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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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632
satrs/src/request.rs
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@ -1,110 +1,586 @@
use core::fmt;
use core::{fmt, marker::PhantomData};
#[cfg(feature = "serde")]
use serde::{Deserialize, Serialize};
#[cfg(feature = "alloc")]
pub use alloc_mod::*;
#[cfg(feature = "std")]
use std::error::Error;
pub use std_mod::*;
use spacepackets::{
ecss::{tc::IsPusTelecommand, PusPacket},
ByteConversionError, CcsdsPacket,
};
use crate::TargetId;
use crate::{queue::GenericTargetedMessagingError, ComponentId};
/// Generic request ID type. Requests can be associated with an ID to have a unique identifier
/// for them. This can be useful for tasks like tracking their progress.
pub type RequestId = u32;
/// CCSDS APID type definition. Please note that the APID is a 14 bit value.
pub type Apid = u16;
#[derive(Debug, Clone, PartialEq, Eq)]
pub enum TargetIdCreationError {
ByteConversion(ByteConversionError),
NotEnoughAppData(usize),
#[derive(Copy, Clone, PartialEq, Eq, Hash, Debug)]
pub struct UniqueApidTargetId {
pub apid: Apid,
pub unique_id: u32,
}
impl From<ByteConversionError> for TargetIdCreationError {
fn from(e: ByteConversionError) -> Self {
Self::ByteConversion(e)
impl UniqueApidTargetId {
pub const fn new(apid: Apid, target: u32) -> Self {
Self {
apid,
unique_id: target,
}
}
pub fn raw(&self) -> ComponentId {
((self.apid as u64) << 32) | (self.unique_id as u64)
}
pub fn id(&self) -> ComponentId {
self.raw()
}
/// This function attempts to build the ID from a PUS telecommand by extracting the APID
/// and the first four bytes of the application data field as the target field.
pub fn from_pus_tc(
tc: &(impl CcsdsPacket + PusPacket + IsPusTelecommand),
) -> Result<Self, ByteConversionError> {
if tc.user_data().len() < 4 {
return Err(ByteConversionError::FromSliceTooSmall {
found: tc.user_data().len(),
expected: 4,
});
}
Ok(Self::new(
tc.apid(),
u32::from_be_bytes(tc.user_data()[0..4].try_into().unwrap()),
))
}
}
impl fmt::Display for TargetIdCreationError {
impl From<u64> for UniqueApidTargetId {
fn from(raw: u64) -> Self {
Self {
apid: (raw >> 32) as u16,
unique_id: raw as u32,
}
}
}
impl From<UniqueApidTargetId> for u64 {
fn from(target_and_apid_id: UniqueApidTargetId) -> Self {
target_and_apid_id.raw()
}
}
impl fmt::Display for UniqueApidTargetId {
fn fmt(&self, f: &mut fmt::Formatter) -> fmt::Result {
match self {
Self::ByteConversion(e) => write!(f, "target ID creation: {}", e),
Self::NotEnoughAppData(len) => {
write!(f, "not enough app data to generate target ID: {}", len)
write!(
f,
"Target and APID ID with APID {:#03x} and target {}",
self.apid, self.unique_id
)
}
}
/// This contains metadata information which might be useful when used together with a
/// generic message tpye.
///
/// This could for example be used to build request/reply patterns or state tracking for request.
#[derive(Debug, Copy, PartialEq, Eq, Clone)]
#[cfg_attr(feature = "serde", derive(Serialize, Deserialize))]
pub struct MessageMetadata {
request_id: RequestId,
sender_id: ComponentId,
}
impl MessageMetadata {
pub const fn new(request_id: RequestId, sender_id: ComponentId) -> Self {
Self {
request_id,
sender_id,
}
}
pub fn request_id(&self) -> RequestId {
self.request_id
}
pub fn sender_id(&self) -> ComponentId {
self.sender_id
}
}
/// Generic message type which adds [metadata][MessageMetadata] to a generic message typ.
#[derive(Debug, Clone, PartialEq, Eq)]
#[cfg_attr(feature = "serde", derive(Serialize, Deserialize))]
pub struct GenericMessage<Message> {
pub requestor_info: MessageMetadata,
pub message: Message,
}
impl<Message> GenericMessage<Message> {
pub fn new(requestor_info: MessageMetadata, message: Message) -> Self {
Self {
requestor_info,
message,
}
}
delegate::delegate! {
to self.requestor_info {
pub fn request_id(&self) -> RequestId;
pub fn sender_id(&self) -> ComponentId;
}
}
}
/// Generic trait for objects which can send targeted messages.
pub trait MessageSender<MSG>: Send {
fn send(&self, message: GenericMessage<MSG>) -> Result<(), GenericTargetedMessagingError>;
}
// Generic trait for objects which can receive targeted messages.
pub trait MessageReceiver<MSG> {
fn try_recv(&self) -> Result<Option<GenericMessage<MSG>>, GenericTargetedMessagingError>;
}
pub struct MessageWithSenderIdReceiver<MSG, R: MessageReceiver<MSG>>(pub R, PhantomData<MSG>);
impl<MSG, R: MessageReceiver<MSG>> From<R> for MessageWithSenderIdReceiver<MSG, R> {
fn from(receiver: R) -> Self {
MessageWithSenderIdReceiver(receiver, PhantomData)
}
}
impl<MSG, R: MessageReceiver<MSG>> MessageWithSenderIdReceiver<MSG, R> {
pub fn try_recv_message(
&self,
) -> Result<Option<GenericMessage<MSG>>, GenericTargetedMessagingError> {
self.0.try_recv()
}
}
pub struct MessageReceiverWithId<MSG, R: MessageReceiver<MSG>> {
local_channel_id: ComponentId,
reply_receiver: MessageWithSenderIdReceiver<MSG, R>,
}
impl<MSG, R: MessageReceiver<MSG>> MessageReceiverWithId<MSG, R> {
pub fn new(local_channel_id: ComponentId, reply_receiver: R) -> Self {
Self {
local_channel_id,
reply_receiver: MessageWithSenderIdReceiver::from(reply_receiver),
}
}
pub fn local_channel_id(&self) -> ComponentId {
self.local_channel_id
}
}
impl<MSG, R: MessageReceiver<MSG>> MessageReceiverWithId<MSG, R> {
pub fn try_recv_message(
&self,
) -> Result<Option<GenericMessage<MSG>>, GenericTargetedMessagingError> {
self.reply_receiver.0.try_recv()
}
}
#[cfg(feature = "alloc")]
pub mod alloc_mod {
use core::marker::PhantomData;
use crate::queue::GenericSendError;
use super::*;
use hashbrown::HashMap;
pub struct MessageSenderMap<MSG, S: MessageSender<MSG>>(
pub HashMap<ComponentId, S>,
pub(crate) PhantomData<MSG>,
);
impl<MSG, S: MessageSender<MSG>> Default for MessageSenderMap<MSG, S> {
fn default() -> Self {
Self(Default::default(), PhantomData)
}
}
impl<MSG, S: MessageSender<MSG>> MessageSenderMap<MSG, S> {
pub fn add_message_target(&mut self, target_id: ComponentId, message_sender: S) {
self.0.insert(target_id, message_sender);
}
pub fn send_message(
&self,
requestor_info: MessageMetadata,
target_channel_id: ComponentId,
message: MSG,
) -> Result<(), GenericTargetedMessagingError> {
if self.0.contains_key(&target_channel_id) {
return self
.0
.get(&target_channel_id)
.unwrap()
.send(GenericMessage::new(requestor_info, message));
}
Err(GenericSendError::TargetDoesNotExist(target_channel_id).into())
}
}
pub struct MessageSenderAndReceiver<TO, FROM, S: MessageSender<TO>, R: MessageReceiver<FROM>> {
pub local_channel_id: ComponentId,
pub message_sender_map: MessageSenderMap<TO, S>,
pub message_receiver: MessageWithSenderIdReceiver<FROM, R>,
}
impl<TO, FROM, S: MessageSender<TO>, R: MessageReceiver<FROM>>
MessageSenderAndReceiver<TO, FROM, S, R>
{
pub fn new(local_channel_id: ComponentId, message_receiver: R) -> Self {
Self {
local_channel_id,
message_sender_map: Default::default(),
message_receiver: MessageWithSenderIdReceiver::from(message_receiver),
}
}
pub fn add_message_target(&mut self, target_id: ComponentId, message_sender: S) {
self.message_sender_map
.add_message_target(target_id, message_sender)
}
pub fn local_channel_id_generic(&self) -> ComponentId {
self.local_channel_id
}
/// Try to send a message, which can be a reply or a request, depending on the generics.
pub fn send_message(
&self,
request_id: RequestId,
target_id: ComponentId,
message: TO,
) -> Result<(), GenericTargetedMessagingError> {
self.message_sender_map.send_message(
MessageMetadata::new(request_id, self.local_channel_id_generic()),
target_id,
message,
)
}
/// Try to receive a message, which can be a reply or a request, depending on the generics.
pub fn try_recv_message(
&self,
) -> Result<Option<GenericMessage<FROM>>, GenericTargetedMessagingError> {
self.message_receiver.try_recv_message()
}
}
pub struct RequestAndReplySenderAndReceiver<
REQUEST,
REPLY,
S0: MessageSender<REQUEST>,
R0: MessageReceiver<REPLY>,
S1: MessageSender<REPLY>,
R1: MessageReceiver<REQUEST>,
> {
pub local_channel_id: ComponentId,
// These 2 are a functional group.
pub request_sender_map: MessageSenderMap<REQUEST, S0>,
pub reply_receiver: MessageWithSenderIdReceiver<REPLY, R0>,
// These 2 are a functional group.
pub request_receiver: MessageWithSenderIdReceiver<REQUEST, R1>,
pub reply_sender_map: MessageSenderMap<REPLY, S1>,
}
impl<
REQUEST,
REPLY,
S0: MessageSender<REQUEST>,
R0: MessageReceiver<REPLY>,
S1: MessageSender<REPLY>,
R1: MessageReceiver<REQUEST>,
> RequestAndReplySenderAndReceiver<REQUEST, REPLY, S0, R0, S1, R1>
{
pub fn new(
local_channel_id: ComponentId,
request_receiver: R1,
reply_receiver: R0,
) -> Self {
Self {
local_channel_id,
request_receiver: request_receiver.into(),
reply_receiver: reply_receiver.into(),
request_sender_map: Default::default(),
reply_sender_map: Default::default(),
}
}
pub fn local_channel_id_generic(&self) -> ComponentId {
self.local_channel_id
}
}
}
#[cfg(feature = "std")]
impl Error for TargetIdCreationError {
fn source(&self) -> Option<&(dyn Error + 'static)> {
if let Self::ByteConversion(e) = self {
return Some(e);
pub mod std_mod {
use super::*;
use std::sync::mpsc;
use crate::queue::{GenericReceiveError, GenericSendError, GenericTargetedMessagingError};
impl<MSG: Send> MessageSender<MSG> for mpsc::Sender<GenericMessage<MSG>> {
fn send(&self, message: GenericMessage<MSG>) -> Result<(), GenericTargetedMessagingError> {
self.send(message)
.map_err(|_| GenericSendError::RxDisconnected)?;
Ok(())
}
None
}
}
#[derive(Copy, Clone, PartialEq, Eq, Hash, Debug)]
pub struct TargetAndApidId {
pub apid: Apid,
pub target: u32,
}
impl TargetAndApidId {
pub fn new(apid: Apid, target: u32) -> Self {
Self { apid, target }
}
pub fn apid(&self) -> Apid {
self.apid
}
pub fn target(&self) -> u32 {
self.target
}
pub fn raw(&self) -> TargetId {
((self.apid as u64) << 32) | (self.target as u64)
}
pub fn target_id(&self) -> TargetId {
self.raw()
}
pub fn from_pus_tc(
tc: &(impl CcsdsPacket + PusPacket + IsPusTelecommand),
) -> Result<Self, TargetIdCreationError> {
if tc.user_data().len() < 4 {
return Err(ByteConversionError::FromSliceTooSmall {
found: tc.user_data().len(),
expected: 8,
impl<MSG: Send> MessageSender<MSG> for mpsc::SyncSender<GenericMessage<MSG>> {
fn send(&self, message: GenericMessage<MSG>) -> Result<(), GenericTargetedMessagingError> {
if let Err(e) = self.try_send(message) {
return match e {
mpsc::TrySendError::Full(_) => Err(GenericSendError::QueueFull(None).into()),
mpsc::TrySendError::Disconnected(_) => {
Err(GenericSendError::RxDisconnected.into())
}
};
}
.into());
Ok(())
}
Ok(Self {
apid: tc.apid(),
target: u32::from_be_bytes(tc.user_data()[0..4].try_into().unwrap()),
})
}
pub type MessageSenderMapMpsc<MSG> = MessageReceiverWithId<MSG, mpsc::Sender<MSG>>;
pub type MessageSenderMapBoundedMpsc<MSG> = MessageReceiverWithId<MSG, mpsc::SyncSender<MSG>>;
impl<MSG> MessageReceiver<MSG> for mpsc::Receiver<GenericMessage<MSG>> {
fn try_recv(&self) -> Result<Option<GenericMessage<MSG>>, GenericTargetedMessagingError> {
match self.try_recv() {
Ok(msg) => Ok(Some(msg)),
Err(e) => match e {
mpsc::TryRecvError::Empty => Ok(None),
mpsc::TryRecvError::Disconnected => {
Err(GenericReceiveError::TxDisconnected(None).into())
}
},
}
}
}
pub type MessageReceiverWithIdMpsc<MSG> = MessageReceiverWithId<MSG, mpsc::Receiver<MSG>>;
}
impl From<u64> for TargetAndApidId {
fn from(raw: u64) -> Self {
Self {
apid: (raw >> 32) as u16,
target: raw as u32,
#[cfg(test)]
mod tests {
use std::sync::mpsc;
use alloc::string::ToString;
use spacepackets::{
ecss::tc::{PusTcCreator, PusTcSecondaryHeader},
ByteConversionError, SpHeader,
};
use crate::{
queue::{GenericReceiveError, GenericSendError, GenericTargetedMessagingError},
request::{MessageMetadata, MessageSenderMap},
};
use super::{GenericMessage, MessageReceiverWithId, UniqueApidTargetId};
const TEST_CHANNEL_ID_0: u64 = 1;
const TEST_CHANNEL_ID_1: u64 = 2;
const TEST_CHANNEL_ID_2: u64 = 3;
#[test]
fn test_basic_target_id_with_apid() {
let id = UniqueApidTargetId::new(0x111, 0x01);
assert_eq!(id.apid, 0x111);
assert_eq!(id.unique_id, 0x01);
assert_eq!(id.id(), id.raw());
assert_eq!(u64::from(id), id.raw());
let id_raw = id.raw();
let id_from_raw = UniqueApidTargetId::from(id_raw);
assert_eq!(id_from_raw, id);
assert_eq!(id.id(), (0x111 << 32) | 0x01);
let string = id.to_string();
assert_eq!(
string,
"Target and APID ID with APID 0x111 and target 1".to_string()
);
}
#[test]
fn test_basic_target_id_with_apid_from_pus_tc() {
let sp_header = SpHeader::new_for_unseg_tc(0x111, 5, 0);
let app_data = 1_u32.to_be_bytes();
let pus_tc = PusTcCreator::new_simple(sp_header, 17, 1, &app_data, true);
let id = UniqueApidTargetId::from_pus_tc(&pus_tc).unwrap();
assert_eq!(id.apid, 0x111);
assert_eq!(id.unique_id, 1);
}
#[test]
fn test_basic_target_id_with_apid_from_pus_tc_invalid_app_data() {
let sp_header = SpHeader::new_for_unseg_tc(0x111, 5, 0);
let sec_header = PusTcSecondaryHeader::new_simple(17, 1);
let pus_tc = PusTcCreator::new_no_app_data(sp_header, sec_header, true);
let error = UniqueApidTargetId::from_pus_tc(&pus_tc);
assert!(error.is_err());
let error = error.unwrap_err();
if let ByteConversionError::FromSliceTooSmall { found, expected } = error {
assert_eq!(found, 0);
assert_eq!(expected, 4);
} else {
panic!("Unexpected error type");
}
}
#[test]
fn test_receiver_only() {
let (sender, receiver) = mpsc::channel();
// Test structure with only a receiver which has a channel ID.
let receiver = MessageReceiverWithId::new(TEST_CHANNEL_ID_0, receiver);
let request_id = 5;
sender
.send(GenericMessage::new(
MessageMetadata::new(request_id, TEST_CHANNEL_ID_1),
5,
))
.unwrap();
let reply = receiver.try_recv_message().unwrap();
assert!(reply.is_some());
assert_eq!(receiver.local_channel_id(), TEST_CHANNEL_ID_0);
let reply = reply.unwrap();
assert_eq!(reply.requestor_info.request_id, request_id);
assert_eq!(reply.requestor_info.sender_id, TEST_CHANNEL_ID_1);
assert_eq!(reply.message, 5);
}
#[test]
fn test_receiver_empty() {
let (_sender, receiver) = mpsc::sync_channel::<GenericMessage<i32>>(2);
// Test structure with only a receiver which has a channel ID.
let receiver = MessageReceiverWithId::new(TEST_CHANNEL_ID_0, receiver);
let reply = receiver.try_recv_message().unwrap();
assert!(reply.is_none());
}
#[test]
fn test_all_tx_disconnected() {
let (sender, receiver) = mpsc::sync_channel::<GenericMessage<i32>>(2);
// Test structure with only a receiver which has a channel ID.
let receiver = MessageReceiverWithId::new(TEST_CHANNEL_ID_0, receiver);
drop(sender);
let reply = receiver.try_recv_message();
assert!(reply.is_err());
let error = reply.unwrap_err();
if let GenericTargetedMessagingError::Receive(GenericReceiveError::TxDisconnected(None)) =
error
{
} else {
panic!("unexpected error type");
}
}
#[test]
fn test_sender_map() {
let (sender0, receiver0) = mpsc::channel();
let (sender1, receiver1) = mpsc::channel();
let mut sender_map = MessageSenderMap::default();
sender_map.add_message_target(TEST_CHANNEL_ID_1, sender0);
sender_map.add_message_target(TEST_CHANNEL_ID_2, sender1);
sender_map
.send_message(
MessageMetadata::new(1, TEST_CHANNEL_ID_0),
TEST_CHANNEL_ID_1,
5,
)
.expect("sending message failed");
let mut reply = receiver0.recv().expect("receiving message failed");
assert_eq!(reply.request_id(), 1);
assert_eq!(reply.sender_id(), TEST_CHANNEL_ID_0);
assert_eq!(reply.message, 5);
sender_map
.send_message(
MessageMetadata::new(2, TEST_CHANNEL_ID_0),
TEST_CHANNEL_ID_2,
10,
)
.expect("sending message failed");
reply = receiver1.recv().expect("receiving message failed");
assert_eq!(reply.request_id(), 2);
assert_eq!(reply.sender_id(), TEST_CHANNEL_ID_0);
assert_eq!(reply.message, 10);
}
#[test]
fn test_sender_map_target_does_not_exist() {
let (sender0, _) = mpsc::channel();
let mut sender_map_with_id = MessageSenderMap::default();
sender_map_with_id.add_message_target(TEST_CHANNEL_ID_1, sender0);
let result = sender_map_with_id.send_message(
MessageMetadata::new(1, TEST_CHANNEL_ID_0),
TEST_CHANNEL_ID_2,
5,
);
assert!(result.is_err());
let error = result.unwrap_err();
if let GenericTargetedMessagingError::Send(GenericSendError::TargetDoesNotExist(target)) =
error
{
assert_eq!(target, TEST_CHANNEL_ID_2);
} else {
panic!("Unexpected error type");
}
}
#[test]
fn test_sender_map_queue_full() {
let (sender0, _receiver0) = mpsc::sync_channel(1);
let mut sender_map_with_id = MessageSenderMap::default();
sender_map_with_id.add_message_target(TEST_CHANNEL_ID_1, sender0);
sender_map_with_id
.send_message(
MessageMetadata::new(1, TEST_CHANNEL_ID_0),
TEST_CHANNEL_ID_1,
5,
)
.expect("sending message failed");
let result = sender_map_with_id.send_message(
MessageMetadata::new(1, TEST_CHANNEL_ID_0),
TEST_CHANNEL_ID_1,
5,
);
assert!(result.is_err());
let error = result.unwrap_err();
if let GenericTargetedMessagingError::Send(GenericSendError::QueueFull(capacity)) = error {
assert!(capacity.is_none());
} else {
panic!("Unexpected error type {}", error);
}
}
#[test]
fn test_sender_map_queue_receiver_disconnected() {
let (sender0, receiver0) = mpsc::sync_channel(1);
let mut sender_map_with_id = MessageSenderMap::default();
sender_map_with_id.add_message_target(TEST_CHANNEL_ID_1, sender0);
drop(receiver0);
let result = sender_map_with_id.send_message(
MessageMetadata::new(1, TEST_CHANNEL_ID_0),
TEST_CHANNEL_ID_1,
5,
);
assert!(result.is_err());
let error = result.unwrap_err();
if let GenericTargetedMessagingError::Send(GenericSendError::RxDisconnected) = error {
} else {
panic!("Unexpected error type {}", error);
}
}
}
impl From<TargetAndApidId> for u64 {
fn from(target_and_apid_id: TargetAndApidId) -> Self {
target_and_apid_id.raw()
}
}
impl fmt::Display for TargetAndApidId {
fn fmt(&self, f: &mut fmt::Formatter) -> fmt::Result {
write!(f, "{}, {}", self.apid, self.target)
}
}