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update docs

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This commit is contained in:
Robin Müller 2024-04-14 19:16:56 +02:00
parent 12320c04ae
commit b2c00103db
Signed by: muellerr
GPG Key ID: A649FB78196E3849
16 changed files with 135 additions and 167 deletions
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10
satrs-book/src/communication.md
View File

@ -17,7 +17,7 @@ it is still centered around small packets. `sat-rs` provides support for these E
standards and also attempts to fill the gap to the internet protocol by providing the following
components.
1. [UDP TMTC Server](https://docs.rs/satrs/latest/satrs/hal/host/udp_server/index.html).
1. [UDP TMTC Server](https://docs.rs/satrs/latest/satrs/hal/std/udp_server/index.html).
UDP is already packet based which makes it an excellent fit for exchanging space packets.
2. [TCP TMTC Server Components](https://docs.rs/satrs/latest/satrs/hal/std/tcp_server/index.html).
TCP is a stream based protocol, so the library provides building blocks to parse telemetry
@ -39,8 +39,12 @@ task might be to store all arriving telemetry persistently. This is especially i
space systems which do not have permanent contact like low-earth-orbit (LEO) satellites.
The most important task of a TC source is to deliver the telecommands to the correct recipients.
For modern component oriented software using message passing, this usually includes staged
demultiplexing components to determine where a command needs to be sent.
For component oriented software using message passing, this usually includes staged demultiplexing
components to determine where a command needs to be sent.
Using a generic concept of a TC source and a TM sink as part of the software design simplifies
the flexibility of the TMTC infrastructure: Newly added TM generators and TC receiver only have to
forward their generated or received packets to those handler objects.
# Low-level protocols and the bridge to the communcation subsystem

27
satrs-example/src/interface/udp.rs
View File

@ -116,6 +116,7 @@ impl<
#[cfg(test)]
mod tests {
use std::{
cell::RefCell,
collections::VecDeque,
net::IpAddr,
sync::{Arc, Mutex},
@ -134,13 +135,14 @@ mod tests {
#[derive(Default, Debug)]
pub struct TestSender {
tc_vec: VecDeque<Vec<u8>>,
tc_vec: RefCell<VecDeque<Vec<u8>>>,
}
impl PacketSenderRaw for TestSender {
type Error = ();
fn send_raw_tc(&mut self, tc_raw: &[u8]) -> Result<(), Self::Error> {
self.tc_vec.push_back(tc_raw.to_vec());
fn send_raw_tc(&self, tc_raw: &[u8]) -> Result<(), Self::Error> {
let mut mut_queue = self.tc_vec.borrow_mut();
mut_queue.push_back(tc_raw.to_vec());
Ok(())
}
}
@ -169,7 +171,8 @@ mod tests {
tm_handler,
};
udp_dyn_server.periodic_operation();
assert!(udp_dyn_server.udp_tc_server.tc_sender.tc_vec.is_empty());
let queue = udp_dyn_server.udp_tc_server.tc_sender.tc_vec.borrow();
assert!(queue.is_empty());
assert!(tm_handler_calls.lock().unwrap().is_empty());
}
@ -196,15 +199,9 @@ mod tests {
client.send(&ping_tc).unwrap();
udp_dyn_server.periodic_operation();
{
//let mut tc_queue = tc_queue.lock().unwrap();
assert!(!udp_dyn_server.udp_tc_server.tc_sender.tc_vec.is_empty());
let received_tc = udp_dyn_server
.udp_tc_server
.tc_sender
.tc_vec
.pop_front()
.unwrap();
assert_eq!(received_tc, ping_tc);
let mut queue = udp_dyn_server.udp_tc_server.tc_sender.tc_vec.borrow_mut();
assert!(!queue.is_empty());
assert_eq!(queue.pop_front().unwrap(), ping_tc);
}
{
@ -215,7 +212,9 @@ mod tests {
assert_eq!(received_addr, client_addr);
}
udp_dyn_server.periodic_operation();
assert!(udp_dyn_server.udp_tc_server.tc_sender.tc_vec.is_empty());
let queue = udp_dyn_server.udp_tc_server.tc_sender.tc_vec.borrow();
assert!(queue.is_empty());
drop(queue);
// Still tries to send to the same client.
{
let mut tm_handler_calls = tm_handler_calls.lock().unwrap();

5
satrs-example/src/pus/mod.rs
View File

@ -180,8 +180,9 @@ pub trait TargetedPusService {
///
/// The handler exposes the following API:
///
/// 1. [Self::handle_one_tc] which tries to poll and handle one TC packet, covering steps 1-5.
/// 2. [Self::check_one_reply] which tries to poll and handle one reply, covering step 6.
/// 1. [Self::poll_and_handle_next_tc] which tries to poll and handle one TC packet, covering
/// steps 1-5.
/// 2. [Self::poll_and_check_next_reply] which tries to poll and handle one reply, covering step 6.
/// 3. [Self::check_for_request_timeouts] which checks for request timeouts, covering step 7.
pub struct PusTargetedRequestService<
TcReceiver: EcssTcReceiverCore,

26
satrs/src/encoding/ccsds.rs
View File

@ -9,9 +9,9 @@ use crate::{tmtc::PacketSenderRaw, ValidatorU16Id};
/// If broken tail packets are detected, they are moved to the front of the buffer, and the write
/// index for future write operations will be written to the `next_write_idx` argument.
///
/// The parser will write all packets which were decoded successfully to the given `tc_receiver`
/// and return the number of packets found. If the [ReceivesTc::pass_tc] calls fails, the
/// error will be returned.
/// The parser will forward all packets which were decoded successfully to the given
/// `packet_sender` and return the number of packets found. If the [PacketSenderRaw::send_raw_tc]
/// calls fails, the error will be returned.
pub fn parse_buffer_for_ccsds_space_packets<SendError>(
buf: &mut [u8],
packet_id_validator: &(impl ValidatorU16Id + ?Sized),
@ -74,12 +74,12 @@ mod tests {
.write_to_bytes(&mut buffer)
.expect("writing packet failed");
let valid_packet_ids = [TEST_PACKET_ID_0];
let mut tc_cacher = TcCacher::default();
let tc_cacher = TcCacher::default();
let mut next_write_idx = 0;
let parse_result = parse_buffer_for_ccsds_space_packets(
&mut buffer,
valid_packet_ids.as_slice(),
&mut tc_cacher,
&tc_cacher,
&mut next_write_idx,
);
assert!(parse_result.is_ok());
@ -103,12 +103,12 @@ mod tests {
.write_to_bytes(&mut buffer[packet_len_ping..])
.expect("writing packet failed");
let valid_packet_ids = [TEST_PACKET_ID_0];
let mut tc_cacher = TcCacher::default();
let tc_cacher = TcCacher::default();
let mut next_write_idx = 0;
let parse_result = parse_buffer_for_ccsds_space_packets(
&mut buffer,
valid_packet_ids.as_slice(),
&mut tc_cacher,
&tc_cacher,
&mut next_write_idx,
);
assert!(parse_result.is_ok());
@ -137,12 +137,12 @@ mod tests {
.write_to_bytes(&mut buffer[packet_len_ping..])
.expect("writing packet failed");
let valid_packet_ids = [TEST_PACKET_ID_0, TEST_PACKET_ID_1];
let mut tc_cacher = TcCacher::default();
let tc_cacher = TcCacher::default();
let mut next_write_idx = 0;
let parse_result = parse_buffer_for_ccsds_space_packets(
&mut buffer,
valid_packet_ids.as_slice(),
&mut tc_cacher,
&tc_cacher,
&mut next_write_idx,
);
assert!(parse_result.is_ok());
@ -171,12 +171,12 @@ mod tests {
.write_to_bytes(&mut buffer[packet_len_ping..])
.expect("writing packet failed");
let valid_packet_ids = [TEST_PACKET_ID_0, TEST_PACKET_ID_1];
let mut tc_cacher = TcCacher::default();
let tc_cacher = TcCacher::default();
let mut next_write_idx = 0;
let parse_result = parse_buffer_for_ccsds_space_packets(
&mut buffer[..packet_len_ping + packet_len_action - 4],
valid_packet_ids.as_slice(),
&mut tc_cacher,
&tc_cacher,
&mut next_write_idx,
);
assert!(parse_result.is_ok());
@ -199,12 +199,12 @@ mod tests {
.write_to_bytes(&mut buffer)
.expect("writing packet failed");
let valid_packet_ids = [TEST_PACKET_ID_0, TEST_PACKET_ID_1];
let mut tc_cacher = TcCacher::default();
let tc_cacher = TcCacher::default();
let mut next_write_idx = 0;
let parse_result = parse_buffer_for_ccsds_space_packets(
&mut buffer[..packet_len_ping - 4],
valid_packet_ids.as_slice(),
&mut tc_cacher,
&tc_cacher,
&mut next_write_idx,
);
assert_eq!(next_write_idx, 0);

36
satrs/src/encoding/cobs.rs
View File

@ -106,19 +106,19 @@ pub(crate) mod tests {
#[test]
fn test_parsing_simple_packet() {
let mut test_sender = TcCacher::default();
let test_sender = TcCacher::default();
let mut encoded_buf: [u8; 16] = [0; 16];
let mut current_idx = 0;
encode_simple_packet(&mut encoded_buf, &mut current_idx);
let mut next_read_idx = 0;
let packets = parse_buffer_for_cobs_encoded_packets(
&mut encoded_buf[0..current_idx],
&mut test_sender,
&test_sender,
&mut next_read_idx,
)
.unwrap();
assert_eq!(packets, 1);
let mut queue = test_sender.tc_queue.borrow_mut();
let queue = test_sender.tc_queue.borrow();
assert_eq!(queue.len(), 1);
let packet = &queue[0];
assert_eq!(packet, &SIMPLE_PACKET);
@ -126,7 +126,7 @@ pub(crate) mod tests {
#[test]
fn test_parsing_consecutive_packets() {
let mut test_sender = TcCacher::default();
let test_sender = TcCacher::default();
let mut encoded_buf: [u8; 16] = [0; 16];
let mut current_idx = 0;
encode_simple_packet(&mut encoded_buf, &mut current_idx);
@ -140,12 +140,12 @@ pub(crate) mod tests {
let mut next_read_idx = 0;
let packets = parse_buffer_for_cobs_encoded_packets(
&mut encoded_buf[0..current_idx],
&mut test_sender,
&test_sender,
&mut next_read_idx,
)
.unwrap();
assert_eq!(packets, 2);
let mut queue = test_sender.tc_queue.borrow_mut();
let queue = test_sender.tc_queue.borrow();
assert_eq!(queue.len(), 2);
let packet0 = &queue[0];
assert_eq!(packet0, &SIMPLE_PACKET);
@ -155,7 +155,7 @@ pub(crate) mod tests {
#[test]
fn test_split_tail_packet_only() {
let mut test_sender = TcCacher::default();
let test_sender = TcCacher::default();
let mut encoded_buf: [u8; 16] = [0; 16];
let mut current_idx = 0;
encode_simple_packet(&mut encoded_buf, &mut current_idx);
@ -163,18 +163,18 @@ pub(crate) mod tests {
let packets = parse_buffer_for_cobs_encoded_packets(
// Cut off the sentinel byte at the end.
&mut encoded_buf[0..current_idx - 1],
&mut test_sender,
&test_sender,
&mut next_read_idx,
)
.unwrap();
assert_eq!(packets, 0);
let mut queue = test_sender.tc_queue.borrow_mut();
let queue = test_sender.tc_queue.borrow();
assert_eq!(queue.len(), 0);
assert_eq!(next_read_idx, 0);
}
fn generic_test_split_packet(cut_off: usize) {
let mut test_sender = TcCacher::default();
let test_sender = TcCacher::default();
let mut encoded_buf: [u8; 16] = [0; 16];
assert!(cut_off < INVERTED_PACKET.len() + 1);
let mut current_idx = 0;
@ -196,12 +196,12 @@ pub(crate) mod tests {
let packets = parse_buffer_for_cobs_encoded_packets(
// Cut off the sentinel byte at the end.
&mut encoded_buf[0..current_idx - cut_off],
&mut test_sender,
&test_sender,
&mut next_write_idx,
)
.unwrap();
assert_eq!(packets, 1);
let mut queue = test_sender.tc_queue.borrow_mut();
let queue = test_sender.tc_queue.borrow();
assert_eq!(queue.len(), 1);
assert_eq!(&queue[0], &SIMPLE_PACKET);
assert_eq!(next_write_idx, next_expected_write_idx);
@ -225,7 +225,7 @@ pub(crate) mod tests {
#[test]
fn test_zero_at_end() {
let mut test_sender = TcCacher::default();
let test_sender = TcCacher::default();
let mut encoded_buf: [u8; 16] = [0; 16];
let mut next_write_idx = 0;
let mut current_idx = 0;
@ -237,12 +237,12 @@ pub(crate) mod tests {
let packets = parse_buffer_for_cobs_encoded_packets(
// Cut off the sentinel byte at the end.
&mut encoded_buf[0..current_idx],
&mut test_sender,
&test_sender,
&mut next_write_idx,
)
.unwrap();
assert_eq!(packets, 1);
let mut queue = test_sender.tc_queue.borrow_mut();
let queue = test_sender.tc_queue.borrow_mut();
assert_eq!(queue.len(), 1);
assert_eq!(&queue[0], &SIMPLE_PACKET);
assert_eq!(next_write_idx, 1);
@ -251,18 +251,18 @@ pub(crate) mod tests {
#[test]
fn test_all_zeroes() {
let mut test_sender = TcCacher::default();
let test_sender = TcCacher::default();
let mut all_zeroes: [u8; 5] = [0; 5];
let mut next_write_idx = 0;
let packets = parse_buffer_for_cobs_encoded_packets(
// Cut off the sentinel byte at the end.
&mut all_zeroes,
&mut test_sender,
&test_sender,
&mut next_write_idx,
)
.unwrap();
assert_eq!(packets, 0);
let mut queue = test_sender.tc_queue.borrow_mut();
let queue = test_sender.tc_queue.borrow();
assert!(queue.is_empty());
assert_eq!(next_write_idx, 0);
}

4
satrs/src/hal/std/tcp_cobs_server.rs
View File

@ -28,14 +28,14 @@ impl<TmError, TcError: 'static> TcpTcParser<TmError, TcError> for CobsTcParser {
fn handle_tc_parsing(
&mut self,
tc_buffer: &mut [u8],
tc_receiver: &mut (impl PacketSenderRaw<Error = TcError> + ?Sized),
tc_sender: &(impl PacketSenderRaw<Error = TcError> + ?Sized),
conn_result: &mut HandledConnectionInfo,
current_write_idx: usize,
next_write_idx: &mut usize,
) -> Result<(), TcpTmtcError<TmError, TcError>> {
conn_result.num_received_tcs += parse_buffer_for_cobs_encoded_packets(
&mut tc_buffer[..current_write_idx],
tc_receiver,
tc_sender,
next_write_idx,
)
.map_err(|e| TcpTmtcError::TcError(e))?;

54
satrs/src/hal/std/tcp_server.rs
View File

@ -116,17 +116,17 @@ pub trait HandledConnectionHandler {
}
/// Generic parser abstraction for an object which can parse for telecommands given a raw
/// bytestream received from a TCP socket and send them to a generic [ReceivesTc] telecommand
/// receiver. This allows different encoding schemes for telecommands.
pub trait TcpTcParser<TmError, TcError> {
/// bytestream received from a TCP socket and send them using a generic [PacketSenderRaw]
/// implementation. This allows different encoding schemes for telecommands.
pub trait TcpTcParser<TmError, SendError> {
fn handle_tc_parsing(
&mut self,
tc_buffer: &mut [u8],
tc_receiver: &mut (impl PacketSenderRaw<Error = TcError> + ?Sized),
tc_sender: &(impl PacketSenderRaw<Error = SendError> + ?Sized),
conn_result: &mut HandledConnectionInfo,
current_write_idx: usize,
next_write_idx: &mut usize,
) -> Result<(), TcpTmtcError<TmError, TcError>>;
) -> Result<(), TcpTmtcError<TmError, SendError>>;
}
/// Generic sender abstraction for an object which can pull telemetry from a given TM source
@ -150,7 +150,7 @@ pub trait TcpTmSender<TmError, TcError> {
/// through the following 4 core abstractions:
///
/// 1. [TcpTcParser] to parse for telecommands from the raw bytestream received from a client.
/// 2. Parsed telecommands will be sent to the [ReceivesTc] telecommand receiver.
/// 2. Parsed telecommands will be sent using the [PacketSenderRaw] object.
/// 3. [TcpTmSender] to send telemetry pulled from a TM source back to the client.
/// 4. [TmPacketSource] as a generic TM source used by the [TcpTmSender].
///
@ -162,19 +162,19 @@ pub trait TcpTmSender<TmError, TcError> {
/// 1. [TcpTmtcInCobsServer] to exchange TMTC wrapped inside the COBS framing protocol.
pub struct TcpTmtcGenericServer<
TmSource: TmPacketSource<Error = TmError>,
TcReceiver: PacketSenderRaw<Error = TcError>,
TmSender: TcpTmSender<TmError, TcError>,
TcParser: TcpTcParser<TmError, TcError>,
TcSender: PacketSenderRaw<Error = TcSendError>,
TmSender: TcpTmSender<TmError, TcSendError>,
TcParser: TcpTcParser<TmError, TcSendError>,
HandledConnection: HandledConnectionHandler,
TmError,
TcError,
TcSendError,
> {
pub finished_handler: HandledConnection,
pub(crate) listener: TcpListener,
pub(crate) inner_loop_delay: Duration,
pub(crate) tm_source: TmSource,
pub(crate) tm_buffer: Vec<u8>,
pub(crate) tc_receiver: TcReceiver,
pub(crate) tc_receiver: TcSender,
pub(crate) tc_buffer: Vec<u8>,
poll: Poll,
events: Events,
@ -185,21 +185,21 @@ pub struct TcpTmtcGenericServer<
impl<
TmSource: TmPacketSource<Error = TmError>,
TcReceiver: PacketSenderRaw<Error = TcError>,
TmSender: TcpTmSender<TmError, TcError>,
TcParser: TcpTcParser<TmError, TcError>,
TcSender: PacketSenderRaw<Error = TcSendError>,
TmSender: TcpTmSender<TmError, TcSendError>,
TcParser: TcpTcParser<TmError, TcSendError>,
HandledConnection: HandledConnectionHandler,
TmError: 'static,
TcError: 'static,
TcSendError: 'static,
>
TcpTmtcGenericServer<
TmSource,
TcReceiver,
TcSender,
TmSender,
TcParser,
HandledConnection,
TmError,
TcError,
TcSendError,
>
{
/// Create a new generic TMTC server instance.
@ -212,15 +212,15 @@ impl<
/// * `tm_sender` - Sends back telemetry to the client using the specified TM source.
/// * `tm_source` - Generic TM source used by the server to pull telemetry packets which are
/// then sent back to the client.
/// * `tc_receiver` - Any received telecommand which was decoded successfully will be forwarded
/// to this TC receiver.
/// * `tc_sender` - Any received telecommand which was decoded successfully will be forwarded
/// using this TC sender.
/// * `stop_signal` - Can be used to stop the server even if a connection is ongoing.
pub fn new(
cfg: ServerConfig,
tc_parser: TcParser,
tm_sender: TmSender,
tm_source: TmSource,
tc_receiver: TcReceiver,
tc_receiver: TcSender,
finished_handler: HandledConnection,
stop_signal: Option<Arc<AtomicBool>>,
) -> Result<Self, std::io::Error> {
@ -290,7 +290,7 @@ impl<
pub fn handle_next_connection(
&mut self,
poll_timeout: Option<Duration>,
) -> Result<ConnectionResult, TcpTmtcError<TmError, TcError>> {
) -> Result<ConnectionResult, TcpTmtcError<TmError, TcSendError>> {
let mut handled_connections = 0;
// Poll Mio for events.
self.poll.poll(&mut self.events, poll_timeout)?;
@ -329,7 +329,7 @@ impl<
&mut self,
mut stream: TcpStream,
addr: SocketAddr,
) -> Result<(), TcpTmtcError<TmError, TcError>> {
) -> Result<(), TcpTmtcError<TmError, TcSendError>> {
let mut current_write_idx;
let mut next_write_idx = 0;
let mut connection_result = HandledConnectionInfo::new(addr);
@ -343,7 +343,7 @@ impl<
if current_write_idx > 0 {
self.tc_handler.handle_tc_parsing(
&mut self.tc_buffer,
&mut self.tc_receiver,
&self.tc_receiver,
&mut connection_result,
current_write_idx,
&mut next_write_idx,
@ -357,7 +357,7 @@ impl<
if current_write_idx == self.tc_buffer.capacity() {
self.tc_handler.handle_tc_parsing(
&mut self.tc_buffer,
&mut self.tc_receiver,
&self.tc_receiver,
&mut connection_result,
current_write_idx,
&mut next_write_idx,
@ -371,7 +371,7 @@ impl<
std::io::ErrorKind::WouldBlock | std::io::ErrorKind::TimedOut => {
self.tc_handler.handle_tc_parsing(
&mut self.tc_buffer,
&mut self.tc_receiver,
&self.tc_receiver,
&mut connection_result,
current_write_idx,
&mut next_write_idx,
@ -420,11 +420,11 @@ impl<
#[cfg(test)]
pub(crate) mod tests {
use std::sync::{mpsc, Mutex};
use std::sync::Mutex;
use alloc::{collections::VecDeque, sync::Arc, vec::Vec};
use crate::tmtc::{PacketSenderRaw, TmPacketSource};
use crate::tmtc::TmPacketSource;
use super::*;

4
satrs/src/hal/std/tcp_spacepackets_server.rs
View File

@ -32,7 +32,7 @@ impl<PacketIdChecker: ValidatorU16Id, TmError, TcError: 'static> TcpTcParser<TmE
fn handle_tc_parsing(
&mut self,
tc_buffer: &mut [u8],
tc_receiver: &mut (impl PacketSenderRaw<Error = TcError> + ?Sized),
tc_sender: &(impl PacketSenderRaw<Error = TcError> + ?Sized),
conn_result: &mut HandledConnectionInfo,
current_write_idx: usize,
next_write_idx: &mut usize,
@ -41,7 +41,7 @@ impl<PacketIdChecker: ValidatorU16Id, TmError, TcError: 'static> TcpTcParser<TmE
conn_result.num_received_tcs += parse_buffer_for_ccsds_space_packets(
&mut tc_buffer[..current_write_idx],
&self.packet_id_lookup,
tc_receiver,
tc_sender,
next_write_idx,
)
.map_err(|e| TcpTmtcError::TcError(e))?;

44
satrs/src/hal/std/udp_server.rs
View File

@ -11,46 +11,42 @@ use std::vec::Vec;
///
/// It caches all received telecomands into a vector. The maximum expected telecommand size should
/// be declared upfront. This avoids dynamic allocation during run-time. The user can specify a TC
/// sender in form of a special trait object which implements [ReceivesTc]. For example, this can
/// be used to send the telecommands to a centralized TC source. Please note that the
/// receiver should copy out the received data if it the data is required past the
/// [ReceivesTc::pass_tc] call and no message passing is used to process the packet.
/// sender in form of a special trait object which implements [PacketSenderRaw]. For example, this
/// can be used to send the telecommands to a centralized TC source component for further
/// processing and routing.
///
/// # Examples
///
/// ```
/// use std::net::{IpAddr, Ipv4Addr, SocketAddr, UdpSocket};
/// use std::sync::mpsc;
/// use spacepackets::ecss::WritablePusPacket;
/// use satrs::hal::std::udp_server::UdpTcServer;
/// use satrs::tmtc::ReceivesTc;
/// use satrs::tmtc::PacketSenderRaw;
/// use spacepackets::SpHeader;
/// use spacepackets::ecss::tc::PusTcCreator;
///
/// #[derive (Default)]
/// struct PingReceiver {}
/// impl ReceivesTc for PingReceiver {
/// type Error = ();
/// fn pass_tc(&mut self, tc_raw: &[u8]) -> Result<(), Self::Error> {
/// assert_eq!(tc_raw.len(), 13);
/// Ok(())
/// }
/// }
///
/// let mut buf = [0; 32];
/// let (packet_sender, packet_receiver) = mpsc::channel();
/// let dest_addr = SocketAddr::new(IpAddr::V4(Ipv4Addr::new(127, 0, 0, 1)), 7777);
/// let ping_receiver = PingReceiver::default();
/// let mut udp_tc_server = UdpTcServer::new(dest_addr, 2048, ping_receiver)
/// let mut udp_tc_server = UdpTcServer::new(dest_addr, 2048, packet_sender)
/// .expect("Creating UDP TMTC server failed");
/// let sph = SpHeader::new_from_apid(0x02);
/// let pus_tc = PusTcCreator::new_simple(sph, 17, 1, &[], true);
/// let len = pus_tc
/// .write_to_bytes(&mut buf)
/// .expect("Error writing PUS TC packet");
/// assert_eq!(len, 13);
/// let client = UdpSocket::bind("127.0.0.1:7778").expect("Connecting to UDP server failed");
/// // Can not fail.
/// let ping_tc_raw = pus_tc.to_vec().unwrap();
///
/// // Now create a UDP client and send the ping telecommand to the server.
/// let client = UdpSocket::bind("127.0.0.1:0").expect("creating UDP client failed");
/// client
/// .send_to(&buf[0..len], dest_addr)
/// .send_to(&ping_tc_raw, dest_addr)
/// .expect("Error sending PUS TC via UDP");
/// let recv_result = udp_tc_server.try_recv_tc();
/// assert!(recv_result.is_ok());
/// // The packet is received by the UDP TC server and sent via the mpsc channel.
/// let sent_packet = packet_receiver.try_recv().expect("expected telecommand");
/// assert_eq!(sent_packet, ping_tc_raw);
/// // No more packets received.
/// matches!(packet_receiver.try_recv(), Err(mpsc::TryRecvError::Empty));
/// ```
///
/// The [satrs-example crate](https://egit.irs.uni-stuttgart.de/rust/fsrc-launchpad/src/branch/main/satrs-example)

12
satrs/src/mode.rs
View File

@ -269,14 +269,8 @@ pub trait ModeReplySender {
#[cfg(feature = "alloc")]
pub mod alloc_mod {
use crate::{
mode::ModeRequest,
queue::GenericTargetedMessagingError,
request::{
MessageMetadata, MessageSender, MessageSenderAndReceiver, MessageSenderMap,
RequestAndReplySenderAndReceiver, RequestId,
},
ComponentId,
use crate::request::{
MessageSender, MessageSenderAndReceiver, MessageSenderMap, RequestAndReplySenderAndReceiver,
};
use super::*;
@ -558,8 +552,6 @@ pub mod alloc_mod {
pub mod std_mod {
use std::sync::mpsc;
use crate::request::GenericMessage;
use super::*;
pub type ModeRequestHandlerMpsc = ModeRequestHandlerInterface<

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

@ -349,8 +349,6 @@ pub mod alloc_mod {
use super::*;
use crate::pus::verification::VerificationReportingProvider;
/// Extension trait for [EcssTmSenderCore].
///
/// It provides additional functionality, for example by implementing the [Downcast] trait

5
satrs/src/pus/scheduler.rs
View File

@ -345,10 +345,7 @@ pub mod alloc_mod {
},
vec::Vec,
};
use spacepackets::time::{
cds::{self, DaysLen24Bits},
UnixTime,
};
use spacepackets::time::cds::{self, DaysLen24Bits};
use crate::pool::StoreAddr;

2
satrs/src/pus/verification.rs
View File

@ -886,7 +886,7 @@ pub mod alloc_mod {
use spacepackets::ecss::PusError;
use super::*;
use crate::{pus::PusTmVariant, ComponentId};
use crate::pus::PusTmVariant;
use core::cell::RefCell;
#[derive(Clone)]

4
satrs/src/request.rs
View File

@ -193,8 +193,6 @@ impl<MSG, R: MessageReceiver<MSG>> MessageReceiverWithId<MSG, R> {
#[cfg(feature = "alloc")]
pub mod alloc_mod {
use core::marker::PhantomData;
use crate::queue::GenericSendError;
use super::*;
@ -333,7 +331,7 @@ pub mod std_mod {
use super::*;
use std::sync::mpsc;
use crate::queue::{GenericReceiveError, GenericSendError, GenericTargetedMessagingError};
use crate::queue::{GenericReceiveError, GenericSendError};
impl<MSG: Send> MessageSender<MSG> for mpsc::Sender<GenericMessage<MSG>> {
fn send(&self, message: GenericMessage<MSG>) -> Result<(), GenericTargetedMessagingError> {

24
satrs/src/tmtc/mod.rs
View File

@ -1,10 +1,12 @@
//! Telemetry and Telecommanding (TMTC) module. Contains packet routing components with special
//! support for CCSDS and ECSS packets.
//!
//! The distributor modules provided by this module use trait objects provided by the user to
//! directly dispatch received packets to packet listeners based on packet fields like the CCSDS
//! Application Process ID (APID) or the ECSS PUS service type. This allows for fast packet
//! routing without the overhead and complication of using message queues. However, it also requires
//! It is recommended to read the [sat-rs book chapter](https://absatsw.irs.uni-stuttgart.de/projects/sat-rs/book/communication.html)
//! about communication first. The TMTC abstractions provided by this framework are based on the
//! assumption that all telemetry is sent to a special handler object called the TM sink while
//! all received telecommands are sent to a special handler object called TC source. Using
//! a design like this makes it simpler to add new TC packet sources or new telemetry generators:
//! They only need to send the received and generated data to these objects.
use std::sync::mpsc;
#[cfg(feature = "alloc")]
@ -49,9 +51,9 @@ impl PacketSenderRaw for mpsc::SyncSender<alloc::vec::Vec<u8>> {
}
}
/// Extension trait of [ReceivesTc] which allows downcasting by implementing [Downcast].
/// Extension trait of [PacketSenderRaw] which allows downcasting by implementing [Downcast].
#[cfg(feature = "alloc")]
pub trait TcSenderRawExt: PacketSenderRaw + Downcast {
pub trait PacketSenderRawExt: PacketSenderRaw + Downcast {
// Remove this once trait upcasting coercion has been implemented.
// Tracking issue: https://github.com/rust-lang/rust/issues/65991
fn upcast(&self) -> &dyn PacketSenderRaw<Error = Self::Error>;
@ -60,10 +62,10 @@ pub trait TcSenderRawExt: PacketSenderRaw + Downcast {
fn upcast_mut(&mut self) -> &mut dyn PacketSenderRaw<Error = Self::Error>;
}
/// Blanket implementation to automatically implement [ReceivesTc] when the [alloc] feature
/// is enabled.
/// Blanket implementation to automatically implement [PacketSenderRawExt] when the [alloc]
/// feature is enabled.
#[cfg(feature = "alloc")]
impl<T> TcSenderRawExt for T
impl<T> PacketSenderRawExt for T
where
T: PacketSenderRaw + Send + 'static,
{
@ -80,7 +82,7 @@ where
}
#[cfg(feature = "alloc")]
impl_downcast!(TcSenderRawExt assoc Error);
impl_downcast!(PacketSenderRawExt assoc Error);
/// Generic trait for object which can receive CCSDS space packets, for example ECSS PUS packets
/// for CCSDS File Delivery Protocol (CFDP) packets.
@ -132,7 +134,7 @@ pub trait TmPacketSourceExt: TmPacketSource + Downcast {
fn upcast_mut(&mut self) -> &mut dyn TmPacketSource<Error = Self::Error>;
}
/// Blanket implementation to automatically implement [ReceivesTc] when the [alloc] feature
/// Blanket implementation to automatically implement [TmPacketSourceExt] when the [alloc] feature
/// is enabled.
#[cfg(feature = "alloc")]
impl<T> TmPacketSourceExt for T

43
satrs/tests/tcp_servers.rs
View File

@ -17,7 +17,7 @@ use core::{
use std::{
io::{Read, Write},
net::{IpAddr, Ipv4Addr, SocketAddr, TcpStream},
sync::Mutex,
sync::{mpsc, Mutex},
thread,
};
@ -28,7 +28,7 @@ use satrs::{
ConnectionResult, HandledConnectionHandler, HandledConnectionInfo, ServerConfig,
TcpSpacepacketsServer, TcpTmtcInCobsServer,
},
tmtc::{PacketSenderRaw, TmPacketSource},
tmtc::TmPacketSource,
};
use spacepackets::{
ecss::{tc::PusTcCreator, WritablePusPacket},
@ -61,21 +61,6 @@ impl ConnectionFinishedHandler {
assert!(self.connection_info.is_empty());
}
}
#[derive(Default, Clone)]
struct SyncTcCacher {
tc_queue: Arc<Mutex<VecDeque<Vec<u8>>>>,
}
impl PacketSenderRaw for SyncTcCacher {
type Error = ();
fn send_raw_tc(&mut self, tc_raw: &[u8]) -> Result<(), Self::Error> {
let mut tc_queue = self.tc_queue.lock().expect("tc forwarder failed");
println!("Received TC: {:x?}", tc_raw);
tc_queue.push_back(tc_raw.to_vec());
Ok(())
}
}
#[derive(Default, Clone)]
struct SyncTmSource {
@ -117,14 +102,14 @@ const AUTO_PORT_ADDR: SocketAddr = SocketAddr::new(IpAddr::V4(Ipv4Addr::new(127,
#[test]
fn test_cobs_server() {
let tc_receiver = SyncTcCacher::default();
let (tc_sender, tc_receiver) = mpsc::channel();
let mut tm_source = SyncTmSource::default();
// Insert a telemetry packet which will be read back by the client at a later stage.
tm_source.add_tm(&INVERTED_PACKET);
let mut tcp_server = TcpTmtcInCobsServer::new(
ServerConfig::new(AUTO_PORT_ADDR, Duration::from_millis(2), 1024, 1024),
tm_source,
tc_receiver.clone(),
tc_sender.clone(),
ConnectionFinishedHandler::default(),
None,
)
@ -190,13 +175,9 @@ fn test_cobs_server() {
panic!("connection was not handled properly");
}
// Check that the packet was received and decoded successfully.
let mut tc_queue = tc_receiver
.tc_queue
.lock()
.expect("locking tc queue failed");
assert_eq!(tc_queue.len(), 1);
assert_eq!(tc_queue.pop_front().unwrap(), &SIMPLE_PACKET);
drop(tc_queue);
let tc = tc_receiver.try_recv().expect("no TC received");
assert_eq!(tc, SIMPLE_PACKET);
matches!(tc_receiver.try_recv(), Err(mpsc::TryRecvError::Empty));
}
const TEST_APID_0: u16 = 0x02;
@ -204,7 +185,7 @@ const TEST_PACKET_ID_0: PacketId = PacketId::new_for_tc(true, TEST_APID_0);
#[test]
fn test_ccsds_server() {
let tc_receiver = SyncTcCacher::default();
let (tc_sender, tc_receiver) = mpsc::channel();
let mut tm_source = SyncTmSource::default();
let sph = SpHeader::new_for_unseg_tc(TEST_APID_0, 0, 0);
let verif_tm = PusTcCreator::new_simple(sph, 1, 1, &[], true);
@ -215,7 +196,7 @@ fn test_ccsds_server() {
let mut tcp_server = TcpSpacepacketsServer::new(
ServerConfig::new(AUTO_PORT_ADDR, Duration::from_millis(2), 1024, 1024),
tm_source,
tc_receiver.clone(),
tc_sender,
packet_id_lookup,
ConnectionFinishedHandler::default(),
None,
@ -282,7 +263,7 @@ fn test_ccsds_server() {
panic!("connection was not handled properly");
}
// Check that TC has arrived.
let mut tc_queue = tc_receiver.tc_queue.lock().unwrap();
assert_eq!(tc_queue.len(), 1);
assert_eq!(tc_queue.pop_front().unwrap(), tc_0);
let tc = tc_receiver.try_recv().expect("no TC received");
assert_eq!(tc, tc_0);
matches!(tc_receiver.try_recv(), Err(mpsc::TryRecvError::Empty));
}