Merge branch 'main' into TargetIdWithApid

README.md

@@ -23,7 +23,7 @@ This project currently contains following crates:
    on a host computer or on any system with a standard runtime like a Raspberry Pi.
 * [`satrs-mib`](https://egit.irs.uni-stuttgart.de/rust/satrs-launchpad/src/branch/main/satrs-mib):
    Components to build a mission information base from the on-board software directly.
-* [`satrs-example-stm32f3-disco`](https://egit.irs.uni-stuttgart.de/rust/satrs-example-stm32f3-disco):
+* [`satrs-example-stm32f3-disco`](https://egit.irs.uni-stuttgart.de/rust/sat-rs/src/branch/main/satrs-example-stm32f3-disco):
    Example of a simple example on-board software using sat-rs components on a bare-metal system
    with constrained resources.
 

satrs-book/.gitignore

@@ -0,0 +1 @@
+book

satrs-book/book.toml

@@ -0,0 +1,6 @@
+[book]
+authors = ["Robin Mueller"]
+language = "en"
+multilingual = false
+src = "src"
+title = "The sat-rs book"

satrs-book/src/SUMMARY.md

@@ -0,0 +1,19 @@
+# Summary
+
+- [Introduction](./introduction.md)
+- [Design](./design.md)
+- [Communication with Space Systems](./communication.md)
+- [Working with Constrained Systems](./constrained-systems.md)
+- [Actions](./actions.md)
+- [Modes and Health](./modes-and-health.md)
+- [Housekeeping Data](./housekeeping.md)
+- [Events](./events.md)
+- [Power Components](./power.md)
+- [Thermal Components](./thermal.md)
+- [Persistent TM storage](./persistent-tm-storage.md)
+- [FDIR](./fdir.md)
+- [Serialization of Data](./serialization.md)
+- [Logging](./logging.md)
+- [Modelling space systems](./modelling-space-systems.md)
+- [Ground Segments](./ground-segments.md)
+

satrs-book/src/actions.md

@@ -0,0 +1,42 @@
+# Working with Actions
+
+Space systems generally need to be commanded regularly. This can include commands periodically
+required to ensure a healthy system, or commands to reach the mission goals.
+
+These commands can be modelled using the concept of Actions. the ECSS PUS standard also provides
+the PUS service 8 for actions, but provides few concrete subservices and specification on how
+action commanding could look like.
+
+`sat-rs` proposes two recommended ways to perform action commanding:
+
+1. Target ID and Action ID based. The target ID is a 32-bit unsigned ID for an OBSW object entity
+   which can also accept Actions. The action ID is a 32-bit unsigned ID for each action that a
+   target is able to perform.
+2. Target ID and Action String based. The target ID is the same as in the first proposal, but
+   the unique action is identified by a string.
+
+The framework provides an `ActionRequest` abstraction to model both of these cases.
+
+## Commanding with ECSS PUS 8
+
+`sat-rs` provides a generic ECSS PUS 8 action command handler. This handler can convert PUS 8
+telecommands which use the commanding scheme 1 explained above to an `ActionRequest` which is
+then forwarded to the target specified by the Target ID.
+
+There are 3 requirements for the PUS 8 telecommand:
+
+1. The subservice 128 must be used
+2. Bytes 0 to 4 of application data must contain the target ID in `u32` big endian format.
+3. Bytes 4 to 8 of application data must contain the action ID in `u32` big endian format.
+4. The rest of the application data are assumed to be command specific additional parameters. They
+   will be added to an IPC store and the corresponding store address will be sent as part of the
+   `ActionRequest`.
+
+## Sending back telemetry
+
+There are some cases where the regular verification provided by PUS in response to PUS action
+commands is not sufficient and some additional telemetry needs to be sent to ground. In that
+case, it is recommended to chose some custom subservice for action TM data and then send the
+telemetry using the same scheme as shown above, where the first 8 bytes of the application
+data is reserved for the target ID and action ID.
+

satrs-book/src/communication.md

@@ -0,0 +1,46 @@
+# Communication with sat-rs based software
+
+Communication is a huge topic for space systems. Remote systems are usually not (directly)
+connected to the internet and only have 1-2 communication links during nominal operation. However,
+most of these systems have internet access during development cycle. There are various standards
+provided by CCSDS and ECSS which can be useful to determine how to communicate with the satellite
+and the primary On-Board Software.
+
+# Application layer
+
+Most communication with space systems is usually packet based. For example, the CCSDS space
+packet standard only specifies a 6 byte header with at least 1 byte payload. The PUS packet
+standard is a subset of the space packet standard, which adds some fields and a 16 bit CRC, but
+it is still centered around small packets. `sat-rs` provides support for these ECSS and CCSDS
+standards and also attempts to fill the gap to the internet protocol by providing the following
+components.
+
+1. [UDP TMTC Server](https://docs.rs/satrs-core/0.1.0-alpha.0/satrs_core/hal/host/udp_server/index.html#).
+   UDP is already packet based which makes it an excellent fit for exchanging space packets.
+2. TCP TMTC Server. This is a stream based protocol, so the server uses the COBS framing protocol
+   to always deliver complete packets.
+
+# Working with telemetry and telecommands (TMTC)
+
+The commands sent to a space system are commonly called telecommands (TC) while the data received
+from it are called telemetry (TM). Keeping in mind the previous section, the concept of a TC source
+and a TM sink can be applied to most satellites. The TM sink is the one entity where all generated
+telemetry arrives in real-time. The most important task of the TM sink usually is to send all
+arriving telemetry to the ground segment of a satellite mission immediately. Another important
+task might be to store all arriving telemetry persistently. This is especially important for
+space systems which do not have permanent contact like low-earth-orbit (LEO) satellites.
+
+The most important task of a TC source is to deliver the telecommands to the correct recipients.
+For modern component oriented software using message passing, this usually includes staged
+demultiplexing components to determine where a command needs to be sent.
+
+# Low-level protocols and the bridge to the communcation subsystem
+
+Many satellite systems usually use the lower levels of the OSI layer in addition to the application
+layer covered by the PUS standard or the CCSDS space packets standard. This oftentimes requires
+special hardware like dedicated FPGAs to handle forward error correction fast enough. `sat-rs`
+might provide components to handle standard like the Unified Space Data Link Standard (USLP) in
+software but most of the time the handling of communication is performed through custom
+software and hardware. Still, connecting this custom software and hardware to `sat-rs` can mostly
+be done by using the concept of TC sources and TM sinks mentioned previously.
+

satrs-book/src/constrained-systems.md

@@ -0,0 +1,57 @@
+# Working with Constrained Systems
+
+Software for space systems oftentimes has different requirements than the software for host
+systems or servers. Currently, most space systems are considered embedded systems.
+
+For these systems, the computation power and the available heap are the most important resources
+which are constrained. This might make completeley heap based memory management schemes which
+are oftentimes used on host and server based systems unfeasable. Still, completely forbidding
+heap allocations might make software development unnecessarilly difficult, especially in a
+time where the OBSW might be running on Linux based systems with hundreds of MBs of RAM.
+
+A useful pattern used commonly in space systems is to limit heap allocations to program
+initialization time and avoid frequent run-time allocations. This prevents issues like
+running out of memory (something even Rust can not protect from) or heap fragmentation.
+
+# Using pre-allocated pool structures
+
+A huge candidate for heap allocations is the TMTC and  handling. TC, TMs and IPC data are all
+candidates where the data size might vary greatly. The regular solution for host systems
+might be to send around this data as a `Vec<u8>` until it is dropped. `sat-rs` provides
+another solution to avoid run-time allocations by offering and recommendng pre-allocated static
+pools.
+
+These pools are split into subpools where each subpool can have different page sizes.
+For example, a very small TC pool might look like this:
+
+TODO: Add image
+
+A TC entry inside this pool has a store address which can then be sent around without having
+to dynamically allocate memory. The same principle can also be applied to the TM and IPC data.
+
+# Using special crates to prevent smaller allocations
+
+Another common way to use the heap on host systems is using containers like `String` and `Vec<u8>`
+to work with data where the size is not known beforehand. The most common solution for embedded
+systems is to determine the maximum expected size and then use a pre-allocated `u8` buffer and a
+size variable. Alternatively, you can use the following crates for more convenience or a smart
+behaviour which at the very least reduce heap allocations:
+
+1. [`smallvec`](https://docs.rs/smallvec/latest/smallvec/).
+2. [`arrayvec`](https://docs.rs/arrayvec/latest/arrayvec/index.html) which also contains an
+   [`ArrayString`](https://docs.rs/arrayvec/latest/arrayvec/struct.ArrayString.html) helper type.
+3. [`tinyvec`](https://docs.rs/tinyvec/latest/tinyvec/).
+
+# Using a fixed amount of threads
+
+On host systems, it is a common practice to dynamically spawn new threads to handle workloads.
+On space systems this is generally considered an anti-pattern as this is considered undeterministic
+and might lead to similar issues like when dynamically using the heap. For example, spawning a new
+thread might use up the remaining heap of a system, leading to undeterministic errors.
+
+The most common way to avoid this is to simply spawn all required threads at program initialization
+time. If a thread is done with its task, it can go back to sleeping regularly, only occasionally
+checking for new jobs. If a system still needs to handle bursty concurrent loads, another possible
+way commonly used for host systems as well would be to use a threadpool, for example by using the
+[`threadpool`](https://crates.io/crates/threadpool) crate.
+

satrs-book/src/design.md

@@ -0,0 +1,57 @@
+# Framework Design
+
+Satellites and space systems in general are complex systems with a wide range of requirements for
+both the hardware and the software. Consequently, the general design of the framework is centered
+around many light-weight components which try to impose as few restrictions as possible on how to
+solve certain problems.
+
+There are still a lot of common patterns and architectures across these systems where guidance
+of how to solve a problem and a common structure would still be extremely useful to avoid pitfalls
+which were already solved and to avoid boilerplate code. This framework tries to provide this
+structure and guidance the following way:
+
+1. Providing this book which explains the architecture and design patterns in respect to common
+   issues and requirements of space systems.
+2. Providing an example application. Space systems still commonly have large monolithic
+   primary On-Board Softwares, so the choice was made to provide one example software which
+   contains the various features provided by sat-rs.
+3. Providing a good test suite. This includes both unittests and integration tests. The integration
+   tests can also serve as smaller usage examples than the large `satrs-example` application.
+
+This framework has special support for standards used in the space industry. This especially
+includes standards provided by Consultative Committee for Space Data Systems (CCSDS) and European
+Cooperation for Space Standardization (ECSS). It does not enforce using any of those standards,
+but it is always recommended to use some sort of standard for interoperability.
+
+A lot of the modules and design considerations are based on the Flight Software Framework (FSFW).
+The FSFW has its own [documentation](https://documentation.irs.uni-stuttgart.de/fsfw/), which
+will be referred to when applicable. The FSFW was developed over a period of 10 years for the
+Flying Laptop Project by the University of Stuttgart with Airbus Defence and Space GmbH.
+It has flight heritage through the 2 mssions [FLP](https://www.irs.uni-stuttgart.de/en/research/satellitetechnology-and-instruments/smallsatelliteprogram/flying-laptop/)
+and [EIVE](https://www.irs.uni-stuttgart.de/en/research/satellitetechnology-and-instruments/smallsatelliteprogram/EIVE/).
+Therefore, a lot of the design concepts were ported more or less unchanged to the `sat-rs`
+framework.
+FLP is a medium-size small satellite with a higher budget and longer development time than EIVE,
+which allowed to build a highly reliable system while EIVE is a smaller 6U+ cubesat which had a
+shorter development cycle and was built using cheaper COTS components. This framework also tries
+to accumulate the knowledge of developing the OBSW and operating the satellite for both these
+different systems and provide a solution for a wider range of small satellite systems.
+
+`sat-rs` can be seen as a modern port of the FSFW which uses common principles of software
+engineering to provide a reliable and robust basis for space On-Board Software. The choice
+of using the Rust programming language was made for the following reasons:
+
+1. Rust has safety guarantees which are a perfect fit for space systems which generally have high
+   robustness and reliablity guarantees.
+2. Rust is suitable for embedded systems. It can also be run on smaller embedded systems like the
+   STM32 which have also become common in the space sector. All space systems are embedded systems,
+   which makes using large languages like Python challenging even for OBCs with more performance.
+3. Rust has support for linking C APIs through its excellent FFI support. This is especially
+   important because many vendor provided libaries are still C based.
+4. Modern tooling like a package managers and various development helper, which can further reduce
+   development cycles for space systems. `cargo` provides tools like auto-formatters and linters
+   which can immediately ensure a high software quality throughout each development cycle.
+5. A large ecosystem with excellent libraries which also leverages the excellent tooling provided
+   previously. Integrating these libraries is a lot easier compared to languages like C/C++ where
+   there is still no standardized way to use packages.
+

satrs-book/src/events.md

@@ -0,0 +1,16 @@
+# Events
+
+Events can be an extremely important mechanism used for remote systems to monitor unexpected
+or expected anomalies and events occuring on these systems. They are oftentimes tied to
+Fault Detection, Isolation and Recovery (FDIR) operations, which need to happen autonomously.
+
+Events can also be used as a convenient Inter-Process Communication (IPC) mechansism, which is
+also observable for the Ground segment. The PUS Service 5 standardizes how the ground interface
+for events might look like, but does not specify how other software components might react
+to those events. There is the PUS Service 19, which might be used for that purpose, but the
+event components recommended by this framework do not really need this service.
+
+The following images shows how the flow of events could look like in a system where components
+can generate events, and where other system components might be interested in those events:
+
+![Event flow](images/event_man_arch.png)

satrs-book/src/fdir.md

@@ -0,0 +1 @@
+# Fault Detecion, Isolation And Recovery (FDIR)

satrs-book/src/ground-segments.md

@@ -0,0 +1 @@
+# Ground Segments

satrs-book/src/housekeeping.md

@@ -0,0 +1,24 @@
+# Housekeeping Data
+
+Remote systems like satellites and rovers oftentimes generate data autonomously and periodically.
+The most common example for this is temperature or attitude data. Data like this is commonly
+referred to as housekeeping data, and is usually one of the most important and most resource heavy
+data sources received from a satellite. Standards like the PUS Service 3 make recommendation how to
+expose housekeeping data, but the applicability of the interface offered by PUS 3 has proven to be
+partially difficult and clunky for modular systems.
+
+First, we are going to list some assumption and requirements about Housekeeping (HK) data:
+
+1. HK data is generated periodically by various system components throughout the
+   systems.
+2. An autonomous and periodic sampling of that HK data to be stored and sent to Ground is generally
+   required. A minimum interface consists of requesting a one-shot sample of HK, enabling and
+   disabling the periodic autonomous generation of samples and modifying the collection interval
+   of the periodic autonomous generation.
+3. HK data often needs to be shared to other software components. For example, a thermal controller
+   wants to read the data samples of all sensor components.
+
+A commonly required way to model HK data in a clean way is also to group related HK data into sets,
+which can then dumped via a similar interface.
+
+TODO: Write down `sat-rs` recommendations how to expose and work with HK data.

satrs-book/src/images/event_man_arch.graphml

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satrs-book/src/introduction.md

@@ -0,0 +1,23 @@
+The sat-rs book
+======
+
+This book is the primary information resource for the [sat-rs framework](https://egit.irs.uni-stuttgart.de/rust/sat-rs)
+in addition to the regular API documentation. It contains the following resources:
+
+1. Architecture informations and consideration which would exceeds the scope of the regular API.
+2. General information on how to build On-Board Software and how `sat-rs` can help to fulfill
+   the unique requirements of writing software for remote systems.
+2. A Getting-Started workshop where a small On-Board Software is built from scratch using
+   sat-rs components.
+
+# Introduction
+
+The primary goal of the sat-rs framework is to provide re-usable components
+to write on-board software for remote systems like rovers or satellites. It is specifically written
+for the special requirements for these systems.
+
+A lot of the architecture and general design considerations are based on the
+[FSFW](https://egit.irs.uni-stuttgart.de/fsfw/fsfw) C++ framework which has flight heritage
+through the 2 missions [FLP](https://www.irs.uni-stuttgart.de/en/research/satellitetechnology-and-instruments/smallsatelliteprogram/flying-laptop/)
+and [EIVE](https://www.irs.uni-stuttgart.de/en/research/satellitetechnology-and-instruments/smallsatelliteprogram/EIVE/).
+

satrs-book/src/logging.md

@@ -0,0 +1 @@
+# Logging

satrs-book/src/modelling-space-systems.md

@@ -0,0 +1 @@
+# Modelling Space Systems

satrs-book/src/modes-and-health.md

@@ -0,0 +1,102 @@
+# Modes
+
+Modes are an extremely useful concept for complex system in general. They also allow simplified
+system reasoning for both system operators and OBSW developers. They model the behaviour of a
+component and also provide observability of a system. A few examples of how to model
+different components of a space system with modes will be given.
+
+## Modelling a pyhsical devices with modes
+
+The following simple mode scheme with the following three mode
+
+- `OFF`
+- `ON`
+- `NORMAL`
+
+can be applied to a large number of simpler devices of a remote system, for example sensors.
+
+1. `OFF` means that a device is physically switched off, and the corresponding software component
+does not poll the device regularly.
+2. `ON` means that a device is pyhsically switched on, but the device is not polled perically.
+3. `NORMAL` means that a device is powered on and polled periodically.
+
+If a devices is `OFF`, the device handler will deny commands which include physical communication
+with the connected devices. In `NORMAL` mode, it will autonomously perform periodic polling
+of a connected physical device in addition to handling remote commands by the operator.
+Using these three basic modes, there are two important transitions which need to be taken care of
+for the majority of devices:
+
+1. `OFF` to `ON` or `NORMAL`: The device first needs to be powered on. After that, the
+   device initial startup configuration must be performed.
+2. `NORMAL` or `ON` to `OFF`: Any important shutdown configuration or handling must be performed
+   before powering off the device.
+
+## Modelling a controller with modes
+
+Controller components are not modelling physical devices, but a mode scheme is still the best
+way to model most of these components.
+
+For example, a hypothetical attitude controller might have the following modes:
+
+- `SAFE`
+- `TARGET IDLE`
+- `TARGET POINTING GROUND`
+- `TARGET POINTING NADIR`
+
+We can also introduce the concept of submodes: The `SAFE` mode can for example have a
+`DEFAULT` submode and a `DETUMBLE` submode.
+
+## Achieving system observability with modes
+
+If a system component has a mode in some shape or form, this mode should be observable. This means
+that the operator can also retrieve the mode for a particular component. This is especially
+important if these components can change their mode autonomously.
+
+If a component is able to change its mode autonomously, this is also something which is relevant
+information for the operator or for other software components. This means that a component
+should also be able to announce its mode.
+
+This concept becomes especially important when applying the mode concept on the whole
+system level. This will also be explained in detail in a dedicated chapter, but the basic idea
+is to model the whole system as a tree where each node has a mode. A new capability is added now:
+A component can announce its mode recursively. This means that the component will announce its
+own mode first before announcing the mode of all its children. Using a scheme like this, the mode
+of the whole system can be retrieved using only one command. The same concept can also be used
+for commanding the whole system, which will be explained in more detail in the dedicated systems
+modelling chapter.
+
+In summary, a component which has modes has to expose the following 4 capabilities:
+
+1. Set a mode
+2. Read the mode
+3. Announce the mode
+4. Announce the mode recursively
+
+## Using ECSS PUS to perform mode commanding
+
+# Health
+
+Health is an important concept for systems and components which might fail.
+Oftentimes, the health is tied to the mode of a system component in some shape or form, and
+determines whether a system component is usable. Health is also an extremely useful concept
+to simplify the Fault Detection, Isolation and Recovery (FDIR) concept of a system.
+
+The following health states are based on the ones used inside the FSFW and are enough to model most
+use-cases:
+
+- `HEALTHY`
+- `FAULTY`
+- `NEEDS RECOVERY`
+- `EXTERNAL CONTROL`
+
+1. `HEALTHY` means that a component is working nominally, and can perform its task without any issues.
+2. `FAULTY` means that a component does not work properly. This might also impact other system
+components, so the passivation and isolation of that component is desirable for FDIR purposes.
+3. `NEEDS RECOVERY` is used to attempt a recovery of a component. For example, a simple sensor
+could be power-cycled if there were multiple communication issues in the last time.
+4. `EXTERNAL CONTROL` is used to isolate an individual component from the rest of the system. For
+   example, on operator might be interested in testing a component in isolation, and the interference
+   of the system is not desired. In that case, the `EXTERNAL CONTROL` health state might be used
+   to prevent mode commands from the system while allowing external mode commands.
+
+

satrs-book/src/persistent-tm-storage.md

@@ -0,0 +1 @@
+# Persistent Telemetry (TM) Storage

satrs-book/src/power.md

@@ -0,0 +1 @@
+# Power Components

satrs-book/src/serialization.md

@@ -0,0 +1 @@
+# Serialization

satrs-book/src/thermal.md

@@ -0,0 +1 @@
+# Thermal Components

satrs-core/src/hal/host/udp_server.rs

@@ -51,9 +51,9 @@ use std::vec::Vec;
 ///     .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)
+/// The [satrs-example crate](https://egit.irs.uni-stuttgart.de/rust/fsrc-launchpad/src/branch/main/-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)
+/// [example code](https://egit.irs.uni-stuttgart.de/rust/sat-rs/src/branch/main/satrs-example/src/tmtc.rs#L67)
 /// 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> {