Merge remote-tracking branch 'origin/main' into obsw-client-example

Cargo.lock

@@ -2,6 +2,17 @@
 # It is not intended for manual editing.
 version = 3
 
+[[package]]
+name = "ahash"
+version = "0.7.6"
+source = "registry+https://github.com/rust-lang/crates.io-index"
+checksum = "fcb51a0695d8f838b1ee009b3fbf66bda078cd64590202a864a8f3e8c4315c47"
+dependencies = [
+ "getrandom",
+ "once_cell",
+ "version_check",
+]
+
 [[package]]
 name = "aho-corasick"
 version = "0.7.18"
@@ -221,8 +232,10 @@ name = "fsrc-core"
 version = "0.1.0"
 dependencies = [
  "bus",
+ "delegate",
  "downcast-rs",
- "num",
+ "hashbrown",
+ "num-traits",
  "once_cell",
  "postcard",
  "serde",
@@ -239,6 +252,17 @@ dependencies = [
  "spacepackets",
 ]
 
+[[package]]
+name = "getrandom"
+version = "0.2.7"
+source = "registry+https://github.com/rust-lang/crates.io-index"
+checksum = "4eb1a864a501629691edf6c15a593b7a51eebaa1e8468e9ddc623de7c9b58ec6"
+dependencies = [
+ "cfg-if 1.0.0",
+ "libc",
+ "wasi",
+]
+
 [[package]]
 name = "hash32"
 version = "0.2.1"
@@ -248,6 +272,15 @@ dependencies = [
  "byteorder",
 ]
 
+[[package]]
+name = "hashbrown"
+version = "0.12.3"
+source = "registry+https://github.com/rust-lang/crates.io-index"
+checksum = "8a9ee70c43aaf417c914396645a0fa852624801b24ebb7ae78fe8272889ac888"
+dependencies = [
+ "ahash",
+]
+
 [[package]]
 name = "heapless"
 version = "0.7.14"
@@ -338,40 +371,6 @@ version = "1.0.0"
 source = "registry+https://github.com/rust-lang/crates.io-index"
 checksum = "546c37ac5d9e56f55e73b677106873d9d9f5190605e41a856503623648488cae"
 
-[[package]]
-name = "num"
-version = "0.4.0"
-source = "registry+https://github.com/rust-lang/crates.io-index"
-checksum = "43db66d1170d347f9a065114077f7dccb00c1b9478c89384490a3425279a4606"
-dependencies = [
- "num-bigint",
- "num-complex",
- "num-integer",
- "num-iter",
- "num-rational",
- "num-traits",
-]
-
-[[package]]
-name = "num-bigint"
-version = "0.4.3"
-source = "registry+https://github.com/rust-lang/crates.io-index"
-checksum = "f93ab6289c7b344a8a9f60f88d80aa20032336fe78da341afc91c8a2341fc75f"
-dependencies = [
- "autocfg",
- "num-integer",
- "num-traits",
-]
-
-[[package]]
-name = "num-complex"
-version = "0.4.1"
-source = "registry+https://github.com/rust-lang/crates.io-index"
-checksum = "97fbc387afefefd5e9e39493299f3069e14a140dd34dc19b4c1c1a8fddb6a790"
-dependencies = [
- "num-traits",
-]
-
 [[package]]
 name = "num-integer"
 version = "0.1.45"
@@ -382,29 +381,6 @@ dependencies = [
  "num-traits",
 ]
 
-[[package]]
-name = "num-iter"
-version = "0.1.43"
-source = "registry+https://github.com/rust-lang/crates.io-index"
-checksum = "7d03e6c028c5dc5cac6e2dec0efda81fc887605bb3d884578bb6d6bf7514e252"
-dependencies = [
- "autocfg",
- "num-integer",
- "num-traits",
-]
-
-[[package]]
-name = "num-rational"
-version = "0.4.0"
-source = "registry+https://github.com/rust-lang/crates.io-index"
-checksum = "d41702bd167c2df5520b384281bc111a4b5efcf7fbc4c9c222c815b07e0a6a6a"
-dependencies = [
- "autocfg",
- "num-bigint",
- "num-integer",
- "num-traits",
-]
-
 [[package]]
 name = "num-traits"
 version = "0.2.15"
@@ -677,6 +653,12 @@ version = "0.1.3"
 source = "registry+https://github.com/rust-lang/crates.io-index"
 checksum = "77439c1b53d2303b20d9459b1ade71a83c716e3f9c34f3228c00e6f185d6c002"
 
+[[package]]
+name = "version_check"
+version = "0.9.4"
+source = "registry+https://github.com/rust-lang/crates.io-index"
+checksum = "49874b5167b65d7193b8aba1567f5c7d93d001cafc34600cee003eda787e483f"
+
 [[package]]
 name = "void"
 version = "1.0.2"
@@ -692,6 +674,12 @@ dependencies = [
  "vcell",
 ]
 
+[[package]]
+name = "wasi"
+version = "0.11.0+wasi-snapshot-preview1"
+source = "registry+https://github.com/rust-lang/crates.io-index"
+checksum = "9c8d87e72b64a3b4db28d11ce29237c246188f4f51057d65a7eab63b7987e423"
+
 [[package]]
 name = "wasm-bindgen"
 version = "0.2.82"

fsrc-core/Cargo.toml

@@ -7,16 +7,24 @@ edition = "2021"
 
 [dependencies]
 thiserror = "1.0"
-bus = "2.2.3"
+delegate = "0.7.0"
-num = "0.4"
+hashbrown = "0.12.3"
 
-[dependencies.spacepackets]
+[dependencies.num-traits]
-path = "../spacepackets"
+version = "0.2"
+default-features = false
 
 [dependencies.downcast-rs]
 version = "1.2.0"
 default-features = false
 
+[dependencies.bus]
+version = "2.2.3"
+optional = true
+
+[dependencies.spacepackets]
+path = "../spacepackets"
+
 [dev-dependencies]
 postcard = { version = "1.0.1", features = ["use-std"] }
 serde = "1.0.143"
@@ -25,4 +33,6 @@ once_cell = "1.13.1"
 
 [features]
 default = ["std"]
-std = ["downcast-rs/std"]
+std = ["downcast-rs/std", "alloc", "bus"]
+alloc = []
+

fsrc-core/src/event_man.rs

@@ -1,6 +1,9 @@
 //! [Event][crate::events::Event] management and forwarding
 use crate::events::{Event, EventRaw, GroupId};
-use std::collections::HashMap;
+use alloc::boxed::Box;
+use alloc::vec;
+use alloc::vec::Vec;
+use hashbrown::HashMap;
 
 #[derive(PartialEq, Eq, Hash, Copy, Clone)]
 enum ListenerType {
@@ -62,11 +65,14 @@ impl<E> EventManager<E> {
         key: ListenerType,
         dest: impl EventListener<Error = E> + 'static,
     ) {
-        if let std::collections::hash_map::Entry::Vacant(e) = self.listeners.entry(key) {
+        if !self.listeners.contains_key(&key) {
-            e.insert(vec![Listener {
+            self.listeners.insert(
-                ltype: key,
+                key,
-                dest: Box::new(dest),
+                vec![Listener {
-            }]);
+                    ltype: key,
+                    dest: Box::new(dest),
+                }],
+            );
         } else {
             let vec = self.listeners.get_mut(&key).unwrap();
             // To prevent double insertions
@@ -117,6 +123,7 @@ mod tests {
     use super::{EventListener, HandlerResult, ReceivesAllEvent};
     use crate::event_man::EventManager;
     use crate::events::{Event, Severity};
+    use alloc::boxed::Box;
     use std::sync::mpsc::{channel, Receiver, SendError, Sender};
     use std::thread;
     use std::time::Duration;

fsrc-core/src/events.rs

@@ -1,5 +1,4 @@
 //! Event support module
-use num::pow;
 
 pub type GroupId = u16;
 pub type UniqueId = u16;
@@ -47,7 +46,7 @@ impl Event {
     /// * `unique_id`: Each event has a unique 16 bit ID occupying the last 16 bits of the
     ///       raw event ID
     pub fn new(severity: Severity, group_id: GroupId, unique_id: UniqueId) -> Option<Event> {
-        if group_id > (pow::pow(2u8 as u16, 13) - 1) {
+        if group_id > (2u16.pow(13) - 1) {
             return None;
         }
         Some(Event {

fsrc-core/src/executable.rs

@@ -1,10 +1,13 @@
 //! Task scheduling module
 use bus::BusReader;
+use std::boxed::Box;
 use std::error::Error;
 use std::sync::mpsc::TryRecvError;
 use std::thread;
 use std::thread::JoinHandle;
 use std::time::Duration;
+use std::vec;
+use std::vec::Vec;
 
 #[derive(Debug, PartialEq, Eq)]
 pub enum OpResult {
@@ -138,10 +141,13 @@ pub fn exec_sched_multi<
 mod tests {
     use super::{exec_sched_multi, exec_sched_single, Executable, ExecutionType, OpResult};
     use bus::Bus;
+    use std::boxed::Box;
     use std::error::Error;
+    use std::string::{String, ToString};
     use std::sync::{Arc, Mutex};
     use std::time::Duration;
-    use std::{fmt, thread};
+    use std::vec::Vec;
+    use std::{fmt, thread, vec};
 
     struct TestInfo {
         exec_num: u32,

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

@@ -39,7 +39,6 @@ impl<E> UdpTcServer<E> {
     }
 
     pub fn try_recv_tc(&mut self) -> Result<(usize, SocketAddr), ReceiveResult<E>> {
-        // .map_err(|e| IoError(e))?;
         let res = match self.socket.recv_from(&mut self.recv_buf) {
             Ok(res) => res,
             Err(e) => {
@@ -57,4 +56,8 @@ impl<E> UdpTcServer<E> {
             .map_err(|e| ReceiveResult::ReceiverError(e))?;
         Ok(res)
     }
+
+    pub fn last_sender(&self) -> Option<SocketAddr> {
+        self.sender_addr
+    }
 }

fsrc-core/src/lib.rs

@@ -7,12 +7,21 @@
 //! The crates can generally be used in a `no_std` environment, but some crates expect that the
 //! [alloc](https://doc.rust-lang.org/alloc) crate is available to allow boxed trait objects.
 //! These are used to supply user code to the crates.
+#![no_std]
+#[cfg(feature = "alloc")]
+extern crate alloc;
+#[cfg(any(feature = "std", test))]
+extern crate std;
+
 pub mod error;
+#[cfg(feature = "alloc")]
 pub mod event_man;
 pub mod events;
+#[cfg(feature = "std")]
 pub mod executable;
 pub mod hal;
 pub mod objects;
+#[cfg(feature = "alloc")]
 pub mod pool;
 pub mod tmtc;
 

fsrc-core/src/objects.rs

@@ -29,12 +29,12 @@
 //! }
 //!
 //! impl SystemObject for ExampleSysObj {
-//!
+//!     type Error = ();
 //!     fn get_object_id(&self) -> &ObjectId {
 //!         &self.id
 //!     }
 //!
-//!     fn initialize(&mut self) -> Result<(), Box<dyn Error>> {
+//!     fn initialize(&mut self) -> Result<(), Self::Error> {
 //!         self.was_initialized = true;
 //!         Ok(())
 //!     }
@@ -51,9 +51,12 @@
 //!  assert_eq!(example_obj.id, obj_id);
 //!  assert_eq!(example_obj.dummy, 42);
 //! ```
-
+use alloc::boxed::Box;
+#[cfg(not(feature = "std"))]
+use alloc::vec::Vec;
 use downcast_rs::Downcast;
-use std::collections::HashMap;
+use hashbrown::HashMap;
+#[cfg(feature = "std")]
 use std::error::Error;
 
 #[derive(PartialEq, Eq, Hash, Copy, Clone, Debug)]
@@ -65,33 +68,37 @@ pub struct ObjectId {
 /// Each object which is stored inside the [object manager][ObjectManager] needs to implemented
 /// this trait
 pub trait SystemObject: Downcast {
+    type Error;
     fn get_object_id(&self) -> &ObjectId;
-    fn initialize(&mut self) -> Result<(), Box<dyn Error>>;
+    fn initialize(&mut self) -> Result<(), Self::Error>;
 }
-downcast_rs::impl_downcast!(SystemObject);
+downcast_rs::impl_downcast!(SystemObject assoc Error);
 
 pub trait ManagedSystemObject: SystemObject + Send {}
-downcast_rs::impl_downcast!(ManagedSystemObject);
+downcast_rs::impl_downcast!(ManagedSystemObject assoc Error);
 
 /// Helper module to manage multiple [ManagedSystemObjects][ManagedSystemObject] by mapping them
 /// using an [object ID][ObjectId]
-pub struct ObjectManager {
+#[cfg(feature = "alloc")]
-    obj_map: HashMap<ObjectId, Box<dyn ManagedSystemObject>>,
+pub struct ObjectManager<E> {
+    obj_map: HashMap<ObjectId, Box<dyn ManagedSystemObject<Error = E>>>,
 }
 
-impl Default for ObjectManager {
+#[cfg(feature = "alloc")]
+impl<E: 'static> Default for ObjectManager<E> {
     fn default() -> Self {
         Self::new()
     }
 }
 
-impl ObjectManager {
+#[cfg(feature = "alloc")]
-    pub fn new() -> ObjectManager {
+impl<E: 'static> ObjectManager<E> {
+    pub fn new() -> Self {
         ObjectManager {
             obj_map: HashMap::new(),
         }
     }
-    pub fn insert(&mut self, sys_obj: Box<dyn ManagedSystemObject>) -> bool {
+    pub fn insert(&mut self, sys_obj: Box<dyn ManagedSystemObject<Error = E>>) -> bool {
         let obj_id = sys_obj.get_object_id();
         if self.obj_map.contains_key(obj_id) {
             return false;
@@ -114,14 +121,14 @@ impl ObjectManager {
     /// Retrieve a reference to an object stored inside the manager. The type to retrieve needs to
     /// be explicitly passed as a generic parameter or specified on the left hand side of the
     /// expression.
-    pub fn get_ref<T: ManagedSystemObject>(&self, key: &ObjectId) -> Option<&T> {
+    pub fn get_ref<T: ManagedSystemObject<Error = E>>(&self, key: &ObjectId) -> Option<&T> {
         self.obj_map.get(key).and_then(|o| o.downcast_ref::<T>())
     }
 
     /// Retrieve a mutable reference to an object stored inside the manager. The type to retrieve
     /// needs to be explicitly passed as a generic parameter or specified on the left hand side
     /// of the expression.
-    pub fn get_mut<T: ManagedSystemObject>(&mut self, key: &ObjectId) -> Option<&mut T> {
+    pub fn get_mut<T: ManagedSystemObject<Error = E>>(&mut self, key: &ObjectId) -> Option<&mut T> {
         self.obj_map
             .get_mut(key)
             .and_then(|o| o.downcast_mut::<T>())
@@ -131,7 +138,8 @@ impl ObjectManager {
 #[cfg(test)]
 mod tests {
     use crate::objects::{ManagedSystemObject, ObjectId, ObjectManager, SystemObject};
-    use std::error::Error;
+    use std::boxed::Box;
+    use std::string::String;
     use std::sync::{Arc, Mutex};
     use std::thread;
 
@@ -152,11 +160,12 @@ mod tests {
     }
 
     impl SystemObject for ExampleSysObj {
+        type Error = ();
         fn get_object_id(&self) -> &ObjectId {
             &self.id
         }
 
-        fn initialize(&mut self) -> Result<(), Box<dyn Error>> {
+        fn initialize(&mut self) -> Result<(), Self::Error> {
             self.was_initialized = true;
             Ok(())
         }
@@ -171,11 +180,12 @@ mod tests {
     }
 
     impl SystemObject for OtherExampleObject {
+        type Error = ();
         fn get_object_id(&self) -> &ObjectId {
             &self.id
         }
 
-        fn initialize(&mut self) -> Result<(), Box<dyn Error>> {
+        fn initialize(&mut self) -> Result<(), Self::Error> {
             self.was_initialized = true;
             Ok(())
         }

fsrc-core/src/pool.rs

@@ -73,6 +73,12 @@
 //!     assert_eq!(buf_read_back[0], 7);
 //! }
 //! ```
+use alloc::format;
+use alloc::string::String;
+use alloc::vec;
+use alloc::vec::Vec;
+use delegate::delegate;
+
 type NumBlocks = u16;
 
 /// Configuration structure of the [local pool][LocalPool]
@@ -172,12 +178,12 @@ impl LocalPool {
     /// size and then copy the given data to the block. Yields a [StoreAddr] which can be used
     /// to access the data stored in the pool
     pub fn add(&mut self, data: &[u8]) -> Result<StoreAddr, StoreError> {
-        let data_len = data.as_ref().len();
+        let data_len = data.len();
         if data_len > Self::MAX_SIZE {
             return Err(StoreError::DataTooLarge(data_len));
         }
         let addr = self.reserve(data_len)?;
-        self.write(&addr, data.as_ref())?;
+        self.write(&addr, data)?;
         Ok(addr)
     }
 
@@ -202,27 +208,74 @@ impl LocalPool {
         Ok(block)
     }
 
+    /// This function behaves like [Self::modify], but consumes the provided address and returns a
+    /// RAII conformant guard object.
+    ///
+    /// Unless the guard [PoolRwGuard::release] method is called, the data for the
+    /// given address will be deleted automatically when the guard is dropped.
+    /// This can prevent memory leaks. Users can read (and modify) the data and release the guard
+    /// if the data in the store is valid for further processing. If the data is faulty, no
+    /// manual deletion is necessary when returning from a processing function prematurely.
+    pub fn modify_with_guard(&mut self, addr: StoreAddr) -> PoolRwGuard {
+        PoolRwGuard::new(self, addr)
+    }
+
     /// Read data by yielding a read-only reference given a [StoreAddr]
     pub fn read(&self, addr: &StoreAddr) -> Result<&[u8], StoreError> {
         let curr_size = self.addr_check(addr)?;
         let raw_pos = self.raw_pos(addr).unwrap();
-        let block = &self.pool.get(addr.pool_idx as usize).unwrap()[raw_pos..curr_size];
+        let block = &self.pool.get(addr.pool_idx as usize).unwrap()[raw_pos..raw_pos + curr_size];
         Ok(block)
     }
 
+    /// This function behaves like [Self::read], but consumes the provided address and returns a
+    /// RAII conformant guard object.
+    ///
+    /// Unless the guard [PoolRwGuard::release] method is called, the data for the
+    /// given address will be deleted automatically when the guard is dropped.
+    /// This can prevent memory leaks. Users can read the data and release the guard
+    /// if the data in the store is valid for further processing. If the data is faulty, no
+    /// manual deletion is necessary when returning from a processing function prematurely.
+    pub fn read_with_guard(&mut self, addr: StoreAddr) -> PoolGuard {
+        PoolGuard::new(self, addr)
+    }
+
     /// Delete data inside the pool given a [StoreAddr]
     pub fn delete(&mut self, addr: StoreAddr) -> Result<(), StoreError> {
         self.addr_check(&addr)?;
         let block_size = self.pool_cfg.cfg.get(addr.pool_idx as usize).unwrap().1;
         let raw_pos = self.raw_pos(&addr).unwrap();
-        let block = &mut self.pool.get_mut(addr.pool_idx as usize).unwrap()[raw_pos..block_size];
+        let block =
+            &mut self.pool.get_mut(addr.pool_idx as usize).unwrap()[raw_pos..raw_pos + block_size];
         let size_list = self.sizes_lists.get_mut(addr.pool_idx as usize).unwrap();
         size_list[addr.packet_idx as usize] = Self::STORE_FREE;
         block.fill(0);
         Ok(())
     }
 
+    pub fn has_element_at(&self, addr: &StoreAddr) -> Result<bool, StoreError> {
+        self.validate_addr(addr)?;
+        let pool_idx = addr.pool_idx as usize;
+        let size_list = self.sizes_lists.get(pool_idx).unwrap();
+        let curr_size = size_list[addr.packet_idx as usize];
+        if curr_size == Self::STORE_FREE {
+            return Ok(false);
+        }
+        Ok(true)
+    }
+
     fn addr_check(&self, addr: &StoreAddr) -> Result<usize, StoreError> {
+        self.validate_addr(addr)?;
+        let pool_idx = addr.pool_idx as usize;
+        let size_list = self.sizes_lists.get(pool_idx).unwrap();
+        let curr_size = size_list[addr.packet_idx as usize];
+        if curr_size == Self::STORE_FREE {
+            return Err(StoreError::DataDoesNotExist(*addr));
+        }
+        Ok(curr_size)
+    }
+
+    fn validate_addr(&self, addr: &StoreAddr) -> Result<(), StoreError> {
         let pool_idx = addr.pool_idx as usize;
         if pool_idx as usize >= self.pool_cfg.cfg.len() {
             return Err(StoreError::InvalidStoreId(
@@ -236,12 +289,7 @@ impl LocalPool {
                 Some(*addr),
             ));
         }
-        let size_list = self.sizes_lists.get(pool_idx).unwrap();
+        Ok(())
-        let curr_size = size_list[addr.packet_idx as usize];
-        if curr_size == Self::STORE_FREE {
-            return Err(StoreError::DataDoesNotExist(*addr));
-        }
-        Ok(curr_size)
     }
 
     fn reserve(&mut self, data_len: usize) -> Result<StoreAddr, StoreError> {
@@ -279,7 +327,7 @@ impl LocalPool {
                 addr
             ))
         })?;
-        let pool_slice = &mut subpool[packet_pos..self.pool_cfg.cfg[addr.pool_idx as usize].1];
+        let pool_slice = &mut subpool[packet_pos..packet_pos + data.len()];
         pool_slice.copy_from_slice(data);
         Ok(())
     }
@@ -306,9 +354,78 @@ impl LocalPool {
     }
 }
 
+pub struct PoolGuard<'a> {
+    pool: &'a mut LocalPool,
+    pub addr: StoreAddr,
+    no_deletion: bool,
+    deletion_failed_error: Option<StoreError>,
+}
+
+/// This helper object
+impl<'a> PoolGuard<'a> {
+    pub fn new(pool: &'a mut LocalPool, addr: StoreAddr) -> Self {
+        Self {
+            pool,
+            addr,
+            no_deletion: false,
+            deletion_failed_error: None,
+        }
+    }
+
+    pub fn read(&self) -> Result<&[u8], StoreError> {
+        self.pool.read(&self.addr)
+    }
+
+    pub fn release(&mut self) {
+        self.no_deletion = true;
+    }
+}
+
+impl Drop for PoolGuard<'_> {
+    fn drop(&mut self) {
+        if !self.no_deletion {
+            if let Err(e) = self.pool.delete(self.addr) {
+                self.deletion_failed_error = Some(e);
+            }
+        }
+    }
+}
+
+pub struct PoolRwGuard<'a> {
+    guard: PoolGuard<'a>,
+}
+
+impl<'a> PoolRwGuard<'a> {
+    pub fn new(pool: &'a mut LocalPool, addr: StoreAddr) -> Self {
+        Self {
+            guard: PoolGuard::new(pool, addr),
+        }
+    }
+
+    pub fn modify(&mut self) -> Result<&mut [u8], StoreError> {
+        self.guard.pool.modify(&self.guard.addr)
+    }
+
+    delegate!(
+        to self.guard {
+            pub fn read(&self) -> Result<&[u8], StoreError>;
+            pub fn release(&mut self);
+        }
+    );
+}
+
 #[cfg(test)]
 mod tests {
-    use crate::pool::{LocalPool, PoolCfg, StoreAddr, StoreError, StoreIdError};
+    use crate::pool::{
+        LocalPool, PoolCfg, PoolGuard, PoolRwGuard, StoreAddr, StoreError, StoreIdError,
+    };
+    use std::vec;
+
+    fn basic_small_pool() -> LocalPool {
+        // 4 buckets of 4 bytes, 2 of 8 bytes and 1 of 16 bytes
+        let pool_cfg = PoolCfg::new(vec![(4, 4), (2, 8), (1, 16)]);
+        LocalPool::new(pool_cfg)
+    }
 
     #[test]
     fn test_cfg() {
@@ -330,10 +447,100 @@ mod tests {
     }
 
     #[test]
-    fn test_basic() {
+    fn test_add_and_read() {
-        // 4 buckets of 4 bytes, 2 of 8 bytes and 1 of 16 bytes
+        let mut local_pool = basic_small_pool();
-        let pool_cfg = PoolCfg::new(vec![(4, 4), (2, 8), (1, 16)]);
+        let mut test_buf: [u8; 16] = [0; 16];
-        let mut local_pool = LocalPool::new(pool_cfg);
+        for (i, val) in test_buf.iter_mut().enumerate() {
+            *val = i as u8;
+        }
+        let addr = local_pool.add(&test_buf).expect("Adding data failed");
+        // Read back data and verify correctness
+        let res = local_pool.read(&addr);
+        assert!(res.is_ok());
+        let buf_read_back = res.unwrap();
+        assert_eq!(buf_read_back.len(), 16);
+        for (i, &val) in buf_read_back.iter().enumerate() {
+            assert_eq!(val, i as u8);
+        }
+    }
+
+    #[test]
+    fn test_add_smaller_than_full_slot() {
+        let mut local_pool = basic_small_pool();
+        let test_buf: [u8; 12] = [0; 12];
+        let addr = local_pool.add(&test_buf).expect("Adding data failed");
+        let res = local_pool.read(&addr).expect("Read back failed");
+        assert_eq!(res.len(), 12);
+    }
+
+    #[test]
+    fn test_delete() {
+        let mut local_pool = basic_small_pool();
+        let test_buf: [u8; 16] = [0; 16];
+        let addr = local_pool.add(&test_buf).expect("Adding data failed");
+        // Delete the data
+        let res = local_pool.delete(addr);
+        assert!(res.is_ok());
+        // Verify that the slot is free by trying to get a reference to it
+        let res = local_pool.free_element(12);
+        assert!(res.is_ok());
+        let (addr, buf_ref) = res.unwrap();
+        assert_eq!(
+            addr,
+            StoreAddr {
+                pool_idx: 2,
+                packet_idx: 0
+            }
+        );
+        assert_eq!(buf_ref.len(), 12);
+    }
+
+    #[test]
+    fn test_modify() {
+        let mut local_pool = basic_small_pool();
+        let mut test_buf: [u8; 16] = [0; 16];
+        for (i, val) in test_buf.iter_mut().enumerate() {
+            *val = i as u8;
+        }
+        let addr = local_pool.add(&test_buf).expect("Adding data failed");
+
+        {
+            // Verify that the slot is free by trying to get a reference to it
+            let res = local_pool.modify(&addr).expect("Modifying data failed");
+            res[0] = 0;
+            res[1] = 0x42;
+        }
+
+        let res = local_pool.read(&addr).expect("Reading back data failed");
+        assert_eq!(res[0], 0);
+        assert_eq!(res[1], 0x42);
+        assert_eq!(res[2], 2);
+        assert_eq!(res[3], 3);
+    }
+
+    #[test]
+    fn test_consecutive_reservation() {
+        let mut local_pool = basic_small_pool();
+        // Reserve two smaller blocks consecutively and verify that the third reservation fails
+        let res = local_pool.free_element(8);
+        assert!(res.is_ok());
+        let (addr0, _) = res.unwrap();
+        let res = local_pool.free_element(8);
+        assert!(res.is_ok());
+        let (addr1, _) = res.unwrap();
+        let res = local_pool.free_element(8);
+        assert!(res.is_err());
+        let err = res.unwrap_err();
+        assert_eq!(err, StoreError::StoreFull(1));
+
+        // Verify that the two deletions are successful
+        assert!(local_pool.delete(addr0).is_ok());
+        assert!(local_pool.delete(addr1).is_ok());
+    }
+
+    #[test]
+    fn test_read_does_not_exist() {
+        let local_pool = basic_small_pool();
         // Try to access data which does not exist
         let res = local_pool.read(&StoreAddr {
             packet_idx: 0,
@@ -344,22 +551,13 @@ mod tests {
             res.unwrap_err(),
             StoreError::DataDoesNotExist { .. }
         ));
-        let mut test_buf: [u8; 16] = [0; 16];
+    }
-        for (i, val) in test_buf.iter_mut().enumerate() {
-            *val = i as u8;
-        }
-        let res = local_pool.add(&test_buf);
-        assert!(res.is_ok());
-        let addr = res.unwrap();
-        // Only the second subpool has enough storage and only one bucket
-        assert_eq!(
-            addr,
-            StoreAddr {
-                pool_idx: 2,
-                packet_idx: 0
-            }
-        );
 
+    #[test]
+    fn test_store_full() {
+        let mut local_pool = basic_small_pool();
+        let test_buf: [u8; 16] = [0; 16];
+        assert!(local_pool.add(&test_buf).is_ok());
         // The subpool is now full and the call should fail accordingly
         let res = local_pool.add(&test_buf);
         assert!(res.is_err());
@@ -368,112 +566,121 @@ mod tests {
         if let StoreError::StoreFull(subpool) = err {
             assert_eq!(subpool, 2);
         }
+    }
 
-        // Read back data and verify correctness
+    #[test]
+    fn test_invalid_pool_idx() {
+        let local_pool = basic_small_pool();
+        let addr = StoreAddr {
+            pool_idx: 3,
+            packet_idx: 0,
+        };
         let res = local_pool.read(&addr);
-        assert!(res.is_ok());
+        assert!(res.is_err());
-        let buf_read_back = res.unwrap();
+        let err = res.unwrap_err();
-        assert_eq!(buf_read_back.len(), 16);
+        assert!(matches!(
-        for (i, &val) in buf_read_back.iter().enumerate() {
+            err,
-            assert_eq!(val, i as u8);
+            StoreError::InvalidStoreId(StoreIdError::InvalidSubpool(3), Some(_))
-        }
+        ));
+    }
 
-        // Delete the data
+    #[test]
-        let res = local_pool.delete(addr);
+    fn test_invalid_packet_idx() {
-        assert!(res.is_ok());
+        let local_pool = basic_small_pool();
+        let addr = StoreAddr {
+            pool_idx: 2,
+            packet_idx: 1,
+        };
+        assert_eq!(addr.raw(), 0x00020001);
+        let res = local_pool.read(&addr);
+        assert!(res.is_err());
+        let err = res.unwrap_err();
+        assert!(matches!(
+            err,
+            StoreError::InvalidStoreId(StoreIdError::InvalidPacketIdx(1), Some(_))
+        ));
+    }
 
-        {
+    #[test]
-            // Verify that the slot is free by trying to get a reference to it
+    fn test_add_too_large() {
-            let res = local_pool.free_element(12);
+        let mut local_pool = basic_small_pool();
-            assert!(res.is_ok());
+        let data_too_large = [0; 20];
-            let (addr, buf_ref) = res.unwrap();
+        let res = local_pool.add(&data_too_large);
-            assert_eq!(
+        assert!(res.is_err());
-                addr,
+        let err = res.unwrap_err();
-                StoreAddr {
+        assert_eq!(err, StoreError::DataTooLarge(20));
-                    pool_idx: 2,
+    }
-                    packet_idx: 0
-                }
-            );
-            assert_eq!(buf_ref.len(), 12);
-            assert_eq!(buf_ref, [0; 12]);
-            buf_ref[0] = 5;
-            buf_ref[11] = 12;
-        }
 
-        {
+    #[test]
-            // Try to request a slot which is too large
+    fn test_data_too_large_1() {
-            let res = local_pool.free_element(20);
+        let mut local_pool = basic_small_pool();
-            assert!(res.is_err());
+        let res = local_pool.free_element(LocalPool::MAX_SIZE + 1);
-            assert_eq!(res.unwrap_err(), StoreError::DataTooLarge(20));
+        assert!(res.is_err());
+        assert_eq!(
+            res.unwrap_err(),
+            StoreError::DataTooLarge(LocalPool::MAX_SIZE + 1)
+        );
+    }
 
-            // Try to modify the 12 bytes requested previously
+    #[test]
-            let res = local_pool.modify(&addr);
+    fn test_free_element_too_large() {
-            assert!(res.is_ok());
+        let mut local_pool = basic_small_pool();
-            let buf_ref = res.unwrap();
+        // Try to request a slot which is too large
-            assert_eq!(buf_ref[0], 5);
+        let res = local_pool.free_element(20);
-            assert_eq!(buf_ref[11], 12);
+        assert!(res.is_err());
-            buf_ref[0] = 0;
+        assert_eq!(res.unwrap_err(), StoreError::DataTooLarge(20));
-            buf_ref[11] = 0;
+    }
-        }
 
-        {
+    #[test]
-            let addr = StoreAddr {
+    fn test_pool_guard_deletion_man_creation() {
-                pool_idx: 3,
+        let mut local_pool = basic_small_pool();
-                packet_idx: 0,
+        let test_buf: [u8; 16] = [0; 16];
-            };
+        let addr = local_pool.add(&test_buf).expect("Adding data failed");
-            let res = local_pool.read(&addr);
+        let read_guard = PoolGuard::new(&mut local_pool, addr);
-            assert!(res.is_err());
+        drop(read_guard);
-            let err = res.unwrap_err();
+        assert!(!local_pool.has_element_at(&addr).expect("Invalid address"));
-            assert!(matches!(
+    }
-                err,
-                StoreError::InvalidStoreId(StoreIdError::InvalidSubpool(3), Some(_))
-            ));
-        }
 
-        {
+    #[test]
-            let addr = StoreAddr {
+    fn test_pool_guard_deletion() {
-                pool_idx: 2,
+        let mut local_pool = basic_small_pool();
-                packet_idx: 1,
+        let test_buf: [u8; 16] = [0; 16];
-            };
+        let addr = local_pool.add(&test_buf).expect("Adding data failed");
-            assert_eq!(addr.raw(), 0x00020001);
+        let read_guard = local_pool.read_with_guard(addr);
-            let res = local_pool.read(&addr);
+        drop(read_guard);
-            assert!(res.is_err());
+        assert!(!local_pool.has_element_at(&addr).expect("Invalid address"));
-            let err = res.unwrap_err();
+    }
-            assert!(matches!(
-                err,
-                StoreError::InvalidStoreId(StoreIdError::InvalidPacketIdx(1), Some(_))
-            ));
 
-            let data_too_large = [0; 20];
+    #[test]
-            let res = local_pool.add(&data_too_large);
+    fn test_pool_guard_with_release() {
-            assert!(res.is_err());
+        let mut local_pool = basic_small_pool();
-            let err = res.unwrap_err();
+        let test_buf: [u8; 16] = [0; 16];
-            assert_eq!(err, StoreError::DataTooLarge(20));
+        let addr = local_pool.add(&test_buf).expect("Adding data failed");
+        let mut read_guard = PoolGuard::new(&mut local_pool, addr);
+        read_guard.release();
+        drop(read_guard);
+        assert!(local_pool.has_element_at(&addr).expect("Invalid address"));
+    }
 
-            let res = local_pool.free_element(LocalPool::MAX_SIZE + 1);
+    #[test]
-            assert!(res.is_err());
+    fn test_pool_modify_guard_man_creation() {
-            assert_eq!(
+        let mut local_pool = basic_small_pool();
-                res.unwrap_err(),
+        let test_buf: [u8; 16] = [0; 16];
-                StoreError::DataTooLarge(LocalPool::MAX_SIZE + 1)
+        let addr = local_pool.add(&test_buf).expect("Adding data failed");
-            );
+        let mut rw_guard = PoolRwGuard::new(&mut local_pool, addr);
-        }
+        let _ = rw_guard.modify().expect("modify failed");
+        drop(rw_guard);
+        assert!(!local_pool.has_element_at(&addr).expect("Invalid address"));
+    }
 
-        {
+    #[test]
-            // Reserve two smaller blocks consecutively and verify that the third reservation fails
+    fn test_pool_modify_guard() {
-            let res = local_pool.free_element(8);
+        let mut local_pool = basic_small_pool();
-            assert!(res.is_ok());
+        let test_buf: [u8; 16] = [0; 16];
-            let (addr0, _) = res.unwrap();
+        let addr = local_pool.add(&test_buf).expect("Adding data failed");
-            let res = local_pool.free_element(8);
+        let mut rw_guard = local_pool.modify_with_guard(addr);
-            assert!(res.is_ok());
+        let _ = rw_guard.modify().expect("modify failed");
-            let (addr1, _) = res.unwrap();
+        drop(rw_guard);
-            let res = local_pool.free_element(8);
+        assert!(!local_pool.has_element_at(&addr).expect("Invalid address"));
-            assert!(res.is_err());
-            let err = res.unwrap_err();
-            assert_eq!(err, StoreError::StoreFull(1));
-
-            // Verify that the two deletions are successful
-            assert!(local_pool.delete(addr0).is_ok());
-            assert!(local_pool.delete(addr1).is_ok());
-        }
     }
 }

fsrc-core/src/tmtc/ccsds_distrib.rs

@@ -85,6 +85,7 @@
 //! mutable_ref.mutable_foo();
 //! ```
 use crate::tmtc::{ReceivesCcsdsTc, ReceivesTc};
+use alloc::boxed::Box;
 use downcast_rs::Downcast;
 use spacepackets::{CcsdsPacket, PacketError, SizeMissmatch, SpHeader};
 
@@ -195,6 +196,7 @@ pub(crate) mod tests {
     use spacepackets::CcsdsPacket;
     use std::collections::VecDeque;
     use std::sync::{Arc, Mutex};
+    use std::vec::Vec;
 
     pub fn generate_ping_tc(buf: &mut [u8]) -> &[u8] {
         let mut sph = SpHeader::tc(0x002, 0x34, 0).unwrap();

fsrc-core/src/tmtc/mod.rs

@@ -9,7 +9,9 @@ use crate::error::{FsrcErrorRaw, FsrcGroupIds};
 use spacepackets::tc::PusTc;
 use spacepackets::SpHeader;
 
+#[cfg(feature = "alloc")]
 pub mod ccsds_distrib;
+#[cfg(feature = "alloc")]
 pub mod pus_distrib;
 
 pub use ccsds_distrib::{CcsdsDistributor, CcsdsError, CcsdsPacketHandler};

fsrc-core/src/tmtc/pus_distrib.rs

@@ -61,6 +61,7 @@
 //! assert_eq!(concrete_handler_ref.handler_call_count, 1);
 //! ```
 use crate::tmtc::{ReceivesCcsdsTc, ReceivesEcssPusTc, ReceivesTc};
+use alloc::boxed::Box;
 use downcast_rs::Downcast;
 use spacepackets::ecss::{PusError, PusPacket};
 use spacepackets::tc::PusTc;
@@ -142,7 +143,9 @@ mod tests {
     use spacepackets::ecss::PusError;
     use spacepackets::tc::PusTc;
     use spacepackets::CcsdsPacket;
+    #[cfg(feature = "std")]
     use std::collections::VecDeque;
+    #[cfg(feature = "std")]
     use std::sync::{Arc, Mutex};
 
     struct PusHandlerSharedQueue {
@@ -245,6 +248,7 @@ mod tests {
     }
 
     #[test]
+    #[cfg(feature = "std")]
     fn test_pus_distribution() {
         let known_packet_queue = Arc::new(Mutex::default());
         let unknown_packet_queue = Arc::new(Mutex::default());

fsrc-core/tests/pool_test.rs

@@ -1,69 +1,34 @@
-use fsrc_core::pool::{LocalPool, PoolCfg, StoreAddr, StoreError};
+use fsrc_core::pool::{LocalPool, PoolCfg, PoolGuard, StoreAddr};
+use std::ops::DerefMut;
+use std::sync::mpsc;
+use std::sync::mpsc::{Receiver, Sender};
 use std::sync::{Arc, RwLock};
 use std::thread;
 
-struct PoolAccessDummy<'a> {
+const DUMMY_DATA: [u8; 4] = [0, 1, 2, 3];
-    pool: &'a mut LocalPool,
-    addr: Option<StoreAddr>,
-    no_deletion: bool,
-}
 
-impl PoolAccessDummy<'_> {
+#[test]
-    #[allow(dead_code)]
+fn threaded_usage() {
-    fn modify(&mut self, addr: &StoreAddr) -> Result<&mut [u8], StoreError> {
-        self.pool.modify(addr)
-    }
-
-    #[allow(dead_code)]
-    fn release(&mut self) {
-        self.no_deletion = true;
-    }
-}
-
-impl Drop for PoolAccessDummy<'_> {
-    fn drop(&mut self) {
-        if self.no_deletion {
-            println!("Pool access: Drop with no deletion")
-        } else {
-            if let Some(addr) = self.addr {
-                let res = self.pool.delete(addr);
-                if res.is_err() {
-                    println!("Pool access: Deletion failed");
-                }
-            }
-            println!("Pool access: Drop with deletion");
-        }
-    }
-}
-
-fn main() {
-    println!("Hello World");
     let pool_cfg = PoolCfg::new(vec![(16, 6), (32, 3), (8, 12)]);
     let shared_dummy = Arc::new(RwLock::new(LocalPool::new(pool_cfg)));
-    let _shared_clone = shared_dummy.clone();
+    let shared_clone = shared_dummy.clone();
-    let jh0 = thread::spawn(move || loop {
+    let (tx, rx): (Sender<StoreAddr>, Receiver<StoreAddr>) = mpsc::channel();
-        {
+    let jh0 = thread::spawn(move || {
-            let mut dummy = shared_dummy.write().unwrap();
+        let mut dummy = shared_dummy.write().unwrap();
-            let dummy_data = [0, 1, 2, 3];
+        let addr = dummy.add(&DUMMY_DATA).expect("Writing data failed");
-            let _addr = dummy.add(&dummy_data).expect("Writing data failed");
+        tx.send(addr).expect("Sending store address failed");
-
-            // let mut accessor = dummy.modify_with_accessor();
-            // let buf = accessor.modify();
-        }
     });
 
-    let jh1 = thread::spawn(move || loop {
+    let jh1 = thread::spawn(move || {
+        let mut pool_access = shared_clone.write().unwrap();
+        let addr;
         {
-            // let dummy = shared_clone.read().unwrap();
+            addr = rx.recv().expect("Receiving store address failed");
-            // let buf = dummy.read();
+            let pg = PoolGuard::new(pool_access.deref_mut(), addr);
-            // println!("Buffer 0: {:?}", buf[0]);
+            let read_res = pg.read().expect("Reading failed");
+            assert_eq!(read_res, DUMMY_DATA);
         }
-
+        assert!(!pool_access.has_element_at(&addr).expect("Invalid address"));
-        //let mut dummy = shared_clone.write().unwrap();
-        //let mut accessor = dummy.modify_with_accessor();
-        //let buf = accessor.modify();
-        //buf[0] = 3;
-        //accessor.release();
     });
     jh0.join().unwrap();
     jh1.join().unwrap();

fsrc-example/src/bin/obsw.rs

@@ -11,6 +11,7 @@ use spacepackets::tm::{PusTm, PusTmSecondaryHeader};
 use spacepackets::{CcsdsPacket, SpHeader};
 use std::net::{IpAddr, SocketAddr};
 use std::sync::{mpsc, Arc, Mutex};
+use std::sync::mpsc::TryRecvError;
 use std::thread;
 
 const PUS_APID: u16 = 0x02;
@@ -162,7 +163,17 @@ fn main() {
                         println!("IO error {e}");
                     }
                     ReceiveResult::WouldBlock => {
-                        // TODO: Send TM Here
+                        if let Some(recv_addr) = udp_tmtc_server.udp_tc_server.last_sender() {
+                            // TODO: Send TM Here
+                            match udp_tmtc_server.tm_rx.try_recv() {
+                                Ok(addr) => {
+                                    udp_tmtc_server.tm_store.lock().expect("Locking TM store failed").pool.read()
+                                    udp_tmtc_server.udp_tc_server.socket.send_to()
+                                }
+                                Err(_) => {}
+                            }
+                        }
+
                     }
                 },
             }