rust/sat-rs
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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
Signed by: muellerr
GPG Key ID: A649FB78196E3849
75 changed files with 9295 additions and 4764 deletions
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1
.gitignore vendored
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@ -1,5 +1,6 @@
target/
output.log
/Cargo.lock
output.log

9
README.md
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@ -1,4 +1,4 @@
<p align="center"> <img src="misc/satrs-logo.png" width="40%"> </p>
<p align="center"> <img src="misc/satrs-logo-v2.png" width="40%"> </p>
[![sat-rs website](https://img.shields.io/badge/sat--rs-website-darkgreen?style=flat)](https://absatsw.irs.uni-stuttgart.de/projects/sat-rs/)
[![sat-rs book](https://img.shields.io/badge/sat--rs-book-darkgreen?style=flat)](https://absatsw.irs.uni-stuttgart.de/projects/sat-rs/book/)
@ -24,6 +24,11 @@ A lot of the architecture and general design considerations are based on the
through the 2 missions [FLP](https://www.irs.uni-stuttgart.de/en/research/satellitetechnology-and-instruments/smallsatelliteprogram/flying-laptop/)
and [EIVE](https://www.irs.uni-stuttgart.de/en/research/satellitetechnology-and-instruments/smallsatelliteprogram/EIVE/).
This framework is in the early stages of development. Important features are missing. New releases
with breaking changes are released regularly, with all changes documented inside respective
changelog files. You should only use this framework if your are willing to work in this
environment.
# Overview
This project currently contains following crates:
@ -40,7 +45,7 @@ This project currently contains following crates:
* [`satrs-mib`](https://egit.irs.uni-stuttgart.de/rust/sat-rs/src/branch/main/satrs-mib):
Components to build a mission information base from the on-board software directly.
* [`satrs-example-stm32f3-disco`](https://egit.irs.uni-stuttgart.de/rust/sat-rs/src/branch/main/satrs-example-stm32f3-disco):
Example of a simple example on-board software using sat-rs components on a bare-metal system
Example of a simple example using low-level sat-rs components on a bare-metal system
with constrained resources.
Each project has its own `CHANGELOG.md`.

2
coverage.py
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@ -47,7 +47,7 @@ def main():
parser.add_argument(
"-p",
"--package",
choices=["satrs", "satrs-minisim"],
choices=["satrs", "satrs-minisim", "satrs-example"],
default="satrs",
help="Choose project to generate coverage for",
)

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9
satrs-example/Cargo.toml
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@ -17,11 +17,15 @@ zerocopy = "0.6"
csv = "1"
num_enum = "0.7"
thiserror = "1"
lazy_static = "1"
strum = { version = "0.26", features = ["derive"] }
derive-new = "0.5"
serde = { version = "1", features = ["derive"] }
serde_json = "1"
[dependencies.satrs]
# version = "0.2.0-rc.0"
path = "../satrs"
features = ["test_util"]
[dependencies.satrs-mib]
version = "0.1.1"
@ -30,3 +34,6 @@ path = "../satrs-mib"
[features]
dyn_tmtc = []
default = ["dyn_tmtc"]
[dev-dependencies]
env_logger = "0.11"

13
satrs-example/satrs-tmtc/common.py
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@ -4,11 +4,12 @@ import dataclasses
import enum
import struct
from spacepackets.ecss.tc import PacketId, PacketType
EXAMPLE_PUS_APID = 0x02
EXAMPLE_PUS_PACKET_ID_TM = PacketId(PacketType.TM, True, EXAMPLE_PUS_APID)
TM_PACKET_IDS = [EXAMPLE_PUS_PACKET_ID_TM]
class Apid(enum.IntEnum):
SCHED = 1
GENERIC_PUS = 2
ACS = 3
CFDP = 4
class EventSeverity(enum.IntEnum):
@ -36,8 +37,8 @@ class EventU32:
)
class RequestTargetId(enum.IntEnum):
ACS = 1
class AcsId(enum.IntEnum):
MGM_0 = 0
class AcsHkIds(enum.IntEnum):

26
satrs-example/satrs-tmtc/main.py
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@ -3,10 +3,11 @@
import logging
import sys
import time
from typing import Optional
from typing import Any, Optional
from prompt_toolkit.history import History
from prompt_toolkit.history import FileHistory
from spacepackets.ccsds import PacketId, PacketType
import tmtccmd
from spacepackets.ecss import PusTelemetry, PusVerificator
from spacepackets.ecss.pus_17_test import Service17Tm
@ -16,7 +17,7 @@ from spacepackets.ccsds.time import CdsShortTimestamp
from tmtccmd import TcHandlerBase, ProcedureParamsWrapper
from tmtccmd.core.base import BackendRequest
from tmtccmd.pus import VerificationWrapper
from tmtccmd.tmtc import CcsdsTmHandler, SpecificApidHandlerBase
from tmtccmd.tmtc import CcsdsTmHandler, GenericApidHandlerBase
from tmtccmd.com import ComInterface
from tmtccmd.config import (
CmdTreeNode,
@ -46,7 +47,7 @@ from tmtccmd.util.obj_id import ObjectIdDictT
import pus_tc
from common import EXAMPLE_PUS_APID, TM_PACKET_IDS, EventU32
from common import Apid, EventU32
_LOGGER = logging.getLogger()
@ -62,10 +63,13 @@ class SatRsConfigHook(HookBase):
)
assert self.cfg_path is not None
packet_id_list = []
for apid in Apid:
packet_id_list.append(PacketId(PacketType.TM, True, apid))
cfg = create_com_interface_cfg_default(
com_if_key=com_if_key,
json_cfg_path=self.cfg_path,
space_packet_ids=TM_PACKET_IDS,
space_packet_ids=packet_id_list,
)
assert cfg is not None
return create_com_interface_default(cfg)
@ -85,19 +89,19 @@ class SatRsConfigHook(HookBase):
return get_core_object_ids()
class PusHandler(SpecificApidHandlerBase):
class PusHandler(GenericApidHandlerBase):
def __init__(
self,
file_logger: logging.Logger,
verif_wrapper: VerificationWrapper,
raw_logger: RawTmtcTimedLogWrapper,
):
super().__init__(EXAMPLE_PUS_APID, None)
super().__init__(None)
self.file_logger = file_logger
self.raw_logger = raw_logger
self.verif_wrapper = verif_wrapper
def handle_tm(self, packet: bytes, _user_args: any):
def handle_tm(self, apid: int, packet: bytes, _user_args: Any):
try:
pus_tm = PusTelemetry.unpack(packet, time_reader=CdsShortTimestamp.empty())
except ValueError as e:
@ -177,7 +181,7 @@ class TcHandler(TcHandlerBase):
tc_sched_timestamp_len=CdsShortTimestamp.TIMESTAMP_SIZE,
seq_cnt_provider=seq_count_provider,
pus_verificator=self.verif_wrapper.pus_verificator,
default_pus_apid=EXAMPLE_PUS_APID,
default_pus_apid=None,
)
def send_cb(self, send_params: SendCbParams):
@ -221,7 +225,6 @@ def main():
post_args_wrapper.set_params_without_prompts(proc_wrapper)
else:
post_args_wrapper.set_params_with_prompts(proc_wrapper)
params.apid = EXAMPLE_PUS_APID
setup_args = SetupWrapper(
hook_obj=hook_obj, setup_params=params, proc_param_wrapper=proc_wrapper
)
@ -233,8 +236,9 @@ def main():
verification_wrapper = VerificationWrapper(verificator, _LOGGER, file_logger)
# Create primary TM handler and add it to the CCSDS Packet Handler
tm_handler = PusHandler(file_logger, verification_wrapper, raw_logger)
ccsds_handler = CcsdsTmHandler(generic_handler=None)
ccsds_handler.add_apid_handler(tm_handler)
ccsds_handler = CcsdsTmHandler(generic_handler=tm_handler)
# TODO: We could add the CFDP handler for the CFDP APID at a later stage.
# ccsds_handler.add_apid_handler(tm_handler)
# Create TC handler
seq_count_provider = PusFileSeqCountProvider()

92
satrs-example/satrs-tmtc/pus_tc.py
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@ -1,27 +1,58 @@
import datetime
import struct
import logging
from spacepackets.ccsds import CdsShortTimestamp
from spacepackets.ecss import PusTelecommand
from tmtccmd.config import CmdTreeNode
from tmtccmd.pus.tc.s200_fsfw_mode import Mode
from tmtccmd.tmtc import DefaultPusQueueHelper
from tmtccmd.pus.s11_tc_sched import create_time_tagged_cmd
from tmtccmd.pus.tc.s3_fsfw_hk import create_request_one_hk_command
from tmtccmd.pus.s200_fsfw_mode import Subservice as ModeSubservice
from common import (
EXAMPLE_PUS_APID,
make_addressable_id,
RequestTargetId,
AcsHkIds,
)
from common import AcsId, Apid
_LOGGER = logging.getLogger(__name__)
def create_set_mode_cmd(
apid: int, unique_id: int, mode: int, submode: int
) -> PusTelecommand:
app_data = bytearray()
app_data.extend(struct.pack("!I", unique_id))
app_data.extend(struct.pack("!I", mode))
app_data.extend(struct.pack("!H", submode))
return PusTelecommand(
service=200,
subservice=ModeSubservice.TC_MODE_COMMAND,
apid=apid,
app_data=app_data,
)
def create_cmd_definition_tree() -> CmdTreeNode:
root_node = CmdTreeNode.root_node()
hk_node = CmdTreeNode("hk", "Housekeeping Node", hide_children_for_print=True)
hk_node.add_child(CmdTreeNode("one_shot_hk", "Request One Shot HK set"))
hk_node.add_child(
CmdTreeNode("enable", "Enable periodic housekeeping data generation")
)
hk_node.add_child(
CmdTreeNode("disable", "Disable periodic housekeeping data generation")
)
mode_node = CmdTreeNode("mode", "Mode Node", hide_children_for_print=True)
set_mode_node = CmdTreeNode(
"set_mode", "Set Node", hide_children_which_are_leaves=True
)
set_mode_node.add_child(CmdTreeNode("off", "Set OFF Mode"))
set_mode_node.add_child(CmdTreeNode("on", "Set ON Mode"))
set_mode_node.add_child(CmdTreeNode("normal", "Set NORMAL Mode"))
mode_node.add_child(set_mode_node)
mode_node.add_child(CmdTreeNode("read_mode", "Read Mode"))
test_node = CmdTreeNode("test", "Test Node")
test_node.add_child(CmdTreeNode("ping", "Send PUS ping TC"))
test_node.add_child(CmdTreeNode("trigger_event", "Send PUS test to trigger event"))
@ -37,7 +68,9 @@ def create_cmd_definition_tree() -> CmdTreeNode:
acs_node = CmdTreeNode("acs", "ACS Subsystem Node")
mgm_node = CmdTreeNode("mgms", "MGM devices node")
mgm_node.add_child(CmdTreeNode("one_shot_hk", "Request one shot HK"))
mgm_node.add_child(mode_node)
mgm_node.add_child(hk_node)
acs_node.add_child(mgm_node)
root_node.add_child(acs_node)
@ -54,10 +87,14 @@ def pack_pus_telecommands(q: DefaultPusQueueHelper, cmd_path: str):
assert len(cmd_path_list) >= 2
if cmd_path_list[1] == "ping":
q.add_log_cmd("Sending PUS ping telecommand")
return q.add_pus_tc(PusTelecommand(service=17, subservice=1))
return q.add_pus_tc(
PusTelecommand(apid=Apid.GENERIC_PUS, service=17, subservice=1)
)
elif cmd_path_list[1] == "trigger_event":
q.add_log_cmd("Triggering test event")
return q.add_pus_tc(PusTelecommand(service=17, subservice=128))
return q.add_pus_tc(
PusTelecommand(apid=Apid.GENERIC_PUS, service=17, subservice=128)
)
if cmd_path_list[0] == "scheduler":
assert len(cmd_path_list) >= 2
if cmd_path_list[1] == "schedule_ping_10_secs_ahead":
@ -69,17 +106,38 @@ def pack_pus_telecommands(q: DefaultPusQueueHelper, cmd_path: str):
create_time_tagged_cmd(
time_stamp,
PusTelecommand(service=17, subservice=1),
apid=EXAMPLE_PUS_APID,
apid=Apid.SCHED,
)
)
if cmd_path_list[0] == "acs":
assert len(cmd_path_list) >= 2
if cmd_path_list[1] == "mgm":
if cmd_path_list[1] == "mgms":
assert len(cmd_path_list) >= 3
if cmd_path_list[2] == "one_shot_hk":
if cmd_path_list[2] == "hk":
if cmd_path_list[3] == "one_shot_hk":
q.add_log_cmd("Sending HK one shot request")
q.add_pus_tc(
create_request_one_hk_command(
make_addressable_id(RequestTargetId.ACS, AcsHkIds.MGM_SET)
)
# TODO: Fix
# q.add_pus_tc(
# create_request_one_hk_command(
# make_addressable_id(Apid.ACS, AcsId.MGM_SET)
# )
# )
if cmd_path_list[2] == "mode":
if cmd_path_list[3] == "set_mode":
handle_set_mode_cmd(
q, "MGM 0", cmd_path_list[4], Apid.ACS, AcsId.MGM_0
)
def handle_set_mode_cmd(
q: DefaultPusQueueHelper, target_str: str, mode_str: str, apid: int, unique_id: int
):
if mode_str == "off":
q.add_log_cmd(f"Sending Mode OFF to {target_str}")
q.add_pus_tc(create_set_mode_cmd(apid, unique_id, Mode.OFF, 0))
elif mode_str == "on":
q.add_log_cmd(f"Sending Mode ON to {target_str}")
q.add_pus_tc(create_set_mode_cmd(apid, unique_id, Mode.ON, 0))
elif mode_str == "normal":
q.add_log_cmd(f"Sending Mode NORMAL to {target_str}")
q.add_pus_tc(create_set_mode_cmd(apid, unique_id, Mode.NORMAL, 0))

118
satrs-example/src/acs.rs
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@ -1,118 +0,0 @@
use std::sync::mpsc::{self, TryRecvError};
use log::{info, warn};
use satrs::pus::verification::VerificationReportingProvider;
use satrs::pus::{EcssTmSender, PusTmWrapper};
use satrs::request::TargetAndApidId;
use satrs::spacepackets::ecss::hk::Subservice as HkSubservice;
use satrs::{
hk::HkRequest,
spacepackets::{
ecss::tm::{PusTmCreator, PusTmSecondaryHeader},
time::cds::{CdsTime, DaysLen16Bits},
SequenceFlags, SpHeader,
},
};
use satrs_example::config::{RequestTargetId, PUS_APID};
use crate::{
hk::{AcsHkIds, HkUniqueId},
requests::{Request, RequestWithToken},
update_time,
};
pub struct AcsTask<VerificationReporter: VerificationReportingProvider> {
timestamp: [u8; 7],
time_provider: CdsTime<DaysLen16Bits>,
verif_reporter: VerificationReporter,
tm_sender: Box<dyn EcssTmSender>,
request_rx: mpsc::Receiver<RequestWithToken>,
}
impl<VerificationReporter: VerificationReportingProvider> AcsTask<VerificationReporter> {
pub fn new(
tm_sender: impl EcssTmSender,
request_rx: mpsc::Receiver<RequestWithToken>,
verif_reporter: VerificationReporter,
) -> Self {
Self {
timestamp: [0; 7],
time_provider: CdsTime::new_with_u16_days(0, 0),
verif_reporter,
tm_sender: Box::new(tm_sender),
request_rx,
}
}
fn handle_hk_request(&mut self, target_id: u32, unique_id: u32) {
assert_eq!(target_id, RequestTargetId::AcsSubsystem as u32);
if unique_id == AcsHkIds::TestMgmSet as u32 {
let mut sp_header = SpHeader::tm(PUS_APID, SequenceFlags::Unsegmented, 0, 0).unwrap();
let sec_header = PusTmSecondaryHeader::new_simple(
3,
HkSubservice::TmHkPacket as u8,
&self.timestamp,
);
let mut buf: [u8; 8] = [0; 8];
let hk_id = HkUniqueId::new(target_id, unique_id);
hk_id.write_to_be_bytes(&mut buf).unwrap();
let pus_tm = PusTmCreator::new(&mut sp_header, sec_header, &buf, true);
self.tm_sender
.send_tm(PusTmWrapper::Direct(pus_tm))
.expect("Sending HK TM failed");
}
// TODO: Verification failure for invalid unique IDs.
}
pub fn try_reading_one_request(&mut self) -> bool {
match self.request_rx.try_recv() {
Ok(request) => {
info!(
"ACS thread: Received HK request {:?}",
request.targeted_request
);
let target_and_apid_id = TargetAndApidId::from(request.targeted_request.target_id);
match request.targeted_request.request {
Request::Hk(hk_req) => match hk_req {
HkRequest::OneShot(unique_id) => {
self.handle_hk_request(target_and_apid_id.target(), unique_id)
}
HkRequest::Enable(_) => {}
HkRequest::Disable(_) => {}
HkRequest::ModifyCollectionInterval(_, _) => {}
},
Request::Mode(_mode_req) => {
warn!("mode request handling not implemented yet")
}
Request::Action(_action_req) => {
warn!("action request handling not implemented yet")
}
}
let started_token = self
.verif_reporter
.start_success(request.token, &self.timestamp)
.expect("Sending start success failed");
self.verif_reporter
.completion_success(started_token, &self.timestamp)
.expect("Sending completion success failed");
true
}
Err(e) => match e {
TryRecvError::Empty => false,
TryRecvError::Disconnected => {
warn!("ACS thread: Message Queue TX disconnected!");
false
}
},
}
}
pub fn periodic_operation(&mut self) {
update_time(&mut self.time_provider, &mut self.timestamp);
loop {
if !self.try_reading_one_request() {
break;
}
}
}
}

284
satrs-example/src/acs/mgm.rs Normal file
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@ -0,0 +1,284 @@
use derive_new::new;
use satrs::hk::{HkRequest, HkRequestVariant};
use satrs::queue::{GenericSendError, GenericTargetedMessagingError};
use satrs::spacepackets::ecss::hk;
use satrs::spacepackets::ecss::tm::{PusTmCreator, PusTmSecondaryHeader};
use satrs::spacepackets::SpHeader;
use satrs_example::{DeviceMode, TimeStampHelper};
use std::sync::mpsc::{self};
use std::sync::{Arc, Mutex};
use satrs::mode::{
ModeAndSubmode, ModeError, ModeProvider, ModeReply, ModeRequest, ModeRequestHandler,
};
use satrs::pus::{EcssTmSenderCore, PusTmVariant};
use satrs::request::{GenericMessage, MessageMetadata, UniqueApidTargetId};
use satrs_example::config::components::PUS_MODE_SERVICE;
use crate::pus::hk::{HkReply, HkReplyVariant};
use crate::requests::CompositeRequest;
use serde::{Deserialize, Serialize};
const GAUSS_TO_MICROTESLA_FACTOR: f32 = 100.0;
// This is the selected resoltion for the STM LIS3MDL device for the 4 Gauss sensitivity setting.
const FIELD_LSB_PER_GAUSS_4_SENS: f32 = 1.0 / 6842.0;
pub trait SpiInterface {
type Error;
fn transfer(&mut self, tx: &[u8], rx: &mut [u8]) -> Result<(), Self::Error>;
}
#[derive(Default)]
pub struct SpiDummyInterface {
pub dummy_val_0: i16,
pub dummy_val_1: i16,
pub dummy_val_2: i16,
}
impl SpiInterface for SpiDummyInterface {
type Error = ();
fn transfer(&mut self, _tx: &[u8], rx: &mut [u8]) -> Result<(), Self::Error> {
rx[0..2].copy_from_slice(&self.dummy_val_0.to_be_bytes());
rx[2..4].copy_from_slice(&self.dummy_val_1.to_be_bytes());
rx[4..6].copy_from_slice(&self.dummy_val_2.to_be_bytes());
Ok(())
}
}
#[derive(Default, Debug, Copy, Clone, Serialize, Deserialize)]
pub struct MgmData {
pub valid: bool,
pub x: f32,
pub y: f32,
pub z: f32,
}
pub struct MpscModeLeafInterface {
pub request_rx: mpsc::Receiver<GenericMessage<ModeRequest>>,
pub reply_tx_to_pus: mpsc::Sender<GenericMessage<ModeReply>>,
pub reply_tx_to_parent: mpsc::Sender<GenericMessage<ModeReply>>,
}
/// Example MGM device handler strongly based on the LIS3MDL MEMS device.
#[derive(new)]
#[allow(clippy::too_many_arguments)]
pub struct MgmHandlerLis3Mdl<ComInterface: SpiInterface, TmSender: EcssTmSenderCore> {
id: UniqueApidTargetId,
dev_str: &'static str,
mode_interface: MpscModeLeafInterface,
composite_request_receiver: mpsc::Receiver<GenericMessage<CompositeRequest>>,
hk_reply_sender: mpsc::Sender<GenericMessage<HkReply>>,
tm_sender: TmSender,
com_interface: ComInterface,
shared_mgm_set: Arc<Mutex<MgmData>>,
#[new(value = "ModeAndSubmode::new(satrs_example::DeviceMode::Off as u32, 0)")]
mode_and_submode: ModeAndSubmode,
#[new(default)]
tx_buf: [u8; 12],
#[new(default)]
rx_buf: [u8; 12],
#[new(default)]
tm_buf: [u8; 16],
#[new(default)]
stamp_helper: TimeStampHelper,
}
impl<ComInterface: SpiInterface, TmSender: EcssTmSenderCore>
MgmHandlerLis3Mdl<ComInterface, TmSender>
{
pub fn periodic_operation(&mut self) {
self.stamp_helper.update_from_now();
// Handle requests.
self.handle_composite_requests();
self.handle_mode_requests();
if self.mode() == DeviceMode::Normal as u32 {
log::trace!("polling LIS3MDL sensor {}", self.dev_str);
// Communicate with the device.
let result = self.com_interface.transfer(&self.tx_buf, &mut self.rx_buf);
assert!(result.is_ok());
// Actual data begins on the second byte, similarly to how a lot of SPI devices behave.
let x_raw = i16::from_be_bytes(self.rx_buf[1..3].try_into().unwrap());
let y_raw = i16::from_be_bytes(self.rx_buf[3..5].try_into().unwrap());
let z_raw = i16::from_be_bytes(self.rx_buf[5..7].try_into().unwrap());
// Simple scaling to retrieve the float value, assuming a sensor resolution of
let mut mgm_guard = self.shared_mgm_set.lock().unwrap();
mgm_guard.x = x_raw as f32 * GAUSS_TO_MICROTESLA_FACTOR * FIELD_LSB_PER_GAUSS_4_SENS;
mgm_guard.y = y_raw as f32 * GAUSS_TO_MICROTESLA_FACTOR * FIELD_LSB_PER_GAUSS_4_SENS;
mgm_guard.z = z_raw as f32 * GAUSS_TO_MICROTESLA_FACTOR * FIELD_LSB_PER_GAUSS_4_SENS;
drop(mgm_guard);
}
}
pub fn handle_composite_requests(&mut self) {
loop {
match self.composite_request_receiver.try_recv() {
Ok(ref msg) => match &msg.message {
CompositeRequest::Hk(hk_request) => {
self.handle_hk_request(&msg.requestor_info, hk_request)
}
// TODO: This object does not have actions (yet).. Still send back completion failure
// reply.
CompositeRequest::Action(_action_req) => {}
},
Err(e) => {
if e != mpsc::TryRecvError::Empty {
log::warn!(
"{}: failed to receive composite request: {:?}",
self.dev_str,
e
);
} else {
break;
}
}
}
}
}
pub fn handle_hk_request(&mut self, requestor_info: &MessageMetadata, hk_request: &HkRequest) {
match hk_request.variant {
HkRequestVariant::OneShot => {
self.hk_reply_sender
.send(GenericMessage::new(
*requestor_info,
HkReply::new(hk_request.unique_id, HkReplyVariant::Ack),
))
.expect("failed to send HK reply");
let sec_header = PusTmSecondaryHeader::new(
3,
hk::Subservice::TmHkPacket as u8,
0,
0,
self.stamp_helper.stamp(),
);
let mgm_snapshot = *self.shared_mgm_set.lock().unwrap();
// Use binary serialization here. We want the data to be tightly packed.
self.tm_buf[0] = mgm_snapshot.valid as u8;
self.tm_buf[1..5].copy_from_slice(&mgm_snapshot.x.to_be_bytes());
self.tm_buf[5..9].copy_from_slice(&mgm_snapshot.y.to_be_bytes());
self.tm_buf[9..13].copy_from_slice(&mgm_snapshot.z.to_be_bytes());
let hk_tm = PusTmCreator::new(
SpHeader::new_from_apid(self.id.apid),
sec_header,
&self.tm_buf[0..12],
true,
);
self.tm_sender
.send_tm(self.id.id(), PusTmVariant::Direct(hk_tm))
.expect("failed to send HK TM");
}
HkRequestVariant::EnablePeriodic => todo!(),
HkRequestVariant::DisablePeriodic => todo!(),
HkRequestVariant::ModifyCollectionInterval(_) => todo!(),
}
}
pub fn handle_mode_requests(&mut self) {
loop {
// TODO: Only allow one set mode request per cycle?
match self.mode_interface.request_rx.try_recv() {
Ok(msg) => {
let result = self.handle_mode_request(msg);
// TODO: Trigger event?
if result.is_err() {
log::warn!(
"{}: mode request failed with error {:?}",
self.dev_str,
result.err().unwrap()
);
}
}
Err(e) => {
if e != mpsc::TryRecvError::Empty {
log::warn!("{}: failed to receive mode request: {:?}", self.dev_str, e);
} else {
break;
}
}
}
}
}
}
impl<ComInterface: SpiInterface, TmSender: EcssTmSenderCore> ModeProvider
for MgmHandlerLis3Mdl<ComInterface, TmSender>
{
fn mode_and_submode(&self) -> ModeAndSubmode {
self.mode_and_submode
}
}
impl<ComInterface: SpiInterface, TmSender: EcssTmSenderCore> ModeRequestHandler
for MgmHandlerLis3Mdl<ComInterface, TmSender>
{
type Error = ModeError;
fn start_transition(
&mut self,
requestor: MessageMetadata,
mode_and_submode: ModeAndSubmode,
) -> Result<(), satrs::mode::ModeError> {
log::info!(
"{}: transitioning to mode {:?}",
self.dev_str,
mode_and_submode
);
self.mode_and_submode = mode_and_submode;
self.handle_mode_reached(Some(requestor))?;
Ok(())
}
fn announce_mode(&self, _requestor_info: Option<MessageMetadata>, _recursive: bool) {
log::info!(
"{} announcing mode: {:?}",
self.dev_str,
self.mode_and_submode
);
}
fn handle_mode_reached(
&mut self,
requestor: Option<MessageMetadata>,
) -> Result<(), Self::Error> {
self.announce_mode(requestor, false);
if let Some(requestor) = requestor {
if requestor.sender_id() != PUS_MODE_SERVICE.id() {
log::warn!(
"can not send back mode reply to sender {}",
requestor.sender_id()
);
} else {
self.send_mode_reply(requestor, ModeReply::ModeReply(self.mode_and_submode()))?;
}
}
Ok(())
}
fn send_mode_reply(
&self,
requestor: MessageMetadata,
reply: ModeReply,
) -> Result<(), Self::Error> {
if requestor.sender_id() != PUS_MODE_SERVICE.id() {
log::warn!(
"can not send back mode reply to sender {}",
requestor.sender_id()
);
}
self.mode_interface
.reply_tx_to_pus
.send(GenericMessage::new(requestor, reply))
.map_err(|_| GenericTargetedMessagingError::Send(GenericSendError::RxDisconnected))?;
Ok(())
}
fn handle_mode_info(
&mut self,
_requestor_info: MessageMetadata,
_info: ModeAndSubmode,
) -> Result<(), Self::Error> {
Ok(())
}
}

1
satrs-example/src/acs/mod.rs Normal file
View File

@ -0,0 +1 @@
pub mod mgm;

3
satrs-example/src/bin/simpleclient.rs
View File

@ -12,8 +12,7 @@ use std::time::Duration;
fn main() {
let mut buf = [0; 32];
let addr = SocketAddr::new(IpAddr::V4(OBSW_SERVER_ADDR), SERVER_PORT);
let mut sph = SpHeader::tc_unseg(0x02, 0, 0).unwrap();
let pus_tc = PusTcCreator::new_simple(&mut sph, 17, 1, None, true);
let pus_tc = PusTcCreator::new_simple(SpHeader::new_from_apid(0x02), 17, 1, &[], true);
let client = UdpSocket::bind("127.0.0.1:7302").expect("Connecting to UDP server failed");
let tc_req_id = RequestId::new(&pus_tc);
println!("Packing and sending PUS ping command TC[17,1] with request ID {tc_req_id}");

27
satrs-example/src/ccsds.rs
View File

@ -1,7 +1,9 @@
use satrs::pus::ReceivesEcssPusTc;
use satrs::spacepackets::{CcsdsPacket, SpHeader};
use satrs::tmtc::{CcsdsPacketHandler, ReceivesCcsdsTc};
use satrs_example::config::PUS_APID;
use satrs::ValidatorU16Id;
use satrs_example::config::components::Apid;
use satrs_example::config::APID_VALIDATOR;
#[derive(Clone)]
pub struct CcsdsReceiver<
@ -11,6 +13,16 @@ pub struct CcsdsReceiver<
pub tc_source: TcSource,
}
impl<
TcSource: ReceivesCcsdsTc<Error = E> + ReceivesEcssPusTc<Error = E> + Clone + 'static,
E: 'static,
> ValidatorU16Id for CcsdsReceiver<TcSource, E>
{
fn validate(&self, apid: u16) -> bool {
APID_VALIDATOR.contains(&apid)
}
}
impl<
TcSource: ReceivesCcsdsTc<Error = E> + ReceivesEcssPusTc<Error = E> + Clone + 'static,
E: 'static,
@ -18,27 +30,24 @@ impl<
{
type Error = E;
fn valid_apids(&self) -> &'static [u16] {
&[PUS_APID]
}
fn handle_known_apid(
fn handle_packet_with_valid_apid(
&mut self,
sp_header: &SpHeader,
tc_raw: &[u8],
) -> Result<(), Self::Error> {
if sp_header.apid() == PUS_APID {
if sp_header.apid() == Apid::Cfdp as u16 {
} else {
return self.tc_source.pass_ccsds(sp_header, tc_raw);
}
Ok(())
}
fn handle_unknown_apid(
fn handle_packet_with_unknown_apid(
&mut self,
sp_header: &SpHeader,
_tc_raw: &[u8],
) -> Result<(), Self::Error> {
println!("Unknown APID 0x{:x?} detected", sp_header.apid());
log::warn!("unknown APID 0x{:x?} detected", sp_header.apid());
Ok(())
}
}

95
satrs-example/src/config.rs
View File

@ -1,7 +1,12 @@
use satrs::res_code::ResultU16;
use lazy_static::lazy_static;
use satrs::{
res_code::ResultU16,
spacepackets::{PacketId, PacketType},
};
use satrs_mib::res_code::ResultU16Info;
use satrs_mib::resultcode;
use std::net::Ipv4Addr;
use std::{collections::HashSet, net::Ipv4Addr};
use strum::IntoEnumIterator;
use num_enum::{IntoPrimitive, TryFromPrimitive};
use satrs::{
@ -9,8 +14,6 @@ use satrs::{
pool::{StaticMemoryPool, StaticPoolConfig},
};
pub const PUS_APID: u16 = 0x02;
#[derive(Copy, Clone, PartialEq, Eq, Debug, TryFromPrimitive, IntoPrimitive)]
#[repr(u8)]
pub enum CustomPusServiceId {
@ -29,6 +32,7 @@ pub const AOCS_APID: u16 = 1;
pub enum GroupId {
Tmtc = 0,
Hk = 1,
Mode = 2,
}
pub const OBSW_SERVER_ADDR: Ipv4Addr = Ipv4Addr::UNSPECIFIED;
@ -37,6 +41,23 @@ pub const SERVER_PORT: u16 = 7301;
pub const TEST_EVENT: EventU32TypedSev<SeverityInfo> =
EventU32TypedSev::<SeverityInfo>::const_new(0, 0);
lazy_static! {
pub static ref PACKET_ID_VALIDATOR: HashSet<PacketId> = {
let mut set = HashSet::new();
for id in components::Apid::iter() {
set.insert(PacketId::new(PacketType::Tc, true, id as u16));
}
set
};
pub static ref APID_VALIDATOR: HashSet<u16> = {
let mut set = HashSet::new();
for id in components::Apid::iter() {
set.insert(id as u16);
}
set
};
}
pub mod tmtc_err {
use super::*;
@ -53,6 +74,8 @@ pub mod tmtc_err {
pub const UNKNOWN_TARGET_ID: ResultU16 = ResultU16::new(GroupId::Tmtc as u8, 4);
#[resultcode]
pub const ROUTING_ERROR: ResultU16 = ResultU16::new(GroupId::Tmtc as u8, 5);
#[resultcode(info = "Request timeout for targeted PUS request. P1: Request ID. P2: Target ID")]
pub const REQUEST_TIMEOUT: ResultU16 = ResultU16::new(GroupId::Tmtc as u8, 6);
#[resultcode(
info = "Not enough data inside the TC application data field. Optionally includes: \
@ -92,27 +115,59 @@ pub mod hk_err {
];
}
#[allow(clippy::enum_variant_names)]
pub mod mode_err {
use super::*;
#[resultcode]
pub const WRONG_MODE: ResultU16 = ResultU16::new(GroupId::Mode as u8, 0);
}
pub mod components {
use satrs::request::UniqueApidTargetId;
use strum::EnumIter;
#[derive(Copy, Clone, PartialEq, Eq, EnumIter)]
pub enum Apid {
Sched = 1,
GenericPus = 2,
Acs = 3,
Cfdp = 4,
}
// Component IDs for components with the PUS APID.
#[derive(Copy, Clone, PartialEq, Eq)]
pub enum TmSenderId {
PusVerification = 0,
PusTest = 1,
PusEvent = 2,
PusHk = 3,
PusAction = 4,
PusSched = 5,
AllEvents = 6,
AcsSubsystem = 7,
pub enum PusId {
PusEventManagement = 0,
PusRouting = 1,
PusTest = 2,
PusAction = 3,
PusMode = 4,
PusHk = 5,
}
#[derive(Copy, Clone, PartialEq, Eq)]
pub enum TcReceiverId {
PusTest = 1,
PusEvent = 2,
PusHk = 3,
PusAction = 4,
PusSched = 5,
pub enum AcsId {
Mgm0 = 0,
}
pub const PUS_ACTION_SERVICE: UniqueApidTargetId =
UniqueApidTargetId::new(Apid::GenericPus as u16, PusId::PusAction as u32);
pub const PUS_EVENT_MANAGEMENT: UniqueApidTargetId =
UniqueApidTargetId::new(Apid::GenericPus as u16, 0);
pub const PUS_ROUTING_SERVICE: UniqueApidTargetId =
UniqueApidTargetId::new(Apid::GenericPus as u16, PusId::PusRouting as u32);
pub const PUS_TEST_SERVICE: UniqueApidTargetId =
UniqueApidTargetId::new(Apid::GenericPus as u16, PusId::PusTest as u32);
pub const PUS_MODE_SERVICE: UniqueApidTargetId =
UniqueApidTargetId::new(Apid::GenericPus as u16, PusId::PusMode as u32);
pub const PUS_HK_SERVICE: UniqueApidTargetId =
UniqueApidTargetId::new(Apid::GenericPus as u16, PusId::PusHk as u32);
pub const PUS_SCHED_SERVICE: UniqueApidTargetId =
UniqueApidTargetId::new(Apid::Sched as u16, 0);
pub const MGM_HANDLER_0: UniqueApidTargetId =
UniqueApidTargetId::new(Apid::Acs as u16, AcsId::Mgm0 as u32);
}
pub mod pool {
use super::*;
pub fn create_static_pools() -> (StaticMemoryPool, StaticMemoryPool) {

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()
}

18
satrs-example/src/hk.rs
View File

@ -1,27 +1,25 @@
use derive_new::new;
use satrs::hk::UniqueId;
use satrs::request::UniqueApidTargetId;
use satrs::spacepackets::ByteConversionError;
#[derive(Debug, Copy, Clone, PartialEq, Eq)]
pub enum AcsHkIds {
TestMgmSet = 1,
}
#[derive(Debug, new, Copy, Clone)]
pub struct HkUniqueId {
target_id: u32,
set_id: u32,
target_id: UniqueApidTargetId,
set_id: UniqueId,
}
impl HkUniqueId {
#[allow(dead_code)]
pub fn target_id(&self) -> u32 {
pub fn target_id(&self) -> UniqueApidTargetId {
self.target_id
}
#[allow(dead_code)]
pub fn set_id(&self) -> u32 {
pub fn set_id(&self) -> UniqueId {
self.set_id
}
#[allow(dead_code)]
pub fn write_to_be_bytes(&self, buf: &mut [u8]) -> Result<usize, ByteConversionError> {
if buf.len() < 8 {
return Err(ByteConversionError::ToSliceTooSmall {
@ -29,7 +27,7 @@ impl HkUniqueId {
expected: 8,
});
}
buf[0..4].copy_from_slice(&self.target_id.to_be_bytes());
buf[0..4].copy_from_slice(&self.target_id.unique_id.to_be_bytes());
buf[4..8].copy_from_slice(&self.set_id.to_be_bytes());
Ok(8)

38
satrs-example/src/lib.rs
View File

@ -1 +1,39 @@
use satrs::spacepackets::time::{cds::CdsTime, TimeWriter};
pub mod config;
#[derive(Debug, PartialEq, Eq, Copy, Clone)]
pub enum DeviceMode {
Off = 0,
On = 1,
Normal = 2,
}
pub struct TimeStampHelper {
stamper: CdsTime,
time_stamp: [u8; 7],
}
impl TimeStampHelper {
pub fn stamp(&self) -> &[u8] {
&self.time_stamp
}
pub fn update_from_now(&mut self) {
self.stamper
.update_from_now()
.expect("Updating timestamp failed");
self.stamper
.write_to_bytes(&mut self.time_stamp)
.expect("Writing timestamp failed");
}
}
impl Default for TimeStampHelper {
fn default() -> Self {
Self {
stamper: CdsTime::now_with_u16_days().expect("creating time stamper failed"),
time_stamp: Default::default(),
}
}
}

277
satrs-example/src/main.rs
View File

@ -17,52 +17,44 @@ use log::info;
use pus::test::create_test_service_dynamic;
use satrs::hal::std::tcp_server::ServerConfig;
use satrs::hal::std::udp_server::UdpTcServer;
use satrs::request::TargetAndApidId;
use satrs::request::GenericMessage;
use satrs::tmtc::tm_helper::SharedTmPool;
use satrs_example::config::pool::{create_sched_tc_pool, create_static_pools};
use satrs_example::config::tasks::{
FREQ_MS_AOCS, FREQ_MS_EVENT_HANDLING, FREQ_MS_PUS_STACK, FREQ_MS_UDP_TMTC,
};
use satrs_example::config::{RequestTargetId, TmSenderId, OBSW_SERVER_ADDR, PUS_APID, SERVER_PORT};
use satrs_example::config::{OBSW_SERVER_ADDR, PACKET_ID_VALIDATOR, SERVER_PORT};
use tmtc::PusTcSourceProviderDynamic;
use udp::DynamicUdpTmHandler;
use crate::acs::AcsTask;
use crate::acs::mgm::{MgmHandlerLis3Mdl, MpscModeLeafInterface, SpiDummyInterface};
use crate::ccsds::CcsdsReceiver;
use crate::logger::setup_logger;
use crate::pus::action::{create_action_service_dynamic, create_action_service_static};
use crate::pus::event::{create_event_service_dynamic, create_event_service_static};
use crate::pus::hk::{create_hk_service_dynamic, create_hk_service_static};
use crate::pus::mode::{create_mode_service_dynamic, create_mode_service_static};
use crate::pus::scheduler::{create_scheduler_service_dynamic, create_scheduler_service_static};
use crate::pus::test::create_test_service_static;
use crate::pus::{PusReceiver, PusTcMpscRouter};
use crate::requests::{GenericRequestRouter, RequestWithToken};
use crate::requests::{CompositeRequest, GenericRequestRouter};
use crate::tcp::{SyncTcpTmSource, TcpTask};
use crate::tmtc::{
PusTcSourceProviderSharedPool, SharedTcPool, TcSourceTaskDynamic, TcSourceTaskStatic,
};
use crate::udp::{StaticUdpTmHandler, UdpTmtcServer};
use satrs::mode::ModeRequest;
use satrs::pus::event_man::EventRequestWithToken;
use satrs::pus::verification::{VerificationReporterCfg, VerificationReporterWithSender};
use satrs::pus::{EcssTmSender, TmAsVecSenderWithId, TmInSharedPoolSenderWithId};
use satrs::pus::TmInSharedPoolSender;
use satrs::spacepackets::{time::cds::CdsTime, time::TimeWriter};
use satrs::tmtc::CcsdsDistributor;
use satrs::ChannelId;
use satrs_example::config::components::MGM_HANDLER_0;
use std::net::{IpAddr, SocketAddr};
use std::sync::mpsc::{self, channel};
use std::sync::mpsc;
use std::sync::{Arc, RwLock};
use std::thread;
use std::time::Duration;
fn create_verification_reporter<Sender: EcssTmSender + Clone>(
verif_sender: Sender,
) -> VerificationReporterWithSender<Sender> {
let verif_cfg = VerificationReporterCfg::new(PUS_APID, 1, 2, 8).unwrap();
// Every software component which needs to generate verification telemetry, gets a cloned
// verification reporter.
VerificationReporterWithSender::new(&verif_cfg, verif_sender)
}
#[allow(dead_code)]
fn static_tmtc_pool_main() {
let (tm_pool, tc_pool) = create_static_pools();
@ -74,20 +66,21 @@ fn static_tmtc_pool_main() {
let (tm_funnel_tx, tm_funnel_rx) = mpsc::sync_channel(50);
let (tm_server_tx, tm_server_rx) = mpsc::sync_channel(50);
// Every software component which needs to generate verification telemetry, receives a cloned
// verification reporter.
let verif_reporter = create_verification_reporter(TmInSharedPoolSenderWithId::new(
TmSenderId::PusVerification as ChannelId,
"verif_sender",
shared_tm_pool.clone(),
tm_funnel_tx.clone(),
));
let tm_funnel_tx_sender =
TmInSharedPoolSender::new(shared_tm_pool.clone(), tm_funnel_tx.clone());
let (mgm_handler_composite_tx, mgm_handler_composite_rx) =
mpsc::channel::<GenericMessage<CompositeRequest>>();
let (mgm_handler_mode_tx, mgm_handler_mode_rx) = mpsc::channel::<GenericMessage<ModeRequest>>();
let acs_target_id = TargetAndApidId::new(PUS_APID, RequestTargetId::AcsSubsystem as u32);
let (acs_thread_tx, acs_thread_rx) = channel::<RequestWithToken>();
// Some request are targetable. This map is used to retrieve sender handles based on a target ID.
let mut request_map = GenericRequestRouter::default();
request_map.0.insert(acs_target_id.into(), acs_thread_tx);
request_map
.composite_router_map
.insert(MGM_HANDLER_0.id(), mgm_handler_composite_tx);
request_map
.mode_router_map
.insert(MGM_HANDLER_0.id(), mgm_handler_mode_tx);
// This helper structure is used by all telecommand providers which need to send telecommands
// to the TC source.
@ -103,82 +96,80 @@ fn static_tmtc_pool_main() {
// The event task is the core handler to perform the event routing and TM handling as specified
// in the sat-rs documentation.
let mut event_handler = EventHandler::new(
TmInSharedPoolSenderWithId::new(
TmSenderId::AllEvents as ChannelId,
"ALL_EVENTS_TX",
shared_tm_pool.clone(),
tm_funnel_tx.clone(),
),
verif_reporter.clone(),
event_request_rx,
);
let mut event_handler = EventHandler::new(tm_funnel_tx.clone(), event_request_rx);
let (pus_test_tx, pus_test_rx) = mpsc::channel();
let (pus_event_tx, pus_event_rx) = mpsc::channel();
let (pus_sched_tx, pus_sched_rx) = mpsc::channel();
let (pus_hk_tx, pus_hk_rx) = mpsc::channel();
let (pus_action_tx, pus_action_rx) = mpsc::channel();
let (pus_mode_tx, pus_mode_rx) = mpsc::channel();
let (_pus_action_reply_tx, pus_action_reply_rx) = mpsc::channel();
let (pus_hk_reply_tx, pus_hk_reply_rx) = mpsc::channel();
let (pus_mode_reply_tx, pus_mode_reply_rx) = mpsc::channel();
let (pus_test_tx, pus_test_rx) = channel();
let (pus_event_tx, pus_event_rx) = channel();
let (pus_sched_tx, pus_sched_rx) = channel();
let (pus_hk_tx, pus_hk_rx) = channel();
let (pus_action_tx, pus_action_rx) = channel();
let pus_router = PusTcMpscRouter {
test_service_receiver: pus_test_tx,
event_service_receiver: pus_event_tx,
sched_service_receiver: pus_sched_tx,
hk_service_receiver: pus_hk_tx,
action_service_receiver: pus_action_tx,
test_tc_sender: pus_test_tx,
event_tc_sender: pus_event_tx,
sched_tc_sender: pus_sched_tx,
hk_tc_sender: pus_hk_tx,
action_tc_sender: pus_action_tx,
mode_tc_sender: pus_mode_tx,
};
let pus_test_service = create_test_service_static(
shared_tm_pool.clone(),
tm_funnel_tx.clone(),
verif_reporter.clone(),
tm_funnel_tx_sender.clone(),
shared_tc_pool.pool.clone(),
event_handler.clone_event_sender(),
pus_test_rx,
);
let pus_scheduler_service = create_scheduler_service_static(
shared_tm_pool.clone(),
tm_funnel_tx.clone(),
verif_reporter.clone(),
tm_funnel_tx_sender.clone(),
tc_source.clone(),
pus_sched_rx,
create_sched_tc_pool(),
);
let pus_event_service = create_event_service_static(
shared_tm_pool.clone(),
tm_funnel_tx.clone(),
verif_reporter.clone(),
tm_funnel_tx_sender.clone(),
shared_tc_pool.pool.clone(),
pus_event_rx,
event_request_tx,
);
let pus_action_service = create_action_service_static(
shared_tm_pool.clone(),
tm_funnel_tx.clone(),
verif_reporter.clone(),
tm_funnel_tx_sender.clone(),
shared_tc_pool.pool.clone(),
pus_action_rx,
request_map.clone(),
pus_action_reply_rx,
);
let pus_hk_service = create_hk_service_static(
shared_tm_pool.clone(),
tm_funnel_tx.clone(),
verif_reporter.clone(),
tm_funnel_tx_sender.clone(),
shared_tc_pool.pool.clone(),
pus_hk_rx,
request_map.clone(),
pus_hk_reply_rx,
);
let pus_mode_service = create_mode_service_static(
tm_funnel_tx_sender.clone(),
shared_tc_pool.pool.clone(),
pus_mode_rx,
request_map,
pus_mode_reply_rx,
);
let mut pus_stack = PusStack::new(
pus_test_service,
pus_hk_service,
pus_event_service,
pus_action_service,
pus_scheduler_service,
pus_test_service,
pus_mode_service,
);
let ccsds_receiver = CcsdsReceiver { tc_source };
let mut tmtc_task = TcSourceTaskStatic::new(
shared_tc_pool.clone(),
tc_source_rx,
PusReceiver::new(verif_reporter.clone(), pus_router),
PusReceiver::new(tm_funnel_tx_sender, pus_router),
);
let sock_addr = SocketAddr::new(IpAddr::V4(OBSW_SERVER_ADDR), SERVER_PORT);
@ -200,20 +191,10 @@ fn static_tmtc_pool_main() {
tcp_server_cfg,
sync_tm_tcp_source.clone(),
tcp_ccsds_distributor,
PACKET_ID_VALIDATOR.clone(),
)
.expect("tcp server creation failed");
let mut acs_task = AcsTask::new(
TmInSharedPoolSenderWithId::new(
TmSenderId::AcsSubsystem as ChannelId,
"ACS_TASK_SENDER",
shared_tm_pool.clone(),
tm_funnel_tx.clone(),
),
acs_thread_rx,
verif_reporter,
);
let mut tm_funnel = TmFunnelStatic::new(
shared_tm_pool,
sync_tm_tcp_source,
@ -221,6 +202,27 @@ fn static_tmtc_pool_main() {
tm_server_tx,
);
let (mgm_handler_mode_reply_to_parent_tx, _mgm_handler_mode_reply_to_parent_rx) =
mpsc::channel();
let dummy_spi_interface = SpiDummyInterface::default();
let shared_mgm_set = Arc::default();
let mode_leaf_interface = MpscModeLeafInterface {
request_rx: mgm_handler_mode_rx,
reply_tx_to_pus: pus_mode_reply_tx,
reply_tx_to_parent: mgm_handler_mode_reply_to_parent_tx,
};
let mut mgm_handler = MgmHandlerLis3Mdl::new(
MGM_HANDLER_0,
"MGM_0",
mode_leaf_interface,
mgm_handler_composite_rx,
pus_hk_reply_tx,
tm_funnel_tx,
dummy_spi_interface,
shared_mgm_set,
);
info!("Starting TMTC and UDP task");
let jh_udp_tmtc = thread::Builder::new()
.name("TMTC and UDP".to_string())
@ -266,7 +268,7 @@ fn static_tmtc_pool_main() {
let jh_aocs = thread::Builder::new()
.name("AOCS".to_string())
.spawn(move || loop {
acs_task.periodic_operation();
mgm_handler.periodic_operation();
thread::sleep(Duration::from_millis(FREQ_MS_AOCS));
})
.unwrap();
@ -300,22 +302,23 @@ fn static_tmtc_pool_main() {
#[allow(dead_code)]
fn dyn_tmtc_pool_main() {
let (tc_source_tx, tc_source_rx) = channel();
let (tm_funnel_tx, tm_funnel_rx) = channel();
let (tm_server_tx, tm_server_rx) = channel();
// Every software component which needs to generate verification telemetry, gets a cloned
// verification reporter.
let verif_reporter = create_verification_reporter(TmAsVecSenderWithId::new(
TmSenderId::PusVerification as ChannelId,
"verif_sender",
tm_funnel_tx.clone(),
));
let (tc_source_tx, tc_source_rx) = mpsc::channel();
let (tm_funnel_tx, tm_funnel_rx) = mpsc::channel();
let (tm_server_tx, tm_server_rx) = mpsc::channel();
// Some request are targetable. This map is used to retrieve sender handles based on a target ID.
let (mgm_handler_composite_tx, mgm_handler_composite_rx) =
mpsc::channel::<GenericMessage<CompositeRequest>>();
let (mgm_handler_mode_tx, mgm_handler_mode_rx) = mpsc::channel::<GenericMessage<ModeRequest>>();
let acs_target_id = TargetAndApidId::new(PUS_APID, RequestTargetId::AcsSubsystem as u32);
let (acs_thread_tx, acs_thread_rx) = channel::<RequestWithToken>();
// Some request are targetable. This map is used to retrieve sender handles based on a target ID.
let mut request_map = GenericRequestRouter::default();
request_map.0.insert(acs_target_id.into(), acs_thread_tx);
request_map
.composite_router_map
.insert(MGM_HANDLER_0.raw(), mgm_handler_composite_tx);
request_map
.mode_router_map
.insert(MGM_HANDLER_0.raw(), mgm_handler_mode_tx);
let tc_source = PusTcSourceProviderDynamic(tc_source_tx);
@ -325,74 +328,74 @@ fn dyn_tmtc_pool_main() {
let (event_request_tx, event_request_rx) = mpsc::channel::<EventRequestWithToken>();
// The event task is the core handler to perform the event routing and TM handling as specified
// in the sat-rs documentation.
let mut event_handler = EventHandler::new(
TmAsVecSenderWithId::new(
TmSenderId::AllEvents as ChannelId,
"ALL_EVENTS_TX",
tm_funnel_tx.clone(),
),
verif_reporter.clone(),
event_request_rx,
);
let mut event_handler = EventHandler::new(tm_funnel_tx.clone(), event_request_rx);
let (pus_test_tx, pus_test_rx) = mpsc::channel();
let (pus_event_tx, pus_event_rx) = mpsc::channel();
let (pus_sched_tx, pus_sched_rx) = mpsc::channel();
let (pus_hk_tx, pus_hk_rx) = mpsc::channel();
let (pus_action_tx, pus_action_rx) = mpsc::channel();
let (pus_mode_tx, pus_mode_rx) = mpsc::channel();
let (_pus_action_reply_tx, pus_action_reply_rx) = mpsc::channel();
let (pus_hk_reply_tx, pus_hk_reply_rx) = mpsc::channel();
let (pus_mode_reply_tx, pus_mode_reply_rx) = mpsc::channel();
let (pus_test_tx, pus_test_rx) = channel();
let (pus_event_tx, pus_event_rx) = channel();
let (pus_sched_tx, pus_sched_rx) = channel();
let (pus_hk_tx, pus_hk_rx) = channel();
let (pus_action_tx, pus_action_rx) = channel();
let pus_router = PusTcMpscRouter {
test_service_receiver: pus_test_tx,
event_service_receiver: pus_event_tx,
sched_service_receiver: pus_sched_tx,
hk_service_receiver: pus_hk_tx,
action_service_receiver: pus_action_tx,
test_tc_sender: pus_test_tx,
event_tc_sender: pus_event_tx,
sched_tc_sender: pus_sched_tx,
hk_tc_sender: pus_hk_tx,
action_tc_sender: pus_action_tx,
mode_tc_sender: pus_mode_tx,
};
let pus_test_service = create_test_service_dynamic(
tm_funnel_tx.clone(),
verif_reporter.clone(),
event_handler.clone_event_sender(),
pus_test_rx,
);
let pus_scheduler_service = create_scheduler_service_dynamic(
tm_funnel_tx.clone(),
verif_reporter.clone(),
tc_source.0.clone(),
pus_sched_rx,
create_sched_tc_pool(),
);
let pus_event_service = create_event_service_dynamic(
tm_funnel_tx.clone(),
verif_reporter.clone(),
pus_event_rx,
event_request_tx,
);
let pus_event_service =
create_event_service_dynamic(tm_funnel_tx.clone(), pus_event_rx, event_request_tx);
let pus_action_service = create_action_service_dynamic(
tm_funnel_tx.clone(),
verif_reporter.clone(),
pus_action_rx,
request_map.clone(),
pus_action_reply_rx,
);
let pus_hk_service = create_hk_service_dynamic(
tm_funnel_tx.clone(),
verif_reporter.clone(),
pus_hk_rx,
request_map.clone(),
pus_hk_reply_rx,
);
let pus_mode_service = create_mode_service_dynamic(
tm_funnel_tx.clone(),
pus_mode_rx,
request_map,
pus_mode_reply_rx,
);
let mut pus_stack = PusStack::new(
pus_test_service,
pus_hk_service,
pus_event_service,
pus_action_service,
pus_scheduler_service,
pus_test_service,
pus_mode_service,
);
let ccsds_receiver = CcsdsReceiver { tc_source };
let mut tmtc_task = TcSourceTaskDynamic::new(
tc_source_rx,
PusReceiver::new(verif_reporter.clone(), pus_router),
PusReceiver::new(tm_funnel_tx.clone(), pus_router),
);
let sock_addr = SocketAddr::new(IpAddr::V4(OBSW_SERVER_ADDR), SERVER_PORT);
@ -413,20 +416,32 @@ fn dyn_tmtc_pool_main() {
tcp_server_cfg,
sync_tm_tcp_source.clone(),
tcp_ccsds_distributor,
PACKET_ID_VALIDATOR.clone(),
)
.expect("tcp server creation failed");
let mut acs_task = AcsTask::new(
TmAsVecSenderWithId::new(
TmSenderId::AcsSubsystem as ChannelId,
"ACS_TASK_SENDER",
tm_funnel_tx.clone(),
),
acs_thread_rx,
verif_reporter,
);
let mut tm_funnel = TmFunnelDynamic::new(sync_tm_tcp_source, tm_funnel_rx, tm_server_tx);
let (mgm_handler_mode_reply_to_parent_tx, _mgm_handler_mode_reply_to_parent_rx) =
mpsc::channel();
let dummy_spi_interface = SpiDummyInterface::default();
let shared_mgm_set = Arc::default();
let mode_leaf_interface = MpscModeLeafInterface {
request_rx: mgm_handler_mode_rx,
reply_tx_to_pus: pus_mode_reply_tx,
reply_tx_to_parent: mgm_handler_mode_reply_to_parent_tx,
};
let mut mgm_handler = MgmHandlerLis3Mdl::new(
MGM_HANDLER_0,
"MGM_0",
mode_leaf_interface,
mgm_handler_composite_rx,
pus_hk_reply_tx,
tm_funnel_tx,
dummy_spi_interface,
shared_mgm_set,
);
info!("Starting TMTC and UDP task");
let jh_udp_tmtc = thread::Builder::new()
.name("TMTC and UDP".to_string())
@ -472,7 +487,7 @@ fn dyn_tmtc_pool_main() {
let jh_aocs = thread::Builder::new()
.name("AOCS".to_string())
.spawn(move || loop {
acs_task.periodic_operation();
mgm_handler.periodic_operation();
thread::sleep(Duration::from_millis(FREQ_MS_AOCS));
})
.unwrap();

756
satrs-example/src/pus/action.rs
View File

@ -1,181 +1,274 @@
use log::{error, warn};
use satrs::action::ActionRequest;
use satrs::pool::{SharedStaticMemoryPool, StoreAddr};
use satrs::pus::action::{PusActionToRequestConverter, PusService8ActionHandler};
use satrs::pus::verification::std_mod::{
VerificationReporterWithSharedPoolMpscBoundedSender, VerificationReporterWithVecMpscSender,
use satrs::action::{ActionRequest, ActionRequestVariant};
use satrs::params::WritableToBeBytes;
use satrs::pool::SharedStaticMemoryPool;
use satrs::pus::action::{
ActionReplyVariant, ActivePusActionRequestStd, DefaultActiveActionRequestMap, PusActionReply,
};
use satrs::pus::verification::{
FailParams, TcStateAccepted, VerificationReportingProvider, VerificationToken,
FailParams, FailParamsWithStep, TcStateAccepted, TcStateStarted, VerificationReporter,
VerificationReportingProvider, VerificationToken,
};
use satrs::pus::{
EcssTcAndToken, EcssTcInMemConverter, EcssTcInSharedStoreConverter, EcssTcInVecConverter,
EcssTcReceiverCore, EcssTmSenderCore, MpscTcReceiver, PusPacketHandlerResult,
PusPacketHandlingError, PusServiceHelper, TmAsVecSenderWithId, TmAsVecSenderWithMpsc,
TmInSharedPoolSenderWithBoundedMpsc, TmInSharedPoolSenderWithId,
ActiveRequestProvider, EcssTcAndToken, EcssTcInMemConverter, EcssTcInSharedStoreConverter,
EcssTcInVecConverter, EcssTmSenderCore, EcssTmtcError, GenericConversionError, MpscTcReceiver,
MpscTmAsVecSender, MpscTmInSharedPoolSenderBounded, PusPacketHandlerResult, PusReplyHandler,
PusServiceHelper, PusTcToRequestConverter, PusTmAsVec, PusTmInPool, TmInSharedPoolSender,
};
use satrs::request::TargetAndApidId;
use satrs::request::{GenericMessage, UniqueApidTargetId};
use satrs::spacepackets::ecss::tc::PusTcReader;
use satrs::spacepackets::ecss::PusPacket;
use satrs::tmtc::tm_helper::SharedTmPool;
use satrs::{ChannelId, TargetId};
use satrs_example::config::{tmtc_err, TcReceiverId, TmSenderId, PUS_APID};
use std::sync::mpsc::{self};
use satrs::spacepackets::ecss::{EcssEnumU16, PusPacket};
use satrs_example::config::components::PUS_ACTION_SERVICE;
use satrs_example::config::tmtc_err;
use std::sync::mpsc;
use std::time::Duration;
use crate::requests::GenericRequestRouter;
use super::GenericRoutingErrorHandler;
use super::{
create_verification_reporter, generic_pus_request_timeout_handler, HandlingStatus,
PusTargetedRequestService, TargetedPusService,
};
pub struct ActionReplyHandler {
fail_data_buf: [u8; 128],
}
impl Default for ActionReplyHandler {
fn default() -> Self {
Self {
fail_data_buf: [0; 128],
}
}
}
impl PusReplyHandler<ActivePusActionRequestStd, PusActionReply> for ActionReplyHandler {
type Error = EcssTmtcError;
fn handle_unrequested_reply(
&mut self,
reply: &GenericMessage<PusActionReply>,
_tm_sender: &impl EcssTmSenderCore,
) -> Result<(), Self::Error> {
warn!("received unexpected reply for service 8: {reply:?}");
Ok(())
}
fn handle_reply(
&mut self,
reply: &GenericMessage<PusActionReply>,
active_request: &ActivePusActionRequestStd,
tm_sender: &(impl EcssTmSenderCore + ?Sized),
verification_handler: &impl VerificationReportingProvider,
time_stamp: &[u8],
) -> Result<bool, Self::Error> {
let verif_token: VerificationToken<TcStateStarted> = active_request
.token()
.try_into()
.expect("invalid token state");
let remove_entry = match &reply.message.variant {
ActionReplyVariant::CompletionFailed { error_code, params } => {
let mut fail_data_len = 0;
if let Some(params) = params {
fail_data_len = params.write_to_be_bytes(&mut self.fail_data_buf)?;
}
verification_handler.completion_failure(
tm_sender,
verif_token,
FailParams::new(time_stamp, error_code, &self.fail_data_buf[..fail_data_len]),
)?;
true
}
ActionReplyVariant::StepFailed {
error_code,
step,
params,
} => {
let mut fail_data_len = 0;
if let Some(params) = params {
fail_data_len = params.write_to_be_bytes(&mut self.fail_data_buf)?;
}
verification_handler.step_failure(
tm_sender,
verif_token,
FailParamsWithStep::new(
time_stamp,
&EcssEnumU16::new(*step),
error_code,
&self.fail_data_buf[..fail_data_len],
),
)?;
true
}
ActionReplyVariant::Completed => {
verification_handler.completion_success(tm_sender, verif_token, time_stamp)?;
true
}
ActionReplyVariant::StepSuccess { step } => {
verification_handler.step_success(
tm_sender,
&verif_token,
time_stamp,
EcssEnumU16::new(*step),
)?;
false
}
_ => false,
};
Ok(remove_entry)
}
fn handle_request_timeout(
&mut self,
active_request: &ActivePusActionRequestStd,
tm_sender: &impl EcssTmSenderCore,
verification_handler: &impl VerificationReportingProvider,
time_stamp: &[u8],
) -> Result<(), Self::Error> {
generic_pus_request_timeout_handler(
tm_sender,
active_request,
verification_handler,
time_stamp,
"action",
)
}
}
#[derive(Default)]
pub struct ExampleActionRequestConverter {}
pub struct ActionRequestConverter {}
impl PusActionToRequestConverter for ExampleActionRequestConverter {
type Error = PusPacketHandlingError;
impl PusTcToRequestConverter<ActivePusActionRequestStd, ActionRequest> for ActionRequestConverter {
type Error = GenericConversionError;
fn convert(
&mut self,
token: VerificationToken<TcStateAccepted>,
tc: &PusTcReader,
time_stamp: &[u8],
tm_sender: &(impl EcssTmSenderCore + ?Sized),
verif_reporter: &impl VerificationReportingProvider,
) -> Result<(TargetId, ActionRequest), Self::Error> {
time_stamp: &[u8],
) -> Result<(ActivePusActionRequestStd, ActionRequest), Self::Error> {
let subservice = tc.subservice();
let user_data = tc.user_data();
if user_data.len() < 8 {
verif_reporter
.start_failure(
tm_sender,
token,
FailParams::new_no_fail_data(time_stamp, &tmtc_err::NOT_ENOUGH_APP_DATA),
)
.expect("Sending start failure failed");
return Err(PusPacketHandlingError::NotEnoughAppData {
return Err(GenericConversionError::NotEnoughAppData {
expected: 8,
found: user_data.len(),
});
}
let target_id = TargetAndApidId::from_pus_tc(tc).unwrap();
let target_id_and_apid = UniqueApidTargetId::from_pus_tc(tc).unwrap();
let action_id = u32::from_be_bytes(user_data[4..8].try_into().unwrap());
if subservice == 128 {
let req_variant = if user_data.len() == 8 {
ActionRequestVariant::NoData
} else {
ActionRequestVariant::VecData(user_data[8..].to_vec())
};
Ok((
target_id.raw(),
ActionRequest::UnsignedIdAndVecData {
ActivePusActionRequestStd::new(
action_id,
data: user_data[8..].to_vec(),
},
target_id_and_apid.into(),
token.into(),
Duration::from_secs(30),
),
ActionRequest::new(action_id, req_variant),
))
} else {
verif_reporter
.start_failure(
tm_sender,
token,
FailParams::new_no_fail_data(time_stamp, &tmtc_err::INVALID_PUS_SUBSERVICE),
)
.expect("Sending start failure failed");
Err(PusPacketHandlingError::InvalidSubservice(subservice))
Err(GenericConversionError::InvalidSubservice(subservice))
}
}
}
pub fn create_action_service_static(
shared_tm_store: SharedTmPool,
tm_funnel_tx: mpsc::SyncSender<StoreAddr>,
verif_reporter: VerificationReporterWithSharedPoolMpscBoundedSender,
tm_sender: TmInSharedPoolSender<mpsc::SyncSender<PusTmInPool>>,
tc_pool: SharedStaticMemoryPool,
pus_action_rx: mpsc::Receiver<EcssTcAndToken>,
action_router: GenericRequestRouter,
) -> Pus8Wrapper<
MpscTcReceiver,
TmInSharedPoolSenderWithBoundedMpsc,
EcssTcInSharedStoreConverter,
VerificationReporterWithSharedPoolMpscBoundedSender,
> {
let action_srv_tm_sender = TmInSharedPoolSenderWithId::new(
TmSenderId::PusAction as ChannelId,
"PUS_8_TM_SENDER",
shared_tm_store.clone(),
tm_funnel_tx.clone(),
);
let action_srv_receiver = MpscTcReceiver::new(
TcReceiverId::PusAction as ChannelId,
"PUS_8_TC_RECV",
pus_action_rx,
);
let pus_8_handler = PusService8ActionHandler::new(
reply_receiver: mpsc::Receiver<GenericMessage<PusActionReply>>,
) -> ActionServiceWrapper<MpscTmInSharedPoolSenderBounded, EcssTcInSharedStoreConverter> {
let action_request_handler = PusTargetedRequestService::new(
PusServiceHelper::new(
action_srv_receiver,
action_srv_tm_sender,
PUS_APID,
verif_reporter.clone(),
PUS_ACTION_SERVICE.id(),
pus_action_rx,
tm_sender,
create_verification_reporter(PUS_ACTION_SERVICE.id(), PUS_ACTION_SERVICE.apid),
EcssTcInSharedStoreConverter::new(tc_pool.clone(), 2048),
),
ExampleActionRequestConverter::default(),
ActionRequestConverter::default(),
// TODO: Implementation which does not use run-time allocation? Maybe something like
// a bounded wrapper which pre-allocates using [HashMap::with_capacity]..
DefaultActiveActionRequestMap::default(),
ActionReplyHandler::default(),
action_router,
GenericRoutingErrorHandler::<8>::default(),
reply_receiver,
);
Pus8Wrapper { pus_8_handler }
ActionServiceWrapper {
service: action_request_handler,
}
}
pub fn create_action_service_dynamic(
tm_funnel_tx: mpsc::Sender<Vec<u8>>,
verif_reporter: VerificationReporterWithVecMpscSender,
tm_funnel_tx: mpsc::Sender<PusTmAsVec>,
pus_action_rx: mpsc::Receiver<EcssTcAndToken>,
action_router: GenericRequestRouter,
) -> Pus8Wrapper<
MpscTcReceiver,
TmAsVecSenderWithMpsc,
EcssTcInVecConverter,
VerificationReporterWithVecMpscSender,
> {
let action_srv_tm_sender = TmAsVecSenderWithId::new(
TmSenderId::PusAction as ChannelId,
"PUS_8_TM_SENDER",
tm_funnel_tx.clone(),
);
let action_srv_receiver = MpscTcReceiver::new(
TcReceiverId::PusAction as ChannelId,
"PUS_8_TC_RECV",
pus_action_rx,
);
let pus_8_handler = PusService8ActionHandler::new(
reply_receiver: mpsc::Receiver<GenericMessage<PusActionReply>>,
) -> ActionServiceWrapper<MpscTmAsVecSender, EcssTcInVecConverter> {
let action_request_handler = PusTargetedRequestService::new(
PusServiceHelper::new(
action_srv_receiver,
action_srv_tm_sender,
PUS_APID,
verif_reporter.clone(),
PUS_ACTION_SERVICE.id(),
pus_action_rx,
tm_funnel_tx,
create_verification_reporter(PUS_ACTION_SERVICE.id(), PUS_ACTION_SERVICE.apid),
EcssTcInVecConverter::default(),
),
ExampleActionRequestConverter::default(),
ActionRequestConverter::default(),
DefaultActiveActionRequestMap::default(),
ActionReplyHandler::default(),
action_router,
GenericRoutingErrorHandler::<8>::default(),
reply_receiver,
);
Pus8Wrapper { pus_8_handler }
ActionServiceWrapper {
service: action_request_handler,
}
}
pub struct Pus8Wrapper<
TcReceiver: EcssTcReceiverCore,
TmSender: EcssTmSenderCore,
TcInMemConverter: EcssTcInMemConverter,
VerificationReporter: VerificationReportingProvider,
> {
pub(crate) pus_8_handler: PusService8ActionHandler<
TcReceiver,
pub struct ActionServiceWrapper<TmSender: EcssTmSenderCore, TcInMemConverter: EcssTcInMemConverter>
{
pub(crate) service: PusTargetedRequestService<
MpscTcReceiver,
TmSender,
TcInMemConverter,
VerificationReporter,
ExampleActionRequestConverter,
GenericRequestRouter,
GenericRoutingErrorHandler<8>,
ActionRequestConverter,
ActionReplyHandler,
DefaultActiveActionRequestMap,
ActivePusActionRequestStd,
ActionRequest,
PusActionReply,
>,
}
impl<
TcReceiver: EcssTcReceiverCore,
TmSender: EcssTmSenderCore,
TcInMemConverter: EcssTcInMemConverter,
VerificationReporter: VerificationReportingProvider,
> Pus8Wrapper<TcReceiver, TmSender, TcInMemConverter, VerificationReporter>
impl<TmSender: EcssTmSenderCore, TcInMemConverter: EcssTcInMemConverter> TargetedPusService
for ActionServiceWrapper<TmSender, TcInMemConverter>
{
pub fn handle_next_packet(&mut self) -> bool {
match self.pus_8_handler.handle_one_tc() {
/// Returns [true] if the packet handling is finished.
fn poll_and_handle_next_tc(&mut self, time_stamp: &[u8]) -> bool {
match self.service.poll_and_handle_next_tc(time_stamp) {
Ok(result) => match result {
PusPacketHandlerResult::RequestHandled => {}
PusPacketHandlerResult::RequestHandledPartialSuccess(e) => {
@ -197,4 +290,463 @@ impl<
}
false
}
fn poll_and_handle_next_reply(&mut self, time_stamp: &[u8]) -> HandlingStatus {
// This only fails if all senders disconnected. Treat it like an empty queue.
self.service
.poll_and_check_next_reply(time_stamp)
.unwrap_or_else(|e| {
warn!("PUS 8: Handling reply failed with error {e:?}");
HandlingStatus::Empty
})
}
fn check_for_request_timeouts(&mut self) {
self.service.check_for_request_timeouts();
}
}
#[cfg(test)]
mod tests {
use satrs::pus::test_util::{
TEST_APID, TEST_COMPONENT_ID_0, TEST_COMPONENT_ID_1, TEST_UNIQUE_ID_0, TEST_UNIQUE_ID_1,
};
use satrs::pus::verification;
use satrs::pus::verification::test_util::TestVerificationReporter;
use satrs::request::MessageMetadata;
use satrs::ComponentId;
use satrs::{
res_code::ResultU16,
spacepackets::{
ecss::{
tc::{PusTcCreator, PusTcSecondaryHeader},
tm::PusTmReader,
WritablePusPacket,
},
SpHeader,
},
};
use crate::{
pus::tests::{PusConverterTestbench, ReplyHandlerTestbench, TargetedPusRequestTestbench},
requests::CompositeRequest,
};
use super::*;
impl
TargetedPusRequestTestbench<
ActionRequestConverter,
ActionReplyHandler,
DefaultActiveActionRequestMap,
ActivePusActionRequestStd,
ActionRequest,
PusActionReply,
>
{
pub fn new_for_action(owner_id: ComponentId, target_id: ComponentId) -> Self {
let _ = env_logger::builder().is_test(true).try_init();
let (tm_funnel_tx, tm_funnel_rx) = mpsc::channel();
let (pus_action_tx, pus_action_rx) = mpsc::channel();
let (action_reply_tx, action_reply_rx) = mpsc::channel();
let (action_req_tx, action_req_rx) = mpsc::channel();
let verif_reporter = TestVerificationReporter::new(owner_id);
let mut generic_req_router = GenericRequestRouter::default();
generic_req_router
.composite_router_map
.insert(target_id, action_req_tx);
Self {
service: PusTargetedRequestService::new(
PusServiceHelper::new(
owner_id,
pus_action_rx,
tm_funnel_tx.clone(),
verif_reporter,
EcssTcInVecConverter::default(),
),
ActionRequestConverter::default(),
DefaultActiveActionRequestMap::default(),
ActionReplyHandler::default(),
generic_req_router,
action_reply_rx,
),
request_id: None,
pus_packet_tx: pus_action_tx,
tm_funnel_rx,
reply_tx: action_reply_tx,
request_rx: action_req_rx,
}
}
pub fn verify_packet_started(&self) {
self.service
.service_helper
.common
.verif_reporter
.check_next_is_started_success(
self.service.service_helper.id(),
self.request_id.expect("request ID not set").into(),
);
}
pub fn verify_packet_completed(&self) {
self.service
.service_helper
.common
.verif_reporter
.check_next_is_completion_success(
self.service.service_helper.id(),
self.request_id.expect("request ID not set").into(),
);
}
pub fn verify_tm_empty(&self) {
let packet = self.tm_funnel_rx.try_recv();
if let Err(mpsc::TryRecvError::Empty) = packet {
} else {
let tm = packet.unwrap();
let unexpected_tm = PusTmReader::new(&tm.packet, 7).unwrap().0;
panic!("unexpected TM packet {unexpected_tm:?}");
}
}
pub fn verify_next_tc_is_handled_properly(&mut self, time_stamp: &[u8]) {
let result = self.service.poll_and_handle_next_tc(time_stamp);
if let Err(e) = result {
panic!("unexpected error {:?}", e);
}
let result = result.unwrap();
match result {
PusPacketHandlerResult::RequestHandled => (),
_ => panic!("unexpected result {result:?}"),
}
}
pub fn verify_all_tcs_handled(&mut self, time_stamp: &[u8]) {
let result = self.service.poll_and_handle_next_tc(time_stamp);
if let Err(e) = result {
panic!("unexpected error {:?}", e);
}
let result = result.unwrap();
match result {
PusPacketHandlerResult::Empty => (),
_ => panic!("unexpected result {result:?}"),
}
}
pub fn verify_next_reply_is_handled_properly(&mut self, time_stamp: &[u8]) {
let result = self.service.poll_and_check_next_reply(time_stamp);
assert!(result.is_ok());
assert_eq!(result.unwrap(), HandlingStatus::HandledOne);
}
pub fn verify_all_replies_handled(&mut self, time_stamp: &[u8]) {
let result = self.service.poll_and_check_next_reply(time_stamp);
assert!(result.is_ok());
assert_eq!(result.unwrap(), HandlingStatus::Empty);
}
pub fn add_tc(&mut self, tc: &PusTcCreator) {
self.request_id = Some(verification::RequestId::new(tc).into());
let token = self.service.service_helper.verif_reporter_mut().add_tc(tc);
let accepted_token = self
.service
.service_helper
.verif_reporter()
.acceptance_success(self.service.service_helper.tm_sender(), token, &[0; 7])
.expect("TC acceptance failed");
self.service
.service_helper
.verif_reporter()
.check_next_was_added(accepted_token.request_id());
let id = self.service.service_helper.id();
self.service
.service_helper
.verif_reporter()
.check_next_is_acceptance_success(id, accepted_token.request_id());
self.pus_packet_tx
.send(EcssTcAndToken::new(tc.to_vec().unwrap(), accepted_token))
.unwrap();
}
}
#[test]
fn basic_request() {
let mut testbench = TargetedPusRequestTestbench::new_for_action(
TEST_COMPONENT_ID_0.id(),
TEST_COMPONENT_ID_1.id(),
);
// Create a basic action request and verify forwarding.
let sp_header = SpHeader::new_from_apid(TEST_APID);
let sec_header = PusTcSecondaryHeader::new_simple(8, 128);
let action_id = 5_u32;
let mut app_data: [u8; 8] = [0; 8];
app_data[0..4].copy_from_slice(&TEST_UNIQUE_ID_1.to_be_bytes());
app_data[4..8].copy_from_slice(&action_id.to_be_bytes());
let pus8_packet = PusTcCreator::new(sp_header, sec_header, &app_data, true);
testbench.add_tc(&pus8_packet);
let time_stamp: [u8; 7] = [0; 7];
testbench.verify_next_tc_is_handled_properly(&time_stamp);
testbench.verify_all_tcs_handled(&time_stamp);
testbench.verify_packet_started();
let possible_req = testbench.request_rx.try_recv();
assert!(possible_req.is_ok());
let req = possible_req.unwrap();
if let CompositeRequest::Action(action_req) = req.message {
assert_eq!(action_req.action_id, action_id);
assert_eq!(action_req.variant, ActionRequestVariant::NoData);
let action_reply = PusActionReply::new(action_id, ActionReplyVariant::Completed);
testbench
.reply_tx
.send(GenericMessage::new(req.requestor_info, action_reply))
.unwrap();
} else {
panic!("unexpected request type");
}
testbench.verify_next_reply_is_handled_properly(&time_stamp);
testbench.verify_all_replies_handled(&time_stamp);
testbench.verify_packet_completed();
testbench.verify_tm_empty();
}
#[test]
fn basic_request_routing_error() {
let mut testbench = TargetedPusRequestTestbench::new_for_action(
TEST_COMPONENT_ID_0.id(),
TEST_COMPONENT_ID_1.id(),
);
// Create a basic action request and verify forwarding.
let sec_header = PusTcSecondaryHeader::new_simple(8, 128);
let action_id = 5_u32;
let mut app_data: [u8; 8] = [0; 8];
// Invalid ID, routing should fail.
app_data[0..4].copy_from_slice(&0_u32.to_be_bytes());
app_data[4..8].copy_from_slice(&action_id.to_be_bytes());
let pus8_packet = PusTcCreator::new(
SpHeader::new_from_apid(TEST_APID),
sec_header,
&app_data,
true,
);
testbench.add_tc(&pus8_packet);
let time_stamp: [u8; 7] = [0; 7];
let result = testbench.service.poll_and_handle_next_tc(&time_stamp);
assert!(result.is_err());
// Verify the correct result and completion failure.
}
#[test]
fn converter_action_req_no_data() {
let mut testbench = PusConverterTestbench::new(
TEST_COMPONENT_ID_0.raw(),
ActionRequestConverter::default(),
);
let sec_header = PusTcSecondaryHeader::new_simple(8, 128);
let action_id = 5_u32;
let mut app_data: [u8; 8] = [0; 8];
// Invalid ID, routing should fail.
app_data[0..4].copy_from_slice(&TEST_UNIQUE_ID_0.to_be_bytes());
app_data[4..8].copy_from_slice(&action_id.to_be_bytes());
let pus8_packet = PusTcCreator::new(
SpHeader::new_from_apid(TEST_APID),
sec_header,
&app_data,
true,
);
let token = testbench.add_tc(&pus8_packet);
let result = testbench.convert(token, &[], TEST_APID, TEST_UNIQUE_ID_0);
assert!(result.is_ok());
let (active_req, request) = result.unwrap();
if let ActionRequestVariant::NoData = request.variant {
assert_eq!(request.action_id, action_id);
assert_eq!(active_req.action_id, action_id);
assert_eq!(
active_req.target_id(),
UniqueApidTargetId::new(TEST_APID, TEST_UNIQUE_ID_0).raw()
);
assert_eq!(
active_req.token().request_id(),
testbench.request_id().unwrap()
);
} else {
panic!("unexpected action request variant");
}
}
#[test]
fn converter_action_req_with_data() {
let mut testbench =
PusConverterTestbench::new(TEST_COMPONENT_ID_0.id(), ActionRequestConverter::default());
let sec_header = PusTcSecondaryHeader::new_simple(8, 128);
let action_id = 5_u32;
let mut app_data: [u8; 16] = [0; 16];
// Invalid ID, routing should fail.
app_data[0..4].copy_from_slice(&TEST_UNIQUE_ID_0.to_be_bytes());
app_data[4..8].copy_from_slice(&action_id.to_be_bytes());
for i in 0..8 {
app_data[i + 8] = i as u8;
}
let pus8_packet = PusTcCreator::new(
SpHeader::new_from_apid(TEST_APID),
sec_header,
&app_data,
true,
);
let token = testbench.add_tc(&pus8_packet);
let result = testbench.convert(token, &[], TEST_APID, TEST_UNIQUE_ID_0);
assert!(result.is_ok());
let (active_req, request) = result.unwrap();
if let ActionRequestVariant::VecData(vec) = request.variant {
assert_eq!(request.action_id, action_id);
assert_eq!(active_req.action_id, action_id);
assert_eq!(vec, app_data[8..].to_vec());
} else {
panic!("unexpected action request variant");
}
}
#[test]
fn reply_handling_completion_success() {
let mut testbench =
ReplyHandlerTestbench::new(TEST_COMPONENT_ID_0.id(), ActionReplyHandler::default());
let action_id = 5_u32;
let (req_id, active_req) = testbench.add_tc(TEST_APID, TEST_UNIQUE_ID_0, &[]);
let active_action_req =
ActivePusActionRequestStd::new_from_common_req(action_id, active_req);
let reply = PusActionReply::new(action_id, ActionReplyVariant::Completed);
let generic_reply = GenericMessage::new(MessageMetadata::new(req_id.into(), 0), reply);
let result = testbench.handle_reply(&generic_reply, &active_action_req, &[]);
assert!(result.is_ok());
assert!(result.unwrap());
testbench.verif_reporter.assert_full_completion_success(
TEST_COMPONENT_ID_0.id(),
req_id,
None,
);
}
#[test]
fn reply_handling_completion_failure() {
let mut testbench =
ReplyHandlerTestbench::new(TEST_COMPONENT_ID_0.id(), ActionReplyHandler::default());
let action_id = 5_u32;
let (req_id, active_req) = testbench.add_tc(TEST_APID, TEST_UNIQUE_ID_0, &[]);
let active_action_req =
ActivePusActionRequestStd::new_from_common_req(action_id, active_req);
let error_code = ResultU16::new(2, 3);
let reply = PusActionReply::new(
action_id,
ActionReplyVariant::CompletionFailed {
error_code,
params: None,
},
);
let generic_reply = GenericMessage::new(MessageMetadata::new(req_id.into(), 0), reply);
let result = testbench.handle_reply(&generic_reply, &active_action_req, &[]);
assert!(result.is_ok());
assert!(result.unwrap());
testbench.verif_reporter.assert_completion_failure(
TEST_COMPONENT_ID_0.into(),
req_id,
None,
error_code.raw() as u64,
);
}
#[test]
fn reply_handling_step_success() {
let mut testbench =
ReplyHandlerTestbench::new(TEST_COMPONENT_ID_0.id(), ActionReplyHandler::default());
let action_id = 5_u32;
let (req_id, active_req) = testbench.add_tc(TEST_APID, TEST_UNIQUE_ID_0, &[]);
let active_action_req =
ActivePusActionRequestStd::new_from_common_req(action_id, active_req);
let reply = PusActionReply::new(action_id, ActionReplyVariant::StepSuccess { step: 1 });
let generic_reply = GenericMessage::new(MessageMetadata::new(req_id.into(), 0), reply);
let result = testbench.handle_reply(&generic_reply, &active_action_req, &[]);
assert!(result.is_ok());
// Entry should not be removed, completion not done yet.
assert!(!result.unwrap());
testbench.verif_reporter.check_next_was_added(req_id);
testbench
.verif_reporter
.check_next_is_acceptance_success(TEST_COMPONENT_ID_0.raw(), req_id);
testbench
.verif_reporter
.check_next_is_started_success(TEST_COMPONENT_ID_0.raw(), req_id);
testbench
.verif_reporter
.check_next_is_step_success(TEST_COMPONENT_ID_0.raw(), req_id, 1);
}
#[test]
fn reply_handling_step_failure() {
let mut testbench =
ReplyHandlerTestbench::new(TEST_COMPONENT_ID_0.id(), ActionReplyHandler::default());
let action_id = 5_u32;
let (req_id, active_req) = testbench.add_tc(TEST_APID, TEST_UNIQUE_ID_0, &[]);
let active_action_req =
ActivePusActionRequestStd::new_from_common_req(action_id, active_req);
let error_code = ResultU16::new(2, 3);
let reply = PusActionReply::new(
action_id,
ActionReplyVariant::StepFailed {
error_code,
step: 1,
params: None,
},
);
let generic_reply = GenericMessage::new(MessageMetadata::new(req_id.into(), 0), reply);
let result = testbench.handle_reply(&generic_reply, &active_action_req, &[]);
assert!(result.is_ok());
assert!(result.unwrap());
testbench.verif_reporter.check_next_was_added(req_id);
testbench
.verif_reporter
.check_next_is_acceptance_success(TEST_COMPONENT_ID_0.id(), req_id);
testbench
.verif_reporter
.check_next_is_started_success(TEST_COMPONENT_ID_0.id(), req_id);
testbench.verif_reporter.check_next_is_step_failure(
TEST_COMPONENT_ID_0.id(),
req_id,
error_code.raw().into(),
);
}
#[test]
fn reply_handling_unrequested_reply() {
let mut testbench =
ReplyHandlerTestbench::new(TEST_COMPONENT_ID_0.id(), ActionReplyHandler::default());
let action_reply = PusActionReply::new(5_u32, ActionReplyVariant::Completed);
let unrequested_reply =
GenericMessage::new(MessageMetadata::new(10_u32, 15_u64), action_reply);
// Right now this function does not do a lot. We simply check that it does not panic or do
// weird stuff.
let result = testbench.handle_unrequested_reply(&unrequested_reply);
assert!(result.is_ok());
}
#[test]
fn reply_handling_reply_timeout() {
let mut testbench =
ReplyHandlerTestbench::new(TEST_COMPONENT_ID_0.id(), ActionReplyHandler::default());
let action_id = 5_u32;
let (req_id, active_request) = testbench.add_tc(TEST_APID, TEST_UNIQUE_ID_0, &[]);
let result = testbench.handle_request_timeout(
&ActivePusActionRequestStd::new_from_common_req(action_id, active_request),
&[],
);
assert!(result.is_ok());
testbench.verif_reporter.assert_completion_failure(
TEST_COMPONENT_ID_0.raw(),
req_id,
None,
tmtc_err::REQUEST_TIMEOUT.raw() as u64,
);
}
}

112
satrs-example/src/pus/event.rs
View File

@ -1,113 +1,69 @@
use std::sync::mpsc;
use crate::pus::create_verification_reporter;
use log::{error, warn};
use satrs::pool::{SharedStaticMemoryPool, StoreAddr};
use satrs::pool::SharedStaticMemoryPool;
use satrs::pus::event_man::EventRequestWithToken;
use satrs::pus::event_srv::PusService5EventHandler;
use satrs::pus::verification::std_mod::{
VerificationReporterWithSharedPoolMpscBoundedSender, VerificationReporterWithVecMpscSender,
};
use satrs::pus::verification::VerificationReportingProvider;
use satrs::pus::event_srv::PusEventServiceHandler;
use satrs::pus::verification::VerificationReporter;
use satrs::pus::{
EcssTcAndToken, EcssTcInMemConverter, EcssTcInSharedStoreConverter, EcssTcInVecConverter,
EcssTcReceiverCore, EcssTmSenderCore, MpscTcReceiver, PusPacketHandlerResult, PusServiceHelper,
TmAsVecSenderWithId, TmAsVecSenderWithMpsc, TmInSharedPoolSenderWithBoundedMpsc,
TmInSharedPoolSenderWithId,
EcssTmSenderCore, MpscTcReceiver, MpscTmAsVecSender, MpscTmInSharedPoolSenderBounded,
PusPacketHandlerResult, PusServiceHelper, PusTmAsVec, PusTmInPool, TmInSharedPoolSender,
};
use satrs::tmtc::tm_helper::SharedTmPool;
use satrs::ChannelId;
use satrs_example::config::{TcReceiverId, TmSenderId, PUS_APID};
use satrs_example::config::components::PUS_EVENT_MANAGEMENT;
pub fn create_event_service_static(
shared_tm_store: SharedTmPool,
tm_funnel_tx: mpsc::SyncSender<StoreAddr>,
verif_reporter: VerificationReporterWithSharedPoolMpscBoundedSender,
tm_sender: TmInSharedPoolSender<mpsc::SyncSender<PusTmInPool>>,
tc_pool: SharedStaticMemoryPool,
pus_event_rx: mpsc::Receiver<EcssTcAndToken>,
event_request_tx: mpsc::Sender<EventRequestWithToken>,
) -> Pus5Wrapper<
MpscTcReceiver,
TmInSharedPoolSenderWithBoundedMpsc,
EcssTcInSharedStoreConverter,
VerificationReporterWithSharedPoolMpscBoundedSender,
> {
let event_srv_tm_sender = TmInSharedPoolSenderWithId::new(
TmSenderId::PusEvent as ChannelId,
"PUS_5_TM_SENDER",
shared_tm_store.clone(),
tm_funnel_tx.clone(),
);
let event_srv_receiver = MpscTcReceiver::new(
TcReceiverId::PusEvent as ChannelId,
"PUS_5_TC_RECV",
pus_event_rx,
);
let pus_5_handler = PusService5EventHandler::new(
) -> EventServiceWrapper<MpscTmInSharedPoolSenderBounded, EcssTcInSharedStoreConverter> {
let pus_5_handler = PusEventServiceHandler::new(
PusServiceHelper::new(
event_srv_receiver,
event_srv_tm_sender,
PUS_APID,
verif_reporter.clone(),
PUS_EVENT_MANAGEMENT.id(),
pus_event_rx,
tm_sender,
create_verification_reporter(PUS_EVENT_MANAGEMENT.id(), PUS_EVENT_MANAGEMENT.apid),
EcssTcInSharedStoreConverter::new(tc_pool.clone(), 2048),
),
event_request_tx,
);
Pus5Wrapper { pus_5_handler }
EventServiceWrapper {
handler: pus_5_handler,
}
}
pub fn create_event_service_dynamic(
tm_funnel_tx: mpsc::Sender<Vec<u8>>,
verif_reporter: VerificationReporterWithVecMpscSender,
tm_funnel_tx: mpsc::Sender<PusTmAsVec>,
pus_event_rx: mpsc::Receiver<EcssTcAndToken>,
event_request_tx: mpsc::Sender<EventRequestWithToken>,
) -> Pus5Wrapper<
MpscTcReceiver,
TmAsVecSenderWithMpsc,
EcssTcInVecConverter,
VerificationReporterWithVecMpscSender,
> {
let event_srv_tm_sender = TmAsVecSenderWithId::new(
TmSenderId::PusEvent as ChannelId,
"PUS_5_TM_SENDER",
tm_funnel_tx,
);
let event_srv_receiver = MpscTcReceiver::new(
TcReceiverId::PusEvent as ChannelId,
"PUS_5_TC_RECV",
pus_event_rx,
);
let pus_5_handler = PusService5EventHandler::new(
) -> EventServiceWrapper<MpscTmAsVecSender, EcssTcInVecConverter> {
let pus_5_handler = PusEventServiceHandler::new(
PusServiceHelper::new(
event_srv_receiver,
event_srv_tm_sender,
PUS_APID,
verif_reporter.clone(),
PUS_EVENT_MANAGEMENT.id(),
pus_event_rx,
tm_funnel_tx,
create_verification_reporter(PUS_EVENT_MANAGEMENT.id(), PUS_EVENT_MANAGEMENT.apid),
EcssTcInVecConverter::default(),
),
event_request_tx,
);
Pus5Wrapper { pus_5_handler }
EventServiceWrapper {
handler: pus_5_handler,
}
}
pub struct Pus5Wrapper<
TcReceiver: EcssTcReceiverCore,
TmSender: EcssTmSenderCore,
TcInMemConverter: EcssTcInMemConverter,
VerificationReporter: VerificationReportingProvider,
> {
pub pus_5_handler:
PusService5EventHandler<TcReceiver, TmSender, TcInMemConverter, VerificationReporter>,
pub struct EventServiceWrapper<TmSender: EcssTmSenderCore, TcInMemConverter: EcssTcInMemConverter> {
pub handler:
PusEventServiceHandler<MpscTcReceiver, TmSender, TcInMemConverter, VerificationReporter>,
}
impl<
TcReceiver: EcssTcReceiverCore,
TmSender: EcssTmSenderCore,
TcInMemConverter: EcssTcInMemConverter,
VerificationReporter: VerificationReportingProvider,
> Pus5Wrapper<TcReceiver, TmSender, TcInMemConverter, VerificationReporter>
impl<TmSender: EcssTmSenderCore, TcInMemConverter: EcssTcInMemConverter>
EventServiceWrapper<TmSender, TcInMemConverter>
{
pub fn handle_next_packet(&mut self) -> bool {
match self.pus_5_handler.handle_one_tc() {
pub fn poll_and_handle_next_tc(&mut self, time_stamp: &[u8]) -> bool {
match self.handler.poll_and_handle_next_tc(time_stamp) {
Ok(result) => match result {
PusPacketHandlerResult::RequestHandled => {}
PusPacketHandlerResult::RequestHandledPartialSuccess(e) => {

509
satrs-example/src/pus/hk.rs
View File

@ -1,50 +1,127 @@
use derive_new::new;
use log::{error, warn};
use satrs::hk::{CollectionIntervalFactor, HkRequest};
use satrs::pool::{SharedStaticMemoryPool, StoreAddr};
use satrs::pus::hk::{PusHkToRequestConverter, PusService3HkHandler};
use satrs::pus::verification::std_mod::{
VerificationReporterWithSharedPoolMpscBoundedSender, VerificationReporterWithVecMpscSender,
};
use satrs::hk::{CollectionIntervalFactor, HkRequest, HkRequestVariant, UniqueId};
use satrs::pool::SharedStaticMemoryPool;
use satrs::pus::verification::{
FailParams, TcStateAccepted, VerificationReportingProvider, VerificationToken,
FailParams, TcStateAccepted, TcStateStarted, VerificationReporter,
VerificationReportingProvider, VerificationToken,
};
use satrs::pus::{
EcssTcAndToken, EcssTcInMemConverter, EcssTcInSharedStoreConverter, EcssTcInVecConverter,
EcssTcReceiverCore, EcssTmSenderCore, MpscTcReceiver, PusPacketHandlerResult,
PusPacketHandlingError, PusServiceHelper, TmAsVecSenderWithId, TmAsVecSenderWithMpsc,
TmInSharedPoolSenderWithBoundedMpsc, TmInSharedPoolSenderWithId,
ActivePusRequestStd, ActiveRequestProvider, DefaultActiveRequestMap, EcssTcAndToken,
EcssTcInMemConverter, EcssTcInSharedStoreConverter, EcssTcInVecConverter, EcssTmSenderCore,
EcssTmtcError, GenericConversionError, MpscTcReceiver, MpscTmAsVecSender,
MpscTmInSharedPoolSenderBounded, PusPacketHandlerResult, PusReplyHandler, PusServiceHelper,
PusTcToRequestConverter, PusTmAsVec, PusTmInPool, TmInSharedPoolSender,
};
use satrs::request::TargetAndApidId;
use satrs::request::{GenericMessage, UniqueApidTargetId};
use satrs::spacepackets::ecss::tc::PusTcReader;
use satrs::spacepackets::ecss::{hk, PusPacket};
use satrs::tmtc::tm_helper::SharedTmPool;
use satrs::{ChannelId, TargetId};
use satrs_example::config::{hk_err, tmtc_err, TcReceiverId, TmSenderId, PUS_APID};
use std::sync::mpsc::{self};
use satrs_example::config::components::PUS_HK_SERVICE;
use satrs_example::config::{hk_err, tmtc_err};
use std::sync::mpsc;
use std::time::Duration;
use crate::pus::{create_verification_reporter, generic_pus_request_timeout_handler};
use crate::requests::GenericRequestRouter;
use super::GenericRoutingErrorHandler;
use super::{HandlingStatus, PusTargetedRequestService};
#[derive(Clone, PartialEq, Debug, new)]
pub struct HkReply {
pub unique_id: UniqueId,
pub variant: HkReplyVariant,
}
#[derive(Clone, PartialEq, Debug)]
pub enum HkReplyVariant {
Ack,
}
#[derive(Default)]
pub struct ExampleHkRequestConverter {}
pub struct HkReplyHandler {}
impl PusHkToRequestConverter for ExampleHkRequestConverter {
type Error = PusPacketHandlingError;
impl PusReplyHandler<ActivePusRequestStd, HkReply> for HkReplyHandler {
type Error = EcssTmtcError;
fn handle_unrequested_reply(
&mut self,
reply: &GenericMessage<HkReply>,
_tm_sender: &impl EcssTmSenderCore,
) -> Result<(), Self::Error> {
log::warn!("received unexpected reply for service 3: {reply:?}");
Ok(())
}
fn handle_reply(
&mut self,
reply: &GenericMessage<HkReply>,
active_request: &ActivePusRequestStd,
tm_sender: &impl EcssTmSenderCore,
verification_handler: &impl VerificationReportingProvider,
time_stamp: &[u8],
) -> Result<bool, Self::Error> {
let started_token: VerificationToken<TcStateStarted> = active_request
.token()
.try_into()
.expect("invalid token state");
match reply.message.variant {
HkReplyVariant::Ack => {
verification_handler
.completion_success(tm_sender, started_token, time_stamp)
.expect("sending completion success verification failed");
}
};
Ok(true)
}
fn handle_request_timeout(
&mut self,
active_request: &ActivePusRequestStd,
tm_sender: &impl EcssTmSenderCore,
verification_handler: &impl VerificationReportingProvider,
time_stamp: &[u8],
) -> Result<(), Self::Error> {
generic_pus_request_timeout_handler(
tm_sender,
active_request,
verification_handler,
time_stamp,
"HK",
)?;
Ok(())
}
}
pub struct HkRequestConverter {
timeout: Duration,
}
impl Default for HkRequestConverter {
fn default() -> Self {
Self {
timeout: Duration::from_secs(60),
}
}
}
impl PusTcToRequestConverter<ActivePusRequestStd, HkRequest> for HkRequestConverter {
type Error = GenericConversionError;
fn convert(
&mut self,
token: VerificationToken<TcStateAccepted>,
tc: &PusTcReader,
time_stamp: &[u8],
tm_sender: &(impl EcssTmSenderCore + ?Sized),
verif_reporter: &impl VerificationReportingProvider,
) -> Result<(TargetId, HkRequest), Self::Error> {
time_stamp: &[u8],
) -> Result<(ActivePusRequestStd, HkRequest), Self::Error> {
let user_data = tc.user_data();
if user_data.is_empty() {
let user_data_len = user_data.len() as u32;
let user_data_len_raw = user_data_len.to_be_bytes();
verif_reporter
.start_failure(
tm_sender,
token,
FailParams::new(
time_stamp,
@ -53,7 +130,7 @@ impl PusHkToRequestConverter for ExampleHkRequestConverter {
),
)
.expect("Sending start failure TM failed");
return Err(PusPacketHandlingError::NotEnoughAppData {
return Err(GenericConversionError::NotEnoughAppData {
expected: 4,
found: 0,
});
@ -67,46 +144,50 @@ impl PusHkToRequestConverter for ExampleHkRequestConverter {
let user_data_len = user_data.len() as u32;
let user_data_len_raw = user_data_len.to_be_bytes();
verif_reporter
.start_failure(token, FailParams::new(time_stamp, err, &user_data_len_raw))
.start_failure(
tm_sender,
token,
FailParams::new(time_stamp, err, &user_data_len_raw),
)
.expect("Sending start failure TM failed");
return Err(PusPacketHandlingError::NotEnoughAppData {
return Err(GenericConversionError::NotEnoughAppData {
expected: 8,
found: 4,
});
}
let subservice = tc.subservice();
let target_id = TargetAndApidId::from_pus_tc(tc).expect("invalid tc format");
let target_id_and_apid = UniqueApidTargetId::from_pus_tc(tc).expect("invalid tc format");
let unique_id = u32::from_be_bytes(tc.user_data()[4..8].try_into().unwrap());
let standard_subservice = hk::Subservice::try_from(subservice);
if standard_subservice.is_err() {
verif_reporter
.start_failure(
tm_sender,
token,
FailParams::new(time_stamp, &tmtc_err::INVALID_PUS_SUBSERVICE, &[subservice]),
)
.expect("Sending start failure TM failed");
return Err(PusPacketHandlingError::InvalidSubservice(subservice));
return Err(GenericConversionError::InvalidSubservice(subservice));
}
Ok((
target_id.into(),
match standard_subservice.unwrap() {
let request = match standard_subservice.unwrap() {
hk::Subservice::TcEnableHkGeneration | hk::Subservice::TcEnableDiagGeneration => {
HkRequest::Enable(unique_id)
HkRequest::new(unique_id, HkRequestVariant::EnablePeriodic)
}
hk::Subservice::TcDisableHkGeneration | hk::Subservice::TcDisableDiagGeneration => {
HkRequest::Disable(unique_id)
HkRequest::new(unique_id, HkRequestVariant::DisablePeriodic)
}
hk::Subservice::TcReportHkReportStructures => todo!(),
hk::Subservice::TmHkPacket => todo!(),
hk::Subservice::TcGenerateOneShotHk | hk::Subservice::TcGenerateOneShotDiag => {
HkRequest::OneShot(unique_id)
HkRequest::new(unique_id, HkRequestVariant::OneShot)
}
hk::Subservice::TcModifyDiagCollectionInterval
| hk::Subservice::TcModifyHkCollectionInterval => {
if user_data.len() < 12 {
verif_reporter
.start_failure(
tm_sender,
token,
FailParams::new_no_fail_data(
time_stamp,
@ -114,21 +195,24 @@ impl PusHkToRequestConverter for ExampleHkRequestConverter {
),
)
.expect("Sending start failure TM failed");
return Err(PusPacketHandlingError::NotEnoughAppData {
return Err(GenericConversionError::NotEnoughAppData {
expected: 12,
found: user_data.len(),
});
}
HkRequest::ModifyCollectionInterval(
HkRequest::new(
unique_id,
HkRequestVariant::ModifyCollectionInterval(
CollectionIntervalFactor::from_be_bytes(
user_data[8..12].try_into().unwrap(),
),
),
)
}
_ => {
verif_reporter
.start_failure(
tm_sender,
token,
FailParams::new(
time_stamp,
@ -137,108 +221,87 @@ impl PusHkToRequestConverter for ExampleHkRequestConverter {
),
)
.expect("Sending start failure TM failed");
return Err(PusPacketHandlingError::InvalidSubservice(subservice));
return Err(GenericConversionError::InvalidSubservice(subservice));
}
},
};
Ok((
ActivePusRequestStd::new(target_id_and_apid.into(), token, self.timeout),
request,
))
}
}
pub fn create_hk_service_static(
shared_tm_store: SharedTmPool,
tm_funnel_tx: mpsc::SyncSender<StoreAddr>,
verif_reporter: VerificationReporterWithSharedPoolMpscBoundedSender,
tm_sender: TmInSharedPoolSender<mpsc::SyncSender<PusTmInPool>>,
tc_pool: SharedStaticMemoryPool,
pus_hk_rx: mpsc::Receiver<EcssTcAndToken>,
request_router: GenericRequestRouter,
) -> Pus3Wrapper<
MpscTcReceiver,
TmInSharedPoolSenderWithBoundedMpsc,
EcssTcInSharedStoreConverter,
VerificationReporterWithSharedPoolMpscBoundedSender,
> {
let hk_srv_tm_sender = TmInSharedPoolSenderWithId::new(
TmSenderId::PusHk as ChannelId,
"PUS_3_TM_SENDER",
shared_tm_store.clone(),
tm_funnel_tx.clone(),
);
let hk_srv_receiver =
MpscTcReceiver::new(TcReceiverId::PusHk as ChannelId, "PUS_8_TC_RECV", pus_hk_rx);
let pus_3_handler = PusService3HkHandler::new(
reply_receiver: mpsc::Receiver<GenericMessage<HkReply>>,
) -> HkServiceWrapper<MpscTmInSharedPoolSenderBounded, EcssTcInSharedStoreConverter> {
let pus_3_handler = PusTargetedRequestService::new(
PusServiceHelper::new(
hk_srv_receiver,
hk_srv_tm_sender,
PUS_APID,
verif_reporter.clone(),
PUS_HK_SERVICE.id(),
pus_hk_rx,
tm_sender,
create_verification_reporter(PUS_HK_SERVICE.id(), PUS_HK_SERVICE.apid),
EcssTcInSharedStoreConverter::new(tc_pool, 2048),
),
ExampleHkRequestConverter::default(),
HkRequestConverter::default(),
DefaultActiveRequestMap::default(),
HkReplyHandler::default(),
request_router,
GenericRoutingErrorHandler::default(),
reply_receiver,
);
Pus3Wrapper { pus_3_handler }
HkServiceWrapper {
service: pus_3_handler,
}
}
pub fn create_hk_service_dynamic(
tm_funnel_tx: mpsc::Sender<Vec<u8>>,
verif_reporter: VerificationReporterWithVecMpscSender,
tm_funnel_tx: mpsc::Sender<PusTmAsVec>,
pus_hk_rx: mpsc::Receiver<EcssTcAndToken>,
request_router: GenericRequestRouter,
) -> Pus3Wrapper<
MpscTcReceiver,
TmAsVecSenderWithMpsc,
EcssTcInVecConverter,
VerificationReporterWithVecMpscSender,
> {
let hk_srv_tm_sender = TmAsVecSenderWithId::new(
TmSenderId::PusHk as ChannelId,
"PUS_3_TM_SENDER",
tm_funnel_tx.clone(),
);
let hk_srv_receiver =
MpscTcReceiver::new(TcReceiverId::PusHk as ChannelId, "PUS_8_TC_RECV", pus_hk_rx);
let pus_3_handler = PusService3HkHandler::new(
reply_receiver: mpsc::Receiver<GenericMessage<HkReply>>,
) -> HkServiceWrapper<MpscTmAsVecSender, EcssTcInVecConverter> {
let pus_3_handler = PusTargetedRequestService::new(
PusServiceHelper::new(
hk_srv_receiver,
hk_srv_tm_sender,
PUS_APID,
verif_reporter.clone(),
PUS_HK_SERVICE.id(),
pus_hk_rx,
tm_funnel_tx,
create_verification_reporter(PUS_HK_SERVICE.id(), PUS_HK_SERVICE.apid),
EcssTcInVecConverter::default(),
),
ExampleHkRequestConverter::default(),
HkRequestConverter::default(),
DefaultActiveRequestMap::default(),
HkReplyHandler::default(),
request_router,
GenericRoutingErrorHandler::default(),
reply_receiver,
);
Pus3Wrapper { pus_3_handler }
HkServiceWrapper {
service: pus_3_handler,
}
}
pub struct Pus3Wrapper<
TcReceiver: EcssTcReceiverCore,
TmSender: EcssTmSenderCore,
TcInMemConverter: EcssTcInMemConverter,
VerificationReporter: VerificationReportingProvider,
> {
pub(crate) pus_3_handler: PusService3HkHandler<
TcReceiver,
pub struct HkServiceWrapper<TmSender: EcssTmSenderCore, TcInMemConverter: EcssTcInMemConverter> {
pub(crate) service: PusTargetedRequestService<
MpscTcReceiver,
TmSender,
TcInMemConverter,
VerificationReporter,
ExampleHkRequestConverter,
GenericRequestRouter,
GenericRoutingErrorHandler<3>,
HkRequestConverter,
HkReplyHandler,
DefaultActiveRequestMap<ActivePusRequestStd>,
ActivePusRequestStd,
HkRequest,
HkReply,
>,
}
impl<
TcReceiver: EcssTcReceiverCore,
TmSender: EcssTmSenderCore,
TcInMemConverter: EcssTcInMemConverter,
VerificationReporter: VerificationReportingProvider,
> Pus3Wrapper<TcReceiver, TmSender, TcInMemConverter, VerificationReporter>
impl<TmSender: EcssTmSenderCore, TcInMemConverter: EcssTcInMemConverter>
HkServiceWrapper<TmSender, TcInMemConverter>
{
pub fn handle_next_packet(&mut self) -> bool {
match self.pus_3_handler.handle_one_tc() {
pub fn poll_and_handle_next_tc(&mut self, time_stamp: &[u8]) -> bool {
match self.service.poll_and_handle_next_tc(time_stamp) {
Ok(result) => match result {
PusPacketHandlerResult::RequestHandled => {}
PusPacketHandlerResult::RequestHandledPartialSuccess(e) => {
@ -260,4 +323,242 @@ impl<
}
false
}
pub fn poll_and_handle_next_reply(&mut self, time_stamp: &[u8]) -> HandlingStatus {
// This only fails if all senders disconnected. Treat it like an empty queue.
self.service
.poll_and_check_next_reply(time_stamp)
.unwrap_or_else(|e| {
warn!("PUS 3: Handling reply failed with error {e:?}");
HandlingStatus::Empty
})
}
pub fn check_for_request_timeouts(&mut self) {
self.service.check_for_request_timeouts();
}
}
#[cfg(test)]
mod tests {
use satrs::pus::test_util::{
TEST_COMPONENT_ID_0, TEST_COMPONENT_ID_1, TEST_UNIQUE_ID_0, TEST_UNIQUE_ID_1,
};
use satrs::request::MessageMetadata;
use satrs::{
hk::HkRequestVariant,
pus::test_util::TEST_APID,
request::GenericMessage,
spacepackets::{
ecss::{hk::Subservice, tc::PusTcCreator},
SpHeader,
},
};
use satrs_example::config::tmtc_err;
use crate::pus::{
hk::HkReplyVariant,
tests::{PusConverterTestbench, ReplyHandlerTestbench},
};
use super::{HkReply, HkReplyHandler, HkRequestConverter};
#[test]
fn hk_converter_one_shot_req() {
let mut hk_bench =
PusConverterTestbench::new(TEST_COMPONENT_ID_0.id(), HkRequestConverter::default());
let sp_header = SpHeader::new_for_unseg_tc(TEST_APID, 0, 0);
let target_id = TEST_UNIQUE_ID_0;
let unique_id = 5_u32;
let mut app_data: [u8; 8] = [0; 8];
app_data[0..4].copy_from_slice(&target_id.to_be_bytes());
app_data[4..8].copy_from_slice(&unique_id.to_be_bytes());
let hk_req = PusTcCreator::new_simple(
sp_header,
3,
Subservice::TcGenerateOneShotHk as u8,
&app_data,
true,
);
let accepted_token = hk_bench.add_tc(&hk_req);
let (_active_req, req) = hk_bench
.convert(accepted_token, &[], TEST_APID, TEST_UNIQUE_ID_0)
.expect("conversion failed");
assert_eq!(req.unique_id, unique_id);
if let HkRequestVariant::OneShot = req.variant {
} else {
panic!("unexpected HK request")
}
}
#[test]
fn hk_converter_enable_periodic_generation() {
let mut hk_bench =
PusConverterTestbench::new(TEST_COMPONENT_ID_0.id(), HkRequestConverter::default());
let sp_header = SpHeader::new_for_unseg_tc(TEST_APID, 0, 0);
let target_id = TEST_UNIQUE_ID_0;
let unique_id = 5_u32;
let mut app_data: [u8; 8] = [0; 8];
app_data[0..4].copy_from_slice(&target_id.to_be_bytes());
app_data[4..8].copy_from_slice(&unique_id.to_be_bytes());
let mut generic_check = |tc: &PusTcCreator| {
let accepted_token = hk_bench.add_tc(tc);
let (_active_req, req) = hk_bench
.convert(accepted_token, &[], TEST_APID, TEST_UNIQUE_ID_0)
.expect("conversion failed");
assert_eq!(req.unique_id, unique_id);
if let HkRequestVariant::EnablePeriodic = req.variant {
} else {
panic!("unexpected HK request")
}
};
let tc0 = PusTcCreator::new_simple(
sp_header,
3,
Subservice::TcEnableHkGeneration as u8,
&app_data,
true,
);
generic_check(&tc0);
let tc1 = PusTcCreator::new_simple(
sp_header,
3,
Subservice::TcEnableDiagGeneration as u8,
&app_data,
true,
);
generic_check(&tc1);
}
#[test]
fn hk_conversion_disable_periodic_generation() {
let mut hk_bench =
PusConverterTestbench::new(TEST_COMPONENT_ID_0.id(), HkRequestConverter::default());
let sp_header = SpHeader::new_for_unseg_tc(TEST_APID, 0, 0);
let target_id = TEST_UNIQUE_ID_0;
let unique_id = 5_u32;
let mut app_data: [u8; 8] = [0; 8];
app_data[0..4].copy_from_slice(&target_id.to_be_bytes());
app_data[4..8].copy_from_slice(&unique_id.to_be_bytes());
let mut generic_check = |tc: &PusTcCreator| {
let accepted_token = hk_bench.add_tc(tc);
let (_active_req, req) = hk_bench
.convert(accepted_token, &[], TEST_APID, TEST_UNIQUE_ID_0)
.expect("conversion failed");
assert_eq!(req.unique_id, unique_id);
if let HkRequestVariant::DisablePeriodic = req.variant {
} else {
panic!("unexpected HK request")
}
};
let tc0 = PusTcCreator::new_simple(
sp_header,
3,
Subservice::TcDisableHkGeneration as u8,
&app_data,
true,
);
generic_check(&tc0);
let tc1 = PusTcCreator::new_simple(
sp_header,
3,
Subservice::TcDisableDiagGeneration as u8,
&app_data,
true,
);
generic_check(&tc1);
}
#[test]
fn hk_conversion_modify_interval() {
let mut hk_bench =
PusConverterTestbench::new(TEST_COMPONENT_ID_0.id(), HkRequestConverter::default());
let sp_header = SpHeader::new_for_unseg_tc(TEST_APID, 0, 0);
let target_id = TEST_UNIQUE_ID_0;
let unique_id = 5_u32;
let mut app_data: [u8; 12] = [0; 12];
let collection_interval_factor = 5_u32;
app_data[0..4].copy_from_slice(&target_id.to_be_bytes());
app_data[4..8].copy_from_slice(&unique_id.to_be_bytes());
app_data[8..12].copy_from_slice(&collection_interval_factor.to_be_bytes());
let mut generic_check = |tc: &PusTcCreator| {
let accepted_token = hk_bench.add_tc(tc);
let (_active_req, req) = hk_bench
.convert(accepted_token, &[], TEST_APID, TEST_UNIQUE_ID_0)
.expect("conversion failed");
assert_eq!(req.unique_id, unique_id);
if let HkRequestVariant::ModifyCollectionInterval(interval_factor) = req.variant {
assert_eq!(interval_factor, collection_interval_factor);
} else {
panic!("unexpected HK request")
}
};
let tc0 = PusTcCreator::new_simple(
sp_header,
3,
Subservice::TcModifyHkCollectionInterval as u8,
&app_data,
true,
);
generic_check(&tc0);
let tc1 = PusTcCreator::new_simple(
sp_header,
3,
Subservice::TcModifyDiagCollectionInterval as u8,
&app_data,
true,
);
generic_check(&tc1);
}
#[test]
fn hk_reply_handler() {
let mut reply_testbench =
ReplyHandlerTestbench::new(TEST_COMPONENT_ID_0.id(), HkReplyHandler::default());
let sender_id = 2_u64;
let apid_target_id = 3_u32;
let unique_id = 5_u32;
let (req_id, active_req) = reply_testbench.add_tc(TEST_APID, apid_target_id, &[]);
let reply = GenericMessage::new(
MessageMetadata::new(req_id.into(), sender_id),
HkReply::new(unique_id, HkReplyVariant::Ack),
);
let result = reply_testbench.handle_reply(&reply, &active_req, &[]);
assert!(result.is_ok());
assert!(result.unwrap());
reply_testbench
.verif_reporter
.assert_full_completion_success(TEST_COMPONENT_ID_0.raw(), req_id, None);
}
#[test]
fn reply_handling_unrequested_reply() {
let mut testbench =
ReplyHandlerTestbench::new(TEST_COMPONENT_ID_1.id(), HkReplyHandler::default());
let action_reply = HkReply::new(5_u32, HkReplyVariant::Ack);
let unrequested_reply =
GenericMessage::new(MessageMetadata::new(10_u32, 15_u64), action_reply);
// Right now this function does not do a lot. We simply check that it does not panic or do
// weird stuff.
let result = testbench.handle_unrequested_reply(&unrequested_reply);
assert!(result.is_ok());
}
#[test]
fn reply_handling_reply_timeout() {
let mut testbench =
ReplyHandlerTestbench::new(TEST_COMPONENT_ID_1.id(), HkReplyHandler::default());
let (req_id, active_request) = testbench.add_tc(TEST_APID, TEST_UNIQUE_ID_1, &[]);
let result = testbench.handle_request_timeout(&active_request, &[]);
assert!(result.is_ok());
testbench.verif_reporter.assert_completion_failure(
TEST_COMPONENT_ID_1.raw(),
req_id,
None,
tmtc_err::REQUEST_TIMEOUT.raw() as u64,
);
}
}

688
satrs-example/src/pus/mod.rs
View File

@ -1,75 +1,80 @@
use crate::requests::GenericRequestRouter;
use crate::tmtc::MpscStoreAndSendError;
use log::warn;
use satrs::pus::verification::{FailParams, VerificationReportingProvider};
use satrs::pus::{
EcssTcAndToken, GenericRoutingError, PusPacketHandlerResult, PusRoutingErrorHandler, TcInMemory,
use satrs::pus::verification::{
self, FailParams, TcStateAccepted, TcStateStarted, VerificationReporter,
VerificationReporterCfg, VerificationReportingProvider, VerificationToken,
};
use satrs::pus::{
ActiveRequestMapProvider, ActiveRequestProvider, EcssTcAndToken, EcssTcInMemConverter,
EcssTcReceiverCore, EcssTmSenderCore, EcssTmtcError, GenericConversionError,
GenericRoutingError, PusPacketHandlerResult, PusPacketHandlingError, PusReplyHandler,
PusRequestRouter, PusServiceHelper, PusTcToRequestConverter, TcInMemory,
};
use satrs::queue::GenericReceiveError;
use satrs::request::{Apid, GenericMessage, MessageMetadata};
use satrs::spacepackets::ecss::tc::PusTcReader;
use satrs::spacepackets::ecss::PusServiceId;
use satrs::spacepackets::time::cds::CdsTime;
use satrs::spacepackets::time::TimeWriter;
use satrs::ComponentId;
use satrs_example::config::components::PUS_ROUTING_SERVICE;
use satrs_example::config::{tmtc_err, CustomPusServiceId};
use std::sync::mpsc::Sender;
use satrs_example::TimeStampHelper;
use std::fmt::Debug;
use std::sync::mpsc::{self, Sender};
pub mod action;
pub mod event;
pub mod hk;
pub mod mode;
pub mod scheduler;
pub mod stack;
pub mod test;
pub struct PusTcMpscRouter {
pub test_service_receiver: Sender<EcssTcAndToken>,
pub event_service_receiver: Sender<EcssTcAndToken>,
pub sched_service_receiver: Sender<EcssTcAndToken>,
pub hk_service_receiver: Sender<EcssTcAndToken>,
pub action_service_receiver: Sender<EcssTcAndToken>,
#[derive(Debug, PartialEq, Eq, Copy, Clone)]
pub enum HandlingStatus {
Empty,
HandledOne,
}
pub struct PusReceiver<VerificationReporter: VerificationReportingProvider> {
pub fn create_verification_reporter(owner_id: ComponentId, apid: Apid) -> VerificationReporter {
let verif_cfg = VerificationReporterCfg::new(apid, 1, 2, 8).unwrap();
// Every software component which needs to generate verification telemetry, gets a cloned
// verification reporter.
VerificationReporter::new(owner_id, &verif_cfg)
}
/// Simple router structure which forwards PUS telecommands to dedicated handlers.
pub struct PusTcMpscRouter {
pub test_tc_sender: Sender<EcssTcAndToken>,
pub event_tc_sender: Sender<EcssTcAndToken>,
pub sched_tc_sender: Sender<EcssTcAndToken>,
pub hk_tc_sender: Sender<EcssTcAndToken>,
pub action_tc_sender: Sender<EcssTcAndToken>,
pub mode_tc_sender: Sender<EcssTcAndToken>,
}
pub struct PusReceiver<TmSender: EcssTmSenderCore> {
pub id: ComponentId,
pub tm_sender: TmSender,
pub verif_reporter: VerificationReporter,
pub pus_router: PusTcMpscRouter,
stamp_helper: TimeStampHelper,
}
struct TimeStampHelper {
stamper: CdsTime,
time_stamp: [u8; 7],
}
impl TimeStampHelper {
pub fn new() -> Self {
impl<TmSender: EcssTmSenderCore> PusReceiver<TmSender> {
pub fn new(tm_sender: TmSender, pus_router: PusTcMpscRouter) -> Self {
Self {
stamper: CdsTime::new_with_u16_days(0, 0),
time_stamp: [0; 7],
}
}
pub fn stamp(&self) -> &[u8] {
&self.time_stamp
}
pub fn update_from_now(&mut self) {
self.stamper
.update_from_now()
.expect("Updating timestamp failed");
self.stamper
.write_to_bytes(&mut self.time_stamp)
.expect("Writing timestamp failed");
}
}
impl<VerificationReporter: VerificationReportingProvider> PusReceiver<VerificationReporter> {
pub fn new(verif_reporter: VerificationReporter, pus_router: PusTcMpscRouter) -> Self {
Self {
verif_reporter,
id: PUS_ROUTING_SERVICE.raw(),
tm_sender,
verif_reporter: create_verification_reporter(
PUS_ROUTING_SERVICE.id(),
PUS_ROUTING_SERVICE.apid,
),
pus_router,
stamp_helper: TimeStampHelper::new(),
}
stamp_helper: TimeStampHelper::default(),
}
}
impl<VerificationReporter: VerificationReportingProvider> PusReceiver<VerificationReporter> {
pub fn handle_tc_packet(
&mut self,
tc_in_memory: TcInMemory,
@ -80,41 +85,34 @@ impl<VerificationReporter: VerificationReportingProvider> PusReceiver<Verificati
self.stamp_helper.update_from_now();
let accepted_token = self
.verif_reporter
.acceptance_success(init_token, self.stamp_helper.stamp())
.acceptance_success(&self.tm_sender, init_token, self.stamp_helper.stamp())
.expect("Acceptance success failure");
let service = PusServiceId::try_from(service);
match service {
Ok(standard_service) => match standard_service {
PusServiceId::Test => {
self.pus_router.test_service_receiver.send(EcssTcAndToken {
PusServiceId::Test => self.pus_router.test_tc_sender.send(EcssTcAndToken {
tc_in_memory,
token: Some(accepted_token.into()),
})?
}
})?,
PusServiceId::Housekeeping => {
self.pus_router.hk_service_receiver.send(EcssTcAndToken {
self.pus_router.hk_tc_sender.send(EcssTcAndToken {
tc_in_memory,
token: Some(accepted_token.into()),
})?
}
PusServiceId::Event => {
self.pus_router
.event_service_receiver
.send(EcssTcAndToken {
PusServiceId::Event => self.pus_router.event_tc_sender.send(EcssTcAndToken {
tc_in_memory,
token: Some(accepted_token.into()),
})?
}
})?,
PusServiceId::Scheduling => {
self.pus_router
.sched_service_receiver
.send(EcssTcAndToken {
self.pus_router.sched_tc_sender.send(EcssTcAndToken {
tc_in_memory,
token: Some(accepted_token.into()),
})?
}
_ => {
let result = self.verif_reporter.start_failure(
&self.tm_sender,
accepted_token,
FailParams::new(
self.stamp_helper.stamp(),
@ -131,14 +129,17 @@ impl<VerificationReporter: VerificationReportingProvider> PusReceiver<Verificati
if let Ok(custom_service) = CustomPusServiceId::try_from(e.number) {
match custom_service {
CustomPusServiceId::Mode => {
// TODO: Fix mode service.
//self.handle_mode_service(pus_tc, accepted_token)
self.pus_router.mode_tc_sender.send(EcssTcAndToken {
tc_in_memory,
token: Some(accepted_token.into()),
})?
}
CustomPusServiceId::Health => {}
}
} else {
self.verif_reporter
.start_failure(
&self.tm_sender,
accepted_token,
FailParams::new(
self.stamp_helper.stamp(),
@ -154,55 +155,550 @@ impl<VerificationReporter: VerificationReportingProvider> PusReceiver<Verificati
}
}
#[derive(Default)]
pub struct GenericRoutingErrorHandler<const SERVICE_ID: u8> {}
pub trait TargetedPusService {
/// Returns [true] if the packet handling is finished.
fn poll_and_handle_next_tc(&mut self, time_stamp: &[u8]) -> bool;
fn poll_and_handle_next_reply(&mut self, time_stamp: &[u8]) -> HandlingStatus;
fn check_for_request_timeouts(&mut self);
}
impl<const SERVICE_ID: u8> PusRoutingErrorHandler for GenericRoutingErrorHandler<SERVICE_ID> {
type Error = satrs::pus::GenericRoutingError;
/// This is a generic handler class for all PUS services where a PUS telecommand is converted
/// to a targeted request.
///
/// The generic steps for this process are the following
///
/// 1. Poll for TC packets
/// 2. Convert the raw packets to a [PusTcReader].
/// 3. Convert the PUS TC to a typed request using the [PusTcToRequestConverter].
/// 4. Route the requests using the [GenericRequestRouter].
/// 5. Add the request to the active request map using the [ActiveRequestMapProvider] abstraction.
/// 6. Check for replies which complete the forwarded request. The handler takes care of
/// the verification process.
/// 7. Check for timeouts of active requests. Generally, the timeout on the service level should
/// be highest expected timeout for the given target.
///
/// The handler exposes the following API:
///
/// 1. [Self::handle_one_tc] which tries to poll and handle one TC packet, covering steps 1-5.
/// 2. [Self::check_one_reply] which tries to poll and handle one reply, covering step 6.
/// 3. [Self::check_for_request_timeouts] which checks for request timeouts, covering step 7.
pub struct PusTargetedRequestService<
TcReceiver: EcssTcReceiverCore,
TmSender: EcssTmSenderCore,
TcInMemConverter: EcssTcInMemConverter,
VerificationReporter: VerificationReportingProvider,
RequestConverter: PusTcToRequestConverter<ActiveRequestInfo, RequestType, Error = GenericConversionError>,
ReplyHandler: PusReplyHandler<ActiveRequestInfo, ReplyType, Error = EcssTmtcError>,
ActiveRequestMap: ActiveRequestMapProvider<ActiveRequestInfo>,
ActiveRequestInfo: ActiveRequestProvider,
RequestType,
ReplyType,
> {
pub service_helper:
PusServiceHelper<TcReceiver, TmSender, TcInMemConverter, VerificationReporter>,
pub request_router: GenericRequestRouter,
pub request_converter: RequestConverter,
pub active_request_map: ActiveRequestMap,
pub reply_handler: ReplyHandler,
pub reply_receiver: mpsc::Receiver<GenericMessage<ReplyType>>,
phantom: std::marker::PhantomData<(RequestType, ActiveRequestInfo, ReplyType)>,
}
fn handle_error(
&self,
target_id: satrs::TargetId,
token: satrs::pus::verification::VerificationToken<
satrs::pus::verification::TcStateAccepted,
impl<
TcReceiver: EcssTcReceiverCore,
TmSender: EcssTmSenderCore,
TcInMemConverter: EcssTcInMemConverter,
VerificationReporter: VerificationReportingProvider,
RequestConverter: PusTcToRequestConverter<ActiveRequestInfo, RequestType, Error = GenericConversionError>,
ReplyHandler: PusReplyHandler<ActiveRequestInfo, ReplyType, Error = EcssTmtcError>,
ActiveRequestMap: ActiveRequestMapProvider<ActiveRequestInfo>,
ActiveRequestInfo: ActiveRequestProvider,
RequestType,
ReplyType,
>
PusTargetedRequestService<
TcReceiver,
TmSender,
TcInMemConverter,
VerificationReporter,
RequestConverter,
ReplyHandler,
ActiveRequestMap,
ActiveRequestInfo,
RequestType,
ReplyType,
>
where
GenericRequestRouter: PusRequestRouter<RequestType, Error = GenericRoutingError>,
{
pub fn new(
service_helper: PusServiceHelper<
TcReceiver,
TmSender,
TcInMemConverter,
VerificationReporter,
>,
_tc: &PusTcReader,
error: Self::Error,
request_converter: RequestConverter,
active_request_map: ActiveRequestMap,
reply_hook: ReplyHandler,
request_router: GenericRequestRouter,
reply_receiver: mpsc::Receiver<GenericMessage<ReplyType>>,
) -> Self {
Self {
service_helper,
request_converter,
active_request_map,
reply_handler: reply_hook,
request_router,
reply_receiver,
phantom: std::marker::PhantomData,
}
}
pub fn poll_and_handle_next_tc(
&mut self,
time_stamp: &[u8],
) -> Result<PusPacketHandlerResult, PusPacketHandlingError> {
let possible_packet = self.service_helper.retrieve_and_accept_next_packet()?;
if possible_packet.is_none() {
return Ok(PusPacketHandlerResult::Empty);
}
let ecss_tc_and_token = possible_packet.unwrap();
self.service_helper
.tc_in_mem_converter_mut()
.cache(&ecss_tc_and_token.tc_in_memory)?;
let tc = self.service_helper.tc_in_mem_converter().convert()?;
let (mut request_info, request) = match self.request_converter.convert(
ecss_tc_and_token.token,
&tc,
self.service_helper.tm_sender(),
&self.service_helper.common.verif_reporter,
time_stamp,
) {
Ok((info, req)) => (info, req),
Err(e) => {
self.handle_conversion_to_request_error(&e, ecss_tc_and_token.token, time_stamp);
return Err(e.into());
}
};
let accepted_token: VerificationToken<TcStateAccepted> = request_info
.token()
.try_into()
.expect("token not in expected accepted state");
let verif_request_id = verification::RequestId::new(&tc).raw();
match self.request_router.route(
MessageMetadata::new(verif_request_id, self.service_helper.id()),
request_info.target_id(),
request,
) {
Ok(()) => {
let started_token = self
.service_helper
.verif_reporter()
.start_success(
&self.service_helper.common.tm_sender,
accepted_token,
time_stamp,
)
.expect("Start success failure");
request_info.set_token(started_token.into());
self.active_request_map
.insert(&verif_request_id, request_info);
}
Err(e) => {
self.request_router.handle_error_generic(
&request_info,
&tc,
e.clone(),
self.service_helper.tm_sender(),
self.service_helper.verif_reporter(),
time_stamp,
);
return Err(e.into());
}
}
Ok(PusPacketHandlerResult::RequestHandled)
}
fn handle_conversion_to_request_error(
&mut self,
error: &GenericConversionError,
token: VerificationToken<TcStateAccepted>,
time_stamp: &[u8],
verif_reporter: &impl VerificationReportingProvider,
) {
warn!("Routing request for service {SERVICE_ID} failed: {error:?}");
match error {
GenericRoutingError::UnknownTargetId(id) => {
let mut fail_data: [u8; 8] = [0; 8];
fail_data.copy_from_slice(&id.to_be_bytes());
verif_reporter
.start_failure(
GenericConversionError::WrongService(service) => {
let service_slice: [u8; 1] = [*service];
self.service_helper
.verif_reporter()
.completion_failure(
self.service_helper.tm_sender(),
token,
FailParams::new(time_stamp, &tmtc_err::UNKNOWN_TARGET_ID, &fail_data),
FailParams::new(time_stamp, &tmtc_err::INVALID_PUS_SERVICE, &service_slice),
)
.expect("Sending start failure failed");
.expect("Sending completion failure failed");
}
GenericRoutingError::SendError(_) => {
let mut fail_data: [u8; 8] = [0; 8];
fail_data.copy_from_slice(&target_id.to_be_bytes());
verif_reporter
.start_failure(
GenericConversionError::InvalidSubservice(subservice) => {
let subservice_slice: [u8; 1] = [*subservice];
self.service_helper
.verif_reporter()
.completion_failure(
self.service_helper.tm_sender(),
token,
FailParams::new(time_stamp, &tmtc_err::ROUTING_ERROR, &fail_data),
FailParams::new(
time_stamp,
&tmtc_err::INVALID_PUS_SUBSERVICE,
&subservice_slice,
),
)
.expect("Sending start failure failed");
.expect("Sending completion failure failed");
}
GenericRoutingError::NotEnoughAppData { expected, found } => {
let mut context_info = (found as u32).to_be_bytes().to_vec();
context_info.extend_from_slice(&(expected as u32).to_be_bytes());
verif_reporter
.start_failure(
GenericConversionError::NotEnoughAppData { expected, found } => {
let mut context_info = (*found as u32).to_be_bytes().to_vec();
context_info.extend_from_slice(&(*expected as u32).to_be_bytes());
self.service_helper
.verif_reporter()
.completion_failure(
self.service_helper.tm_sender(),
token,
FailParams::new(time_stamp, &tmtc_err::NOT_ENOUGH_APP_DATA, &context_info),
)
.expect("Sending start failure failed");
.expect("Sending completion failure failed");
}
// Do nothing.. this is service-level and can not be handled generically here.
GenericConversionError::InvalidAppData(_) => (),
}
}
pub fn poll_and_check_next_reply(
&mut self,
time_stamp: &[u8],
) -> Result<HandlingStatus, EcssTmtcError> {
match self.reply_receiver.try_recv() {
Ok(reply) => {
self.handle_reply(&reply, time_stamp)?;
Ok(HandlingStatus::HandledOne)
}
Err(e) => match e {
mpsc::TryRecvError::Empty => Ok(HandlingStatus::Empty),
mpsc::TryRecvError::Disconnected => Err(EcssTmtcError::Receive(
GenericReceiveError::TxDisconnected(None),
)),
},
}
}
pub fn handle_reply(
&mut self,
reply: &GenericMessage<ReplyType>,
time_stamp: &[u8],
) -> Result<(), EcssTmtcError> {
let active_req_opt = self.active_request_map.get(reply.request_id());
if active_req_opt.is_none() {
self.reply_handler
.handle_unrequested_reply(reply, &self.service_helper.common.tm_sender)?;
return Ok(());
}
let active_request = active_req_opt.unwrap();
let request_finished = self
.reply_handler
.handle_reply(
reply,
active_request,
&self.service_helper.common.tm_sender,
&self.service_helper.common.verif_reporter,
time_stamp,
)
.unwrap_or(false);
if request_finished {
self.active_request_map.remove(reply.request_id());
}
Ok(())
}
pub fn check_for_request_timeouts(&mut self) {
let mut requests_to_delete = Vec::new();
self.active_request_map
.for_each(|request_id, request_info| {
if request_info.has_timed_out() {
requests_to_delete.push(*request_id);
}
});
if !requests_to_delete.is_empty() {
for request_id in requests_to_delete {
self.active_request_map.remove(request_id);
}
}
}
}
/// Generic timeout handling: Handle the verification failure with a dedicated return code
/// and also log the error.
pub fn generic_pus_request_timeout_handler(
sender: &(impl EcssTmSenderCore + ?Sized),
active_request: &(impl ActiveRequestProvider + Debug),
verification_handler: &impl VerificationReportingProvider,
time_stamp: &[u8],
service_str: &'static str,
) -> Result<(), EcssTmtcError> {
log::warn!("timeout for active request {active_request:?} on {service_str} service");
let started_token: VerificationToken<TcStateStarted> = active_request
.token()
.try_into()
.expect("token not in expected started state");
verification_handler.completion_failure(
sender,
started_token,
FailParams::new(time_stamp, &tmtc_err::REQUEST_TIMEOUT, &[]),
)?;
Ok(())
}
#[cfg(test)]
pub(crate) mod tests {
use std::time::Duration;
use satrs::pus::test_util::TEST_COMPONENT_ID_0;
use satrs::pus::{MpscTmAsVecSender, PusTmAsVec, PusTmVariant};
use satrs::request::RequestId;
use satrs::{
pus::{
verification::test_util::TestVerificationReporter, ActivePusRequestStd,
ActiveRequestMapProvider, EcssTcInVecConverter, MpscTcReceiver,
},
request::UniqueApidTargetId,
spacepackets::{
ecss::{
tc::{PusTcCreator, PusTcSecondaryHeader},
WritablePusPacket,
},
SpHeader,
},
};
use crate::requests::CompositeRequest;
use super::*;
// Testbench dedicated to the testing of [PusReplyHandler]s
pub struct ReplyHandlerTestbench<
ReplyHandler: PusReplyHandler<ActiveRequestInfo, Reply, Error = EcssTmtcError>,
ActiveRequestInfo: ActiveRequestProvider,
Reply,
> {
pub id: ComponentId,
pub verif_reporter: TestVerificationReporter,
pub reply_handler: ReplyHandler,
pub tm_receiver: mpsc::Receiver<PusTmAsVec>,
pub default_timeout: Duration,
tm_sender: MpscTmAsVecSender,
phantom: std::marker::PhantomData<(ActiveRequestInfo, Reply)>,
}
impl<
ReplyHandler: PusReplyHandler<ActiveRequestInfo, Reply, Error = EcssTmtcError>,
ActiveRequestInfo: ActiveRequestProvider,
Reply,
> ReplyHandlerTestbench<ReplyHandler, ActiveRequestInfo, Reply>
{
pub fn new(owner_id: ComponentId, reply_handler: ReplyHandler) -> Self {
let test_verif_reporter = TestVerificationReporter::new(owner_id);
let (tm_sender, tm_receiver) = mpsc::channel();
Self {
id: TEST_COMPONENT_ID_0.raw(),
verif_reporter: test_verif_reporter,
reply_handler,
default_timeout: Duration::from_secs(30),
tm_sender,
tm_receiver,
phantom: std::marker::PhantomData,
}
}
pub fn add_tc(
&mut self,
apid: u16,
apid_target: u32,
time_stamp: &[u8],
) -> (verification::RequestId, ActivePusRequestStd) {
let sp_header = SpHeader::new_from_apid(apid);
let sec_header_dummy = PusTcSecondaryHeader::new_simple(0, 0);
let init = self.verif_reporter.add_tc(&PusTcCreator::new(
sp_header,
sec_header_dummy,
&[],
true,
));
let accepted = self
.verif_reporter
.acceptance_success(&self.tm_sender, init, time_stamp)
.expect("acceptance failed");
let started = self
.verif_reporter
.start_success(&self.tm_sender, accepted, time_stamp)
.expect("start failed");
(
started.request_id(),
ActivePusRequestStd::new(
UniqueApidTargetId::new(apid, apid_target).raw(),
started,
self.default_timeout,
),
)
}
pub fn handle_reply(
&mut self,
reply: &GenericMessage<Reply>,
active_request: &ActiveRequestInfo,
time_stamp: &[u8],
) -> Result<bool, ReplyHandler::Error> {
self.reply_handler.handle_reply(
reply,
active_request,
&self.tm_sender,
&self.verif_reporter,
time_stamp,
)
}
pub fn handle_unrequested_reply(
&mut self,
reply: &GenericMessage<Reply>,
) -> Result<(), ReplyHandler::Error> {
self.reply_handler
.handle_unrequested_reply(reply, &self.tm_sender)
}
pub fn handle_request_timeout(
&mut self,
active_request_info: &ActiveRequestInfo,
time_stamp: &[u8],
) -> Result<(), ReplyHandler::Error> {
self.reply_handler.handle_request_timeout(
active_request_info,
&self.tm_sender,
&self.verif_reporter,
time_stamp,
)
}
}
#[derive(Default)]
pub struct DummySender {}
/// Dummy sender component which does nothing on the [Self::send_tm] call.
///
/// Useful for unit tests.
impl EcssTmSenderCore for DummySender {
fn send_tm(&self, _source_id: ComponentId, _tm: PusTmVariant) -> Result<(), EcssTmtcError> {
Ok(())
}
}
// Testbench dedicated to the testing of [PusTcToRequestConverter]s
pub struct PusConverterTestbench<
Converter: PusTcToRequestConverter<ActiveRequestInfo, Request, Error = GenericConversionError>,
ActiveRequestInfo: ActiveRequestProvider,
Request,
> {
pub id: ComponentId,
pub verif_reporter: TestVerificationReporter,
pub converter: Converter,
dummy_sender: DummySender,
current_request_id: Option<verification::RequestId>,
current_packet: Option<Vec<u8>>,
phantom: std::marker::PhantomData<(ActiveRequestInfo, Request)>,
}
impl<
Converter: PusTcToRequestConverter<ActiveRequestInfo, Request, Error = GenericConversionError>,
ActiveRequestInfo: ActiveRequestProvider,
Request,
> PusConverterTestbench<Converter, ActiveRequestInfo, Request>
{
pub fn new(owner_id: ComponentId, converter: Converter) -> Self {
let test_verif_reporter = TestVerificationReporter::new(owner_id);
Self {
id: owner_id,
verif_reporter: test_verif_reporter,
converter,
dummy_sender: DummySender::default(),
current_request_id: None,
current_packet: None,
phantom: std::marker::PhantomData,
}
}
pub fn add_tc(&mut self, tc: &PusTcCreator) -> VerificationToken<TcStateAccepted> {
let token = self.verif_reporter.add_tc(tc);
self.current_request_id = Some(verification::RequestId::new(tc));
self.current_packet = Some(tc.to_vec().unwrap());
self.verif_reporter
.acceptance_success(&self.dummy_sender, token, &[])
.expect("acceptance failed")
}
pub fn request_id(&self) -> Option<verification::RequestId> {
self.current_request_id
}
pub fn convert(
&mut self,
token: VerificationToken<TcStateAccepted>,
time_stamp: &[u8],
expected_apid: u16,
expected_apid_target: u32,
) -> Result<(ActiveRequestInfo, Request), Converter::Error> {
if self.current_packet.is_none() {
return Err(GenericConversionError::InvalidAppData(
"call add_tc first".to_string(),
));
}
let current_packet = self.current_packet.take().unwrap();
let tc_reader = PusTcReader::new(&current_packet).unwrap();
let (active_info, request) = self.converter.convert(
token,
&tc_reader.0,
&self.dummy_sender,
&self.verif_reporter,
time_stamp,
)?;
assert_eq!(
active_info.token().request_id(),
self.request_id().expect("no request id is set")
);
assert_eq!(
active_info.target_id(),
UniqueApidTargetId::new(expected_apid, expected_apid_target).raw()
);
Ok((active_info, request))
}
}
pub struct TargetedPusRequestTestbench<
RequestConverter: PusTcToRequestConverter<ActiveRequestInfo, RequestType, Error = GenericConversionError>,
ReplyHandler: PusReplyHandler<ActiveRequestInfo, ReplyType, Error = EcssTmtcError>,
ActiveRequestMap: ActiveRequestMapProvider<ActiveRequestInfo>,
ActiveRequestInfo: ActiveRequestProvider,
RequestType,
ReplyType,
> {
pub service: PusTargetedRequestService<
MpscTcReceiver,
MpscTmAsVecSender,
EcssTcInVecConverter,
TestVerificationReporter,
RequestConverter,
ReplyHandler,
ActiveRequestMap,
ActiveRequestInfo,
RequestType,
ReplyType,
>,
pub request_id: Option<RequestId>,
pub tm_funnel_rx: mpsc::Receiver<PusTmAsVec>,
pub pus_packet_tx: mpsc::Sender<EcssTcAndToken>,
pub reply_tx: mpsc::Sender<GenericMessage<ReplyType>>,
pub request_rx: mpsc::Receiver<GenericMessage<CompositeRequest>>,
}
}

434
satrs-example/src/pus/mode.rs Normal file
View File

@ -0,0 +1,434 @@
use derive_new::new;
use log::{error, warn};
use std::sync::mpsc;
use std::time::Duration;
use crate::requests::GenericRequestRouter;
use satrs::pool::SharedStaticMemoryPool;
use satrs::pus::verification::VerificationReporter;
use satrs::pus::{
DefaultActiveRequestMap, EcssTcAndToken, EcssTcInMemConverter, EcssTcInSharedStoreConverter,
EcssTcInVecConverter, MpscTcReceiver, MpscTmAsVecSender, MpscTmInSharedPoolSenderBounded,
PusPacketHandlerResult, PusServiceHelper, PusTmAsVec, PusTmInPool, TmInSharedPoolSender,
};
use satrs::request::GenericMessage;
use satrs::{
mode::{ModeAndSubmode, ModeReply, ModeRequest},
pus::{
mode::Subservice,
verification::{
self, FailParams, TcStateAccepted, TcStateStarted, VerificationReportingProvider,
VerificationToken,
},
ActivePusRequestStd, ActiveRequestProvider, EcssTmSenderCore, EcssTmtcError,
GenericConversionError, PusReplyHandler, PusTcToRequestConverter, PusTmVariant,
},
request::UniqueApidTargetId,
spacepackets::{
ecss::{
tc::PusTcReader,
tm::{PusTmCreator, PusTmSecondaryHeader},
PusPacket,
},
SpHeader,
},
ComponentId,
};
use satrs_example::config::components::PUS_MODE_SERVICE;
use satrs_example::config::{mode_err, tmtc_err};
use super::{
create_verification_reporter, generic_pus_request_timeout_handler, HandlingStatus,
PusTargetedRequestService, TargetedPusService,
};
#[derive(new)]
pub struct ModeReplyHandler {
owner_id: ComponentId,
}
impl PusReplyHandler<ActivePusRequestStd, ModeReply> for ModeReplyHandler {
type Error = EcssTmtcError;
fn handle_unrequested_reply(
&mut self,
reply: &GenericMessage<ModeReply>,
_tm_sender: &impl EcssTmSenderCore,
) -> Result<(), Self::Error> {
log::warn!("received unexpected reply for mode service 5: {reply:?}");
Ok(())
}
fn handle_reply(
&mut self,
reply: &GenericMessage<ModeReply>,
active_request: &ActivePusRequestStd,
tm_sender: &impl EcssTmSenderCore,
verification_handler: &impl VerificationReportingProvider,
time_stamp: &[u8],
) -> Result<bool, Self::Error> {
let started_token: VerificationToken<TcStateStarted> = active_request
.token()
.try_into()
.expect("invalid token state");
match reply.message {
ModeReply::ModeReply(mode_reply) => {
let mut source_data: [u8; 12] = [0; 12];
mode_reply
.write_to_be_bytes(&mut source_data)
.expect("writing mode reply failed");
let req_id = verification::RequestId::from(reply.request_id());
let sp_header = SpHeader::new_for_unseg_tm(req_id.packet_id().apid(), 0, 0);
let sec_header =
PusTmSecondaryHeader::new(200, Subservice::TmModeReply as u8, 0, 0, time_stamp);
let pus_tm = PusTmCreator::new(sp_header, sec_header, &source_data, true);
tm_sender.send_tm(self.owner_id, PusTmVariant::Direct(pus_tm))?;
verification_handler.completion_success(tm_sender, started_token, time_stamp)?;
}
ModeReply::CantReachMode(error_code) => {
verification_handler.completion_failure(
tm_sender,
started_token,
FailParams::new(time_stamp, &error_code, &[]),
)?;
}
ModeReply::WrongMode { expected, reached } => {
let mut error_info: [u8; 24] = [0; 24];
let mut written_len = expected
.write_to_be_bytes(&mut error_info[0..ModeAndSubmode::RAW_LEN])
.expect("writing expected mode failed");
written_len += reached
.write_to_be_bytes(&mut error_info[ModeAndSubmode::RAW_LEN..])
.expect("writing reached mode failed");
verification_handler.completion_failure(
tm_sender,
started_token,
FailParams::new(
time_stamp,
&mode_err::WRONG_MODE,
&error_info[..written_len],
),
)?;
}
};
Ok(true)
}
fn handle_request_timeout(
&mut self,
active_request: &ActivePusRequestStd,
tm_sender: &impl EcssTmSenderCore,
verification_handler: &impl VerificationReportingProvider,
time_stamp: &[u8],
) -> Result<(), Self::Error> {
generic_pus_request_timeout_handler(
tm_sender,
active_request,
verification_handler,
time_stamp,
"HK",
)?;
Ok(())
}
}
#[derive(Default)]
pub struct ModeRequestConverter {}
impl PusTcToRequestConverter<ActivePusRequestStd, ModeRequest> for ModeRequestConverter {
type Error = GenericConversionError;
fn convert(
&mut self,
token: VerificationToken<TcStateAccepted>,
tc: &PusTcReader,
tm_sender: &(impl EcssTmSenderCore + ?Sized),
verif_reporter: &impl VerificationReportingProvider,
time_stamp: &[u8],
) -> Result<(ActivePusRequestStd, ModeRequest), Self::Error> {
let subservice = tc.subservice();
let user_data = tc.user_data();
let not_enough_app_data = |expected: usize| {
verif_reporter
.start_failure(
tm_sender,
token,
FailParams::new_no_fail_data(time_stamp, &tmtc_err::NOT_ENOUGH_APP_DATA),
)
.expect("Sending start failure failed");
Err(GenericConversionError::NotEnoughAppData {
expected,
found: user_data.len(),
})
};
if user_data.len() < core::mem::size_of::<u32>() {
return not_enough_app_data(4);
}
let target_id_and_apid = UniqueApidTargetId::from_pus_tc(tc).unwrap();
let active_request =
ActivePusRequestStd::new(target_id_and_apid.into(), token, Duration::from_secs(30));
let subservice_typed = Subservice::try_from(subservice);
let invalid_subservice = || {
// Invalid subservice
verif_reporter
.start_failure(
tm_sender,
token,
FailParams::new_no_fail_data(time_stamp, &tmtc_err::INVALID_PUS_SUBSERVICE),
)
.expect("Sending start failure failed");
Err(GenericConversionError::InvalidSubservice(subservice))
};
if subservice_typed.is_err() {
return invalid_subservice();
}
let subservice_typed = subservice_typed.unwrap();
match subservice_typed {
Subservice::TcSetMode => {
if user_data.len() < core::mem::size_of::<u32>() + ModeAndSubmode::RAW_LEN {
return not_enough_app_data(4 + ModeAndSubmode::RAW_LEN);
}
let mode_and_submode = ModeAndSubmode::from_be_bytes(&tc.user_data()[4..])
.expect("mode and submode extraction failed");
Ok((active_request, ModeRequest::SetMode(mode_and_submode)))
}
Subservice::TcReadMode => Ok((active_request, ModeRequest::ReadMode)),
Subservice::TcAnnounceMode => Ok((active_request, ModeRequest::AnnounceMode)),
Subservice::TcAnnounceModeRecursive => {
Ok((active_request, ModeRequest::AnnounceModeRecursive))
}
_ => invalid_subservice(),
}
}
}
pub fn create_mode_service_static(
tm_sender: TmInSharedPoolSender<mpsc::SyncSender<PusTmInPool>>,
tc_pool: SharedStaticMemoryPool,
pus_action_rx: mpsc::Receiver<EcssTcAndToken>,
mode_router: GenericRequestRouter,
reply_receiver: mpsc::Receiver<GenericMessage<ModeReply>>,
) -> ModeServiceWrapper<MpscTmInSharedPoolSenderBounded, EcssTcInSharedStoreConverter> {
let mode_request_handler = PusTargetedRequestService::new(
PusServiceHelper::new(
PUS_MODE_SERVICE.id(),
pus_action_rx,
tm_sender,
create_verification_reporter(PUS_MODE_SERVICE.id(), PUS_MODE_SERVICE.apid),
EcssTcInSharedStoreConverter::new(tc_pool, 2048),
),
ModeRequestConverter::default(),
DefaultActiveRequestMap::default(),
ModeReplyHandler::new(PUS_MODE_SERVICE.id()),
mode_router,
reply_receiver,
);
ModeServiceWrapper {
service: mode_request_handler,
}
}
pub fn create_mode_service_dynamic(
tm_funnel_tx: mpsc::Sender<PusTmAsVec>,
pus_action_rx: mpsc::Receiver<EcssTcAndToken>,
mode_router: GenericRequestRouter,
reply_receiver: mpsc::Receiver<GenericMessage<ModeReply>>,
) -> ModeServiceWrapper<MpscTmAsVecSender, EcssTcInVecConverter> {
let mode_request_handler = PusTargetedRequestService::new(
PusServiceHelper::new(
PUS_MODE_SERVICE.id(),
pus_action_rx,
tm_funnel_tx,
create_verification_reporter(PUS_MODE_SERVICE.id(), PUS_MODE_SERVICE.apid),
EcssTcInVecConverter::default(),
),
ModeRequestConverter::default(),
DefaultActiveRequestMap::default(),
ModeReplyHandler::new(PUS_MODE_SERVICE.id()),
mode_router,
reply_receiver,
);
ModeServiceWrapper {
service: mode_request_handler,
}
}
pub struct ModeServiceWrapper<TmSender: EcssTmSenderCore, TcInMemConverter: EcssTcInMemConverter> {
pub(crate) service: PusTargetedRequestService<
MpscTcReceiver,
TmSender,
TcInMemConverter,
VerificationReporter,
ModeRequestConverter,
ModeReplyHandler,
DefaultActiveRequestMap<ActivePusRequestStd>,
ActivePusRequestStd,
ModeRequest,
ModeReply,
>,
}
impl<TmSender: EcssTmSenderCore, TcInMemConverter: EcssTcInMemConverter> TargetedPusService
for ModeServiceWrapper<TmSender, TcInMemConverter>
{
/// Returns [true] if the packet handling is finished.
fn poll_and_handle_next_tc(&mut self, time_stamp: &[u8]) -> bool {
match self.service.poll_and_handle_next_tc(time_stamp) {
Ok(result) => match result {
PusPacketHandlerResult::RequestHandled => {}
PusPacketHandlerResult::RequestHandledPartialSuccess(e) => {
warn!("PUS mode service: partial packet handling success: {e:?}")
}
PusPacketHandlerResult::CustomSubservice(invalid, _) => {
warn!("PUS mode service: invalid subservice {invalid}");
}
PusPacketHandlerResult::SubserviceNotImplemented(subservice, _) => {
warn!("PUS mode service: {subservice} not implemented");
}
PusPacketHandlerResult::Empty => {
return true;
}
},
Err(error) => {
error!("PUS mode service: packet handling error: {error:?}")
}
}
false
}
fn poll_and_handle_next_reply(&mut self, time_stamp: &[u8]) -> HandlingStatus {
self.service
.poll_and_check_next_reply(time_stamp)
.unwrap_or_else(|e| {
warn!("PUS action service: Handling reply failed with error {e:?}");
HandlingStatus::HandledOne
})
}
fn check_for_request_timeouts(&mut self) {
self.service.check_for_request_timeouts();
}
}
#[cfg(test)]
mod tests {
use satrs::pus::test_util::{TEST_APID, TEST_COMPONENT_ID_0, TEST_UNIQUE_ID_0};
use satrs::request::MessageMetadata;
use satrs::{
mode::{ModeAndSubmode, ModeReply, ModeRequest},
pus::mode::Subservice,
request::GenericMessage,
spacepackets::{
ecss::tc::{PusTcCreator, PusTcSecondaryHeader},
SpHeader,
},
};
use satrs_example::config::tmtc_err;
use crate::pus::{
mode::ModeReplyHandler,
tests::{PusConverterTestbench, ReplyHandlerTestbench},
};
use super::ModeRequestConverter;
#[test]
fn mode_converter_read_mode_request() {
let mut testbench =
PusConverterTestbench::new(TEST_COMPONENT_ID_0.id(), ModeRequestConverter::default());
let sp_header = SpHeader::new_for_unseg_tc(TEST_APID, 0, 0);
let sec_header = PusTcSecondaryHeader::new_simple(200, Subservice::TcReadMode as u8);
let mut app_data: [u8; 4] = [0; 4];
app_data[0..4].copy_from_slice(&TEST_UNIQUE_ID_0.to_be_bytes());
let tc = PusTcCreator::new(sp_header, sec_header, &app_data, true);
let token = testbench.add_tc(&tc);
let (_active_req, req) = testbench
.convert(token, &[], TEST_APID, TEST_UNIQUE_ID_0)
.expect("conversion has failed");
assert_eq!(req, ModeRequest::ReadMode);
}
#[test]
fn mode_converter_set_mode_request() {
let mut testbench =
PusConverterTestbench::new(TEST_COMPONENT_ID_0.id(), ModeRequestConverter::default());
let sp_header = SpHeader::new_for_unseg_tc(TEST_APID, 0, 0);
let sec_header = PusTcSecondaryHeader::new_simple(200, Subservice::TcSetMode as u8);
let mut app_data: [u8; 4 + ModeAndSubmode::RAW_LEN] = [0; 4 + ModeAndSubmode::RAW_LEN];
let mode_and_submode = ModeAndSubmode::new(2, 1);
app_data[0..4].copy_from_slice(&TEST_UNIQUE_ID_0.to_be_bytes());
mode_and_submode
.write_to_be_bytes(&mut app_data[4..])
.unwrap();
let tc = PusTcCreator::new(sp_header, sec_header, &app_data, true);
let token = testbench.add_tc(&tc);
let (_active_req, req) = testbench
.convert(token, &[], TEST_APID, TEST_UNIQUE_ID_0)
.expect("conversion has failed");
assert_eq!(req, ModeRequest::SetMode(mode_and_submode));
}
#[test]
fn mode_converter_announce_mode() {
let mut testbench =
PusConverterTestbench::new(TEST_COMPONENT_ID_0.id(), ModeRequestConverter::default());
let sp_header = SpHeader::new_for_unseg_tc(TEST_APID, 0, 0);
let sec_header = PusTcSecondaryHeader::new_simple(200, Subservice::TcAnnounceMode as u8);
let mut app_data: [u8; 4] = [0; 4];
app_data[0..4].copy_from_slice(&TEST_UNIQUE_ID_0.to_be_bytes());
let tc = PusTcCreator::new(sp_header, sec_header, &app_data, true);
let token = testbench.add_tc(&tc);
let (_active_req, req) = testbench
.convert(token, &[], TEST_APID, TEST_UNIQUE_ID_0)
.expect("conversion has failed");
assert_eq!(req, ModeRequest::AnnounceMode);
}
#[test]
fn mode_converter_announce_mode_recursively() {
let mut testbench =
PusConverterTestbench::new(TEST_COMPONENT_ID_0.id(), ModeRequestConverter::default());
let sp_header = SpHeader::new_for_unseg_tc(TEST_APID, 0, 0);
let sec_header =
PusTcSecondaryHeader::new_simple(200, Subservice::TcAnnounceModeRecursive as u8);
let mut app_data: [u8; 4] = [0; 4];
app_data[0..4].copy_from_slice(&TEST_UNIQUE_ID_0.to_be_bytes());
let tc = PusTcCreator::new(sp_header, sec_header, &app_data, true);
let token = testbench.add_tc(&tc);
let (_active_req, req) = testbench
.convert(token, &[], TEST_APID, TEST_UNIQUE_ID_0)
.expect("conversion has failed");
assert_eq!(req, ModeRequest::AnnounceModeRecursive);
}
#[test]
fn reply_handling_unrequested_reply() {
let mut testbench = ReplyHandlerTestbench::new(
TEST_COMPONENT_ID_0.id(),
ModeReplyHandler::new(TEST_COMPONENT_ID_0.id()),
);
let mode_reply = ModeReply::ModeReply(ModeAndSubmode::new(5, 1));
let unrequested_reply =
GenericMessage::new(MessageMetadata::new(10_u32, 15_u64), mode_reply);
// Right now this function does not do a lot. We simply check that it does not panic or do
// weird stuff.
let result = testbench.handle_unrequested_reply(&unrequested_reply);
assert!(result.is_ok());
}
#[test]
fn reply_handling_reply_timeout() {
let mut testbench = ReplyHandlerTestbench::new(
TEST_COMPONENT_ID_0.id(),
ModeReplyHandler::new(TEST_COMPONENT_ID_0.id()),
);
let (req_id, active_request) = testbench.add_tc(TEST_APID, TEST_UNIQUE_ID_0, &[]);
let result = testbench.handle_request_timeout(&active_request, &[]);
assert!(result.is_ok());
testbench.verif_reporter.assert_completion_failure(
TEST_COMPONENT_ID_0.raw(),
req_id,
None,
tmtc_err::REQUEST_TIMEOUT.raw() as u64,
);
}
}

110
satrs-example/src/pus/scheduler.rs
View File

@ -1,23 +1,18 @@
use std::sync::mpsc;
use std::time::Duration;
use crate::pus::create_verification_reporter;
use log::{error, info, warn};
use satrs::pool::{PoolProvider, StaticMemoryPool, StoreAddr};
use satrs::pool::{PoolProvider, StaticMemoryPool};
use satrs::pus::scheduler::{PusScheduler, TcInfo};
use satrs::pus::scheduler_srv::PusService11SchedHandler;
use satrs::pus::verification::std_mod::{
VerificationReporterWithSharedPoolMpscBoundedSender, VerificationReporterWithVecMpscSender,
};
use satrs::pus::verification::VerificationReportingProvider;
use satrs::pus::scheduler_srv::PusSchedServiceHandler;
use satrs::pus::verification::VerificationReporter;
use satrs::pus::{
EcssTcAndToken, EcssTcInMemConverter, EcssTcInSharedStoreConverter, EcssTcInVecConverter,
EcssTcReceiverCore, EcssTmSenderCore, MpscTcReceiver, PusPacketHandlerResult, PusServiceHelper,
TmAsVecSenderWithId, TmAsVecSenderWithMpsc, TmInSharedPoolSenderWithBoundedMpsc,
TmInSharedPoolSenderWithId,
EcssTmSenderCore, MpscTcReceiver, MpscTmAsVecSender, MpscTmInSharedPoolSenderBounded,
PusPacketHandlerResult, PusServiceHelper, PusTmAsVec, PusTmInPool, TmInSharedPoolSender,
};
use satrs::tmtc::tm_helper::SharedTmPool;
use satrs::ChannelId;
use satrs_example::config::{TcReceiverId, TmSenderId, PUS_APID};
use satrs_example::config::components::PUS_SCHED_SERVICE;
use crate::tmtc::PusTcSourceProviderSharedPool;
@ -55,14 +50,12 @@ impl TcReleaser for mpsc::Sender<Vec<u8>> {
}
}
pub struct Pus11Wrapper<
TcReceiver: EcssTcReceiverCore,
pub struct SchedulingServiceWrapper<
TmSender: EcssTmSenderCore,
TcInMemConverter: EcssTcInMemConverter,
VerificationReporter: VerificationReportingProvider,
> {
pub pus_11_handler: PusService11SchedHandler<
TcReceiver,
pub pus_11_handler: PusSchedServiceHandler<
MpscTcReceiver,
TmSender,
TcInMemConverter,
VerificationReporter,
@ -73,12 +66,8 @@ pub struct Pus11Wrapper<
pub tc_releaser: Box<dyn TcReleaser + Send>,
}
impl<
TcReceiver: EcssTcReceiverCore,
TmSender: EcssTmSenderCore,
TcInMemConverter: EcssTcInMemConverter,
VerificationReporter: VerificationReportingProvider,
> Pus11Wrapper<TcReceiver, TmSender, TcInMemConverter, VerificationReporter>
impl<TmSender: EcssTmSenderCore, TcInMemConverter: EcssTcInMemConverter>
SchedulingServiceWrapper<TmSender, TcInMemConverter>
{
pub fn release_tcs(&mut self) {
let releaser = |enabled: bool, info: &TcInfo, tc: &[u8]| -> bool {
@ -103,8 +92,11 @@ impl<
}
}
pub fn handle_next_packet(&mut self) -> bool {
match self.pus_11_handler.handle_one_tc(&mut self.sched_tc_pool) {
pub fn poll_and_handle_next_tc(&mut self, time_stamp: &[u8]) -> bool {
match self
.pus_11_handler
.poll_and_handle_next_tc(time_stamp, &mut self.sched_tc_pool)
{
Ok(result) => match result {
PusPacketHandlerResult::RequestHandled => {}
PusPacketHandlerResult::RequestHandledPartialSuccess(e) => {
@ -129,42 +121,24 @@ impl<
}
pub fn create_scheduler_service_static(
shared_tm_store: SharedTmPool,
tm_funnel_tx: mpsc::SyncSender<StoreAddr>,
verif_reporter: VerificationReporterWithSharedPoolMpscBoundedSender,
tm_sender: TmInSharedPoolSender<mpsc::SyncSender<PusTmInPool>>,
tc_releaser: PusTcSourceProviderSharedPool,
pus_sched_rx: mpsc::Receiver<EcssTcAndToken>,
sched_tc_pool: StaticMemoryPool,
) -> Pus11Wrapper<
MpscTcReceiver,
TmInSharedPoolSenderWithBoundedMpsc,
EcssTcInSharedStoreConverter,
VerificationReporterWithSharedPoolMpscBoundedSender,
> {
let sched_srv_tm_sender = TmInSharedPoolSenderWithId::new(
TmSenderId::PusSched as ChannelId,
"PUS_11_TM_SENDER",
shared_tm_store.clone(),
tm_funnel_tx.clone(),
);
let sched_srv_receiver = MpscTcReceiver::new(
TcReceiverId::PusSched as ChannelId,
"PUS_11_TC_RECV",
pus_sched_rx,
);
) -> SchedulingServiceWrapper<MpscTmInSharedPoolSenderBounded, EcssTcInSharedStoreConverter> {
let scheduler = PusScheduler::new_with_current_init_time(Duration::from_secs(5))
.expect("Creating PUS Scheduler failed");
let pus_11_handler = PusService11SchedHandler::new(
let pus_11_handler = PusSchedServiceHandler::new(
PusServiceHelper::new(
sched_srv_receiver,
sched_srv_tm_sender,
PUS_APID,
verif_reporter.clone(),
PUS_SCHED_SERVICE.id(),
pus_sched_rx,
tm_sender,
create_verification_reporter(PUS_SCHED_SERVICE.id(), PUS_SCHED_SERVICE.apid),
EcssTcInSharedStoreConverter::new(tc_releaser.clone_backing_pool(), 2048),
),
scheduler,
);
Pus11Wrapper {
SchedulingServiceWrapper {
pus_11_handler,
sched_tc_pool,
releaser_buf: [0; 4096],
@ -173,40 +147,26 @@ pub fn create_scheduler_service_static(
}
pub fn create_scheduler_service_dynamic(
tm_funnel_tx: mpsc::Sender<Vec<u8>>,
verif_reporter: VerificationReporterWithVecMpscSender,
tm_funnel_tx: mpsc::Sender<PusTmAsVec>,
tc_source_sender: mpsc::Sender<Vec<u8>>,
pus_sched_rx: mpsc::Receiver<EcssTcAndToken>,
sched_tc_pool: StaticMemoryPool,
) -> Pus11Wrapper<
MpscTcReceiver,
TmAsVecSenderWithMpsc,
EcssTcInVecConverter,
VerificationReporterWithVecMpscSender,
> {
let sched_srv_tm_sender = TmAsVecSenderWithId::new(
TmSenderId::PusSched as ChannelId,
"PUS_11_TM_SENDER",
tm_funnel_tx,
);
let sched_srv_receiver = MpscTcReceiver::new(
TcReceiverId::PusSched as ChannelId,
"PUS_11_TC_RECV",
pus_sched_rx,
);
) -> SchedulingServiceWrapper<MpscTmAsVecSender, EcssTcInVecConverter> {
//let sched_srv_receiver =
//MpscTcReceiver::new(PUS_SCHED_SERVICE.raw(), "PUS_11_TC_RECV", pus_sched_rx);
let scheduler = PusScheduler::new_with_current_init_time(Duration::from_secs(5))
.expect("Creating PUS Scheduler failed");
let pus_11_handler = PusService11SchedHandler::new(
let pus_11_handler = PusSchedServiceHandler::new(
PusServiceHelper::new(
sched_srv_receiver,
sched_srv_tm_sender,
PUS_APID,
verif_reporter.clone(),
PUS_SCHED_SERVICE.id(),
pus_sched_rx,
tm_funnel_tx,
create_verification_reporter(PUS_SCHED_SERVICE.id(), PUS_SCHED_SERVICE.apid),
EcssTcInVecConverter::default(),
),
scheduler,
);
Pus11Wrapper {
SchedulingServiceWrapper {
pus_11_handler,
sched_tc_pool,
releaser_buf: [0; 4096],

108
satrs-example/src/pus/stack.rs
View File

@ -1,69 +1,71 @@
use satrs::pus::{
verification::VerificationReportingProvider, EcssTcInMemConverter, EcssTcReceiverCore,
EcssTmSenderCore,
use crate::pus::mode::ModeServiceWrapper;
use derive_new::new;
use satrs::{
pus::{EcssTcInMemConverter, EcssTmSenderCore},
spacepackets::time::{cds, TimeWriter},
};
use super::{
action::Pus8Wrapper, event::Pus5Wrapper, hk::Pus3Wrapper, scheduler::Pus11Wrapper,
test::Service17CustomWrapper,
action::ActionServiceWrapper, event::EventServiceWrapper, hk::HkServiceWrapper,
scheduler::SchedulingServiceWrapper, test::TestCustomServiceWrapper, HandlingStatus,
TargetedPusService,
};
pub struct PusStack<
TcReceiver: EcssTcReceiverCore,
TmSender: EcssTmSenderCore,
TcInMemConverter: EcssTcInMemConverter,
VerificationReporter: VerificationReportingProvider,
> {
event_srv: Pus5Wrapper<TcReceiver, TmSender, TcInMemConverter, VerificationReporter>,
hk_srv: Pus3Wrapper<TcReceiver, TmSender, TcInMemConverter, VerificationReporter>,
action_srv: Pus8Wrapper<TcReceiver, TmSender, TcInMemConverter, VerificationReporter>,
schedule_srv: Pus11Wrapper<TcReceiver, TmSender, TcInMemConverter, VerificationReporter>,
test_srv: Service17CustomWrapper<TcReceiver, TmSender, TcInMemConverter, VerificationReporter>,
#[derive(new)]
pub struct PusStack<TmSender: EcssTmSenderCore, TcInMemConverter: EcssTcInMemConverter> {
test_srv: TestCustomServiceWrapper<TmSender, TcInMemConverter>,
hk_srv_wrapper: HkServiceWrapper<TmSender, TcInMemConverter>,
event_srv: EventServiceWrapper<TmSender, TcInMemConverter>,
action_srv_wrapper: ActionServiceWrapper<TmSender, TcInMemConverter>,
schedule_srv: SchedulingServiceWrapper<TmSender, TcInMemConverter>,
mode_srv: ModeServiceWrapper<TmSender, TcInMemConverter>,
}
impl<
TcReceiver: EcssTcReceiverCore,
TmSender: EcssTmSenderCore,
TcInMemConverter: EcssTcInMemConverter,
VerificationReporter: VerificationReportingProvider,
> PusStack<TcReceiver, TmSender, TcInMemConverter, VerificationReporter>
impl<TmSender: EcssTmSenderCore, TcInMemConverter: EcssTcInMemConverter>
PusStack<TmSender, TcInMemConverter>
{
pub fn new(
hk_srv: Pus3Wrapper<TcReceiver, TmSender, TcInMemConverter, VerificationReporter>,
event_srv: Pus5Wrapper<TcReceiver, TmSender, TcInMemConverter, VerificationReporter>,
action_srv: Pus8Wrapper<TcReceiver, TmSender, TcInMemConverter, VerificationReporter>,
schedule_srv: Pus11Wrapper<TcReceiver, TmSender, TcInMemConverter, VerificationReporter>,
test_srv: Service17CustomWrapper<
TcReceiver,
TmSender,
TcInMemConverter,
VerificationReporter,
>,
) -> Self {
Self {
event_srv,
action_srv,
schedule_srv,
test_srv,
hk_srv,
}
}
pub fn periodic_operation(&mut self) {
// Release all telecommands which reached their release time before calling the service
// handlers.
self.schedule_srv.release_tcs();
let time_stamp = cds::CdsTime::now_with_u16_days()
.expect("time stamp generation error")
.to_vec()
.unwrap();
loop {
let mut all_queues_empty = true;
let mut is_srv_finished = |srv_handler_finished: bool| {
if !srv_handler_finished {
all_queues_empty = false;
let mut nothing_to_do = true;
let mut is_srv_finished =
|tc_handling_done: bool, reply_handling_done: Option<HandlingStatus>| {
if !tc_handling_done
|| (reply_handling_done.is_some()
&& reply_handling_done.unwrap() == HandlingStatus::Empty)
{
nothing_to_do = false;
}
};
is_srv_finished(self.test_srv.handle_next_packet());
is_srv_finished(self.schedule_srv.handle_next_packet());
is_srv_finished(self.event_srv.handle_next_packet());
is_srv_finished(self.action_srv.handle_next_packet());
is_srv_finished(self.hk_srv.handle_next_packet());
if all_queues_empty {
is_srv_finished(self.test_srv.poll_and_handle_next_packet(&time_stamp), None);
is_srv_finished(self.schedule_srv.poll_and_handle_next_tc(&time_stamp), None);
is_srv_finished(self.event_srv.poll_and_handle_next_tc(&time_stamp), None);
is_srv_finished(
self.action_srv_wrapper.poll_and_handle_next_tc(&time_stamp),
Some(
self.action_srv_wrapper
.poll_and_handle_next_reply(&time_stamp),
),
);
is_srv_finished(
self.hk_srv_wrapper.poll_and_handle_next_tc(&time_stamp),
Some(self.hk_srv_wrapper.poll_and_handle_next_reply(&time_stamp)),
);
is_srv_finished(
self.mode_srv.poll_and_handle_next_tc(&time_stamp),
Some(self.mode_srv.poll_and_handle_next_reply(&time_stamp)),
);
if nothing_to_do {
// Timeout checking is only done once.
self.action_srv_wrapper.check_for_request_timeouts();
self.hk_srv_wrapper.check_for_request_timeouts();
self.mode_srv.check_for_request_timeouts();
break;
}
}

146
satrs-example/src/pus/test.rs
View File

@ -1,118 +1,74 @@
use crate::pus::create_verification_reporter;
use log::{info, warn};
use satrs::params::Params;
use satrs::pool::{SharedStaticMemoryPool, StoreAddr};
use satrs::event_man::{EventMessage, EventMessageU32};
use satrs::pool::SharedStaticMemoryPool;
use satrs::pus::test::PusService17TestHandler;
use satrs::pus::verification::{FailParams, VerificationReportingProvider};
use satrs::pus::verification::{
VerificationReporterWithSharedPoolMpscBoundedSender, VerificationReporterWithVecMpscSender,
};
use satrs::pus::verification::{FailParams, VerificationReporter, VerificationReportingProvider};
use satrs::pus::EcssTcInSharedStoreConverter;
use satrs::pus::{
EcssTcAndToken, EcssTcInMemConverter, EcssTcInVecConverter, EcssTcReceiverCore,
EcssTmSenderCore, MpscTcReceiver, PusPacketHandlerResult, PusServiceHelper,
TmAsVecSenderWithId, TmAsVecSenderWithMpsc, TmInSharedPoolSenderWithBoundedMpsc,
TmInSharedPoolSenderWithId,
EcssTcAndToken, EcssTcInMemConverter, EcssTcInVecConverter, EcssTmSenderCore, MpscTcReceiver,
MpscTmAsVecSender, MpscTmInSharedPoolSenderBounded, PusPacketHandlerResult, PusServiceHelper,
PusTmAsVec, PusTmInPool, TmInSharedPoolSender,
};
use satrs::spacepackets::ecss::tc::PusTcReader;
use satrs::spacepackets::ecss::PusPacket;
use satrs::spacepackets::time::cds::CdsTime;
use satrs::spacepackets::time::TimeWriter;
use satrs::tmtc::tm_helper::SharedTmPool;
use satrs::ChannelId;
use satrs::{events::EventU32, pus::EcssTcInSharedStoreConverter};
use satrs_example::config::{tmtc_err, TcReceiverId, TmSenderId, PUS_APID, TEST_EVENT};
use std::sync::mpsc::{self, Sender};
use satrs_example::config::components::PUS_TEST_SERVICE;
use satrs_example::config::{tmtc_err, TEST_EVENT};
use std::sync::mpsc;
pub fn create_test_service_static(
shared_tm_store: SharedTmPool,
tm_funnel_tx: mpsc::SyncSender<StoreAddr>,
verif_reporter: VerificationReporterWithSharedPoolMpscBoundedSender,
tm_sender: TmInSharedPoolSender<mpsc::SyncSender<PusTmInPool>>,
tc_pool: SharedStaticMemoryPool,
event_sender: mpsc::Sender<(EventU32, Option<Params>)>,
event_sender: mpsc::Sender<EventMessageU32>,
pus_test_rx: mpsc::Receiver<EcssTcAndToken>,
) -> Service17CustomWrapper<
MpscTcReceiver,
TmInSharedPoolSenderWithBoundedMpsc,
EcssTcInSharedStoreConverter,
VerificationReporterWithSharedPoolMpscBoundedSender,
> {
let test_srv_tm_sender = TmInSharedPoolSenderWithId::new(
TmSenderId::PusTest as ChannelId,
"PUS_17_TM_SENDER",
shared_tm_store.clone(),
tm_funnel_tx.clone(),
);
let test_srv_receiver = MpscTcReceiver::new(
TcReceiverId::PusTest as ChannelId,
"PUS_17_TC_RECV",
pus_test_rx,
);
) -> TestCustomServiceWrapper<MpscTmInSharedPoolSenderBounded, EcssTcInSharedStoreConverter> {
let pus17_handler = PusService17TestHandler::new(PusServiceHelper::new(
test_srv_receiver,
test_srv_tm_sender,
PUS_APID,
verif_reporter.clone(),
PUS_TEST_SERVICE.id(),
pus_test_rx,
tm_sender,
create_verification_reporter(PUS_TEST_SERVICE.id(), PUS_TEST_SERVICE.apid),
EcssTcInSharedStoreConverter::new(tc_pool, 2048),
));
Service17CustomWrapper {
pus17_handler,
TestCustomServiceWrapper {
handler: pus17_handler,
test_srv_event_sender: event_sender,
}
}
pub fn create_test_service_dynamic(
tm_funnel_tx: mpsc::Sender<Vec<u8>>,
verif_reporter: VerificationReporterWithVecMpscSender,
event_sender: mpsc::Sender<(EventU32, Option<Params>)>,
tm_funnel_tx: mpsc::Sender<PusTmAsVec>,
event_sender: mpsc::Sender<EventMessageU32>,
pus_test_rx: mpsc::Receiver<EcssTcAndToken>,
) -> Service17CustomWrapper<
MpscTcReceiver,
TmAsVecSenderWithMpsc,
EcssTcInVecConverter,
VerificationReporterWithVecMpscSender,
> {
let test_srv_tm_sender = TmAsVecSenderWithId::new(
TmSenderId::PusTest as ChannelId,
"PUS_17_TM_SENDER",
tm_funnel_tx.clone(),
);
let test_srv_receiver = MpscTcReceiver::new(
TcReceiverId::PusTest as ChannelId,
"PUS_17_TC_RECV",
pus_test_rx,
);
) -> TestCustomServiceWrapper<MpscTmAsVecSender, EcssTcInVecConverter> {
let pus17_handler = PusService17TestHandler::new(PusServiceHelper::new(
test_srv_receiver,
test_srv_tm_sender,
PUS_APID,
verif_reporter.clone(),
PUS_TEST_SERVICE.id(),
pus_test_rx,
tm_funnel_tx,
create_verification_reporter(PUS_TEST_SERVICE.id(), PUS_TEST_SERVICE.apid),
EcssTcInVecConverter::default(),
));
Service17CustomWrapper {
pus17_handler,
TestCustomServiceWrapper {
handler: pus17_handler,
test_srv_event_sender: event_sender,
}
}
pub struct Service17CustomWrapper<
TcReceiver: EcssTcReceiverCore,
pub struct TestCustomServiceWrapper<
TmSender: EcssTmSenderCore,
TcInMemConverter: EcssTcInMemConverter,
VerificationReporter: VerificationReportingProvider,
> {
pub pus17_handler:
PusService17TestHandler<TcReceiver, TmSender, TcInMemConverter, VerificationReporter>,
pub test_srv_event_sender: Sender<(EventU32, Option<Params>)>,
pub handler:
PusService17TestHandler<MpscTcReceiver, TmSender, TcInMemConverter, VerificationReporter>,
pub test_srv_event_sender: mpsc::Sender<EventMessageU32>,
}
impl<
TcReceiver: EcssTcReceiverCore,
TmSender: EcssTmSenderCore,
TcInMemConverter: EcssTcInMemConverter,
VerificationReporter: VerificationReportingProvider,
> Service17CustomWrapper<TcReceiver, TmSender, TcInMemConverter, VerificationReporter>
impl<TmSender: EcssTmSenderCore, TcInMemConverter: EcssTcInMemConverter>
TestCustomServiceWrapper<TmSender, TcInMemConverter>
{
pub fn handle_next_packet(&mut self) -> bool {
let res = self.pus17_handler.handle_one_tc();
pub fn poll_and_handle_next_packet(&mut self, time_stamp: &[u8]) -> bool {
let res = self.handler.poll_and_handle_next_tc(time_stamp);
if res.is_err() {
warn!("PUS17 handler failed with error {:?}", res.unwrap_err());
return true;
@ -133,7 +89,7 @@ impl<
}
PusPacketHandlerResult::CustomSubservice(subservice, token) => {
let (tc, _) = PusTcReader::new(
self.pus17_handler
self.handler
.service_helper
.tc_in_mem_converter
.tc_slice_raw(),
@ -145,28 +101,30 @@ impl<
if subservice == 128 {
info!("Generating test event");
self.test_srv_event_sender
.send((TEST_EVENT.into(), None))
.send(EventMessage::new(PUS_TEST_SERVICE.id(), TEST_EVENT.into()))
.expect("Sending test event failed");
let start_token = self
.pus17_handler
.handler
.service_helper
.common
.verification_handler
.start_success(token, &stamp_buf)
.verif_reporter()
.start_success(self.handler.service_helper.tm_sender(), token, &stamp_buf)
.expect("Error sending start success");
self.pus17_handler
self.handler
.service_helper
.common
.verification_handler
.completion_success(start_token, &stamp_buf)
.verif_reporter()
.completion_success(
self.handler.service_helper.tm_sender(),
start_token,
&stamp_buf,
)
.expect("Error sending completion success");
} else {
let fail_data = [tc.subservice()];
self.pus17_handler
self.handler
.service_helper
.common
.verification_handler
.verif_reporter()
.start_failure(
self.handler.service_helper.tm_sender(),
token,
FailParams::new(
&stamp_buf,

162
satrs-example/src/requests.rs
View File

@ -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))
}
}

14
satrs-example/src/tcp.rs
View File

@ -1,5 +1,5 @@
use std::{
collections::VecDeque,
collections::{HashSet, VecDeque},
sync::{Arc, Mutex},
};
@ -10,12 +10,9 @@ use satrs::{
spacepackets::PacketId,
tmtc::{CcsdsDistributor, CcsdsError, ReceivesCcsdsTc, TmPacketSourceCore},
};
use satrs_example::config::PUS_APID;
use crate::ccsds::CcsdsReceiver;
pub const PACKET_ID_LOOKUP: &[PacketId] = &[PacketId::const_tc(true, PUS_APID)];
#[derive(Default, Clone)]
pub struct SyncTcpTmSource {
tm_queue: Arc<Mutex<VecDeque<Vec<u8>>>>,
@ -77,6 +74,7 @@ pub type TcpServerType<TcSource, MpscErrorType> = TcpSpacepacketsServer<
CcsdsError<MpscErrorType>,
SyncTcpTmSource,
CcsdsDistributor<CcsdsReceiver<TcSource, MpscErrorType>, MpscErrorType>,
HashSet<PacketId>,
>;
pub struct TcpTask<
@ -103,14 +101,10 @@ impl<
cfg: ServerConfig,
tm_source: SyncTcpTmSource,
tc_receiver: CcsdsDistributor<CcsdsReceiver<TcSource, MpscErrorType>, MpscErrorType>,
packet_id_lookup: HashSet<PacketId>,
) -> Result<Self, std::io::Error> {
Ok(Self {
server: TcpSpacepacketsServer::new(
cfg,
tm_source,
tc_receiver,
Box::new(PACKET_ID_LOOKUP),
)?,
server: TcpSpacepacketsServer::new(cfg, tm_source, tc_receiver, packet_id_lookup)?,
})
}

31
satrs-example/src/tm_funnel.rs
View File

@ -4,8 +4,9 @@ use std::{
};
use log::info;
use satrs::pus::{PusTmAsVec, PusTmInPool};
use satrs::{
pool::{PoolProvider, StoreAddr},
pool::PoolProvider,
seq_count::{CcsdsSimpleSeqCountProvider, SequenceCountProviderCore},
spacepackets::{
ecss::{tm::PusTmZeroCopyWriter, PusPacket},
@ -77,16 +78,16 @@ impl TmFunnelCommon {
pub struct TmFunnelStatic {
common: TmFunnelCommon,
shared_tm_store: SharedTmPool,
tm_funnel_rx: mpsc::Receiver<StoreAddr>,
tm_server_tx: mpsc::SyncSender<StoreAddr>,
tm_funnel_rx: mpsc::Receiver<PusTmInPool>,
tm_server_tx: mpsc::SyncSender<PusTmInPool>,
}
impl TmFunnelStatic {
pub fn new(
shared_tm_store: SharedTmPool,
sync_tm_tcp_source: SyncTcpTmSource,
tm_funnel_rx: mpsc::Receiver<StoreAddr>,
tm_server_tx: mpsc::SyncSender<StoreAddr>,
tm_funnel_rx: mpsc::Receiver<PusTmInPool>,
tm_server_tx: mpsc::SyncSender<PusTmInPool>,
) -> Self {
Self {
common: TmFunnelCommon::new(sync_tm_tcp_source),
@ -97,14 +98,14 @@ impl TmFunnelStatic {
}
pub fn operation(&mut self) {
if let Ok(addr) = self.tm_funnel_rx.recv() {
if let Ok(pus_tm_in_pool) = self.tm_funnel_rx.recv() {
// Read the TM, set sequence counter and message counter, and finally update
// the CRC.
let shared_pool = self.shared_tm_store.clone_backing_pool();
let mut pool_guard = shared_pool.write().expect("Locking TM pool failed");
let mut tm_copy = Vec::new();
pool_guard
.modify(&addr, |buf| {
.modify(&pus_tm_in_pool.store_addr, |buf| {
let zero_copy_writer = PusTmZeroCopyWriter::new(buf, MIN_CDS_FIELD_LEN)
.expect("Creating TM zero copy writer failed");
self.common.apply_packet_processing(zero_copy_writer);
@ -112,7 +113,7 @@ impl TmFunnelStatic {
})
.expect("Reading TM from pool failed");
self.tm_server_tx
.send(addr)
.send(pus_tm_in_pool)
.expect("Sending TM to server failed");
// We could also do this step in the update closure, but I'd rather avoid this, could
// lead to nested locking.
@ -123,15 +124,15 @@ impl TmFunnelStatic {
pub struct TmFunnelDynamic {
common: TmFunnelCommon,
tm_funnel_rx: mpsc::Receiver<Vec<u8>>,
tm_server_tx: mpsc::Sender<Vec<u8>>,
tm_funnel_rx: mpsc::Receiver<PusTmAsVec>,
tm_server_tx: mpsc::Sender<PusTmAsVec>,
}
impl TmFunnelDynamic {
pub fn new(
sync_tm_tcp_source: SyncTcpTmSource,
tm_funnel_rx: mpsc::Receiver<Vec<u8>>,
tm_server_tx: mpsc::Sender<Vec<u8>>,
tm_funnel_rx: mpsc::Receiver<PusTmAsVec>,
tm_server_tx: mpsc::Sender<PusTmAsVec>,
) -> Self {
Self {
common: TmFunnelCommon::new(sync_tm_tcp_source),
@ -144,13 +145,13 @@ impl TmFunnelDynamic {
if let Ok(mut tm) = self.tm_funnel_rx.recv() {
// Read the TM, set sequence counter and message counter, and finally update
// the CRC.
let zero_copy_writer = PusTmZeroCopyWriter::new(&mut tm, MIN_CDS_FIELD_LEN)
let zero_copy_writer = PusTmZeroCopyWriter::new(&mut tm.packet, MIN_CDS_FIELD_LEN)
.expect("Creating TM zero copy writer failed");
self.common.apply_packet_processing(zero_copy_writer);
self.common.sync_tm_tcp_source.add_tm(&tm.packet);
self.tm_server_tx
.send(tm.clone())
.send(tm)
.expect("Sending TM to server failed");
self.common.sync_tm_tcp_source.add_tm(&tm);
}
}
}

13
satrs-example/src/tmtc.rs
View File

@ -1,8 +1,7 @@
use log::warn;
use satrs::pus::verification::std_mod::{
VerificationReporterWithSharedPoolMpscBoundedSender, VerificationReporterWithVecMpscSender,
use satrs::pus::{
EcssTcAndToken, MpscTmAsVecSender, MpscTmInSharedPoolSenderBounded, ReceivesEcssPusTc,
};
use satrs::pus::{EcssTcAndToken, ReceivesEcssPusTc};
use satrs::spacepackets::SpHeader;
use std::sync::mpsc::{self, Receiver, SendError, Sender, SyncSender, TryRecvError};
use thiserror::Error;
@ -100,14 +99,14 @@ pub struct TcSourceTaskStatic {
shared_tc_pool: SharedTcPool,
tc_receiver: Receiver<StoreAddr>,
tc_buf: [u8; 4096],
pus_receiver: PusReceiver<VerificationReporterWithSharedPoolMpscBoundedSender>,
pus_receiver: PusReceiver<MpscTmInSharedPoolSenderBounded>,
}
impl TcSourceTaskStatic {
pub fn new(
shared_tc_pool: SharedTcPool,
tc_receiver: Receiver<StoreAddr>,
pus_receiver: PusReceiver<VerificationReporterWithSharedPoolMpscBoundedSender>,
pus_receiver: PusReceiver<MpscTmInSharedPoolSenderBounded>,
) -> Self {
Self {
shared_tc_pool,
@ -164,13 +163,13 @@ impl TcSourceTaskStatic {
// TC source components where the heap is the backing memory of the received telecommands.
pub struct TcSourceTaskDynamic {
pub tc_receiver: Receiver<Vec<u8>>,
pus_receiver: PusReceiver<VerificationReporterWithVecMpscSender>,
pus_receiver: PusReceiver<MpscTmAsVecSender>,
}
impl TcSourceTaskDynamic {
pub fn new(
tc_receiver: Receiver<Vec<u8>>,
pus_receiver: PusReceiver<VerificationReporterWithVecMpscSender>,
pus_receiver: PusReceiver<MpscTmAsVecSender>,
) -> Self {
Self {
tc_receiver,

31
satrs-example/src/udp.rs
View File

@ -1,12 +1,11 @@
use std::{
net::{SocketAddr, UdpSocket},
sync::mpsc::Receiver,
};
use std::net::{SocketAddr, UdpSocket};
use std::sync::mpsc;
use log::{info, warn};
use satrs::pus::{PusTmAsVec, PusTmInPool};
use satrs::{
hal::std::udp_server::{ReceiveResult, UdpTcServer},
pool::{PoolProviderWithGuards, SharedStaticMemoryPool, StoreAddr},
pool::{PoolProviderWithGuards, SharedStaticMemoryPool},
tmtc::CcsdsError,
};
@ -15,20 +14,20 @@ pub trait UdpTmHandler {
}
pub struct StaticUdpTmHandler {
pub tm_rx: Receiver<StoreAddr>,
pub tm_rx: mpsc::Receiver<PusTmInPool>,
pub tm_store: SharedStaticMemoryPool,
}
impl UdpTmHandler for StaticUdpTmHandler {
fn send_tm_to_udp_client(&mut self, socket: &UdpSocket, &recv_addr: &SocketAddr) {
while let Ok(addr) = self.tm_rx.try_recv() {
while let Ok(pus_tm_in_pool) = self.tm_rx.try_recv() {
let store_lock = self.tm_store.write();
if store_lock.is_err() {
warn!("Locking TM store failed");
continue;
}
let mut store_lock = store_lock.unwrap();
let pg = store_lock.read_with_guard(addr);
let pg = store_lock.read_with_guard(pus_tm_in_pool.store_addr);
let read_res = pg.read_as_vec();
if read_res.is_err() {
warn!("Error reading TM pool data");
@ -44,20 +43,20 @@ impl UdpTmHandler for StaticUdpTmHandler {
}
pub struct DynamicUdpTmHandler {
pub tm_rx: Receiver<Vec<u8>>,
pub tm_rx: mpsc::Receiver<PusTmAsVec>,
}
impl UdpTmHandler for DynamicUdpTmHandler {
fn send_tm_to_udp_client(&mut self, socket: &UdpSocket, recv_addr: &SocketAddr) {
while let Ok(tm) = self.tm_rx.try_recv() {
if tm.len() > 9 {
let service = tm[7];
let subservice = tm[8];
if tm.packet.len() > 9 {
let service = tm.packet[7];
let subservice = tm.packet[8];
info!("Sending PUS TM[{service},{subservice}]")
} else {
info!("Sending PUS TM");
}
let result = socket.send_to(&tm, recv_addr);
let result = socket.send_to(&tm.packet, recv_addr);
if let Err(e) = result {
warn!("Sending TM with UDP socket failed: {e}")
}
@ -120,7 +119,7 @@ mod tests {
},
tmtc::ReceivesTcCore,
};
use satrs_example::config::{OBSW_SERVER_ADDR, PUS_APID};
use satrs_example::config::{components, OBSW_SERVER_ADDR};
use super::*;
@ -178,8 +177,8 @@ mod tests {
udp_tc_server,
tm_handler,
};
let mut sph = SpHeader::tc_unseg(PUS_APID, 0, 0).unwrap();
let ping_tc = PusTcCreator::new_simple(&mut sph, 17, 1, None, true)
let sph = SpHeader::new_for_unseg_tc(components::Apid::GenericPus as u16, 0, 0);
let ping_tc = PusTcCreator::new_simple(sph, 17, 1, &[], true)
.to_vec()
.unwrap();
let client = UdpSocket::bind("127.0.0.1:0").expect("Connecting to UDP server failed");

2
satrs-mib/Cargo.toml
View File

@ -24,7 +24,7 @@ optional = true
[dependencies.satrs-shared]
path = "../satrs-shared"
version = "0.1.2"
version = "0.1.3"
features = ["serde"]
[dependencies.satrs-mib-codegen]

2
satrs-mib/codegen/Cargo.toml
View File

@ -28,7 +28,7 @@ features = ["full"]
trybuild = { version = "1", features = ["diff"] }
[dev-dependencies.satrs-shared]
version = "0.1.2"
version = "0.1.3"
path = "../../satrs-shared"
[dev-dependencies.satrs-mib]

4
satrs-shared/Cargo.toml
View File

@ -1,7 +1,7 @@
[package]
name = "satrs-shared"
description = "Components shared by multiple sat-rs crates"
version = "0.1.2"
version = "0.1.3"
edition = "2021"
authors = ["Robin Mueller <muellerr@irs.uni-stuttgart.de>"]
homepage = "https://absatsw.irs.uni-stuttgart.de/projects/sat-rs/"
@ -19,7 +19,7 @@ optional = true
[dependencies.spacepackets]
git = "https://egit.irs.uni-stuttgart.de/rust/spacepackets.git"
version = "0.11.0-rc.0"
version = "0.11.0-rc.2"
branch = "main"
default-features = false

41
satrs/CHANGELOG.md
View File

@ -8,8 +8,28 @@ and this project adheres to [Semantic Versioning](http://semver.org/).
# [unreleased]
## Added
- Added `params::WritableToBeBytes::to_vec`.
- New `ComponentId` (`u64` typedef for now) which replaces former `TargetId` as a generic
way to identify components.
- Various abstraction and objects for targeted requests. This includes mode request/reply
types for actions, HK and modes.
- `VerificationReportingProvider::owner_id` method.
- Introduced generic `EventMessage` which is generic over the event type and the additional
parameter type. This message also contains the sender ID which can be useful for debugging
or application layer / FDIR logic.
## Changed
- `encoding::ccsds::PacketIdValidator` renamed to `ValidatorU16Id`, which lives in the crate root.
It can be used for both CCSDS packet ID and CCSDS APID validation.
- `EventManager::try_event_handling` not expects a mutable error handling closure instead of
returning the occured errors.
- Renamed `EventManagerBase` to `EventReportCreator`
- Renamed `VerificationReporterCore` to `VerificationReportCreator`.
- Removed `VerificationReporterCore`. The high-level API exposed by `VerificationReporter` and
the low level API exposed by `VerificationReportCreator` should be sufficient for all use-cases.
- Refactored `EventManager` to heavily use generics instead of trait objects.
- `SendEventProvider` -> `EventSendProvider`. `id` trait method renamed to `channel_id`.
- `ListenerTable` -> `ListenerMapProvider`
@ -18,16 +38,37 @@ and this project adheres to [Semantic Versioning](http://semver.org/).
- Refactored ECSS TM sender abstractions to be generic over different message queue backends.
- Refactored Verification Reporter abstractions and implementation to be generic over the sender
instead of using trait objects.
- Renamed `WritableToBeBytes::raw_len` to `WritableToBeBytes::written_len` for consistency.
- `PusServiceProvider` renamed to `PusServiceDistributor` to make the purpose of the object
more clear
- `PusServiceProvider::handle_pus_tc_packet` renamed to `PusServiceDistributor::distribute_packet`.
- `PusServiceDistibutor` and `CcsdsDistributor` now use generics instead of trait objects.
This makes accessing the concrete trait implementations more easy as well.
- Major overhaul of the PUS handling module.
- Replace `TargetId` by `ComponentId`.
- Replace most usages of `ChannelId` by `ComponentId`. A dedicated channel ID has limited usage
due to the nature of typed channels in Rust.
- `CheckTimer` renamed to `CountdownProvider`.
- Renamed `TargetId` to `ComponentId`.
- Replaced most `ChannelId` occurences with `ComponentId`. For typed channels, there is generally
no need for dedicated channel IDs.
- Changed `params::WritableToBeBytes::raw_len` to `written_len` for consistency.
- `EventReporter` caches component ID.
- Renamed `PusService11SchedHandler` to `PusSchedServiceHandler`.
- Fixed general naming of PUS handlers from `handle_one_tc` to `poll_and_handle_next_tc`.
- Reworked verification module: The sender (`impl EcssTmSenderCore`)
now needs to be passed explicitely to the `VerificationReportingProvider` abstraction. This
allows easier sharing of the TM sender component.
## Fixed
- Update deprecated API for `PusScheduler::insert_wrapped_tc_cds_short`
and `PusScheduler::insert_wrapped_tc_cds_long`.
- `EventReporter` uses interior mutability pattern to allow non-mutable API.
## Removed
- Remove `objects` module.
# [v0.2.0-rc.0] 2024-02-21

5
satrs/Cargo.toml
View File

@ -19,7 +19,7 @@ smallvec = "1"
crc = "3"
[dependencies.satrs-shared]
version = "0.1.2"
version = "0.1.3"
path = "../satrs-shared"
[dependencies.num_enum]
@ -72,7 +72,7 @@ optional = true
[dependencies.spacepackets]
git = "https://egit.irs.uni-stuttgart.de/rust/spacepackets.git"
version = "0.11.0-rc.0"
version = "0.11.0-rc.2"
branch = "main"
default-features = false
@ -117,6 +117,7 @@ alloc = [
serde = ["dep:serde", "spacepackets/serde", "satrs-shared/serde"]
crossbeam = ["crossbeam-channel"]
heapless = ["dep:heapless"]
test_util = []
doc-images = []
[package.metadata.docs.rs]

4
satrs/release-checklist.md
View File

@ -4,11 +4,11 @@ Checklist for new releases
# Pre-Release
1. Make sure any new modules are documented sufficiently enough and check docs with
`cargo +nightly doc --all-features --config 'rustdocflags=["--cfg", "doc_cfg"]' --open`.
`cargo +nightly doc --all-features --config 'build.rustdocflags=["--cfg", "docs_rs"]' --open`.
2. Bump version specifier in `Cargo.toml`.
3. Update `CHANGELOG.md`: Convert `unreleased` section into version section with date and add new
`unreleased` section.
4. Run `cargo test --all-features`.
4. Run `cargo test --all-features` or `cargo nextest r --all-features` and `cargo test --doc`.
5. Run `cargo fmt` and `cargo clippy`. Check `cargo msrv` against MSRV in `Cargo.toml`.
6. Wait for CI/CD results for EGit and Github. These also check cross-compilation for bare-metal
targets.

105
satrs/src/action.rs
View File

@ -1,63 +1,68 @@
use crate::{pool::StoreAddr, TargetId};
use crate::{params::Params, pool::StoreAddr};
#[cfg(feature = "alloc")]
pub use alloc_mod::*;
pub type ActionId = u32;
#[derive(Debug, Eq, PartialEq, Clone)]
pub struct ActionRequest {
pub action_id: ActionId,
pub variant: ActionRequestVariant,
}
impl ActionRequest {
pub fn new(action_id: ActionId, variant: ActionRequestVariant) -> Self {
Self { action_id, variant }
}
}
#[non_exhaustive]
#[derive(Clone, Eq, PartialEq, Debug)]
pub enum ActionRequest {
UnsignedIdAndStoreData {
action_id: ActionId,
data_addr: StoreAddr,
},
pub enum ActionRequestVariant {
NoData,
StoreData(StoreAddr),
#[cfg(feature = "alloc")]
UnsignedIdAndVecData {
action_id: ActionId,
data: alloc::vec::Vec<u8>,
},
#[cfg(feature = "alloc")]
StringIdAndVecData {
action_id: alloc::string::String,
data: alloc::vec::Vec<u8>,
},
#[cfg(feature = "alloc")]
StringIdAndStoreData {
action_id: alloc::string::String,
data: StoreAddr,
},
VecData(alloc::vec::Vec<u8>),
}
#[derive(Debug, Clone, PartialEq, Eq)]
pub struct TargetedActionRequest {
target: TargetId,
action_request: ActionRequest,
}
impl TargetedActionRequest {
pub fn new(target: TargetId, action_request: ActionRequest) -> Self {
Self {
target,
action_request,
}
}
#[derive(Debug, PartialEq, Clone)]
pub struct ActionReply {
pub action_id: ActionId,
pub variant: ActionReplyVariant,
}
/// A reply to an action request.
#[non_exhaustive]
#[derive(Clone, Eq, PartialEq, Debug)]
pub enum ActionReply {
CompletionFailed(ActionId),
StepFailed {
id: ActionId,
step: u32,
},
Completed(ActionId),
#[cfg(feature = "alloc")]
CompletedStringId(alloc::string::String),
#[cfg(feature = "alloc")]
CompletionFailedStringId(alloc::string::String),
#[cfg(feature = "alloc")]
StepFailedStringId {
id: alloc::string::String,
step: u32,
},
#[derive(Clone, Debug, PartialEq)]
pub enum ActionReplyVariant {
CompletionFailed(Params),
StepFailed { step: u32, reason: Params },
Completed,
}
#[cfg(feature = "alloc")]
pub mod alloc_mod {
use super::*;
#[derive(Debug, Eq, PartialEq, Clone)]
pub struct ActionRequestStringId {
pub action_id: alloc::string::String,
pub variant: ActionRequestVariant,
}
impl ActionRequestStringId {
pub fn new(action_id: alloc::string::String, variant: ActionRequestVariant) -> Self {
Self { action_id, variant }
}
}
#[derive(Debug, PartialEq, Clone)]
pub struct ActionReplyStringId {
pub action_id: alloc::string::String,
pub variant: ActionReplyVariant,
}
}
#[cfg(test)]
mod tests {}

17
satrs/src/cfdp/dest.rs
View File

@ -5,7 +5,7 @@ use std::path::{Path, PathBuf};
use super::{
filestore::{FilestoreError, VirtualFilestore},
user::{CfdpUser, FileSegmentRecvdParams, MetadataReceivedParams},
CheckTimer, CheckTimerCreator, EntityType, LocalEntityConfig, PacketInfo, PacketTarget,
CheckTimerCreator, CountdownProvider, EntityType, LocalEntityConfig, PacketInfo, PacketTarget,
RemoteEntityConfig, RemoteEntityConfigProvider, State, TimerContext, TransactionId,
TransactionStep,
};
@ -54,7 +54,7 @@ struct TransferState {
completion_disposition: CompletionDisposition,
checksum: u32,
current_check_count: u32,
current_check_timer: Option<Box<dyn CheckTimer>>,
current_check_timer: Option<Box<dyn CountdownProvider>>,
}
impl Default for TransferState {
@ -799,9 +799,9 @@ mod tests {
};
use crate::cfdp::{
filestore::NativeFilestore, user::OwnedMetadataRecvdParams, CheckTimer, CheckTimerCreator,
DefaultFaultHandler, IndicationConfig, RemoteEntityConfig, StdRemoteEntityConfigProvider,
UserFaultHandler, CRC_32,
filestore::NativeFilestore, user::OwnedMetadataRecvdParams, CheckTimerCreator,
CountdownProvider, DefaultFaultHandler, IndicationConfig, RemoteEntityConfig,
StdRemoteEntityConfigProvider, UserFaultHandler, CRC_32,
};
use super::*;
@ -1057,7 +1057,7 @@ mod tests {
expired: Arc<AtomicBool>,
}
impl CheckTimer for TestCheckTimer {
impl CountdownProvider for TestCheckTimer {
fn has_expired(&self) -> bool {
self.expired.load(core::sync::atomic::Ordering::Relaxed)
}
@ -1088,7 +1088,10 @@ mod tests {
}
impl CheckTimerCreator for TestCheckTimerCreator {
fn get_check_timer_provider(&self, timer_context: TimerContext) -> Box<dyn CheckTimer> {
fn get_check_timer_provider(
&self,
timer_context: TimerContext,
) -> Box<dyn CountdownProvider> {
match timer_context {
TimerContext::CheckLimit { .. } => {
Box::new(TestCheckTimer::new(self.check_limit_expired_flag.clone()))

29
satrs/src/cfdp/mod.rs
View File

@ -17,6 +17,8 @@ use alloc::boxed::Box;
#[cfg(feature = "serde")]
use serde::{Deserialize, Serialize};
use crate::time::CountdownProvider;
#[cfg(feature = "std")]
pub mod dest;
#[cfg(feature = "alloc")]
@ -45,7 +47,15 @@ pub enum TimerContext {
},
}
/// Generic abstraction for a check timer which is used by 3 mechanisms of the CFDP protocol.
/// A generic trait which allows CFDP entities to create check timers which are required to
/// implement special procedures in unacknowledged transmission mode, as specified in 4.6.3.2
/// and 4.6.3.3.
///
/// This trait also allows the creation of different check timers depending on context and purpose
/// of the timer, the runtime environment (e.g. standard clock timer vs. timer using a RTC) or
/// other factors.
///
/// The countdown timer is used by 3 mechanisms of the CFDP protocol.
///
/// ## 1. Check limit handling
///
@ -74,22 +84,9 @@ pub enum TimerContext {
/// The timer will be used to perform the Positive Acknowledgement Procedures as specified in
/// 4.7. 1of the CFDP standard. The expiration period will be provided by the Positive ACK timer
/// interval of the remote entity configuration.
pub trait CheckTimer: Debug {
fn has_expired(&self) -> bool;
fn reset(&mut self);
}
/// A generic trait which allows CFDP entities to create check timers which are required to
/// implement special procedures in unacknowledged transmission mode, as specified in 4.6.3.2
/// and 4.6.3.3. The [CheckTimer] documentation provides more information about the purpose of the
/// check timer in the context of CFDP.
///
/// This trait also allows the creation of different check timers depending on context and purpose
/// of the timer, the runtime environment (e.g. standard clock timer vs. timer using a RTC) or
/// other factors.
#[cfg(feature = "alloc")]
pub trait CheckTimerCreator {
fn get_check_timer_provider(&self, timer_context: TimerContext) -> Box<dyn CheckTimer>;
fn get_check_timer_provider(&self, timer_context: TimerContext) -> Box<dyn CountdownProvider>;
}
/// Simple implementation of the [CheckTimerCreator] trait assuming a standard runtime.
@ -112,7 +109,7 @@ impl StdCheckTimer {
}
#[cfg(feature = "std")]
impl CheckTimer for StdCheckTimer {
impl CountdownProvider for StdCheckTimer {
fn has_expired(&self) -> bool {
let elapsed_time = self.start_time.elapsed();
if elapsed_time.as_secs() > self.expiry_time_seconds {

101
satrs/src/encoding/ccsds.rs
View File

@ -1,65 +1,4 @@
#[cfg(feature = "alloc")]
use alloc::vec::Vec;
#[cfg(feature = "alloc")]
use hashbrown::HashSet;
use spacepackets::PacketId;
use crate::tmtc::ReceivesTcCore;
pub trait PacketIdLookup {
fn validate(&self, packet_id: u16) -> bool;
}
#[cfg(feature = "alloc")]
impl PacketIdLookup for Vec<u16> {
fn validate(&self, packet_id: u16) -> bool {
self.contains(&packet_id)
}
}
#[cfg(feature = "alloc")]
impl PacketIdLookup for HashSet<u16> {
fn validate(&self, packet_id: u16) -> bool {
self.contains(&packet_id)
}
}
impl PacketIdLookup for [u16] {
fn validate(&self, packet_id: u16) -> bool {
self.binary_search(&packet_id).is_ok()
}
}
impl PacketIdLookup for &[u16] {
fn validate(&self, packet_id: u16) -> bool {
self.binary_search(&packet_id).is_ok()
}
}
#[cfg(feature = "alloc")]
impl PacketIdLookup for Vec<PacketId> {
fn validate(&self, packet_id: u16) -> bool {
self.contains(&PacketId::from(packet_id))
}
}
#[cfg(feature = "alloc")]
impl PacketIdLookup for HashSet<PacketId> {
fn validate(&self, packet_id: u16) -> bool {
self.contains(&PacketId::from(packet_id))
}
}
impl PacketIdLookup for [PacketId] {
fn validate(&self, packet_id: u16) -> bool {
self.binary_search(&PacketId::from(packet_id)).is_ok()
}
}
impl PacketIdLookup for &[PacketId] {
fn validate(&self, packet_id: u16) -> bool {
self.binary_search(&PacketId::from(packet_id)).is_ok()
}
}
use crate::{tmtc::ReceivesTcCore, ValidatorU16Id};
/// This function parses a given buffer for tightly packed CCSDS space packets. It uses the
/// [PacketId] field of the CCSDS packets to detect the start of a CCSDS space packet and then
@ -75,7 +14,7 @@ impl PacketIdLookup for &[PacketId] {
/// error will be returned.
pub fn parse_buffer_for_ccsds_space_packets<E>(
buf: &mut [u8],
packet_id_lookup: &(impl PacketIdLookup + ?Sized),
packet_id_validator: &(impl ValidatorU16Id + ?Sized),
tc_receiver: &mut (impl ReceivesTcCore<Error = E> + ?Sized),
next_write_idx: &mut usize,
) -> Result<u32, E> {
@ -88,7 +27,7 @@ pub fn parse_buffer_for_ccsds_space_packets<E>(
break;
}
let packet_id = u16::from_be_bytes(buf[current_idx..current_idx + 2].try_into().unwrap());
if packet_id_lookup.validate(packet_id) {
if packet_id_validator.validate(packet_id) {
let length_field =
u16::from_be_bytes(buf[current_idx + 4..current_idx + 6].try_into().unwrap());
let packet_size = length_field + 7;
@ -123,13 +62,13 @@ mod tests {
const TEST_APID_0: u16 = 0x02;
const TEST_APID_1: u16 = 0x10;
const TEST_PACKET_ID_0: PacketId = PacketId::const_tc(true, TEST_APID_0);
const TEST_PACKET_ID_1: PacketId = PacketId::const_tc(true, TEST_APID_1);
const TEST_PACKET_ID_0: PacketId = PacketId::new_for_tc(true, TEST_APID_0);
const TEST_PACKET_ID_1: PacketId = PacketId::new_for_tc(true, TEST_APID_1);
#[test]
fn test_basic() {
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_from_apid(TEST_APID_0);
let ping_tc = PusTcCreator::new_simple(sph, 17, 1, &[], true);
let mut buffer: [u8; 32] = [0; 32];
let packet_len = ping_tc
.write_to_bytes(&mut buffer)
@ -155,9 +94,9 @@ mod tests {
#[test]
fn test_multi_packet() {
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 action_tc = PusTcCreator::new_simple(&mut sph, 8, 0, None, true);
let sph = SpHeader::new_from_apid(TEST_APID_0);
let ping_tc = PusTcCreator::new_simple(sph, 17, 1, &[], true);
let action_tc = PusTcCreator::new_simple(sph, 8, 0, &[], true);
let mut buffer: [u8; 32] = [0; 32];
let packet_len_ping = ping_tc
.write_to_bytes(&mut buffer)
@ -190,10 +129,10 @@ mod tests {
#[test]
fn test_multi_apid() {
let mut sph = SpHeader::tc_unseg(TEST_APID_0, 0, 0).unwrap();
let ping_tc = PusTcCreator::new_simple(&mut sph, 17, 1, None, true);
sph = SpHeader::tc_unseg(TEST_APID_1, 0, 0).unwrap();
let action_tc = PusTcCreator::new_simple(&mut sph, 8, 0, None, true);
let sph = SpHeader::new_from_apid(TEST_APID_0);
let ping_tc = PusTcCreator::new_simple(sph, 17, 1, &[], true);
let sph = SpHeader::new_from_apid(TEST_APID_1);
let action_tc = PusTcCreator::new_simple(sph, 8, 0, &[], true);
let mut buffer: [u8; 32] = [0; 32];
let packet_len_ping = ping_tc
.write_to_bytes(&mut buffer)
@ -226,10 +165,10 @@ mod tests {
#[test]
fn test_split_packet_multi() {
let mut sph = SpHeader::tc_unseg(TEST_APID_0, 0, 0).unwrap();
let ping_tc = PusTcCreator::new_simple(&mut sph, 17, 1, None, true);
sph = SpHeader::tc_unseg(TEST_APID_1, 0, 0).unwrap();
let action_tc = PusTcCreator::new_simple(&mut sph, 8, 0, None, true);
let ping_tc =
PusTcCreator::new_simple(SpHeader::new_from_apid(TEST_APID_0), 17, 1, &[], true);
let action_tc =
PusTcCreator::new_simple(SpHeader::new_from_apid(TEST_APID_1), 8, 0, &[], true);
let mut buffer: [u8; 32] = [0; 32];
let packet_len_ping = ping_tc
.write_to_bytes(&mut buffer)
@ -257,8 +196,8 @@ mod tests {
#[test]
fn test_one_split_packet() {
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 ping_tc =
PusTcCreator::new_simple(SpHeader::new_from_apid(TEST_APID_0), 17, 1, &[], true);
let mut buffer: [u8; 32] = [0; 32];
let packet_len_ping = ping_tc
.write_to_bytes(&mut buffer)

564
satrs/src/event_man.rs
View File

@ -11,7 +11,7 @@
//! about events first:
//!
//! The event manager has a listener table abstracted by the [ListenerMapProvider], which maps
//! listener groups identified by [ListenerKey]s to a [sender ID][ChannelId].
//! listener groups identified by [ListenerKey]s to a [listener ID][ComponentId].
//! It also contains a sender table abstracted by the [SenderMapProvider] which maps these sender
//! IDs to concrete [EventSendProvider]s. A simple approach would be to use one send event provider
//! for each OBSW thread and then subscribe for all interesting events for a particular thread
@ -28,8 +28,8 @@
//! manager.
//! 3. The event manager receives the receiver component as part of a [EventReceiveProvider]
//! implementation so all events are routed to the manager.
//! 4. Create the [send event providers][EventSendProvider]s which allow routing events to
//! subscribers. You can now use their [sender IDs][EventSendProvider::channel_id] to subscribe
//! 4. Create the [event sender map][SenderMapProvider]s which allow routing events to
//! subscribers. You can now use the subscriber component IDs to subscribe
//! for event groups, for example by using the [EventManager::subscribe_single] method.
//! 5. Add the send provider as well using the [EventManager::add_sender] call so the event
//! manager can route listener groups to a the send provider.
@ -45,12 +45,13 @@
//! for a concrete example using multi-threading where events are routed to
//! different threads.
use crate::events::{EventU16, EventU32, GenericEvent, LargestEventRaw, LargestGroupIdRaw};
use crate::params::{Params, ParamsHeapless};
use crate::params::Params;
use crate::queue::GenericSendError;
use core::fmt::Debug;
use core::marker::PhantomData;
use core::slice::Iter;
use crate::ChannelId;
use crate::ComponentId;
#[cfg(feature = "alloc")]
pub use alloc_mod::*;
@ -65,87 +66,122 @@ pub enum ListenerKey {
All,
}
pub type EventWithHeaplessAuxData<Event> = (Event, Option<ParamsHeapless>);
pub type EventU32WithHeaplessAuxData = EventWithHeaplessAuxData<EventU32>;
pub type EventU16WithHeaplessAuxData = EventWithHeaplessAuxData<EventU16>;
pub type EventWithAuxData<Event> = (Event, Option<Params>);
pub type EventU32WithAuxData = EventWithAuxData<EventU32>;
pub type EventU16WithAuxData = EventWithAuxData<EventU16>;
pub trait EventSendProvider<EV: GenericEvent, AuxDataProvider = Params> {
fn channel_id(&self) -> ChannelId;
fn send_no_data(&self, event: EV) -> Result<(), GenericSendError> {
self.send(event, None)
#[derive(Debug)]
pub struct EventMessage<Event: GenericEvent, ParamProvider: Debug = Params> {
sender_id: ComponentId,
event: Event,
params: Option<ParamProvider>,
}
fn send(&self, event: EV, aux_data: Option<AuxDataProvider>) -> Result<(), GenericSendError>;
impl<Event: GenericEvent, ParamProvider: Debug + Clone> EventMessage<Event, ParamProvider> {
pub fn new_generic(
sender_id: ComponentId,
event: Event,
params: Option<&ParamProvider>,
) -> Self {
Self {
sender_id,
event,
params: params.cloned(),
}
}
pub fn sender_id(&self) -> ComponentId {
self.sender_id
}
pub fn event(&self) -> Event {
self.event
}
pub fn params(&self) -> Option<&ParamProvider> {
self.params.as_ref()
}
pub fn new(sender_id: ComponentId, event: Event) -> Self {
Self::new_generic(sender_id, event, None)
}
pub fn new_with_params(sender_id: ComponentId, event: Event, params: &ParamProvider) -> Self {
Self::new_generic(sender_id, event, Some(params))
}
}
pub type EventMessageU32 = EventMessage<EventU32, Params>;
pub type EventMessageU16 = EventMessage<EventU16, Params>;
/// Generic abstraction
pub trait EventSendProvider<Event: GenericEvent, ParamProvider: Debug = Params> {
type Error;
fn target_id(&self) -> ComponentId;
fn send(&self, message: EventMessage<Event, ParamProvider>) -> Result<(), Self::Error>;
}
/// Generic abstraction for an event receiver.
pub trait EventReceiveProvider<Event: GenericEvent, AuxDataProvider = Params> {
pub trait EventReceiveProvider<Event: GenericEvent, ParamsProvider: Debug = Params> {
type Error;
/// This function has to be provided by any event receiver. A call may or may not return
/// an event and optional auxiliary data.
fn try_recv_event(&self) -> Option<(Event, Option<AuxDataProvider>)>;
fn try_recv_event(&self) -> Result<Option<EventMessage<Event, ParamsProvider>>, Self::Error>;
}
pub trait ListenerMapProvider {
#[cfg(feature = "alloc")]
#[cfg_attr(doc_cfg, doc(cfg(feature = "alloc")))]
fn get_listeners(&self) -> alloc::vec::Vec<ListenerKey>;
fn contains_listener(&self, key: &ListenerKey) -> bool;
fn get_listener_ids(&self, key: &ListenerKey) -> Option<Iter<ChannelId>>;
fn add_listener(&mut self, key: ListenerKey, sender_id: ChannelId) -> bool;
fn get_listener_ids(&self, key: &ListenerKey) -> Option<Iter<ComponentId>>;
fn add_listener(&mut self, key: ListenerKey, listener_id: ComponentId) -> bool;
fn remove_duplicates(&mut self, key: &ListenerKey);
}
pub trait SenderMapProvider<
SP: EventSendProvider<EV, AUX>,
EV: GenericEvent = EventU32,
AUX = Params,
EventSender: EventSendProvider<Event, ParamProvider>,
Event: GenericEvent = EventU32,
ParamProvider: Debug = Params,
>
{
fn contains_send_event_provider(&self, id: &ChannelId) -> bool;
fn contains_send_event_provider(&self, target_id: &ComponentId) -> bool;
fn get_send_event_provider(&self, id: &ChannelId) -> Option<&SP>;
fn add_send_event_provider(&mut self, send_provider: SP) -> bool;
fn get_send_event_provider(&self, target_id: &ComponentId) -> Option<&EventSender>;
fn add_send_event_provider(&mut self, send_provider: EventSender) -> bool;
}
/// Generic event manager implementation.
///
/// # Generics
///
/// * `ERP`: [EventReceiveProvider] used to receive all events.
/// * `SMP`: [SenderMapProvider] which maps channel IDs to send providers.
/// * `LTR`: [ListenerMapProvider] which maps listener keys to channel IDs.
/// * `SP`: [EventSendProvider] contained within the sender map which sends the events.
/// * `EV`: The event type. This type must implement the [GenericEvent]. Currently only [EventU32]
/// * `EventReceiver`: [EventReceiveProvider] used to receive all events.
/// * `SenderMap`: [SenderMapProvider] which maps channel IDs to send providers.
/// * `ListenerMap`: [ListenerMapProvider] which maps listener keys to channel IDs.
/// * `EventSender`: [EventSendProvider] contained within the sender map which sends the events.
/// * `Ev`: The event type. This type must implement the [GenericEvent]. Currently only [EventU32]
/// and [EventU16] are supported.
/// * `AUX`: Auxiliary data which is sent with the event to provide optional context information
/// * `Data`: Auxiliary data which is sent with the event to provide optional context information
pub struct EventManager<
ERP: EventReceiveProvider<EV, AUX>,
SMP: SenderMapProvider<SP, EV, AUX>,
LTR: ListenerMapProvider,
SP: EventSendProvider<EV, AUX>,
EV: GenericEvent = EventU32,
AUX = Params,
EventReceiver: EventReceiveProvider<Event, ParamProvider>,
SenderMap: SenderMapProvider<EventSender, Event, ParamProvider>,
ListenerMap: ListenerMapProvider,
EventSender: EventSendProvider<Event, ParamProvider>,
Event: GenericEvent = EventU32,
ParamProvider: Debug = Params,
> {
event_receiver: ERP,
sender_map: SMP,
listener_map: LTR,
phantom: core::marker::PhantomData<(SP, EV, AUX)>,
event_receiver: EventReceiver,
sender_map: SenderMap,
listener_map: ListenerMap,
phantom: core::marker::PhantomData<(EventSender, Event, ParamProvider)>,
}
#[derive(Debug)]
pub enum EventRoutingResult<EV: GenericEvent, AUX> {
pub enum EventRoutingResult<Event: GenericEvent, ParamProvider: Debug> {
/// No event was received
Empty,
/// An event was received and routed to listeners.
Handled {
num_recipients: u32,
event: EV,
aux_data: Option<AUX>,
event_msg: EventMessage<Event, ParamProvider>,
},
}
@ -153,35 +189,29 @@ pub enum EventRoutingResult<EV: GenericEvent, AUX> {
pub enum EventRoutingError {
Send(GenericSendError),
NoSendersForKey(ListenerKey),
NoSenderForId(ChannelId),
}
#[derive(Debug)]
pub struct EventRoutingErrorsWithResult<EV: GenericEvent, AUX> {
pub result: EventRoutingResult<EV, AUX>,
pub errors: [Option<EventRoutingError>; 3],
NoSenderForId(ComponentId),
}
impl<
ER: EventReceiveProvider<EV, AUX>,
S: SenderMapProvider<SP, EV, AUX>,
L: ListenerMapProvider,
SP: EventSendProvider<EV, AUX>,
EV: GenericEvent + Copy,
AUX: Clone,
> EventManager<ER, S, L, SP, EV, AUX>
EventReceiver: EventReceiveProvider<Event, ParamProvider>,
SenderMap: SenderMapProvider<EventSender, Event, ParamProvider>,
ListenerMap: ListenerMapProvider,
EventSender: EventSendProvider<Event, ParamProvider>,
Event: GenericEvent + Copy,
ParamProvider: Debug,
> EventManager<EventReceiver, SenderMap, ListenerMap, EventSender, Event, ParamProvider>
{
pub fn remove_duplicates(&mut self, key: &ListenerKey) {
self.listener_map.remove_duplicates(key)
}
/// Subscribe for a unique event.
pub fn subscribe_single(&mut self, event: &EV, sender_id: ChannelId) {
pub fn subscribe_single(&mut self, event: &Event, sender_id: ComponentId) {
self.update_listeners(ListenerKey::Single(event.raw_as_largest_type()), sender_id);
}
/// Subscribe for an event group.
pub fn subscribe_group(&mut self, group_id: LargestGroupIdRaw, sender_id: ChannelId) {
pub fn subscribe_group(&mut self, group_id: LargestGroupIdRaw, sender_id: ComponentId) {
self.update_listeners(ListenerKey::Group(group_id), sender_id);
}
@ -189,21 +219,24 @@ impl<
///
/// For example, this can be useful for a handler component which sends every event as
/// a telemetry packet.
pub fn subscribe_all(&mut self, sender_id: ChannelId) {
pub fn subscribe_all(&mut self, sender_id: ComponentId) {
self.update_listeners(ListenerKey::All, sender_id);
}
}
impl<
ERP: EventReceiveProvider<EV, AUX>,
SMP: SenderMapProvider<SP, EV, AUX>,
LTR: ListenerMapProvider,
SP: EventSendProvider<EV, AUX>,
EV: GenericEvent + Copy,
AUX: Clone,
> EventManager<ERP, SMP, LTR, SP, EV, AUX>
EventReceiver: EventReceiveProvider<Event, ParamProvider>,
SenderMap: SenderMapProvider<EventSenderMap, Event, ParamProvider>,
ListenerMap: ListenerMapProvider,
EventSenderMap: EventSendProvider<Event, ParamProvider>,
Event: GenericEvent + Copy,
ParamProvider: Debug,
> EventManager<EventReceiver, SenderMap, ListenerMap, EventSenderMap, Event, ParamProvider>
{
pub fn new_with_custom_maps(event_receiver: ERP, sender_map: SMP, listener_map: LTR) -> Self {
pub fn new_with_custom_maps(
event_receiver: EventReceiver,
sender_map: SenderMap,
listener_map: ListenerMap,
) -> Self {
EventManager {
listener_map,
sender_map,
@ -213,81 +246,79 @@ impl<
}
/// Add a new sender component which can be used to send events to subscribers.
pub fn add_sender(&mut self, send_provider: SP) {
pub fn add_sender(&mut self, send_provider: EventSenderMap) {
if !self
.sender_map
.contains_send_event_provider(&send_provider.channel_id())
.contains_send_event_provider(&send_provider.target_id())
{
self.sender_map.add_send_event_provider(send_provider);
}
}
/// Generic function to update the event subscribers.
fn update_listeners(&mut self, key: ListenerKey, sender_id: ChannelId) {
fn update_listeners(&mut self, key: ListenerKey, sender_id: ComponentId) {
self.listener_map.add_listener(key, sender_id);
}
}
impl<
EventReceiver: EventReceiveProvider<Event, ParamProvider>,
SenderMap: SenderMapProvider<EventSenderMap, Event, ParamProvider>,
ListenerMap: ListenerMapProvider,
EventSenderMap: EventSendProvider<Event, ParamProvider, Error = GenericSendError>,
Event: GenericEvent + Copy,
ParamProvider: Clone + Debug,
> EventManager<EventReceiver, SenderMap, ListenerMap, EventSenderMap, Event, ParamProvider>
{
/// This function will use the cached event receiver and try to receive one event.
/// If an event was received, it will try to route that event to all subscribed event listeners.
/// If this works without any issues, the [EventRoutingResult] will contain context information
/// about the routed event.
///
/// This function will track up to 3 errors returned as part of the
/// [EventRoutingErrorsWithResult] error struct.
pub fn try_event_handling(
/// If an error occurs during the routing, the error handler will be called. The error handler
/// should take a reference to the event message as the first argument, and the routing error
/// as the second argument.
pub fn try_event_handling<E: FnMut(&EventMessage<Event, ParamProvider>, EventRoutingError)>(
&self,
) -> Result<EventRoutingResult<EV, AUX>, EventRoutingErrorsWithResult<EV, AUX>> {
let mut err_idx = 0;
let mut err_slice = [None, None, None];
mut error_handler: E,
) -> EventRoutingResult<Event, ParamProvider> {
let mut num_recipients = 0;
let mut add_error = |error: EventRoutingError| {
if err_idx < 3 {
err_slice[err_idx] = Some(error);
err_idx += 1;
}
};
let mut send_handler = |key: &ListenerKey, event: EV, aux_data: &Option<AUX>| {
let mut send_handler =
|key: &ListenerKey, event_msg: &EventMessage<Event, ParamProvider>| {
if self.listener_map.contains_listener(key) {
if let Some(ids) = self.listener_map.get_listener_ids(key) {
for id in ids {
if let Some(sender) = self.sender_map.get_send_event_provider(id) {
if let Err(e) = sender.send(event, aux_data.clone()) {
add_error(EventRoutingError::Send(e));
if let Err(e) = sender.send(EventMessage::new_generic(
*id,
event_msg.event,
event_msg.params.as_ref(),
)) {
error_handler(event_msg, EventRoutingError::Send(e));
} else {
num_recipients += 1;
}
} else {
add_error(EventRoutingError::NoSenderForId(*id));
error_handler(event_msg, EventRoutingError::NoSenderForId(*id));
}
}
} else {
add_error(EventRoutingError::NoSendersForKey(*key));
error_handler(event_msg, EventRoutingError::NoSendersForKey(*key));
}
}
};
if let Some((event, aux_data)) = self.event_receiver.try_recv_event() {
let single_key = ListenerKey::Single(event.raw_as_largest_type());
send_handler(&single_key, event, &aux_data);
let group_key = ListenerKey::Group(event.group_id_as_largest_type());
send_handler(&group_key, event, &aux_data);
send_handler(&ListenerKey::All, event, &aux_data);
if err_idx > 0 {
return Err(EventRoutingErrorsWithResult {
result: EventRoutingResult::Handled {
if let Ok(Some(event_msg)) = self.event_receiver.try_recv_event() {
let single_key = ListenerKey::Single(event_msg.event.raw_as_largest_type());
send_handler(&single_key, &event_msg);
let group_key = ListenerKey::Group(event_msg.event.group_id_as_largest_type());
send_handler(&group_key, &event_msg);
send_handler(&ListenerKey::All, &event_msg);
return EventRoutingResult::Handled {
num_recipients,
event,
aux_data,
},
errors: err_slice,
});
event_msg,
};
}
return Ok(EventRoutingResult::Handled {
num_recipients,
event,
aux_data,
});
}
Ok(EventRoutingResult::Empty)
EventRoutingResult::Empty
}
}
@ -311,23 +342,31 @@ pub mod alloc_mod {
/// and the [DefaultListenerMap]. It uses
/// [bounded mpsc senders](https://doc.rust-lang.org/std/sync/mpsc/struct.SyncSender.html) as the
/// message queue backend.
pub type EventManagerWithBoundedMpsc<EV = EventU32, AUX = Params> = EventManager<
pub type EventManagerWithBoundedMpsc<Event = EventU32, ParamProvider = Params> = EventManager<
MpscEventReceiver,
DefaultSenderMap<EventSenderMpscBounded<EV>, EV, AUX>,
DefaultSenderMap<EventSenderMpscBounded<Event>, Event, ParamProvider>,
DefaultListenerMap,
EventSenderMpscBounded<EV>,
EventSenderMpscBounded<Event>,
>;
impl<
ER: EventReceiveProvider<EV, AUX>,
SP: EventSendProvider<EV, AUX>,
EV: GenericEvent + Copy,
AUX: 'static,
> EventManager<ER, DefaultSenderMap<SP, EV, AUX>, DefaultListenerMap, SP, EV, AUX>
EventReceiver: EventReceiveProvider<Event, ParamProvider>,
EventSender: EventSendProvider<Event, ParamProvider>,
Event: GenericEvent + Copy,
ParamProvider: 'static + Debug,
>
EventManager<
EventReceiver,
DefaultSenderMap<EventSender, Event, ParamProvider>,
DefaultListenerMap,
EventSender,
Event,
ParamProvider,
>
{
/// Create an event manager where the sender table will be the [DefaultSenderMap]
/// and the listener table will be the [DefaultListenerMap].
pub fn new(event_receiver: ER) -> Self {
pub fn new(event_receiver: EventReceiver) -> Self {
Self {
listener_map: DefaultListenerMap::default(),
sender_map: DefaultSenderMap::default(),
@ -342,7 +381,7 @@ pub mod alloc_mod {
/// Simple implementation which uses a [HashMap] and a [Vec] internally.
#[derive(Default)]
pub struct DefaultListenerMap {
listeners: HashMap<ListenerKey, Vec<ChannelId>>,
listeners: HashMap<ListenerKey, Vec<ComponentId>>,
}
impl ListenerMapProvider for DefaultListenerMap {
@ -358,11 +397,11 @@ pub mod alloc_mod {
self.listeners.contains_key(key)
}
fn get_listener_ids(&self, key: &ListenerKey) -> Option<Iter<ChannelId>> {
fn get_listener_ids(&self, key: &ListenerKey) -> Option<Iter<ComponentId>> {
self.listeners.get(key).map(|vec| vec.iter())
}
fn add_listener(&mut self, key: ListenerKey, sender_id: ChannelId) -> bool {
fn add_listener(&mut self, key: ListenerKey, sender_id: ComponentId) -> bool {
if let Some(existing_list) = self.listeners.get_mut(&key) {
existing_list.push(sender_id);
} else {
@ -384,16 +423,19 @@ pub mod alloc_mod {
///
/// Simple implementation which uses a [HashMap] internally.
pub struct DefaultSenderMap<
SP: EventSendProvider<EV, AUX>,
EV: GenericEvent = EventU32,
AUX = Params,
EventSender: EventSendProvider<Event, ParamProvider>,
Event: GenericEvent = EventU32,
ParamProvider: Debug = Params,
> {
senders: HashMap<ChannelId, SP>,
phantom: PhantomData<(EV, AUX)>,
senders: HashMap<ComponentId, EventSender>,
phantom: PhantomData<(Event, ParamProvider)>,
}
impl<SP: EventSendProvider<EV, AUX>, EV: GenericEvent, AUX> Default
for DefaultSenderMap<SP, EV, AUX>
impl<
EventSender: EventSendProvider<Event, ParamProvider>,
Event: GenericEvent,
ParamProvider: Debug,
> Default for DefaultSenderMap<EventSender, Event, ParamProvider>
{
fn default() -> Self {
Self {
@ -403,21 +445,25 @@ pub mod alloc_mod {
}
}
impl<SP: EventSendProvider<EV, AUX>, EV: GenericEvent, AUX> SenderMapProvider<SP, EV, AUX>
for DefaultSenderMap<SP, EV, AUX>
impl<
EventSender: EventSendProvider<Event, ParamProvider>,
Event: GenericEvent,
ParamProvider: Debug,
> SenderMapProvider<EventSender, Event, ParamProvider>
for DefaultSenderMap<EventSender, Event, ParamProvider>
{
fn contains_send_event_provider(&self, id: &ChannelId) -> bool {
fn contains_send_event_provider(&self, id: &ComponentId) -> bool {
self.senders.contains_key(id)
}
fn get_send_event_provider(&self, id: &ChannelId) -> Option<&SP> {
fn get_send_event_provider(&self, id: &ComponentId) -> Option<&EventSender> {
self.senders
.get(id)
.filter(|sender| sender.channel_id() == *id)
.filter(|sender| sender.target_id() == *id)
}
fn add_send_event_provider(&mut self, send_provider: SP) -> bool {
let id = send_provider.channel_id();
fn add_send_event_provider(&mut self, send_provider: EventSender) -> bool {
let id = send_provider.target_id();
if self.senders.contains_key(&id) {
return false;
}
@ -428,26 +474,33 @@ pub mod alloc_mod {
#[cfg(feature = "std")]
pub mod std_mod {
use crate::queue::GenericReceiveError;
use super::*;
use std::sync::mpsc;
pub struct MpscEventReceiver<Event: GenericEvent + Send = EventU32> {
mpsc_receiver: mpsc::Receiver<(Event, Option<Params>)>,
receiver: mpsc::Receiver<EventMessage<Event>>,
}
impl<Event: GenericEvent + Send> MpscEventReceiver<Event> {
pub fn new(receiver: mpsc::Receiver<(Event, Option<Params>)>) -> Self {
Self {
mpsc_receiver: receiver,
}
pub fn new(receiver: mpsc::Receiver<EventMessage<Event>>) -> Self {
Self { receiver }
}
}
impl<Event: GenericEvent + Send> EventReceiveProvider<Event> for MpscEventReceiver<Event> {
fn try_recv_event(&self) -> Option<EventWithAuxData<Event>> {
if let Ok(event_and_data) = self.mpsc_receiver.try_recv() {
return Some(event_and_data);
type Error = GenericReceiveError;
fn try_recv_event(&self) -> Result<Option<EventMessage<Event>>, Self::Error> {
match self.receiver.try_recv() {
Ok(msg) => Ok(Some(msg)),
Err(e) => match e {
mpsc::TryRecvError::Empty => Ok(None),
mpsc::TryRecvError::Disconnected => {
Err(GenericReceiveError::TxDisconnected(None))
}
},
}
None
}
}
@ -458,23 +511,26 @@ pub mod std_mod {
/// send events.
#[derive(Clone)]
pub struct EventSenderMpsc<Event: GenericEvent + Send> {
id: u32,
sender: mpsc::Sender<(Event, Option<Params>)>,
target_id: ComponentId,
sender: mpsc::Sender<EventMessage<Event>>,
}
impl<Event: GenericEvent + Send> EventSenderMpsc<Event> {
pub fn new(id: u32, sender: mpsc::Sender<(Event, Option<Params>)>) -> Self {
Self { id, sender }
pub fn new(target_id: ComponentId, sender: mpsc::Sender<EventMessage<Event>>) -> Self {
Self { target_id, sender }
}
}
impl<Event: GenericEvent + Send> EventSendProvider<Event> for EventSenderMpsc<Event> {
fn channel_id(&self) -> u32 {
self.id
type Error = GenericSendError;
fn target_id(&self) -> ComponentId {
self.target_id
}
fn send(&self, event: Event, aux_data: Option<Params>) -> Result<(), GenericSendError> {
fn send(&self, event_msg: EventMessage<Event>) -> Result<(), GenericSendError> {
self.sender
.send((event, aux_data))
.send(event_msg)
.map_err(|_| GenericSendError::RxDisconnected)
}
}
@ -483,19 +539,19 @@ pub mod std_mod {
/// events. This has the advantage that the channel is bounded and thus more deterministic.
#[derive(Clone)]
pub struct EventSenderMpscBounded<Event: GenericEvent + Send> {
channel_id: u32,
sender: mpsc::SyncSender<(Event, Option<Params>)>,
target_id: ComponentId,
sender: mpsc::SyncSender<EventMessage<Event>>,
capacity: usize,
}
impl<Event: GenericEvent + Send> EventSenderMpscBounded<Event> {
pub fn new(
channel_id: u32,
sender: mpsc::SyncSender<(Event, Option<Params>)>,
target_id: ComponentId,
sender: mpsc::SyncSender<EventMessage<Event>>,
capacity: usize,
) -> Self {
Self {
channel_id,
target_id,
sender,
capacity,
}
@ -503,11 +559,14 @@ pub mod std_mod {
}
impl<Event: GenericEvent + Send> EventSendProvider<Event> for EventSenderMpscBounded<Event> {
fn channel_id(&self) -> u32 {
self.channel_id
type Error = GenericSendError;
fn target_id(&self) -> ComponentId {
self.target_id
}
fn send(&self, event: Event, aux_data: Option<Params>) -> Result<(), GenericSendError> {
if let Err(e) = self.sender.try_send((event, aux_data)) {
fn send(&self, event_msg: EventMessage<Event>) -> Result<(), Self::Error> {
if let Err(e) = self.sender.try_send(event_msg) {
return match e {
mpsc::TrySendError::Full(_) => {
Err(GenericSendError::QueueFull(Some(self.capacity as u32)))
@ -530,19 +589,20 @@ mod tests {
use super::*;
use crate::event_man::EventManager;
use crate::events::{EventU32, GenericEvent, Severity};
use crate::params::ParamsRaw;
use crate::params::{ParamsHeapless, ParamsRaw};
use crate::pus::test_util::{TEST_COMPONENT_ID_0, TEST_COMPONENT_ID_1};
use std::format;
use std::sync::mpsc::{self, channel, Receiver, Sender};
use std::sync::mpsc::{self};
const TEST_EVENT: EventU32 = EventU32::const_new(Severity::INFO, 0, 5);
fn check_next_event(
expected: EventU32,
receiver: &Receiver<EventU32WithAuxData>,
receiver: &mpsc::Receiver<EventMessageU32>,
) -> Option<Params> {
if let Ok(event) = receiver.try_recv() {
assert_eq!(event.0, expected);
return event.1;
if let Ok(event_msg) = receiver.try_recv() {
assert_eq!(event_msg.event, expected);
return event_msg.params;
}
None
}
@ -555,17 +615,16 @@ mod tests {
assert!(matches!(res, EventRoutingResult::Handled { .. }));
if let EventRoutingResult::Handled {
num_recipients,
event,
..
event_msg,
} = res
{
assert_eq!(event, expected);
assert_eq!(event_msg.event, expected);
assert_eq!(num_recipients, expected_num_sent);
}
}
fn generic_event_man() -> (Sender<EventU32WithAuxData>, EventManagerWithMpsc) {
let (event_sender, manager_queue) = channel();
fn generic_event_man() -> (mpsc::Sender<EventMessageU32>, EventManagerWithMpsc) {
let (event_sender, manager_queue) = mpsc::channel();
let event_man_receiver = MpscEventReceiver::new(manager_queue);
(event_sender, EventManager::new(event_man_receiver))
}
@ -575,48 +634,56 @@ mod tests {
let (event_sender, mut event_man) = generic_event_man();
let event_grp_0 = EventU32::new(Severity::INFO, 0, 0).unwrap();
let event_grp_1_0 = EventU32::new(Severity::HIGH, 1, 0).unwrap();
let (single_event_sender, single_event_receiver) = channel();
let (single_event_sender, single_event_receiver) = mpsc::channel();
let single_event_listener = EventSenderMpsc::new(0, single_event_sender);
event_man.subscribe_single(&event_grp_0, single_event_listener.channel_id());
event_man.subscribe_single(&event_grp_0, single_event_listener.target_id());
event_man.add_sender(single_event_listener);
let (group_event_sender_0, group_event_receiver_0) = channel();
let (group_event_sender_0, group_event_receiver_0) = mpsc::channel();
let group_event_listener = EventU32SenderMpsc::new(1, group_event_sender_0);
event_man.subscribe_group(event_grp_1_0.group_id(), group_event_listener.channel_id());
event_man.subscribe_group(event_grp_1_0.group_id(), group_event_listener.target_id());
event_man.add_sender(group_event_listener);
let error_handler = |event_msg: &EventMessageU32, e: EventRoutingError| {
panic!("routing error occurred for event {:?}: {:?}", event_msg, e);
};
// Test event with one listener
event_sender
.send((event_grp_0, None))
.send(EventMessage::new(TEST_COMPONENT_ID_0.id(), event_grp_0))
.expect("Sending single error failed");
let res = event_man.try_event_handling();
assert!(res.is_ok());
check_handled_event(res.unwrap(), event_grp_0, 1);
let res = event_man.try_event_handling(&error_handler);
// assert!(res.is_ok());
check_handled_event(res, event_grp_0, 1);
check_next_event(event_grp_0, &single_event_receiver);
// Test event which is sent to all group listeners
event_sender
.send((event_grp_1_0, None))
.send(EventMessage::new(TEST_COMPONENT_ID_1.id(), event_grp_1_0))
.expect("Sending group error failed");
let res = event_man.try_event_handling();
assert!(res.is_ok());
check_handled_event(res.unwrap(), event_grp_1_0, 1);
let res = event_man.try_event_handling(&error_handler);
check_handled_event(res, event_grp_1_0, 1);
check_next_event(event_grp_1_0, &group_event_receiver_0);
}
#[test]
fn test_with_basic_aux_data() {
fn test_with_basic_params() {
let error_handler = |event_msg: &EventMessageU32, e: EventRoutingError| {
panic!("routing error occurred for event {:?}: {:?}", event_msg, e);
};
let (event_sender, mut event_man) = generic_event_man();
let event_grp_0 = EventU32::new(Severity::INFO, 0, 0).unwrap();
let (single_event_sender, single_event_receiver) = channel();
let (single_event_sender, single_event_receiver) = mpsc::channel();
let single_event_listener = EventSenderMpsc::new(0, single_event_sender);
event_man.subscribe_single(&event_grp_0, single_event_listener.channel_id());
event_man.subscribe_single(&event_grp_0, single_event_listener.target_id());
event_man.add_sender(single_event_listener);
event_sender
.send((event_grp_0, Some(Params::Heapless((2_u32, 3_u32).into()))))
.send(EventMessage::new_with_params(
TEST_COMPONENT_ID_0.id(),
event_grp_0,
&Params::Heapless((2_u32, 3_u32).into()),
))
.expect("Sending group error failed");
let res = event_man.try_event_handling();
assert!(res.is_ok());
check_handled_event(res.unwrap(), event_grp_0, 1);
let res = event_man.try_event_handling(&error_handler);
check_handled_event(res, event_grp_0, 1);
let aux = check_next_event(event_grp_0, &single_event_receiver);
assert!(aux.is_some());
let aux = aux.unwrap();
@ -631,38 +698,37 @@ mod tests {
/// Test listening for multiple groups
#[test]
fn test_multi_group() {
let error_handler = |event_msg: &EventMessageU32, e: EventRoutingError| {
panic!("routing error occurred for event {:?}: {:?}", event_msg, e);
};
let (event_sender, mut event_man) = generic_event_man();
let res = event_man.try_event_handling();
assert!(res.is_ok());
let hres = res.unwrap();
assert!(matches!(hres, EventRoutingResult::Empty));
let res = event_man.try_event_handling(error_handler);
assert!(matches!(res, EventRoutingResult::Empty));
let event_grp_0 = EventU32::new(Severity::INFO, 0, 0).unwrap();
let event_grp_1_0 = EventU32::new(Severity::HIGH, 1, 0).unwrap();
let (event_grp_0_sender, event_grp_0_receiver) = channel();
let (event_grp_0_sender, event_grp_0_receiver) = mpsc::channel();
let event_grp_0_and_1_listener = EventU32SenderMpsc::new(0, event_grp_0_sender);
event_man.subscribe_group(
event_grp_0.group_id(),
event_grp_0_and_1_listener.channel_id(),
event_grp_0_and_1_listener.target_id(),
);
event_man.subscribe_group(
event_grp_1_0.group_id(),
event_grp_0_and_1_listener.channel_id(),
event_grp_0_and_1_listener.target_id(),
);
event_man.add_sender(event_grp_0_and_1_listener);
event_sender
.send((event_grp_0, None))
.send(EventMessage::new(TEST_COMPONENT_ID_0.id(), event_grp_0))
.expect("Sending Event Group 0 failed");
event_sender
.send((event_grp_1_0, None))
.send(EventMessage::new(TEST_COMPONENT_ID_1.id(), event_grp_1_0))
.expect("Sendign Event Group 1 failed");
let res = event_man.try_event_handling();
assert!(res.is_ok());
check_handled_event(res.unwrap(), event_grp_0, 1);
let res = event_man.try_event_handling();
assert!(res.is_ok());
check_handled_event(res.unwrap(), event_grp_1_0, 1);
let res = event_man.try_event_handling(error_handler);
check_handled_event(res, event_grp_0, 1);
let res = event_man.try_event_handling(error_handler);
check_handled_event(res, event_grp_1_0, 1);
check_next_event(event_grp_0, &event_grp_0_receiver);
check_next_event(event_grp_1_0, &event_grp_0_receiver);
@ -672,42 +738,42 @@ mod tests {
/// to both group and single events from one listener
#[test]
fn test_listening_to_same_event_and_multi_type() {
let error_handler = |event_msg: &EventMessageU32, e: EventRoutingError| {
panic!("routing error occurred for event {:?}: {:?}", event_msg, e);
};
let (event_sender, mut event_man) = generic_event_man();
let event_0 = EventU32::new(Severity::INFO, 0, 5).unwrap();
let event_1 = EventU32::new(Severity::HIGH, 1, 0).unwrap();
let (event_0_tx_0, event_0_rx_0) = channel();
let (event_0_tx_1, event_0_rx_1) = channel();
let (event_0_tx_0, event_0_rx_0) = mpsc::channel();
let (event_0_tx_1, event_0_rx_1) = mpsc::channel();
let event_listener_0 = EventU32SenderMpsc::new(0, event_0_tx_0);
let event_listener_1 = EventU32SenderMpsc::new(1, event_0_tx_1);
let event_listener_0_sender_id = event_listener_0.channel_id();
let event_listener_0_sender_id = event_listener_0.target_id();
event_man.subscribe_single(&event_0, event_listener_0_sender_id);
event_man.add_sender(event_listener_0);
let event_listener_1_sender_id = event_listener_1.channel_id();
let event_listener_1_sender_id = event_listener_1.target_id();
event_man.subscribe_single(&event_0, event_listener_1_sender_id);
event_man.add_sender(event_listener_1);
event_sender
.send((event_0, None))
.send(EventMessage::new(TEST_COMPONENT_ID_0.id(), event_0))
.expect("Triggering Event 0 failed");
let res = event_man.try_event_handling();
assert!(res.is_ok());
check_handled_event(res.unwrap(), event_0, 2);
let res = event_man.try_event_handling(error_handler);
check_handled_event(res, event_0, 2);
check_next_event(event_0, &event_0_rx_0);
check_next_event(event_0, &event_0_rx_1);
event_man.subscribe_group(event_1.group_id(), event_listener_0_sender_id);
event_sender
.send((event_0, None))
.send(EventMessage::new(TEST_COMPONENT_ID_0.id(), event_0))
.expect("Triggering Event 0 failed");
event_sender
.send((event_1, None))
.send(EventMessage::new(TEST_COMPONENT_ID_1.id(), event_1))
.expect("Triggering Event 1 failed");
// 3 Events messages will be sent now
let res = event_man.try_event_handling();
assert!(res.is_ok());
check_handled_event(res.unwrap(), event_0, 2);
let res = event_man.try_event_handling();
assert!(res.is_ok());
check_handled_event(res.unwrap(), event_1, 1);
let res = event_man.try_event_handling(error_handler);
check_handled_event(res, event_0, 2);
let res = event_man.try_event_handling(error_handler);
check_handled_event(res, event_1, 1);
// Both the single event and the group event should arrive now
check_next_event(event_0, &event_0_rx_0);
check_next_event(event_1, &event_0_rx_0);
@ -716,36 +782,36 @@ mod tests {
event_man.subscribe_group(event_1.group_id(), event_listener_0_sender_id);
event_man.remove_duplicates(&ListenerKey::Group(event_1.group_id()));
event_sender
.send((event_1, None))
.send(EventMessage::new(TEST_COMPONENT_ID_0.id(), event_1))
.expect("Triggering Event 1 failed");
let res = event_man.try_event_handling();
assert!(res.is_ok());
check_handled_event(res.unwrap(), event_1, 1);
let res = event_man.try_event_handling(error_handler);
check_handled_event(res, event_1, 1);
}
#[test]
fn test_all_events_listener() {
let (event_sender, manager_queue) = channel();
let error_handler = |event_msg: &EventMessageU32, e: EventRoutingError| {
panic!("routing error occurred for event {:?}: {:?}", event_msg, e);
};
let (event_sender, manager_queue) = mpsc::channel();
let event_man_receiver = MpscEventReceiver::new(manager_queue);
let mut event_man = EventManagerWithMpsc::new(event_man_receiver);
let event_0 = EventU32::new(Severity::INFO, 0, 5).unwrap();
let event_1 = EventU32::new(Severity::HIGH, 1, 0).unwrap();
let (event_0_tx_0, all_events_rx) = channel();
let (event_0_tx_0, all_events_rx) = mpsc::channel();
let all_events_listener = EventU32SenderMpsc::new(0, event_0_tx_0);
event_man.subscribe_all(all_events_listener.channel_id());
event_man.subscribe_all(all_events_listener.target_id());
event_man.add_sender(all_events_listener);
event_sender
.send((event_0, None))
.send(EventMessage::new(TEST_COMPONENT_ID_0.id(), event_0))
.expect("Triggering event 0 failed");
event_sender
.send((event_1, None))
.send(EventMessage::new(TEST_COMPONENT_ID_1.id(), event_1))
.expect("Triggering event 1 failed");
let res = event_man.try_event_handling();
assert!(res.is_ok());
check_handled_event(res.unwrap(), event_0, 1);
let res = event_man.try_event_handling();
assert!(res.is_ok());
check_handled_event(res.unwrap(), event_1, 1);
let res = event_man.try_event_handling(error_handler);
check_handled_event(res, event_0, 1);
let res = event_man.try_event_handling(error_handler);
check_handled_event(res, event_1, 1);
check_next_event(event_0, &all_events_rx);
check_next_event(event_1, &all_events_rx);
}
@ -755,15 +821,15 @@ mod tests {
let (event_sender, _event_receiver) = mpsc::sync_channel(3);
let event_sender = EventU32SenderMpscBounded::new(1, event_sender, 3);
event_sender
.send_no_data(TEST_EVENT)
.send(EventMessage::new(TEST_COMPONENT_ID_0.id(), TEST_EVENT))
.expect("sending test event failed");
event_sender
.send_no_data(TEST_EVENT)
.send(EventMessage::new(TEST_COMPONENT_ID_0.id(), TEST_EVENT))
.expect("sending test event failed");
event_sender
.send_no_data(TEST_EVENT)
.send(EventMessage::new(TEST_COMPONENT_ID_0.id(), TEST_EVENT))
.expect("sending test event failed");
let error = event_sender.send_no_data(TEST_EVENT);
let error = event_sender.send(EventMessage::new(TEST_COMPONENT_ID_0.id(), TEST_EVENT));
if let Err(e) = error {
assert!(matches!(e, GenericSendError::QueueFull(Some(3))));
} else {
@ -775,7 +841,7 @@ mod tests {
let (event_sender, event_receiver) = mpsc::sync_channel(3);
let event_sender = EventU32SenderMpscBounded::new(1, event_sender, 3);
drop(event_receiver);
if let Err(e) = event_sender.send_no_data(TEST_EVENT) {
if let Err(e) = event_sender.send(EventMessage::new(TEST_COMPONENT_ID_0.id(), TEST_EVENT)) {
assert!(matches!(e, GenericSendError::RxDisconnected));
} else {
panic!("Expected error");

2
satrs/src/events.rs
View File

@ -80,7 +80,7 @@ impl HasSeverity for SeverityHigh {
const SEVERITY: Severity = Severity::HIGH;
}
pub trait GenericEvent: EcssEnumeration {
pub trait GenericEvent: EcssEnumeration + Copy + Clone {
type Raw;
type GroupId;
type UniqueId;

1
satrs/src/hal/mod.rs
View File

@ -1,4 +1,3 @@
//! # Hardware Abstraction Layer module
#[cfg(feature = "std")]
#[cfg_attr(doc_cfg, doc(cfg(feature = "std")))]
pub mod std;

59
satrs/src/hal/std/tcp_spacepackets_server.rs
View File

@ -4,11 +4,10 @@ use std::{
net::{SocketAddr, TcpListener, TcpStream},
};
use alloc::boxed::Box;
use crate::{
encoding::{ccsds::PacketIdLookup, parse_buffer_for_ccsds_space_packets},
encoding::parse_buffer_for_ccsds_space_packets,
tmtc::{ReceivesTc, TmPacketSource},
ValidatorU16Id,
};
use super::tcp_server::{
@ -16,17 +15,19 @@ use super::tcp_server::{
};
/// Concrete [TcpTcParser] implementation for the [TcpSpacepacketsServer].
pub struct SpacepacketsTcParser {
packet_id_lookup: Box<dyn PacketIdLookup + Send>,
pub struct SpacepacketsTcParser<PacketIdChecker: ValidatorU16Id> {
packet_id_lookup: PacketIdChecker,
}
impl SpacepacketsTcParser {
pub fn new(packet_id_lookup: Box<dyn PacketIdLookup + Send>) -> Self {
impl<PacketIdChecker: ValidatorU16Id> SpacepacketsTcParser<PacketIdChecker> {
pub fn new(packet_id_lookup: PacketIdChecker) -> Self {
Self { packet_id_lookup }
}
}
impl<TmError, TcError: 'static> TcpTcParser<TmError, TcError> for SpacepacketsTcParser {
impl<TmError, TcError: 'static, PacketIdChecker: ValidatorU16Id> TcpTcParser<TmError, TcError>
for SpacepacketsTcParser<PacketIdChecker>
{
fn handle_tc_parsing(
&mut self,
tc_buffer: &mut [u8],
@ -38,7 +39,7 @@ impl<TmError, TcError: 'static> TcpTcParser<TmError, TcError> for SpacepacketsTc
// Reader vec full, need to parse for packets.
conn_result.num_received_tcs += parse_buffer_for_ccsds_space_packets(
&mut tc_buffer[..current_write_idx],
self.packet_id_lookup.as_ref(),
&self.packet_id_lookup,
tc_receiver.upcast_mut(),
next_write_idx,
)
@ -95,6 +96,7 @@ pub struct TcpSpacepacketsServer<
TcError: 'static,
TmSource: TmPacketSource<Error = TmError>,
TcReceiver: ReceivesTc<Error = TcError>,
PacketIdChecker: ValidatorU16Id,
> {
generic_server: TcpTmtcGenericServer<
TmError,
@ -102,7 +104,7 @@ pub struct TcpSpacepacketsServer<
TmSource,
TcReceiver,
SpacepacketsTmSender,
SpacepacketsTcParser,
SpacepacketsTcParser<PacketIdChecker>,
>,
}
@ -111,7 +113,8 @@ impl<
TcError: 'static,
TmSource: TmPacketSource<Error = TmError>,
TcReceiver: ReceivesTc<Error = TcError>,
> TcpSpacepacketsServer<TmError, TcError, TmSource, TcReceiver>
PacketIdChecker: ValidatorU16Id,
> TcpSpacepacketsServer<TmError, TcError, TmSource, TcReceiver, PacketIdChecker>
{
///
/// ## Parameter
@ -127,12 +130,12 @@ impl<
cfg: ServerConfig,
tm_source: TmSource,
tc_receiver: TcReceiver,
packet_id_lookup: Box<dyn PacketIdLookup + Send>,
packet_id_checker: PacketIdChecker,
) -> Result<Self, std::io::Error> {
Ok(Self {
generic_server: TcpTmtcGenericServer::new(
cfg,
SpacepacketsTcParser::new(packet_id_lookup),
SpacepacketsTcParser::new(packet_id_checker),
SpacepacketsTmSender::default(),
tm_source,
tc_receiver,
@ -170,7 +173,7 @@ mod tests {
thread,
};
use alloc::{boxed::Box, sync::Arc};
use alloc::sync::Arc;
use hashbrown::HashSet;
use spacepackets::{
ecss::{tc::PusTcCreator, WritablePusPacket},
@ -185,21 +188,21 @@ mod tests {
use super::TcpSpacepacketsServer;
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);
const TEST_APID_1: u16 = 0x10;
const TEST_PACKET_ID_1: PacketId = PacketId::const_tc(true, TEST_APID_1);
const TEST_PACKET_ID_1: PacketId = PacketId::new_for_tc(true, TEST_APID_1);
fn generic_tmtc_server(
addr: &SocketAddr,
tc_receiver: SyncTcCacher,
tm_source: SyncTmSource,
packet_id_lookup: HashSet<PacketId>,
) -> TcpSpacepacketsServer<(), (), SyncTmSource, SyncTcCacher> {
) -> TcpSpacepacketsServer<(), (), SyncTmSource, SyncTcCacher, HashSet<PacketId>> {
TcpSpacepacketsServer::new(
ServerConfig::new(*addr, Duration::from_millis(2), 1024, 1024),
tm_source,
tc_receiver,
Box::new(packet_id_lookup),
packet_id_lookup,
)
.expect("TCP server generation failed")
}
@ -233,8 +236,8 @@ mod tests {
assert_eq!(conn_result.num_sent_tms, 0);
set_if_done.store(true, Ordering::Relaxed);
});
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 ping_tc =
PusTcCreator::new_simple(SpHeader::new_from_apid(TEST_APID_0), 17, 1, &[], true);
let tc_0 = ping_tc.to_vec().expect("packet generation failed");
let mut stream = TcpStream::connect(dest_addr).expect("connecting to TCP server failed");
stream
@ -265,13 +268,13 @@ mod tests {
// Add telemetry
let mut total_tm_len = 0;
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 verif_tm =
PusTcCreator::new_simple(SpHeader::new_from_apid(TEST_APID_0), 1, 1, &[], true);
let tm_0 = verif_tm.to_vec().expect("writing packet failed");
total_tm_len += tm_0.len();
tm_source.add_tm(&tm_0);
let mut sph = SpHeader::tc_unseg(TEST_APID_1, 0, 0).unwrap();
let verif_tm = PusTcCreator::new_simple(&mut sph, 1, 3, None, true);
let verif_tm =
PusTcCreator::new_simple(SpHeader::new_from_apid(TEST_APID_1), 1, 3, &[], true);
let tm_1 = verif_tm.to_vec().expect("writing packet failed");
total_tm_len += tm_1.len();
tm_source.add_tm(&tm_1);
@ -312,14 +315,14 @@ mod tests {
.expect("setting reas timeout failed");
// Send telecommands
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 ping_tc =
PusTcCreator::new_simple(SpHeader::new_from_apid(TEST_APID_0), 17, 1, &[], true);
let tc_0 = ping_tc.to_vec().expect("ping tc creation failed");
stream
.write_all(&tc_0)
.expect("writing to TCP server failed");
let mut sph = SpHeader::tc_unseg(TEST_APID_1, 0, 0).unwrap();
let action_tc = PusTcCreator::new_simple(&mut sph, 8, 0, None, true);
let action_tc =
PusTcCreator::new_simple(SpHeader::new_from_apid(TEST_APID_1), 8, 0, &[], true);
let tc_1 = action_tc.to_vec().expect("action tc creation failed");
stream
.write_all(&tc_1)

8
satrs/src/hal/std/udp_server.rs
View File

@ -40,8 +40,8 @@ use std::vec::Vec;
/// let ping_receiver = PingReceiver::default();
/// let mut udp_tc_server = UdpTcServer::new(dest_addr, 2048, Box::new(ping_receiver))
/// .expect("Creating UDP TMTC server failed");
/// let mut sph = SpHeader::tc_unseg(0x02, 0, 0).unwrap();
/// let pus_tc = PusTcCreator::new_simple(&mut sph, 17, 1, None, true);
/// let sph = SpHeader::new_from_apid(0x02);
/// let pus_tc = PusTcCreator::new_simple(sph, 17, 1, &[], true);
/// let len = pus_tc
/// .write_to_bytes(&mut buf)
/// .expect("Error writing PUS TC packet");
@ -178,8 +178,8 @@ mod tests {
let mut udp_tc_server = UdpTcServer::new(dest_addr, 2048, Box::new(ping_receiver))
.expect("Creating UDP TMTC server failed");
is_send(&udp_tc_server);
let mut sph = SpHeader::tc_unseg(0x02, 0, 0).unwrap();
let pus_tc = PusTcCreator::new_simple(&mut sph, 17, 1, None, true);
let sph = SpHeader::new_from_apid(0x02);
let pus_tc = PusTcCreator::new_simple(sph, 17, 1, &[], true);
let len = pus_tc
.write_to_bytes(&mut buf)
.expect("Error writing PUS TC packet");

44
satrs/src/hk.rs
View File

@ -1,40 +1,40 @@
use crate::{
pus::verification::{TcStateAccepted, VerificationToken},
TargetId,
};
use crate::ComponentId;
pub type CollectionIntervalFactor = u32;
/// Unique Identifier for a certain housekeeping dataset.
pub type UniqueId = u32;
#[derive(Debug, Copy, Clone, PartialEq, Eq)]
pub enum HkRequest {
OneShot(UniqueId),
Enable(UniqueId),
Disable(UniqueId),
ModifyCollectionInterval(UniqueId, CollectionIntervalFactor),
pub struct HkRequest {
pub unique_id: UniqueId,
pub variant: HkRequestVariant,
}
impl HkRequest {
pub fn new(unique_id: UniqueId, variant: HkRequestVariant) -> Self {
Self { unique_id, variant }
}
}
#[derive(Debug, Copy, Clone, PartialEq, Eq)]
pub enum HkRequestVariant {
OneShot,
EnablePeriodic,
DisablePeriodic,
ModifyCollectionInterval(CollectionIntervalFactor),
}
#[derive(Debug, Copy, Clone, PartialEq, Eq)]
pub struct TargetedHkRequest {
pub target_id: TargetId,
pub hk_request: HkRequest,
pub target_id: ComponentId,
pub hk_request: HkRequestVariant,
}
impl TargetedHkRequest {
pub fn new(target_id: TargetId, hk_request: HkRequest) -> Self {
pub fn new(target_id: ComponentId, hk_request: HkRequestVariant) -> Self {
Self {
target_id,
hk_request,
}
}
}
pub trait PusHkRequestRouter {
type Error;
fn route(
&self,
target_id: TargetId,
hk_request: HkRequest,
token: VerificationToken<TcStateAccepted>,
) -> Result<(), Self::Error>;
}

78
satrs/src/lib.rs
View File

@ -14,7 +14,7 @@
//! - The [pus] module which provides special support for projects using
//! the [ECSS PUS C standard](https://ecss.nl/standard/ecss-e-st-70-41c-space-engineering-telemetry-and-telecommand-packet-utilization-15-april-2016/).
#![no_std]
#![cfg_attr(doc_cfg, feature(doc_cfg))]
#![cfg_attr(docs_rs, feature(doc_auto_cfg))]
#[cfg(feature = "alloc")]
extern crate alloc;
#[cfg(feature = "alloc")]
@ -23,16 +23,15 @@ extern crate downcast_rs;
extern crate std;
#[cfg(feature = "alloc")]
#[cfg_attr(doc_cfg, doc(cfg(feature = "alloc")))]
pub mod cfdp;
pub mod encoding;
pub mod event_man;
pub mod events;
#[cfg(feature = "std")]
#[cfg_attr(doc_cfg, doc(cfg(feature = "std")))]
pub mod executable;
pub mod hal;
pub mod objects;
#[cfg(feature = "std")]
pub mod mode_tree;
pub mod pool;
pub mod power;
pub mod pus;
@ -40,6 +39,7 @@ pub mod queue;
pub mod request;
pub mod res_code;
pub mod seq_count;
pub mod time;
pub mod tmtc;
pub mod action;
@ -49,8 +49,70 @@ pub mod params;
pub use spacepackets;
/// Generic channel ID type.
pub type ChannelId = u32;
use spacepackets::PacketId;
/// Generic target ID type.
pub type TargetId = u64;
/// Generic component ID type.
pub type ComponentId = u64;
pub trait ValidatorU16Id {
fn validate(&self, id: u16) -> bool;
}
#[cfg(feature = "alloc")]
impl ValidatorU16Id for alloc::vec::Vec<u16> {
fn validate(&self, id: u16) -> bool {
self.contains(&id)
}
}
#[cfg(feature = "alloc")]
impl ValidatorU16Id for hashbrown::HashSet<u16> {
fn validate(&self, id: u16) -> bool {
self.contains(&id)
}
}
impl ValidatorU16Id for [u16] {
fn validate(&self, id: u16) -> bool {
self.binary_search(&id).is_ok()
}
}
impl ValidatorU16Id for &[u16] {
fn validate(&self, id: u16) -> bool {
self.binary_search(&id).is_ok()
}
}
#[cfg(feature = "alloc")]
impl ValidatorU16Id for alloc::vec::Vec<spacepackets::PacketId> {
fn validate(&self, packet_id: u16) -> bool {
self.contains(&PacketId::from(packet_id))
}
}
#[cfg(feature = "alloc")]
impl ValidatorU16Id for hashbrown::HashSet<spacepackets::PacketId> {
fn validate(&self, packet_id: u16) -> bool {
self.contains(&PacketId::from(packet_id))
}
}
#[cfg(feature = "std")]
impl ValidatorU16Id for std::collections::HashSet<PacketId> {
fn validate(&self, packet_id: u16) -> bool {
self.contains(&PacketId::from(packet_id))
}
}
impl ValidatorU16Id for [PacketId] {
fn validate(&self, packet_id: u16) -> bool {
self.binary_search(&PacketId::from(packet_id)).is_ok()
}
}
impl ValidatorU16Id for &[PacketId] {
fn validate(&self, packet_id: u16) -> bool {
self.binary_search(&PacketId::from(packet_id)).is_ok()
}
}

539
satrs/src/mode.rs
View File

@ -1,67 +1,95 @@
use core::mem::size_of;
use satrs_shared::res_code::ResultU16;
#[cfg(feature = "serde")]
use serde::{Deserialize, Serialize};
use spacepackets::ByteConversionError;
use crate::TargetId;
#[cfg(feature = "alloc")]
pub use alloc_mod::*;
#[cfg(feature = "std")]
pub use std_mod::*;
use crate::{
queue::GenericTargetedMessagingError,
request::{GenericMessage, MessageMetadata, MessageReceiver, MessageReceiverWithId, RequestId},
ComponentId,
};
pub type Mode = u32;
pub type Submode = u16;
#[derive(Debug, Copy, Clone, PartialEq, Eq)]
#[cfg_attr(feature = "serde", derive(Serialize, Deserialize))]
pub struct ModeAndSubmode {
mode: u32,
submode: u16,
mode: Mode,
submode: Submode,
}
impl ModeAndSubmode {
pub const fn new_mode_only(mode: u32) -> Self {
pub const RAW_LEN: usize = size_of::<Mode>() + size_of::<Submode>();
pub const fn new_mode_only(mode: Mode) -> Self {
Self { mode, submode: 0 }
}
pub const fn new(mode: u32, submode: u16) -> Self {
pub const fn new(mode: Mode, submode: Submode) -> Self {
Self { mode, submode }
}
pub fn raw_len() -> usize {
size_of::<u32>() + size_of::<u16>()
}
pub fn from_be_bytes(buf: &[u8]) -> Result<Self, ByteConversionError> {
if buf.len() < 6 {
return Err(ByteConversionError::FromSliceTooSmall {
expected: 6,
expected: Self::RAW_LEN,
found: buf.len(),
});
}
Ok(Self {
mode: u32::from_be_bytes(buf[0..4].try_into().unwrap()),
submode: u16::from_be_bytes(buf[4..6].try_into().unwrap()),
mode: Mode::from_be_bytes(buf[0..size_of::<Mode>()].try_into().unwrap()),
submode: Submode::from_be_bytes(
buf[size_of::<Mode>()..size_of::<Mode>() + size_of::<Submode>()]
.try_into()
.unwrap(),
),
})
}
pub fn mode(&self) -> u32 {
pub fn write_to_be_bytes(&self, buf: &mut [u8]) -> Result<usize, ByteConversionError> {
if buf.len() < Self::RAW_LEN {
return Err(ByteConversionError::ToSliceTooSmall {
expected: Self::RAW_LEN,
found: buf.len(),
});
}
buf[0..size_of::<Mode>()].copy_from_slice(&self.mode.to_be_bytes());
buf[size_of::<Mode>()..Self::RAW_LEN].copy_from_slice(&self.submode.to_be_bytes());
Ok(Self::RAW_LEN)
}
pub fn mode(&self) -> Mode {
self.mode
}
pub fn submode(&self) -> u16 {
pub fn submode(&self) -> Submode {
self.submode
}
}
#[derive(Debug, Copy, Clone, PartialEq, Eq)]
#[cfg_attr(feature = "serde", derive(Serialize, Deserialize))]
pub struct TargetedModeCommand {
pub address: TargetId,
pub address: ComponentId,
pub mode_submode: ModeAndSubmode,
}
impl TargetedModeCommand {
pub const fn new(address: TargetId, mode_submode: ModeAndSubmode) -> Self {
pub const fn new(address: ComponentId, mode_submode: ModeAndSubmode) -> Self {
Self {
address,
mode_submode,
}
}
pub fn address(&self) -> TargetId {
pub fn address(&self) -> ComponentId {
self.address
}
@ -81,6 +109,8 @@ impl TargetedModeCommand {
#[derive(Debug, Copy, Clone, PartialEq, Eq)]
#[cfg_attr(feature = "serde", derive(Serialize, Deserialize))]
pub enum ModeRequest {
/// Mode information. Can be used to notify other components of changed modes.
ModeInfo(ModeAndSubmode),
SetMode(ModeAndSubmode),
ReadMode,
AnnounceMode,
@ -90,6 +120,479 @@ pub enum ModeRequest {
#[derive(Debug, Copy, Clone, PartialEq, Eq)]
#[cfg_attr(feature = "serde", derive(Serialize, Deserialize))]
pub struct TargetedModeRequest {
target_id: TargetId,
target_id: ComponentId,
mode_request: ModeRequest,
}
#[derive(Debug, Copy, Clone, PartialEq, Eq)]
#[cfg_attr(feature = "serde", derive(Serialize, Deserialize))]
pub enum ModeReply {
/// Reply to a mode request to confirm the commanded mode was reached.
ModeReply(ModeAndSubmode),
// Can not reach the commanded mode. Contains a reason as a [ResultU16].
CantReachMode(ResultU16),
/// We are in the wrong mode for unknown reasons. Contains the expected and reached mode.
WrongMode {
expected: ModeAndSubmode,
reached: ModeAndSubmode,
},
}
pub type GenericModeReply = GenericMessage<ModeReply>;
pub trait ModeRequestSender {
fn local_channel_id(&self) -> ComponentId;
fn send_mode_request(
&self,
request_id: RequestId,
target_id: ComponentId,
request: ModeRequest,
) -> Result<(), GenericTargetedMessagingError>;
}
pub trait ModeRequestReceiver {
fn try_recv_mode_request(
&self,
) -> Result<Option<GenericMessage<ModeRequest>>, GenericTargetedMessagingError>;
}
impl<R: MessageReceiver<ModeRequest>> ModeRequestReceiver
for MessageReceiverWithId<ModeRequest, R>
{
fn try_recv_mode_request(
&self,
) -> Result<Option<GenericMessage<ModeRequest>>, GenericTargetedMessagingError> {
self.try_recv_message()
}
}
#[derive(Debug, Clone)]
pub enum ModeError {
Messaging(GenericTargetedMessagingError),
}
impl From<GenericTargetedMessagingError> for ModeError {
fn from(value: GenericTargetedMessagingError) -> Self {
Self::Messaging(value)
}
}
pub trait ModeProvider {
fn mode_and_submode(&self) -> ModeAndSubmode;
fn mode(&self) -> Mode {
self.mode_and_submode().mode()
}
fn submode(&self) -> Submode {
self.mode_and_submode().submode()
}
}
pub trait ModeRequestHandler: ModeProvider {
type Error;
fn start_transition(
&mut self,
requestor: MessageMetadata,
mode_and_submode: ModeAndSubmode,
) -> Result<(), Self::Error>;
fn announce_mode(&self, requestor_info: Option<MessageMetadata>, recursive: bool);
fn handle_mode_reached(
&mut self,
requestor_info: Option<MessageMetadata>,
) -> Result<(), Self::Error>;
fn handle_mode_info(
&mut self,
requestor_info: MessageMetadata,
info: ModeAndSubmode,
) -> Result<(), Self::Error>;
fn send_mode_reply(
&self,
requestor_info: MessageMetadata,
reply: ModeReply,
) -> Result<(), Self::Error>;
fn handle_mode_request(
&mut self,
request: GenericMessage<ModeRequest>,
) -> Result<(), Self::Error> {
match request.message {
ModeRequest::SetMode(mode_and_submode) => {
self.start_transition(request.requestor_info, mode_and_submode)
}
ModeRequest::ReadMode => self.send_mode_reply(
request.requestor_info,
ModeReply::ModeReply(self.mode_and_submode()),
),
ModeRequest::AnnounceMode => {
self.announce_mode(Some(request.requestor_info), false);
Ok(())
}
ModeRequest::AnnounceModeRecursive => {
self.announce_mode(Some(request.requestor_info), true);
Ok(())
}
ModeRequest::ModeInfo(info) => self.handle_mode_info(request.requestor_info, info),
}
}
}
pub trait ModeReplyReceiver {
fn try_recv_mode_reply(
&self,
) -> Result<Option<GenericMessage<ModeReply>>, GenericTargetedMessagingError>;
}
impl<R: MessageReceiver<ModeReply>> ModeReplyReceiver for MessageReceiverWithId<ModeReply, R> {
fn try_recv_mode_reply(
&self,
) -> Result<Option<GenericMessage<ModeReply>>, GenericTargetedMessagingError> {
self.try_recv_message()
}
}
pub trait ModeReplySender {
fn local_channel_id(&self) -> ComponentId;
/// The requestor is assumed to be the target of the reply.
fn send_mode_reply(
&self,
requestor_info: MessageMetadata,
reply: ModeReply,
) -> Result<(), GenericTargetedMessagingError>;
}
#[cfg(feature = "alloc")]
pub mod alloc_mod {
use crate::{
mode::ModeRequest,
queue::GenericTargetedMessagingError,
request::{
MessageMetadata, MessageSender, MessageSenderAndReceiver, MessageSenderMap,
RequestAndReplySenderAndReceiver, RequestId,
},
ComponentId,
};
use super::*;
impl<S: MessageSender<ModeReply>> MessageSenderMap<ModeReply, S> {
pub fn send_mode_reply(
&self,
requestor_info: MessageMetadata,
target_id: ComponentId,
request: ModeReply,
) -> Result<(), GenericTargetedMessagingError> {
self.send_message(requestor_info, target_id, request)
}
pub fn add_reply_target(&mut self, target_id: ComponentId, request_sender: S) {
self.add_message_target(target_id, request_sender)
}
}
impl<FROM, S: MessageSender<ModeReply>, R: MessageReceiver<FROM>> ModeReplySender
for MessageSenderAndReceiver<ModeReply, FROM, S, R>
{
fn local_channel_id(&self) -> ComponentId {
self.local_channel_id_generic()
}
fn send_mode_reply(
&self,
requestor_info: MessageMetadata,
request: ModeReply,
) -> Result<(), GenericTargetedMessagingError> {
self.message_sender_map.send_mode_reply(
MessageMetadata::new(requestor_info.request_id(), self.local_channel_id()),
requestor_info.sender_id(),
request,
)
}
}
impl<TO, S: MessageSender<TO>, R: MessageReceiver<ModeReply>> ModeReplyReceiver
for MessageSenderAndReceiver<TO, ModeReply, S, R>
{
fn try_recv_mode_reply(
&self,
) -> Result<Option<GenericMessage<ModeReply>>, GenericTargetedMessagingError> {
self.message_receiver.try_recv_message()
}
}
impl<
REQUEST,
S0: MessageSender<REQUEST>,
R0: MessageReceiver<ModeReply>,
S1: MessageSender<ModeReply>,
R1: MessageReceiver<REQUEST>,
> RequestAndReplySenderAndReceiver<REQUEST, ModeReply, S0, R0, S1, R1>
{
pub fn add_reply_target(&mut self, target_id: ComponentId, reply_sender: S1) {
self.reply_sender_map
.add_message_target(target_id, reply_sender)
}
}
impl<
REQUEST,
S0: MessageSender<REQUEST>,
R0: MessageReceiver<ModeReply>,
S1: MessageSender<ModeReply>,
R1: MessageReceiver<REQUEST>,
> ModeReplySender for RequestAndReplySenderAndReceiver<REQUEST, ModeReply, S0, R0, S1, R1>
{
fn local_channel_id(&self) -> ComponentId {
self.local_channel_id_generic()
}
fn send_mode_reply(
&self,
requestor_info: MessageMetadata,
request: ModeReply,
) -> Result<(), GenericTargetedMessagingError> {
self.reply_sender_map.send_mode_reply(
MessageMetadata::new(requestor_info.request_id(), self.local_channel_id()),
requestor_info.sender_id(),
request,
)
}
}
impl<
REQUEST,
S0: MessageSender<REQUEST>,
R0: MessageReceiver<ModeReply>,
S1: MessageSender<ModeReply>,
R1: MessageReceiver<REQUEST>,
> ModeReplyReceiver
for RequestAndReplySenderAndReceiver<REQUEST, ModeReply, S0, R0, S1, R1>
{
fn try_recv_mode_reply(
&self,
) -> Result<Option<GenericMessage<ModeReply>>, GenericTargetedMessagingError> {
self.reply_receiver.try_recv_message()
}
}
/// Helper type definition for a mode handler which can handle mode requests.
pub type ModeRequestHandlerInterface<S, R> =
MessageSenderAndReceiver<ModeReply, ModeRequest, S, R>;
impl<S: MessageSender<ModeReply>, R: MessageReceiver<ModeRequest>>
ModeRequestHandlerInterface<S, R>
{
pub fn try_recv_mode_request(
&self,
) -> Result<Option<GenericMessage<ModeRequest>>, GenericTargetedMessagingError> {
self.try_recv_message()
}
pub fn send_mode_reply(
&self,
requestor_info: MessageMetadata,
reply: ModeReply,
) -> Result<(), GenericTargetedMessagingError> {
self.send_message(
requestor_info.request_id(),
requestor_info.sender_id(),
reply,
)
}
}
/// Helper type defintion for a mode handler object which can send mode requests and receive
/// mode replies.
pub type ModeRequestorInterface<S, R> = MessageSenderAndReceiver<ModeRequest, ModeReply, S, R>;
impl<S: MessageSender<ModeRequest>, R: MessageReceiver<ModeReply>> ModeRequestorInterface<S, R> {
pub fn try_recv_mode_reply(
&self,
) -> Result<Option<GenericMessage<ModeReply>>, GenericTargetedMessagingError> {
self.try_recv_message()
}
pub fn send_mode_request(
&self,
request_id: RequestId,
target_id: ComponentId,
reply: ModeRequest,
) -> Result<(), GenericTargetedMessagingError> {
self.send_message(request_id, target_id, reply)
}
}
/// Helper type defintion for a mode handler object which can both send mode requests and
/// process mode requests.
pub type ModeInterface<S0, R0, S1, R1> =
RequestAndReplySenderAndReceiver<ModeRequest, ModeReply, S0, R0, S1, R1>;
impl<S: MessageSender<ModeRequest>> MessageSenderMap<ModeRequest, S> {
pub fn send_mode_request(
&self,
requestor_info: MessageMetadata,
target_id: ComponentId,
request: ModeRequest,
) -> Result<(), GenericTargetedMessagingError> {
self.send_message(requestor_info, target_id, request)
}
pub fn add_request_target(&mut self, target_id: ComponentId, request_sender: S) {
self.add_message_target(target_id, request_sender)
}
}
/*
impl<S: MessageSender<ModeRequest>> ModeRequestSender for MessageSenderMapWithId<ModeRequest, S> {
fn local_channel_id(&self) -> ComponentId {
self.local_channel_id
}
fn send_mode_request(
&self,
request_id: RequestId,
target_id: ComponentId,
request: ModeRequest,
) -> Result<(), GenericTargetedMessagingError> {
self.send_message(request_id, target_id, request)
}
}
*/
impl<TO, S: MessageSender<TO>, R: MessageReceiver<ModeRequest>> ModeRequestReceiver
for MessageSenderAndReceiver<TO, ModeRequest, S, R>
{
fn try_recv_mode_request(
&self,
) -> Result<Option<GenericMessage<ModeRequest>>, GenericTargetedMessagingError> {
self.message_receiver.try_recv_message()
}
}
impl<FROM, S: MessageSender<ModeRequest>, R: MessageReceiver<FROM>> ModeRequestSender
for MessageSenderAndReceiver<ModeRequest, FROM, S, R>
{
fn local_channel_id(&self) -> ComponentId {
self.local_channel_id_generic()
}
fn send_mode_request(
&self,
request_id: RequestId,
target_id: ComponentId,
request: ModeRequest,
) -> Result<(), GenericTargetedMessagingError> {
self.message_sender_map.send_mode_request(
MessageMetadata::new(request_id, self.local_channel_id()),
target_id,
request,
)
}
}
impl<
REPLY,
S0: MessageSender<ModeRequest>,
R0: MessageReceiver<REPLY>,
S1: MessageSender<REPLY>,
R1: MessageReceiver<ModeRequest>,
> RequestAndReplySenderAndReceiver<ModeRequest, REPLY, S0, R0, S1, R1>
{
pub fn add_request_target(&mut self, target_id: ComponentId, request_sender: S0) {
self.request_sender_map
.add_message_target(target_id, request_sender)
}
}
impl<
REPLY,
S0: MessageSender<ModeRequest>,
R0: MessageReceiver<REPLY>,
S1: MessageSender<REPLY>,
R1: MessageReceiver<ModeRequest>,
> ModeRequestSender
for RequestAndReplySenderAndReceiver<ModeRequest, REPLY, S0, R0, S1, R1>
{
fn local_channel_id(&self) -> ComponentId {
self.local_channel_id_generic()
}
fn send_mode_request(
&self,
request_id: RequestId,
target_id: ComponentId,
request: ModeRequest,
) -> Result<(), GenericTargetedMessagingError> {
self.request_sender_map.send_mode_request(
MessageMetadata::new(request_id, self.local_channel_id()),
target_id,
request,
)
}
}
impl<
REPLY,
S0: MessageSender<ModeRequest>,
R0: MessageReceiver<REPLY>,
S1: MessageSender<REPLY>,
R1: MessageReceiver<ModeRequest>,
> ModeRequestReceiver
for RequestAndReplySenderAndReceiver<ModeRequest, REPLY, S0, R0, S1, R1>
{
fn try_recv_mode_request(
&self,
) -> Result<Option<GenericMessage<ModeRequest>>, GenericTargetedMessagingError> {
self.request_receiver.try_recv_message()
}
}
}
#[cfg(feature = "std")]
pub mod std_mod {
use std::sync::mpsc;
use crate::request::GenericMessage;
use super::*;
pub type ModeRequestHandlerMpsc = ModeRequestHandlerInterface<
mpsc::Sender<GenericMessage<ModeReply>>,
mpsc::Receiver<GenericMessage<ModeRequest>>,
>;
pub type ModeRequestHandlerMpscBounded = ModeRequestHandlerInterface<
mpsc::SyncSender<GenericMessage<ModeReply>>,
mpsc::Receiver<GenericMessage<ModeRequest>>,
>;
pub type ModeRequestorMpsc = ModeRequestorInterface<
mpsc::Sender<GenericMessage<ModeRequest>>,
mpsc::Receiver<GenericMessage<ModeReply>>,
>;
pub type ModeRequestorBoundedMpsc = ModeRequestorInterface<
mpsc::SyncSender<GenericMessage<ModeRequest>>,
mpsc::Receiver<GenericMessage<ModeReply>>,
>;
pub type ModeRequestorAndHandlerMpsc = ModeInterface<
mpsc::Sender<GenericMessage<ModeRequest>>,
mpsc::Receiver<GenericMessage<ModeReply>>,
mpsc::Sender<GenericMessage<ModeReply>>,
mpsc::Receiver<GenericMessage<ModeRequest>>,
>;
pub type ModeRequestorAndHandlerMpscBounded = ModeInterface<
mpsc::SyncSender<GenericMessage<ModeRequest>>,
mpsc::Receiver<GenericMessage<ModeReply>>,
mpsc::SyncSender<GenericMessage<ModeReply>>,
mpsc::Receiver<GenericMessage<ModeRequest>>,
>;
}
#[cfg(test)]
mod tests {}

37
satrs/src/mode_tree.rs Normal file
View File

@ -0,0 +1,37 @@
use alloc::vec::Vec;
use hashbrown::HashMap;
use crate::{
mode::{Mode, ModeAndSubmode, Submode},
ComponentId,
};
#[derive(Debug, Copy, Clone, PartialEq, Eq)]
pub enum TableEntryType {
/// Target table containing information of the expected children modes for given mode.
Target,
/// Sequence table which contains information about how to reach a target table, including
/// the order of the sequences.
Sequence,
}
pub struct ModeTableEntry {
/// Name of respective table entry.
pub name: &'static str,
/// Target channel ID.
pub channel_id: ComponentId,
pub mode_submode: ModeAndSubmode,
pub allowed_submode_mask: Option<Submode>,
pub check_success: bool,
}
pub struct ModeTableMapValue {
/// Name for a given mode table entry.
pub name: &'static str,
pub entries: Vec<ModeTableEntry>,
}
pub type ModeTable = HashMap<Mode, ModeTableMapValue>;
#[cfg(test)]
mod tests {}

308
satrs/src/objects.rs
View File

@ -1,308 +0,0 @@
//! # Module providing addressable object support and a manager for them
//!
//! Each addressable object can be identified using an [object ID][ObjectId].
//! The [system object][ManagedSystemObject] trait also allows storing these objects into the
//! [object manager][ObjectManager]. They can then be retrieved and casted back to a known type
//! using the object ID.
//!
//! # Examples
//!
//! ```rust
//! use std::any::Any;
//! use std::error::Error;
//! use satrs::objects::{ManagedSystemObject, ObjectId, ObjectManager, SystemObject};
//!
//! struct ExampleSysObj {
//! id: ObjectId,
//! dummy: u32,
//! was_initialized: bool,
//! }
//!
//! impl ExampleSysObj {
//! fn new(id: ObjectId, dummy: u32) -> ExampleSysObj {
//! ExampleSysObj {
//! id,
//! dummy,
//! was_initialized: false,
//! }
//! }
//! }
//!
//! impl SystemObject for ExampleSysObj {
//! type Error = ();
//! fn get_object_id(&self) -> &ObjectId {
//! &self.id
//! }
//!
//! fn initialize(&mut self) -> Result<(), Self::Error> {
//! self.was_initialized = true;
//! Ok(())
//! }
//! }
//!
//! impl ManagedSystemObject for ExampleSysObj {}
//!
//! let mut obj_manager = ObjectManager::default();
//! let obj_id = ObjectId { id: 0, name: "Example 0"};
//! let example_obj = ExampleSysObj::new(obj_id, 42);
//! obj_manager.insert(Box::new(example_obj));
//! let obj_back_casted: Option<&ExampleSysObj> = obj_manager.get_ref(&obj_id);
//! let example_obj = obj_back_casted.unwrap();
//! assert_eq!(example_obj.id, obj_id);
//! assert_eq!(example_obj.dummy, 42);
//! ```
#[cfg(feature = "alloc")]
use alloc::boxed::Box;
#[cfg(feature = "alloc")]
pub use alloc_mod::*;
#[cfg(feature = "alloc")]
use downcast_rs::Downcast;
#[cfg(feature = "alloc")]
use hashbrown::HashMap;
#[cfg(feature = "std")]
use std::error::Error;
use crate::TargetId;
#[derive(PartialEq, Eq, Hash, Copy, Clone, Debug)]
pub struct ObjectId {
pub id: TargetId,
pub name: &'static str,
}
#[cfg(feature = "alloc")]
pub mod alloc_mod {
use super::*;
/// Each object which is stored inside the [object manager][ObjectManager] needs to implemented
/// this trait
pub trait SystemObject: Downcast {
type Error;
fn get_object_id(&self) -> &ObjectId;
fn initialize(&mut self) -> Result<(), Self::Error>;
}
downcast_rs::impl_downcast!(SystemObject assoc Error);
pub trait ManagedSystemObject: SystemObject + Send {}
downcast_rs::impl_downcast!(ManagedSystemObject assoc Error);
/// Helper module to manage multiple [ManagedSystemObjects][ManagedSystemObject] by mapping them
/// using an [object ID][ObjectId]
#[cfg(feature = "alloc")]
pub struct ObjectManager<E> {
obj_map: HashMap<ObjectId, Box<dyn ManagedSystemObject<Error = E>>>,
}
#[cfg(feature = "alloc")]
impl<E: 'static> Default for ObjectManager<E> {
fn default() -> Self {
Self::new()
}
}
#[cfg(feature = "alloc")]
impl<E: 'static> ObjectManager<E> {
pub fn new() -> Self {
ObjectManager {
obj_map: HashMap::new(),
}
}
pub fn insert(&mut self, sys_obj: Box<dyn ManagedSystemObject<Error = E>>) -> bool {
let obj_id = sys_obj.get_object_id();
if self.obj_map.contains_key(obj_id) {
return false;
}
self.obj_map.insert(*obj_id, sys_obj).is_none()
}
/// Initializes all System Objects in the hash map and returns the number of successful
/// initializations
pub fn initialize(&mut self) -> Result<u32, Box<dyn Error>> {
let mut init_success = 0;
for val in self.obj_map.values_mut() {
if val.initialize().is_ok() {
init_success += 1
}
}
Ok(init_success)
}
/// Retrieve a reference to an object stored inside the manager. The type to retrieve needs to
/// be explicitly passed as a generic parameter or specified on the left hand side of the
/// expression.
pub fn get_ref<T: ManagedSystemObject<Error = E>>(&self, key: &ObjectId) -> Option<&T> {
self.obj_map.get(key).and_then(|o| o.downcast_ref::<T>())
}
/// Retrieve a mutable reference to an object stored inside the manager. The type to retrieve
/// needs to be explicitly passed as a generic parameter or specified on the left hand side
/// of the expression.
pub fn get_mut<T: ManagedSystemObject<Error = E>>(
&mut self,
key: &ObjectId,
) -> Option<&mut T> {
self.obj_map
.get_mut(key)
.and_then(|o| o.downcast_mut::<T>())
}
}
}
#[cfg(test)]
mod tests {
use crate::objects::{ManagedSystemObject, ObjectId, ObjectManager, SystemObject};
use std::boxed::Box;
use std::string::String;
use std::sync::{Arc, Mutex};
use std::thread;
struct ExampleSysObj {
id: ObjectId,
dummy: u32,
was_initialized: bool,
}
impl ExampleSysObj {
fn new(id: ObjectId, dummy: u32) -> ExampleSysObj {
ExampleSysObj {
id,
dummy,
was_initialized: false,
}
}
}
impl SystemObject for ExampleSysObj {
type Error = ();
fn get_object_id(&self) -> &ObjectId {
&self.id
}
fn initialize(&mut self) -> Result<(), Self::Error> {
self.was_initialized = true;
Ok(())
}
}
impl ManagedSystemObject for ExampleSysObj {}
struct OtherExampleObject {
id: ObjectId,
string: String,
was_initialized: bool,
}
impl SystemObject for OtherExampleObject {
type Error = ();
fn get_object_id(&self) -> &ObjectId {
&self.id
}
fn initialize(&mut self) -> Result<(), Self::Error> {
self.was_initialized = true;
Ok(())
}
}
impl ManagedSystemObject for OtherExampleObject {}
#[test]
fn test_obj_manager_simple() {
let mut obj_manager = ObjectManager::default();
let expl_obj_id = ObjectId {
id: 0,
name: "Example 0",
};
let example_obj = ExampleSysObj::new(expl_obj_id, 42);
assert!(obj_manager.insert(Box::new(example_obj)));
let res = obj_manager.initialize();
assert!(res.is_ok());
assert_eq!(res.unwrap(), 1);
let obj_back_casted: Option<&ExampleSysObj> = obj_manager.get_ref(&expl_obj_id);
assert!(obj_back_casted.is_some());
let expl_obj_back_casted = obj_back_casted.unwrap();
assert_eq!(expl_obj_back_casted.dummy, 42);
assert!(expl_obj_back_casted.was_initialized);
let second_obj_id = ObjectId {
id: 12,
name: "Example 1",
};
let second_example_obj = OtherExampleObject {
id: second_obj_id,
string: String::from("Hello Test"),
was_initialized: false,
};
assert!(obj_manager.insert(Box::new(second_example_obj)));
let res = obj_manager.initialize();
assert!(res.is_ok());
assert_eq!(res.unwrap(), 2);
let obj_back_casted: Option<&OtherExampleObject> = obj_manager.get_ref(&second_obj_id);
assert!(obj_back_casted.is_some());
let expl_obj_back_casted = obj_back_casted.unwrap();
assert_eq!(expl_obj_back_casted.string, String::from("Hello Test"));
assert!(expl_obj_back_casted.was_initialized);
let existing_obj_id = ObjectId {
id: 12,
name: "Example 1",
};
let invalid_obj = OtherExampleObject {
id: existing_obj_id,
string: String::from("Hello Test"),
was_initialized: false,
};
assert!(!obj_manager.insert(Box::new(invalid_obj)));
}
#[test]
fn object_man_threaded() {
let obj_manager = Arc::new(Mutex::new(ObjectManager::new()));
let expl_obj_id = ObjectId {
id: 0,
name: "Example 0",
};
let example_obj = ExampleSysObj::new(expl_obj_id, 42);
let second_obj_id = ObjectId {
id: 12,
name: "Example 1",
};
let second_example_obj = OtherExampleObject {
id: second_obj_id,
string: String::from("Hello Test"),
was_initialized: false,
};
let mut obj_man_handle = obj_manager.lock().expect("Mutex lock failed");
assert!(obj_man_handle.insert(Box::new(example_obj)));
assert!(obj_man_handle.insert(Box::new(second_example_obj)));
let res = obj_man_handle.initialize();
std::mem::drop(obj_man_handle);
assert!(res.is_ok());
assert_eq!(res.unwrap(), 2);
let obj_man_0 = obj_manager.clone();
let jh0 = thread::spawn(move || {
let locked_man = obj_man_0.lock().expect("Mutex lock failed");
let obj_back_casted: Option<&ExampleSysObj> = locked_man.get_ref(&expl_obj_id);
assert!(obj_back_casted.is_some());
let expl_obj_back_casted = obj_back_casted.unwrap();
assert_eq!(expl_obj_back_casted.dummy, 42);
assert!(expl_obj_back_casted.was_initialized);
std::mem::drop(locked_man)
});
let jh1 = thread::spawn(move || {
let locked_man = obj_manager.lock().expect("Mutex lock failed");
let obj_back_casted: Option<&OtherExampleObject> = locked_man.get_ref(&second_obj_id);
assert!(obj_back_casted.is_some());
let expl_obj_back_casted = obj_back_casted.unwrap();
assert_eq!(expl_obj_back_casted.string, String::from("Hello Test"));
assert!(expl_obj_back_casted.was_initialized);
std::mem::drop(locked_man)
});
jh0.join().expect("Joining thread 0 failed");
jh1.join().expect("Joining thread 1 failed");
}
}

612
satrs/src/params.rs
View File

@ -60,21 +60,28 @@ use alloc::vec::Vec;
/// Generic trait which is used for objects which can be converted into a raw network (big) endian
/// byte format.
pub trait WritableToBeBytes {
fn raw_len(&self) -> usize;
fn written_len(&self) -> usize;
/// Writes the object to a raw buffer in network endianness (big)
fn write_to_be_bytes(&self, buf: &mut [u8]) -> Result<usize, ByteConversionError>;
#[cfg(feature = "alloc")]
fn to_vec(&self) -> Result<Vec<u8>, ByteConversionError> {
let mut vec = alloc::vec![0; self.written_len()];
self.write_to_be_bytes(&mut vec)?;
Ok(vec)
}
}
macro_rules! param_to_be_bytes_impl {
($Newtype: ident) => {
impl WritableToBeBytes for $Newtype {
#[inline]
fn raw_len(&self) -> usize {
fn written_len(&self) -> usize {
size_of::<<Self as ToBeBytes>::ByteArray>()
}
fn write_to_be_bytes(&self, buf: &mut [u8]) -> Result<usize, ByteConversionError> {
let raw_len = self.raw_len();
let raw_len = WritableToBeBytes::written_len(self);
if buf.len() < raw_len {
return Err(ByteConversionError::ToSliceTooSmall {
found: buf.len(),
@ -382,32 +389,32 @@ pub enum ParamsRaw {
}
impl WritableToBeBytes for ParamsRaw {
fn raw_len(&self) -> usize {
fn written_len(&self) -> usize {
match self {
ParamsRaw::U8(v) => v.raw_len(),
ParamsRaw::U8Pair(v) => v.raw_len(),
ParamsRaw::U8Triplet(v) => v.raw_len(),
ParamsRaw::I8(v) => v.raw_len(),
ParamsRaw::I8Pair(v) => v.raw_len(),
ParamsRaw::I8Triplet(v) => v.raw_len(),
ParamsRaw::U16(v) => v.raw_len(),
ParamsRaw::U16Pair(v) => v.raw_len(),
ParamsRaw::U16Triplet(v) => v.raw_len(),
ParamsRaw::I16(v) => v.raw_len(),
ParamsRaw::I16Pair(v) => v.raw_len(),
ParamsRaw::I16Triplet(v) => v.raw_len(),
ParamsRaw::U32(v) => v.raw_len(),
ParamsRaw::U32Pair(v) => v.raw_len(),
ParamsRaw::U32Triplet(v) => v.raw_len(),
ParamsRaw::I32(v) => v.raw_len(),
ParamsRaw::I32Pair(v) => v.raw_len(),
ParamsRaw::I32Triplet(v) => v.raw_len(),
ParamsRaw::F32(v) => v.raw_len(),
ParamsRaw::F32Pair(v) => v.raw_len(),
ParamsRaw::F32Triplet(v) => v.raw_len(),
ParamsRaw::U64(v) => v.raw_len(),
ParamsRaw::I64(v) => v.raw_len(),
ParamsRaw::F64(v) => v.raw_len(),
ParamsRaw::U8(v) => WritableToBeBytes::written_len(v),
ParamsRaw::U8Pair(v) => WritableToBeBytes::written_len(v),
ParamsRaw::U8Triplet(v) => WritableToBeBytes::written_len(v),
ParamsRaw::I8(v) => WritableToBeBytes::written_len(v),
ParamsRaw::I8Pair(v) => WritableToBeBytes::written_len(v),
ParamsRaw::I8Triplet(v) => WritableToBeBytes::written_len(v),
ParamsRaw::U16(v) => WritableToBeBytes::written_len(v),
ParamsRaw::U16Pair(v) => WritableToBeBytes::written_len(v),
ParamsRaw::U16Triplet(v) => WritableToBeBytes::written_len(v),
ParamsRaw::I16(v) => WritableToBeBytes::written_len(v),
ParamsRaw::I16Pair(v) => WritableToBeBytes::written_len(v),
ParamsRaw::I16Triplet(v) => WritableToBeBytes::written_len(v),
ParamsRaw::U32(v) => WritableToBeBytes::written_len(v),
ParamsRaw::U32Pair(v) => WritableToBeBytes::written_len(v),
ParamsRaw::U32Triplet(v) => WritableToBeBytes::written_len(v),
ParamsRaw::I32(v) => WritableToBeBytes::written_len(v),
ParamsRaw::I32Pair(v) => WritableToBeBytes::written_len(v),
ParamsRaw::I32Triplet(v) => WritableToBeBytes::written_len(v),
ParamsRaw::F32(v) => WritableToBeBytes::written_len(v),
ParamsRaw::F32Pair(v) => WritableToBeBytes::written_len(v),
ParamsRaw::F32Triplet(v) => WritableToBeBytes::written_len(v),
ParamsRaw::U64(v) => WritableToBeBytes::written_len(v),
ParamsRaw::I64(v) => WritableToBeBytes::written_len(v),
ParamsRaw::F64(v) => WritableToBeBytes::written_len(v),
}
}
@ -460,7 +467,7 @@ params_raw_from_newtype!(
);
#[derive(Debug, Copy, Clone, PartialEq, Eq)]
pub enum EcssEnumParams {
pub enum ParamsEcssEnum {
U8(EcssEnumU8),
U16(EcssEnumU16),
U32(EcssEnumU32),
@ -468,40 +475,46 @@ pub enum EcssEnumParams {
}
macro_rules! writable_as_be_bytes_ecss_enum_impl {
($EnumIdent: ident) => {
($EnumIdent: ident, $Ty: ident) => {
impl From<$EnumIdent> for ParamsEcssEnum {
fn from(e: $EnumIdent) -> Self {
Self::$Ty(e)
}
}
impl WritableToBeBytes for $EnumIdent {
fn raw_len(&self) -> usize {
fn written_len(&self) -> usize {
self.size()
}
fn write_to_be_bytes(&self, buf: &mut [u8]) -> Result<usize, ByteConversionError> {
<Self as UnsignedEnum>::write_to_be_bytes(self, buf).map(|_| self.raw_len())
<Self as UnsignedEnum>::write_to_be_bytes(self, buf).map(|_| self.written_len())
}
}
};
}
writable_as_be_bytes_ecss_enum_impl!(EcssEnumU8);
writable_as_be_bytes_ecss_enum_impl!(EcssEnumU16);
writable_as_be_bytes_ecss_enum_impl!(EcssEnumU32);
writable_as_be_bytes_ecss_enum_impl!(EcssEnumU64);
writable_as_be_bytes_ecss_enum_impl!(EcssEnumU8, U8);
writable_as_be_bytes_ecss_enum_impl!(EcssEnumU16, U16);
writable_as_be_bytes_ecss_enum_impl!(EcssEnumU32, U32);
writable_as_be_bytes_ecss_enum_impl!(EcssEnumU64, U64);
impl WritableToBeBytes for EcssEnumParams {
fn raw_len(&self) -> usize {
impl WritableToBeBytes for ParamsEcssEnum {
fn written_len(&self) -> usize {
match self {
EcssEnumParams::U8(e) => e.raw_len(),
EcssEnumParams::U16(e) => e.raw_len(),
EcssEnumParams::U32(e) => e.raw_len(),
EcssEnumParams::U64(e) => e.raw_len(),
ParamsEcssEnum::U8(e) => e.written_len(),
ParamsEcssEnum::U16(e) => e.written_len(),
ParamsEcssEnum::U32(e) => e.written_len(),
ParamsEcssEnum::U64(e) => e.written_len(),
}
}
fn write_to_be_bytes(&self, buf: &mut [u8]) -> Result<usize, ByteConversionError> {
match self {
EcssEnumParams::U8(e) => WritableToBeBytes::write_to_be_bytes(e, buf),
EcssEnumParams::U16(e) => WritableToBeBytes::write_to_be_bytes(e, buf),
EcssEnumParams::U32(e) => WritableToBeBytes::write_to_be_bytes(e, buf),
EcssEnumParams::U64(e) => WritableToBeBytes::write_to_be_bytes(e, buf),
ParamsEcssEnum::U8(e) => WritableToBeBytes::write_to_be_bytes(e, buf),
ParamsEcssEnum::U16(e) => WritableToBeBytes::write_to_be_bytes(e, buf),
ParamsEcssEnum::U32(e) => WritableToBeBytes::write_to_be_bytes(e, buf),
ParamsEcssEnum::U64(e) => WritableToBeBytes::write_to_be_bytes(e, buf),
}
}
}
@ -510,7 +523,19 @@ impl WritableToBeBytes for EcssEnumParams {
#[derive(Debug, Copy, Clone, PartialEq)]
pub enum ParamsHeapless {
Raw(ParamsRaw),
EcssEnum(EcssEnumParams),
EcssEnum(ParamsEcssEnum),
}
impl From<ParamsRaw> for ParamsHeapless {
fn from(v: ParamsRaw) -> Self {
Self::Raw(v)
}
}
impl From<ParamsEcssEnum> for ParamsHeapless {
fn from(v: ParamsEcssEnum) -> Self {
Self::EcssEnum(v)
}
}
macro_rules! from_conversions_for_raw {
@ -559,16 +584,14 @@ from_conversions_for_raw!(
/// Generic enumeration for additional parameters, including parameters which rely on heap
/// allocations.
#[derive(Debug, Clone)]
#[derive(Debug, Clone, PartialEq)]
#[non_exhaustive]
pub enum Params {
Heapless(ParamsHeapless),
Store(StoreAddr),
#[cfg(feature = "alloc")]
#[cfg_attr(doc_cfg, doc(cfg(feature = "alloc")))]
Vec(Vec<u8>),
#[cfg(feature = "alloc")]
#[cfg_attr(doc_cfg, doc(cfg(feature = "alloc")))]
String(String),
}
@ -584,8 +607,13 @@ impl From<ParamsHeapless> for Params {
}
}
impl From<ParamsRaw> for Params {
fn from(x: ParamsRaw) -> Self {
Self::Heapless(ParamsHeapless::Raw(x))
}
}
#[cfg(feature = "alloc")]
#[cfg_attr(doc_cfg, doc(cfg(feature = "alloc")))]
impl From<Vec<u8>> for Params {
fn from(val: Vec<u8>) -> Self {
Self::Vec(val)
@ -594,7 +622,6 @@ impl From<Vec<u8>> for Params {
/// Converts a byte slice into the [Params::Vec] variant
#[cfg(feature = "alloc")]
#[cfg_attr(doc_cfg, doc(cfg(feature = "alloc")))]
impl From<&[u8]> for Params {
fn from(val: &[u8]) -> Self {
Self::Vec(val.to_vec())
@ -602,7 +629,6 @@ impl From<&[u8]> for Params {
}
#[cfg(feature = "alloc")]
#[cfg_attr(doc_cfg, doc(cfg(feature = "alloc")))]
impl From<String> for Params {
fn from(val: String) -> Self {
Self::String(val)
@ -610,7 +636,6 @@ impl From<String> for Params {
}
#[cfg(feature = "alloc")]
#[cfg_attr(doc_cfg, doc(cfg(feature = "alloc")))]
/// Converts a string slice into the [Params::String] variant
impl From<&str> for Params {
fn from(val: &str) -> Self {
@ -618,10 +643,90 @@ impl From<&str> for Params {
}
}
/// Please note while [WritableToBeBytes] is implemented for [Params], the default implementation
/// will not be able to process the [Params::Store] parameter variant.
impl WritableToBeBytes for Params {
fn written_len(&self) -> usize {
match self {
Params::Heapless(p) => match p {
ParamsHeapless::Raw(raw) => raw.written_len(),
ParamsHeapless::EcssEnum(enumeration) => enumeration.written_len(),
},
Params::Store(_) => 0,
#[cfg(feature = "alloc")]
Params::Vec(vec) => vec.len(),
#[cfg(feature = "alloc")]
Params::String(string) => string.len(),
}
}
fn write_to_be_bytes(&self, buf: &mut [u8]) -> Result<usize, ByteConversionError> {
match self {
Params::Heapless(p) => match p {
ParamsHeapless::Raw(raw) => raw.write_to_be_bytes(buf),
ParamsHeapless::EcssEnum(enumeration) => enumeration.write_to_be_bytes(buf),
},
Params::Store(_) => Ok(0),
#[cfg(feature = "alloc")]
Params::Vec(vec) => {
if buf.len() < vec.len() {
return Err(ByteConversionError::ToSliceTooSmall {
found: buf.len(),
expected: vec.len(),
});
}
buf[0..vec.len()].copy_from_slice(vec);
Ok(vec.len())
}
#[cfg(feature = "alloc")]
Params::String(string) => {
if buf.len() < string.len() {
return Err(ByteConversionError::ToSliceTooSmall {
found: buf.len(),
expected: string.len(),
});
}
buf[0..string.len()].copy_from_slice(string.as_bytes());
Ok(string.len())
}
}
}
}
#[cfg(test)]
mod tests {
use super::*;
fn test_cloning_works(param_raw: &impl WritableToBeBytes) {
let _new_param = param_raw;
}
fn test_writing_fails(param_raw: &(impl WritableToBeBytes + ToBeBytes)) {
let pair_size = WritableToBeBytes::written_len(param_raw);
assert_eq!(pair_size, ToBeBytes::written_len(param_raw));
let mut vec = alloc::vec![0; pair_size - 1];
let result = param_raw.write_to_be_bytes(&mut vec);
if let Err(ByteConversionError::ToSliceTooSmall { found, expected }) = result {
assert_eq!(found, pair_size - 1);
assert_eq!(expected, pair_size);
} else {
panic!("Expected ByteConversionError::ToSliceTooSmall");
}
}
fn test_writing(params_raw: &ParamsRaw, writeable: &impl WritableToBeBytes) {
assert_eq!(params_raw.written_len(), writeable.written_len());
let mut vec = alloc::vec![0; writeable.written_len()];
writeable
.write_to_be_bytes(&mut vec)
.expect("writing parameter to buffer failed");
let mut other_vec = alloc::vec![0; writeable.written_len()];
params_raw
.write_to_be_bytes(&mut other_vec)
.expect("writing parameter to buffer failed");
assert_eq!(vec, other_vec);
}
#[test]
fn test_basic_u32_pair() {
let u32_pair = U32Pair(4, 8);
@ -632,10 +737,32 @@ mod tests {
assert_eq!(u32_conv_back, 4);
u32_conv_back = u32::from_be_bytes(raw[4..8].try_into().unwrap());
assert_eq!(u32_conv_back, 8);
test_writing_fails(&u32_pair);
test_cloning_works(&u32_pair);
let u32_praw = ParamsRaw::from(u32_pair);
test_writing(&u32_praw, &u32_pair);
}
#[test]
fn basic_signed_test_pair() {
fn test_u16_pair_writing_fails() {
let u16_pair = U16Pair(4, 8);
test_writing_fails(&u16_pair);
test_cloning_works(&u16_pair);
let u16_praw = ParamsRaw::from(u16_pair);
test_writing(&u16_praw, &u16_pair);
}
#[test]
fn test_u8_pair_writing_fails() {
let u8_pair = U8Pair(4, 8);
test_writing_fails(&u8_pair);
test_cloning_works(&u8_pair);
let u8_praw = ParamsRaw::from(u8_pair);
test_writing(&u8_praw, &u8_pair);
}
#[test]
fn basic_i8_test() {
let i8_pair = I8Pair(-3, -16);
assert_eq!(i8_pair.0, -3);
assert_eq!(i8_pair.1, -16);
@ -644,10 +771,31 @@ mod tests {
assert_eq!(i8_conv_back, -3);
i8_conv_back = i8::from_be_bytes(raw[1..2].try_into().unwrap());
assert_eq!(i8_conv_back, -16);
test_writing_fails(&i8_pair);
test_cloning_works(&i8_pair);
let i8_praw = ParamsRaw::from(i8_pair);
test_writing(&i8_praw, &i8_pair);
}
#[test]
fn basic_signed_test_triplet() {
fn test_from_u32_triplet() {
let raw_params = U32Triplet::from((1, 2, 3));
assert_eq!(raw_params.0, 1);
assert_eq!(raw_params.1, 2);
assert_eq!(raw_params.2, 3);
assert_eq!(WritableToBeBytes::written_len(&raw_params), 12);
assert_eq!(
raw_params.to_be_bytes(),
[0, 0, 0, 1, 0, 0, 0, 2, 0, 0, 0, 3]
);
test_writing_fails(&raw_params);
test_cloning_works(&raw_params);
let u32_triplet = ParamsRaw::from(raw_params);
test_writing(&u32_triplet, &raw_params);
}
#[test]
fn test_i8_triplet() {
let i8_triplet = I8Triplet(-3, -16, -126);
assert_eq!(i8_triplet.0, -3);
assert_eq!(i8_triplet.1, -16);
@ -659,6 +807,10 @@ mod tests {
assert_eq!(i8_conv_back, -16);
i8_conv_back = i8::from_be_bytes(raw[2..3].try_into().unwrap());
assert_eq!(i8_conv_back, -126);
test_writing_fails(&i8_triplet);
test_cloning_works(&i8_triplet);
let i8_praw = ParamsRaw::from(i8_triplet);
test_writing(&i8_praw, &i8_triplet);
}
#[test]
@ -681,4 +833,352 @@ mod tests {
panic!("Params type is not a vector")
}
}
#[test]
fn test_params_written_len_raw() {
let param_raw = ParamsRaw::from((500_u32, 1000_u32));
let param: Params = Params::Heapless(param_raw.into());
assert_eq!(param.written_len(), 8);
let mut buf: [u8; 8] = [0; 8];
param
.write_to_be_bytes(&mut buf)
.expect("writing to buffer failed");
assert_eq!(u32::from_be_bytes(buf[0..4].try_into().unwrap()), 500);
assert_eq!(u32::from_be_bytes(buf[4..8].try_into().unwrap()), 1000);
}
#[test]
fn test_params_written_string() {
let string = "Test String".to_string();
let param = Params::String(string.clone());
assert_eq!(param.written_len(), string.len());
let vec = param.to_vec().unwrap();
let string_conv_back = String::from_utf8(vec).expect("conversion to string failed");
assert_eq!(string_conv_back, string);
}
#[test]
fn test_params_written_vec() {
let vec: Vec<u8> = alloc::vec![1, 2, 3, 4, 5];
let param = Params::Vec(vec.clone());
assert_eq!(param.written_len(), vec.len());
assert_eq!(param.to_vec().expect("writing vec params failed"), vec);
}
#[test]
fn test_u32_single() {
let raw_params = U32::from(20);
assert_eq!(raw_params.0, 20);
assert_eq!(WritableToBeBytes::written_len(&raw_params), 4);
assert_eq!(raw_params.to_be_bytes(), [0, 0, 0, 20]);
let other = U32::from(20);
assert_eq!(raw_params, other);
test_writing_fails(&raw_params);
test_cloning_works(&raw_params);
let u32_praw = ParamsRaw::from(raw_params);
test_writing(&u32_praw, &raw_params);
}
#[test]
fn test_i8_single() {
let neg_number: i8 = -5_i8;
let raw_params = I8::from(neg_number);
assert_eq!(raw_params.0, neg_number);
assert_eq!(WritableToBeBytes::written_len(&raw_params), 1);
assert_eq!(raw_params.to_be_bytes(), neg_number.to_be_bytes());
test_writing_fails(&raw_params);
test_cloning_works(&raw_params);
let u8_praw = ParamsRaw::from(raw_params);
test_writing(&u8_praw, &raw_params);
}
#[test]
fn test_u8_single() {
let raw_params = U8::from(20);
assert_eq!(raw_params.0, 20);
assert_eq!(WritableToBeBytes::written_len(&raw_params), 1);
assert_eq!(raw_params.to_be_bytes(), [20]);
test_writing_fails(&raw_params);
test_cloning_works(&raw_params);
let u32_praw = ParamsRaw::from(raw_params);
test_writing(&u32_praw, &raw_params);
}
#[test]
fn test_u16_single() {
let raw_params = U16::from(0x123);
assert_eq!(raw_params.0, 0x123);
assert_eq!(WritableToBeBytes::written_len(&raw_params), 2);
assert_eq!(raw_params.to_be_bytes(), [0x01, 0x23]);
test_writing_fails(&raw_params);
test_cloning_works(&raw_params);
let u16_praw = ParamsRaw::from(raw_params);
test_writing(&u16_praw, &raw_params);
}
#[test]
fn test_u16_triplet() {
let raw_params = U16Triplet::from((1, 2, 3));
assert_eq!(raw_params.0, 1);
assert_eq!(raw_params.1, 2);
assert_eq!(raw_params.2, 3);
assert_eq!(WritableToBeBytes::written_len(&raw_params), 6);
assert_eq!(raw_params.to_be_bytes(), [0, 1, 0, 2, 0, 3]);
test_writing_fails(&raw_params);
test_cloning_works(&raw_params);
let u16_praw = ParamsRaw::from(raw_params);
test_writing(&u16_praw, &raw_params);
}
#[test]
fn test_u8_triplet() {
let raw_params = U8Triplet::from((1, 2, 3));
assert_eq!(raw_params.0, 1);
assert_eq!(raw_params.1, 2);
assert_eq!(raw_params.2, 3);
assert_eq!(WritableToBeBytes::written_len(&raw_params), 3);
assert_eq!(raw_params.to_be_bytes(), [1, 2, 3]);
test_writing_fails(&raw_params);
test_cloning_works(&raw_params);
let u8_praw = ParamsRaw::from(raw_params);
test_writing(&u8_praw, &raw_params);
}
#[test]
fn test_i16_single() {
let value = -300_i16;
let raw_params = I16::from(value);
assert_eq!(raw_params.0, value);
assert_eq!(WritableToBeBytes::written_len(&raw_params), 2);
assert_eq!(raw_params.to_be_bytes(), value.to_be_bytes());
test_writing_fails(&raw_params);
test_cloning_works(&raw_params);
let i16_praw = ParamsRaw::from(raw_params);
test_writing(&i16_praw, &raw_params);
}
#[test]
fn test_i16_pair() {
let raw_params = I16Pair::from((-300, -400));
assert_eq!(raw_params.0, -300);
assert_eq!(raw_params.1, -400);
assert_eq!(WritableToBeBytes::written_len(&raw_params), 4);
test_writing_fails(&raw_params);
test_cloning_works(&raw_params);
let i16_praw = ParamsRaw::from(raw_params);
test_writing(&i16_praw, &raw_params);
}
#[test]
fn test_i16_triplet() {
let raw_params = I16Triplet::from((-300, -400, -350));
assert_eq!(raw_params.0, -300);
assert_eq!(raw_params.1, -400);
assert_eq!(raw_params.2, -350);
assert_eq!(WritableToBeBytes::written_len(&raw_params), 6);
test_writing_fails(&raw_params);
test_cloning_works(&raw_params);
let i16_praw = ParamsRaw::from(raw_params);
test_writing(&i16_praw, &raw_params);
}
#[test]
fn test_i32_single() {
let raw_params = I32::from(-80000);
assert_eq!(raw_params.0, -80000);
assert_eq!(WritableToBeBytes::written_len(&raw_params), 4);
test_writing_fails(&raw_params);
test_cloning_works(&raw_params);
let i32_praw = ParamsRaw::from(raw_params);
test_writing(&i32_praw, &raw_params);
}
#[test]
fn test_i32_pair() {
let raw_params = I32Pair::from((-80000, -200));
assert_eq!(raw_params.0, -80000);
assert_eq!(raw_params.1, -200);
assert_eq!(WritableToBeBytes::written_len(&raw_params), 8);
test_writing_fails(&raw_params);
test_cloning_works(&raw_params);
let i32_praw = ParamsRaw::from(raw_params);
test_writing(&i32_praw, &raw_params);
}
#[test]
fn test_i32_triplet() {
let raw_params = I32Triplet::from((-80000, -5, -200));
assert_eq!(raw_params.0, -80000);
assert_eq!(raw_params.1, -5);
assert_eq!(raw_params.2, -200);
assert_eq!(WritableToBeBytes::written_len(&raw_params), 12);
test_writing_fails(&raw_params);
test_cloning_works(&raw_params);
let i32_praw = ParamsRaw::from(raw_params);
test_writing(&i32_praw, &raw_params);
}
#[test]
fn test_f32_single() {
let param = F32::from(0.1);
assert_eq!(param.0, 0.1);
assert_eq!(WritableToBeBytes::written_len(&param), 4);
let f32_pair_raw = param.to_be_bytes();
let f32_0 = f32::from_be_bytes(f32_pair_raw[0..4].try_into().unwrap());
assert_eq!(f32_0, 0.1);
test_writing_fails(&param);
test_cloning_works(&param);
let praw = ParamsRaw::from(param);
test_writing(&praw, &param);
let p_try_from = F32::try_from(param.to_be_bytes().as_ref()).expect("try_from failed");
assert_eq!(p_try_from, param);
}
#[test]
fn test_f32_pair() {
let param = F32Pair::from((0.1, 0.2));
assert_eq!(param.0, 0.1);
assert_eq!(param.1, 0.2);
assert_eq!(WritableToBeBytes::written_len(&param), 8);
let f32_pair_raw = param.to_be_bytes();
let f32_0 = f32::from_be_bytes(f32_pair_raw[0..4].try_into().unwrap());
assert_eq!(f32_0, 0.1);
let f32_1 = f32::from_be_bytes(f32_pair_raw[4..8].try_into().unwrap());
assert_eq!(f32_1, 0.2);
let other_pair = F32Pair::from((0.1, 0.2));
assert_eq!(param, other_pair);
test_writing_fails(&param);
test_cloning_works(&param);
let praw = ParamsRaw::from(param);
test_writing(&praw, &param);
let p_try_from = F32Pair::try_from(param.to_be_bytes().as_ref()).expect("try_from failed");
assert_eq!(p_try_from, param);
}
#[test]
fn test_f32_triplet() {
let f32 = F32Triplet::from((0.1, -0.1, -5.2));
assert_eq!(f32.0, 0.1);
assert_eq!(f32.1, -0.1);
assert_eq!(f32.2, -5.2);
assert_eq!(WritableToBeBytes::written_len(&f32), 12);
let f32_pair_raw = f32.to_be_bytes();
let f32_0 = f32::from_be_bytes(f32_pair_raw[0..4].try_into().unwrap());
assert_eq!(f32_0, 0.1);
let f32_1 = f32::from_be_bytes(f32_pair_raw[4..8].try_into().unwrap());
assert_eq!(f32_1, -0.1);
let f32_2 = f32::from_be_bytes(f32_pair_raw[8..12].try_into().unwrap());
assert_eq!(f32_2, -5.2);
test_writing_fails(&f32);
test_cloning_works(&f32);
let f32_praw = ParamsRaw::from(f32);
test_writing(&f32_praw, &f32);
let f32_try_from =
F32Triplet::try_from(f32.to_be_bytes().as_ref()).expect("try_from failed");
assert_eq!(f32_try_from, f32);
}
#[test]
fn test_u64_single() {
let u64 = U64::from(0x1010101010);
assert_eq!(u64.0, 0x1010101010);
assert_eq!(WritableToBeBytes::written_len(&u64), 8);
test_writing_fails(&u64);
test_cloning_works(&u64);
let praw = ParamsRaw::from(u64);
test_writing(&praw, &u64);
}
#[test]
fn test_i64_single() {
let i64 = I64::from(-0xfffffffff);
assert_eq!(i64.0, -0xfffffffff);
assert_eq!(WritableToBeBytes::written_len(&i64), 8);
test_writing_fails(&i64);
test_cloning_works(&i64);
let praw = ParamsRaw::from(i64);
test_writing(&praw, &i64);
}
#[test]
fn test_f64_single() {
let value = 823_823_812_832.232_3;
let f64 = F64::from(value);
assert_eq!(f64.0, value);
assert_eq!(WritableToBeBytes::written_len(&f64), 8);
test_writing_fails(&f64);
test_cloning_works(&f64);
let praw = ParamsRaw::from(f64);
test_writing(&praw, &f64);
}
#[test]
fn test_f64_triplet() {
let f64_triplet = F64Triplet::from((0.1, 0.2, 0.3));
assert_eq!(f64_triplet.0, 0.1);
assert_eq!(f64_triplet.1, 0.2);
assert_eq!(f64_triplet.2, 0.3);
assert_eq!(WritableToBeBytes::written_len(&f64_triplet), 24);
let f64_triplet_raw = f64_triplet.to_be_bytes();
let f64_0 = f64::from_be_bytes(f64_triplet_raw[0..8].try_into().unwrap());
assert_eq!(f64_0, 0.1);
let f64_1 = f64::from_be_bytes(f64_triplet_raw[8..16].try_into().unwrap());
assert_eq!(f64_1, 0.2);
let f64_2 = f64::from_be_bytes(f64_triplet_raw[16..24].try_into().unwrap());
assert_eq!(f64_2, 0.3);
test_writing_fails(&f64_triplet);
test_cloning_works(&f64_triplet);
}
#[test]
fn test_u8_ecss_enum() {
let value = 200;
let u8p = EcssEnumU8::new(value);
test_cloning_works(&u8p);
let praw = ParamsEcssEnum::from(u8p);
assert_eq!(praw.written_len(), 1);
let mut buf = [0; 1];
praw.write_to_be_bytes(&mut buf)
.expect("writing to buffer failed");
buf[0] = 200;
}
#[test]
fn test_u16_ecss_enum() {
let value = 60000;
let u16p = EcssEnumU16::new(value);
test_cloning_works(&u16p);
let praw = ParamsEcssEnum::from(u16p);
assert_eq!(praw.written_len(), 2);
let mut buf = [0; 2];
praw.write_to_be_bytes(&mut buf)
.expect("writing to buffer failed");
assert_eq!(u16::from_be_bytes(buf), value);
}
#[test]
fn test_u32_ecss_enum() {
let value = 70000;
let u32p = EcssEnumU32::new(value);
test_cloning_works(&u32p);
let praw = ParamsEcssEnum::from(u32p);
assert_eq!(praw.written_len(), 4);
let mut buf = [0; 4];
praw.write_to_be_bytes(&mut buf)
.expect("writing to buffer failed");
assert_eq!(u32::from_be_bytes(buf), value);
}
#[test]
fn test_u64_ecss_enum() {
let value = 0xffffffffff;
let u64p = EcssEnumU64::new(value);
test_cloning_works(&u64p);
let praw = ParamsEcssEnum::from(u64p);
assert_eq!(praw.written_len(), 8);
let mut buf = [0; 8];
praw.write_to_be_bytes(&mut buf)
.expect("writing to buffer failed");
assert_eq!(u64::from_be_bytes(buf), value);
}
}

1
satrs/src/pool.rs
View File

@ -72,7 +72,6 @@
//! }
//! ```
#[cfg(feature = "alloc")]
#[cfg_attr(doc_cfg, doc(cfg(feature = "alloc")))]
pub use alloc_mod::*;
use core::fmt::{Display, Formatter};
use delegate::delegate;

863
satrs/src/pus/action.rs
View File

@ -1,6 +1,10 @@
use crate::{action::ActionRequest, TargetId};
use crate::{
action::{ActionId, ActionRequest},
params::Params,
request::{GenericMessage, MessageMetadata, RequestId},
};
use super::verification::{TcStateAccepted, VerificationToken};
use satrs_shared::res_code::ResultU16;
#[cfg(feature = "std")]
#[cfg_attr(doc_cfg, doc(cfg(feature = "std")))]
@ -8,219 +12,278 @@ pub use std_mod::*;
#[cfg(feature = "alloc")]
#[cfg_attr(doc_cfg, doc(cfg(feature = "alloc")))]
#[allow(unused_imports)]
pub use alloc_mod::*;
/// This trait is an abstraction for the routing of PUS service 8 action requests to a dedicated
/// recipient using the generic [TargetId].
pub trait PusActionRequestRouter {
type Error;
fn route(
&self,
target_id: TargetId,
hk_request: ActionRequest,
token: VerificationToken<TcStateAccepted>,
) -> Result<(), Self::Error>;
#[derive(Clone, Debug)]
pub struct ActionRequestWithId {
pub request_id: RequestId,
pub request: ActionRequest,
}
/// A reply to an action request, but tailored to the PUS standard verification process.
#[non_exhaustive]
#[derive(Clone, PartialEq, Debug)]
pub enum ActionReplyVariant {
Completed,
StepSuccess {
step: u16,
},
CompletionFailed {
error_code: ResultU16,
params: Option<Params>,
},
StepFailed {
error_code: ResultU16,
step: u16,
params: Option<Params>,
},
}
#[derive(Debug, PartialEq, Clone)]
pub struct PusActionReply {
pub action_id: ActionId,
pub variant: ActionReplyVariant,
}
impl PusActionReply {
pub fn new(action_id: ActionId, variant: ActionReplyVariant) -> Self {
Self { action_id, variant }
}
}
pub type GenericActionReplyPus = GenericMessage<PusActionReply>;
impl GenericActionReplyPus {
pub fn new_action_reply(
requestor_info: MessageMetadata,
action_id: ActionId,
reply: ActionReplyVariant,
) -> Self {
Self::new(requestor_info, PusActionReply::new(action_id, reply))
}
}
#[cfg(feature = "alloc")]
#[cfg_attr(doc_cfg, doc(cfg(feature = "alloc")))]
pub mod alloc_mod {
use spacepackets::ecss::tc::PusTcReader;
use crate::{
action::ActionRequest,
queue::GenericTargetedMessagingError,
request::{
GenericMessage, MessageReceiver, MessageSender, MessageSenderAndReceiver, RequestId,
},
ComponentId,
};
use crate::pus::verification::VerificationReportingProvider;
use super::PusActionReply;
use super::*;
/// Helper type definition for a mode handler which can handle mode requests.
pub type ActionRequestHandlerInterface<S, R> =
MessageSenderAndReceiver<PusActionReply, ActionRequest, S, R>;
/// This trait is an abstraction for the conversion of a PUS service 8 action telecommand into
/// an [ActionRequest].
///
/// Having a dedicated trait for this allows maximum flexiblity and tailoring of the standard.
/// The only requirement is that a valid [TargetId] and an [ActionRequest] are returned by the
/// core conversion function.
///
/// The user should take care of performing the error handling as well. Some of the following
/// aspects might be relevant:
///
/// - Checking the validity of the APID, service ID, subservice ID.
/// - Checking the validity of the user data.
///
/// A [VerificationReportingProvider] instance is passed to the user to also allow handling
/// of the verification process as part of the PUS standard requirements.
pub trait PusActionToRequestConverter {
type Error;
fn convert(
&mut self,
token: VerificationToken<TcStateAccepted>,
tc: &PusTcReader,
time_stamp: &[u8],
verif_reporter: &impl VerificationReportingProvider,
) -> Result<(TargetId, ActionRequest), Self::Error>;
impl<S: MessageSender<PusActionReply>, R: MessageReceiver<ActionRequest>>
ActionRequestHandlerInterface<S, R>
{
pub fn try_recv_action_request(
&self,
) -> Result<Option<GenericMessage<ActionRequest>>, GenericTargetedMessagingError> {
self.try_recv_message()
}
pub fn send_action_reply(
&self,
request_id: RequestId,
target_id: ComponentId,
reply: PusActionReply,
) -> Result<(), GenericTargetedMessagingError> {
self.send_message(request_id, target_id, reply)
}
}
/// Helper type defintion for a mode handler object which can send mode requests and receive
/// mode replies.
pub type ActionRequestorInterface<S, R> =
MessageSenderAndReceiver<ActionRequest, PusActionReply, S, R>;
impl<S: MessageSender<ActionRequest>, R: MessageReceiver<PusActionReply>>
ActionRequestorInterface<S, R>
{
pub fn try_recv_action_reply(
&self,
) -> Result<Option<GenericMessage<PusActionReply>>, GenericTargetedMessagingError> {
self.try_recv_message()
}
pub fn send_action_request(
&self,
request_id: RequestId,
target_id: ComponentId,
request: ActionRequest,
) -> Result<(), GenericTargetedMessagingError> {
self.send_message(request_id, target_id, request)
}
}
}
#[cfg(feature = "std")]
#[cfg_attr(doc_cfg, doc(cfg(feature = "std")))]
pub mod std_mod {
use crate::pus::{
get_current_cds_short_timestamp, verification::VerificationReportingProvider,
EcssTcInMemConverter, EcssTcReceiverCore, EcssTmSenderCore, GenericRoutingError,
PusPacketHandlerResult, PusPacketHandlingError, PusRoutingErrorHandler, PusServiceHelper,
use std::sync::mpsc;
use crate::{
pus::{
verification::{self, TcStateToken},
ActivePusRequestStd, ActiveRequestProvider, DefaultActiveRequestMap,
},
ComponentId,
};
use super::*;
/// This is a high-level handler for the PUS service 8 action service.
///
/// It performs the following handling steps:
///
/// 1. Retrieve the next TC packet from the [PusServiceHelper]. The [EcssTcInMemConverter]
/// allows to configure the used telecommand memory backend.
/// 2. Convert the TC to a targeted action request using the provided
/// [PusActionToRequestConverter]. The generic error type is constrained to the
/// [PusPacketHandlingError] for the concrete implementation which offers a packet handler.
/// 3. Route the action request using the provided [PusActionRequestRouter].
/// 4. Handle all routing errors using the provided [PusRoutingErrorHandler].
pub struct PusService8ActionHandler<
TcReceiver: EcssTcReceiverCore,
TmSender: EcssTmSenderCore,
TcInMemConverter: EcssTcInMemConverter,
VerificationReporter: VerificationReportingProvider,
RequestConverter: PusActionToRequestConverter,
RequestRouter: PusActionRequestRouter<Error = RoutingError>,
RoutingErrorHandler: PusRoutingErrorHandler<Error = RoutingError>,
RoutingError = GenericRoutingError,
> {
service_helper:
PusServiceHelper<TcReceiver, TmSender, TcInMemConverter, VerificationReporter>,
pub request_converter: RequestConverter,
pub request_router: RequestRouter,
pub routing_error_handler: RoutingErrorHandler,
#[derive(Debug, Clone, PartialEq, Eq)]
pub struct ActivePusActionRequestStd {
pub action_id: ActionId,
common: ActivePusRequestStd,
}
impl ActiveRequestProvider for ActivePusActionRequestStd {
delegate::delegate! {
to self.common {
fn target_id(&self) -> ComponentId;
fn token(&self) -> verification::TcStateToken;
fn set_token(&mut self, token: verification::TcStateToken);
fn has_timed_out(&self) -> bool;
fn timeout(&self) -> core::time::Duration;
}
}
}
impl ActivePusActionRequestStd {
pub fn new_from_common_req(action_id: ActionId, common: ActivePusRequestStd) -> Self {
Self { action_id, common }
}
impl<
TcReceiver: EcssTcReceiverCore,
TmSender: EcssTmSenderCore,
TcInMemConverter: EcssTcInMemConverter,
VerificationReporter: VerificationReportingProvider,
RequestConverter: PusActionToRequestConverter<Error = PusPacketHandlingError>,
RequestRouter: PusActionRequestRouter<Error = RoutingError>,
RoutingErrorHandler: PusRoutingErrorHandler<Error = RoutingError>,
RoutingError: Clone,
>
PusService8ActionHandler<
TcReceiver,
TmSender,
TcInMemConverter,
VerificationReporter,
RequestConverter,
RequestRouter,
RoutingErrorHandler,
RoutingError,
>
where
PusPacketHandlingError: From<RoutingError>,
{
pub fn new(
service_helper: PusServiceHelper<
TcReceiver,
TmSender,
TcInMemConverter,
VerificationReporter,
>,
request_converter: RequestConverter,
request_router: RequestRouter,
routing_error_handler: RoutingErrorHandler,
action_id: ActionId,
target_id: ComponentId,
token: TcStateToken,
timeout: core::time::Duration,
) -> Self {
Self {
service_helper,
request_converter,
request_router,
routing_error_handler,
action_id,
common: ActivePusRequestStd::new(target_id, token, timeout),
}
}
}
pub type DefaultActiveActionRequestMap = DefaultActiveRequestMap<ActivePusActionRequestStd>;
/// Core function to poll the next TC packet and try to handle it.
pub fn handle_one_tc(&mut self) -> Result<PusPacketHandlerResult, PusPacketHandlingError> {
let possible_packet = self.service_helper.retrieve_and_accept_next_packet()?;
if possible_packet.is_none() {
return Ok(PusPacketHandlerResult::Empty);
}
let ecss_tc_and_token = possible_packet.unwrap();
let tc = self
.service_helper
.tc_in_mem_converter
.convert_ecss_tc_in_memory_to_reader(&ecss_tc_and_token.tc_in_memory)?;
let mut partial_error = None;
let time_stamp = get_current_cds_short_timestamp(&mut partial_error);
let (target_id, action_request) = self.request_converter.convert(
ecss_tc_and_token.token,
&tc,
&time_stamp,
&self.service_helper.common.verification_handler,
)?;
if let Err(e) =
self.request_router
.route(target_id, action_request, ecss_tc_and_token.token)
{
self.routing_error_handler.handle_error(
target_id,
ecss_tc_and_token.token,
&tc,
e.clone(),
&time_stamp,
&self.service_helper.common.verification_handler,
);
return Err(e.into());
}
Ok(PusPacketHandlerResult::RequestHandled)
}
}
pub type ActionRequestHandlerMpsc = ActionRequestHandlerInterface<
mpsc::Sender<GenericMessage<PusActionReply>>,
mpsc::Receiver<GenericMessage<ActionRequest>>,
>;
pub type ActionRequestHandlerMpscBounded = ActionRequestHandlerInterface<
mpsc::SyncSender<GenericMessage<PusActionReply>>,
mpsc::Receiver<GenericMessage<ActionRequest>>,
>;
pub type ActionRequestorMpsc = ActionRequestorInterface<
mpsc::Sender<GenericMessage<ActionRequest>>,
mpsc::Receiver<GenericMessage<PusActionReply>>,
>;
pub type ActionRequestorBoundedMpsc = ActionRequestorInterface<
mpsc::SyncSender<GenericMessage<ActionRequest>>,
mpsc::Receiver<GenericMessage<PusActionReply>>,
>;
/*
pub type ModeRequestorAndHandlerMpsc = ModeInterface<
mpsc::Sender<GenericMessage<ModeRequest>>,
mpsc::Receiver<GenericMessage<ModeReply>>,
mpsc::Sender<GenericMessage<ModeReply>>,
mpsc::Receiver<GenericMessage<ModeRequest>>,
>;
pub type ModeRequestorAndHandlerMpscBounded = ModeInterface<
mpsc::SyncSender<GenericMessage<ModeRequest>>,
mpsc::Receiver<GenericMessage<ModeReply>>,
mpsc::SyncSender<GenericMessage<ModeReply>>,
mpsc::Receiver<GenericMessage<ModeRequest>>,
>;
*/
}
#[cfg(test)]
mod tests {
/*
use core::{cell::RefCell, time::Duration};
use std::{sync::mpsc, time::SystemTimeError};
use alloc::{collections::VecDeque, vec::Vec};
use delegate::delegate;
use spacepackets::{
ecss::{
tc::{PusTcCreator, PusTcReader, PusTcSecondaryHeader},
tc::{PusTcCreator, PusTcReader},
tm::PusTmReader,
PusPacket,
},
CcsdsPacket, SequenceFlags, SpHeader,
time::{cds, TimeWriter},
CcsdsPacket,
};
use crate::pus::{
use crate::{
action::ActionRequestVariant,
params::{self, ParamsRaw, WritableToBeBytes},
pus::{
tests::{
PusServiceHandlerWithVecCommon, PusTestHarness, SimplePusPacketHandler, TestConverter,
TestRouter, TestRoutingErrorHandler, APP_DATA_TOO_SHORT, TEST_APID,
PusServiceHandlerWithVecCommon, PusTestHarness, SimplePusPacketHandler,
TestConverter, TestRouter, APP_DATA_TOO_SHORT,
},
verification::{
tests::TestVerificationReporter, FailParams, RequestId, VerificationReportingProvider,
self,
tests::{SharedVerificationMap, TestVerificationReporter, VerificationStatus},
FailParams, TcStateAccepted, TcStateNone, TcStateStarted,
VerificationReportingProvider,
},
EcssTcInMemConverter, EcssTcInVecConverter, EcssTmtcError, GenericRoutingError,
MpscTcReceiver, PusPacketHandlerResult, PusPacketHandlingError, PusRequestRouter,
PusServiceHelper, PusTcToRequestConverter, TmAsVecSenderWithMpsc,
},
EcssTcInVecConverter, GenericRoutingError, MpscTcReceiver, PusPacketHandlerResult,
PusPacketHandlingError, TmAsVecSenderWithMpsc,
};
use super::*;
impl PusActionRequestRouter for TestRouter<ActionRequest> {
impl<Request> PusRequestRouter<Request> for TestRouter<Request> {
type Error = GenericRoutingError;
fn route(
&self,
target_id: TargetId,
hk_request: ActionRequest,
request: Request,
_token: VerificationToken<TcStateAccepted>,
) -> Result<(), Self::Error> {
self.routing_requests
.borrow_mut()
.push_back((target_id, hk_request));
.push_back((target_id, request));
self.check_for_injected_error()
}
fn handle_error(
&self,
target_id: TargetId,
token: VerificationToken<TcStateAccepted>,
tc: &PusTcReader,
error: Self::Error,
time_stamp: &[u8],
verif_reporter: &impl VerificationReportingProvider,
) {
self.routing_errors
.borrow_mut()
.push_back((target_id, error));
}
}
impl PusActionToRequestConverter for TestConverter<8> {
impl PusTcToRequestConverter<ActionRequest> for TestConverter<8> {
type Error = PusPacketHandlingError;
fn convert(
&mut self,
@ -254,9 +317,9 @@ mod tests {
.expect("start success failure");
return Ok((
target_id.into(),
ActionRequest::UnsignedIdAndVecData {
ActionRequest {
action_id: u32::from_be_bytes(tc.user_data()[0..4].try_into().unwrap()),
data: tc.user_data()[4..].to_vec(),
variant: ActionRequestVariant::VecData(tc.user_data()[4..].to_vec()),
},
));
}
@ -266,31 +329,32 @@ mod tests {
}
}
struct Pus8HandlerWithVecTester {
common: PusServiceHandlerWithVecCommon<TestVerificationReporter>,
handler: PusService8ActionHandler<
pub struct PusDynRequestHandler<const SERVICE: u8, Request> {
srv_helper: PusServiceHelper<
MpscTcReceiver,
TmAsVecSenderWithMpsc,
EcssTcInVecConverter,
TestVerificationReporter,
TestConverter<8>,
TestRouter<ActionRequest>,
TestRoutingErrorHandler,
>,
request_converter: TestConverter<SERVICE>,
request_router: TestRouter<Request>,
}
impl Pus8HandlerWithVecTester {
struct Pus8RequestTestbenchWithVec {
common: PusServiceHandlerWithVecCommon<TestVerificationReporter>,
handler: PusDynRequestHandler<8, ActionRequest>,
}
impl Pus8RequestTestbenchWithVec {
pub fn new() -> Self {
let (common, srv_handler) =
PusServiceHandlerWithVecCommon::new_with_test_verif_sender();
let (common, srv_helper) = PusServiceHandlerWithVecCommon::new_with_test_verif_sender();
Self {
common,
handler: PusService8ActionHandler::new(
srv_handler,
TestConverter::default(),
TestRouter::default(),
TestRoutingErrorHandler::default(),
),
handler: PusDynRequestHandler {
srv_helper,
request_converter: TestConverter::default(),
request_router: TestRouter::default(),
},
}
}
@ -305,13 +369,13 @@ mod tests {
}
}
delegate! {
to self.handler.routing_error_handler {
pub fn retrieve_next_error(&mut self) -> (TargetId, GenericRoutingError);
to self.handler.request_router {
pub fn retrieve_next_routing_error(&mut self) -> (TargetId, GenericRoutingError);
}
}
}
impl PusTestHarness for Pus8HandlerWithVecTester {
impl PusTestHarness for Pus8RequestTestbenchWithVec {
delegate! {
to self.common {
fn send_tc(&mut self, tc: &PusTcCreator) -> VerificationToken<TcStateAccepted>;
@ -320,78 +384,421 @@ mod tests {
fn check_next_verification_tm(
&self,
subservice: u8,
expected_request_id: RequestId,
expected_request_id: verification::RequestId,
);
}
}
}
impl SimplePusPacketHandler for Pus8HandlerWithVecTester {
impl SimplePusPacketHandler for Pus8RequestTestbenchWithVec {
fn handle_one_tc(&mut self) -> Result<PusPacketHandlerResult, PusPacketHandlingError> {
let possible_packet = self.handler.srv_helper.retrieve_and_accept_next_packet()?;
if possible_packet.is_none() {
return Ok(PusPacketHandlerResult::Empty);
}
let ecss_tc_and_token = possible_packet.unwrap();
let tc = self
.handler
.srv_helper
.tc_in_mem_converter
.convert_ecss_tc_in_memory_to_reader(&ecss_tc_and_token.tc_in_memory)?;
let time_stamp = cds::TimeProvider::from_now_with_u16_days()
.expect("timestamp generation failed")
.to_vec()
.unwrap();
let (target_id, action_request) = self.handler.request_converter.convert(
ecss_tc_and_token.token,
&tc,
&time_stamp,
&self.handler.srv_helper.common.verification_handler,
)?;
if let Err(e) = self.handler.request_router.route(
target_id,
action_request,
ecss_tc_and_token.token,
) {
self.handler.request_router.handle_error(
target_id,
ecss_tc_and_token.token,
&tc,
e.clone(),
&time_stamp,
&self.handler.srv_helper.common.verification_handler,
);
return Err(e.into());
}
Ok(PusPacketHandlerResult::RequestHandled)
}
}
const TIMEOUT_ERROR_CODE: ResultU16 = ResultU16::new(1, 2);
const COMPLETION_ERROR_CODE: ResultU16 = ResultU16::new(2, 0);
const COMPLETION_ERROR_CODE_STEP: ResultU16 = ResultU16::new(2, 1);
#[derive(Default)]
pub struct TestReplyHandlerHook {
pub unexpected_replies: VecDeque<GenericActionReplyPus>,
pub timeouts: RefCell<VecDeque<ActivePusActionRequest>>,
}
impl ReplyHandlerHook<ActivePusActionRequest, ActionReplyPusWithActionId> for TestReplyHandlerHook {
fn handle_unexpected_reply(&mut self, reply: &GenericActionReplyPus) {
self.unexpected_replies.push_back(reply.clone());
}
fn timeout_callback(&self, active_request: &ActivePusActionRequest) {
self.timeouts.borrow_mut().push_back(active_request.clone());
}
fn timeout_error_code(&self) -> ResultU16 {
TIMEOUT_ERROR_CODE
}
}
pub struct Pus8ReplyTestbench {
verif_reporter: TestVerificationReporter,
#[allow(dead_code)]
ecss_tm_receiver: mpsc::Receiver<Vec<u8>>,
handler: PusService8ReplyHandler<
TestVerificationReporter,
DefaultActiveActionRequestMap,
TestReplyHandlerHook,
mpsc::Sender<Vec<u8>>,
>,
}
impl Pus8ReplyTestbench {
pub fn new(normal_ctor: bool) -> Self {
let reply_handler_hook = TestReplyHandlerHook::default();
let shared_verif_map = SharedVerificationMap::default();
let test_verif_reporter = TestVerificationReporter::new(shared_verif_map.clone());
let (ecss_tm_sender, ecss_tm_receiver) = mpsc::channel();
let reply_handler = if normal_ctor {
PusService8ReplyHandler::new_from_now_with_default_map(
test_verif_reporter.clone(),
128,
reply_handler_hook,
ecss_tm_sender,
)
.expect("creating reply handler failed")
} else {
PusService8ReplyHandler::new_from_now(
test_verif_reporter.clone(),
DefaultActiveActionRequestMap::default(),
128,
reply_handler_hook,
ecss_tm_sender,
)
.expect("creating reply handler failed")
};
Self {
verif_reporter: test_verif_reporter,
ecss_tm_receiver,
handler: reply_handler,
}
}
pub fn init_handling_for_request(
&mut self,
request_id: RequestId,
_action_id: ActionId,
) -> VerificationToken<TcStateStarted> {
assert!(!self.handler.request_active(request_id));
// let action_req = ActionRequest::new(action_id, ActionRequestVariant::NoData);
let token = self.add_tc_with_req_id(request_id.into());
let token = self
.verif_reporter
.acceptance_success(token, &[])
.expect("acceptance success failure");
let token = self
.verif_reporter
.start_success(token, &[])
.expect("start success failure");
let verif_info = self
.verif_reporter
.verification_info(&verification::RequestId::from(request_id))
.expect("no verification info found");
assert!(verif_info.started.expect("request was not started"));
assert!(verif_info.accepted.expect("request was not accepted"));
token
}
pub fn next_unrequested_reply(&self) -> Option<GenericActionReplyPus> {
self.handler.user_hook.unexpected_replies.front().cloned()
}
pub fn assert_request_completion_success(&self, step: Option<u16>, request_id: RequestId) {
let verif_info = self
.verif_reporter
.verification_info(&verification::RequestId::from(request_id))
.expect("no verification info found");
self.assert_request_completion_common(request_id, &verif_info, step, true);
}
pub fn assert_request_completion_failure(
&self,
step: Option<u16>,
request_id: RequestId,
fail_enum: ResultU16,
fail_data: &[u8],
) {
let verif_info = self
.verif_reporter
.verification_info(&verification::RequestId::from(request_id))
.expect("no verification info found");
self.assert_request_completion_common(request_id, &verif_info, step, false);
assert_eq!(verif_info.fail_enum.unwrap(), fail_enum.raw() as u64);
assert_eq!(verif_info.failure_data.unwrap(), fail_data);
}
pub fn assert_request_completion_common(
&self,
request_id: RequestId,
verif_info: &VerificationStatus,
step: Option<u16>,
completion_success: bool,
) {
if let Some(step) = step {
assert!(verif_info.step_status.is_some());
assert!(verif_info.step_status.unwrap());
assert_eq!(step, verif_info.step);
}
assert_eq!(
verif_info.completed.expect("request is not completed"),
completion_success
);
assert!(!self.handler.request_active(request_id));
}
pub fn assert_request_step_failure(&self, step: u16, request_id: RequestId) {
let verif_info = self
.verif_reporter
.verification_info(&verification::RequestId::from(request_id))
.expect("no verification info found");
assert!(verif_info.step_status.is_some());
assert!(!verif_info.step_status.unwrap());
assert_eq!(step, verif_info.step);
}
pub fn add_routed_request(
&mut self,
request_id: verification::RequestId,
target_id: TargetId,
action_id: ActionId,
token: VerificationToken<TcStateStarted>,
timeout: Duration,
) {
if self.handler.request_active(request_id.into()) {
panic!("request already present");
}
self.handler
.add_routed_action_request(request_id, target_id, action_id, token, timeout);
if !self.handler.request_active(request_id.into()) {
panic!("request should be active now");
}
}
delegate! {
to self.handler {
fn handle_one_tc(&mut self) -> Result<PusPacketHandlerResult, PusPacketHandlingError>;
pub fn request_active(&self, request_id: RequestId) -> bool;
pub fn handle_action_reply(
&mut self,
action_reply_with_ids: GenericMessage<ActionReplyPusWithActionId>,
time_stamp: &[u8]
) -> Result<(), EcssTmtcError>;
pub fn update_time_from_now(&mut self) -> Result<(), SystemTimeError>;
pub fn check_for_timeouts(&mut self, time_stamp: &[u8]) -> Result<(), EcssTmtcError>;
}
to self.verif_reporter {
fn add_tc_with_req_id(&mut self, req_id: verification::RequestId) -> VerificationToken<TcStateNone>;
}
}
}
#[test]
fn basic_test() {
let mut action_handler = Pus8HandlerWithVecTester::new();
let mut sp_header = SpHeader::tc(TEST_APID, SequenceFlags::Unsegmented, 0, 0).unwrap();
let sec_header = PusTcSecondaryHeader::new_simple(8, 1);
let action_id: u32 = 1;
let action_id_raw = action_id.to_be_bytes();
let tc = PusTcCreator::new(&mut sp_header, sec_header, action_id_raw.as_ref(), true);
action_handler.send_tc(&tc);
let result = action_handler.handle_one_tc();
assert!(result.is_ok());
action_handler.check_next_conversion(&tc);
let (target_id, action_req) = action_handler.retrieve_next_request();
assert_eq!(target_id, TEST_APID.into());
if let ActionRequest::UnsignedIdAndVecData { action_id, data } = action_req {
assert_eq!(action_id, 1);
assert_eq!(data, &[]);
}
fn test_reply_handler_completion_success() {
let mut reply_testbench = Pus8ReplyTestbench::new(true);
let sender_id = 0x06;
let request_id = 0x02;
let target_id = 0x05;
let action_id = 0x03;
let token = reply_testbench.init_handling_for_request(request_id, action_id);
reply_testbench.add_routed_request(
request_id.into(),
target_id,
action_id,
token,
Duration::from_millis(1),
);
assert!(reply_testbench.request_active(request_id));
let action_reply = GenericMessage::new(
request_id,
sender_id,
ActionReplyPusWithActionId {
action_id,
variant: ActionReplyPus::Completed,
},
);
reply_testbench
.handle_action_reply(action_reply, &[])
.expect("reply handling failure");
reply_testbench.assert_request_completion_success(None, request_id);
}
#[test]
fn test_routing_error() {
let mut action_handler = Pus8HandlerWithVecTester::new();
let mut sp_header = SpHeader::tc(TEST_APID, SequenceFlags::Unsegmented, 0, 0).unwrap();
let sec_header = PusTcSecondaryHeader::new_simple(8, 1);
let action_id: u32 = 1;
let action_id_raw = action_id.to_be_bytes();
let tc = PusTcCreator::new(&mut sp_header, sec_header, action_id_raw.as_ref(), true);
let error = GenericRoutingError::UnknownTargetId(25);
action_handler
.handler
.request_router
.inject_routing_error(error);
action_handler.send_tc(&tc);
let result = action_handler.handle_one_tc();
assert!(result.is_err());
let check_error = |routing_error: GenericRoutingError| {
if let GenericRoutingError::UnknownTargetId(id) = routing_error {
assert_eq!(id, 25);
} else {
panic!("unexpected error type");
}
};
if let PusPacketHandlingError::RequestRoutingError(routing_error) = result.unwrap_err() {
check_error(routing_error);
} else {
panic!("unexpected error type");
fn test_reply_handler_step_success() {
let mut reply_testbench = Pus8ReplyTestbench::new(false);
let request_id = 0x02;
let target_id = 0x05;
let action_id = 0x03;
let token = reply_testbench.init_handling_for_request(request_id, action_id);
reply_testbench.add_routed_request(
request_id.into(),
target_id,
action_id,
token,
Duration::from_millis(1),
);
let action_reply = GenericActionReplyPus::new_action_reply(
request_id,
action_id,
action_id,
ActionReplyPus::StepSuccess { step: 1 },
);
reply_testbench
.handle_action_reply(action_reply, &[])
.expect("reply handling failure");
let action_reply = GenericActionReplyPus::new_action_reply(
request_id,
action_id,
action_id,
ActionReplyPus::Completed,
);
reply_testbench
.handle_action_reply(action_reply, &[])
.expect("reply handling failure");
reply_testbench.assert_request_completion_success(Some(1), request_id);
}
action_handler.check_next_conversion(&tc);
let (target_id, action_req) = action_handler.retrieve_next_request();
assert_eq!(target_id, TEST_APID.into());
if let ActionRequest::UnsignedIdAndVecData { action_id, data } = action_req {
assert_eq!(action_id, 1);
assert_eq!(data, &[]);
#[test]
fn test_reply_handler_completion_failure() {
let mut reply_testbench = Pus8ReplyTestbench::new(true);
let sender_id = 0x01;
let request_id = 0x02;
let target_id = 0x05;
let action_id = 0x03;
let token = reply_testbench.init_handling_for_request(request_id, action_id);
reply_testbench.add_routed_request(
request_id.into(),
target_id,
action_id,
token,
Duration::from_millis(1),
);
let params_raw = ParamsRaw::U32(params::U32(5));
let action_reply = GenericActionReplyPus::new_action_reply(
request_id,
sender_id,
action_id,
ActionReplyPus::CompletionFailed {
error_code: COMPLETION_ERROR_CODE,
params: params_raw.into(),
},
);
reply_testbench
.handle_action_reply(action_reply, &[])
.expect("reply handling failure");
reply_testbench.assert_request_completion_failure(
None,
request_id,
COMPLETION_ERROR_CODE,
&params_raw.to_vec().unwrap(),
);
}
let (target_id, found_error) = action_handler.retrieve_next_error();
assert_eq!(target_id, TEST_APID.into());
check_error(found_error);
#[test]
fn test_reply_handler_step_failure() {
let mut reply_testbench = Pus8ReplyTestbench::new(false);
let sender_id = 0x01;
let request_id = 0x02;
let target_id = 0x05;
let action_id = 0x03;
let token = reply_testbench.init_handling_for_request(request_id, action_id);
reply_testbench.add_routed_request(
request_id.into(),
target_id,
action_id,
token,
Duration::from_millis(1),
);
let action_reply = GenericActionReplyPus::new_action_reply(
request_id,
sender_id,
action_id,
ActionReplyPus::StepFailed {
error_code: COMPLETION_ERROR_CODE_STEP,
step: 2,
params: ParamsRaw::U32(crate::params::U32(5)).into(),
},
);
reply_testbench
.handle_action_reply(action_reply, &[])
.expect("reply handling failure");
reply_testbench.assert_request_step_failure(2, request_id);
}
#[test]
fn test_reply_handler_timeout_handling() {
let mut reply_testbench = Pus8ReplyTestbench::new(true);
let request_id = 0x02;
let target_id = 0x06;
let action_id = 0x03;
let token = reply_testbench.init_handling_for_request(request_id, action_id);
reply_testbench.add_routed_request(
request_id.into(),
target_id,
action_id,
token,
Duration::from_millis(1),
);
let timeout_param = Duration::from_millis(1).as_millis() as u64;
let timeout_param_raw = timeout_param.to_be_bytes();
std::thread::sleep(Duration::from_millis(2));
reply_testbench
.update_time_from_now()
.expect("time update failure");
reply_testbench.check_for_timeouts(&[]).unwrap();
reply_testbench.assert_request_completion_failure(
None,
request_id,
TIMEOUT_ERROR_CODE,
&timeout_param_raw,
);
}
#[test]
fn test_unrequested_reply() {
let mut reply_testbench = Pus8ReplyTestbench::new(true);
let sender_id = 0x01;
let request_id = 0x02;
let action_id = 0x03;
let action_reply = GenericActionReplyPus::new_action_reply(
request_id,
sender_id,
action_id,
ActionReplyPus::Completed,
);
reply_testbench
.handle_action_reply(action_reply, &[])
.expect("reply handling failure");
let reply = reply_testbench.next_unrequested_reply();
assert!(reply.is_some());
let reply = reply.unwrap();
assert_eq!(reply.message.action_id, action_id);
assert_eq!(reply.request_id, request_id);
assert_eq!(reply.message.variant, ActionReplyPus::Completed);
}
*/
}

242
satrs/src/pus/event.rs
View File

@ -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);

60
satrs/src/pus/event_man.rs
View File

@ -157,8 +157,8 @@ pub mod alloc_mod {
phantom: PhantomData<(E, EV)>,
}
impl<B: PusEventMgmtBackendProvider<EV, Error = E>, EV: GenericEvent, E>
PusEventDispatcher<B, EV, E>
impl<B: PusEventMgmtBackendProvider<Event, Error = E>, Event: GenericEvent, E>
PusEventDispatcher<B, Event, E>
{
pub fn new(reporter: EventReporter, backend: B) -> Self {
Self {
@ -168,20 +168,20 @@ pub mod alloc_mod {
}
}
pub fn enable_tm_for_event(&mut self, event: &EV) -> Result<bool, E> {
pub fn enable_tm_for_event(&mut self, event: &Event) -> Result<bool, E> {
self.backend.enable_event_reporting(event)
}
pub fn disable_tm_for_event(&mut self, event: &EV) -> Result<bool, E> {
pub fn disable_tm_for_event(&mut self, event: &Event) -> Result<bool, E> {
self.backend.disable_event_reporting(event)
}
pub fn generate_pus_event_tm_generic(
&mut self,
sender: &mut (impl EcssTmSenderCore + ?Sized),
&self,
sender: &(impl EcssTmSenderCore + ?Sized),
time_stamp: &[u8],
event: EV,
aux_data: Option<&[u8]>,
event: Event,
params: Option<&[u8]>,
) -> Result<bool, EventManError> {
if !self.backend.event_enabled(&event) {
return Ok(false);
@ -189,22 +189,22 @@ pub mod alloc_mod {
match event.severity() {
Severity::INFO => self
.reporter
.event_info(sender, time_stamp, event, aux_data)
.event_info(sender, time_stamp, event, params)
.map(|_| true)
.map_err(|e| e.into()),
Severity::LOW => self
.reporter
.event_low_severity(sender, time_stamp, event, aux_data)
.event_low_severity(sender, time_stamp, event, params)
.map(|_| true)
.map_err(|e| e.into()),
Severity::MEDIUM => self
.reporter
.event_medium_severity(sender, time_stamp, event, aux_data)
.event_medium_severity(sender, time_stamp, event, params)
.map(|_| true)
.map_err(|e| e.into()),
Severity::HIGH => self
.reporter
.event_high_severity(sender, time_stamp, event, aux_data)
.event_high_severity(sender, time_stamp, event, params)
.map(|_| true)
.map_err(|e| e.into()),
}
@ -239,8 +239,8 @@ pub mod alloc_mod {
}
pub fn generate_pus_event_tm<Severity: HasSeverity>(
&mut self,
sender: &mut (impl EcssTmSenderCore + ?Sized),
&self,
sender: &(impl EcssTmSenderCore + ?Sized),
time_stamp: &[u8],
event: EventU32TypedSev<Severity>,
aux_data: Option<&[u8]>,
@ -257,31 +257,36 @@ pub mod alloc_mod {
#[cfg(test)]
mod tests {
use super::*;
use crate::{events::SeverityInfo, pus::TmAsVecSenderWithMpsc};
use crate::events::SeverityInfo;
use crate::pus::PusTmAsVec;
use crate::request::UniqueApidTargetId;
use std::sync::mpsc::{self, TryRecvError};
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);
fn create_basic_man_1() -> DefaultPusEventU32Dispatcher<()> {
let reporter = EventReporter::new(0x02, 128).expect("Creating event repoter failed");
let reporter = EventReporter::new(TEST_ID.raw(), TEST_APID, 0, 128)
.expect("Creating event repoter failed");
PusEventDispatcher::new_with_default_backend(reporter)
}
fn create_basic_man_2() -> DefaultPusEventU32Dispatcher<()> {
let reporter = EventReporter::new(0x02, 128).expect("Creating event repoter failed");
let reporter = EventReporter::new(TEST_ID.raw(), TEST_APID, 0, 128)
.expect("Creating event repoter failed");
let backend = DefaultPusEventMgmtBackend::default();
PusEventDispatcher::new(reporter, backend)
}
#[test]
fn test_basic() {
let mut event_man = create_basic_man_1();
let (event_tx, event_rx) = mpsc::channel();
let mut sender = TmAsVecSenderWithMpsc::new(0, "test_sender", event_tx);
let event_man = create_basic_man_1();
let (event_tx, event_rx) = mpsc::channel::<PusTmAsVec>();
let event_sent = event_man
.generate_pus_event_tm(&mut sender, &EMPTY_STAMP, INFO_EVENT, None)
.generate_pus_event_tm(&event_tx, &EMPTY_STAMP, INFO_EVENT, None)
.expect("Sending info event failed");
assert!(event_sent);
@ -292,13 +297,13 @@ mod tests {
#[test]
fn test_disable_event() {
let mut event_man = create_basic_man_2();
let (event_tx, event_rx) = mpsc::channel();
let mut sender = TmAsVecSenderWithMpsc::new(0, "test", event_tx);
let (event_tx, event_rx) = mpsc::channel::<PusTmAsVec>();
// let mut sender = TmAsVecSenderWithMpsc::new(0, "test", event_tx);
let res = event_man.disable_tm_for_event(&LOW_SEV_EVENT);
assert!(res.is_ok());
assert!(res.unwrap());
let mut event_sent = event_man
.generate_pus_event_tm_generic(&mut sender, &EMPTY_STAMP, LOW_SEV_EVENT, None)
.generate_pus_event_tm_generic(&event_tx, &EMPTY_STAMP, LOW_SEV_EVENT, None)
.expect("Sending low severity event failed");
assert!(!event_sent);
let res = event_rx.try_recv();
@ -306,7 +311,7 @@ mod tests {
assert!(matches!(res.unwrap_err(), TryRecvError::Empty));
// Check that only the low severity event was disabled
event_sent = event_man
.generate_pus_event_tm(&mut sender, &EMPTY_STAMP, INFO_EVENT, None)
.generate_pus_event_tm(&event_tx, &EMPTY_STAMP, INFO_EVENT, None)
.expect("Sending info event failed");
assert!(event_sent);
event_rx.try_recv().expect("No info event received");
@ -315,8 +320,7 @@ mod tests {
#[test]
fn test_reenable_event() {
let mut event_man = create_basic_man_1();
let (event_tx, event_rx) = mpsc::channel();
let mut sender = TmAsVecSenderWithMpsc::new(0, "test", event_tx);
let (event_tx, event_rx) = mpsc::channel::<PusTmAsVec>();
let mut res = event_man.disable_tm_for_event_with_sev(&INFO_EVENT);
assert!(res.is_ok());
assert!(res.unwrap());
@ -324,7 +328,7 @@ mod tests {
assert!(res.is_ok());
assert!(res.unwrap());
let event_sent = event_man
.generate_pus_event_tm(&mut sender, &EMPTY_STAMP, INFO_EVENT, None)
.generate_pus_event_tm(&event_tx, &EMPTY_STAMP, INFO_EVENT, None)
.expect("Sending info event failed");
assert!(event_sent);
event_rx.try_recv().expect("No info event received");

125
satrs/src/pus/event_srv.rs
View File

@ -2,17 +2,18 @@ use crate::events::EventU32;
use crate::pus::event_man::{EventRequest, EventRequestWithToken};
use crate::pus::verification::TcStateToken;
use crate::pus::{PartialPusHandlingError, PusPacketHandlerResult, PusPacketHandlingError};
use crate::queue::GenericSendError;
use spacepackets::ecss::event::Subservice;
use spacepackets::ecss::PusPacket;
use std::sync::mpsc::Sender;
use super::verification::VerificationReportingProvider;
use super::{
get_current_cds_short_timestamp, EcssTcInMemConverter, EcssTcReceiverCore, EcssTmSenderCore,
PusServiceHelper,
EcssTcInMemConverter, EcssTcReceiverCore, EcssTmSenderCore, GenericConversionError,
GenericRoutingError, PusServiceHelper,
};
pub struct PusService5EventHandler<
pub struct PusEventServiceHandler<
TcReceiver: EcssTcReceiverCore,
TmSender: EcssTmSenderCore,
TcInMemConverter: EcssTcInMemConverter,
@ -28,7 +29,7 @@ impl<
TmSender: EcssTmSenderCore,
TcInMemConverter: EcssTcInMemConverter,
VerificationReporter: VerificationReportingProvider,
> PusService5EventHandler<TcReceiver, TmSender, TcInMemConverter, VerificationReporter>
> PusEventServiceHandler<TcReceiver, TmSender, TcInMemConverter, VerificationReporter>
{
pub fn new(
service_helper: PusServiceHelper<
@ -45,16 +46,19 @@ impl<
}
}
pub fn handle_one_tc(&mut self) -> Result<PusPacketHandlerResult, PusPacketHandlingError> {
pub fn poll_and_handle_next_tc(
&mut self,
time_stamp: &[u8],
) -> Result<PusPacketHandlerResult, PusPacketHandlingError> {
let possible_packet = self.service_helper.retrieve_and_accept_next_packet()?;
if possible_packet.is_none() {
return Ok(PusPacketHandlerResult::Empty);
}
let ecss_tc_and_token = possible_packet.unwrap();
let tc = self
.service_helper
.tc_in_mem_converter
.convert_ecss_tc_in_memory_to_reader(&ecss_tc_and_token.tc_in_memory)?;
self.service_helper
.tc_in_mem_converter_mut()
.cache(&ecss_tc_and_token.tc_in_memory)?;
let tc = self.service_helper.tc_in_mem_converter().convert()?;
let subservice = tc.subservice();
let srv = Subservice::try_from(subservice);
if srv.is_err() {
@ -63,20 +67,27 @@ impl<
ecss_tc_and_token.token,
));
}
let handle_enable_disable_request = |enable: bool, stamp: [u8; 7]| {
let handle_enable_disable_request =
|enable: bool| -> Result<PusPacketHandlerResult, PusPacketHandlingError> {
if tc.user_data().len() < 4 {
return Err(PusPacketHandlingError::NotEnoughAppData {
return Err(GenericConversionError::NotEnoughAppData {
expected: 4,
found: tc.user_data().len(),
});
}
.into());
}
let user_data = tc.user_data();
let event_u32 = EventU32::from(u32::from_be_bytes(user_data[0..4].try_into().unwrap()));
let event_u32 =
EventU32::from(u32::from_be_bytes(user_data[0..4].try_into().unwrap()));
let start_token = self
.service_helper
.common
.verification_handler
.start_success(ecss_tc_and_token.token, &stamp)
.verif_reporter
.start_success(
&self.service_helper.common.tm_sender,
ecss_tc_and_token.token,
time_stamp,
)
.map_err(|_| PartialPusHandlingError::Verification);
let partial_error = start_token.clone().err();
let mut token: TcStateToken = ecss_tc_and_token.token.into();
@ -97,7 +108,9 @@ impl<
self.event_request_tx
.send(event_req_with_token)
.map_err(|_| {
PusPacketHandlingError::Other("Forwarding event request failed".into())
PusPacketHandlingError::RequestRouting(GenericRoutingError::Send(
GenericSendError::RxDisconnected,
))
})?;
if let Some(partial_error) = partial_error {
return Ok(PusPacketHandlerResult::RequestHandledPartialSuccess(
@ -106,20 +119,21 @@ impl<
}
Ok(PusPacketHandlerResult::RequestHandled)
};
let mut partial_error = None;
let time_stamp = get_current_cds_short_timestamp(&mut partial_error);
match srv.unwrap() {
Subservice::TmInfoReport
| Subservice::TmLowSeverityReport
| Subservice::TmMediumSeverityReport
| Subservice::TmHighSeverityReport => {
return Err(PusPacketHandlingError::InvalidSubservice(tc.subservice()))
return Err(PusPacketHandlingError::RequestConversion(
GenericConversionError::WrongService(tc.subservice()),
))
}
Subservice::TcEnableEventGeneration => {
handle_enable_disable_request(true, time_stamp)?;
handle_enable_disable_request(true)?;
}
Subservice::TcDisableEventGeneration => {
handle_enable_disable_request(false, time_stamp)?;
handle_enable_disable_request(false)?;
}
Subservice::TcReportDisabledList | Subservice::TmDisabledEventsReport => {
return Ok(PusPacketHandlerResult::SubserviceNotImplemented(
@ -137,60 +151,70 @@ impl<
mod tests {
use delegate::delegate;
use spacepackets::ecss::event::Subservice;
use spacepackets::time::{cds, TimeWriter};
use spacepackets::util::UnsignedEnum;
use spacepackets::{
ecss::{
tc::{PusTcCreator, PusTcSecondaryHeader},
tm::PusTmReader,
},
SequenceFlags, SpHeader,
SpHeader,
};
use std::sync::mpsc::{self, Sender};
use crate::pus::event_man::EventRequest;
use crate::pus::tests::SimplePusPacketHandler;
use crate::pus::test_util::{PusTestHarness, SimplePusPacketHandler, TEST_APID};
use crate::pus::verification::{
RequestId, VerificationReporterWithSharedPoolMpscBoundedSender,
RequestId, VerificationReporter, VerificationReportingProvider,
};
use crate::pus::{MpscTcReceiver, TmInSharedPoolSenderWithBoundedMpsc};
use crate::pus::{GenericConversionError, MpscTcReceiver, MpscTmInSharedPoolSenderBounded};
use crate::{
events::EventU32,
pus::{
event_man::EventRequestWithToken,
tests::{PusServiceHandlerWithSharedStoreCommon, PusTestHarness, TEST_APID},
tests::PusServiceHandlerWithSharedStoreCommon,
verification::{TcStateAccepted, VerificationToken},
EcssTcInSharedStoreConverter, PusPacketHandlerResult, PusPacketHandlingError,
},
};
use super::PusService5EventHandler;
use super::PusEventServiceHandler;
const TEST_EVENT_0: EventU32 = EventU32::const_new(crate::events::Severity::INFO, 5, 25);
struct Pus5HandlerWithStoreTester {
common: PusServiceHandlerWithSharedStoreCommon,
handler: PusService5EventHandler<
handler: PusEventServiceHandler<
MpscTcReceiver,
TmInSharedPoolSenderWithBoundedMpsc,
MpscTmInSharedPoolSenderBounded,
EcssTcInSharedStoreConverter,
VerificationReporterWithSharedPoolMpscBoundedSender,
VerificationReporter,
>,
}
impl Pus5HandlerWithStoreTester {
pub fn new(event_request_tx: Sender<EventRequestWithToken>) -> Self {
let (common, srv_handler) = PusServiceHandlerWithSharedStoreCommon::new();
let (common, srv_handler) = PusServiceHandlerWithSharedStoreCommon::new(0);
Self {
common,
handler: PusService5EventHandler::new(srv_handler, event_request_tx),
handler: PusEventServiceHandler::new(srv_handler, event_request_tx),
}
}
}
impl PusTestHarness for Pus5HandlerWithStoreTester {
fn init_verification(&mut self, tc: &PusTcCreator) -> VerificationToken<TcStateAccepted> {
let init_token = self.handler.service_helper.verif_reporter_mut().add_tc(tc);
self.handler
.service_helper
.verif_reporter()
.acceptance_success(self.handler.service_helper.tm_sender(), init_token, &[0; 7])
.expect("acceptance success failure")
}
delegate! {
to self.common {
fn send_tc(&mut self, tc: &PusTcCreator) -> VerificationToken<TcStateAccepted>;
fn send_tc(&self, token: &VerificationToken<TcStateAccepted>, tc: &PusTcCreator);
fn read_next_tm(&mut self) -> PusTmReader<'_>;
fn check_no_tm_available(&self) -> bool;
fn check_next_verification_tm(&self, subservice: u8, expected_request_id: RequestId);
@ -200,10 +224,9 @@ mod tests {
}
impl SimplePusPacketHandler for Pus5HandlerWithStoreTester {
delegate! {
to self.handler {
fn handle_one_tc(&mut self) -> Result<PusPacketHandlerResult, PusPacketHandlingError>;
}
fn handle_one_tc(&mut self) -> Result<PusPacketHandlerResult, PusPacketHandlingError> {
let time_stamp = cds::CdsTime::new_with_u16_days(0, 0).to_vec().unwrap();
self.handler.poll_and_handle_next_tc(&time_stamp)
}
}
@ -213,15 +236,16 @@ mod tests {
expected_event_req: EventRequest,
event_req_receiver: mpsc::Receiver<EventRequestWithToken>,
) {
let mut sp_header = SpHeader::tc(TEST_APID, SequenceFlags::Unsegmented, 0, 0).unwrap();
let sp_header = SpHeader::new_for_unseg_tc(TEST_APID, 0, 0);
let sec_header = PusTcSecondaryHeader::new_simple(5, subservice as u8);
let mut app_data = [0; 4];
TEST_EVENT_0
.write_to_be_bytes(&mut app_data)
.expect("writing test event failed");
let ping_tc = PusTcCreator::new(&mut sp_header, sec_header, &app_data, true);
let token = test_harness.send_tc(&ping_tc);
let request_id = token.req_id();
let ping_tc = PusTcCreator::new(sp_header, sec_header, &app_data, true);
let token = test_harness.init_verification(&ping_tc);
test_harness.send_tc(&token, &ping_tc);
let request_id = token.request_id();
test_harness.handle_one_tc().unwrap();
test_harness.check_next_verification_tm(1, request_id);
test_harness.check_next_verification_tm(3, request_id);
@ -274,10 +298,11 @@ mod tests {
fn test_sending_custom_subservice() {
let (event_request_tx, _) = mpsc::channel();
let mut test_harness = Pus5HandlerWithStoreTester::new(event_request_tx);
let mut sp_header = SpHeader::tc(TEST_APID, SequenceFlags::Unsegmented, 0, 0).unwrap();
let sp_header = SpHeader::new_for_unseg_tc(TEST_APID, 0, 0);
let sec_header = PusTcSecondaryHeader::new_simple(5, 200);
let ping_tc = PusTcCreator::new_no_app_data(&mut sp_header, sec_header, true);
test_harness.send_tc(&ping_tc);
let ping_tc = PusTcCreator::new_no_app_data(sp_header, sec_header, true);
let token = test_harness.init_verification(&ping_tc);
test_harness.send_tc(&token, &ping_tc);
let result = test_harness.handle_one_tc();
assert!(result.is_ok());
let result = result.unwrap();
@ -292,15 +317,19 @@ mod tests {
fn test_sending_invalid_app_data() {
let (event_request_tx, _) = mpsc::channel();
let mut test_harness = Pus5HandlerWithStoreTester::new(event_request_tx);
let mut sp_header = SpHeader::tc(TEST_APID, SequenceFlags::Unsegmented, 0, 0).unwrap();
let sp_header = SpHeader::new_for_unseg_tc(TEST_APID, 0, 0);
let sec_header =
PusTcSecondaryHeader::new_simple(5, Subservice::TcEnableEventGeneration as u8);
let ping_tc = PusTcCreator::new(&mut sp_header, sec_header, &[0, 1, 2], true);
test_harness.send_tc(&ping_tc);
let ping_tc = PusTcCreator::new(sp_header, sec_header, &[0, 1, 2], true);
let token = test_harness.init_verification(&ping_tc);
test_harness.send_tc(&token, &ping_tc);
let result = test_harness.handle_one_tc();
assert!(result.is_err());
let result = result.unwrap_err();
if let PusPacketHandlingError::NotEnoughAppData { expected, found } = result {
if let PusPacketHandlingError::RequestConversion(
GenericConversionError::NotEnoughAppData { expected, found },
) = result
{
assert_eq!(expected, 4);
assert_eq!(found, 3);
} else {

406
satrs/src/pus/hk.rs
View File

@ -1,406 +0,0 @@
pub use spacepackets::ecss::hk::*;
#[cfg(feature = "std")]
#[cfg_attr(doc_cfg, doc(cfg(feature = "std")))]
pub use std_mod::*;
#[cfg(feature = "alloc")]
#[cfg_attr(doc_cfg, doc(cfg(feature = "alloc")))]
pub use alloc_mod::*;
use crate::{hk::HkRequest, TargetId};
use super::verification::{TcStateAccepted, VerificationToken};
/// This trait is an abstraction for the routing of PUS service 3 housekeeping requests to a
/// dedicated recipient using the generic [TargetId].
pub trait PusHkRequestRouter {
type Error;
fn route(
&self,
target_id: TargetId,
hk_request: HkRequest,
token: VerificationToken<TcStateAccepted>,
) -> Result<(), Self::Error>;
}
#[cfg(feature = "alloc")]
#[cfg_attr(doc_cfg, doc(cfg(feature = "alloc")))]
pub mod alloc_mod {
use spacepackets::ecss::tc::PusTcReader;
use crate::pus::verification::VerificationReportingProvider;
use super::*;
/// This trait is an abstraction for the conversion of a PUS service 8 action telecommand into
/// a [HkRequest].
///
/// Having a dedicated trait for this allows maximum flexiblity and tailoring of the standard.
/// The only requirement is that a valid [TargetId] and a [HkRequest] are returned by the
/// core conversion function.
///
/// The user should take care of performing the error handling as well. Some of the following
/// aspects might be relevant:
///
/// - Checking the validity of the APID, service ID, subservice ID.
/// - Checking the validity of the user data.
///
/// A [VerificationReportingProvider] is passed to the user to also allow handling
/// of the verification process as part of the PUS standard requirements.
pub trait PusHkToRequestConverter {
type Error;
fn convert(
&mut self,
token: VerificationToken<TcStateAccepted>,
tc: &PusTcReader,
time_stamp: &[u8],
verif_reporter: &impl VerificationReportingProvider,
) -> Result<(TargetId, HkRequest), Self::Error>;
}
}
#[cfg(feature = "std")]
#[cfg_attr(doc_cfg, doc(cfg(feature = "std")))]
pub mod std_mod {
use crate::pus::{
get_current_cds_short_timestamp, verification::VerificationReportingProvider,
EcssTcInMemConverter, EcssTcReceiverCore, EcssTmSenderCore, GenericRoutingError,
PusPacketHandlerResult, PusPacketHandlingError, PusRoutingErrorHandler, PusServiceHelper,
};
use super::*;
/// This is a generic high-level handler for the PUS service 3 housekeeping service.
///
/// It performs the following handling steps:
///
/// 1. Retrieve the next TC packet from the [PusServiceHelper]. The [EcssTcInMemConverter]
/// allows to configure the used telecommand memory backend.
/// 2. Convert the TC to a targeted action request using the provided
/// [PusHkToRequestConverter]. The generic error type is constrained to the
/// [PusPacketHandlerResult] for the concrete implementation which offers a packet handler.
/// 3. Route the action request using the provided [PusHkRequestRouter]. The generic error
/// type is constrained to the [GenericRoutingError] for the concrete implementation.
/// 4. Handle all routing errors using the provided [PusRoutingErrorHandler]. The generic error
/// type is constrained to the [GenericRoutingError] for the concrete implementation.
pub struct PusService3HkHandler<
TcReceiver: EcssTcReceiverCore,
TmSender: EcssTmSenderCore,
TcInMemConverter: EcssTcInMemConverter,
VerificationReporter: VerificationReportingProvider,
RequestConverter: PusHkToRequestConverter,
RequestRouter: PusHkRequestRouter<Error = RoutingError>,
RoutingErrorHandler: PusRoutingErrorHandler<Error = RoutingError>,
RoutingError = GenericRoutingError,
> {
service_helper:
PusServiceHelper<TcReceiver, TmSender, TcInMemConverter, VerificationReporter>,
pub request_converter: RequestConverter,
pub request_router: RequestRouter,
pub routing_error_handler: RoutingErrorHandler,
}
impl<
TcReceiver: EcssTcReceiverCore,
TmSender: EcssTmSenderCore,
TcInMemConverter: EcssTcInMemConverter,
VerificationReporter: VerificationReportingProvider,
RequestConverter: PusHkToRequestConverter<Error = PusPacketHandlingError>,
RequestRouter: PusHkRequestRouter<Error = RoutingError>,
RoutingErrorHandler: PusRoutingErrorHandler<Error = RoutingError>,
RoutingError: Clone,
>
PusService3HkHandler<
TcReceiver,
TmSender,
TcInMemConverter,
VerificationReporter,
RequestConverter,
RequestRouter,
RoutingErrorHandler,
RoutingError,
>
where
PusPacketHandlingError: From<RoutingError>,
{
pub fn new(
service_helper: PusServiceHelper<
TcReceiver,
TmSender,
TcInMemConverter,
VerificationReporter,
>,
request_converter: RequestConverter,
request_router: RequestRouter,
routing_error_handler: RoutingErrorHandler,
) -> Self {
Self {
service_helper,
request_converter,
request_router,
routing_error_handler,
}
}
pub fn handle_one_tc(&mut self) -> Result<PusPacketHandlerResult, PusPacketHandlingError> {
let possible_packet = self.service_helper.retrieve_and_accept_next_packet()?;
if possible_packet.is_none() {
return Ok(PusPacketHandlerResult::Empty);
}
let ecss_tc_and_token = possible_packet.unwrap();
let tc = self
.service_helper
.tc_in_mem_converter
.convert_ecss_tc_in_memory_to_reader(&ecss_tc_and_token.tc_in_memory)?;
let mut partial_error = None;
let time_stamp = get_current_cds_short_timestamp(&mut partial_error);
let (target_id, hk_request) = self.request_converter.convert(
ecss_tc_and_token.token,
&tc,
&time_stamp,
&self.service_helper.common.verification_handler,
)?;
if let Err(e) =
self.request_router
.route(target_id, hk_request, ecss_tc_and_token.token)
{
self.routing_error_handler.handle_error(
target_id,
ecss_tc_and_token.token,
&tc,
e.clone(),
&time_stamp,
&self.service_helper.common.verification_handler,
);
return Err(e.into());
}
Ok(PusPacketHandlerResult::RequestHandled)
}
}
}
#[cfg(test)]
mod tests {
use delegate::delegate;
use spacepackets::ecss::hk::Subservice;
use spacepackets::{
ecss::{
tc::{PusTcCreator, PusTcReader, PusTcSecondaryHeader},
tm::PusTmReader,
PusPacket,
},
CcsdsPacket, SequenceFlags, SpHeader,
};
use crate::pus::{MpscTcReceiver, TmAsVecSenderWithMpsc};
use crate::{
hk::HkRequest,
pus::{
tests::{
PusServiceHandlerWithVecCommon, PusTestHarness, SimplePusPacketHandler,
TestConverter, TestRouter, TestRoutingErrorHandler, APP_DATA_TOO_SHORT, TEST_APID,
},
verification::{
tests::TestVerificationReporter, FailParams, RequestId, TcStateAccepted,
VerificationReportingProvider, VerificationToken,
},
EcssTcInVecConverter, GenericRoutingError, PusPacketHandlerResult,
PusPacketHandlingError,
},
TargetId,
};
use super::{PusHkRequestRouter, PusHkToRequestConverter, PusService3HkHandler};
impl PusHkRequestRouter for TestRouter<HkRequest> {
type Error = GenericRoutingError;
fn route(
&self,
target_id: TargetId,
hk_request: HkRequest,
_token: VerificationToken<TcStateAccepted>,
) -> Result<(), Self::Error> {
self.routing_requests
.borrow_mut()
.push_back((target_id, hk_request));
self.check_for_injected_error()
}
}
impl PusHkToRequestConverter for TestConverter<3> {
type Error = PusPacketHandlingError;
fn convert(
&mut self,
token: VerificationToken<TcStateAccepted>,
tc: &PusTcReader,
time_stamp: &[u8],
verif_reporter: &impl VerificationReportingProvider,
) -> Result<(TargetId, HkRequest), Self::Error> {
self.conversion_request.push_back(tc.raw_data().to_vec());
self.check_service(tc)?;
let target_id = tc.apid();
if tc.user_data().len() < 4 {
verif_reporter
.start_failure(
token,
FailParams::new(
time_stamp,
&APP_DATA_TOO_SHORT,
(tc.user_data().len() as u32).to_be_bytes().as_ref(),
),
)
.expect("start success failure");
return Err(PusPacketHandlingError::NotEnoughAppData {
expected: 4,
found: tc.user_data().len(),
});
}
if tc.subservice() == Subservice::TcGenerateOneShotHk as u8 {
verif_reporter
.start_success(token, time_stamp)
.expect("start success failure");
return Ok((
target_id.into(),
HkRequest::OneShot(u32::from_be_bytes(
tc.user_data()[0..4].try_into().unwrap(),
)),
));
}
Err(PusPacketHandlingError::InvalidAppData(
"unexpected app data".into(),
))
}
}
struct Pus3HandlerWithVecTester {
common: PusServiceHandlerWithVecCommon<TestVerificationReporter>,
handler: PusService3HkHandler<
MpscTcReceiver,
TmAsVecSenderWithMpsc,
EcssTcInVecConverter,
TestVerificationReporter,
TestConverter<3>,
TestRouter<HkRequest>,
TestRoutingErrorHandler,
>,
}
impl Pus3HandlerWithVecTester {
pub fn new() -> Self {
let (common, srv_handler) =
PusServiceHandlerWithVecCommon::new_with_test_verif_sender();
Self {
common,
handler: PusService3HkHandler::new(
srv_handler,
TestConverter::default(),
TestRouter::default(),
TestRoutingErrorHandler::default(),
),
}
}
delegate! {
to self.handler.request_converter {
pub fn check_next_conversion(&mut self, tc: &PusTcCreator);
}
}
delegate! {
to self.handler.request_router {
pub fn retrieve_next_request(&mut self) -> (TargetId, HkRequest);
}
}
delegate! {
to self.handler.routing_error_handler {
pub fn retrieve_next_error(&mut self) -> (TargetId, GenericRoutingError);
}
}
}
impl PusTestHarness for Pus3HandlerWithVecTester {
delegate! {
to self.common {
fn send_tc(&mut self, tc: &PusTcCreator) -> VerificationToken<TcStateAccepted>;
fn read_next_tm(&mut self) -> PusTmReader<'_>;
fn check_no_tm_available(&self) -> bool;
fn check_next_verification_tm(
&self,
subservice: u8,
expected_request_id: RequestId,
);
}
}
}
impl SimplePusPacketHandler for Pus3HandlerWithVecTester {
delegate! {
to self.handler {
fn handle_one_tc(&mut self) -> Result<PusPacketHandlerResult, PusPacketHandlingError>;
}
}
}
#[test]
fn basic_test() {
let mut hk_handler = Pus3HandlerWithVecTester::new();
let mut sp_header = SpHeader::tc(TEST_APID, SequenceFlags::Unsegmented, 0, 0).unwrap();
let sec_header = PusTcSecondaryHeader::new_simple(3, Subservice::TcGenerateOneShotHk as u8);
let unique_id: u32 = 1;
let unique_id_raw = unique_id.to_be_bytes();
let tc = PusTcCreator::new(&mut sp_header, sec_header, unique_id_raw.as_ref(), true);
hk_handler.send_tc(&tc);
let result = hk_handler.handle_one_tc();
assert!(result.is_ok());
hk_handler.check_next_conversion(&tc);
let (target_id, hk_request) = hk_handler.retrieve_next_request();
assert_eq!(target_id, TEST_APID.into());
if let HkRequest::OneShot(id) = hk_request {
assert_eq!(id, unique_id);
} else {
panic!("unexpected request");
}
}
#[test]
fn test_routing_error() {
let mut hk_handler = Pus3HandlerWithVecTester::new();
let mut sp_header = SpHeader::tc(TEST_APID, SequenceFlags::Unsegmented, 0, 0).unwrap();
let sec_header = PusTcSecondaryHeader::new_simple(3, Subservice::TcGenerateOneShotHk as u8);
let unique_id: u32 = 1;
let unique_id_raw = unique_id.to_be_bytes();
let tc = PusTcCreator::new(&mut sp_header, sec_header, unique_id_raw.as_ref(), true);
let error = GenericRoutingError::UnknownTargetId(25);
hk_handler
.handler
.request_router
.inject_routing_error(error);
hk_handler.send_tc(&tc);
let result = hk_handler.handle_one_tc();
assert!(result.is_err());
let check_error = |routing_error: GenericRoutingError| {
if let GenericRoutingError::UnknownTargetId(id) = routing_error {
assert_eq!(id, 25);
} else {
panic!("unexpected error type");
}
};
if let PusPacketHandlingError::RequestRoutingError(routing_error) = result.unwrap_err() {
check_error(routing_error);
} else {
panic!("unexpected error type");
}
hk_handler.check_next_conversion(&tc);
let (target_id, hk_req) = hk_handler.retrieve_next_request();
assert_eq!(target_id, TEST_APID.into());
if let HkRequest::OneShot(unique_id) = hk_req {
assert_eq!(unique_id, 1);
}
let (target_id, found_error) = hk_handler.retrieve_next_error();
assert_eq!(target_id, TEST_APID.into());
check_error(found_error);
}
}

1172
satrs/src/pus/mod.rs
View File

File diff suppressed because it is too large Load Diff

141
satrs/src/pus/mode.rs
View File

@ -2,6 +2,16 @@ use num_enum::{IntoPrimitive, TryFromPrimitive};
#[cfg(feature = "serde")]
use serde::{Deserialize, Serialize};
#[cfg(feature = "alloc")]
#[allow(unused_imports)]
pub use alloc_mod::*;
#[cfg(feature = "std")]
#[allow(unused_imports)]
pub use std_mod::*;
pub const MODE_SERVICE_ID: u8 = 200;
#[derive(Debug, Eq, PartialEq, Copy, Clone, IntoPrimitive, TryFromPrimitive)]
#[cfg_attr(feature = "serde", derive(Serialize, Deserialize))]
#[repr(u8)]
@ -14,3 +24,134 @@ pub enum Subservice {
TmCantReachMode = 7,
TmWrongModeReply = 8,
}
#[cfg(feature = "alloc")]
#[cfg_attr(doc_cfg, doc(cfg(feature = "alloc")))]
pub mod alloc_mod {}
#[cfg(feature = "alloc")]
#[cfg_attr(doc_cfg, doc(cfg(feature = "alloc")))]
pub mod std_mod {}
#[cfg(test)]
mod tests {
use std::sync::mpsc;
use crate::{
mode::{
ModeAndSubmode, ModeReply, ModeReplySender, ModeRequest, ModeRequestSender,
ModeRequestorAndHandlerMpsc, ModeRequestorMpsc,
},
request::{GenericMessage, MessageMetadata},
};
const TEST_COMPONENT_ID_0: u64 = 5;
const TEST_COMPONENT_ID_1: u64 = 6;
const TEST_COMPONENT_ID_2: u64 = 7;
#[test]
fn test_simple_mode_requestor() {
let (reply_sender, reply_receiver) = mpsc::channel();
let (request_sender, request_receiver) = mpsc::channel();
let mut mode_requestor = ModeRequestorMpsc::new(TEST_COMPONENT_ID_0, reply_receiver);
mode_requestor.add_message_target(TEST_COMPONENT_ID_1, request_sender);
// Send a request and verify it arrives at the receiver.
let request_id = 2;
let sent_request = ModeRequest::ReadMode;
mode_requestor
.send_mode_request(request_id, TEST_COMPONENT_ID_1, sent_request)
.expect("send failed");
let request = request_receiver.recv().expect("recv failed");
assert_eq!(request.request_id(), 2);
assert_eq!(request.sender_id(), TEST_COMPONENT_ID_0);
assert_eq!(request.message, sent_request);
// Send a reply and verify it arrives at the requestor.
let mode_reply = ModeReply::ModeReply(ModeAndSubmode::new(1, 5));
reply_sender
.send(GenericMessage::new(
MessageMetadata::new(request_id, TEST_COMPONENT_ID_1),
mode_reply,
))
.expect("send failed");
let reply = mode_requestor.try_recv_mode_reply().expect("recv failed");
assert!(reply.is_some());
let reply = reply.unwrap();
assert_eq!(reply.sender_id(), TEST_COMPONENT_ID_1);
assert_eq!(reply.request_id(), 2);
assert_eq!(reply.message, mode_reply);
}
#[test]
fn test_mode_requestor_and_request_handler_request_sending() {
let (_reply_sender_to_connector, reply_receiver_of_connector) = mpsc::channel();
let (_request_sender_to_connector, request_receiver_of_connector) = mpsc::channel();
let (request_sender_to_channel_1, request_receiver_channel_1) = mpsc::channel();
//let (reply_sender_to_channel_2, reply_receiver_channel_2) = mpsc::channel();
let mut mode_connector = ModeRequestorAndHandlerMpsc::new(
TEST_COMPONENT_ID_0,
request_receiver_of_connector,
reply_receiver_of_connector,
);
assert_eq!(
ModeRequestSender::local_channel_id(&mode_connector),
TEST_COMPONENT_ID_0
);
assert_eq!(
ModeReplySender::local_channel_id(&mode_connector),
TEST_COMPONENT_ID_0
);
assert_eq!(
mode_connector.local_channel_id_generic(),
TEST_COMPONENT_ID_0
);
mode_connector.add_request_target(TEST_COMPONENT_ID_1, request_sender_to_channel_1);
// Send a request and verify it arrives at the receiver.
let request_id = 2;
let sent_request = ModeRequest::ReadMode;
mode_connector
.send_mode_request(request_id, TEST_COMPONENT_ID_1, sent_request)
.expect("send failed");
let request = request_receiver_channel_1.recv().expect("recv failed");
assert_eq!(request.request_id(), 2);
assert_eq!(request.sender_id(), TEST_COMPONENT_ID_0);
assert_eq!(request.message, ModeRequest::ReadMode);
}
#[test]
fn test_mode_requestor_and_request_handler_reply_sending() {
let (_reply_sender_to_connector, reply_receiver_of_connector) = mpsc::channel();
let (_request_sender_to_connector, request_receiver_of_connector) = mpsc::channel();
let (reply_sender_to_channel_2, reply_receiver_channel_2) = mpsc::channel();
let mut mode_connector = ModeRequestorAndHandlerMpsc::new(
TEST_COMPONENT_ID_0,
request_receiver_of_connector,
reply_receiver_of_connector,
);
mode_connector.add_reply_target(TEST_COMPONENT_ID_2, reply_sender_to_channel_2);
// Send a reply and verify it arrives at the receiver.
let request_id = 2;
let sent_reply = ModeReply::ModeReply(ModeAndSubmode::new(3, 5));
mode_connector
.send_mode_reply(
MessageMetadata::new(request_id, TEST_COMPONENT_ID_2),
sent_reply,
)
.expect("send failed");
let reply = reply_receiver_channel_2.recv().expect("recv failed");
assert_eq!(reply.request_id(), 2);
assert_eq!(reply.sender_id(), TEST_COMPONENT_ID_0);
assert_eq!(reply.message, sent_reply);
}
#[test]
fn test_mode_reply_handler() {}
}

121
satrs/src/pus/scheduler.rs
View File

@ -381,7 +381,7 @@ pub mod alloc_mod {
/// a [crate::pool::PoolProvider] API. This data structure just tracks the store
/// addresses and their release times and offers a convenient API to insert and release
/// telecommands and perform other functionality specified by the ECSS standard in section 6.11.
/// The time is tracked as a [spacepackets::time::UnixTimestamp] but the only requirement to
/// The time is tracked as a [spacepackets::time::UnixTime] but the only requirement to
/// the timekeeping of the user is that it is convertible to that timestamp.
///
/// The standard also specifies that the PUS scheduler can be enabled and disabled.
@ -871,28 +871,28 @@ mod tests {
cds::CdsTime::from_unix_time_with_u16_days(&timestamp, cds::SubmillisPrecision::Absent)
.unwrap();
let len_time_stamp = cds_time.write_to_bytes(buf).unwrap();
let len_packet = base_ping_tc_simple_ctor(0, None)
let len_packet = base_ping_tc_simple_ctor(0, &[])
.write_to_bytes(&mut buf[len_time_stamp..])
.unwrap();
(
SpHeader::tc_unseg(0x02, 0x34, len_packet as u16).unwrap(),
SpHeader::new_for_unseg_tc(0x02, 0x34, len_packet as u16),
len_packet + len_time_stamp,
)
}
fn scheduled_tc(timestamp: UnixTime, buf: &mut [u8]) -> PusTcCreator {
let (mut sph, len_app_data) = pus_tc_base(timestamp, buf);
PusTcCreator::new_simple(&mut sph, 11, 4, Some(&buf[..len_app_data]), true)
let (sph, len_app_data) = pus_tc_base(timestamp, buf);
PusTcCreator::new_simple(sph, 11, 4, &buf[..len_app_data], true)
}
fn wrong_tc_service(timestamp: UnixTime, buf: &mut [u8]) -> PusTcCreator {
let (mut sph, len_app_data) = pus_tc_base(timestamp, buf);
PusTcCreator::new_simple(&mut sph, 12, 4, Some(&buf[..len_app_data]), true)
let (sph, len_app_data) = pus_tc_base(timestamp, buf);
PusTcCreator::new_simple(sph, 12, 4, &buf[..len_app_data], true)
}
fn wrong_tc_subservice(timestamp: UnixTime, buf: &mut [u8]) -> PusTcCreator {
let (mut sph, len_app_data) = pus_tc_base(timestamp, buf);
PusTcCreator::new_simple(&mut sph, 11, 5, Some(&buf[..len_app_data]), true)
let (sph, len_app_data) = pus_tc_base(timestamp, buf);
PusTcCreator::new_simple(sph, 11, 5, &buf[..len_app_data], true)
}
fn double_wrapped_time_tagged_tc(timestamp: UnixTime, buf: &mut [u8]) -> PusTcCreator {
@ -900,40 +900,31 @@ mod tests {
cds::CdsTime::from_unix_time_with_u16_days(&timestamp, cds::SubmillisPrecision::Absent)
.unwrap();
let len_time_stamp = cds_time.write_to_bytes(buf).unwrap();
let mut sph = SpHeader::tc_unseg(0x02, 0x34, 0).unwrap();
let sph = SpHeader::new_for_unseg_tc(0x02, 0x34, 0);
// app data should not matter, double wrapped time-tagged commands should be rejected right
// away
let inner_time_tagged_tc = PusTcCreator::new_simple(&mut sph, 11, 4, None, true);
let inner_time_tagged_tc = PusTcCreator::new_simple(sph, 11, 4, &[], true);
let packet_len = inner_time_tagged_tc
.write_to_bytes(&mut buf[len_time_stamp..])
.expect("writing inner time tagged tc failed");
PusTcCreator::new_simple(
&mut sph,
11,
4,
Some(&buf[..len_time_stamp + packet_len]),
true,
)
PusTcCreator::new_simple(sph, 11, 4, &buf[..len_time_stamp + packet_len], true)
}
fn invalid_time_tagged_cmd() -> PusTcCreator<'static> {
let mut sph = SpHeader::tc_unseg(0x02, 0x34, 1).unwrap();
PusTcCreator::new_simple(&mut sph, 11, 4, None, true)
let sph = SpHeader::new_for_unseg_tc(0x02, 0x34, 1);
PusTcCreator::new_simple(sph, 11, 4, &[], true)
}
fn base_ping_tc_simple_ctor(
seq_count: u16,
app_data: Option<&'static [u8]>,
) -> PusTcCreator<'static> {
let mut sph = SpHeader::tc_unseg(0x02, seq_count, 0).unwrap();
PusTcCreator::new_simple(&mut sph, 17, 1, app_data, true)
fn base_ping_tc_simple_ctor(seq_count: u16, app_data: &'static [u8]) -> PusTcCreator<'static> {
let sph = SpHeader::new_for_unseg_tc(0x02, seq_count, 0);
PusTcCreator::new_simple(sph, 17, 1, app_data, true)
}
fn ping_tc_to_store(
pool: &mut StaticMemoryPool,
buf: &mut [u8],
seq_count: u16,
app_data: Option<&'static [u8]>,
app_data: &'static [u8],
) -> TcInfo {
let ping_tc = base_ping_tc_simple_ctor(seq_count, app_data);
let ping_size = ping_tc.write_to_bytes(buf).expect("writing ping TC failed");
@ -957,7 +948,7 @@ mod tests {
let mut scheduler = PusScheduler::new(UnixTime::new_only_secs(0), Duration::from_secs(5));
let mut buf: [u8; 32] = [0; 32];
let tc_info_0 = ping_tc_to_store(&mut pool, &mut buf, 0, None);
let tc_info_0 = ping_tc_to_store(&mut pool, &mut buf, 0, &[]);
scheduler
.insert_unwrapped_and_stored_tc(
@ -967,7 +958,7 @@ mod tests {
.unwrap();
let app_data = &[0, 1, 2];
let tc_info_1 = ping_tc_to_store(&mut pool, &mut buf, 1, Some(app_data));
let tc_info_1 = ping_tc_to_store(&mut pool, &mut buf, 1, app_data);
scheduler
.insert_unwrapped_and_stored_tc(
UnixTime::new_only_secs(200),
@ -976,7 +967,7 @@ mod tests {
.unwrap();
let app_data = &[0, 1, 2];
let tc_info_2 = ping_tc_to_store(&mut pool, &mut buf, 2, Some(app_data));
let tc_info_2 = ping_tc_to_store(&mut pool, &mut buf, 2, app_data);
scheduler
.insert_unwrapped_and_stored_tc(
UnixTime::new_only_secs(300),
@ -1087,10 +1078,10 @@ mod tests {
let src_id_to_set = 12;
let apid_to_set = 0x22;
let seq_count = 105;
let mut sp_header = SpHeader::tc_unseg(apid_to_set, 105, 0).unwrap();
let sp_header = SpHeader::new_for_unseg_tc(apid_to_set, 105, 0);
let mut sec_header = PusTcSecondaryHeader::new_simple(17, 1);
sec_header.source_id = src_id_to_set;
let ping_tc = PusTcCreator::new_no_app_data(&mut sp_header, sec_header, true);
let ping_tc = PusTcCreator::new_no_app_data(sp_header, sec_header, true);
let req_id = RequestId::from_tc(&ping_tc);
assert_eq!(req_id.source_id(), src_id_to_set);
assert_eq!(req_id.apid(), apid_to_set);
@ -1106,13 +1097,13 @@ mod tests {
let mut scheduler = PusScheduler::new(UnixTime::new_only_secs(0), Duration::from_secs(5));
let mut buf: [u8; 32] = [0; 32];
let tc_info_0 = ping_tc_to_store(&mut pool, &mut buf, 0, None);
let tc_info_0 = ping_tc_to_store(&mut pool, &mut buf, 0, &[]);
scheduler
.insert_unwrapped_and_stored_tc(UnixTime::new_only_secs(100), tc_info_0)
.expect("insertion failed");
let tc_info_1 = ping_tc_to_store(&mut pool, &mut buf, 1, None);
let tc_info_1 = ping_tc_to_store(&mut pool, &mut buf, 1, &[]);
scheduler
.insert_unwrapped_and_stored_tc(UnixTime::new_only_secs(200), tc_info_1)
.expect("insertion failed");
@ -1171,13 +1162,13 @@ mod tests {
let mut scheduler = PusScheduler::new(UnixTime::new_only_secs(0), Duration::from_secs(5));
let mut buf: [u8; 32] = [0; 32];
let tc_info_0 = ping_tc_to_store(&mut pool, &mut buf, 0, None);
let tc_info_0 = ping_tc_to_store(&mut pool, &mut buf, 0, &[]);
scheduler
.insert_unwrapped_and_stored_tc(UnixTime::new_only_secs(100), tc_info_0)
.expect("insertion failed");
let tc_info_1 = ping_tc_to_store(&mut pool, &mut buf, 1, None);
let tc_info_1 = ping_tc_to_store(&mut pool, &mut buf, 1, &[]);
scheduler
.insert_unwrapped_and_stored_tc(UnixTime::new_only_secs(100), tc_info_1)
.expect("insertion failed");
@ -1230,13 +1221,13 @@ mod tests {
scheduler.disable();
let mut buf: [u8; 32] = [0; 32];
let tc_info_0 = ping_tc_to_store(&mut pool, &mut buf, 0, None);
let tc_info_0 = ping_tc_to_store(&mut pool, &mut buf, 0, &[]);
scheduler
.insert_unwrapped_and_stored_tc(UnixTime::new_only_secs(100), tc_info_0)
.expect("insertion failed");
let tc_info_1 = ping_tc_to_store(&mut pool, &mut buf, 1, None);
let tc_info_1 = ping_tc_to_store(&mut pool, &mut buf, 1, &[]);
scheduler
.insert_unwrapped_and_stored_tc(UnixTime::new_only_secs(200), tc_info_1)
.expect("insertion failed");
@ -1294,7 +1285,7 @@ mod tests {
let mut pool = StaticMemoryPool::new(StaticPoolConfig::new(vec![(10, 32), (5, 64)], false));
let mut buf: [u8; 32] = [0; 32];
let tc_info_0 = ping_tc_to_store(&mut pool, &mut buf, 0, None);
let tc_info_0 = ping_tc_to_store(&mut pool, &mut buf, 0, &[]);
let info = scheduler
.insert_unwrapped_tc(
@ -1309,7 +1300,7 @@ mod tests {
let mut read_buf: [u8; 64] = [0; 64];
pool.read(&tc_info_0.addr(), &mut read_buf).unwrap();
let check_tc = PusTcReader::new(&read_buf).expect("incorrect Pus tc raw data");
assert_eq!(check_tc.0, base_ping_tc_simple_ctor(0, None));
assert_eq!(check_tc.0, base_ping_tc_simple_ctor(0, &[]));
assert_eq!(scheduler.num_scheduled_telecommands(), 1);
@ -1332,7 +1323,7 @@ mod tests {
let read_len = pool.read(&addr_vec[0], &mut read_buf).unwrap();
let check_tc = PusTcReader::new(&read_buf).expect("incorrect Pus tc raw data");
assert_eq!(read_len, check_tc.1);
assert_eq!(check_tc.0, base_ping_tc_simple_ctor(0, None));
assert_eq!(check_tc.0, base_ping_tc_simple_ctor(0, &[]));
}
#[test]
@ -1356,7 +1347,7 @@ mod tests {
let read_len = pool.read(&info.addr, &mut buf).unwrap();
let check_tc = PusTcReader::new(&buf).expect("incorrect Pus tc raw data");
assert_eq!(read_len, check_tc.1);
assert_eq!(check_tc.0, base_ping_tc_simple_ctor(0, None));
assert_eq!(check_tc.0, base_ping_tc_simple_ctor(0, &[]));
assert_eq!(scheduler.num_scheduled_telecommands(), 1);
@ -1381,7 +1372,7 @@ mod tests {
let read_len = pool.read(&addr_vec[0], &mut buf).unwrap();
let check_tc = PusTcReader::new(&buf).expect("incorrect PUS tc raw data");
assert_eq!(read_len, check_tc.1);
assert_eq!(check_tc.0, base_ping_tc_simple_ctor(0, None));
assert_eq!(check_tc.0, base_ping_tc_simple_ctor(0, &[]));
}
#[test]
@ -1506,7 +1497,7 @@ mod tests {
let mut pool = StaticMemoryPool::new(StaticPoolConfig::new(vec![(10, 32), (5, 64)], false));
let mut scheduler = PusScheduler::new(UnixTime::new_only_secs(0), Duration::from_secs(5));
let mut buf: [u8; 32] = [0; 32];
let tc_info_0 = ping_tc_to_store(&mut pool, &mut buf, 0, None);
let tc_info_0 = ping_tc_to_store(&mut pool, &mut buf, 0, &[]);
scheduler
.insert_unwrapped_and_stored_tc(UnixTime::new_only_secs(100), tc_info_0)
.expect("insertion failed");
@ -1540,7 +1531,7 @@ mod tests {
let mut pool = StaticMemoryPool::new(StaticPoolConfig::new(vec![(10, 32), (5, 64)], false));
let mut scheduler = PusScheduler::new(UnixTime::new_only_secs(0), Duration::from_secs(5));
let mut buf: [u8; 32] = [0; 32];
let tc_info_0 = ping_tc_to_store(&mut pool, &mut buf, 0, None);
let tc_info_0 = ping_tc_to_store(&mut pool, &mut buf, 0, &[]);
scheduler
.insert_unwrapped_and_stored_tc(UnixTime::new_only_secs(100), tc_info_0)
.expect("insertion failed");
@ -1563,7 +1554,7 @@ mod tests {
let mut pool = StaticMemoryPool::new(StaticPoolConfig::new(vec![(10, 32), (5, 64)], false));
let mut scheduler = PusScheduler::new(UnixTime::new_only_secs(0), Duration::from_secs(5));
let mut buf: [u8; 32] = [0; 32];
let tc_info_0 = ping_tc_to_store(&mut pool, &mut buf, 0, None);
let tc_info_0 = ping_tc_to_store(&mut pool, &mut buf, 0, &[]);
scheduler
.insert_unwrapped_and_stored_tc(UnixTime::new_only_secs(100), tc_info_0)
.expect("inserting tc failed");
@ -1581,7 +1572,7 @@ mod tests {
let mut pool = StaticMemoryPool::new(StaticPoolConfig::new(vec![(10, 32), (5, 64)], false));
let mut scheduler = PusScheduler::new(UnixTime::new_only_secs(0), Duration::from_secs(5));
let mut buf: [u8; 32] = [0; 32];
let tc_info_0 = ping_tc_to_store(&mut pool, &mut buf, 0, None);
let tc_info_0 = ping_tc_to_store(&mut pool, &mut buf, 0, &[]);
scheduler
.insert_unwrapped_and_stored_tc(UnixTime::new_only_secs(100), tc_info_0)
.expect("inserting tc failed");
@ -1599,15 +1590,15 @@ mod tests {
let mut pool = StaticMemoryPool::new(StaticPoolConfig::new(vec![(10, 32), (5, 64)], false));
let mut scheduler = PusScheduler::new(UnixTime::new_only_secs(0), Duration::from_secs(5));
let mut buf: [u8; 32] = [0; 32];
let tc_info_0 = ping_tc_to_store(&mut pool, &mut buf, 0, None);
let tc_info_0 = ping_tc_to_store(&mut pool, &mut buf, 0, &[]);
scheduler
.insert_unwrapped_and_stored_tc(UnixTime::new_only_secs(100), tc_info_0)
.expect("inserting tc failed");
let tc_info_1 = ping_tc_to_store(&mut pool, &mut buf, 1, None);
let tc_info_1 = ping_tc_to_store(&mut pool, &mut buf, 1, &[]);
scheduler
.insert_unwrapped_and_stored_tc(UnixTime::new_only_secs(100), tc_info_1)
.expect("inserting tc failed");
let tc_info_2 = ping_tc_to_store(&mut pool, &mut buf, 2, None);
let tc_info_2 = ping_tc_to_store(&mut pool, &mut buf, 2, &[]);
scheduler
.insert_unwrapped_and_stored_tc(UnixTime::new_only_secs(100), tc_info_2)
.expect("inserting tc failed");
@ -1667,7 +1658,7 @@ mod tests {
release_secs: u64,
) -> TcInfo {
let mut buf: [u8; 32] = [0; 32];
let tc_info = ping_tc_to_store(pool, &mut buf, seq_count, None);
let tc_info = ping_tc_to_store(pool, &mut buf, seq_count, &[]);
scheduler
.insert_unwrapped_and_stored_tc(UnixTime::new_only_secs(release_secs as i64), tc_info)
@ -1915,13 +1906,13 @@ mod tests {
let mut scheduler = PusScheduler::new(UnixTime::new_only_secs(0), Duration::from_secs(5));
let mut buf: [u8; 32] = [0; 32];
let tc_info_0 = ping_tc_to_store(&mut pool, &mut buf, 0, None);
let tc_info_0 = ping_tc_to_store(&mut pool, &mut buf, 0, &[]);
scheduler
.insert_unwrapped_and_stored_tc(UnixTime::new_only_secs(100), tc_info_0)
.expect("insertion failed");
let tc_info_1 = ping_tc_to_store(&mut pool, &mut buf, 1, None);
let tc_info_1 = ping_tc_to_store(&mut pool, &mut buf, 1, &[]);
scheduler
.insert_unwrapped_and_stored_tc(UnixTime::new_only_secs(200), tc_info_1)
.expect("insertion failed");
@ -1949,13 +1940,13 @@ mod tests {
#[test]
fn test_generic_insert_app_data_test() {
let time_writer = cds::CdsTime::new_with_u16_days(1, 1);
let mut sph = SpHeader::new(
PacketId::const_new(PacketType::Tc, true, 0x002),
PacketSequenceCtrl::const_new(SequenceFlags::Unsegmented, 5),
let sph = SpHeader::new(
PacketId::new(PacketType::Tc, true, 0x002),
PacketSequenceCtrl::new(SequenceFlags::Unsegmented, 5),
0,
);
let sec_header = PusTcSecondaryHeader::new_simple(17, 1);
let ping_tc = PusTcCreator::new_no_app_data(&mut sph, sec_header, true);
let ping_tc = PusTcCreator::new_no_app_data(sph, sec_header, true);
let mut buf: [u8; 64] = [0; 64];
let result = generate_insert_telecommand_app_data(&mut buf, &time_writer, &ping_tc);
assert!(result.is_ok());
@ -1971,13 +1962,13 @@ mod tests {
#[test]
fn test_generic_insert_app_data_test_byte_conv_error() {
let time_writer = cds::CdsTime::new_with_u16_days(1, 1);
let mut sph = SpHeader::new(
PacketId::const_new(PacketType::Tc, true, 0x002),
PacketSequenceCtrl::const_new(SequenceFlags::Unsegmented, 5),
let sph = SpHeader::new(
PacketId::new(PacketType::Tc, true, 0x002),
PacketSequenceCtrl::new(SequenceFlags::Unsegmented, 5),
0,
);
let sec_header = PusTcSecondaryHeader::new_simple(17, 1);
let ping_tc = PusTcCreator::new_no_app_data(&mut sph, sec_header, true);
let ping_tc = PusTcCreator::new_no_app_data(sph, sec_header, true);
let mut buf: [u8; 16] = [0; 16];
let result = generate_insert_telecommand_app_data(&mut buf, &time_writer, &ping_tc);
assert!(result.is_err());
@ -2000,13 +1991,13 @@ mod tests {
#[test]
fn test_generic_insert_app_data_test_as_vec() {
let time_writer = cds::CdsTime::new_with_u16_days(1, 1);
let mut sph = SpHeader::new(
PacketId::const_new(PacketType::Tc, true, 0x002),
PacketSequenceCtrl::const_new(SequenceFlags::Unsegmented, 5),
let sph = SpHeader::new(
PacketId::new(PacketType::Tc, true, 0x002),
PacketSequenceCtrl::new(SequenceFlags::Unsegmented, 5),
0,
);
let sec_header = PusTcSecondaryHeader::new_simple(17, 1);
let ping_tc = PusTcCreator::new_no_app_data(&mut sph, sec_header, true);
let ping_tc = PusTcCreator::new_no_app_data(sph, sec_header, true);
let mut buf: [u8; 64] = [0; 64];
generate_insert_telecommand_app_data(&mut buf, &time_writer, &ping_tc).unwrap();
let vec = generate_insert_telecommand_app_data_as_vec(&time_writer, &ping_tc)

204
satrs/src/pus/scheduler_srv.rs
View File

@ -1,20 +1,16 @@
use super::scheduler::PusSchedulerProvider;
use super::verification::{
VerificationReporterWithSharedPoolMpscBoundedSender,
VerificationReporterWithSharedPoolMpscSender, VerificationReporterWithVecMpscBoundedSender,
VerificationReporterWithVecMpscSender, VerificationReportingProvider,
};
use super::verification::{VerificationReporter, VerificationReportingProvider};
use super::{
get_current_cds_short_timestamp, EcssTcInMemConverter, EcssTcInSharedStoreConverter,
EcssTcInVecConverter, EcssTcReceiverCore, EcssTmSenderCore, MpscTcReceiver, PusServiceHelper,
TmAsVecSenderWithBoundedMpsc, TmAsVecSenderWithMpsc, TmInSharedPoolSenderWithBoundedMpsc,
TmInSharedPoolSenderWithMpsc,
EcssTcInMemConverter, EcssTcInSharedStoreConverter, EcssTcInVecConverter, EcssTcReceiverCore,
EcssTmSenderCore, MpscTcReceiver, MpscTmInSharedPoolSender, MpscTmInSharedPoolSenderBounded,
PusServiceHelper, PusTmAsVec,
};
use crate::pool::PoolProvider;
use crate::pus::{PusPacketHandlerResult, PusPacketHandlingError};
use alloc::string::ToString;
use spacepackets::ecss::{scheduling, PusPacket};
use spacepackets::time::cds::CdsTime;
use std::sync::mpsc;
/// This is a helper class for [std] environments to handle generic PUS 11 (scheduling service)
/// packets. This handler is able to handle the most important PUS requests for a scheduling
@ -24,7 +20,7 @@ use spacepackets::time::cds::CdsTime;
/// telecommands inside the scheduler. The user can retrieve the wrapped scheduler via the
/// [Self::scheduler] and [Self::scheduler_mut] function and then use the scheduler API to release
/// telecommands when applicable.
pub struct PusService11SchedHandler<
pub struct PusSchedServiceHandler<
TcReceiver: EcssTcReceiverCore,
TmSender: EcssTmSenderCore,
TcInMemConverter: EcssTcInMemConverter,
@ -43,13 +39,7 @@ impl<
VerificationReporter: VerificationReportingProvider,
Scheduler: PusSchedulerProvider,
>
PusService11SchedHandler<
TcReceiver,
TmSender,
TcInMemConverter,
VerificationReporter,
Scheduler,
>
PusSchedServiceHandler<TcReceiver, TmSender, TcInMemConverter, VerificationReporter, Scheduler>
{
pub fn new(
service_helper: PusServiceHelper<
@ -74,8 +64,9 @@ impl<
&self.scheduler
}
pub fn handle_one_tc(
pub fn poll_and_handle_next_tc(
&mut self,
time_stamp: &[u8],
sched_tc_pool: &mut (impl PoolProvider + ?Sized),
) -> Result<PusPacketHandlerResult, PusPacketHandlingError> {
let possible_packet = self.service_helper.retrieve_and_accept_next_packet()?;
@ -83,10 +74,10 @@ impl<
return Ok(PusPacketHandlerResult::Empty);
}
let ecss_tc_and_token = possible_packet.unwrap();
let tc = self
.service_helper
.tc_in_mem_converter
.convert_ecss_tc_in_memory_to_reader(&ecss_tc_and_token.tc_in_memory)?;
self.service_helper
.tc_in_mem_converter_mut()
.cache(&ecss_tc_and_token.tc_in_memory)?;
let tc = self.service_helper.tc_in_mem_converter().convert()?;
let subservice = PusPacket::subservice(&tc);
let standard_subservice = scheduling::Subservice::try_from(subservice);
if standard_subservice.is_err() {
@ -95,23 +86,28 @@ impl<
ecss_tc_and_token.token,
));
}
let mut partial_error = None;
let time_stamp = get_current_cds_short_timestamp(&mut partial_error);
let partial_error = None;
match standard_subservice.unwrap() {
scheduling::Subservice::TcEnableScheduling => {
let start_token = self
.service_helper
.common
.verification_handler
.start_success(ecss_tc_and_token.token, &time_stamp)
.verif_reporter()
.start_success(
&self.service_helper.common.tm_sender,
ecss_tc_and_token.token,
time_stamp,
)
.expect("Error sending start success");
self.scheduler.enable();
if self.scheduler.is_enabled() {
self.service_helper
.common
.verification_handler
.completion_success(start_token, &time_stamp)
.verif_reporter()
.completion_success(
&self.service_helper.common.tm_sender,
start_token,
time_stamp,
)
.expect("Error sending completion success");
} else {
return Err(PusPacketHandlingError::Other(
@ -122,17 +118,23 @@ impl<
scheduling::Subservice::TcDisableScheduling => {
let start_token = self
.service_helper
.common
.verification_handler
.start_success(ecss_tc_and_token.token, &time_stamp)
.verif_reporter()
.start_success(
&self.service_helper.common.tm_sender,
ecss_tc_and_token.token,
time_stamp,
)
.expect("Error sending start success");
self.scheduler.disable();
if !self.scheduler.is_enabled() {
self.service_helper
.common
.verification_handler
.completion_success(start_token, &time_stamp)
.verif_reporter()
.completion_success(
&self.service_helper.common.tm_sender,
start_token,
time_stamp,
)
.expect("Error sending completion success");
} else {
return Err(PusPacketHandlingError::Other(
@ -143,9 +145,12 @@ impl<
scheduling::Subservice::TcResetScheduling => {
let start_token = self
.service_helper
.common
.verification_handler
.start_success(ecss_tc_and_token.token, &time_stamp)
.verif_reporter()
.start_success(
&self.service_helper.common.tm_sender,
ecss_tc_and_token.token,
time_stamp,
)
.expect("Error sending start success");
self.scheduler
@ -153,17 +158,24 @@ impl<
.expect("Error resetting TC Pool");
self.service_helper
.common
.verification_handler
.completion_success(start_token, &time_stamp)
.verif_reporter()
.completion_success(
&self.service_helper.common.tm_sender,
start_token,
time_stamp,
)
.expect("Error sending completion success");
}
scheduling::Subservice::TcInsertActivity => {
let start_token = self
.service_helper
.common
.verification_handler
.start_success(ecss_tc_and_token.token, &time_stamp)
.verif_reporter
.start_success(
&self.service_helper.common.tm_sender,
ecss_tc_and_token.token,
time_stamp,
)
.expect("error sending start success");
// let mut pool = self.sched_tc_pool.write().expect("locking pool failed");
@ -172,9 +184,12 @@ impl<
.expect("insertion of activity into pool failed");
self.service_helper
.common
.verification_handler
.completion_success(start_token, &time_stamp)
.verif_reporter()
.completion_success(
&self.service_helper.common.tm_sender,
start_token,
time_stamp,
)
.expect("sending completion success failed");
}
_ => {
@ -195,53 +210,57 @@ impl<
}
/// Helper type definition for a PUS 11 handler with a dynamic TMTC memory backend and regular
/// mpsc queues.
pub type PusService11SchedHandlerDynWithMpsc<PusScheduler> = PusService11SchedHandler<
pub type PusService11SchedHandlerDynWithMpsc<PusScheduler> = PusSchedServiceHandler<
MpscTcReceiver,
TmAsVecSenderWithMpsc,
mpsc::Sender<PusTmAsVec>,
EcssTcInVecConverter,
VerificationReporterWithVecMpscSender,
VerificationReporter,
PusScheduler,
>;
/// Helper type definition for a PUS 11 handler with a dynamic TMTC memory backend and bounded MPSC
/// queues.
pub type PusService11SchedHandlerDynWithBoundedMpsc<PusScheduler> = PusService11SchedHandler<
pub type PusService11SchedHandlerDynWithBoundedMpsc<PusScheduler> = PusSchedServiceHandler<
MpscTcReceiver,
TmAsVecSenderWithBoundedMpsc,
mpsc::SyncSender<PusTmAsVec>,
EcssTcInVecConverter,
VerificationReporterWithVecMpscBoundedSender,
VerificationReporter,
PusScheduler,
>;
/// Helper type definition for a PUS 11 handler with a shared store TMTC memory backend and regular
/// mpsc queues.
pub type PusService11SchedHandlerStaticWithMpsc<PusScheduler> = PusService11SchedHandler<
pub type PusService11SchedHandlerStaticWithMpsc<PusScheduler> = PusSchedServiceHandler<
MpscTcReceiver,
TmInSharedPoolSenderWithMpsc,
MpscTmInSharedPoolSender,
EcssTcInSharedStoreConverter,
VerificationReporterWithSharedPoolMpscSender,
VerificationReporter,
PusScheduler,
>;
/// Helper type definition for a PUS 11 handler with a shared store TMTC memory backend and bounded
/// mpsc queues.
pub type PusService11SchedHandlerStaticWithBoundedMpsc<PusScheduler> = PusService11SchedHandler<
pub type PusService11SchedHandlerStaticWithBoundedMpsc<PusScheduler> = PusSchedServiceHandler<
MpscTcReceiver,
TmInSharedPoolSenderWithBoundedMpsc,
MpscTmInSharedPoolSenderBounded,
EcssTcInSharedStoreConverter,
VerificationReporterWithSharedPoolMpscBoundedSender,
VerificationReporter,
PusScheduler,
>;
#[cfg(test)]
mod tests {
use crate::pool::{StaticMemoryPool, StaticPoolConfig};
use crate::pus::tests::TEST_APID;
use crate::pus::verification::VerificationReporterWithSharedPoolMpscBoundedSender;
use crate::pus::test_util::{PusTestHarness, TEST_APID};
use crate::pus::verification::{VerificationReporter, VerificationReportingProvider};
use crate::pus::{
scheduler::{self, PusSchedulerProvider, TcInfo},
tests::{PusServiceHandlerWithSharedStoreCommon, PusTestHarness},
tests::PusServiceHandlerWithSharedStoreCommon,
verification::{RequestId, TcStateAccepted, VerificationToken},
EcssTcInSharedStoreConverter,
};
use crate::pus::{MpscTcReceiver, TmInSharedPoolSenderWithBoundedMpsc};
use crate::pus::{
MpscTcReceiver, MpscTmInSharedPoolSenderBounded, PusPacketHandlerResult,
PusPacketHandlingError,
};
use alloc::collections::VecDeque;
use delegate::delegate;
use spacepackets::ecss::scheduling::Subservice;
@ -254,15 +273,15 @@ mod tests {
time::cds,
};
use super::PusService11SchedHandler;
use super::PusSchedServiceHandler;
struct Pus11HandlerWithStoreTester {
common: PusServiceHandlerWithSharedStoreCommon,
handler: PusService11SchedHandler<
handler: PusSchedServiceHandler<
MpscTcReceiver,
TmInSharedPoolSenderWithBoundedMpsc,
MpscTmInSharedPoolSenderBounded,
EcssTcInSharedStoreConverter,
VerificationReporterWithSharedPoolMpscBoundedSender,
VerificationReporter,
TestScheduler,
>,
sched_tc_pool: StaticMemoryPool,
@ -273,19 +292,34 @@ mod tests {
let test_scheduler = TestScheduler::default();
let pool_cfg = StaticPoolConfig::new(alloc::vec![(16, 16), (8, 32), (4, 64)], false);
let sched_tc_pool = StaticMemoryPool::new(pool_cfg.clone());
let (common, srv_handler) = PusServiceHandlerWithSharedStoreCommon::new();
let (common, srv_handler) = PusServiceHandlerWithSharedStoreCommon::new(0);
Self {
common,
handler: PusService11SchedHandler::new(srv_handler, test_scheduler),
handler: PusSchedServiceHandler::new(srv_handler, test_scheduler),
sched_tc_pool,
}
}
pub fn handle_one_tc(&mut self) -> Result<PusPacketHandlerResult, PusPacketHandlingError> {
let time_stamp = cds::CdsTime::new_with_u16_days(0, 0).to_vec().unwrap();
self.handler
.poll_and_handle_next_tc(&time_stamp, &mut self.sched_tc_pool)
}
}
impl PusTestHarness for Pus11HandlerWithStoreTester {
fn init_verification(&mut self, tc: &PusTcCreator) -> VerificationToken<TcStateAccepted> {
let init_token = self.handler.service_helper.verif_reporter_mut().add_tc(tc);
self.handler
.service_helper
.verif_reporter()
.acceptance_success(self.handler.service_helper.tm_sender(), init_token, &[0; 7])
.expect("acceptance success failure")
}
delegate! {
to self.common {
fn send_tc(&mut self, tc: &PusTcCreator) -> VerificationToken<TcStateAccepted>;
fn send_tc(&self, token: &VerificationToken<TcStateAccepted>, tc: &PusTcCreator);
fn read_next_tm(&mut self) -> PusTmReader<'_>;
fn check_no_tm_available(&self) -> bool;
fn check_next_verification_tm(&self, subservice: u8, expected_request_id: RequestId);
@ -341,15 +375,17 @@ mod tests {
test_harness: &mut Pus11HandlerWithStoreTester,
subservice: Subservice,
) {
let mut reply_header = SpHeader::tm_unseg(TEST_APID, 0, 0).unwrap();
let reply_header = SpHeader::new_for_unseg_tm(TEST_APID, 0, 0);
let tc_header = PusTcSecondaryHeader::new_simple(11, subservice as u8);
let enable_scheduling = PusTcCreator::new(&mut reply_header, tc_header, &[0; 7], true);
let token = test_harness.send_tc(&enable_scheduling);
let enable_scheduling = PusTcCreator::new(reply_header, tc_header, &[0; 7], true);
let token = test_harness.init_verification(&enable_scheduling);
test_harness.send_tc(&token, &enable_scheduling);
let request_id = token.req_id();
let request_id = token.request_id();
let time_stamp = cds::CdsTime::new_with_u16_days(0, 0).to_vec().unwrap();
test_harness
.handler
.handle_one_tc(&mut test_harness.sched_tc_pool)
.poll_and_handle_next_tc(&time_stamp, &mut test_harness.sched_tc_pool)
.unwrap();
test_harness.check_next_verification_tm(1, request_id);
test_harness.check_next_verification_tm(3, request_id);
@ -386,9 +422,9 @@ mod tests {
#[test]
fn test_insert_activity_tc() {
let mut test_harness = Pus11HandlerWithStoreTester::new();
let mut reply_header = SpHeader::tm_unseg(TEST_APID, 0, 0).unwrap();
let mut reply_header = SpHeader::new_for_unseg_tc(TEST_APID, 0, 0);
let mut sec_header = PusTcSecondaryHeader::new_simple(17, 1);
let ping_tc = PusTcCreator::new(&mut reply_header, sec_header, &[], true);
let ping_tc = PusTcCreator::new(reply_header, sec_header, &[], true);
let req_id_ping_tc = scheduler::RequestId::from_tc(&ping_tc);
let stamper = cds::CdsTime::now_with_u16_days().expect("time provider failed");
let mut sched_app_data: [u8; 64] = [0; 64];
@ -396,21 +432,19 @@ mod tests {
let ping_raw = ping_tc.to_vec().expect("generating raw tc failed");
sched_app_data[written_len..written_len + ping_raw.len()].copy_from_slice(&ping_raw);
written_len += ping_raw.len();
reply_header = SpHeader::tm_unseg(TEST_APID, 1, 0).unwrap();
reply_header = SpHeader::new_for_unseg_tc(TEST_APID, 1, 0);
sec_header = PusTcSecondaryHeader::new_simple(11, Subservice::TcInsertActivity as u8);
let enable_scheduling = PusTcCreator::new(
&mut reply_header,
reply_header,
sec_header,
&sched_app_data[..written_len],
true,
);
let token = test_harness.send_tc(&enable_scheduling);
let token = test_harness.init_verification(&enable_scheduling);
test_harness.send_tc(&token, &enable_scheduling);
let request_id = token.req_id();
test_harness
.handler
.handle_one_tc(&mut test_harness.sched_tc_pool)
.unwrap();
let request_id = token.request_id();
test_harness.handle_one_tc().unwrap();
test_harness.check_next_verification_tm(1, request_id);
test_harness.check_next_verification_tm(3, request_id);
test_harness.check_next_verification_tm(7, request_id);

189
satrs/src/pus/test.rs
View File

@ -1,20 +1,17 @@
use crate::pus::{
PartialPusHandlingError, PusPacketHandlerResult, PusPacketHandlingError, PusTmWrapper,
PartialPusHandlingError, PusPacketHandlerResult, PusPacketHandlingError, PusTmAsVec,
PusTmInPool, PusTmVariant,
};
use spacepackets::ecss::tm::{PusTmCreator, PusTmSecondaryHeader};
use spacepackets::ecss::PusPacket;
use spacepackets::SpHeader;
use std::sync::mpsc;
use super::verification::{
VerificationReporterWithSharedPoolMpscBoundedSender,
VerificationReporterWithSharedPoolMpscSender, VerificationReporterWithVecMpscBoundedSender,
VerificationReporterWithVecMpscSender, VerificationReportingProvider,
};
use super::verification::{VerificationReporter, VerificationReportingProvider};
use super::{
get_current_cds_short_timestamp, EcssTcInMemConverter, EcssTcInSharedStoreConverter,
EcssTcInVecConverter, EcssTcReceiverCore, EcssTmSenderCore, MpscTcReceiver, PusServiceHelper,
TmAsVecSenderWithBoundedMpsc, TmAsVecSenderWithMpsc, TmInSharedPoolSenderWithBoundedMpsc,
TmInSharedPoolSenderWithMpsc,
EcssTcInMemConverter, EcssTcInSharedStoreConverter, EcssTcInVecConverter, EcssTcReceiverCore,
EcssTmSenderCore, GenericConversionError, MpscTcReceiver, MpscTmInSharedPoolSender,
MpscTmInSharedPoolSenderBounded, PusServiceHelper,
};
/// This is a helper class for [std] environments to handle generic PUS 17 (test service) packets.
@ -47,27 +44,32 @@ impl<
Self { service_helper }
}
pub fn handle_one_tc(&mut self) -> Result<PusPacketHandlerResult, PusPacketHandlingError> {
pub fn poll_and_handle_next_tc(
&mut self,
time_stamp: &[u8],
) -> Result<PusPacketHandlerResult, PusPacketHandlingError> {
let possible_packet = self.service_helper.retrieve_and_accept_next_packet()?;
if possible_packet.is_none() {
return Ok(PusPacketHandlerResult::Empty);
}
let ecss_tc_and_token = possible_packet.unwrap();
let tc = self
.service_helper
.tc_in_mem_converter
.convert_ecss_tc_in_memory_to_reader(&ecss_tc_and_token.tc_in_memory)?;
self.service_helper
.tc_in_mem_converter_mut()
.cache(&ecss_tc_and_token.tc_in_memory)?;
let tc = self.service_helper.tc_in_mem_converter().convert()?;
if tc.service() != 17 {
return Err(PusPacketHandlingError::WrongService(tc.service()));
return Err(GenericConversionError::WrongService(tc.service()).into());
}
if tc.subservice() == 1 {
let mut partial_error = None;
let time_stamp = get_current_cds_short_timestamp(&mut partial_error);
let result = self
.service_helper
.common
.verification_handler
.start_success(ecss_tc_and_token.token, &time_stamp)
.verif_reporter()
.start_success(
&self.service_helper.common.tm_sender,
ecss_tc_and_token.token,
time_stamp,
)
.map_err(|_| PartialPusHandlingError::Verification);
let start_token = if let Ok(result) = result {
Some(result)
@ -76,15 +78,17 @@ impl<
None
};
// Sequence count will be handled centrally in TM funnel.
let mut reply_header =
SpHeader::tm_unseg(self.service_helper.common.tm_apid, 0, 0).unwrap();
let tc_header = PusTmSecondaryHeader::new_simple(17, 2, &time_stamp);
let ping_reply = PusTmCreator::new(&mut reply_header, tc_header, &[], true);
// It is assumed that the verification reporter was built with a valid APID, so we use
// the unchecked API here.
let reply_header =
SpHeader::new_for_unseg_tm(self.service_helper.verif_reporter().apid(), 0, 0);
let tc_header = PusTmSecondaryHeader::new_simple(17, 2, time_stamp);
let ping_reply = PusTmCreator::new(reply_header, tc_header, &[], true);
let result = self
.service_helper
.common
.tm_sender
.send_tm(PusTmWrapper::Direct(ping_reply))
.send_tm(self.service_helper.id(), PusTmVariant::Direct(ping_reply))
.map_err(PartialPusHandlingError::TmSend);
if let Err(err) = result {
partial_error = Some(err);
@ -93,9 +97,12 @@ impl<
if let Some(start_token) = start_token {
if self
.service_helper
.common
.verification_handler
.completion_success(start_token, &time_stamp)
.verif_reporter()
.completion_success(
&self.service_helper.common.tm_sender,
start_token,
time_stamp,
)
.is_err()
{
partial_error = Some(PartialPusHandlingError::Verification)
@ -120,55 +127,57 @@ impl<
/// mpsc queues.
pub type PusService17TestHandlerDynWithMpsc = PusService17TestHandler<
MpscTcReceiver,
TmAsVecSenderWithMpsc,
mpsc::Sender<PusTmAsVec>,
EcssTcInVecConverter,
VerificationReporterWithVecMpscSender,
VerificationReporter,
>;
/// Helper type definition for a PUS 17 handler with a dynamic TMTC memory backend and bounded MPSC
/// queues.
pub type PusService17TestHandlerDynWithBoundedMpsc = PusService17TestHandler<
MpscTcReceiver,
TmAsVecSenderWithBoundedMpsc,
mpsc::SyncSender<PusTmInPool>,
EcssTcInVecConverter,
VerificationReporterWithVecMpscBoundedSender,
VerificationReporter,
>;
/// Helper type definition for a PUS 17 handler with a shared store TMTC memory backend and regular
/// mpsc queues.
pub type PusService17TestHandlerStaticWithMpsc = PusService17TestHandler<
MpscTcReceiver,
TmInSharedPoolSenderWithMpsc,
MpscTmInSharedPoolSender,
EcssTcInSharedStoreConverter,
VerificationReporterWithSharedPoolMpscSender,
VerificationReporter,
>;
/// Helper type definition for a PUS 17 handler with a shared store TMTC memory backend and bounded
/// mpsc queues.
pub type PusService17TestHandlerStaticWithBoundedMpsc = PusService17TestHandler<
MpscTcReceiver,
TmInSharedPoolSenderWithBoundedMpsc,
MpscTmInSharedPoolSenderBounded,
EcssTcInSharedStoreConverter,
VerificationReporterWithSharedPoolMpscBoundedSender,
VerificationReporter,
>;
#[cfg(test)]
mod tests {
use crate::pus::test_util::{PusTestHarness, SimplePusPacketHandler, TEST_APID};
use crate::pus::tests::{
PusServiceHandlerWithSharedStoreCommon, PusServiceHandlerWithVecCommon, PusTestHarness,
SimplePusPacketHandler, TEST_APID,
PusServiceHandlerWithSharedStoreCommon, PusServiceHandlerWithVecCommon,
};
use crate::pus::verification::std_mod::{
VerificationReporterWithSharedPoolMpscBoundedSender, VerificationReporterWithVecMpscSender,
use crate::pus::verification::{
RequestId, VerificationReporter, VerificationReportingProvider,
};
use crate::pus::verification::RequestId;
use crate::pus::verification::{TcStateAccepted, VerificationToken};
use crate::pus::{
EcssTcInSharedStoreConverter, EcssTcInVecConverter, MpscTcReceiver, PusPacketHandlerResult,
PusPacketHandlingError, TmAsVecSenderWithMpsc, TmInSharedPoolSenderWithBoundedMpsc,
EcssTcInSharedStoreConverter, EcssTcInVecConverter, GenericConversionError, MpscTcReceiver,
MpscTmAsVecSender, MpscTmInSharedPoolSenderBounded, PusPacketHandlerResult,
PusPacketHandlingError,
};
use crate::ComponentId;
use delegate::delegate;
use spacepackets::ecss::tc::{PusTcCreator, PusTcSecondaryHeader};
use spacepackets::ecss::tm::PusTmReader;
use spacepackets::ecss::PusPacket;
use spacepackets::{SequenceFlags, SpHeader};
use spacepackets::time::{cds, TimeWriter};
use spacepackets::SpHeader;
use super::PusService17TestHandler;
@ -176,15 +185,15 @@ mod tests {
common: PusServiceHandlerWithSharedStoreCommon,
handler: PusService17TestHandler<
MpscTcReceiver,
TmInSharedPoolSenderWithBoundedMpsc,
MpscTmInSharedPoolSenderBounded,
EcssTcInSharedStoreConverter,
VerificationReporterWithSharedPoolMpscBoundedSender,
VerificationReporter,
>,
}
impl Pus17HandlerWithStoreTester {
pub fn new() -> Self {
let (common, srv_handler) = PusServiceHandlerWithSharedStoreCommon::new();
pub fn new(id: ComponentId) -> Self {
let (common, srv_handler) = PusServiceHandlerWithSharedStoreCommon::new(id);
let pus_17_handler = PusService17TestHandler::new(srv_handler);
Self {
common,
@ -194,10 +203,19 @@ mod tests {
}
impl PusTestHarness for Pus17HandlerWithStoreTester {
fn init_verification(&mut self, tc: &PusTcCreator) -> VerificationToken<TcStateAccepted> {
let init_token = self.handler.service_helper.verif_reporter_mut().add_tc(tc);
self.handler
.service_helper
.verif_reporter()
.acceptance_success(self.handler.service_helper.tm_sender(), init_token, &[0; 7])
.expect("acceptance success failure")
}
delegate! {
to self.common {
fn send_tc(&mut self, tc: &PusTcCreator) -> VerificationToken<TcStateAccepted>;
fn read_next_tm(&mut self) -> PusTmReader<'_>;
fn send_tc(&self, token: &VerificationToken<TcStateAccepted>, tc: &PusTcCreator);
fn check_no_tm_available(&self) -> bool;
fn check_next_verification_tm(
&self,
@ -208,27 +226,26 @@ mod tests {
}
}
impl SimplePusPacketHandler for Pus17HandlerWithStoreTester {
delegate! {
to self.handler {
fn handle_one_tc(&mut self) -> Result<PusPacketHandlerResult, PusPacketHandlingError>;
}
fn handle_one_tc(&mut self) -> Result<PusPacketHandlerResult, PusPacketHandlingError> {
let time_stamp = cds::CdsTime::new_with_u16_days(0, 0).to_vec().unwrap();
self.handler.poll_and_handle_next_tc(&time_stamp)
}
}
struct Pus17HandlerWithVecTester {
common: PusServiceHandlerWithVecCommon<VerificationReporterWithVecMpscSender>,
common: PusServiceHandlerWithVecCommon,
handler: PusService17TestHandler<
MpscTcReceiver,
TmAsVecSenderWithMpsc,
MpscTmAsVecSender,
EcssTcInVecConverter,
VerificationReporterWithVecMpscSender,
VerificationReporter,
>,
}
impl Pus17HandlerWithVecTester {
pub fn new() -> Self {
pub fn new(id: ComponentId) -> Self {
let (common, srv_handler) =
PusServiceHandlerWithVecCommon::new_with_standard_verif_reporter();
PusServiceHandlerWithVecCommon::new_with_standard_verif_reporter(id);
Self {
common,
handler: PusService17TestHandler::new(srv_handler),
@ -237,9 +254,18 @@ mod tests {
}
impl PusTestHarness for Pus17HandlerWithVecTester {
fn init_verification(&mut self, tc: &PusTcCreator) -> VerificationToken<TcStateAccepted> {
let init_token = self.handler.service_helper.verif_reporter_mut().add_tc(tc);
self.handler
.service_helper
.verif_reporter()
.acceptance_success(self.handler.service_helper.tm_sender(), init_token, &[0; 7])
.expect("acceptance success failure")
}
delegate! {
to self.common {
fn send_tc(&mut self, tc: &PusTcCreator) -> VerificationToken<TcStateAccepted>;
fn send_tc(&self, token: &VerificationToken<TcStateAccepted>, tc: &PusTcCreator);
fn read_next_tm(&mut self) -> PusTmReader<'_>;
fn check_no_tm_available(&self) -> bool;
fn check_next_verification_tm(
@ -251,20 +277,20 @@ mod tests {
}
}
impl SimplePusPacketHandler for Pus17HandlerWithVecTester {
delegate! {
to self.handler {
fn handle_one_tc(&mut self) -> Result<PusPacketHandlerResult, PusPacketHandlingError>;
}
fn handle_one_tc(&mut self) -> Result<PusPacketHandlerResult, PusPacketHandlingError> {
let time_stamp = cds::CdsTime::new_with_u16_days(0, 0).to_vec().unwrap();
self.handler.poll_and_handle_next_tc(&time_stamp)
}
}
fn ping_test(test_harness: &mut (impl PusTestHarness + SimplePusPacketHandler)) {
// Create a ping TC, verify acceptance.
let mut sp_header = SpHeader::tc(TEST_APID, SequenceFlags::Unsegmented, 0, 0).unwrap();
let sp_header = SpHeader::new_for_unseg_tc(TEST_APID, 0, 0);
let sec_header = PusTcSecondaryHeader::new_simple(17, 1);
let ping_tc = PusTcCreator::new_no_app_data(&mut sp_header, sec_header, true);
let token = test_harness.send_tc(&ping_tc);
let request_id = token.req_id();
let ping_tc = PusTcCreator::new_no_app_data(sp_header, sec_header, true);
let token = test_harness.init_verification(&ping_tc);
test_harness.send_tc(&token, &ping_tc);
let request_id = token.request_id();
let result = test_harness.handle_one_tc();
assert!(result.is_ok());
// We should see 4 replies in the TM queue now: Acceptance TM, Start TM, ping reply and
@ -288,19 +314,19 @@ mod tests {
#[test]
fn test_basic_ping_processing_using_store() {
let mut test_harness = Pus17HandlerWithStoreTester::new();
let mut test_harness = Pus17HandlerWithStoreTester::new(0);
ping_test(&mut test_harness);
}
#[test]
fn test_basic_ping_processing_using_vec() {
let mut test_harness = Pus17HandlerWithVecTester::new();
let mut test_harness = Pus17HandlerWithVecTester::new(0);
ping_test(&mut test_harness);
}
#[test]
fn test_empty_tc_queue() {
let mut test_harness = Pus17HandlerWithStoreTester::new();
let mut test_harness = Pus17HandlerWithStoreTester::new(0);
let result = test_harness.handle_one_tc();
assert!(result.is_ok());
let result = result.unwrap();
@ -312,15 +338,19 @@ mod tests {
#[test]
fn test_sending_unsupported_service() {
let mut test_harness = Pus17HandlerWithStoreTester::new();
let mut sp_header = SpHeader::tc(TEST_APID, SequenceFlags::Unsegmented, 0, 0).unwrap();
let mut test_harness = Pus17HandlerWithStoreTester::new(0);
let sp_header = SpHeader::new_for_unseg_tc(TEST_APID, 0, 0);
let sec_header = PusTcSecondaryHeader::new_simple(3, 1);
let ping_tc = PusTcCreator::new_no_app_data(&mut sp_header, sec_header, true);
test_harness.send_tc(&ping_tc);
let ping_tc = PusTcCreator::new_no_app_data(sp_header, sec_header, true);
let token = test_harness.init_verification(&ping_tc);
test_harness.send_tc(&token, &ping_tc);
let result = test_harness.handle_one_tc();
assert!(result.is_err());
let error = result.unwrap_err();
if let PusPacketHandlingError::WrongService(num) = error {
if let PusPacketHandlingError::RequestConversion(GenericConversionError::WrongService(
num,
)) = error
{
assert_eq!(num, 3);
} else {
panic!("unexpected error type {error}")
@ -329,11 +359,12 @@ mod tests {
#[test]
fn test_sending_custom_subservice() {
let mut test_harness = Pus17HandlerWithStoreTester::new();
let mut sp_header = SpHeader::tc(TEST_APID, SequenceFlags::Unsegmented, 0, 0).unwrap();
let mut test_harness = Pus17HandlerWithStoreTester::new(0);
let sp_header = SpHeader::new_for_unseg_tc(TEST_APID, 0, 0);
let sec_header = PusTcSecondaryHeader::new_simple(17, 200);
let ping_tc = PusTcCreator::new_no_app_data(&mut sp_header, sec_header, true);
test_harness.send_tc(&ping_tc);
let ping_tc = PusTcCreator::new_no_app_data(sp_header, sec_header, true);
let token = test_harness.init_verification(&ping_tc);
test_harness.send_tc(&token, &ping_tc);
let result = test_harness.handle_one_tc();
assert!(result.is_ok());
let result = result.unwrap();

2245
satrs/src/pus/verification.rs
View File

File diff suppressed because it is too large Load Diff

61
satrs/src/queue.rs
View File

@ -4,11 +4,17 @@ use std::error::Error;
#[cfg(feature = "std")]
use std::sync::mpsc;
use crate::ComponentId;
/// Generic channel ID type.
pub type ChannelId = u32;
/// Generic error type for sending something via a message queue.
#[derive(Debug, Copy, Clone)]
#[derive(Debug, Copy, Clone, PartialEq, Eq)]
pub enum GenericSendError {
RxDisconnected,
QueueFull(Option<u32>),
TargetDoesNotExist(ComponentId),
}
impl Display for GenericSendError {
@ -20,6 +26,9 @@ impl Display for GenericSendError {
GenericSendError::QueueFull(max_cap) => {
write!(f, "queue with max capacity of {max_cap:?} is full")
}
GenericSendError::TargetDoesNotExist(target) => {
write!(f, "target queue with ID {target} does not exist")
}
}
}
}
@ -28,17 +37,17 @@ impl Display for GenericSendError {
impl Error for GenericSendError {}
/// Generic error type for sending something via a message queue.
#[derive(Debug, Copy, Clone)]
pub enum GenericRecvError {
#[derive(Debug, Copy, Clone, PartialEq, Eq)]
pub enum GenericReceiveError {
Empty,
TxDisconnected,
TxDisconnected(Option<ComponentId>),
}
impl Display for GenericRecvError {
impl Display for GenericReceiveError {
fn fmt(&self, f: &mut Formatter<'_>) -> core::fmt::Result {
match self {
Self::TxDisconnected => {
write!(f, "tx side has disconnected")
Self::TxDisconnected(channel_id) => {
write!(f, "tx side with id {channel_id:?} has disconnected")
}
Self::Empty => {
write!(f, "nothing to receive")
@ -48,7 +57,43 @@ impl Display for GenericRecvError {
}
#[cfg(feature = "std")]
impl Error for GenericRecvError {}
impl Error for GenericReceiveError {}
#[derive(Debug, Clone)]
pub enum GenericTargetedMessagingError {
Send(GenericSendError),
Receive(GenericReceiveError),
}
impl From<GenericSendError> for GenericTargetedMessagingError {
fn from(value: GenericSendError) -> Self {
Self::Send(value)
}
}
impl From<GenericReceiveError> for GenericTargetedMessagingError {
fn from(value: GenericReceiveError) -> Self {
Self::Receive(value)
}
}
impl Display for GenericTargetedMessagingError {
fn fmt(&self, f: &mut Formatter<'_>) -> core::fmt::Result {
match self {
Self::Send(err) => write!(f, "generic targeted messaging error: {}", err),
Self::Receive(err) => write!(f, "generic targeted messaging error: {}", err),
}
}
}
#[cfg(feature = "std")]
impl Error for GenericTargetedMessagingError {
fn source(&self) -> Option<&(dyn Error + 'static)> {
match self {
GenericTargetedMessagingError::Send(send) => Some(send),
GenericTargetedMessagingError::Receive(receive) => Some(receive),
}
}
}
#[cfg(feature = "std")]
impl<T> From<mpsc::SendError<T>> for GenericSendError {

622
satrs/src/request.rs
View File

@ -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,
}
}
impl fmt::Display for TargetIdCreationError {
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 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
}
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())
}
};
}
Ok(())
}
}
#[derive(Copy, Clone, PartialEq, Eq, Hash, Debug)]
pub struct TargetAndApidId {
pub apid: Apid,
pub target: u32,
}
pub type MessageSenderMapMpsc<MSG> = MessageReceiverWithId<MSG, mpsc::Sender<MSG>>;
pub type MessageSenderMapBoundedMpsc<MSG> = MessageReceiverWithId<MSG, mpsc::SyncSender<MSG>>;
impl TargetAndApidId {
pub fn new(apid: Apid, target: u32) -> Self {
Self { apid, target }
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 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,
}
.into());
}
Ok(Self {
apid: tc.apid(),
target: u32::from_be_bytes(tc.user_data()[0..4].try_into().unwrap()),
})
}
}
impl From<u64> for TargetAndApidId {
fn from(raw: u64) -> Self {
Self {
apid: (raw >> 32) as u16,
target: raw as u32,
},
}
}
}
impl From<TargetAndApidId> for u64 {
fn from(target_and_apid_id: TargetAndApidId) -> Self {
target_and_apid_id.raw()
pub type MessageReceiverWithIdMpsc<MSG> = MessageReceiverWithId<MSG, mpsc::Receiver<MSG>>;
}
#[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");
}
}
impl fmt::Display for TargetAndApidId {
fn fmt(&self, f: &mut fmt::Formatter) -> fmt::Result {
write!(f, "{}, {}", self.apid, self.target)
#[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);
}
}
}

26
satrs/src/seq_count.rs
View File

@ -32,7 +32,7 @@ dyn_clone::clone_trait_object!(SequenceCountProvider<u16>);
#[cfg(feature = "alloc")]
impl<T, Raw> SequenceCountProvider<Raw> for T where T: SequenceCountProviderCore<Raw> + Clone {}
#[derive(Default, Clone)]
#[derive(Clone)]
pub struct SeqCountProviderSimple<T: Copy> {
seq_count: Cell<T>,
max_val: T,
@ -43,13 +43,12 @@ macro_rules! impl_for_primitives {
$(
paste! {
impl SeqCountProviderSimple<$ty> {
pub fn [<new_ $ty _max_val>](max_val: $ty) -> Self {
pub fn [<new_custom_max_val_ $ty>](max_val: $ty) -> Self {
Self {
seq_count: Cell::new(0),
max_val,
}
}
pub fn [<new_ $ty>]() -> Self {
Self {
seq_count: Cell::new(0),
@ -58,6 +57,12 @@ macro_rules! impl_for_primitives {
}
}
impl Default for SeqCountProviderSimple<$ty> {
fn default() -> Self {
Self::[<new_ $ty>]()
}
}
impl SequenceCountProviderCore<$ty> for SeqCountProviderSimple<$ty> {
fn get(&self) -> $ty {
self.seq_count.get()
@ -86,21 +91,16 @@ macro_rules! impl_for_primitives {
impl_for_primitives!(u8, u16, u32, u64,);
/// This is a sequence count provider which wraps around at [MAX_SEQ_COUNT].
#[derive(Clone)]
pub struct CcsdsSimpleSeqCountProvider {
provider: SeqCountProviderSimple<u16>,
}
impl CcsdsSimpleSeqCountProvider {
pub fn new() -> Self {
Self {
provider: SeqCountProviderSimple::new_u16_max_val(MAX_SEQ_COUNT),
}
}
}
impl Default for CcsdsSimpleSeqCountProvider {
fn default() -> Self {
Self::new()
Self {
provider: SeqCountProviderSimple::new_custom_max_val_u16(MAX_SEQ_COUNT),
}
}
}
@ -187,7 +187,7 @@ mod tests {
#[test]
fn test_u8_counter() {
let u8_counter = SeqCountProviderSimple::new_u8();
let u8_counter = SeqCountProviderSimple::<u8>::default();
assert_eq!(u8_counter.get(), 0);
assert_eq!(u8_counter.get_and_increment(), 0);
assert_eq!(u8_counter.get_and_increment(), 1);

7
satrs/src/time.rs Normal file
View File

@ -0,0 +1,7 @@
use core::fmt::Debug;
/// Generic abstraction for a check/countdown timer.
pub trait CountdownProvider: Debug {
fn has_expired(&self) -> bool;
fn reset(&mut self);
}

101
satrs/src/tmtc/ccsds_distrib.rs
View File

@ -18,6 +18,7 @@
//! # Example
//!
//! ```rust
//! use satrs::ValidatorU16Id;
//! use satrs::tmtc::ccsds_distrib::{CcsdsPacketHandler, CcsdsDistributor};
//! use satrs::tmtc::{ReceivesTc, ReceivesTcCore};
//! use spacepackets::{CcsdsPacket, SpHeader};
@ -34,16 +35,19 @@
//! fn mutable_foo(&mut self) {}
//! }
//!
//! impl ValidatorU16Id for ConcreteApidHandler {
//! fn validate(&self, apid: u16) -> bool { apid == 0x0002 }
//! }
//!
//! impl CcsdsPacketHandler for ConcreteApidHandler {
//! type Error = ();
//! fn valid_apids(&self) -> &'static [u16] { &[0x002] }
//! fn handle_known_apid(&mut self, sp_header: &SpHeader, tc_raw: &[u8]) -> Result<(), Self::Error> {
//! fn handle_packet_with_valid_apid(&mut self, sp_header: &SpHeader, tc_raw: &[u8]) -> Result<(), Self::Error> {
//! assert_eq!(sp_header.apid(), 0x002);
//! assert_eq!(tc_raw.len(), 13);
//! self.known_call_count += 1;
//! Ok(())
//! }
//! fn handle_unknown_apid(&mut self, sp_header: &SpHeader, tc_raw: &[u8]) -> Result<(), Self::Error> {
//! fn handle_packet_with_unknown_apid(&mut self, sp_header: &SpHeader, tc_raw: &[u8]) -> Result<(), Self::Error> {
//! assert_eq!(sp_header.apid(), 0x003);
//! assert_eq!(tc_raw.len(), 13);
//! self.unknown_call_count += 1;
@ -55,8 +59,8 @@
//! let mut ccsds_distributor = CcsdsDistributor::new(apid_handler);
//!
//! // Create and pass PUS telecommand with a valid APID
//! let mut space_packet_header = SpHeader::tc_unseg(0x002, 0x34, 0).unwrap();
//! let mut pus_tc = PusTcCreator::new_simple(&mut space_packet_header, 17, 1, None, true);
//! let sp_header = SpHeader::new_for_unseg_tc(0x002, 0x34, 0);
//! let mut pus_tc = PusTcCreator::new_simple(sp_header, 17, 1, &[], true);
//! let mut test_buf: [u8; 32] = [0; 32];
//! let mut size = pus_tc
//! .write_to_bytes(test_buf.as_mut_slice())
@ -81,7 +85,10 @@
//! let mutable_handler_ref = ccsds_distributor.packet_handler_mut();
//! mutable_handler_ref.mutable_foo();
//! ```
use crate::tmtc::{ReceivesCcsdsTc, ReceivesTcCore};
use crate::{
tmtc::{ReceivesCcsdsTc, ReceivesTcCore},
ValidatorU16Id,
};
use core::fmt::{Display, Formatter};
use spacepackets::{ByteConversionError, CcsdsPacket, SpHeader};
#[cfg(feature = "std")]
@ -92,14 +99,18 @@ use std::error::Error;
/// Users should implement this trait on their custom CCSDS packet handler and then pass a boxed
/// instance of this handler to the [CcsdsDistributor]. The distributor will use the trait
/// interface to dispatch received packets to the user based on the Application Process Identifier
/// (APID) field of the CCSDS packet.
pub trait CcsdsPacketHandler {
/// (APID) field of the CCSDS packet. The APID will be checked using the generic [ValidatorU16Id]
/// trait.
pub trait CcsdsPacketHandler: ValidatorU16Id {
type Error;
fn valid_apids(&self) -> &'static [u16];
fn handle_known_apid(&mut self, sp_header: &SpHeader, tc_raw: &[u8])
-> Result<(), Self::Error>;
fn handle_unknown_apid(
fn handle_packet_with_valid_apid(
&mut self,
sp_header: &SpHeader,
tc_raw: &[u8],
) -> Result<(), Self::Error>;
fn handle_packet_with_unknown_apid(
&mut self,
sp_header: &SpHeader,
tc_raw: &[u8],
@ -183,18 +194,15 @@ impl<PacketHandler: CcsdsPacketHandler<Error = E>, E: 'static> CcsdsDistributor<
}
fn dispatch_ccsds(&mut self, sp_header: &SpHeader, tc_raw: &[u8]) -> Result<(), CcsdsError<E>> {
let apid = sp_header.apid();
let valid_apids = self.packet_handler.valid_apids();
for &valid_apid in valid_apids {
if valid_apid == apid {
return self
.packet_handler
.handle_known_apid(sp_header, tc_raw)
.map_err(|e| CcsdsError::CustomError(e));
}
let valid_apid = self.packet_handler().validate(sp_header.apid());
if valid_apid {
self.packet_handler
.handle_packet_with_valid_apid(sp_header, tc_raw)
.map_err(|e| CcsdsError::CustomError(e))?;
return Ok(());
}
self.packet_handler
.handle_unknown_apid(sp_header, tc_raw)
.handle_packet_with_unknown_apid(sp_header, tc_raw)
.map_err(|e| CcsdsError::CustomError(e))
}
}
@ -213,8 +221,8 @@ pub(crate) mod tests {
fn is_send<T: Send>(_: &T) {}
pub fn generate_ping_tc(buf: &mut [u8]) -> &[u8] {
let mut sph = SpHeader::tc_unseg(0x002, 0x34, 0).unwrap();
let pus_tc = PusTcCreator::new_simple(&mut sph, 17, 1, None, true);
let sph = SpHeader::new_for_unseg_tc(0x002, 0x34, 0);
let pus_tc = PusTcCreator::new_simple(sph, 17, 1, &[], true);
let size = pus_tc
.write_to_bytes(buf)
.expect("Error writing TC to buffer");
@ -223,8 +231,8 @@ pub(crate) mod tests {
}
pub fn generate_ping_tc_as_vec() -> Vec<u8> {
let mut sph = SpHeader::tc_unseg(0x002, 0x34, 0).unwrap();
PusTcCreator::new_simple(&mut sph, 17, 1, None, true)
let sph = SpHeader::new_for_unseg_tc(0x002, 0x34, 0);
PusTcCreator::new_simple(sph, 17, 1, &[], true)
.to_vec()
.unwrap()
}
@ -241,13 +249,16 @@ pub(crate) mod tests {
pub unknown_packet_queue: VecDeque<(u16, Vec<u8>)>,
}
impl CcsdsPacketHandler for BasicApidHandlerSharedQueue {
type Error = ();
fn valid_apids(&self) -> &'static [u16] {
&[0x000, 0x002]
impl ValidatorU16Id for BasicApidHandlerSharedQueue {
fn validate(&self, packet_id: u16) -> bool {
[0x000, 0x002].contains(&packet_id)
}
}
fn handle_known_apid(
impl CcsdsPacketHandler for BasicApidHandlerSharedQueue {
type Error = ();
fn handle_packet_with_valid_apid(
&mut self,
sp_header: &SpHeader,
tc_raw: &[u8],
@ -261,7 +272,7 @@ pub(crate) mod tests {
Ok(())
}
fn handle_unknown_apid(
fn handle_packet_with_unknown_apid(
&mut self,
sp_header: &SpHeader,
tc_raw: &[u8],
@ -276,14 +287,16 @@ pub(crate) mod tests {
}
}
impl ValidatorU16Id for BasicApidHandlerOwnedQueue {
fn validate(&self, packet_id: u16) -> bool {
[0x000, 0x002].contains(&packet_id)
}
}
impl CcsdsPacketHandler for BasicApidHandlerOwnedQueue {
type Error = ();
fn valid_apids(&self) -> &'static [u16] {
&[0x000, 0x002]
}
fn handle_known_apid(
fn handle_packet_with_valid_apid(
&mut self,
sp_header: &SpHeader,
tc_raw: &[u8],
@ -294,7 +307,7 @@ pub(crate) mod tests {
Ok(())
}
fn handle_unknown_apid(
fn handle_packet_with_unknown_apid(
&mut self,
sp_header: &SpHeader,
tc_raw: &[u8],
@ -332,8 +345,8 @@ pub(crate) mod tests {
fn test_unknown_apid_handling() {
let apid_handler = BasicApidHandlerOwnedQueue::default();
let mut ccsds_distrib = CcsdsDistributor::new(apid_handler);
let mut sph = SpHeader::tc_unseg(0x004, 0x34, 0).unwrap();
let pus_tc = PusTcCreator::new_simple(&mut sph, 17, 1, None, true);
let sph = SpHeader::new_for_unseg_tc(0x004, 0x34, 0);
let pus_tc = PusTcCreator::new_simple(sph, 17, 1, &[], true);
let mut test_buf: [u8; 32] = [0; 32];
pus_tc
.write_to_bytes(test_buf.as_mut_slice())
@ -351,8 +364,8 @@ pub(crate) mod tests {
#[test]
fn test_ccsds_distribution() {
let mut ccsds_distrib = CcsdsDistributor::new(BasicApidHandlerOwnedQueue::default());
let mut sph = SpHeader::tc_unseg(0x002, 0x34, 0).unwrap();
let pus_tc = PusTcCreator::new_simple(&mut sph, 17, 1, None, true);
let sph = SpHeader::new_for_unseg_tc(0x002, 0x34, 0);
let pus_tc = PusTcCreator::new_simple(sph, 17, 1, &[], true);
let tc_vec = pus_tc.to_vec().unwrap();
ccsds_distrib
.pass_ccsds(&sph, &tc_vec)
@ -370,8 +383,8 @@ pub(crate) mod tests {
#[test]
fn test_distribution_short_packet_fails() {
let mut ccsds_distrib = CcsdsDistributor::new(BasicApidHandlerOwnedQueue::default());
let mut sph = SpHeader::tc_unseg(0x002, 0x34, 0).unwrap();
let pus_tc = PusTcCreator::new_simple(&mut sph, 17, 1, None, true);
let sph = SpHeader::new_for_unseg_tc(0x002, 0x34, 0);
let pus_tc = PusTcCreator::new_simple(sph, 17, 1, &[], true);
let tc_vec = pus_tc.to_vec().unwrap();
let result = ccsds_distrib.pass_tc(&tc_vec[0..6]);
assert!(result.is_err());

29
satrs/src/tmtc/pus_distrib.rs
View File

@ -46,8 +46,8 @@
//! let mut pus_distributor = PusDistributor::new(service_handler);
//!
//! // Create and pass PUS ping telecommand with a valid APID
//! let mut space_packet_header = SpHeader::tc_unseg(0x002, 0x34, 0).unwrap();
//! let mut pus_tc = PusTcCreator::new_simple(&mut space_packet_header, 17, 1, None, true);
//! let sp_header = SpHeader::new_for_unseg_tc(0x002, 0x34, 0);
//! let mut pus_tc = PusTcCreator::new_simple(sp_header, 17, 1, &[], true);
//! let mut test_buf: [u8; 32] = [0; 32];
//! let mut size = pus_tc
//! .write_to_bytes(test_buf.as_mut_slice())
@ -176,6 +176,7 @@ mod tests {
BasicApidHandlerSharedQueue,
};
use crate::tmtc::ccsds_distrib::{CcsdsDistributor, CcsdsPacketHandler};
use crate::ValidatorU16Id;
use alloc::format;
use alloc::vec::Vec;
use spacepackets::ecss::PusError;
@ -253,17 +254,13 @@ mod tests {
() => {
type Error = PusError;
fn valid_apids(&self) -> &'static [u16] {
&[0x000, 0x002]
}
fn handle_known_apid(
fn handle_packet_with_valid_apid(
&mut self,
sp_header: &SpHeader,
tc_raw: &[u8],
) -> Result<(), Self::Error> {
self.handler_base
.handle_known_apid(&sp_header, tc_raw)
.handle_packet_with_valid_apid(&sp_header, tc_raw)
.ok()
.expect("Unexpected error");
match self.pus_distrib.pass_ccsds(&sp_header, tc_raw) {
@ -275,13 +272,13 @@ mod tests {
}
}
fn handle_unknown_apid(
fn handle_packet_with_unknown_apid(
&mut self,
sp_header: &SpHeader,
tc_raw: &[u8],
) -> Result<(), Self::Error> {
self.handler_base
.handle_unknown_apid(&sp_header, tc_raw)
.handle_packet_with_unknown_apid(&sp_header, tc_raw)
.ok()
.expect("Unexpected error");
Ok(())
@ -289,6 +286,18 @@ mod tests {
};
}
impl ValidatorU16Id for ApidHandlerOwned {
fn validate(&self, packet_id: u16) -> bool {
[0x000, 0x002].contains(&packet_id)
}
}
impl ValidatorU16Id for ApidHandlerShared {
fn validate(&self, packet_id: u16) -> bool {
[0x000, 0x002].contains(&packet_id)
}
}
impl CcsdsPacketHandler for ApidHandlerOwned {
apid_handler_impl!();
}

10
satrs/src/tmtc/tm_helper.rs
View File

@ -8,7 +8,9 @@ pub use std_mod::*;
#[cfg(feature = "std")]
pub mod std_mod {
use crate::pool::{PoolProvider, SharedStaticMemoryPool, StaticMemoryPool, StoreAddr};
use crate::pool::{
PoolProvider, SharedStaticMemoryPool, StaticMemoryPool, StoreAddr, StoreError,
};
use crate::pus::EcssTmtcError;
use spacepackets::ecss::tm::PusTmCreator;
use spacepackets::ecss::WritablePusPacket;
@ -34,7 +36,7 @@ pub mod std_mod {
}
pub fn add_pus_tm(&self, pus_tm: &PusTmCreator) -> Result<StoreAddr, EcssTmtcError> {
let mut pg = self.0.write().map_err(|_| EcssTmtcError::StoreLock)?;
let mut pg = self.0.write().map_err(|_| StoreError::LockError)?;
let addr = pg.free_element(pus_tm.len_written(), |buf| {
pus_tm
.write_to_bytes(buf)
@ -90,9 +92,9 @@ impl PusTmWithCdsShortHelper {
source_data: &'a [u8],
seq_count: u16,
) -> PusTmCreator {
let mut reply_header = SpHeader::tm_unseg(self.apid, seq_count, 0).unwrap();
let reply_header = SpHeader::new_for_unseg_tm(self.apid, seq_count, 0);
let tc_header = PusTmSecondaryHeader::new_simple(service, subservice, &self.cds_short_buf);
PusTmCreator::new(&mut reply_header, tc_header, source_data, true)
PusTmCreator::new(reply_header, tc_header, source_data, true)
}
}

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)