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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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358
satrs/tests/mode_tree.rs Normal file
View File

@ -0,0 +1,358 @@
use core::cell::Cell;
use std::{println, sync::mpsc};
use satrs::mode::{
ModeError, ModeProvider, ModeReplyReceiver, ModeReplySender, ModeRequestHandler,
ModeRequestHandlerMpscBounded, ModeRequestReceiver, ModeRequestorAndHandlerMpscBounded,
ModeRequestorBoundedMpsc,
};
use satrs::request::MessageMetadata;
use satrs::{
mode::{ModeAndSubmode, ModeReply, ModeRequest},
queue::GenericTargetedMessagingError,
request::GenericMessage,
ComponentId,
};
use std::string::{String, ToString};
pub enum TestComponentId {
Device1 = 1,
Device2 = 2,
Assembly = 3,
PusModeService = 4,
}
struct PusModeService {
pub request_id_counter: Cell<u32>,
pub mode_node: ModeRequestorBoundedMpsc,
}
impl PusModeService {
pub fn send_announce_mode_cmd_to_assy(&self) {
self.mode_node
.send_mode_request(
self.request_id_counter.get(),
TestComponentId::Assembly as ComponentId,
ModeRequest::AnnounceModeRecursive,
)
.unwrap();
self.request_id_counter
.replace(self.request_id_counter.get() + 1);
}
}
struct TestDevice {
pub name: String,
pub mode_node: ModeRequestHandlerMpscBounded,
pub mode_and_submode: ModeAndSubmode,
}
impl TestDevice {
pub fn run(&mut self) {
self.check_mode_requests().expect("mode messaging error");
}
pub fn check_mode_requests(&mut self) -> Result<(), ModeError> {
if let Some(request) = self.mode_node.try_recv_mode_request()? {
self.handle_mode_request(request)?
}
Ok(())
}
}
impl ModeProvider for TestDevice {
fn mode_and_submode(&self) -> ModeAndSubmode {
self.mode_and_submode
}
}
impl ModeRequestHandler for TestDevice {
type Error = ModeError;
fn start_transition(
&mut self,
requestor: MessageMetadata,
mode_and_submode: ModeAndSubmode,
) -> Result<(), ModeError> {
self.mode_and_submode = mode_and_submode;
self.handle_mode_reached(Some(requestor))?;
Ok(())
}
fn announce_mode(&self, _requestor_info: Option<MessageMetadata>, _recursive: bool) {
println!(
"{}: announcing mode: {:?}",
self.name, self.mode_and_submode
);
}
fn handle_mode_reached(&mut self, requestor: Option<MessageMetadata>) -> Result<(), ModeError> {
if let Some(requestor) = requestor {
self.send_mode_reply(requestor, ModeReply::ModeReply(self.mode_and_submode))?;
}
Ok(())
}
fn send_mode_reply(
&self,
requestor_info: MessageMetadata,
reply: ModeReply,
) -> Result<(), ModeError> {
self.mode_node.send_mode_reply(requestor_info, reply)?;
Ok(())
}
fn handle_mode_info(
&mut self,
requestor_info: MessageMetadata,
info: ModeAndSubmode,
) -> Result<(), ModeError> {
// A device is a leaf in the tree.. so this really should not happen
println!(
"{}: unexpected mode info from {:?} with mode: {:?}",
self.name,
requestor_info.sender_id(),
info
);
Ok(())
}
}
struct TestAssembly {
pub mode_node: ModeRequestorAndHandlerMpscBounded,
pub mode_requestor_info: Option<MessageMetadata>,
pub mode_and_submode: ModeAndSubmode,
pub target_mode_and_submode: Option<ModeAndSubmode>,
}
impl ModeProvider for TestAssembly {
fn mode_and_submode(&self) -> ModeAndSubmode {
self.mode_and_submode
}
}
impl TestAssembly {
pub fn run(&mut self) {
self.check_mode_requests().expect("mode messaging error");
self.check_mode_replies().expect("mode messaging error");
}
pub fn check_mode_requests(&mut self) -> Result<(), GenericTargetedMessagingError> {
if let Some(request) = self.mode_node.try_recv_mode_request()? {
match request.message {
ModeRequest::SetMode(mode_and_submode) => {
self.start_transition(request.requestor_info, mode_and_submode)
.unwrap();
}
ModeRequest::ReadMode => self
.mode_node
.send_mode_reply(
request.requestor_info,
ModeReply::ModeReply(self.mode_and_submode),
)
.unwrap(),
ModeRequest::AnnounceMode => {
self.announce_mode(Some(request.requestor_info), false)
}
ModeRequest::AnnounceModeRecursive => {
self.announce_mode(Some(request.requestor_info), true)
}
ModeRequest::ModeInfo(_) => todo!(),
}
}
Ok(())
}
pub fn check_mode_replies(&mut self) -> Result<(), GenericTargetedMessagingError> {
if let Some(reply_and_id) = self.mode_node.try_recv_mode_reply()? {
match reply_and_id.message {
ModeReply::ModeReply(reply) => {
println!(
"TestAssembly: Received mode reply from {:?}, reached: {:?}",
reply_and_id.sender_id(),
reply
);
}
ModeReply::CantReachMode(_) => todo!(),
ModeReply::WrongMode { expected, reached } => {
println!(
"TestAssembly: Wrong mode reply from {:?}, reached {:?}, expected {:?}",
reply_and_id.sender_id(),
reached,
expected
);
}
}
}
Ok(())
}
}
impl ModeRequestHandler for TestAssembly {
type Error = ModeError;
fn start_transition(
&mut self,
requestor: MessageMetadata,
mode_and_submode: ModeAndSubmode,
) -> Result<(), Self::Error> {
self.mode_requestor_info = Some(requestor);
self.target_mode_and_submode = Some(mode_and_submode);
Ok(())
}
fn announce_mode(&self, requestor_info: Option<MessageMetadata>, recursive: bool) {
println!(
"TestAssembly: Announcing mode (recursively: {}): {:?}",
recursive, self.mode_and_submode
);
// self.mode_requestor_info = Some((request_id, sender_id));
let mut mode_request = ModeRequest::AnnounceMode;
if recursive {
mode_request = ModeRequest::AnnounceModeRecursive;
}
let request_id = requestor_info.map_or(0, |info| info.request_id());
self.mode_node
.request_sender_map
.0
.iter()
.for_each(|(_, sender)| {
sender
.send(GenericMessage::new(
MessageMetadata::new(request_id, self.mode_node.local_channel_id_generic()),
mode_request,
))
.expect("sending mode request failed");
});
}
fn handle_mode_reached(
&mut self,
mode_requestor: Option<MessageMetadata>,
) -> Result<(), Self::Error> {
if let Some(requestor) = mode_requestor {
self.send_mode_reply(requestor, ModeReply::ModeReply(self.mode_and_submode))?;
}
Ok(())
}
fn send_mode_reply(
&self,
requestor: MessageMetadata,
reply: ModeReply,
) -> Result<(), Self::Error> {
self.mode_node.send_mode_reply(requestor, reply)?;
Ok(())
}
fn handle_mode_info(
&mut self,
_requestor_info: MessageMetadata,
_info: ModeAndSubmode,
) -> Result<(), Self::Error> {
// TODO: A proper assembly must reach to mode changes of its children..
Ok(())
}
}
fn main() {
// All request channel handles.
let (request_sender_to_dev1, request_receiver_dev1) = mpsc::sync_channel(10);
let (request_sender_to_dev2, request_receiver_dev2) = mpsc::sync_channel(10);
let (request_sender_to_assy, request_receiver_assy) = mpsc::sync_channel(10);
// All reply channel handles.
let (reply_sender_to_assy, reply_receiver_assy) = mpsc::sync_channel(10);
let (reply_sender_to_pus, reply_receiver_pus) = mpsc::sync_channel(10);
// Mode requestors and handlers.
let mut mode_node_assy = ModeRequestorAndHandlerMpscBounded::new(
TestComponentId::Assembly as ComponentId,
request_receiver_assy,
reply_receiver_assy,
);
// Mode requestors only.
let mut mode_node_pus = ModeRequestorBoundedMpsc::new(
TestComponentId::PusModeService as ComponentId,
reply_receiver_pus,
);
// Request handlers only.
let mut mode_node_dev1 = ModeRequestHandlerMpscBounded::new(
TestComponentId::Device1 as ComponentId,
request_receiver_dev1,
);
let mut mode_node_dev2 = ModeRequestHandlerMpscBounded::new(
TestComponentId::Device2 as ComponentId,
request_receiver_dev2,
);
// Set up mode request senders first.
mode_node_pus.add_message_target(
TestComponentId::Assembly as ComponentId,
request_sender_to_assy,
);
mode_node_pus.add_message_target(
TestComponentId::Device1 as ComponentId,
request_sender_to_dev1.clone(),
);
mode_node_pus.add_message_target(
TestComponentId::Device2 as ComponentId,
request_sender_to_dev2.clone(),
);
mode_node_assy.add_request_target(
TestComponentId::Device1 as ComponentId,
request_sender_to_dev1,
);
mode_node_assy.add_request_target(
TestComponentId::Device2 as ComponentId,
request_sender_to_dev2,
);
// Set up mode reply senders.
mode_node_dev1.add_message_target(
TestComponentId::Assembly as ComponentId,
reply_sender_to_assy.clone(),
);
mode_node_dev1.add_message_target(
TestComponentId::PusModeService as ComponentId,
reply_sender_to_pus.clone(),
);
mode_node_dev2.add_message_target(
TestComponentId::Assembly as ComponentId,
reply_sender_to_assy,
);
mode_node_dev2.add_message_target(
TestComponentId::PusModeService as ComponentId,
reply_sender_to_pus.clone(),
);
mode_node_assy.add_reply_target(
TestComponentId::PusModeService as ComponentId,
reply_sender_to_pus,
);
let mut device1 = TestDevice {
name: "Test Device 1".to_string(),
mode_node: mode_node_dev1,
mode_and_submode: ModeAndSubmode::new(0, 0),
};
let mut device2 = TestDevice {
name: "Test Device 2".to_string(),
mode_node: mode_node_dev2,
mode_and_submode: ModeAndSubmode::new(0, 0),
};
let mut assy = TestAssembly {
mode_node: mode_node_assy,
mode_requestor_info: None,
mode_and_submode: ModeAndSubmode::new(0, 0),
target_mode_and_submode: None,
};
let pus_service = PusModeService {
request_id_counter: Cell::new(0),
mode_node: mode_node_pus,
};
pus_service.send_announce_mode_cmd_to_assy();
assy.run();
device1.run();
device2.run();
assy.run();
}

59
satrs/tests/pus_events.rs
View File

@ -1,11 +1,14 @@
use satrs::event_man::{
EventManagerWithMpsc, EventSendProvider, EventU32SenderMpsc, MpscEventU32Receiver,
EventManagerWithMpsc, EventMessage, EventMessageU32, EventRoutingError, EventSendProvider,
EventU32SenderMpsc, MpscEventU32Receiver,
};
use satrs::events::{EventU32, EventU32TypedSev, Severity, SeverityInfo};
use satrs::params::U32Pair;
use satrs::params::{Params, ParamsHeapless, WritableToBeBytes};
use satrs::pus::event_man::{DefaultPusEventMgmtBackend, EventReporter, PusEventDispatcher};
use satrs::pus::TmAsVecSenderWithMpsc;
use satrs::pus::test_util::TEST_COMPONENT_ID_0;
use satrs::pus::PusTmAsVec;
use satrs::request::UniqueApidTargetId;
use spacepackets::ecss::tm::PusTmReader;
use spacepackets::ecss::{PusError, PusPacket};
use std::sync::mpsc::{self, SendError, TryRecvError};
@ -15,6 +18,8 @@ const INFO_EVENT: EventU32TypedSev<SeverityInfo> =
EventU32TypedSev::<SeverityInfo>::const_new(1, 0);
const LOW_SEV_EVENT: EventU32 = EventU32::const_new(Severity::LOW, 1, 5);
const EMPTY_STAMP: [u8; 7] = [0; 7];
const TEST_APID: u16 = 0x02;
const TEST_ID: UniqueApidTargetId = UniqueApidTargetId::new(TEST_APID, 0x05);
#[derive(Debug, Clone)]
pub enum CustomTmSenderError {
@ -30,42 +35,43 @@ fn test_threaded_usage() {
let (pus_event_man_tx, pus_event_man_rx) = mpsc::channel();
let pus_event_man_send_provider = EventU32SenderMpsc::new(1, pus_event_man_tx);
event_man.subscribe_all(pus_event_man_send_provider.channel_id());
event_man.subscribe_all(pus_event_man_send_provider.target_id());
event_man.add_sender(pus_event_man_send_provider);
let (event_tx, event_rx) = mpsc::channel();
let reporter = EventReporter::new(0x02, 128).expect("Creating event reporter failed");
let mut pus_event_man =
PusEventDispatcher::new(reporter, DefaultPusEventMgmtBackend::default());
let (event_tx, event_rx) = mpsc::channel::<PusTmAsVec>();
let reporter =
EventReporter::new(TEST_ID.raw(), 0x02, 0, 128).expect("Creating event reporter failed");
let pus_event_man = PusEventDispatcher::new(reporter, DefaultPusEventMgmtBackend::default());
let error_handler = |event_msg: &EventMessageU32, error: EventRoutingError| {
panic!("received routing error for event {event_msg:?}: {error:?}");
};
// PUS + Generic event manager thread
let jh0 = thread::spawn(move || {
let mut sender = TmAsVecSenderWithMpsc::new(0, "event_sender", event_tx);
let mut event_cnt = 0;
let mut params_array: [u8; 128] = [0; 128];
loop {
let res = event_man.try_event_handling();
assert!(res.is_ok());
event_man.try_event_handling(error_handler);
match pus_event_man_rx.try_recv() {
Ok((event, aux_data)) => {
let mut gen_event = |aux_data| {
Ok(event_msg) => {
let gen_event = |aux_data| {
pus_event_man.generate_pus_event_tm_generic(
&mut sender,
&event_tx,
&EMPTY_STAMP,
event,
event_msg.event(),
aux_data,
)
};
let res = if let Some(aux_data) = aux_data {
let res = if let Some(aux_data) = event_msg.params() {
match aux_data {
Params::Heapless(heapless) => match heapless {
ParamsHeapless::Raw(raw) => {
raw.write_to_be_bytes(&mut params_array)
.expect("Writing raw parameter failed");
gen_event(Some(&params_array[0..raw.raw_len()]))
gen_event(Some(&params_array[0..raw.written_len()]))
}
ParamsHeapless::EcssEnum(e) => {
e.write_to_be_bytes(&mut params_array)
.expect("Writing ECSS enum failed");
gen_event(Some(&params_array[0..e.raw_len()]))
gen_event(Some(&params_array[0..e.written_len()]))
}
},
Params::Vec(vec) => gen_event(Some(vec.as_slice())),
@ -95,14 +101,17 @@ fn test_threaded_usage() {
// Event sender and TM checker thread
let jh1 = thread::spawn(move || {
event_sender
.send((INFO_EVENT.into(), None))
.send(EventMessage::new(
TEST_COMPONENT_ID_0.id(),
INFO_EVENT.into(),
))
.expect("Sending info event failed");
loop {
match event_rx.try_recv() {
// Event TM received successfully
Ok(event_tm) => {
let tm =
PusTmReader::new(event_tm.as_slice(), 7).expect("Deserializing TM failed");
let tm = PusTmReader::new(event_tm.packet.as_slice(), 7)
.expect("Deserializing TM failed");
assert_eq!(tm.0.service(), 5);
assert_eq!(tm.0.subservice(), 1);
let src_data = tm.0.source_data();
@ -121,14 +130,18 @@ fn test_threaded_usage() {
}
}
event_sender
.send((LOW_SEV_EVENT, Some(Params::Heapless((2_u32, 3_u32).into()))))
.send(EventMessage::new_with_params(
TEST_COMPONENT_ID_0.id(),
LOW_SEV_EVENT,
&Params::Heapless((2_u32, 3_u32).into()),
))
.expect("Sending low severity event failed");
loop {
match event_rx.try_recv() {
// Event TM received successfully
Ok(event_tm) => {
let tm =
PusTmReader::new(event_tm.as_slice(), 7).expect("Deserializing TM failed");
let tm = PusTmReader::new(event_tm.packet.as_slice(), 7)
.expect("Deserializing TM failed");
assert_eq!(tm.0.service(), 5);
assert_eq!(tm.0.subservice(), 2);
let src_data = tm.0.source_data();

44
satrs/tests/pus_verification.rs
View File

@ -1,9 +1,10 @@
#[cfg(feature = "crossbeam")]
// #[cfg(feature = "crossbeam")]
pub mod crossbeam_test {
use hashbrown::HashMap;
use satrs::pool::{PoolProvider, PoolProviderWithGuards, StaticMemoryPool, StaticPoolConfig};
use satrs::pus::test_util::{TEST_APID, TEST_COMPONENT_ID_0};
use satrs::pus::verification::{
FailParams, RequestId, VerificationReporterCfg, VerificationReporterWithSender,
FailParams, RequestId, VerificationReporter, VerificationReporterCfg,
VerificationReportingProvider,
};
use satrs::pus::TmInSharedPoolSenderWithCrossbeam;
@ -16,7 +17,6 @@ pub mod crossbeam_test {
use std::thread;
use std::time::Duration;
const TEST_APID: u16 = 0x03;
const FIXED_STAMP: [u8; 7] = [0; 7];
const PACKETS_SENT: u8 = 8;
@ -40,13 +40,9 @@ pub mod crossbeam_test {
let shared_tc_pool_0 = Arc::new(RwLock::new(StaticMemoryPool::new(pool_cfg)));
let shared_tc_pool_1 = shared_tc_pool_0.clone();
let (tx, rx) = crossbeam_channel::bounded(10);
let sender = TmInSharedPoolSenderWithCrossbeam::new(
0,
"verif_sender",
shared_tm_pool.clone(),
tx.clone(),
);
let mut reporter_with_sender_0 = VerificationReporterWithSender::new(&cfg, sender);
let sender_0 = TmInSharedPoolSenderWithCrossbeam::new(shared_tm_pool.clone(), tx.clone());
let sender_1 = sender_0.clone();
let mut reporter_with_sender_0 = VerificationReporter::new(TEST_COMPONENT_ID_0.id(), &cfg);
let mut reporter_with_sender_1 = reporter_with_sender_0.clone();
// For test purposes, we retrieve the request ID from the TCs and pass them to the receiver
// tread.
@ -57,9 +53,9 @@ pub mod crossbeam_test {
let (tx_tc_1, rx_tc_1) = crossbeam_channel::bounded(3);
{
let mut tc_guard = shared_tc_pool_0.write().unwrap();
let mut sph = SpHeader::tc_unseg(TEST_APID, 0, 0).unwrap();
let sph = SpHeader::new_for_unseg_tc(TEST_APID, 0, 0);
let tc_header = PusTcSecondaryHeader::new_simple(17, 1);
let pus_tc_0 = PusTcCreator::new_no_app_data(&mut sph, tc_header, true);
let pus_tc_0 = PusTcCreator::new_no_app_data(sph, tc_header, true);
req_id_0 = RequestId::new(&pus_tc_0);
let addr = tc_guard
.free_element(pus_tc_0.len_written(), |buf| {
@ -67,9 +63,9 @@ pub mod crossbeam_test {
})
.unwrap();
tx_tc_0.send(addr).unwrap();
let mut sph = SpHeader::tc_unseg(TEST_APID, 1, 0).unwrap();
let sph = SpHeader::new_for_unseg_tc(TEST_APID, 1, 0);
let tc_header = PusTcSecondaryHeader::new_simple(5, 1);
let pus_tc_1 = PusTcCreator::new_no_app_data(&mut sph, tc_header, true);
let pus_tc_1 = PusTcCreator::new_no_app_data(sph, tc_header, true);
req_id_1 = RequestId::new(&pus_tc_1);
let addr = tc_guard
.free_element(pus_tc_0.len_written(), |buf| {
@ -93,24 +89,24 @@ pub mod crossbeam_test {
let token = reporter_with_sender_0.add_tc_with_req_id(req_id_0);
let accepted_token = reporter_with_sender_0
.acceptance_success(token, &FIXED_STAMP)
.acceptance_success(&sender_0, token, &FIXED_STAMP)
.expect("Acceptance success failed");
// Do some start handling here
let started_token = reporter_with_sender_0
.start_success(accepted_token, &FIXED_STAMP)
.start_success(&sender_0, accepted_token, &FIXED_STAMP)
.expect("Start success failed");
// Do some step handling here
reporter_with_sender_0
.step_success(&started_token, &FIXED_STAMP, EcssEnumU8::new(0))
.step_success(&sender_0, &started_token, &FIXED_STAMP, EcssEnumU8::new(0))
.expect("Start success failed");
// Finish up
reporter_with_sender_0
.step_success(&started_token, &FIXED_STAMP, EcssEnumU8::new(1))
.step_success(&sender_0, &started_token, &FIXED_STAMP, EcssEnumU8::new(1))
.expect("Start success failed");
reporter_with_sender_0
.completion_success(started_token, &FIXED_STAMP)
.completion_success(&sender_0, started_token, &FIXED_STAMP)
.expect("Completion success failed");
});
@ -128,15 +124,15 @@ pub mod crossbeam_test {
let (tc, _) = PusTcReader::new(&tc_buf[0..tc_len]).unwrap();
let token = reporter_with_sender_1.add_tc(&tc);
let accepted_token = reporter_with_sender_1
.acceptance_success(token, &FIXED_STAMP)
.acceptance_success(&sender_1, token, &FIXED_STAMP)
.expect("Acceptance success failed");
let started_token = reporter_with_sender_1
.start_success(accepted_token, &FIXED_STAMP)
.start_success(&sender_1, accepted_token, &FIXED_STAMP)
.expect("Start success failed");
let fail_code = EcssEnumU16::new(2);
let params = FailParams::new_no_fail_data(&FIXED_STAMP, &fail_code);
reporter_with_sender_1
.completion_failure(started_token, params)
.completion_failure(&sender_1, started_token, params)
.expect("Completion success failed");
});
@ -145,14 +141,14 @@ pub mod crossbeam_test {
let mut tm_buf: [u8; 1024] = [0; 1024];
let mut verif_map = HashMap::new();
while packet_counter < PACKETS_SENT {
let verif_addr = rx
let tm_in_pool = rx
.recv_timeout(Duration::from_millis(50))
.expect("Packet reception timeout");
let tm_len;
let shared_tm_store = shared_tm_pool.clone_backing_pool();
{
let mut rg = shared_tm_store.write().expect("Error locking shared pool");
let store_guard = rg.read_with_guard(verif_addr);
let store_guard = rg.read_with_guard(tm_in_pool.store_addr);
tm_len = store_guard
.read(&mut tm_buf)
.expect("Error reading TM slice");

14
satrs/tests/tcp_servers.rs
View File

@ -31,7 +31,7 @@ use spacepackets::{
ecss::{tc::PusTcCreator, WritablePusPacket},
PacketId, SpHeader,
};
use std::{boxed::Box, collections::VecDeque, sync::Arc, vec::Vec};
use std::{collections::VecDeque, sync::Arc, vec::Vec};
#[derive(Default, Clone)]
struct SyncTcCacher {
@ -162,14 +162,14 @@ fn test_cobs_server() {
}
const TEST_APID_0: u16 = 0x02;
const TEST_PACKET_ID_0: PacketId = PacketId::const_tc(true, TEST_APID_0);
const TEST_PACKET_ID_0: PacketId = PacketId::new_for_tc(true, TEST_APID_0);
#[test]
fn test_ccsds_server() {
let tc_receiver = SyncTcCacher::default();
let mut tm_source = SyncTmSource::default();
let mut sph = SpHeader::tc_unseg(TEST_APID_0, 0, 0).unwrap();
let verif_tm = PusTcCreator::new_simple(&mut sph, 1, 1, None, true);
let sph = SpHeader::new_for_unseg_tc(TEST_APID_0, 0, 0);
let verif_tm = PusTcCreator::new_simple(sph, 1, 1, &[], true);
let tm_0 = verif_tm.to_vec().expect("tm generation failed");
tm_source.add_tm(&tm_0);
let mut packet_id_lookup = HashSet::new();
@ -178,7 +178,7 @@ fn test_ccsds_server() {
ServerConfig::new(AUTO_PORT_ADDR, Duration::from_millis(2), 1024, 1024),
tm_source,
tc_receiver.clone(),
Box::new(packet_id_lookup),
packet_id_lookup,
)
.expect("TCP server generation failed");
let dest_addr = tcp_server
@ -203,8 +203,8 @@ fn test_ccsds_server() {
.expect("setting reas timeout failed");
// Send ping telecommand.
let mut sph = SpHeader::tc_unseg(TEST_APID_0, 0, 0).unwrap();
let ping_tc = PusTcCreator::new_simple(&mut sph, 17, 1, None, true);
let sph = SpHeader::new_for_unseg_tc(TEST_APID_0, 0, 0);
let ping_tc = PusTcCreator::new_simple(sph, 17, 1, &[], true);
let tc_0 = ping_tc.to_vec().expect("packet creation failed");
stream
.write_all(&tc_0)