Major refactoring and update of PUS module

satrs-example/src/requests.rs

@@ -1,94 +1,152 @@
 use std::collections::HashMap;
 use std::sync::mpsc;
 
-use derive_new::new;
+use log::warn;
 use satrs::action::ActionRequest;
 use satrs::hk::HkRequest;
 use satrs::mode::ModeRequest;
-use satrs::pus::action::PusActionRequestRouter;
-use satrs::pus::hk::PusHkRequestRouter;
-use satrs::pus::verification::{TcStateAccepted, VerificationToken};
-use satrs::pus::GenericRoutingError;
+use satrs::pus::verification::{
+    FailParams, TcStateAccepted, VerificationReportingProvider, VerificationToken,
+};
+use satrs::pus::{ActiveRequestProvider, EcssTmSenderCore, GenericRoutingError, PusRequestRouter};
 use satrs::queue::GenericSendError;
-use satrs::TargetId;
+use satrs::request::{GenericMessage, MessageMetadata, UniqueApidTargetId};
+use satrs::spacepackets::ecss::tc::PusTcReader;
+use satrs::spacepackets::ecss::PusPacket;
+use satrs::ComponentId;
+use satrs_example::config::components::PUS_ROUTING_SERVICE;
+use satrs_example::config::tmtc_err;
 
-#[allow(dead_code)]
-#[derive(Clone, Eq, PartialEq, Debug)]
+#[derive(Clone, Debug)]
 #[non_exhaustive]
-pub enum Request {
+pub enum CompositeRequest {
     Hk(HkRequest),
-    Mode(ModeRequest),
     Action(ActionRequest),
 }
 
-#[derive(Clone, Eq, PartialEq, Debug, new)]
-pub struct TargetedRequest {
-    pub(crate) target_id: TargetId,
-    pub(crate) request: Request,
+#[derive(Clone)]
+pub struct GenericRequestRouter {
+    pub id: ComponentId,
+    // All messages which do not have a dedicated queue.
+    pub composite_router_map: HashMap<ComponentId, mpsc::Sender<GenericMessage<CompositeRequest>>>,
+    pub mode_router_map: HashMap<ComponentId, mpsc::Sender<GenericMessage<ModeRequest>>>,
 }
 
-#[derive(Clone, Eq, PartialEq, Debug)]
-pub struct RequestWithToken {
-    pub(crate) targeted_request: TargetedRequest,
-    pub(crate) token: VerificationToken<TcStateAccepted>,
-}
-
-impl RequestWithToken {
-    pub fn new(
-        target_id: TargetId,
-        request: Request,
-        token: VerificationToken<TcStateAccepted>,
-    ) -> Self {
+impl Default for GenericRequestRouter {
+    fn default() -> Self {
         Self {
-            targeted_request: TargetedRequest::new(target_id, request),
-            token,
+            id: PUS_ROUTING_SERVICE.raw(),
+            composite_router_map: Default::default(),
+            mode_router_map: Default::default(),
         }
     }
 }
-
-#[derive(Default, Clone)]
-pub struct GenericRequestRouter(pub HashMap<TargetId, mpsc::Sender<RequestWithToken>>);
-
-impl PusHkRequestRouter for GenericRequestRouter {
+impl GenericRequestRouter {
+    pub(crate) fn handle_error_generic(
+        &self,
+        active_request: &impl ActiveRequestProvider,
+        tc: &PusTcReader,
+        error: GenericRoutingError,
+        tm_sender: &(impl EcssTmSenderCore + ?Sized),
+        verif_reporter: &impl VerificationReportingProvider,
+        time_stamp: &[u8],
+    ) {
+        warn!(
+            "Routing request for service {} failed: {error:?}",
+            tc.service()
+        );
+        let accepted_token: VerificationToken<TcStateAccepted> = active_request
+            .token()
+            .try_into()
+            .expect("token is not in accepted state");
+        match error {
+            GenericRoutingError::UnknownTargetId(id) => {
+                let apid_target_id = UniqueApidTargetId::from(id);
+                warn!("Target APID for request: {}", apid_target_id.apid);
+                warn!("Target Unique ID for request: {}", apid_target_id.unique_id);
+                let mut fail_data: [u8; 8] = [0; 8];
+                fail_data.copy_from_slice(&id.to_be_bytes());
+                verif_reporter
+                    .completion_failure(
+                        tm_sender,
+                        accepted_token,
+                        FailParams::new(time_stamp, &tmtc_err::UNKNOWN_TARGET_ID, &fail_data),
+                    )
+                    .expect("Sending start failure failed");
+            }
+            GenericRoutingError::Send(_) => {
+                let mut fail_data: [u8; 8] = [0; 8];
+                fail_data.copy_from_slice(&active_request.target_id().to_be_bytes());
+                verif_reporter
+                    .completion_failure(
+                        tm_sender,
+                        accepted_token,
+                        FailParams::new(time_stamp, &tmtc_err::ROUTING_ERROR, &fail_data),
+                    )
+                    .expect("Sending start failure failed");
+            }
+        }
+    }
+}
+impl PusRequestRouter<HkRequest> for GenericRequestRouter {
     type Error = GenericRoutingError;
 
     fn route(
         &self,
-        target_id: TargetId,
+        requestor_info: MessageMetadata,
+        target_id: ComponentId,
         hk_request: HkRequest,
-        token: VerificationToken<TcStateAccepted>,
     ) -> Result<(), Self::Error> {
-        if let Some(sender) = self.0.get(&target_id) {
+        if let Some(sender) = self.composite_router_map.get(&target_id) {
             sender
-                .send(RequestWithToken::new(
-                    target_id,
-                    Request::Hk(hk_request),
-                    token,
+                .send(GenericMessage::new(
+                    requestor_info,
+                    CompositeRequest::Hk(hk_request),
                 ))
-                .map_err(|_| GenericRoutingError::SendError(GenericSendError::RxDisconnected))?;
+                .map_err(|_| GenericRoutingError::Send(GenericSendError::RxDisconnected))?;
+            return Ok(());
         }
-        Ok(())
+        Err(GenericRoutingError::UnknownTargetId(target_id))
     }
 }
 
-impl PusActionRequestRouter for GenericRequestRouter {
+impl PusRequestRouter<ActionRequest> for GenericRequestRouter {
     type Error = GenericRoutingError;
 
     fn route(
         &self,
-        target_id: TargetId,
+        requestor_info: MessageMetadata,
+        target_id: ComponentId,
         action_request: ActionRequest,
-        token: VerificationToken<TcStateAccepted>,
     ) -> Result<(), Self::Error> {
-        if let Some(sender) = self.0.get(&target_id) {
+        if let Some(sender) = self.composite_router_map.get(&target_id) {
             sender
-                .send(RequestWithToken::new(
-                    target_id,
-                    Request::Action(action_request),
-                    token,
+                .send(GenericMessage::new(
+                    requestor_info,
+                    CompositeRequest::Action(action_request),
                 ))
-                .map_err(|_| GenericRoutingError::SendError(GenericSendError::RxDisconnected))?;
+                .map_err(|_| GenericRoutingError::Send(GenericSendError::RxDisconnected))?;
+            return Ok(());
         }
-        Ok(())
+        Err(GenericRoutingError::UnknownTargetId(target_id))
+    }
+}
+
+impl PusRequestRouter<ModeRequest> for GenericRequestRouter {
+    type Error = GenericRoutingError;
+
+    fn route(
+        &self,
+        requestor_info: MessageMetadata,
+        target_id: ComponentId,
+        request: ModeRequest,
+    ) -> Result<(), Self::Error> {
+        if let Some(sender) = self.mode_router_map.get(&target_id) {
+            sender
+                .send(GenericMessage::new(requestor_info, request))
+                .map_err(|_| GenericRoutingError::Send(GenericSendError::RxDisconnected))?;
+            return Ok(());
+        }
+        Err(GenericRoutingError::UnknownTargetId(target_id))
     }
 }