basic TMTC infastructure for example

.idea/runConfigurations/Run_obsw_client_example.xml

@@ -0,0 +1,19 @@
+<component name="ProjectRunConfigurationManager">
+  <configuration default="false" name="Run obsw client example" type="CargoCommandRunConfiguration" factoryName="Cargo Command">
+    <option name="command" value="run --package fsrc-example --bin client" />
+    <option name="workingDirectory" value="file://$PROJECT_DIR$" />
+    <option name="channel" value="DEFAULT" />
+    <option name="requiredFeatures" value="true" />
+    <option name="allFeatures" value="false" />
+    <option name="emulateTerminal" value="false" />
+    <option name="withSudo" value="false" />
+    <option name="buildTarget" value="REMOTE" />
+    <option name="backtrace" value="SHORT" />
+    <envs />
+    <option name="isRedirectInput" value="false" />
+    <option name="redirectInputPath" value="" />
+    <method v="2">
+      <option name="CARGO.BUILD_TASK_PROVIDER" enabled="true" />
+    </method>
+  </configuration>
+</component>

.idea/runConfigurations/Run_obsw_example.xml

@@ -0,0 +1,19 @@
+<component name="ProjectRunConfigurationManager">
+  <configuration default="false" name="Run obsw example" type="CargoCommandRunConfiguration" factoryName="Cargo Command">
+    <option name="command" value="run --package fsrc-example --bin obsw" />
+    <option name="workingDirectory" value="file://$PROJECT_DIR$" />
+    <option name="channel" value="DEFAULT" />
+    <option name="requiredFeatures" value="true" />
+    <option name="allFeatures" value="false" />
+    <option name="emulateTerminal" value="false" />
+    <option name="withSudo" value="false" />
+    <option name="buildTarget" value="REMOTE" />
+    <option name="backtrace" value="SHORT" />
+    <envs />
+    <option name="isRedirectInput" value="false" />
+    <option name="redirectInputPath" value="" />
+    <method v="2">
+      <option name="CARGO.BUILD_TASK_PROVIDER" enabled="true" />
+    </method>
+  </configuration>
+</component>

Cargo.lock

@@ -235,6 +235,7 @@ dependencies = [
 name = "fsrc-example"
 version = "0.1.0"
 dependencies = [
+ "fsrc-core",
  "spacepackets",
 ]
 

fsrc-core/src/hal/host/udp_server.rs

@@ -1,20 +1,24 @@
 use crate::hal::host::udp_server::ReceiveResult::{IoError, ReceiverError};
 use crate::tmtc::ReceivesTc;
+use std::boxed::Box;
 use std::net::{SocketAddr, ToSocketAddrs, UdpSocket};
+use std::vec;
 use std::vec::Vec;
 
-pub struct UdpTmtcServer<E> {
+pub struct UdpTcServer<E> {
-    socket: UdpSocket,
+    pub socket: UdpSocket,
     recv_buf: Vec<u8>,
+    sender_addr: Option<SocketAddr>,
     tc_receiver: Box<dyn ReceivesTc<Error = E>>,
 }
 
+#[derive(Debug)]
 pub enum ReceiveResult<E> {
     IoError(std::io::Error),
     ReceiverError(E),
 }
 
-impl<E> UdpTmtcServer<E> {
+impl<E> UdpTcServer<E> {
     pub fn new<A: ToSocketAddrs>(
         addr: A,
         max_recv_size: usize,
@@ -22,7 +26,8 @@ impl<E> UdpTmtcServer<E> {
     ) -> Result<Self, std::io::Error> {
         Ok(Self {
             socket: UdpSocket::bind(addr)?,
-            recv_buf: Vec::with_capacity(max_recv_size),
+            recv_buf: vec![0; max_recv_size],
+            sender_addr: None,
             tc_receiver,
         })
     }
@@ -32,6 +37,7 @@ impl<E> UdpTmtcServer<E> {
             .socket
             .recv_from(&mut self.recv_buf)
             .map_err(|e| IoError(e))?;
+        self.sender_addr = Some(res.1);
         self.tc_receiver
             .pass_tc(&self.recv_buf[0..res.0])
             .map_err(|e| ReceiverError(e))?;

fsrc-core/src/hal/mod.rs

@@ -1,2 +1,2 @@
-#[cfg(feature = "use_std")]
+#[cfg(feature = "std")]
 pub mod host;

fsrc-core/src/tmtc/ccsds_distrib.rs

@@ -2,7 +2,7 @@
 //!
 //! The routing components consist of two core components:
 //!  1. [CcsdsDistributor] component which dispatches received packets to a user-provided handler
-//!  2. [ApidPacketHandler] trait which should be implemented by the user-provided packet handler.
+//!  2. [CcsdsPacketHandler] trait which should be implemented by the user-provided packet handler.
 //!
 //! The [CcsdsDistributor] implements the [ReceivesCcsdsTc] and [ReceivesTc] trait which allows to
 //! pass raw or CCSDS packets to it. Upon receiving a packet, it performs the following steps:
@@ -11,14 +11,14 @@
 //!    respective CCSDS space packet header field. If that process fails, a [PacketError] is
 //!    returned to the user
 //! 2. If a valid APID is found and matches one of the APIDs provided by
-//!    [ApidPacketHandler::valid_apids], it will pass the packet to the user provided
+//!    [CcsdsPacketHandler::valid_apids], it will pass the packet to the user provided
-//!    [ApidPacketHandler::handle_known_apid] function. If no valid APID is found, the packet
+//!    [CcsdsPacketHandler::handle_known_apid] function. If no valid APID is found, the packet
-//!    will be passed to the [ApidPacketHandler::handle_unknown_apid] function.
+//!    will be passed to the [CcsdsPacketHandler::handle_unknown_apid] function.
 //!
 //! # Example
 //!
 //! ```rust
-//! use fsrc_core::tmtc::ccsds_distrib::{ApidPacketHandler, CcsdsDistributor};
+//! use fsrc_core::tmtc::ccsds_distrib::{CcsdsPacketHandler, CcsdsDistributor};
 //! use fsrc_core::tmtc::ReceivesTc;
 //! use spacepackets::{CcsdsPacket, SpHeader};
 //! use spacepackets::tc::PusTc;
@@ -33,7 +33,7 @@
 //!     fn mutable_foo(&mut self) {}
 //! }
 //!
-//! impl ApidPacketHandler for ConcreteApidHandler {
+//! impl CcsdsPacketHandler for ConcreteApidHandler {
 //!     type Error = ();
 //!     fn valid_apids(&self) -> &'static [u16] { &[0x002] }
 //!     fn handle_known_apid(&mut self, sp_header: &SpHeader, tc_raw: &[u8]) -> Result<(), Self::Error> {
@@ -86,7 +86,7 @@
 //! ```
 use crate::tmtc::{ReceivesCcsdsTc, ReceivesTc};
 use downcast_rs::Downcast;
-use spacepackets::{CcsdsPacket, PacketError, SpHeader};
+use spacepackets::{CcsdsPacket, PacketError, SizeMissmatch, SpHeader};
 
 /// Generic trait for a handler or dispatcher object handling CCSDS packets.
 ///
@@ -98,7 +98,7 @@ use spacepackets::{CcsdsPacket, PacketError, SpHeader};
 /// This trait automatically implements the [downcast_rs::Downcast] to allow a more convenient API
 /// to cast trait objects back to their concrete type after the handler was passed to the
 /// distributor.
-pub trait ApidPacketHandler: Downcast {
+pub trait CcsdsPacketHandler: Downcast {
     type Error;
 
     fn valid_apids(&self) -> &'static [u16];
@@ -111,14 +111,14 @@ pub trait ApidPacketHandler: Downcast {
     ) -> Result<(), Self::Error>;
 }
 
-downcast_rs::impl_downcast!(ApidPacketHandler assoc Error);
+downcast_rs::impl_downcast!(CcsdsPacketHandler assoc Error);
 
 /// The CCSDS distributor dispatches received CCSDS packets to a user provided packet handler.
 pub struct CcsdsDistributor<E> {
     /// User provided APID handler stored as a generic trait object.
     /// It can be cast back to the original concrete type using the [Self::apid_handler_ref] or
     /// the [Self::apid_handler_mut] method.
-    pub apid_handler: Box<dyn ApidPacketHandler<Error = E>>,
+    pub apid_handler: Box<dyn CcsdsPacketHandler<Error = E>>,
 }
 
 #[derive(Debug, Copy, Clone, PartialEq, Eq)]
@@ -139,26 +139,34 @@ impl<E: 'static> ReceivesTc for CcsdsDistributor<E> {
     type Error = CcsdsError<E>;
 
     fn pass_tc(&mut self, tc_raw: &[u8]) -> Result<(), Self::Error> {
+        if tc_raw.len() < 7 {
+            return Err(CcsdsError::PacketError(
+                PacketError::FromBytesSliceTooSmall(SizeMissmatch {
+                    found: tc_raw.len(),
+                    expected: 7,
+                }),
+            ));
+        }
         let sp_header = SpHeader::from_raw_slice(tc_raw).map_err(|e| CcsdsError::PacketError(e))?;
         self.dispatch_ccsds(&sp_header, tc_raw)
     }
 }
 
 impl<E: 'static> CcsdsDistributor<E> {
-    pub fn new(apid_handler: Box<dyn ApidPacketHandler<Error = E>>) -> Self {
+    pub fn new(apid_handler: Box<dyn CcsdsPacketHandler<Error = E>>) -> Self {
         CcsdsDistributor { apid_handler }
     }
 
     /// This function can be used to retrieve a reference to the concrete instance of the APID
     /// handler after it was passed to the distributor. See the
     /// [module documentation][crate::tmtc::ccsds_distrib] for an fsrc-example.
-    pub fn apid_handler_ref<T: ApidPacketHandler<Error = E>>(&self) -> Option<&T> {
+    pub fn apid_handler_ref<T: CcsdsPacketHandler<Error = E>>(&self) -> Option<&T> {
         self.apid_handler.downcast_ref::<T>()
     }
 
     /// This function can be used to retrieve a mutable reference to the concrete instance of the
     /// APID handler after it was passed to the distributor.
-    pub fn apid_handler_mut<T: ApidPacketHandler<Error = E>>(&mut self) -> Option<&mut T> {
+    pub fn apid_handler_mut<T: CcsdsPacketHandler<Error = E>>(&mut self) -> Option<&mut T> {
         self.apid_handler.downcast_mut::<T>()
     }
 
@@ -182,7 +190,7 @@ impl<E: 'static> CcsdsDistributor<E> {
 #[cfg(test)]
 pub(crate) mod tests {
     use super::*;
-    use crate::tmtc::ccsds_distrib::{ApidPacketHandler, CcsdsDistributor};
+    use crate::tmtc::ccsds_distrib::{CcsdsDistributor, CcsdsPacketHandler};
     use spacepackets::tc::PusTc;
     use spacepackets::CcsdsPacket;
     use std::collections::VecDeque;
@@ -207,7 +215,7 @@ pub(crate) mod tests {
         pub unknown_packet_queue: VecDeque<(u16, Vec<u8>)>,
     }
 
-    impl ApidPacketHandler for BasicApidHandlerSharedQueue {
+    impl CcsdsPacketHandler for BasicApidHandlerSharedQueue {
         type Error = ();
         fn valid_apids(&self) -> &'static [u16] {
             &[0x000, 0x002]
@@ -242,7 +250,7 @@ pub(crate) mod tests {
         }
     }
 
-    impl ApidPacketHandler for BasicApidHandlerOwnedQueue {
+    impl CcsdsPacketHandler for BasicApidHandlerOwnedQueue {
         type Error = ();
 
         fn valid_apids(&self) -> &'static [u16] {

fsrc-core/src/tmtc/mod.rs

@@ -12,6 +12,9 @@ use spacepackets::SpHeader;
 pub mod ccsds_distrib;
 pub mod pus_distrib;
 
+pub use ccsds_distrib::{CcsdsDistributor, CcsdsError, CcsdsPacketHandler};
+pub use pus_distrib::{PusDistributor, PusServiceProvider};
+
 const _RAW_PACKET_ERROR: &str = "raw-tmtc";
 const _CCSDS_ERROR: &str = "ccsds-tmtc";
 const _PUS_ERROR: &str = "pus-tmtc";

fsrc-core/src/tmtc/pus_distrib.rs

@@ -137,7 +137,8 @@ mod tests {
     use crate::tmtc::ccsds_distrib::tests::{
         generate_ping_tc, BasicApidHandlerOwnedQueue, BasicApidHandlerSharedQueue,
     };
-    use crate::tmtc::ccsds_distrib::{ApidPacketHandler, CcsdsDistributor};
+    use crate::tmtc::ccsds_distrib::{CcsdsDistributor, CcsdsPacketHandler};
+    use alloc::vec::Vec;
     use spacepackets::ecss::PusError;
     use spacepackets::tc::PusTc;
     use spacepackets::CcsdsPacket;
@@ -235,11 +236,11 @@ mod tests {
         };
     }
 
-    impl ApidPacketHandler for ApidHandlerOwned {
+    impl CcsdsPacketHandler for ApidHandlerOwned {
         apid_handler_impl!();
     }
 
-    impl ApidPacketHandler for ApidHandlerShared {
+    impl CcsdsPacketHandler for ApidHandlerShared {
         apid_handler_impl!();
     }
 

fsrc-core/tests/pool_test.rs

@@ -1,7 +1,6 @@
+use fsrc_core::pool::{LocalPool, PoolCfg, StoreAddr, StoreError};
 use std::sync::{Arc, RwLock};
 use std::thread;
-use fsrc_core::pool::{LocalPool, PoolCfg, StoreAddr, StoreError};
-
 
 struct PoolAccessDummy<'a> {
     pool: &'a mut LocalPool,

fsrc-example/Cargo.toml

@@ -6,3 +6,6 @@ authors = ["Robin Mueller <muellerr@irs.uni-stuttgart.de>"]
 
 [dependencies.spacepackets]
 path = "../spacepackets"
+
+[dependencies.fsrc-core]
+path = "../fsrc-core"

fsrc-example/src/bin/client.rs

@@ -8,7 +8,7 @@ fn main() {
     let addr = SocketAddr::new(IpAddr::V4(OBSW_SERVER_ADDR), SERVER_PORT);
     let mut sph = SpHeader::tc(0x02, 0, 0).unwrap();
     let pus_tc = PusTc::new_simple(&mut sph, 17, 1, None, true);
-    let client = UdpSocket::bind("127.0.0.1:7300").expect("Connecting to UDP server failed");
+    let client = UdpSocket::bind("127.0.0.1:7302").expect("Connecting to UDP server failed");
     let size = pus_tc.write_to(&mut buf).expect("Creating PUS TC failed");
     client
         .send_to(&buf[0..size], &addr)

fsrc-example/src/bin/obsw.rs

@@ -1,15 +1,96 @@
+use fsrc_core::hal::host::udp_server::{ReceiveResult, UdpTcServer};
+use fsrc_core::tmtc::{
+    CcsdsDistributor, CcsdsError, CcsdsPacketHandler, PusDistributor, PusServiceProvider,
+    ReceivesCcsdsTc,
+};
 use fsrc_example::{OBSW_SERVER_ADDR, SERVER_PORT};
-use std::net::{IpAddr, SocketAddr, UdpSocket};
+use spacepackets::tc::PusTc;
+use spacepackets::{CcsdsPacket, SpHeader};
+use std::net::{IpAddr, SocketAddr};
+
+const PUS_APID: u16 = 0x02;
+
+struct PusReceiver {}
+
+struct CcsdsReceiver {
+    pus_handler: PusDistributor<()>,
+}
+
+impl CcsdsPacketHandler for CcsdsReceiver {
+    type Error = ();
+
+    fn valid_apids(&self) -> &'static [u16] {
+        &[PUS_APID]
+    }
+
+    fn handle_known_apid(
+        &mut self,
+        sp_header: &SpHeader,
+        tc_raw: &[u8],
+    ) -> Result<(), Self::Error> {
+        if sp_header.apid() == PUS_APID {
+            self.pus_handler
+                .pass_ccsds(sp_header, tc_raw)
+                .expect("Handling PUS packet failed");
+        }
+        Ok(())
+    }
+
+    fn handle_unknown_apid(
+        &mut self,
+        _sp_header: &SpHeader,
+        _tc_raw: &[u8],
+    ) -> Result<(), Self::Error> {
+        println!("Unknown APID detected");
+        Ok(())
+    }
+}
+
+impl PusServiceProvider for PusReceiver {
+    type Error = ();
+
+    fn handle_pus_tc_packet(
+        &mut self,
+        service: u8,
+        _header: &SpHeader,
+        pus_tc: &PusTc,
+    ) -> Result<(), Self::Error> {
+        if service == 17 {
+            println!("Received PUS ping command");
+            let raw_data = pus_tc.raw().expect("Could not retrieve raw data");
+            println!("Raw data: 0x{raw_data:x?}");
+        }
+        Ok(())
+    }
+}
 
 fn main() {
-    let mut recv_buf = [0; 1024];
     let addr = SocketAddr::new(IpAddr::V4(OBSW_SERVER_ADDR), SERVER_PORT);
-    let socket = UdpSocket::bind(&addr).expect("Error opening UDP socket");
+    let pus_receiver = PusReceiver {};
+    let pus_distributor = PusDistributor::new(Box::new(pus_receiver));
+    let ccsds_receiver = CcsdsReceiver {
+        pus_handler: pus_distributor,
+    };
+    let ccsds_distributor = CcsdsDistributor::new(Box::new(ccsds_receiver));
+    let mut udp_tmtc_server = UdpTcServer::new(addr, 2048, Box::new(ccsds_distributor))
+        .expect("Creating UDP TMTC server failed");
     loop {
-        let (num_bytes, src) = socket.recv_from(&mut recv_buf).expect("UDP Receive error");
+        let res = udp_tmtc_server.recv_tc();
-        println!(
+        match res {
-            "Received TM with len {num_bytes} from {src}: {:x?}",
+            Ok(_) => (),
-            &recv_buf[0..num_bytes]
+            Err(e) => match e {
-        );
+                ReceiveResult::ReceiverError(e) => match e {
+                    CcsdsError::PacketError(e) => {
+                        println!("Got packet error: {e:?}");
+                    }
+                    CcsdsError::CustomError(_) => {
+                        println!("Unknown receiver error")
+                    }
+                },
+                ReceiveResult::IoError(e) => {
+                    println!("IO error {e}");
+                }
+            },
+        }
     }
 }

spacepackets

@@ -1 +1 @@
-Subproject commit 35073a45a536051e3852696c501d7afa1b36a808
+Subproject commit 42d3487c1934cfecf9b2d599c2f81fde52a61cc3