rust/sat-rs
rust/sat-rs
6
1
Fork 0
Code Issues 9 Pull Requests Projects Releases 23 Wiki Activity

First PUS handler abstraction with request mapping
Some checks are pending
Rust/sat-rs/pipeline/head Build started...
Details

Browse Source 
This is the first attempt of a generic PUS service abstraction where
the PUS telecommands need to be converted into targetted requests.
This commit is contained in:
Robin Müller 2024-02-13 18:19:45 +01:00
parent e426a7cef1
commit a5e5a1a5a0
20 changed files with 884 additions and 458 deletions
Show Stats Download Patch File Download Diff File Expand all files Collapse all files

9
satrs-example/src/acs.rs
View File

@ -3,6 +3,7 @@ use std::sync::mpsc::{self, TryRecvError};
use log::{info, warn};
use satrs::pus::verification::VerificationReporterWithSender;
use satrs::pus::{EcssTmSender, PusTmWrapper};
use satrs::request::TargetAndApidId;
use satrs::spacepackets::ecss::hk::Subservice as HkSubservice;
use satrs::{
hk::HkRequest,
@ -70,12 +71,12 @@ impl AcsTask {
"ACS thread: Received HK request {:?}",
request.targeted_request
);
let target_and_apid_id = TargetAndApidId::from(request.targeted_request.target_id);
match request.targeted_request.request {
Request::Hk(hk_req) => match hk_req {
HkRequest::OneShot(unique_id) => self.handle_hk_request(
request.targeted_request.target_id_with_apid.target_id(),
unique_id,
),
HkRequest::OneShot(unique_id) => {
self.handle_hk_request(target_and_apid_id.target(), unique_id)
}
HkRequest::Enable(_) => {}
HkRequest::Disable(_) => {}
HkRequest::ModifyCollectionInterval(_, _) => {}

16
satrs-example/src/config.rs
View File

@ -48,7 +48,11 @@ pub mod tmtc_err {
#[resultcode]
pub const PUS_SERVICE_NOT_IMPLEMENTED: ResultU16 = ResultU16::new(GroupId::Tmtc as u8, 2);
#[resultcode]
pub const UNKNOWN_TARGET_ID: ResultU16 = ResultU16::new(GroupId::Tmtc as u8, 3);
pub const PUS_SUBSERVICE_NOT_IMPLEMENTED: ResultU16 = ResultU16::new(GroupId::Tmtc as u8, 3);
#[resultcode]
pub const UNKNOWN_TARGET_ID: ResultU16 = ResultU16::new(GroupId::Tmtc as u8, 4);
#[resultcode]
pub const ROUTING_ERROR: ResultU16 = ResultU16::new(GroupId::Tmtc as u8, 5);
#[resultcode(
info = "Not enough data inside the TC application data field. Optionally includes: \
@ -60,6 +64,9 @@ pub mod tmtc_err {
pub const TMTC_RESULTS: &[ResultU16Info] = &[
INVALID_PUS_SERVICE_EXT,
INVALID_PUS_SUBSERVICE_EXT,
PUS_SERVICE_NOT_IMPLEMENTED_EXT,
UNKNOWN_TARGET_ID_EXT,
ROUTING_ERROR_EXT,
NOT_ENOUGH_APP_DATA_EXT,
];
}
@ -76,6 +83,13 @@ pub mod hk_err {
pub const UNKNOWN_TARGET_ID: ResultU16 = ResultU16::new(GroupId::Hk as u8, 2);
#[resultcode]
pub const COLLECTION_INTERVAL_MISSING: ResultU16 = ResultU16::new(GroupId::Hk as u8, 3);
pub const HK_ERR_RESULTS: &[ResultU16Info] = &[
TARGET_ID_MISSING_EXT,
UNKNOWN_TARGET_ID_EXT,
UNKNOWN_TARGET_ID_EXT,
COLLECTION_INTERVAL_MISSING_EXT,
];
}
#[allow(clippy::enum_variant_names)]

58
satrs-example/src/lib.rs
View File

@ -1,59 +1 @@
use derive_new::new;
use satrs::spacepackets::ecss::tc::IsPusTelecommand;
use satrs::spacepackets::ecss::PusPacket;
use satrs::spacepackets::{ByteConversionError, CcsdsPacket};
use satrs::tmtc::TargetId;
use std::fmt;
use thiserror::Error;
pub mod config;
pub type Apid = u16;
#[derive(Debug, Error)]
pub enum TargetIdCreationError {
#[error("byte conversion")]
ByteConversion(#[from] ByteConversionError),
#[error("not enough app data to generate target ID")]
NotEnoughAppData(usize),
}
// TODO: can these stay pub?
#[derive(Copy, Clone, PartialEq, Eq, Hash, Debug, new)]
pub struct TargetIdWithApid {
pub apid: Apid,
pub target: TargetId,
}
impl fmt::Display for TargetIdWithApid {
fn fmt(&self, f: &mut fmt::Formatter) -> fmt::Result {
write!(f, "{}, {}", self.apid, self.target)
}
}
impl TargetIdWithApid {
pub fn apid(&self) -> Apid {
self.apid
}
pub fn target_id(&self) -> TargetId {
self.target
}
}
impl TargetIdWithApid {
pub fn from_tc(
tc: &(impl CcsdsPacket + PusPacket + IsPusTelecommand),
) -> Result<Self, TargetIdCreationError> {
if tc.user_data().len() < 4 {
return Err(ByteConversionError::FromSliceTooSmall {
found: tc.user_data().len(),
expected: 8,
}
.into());
}
Ok(Self {
apid: tc.apid(),
target: u32::from_be_bytes(tc.user_data()[0..4].try_into().unwrap()),
})
}
}

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

@ -17,6 +17,7 @@ use log::info;
use pus::test::create_test_service_dynamic;
use satrs::hal::std::tcp_server::ServerConfig;
use satrs::hal::std::udp_server::UdpTcServer;
use satrs::request::TargetAndApidId;
use satrs::tmtc::tm_helper::SharedTmPool;
use satrs_example::config::pool::{create_sched_tc_pool, create_static_pools};
use satrs_example::config::tasks::{
@ -35,7 +36,7 @@ use crate::pus::hk::{create_hk_service_dynamic, create_hk_service_static};
use crate::pus::scheduler::{create_scheduler_service_dynamic, create_scheduler_service_static};
use crate::pus::test::create_test_service_static;
use crate::pus::{PusReceiver, PusTcMpscRouter};
use crate::requests::RequestWithToken;
use crate::requests::{GenericRequestRouter, RequestWithToken};
use crate::tcp::{SyncTcpTmSource, TcpTask};
use crate::tmtc::{
PusTcSourceProviderSharedPool, SharedTcPool, TcSourceTaskDynamic, TcSourceTaskStatic,
@ -45,10 +46,8 @@ use satrs::pus::event_man::EventRequestWithToken;
use satrs::pus::verification::{VerificationReporterCfg, VerificationReporterWithSender};
use satrs::pus::{EcssTmSender, MpscTmAsVecSender, MpscTmInSharedPoolSender};
use satrs::spacepackets::{time::cds::TimeProvider, time::TimeWriter};
use satrs::tmtc::{CcsdsDistributor, TargetId};
use satrs::tmtc::CcsdsDistributor;
use satrs::ChannelId;
use satrs_example::TargetIdWithApid;
use std::collections::HashMap;
use std::net::{IpAddr, SocketAddr};
use std::sync::mpsc::{self, channel};
use std::sync::{Arc, RwLock};
@ -82,11 +81,11 @@ fn static_tmtc_pool_main() {
tm_funnel_tx.clone(),
));
let acs_target_id = TargetIdWithApid::new(PUS_APID, RequestTargetId::AcsSubsystem as TargetId);
let acs_target_id = TargetAndApidId::new(PUS_APID, RequestTargetId::AcsSubsystem as u32);
let (acs_thread_tx, acs_thread_rx) = channel::<RequestWithToken>();
// Some request are targetable. This map is used to retrieve sender handles based on a target ID.
let mut request_map = HashMap::new();
request_map.insert(acs_target_id, acs_thread_tx);
let mut request_map = GenericRequestRouter::default();
request_map.0.insert(acs_target_id.into(), acs_thread_tx);
// This helper structure is used by all telecommand providers which need to send telecommands
// to the TC source.
@ -310,11 +309,11 @@ fn dyn_tmtc_pool_main() {
tm_funnel_tx.clone(),
));
let acs_target_id = TargetIdWithApid::new(PUS_APID, RequestTargetId::AcsSubsystem as TargetId);
let acs_target_id = TargetAndApidId::new(PUS_APID, RequestTargetId::AcsSubsystem as u32);
let (acs_thread_tx, acs_thread_rx) = channel::<RequestWithToken>();
// Some request are targetable. This map is used to retrieve sender handles based on a target ID.
let mut request_map = HashMap::new();
request_map.insert(acs_target_id, acs_thread_tx);
let mut request_map = GenericRequestRouter::default();
request_map.0.insert(acs_target_id.into(), acs_thread_tx);
let tc_source = PusTcSourceProviderDynamic(tc_source_tx);

236
satrs-example/src/pus/action.rs
View File

@ -1,23 +1,74 @@
use crate::requests::{Request, RequestWithToken};
use log::{error, warn};
use satrs::action::ActionRequest;
use satrs::pool::{SharedStaticMemoryPool, StoreAddr};
use satrs::pus::action::{PusActionToRequestConverter, PusService8ActionHandler};
use satrs::pus::verification::{
FailParams, TcStateAccepted, VerificationReporterWithSender, VerificationToken,
};
use satrs::pus::{
EcssTcAndToken, EcssTcInMemConverter, EcssTcInSharedStoreConverter, EcssTcInVecConverter,
EcssTcReceiver, EcssTmSender, MpscTcReceiver, MpscTmAsVecSender, MpscTmInSharedPoolSender,
PusPacketHandlerResult, PusPacketHandlingError, PusServiceBase, PusServiceHelper,
MpscTcReceiver, MpscTmAsVecSender, MpscTmInSharedPoolSender, PusPacketHandlerResult,
PusPacketHandlingError, PusServiceHelper,
};
use satrs::request::TargetAndApidId;
use satrs::spacepackets::ecss::tc::PusTcReader;
use satrs::spacepackets::ecss::PusPacket;
use satrs::tmtc::tm_helper::SharedTmPool;
use satrs::ChannelId;
use satrs::{ChannelId, TargetId};
use satrs_example::config::{tmtc_err, TcReceiverId, TmSenderId, PUS_APID};
use satrs_example::TargetIdWithApid;
use std::collections::HashMap;
use std::sync::mpsc::{self, Sender};
use std::sync::mpsc::{self};
use crate::requests::GenericRequestRouter;
use super::GenericRoutingErrorHandler;
#[derive(Default)]
pub struct ExampleActionRequestConverter {}
impl PusActionToRequestConverter for ExampleActionRequestConverter {
type Error = PusPacketHandlingError;
fn convert(
&mut self,
token: VerificationToken<TcStateAccepted>,
tc: &PusTcReader,
time_stamp: &[u8],
verif_reporter: &mut VerificationReporterWithSender,
) -> Result<(TargetId, ActionRequest), Self::Error> {
let subservice = tc.subservice();
let user_data = tc.user_data();
if user_data.len() < 8 {
verif_reporter
.start_failure(
token,
FailParams::new(Some(time_stamp), &tmtc_err::NOT_ENOUGH_APP_DATA, None),
)
.expect("Sending start failure failed");
return Err(PusPacketHandlingError::NotEnoughAppData(
"Expected at least 4 bytes".into(),
));
}
let target_id = TargetAndApidId::from_pus_tc(tc).unwrap();
let action_id = u32::from_be_bytes(user_data[4..8].try_into().unwrap());
if subservice == 128 {
Ok((
target_id.raw(),
ActionRequest::ActionIdAndVecData {
action_id,
data: user_data[8..].to_vec(),
},
))
} else {
verif_reporter
.start_failure(
token,
FailParams::new(Some(time_stamp), &tmtc_err::INVALID_PUS_SUBSERVICE, None),
)
.expect("Sending start failure failed");
Err(PusPacketHandlingError::InvalidSubservice(subservice))
}
}
}
pub fn create_action_service_static(
shared_tm_store: SharedTmPool,
@ -25,7 +76,7 @@ pub fn create_action_service_static(
verif_reporter: VerificationReporterWithSender,
tc_pool: SharedStaticMemoryPool,
pus_action_rx: mpsc::Receiver<EcssTcAndToken>,
request_map: HashMap<TargetIdWithApid, mpsc::Sender<RequestWithToken>>,
action_router: GenericRequestRouter,
) -> Pus8Wrapper<EcssTcInSharedStoreConverter> {
let action_srv_tm_sender = MpscTmInSharedPoolSender::new(
TmSenderId::PusAction as ChannelId,
@ -39,12 +90,16 @@ pub fn create_action_service_static(
pus_action_rx,
);
let pus_8_handler = PusService8ActionHandler::new(
Box::new(action_srv_receiver),
Box::new(action_srv_tm_sender),
PUS_APID,
verif_reporter.clone(),
EcssTcInSharedStoreConverter::new(tc_pool.clone(), 2048),
request_map.clone(),
PusServiceHelper::new(
Box::new(action_srv_receiver),
Box::new(action_srv_tm_sender),
PUS_APID,
verif_reporter.clone(),
EcssTcInSharedStoreConverter::new(tc_pool.clone(), 2048),
),
ExampleActionRequestConverter::default(),
action_router,
GenericRoutingErrorHandler::<8>::default(),
);
Pus8Wrapper { pus_8_handler }
}
@ -53,7 +108,7 @@ pub fn create_action_service_dynamic(
tm_funnel_tx: mpsc::Sender<Vec<u8>>,
verif_reporter: VerificationReporterWithSender,
pus_action_rx: mpsc::Receiver<EcssTcAndToken>,
request_map: HashMap<TargetIdWithApid, mpsc::Sender<RequestWithToken>>,
action_router: GenericRequestRouter,
) -> Pus8Wrapper<EcssTcInVecConverter> {
let action_srv_tm_sender = MpscTmAsVecSender::new(
TmSenderId::PusAction as ChannelId,
@ -66,146 +121,27 @@ pub fn create_action_service_dynamic(
pus_action_rx,
);
let pus_8_handler = PusService8ActionHandler::new(
Box::new(action_srv_receiver),
Box::new(action_srv_tm_sender),
PUS_APID,
verif_reporter.clone(),
EcssTcInVecConverter::default(),
request_map.clone(),
PusServiceHelper::new(
Box::new(action_srv_receiver),
Box::new(action_srv_tm_sender),
PUS_APID,
verif_reporter.clone(),
EcssTcInVecConverter::default(),
),
ExampleActionRequestConverter::default(),
action_router,
GenericRoutingErrorHandler::<8>::default(),
);
Pus8Wrapper { pus_8_handler }
}
pub struct PusService8ActionHandler<TcInMemConverter: EcssTcInMemConverter> {
service_helper: PusServiceHelper<TcInMemConverter>,
request_handlers: HashMap<TargetIdWithApid, Sender<RequestWithToken>>,
}
impl<TcInMemConverter: EcssTcInMemConverter> PusService8ActionHandler<TcInMemConverter> {
pub fn new(
tc_receiver: Box<dyn EcssTcReceiver>,
tm_sender: Box<dyn EcssTmSender>,
tm_apid: u16,
verification_handler: VerificationReporterWithSender,
tc_in_mem_converter: TcInMemConverter,
request_handlers: HashMap<TargetIdWithApid, Sender<RequestWithToken>>,
) -> Self {
Self {
service_helper: PusServiceHelper::new(
tc_receiver,
tm_sender,
tm_apid,
verification_handler,
tc_in_mem_converter,
),
request_handlers,
}
}
fn handle_action_request_with_id(
&self,
token: VerificationToken<TcStateAccepted>,
tc: &PusTcReader,
time_stamp: &[u8],
) -> Result<(), PusPacketHandlingError> {
let user_data = tc.user_data();
if user_data.len() < 8 {
self.service_helper
.common
.verification_handler
.borrow_mut()
.start_failure(
token,
FailParams::new(Some(time_stamp), &tmtc_err::NOT_ENOUGH_APP_DATA, None),
)
.expect("Sending start failure failed");
return Err(PusPacketHandlingError::NotEnoughAppData(
"Expected at least 4 bytes".into(),
));
}
//let target_id = u32::from_be_bytes(user_data[0..4].try_into().unwrap());
let target_id = TargetIdWithApid::from_tc(tc).unwrap();
let action_id = u32::from_be_bytes(user_data[4..8].try_into().unwrap());
if let Some(sender) = self.request_handlers.get(&target_id) {
sender
.send(RequestWithToken::new(
target_id,
Request::Action(ActionRequest::ActionIdAndVecData((
action_id,
Vec::from(&user_data[8..]),
))),
token,
))
.expect("Forwarding action request failed");
} else {
let mut fail_data: [u8; 4] = [0; 4];
fail_data.copy_from_slice(&target_id.target.to_be_bytes());
self.service_helper
.common
.verification_handler
.borrow_mut()
.start_failure(
token,
FailParams::new(
Some(time_stamp),
&tmtc_err::UNKNOWN_TARGET_ID,
Some(&fail_data),
),
)
.expect("Sending start failure failed");
return Err(PusPacketHandlingError::Other(format!(
"Unknown target ID {target_id}"
)));
}
Ok(())
}
fn handle_one_tc(&mut self) -> Result<PusPacketHandlerResult, PusPacketHandlingError> {
let possible_packet = self.service_helper.retrieve_and_accept_next_packet()?;
if possible_packet.is_none() {
return Ok(PusPacketHandlerResult::Empty);
}
let ecss_tc_and_token = possible_packet.unwrap();
self.service_helper
.tc_in_mem_converter
.cache_ecss_tc_in_memory(&ecss_tc_and_token.tc_in_memory)?;
let tc = PusTcReader::new(self.service_helper.tc_in_mem_converter.tc_slice_raw())?.0;
let subservice = tc.subservice();
let mut partial_error = None;
let time_stamp = PusServiceBase::get_current_timestamp(&mut partial_error);
match subservice {
128 => {
self.handle_action_request_with_id(ecss_tc_and_token.token, &tc, &time_stamp)?;
}
_ => {
let fail_data = [subservice];
self.service_helper
.common
.verification_handler
.get_mut()
.start_failure(
ecss_tc_and_token.token,
FailParams::new(
Some(&time_stamp),
&tmtc_err::INVALID_PUS_SUBSERVICE,
Some(&fail_data),
),
)
.expect("Sending start failure failed");
return Err(PusPacketHandlingError::InvalidSubservice(subservice));
}
}
if let Some(partial_error) = partial_error {
return Ok(PusPacketHandlerResult::RequestHandledPartialSuccess(
partial_error,
));
}
Ok(PusPacketHandlerResult::RequestHandled)
}
}
pub struct Pus8Wrapper<TcInMemConverter: EcssTcInMemConverter> {
pub(crate) pus_8_handler: PusService8ActionHandler<TcInMemConverter>,
pub(crate) pus_8_handler: PusService8ActionHandler<
TcInMemConverter,
ExampleActionRequestConverter,
GenericRequestRouter,
GenericRoutingErrorHandler<8>,
>,
}
impl<TcInMemConverter: EcssTcInMemConverter> Pus8Wrapper<TcInMemConverter> {

319
satrs-example/src/pus/hk.rs
View File

@ -1,122 +1,46 @@
use crate::requests::{Request, RequestWithToken};
use log::{error, warn};
use satrs::hk::{CollectionIntervalFactor, HkRequest};
use satrs::pool::{SharedStaticMemoryPool, StoreAddr};
use satrs::pus::hk::{PusHkToRequestConverter, PusService3HkHandler};
use satrs::pus::verification::{
FailParams, StdVerifReporterWithSender, VerificationReporterWithSender,
FailParams, TcStateAccepted, VerificationReporterWithSender, VerificationToken,
};
use satrs::pus::{
EcssTcAndToken, EcssTcInMemConverter, EcssTcInSharedStoreConverter, EcssTcInVecConverter,
EcssTcReceiver, EcssTmSender, MpscTcReceiver, MpscTmAsVecSender, MpscTmInSharedPoolSender,
PusPacketHandlerResult, PusPacketHandlingError, PusServiceBase, PusServiceHelper,
MpscTcReceiver, MpscTmAsVecSender, MpscTmInSharedPoolSender, PusPacketHandlerResult,
PusPacketHandlingError, PusServiceHelper,
};
use satrs::request::TargetAndApidId;
use satrs::spacepackets::ecss::tc::PusTcReader;
use satrs::spacepackets::ecss::{hk, PusPacket};
use satrs::tmtc::tm_helper::SharedTmPool;
use satrs::ChannelId;
use satrs::{ChannelId, TargetId};
use satrs_example::config::{hk_err, tmtc_err, TcReceiverId, TmSenderId, PUS_APID};
use satrs_example::TargetIdWithApid;
use std::collections::HashMap;
use std::sync::mpsc::{self, Sender};
use std::sync::mpsc::{self};
pub fn create_hk_service_static(
shared_tm_store: SharedTmPool,
tm_funnel_tx: mpsc::Sender<StoreAddr>,
verif_reporter: VerificationReporterWithSender,
tc_pool: SharedStaticMemoryPool,
pus_hk_rx: mpsc::Receiver<EcssTcAndToken>,
request_map: HashMap<TargetIdWithApid, mpsc::Sender<RequestWithToken>>,
) -> Pus3Wrapper<EcssTcInSharedStoreConverter> {
let hk_srv_tm_sender = MpscTmInSharedPoolSender::new(
TmSenderId::PusHk as ChannelId,
"PUS_3_TM_SENDER",
shared_tm_store.clone(),
tm_funnel_tx.clone(),
);
let hk_srv_receiver =
MpscTcReceiver::new(TcReceiverId::PusHk as ChannelId, "PUS_8_TC_RECV", pus_hk_rx);
let pus_3_handler = PusService3HkHandler::new(
Box::new(hk_srv_receiver),
Box::new(hk_srv_tm_sender),
PUS_APID,
verif_reporter.clone(),
EcssTcInSharedStoreConverter::new(tc_pool, 2048),
request_map,
);
Pus3Wrapper { pus_3_handler }
}
use crate::requests::GenericRequestRouter;
pub fn create_hk_service_dynamic(
tm_funnel_tx: mpsc::Sender<Vec<u8>>,
verif_reporter: VerificationReporterWithSender,
pus_hk_rx: mpsc::Receiver<EcssTcAndToken>,
request_map: HashMap<TargetIdWithApid, mpsc::Sender<RequestWithToken>>,
) -> Pus3Wrapper<EcssTcInVecConverter> {
let hk_srv_tm_sender = MpscTmAsVecSender::new(
TmSenderId::PusHk as ChannelId,
"PUS_3_TM_SENDER",
tm_funnel_tx.clone(),
);
let hk_srv_receiver =
MpscTcReceiver::new(TcReceiverId::PusHk as ChannelId, "PUS_8_TC_RECV", pus_hk_rx);
let pus_3_handler = PusService3HkHandler::new(
Box::new(hk_srv_receiver),
Box::new(hk_srv_tm_sender),
PUS_APID,
verif_reporter.clone(),
EcssTcInVecConverter::default(),
request_map,
);
Pus3Wrapper { pus_3_handler }
}
use super::GenericRoutingErrorHandler;
pub struct PusService3HkHandler<TcInMemConverter: EcssTcInMemConverter> {
psb: PusServiceHelper<TcInMemConverter>,
request_handlers: HashMap<TargetIdWithApid, Sender<RequestWithToken>>,
}
#[derive(Default)]
pub struct ExampleHkRequestConverter {}
impl<TcInMemConverter: EcssTcInMemConverter> PusService3HkHandler<TcInMemConverter> {
pub fn new(
tc_receiver: Box<dyn EcssTcReceiver>,
tm_sender: Box<dyn EcssTmSender>,
tm_apid: u16,
verification_handler: StdVerifReporterWithSender,
tc_in_mem_converter: TcInMemConverter,
request_handlers: HashMap<TargetIdWithApid, Sender<RequestWithToken>>,
) -> Self {
Self {
psb: PusServiceHelper::new(
tc_receiver,
tm_sender,
tm_apid,
verification_handler,
tc_in_mem_converter,
),
request_handlers,
}
}
impl PusHkToRequestConverter for ExampleHkRequestConverter {
type Error = PusPacketHandlingError;
fn handle_one_tc(&mut self) -> Result<PusPacketHandlerResult, PusPacketHandlingError> {
let possible_packet = self.psb.retrieve_and_accept_next_packet()?;
if possible_packet.is_none() {
return Ok(PusPacketHandlerResult::Empty);
}
let ecss_tc_and_token = possible_packet.unwrap();
let tc = self
.psb
.tc_in_mem_converter
.convert_ecss_tc_in_memory_to_reader(&ecss_tc_and_token.tc_in_memory)?;
let subservice = tc.subservice();
let mut partial_error = None;
let time_stamp = PusServiceBase::get_current_timestamp(&mut partial_error);
fn convert(
&mut self,
token: VerificationToken<TcStateAccepted>,
tc: &PusTcReader,
time_stamp: &[u8],
verif_reporter: &mut VerificationReporterWithSender,
) -> Result<(TargetId, HkRequest), Self::Error> {
let user_data = tc.user_data();
if user_data.is_empty() {
self.psb
.common
.verification_handler
.borrow_mut()
verif_reporter
.start_failure(
ecss_tc_and_token.token,
FailParams::new(Some(&time_stamp), &tmtc_err::NOT_ENOUGH_APP_DATA, None),
token,
FailParams::new(Some(time_stamp), &tmtc_err::NOT_ENOUGH_APP_DATA, None),
)
.expect("Sending start failure TM failed");
return Err(PusPacketHandlingError::NotEnoughAppData(
@ -129,84 +53,153 @@ impl<TcInMemConverter: EcssTcInMemConverter> PusService3HkHandler<TcInMemConvert
} else {
&hk_err::UNIQUE_ID_MISSING
};
self.psb
.common
.verification_handler
.borrow_mut()
.start_failure(
ecss_tc_and_token.token,
FailParams::new(Some(&time_stamp), err, None),
)
verif_reporter
.start_failure(token, FailParams::new(Some(time_stamp), err, None))
.expect("Sending start failure TM failed");
return Err(PusPacketHandlingError::NotEnoughAppData(
"Expected at least 8 bytes of app data".into(),
));
}
let target_id = TargetIdWithApid::from_tc(&tc).expect("invalid tc format");
let unique_id = u32::from_be_bytes(tc.user_data()[0..4].try_into().unwrap());
if !self.request_handlers.contains_key(&target_id) {
self.psb
.common
.verification_handler
.borrow_mut()
let subservice = tc.subservice();
let target_id = TargetAndApidId::from_pus_tc(tc).expect("invalid tc format");
let unique_id = u32::from_be_bytes(tc.user_data()[4..8].try_into().unwrap());
let standard_subservice = hk::Subservice::try_from(subservice);
if standard_subservice.is_err() {
verif_reporter
.start_failure(
ecss_tc_and_token.token,
FailParams::new(Some(&time_stamp), &hk_err::UNKNOWN_TARGET_ID, None),
token,
FailParams::new(
Some(time_stamp),
&tmtc_err::INVALID_PUS_SUBSERVICE,
Some(&[subservice]),
),
)
.expect("Sending start failure TM failed");
return Err(PusPacketHandlingError::NotEnoughAppData(format!(
"Unknown target ID {target_id}"
)));
return Err(PusPacketHandlingError::InvalidSubservice(subservice));
}
let send_request = |target: TargetIdWithApid, request: HkRequest| {
let sender = self.request_handlers.get(&target).unwrap();
sender
.send(RequestWithToken::new(
target,
Request::Hk(request),
ecss_tc_and_token.token,
))
.unwrap_or_else(|_| panic!("Sending HK request {request:?} failed"));
};
if subservice == hk::Subservice::TcEnableHkGeneration as u8 {
send_request(target_id, HkRequest::Enable(unique_id));
} else if subservice == hk::Subservice::TcDisableHkGeneration as u8 {
send_request(target_id, HkRequest::Disable(unique_id));
} else if subservice == hk::Subservice::TcGenerateOneShotHk as u8 {
send_request(target_id, HkRequest::OneShot(unique_id));
} else if subservice == hk::Subservice::TcModifyHkCollectionInterval as u8 {
if user_data.len() < 12 {
self.psb
.common
.verification_handler
.borrow_mut()
.start_failure(
ecss_tc_and_token.token,
FailParams::new(
Some(&time_stamp),
&hk_err::COLLECTION_INTERVAL_MISSING,
None,
Ok((
target_id.into(),
match standard_subservice.unwrap() {
hk::Subservice::TcEnableHkGeneration | hk::Subservice::TcEnableDiagGeneration => {
HkRequest::Enable(unique_id)
}
hk::Subservice::TcDisableHkGeneration | hk::Subservice::TcDisableDiagGeneration => {
HkRequest::Disable(unique_id)
}
hk::Subservice::TcReportHkReportStructures => todo!(),
hk::Subservice::TmHkPacket => todo!(),
hk::Subservice::TcGenerateOneShotHk | hk::Subservice::TcGenerateOneShotDiag => {
HkRequest::OneShot(unique_id)
}
hk::Subservice::TcModifyDiagCollectionInterval
| hk::Subservice::TcModifyHkCollectionInterval => {
if user_data.len() < 12 {
verif_reporter
.start_failure(
token,
FailParams::new(
Some(time_stamp),
&tmtc_err::NOT_ENOUGH_APP_DATA,
None,
),
)
.expect("Sending start failure TM failed");
return Err(PusPacketHandlingError::NotEnoughAppData(
"expected at least 8 bytes of app data".into(),
));
}
HkRequest::ModifyCollectionInterval(
unique_id,
CollectionIntervalFactor::from_be_bytes(
user_data[8..12].try_into().unwrap(),
),
)
.expect("Sending start failure TM failed");
return Err(PusPacketHandlingError::NotEnoughAppData(
"Collection interval missing".into(),
));
}
send_request(
target_id,
HkRequest::ModifyCollectionInterval(
unique_id,
CollectionIntervalFactor::from_be_bytes(user_data[8..12].try_into().unwrap()),
),
);
}
Ok(PusPacketHandlerResult::RequestHandled)
}
_ => {
verif_reporter
.start_failure(
token,
FailParams::new(
Some(time_stamp),
&tmtc_err::PUS_SUBSERVICE_NOT_IMPLEMENTED,
Some(&[subservice]),
),
)
.expect("Sending start failure TM failed");
return Err(PusPacketHandlingError::InvalidSubservice(subservice));
}
},
))
}
}
pub fn create_hk_service_static(
shared_tm_store: SharedTmPool,
tm_funnel_tx: mpsc::Sender<StoreAddr>,
verif_reporter: VerificationReporterWithSender,
tc_pool: SharedStaticMemoryPool,
pus_hk_rx: mpsc::Receiver<EcssTcAndToken>,
request_router: GenericRequestRouter,
) -> Pus3Wrapper<EcssTcInSharedStoreConverter> {
let hk_srv_tm_sender = MpscTmInSharedPoolSender::new(
TmSenderId::PusHk as ChannelId,
"PUS_3_TM_SENDER",
shared_tm_store.clone(),
tm_funnel_tx.clone(),
);
let hk_srv_receiver =
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),
PUS_APID,
verif_reporter.clone(),
EcssTcInSharedStoreConverter::new(tc_pool, 2048),
),
ExampleHkRequestConverter::default(),
request_router,
GenericRoutingErrorHandler::default(),
);
Pus3Wrapper { pus_3_handler }
}
pub fn create_hk_service_dynamic(
tm_funnel_tx: mpsc::Sender<Vec<u8>>,
verif_reporter: VerificationReporterWithSender,
pus_hk_rx: mpsc::Receiver<EcssTcAndToken>,
request_router: GenericRequestRouter,
) -> Pus3Wrapper<EcssTcInVecConverter> {
let hk_srv_tm_sender = MpscTmAsVecSender::new(
TmSenderId::PusHk as ChannelId,
"PUS_3_TM_SENDER",
tm_funnel_tx.clone(),
);
let hk_srv_receiver =
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),
PUS_APID,
verif_reporter.clone(),
EcssTcInVecConverter::default(),
),
ExampleHkRequestConverter::default(),
request_router,
GenericRoutingErrorHandler::default(),
);
Pus3Wrapper { pus_3_handler }
}
pub struct Pus3Wrapper<TcInMemConverter: EcssTcInMemConverter> {
pub(crate) pus_3_handler: PusService3HkHandler<TcInMemConverter>,
pub(crate) pus_3_handler: PusService3HkHandler<
TcInMemConverter,
ExampleHkRequestConverter,
GenericRequestRouter,
GenericRoutingErrorHandler<3>,
>,
}
impl<TcInMemConverter: EcssTcInMemConverter> Pus3Wrapper<TcInMemConverter> {

63
satrs-example/src/pus/mod.rs
View File

@ -1,7 +1,9 @@
use crate::tmtc::MpscStoreAndSendError;
use log::warn;
use satrs::pus::verification::{FailParams, StdVerifReporterWithSender};
use satrs::pus::{EcssTcAndToken, PusPacketHandlerResult, TcInMemory};
use satrs::pus::{
EcssTcAndToken, GenericRoutingError, PusPacketHandlerResult, PusRoutingErrorHandler, TcInMemory,
};
use satrs::spacepackets::ecss::tc::PusTcReader;
use satrs::spacepackets::ecss::PusServiceId;
use satrs::spacepackets::time::cds::TimeProvider;
@ -151,3 +153,62 @@ impl PusReceiver {
Ok(PusPacketHandlerResult::RequestHandled)
}
}
#[derive(Default)]
pub struct GenericRoutingErrorHandler<const SERVICE_ID: u8> {}
impl<const SERVICE_ID: u8> PusRoutingErrorHandler for GenericRoutingErrorHandler<SERVICE_ID> {
type Error = satrs::pus::GenericRoutingError;
fn handle_error(
&self,
target_id: satrs::TargetId,
token: satrs::pus::verification::VerificationToken<
satrs::pus::verification::TcStateAccepted,
>,
_tc: &PusTcReader,
error: Self::Error,
time_stamp: &[u8],
verif_reporter: &mut satrs::pus::verification::VerificationReporterWithSender,
) {
warn!("Routing request for service {SERVICE_ID} failed: {error:?}");
match error {
GenericRoutingError::UnknownTargetId(id) => {
let mut fail_data: [u8; 8] = [0; 8];
fail_data.copy_from_slice(&id.to_be_bytes());
verif_reporter
.start_failure(
token,
FailParams::new(
Some(time_stamp),
&tmtc_err::UNKNOWN_TARGET_ID,
Some(&fail_data),
),
)
.expect("Sending start failure failed");
}
GenericRoutingError::SendError(_) => {
let mut fail_data: [u8; 8] = [0; 8];
fail_data.copy_from_slice(&target_id.to_be_bytes());
verif_reporter
.start_failure(
token,
FailParams::new(
Some(time_stamp),
&tmtc_err::ROUTING_ERROR,
Some(&fail_data),
),
)
.expect("Sending start failure failed");
}
GenericRoutingError::NotEnoughAppData => {
verif_reporter
.start_failure(
token,
FailParams::new(Some(time_stamp), &tmtc_err::NOT_ENOUGH_APP_DATA, None),
)
.expect("Sending start failure failed");
}
}
}
}

45
satrs-example/src/queue.rs Normal file
View File

@ -0,0 +1,45 @@
/// Generic error type for sending something via a message queue.
#[derive(Debug, Copy, Clone)]
pub enum GenericSendError {
RxDisconnected,
QueueFull(Option<u32>),
}
impl Display for GenericSendError {
fn fmt(&self, f: &mut Formatter<'_>) -> core::fmt::Result {
match self {
GenericSendError::RxDisconnected => {
write!(f, "rx side has disconnected")
}
GenericSendError::QueueFull(max_cap) => {
write!(f, "queue with max capacity of {max_cap:?} is full")
}
}
}
}
#[cfg(feature = "std")]
impl Error for GenericSendError {}
/// Generic error type for sending something via a message queue.
#[derive(Debug, Copy, Clone)]
pub enum GenericRecvError {
Empty,
TxDisconnected,
}
impl Display for GenericRecvError {
fn fmt(&self, f: &mut Formatter<'_>) -> core::fmt::Result {
match self {
Self::TxDisconnected => {
write!(f, "tx side has disconnected")
}
Self::Empty => {
write!(f, "nothing to receive")
}
}
}
}
#[cfg(feature = "std")]
impl Error for GenericRecvError {}

60
satrs-example/src/requests.rs
View File

@ -1,9 +1,16 @@
use std::collections::HashMap;
use std::sync::mpsc;
use derive_new::new;
use satrs::action::ActionRequest;
use satrs::hk::HkRequest;
use satrs::mode::ModeRequest;
use satrs::pus::action::PusActionRequestRouter;
use satrs::pus::hk::PusHkRequestRouter;
use satrs::pus::verification::{TcStateAccepted, VerificationToken};
use satrs_example::TargetIdWithApid;
use satrs::pus::GenericRoutingError;
use satrs::queue::GenericSendError;
use satrs::TargetId;
#[allow(dead_code)]
#[derive(Clone, Eq, PartialEq, Debug)]
@ -16,7 +23,7 @@ pub enum Request {
#[derive(Clone, Eq, PartialEq, Debug, new)]
pub struct TargetedRequest {
pub(crate) target_id_with_apid: TargetIdWithApid,
pub(crate) target_id: TargetId,
pub(crate) request: Request,
}
@ -28,7 +35,7 @@ pub struct RequestWithToken {
impl RequestWithToken {
pub fn new(
target_id: TargetIdWithApid,
target_id: TargetId,
request: Request,
token: VerificationToken<TcStateAccepted>,
) -> Self {
@ -38,3 +45,50 @@ impl RequestWithToken {
}
}
}
#[derive(Default, Clone)]
pub struct GenericRequestRouter(pub HashMap<TargetId, mpsc::Sender<RequestWithToken>>);
impl PusHkRequestRouter for GenericRequestRouter {
type Error = GenericRoutingError;
fn route(
&self,
target_id: TargetId,
hk_request: HkRequest,
token: VerificationToken<TcStateAccepted>,
) -> Result<(), Self::Error> {
if let Some(sender) = self.0.get(&target_id) {
sender
.send(RequestWithToken::new(
target_id,
Request::Hk(hk_request),
token,
))
.map_err(|_| GenericRoutingError::SendError(GenericSendError::RxDisconnected))?;
}
Ok(())
}
}
impl PusActionRequestRouter for GenericRequestRouter {
type Error = GenericRoutingError;
fn route(
&self,
target_id: TargetId,
action_request: ActionRequest,
token: VerificationToken<TcStateAccepted>,
) -> Result<(), Self::Error> {
if let Some(sender) = self.0.get(&target_id) {
sender
.send(RequestWithToken::new(
target_id,
Request::Action(action_request),
token,
))
.map_err(|_| GenericRoutingError::SendError(GenericSendError::RxDisconnected))?;
}
Ok(())
}
}

33
satrs/src/action.rs
View File

@ -1,21 +1,38 @@
use crate::{pool::StoreAddr, tmtc::TargetId};
use crate::{pool::StoreAddr, TargetId};
pub type ActionId = u32;
#[derive(Clone, Eq, PartialEq, Debug)]
pub enum ActionRequest {
ActionIdAndStoreData((ActionId, StoreAddr)),
ActionIdAndVecData((ActionId, alloc::vec::Vec<u8>)),
StringIdAndVecData((alloc::string::String, alloc::vec::Vec<u8>)),
StringIdAndStoreData((alloc::string::String, StoreAddr)),
ActionIdAndStoreData {
action_id: ActionId,
data_addr: StoreAddr,
},
ActionIdAndVecData {
action_id: ActionId,
data: alloc::vec::Vec<u8>,
},
StringIdAndVecData {
action_id: alloc::string::String,
data: alloc::vec::Vec<u8>,
},
StringIdAndStoreData {
action_id: alloc::string::String,
data: StoreAddr,
},
}
#[derive(Debug, Clone, PartialEq, Eq)]
pub struct TargetedActionRequest {
target: TargetId,
hk_request: ActionRequest,
action_request: ActionRequest,
}
pub trait ActionRequestProvider {
fn route_action_request(&self, targeted_request: TargetedActionRequest);
impl TargetedActionRequest {
pub fn new(target: TargetId, action_request: ActionRequest) -> Self {
Self {
target,
action_request,
}
}
}

28
satrs/src/hk.rs
View File

@ -1,4 +1,7 @@
use crate::tmtc::TargetId;
use crate::{
pus::verification::{TcStateAccepted, VerificationToken},
TargetId,
};
pub type CollectionIntervalFactor = u32;
pub type UniqueId = u32;
@ -13,10 +16,25 @@ pub enum HkRequest {
#[derive(Debug, Copy, Clone, PartialEq, Eq)]
pub struct TargetedHkRequest {
target: TargetId,
hk_request: HkRequest,
pub target_id: TargetId,
pub hk_request: HkRequest,
}
pub trait HkRequestProvider {
fn route_hk_request(&self, targeted_request: TargetedHkRequest);
impl TargetedHkRequest {
pub fn new(target_id: TargetId, hk_request: HkRequest) -> Self {
Self {
target_id,
hk_request,
}
}
}
pub trait PusHkRequestRouter {
type Error;
fn route(
&self,
target_id: TargetId,
hk_request: HkRequest,
token: VerificationToken<TcStateAccepted>,
) -> Result<(), Self::Error>;
}

6
satrs/src/lib.rs
View File

@ -43,6 +43,7 @@ pub mod params;
pub mod pool;
pub mod power;
pub mod pus;
pub mod queue;
pub mod request;
pub mod res_code;
pub mod seq_count;
@ -50,5 +51,8 @@ pub mod tmtc;
pub use spacepackets;
// Generic channel ID type.
/// Generic channel ID type.
pub type ChannelId = u32;
/// Generic target ID type.
pub type TargetId = u64;

3
satrs/src/mode.rs
View File

@ -1,9 +1,10 @@
use crate::tmtc::TargetId;
use core::mem::size_of;
#[cfg(feature = "serde")]
use serde::{Deserialize, Serialize};
use spacepackets::ByteConversionError;
use crate::TargetId;
#[derive(Debug, Copy, Clone, PartialEq, Eq)]
#[cfg_attr(feature = "serde", derive(Serialize, Deserialize))]
pub struct ModeAndSubmode {

3
satrs/src/objects.rs
View File

@ -51,7 +51,6 @@
//! assert_eq!(example_obj.id, obj_id);
//! assert_eq!(example_obj.dummy, 42);
//! ```
use crate::tmtc::TargetId;
#[cfg(feature = "alloc")]
use alloc::boxed::Box;
#[cfg(feature = "alloc")]
@ -63,6 +62,8 @@ use hashbrown::HashMap;
#[cfg(feature = "std")]
use std::error::Error;
use crate::TargetId;
#[derive(PartialEq, Eq, Hash, Copy, Clone, Debug)]
pub struct ObjectId {
pub id: TargetId,

115
satrs/src/pus/action.rs Normal file
View File

@ -0,0 +1,115 @@
use spacepackets::ecss::tc::PusTcReader;
use crate::{action::ActionRequest, TargetId};
use super::verification::{TcStateAccepted, VerificationReporterWithSender, VerificationToken};
#[cfg(feature = "std")]
#[cfg_attr(doc_cfg, doc(cfg(feature = "std")))]
pub use std_mod::*;
pub trait PusActionToRequestConverter {
type Error;
fn convert(
&mut self,
token: VerificationToken<TcStateAccepted>,
tc: &PusTcReader,
time_stamp: &[u8],
verif_reporter: &mut VerificationReporterWithSender,
) -> Result<(TargetId, ActionRequest), Self::Error>;
}
pub trait PusActionRequestRouter {
type Error;
fn route(
&self,
target_id: TargetId,
hk_request: ActionRequest,
token: VerificationToken<TcStateAccepted>,
) -> Result<(), Self::Error>;
}
#[cfg(feature = "std")]
#[cfg_attr(doc_cfg, doc(cfg(feature = "std")))]
pub mod std_mod {
use crate::pus::{
EcssTcInMemConverter, GenericRoutingError, PusPacketHandlerResult, PusPacketHandlingError,
PusRoutingErrorHandler, PusServiceBase, PusServiceHelper,
};
use super::*;
pub struct PusService8ActionHandler<
TcInMemConverter: EcssTcInMemConverter,
RequestConverter: PusActionToRequestConverter,
RequestRouter: PusActionRequestRouter,
RoutingErrorHandler: PusRoutingErrorHandler,
> {
service_helper: PusServiceHelper<TcInMemConverter>,
request_converter: RequestConverter,
request_router: RequestRouter,
routing_error_handler: RoutingErrorHandler,
}
impl<
TcInMemConverter: EcssTcInMemConverter,
RequestConverter: PusActionToRequestConverter<Error = PusPacketHandlingError>,
RequestRouter: PusActionRequestRouter<Error = GenericRoutingError>,
RoutingErrorHandler: PusRoutingErrorHandler<Error = GenericRoutingError>,
>
PusService8ActionHandler<
TcInMemConverter,
RequestConverter,
RequestRouter,
RoutingErrorHandler,
>
{
pub fn new(
service_helper: PusServiceHelper<TcInMemConverter>,
request_converter: RequestConverter,
request_router: RequestRouter,
routing_error_handler: RoutingErrorHandler,
) -> Self {
Self {
service_helper,
request_converter,
request_router,
routing_error_handler,
}
}
pub fn handle_one_tc(&mut self) -> Result<PusPacketHandlerResult, PusPacketHandlingError> {
let possible_packet = self.service_helper.retrieve_and_accept_next_packet()?;
if possible_packet.is_none() {
return Ok(PusPacketHandlerResult::Empty);
}
let ecss_tc_and_token = possible_packet.unwrap();
let tc = self
.service_helper
.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::get_current_timestamp(&mut partial_error);
let (target_id, action_request) = self.request_converter.convert(
ecss_tc_and_token.token,
&tc,
&time_stamp,
&mut self.service_helper.common.verification_handler.borrow_mut(),
)?;
if let Err(e) =
self.request_router
.route(target_id, action_request, ecss_tc_and_token.token)
{
self.routing_error_handler.handle_error(
target_id,
ecss_tc_and_token.token,
&tc,
e,
&time_stamp,
&mut self.service_helper.common.verification_handler.borrow_mut(),
);
}
Ok(PusPacketHandlerResult::RequestHandled)
}
}
}

109
satrs/src/pus/hk.rs
View File

@ -1 +1,110 @@
pub use spacepackets::ecss::hk::*;
use spacepackets::ecss::tc::PusTcReader;
use crate::{hk::HkRequest, TargetId};
#[cfg(feature = "std")]
#[cfg_attr(doc_cfg, doc(cfg(feature = "std")))]
pub use std_mod::*;
use super::{
verification::{TcStateAccepted, VerificationReporterWithSender, VerificationToken},
EcssTcInMemConverter, GenericRoutingError, PusPacketHandlerResult, PusPacketHandlingError,
PusRoutingErrorHandler, PusServiceBase, PusServiceHelper,
};
pub trait PusHkToRequestConverter {
type Error;
fn convert(
&mut self,
token: VerificationToken<TcStateAccepted>,
tc: &PusTcReader,
time_stamp: &[u8],
verif_reporter: &mut VerificationReporterWithSender,
) -> Result<(TargetId, HkRequest), Self::Error>;
}
pub trait PusHkRequestRouter {
type Error;
fn route(
&self,
target_id: TargetId,
hk_request: HkRequest,
token: VerificationToken<TcStateAccepted>,
) -> Result<(), Self::Error>;
}
#[cfg(feature = "std")]
#[cfg_attr(doc_cfg, doc(cfg(feature = "std")))]
pub mod std_mod {
use super::*;
pub struct PusService3HkHandler<
TcInMemConverter: EcssTcInMemConverter,
RequestConverter: PusHkToRequestConverter,
RequestRouter: PusHkRequestRouter,
RoutingErrorHandler: PusRoutingErrorHandler,
> {
service_helper: PusServiceHelper<TcInMemConverter>,
request_converter: RequestConverter,
request_router: RequestRouter,
routing_error_handler: RoutingErrorHandler,
}
impl<
TcInMemConverter: EcssTcInMemConverter,
RequestConverter: PusHkToRequestConverter<Error = PusPacketHandlingError>,
RequestRouter: PusHkRequestRouter<Error = GenericRoutingError>,
RoutingErrorHandler: PusRoutingErrorHandler<Error = GenericRoutingError>,
>
PusService3HkHandler<TcInMemConverter, RequestConverter, RequestRouter, RoutingErrorHandler>
{
pub fn new(
service_helper: PusServiceHelper<TcInMemConverter>,
request_converter: RequestConverter,
request_router: RequestRouter,
routing_error_handler: RoutingErrorHandler,
) -> Self {
Self {
service_helper,
request_converter,
request_router,
routing_error_handler,
}
}
pub fn handle_one_tc(&mut self) -> Result<PusPacketHandlerResult, PusPacketHandlingError> {
let possible_packet = self.service_helper.retrieve_and_accept_next_packet()?;
if possible_packet.is_none() {
return Ok(PusPacketHandlerResult::Empty);
}
let ecss_tc_and_token = possible_packet.unwrap();
let tc = self
.service_helper
.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::get_current_timestamp(&mut partial_error);
let (target_id, hk_request) = self.request_converter.convert(
ecss_tc_and_token.token,
&tc,
&time_stamp,
&mut self.service_helper.common.verification_handler.borrow_mut(),
)?;
if let Err(e) =
self.request_router
.route(target_id, hk_request, ecss_tc_and_token.token)
{
self.routing_error_handler.handle_error(
target_id,
ecss_tc_and_token.token,
&tc,
e,
&time_stamp,
&mut self.service_helper.common.verification_handler.borrow_mut(),
);
}
Ok(PusPacketHandlerResult::RequestHandled)
}
}
}

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

@ -2,7 +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::ChannelId;
use crate::queue::{GenericRecvError, GenericSendError};
use crate::{ChannelId, TargetId};
use core::fmt::{Display, Formatter};
#[cfg(feature = "alloc")]
use downcast_rs::{impl_downcast, Downcast};
@ -16,6 +17,7 @@ use spacepackets::ecss::tm::PusTmCreator;
use spacepackets::ecss::PusError;
use spacepackets::{ByteConversionError, SpHeader};
pub mod action;
pub mod event;
pub mod event_man;
#[cfg(feature = "std")]
@ -37,6 +39,8 @@ use crate::pus::verification::{TcStateAccepted, TcStateToken, VerificationToken}
#[cfg(feature = "std")]
pub use std_mod::*;
use self::verification::VerificationReporterWithSender;
#[derive(Debug, PartialEq, Eq, Clone)]
pub enum PusTmWrapper<'tm> {
InStore(StoreAddr),
@ -55,52 +59,6 @@ impl<'tm> From<PusTmCreator<'tm>> for PusTmWrapper<'tm> {
}
}
/// Generic error type for sending something via a message queue.
#[derive(Debug, Copy, Clone)]
pub enum GenericSendError {
RxDisconnected,
QueueFull(Option<u32>),
}
impl Display for GenericSendError {
fn fmt(&self, f: &mut Formatter<'_>) -> core::fmt::Result {
match self {
GenericSendError::RxDisconnected => {
write!(f, "rx side has disconnected")
}
GenericSendError::QueueFull(max_cap) => {
write!(f, "queue with max capacity of {max_cap:?} is full")
}
}
}
}
#[cfg(feature = "std")]
impl Error for GenericSendError {}
/// Generic error type for sending something via a message queue.
#[derive(Debug, Copy, Clone)]
pub enum GenericRecvError {
Empty,
TxDisconnected,
}
impl Display for GenericRecvError {
fn fmt(&self, f: &mut Formatter<'_>) -> core::fmt::Result {
match self {
Self::TxDisconnected => {
write!(f, "tx side has disconnected")
}
Self::Empty => {
write!(f, "nothing to receive")
}
}
}
}
#[cfg(feature = "std")]
impl Error for GenericRecvError {}
#[derive(Debug, Clone)]
pub enum EcssTmtcError {
StoreLock,
@ -385,6 +343,19 @@ mod alloc_mod {
impl<T> EcssTcReceiver for T where T: EcssTcReceiverCore + 'static {}
impl_downcast!(EcssTcReceiver);
pub trait PusRoutingErrorHandler {
type Error;
fn handle_error(
&self,
target_id: TargetId,
token: VerificationToken<TcStateAccepted>,
tc: &PusTcReader,
error: GenericRoutingError,
time_stamp: &[u8],
verif_reporter: &mut VerificationReporterWithSender,
);
}
}
#[cfg(feature = "std")]
@ -400,7 +371,7 @@ pub mod std_mod {
TryRecvTmtcError,
};
use crate::tmtc::tm_helper::SharedTmPool;
use crate::ChannelId;
use crate::{ChannelId, TargetId};
use alloc::boxed::Box;
use alloc::vec::Vec;
use crossbeam_channel as cb;
@ -662,6 +633,20 @@ pub mod std_mod {
}
}
// 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
// will be no_std soon, see https://github.com/rust-lang/rust/issues/103765 .
#[derive(Debug, Clone, Error)]
pub enum GenericRoutingError {
#[error("Not enough application data, expected at least 4 bytes for target ID")]
NotEnoughAppData,
#[error("Unknown target ID {0}")]
UnknownTargetId(TargetId),
#[error("Sending action request failed: {0}")]
SendError(GenericSendError),
}
#[derive(Debug, Clone, Error)]
pub enum PusPacketHandlingError {
#[error("generic PUS error: {0}")]
@ -682,6 +667,8 @@ pub mod std_mod {
EcssTmtc(#[from] EcssTmtcError),
#[error("invalid verification token")]
InvalidVerificationToken,
#[error("request routing error: {0}")]
RequestRoutingError(#[from] GenericRoutingError),
#[error("other error {0}")]
Other(String),
}

49
satrs/src/queue.rs Normal file
View File

@ -0,0 +1,49 @@
use core::fmt::{Display, Formatter};
#[cfg(feature = "std")]
use std::error::Error;
/// Generic error type for sending something via a message queue.
#[derive(Debug, Copy, Clone)]
pub enum GenericSendError {
RxDisconnected,
QueueFull(Option<u32>),
}
impl Display for GenericSendError {
fn fmt(&self, f: &mut Formatter<'_>) -> core::fmt::Result {
match self {
GenericSendError::RxDisconnected => {
write!(f, "rx side has disconnected")
}
GenericSendError::QueueFull(max_cap) => {
write!(f, "queue with max capacity of {max_cap:?} is full")
}
}
}
}
#[cfg(feature = "std")]
impl Error for GenericSendError {}
/// Generic error type for sending something via a message queue.
#[derive(Debug, Copy, Clone)]
pub enum GenericRecvError {
Empty,
TxDisconnected,
}
impl Display for GenericRecvError {
fn fmt(&self, f: &mut Formatter<'_>) -> core::fmt::Result {
match self {
Self::TxDisconnected => {
write!(f, "tx side has disconnected")
}
Self::Empty => {
write!(f, "nothing to receive")
}
}
}
}
#[cfg(feature = "std")]
impl Error for GenericRecvError {}

86
satrs/src/request.rs
View File

@ -1,3 +1,85 @@
pub trait RequestRouter {
//fn route_request(&self, request: Request);
use core::fmt;
use spacepackets::{
ecss::{tc::IsPusTelecommand, PusPacket},
ByteConversionError, CcsdsPacket,
};
use thiserror::Error;
use crate::TargetId;
pub type Apid = u16;
#[derive(Debug, Error)]
pub enum TargetIdCreationError {
#[error("byte conversion")]
ByteConversion(#[from] ByteConversionError),
#[error("not enough app data to generate target ID")]
NotEnoughAppData(usize),
}
#[derive(Copy, Clone, PartialEq, Eq, Hash, Debug)]
pub struct TargetAndApidId {
pub apid: Apid,
pub target: u32,
}
impl TargetAndApidId {
pub fn new(apid: Apid, target: u32) -> Self {
Self { apid, target }
}
pub fn apid(&self) -> Apid {
self.apid
}
pub fn target(&self) -> u32 {
self.target
}
pub fn raw(&self) -> TargetId {
((self.apid as u64) << 32) | (self.target as u64)
}
pub fn target_id(&self) -> TargetId {
self.raw()
}
pub fn from_pus_tc(
tc: &(impl CcsdsPacket + PusPacket + IsPusTelecommand),
) -> Result<Self, TargetIdCreationError> {
if tc.user_data().len() < 4 {
return Err(ByteConversionError::FromSliceTooSmall {
found: tc.user_data().len(),
expected: 8,
}
.into());
}
Ok(Self {
apid: tc.apid(),
target: u32::from_be_bytes(tc.user_data()[0..4].try_into().unwrap()),
})
}
}
impl From<u64> for TargetAndApidId {
fn from(raw: u64) -> Self {
Self {
apid: (raw >> 32) as u16,
target: raw as u32,
}
}
}
impl From<TargetAndApidId> for u64 {
fn from(target_and_apid_id: TargetAndApidId) -> Self {
target_and_apid_id.raw()
}
}
impl fmt::Display for TargetAndApidId {
fn fmt(&self, f: &mut fmt::Formatter) -> fmt::Result {
write!(f, "{}, {}", self.apid, self.target)
}
}

2
satrs/src/tmtc/mod.rs
View File

@ -20,8 +20,6 @@ pub use ccsds_distrib::{CcsdsDistributor, CcsdsError, CcsdsPacketHandler};
#[cfg(feature = "alloc")]
pub use pus_distrib::{PusDistributor, PusServiceProvider};
pub type TargetId = u32;
/// Generic trait for object which can receive any telecommands in form of a raw bytestream, with
/// no assumptions about the received protocol.
///