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re-worked TMTC modules

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This commit is contained in:
Robin Müller
2024-04-13 15:08:08 +02:00
parent 39ab9fa27b
commit cecf9c263e
23 changed files with 558 additions and 1297 deletions

5
satrs/CHANGELOG.md

@ -28,6 +28,8 @@ and this project adheres to [Semantic Versioning](http://semver.org/).
## Changed
- Renamed `ReceivesTcCore` to `ReceivesTc`.
- Renamed `TmPacketSourceCore` to `TmPacketSource`.
- TCP server generics order. The error generics come last now.
- `encoding::ccsds::PacketIdValidator` renamed to `ValidatorU16Id`, which lives in the crate root.
It can be used for both CCSDS packet ID and CCSDS APID validation.
@ -76,6 +78,9 @@ and this project adheres to [Semantic Versioning](http://semver.org/).
## Removed
- Remove `objects` module.
- Removed CCSDS and PUS distributor modules. Their worth is questionable in an architecture
where routing traits are sufficient and the core logic to demultiplex and distribute packets
is simple enough to be application code.
# [v0.2.0-rc.0] 2024-02-21

10
satrs/src/encoding/ccsds.rs

@ -1,8 +1,8 @@
use crate::{tmtc::ReceivesTcCore, ValidatorU16Id};
use crate::{tmtc::ReceivesTc, ValidatorU16Id};
/// This function parses a given buffer for tightly packed CCSDS space packets. It uses the
/// [PacketId] field of the CCSDS packets to detect the start of a CCSDS space packet and then
/// uses the length field of the packet to extract CCSDS packets.
/// [spacepackets::PacketId] field of the CCSDS packets to detect the start of a CCSDS space packet
/// and then uses the length field of the packet to extract CCSDS packets.
///
/// This function is also able to deal with broken tail packets at the end as long a the parser
/// can read the full 7 bytes which constitue a space packet header plus one byte minimal size.
@ -10,12 +10,12 @@ use crate::{tmtc::ReceivesTcCore, ValidatorU16Id};
/// index for future write operations will be written to the `next_write_idx` argument.
///
/// The parser will write all packets which were decoded successfully to the given `tc_receiver`
/// and return the number of packets found. If the [ReceivesTcCore::pass_tc] calls fails, the
/// and return the number of packets found. If the [ReceivesTc::pass_tc] calls fails, the
/// error will be returned.
pub fn parse_buffer_for_ccsds_space_packets<E>(
buf: &mut [u8],
packet_id_validator: &(impl ValidatorU16Id + ?Sized),
tc_receiver: &mut (impl ReceivesTcCore<Error = E> + ?Sized),
tc_receiver: &mut (impl ReceivesTc<Error = E> + ?Sized),
next_write_idx: &mut usize,
) -> Result<u32, E> {
*next_write_idx = 0;

4
satrs/src/encoding/cobs.rs

@ -1,4 +1,4 @@
use crate::tmtc::ReceivesTcCore;
use crate::tmtc::ReceivesTc;
use cobs::{decode_in_place, encode, max_encoding_length};
/// This function encodes the given packet with COBS and also wraps the encoded packet with
@ -57,7 +57,7 @@ pub fn encode_packet_with_cobs(
/// The parser will write all packets which were decoded successfully to the given `tc_receiver`.
pub fn parse_buffer_for_cobs_encoded_packets<E>(
buf: &mut [u8],
tc_receiver: &mut dyn ReceivesTcCore<Error = E>,
tc_receiver: &mut (impl ReceivesTc<Error = E> + ?Sized),
next_write_idx: &mut usize,
) -> Result<u32, E> {
let mut start_index_packet = 0;

4
satrs/src/encoding/mod.rs

@ -8,7 +8,7 @@ pub use crate::encoding::cobs::{encode_packet_with_cobs, parse_buffer_for_cobs_e
pub(crate) mod tests {
use alloc::{collections::VecDeque, vec::Vec};
use crate::tmtc::ReceivesTcCore;
use crate::tmtc::ReceivesTc;
use super::cobs::encode_packet_with_cobs;
@ -20,7 +20,7 @@ pub(crate) mod tests {
pub(crate) tc_queue: VecDeque<Vec<u8>>,
}
impl ReceivesTcCore for TcCacher {
impl ReceivesTc for TcCacher {
type Error = ();
fn pass_tc(&mut self, tc_raw: &[u8]) -> Result<(), Self::Error> {

2
satrs/src/hal/std/tcp_cobs_server.rs

@ -35,7 +35,7 @@ impl<TmError, TcError: 'static> TcpTcParser<TmError, TcError> for CobsTcParser {
) -> Result<(), TcpTmtcError<TmError, TcError>> {
conn_result.num_received_tcs += parse_buffer_for_cobs_encoded_packets(
&mut tc_buffer[..current_write_idx],
tc_receiver.upcast_mut(),
tc_receiver,
next_write_idx,
)
.map_err(|e| TcpTmtcError::TcError(e))?;

10
satrs/src/hal/std/tcp_server.rs

@ -178,8 +178,8 @@ pub struct TcpTmtcGenericServer<
pub(crate) tc_buffer: Vec<u8>,
poll: Poll,
events: Events,
tc_handler: TcParser,
tm_handler: TmSender,
pub tc_handler: TcParser,
pub tm_handler: TmSender,
stop_signal: Option<Arc<AtomicBool>>,
}
@ -424,7 +424,7 @@ pub(crate) mod tests {
use alloc::{collections::VecDeque, sync::Arc, vec::Vec};
use crate::tmtc::{ReceivesTcCore, TmPacketSourceCore};
use crate::tmtc::{ReceivesTc, TmPacketSource};
use super::*;
@ -432,7 +432,7 @@ pub(crate) mod tests {
pub(crate) struct SyncTcCacher {
pub(crate) tc_queue: Arc<Mutex<VecDeque<Vec<u8>>>>,
}
impl ReceivesTcCore for SyncTcCacher {
impl ReceivesTc for SyncTcCacher {
type Error = ();
fn pass_tc(&mut self, tc_raw: &[u8]) -> Result<(), Self::Error> {
@ -454,7 +454,7 @@ pub(crate) mod tests {
}
}
impl TmPacketSourceCore for SyncTmSource {
impl TmPacketSource for SyncTmSource {
type Error = ();
fn retrieve_packet(&mut self, buffer: &mut [u8]) -> Result<usize, Self::Error> {

10
satrs/src/hal/std/tcp_spacepackets_server.rs

@ -41,7 +41,7 @@ impl<PacketIdChecker: ValidatorU16Id, TmError, TcError: 'static> TcpTcParser<TmE
conn_result.num_received_tcs += parse_buffer_for_ccsds_space_packets(
&mut tc_buffer[..current_write_idx],
&self.packet_id_lookup,
tc_receiver.upcast_mut(),
tc_receiver,
next_write_idx,
)
.map_err(|e| TcpTmtcError::TcError(e))?;
@ -94,20 +94,20 @@ impl<TmError, TcError> TcpTmSender<TmError, TcError> for SpacepacketsTmSender {
/// also serves as the example application for this module.
pub struct TcpSpacepacketsServer<
TmSource: TmPacketSource<Error = TmError>,
TcReceiver: ReceivesTc<Error = TcError>,
TcSender: ReceivesTc<Error = SendError>,
PacketIdChecker: ValidatorU16Id,
HandledConnection: HandledConnectionHandler,
TmError,
TcError: 'static,
SendError: 'static,
> {
pub generic_server: TcpTmtcGenericServer<
TmSource,
TcReceiver,
TcSender,
SpacepacketsTmSender,
SpacepacketsTcParser<PacketIdChecker>,
HandledConnection,
TmError,
TcError,
SendError,
>,
}

92
satrs/src/hal/std/udp_server.rs

@ -1,7 +1,7 @@
//! Generic UDP TC server.
use crate::tmtc::{ReceivesTc, ReceivesTcCore};
use std::boxed::Box;
use std::io::{Error, ErrorKind};
use crate::tmtc::ReceivesTc;
use core::fmt::Debug;
use std::io::{self, ErrorKind};
use std::net::{SocketAddr, ToSocketAddrs, UdpSocket};
use std::vec;
use std::vec::Vec;
@ -11,9 +11,10 @@ use std::vec::Vec;
///
/// It caches all received telecomands into a vector. The maximum expected telecommand size should
/// be declared upfront. This avoids dynamic allocation during run-time. The user can specify a TC
/// receiver in form of a special trait object which implements [ReceivesTc]. Please note that the
/// sender in form of a special trait object which implements [ReceivesTc]. For example, this can
/// be used to send the telecommands to a centralized TC source. Please note that the
/// receiver should copy out the received data if it the data is required past the
/// [ReceivesTcCore::pass_tc] call.
/// [ReceivesTc::pass_tc] call and no message passing is used to process the packet.
///
/// # Examples
///
@ -21,13 +22,13 @@ use std::vec::Vec;
/// use std::net::{IpAddr, Ipv4Addr, SocketAddr, UdpSocket};
/// use spacepackets::ecss::WritablePusPacket;
/// use satrs::hal::std::udp_server::UdpTcServer;
/// use satrs::tmtc::{ReceivesTc, ReceivesTcCore};
/// use satrs::tmtc::ReceivesTc;
/// use spacepackets::SpHeader;
/// use spacepackets::ecss::tc::PusTcCreator;
///
/// #[derive (Default)]
/// struct PingReceiver {}
/// impl ReceivesTcCore for PingReceiver {
/// impl ReceivesTc for PingReceiver {
/// type Error = ();
/// fn pass_tc(&mut self, tc_raw: &[u8]) -> Result<(), Self::Error> {
/// assert_eq!(tc_raw.len(), 13);
@ -38,7 +39,7 @@ use std::vec::Vec;
/// 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))
/// let mut udp_tc_server = UdpTcServer::new(dest_addr, 2048, ping_receiver)
/// .expect("Creating UDP TMTC server failed");
/// let sph = SpHeader::new_from_apid(0x02);
/// let pus_tc = PusTcCreator::new_simple(sph, 17, 1, &[], true);
@ -57,65 +58,42 @@ use std::vec::Vec;
/// [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> {
pub struct UdpTcServer<TcSender: ReceivesTc<Error = SendError>, SendError> {
pub socket: UdpSocket,
recv_buf: Vec<u8>,
sender_addr: Option<SocketAddr>,
tc_receiver: Box<dyn ReceivesTc<Error = E>>,
pub tc_sender: TcSender,
}
#[derive(Debug)]
pub enum ReceiveResult<E> {
#[derive(Debug, thiserror::Error)]
pub enum ReceiveResult<SendError: Debug + 'static> {
#[error("nothing was received")]
NothingReceived,
IoError(Error),
ReceiverError(E),
#[error(transparent)]
Io(#[from] io::Error),
#[error(transparent)]
Send(SendError),
}
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> ReceivesTcCore for UdpTcServer<E> {
type Error = E;
fn pass_tc(&mut self, tc_raw: &[u8]) -> Result<(), Self::Error> {
self.tc_receiver.pass_tc(tc_raw)
}
}
impl<E: 'static> UdpTcServer<E> {
impl<TcSender: ReceivesTc<Error = SendError>, SendError: Debug + 'static>
UdpTcServer<TcSender, SendError>
{
pub fn new<A: ToSocketAddrs>(
addr: A,
max_recv_size: usize,
tc_receiver: Box<dyn ReceivesTc<Error = E>>,
) -> Result<Self, Error> {
tc_sender: TcSender,
) -> Result<Self, io::Error> {
let server = Self {
socket: UdpSocket::bind(addr)?,
recv_buf: vec![0; max_recv_size],
sender_addr: None,
tc_receiver,
tc_sender,
};
server.socket.set_nonblocking(true)?;
Ok(server)
}
pub fn try_recv_tc(&mut self) -> Result<(usize, SocketAddr), ReceiveResult<E>> {
pub fn try_recv_tc(&mut self) -> Result<(usize, SocketAddr), ReceiveResult<SendError>> {
let res = match self.socket.recv_from(&mut self.recv_buf) {
Ok(res) => res,
Err(e) => {
@ -128,9 +106,9 @@ impl<E: 'static> UdpTcServer<E> {
};
let (num_bytes, from) = res;
self.sender_addr = Some(from);
self.tc_receiver
self.tc_sender
.pass_tc(&self.recv_buf[0..num_bytes])
.map_err(|e| ReceiveResult::ReceiverError(e))?;
.map_err(ReceiveResult::Send)?;
Ok(res)
}
@ -142,11 +120,11 @@ impl<E: 'static> UdpTcServer<E> {
#[cfg(test)]
mod tests {
use crate::hal::std::udp_server::{ReceiveResult, UdpTcServer};
use crate::tmtc::ReceivesTcCore;
use crate::queue::GenericSendError;
use crate::tmtc::ReceivesTc;
use spacepackets::ecss::tc::PusTcCreator;
use spacepackets::ecss::WritablePusPacket;
use spacepackets::SpHeader;
use std::boxed::Box;
use std::collections::VecDeque;
use std::net::{IpAddr, Ipv4Addr, SocketAddr, UdpSocket};
use std::vec::Vec;
@ -158,8 +136,8 @@ mod tests {
pub sent_cmds: VecDeque<Vec<u8>>,
}
impl ReceivesTcCore for PingReceiver {
type Error = ();
impl ReceivesTc for PingReceiver {
type Error = GenericSendError;
fn pass_tc(&mut self, tc_raw: &[u8]) -> Result<(), Self::Error> {
let mut sent_data = Vec::new();
@ -175,7 +153,7 @@ mod tests {
let dest_addr = SocketAddr::new(IpAddr::V4(Ipv4Addr::new(127, 0, 0, 1)), 7777);
let ping_receiver = PingReceiver::default();
is_send(&ping_receiver);
let mut udp_tc_server = UdpTcServer::new(dest_addr, 2048, Box::new(ping_receiver))
let mut udp_tc_server = UdpTcServer::new(dest_addr, 2048, ping_receiver)
.expect("Creating UDP TMTC server failed");
is_send(&udp_tc_server);
let sph = SpHeader::new_from_apid(0x02);
@ -195,7 +173,7 @@ mod tests {
udp_tc_server.last_sender().expect("No sender set"),
local_addr
);
let ping_receiver: &mut PingReceiver = udp_tc_server.tc_receiver.downcast_mut().unwrap();
let ping_receiver = &mut udp_tc_server.tc_sender;
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]);
@ -205,11 +183,11 @@ mod tests {
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))
let mut udp_tc_server = UdpTcServer::new(dest_addr, 2048, 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);
matches!(err, ReceiveResult::NothingReceived);
}
}

8
satrs/src/pus/mod.rs

@ -273,12 +273,8 @@ pub trait EcssTcReceiverCore {
fn recv_tc(&self) -> Result<EcssTcAndToken, TryRecvTmtcError>;
}
/// Generic trait for objects which can receive ECSS PUS telecommands. This trait is
/// implemented by the [crate::tmtc::pus_distrib::PusDistributor] objects to allow passing PUS TC
/// packets into it. It is generally assumed that the telecommand is stored in some pool structure,
/// and the store address is passed as well. This allows efficient zero-copy forwarding of
/// telecommands.
pub trait ReceivesEcssPusTc {
/// Generic trait for objects which can receive ECSS PUS telecommands.
pub trait ReceivesEcssPusTc: Send {
type Error;
fn pass_pus_tc(&mut self, header: &SpHeader, pus_tc: &PusTcReader) -> Result<(), Self::Error>;
}

403
satrs/src/tmtc/ccsds_distrib.rs

@ -1,403 +0,0 @@
//! CCSDS packet routing components.
//!
//! The routing components consist of two core components:
//! 1. [CcsdsDistributor] component which dispatches received packets to a user-provided handler
//! 2. [CcsdsPacketHandler] trait which should be implemented by the user-provided packet handler.
//!
//! The [CcsdsDistributor] implements the [ReceivesCcsdsTc] and [ReceivesTcCore] trait which allows to
//! 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
//! respective CCSDS space packet header field. If that process fails, a [ByteConversionError] is
//! returned to the user
//! 2. If a valid APID is found and matches one of the APIDs provided by
//! [CcsdsPacketHandler::valid_apids], it will pass the packet to the user provided
//! [CcsdsPacketHandler::handle_known_apid] function. If no valid APID is found, the packet
//! will be passed to the [CcsdsPacketHandler::handle_unknown_apid] function.
//!
//! # Example
//!
//! ```rust
//! use satrs::ValidatorU16Id;
//! use satrs::tmtc::ccsds_distrib::{CcsdsPacketHandler, CcsdsDistributor};
//! use satrs::tmtc::{ReceivesTc, ReceivesTcCore};
//! use spacepackets::{CcsdsPacket, SpHeader};
//! use spacepackets::ecss::WritablePusPacket;
//! use spacepackets::ecss::tc::PusTcCreator;
//!
//! #[derive (Default)]
//! struct ConcreteApidHandler {
//! known_call_count: u32,
//! unknown_call_count: u32
//! }
//!
//! impl ConcreteApidHandler {
//! fn mutable_foo(&mut self) {}
//! }
//!
//! impl ValidatorU16Id for ConcreteApidHandler {
//! fn validate(&self, apid: u16) -> bool { apid == 0x0002 }
//! }
//!
//! impl CcsdsPacketHandler for ConcreteApidHandler {
//! type Error = ();
//! fn handle_packet_with_valid_apid(&mut self, sp_header: &SpHeader, tc_raw: &[u8]) -> Result<(), Self::Error> {
//! assert_eq!(sp_header.apid(), 0x002);
//! assert_eq!(tc_raw.len(), 13);
//! self.known_call_count += 1;
//! Ok(())
//! }
//! fn handle_packet_with_unknown_apid(&mut self, sp_header: &SpHeader, tc_raw: &[u8]) -> Result<(), Self::Error> {
//! assert_eq!(sp_header.apid(), 0x003);
//! assert_eq!(tc_raw.len(), 13);
//! self.unknown_call_count += 1;
//! Ok(())
//! }
//! }
//!
//! let apid_handler = ConcreteApidHandler::default();
//! let mut ccsds_distributor = CcsdsDistributor::new(apid_handler);
//!
//! // Create and pass PUS telecommand with a valid APID
//! let sp_header = SpHeader::new_for_unseg_tc(0x002, 0x34, 0);
//! let mut pus_tc = PusTcCreator::new_simple(sp_header, 17, 1, &[], true);
//! let mut test_buf: [u8; 32] = [0; 32];
//! let mut size = pus_tc
//! .write_to_bytes(test_buf.as_mut_slice())
//! .expect("Error writing TC to buffer");
//! let tc_slice = &test_buf[0..size];
//! ccsds_distributor.pass_tc(&tc_slice).expect("Passing TC slice failed");
//!
//! // Now pass a packet with an unknown APID to the distributor
//! pus_tc.set_apid(0x003);
//! size = pus_tc
//! .write_to_bytes(test_buf.as_mut_slice())
//! .expect("Error writing TC to buffer");
//! let tc_slice = &test_buf[0..size];
//! ccsds_distributor.pass_tc(&tc_slice).expect("Passing TC slice failed");
//!
//! // Retrieve the APID handler.
//! let handler_ref = ccsds_distributor.packet_handler();
//! assert_eq!(handler_ref.known_call_count, 1);
//! assert_eq!(handler_ref.unknown_call_count, 1);
//!
//! // Mutable access to the handler.
//! let mutable_handler_ref = ccsds_distributor.packet_handler_mut();
//! mutable_handler_ref.mutable_foo();
//! ```
use crate::{
tmtc::{ReceivesCcsdsTc, ReceivesTcCore},
ValidatorU16Id,
};
use core::fmt::{Display, Formatter};
use spacepackets::{ByteConversionError, CcsdsPacket, SpHeader};
#[cfg(feature = "std")]
use std::error::Error;
/// Generic trait for a handler or dispatcher object handling CCSDS packets.
///
/// Users should implement this trait on their custom CCSDS packet handler and then pass a boxed
/// instance of this handler to the [CcsdsDistributor]. The distributor will use the trait
/// interface to dispatch received packets to the user based on the Application Process Identifier
/// (APID) field of the CCSDS packet. The APID will be checked using the generic [ValidatorU16Id]
/// trait.
pub trait CcsdsPacketHandler: ValidatorU16Id {
type Error;
fn handle_packet_with_valid_apid(
&mut self,
sp_header: &SpHeader,
tc_raw: &[u8],
) -> Result<(), Self::Error>;
fn handle_packet_with_unknown_apid(
&mut self,
sp_header: &SpHeader,
tc_raw: &[u8],
) -> Result<(), Self::Error>;
}
/// The CCSDS distributor dispatches received CCSDS packets to a user provided packet handler.
pub struct CcsdsDistributor<PacketHandler: CcsdsPacketHandler<Error = E>, E> {
/// User provided APID handler stored as a generic trait object.
/// It can be cast back to the original concrete type using [Self::packet_handler] or
/// the [Self::packet_handler_mut] method.
packet_handler: PacketHandler,
}
#[derive(Debug, Copy, Clone, PartialEq, Eq)]
pub enum CcsdsError<E> {
CustomError(E),
ByteConversionError(ByteConversionError),
}
impl<E: Display> Display for CcsdsError<E> {
fn fmt(&self, f: &mut Formatter<'_>) -> core::fmt::Result {
match self {
Self::CustomError(e) => write!(f, "{e}"),
Self::ByteConversionError(e) => write!(f, "{e}"),
}
}
}
#[cfg(feature = "std")]
impl<E: Error> Error for CcsdsError<E> {
fn source(&self) -> Option<&(dyn Error + 'static)> {
match self {
Self::CustomError(e) => e.source(),
Self::ByteConversionError(e) => e.source(),
}
}
}
impl<PacketHandler: CcsdsPacketHandler<Error = E>, E: 'static> ReceivesCcsdsTc
for CcsdsDistributor<PacketHandler, E>
{
type Error = CcsdsError<E>;
fn pass_ccsds(&mut self, header: &SpHeader, tc_raw: &[u8]) -> Result<(), Self::Error> {
self.dispatch_ccsds(header, tc_raw)
}
}
impl<PacketHandler: CcsdsPacketHandler<Error = E>, E: 'static> ReceivesTcCore
for CcsdsDistributor<PacketHandler, E>
{
type Error = CcsdsError<E>;
fn pass_tc(&mut self, tc_raw: &[u8]) -> Result<(), Self::Error> {
if tc_raw.len() < 7 {
return Err(CcsdsError::ByteConversionError(
ByteConversionError::FromSliceTooSmall {
found: tc_raw.len(),
expected: 7,
},
));
}
let (sp_header, _) =
SpHeader::from_be_bytes(tc_raw).map_err(|e| CcsdsError::ByteConversionError(e))?;
self.dispatch_ccsds(&sp_header, tc_raw)
}
}
impl<PacketHandler: CcsdsPacketHandler<Error = E>, E: 'static> CcsdsDistributor<PacketHandler, E> {
pub fn new(packet_handler: PacketHandler) -> Self {
CcsdsDistributor { packet_handler }
}
pub fn packet_handler(&self) -> &PacketHandler {
&self.packet_handler
}
pub fn packet_handler_mut(&mut self) -> &mut PacketHandler {
&mut self.packet_handler
}
fn dispatch_ccsds(&mut self, sp_header: &SpHeader, tc_raw: &[u8]) -> Result<(), CcsdsError<E>> {
let valid_apid = self.packet_handler().validate(sp_header.apid());
if valid_apid {
self.packet_handler
.handle_packet_with_valid_apid(sp_header, tc_raw)
.map_err(|e| CcsdsError::CustomError(e))?;
return Ok(());
}
self.packet_handler
.handle_packet_with_unknown_apid(sp_header, tc_raw)
.map_err(|e| CcsdsError::CustomError(e))
}
}
#[cfg(test)]
pub(crate) mod tests {
use super::*;
use crate::tmtc::ccsds_distrib::{CcsdsDistributor, CcsdsPacketHandler};
use spacepackets::ecss::tc::PusTcCreator;
use spacepackets::ecss::WritablePusPacket;
use spacepackets::CcsdsPacket;
use std::collections::VecDeque;
use std::sync::{Arc, Mutex};
use std::vec::Vec;
fn is_send<T: Send>(_: &T) {}
pub fn generate_ping_tc(buf: &mut [u8]) -> &[u8] {
let sph = SpHeader::new_for_unseg_tc(0x002, 0x34, 0);
let pus_tc = PusTcCreator::new_simple(sph, 17, 1, &[], true);
let size = pus_tc
.write_to_bytes(buf)
.expect("Error writing TC to buffer");
assert_eq!(size, 13);
&buf[0..size]
}
pub fn generate_ping_tc_as_vec() -> Vec<u8> {
let sph = SpHeader::new_for_unseg_tc(0x002, 0x34, 0);
PusTcCreator::new_simple(sph, 17, 1, &[], true)
.to_vec()
.unwrap()
}
type SharedPacketQueue = Arc<Mutex<VecDeque<(u16, Vec<u8>)>>>;
pub struct BasicApidHandlerSharedQueue {
pub known_packet_queue: SharedPacketQueue,
pub unknown_packet_queue: SharedPacketQueue,
}
#[derive(Default)]
pub struct BasicApidHandlerOwnedQueue {
pub known_packet_queue: VecDeque<(u16, Vec<u8>)>,
pub unknown_packet_queue: VecDeque<(u16, Vec<u8>)>,
}
impl ValidatorU16Id for BasicApidHandlerSharedQueue {
fn validate(&self, packet_id: u16) -> bool {
[0x000, 0x002].contains(&packet_id)
}
}
impl CcsdsPacketHandler for BasicApidHandlerSharedQueue {
type Error = ();
fn handle_packet_with_valid_apid(
&mut self,
sp_header: &SpHeader,
tc_raw: &[u8],
) -> Result<(), Self::Error> {
let mut vec = Vec::new();
vec.extend_from_slice(tc_raw);
self.known_packet_queue
.lock()
.unwrap()
.push_back((sp_header.apid(), vec));
Ok(())
}
fn handle_packet_with_unknown_apid(
&mut self,
sp_header: &SpHeader,
tc_raw: &[u8],
) -> Result<(), Self::Error> {
let mut vec = Vec::new();
vec.extend_from_slice(tc_raw);
self.unknown_packet_queue
.lock()
.unwrap()
.push_back((sp_header.apid(), vec));
Ok(())
}
}
impl ValidatorU16Id for BasicApidHandlerOwnedQueue {
fn validate(&self, packet_id: u16) -> bool {
[0x000, 0x002].contains(&packet_id)
}
}
impl CcsdsPacketHandler for BasicApidHandlerOwnedQueue {
type Error = ();
fn handle_packet_with_valid_apid(
&mut self,
sp_header: &SpHeader,
tc_raw: &[u8],
) -> Result<(), Self::Error> {
let mut vec = Vec::new();
vec.extend_from_slice(tc_raw);
self.known_packet_queue.push_back((sp_header.apid(), vec));
Ok(())
}
fn handle_packet_with_unknown_apid(
&mut self,
sp_header: &SpHeader,
tc_raw: &[u8],
) -> Result<(), Self::Error> {
let mut vec = Vec::new();
vec.extend_from_slice(tc_raw);
self.unknown_packet_queue.push_back((sp_header.apid(), vec));
Ok(())
}
}
#[test]
fn test_distribs_known_apid() {
let known_packet_queue = Arc::new(Mutex::default());
let unknown_packet_queue = Arc::new(Mutex::default());
let apid_handler = BasicApidHandlerSharedQueue {
known_packet_queue: known_packet_queue.clone(),
unknown_packet_queue: unknown_packet_queue.clone(),
};
let mut ccsds_distrib = CcsdsDistributor::new(apid_handler);
is_send(&ccsds_distrib);
let mut test_buf: [u8; 32] = [0; 32];
let tc_slice = generate_ping_tc(test_buf.as_mut_slice());
ccsds_distrib.pass_tc(tc_slice).expect("Passing TC failed");
let recvd = known_packet_queue.lock().unwrap().pop_front();
assert!(unknown_packet_queue.lock().unwrap().is_empty());
assert!(recvd.is_some());
let (apid, packet) = recvd.unwrap();
assert_eq!(apid, 0x002);
assert_eq!(packet, tc_slice);
}
#[test]
fn test_unknown_apid_handling() {
let apid_handler = BasicApidHandlerOwnedQueue::default();
let mut ccsds_distrib = CcsdsDistributor::new(apid_handler);
let sph = SpHeader::new_for_unseg_tc(0x004, 0x34, 0);
let pus_tc = PusTcCreator::new_simple(sph, 17, 1, &[], true);
let mut test_buf: [u8; 32] = [0; 32];
pus_tc
.write_to_bytes(test_buf.as_mut_slice())
.expect("Error writing TC to buffer");
ccsds_distrib.pass_tc(&test_buf).expect("Passing TC failed");
assert!(ccsds_distrib.packet_handler().known_packet_queue.is_empty());
let apid_handler = ccsds_distrib.packet_handler_mut();
let recvd = apid_handler.unknown_packet_queue.pop_front();
assert!(recvd.is_some());
let (apid, packet) = recvd.unwrap();
assert_eq!(apid, 0x004);
assert_eq!(packet.as_slice(), test_buf);
}
#[test]
fn test_ccsds_distribution() {
let mut ccsds_distrib = CcsdsDistributor::new(BasicApidHandlerOwnedQueue::default());
let sph = SpHeader::new_for_unseg_tc(0x002, 0x34, 0);
let pus_tc = PusTcCreator::new_simple(sph, 17, 1, &[], true);
let tc_vec = pus_tc.to_vec().unwrap();
ccsds_distrib
.pass_ccsds(&sph, &tc_vec)
.expect("passing CCSDS TC failed");
let recvd = ccsds_distrib
.packet_handler_mut()
.known_packet_queue
.pop_front();
assert!(recvd.is_some());
let recvd = recvd.unwrap();
assert_eq!(recvd.0, 0x002);
assert_eq!(recvd.1, tc_vec);
}
#[test]
fn test_distribution_short_packet_fails() {
let mut ccsds_distrib = CcsdsDistributor::new(BasicApidHandlerOwnedQueue::default());
let sph = SpHeader::new_for_unseg_tc(0x002, 0x34, 0);
let pus_tc = PusTcCreator::new_simple(sph, 17, 1, &[], true);
let tc_vec = pus_tc.to_vec().unwrap();
let result = ccsds_distrib.pass_tc(&tc_vec[0..6]);
assert!(result.is_err());
let error = result.unwrap_err();
if let CcsdsError::ByteConversionError(ByteConversionError::FromSliceTooSmall {
found,
expected,
}) = error
{
assert_eq!(found, 6);
assert_eq!(expected, 7);
} else {
panic!("Unexpected error variant");
}
}
}

109
satrs/src/tmtc/mod.rs

@ -5,111 +5,148 @@
//! directly dispatch received packets to packet listeners based on packet fields like the CCSDS
//! Application Process ID (APID) or the ECSS PUS service type. This allows for fast packet
//! routing without the overhead and complication of using message queues. However, it also requires
use std::sync::mpsc;
#[cfg(feature = "alloc")]
use downcast_rs::{impl_downcast, Downcast};
use spacepackets::SpHeader;
#[cfg(feature = "alloc")]
pub mod ccsds_distrib;
#[cfg(feature = "alloc")]
pub mod pus_distrib;
#[cfg(feature = "std")]
pub mod tc_helper;
pub mod tm_helper;
#[cfg(feature = "alloc")]
pub use ccsds_distrib::{CcsdsDistributor, CcsdsError, CcsdsPacketHandler};
#[cfg(feature = "alloc")]
pub use pus_distrib::{PusDistributor, PusServiceDistributor};
use crate::queue::GenericSendError;
/// Generic trait for object which can receive any telecommands in form of a raw bytestream, with
/// no assumptions about the received protocol.
///
/// 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
/// raw byte format into them.
pub trait ReceivesTcCore {
/// This trait can also be implemented for sender components which forward the packet.
/// It is implemented for common types like [mpsc::Sender] and [mpsc::SyncSender].
pub trait ReceivesTc: Send {
type Error;
fn pass_tc(&mut self, tc_raw: &[u8]) -> Result<(), Self::Error>;
}
/// Extension trait of [ReceivesTcCore] which allows downcasting by implementing [Downcast] and
/// is also sendable.
#[cfg(feature = "std")]
impl ReceivesTc for mpsc::Sender<alloc::vec::Vec<u8>> {
type Error = GenericSendError;
fn pass_tc(&mut self, tc_raw: &[u8]) -> Result<(), Self::Error> {
self.send(tc_raw.to_vec())
.map_err(|_| GenericSendError::RxDisconnected)
}
}
#[cfg(feature = "std")]
impl ReceivesTc for mpsc::SyncSender<alloc::vec::Vec<u8>> {
type Error = GenericSendError;
fn pass_tc(&mut self, tc_raw: &[u8]) -> Result<(), Self::Error> {
self.try_send(tc_raw.to_vec()).map_err(|e| match e {
mpsc::TrySendError::Full(_) => GenericSendError::QueueFull(None),
mpsc::TrySendError::Disconnected(_) => GenericSendError::RxDisconnected,
})
}
}
/// Extension trait of [ReceivesTc] which allows downcasting by implementing [Downcast].
#[cfg(feature = "alloc")]
pub trait ReceivesTc: ReceivesTcCore + Downcast + Send {
pub trait ReceivesTcExt: ReceivesTc + Downcast {
// Remove this once trait upcasting coercion has been implemented.
// Tracking issue: https://github.com/rust-lang/rust/issues/65991
fn upcast(&self) -> &dyn ReceivesTcCore<Error = Self::Error>;
fn upcast(&self) -> &dyn ReceivesTc<Error = Self::Error>;
// Remove this once trait upcasting coercion has been implemented.
// Tracking issue: https://github.com/rust-lang/rust/issues/65991
fn upcast_mut(&mut self) -> &mut dyn ReceivesTcCore<Error = Self::Error>;
fn upcast_mut(&mut self) -> &mut dyn ReceivesTc<Error = Self::Error>;
}
/// Blanket implementation to automatically implement [ReceivesTc] when the [alloc] feature
/// is enabled.
#[cfg(feature = "alloc")]
impl<T> ReceivesTc for T
impl<T> ReceivesTcExt for T
where
T: ReceivesTcCore + Send + 'static,
T: ReceivesTc + Send + 'static,
{
// Remove this once trait upcasting coercion has been implemented.
// Tracking issue: https://github.com/rust-lang/rust/issues/65991
fn upcast(&self) -> &dyn ReceivesTcCore<Error = Self::Error> {
fn upcast(&self) -> &dyn ReceivesTc<Error = Self::Error> {
self
}
// Remove this once trait upcasting coercion has been implemented.
// Tracking issue: https://github.com/rust-lang/rust/issues/65991
fn upcast_mut(&mut self) -> &mut dyn ReceivesTcCore<Error = Self::Error> {
fn upcast_mut(&mut self) -> &mut dyn ReceivesTc<Error = Self::Error> {
self
}
}
#[cfg(feature = "alloc")]
impl_downcast!(ReceivesTc assoc Error);
impl_downcast!(ReceivesTcExt assoc Error);
/// Generic trait for object which can receive CCSDS space packets, for example ECSS PUS packets
/// for CCSDS File Delivery Protocol (CFDP) packets.
///
/// 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 raw byte format or in CCSDS format into them.
pub trait ReceivesCcsdsTc {
/// This trait can also be implemented for sender components which forward the packet.
/// It is implemented for common types like [mpsc::Sender] and [mpsc::SyncSender].
pub trait ReceivesCcsdsTc: Send {
type Error;
fn pass_ccsds(&mut self, header: &SpHeader, tc_raw: &[u8]) -> Result<(), Self::Error>;
}
#[cfg(feature = "std")]
impl ReceivesCcsdsTc for mpsc::Sender<alloc::vec::Vec<u8>> {
type Error = GenericSendError;
fn pass_ccsds(&mut self, _: &SpHeader, tc_raw: &[u8]) -> Result<(), Self::Error> {
self.send(tc_raw.to_vec())
.map_err(|_| GenericSendError::RxDisconnected)
}
}
#[cfg(feature = "std")]
impl ReceivesCcsdsTc for mpsc::SyncSender<alloc::vec::Vec<u8>> {
type Error = GenericSendError;
fn pass_ccsds(&mut self, _: &SpHeader, tc_raw: &[u8]) -> Result<(), Self::Error> {
self.try_send(tc_raw.to_vec()).map_err(|e| match e {
mpsc::TrySendError::Full(_) => GenericSendError::QueueFull(None),
mpsc::TrySendError::Disconnected(_) => GenericSendError::RxDisconnected,
})
}
}
/// Generic trait for a TM packet source, with no restrictions on the type of TM.
/// Implementors write the telemetry into the provided buffer and return the size of the telemetry.
pub trait TmPacketSourceCore {
pub trait TmPacketSource: Send {
type Error;
fn retrieve_packet(&mut self, buffer: &mut [u8]) -> Result<usize, Self::Error>;
}
/// Extension trait of [TmPacketSourceCore] which allows downcasting by implementing [Downcast] and
/// is also sendable.
/// Extension trait of [TmPacketSource] which allows downcasting by implementing [Downcast].
#[cfg(feature = "alloc")]
pub trait TmPacketSource: TmPacketSourceCore + Downcast + Send {
pub trait TmPacketSourceExt: TmPacketSource + Downcast {
// Remove this once trait upcasting coercion has been implemented.
// Tracking issue: https://github.com/rust-lang/rust/issues/65991
fn upcast(&self) -> &dyn TmPacketSourceCore<Error = Self::Error>;
fn upcast(&self) -> &dyn TmPacketSource<Error = Self::Error>;
// Remove this once trait upcasting coercion has been implemented.
// Tracking issue: https://github.com/rust-lang/rust/issues/65991
fn upcast_mut(&mut self) -> &mut dyn TmPacketSourceCore<Error = Self::Error>;
fn upcast_mut(&mut self) -> &mut dyn TmPacketSource<Error = Self::Error>;
}
/// Blanket implementation to automatically implement [ReceivesTc] when the [alloc] feature
/// is enabled.
#[cfg(feature = "alloc")]
impl<T> TmPacketSource for T
impl<T> TmPacketSourceExt for T
where
T: TmPacketSourceCore + Send + 'static,
T: TmPacketSource + 'static,
{
// Remove this once trait upcasting coercion has been implemented.
// Tracking issue: https://github.com/rust-lang/rust/issues/65991
fn upcast(&self) -> &dyn TmPacketSourceCore<Error = Self::Error> {
fn upcast(&self) -> &dyn TmPacketSource<Error = Self::Error> {
self
}
// Remove this once trait upcasting coercion has been implemented.
// Tracking issue: https://github.com/rust-lang/rust/issues/65991
fn upcast_mut(&mut self) -> &mut dyn TmPacketSourceCore<Error = Self::Error> {
fn upcast_mut(&mut self) -> &mut dyn TmPacketSource<Error = Self::Error> {
self
}
}

414
satrs/src/tmtc/pus_distrib.rs

@ -1,414 +0,0 @@
//! ECSS PUS packet routing components.
//!
//! The routing components consist of two core components:
//! 1. [PusDistributor] component which dispatches received packets to a user-provided handler.
//! 2. [PusServiceDistributor] trait which should be implemented by the user-provided PUS packet
//! handler.
//!
//! The [PusDistributor] implements the [ReceivesEcssPusTc], [ReceivesCcsdsTc] and the
//! [ReceivesTcCore] trait which allows to pass raw packets, CCSDS packets and PUS TC packets into
//! it. Upon receiving a packet, it performs the following steps:
//!
//! 1. It tries to extract the [SpHeader] and [spacepackets::ecss::tc::PusTcReader] objects from
//! the raw bytestream. If this process fails, a [PusDistribError::PusError] is returned to the
//! user.
//! 2. If it was possible to extract both components, the packet will be passed to the
//! [PusServiceDistributor::distribute_packet] method provided by the user.
//!
//! # Example
//!
//! ```rust
//! use spacepackets::ecss::WritablePusPacket;
//! use satrs::tmtc::pus_distrib::{PusDistributor, PusServiceDistributor};
//! use satrs::tmtc::{ReceivesTc, ReceivesTcCore};
//! use spacepackets::SpHeader;
//! use spacepackets::ecss::tc::{PusTcCreator, PusTcReader};
//!
//! struct ConcretePusHandler {
//! handler_call_count: u32
//! }
//!
//! // This is a very simple possible service provider. It increments an internal call count field,
//! // which is used to verify the handler was called
//! impl PusServiceDistributor for ConcretePusHandler {
//! type Error = ();
//! fn distribute_packet(&mut self, service: u8, header: &SpHeader, pus_tc: &PusTcReader) -> Result<(), Self::Error> {
//! assert_eq!(service, 17);
//! assert_eq!(pus_tc.len_packed(), 13);
//! self.handler_call_count += 1;
//! Ok(())
//! }
//! }
//!
//! let service_handler = ConcretePusHandler {
//! handler_call_count: 0
//! };
//! let mut pus_distributor = PusDistributor::new(service_handler);
//!
//! // Create and pass PUS ping telecommand with a valid APID
//! let sp_header = SpHeader::new_for_unseg_tc(0x002, 0x34, 0);
//! let mut pus_tc = PusTcCreator::new_simple(sp_header, 17, 1, &[], true);
//! let mut test_buf: [u8; 32] = [0; 32];
//! let mut size = pus_tc
//! .write_to_bytes(test_buf.as_mut_slice())
//! .expect("Error writing TC to buffer");
//! let tc_slice = &test_buf[0..size];
//!
//! pus_distributor.pass_tc(tc_slice).expect("Passing PUS telecommand failed");
//!
//! // User helper function to retrieve concrete class. We check the call count here to verify
//! // that the PUS ping telecommand was routed successfully.
//! let concrete_handler = pus_distributor.service_distributor();
//! assert_eq!(concrete_handler.handler_call_count, 1);
//! ```
use crate::pus::ReceivesEcssPusTc;
use crate::tmtc::{ReceivesCcsdsTc, ReceivesTcCore};
use core::fmt::{Display, Formatter};
use spacepackets::ecss::tc::PusTcReader;
use spacepackets::ecss::{PusError, PusPacket};
use spacepackets::SpHeader;
#[cfg(feature = "std")]
use std::error::Error;
/// Trait for a generic distributor object which can distribute PUS packets based on packet
/// properties like the PUS service, space packet header or any other content of the PUS packet.
pub trait PusServiceDistributor {
type Error;
fn distribute_packet(
&mut self,
service: u8,
header: &SpHeader,
pus_tc: &PusTcReader,
) -> Result<(), Self::Error>;
}
/// Generic distributor object which dispatches received packets to a user provided handler.
pub struct PusDistributor<ServiceDistributor: PusServiceDistributor<Error = E>, E> {
service_distributor: ServiceDistributor,
}
impl<ServiceDistributor: PusServiceDistributor<Error = E>, E>
PusDistributor<ServiceDistributor, E>
{
pub fn new(service_provider: ServiceDistributor) -> Self {
PusDistributor {
service_distributor: service_provider,
}
}
}
#[derive(Debug, Copy, Clone, PartialEq, Eq)]
pub enum PusDistribError<E> {
CustomError(E),
PusError(PusError),
}
impl<E: Display> Display for PusDistribError<E> {
fn fmt(&self, f: &mut Formatter<'_>) -> core::fmt::Result {
match self {
PusDistribError::CustomError(e) => write!(f, "pus distribution error: {e}"),
PusDistribError::PusError(e) => write!(f, "pus distribution error: {e}"),
}
}
}
#[cfg(feature = "std")]
impl<E: Error> Error for PusDistribError<E> {
fn source(&self) -> Option<&(dyn Error + 'static)> {
match self {
Self::CustomError(e) => e.source(),
Self::PusError(e) => e.source(),
}
}
}
impl<ServiceDistributor: PusServiceDistributor<Error = E>, E: 'static> ReceivesTcCore
for PusDistributor<ServiceDistributor, E>
{
type Error = PusDistribError<E>;
fn pass_tc(&mut self, tm_raw: &[u8]) -> Result<(), Self::Error> {
// Convert to ccsds and call pass_ccsds
let (sp_header, _) = SpHeader::from_be_bytes(tm_raw)
.map_err(|e| PusDistribError::PusError(PusError::ByteConversion(e)))?;
self.pass_ccsds(&sp_header, tm_raw)
}
}
impl<ServiceDistributor: PusServiceDistributor<Error = E>, E: 'static> ReceivesCcsdsTc
for PusDistributor<ServiceDistributor, E>
{
type Error = PusDistribError<E>;
fn pass_ccsds(&mut self, header: &SpHeader, tm_raw: &[u8]) -> Result<(), Self::Error> {
let (tc, _) = PusTcReader::new(tm_raw).map_err(|e| PusDistribError::PusError(e))?;
self.pass_pus_tc(header, &tc)
}
}
impl<ServiceDistributor: PusServiceDistributor<Error = E>, E: 'static> ReceivesEcssPusTc
for PusDistributor<ServiceDistributor, E>
{
type Error = PusDistribError<E>;
fn pass_pus_tc(&mut self, header: &SpHeader, pus_tc: &PusTcReader) -> Result<(), Self::Error> {
self.service_distributor
.distribute_packet(pus_tc.service(), header, pus_tc)
.map_err(|e| PusDistribError::CustomError(e))
}
}
impl<ServiceDistributor: PusServiceDistributor<Error = E>, E: 'static>
PusDistributor<ServiceDistributor, E>
{
pub fn service_distributor(&self) -> &ServiceDistributor {
&self.service_distributor
}
pub fn service_distributor_mut(&mut self) -> &mut ServiceDistributor {
&mut self.service_distributor
}
}
#[cfg(test)]
mod tests {
use super::*;
use crate::queue::GenericSendError;
use crate::tmtc::ccsds_distrib::tests::{
generate_ping_tc, generate_ping_tc_as_vec, BasicApidHandlerOwnedQueue,
BasicApidHandlerSharedQueue,
};
use crate::tmtc::ccsds_distrib::{CcsdsDistributor, CcsdsPacketHandler};
use crate::ValidatorU16Id;
use alloc::format;
use alloc::vec::Vec;
use spacepackets::ecss::PusError;
use spacepackets::CcsdsPacket;
#[cfg(feature = "std")]
use std::collections::VecDeque;
#[cfg(feature = "std")]
use std::sync::{Arc, Mutex};
fn is_send<T: Send>(_: &T) {}
pub struct PacketInfo {
pub service: u8,
pub apid: u16,
pub packet: Vec<u8>,
}
struct PusHandlerSharedQueue(Arc<Mutex<VecDeque<PacketInfo>>>);
#[derive(Default)]
struct PusHandlerOwnedQueue(VecDeque<PacketInfo>);
impl PusServiceDistributor for PusHandlerSharedQueue {
type Error = PusError;
fn distribute_packet(
&mut self,
service: u8,
sp_header: &SpHeader,
pus_tc: &PusTcReader,
) -> Result<(), Self::Error> {
let mut packet: Vec<u8> = Vec::new();
packet.extend_from_slice(pus_tc.raw_data());
self.0
.lock()
.expect("Mutex lock failed")
.push_back(PacketInfo {
service,
apid: sp_header.apid(),
packet,
});
Ok(())
}
}
impl PusServiceDistributor for PusHandlerOwnedQueue {
type Error = PusError;
fn distribute_packet(
&mut self,
service: u8,
sp_header: &SpHeader,
pus_tc: &PusTcReader,
) -> Result<(), Self::Error> {
let mut packet: Vec<u8> = Vec::new();
packet.extend_from_slice(pus_tc.raw_data());
self.0.push_back(PacketInfo {
service,
apid: sp_header.apid(),
packet,
});
Ok(())
}
}
struct ApidHandlerShared {
pub pus_distrib: PusDistributor<PusHandlerSharedQueue, PusError>,
pub handler_base: BasicApidHandlerSharedQueue,
}
struct ApidHandlerOwned {
pub pus_distrib: PusDistributor<PusHandlerOwnedQueue, PusError>,
handler_base: BasicApidHandlerOwnedQueue,
}
macro_rules! apid_handler_impl {
() => {
type Error = PusError;
fn handle_packet_with_valid_apid(
&mut self,
sp_header: &SpHeader,
tc_raw: &[u8],
) -> Result<(), Self::Error> {
self.handler_base
.handle_packet_with_valid_apid(&sp_header, tc_raw)
.ok()
.expect("Unexpected error");
match self.pus_distrib.pass_ccsds(&sp_header, tc_raw) {
Ok(_) => Ok(()),
Err(e) => match e {
PusDistribError::CustomError(_) => Ok(()),
PusDistribError::PusError(e) => Err(e),
},
}
}
fn handle_packet_with_unknown_apid(
&mut self,
sp_header: &SpHeader,
tc_raw: &[u8],
) -> Result<(), Self::Error> {
self.handler_base
.handle_packet_with_unknown_apid(&sp_header, tc_raw)
.ok()
.expect("Unexpected error");
Ok(())
}
};
}
impl ValidatorU16Id for ApidHandlerOwned {
fn validate(&self, packet_id: u16) -> bool {
[0x000, 0x002].contains(&packet_id)
}
}
impl ValidatorU16Id for ApidHandlerShared {
fn validate(&self, packet_id: u16) -> bool {
[0x000, 0x002].contains(&packet_id)
}
}
impl CcsdsPacketHandler for ApidHandlerOwned {
apid_handler_impl!();
}
impl CcsdsPacketHandler for ApidHandlerShared {
apid_handler_impl!();
}
#[test]
fn test_pus_distribution_as_raw_packet() {
let mut pus_distrib = PusDistributor::new(PusHandlerOwnedQueue::default());
let tc = generate_ping_tc_as_vec();
let result = pus_distrib.pass_tc(&tc);
assert!(result.is_ok());
assert_eq!(pus_distrib.service_distributor_mut().0.len(), 1);
let packet_info = pus_distrib.service_distributor_mut().0.pop_front().unwrap();
assert_eq!(packet_info.service, 17);
assert_eq!(packet_info.apid, 0x002);
assert_eq!(packet_info.packet, tc);
}
#[test]
fn test_pus_distribution_combined_handler() {
let known_packet_queue = Arc::new(Mutex::default());
let unknown_packet_queue = Arc::new(Mutex::default());
let pus_queue = Arc::new(Mutex::default());
let pus_handler = PusHandlerSharedQueue(pus_queue.clone());
let handler_base = BasicApidHandlerSharedQueue {
known_packet_queue: known_packet_queue.clone(),
unknown_packet_queue: unknown_packet_queue.clone(),
};
let pus_distrib = PusDistributor::new(pus_handler);
is_send(&pus_distrib);
let apid_handler = ApidHandlerShared {
pus_distrib,
handler_base,
};
let mut ccsds_distrib = CcsdsDistributor::new(apid_handler);
let mut test_buf: [u8; 32] = [0; 32];
let tc_slice = generate_ping_tc(test_buf.as_mut_slice());
// Pass packet to distributor
ccsds_distrib
.pass_tc(tc_slice)
.expect("Passing TC slice failed");
let recvd_ccsds = known_packet_queue.lock().unwrap().pop_front();
assert!(unknown_packet_queue.lock().unwrap().is_empty());
assert!(recvd_ccsds.is_some());
let (apid, packet) = recvd_ccsds.unwrap();
assert_eq!(apid, 0x002);
assert_eq!(packet.as_slice(), tc_slice);
let recvd_pus = pus_queue.lock().unwrap().pop_front();
assert!(recvd_pus.is_some());
let packet_info = recvd_pus.unwrap();
assert_eq!(packet_info.service, 17);
assert_eq!(packet_info.apid, 0x002);
assert_eq!(packet_info.packet, tc_slice);
}
#[test]
fn test_accessing_combined_distributor() {
let pus_handler = PusHandlerOwnedQueue::default();
let handler_base = BasicApidHandlerOwnedQueue::default();
let pus_distrib = PusDistributor::new(pus_handler);
let apid_handler = ApidHandlerOwned {
pus_distrib,
handler_base,
};
let mut ccsds_distrib = CcsdsDistributor::new(apid_handler);
let mut test_buf: [u8; 32] = [0; 32];
let tc_slice = generate_ping_tc(test_buf.as_mut_slice());
ccsds_distrib
.pass_tc(tc_slice)
.expect("Passing TC slice failed");
let apid_handler_casted_back = ccsds_distrib.packet_handler_mut();
assert!(!apid_handler_casted_back
.handler_base
.known_packet_queue
.is_empty());
let handler_owned_queue = apid_handler_casted_back
.pus_distrib
.service_distributor_mut();
assert!(!handler_owned_queue.0.is_empty());
let packet_info = handler_owned_queue.0.pop_front().unwrap();
assert_eq!(packet_info.service, 17);
assert_eq!(packet_info.apid, 0x002);
assert_eq!(packet_info.packet, tc_slice);
}
#[test]
fn test_pus_distrib_error_custom_error() {
let error = PusDistribError::CustomError(GenericSendError::RxDisconnected);
let error_string = format!("{}", error);
assert_eq!(
error_string,
"pus distribution error: rx side has disconnected"
);
}
#[test]
fn test_pus_distrib_error_pus_error() {
let error = PusDistribError::<GenericSendError>::PusError(PusError::CrcCalculationMissing);
let error_string = format!("{}", error);
assert_eq!(
error_string,
"pus distribution error: crc16 was not calculated"
);
}
}

109
satrs/src/tmtc/tc_helper.rs Normal file

@ -0,0 +1,109 @@
use std::sync::mpsc;
use spacepackets::{ecss::tc::PusTcReader, SpHeader};
use thiserror::Error;
use crate::{
pool::{PoolProvider, SharedStaticMemoryPool, StoreAddr, StoreError},
pus::ReceivesEcssPusTc,
queue::GenericSendError,
};
use super::{ReceivesCcsdsTc, ReceivesTc};
#[derive(Debug, Clone, PartialEq, Eq, Error)]
pub enum StoreAndSendError {
#[error("Store error: {0}")]
Store(#[from] StoreError),
#[error("Genreric send error: {0}")]
Send(#[from] GenericSendError),
}
#[derive(Clone)]
pub struct SharedTcPool(pub SharedStaticMemoryPool);
impl SharedTcPool {
pub fn add_pus_tc(&mut self, pus_tc: &PusTcReader) -> Result<StoreAddr, StoreError> {
let mut pg = self.0.write().expect("error locking TC store");
let addr = pg.free_element(pus_tc.len_packed(), |buf| {
buf[0..pus_tc.len_packed()].copy_from_slice(pus_tc.raw_data());
})?;
Ok(addr)
}
pub fn add_ccsds_tc(&mut self, _: &SpHeader, tc_raw: &[u8]) -> Result<StoreAddr, StoreError> {
self.add_raw_tc(tc_raw)
}
pub fn add_raw_tc(&mut self, tc_raw: &[u8]) -> Result<StoreAddr, StoreError> {
let mut pg = self.0.write().expect("error locking TC store");
let addr = pg.free_element(tc_raw.len(), |buf| {
buf[0..tc_raw.len()].copy_from_slice(tc_raw);
})?;
Ok(addr)
}
}
#[derive(Clone)]
pub struct TcSenderSharedPool {
pub tc_source: mpsc::SyncSender<StoreAddr>,
pub shared_pool: SharedTcPool,
}
impl TcSenderSharedPool {
pub fn new(tc_source: mpsc::SyncSender<StoreAddr>, shared_pool: SharedTcPool) -> Self {
Self {
tc_source,
shared_pool,
}
}
#[allow(dead_code)]
pub fn shared_pool(&self) -> SharedStaticMemoryPool {
self.shared_pool.0.clone()
}
}
impl ReceivesTc for TcSenderSharedPool {
type Error = StoreAndSendError;
fn pass_tc(&mut self, tc_raw: &[u8]) -> Result<(), Self::Error> {
let addr = self.shared_pool.add_raw_tc(tc_raw)?;
self.tc_source.try_send(addr).map_err(|e| match e {
mpsc::TrySendError::Full(_) => GenericSendError::QueueFull(None),
mpsc::TrySendError::Disconnected(_) => GenericSendError::RxDisconnected,
})?;
Ok(())
}
}
impl ReceivesEcssPusTc for TcSenderSharedPool {
type Error = StoreAndSendError;
fn pass_pus_tc(&mut self, _: &SpHeader, pus_tc: &PusTcReader) -> Result<(), Self::Error> {
let addr = self.shared_pool.add_pus_tc(pus_tc)?;
self.tc_source.try_send(addr).map_err(|e| match e {
mpsc::TrySendError::Full(_) => GenericSendError::QueueFull(None),
mpsc::TrySendError::Disconnected(_) => GenericSendError::RxDisconnected,
})?;
Ok(())
}
}
impl ReceivesCcsdsTc for TcSenderSharedPool {
type Error = StoreAndSendError;
fn pass_ccsds(&mut self, sp_header: &SpHeader, tc_raw: &[u8]) -> Result<(), Self::Error> {
let addr = self.shared_pool.add_ccsds_tc(sp_header, tc_raw)?;
self.tc_source.try_send(addr).map_err(|e| match e {
mpsc::TrySendError::Full(_) => GenericSendError::QueueFull(None),
mpsc::TrySendError::Disconnected(_) => GenericSendError::RxDisconnected,
})?;
Ok(())
}
}
#[cfg(test)]
mod tests {
// TODO: Add tests for shared pool TC sender component.
}

6
satrs/tests/tcp_servers.rs

@ -28,7 +28,7 @@ use satrs::{
ConnectionResult, HandledConnectionHandler, HandledConnectionInfo, ServerConfig,
TcpSpacepacketsServer, TcpTmtcInCobsServer,
},
tmtc::{ReceivesTcCore, TmPacketSourceCore},
tmtc::{ReceivesTc, TmPacketSource},
};
use spacepackets::{
ecss::{tc::PusTcCreator, WritablePusPacket},
@ -66,7 +66,7 @@ struct SyncTcCacher {
tc_queue: Arc<Mutex<VecDeque<Vec<u8>>>>,
}
impl ReceivesTcCore for SyncTcCacher {
impl ReceivesTc for SyncTcCacher {
type Error = ();
fn pass_tc(&mut self, tc_raw: &[u8]) -> Result<(), Self::Error> {
@ -89,7 +89,7 @@ impl SyncTmSource {
}
}
impl TmPacketSourceCore for SyncTmSource {
impl TmPacketSource for SyncTmSource {
type Error = ();
fn retrieve_packet(&mut self, buffer: &mut [u8]) -> Result<usize, Self::Error> {