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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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81
satrs-example/src/interface/tcp.rs
View File

@ -1,21 +1,41 @@
use std::{
collections::{HashSet, VecDeque},
fmt::Debug,
marker::PhantomData,
sync::{Arc, Mutex},
};
use log::{info, warn};
use satrs::{
encoding::ccsds::{SpValidity, SpacePacketValidator},
hal::std::tcp_server::{HandledConnectionHandler, ServerConfig, TcpSpacepacketsServer},
pus::ReceivesEcssPusTc,
spacepackets::PacketId,
tmtc::{CcsdsDistributor, CcsdsError, ReceivesCcsdsTc, TmPacketSourceCore},
spacepackets::{CcsdsPacket, PacketId},
tmtc::{PacketSenderRaw, PacketSource},
};
use crate::tmtc::ccsds::CcsdsReceiver;
#[derive(Default)]
pub struct ConnectionFinishedHandler {}
pub struct SimplePacketValidator {
pub valid_ids: HashSet<PacketId>,
}
impl SpacePacketValidator for SimplePacketValidator {
fn validate(
&self,
sp_header: &satrs::spacepackets::SpHeader,
_raw_buf: &[u8],
) -> satrs::encoding::ccsds::SpValidity {
if self.valid_ids.contains(&sp_header.packet_id()) {
return SpValidity::Valid;
}
log::warn!("ignoring space packet with header {:?}", sp_header);
// We could perform a CRC check.. but lets keep this simple and assume that TCP ensures
// data integrity.
SpValidity::Skip
}
}
impl HandledConnectionHandler for ConnectionFinishedHandler {
fn handled_connection(&mut self, info: satrs::hal::std::tcp_server::HandledConnectionInfo) {
info!(
@ -53,7 +73,7 @@ impl SyncTcpTmSource {
}
}
impl TmPacketSourceCore for SyncTcpTmSource {
impl PacketSource for SyncTcpTmSource {
type Error = ();
fn retrieve_packet(&mut self, buffer: &mut [u8]) -> Result<usize, Self::Error> {
@ -81,56 +101,45 @@ impl TmPacketSourceCore for SyncTcpTmSource {
}
}
pub type TcpServerType<TcSource, MpscErrorType> = TcpSpacepacketsServer<
pub type TcpServer<ReceivesTc, SendError> = TcpSpacepacketsServer<
SyncTcpTmSource,
CcsdsDistributor<CcsdsReceiver<TcSource, MpscErrorType>, MpscErrorType>,
HashSet<PacketId>,
ReceivesTc,
SimplePacketValidator,
ConnectionFinishedHandler,
(),
CcsdsError<MpscErrorType>,
SendError,
>;
pub struct TcpTask<
TcSource: ReceivesCcsdsTc<Error = MpscErrorType>
+ ReceivesEcssPusTc<Error = MpscErrorType>
+ Clone
+ Send
+ 'static,
MpscErrorType: 'static,
> {
server: TcpServerType<TcSource, MpscErrorType>,
}
pub struct TcpTask<TcSender: PacketSenderRaw<Error = SendError>, SendError: Debug + 'static>(
pub TcpServer<TcSender, SendError>,
PhantomData<SendError>,
);
impl<
TcSource: ReceivesCcsdsTc<Error = MpscErrorType>
+ ReceivesEcssPusTc<Error = MpscErrorType>
+ Clone
+ Send
+ 'static,
MpscErrorType: 'static + core::fmt::Debug,
> TcpTask<TcSource, MpscErrorType>
impl<TcSender: PacketSenderRaw<Error = SendError>, SendError: Debug + 'static>
TcpTask<TcSender, SendError>
{
pub fn new(
cfg: ServerConfig,
tm_source: SyncTcpTmSource,
tc_receiver: CcsdsDistributor<CcsdsReceiver<TcSource, MpscErrorType>, MpscErrorType>,
packet_id_lookup: HashSet<PacketId>,
tc_sender: TcSender,
valid_ids: HashSet<PacketId>,
) -> Result<Self, std::io::Error> {
Ok(Self {
server: TcpSpacepacketsServer::new(
Ok(Self(
TcpSpacepacketsServer::new(
cfg,
tm_source,
tc_receiver,
packet_id_lookup,
tc_sender,
SimplePacketValidator { valid_ids },
ConnectionFinishedHandler::default(),
None,
)?,
})
PhantomData,
))
}
pub fn periodic_operation(&mut self) {
loop {
let result = self.server.handle_next_connection(None);
let result = self.0.handle_all_connections(None);
match result {
Ok(_conn_result) => (),
Err(e) => {

110
satrs-example/src/interface/udp.rs
View File

@ -1,20 +1,22 @@
use core::fmt::Debug;
use std::net::{SocketAddr, UdpSocket};
use std::sync::mpsc;
use log::{info, warn};
use satrs::pus::{PusTmAsVec, PusTmInPool};
use satrs::tmtc::{PacketAsVec, PacketInPool, PacketSenderRaw};
use satrs::{
hal::std::udp_server::{ReceiveResult, UdpTcServer},
pool::{PoolProviderWithGuards, SharedStaticMemoryPool},
tmtc::CcsdsError,
};
use crate::pus::HandlingStatus;
pub trait UdpTmHandler {
fn send_tm_to_udp_client(&mut self, socket: &UdpSocket, recv_addr: &SocketAddr);
}
pub struct StaticUdpTmHandler {
pub tm_rx: mpsc::Receiver<PusTmInPool>,
pub tm_rx: mpsc::Receiver<PacketInPool>,
pub tm_store: SharedStaticMemoryPool,
}
@ -43,7 +45,7 @@ impl UdpTmHandler for StaticUdpTmHandler {
}
pub struct DynamicUdpTmHandler {
pub tm_rx: mpsc::Receiver<PusTmAsVec>,
pub tm_rx: mpsc::Receiver<PacketAsVec>,
}
impl UdpTmHandler for DynamicUdpTmHandler {
@ -64,42 +66,48 @@ impl UdpTmHandler for DynamicUdpTmHandler {
}
}
pub struct UdpTmtcServer<TmHandler: UdpTmHandler, SendError> {
pub udp_tc_server: UdpTcServer<CcsdsError<SendError>>,
pub struct UdpTmtcServer<
TcSender: PacketSenderRaw<Error = SendError>,
TmHandler: UdpTmHandler,
SendError,
> {
pub udp_tc_server: UdpTcServer<TcSender, SendError>,
pub tm_handler: TmHandler,
}
impl<TmHandler: UdpTmHandler, SendError: core::fmt::Debug + 'static>
UdpTmtcServer<TmHandler, SendError>
impl<
TcSender: PacketSenderRaw<Error = SendError>,
TmHandler: UdpTmHandler,
SendError: Debug + 'static,
> UdpTmtcServer<TcSender, TmHandler, SendError>
{
pub fn periodic_operation(&mut self) {
while self.poll_tc_server() {}
loop {
if self.poll_tc_server() == HandlingStatus::Empty {
break;
}
}
if let Some(recv_addr) = self.udp_tc_server.last_sender() {
self.tm_handler
.send_tm_to_udp_client(&self.udp_tc_server.socket, &recv_addr);
}
}
fn poll_tc_server(&mut self) -> bool {
fn poll_tc_server(&mut self) -> HandlingStatus {
match self.udp_tc_server.try_recv_tc() {
Ok(_) => true,
Err(e) => match e {
ReceiveResult::ReceiverError(e) => match e {
CcsdsError::ByteConversionError(e) => {
warn!("packet error: {e:?}");
true
Ok(_) => HandlingStatus::HandledOne,
Err(e) => {
match e {
ReceiveResult::NothingReceived => (),
ReceiveResult::Io(e) => {
warn!("IO error {e}");
}
CcsdsError::CustomError(e) => {
warn!("mpsc custom error {e:?}");
true
ReceiveResult::Send(send_error) => {
warn!("send error {send_error:?}");
}
},
ReceiveResult::IoError(e) => {
warn!("IO error {e}");
false
}
ReceiveResult::NothingReceived => false,
},
HandlingStatus::Empty
}
}
}
}
@ -107,6 +115,7 @@ impl<TmHandler: UdpTmHandler, SendError: core::fmt::Debug + 'static>
#[cfg(test)]
mod tests {
use std::{
cell::RefCell,
collections::VecDeque,
net::IpAddr,
sync::{Arc, Mutex},
@ -117,21 +126,26 @@ mod tests {
ecss::{tc::PusTcCreator, WritablePusPacket},
SpHeader,
},
tmtc::ReceivesTcCore,
tmtc::PacketSenderRaw,
ComponentId,
};
use satrs_example::config::{components, OBSW_SERVER_ADDR};
use super::*;
#[derive(Default, Debug, Clone)]
pub struct TestReceiver {
tc_vec: Arc<Mutex<VecDeque<Vec<u8>>>>,
const UDP_SERVER_ID: ComponentId = 0x05;
#[derive(Default, Debug)]
pub struct TestSender {
tc_vec: RefCell<VecDeque<PacketAsVec>>,
}
impl ReceivesTcCore for TestReceiver {
type Error = CcsdsError<()>;
fn pass_tc(&mut self, tc_raw: &[u8]) -> Result<(), Self::Error> {
self.tc_vec.lock().unwrap().push_back(tc_raw.to_vec());
impl PacketSenderRaw for TestSender {
type Error = ();
fn send_packet(&self, sender_id: ComponentId, tc_raw: &[u8]) -> Result<(), Self::Error> {
let mut mut_queue = self.tc_vec.borrow_mut();
mut_queue.push_back(PacketAsVec::new(sender_id, tc_raw.to_vec()));
Ok(())
}
}
@ -150,9 +164,10 @@ mod tests {
#[test]
fn test_basic() {
let sock_addr = SocketAddr::new(IpAddr::V4(OBSW_SERVER_ADDR), 0);
let test_receiver = TestReceiver::default();
let tc_queue = test_receiver.tc_vec.clone();
let udp_tc_server = UdpTcServer::new(sock_addr, 2048, Box::new(test_receiver)).unwrap();
let test_receiver = TestSender::default();
// let tc_queue = test_receiver.tc_vec.clone();
let udp_tc_server =
UdpTcServer::new(UDP_SERVER_ID, sock_addr, 2048, test_receiver).unwrap();
let tm_handler = TestTmHandler::default();
let tm_handler_calls = tm_handler.addrs_to_send_to.clone();
let mut udp_dyn_server = UdpTmtcServer {
@ -160,16 +175,18 @@ mod tests {
tm_handler,
};
udp_dyn_server.periodic_operation();
assert!(tc_queue.lock().unwrap().is_empty());
let queue = udp_dyn_server.udp_tc_server.tc_sender.tc_vec.borrow();
assert!(queue.is_empty());
assert!(tm_handler_calls.lock().unwrap().is_empty());
}
#[test]
fn test_transactions() {
let sock_addr = SocketAddr::new(IpAddr::V4(OBSW_SERVER_ADDR), 0);
let test_receiver = TestReceiver::default();
let tc_queue = test_receiver.tc_vec.clone();
let udp_tc_server = UdpTcServer::new(sock_addr, 2048, Box::new(test_receiver)).unwrap();
let test_receiver = TestSender::default();
// let tc_queue = test_receiver.tc_vec.clone();
let udp_tc_server =
UdpTcServer::new(UDP_SERVER_ID, sock_addr, 2048, test_receiver).unwrap();
let server_addr = udp_tc_server.socket.local_addr().unwrap();
let tm_handler = TestTmHandler::default();
let tm_handler_calls = tm_handler.addrs_to_send_to.clone();
@ -187,10 +204,11 @@ mod tests {
client.send(&ping_tc).unwrap();
udp_dyn_server.periodic_operation();
{
let mut tc_queue = tc_queue.lock().unwrap();
assert!(!tc_queue.is_empty());
let received_tc = tc_queue.pop_front().unwrap();
assert_eq!(received_tc, ping_tc);
let mut queue = udp_dyn_server.udp_tc_server.tc_sender.tc_vec.borrow_mut();
assert!(!queue.is_empty());
let packet_with_sender = queue.pop_front().unwrap();
assert_eq!(packet_with_sender.packet, ping_tc);
assert_eq!(packet_with_sender.sender_id, UDP_SERVER_ID);
}
{
@ -201,7 +219,9 @@ mod tests {
assert_eq!(received_addr, client_addr);
}
udp_dyn_server.periodic_operation();
assert!(tc_queue.lock().unwrap().is_empty());
let queue = udp_dyn_server.udp_tc_server.tc_sender.tc_vec.borrow();
assert!(queue.is_empty());
drop(queue);
// Still tries to send to the same client.
{
let mut tm_handler_calls = tm_handler_calls.lock().unwrap();