fixes for example event management

satrs-example/pytmtc/common.py

@@ -10,6 +10,7 @@ class Apid(enum.IntEnum):
     GENERIC_PUS = 2
     ACS = 3
     CFDP = 4
+    TMTC = 5
 
 
 class EventSeverity(enum.IntEnum):

satrs-example/pytmtc/main.py

@@ -144,7 +144,9 @@ class PusHandler(GenericApidHandlerBase):
             )
             src_data = tm_packet.source_data
             event_u32 = EventU32.unpack(src_data)
-            _LOGGER.info(f"Received event packet. Event: {event_u32}")
+            _LOGGER.info(
+                f"Received event packet. Source APID: {Apid(tm_packet.apid)!r}, Event: {event_u32}"
+            )
             if event_u32.group_id == 0 and event_u32.unique_id == 0:
                 _LOGGER.info("Received test event")
         elif service == 17:

satrs-example/src/events.rs

@@ -11,7 +11,7 @@ use satrs::{
     event_man::{EventManagerWithBoundedMpsc, EventSendProvider, EventU32SenderMpscBounded},
     pus::{
         event_man::{
-            DefaultPusEventU32Dispatcher, EventReporter, EventRequest, EventRequestWithToken,
+            DefaultPusEventU32TmCreator, EventReporter, EventRequest, EventRequestWithToken,
         },
         verification::{TcStateStarted, VerificationReportingProvider, VerificationToken},
     },
@@ -37,13 +37,12 @@ impl EventTmHookProvider for EventApidSetter {
 /// packets. It also handles the verification completion of PUS event service requests.
 pub struct PusEventHandler<TmSender: EcssTmSender> {
     event_request_rx: mpsc::Receiver<EventRequestWithToken>,
-    pus_event_dispatcher: DefaultPusEventU32Dispatcher<()>,
+    pus_event_tm_creator: DefaultPusEventU32TmCreator<EventApidSetter>,
     pus_event_man_rx: mpsc::Receiver<EventMessageU32>,
     tm_sender: TmSender,
     time_provider: CdsTime,
     timestamp: [u8; 7],
     verif_handler: VerificationReporter,
-    event_apid_setter: EventApidSetter,
 }
 
 impl<TmSender: EcssTmSender> PusEventHandler<TmSender> {
@@ -58,9 +57,16 @@ impl<TmSender: EcssTmSender> PusEventHandler<TmSender> {
 
         // All events sent to the manager are routed to the PUS event manager, which generates PUS event
         // telemetry for each event.
-        let event_reporter = EventReporter::new(PUS_EVENT_MANAGEMENT.raw(), 0, 0, 128).unwrap();
+        let event_reporter = EventReporter::new_with_hook(
+            PUS_EVENT_MANAGEMENT.raw(),
+            0,
+            0,
+            128,
+            EventApidSetter::default(),
+        )
+        .unwrap();
         let pus_event_dispatcher =
-            DefaultPusEventU32Dispatcher::new_with_default_backend(event_reporter);
+            DefaultPusEventU32TmCreator::new_with_default_backend(event_reporter);
         let pus_event_man_send_provider = EventU32SenderMpscBounded::new(
             PUS_EVENT_MANAGEMENT.raw(),
             pus_event_man_tx,
@@ -72,13 +78,12 @@ impl<TmSender: EcssTmSender> PusEventHandler<TmSender> {
 
         Self {
             event_request_rx,
-            pus_event_dispatcher,
+            pus_event_tm_creator: pus_event_dispatcher,
             pus_event_man_rx,
             time_provider: CdsTime::new_with_u16_days(0, 0),
             timestamp: [0; 7],
             verif_handler,
             tm_sender,
-            event_apid_setter: EventApidSetter::default(),
         }
     }
 
@@ -92,43 +97,65 @@ impl<TmSender: EcssTmSender> PusEventHandler<TmSender> {
                 .completion_success(&self.tm_sender, started_token, timestamp)
                 .expect("Sending completion success failed");
         };
-        // handle event requests
+        loop {
-        if let Ok(event_req) = self.event_request_rx.try_recv() {
+            // handle event requests
-            match event_req.request {
+            match self.event_request_rx.try_recv() {
-                EventRequest::Enable(event) => {
+                Ok(event_req) => match event_req.request {
-                    self.pus_event_dispatcher
+                    EventRequest::Enable(event) => {
-                        .enable_tm_for_event(&event)
+                        self.pus_event_tm_creator
-                        .expect("Enabling TM failed");
+                            .enable_tm_for_event(&event)
-                    update_time(&mut self.time_provider, &mut self.timestamp);
+                            .expect("Enabling TM failed");
-                    report_completion(event_req, &self.timestamp);
+                        update_time(&mut self.time_provider, &mut self.timestamp);
-                }
+                        report_completion(event_req, &self.timestamp);
-                EventRequest::Disable(event) => {
+                    }
-                    self.pus_event_dispatcher
+                    EventRequest::Disable(event) => {
-                        .disable_tm_for_event(&event)
+                        self.pus_event_tm_creator
-                        .expect("Disabling TM failed");
+                            .disable_tm_for_event(&event)
-                    update_time(&mut self.time_provider, &mut self.timestamp);
+                            .expect("Disabling TM failed");
-                    report_completion(event_req, &self.timestamp);
+                        update_time(&mut self.time_provider, &mut self.timestamp);
-                }
+                        report_completion(event_req, &self.timestamp);
+                    }
+                },
+                Err(e) => match e {
+                    mpsc::TryRecvError::Empty => break,
+                    mpsc::TryRecvError::Disconnected => {
+                        log::warn!("all event request senders have disconnected");
+                        break;
+                    }
+                },
             }
         }
     }
 
     pub fn generate_pus_event_tm(&mut self) {
-        // Perform the generation of PUS event packets
+        loop {
-        if let Ok(event_msg) = self.pus_event_man_rx.try_recv() {
+            // Perform the generation of PUS event packets
-            update_time(&mut self.time_provider, &mut self.timestamp);
+            match self.pus_event_man_rx.try_recv() {
-            let param_vec = event_msg.params().map_or(Vec::new(), |param| {
+                Ok(event_msg) => {
-                param.to_vec().expect("failed to convert params to vec")
+                    update_time(&mut self.time_provider, &mut self.timestamp);
-            });
+                    let param_vec = event_msg.params().map_or(Vec::new(), |param| {
-            self.event_apid_setter.next_apid = UniqueApidTargetId::from(event_msg.sender_id()).apid;
+                        param.to_vec().expect("failed to convert params to vec")
-            self.pus_event_dispatcher
+                    });
-                .generate_pus_event_tm_generic(
+                    // We use the TM modification hook to set the sender APID for each event.
-                    &self.tm_sender,
+                    self.pus_event_tm_creator.reporter.tm_hook.next_apid =
-                    &self.timestamp,
+                        UniqueApidTargetId::from(event_msg.sender_id()).apid;
-                    event_msg.event(),
+                    self.pus_event_tm_creator
-                    Some(&param_vec),
+                        .generate_pus_event_tm_generic(
-                )
+                            &self.tm_sender,
-                .expect("Sending TM as event failed");
+                            &self.timestamp,
+                            event_msg.event(),
+                            Some(&param_vec),
+                        )
+                        .expect("Sending TM as event failed");
+                }
+                Err(e) => match e {
+                    mpsc::TryRecvError::Empty => break,
+                    mpsc::TryRecvError::Disconnected => {
+                        log::warn!("All event senders have disconnected");
+                        break;
+                    }
+                },
+            }
         }
     }
 }
@@ -181,3 +208,6 @@ impl<TmSender: EcssTmSender> EventHandler<TmSender> {
         log::warn!("event routing error for event {event_msg:?}: {error:?}");
     }
 }
+
+#[cfg(test)]
+mod tests {}

satrs-example/src/main.rs

@@ -11,7 +11,7 @@ use crate::events::EventHandler;
 use crate::interface::udp::DynamicUdpTmHandler;
 use crate::pus::stack::PusStack;
 use crate::tmtc::tc_source::{TcSourceTaskDynamic, TcSourceTaskStatic};
-use crate::tmtc::tm_sink::{TmFunnelDynamic, TmFunnelStatic};
+use crate::tmtc::tm_sink::{TmSinkDynamic, TmSinkStatic};
 use log::info;
 use pus::test::create_test_service_dynamic;
 use satrs::hal::std::tcp_server::ServerConfig;
@@ -54,11 +54,11 @@ fn static_tmtc_pool_main() {
     let shared_tm_pool_wrapper = SharedPacketPool::new(&shared_tm_pool);
     let shared_tc_pool_wrapper = SharedPacketPool::new(&shared_tc_pool);
     let (tc_source_tx, tc_source_rx) = mpsc::sync_channel(50);
-    let (tm_funnel_tx, tm_funnel_rx) = mpsc::sync_channel(50);
+    let (tm_sink_tx, tm_sink_rx) = mpsc::sync_channel(50);
     let (tm_server_tx, tm_server_rx) = mpsc::sync_channel(50);
 
-    let tm_funnel_tx_sender =
+    let tm_sink_tx_sender =
-        PacketSenderWithSharedPool::new(tm_funnel_tx.clone(), shared_tm_pool_wrapper.clone());
+        PacketSenderWithSharedPool::new(tm_sink_tx.clone(), shared_tm_pool_wrapper.clone());
 
     let (mgm_handler_composite_tx, mgm_handler_composite_rx) =
         mpsc::channel::<GenericMessage<CompositeRequest>>();
@@ -85,7 +85,7 @@ fn static_tmtc_pool_main() {
 
     // The event task is the core handler to perform the event routing and TM handling as specified
     // in the sat-rs documentation.
-    let mut event_handler = EventHandler::new(tm_funnel_tx.clone(), event_rx, event_request_rx);
+    let mut event_handler = EventHandler::new(tm_sink_tx.clone(), event_rx, event_request_rx);
 
     let (pus_test_tx, pus_test_rx) = mpsc::channel();
     let (pus_event_tx, pus_event_rx) = mpsc::channel();
@@ -107,39 +107,39 @@ fn static_tmtc_pool_main() {
         mode_tc_sender: pus_mode_tx,
     };
     let pus_test_service = create_test_service_static(
-        tm_funnel_tx_sender.clone(),
+        tm_sink_tx_sender.clone(),
         shared_tc_pool.clone(),
         event_tx.clone(),
         pus_test_rx,
     );
     let pus_scheduler_service = create_scheduler_service_static(
-        tm_funnel_tx_sender.clone(),
+        tm_sink_tx_sender.clone(),
         tc_source.clone(),
         pus_sched_rx,
         create_sched_tc_pool(),
     );
     let pus_event_service = create_event_service_static(
-        tm_funnel_tx_sender.clone(),
+        tm_sink_tx_sender.clone(),
         shared_tc_pool.clone(),
         pus_event_rx,
         event_request_tx,
     );
     let pus_action_service = create_action_service_static(
-        tm_funnel_tx_sender.clone(),
+        tm_sink_tx_sender.clone(),
         shared_tc_pool.clone(),
         pus_action_rx,
         request_map.clone(),
         pus_action_reply_rx,
     );
     let pus_hk_service = create_hk_service_static(
-        tm_funnel_tx_sender.clone(),
+        tm_sink_tx_sender.clone(),
         shared_tc_pool.clone(),
         pus_hk_rx,
         request_map.clone(),
         pus_hk_reply_rx,
     );
     let pus_mode_service = create_mode_service_static(
-        tm_funnel_tx_sender.clone(),
+        tm_sink_tx_sender.clone(),
         shared_tc_pool.clone(),
         pus_mode_rx,
         request_map,
@@ -157,7 +157,7 @@ fn static_tmtc_pool_main() {
     let mut tmtc_task = TcSourceTaskStatic::new(
         shared_tc_pool_wrapper.clone(),
         tc_source_rx,
-        PusTcDistributor::new(tm_funnel_tx_sender, pus_router),
+        PusTcDistributor::new(tm_sink_tx_sender, pus_router),
     );
 
     let sock_addr = SocketAddr::new(IpAddr::V4(OBSW_SERVER_ADDR), SERVER_PORT);
@@ -187,10 +187,10 @@ fn static_tmtc_pool_main() {
     )
     .expect("tcp server creation failed");
 
-    let mut tm_funnel = TmFunnelStatic::new(
+    let mut tm_sink = TmSinkStatic::new(
         shared_tm_pool_wrapper,
         sync_tm_tcp_source,
-        tm_funnel_rx,
+        tm_sink_rx,
         tm_server_tx,
     );
 
@@ -210,7 +210,7 @@ fn static_tmtc_pool_main() {
         mode_leaf_interface,
         mgm_handler_composite_rx,
         pus_hk_reply_tx,
-        tm_funnel_tx,
+        tm_sink_tx,
         dummy_spi_interface,
         shared_mgm_set,
     );
@@ -241,9 +241,9 @@ fn static_tmtc_pool_main() {
 
     info!("Starting TM funnel task");
     let jh_tm_funnel = thread::Builder::new()
-        .name("TM Funnel".to_string())
+        .name("tm sink".to_string())
         .spawn(move || loop {
-            tm_funnel.operation();
+            tm_sink.operation();
         })
         .unwrap();
 
@@ -410,7 +410,7 @@ fn dyn_tmtc_pool_main() {
     )
     .expect("tcp server creation failed");
 
-    let mut tm_funnel = TmFunnelDynamic::new(sync_tm_tcp_source, tm_funnel_rx, tm_server_tx);
+    let mut tm_funnel = TmSinkDynamic::new(sync_tm_tcp_source, tm_funnel_rx, tm_server_tx);
 
     let (mgm_handler_mode_reply_to_parent_tx, _mgm_handler_mode_reply_to_parent_rx) =
         mpsc::channel();

satrs-example/src/tmtc/tm_sink.rs

@@ -70,18 +70,23 @@ impl TmFunnelCommon {
     }
 
     fn packet_printout(tm: &PusTmZeroCopyWriter) {
-        info!("Sending PUS TM[{},{}]", tm.service(), tm.subservice());
+        info!(
+            "Sending PUS TM[{},{}] with APID {}",
+            tm.service(),
+            tm.subservice(),
+            tm.apid()
+        );
     }
 }
 
-pub struct TmFunnelStatic {
+pub struct TmSinkStatic {
     common: TmFunnelCommon,
     shared_tm_store: SharedPacketPool,
     tm_funnel_rx: mpsc::Receiver<PacketInPool>,
     tm_server_tx: mpsc::SyncSender<PacketInPool>,
 }
 
-impl TmFunnelStatic {
+impl TmSinkStatic {
     pub fn new(
         shared_tm_store: SharedPacketPool,
         sync_tm_tcp_source: SyncTcpTmSource,
@@ -121,13 +126,13 @@ impl TmFunnelStatic {
     }
 }
 
-pub struct TmFunnelDynamic {
+pub struct TmSinkDynamic {
     common: TmFunnelCommon,
     tm_funnel_rx: mpsc::Receiver<PacketAsVec>,
     tm_server_tx: mpsc::Sender<PacketAsVec>,
 }
 
-impl TmFunnelDynamic {
+impl TmSinkDynamic {
     pub fn new(
         sync_tm_tcp_source: SyncTcpTmSource,
         tm_funnel_rx: mpsc::Receiver<PacketAsVec>,

satrs/src/pus/event_man.rs

@@ -28,7 +28,7 @@ pub use heapless_mod::*;
 /// structure to track disabled events. A more primitive and embedded friendly
 /// solution could track this information in a static or pre-allocated list which contains
 /// the disabled events.
-pub trait PusEventMgmtBackendProvider<Event: GenericEvent> {
+pub trait PusEventReportingMap<Event: GenericEvent> {
     type Error;
 
     fn event_enabled(&self, event: &Event) -> bool;
@@ -56,7 +56,7 @@ pub mod heapless_mod {
     {
     }
 
-    impl<const N: usize, Provider: GenericEvent> PusEventMgmtBackendProvider<Provider>
+    impl<const N: usize, Provider: GenericEvent> PusEventReportingMap<Provider>
         for HeaplessPusMgmtBackendProvider<N, Provider>
     {
         type Error = ();
@@ -105,7 +105,10 @@ impl From<EcssTmtcError> for EventManError {
 pub mod alloc_mod {
     use core::marker::PhantomData;
 
-    use crate::events::EventU16;
+    use crate::{
+        events::EventU16,
+        pus::event::{DummyEventHook, EventTmHookProvider},
+    };
 
     use super::*;
 
@@ -114,11 +117,11 @@ pub mod alloc_mod {
     ///
     /// This provider is a good option for host systems or larger embedded systems where
     /// the expected occasional memory allocation performed by the [HashSet] is not an issue.
-    pub struct DefaultPusEventMgmtBackend<Event: GenericEvent = EventU32> {
+    pub struct DefaultPusEventReportingMap<Event: GenericEvent = EventU32> {
         disabled: HashSet<Event>,
     }
 
-    impl<Event: GenericEvent> Default for DefaultPusEventMgmtBackend<Event> {
+    impl<Event: GenericEvent> Default for DefaultPusEventReportingMap<Event> {
         fn default() -> Self {
             Self {
                 disabled: HashSet::default(),
@@ -126,51 +129,54 @@ pub mod alloc_mod {
         }
     }
 
-    impl<EV: GenericEvent + PartialEq + Eq + Hash + Copy + Clone> PusEventMgmtBackendProvider<EV>
+    impl<Event: GenericEvent + PartialEq + Eq + Hash + Copy + Clone> PusEventReportingMap<Event>
-        for DefaultPusEventMgmtBackend<EV>
+        for DefaultPusEventReportingMap<Event>
     {
         type Error = ();
 
-        fn event_enabled(&self, event: &EV) -> bool {
+        fn event_enabled(&self, event: &Event) -> bool {
             !self.disabled.contains(event)
         }
 
-        fn enable_event_reporting(&mut self, event: &EV) -> Result<bool, Self::Error> {
+        fn enable_event_reporting(&mut self, event: &Event) -> Result<bool, Self::Error> {
             Ok(self.disabled.remove(event))
         }
 
-        fn disable_event_reporting(&mut self, event: &EV) -> Result<bool, Self::Error> {
+        fn disable_event_reporting(&mut self, event: &Event) -> Result<bool, Self::Error> {
             Ok(self.disabled.insert(*event))
         }
     }
 
-    pub struct PusEventDispatcher<
+    pub struct PusEventTmCreatorWithMap<
-        B: PusEventMgmtBackendProvider<EV, Error = E>,
+        ReportingMap: PusEventReportingMap<Event>,
-        EV: GenericEvent,
+        Event: GenericEvent,
-        E,
+        EventTmHook: EventTmHookProvider = DummyEventHook,
     > {
-        reporter: EventReporter,
+        pub reporter: EventReporter<EventTmHook>,
-        backend: B,
+        reporting_map: ReportingMap,
-        phantom: PhantomData<(E, EV)>,
+        phantom: PhantomData<Event>,
     }
 
-    impl<B: PusEventMgmtBackendProvider<Event, Error = E>, Event: GenericEvent, E>
+    impl<
-        PusEventDispatcher<B, Event, E>
+            ReportingMap: PusEventReportingMap<Event>,
+            Event: GenericEvent,
+            EventTmHook: EventTmHookProvider,
+        > PusEventTmCreatorWithMap<ReportingMap, Event, EventTmHook>
     {
-        pub fn new(reporter: EventReporter, backend: B) -> Self {
+        pub fn new(reporter: EventReporter<EventTmHook>, backend: ReportingMap) -> Self {
             Self {
                 reporter,
-                backend,
+                reporting_map: backend,
                 phantom: PhantomData,
             }
         }
 
-        pub fn enable_tm_for_event(&mut self, event: &Event) -> Result<bool, E> {
+        pub fn enable_tm_for_event(&mut self, event: &Event) -> Result<bool, ReportingMap::Error> {
-            self.backend.enable_event_reporting(event)
+            self.reporting_map.enable_event_reporting(event)
         }
 
-        pub fn disable_tm_for_event(&mut self, event: &Event) -> Result<bool, E> {
+        pub fn disable_tm_for_event(&mut self, event: &Event) -> Result<bool, ReportingMap::Error> {
-            self.backend.disable_event_reporting(event)
+            self.reporting_map.disable_event_reporting(event)
         }
 
         pub fn generate_pus_event_tm_generic(
@@ -180,7 +186,7 @@ pub mod alloc_mod {
             event: Event,
             params: Option<&[u8]>,
         ) -> Result<bool, EventManError> {
-            if !self.backend.event_enabled(&event) {
+            if !self.reporting_map.event_enabled(&event) {
                 return Ok(false);
             }
             match event.severity() {
@@ -208,31 +214,33 @@ pub mod alloc_mod {
         }
     }
 
-    impl<EV: GenericEvent + Copy + PartialEq + Eq + Hash>
+    impl<Event: GenericEvent + Copy + PartialEq + Eq + Hash, EventTmHook: EventTmHookProvider>
-        PusEventDispatcher<DefaultPusEventMgmtBackend<EV>, EV, ()>
+        PusEventTmCreatorWithMap<DefaultPusEventReportingMap<Event>, Event, EventTmHook>
     {
-        pub fn new_with_default_backend(reporter: EventReporter) -> Self {
+        pub fn new_with_default_backend(reporter: EventReporter<EventTmHook>) -> Self {
             Self {
                 reporter,
-                backend: DefaultPusEventMgmtBackend::default(),
+                reporting_map: DefaultPusEventReportingMap::default(),
                 phantom: PhantomData,
             }
         }
     }
 
-    impl<B: PusEventMgmtBackendProvider<EventU32, Error = E>, E> PusEventDispatcher<B, EventU32, E> {
+    impl<ReportingMap: PusEventReportingMap<EventU32>>
+        PusEventTmCreatorWithMap<ReportingMap, EventU32>
+    {
         pub fn enable_tm_for_event_with_sev<Severity: HasSeverity>(
             &mut self,
             event: &EventU32TypedSev<Severity>,
-        ) -> Result<bool, E> {
+        ) -> Result<bool, ReportingMap::Error> {
-            self.backend.enable_event_reporting(event.as_ref())
+            self.reporting_map.enable_event_reporting(event.as_ref())
         }
 
         pub fn disable_tm_for_event_with_sev<Severity: HasSeverity>(
             &mut self,
             event: &EventU32TypedSev<Severity>,
-        ) -> Result<bool, E> {
+        ) -> Result<bool, ReportingMap::Error> {
-            self.backend.disable_event_reporting(event.as_ref())
+            self.reporting_map.disable_event_reporting(event.as_ref())
         }
 
         pub fn generate_pus_event_tm<Severity: HasSeverity>(
@@ -246,10 +254,10 @@ pub mod alloc_mod {
         }
     }
 
-    pub type DefaultPusEventU16Dispatcher<E> =
+    pub type DefaultPusEventU16TmCreator<EventTmHook = DummyEventHook> =
-        PusEventDispatcher<DefaultPusEventMgmtBackend<EventU16>, EventU16, E>;
+        PusEventTmCreatorWithMap<DefaultPusEventReportingMap<EventU16>, EventU16, EventTmHook>;
-    pub type DefaultPusEventU32Dispatcher<E> =
+    pub type DefaultPusEventU32TmCreator<EventTmHook = DummyEventHook> =
-        PusEventDispatcher<DefaultPusEventMgmtBackend<EventU32>, EventU32, E>;
+        PusEventTmCreatorWithMap<DefaultPusEventReportingMap<EventU32>, EventU32, EventTmHook>;
 }
 #[cfg(test)]
 mod tests {
@@ -265,16 +273,16 @@ mod tests {
     const TEST_APID: u16 = 0x02;
     const TEST_ID: UniqueApidTargetId = UniqueApidTargetId::new(TEST_APID, 0x05);
 
-    fn create_basic_man_1() -> DefaultPusEventU32Dispatcher<()> {
+    fn create_basic_man_1() -> DefaultPusEventU32TmCreator {
         let reporter = EventReporter::new(TEST_ID.raw(), TEST_APID, 0, 128)
             .expect("Creating event repoter failed");
-        PusEventDispatcher::new_with_default_backend(reporter)
+        PusEventTmCreatorWithMap::new_with_default_backend(reporter)
     }
-    fn create_basic_man_2() -> DefaultPusEventU32Dispatcher<()> {
+    fn create_basic_man_2() -> DefaultPusEventU32TmCreator {
         let reporter = EventReporter::new(TEST_ID.raw(), TEST_APID, 0, 128)
             .expect("Creating event repoter failed");
-        let backend = DefaultPusEventMgmtBackend::default();
+        let backend = DefaultPusEventReportingMap::default();
-        PusEventDispatcher::new(reporter, backend)
+        PusEventTmCreatorWithMap::new(reporter, backend)
     }
 
     #[test]