rust/sat-rs
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Merge branch 'main' into lets-get-this-minsim-started
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Robin Müller 2024-02-28 17:22:05 +01:00
commit 96f0c90838
35 changed files with 1547 additions and 962 deletions
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8
satrs-example/Cargo.toml
View File

@ -1,6 +1,6 @@
[package]
name = "satrs-example"
version = "0.1.0"
version = "0.1.1"
edition = "2021"
authors = ["Robin Mueller <muellerr@irs.uni-stuttgart.de>"]
default-run = "satrs-example"
@ -20,12 +20,12 @@ thiserror = "1"
derive-new = "0.5"
[dependencies.satrs]
# version = "0.1.1"
# version = "0.2.0-rc.0"
path = "../satrs"
[dependencies.satrs-mib]
# version = "0.1.0"
path = "../satrs-mib"
version = "0.1.1"
# path = "../satrs-mib"
[features]
dyn_tmtc = []

10
satrs-example/src/acs.rs
View File

@ -1,7 +1,7 @@
use std::sync::mpsc::{self, TryRecvError};
use log::{info, warn};
use satrs::pus::verification::{VerificationReporterWithSender, VerificationReportingProvider};
use satrs::pus::verification::VerificationReportingProvider;
use satrs::pus::{EcssTmSender, PusTmWrapper};
use satrs::request::TargetAndApidId;
use satrs::spacepackets::ecss::hk::Subservice as HkSubservice;
@ -21,19 +21,19 @@ use crate::{
update_time,
};
pub struct AcsTask {
pub struct AcsTask<VerificationReporter: VerificationReportingProvider> {
timestamp: [u8; 7],
time_provider: TimeProvider<DaysLen16Bits>,
verif_reporter: VerificationReporterWithSender,
verif_reporter: VerificationReporter,
tm_sender: Box<dyn EcssTmSender>,
request_rx: mpsc::Receiver<RequestWithToken>,
}
impl AcsTask {
impl<VerificationReporter: VerificationReportingProvider> AcsTask<VerificationReporter> {
pub fn new(
tm_sender: impl EcssTmSender,
request_rx: mpsc::Receiver<RequestWithToken>,
verif_reporter: VerificationReporterWithSender,
verif_reporter: VerificationReporter,
) -> Self {
Self {
timestamp: [0; 7],

55
satrs-example/src/events.rs
View File

@ -1,21 +1,17 @@
use std::sync::mpsc::{self, SendError};
use std::sync::mpsc::{self};
use satrs::{
event_man::{
EventManager, EventManagerWithMpscQueue, MpscEventReceiver, MpscEventU32SendProvider,
SendEventProvider,
EventManagerWithBoundedMpsc, EventSendProvider, EventU32SenderMpscBounded,
MpscEventReceiver,
},
events::EventU32,
params::Params,
pus::{
event_man::{
DefaultPusMgmtBackendProvider, EventReporter, EventRequest, EventRequestWithToken,
PusEventDispatcher,
},
verification::{
TcStateStarted, VerificationReporterWithSender, VerificationReportingProvider,
VerificationToken,
DefaultPusEventU32Dispatcher, EventReporter, EventRequest, EventRequestWithToken,
},
verification::{TcStateStarted, VerificationReportingProvider, VerificationToken},
EcssTmSender,
},
spacepackets::time::cds::{self, TimeProvider},
@ -24,38 +20,37 @@ use satrs_example::config::PUS_APID;
use crate::update_time;
pub type MpscEventManager = EventManager<SendError<(EventU32, Option<Params>)>>;
pub struct PusEventHandler {
pub struct PusEventHandler<VerificationReporter: VerificationReportingProvider> {
event_request_rx: mpsc::Receiver<EventRequestWithToken>,
pus_event_dispatcher: PusEventDispatcher<(), EventU32>,
pus_event_dispatcher: DefaultPusEventU32Dispatcher<()>,
pus_event_man_rx: mpsc::Receiver<(EventU32, Option<Params>)>,
tm_sender: Box<dyn EcssTmSender>,
time_provider: TimeProvider,
timestamp: [u8; 7],
verif_handler: VerificationReporterWithSender,
verif_handler: VerificationReporter,
}
/*
*/
impl PusEventHandler {
impl<VerificationReporter: VerificationReportingProvider> PusEventHandler<VerificationReporter> {
pub fn new(
verif_handler: VerificationReporterWithSender,
event_manager: &mut MpscEventManager,
verif_handler: VerificationReporter,
event_manager: &mut EventManagerWithBoundedMpsc,
event_request_rx: mpsc::Receiver<EventRequestWithToken>,
tm_sender: impl EcssTmSender,
) -> Self {
let (pus_event_man_tx, pus_event_man_rx) = mpsc::channel();
let event_queue_cap = 30;
let (pus_event_man_tx, pus_event_man_rx) = mpsc::sync_channel(event_queue_cap);
// All events sent to the manager are routed to the PUS event manager, which generates PUS event
// telemetry for each event.
let event_reporter = EventReporter::new(PUS_APID, 128).unwrap();
let pus_tm_backend = DefaultPusMgmtBackendProvider::<EventU32>::default();
let pus_event_dispatcher =
PusEventDispatcher::new(event_reporter, Box::new(pus_tm_backend));
let pus_event_man_send_provider = MpscEventU32SendProvider::new(1, pus_event_man_tx);
DefaultPusEventU32Dispatcher::new_with_default_backend(event_reporter);
let pus_event_man_send_provider =
EventU32SenderMpscBounded::new(1, pus_event_man_tx, event_queue_cap);
event_manager.subscribe_all(pus_event_man_send_provider.id());
event_manager.subscribe_all(pus_event_man_send_provider.channel_id());
event_manager.add_sender(pus_event_man_send_provider);
Self {
@ -117,7 +112,7 @@ impl PusEventHandler {
}
pub struct EventManagerWrapper {
event_manager: MpscEventManager,
event_manager: EventManagerWithBoundedMpsc,
event_sender: mpsc::Sender<(EventU32, Option<Params>)>,
}
@ -128,7 +123,7 @@ impl EventManagerWrapper {
let (event_sender, event_man_rx) = mpsc::channel();
let event_recv = MpscEventReceiver::<EventU32>::new(event_man_rx);
Self {
event_manager: EventManagerWithMpscQueue::new(Box::new(event_recv)),
event_manager: EventManagerWithBoundedMpsc::new(event_recv),
event_sender,
}
}
@ -137,7 +132,7 @@ impl EventManagerWrapper {
self.event_sender.clone()
}
pub fn event_manager(&mut self) -> &mut MpscEventManager {
pub fn event_manager(&mut self) -> &mut EventManagerWithBoundedMpsc {
&mut self.event_manager
}
@ -149,15 +144,15 @@ impl EventManagerWrapper {
}
}
pub struct EventHandler {
pub struct EventHandler<VerificationReporter: VerificationReportingProvider> {
pub event_man_wrapper: EventManagerWrapper,
pub pus_event_handler: PusEventHandler,
pub pus_event_handler: PusEventHandler<VerificationReporter>,
}
impl EventHandler {
impl<VerificationReporter: VerificationReportingProvider> EventHandler<VerificationReporter> {
pub fn new(
tm_sender: impl EcssTmSender,
verif_handler: VerificationReporterWithSender,
verif_handler: VerificationReporter,
event_request_rx: mpsc::Receiver<EventRequestWithToken>,
) -> Self {
let mut event_man_wrapper = EventManagerWrapper::new();
@ -178,7 +173,7 @@ impl EventHandler {
}
#[allow(dead_code)]
pub fn event_manager(&mut self) -> &mut MpscEventManager {
pub fn event_manager(&mut self) -> &mut EventManagerWithBoundedMpsc {
self.event_man_wrapper.event_manager()
}

26
satrs-example/src/main.rs
View File

@ -44,7 +44,7 @@ use crate::tmtc::{
use crate::udp::{StaticUdpTmHandler, UdpTmtcServer};
use satrs::pus::event_man::EventRequestWithToken;
use satrs::pus::verification::{VerificationReporterCfg, VerificationReporterWithSender};
use satrs::pus::{EcssTmSender, MpscTmAsVecSender, MpscTmInSharedPoolSender};
use satrs::pus::{EcssTmSender, TmAsVecSenderWithId, TmInSharedPoolSenderWithId};
use satrs::spacepackets::{time::cds::TimeProvider, time::TimeWriter};
use satrs::tmtc::CcsdsDistributor;
use satrs::ChannelId;
@ -54,11 +54,13 @@ use std::sync::{Arc, RwLock};
use std::thread;
use std::time::Duration;
fn create_verification_reporter(verif_sender: impl EcssTmSender) -> VerificationReporterWithSender {
fn create_verification_reporter<Sender: EcssTmSender + Clone>(
verif_sender: Sender,
) -> VerificationReporterWithSender<Sender> {
let verif_cfg = VerificationReporterCfg::new(PUS_APID, 1, 2, 8).unwrap();
// Every software component which needs to generate verification telemetry, gets a cloned
// verification reporter.
VerificationReporterWithSender::new(&verif_cfg, Box::new(verif_sender))
VerificationReporterWithSender::new(&verif_cfg, verif_sender)
}
#[allow(dead_code)]
@ -68,13 +70,13 @@ fn static_tmtc_pool_main() {
let shared_tc_pool = SharedTcPool {
pool: Arc::new(RwLock::new(tc_pool)),
};
let (tc_source_tx, tc_source_rx) = channel();
let (tm_funnel_tx, tm_funnel_rx) = channel();
let (tm_server_tx, tm_server_rx) = channel();
let (tc_source_tx, tc_source_rx) = mpsc::sync_channel(50);
let (tm_funnel_tx, tm_funnel_rx) = mpsc::sync_channel(50);
let (tm_server_tx, tm_server_rx) = mpsc::sync_channel(50);
// Every software component which needs to generate verification telemetry, receives a cloned
// verification reporter.
let verif_reporter = create_verification_reporter(MpscTmInSharedPoolSender::new(
let verif_reporter = create_verification_reporter(TmInSharedPoolSenderWithId::new(
TmSenderId::PusVerification as ChannelId,
"verif_sender",
shared_tm_pool.clone(),
@ -102,7 +104,7 @@ fn static_tmtc_pool_main() {
// The event task is the core handler to perform the event routing and TM handling as specified
// in the sat-rs documentation.
let mut event_handler = EventHandler::new(
MpscTmInSharedPoolSender::new(
TmInSharedPoolSenderWithId::new(
TmSenderId::AllEvents as ChannelId,
"ALL_EVENTS_TX",
shared_tm_pool.clone(),
@ -202,7 +204,7 @@ fn static_tmtc_pool_main() {
.expect("tcp server creation failed");
let mut acs_task = AcsTask::new(
MpscTmInSharedPoolSender::new(
TmInSharedPoolSenderWithId::new(
TmSenderId::AcsSubsystem as ChannelId,
"ACS_TASK_SENDER",
shared_tm_pool.clone(),
@ -303,7 +305,7 @@ fn dyn_tmtc_pool_main() {
let (tm_server_tx, tm_server_rx) = channel();
// Every software component which needs to generate verification telemetry, gets a cloned
// verification reporter.
let verif_reporter = create_verification_reporter(MpscTmAsVecSender::new(
let verif_reporter = create_verification_reporter(TmAsVecSenderWithId::new(
TmSenderId::PusVerification as ChannelId,
"verif_sender",
tm_funnel_tx.clone(),
@ -324,7 +326,7 @@ fn dyn_tmtc_pool_main() {
// The event task is the core handler to perform the event routing and TM handling as specified
// in the sat-rs documentation.
let mut event_handler = EventHandler::new(
MpscTmAsVecSender::new(
TmAsVecSenderWithId::new(
TmSenderId::AllEvents as ChannelId,
"ALL_EVENTS_TX",
tm_funnel_tx.clone(),
@ -415,7 +417,7 @@ fn dyn_tmtc_pool_main() {
.expect("tcp server creation failed");
let mut acs_task = AcsTask::new(
MpscTmAsVecSender::new(
TmAsVecSenderWithId::new(
TmSenderId::AcsSubsystem as ChannelId,
"ACS_TASK_SENDER",
tm_funnel_tx.clone(),

62
satrs-example/src/pus/action.rs
View File

@ -2,14 +2,17 @@ use log::{error, warn};
use satrs::action::ActionRequest;
use satrs::pool::{SharedStaticMemoryPool, StoreAddr};
use satrs::pus::action::{PusActionToRequestConverter, PusService8ActionHandler};
use satrs::pus::verification::std_mod::{
VerificationReporterWithSharedPoolMpscBoundedSender, VerificationReporterWithVecMpscSender,
};
use satrs::pus::verification::{
FailParams, TcStateAccepted, VerificationReporterWithSender, VerificationReportingProvider,
VerificationToken,
FailParams, TcStateAccepted, VerificationReportingProvider, VerificationToken,
};
use satrs::pus::{
EcssTcAndToken, EcssTcInMemConverter, EcssTcInSharedStoreConverter, EcssTcInVecConverter,
MpscTcReceiver, MpscTmAsVecSender, MpscTmInSharedPoolSender, PusPacketHandlerResult,
PusPacketHandlingError, PusServiceHelper,
EcssTcReceiverCore, EcssTmSenderCore, MpscTcReceiver, PusPacketHandlerResult,
PusPacketHandlingError, PusServiceHelper, TmAsVecSenderWithId, TmAsVecSenderWithMpsc,
TmInSharedPoolSenderWithBoundedMpsc, TmInSharedPoolSenderWithId,
};
use satrs::request::TargetAndApidId;
use satrs::spacepackets::ecss::tc::PusTcReader;
@ -74,13 +77,18 @@ impl PusActionToRequestConverter for ExampleActionRequestConverter {
pub fn create_action_service_static(
shared_tm_store: SharedTmPool,
tm_funnel_tx: mpsc::Sender<StoreAddr>,
verif_reporter: VerificationReporterWithSender,
tm_funnel_tx: mpsc::SyncSender<StoreAddr>,
verif_reporter: VerificationReporterWithSharedPoolMpscBoundedSender,
tc_pool: SharedStaticMemoryPool,
pus_action_rx: mpsc::Receiver<EcssTcAndToken>,
action_router: GenericRequestRouter,
) -> Pus8Wrapper<EcssTcInSharedStoreConverter> {
let action_srv_tm_sender = MpscTmInSharedPoolSender::new(
) -> Pus8Wrapper<
MpscTcReceiver,
TmInSharedPoolSenderWithBoundedMpsc,
EcssTcInSharedStoreConverter,
VerificationReporterWithSharedPoolMpscBoundedSender,
> {
let action_srv_tm_sender = TmInSharedPoolSenderWithId::new(
TmSenderId::PusAction as ChannelId,
"PUS_8_TM_SENDER",
shared_tm_store.clone(),
@ -93,8 +101,8 @@ pub fn create_action_service_static(
);
let pus_8_handler = PusService8ActionHandler::new(
PusServiceHelper::new(
Box::new(action_srv_receiver),
Box::new(action_srv_tm_sender),
action_srv_receiver,
action_srv_tm_sender,
PUS_APID,
verif_reporter.clone(),
EcssTcInSharedStoreConverter::new(tc_pool.clone(), 2048),
@ -108,11 +116,16 @@ pub fn create_action_service_static(
pub fn create_action_service_dynamic(
tm_funnel_tx: mpsc::Sender<Vec<u8>>,
verif_reporter: VerificationReporterWithSender,
verif_reporter: VerificationReporterWithVecMpscSender,
pus_action_rx: mpsc::Receiver<EcssTcAndToken>,
action_router: GenericRequestRouter,
) -> Pus8Wrapper<EcssTcInVecConverter> {
let action_srv_tm_sender = MpscTmAsVecSender::new(
) -> Pus8Wrapper<
MpscTcReceiver,
TmAsVecSenderWithMpsc,
EcssTcInVecConverter,
VerificationReporterWithVecMpscSender,
> {
let action_srv_tm_sender = TmAsVecSenderWithId::new(
TmSenderId::PusAction as ChannelId,
"PUS_8_TM_SENDER",
tm_funnel_tx.clone(),
@ -124,8 +137,8 @@ pub fn create_action_service_dynamic(
);
let pus_8_handler = PusService8ActionHandler::new(
PusServiceHelper::new(
Box::new(action_srv_receiver),
Box::new(action_srv_tm_sender),
action_srv_receiver,
action_srv_tm_sender,
PUS_APID,
verif_reporter.clone(),
EcssTcInVecConverter::default(),
@ -137,17 +150,30 @@ pub fn create_action_service_dynamic(
Pus8Wrapper { pus_8_handler }
}
pub struct Pus8Wrapper<TcInMemConverter: EcssTcInMemConverter> {
pub struct Pus8Wrapper<
TcReceiver: EcssTcReceiverCore,
TmSender: EcssTmSenderCore,
TcInMemConverter: EcssTcInMemConverter,
VerificationReporter: VerificationReportingProvider,
> {
pub(crate) pus_8_handler: PusService8ActionHandler<
TcReceiver,
TmSender,
TcInMemConverter,
VerificationReporterWithSender,
VerificationReporter,
ExampleActionRequestConverter,
GenericRequestRouter,
GenericRoutingErrorHandler<8>,
>,
}
impl<TcInMemConverter: EcssTcInMemConverter> Pus8Wrapper<TcInMemConverter> {
impl<
TcReceiver: EcssTcReceiverCore,
TmSender: EcssTmSenderCore,
TcInMemConverter: EcssTcInMemConverter,
VerificationReporter: VerificationReportingProvider,
> Pus8Wrapper<TcReceiver, TmSender, TcInMemConverter, VerificationReporter>
{
pub fn handle_next_packet(&mut self) -> bool {
match self.pus_8_handler.handle_one_tc() {
Ok(result) => match result {

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

@ -4,11 +4,15 @@ use log::{error, warn};
use satrs::pool::{SharedStaticMemoryPool, StoreAddr};
use satrs::pus::event_man::EventRequestWithToken;
use satrs::pus::event_srv::PusService5EventHandler;
use satrs::pus::verification::VerificationReporterWithSender;
use satrs::pus::verification::std_mod::{
VerificationReporterWithSharedPoolMpscBoundedSender, VerificationReporterWithVecMpscSender,
};
use satrs::pus::verification::VerificationReportingProvider;
use satrs::pus::{
EcssTcAndToken, EcssTcInMemConverter, EcssTcInSharedStoreConverter, EcssTcInVecConverter,
MpscTcReceiver, MpscTmAsVecSender, MpscTmInSharedPoolSender, PusPacketHandlerResult,
PusServiceHelper,
EcssTcReceiverCore, EcssTmSenderCore, MpscTcReceiver, PusPacketHandlerResult, PusServiceHelper,
TmAsVecSenderWithId, TmAsVecSenderWithMpsc, TmInSharedPoolSenderWithBoundedMpsc,
TmInSharedPoolSenderWithId,
};
use satrs::tmtc::tm_helper::SharedTmPool;
use satrs::ChannelId;
@ -16,13 +20,18 @@ use satrs_example::config::{TcReceiverId, TmSenderId, PUS_APID};
pub fn create_event_service_static(
shared_tm_store: SharedTmPool,
tm_funnel_tx: mpsc::Sender<StoreAddr>,
verif_reporter: VerificationReporterWithSender,
tm_funnel_tx: mpsc::SyncSender<StoreAddr>,
verif_reporter: VerificationReporterWithSharedPoolMpscBoundedSender,
tc_pool: SharedStaticMemoryPool,
pus_event_rx: mpsc::Receiver<EcssTcAndToken>,
event_request_tx: mpsc::Sender<EventRequestWithToken>,
) -> Pus5Wrapper<EcssTcInSharedStoreConverter> {
let event_srv_tm_sender = MpscTmInSharedPoolSender::new(
) -> Pus5Wrapper<
MpscTcReceiver,
TmInSharedPoolSenderWithBoundedMpsc,
EcssTcInSharedStoreConverter,
VerificationReporterWithSharedPoolMpscBoundedSender,
> {
let event_srv_tm_sender = TmInSharedPoolSenderWithId::new(
TmSenderId::PusEvent as ChannelId,
"PUS_5_TM_SENDER",
shared_tm_store.clone(),
@ -35,8 +44,8 @@ pub fn create_event_service_static(
);
let pus_5_handler = PusService5EventHandler::new(
PusServiceHelper::new(
Box::new(event_srv_receiver),
Box::new(event_srv_tm_sender),
event_srv_receiver,
event_srv_tm_sender,
PUS_APID,
verif_reporter.clone(),
EcssTcInSharedStoreConverter::new(tc_pool.clone(), 2048),
@ -48,11 +57,16 @@ pub fn create_event_service_static(
pub fn create_event_service_dynamic(
tm_funnel_tx: mpsc::Sender<Vec<u8>>,
verif_reporter: VerificationReporterWithSender,
verif_reporter: VerificationReporterWithVecMpscSender,
pus_event_rx: mpsc::Receiver<EcssTcAndToken>,
event_request_tx: mpsc::Sender<EventRequestWithToken>,
) -> Pus5Wrapper<EcssTcInVecConverter> {
let event_srv_tm_sender = MpscTmAsVecSender::new(
) -> Pus5Wrapper<
MpscTcReceiver,
TmAsVecSenderWithMpsc,
EcssTcInVecConverter,
VerificationReporterWithVecMpscSender,
> {
let event_srv_tm_sender = TmAsVecSenderWithId::new(
TmSenderId::PusEvent as ChannelId,
"PUS_5_TM_SENDER",
tm_funnel_tx,
@ -64,8 +78,8 @@ pub fn create_event_service_dynamic(
);
let pus_5_handler = PusService5EventHandler::new(
PusServiceHelper::new(
Box::new(event_srv_receiver),
Box::new(event_srv_tm_sender),
event_srv_receiver,
event_srv_tm_sender,
PUS_APID,
verif_reporter.clone(),
EcssTcInVecConverter::default(),
@ -75,11 +89,23 @@ pub fn create_event_service_dynamic(
Pus5Wrapper { pus_5_handler }
}
pub struct Pus5Wrapper<TcInMemConverter: EcssTcInMemConverter> {
pub pus_5_handler: PusService5EventHandler<TcInMemConverter, VerificationReporterWithSender>,
pub struct Pus5Wrapper<
TcReceiver: EcssTcReceiverCore,
TmSender: EcssTmSenderCore,
TcInMemConverter: EcssTcInMemConverter,
VerificationReporter: VerificationReportingProvider,
> {
pub pus_5_handler:
PusService5EventHandler<TcReceiver, TmSender, TcInMemConverter, VerificationReporter>,
}
impl<TcInMemConverter: EcssTcInMemConverter> Pus5Wrapper<TcInMemConverter> {
impl<
TcReceiver: EcssTcReceiverCore,
TmSender: EcssTmSenderCore,
TcInMemConverter: EcssTcInMemConverter,
VerificationReporter: VerificationReportingProvider,
> Pus5Wrapper<TcReceiver, TmSender, TcInMemConverter, VerificationReporter>
{
pub fn handle_next_packet(&mut self) -> bool {
match self.pus_5_handler.handle_one_tc() {
Ok(result) => match result {

62
satrs-example/src/pus/hk.rs
View File

@ -2,14 +2,17 @@ use log::{error, warn};
use satrs::hk::{CollectionIntervalFactor, HkRequest};
use satrs::pool::{SharedStaticMemoryPool, StoreAddr};
use satrs::pus::hk::{PusHkToRequestConverter, PusService3HkHandler};
use satrs::pus::verification::std_mod::{
VerificationReporterWithSharedPoolMpscBoundedSender, VerificationReporterWithVecMpscSender,
};
use satrs::pus::verification::{
FailParams, TcStateAccepted, VerificationReporterWithSender, VerificationReportingProvider,
VerificationToken,
FailParams, TcStateAccepted, VerificationReportingProvider, VerificationToken,
};
use satrs::pus::{
EcssTcAndToken, EcssTcInMemConverter, EcssTcInSharedStoreConverter, EcssTcInVecConverter,
MpscTcReceiver, MpscTmAsVecSender, MpscTmInSharedPoolSender, PusPacketHandlerResult,
PusPacketHandlingError, PusServiceHelper,
EcssTcReceiverCore, EcssTmSenderCore, MpscTcReceiver, PusPacketHandlerResult,
PusPacketHandlingError, PusServiceHelper, TmAsVecSenderWithId, TmAsVecSenderWithMpsc,
TmInSharedPoolSenderWithBoundedMpsc, TmInSharedPoolSenderWithId,
};
use satrs::request::TargetAndApidId;
use satrs::spacepackets::ecss::tc::PusTcReader;
@ -143,13 +146,18 @@ impl PusHkToRequestConverter for ExampleHkRequestConverter {
pub fn create_hk_service_static(
shared_tm_store: SharedTmPool,
tm_funnel_tx: mpsc::Sender<StoreAddr>,
verif_reporter: VerificationReporterWithSender,
tm_funnel_tx: mpsc::SyncSender<StoreAddr>,
verif_reporter: VerificationReporterWithSharedPoolMpscBoundedSender,
tc_pool: SharedStaticMemoryPool,
pus_hk_rx: mpsc::Receiver<EcssTcAndToken>,
request_router: GenericRequestRouter,
) -> Pus3Wrapper<EcssTcInSharedStoreConverter> {
let hk_srv_tm_sender = MpscTmInSharedPoolSender::new(
) -> Pus3Wrapper<
MpscTcReceiver,
TmInSharedPoolSenderWithBoundedMpsc,
EcssTcInSharedStoreConverter,
VerificationReporterWithSharedPoolMpscBoundedSender,
> {
let hk_srv_tm_sender = TmInSharedPoolSenderWithId::new(
TmSenderId::PusHk as ChannelId,
"PUS_3_TM_SENDER",
shared_tm_store.clone(),
@ -159,8 +167,8 @@ pub fn create_hk_service_static(
MpscTcReceiver::new(TcReceiverId::PusHk as ChannelId, "PUS_8_TC_RECV", pus_hk_rx);
let pus_3_handler = PusService3HkHandler::new(
PusServiceHelper::new(
Box::new(hk_srv_receiver),
Box::new(hk_srv_tm_sender),
hk_srv_receiver,
hk_srv_tm_sender,
PUS_APID,
verif_reporter.clone(),
EcssTcInSharedStoreConverter::new(tc_pool, 2048),
@ -174,11 +182,16 @@ pub fn create_hk_service_static(
pub fn create_hk_service_dynamic(
tm_funnel_tx: mpsc::Sender<Vec<u8>>,
verif_reporter: VerificationReporterWithSender,
verif_reporter: VerificationReporterWithVecMpscSender,
pus_hk_rx: mpsc::Receiver<EcssTcAndToken>,
request_router: GenericRequestRouter,
) -> Pus3Wrapper<EcssTcInVecConverter> {
let hk_srv_tm_sender = MpscTmAsVecSender::new(
) -> Pus3Wrapper<
MpscTcReceiver,
TmAsVecSenderWithMpsc,
EcssTcInVecConverter,
VerificationReporterWithVecMpscSender,
> {
let hk_srv_tm_sender = TmAsVecSenderWithId::new(
TmSenderId::PusHk as ChannelId,
"PUS_3_TM_SENDER",
tm_funnel_tx.clone(),
@ -187,8 +200,8 @@ pub fn create_hk_service_dynamic(
MpscTcReceiver::new(TcReceiverId::PusHk as ChannelId, "PUS_8_TC_RECV", pus_hk_rx);
let pus_3_handler = PusService3HkHandler::new(
PusServiceHelper::new(
Box::new(hk_srv_receiver),
Box::new(hk_srv_tm_sender),
hk_srv_receiver,
hk_srv_tm_sender,
PUS_APID,
verif_reporter.clone(),
EcssTcInVecConverter::default(),
@ -200,17 +213,30 @@ pub fn create_hk_service_dynamic(
Pus3Wrapper { pus_3_handler }
}
pub struct Pus3Wrapper<TcInMemConverter: EcssTcInMemConverter> {
pub struct Pus3Wrapper<
TcReceiver: EcssTcReceiverCore,
TmSender: EcssTmSenderCore,
TcInMemConverter: EcssTcInMemConverter,
VerificationReporter: VerificationReportingProvider,
> {
pub(crate) pus_3_handler: PusService3HkHandler<
TcReceiver,
TmSender,
TcInMemConverter,
VerificationReporterWithSender,
VerificationReporter,
ExampleHkRequestConverter,
GenericRequestRouter,
GenericRoutingErrorHandler<3>,
>,
}
impl<TcInMemConverter: EcssTcInMemConverter> Pus3Wrapper<TcInMemConverter> {
impl<
TcReceiver: EcssTcReceiverCore,
TmSender: EcssTmSenderCore,
TcInMemConverter: EcssTcInMemConverter,
VerificationReporter: VerificationReportingProvider,
> Pus3Wrapper<TcReceiver, TmSender, TcInMemConverter, VerificationReporter>
{
pub fn handle_next_packet(&mut self) -> bool {
match self.pus_3_handler.handle_one_tc() {
Ok(result) => match result {

14
satrs-example/src/pus/mod.rs
View File

@ -1,8 +1,6 @@
use crate::tmtc::MpscStoreAndSendError;
use log::warn;
use satrs::pus::verification::{
FailParams, StdVerifReporterWithSender, VerificationReportingProvider,
};
use satrs::pus::verification::{FailParams, VerificationReportingProvider};
use satrs::pus::{
EcssTcAndToken, GenericRoutingError, PusPacketHandlerResult, PusRoutingErrorHandler, TcInMemory,
};
@ -28,8 +26,8 @@ pub struct PusTcMpscRouter {
pub action_service_receiver: Sender<EcssTcAndToken>,
}
pub struct PusReceiver {
pub verif_reporter: StdVerifReporterWithSender,
pub struct PusReceiver<VerificationReporter: VerificationReportingProvider> {
pub verif_reporter: VerificationReporter,
pub pus_router: PusTcMpscRouter,
stamp_helper: TimeStampHelper,
}
@ -61,8 +59,8 @@ impl TimeStampHelper {
}
}
impl PusReceiver {
pub fn new(verif_reporter: StdVerifReporterWithSender, pus_router: PusTcMpscRouter) -> Self {
impl<VerificationReporter: VerificationReportingProvider> PusReceiver<VerificationReporter> {
pub fn new(verif_reporter: VerificationReporter, pus_router: PusTcMpscRouter) -> Self {
Self {
verif_reporter,
pus_router,
@ -71,7 +69,7 @@ impl PusReceiver {
}
}
impl PusReceiver {
impl<VerificationReporter: VerificationReportingProvider> PusReceiver<VerificationReporter> {
pub fn handle_tc_packet(
&mut self,
tc_in_memory: TcInMemory,

66
satrs-example/src/pus/scheduler.rs
View File

@ -5,11 +5,15 @@ use log::{error, info, warn};
use satrs::pool::{PoolProvider, StaticMemoryPool, StoreAddr};
use satrs::pus::scheduler::{PusScheduler, TcInfo};
use satrs::pus::scheduler_srv::PusService11SchedHandler;
use satrs::pus::verification::VerificationReporterWithSender;
use satrs::pus::verification::std_mod::{
VerificationReporterWithSharedPoolMpscBoundedSender, VerificationReporterWithVecMpscSender,
};
use satrs::pus::verification::VerificationReportingProvider;
use satrs::pus::{
EcssTcAndToken, EcssTcInMemConverter, EcssTcInSharedStoreConverter, EcssTcInVecConverter,
MpscTcReceiver, MpscTmAsVecSender, MpscTmInSharedPoolSender, PusPacketHandlerResult,
PusServiceHelper,
EcssTcReceiverCore, EcssTmSenderCore, MpscTcReceiver, PusPacketHandlerResult, PusServiceHelper,
TmAsVecSenderWithId, TmAsVecSenderWithMpsc, TmInSharedPoolSenderWithBoundedMpsc,
TmInSharedPoolSenderWithId,
};
use satrs::tmtc::tm_helper::SharedTmPool;
use satrs::ChannelId;
@ -51,15 +55,31 @@ impl TcReleaser for mpsc::Sender<Vec<u8>> {
}
}
pub struct Pus11Wrapper<TcInMemConverter: EcssTcInMemConverter> {
pub pus_11_handler:
PusService11SchedHandler<TcInMemConverter, VerificationReporterWithSender, PusScheduler>,
pub struct Pus11Wrapper<
TcReceiver: EcssTcReceiverCore,
TmSender: EcssTmSenderCore,
TcInMemConverter: EcssTcInMemConverter,
VerificationReporter: VerificationReportingProvider,
> {
pub pus_11_handler: PusService11SchedHandler<
TcReceiver,
TmSender,
TcInMemConverter,
VerificationReporter,
PusScheduler,
>,
pub sched_tc_pool: StaticMemoryPool,
pub releaser_buf: [u8; 4096],
pub tc_releaser: Box<dyn TcReleaser + Send>,
}
impl<TcInMemConverter: EcssTcInMemConverter> Pus11Wrapper<TcInMemConverter> {
impl<
TcReceiver: EcssTcReceiverCore,
TmSender: EcssTmSenderCore,
TcInMemConverter: EcssTcInMemConverter,
VerificationReporter: VerificationReportingProvider,
> Pus11Wrapper<TcReceiver, TmSender, TcInMemConverter, VerificationReporter>
{
pub fn release_tcs(&mut self) {
let releaser = |enabled: bool, info: &TcInfo, tc: &[u8]| -> bool {
self.tc_releaser.release(enabled, info, tc)
@ -110,13 +130,18 @@ impl<TcInMemConverter: EcssTcInMemConverter> Pus11Wrapper<TcInMemConverter> {
pub fn create_scheduler_service_static(
shared_tm_store: SharedTmPool,
tm_funnel_tx: mpsc::Sender<StoreAddr>,
verif_reporter: VerificationReporterWithSender,
tm_funnel_tx: mpsc::SyncSender<StoreAddr>,
verif_reporter: VerificationReporterWithSharedPoolMpscBoundedSender,
tc_releaser: PusTcSourceProviderSharedPool,
pus_sched_rx: mpsc::Receiver<EcssTcAndToken>,
sched_tc_pool: StaticMemoryPool,
) -> Pus11Wrapper<EcssTcInSharedStoreConverter> {
let sched_srv_tm_sender = MpscTmInSharedPoolSender::new(
) -> Pus11Wrapper<
MpscTcReceiver,
TmInSharedPoolSenderWithBoundedMpsc,
EcssTcInSharedStoreConverter,
VerificationReporterWithSharedPoolMpscBoundedSender,
> {
let sched_srv_tm_sender = TmInSharedPoolSenderWithId::new(
TmSenderId::PusSched as ChannelId,
"PUS_11_TM_SENDER",
shared_tm_store.clone(),
@ -131,8 +156,8 @@ pub fn create_scheduler_service_static(
.expect("Creating PUS Scheduler failed");
let pus_11_handler = PusService11SchedHandler::new(
PusServiceHelper::new(
Box::new(sched_srv_receiver),
Box::new(sched_srv_tm_sender),
sched_srv_receiver,
sched_srv_tm_sender,
PUS_APID,
verif_reporter.clone(),
EcssTcInSharedStoreConverter::new(tc_releaser.clone_backing_pool(), 2048),
@ -149,12 +174,17 @@ pub fn create_scheduler_service_static(
pub fn create_scheduler_service_dynamic(
tm_funnel_tx: mpsc::Sender<Vec<u8>>,
verif_reporter: VerificationReporterWithSender,
verif_reporter: VerificationReporterWithVecMpscSender,
tc_source_sender: mpsc::Sender<Vec<u8>>,
pus_sched_rx: mpsc::Receiver<EcssTcAndToken>,
sched_tc_pool: StaticMemoryPool,
) -> Pus11Wrapper<EcssTcInVecConverter> {
let sched_srv_tm_sender = MpscTmAsVecSender::new(
) -> Pus11Wrapper<
MpscTcReceiver,
TmAsVecSenderWithMpsc,
EcssTcInVecConverter,
VerificationReporterWithVecMpscSender,
> {
let sched_srv_tm_sender = TmAsVecSenderWithId::new(
TmSenderId::PusSched as ChannelId,
"PUS_11_TM_SENDER",
tm_funnel_tx,
@ -168,8 +198,8 @@ pub fn create_scheduler_service_dynamic(
.expect("Creating PUS Scheduler failed");
let pus_11_handler = PusService11SchedHandler::new(
PusServiceHelper::new(
Box::new(sched_srv_receiver),
Box::new(sched_srv_tm_sender),
sched_srv_receiver,
sched_srv_tm_sender,
PUS_APID,
verif_reporter.clone(),
EcssTcInVecConverter::default(),

45
satrs-example/src/pus/stack.rs
View File

@ -1,25 +1,44 @@
use satrs::pus::EcssTcInMemConverter;
use satrs::pus::{
verification::VerificationReportingProvider, EcssTcInMemConverter, EcssTcReceiverCore,
EcssTmSenderCore,
};
use super::{
action::Pus8Wrapper, event::Pus5Wrapper, hk::Pus3Wrapper, scheduler::Pus11Wrapper,
test::Service17CustomWrapper,
};
pub struct PusStack<TcInMemConverter: EcssTcInMemConverter> {
event_srv: Pus5Wrapper<TcInMemConverter>,
hk_srv: Pus3Wrapper<TcInMemConverter>,
action_srv: Pus8Wrapper<TcInMemConverter>,
schedule_srv: Pus11Wrapper<TcInMemConverter>,
test_srv: Service17CustomWrapper<TcInMemConverter>,
pub struct PusStack<
TcReceiver: EcssTcReceiverCore,
TmSender: EcssTmSenderCore,
TcInMemConverter: EcssTcInMemConverter,
VerificationReporter: VerificationReportingProvider,
> {
event_srv: Pus5Wrapper<TcReceiver, TmSender, TcInMemConverter, VerificationReporter>,
hk_srv: Pus3Wrapper<TcReceiver, TmSender, TcInMemConverter, VerificationReporter>,
action_srv: Pus8Wrapper<TcReceiver, TmSender, TcInMemConverter, VerificationReporter>,
schedule_srv: Pus11Wrapper<TcReceiver, TmSender, TcInMemConverter, VerificationReporter>,
test_srv: Service17CustomWrapper<TcReceiver, TmSender, TcInMemConverter, VerificationReporter>,
}
impl<TcInMemConverter: EcssTcInMemConverter> PusStack<TcInMemConverter> {
impl<
TcReceiver: EcssTcReceiverCore,
TmSender: EcssTmSenderCore,
TcInMemConverter: EcssTcInMemConverter,
VerificationReporter: VerificationReportingProvider,
> PusStack<TcReceiver, TmSender, TcInMemConverter, VerificationReporter>
{
pub fn new(
hk_srv: Pus3Wrapper<TcInMemConverter>,
event_srv: Pus5Wrapper<TcInMemConverter>,
action_srv: Pus8Wrapper<TcInMemConverter>,
schedule_srv: Pus11Wrapper<TcInMemConverter>,
test_srv: Service17CustomWrapper<TcInMemConverter>,
hk_srv: Pus3Wrapper<TcReceiver, TmSender, TcInMemConverter, VerificationReporter>,
event_srv: Pus5Wrapper<TcReceiver, TmSender, TcInMemConverter, VerificationReporter>,
action_srv: Pus8Wrapper<TcReceiver, TmSender, TcInMemConverter, VerificationReporter>,
schedule_srv: Pus11Wrapper<TcReceiver, TmSender, TcInMemConverter, VerificationReporter>,
test_srv: Service17CustomWrapper<
TcReceiver,
TmSender,
TcInMemConverter,
VerificationReporter,
>,
) -> Self {
Self {
event_srv,

59
satrs-example/src/pus/test.rs
View File

@ -2,12 +2,15 @@ use log::{info, warn};
use satrs::params::Params;
use satrs::pool::{SharedStaticMemoryPool, StoreAddr};
use satrs::pus::test::PusService17TestHandler;
use satrs::pus::verification::{FailParams, VerificationReportingProvider};
use satrs::pus::verification::{
FailParams, VerificationReporterWithSender, VerificationReportingProvider,
VerificationReporterWithSharedPoolMpscBoundedSender, VerificationReporterWithVecMpscSender,
};
use satrs::pus::{
EcssTcAndToken, EcssTcInMemConverter, EcssTcInVecConverter, MpscTcReceiver, MpscTmAsVecSender,
MpscTmInSharedPoolSender, PusPacketHandlerResult, PusServiceHelper,
EcssTcAndToken, EcssTcInMemConverter, EcssTcInVecConverter, EcssTcReceiverCore,
EcssTmSenderCore, MpscTcReceiver, PusPacketHandlerResult, PusServiceHelper,
TmAsVecSenderWithId, TmAsVecSenderWithMpsc, TmInSharedPoolSenderWithBoundedMpsc,
TmInSharedPoolSenderWithId,
};
use satrs::spacepackets::ecss::tc::PusTcReader;
use satrs::spacepackets::ecss::PusPacket;
@ -21,13 +24,18 @@ use std::sync::mpsc::{self, Sender};
pub fn create_test_service_static(
shared_tm_store: SharedTmPool,
tm_funnel_tx: mpsc::Sender<StoreAddr>,
verif_reporter: VerificationReporterWithSender,
tm_funnel_tx: mpsc::SyncSender<StoreAddr>,
verif_reporter: VerificationReporterWithSharedPoolMpscBoundedSender,
tc_pool: SharedStaticMemoryPool,
event_sender: mpsc::Sender<(EventU32, Option<Params>)>,
pus_test_rx: mpsc::Receiver<EcssTcAndToken>,
) -> Service17CustomWrapper<EcssTcInSharedStoreConverter> {
let test_srv_tm_sender = MpscTmInSharedPoolSender::new(
) -> Service17CustomWrapper<
MpscTcReceiver,
TmInSharedPoolSenderWithBoundedMpsc,
EcssTcInSharedStoreConverter,
VerificationReporterWithSharedPoolMpscBoundedSender,
> {
let test_srv_tm_sender = TmInSharedPoolSenderWithId::new(
TmSenderId::PusTest as ChannelId,
"PUS_17_TM_SENDER",
shared_tm_store.clone(),
@ -39,8 +47,8 @@ pub fn create_test_service_static(
pus_test_rx,
);
let pus17_handler = PusService17TestHandler::new(PusServiceHelper::new(
Box::new(test_srv_receiver),
Box::new(test_srv_tm_sender),
test_srv_receiver,
test_srv_tm_sender,
PUS_APID,
verif_reporter.clone(),
EcssTcInSharedStoreConverter::new(tc_pool, 2048),
@ -53,11 +61,16 @@ pub fn create_test_service_static(
pub fn create_test_service_dynamic(
tm_funnel_tx: mpsc::Sender<Vec<u8>>,
verif_reporter: VerificationReporterWithSender,
verif_reporter: VerificationReporterWithVecMpscSender,
event_sender: mpsc::Sender<(EventU32, Option<Params>)>,
pus_test_rx: mpsc::Receiver<EcssTcAndToken>,
) -> Service17CustomWrapper<EcssTcInVecConverter> {
let test_srv_tm_sender = MpscTmAsVecSender::new(
) -> Service17CustomWrapper<
MpscTcReceiver,
TmAsVecSenderWithMpsc,
EcssTcInVecConverter,
VerificationReporterWithVecMpscSender,
> {
let test_srv_tm_sender = TmAsVecSenderWithId::new(
TmSenderId::PusTest as ChannelId,
"PUS_17_TM_SENDER",
tm_funnel_tx.clone(),
@ -68,8 +81,8 @@ pub fn create_test_service_dynamic(
pus_test_rx,
);
let pus17_handler = PusService17TestHandler::new(PusServiceHelper::new(
Box::new(test_srv_receiver),
Box::new(test_srv_tm_sender),
test_srv_receiver,
test_srv_tm_sender,
PUS_APID,
verif_reporter.clone(),
EcssTcInVecConverter::default(),
@ -80,12 +93,24 @@ pub fn create_test_service_dynamic(
}
}
pub struct Service17CustomWrapper<TcInMemConverter: EcssTcInMemConverter> {
pub pus17_handler: PusService17TestHandler<TcInMemConverter, VerificationReporterWithSender>,
pub struct Service17CustomWrapper<
TcReceiver: EcssTcReceiverCore,
TmSender: EcssTmSenderCore,
TcInMemConverter: EcssTcInMemConverter,
VerificationReporter: VerificationReportingProvider,
> {
pub pus17_handler:
PusService17TestHandler<TcReceiver, TmSender, TcInMemConverter, VerificationReporter>,
pub test_srv_event_sender: Sender<(EventU32, Option<Params>)>,
}
impl<TcInMemConverter: EcssTcInMemConverter> Service17CustomWrapper<TcInMemConverter> {
impl<
TcReceiver: EcssTcReceiverCore,
TmSender: EcssTmSenderCore,
TcInMemConverter: EcssTcInMemConverter,
VerificationReporter: VerificationReportingProvider,
> Service17CustomWrapper<TcReceiver, TmSender, TcInMemConverter, VerificationReporter>
{
pub fn handle_next_packet(&mut self) -> bool {
let res = self.pus17_handler.handle_one_tc();
if res.is_err() {

18
satrs-example/src/tm_funnel.rs
View File

@ -1,6 +1,6 @@
use std::{
collections::HashMap,
sync::mpsc::{Receiver, Sender},
sync::mpsc::{self},
};
use log::info;
@ -77,16 +77,16 @@ impl TmFunnelCommon {
pub struct TmFunnelStatic {
common: TmFunnelCommon,
shared_tm_store: SharedTmPool,
tm_funnel_rx: Receiver<StoreAddr>,
tm_server_tx: Sender<StoreAddr>,
tm_funnel_rx: mpsc::Receiver<StoreAddr>,
tm_server_tx: mpsc::SyncSender<StoreAddr>,
}
impl TmFunnelStatic {
pub fn new(
shared_tm_store: SharedTmPool,
sync_tm_tcp_source: SyncTcpTmSource,
tm_funnel_rx: Receiver<StoreAddr>,
tm_server_tx: Sender<StoreAddr>,
tm_funnel_rx: mpsc::Receiver<StoreAddr>,
tm_server_tx: mpsc::SyncSender<StoreAddr>,
) -> Self {
Self {
common: TmFunnelCommon::new(sync_tm_tcp_source),
@ -123,15 +123,15 @@ impl TmFunnelStatic {
pub struct TmFunnelDynamic {
common: TmFunnelCommon,
tm_funnel_rx: Receiver<Vec<u8>>,
tm_server_tx: Sender<Vec<u8>>,
tm_funnel_rx: mpsc::Receiver<Vec<u8>>,
tm_server_tx: mpsc::Sender<Vec<u8>>,
}
impl TmFunnelDynamic {
pub fn new(
sync_tm_tcp_source: SyncTcpTmSource,
tm_funnel_rx: Receiver<Vec<u8>>,
tm_server_tx: Sender<Vec<u8>>,
tm_funnel_rx: mpsc::Receiver<Vec<u8>>,
tm_server_tx: mpsc::Sender<Vec<u8>>,
) -> Self {
Self {
common: TmFunnelCommon::new(sync_tm_tcp_source),

18
satrs-example/src/tmtc.rs
View File

@ -1,7 +1,10 @@
use log::warn;
use satrs::pus::verification::std_mod::{
VerificationReporterWithSharedPoolMpscBoundedSender, VerificationReporterWithVecMpscSender,
};
use satrs::pus::{EcssTcAndToken, ReceivesEcssPusTc};
use satrs::spacepackets::SpHeader;
use std::sync::mpsc::{self, Receiver, SendError, Sender, TryRecvError};
use std::sync::mpsc::{self, Receiver, SendError, Sender, SyncSender, TryRecvError};
use thiserror::Error;
use crate::pus::PusReceiver;
@ -37,7 +40,7 @@ impl SharedTcPool {
#[derive(Clone)]
pub struct PusTcSourceProviderSharedPool {
pub tc_source: Sender<StoreAddr>,
pub tc_source: SyncSender<StoreAddr>,
pub shared_pool: SharedTcPool,
}
@ -97,14 +100,14 @@ pub struct TcSourceTaskStatic {
shared_tc_pool: SharedTcPool,
tc_receiver: Receiver<StoreAddr>,
tc_buf: [u8; 4096],
pus_receiver: PusReceiver,
pus_receiver: PusReceiver<VerificationReporterWithSharedPoolMpscBoundedSender>,
}
impl TcSourceTaskStatic {
pub fn new(
shared_tc_pool: SharedTcPool,
tc_receiver: Receiver<StoreAddr>,
pus_receiver: PusReceiver,
pus_receiver: PusReceiver<VerificationReporterWithSharedPoolMpscBoundedSender>,
) -> Self {
Self {
shared_tc_pool,
@ -161,11 +164,14 @@ impl TcSourceTaskStatic {
// TC source components where the heap is the backing memory of the received telecommands.
pub struct TcSourceTaskDynamic {
pub tc_receiver: Receiver<Vec<u8>>,
pus_receiver: PusReceiver,
pus_receiver: PusReceiver<VerificationReporterWithVecMpscSender>,
}
impl TcSourceTaskDynamic {
pub fn new(tc_receiver: Receiver<Vec<u8>>, pus_receiver: PusReceiver) -> Self {
pub fn new(
tc_receiver: Receiver<Vec<u8>>,
pus_receiver: PusReceiver<VerificationReporterWithVecMpscSender>,
) -> Self {
Self {
tc_receiver,
pus_receiver,

18
satrs/CHANGELOG.md
View File

@ -8,7 +8,23 @@ and this project adheres to [Semantic Versioning](http://semver.org/).
# [unreleased]
# [v0.2.0]
## Changed
- Refactored `EventManager` to heavily use generics instead of trait objects.
- `SendEventProvider` -> `EventSendProvider`. `id` trait method renamed to `channel_id`.
- `ListenerTable` -> `ListenerMapProvider`
- `SenderTable` -> `SenderMapProvider`
- There is an `EventManagerWithMpsc` and a `EventManagerWithBoundedMpsc` helper type now.
- Refactored ECSS TM sender abstractions to be generic over different message queue backends.
- Refactored Verification Reporter abstractions and implementation to be generic over the sender
instead of using trait objects.
## Fixed
- Update deprecated API for `PusScheduler::insert_wrapped_tc_cds_short`
and `PusScheduler::insert_wrapped_tc_cds_long`.
# [v0.2.0-rc.0] 2024-02-21
## Added

2
satrs/Cargo.toml
View File

@ -1,6 +1,6 @@
[package]
name = "satrs"
version = "0.1.1"
version = "0.2.0-rc.0"
edition = "2021"
rust-version = "1.61"
authors = ["Robin Mueller <muellerr@irs.uni-stuttgart.de>"]

21
satrs/src/action.rs
View File

@ -40,3 +40,24 @@ impl TargetedActionRequest {
}
}
}
/// A reply to an action request.
#[non_exhaustive]
#[derive(Clone, Eq, PartialEq, Debug)]
pub enum ActionReply {
CompletionFailed(ActionId),
StepFailed {
id: ActionId,
step: u32,
},
Completed(ActionId),
#[cfg(feature = "alloc")]
CompletedStringId(alloc::string::String),
#[cfg(feature = "alloc")]
CompletionFailedStringId(alloc::string::String),
#[cfg(feature = "alloc")]
StepFailedStringId {
id: alloc::string::String,
step: u32,
},
}

5
satrs/src/cfdp/filestore.rs
View File

@ -7,7 +7,7 @@ use spacepackets::ByteConversionError;
use std::error::Error;
use std::path::Path;
#[cfg(feature = "std")]
pub use stdmod::*;
pub use std_mod::*;
pub const CRC_32: Crc<u32> = Crc::<u32>::new(&CRC_32_CKSUM);
@ -148,12 +148,11 @@ pub trait VirtualFilestore {
}
#[cfg(feature = "std")]
pub mod stdmod {
pub mod std_mod {
use super::*;
use std::{
fs::{self, File, OpenOptions},
io::{BufReader, Read, Seek, SeekFrom, Write},
path::Path,
};
#[derive(Default)]

576
satrs/src/event_man.rs
View File

@ -10,27 +10,27 @@
//! [sat-rs book chapter](https://absatsw.irs.uni-stuttgart.de/projects/sat-rs/book/events.html)
//! about events first:
//!
//! The event manager has a listener table abstracted by the [ListenerTable], which maps
//! The event manager has a listener table abstracted by the [ListenerMapProvider], which maps
//! listener groups identified by [ListenerKey]s to a [sender ID][ChannelId].
//! It also contains a sender table abstracted by the [SenderTable] which maps these sender IDs
//! to a concrete [SendEventProvider]s. A simple approach would be to use one send event provider
//! It also contains a sender table abstracted by the [SenderMapProvider] which maps these sender
//! IDs to concrete [EventSendProvider]s. A simple approach would be to use one send event provider
//! for each OBSW thread and then subscribe for all interesting events for a particular thread
//! using the send event provider ID.
//!
//! This can be done with the [EventManager] like this:
//!
//! 1. Provide a concrete [EventReceiver] implementation. This abstraction allow to use different
//! 1. Provide a concrete [EventReceiveProvider] implementation. This abstraction allow to use different
//! message queue backends. A straightforward implementation where dynamic memory allocation is
//! not a big concern could use [std::sync::mpsc::channel] to do this and is provided in
//! form of the [MpscEventReceiver].
//! 2. To set up event creators, create channel pairs using some message queue implementation.
//! Each event creator gets a (cloned) sender component which allows it to send events to the
//! manager.
//! 3. The event manager receives the receiver component as part of a [EventReceiver]
//! 3. The event manager receives the receiver component as part of a [EventReceiveProvider]
//! implementation so all events are routed to the manager.
//! 4. Create the [send event providers][SendEventProvider]s which allow routing events to
//! subscribers. You can now use their [sender IDs][SendEventProvider::id] to subscribe for
//! event groups, for example by using the [EventManager::subscribe_single] method.
//! 4. Create the [send event providers][EventSendProvider]s which allow routing events to
//! subscribers. You can now use their [sender IDs][EventSendProvider::channel_id] to subscribe
//! for event groups, for example by using the [EventManager::subscribe_single] method.
//! 5. Add the send provider as well using the [EventManager::add_sender] call so the event
//! manager can route listener groups to a the send provider.
//!
@ -41,24 +41,22 @@
//!
//! # Examples
//!
//! You can check [integration test](https://egit.irs.uni-stuttgart.de/rust/sat-rs/src/branch/main/satrs-core/tests/pus_events.rs)
//! You can check [integration test](https://egit.irs.uni-stuttgart.de/rust/sat-rs/src/branch/main/satrs/tests/pus_events.rs)
//! for a concrete example using multi-threading where events are routed to
//! different threads.
use crate::events::{EventU16, EventU32, GenericEvent, LargestEventRaw, LargestGroupIdRaw};
use crate::params::{Params, ParamsHeapless};
#[cfg(feature = "alloc")]
use alloc::boxed::Box;
#[cfg(feature = "alloc")]
use alloc::vec;
#[cfg(feature = "alloc")]
use alloc::vec::Vec;
use crate::queue::GenericSendError;
use core::marker::PhantomData;
use core::slice::Iter;
#[cfg(feature = "alloc")]
use hashbrown::HashMap;
use crate::ChannelId;
#[cfg(feature = "alloc")]
pub use alloc_mod::*;
#[cfg(feature = "std")]
pub use stdmod::*;
pub use std_mod::*;
#[derive(PartialEq, Eq, Hash, Copy, Clone, Debug)]
pub enum ListenerKey {
@ -75,108 +73,110 @@ pub type EventWithAuxData<Event> = (Event, Option<Params>);
pub type EventU32WithAuxData = EventWithAuxData<EventU32>;
pub type EventU16WithAuxData = EventWithAuxData<EventU16>;
pub trait SendEventProvider<Provider: GenericEvent, AuxDataProvider = Params> {
type Error;
pub trait EventSendProvider<EV: GenericEvent, AuxDataProvider = Params> {
fn channel_id(&self) -> ChannelId;
fn id(&self) -> ChannelId;
fn send_no_data(&self, event: Provider) -> Result<(), Self::Error> {
fn send_no_data(&self, event: EV) -> Result<(), GenericSendError> {
self.send(event, None)
}
fn send(&self, event: Provider, aux_data: Option<AuxDataProvider>) -> Result<(), Self::Error>;
fn send(&self, event: EV, aux_data: Option<AuxDataProvider>) -> Result<(), GenericSendError>;
}
/// Generic abstraction for an event receiver.
pub trait EventReceiver<Event: GenericEvent, AuxDataProvider = Params> {
/// This function has to be provided by any event receiver. A receive call may or may not return
/// an event.
///
/// To allow returning arbitrary additional auxiliary data, a mutable slice is passed to the
/// [Self::receive] call as well. Receivers can write data to this slice, but care must be taken
/// to avoid panics due to size missmatches or out of bound writes.
fn receive(&self) -> Option<(Event, Option<AuxDataProvider>)>;
pub trait EventReceiveProvider<Event: GenericEvent, AuxDataProvider = Params> {
/// This function has to be provided by any event receiver. A call may or may not return
/// an event and optional auxiliary data.
fn try_recv_event(&self) -> Option<(Event, Option<AuxDataProvider>)>;
}
pub trait ListenerTable {
fn get_listeners(&self) -> Vec<ListenerKey>;
pub trait ListenerMapProvider {
#[cfg(feature = "alloc")]
#[cfg_attr(doc_cfg, doc(cfg(feature = "alloc")))]
fn get_listeners(&self) -> alloc::vec::Vec<ListenerKey>;
fn contains_listener(&self, key: &ListenerKey) -> bool;
fn get_listener_ids(&self, key: &ListenerKey) -> Option<Iter<ChannelId>>;
fn add_listener(&mut self, key: ListenerKey, sender_id: ChannelId) -> bool;
fn remove_duplicates(&mut self, key: &ListenerKey);
}
pub trait SenderTable<SendProviderError, Event: GenericEvent = EventU32, AuxDataProvider = Params> {
pub trait SenderMapProvider<
SP: EventSendProvider<EV, AUX>,
EV: GenericEvent = EventU32,
AUX = Params,
>
{
fn contains_send_event_provider(&self, id: &ChannelId) -> bool;
fn get_send_event_provider(
&self,
id: &ChannelId,
) -> Option<&dyn SendEventProvider<Event, AuxDataProvider, Error = SendProviderError>>;
fn add_send_event_provider(
&mut self,
send_provider: Box<
dyn SendEventProvider<Event, AuxDataProvider, Error = SendProviderError>,
>,
) -> bool;
fn get_send_event_provider(&self, id: &ChannelId) -> Option<&SP>;
fn add_send_event_provider(&mut self, send_provider: SP) -> bool;
}
/// Generic event manager implementation.
///
/// # Generics
///
/// * `SendProviderError`: [SendEventProvider] error type
/// * `Event`: Concrete event provider, currently either [EventU32] or [EventU16]
/// * `AuxDataProvider`: Concrete auxiliary data provider, currently either [Params] or
/// [ParamsHeapless]
pub struct EventManager<SendProviderError, Event: GenericEvent = EventU32, AuxDataProvider = Params>
{
listener_table: Box<dyn ListenerTable>,
sender_table: Box<dyn SenderTable<SendProviderError, Event, AuxDataProvider>>,
event_receiver: Box<dyn EventReceiver<Event, AuxDataProvider>>,
/// * `ERP`: [EventReceiveProvider] used to receive all events.
/// * `SMP`: [SenderMapProvider] which maps channel IDs to send providers.
/// * `LTR`: [ListenerMapProvider] which maps listener keys to channel IDs.
/// * `SP`: [EventSendProvider] contained within the sender map which sends the events.
/// * `EV`: The event type. This type must implement the [GenericEvent]. Currently only [EventU32]
/// and [EventU16] are supported.
/// * `AUX`: Auxiliary data which is sent with the event to provide optional context information
pub struct EventManager<
ERP: EventReceiveProvider<EV, AUX>,
SMP: SenderMapProvider<SP, EV, AUX>,
LTR: ListenerMapProvider,
SP: EventSendProvider<EV, AUX>,
EV: GenericEvent = EventU32,
AUX = Params,
> {
event_receiver: ERP,
sender_map: SMP,
listener_map: LTR,
phantom: core::marker::PhantomData<(SP, EV, AUX)>,
}
/// Safety: It is safe to implement [Send] because all fields in the [EventManager] are [Send]
/// as well
#[cfg(feature = "std")]
unsafe impl<E, Event: GenericEvent + Send, AuxDataProvider: Send> Send
for EventManager<E, Event, AuxDataProvider>
{
}
#[cfg(feature = "std")]
pub type EventManagerWithMpscQueue<Event, AuxDataProvider> = EventManager<
std::sync::mpsc::SendError<(Event, Option<AuxDataProvider>)>,
Event,
AuxDataProvider,
>;
#[derive(Debug)]
pub enum EventRoutingResult<Event: GenericEvent, AuxDataProvider> {
pub enum EventRoutingResult<EV: GenericEvent, AUX> {
/// No event was received
Empty,
/// An event was received and routed.
/// The first tuple entry will contain the number of recipients.
Handled(u32, Event, Option<AuxDataProvider>),
/// An event was received and routed to listeners.
Handled {
num_recipients: u32,
event: EV,
aux_data: Option<AUX>,
},
}
#[derive(Debug)]
pub enum EventRoutingError<E> {
SendError(E),
pub enum EventRoutingError {
Send(GenericSendError),
NoSendersForKey(ListenerKey),
NoSenderForId(ChannelId),
}
#[derive(Debug)]
pub struct EventRoutingErrorsWithResult<Event: GenericEvent, AuxDataProvider, E> {
pub result: EventRoutingResult<Event, AuxDataProvider>,
pub errors: [Option<EventRoutingError<E>>; 3],
pub struct EventRoutingErrorsWithResult<EV: GenericEvent, AUX> {
pub result: EventRoutingResult<EV, AUX>,
pub errors: [Option<EventRoutingError>; 3],
}
impl<E, Event: GenericEvent + Copy> EventManager<E, Event> {
impl<
ER: EventReceiveProvider<EV, AUX>,
S: SenderMapProvider<SP, EV, AUX>,
L: ListenerMapProvider,
SP: EventSendProvider<EV, AUX>,
EV: GenericEvent + Copy,
AUX: Clone,
> EventManager<ER, S, L, SP, EV, AUX>
{
pub fn remove_duplicates(&mut self, key: &ListenerKey) {
self.listener_table.remove_duplicates(key)
self.listener_map.remove_duplicates(key)
}
/// Subscribe for a unique event.
pub fn subscribe_single(&mut self, event: &Event, sender_id: ChannelId) {
pub fn subscribe_single(&mut self, event: &EV, sender_id: ChannelId) {
self.update_listeners(ListenerKey::Single(event.raw_as_largest_type()), sender_id);
}
@ -194,49 +194,37 @@ impl<E, Event: GenericEvent + Copy> EventManager<E, Event> {
}
}
impl<E: 'static, Event: GenericEvent + Copy + 'static, AuxDataProvider: Clone + 'static>
EventManager<E, Event, AuxDataProvider>
impl<
ERP: EventReceiveProvider<EV, AUX>,
SMP: SenderMapProvider<SP, EV, AUX>,
LTR: ListenerMapProvider,
SP: EventSendProvider<EV, AUX>,
EV: GenericEvent + Copy,
AUX: Clone,
> EventManager<ERP, SMP, LTR, SP, EV, AUX>
{
/// Create an event manager where the sender table will be the [DefaultSenderTableProvider]
/// and the listener table will be the [DefaultListenerTableProvider].
pub fn new(event_receiver: Box<dyn EventReceiver<Event, AuxDataProvider>>) -> Self {
let listener_table: Box<DefaultListenerTableProvider> = Box::default();
let sender_table: Box<DefaultSenderTableProvider<E, Event, AuxDataProvider>> =
Box::default();
Self::new_custom_tables(listener_table, sender_table, event_receiver)
}
}
impl<E, Event: GenericEvent + Copy, AuxDataProvider: Clone>
EventManager<E, Event, AuxDataProvider>
{
pub fn new_custom_tables(
listener_table: Box<dyn ListenerTable>,
sender_table: Box<dyn SenderTable<E, Event, AuxDataProvider>>,
event_receiver: Box<dyn EventReceiver<Event, AuxDataProvider>>,
) -> Self {
pub fn new_with_custom_maps(event_receiver: ERP, sender_map: SMP, listener_map: LTR) -> Self {
EventManager {
listener_table,
sender_table,
listener_map,
sender_map,
event_receiver,
phantom: PhantomData,
}
}
pub fn add_sender(
&mut self,
send_provider: impl SendEventProvider<Event, AuxDataProvider, Error = E> + 'static,
) {
/// Add a new sender component which can be used to send events to subscribers.
pub fn add_sender(&mut self, send_provider: SP) {
if !self
.sender_table
.contains_send_event_provider(&send_provider.id())
.sender_map
.contains_send_event_provider(&send_provider.channel_id())
{
self.sender_table
.add_send_event_provider(Box::new(send_provider));
self.sender_map.add_send_event_provider(send_provider);
}
}
/// Generic function to update the event subscribers.
fn update_listeners(&mut self, key: ListenerKey, sender_id: ChannelId) {
self.listener_table.add_listener(key, sender_id);
self.listener_map.add_listener(key, sender_id);
}
/// This function will use the cached event receiver and try to receive one event.
@ -248,27 +236,23 @@ impl<E, Event: GenericEvent + Copy, AuxDataProvider: Clone>
/// [EventRoutingErrorsWithResult] error struct.
pub fn try_event_handling(
&self,
) -> Result<
EventRoutingResult<Event, AuxDataProvider>,
EventRoutingErrorsWithResult<Event, AuxDataProvider, E>,
> {
) -> Result<EventRoutingResult<EV, AUX>, EventRoutingErrorsWithResult<EV, AUX>> {
let mut err_idx = 0;
let mut err_slice = [None, None, None];
let mut num_recipients = 0;
let mut add_error = |error: EventRoutingError<E>| {
let mut add_error = |error: EventRoutingError| {
if err_idx < 3 {
err_slice[err_idx] = Some(error);
err_idx += 1;
}
};
let mut send_handler =
|key: &ListenerKey, event: Event, aux_data: &Option<AuxDataProvider>| {
if self.listener_table.contains_listener(key) {
if let Some(ids) = self.listener_table.get_listener_ids(key) {
let mut send_handler = |key: &ListenerKey, event: EV, aux_data: &Option<AUX>| {
if self.listener_map.contains_listener(key) {
if let Some(ids) = self.listener_map.get_listener_ids(key) {
for id in ids {
if let Some(sender) = self.sender_table.get_send_event_provider(id) {
if let Some(sender) = self.sender_map.get_send_event_provider(id) {
if let Err(e) = sender.send(event, aux_data.clone()) {
add_error(EventRoutingError::SendError(e));
add_error(EventRoutingError::Send(e));
} else {
num_recipients += 1;
}
@ -281,7 +265,7 @@ impl<E, Event: GenericEvent + Copy, AuxDataProvider: Clone>
}
}
};
if let Some((event, aux_data)) = self.event_receiver.receive() {
if let Some((event, aux_data)) = self.event_receiver.try_recv_event() {
let single_key = ListenerKey::Single(event.raw_as_largest_type());
send_handler(&single_key, event, &aux_data);
let group_key = ListenerKey::Group(event.group_id_as_largest_type());
@ -289,43 +273,79 @@ impl<E, Event: GenericEvent + Copy, AuxDataProvider: Clone>
send_handler(&ListenerKey::All, event, &aux_data);
if err_idx > 0 {
return Err(EventRoutingErrorsWithResult {
result: EventRoutingResult::Handled(num_recipients, event, aux_data),
result: EventRoutingResult::Handled {
num_recipients,
event,
aux_data,
},
errors: err_slice,
});
}
return Ok(EventRoutingResult::Handled(num_recipients, event, aux_data));
return Ok(EventRoutingResult::Handled {
num_recipients,
event,
aux_data,
});
}
Ok(EventRoutingResult::Empty)
}
}
#[cfg(feature = "alloc")]
pub mod alloc_mod {
use alloc::vec::Vec;
use hashbrown::HashMap;
use super::*;
/// Helper type which constrains the sender map and listener map generics to the [DefaultSenderMap]
/// and the [DefaultListenerMap]. It uses regular mpsc channels as the message queue backend.
pub type EventManagerWithMpsc<EV = EventU32, AUX = Params> = EventManager<
MpscEventReceiver,
DefaultSenderMap<EventSenderMpsc<EV>, EV, AUX>,
DefaultListenerMap,
EventSenderMpsc<EV>,
>;
/// Helper type which constrains the sender map and listener map generics to the [DefaultSenderMap]
/// and the [DefaultListenerMap]. It uses
/// [bounded mpsc senders](https://doc.rust-lang.org/std/sync/mpsc/struct.SyncSender.html) as the
/// message queue backend.
pub type EventManagerWithBoundedMpsc<EV = EventU32, AUX = Params> = EventManager<
MpscEventReceiver,
DefaultSenderMap<EventSenderMpscBounded<EV>, EV, AUX>,
DefaultListenerMap,
EventSenderMpscBounded<EV>,
>;
impl<
ER: EventReceiveProvider<EV, AUX>,
SP: EventSendProvider<EV, AUX>,
EV: GenericEvent + Copy,
AUX: 'static,
> EventManager<ER, DefaultSenderMap<SP, EV, AUX>, DefaultListenerMap, SP, EV, AUX>
{
/// Create an event manager where the sender table will be the [DefaultSenderMap]
/// and the listener table will be the [DefaultListenerMap].
pub fn new(event_receiver: ER) -> Self {
Self {
listener_map: DefaultListenerMap::default(),
sender_map: DefaultSenderMap::default(),
event_receiver,
phantom: PhantomData,
}
}
}
/// Default listener map.
///
/// Simple implementation which uses a [HashMap] and a [Vec] internally.
#[derive(Default)]
pub struct DefaultListenerTableProvider {
pub struct DefaultListenerMap {
listeners: HashMap<ListenerKey, Vec<ChannelId>>,
}
pub struct DefaultSenderTableProvider<
SendProviderError,
Event: GenericEvent = EventU32,
AuxDataProvider = Params,
> {
senders: HashMap<
ChannelId,
Box<dyn SendEventProvider<Event, AuxDataProvider, Error = SendProviderError>>,
>,
}
impl<SendProviderError, Event: GenericEvent, AuxDataProvider> Default
for DefaultSenderTableProvider<SendProviderError, Event, AuxDataProvider>
{
fn default() -> Self {
Self {
senders: HashMap::new(),
}
}
}
impl ListenerTable for DefaultListenerTableProvider {
impl ListenerMapProvider for DefaultListenerMap {
fn get_listeners(&self) -> Vec<ListenerKey> {
let mut key_list = Vec::new();
for key in self.listeners.keys() {
@ -346,7 +366,7 @@ impl ListenerTable for DefaultListenerTableProvider {
if let Some(existing_list) = self.listeners.get_mut(&key) {
existing_list.push(sender_id);
} else {
let new_list = vec![sender_id];
let new_list = alloc::vec![sender_id];
self.listeners.insert(key, new_list);
}
true
@ -360,59 +380,70 @@ impl ListenerTable for DefaultListenerTableProvider {
}
}
impl<SendProviderError, Event: GenericEvent, AuxDataProvider>
SenderTable<SendProviderError, Event, AuxDataProvider>
for DefaultSenderTableProvider<SendProviderError, Event, AuxDataProvider>
/// Default sender map.
///
/// Simple implementation which uses a [HashMap] internally.
pub struct DefaultSenderMap<
SP: EventSendProvider<EV, AUX>,
EV: GenericEvent = EventU32,
AUX = Params,
> {
senders: HashMap<ChannelId, SP>,
phantom: PhantomData<(EV, AUX)>,
}
impl<SP: EventSendProvider<EV, AUX>, EV: GenericEvent, AUX> Default
for DefaultSenderMap<SP, EV, AUX>
{
fn default() -> Self {
Self {
senders: Default::default(),
phantom: Default::default(),
}
}
}
impl<SP: EventSendProvider<EV, AUX>, EV: GenericEvent, AUX> SenderMapProvider<SP, EV, AUX>
for DefaultSenderMap<SP, EV, AUX>
{
fn contains_send_event_provider(&self, id: &ChannelId) -> bool {
self.senders.contains_key(id)
}
fn get_send_event_provider(
&self,
id: &ChannelId,
) -> Option<&dyn SendEventProvider<Event, AuxDataProvider, Error = SendProviderError>> {
fn get_send_event_provider(&self, id: &ChannelId) -> Option<&SP> {
self.senders
.get(id)
.filter(|sender| sender.id() == *id)
.map(|v| v.as_ref())
.filter(|sender| sender.channel_id() == *id)
}
fn add_send_event_provider(
&mut self,
send_provider: Box<
dyn SendEventProvider<Event, AuxDataProvider, Error = SendProviderError>,
>,
) -> bool {
let id = send_provider.id();
fn add_send_event_provider(&mut self, send_provider: SP) -> bool {
let id = send_provider.channel_id();
if self.senders.contains_key(&id) {
return false;
}
self.senders.insert(id, send_provider).is_none()
}
}
}
#[cfg(feature = "std")]
pub mod stdmod {
pub mod std_mod {
use super::*;
use crate::event_man::{EventReceiver, EventWithAuxData};
use crate::events::{EventU16, EventU32, GenericEvent};
use crate::params::Params;
use std::sync::mpsc::{Receiver, SendError, Sender};
use std::sync::mpsc;
pub struct MpscEventReceiver<Event: GenericEvent + Send = EventU32> {
mpsc_receiver: Receiver<(Event, Option<Params>)>,
mpsc_receiver: mpsc::Receiver<(Event, Option<Params>)>,
}
impl<Event: GenericEvent + Send> MpscEventReceiver<Event> {
pub fn new(receiver: Receiver<(Event, Option<Params>)>) -> Self {
pub fn new(receiver: mpsc::Receiver<(Event, Option<Params>)>) -> Self {
Self {
mpsc_receiver: receiver,
}
}
}
impl<Event: GenericEvent + Send> EventReceiver<Event> for MpscEventReceiver<Event> {
fn receive(&self) -> Option<EventWithAuxData<Event>> {
impl<Event: GenericEvent + Send> EventReceiveProvider<Event> for MpscEventReceiver<Event> {
fn try_recv_event(&self) -> Option<EventWithAuxData<Event>> {
if let Ok(event_and_data) = self.mpsc_receiver.try_recv() {
return Some(event_and_data);
}
@ -423,31 +454,75 @@ pub mod stdmod {
pub type MpscEventU32Receiver = MpscEventReceiver<EventU32>;
pub type MpscEventU16Receiver = MpscEventReceiver<EventU16>;
/// Generic event sender which uses a regular [mpsc::Sender] as the messaging backend to
/// send events.
#[derive(Clone)]
pub struct MpscEventSendProvider<Event: GenericEvent + Send> {
pub struct EventSenderMpsc<Event: GenericEvent + Send> {
id: u32,
sender: Sender<(Event, Option<Params>)>,
sender: mpsc::Sender<(Event, Option<Params>)>,
}
impl<Event: GenericEvent + Send> MpscEventSendProvider<Event> {
pub fn new(id: u32, sender: Sender<(Event, Option<Params>)>) -> Self {
impl<Event: GenericEvent + Send> EventSenderMpsc<Event> {
pub fn new(id: u32, sender: mpsc::Sender<(Event, Option<Params>)>) -> Self {
Self { id, sender }
}
}
impl<Event: GenericEvent + Send> SendEventProvider<Event> for MpscEventSendProvider<Event> {
type Error = SendError<(Event, Option<Params>)>;
fn id(&self) -> u32 {
impl<Event: GenericEvent + Send> EventSendProvider<Event> for EventSenderMpsc<Event> {
fn channel_id(&self) -> u32 {
self.id
}
fn send(&self, event: Event, aux_data: Option<Params>) -> Result<(), Self::Error> {
self.sender.send((event, aux_data))
fn send(&self, event: Event, aux_data: Option<Params>) -> Result<(), GenericSendError> {
self.sender
.send((event, aux_data))
.map_err(|_| GenericSendError::RxDisconnected)
}
}
pub type MpscEventU32SendProvider = MpscEventSendProvider<EventU32>;
pub type MpscEventU16SendProvider = MpscEventSendProvider<EventU16>;
/// Generic event sender which uses the [mpsc::SyncSender] as the messaging backend to send
/// events. This has the advantage that the channel is bounded and thus more deterministic.
#[derive(Clone)]
pub struct EventSenderMpscBounded<Event: GenericEvent + Send> {
channel_id: u32,
sender: mpsc::SyncSender<(Event, Option<Params>)>,
capacity: usize,
}
impl<Event: GenericEvent + Send> EventSenderMpscBounded<Event> {
pub fn new(
channel_id: u32,
sender: mpsc::SyncSender<(Event, Option<Params>)>,
capacity: usize,
) -> Self {
Self {
channel_id,
sender,
capacity,
}
}
}
impl<Event: GenericEvent + Send> EventSendProvider<Event> for EventSenderMpscBounded<Event> {
fn channel_id(&self) -> u32 {
self.channel_id
}
fn send(&self, event: Event, aux_data: Option<Params>) -> Result<(), GenericSendError> {
if let Err(e) = self.sender.try_send((event, aux_data)) {
return match e {
mpsc::TrySendError::Full(_) => {
Err(GenericSendError::QueueFull(Some(self.capacity as u32)))
}
mpsc::TrySendError::Disconnected(_) => Err(GenericSendError::RxDisconnected),
};
}
Ok(())
}
}
pub type EventU32SenderMpsc = EventSenderMpsc<EventU32>;
pub type EventU16SenderMpsc = EventSenderMpsc<EventU16>;
pub type EventU32SenderMpscBounded = EventSenderMpscBounded<EventU32>;
pub type EventU16SenderMpscBounded = EventSenderMpscBounded<EventU16>;
}
#[cfg(test)]
@ -456,32 +531,10 @@ mod tests {
use crate::event_man::EventManager;
use crate::events::{EventU32, GenericEvent, Severity};
use crate::params::ParamsRaw;
use alloc::boxed::Box;
use std::format;
use std::sync::mpsc::{channel, Receiver, SendError, Sender};
use std::sync::mpsc::{self, channel, Receiver, Sender};
#[derive(Clone)]
struct MpscEventSenderQueue {
id: u32,
mpsc_sender: Sender<EventU32WithAuxData>,
}
impl MpscEventSenderQueue {
fn new(id: u32, mpsc_sender: Sender<EventU32WithAuxData>) -> Self {
Self { id, mpsc_sender }
}
}
impl SendEventProvider<EventU32> for MpscEventSenderQueue {
type Error = SendError<EventU32WithAuxData>;
fn id(&self) -> u32 {
self.id
}
fn send(&self, event: EventU32, aux_data: Option<Params>) -> Result<(), Self::Error> {
self.mpsc_sender.send((event, aux_data))
}
}
const TEST_EVENT: EventU32 = EventU32::const_new(Severity::INFO, 0, 5);
fn check_next_event(
expected: EventU32,
@ -500,22 +553,21 @@ mod tests {
expected_num_sent: u32,
) {
assert!(matches!(res, EventRoutingResult::Handled { .. }));
if let EventRoutingResult::Handled(num_recipients, event, _aux_data) = res {
if let EventRoutingResult::Handled {
num_recipients,
event,
..
} = res
{
assert_eq!(event, expected);
assert_eq!(num_recipients, expected_num_sent);
}
}
fn generic_event_man() -> (
Sender<EventU32WithAuxData>,
EventManager<SendError<EventU32WithAuxData>>,
) {
fn generic_event_man() -> (Sender<EventU32WithAuxData>, EventManagerWithMpsc) {
let (event_sender, manager_queue) = channel();
let event_man_receiver = MpscEventReceiver::new(manager_queue);
(
event_sender,
EventManager::new(Box::new(event_man_receiver)),
)
(event_sender, EventManager::new(event_man_receiver))
}
#[test]
@ -524,15 +576,12 @@ mod tests {
let event_grp_0 = EventU32::new(Severity::INFO, 0, 0).unwrap();
let event_grp_1_0 = EventU32::new(Severity::HIGH, 1, 0).unwrap();
let (single_event_sender, single_event_receiver) = channel();
let single_event_listener = MpscEventSenderQueue::new(0, single_event_sender);
event_man.subscribe_single(&event_grp_0, single_event_listener.id());
let single_event_listener = EventSenderMpsc::new(0, single_event_sender);
event_man.subscribe_single(&event_grp_0, single_event_listener.channel_id());
event_man.add_sender(single_event_listener);
let (group_event_sender_0, group_event_receiver_0) = channel();
let group_event_listener = MpscEventSenderQueue {
id: 1,
mpsc_sender: group_event_sender_0,
};
event_man.subscribe_group(event_grp_1_0.group_id(), group_event_listener.id());
let group_event_listener = EventU32SenderMpsc::new(1, group_event_sender_0);
event_man.subscribe_group(event_grp_1_0.group_id(), group_event_listener.channel_id());
event_man.add_sender(group_event_listener);
// Test event with one listener
@ -559,8 +608,8 @@ mod tests {
let (event_sender, mut event_man) = generic_event_man();
let event_grp_0 = EventU32::new(Severity::INFO, 0, 0).unwrap();
let (single_event_sender, single_event_receiver) = channel();
let single_event_listener = MpscEventSenderQueue::new(0, single_event_sender);
event_man.subscribe_single(&event_grp_0, single_event_listener.id());
let single_event_listener = EventSenderMpsc::new(0, single_event_sender);
event_man.subscribe_single(&event_grp_0, single_event_listener.channel_id());
event_man.add_sender(single_event_listener);
event_sender
.send((event_grp_0, Some(Params::Heapless((2_u32, 3_u32).into()))))
@ -591,12 +640,15 @@ mod tests {
let event_grp_0 = EventU32::new(Severity::INFO, 0, 0).unwrap();
let event_grp_1_0 = EventU32::new(Severity::HIGH, 1, 0).unwrap();
let (event_grp_0_sender, event_grp_0_receiver) = channel();
let event_grp_0_and_1_listener = MpscEventSenderQueue {
id: 0,
mpsc_sender: event_grp_0_sender,
};
event_man.subscribe_group(event_grp_0.group_id(), event_grp_0_and_1_listener.id());
event_man.subscribe_group(event_grp_1_0.group_id(), event_grp_0_and_1_listener.id());
let event_grp_0_and_1_listener = EventU32SenderMpsc::new(0, event_grp_0_sender);
event_man.subscribe_group(
event_grp_0.group_id(),
event_grp_0_and_1_listener.channel_id(),
);
event_man.subscribe_group(
event_grp_1_0.group_id(),
event_grp_0_and_1_listener.channel_id(),
);
event_man.add_sender(event_grp_0_and_1_listener);
event_sender
@ -625,18 +677,12 @@ mod tests {
let event_1 = EventU32::new(Severity::HIGH, 1, 0).unwrap();
let (event_0_tx_0, event_0_rx_0) = channel();
let (event_0_tx_1, event_0_rx_1) = channel();
let event_listener_0 = MpscEventSenderQueue {
id: 0,
mpsc_sender: event_0_tx_0,
};
let event_listener_1 = MpscEventSenderQueue {
id: 1,
mpsc_sender: event_0_tx_1,
};
let event_listener_0_sender_id = event_listener_0.id();
let event_listener_0 = EventU32SenderMpsc::new(0, event_0_tx_0);
let event_listener_1 = EventU32SenderMpsc::new(1, event_0_tx_1);
let event_listener_0_sender_id = event_listener_0.channel_id();
event_man.subscribe_single(&event_0, event_listener_0_sender_id);
event_man.add_sender(event_listener_0);
let event_listener_1_sender_id = event_listener_1.id();
let event_listener_1_sender_id = event_listener_1.channel_id();
event_man.subscribe_single(&event_0, event_listener_1_sender_id);
event_man.add_sender(event_listener_1);
event_sender
@ -681,16 +727,12 @@ mod tests {
fn test_all_events_listener() {
let (event_sender, manager_queue) = channel();
let event_man_receiver = MpscEventReceiver::new(manager_queue);
let mut event_man: EventManager<SendError<EventU32WithAuxData>> =
EventManager::new(Box::new(event_man_receiver));
let mut event_man = EventManagerWithMpsc::new(event_man_receiver);
let event_0 = EventU32::new(Severity::INFO, 0, 5).unwrap();
let event_1 = EventU32::new(Severity::HIGH, 1, 0).unwrap();
let (event_0_tx_0, all_events_rx) = channel();
let all_events_listener = MpscEventSenderQueue {
id: 0,
mpsc_sender: event_0_tx_0,
};
event_man.subscribe_all(all_events_listener.id());
let all_events_listener = EventU32SenderMpsc::new(0, event_0_tx_0);
event_man.subscribe_all(all_events_listener.channel_id());
event_man.add_sender(all_events_listener);
event_sender
.send((event_0, None))
@ -707,4 +749,36 @@ mod tests {
check_next_event(event_0, &all_events_rx);
check_next_event(event_1, &all_events_rx);
}
#[test]
fn test_bounded_event_sender_queue_full() {
let (event_sender, _event_receiver) = mpsc::sync_channel(3);
let event_sender = EventU32SenderMpscBounded::new(1, event_sender, 3);
event_sender
.send_no_data(TEST_EVENT)
.expect("sending test event failed");
event_sender
.send_no_data(TEST_EVENT)
.expect("sending test event failed");
event_sender
.send_no_data(TEST_EVENT)
.expect("sending test event failed");
let error = event_sender.send_no_data(TEST_EVENT);
if let Err(e) = error {
assert!(matches!(e, GenericSendError::QueueFull(Some(3))));
} else {
panic!("unexpected error {error:?}");
}
}
#[test]
fn test_bounded_event_sender_rx_dropped() {
let (event_sender, event_receiver) = mpsc::sync_channel(3);
let event_sender = EventU32SenderMpscBounded::new(1, event_sender, 3);
drop(event_receiver);
if let Err(e) = event_sender.send_no_data(TEST_EVENT) {
assert!(matches!(e, GenericSendError::RxDisconnected));
} else {
panic!("Expected error");
}
}
}

2
satrs/src/hal/std/tcp_cobs_server.rs
View File

@ -107,7 +107,7 @@ impl<TmError, TcError> TcpTmSender<TmError, TcError> for CobsTmSender {
///
/// ## Example
///
/// The [TCP integration tests](https://egit.irs.uni-stuttgart.de/rust/sat-rs/src/branch/main/satrs-core/tests/tcp_servers.rs)
/// The [TCP integration tests](https://egit.irs.uni-stuttgart.de/rust/sat-rs/src/branch/main/satrs/tests/tcp_servers.rs)
/// test also serves as the example application for this module.
pub struct TcpTmtcInCobsServer<
TmError,

2
satrs/src/hal/std/tcp_spacepackets_server.rs
View File

@ -88,7 +88,7 @@ impl<TmError, TcError> TcpTmSender<TmError, TcError> for SpacepacketsTmSender {
/// [spacepackets::PacketId]s as part of the server configuration for that purpose.
///
/// ## Example
/// The [TCP server integration tests](https://egit.irs.uni-stuttgart.de/rust/sat-rs/src/branch/main/satrs-core/tests/tcp_servers.rs)
/// The [TCP server integration tests](https://egit.irs.uni-stuttgart.de/rust/sat-rs/src/branch/main/satrs/tests/tcp_servers.rs)
/// also serves as the example application for this module.
pub struct TcpSpacepacketsServer<
TmError,

2
satrs/src/lib.rs
View File

@ -26,8 +26,6 @@ extern crate std;
#[cfg_attr(doc_cfg, doc(cfg(feature = "alloc")))]
pub mod cfdp;
pub mod encoding;
#[cfg(feature = "alloc")]
#[cfg_attr(doc_cfg, doc(cfg(feature = "alloc")))]
pub mod event_man;
pub mod events;
#[cfg(feature = "std")]

29
satrs/src/params.rs
View File

@ -43,22 +43,19 @@
//! This includes the [ParamsHeapless] enumeration for contained values which do not require heap
//! allocation, and the [Params] which enumerates [ParamsHeapless] and some additional types which
//! require [alloc] support but allow for more flexbility.
#[cfg(feature = "alloc")]
use crate::pool::StoreAddr;
#[cfg(feature = "alloc")]
use alloc::string::{String, ToString};
#[cfg(feature = "alloc")]
use alloc::vec::Vec;
use core::fmt::Debug;
use core::mem::size_of;
use paste::paste;
use spacepackets::ecss::{EcssEnumU16, EcssEnumU32, EcssEnumU64, EcssEnumU8};
pub use spacepackets::util::ToBeBytes;
use spacepackets::util::UnsignedEnum;
use spacepackets::ByteConversionError;
#[cfg(feature = "alloc")]
pub use alloc_mod::*;
pub use spacepackets::util::ToBeBytes;
use alloc::string::{String, ToString};
#[cfg(feature = "alloc")]
use alloc::vec::Vec;
/// Generic trait which is used for objects which can be converted into a raw network (big) endian
/// byte format.
@ -560,17 +557,18 @@ from_conversions_for_raw!(
(f64, Self::F64),
);
#[cfg(feature = "alloc")]
mod alloc_mod {
use super::*;
/// Generic enumeration for additional parameters, including parameters which rely on heap
/// allocations.
#[cfg_attr(doc_cfg, doc(cfg(feature = "alloc")))]
#[derive(Debug, Clone)]
#[non_exhaustive]
pub enum Params {
Heapless(ParamsHeapless),
Store(StoreAddr),
#[cfg(feature = "alloc")]
#[cfg_attr(doc_cfg, doc(cfg(feature = "alloc")))]
Vec(Vec<u8>),
#[cfg(feature = "alloc")]
#[cfg_attr(doc_cfg, doc(cfg(feature = "alloc")))]
String(String),
}
@ -586,6 +584,8 @@ mod alloc_mod {
}
}
#[cfg(feature = "alloc")]
#[cfg_attr(doc_cfg, doc(cfg(feature = "alloc")))]
impl From<Vec<u8>> for Params {
fn from(val: Vec<u8>) -> Self {
Self::Vec(val)
@ -593,25 +593,30 @@ mod alloc_mod {
}
/// Converts a byte slice into the [Params::Vec] variant
#[cfg(feature = "alloc")]
#[cfg_attr(doc_cfg, doc(cfg(feature = "alloc")))]
impl From<&[u8]> for Params {
fn from(val: &[u8]) -> Self {
Self::Vec(val.to_vec())
}
}
#[cfg(feature = "alloc")]
#[cfg_attr(doc_cfg, doc(cfg(feature = "alloc")))]
impl From<String> for Params {
fn from(val: String) -> Self {
Self::String(val)
}
}
#[cfg(feature = "alloc")]
#[cfg_attr(doc_cfg, doc(cfg(feature = "alloc")))]
/// Converts a string slice into the [Params::String] variant
impl From<&str> for Params {
fn from(val: &str) -> Self {
Self::String(val.to_string())
}
}
}
#[cfg(test)]
mod tests {

34
satrs/src/pus/action.rs
View File

@ -44,7 +44,7 @@ pub mod alloc_mod {
/// - Checking the validity of the APID, service ID, subservice ID.
/// - Checking the validity of the user data.
///
/// A [VerificationReporterWithSender] instance is passed to the user to also allow handling
/// A [VerificationReportingProvider] instance is passed to the user to also allow handling
/// of the verification process as part of the PUS standard requirements.
pub trait PusActionToRequestConverter {
type Error;
@ -62,9 +62,9 @@ pub mod alloc_mod {
#[cfg_attr(doc_cfg, doc(cfg(feature = "std")))]
pub mod std_mod {
use crate::pus::{
verification::VerificationReportingProvider, EcssTcInMemConverter, GenericRoutingError,
PusPacketHandlerResult, PusPacketHandlingError, PusRoutingErrorHandler, PusServiceBase,
PusServiceHelper,
get_current_cds_short_timestamp, verification::VerificationReportingProvider,
EcssTcInMemConverter, EcssTcReceiverCore, EcssTmSenderCore, GenericRoutingError,
PusPacketHandlerResult, PusPacketHandlingError, PusRoutingErrorHandler, PusServiceHelper,
};
use super::*;
@ -81,6 +81,8 @@ pub mod std_mod {
/// 3. Route the action request using the provided [PusActionRequestRouter].
/// 4. Handle all routing errors using the provided [PusRoutingErrorHandler].
pub struct PusService8ActionHandler<
TcReceiver: EcssTcReceiverCore,
TmSender: EcssTmSenderCore,
TcInMemConverter: EcssTcInMemConverter,
VerificationReporter: VerificationReportingProvider,
RequestConverter: PusActionToRequestConverter,
@ -88,13 +90,16 @@ pub mod std_mod {
RoutingErrorHandler: PusRoutingErrorHandler<Error = RoutingError>,
RoutingError = GenericRoutingError,
> {
service_helper: PusServiceHelper<TcInMemConverter, VerificationReporter>,
service_helper:
PusServiceHelper<TcReceiver, TmSender, TcInMemConverter, VerificationReporter>,
pub request_converter: RequestConverter,
pub request_router: RequestRouter,
pub routing_error_handler: RoutingErrorHandler,
}
impl<
TcReceiver: EcssTcReceiverCore,
TmSender: EcssTmSenderCore,
TcInMemConverter: EcssTcInMemConverter,
VerificationReporter: VerificationReportingProvider,
RequestConverter: PusActionToRequestConverter<Error = PusPacketHandlingError>,
@ -103,6 +108,8 @@ pub mod std_mod {
RoutingError: Clone,
>
PusService8ActionHandler<
TcReceiver,
TmSender,
TcInMemConverter,
VerificationReporter,
RequestConverter,
@ -114,7 +121,12 @@ pub mod std_mod {
PusPacketHandlingError: From<RoutingError>,
{
pub fn new(
service_helper: PusServiceHelper<TcInMemConverter, VerificationReporter>,
service_helper: PusServiceHelper<
TcReceiver,
TmSender,
TcInMemConverter,
VerificationReporter,
>,
request_converter: RequestConverter,
request_router: RequestRouter,
routing_error_handler: RoutingErrorHandler,
@ -139,10 +151,7 @@ pub mod std_mod {
.tc_in_mem_converter
.convert_ecss_tc_in_memory_to_reader(&ecss_tc_and_token.tc_in_memory)?;
let mut partial_error = None;
let time_stamp =
PusServiceBase::<VerificationReporter>::get_current_cds_short_timestamp(
&mut partial_error,
);
let time_stamp = get_current_cds_short_timestamp(&mut partial_error);
let (target_id, action_request) = self.request_converter.convert(
ecss_tc_and_token.token,
&tc,
@ -189,7 +198,8 @@ mod tests {
verification::{
tests::TestVerificationReporter, FailParams, RequestId, VerificationReportingProvider,
},
EcssTcInVecConverter, GenericRoutingError, PusPacketHandlerResult, PusPacketHandlingError,
EcssTcInVecConverter, GenericRoutingError, MpscTcReceiver, PusPacketHandlerResult,
PusPacketHandlingError, TmAsVecSenderWithMpsc,
};
use super::*;
@ -259,6 +269,8 @@ mod tests {
struct Pus8HandlerWithVecTester {
common: PusServiceHandlerWithVecCommon<TestVerificationReporter>,
handler: PusService8ActionHandler<
MpscTcReceiver,
TmAsVecSenderWithMpsc,
EcssTcInVecConverter,
TestVerificationReporter,
TestConverter<8>,

2
satrs/src/pus/event.rs
View File

@ -269,7 +269,7 @@ mod tests {
}
impl EcssChannel for TestSender {
fn id(&self) -> ChannelId {
fn channel_id(&self) -> ChannelId {
0
}
}

125
satrs/src/pus/event_man.rs
View File

@ -2,8 +2,6 @@ use crate::events::{EventU32, GenericEvent, Severity};
#[cfg(feature = "alloc")]
use crate::events::{EventU32TypedSev, HasSeverity};
#[cfg(feature = "alloc")]
use alloc::boxed::Box;
#[cfg(feature = "alloc")]
use core::hash::Hash;
#[cfg(feature = "alloc")]
use hashbrown::HashSet;
@ -32,19 +30,19 @@ pub use heapless_mod::*;
/// structure to track disabled events. A more primitive and embedded friendly
/// solution could track this information in a static or pre-allocated list which contains
/// the disabled events.
pub trait PusEventMgmtBackendProvider<Provider: GenericEvent> {
pub trait PusEventMgmtBackendProvider<Event: GenericEvent> {
type Error;
fn event_enabled(&self, event: &Provider) -> bool;
fn enable_event_reporting(&mut self, event: &Provider) -> Result<bool, Self::Error>;
fn disable_event_reporting(&mut self, event: &Provider) -> Result<bool, Self::Error>;
fn event_enabled(&self, event: &Event) -> bool;
fn enable_event_reporting(&mut self, event: &Event) -> Result<bool, Self::Error>;
fn disable_event_reporting(&mut self, event: &Event) -> Result<bool, Self::Error>;
}
#[cfg(feature = "heapless")]
pub mod heapless_mod {
use super::*;
use crate::events::{GenericEvent, LargestEventRaw};
use std::marker::PhantomData;
use crate::events::LargestEventRaw;
use core::marker::PhantomData;
#[cfg_attr(doc_cfg, doc(cfg(feature = "heapless")))]
// TODO: After a new version of heapless is released which uses hash32 version 0.3, try using
@ -108,6 +106,10 @@ impl From<EcssTmtcError> for EventManError {
#[cfg(feature = "alloc")]
pub mod alloc_mod {
use core::marker::PhantomData;
use crate::events::EventU16;
use super::*;
/// Default backend provider which uses a hash set as the event reporting status container
@ -115,14 +117,11 @@ pub mod alloc_mod {
///
/// This provider is a good option for host systems or larger embedded systems where
/// the expected occasional memory allocation performed by the [HashSet] is not an issue.
pub struct DefaultPusMgmtBackendProvider<Event: GenericEvent = EventU32> {
pub struct DefaultPusEventMgmtBackend<Event: GenericEvent = EventU32> {
disabled: HashSet<Event>,
}
/// Safety: All contained field are [Send] as well
unsafe impl<Event: GenericEvent + Send> Send for DefaultPusMgmtBackendProvider<Event> {}
impl<Event: GenericEvent> Default for DefaultPusMgmtBackendProvider<Event> {
impl<Event: GenericEvent> Default for DefaultPusEventMgmtBackend<Event> {
fn default() -> Self {
Self {
disabled: HashSet::default(),
@ -130,46 +129,50 @@ pub mod alloc_mod {
}
}
impl<Provider: GenericEvent + PartialEq + Eq + Hash + Copy + Clone>
PusEventMgmtBackendProvider<Provider> for DefaultPusMgmtBackendProvider<Provider>
impl<EV: GenericEvent + PartialEq + Eq + Hash + Copy + Clone> PusEventMgmtBackendProvider<EV>
for DefaultPusEventMgmtBackend<EV>
{
type Error = ();
fn event_enabled(&self, event: &Provider) -> bool {
fn event_enabled(&self, event: &EV) -> bool {
!self.disabled.contains(event)
}
fn enable_event_reporting(&mut self, event: &Provider) -> Result<bool, Self::Error> {
fn enable_event_reporting(&mut self, event: &EV) -> Result<bool, Self::Error> {
Ok(self.disabled.remove(event))
}
fn disable_event_reporting(&mut self, event: &Provider) -> Result<bool, Self::Error> {
fn disable_event_reporting(&mut self, event: &EV) -> Result<bool, Self::Error> {
Ok(self.disabled.insert(*event))
}
}
pub struct PusEventDispatcher<BackendError, Provider: GenericEvent> {
pub struct PusEventDispatcher<
B: PusEventMgmtBackendProvider<EV, Error = E>,
EV: GenericEvent,
E,
> {
reporter: EventReporter,
backend: Box<dyn PusEventMgmtBackendProvider<Provider, Error = BackendError>>,
backend: B,
phantom: PhantomData<(E, EV)>,
}
/// Safety: All contained fields are send as well.
unsafe impl<E: Send, Event: GenericEvent + Send> Send for PusEventDispatcher<E, Event> {}
impl<BackendError, Provider: GenericEvent> PusEventDispatcher<BackendError, Provider> {
pub fn new(
reporter: EventReporter,
backend: Box<dyn PusEventMgmtBackendProvider<Provider, Error = BackendError>>,
) -> Self {
Self { reporter, backend }
impl<B: PusEventMgmtBackendProvider<EV, Error = E>, EV: GenericEvent, E>
PusEventDispatcher<B, EV, E>
{
pub fn new(reporter: EventReporter, backend: B) -> Self {
Self {
reporter,
backend,
phantom: PhantomData,
}
}
impl<BackendError, Event: GenericEvent> PusEventDispatcher<BackendError, Event> {
pub fn enable_tm_for_event(&mut self, event: &Event) -> Result<bool, BackendError> {
pub fn enable_tm_for_event(&mut self, event: &EV) -> Result<bool, E> {
self.backend.enable_event_reporting(event)
}
pub fn disable_tm_for_event(&mut self, event: &Event) -> Result<bool, BackendError> {
pub fn disable_tm_for_event(&mut self, event: &EV) -> Result<bool, E> {
self.backend.disable_event_reporting(event)
}
@ -177,7 +180,7 @@ pub mod alloc_mod {
&mut self,
sender: &mut (impl EcssTmSenderCore + ?Sized),
time_stamp: &[u8],
event: Event,
event: EV,
aux_data: Option<&[u8]>,
) -> Result<bool, EventManError> {
if !self.backend.event_enabled(&event) {
@ -208,18 +211,30 @@ pub mod alloc_mod {
}
}
impl<BackendError> PusEventDispatcher<BackendError, EventU32> {
impl<EV: GenericEvent + Copy + PartialEq + Eq + Hash>
PusEventDispatcher<DefaultPusEventMgmtBackend<EV>, EV, ()>
{
pub fn new_with_default_backend(reporter: EventReporter) -> Self {
Self {
reporter,
backend: DefaultPusEventMgmtBackend::default(),
phantom: PhantomData,
}
}
}
impl<B: PusEventMgmtBackendProvider<EventU32, Error = E>, E> PusEventDispatcher<B, EventU32, E> {
pub fn enable_tm_for_event_with_sev<Severity: HasSeverity>(
&mut self,
event: &EventU32TypedSev<Severity>,
) -> Result<bool, BackendError> {
) -> Result<bool, E> {
self.backend.enable_event_reporting(event.as_ref())
}
pub fn disable_tm_for_event_with_sev<Severity: HasSeverity>(
&mut self,
event: &EventU32TypedSev<Severity>,
) -> Result<bool, BackendError> {
) -> Result<bool, E> {
self.backend.disable_event_reporting(event.as_ref())
}
@ -233,30 +248,38 @@ pub mod alloc_mod {
self.generate_pus_event_tm_generic(sender, time_stamp, event.into(), aux_data)
}
}
pub type DefaultPusEventU16Dispatcher<E> =
PusEventDispatcher<DefaultPusEventMgmtBackend<EventU16>, EventU16, E>;
pub type DefaultPusEventU32Dispatcher<E> =
PusEventDispatcher<DefaultPusEventMgmtBackend<EventU32>, EventU32, E>;
}
#[cfg(test)]
mod tests {
use super::*;
use crate::events::SeverityInfo;
use crate::pus::MpscTmAsVecSender;
use std::sync::mpsc::{channel, TryRecvError};
use crate::{events::SeverityInfo, pus::TmAsVecSenderWithMpsc};
use std::sync::mpsc::{self, TryRecvError};
const INFO_EVENT: EventU32TypedSev<SeverityInfo> =
EventU32TypedSev::<SeverityInfo>::const_new(1, 0);
const LOW_SEV_EVENT: EventU32 = EventU32::const_new(Severity::LOW, 1, 5);
const EMPTY_STAMP: [u8; 7] = [0; 7];
fn create_basic_man() -> PusEventDispatcher<(), EventU32> {
fn create_basic_man_1() -> DefaultPusEventU32Dispatcher<()> {
let reporter = EventReporter::new(0x02, 128).expect("Creating event repoter failed");
let backend = DefaultPusMgmtBackendProvider::<EventU32>::default();
PusEventDispatcher::new(reporter, Box::new(backend))
PusEventDispatcher::new_with_default_backend(reporter)
}
fn create_basic_man_2() -> DefaultPusEventU32Dispatcher<()> {
let reporter = EventReporter::new(0x02, 128).expect("Creating event repoter failed");
let backend = DefaultPusEventMgmtBackend::default();
PusEventDispatcher::new(reporter, backend)
}
#[test]
fn test_basic() {
let mut event_man = create_basic_man();
let (event_tx, event_rx) = channel();
let mut sender = MpscTmAsVecSender::new(0, "test_sender", event_tx);
let mut event_man = create_basic_man_1();
let (event_tx, event_rx) = mpsc::channel();
let mut sender = TmAsVecSenderWithMpsc::new(0, "test_sender", event_tx);
let event_sent = event_man
.generate_pus_event_tm(&mut sender, &EMPTY_STAMP, INFO_EVENT, None)
.expect("Sending info event failed");
@ -268,9 +291,9 @@ mod tests {
#[test]
fn test_disable_event() {
let mut event_man = create_basic_man();
let (event_tx, event_rx) = channel();
let mut sender = MpscTmAsVecSender::new(0, "test", event_tx);
let mut event_man = create_basic_man_2();
let (event_tx, event_rx) = mpsc::channel();
let mut sender = TmAsVecSenderWithMpsc::new(0, "test", event_tx);
let res = event_man.disable_tm_for_event(&LOW_SEV_EVENT);
assert!(res.is_ok());
assert!(res.unwrap());
@ -291,9 +314,9 @@ mod tests {
#[test]
fn test_reenable_event() {
let mut event_man = create_basic_man();
let (event_tx, event_rx) = channel();
let mut sender = MpscTmAsVecSender::new(0, "test", event_tx);
let mut event_man = create_basic_man_1();
let (event_tx, event_rx) = mpsc::channel();
let mut sender = TmAsVecSenderWithMpsc::new(0, "test", event_tx);
let mut res = event_man.disable_tm_for_event_with_sev(&INFO_EVENT);
assert!(res.is_ok());
assert!(res.unwrap());

40
satrs/src/pus/event_srv.rs
View File

@ -7,27 +7,40 @@ use spacepackets::ecss::PusPacket;
use std::sync::mpsc::Sender;
use super::verification::VerificationReportingProvider;
use super::{EcssTcInMemConverter, PusServiceBase, PusServiceHelper};
use super::{
get_current_cds_short_timestamp, EcssTcInMemConverter, EcssTcReceiverCore, EcssTmSenderCore,
PusServiceHelper,
};
pub struct PusService5EventHandler<
TcReceiver: EcssTcReceiverCore,
TmSender: EcssTmSenderCore,
TcInMemConverter: EcssTcInMemConverter,
VerificationReporter: VerificationReportingProvider,
> {
pub service_helper: PusServiceHelper<TcInMemConverter, VerificationReporter>,
pub service_helper:
PusServiceHelper<TcReceiver, TmSender, TcInMemConverter, VerificationReporter>,
event_request_tx: Sender<EventRequestWithToken>,
}
impl<
TcReceiver: EcssTcReceiverCore,
TmSender: EcssTmSenderCore,
TcInMemConverter: EcssTcInMemConverter,
VerificationReporter: VerificationReportingProvider,
> PusService5EventHandler<TcInMemConverter, VerificationReporter>
> PusService5EventHandler<TcReceiver, TmSender, TcInMemConverter, VerificationReporter>
{
pub fn new(
service_handler: PusServiceHelper<TcInMemConverter, VerificationReporter>,
service_helper: PusServiceHelper<
TcReceiver,
TmSender,
TcInMemConverter,
VerificationReporter,
>,
event_request_tx: Sender<EventRequestWithToken>,
) -> Self {
Self {
service_helper: service_handler,
service_helper,
event_request_tx,
}
}
@ -94,9 +107,7 @@ impl<
Ok(PusPacketHandlerResult::RequestHandled)
};
let mut partial_error = None;
let time_stamp = PusServiceBase::<VerificationReporter>::get_current_cds_short_timestamp(
&mut partial_error,
);
let time_stamp = get_current_cds_short_timestamp(&mut partial_error);
match srv.unwrap() {
Subservice::TmInfoReport
| Subservice::TmLowSeverityReport
@ -138,7 +149,10 @@ mod tests {
use crate::pus::event_man::EventRequest;
use crate::pus::tests::SimplePusPacketHandler;
use crate::pus::verification::{RequestId, VerificationReporterWithSender};
use crate::pus::verification::{
RequestId, VerificationReporterWithSharedPoolMpscBoundedSender,
};
use crate::pus::{MpscTcReceiver, TmInSharedPoolSenderWithBoundedMpsc};
use crate::{
events::EventU32,
pus::{
@ -155,8 +169,12 @@ mod tests {
struct Pus5HandlerWithStoreTester {
common: PusServiceHandlerWithSharedStoreCommon,
handler:
PusService5EventHandler<EcssTcInSharedStoreConverter, VerificationReporterWithSender>,
handler: PusService5EventHandler<
MpscTcReceiver,
TmInSharedPoolSenderWithBoundedMpsc,
EcssTcInSharedStoreConverter,
VerificationReporterWithSharedPoolMpscBoundedSender,
>,
}
impl Pus5HandlerWithStoreTester {

36
satrs/src/pus/hk.rs
View File

@ -46,7 +46,7 @@ pub mod alloc_mod {
/// - Checking the validity of the APID, service ID, subservice ID.
/// - Checking the validity of the user data.
///
/// A [VerificationReporterWithSender] instance is passed to the user to also allow handling
/// A [VerificationReportingProvider] is passed to the user to also allow handling
/// of the verification process as part of the PUS standard requirements.
pub trait PusHkToRequestConverter {
type Error;
@ -64,9 +64,9 @@ pub mod alloc_mod {
#[cfg_attr(doc_cfg, doc(cfg(feature = "std")))]
pub mod std_mod {
use crate::pus::{
verification::VerificationReportingProvider, EcssTcInMemConverter, GenericRoutingError,
PusPacketHandlerResult, PusPacketHandlingError, PusRoutingErrorHandler, PusServiceBase,
PusServiceHelper,
get_current_cds_short_timestamp, verification::VerificationReportingProvider,
EcssTcInMemConverter, EcssTcReceiverCore, EcssTmSenderCore, GenericRoutingError,
PusPacketHandlerResult, PusPacketHandlingError, PusRoutingErrorHandler, PusServiceHelper,
};
use super::*;
@ -78,13 +78,15 @@ pub mod std_mod {
/// 1. Retrieve the next TC packet from the [PusServiceHelper]. The [EcssTcInMemConverter]
/// allows to configure the used telecommand memory backend.
/// 2. Convert the TC to a targeted action request using the provided
/// [PusActionToRequestConverter]. The generic error type is constrained to the
/// [PusHkToRequestConverter]. The generic error type is constrained to the
/// [PusPacketHandlerResult] for the concrete implementation which offers a packet handler.
/// 3. Route the action request using the provided [PusActionRequestRouter]. The generic error
/// 3. Route the action request using the provided [PusHkRequestRouter]. The generic error
/// type is constrained to the [GenericRoutingError] for the concrete implementation.
/// 4. Handle all routing errors using the provided [PusRoutingErrorHandler]. The generic error
/// type is constrained to the [GenericRoutingError] for the concrete implementation.
pub struct PusService3HkHandler<
TcReceiver: EcssTcReceiverCore,
TmSender: EcssTmSenderCore,
TcInMemConverter: EcssTcInMemConverter,
VerificationReporter: VerificationReportingProvider,
RequestConverter: PusHkToRequestConverter,
@ -92,13 +94,16 @@ pub mod std_mod {
RoutingErrorHandler: PusRoutingErrorHandler<Error = RoutingError>,
RoutingError = GenericRoutingError,
> {
service_helper: PusServiceHelper<TcInMemConverter, VerificationReporter>,
service_helper:
PusServiceHelper<TcReceiver, TmSender, TcInMemConverter, VerificationReporter>,
pub request_converter: RequestConverter,
pub request_router: RequestRouter,
pub routing_error_handler: RoutingErrorHandler,
}
impl<
TcReceiver: EcssTcReceiverCore,
TmSender: EcssTmSenderCore,
TcInMemConverter: EcssTcInMemConverter,
VerificationReporter: VerificationReportingProvider,
RequestConverter: PusHkToRequestConverter<Error = PusPacketHandlingError>,
@ -107,6 +112,8 @@ pub mod std_mod {
RoutingError: Clone,
>
PusService3HkHandler<
TcReceiver,
TmSender,
TcInMemConverter,
VerificationReporter,
RequestConverter,
@ -118,7 +125,12 @@ pub mod std_mod {
PusPacketHandlingError: From<RoutingError>,
{
pub fn new(
service_helper: PusServiceHelper<TcInMemConverter, VerificationReporter>,
service_helper: PusServiceHelper<
TcReceiver,
TmSender,
TcInMemConverter,
VerificationReporter,
>,
request_converter: RequestConverter,
request_router: RequestRouter,
routing_error_handler: RoutingErrorHandler,
@ -142,10 +154,7 @@ pub mod std_mod {
.tc_in_mem_converter
.convert_ecss_tc_in_memory_to_reader(&ecss_tc_and_token.tc_in_memory)?;
let mut partial_error = None;
let time_stamp =
PusServiceBase::<VerificationReporter>::get_current_cds_short_timestamp(
&mut partial_error,
);
let time_stamp = get_current_cds_short_timestamp(&mut partial_error);
let (target_id, hk_request) = self.request_converter.convert(
ecss_tc_and_token.token,
&tc,
@ -185,6 +194,7 @@ mod tests {
CcsdsPacket, SequenceFlags, SpHeader,
};
use crate::pus::{MpscTcReceiver, TmAsVecSenderWithMpsc};
use crate::{
hk::HkRequest,
pus::{
@ -268,6 +278,8 @@ mod tests {
struct Pus3HandlerWithVecTester {
common: PusServiceHandlerWithVecCommon<TestVerificationReporter>,
handler: PusService3HkHandler<
MpscTcReceiver,
TmAsVecSenderWithMpsc,
EcssTcInVecConverter,
TestVerificationReporter,
TestConverter<3>,

416
satrs/src/pus/mod.rs
View File

@ -2,6 +2,8 @@
//!
//! This module contains structures to make working with the PUS C standard easier.
//! The satrs-example application contains various usage examples of these components.
use crate::pool::{StoreAddr, StoreError};
use crate::pus::verification::{TcStateAccepted, TcStateToken, VerificationToken};
use crate::queue::{GenericRecvError, GenericSendError};
use crate::ChannelId;
use core::fmt::{Display, Formatter};
@ -34,8 +36,6 @@ pub mod verification;
#[cfg(feature = "alloc")]
pub use alloc_mod::*;
use crate::pool::{StoreAddr, StoreError};
use crate::pus::verification::{TcStateAccepted, TcStateToken, VerificationToken};
#[cfg(feature = "std")]
pub use std_mod::*;
@ -63,6 +63,7 @@ pub enum EcssTmtcError {
Store(StoreError),
Pus(PusError),
CantSendAddr(StoreAddr),
CantSendDirectTm,
Send(GenericSendError),
Recv(GenericRecvError),
}
@ -82,6 +83,9 @@ impl Display for EcssTmtcError {
EcssTmtcError::CantSendAddr(addr) => {
write!(f, "can not send address {addr}")
}
EcssTmtcError::CantSendDirectTm => {
write!(f, "can not send TM directly")
}
EcssTmtcError::Send(send_e) => {
write!(f, "send error {send_e}")
}
@ -123,13 +127,14 @@ impl Error for EcssTmtcError {
EcssTmtcError::Store(e) => Some(e),
EcssTmtcError::Pus(e) => Some(e),
EcssTmtcError::Send(e) => Some(e),
EcssTmtcError::Recv(e) => Some(e),
_ => None,
}
}
}
pub trait EcssChannel: Send {
/// Each sender can have an ID associated with it
fn id(&self) -> ChannelId;
fn channel_id(&self) -> ChannelId;
fn name(&self) -> &'static str {
"unset"
}
@ -138,7 +143,7 @@ pub trait EcssChannel: Send {
/// Generic trait for a user supplied sender object.
///
/// This sender object is responsible for sending PUS telemetry to a TM sink.
pub trait EcssTmSenderCore: EcssChannel {
pub trait EcssTmSenderCore: Send {
fn send_tm(&self, tm: PusTmWrapper) -> Result<(), EcssTmtcError>;
}
@ -146,7 +151,7 @@ pub trait EcssTmSenderCore: EcssChannel {
///
/// This sender object is responsible for sending PUS telecommands to a TC recipient. Each
/// telecommand can optionally have a token which contains its verification state.
pub trait EcssTcSenderCore: EcssChannel {
pub trait EcssTcSenderCore {
fn send_tc(&self, tc: PusTcCreator, token: Option<TcStateToken>) -> Result<(), EcssTmtcError>;
}
@ -221,25 +226,25 @@ impl TryFrom<EcssTcAndToken> for AcceptedEcssTcAndToken {
#[derive(Debug, Clone)]
pub enum TryRecvTmtcError {
Error(EcssTmtcError),
Tmtc(EcssTmtcError),
Empty,
}
impl From<EcssTmtcError> for TryRecvTmtcError {
fn from(value: EcssTmtcError) -> Self {
Self::Error(value)
Self::Tmtc(value)
}
}
impl From<PusError> for TryRecvTmtcError {
fn from(value: PusError) -> Self {
Self::Error(value.into())
Self::Tmtc(value.into())
}
}
impl From<StoreError> for TryRecvTmtcError {
fn from(value: StoreError) -> Self {
Self::Error(value.into())
Self::Tmtc(value.into())
}
}
@ -366,18 +371,15 @@ pub mod std_mod {
use crate::pool::{PoolProvider, PoolProviderWithGuards, SharedStaticMemoryPool, StoreAddr};
use crate::pus::verification::{TcStateAccepted, VerificationToken};
use crate::pus::{
EcssChannel, EcssTcAndToken, EcssTcReceiver, EcssTcReceiverCore, EcssTmSender,
EcssTmSenderCore, EcssTmtcError, GenericRecvError, GenericSendError, PusTmWrapper,
TryRecvTmtcError,
EcssChannel, EcssTcAndToken, EcssTcReceiverCore, EcssTmSenderCore, EcssTmtcError,
GenericRecvError, GenericSendError, PusTmWrapper, TryRecvTmtcError,
};
use crate::tmtc::tm_helper::SharedTmPool;
use crate::{ChannelId, TargetId};
use alloc::boxed::Box;
use alloc::vec::Vec;
use crossbeam_channel as cb;
use spacepackets::ecss::tc::PusTcReader;
use spacepackets::ecss::tm::PusTmCreator;
use spacepackets::ecss::PusError;
use spacepackets::ecss::{PusError, WritablePusPacket};
use spacepackets::time::cds::TimeProvider;
use spacepackets::time::StdTimestampError;
use spacepackets::time::TimeWriter;
@ -386,6 +388,9 @@ pub mod std_mod {
use std::sync::mpsc::TryRecvError;
use thiserror::Error;
#[cfg(feature = "crossbeam")]
pub use cb_mod::*;
use super::verification::VerificationReportingProvider;
use super::{AcceptedEcssTcAndToken, TcInMemory};
@ -395,32 +400,65 @@ pub mod std_mod {
}
}
impl From<cb::SendError<StoreAddr>> for EcssTmtcError {
fn from(_: cb::SendError<StoreAddr>) -> Self {
Self::Send(GenericSendError::RxDisconnected)
impl EcssTmSenderCore for mpsc::Sender<StoreAddr> {
fn send_tm(&self, tm: PusTmWrapper) -> Result<(), EcssTmtcError> {
match tm {
PusTmWrapper::InStore(addr) => self
.send(addr)
.map_err(|_| GenericSendError::RxDisconnected)?,
PusTmWrapper::Direct(_) => return Err(EcssTmtcError::CantSendDirectTm),
};
Ok(())
}
}
impl From<cb::TrySendError<StoreAddr>> for EcssTmtcError {
fn from(value: cb::TrySendError<StoreAddr>) -> Self {
match value {
cb::TrySendError::Full(_) => Self::Send(GenericSendError::QueueFull(None)),
cb::TrySendError::Disconnected(_) => Self::Send(GenericSendError::RxDisconnected),
impl EcssTmSenderCore for mpsc::SyncSender<StoreAddr> {
fn send_tm(&self, tm: PusTmWrapper) -> Result<(), EcssTmtcError> {
match tm {
PusTmWrapper::InStore(addr) => self
.try_send(addr)
.map_err(|e| EcssTmtcError::Send(e.into()))?,
PusTmWrapper::Direct(_) => return Err(EcssTmtcError::CantSendDirectTm),
};
Ok(())
}
}
impl EcssTmSenderCore for mpsc::Sender<Vec<u8>> {
fn send_tm(&self, tm: PusTmWrapper) -> Result<(), EcssTmtcError> {
match tm {
PusTmWrapper::InStore(addr) => return Err(EcssTmtcError::CantSendAddr(addr)),
PusTmWrapper::Direct(tm) => self
.send(tm.to_vec()?)
.map_err(|e| EcssTmtcError::Send(e.into()))?,
};
Ok(())
}
}
impl EcssTmSenderCore for mpsc::SyncSender<Vec<u8>> {
fn send_tm(&self, tm: PusTmWrapper) -> Result<(), EcssTmtcError> {
match tm {
PusTmWrapper::InStore(addr) => return Err(EcssTmtcError::CantSendAddr(addr)),
PusTmWrapper::Direct(tm) => self
.send(tm.to_vec()?)
.map_err(|e| EcssTmtcError::Send(e.into()))?,
};
Ok(())
}
}
#[derive(Clone)]
pub struct MpscTmInSharedPoolSender {
id: ChannelId,
pub struct TmInSharedPoolSenderWithId<Sender: EcssTmSenderCore> {
channel_id: ChannelId,
name: &'static str,
shared_tm_store: SharedTmPool,
sender: mpsc::Sender<StoreAddr>,
sender: Sender,
}
impl EcssChannel for MpscTmInSharedPoolSender {
fn id(&self) -> ChannelId {
self.id
impl<Sender: EcssTmSenderCore> EcssChannel for TmInSharedPoolSenderWithId<Sender> {
fn channel_id(&self) -> ChannelId {
self.channel_id
}
fn name(&self) -> &'static str {
@ -428,36 +466,31 @@ pub mod std_mod {
}
}
impl MpscTmInSharedPoolSender {
impl<Sender: EcssTmSenderCore> TmInSharedPoolSenderWithId<Sender> {
pub fn send_direct_tm(&self, tm: PusTmCreator) -> Result<(), EcssTmtcError> {
let addr = self.shared_tm_store.add_pus_tm(&tm)?;
self.sender
.send(addr)
.map_err(|_| EcssTmtcError::Send(GenericSendError::RxDisconnected))
self.sender.send_tm(PusTmWrapper::InStore(addr))
}
}
impl EcssTmSenderCore for MpscTmInSharedPoolSender {
impl<Sender: EcssTmSenderCore> EcssTmSenderCore for TmInSharedPoolSenderWithId<Sender> {
fn send_tm(&self, tm: PusTmWrapper) -> Result<(), EcssTmtcError> {
match tm {
PusTmWrapper::InStore(addr) => {
self.sender.send(addr)?;
Ok(())
}
PusTmWrapper::Direct(tm) => self.send_direct_tm(tm),
if let PusTmWrapper::Direct(tm) = tm {
return self.send_direct_tm(tm);
}
self.sender.send_tm(tm)
}
}
impl MpscTmInSharedPoolSender {
impl<Sender: EcssTmSenderCore> TmInSharedPoolSenderWithId<Sender> {
pub fn new(
id: ChannelId,
name: &'static str,
shared_tm_store: SharedTmPool,
sender: mpsc::Sender<StoreAddr>,
sender: Sender,
) -> Self {
Self {
id,
channel_id: id,
name,
shared_tm_store,
sender,
@ -465,6 +498,51 @@ pub mod std_mod {
}
}
pub type TmInSharedPoolSenderWithMpsc = TmInSharedPoolSenderWithId<mpsc::Sender<StoreAddr>>;
pub type TmInSharedPoolSenderWithBoundedMpsc =
TmInSharedPoolSenderWithId<mpsc::SyncSender<StoreAddr>>;
/// This class can be used if frequent heap allocations during run-time are not an issue.
/// PUS TM packets will be sent around as [Vec]s. Please note that the current implementation
/// of this class can not deal with store addresses, so it is assumed that is is always
/// going to be called with direct packets.
#[derive(Clone)]
pub struct TmAsVecSenderWithId<Sender: EcssTmSenderCore> {
id: ChannelId,
name: &'static str,
sender: Sender,
}
impl From<mpsc::SendError<Vec<u8>>> for EcssTmtcError {
fn from(_: mpsc::SendError<Vec<u8>>) -> Self {
Self::Send(GenericSendError::RxDisconnected)
}
}
impl<Sender: EcssTmSenderCore> TmAsVecSenderWithId<Sender> {
pub fn new(id: u32, name: &'static str, sender: Sender) -> Self {
Self { id, sender, name }
}
}
impl<Sender: EcssTmSenderCore> EcssChannel for TmAsVecSenderWithId<Sender> {
fn channel_id(&self) -> ChannelId {
self.id
}
fn name(&self) -> &'static str {
self.name
}
}
impl<Sender: EcssTmSenderCore> EcssTmSenderCore for TmAsVecSenderWithId<Sender> {
fn send_tm(&self, tm: PusTmWrapper) -> Result<(), EcssTmtcError> {
self.sender.send_tm(tm)
}
}
pub type TmAsVecSenderWithMpsc = TmAsVecSenderWithId<mpsc::Sender<Vec<u8>>>;
pub type TmAsVecSenderWithBoundedMpsc = TmAsVecSenderWithId<mpsc::SyncSender<Vec<u8>>>;
pub struct MpscTcReceiver {
id: ChannelId,
name: &'static str,
@ -472,7 +550,7 @@ pub mod std_mod {
}
impl EcssChannel for MpscTcReceiver {
fn id(&self) -> ChannelId {
fn channel_id(&self) -> ChannelId {
self.id
}
@ -486,7 +564,7 @@ pub mod std_mod {
self.receiver.try_recv().map_err(|e| match e {
TryRecvError::Empty => TryRecvTmtcError::Empty,
TryRecvError::Disconnected => {
TryRecvTmtcError::Error(EcssTmtcError::from(GenericRecvError::TxDisconnected))
TryRecvTmtcError::Tmtc(EcssTmtcError::from(GenericRecvError::TxDisconnected))
}
})
}
@ -502,95 +580,50 @@ pub mod std_mod {
}
}
/// This class can be used if frequent heap allocations during run-time are not an issue.
/// PUS TM packets will be sent around as [Vec]s. Please note that the current implementation
/// of this class can not deal with store addresses, so it is assumed that is is always
/// going to be called with direct packets.
#[derive(Clone)]
pub struct MpscTmAsVecSender {
id: ChannelId,
name: &'static str,
sender: mpsc::Sender<Vec<u8>>,
}
#[cfg(feature = "crossbeam")]
pub mod cb_mod {
use super::*;
use crossbeam_channel as cb;
impl From<mpsc::SendError<Vec<u8>>> for EcssTmtcError {
fn from(_: mpsc::SendError<Vec<u8>>) -> Self {
pub type TmInSharedPoolSenderWithCrossbeam =
TmInSharedPoolSenderWithId<cb::Sender<StoreAddr>>;
impl From<cb::SendError<StoreAddr>> for EcssTmtcError {
fn from(_: cb::SendError<StoreAddr>) -> Self {
Self::Send(GenericSendError::RxDisconnected)
}
}
impl MpscTmAsVecSender {
pub fn new(id: u32, name: &'static str, sender: mpsc::Sender<Vec<u8>>) -> Self {
Self { id, sender, name }
impl From<cb::TrySendError<StoreAddr>> for EcssTmtcError {
fn from(value: cb::TrySendError<StoreAddr>) -> Self {
match value {
cb::TrySendError::Full(_) => Self::Send(GenericSendError::QueueFull(None)),
cb::TrySendError::Disconnected(_) => {
Self::Send(GenericSendError::RxDisconnected)
}
}
}
}
impl EcssChannel for MpscTmAsVecSender {
fn id(&self) -> ChannelId {
self.id
}
fn name(&self) -> &'static str {
self.name
}
}
impl EcssTmSenderCore for MpscTmAsVecSender {
impl EcssTmSenderCore for cb::Sender<StoreAddr> {
fn send_tm(&self, tm: PusTmWrapper) -> Result<(), EcssTmtcError> {
match tm {
PusTmWrapper::InStore(addr) => Err(EcssTmtcError::CantSendAddr(addr)),
PusTmWrapper::Direct(tm) => {
let mut vec = Vec::new();
tm.append_to_vec(&mut vec).map_err(EcssTmtcError::Pus)?;
self.sender.send(vec)?;
PusTmWrapper::InStore(addr) => self
.try_send(addr)
.map_err(|e| EcssTmtcError::Send(e.into()))?,
PusTmWrapper::Direct(_) => return Err(EcssTmtcError::CantSendDirectTm),
};
Ok(())
}
}
}
}
#[derive(Clone)]
pub struct CrossbeamTmInStoreSender {
id: ChannelId,
name: &'static str,
shared_tm_store: SharedTmPool,
sender: crossbeam_channel::Sender<StoreAddr>,
}
impl CrossbeamTmInStoreSender {
pub fn new(
id: ChannelId,
name: &'static str,
shared_tm_store: SharedTmPool,
sender: crossbeam_channel::Sender<StoreAddr>,
) -> Self {
Self {
id,
name,
shared_tm_store,
sender,
}
}
}
impl EcssChannel for CrossbeamTmInStoreSender {
fn id(&self) -> ChannelId {
self.id
}
fn name(&self) -> &'static str {
self.name
}
}
impl EcssTmSenderCore for CrossbeamTmInStoreSender {
impl EcssTmSenderCore for cb::Sender<Vec<u8>> {
fn send_tm(&self, tm: PusTmWrapper) -> Result<(), EcssTmtcError> {
match tm {
PusTmWrapper::InStore(addr) => self.sender.try_send(addr)?,
PusTmWrapper::Direct(tm) => {
let addr = self.shared_tm_store.add_pus_tm(&tm)?;
self.sender.try_send(addr)?;
}
}
PusTmWrapper::InStore(addr) => return Err(EcssTmtcError::CantSendAddr(addr)),
PusTmWrapper::Direct(tm) => self
.send(tm.to_vec()?)
.map_err(|e| EcssTmtcError::Send(e.into()))?,
};
Ok(())
}
}
@ -612,7 +645,7 @@ pub mod std_mod {
}
impl EcssChannel for CrossbeamTcReceiver {
fn id(&self) -> ChannelId {
fn channel_id(&self) -> ChannelId {
self.id
}
@ -625,12 +658,13 @@ pub mod std_mod {
fn recv_tc(&self) -> Result<EcssTcAndToken, TryRecvTmtcError> {
self.receiver.try_recv().map_err(|e| match e {
cb::TryRecvError::Empty => TryRecvTmtcError::Empty,
cb::TryRecvError::Disconnected => {
TryRecvTmtcError::Error(EcssTmtcError::from(GenericRecvError::TxDisconnected))
}
cb::TryRecvError::Disconnected => TryRecvTmtcError::Tmtc(EcssTmtcError::from(
GenericRecvError::TxDisconnected,
)),
})
}
}
}
// TODO: All these types could probably be no_std if we implemented error handling ourselves..
// but thiserror is really nice, so keep it like this for simplicity for now. Maybe thiserror
@ -811,16 +845,16 @@ pub mod std_mod {
}
}
pub struct PusServiceBase<VerificationReporter: VerificationReportingProvider> {
pub tc_receiver: Box<dyn EcssTcReceiver>,
pub tm_sender: Box<dyn EcssTmSender>,
pub struct PusServiceBase<
TcReceiver: EcssTcReceiverCore,
TmSender: EcssTmSenderCore,
VerificationReporter: VerificationReportingProvider,
> {
pub tc_receiver: TcReceiver,
pub tm_sender: TmSender,
pub tm_apid: u16,
/// The verification handler is wrapped in a [RefCell] to allow the interior mutability
/// pattern. This makes writing methods which are not mutable a lot easier.
pub verification_handler: VerificationReporter,
}
impl<VerificationReporter: VerificationReportingProvider> PusServiceBase<VerificationReporter> {
#[cfg(feature = "std")]
pub fn get_current_cds_short_timestamp(
partial_error: &mut Option<PartialPusHandlingError>,
@ -839,8 +873,7 @@ pub mod std_mod {
#[cfg(feature = "std")]
pub fn get_current_timestamp_ignore_error() -> [u8; 7] {
let mut dummy = None;
Self::get_current_cds_short_timestamp(&mut dummy)
}
get_current_cds_short_timestamp(&mut dummy)
}
/// This is a high-level PUS packet handler helper.
@ -853,21 +886,25 @@ pub mod std_mod {
/// by using the [EcssTcInMemConverter] abstraction. This object provides some convenience
/// methods to make the generic parts of TC handling easier.
pub struct PusServiceHelper<
TcReceiver: EcssTcReceiverCore,
TmSender: EcssTmSenderCore,
TcInMemConverter: EcssTcInMemConverter,
VerificationReporter: VerificationReportingProvider,
> {
pub common: PusServiceBase<VerificationReporter>,
pub common: PusServiceBase<TcReceiver, TmSender, VerificationReporter>,
pub tc_in_mem_converter: TcInMemConverter,
}
impl<
TcReceiver: EcssTcReceiverCore,
TmSender: EcssTmSenderCore,
TcInMemConverter: EcssTcInMemConverter,
VerificationReporter: VerificationReportingProvider,
> PusServiceHelper<TcInMemConverter, VerificationReporter>
> PusServiceHelper<TcReceiver, TmSender, TcInMemConverter, VerificationReporter>
{
pub fn new(
tc_receiver: Box<dyn EcssTcReceiver>,
tm_sender: Box<dyn EcssTmSender>,
tc_receiver: TcReceiver,
tm_sender: TmSender,
tm_apid: u16,
verification_handler: VerificationReporter,
tc_in_mem_converter: TcInMemConverter,
@ -886,7 +923,7 @@ pub mod std_mod {
/// This function can be used to poll the internal [EcssTcReceiver] object for the next
/// telecommand packet. It will return `Ok(None)` if there are not packets available.
/// In any other case, it will perform the acceptance of the ECSS TC packet using the
/// internal [VerificationReporterWithSender] object. It will then return the telecommand
/// internal [VerificationReportingProvider] object. It will then return the telecommand
/// and the according accepted token.
pub fn retrieve_and_accept_next_packet(
&mut self,
@ -908,12 +945,40 @@ pub mod std_mod {
}))
}
Err(e) => match e {
TryRecvTmtcError::Error(e) => Err(PusPacketHandlingError::EcssTmtc(e)),
TryRecvTmtcError::Tmtc(e) => Err(PusPacketHandlingError::EcssTmtc(e)),
TryRecvTmtcError::Empty => Ok(None),
},
}
}
}
pub type PusServiceHelperDynWithMpsc<TcInMemConverter, VerificationReporter> = PusServiceHelper<
MpscTcReceiver,
TmAsVecSenderWithMpsc,
TcInMemConverter,
VerificationReporter,
>;
pub type PusServiceHelperDynWithBoundedMpsc<TcInMemConverter, VerificationReporter> =
PusServiceHelper<
MpscTcReceiver,
TmAsVecSenderWithBoundedMpsc,
TcInMemConverter,
VerificationReporter,
>;
pub type PusServiceHelperStaticWithMpsc<TcInMemConverter, VerificationReporter> =
PusServiceHelper<
MpscTcReceiver,
TmInSharedPoolSenderWithMpsc,
TcInMemConverter,
VerificationReporter,
>;
pub type PusServiceHelperStaticWithBoundedMpsc<TcInMemConverter, VerificationReporter> =
PusServiceHelper<
MpscTcReceiver,
TmInSharedPoolSenderWithBoundedMpsc,
TcInMemConverter,
VerificationReporter,
>;
}
pub(crate) fn source_buffer_large_enough(cap: usize, len: usize) -> Result<(), EcssTmtcError> {
@ -935,7 +1000,6 @@ pub mod tests {
use std::sync::mpsc::TryRecvError;
use std::sync::{mpsc, RwLock};
use alloc::boxed::Box;
use alloc::collections::VecDeque;
use alloc::vec::Vec;
use satrs_shared::res_code::ResultU16;
@ -951,6 +1015,9 @@ pub mod tests {
use crate::tmtc::tm_helper::SharedTmPool;
use crate::TargetId;
use super::verification::std_mod::{
VerificationReporterWithSharedPoolMpscBoundedSender, VerificationReporterWithVecMpscSender,
};
use super::verification::tests::{SharedVerificationMap, TestVerificationReporter};
use super::verification::{
TcStateAccepted, VerificationReporterCfg, VerificationReporterWithSender,
@ -958,8 +1025,9 @@ pub mod tests {
};
use super::{
EcssTcAndToken, EcssTcInSharedStoreConverter, EcssTcInVecConverter, GenericRoutingError,
MpscTcReceiver, MpscTmAsVecSender, MpscTmInSharedPoolSender, PusPacketHandlerResult,
PusPacketHandlingError, PusRoutingErrorHandler, PusServiceHelper, TcInMemory,
MpscTcReceiver, PusPacketHandlerResult, PusPacketHandlingError, PusRoutingErrorHandler,
PusServiceHelper, TcInMemory, TmAsVecSenderWithId, TmAsVecSenderWithMpsc,
TmInSharedPoolSenderWithBoundedMpsc, TmInSharedPoolSenderWithId,
};
pub const TEST_APID: u16 = 0x101;
@ -1004,29 +1072,33 @@ pub mod tests {
tm_buf: [u8; 2048],
tc_pool: SharedStaticMemoryPool,
tm_pool: SharedTmPool,
tc_sender: mpsc::Sender<EcssTcAndToken>,
tc_sender: mpsc::SyncSender<EcssTcAndToken>,
tm_receiver: mpsc::Receiver<StoreAddr>,
verification_handler: VerificationReporterWithSender,
verification_handler: VerificationReporterWithSharedPoolMpscBoundedSender,
}
pub type PusServiceHelperStatic = PusServiceHelper<
MpscTcReceiver,
TmInSharedPoolSenderWithBoundedMpsc,
EcssTcInSharedStoreConverter,
VerificationReporterWithSharedPoolMpscBoundedSender,
>;
impl PusServiceHandlerWithSharedStoreCommon {
/// This function generates the structure in addition to the PUS service handler
/// [PusServiceHandler] which might be required for a specific PUS service handler.
///
/// The PUS service handler is instantiated with a [EcssTcInStoreConverter].
pub fn new() -> (
Self,
PusServiceHelper<EcssTcInSharedStoreConverter, VerificationReporterWithSender>,
) {
pub fn new() -> (Self, PusServiceHelperStatic) {
let pool_cfg = StaticPoolConfig::new(alloc::vec![(16, 16), (8, 32), (4, 64)], false);
let tc_pool = StaticMemoryPool::new(pool_cfg.clone());
let tm_pool = StaticMemoryPool::new(pool_cfg);
let shared_tc_pool = SharedStaticMemoryPool::new(RwLock::new(tc_pool));
let shared_tm_pool = SharedTmPool::new(tm_pool);
let (test_srv_tc_tx, test_srv_tc_rx) = mpsc::channel();
let (tm_tx, tm_rx) = mpsc::channel();
let (test_srv_tc_tx, test_srv_tc_rx) = mpsc::sync_channel(10);
let (tm_tx, tm_rx) = mpsc::sync_channel(10);
let verif_sender = MpscTmInSharedPoolSender::new(
let verif_sender = TmInSharedPoolSenderWithBoundedMpsc::new(
0,
"verif_sender",
shared_tm_pool.clone(),
@ -1034,9 +1106,9 @@ pub mod tests {
);
let verif_cfg = VerificationReporterCfg::new(TEST_APID, 1, 2, 8).unwrap();
let verification_handler =
VerificationReporterWithSender::new(&verif_cfg, Box::new(verif_sender));
VerificationReporterWithSharedPoolMpscBoundedSender::new(&verif_cfg, verif_sender);
let test_srv_tm_sender =
MpscTmInSharedPoolSender::new(0, "TEST_SENDER", shared_tm_pool.clone(), tm_tx);
TmInSharedPoolSenderWithId::new(0, "TEST_SENDER", shared_tm_pool.clone(), tm_tx);
let test_srv_tc_receiver = MpscTcReceiver::new(0, "TEST_RECEIVER", test_srv_tc_rx);
let in_store_converter =
EcssTcInSharedStoreConverter::new(shared_tc_pool.clone(), 2048);
@ -1051,8 +1123,8 @@ pub mod tests {
verification_handler: verification_handler.clone(),
},
PusServiceHelper::new(
Box::new(test_srv_tc_receiver),
Box::new(test_srv_tm_sender),
test_srv_tc_receiver,
test_srv_tm_sender,
TEST_APID,
verification_handler,
in_store_converter,
@ -1116,21 +1188,24 @@ pub mod tests {
tm_receiver: mpsc::Receiver<alloc::vec::Vec<u8>>,
pub verification_handler: VerificationReporter,
}
pub type PusServiceHelperDynamic = PusServiceHelper<
MpscTcReceiver,
TmAsVecSenderWithMpsc,
EcssTcInVecConverter,
VerificationReporterWithVecMpscSender,
>;
impl PusServiceHandlerWithVecCommon<VerificationReporterWithSender> {
pub fn new_with_standard_verif_reporter() -> (
Self,
PusServiceHelper<EcssTcInVecConverter, VerificationReporterWithSender>,
) {
impl PusServiceHandlerWithVecCommon<VerificationReporterWithVecMpscSender> {
pub fn new_with_standard_verif_reporter() -> (Self, PusServiceHelperDynamic) {
let (test_srv_tc_tx, test_srv_tc_rx) = mpsc::channel();
let (tm_tx, tm_rx) = mpsc::channel();
let verif_sender = MpscTmAsVecSender::new(0, "verififcatio-sender", tm_tx.clone());
let verif_sender = TmAsVecSenderWithId::new(0, "verififcatio-sender", tm_tx.clone());
let verif_cfg = VerificationReporterCfg::new(TEST_APID, 1, 2, 8).unwrap();
let verification_handler =
VerificationReporterWithSender::new(&verif_cfg, Box::new(verif_sender));
VerificationReporterWithSender::new(&verif_cfg, verif_sender);
let test_srv_tm_sender = MpscTmAsVecSender::new(0, "test-sender", tm_tx);
let test_srv_tm_sender = TmAsVecSenderWithId::new(0, "test-sender", tm_tx);
let test_srv_tc_receiver = MpscTcReceiver::new(0, "test-receiver", test_srv_tc_rx);
let in_store_converter = EcssTcInVecConverter::default();
(
@ -1141,8 +1216,8 @@ pub mod tests {
verification_handler: verification_handler.clone(),
},
PusServiceHelper::new(
Box::new(test_srv_tc_receiver),
Box::new(test_srv_tm_sender),
test_srv_tc_receiver,
test_srv_tm_sender,
TEST_APID,
verification_handler,
in_store_converter,
@ -1154,12 +1229,17 @@ pub mod tests {
impl PusServiceHandlerWithVecCommon<TestVerificationReporter> {
pub fn new_with_test_verif_sender() -> (
Self,
PusServiceHelper<EcssTcInVecConverter, TestVerificationReporter>,
PusServiceHelper<
MpscTcReceiver,
TmAsVecSenderWithMpsc,
EcssTcInVecConverter,
TestVerificationReporter,
>,
) {
let (test_srv_tc_tx, test_srv_tc_rx) = mpsc::channel();
let (tm_tx, tm_rx) = mpsc::channel();
let test_srv_tm_sender = MpscTmAsVecSender::new(0, "test-sender", tm_tx);
let test_srv_tm_sender = TmAsVecSenderWithId::new(0, "test-sender", tm_tx);
let test_srv_tc_receiver = MpscTcReceiver::new(0, "test-receiver", test_srv_tc_rx);
let in_store_converter = EcssTcInVecConverter::default();
let shared_verif_map = SharedVerificationMap::default();
@ -1172,8 +1252,8 @@ pub mod tests {
verification_handler: verification_handler.clone(),
},
PusServiceHelper::new(
Box::new(test_srv_tc_receiver),
Box::new(test_srv_tm_sender),
test_srv_tc_receiver,
test_srv_tm_sender,
TEST_APID,
verification_handler,
in_store_converter,

43
satrs/src/pus/scheduler.rs
View File

@ -340,18 +340,18 @@ pub fn generate_insert_telecommand_app_data(
#[cfg(feature = "alloc")]
pub mod alloc_mod {
use alloc::{
collections::{
btree_map::{Entry, Range},
BTreeMap,
},
vec::Vec,
};
use spacepackets::time::cds::{self, DaysLen24Bits};
use crate::pool::StoreAddr;
use super::*;
use crate::pool::{PoolProvider, StoreAddr, StoreError};
use alloc::collections::btree_map::{Entry, Range};
use alloc::collections::BTreeMap;
use alloc::vec;
use alloc::vec::Vec;
use core::time::Duration;
use spacepackets::ecss::scheduling::TimeWindowType;
use spacepackets::ecss::tc::{PusTc, PusTcReader};
use spacepackets::ecss::PusPacket;
use spacepackets::time::cds::DaysLen24Bits;
use spacepackets::time::{cds, CcsdsTimeProvider, UnixTimestamp};
#[cfg(feature = "std")]
use std::time::SystemTimeError;
@ -461,7 +461,7 @@ pub mod alloc_mod {
}
match self.tc_map.entry(time_stamp) {
Entry::Vacant(e) => {
e.insert(vec![info]);
e.insert(alloc::vec![info]);
}
Entry::Occupied(mut v) => {
v.get_mut().push(info);
@ -498,7 +498,7 @@ pub mod alloc_mod {
/// short timestamp with 16-bit length of days field.
pub fn insert_wrapped_tc_cds_short(
&mut self,
pus_tc: &PusTc,
pus_tc: &(impl IsPusTelecommand + PusPacket + GenericPusTcSecondaryHeader),
pool: &mut (impl PoolProvider + ?Sized),
) -> Result<TcInfo, ScheduleError> {
self.insert_wrapped_tc::<cds::TimeProvider>(pus_tc, pool)
@ -508,7 +508,7 @@ pub mod alloc_mod {
/// long timestamp with a 24-bit length of days field.
pub fn insert_wrapped_tc_cds_long(
&mut self,
pus_tc: &PusTc,
pus_tc: &(impl IsPusTelecommand + PusPacket + GenericPusTcSecondaryHeader),
pool: &mut (impl PoolProvider + ?Sized),
) -> Result<TcInfo, ScheduleError> {
self.insert_wrapped_tc::<cds::TimeProvider<DaysLen24Bits>>(pus_tc, pool)
@ -530,7 +530,7 @@ pub mod alloc_mod {
let range = self.retrieve_by_time_filter(time_window);
let mut del_packets = 0;
let mut res_if_fails = None;
let mut keys_to_delete = Vec::new();
let mut keys_to_delete = alloc::vec::Vec::new();
for time_bucket in range {
for tc in time_bucket.1 {
match pool.delete(tc.addr) {
@ -561,7 +561,10 @@ pub mod alloc_mod {
}
/// Retrieve a range over all scheduled commands.
pub fn retrieve_all(&mut self) -> Range<'_, UnixTimestamp, Vec<TcInfo>> {
pub fn retrieve_all(
&mut self,
) -> alloc::collections::btree_map::Range<'_, UnixTimestamp, alloc::vec::Vec<TcInfo>>
{
self.tc_map.range(..)
}
@ -572,7 +575,7 @@ pub mod alloc_mod {
pub fn retrieve_by_time_filter<TimeProvider: CcsdsTimeProvider>(
&mut self,
time_window: TimeWindow<TimeProvider>,
) -> Range<'_, UnixTimestamp, Vec<TcInfo>> {
) -> Range<'_, UnixTimestamp, alloc::vec::Vec<TcInfo>> {
match time_window.time_window_type() {
TimeWindowType::SelectAll => self.tc_map.range(..),
TimeWindowType::TimeTagToTimeTag => {
@ -761,9 +764,9 @@ pub mod alloc_mod {
mut releaser: R,
tc_store: &(impl PoolProvider + ?Sized),
tc_buf: &mut [u8],
) -> Result<Vec<TcInfo>, (Vec<TcInfo>, StoreError)> {
) -> Result<alloc::vec::Vec<TcInfo>, (alloc::vec::Vec<TcInfo>, StoreError)> {
let tcs_to_release = self.telecommands_to_release();
let mut released_tcs = Vec::new();
let mut released_tcs = alloc::vec::Vec::new();
for tc in tcs_to_release {
for info in tc.1 {
tc_store
@ -835,7 +838,7 @@ pub mod alloc_mod {
}
match self.tc_map.entry(time_stamp) {
Entry::Vacant(e) => {
e.insert(vec![info]);
e.insert(alloc::vec![info]);
}
Entry::Occupied(mut v) => {
v.get_mut().push(info);

83
satrs/src/pus/scheduler_srv.rs
View File

@ -1,6 +1,15 @@
use super::scheduler::PusSchedulerProvider;
use super::verification::VerificationReportingProvider;
use super::{EcssTcInMemConverter, PusServiceBase, PusServiceHelper};
use super::verification::{
VerificationReporterWithSharedPoolMpscBoundedSender,
VerificationReporterWithSharedPoolMpscSender, VerificationReporterWithVecMpscBoundedSender,
VerificationReporterWithVecMpscSender, VerificationReportingProvider,
};
use super::{
get_current_cds_short_timestamp, EcssTcInMemConverter, EcssTcInSharedStoreConverter,
EcssTcInVecConverter, EcssTcReceiverCore, EcssTmSenderCore, MpscTcReceiver, PusServiceHelper,
TmAsVecSenderWithBoundedMpsc, TmAsVecSenderWithMpsc, TmInSharedPoolSenderWithBoundedMpsc,
TmInSharedPoolSenderWithMpsc,
};
use crate::pool::PoolProvider;
use crate::pus::{PusPacketHandlerResult, PusPacketHandlingError};
use alloc::string::ToString;
@ -16,22 +25,39 @@ use spacepackets::time::cds::TimeProvider;
/// [Self::scheduler] and [Self::scheduler_mut] function and then use the scheduler API to release
/// telecommands when applicable.
pub struct PusService11SchedHandler<
TcReceiver: EcssTcReceiverCore,
TmSender: EcssTmSenderCore,
TcInMemConverter: EcssTcInMemConverter,
VerificationReporter: VerificationReportingProvider,
PusScheduler: PusSchedulerProvider,
> {
pub service_helper: PusServiceHelper<TcInMemConverter, VerificationReporter>,
pub service_helper:
PusServiceHelper<TcReceiver, TmSender, TcInMemConverter, VerificationReporter>,
scheduler: PusScheduler,
}
impl<
TcReceiver: EcssTcReceiverCore,
TmSender: EcssTmSenderCore,
TcInMemConverter: EcssTcInMemConverter,
VerificationReporter: VerificationReportingProvider,
Scheduler: PusSchedulerProvider,
> PusService11SchedHandler<TcInMemConverter, VerificationReporter, Scheduler>
>
PusService11SchedHandler<
TcReceiver,
TmSender,
TcInMemConverter,
VerificationReporter,
Scheduler,
>
{
pub fn new(
service_helper: PusServiceHelper<TcInMemConverter, VerificationReporter>,
service_helper: PusServiceHelper<
TcReceiver,
TmSender,
TcInMemConverter,
VerificationReporter,
>,
scheduler: Scheduler,
) -> Self {
Self {
@ -70,9 +96,7 @@ impl<
));
}
let mut partial_error = None;
let time_stamp = PusServiceBase::<VerificationReporter>::get_current_cds_short_timestamp(
&mut partial_error,
);
let time_stamp = get_current_cds_short_timestamp(&mut partial_error);
match standard_subservice.unwrap() {
scheduling::Subservice::TcEnableScheduling => {
let start_token = self
@ -169,18 +193,55 @@ impl<
Ok(PusPacketHandlerResult::RequestHandled)
}
}
/// Helper type definition for a PUS 11 handler with a dynamic TMTC memory backend and regular
/// mpsc queues.
pub type PusService11SchedHandlerDynWithMpsc<PusScheduler> = PusService11SchedHandler<
MpscTcReceiver,
TmAsVecSenderWithMpsc,
EcssTcInVecConverter,
VerificationReporterWithVecMpscSender,
PusScheduler,
>;
/// Helper type definition for a PUS 11 handler with a dynamic TMTC memory backend and bounded MPSC
/// queues.
pub type PusService11SchedHandlerDynWithBoundedMpsc<PusScheduler> = PusService11SchedHandler<
MpscTcReceiver,
TmAsVecSenderWithBoundedMpsc,
EcssTcInVecConverter,
VerificationReporterWithVecMpscBoundedSender,
PusScheduler,
>;
/// Helper type definition for a PUS 11 handler with a shared store TMTC memory backend and regular
/// mpsc queues.
pub type PusService11SchedHandlerStaticWithMpsc<PusScheduler> = PusService11SchedHandler<
MpscTcReceiver,
TmInSharedPoolSenderWithMpsc,
EcssTcInSharedStoreConverter,
VerificationReporterWithSharedPoolMpscSender,
PusScheduler,
>;
/// Helper type definition for a PUS 11 handler with a shared store TMTC memory backend and bounded
/// mpsc queues.
pub type PusService11SchedHandlerStaticWithBoundedMpsc<PusScheduler> = PusService11SchedHandler<
MpscTcReceiver,
TmInSharedPoolSenderWithBoundedMpsc,
EcssTcInSharedStoreConverter,
VerificationReporterWithSharedPoolMpscBoundedSender,
PusScheduler,
>;
#[cfg(test)]
mod tests {
use crate::pool::{StaticMemoryPool, StaticPoolConfig};
use crate::pus::tests::TEST_APID;
use crate::pus::verification::VerificationReporterWithSender;
use crate::pus::verification::VerificationReporterWithSharedPoolMpscBoundedSender;
use crate::pus::{
scheduler::{self, PusSchedulerProvider, TcInfo},
tests::{PusServiceHandlerWithSharedStoreCommon, PusTestHarness},
verification::{RequestId, TcStateAccepted, VerificationToken},
EcssTcInSharedStoreConverter,
};
use crate::pus::{MpscTcReceiver, TmInSharedPoolSenderWithBoundedMpsc};
use alloc::collections::VecDeque;
use delegate::delegate;
use spacepackets::ecss::scheduling::Subservice;
@ -198,8 +259,10 @@ mod tests {
struct Pus11HandlerWithStoreTester {
common: PusServiceHandlerWithSharedStoreCommon,
handler: PusService11SchedHandler<
MpscTcReceiver,
TmInSharedPoolSenderWithBoundedMpsc,
EcssTcInSharedStoreConverter,
VerificationReporterWithSender,
VerificationReporterWithSharedPoolMpscBoundedSender,
TestScheduler,
>,
sched_tc_pool: StaticMemoryPool,

95
satrs/src/pus/test.rs
View File

@ -5,24 +5,45 @@ use spacepackets::ecss::tm::{PusTmCreator, PusTmSecondaryHeader};
use spacepackets::ecss::PusPacket;
use spacepackets::SpHeader;
use super::verification::VerificationReportingProvider;
use super::{EcssTcInMemConverter, PusServiceBase, PusServiceHelper};
use super::verification::{
VerificationReporterWithSharedPoolMpscBoundedSender,
VerificationReporterWithSharedPoolMpscSender, VerificationReporterWithVecMpscBoundedSender,
VerificationReporterWithVecMpscSender, VerificationReportingProvider,
};
use super::{
get_current_cds_short_timestamp, EcssTcInMemConverter, EcssTcInSharedStoreConverter,
EcssTcInVecConverter, EcssTcReceiverCore, EcssTmSenderCore, MpscTcReceiver, PusServiceHelper,
TmAsVecSenderWithBoundedMpsc, TmAsVecSenderWithMpsc, TmInSharedPoolSenderWithBoundedMpsc,
TmInSharedPoolSenderWithMpsc,
};
/// This is a helper class for [std] environments to handle generic PUS 17 (test service) packets.
/// This handler only processes ping requests and generates a ping reply for them accordingly.
pub struct PusService17TestHandler<
TcReceiver: EcssTcReceiverCore,
TmSender: EcssTmSenderCore,
TcInMemConverter: EcssTcInMemConverter,
VerificationReporter: VerificationReportingProvider,
> {
pub service_helper: PusServiceHelper<TcInMemConverter, VerificationReporter>,
pub service_helper:
PusServiceHelper<TcReceiver, TmSender, TcInMemConverter, VerificationReporter>,
}
impl<
TcReceiver: EcssTcReceiverCore,
TmSender: EcssTmSenderCore,
TcInMemConverter: EcssTcInMemConverter,
VerificationReporter: VerificationReportingProvider,
> PusService17TestHandler<TcInMemConverter, VerificationReporter>
> PusService17TestHandler<TcReceiver, TmSender, TcInMemConverter, VerificationReporter>
{
pub fn new(service_helper: PusServiceHelper<TcInMemConverter, VerificationReporter>) -> Self {
pub fn new(
service_helper: PusServiceHelper<
TcReceiver,
TmSender,
TcInMemConverter,
VerificationReporter,
>,
) -> Self {
Self { service_helper }
}
@ -41,10 +62,7 @@ impl<
}
if tc.subservice() == 1 {
let mut partial_error = None;
let time_stamp =
PusServiceBase::<VerificationReporter>::get_current_cds_short_timestamp(
&mut partial_error,
);
let time_stamp = get_current_cds_short_timestamp(&mut partial_error);
let result = self
.service_helper
.common
@ -98,17 +116,53 @@ impl<
}
}
/// Helper type definition for a PUS 17 handler with a dynamic TMTC memory backend and regular
/// mpsc queues.
pub type PusService17TestHandlerDynWithMpsc = PusService17TestHandler<
MpscTcReceiver,
TmAsVecSenderWithMpsc,
EcssTcInVecConverter,
VerificationReporterWithVecMpscSender,
>;
/// Helper type definition for a PUS 17 handler with a dynamic TMTC memory backend and bounded MPSC
/// queues.
pub type PusService17TestHandlerDynWithBoundedMpsc = PusService17TestHandler<
MpscTcReceiver,
TmAsVecSenderWithBoundedMpsc,
EcssTcInVecConverter,
VerificationReporterWithVecMpscBoundedSender,
>;
/// Helper type definition for a PUS 17 handler with a shared store TMTC memory backend and regular
/// mpsc queues.
pub type PusService17TestHandlerStaticWithMpsc = PusService17TestHandler<
MpscTcReceiver,
TmInSharedPoolSenderWithMpsc,
EcssTcInSharedStoreConverter,
VerificationReporterWithSharedPoolMpscSender,
>;
/// Helper type definition for a PUS 17 handler with a shared store TMTC memory backend and bounded
/// mpsc queues.
pub type PusService17TestHandlerStaticWithBoundedMpsc = PusService17TestHandler<
MpscTcReceiver,
TmInSharedPoolSenderWithBoundedMpsc,
EcssTcInSharedStoreConverter,
VerificationReporterWithSharedPoolMpscBoundedSender,
>;
#[cfg(test)]
mod tests {
use crate::pus::tests::{
PusServiceHandlerWithSharedStoreCommon, PusServiceHandlerWithVecCommon, PusTestHarness,
SimplePusPacketHandler, TEST_APID,
};
use crate::pus::verification::{RequestId, VerificationReporterWithSender};
use crate::pus::verification::std_mod::{
VerificationReporterWithSharedPoolMpscBoundedSender, VerificationReporterWithVecMpscSender,
};
use crate::pus::verification::RequestId;
use crate::pus::verification::{TcStateAccepted, VerificationToken};
use crate::pus::{
EcssTcInSharedStoreConverter, EcssTcInVecConverter, PusPacketHandlerResult,
PusPacketHandlingError,
EcssTcInSharedStoreConverter, EcssTcInVecConverter, MpscTcReceiver, PusPacketHandlerResult,
PusPacketHandlingError, TmAsVecSenderWithMpsc, TmInSharedPoolSenderWithBoundedMpsc,
};
use delegate::delegate;
use spacepackets::ecss::tc::{PusTcCreator, PusTcSecondaryHeader};
@ -120,8 +174,12 @@ mod tests {
struct Pus17HandlerWithStoreTester {
common: PusServiceHandlerWithSharedStoreCommon,
handler:
PusService17TestHandler<EcssTcInSharedStoreConverter, VerificationReporterWithSender>,
handler: PusService17TestHandler<
MpscTcReceiver,
TmInSharedPoolSenderWithBoundedMpsc,
EcssTcInSharedStoreConverter,
VerificationReporterWithSharedPoolMpscBoundedSender,
>,
}
impl Pus17HandlerWithStoreTester {
@ -158,8 +216,13 @@ mod tests {
}
struct Pus17HandlerWithVecTester {
common: PusServiceHandlerWithVecCommon<VerificationReporterWithSender>,
handler: PusService17TestHandler<EcssTcInVecConverter, VerificationReporterWithSender>,
common: PusServiceHandlerWithVecCommon<VerificationReporterWithVecMpscSender>,
handler: PusService17TestHandler<
MpscTcReceiver,
TmAsVecSenderWithMpsc,
EcssTcInVecConverter,
VerificationReporterWithVecMpscSender,
>,
}
impl Pus17HandlerWithVecTester {

144
satrs/src/pus/verification.rs
View File

@ -20,7 +20,7 @@
//! VerificationReportingProvider, VerificationReporterCfg, VerificationReporterWithSender
//! };
//! use satrs::seq_count::SeqCountProviderSimple;
//! use satrs::pus::MpscTmInSharedPoolSender;
//! use satrs::pus::TmInSharedPoolSenderWithMpsc;
//! use satrs::tmtc::tm_helper::SharedTmPool;
//! use spacepackets::ecss::PusPacket;
//! use spacepackets::SpHeader;
@ -35,9 +35,9 @@
//! let shared_tm_store = SharedTmPool::new(tm_pool);
//! let tm_store = shared_tm_store.clone_backing_pool();
//! let (verif_tx, verif_rx) = mpsc::channel();
//! let sender = MpscTmInSharedPoolSender::new(0, "Test Sender", shared_tm_store, verif_tx);
//! let sender = TmInSharedPoolSenderWithMpsc::new(0, "Test Sender", shared_tm_store, verif_tx);
//! let cfg = VerificationReporterCfg::new(TEST_APID, 1, 2, 8).unwrap();
//! let mut reporter = VerificationReporterWithSender::new(&cfg , Box::new(sender));
//! let mut reporter = VerificationReporterWithSender::new(&cfg , sender);
//!
//! let mut sph = SpHeader::tc_unseg(TEST_APID, 0, 0).unwrap();
//! let tc_header = PusTcSecondaryHeader::new_simple(17, 1);
@ -95,10 +95,11 @@ pub use crate::seq_count::SeqCountProviderSimple;
pub use spacepackets::ecss::verification::*;
#[cfg(feature = "alloc")]
pub use alloc_mod::{
VerificationReporter, VerificationReporterCfg, VerificationReporterWithSender,
};
#[cfg_attr(feature = "doc_cfg", doc(cfg(feature = "alloc")))]
pub use alloc_mod::*;
#[cfg(feature = "std")]
#[cfg_attr(feature = "doc_cfg", doc(cfg(feature = "std")))]
pub use std_mod::*;
/// This is a request identifier as specified in 5.4.11.2 c. of the PUS standard.
@ -949,15 +950,13 @@ impl VerificationReporterCore {
}
#[cfg(feature = "alloc")]
mod alloc_mod {
pub mod alloc_mod {
use super::*;
use crate::pus::alloc_mod::EcssTmSender;
use crate::seq_count::SequenceCountProvider;
use alloc::boxed::Box;
use alloc::vec;
use alloc::vec::Vec;
use crate::{
pus::{TmAsVecSenderWithId, TmInSharedPoolSenderWithId},
seq_count::SequenceCountProvider,
};
use core::cell::RefCell;
use spacepackets::ecss::tc::IsPusTelecommand;
#[derive(Clone)]
pub struct VerificationReporterCfg {
@ -992,9 +991,9 @@ mod alloc_mod {
/// TM funnel. This helper will always set those fields to 0.
#[derive(Clone)]
pub struct VerificationReporter {
source_data_buf: RefCell<Vec<u8>>,
pub seq_count_provider: Option<Box<dyn SequenceCountProvider<u16> + Send>>,
pub msg_count_provider: Option<Box<dyn SequenceCountProvider<u16> + Send>>,
source_data_buf: RefCell<alloc::vec::Vec<u8>>,
pub seq_count_provider: Option<alloc::boxed::Box<dyn SequenceCountProvider<u16> + Send>>,
pub msg_count_provider: Option<alloc::boxed::Box<dyn SequenceCountProvider<u16> + Send>>,
pub reporter: VerificationReporterCore,
}
@ -1002,7 +1001,7 @@ mod alloc_mod {
pub fn new(cfg: &VerificationReporterCfg) -> Self {
let reporter = VerificationReporterCore::new(cfg.apid).unwrap();
Self {
source_data_buf: RefCell::new(vec![
source_data_buf: RefCell::new(alloc::vec![
0;
RequestId::SIZE_AS_BYTES
+ cfg.step_field_width
@ -1269,21 +1268,18 @@ mod alloc_mod {
/// Helper object which caches the sender passed as a trait object. Provides the same
/// API as [VerificationReporter] but without the explicit sender arguments.
#[derive(Clone)]
pub struct VerificationReporterWithSender {
pub struct VerificationReporterWithSender<Sender: EcssTmSenderCore + Clone> {
pub reporter: VerificationReporter,
pub sender: Box<dyn EcssTmSender>,
pub sender: Sender,
}
impl VerificationReporterWithSender {
pub fn new(cfg: &VerificationReporterCfg, sender: Box<dyn EcssTmSender>) -> Self {
impl<Sender: EcssTmSenderCore + Clone> VerificationReporterWithSender<Sender> {
pub fn new(cfg: &VerificationReporterCfg, sender: Sender) -> Self {
let reporter = VerificationReporter::new(cfg);
Self::new_from_reporter(reporter, sender)
}
pub fn new_from_reporter(
reporter: VerificationReporter,
sender: Box<dyn EcssTmSender>,
) -> Self {
pub fn new_from_reporter(reporter: VerificationReporter, sender: Sender) -> Self {
Self { reporter, sender }
}
@ -1297,7 +1293,9 @@ mod alloc_mod {
}
}
impl VerificationReportingProvider for VerificationReporterWithSender {
impl<Sender: EcssTmSenderCore + Clone> VerificationReportingProvider
for VerificationReporterWithSender<Sender>
{
delegate! {
to self.reporter {
fn add_tc(
@ -1315,7 +1313,7 @@ mod alloc_mod {
) -> Result<VerificationToken<TcStateAccepted>, VerificationOrSendErrorWithToken<TcStateNone>>
{
self.reporter
.acceptance_success(token, self.sender.as_ref(), time_stamp)
.acceptance_success(token, &self.sender, time_stamp)
}
fn acceptance_failure(
@ -1324,7 +1322,7 @@ mod alloc_mod {
params: FailParams,
) -> Result<(), VerificationOrSendErrorWithToken<TcStateNone>> {
self.reporter
.acceptance_failure(token, self.sender.as_ref(), params)
.acceptance_failure(token, &self.sender, params)
}
fn start_success(
@ -1335,8 +1333,7 @@ mod alloc_mod {
VerificationToken<TcStateStarted>,
VerificationOrSendErrorWithToken<TcStateAccepted>,
> {
self.reporter
.start_success(token, self.sender.as_ref(), time_stamp)
self.reporter.start_success(token, &self.sender, time_stamp)
}
fn start_failure(
@ -1344,8 +1341,7 @@ mod alloc_mod {
token: VerificationToken<TcStateAccepted>,
params: FailParams,
) -> Result<(), VerificationOrSendErrorWithToken<TcStateAccepted>> {
self.reporter
.start_failure(token, self.sender.as_ref(), params)
self.reporter.start_failure(token, &self.sender, params)
}
fn step_success(
@ -1355,7 +1351,7 @@ mod alloc_mod {
step: impl EcssEnumeration,
) -> Result<(), EcssTmtcError> {
self.reporter
.step_success(token, self.sender.as_ref(), time_stamp, step)
.step_success(token, &self.sender, time_stamp, step)
}
fn step_failure(
@ -1363,8 +1359,7 @@ mod alloc_mod {
token: VerificationToken<TcStateStarted>,
params: FailParamsWithStep,
) -> Result<(), VerificationOrSendErrorWithToken<TcStateStarted>> {
self.reporter
.step_failure(token, self.sender.as_ref(), params)
self.reporter.step_failure(token, &self.sender, params)
}
fn completion_success<TcState: WasAtLeastAccepted + Copy>(
@ -1373,7 +1368,7 @@ mod alloc_mod {
time_stamp: &[u8],
) -> Result<(), VerificationOrSendErrorWithToken<TcState>> {
self.reporter
.completion_success(token, self.sender.as_ref(), time_stamp)
.completion_success(token, &self.sender, time_stamp)
}
fn completion_failure<TcState: WasAtLeastAccepted + Copy>(
@ -1382,18 +1377,34 @@ mod alloc_mod {
params: FailParams,
) -> Result<(), VerificationOrSendErrorWithToken<TcState>> {
self.reporter
.completion_failure(token, self.sender.as_ref(), params)
.completion_failure(token, &self.sender, params)
}
}
pub type VerificationReporterWithSharedPoolSender<Sender> =
VerificationReporterWithSender<TmInSharedPoolSenderWithId<Sender>>;
pub type VerificationReporterWithVecSender<Sender> =
VerificationReporterWithSender<TmAsVecSenderWithId<Sender>>;
}
#[cfg(feature = "std")]
mod std_mod {
use crate::pus::verification::VerificationReporterWithSender;
use std::sync::{Arc, Mutex};
pub mod std_mod {
use std::sync::mpsc;
pub type StdVerifReporterWithSender = VerificationReporterWithSender;
pub type SharedStdVerifReporterWithSender = Arc<Mutex<StdVerifReporterWithSender>>;
use crate::pool::StoreAddr;
use super::alloc_mod::{
VerificationReporterWithSharedPoolSender, VerificationReporterWithVecSender,
};
pub type VerificationReporterWithSharedPoolMpscSender =
VerificationReporterWithSharedPoolSender<mpsc::Sender<StoreAddr>>;
pub type VerificationReporterWithSharedPoolMpscBoundedSender =
VerificationReporterWithSharedPoolSender<mpsc::SyncSender<StoreAddr>>;
pub type VerificationReporterWithVecMpscSender =
VerificationReporterWithVecSender<mpsc::Sender<alloc::vec::Vec<u8>>>;
pub type VerificationReporterWithVecMpscBoundedSender =
VerificationReporterWithVecSender<mpsc::SyncSender<alloc::vec::Vec<u8>>>;
}
#[cfg(test)]
@ -1405,10 +1416,11 @@ pub mod tests {
VerificationReporter, VerificationReporterCfg, VerificationReporterWithSender,
VerificationToken,
};
use crate::pus::{EcssChannel, MpscTmInSharedPoolSender, PusTmWrapper};
use crate::pus::{
EcssChannel, PusTmWrapper, TmInSharedPoolSenderWithId, TmInSharedPoolSenderWithMpsc,
};
use crate::tmtc::tm_helper::SharedTmPool;
use crate::ChannelId;
use alloc::boxed::Box;
use alloc::format;
use alloc::sync::Arc;
use hashbrown::HashMap;
@ -1637,7 +1649,7 @@ pub mod tests {
}
impl EcssChannel for TestSender {
fn id(&self) -> ChannelId {
fn channel_id(&self) -> ChannelId {
0
}
fn name(&self) -> &'static str {
@ -1688,13 +1700,13 @@ pub mod tests {
&mut self.vr
}
}
struct TestBaseWithHelper<'a> {
helper: VerificationReporterWithSender,
struct TestBaseWithHelper<'a, Sender: EcssTmSenderCore + Clone + 'static> {
helper: VerificationReporterWithSender<Sender>,
#[allow(dead_code)]
tc: PusTcCreator<'a>,
}
impl<'a> TestBaseWithHelper<'a> {
impl<'a, Sender: EcssTmSenderCore + Clone + 'static> TestBaseWithHelper<'a, Sender> {
fn rep(&mut self) -> &mut VerificationReporter {
&mut self.helper.reporter
}
@ -1725,12 +1737,15 @@ pub mod tests {
(TestBase { vr: reporter, tc }, init_tok)
}
fn base_with_helper_init() -> (TestBaseWithHelper<'static>, VerificationToken<TcStateNone>) {
fn base_with_helper_init() -> (
TestBaseWithHelper<'static, TestSender>,
VerificationToken<TcStateNone>,
) {
let mut reporter = base_reporter();
let (tc, _) = base_tc_init(None);
let init_tok = reporter.add_tc(&tc);
let sender = TestSender::default();
let helper = VerificationReporterWithSender::new_from_reporter(reporter, Box::new(sender));
let helper = VerificationReporterWithSender::new_from_reporter(reporter, sender);
(TestBaseWithHelper { helper, tc }, init_tok)
}
@ -1758,7 +1773,7 @@ pub mod tests {
let shared_tm_store = SharedTmPool::new(pool);
let (tx, _) = mpsc::channel();
let mpsc_verif_sender =
MpscTmInSharedPoolSender::new(0, "verif_sender", shared_tm_store, tx);
TmInSharedPoolSenderWithMpsc::new(0, "verif_sender", shared_tm_store, tx);
is_send(&mpsc_verif_sender);
}
@ -1785,8 +1800,7 @@ pub mod tests {
b.helper
.acceptance_success(tok, &EMPTY_STAMP)
.expect("Sending acceptance success failed");
let sender: &mut TestSender = b.helper.sender.downcast_mut().unwrap();
acceptance_check(sender, &tok.req_id);
acceptance_check(&mut b.helper.sender, &tok.req_id);
}
fn acceptance_fail_check(sender: &mut TestSender, req_id: RequestId, stamp_buf: [u8; 7]) {
@ -1830,8 +1844,7 @@ pub mod tests {
b.helper
.acceptance_failure(tok, fail_params)
.expect("Sending acceptance success failed");
let sender: &mut TestSender = b.helper.sender.downcast_mut().unwrap();
acceptance_fail_check(sender, tok.req_id, stamp_buf);
acceptance_fail_check(&mut b.helper.sender, tok.req_id, stamp_buf);
}
#[test]
@ -1961,8 +1974,7 @@ pub mod tests {
b.helper
.start_failure(accepted_token, fail_params)
.expect("Start failure failure");
let sender: &mut TestSender = b.helper.sender.downcast_mut().unwrap();
start_fail_check(sender, tok.req_id, fail_data_raw);
start_fail_check(&mut b.helper.sender, tok.req_id, fail_data_raw);
}
fn step_success_check(sender: &mut TestSender, req_id: RequestId) {
@ -2059,9 +2071,8 @@ pub mod tests {
b.helper
.step_success(&started_token, &EMPTY_STAMP, EcssEnumU8::new(1))
.expect("Sending step 1 success failed");
let sender: &mut TestSender = b.helper.sender.downcast_mut().unwrap();
assert_eq!(sender.service_queue.borrow().len(), 4);
step_success_check(sender, tok.req_id);
assert_eq!(b.helper.sender.service_queue.borrow().len(), 4);
step_success_check(&mut b.helper.sender, tok.req_id);
}
fn check_step_failure(sender: &mut TestSender, req_id: RequestId, fail_data_raw: [u8; 4]) {
@ -2191,8 +2202,7 @@ pub mod tests {
b.helper
.step_failure(started_token, fail_params)
.expect("Step failure failed");
let sender: &mut TestSender = b.helper.sender.downcast_mut().unwrap();
check_step_failure(sender, req_id, fail_data_raw);
check_step_failure(&mut b.helper.sender, req_id, fail_data_raw);
}
fn completion_fail_check(sender: &mut TestSender, req_id: RequestId) {
@ -2278,8 +2288,7 @@ pub mod tests {
b.helper
.completion_failure(started_token, fail_params)
.expect("Completion failure");
let sender: &mut TestSender = b.helper.sender.downcast_mut().unwrap();
completion_fail_check(sender, req_id);
completion_fail_check(&mut b.helper.sender, req_id);
}
fn completion_success_check(sender: &mut TestSender, req_id: RequestId) {
@ -2355,8 +2364,7 @@ pub mod tests {
b.helper
.completion_success(started_token, &EMPTY_STAMP)
.expect("Sending completion success failed");
let sender: &mut TestSender = b.helper.sender.downcast_mut().unwrap();
completion_success_check(sender, tok.req_id);
completion_success_check(&mut b.helper.sender, tok.req_id);
}
#[test]
@ -2368,9 +2376,9 @@ pub mod tests {
let shared_tm_pool = shared_tm_store.clone_backing_pool();
let (verif_tx, verif_rx) = mpsc::channel();
let sender =
MpscTmInSharedPoolSender::new(0, "Verification Sender", shared_tm_store, verif_tx);
TmInSharedPoolSenderWithId::new(0, "Verification Sender", shared_tm_store, verif_tx);
let cfg = VerificationReporterCfg::new(TEST_APID, 1, 2, 8).unwrap();
let mut reporter = VerificationReporterWithSender::new(&cfg, Box::new(sender));
let mut reporter = VerificationReporterWithSender::new(&cfg, sender);
let mut sph = SpHeader::tc_unseg(TEST_APID, 0, 0).unwrap();
let tc_header = PusTcSecondaryHeader::new_simple(17, 1);

36
satrs/src/queue.rs
View File

@ -1,6 +1,8 @@
use core::fmt::{Display, Formatter};
#[cfg(feature = "std")]
use std::error::Error;
#[cfg(feature = "std")]
use std::sync::mpsc;
/// Generic error type for sending something via a message queue.
#[derive(Debug, Copy, Clone)]
@ -47,3 +49,37 @@ impl Display for GenericRecvError {
#[cfg(feature = "std")]
impl Error for GenericRecvError {}
#[cfg(feature = "std")]
impl<T> From<mpsc::SendError<T>> for GenericSendError {
fn from(_: mpsc::SendError<T>) -> Self {
GenericSendError::RxDisconnected
}
}
#[cfg(feature = "std")]
impl<T> From<mpsc::TrySendError<T>> for GenericSendError {
fn from(err: mpsc::TrySendError<T>) -> Self {
match err {
mpsc::TrySendError::Full(_) => GenericSendError::QueueFull(None),
mpsc::TrySendError::Disconnected(_) => GenericSendError::RxDisconnected,
}
}
}
#[cfg(feature = "crossbeam")]
impl<T> From<crossbeam_channel::SendError<T>> for GenericSendError {
fn from(_: crossbeam_channel::SendError<T>) -> Self {
GenericSendError::RxDisconnected
}
}
#[cfg(feature = "crossbeam")]
impl<T> From<crossbeam_channel::TrySendError<T>> for GenericSendError {
fn from(err: crossbeam_channel::TrySendError<T>) -> Self {
match err {
crossbeam_channel::TrySendError::Full(_) => GenericSendError::QueueFull(None),
crossbeam_channel::TrySendError::Disconnected(_) => GenericSendError::RxDisconnected,
}
}
}

32
satrs/tests/pus_events.rs
View File

@ -1,14 +1,14 @@
use satrs::event_man::{
EventManagerWithMpscQueue, MpscEventU32Receiver, MpscEventU32SendProvider, SendEventProvider,
EventManagerWithMpsc, EventSendProvider, EventU32SenderMpsc, MpscEventU32Receiver,
};
use satrs::events::{EventU32, EventU32TypedSev, Severity, SeverityInfo};
use satrs::params::U32Pair;
use satrs::params::{Params, ParamsHeapless, WritableToBeBytes};
use satrs::pus::event_man::{DefaultPusMgmtBackendProvider, EventReporter, PusEventDispatcher};
use satrs::pus::MpscTmAsVecSender;
use satrs::pus::event_man::{DefaultPusEventMgmtBackend, EventReporter, PusEventDispatcher};
use satrs::pus::TmAsVecSenderWithMpsc;
use spacepackets::ecss::tm::PusTmReader;
use spacepackets::ecss::{PusError, PusPacket};
use std::sync::mpsc::{channel, SendError, TryRecvError};
use std::sync::mpsc::{self, SendError, TryRecvError};
use std::thread;
const INFO_EVENT: EventU32TypedSev<SeverityInfo> =
@ -24,21 +24,21 @@ pub enum CustomTmSenderError {
#[test]
fn test_threaded_usage() {
let (event_sender, event_man_receiver) = channel();
let (event_sender, event_man_receiver) = mpsc::channel();
let event_receiver = MpscEventU32Receiver::new(event_man_receiver);
let mut event_man = EventManagerWithMpscQueue::new(Box::new(event_receiver));
let mut event_man = EventManagerWithMpsc::new(event_receiver);
let (pus_event_man_tx, pus_event_man_rx) = channel();
let pus_event_man_send_provider = MpscEventU32SendProvider::new(1, pus_event_man_tx);
event_man.subscribe_all(pus_event_man_send_provider.id());
let (pus_event_man_tx, pus_event_man_rx) = mpsc::channel();
let pus_event_man_send_provider = EventU32SenderMpsc::new(1, pus_event_man_tx);
event_man.subscribe_all(pus_event_man_send_provider.channel_id());
event_man.add_sender(pus_event_man_send_provider);
let (event_tx, event_rx) = channel();
let (event_tx, event_rx) = mpsc::channel();
let reporter = EventReporter::new(0x02, 128).expect("Creating event reporter failed");
let backend = DefaultPusMgmtBackendProvider::<EventU32>::default();
let mut pus_event_man = PusEventDispatcher::new(reporter, Box::new(backend));
let mut pus_event_man =
PusEventDispatcher::new(reporter, DefaultPusEventMgmtBackend::default());
// PUS + Generic event manager thread
let jh0 = thread::spawn(move || {
let mut sender = MpscTmAsVecSender::new(0, "event_sender", event_tx);
let mut sender = TmAsVecSenderWithMpsc::new(0, "event_sender", event_tx);
let mut event_cnt = 0;
let mut params_array: [u8; 128] = [0; 128];
loop {
@ -71,6 +71,7 @@ fn test_threaded_usage() {
Params::Vec(vec) => gen_event(Some(vec.as_slice())),
Params::String(str) => gen_event(Some(str.as_bytes())),
Params::Store(_) => gen_event(None),
_ => panic!("unsupported parameter type"),
}
} else {
gen_event(None)
@ -120,10 +121,7 @@ fn test_threaded_usage() {
}
}
event_sender
.send((
LOW_SEV_EVENT.into(),
Some(Params::Heapless((2_u32, 3_u32).into())),
))
.send((LOW_SEV_EVENT, Some(Params::Heapless((2_u32, 3_u32).into()))))
.expect("Sending low severity event failed");
loop {
match event_rx.try_recv() {

13
satrs/tests/pus_verification.rs
View File

@ -6,7 +6,7 @@ pub mod crossbeam_test {
FailParams, RequestId, VerificationReporterCfg, VerificationReporterWithSender,
VerificationReportingProvider,
};
use satrs::pus::CrossbeamTmInStoreSender;
use satrs::pus::TmInSharedPoolSenderWithCrossbeam;
use satrs::tmtc::tm_helper::SharedTmPool;
use spacepackets::ecss::tc::{PusTcCreator, PusTcReader, PusTcSecondaryHeader};
use spacepackets::ecss::tm::PusTmReader;
@ -40,10 +40,13 @@ pub mod crossbeam_test {
let shared_tc_pool_0 = Arc::new(RwLock::new(StaticMemoryPool::new(pool_cfg)));
let shared_tc_pool_1 = shared_tc_pool_0.clone();
let (tx, rx) = crossbeam_channel::bounded(10);
let sender =
CrossbeamTmInStoreSender::new(0, "verif_sender", shared_tm_pool.clone(), tx.clone());
let mut reporter_with_sender_0 =
VerificationReporterWithSender::new(&cfg, Box::new(sender));
let sender = TmInSharedPoolSenderWithCrossbeam::new(
0,
"verif_sender",
shared_tm_pool.clone(),
tx.clone(),
);
let mut reporter_with_sender_0 = VerificationReporterWithSender::new(&cfg, sender);
let mut reporter_with_sender_1 = reporter_with_sender_0.clone();
// For test purposes, we retrieve the request ID from the TCs and pass them to the receiver
// tread.