{ReceivesTc, ReceivesTcCore};
//! use spacepackets::SpHeader;
//! use spacepackets::ecss::tc::{PusTcCreator, PusTcReader};
//!
//! struct ConcretePusHandler {
//! handler_call_count: u32
//! }
//!
//! // This is a very simple possible service provider. It increments an internal call count field,
//! // which is used to verify the handler was called
//! impl PusServiceDistributor for ConcretePusHandler {
//! type Error = ();
//! fn distribute_packet(&mut self, service: u8, header: &SpHeader, pus_tc: &PusTcReader) -> Result<(), Self::Error> {
//! assert_eq!(service, 17);
//! assert_eq!(pus_tc.len_packed(), 13);
//! self.handler_call_count += 1;
//! Ok(())
//! }
//! }
//!
//! let service_handler = ConcretePusHandler {
//! handler_call_count: 0
//! };
//! let mut pus_distributor = PusDistributor::new(service_handler);
//!
//! // Create and pass PUS ping telecommand with a valid APID
//! let sp_header = SpHeader::new_for_unseg_tc(0x002, 0x34, 0);
//! let mut pus_tc = PusTcCreator::new_simple(sp_header, 17, 1, &[], true);
//! let mut test_buf: [u8; 32] = [0; 32];
//! let mut size = pus_tc
//! .write_to_bytes(test_buf.as_mut_slice())
//! .expect("Error writing TC to buffer");
//! let tc_slice = &test_buf[0..size];
//!
//! pus_distributor.pass_tc(tc_slice).expect("Passing PUS telecommand failed");
//!
//! // User helper function to retrieve concrete class. We check the call count here to verify
//! // that the PUS ping telecommand was routed successfully.
//! let concrete_handler = pus_distributor.service_distributor();
//! assert_eq!(concrete_handler.handler_call_count, 1);
//! ```
use crate::pus::ReceivesEcssPusTc;
use crate::tmtc::{ReceivesCcsdsTc, ReceivesTcCore};
use core::fmt::{Display, Formatter};
use spacepackets::ecss::tc::PusTcReader;
use spacepackets::ecss::{PusError, PusPacket};
use spacepackets::SpHeader;
#[cfg(feature = "std")]
use std::error::Error;
/// Trait for a generic distributor object which can distribute PUS packets based on packet
/// properties like the PUS service, space packet header or any other content of the PUS packet.
pub trait PusServiceDistributor {
type Error;
fn distribute_packet(
&mut self,
service: u8,
header: &SpHeader,
pus_tc: &PusTcReader,
) -> Result<(), Self::Error>;
}
/// Generic distributor object which dispatches received packets to a user provided handler.
pub struct PusDistributor<ServiceDistributor: PusServiceDistributor<Error = E>, E> {
service_distributor: ServiceDistributor,
}
impl<ServiceDistributor: PusServiceDistributor<Error = E>, E>
PusDistributor<ServiceDistributor, E>
{
pub fn new(service_provider: ServiceDistributor) -> Self {
PusDistributor {
service_distributor: service_provider,
}
}
}
#[derive(Debug, Copy, Clone, PartialEq, Eq)]
pub enum PusDistribError<E> {
CustomError(E),
PusError(PusError),
}
impl<E: Display> Display for PusDistribError<E> {
fn fmt(&self, f: &mut Formatter<'_>) -> core::fmt::Result {
match self {
PusDistribError::CustomError(e) => write!(f, "pus distribution error: {e}"),
PusDistribError::PusError(e) => write!(f, "pus distribution error: {e}"),
}
}
}
#[cfg(feature = "std")]
impl<E: Error> Error for PusDistribError<E> {
fn source(&self) -> Option<&(dyn Error + 'static)> {
match self {
Self::CustomError(e) => e.source(),
Self::PusError(e) => e.source(),
}
}
}
impl<ServiceDistributor: PusServiceDistributor<Error = E>, E: 'static> ReceivesTcCore
for PusDistributor<ServiceDistributor, E>
{
type Error = PusDistribError<E>;
fn pass_tc(&mut self, tm_raw: &[u8]) -> Result<(), Self::Error> {
// Convert to ccsds and call pass_ccsds
let (sp_header, _) = SpHeader::from_be_bytes(tm_raw)
.map_err(|e| PusDistribError::PusError(PusError::ByteConversion(e)))?;
self.pass_ccsds(&sp_header, tm_raw)
}
}
impl<ServiceDistributor: PusServiceDistributor<Error = E>, E: 'static> ReceivesCcsdsTc
for PusDistributor<ServiceDistributor, E>
{
type Error = PusDistribError<E>;
fn pass_ccsds(&mut self, header: &SpHeader, tm_raw: &[u8]) -> Result<(), Self::Error> {
let (tc, _) = PusTcReader::new(tm_raw).map_err(|e| PusDistribError::PusError(e))?;
self.pass_pus_tc(header, &tc)
}
}
impl<ServiceDistributor: PusServiceDistributor<Error = E>, E: 'static> ReceivesEcssPusTc
for PusDistributor<ServiceDistributor, E>
{
type Error = PusDistribError<E>;
fn pass_pus_tc(&mut self, header: &SpHeader, pus_tc: &PusTcReader) -> Result<(), Self::Error> {
self.service_distributor
.distribute_packet(pus_tc.service(), header, pus_tc)
.map_err(|e| PusDistribError::CustomError(e))
}
}
impl<ServiceDistributor: PusServiceDistributor<Error = E>, E: 'static>
PusDistributor<ServiceDistributor, E>
{
pub fn service_distributor(&self) -> &ServiceDistributor {
&self.service_distributor
}
pub fn service_distributor_mut(&mut self) -> &mut ServiceDistributor {
&mut self.service_distributor
}
}
#[cfg(test)]
mod tests {
use super::*;
use crate::queue::GenericSendError;
use crate::tmtc::ccsds_distrib::tests::{
generate_ping_tc, generate_ping_tc_as_vec, BasicApidHandlerOwnedQueue,
BasicApidHandlerSharedQueue,
};
use crate::tmtc::ccsds_distrib::{CcsdsDistributor, CcsdsPacketHandler};
use crate::ValidatorU16Id;
use alloc::format;
use alloc::vec::Vec;
use spacepackets::ecss::PusError;
use spacepackets::CcsdsPacket;
#[cfg(feature = "std")]
use std::collections::VecDeque;
#[cfg(feature = "std")]
use std::sync::{Arc, Mutex};
fn is_send<T: Send>(_: &T) {}
pub struct PacketInfo {
pub service: u8,
pub apid: u16,
pub packet: Vec<u8>,
}
struct PusHandlerSharedQueue(Arc<Mutex<VecDeque<PacketInfo>>>);
#[derive(Default)]
struct PusHandlerOwnedQueue(VecDeque<PacketInfo>);
impl PusServiceDistributor for PusHandlerSharedQueue {
type Error = PusError;
fn distribute_packet(
&mut self,
service: u8,
sp_header: &SpHeader,
pus_tc: &PusTcReader,
) -> Result<(), Self::Error> {
let mut packet: Vec<u8> = Vec::new();
packet.extend_from_slice(pus_tc.raw_data());
self.0
.lock()
.expect("Mutex lock failed")
.push_back(PacketInfo {
service,
apid: sp_header.apid(),
packet,
});
Ok(())
}
}
impl PusServiceDistributor for PusHandlerOwnedQueue {
type Error = PusError;
fn distribute_packet(
&mut self,
service: u8,
sp_header: &SpHeader,
pus_tc: &PusTcReader,
) -> Result<(), Self::Error> {
let mut packet: Vec<u8> = Vec::new();
packet.extend_from_slice(pus_tc.raw_data());
self.0.push_back(PacketInfo {
service,
apid: sp_header.apid(),
packet,
});
Ok(())
}
}
struct ApidHandlerShared {
pub pus_distrib: PusDistributor<PusHandlerSharedQueue, PusError>,
pub handler_base: BasicApidHandlerSharedQueue,
}
struct ApidHandlerOwned {
pub pus_distrib: PusDistributor<PusHandlerOwnedQueue, PusError>,
handler_base: BasicApidHandlerOwnedQueue,
}
macro_rules! apid_handler_impl {
() => {
type Error = PusError;
fn handle_packet_with_valid_apid(
&mut self,
sp_header: &SpHeader,
tc_raw: &[u8],
) -> Result<(), Self::Error> {
self.handler_base
.handle_packet_with_valid_apid(&sp_header, tc_raw)
.ok()
.expect("Unexpected error");
match self.pus_distrib.pass_ccsds(&sp_header, tc_raw) {
Ok(_) => Ok(()),
Err(e) => match e {
PusDistribError::CustomError(_) => Ok(()),
PusDistribError::PusError(e) => Err(e),
},
}
}
fn handle_packet_with_unknown_apid(
&mut self,
sp_header: &SpHeader,
tc_raw: &[u8],
) -> Result<(), Self::Error> {
self.handler_base
.handle_packet_with_unknown_apid(&sp_header, tc_raw)
.ok()
.expect("Unexpected error");
Ok(())
}
};
}
impl ValidatorU16Id for ApidHandlerOwned {
fn validate(&self, packet_id: u16) -> bool {
[0x000, 0x002].contains(&packet_id)
}
}
impl ValidatorU16Id for ApidHandlerShared {
fn validate(&self, packet_id: u16) -> bool {
[0x000, 0x002].contains(&packet_id)
}
}
impl CcsdsPacketHandler for ApidHandlerOwned {
apid_handler_impl!();
}
impl CcsdsPacketHandler for ApidHandlerShared {
apid_handler_impl!();
}
#[test]
fn test_pus_distribution_as_raw_packet() {
let mut pus_distrib = PusDistributor::new(PusHandlerOwnedQueue::default());
let tc = generate_ping_tc_as_vec();
let result = pus_distrib.pass_tc(&tc);
assert!(result.is_ok());
assert_eq!(pus_distrib.service_distributor_mut().0.len(), 1);
let packet_info = pus_distrib.service_distributor_mut().0.pop_front().unwrap();
assert_eq!(packet_info.service, 17);
assert_eq!(packet_info.apid, 0x002);
assert_eq!(packet_info.packet, tc);
}
#[test]
fn test_pus_distribution_combined_handler() {
let known_packet_queue = Arc::new(Mutex::default());
let unknown_packet_queue = Arc::new(Mutex::default());
let pus_queue = Arc::new(Mutex::default());
let pus_handler = PusHandlerSharedQueue(pus_queue.clone());
let handler_base = BasicApidHandlerSharedQueue {
known_packet_queue: known_packet_queue.clone(),
unknown_packet_queue: unknown_packet_queue.clone(),
};
let pus_distrib = PusDistributor::new(pus_handler);
is_send(&pus_distrib);
let apid_handler = ApidHandlerShared {
pus_distrib,
handler_base,
};
let mut ccsds_distrib = CcsdsDistributor::new(apid_handler);
let mut test_buf: [u8; 32] = [0; 32];
let tc_slice = generate_ping_tc(test_buf.as_mut_slice());
// Pass packet to distributor
ccsds_distrib
.pass_tc(tc_slice)
.expect("Passing TC slice failed");
let recvd_ccsds = known_packet_queue.lock().unwrap().pop_front();
assert!(unknown_packet_queue.lock().unwrap().is_empty());
assert!(recvd_ccsds.is_some());
let (apid, packet) = recvd_ccsds.unwrap();
assert_eq!(apid, 0x002);
assert_eq!(packet.as_slice(), tc_slice);
let recvd_pus = pus_queue.lock().unwrap().pop_front();
assert!(recvd_pus.is_some());
let packet_info = recvd_pus.unwrap();
assert_eq!(packet_info.service, 17);
assert_eq!(packet_info.apid, 0x002);
assert_eq!(packet_info.packet, tc_slice);
}
#[test]
fn test_accessing_combined_distributor() {
let pus_handler = PusHandlerOwnedQueue::default();
let handler_base = BasicApidHandlerOwnedQueue::default();
let pus_distrib = PusDistributor::new(pus_handler);
let apid_handler = ApidHandlerOwned {
pus_distrib,
handler_base,
};
let mut ccsds_distrib = CcsdsDistributor::new(apid_handler);
let mut test_buf: [u8; 32] = [0; 32];
let tc_slice = generate_ping_tc(test_buf.as_mut_slice());
ccsds_distrib
.pass_tc(tc_slice)
.expect("Passing TC slice failed");
let apid_handler_casted_back = ccsds_distrib.packet_handler_mut();
assert!(!apid_handler_casted_back
.handler_base
.known_packet_queue
.is_empty());
let handler_owned_queue = apid_handler_casted_back
.pus_distrib
.service_distributor_mut();
assert!(!handler_owned_queue.0.is_empty());
let packet_info = handler_owned_queue.0.pop_front().unwrap();
assert_eq!(packet_info.service, 17);
assert_eq!(packet_info.apid, 0x002);
assert_eq!(packet_info.packet, tc_slice);
}
#[test]
fn test_pus_distrib_error_custom_error() {
let error = PusDistribError::CustomError(GenericSendError::RxDisconnected);
let error_string = format!("{}", error);
assert_eq!(
error_string,
"pus distribution error: rx side has disconnected"
);
}
#[test]
fn test_pus_distrib_error_pus_error() {
let error = PusDistribError::<GenericSendError>::PusError(PusError::CrcCalculationMissing);
let error_string = format!("{}", error);
assert_eq!(
error_string,
"pus distribution error: crc16 was not calculated"
);
}
}

44
satrs/src/tmtc/tm_helper.rs
View File

@ -3,50 +3,6 @@ use spacepackets::time::cds::CdsTime;
use spacepackets::time::TimeWriter;
use spacepackets::SpHeader;
#[cfg(feature = "std")]
pub use std_mod::*;
#[cfg(feature = "std")]
pub mod std_mod {
use crate::pool::{
PoolProvider, SharedStaticMemoryPool, StaticMemoryPool, StoreAddr, StoreError,
};
use crate::pus::EcssTmtcError;
use spacepackets::ecss::tm::PusTmCreator;
use spacepackets::ecss::WritablePusPacket;
use std::sync::{Arc, RwLock};
#[derive(Clone)]
pub struct SharedTmPool(pub SharedStaticMemoryPool);
impl SharedTmPool {
pub fn new(shared_pool: StaticMemoryPool) -> Self {
Self(Arc::new(RwLock::new(shared_pool)))
}
pub fn clone_backing_pool(&self) -> SharedStaticMemoryPool {
self.0.clone()
}
pub fn shared_pool(&self) -> &SharedStaticMemoryPool {
&self.0
}
pub fn shared_pool_mut(&mut self) -> &mut SharedStaticMemoryPool {
&mut self.0
}
pub fn add_pus_tm(&self, pus_tm: &PusTmCreator) -> Result<StoreAddr, EcssTmtcError> {
let mut pg = self.0.write().map_err(|_| StoreError::LockError)?;
let addr = pg.free_element(pus_tm.len_written(), |buf| {
pus_tm
.write_to_bytes(buf)
.expect("writing PUS TM to store failed");
})?;
Ok(addr)
}
}
}
pub struct PusTmWithCdsShortHelper {
apid: u16,
cds_short_buf: [u8; 7],