fixes for example

satrs-example/src/acs/mgm.rs

@@ -71,6 +71,7 @@ impl<ComInterface: SpiInterface, TmSender: EcssTmSenderCore> MgmHandler<ComInter
     pub fn periodic_operation(&mut self) {
         self.stamp_helper.update_from_now();
         // Handle messages.
+        // TODO: Put  this in loop/seprate function.
         match self.composite_request_receiver.try_recv() {
             Ok(ref msg) => match &msg.message {
                 CompositeRequest::Hk(hk_req) => match hk_req.variant {
@@ -111,8 +112,18 @@ impl<ComInterface: SpiInterface, TmSender: EcssTmSenderCore> MgmHandler<ComInter
                 // reply.
                 CompositeRequest::Action(_action_req) => {}
             },
-            Err(_) => todo!(),
+
+            Err(e) => {
+                if e != mpsc::TryRecvError::Empty {
+                    log::warn!(
+                        "{}: failed to receive composite request: {:?}",
+                        self.dev_str,
+                        e
+                    );
                 }
+            }
+        }
+        // TODO: Put this in loop and only allow one set mode request per cycle?
         match self.mode_interface.request_rx.try_recv() {
             Ok(msg) => {
                 let result = self.handle_mode_request(msg);
@@ -125,7 +136,11 @@ impl<ComInterface: SpiInterface, TmSender: EcssTmSenderCore> MgmHandler<ComInter
                     );
                 }
             }
-            Err(_) => todo!(),
+            Err(e) => {
+                if e != mpsc::TryRecvError::Empty {
+                    log::warn!("{}: failed to receive mode request: {:?}", self.dev_str, e);
+                }
+            }
         }
     }
 }

satrs-example/src/pus/action.rs

@@ -26,8 +26,8 @@ use std::time::Duration;
 use crate::requests::GenericRequestRouter;
 
 use super::{
-    create_verification_reporter, generic_pus_request_timeout_handler, PusTargetedRequestService,
-    TargetedPusService,
+    create_verification_reporter, generic_pus_request_timeout_handler, HandlingStatus,
+    PusTargetedRequestService, TargetedPusService,
 };
 
 pub struct ActionReplyHandler {
@@ -291,12 +291,13 @@ impl<TmSender: EcssTmSenderCore, TcInMemConverter: EcssTcInMemConverter> Targete
         false
     }
 
-    fn poll_and_handle_next_reply(&mut self, time_stamp: &[u8]) -> bool {
+    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:?}");
-                false
+                HandlingStatus::Empty
             })
     }
 
@@ -536,7 +537,10 @@ mod tests {
 
     #[test]
     fn converter_action_req_no_data() {
-        let mut testbench = PusConverterTestbench::new(TEST_COMPONENT_ID_0.raw(), ActionRequestConverter::default());
+        let mut testbench = PusConverterTestbench::new(
+            TEST_COMPONENT_ID_0.raw(),
+            ActionRequestConverter::default(),
+        );
         let mut sp_header = SpHeader::tc_unseg(TEST_APID, 0, 0).unwrap();
         let sec_header = PusTcSecondaryHeader::new_simple(8, 128);
         let action_id = 5_u32;
@@ -567,7 +571,8 @@ mod tests {
 
     #[test]
     fn converter_action_req_with_data() {
-        let mut testbench = PusConverterTestbench::new(TEST_COMPONENT_ID_0.id(), ActionRequestConverter::default());
+        let mut testbench =
+            PusConverterTestbench::new(TEST_COMPONENT_ID_0.id(), ActionRequestConverter::default());
         let mut sp_header = SpHeader::tc_unseg(TEST_APID, 0, 0).unwrap();
         let sec_header = PusTcSecondaryHeader::new_simple(8, 128);
         let action_id = 5_u32;
@@ -642,7 +647,8 @@ mod tests {
 
     #[test]
     fn reply_handling_step_success() {
-        let mut testbench = ReplyHandlerTestbench::new(TEST_COMPONENT_ID_0.id(), ActionReplyHandler::default());
+        let mut testbench =
+            ReplyHandlerTestbench::new(TEST_COMPONENT_ID_0.id(), ActionReplyHandler::default());
         let action_id = 5_u32;
         let (req_id, active_req) = testbench.add_tc(TEST_APID, TEST_UNIQUE_ID_0, &[]);
         let active_action_req =

satrs-example/src/pus/hk.rs

@@ -24,7 +24,7 @@ use std::time::Duration;
 use crate::pus::{create_verification_reporter, generic_pus_request_timeout_handler};
 use crate::requests::GenericRequestRouter;
 
-use super::PusTargetedRequestService;
+use super::{HandlingStatus, PusTargetedRequestService};
 
 #[derive(Clone, PartialEq, Debug, new)]
 pub struct HkReply {
@@ -324,12 +324,13 @@ impl<TmSender: EcssTmSenderCore, TcInMemConverter: EcssTcInMemConverter>
         false
     }
 
-    pub fn poll_and_handle_next_reply(&mut self, time_stamp: &[u8]) -> bool {
+    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:?}");
-                false
+                HandlingStatus::Empty
             })
     }
 
@@ -340,7 +341,9 @@ impl<TmSender: EcssTmSenderCore, TcInMemConverter: EcssTcInMemConverter>
 
 #[cfg(test)]
 mod tests {
-    use satrs::pus::test_util::{TEST_COMPONENT_ID_0, TEST_COMPONENT_ID_1, TEST_UNIQUE_ID_0, TEST_UNIQUE_ID_1};
+    use satrs::pus::test_util::{
+        TEST_COMPONENT_ID_0, TEST_COMPONENT_ID_1, TEST_UNIQUE_ID_0, TEST_UNIQUE_ID_1,
+    };
     use satrs::request::MessageMetadata;
     use satrs::{
         hk::HkRequestVariant,
@@ -362,7 +365,8 @@ mod tests {
 
     #[test]
     fn hk_converter_one_shot_req() {
-        let mut hk_bench = PusConverterTestbench::new(TEST_COMPONENT_ID_0.id(), HkRequestConverter::default());
+        let mut hk_bench =
+            PusConverterTestbench::new(TEST_COMPONENT_ID_0.id(), HkRequestConverter::default());
         let mut sp_header = SpHeader::tc_unseg(TEST_APID, 0, 0).unwrap();
         let target_id = TEST_UNIQUE_ID_0;
         let unique_id = 5_u32;
@@ -391,7 +395,8 @@ mod tests {
 
     #[test]
     fn hk_converter_enable_periodic_generation() {
-        let mut hk_bench = PusConverterTestbench::new(TEST_COMPONENT_ID_0.id(), HkRequestConverter::default());
+        let mut hk_bench =
+            PusConverterTestbench::new(TEST_COMPONENT_ID_0.id(), HkRequestConverter::default());
         let mut sp_header = SpHeader::tc_unseg(TEST_APID, 0, 0).unwrap();
         let target_id = TEST_UNIQUE_ID_0;
         let unique_id = 5_u32;
@@ -429,7 +434,8 @@ mod tests {
 
     #[test]
     fn hk_conversion_disable_periodic_generation() {
-        let mut hk_bench = PusConverterTestbench::new(TEST_COMPONENT_ID_0.id(), HkRequestConverter::default());
+        let mut hk_bench =
+            PusConverterTestbench::new(TEST_COMPONENT_ID_0.id(), HkRequestConverter::default());
         let mut sp_header = SpHeader::tc_unseg(TEST_APID, 0, 0).unwrap();
         let target_id = TEST_UNIQUE_ID_0;
         let unique_id = 5_u32;
@@ -467,7 +473,8 @@ mod tests {
 
     #[test]
     fn hk_conversion_modify_interval() {
-        let mut hk_bench = PusConverterTestbench::new(TEST_COMPONENT_ID_0.id(), HkRequestConverter::default());
+        let mut hk_bench =
+            PusConverterTestbench::new(TEST_COMPONENT_ID_0.id(), HkRequestConverter::default());
         let mut sp_header = SpHeader::tc_unseg(TEST_APID, 0, 0).unwrap();
         let target_id = TEST_UNIQUE_ID_0;
         let unique_id = 5_u32;
@@ -509,7 +516,8 @@ mod tests {
 
     #[test]
     fn hk_reply_handler() {
-        let mut reply_testbench = ReplyHandlerTestbench::new(TEST_COMPONENT_ID_0.id(), HkReplyHandler::default());
+        let mut reply_testbench =
+            ReplyHandlerTestbench::new(TEST_COMPONENT_ID_0.id(), HkReplyHandler::default());
         let sender_id = 2_u64;
         let apid_target_id = 3_u32;
         let unique_id = 5_u32;
@@ -528,7 +536,8 @@ mod tests {
 
     #[test]
     fn reply_handling_unrequested_reply() {
-        let mut testbench = ReplyHandlerTestbench::new(TEST_COMPONENT_ID_1.id(), HkReplyHandler::default());
+        let mut testbench =
+            ReplyHandlerTestbench::new(TEST_COMPONENT_ID_1.id(), HkReplyHandler::default());
         let action_reply = HkReply::new(5_u32, HkReplyVariant::Ack);
         let unrequested_reply =
             GenericMessage::new(MessageMetadata::new(10_u32, 15_u64), action_reply);
@@ -540,7 +549,8 @@ mod tests {
 
     #[test]
     fn reply_handling_reply_timeout() {
-        let mut testbench = ReplyHandlerTestbench::new(TEST_COMPONENT_ID_1.id(), HkReplyHandler::default());
+        let mut testbench =
+            ReplyHandlerTestbench::new(TEST_COMPONENT_ID_1.id(), HkReplyHandler::default());
         let (req_id, active_request) = testbench.add_tc(TEST_APID, TEST_UNIQUE_ID_1, &[]);
         let result = testbench.handle_request_timeout(&active_request, &[]);
         assert!(result.is_ok());

satrs-example/src/pus/mod.rs

@@ -30,6 +30,12 @@ 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
@@ -150,7 +156,7 @@ impl<TmSender: EcssTmSenderCore> PusReceiver<TmSender> {
 pub trait TargetedPusService {
     /// Returns [true] if the packet handling is finished.
     fn poll_and_handle_next_tc(&mut self, time_stamp: &[u8]) -> bool;
-    fn poll_and_handle_next_reply(&mut self, time_stamp: &[u8]) -> bool;
+    fn poll_and_handle_next_reply(&mut self, time_stamp: &[u8]) -> HandlingStatus;
     fn check_for_request_timeouts(&mut self);
 }
 
@@ -362,14 +368,17 @@ where
         }
     }
 
-    pub fn poll_and_check_next_reply(&mut self, time_stamp: &[u8]) -> Result<bool, EcssTmtcError> {
+    pub fn poll_and_check_next_reply(
+        &mut self,
+        time_stamp: &[u8],
+    ) -> Result<HandlingStatus, EcssTmtcError> {
         match self.reply_receiver.try_recv() {
             Ok(reply) => {
                 self.handle_reply(&reply, time_stamp)?;
-                Ok(false)
+                Ok(HandlingStatus::HandledOne)
             }
             Err(e) => match e {
-                mpsc::TryRecvError::Empty => Ok(true),
+                mpsc::TryRecvError::Empty => Ok(HandlingStatus::Empty),
                 mpsc::TryRecvError::Disconnected => Err(EcssTmtcError::Receive(
                     GenericReceiveError::TxDisconnected(None),
                 )),

satrs-example/src/pus/mode.rs

@@ -38,8 +38,8 @@ use satrs_example::config::components::PUS_MODE_SERVICE;
 use satrs_example::config::{mode_err, tmtc_err};
 
 use super::{
-    create_verification_reporter, generic_pus_request_timeout_handler, PusTargetedRequestService,
-    TargetedPusService,
+    create_verification_reporter, generic_pus_request_timeout_handler, HandlingStatus,
+    PusTargetedRequestService, TargetedPusService,
 };
 
 #[derive(new)]
@@ -302,12 +302,12 @@ impl<TmSender: EcssTmSenderCore, TcInMemConverter: EcssTcInMemConverter> Targete
         false
     }
 
-    fn poll_and_handle_next_reply(&mut self, time_stamp: &[u8]) -> bool {
+    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:?}");
-                false
+                HandlingStatus::HandledOne
             })
     }
 
@@ -339,7 +339,8 @@ mod tests {
 
     #[test]
     fn mode_converter_read_mode_request() {
-        let mut testbench = PusConverterTestbench::new(TEST_COMPONENT_ID_0.id(), ModeRequestConverter::default());
+        let mut testbench =
+            PusConverterTestbench::new(TEST_COMPONENT_ID_0.id(), ModeRequestConverter::default());
         let mut sp_header = SpHeader::tc_unseg(TEST_APID, 0, 0).unwrap();
         let sec_header = PusTcSecondaryHeader::new_simple(200, Subservice::TcReadMode as u8);
         let mut app_data: [u8; 4] = [0; 4];
@@ -354,7 +355,8 @@ mod tests {
 
     #[test]
     fn mode_converter_set_mode_request() {
-        let mut testbench = PusConverterTestbench::new(TEST_COMPONENT_ID_0.id(), ModeRequestConverter::default());
+        let mut testbench =
+            PusConverterTestbench::new(TEST_COMPONENT_ID_0.id(), ModeRequestConverter::default());
         let mut sp_header = SpHeader::tc_unseg(TEST_APID, 0, 0).unwrap();
         let sec_header = PusTcSecondaryHeader::new_simple(200, Subservice::TcSetMode as u8);
         let mut app_data: [u8; 4 + ModeAndSubmode::RAW_LEN] = [0; 4 + ModeAndSubmode::RAW_LEN];
@@ -373,7 +375,8 @@ mod tests {
 
     #[test]
     fn mode_converter_announce_mode() {
-        let mut testbench = PusConverterTestbench::new(TEST_COMPONENT_ID_0.id(), ModeRequestConverter::default());
+        let mut testbench =
+            PusConverterTestbench::new(TEST_COMPONENT_ID_0.id(), ModeRequestConverter::default());
         let mut sp_header = SpHeader::tc_unseg(TEST_APID, 0, 0).unwrap();
         let sec_header = PusTcSecondaryHeader::new_simple(200, Subservice::TcAnnounceMode as u8);
         let mut app_data: [u8; 4] = [0; 4];
@@ -388,7 +391,8 @@ mod tests {
 
     #[test]
     fn mode_converter_announce_mode_recursively() {
-        let mut testbench = PusConverterTestbench::new(TEST_COMPONENT_ID_0.id(), ModeRequestConverter::default());
+        let mut testbench =
+            PusConverterTestbench::new(TEST_COMPONENT_ID_0.id(), ModeRequestConverter::default());
         let mut sp_header = SpHeader::tc_unseg(TEST_APID, 0, 0).unwrap();
         let sec_header =
             PusTcSecondaryHeader::new_simple(200, Subservice::TcAnnounceModeRecursive as u8);
@@ -404,7 +408,10 @@ mod tests {
 
     #[test]
     fn reply_handling_unrequested_reply() {
-        let mut testbench = ReplyHandlerTestbench::new(TEST_COMPONENT_ID_0.id(), ModeReplyHandler::new(TEST_COMPONENT_ID_0.id()));
+        let mut testbench = ReplyHandlerTestbench::new(
+            TEST_COMPONENT_ID_0.id(),
+            ModeReplyHandler::new(TEST_COMPONENT_ID_0.id()),
+        );
         let mode_reply = ModeReply::ModeReply(ModeAndSubmode::new(5, 1));
         let unrequested_reply =
             GenericMessage::new(MessageMetadata::new(10_u32, 15_u64), mode_reply);
@@ -416,7 +423,10 @@ mod tests {
 
     #[test]
     fn reply_handling_reply_timeout() {
-        let mut testbench = ReplyHandlerTestbench::new(TEST_COMPONENT_ID_0.id(), ModeReplyHandler::new(TEST_COMPONENT_ID_0.id()));
+        let mut testbench = ReplyHandlerTestbench::new(
+            TEST_COMPONENT_ID_0.id(),
+            ModeReplyHandler::new(TEST_COMPONENT_ID_0.id()),
+        );
         let (req_id, active_request) = testbench.add_tc(TEST_APID, TEST_UNIQUE_ID_0, &[]);
         let result = testbench.handle_request_timeout(&active_request, &[]);
         assert!(result.is_ok());

satrs-example/src/pus/stack.rs

@@ -7,7 +7,8 @@ use satrs::{
 
 use super::{
     action::ActionServiceWrapper, event::EventServiceWrapper, hk::HkServiceWrapper,
-    scheduler::SchedulingServiceWrapper, test::TestCustomServiceWrapper, TargetedPusService,
+    scheduler::SchedulingServiceWrapper, test::TestCustomServiceWrapper, HandlingStatus,
+    TargetedPusService,
 };
 
 #[derive(new)]
@@ -34,9 +35,10 @@ impl<TmSender: EcssTmSenderCore, TcInMemConverter: EcssTcInMemConverter>
         loop {
             let mut nothing_to_do = true;
             let mut is_srv_finished =
-                |tc_handling_done: bool, reply_handling_done: Option<bool>| {
+                |tc_handling_done: bool, reply_handling_done: Option<HandlingStatus>| {
                     if !tc_handling_done
-                        || (reply_handling_done.is_some() && !reply_handling_done.unwrap())
+                        || (reply_handling_done.is_some()
+                            && reply_handling_done.unwrap() == HandlingStatus::Empty)
                     {
                         nothing_to_do = false;
                     }