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Major refactoring and update of PUS module

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This commit is contained in:
Robin Müller
2024-04-04 15:18:53 +02:00
parent 344fe6a4c0
commit df2733a176
75 changed files with 9295 additions and 4764 deletions
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242
satrs/src/pus/event.rs
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@ -6,8 +6,10 @@ use spacepackets::ByteConversionError;
use spacepackets::{SpHeader, MAX_APID};
use crate::pus::EcssTmSenderCore;
#[cfg(feature = "alloc")]
pub use alloc_mod::EventReporter;
pub use alloc_mod::*;
pub use spacepackets::ecss::event::*;
pub struct EventReportCreator {
@ -16,117 +18,112 @@ pub struct EventReportCreator {
}
impl EventReportCreator {
pub fn new(apid: u16) -> Option<Self> {
pub fn new(apid: u16, dest_id: u16) -> Option<Self> {
if apid > MAX_APID {
return None;
}
Some(Self {
// msg_count: 0,
dest_id: 0,
apid,
})
Some(Self { dest_id, apid })
}
pub fn event_info<'time, 'src_data>(
&mut self,
src_data_buf: &'src_data mut [u8],
&self,
time_stamp: &'time [u8],
event_id: impl EcssEnumeration,
aux_data: Option<&'src_data [u8]>,
params: Option<&'src_data [u8]>,
src_data_buf: &'src_data mut [u8],
) -> Result<PusTmCreator<'time, 'src_data>, ByteConversionError> {
self.generate_and_send_generic_tm(
src_data_buf,
Subservice::TmInfoReport,
time_stamp,
event_id,
aux_data,
params,
src_data_buf,
)
}
pub fn event_low_severity<'time, 'src_data>(
&mut self,
src_data_buf: &'src_data mut [u8],
&self,
time_stamp: &'time [u8],
event_id: impl EcssEnumeration,
aux_data: Option<&'src_data [u8]>,
params: Option<&'src_data [u8]>,
src_data_buf: &'src_data mut [u8],
) -> Result<PusTmCreator<'time, 'src_data>, ByteConversionError> {
self.generate_and_send_generic_tm(
src_data_buf,
Subservice::TmLowSeverityReport,
time_stamp,
event_id,
aux_data,
params,
src_data_buf,
)
}
pub fn event_medium_severity<'time, 'src_data>(
&mut self,
buf: &'src_data mut [u8],
&self,
time_stamp: &'time [u8],
event_id: impl EcssEnumeration,
aux_data: Option<&'src_data [u8]>,
params: Option<&'src_data [u8]>,
buf: &'src_data mut [u8],
) -> Result<PusTmCreator<'time, 'src_data>, ByteConversionError> {
self.generate_and_send_generic_tm(
buf,
Subservice::TmMediumSeverityReport,
time_stamp,
event_id,
aux_data,
params,
buf,
)
}
pub fn event_high_severity<'time, 'src_data>(
&mut self,
src_data_buf: &'src_data mut [u8],
&self,
time_stamp: &'time [u8],
event_id: impl EcssEnumeration,
aux_data: Option<&'src_data [u8]>,
params: Option<&'src_data [u8]>,
src_data_buf: &'src_data mut [u8],
) -> Result<PusTmCreator<'time, 'src_data>, ByteConversionError> {
self.generate_and_send_generic_tm(
src_data_buf,
Subservice::TmHighSeverityReport,
time_stamp,
event_id,
aux_data,
params,
src_data_buf,
)
}
fn generate_and_send_generic_tm<'time, 'src_data>(
&mut self,
src_data_buf: &'src_data mut [u8],
&self,
subservice: Subservice,
time_stamp: &'time [u8],
event_id: impl EcssEnumeration,
aux_data: Option<&'src_data [u8]>,
params: Option<&'src_data [u8]>,
src_data_buf: &'src_data mut [u8],
) -> Result<PusTmCreator<'time, 'src_data>, ByteConversionError> {
self.generate_generic_event_tm(src_data_buf, subservice, time_stamp, event_id, aux_data)
self.generate_generic_event_tm(subservice, time_stamp, event_id, params, src_data_buf)
}
fn generate_generic_event_tm<'time, 'src_data>(
&self,
src_data_buf: &'src_data mut [u8],
subservice: Subservice,
time_stamp: &'time [u8],
event_id: impl EcssEnumeration,
aux_data: Option<&'src_data [u8]>,
params: Option<&'src_data [u8]>,
src_data_buf: &'src_data mut [u8],
) -> Result<PusTmCreator<'time, 'src_data>, ByteConversionError> {
let mut src_data_len = event_id.size();
if let Some(aux_data) = aux_data {
if let Some(aux_data) = params {
src_data_len += aux_data.len();
}
source_buffer_large_enough(src_data_buf.len(), src_data_len)?;
let mut sp_header = SpHeader::tm_unseg(self.apid, 0, 0).unwrap();
let sec_header =
PusTmSecondaryHeader::new(5, subservice.into(), 0, self.dest_id, Some(time_stamp));
PusTmSecondaryHeader::new(5, subservice.into(), 0, self.dest_id, time_stamp);
let mut current_idx = 0;
event_id.write_to_be_bytes(&mut src_data_buf[0..event_id.size()])?;
current_idx += event_id.size();
if let Some(aux_data) = aux_data {
if let Some(aux_data) = params {
src_data_buf[current_idx..current_idx + aux_data.len()].copy_from_slice(aux_data);
current_idx += aux_data.len();
}
Ok(PusTmCreator::new(
&mut sp_header,
SpHeader::new_from_apid(self.apid),
sec_header,
&src_data_buf[0..current_idx],
true,
@ -137,99 +134,129 @@ impl EventReportCreator {
#[cfg(feature = "alloc")]
mod alloc_mod {
use super::*;
use crate::ComponentId;
use alloc::vec;
use alloc::vec::Vec;
use core::cell::RefCell;
pub struct EventReporter {
source_data_buf: Vec<u8>,
pub reporter: EventReportCreator,
pub trait EventTmHookProvider {
fn modify_tm(&self, tm: &mut PusTmCreator);
}
impl EventReporter {
pub fn new(apid: u16, max_event_id_and_aux_data_size: usize) -> Option<Self> {
let reporter = EventReportCreator::new(apid)?;
#[derive(Default)]
pub struct DummyEventHook {}
impl EventTmHookProvider for DummyEventHook {
fn modify_tm(&self, _tm: &mut PusTmCreator) {}
}
pub struct EventReporter<EventTmHook: EventTmHookProvider = DummyEventHook> {
id: ComponentId,
// Use interior mutability pattern here. This is just an intermediate buffer to the PUS event packet
// generation.
source_data_buf: RefCell<Vec<u8>>,
pub report_creator: EventReportCreator,
pub tm_hook: EventTmHook,
}
impl EventReporter<DummyEventHook> {
pub fn new(
id: ComponentId,
default_apid: u16,
default_dest_id: u16,
max_event_id_and_aux_data_size: usize,
) -> Option<Self> {
let reporter = EventReportCreator::new(default_apid, default_dest_id)?;
Some(Self {
source_data_buf: vec![0; max_event_id_and_aux_data_size],
reporter,
id,
source_data_buf: RefCell::new(vec![0; max_event_id_and_aux_data_size]),
report_creator: reporter,
tm_hook: DummyEventHook::default(),
})
}
}
impl<EventTmHook: EventTmHookProvider> EventReporter<EventTmHook> {
pub fn new_with_hook(
id: ComponentId,
default_apid: u16,
default_dest_id: u16,
max_event_id_and_aux_data_size: usize,
tm_hook: EventTmHook,
) -> Option<Self> {
let reporter = EventReportCreator::new(default_apid, default_dest_id)?;
Some(Self {
id,
source_data_buf: RefCell::new(vec![0; max_event_id_and_aux_data_size]),
report_creator: reporter,
tm_hook,
})
}
pub fn event_info(
&mut self,
sender: &mut (impl EcssTmSenderCore + ?Sized),
&self,
sender: &(impl EcssTmSenderCore + ?Sized),
time_stamp: &[u8],
event_id: impl EcssEnumeration,
aux_data: Option<&[u8]>,
params: Option<&[u8]>,
) -> Result<(), EcssTmtcError> {
let tm_creator = self
.reporter
.event_info(
self.source_data_buf.as_mut_slice(),
time_stamp,
event_id,
aux_data,
)
let mut mut_buf = self.source_data_buf.borrow_mut();
let mut tm_creator = self
.report_creator
.event_info(time_stamp, event_id, params, mut_buf.as_mut_slice())
.map_err(PusError::ByteConversion)?;
sender.send_tm(tm_creator.into())?;
self.tm_hook.modify_tm(&mut tm_creator);
sender.send_tm(self.id, tm_creator.into())?;
Ok(())
}
pub fn event_low_severity(
&mut self,
sender: &mut (impl EcssTmSenderCore + ?Sized),
&self,
sender: &(impl EcssTmSenderCore + ?Sized),
time_stamp: &[u8],
event_id: impl EcssEnumeration,
aux_data: Option<&[u8]>,
params: Option<&[u8]>,
) -> Result<(), EcssTmtcError> {
let tm_creator = self
.reporter
.event_low_severity(
self.source_data_buf.as_mut_slice(),
time_stamp,
event_id,
aux_data,
)
let mut mut_buf = self.source_data_buf.borrow_mut();
let mut tm_creator = self
.report_creator
.event_low_severity(time_stamp, event_id, params, mut_buf.as_mut_slice())
.map_err(PusError::ByteConversion)?;
sender.send_tm(tm_creator.into())?;
self.tm_hook.modify_tm(&mut tm_creator);
sender.send_tm(self.id, tm_creator.into())?;
Ok(())
}
pub fn event_medium_severity(
&mut self,
sender: &mut (impl EcssTmSenderCore + ?Sized),
&self,
sender: &(impl EcssTmSenderCore + ?Sized),
time_stamp: &[u8],
event_id: impl EcssEnumeration,
aux_data: Option<&[u8]>,
params: Option<&[u8]>,
) -> Result<(), EcssTmtcError> {
let tm_creator = self
.reporter
.event_medium_severity(
self.source_data_buf.as_mut_slice(),
time_stamp,
event_id,
aux_data,
)
let mut mut_buf = self.source_data_buf.borrow_mut();
let mut tm_creator = self
.report_creator
.event_medium_severity(time_stamp, event_id, params, mut_buf.as_mut_slice())
.map_err(PusError::ByteConversion)?;
sender.send_tm(tm_creator.into())?;
self.tm_hook.modify_tm(&mut tm_creator);
sender.send_tm(self.id, tm_creator.into())?;
Ok(())
}
pub fn event_high_severity(
&mut self,
sender: &mut (impl EcssTmSenderCore + ?Sized),
&self,
sender: &(impl EcssTmSenderCore + ?Sized),
time_stamp: &[u8],
event_id: impl EcssEnumeration,
aux_data: Option<&[u8]>,
params: Option<&[u8]>,
) -> Result<(), EcssTmtcError> {
let tm_creator = self
.reporter
.event_high_severity(
self.source_data_buf.as_mut_slice(),
time_stamp,
event_id,
aux_data,
)
let mut mut_buf = self.source_data_buf.borrow_mut();
let mut tm_creator = self
.report_creator
.event_high_severity(time_stamp, event_id, params, mut_buf.as_mut_slice())
.map_err(PusError::ByteConversion)?;
sender.send_tm(tm_creator.into())?;
self.tm_hook.modify_tm(&mut tm_creator);
sender.send_tm(self.id, tm_creator.into())?;
Ok(())
}
}
@ -239,9 +266,10 @@ mod alloc_mod {
mod tests {
use super::*;
use crate::events::{EventU32, Severity};
use crate::pus::test_util::TEST_COMPONENT_ID_0;
use crate::pus::tests::CommonTmInfo;
use crate::pus::{EcssChannel, PusTmWrapper};
use crate::ChannelId;
use crate::pus::{ChannelWithId, PusTmVariant};
use crate::ComponentId;
use spacepackets::ByteConversionError;
use std::cell::RefCell;
use std::collections::VecDeque;
@ -255,6 +283,7 @@ mod tests {
#[derive(Debug, Eq, PartialEq, Clone)]
struct TmInfo {
pub sender_id: ComponentId,
pub common: CommonTmInfo,
pub event: EventU32,
pub aux_data: Vec<u8>,
@ -265,19 +294,19 @@ mod tests {
pub service_queue: RefCell<VecDeque<TmInfo>>,
}
impl EcssChannel for TestSender {
fn channel_id(&self) -> ChannelId {
impl ChannelWithId for TestSender {
fn id(&self) -> ComponentId {
0
}
}
impl EcssTmSenderCore for TestSender {
fn send_tm(&self, tm: PusTmWrapper) -> Result<(), EcssTmtcError> {
fn send_tm(&self, sender_id: ComponentId, tm: PusTmVariant) -> Result<(), EcssTmtcError> {
match tm {
PusTmWrapper::InStore(_) => {
PusTmVariant::InStore(_) => {
panic!("TestSender: unexpected call with address");
}
PusTmWrapper::Direct(tm) => {
PusTmVariant::Direct(tm) => {
assert!(!tm.source_data().is_empty());
let src_data = tm.source_data();
assert!(src_data.len() >= 4);
@ -288,6 +317,7 @@ mod tests {
aux_data.extend_from_slice(&src_data[4..]);
}
self.service_queue.borrow_mut().push_back(TmInfo {
sender_id,
common: CommonTmInfo::new_from_tm(&tm),
event,
aux_data,
@ -345,7 +375,12 @@ mod tests {
error_data: Option<&[u8]>,
) {
let mut sender = TestSender::default();
let reporter = EventReporter::new(EXAMPLE_APID, max_event_aux_data_buf);
let reporter = EventReporter::new(
TEST_COMPONENT_ID_0.id(),
EXAMPLE_APID,
0,
max_event_aux_data_buf,
);
assert!(reporter.is_some());
let mut reporter = reporter.unwrap();
let time_stamp_empty: [u8; 7] = [0; 7];
@ -375,6 +410,7 @@ mod tests {
assert_eq!(tm_info.common.msg_counter, 0);
assert_eq!(tm_info.common.apid, EXAMPLE_APID);
assert_eq!(tm_info.event, event);
assert_eq!(tm_info.sender_id, TEST_COMPONENT_ID_0.id());
assert_eq!(tm_info.aux_data, error_copy);
}
@ -437,7 +473,7 @@ mod tests {
fn insufficient_buffer() {
let mut sender = TestSender::default();
for i in 0..3 {
let reporter = EventReporter::new(EXAMPLE_APID, i);
let reporter = EventReporter::new(0, EXAMPLE_APID, 0, i);
assert!(reporter.is_some());
let mut reporter = reporter.unwrap();
check_buf_too_small(&mut reporter, &mut sender, i);