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simplified PUS stack
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This commit is contained in:
Robin Müller
2024-05-01 21:13:08 +02:00
parent 29f71c2a57
commit 736eb74e66
15 changed files with 365 additions and 368 deletions
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3
satrs-example/src/interface/udp.rs
View File

@ -3,14 +3,13 @@ use std::net::{SocketAddr, UdpSocket};
use std::sync::mpsc;
use log::{info, warn};
use satrs::pus::HandlingStatus;
use satrs::tmtc::{PacketAsVec, PacketInPool, PacketSenderRaw};
use satrs::{
hal::std::udp_server::{ReceiveResult, UdpTcServer},
pool::{PoolProviderWithGuards, SharedStaticMemoryPool},
};
use crate::pus::HandlingStatus;
pub trait UdpTmHandler {
fn send_tm_to_udp_client(&mut self, socket: &UdpSocket, recv_addr: &SocketAddr);
}

64
satrs-example/src/pus/action.rs
View File

@ -1,4 +1,4 @@
use log::{error, warn};
use log::warn;
use satrs::action::{ActionRequest, ActionRequestVariant};
use satrs::pool::SharedStaticMemoryPool;
use satrs::pus::action::{
@ -12,7 +12,7 @@ use satrs::pus::verification::{
use satrs::pus::{
ActiveRequestProvider, EcssTcAndToken, EcssTcInMemConverter, EcssTcInSharedStoreConverter,
EcssTcInVecConverter, EcssTmSender, EcssTmtcError, GenericConversionError, MpscTcReceiver,
MpscTmAsVecSender, PusPacketHandlerResult, PusReplyHandler, PusServiceHelper,
MpscTmAsVecSender, PusPacketHandlingError, PusReplyHandler, PusServiceHelper,
PusTcToRequestConverter,
};
use satrs::request::{GenericMessage, UniqueApidTargetId};
@ -278,43 +278,23 @@ pub struct ActionServiceWrapper<TmSender: EcssTmSender, TcInMemConverter: EcssTc
impl<TmSender: EcssTmSender, TcInMemConverter: EcssTcInMemConverter> TargetedPusService
for ActionServiceWrapper<TmSender, TcInMemConverter>
{
/// Returns [true] if the packet handling is finished.
fn poll_and_handle_next_tc(&mut self, time_stamp: &[u8]) -> HandlingStatus {
match self.service.poll_and_handle_next_tc(time_stamp) {
Ok(result) => match result {
PusPacketHandlerResult::RequestHandled => {}
PusPacketHandlerResult::RequestHandledPartialSuccess(e) => {
warn!("PUS 8 partial packet handling success: {e:?}")
}
PusPacketHandlerResult::CustomSubservice(invalid, _) => {
warn!("PUS 8 invalid subservice {invalid}");
}
PusPacketHandlerResult::SubserviceNotImplemented(subservice, _) => {
warn!("PUS 8 subservice {subservice} not implemented");
}
PusPacketHandlerResult::Empty => return HandlingStatus::Empty,
},
Err(error) => {
error!("PUS packet handling error: {error:?}");
// To avoid permanent loops on error cases.
return HandlingStatus::Empty;
}
const SERVICE_ID: u8 = 8;
const SERVICE_STR: &'static str = "action";
delegate::delegate! {
to self.service {
fn poll_and_handle_next_tc(
&mut self,
time_stamp: &[u8],
) -> Result<HandlingStatus, PusPacketHandlingError>;
fn poll_and_handle_next_reply(
&mut self,
time_stamp: &[u8],
) -> Result<HandlingStatus, EcssTmtcError>;
fn check_for_request_timeouts(&mut self);
}
HandlingStatus::HandledOne
}
fn poll_and_handle_next_reply(&mut self, time_stamp: &[u8]) -> HandlingStatus {
// This only fails if all senders disconnected. Treat it like an empty queue.
self.service
.poll_and_check_next_reply(time_stamp)
.unwrap_or_else(|e| {
warn!("PUS 8: Handling reply failed with error {e:?}");
HandlingStatus::Empty
})
}
fn check_for_request_timeouts(&mut self) {
self.service.check_for_request_timeouts();
}
}
@ -429,7 +409,7 @@ mod tests {
}
let result = result.unwrap();
match result {
PusPacketHandlerResult::RequestHandled => (),
HandlingStatus::HandledOne => (),
_ => panic!("unexpected result {result:?}"),
}
}
@ -441,19 +421,19 @@ mod tests {
}
let result = result.unwrap();
match result {
PusPacketHandlerResult::Empty => (),
HandlingStatus::Empty => (),
_ => panic!("unexpected result {result:?}"),
}
}
pub fn verify_next_reply_is_handled_properly(&mut self, time_stamp: &[u8]) {
let result = self.service.poll_and_check_next_reply(time_stamp);
let result = self.service.poll_and_handle_next_reply(time_stamp);
assert!(result.is_ok());
assert_eq!(result.unwrap(), HandlingStatus::HandledOne);
}
pub fn verify_all_replies_handled(&mut self, time_stamp: &[u8]) {
let result = self.service.poll_and_check_next_reply(time_stamp);
let result = self.service.poll_and_handle_next_reply(time_stamp);
assert!(result.is_ok());
assert_eq!(result.unwrap(), HandlingStatus::Empty);
}

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

@ -7,8 +7,9 @@ use satrs::pus::event_man::EventRequestWithToken;
use satrs::pus::event_srv::PusEventServiceHandler;
use satrs::pus::verification::VerificationReporter;
use satrs::pus::{
EcssTcAndToken, EcssTcInMemConverter, EcssTcInSharedStoreConverter, EcssTcInVecConverter,
EcssTmSender, MpscTcReceiver, MpscTmAsVecSender, PusPacketHandlerResult, PusServiceHelper,
DirectPusPacketHandlerResult, EcssTcAndToken, EcssTcInMemConverter,
EcssTcInSharedStoreConverter, EcssTcInVecConverter, EcssTmSender, MpscTcReceiver,
MpscTmAsVecSender, PartialPusHandlingError, PusServiceHelper,
};
use satrs::tmtc::{PacketAsVec, PacketSenderWithSharedPool};
use satrs_example::config::components::PUS_EVENT_MANAGEMENT;
@ -65,22 +66,24 @@ impl<TmSender: EcssTmSender, TcInMemConverter: EcssTcInMemConverter>
EventServiceWrapper<TmSender, TcInMemConverter>
{
pub fn poll_and_handle_next_tc(&mut self, time_stamp: &[u8]) -> HandlingStatus {
match self.handler.poll_and_handle_next_tc(time_stamp) {
let error_handler = |partial_error: &PartialPusHandlingError| {
log::warn!("PUS 5 partial error: {:?}", partial_error);
};
match self
.handler
.poll_and_handle_next_tc(error_handler, time_stamp)
{
Ok(result) => match result {
PusPacketHandlerResult::RequestHandled => {}
PusPacketHandlerResult::RequestHandledPartialSuccess(e) => {
warn!("PUS 5 partial packet handling success: {e:?}")
}
PusPacketHandlerResult::CustomSubservice(invalid, _) => {
DirectPusPacketHandlerResult::Handled(handling_status) => return handling_status,
DirectPusPacketHandlerResult::CustomSubservice(invalid, _) => {
warn!("PUS 5 invalid subservice {invalid}");
}
PusPacketHandlerResult::SubserviceNotImplemented(subservice, _) => {
DirectPusPacketHandlerResult::SubserviceNotImplemented(subservice, _) => {
warn!("PUS 5 subservice {subservice} not implemented");
}
PusPacketHandlerResult::Empty => return HandlingStatus::Empty,
},
Err(error) => {
error!("PUS packet handling error: {error:?}")
error!("PUS 5 packet handling error: {error:?}")
}
}
HandlingStatus::HandledOne

61
satrs-example/src/pus/hk.rs
View File

@ -1,5 +1,4 @@
use derive_new::new;
use log::{error, warn};
use satrs::hk::{CollectionIntervalFactor, HkRequest, HkRequestVariant, UniqueId};
use satrs::pool::SharedStaticMemoryPool;
use satrs::pus::verification::{
@ -10,7 +9,7 @@ use satrs::pus::{
ActivePusRequestStd, ActiveRequestProvider, DefaultActiveRequestMap, EcssTcAndToken,
EcssTcInMemConverter, EcssTcInSharedStoreConverter, EcssTcInVecConverter, EcssTmSender,
EcssTmtcError, GenericConversionError, MpscTcReceiver, MpscTmAsVecSender,
PusPacketHandlerResult, PusReplyHandler, PusServiceHelper, PusTcToRequestConverter,
PusPacketHandlingError, PusReplyHandler, PusServiceHelper, PusTcToRequestConverter,
};
use satrs::request::{GenericMessage, UniqueApidTargetId};
use satrs::spacepackets::ecss::tc::PusTcReader;
@ -24,7 +23,7 @@ use std::time::Duration;
use crate::pus::{create_verification_reporter, generic_pus_request_timeout_handler};
use crate::requests::GenericRequestRouter;
use super::{HandlingStatus, PusTargetedRequestService};
use super::{HandlingStatus, PusTargetedRequestService, TargetedPusService};
#[derive(Clone, PartialEq, Debug, new)]
pub struct HkReply {
@ -297,45 +296,27 @@ pub struct HkServiceWrapper<TmSender: EcssTmSender, TcInMemConverter: EcssTcInMe
>,
}
impl<TmSender: EcssTmSender, TcInMemConverter: EcssTcInMemConverter>
HkServiceWrapper<TmSender, TcInMemConverter>
impl<TmSender: EcssTmSender, TcInMemConverter: EcssTcInMemConverter> TargetedPusService
for HkServiceWrapper<TmSender, TcInMemConverter>
{
pub fn poll_and_handle_next_tc(&mut self, time_stamp: &[u8]) -> HandlingStatus {
match self.service.poll_and_handle_next_tc(time_stamp) {
Ok(result) => match result {
PusPacketHandlerResult::RequestHandled => {}
PusPacketHandlerResult::RequestHandledPartialSuccess(e) => {
warn!("PUS 3 partial packet handling success: {e:?}")
}
PusPacketHandlerResult::CustomSubservice(invalid, _) => {
warn!("PUS 3 invalid subservice {invalid}");
}
PusPacketHandlerResult::SubserviceNotImplemented(subservice, _) => {
warn!("PUS 3 subservice {subservice} not implemented");
}
PusPacketHandlerResult::Empty => return HandlingStatus::Empty,
},
Err(error) => {
error!("PUS packet handling error: {error:?}");
// To avoid permanent loops on error cases.
return HandlingStatus::Empty;
}
const SERVICE_ID: u8 = 3;
const SERVICE_STR: &'static str = "housekeeping";
delegate::delegate! {
to self.service {
fn poll_and_handle_next_tc(
&mut self,
time_stamp: &[u8],
) -> Result<HandlingStatus, PusPacketHandlingError>;
fn poll_and_handle_next_reply(
&mut self,
time_stamp: &[u8],
) -> Result<HandlingStatus, EcssTmtcError>;
fn check_for_request_timeouts(&mut self);
}
HandlingStatus::HandledOne
}
pub fn poll_and_handle_next_reply(&mut self, time_stamp: &[u8]) -> HandlingStatus {
// This only fails if all senders disconnected. Treat it like an empty queue.
self.service
.poll_and_check_next_reply(time_stamp)
.unwrap_or_else(|e| {
warn!("PUS 3: Handling reply failed with error {e:?}");
HandlingStatus::Empty
})
}
pub fn check_for_request_timeouts(&mut self) {
self.service.check_for_request_timeouts();
}
}

74
satrs-example/src/pus/mod.rs
View File

@ -8,8 +8,8 @@ use satrs::pus::verification::{
use satrs::pus::{
ActiveRequestMapProvider, ActiveRequestProvider, EcssTcAndToken, EcssTcInMemConverter,
EcssTcReceiver, EcssTmSender, EcssTmtcError, GenericConversionError, GenericRoutingError,
PusPacketHandlerResult, PusPacketHandlingError, PusReplyHandler, PusRequestRouter,
PusServiceHelper, PusTcToRequestConverter, TcInMemory,
HandlingStatus, PusPacketHandlingError, PusReplyHandler, PusRequestRouter, PusServiceHelper,
PusTcToRequestConverter, TcInMemory,
};
use satrs::queue::{GenericReceiveError, GenericSendError};
use satrs::request::{Apid, GenericMessage, MessageMetadata};
@ -31,12 +31,6 @@ pub mod scheduler;
pub mod stack;
pub mod test;
#[derive(Debug, PartialEq, Eq, Copy, Clone)]
pub enum HandlingStatus {
Empty,
HandledOne,
}
pub fn create_verification_reporter(owner_id: ComponentId, apid: Apid) -> VerificationReporter {
let verif_cfg = VerificationReporterCfg::new(apid, 1, 2, 8).unwrap();
// Every software component which needs to generate verification telemetry, gets a cloned
@ -79,7 +73,7 @@ impl<TmSender: EcssTmSender> PusTcDistributor<TmSender> {
pub fn handle_tc_packet_vec(
&mut self,
packet_as_vec: PacketAsVec,
) -> Result<PusPacketHandlerResult, GenericSendError> {
) -> Result<HandlingStatus, GenericSendError> {
self.handle_tc_generic(packet_as_vec.sender_id, None, &packet_as_vec.packet)
}
@ -87,7 +81,7 @@ impl<TmSender: EcssTmSender> PusTcDistributor<TmSender> {
&mut self,
packet_in_pool: PacketInPool,
pus_tc_copy: &[u8],
) -> Result<PusPacketHandlerResult, GenericSendError> {
) -> Result<HandlingStatus, GenericSendError> {
self.handle_tc_generic(
packet_in_pool.sender_id,
Some(packet_in_pool.store_addr),
@ -100,7 +94,7 @@ impl<TmSender: EcssTmSender> PusTcDistributor<TmSender> {
sender_id: ComponentId,
addr_opt: Option<PoolAddr>,
raw_tc: &[u8],
) -> Result<PusPacketHandlerResult, GenericSendError> {
) -> Result<HandlingStatus, GenericSendError> {
let pus_tc_result = PusTcReader::new(raw_tc);
if pus_tc_result.is_err() {
log::warn!(
@ -109,7 +103,8 @@ impl<TmSender: EcssTmSender> PusTcDistributor<TmSender> {
pus_tc_result.unwrap_err()
);
log::warn!("raw data: {:x?}", raw_tc);
return Ok(PusPacketHandlerResult::RequestHandled);
// TODO: Shouldn't this be an error?
return Ok(HandlingStatus::HandledOne);
}
let pus_tc = pus_tc_result.unwrap().0;
let init_token = self.verif_reporter.add_tc(&pus_tc);
@ -189,14 +184,53 @@ impl<TmSender: EcssTmSender> PusTcDistributor<TmSender> {
}
}
}
Ok(PusPacketHandlerResult::RequestHandled)
Ok(HandlingStatus::HandledOne)
}
}
pub trait TargetedPusService {
/// Returns [true] if the packet handling is finished.
fn poll_and_handle_next_tc(&mut self, time_stamp: &[u8]) -> HandlingStatus;
fn poll_and_handle_next_reply(&mut self, time_stamp: &[u8]) -> HandlingStatus;
const SERVICE_ID: u8;
const SERVICE_STR: &'static str;
fn poll_and_handle_next_tc_default_handler(&mut self, time_stamp: &[u8]) -> HandlingStatus {
let result = self.poll_and_handle_next_tc(time_stamp);
if let Err(e) = result {
log::error!(
"PUS service {}({})packet handling error: {:?}",
Self::SERVICE_ID,
Self::SERVICE_STR,
e
);
// To avoid permanent loops on error cases.
return HandlingStatus::Empty;
}
result.unwrap()
}
fn poll_and_handle_next_reply_default_handler(&mut self, time_stamp: &[u8]) -> HandlingStatus {
// This only fails if all senders disconnected. Treat it like an empty queue.
self.poll_and_handle_next_reply(time_stamp)
.unwrap_or_else(|e| {
warn!(
"PUS servce {}({}): Handling reply failed with error {:?}",
Self::SERVICE_ID,
Self::SERVICE_STR,
e
);
HandlingStatus::Empty
})
}
fn poll_and_handle_next_tc(
&mut self,
time_stamp: &[u8],
) -> Result<HandlingStatus, PusPacketHandlingError>;
fn poll_and_handle_next_reply(
&mut self,
time_stamp: &[u8],
) -> Result<HandlingStatus, EcssTmtcError>;
fn check_for_request_timeouts(&mut self);
}
@ -297,10 +331,10 @@ where
pub fn poll_and_handle_next_tc(
&mut self,
time_stamp: &[u8],
) -> Result<PusPacketHandlerResult, PusPacketHandlingError> {
) -> Result<HandlingStatus, PusPacketHandlingError> {
let possible_packet = self.service_helper.retrieve_and_accept_next_packet()?;
if possible_packet.is_none() {
return Ok(PusPacketHandlerResult::Empty);
return Ok(HandlingStatus::Empty);
}
let ecss_tc_and_token = possible_packet.unwrap();
self.service_helper
@ -356,7 +390,7 @@ where
return Err(e.into());
}
}
Ok(PusPacketHandlerResult::RequestHandled)
Ok(HandlingStatus::HandledOne)
}
fn handle_conversion_to_request_error(
@ -409,7 +443,7 @@ where
}
}
pub fn poll_and_check_next_reply(
pub fn poll_and_handle_next_reply(
&mut self,
time_stamp: &[u8],
) -> Result<HandlingStatus, EcssTmtcError> {

58
satrs-example/src/pus/mode.rs
View File

@ -1,5 +1,4 @@
use derive_new::new;
use log::{error, warn};
use satrs::tmtc::{PacketAsVec, PacketSenderWithSharedPool};
use std::sync::mpsc;
use std::time::Duration;
@ -9,7 +8,7 @@ use satrs::pool::SharedStaticMemoryPool;
use satrs::pus::verification::VerificationReporter;
use satrs::pus::{
DefaultActiveRequestMap, EcssTcAndToken, EcssTcInMemConverter, EcssTcInSharedStoreConverter,
EcssTcInVecConverter, MpscTcReceiver, MpscTmAsVecSender, PusPacketHandlerResult,
EcssTcInVecConverter, MpscTcReceiver, MpscTmAsVecSender, PusPacketHandlingError,
PusServiceHelper,
};
use satrs::request::GenericMessage;
@ -36,7 +35,7 @@ use satrs::{
ComponentId,
};
use satrs_example::config::components::PUS_MODE_SERVICE;
use satrs_example::config::{mode_err, tmtc_err};
use satrs_example::config::{mode_err, tmtc_err, CustomPusServiceId};
use super::{
create_verification_reporter, generic_pus_request_timeout_handler, HandlingStatus,
@ -272,44 +271,27 @@ pub struct ModeServiceWrapper<TmSender: EcssTmSender, TcInMemConverter: EcssTcIn
impl<TmSender: EcssTmSender, TcInMemConverter: EcssTcInMemConverter> TargetedPusService
for ModeServiceWrapper<TmSender, TcInMemConverter>
{
/// Returns [true] if the packet handling is finished.
fn poll_and_handle_next_tc(&mut self, time_stamp: &[u8]) -> HandlingStatus {
match self.service.poll_and_handle_next_tc(time_stamp) {
Ok(result) => match result {
PusPacketHandlerResult::RequestHandled => {}
PusPacketHandlerResult::RequestHandledPartialSuccess(e) => {
warn!("PUS mode service: partial packet handling success: {e:?}")
}
PusPacketHandlerResult::CustomSubservice(invalid, _) => {
warn!("PUS mode service: invalid subservice {invalid}");
}
PusPacketHandlerResult::SubserviceNotImplemented(subservice, _) => {
warn!("PUS mode service: {subservice} not implemented");
}
PusPacketHandlerResult::Empty => return HandlingStatus::Empty,
},
Err(error) => {
error!("PUS mode service: packet handling error: {error:?}");
// To avoid permanent loops on error cases.
return HandlingStatus::Empty;
}
const SERVICE_ID: u8 = CustomPusServiceId::Mode as u8;
const SERVICE_STR: &'static str = "mode";
delegate::delegate! {
to self.service {
fn poll_and_handle_next_tc(
&mut self,
time_stamp: &[u8],
) -> Result<HandlingStatus, PusPacketHandlingError>;
fn poll_and_handle_next_reply(
&mut self,
time_stamp: &[u8],
) -> Result<HandlingStatus, EcssTmtcError>;
fn check_for_request_timeouts(&mut self);
}
HandlingStatus::HandledOne
}
fn poll_and_handle_next_reply(&mut self, time_stamp: &[u8]) -> HandlingStatus {
self.service
.poll_and_check_next_reply(time_stamp)
.unwrap_or_else(|e| {
warn!("PUS action service: Handling reply failed with error {e:?}");
HandlingStatus::HandledOne
})
}
fn check_for_request_timeouts(&mut self) {
self.service.check_for_request_timeouts();
}
}
#[cfg(test)]
mod tests {
use satrs::pus::test_util::{TEST_APID, TEST_COMPONENT_ID_0, TEST_UNIQUE_ID_0};

33
satrs-example/src/pus/scheduler.rs
View File

@ -8,8 +8,9 @@ use satrs::pus::scheduler::{PusScheduler, TcInfo};
use satrs::pus::scheduler_srv::PusSchedServiceHandler;
use satrs::pus::verification::VerificationReporter;
use satrs::pus::{
EcssTcAndToken, EcssTcInMemConverter, EcssTcInSharedStoreConverter, EcssTcInVecConverter,
EcssTmSender, MpscTcReceiver, MpscTmAsVecSender, PusPacketHandlerResult, PusServiceHelper,
DirectPusPacketHandlerResult, EcssTcAndToken, EcssTcInMemConverter,
EcssTcInSharedStoreConverter, EcssTcInVecConverter, EcssTmSender, MpscTcReceiver,
MpscTmAsVecSender, PartialPusHandlingError, PusServiceHelper,
};
use satrs::tmtc::{PacketAsVec, PacketInPool, PacketSenderWithSharedPool};
use satrs::ComponentId;
@ -105,25 +106,25 @@ impl<TmSender: EcssTmSender, TcInMemConverter: EcssTcInMemConverter>
}
pub fn poll_and_handle_next_tc(&mut self, time_stamp: &[u8]) -> HandlingStatus {
match self
.pus_11_handler
.poll_and_handle_next_tc(time_stamp, &mut self.sched_tc_pool)
{
let error_handler = |patial_error: &PartialPusHandlingError| {
log::warn!("PUS 11 partial error: {:?}", patial_error);
};
match self.pus_11_handler.poll_and_handle_next_tc(
error_handler,
time_stamp,
&mut self.sched_tc_pool,
) {
Ok(result) => match result {
PusPacketHandlerResult::RequestHandled => {}
PusPacketHandlerResult::RequestHandledPartialSuccess(e) => {
warn!("PUS11 partial packet handling success: {e:?}")
DirectPusPacketHandlerResult::Handled(handling_status) => return handling_status,
DirectPusPacketHandlerResult::CustomSubservice(invalid, _) => {
warn!("PUS 11 invalid subservice {invalid}");
}
PusPacketHandlerResult::CustomSubservice(invalid, _) => {
warn!("PUS11 invalid subservice {invalid}");
DirectPusPacketHandlerResult::SubserviceNotImplemented(subservice, _) => {
warn!("PUS 11 Subservice {subservice} not implemented");
}
PusPacketHandlerResult::SubserviceNotImplemented(subservice, _) => {
warn!("PUS11: Subservice {subservice} not implemented");
}
PusPacketHandlerResult::Empty => return HandlingStatus::Empty,
},
Err(error) => {
error!("PUS packet handling error: {error:?}")
error!("PUS 11 packet handling error: {error:?}")
}
}
HandlingStatus::HandledOne

46
satrs-example/src/pus/stack.rs
View File

@ -2,8 +2,12 @@ use crate::pus::mode::ModeServiceWrapper;
use derive_new::new;
use satrs::{
pus::{EcssTcInMemConverter, EcssTmSender},
spacepackets::time::{cds, TimeWriter},
spacepackets::{
ecss::PusServiceId,
time::{cds, TimeWriter},
},
};
use satrs_example::config::CustomPusServiceId;
use super::{
action::ActionServiceWrapper, event::EventServiceWrapper, hk::HkServiceWrapper,
@ -32,6 +36,7 @@ impl<TmSender: EcssTmSender, TcInMemConverter: EcssTcInMemConverter>
.expect("time stamp generation error")
.to_vec()
.unwrap();
// Hot loop which will run continuously until all request and reply handling is done.
loop {
let mut nothing_to_do = true;
let mut is_srv_finished =
@ -46,33 +51,46 @@ impl<TmSender: EcssTmSender, TcInMemConverter: EcssTcInMemConverter>
}
};
is_srv_finished(
17,
self.test_srv.poll_and_handle_next_packet(&time_stamp),
PusServiceId::Test as u8,
self.test_srv.poll_and_handle_next_tc(&time_stamp),
None,
);
is_srv_finished(
11,
PusServiceId::Scheduling as u8,
self.schedule_srv.poll_and_handle_next_tc(&time_stamp),
None,
);
is_srv_finished(5, self.event_srv.poll_and_handle_next_tc(&time_stamp), None);
is_srv_finished(
8,
self.action_srv_wrapper.poll_and_handle_next_tc(&time_stamp),
PusServiceId::Event as u8,
self.event_srv.poll_and_handle_next_tc(&time_stamp),
None,
);
is_srv_finished(
PusServiceId::Action as u8,
self.action_srv_wrapper
.poll_and_handle_next_tc_default_handler(&time_stamp),
Some(
self.action_srv_wrapper
.poll_and_handle_next_reply(&time_stamp),
.poll_and_handle_next_reply_default_handler(&time_stamp),
),
);
is_srv_finished(
3,
self.hk_srv_wrapper.poll_and_handle_next_tc(&time_stamp),
Some(self.hk_srv_wrapper.poll_and_handle_next_reply(&time_stamp)),
PusServiceId::Housekeeping as u8,
self.hk_srv_wrapper
.poll_and_handle_next_tc_default_handler(&time_stamp),
Some(
self.hk_srv_wrapper
.poll_and_handle_next_reply_default_handler(&time_stamp),
),
);
is_srv_finished(
200,
self.mode_srv.poll_and_handle_next_tc(&time_stamp),
Some(self.mode_srv.poll_and_handle_next_reply(&time_stamp)),
CustomPusServiceId::Mode as u8,
self.mode_srv
.poll_and_handle_next_tc_default_handler(&time_stamp),
Some(
self.mode_srv
.poll_and_handle_next_reply_default_handler(&time_stamp),
),
);
if nothing_to_do {
// Timeout checking is only done once.

37
satrs-example/src/pus/test.rs
View File

@ -4,11 +4,11 @@ use satrs::event_man::{EventMessage, EventMessageU32};
use satrs::pool::SharedStaticMemoryPool;
use satrs::pus::test::PusService17TestHandler;
use satrs::pus::verification::{FailParams, VerificationReporter, VerificationReportingProvider};
use satrs::pus::EcssTcInSharedStoreConverter;
use satrs::pus::{
EcssTcAndToken, EcssTcInMemConverter, EcssTcInVecConverter, EcssTmSender, MpscTcReceiver,
MpscTmAsVecSender, PusPacketHandlerResult, PusServiceHelper,
DirectPusPacketHandlerResult, EcssTcAndToken, EcssTcInMemConverter, EcssTcInVecConverter,
EcssTmSender, MpscTcReceiver, MpscTmAsVecSender, PusServiceHelper,
};
use satrs::pus::{EcssTcInSharedStoreConverter, PartialPusHandlingError};
use satrs::spacepackets::ecss::tc::PusTcReader;
use satrs::spacepackets::ecss::PusPacket;
use satrs::spacepackets::time::cds::CdsTime;
@ -67,27 +67,29 @@ pub struct TestCustomServiceWrapper<TmSender: EcssTmSender, TcInMemConverter: Ec
impl<TmSender: EcssTmSender, TcInMemConverter: EcssTcInMemConverter>
TestCustomServiceWrapper<TmSender, TcInMemConverter>
{
pub fn poll_and_handle_next_packet(&mut self, time_stamp: &[u8]) -> HandlingStatus {
let res = self.handler.poll_and_handle_next_tc(time_stamp);
pub fn poll_and_handle_next_tc(&mut self, time_stamp: &[u8]) -> HandlingStatus {
let error_handler = |patial_error: &PartialPusHandlingError| {
log::warn!("PUS 17 partial error: {:?}", patial_error);
};
let res = self
.handler
.poll_and_handle_next_tc(error_handler, time_stamp);
if res.is_err() {
warn!("PUS17 handler failed with error {:?}", res.unwrap_err());
warn!("PUS 17 handler error: {:?}", res.unwrap_err());
return HandlingStatus::HandledOne;
}
match res.unwrap() {
PusPacketHandlerResult::RequestHandled => {
info!("Received PUS ping command TC[17,1]");
info!("Sent ping reply PUS TM[17,2]");
DirectPusPacketHandlerResult::Handled(handling_status) => {
if handling_status == HandlingStatus::HandledOne {
info!("Received PUS ping command TC[17,1]");
info!("Sent ping reply PUS TM[17,2]");
}
return handling_status;
}
PusPacketHandlerResult::RequestHandledPartialSuccess(partial_err) => {
warn!(
"Handled PUS ping command with partial success: {:?}",
partial_err
);
}
PusPacketHandlerResult::SubserviceNotImplemented(subservice, _) => {
DirectPusPacketHandlerResult::SubserviceNotImplemented(subservice, _) => {
warn!("PUS17: Subservice {subservice} not implemented")
}
PusPacketHandlerResult::CustomSubservice(subservice, token) => {
DirectPusPacketHandlerResult::CustomSubservice(subservice, token) => {
let (tc, _) = PusTcReader::new(
self.handler
.service_helper
@ -135,7 +137,6 @@ impl<TmSender: EcssTmSender, TcInMemConverter: EcssTcInMemConverter>
.expect("Sending start failure verification failed");
}
}
PusPacketHandlerResult::Empty => return HandlingStatus::Empty,
}
HandlingStatus::HandledOne
}

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

@ -1,12 +1,13 @@
use satrs::{
pool::PoolProvider,
pus::HandlingStatus,
tmtc::{PacketAsVec, PacketInPool, PacketSenderWithSharedPool, SharedPacketPool},
};
use std::sync::mpsc::{self, TryRecvError};
use satrs::pus::MpscTmAsVecSender;
use crate::pus::{HandlingStatus, PusTcDistributor};
use crate::pus::PusTcDistributor;
// TC source components where static pools are the backing memory of the received telecommands.
pub struct TcSourceTaskStatic {