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Finish PUS service optimizations
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- Better naming for pool abstractions
- Added last unittests for PUS helper services
- Introduce new abstraction for PUS schedulers
- `StoreAddr` is now a generic u64
- `spacepackets` points to 0.7.0 release
This commit is contained in:
Robin Müller
2024-02-03 13:41:51 +01:00
parent 6152c834d4
commit a891b947c7
22 changed files with 1669 additions and 874 deletions
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24
satrs-example/src/pus/action.rs
View File

@ -4,8 +4,8 @@ use satrs_core::pus::verification::{
FailParams, TcStateAccepted, VerificationReporterWithSender, VerificationToken,
};
use satrs_core::pus::{
EcssTcInMemConverter, EcssTcInStoreConverter, EcssTcReceiver, EcssTmSender,
PusPacketHandlerResult, PusPacketHandlingError, PusServiceBase, PusServiceHandler,
EcssTcInMemConverter, EcssTcInSharedStoreConverter, EcssTcReceiver, EcssTmSender,
PusPacketHandlerResult, PusPacketHandlingError, PusServiceBase, PusServiceHelper,
};
use satrs_core::spacepackets::ecss::tc::PusTcReader;
use satrs_core::spacepackets::ecss::PusPacket;
@ -14,7 +14,7 @@ use std::collections::HashMap;
use std::sync::mpsc::Sender;
pub struct PusService8ActionHandler<TcInMemConverter: EcssTcInMemConverter> {
psb: PusServiceHandler<TcInMemConverter>,
service_helper: PusServiceHelper<TcInMemConverter>,
request_handlers: HashMap<TargetIdWithApid, Sender<RequestWithToken>>,
}
@ -28,7 +28,7 @@ impl<TcInMemConverter: EcssTcInMemConverter> PusService8ActionHandler<TcInMemCon
request_handlers: HashMap<TargetIdWithApid, Sender<RequestWithToken>>,
) -> Self {
Self {
psb: PusServiceHandler::new(
service_helper: PusServiceHelper::new(
tc_receiver,
tm_sender,
tm_apid,
@ -47,7 +47,7 @@ impl<TcInMemConverter: EcssTcInMemConverter> PusService8ActionHandler<TcInMemCon
) -> Result<(), PusPacketHandlingError> {
let user_data = tc.user_data();
if user_data.len() < 8 {
self.psb
self.service_helper
.common
.verification_handler
.borrow_mut()
@ -77,7 +77,7 @@ impl<TcInMemConverter: EcssTcInMemConverter> PusService8ActionHandler<TcInMemCon
} else {
let mut fail_data: [u8; 4] = [0; 4];
fail_data.copy_from_slice(&target_id.target.to_be_bytes());
self.psb
self.service_helper
.common
.verification_handler
.borrow_mut()
@ -98,15 +98,15 @@ impl<TcInMemConverter: EcssTcInMemConverter> PusService8ActionHandler<TcInMemCon
}
fn handle_one_tc(&mut self) -> Result<PusPacketHandlerResult, PusPacketHandlingError> {
let possible_packet = self.psb.retrieve_and_accept_next_packet()?;
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.psb
self.service_helper
.tc_in_mem_converter
.cache_ecss_tc_in_memory(&ecss_tc_and_token)?;
let tc = PusTcReader::new(self.psb.tc_in_mem_converter.tc_slice_raw())?.0;
.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);
@ -116,7 +116,7 @@ impl<TcInMemConverter: EcssTcInMemConverter> PusService8ActionHandler<TcInMemCon
}
_ => {
let fail_data = [subservice];
self.psb
self.service_helper
.common
.verification_handler
.get_mut()
@ -142,7 +142,7 @@ impl<TcInMemConverter: EcssTcInMemConverter> PusService8ActionHandler<TcInMemCon
}
pub struct Pus8Wrapper {
pub(crate) pus_8_handler: PusService8ActionHandler<EcssTcInStoreConverter>,
pub(crate) pus_8_handler: PusService8ActionHandler<EcssTcInSharedStoreConverter>,
}
impl Pus8Wrapper {

4
satrs-example/src/pus/event.rs
View File

@ -1,9 +1,9 @@
use log::{error, warn};
use satrs_core::pus::event_srv::PusService5EventHandler;
use satrs_core::pus::{EcssTcInStoreConverter, PusPacketHandlerResult};
use satrs_core::pus::{EcssTcInSharedStoreConverter, PusPacketHandlerResult};
pub struct Pus5Wrapper {
pub pus_5_handler: PusService5EventHandler<EcssTcInStoreConverter>,
pub pus_5_handler: PusService5EventHandler<EcssTcInSharedStoreConverter>,
}
impl Pus5Wrapper {

12
satrs-example/src/pus/hk.rs
View File

@ -3,8 +3,8 @@ use log::{error, warn};
use satrs_core::hk::{CollectionIntervalFactor, HkRequest};
use satrs_core::pus::verification::{FailParams, StdVerifReporterWithSender};
use satrs_core::pus::{
EcssTcInMemConverter, EcssTcInStoreConverter, EcssTcReceiver, EcssTmSender,
PusPacketHandlerResult, PusPacketHandlingError, PusServiceBase, PusServiceHandler,
EcssTcInMemConverter, EcssTcInSharedStoreConverter, EcssTcReceiver, EcssTmSender,
PusPacketHandlerResult, PusPacketHandlingError, PusServiceBase, PusServiceHelper,
};
use satrs_core::spacepackets::ecss::{hk, PusPacket};
use satrs_example::{hk_err, tmtc_err, TargetIdWithApid};
@ -12,7 +12,7 @@ use std::collections::HashMap;
use std::sync::mpsc::Sender;
pub struct PusService3HkHandler<TcInMemConverter: EcssTcInMemConverter> {
psb: PusServiceHandler<TcInMemConverter>,
psb: PusServiceHelper<TcInMemConverter>,
request_handlers: HashMap<TargetIdWithApid, Sender<RequestWithToken>>,
}
@ -26,7 +26,7 @@ impl<TcInMemConverter: EcssTcInMemConverter> PusService3HkHandler<TcInMemConvert
request_handlers: HashMap<TargetIdWithApid, Sender<RequestWithToken>>,
) -> Self {
Self {
psb: PusServiceHandler::new(
psb: PusServiceHelper::new(
tc_receiver,
tm_sender,
tm_apid,
@ -46,7 +46,7 @@ impl<TcInMemConverter: EcssTcInMemConverter> PusService3HkHandler<TcInMemConvert
let tc = self
.psb
.tc_in_mem_converter
.convert_ecss_tc_in_memory_to_reader(&ecss_tc_and_token)?;
.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);
@ -148,7 +148,7 @@ impl<TcInMemConverter: EcssTcInMemConverter> PusService3HkHandler<TcInMemConvert
}
pub struct Pus3Wrapper {
pub(crate) pus_3_handler: PusService3HkHandler<EcssTcInStoreConverter>,
pub(crate) pus_3_handler: PusService3HkHandler<EcssTcInSharedStoreConverter>,
}
impl Pus3Wrapper {

42
satrs-example/src/pus/scheduler.rs
View File

@ -1,50 +1,54 @@
use crate::tmtc::PusTcSource;
use log::{error, info, warn};
use satrs_core::pus::scheduler::TcInfo;
use satrs_core::pool::{PoolProviderMemInPlace, StaticMemoryPool};
use satrs_core::pus::scheduler::{PusScheduler, TcInfo};
use satrs_core::pus::scheduler_srv::PusService11SchedHandler;
use satrs_core::pus::{EcssTcInStoreConverter, PusPacketHandlerResult};
use satrs_core::pus::{EcssTcInSharedStoreConverter, PusPacketHandlerResult};
pub struct Pus11Wrapper {
pub pus_11_handler: PusService11SchedHandler<EcssTcInStoreConverter>,
pub pus_11_handler: PusService11SchedHandler<EcssTcInSharedStoreConverter, PusScheduler>,
pub sched_tc_pool: StaticMemoryPool,
pub tc_source_wrapper: PusTcSource,
}
impl Pus11Wrapper {
pub fn release_tcs(&mut self) {
let releaser = |enabled: bool, info: &TcInfo| -> bool {
let releaser = |enabled: bool, _info: &TcInfo, tc: &[u8]| -> bool {
if enabled {
// Transfer TC from scheduler TC pool to shared TC pool.
let released_tc_addr = self
.tc_source_wrapper
.tc_store
.pool
.write()
.expect("locking pool failed")
.add(tc)
.expect("adding TC to shared pool failed");
self.tc_source_wrapper
.tc_source
.send(info.addr())
.send(released_tc_addr)
.expect("sending TC to TC source failed");
}
true
};
let mut pool = self
.tc_source_wrapper
.tc_store
.pool
.write()
.expect("error locking pool");
self.pus_11_handler
.scheduler_mut()
.update_time_from_now()
.unwrap();
if let Ok(released_tcs) = self
let released_tcs = self
.pus_11_handler
.scheduler_mut()
.release_telecommands(releaser, pool.as_mut())
{
if released_tcs > 0 {
info!("{released_tcs} TC(s) released from scheduler");
}
.release_telecommands(releaser, &mut self.sched_tc_pool)
.expect("releasing TCs failed");
if released_tcs > 0 {
info!("{released_tcs} TC(s) released from scheduler");
}
}
pub fn handle_next_packet(&mut self) -> bool {
match self.pus_11_handler.handle_one_tc() {
match self.pus_11_handler.handle_one_tc(&mut self.sched_tc_pool) {
Ok(result) => match result {
PusPacketHandlerResult::RequestHandled => {}
PusPacketHandlerResult::RequestHandledPartialSuccess(e) => {

20
satrs-example/src/pus/test.rs
View File

@ -7,12 +7,12 @@ use satrs_core::spacepackets::ecss::tc::PusTcReader;
use satrs_core::spacepackets::ecss::PusPacket;
use satrs_core::spacepackets::time::cds::TimeProvider;
use satrs_core::spacepackets::time::TimeWriter;
use satrs_core::{events::EventU32, pus::EcssTcInStoreConverter};
use satrs_core::{events::EventU32, pus::EcssTcInSharedStoreConverter};
use satrs_example::{tmtc_err, TEST_EVENT};
use std::sync::mpsc::Sender;
pub struct Service17CustomWrapper {
pub pus17_handler: PusService17TestHandler<EcssTcInStoreConverter>,
pub pus17_handler: PusService17TestHandler<EcssTcInSharedStoreConverter>,
pub test_srv_event_sender: Sender<(EventU32, Option<Params>)>,
}
@ -38,9 +38,13 @@ impl Service17CustomWrapper {
warn!("PUS17: Subservice {subservice} not implemented")
}
PusPacketHandlerResult::CustomSubservice(subservice, token) => {
let (tc, _) =
PusTcReader::new(self.pus17_handler.psb.tc_in_mem_converter.tc_slice_raw())
.unwrap();
let (tc, _) = PusTcReader::new(
self.pus17_handler
.service_helper
.tc_in_mem_converter
.tc_slice_raw(),
)
.unwrap();
let time_stamper = TimeProvider::from_now_with_u16_days().unwrap();
let mut stamp_buf: [u8; 7] = [0; 7];
time_stamper.write_to_bytes(&mut stamp_buf).unwrap();
@ -51,14 +55,14 @@ impl Service17CustomWrapper {
.expect("Sending test event failed");
let start_token = self
.pus17_handler
.psb
.service_helper
.common
.verification_handler
.get_mut()
.start_success(token, Some(&stamp_buf))
.expect("Error sending start success");
self.pus17_handler
.psb
.service_helper
.common
.verification_handler
.get_mut()
@ -67,7 +71,7 @@ impl Service17CustomWrapper {
} else {
let fail_data = [tc.subservice()];
self.pus17_handler
.psb
.service_helper
.common
.verification_handler
.get_mut()