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Added high-level abstraction for some PUS services
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Introduced high-level abstractions for targetable requests in general.

- PUS Service 3 (HK) abstraction for targetable HK requests
- PUS Service 8 (Action) abstraction for targetable action requests
This commit is contained in:
Robin Müller
2024-02-20 14:33:21 +01:00
parent 4e45bfa7e6
commit ba03150178
44 changed files with 2221 additions and 731 deletions
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319
satrs-example/src/pus/hk.rs
View File

@ -1,22 +1,145 @@
use crate::requests::{Request, RequestWithToken};
use log::{error, warn};
use satrs::hk::{CollectionIntervalFactor, HkRequest};
use satrs::pool::{SharedStaticMemoryPool, StoreAddr};
use satrs::pus::hk::{PusHkToRequestConverter, PusService3HkHandler};
use satrs::pus::verification::{
FailParams, StdVerifReporterWithSender, VerificationReporterWithSender,
FailParams, TcStateAccepted, VerificationReporterWithSender, VerificationReportingProvider,
VerificationToken,
};
use satrs::pus::{
EcssTcAndToken, EcssTcInMemConverter, EcssTcInSharedStoreConverter, EcssTcInVecConverter,
EcssTcReceiver, EcssTmSender, MpscTcReceiver, MpscTmAsVecSender, MpscTmInSharedPoolSender,
PusPacketHandlerResult, PusPacketHandlingError, PusServiceBase, PusServiceHelper,
MpscTcReceiver, MpscTmAsVecSender, MpscTmInSharedPoolSender, PusPacketHandlerResult,
PusPacketHandlingError, PusServiceHelper,
};
use satrs::request::TargetAndApidId;
use satrs::spacepackets::ecss::tc::PusTcReader;
use satrs::spacepackets::ecss::{hk, PusPacket};
use satrs::tmtc::tm_helper::SharedTmPool;
use satrs::ChannelId;
use satrs::{ChannelId, TargetId};
use satrs_example::config::{hk_err, tmtc_err, TcReceiverId, TmSenderId, PUS_APID};
use satrs_example::TargetIdWithApid;
use std::collections::HashMap;
use std::sync::mpsc::{self, Sender};
use std::sync::mpsc::{self};
use crate::requests::GenericRequestRouter;
use super::GenericRoutingErrorHandler;
#[derive(Default)]
pub struct ExampleHkRequestConverter {}
impl PusHkToRequestConverter for ExampleHkRequestConverter {
type Error = PusPacketHandlingError;
fn convert(
&mut self,
token: VerificationToken<TcStateAccepted>,
tc: &PusTcReader,
time_stamp: &[u8],
verif_reporter: &impl VerificationReportingProvider,
) -> Result<(TargetId, HkRequest), Self::Error> {
let user_data = tc.user_data();
if user_data.is_empty() {
let user_data_len = user_data.len() as u32;
let user_data_len_raw = user_data_len.to_be_bytes();
verif_reporter
.start_failure(
token,
FailParams::new(
time_stamp,
&tmtc_err::NOT_ENOUGH_APP_DATA,
&user_data_len_raw,
),
)
.expect("Sending start failure TM failed");
return Err(PusPacketHandlingError::NotEnoughAppData {
expected: 4,
found: 0,
});
}
if user_data.len() < 8 {
let err = if user_data.len() < 4 {
&hk_err::TARGET_ID_MISSING
} else {
&hk_err::UNIQUE_ID_MISSING
};
let user_data_len = user_data.len() as u32;
let user_data_len_raw = user_data_len.to_be_bytes();
verif_reporter
.start_failure(token, FailParams::new(time_stamp, err, &user_data_len_raw))
.expect("Sending start failure TM failed");
return Err(PusPacketHandlingError::NotEnoughAppData {
expected: 8,
found: 4,
});
}
let subservice = tc.subservice();
let target_id = TargetAndApidId::from_pus_tc(tc).expect("invalid tc format");
let unique_id = u32::from_be_bytes(tc.user_data()[4..8].try_into().unwrap());
let standard_subservice = hk::Subservice::try_from(subservice);
if standard_subservice.is_err() {
verif_reporter
.start_failure(
token,
FailParams::new(time_stamp, &tmtc_err::INVALID_PUS_SUBSERVICE, &[subservice]),
)
.expect("Sending start failure TM failed");
return Err(PusPacketHandlingError::InvalidSubservice(subservice));
}
Ok((
target_id.into(),
match standard_subservice.unwrap() {
hk::Subservice::TcEnableHkGeneration | hk::Subservice::TcEnableDiagGeneration => {
HkRequest::Enable(unique_id)
}
hk::Subservice::TcDisableHkGeneration | hk::Subservice::TcDisableDiagGeneration => {
HkRequest::Disable(unique_id)
}
hk::Subservice::TcReportHkReportStructures => todo!(),
hk::Subservice::TmHkPacket => todo!(),
hk::Subservice::TcGenerateOneShotHk | hk::Subservice::TcGenerateOneShotDiag => {
HkRequest::OneShot(unique_id)
}
hk::Subservice::TcModifyDiagCollectionInterval
| hk::Subservice::TcModifyHkCollectionInterval => {
if user_data.len() < 12 {
verif_reporter
.start_failure(
token,
FailParams::new_no_fail_data(
time_stamp,
&tmtc_err::NOT_ENOUGH_APP_DATA,
),
)
.expect("Sending start failure TM failed");
return Err(PusPacketHandlingError::NotEnoughAppData {
expected: 12,
found: user_data.len(),
});
}
HkRequest::ModifyCollectionInterval(
unique_id,
CollectionIntervalFactor::from_be_bytes(
user_data[8..12].try_into().unwrap(),
),
)
}
_ => {
verif_reporter
.start_failure(
token,
FailParams::new(
time_stamp,
&tmtc_err::PUS_SUBSERVICE_NOT_IMPLEMENTED,
&[subservice],
),
)
.expect("Sending start failure TM failed");
return Err(PusPacketHandlingError::InvalidSubservice(subservice));
}
},
))
}
}
pub fn create_hk_service_static(
shared_tm_store: SharedTmPool,
@ -24,7 +147,7 @@ pub fn create_hk_service_static(
verif_reporter: VerificationReporterWithSender,
tc_pool: SharedStaticMemoryPool,
pus_hk_rx: mpsc::Receiver<EcssTcAndToken>,
request_map: HashMap<TargetIdWithApid, mpsc::Sender<RequestWithToken>>,
request_router: GenericRequestRouter,
) -> Pus3Wrapper<EcssTcInSharedStoreConverter> {
let hk_srv_tm_sender = MpscTmInSharedPoolSender::new(
TmSenderId::PusHk as ChannelId,
@ -35,12 +158,16 @@ pub fn create_hk_service_static(
let hk_srv_receiver =
MpscTcReceiver::new(TcReceiverId::PusHk as ChannelId, "PUS_8_TC_RECV", pus_hk_rx);
let pus_3_handler = PusService3HkHandler::new(
Box::new(hk_srv_receiver),
Box::new(hk_srv_tm_sender),
PUS_APID,
verif_reporter.clone(),
EcssTcInSharedStoreConverter::new(tc_pool, 2048),
request_map,
PusServiceHelper::new(
Box::new(hk_srv_receiver),
Box::new(hk_srv_tm_sender),
PUS_APID,
verif_reporter.clone(),
EcssTcInSharedStoreConverter::new(tc_pool, 2048),
),
ExampleHkRequestConverter::default(),
request_router,
GenericRoutingErrorHandler::default(),
);
Pus3Wrapper { pus_3_handler }
}
@ -49,7 +176,7 @@ pub fn create_hk_service_dynamic(
tm_funnel_tx: mpsc::Sender<Vec<u8>>,
verif_reporter: VerificationReporterWithSender,
pus_hk_rx: mpsc::Receiver<EcssTcAndToken>,
request_map: HashMap<TargetIdWithApid, mpsc::Sender<RequestWithToken>>,
request_router: GenericRequestRouter,
) -> Pus3Wrapper<EcssTcInVecConverter> {
let hk_srv_tm_sender = MpscTmAsVecSender::new(
TmSenderId::PusHk as ChannelId,
@ -59,154 +186,28 @@ pub fn create_hk_service_dynamic(
let hk_srv_receiver =
MpscTcReceiver::new(TcReceiverId::PusHk as ChannelId, "PUS_8_TC_RECV", pus_hk_rx);
let pus_3_handler = PusService3HkHandler::new(
Box::new(hk_srv_receiver),
Box::new(hk_srv_tm_sender),
PUS_APID,
verif_reporter.clone(),
EcssTcInVecConverter::default(),
request_map,
PusServiceHelper::new(
Box::new(hk_srv_receiver),
Box::new(hk_srv_tm_sender),
PUS_APID,
verif_reporter.clone(),
EcssTcInVecConverter::default(),
),
ExampleHkRequestConverter::default(),
request_router,
GenericRoutingErrorHandler::default(),
);
Pus3Wrapper { pus_3_handler }
}
pub struct PusService3HkHandler<TcInMemConverter: EcssTcInMemConverter> {
psb: PusServiceHelper<TcInMemConverter>,
request_handlers: HashMap<TargetIdWithApid, Sender<RequestWithToken>>,
}
impl<TcInMemConverter: EcssTcInMemConverter> PusService3HkHandler<TcInMemConverter> {
pub fn new(
tc_receiver: Box<dyn EcssTcReceiver>,
tm_sender: Box<dyn EcssTmSender>,
tm_apid: u16,
verification_handler: StdVerifReporterWithSender,
tc_in_mem_converter: TcInMemConverter,
request_handlers: HashMap<TargetIdWithApid, Sender<RequestWithToken>>,
) -> Self {
Self {
psb: PusServiceHelper::new(
tc_receiver,
tm_sender,
tm_apid,
verification_handler,
tc_in_mem_converter,
),
request_handlers,
}
}
fn handle_one_tc(&mut self) -> Result<PusPacketHandlerResult, PusPacketHandlingError> {
let possible_packet = self.psb.retrieve_and_accept_next_packet()?;
if possible_packet.is_none() {
return Ok(PusPacketHandlerResult::Empty);
}
let ecss_tc_and_token = possible_packet.unwrap();
let tc = self
.psb
.tc_in_mem_converter
.convert_ecss_tc_in_memory_to_reader(&ecss_tc_and_token.tc_in_memory)?;
let subservice = tc.subservice();
let mut partial_error = None;
let time_stamp = PusServiceBase::get_current_timestamp(&mut partial_error);
let user_data = tc.user_data();
if user_data.is_empty() {
self.psb
.common
.verification_handler
.borrow_mut()
.start_failure(
ecss_tc_and_token.token,
FailParams::new(Some(&time_stamp), &tmtc_err::NOT_ENOUGH_APP_DATA, None),
)
.expect("Sending start failure TM failed");
return Err(PusPacketHandlingError::NotEnoughAppData(
"Expected at least 8 bytes of app data".into(),
));
}
if user_data.len() < 8 {
let err = if user_data.len() < 4 {
&hk_err::TARGET_ID_MISSING
} else {
&hk_err::UNIQUE_ID_MISSING
};
self.psb
.common
.verification_handler
.borrow_mut()
.start_failure(
ecss_tc_and_token.token,
FailParams::new(Some(&time_stamp), err, None),
)
.expect("Sending start failure TM failed");
return Err(PusPacketHandlingError::NotEnoughAppData(
"Expected at least 8 bytes of app data".into(),
));
}
let target_id = TargetIdWithApid::from_tc(&tc).expect("invalid tc format");
let unique_id = u32::from_be_bytes(tc.user_data()[0..4].try_into().unwrap());
if !self.request_handlers.contains_key(&target_id) {
self.psb
.common
.verification_handler
.borrow_mut()
.start_failure(
ecss_tc_and_token.token,
FailParams::new(Some(&time_stamp), &hk_err::UNKNOWN_TARGET_ID, None),
)
.expect("Sending start failure TM failed");
return Err(PusPacketHandlingError::NotEnoughAppData(format!(
"Unknown target ID {target_id}"
)));
}
let send_request = |target: TargetIdWithApid, request: HkRequest| {
let sender = self.request_handlers.get(&target).unwrap();
sender
.send(RequestWithToken::new(
target,
Request::Hk(request),
ecss_tc_and_token.token,
))
.unwrap_or_else(|_| panic!("Sending HK request {request:?} failed"));
};
if subservice == hk::Subservice::TcEnableHkGeneration as u8 {
send_request(target_id, HkRequest::Enable(unique_id));
} else if subservice == hk::Subservice::TcDisableHkGeneration as u8 {
send_request(target_id, HkRequest::Disable(unique_id));
} else if subservice == hk::Subservice::TcGenerateOneShotHk as u8 {
send_request(target_id, HkRequest::OneShot(unique_id));
} else if subservice == hk::Subservice::TcModifyHkCollectionInterval as u8 {
if user_data.len() < 12 {
self.psb
.common
.verification_handler
.borrow_mut()
.start_failure(
ecss_tc_and_token.token,
FailParams::new(
Some(&time_stamp),
&hk_err::COLLECTION_INTERVAL_MISSING,
None,
),
)
.expect("Sending start failure TM failed");
return Err(PusPacketHandlingError::NotEnoughAppData(
"Collection interval missing".into(),
));
}
send_request(
target_id,
HkRequest::ModifyCollectionInterval(
unique_id,
CollectionIntervalFactor::from_be_bytes(user_data[8..12].try_into().unwrap()),
),
);
}
Ok(PusPacketHandlerResult::RequestHandled)
}
}
pub struct Pus3Wrapper<TcInMemConverter: EcssTcInMemConverter> {
pub(crate) pus_3_handler: PusService3HkHandler<TcInMemConverter>,
pub(crate) pus_3_handler: PusService3HkHandler<
TcInMemConverter,
VerificationReporterWithSender,
ExampleHkRequestConverter,
GenericRequestRouter,
GenericRoutingErrorHandler<3>,
>,
}
impl<TcInMemConverter: EcssTcInMemConverter> Pus3Wrapper<TcInMemConverter> {