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more cleaning and restructuring

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This commit is contained in:
Robin Müller
2023-07-05 11:25:23 +02:00
parent 9a40301c0f
commit d2e896fc92
13 changed files with 855 additions and 921 deletions
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14
satrs-example/src/main.rs
View File

@ -9,7 +9,7 @@ use log::{info, warn};
use crate::hk::AcsHkIds;
use crate::logging::setup_logger;
use crate::pus::test::{PusService17TestHandler, Service17CustomWrapper};
use crate::pus::test::Service17CustomWrapper;
use crate::pus::PusTcMpscRouter;
use crate::requests::{Request, RequestWithToken};
use crate::tmtc::{
@ -26,25 +26,25 @@ use satrs_core::pus::event_man::{
PusEventDispatcher,
};
use satrs_core::pus::hk::Subservice as HkSubservice;
use satrs_core::pus::test::PusService17TestHandler;
use satrs_core::pus::verification::{
MpscVerifSender, VerificationReporterCfg, VerificationReporterWithSender,
};
use satrs_core::pus::MpscTmtcInStoreSender;
use satrs_core::seq_count::{SeqCountProviderSimple, SeqCountProviderSyncClonable};
use satrs_core::spacepackets::tc::{GenericPusTcSecondaryHeader, PusTc};
use satrs_core::spacepackets::{
time::cds::TimeProvider,
time::TimeWriter,
tm::{PusTm, PusTmSecondaryHeader},
SequenceFlags, SpHeader,
};
use satrs_core::tmtc::tm_helper::{PusTmWithCdsShortHelper, SharedTmStore};
use satrs_core::tmtc::tm_helper::SharedTmStore;
use satrs_core::tmtc::AddressableId;
use satrs_example::{RequestTargetId, OBSW_SERVER_ADDR, SERVER_PORT, TEST_EVENT};
use satrs_example::{RequestTargetId, OBSW_SERVER_ADDR, SERVER_PORT};
use std::collections::HashMap;
use std::net::{IpAddr, SocketAddr};
use std::sync::mpsc::{channel, TryRecvError};
use std::sync::{mpsc, Arc, RwLock};
use std::sync::{Arc, RwLock};
use std::thread;
use std::time::Duration;
@ -167,13 +167,13 @@ fn main() {
hk_service_receiver: pus_hk_tx,
action_service_receiver: pus_action_tx,
};
let mut pus17_handler = PusService17TestHandler::new(
let pus17_handler = PusService17TestHandler::new(
pus_test_rx,
tc_store.pool.clone(),
tm_funnel_tx.clone(),
tm_store.clone(),
PUS_APID,
verif_reporter.clone(),
verif_reporter,
);
let mut srv_17_wrapper = Service17CustomWrapper {
pus17_handler,

172
satrs-example/src/pus/mod.rs
View File

@ -1,177 +1,26 @@
use crate::pus::test::PusService17TestHandler;
use crate::tmtc::MpscStoreAndSendError;
use satrs_core::events::EventU32;
use satrs_core::hk::{CollectionIntervalFactor, HkRequest};
use satrs_core::mode::{ModeAndSubmode, ModeRequest};
use satrs_core::objects::ObjectId;
use satrs_core::params::Params;
use satrs_core::pool::{PoolProvider, SharedPool, StoreAddr, StoreError};
use satrs_core::pus::event_man::{EventRequest, EventRequestWithToken};
use satrs_core::pus::hk;
use satrs_core::pus::mode::Subservice;
use satrs_core::pus::scheduling::PusScheduler;
use satrs_core::pus::verification::{
pus_11_generic_tc_check, FailParams, StdVerifReporterWithSender, TcStateAccepted, TcStateToken,
VerificationToken,
};
use satrs_core::pus::{event, EcssTcSenderCore, GenericTcCheckError, MpscTmtcInStoreSender};
use satrs_core::pus::{mode, EcssTcSender};
use satrs_core::res_code::ResultU16;
use satrs_core::seq_count::{SeqCountProviderSyncClonable, SequenceCountProviderCore};
use satrs_core::spacepackets::ecss::{scheduling, PusError, PusServiceId};
use satrs_core::spacepackets::time::{CcsdsTimeProvider, StdTimestampError, TimestampError};
use satrs_core::pool::StoreAddr;
use satrs_core::pus::verification::{FailParams, StdVerifReporterWithSender};
use satrs_core::pus::AcceptedTc;
use satrs_core::seq_count::SeqCountProviderSyncClonable;
use satrs_core::spacepackets::ecss::PusServiceId;
use satrs_core::spacepackets::tc::PusTc;
use satrs_core::spacepackets::time::cds::TimeProvider;
use satrs_core::spacepackets::time::TimeWriter;
use satrs_core::tmtc::tm_helper::{PusTmWithCdsShortHelper, SharedTmStore};
use satrs_core::tmtc::{AddressableId, PusServiceProvider, TargetId};
use satrs_core::{
spacepackets::ecss::PusPacket, spacepackets::tc::PusTc, spacepackets::time::cds::TimeProvider,
spacepackets::time::TimeWriter, spacepackets::SpHeader,
};
use satrs_example::{hk_err, tmtc_err, CustomPusServiceId, TEST_EVENT};
use std::cell::RefCell;
use std::collections::HashMap;
use std::convert::TryFrom;
use std::rc::Rc;
use std::sync::mpsc::{Receiver, SendError, Sender, TryRecvError};
use satrs_example::{tmtc_err, CustomPusServiceId};
use std::sync::mpsc::Sender;
pub mod scheduler;
pub mod test;
#[derive(Debug, Clone)]
pub enum PusPacketHandlingError {
PusError(PusError),
WrongService(u8),
NotEnoughAppData(String),
StoreError(StoreError),
RwGuardError(String),
QueueDisconnected,
OtherError(String),
}
impl From<PusError> for PusPacketHandlingError {
fn from(value: PusError) -> Self {
Self::PusError(value)
}
}
impl From<StoreError> for PusPacketHandlingError {
fn from(value: StoreError) -> Self {
Self::StoreError(value)
}
}
#[derive(Debug, Clone)]
pub enum PartialPusHandlingError {
TimeError(StdTimestampError),
TmSendError(String),
VerificationError,
}
impl From<StdTimestampError> for PartialPusHandlingError {
fn from(value: StdTimestampError) -> Self {
Self::TimeError(value)
}
}
impl From<TimestampError> for PartialPusHandlingError {
fn from(value: TimestampError) -> Self {
Self::TimeError(StdTimestampError::TimestampError(value))
}
}
#[derive(Debug, Clone)]
pub enum PusPacketHandlerResult {
RequestHandled,
RequestHandledPartialSuccess(PartialPusHandlingError),
CustomSubservice(VerificationToken<TcStateAccepted>),
Empty,
}
pub struct PusServiceBase {
tc_rx: Receiver<AcceptedTc>,
tc_store: SharedPool,
tm_tx: Sender<StoreAddr>,
tm_store: SharedTmStore,
tm_apid: u16,
verification_handler: StdVerifReporterWithSender,
stamp_buf: [u8; 7],
pus_buf: [u8; 2048],
pus_size: usize,
}
impl PusServiceBase {
pub fn new(
receiver: Receiver<AcceptedTc>,
tc_pool: SharedPool,
tm_tx: Sender<StoreAddr>,
tm_store: SharedTmStore,
tm_apid: u16,
verification_handler: StdVerifReporterWithSender,
) -> Self {
Self {
tc_rx: receiver,
tc_store: tc_pool,
tm_apid,
tm_tx,
tm_store,
verification_handler,
stamp_buf: [0; 7],
pus_buf: [0; 2048],
pus_size: 0,
}
}
pub fn handle_next_packet<
T: FnOnce(
StoreAddr,
VerificationToken<TcStateAccepted>,
) -> Result<PusPacketHandlerResult, PusPacketHandlingError>,
>(
&mut self,
handle_one_packet: T,
) -> Result<PusPacketHandlerResult, PusPacketHandlingError> {
return match self.tc_rx.try_recv() {
Ok((addr, token)) => handle_one_packet(addr, token),
Err(e) => match e {
TryRecvError::Empty => Ok(PusPacketHandlerResult::Empty),
TryRecvError::Disconnected => Err(PusPacketHandlingError::QueueDisconnected),
},
};
}
pub fn update_stamp(&mut self) -> Result<(), PartialPusHandlingError> {
let time_provider = TimeProvider::from_now_with_u16_days()
.map_err(|e| PartialPusHandlingError::TimeError(e));
return if time_provider.is_ok() {
// Can not fail, buffer is large enough.
time_provider
.unwrap()
.write_to_bytes(&mut self.stamp_buf)
.unwrap();
Ok(())
} else {
self.stamp_buf = [0; 7];
Err(time_provider.unwrap_err())
};
}
}
// pub trait PusTcRouter {
// type Error;
// fn route_pus_tc(
// &mut self,
// apid: u16,
// service: u8,
// subservice: u8,
// tc: &PusTc,
// );
// }
pub enum PusTcWrapper<'tc> {
PusTc(&'tc PusTc<'tc>),
StoreAddr(StoreAddr),
}
pub type AcceptedTc = (StoreAddr, VerificationToken<TcStateAccepted>);
pub struct PusTcMpscRouter {
pub test_service_receiver: Sender<AcceptedTc>,
pub event_service_receiver: Sender<AcceptedTc>,
@ -280,7 +129,6 @@ pub struct PusTcArgs {
//pub tc_source: PusTcSource,
/// Used to send events from within the TC router
pub event_sender: Sender<(EventU32, Option<Params>)>,
//pub scheduler: Rc<RefCell<PusScheduler>>,
}
struct TimeStampHelper {

163
satrs-example/src/pus/scheduler.rs
View File

@ -1,164 +1 @@
use crate::pus::test::PusServiceHandler;
use crate::pus::{
AcceptedTc, PartialPusHandlingError, PusPacketHandlerResult, PusPacketHandlingError,
PusServiceBase,
};
use delegate::delegate;
use satrs_core::pool::{SharedPool, StoreAddr};
use satrs_core::pus::scheduling::PusScheduler;
use satrs_core::pus::verification::{
pus_11_generic_tc_check, FailParams, StdVerifReporterWithSender, TcStateAccepted,
VerificationToken,
};
use satrs_core::pus::GenericTcCheckError;
use satrs_core::spacepackets::ecss::{scheduling, PusPacket};
use satrs_core::spacepackets::tc::PusTc;
use satrs_core::spacepackets::time::cds::TimeProvider;
use satrs_core::spacepackets::time::TimeWriter;
use satrs_core::tmtc::tm_helper::{PusTmWithCdsShortHelper, SharedTmStore};
use satrs_example::tmtc_err;
use std::sync::mpsc::{Receiver, Sender, TryRecvError};
pub struct PusService11SchedHandler {
psb: PusServiceBase,
scheduler: PusScheduler,
}
impl PusService11SchedHandler {
pub fn new(
receiver: Receiver<AcceptedTc>,
tc_pool: SharedPool,
tm_tx: Sender<StoreAddr>,
tm_store: SharedTmStore,
tm_apid: u16,
verification_handler: StdVerifReporterWithSender,
scheduler: PusScheduler,
) -> Self {
Self {
psb: PusServiceBase::new(
receiver,
tc_pool,
tm_tx,
tm_store,
tm_apid,
verification_handler,
),
scheduler,
}
}
pub fn handle_next_packet(&mut self) -> Result<PusPacketHandlerResult, PusPacketHandlingError> {
return match self.psb.tc_rx.try_recv() {
Ok((addr, token)) => self.handle_one_tc(addr, token),
Err(e) => match e {
TryRecvError::Empty => Ok(PusPacketHandlerResult::Empty),
TryRecvError::Disconnected => Err(PusPacketHandlingError::QueueDisconnected),
},
};
}
}
impl PusServiceHandler for PusService11SchedHandler {
fn psb(&mut self) -> &mut PusServiceBase {
&mut self.psb
}
fn handle_one_tc(
&mut self,
addr: StoreAddr,
token: VerificationToken<TcStateAccepted>,
) -> Result<PusPacketHandlerResult, PusPacketHandlingError> {
let mut partial_result = self.psb.update_stamp().err();
{
// Keep locked section as short as possible.
let mut tc_pool = self
.psb
.tc_store
.write()
.map_err(|e| PusPacketHandlingError::RwGuardError(format!("{e}")))?;
let tc_guard = tc_pool.read_with_guard(addr);
let tc_raw = tc_guard.read().unwrap();
self.psb.pus_buf[0..tc_raw.len()].copy_from_slice(tc_raw);
}
let (tc, tc_size) = PusTc::from_bytes(&self.psb.pus_buf).unwrap();
let std_service = scheduling::Subservice::try_from(tc.subservice());
if std_service.is_err() {
return Ok(PusPacketHandlerResult::CustomSubservice(token));
}
match std_service.unwrap() {
scheduling::Subservice::TcEnableScheduling => {
let start_token = self
.psb
.verification_handler
.start_success(token, Some(&self.psb.stamp_buf))
.expect("Error sending start success");
self.scheduler.enable();
if self.scheduler.is_enabled() {
self.psb
.verification_handler
.completion_success(start_token, Some(&self.psb.stamp_buf))
.expect("Error sending completion success");
} else {
panic!("Failed to enable scheduler");
}
}
scheduling::Subservice::TcDisableScheduling => {
let start_token = self
.psb
.verification_handler
.start_success(token, Some(&self.psb.stamp_buf))
.expect("Error sending start success");
self.scheduler.disable();
if !self.scheduler.is_enabled() {
self.psb
.verification_handler
.completion_success(start_token, Some(&self.psb.stamp_buf))
.expect("Error sending completion success");
} else {
panic!("Failed to disable scheduler");
}
}
scheduling::Subservice::TcResetScheduling => {
let start_token = self
.psb
.verification_handler
.start_success(token, Some(&self.psb.stamp_buf))
.expect("Error sending start success");
let mut pool = self.psb.tc_store.write().expect("Locking pool failed");
self.scheduler
.reset(pool.as_mut())
.expect("Error resetting TC Pool");
self.psb
.verification_handler
.completion_success(start_token, Some(&self.psb.stamp_buf))
.expect("Error sending completion success");
}
scheduling::Subservice::TcInsertActivity => {
let start_token = self
.psb
.verification_handler
.start_success(token, Some(&self.psb.stamp_buf))
.expect("error sending start success");
let mut pool = self.psb.tc_store.write().expect("locking pool failed");
self.scheduler
.insert_wrapped_tc::<TimeProvider>(&tc, pool.as_mut())
.expect("insertion of activity into pool failed");
self.psb
.verification_handler
.completion_success(start_token, Some(&self.psb.stamp_buf))
.expect("sending completion success failed");
}
_ => {
return Ok(PusPacketHandlerResult::CustomSubservice(token));
}
}
Ok(PusPacketHandlerResult::CustomSubservice(token))
}
}

163
satrs-example/src/pus/test.rs
View File

@ -1,28 +1,15 @@
use crate::pus::{
AcceptedTc, PartialPusHandlingError, PusPacketHandlerResult, PusPacketHandlingError,
PusServiceBase,
};
use delegate::delegate;
use log::{error, info, warn};
use log::{info, warn};
use satrs_core::events::EventU32;
use satrs_core::params::Params;
use satrs_core::pool::{SharedPool, StoreAddr, StoreError};
use satrs_core::pus::verification::{
FailParams, StdVerifReporterWithSender, TcStateAccepted, TcStateStarted,
VerificationOrSendErrorWithToken, VerificationToken,
};
use satrs_core::seq_count::{SeqCountProviderSyncClonable, SequenceCountProviderCore};
use satrs_core::spacepackets::ecss::{PusError, PusPacket};
use satrs_core::pus::test::PusService17TestHandler;
use satrs_core::pus::verification::FailParams;
use satrs_core::pus::{PusPacketHandlerResult, PusServiceHandler};
use satrs_core::spacepackets::ecss::PusPacket;
use satrs_core::spacepackets::tc::PusTc;
use satrs_core::spacepackets::time::cds::TimeProvider;
use satrs_core::spacepackets::time::{StdTimestampError, TimeWriter};
use satrs_core::spacepackets::tm::{PusTm, PusTmSecondaryHeader};
use satrs_core::spacepackets::SpHeader;
use satrs_core::tmtc::tm_helper::{PusTmWithCdsShortHelper, SharedTmStore};
use satrs_core::spacepackets::time::TimeWriter;
use satrs_example::{tmtc_err, TEST_EVENT};
use std::sync::mpsc::{Receiver, Sender, TryRecvError};
use std::thread;
use std::time::Duration;
use std::sync::mpsc::Sender;
pub struct Service17CustomWrapper {
pub pus17_handler: PusService17TestHandler,
@ -31,7 +18,6 @@ pub struct Service17CustomWrapper {
impl Service17CustomWrapper {
pub fn perform_operation(&mut self) -> bool {
let mut handled_pings = 0;
let res = self.pus17_handler.handle_next_packet();
if res.is_err() {
warn!("PUS17 handler failed with error {:?}", res.unwrap_err());
@ -41,18 +27,16 @@ impl Service17CustomWrapper {
PusPacketHandlerResult::RequestHandled => {
info!("Received PUS ping command TC[17,1]");
info!("Sent ping reply PUS TM[17,2]");
handled_pings += 1;
}
PusPacketHandlerResult::RequestHandledPartialSuccess(partial_err) => {
warn!(
"Handled PUS ping command with partial success: {:?}",
partial_err
);
handled_pings += 1;
}
PusPacketHandlerResult::CustomSubservice(token) => {
let (buf, _) = self.pus17_handler.pus_tc_buf();
let (tc, size) = PusTc::from_bytes(buf).unwrap();
let (tc, _) = PusTc::from_bytes(buf).unwrap();
let time_stamper = TimeProvider::from_now_with_u16_days().unwrap();
let mut stamp_buf: [u8; 7] = [0; 7];
time_stamper.write_to_bytes(&mut stamp_buf).unwrap();
@ -63,17 +47,17 @@ impl Service17CustomWrapper {
.expect("Sending test event failed");
let start_token = self
.pus17_handler
.verification_handler()
.verification_reporter()
.start_success(token, Some(&stamp_buf))
.expect("Error sending start success");
self.pus17_handler
.verification_handler()
.verification_reporter()
.completion_success(start_token, Some(&stamp_buf))
.expect("Error sending completion success");
} else {
let fail_data = [tc.subservice()];
self.pus17_handler
.verification_handler()
.verification_reporter()
.start_failure(
token,
FailParams::new(
@ -92,128 +76,3 @@ impl Service17CustomWrapper {
true
}
}
pub trait PusServiceHandler {
fn psb(&mut self) -> &mut PusServiceBase;
fn handle_one_tc(
&mut self,
addr: StoreAddr,
token: VerificationToken<TcStateAccepted>,
) -> Result<PusPacketHandlerResult, PusPacketHandlingError>;
fn handle_next_packet(&mut self) -> Result<PusPacketHandlerResult, PusPacketHandlingError> {
return match self.psb().tc_rx.try_recv() {
Ok((addr, token)) => self.handle_one_tc(addr, token),
Err(e) => match e {
TryRecvError::Empty => Ok(PusPacketHandlerResult::Empty),
TryRecvError::Disconnected => Err(PusPacketHandlingError::QueueDisconnected),
},
};
}
}
pub struct PusService17TestHandler {
psb: PusServiceBase,
}
impl PusService17TestHandler {
pub fn new(
receiver: Receiver<AcceptedTc>,
tc_pool: SharedPool,
tm_tx: Sender<StoreAddr>,
tm_store: SharedTmStore,
tm_apid: u16,
verification_handler: StdVerifReporterWithSender,
) -> Self {
Self {
psb: PusServiceBase::new(
receiver,
tc_pool,
tm_tx,
tm_store,
tm_apid,
verification_handler,
),
}
}
pub fn verification_handler(&mut self) -> &mut StdVerifReporterWithSender {
&mut self.psb.verification_handler
}
pub fn pus_tc_buf(&self) -> (&[u8], usize) {
(&self.psb.pus_buf, self.psb.pus_size)
}
}
impl PusServiceHandler for PusService17TestHandler {
fn psb(&mut self) -> &mut PusServiceBase {
&mut self.psb
}
fn handle_one_tc(
&mut self,
addr: StoreAddr,
token: VerificationToken<TcStateAccepted>,
) -> Result<PusPacketHandlerResult, PusPacketHandlingError> {
let mut partial_result = None;
{
// Keep locked section as short as possible.
let mut tc_pool = self
.psb
.tc_store
.write()
.map_err(|e| PusPacketHandlingError::RwGuardError(format!("{e}")))?;
let tc_guard = tc_pool.read_with_guard(addr);
let tc_raw = tc_guard.read()?;
self.psb.pus_buf[0..tc_raw.len()].copy_from_slice(tc_raw);
}
let mut partial_error = None;
let (tc, tc_size) = PusTc::from_bytes(&self.psb.pus_buf)?;
if tc.service() != 17 {
return Err(PusPacketHandlingError::WrongService(tc.service()));
}
if tc.subservice() == 1 {
partial_result = self.psb.update_stamp().err();
let result = self
.psb
.verification_handler
.start_success(token, Some(&self.psb.stamp_buf))
.map_err(|e| PartialPusHandlingError::VerificationError);
let start_token = if result.is_err() {
partial_error = Some(result.unwrap_err());
None
} else {
Some(result.unwrap())
};
// Sequence count will be handled centrally in TM funnel.
let mut reply_header = SpHeader::tm_unseg(self.psb.tm_apid, 0, 0).unwrap();
let tc_header = PusTmSecondaryHeader::new_simple(17, 2, &self.psb.stamp_buf);
let ping_reply = PusTm::new(&mut reply_header, tc_header, None, true);
let addr = self.psb.tm_store.add_pus_tm(&ping_reply);
if let Err(e) = self
.psb
.tm_tx
.send(addr)
.map_err(|e| PartialPusHandlingError::TmSendError(format!("{e}")))
{
partial_error = Some(e);
}
if let Some(start_token) = start_token {
if self
.psb
.verification_handler
.completion_success(start_token, Some(&self.psb.stamp_buf))
.is_err()
{
partial_error = Some(PartialPusHandlingError::VerificationError)
}
}
if partial_error.is_some() {
return Ok(PusPacketHandlerResult::RequestHandledPartialSuccess(
partial_error.unwrap(),
));
}
return Ok(PusPacketHandlerResult::RequestHandled);
}
Ok(PusPacketHandlerResult::CustomSubservice(token))
}
}

13
satrs-example/src/tmtc.rs
View File

@ -8,7 +8,6 @@ use std::error::Error;
use std::fmt::{Display, Formatter};
use std::net::SocketAddr;
use std::rc::Rc;
use std::sync::mpsc;
use std::sync::mpsc::{Receiver, SendError, Sender, TryRecvError};
use std::thread;
use std::time::Duration;
@ -18,15 +17,14 @@ use crate::pus::{PusReceiver, PusTcArgs, PusTcMpscRouter, PusTmArgs};
use crate::requests::RequestWithToken;
use satrs_core::pool::{SharedPool, StoreAddr, StoreError};
use satrs_core::pus::event_man::EventRequestWithToken;
use satrs_core::pus::scheduling::{PusScheduler, TcInfo};
use satrs_core::pus::scheduler::{PusScheduler, TcInfo};
use satrs_core::pus::verification::StdVerifReporterWithSender;
use satrs_core::seq_count::SeqCountProviderSyncClonable;
use satrs_core::spacepackets::ecss::SerializablePusPacket;
use satrs_core::spacepackets::{ecss::PusPacket, tc::PusTc, tm::PusTm, SpHeader};
use satrs_core::spacepackets::ecss::{PusPacket, SerializablePusPacket};
use satrs_core::spacepackets::tc::PusTc;
use satrs_core::spacepackets::SpHeader;
use satrs_core::tmtc::tm_helper::SharedTmStore;
use satrs_core::tmtc::{
CcsdsDistributor, CcsdsError, PusServiceProvider, ReceivesCcsdsTc, ReceivesEcssPusTc,
};
use satrs_core::tmtc::{CcsdsDistributor, CcsdsError, ReceivesCcsdsTc, ReceivesEcssPusTc};
pub const PUS_APID: u16 = 0x02;
@ -162,7 +160,6 @@ pub fn core_tmtc_task(
PusScheduler::new_with_current_init_time(Duration::from_secs(5)).unwrap(),
));
let sched_clone = scheduler.clone();
let pus_tm_args = PusTmArgs {
tm_tx: tm_args.tm_sink_sender,
tm_store: tm_args.tm_store.clone(),