Merge pull request 'OBSW-Client Example' (#11) from obsw-client-example into main
Reviewed-on: rust/fsrc-launchpad#11
This commit is contained in:
commit
b4d2415033
19
.idea/runConfigurations/Run_obsw_client_example.xml
Normal file
19
.idea/runConfigurations/Run_obsw_client_example.xml
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@ -0,0 +1,19 @@
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|||||||
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<component name="ProjectRunConfigurationManager">
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||||||
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<configuration default="false" name="Run obsw client example" type="CargoCommandRunConfiguration" factoryName="Cargo Command">
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||||||
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<option name="command" value="run --package fsrc-example --bin client" />
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||||||
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<option name="workingDirectory" value="file://$PROJECT_DIR$" />
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||||||
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<option name="channel" value="DEFAULT" />
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||||||
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<option name="requiredFeatures" value="true" />
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||||||
|
<option name="allFeatures" value="false" />
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||||||
|
<option name="emulateTerminal" value="false" />
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||||||
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<option name="withSudo" value="false" />
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||||||
|
<option name="buildTarget" value="REMOTE" />
|
||||||
|
<option name="backtrace" value="SHORT" />
|
||||||
|
<envs />
|
||||||
|
<option name="isRedirectInput" value="false" />
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||||||
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<option name="redirectInputPath" value="" />
|
||||||
|
<method v="2">
|
||||||
|
<option name="CARGO.BUILD_TASK_PROVIDER" enabled="true" />
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</method>
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||||||
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</configuration>
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</component>
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19
.idea/runConfigurations/Run_obsw_example.xml
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19
.idea/runConfigurations/Run_obsw_example.xml
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@ -0,0 +1,19 @@
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|||||||
|
<component name="ProjectRunConfigurationManager">
|
||||||
|
<configuration default="false" name="Run obsw example" type="CargoCommandRunConfiguration" factoryName="Cargo Command">
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||||||
|
<option name="command" value="run --package fsrc-example --bin obsw" />
|
||||||
|
<option name="workingDirectory" value="file://$PROJECT_DIR$" />
|
||||||
|
<option name="channel" value="DEFAULT" />
|
||||||
|
<option name="requiredFeatures" value="true" />
|
||||||
|
<option name="allFeatures" value="false" />
|
||||||
|
<option name="emulateTerminal" value="false" />
|
||||||
|
<option name="withSudo" value="false" />
|
||||||
|
<option name="buildTarget" value="REMOTE" />
|
||||||
|
<option name="backtrace" value="SHORT" />
|
||||||
|
<envs />
|
||||||
|
<option name="isRedirectInput" value="false" />
|
||||||
|
<option name="redirectInputPath" value="" />
|
||||||
|
<method v="2">
|
||||||
|
<option name="CARGO.BUILD_TASK_PROVIDER" enabled="true" />
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||||||
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</method>
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||||||
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</configuration>
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||||||
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</component>
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||||||
268
Cargo.lock
generated
268
Cargo.lock
generated
@ -15,24 +15,27 @@ dependencies = [
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|||||||
|
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||||||
[[package]]
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[[package]]
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||||||
name = "aho-corasick"
|
name = "aho-corasick"
|
||||||
version = "0.7.18"
|
version = "0.7.19"
|
||||||
source = "registry+https://github.com/rust-lang/crates.io-index"
|
source = "registry+https://github.com/rust-lang/crates.io-index"
|
||||||
checksum = "1e37cfd5e7657ada45f742d6e99ca5788580b5c529dc78faf11ece6dc702656f"
|
checksum = "b4f55bd91a0978cbfd91c457a164bab8b4001c833b7f323132c0a4e1922dd44e"
|
||||||
dependencies = [
|
dependencies = [
|
||||||
"memchr",
|
"memchr",
|
||||||
]
|
]
|
||||||
|
|
||||||
[[package]]
|
[[package]]
|
||||||
name = "atomic-option"
|
name = "android_system_properties"
|
||||||
version = "0.1.2"
|
version = "0.1.5"
|
||||||
source = "registry+https://github.com/rust-lang/crates.io-index"
|
source = "registry+https://github.com/rust-lang/crates.io-index"
|
||||||
checksum = "0db678acb667b525ac40a324fc5f7d3390e29239b31c7327bb8157f5b4fff593"
|
checksum = "819e7219dbd41043ac279b19830f2efc897156490d7fd6ea916720117ee66311"
|
||||||
|
dependencies = [
|
||||||
|
"libc",
|
||||||
|
]
|
||||||
|
|
||||||
[[package]]
|
[[package]]
|
||||||
name = "atomic-polyfill"
|
name = "atomic-polyfill"
|
||||||
version = "0.1.8"
|
version = "0.1.10"
|
||||||
source = "registry+https://github.com/rust-lang/crates.io-index"
|
source = "registry+https://github.com/rust-lang/crates.io-index"
|
||||||
checksum = "e14bf7b4f565e5e717d7a7a65b2a05c0b8c96e4db636d6f780f03b15108cdd1b"
|
checksum = "9c041a8d9751a520ee19656232a18971f18946a7900f1520ee4400002244dd89"
|
||||||
dependencies = [
|
dependencies = [
|
||||||
"critical-section",
|
"critical-section",
|
||||||
]
|
]
|
||||||
@ -78,17 +81,16 @@ checksum = "bef38d45163c2f1dde094a7dfd33ccf595c92905c8f8f4fdc18d06fb1037718a"
|
|||||||
|
|
||||||
[[package]]
|
[[package]]
|
||||||
name = "bumpalo"
|
name = "bumpalo"
|
||||||
version = "3.10.0"
|
version = "3.11.0"
|
||||||
source = "registry+https://github.com/rust-lang/crates.io-index"
|
source = "registry+https://github.com/rust-lang/crates.io-index"
|
||||||
checksum = "37ccbd214614c6783386c1af30caf03192f17891059cecc394b4fb119e363de3"
|
checksum = "c1ad822118d20d2c234f427000d5acc36eabe1e29a348c89b63dd60b13f28e5d"
|
||||||
|
|
||||||
[[package]]
|
[[package]]
|
||||||
name = "bus"
|
name = "bus"
|
||||||
version = "2.2.3"
|
version = "2.3.0"
|
||||||
source = "registry+https://github.com/rust-lang/crates.io-index"
|
source = "registry+https://github.com/rust-lang/crates.io-index"
|
||||||
checksum = "f1e66e1779f5b1440f1a58220ba3b3ded4427175f0a9fb8d7066521f8b4e8f2b"
|
checksum = "80cb4625f5b60155ff1018c9d4ce2e38bf5ae3e5780dfab9fa68bb44a6b751e2"
|
||||||
dependencies = [
|
dependencies = [
|
||||||
"atomic-option",
|
|
||||||
"crossbeam-channel",
|
"crossbeam-channel",
|
||||||
"num_cpus",
|
"num_cpus",
|
||||||
"parking_lot_core",
|
"parking_lot_core",
|
||||||
@ -100,12 +102,6 @@ version = "1.4.3"
|
|||||||
source = "registry+https://github.com/rust-lang/crates.io-index"
|
source = "registry+https://github.com/rust-lang/crates.io-index"
|
||||||
checksum = "14c189c53d098945499cdfa7ecc63567cf3886b3332b312a5b4585d8d3a6a610"
|
checksum = "14c189c53d098945499cdfa7ecc63567cf3886b3332b312a5b4585d8d3a6a610"
|
||||||
|
|
||||||
[[package]]
|
|
||||||
name = "cfg-if"
|
|
||||||
version = "0.1.10"
|
|
||||||
source = "registry+https://github.com/rust-lang/crates.io-index"
|
|
||||||
checksum = "4785bdd1c96b2a846b2bd7cc02e86b6b3dbf14e7e53446c4f54c92a361040822"
|
|
||||||
|
|
||||||
[[package]]
|
[[package]]
|
||||||
name = "cfg-if"
|
name = "cfg-if"
|
||||||
version = "1.0.0"
|
version = "1.0.0"
|
||||||
@ -114,26 +110,16 @@ checksum = "baf1de4339761588bc0619e3cbc0120ee582ebb74b53b4efbf79117bd2da40fd"
|
|||||||
|
|
||||||
[[package]]
|
[[package]]
|
||||||
name = "chrono"
|
name = "chrono"
|
||||||
version = "0.4.20"
|
version = "0.4.22"
|
||||||
source = "registry+https://github.com/rust-lang/crates.io-index"
|
source = "registry+https://github.com/rust-lang/crates.io-index"
|
||||||
checksum = "6127248204b9aba09a362f6c930ef6a78f2c1b2215f8a7b398c06e1083f17af0"
|
checksum = "bfd4d1b31faaa3a89d7934dbded3111da0d2ef28e3ebccdb4f0179f5929d1ef1"
|
||||||
dependencies = [
|
dependencies = [
|
||||||
"js-sys",
|
"iana-time-zone",
|
||||||
"num-integer",
|
"num-integer",
|
||||||
"num-traits",
|
"num-traits",
|
||||||
"wasm-bindgen",
|
|
||||||
"winapi",
|
"winapi",
|
||||||
]
|
]
|
||||||
|
|
||||||
[[package]]
|
|
||||||
name = "cloudabi"
|
|
||||||
version = "0.0.3"
|
|
||||||
source = "registry+https://github.com/rust-lang/crates.io-index"
|
|
||||||
checksum = "ddfc5b9aa5d4507acaf872de71051dfd0e309860e88966e1051e462a077aac4f"
|
|
||||||
dependencies = [
|
|
||||||
"bitflags",
|
|
||||||
]
|
|
||||||
|
|
||||||
[[package]]
|
[[package]]
|
||||||
name = "cobs"
|
name = "cobs"
|
||||||
version = "0.2.3"
|
version = "0.2.3"
|
||||||
@ -141,10 +127,16 @@ source = "registry+https://github.com/rust-lang/crates.io-index"
|
|||||||
checksum = "67ba02a97a2bd10f4b59b25c7973101c79642302776489e030cd13cdab09ed15"
|
checksum = "67ba02a97a2bd10f4b59b25c7973101c79642302776489e030cd13cdab09ed15"
|
||||||
|
|
||||||
[[package]]
|
[[package]]
|
||||||
name = "cortex-m"
|
name = "core-foundation-sys"
|
||||||
version = "0.7.5"
|
version = "0.8.3"
|
||||||
source = "registry+https://github.com/rust-lang/crates.io-index"
|
source = "registry+https://github.com/rust-lang/crates.io-index"
|
||||||
checksum = "cd20d4ac4aa86f4f75f239d59e542ef67de87cce2c282818dc6e84155d3ea126"
|
checksum = "5827cebf4670468b8772dd191856768aedcb1b0278a04f989f7766351917b9dc"
|
||||||
|
|
||||||
|
[[package]]
|
||||||
|
name = "cortex-m"
|
||||||
|
version = "0.7.6"
|
||||||
|
source = "registry+https://github.com/rust-lang/crates.io-index"
|
||||||
|
checksum = "70858629a458fdfd39f9675c4dc309411f2a3f83bede76988d81bf1a0ecee9e0"
|
||||||
dependencies = [
|
dependencies = [
|
||||||
"bare-metal 0.2.5",
|
"bare-metal 0.2.5",
|
||||||
"bitfield",
|
"bitfield",
|
||||||
@ -174,30 +166,29 @@ source = "registry+https://github.com/rust-lang/crates.io-index"
|
|||||||
checksum = "95da181745b56d4bd339530ec393508910c909c784e8962d15d722bacf0bcbcd"
|
checksum = "95da181745b56d4bd339530ec393508910c909c784e8962d15d722bacf0bcbcd"
|
||||||
dependencies = [
|
dependencies = [
|
||||||
"bare-metal 1.0.0",
|
"bare-metal 1.0.0",
|
||||||
"cfg-if 1.0.0",
|
"cfg-if",
|
||||||
"cortex-m",
|
"cortex-m",
|
||||||
"riscv",
|
"riscv",
|
||||||
]
|
]
|
||||||
|
|
||||||
[[package]]
|
[[package]]
|
||||||
name = "crossbeam-channel"
|
name = "crossbeam-channel"
|
||||||
version = "0.4.4"
|
version = "0.5.6"
|
||||||
source = "registry+https://github.com/rust-lang/crates.io-index"
|
source = "registry+https://github.com/rust-lang/crates.io-index"
|
||||||
checksum = "b153fe7cbef478c567df0f972e02e6d736db11affe43dfc9c56a9374d1adfb87"
|
checksum = "c2dd04ddaf88237dc3b8d8f9a3c1004b506b54b3313403944054d23c0870c521"
|
||||||
dependencies = [
|
dependencies = [
|
||||||
|
"cfg-if",
|
||||||
"crossbeam-utils",
|
"crossbeam-utils",
|
||||||
"maybe-uninit",
|
|
||||||
]
|
]
|
||||||
|
|
||||||
[[package]]
|
[[package]]
|
||||||
name = "crossbeam-utils"
|
name = "crossbeam-utils"
|
||||||
version = "0.7.2"
|
version = "0.8.11"
|
||||||
source = "registry+https://github.com/rust-lang/crates.io-index"
|
source = "registry+https://github.com/rust-lang/crates.io-index"
|
||||||
checksum = "c3c7c73a2d1e9fc0886a08b93e98eb643461230d5f1925e4036204d5f2e261a8"
|
checksum = "51887d4adc7b564537b15adcfb307936f8075dfcd5f00dde9a9f1d29383682bc"
|
||||||
dependencies = [
|
dependencies = [
|
||||||
"autocfg",
|
"cfg-if",
|
||||||
"cfg-if 0.1.10",
|
"once_cell",
|
||||||
"lazy_static",
|
|
||||||
]
|
]
|
||||||
|
|
||||||
[[package]]
|
[[package]]
|
||||||
@ -211,6 +202,17 @@ dependencies = [
|
|||||||
"syn",
|
"syn",
|
||||||
]
|
]
|
||||||
|
|
||||||
|
[[package]]
|
||||||
|
name = "delegate"
|
||||||
|
version = "0.8.0"
|
||||||
|
source = "registry+https://github.com/rust-lang/crates.io-index"
|
||||||
|
checksum = "082a24a9967533dc5d743c602157637116fc1b52806d694a5a45e6f32567fcdd"
|
||||||
|
dependencies = [
|
||||||
|
"proc-macro2",
|
||||||
|
"quote",
|
||||||
|
"syn",
|
||||||
|
]
|
||||||
|
|
||||||
[[package]]
|
[[package]]
|
||||||
name = "downcast-rs"
|
name = "downcast-rs"
|
||||||
version = "1.2.0"
|
version = "1.2.0"
|
||||||
@ -232,7 +234,8 @@ name = "fsrc-core"
|
|||||||
version = "0.1.0"
|
version = "0.1.0"
|
||||||
dependencies = [
|
dependencies = [
|
||||||
"bus",
|
"bus",
|
||||||
"delegate",
|
"crossbeam-channel",
|
||||||
|
"delegate 0.8.0",
|
||||||
"downcast-rs",
|
"downcast-rs",
|
||||||
"hashbrown",
|
"hashbrown",
|
||||||
"num-traits",
|
"num-traits",
|
||||||
@ -240,7 +243,6 @@ dependencies = [
|
|||||||
"postcard",
|
"postcard",
|
||||||
"serde",
|
"serde",
|
||||||
"spacepackets",
|
"spacepackets",
|
||||||
"thiserror",
|
|
||||||
"zerocopy",
|
"zerocopy",
|
||||||
]
|
]
|
||||||
|
|
||||||
@ -248,6 +250,9 @@ dependencies = [
|
|||||||
name = "fsrc-example"
|
name = "fsrc-example"
|
||||||
version = "0.1.0"
|
version = "0.1.0"
|
||||||
dependencies = [
|
dependencies = [
|
||||||
|
"crossbeam-channel",
|
||||||
|
"delegate 0.8.0",
|
||||||
|
"fsrc-core",
|
||||||
"spacepackets",
|
"spacepackets",
|
||||||
]
|
]
|
||||||
|
|
||||||
@ -257,7 +262,7 @@ version = "0.2.7"
|
|||||||
source = "registry+https://github.com/rust-lang/crates.io-index"
|
source = "registry+https://github.com/rust-lang/crates.io-index"
|
||||||
checksum = "4eb1a864a501629691edf6c15a593b7a51eebaa1e8468e9ddc623de7c9b58ec6"
|
checksum = "4eb1a864a501629691edf6c15a593b7a51eebaa1e8468e9ddc623de7c9b58ec6"
|
||||||
dependencies = [
|
dependencies = [
|
||||||
"cfg-if 1.0.0",
|
"cfg-if",
|
||||||
"libc",
|
"libc",
|
||||||
"wasi",
|
"wasi",
|
||||||
]
|
]
|
||||||
@ -282,9 +287,9 @@ dependencies = [
|
|||||||
|
|
||||||
[[package]]
|
[[package]]
|
||||||
name = "heapless"
|
name = "heapless"
|
||||||
version = "0.7.14"
|
version = "0.7.16"
|
||||||
source = "registry+https://github.com/rust-lang/crates.io-index"
|
source = "registry+https://github.com/rust-lang/crates.io-index"
|
||||||
checksum = "065681e99f9ef7e0e813702a0326aedbcbbde7db5e55f097aedd1bf50b9dca43"
|
checksum = "db04bc24a18b9ea980628ecf00e6c0264f3c1426dac36c00cb49b6fbad8b0743"
|
||||||
dependencies = [
|
dependencies = [
|
||||||
"atomic-polyfill",
|
"atomic-polyfill",
|
||||||
"hash32",
|
"hash32",
|
||||||
@ -303,6 +308,20 @@ dependencies = [
|
|||||||
"libc",
|
"libc",
|
||||||
]
|
]
|
||||||
|
|
||||||
|
[[package]]
|
||||||
|
name = "iana-time-zone"
|
||||||
|
version = "0.1.47"
|
||||||
|
source = "registry+https://github.com/rust-lang/crates.io-index"
|
||||||
|
checksum = "4c495f162af0bf17656d0014a0eded5f3cd2f365fdd204548c2869db89359dc7"
|
||||||
|
dependencies = [
|
||||||
|
"android_system_properties",
|
||||||
|
"core-foundation-sys",
|
||||||
|
"js-sys",
|
||||||
|
"once_cell",
|
||||||
|
"wasm-bindgen",
|
||||||
|
"winapi",
|
||||||
|
]
|
||||||
|
|
||||||
[[package]]
|
[[package]]
|
||||||
name = "js-sys"
|
name = "js-sys"
|
||||||
version = "0.3.59"
|
version = "0.3.59"
|
||||||
@ -320,15 +339,15 @@ checksum = "e2abad23fbc42b3700f2f279844dc832adb2b2eb069b2df918f455c4e18cc646"
|
|||||||
|
|
||||||
[[package]]
|
[[package]]
|
||||||
name = "libc"
|
name = "libc"
|
||||||
version = "0.2.126"
|
version = "0.2.132"
|
||||||
source = "registry+https://github.com/rust-lang/crates.io-index"
|
source = "registry+https://github.com/rust-lang/crates.io-index"
|
||||||
checksum = "349d5a591cd28b49e1d1037471617a32ddcda5731b99419008085f72d5a53836"
|
checksum = "8371e4e5341c3a96db127eb2465ac681ced4c433e01dd0e938adbef26ba93ba5"
|
||||||
|
|
||||||
[[package]]
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[[package]]
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||||||
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|
||||||
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|
||||||
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|
||||||
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|
||||||
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|
dependencies = [
|
||||||
"autocfg",
|
"autocfg",
|
||||||
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|
"scopeguard",
|
||||||
@ -340,15 +359,9 @@ version = "0.4.17"
|
|||||||
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|
source = "registry+https://github.com/rust-lang/crates.io-index"
|
||||||
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|
||||||
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|
dependencies = [
|
||||||
"cfg-if 1.0.0",
|
"cfg-if",
|
||||||
]
|
]
|
||||||
|
|
||||||
[[package]]
|
|
||||||
name = "maybe-uninit"
|
|
||||||
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|
|
||||||
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|
|
||||||
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|
|
||||||
|
|
||||||
[[package]]
|
[[package]]
|
||||||
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|
name = "memchr"
|
||||||
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|
version = "2.5.0"
|
||||||
@ -401,29 +414,28 @@ dependencies = [
|
|||||||
|
|
||||||
[[package]]
|
[[package]]
|
||||||
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|
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|
||||||
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|
||||||
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||||||
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|
||||||
[[package]]
|
[[package]]
|
||||||
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|
||||||
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|
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||||||
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||||||
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|
||||||
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|
"cfg-if",
|
||||||
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|
|
||||||
"libc",
|
"libc",
|
||||||
"redox_syscall",
|
"redox_syscall",
|
||||||
"smallvec",
|
"smallvec",
|
||||||
"winapi",
|
"windows-sys",
|
||||||
]
|
]
|
||||||
|
|
||||||
[[package]]
|
[[package]]
|
||||||
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|
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|
||||||
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|
||||||
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source = "registry+https://github.com/rust-lang/crates.io-index"
|
||||||
checksum = "41f5465c5e5a38e04552d8fb53ebcf4f58124ab3bbd0c02add043b33f82792e5"
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||||||
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dependencies = [
|
||||||
"cobs",
|
"cobs",
|
||||||
"heapless",
|
"heapless",
|
||||||
@ -432,33 +444,36 @@ dependencies = [
|
|||||||
|
|
||||||
[[package]]
|
[[package]]
|
||||||
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|
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|
||||||
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|
||||||
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||||||
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||||||
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|
||||||
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|
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|
||||||
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|
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|
||||||
|
|
||||||
[[package]]
|
[[package]]
|
||||||
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|
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|
||||||
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||||||
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||||||
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|
||||||
"proc-macro2",
|
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|
||||||
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|
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|
||||||
|
|
||||||
[[package]]
|
[[package]]
|
||||||
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|
||||||
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|
||||||
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||||||
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|
||||||
|
dependencies = [
|
||||||
|
"bitflags",
|
||||||
|
]
|
||||||
|
|
||||||
[[package]]
|
[[package]]
|
||||||
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|
name = "regex"
|
||||||
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|
||||||
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|
||||||
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||||||
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|
||||||
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"aho-corasick",
|
||||||
"memchr",
|
"memchr",
|
||||||
@ -467,9 +482,9 @@ dependencies = [
|
|||||||
|
|
||||||
[[package]]
|
[[package]]
|
||||||
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|
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|
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||||||
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|
||||||
[[package]]
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[[package]]
|
||||||
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|
||||||
@ -507,7 +522,7 @@ version = "0.4.0"
|
|||||||
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|
||||||
checksum = "bfa0f585226d2e68097d4f95d113b15b83a82e819ab25717ec0590d9584ef366"
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||||||
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|
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|
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|
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|
||||||
|
|
||||||
[[package]]
|
[[package]]
|
||||||
@ -527,9 +542,9 @@ dependencies = [
|
|||||||
|
|
||||||
[[package]]
|
[[package]]
|
||||||
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|
name = "semver"
|
||||||
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|
||||||
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||||||
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|
||||||
|
|
||||||
[[package]]
|
[[package]]
|
||||||
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||||||
@ -539,18 +554,18 @@ checksum = "388a1df253eca08550bef6c72392cfe7c30914bf41df5269b68cbd6ff8f570a3"
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|||||||
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|
||||||
[[package]]
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|
||||||
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|
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||||||
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|
||||||
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|
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|
||||||
|
|
||||||
[[package]]
|
[[package]]
|
||||||
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|
||||||
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||||||
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|
||||||
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|
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|
||||||
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|
"quote",
|
||||||
@ -559,9 +574,9 @@ dependencies = [
|
|||||||
|
|
||||||
[[package]]
|
[[package]]
|
||||||
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|
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|
||||||
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|
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||||||
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|
||||||
|
|
||||||
[[package]]
|
[[package]]
|
||||||
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|
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|
||||||
@ -569,7 +584,7 @@ version = "0.1.0"
|
|||||||
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|
||||||
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|
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|
||||||
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|
"crc",
|
||||||
"delegate",
|
"delegate 0.7.0",
|
||||||
"num-traits",
|
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|
||||||
"postcard",
|
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|
||||||
"serde",
|
"serde",
|
||||||
@ -578,9 +593,9 @@ dependencies = [
|
|||||||
|
|
||||||
[[package]]
|
[[package]]
|
||||||
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|
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|
||||||
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|
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|
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@ -593,9 +608,9 @@ checksum = "a8f112729512f8e442d81f95a8a7ddf2b7c6b8a1a6f509a95864142b30cab2d3"
|
|||||||
|
|
||||||
[[package]]
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[[package]]
|
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|
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|
||||||
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|
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|
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|
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|
||||||
@ -614,31 +629,11 @@ dependencies = [
|
|||||||
"unicode-xid",
|
"unicode-xid",
|
||||||
]
|
]
|
||||||
|
|
||||||
[[package]]
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|
||||||
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|
||||||
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|
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|
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|
||||||
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|
||||||
"thiserror-impl",
|
|
||||||
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|
|
||||||
|
|
||||||
[[package]]
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|
||||||
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|
||||||
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|
||||||
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|
||||||
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|
||||||
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|
||||||
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|
|
||||||
|
|
||||||
[[package]]
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[[package]]
|
||||||
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|
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|
||||||
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|
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|
||||||
@ -685,7 +680,7 @@ version = "0.2.82"
|
|||||||
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||||||
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||||||
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|
||||||
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|
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|
||||||
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|
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|
||||||
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|
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|
||||||
|
|
||||||
@ -755,6 +750,49 @@ version = "0.4.0"
|
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|
||||||
|
|
||||||
|
[[package]]
|
||||||
|
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|
||||||
|
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|
||||||
|
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|
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|
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|
||||||
|
"windows_aarch64_msvc",
|
||||||
|
"windows_i686_gnu",
|
||||||
|
"windows_i686_msvc",
|
||||||
|
"windows_x86_64_gnu",
|
||||||
|
"windows_x86_64_msvc",
|
||||||
|
]
|
||||||
|
|
||||||
|
[[package]]
|
||||||
|
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|
||||||
|
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|
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|
||||||
|
|
||||||
|
[[package]]
|
||||||
|
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|
||||||
|
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|
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|
||||||
|
|
||||||
|
[[package]]
|
||||||
|
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|
||||||
|
version = "0.36.1"
|
||||||
|
source = "registry+https://github.com/rust-lang/crates.io-index"
|
||||||
|
checksum = "e2e7917148b2812d1eeafaeb22a97e4813dfa60a3f8f78ebe204bcc88f12f024"
|
||||||
|
|
||||||
|
[[package]]
|
||||||
|
name = "windows_x86_64_gnu"
|
||||||
|
version = "0.36.1"
|
||||||
|
source = "registry+https://github.com/rust-lang/crates.io-index"
|
||||||
|
checksum = "4dcd171b8776c41b97521e5da127a2d86ad280114807d0b2ab1e462bc764d9e1"
|
||||||
|
|
||||||
|
[[package]]
|
||||||
|
name = "windows_x86_64_msvc"
|
||||||
|
version = "0.36.1"
|
||||||
|
source = "registry+https://github.com/rust-lang/crates.io-index"
|
||||||
|
checksum = "c811ca4a8c853ef420abd8592ba53ddbbac90410fab6903b3e79972a631f7680"
|
||||||
|
|
||||||
[[package]]
|
[[package]]
|
||||||
name = "zerocopy"
|
name = "zerocopy"
|
||||||
version = "0.6.1"
|
version = "0.6.1"
|
||||||
|
|||||||
@ -6,8 +6,7 @@ edition = "2021"
|
|||||||
# See more keys and their definitions at https://doc.rust-lang.org/cargo/reference/manifest.html
|
# See more keys and their definitions at https://doc.rust-lang.org/cargo/reference/manifest.html
|
||||||
|
|
||||||
[dependencies]
|
[dependencies]
|
||||||
thiserror = "1.0"
|
delegate = "0.8.0"
|
||||||
delegate = "0.7.0"
|
|
||||||
hashbrown = "0.12.3"
|
hashbrown = "0.12.3"
|
||||||
|
|
||||||
[dependencies.num-traits]
|
[dependencies.num-traits]
|
||||||
@ -22,17 +21,23 @@ default-features = false
|
|||||||
version = "2.2.3"
|
version = "2.2.3"
|
||||||
optional = true
|
optional = true
|
||||||
|
|
||||||
|
[dependencies.crossbeam-channel]
|
||||||
|
version= "0.5"
|
||||||
|
default-features = false
|
||||||
|
|
||||||
[dependencies.spacepackets]
|
[dependencies.spacepackets]
|
||||||
path = "../spacepackets"
|
path = "../spacepackets"
|
||||||
|
|
||||||
[dev-dependencies]
|
[dev-dependencies]
|
||||||
postcard = { version = "1.0.1", features = ["use-std"] }
|
|
||||||
serde = "1.0.143"
|
serde = "1.0.143"
|
||||||
zerocopy = "0.6.1"
|
zerocopy = "0.6.1"
|
||||||
once_cell = "1.13.1"
|
once_cell = "1.13.1"
|
||||||
|
|
||||||
|
[dev-dependencies.postcard]
|
||||||
|
version = "1.0.1"
|
||||||
|
|
||||||
[features]
|
[features]
|
||||||
default = ["std"]
|
default = ["std"]
|
||||||
std = ["downcast-rs/std", "alloc", "bus"]
|
std = ["downcast-rs/std", "alloc", "bus", "postcard/use-std", "crossbeam-channel/std"]
|
||||||
alloc = []
|
alloc = []
|
||||||
|
|
||||||
|
|||||||
@ -1 +1,2 @@
|
|||||||
|
//! Helper modules intended to be used on hosts with a full [std] runtime
|
||||||
pub mod udp_server;
|
pub mod udp_server;
|
||||||
|
|||||||
@ -1,40 +1,200 @@
|
|||||||
use crate::hal::host::udp_server::ReceiveResult::{IoError, ReceiverError};
|
//! UDP server helper components
|
||||||
use crate::tmtc::ReceivesTc;
|
use crate::tmtc::ReceivesTc;
|
||||||
|
use std::boxed::Box;
|
||||||
|
use std::io::{Error, ErrorKind};
|
||||||
use std::net::{SocketAddr, ToSocketAddrs, UdpSocket};
|
use std::net::{SocketAddr, ToSocketAddrs, UdpSocket};
|
||||||
|
use std::vec;
|
||||||
use std::vec::Vec;
|
use std::vec::Vec;
|
||||||
|
|
||||||
pub struct UdpTmtcServer<E> {
|
/// This TC server helper can be used to receive raw PUS telecommands thorough a UDP interface.
|
||||||
socket: UdpSocket,
|
///
|
||||||
|
/// 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
|
||||||
|
/// receiver in form of a special trait object which implements [ReceivesTc]. Please note that the
|
||||||
|
/// receiver should copy out the received data if it the data is required past the
|
||||||
|
/// [ReceivesTc::pass_tc] call.
|
||||||
|
///
|
||||||
|
/// # Examples
|
||||||
|
///
|
||||||
|
/// ```
|
||||||
|
/// use std::net::{IpAddr, Ipv4Addr, SocketAddr, UdpSocket};
|
||||||
|
/// use fsrc_core::hal::host::udp_server::UdpTcServer;
|
||||||
|
/// use fsrc_core::tmtc::ReceivesTc;
|
||||||
|
/// use spacepackets::SpHeader;
|
||||||
|
/// use spacepackets::tc::PusTc;
|
||||||
|
///
|
||||||
|
/// #[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 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, Box::new(ping_receiver))
|
||||||
|
/// .expect("Creating UDP TMTC server failed");
|
||||||
|
/// let mut sph = SpHeader::tc(0x02, 0, 0).unwrap();
|
||||||
|
/// let pus_tc = PusTc::new_simple(&mut sph, 17, 1, None, true);
|
||||||
|
/// let len = pus_tc
|
||||||
|
/// .write_to(&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");
|
||||||
|
/// client
|
||||||
|
/// .send_to(&buf[0..len], dest_addr)
|
||||||
|
/// .expect("Error sending PUS TC via UDP");
|
||||||
|
/// ```
|
||||||
|
///
|
||||||
|
/// The [fsrc-example crate](https://egit.irs.uni-stuttgart.de/rust/fsrc-launchpad/src/branch/main/fsrc-example)
|
||||||
|
/// server code also includes
|
||||||
|
/// [example code](https://egit.irs.uni-stuttgart.de/rust/fsrc-launchpad/src/branch/main/fsrc-example/src/bin/obsw/tmtc.rs)
|
||||||
|
/// on how to use this TC server. It uses the server to receive PUS telecommands on a specific port
|
||||||
|
/// and then forwards them to a generic CCSDS packet receiver.
|
||||||
|
pub struct UdpTcServer<E> {
|
||||||
|
pub socket: UdpSocket,
|
||||||
recv_buf: Vec<u8>,
|
recv_buf: Vec<u8>,
|
||||||
|
sender_addr: Option<SocketAddr>,
|
||||||
tc_receiver: Box<dyn ReceivesTc<Error = E>>,
|
tc_receiver: Box<dyn ReceivesTc<Error = E>>,
|
||||||
}
|
}
|
||||||
|
|
||||||
|
#[derive(Debug)]
|
||||||
pub enum ReceiveResult<E> {
|
pub enum ReceiveResult<E> {
|
||||||
IoError(std::io::Error),
|
NothingReceived,
|
||||||
|
IoError(Error),
|
||||||
ReceiverError(E),
|
ReceiverError(E),
|
||||||
}
|
}
|
||||||
|
|
||||||
impl<E> UdpTmtcServer<E> {
|
impl<E> From<Error> for ReceiveResult<E> {
|
||||||
|
fn from(e: Error) -> Self {
|
||||||
|
ReceiveResult::IoError(e)
|
||||||
|
}
|
||||||
|
}
|
||||||
|
|
||||||
|
impl<E: PartialEq> PartialEq for ReceiveResult<E> {
|
||||||
|
fn eq(&self, other: &Self) -> bool {
|
||||||
|
use ReceiveResult::*;
|
||||||
|
match (self, other) {
|
||||||
|
(IoError(ref e), IoError(ref other_e)) => e.kind() == other_e.kind(),
|
||||||
|
(NothingReceived, NothingReceived) => true,
|
||||||
|
(ReceiverError(e), ReceiverError(other_e)) => e == other_e,
|
||||||
|
_ => false,
|
||||||
|
}
|
||||||
|
}
|
||||||
|
}
|
||||||
|
|
||||||
|
impl<E: Eq + PartialEq> Eq for ReceiveResult<E> {}
|
||||||
|
|
||||||
|
impl<E: 'static> UdpTcServer<E> {
|
||||||
pub fn new<A: ToSocketAddrs>(
|
pub fn new<A: ToSocketAddrs>(
|
||||||
addr: A,
|
addr: A,
|
||||||
max_recv_size: usize,
|
max_recv_size: usize,
|
||||||
tc_receiver: Box<dyn ReceivesTc<Error = E>>,
|
tc_receiver: Box<dyn ReceivesTc<Error = E>>,
|
||||||
) -> Result<Self, std::io::Error> {
|
) -> Result<Self, Error> {
|
||||||
Ok(Self {
|
let server = Self {
|
||||||
socket: UdpSocket::bind(addr)?,
|
socket: UdpSocket::bind(addr)?,
|
||||||
recv_buf: Vec::with_capacity(max_recv_size),
|
recv_buf: vec![0; max_recv_size],
|
||||||
|
sender_addr: None,
|
||||||
tc_receiver,
|
tc_receiver,
|
||||||
})
|
};
|
||||||
|
server.socket.set_nonblocking(true)?;
|
||||||
|
Ok(server)
|
||||||
}
|
}
|
||||||
|
|
||||||
pub fn recv_tc(&mut self) -> Result<(usize, SocketAddr), ReceiveResult<E>> {
|
pub fn try_recv_tc(&mut self) -> Result<(usize, SocketAddr), ReceiveResult<E>> {
|
||||||
let res = self
|
let res = match self.socket.recv_from(&mut self.recv_buf) {
|
||||||
.socket
|
Ok(res) => res,
|
||||||
.recv_from(&mut self.recv_buf)
|
Err(e) => {
|
||||||
.map_err(|e| IoError(e))?;
|
return if e.kind() == ErrorKind::WouldBlock || e.kind() == ErrorKind::TimedOut {
|
||||||
|
Err(ReceiveResult::NothingReceived)
|
||||||
|
} else {
|
||||||
|
Err(e.into())
|
||||||
|
}
|
||||||
|
}
|
||||||
|
};
|
||||||
|
let (num_bytes, from) = res;
|
||||||
|
self.sender_addr = Some(from);
|
||||||
self.tc_receiver
|
self.tc_receiver
|
||||||
.pass_tc(&self.recv_buf[0..res.0])
|
.pass_tc(&self.recv_buf[0..num_bytes])
|
||||||
.map_err(|e| ReceiverError(e))?;
|
.map_err(|e| ReceiveResult::ReceiverError(e))?;
|
||||||
Ok(res)
|
Ok(res)
|
||||||
}
|
}
|
||||||
|
|
||||||
|
pub fn last_sender(&self) -> Option<SocketAddr> {
|
||||||
|
self.sender_addr
|
||||||
|
}
|
||||||
|
}
|
||||||
|
|
||||||
|
#[cfg(test)]
|
||||||
|
mod tests {
|
||||||
|
use crate::hal::host::udp_server::{ReceiveResult, UdpTcServer};
|
||||||
|
use crate::tmtc::ReceivesTc;
|
||||||
|
use spacepackets::tc::PusTc;
|
||||||
|
use spacepackets::SpHeader;
|
||||||
|
use std::boxed::Box;
|
||||||
|
use std::collections::VecDeque;
|
||||||
|
use std::net::{IpAddr, Ipv4Addr, SocketAddr, UdpSocket};
|
||||||
|
use std::vec::Vec;
|
||||||
|
|
||||||
|
#[derive(Default)]
|
||||||
|
struct PingReceiver {
|
||||||
|
pub sent_cmds: VecDeque<Vec<u8>>,
|
||||||
|
}
|
||||||
|
|
||||||
|
impl ReceivesTc for PingReceiver {
|
||||||
|
type Error = ();
|
||||||
|
|
||||||
|
fn pass_tc(&mut self, tc_raw: &[u8]) -> Result<(), Self::Error> {
|
||||||
|
let mut sent_data = Vec::new();
|
||||||
|
sent_data.extend_from_slice(tc_raw);
|
||||||
|
self.sent_cmds.push_back(sent_data);
|
||||||
|
Ok(())
|
||||||
|
}
|
||||||
|
}
|
||||||
|
|
||||||
|
#[test]
|
||||||
|
fn basic_test() {
|
||||||
|
let mut buf = [0; 32];
|
||||||
|
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, Box::new(ping_receiver))
|
||||||
|
.expect("Creating UDP TMTC server failed");
|
||||||
|
let mut sph = SpHeader::tc(0x02, 0, 0).unwrap();
|
||||||
|
let pus_tc = PusTc::new_simple(&mut sph, 17, 1, None, true);
|
||||||
|
let len = pus_tc
|
||||||
|
.write_to(&mut buf)
|
||||||
|
.expect("Error writing PUS TC packet");
|
||||||
|
let client = UdpSocket::bind("127.0.0.1:7778").expect("Connecting to UDP server failed");
|
||||||
|
client
|
||||||
|
.send_to(&buf[0..len], dest_addr)
|
||||||
|
.expect("Error sending PUS TC via UDP");
|
||||||
|
let local_addr = client.local_addr().unwrap();
|
||||||
|
udp_tc_server
|
||||||
|
.try_recv_tc()
|
||||||
|
.expect("Error receiving sent telecommand");
|
||||||
|
assert_eq!(
|
||||||
|
udp_tc_server.last_sender().expect("No sender set"),
|
||||||
|
local_addr
|
||||||
|
);
|
||||||
|
let ping_receiver: &mut PingReceiver = udp_tc_server.tc_receiver.downcast_mut().unwrap();
|
||||||
|
assert_eq!(ping_receiver.sent_cmds.len(), 1);
|
||||||
|
let sent_cmd = ping_receiver.sent_cmds.pop_front().unwrap();
|
||||||
|
assert_eq!(sent_cmd, buf[0..len]);
|
||||||
|
}
|
||||||
|
|
||||||
|
#[test]
|
||||||
|
fn test_nothing_received() {
|
||||||
|
let dest_addr = SocketAddr::new(IpAddr::V4(Ipv4Addr::new(127, 0, 0, 1)), 7779);
|
||||||
|
let ping_receiver = PingReceiver::default();
|
||||||
|
let mut udp_tc_server = UdpTcServer::new(dest_addr, 2048, Box::new(ping_receiver))
|
||||||
|
.expect("Creating UDP TMTC server failed");
|
||||||
|
let res = udp_tc_server.try_recv_tc();
|
||||||
|
assert!(res.is_err());
|
||||||
|
let err = res.unwrap_err();
|
||||||
|
assert_eq!(err, ReceiveResult::NothingReceived);
|
||||||
|
}
|
||||||
}
|
}
|
||||||
|
|||||||
@ -1,2 +1,3 @@
|
|||||||
#[cfg(feature = "use_std")]
|
//! # Hardware Abstraction Layer module
|
||||||
|
#[cfg(feature = "std")]
|
||||||
pub mod host;
|
pub mod host;
|
||||||
|
|||||||
@ -23,6 +23,7 @@ pub mod hal;
|
|||||||
pub mod objects;
|
pub mod objects;
|
||||||
#[cfg(feature = "alloc")]
|
#[cfg(feature = "alloc")]
|
||||||
pub mod pool;
|
pub mod pool;
|
||||||
|
pub mod pus;
|
||||||
pub mod tmtc;
|
pub mod tmtc;
|
||||||
|
|
||||||
extern crate downcast_rs;
|
extern crate downcast_rs;
|
||||||
|
|||||||
@ -6,14 +6,14 @@
|
|||||||
//! embedded environments. The pool implementation will also track the size of the data stored
|
//! embedded environments. The pool implementation will also track the size of the data stored
|
||||||
//! inside it.
|
//! inside it.
|
||||||
//!
|
//!
|
||||||
//! Transaction with the [pool][LocalPool] are done using a special [address][StoreAddr] type.
|
//! 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
|
//! 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.
|
//! done using a reference to a store address. Deletion will consume the store address.
|
||||||
//!
|
//!
|
||||||
//! # Example
|
//! # Example
|
||||||
//!
|
//!
|
||||||
//! ```
|
//! ```
|
||||||
//! use fsrc_core::pool::{LocalPool, PoolCfg};
|
//! use fsrc_core::pool::{LocalPool, PoolCfg, PoolProvider};
|
||||||
//!
|
//!
|
||||||
//! // 4 buckets of 4 bytes, 2 of 8 bytes and 1 of 16 bytes
|
//! // 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 pool_cfg = PoolCfg::new(vec![(4, 4), (2, 8), (1, 16)]);
|
||||||
@ -78,15 +78,25 @@ use alloc::string::String;
|
|||||||
use alloc::vec;
|
use alloc::vec;
|
||||||
use alloc::vec::Vec;
|
use alloc::vec::Vec;
|
||||||
use delegate::delegate;
|
use delegate::delegate;
|
||||||
|
#[cfg(feature = "std")]
|
||||||
|
use std::boxed::Box;
|
||||||
|
#[cfg(feature = "std")]
|
||||||
|
use std::sync::{Arc, RwLock};
|
||||||
|
|
||||||
type NumBlocks = u16;
|
type NumBlocks = u16;
|
||||||
|
|
||||||
|
#[cfg(feature = "std")]
|
||||||
|
pub type ShareablePoolProvider = Box<dyn PoolProvider + Send + Sync>;
|
||||||
|
#[cfg(feature = "std")]
|
||||||
|
pub type SharedPool = Arc<RwLock<ShareablePoolProvider>>;
|
||||||
|
|
||||||
/// Configuration structure of the [local pool][LocalPool]
|
/// Configuration structure of the [local pool][LocalPool]
|
||||||
///
|
///
|
||||||
/// # Parameters
|
/// # Parameters
|
||||||
///
|
///
|
||||||
/// * `cfg`: Vector of tuples which represent a subpool. The first entry in the tuple specifies the
|
/// * `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
|
/// number of memory blocks in the subpool, the second entry the size of the blocks
|
||||||
|
#[derive(Clone)]
|
||||||
pub struct PoolCfg {
|
pub struct PoolCfg {
|
||||||
cfg: Vec<(NumBlocks, usize)>,
|
cfg: Vec<(NumBlocks, usize)>,
|
||||||
}
|
}
|
||||||
@ -150,10 +160,52 @@ pub enum StoreError {
|
|||||||
InternalError(String),
|
InternalError(String),
|
||||||
}
|
}
|
||||||
|
|
||||||
|
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>;
|
||||||
|
|
||||||
|
/// 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>;
|
||||||
|
|
||||||
|
/// 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>;
|
||||||
|
|
||||||
|
/// This function behaves like [Self::modify], but consumes the provided address and returns a
|
||||||
|
/// RAII conformant guard object.
|
||||||
|
///
|
||||||
|
/// 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.
|
||||||
|
///
|
||||||
|
/// 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>;
|
||||||
|
}
|
||||||
|
|
||||||
impl LocalPool {
|
impl LocalPool {
|
||||||
const STORE_FREE: PoolSize = PoolSize::MAX;
|
const STORE_FREE: PoolSize = PoolSize::MAX;
|
||||||
const MAX_SIZE: PoolSize = Self::STORE_FREE - 1;
|
const MAX_SIZE: PoolSize = Self::STORE_FREE - 1;
|
||||||
|
|
||||||
/// Create a new local pool from the [given configuration][PoolCfg]. This function will sanitize
|
/// Create a new local pool from the [given configuration][PoolCfg]. This function will sanitize
|
||||||
/// the given configuration as well.
|
/// the given configuration as well.
|
||||||
pub fn new(mut cfg: PoolCfg) -> LocalPool {
|
pub fn new(mut cfg: PoolCfg) -> LocalPool {
|
||||||
@ -174,96 +226,6 @@ impl LocalPool {
|
|||||||
local_pool
|
local_pool
|
||||||
}
|
}
|
||||||
|
|
||||||
/// Add new data to the pool. It will 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
|
|
||||||
pub fn add(&mut self, data: &[u8]) -> Result<StoreAddr, StoreError> {
|
|
||||||
let data_len = data.len();
|
|
||||||
if data_len > Self::MAX_SIZE {
|
|
||||||
return Err(StoreError::DataTooLarge(data_len));
|
|
||||||
}
|
|
||||||
let addr = self.reserve(data_len)?;
|
|
||||||
self.write(&addr, data)?;
|
|
||||||
Ok(addr)
|
|
||||||
}
|
|
||||||
|
|
||||||
/// Reserves a free memory block with the appropriate size and returns a mutable reference
|
|
||||||
/// to it. Yields a [StoreAddr] which can be used to access the data stored in the pool
|
|
||||||
pub fn free_element(&mut self, len: usize) -> Result<(StoreAddr, &mut [u8]), StoreError> {
|
|
||||||
if len > Self::MAX_SIZE {
|
|
||||||
return Err(StoreError::DataTooLarge(len));
|
|
||||||
}
|
|
||||||
let addr = self.reserve(len)?;
|
|
||||||
let raw_pos = self.raw_pos(&addr).unwrap();
|
|
||||||
let block = &mut self.pool.get_mut(addr.pool_idx as usize).unwrap()[raw_pos..len];
|
|
||||||
Ok((addr, block))
|
|
||||||
}
|
|
||||||
|
|
||||||
/// Modify data added previously using a given [StoreAddr] by yielding a mutable reference
|
|
||||||
/// to it
|
|
||||||
pub 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 block = &mut self.pool.get_mut(addr.pool_idx as usize).unwrap()[raw_pos..curr_size];
|
|
||||||
Ok(block)
|
|
||||||
}
|
|
||||||
|
|
||||||
/// This function behaves like [Self::modify], but consumes the provided address and returns a
|
|
||||||
/// RAII conformant guard object.
|
|
||||||
///
|
|
||||||
/// 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.
|
|
||||||
pub fn modify_with_guard(&mut self, addr: StoreAddr) -> PoolRwGuard {
|
|
||||||
PoolRwGuard::new(self, addr)
|
|
||||||
}
|
|
||||||
|
|
||||||
/// Read data by yielding a read-only reference given a [StoreAddr]
|
|
||||||
pub fn read(&self, addr: &StoreAddr) -> Result<&[u8], StoreError> {
|
|
||||||
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)
|
|
||||||
}
|
|
||||||
|
|
||||||
/// This function behaves like [Self::read], but consumes the provided address and returns a
|
|
||||||
/// RAII conformant guard object.
|
|
||||||
///
|
|
||||||
/// 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.
|
|
||||||
pub fn read_with_guard(&mut self, addr: StoreAddr) -> PoolGuard {
|
|
||||||
PoolGuard::new(self, addr)
|
|
||||||
}
|
|
||||||
|
|
||||||
/// Delete data inside the pool given a [StoreAddr]
|
|
||||||
pub fn delete(&mut self, addr: StoreAddr) -> Result<(), StoreError> {
|
|
||||||
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();
|
|
||||||
let block =
|
|
||||||
&mut self.pool.get_mut(addr.pool_idx as usize).unwrap()[raw_pos..raw_pos + block_size];
|
|
||||||
let size_list = self.sizes_lists.get_mut(addr.pool_idx as usize).unwrap();
|
|
||||||
size_list[addr.packet_idx as usize] = Self::STORE_FREE;
|
|
||||||
block.fill(0);
|
|
||||||
Ok(())
|
|
||||||
}
|
|
||||||
|
|
||||||
pub fn has_element_at(&self, addr: &StoreAddr) -> Result<bool, 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 == Self::STORE_FREE {
|
|
||||||
return Ok(false);
|
|
||||||
}
|
|
||||||
Ok(true)
|
|
||||||
}
|
|
||||||
|
|
||||||
fn addr_check(&self, addr: &StoreAddr) -> Result<usize, StoreError> {
|
fn addr_check(&self, addr: &StoreAddr) -> Result<usize, StoreError> {
|
||||||
self.validate_addr(addr)?;
|
self.validate_addr(addr)?;
|
||||||
let pool_idx = addr.pool_idx as usize;
|
let pool_idx = addr.pool_idx as usize;
|
||||||
@ -354,6 +316,73 @@ impl LocalPool {
|
|||||||
}
|
}
|
||||||
}
|
}
|
||||||
|
|
||||||
|
impl PoolProvider for LocalPool {
|
||||||
|
fn add(&mut self, data: &[u8]) -> Result<StoreAddr, StoreError> {
|
||||||
|
let data_len = data.len();
|
||||||
|
if data_len > Self::MAX_SIZE {
|
||||||
|
return Err(StoreError::DataTooLarge(data_len));
|
||||||
|
}
|
||||||
|
let addr = self.reserve(data_len)?;
|
||||||
|
self.write(&addr, data)?;
|
||||||
|
Ok(addr)
|
||||||
|
}
|
||||||
|
|
||||||
|
fn free_element(&mut self, len: usize) -> Result<(StoreAddr, &mut [u8]), StoreError> {
|
||||||
|
if len > Self::MAX_SIZE {
|
||||||
|
return Err(StoreError::DataTooLarge(len));
|
||||||
|
}
|
||||||
|
let addr = self.reserve(len)?;
|
||||||
|
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))
|
||||||
|
}
|
||||||
|
|
||||||
|
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 block = &mut self.pool.get_mut(addr.pool_idx as usize).unwrap()[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 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> {
|
||||||
|
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();
|
||||||
|
let block =
|
||||||
|
&mut self.pool.get_mut(addr.pool_idx as usize).unwrap()[raw_pos..raw_pos + block_size];
|
||||||
|
let size_list = self.sizes_lists.get_mut(addr.pool_idx as usize).unwrap();
|
||||||
|
size_list[addr.packet_idx as usize] = Self::STORE_FREE;
|
||||||
|
block.fill(0);
|
||||||
|
Ok(())
|
||||||
|
}
|
||||||
|
|
||||||
|
fn has_element_at(&self, addr: &StoreAddr) -> Result<bool, 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 == Self::STORE_FREE {
|
||||||
|
return Ok(false);
|
||||||
|
}
|
||||||
|
Ok(true)
|
||||||
|
}
|
||||||
|
}
|
||||||
|
|
||||||
pub struct PoolGuard<'a> {
|
pub struct PoolGuard<'a> {
|
||||||
pool: &'a mut LocalPool,
|
pool: &'a mut LocalPool,
|
||||||
pub addr: StoreAddr,
|
pub addr: StoreAddr,
|
||||||
@ -417,7 +446,8 @@ impl<'a> PoolRwGuard<'a> {
|
|||||||
#[cfg(test)]
|
#[cfg(test)]
|
||||||
mod tests {
|
mod tests {
|
||||||
use crate::pool::{
|
use crate::pool::{
|
||||||
LocalPool, PoolCfg, PoolGuard, PoolRwGuard, StoreAddr, StoreError, StoreIdError,
|
LocalPool, PoolCfg, PoolGuard, PoolProvider, PoolRwGuard, StoreAddr, StoreError,
|
||||||
|
StoreIdError,
|
||||||
};
|
};
|
||||||
use std::vec;
|
use std::vec;
|
||||||
|
|
||||||
|
|||||||
7
fsrc-core/src/pus/mod.rs
Normal file
7
fsrc-core/src/pus/mod.rs
Normal file
@ -0,0 +1,7 @@
|
|||||||
|
//! All PUS support modules
|
||||||
|
//!
|
||||||
|
//! Currenty includes:
|
||||||
|
//!
|
||||||
|
//! 1. PUS Verification Service 1 module inside [verification]. Requires [alloc] support.
|
||||||
|
#[cfg(feature = "alloc")]
|
||||||
|
pub mod verification;
|
||||||
1631
fsrc-core/src/pus/verification.rs
Normal file
1631
fsrc-core/src/pus/verification.rs
Normal file
File diff suppressed because it is too large
Load Diff
@ -2,23 +2,23 @@
|
|||||||
//!
|
//!
|
||||||
//! The routing components consist of two core components:
|
//! The routing components consist of two core components:
|
||||||
//! 1. [CcsdsDistributor] component which dispatches received packets to a user-provided handler
|
//! 1. [CcsdsDistributor] component which dispatches received packets to a user-provided handler
|
||||||
//! 2. [ApidPacketHandler] trait which should be implemented by the user-provided packet handler.
|
//! 2. [CcsdsPacketHandler] trait which should be implemented by the user-provided packet handler.
|
||||||
//!
|
//!
|
||||||
//! The [CcsdsDistributor] implements the [ReceivesCcsdsTc] and [ReceivesTc] trait which allows to
|
//! The [CcsdsDistributor] implements the [ReceivesCcsdsTc] and [ReceivesTc] trait which allows to
|
||||||
//! pass raw or CCSDS packets to it. Upon receiving a packet, it performs the following steps:
|
//! pass raw or CCSDS packets to it. Upon receiving a packet, it performs the following steps:
|
||||||
//!
|
//!
|
||||||
//! 1. It tries to identify the target Application Process Identifier (APID) based on the
|
//! 1. It tries to identify the target Application Process Identifier (APID) based on the
|
||||||
//! respective CCSDS space packet header field. If that process fails, a [PacketError] is
|
//! respective CCSDS space packet header field. If that process fails, a [ByteConversionError] is
|
||||||
//! returned to the user
|
//! returned to the user
|
||||||
//! 2. If a valid APID is found and matches one of the APIDs provided by
|
//! 2. If a valid APID is found and matches one of the APIDs provided by
|
||||||
//! [ApidPacketHandler::valid_apids], it will pass the packet to the user provided
|
//! [CcsdsPacketHandler::valid_apids], it will pass the packet to the user provided
|
||||||
//! [ApidPacketHandler::handle_known_apid] function. If no valid APID is found, the packet
|
//! [CcsdsPacketHandler::handle_known_apid] function. If no valid APID is found, the packet
|
||||||
//! will be passed to the [ApidPacketHandler::handle_unknown_apid] function.
|
//! will be passed to the [CcsdsPacketHandler::handle_unknown_apid] function.
|
||||||
//!
|
//!
|
||||||
//! # Example
|
//! # Example
|
||||||
//!
|
//!
|
||||||
//! ```rust
|
//! ```rust
|
||||||
//! use fsrc_core::tmtc::ccsds_distrib::{ApidPacketHandler, CcsdsDistributor};
|
//! use fsrc_core::tmtc::ccsds_distrib::{CcsdsPacketHandler, CcsdsDistributor};
|
||||||
//! use fsrc_core::tmtc::ReceivesTc;
|
//! use fsrc_core::tmtc::ReceivesTc;
|
||||||
//! use spacepackets::{CcsdsPacket, SpHeader};
|
//! use spacepackets::{CcsdsPacket, SpHeader};
|
||||||
//! use spacepackets::tc::PusTc;
|
//! use spacepackets::tc::PusTc;
|
||||||
@ -33,7 +33,7 @@
|
|||||||
//! fn mutable_foo(&mut self) {}
|
//! fn mutable_foo(&mut self) {}
|
||||||
//! }
|
//! }
|
||||||
//!
|
//!
|
||||||
//! impl ApidPacketHandler for ConcreteApidHandler {
|
//! impl CcsdsPacketHandler for ConcreteApidHandler {
|
||||||
//! type Error = ();
|
//! type Error = ();
|
||||||
//! fn valid_apids(&self) -> &'static [u16] { &[0x002] }
|
//! fn valid_apids(&self) -> &'static [u16] { &[0x002] }
|
||||||
//! fn handle_known_apid(&mut self, sp_header: &SpHeader, tc_raw: &[u8]) -> Result<(), Self::Error> {
|
//! fn handle_known_apid(&mut self, sp_header: &SpHeader, tc_raw: &[u8]) -> Result<(), Self::Error> {
|
||||||
@ -87,7 +87,7 @@
|
|||||||
use crate::tmtc::{ReceivesCcsdsTc, ReceivesTc};
|
use crate::tmtc::{ReceivesCcsdsTc, ReceivesTc};
|
||||||
use alloc::boxed::Box;
|
use alloc::boxed::Box;
|
||||||
use downcast_rs::Downcast;
|
use downcast_rs::Downcast;
|
||||||
use spacepackets::{CcsdsPacket, PacketError, SpHeader};
|
use spacepackets::{ByteConversionError, CcsdsPacket, SizeMissmatch, SpHeader};
|
||||||
|
|
||||||
/// Generic trait for a handler or dispatcher object handling CCSDS packets.
|
/// Generic trait for a handler or dispatcher object handling CCSDS packets.
|
||||||
///
|
///
|
||||||
@ -99,7 +99,7 @@ use spacepackets::{CcsdsPacket, PacketError, SpHeader};
|
|||||||
/// This trait automatically implements the [downcast_rs::Downcast] to allow a more convenient API
|
/// This trait automatically implements the [downcast_rs::Downcast] to allow a more convenient API
|
||||||
/// to cast trait objects back to their concrete type after the handler was passed to the
|
/// to cast trait objects back to their concrete type after the handler was passed to the
|
||||||
/// distributor.
|
/// distributor.
|
||||||
pub trait ApidPacketHandler: Downcast {
|
pub trait CcsdsPacketHandler: Downcast {
|
||||||
type Error;
|
type Error;
|
||||||
|
|
||||||
fn valid_apids(&self) -> &'static [u16];
|
fn valid_apids(&self) -> &'static [u16];
|
||||||
@ -112,20 +112,20 @@ pub trait ApidPacketHandler: Downcast {
|
|||||||
) -> Result<(), Self::Error>;
|
) -> Result<(), Self::Error>;
|
||||||
}
|
}
|
||||||
|
|
||||||
downcast_rs::impl_downcast!(ApidPacketHandler assoc Error);
|
downcast_rs::impl_downcast!(CcsdsPacketHandler assoc Error);
|
||||||
|
|
||||||
/// The CCSDS distributor dispatches received CCSDS packets to a user provided packet handler.
|
/// The CCSDS distributor dispatches received CCSDS packets to a user provided packet handler.
|
||||||
pub struct CcsdsDistributor<E> {
|
pub struct CcsdsDistributor<E> {
|
||||||
/// User provided APID handler stored as a generic trait object.
|
/// User provided APID handler stored as a generic trait object.
|
||||||
/// It can be cast back to the original concrete type using the [Self::apid_handler_ref] or
|
/// It can be cast back to the original concrete type using the [Self::apid_handler_ref] or
|
||||||
/// the [Self::apid_handler_mut] method.
|
/// the [Self::apid_handler_mut] method.
|
||||||
pub apid_handler: Box<dyn ApidPacketHandler<Error = E>>,
|
pub apid_handler: Box<dyn CcsdsPacketHandler<Error = E>>,
|
||||||
}
|
}
|
||||||
|
|
||||||
#[derive(Debug, Copy, Clone, PartialEq, Eq)]
|
#[derive(Debug, Copy, Clone, PartialEq, Eq)]
|
||||||
pub enum CcsdsError<E> {
|
pub enum CcsdsError<E> {
|
||||||
CustomError(E),
|
CustomError(E),
|
||||||
PacketError(PacketError),
|
PacketError(ByteConversionError),
|
||||||
}
|
}
|
||||||
|
|
||||||
impl<E: 'static> ReceivesCcsdsTc for CcsdsDistributor<E> {
|
impl<E: 'static> ReceivesCcsdsTc for CcsdsDistributor<E> {
|
||||||
@ -140,26 +140,34 @@ impl<E: 'static> ReceivesTc for CcsdsDistributor<E> {
|
|||||||
type Error = CcsdsError<E>;
|
type Error = CcsdsError<E>;
|
||||||
|
|
||||||
fn pass_tc(&mut self, tc_raw: &[u8]) -> Result<(), Self::Error> {
|
fn pass_tc(&mut self, tc_raw: &[u8]) -> Result<(), Self::Error> {
|
||||||
|
if tc_raw.len() < 7 {
|
||||||
|
return Err(CcsdsError::PacketError(
|
||||||
|
ByteConversionError::FromSliceTooSmall(SizeMissmatch {
|
||||||
|
found: tc_raw.len(),
|
||||||
|
expected: 7,
|
||||||
|
}),
|
||||||
|
));
|
||||||
|
}
|
||||||
let sp_header = SpHeader::from_raw_slice(tc_raw).map_err(|e| CcsdsError::PacketError(e))?;
|
let sp_header = SpHeader::from_raw_slice(tc_raw).map_err(|e| CcsdsError::PacketError(e))?;
|
||||||
self.dispatch_ccsds(&sp_header, tc_raw)
|
self.dispatch_ccsds(&sp_header, tc_raw)
|
||||||
}
|
}
|
||||||
}
|
}
|
||||||
|
|
||||||
impl<E: 'static> CcsdsDistributor<E> {
|
impl<E: 'static> CcsdsDistributor<E> {
|
||||||
pub fn new(apid_handler: Box<dyn ApidPacketHandler<Error = E>>) -> Self {
|
pub fn new(apid_handler: Box<dyn CcsdsPacketHandler<Error = E>>) -> Self {
|
||||||
CcsdsDistributor { apid_handler }
|
CcsdsDistributor { apid_handler }
|
||||||
}
|
}
|
||||||
|
|
||||||
/// This function can be used to retrieve a reference to the concrete instance of the APID
|
/// This function can be used to retrieve a reference to the concrete instance of the APID
|
||||||
/// handler after it was passed to the distributor. See the
|
/// handler after it was passed to the distributor. See the
|
||||||
/// [module documentation][crate::tmtc::ccsds_distrib] for an fsrc-example.
|
/// [module documentation][crate::tmtc::ccsds_distrib] for an fsrc-example.
|
||||||
pub fn apid_handler_ref<T: ApidPacketHandler<Error = E>>(&self) -> Option<&T> {
|
pub fn apid_handler_ref<T: CcsdsPacketHandler<Error = E>>(&self) -> Option<&T> {
|
||||||
self.apid_handler.downcast_ref::<T>()
|
self.apid_handler.downcast_ref::<T>()
|
||||||
}
|
}
|
||||||
|
|
||||||
/// This function can be used to retrieve a mutable reference to the concrete instance of the
|
/// This function can be used to retrieve a mutable reference to the concrete instance of the
|
||||||
/// APID handler after it was passed to the distributor.
|
/// APID handler after it was passed to the distributor.
|
||||||
pub fn apid_handler_mut<T: ApidPacketHandler<Error = E>>(&mut self) -> Option<&mut T> {
|
pub fn apid_handler_mut<T: CcsdsPacketHandler<Error = E>>(&mut self) -> Option<&mut T> {
|
||||||
self.apid_handler.downcast_mut::<T>()
|
self.apid_handler.downcast_mut::<T>()
|
||||||
}
|
}
|
||||||
|
|
||||||
@ -183,7 +191,7 @@ impl<E: 'static> CcsdsDistributor<E> {
|
|||||||
#[cfg(test)]
|
#[cfg(test)]
|
||||||
pub(crate) mod tests {
|
pub(crate) mod tests {
|
||||||
use super::*;
|
use super::*;
|
||||||
use crate::tmtc::ccsds_distrib::{ApidPacketHandler, CcsdsDistributor};
|
use crate::tmtc::ccsds_distrib::{CcsdsDistributor, CcsdsPacketHandler};
|
||||||
use spacepackets::tc::PusTc;
|
use spacepackets::tc::PusTc;
|
||||||
use spacepackets::CcsdsPacket;
|
use spacepackets::CcsdsPacket;
|
||||||
use std::collections::VecDeque;
|
use std::collections::VecDeque;
|
||||||
@ -209,7 +217,7 @@ pub(crate) mod tests {
|
|||||||
pub unknown_packet_queue: VecDeque<(u16, Vec<u8>)>,
|
pub unknown_packet_queue: VecDeque<(u16, Vec<u8>)>,
|
||||||
}
|
}
|
||||||
|
|
||||||
impl ApidPacketHandler for BasicApidHandlerSharedQueue {
|
impl CcsdsPacketHandler for BasicApidHandlerSharedQueue {
|
||||||
type Error = ();
|
type Error = ();
|
||||||
fn valid_apids(&self) -> &'static [u16] {
|
fn valid_apids(&self) -> &'static [u16] {
|
||||||
&[0x000, 0x002]
|
&[0x000, 0x002]
|
||||||
@ -244,7 +252,7 @@ pub(crate) mod tests {
|
|||||||
}
|
}
|
||||||
}
|
}
|
||||||
|
|
||||||
impl ApidPacketHandler for BasicApidHandlerOwnedQueue {
|
impl CcsdsPacketHandler for BasicApidHandlerOwnedQueue {
|
||||||
type Error = ();
|
type Error = ();
|
||||||
|
|
||||||
fn valid_apids(&self) -> &'static [u16] {
|
fn valid_apids(&self) -> &'static [u16] {
|
||||||
|
|||||||
@ -6,6 +6,7 @@
|
|||||||
//! Application Process ID (APID) or the ECSS PUS service type. This allows for fast packet
|
//! 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
|
//! routing without the overhead and complication of using message queues. However, it also requires
|
||||||
use crate::error::{FsrcErrorRaw, FsrcGroupIds};
|
use crate::error::{FsrcErrorRaw, FsrcGroupIds};
|
||||||
|
use downcast_rs::{impl_downcast, Downcast};
|
||||||
use spacepackets::tc::PusTc;
|
use spacepackets::tc::PusTc;
|
||||||
use spacepackets::SpHeader;
|
use spacepackets::SpHeader;
|
||||||
|
|
||||||
@ -13,6 +14,10 @@ use spacepackets::SpHeader;
|
|||||||
pub mod ccsds_distrib;
|
pub mod ccsds_distrib;
|
||||||
#[cfg(feature = "alloc")]
|
#[cfg(feature = "alloc")]
|
||||||
pub mod pus_distrib;
|
pub mod pus_distrib;
|
||||||
|
pub mod tm_helper;
|
||||||
|
|
||||||
|
pub use ccsds_distrib::{CcsdsDistributor, CcsdsError, CcsdsPacketHandler};
|
||||||
|
pub use pus_distrib::{PusDistributor, PusServiceProvider};
|
||||||
|
|
||||||
const _RAW_PACKET_ERROR: &str = "raw-tmtc";
|
const _RAW_PACKET_ERROR: &str = "raw-tmtc";
|
||||||
const _CCSDS_ERROR: &str = "ccsds-tmtc";
|
const _CCSDS_ERROR: &str = "ccsds-tmtc";
|
||||||
@ -39,11 +44,13 @@ const _FROM_BYTES_ZEROCOPY_ERROR: FsrcErrorRaw = FsrcErrorRaw::new(
|
|||||||
/// This trait is implemented by both the [crate::tmtc::pus_distrib::PusDistributor] and the
|
/// This trait is implemented by both the [crate::tmtc::pus_distrib::PusDistributor] and the
|
||||||
/// [crate::tmtc::ccsds_distrib::CcsdsDistributor] which allows to pass the respective packets in
|
/// [crate::tmtc::ccsds_distrib::CcsdsDistributor] which allows to pass the respective packets in
|
||||||
/// raw byte format into them.
|
/// raw byte format into them.
|
||||||
pub trait ReceivesTc {
|
pub trait ReceivesTc: Downcast {
|
||||||
type Error;
|
type Error;
|
||||||
fn pass_tc(&mut self, tc_raw: &[u8]) -> Result<(), Self::Error>;
|
fn pass_tc(&mut self, tc_raw: &[u8]) -> Result<(), Self::Error>;
|
||||||
}
|
}
|
||||||
|
|
||||||
|
impl_downcast!(ReceivesTc assoc Error);
|
||||||
|
|
||||||
/// Generic trait for object which can receive CCSDS space packets, for fsrc-example ECSS PUS packets
|
/// Generic trait for object which can receive CCSDS space packets, for fsrc-example ECSS PUS packets
|
||||||
/// for CCSDS File Delivery Protocol (CFDP) packets.
|
/// for CCSDS File Delivery Protocol (CFDP) packets.
|
||||||
///
|
///
|
||||||
|
|||||||
@ -138,7 +138,7 @@ mod tests {
|
|||||||
use crate::tmtc::ccsds_distrib::tests::{
|
use crate::tmtc::ccsds_distrib::tests::{
|
||||||
generate_ping_tc, BasicApidHandlerOwnedQueue, BasicApidHandlerSharedQueue,
|
generate_ping_tc, BasicApidHandlerOwnedQueue, BasicApidHandlerSharedQueue,
|
||||||
};
|
};
|
||||||
use crate::tmtc::ccsds_distrib::{ApidPacketHandler, CcsdsDistributor};
|
use crate::tmtc::ccsds_distrib::{CcsdsDistributor, CcsdsPacketHandler};
|
||||||
use alloc::vec::Vec;
|
use alloc::vec::Vec;
|
||||||
use spacepackets::ecss::PusError;
|
use spacepackets::ecss::PusError;
|
||||||
use spacepackets::tc::PusTc;
|
use spacepackets::tc::PusTc;
|
||||||
@ -239,11 +239,11 @@ mod tests {
|
|||||||
};
|
};
|
||||||
}
|
}
|
||||||
|
|
||||||
impl ApidPacketHandler for ApidHandlerOwned {
|
impl CcsdsPacketHandler for ApidHandlerOwned {
|
||||||
apid_handler_impl!();
|
apid_handler_impl!();
|
||||||
}
|
}
|
||||||
|
|
||||||
impl ApidPacketHandler for ApidHandlerShared {
|
impl CcsdsPacketHandler for ApidHandlerShared {
|
||||||
apid_handler_impl!();
|
apid_handler_impl!();
|
||||||
}
|
}
|
||||||
|
|
||||||
|
|||||||
51
fsrc-core/src/tmtc/tm_helper.rs
Normal file
51
fsrc-core/src/tmtc/tm_helper.rs
Normal file
@ -0,0 +1,51 @@
|
|||||||
|
use spacepackets::time::{CdsShortTimeProvider, TimeWriter};
|
||||||
|
use spacepackets::tm::{PusTm, PusTmSecondaryHeader};
|
||||||
|
use spacepackets::SpHeader;
|
||||||
|
|
||||||
|
pub struct PusTmWithCdsShortHelper {
|
||||||
|
apid: u16,
|
||||||
|
cds_short_buf: [u8; 7],
|
||||||
|
}
|
||||||
|
|
||||||
|
impl PusTmWithCdsShortHelper {
|
||||||
|
pub fn new(apid: u16) -> Self {
|
||||||
|
Self {
|
||||||
|
apid,
|
||||||
|
cds_short_buf: [0; 7],
|
||||||
|
}
|
||||||
|
}
|
||||||
|
|
||||||
|
#[cfg(feature = "std")]
|
||||||
|
pub fn create_pus_tm_timestamp_now<'a>(
|
||||||
|
&'a mut self,
|
||||||
|
service: u8,
|
||||||
|
subservice: u8,
|
||||||
|
source_data: Option<&'a [u8]>,
|
||||||
|
) -> PusTm {
|
||||||
|
let time_stamp = CdsShortTimeProvider::from_now().unwrap();
|
||||||
|
time_stamp.write_to_bytes(&mut self.cds_short_buf).unwrap();
|
||||||
|
self.create_pus_tm_common(service, subservice, source_data)
|
||||||
|
}
|
||||||
|
|
||||||
|
pub fn create_pus_tm_with_stamp<'a>(
|
||||||
|
&'a mut self,
|
||||||
|
service: u8,
|
||||||
|
subservice: u8,
|
||||||
|
source_data: Option<&'a [u8]>,
|
||||||
|
stamper: &CdsShortTimeProvider,
|
||||||
|
) -> PusTm {
|
||||||
|
stamper.write_to_bytes(&mut self.cds_short_buf).unwrap();
|
||||||
|
self.create_pus_tm_common(service, subservice, source_data)
|
||||||
|
}
|
||||||
|
|
||||||
|
fn create_pus_tm_common<'a>(
|
||||||
|
&'a self,
|
||||||
|
service: u8,
|
||||||
|
subservice: u8,
|
||||||
|
source_data: Option<&'a [u8]>,
|
||||||
|
) -> PusTm {
|
||||||
|
let mut reply_header = SpHeader::tm(self.apid, 0, 0).unwrap();
|
||||||
|
let tc_header = PusTmSecondaryHeader::new_simple(service, subservice, &self.cds_short_buf);
|
||||||
|
PusTm::new(&mut reply_header, tc_header, source_data, true)
|
||||||
|
}
|
||||||
|
}
|
||||||
@ -1,4 +1,4 @@
|
|||||||
use fsrc_core::pool::{LocalPool, PoolCfg, PoolGuard, StoreAddr};
|
use fsrc_core::pool::{LocalPool, PoolCfg, PoolGuard, PoolProvider, StoreAddr};
|
||||||
use std::ops::DerefMut;
|
use std::ops::DerefMut;
|
||||||
use std::sync::mpsc;
|
use std::sync::mpsc;
|
||||||
use std::sync::mpsc::{Receiver, Sender};
|
use std::sync::mpsc::{Receiver, Sender};
|
||||||
@ -10,11 +10,11 @@ const DUMMY_DATA: [u8; 4] = [0, 1, 2, 3];
|
|||||||
#[test]
|
#[test]
|
||||||
fn threaded_usage() {
|
fn threaded_usage() {
|
||||||
let pool_cfg = PoolCfg::new(vec![(16, 6), (32, 3), (8, 12)]);
|
let pool_cfg = PoolCfg::new(vec![(16, 6), (32, 3), (8, 12)]);
|
||||||
let shared_dummy = Arc::new(RwLock::new(LocalPool::new(pool_cfg)));
|
let shared_pool = Arc::new(RwLock::new(LocalPool::new(pool_cfg)));
|
||||||
let shared_clone = shared_dummy.clone();
|
let shared_clone = shared_pool.clone();
|
||||||
let (tx, rx): (Sender<StoreAddr>, Receiver<StoreAddr>) = mpsc::channel();
|
let (tx, rx): (Sender<StoreAddr>, Receiver<StoreAddr>) = mpsc::channel();
|
||||||
let jh0 = thread::spawn(move || {
|
let jh0 = thread::spawn(move || {
|
||||||
let mut dummy = shared_dummy.write().unwrap();
|
let mut dummy = shared_pool.write().unwrap();
|
||||||
let addr = dummy.add(&DUMMY_DATA).expect("Writing data failed");
|
let addr = dummy.add(&DUMMY_DATA).expect("Writing data failed");
|
||||||
tx.send(addr).expect("Sending store address failed");
|
tx.send(addr).expect("Sending store address failed");
|
||||||
});
|
});
|
||||||
|
|||||||
188
fsrc-core/tests/verification_test.rs
Normal file
188
fsrc-core/tests/verification_test.rs
Normal file
@ -0,0 +1,188 @@
|
|||||||
|
use fsrc_core::pool::{LocalPool, PoolCfg, PoolProvider, SharedPool};
|
||||||
|
use fsrc_core::pus::verification::{
|
||||||
|
CrossbeamVerifSender, FailParams, RequestId, VerificationReporterCfg,
|
||||||
|
VerificationReporterWithSender,
|
||||||
|
};
|
||||||
|
use hashbrown::HashMap;
|
||||||
|
use spacepackets::ecss::{EcssEnumU16, EcssEnumU8, PusPacket};
|
||||||
|
use spacepackets::tc::{PusTc, PusTcSecondaryHeader};
|
||||||
|
use spacepackets::tm::PusTm;
|
||||||
|
use spacepackets::SpHeader;
|
||||||
|
use std::sync::{Arc, Mutex, RwLock};
|
||||||
|
use std::thread;
|
||||||
|
use std::time::Duration;
|
||||||
|
|
||||||
|
const TEST_APID: u16 = 0x03;
|
||||||
|
const FIXED_STAMP: [u8; 7] = [0; 7];
|
||||||
|
const PACKETS_SENT: u8 = 8;
|
||||||
|
|
||||||
|
/// This test also shows how the verification report could be used in a multi-threaded context,
|
||||||
|
/// wrapping it into an [Arc] and [Mutex] and then passing it to two threads.
|
||||||
|
///
|
||||||
|
/// - The first thread generates a acceptance, a start, two steps and one completion report
|
||||||
|
/// - The second generates an acceptance and start success report and a completion failure
|
||||||
|
/// - The third thread is the verification receiver. In the test case, it verifies the other two
|
||||||
|
/// threads have sent the correct expected verification reports
|
||||||
|
#[test]
|
||||||
|
fn test_shared_reporter() {
|
||||||
|
let cfg = VerificationReporterCfg::new(TEST_APID, 1, 2, 8);
|
||||||
|
// 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_pool: SharedPool =
|
||||||
|
Arc::new(RwLock::new(Box::new(LocalPool::new(pool_cfg.clone()))));
|
||||||
|
let shared_tc_pool_0 = Arc::new(RwLock::new(LocalPool::new(pool_cfg)));
|
||||||
|
let shared_tc_pool_1 = shared_tc_pool_0.clone();
|
||||||
|
let (tx, rx) = crossbeam_channel::bounded(5);
|
||||||
|
let sender = CrossbeamVerifSender::new(shared_tm_pool.clone(), tx.clone());
|
||||||
|
let reporter_with_sender_0 = Arc::new(Mutex::new(VerificationReporterWithSender::new(
|
||||||
|
cfg,
|
||||||
|
Box::new(sender),
|
||||||
|
)));
|
||||||
|
let reporter_with_sender_1 = reporter_with_sender_0.clone();
|
||||||
|
// For test purposes, we retrieve the request ID from the TCs and pass them to the receiver
|
||||||
|
// tread.
|
||||||
|
let req_id_0;
|
||||||
|
let req_id_1;
|
||||||
|
|
||||||
|
let (tx_tc_0, rx_tc_0) = crossbeam_channel::bounded(3);
|
||||||
|
let (tx_tc_1, rx_tc_1) = crossbeam_channel::bounded(3);
|
||||||
|
{
|
||||||
|
let mut tc_guard = shared_tc_pool_0.write().unwrap();
|
||||||
|
let mut sph = SpHeader::tc(TEST_APID, 0, 0).unwrap();
|
||||||
|
let tc_header = PusTcSecondaryHeader::new_simple(17, 1);
|
||||||
|
let pus_tc_0 = PusTc::new(&mut sph, tc_header, None, true);
|
||||||
|
req_id_0 = RequestId::new(&pus_tc_0);
|
||||||
|
let (addr, mut buf) = tc_guard.free_element(pus_tc_0.len_packed()).unwrap();
|
||||||
|
pus_tc_0.write_to(&mut buf).unwrap();
|
||||||
|
tx_tc_0.send(addr).unwrap();
|
||||||
|
let mut sph = SpHeader::tc(TEST_APID, 1, 0).unwrap();
|
||||||
|
let tc_header = PusTcSecondaryHeader::new_simple(5, 1);
|
||||||
|
let pus_tc_1 = PusTc::new(&mut sph, tc_header, None, true);
|
||||||
|
req_id_1 = RequestId::new(&pus_tc_1);
|
||||||
|
let (addr, mut buf) = tc_guard.free_element(pus_tc_0.len_packed()).unwrap();
|
||||||
|
pus_tc_1.write_to(&mut buf).unwrap();
|
||||||
|
tx_tc_1.send(addr).unwrap();
|
||||||
|
}
|
||||||
|
let verif_sender_0 = thread::spawn(move || {
|
||||||
|
let mut tc_buf: [u8; 1024] = [0; 1024];
|
||||||
|
let tc_addr = rx_tc_0
|
||||||
|
.recv_timeout(Duration::from_millis(20))
|
||||||
|
.expect("Receive timeout");
|
||||||
|
let tc_len;
|
||||||
|
{
|
||||||
|
let mut tc_guard = shared_tc_pool_0.write().unwrap();
|
||||||
|
let pg = tc_guard.read_with_guard(tc_addr);
|
||||||
|
let buf = pg.read().unwrap();
|
||||||
|
tc_len = buf.len();
|
||||||
|
tc_buf[0..tc_len].copy_from_slice(buf);
|
||||||
|
}
|
||||||
|
let (_tc, _) = PusTc::new_from_raw_slice(&tc_buf[0..tc_len]).unwrap();
|
||||||
|
let accepted_token;
|
||||||
|
{
|
||||||
|
let mut mg = reporter_with_sender_0.lock().expect("Locking mutex failed");
|
||||||
|
let token = mg.add_tc_with_req_id(req_id_0);
|
||||||
|
accepted_token = mg
|
||||||
|
.acceptance_success(token, &FIXED_STAMP)
|
||||||
|
.expect("Acceptance success failed");
|
||||||
|
}
|
||||||
|
// Do some start handling here
|
||||||
|
let started_token;
|
||||||
|
{
|
||||||
|
let mut mg = reporter_with_sender_0.lock().expect("Locking mutex failed");
|
||||||
|
started_token = mg
|
||||||
|
.start_success(accepted_token, &FIXED_STAMP)
|
||||||
|
.expect("Start success failed");
|
||||||
|
// Do some step handling here
|
||||||
|
mg.step_success(&started_token, &FIXED_STAMP, EcssEnumU8::new(0))
|
||||||
|
.expect("Start success failed");
|
||||||
|
}
|
||||||
|
// Finish up
|
||||||
|
let mut mg = reporter_with_sender_0.lock().expect("Locking mutex failed");
|
||||||
|
mg.step_success(&started_token, &FIXED_STAMP, EcssEnumU8::new(1))
|
||||||
|
.expect("Start success failed");
|
||||||
|
mg.completion_success(started_token, &FIXED_STAMP)
|
||||||
|
.expect("Completion success failed");
|
||||||
|
});
|
||||||
|
|
||||||
|
let verif_sender_1 = thread::spawn(move || {
|
||||||
|
let mut tc_buf: [u8; 1024] = [0; 1024];
|
||||||
|
let tc_addr = rx_tc_1
|
||||||
|
.recv_timeout(Duration::from_millis(20))
|
||||||
|
.expect("Receive timeout");
|
||||||
|
let tc_len;
|
||||||
|
{
|
||||||
|
let mut tc_guard = shared_tc_pool_1.write().unwrap();
|
||||||
|
let pg = tc_guard.read_with_guard(tc_addr);
|
||||||
|
let buf = pg.read().unwrap();
|
||||||
|
tc_len = buf.len();
|
||||||
|
tc_buf[0..tc_len].copy_from_slice(buf);
|
||||||
|
}
|
||||||
|
let (tc, _) = PusTc::new_from_raw_slice(&tc_buf[0..tc_len]).unwrap();
|
||||||
|
let mut mg = reporter_with_sender_1
|
||||||
|
.lock()
|
||||||
|
.expect("Locking reporter failed");
|
||||||
|
let token = mg.add_tc(&tc);
|
||||||
|
let accepted_token = mg
|
||||||
|
.acceptance_success(token, &FIXED_STAMP)
|
||||||
|
.expect("Acceptance success failed");
|
||||||
|
let started_token = mg
|
||||||
|
.start_success(accepted_token, &FIXED_STAMP)
|
||||||
|
.expect("Start success failed");
|
||||||
|
let fail_code = EcssEnumU16::new(2);
|
||||||
|
let params = FailParams::new(&FIXED_STAMP, &fail_code, None);
|
||||||
|
mg.completion_failure(started_token, params)
|
||||||
|
.expect("Completion success failed");
|
||||||
|
});
|
||||||
|
|
||||||
|
let verif_receiver = thread::spawn(move || {
|
||||||
|
let mut packet_counter = 0;
|
||||||
|
let mut tm_buf: [u8; 1024] = [0; 1024];
|
||||||
|
let mut verif_map = HashMap::new();
|
||||||
|
while packet_counter < PACKETS_SENT {
|
||||||
|
let verif_addr = rx
|
||||||
|
.recv_timeout(Duration::from_millis(50))
|
||||||
|
.expect("Packet reception timeout");
|
||||||
|
let tm_len;
|
||||||
|
{
|
||||||
|
let mut rg = shared_tm_pool.write().expect("Error locking shared pool");
|
||||||
|
let store_guard = rg.read_with_guard(verif_addr);
|
||||||
|
let slice = store_guard.read().expect("Error reading TM slice");
|
||||||
|
tm_len = slice.len();
|
||||||
|
tm_buf[0..tm_len].copy_from_slice(slice);
|
||||||
|
}
|
||||||
|
let (pus_tm, _) = PusTm::new_from_raw_slice(&tm_buf[0..tm_len], 7)
|
||||||
|
.expect("Error reading verification TM");
|
||||||
|
let req_id = RequestId::from_bytes(
|
||||||
|
&pus_tm.source_data().expect("Invalid TM source data")[0..RequestId::SIZE_AS_BYTES],
|
||||||
|
)
|
||||||
|
.unwrap();
|
||||||
|
if !verif_map.contains_key(&req_id) {
|
||||||
|
let mut content = Vec::new();
|
||||||
|
content.push(pus_tm.subservice());
|
||||||
|
verif_map.insert(req_id, content);
|
||||||
|
} else {
|
||||||
|
let content = verif_map.get_mut(&req_id).unwrap();
|
||||||
|
content.push(pus_tm.subservice())
|
||||||
|
}
|
||||||
|
packet_counter += 1;
|
||||||
|
}
|
||||||
|
for (req_id, content) in verif_map {
|
||||||
|
if req_id == req_id_1 {
|
||||||
|
assert_eq!(content[0], 1);
|
||||||
|
assert_eq!(content[1], 3);
|
||||||
|
assert_eq!(content[2], 8);
|
||||||
|
} else if req_id == req_id_0 {
|
||||||
|
assert_eq!(content[0], 1);
|
||||||
|
assert_eq!(content[1], 3);
|
||||||
|
assert_eq!(content[2], 5);
|
||||||
|
assert_eq!(content[3], 5);
|
||||||
|
assert_eq!(content[4], 7);
|
||||||
|
} else {
|
||||||
|
panic!("Unexpected request ID {:?}", req_id);
|
||||||
|
}
|
||||||
|
}
|
||||||
|
});
|
||||||
|
verif_sender_0.join().expect("Joining thread 0 failed");
|
||||||
|
verif_sender_1.join().expect("Joining thread 1 failed");
|
||||||
|
verif_receiver.join().expect("Joining thread 2 failed");
|
||||||
|
}
|
||||||
@ -4,5 +4,12 @@ version = "0.1.0"
|
|||||||
edition = "2021"
|
edition = "2021"
|
||||||
authors = ["Robin Mueller <muellerr@irs.uni-stuttgart.de>"]
|
authors = ["Robin Mueller <muellerr@irs.uni-stuttgart.de>"]
|
||||||
|
|
||||||
|
[dependencies]
|
||||||
|
crossbeam-channel = "0.5"
|
||||||
|
delegate = "0.8"
|
||||||
|
|
||||||
[dependencies.spacepackets]
|
[dependencies.spacepackets]
|
||||||
path = "../spacepackets"
|
path = "../spacepackets"
|
||||||
|
|
||||||
|
[dependencies.fsrc-core]
|
||||||
|
path = "../fsrc-core"
|
||||||
|
|||||||
@ -1,16 +1,95 @@
|
|||||||
|
use fsrc_core::pus::verification::RequestId;
|
||||||
use fsrc_example::{OBSW_SERVER_ADDR, SERVER_PORT};
|
use fsrc_example::{OBSW_SERVER_ADDR, SERVER_PORT};
|
||||||
|
use spacepackets::ecss::PusPacket;
|
||||||
use spacepackets::tc::PusTc;
|
use spacepackets::tc::PusTc;
|
||||||
|
use spacepackets::tm::PusTm;
|
||||||
use spacepackets::SpHeader;
|
use spacepackets::SpHeader;
|
||||||
use std::net::{IpAddr, SocketAddr, UdpSocket};
|
use std::net::{IpAddr, SocketAddr, UdpSocket};
|
||||||
|
use std::time::Duration;
|
||||||
|
|
||||||
fn main() {
|
fn main() {
|
||||||
let mut buf = [0; 32];
|
let mut buf = [0; 32];
|
||||||
let addr = SocketAddr::new(IpAddr::V4(OBSW_SERVER_ADDR), SERVER_PORT);
|
let addr = SocketAddr::new(IpAddr::V4(OBSW_SERVER_ADDR), SERVER_PORT);
|
||||||
let mut sph = SpHeader::tc(0x02, 0, 0).unwrap();
|
let mut sph = SpHeader::tc(0x02, 0, 0).unwrap();
|
||||||
let pus_tc = PusTc::new_simple(&mut sph, 17, 1, None, true);
|
let pus_tc = PusTc::new_simple(&mut sph, 17, 1, None, true);
|
||||||
let client = UdpSocket::bind("127.0.0.1:7300").expect("Connecting to UDP server failed");
|
let client = UdpSocket::bind("127.0.0.1:7302").expect("Connecting to UDP server failed");
|
||||||
|
let tc_req_id = RequestId::new(&pus_tc);
|
||||||
|
println!(
|
||||||
|
"Packing and sending PUS ping command TC[17,1] with request ID {}",
|
||||||
|
tc_req_id
|
||||||
|
);
|
||||||
let size = pus_tc.write_to(&mut buf).expect("Creating PUS TC failed");
|
let size = pus_tc.write_to(&mut buf).expect("Creating PUS TC failed");
|
||||||
client
|
client
|
||||||
.send_to(&buf[0..size], &addr)
|
.send_to(&buf[0..size], &addr)
|
||||||
.expect(&*format!("Sending to {:?} failed", addr));
|
.expect(&*format!("Sending to {:?} failed", addr));
|
||||||
|
client
|
||||||
|
.set_read_timeout(Some(Duration::from_secs(2)))
|
||||||
|
.expect("Setting read timeout failed");
|
||||||
|
loop {
|
||||||
|
let res = client.recv(&mut buf);
|
||||||
|
match res {
|
||||||
|
Ok(_len) => {
|
||||||
|
let (pus_tm, size) =
|
||||||
|
PusTm::new_from_raw_slice(&buf, 7).expect("Parsing PUS TM failed");
|
||||||
|
if pus_tm.service() == 17 && pus_tm.subservice() == 2 {
|
||||||
|
println!("Received PUS Ping Reply TM[17,2]")
|
||||||
|
} else if pus_tm.service() == 1 {
|
||||||
|
if pus_tm.source_data().is_none() {
|
||||||
|
println!("Invalid verification TM, no source data");
|
||||||
|
}
|
||||||
|
let src_data = pus_tm.source_data().unwrap();
|
||||||
|
if src_data.len() < 4 {
|
||||||
|
println!("Invalid verification TM source data, less than 4 bytes")
|
||||||
|
}
|
||||||
|
let req_id = RequestId::from_bytes(src_data).unwrap();
|
||||||
|
if pus_tm.subservice() == 1 {
|
||||||
|
println!(
|
||||||
|
"Received TM[1,1] acceptance success for request ID {}",
|
||||||
|
req_id
|
||||||
|
)
|
||||||
|
} else if pus_tm.subservice() == 2 {
|
||||||
|
println!(
|
||||||
|
"Received TM[1,2] acceptance failure for request ID {}",
|
||||||
|
req_id
|
||||||
|
)
|
||||||
|
} else if pus_tm.subservice() == 3 {
|
||||||
|
println!("Received TM[1,3] start success for request ID {}", req_id)
|
||||||
|
} else if pus_tm.subservice() == 4 {
|
||||||
|
println!("Received TM[1,2] start failure for request ID {}", req_id)
|
||||||
|
} else if pus_tm.subservice() == 5 {
|
||||||
|
println!("Received TM[1,5] step success for request ID {}", req_id)
|
||||||
|
} else if pus_tm.subservice() == 6 {
|
||||||
|
println!("Received TM[1,6] step failure for request ID {}", req_id)
|
||||||
|
} else if pus_tm.subservice() == 7 {
|
||||||
|
println!(
|
||||||
|
"Received TM[1,7] completion success for request ID {}",
|
||||||
|
req_id
|
||||||
|
)
|
||||||
|
} else if pus_tm.subservice() == 8 {
|
||||||
|
println!(
|
||||||
|
"Received TM[1,8] completion failure for request ID {}",
|
||||||
|
req_id
|
||||||
|
);
|
||||||
|
}
|
||||||
|
} else {
|
||||||
|
println!(
|
||||||
|
"Received TM[{}, {}] with {} bytes",
|
||||||
|
pus_tm.service(),
|
||||||
|
pus_tm.subservice(),
|
||||||
|
size
|
||||||
|
);
|
||||||
|
}
|
||||||
|
}
|
||||||
|
Err(ref e)
|
||||||
|
if e.kind() == std::io::ErrorKind::WouldBlock
|
||||||
|
|| e.kind() == std::io::ErrorKind::TimedOut =>
|
||||||
|
{
|
||||||
|
println!("No reply received for 2 seconds");
|
||||||
|
break;
|
||||||
|
}
|
||||||
|
_ => {
|
||||||
|
println!("UDP receive error {:?}", res.unwrap_err());
|
||||||
|
}
|
||||||
|
}
|
||||||
|
}
|
||||||
}
|
}
|
||||||
|
|||||||
@ -1,15 +0,0 @@
|
|||||||
use fsrc_example::{OBSW_SERVER_ADDR, SERVER_PORT};
|
|
||||||
use std::net::{IpAddr, SocketAddr, UdpSocket};
|
|
||||||
|
|
||||||
fn main() {
|
|
||||||
let mut recv_buf = [0; 1024];
|
|
||||||
let addr = SocketAddr::new(IpAddr::V4(OBSW_SERVER_ADDR), SERVER_PORT);
|
|
||||||
let socket = UdpSocket::bind(&addr).expect("Error opening UDP socket");
|
|
||||||
loop {
|
|
||||||
let (num_bytes, src) = socket.recv_from(&mut recv_buf).expect("UDP Receive error");
|
|
||||||
println!(
|
|
||||||
"Received TM with len {num_bytes} from {src}: {:x?}",
|
|
||||||
&recv_buf[0..num_bytes]
|
|
||||||
);
|
|
||||||
}
|
|
||||||
}
|
|
||||||
37
fsrc-example/src/bin/obsw/ccsds.rs
Normal file
37
fsrc-example/src/bin/obsw/ccsds.rs
Normal file
@ -0,0 +1,37 @@
|
|||||||
|
use crate::tmtc::PUS_APID;
|
||||||
|
use fsrc_core::tmtc::{CcsdsPacketHandler, PusDistributor, ReceivesCcsdsTc};
|
||||||
|
use spacepackets::{CcsdsPacket, SpHeader};
|
||||||
|
|
||||||
|
pub struct CcsdsReceiver {
|
||||||
|
pub pus_handler: PusDistributor<()>,
|
||||||
|
}
|
||||||
|
|
||||||
|
impl CcsdsPacketHandler for CcsdsReceiver {
|
||||||
|
type Error = ();
|
||||||
|
|
||||||
|
fn valid_apids(&self) -> &'static [u16] {
|
||||||
|
&[PUS_APID]
|
||||||
|
}
|
||||||
|
|
||||||
|
fn handle_known_apid(
|
||||||
|
&mut self,
|
||||||
|
sp_header: &SpHeader,
|
||||||
|
tc_raw: &[u8],
|
||||||
|
) -> Result<(), Self::Error> {
|
||||||
|
if sp_header.apid() == PUS_APID {
|
||||||
|
self.pus_handler
|
||||||
|
.pass_ccsds(sp_header, tc_raw)
|
||||||
|
.expect("Handling PUS packet failed");
|
||||||
|
}
|
||||||
|
Ok(())
|
||||||
|
}
|
||||||
|
|
||||||
|
fn handle_unknown_apid(
|
||||||
|
&mut self,
|
||||||
|
_sp_header: &SpHeader,
|
||||||
|
_tc_raw: &[u8],
|
||||||
|
) -> Result<(), Self::Error> {
|
||||||
|
println!("Unknown APID detected");
|
||||||
|
Ok(())
|
||||||
|
}
|
||||||
|
}
|
||||||
73
fsrc-example/src/bin/obsw/main.rs
Normal file
73
fsrc-example/src/bin/obsw/main.rs
Normal file
@ -0,0 +1,73 @@
|
|||||||
|
mod ccsds;
|
||||||
|
mod pus;
|
||||||
|
mod tmtc;
|
||||||
|
|
||||||
|
use crate::tmtc::{core_tmtc_task, TmStore, PUS_APID};
|
||||||
|
use fsrc_core::hal::host::udp_server::UdpTcServer;
|
||||||
|
use fsrc_core::pool::{LocalPool, PoolCfg, SharedPool, StoreAddr};
|
||||||
|
use fsrc_core::pus::verification::{
|
||||||
|
MpscVerifSender, VerificationReporterCfg, VerificationReporterWithSender,
|
||||||
|
};
|
||||||
|
use fsrc_core::tmtc::CcsdsError;
|
||||||
|
use fsrc_example::{OBSW_SERVER_ADDR, SERVER_PORT};
|
||||||
|
use std::net::{IpAddr, SocketAddr};
|
||||||
|
use std::sync::{mpsc, Arc, Mutex, RwLock};
|
||||||
|
use std::thread;
|
||||||
|
|
||||||
|
struct TmFunnel {
|
||||||
|
tm_funnel_rx: mpsc::Receiver<StoreAddr>,
|
||||||
|
tm_server_tx: mpsc::Sender<StoreAddr>,
|
||||||
|
}
|
||||||
|
|
||||||
|
struct UdpTmtcServer {
|
||||||
|
udp_tc_server: UdpTcServer<CcsdsError<()>>,
|
||||||
|
tm_rx: mpsc::Receiver<StoreAddr>,
|
||||||
|
tm_store: SharedPool,
|
||||||
|
}
|
||||||
|
|
||||||
|
unsafe impl Send for UdpTmtcServer {}
|
||||||
|
|
||||||
|
fn main() {
|
||||||
|
println!("Running OBSW example");
|
||||||
|
let pool_cfg = PoolCfg::new(vec![(8, 32), (4, 64), (2, 128)]);
|
||||||
|
let tm_pool = LocalPool::new(pool_cfg);
|
||||||
|
let tm_store: SharedPool = Arc::new(RwLock::new(Box::new(tm_pool)));
|
||||||
|
let tm_store_helper = TmStore {
|
||||||
|
pool: tm_store.clone(),
|
||||||
|
};
|
||||||
|
let addr = SocketAddr::new(IpAddr::V4(OBSW_SERVER_ADDR), SERVER_PORT);
|
||||||
|
let (tm_funnel_tx, tm_funnel_rx) = mpsc::channel();
|
||||||
|
let (tm_server_tx, tm_server_rx) = mpsc::channel();
|
||||||
|
let sender = MpscVerifSender::new(tm_store.clone(), tm_funnel_tx.clone());
|
||||||
|
let verif_cfg = VerificationReporterCfg::new(PUS_APID, 1, 2, 8);
|
||||||
|
let reporter_with_sender_0 = Arc::new(Mutex::new(VerificationReporterWithSender::new(
|
||||||
|
verif_cfg,
|
||||||
|
Box::new(sender),
|
||||||
|
)));
|
||||||
|
let jh0 = thread::spawn(move || {
|
||||||
|
core_tmtc_task(
|
||||||
|
tm_funnel_tx.clone(),
|
||||||
|
tm_server_rx,
|
||||||
|
tm_store_helper.clone(),
|
||||||
|
addr,
|
||||||
|
reporter_with_sender_0,
|
||||||
|
);
|
||||||
|
});
|
||||||
|
|
||||||
|
let jh1 = thread::spawn(move || {
|
||||||
|
let tm_funnel = TmFunnel {
|
||||||
|
tm_server_tx,
|
||||||
|
tm_funnel_rx,
|
||||||
|
};
|
||||||
|
loop {
|
||||||
|
if let Ok(addr) = tm_funnel.tm_funnel_rx.recv() {
|
||||||
|
tm_funnel
|
||||||
|
.tm_server_tx
|
||||||
|
.send(addr)
|
||||||
|
.expect("Sending TM to server failed");
|
||||||
|
}
|
||||||
|
}
|
||||||
|
});
|
||||||
|
jh0.join().expect("Joining UDP TMTC server thread failed");
|
||||||
|
jh1.join().expect("Joining TM Funnel thread failed");
|
||||||
|
}
|
||||||
93
fsrc-example/src/bin/obsw/pus.rs
Normal file
93
fsrc-example/src/bin/obsw/pus.rs
Normal file
@ -0,0 +1,93 @@
|
|||||||
|
use crate::tmtc::TmStore;
|
||||||
|
use fsrc_core::pool::StoreAddr;
|
||||||
|
use fsrc_core::pus::verification::{
|
||||||
|
SharedStdVerifReporterWithSender, StateAccepted, VerificationToken,
|
||||||
|
};
|
||||||
|
use fsrc_core::tmtc::tm_helper::PusTmWithCdsShortHelper;
|
||||||
|
use fsrc_core::tmtc::PusServiceProvider;
|
||||||
|
use spacepackets::tc::{PusTc, PusTcSecondaryHeaderT};
|
||||||
|
use spacepackets::time::{CdsShortTimeProvider, TimeWriter};
|
||||||
|
use spacepackets::SpHeader;
|
||||||
|
use std::sync::mpsc;
|
||||||
|
|
||||||
|
pub struct PusReceiver {
|
||||||
|
pub tm_helper: PusTmWithCdsShortHelper,
|
||||||
|
pub tm_tx: mpsc::Sender<StoreAddr>,
|
||||||
|
pub tm_store: TmStore,
|
||||||
|
pub verif_reporter: SharedStdVerifReporterWithSender,
|
||||||
|
stamper: CdsShortTimeProvider,
|
||||||
|
time_stamp: [u8; 7],
|
||||||
|
}
|
||||||
|
|
||||||
|
impl PusReceiver {
|
||||||
|
pub fn new(
|
||||||
|
apid: u16,
|
||||||
|
tm_tx: mpsc::Sender<StoreAddr>,
|
||||||
|
tm_store: TmStore,
|
||||||
|
verif_reporter: SharedStdVerifReporterWithSender,
|
||||||
|
) -> Self {
|
||||||
|
Self {
|
||||||
|
tm_helper: PusTmWithCdsShortHelper::new(apid),
|
||||||
|
tm_tx,
|
||||||
|
tm_store,
|
||||||
|
verif_reporter,
|
||||||
|
stamper: CdsShortTimeProvider::default(),
|
||||||
|
time_stamp: [0; 7],
|
||||||
|
}
|
||||||
|
}
|
||||||
|
}
|
||||||
|
|
||||||
|
impl PusServiceProvider for PusReceiver {
|
||||||
|
type Error = ();
|
||||||
|
|
||||||
|
fn handle_pus_tc_packet(
|
||||||
|
&mut self,
|
||||||
|
service: u8,
|
||||||
|
_header: &SpHeader,
|
||||||
|
pus_tc: &PusTc,
|
||||||
|
) -> Result<(), Self::Error> {
|
||||||
|
let mut reporter = self
|
||||||
|
.verif_reporter
|
||||||
|
.lock()
|
||||||
|
.expect("Locking Verification Reporter failed");
|
||||||
|
let init_token = reporter.add_tc(pus_tc);
|
||||||
|
self.stamper
|
||||||
|
.update_from_now()
|
||||||
|
.expect("Updating time for time stamp failed");
|
||||||
|
self.stamper
|
||||||
|
.write_to_bytes(&mut self.time_stamp)
|
||||||
|
.expect("Writing time stamp failed");
|
||||||
|
let accepted_token = reporter
|
||||||
|
.acceptance_success(init_token, &self.time_stamp)
|
||||||
|
.expect("Acceptance success failure");
|
||||||
|
drop(reporter);
|
||||||
|
if service == 17 {
|
||||||
|
self.handle_test_service(pus_tc, accepted_token);
|
||||||
|
}
|
||||||
|
Ok(())
|
||||||
|
}
|
||||||
|
}
|
||||||
|
|
||||||
|
impl PusReceiver {
|
||||||
|
fn handle_test_service(&mut self, pus_tc: &PusTc, token: VerificationToken<StateAccepted>) {
|
||||||
|
if pus_tc.subservice() == 1 {
|
||||||
|
println!("Received PUS ping command TC[17,1]");
|
||||||
|
println!("Sending ping reply PUS TM[17,2]");
|
||||||
|
let ping_reply = self.tm_helper.create_pus_tm_timestamp_now(17, 2, None);
|
||||||
|
let addr = self.tm_store.add_pus_tm(&ping_reply);
|
||||||
|
let mut reporter = self
|
||||||
|
.verif_reporter
|
||||||
|
.lock()
|
||||||
|
.expect("Error locking verification reporter");
|
||||||
|
let start_token = reporter
|
||||||
|
.start_success(token, &self.time_stamp)
|
||||||
|
.expect("Error sending start success");
|
||||||
|
self.tm_tx
|
||||||
|
.send(addr)
|
||||||
|
.expect("Sending TM to TM funnel failed");
|
||||||
|
reporter
|
||||||
|
.completion_success(start_token, &self.time_stamp)
|
||||||
|
.expect("Error sending completion success");
|
||||||
|
}
|
||||||
|
}
|
||||||
|
}
|
||||||
110
fsrc-example/src/bin/obsw/tmtc.rs
Normal file
110
fsrc-example/src/bin/obsw/tmtc.rs
Normal file
@ -0,0 +1,110 @@
|
|||||||
|
use fsrc_core::hal::host::udp_server::{ReceiveResult, UdpTcServer};
|
||||||
|
use std::net::SocketAddr;
|
||||||
|
use std::sync::mpsc;
|
||||||
|
use std::thread;
|
||||||
|
use std::time::Duration;
|
||||||
|
|
||||||
|
use crate::ccsds::CcsdsReceiver;
|
||||||
|
use crate::pus::PusReceiver;
|
||||||
|
use crate::UdpTmtcServer;
|
||||||
|
use fsrc_core::pool::{SharedPool, StoreAddr};
|
||||||
|
use fsrc_core::pus::verification::SharedStdVerifReporterWithSender;
|
||||||
|
use fsrc_core::tmtc::{CcsdsDistributor, CcsdsError, PusDistributor};
|
||||||
|
use spacepackets::tm::PusTm;
|
||||||
|
|
||||||
|
pub const PUS_APID: u16 = 0x02;
|
||||||
|
|
||||||
|
#[derive(Clone)]
|
||||||
|
pub struct TmStore {
|
||||||
|
pub pool: SharedPool,
|
||||||
|
}
|
||||||
|
|
||||||
|
impl TmStore {
|
||||||
|
pub fn add_pus_tm(&mut self, pus_tm: &PusTm) -> StoreAddr {
|
||||||
|
let mut pg = self.pool.write().expect("Error locking TM store");
|
||||||
|
let (addr, buf) = pg.free_element(pus_tm.len_packed()).expect("Store error");
|
||||||
|
pus_tm
|
||||||
|
.write_to(buf)
|
||||||
|
.expect("Writing PUS TM to store failed");
|
||||||
|
addr
|
||||||
|
}
|
||||||
|
}
|
||||||
|
|
||||||
|
pub fn core_tmtc_task(
|
||||||
|
tm_creator_tx: mpsc::Sender<StoreAddr>,
|
||||||
|
tm_server_rx: mpsc::Receiver<StoreAddr>,
|
||||||
|
tm_store_helper: TmStore,
|
||||||
|
addr: SocketAddr,
|
||||||
|
verif_reporter: SharedStdVerifReporterWithSender,
|
||||||
|
) {
|
||||||
|
let pus_receiver = PusReceiver::new(
|
||||||
|
PUS_APID,
|
||||||
|
tm_creator_tx,
|
||||||
|
tm_store_helper.clone(),
|
||||||
|
verif_reporter,
|
||||||
|
);
|
||||||
|
let pus_distributor = PusDistributor::new(Box::new(pus_receiver));
|
||||||
|
let ccsds_receiver = CcsdsReceiver {
|
||||||
|
pus_handler: pus_distributor,
|
||||||
|
};
|
||||||
|
let ccsds_distributor = CcsdsDistributor::new(Box::new(ccsds_receiver));
|
||||||
|
let udp_tc_server = UdpTcServer::new(addr, 2048, Box::new(ccsds_distributor))
|
||||||
|
.expect("Creating UDP TMTC server failed");
|
||||||
|
|
||||||
|
let mut udp_tmtc_server = UdpTmtcServer {
|
||||||
|
udp_tc_server,
|
||||||
|
tm_rx: tm_server_rx,
|
||||||
|
tm_store: tm_store_helper.pool.clone(),
|
||||||
|
};
|
||||||
|
loop {
|
||||||
|
core_tmtc_loop(&mut udp_tmtc_server);
|
||||||
|
thread::sleep(Duration::from_millis(400));
|
||||||
|
}
|
||||||
|
}
|
||||||
|
|
||||||
|
fn core_tmtc_loop(udp_tmtc_server: &mut UdpTmtcServer) {
|
||||||
|
while core_tc_handling(udp_tmtc_server) {}
|
||||||
|
if let Some(recv_addr) = udp_tmtc_server.udp_tc_server.last_sender() {
|
||||||
|
core_tm_handling(udp_tmtc_server, &recv_addr);
|
||||||
|
}
|
||||||
|
}
|
||||||
|
|
||||||
|
fn core_tc_handling(udp_tmtc_server: &mut UdpTmtcServer) -> bool {
|
||||||
|
match udp_tmtc_server.udp_tc_server.try_recv_tc() {
|
||||||
|
Ok(_) => true,
|
||||||
|
Err(e) => match e {
|
||||||
|
ReceiveResult::ReceiverError(e) => match e {
|
||||||
|
CcsdsError::PacketError(e) => {
|
||||||
|
println!("Got packet error: {e:?}");
|
||||||
|
true
|
||||||
|
}
|
||||||
|
CcsdsError::CustomError(_) => {
|
||||||
|
println!("Unknown receiver error");
|
||||||
|
true
|
||||||
|
}
|
||||||
|
},
|
||||||
|
ReceiveResult::IoError(e) => {
|
||||||
|
println!("IO error {e}");
|
||||||
|
false
|
||||||
|
}
|
||||||
|
ReceiveResult::NothingReceived => false,
|
||||||
|
},
|
||||||
|
}
|
||||||
|
}
|
||||||
|
|
||||||
|
fn core_tm_handling(udp_tmtc_server: &mut UdpTmtcServer, recv_addr: &SocketAddr) {
|
||||||
|
while let Ok(addr) = udp_tmtc_server.tm_rx.try_recv() {
|
||||||
|
let mut store_lock = udp_tmtc_server
|
||||||
|
.tm_store
|
||||||
|
.write()
|
||||||
|
.expect("Locking TM store failed");
|
||||||
|
let pg = store_lock.read_with_guard(addr);
|
||||||
|
let buf = pg.read().expect("Error reading TM pool data");
|
||||||
|
println!("Sending TM");
|
||||||
|
udp_tmtc_server
|
||||||
|
.udp_tc_server
|
||||||
|
.socket
|
||||||
|
.send_to(buf, recv_addr)
|
||||||
|
.expect("Sending TM failed");
|
||||||
|
}
|
||||||
|
}
|
||||||
41
fsrc-example/src/bin/test.rs
Normal file
41
fsrc-example/src/bin/test.rs
Normal file
@ -0,0 +1,41 @@
|
|||||||
|
use crossbeam_channel::{bounded, Receiver, Sender};
|
||||||
|
use std::thread;
|
||||||
|
|
||||||
|
trait FieldDataProvider: Send {
|
||||||
|
fn get_data(&self) -> &[u8];
|
||||||
|
}
|
||||||
|
|
||||||
|
struct FixedFieldDataWrapper {
|
||||||
|
data: [u8; 8],
|
||||||
|
}
|
||||||
|
|
||||||
|
impl FixedFieldDataWrapper {
|
||||||
|
pub fn from_two_u32(p0: u32, p1: u32) -> Self {
|
||||||
|
let mut data = [0; 8];
|
||||||
|
data[0..4].copy_from_slice(p0.to_be_bytes().as_slice());
|
||||||
|
data[4..8].copy_from_slice(p1.to_be_bytes().as_slice());
|
||||||
|
Self { data }
|
||||||
|
}
|
||||||
|
}
|
||||||
|
|
||||||
|
impl FieldDataProvider for FixedFieldDataWrapper {
|
||||||
|
fn get_data(&self) -> &[u8] {
|
||||||
|
self.data.as_slice()
|
||||||
|
}
|
||||||
|
}
|
||||||
|
|
||||||
|
type FieldDataTraitObj = Box<dyn FieldDataProvider>;
|
||||||
|
|
||||||
|
fn main() {
|
||||||
|
let (s0, r0): (Sender<FieldDataTraitObj>, Receiver<FieldDataTraitObj>) = bounded(5);
|
||||||
|
let data_wrapper = FixedFieldDataWrapper::from_two_u32(2, 3);
|
||||||
|
s0.send(Box::new(data_wrapper)).unwrap();
|
||||||
|
let jh0 = thread::spawn(move || {
|
||||||
|
let data = r0.recv().unwrap();
|
||||||
|
let raw = data.get_data();
|
||||||
|
println!("Received data {:?}", raw);
|
||||||
|
});
|
||||||
|
let jh1 = thread::spawn(|| {});
|
||||||
|
jh0.join().unwrap();
|
||||||
|
jh1.join().unwrap();
|
||||||
|
}
|
||||||
@ -1 +1 @@
|
|||||||
Subproject commit 3970061ca1490658c3694384e57657a1dbe0cadd
|
Subproject commit 94489da00323dc6caf24e05e240c80fc10b5d8cc
|
||||||
Loading…
Reference in New Issue
Block a user