rust/sat-rs
rust/sat-rs
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next helper class

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This commit is contained in:
Robin Müller 2023-07-04 18:51:54 +02:00
parent 3a1c5832a9
commit 82b7717b49
Signed by: muellerr
GPG Key ID: 407F9B00F858F270
5 changed files with 327 additions and 69 deletions
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46
satrs-example/src/main.rs
View File

@ -9,6 +9,8 @@ use log::{info, warn};
use crate::hk::AcsHkIds;
use crate::logging::setup_logger;
use crate::pus::test::PusService17TestHandler;
use crate::pus::PusTcMpscRouter;
use crate::requests::{Request, RequestWithToken};
use crate::tmtc::{
core_tmtc_task, OtherArgs, PusTcSource, TcArgs, TcStore, TmArgs, TmFunnel, PUS_APID,
@ -35,16 +37,15 @@ use satrs_core::spacepackets::{
tm::{PusTm, PusTmSecondaryHeader},
SequenceFlags, SpHeader,
};
use satrs_core::tmtc::tm_helper::SharedTmStore;
use satrs_core::tmtc::tm_helper::{PusTmWithCdsShortHelper, SharedTmStore};
use satrs_core::tmtc::AddressableId;
use satrs_example::{RequestTargetId, OBSW_SERVER_ADDR, SERVER_PORT};
use std::collections::HashMap;
use std::net::{IpAddr, SocketAddr};
use std::sync::mpsc::{channel, TryRecvError};
use std::sync::{Arc, RwLock};
use std::sync::{mpsc, Arc, RwLock};
use std::thread;
use std::time::Duration;
use crate::pus::test::PusService17Handler;
fn main() {
setup_logger().expect("setting up logging with fern failed");
@ -126,14 +127,14 @@ fn main() {
request_map.insert(RequestTargetId::AcsSubsystem as u32, acs_thread_tx);
let tc_source = PusTcSource {
tc_store,
tc_store: tc_store.clone(),
tc_source: tc_source_tx,
};
// Create clones here to allow moving the values
let core_args = OtherArgs {
sock_addr,
verif_reporter,
verif_reporter: verif_reporter.clone(),
event_sender,
event_request_tx,
request_map,
@ -152,13 +153,32 @@ fn main() {
let aocs_to_funnel = tm_funnel_tx.clone();
let mut aocs_tm_store = tm_store.clone();
let pus17_handler = PusService17Handler::new()
let (pus_test_tx, pus_test_rx) = channel();
let (pus_event_tx, pus_event_rx) = channel();
let (pus_sched_tx, pus_sched_rx) = channel();
let (pus_hk_tx, pus_hk_rx) = channel();
let (pus_action_tx, pus_action_rx) = channel();
let pus_router = PusTcMpscRouter {
test_service_receiver: pus_test_tx,
event_service_receiver: pus_event_tx,
sched_service_receiver: pus_sched_tx,
hk_service_receiver: pus_hk_tx,
action_service_receiver: pus_action_tx,
};
let mut pus17_handler = PusService17TestHandler::new(
pus_test_rx,
tc_store.pool.clone(),
PusTmWithCdsShortHelper::new(PUS_APID),
tm_funnel_tx.clone(),
tm_store.clone(),
verif_reporter.clone(),
);
info!("Starting TMTC task");
let jh0 = thread::Builder::new()
.name("TMTC".to_string())
.spawn(move || {
core_tmtc_task(core_args, tc_args, tm_args);
core_tmtc_task(core_args, tc_args, tm_args, pus_router);
})
.unwrap();
@ -315,10 +335,16 @@ fn main() {
info!("Starting PUS handler thread");
let jh4 = thread::Builder::new()
.name("AOCS".to_string())
.name("PUS".to_string())
.spawn(move || {
});
loop {
// TODO: Better error handling
let res = pus17_handler.periodic_operation();
res.expect("some PUS17 error");
thread::sleep(Duration::from_millis(400));
}
})
.unwrap();
jh0.join().expect("Joining UDP TMTC server thread failed");
jh1.join().expect("Joining TM Funnel thread failed");
jh2.join().expect("Joining Event Manager thread failed");

60
satrs-example/src/pus/mod.rs
View File

@ -1,10 +1,11 @@
use crate::pus::test::PusService17TestHandler;
use crate::tmtc::MpscStoreAndSendError;
use satrs_core::events::EventU32;
use satrs_core::hk::{CollectionIntervalFactor, HkRequest};
use satrs_core::mode::{ModeAndSubmode, ModeRequest};
use satrs_core::objects::ObjectId;
use satrs_core::params::Params;
use satrs_core::pool::{PoolProvider, StoreAddr};
use satrs_core::pool::{PoolProvider, SharedPool, StoreAddr};
use satrs_core::pus::event_man::{EventRequest, EventRequestWithToken};
use satrs_core::pus::hk;
use satrs_core::pus::mode::Subservice;
@ -30,10 +31,46 @@ use std::cell::RefCell;
use std::collections::HashMap;
use std::convert::TryFrom;
use std::rc::Rc;
use std::sync::mpsc::{Receiver, Sender};
use std::sync::mpsc::{Receiver, SendError, Sender};
pub mod scheduler;
pub mod test;
pub struct PusServiceBase {
tc_rx: Receiver<AcceptedTc>,
tc_store: SharedPool,
tm_helper: PusTmWithCdsShortHelper,
tm_tx: Sender<StoreAddr>,
tm_store: SharedTmStore,
verification_handler: StdVerifReporterWithSender,
stamp_buf: [u8; 7],
pus_buf: [u8; 2048],
handled_tcs: u32,
}
impl PusServiceBase {
pub fn new(
receiver: Receiver<AcceptedTc>,
tc_pool: SharedPool,
tm_helper: PusTmWithCdsShortHelper,
tm_tx: Sender<StoreAddr>,
tm_store: SharedTmStore,
verification_handler: StdVerifReporterWithSender,
) -> Self {
Self {
tc_rx: receiver,
tc_store: tc_pool,
tm_helper,
tm_tx,
tm_store,
verification_handler,
stamp_buf: [0; 7],
pus_buf: [0; 2048],
handled_tcs: 0,
}
}
}
// pub trait PusTcRouter {
// type Error;
// fn route_pus_tc(
@ -218,12 +255,19 @@ impl PusReceiver {
let service = PusServiceId::try_from(service);
match service {
Ok(standard_service) => match standard_service {
PusServiceId::Test => self
.tc_args
.pus_router
.test_service_receiver
.send((store_addr, accepted_token))
.unwrap(),
PusServiceId::Test => {
let res = self
.tc_args
.pus_router
.test_service_receiver
.send((store_addr, accepted_token));
match res {
Ok(_) => {}
Err(e) => {
println!("Error {e}")
}
}
}
PusServiceId::Housekeeping => self
.tc_args
.pus_router

166
satrs-example/src/pus/scheduler.rs Normal file
View File

@ -0,0 +1,166 @@
use crate::pus::{AcceptedTc, PusServiceBase};
use delegate::delegate;
use satrs_core::pool::{SharedPool, StoreAddr};
use satrs_core::pus::scheduling::PusScheduler;
use satrs_core::pus::verification::{
pus_11_generic_tc_check, FailParams, StdVerifReporterWithSender, TcStateAccepted,
VerificationToken,
};
use satrs_core::pus::GenericTcCheckError;
use satrs_core::spacepackets::ecss::scheduling;
use satrs_core::spacepackets::tc::PusTc;
use satrs_core::spacepackets::time::cds::TimeProvider;
use satrs_core::tmtc::tm_helper::{PusTmWithCdsShortHelper, SharedTmStore};
use satrs_example::tmtc_err;
use std::sync::mpsc::{Receiver, Sender};
pub struct PusService11SchedHandler {
psb: PusServiceBase,
scheduler: PusScheduler,
}
impl PusService11SchedHandler {
pub fn new(
receiver: Receiver<AcceptedTc>,
tc_pool: SharedPool,
tm_helper: PusTmWithCdsShortHelper,
tm_tx: Sender<StoreAddr>,
tm_store: SharedTmStore,
verification_handler: StdVerifReporterWithSender,
scheduler: PusScheduler,
) -> Self {
Self {
psb: PusServiceBase::new(
receiver,
tc_pool,
tm_helper,
tm_tx,
tm_store,
verification_handler,
),
scheduler,
}
}
// TODO: Return errors which occured
pub fn periodic_operation(&mut self) -> Result<u32, ()> {
Ok(self.psb.handled_tcs)
}
pub fn handle_one_tc(&mut self, addr: StoreAddr, token: VerificationToken<TcStateAccepted>) {
let time_provider = TimeProvider::from_now_with_u16_days().unwrap();
// TODO: Better error handling
{
// Keep locked section as short as possible.
let mut tc_pool = self.psb.tc_store.write().unwrap();
let tc_guard = tc_pool.read_with_guard(addr);
let tc_raw = tc_guard.read().unwrap();
self.psb.pus_buf[0..tc_raw.len()].copy_from_slice(tc_raw);
}
let (tc, tc_size) = PusTc::from_bytes(&self.psb.pus_buf).unwrap();
let subservice = match pus_11_generic_tc_check(&tc) {
Ok(subservice) => subservice,
Err(e) => match e {
GenericTcCheckError::NotEnoughAppData => {
self.psb
.verification_handler
.start_failure(
token,
FailParams::new(
Some(&self.psb.stamp_buf),
&tmtc_err::NOT_ENOUGH_APP_DATA,
None,
),
)
.expect("could not sent verification error");
return;
}
GenericTcCheckError::InvalidSubservice => {
self.psb
.verification_handler
.start_failure(
token,
FailParams::new(
Some(&self.psb.stamp_buf),
&tmtc_err::INVALID_PUS_SUBSERVICE,
None,
),
)
.expect("could not sent verification error");
return;
}
},
};
match subservice {
scheduling::Subservice::TcEnableScheduling => {
let start_token = self
.psb
.verification_handler
.start_success(token, Some(&self.psb.stamp_buf))
.expect("Error sending start success");
self.scheduler.enable();
if self.scheduler.is_enabled() {
self.psb
.verification_handler
.completion_success(start_token, Some(&self.psb.stamp_buf))
.expect("Error sending completion success");
} else {
panic!("Failed to enable scheduler");
}
}
scheduling::Subservice::TcDisableScheduling => {
let start_token = self
.psb
.verification_handler
.start_success(token, Some(&self.psb.stamp_buf))
.expect("Error sending start success");
self.scheduler.disable();
if !self.scheduler.is_enabled() {
self.psb
.verification_handler
.completion_success(start_token, Some(&self.psb.stamp_buf))
.expect("Error sending completion success");
} else {
panic!("Failed to disable scheduler");
}
}
scheduling::Subservice::TcResetScheduling => {
let start_token = self
.psb
.verification_handler
.start_success(token, Some(&self.psb.stamp_buf))
.expect("Error sending start success");
let mut pool = self.psb.tc_store.write().expect("Locking pool failed");
self.scheduler
.reset(pool.as_mut())
.expect("Error resetting TC Pool");
self.psb
.verification_handler
.completion_success(start_token, Some(&self.psb.stamp_buf))
.expect("Error sending completion success");
}
scheduling::Subservice::TcInsertActivity => {
let start_token = self
.psb
.verification_handler
.start_success(token, Some(&self.psb.stamp_buf))
.expect("error sending start success");
let mut pool = self.psb.tc_store.write().expect("locking pool failed");
self.scheduler
.insert_wrapped_tc::<TimeProvider>(&tc, pool.as_mut())
.expect("insertion of activity into pool failed");
self.psb
.verification_handler
.completion_success(start_token, Some(&self.psb.stamp_buf))
.expect("sending completion success failed");
}
_ => {}
}
}
}

105
satrs-example/src/pus/test.rs
View File

@ -1,5 +1,8 @@
use crate::pus::AcceptedTc;
use crate::pus::{AcceptedTc, PusServiceBase};
use delegate::delegate;
use log::info;
use satrs_core::events::EventU32;
use satrs_core::params::Params;
use satrs_core::pool::{SharedPool, StoreAddr};
use satrs_core::pus::verification::{
StdVerifReporterWithSender, TcStateAccepted, VerificationToken,
@ -11,45 +14,49 @@ use satrs_core::spacepackets::time::cds::TimeProvider;
use satrs_core::spacepackets::time::TimeWriter;
use satrs_core::spacepackets::tm::PusTm;
use satrs_core::tmtc::tm_helper::{PusTmWithCdsShortHelper, SharedTmStore};
use satrs_example::TEST_EVENT;
use std::sync::mpsc::{Receiver, Sender, TryRecvError};
pub struct PusService17Handler {
tc_rx: Receiver<AcceptedTc>,
tc_store: SharedPool,
tm_helper: PusTmWithCdsShortHelper,
tm_tx: Sender<StoreAddr>,
tm_store: SharedTmStore,
verification_handler: StdVerifReporterWithSender,
stamp_buf: [u8; 7],
pus_buf: [u8; 2048],
handled_tcs: u32,
pub struct SatrsTestServiceCustomHandler {
pub event_sender: Sender<(EventU32, Option<Params>)>,
}
impl PusService17Handler {
pub fn new(receiver: Receiver<AcceptedTc>, tc_pool: SharedPool, tm_helper: PusTmWithCdsShortHelper, tm_tx: Sender<StoreAddr>, tm_store: SharedTmStore, verification_handler: StdVerifReporterWithSender) -> Self {
pub struct PusService17TestHandler {
psb: PusServiceBase,
}
impl PusService17TestHandler {
pub fn new(
receiver: Receiver<AcceptedTc>,
tc_pool: SharedPool,
tm_helper: PusTmWithCdsShortHelper,
tm_tx: Sender<StoreAddr>,
tm_store: SharedTmStore,
verification_handler: StdVerifReporterWithSender,
) -> Self {
Self {
tc_rx: receiver,
tc_store: tc_pool,
tm_helper,
tm_tx,
tm_store,
verification_handler,
stamp_buf: [0; 7],
pus_buf: [0; 2048],
handled_tcs: 0
psb: PusServiceBase::new(
receiver,
tc_pool,
tm_helper,
tm_tx,
tm_store,
verification_handler,
),
}
}
// TODO: Return errors which occured
pub fn periodic_operation(&mut self) -> Result<u32, ()> {
self.handled_tcs = 0;
self.psb.handled_tcs = 0;
loop {
match self.tc_rx.try_recv() {
match self.psb.tc_rx.try_recv() {
Ok((addr, token)) => {
self.handle_one_tc(addr, token);
}
Err(e) => {
match e {
TryRecvError::Empty => return Ok(self.handled_tcs),
TryRecvError::Empty => return Ok(self.psb.handled_tcs),
TryRecvError::Disconnected => {
// TODO: Replace panic by something cleaner
panic!("PusService17Handler: Sender disconnected");
@ -62,34 +69,56 @@ impl PusService17Handler {
pub fn handle_one_tc(&mut self, addr: StoreAddr, token: VerificationToken<TcStateAccepted>) {
let time_provider = TimeProvider::from_now_with_u16_days().unwrap();
// TODO: Better error handling
let (addr, token) = self.tc_rx.try_recv().unwrap();
{
// Keep locked section as short as possible.
let mut tc_pool = self.tc_store.write().unwrap();
let mut tc_pool = self.psb.tc_store.write().unwrap();
let tc_guard = tc_pool.read_with_guard(addr);
let tc_raw = tc_guard.read().unwrap();
self.pus_buf[0..tc_raw.len()].copy_from_slice(tc_raw);
self.psb.pus_buf[0..tc_raw.len()].copy_from_slice(tc_raw);
}
let tc = PusTc::from_bytes(&self.pus_buf).unwrap();
let (tc, tc_size) = PusTc::from_bytes(&self.psb.pus_buf).unwrap();
// TODO: Robustness: Check that service is 17
if tc.0.subservice() == 1 {
if tc.subservice() == 1 {
info!("Received PUS ping command TC[17,1]");
info!("Sending ping reply PUS TM[17,2]");
time_provider.write_to_bytes(&mut self.stamp_buf).unwrap();
time_provider
.write_to_bytes(&mut self.psb.stamp_buf)
.unwrap();
let start_token = self
.psb
.verification_handler
.start_success(token, Some(&self.stamp_buf))
.start_success(token, Some(&self.psb.stamp_buf))
.expect("Error sending start success");
// Sequence count will be handled centrally in TM funnel.
let ping_reply = self.tm_helper.create_pus_tm_with_stamp(17, 2, None, &time_provider, 0);
let addr = self.tm_store.add_pus_tm(&ping_reply);
self.tm_tx
let ping_reply =
self.psb
.tm_helper
.create_pus_tm_with_stamp(17, 2, None, &time_provider, 0);
let addr = self.psb.tm_store.add_pus_tm(&ping_reply);
self.psb
.tm_tx
.send(addr)
.expect("Sending TM to TM funnel failed");
self.verification_handler
.completion_success(start_token, Some(&self.stamp_buf))
self.psb
.verification_handler
.completion_success(start_token, Some(&self.psb.stamp_buf))
.expect("Error sending completion success");
self.handled_tcs += 1;
self.psb.handled_tcs += 1;
}
// TODO: How to handle invalid subservice?
// TODO: How do we handle custom code like this? Custom subservice handler via trait?
// if tc.subservice() == 128 {
// info!("Generating test event");
// self.event_sender
// .send((TEST_EVENT.into(), None))
// .expect("Sending test event failed");
// let start_token =
// verification_handler
// .start_success(token, Some(&stamp_buf))
// .expect("Error sending start success");
// verification_handler
// .completion_success(start_token, Some(&stamp_buf))
// .expect("Error sending completion success");
//
}
}

19
satrs-example/src/tmtc.rs
View File

@ -152,7 +152,12 @@ impl ReceivesCcsdsTc for PusTcSource {
}
}
pub fn core_tmtc_task(args: OtherArgs, mut tc_args: TcArgs, tm_args: TmArgs) {
pub fn core_tmtc_task(
args: OtherArgs,
mut tc_args: TcArgs,
tm_args: TmArgs,
pus_router: PusTcMpscRouter,
) {
let scheduler = Rc::new(RefCell::new(
PusScheduler::new_with_current_init_time(Duration::from_secs(5)).unwrap(),
));
@ -164,18 +169,6 @@ pub fn core_tmtc_task(args: OtherArgs, mut tc_args: TcArgs, tm_args: TmArgs) {
verif_reporter: args.verif_reporter,
seq_count_provider: args.seq_count_provider.clone(),
};
let (pus_test_tx, pus_tedt_rx) = mpsc::channel();
let (pus_event_tx, pus_event_rx) = mpsc::channel();
let (pus_sched_tx, pus_sched_rx) = mpsc::channel();
let (pus_hk_tx, pus_hk_rx) = mpsc::channel();
let (pus_action_tx, pus_action_rx) = mpsc::channel();
let pus_router = PusTcMpscRouter {
test_service_receiver: pus_test_tx,
event_service_receiver: pus_event_tx,
sched_service_receiver: pus_sched_tx,
hk_service_receiver: pus_hk_tx,
action_service_receiver: pus_action_tx,
};
let pus_tc_args = PusTcArgs {
pus_router,
event_sender: args.event_sender,