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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
This commit is contained in:
Robin Müller 2024-02-03 13:37:04 +01:00
parent 6152c834d4
commit ae56e206ba
Signed by: muellerr
GPG Key ID: A649FB78196E3849
22 changed files with 1666 additions and 874 deletions
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4
satrs-core/Cargo.toml
View File

@ -73,7 +73,7 @@ features = ["all"]
optional = true
[dependencies.spacepackets]
version = "0.7.0-beta.4"
version = "0.7.0"
default-features = false
# git = "https://egit.irs.uni-stuttgart.de/rust/spacepackets.git"
# rev = "297cfad22637d3b07a1b27abe56d9a607b5b82a7"
@ -123,4 +123,4 @@ doc-images = []
[package.metadata.docs.rs]
all-features = true
rustdoc-args = ["--cfg", "doc_cfg"]
rustdoc-args = ["--cfg", "doc_cfg", "--generate-link-to-definition"]

49
satrs-core/src/error.rs
View File

@ -1,49 +0,0 @@
pub enum FsrcGroupIds {
Tmtc = 0,
}
pub struct FsrcErrorRaw {
pub group_id: u8,
pub unique_id: u8,
pub group_name: &'static str,
pub info: &'static str,
}
pub trait FsrcErrorHandler {
fn error(&mut self, e: FsrcErrorRaw);
fn error_with_one_param(&mut self, e: FsrcErrorRaw, _p1: u32) {
self.error(e);
}
fn error_with_two_params(&mut self, e: FsrcErrorRaw, _p1: u32, _p2: u32) {
self.error(e);
}
}
impl FsrcErrorRaw {
pub const fn new(
group_id: u8,
unique_id: u8,
group_name: &'static str,
info: &'static str,
) -> Self {
FsrcErrorRaw {
group_id,
unique_id,
group_name,
info,
}
}
}
#[derive(Clone, Copy, Default)]
pub struct SimpleStdErrorHandler {}
#[cfg(feature = "use_std")]
impl FsrcErrorHandler for SimpleStdErrorHandler {
fn error(&mut self, e: FsrcErrorRaw) {
println!(
"Received error from group {} with ID ({},{}): {}",
e.group_name, e.group_id, e.unique_id, e.info
);
}
}

1
satrs-core/src/lib.rs
View File

@ -24,7 +24,6 @@ extern crate std;
#[cfg_attr(doc_cfg, doc(cfg(feature = "alloc")))]
pub mod cfdp;
pub mod encoding;
pub mod error;
#[cfg(feature = "alloc")]
#[cfg_attr(doc_cfg, doc(cfg(feature = "alloc")))]
pub mod event_man;

366
satrs-core/src/pool.rs
View File

@ -1,23 +1,13 @@
//! # Pool implementation providing pre-allocated sub-pools with fixed size memory blocks
//! # Pool implementation providing memory pools for packet storage.
//!
//! This is a simple memory pool implementation which pre-allocates all sub-pools using a given pool
//! configuration. After the pre-allocation, no dynamic memory allocation will be performed
//! during run-time. This makes the implementation suitable for real-time applications and
//! embedded environments. The pool implementation will also track the size of the data stored
//! inside it.
//!
//! Transactions with the [pool][LocalPool] are done using a special [address][StoreAddr] type.
//! Adding any data to the pool will yield a store address. Modification and read operations are
//! done using a reference to a store address. Deletion will consume the store address.
//!
//! # Example
//! # Example for the [StaticMemoryPool]
//!
//! ```
//! use satrs_core::pool::{LocalPool, PoolCfg, PoolProvider};
//! use satrs_core::pool::{PoolProviderMemInPlace, StaticMemoryPool, StaticPoolConfig};
//!
//! // 4 buckets of 4 bytes, 2 of 8 bytes and 1 of 16 bytes
//! let pool_cfg = PoolCfg::new(vec![(4, 4), (2, 8), (1, 16)]);
//! let mut local_pool = LocalPool::new(pool_cfg);
//! let pool_cfg = StaticPoolConfig::new(vec![(4, 4), (2, 8), (1, 16)]);
//! let mut local_pool = StaticMemoryPool::new(pool_cfg);
//! let mut addr;
//! {
//! // Add new data to the pool
@ -77,22 +67,24 @@
#[cfg_attr(doc_cfg, doc(cfg(feature = "alloc")))]
pub use alloc_mod::*;
use core::fmt::{Display, Formatter};
use delegate::delegate;
#[cfg(feature = "serde")]
use serde::{Deserialize, Serialize};
#[cfg(feature = "std")]
use std::error::Error;
type NumBlocks = u16;
pub type StoreAddr = u64;
/// Simple address type used for transactions with the local pool.
#[derive(Debug, Copy, Clone, PartialEq, Eq)]
#[cfg_attr(feature = "serde", derive(Serialize, Deserialize))]
pub struct StoreAddr {
pub struct StaticPoolAddr {
pub(crate) pool_idx: u16,
pub(crate) packet_idx: NumBlocks,
}
impl StoreAddr {
impl StaticPoolAddr {
pub const INVALID_ADDR: u32 = 0xFFFFFFFF;
pub fn raw(&self) -> u32 {
@ -100,7 +92,22 @@ impl StoreAddr {
}
}
impl Display for StoreAddr {
impl From<StaticPoolAddr> for StoreAddr {
fn from(value: StaticPoolAddr) -> Self {
((value.pool_idx as u64) << 16) | value.packet_idx as u64
}
}
impl From<StoreAddr> for StaticPoolAddr {
fn from(value: StoreAddr) -> Self {
Self {
pool_idx: ((value >> 16) & 0xff) as u16,
packet_idx: (value & 0xff) as u16,
}
}
}
impl Display for StaticPoolAddr {
fn fmt(&self, f: &mut Formatter<'_>) -> core::fmt::Result {
write!(
f,
@ -180,64 +187,71 @@ impl Error for StoreError {
}
}
#[cfg(feature = "alloc")]
mod alloc_mod {
use crate::pool::{NumBlocks, StoreAddr, StoreError, StoreIdError};
use alloc::boxed::Box;
use alloc::vec;
use alloc::vec::Vec;
use delegate::delegate;
#[cfg(feature = "std")]
use std::sync::{Arc, RwLock};
/// Generic trait for pool providers where the data can be modified and read in-place. This
/// generally means that a shared pool structure has to be wrapped inside a lock structure.
pub trait PoolProviderMemInPlace {
/// Add new data to the pool. The provider should attempt to reserve a memory block with the
/// appropriate size and then copy the given data to the block. Yields a [StoreAddr] which can
/// be used to access the data stored in the pool
fn add(&mut self, data: &[u8]) -> Result<StoreAddr, StoreError>;
#[cfg(feature = "std")]
pub type ShareablePoolProvider = Box<dyn PoolProvider + Send + Sync>;
#[cfg(feature = "std")]
pub type SharedPool = Arc<RwLock<ShareablePoolProvider>>;
/// The provider should attempt to reserve a free memory block with the appropriate size and
/// then return a mutable reference to it. Yields a [StoreAddr] which can be used to access
/// the data stored in the pool
fn free_element(&mut self, len: usize) -> Result<(StoreAddr, &mut [u8]), StoreError>;
type PoolSize = usize;
const STORE_FREE: PoolSize = PoolSize::MAX;
pub const POOL_MAX_SIZE: PoolSize = STORE_FREE - 1;
/// Modify data added previously using a given [StoreAddr] by yielding a mutable reference
/// to it
fn modify(&mut self, addr: &StoreAddr) -> Result<&mut [u8], StoreError>;
/// Configuration structure of the [local pool][LocalPool]
/// Read data by yielding a read-only reference given a [StoreAddr]
fn read(&self, addr: &StoreAddr) -> Result<&[u8], StoreError>;
/// Delete data inside the pool given a [StoreAddr]
fn delete(&mut self, addr: StoreAddr) -> Result<(), StoreError>;
fn has_element_at(&self, addr: &StoreAddr) -> Result<bool, StoreError>;
/// Retrieve the length of the data at the given store address.
fn len_of_data(&self, addr: &StoreAddr) -> Result<usize, StoreError> {
if !self.has_element_at(addr)? {
return Err(StoreError::DataDoesNotExist(*addr));
}
Ok(self.read(addr)?.len())
}
}
pub trait PoolProviderMemInPlaceWithGuards: PoolProviderMemInPlace {
/// This function behaves like [PoolProviderMemInPlace::read], but consumes the provided address
/// and returns a RAII conformant guard object.
///
/// # Parameters
/// Unless the guard [PoolRwGuard::release] method is called, the data for the
/// given address will be deleted automatically when the guard is dropped.
/// This can prevent memory leaks. Users can read the data and release the guard
/// if the data in the store is valid for further processing. If the data is faulty, no
/// manual deletion is necessary when returning from a processing function prematurely.
fn read_with_guard(&mut self, addr: StoreAddr) -> PoolGuard<Self>;
/// This function behaves like [PoolProviderMemInPlace::modify], but consumes the provided
/// address and returns a RAII conformant guard object.
///
/// * `cfg`: Vector of tuples which represent a subpool. The first entry in the tuple specifies the
/// number of memory blocks in the subpool, the second entry the size of the blocks
#[derive(Clone)]
pub struct PoolCfg {
cfg: Vec<(NumBlocks, usize)>,
}
/// Unless the guard [PoolRwGuard::release] method is called, the data for the
/// given address will be deleted automatically when the guard is dropped.
/// This can prevent memory leaks. Users can read (and modify) the data and release the guard
/// if the data in the store is valid for further processing. If the data is faulty, no
/// manual deletion is necessary when returning from a processing function prematurely.
fn modify_with_guard(&mut self, addr: StoreAddr) -> PoolRwGuard<Self>;
}
impl PoolCfg {
pub fn new(cfg: Vec<(NumBlocks, usize)>) -> Self {
PoolCfg { cfg }
}
pub fn cfg(&self) -> &Vec<(NumBlocks, usize)> {
&self.cfg
}
pub fn sanitize(&mut self) -> usize {
self.cfg
.retain(|&(bucket_num, size)| bucket_num > 0 && size < POOL_MAX_SIZE);
self.cfg
.sort_unstable_by(|(_, sz0), (_, sz1)| sz0.partial_cmp(sz1).unwrap());
self.cfg.len()
}
}
pub struct PoolGuard<'a> {
pool: &'a mut LocalPool,
pub struct PoolGuard<'a, MemProvider: PoolProviderMemInPlace + ?Sized> {
pool: &'a mut MemProvider,
pub addr: StoreAddr,
no_deletion: bool,
deletion_failed_error: Option<StoreError>,
}
}
/// This helper object
impl<'a> PoolGuard<'a> {
pub fn new(pool: &'a mut LocalPool, addr: StoreAddr) -> Self {
/// This helper object
impl<'a, MemProvider: PoolProviderMemInPlace> PoolGuard<'a, MemProvider> {
pub fn new(pool: &'a mut MemProvider, addr: StoreAddr) -> Self {
Self {
pool,
addr,
@ -255,9 +269,9 @@ mod alloc_mod {
pub fn release(&mut self) {
self.no_deletion = true;
}
}
}
impl Drop for PoolGuard<'_> {
impl<MemProvider: PoolProviderMemInPlace + ?Sized> Drop for PoolGuard<'_, MemProvider> {
fn drop(&mut self) {
if !self.no_deletion {
if let Err(e) = self.pool.delete(self.addr) {
@ -265,14 +279,14 @@ mod alloc_mod {
}
}
}
}
}
pub struct PoolRwGuard<'a> {
guard: PoolGuard<'a>,
}
pub struct PoolRwGuard<'a, MemProvider: PoolProviderMemInPlace + ?Sized> {
guard: PoolGuard<'a, MemProvider>,
}
impl<'a> PoolRwGuard<'a> {
pub fn new(pool: &'a mut LocalPool, addr: StoreAddr) -> Self {
impl<'a, MemProvider: PoolProviderMemInPlace> PoolRwGuard<'a, MemProvider> {
pub fn new(pool: &'a mut MemProvider, addr: StoreAddr) -> Self {
Self {
guard: PoolGuard::new(pool, addr),
}
@ -290,73 +304,80 @@ mod alloc_mod {
pub fn release(&mut self);
}
);
}
}
pub trait PoolProvider {
/// Add new data to the pool. The provider should attempt to reserve a memory block with the
/// appropriate size and then copy the given data to the block. Yields a [StoreAddr] which can
/// be used to access the data stored in the pool
fn add(&mut self, data: &[u8]) -> Result<StoreAddr, StoreError>;
#[cfg(feature = "alloc")]
mod alloc_mod {
use super::{
PoolGuard, PoolProviderMemInPlace, PoolProviderMemInPlaceWithGuards, PoolRwGuard,
StaticPoolAddr,
};
use crate::pool::{NumBlocks, StoreAddr, StoreError, StoreIdError};
use alloc::vec;
use alloc::vec::Vec;
#[cfg(feature = "std")]
use std::sync::{Arc, RwLock};
/// The provider should attempt to reserve a free memory block with the appropriate size and
/// then return a mutable reference to it. Yields a [StoreAddr] which can be used to access
/// the data stored in the pool
fn free_element(&mut self, len: usize) -> Result<(StoreAddr, &mut [u8]), StoreError>;
#[cfg(feature = "std")]
pub type SharedStaticMemoryPool = Arc<RwLock<StaticMemoryPool>>;
/// Modify data added previously using a given [StoreAddr] by yielding a mutable reference
/// to it
fn modify(&mut self, addr: &StoreAddr) -> Result<&mut [u8], StoreError>;
type PoolSize = usize;
const STORE_FREE: PoolSize = PoolSize::MAX;
pub const POOL_MAX_SIZE: PoolSize = STORE_FREE - 1;
/// This function behaves like [Self::modify], but consumes the provided address and returns a
/// RAII conformant guard object.
/// Configuration structure of the [static memory pool][StaticMemoryPool]
///
/// Unless the guard [PoolRwGuard::release] method is called, the data for the
/// given address will be deleted automatically when the guard is dropped.
/// This can prevent memory leaks. Users can read (and modify) the data and release the guard
/// if the data in the store is valid for further processing. If the data is faulty, no
/// manual deletion is necessary when returning from a processing function prematurely.
fn modify_with_guard(&mut self, addr: StoreAddr) -> PoolRwGuard;
/// Read data by yielding a read-only reference given a [StoreAddr]
fn read(&self, addr: &StoreAddr) -> Result<&[u8], StoreError>;
/// This function behaves like [Self::read], but consumes the provided address and returns a
/// RAII conformant guard object.
/// # Parameters
///
/// Unless the guard [PoolRwGuard::release] method is called, the data for the
/// given address will be deleted automatically when the guard is dropped.
/// This can prevent memory leaks. Users can read the data and release the guard
/// if the data in the store is valid for further processing. If the data is faulty, no
/// manual deletion is necessary when returning from a processing function prematurely.
fn read_with_guard(&mut self, addr: StoreAddr) -> PoolGuard;
/// Delete data inside the pool given a [StoreAddr]
fn delete(&mut self, addr: StoreAddr) -> Result<(), StoreError>;
fn has_element_at(&self, addr: &StoreAddr) -> Result<bool, StoreError>;
/// Retrieve the length of the data at the given store address.
fn len_of_data(&self, addr: &StoreAddr) -> Result<usize, StoreError> {
if !self.has_element_at(addr)? {
return Err(StoreError::DataDoesNotExist(*addr));
/// * `cfg`: Vector of tuples which represent a subpool. The first entry in the tuple specifies the
/// number of memory blocks in the subpool, the second entry the size of the blocks
#[derive(Clone)]
pub struct StaticPoolConfig {
cfg: Vec<(NumBlocks, usize)>,
}
Ok(self.read(addr)?.len())
impl StaticPoolConfig {
pub fn new(cfg: Vec<(NumBlocks, usize)>) -> Self {
StaticPoolConfig { cfg }
}
pub fn cfg(&self) -> &Vec<(NumBlocks, usize)> {
&self.cfg
}
pub fn sanitize(&mut self) -> usize {
self.cfg
.retain(|&(bucket_num, size)| bucket_num > 0 && size < POOL_MAX_SIZE);
self.cfg
.sort_unstable_by(|(_, sz0), (_, sz1)| sz0.partial_cmp(sz1).unwrap());
self.cfg.len()
}
}
/// Pool implementation providing sub-pools with fixed size memory blocks. More details in
/// the [module documentation][crate::pool]
pub struct LocalPool {
pool_cfg: PoolCfg,
/// Pool implementation providing sub-pools with fixed size memory blocks.
///
/// This is a simple memory pool implementation which pre-allocates all sub-pools using a given pool
/// configuration. After the pre-allocation, no dynamic memory allocation will be performed
/// during run-time. This makes the implementation suitable for real-time applications and
/// embedded environments. The pool implementation will also track the size of the data stored
/// inside it.
///
/// Transactions with the [pool][StaticMemoryPool] are done using a generic
/// [address][StoreAddr] type.
/// Adding any data to the pool will yield a store address. Modification and read operations are
/// done using a reference to a store address. Deletion will consume the store address.
pub struct StaticMemoryPool {
pool_cfg: StaticPoolConfig,
pool: Vec<Vec<u8>>,
sizes_lists: Vec<Vec<PoolSize>>,
}
impl LocalPool {
/// Create a new local pool from the [given configuration][PoolCfg]. This function will sanitize
/// the given configuration as well.
pub fn new(mut cfg: PoolCfg) -> LocalPool {
impl StaticMemoryPool {
/// Create a new local pool from the [given configuration][StaticPoolConfig]. This function
/// will sanitize the given configuration as well.
pub fn new(mut cfg: StaticPoolConfig) -> StaticMemoryPool {
let subpools_num = cfg.sanitize();
let mut local_pool = LocalPool {
let mut local_pool = StaticMemoryPool {
pool_cfg: cfg,
pool: Vec::with_capacity(subpools_num),
sizes_lists: Vec::with_capacity(subpools_num),
@ -372,39 +393,39 @@ mod alloc_mod {
local_pool
}
fn addr_check(&self, addr: &StoreAddr) -> Result<usize, StoreError> {
fn addr_check(&self, addr: &StaticPoolAddr) -> Result<usize, StoreError> {
self.validate_addr(addr)?;
let pool_idx = addr.pool_idx as usize;
let size_list = self.sizes_lists.get(pool_idx).unwrap();
let curr_size = size_list[addr.packet_idx as usize];
if curr_size == STORE_FREE {
return Err(StoreError::DataDoesNotExist(*addr));
return Err(StoreError::DataDoesNotExist(StoreAddr::from(*addr)));
}
Ok(curr_size)
}
fn validate_addr(&self, addr: &StoreAddr) -> Result<(), StoreError> {
fn validate_addr(&self, addr: &StaticPoolAddr) -> Result<(), StoreError> {
let pool_idx = addr.pool_idx as usize;
if pool_idx >= self.pool_cfg.cfg.len() {
return Err(StoreError::InvalidStoreId(
StoreIdError::InvalidSubpool(addr.pool_idx),
Some(*addr),
Some(StoreAddr::from(*addr)),
));
}
if addr.packet_idx >= self.pool_cfg.cfg[addr.pool_idx as usize].0 {
return Err(StoreError::InvalidStoreId(
StoreIdError::InvalidPacketIdx(addr.packet_idx),
Some(*addr),
Some(StoreAddr::from(*addr)),
));
}
Ok(())
}
fn reserve(&mut self, data_len: usize) -> Result<StoreAddr, StoreError> {
fn reserve(&mut self, data_len: usize) -> Result<StaticPoolAddr, StoreError> {
let subpool_idx = self.find_subpool(data_len, 0)?;
let (slot, size_slot_ref) = self.find_empty(subpool_idx)?;
*size_slot_ref = data_len;
Ok(StoreAddr {
Ok(StaticPoolAddr {
pool_idx: subpool_idx,
packet_idx: slot,
})
@ -422,7 +443,7 @@ mod alloc_mod {
Err(StoreError::DataTooLarge(req_size))
}
fn write(&mut self, addr: &StoreAddr, data: &[u8]) -> Result<(), StoreError> {
fn write(&mut self, addr: &StaticPoolAddr, data: &[u8]) -> Result<(), StoreError> {
let packet_pos = self.raw_pos(addr).ok_or(StoreError::InternalError(0))?;
let subpool = self
.pool
@ -449,13 +470,13 @@ mod alloc_mod {
Err(StoreError::StoreFull(subpool))
}
fn raw_pos(&self, addr: &StoreAddr) -> Option<usize> {
fn raw_pos(&self, addr: &StaticPoolAddr) -> Option<usize> {
let (_, size) = self.pool_cfg.cfg.get(addr.pool_idx as usize)?;
Some(addr.packet_idx as usize * size)
}
}
impl PoolProvider for LocalPool {
impl PoolProviderMemInPlace for StaticMemoryPool {
fn add(&mut self, data: &[u8]) -> Result<StoreAddr, StoreError> {
let data_len = data.len();
if data_len > POOL_MAX_SIZE {
@ -463,7 +484,7 @@ mod alloc_mod {
}
let addr = self.reserve(data_len)?;
self.write(&addr, data)?;
Ok(addr)
Ok(addr.into())
}
fn free_element(&mut self, len: usize) -> Result<(StoreAddr, &mut [u8]), StoreError> {
@ -474,34 +495,29 @@ mod alloc_mod {
let raw_pos = self.raw_pos(&addr).unwrap();
let block =
&mut self.pool.get_mut(addr.pool_idx as usize).unwrap()[raw_pos..raw_pos + len];
Ok((addr, block))
Ok((addr.into(), block))
}
fn modify(&mut self, addr: &StoreAddr) -> Result<&mut [u8], StoreError> {
let curr_size = self.addr_check(addr)?;
let raw_pos = self.raw_pos(addr).unwrap();
let addr = StaticPoolAddr::from(*addr);
let curr_size = self.addr_check(&addr)?;
let raw_pos = self.raw_pos(&addr).unwrap();
let block = &mut self.pool.get_mut(addr.pool_idx as usize).unwrap()
[raw_pos..raw_pos + curr_size];
Ok(block)
}
fn modify_with_guard(&mut self, addr: StoreAddr) -> PoolRwGuard {
PoolRwGuard::new(self, addr)
}
fn read(&self, addr: &StoreAddr) -> Result<&[u8], StoreError> {
let curr_size = self.addr_check(addr)?;
let raw_pos = self.raw_pos(addr).unwrap();
let addr = StaticPoolAddr::from(*addr);
let curr_size = self.addr_check(&addr)?;
let raw_pos = self.raw_pos(&addr).unwrap();
let block =
&self.pool.get(addr.pool_idx as usize).unwrap()[raw_pos..raw_pos + curr_size];
Ok(block)
}
fn read_with_guard(&mut self, addr: StoreAddr) -> PoolGuard {
PoolGuard::new(self, addr)
}
fn delete(&mut self, addr: StoreAddr) -> Result<(), StoreError> {
let addr = StaticPoolAddr::from(addr);
self.addr_check(&addr)?;
let block_size = self.pool_cfg.cfg.get(addr.pool_idx as usize).unwrap().1;
let raw_pos = self.raw_pos(&addr).unwrap();
@ -514,7 +530,8 @@ mod alloc_mod {
}
fn has_element_at(&self, addr: &StoreAddr) -> Result<bool, StoreError> {
self.validate_addr(addr)?;
let addr = StaticPoolAddr::from(*addr);
self.validate_addr(&addr)?;
let pool_idx = addr.pool_idx as usize;
let size_list = self.sizes_lists.get(pool_idx).unwrap();
let curr_size = size_list[addr.packet_idx as usize];
@ -524,34 +541,45 @@ mod alloc_mod {
Ok(true)
}
}
impl PoolProviderMemInPlaceWithGuards for StaticMemoryPool {
fn modify_with_guard(&mut self, addr: StoreAddr) -> PoolRwGuard<Self> {
PoolRwGuard::new(self, addr)
}
fn read_with_guard(&mut self, addr: StoreAddr) -> PoolGuard<Self> {
PoolGuard::new(self, addr)
}
}
}
#[cfg(test)]
mod tests {
use crate::pool::{
LocalPool, PoolCfg, PoolGuard, PoolProvider, PoolRwGuard, StoreAddr, StoreError,
StoreIdError, POOL_MAX_SIZE,
PoolGuard, PoolProviderMemInPlace, PoolProviderMemInPlaceWithGuards, PoolRwGuard,
StaticMemoryPool, StaticPoolAddr, StaticPoolConfig, StoreError, StoreIdError,
POOL_MAX_SIZE,
};
use std::vec;
fn basic_small_pool() -> LocalPool {
fn basic_small_pool() -> StaticMemoryPool {
// 4 buckets of 4 bytes, 2 of 8 bytes and 1 of 16 bytes
let pool_cfg = PoolCfg::new(vec![(4, 4), (2, 8), (1, 16)]);
LocalPool::new(pool_cfg)
let pool_cfg = StaticPoolConfig::new(vec![(4, 4), (2, 8), (1, 16)]);
StaticMemoryPool::new(pool_cfg)
}
#[test]
fn test_cfg() {
// Values where number of buckets is 0 or size is too large should be removed
let mut pool_cfg = PoolCfg::new(vec![(0, 0), (1, 0), (2, POOL_MAX_SIZE)]);
let mut pool_cfg = StaticPoolConfig::new(vec![(0, 0), (1, 0), (2, POOL_MAX_SIZE)]);
pool_cfg.sanitize();
assert_eq!(*pool_cfg.cfg(), vec![(1, 0)]);
// Entries should be ordered according to bucket size
pool_cfg = PoolCfg::new(vec![(16, 6), (32, 3), (8, 12)]);
pool_cfg = StaticPoolConfig::new(vec![(16, 6), (32, 3), (8, 12)]);
pool_cfg.sanitize();
assert_eq!(*pool_cfg.cfg(), vec![(32, 3), (16, 6), (8, 12)]);
// Unstable sort is used, so order of entries with same block length should not matter
pool_cfg = PoolCfg::new(vec![(12, 12), (14, 16), (10, 12)]);
pool_cfg = StaticPoolConfig::new(vec![(12, 12), (14, 16), (10, 12)]);
pool_cfg.sanitize();
assert!(
*pool_cfg.cfg() == vec![(12, 12), (10, 12), (14, 16)]
@ -600,10 +628,10 @@ mod tests {
let (addr, buf_ref) = res.unwrap();
assert_eq!(
addr,
StoreAddr {
u64::from(StaticPoolAddr {
pool_idx: 2,
packet_idx: 0
}
})
);
assert_eq!(buf_ref.len(), 12);
}
@ -655,10 +683,13 @@ mod tests {
fn test_read_does_not_exist() {
let local_pool = basic_small_pool();
// Try to access data which does not exist
let res = local_pool.read(&StoreAddr {
let res = local_pool.read(
&StaticPoolAddr {
packet_idx: 0,
pool_idx: 0,
});
}
.into(),
);
assert!(res.is_err());
assert!(matches!(
res.unwrap_err(),
@ -684,10 +715,11 @@ mod tests {
#[test]
fn test_invalid_pool_idx() {
let local_pool = basic_small_pool();
let addr = StoreAddr {
let addr = StaticPoolAddr {
pool_idx: 3,
packet_idx: 0,
};
}
.into();
let res = local_pool.read(&addr);
assert!(res.is_err());
let err = res.unwrap_err();
@ -700,12 +732,12 @@ mod tests {
#[test]
fn test_invalid_packet_idx() {
let local_pool = basic_small_pool();
let addr = StoreAddr {
let addr = StaticPoolAddr {
pool_idx: 2,
packet_idx: 1,
};
assert_eq!(addr.raw(), 0x00020001);
let res = local_pool.read(&addr);
let res = local_pool.read(&addr.into());
assert!(res.is_err());
let err = res.unwrap_err();
assert!(matches!(

2
satrs-core/src/pus/event_man.rs
View File

@ -82,7 +82,7 @@ pub mod heapless_mod {
}
}
#[derive(Debug)]
#[derive(Debug, PartialEq, Eq)]
pub enum EventRequest<Event: GenericEvent = EventU32> {
Enable(Event),
Disable(Event),

202
satrs-core/src/pus/event_srv.rs
View File

@ -1,54 +1,39 @@
use crate::events::EventU32;
use crate::pus::event_man::{EventRequest, EventRequestWithToken};
use crate::pus::verification::TcStateToken;
use crate::pus::{
EcssTcReceiver, EcssTmSender, PartialPusHandlingError, PusPacketHandlerResult,
PusPacketHandlingError,
};
use alloc::boxed::Box;
use crate::pus::{PartialPusHandlingError, PusPacketHandlerResult, PusPacketHandlingError};
use spacepackets::ecss::event::Subservice;
use spacepackets::ecss::PusPacket;
use std::sync::mpsc::Sender;
use super::verification::VerificationReporterWithSender;
use super::{EcssTcInMemConverter, PusServiceBase, PusServiceHandler};
use super::{EcssTcInMemConverter, PusServiceBase, PusServiceHelper};
pub struct PusService5EventHandler<TcInMemConverter: EcssTcInMemConverter> {
pub psb: PusServiceHandler<TcInMemConverter>,
pub service_helper: PusServiceHelper<TcInMemConverter>,
event_request_tx: Sender<EventRequestWithToken>,
}
impl<TcInMemConverter: EcssTcInMemConverter> PusService5EventHandler<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,
service_handler: PusServiceHelper<TcInMemConverter>,
event_request_tx: Sender<EventRequestWithToken>,
) -> Self {
Self {
psb: PusServiceHandler::new(
tc_receiver,
tm_sender,
tm_apid,
verification_handler,
tc_in_mem_converter,
),
service_helper: service_handler,
event_request_tx,
}
}
pub 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();
let tc = self
.psb
.service_helper
.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 srv = Subservice::try_from(subservice);
if srv.is_err() {
@ -60,13 +45,13 @@ impl<TcInMemConverter: EcssTcInMemConverter> PusService5EventHandler<TcInMemConv
let handle_enable_disable_request = |enable: bool, stamp: [u8; 7]| {
if tc.user_data().len() < 4 {
return Err(PusPacketHandlingError::NotEnoughAppData(
"At least 4 bytes event ID expected".into(),
"at least 4 bytes event ID expected".into(),
));
}
let user_data = tc.user_data();
let event_u32 = EventU32::from(u32::from_be_bytes(user_data[0..4].try_into().unwrap()));
let start_token = self
.psb
.service_helper
.common
.verification_handler
.borrow_mut()
@ -126,3 +111,170 @@ impl<TcInMemConverter: EcssTcInMemConverter> PusService5EventHandler<TcInMemConv
Ok(PusPacketHandlerResult::RequestHandled)
}
}
#[cfg(test)]
mod tests {
use delegate::delegate;
use spacepackets::ecss::event::Subservice;
use spacepackets::util::UnsignedEnum;
use spacepackets::{
ecss::{
tc::{PusTcCreator, PusTcSecondaryHeader},
tm::PusTmReader,
},
SequenceFlags, SpHeader,
};
use std::sync::mpsc::{self, Sender};
use crate::pus::event_man::EventRequest;
use crate::pus::tests::SimplePusPacketHandler;
use crate::pus::verification::RequestId;
use crate::{
events::EventU32,
pus::{
event_man::EventRequestWithToken,
tests::{PusServiceHandlerWithSharedStoreCommon, PusTestHarness, TEST_APID},
verification::{TcStateAccepted, VerificationToken},
EcssTcInSharedStoreConverter, PusPacketHandlerResult, PusPacketHandlingError,
},
};
use super::PusService5EventHandler;
const TEST_EVENT_0: EventU32 = EventU32::const_new(crate::events::Severity::INFO, 5, 25);
struct Pus5HandlerWithStoreTester {
common: PusServiceHandlerWithSharedStoreCommon,
handler: PusService5EventHandler<EcssTcInSharedStoreConverter>,
}
impl Pus5HandlerWithStoreTester {
pub fn new(event_request_tx: Sender<EventRequestWithToken>) -> Self {
let (common, srv_handler) = PusServiceHandlerWithSharedStoreCommon::new();
Self {
common,
handler: PusService5EventHandler::new(srv_handler, event_request_tx),
}
}
}
impl PusTestHarness for Pus5HandlerWithStoreTester {
delegate! {
to self.common {
fn send_tc(&mut self, tc: &PusTcCreator) -> VerificationToken<TcStateAccepted>;
fn read_next_tm(&mut self) -> PusTmReader<'_>;
fn check_no_tm_available(&self) -> bool;
fn check_next_verification_tm(&self, subservice: u8, expected_request_id: RequestId);
}
}
}
impl SimplePusPacketHandler for Pus5HandlerWithStoreTester {
delegate! {
to self.handler {
fn handle_one_tc(&mut self) -> Result<PusPacketHandlerResult, PusPacketHandlingError>;
}
}
}
fn event_test(
test_harness: &mut (impl PusTestHarness + SimplePusPacketHandler),
subservice: Subservice,
expected_event_req: EventRequest,
event_req_receiver: mpsc::Receiver<EventRequestWithToken>,
) {
let mut sp_header = SpHeader::tc(TEST_APID, SequenceFlags::Unsegmented, 0, 0).unwrap();
let sec_header = PusTcSecondaryHeader::new_simple(5, subservice as u8);
let mut app_data = [0; 4];
TEST_EVENT_0
.write_to_be_bytes(&mut app_data)
.expect("writing test event failed");
let ping_tc = PusTcCreator::new(&mut sp_header, sec_header, &app_data, true);
let token = test_harness.send_tc(&ping_tc);
let request_id = token.req_id();
test_harness.handle_one_tc().unwrap();
test_harness.check_next_verification_tm(1, request_id);
test_harness.check_next_verification_tm(3, request_id);
// Completion TM is not generated for us.
assert!(test_harness.check_no_tm_available());
let event_request = event_req_receiver
.try_recv()
.expect("no event request received");
assert_eq!(expected_event_req, event_request.request);
}
#[test]
fn test_enabling_event_reporting() {
let (event_request_tx, event_request_rx) = mpsc::channel();
let mut test_harness = Pus5HandlerWithStoreTester::new(event_request_tx);
event_test(
&mut test_harness,
Subservice::TcEnableEventGeneration,
EventRequest::Enable(TEST_EVENT_0),
event_request_rx,
);
}
#[test]
fn test_disabling_event_reporting() {
let (event_request_tx, event_request_rx) = mpsc::channel();
let mut test_harness = Pus5HandlerWithStoreTester::new(event_request_tx);
event_test(
&mut test_harness,
Subservice::TcDisableEventGeneration,
EventRequest::Disable(TEST_EVENT_0),
event_request_rx,
);
}
#[test]
fn test_empty_tc_queue() {
let (event_request_tx, _) = mpsc::channel();
let mut test_harness = Pus5HandlerWithStoreTester::new(event_request_tx);
let result = test_harness.handle_one_tc();
assert!(result.is_ok());
let result = result.unwrap();
if let PusPacketHandlerResult::Empty = result {
} else {
panic!("unexpected result type {result:?}")
}
}
#[test]
fn test_sending_custom_subservice() {
let (event_request_tx, _) = mpsc::channel();
let mut test_harness = Pus5HandlerWithStoreTester::new(event_request_tx);
let mut sp_header = SpHeader::tc(TEST_APID, SequenceFlags::Unsegmented, 0, 0).unwrap();
let sec_header = PusTcSecondaryHeader::new_simple(5, 200);
let ping_tc = PusTcCreator::new_no_app_data(&mut sp_header, sec_header, true);
test_harness.send_tc(&ping_tc);
let result = test_harness.handle_one_tc();
assert!(result.is_ok());
let result = result.unwrap();
if let PusPacketHandlerResult::CustomSubservice(subservice, _) = result {
assert_eq!(subservice, 200);
} else {
panic!("unexpected result type {result:?}")
}
}
#[test]
fn test_sending_invalid_app_data() {
let (event_request_tx, _) = mpsc::channel();
let mut test_harness = Pus5HandlerWithStoreTester::new(event_request_tx);
let mut sp_header = SpHeader::tc(TEST_APID, SequenceFlags::Unsegmented, 0, 0).unwrap();
let sec_header =
PusTcSecondaryHeader::new_simple(5, Subservice::TcEnableEventGeneration as u8);
let ping_tc = PusTcCreator::new(&mut sp_header, sec_header, &[0, 1, 2], true);
test_harness.send_tc(&ping_tc);
let result = test_harness.handle_one_tc();
assert!(result.is_err());
let result = result.unwrap_err();
if let PusPacketHandlingError::NotEnoughAppData(string) = result {
assert_eq!(string, "at least 4 bytes event ID expected");
} else {
panic!("unexpected result type {result:?}")
}
}
}

333
satrs-core/src/pus/mod.rs
View File

@ -194,6 +194,9 @@ pub trait EcssTcSenderCore: EcssChannel {
fn send_tc(&self, tc: PusTcCreator, token: Option<TcStateToken>) -> Result<(), EcssTmtcError>;
}
/// A PUS telecommand packet can be stored in memory using different methods. Right now,
/// storage inside a pool structure like [crate::pool::StaticMemoryPool], and storage inside a
/// `Vec<u8>` are supported.
#[non_exhaustive]
#[derive(Debug, Clone, PartialEq, Eq)]
pub enum TcInMemory {
@ -215,6 +218,7 @@ impl From<alloc::vec::Vec<u8>> for TcInMemory {
}
}
/// Generic structure for an ECSS PUS Telecommand and its correspoding verification token.
#[derive(Debug, Clone, PartialEq, Eq)]
pub struct EcssTcAndToken {
pub tc_in_memory: TcInMemory,
@ -363,8 +367,9 @@ mod alloc_mod {
}
#[cfg(feature = "std")]
#[cfg_attr(doc_cfg, doc(cfg(feature = "std")))]
pub mod std_mod {
use crate::pool::{SharedPool, StoreAddr};
use crate::pool::{PoolProviderMemInPlaceWithGuards, SharedStaticMemoryPool, StoreAddr};
use crate::pus::verification::{
StdVerifReporterWithSender, TcStateAccepted, VerificationToken,
};
@ -469,13 +474,13 @@ pub mod std_mod {
}
}
pub struct MpscTcInStoreReceiver {
pub struct MpscTcReceiver {
id: ChannelId,
name: &'static str,
receiver: mpsc::Receiver<EcssTcAndToken>,
}
impl EcssChannel for MpscTcInStoreReceiver {
impl EcssChannel for MpscTcReceiver {
fn id(&self) -> ChannelId {
self.id
}
@ -485,7 +490,7 @@ pub mod std_mod {
}
}
impl EcssTcReceiverCore for MpscTcInStoreReceiver {
impl EcssTcReceiverCore for MpscTcReceiver {
fn recv_tc(&self) -> Result<EcssTcAndToken, TryRecvTmtcError> {
self.receiver.try_recv().map_err(|e| match e {
TryRecvError::Empty => TryRecvTmtcError::Empty,
@ -496,7 +501,7 @@ pub mod std_mod {
}
}
impl MpscTcInStoreReceiver {
impl MpscTcReceiver {
pub fn new(
id: ChannelId,
name: &'static str,
@ -513,8 +518,8 @@ pub mod std_mod {
#[derive(Clone)]
pub struct MpscTmAsVecSender {
id: ChannelId,
sender: mpsc::Sender<Vec<u8>>,
name: &'static str,
sender: mpsc::Sender<Vec<u8>>,
}
impl From<mpsc::SendError<Vec<u8>>> for EcssTmtcError {
@ -599,13 +604,13 @@ pub mod std_mod {
}
}
pub struct CrossbeamTcInStoreReceiver {
pub struct CrossbeamTcReceiver {
id: ChannelId,
name: &'static str,
receiver: cb::Receiver<EcssTcAndToken>,
}
impl CrossbeamTcInStoreReceiver {
impl CrossbeamTcReceiver {
pub fn new(
id: ChannelId,
name: &'static str,
@ -615,7 +620,7 @@ pub mod std_mod {
}
}
impl EcssChannel for CrossbeamTcInStoreReceiver {
impl EcssChannel for CrossbeamTcReceiver {
fn id(&self) -> ChannelId {
self.id
}
@ -625,7 +630,7 @@ pub mod std_mod {
}
}
impl EcssTcReceiverCore for CrossbeamTcInStoreReceiver {
impl EcssTcReceiverCore for CrossbeamTcReceiver {
fn recv_tc(&self) -> Result<EcssTcAndToken, TryRecvTmtcError> {
self.receiver.try_recv().map_err(|e| match e {
cb::TryRecvError::Empty => TryRecvTmtcError::Empty,
@ -689,36 +694,40 @@ pub mod std_mod {
}
pub trait EcssTcInMemConverter {
fn cache_ecss_tc_in_memory<'a>(
&'a mut self,
possible_packet: &'a AcceptedEcssTcAndToken,
fn cache_ecss_tc_in_memory(
&mut self,
possible_packet: &TcInMemory,
) -> Result<(), PusPacketHandlingError>;
fn tc_slice_raw(&self) -> &[u8];
fn convert_ecss_tc_in_memory_to_reader<'a>(
&'a mut self,
possible_packet: &'a AcceptedEcssTcAndToken,
) -> Result<PusTcReader<'a>, PusPacketHandlingError> {
fn convert_ecss_tc_in_memory_to_reader(
&mut self,
possible_packet: &TcInMemory,
) -> Result<PusTcReader<'_>, PusPacketHandlingError> {
self.cache_ecss_tc_in_memory(possible_packet)?;
Ok(PusTcReader::new(self.tc_slice_raw())?.0)
}
}
/// Converter structure for PUS telecommands which are stored inside a `Vec<u8>` structure.
/// Please note that this structure is not able to convert TCs which are stored inside a
/// [SharedStaticMemoryPool].
#[derive(Default, Clone)]
pub struct EcssTcInVecConverter {
pub pus_tc_raw: Option<Vec<u8>>,
}
impl EcssTcInMemConverter for EcssTcInVecConverter {
fn cache_ecss_tc_in_memory<'a>(
&'a mut self,
possible_packet: &'a AcceptedEcssTcAndToken,
fn cache_ecss_tc_in_memory(
&mut self,
tc_in_memory: &TcInMemory,
) -> Result<(), PusPacketHandlingError> {
self.pus_tc_raw = None;
match &possible_packet.tc_in_memory {
match tc_in_memory {
super::TcInMemory::StoreAddr(_) => {
return Err(PusPacketHandlingError::InvalidTcInMemoryFormat(
possible_packet.tc_in_memory.clone(),
tc_in_memory.clone(),
));
}
super::TcInMemory::Vec(vec) => {
@ -736,13 +745,17 @@ pub mod std_mod {
}
}
pub struct EcssTcInStoreConverter {
pub shared_tc_store: SharedPool,
pub pus_buf: Vec<u8>,
/// Converter structure for PUS telecommands which are stored inside
/// [SharedStaticMemoryPool] structure. This is useful if run-time allocation for these
/// packets should be avoided. Please note that this structure is not able to convert TCs which
/// are stored as a `Vec<u8>`.
pub struct EcssTcInSharedStoreConverter {
shared_tc_store: SharedStaticMemoryPool,
pus_buf: Vec<u8>,
}
impl EcssTcInStoreConverter {
pub fn new(shared_tc_store: SharedPool, max_expected_tc_size: usize) -> Self {
impl EcssTcInSharedStoreConverter {
pub fn new(shared_tc_store: SharedStaticMemoryPool, max_expected_tc_size: usize) -> Self {
Self {
shared_tc_store,
pus_buf: alloc::vec![0; max_expected_tc_size],
@ -765,18 +778,18 @@ pub mod std_mod {
}
}
impl EcssTcInMemConverter for EcssTcInStoreConverter {
fn cache_ecss_tc_in_memory<'a>(
&'a mut self,
possible_packet: &'a AcceptedEcssTcAndToken,
impl EcssTcInMemConverter for EcssTcInSharedStoreConverter {
fn cache_ecss_tc_in_memory(
&mut self,
tc_in_memory: &TcInMemory,
) -> Result<(), PusPacketHandlingError> {
match &possible_packet.tc_in_memory {
match tc_in_memory {
super::TcInMemory::StoreAddr(addr) => {
self.copy_tc_to_buf(*addr)?;
}
super::TcInMemory::Vec(_) => {
return Err(PusPacketHandlingError::InvalidTcInMemoryFormat(
possible_packet.tc_in_memory.clone(),
tc_in_memory.clone(),
));
}
};
@ -821,18 +834,21 @@ pub mod std_mod {
}
}
/// Base class for handlers which can handle PUS TC packets. Right now, the verification
/// reporter is constrained to the [StdVerifReporterWithSender] and the service handler
/// relies on TMTC packets being exchanged via a [SharedPool]. Please note that this variant
/// of the PUS service base is not optimized for handling packets sent as a `Vec<u8>` and
/// might perform additional copies to the internal buffer as well. The class should
/// still behave correctly.
pub struct PusServiceHandler<TcInMemConverter: EcssTcInMemConverter> {
/// This is a high-level PUS packet handler helper.
///
/// It performs some of the boilerplate acitivities involved when handling PUS telecommands and
/// it can be used to implement the handling of PUS telecommands for certain PUS telecommands
/// groups (for example individual services).
///
/// This base class can handle PUS telecommands backed by different memory storage machanisms
/// by using the [EcssTcInMemConverter] abstraction. This object provides some convenience
/// methods to make the generic parts of TC handling easier.
pub struct PusServiceHelper<TcInMemConverter: EcssTcInMemConverter> {
pub common: PusServiceBase,
pub tc_in_mem_converter: TcInMemConverter,
}
impl<TcInMemConverter: EcssTcInMemConverter> PusServiceHandler<TcInMemConverter> {
impl<TcInMemConverter: EcssTcInMemConverter> PusServiceHelper<TcInMemConverter> {
pub fn new(
tc_receiver: Box<dyn EcssTcReceiver>,
tm_sender: Box<dyn EcssTmSender>,
@ -851,6 +867,11 @@ pub mod std_mod {
}
}
/// This function can be used to poll the internal [EcssTcReceiver] object for the next
/// telecommand packet. It will return `Ok(None)` if there are not packets available.
/// In any other case, it will perform the acceptance of the ECSS TC packet using the
/// internal [VerificationReporterWithSender] object. It will then return the telecommand
/// and the according accepted token.
pub fn retrieve_and_accept_next_packet(
&mut self,
) -> Result<Option<AcceptedEcssTcAndToken>, PusPacketHandlingError> {
@ -893,10 +914,35 @@ pub(crate) fn source_buffer_large_enough(cap: usize, len: usize) -> Result<(), E
}
#[cfg(test)]
pub(crate) mod tests {
use spacepackets::ecss::tm::{GenericPusTmSecondaryHeader, PusTmCreator};
pub mod tests {
use std::sync::mpsc::TryRecvError;
use std::sync::{mpsc, RwLock};
use alloc::boxed::Box;
use alloc::vec;
use spacepackets::ecss::tc::PusTcCreator;
use spacepackets::ecss::tm::{GenericPusTmSecondaryHeader, PusTmCreator, PusTmReader};
use spacepackets::ecss::{PusPacket, WritablePusPacket};
use spacepackets::CcsdsPacket;
use crate::pool::{
PoolProviderMemInPlace, SharedStaticMemoryPool, StaticMemoryPool, StaticPoolConfig,
StoreAddr,
};
use crate::pus::verification::RequestId;
use crate::tmtc::tm_helper::SharedTmStore;
use super::verification::{
TcStateAccepted, VerificationReporterCfg, VerificationReporterWithSender, VerificationToken,
};
use super::{
EcssTcAndToken, EcssTcInSharedStoreConverter, EcssTcInVecConverter, MpscTcReceiver,
MpscTmAsVecSender, MpscTmInStoreSender, PusPacketHandlerResult, PusPacketHandlingError,
PusServiceHelper, TcInMemory,
};
pub const TEST_APID: u16 = 0x101;
#[derive(Debug, Eq, PartialEq, Clone)]
pub(crate) struct CommonTmInfo {
pub subservice: u8,
@ -906,12 +952,23 @@ pub(crate) mod tests {
pub time_stamp: [u8; 7],
}
pub trait PusTestHarness {
fn send_tc(&mut self, tc: &PusTcCreator) -> VerificationToken<TcStateAccepted>;
fn read_next_tm(&mut self) -> PusTmReader<'_>;
fn check_no_tm_available(&self) -> bool;
fn check_next_verification_tm(&self, subservice: u8, expected_request_id: RequestId);
}
pub trait SimplePusPacketHandler {
fn handle_one_tc(&mut self) -> Result<PusPacketHandlerResult, PusPacketHandlingError>;
}
impl CommonTmInfo {
pub fn new_from_tm(tm: &PusTmCreator) -> Self {
let mut time_stamp = [0; 7];
time_stamp.clone_from_slice(&tm.timestamp()[0..7]);
Self {
subservice: tm.subservice(),
subservice: PusPacket::subservice(tm),
apid: tm.apid(),
msg_counter: tm.msg_counter(),
dest_id: tm.dest_id(),
@ -919,4 +976,192 @@ pub(crate) mod tests {
}
}
}
/// Common fields for a PUS service test harness.
pub struct PusServiceHandlerWithSharedStoreCommon {
pus_buf: [u8; 2048],
tm_buf: [u8; 2048],
tc_pool: SharedStaticMemoryPool,
tm_pool: SharedTmStore,
tc_sender: mpsc::Sender<EcssTcAndToken>,
tm_receiver: mpsc::Receiver<StoreAddr>,
verification_handler: VerificationReporterWithSender,
}
impl PusServiceHandlerWithSharedStoreCommon {
/// This function generates the structure in addition to the PUS service handler
/// [PusServiceHandler] which might be required for a specific PUS service handler.
///
/// The PUS service handler is instantiated with a [EcssTcInStoreConverter].
pub fn new() -> (Self, PusServiceHelper<EcssTcInSharedStoreConverter>) {
let pool_cfg = StaticPoolConfig::new(vec![(16, 16), (8, 32), (4, 64)]);
let tc_pool = StaticMemoryPool::new(pool_cfg.clone());
let tm_pool = StaticMemoryPool::new(pool_cfg);
let shared_tc_pool = SharedStaticMemoryPool::new(RwLock::new(tc_pool));
let shared_tm_pool = SharedTmStore::new(tm_pool);
let (test_srv_tc_tx, test_srv_tc_rx) = mpsc::channel();
let (tm_tx, tm_rx) = mpsc::channel();
let verif_sender =
MpscTmInStoreSender::new(0, "verif_sender", shared_tm_pool.clone(), tm_tx.clone());
let verif_cfg = VerificationReporterCfg::new(TEST_APID, 1, 2, 8).unwrap();
let verification_handler =
VerificationReporterWithSender::new(&verif_cfg, Box::new(verif_sender));
let test_srv_tm_sender =
MpscTmInStoreSender::new(0, "TEST_SENDER", shared_tm_pool.clone(), tm_tx);
let test_srv_tc_receiver = MpscTcReceiver::new(0, "TEST_RECEIVER", test_srv_tc_rx);
let in_store_converter =
EcssTcInSharedStoreConverter::new(shared_tc_pool.clone(), 2048);
(
Self {
pus_buf: [0; 2048],
tm_buf: [0; 2048],
tc_pool: shared_tc_pool,
tm_pool: shared_tm_pool,
tc_sender: test_srv_tc_tx,
tm_receiver: tm_rx,
verification_handler: verification_handler.clone(),
},
PusServiceHelper::new(
Box::new(test_srv_tc_receiver),
Box::new(test_srv_tm_sender),
TEST_APID,
verification_handler,
in_store_converter,
),
)
}
pub fn send_tc(&mut self, tc: &PusTcCreator) -> VerificationToken<TcStateAccepted> {
let token = self.verification_handler.add_tc(tc);
let token = self
.verification_handler
.acceptance_success(token, Some(&[0; 7]))
.unwrap();
let tc_size = tc.write_to_bytes(&mut self.pus_buf).unwrap();
let mut tc_pool = self.tc_pool.write().unwrap();
let addr = tc_pool.add(&self.pus_buf[..tc_size]).unwrap();
drop(tc_pool);
// Send accepted TC to test service handler.
self.tc_sender
.send(EcssTcAndToken::new(addr, token))
.expect("sending tc failed");
token
}
pub fn read_next_tm(&mut self) -> PusTmReader<'_> {
let next_msg = self.tm_receiver.try_recv();
assert!(next_msg.is_ok());
let tm_addr = next_msg.unwrap();
let tm_pool = self.tm_pool.shared_pool.read().unwrap();
let tm_raw = tm_pool.read(&tm_addr).unwrap();
self.tm_buf[0..tm_raw.len()].copy_from_slice(tm_raw);
PusTmReader::new(&self.tm_buf, 7).unwrap().0
}
pub fn check_no_tm_available(&self) -> bool {
let next_msg = self.tm_receiver.try_recv();
if let TryRecvError::Empty = next_msg.unwrap_err() {
return true;
}
false
}
pub fn check_next_verification_tm(&self, subservice: u8, expected_request_id: RequestId) {
let next_msg = self.tm_receiver.try_recv();
assert!(next_msg.is_ok());
let tm_addr = next_msg.unwrap();
let tm_pool = self.tm_pool.shared_pool.read().unwrap();
let tm_raw = tm_pool.read(&tm_addr).unwrap();
let tm = PusTmReader::new(tm_raw, 7).unwrap().0;
assert_eq!(PusPacket::service(&tm), 1);
assert_eq!(PusPacket::subservice(&tm), subservice);
assert_eq!(tm.apid(), TEST_APID);
let req_id =
RequestId::from_bytes(tm.user_data()).expect("generating request ID failed");
assert_eq!(req_id, expected_request_id);
}
}
pub struct PusServiceHandlerWithVecCommon {
current_tm: Option<alloc::vec::Vec<u8>>,
tc_sender: mpsc::Sender<EcssTcAndToken>,
tm_receiver: mpsc::Receiver<alloc::vec::Vec<u8>>,
verification_handler: VerificationReporterWithSender,
}
impl PusServiceHandlerWithVecCommon {
pub fn new() -> (Self, PusServiceHelper<EcssTcInVecConverter>) {
let (test_srv_tc_tx, test_srv_tc_rx) = mpsc::channel();
let (tm_tx, tm_rx) = mpsc::channel();
let verif_sender = MpscTmAsVecSender::new(0, "verififcatio-sender", tm_tx.clone());
let verif_cfg = VerificationReporterCfg::new(TEST_APID, 1, 2, 8).unwrap();
let verification_handler =
VerificationReporterWithSender::new(&verif_cfg, Box::new(verif_sender));
let test_srv_tm_sender = MpscTmAsVecSender::new(0, "test-sender", tm_tx);
let test_srv_tc_receiver = MpscTcReceiver::new(0, "test-receiver", test_srv_tc_rx);
let in_store_converter = EcssTcInVecConverter::default();
(
Self {
current_tm: None,
tc_sender: test_srv_tc_tx,
tm_receiver: tm_rx,
verification_handler: verification_handler.clone(),
},
PusServiceHelper::new(
Box::new(test_srv_tc_receiver),
Box::new(test_srv_tm_sender),
TEST_APID,
verification_handler,
in_store_converter,
),
)
}
pub fn send_tc(&mut self, tc: &PusTcCreator) -> VerificationToken<TcStateAccepted> {
let token = self.verification_handler.add_tc(tc);
let token = self
.verification_handler
.acceptance_success(token, Some(&[0; 7]))
.unwrap();
// Send accepted TC to test service handler.
self.tc_sender
.send(EcssTcAndToken::new(
TcInMemory::Vec(tc.to_vec().expect("pus tc conversion to vec failed")),
token,
))
.expect("sending tc failed");
token
}
pub fn read_next_tm(&mut self) -> PusTmReader<'_> {
let next_msg = self.tm_receiver.try_recv();
assert!(next_msg.is_ok());
self.current_tm = Some(next_msg.unwrap());
PusTmReader::new(self.current_tm.as_ref().unwrap(), 7)
.unwrap()
.0
}
pub fn check_no_tm_available(&self) -> bool {
let next_msg = self.tm_receiver.try_recv();
if let TryRecvError::Empty = next_msg.unwrap_err() {
return true;
}
false
}
pub fn check_next_verification_tm(&self, subservice: u8, expected_request_id: RequestId) {
let next_msg = self.tm_receiver.try_recv();
assert!(next_msg.is_ok());
let next_msg = next_msg.unwrap();
let tm = PusTmReader::new(next_msg.as_slice(), 7).unwrap().0;
assert_eq!(PusPacket::service(&tm), 1);
assert_eq!(PusPacket::subservice(&tm), subservice);
assert_eq!(tm.apid(), TEST_APID);
let req_id =
RequestId::from_bytes(tm.user_data()).expect("generating request ID failed");
assert_eq!(req_id, expected_request_id);
}
}
}

551
satrs-core/src/pus/scheduler.rs
View File

File diff suppressed because it is too large Load Diff

294
satrs-core/src/pus/scheduler_srv.rs
View File

@ -1,82 +1,72 @@
use crate::pool::SharedPool;
use crate::pus::scheduler::PusScheduler;
use crate::pus::{EcssTcReceiver, EcssTmSender, PusPacketHandlerResult, PusPacketHandlingError};
use super::scheduler::PusSchedulerInterface;
use super::{EcssTcInMemConverter, PusServiceBase, PusServiceHelper};
use crate::pool::PoolProviderMemInPlace;
use crate::pus::{PusPacketHandlerResult, PusPacketHandlingError};
use alloc::string::ToString;
use spacepackets::ecss::{scheduling, PusPacket};
use spacepackets::time::cds::TimeProvider;
use std::boxed::Box;
use super::verification::VerificationReporterWithSender;
use super::{EcssTcInMemConverter, PusServiceBase, PusServiceHandler};
/// This is a helper class for [std] environments to handle generic PUS 11 (scheduling service)
/// packets. This handler is constrained to using the [PusScheduler], but is able to process
/// the most important PUS requests for a scheduling service.
/// packets. This handler is able to handle the most important PUS requests for a scheduling
/// service which provides the [PusSchedulerInterface].
///
/// Please note that this class does not do the regular periodic handling like releasing any
/// telecommands inside the scheduler. The user can retrieve the wrapped scheduler via the
/// [Self::scheduler] and [Self::scheduler_mut] function and then use the scheduler API to release
/// telecommands when applicable.
pub struct PusService11SchedHandler<TcInMemConverter: EcssTcInMemConverter> {
pub psb: PusServiceHandler<TcInMemConverter>,
shared_tc_store: SharedPool,
scheduler: PusScheduler,
pub struct PusService11SchedHandler<
TcInMemConverter: EcssTcInMemConverter,
Scheduler: PusSchedulerInterface,
> {
pub service_helper: PusServiceHelper<TcInMemConverter>,
scheduler: Scheduler,
}
impl<TcInMemConverter: EcssTcInMemConverter> PusService11SchedHandler<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,
shared_tc_store: SharedPool,
scheduler: PusScheduler,
) -> Self {
impl<TcInMemConverter: EcssTcInMemConverter, Scheduler: PusSchedulerInterface>
PusService11SchedHandler<TcInMemConverter, Scheduler>
{
pub fn new(service_helper: PusServiceHelper<TcInMemConverter>, scheduler: Scheduler) -> Self {
Self {
psb: PusServiceHandler::new(
tc_receiver,
tm_sender,
tm_apid,
verification_handler,
tc_in_mem_converter,
),
shared_tc_store,
service_helper,
scheduler,
}
}
pub fn scheduler_mut(&mut self) -> &mut PusScheduler {
pub fn scheduler_mut(&mut self) -> &mut Scheduler {
&mut self.scheduler
}
pub fn scheduler(&self) -> &PusScheduler {
pub fn scheduler(&self) -> &Scheduler {
&self.scheduler
}
pub fn handle_one_tc(&mut self) -> Result<PusPacketHandlerResult, PusPacketHandlingError> {
let possible_packet = self.psb.retrieve_and_accept_next_packet()?;
pub fn handle_one_tc(
&mut self,
sched_tc_pool: &mut (impl PoolProviderMemInPlace + ?Sized),
) -> 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
.psb
.service_helper
.tc_in_mem_converter
.convert_ecss_tc_in_memory_to_reader(&ecss_tc_and_token)?;
let subservice = tc.subservice();
let std_service = scheduling::Subservice::try_from(subservice);
if std_service.is_err() {
.convert_ecss_tc_in_memory_to_reader(&ecss_tc_and_token.tc_in_memory)?;
let subservice = PusPacket::subservice(&tc);
let standard_subservice = scheduling::Subservice::try_from(subservice);
if standard_subservice.is_err() {
return Ok(PusPacketHandlerResult::CustomSubservice(
tc.subservice(),
subservice,
ecss_tc_and_token.token,
));
}
let mut partial_error = None;
let time_stamp = PusServiceBase::get_current_timestamp(&mut partial_error);
match std_service.unwrap() {
match standard_subservice.unwrap() {
scheduling::Subservice::TcEnableScheduling => {
let start_token = self
.psb
.service_helper
.common
.verification_handler
.get_mut()
@ -85,19 +75,21 @@ impl<TcInMemConverter: EcssTcInMemConverter> PusService11SchedHandler<TcInMemCon
self.scheduler.enable();
if self.scheduler.is_enabled() {
self.psb
self.service_helper
.common
.verification_handler
.get_mut()
.completion_success(start_token, Some(&time_stamp))
.expect("Error sending completion success");
} else {
panic!("Failed to enable scheduler");
return Err(PusPacketHandlingError::Other(
"failed to enabled scheduler".to_string(),
));
}
}
scheduling::Subservice::TcDisableScheduling => {
let start_token = self
.psb
.service_helper
.common
.verification_handler
.get_mut()
@ -106,32 +98,32 @@ impl<TcInMemConverter: EcssTcInMemConverter> PusService11SchedHandler<TcInMemCon
self.scheduler.disable();
if !self.scheduler.is_enabled() {
self.psb
self.service_helper
.common
.verification_handler
.get_mut()
.completion_success(start_token, Some(&time_stamp))
.expect("Error sending completion success");
} else {
panic!("Failed to disable scheduler");
return Err(PusPacketHandlingError::Other(
"failed to disable scheduler".to_string(),
));
}
}
scheduling::Subservice::TcResetScheduling => {
let start_token = self
.psb
.service_helper
.common
.verification_handler
.get_mut()
.start_success(ecss_tc_and_token.token, Some(&time_stamp))
.expect("Error sending start success");
let mut pool = self.shared_tc_store.write().expect("Locking pool failed");
self.scheduler
.reset(pool.as_mut())
.reset(sched_tc_pool)
.expect("Error resetting TC Pool");
self.psb
self.service_helper
.common
.verification_handler
.get_mut()
@ -140,19 +132,19 @@ impl<TcInMemConverter: EcssTcInMemConverter> PusService11SchedHandler<TcInMemCon
}
scheduling::Subservice::TcInsertActivity => {
let start_token = self
.psb
.service_helper
.common
.verification_handler
.get_mut()
.start_success(ecss_tc_and_token.token, Some(&time_stamp))
.expect("error sending start success");
let mut pool = self.shared_tc_store.write().expect("locking pool failed");
// let mut pool = self.sched_tc_pool.write().expect("locking pool failed");
self.scheduler
.insert_wrapped_tc::<TimeProvider>(&tc, pool.as_mut())
.insert_wrapped_tc::<TimeProvider>(&tc, sched_tc_pool)
.expect("insertion of activity into pool failed");
self.psb
self.service_helper
.common
.verification_handler
.get_mut()
@ -162,7 +154,7 @@ impl<TcInMemConverter: EcssTcInMemConverter> PusService11SchedHandler<TcInMemCon
_ => {
// Treat unhandled standard subservices as custom subservices for now.
return Ok(PusPacketHandlerResult::CustomSubservice(
tc.subservice(),
subservice,
ecss_tc_and_token.token,
));
}
@ -175,3 +167,189 @@ impl<TcInMemConverter: EcssTcInMemConverter> PusService11SchedHandler<TcInMemCon
Ok(PusPacketHandlerResult::RequestHandled)
}
}
#[cfg(test)]
mod tests {
use crate::pool::{StaticMemoryPool, StaticPoolConfig};
use crate::pus::tests::TEST_APID;
use crate::pus::{
scheduler::{self, PusSchedulerInterface, TcInfo},
tests::{PusServiceHandlerWithSharedStoreCommon, PusTestHarness},
verification::{RequestId, TcStateAccepted, VerificationToken},
EcssTcInSharedStoreConverter,
};
use alloc::collections::VecDeque;
use delegate::delegate;
use spacepackets::ecss::scheduling::Subservice;
use spacepackets::ecss::tc::PusTcSecondaryHeader;
use spacepackets::ecss::WritablePusPacket;
use spacepackets::time::TimeWriter;
use spacepackets::SpHeader;
use spacepackets::{
ecss::{tc::PusTcCreator, tm::PusTmReader},
time::cds,
};
use super::PusService11SchedHandler;
struct Pus11HandlerWithStoreTester {
common: PusServiceHandlerWithSharedStoreCommon,
handler: PusService11SchedHandler<EcssTcInSharedStoreConverter, TestScheduler>,
sched_tc_pool: StaticMemoryPool,
}
impl Pus11HandlerWithStoreTester {
pub fn new() -> Self {
let test_scheduler = TestScheduler::default();
let pool_cfg = StaticPoolConfig::new(alloc::vec![(16, 16), (8, 32), (4, 64)]);
let sched_tc_pool = StaticMemoryPool::new(pool_cfg.clone());
let (common, srv_handler) = PusServiceHandlerWithSharedStoreCommon::new();
Self {
common,
handler: PusService11SchedHandler::new(srv_handler, test_scheduler),
sched_tc_pool,
}
}
}
impl PusTestHarness for Pus11HandlerWithStoreTester {
delegate! {
to self.common {
fn send_tc(&mut self, tc: &PusTcCreator) -> VerificationToken<TcStateAccepted>;
fn read_next_tm(&mut self) -> PusTmReader<'_>;
fn check_no_tm_available(&self) -> bool;
fn check_next_verification_tm(&self, subservice: u8, expected_request_id: RequestId);
}
}
}
#[derive(Default)]
pub struct TestScheduler {
reset_count: u32,
enabled: bool,
enabled_count: u32,
disabled_count: u32,
inserted_tcs: VecDeque<TcInfo>,
}
impl PusSchedulerInterface for TestScheduler {
type TimeProvider = cds::TimeProvider;
fn reset(
&mut self,
_store: &mut (impl crate::pool::PoolProviderMemInPlace + ?Sized),
) -> Result<(), crate::pool::StoreError> {
self.reset_count += 1;
Ok(())
}
fn is_enabled(&self) -> bool {
self.enabled
}
fn enable(&mut self) {
self.enabled_count += 1;
self.enabled = true;
}
fn disable(&mut self) {
self.disabled_count += 1;
self.enabled = false;
}
fn insert_unwrapped_and_stored_tc(
&mut self,
_time_stamp: spacepackets::time::UnixTimestamp,
info: crate::pus::scheduler::TcInfo,
) -> Result<(), crate::pus::scheduler::ScheduleError> {
self.inserted_tcs.push_back(info);
Ok(())
}
}
fn generic_subservice_send(
test_harness: &mut Pus11HandlerWithStoreTester,
subservice: Subservice,
) {
let mut reply_header = SpHeader::tm_unseg(TEST_APID, 0, 0).unwrap();
let tc_header = PusTcSecondaryHeader::new_simple(11, subservice as u8);
let enable_scheduling = PusTcCreator::new(&mut reply_header, tc_header, &[0; 7], true);
let token = test_harness.send_tc(&enable_scheduling);
let request_id = token.req_id();
test_harness
.handler
.handle_one_tc(&mut test_harness.sched_tc_pool)
.unwrap();
test_harness.check_next_verification_tm(1, request_id);
test_harness.check_next_verification_tm(3, request_id);
test_harness.check_next_verification_tm(7, request_id);
}
#[test]
fn test_scheduling_enabling_tc() {
let mut test_harness = Pus11HandlerWithStoreTester::new();
test_harness.handler.scheduler_mut().disable();
assert!(!test_harness.handler.scheduler().is_enabled());
generic_subservice_send(&mut test_harness, Subservice::TcEnableScheduling);
assert!(test_harness.handler.scheduler().is_enabled());
assert_eq!(test_harness.handler.scheduler().enabled_count, 1);
}
#[test]
fn test_scheduling_disabling_tc() {
let mut test_harness = Pus11HandlerWithStoreTester::new();
test_harness.handler.scheduler_mut().enable();
assert!(test_harness.handler.scheduler().is_enabled());
generic_subservice_send(&mut test_harness, Subservice::TcDisableScheduling);
assert!(!test_harness.handler.scheduler().is_enabled());
assert_eq!(test_harness.handler.scheduler().disabled_count, 1);
}
#[test]
fn test_reset_scheduler_tc() {
let mut test_harness = Pus11HandlerWithStoreTester::new();
generic_subservice_send(&mut test_harness, Subservice::TcResetScheduling);
assert_eq!(test_harness.handler.scheduler().reset_count, 1);
}
#[test]
fn test_insert_activity_tc() {
let mut test_harness = Pus11HandlerWithStoreTester::new();
let mut reply_header = SpHeader::tm_unseg(TEST_APID, 0, 0).unwrap();
let mut sec_header = PusTcSecondaryHeader::new_simple(17, 1);
let ping_tc = PusTcCreator::new(&mut reply_header, sec_header, &[], true);
let req_id_ping_tc = scheduler::RequestId::from_tc(&ping_tc);
let stamper = cds::TimeProvider::from_now_with_u16_days().expect("time provider failed");
let mut sched_app_data: [u8; 64] = [0; 64];
let mut written_len = stamper.write_to_bytes(&mut sched_app_data).unwrap();
let ping_raw = ping_tc.to_vec().expect("generating raw tc failed");
sched_app_data[written_len..written_len + ping_raw.len()].copy_from_slice(&ping_raw);
written_len += ping_raw.len();
reply_header = SpHeader::tm_unseg(TEST_APID, 1, 0).unwrap();
sec_header = PusTcSecondaryHeader::new_simple(11, Subservice::TcInsertActivity as u8);
let enable_scheduling = PusTcCreator::new(
&mut reply_header,
sec_header,
&sched_app_data[..written_len],
true,
);
let token = test_harness.send_tc(&enable_scheduling);
let request_id = token.req_id();
test_harness
.handler
.handle_one_tc(&mut test_harness.sched_tc_pool)
.unwrap();
test_harness.check_next_verification_tm(1, request_id);
test_harness.check_next_verification_tm(3, request_id);
test_harness.check_next_verification_tm(7, request_id);
let tc_info = test_harness
.handler
.scheduler_mut()
.inserted_tcs
.pop_front()
.unwrap();
assert_eq!(tc_info.request_id(), req_id_ping_tc);
}
}

279
satrs-core/src/pus/test.rs
View File

@ -1,50 +1,33 @@
use crate::pus::{
EcssTcReceiver, EcssTmSender, PartialPusHandlingError, PusPacketHandlerResult,
PusPacketHandlingError, PusTmWrapper,
PartialPusHandlingError, PusPacketHandlerResult, PusPacketHandlingError, PusTmWrapper,
};
use spacepackets::ecss::tm::{PusTmCreator, PusTmSecondaryHeader};
use spacepackets::ecss::PusPacket;
use spacepackets::SpHeader;
use std::boxed::Box;
use super::verification::VerificationReporterWithSender;
use super::{EcssTcInMemConverter, PusServiceBase, PusServiceHandler};
use super::{EcssTcInMemConverter, PusServiceBase, PusServiceHelper};
/// This is a helper class for [std] environments to handle generic PUS 17 (test service) packets.
/// This handler only processes ping requests and generates a ping reply for them accordingly.
pub struct PusService17TestHandler<TcInMemConverter: EcssTcInMemConverter> {
pub psb: PusServiceHandler<TcInMemConverter>,
pub service_helper: PusServiceHelper<TcInMemConverter>,
}
impl<TcInMemConverter: EcssTcInMemConverter> PusService17TestHandler<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,
) -> Self {
Self {
psb: PusServiceHandler::new(
tc_receiver,
tm_sender,
tm_apid,
verification_handler,
tc_in_mem_converter,
),
}
pub fn new(service_helper: PusServiceHelper<TcInMemConverter>) -> Self {
Self { service_helper }
}
pub 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();
let tc = self
.psb
.service_helper
.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)?;
if tc.service() != 17 {
return Err(PusPacketHandlingError::WrongService(tc.service()));
}
@ -52,7 +35,7 @@ impl<TcInMemConverter: EcssTcInMemConverter> PusService17TestHandler<TcInMemConv
let mut partial_error = None;
let time_stamp = PusServiceBase::get_current_timestamp(&mut partial_error);
let result = self
.psb
.service_helper
.common
.verification_handler
.get_mut()
@ -65,11 +48,12 @@ impl<TcInMemConverter: EcssTcInMemConverter> PusService17TestHandler<TcInMemConv
None
};
// Sequence count will be handled centrally in TM funnel.
let mut reply_header = SpHeader::tm_unseg(self.psb.common.tm_apid, 0, 0).unwrap();
let mut reply_header =
SpHeader::tm_unseg(self.service_helper.common.tm_apid, 0, 0).unwrap();
let tc_header = PusTmSecondaryHeader::new_simple(17, 2, &time_stamp);
let ping_reply = PusTmCreator::new(&mut reply_header, tc_header, &[], true);
let result = self
.psb
.service_helper
.common
.tm_sender
.send_tm(PusTmWrapper::Direct(ping_reply))
@ -80,7 +64,7 @@ impl<TcInMemConverter: EcssTcInMemConverter> PusService17TestHandler<TcInMemConv
if let Some(start_token) = start_token {
if self
.psb
.service_helper
.common
.verification_handler
.get_mut()
@ -107,115 +91,182 @@ impl<TcInMemConverter: EcssTcInMemConverter> PusService17TestHandler<TcInMemConv
#[cfg(test)]
mod tests {
use crate::pool::{LocalPool, PoolCfg, SharedPool};
use crate::pus::test::PusService17TestHandler;
use crate::pus::verification::{
RequestId, VerificationReporterCfg, VerificationReporterWithSender,
use crate::pus::tests::{
PusServiceHandlerWithSharedStoreCommon, PusServiceHandlerWithVecCommon, PusTestHarness,
SimplePusPacketHandler, TEST_APID,
};
use crate::pus::verification::RequestId;
use crate::pus::verification::{TcStateAccepted, VerificationToken};
use crate::pus::{
EcssTcAndToken, EcssTcInStoreConverter, MpscTcInStoreReceiver, MpscTmInStoreSender,
EcssTcInSharedStoreConverter, EcssTcInVecConverter, PusPacketHandlerResult,
PusPacketHandlingError,
};
use crate::tmtc::tm_helper::SharedTmStore;
use delegate::delegate;
use spacepackets::ecss::tc::{PusTcCreator, PusTcSecondaryHeader};
use spacepackets::ecss::tm::PusTmReader;
use spacepackets::ecss::{PusPacket, WritablePusPacket};
use spacepackets::ecss::PusPacket;
use spacepackets::{SequenceFlags, SpHeader};
use std::boxed::Box;
use std::sync::{mpsc, RwLock};
use std::vec;
const TEST_APID: u16 = 0x101;
use super::PusService17TestHandler;
#[test]
fn test_basic_ping_processing() {
let mut pus_buf: [u8; 64] = [0; 64];
let pool_cfg = PoolCfg::new(vec![(16, 16), (8, 32), (4, 64)]);
let tc_pool = LocalPool::new(pool_cfg.clone());
let tm_pool = LocalPool::new(pool_cfg);
let tc_pool_shared = SharedPool::new(RwLock::new(Box::new(tc_pool)));
let shared_tm_store = SharedTmStore::new(Box::new(tm_pool));
let tm_pool_shared = shared_tm_store.clone_backing_pool();
let (test_srv_tc_tx, test_srv_tc_rx) = mpsc::channel();
let (tm_tx, tm_rx) = mpsc::channel();
let verif_sender =
MpscTmInStoreSender::new(0, "verif_sender", shared_tm_store.clone(), tm_tx.clone());
let verif_cfg = VerificationReporterCfg::new(TEST_APID, 1, 2, 8).unwrap();
let mut verification_handler =
VerificationReporterWithSender::new(&verif_cfg, Box::new(verif_sender));
let test_srv_tm_sender = MpscTmInStoreSender::new(0, "TEST_SENDER", shared_tm_store, tm_tx);
let test_srv_tc_receiver = MpscTcInStoreReceiver::new(0, "TEST_RECEIVER", test_srv_tc_rx);
let in_store_converter = EcssTcInStoreConverter::new(tc_pool_shared.clone(), 2048);
let mut pus_17_handler = PusService17TestHandler::new(
Box::new(test_srv_tc_receiver),
Box::new(test_srv_tm_sender),
TEST_APID,
verification_handler.clone(),
in_store_converter,
struct Pus17HandlerWithStoreTester {
common: PusServiceHandlerWithSharedStoreCommon,
handler: PusService17TestHandler<EcssTcInSharedStoreConverter>,
}
impl Pus17HandlerWithStoreTester {
pub fn new() -> Self {
let (common, srv_handler) = PusServiceHandlerWithSharedStoreCommon::new();
let pus_17_handler = PusService17TestHandler::new(srv_handler);
Self {
common,
handler: pus_17_handler,
}
}
}
impl PusTestHarness for Pus17HandlerWithStoreTester {
delegate! {
to self.common {
fn send_tc(&mut self, tc: &PusTcCreator) -> VerificationToken<TcStateAccepted>;
fn read_next_tm(&mut self) -> PusTmReader<'_>;
fn check_no_tm_available(&self) -> bool;
fn check_next_verification_tm(
&self,
subservice: u8,
expected_request_id: RequestId
);
}
}
}
impl SimplePusPacketHandler for Pus17HandlerWithStoreTester {
delegate! {
to self.handler {
fn handle_one_tc(&mut self) -> Result<PusPacketHandlerResult, PusPacketHandlingError>;
}
}
}
struct Pus17HandlerWithVecTester {
common: PusServiceHandlerWithVecCommon,
handler: PusService17TestHandler<EcssTcInVecConverter>,
}
impl Pus17HandlerWithVecTester {
pub fn new() -> Self {
let (common, srv_handler) = PusServiceHandlerWithVecCommon::new();
Self {
common,
handler: PusService17TestHandler::new(srv_handler),
}
}
}
impl PusTestHarness for Pus17HandlerWithVecTester {
delegate! {
to self.common {
fn send_tc(&mut self, tc: &PusTcCreator) -> VerificationToken<TcStateAccepted>;
fn read_next_tm(&mut self) -> PusTmReader<'_>;
fn check_no_tm_available(&self) -> bool;
fn check_next_verification_tm(
&self,
subservice: u8,
expected_request_id: RequestId,
);
}
}
}
impl SimplePusPacketHandler for Pus17HandlerWithVecTester {
delegate! {
to self.handler {
fn handle_one_tc(&mut self) -> Result<PusPacketHandlerResult, PusPacketHandlingError>;
}
}
}
fn ping_test(test_harness: &mut (impl PusTestHarness + SimplePusPacketHandler)) {
// Create a ping TC, verify acceptance.
let mut sp_header = SpHeader::tc(TEST_APID, SequenceFlags::Unsegmented, 0, 0).unwrap();
let sec_header = PusTcSecondaryHeader::new_simple(17, 1);
let ping_tc = PusTcCreator::new_no_app_data(&mut sp_header, sec_header, true);
let token = verification_handler.add_tc(&ping_tc);
let token = verification_handler
.acceptance_success(token, None)
.unwrap();
let tc_size = ping_tc.write_to_bytes(&mut pus_buf).unwrap();
let mut tc_pool = tc_pool_shared.write().unwrap();
let addr = tc_pool.add(&pus_buf[..tc_size]).unwrap();
drop(tc_pool);
// Send accepted TC to test service handler.
test_srv_tc_tx
.send(EcssTcAndToken::new(addr, token))
.unwrap();
let result = pus_17_handler.handle_one_tc();
let token = test_harness.send_tc(&ping_tc);
let request_id = token.req_id();
let result = test_harness.handle_one_tc();
assert!(result.is_ok());
// We should see 4 replies in the TM queue now: Acceptance TM, Start TM, ping reply and
// Completion TM
let mut next_msg = tm_rx.try_recv();
assert!(next_msg.is_ok());
let mut tm_addr = next_msg.unwrap();
let tm_pool = tm_pool_shared.read().unwrap();
let tm_raw = tm_pool.read(&tm_addr).unwrap();
let (tm, _) = PusTmReader::new(tm_raw, 0).unwrap();
assert_eq!(tm.service(), 1);
assert_eq!(tm.subservice(), 1);
let req_id = RequestId::from_bytes(tm.user_data()).expect("generating request ID failed");
assert_eq!(req_id, token.req_id());
// Acceptance TM
next_msg = tm_rx.try_recv();
assert!(next_msg.is_ok());
tm_addr = next_msg.unwrap();
let tm_raw = tm_pool.read(&tm_addr).unwrap();
// Is generated with CDS short timestamp.
let (tm, _) = PusTmReader::new(tm_raw, 7).unwrap();
assert_eq!(tm.service(), 1);
assert_eq!(tm.subservice(), 3);
let req_id = RequestId::from_bytes(tm.user_data()).expect("generating request ID failed");
assert_eq!(req_id, token.req_id());
test_harness.check_next_verification_tm(1, request_id);
// Start TM
test_harness.check_next_verification_tm(3, request_id);
// Ping reply
next_msg = tm_rx.try_recv();
assert!(next_msg.is_ok());
tm_addr = next_msg.unwrap();
let tm_raw = tm_pool.read(&tm_addr).unwrap();
// Is generated with CDS short timestamp.
let (tm, _) = PusTmReader::new(tm_raw, 7).unwrap();
let tm = test_harness.read_next_tm();
assert_eq!(tm.service(), 17);
assert_eq!(tm.subservice(), 2);
assert!(tm.user_data().is_empty());
// TM completion
next_msg = tm_rx.try_recv();
assert!(next_msg.is_ok());
tm_addr = next_msg.unwrap();
let tm_raw = tm_pool.read(&tm_addr).unwrap();
// Is generated with CDS short timestamp.
let (tm, _) = PusTmReader::new(tm_raw, 7).unwrap();
assert_eq!(tm.service(), 1);
assert_eq!(tm.subservice(), 7);
let req_id = RequestId::from_bytes(tm.user_data()).expect("generating request ID failed");
assert_eq!(req_id, token.req_id());
test_harness.check_next_verification_tm(7, request_id);
}
#[test]
fn test_basic_ping_processing_using_store() {
let mut test_harness = Pus17HandlerWithStoreTester::new();
ping_test(&mut test_harness);
}
#[test]
fn test_basic_ping_processing_using_vec() {
let mut test_harness = Pus17HandlerWithVecTester::new();
ping_test(&mut test_harness);
}
#[test]
fn test_empty_tc_queue() {
let mut test_harness = Pus17HandlerWithStoreTester::new();
let result = test_harness.handle_one_tc();
assert!(result.is_ok());
let result = result.unwrap();
if let PusPacketHandlerResult::Empty = result {
} else {
panic!("unexpected result type {result:?}")
}
}
#[test]
fn test_sending_unsupported_service() {
let mut test_harness = Pus17HandlerWithStoreTester::new();
let mut sp_header = SpHeader::tc(TEST_APID, SequenceFlags::Unsegmented, 0, 0).unwrap();
let sec_header = PusTcSecondaryHeader::new_simple(3, 1);
let ping_tc = PusTcCreator::new_no_app_data(&mut sp_header, sec_header, true);
test_harness.send_tc(&ping_tc);
let result = test_harness.handle_one_tc();
assert!(result.is_err());
let error = result.unwrap_err();
if let PusPacketHandlingError::WrongService(num) = error {
assert_eq!(num, 3);
} else {
panic!("unexpected error type {error}")
}
}
#[test]
fn test_sending_custom_subservice() {
let mut test_harness = Pus17HandlerWithStoreTester::new();
let mut sp_header = SpHeader::tc(TEST_APID, SequenceFlags::Unsegmented, 0, 0).unwrap();
let sec_header = PusTcSecondaryHeader::new_simple(17, 200);
let ping_tc = PusTcCreator::new_no_app_data(&mut sp_header, sec_header, true);
test_harness.send_tc(&ping_tc);
let result = test_harness.handle_one_tc();
assert!(result.is_ok());
let result = result.unwrap();
if let PusPacketHandlerResult::CustomSubservice(subservice, _) = result {
assert_eq!(subservice, 200);
} else {
panic!("unexpected result type {result:?}")
}
}
}

58
satrs-core/src/pus/verification.rs
View File

@ -15,7 +15,7 @@
//! ```
//! use std::sync::{Arc, mpsc, RwLock};
//! use std::time::Duration;
//! use satrs_core::pool::{LocalPool, PoolCfg, PoolProvider, SharedPool};
//! use satrs_core::pool::{PoolProviderMemInPlaceWithGuards, StaticMemoryPool, StaticPoolConfig};
//! use satrs_core::pus::verification::{VerificationReporterCfg, VerificationReporterWithSender};
//! use satrs_core::seq_count::SeqCountProviderSimple;
//! use satrs_core::pus::MpscTmInStoreSender;
@ -28,9 +28,9 @@
//! const EMPTY_STAMP: [u8; 7] = [0; 7];
//! const TEST_APID: u16 = 0x02;
//!
//! let pool_cfg = PoolCfg::new(vec![(10, 32), (10, 64), (10, 128), (10, 1024)]);
//! let tm_pool = LocalPool::new(pool_cfg.clone());
//! let shared_tm_store = SharedTmStore::new(Box::new(tm_pool));
//! let pool_cfg = StaticPoolConfig::new(vec![(10, 32), (10, 64), (10, 128), (10, 1024)]);
//! let tm_pool = StaticMemoryPool::new(pool_cfg.clone());
//! let shared_tm_store = SharedTmStore::new(tm_pool);
//! let tm_store = shared_tm_store.clone_backing_pool();
//! let (verif_tx, verif_rx) = mpsc::channel();
//! let sender = MpscTmInStoreSender::new(0, "Test Sender", shared_tm_store, verif_tx);
@ -208,6 +208,8 @@ impl WasAtLeastAccepted for TcStateAccepted {}
impl WasAtLeastAccepted for TcStateStarted {}
impl WasAtLeastAccepted for TcStateCompleted {}
/// Token wrapper to model all possible verification tokens. These tokens are used to
/// enforce the correct order for the verification steps when doing verification reporting.
#[derive(Debug, Copy, Clone, Eq, PartialEq)]
pub enum TcStateToken {
None(VerificationToken<TcStateNone>),
@ -1323,7 +1325,7 @@ mod std_mod {
#[cfg(test)]
mod tests {
use crate::pool::{LocalPool, PoolCfg};
use crate::pool::{PoolProviderMemInPlaceWithGuards, StaticMemoryPool, StaticPoolConfig};
use crate::pus::tests::CommonTmInfo;
use crate::pus::verification::{
EcssTmSenderCore, EcssTmtcError, FailParams, FailParamsWithStep, RequestId, TcStateNone,
@ -1447,12 +1449,11 @@ mod tests {
fn base_init(api_sel: bool) -> (TestBase<'static>, VerificationToken<TcStateNone>) {
let mut reporter = base_reporter();
let (tc, req_id) = base_tc_init(None);
let init_tok;
if api_sel {
init_tok = reporter.add_tc_with_req_id(req_id);
let init_tok = if api_sel {
reporter.add_tc_with_req_id(req_id)
} else {
init_tok = reporter.add_tc(&tc);
}
reporter.add_tc(&tc)
};
(TestBase { vr: reporter, tc }, init_tok)
}
@ -1475,7 +1476,7 @@ mod tests {
time_stamp: EMPTY_STAMP,
},
additional_data: None,
req_id: req_id.clone(),
req_id: *req_id,
};
let mut service_queue = sender.service_queue.borrow_mut();
assert_eq!(service_queue.len(), 1);
@ -1485,9 +1486,8 @@ mod tests {
#[test]
fn test_mpsc_verif_send_sync() {
let pool = LocalPool::new(PoolCfg::new(vec![(8, 8)]));
let tm_store = Box::new(pool);
let shared_tm_store = SharedTmStore::new(tm_store);
let pool = StaticMemoryPool::new(StaticPoolConfig::new(vec![(8, 8)]));
let shared_tm_store = SharedTmStore::new(pool);
let (tx, _) = mpsc::channel();
let mpsc_verif_sender = MpscTmInStoreSender::new(0, "verif_sender", shared_tm_store, tx);
is_send(&mpsc_verif_sender);
@ -1505,7 +1505,7 @@ mod tests {
fn test_basic_acceptance_success() {
let (b, tok) = base_init(false);
let mut sender = TestSender::default();
b.vr.acceptance_success(tok, &mut sender, Some(&EMPTY_STAMP))
b.vr.acceptance_success(tok, &sender, Some(&EMPTY_STAMP))
.expect("Sending acceptance success failed");
acceptance_check(&mut sender, &tok.req_id);
}
@ -1605,7 +1605,7 @@ mod tests {
#[test]
fn test_basic_acceptance_failure_with_fail_data() {
let (b, tok) = base_init(false);
let mut sender = TestSender::default();
let sender = TestSender::default();
let fail_code = EcssEnumU8::new(10);
let fail_data = EcssEnumU32::new(12);
let mut fail_data_raw = [0; 4];
@ -1615,7 +1615,7 @@ mod tests {
&fail_code,
Some(fail_data_raw.as_slice()),
);
b.vr.acceptance_failure(tok, &mut sender, fail_params)
b.vr.acceptance_failure(tok, &sender, fail_params)
.expect("Sending acceptance success failed");
let cmp_info = TmInfo {
common: CommonTmInfo {
@ -1784,8 +1784,7 @@ mod tests {
.rep()
.start_success(accepted_token, &mut sender, Some(&[0, 1, 0, 1, 0, 1, 0]))
.expect("Sending start success failed");
let mut empty = b
.rep()
b.rep()
.step_success(
&started_token,
&mut sender,
@ -1793,8 +1792,6 @@ mod tests {
EcssEnumU8::new(0),
)
.expect("Sending step 0 success failed");
assert_eq!(empty, ());
empty =
b.vr.step_success(
&started_token,
&mut sender,
@ -1802,7 +1799,6 @@ mod tests {
EcssEnumU8::new(1),
)
.expect("Sending step 1 success failed");
assert_eq!(empty, ());
assert_eq!(sender.service_queue.borrow().len(), 4);
step_success_check(&mut sender, tok.req_id);
}
@ -1818,16 +1814,12 @@ mod tests {
.helper
.start_success(accepted_token, Some(&[0, 1, 0, 1, 0, 1, 0]))
.expect("Sending start success failed");
let mut empty = b
.helper
b.helper
.step_success(&started_token, Some(&EMPTY_STAMP), EcssEnumU8::new(0))
.expect("Sending step 0 success failed");
assert_eq!(empty, ());
empty = b
.helper
b.helper
.step_success(&started_token, Some(&EMPTY_STAMP), EcssEnumU8::new(1))
.expect("Sending step 1 success failed");
assert_eq!(empty, ());
let sender: &mut TestSender = b.helper.sender.downcast_mut().unwrap();
assert_eq!(sender.service_queue.borrow().len(), 4);
step_success_check(sender, tok.req_id);
@ -2122,10 +2114,8 @@ mod tests {
let started_token =
b.vr.start_success(accepted_token, &mut sender, Some(&[0, 1, 0, 1, 0, 1, 0]))
.expect("Sending start success failed");
let empty =
b.vr.completion_success(started_token, &mut sender, Some(&EMPTY_STAMP))
.expect("Sending completion success failed");
assert_eq!(empty, ());
completion_success_check(&mut sender, tok.req_id);
}
@ -2140,11 +2130,9 @@ mod tests {
.helper
.start_success(accepted_token, Some(&[0, 1, 0, 1, 0, 1, 0]))
.expect("Sending start success failed");
let empty = b
.helper
b.helper
.completion_success(started_token, Some(&EMPTY_STAMP))
.expect("Sending completion success failed");
assert_eq!(empty, ());
let sender: &mut TestSender = b.helper.sender.downcast_mut().unwrap();
completion_success_check(sender, tok.req_id);
}
@ -2152,8 +2140,8 @@ mod tests {
#[test]
// TODO: maybe a bit more extensive testing, all I have time for right now
fn test_seq_count_increment() {
let pool_cfg = PoolCfg::new(vec![(10, 32), (10, 64), (10, 128), (10, 1024)]);
let tm_pool = Box::new(LocalPool::new(pool_cfg.clone()));
let pool_cfg = StaticPoolConfig::new(vec![(10, 32), (10, 64), (10, 128), (10, 1024)]);
let tm_pool = StaticMemoryPool::new(pool_cfg.clone());
let shared_tm_store = SharedTmStore::new(tm_pool);
let shared_tm_pool = shared_tm_store.clone_backing_pool();
let (verif_tx, verif_rx) = mpsc::channel();

49
satrs-core/src/tmtc/tm_helper.rs
View File

@ -8,7 +8,9 @@ pub use std_mod::*;
#[cfg(feature = "std")]
pub mod std_mod {
use crate::pool::{ShareablePoolProvider, SharedPool, StoreAddr};
use crate::pool::{
PoolProviderMemInPlace, SharedStaticMemoryPool, StaticMemoryPool, StoreAddr,
};
use crate::pus::EcssTmtcError;
use spacepackets::ecss::tm::PusTmCreator;
use spacepackets::ecss::WritablePusPacket;
@ -16,22 +18,25 @@ pub mod std_mod {
#[derive(Clone)]
pub struct SharedTmStore {
pool: SharedPool,
pub shared_pool: SharedStaticMemoryPool,
}
impl SharedTmStore {
pub fn new(backing_pool: ShareablePoolProvider) -> Self {
pub fn new(shared_pool: StaticMemoryPool) -> Self {
Self {
pool: Arc::new(RwLock::new(backing_pool)),
shared_pool: Arc::new(RwLock::new(shared_pool)),
}
}
pub fn clone_backing_pool(&self) -> SharedPool {
self.pool.clone()
pub fn clone_backing_pool(&self) -> SharedStaticMemoryPool {
self.shared_pool.clone()
}
pub fn add_pus_tm(&self, pus_tm: &PusTmCreator) -> Result<StoreAddr, EcssTmtcError> {
let mut pg = self.pool.write().map_err(|_| EcssTmtcError::StoreLock)?;
let mut pg = self
.shared_pool
.write()
.map_err(|_| EcssTmtcError::StoreLock)?;
let (addr, buf) = pg.free_element(pus_tm.len_written())?;
pus_tm
.write_to_bytes(buf)
@ -91,3 +96,33 @@ impl PusTmWithCdsShortHelper {
PusTmCreator::new(&mut reply_header, tc_header, source_data, true)
}
}
#[cfg(test)]
mod tests {
use spacepackets::{ecss::PusPacket, time::cds::TimeProvider, CcsdsPacket};
use super::PusTmWithCdsShortHelper;
#[test]
fn test_helper_with_stamper() {
let mut pus_tm_helper = PusTmWithCdsShortHelper::new(0x123);
let stamper = TimeProvider::new_with_u16_days(0, 0);
let tm = pus_tm_helper.create_pus_tm_with_stamper(17, 1, &[1, 2, 3, 4], &stamper, 25);
assert_eq!(tm.service(), 17);
assert_eq!(tm.subservice(), 1);
assert_eq!(tm.user_data(), &[1, 2, 3, 4]);
assert_eq!(tm.seq_count(), 25);
assert_eq!(tm.timestamp(), [64, 0, 0, 0, 0, 0, 0])
}
#[test]
fn test_helper_from_now() {
let mut pus_tm_helper = PusTmWithCdsShortHelper::new(0x123);
let tm = pus_tm_helper.create_pus_tm_timestamp_now(17, 1, &[1, 2, 3, 4], 25);
assert_eq!(tm.service(), 17);
assert_eq!(tm.subservice(), 1);
assert_eq!(tm.user_data(), &[1, 2, 3, 4]);
assert_eq!(tm.seq_count(), 25);
assert_eq!(tm.timestamp().len(), 7);
}
}

8
satrs-core/tests/pools.rs
View File

@ -1,4 +1,6 @@
use satrs_core::pool::{LocalPool, PoolCfg, PoolGuard, PoolProvider, StoreAddr};
use satrs_core::pool::{
PoolGuard, PoolProviderMemInPlace, StaticMemoryPool, StaticPoolConfig, StoreAddr,
};
use std::ops::DerefMut;
use std::sync::mpsc;
use std::sync::mpsc::{Receiver, Sender};
@ -9,8 +11,8 @@ const DUMMY_DATA: [u8; 4] = [0, 1, 2, 3];
#[test]
fn threaded_usage() {
let pool_cfg = PoolCfg::new(vec![(16, 6), (32, 3), (8, 12)]);
let shared_pool = Arc::new(RwLock::new(LocalPool::new(pool_cfg)));
let pool_cfg = StaticPoolConfig::new(vec![(16, 6), (32, 3), (8, 12)]);
let shared_pool = Arc::new(RwLock::new(StaticMemoryPool::new(pool_cfg)));
let shared_clone = shared_pool.clone();
let (tx, rx): (Sender<StoreAddr>, Receiver<StoreAddr>) = mpsc::channel();
let jh0 = thread::spawn(move || {

8
satrs-core/tests/pus_verification.rs
View File

@ -1,7 +1,7 @@
#[cfg(feature = "crossbeam")]
pub mod crossbeam_test {
use hashbrown::HashMap;
use satrs_core::pool::{LocalPool, PoolCfg, PoolProvider};
use satrs_core::pool::{PoolProviderMemInPlace, StaticMemoryPool, StaticPoolConfig};
use satrs_core::pus::verification::{
FailParams, RequestId, VerificationReporterCfg, VerificationReporterWithSender,
};
@ -33,9 +33,9 @@ pub mod crossbeam_test {
// each reporter have an own sequence count provider.
let cfg = VerificationReporterCfg::new(TEST_APID, 1, 2, 8).unwrap();
// Shared pool object to store the verification PUS telemetry
let pool_cfg = PoolCfg::new(vec![(10, 32), (10, 64), (10, 128), (10, 1024)]);
let shared_tm_store = SharedTmStore::new(Box::new(LocalPool::new(pool_cfg.clone())));
let shared_tc_pool_0 = Arc::new(RwLock::new(LocalPool::new(pool_cfg)));
let pool_cfg = StaticPoolConfig::new(vec![(10, 32), (10, 64), (10, 128), (10, 1024)]);
let shared_tm_store = SharedTmStore::new(Box::new(StaticMemoryPool::new(pool_cfg.clone())));
let shared_tc_pool_0 = Arc::new(RwLock::new(StaticMemoryPool::new(pool_cfg)));
let shared_tc_pool_1 = shared_tc_pool_0.clone();
let (tx, rx) = crossbeam_channel::bounded(10);
let sender =

52
satrs-example/src/main.rs
View File

@ -29,7 +29,7 @@ use satrs_core::event_man::{
};
use satrs_core::events::EventU32;
use satrs_core::hk::HkRequest;
use satrs_core::pool::{LocalPool, PoolCfg};
use satrs_core::pool::{PoolProviderMemInPlace, StaticMemoryPool, StaticPoolConfig};
use satrs_core::pus::event_man::{
DefaultPusMgmtBackendProvider, EventReporter, EventRequest, EventRequestWithToken,
PusEventDispatcher,
@ -42,7 +42,9 @@ use satrs_core::pus::test::PusService17TestHandler;
use satrs_core::pus::verification::{
TcStateStarted, VerificationReporterCfg, VerificationReporterWithSender, VerificationToken,
};
use satrs_core::pus::{EcssTcInStoreConverter, MpscTcInStoreReceiver, MpscTmInStoreSender};
use satrs_core::pus::{
EcssTcInSharedStoreConverter, MpscTcReceiver, MpscTmInStoreSender, PusServiceHelper,
};
use satrs_core::seq_count::{CcsdsSimpleSeqCountProvider, SequenceCountProviderCore};
use satrs_core::spacepackets::ecss::tm::{PusTmCreator, PusTmZeroCopyWriter};
use satrs_core::spacepackets::{
@ -66,7 +68,7 @@ use std::time::Duration;
fn main() {
setup_logger().expect("setting up logging with fern failed");
println!("Running OBSW example");
let tm_pool = LocalPool::new(PoolCfg::new(vec![
let tm_pool = StaticMemoryPool::new(StaticPoolConfig::new(vec![
(30, 32),
(15, 64),
(15, 128),
@ -74,9 +76,9 @@ fn main() {
(15, 1024),
(15, 2048),
]));
let shared_tm_store = SharedTmStore::new(Box::new(tm_pool));
let shared_tm_store = SharedTmStore::new(tm_pool);
let tm_store_event = shared_tm_store.clone();
let tc_pool = LocalPool::new(PoolCfg::new(vec![
let tc_pool = StaticMemoryPool::new(StaticPoolConfig::new(vec![
(30, 32),
(15, 64),
(15, 128),
@ -85,8 +87,16 @@ fn main() {
(15, 2048),
]));
let tc_store = TcStore {
pool: Arc::new(RwLock::new(Box::new(tc_pool))),
pool: Arc::new(RwLock::new(tc_pool)),
};
let sched_tc_pool = StaticMemoryPool::new(StaticPoolConfig::new(vec![
(30, 32),
(15, 64),
(15, 128),
(15, 256),
(15, 1024),
(15, 2048),
]));
let seq_count_provider = CcsdsSimpleSeqCountProvider::new();
let mut msg_counter_map: HashMap<u8, u16> = HashMap::new();
@ -172,18 +182,18 @@ fn main() {
shared_tm_store.clone(),
tm_funnel_tx.clone(),
);
let test_srv_receiver = MpscTcInStoreReceiver::new(
let test_srv_receiver = MpscTcReceiver::new(
TcReceiverId::PusTest as ChannelId,
"PUS_17_TC_RECV",
pus_test_rx,
);
let pus17_handler = PusService17TestHandler::new(
let pus17_handler = PusService17TestHandler::new(PusServiceHelper::new(
Box::new(test_srv_receiver),
Box::new(test_srv_tm_sender),
PUS_APID,
verif_reporter.clone(),
EcssTcInStoreConverter::new(tc_store.pool.clone(), 2048),
);
EcssTcInSharedStoreConverter::new(tc_store.pool.clone(), 2048),
));
let mut pus_17_wrapper = Service17CustomWrapper {
pus17_handler,
test_srv_event_sender,
@ -195,7 +205,7 @@ fn main() {
shared_tm_store.clone(),
tm_funnel_tx.clone(),
);
let sched_srv_receiver = MpscTcInStoreReceiver::new(
let sched_srv_receiver = MpscTcReceiver::new(
TcReceiverId::PusSched as ChannelId,
"PUS_11_TC_RECV",
pus_sched_rx,
@ -203,16 +213,18 @@ fn main() {
let scheduler = PusScheduler::new_with_current_init_time(Duration::from_secs(5))
.expect("Creating PUS Scheduler failed");
let pus_11_handler = PusService11SchedHandler::new(
PusServiceHelper::new(
Box::new(sched_srv_receiver),
Box::new(sched_srv_tm_sender),
PUS_APID,
verif_reporter.clone(),
EcssTcInStoreConverter::new(tc_store.pool.clone(), 2048),
tc_store.pool.clone(),
EcssTcInSharedStoreConverter::new(tc_store.pool.clone(), 2048),
),
scheduler,
);
let mut pus_11_wrapper = Pus11Wrapper {
pus_11_handler,
sched_tc_pool,
tc_source_wrapper,
};
@ -222,17 +234,19 @@ fn main() {
shared_tm_store.clone(),
tm_funnel_tx.clone(),
);
let event_srv_receiver = MpscTcInStoreReceiver::new(
let event_srv_receiver = MpscTcReceiver::new(
TcReceiverId::PusEvent as ChannelId,
"PUS_5_TC_RECV",
pus_event_rx,
);
let pus_5_handler = PusService5EventHandler::new(
PusServiceHelper::new(
Box::new(event_srv_receiver),
Box::new(event_srv_tm_sender),
PUS_APID,
verif_reporter.clone(),
EcssTcInStoreConverter::new(tc_store.pool.clone(), 2048),
EcssTcInSharedStoreConverter::new(tc_store.pool.clone(), 2048),
),
event_request_tx,
);
let mut pus_5_wrapper = Pus5Wrapper { pus_5_handler };
@ -243,7 +257,7 @@ fn main() {
shared_tm_store.clone(),
tm_funnel_tx.clone(),
);
let action_srv_receiver = MpscTcInStoreReceiver::new(
let action_srv_receiver = MpscTcReceiver::new(
TcReceiverId::PusAction as ChannelId,
"PUS_8_TC_RECV",
pus_action_rx,
@ -253,7 +267,7 @@ fn main() {
Box::new(action_srv_tm_sender),
PUS_APID,
verif_reporter.clone(),
EcssTcInStoreConverter::new(tc_store.pool.clone(), 2048),
EcssTcInSharedStoreConverter::new(tc_store.pool.clone(), 2048),
request_map.clone(),
);
let mut pus_8_wrapper = Pus8Wrapper { pus_8_handler };
@ -265,13 +279,13 @@ fn main() {
tm_funnel_tx.clone(),
);
let hk_srv_receiver =
MpscTcInStoreReceiver::new(TcReceiverId::PusHk as ChannelId, "PUS_8_TC_RECV", pus_hk_rx);
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(),
EcssTcInStoreConverter::new(tc_store.pool.clone(), 2048),
EcssTcInSharedStoreConverter::new(tc_store.pool.clone(), 2048),
request_map,
);
let mut pus_3_wrapper = Pus3Wrapper { pus_3_handler };

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 {

38
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())
{
.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) => {

18
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>)>,
}
@ -38,8 +38,12 @@ 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())
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];
@ -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()

4
satrs-example/src/tmtc.rs
View File

@ -5,7 +5,7 @@ use std::sync::mpsc::{Receiver, SendError, Sender, TryRecvError};
use thiserror::Error;
use crate::pus::PusReceiver;
use satrs_core::pool::{SharedPool, StoreAddr, StoreError};
use satrs_core::pool::{PoolProviderMemInPlace, SharedStaticMemoryPool, StoreAddr, StoreError};
use satrs_core::spacepackets::ecss::tc::PusTcReader;
use satrs_core::spacepackets::ecss::PusPacket;
use satrs_core::tmtc::tm_helper::SharedTmStore;
@ -41,7 +41,7 @@ pub enum MpscStoreAndSendError {
#[derive(Clone)]
pub struct TcStore {
pub pool: SharedPool,
pub pool: SharedStaticMemoryPool,
}
impl TcStore {

4
satrs-example/src/udp.rs
View File

@ -3,7 +3,7 @@ use std::{net::SocketAddr, sync::mpsc::Receiver};
use log::{info, warn};
use satrs_core::{
hal::std::udp_server::{ReceiveResult, UdpTcServer},
pool::{SharedPool, StoreAddr},
pool::{PoolProviderMemInPlaceWithGuards, SharedStaticMemoryPool, StoreAddr},
tmtc::CcsdsError,
};
@ -12,7 +12,7 @@ use crate::tmtc::MpscStoreAndSendError;
pub struct UdpTmtcServer {
pub udp_tc_server: UdpTcServer<CcsdsError<MpscStoreAndSendError>>,
pub tm_rx: Receiver<StoreAddr>,
pub tm_store: SharedPool,
pub tm_store: SharedStaticMemoryPool,
}
impl UdpTmtcServer {
pub fn periodic_operation(&mut self) {