Re-structure sat-rs

- Add new shared subcrate satrs-shared to split off some shared components not expected to change very often. - Renmame `satrs-core` to `satrs`. It is expected that sat-rs will remain the primary crate, so the core information is superfluous, and core also implies stability, which will not be the case for some time.
2024-02-12 15:51:37 +01:00
parent f58a4eaee5
commit de4e6183b3
93 changed files with 466 additions and 189 deletions
--- a/satrs/src/pus/scheduler_srv.rs
+++ b/satrs/src/pus/scheduler_srv.rs
@ -0,0 +1,355 @@
+use super::scheduler::PusSchedulerProvider;
+use super::{EcssTcInMemConverter, PusServiceBase, PusServiceHelper};
+use crate::pool::PoolProvider;
+use crate::pus::{PusPacketHandlerResult, PusPacketHandlingError};
+use alloc::string::ToString;
+use spacepackets::ecss::{scheduling, PusPacket};
+use spacepackets::time::cds::TimeProvider;
+
+/// This is a helper class for [std] environments to handle generic PUS 11 (scheduling service)
+/// packets. This handler is able to handle the most important PUS requests for a scheduling
+/// service which provides the [PusSchedulerProvider].
+///
+/// Please note that this class does not do the regular periodic handling like releasing any
+/// telecommands inside the scheduler. The user can retrieve the wrapped scheduler via the
+/// [Self::scheduler] and [Self::scheduler_mut] function and then use the scheduler API to release
+/// telecommands when applicable.
+pub struct PusService11SchedHandler<
+    TcInMemConverter: EcssTcInMemConverter,
+    PusScheduler: PusSchedulerProvider,
+> {
+    pub service_helper: PusServiceHelper<TcInMemConverter>,
+    scheduler: PusScheduler,
+}
+
+impl<TcInMemConverter: EcssTcInMemConverter, Scheduler: PusSchedulerProvider>
+    PusService11SchedHandler<TcInMemConverter, Scheduler>
+{
+    pub fn new(service_helper: PusServiceHelper<TcInMemConverter>, scheduler: Scheduler) -> Self {
+        Self {
+            service_helper,
+            scheduler,
+        }
+    }
+
+    pub fn scheduler_mut(&mut self) -> &mut Scheduler {
+        &mut self.scheduler
+    }
+
+    pub fn scheduler(&self) -> &Scheduler {
+        &self.scheduler
+    }
+
+    pub fn handle_one_tc(
+        &mut self,
+        sched_tc_pool: &mut (impl PoolProvider + ?Sized),
+    ) -> Result<PusPacketHandlerResult, PusPacketHandlingError> {
+        let possible_packet = self.service_helper.retrieve_and_accept_next_packet()?;
+        if possible_packet.is_none() {
+            return Ok(PusPacketHandlerResult::Empty);
+        }
+        let ecss_tc_and_token = possible_packet.unwrap();
+        let tc = self
+            .service_helper
+            .tc_in_mem_converter
+            .convert_ecss_tc_in_memory_to_reader(&ecss_tc_and_token.tc_in_memory)?;
+        let subservice = PusPacket::subservice(&tc);
+        let standard_subservice = scheduling::Subservice::try_from(subservice);
+        if standard_subservice.is_err() {
+            return Ok(PusPacketHandlerResult::CustomSubservice(
+                subservice,
+                ecss_tc_and_token.token,
+            ));
+        }
+        let mut partial_error = None;
+        let time_stamp = PusServiceBase::get_current_timestamp(&mut partial_error);
+        match standard_subservice.unwrap() {
+            scheduling::Subservice::TcEnableScheduling => {
+                let start_token = self
+                    .service_helper
+                    .common
+                    .verification_handler
+                    .get_mut()
+                    .start_success(ecss_tc_and_token.token, Some(&time_stamp))
+                    .expect("Error sending start success");
+
+                self.scheduler.enable();
+                if self.scheduler.is_enabled() {
+                    self.service_helper
+                        .common
+                        .verification_handler
+                        .get_mut()
+                        .completion_success(start_token, Some(&time_stamp))
+                        .expect("Error sending completion success");
+                } else {
+                    return Err(PusPacketHandlingError::Other(
+                        "failed to enabled scheduler".to_string(),
+                    ));
+                }
+            }
+            scheduling::Subservice::TcDisableScheduling => {
+                let start_token = self
+                    .service_helper
+                    .common
+                    .verification_handler
+                    .get_mut()
+                    .start_success(ecss_tc_and_token.token, Some(&time_stamp))
+                    .expect("Error sending start success");
+
+                self.scheduler.disable();
+                if !self.scheduler.is_enabled() {
+                    self.service_helper
+                        .common
+                        .verification_handler
+                        .get_mut()
+                        .completion_success(start_token, Some(&time_stamp))
+                        .expect("Error sending completion success");
+                } else {
+                    return Err(PusPacketHandlingError::Other(
+                        "failed to disable scheduler".to_string(),
+                    ));
+                }
+            }
+            scheduling::Subservice::TcResetScheduling => {
+                let start_token = self
+                    .service_helper
+                    .common
+                    .verification_handler
+                    .get_mut()
+                    .start_success(ecss_tc_and_token.token, Some(&time_stamp))
+                    .expect("Error sending start success");
+
+                self.scheduler
+                    .reset(sched_tc_pool)
+                    .expect("Error resetting TC Pool");
+
+                self.service_helper
+                    .common
+                    .verification_handler
+                    .get_mut()
+                    .completion_success(start_token, Some(&time_stamp))
+                    .expect("Error sending completion success");
+            }
+            scheduling::Subservice::TcInsertActivity => {
+                let start_token = self
+                    .service_helper
+                    .common
+                    .verification_handler
+                    .get_mut()
+                    .start_success(ecss_tc_and_token.token, Some(&time_stamp))
+                    .expect("error sending start success");
+
+                // let mut pool = self.sched_tc_pool.write().expect("locking pool failed");
+                self.scheduler
+                    .insert_wrapped_tc::<TimeProvider>(&tc, sched_tc_pool)
+                    .expect("insertion of activity into pool failed");
+
+                self.service_helper
+                    .common
+                    .verification_handler
+                    .get_mut()
+                    .completion_success(start_token, Some(&time_stamp))
+                    .expect("sending completion success failed");
+            }
+            _ => {
+                // Treat unhandled standard subservices as custom subservices for now.
+                return Ok(PusPacketHandlerResult::CustomSubservice(
+                    subservice,
+                    ecss_tc_and_token.token,
+                ));
+            }
+        }
+        if let Some(partial_error) = partial_error {
+            return Ok(PusPacketHandlerResult::RequestHandledPartialSuccess(
+                partial_error,
+            ));
+        }
+        Ok(PusPacketHandlerResult::RequestHandled)
+    }
+}
+
+#[cfg(test)]
+mod tests {
+    use crate::pool::{StaticMemoryPool, StaticPoolConfig};
+    use crate::pus::tests::TEST_APID;
+    use crate::pus::{
+        scheduler::{self, PusSchedulerProvider, TcInfo},
+        tests::{PusServiceHandlerWithSharedStoreCommon, PusTestHarness},
+        verification::{RequestId, TcStateAccepted, VerificationToken},
+        EcssTcInSharedStoreConverter,
+    };
+    use alloc::collections::VecDeque;
+    use delegate::delegate;
+    use spacepackets::ecss::scheduling::Subservice;
+    use spacepackets::ecss::tc::PusTcSecondaryHeader;
+    use spacepackets::ecss::WritablePusPacket;
+    use spacepackets::time::TimeWriter;
+    use spacepackets::SpHeader;
+    use spacepackets::{
+        ecss::{tc::PusTcCreator, tm::PusTmReader},
+        time::cds,
+    };
+
+    use super::PusService11SchedHandler;
+
+    struct Pus11HandlerWithStoreTester {
+        common: PusServiceHandlerWithSharedStoreCommon,
+        handler: PusService11SchedHandler<EcssTcInSharedStoreConverter, TestScheduler>,
+        sched_tc_pool: StaticMemoryPool,
+    }
+
+    impl Pus11HandlerWithStoreTester {
+        pub fn new() -> Self {
+            let test_scheduler = TestScheduler::default();
+            let pool_cfg = StaticPoolConfig::new(alloc::vec![(16, 16), (8, 32), (4, 64)], false);
+            let sched_tc_pool = StaticMemoryPool::new(pool_cfg.clone());
+            let (common, srv_handler) = PusServiceHandlerWithSharedStoreCommon::new();
+            Self {
+                common,
+                handler: PusService11SchedHandler::new(srv_handler, test_scheduler),
+                sched_tc_pool,
+            }
+        }
+    }
+
+    impl PusTestHarness for Pus11HandlerWithStoreTester {
+        delegate! {
+            to self.common {
+                fn send_tc(&mut self, tc: &PusTcCreator) -> VerificationToken<TcStateAccepted>;
+                fn read_next_tm(&mut self) -> PusTmReader<'_>;
+                fn check_no_tm_available(&self) -> bool;
+                fn check_next_verification_tm(&self, subservice: u8, expected_request_id: RequestId);
+            }
+        }
+    }
+
+    #[derive(Default)]
+    pub struct TestScheduler {
+        reset_count: u32,
+        enabled: bool,
+        enabled_count: u32,
+        disabled_count: u32,
+        inserted_tcs: VecDeque<TcInfo>,
+    }
+
+    impl PusSchedulerProvider for TestScheduler {
+        type TimeProvider = cds::TimeProvider;
+
+        fn reset(
+            &mut self,
+            _store: &mut (impl crate::pool::PoolProvider + ?Sized),
+        ) -> Result<(), crate::pool::StoreError> {
+            self.reset_count += 1;
+            Ok(())
+        }
+
+        fn is_enabled(&self) -> bool {
+            self.enabled
+        }
+
+        fn enable(&mut self) {
+            self.enabled_count += 1;
+            self.enabled = true;
+        }
+
+        fn disable(&mut self) {
+            self.disabled_count += 1;
+            self.enabled = false;
+        }
+
+        fn insert_unwrapped_and_stored_tc(
+            &mut self,
+            _time_stamp: spacepackets::time::UnixTimestamp,
+            info: crate::pus::scheduler::TcInfo,
+        ) -> Result<(), crate::pus::scheduler::ScheduleError> {
+            self.inserted_tcs.push_back(info);
+            Ok(())
+        }
+    }
+
+    fn generic_subservice_send(
+        test_harness: &mut Pus11HandlerWithStoreTester,
+        subservice: Subservice,
+    ) {
+        let mut reply_header = SpHeader::tm_unseg(TEST_APID, 0, 0).unwrap();
+        let tc_header = PusTcSecondaryHeader::new_simple(11, subservice as u8);
+        let enable_scheduling = PusTcCreator::new(&mut reply_header, tc_header, &[0; 7], true);
+        let token = test_harness.send_tc(&enable_scheduling);
+
+        let request_id = token.req_id();
+        test_harness
+            .handler
+            .handle_one_tc(&mut test_harness.sched_tc_pool)
+            .unwrap();
+        test_harness.check_next_verification_tm(1, request_id);
+        test_harness.check_next_verification_tm(3, request_id);
+        test_harness.check_next_verification_tm(7, request_id);
+    }
+
+    #[test]
+    fn test_scheduling_enabling_tc() {
+        let mut test_harness = Pus11HandlerWithStoreTester::new();
+        test_harness.handler.scheduler_mut().disable();
+        assert!(!test_harness.handler.scheduler().is_enabled());
+        generic_subservice_send(&mut test_harness, Subservice::TcEnableScheduling);
+        assert!(test_harness.handler.scheduler().is_enabled());
+        assert_eq!(test_harness.handler.scheduler().enabled_count, 1);
+    }
+
+    #[test]
+    fn test_scheduling_disabling_tc() {
+        let mut test_harness = Pus11HandlerWithStoreTester::new();
+        test_harness.handler.scheduler_mut().enable();
+        assert!(test_harness.handler.scheduler().is_enabled());
+        generic_subservice_send(&mut test_harness, Subservice::TcDisableScheduling);
+        assert!(!test_harness.handler.scheduler().is_enabled());
+        assert_eq!(test_harness.handler.scheduler().disabled_count, 1);
+    }
+
+    #[test]
+    fn test_reset_scheduler_tc() {
+        let mut test_harness = Pus11HandlerWithStoreTester::new();
+        generic_subservice_send(&mut test_harness, Subservice::TcResetScheduling);
+        assert_eq!(test_harness.handler.scheduler().reset_count, 1);
+    }
+
+    #[test]
+    fn test_insert_activity_tc() {
+        let mut test_harness = Pus11HandlerWithStoreTester::new();
+        let mut reply_header = SpHeader::tm_unseg(TEST_APID, 0, 0).unwrap();
+        let mut sec_header = PusTcSecondaryHeader::new_simple(17, 1);
+        let ping_tc = PusTcCreator::new(&mut reply_header, sec_header, &[], true);
+        let req_id_ping_tc = scheduler::RequestId::from_tc(&ping_tc);
+        let stamper = cds::TimeProvider::from_now_with_u16_days().expect("time provider failed");
+        let mut sched_app_data: [u8; 64] = [0; 64];
+        let mut written_len = stamper.write_to_bytes(&mut sched_app_data).unwrap();
+        let ping_raw = ping_tc.to_vec().expect("generating raw tc failed");
+        sched_app_data[written_len..written_len + ping_raw.len()].copy_from_slice(&ping_raw);
+        written_len += ping_raw.len();
+        reply_header = SpHeader::tm_unseg(TEST_APID, 1, 0).unwrap();
+        sec_header = PusTcSecondaryHeader::new_simple(11, Subservice::TcInsertActivity as u8);
+        let enable_scheduling = PusTcCreator::new(
+            &mut reply_header,
+            sec_header,
+            &sched_app_data[..written_len],
+            true,
+        );
+        let token = test_harness.send_tc(&enable_scheduling);
+
+        let request_id = token.req_id();
+        test_harness
+            .handler
+            .handle_one_tc(&mut test_harness.sched_tc_pool)
+            .unwrap();
+        test_harness.check_next_verification_tm(1, request_id);
+        test_harness.check_next_verification_tm(3, request_id);
+        test_harness.check_next_verification_tm(7, request_id);
+        let tc_info = test_harness
+            .handler
+            .scheduler_mut()
+            .inserted_tcs
+            .pop_front()
+            .unwrap();
+        assert_eq!(tc_info.request_id(), req_id_ping_tc);
+    }
+}