rust/sat-rs
rust/sat-rs
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Robin Müller 2024-01-29 23:38:32 +01:00
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21
README.md
View File

@ -5,7 +5,9 @@ sat-rs
This is the repository of the sat-rs framework. Its primary goal is to provide re-usable components
to write on-board software for remote systems like rovers or satellites. It is specifically written
for the special requirements for these systems.
for the special requirements for these systems. You can find an overview of the project and the
link to the [more high-level sat-rs book](https://documentation.irs.uni-stuttgart.de/projects/sat-rs/)
at the [IRS documentation website](https://documentation.irs.uni-stuttgart.de/sat-rs.html).
A lot of the architecture and general design considerations are based on the
[FSFW](https://egit.irs.uni-stuttgart.de/fsfw/fsfw) C++ framework which has flight heritage
@ -16,6 +18,10 @@ and [EIVE](https://www.irs.uni-stuttgart.de/en/research/satellitetechnology-and-
This project currently contains following crates:
* [`satrs-book`](https://egit.irs.uni-stuttgart.de/rust/sat-rs/src/branch/main/satrs-book):
Primary information resource in addition to the API documentation, hosted
[here](https://documentation.irs.uni-stuttgart.de/projects/sat-rs/). It can be useful to read
this first before delving into the example application and the API documentation.
* [`satrs-core`](https://egit.irs.uni-stuttgart.de/rust/satrs-launchpad/src/branch/main/satrs-core):
Core components of sat-rs.
* [`satrs-example`](https://egit.irs.uni-stuttgart.de/rust/satrs-launchpad/src/branch/main/satrs-example):
@ -37,3 +43,16 @@ Each project has its own `CHANGELOG.md`.
packet protocol implementations. This repository is re-exported in the
[`satrs-core`](https://egit.irs.uni-stuttgart.de/rust/satrs-launchpad/src/branch/main/satrs-core)
crate.
# Coverage
Coverage was generated using [`grcov`](https://github.com/mozilla/grcov). If you have not done so
already, install the `llvm-tools-preview`:
```sh
rustup component add llvm-tools-preview
cargo install grcov --locked
```
After that, you can simply run `coverage.py` to test the `satrs-core` crate with coverage. You can
optionally supply the `--open` flag to open the coverage report in your webbrowser.

2
automation/Jenkinsfile vendored
View File

@ -67,7 +67,7 @@ pipeline {
sh 'mdbook build'
sshagent(credentials: ['documentation-buildfix']) {
// Deploy to Apache webserver
sh 'rsync -r --delete book/ buildfix@documentation.irs.uni-stuttgart.de:/projects/sat-rs'
sh 'rsync -r --delete book buildfix@documentation.irs.uni-stuttgart.de:/projects/sat-rs'
}
}
}

61
coverage.py Executable file
View File

@ -0,0 +1,61 @@
#!/usr/bin/env python3
import os
import logging
import argparse
import webbrowser
_LOGGER = logging.getLogger()
def generate_cov_report(open_report: bool, format: str, package: str):
logging.basicConfig(level=logging.INFO)
os.environ["RUSTFLAGS"] = "-Cinstrument-coverage"
os.environ["LLVM_PROFILE_FILE"] = "target/coverage/%p-%m.profraw"
_LOGGER.info("Executing tests with coverage")
os.system(f"cargo test -p {package}")
out_path = "./target/debug/coverage"
if format == "lcov":
out_path = "./target/debug/lcov.info"
os.system(
f"grcov . -s . --binary-path ./target/debug/ -t {format} --branch --ignore-not-existing "
f"-o {out_path}"
)
if format == "lcov":
os.system(
"genhtml -o ./target/debug/coverage/ --show-details --highlight --ignore-errors source "
"--legend ./target/debug/lcov.info"
)
if open_report:
coverage_report_path = os.path.abspath("./target/debug/coverage/index.html")
webbrowser.open_new_tab(coverage_report_path)
_LOGGER.info("Done")
def main():
parser = argparse.ArgumentParser(
description="Generate coverage report and optionally open it in a browser"
)
parser.add_argument(
"--open", action="store_true", help="Open the coverage report in a browser"
)
parser.add_argument(
"-p",
"--package",
choices=["satrs-core"],
default="satrs-core",
help="Choose project to generate coverage for",
)
parser.add_argument(
"--format",
choices=["html", "lcov"],
default="html",
help="Choose report format (html or lcov)",
)
args = parser.parse_args()
generate_cov_report(args.open, args.format, args.package)
if __name__ == "__main__":
main()

6
satrs-book/src/introduction.md
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@ -21,3 +21,9 @@ A lot of the architecture and general design considerations are based on the
through the 2 missions [FLP](https://www.irs.uni-stuttgart.de/en/research/satellitetechnology-and-instruments/smallsatelliteprogram/flying-laptop/)
and [EIVE](https://www.irs.uni-stuttgart.de/en/research/satellitetechnology-and-instruments/smallsatelliteprogram/EIVE/).
# Getting started with the example
The [`satrs-example`](https://egit.irs.uni-stuttgart.de/rust/sat-rs/src/branch/main/satrs-example)
provides various practical usage examples of the `sat-rs` framework. If you are more interested in
the practical application of `sat-rs` inside an application, it is recommended to have a look at
the example application.

13
satrs-core/Cargo.toml
View File

@ -1,6 +1,6 @@
[package]
name = "satrs-core"
version = "0.1.0-alpha.0"
version = "0.1.0-alpha.1"
edition = "2021"
rust-version = "1.61"
authors = ["Robin Mueller <muellerr@irs.uni-stuttgart.de>"]
@ -15,6 +15,7 @@ categories = ["aerospace", "aerospace::space-protocols", "no-std", "hardware-sup
[dependencies]
delegate = ">0.7, <=0.10"
paste = "1"
# TODO: Remove this as soon as the image including the description was moved to the satrs-book.
embed-doc-image = "0.1"
[dependencies.smallvec]
@ -72,15 +73,15 @@ features = ["all"]
optional = true
[dependencies.spacepackets]
# version = "0.7.0-beta.1"
# path = "../../spacepackets"
git = "https://egit.irs.uni-stuttgart.de/rust/spacepackets.git"
rev = "79d26e1a6"
# branch = ""
version = "0.7.0-beta.2"
default-features = false
# git = "https://egit.irs.uni-stuttgart.de/rust/spacepackets.git"
# rev = "79d26e1a6"
# branch = ""
[dependencies.cobs]
git = "https://github.com/robamu/cobs.rs.git"
version = "0.2.3"
branch = "all_features"
default-features = false

2
satrs-core/release-checklist.md
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@ -4,7 +4,7 @@ Checklist for new releases
# Pre-Release
1. Make sure any new modules are documented sufficiently enough and check docs with
`cargo doc --all-features --open`.
`cargo +nightly doc --all-features --config 'rustdocflags=["--cfg", "doc_cfg"]' --open`.
2. Bump version specifier in `Cargo.toml`.
3. Update `CHANGELOG.md`: Convert `unreleased` section into version section with date and add new
`unreleased` section.

12
satrs-core/src/encoding/ccsds.rs
View File

@ -30,6 +30,12 @@ impl PacketIdLookup for [u16] {
}
}
impl PacketIdLookup for &[u16] {
fn validate(&self, packet_id: u16) -> bool {
self.binary_search(&packet_id).is_ok()
}
}
#[cfg(feature = "alloc")]
impl PacketIdLookup for Vec<PacketId> {
fn validate(&self, packet_id: u16) -> bool {
@ -49,6 +55,12 @@ impl PacketIdLookup for [PacketId] {
}
}
impl PacketIdLookup for &[PacketId] {
fn validate(&self, packet_id: u16) -> bool {
self.binary_search(&PacketId::from(packet_id)).is_ok()
}
}
/// This function parses a given buffer for tightly packed CCSDS space packets. It uses the
/// [PacketId] field of the CCSDS packets to detect the start of a CCSDS space packet and then
/// uses the length field of the packet to extract CCSDS packets.

34
satrs-core/src/hal/std/tcp_cobs_server.rs
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@ -1,4 +1,3 @@
use alloc::boxed::Box;
use alloc::vec;
use cobs::encode;
use delegate::delegate;
@ -29,7 +28,6 @@ impl<TmError, TcError: 'static> TcpTcParser<TmError, TcError> for CobsTcParser {
current_write_idx: usize,
next_write_idx: &mut usize,
) -> Result<(), TcpTmtcError<TmError, TcError>> {
// Reader vec full, need to parse for packets.
conn_result.num_received_tcs += parse_buffer_for_cobs_encoded_packets(
&mut tc_buffer[..current_write_idx],
tc_receiver.upcast_mut(),
@ -111,11 +109,23 @@ impl<TmError, TcError> TcpTmSender<TmError, TcError> for CobsTmSender {
///
/// The [TCP integration tests](https://egit.irs.uni-stuttgart.de/rust/sat-rs/src/branch/main/satrs-core/tests/tcp_servers.rs)
/// test also serves as the example application for this module.
pub struct TcpTmtcInCobsServer<TmError, TcError: 'static> {
generic_server: TcpTmtcGenericServer<TmError, TcError, CobsTmSender, CobsTcParser>,
pub struct TcpTmtcInCobsServer<
TmError,
TcError: 'static,
TmSource: TmPacketSource<Error = TmError>,
TcReceiver: ReceivesTc<Error = TcError>,
> {
generic_server:
TcpTmtcGenericServer<TmError, TcError, TmSource, TcReceiver, CobsTmSender, CobsTcParser>,
}
impl<TmError: 'static, TcError: 'static> TcpTmtcInCobsServer<TmError, TcError> {
impl<
TmError: 'static,
TcError: 'static,
TmSource: TmPacketSource<Error = TmError>,
TcReceiver: ReceivesTc<Error = TcError>,
> TcpTmtcInCobsServer<TmError, TcError, TmSource, TcReceiver>
{
/// Create a new TCP TMTC server which exchanges TMTC packets encoded with
/// [COBS protocol](https://en.wikipedia.org/wiki/Consistent_Overhead_Byte_Stuffing).
///
@ -128,9 +138,9 @@ impl<TmError: 'static, TcError: 'static> TcpTmtcInCobsServer<TmError, TcError> {
/// forwarded to this TC receiver.
pub fn new(
cfg: ServerConfig,
tm_source: Box<dyn TmPacketSource<Error = TmError>>,
tc_receiver: Box<dyn ReceivesTc<Error = TcError>>,
) -> Result<Self, TcpTmtcError<TmError, TcError>> {
tm_source: TmSource,
tc_receiver: TcReceiver,
) -> Result<Self, std::io::Error> {
Ok(Self {
generic_server: TcpTmtcGenericServer::new(
cfg,
@ -177,7 +187,7 @@ mod tests {
ServerConfig,
},
};
use alloc::{boxed::Box, sync::Arc};
use alloc::sync::Arc;
use cobs::encode;
use super::TcpTmtcInCobsServer;
@ -202,11 +212,11 @@ mod tests {
addr: &SocketAddr,
tc_receiver: SyncTcCacher,
tm_source: SyncTmSource,
) -> TcpTmtcInCobsServer<(), ()> {
) -> TcpTmtcInCobsServer<(), (), SyncTmSource, SyncTcCacher> {
TcpTmtcInCobsServer::new(
ServerConfig::new(*addr, Duration::from_millis(2), 1024, 1024),
Box::new(tm_source),
Box::new(tc_receiver),
tm_source,
tc_receiver,
)
.expect("TCP server generation failed")
}

117
satrs-core/src/hal/std/tcp_server.rs
View File

@ -1,6 +1,6 @@
//! Generic TCP TMTC servers with different TMTC format flavours.
use alloc::vec;
use alloc::{boxed::Box, vec::Vec};
use alloc::vec::Vec;
use core::time::Duration;
use socket2::{Domain, Socket, Type};
use std::io::Read;
@ -134,20 +134,29 @@ pub trait TcpTmSender<TmError, TcError> {
pub struct TcpTmtcGenericServer<
TmError,
TcError,
TmHandler: TcpTmSender<TmError, TcError>,
TcHandler: TcpTcParser<TmError, TcError>,
TmSource: TmPacketSource<Error = TmError>,
TcReceiver: ReceivesTc<Error = TcError>,
TmSender: TcpTmSender<TmError, TcError>,
TcParser: TcpTcParser<TmError, TcError>,
> {
base: TcpTmtcServerBase<TmError, TcError>,
tc_handler: TcHandler,
tm_handler: TmHandler,
pub(crate) listener: TcpListener,
pub(crate) inner_loop_delay: Duration,
pub(crate) tm_source: TmSource,
pub(crate) tm_buffer: Vec<u8>,
pub(crate) tc_receiver: TcReceiver,
pub(crate) tc_buffer: Vec<u8>,
tc_handler: TcParser,
tm_handler: TmSender,
}
impl<
TmError: 'static,
TcError: 'static,
TmSource: TmPacketSource<Error = TmError>,
TcReceiver: ReceivesTc<Error = TcError>,
TmSender: TcpTmSender<TmError, TcError>,
TcParser: TcpTcParser<TmError, TcError>,
> TcpTmtcGenericServer<TmError, TcError, TmSender, TcParser>
> TcpTmtcGenericServer<TmError, TcError, TmSource, TcReceiver, TmSender, TcParser>
{
/// Create a new generic TMTC server instance.
///
@ -165,25 +174,38 @@ impl<
cfg: ServerConfig,
tc_parser: TcParser,
tm_sender: TmSender,
tm_source: Box<dyn TmPacketSource<Error = TmError>>,
tc_receiver: Box<dyn ReceivesTc<Error = TcError>>,
) -> Result<TcpTmtcGenericServer<TmError, TcError, TmSender, TcParser>, std::io::Error> {
tm_source: TmSource,
tc_receiver: TcReceiver,
) -> Result<Self, std::io::Error> {
// Create a TCP listener bound to two addresses.
let socket = Socket::new(Domain::IPV4, Type::STREAM, None)?;
socket.set_reuse_address(cfg.reuse_addr)?;
#[cfg(unix)]
socket.set_reuse_port(cfg.reuse_port)?;
let addr = (cfg.addr).into();
socket.bind(&addr)?;
socket.listen(128)?;
Ok(Self {
base: TcpTmtcServerBase::new(cfg, tm_source, tc_receiver)?,
tc_handler: tc_parser,
tm_handler: tm_sender,
listener: socket.into(),
inner_loop_delay: cfg.inner_loop_delay,
tm_source,
tm_buffer: vec![0; cfg.tm_buffer_size],
tc_receiver,
tc_buffer: vec![0; cfg.tc_buffer_size],
})
}
/// Retrieve the internal [TcpListener] class.
pub fn listener(&mut self) -> &mut TcpListener {
self.base.listener()
&mut self.listener
}
/// Can be used to retrieve the local assigned address of the TCP server. This is especially
/// useful if using the port number 0 for OS auto-assignment.
pub fn local_addr(&self) -> std::io::Result<SocketAddr> {
self.base.local_addr()
self.listener.local_addr()
}
/// This call is used to handle the next connection to a client. Right now, it performs
@ -205,20 +227,20 @@ impl<
let mut connection_result = ConnectionResult::default();
let mut current_write_idx;
let mut next_write_idx = 0;
let (mut stream, addr) = self.base.listener.accept()?;
let (mut stream, addr) = self.listener.accept()?;
stream.set_nonblocking(true)?;
connection_result.addr = Some(addr);
current_write_idx = next_write_idx;
loop {
let read_result = stream.read(&mut self.base.tc_buffer[current_write_idx..]);
let read_result = stream.read(&mut self.tc_buffer[current_write_idx..]);
match read_result {
Ok(0) => {
// Connection closed by client. If any TC was read, parse for complete packets.
// After that, break the outer loop.
if current_write_idx > 0 {
self.tc_handler.handle_tc_parsing(
&mut self.base.tc_buffer,
self.base.tc_receiver.as_mut(),
&mut self.tc_buffer,
&mut self.tc_receiver,
&mut connection_result,
current_write_idx,
&mut next_write_idx,
@ -229,10 +251,10 @@ impl<
Ok(read_len) => {
current_write_idx += read_len;
// TC buffer is full, we must parse for complete packets now.
if current_write_idx == self.base.tc_buffer.capacity() {
if current_write_idx == self.tc_buffer.capacity() {
self.tc_handler.handle_tc_parsing(
&mut self.base.tc_buffer,
self.base.tc_receiver.as_mut(),
&mut self.tc_buffer,
&mut self.tc_receiver,
&mut connection_result,
current_write_idx,
&mut next_write_idx,
@ -245,8 +267,8 @@ impl<
// both UNIX and Windows.
std::io::ErrorKind::WouldBlock | std::io::ErrorKind::TimedOut => {
self.tc_handler.handle_tc_parsing(
&mut self.base.tc_buffer,
self.base.tc_receiver.as_mut(),
&mut self.tc_buffer,
&mut self.tc_receiver,
&mut connection_result,
current_write_idx,
&mut next_write_idx,
@ -254,14 +276,14 @@ impl<
current_write_idx = next_write_idx;
if !self.tm_handler.handle_tm_sending(
&mut self.base.tm_buffer,
self.base.tm_source.as_mut(),
&mut self.tm_buffer,
&mut self.tm_source,
&mut connection_result,
&mut stream,
)? {
// No TC read, no TM was sent, but the client has not disconnected.
// Perform an inner delay to avoid burning CPU time.
thread::sleep(self.base.inner_loop_delay);
thread::sleep(self.inner_loop_delay);
}
}
_ => {
@ -271,8 +293,8 @@ impl<
}
}
self.tm_handler.handle_tm_sending(
&mut self.base.tm_buffer,
self.base.tm_source.as_mut(),
&mut self.tm_buffer,
&mut self.tm_source,
&mut connection_result,
&mut stream,
)?;
@ -280,47 +302,6 @@ impl<
}
}
pub(crate) struct TcpTmtcServerBase<TmError, TcError> {
pub(crate) listener: TcpListener,
pub(crate) inner_loop_delay: Duration,
pub(crate) tm_source: Box<dyn TmPacketSource<Error = TmError>>,
pub(crate) tm_buffer: Vec<u8>,
pub(crate) tc_receiver: Box<dyn ReceivesTc<Error = TcError>>,
pub(crate) tc_buffer: Vec<u8>,
}
impl<TmError, TcError> TcpTmtcServerBase<TmError, TcError> {
pub(crate) fn new(
cfg: ServerConfig,
tm_source: Box<dyn TmPacketSource<Error = TmError>>,
tc_receiver: Box<dyn ReceivesTc<Error = TcError>>,
) -> Result<Self, std::io::Error> {
// Create a TCP listener bound to two addresses.
let socket = Socket::new(Domain::IPV4, Type::STREAM, None)?;
socket.set_reuse_address(cfg.reuse_addr)?;
socket.set_reuse_port(cfg.reuse_port)?;
let addr = (cfg.addr).into();
socket.bind(&addr)?;
socket.listen(128)?;
Ok(Self {
listener: socket.into(),
inner_loop_delay: cfg.inner_loop_delay,
tm_source,
tm_buffer: vec![0; cfg.tm_buffer_size],
tc_receiver,
tc_buffer: vec![0; cfg.tc_buffer_size],
})
}
pub(crate) fn listener(&mut self) -> &mut TcpListener {
&mut self.listener
}
pub(crate) fn local_addr(&self) -> std::io::Result<SocketAddr> {
self.listener.local_addr()
}
}
#[cfg(test)]
pub(crate) mod tests {
use std::sync::Mutex;

73
satrs-core/src/hal/std/tcp_spacepackets_server.rs
View File

@ -88,16 +88,31 @@ impl<TmError, TcError> TcpTmSender<TmError, TcError> for SpacepacketsTmSender {
/// [spacepackets::PacketId]s as part of the server configuration for that purpose.
///
/// ## Example
///
/// The [TCP server integration tests](https://egit.irs.uni-stuttgart.de/rust/sat-rs/src/branch/main/satrs-core/tests/tcp_servers.rs)
/// also serves as the example application for this module.
pub struct TcpSpacepacketsServer<TmError, TcError: 'static> {
generic_server:
TcpTmtcGenericServer<TmError, TcError, SpacepacketsTmSender, SpacepacketsTcParser>,
pub struct TcpSpacepacketsServer<
TmError,
TcError: 'static,
TmSource: TmPacketSource<Error = TmError>,
TcReceiver: ReceivesTc<Error = TcError>,
> {
generic_server: TcpTmtcGenericServer<
TmError,
TcError,
TmSource,
TcReceiver,
SpacepacketsTmSender,
SpacepacketsTcParser,
>,
}
impl<TmError: 'static, TcError: 'static> TcpSpacepacketsServer<TmError, TcError> {
/// Create a new TCP TMTC server which exchanges CCSDS space packets.
impl<
TmError: 'static,
TcError: 'static,
TmSource: TmPacketSource<Error = TmError>,
TcReceiver: ReceivesTc<Error = TcError>,
> TcpSpacepacketsServer<TmError, TcError, TmSource, TcReceiver>
{
///
/// ## Parameter
///
@ -110,10 +125,10 @@ impl<TmError: 'static, TcError: 'static> TcpSpacepacketsServer<TmError, TcError>
/// parsing. This mechanism is used to have a start marker for finding CCSDS packets.
pub fn new(
cfg: ServerConfig,
tm_source: Box<dyn TmPacketSource<Error = TmError>>,
tc_receiver: Box<dyn ReceivesTc<Error = TcError>>,
tm_source: TmSource,
tc_receiver: TcReceiver,
packet_id_lookup: Box<dyn PacketIdLookup + Send>,
) -> Result<Self, TcpTmtcError<TmError, TcError>> {
) -> Result<Self, std::io::Error> {
Ok(Self {
generic_server: TcpTmtcGenericServer::new(
cfg,
@ -179,11 +194,11 @@ mod tests {
tc_receiver: SyncTcCacher,
tm_source: SyncTmSource,
packet_id_lookup: HashSet<PacketId>,
) -> TcpSpacepacketsServer<(), ()> {
) -> TcpSpacepacketsServer<(), (), SyncTmSource, SyncTcCacher> {
TcpSpacepacketsServer::new(
ServerConfig::new(*addr, Duration::from_millis(2), 1024, 1024),
Box::new(tm_source),
Box::new(tc_receiver),
tm_source,
tc_receiver,
Box::new(packet_id_lookup),
)
.expect("TCP server generation failed")
@ -220,13 +235,10 @@ mod tests {
});
let mut sph = SpHeader::tc_unseg(TEST_APID_0, 0, 0).unwrap();
let ping_tc = PusTcCreator::new_simple(&mut sph, 17, 1, None, true);
let mut buffer: [u8; 32] = [0; 32];
let packet_len_ping = ping_tc
.write_to_bytes(&mut buffer)
.expect("writing packet failed");
let tc_0 = ping_tc.to_vec().expect("packet generation failed");
let mut stream = TcpStream::connect(dest_addr).expect("connecting to TCP server failed");
stream
.write_all(&buffer[..packet_len_ping])
.write_all(&tc_0)
.expect("writing to TCP server failed");
drop(stream);
@ -242,12 +254,11 @@ mod tests {
// Check that TC has arrived.
let mut tc_queue = tc_receiver.tc_queue.lock().unwrap();
assert_eq!(tc_queue.len(), 1);
assert_eq!(tc_queue.pop_front().unwrap(), buffer[..packet_len_ping]);
assert_eq!(tc_queue.pop_front().unwrap(), tc_0);
}
#[test]
fn test_multi_tc_multi_tm() {
let mut buffer: [u8; 32] = [0; 32];
let auto_port_addr = SocketAddr::new(IpAddr::V4(Ipv4Addr::new(127, 0, 0, 1)), 0);
let tc_receiver = SyncTcCacher::default();
let mut tm_source = SyncTmSource::default();
@ -256,19 +267,13 @@ mod tests {
let mut total_tm_len = 0;
let mut sph = SpHeader::tc_unseg(TEST_APID_0, 0, 0).unwrap();
let verif_tm = PusTcCreator::new_simple(&mut sph, 1, 1, None, true);
let tm_packet_len = verif_tm
.write_to_bytes(&mut buffer)
.expect("writing packet failed");
total_tm_len += tm_packet_len;
let tm_0 = buffer[..tm_packet_len].to_vec();
let tm_0 = verif_tm.to_vec().expect("writing packet failed");
total_tm_len += tm_0.len();
tm_source.add_tm(&tm_0);
let mut sph = SpHeader::tc_unseg(TEST_APID_1, 0, 0).unwrap();
let verif_tm = PusTcCreator::new_simple(&mut sph, 1, 3, None, true);
let tm_packet_len = verif_tm
.write_to_bytes(&mut buffer)
.expect("writing packet failed");
total_tm_len += tm_packet_len;
let tm_1 = buffer[..tm_packet_len].to_vec();
let tm_1 = verif_tm.to_vec().expect("writing packet failed");
total_tm_len += tm_1.len();
tm_source.add_tm(&tm_1);
// Set up server
@ -309,19 +314,13 @@ mod tests {
// Send telecommands
let mut sph = SpHeader::tc_unseg(TEST_APID_0, 0, 0).unwrap();
let ping_tc = PusTcCreator::new_simple(&mut sph, 17, 1, None, true);
let packet_len = ping_tc
.write_to_bytes(&mut buffer)
.expect("writing packet failed");
let tc_0 = buffer[..packet_len].to_vec();
let tc_0 = ping_tc.to_vec().expect("ping tc creation failed");
stream
.write_all(&tc_0)
.expect("writing to TCP server failed");
let mut sph = SpHeader::tc_unseg(TEST_APID_1, 0, 0).unwrap();
let action_tc = PusTcCreator::new_simple(&mut sph, 8, 0, None, true);
let packet_len = action_tc
.write_to_bytes(&mut buffer)
.expect("writing packet failed");
let tc_1 = buffer[..packet_len].to_vec();
let tc_1 = action_tc.to_vec().expect("action tc creation failed");
stream
.write_all(&tc_1)
.expect("writing to TCP server failed");

39
satrs-core/tests/tcp_servers.rs
View File

@ -94,8 +94,8 @@ fn test_cobs_server() {
tm_source.add_tm(&INVERTED_PACKET);
let mut tcp_server = TcpTmtcInCobsServer::new(
ServerConfig::new(AUTO_PORT_ADDR, Duration::from_millis(2), 1024, 1024),
Box::new(tm_source),
Box::new(tc_receiver.clone()),
tm_source,
tc_receiver.clone(),
)
.expect("TCP server generation failed");
let dest_addr = tcp_server
@ -166,22 +166,18 @@ const TEST_PACKET_ID_0: PacketId = PacketId::const_tc(true, TEST_APID_0);
#[test]
fn test_ccsds_server() {
let mut buffer: [u8; 32] = [0; 32];
let tc_receiver = SyncTcCacher::default();
let mut tm_source = SyncTmSource::default();
let mut sph = SpHeader::tc_unseg(TEST_APID_0, 0, 0).unwrap();
let verif_tm = PusTcCreator::new_simple(&mut sph, 1, 1, None, true);
let tm_packet_len = verif_tm
.write_to_bytes(&mut buffer)
.expect("writing packet failed");
tm_source.add_tm(&buffer[..tm_packet_len]);
let tm_vec = buffer[..tm_packet_len].to_vec();
let tm_0 = verif_tm.to_vec().expect("tm generation failed");
tm_source.add_tm(&tm_0);
let mut packet_id_lookup = HashSet::new();
packet_id_lookup.insert(TEST_PACKET_ID_0);
let mut tcp_server = TcpSpacepacketsServer::new(
ServerConfig::new(AUTO_PORT_ADDR, Duration::from_millis(2), 1024, 1024),
Box::new(tm_source),
Box::new(tc_receiver.clone()),
tm_source,
tc_receiver.clone(),
Box::new(packet_id_lookup),
)
.expect("TCP server generation failed");
@ -202,29 +198,30 @@ fn test_ccsds_server() {
set_if_done.store(true, Ordering::Relaxed);
});
let mut stream = TcpStream::connect(dest_addr).expect("connecting to TCP server failed");
let mut sph = SpHeader::tc_unseg(TEST_APID_0, 0, 0).unwrap();
let ping_tc = PusTcCreator::new_simple(&mut sph, 17, 1, None, true);
stream
.set_read_timeout(Some(Duration::from_millis(10)))
.expect("setting reas timeout failed");
let packet_len = ping_tc
.write_to_bytes(&mut buffer)
.expect("writing packet failed");
stream
.write_all(&buffer[..packet_len])
.expect("writing to TCP server failed");
// Send ping telecommand.
let mut sph = SpHeader::tc_unseg(TEST_APID_0, 0, 0).unwrap();
let ping_tc = PusTcCreator::new_simple(&mut sph, 17, 1, None, true);
let tc_0 = ping_tc.to_vec().expect("packet creation failed");
stream
.write_all(&tc_0)
.expect("writing to TCP server failed");
// Done with writing.
stream
.shutdown(std::net::Shutdown::Write)
.expect("shutting down write failed");
// Now read all the telemetry from the server.
let mut read_buf: [u8; 16] = [0; 16];
let mut read_len_total = 0;
// Timeout ensures this does not block forever.
while read_len_total < tm_packet_len {
while read_len_total < tm_0.len() {
let read_len = stream.read(&mut read_buf).expect("read failed");
read_len_total += read_len;
assert_eq!(read_buf[..read_len], tm_vec);
assert_eq!(read_buf[..read_len], tm_0);
}
drop(stream);
@ -240,5 +237,5 @@ fn test_ccsds_server() {
// Check that TC has arrived.
let mut tc_queue = tc_receiver.tc_queue.lock().unwrap();
assert_eq!(tc_queue.len(), 1);
assert_eq!(tc_queue.pop_front().unwrap(), buffer[..packet_len]);
assert_eq!(tc_queue.pop_front().unwrap(), tc_0);
}

8
satrs-example/Cargo.toml
View File

@ -24,11 +24,9 @@ num-traits = "0.2"
num-derive = "0.3"
[dependencies.satrs-core]
# version = "0.1.0-alpha.0"
# version = "0.1.0-alpha.1"
path = "../satrs-core"
[dependencies.satrs-mib]
path = "../satrs-mib"
version = "0.1.0-alpha.1"
# path = "../satrs-mib"

25
satrs-example/README.md
View File

@ -17,7 +17,7 @@ cargo run --bin simpleclient
This repository also contains a more complex client using the
[Python tmtccmd](https://github.com/robamu-org/tmtccmd) module.
# Using the tmtccmd Python client
# <a id="tmtccmd"></a> Using the tmtccmd Python client
The python client requires a valid installation of the
[tmtccmd package](https://github.com/robamu-org/tmtccmd).
@ -51,3 +51,26 @@ the `simpleclient`:
You can also simply call the script without any arguments to view a list of services (`-s` flag)
and corresponding op codes (`-o` flag) for each service.
# Structure of the example project
The example project contains components which could also be expected to be part of a production
On-Board Software.
1. A UDP and TCP server to receive telecommands and poll telemetry from. This might be an optional
component for an OBSW which is only used during the development phase on ground. The TCP
server parses space packets by using the CCSDS space packet ID as the packet start delimiter.
2. A PUS service stack which exposes some functionality conformant with the ECSS PUS service. This
currently includes the following services:
- Service 1 for telecommand verification.
- Service 3 for housekeeping telemetry handling.
- Service 5 for management and downlink of on-board events.
- Service 8 for handling on-board actions.
- Service 11 for scheduling telecommands to be released at a specific time.
- Service 17 for test purposes (pings)
3. An event manager component which handles the event IPC mechanism.
4. A TC source component which demultiplexes and routes telecommands based on parameters like
packet APID or PUS service and subservice type.
5. A TM sink sink component which is the target of all sent telemetry and sends it to downlink
handlers like the UDP and TCP server.
6. An AOCS example task which can also process some PUS commands.

4
satrs-example/pyclient/common.py
View File

@ -4,7 +4,11 @@ import dataclasses
import enum
import struct
from spacepackets.ecss.tc import PacketId, PacketType
EXAMPLE_PUS_APID = 0x02
EXAMPLE_PUS_PACKET_ID_TM = PacketId(PacketType.TM, True, EXAMPLE_PUS_APID)
TM_PACKET_IDS = [EXAMPLE_PUS_PACKET_ID_TM]
class EventSeverity(enum.IntEnum):

9
satrs-example/pyclient/main.py
View File

@ -14,7 +14,7 @@ from spacepackets.ccsds.time import CdsShortTimestamp
from tmtccmd import CcsdsTmtcBackend, TcHandlerBase, ProcedureParamsWrapper
from tmtccmd.core.base import BackendRequest
from tmtccmd.pus import VerificationWrapper
from tmtccmd.tm import CcsdsTmHandler, SpecificApidHandlerBase
from tmtccmd.tmtc import CcsdsTmHandler, SpecificApidHandlerBase
from tmtccmd.com import ComInterface
from tmtccmd.config import (
default_json_path,
@ -30,7 +30,7 @@ from tmtccmd.logging.pus import (
RawTmtcTimedLogWrapper,
TimedLogWhen,
)
from tmtccmd.tc import (
from tmtccmd.tmtc import (
TcQueueEntryType,
ProcedureWrapper,
TcProcedureType,
@ -45,7 +45,7 @@ from tmtccmd.util.obj_id import ObjectIdDictT
import pus_tc
import tc_definitions
from common import EXAMPLE_PUS_APID, EventU32
from common import EXAMPLE_PUS_APID, TM_PACKET_IDS, EventU32
_LOGGER = logging.getLogger()
@ -63,7 +63,7 @@ class SatRsConfigHook(HookBase):
cfg = create_com_interface_cfg_default(
com_if_key=com_if_key,
json_cfg_path=self.cfg_path,
space_packet_ids=None,
space_packet_ids=TM_PACKET_IDS,
)
return create_com_interface_default(cfg)
@ -128,6 +128,7 @@ class PusHandler(SpecificApidHandlerBase):
if len(pus_tm.source_data) < 8:
raise ValueError("No addressable ID in HK packet")
json_str = pus_tm.source_data[8:]
_LOGGER.info(json_str)
dedicated_handler = True
if service == 5:
tm_packet = PusTelemetry.unpack(

6
satrs-example/pyclient/pus_tc.py
View File

@ -3,9 +3,9 @@ import datetime
from spacepackets.ccsds import CdsShortTimestamp
from spacepackets.ecss import PusTelecommand
from tmtccmd.config import CoreServiceList
from tmtccmd.tc import DefaultPusQueueHelper
from tmtccmd.tc.pus_11_tc_sched import create_time_tagged_cmd
from tmtccmd.tc.pus_3_fsfw_hk import create_request_one_hk_command
from tmtccmd.tmtc import DefaultPusQueueHelper
from tmtccmd.pus.s11_tc_sched import create_time_tagged_cmd
from tmtccmd.pus.tc.s3_fsfw_hk import create_request_one_hk_command
from common import (
EXAMPLE_PUS_APID,

2
satrs-example/pyclient/requirements.txt
View File

@ -1,2 +1,2 @@
tmtccmd == 5.0.0rc0
tmtccmd == 7.0.0
# -e git+https://github.com/robamu-org/tmtccmd@97e5e51101a08b21472b3ddecc2063359f7e307a#egg=tmtccmd

8
satrs-example/pyclient/tmtc_conf.json
View File

@ -1,6 +1,8 @@
{
"com_if": "udp",
"com_if": "tcp",
"tcpip_udp_ip_addr": "127.0.0.1",
"tcpip_udp_port": 7301,
"tcpip_udp_recv_max_size": 1500
}
"tcpip_udp_recv_max_size": 1500,
"tcpip_tcp_ip_addr": "127.0.0.1",
"tcpip_tcp_port": 7301
}

1
satrs-example/src/ccsds.rs
View File

@ -3,6 +3,7 @@ use satrs_core::spacepackets::{CcsdsPacket, SpHeader};
use satrs_core::tmtc::{CcsdsPacketHandler, ReceivesCcsdsTc};
use satrs_example::PUS_APID;
#[derive(Clone)]
pub struct CcsdsReceiver {
pub tc_source: PusTcSource,
}

72
satrs-example/src/main.rs
View File

@ -3,12 +3,16 @@ mod hk;
mod logging;
mod pus;
mod requests;
mod tcp;
mod tmtc;
//mod can;
//mod can_ids;
mod udp;
use log::{info, warn};
use satrs_core::hal::std::tcp_server::ServerConfig;
use satrs_core::hal::std::udp_server::UdpTcServer;
use crate::ccsds::CcsdsReceiver;
use crate::hk::AcsHkIds;
use crate::hk::{AcsHkIds, HkUniqueId};
use crate::logging::setup_logger;
use crate::pus::action::{Pus8Wrapper, PusService8ActionHandler};
@ -16,9 +20,11 @@ use crate::pus::event::Pus5Wrapper;
use crate::pus::hk::{Pus3Wrapper, PusService3HkHandler};
use crate::pus::scheduler::Pus11Wrapper;
use crate::pus::test::Service17CustomWrapper;
use crate::pus::PusTcMpscRouter;
use crate::pus::{PusReceiver, PusTcMpscRouter};
use crate::requests::{Request, RequestWithToken};
use crate::tmtc::{core_tmtc_task, PusTcSource, TcArgs, TcStore, TmArgs, TmFunnel};
use crate::tcp::{SyncTcpTmSource, TcpTask};
use crate::tmtc::{PusTcSource, TcArgs, TcStore, TmArgs, TmFunnel, TmtcTask};
use crate::udp::UdpTmtcServer;
use satrs_core::event_man::{
EventManagerWithMpscQueue, MpscEventReceiver, MpscEventU32SendProvider, SendEventProvider,
};
@ -143,7 +149,7 @@ fn main() {
let tm_args = TmArgs {
tm_store: shared_tm_store.clone(),
tm_sink_sender: tm_funnel_tx.clone(),
tm_server_rx,
tm_udp_server_rx: tm_server_rx,
};
let aocs_tm_funnel = tm_funnel_tx.clone();
@ -270,11 +276,50 @@ fn main() {
);
let mut pus_3_wrapper = Pus3Wrapper { pus_3_handler };
info!("Starting TMTC task");
let jh0 = thread::Builder::new()
.name("TMTC".to_string())
let ccsds_receiver = CcsdsReceiver {
tc_source: tc_args.tc_source.clone(),
};
let mut tmtc_task = TmtcTask::new(tc_args, PusReceiver::new(verif_reporter, pus_router));
let udp_ccsds_distributor = CcsdsDistributor::new(Box::new(ccsds_receiver.clone()));
let udp_tc_server = UdpTcServer::new(sock_addr, 2048, Box::new(udp_ccsds_distributor))
.expect("creating UDP TMTC server failed");
let mut udp_tmtc_server = UdpTmtcServer {
udp_tc_server,
tm_rx: tm_args.tm_udp_server_rx,
tm_store: tm_args.tm_store.clone_backing_pool(),
};
info!("Starting TMTC and UDP task");
let jh_udp_tmtc = thread::Builder::new()
.name("TMTC and UDP".to_string())
.spawn(move || {
core_tmtc_task(sock_addr, tc_args, tm_args, verif_reporter, pus_router);
info!("Running UDP server on port {SERVER_PORT}");
loop {
udp_tmtc_server.periodic_operation();
tmtc_task.periodic_operation();
thread::sleep(Duration::from_millis(400));
}
})
.unwrap();
let tcp_ccsds_distributor = CcsdsDistributor::new(Box::new(ccsds_receiver));
let tcp_server_cfg = ServerConfig::new(sock_addr, Duration::from_millis(400), 4096, 8192);
let mut sync_tm_tcp_source = SyncTcpTmSource::new(200);
let mut tcp_server = TcpTask::new(
tcp_server_cfg,
sync_tm_tcp_source.clone(),
tcp_ccsds_distributor,
)
.expect("tcp server creation failed");
info!("Starting TCP task");
let jh_tcp = thread::Builder::new()
.name("TCP".to_string())
.spawn(move || {
info!("Running TCP server on port {SERVER_PORT}");
loop {
tcp_server.periodic_operation();
}
})
.unwrap();
@ -315,6 +360,7 @@ fn main() {
.tm_server_tx
.send(addr)
.expect("Sending TM to server failed");
sync_tm_tcp_source.add_tm(tm_raw);
}
}
})
@ -386,6 +432,7 @@ fn main() {
let mut timestamp: [u8; 7] = [0; 7];
let mut time_provider = TimeProvider::new_with_u16_days(0, 0);
loop {
// TODO: Move this into a separate function/task/module..
match acs_thread_rx.try_recv() {
Ok(request) => {
info!(
@ -488,7 +535,12 @@ fn main() {
thread::sleep(Duration::from_millis(200));
})
.unwrap();
jh0.join().expect("Joining UDP TMTC server thread failed");
jh_udp_tmtc
.join()
.expect("Joining UDP TMTC server thread failed");
jh_tcp
.join()
.expect("Joining TCP TMTC server thread failed");
jh1.join().expect("Joining TM Funnel thread failed");
jh2.join().expect("Joining Event Manager thread failed");
jh3.join().expect("Joining AOCS thread failed");

115
satrs-example/src/tcp.rs Normal file
View File

@ -0,0 +1,115 @@
use std::{
collections::VecDeque,
sync::{Arc, Mutex},
};
use log::{info, warn};
use satrs_core::{
hal::std::tcp_server::{ServerConfig, TcpSpacepacketsServer},
spacepackets::PacketId,
tmtc::{CcsdsDistributor, CcsdsError, TmPacketSourceCore},
};
use satrs_example::PUS_APID;
use crate::tmtc::MpscStoreAndSendError;
pub const PACKET_ID_LOOKUP: &[PacketId] = &[PacketId::const_tc(true, PUS_APID)];
#[derive(Default, Clone)]
pub struct SyncTcpTmSource {
tm_queue: Arc<Mutex<VecDeque<Vec<u8>>>>,
max_packets_stored: usize,
pub silent_packet_overwrite: bool,
}
impl SyncTcpTmSource {
pub fn new(max_packets_stored: usize) -> Self {
Self {
tm_queue: Arc::default(),
max_packets_stored,
silent_packet_overwrite: true,
}
}
pub fn add_tm(&mut self, tm: &[u8]) {
let mut tm_queue = self.tm_queue.lock().expect("locking tm queue failec");
if tm_queue.len() > self.max_packets_stored {
if !self.silent_packet_overwrite {
warn!("TPC TM source is full, deleting oldest packet");
}
tm_queue.pop_front();
}
tm_queue.push_back(tm.to_vec());
}
}
impl TmPacketSourceCore for SyncTcpTmSource {
type Error = ();
fn retrieve_packet(&mut self, buffer: &mut [u8]) -> Result<usize, Self::Error> {
let mut tm_queue = self.tm_queue.lock().expect("locking tm queue failed");
if !tm_queue.is_empty() {
let next_vec = tm_queue.front().unwrap();
if buffer.len() < next_vec.len() {
panic!(
"provided buffer too small, must be at least {} bytes",
next_vec.len()
);
}
let next_vec = tm_queue.pop_front().unwrap();
buffer[0..next_vec.len()].copy_from_slice(&next_vec);
if next_vec.len() > 9 {
let service = next_vec[7];
let subservice = next_vec[8];
info!("Sending PUS TM[{service},{subservice}]")
} else {
info!("Sending PUS TM");
}
return Ok(next_vec.len());
}
Ok(0)
}
}
pub struct TcpTask {
server: TcpSpacepacketsServer<
(),
CcsdsError<MpscStoreAndSendError>,
SyncTcpTmSource,
CcsdsDistributor<MpscStoreAndSendError>,
>,
}
impl TcpTask {
pub fn new(
cfg: ServerConfig,
tm_source: SyncTcpTmSource,
tc_receiver: CcsdsDistributor<MpscStoreAndSendError>,
) -> Result<Self, std::io::Error> {
Ok(Self {
server: TcpSpacepacketsServer::new(
cfg,
tm_source,
tc_receiver,
Box::new(PACKET_ID_LOOKUP),
)?,
})
}
pub fn periodic_operation(&mut self) {
loop {
let result = self.server.handle_next_connection();
match result {
Ok(conn_result) => {
info!(
"Served {} TMs and {} TCs for client {:?}",
conn_result.num_sent_tms, conn_result.num_received_tcs, conn_result.addr
);
}
Err(e) => {
warn!("TCP server error: {e:?}");
}
}
}
}
}

188
satrs-example/src/tmtc.rs
View File

@ -1,26 +1,21 @@
use log::{info, warn};
use satrs_core::hal::std::udp_server::{ReceiveResult, UdpTcServer};
use std::net::SocketAddr;
use log::warn;
use satrs_core::pus::ReceivesEcssPusTc;
use satrs_core::spacepackets::SpHeader;
use std::sync::mpsc::{Receiver, SendError, Sender, TryRecvError};
use std::thread;
use std::time::Duration;
use thiserror::Error;
use crate::ccsds::CcsdsReceiver;
use crate::pus::{PusReceiver, PusTcMpscRouter};
use crate::pus::PusReceiver;
use satrs_core::pool::{SharedPool, StoreAddr, StoreError};
use satrs_core::pus::verification::StdVerifReporterWithSender;
use satrs_core::pus::{ReceivesEcssPusTc, TcAddrWithToken};
use satrs_core::pus::TcAddrWithToken;
use satrs_core::spacepackets::ecss::tc::PusTcReader;
use satrs_core::spacepackets::ecss::PusPacket;
use satrs_core::spacepackets::SpHeader;
use satrs_core::tmtc::tm_helper::SharedTmStore;
use satrs_core::tmtc::{CcsdsDistributor, CcsdsError, ReceivesCcsdsTc};
use satrs_core::tmtc::ReceivesCcsdsTc;
pub struct TmArgs {
pub tm_store: SharedTmStore,
pub tm_sink_sender: Sender<StoreAddr>,
pub tm_server_rx: Receiver<StoreAddr>,
pub tm_udp_server_rx: Receiver<StoreAddr>,
}
pub struct TcArgs {
@ -64,12 +59,6 @@ pub struct TmFunnel {
pub tm_server_tx: Sender<StoreAddr>,
}
pub struct UdpTmtcServer {
udp_tc_server: UdpTcServer<CcsdsError<MpscStoreAndSendError>>,
tm_rx: Receiver<StoreAddr>,
tm_store: SharedPool,
}
#[derive(Clone)]
pub struct PusTcSource {
pub tc_source: Sender<StoreAddr>,
@ -98,131 +87,60 @@ impl ReceivesCcsdsTc for PusTcSource {
}
}
pub fn core_tmtc_task(
socket_addr: SocketAddr,
mut tc_args: TcArgs,
tm_args: TmArgs,
verif_reporter: StdVerifReporterWithSender,
pus_router: PusTcMpscRouter,
) {
let mut pus_receiver = PusReceiver::new(verif_reporter, pus_router);
let ccsds_receiver = CcsdsReceiver {
tc_source: tc_args.tc_source.clone(),
};
let ccsds_distributor = CcsdsDistributor::new(Box::new(ccsds_receiver));
let udp_tc_server = UdpTcServer::new(socket_addr, 2048, Box::new(ccsds_distributor))
.expect("creating UDP TMTC server failed");
let mut udp_tmtc_server = UdpTmtcServer {
udp_tc_server,
tm_rx: tm_args.tm_server_rx,
tm_store: tm_args.tm_store.clone_backing_pool(),
};
let mut tc_buf: [u8; 4096] = [0; 4096];
loop {
core_tmtc_loop(
&mut udp_tmtc_server,
&mut tc_args,
&mut tc_buf,
&mut pus_receiver,
);
thread::sleep(Duration::from_millis(400));
}
pub struct TmtcTask {
tc_args: TcArgs,
tc_buf: [u8; 4096],
pus_receiver: PusReceiver,
}
fn core_tmtc_loop(
udp_tmtc_server: &mut UdpTmtcServer,
tc_args: &mut TcArgs,
tc_buf: &mut [u8],
pus_receiver: &mut PusReceiver,
) {
while poll_tc_server(udp_tmtc_server) {}
match tc_args.tc_receiver.try_recv() {
Ok(addr) => {
let pool = tc_args
.tc_source
.tc_store
.pool
.read()
.expect("locking tc pool failed");
let data = pool.read(&addr).expect("reading pool failed");
tc_buf[0..data.len()].copy_from_slice(data);
drop(pool);
match PusTcReader::new(tc_buf) {
Ok((pus_tc, _)) => {
pus_receiver
.handle_tc_packet(addr, pus_tc.service(), &pus_tc)
.ok();
}
Err(e) => {
warn!("error creating PUS TC from raw data: {e}");
warn!("raw data: {tc_buf:x?}");
}
}
}
Err(e) => {
if let TryRecvError::Disconnected = e {
warn!("tmtc thread: sender disconnected")
}
impl TmtcTask {
pub fn new(tc_args: TcArgs, pus_receiver: PusReceiver) -> Self {
Self {
tc_args,
tc_buf: [0; 4096],
pus_receiver,
}
}
if let Some(recv_addr) = udp_tmtc_server.udp_tc_server.last_sender() {
core_tm_handling(udp_tmtc_server, &recv_addr);
}
}
fn poll_tc_server(udp_tmtc_server: &mut UdpTmtcServer) -> bool {
match udp_tmtc_server.udp_tc_server.try_recv_tc() {
Ok(_) => true,
Err(e) => match e {
ReceiveResult::ReceiverError(e) => match e {
CcsdsError::ByteConversionError(e) => {
warn!("packet error: {e:?}");
true
pub fn periodic_operation(&mut self) {
//while self.poll_tc() {}
self.poll_tc();
}
pub fn poll_tc(&mut self) -> bool {
match self.tc_args.tc_receiver.try_recv() {
Ok(addr) => {
let pool = self
.tc_args
.tc_source
.tc_store
.pool
.read()
.expect("locking tc pool failed");
let data = pool.read(&addr).expect("reading pool failed");
self.tc_buf[0..data.len()].copy_from_slice(data);
drop(pool);
match PusTcReader::new(&self.tc_buf) {
Ok((pus_tc, _)) => {
self.pus_receiver
.handle_tc_packet(addr, pus_tc.service(), &pus_tc)
.ok();
true
}
Err(e) => {
warn!("error creating PUS TC from raw data: {e}");
warn!("raw data: {:x?}", self.tc_buf);
true
}
}
CcsdsError::CustomError(e) => {
warn!("mpsc store and send error {e:?}");
true
}
Err(e) => match e {
TryRecvError::Empty => false,
TryRecvError::Disconnected => {
warn!("tmtc thread: sender disconnected");
false
}
},
ReceiveResult::IoError(e) => {
warn!("IO error {e}");
false
}
ReceiveResult::NothingReceived => false,
},
}
}
fn core_tm_handling(udp_tmtc_server: &mut UdpTmtcServer, recv_addr: &SocketAddr) {
while let Ok(addr) = udp_tmtc_server.tm_rx.try_recv() {
let store_lock = udp_tmtc_server.tm_store.write();
if store_lock.is_err() {
warn!("Locking TM store failed");
continue;
}
let mut store_lock = store_lock.unwrap();
let pg = store_lock.read_with_guard(addr);
let read_res = pg.read();
if read_res.is_err() {
warn!("Error reading TM pool data");
continue;
}
let buf = read_res.unwrap();
if buf.len() > 9 {
let service = buf[7];
let subservice = buf[8];
info!("Sending PUS TM[{service},{subservice}]")
} else {
info!("Sending PUS TM");
}
let result = udp_tmtc_server.udp_tc_server.socket.send_to(buf, recv_addr);
if let Err(e) = result {
warn!("Sending TM with UDP socket failed: {e}")
}
}
}

76
satrs-example/src/udp.rs Normal file
View File

@ -0,0 +1,76 @@
use std::{net::SocketAddr, sync::mpsc::Receiver};
use log::{info, warn};
use satrs_core::{
hal::std::udp_server::{ReceiveResult, UdpTcServer},
pool::{SharedPool, StoreAddr},
tmtc::CcsdsError,
};
use crate::tmtc::MpscStoreAndSendError;
pub struct UdpTmtcServer {
pub udp_tc_server: UdpTcServer<CcsdsError<MpscStoreAndSendError>>,
pub tm_rx: Receiver<StoreAddr>,
pub tm_store: SharedPool,
}
impl UdpTmtcServer {
pub fn periodic_operation(&mut self) {
while self.poll_tc_server() {}
if let Some(recv_addr) = self.udp_tc_server.last_sender() {
self.send_tm_to_udp_client(&recv_addr);
}
}
fn poll_tc_server(&mut self) -> bool {
match self.udp_tc_server.try_recv_tc() {
Ok(_) => true,
Err(e) => match e {
ReceiveResult::ReceiverError(e) => match e {
CcsdsError::ByteConversionError(e) => {
warn!("packet error: {e:?}");
true
}
CcsdsError::CustomError(e) => {
warn!("mpsc store and send error {e:?}");
true
}
},
ReceiveResult::IoError(e) => {
warn!("IO error {e}");
false
}
ReceiveResult::NothingReceived => false,
},
}
}
fn send_tm_to_udp_client(&mut self, recv_addr: &SocketAddr) {
while let Ok(addr) = self.tm_rx.try_recv() {
let store_lock = self.tm_store.write();
if store_lock.is_err() {
warn!("Locking TM store failed");
continue;
}
let mut store_lock = store_lock.unwrap();
let pg = store_lock.read_with_guard(addr);
let read_res = pg.read();
if read_res.is_err() {
warn!("Error reading TM pool data");
continue;
}
let buf = read_res.unwrap();
if buf.len() > 9 {
let service = buf[7];
let subservice = buf[8];
info!("Sending PUS TM[{service},{subservice}]")
} else {
info!("Sending PUS TM");
}
let result = self.udp_tc_server.socket.send_to(buf, recv_addr);
if let Err(e) = result {
warn!("Sending TM with UDP socket failed: {e}")
}
}
}
}

11
satrs-mib/Cargo.toml
View File

@ -1,6 +1,6 @@
[package]
name = "satrs-mib"
version = "0.1.0-alpha.0"
version = "0.1.0-alpha.1"
edition = "2021"
rust-version = "1.61"
authors = ["Robin Mueller <muellerr@irs.uni-stuttgart.de>"]
@ -23,13 +23,14 @@ version = "1"
optional = true
[dependencies.satrs-core]
# version = "0.1.0-alpha.0"
git = "https://egit.irs.uni-stuttgart.de/rust/sat-rs.git"
rev = "35e1f7a983f6535c5571186e361fe101d4306b89"
version = "0.1.0-alpha.1"
# git = "https://egit.irs.uni-stuttgart.de/rust/sat-rs.git"
# branch = "main"
# rev = "35e1f7a983f6535c5571186e361fe101d4306b89"
[dependencies.satrs-mib-codegen]
path = "codegen"
version = "0.1.0-alpha.0"
version = "0.1.0-alpha.1"
[dependencies.serde]
version = "1"

9
satrs-mib/codegen/Cargo.toml
View File

@ -1,6 +1,6 @@
[package]
name = "satrs-mib-codegen"
version = "0.1.0-alpha.0"
version = "0.1.0-alpha.1"
edition = "2021"
description = "satrs-mib proc macro implementation"
homepage = "https://egit.irs.uni-stuttgart.de/rust/sat-rs"
@ -20,9 +20,10 @@ quote = "1"
proc-macro2 = "1"
[dependencies.satrs-core]
# version = "0.1.0-alpha.0"
git = "https://egit.irs.uni-stuttgart.de/rust/sat-rs.git"
rev = "35e1f7a983f6535c5571186e361fe101d4306b89"
version = "0.1.0-alpha.1"
# git = "https://egit.irs.uni-stuttgart.de/rust/sat-rs.git"
# branch = "main"
# rev = "35e1f7a983f6535c5571186e361fe101d4306b89"
[dev-dependencies]
trybuild = { version = "1", features = ["diff"] }