rust/sat-rs
6
1
Fork 0
Code Issues 9 Pull Requests Projects Releases 24 Wiki Activity

Major refactoring and update of PUS module

Browse Source
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
Download Patch File Download Diff File Expand all files Collapse all files

106
satrs-example/src/events.rs
View File

@ -1,66 +1,87 @@
use std::sync::mpsc::{self};
use crate::pus::create_verification_reporter;
use satrs::event_man::{EventMessageU32, EventRoutingError};
use satrs::params::WritableToBeBytes;
use satrs::pus::event::EventTmHookProvider;
use satrs::pus::verification::VerificationReporter;
use satrs::pus::EcssTmSenderCore;
use satrs::request::UniqueApidTargetId;
use satrs::{
event_man::{
EventManagerWithBoundedMpsc, EventSendProvider, EventU32SenderMpscBounded,
MpscEventReceiver,
},
events::EventU32,
params::Params,
pus::{
event_man::{
DefaultPusEventU32Dispatcher, EventReporter, EventRequest, EventRequestWithToken,
},
verification::{TcStateStarted, VerificationReportingProvider, VerificationToken},
EcssTmSender,
},
spacepackets::time::cds::{self, CdsTime},
spacepackets::time::cds::CdsTime,
};
use satrs_example::config::PUS_APID;
use satrs_example::config::components::PUS_EVENT_MANAGEMENT;
use crate::update_time;
pub struct PusEventHandler<VerificationReporter: VerificationReportingProvider> {
// This helper sets the APID of the event sender for the PUS telemetry.
#[derive(Default)]
pub struct EventApidSetter {
pub next_apid: u16,
}
impl EventTmHookProvider for EventApidSetter {
fn modify_tm(&self, tm: &mut satrs::spacepackets::ecss::tm::PusTmCreator) {
tm.set_apid(self.next_apid);
}
}
/// The PUS event handler subscribes for all events and converts them into ECSS PUS 5 event
/// packets. It also handles the verification completion of PUS event service requests.
pub struct PusEventHandler<TmSender: EcssTmSenderCore> {
event_request_rx: mpsc::Receiver<EventRequestWithToken>,
pus_event_dispatcher: DefaultPusEventU32Dispatcher<()>,
pus_event_man_rx: mpsc::Receiver<(EventU32, Option<Params>)>,
tm_sender: Box<dyn EcssTmSender>,
pus_event_man_rx: mpsc::Receiver<EventMessageU32>,
tm_sender: TmSender,
time_provider: CdsTime,
timestamp: [u8; 7],
verif_handler: VerificationReporter,
event_apid_setter: EventApidSetter,
}
/*
*/
impl<VerificationReporter: VerificationReportingProvider> PusEventHandler<VerificationReporter> {
impl<TmSender: EcssTmSenderCore> PusEventHandler<TmSender> {
pub fn new(
tm_sender: TmSender,
verif_handler: VerificationReporter,
event_manager: &mut EventManagerWithBoundedMpsc,
event_request_rx: mpsc::Receiver<EventRequestWithToken>,
tm_sender: impl EcssTmSender,
) -> Self {
let event_queue_cap = 30;
let (pus_event_man_tx, pus_event_man_rx) = mpsc::sync_channel(event_queue_cap);
// All events sent to the manager are routed to the PUS event manager, which generates PUS event
// telemetry for each event.
let event_reporter = EventReporter::new(PUS_APID, 128).unwrap();
let event_reporter = EventReporter::new(PUS_EVENT_MANAGEMENT.raw(), 0, 0, 128).unwrap();
let pus_event_dispatcher =
DefaultPusEventU32Dispatcher::new_with_default_backend(event_reporter);
let pus_event_man_send_provider =
EventU32SenderMpscBounded::new(1, pus_event_man_tx, event_queue_cap);
let pus_event_man_send_provider = EventU32SenderMpscBounded::new(
PUS_EVENT_MANAGEMENT.raw(),
pus_event_man_tx,
event_queue_cap,
);
event_manager.subscribe_all(pus_event_man_send_provider.channel_id());
event_manager.subscribe_all(pus_event_man_send_provider.target_id());
event_manager.add_sender(pus_event_man_send_provider);
Self {
event_request_rx,
pus_event_dispatcher,
pus_event_man_rx,
time_provider: cds::CdsTime::new_with_u16_days(0, 0),
time_provider: CdsTime::new_with_u16_days(0, 0),
timestamp: [0; 7],
verif_handler,
tm_sender: Box::new(tm_sender),
tm_sender,
event_apid_setter: EventApidSetter::default(),
}
}
@ -71,7 +92,7 @@ impl<VerificationReporter: VerificationReportingProvider> PusEventHandler<Verifi
.try_into()
.expect("expected start verification token");
self.verif_handler
.completion_success(started_token, timestamp)
.completion_success(&self.tm_sender, started_token, timestamp)
.expect("Sending completion success failed");
};
// handle event requests
@ -97,23 +118,29 @@ impl<VerificationReporter: VerificationReportingProvider> PusEventHandler<Verifi
pub fn generate_pus_event_tm(&mut self) {
// Perform the generation of PUS event packets
if let Ok((event, _param)) = self.pus_event_man_rx.try_recv() {
if let Ok(event_msg) = self.pus_event_man_rx.try_recv() {
update_time(&mut self.time_provider, &mut self.timestamp);
let param_vec = event_msg.params().map_or(Vec::new(), |param| {
param.to_vec().expect("failed to convert params to vec")
});
self.event_apid_setter.next_apid = UniqueApidTargetId::from(event_msg.sender_id()).apid;
self.pus_event_dispatcher
.generate_pus_event_tm_generic(
self.tm_sender.upcast_mut(),
&self.tm_sender,
&self.timestamp,
event,
None,
event_msg.event(),
Some(&param_vec),
)
.expect("Sending TM as event failed");
}
}
}
/// This is a thin wrapper around the event manager which also caches the sender component
/// used to send events to the event manager.
pub struct EventManagerWrapper {
event_manager: EventManagerWithBoundedMpsc,
event_sender: mpsc::Sender<(EventU32, Option<Params>)>,
event_sender: mpsc::Sender<EventMessageU32>,
}
impl EventManagerWrapper {
@ -121,14 +148,15 @@ impl EventManagerWrapper {
// The sender handle is the primary sender handle for all components which want to create events.
// The event manager will receive the RX handle to receive all the events.
let (event_sender, event_man_rx) = mpsc::channel();
let event_recv = MpscEventReceiver::<EventU32>::new(event_man_rx);
let event_recv = MpscEventReceiver::new(event_man_rx);
Self {
event_manager: EventManagerWithBoundedMpsc::new(event_recv),
event_sender,
}
}
pub fn clone_event_sender(&self) -> mpsc::Sender<(EventU32, Option<Params>)> {
// Returns a cached event sender to send events to the event manager for routing.
pub fn clone_event_sender(&self) -> mpsc::Sender<EventMessageU32> {
self.event_sender.clone()
}
@ -137,30 +165,34 @@ impl EventManagerWrapper {
}
pub fn try_event_routing(&mut self) {
let error_handler = |event_msg: &EventMessageU32, error: EventRoutingError| {
self.routing_error_handler(event_msg, error)
};
// Perform the event routing.
self.event_manager
.try_event_handling()
.expect("event handling failed");
self.event_manager.try_event_handling(error_handler);
}
pub fn routing_error_handler(&self, event_msg: &EventMessageU32, error: EventRoutingError) {
log::warn!("event routing error for event {event_msg:?}: {error:?}");
}
}
pub struct EventHandler<VerificationReporter: VerificationReportingProvider> {
pub struct EventHandler<TmSender: EcssTmSenderCore> {
pub event_man_wrapper: EventManagerWrapper,
pub pus_event_handler: PusEventHandler<VerificationReporter>,
pub pus_event_handler: PusEventHandler<TmSender>,
}
impl<VerificationReporter: VerificationReportingProvider> EventHandler<VerificationReporter> {
impl<TmSender: EcssTmSenderCore> EventHandler<TmSender> {
pub fn new(
tm_sender: impl EcssTmSender,
verif_handler: VerificationReporter,
tm_sender: TmSender,
event_request_rx: mpsc::Receiver<EventRequestWithToken>,
) -> Self {
let mut event_man_wrapper = EventManagerWrapper::new();
let pus_event_handler = PusEventHandler::new(
verif_handler,
tm_sender,
create_verification_reporter(PUS_EVENT_MANAGEMENT.id(), PUS_EVENT_MANAGEMENT.apid),
event_man_wrapper.event_manager(),
event_request_rx,
tm_sender,
);
Self {
event_man_wrapper,
@ -168,7 +200,7 @@ impl<VerificationReporter: VerificationReportingProvider> EventHandler<Verificat
}
}
pub fn clone_event_sender(&self) -> mpsc::Sender<(EventU32, Option<Params>)> {
pub fn clone_event_sender(&self) -> mpsc::Sender<EventMessageU32> {
self.event_man_wrapper.clone_event_sender()
}