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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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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);
}
}