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satrs-core
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@ -6,8 +6,8 @@ sat-rs
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This is the repository of the sat-rs framework. Its primary goal is to provide re-usable components
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to write on-board software for remote systems like rovers or satellites. It is specifically written
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for the special requirements for these systems. You can find an overview of the project and the
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link to the [more high-level sat-rs book](https://documentation.irs.uni-stuttgart.de/projects/sat-rs/)
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at the [IRS documentation website](https://documentation.irs.uni-stuttgart.de/sat-rs.html).
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link to the [more high-level sat-rs book](https://absatsw.irs.uni-stuttgart.de/projects/sat-rs/)
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at the [IRS documentation website](https://absatsw.irs.uni-stuttgart.de/sat-rs.html).
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A lot of the architecture and general design considerations are based on the
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[FSFW](https://egit.irs.uni-stuttgart.de/fsfw/fsfw) C++ framework which has flight heritage
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@ -14,8 +14,13 @@ RUN rustup install nightly && \
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rustup target add thumbv7em-none-eabihf armv7-unknown-linux-gnueabihf && \
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rustup component add rustfmt clippy
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WORKDIR "/tmp"
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# RUN cargo install mdbook --no-default-features --features search --vers "^0.4" --locked
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RUN curl -sSL https://github.com/rust-lang/mdBook/releases/download/v0.4.34/mdbook-v0.4.34-x86_64-unknown-linux-gnu.tar.gz | tar -xz --directory /usr/local/bin
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RUN curl -sSL https://github.com/rust-lang/mdBook/releases/download/v0.4.37/mdbook-v0.4.37-x86_64-unknown-linux-gnu.tar.gz | tar -xz --directory /usr/local/bin
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RUN curl -sSL https://github.com/Michael-F-Bryan/mdbook-linkcheck/releases/latest/download/mdbook-linkcheck.x86_64-unknown-linux-gnu.zip -o mdbook-linkcheck.zip && \
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unzip mdbook-linkcheck.zip && \
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chmod +x mdbook-linkcheck && \
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cp mdbook-linkcheck /usr/local/bin
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# SSH stuff to allow deployment to doc server
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RUN adduser --uid 114 jenkins
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991
images/satrs-example-dataflow/satrs-example-dataflow.graphml
Normal file
991
images/satrs-example-dataflow/satrs-example-dataflow.graphml
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@ -0,0 +1,991 @@
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#d8KdZa0!*.Cn0-(6@->'#p(!Q\E%W]baYr=$].F.+.cZe,t0>o4s?b)*%%>*M%plGW`>2_C%I>D),Vf
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||||
^`-J-Fb4o[obfWa]6*WpV#JAJRNCUT>)tKTUG&9EQpCc#!:j!+"t.+3Bmr38X@r02&'Q#i3.6'P6-E7F
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||||
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||||
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W-m7T3gBRAM>sp)L]=O8Tm)%4+92/skHDr+ci7(nci;1thZ%P2&S9:&Bm0rkqo!mK)=.=tl[Ss"n\>+s
|
||||
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|
||||
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|
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>>
|
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startxref
|
||||
60086
|
||||
%%EOF
|
||||
@ -4,3 +4,6 @@ language = "en"
|
||||
multilingual = false
|
||||
src = "src"
|
||||
title = "The sat-rs book"
|
||||
|
||||
[output.html]
|
||||
[output.linkcheck]
|
||||
|
||||
@ -2,9 +2,16 @@
|
||||
|
||||
- [Introduction](./introduction.md)
|
||||
- [Design](./design.md)
|
||||
|
||||
# Basic concepts and components
|
||||
|
||||
- [Communication with Space Systems](./communication.md)
|
||||
- [Working with Constrained Systems](./constrained-systems.md)
|
||||
- [Actions](./actions.md)
|
||||
- [Modes and Health](./modes-and-health.md)
|
||||
- [Housekeeping Data](./housekeeping.md)
|
||||
- [Events](./events.md)
|
||||
|
||||
# Example project
|
||||
|
||||
- [The satrs-example application](./example.md)
|
||||
|
||||
@ -1,3 +1,5 @@
|
||||
<div id="communication-chapter"/>
|
||||
|
||||
# Communication with sat-rs based software
|
||||
|
||||
Communication is a vital topic for remote system which are usually not (directly)
|
||||
@ -15,10 +17,16 @@ it is still centered around small packets. `sat-rs` provides support for these E
|
||||
standards and also attempts to fill the gap to the internet protocol by providing the following
|
||||
components.
|
||||
|
||||
1. [UDP TMTC Server](https://docs.rs/satrs-core/0.1.0-alpha.0/satrs_core/hal/host/udp_server/index.html#).
|
||||
1. [UDP TMTC Server](https://docs.rs/satrs-core/0.1.0-alpha.0/satrs_core/hal/host/udp_server/index.html).
|
||||
UDP is already packet based which makes it an excellent fit for exchanging space packets.
|
||||
2. TCP TMTC Server. This is a stream based protocol, so the server uses the COBS framing protocol
|
||||
to always deliver complete packets.
|
||||
2. [TCP TMTC Server Components](https://docs.rs/satrs-core/0.1.0-alpha.1/satrs_core/hal/std/tcp_server/index.html).
|
||||
TCP is a stream based protocol, so the framework provides building blocks to parse telemetry
|
||||
from an arbitrary bytestream. Two concrete implementations are provided:
|
||||
- [TCP spacepackets server](https://docs.rs/satrs-core/0.1.0-alpha.1/satrs_core/hal/std/tcp_server/struct.TcpSpacepacketsServer.html)
|
||||
to parse tightly packed CCSDS Spacepackets.
|
||||
- [TCP COBS server](https://docs.rs/satrs-core/0.1.0-alpha.1/satrs_core/hal/std/tcp_server/struct.TcpTmtcInCobsServer.html)
|
||||
to parse generic frames wrapped with the
|
||||
[COBS protocol](https://en.wikipedia.org/wiki/Consistent_Overhead_Byte_Stuffing).
|
||||
|
||||
# Working with telemetry and telecommands (TMTC)
|
||||
|
||||
|
||||
@ -18,7 +18,7 @@ running out of memory (something even Rust can not protect from) or heap fragmen
|
||||
A huge candidate for heap allocations is the TMTC and handling. TC, TMs and IPC data are all
|
||||
candidates where the data size might vary greatly. The regular solution for host systems
|
||||
might be to send around this data as a `Vec<u8>` until it is dropped. `sat-rs` provides
|
||||
another solution to avoid run-time allocations by offering and recommendng pre-allocated static
|
||||
another solution to avoid run-time allocations by offering pre-allocated static
|
||||
pools.
|
||||
|
||||
These pools are split into subpools where each subpool can have different page sizes.
|
||||
|
||||
152
satrs-book/src/example.md
Normal file
152
satrs-book/src/example.md
Normal file
@ -0,0 +1,152 @@
|
||||
# sat-rs Example Application
|
||||
|
||||
The `sat-rs` framework includes a monolithic example application which can be found inside
|
||||
the [`satrs-example`](https://egit.irs.uni-stuttgart.de/rust/sat-rs/src/branch/main/satrs-example)
|
||||
subdirectory of the repository. The primary purpose of this example application is to show how
|
||||
the various components of the sat-rs framework could be used as part of a larger on-board
|
||||
software application.
|
||||
|
||||
## Structure of the example project
|
||||
|
||||
The example project contains components which could also be expected to be part of a production
|
||||
On-Board Software. A structural diagram of the example application is given to provide
|
||||
a brief high-level view of the components used inside the example application:
|
||||
|
||||
|
||||
|
||||
The dotted lines are used to denote optional components. In this case, the static pool components
|
||||
are optional because the heap can be used as a simpler mechanism to store TMTC packets as well.
|
||||
Some additional explanation is provided for the various components.
|
||||
|
||||
### TCP/IP server components
|
||||
|
||||
The example includes a UDP and TCP server to receive telecommands and poll telemetry from. This
|
||||
might be an optional component for an OBSW which is only used during the development phase on
|
||||
ground. The UDP server is strongly based on the
|
||||
[UDP TC server](https://docs.rs/satrs-core/0.1.0-alpha.1/satrs_core/hal/std/udp_server/struct.UdpTcServer.html).
|
||||
This server component is wrapped by a TMTC server which handles all telemetry to the last connected
|
||||
client.
|
||||
|
||||
The TCP server is based on the [TCP Spacepacket Server](https://docs.rs/satrs-core/0.1.0-alpha.1/satrs_core/hal/std/tcp_server/struct.TcpSpacepacketsServer.html)
|
||||
class. It parses space packets by using the CCSDS space packet ID as the packet
|
||||
start delimiter. All available telemetry will be sent back to a client after having read all
|
||||
telecommands from the client.
|
||||
|
||||
### TMTC Infrastructure
|
||||
|
||||
The most important components of the TMTC infrastructure include the following components:
|
||||
|
||||
- A TC source component which demultiplexes and routes telecommands based on parameters like
|
||||
packet APID or PUS service and subservice type.
|
||||
- A TM sink sink component which is the target of all sent telemetry and sends it to downlink
|
||||
handlers like the UDP and TCP server.
|
||||
|
||||
You can read the [Communications chapter](./communication.md) for more
|
||||
background information on the chosen TMTC infrastructure approach.
|
||||
|
||||
### PUS Service Components
|
||||
|
||||
A PUS service stack is provided which exposes some functionality conformant with the ECSS PUS
|
||||
services. This currently includes the following services:
|
||||
|
||||
- Service 1 for telecommand verification. The verification handling is handled locally: Each
|
||||
component which generates verification telemetry in some shape or form receives a
|
||||
[reporter](https://docs.rs/satrs-core/0.1.0-alpha.1/satrs_core/pus/verification/struct.VerificationReporterWithSender.html)
|
||||
object which can be used to send PUS 1 verification telemetry to the TM funnel.
|
||||
- Service 3 for housekeeping telemetry handling.
|
||||
- Service 5 for management and downlink of on-board events.
|
||||
- Service 8 for handling on-board actions.
|
||||
- Service 11 for scheduling telecommands to be released at a specific time. This component
|
||||
uses the [PUS scheduler class](https://docs.rs/satrs-core/0.1.0-alpha.1/satrs_core/pus/scheduler/alloc_mod/struct.PusScheduler.html)
|
||||
which performs the core logic of scheduling telecommands. All telecommands released by the
|
||||
scheduler are sent to the central TC source using a message.
|
||||
- Service 17 for test purposes like pings.
|
||||
|
||||
### Event Management Component
|
||||
|
||||
An event manager based on the sat-rs
|
||||
[event manager component](https://docs.rs/satrs-core/0.1.0-alpha.1/satrs_core/event_man/index.html)
|
||||
is provided to handle the event IPC and FDIR mechanism. The event message are converted to PUS 5
|
||||
telemetry by the
|
||||
[PUS event dispatcher](https://docs.rs/satrs-core/0.1.0-alpha.1/satrs_core/pus/event_man/alloc_mod/struct.PusEventDispatcher.html).
|
||||
|
||||
You can read the [events](./events.md) chapter for more in-depth information about event management.
|
||||
|
||||
### Sample Application Components
|
||||
|
||||
These components are example mission specific. They provide an idea how mission specific modules
|
||||
would look like the sat-rs context. It currently includes the following components:
|
||||
|
||||
- An Attitute and Orbit Control (AOCS) example task which can also process some PUS commands.
|
||||
|
||||
## Dataflow
|
||||
|
||||
The interaction of the various components is provided in the following diagram:
|
||||
|
||||
|
||||
|
||||
It should be noted that an arrow coming out of a component group refers to multiple components
|
||||
in that group. An explanation for important component groups will be given.
|
||||
|
||||
#### TMTC component group
|
||||
|
||||
This groups is the primary interface for clients to communicate with the on-board software
|
||||
using a standardized TMTC protocol. The example uses the
|
||||
[ECSS PUS protocol](https://ecss.nl/standard/ecss-e-st-70-41c-space-engineering-telemetry-and-telecommand-packet-utilization-15-april-2016/).
|
||||
In the future, this might be extended with the
|
||||
[CCSDS File Delivery Protocol](https://public.ccsds.org/Pubs/727x0b5.pdf).
|
||||
|
||||
A client can connect to the UDP or TCP server to send these PUS packets to the on-board software.
|
||||
These servers then forward the telecommads to a centralized TC source component using a dedicated
|
||||
message abstraction.
|
||||
|
||||
This TC source component then demultiplexes the message and forwards it to the relevant components.
|
||||
Right now, it forwards all PUS requests to the respective PUS service handlers using the PUS
|
||||
receiver component. The individual PUS services are running in a separate thread. In the future,
|
||||
additional forwarding to components like a CFDP handler might be added as well. It should be noted
|
||||
that PUS11 commands might contain other PUS commands which should be scheduled in the future.
|
||||
These wrapped commands are forwarded to the PUS11 handler. When the schedule releases those
|
||||
commands, it forwards the released commands to the TC source again. This allows the scheduler
|
||||
and the TC source to run in separate threads and keeps them cleanly separated.
|
||||
|
||||
All telemetry generated by the on-board software is sent to a centralized TM funnel. This component
|
||||
also performs a demultiplexing step to forward all telemetry to the relevant TM recipients.
|
||||
In the example case, this is the last UDP client, or a connected TCP client. In the future,
|
||||
forwarding to a persistent telemetry store and a simulated communication component might be
|
||||
added here as well. The centralized TM funnel also takes care of some packet processing steps which
|
||||
need to be applied for each ECSS PUS packet, for example CCSDS specific APID incrementation and
|
||||
PUS specific message counter incrementation.
|
||||
|
||||
#### Application Group
|
||||
|
||||
The application components generally do not receive raw PUS packets directly, even though
|
||||
this is certainly possible. Instead, they receive internalized messages from the PUS service
|
||||
handlers. For example, instead of receiving a PUS 8 Action Telecommand directly, an application
|
||||
component will receive a special `ActionRequest` message type reduced to the basic important
|
||||
information required to execute a request. These special requests are denoted by the blue arrow
|
||||
in the diagram.
|
||||
|
||||
It should be noted that the arrow pointing towards the event manager points in both directions.
|
||||
This is because the application components might be interested in events generated by other
|
||||
components as well. This mechanism is oftentimes used to implement the FDIR functionality on system
|
||||
and component level.
|
||||
|
||||
#### Shared components and functional interfaces
|
||||
|
||||
It should be noted that sometimes, a functional interface is used instead of a message. This
|
||||
is used for the generation of verification telemetry. The verification reporter is a clonable
|
||||
component which generates and sends PUS1 verification telemetry directly to the TM funnel. This
|
||||
introduces a loose coupling to the PUS standard but was considered the easiest solution for
|
||||
a project which utilizes PUS as the main communication protocol. In the future, a generic
|
||||
verification abstraction might be introduced to completely decouple the application layer from
|
||||
PUS.
|
||||
|
||||
The same concept is applied if the backing store of TMTC packets are shared pools. Every
|
||||
component which needs to read telecommands inside that shared pool or generate new telemetry
|
||||
into that shared pool will received a clonable shared handle to that pool.
|
||||
|
||||
The same concept could be extended to power or thermal handling. For example, a shared power helper
|
||||
component might be used to retrieve power state information and send power switch commands through
|
||||
a functional interface. The actual implementation of the functional interface might still use
|
||||
shared memory and/or messages, but the functional interface makes using and testing the interaction
|
||||
with these components easier.
|
||||
BIN
satrs-book/src/images/satrs-example/satrs-example-dataflow.png
Normal file
BIN
satrs-book/src/images/satrs-example/satrs-example-dataflow.png
Normal file
Binary file not shown.
|
After Width: | Height: | Size: 254 KiB |
BIN
satrs-book/src/images/satrs-example/satrs-example-structure.png
Normal file
BIN
satrs-book/src/images/satrs-example/satrs-example-structure.png
Normal file
Binary file not shown.
|
After Width: | Height: | Size: 167 KiB |
@ -1,6 +1,6 @@
|
||||
[package]
|
||||
name = "satrs-core"
|
||||
version = "0.1.0-alpha.1"
|
||||
version = "0.1.0-alpha.2"
|
||||
edition = "2021"
|
||||
rust-version = "1.61"
|
||||
authors = ["Robin Mueller <muellerr@irs.uni-stuttgart.de>"]
|
||||
@ -15,8 +15,6 @@ categories = ["aerospace", "aerospace::space-protocols", "no-std", "hardware-sup
|
||||
[dependencies]
|
||||
delegate = ">0.7, <=0.10"
|
||||
paste = "1"
|
||||
# TODO: Remove this as soon as the image including the description was moved to the satrs-book.
|
||||
embed-doc-image = "0.1"
|
||||
|
||||
[dependencies.smallvec]
|
||||
version = "1"
|
||||
@ -73,10 +71,11 @@ features = ["all"]
|
||||
optional = true
|
||||
|
||||
[dependencies.spacepackets]
|
||||
version = "0.7.0"
|
||||
version = "0.9.0"
|
||||
default-features = false
|
||||
# git = "https://egit.irs.uni-stuttgart.de/rust/spacepackets.git"
|
||||
# rev = "297cfad22637d3b07a1b27abe56d9a607b5b82a7"
|
||||
# branch = "main"
|
||||
|
||||
[dependencies.cobs]
|
||||
git = "https://github.com/robamu/cobs.rs.git"
|
||||
|
||||
@ -5,6 +5,7 @@ use spacepackets::cfdp::ChecksumType;
|
||||
use spacepackets::ByteConversionError;
|
||||
#[cfg(feature = "std")]
|
||||
use std::error::Error;
|
||||
use std::path::Path;
|
||||
#[cfg(feature = "std")]
|
||||
pub use stdmod::*;
|
||||
|
||||
@ -98,7 +99,8 @@ pub trait VirtualFilestore {
|
||||
/// This can be more efficient than removing and re-creating a file.
|
||||
fn truncate_file(&self, file_path: &str) -> Result<(), FilestoreError>;
|
||||
|
||||
fn remove_dir(&self, file_path: &str, all: bool) -> Result<(), FilestoreError>;
|
||||
fn remove_dir(&self, dir_path: &str, all: bool) -> Result<(), FilestoreError>;
|
||||
fn create_dir(&self, dir_path: &str) -> Result<(), FilestoreError>;
|
||||
|
||||
fn read_data(
|
||||
&self,
|
||||
@ -110,7 +112,16 @@ pub trait VirtualFilestore {
|
||||
|
||||
fn write_data(&self, file: &str, offset: u64, buf: &[u8]) -> Result<(), FilestoreError>;
|
||||
|
||||
fn filename_from_full_path<'a>(&self, path: &'a str) -> Option<&'a str>;
|
||||
fn filename_from_full_path(path: &str) -> Option<&str>
|
||||
where
|
||||
Self: Sized,
|
||||
{
|
||||
// Convert the path string to a Path
|
||||
let path = Path::new(path);
|
||||
|
||||
// Extract the file name using the file_name() method
|
||||
path.file_name().and_then(|name| name.to_str())
|
||||
}
|
||||
|
||||
fn is_file(&self, path: &str) -> bool;
|
||||
|
||||
@ -123,6 +134,10 @@ pub trait VirtualFilestore {
|
||||
/// This special function is the CFDP specific abstraction to verify the checksum of a file.
|
||||
/// This allows to keep OS specific details like reading the whole file in the most efficient
|
||||
/// manner inside the file system abstraction.
|
||||
///
|
||||
/// The passed verification buffer argument will be used by the specific implementation as
|
||||
/// a buffer to read the file into. It is recommended to use common buffer sizes like
|
||||
/// 4096 or 8192 bytes.
|
||||
fn checksum_verify(
|
||||
&self,
|
||||
file_path: &str,
|
||||
@ -155,7 +170,7 @@ pub mod stdmod {
|
||||
|
||||
fn remove_file(&self, file_path: &str) -> Result<(), FilestoreError> {
|
||||
if !self.exists(file_path) {
|
||||
return Ok(());
|
||||
return Err(FilestoreError::FileDoesNotExist);
|
||||
}
|
||||
if !self.is_file(file_path) {
|
||||
return Err(FilestoreError::IsNotFile);
|
||||
@ -166,7 +181,7 @@ pub mod stdmod {
|
||||
|
||||
fn truncate_file(&self, file_path: &str) -> Result<(), FilestoreError> {
|
||||
if !self.exists(file_path) {
|
||||
return Ok(());
|
||||
return Err(FilestoreError::FileDoesNotExist);
|
||||
}
|
||||
if !self.is_file(file_path) {
|
||||
return Err(FilestoreError::IsNotFile);
|
||||
@ -178,6 +193,14 @@ pub mod stdmod {
|
||||
Ok(())
|
||||
}
|
||||
|
||||
fn create_dir(&self, dir_path: &str) -> Result<(), FilestoreError> {
|
||||
fs::create_dir(dir_path).map_err(|e| FilestoreError::Io {
|
||||
raw_errno: e.raw_os_error(),
|
||||
string: e.to_string(),
|
||||
})?;
|
||||
Ok(())
|
||||
}
|
||||
|
||||
fn remove_dir(&self, dir_path: &str, all: bool) -> Result<(), FilestoreError> {
|
||||
if !self.exists(dir_path) {
|
||||
return Err(FilestoreError::DirDoesNotExist);
|
||||
@ -232,24 +255,11 @@ pub mod stdmod {
|
||||
Ok(())
|
||||
}
|
||||
|
||||
fn filename_from_full_path<'a>(&self, path: &'a str) -> Option<&'a str> {
|
||||
// Convert the path string to a Path
|
||||
let path = Path::new(path);
|
||||
|
||||
// Extract the file name using the file_name() method
|
||||
path.file_name().and_then(|name| name.to_str())
|
||||
}
|
||||
|
||||
fn is_file(&self, path: &str) -> bool {
|
||||
let path = Path::new(path);
|
||||
path.is_file()
|
||||
}
|
||||
|
||||
fn is_dir(&self, path: &str) -> bool {
|
||||
let path = Path::new(path);
|
||||
path.is_dir()
|
||||
}
|
||||
|
||||
fn exists(&self, path: &str) -> bool {
|
||||
let path = Path::new(path);
|
||||
if !path.exists() {
|
||||
@ -267,7 +277,10 @@ pub mod stdmod {
|
||||
) -> Result<bool, FilestoreError> {
|
||||
match checksum_type {
|
||||
ChecksumType::Modular => {
|
||||
todo!();
|
||||
if self.calc_modular_checksum(file_path)? == expected_checksum {
|
||||
return Ok(true);
|
||||
}
|
||||
Ok(false)
|
||||
}
|
||||
ChecksumType::Crc32 => {
|
||||
let mut digest = CRC_32.digest();
|
||||
@ -290,6 +303,29 @@ pub mod stdmod {
|
||||
}
|
||||
}
|
||||
}
|
||||
|
||||
impl NativeFilestore {
|
||||
pub fn calc_modular_checksum(&self, file_path: &str) -> Result<u32, FilestoreError> {
|
||||
let mut checksum: u32 = 0;
|
||||
let file = File::open(file_path)?;
|
||||
let mut buf_reader = BufReader::new(file);
|
||||
let mut buffer = [0; 4];
|
||||
|
||||
loop {
|
||||
let bytes_read = buf_reader.read(&mut buffer)?;
|
||||
if bytes_read == 0 {
|
||||
break;
|
||||
}
|
||||
// Perform padding directly in the buffer
|
||||
(bytes_read..4).for_each(|i| {
|
||||
buffer[i] = 0;
|
||||
});
|
||||
|
||||
checksum = checksum.wrapping_add(u32::from_be_bytes(buffer));
|
||||
}
|
||||
Ok(checksum)
|
||||
}
|
||||
}
|
||||
}
|
||||
|
||||
#[cfg(test)]
|
||||
@ -297,8 +333,13 @@ mod tests {
|
||||
use std::{fs, path::Path, println};
|
||||
|
||||
use super::*;
|
||||
use alloc::format;
|
||||
use tempfile::tempdir;
|
||||
|
||||
const EXAMPLE_DATA_CFDP: [u8; 15] = [
|
||||
0x00, 0x01, 0x02, 0x03, 0x04, 0x05, 0x06, 0x07, 0x08, 0x09, 0x0A, 0x0B, 0x0C, 0x0D, 0x0E,
|
||||
];
|
||||
|
||||
const NATIVE_FS: NativeFilestore = NativeFilestore {};
|
||||
|
||||
#[test]
|
||||
@ -312,11 +353,10 @@ mod tests {
|
||||
assert!(path.exists());
|
||||
assert!(NATIVE_FS.exists(file_path.to_str().unwrap()));
|
||||
assert!(NATIVE_FS.is_file(file_path.to_str().unwrap()));
|
||||
fs::remove_dir_all(tmpdir).expect("clearing tmpdir failed");
|
||||
}
|
||||
|
||||
#[test]
|
||||
fn test_basic_native_fs_exists() {
|
||||
fn test_basic_native_fs_file_exists() {
|
||||
let tmpdir = tempdir().expect("creating tmpdir failed");
|
||||
let file_path = tmpdir.path().join("test.txt");
|
||||
assert!(!NATIVE_FS.exists(file_path.to_str().unwrap()));
|
||||
@ -325,7 +365,32 @@ mod tests {
|
||||
.unwrap();
|
||||
assert!(NATIVE_FS.exists(file_path.to_str().unwrap()));
|
||||
assert!(NATIVE_FS.is_file(file_path.to_str().unwrap()));
|
||||
fs::remove_dir_all(tmpdir).expect("clearing tmpdir failed");
|
||||
}
|
||||
|
||||
#[test]
|
||||
fn test_basic_native_fs_dir_exists() {
|
||||
let tmpdir = tempdir().expect("creating tmpdir failed");
|
||||
let dir_path = tmpdir.path().join("testdir");
|
||||
assert!(!NATIVE_FS.exists(dir_path.to_str().unwrap()));
|
||||
NATIVE_FS
|
||||
.create_dir(dir_path.to_str().expect("getting str for file failed"))
|
||||
.unwrap();
|
||||
assert!(NATIVE_FS.exists(dir_path.to_str().unwrap()));
|
||||
assert!(NATIVE_FS.is_dir(dir_path.as_path().to_str().unwrap()));
|
||||
}
|
||||
|
||||
#[test]
|
||||
fn test_basic_native_fs_remove_file() {
|
||||
let tmpdir = tempdir().expect("creating tmpdir failed");
|
||||
let file_path = tmpdir.path().join("test.txt");
|
||||
NATIVE_FS
|
||||
.create_file(file_path.to_str().expect("getting str for file failed"))
|
||||
.expect("creating file failed");
|
||||
assert!(NATIVE_FS.exists(file_path.to_str().unwrap()));
|
||||
NATIVE_FS
|
||||
.remove_file(file_path.to_str().unwrap())
|
||||
.expect("removing file failed");
|
||||
assert!(!NATIVE_FS.exists(file_path.to_str().unwrap()));
|
||||
}
|
||||
|
||||
#[test]
|
||||
@ -345,7 +410,6 @@ mod tests {
|
||||
.expect("writing to file failed");
|
||||
let read_back = fs::read_to_string(file_path).expect("reading back data failed");
|
||||
assert_eq!(read_back, write_data);
|
||||
fs::remove_dir_all(tmpdir).expect("clearing tmpdir failed");
|
||||
}
|
||||
|
||||
#[test]
|
||||
@ -365,6 +429,342 @@ mod tests {
|
||||
.expect("writing to file failed");
|
||||
let read_back = fs::read_to_string(file_path).expect("reading back data failed");
|
||||
assert_eq!(read_back, write_data);
|
||||
fs::remove_dir_all(tmpdir).expect("clearing tmpdir failed");
|
||||
}
|
||||
|
||||
#[test]
|
||||
fn test_truncate_file() {
|
||||
let tmpdir = tempdir().expect("creating tmpdir failed");
|
||||
let file_path = tmpdir.path().join("test.txt");
|
||||
NATIVE_FS
|
||||
.create_file(file_path.to_str().expect("getting str for file failed"))
|
||||
.expect("creating file failed");
|
||||
fs::write(file_path.clone(), [1, 2, 3, 4]).unwrap();
|
||||
assert_eq!(fs::read(file_path.clone()).unwrap(), [1, 2, 3, 4]);
|
||||
NATIVE_FS
|
||||
.truncate_file(file_path.to_str().unwrap())
|
||||
.unwrap();
|
||||
assert_eq!(fs::read(file_path.clone()).unwrap(), []);
|
||||
}
|
||||
|
||||
#[test]
|
||||
fn test_remove_dir() {
|
||||
let tmpdir = tempdir().expect("creating tmpdir failed");
|
||||
let dir_path = tmpdir.path().join("testdir");
|
||||
assert!(!NATIVE_FS.exists(dir_path.to_str().unwrap()));
|
||||
NATIVE_FS
|
||||
.create_dir(dir_path.to_str().expect("getting str for file failed"))
|
||||
.unwrap();
|
||||
assert!(NATIVE_FS.exists(dir_path.to_str().unwrap()));
|
||||
NATIVE_FS
|
||||
.remove_dir(dir_path.to_str().unwrap(), false)
|
||||
.unwrap();
|
||||
assert!(!NATIVE_FS.exists(dir_path.to_str().unwrap()));
|
||||
}
|
||||
|
||||
#[test]
|
||||
fn test_read_file() {
|
||||
let tmpdir = tempdir().expect("creating tmpdir failed");
|
||||
let file_path = tmpdir.path().join("test.txt");
|
||||
NATIVE_FS
|
||||
.create_file(file_path.to_str().expect("getting str for file failed"))
|
||||
.expect("creating file failed");
|
||||
fs::write(file_path.clone(), [1, 2, 3, 4]).unwrap();
|
||||
let read_buf: &mut [u8] = &mut [0; 4];
|
||||
NATIVE_FS
|
||||
.read_data(file_path.to_str().unwrap(), 0, 4, read_buf)
|
||||
.unwrap();
|
||||
assert_eq!([1, 2, 3, 4], read_buf);
|
||||
NATIVE_FS
|
||||
.write_data(file_path.to_str().unwrap(), 4, &[5, 6, 7, 8])
|
||||
.expect("writing to file failed");
|
||||
NATIVE_FS
|
||||
.read_data(file_path.to_str().unwrap(), 2, 4, read_buf)
|
||||
.unwrap();
|
||||
assert_eq!([3, 4, 5, 6], read_buf);
|
||||
}
|
||||
|
||||
#[test]
|
||||
fn test_remove_which_does_not_exist() {
|
||||
let tmpdir = tempdir().expect("creating tmpdir failed");
|
||||
let file_path = tmpdir.path().join("test.txt");
|
||||
let result = NATIVE_FS.read_data(file_path.to_str().unwrap(), 0, 4, &mut [0; 4]);
|
||||
assert!(result.is_err());
|
||||
let error = result.unwrap_err();
|
||||
if let FilestoreError::FileDoesNotExist = error {
|
||||
assert_eq!(error.to_string(), "file does not exist");
|
||||
} else {
|
||||
panic!("unexpected error");
|
||||
}
|
||||
}
|
||||
|
||||
#[test]
|
||||
fn test_file_already_exists() {
|
||||
let tmpdir = tempdir().expect("creating tmpdir failed");
|
||||
let file_path = tmpdir.path().join("test.txt");
|
||||
let result =
|
||||
NATIVE_FS.create_file(file_path.to_str().expect("getting str for file failed"));
|
||||
assert!(result.is_ok());
|
||||
let result =
|
||||
NATIVE_FS.create_file(file_path.to_str().expect("getting str for file failed"));
|
||||
assert!(result.is_err());
|
||||
let error = result.unwrap_err();
|
||||
if let FilestoreError::FileAlreadyExists = error {
|
||||
assert_eq!(error.to_string(), "file already exists");
|
||||
} else {
|
||||
panic!("unexpected error");
|
||||
}
|
||||
}
|
||||
|
||||
#[test]
|
||||
fn test_remove_file_with_dir_api() {
|
||||
let tmpdir = tempdir().expect("creating tmpdir failed");
|
||||
let file_path = tmpdir.path().join("test.txt");
|
||||
NATIVE_FS
|
||||
.create_file(file_path.to_str().expect("getting str for file failed"))
|
||||
.unwrap();
|
||||
let result = NATIVE_FS.remove_dir(file_path.to_str().unwrap(), true);
|
||||
assert!(result.is_err());
|
||||
let error = result.unwrap_err();
|
||||
if let FilestoreError::IsNotDirectory = error {
|
||||
assert_eq!(error.to_string(), "is not a directory");
|
||||
} else {
|
||||
panic!("unexpected error");
|
||||
}
|
||||
}
|
||||
|
||||
#[test]
|
||||
fn test_remove_dir_remove_all() {
|
||||
let tmpdir = tempdir().expect("creating tmpdir failed");
|
||||
let dir_path = tmpdir.path().join("test");
|
||||
NATIVE_FS
|
||||
.create_dir(dir_path.to_str().expect("getting str for file failed"))
|
||||
.unwrap();
|
||||
let file_path = dir_path.as_path().join("test.txt");
|
||||
NATIVE_FS
|
||||
.create_file(file_path.to_str().expect("getting str for file failed"))
|
||||
.unwrap();
|
||||
let result = NATIVE_FS.remove_dir(dir_path.to_str().unwrap(), true);
|
||||
assert!(result.is_ok());
|
||||
assert!(!NATIVE_FS.exists(dir_path.to_str().unwrap()));
|
||||
}
|
||||
|
||||
#[test]
|
||||
fn test_remove_dir_with_file_api() {
|
||||
let tmpdir = tempdir().expect("creating tmpdir failed");
|
||||
let file_path = tmpdir.path().join("test");
|
||||
NATIVE_FS
|
||||
.create_dir(file_path.to_str().expect("getting str for file failed"))
|
||||
.unwrap();
|
||||
let result = NATIVE_FS.remove_file(file_path.to_str().unwrap());
|
||||
assert!(result.is_err());
|
||||
let error = result.unwrap_err();
|
||||
if let FilestoreError::IsNotFile = error {
|
||||
assert_eq!(error.to_string(), "is not a file");
|
||||
} else {
|
||||
panic!("unexpected error");
|
||||
}
|
||||
}
|
||||
|
||||
#[test]
|
||||
fn test_remove_dir_which_does_not_exist() {
|
||||
let tmpdir = tempdir().expect("creating tmpdir failed");
|
||||
let file_path = tmpdir.path().join("test");
|
||||
let result = NATIVE_FS.remove_dir(file_path.to_str().unwrap(), true);
|
||||
assert!(result.is_err());
|
||||
let error = result.unwrap_err();
|
||||
if let FilestoreError::DirDoesNotExist = error {
|
||||
assert_eq!(error.to_string(), "directory does not exist");
|
||||
} else {
|
||||
panic!("unexpected error");
|
||||
}
|
||||
}
|
||||
|
||||
#[test]
|
||||
fn test_remove_file_which_does_not_exist() {
|
||||
let tmpdir = tempdir().expect("creating tmpdir failed");
|
||||
let file_path = tmpdir.path().join("test.txt");
|
||||
let result = NATIVE_FS.remove_file(file_path.to_str().unwrap());
|
||||
assert!(result.is_err());
|
||||
let error = result.unwrap_err();
|
||||
if let FilestoreError::FileDoesNotExist = error {
|
||||
assert_eq!(error.to_string(), "file does not exist");
|
||||
} else {
|
||||
panic!("unexpected error");
|
||||
}
|
||||
}
|
||||
|
||||
#[test]
|
||||
fn test_truncate_file_which_does_not_exist() {
|
||||
let tmpdir = tempdir().expect("creating tmpdir failed");
|
||||
let file_path = tmpdir.path().join("test.txt");
|
||||
let result = NATIVE_FS.truncate_file(file_path.to_str().unwrap());
|
||||
assert!(result.is_err());
|
||||
let error = result.unwrap_err();
|
||||
if let FilestoreError::FileDoesNotExist = error {
|
||||
assert_eq!(error.to_string(), "file does not exist");
|
||||
} else {
|
||||
panic!("unexpected error");
|
||||
}
|
||||
}
|
||||
|
||||
#[test]
|
||||
fn test_truncate_file_on_directory() {
|
||||
let tmpdir = tempdir().expect("creating tmpdir failed");
|
||||
let file_path = tmpdir.path().join("test");
|
||||
NATIVE_FS.create_dir(file_path.to_str().unwrap()).unwrap();
|
||||
let result = NATIVE_FS.truncate_file(file_path.to_str().unwrap());
|
||||
assert!(result.is_err());
|
||||
let error = result.unwrap_err();
|
||||
if let FilestoreError::IsNotFile = error {
|
||||
assert_eq!(error.to_string(), "is not a file");
|
||||
} else {
|
||||
panic!("unexpected error");
|
||||
}
|
||||
}
|
||||
|
||||
#[test]
|
||||
fn test_byte_conversion_error_when_reading() {
|
||||
let tmpdir = tempdir().expect("creating tmpdir failed");
|
||||
let file_path = tmpdir.path().join("test.txt");
|
||||
NATIVE_FS
|
||||
.create_file(file_path.to_str().expect("getting str for file failed"))
|
||||
.unwrap();
|
||||
let result = NATIVE_FS.read_data(file_path.to_str().unwrap(), 0, 2, &mut []);
|
||||
assert!(result.is_err());
|
||||
let error = result.unwrap_err();
|
||||
if let FilestoreError::ByteConversion(byte_conv_error) = error {
|
||||
if let ByteConversionError::ToSliceTooSmall { found, expected } = byte_conv_error {
|
||||
assert_eq!(found, 0);
|
||||
assert_eq!(expected, 2);
|
||||
} else {
|
||||
panic!("unexpected error");
|
||||
}
|
||||
assert_eq!(
|
||||
error.to_string(),
|
||||
format!("filestore error: {}", byte_conv_error)
|
||||
);
|
||||
} else {
|
||||
panic!("unexpected error");
|
||||
}
|
||||
}
|
||||
|
||||
#[test]
|
||||
fn test_read_file_on_dir() {
|
||||
let tmpdir = tempdir().expect("creating tmpdir failed");
|
||||
let dir_path = tmpdir.path().join("test");
|
||||
NATIVE_FS
|
||||
.create_dir(dir_path.to_str().expect("getting str for file failed"))
|
||||
.unwrap();
|
||||
let result = NATIVE_FS.read_data(dir_path.to_str().unwrap(), 0, 4, &mut [0; 4]);
|
||||
assert!(result.is_err());
|
||||
let error = result.unwrap_err();
|
||||
if let FilestoreError::IsNotFile = error {
|
||||
assert_eq!(error.to_string(), "is not a file");
|
||||
} else {
|
||||
panic!("unexpected error");
|
||||
}
|
||||
}
|
||||
|
||||
#[test]
|
||||
fn test_write_file_non_existing() {
|
||||
let tmpdir = tempdir().expect("creating tmpdir failed");
|
||||
let file_path = tmpdir.path().join("test.txt");
|
||||
let result = NATIVE_FS.write_data(file_path.to_str().unwrap(), 0, &[]);
|
||||
assert!(result.is_err());
|
||||
let error = result.unwrap_err();
|
||||
if let FilestoreError::FileDoesNotExist = error {
|
||||
} else {
|
||||
panic!("unexpected error");
|
||||
}
|
||||
}
|
||||
|
||||
#[test]
|
||||
fn test_write_file_on_dir() {
|
||||
let tmpdir = tempdir().expect("creating tmpdir failed");
|
||||
let file_path = tmpdir.path().join("test");
|
||||
NATIVE_FS.create_dir(file_path.to_str().unwrap()).unwrap();
|
||||
let result = NATIVE_FS.write_data(file_path.to_str().unwrap(), 0, &[]);
|
||||
assert!(result.is_err());
|
||||
let error = result.unwrap_err();
|
||||
if let FilestoreError::IsNotFile = error {
|
||||
} else {
|
||||
panic!("unexpected error");
|
||||
}
|
||||
}
|
||||
|
||||
#[test]
|
||||
fn test_filename_extraction() {
|
||||
let tmpdir = tempdir().expect("creating tmpdir failed");
|
||||
let file_path = tmpdir.path().join("test.txt");
|
||||
NATIVE_FS
|
||||
.create_file(file_path.to_str().expect("getting str for file failed"))
|
||||
.unwrap();
|
||||
NativeFilestore::filename_from_full_path(file_path.to_str().unwrap());
|
||||
}
|
||||
|
||||
#[test]
|
||||
fn test_modular_checksum() {
|
||||
let tmpdir = tempdir().expect("creating tmpdir failed");
|
||||
let file_path = tmpdir.path().join("mod-crc.bin");
|
||||
fs::write(file_path.as_path(), EXAMPLE_DATA_CFDP).expect("writing test file failed");
|
||||
// Kind of re-writing the modular checksum impl here which we are trying to test, but the
|
||||
// numbers/correctness were verified manually using calculators, so this is okay.
|
||||
let mut checksum: u32 = 0;
|
||||
let mut buffer: [u8; 4] = [0; 4];
|
||||
for i in 0..3 {
|
||||
buffer = EXAMPLE_DATA_CFDP[i * 4..(i + 1) * 4].try_into().unwrap();
|
||||
checksum = checksum.wrapping_add(u32::from_be_bytes(buffer));
|
||||
}
|
||||
buffer[0..3].copy_from_slice(&EXAMPLE_DATA_CFDP[12..15]);
|
||||
buffer[3] = 0;
|
||||
checksum = checksum.wrapping_add(u32::from_be_bytes(buffer));
|
||||
let mut verif_buf: [u8; 32] = [0; 32];
|
||||
let result = NATIVE_FS.checksum_verify(
|
||||
file_path.to_str().unwrap(),
|
||||
ChecksumType::Modular,
|
||||
checksum,
|
||||
&mut verif_buf,
|
||||
);
|
||||
assert!(result.is_ok());
|
||||
}
|
||||
|
||||
#[test]
|
||||
fn test_null_checksum_impl() {
|
||||
let tmpdir = tempdir().expect("creating tmpdir failed");
|
||||
let file_path = tmpdir.path().join("mod-crc.bin");
|
||||
// The file to check does not even need to exist, and the verification buffer can be
|
||||
// empty: the null checksum is always yields the same result.
|
||||
let result = NATIVE_FS.checksum_verify(
|
||||
file_path.to_str().unwrap(),
|
||||
ChecksumType::NullChecksum,
|
||||
0,
|
||||
&mut [],
|
||||
);
|
||||
assert!(result.is_ok());
|
||||
assert!(result.unwrap());
|
||||
}
|
||||
|
||||
#[test]
|
||||
fn test_checksum_not_implemented() {
|
||||
let tmpdir = tempdir().expect("creating tmpdir failed");
|
||||
let file_path = tmpdir.path().join("mod-crc.bin");
|
||||
// The file to check does not even need to exist, and the verification buffer can be
|
||||
// empty: the null checksum is always yields the same result.
|
||||
let result = NATIVE_FS.checksum_verify(
|
||||
file_path.to_str().unwrap(),
|
||||
ChecksumType::Crc32Proximity1,
|
||||
0,
|
||||
&mut [],
|
||||
);
|
||||
assert!(result.is_err());
|
||||
let error = result.unwrap_err();
|
||||
if let FilestoreError::ChecksumTypeNotImplemented(cksum_type) = error {
|
||||
assert_eq!(
|
||||
error.to_string(),
|
||||
format!("checksum {:?} not implemented", cksum_type)
|
||||
);
|
||||
} else {
|
||||
panic!("unexpected error");
|
||||
}
|
||||
}
|
||||
}
|
||||
|
||||
@ -1,13 +1,13 @@
|
||||
//! Task scheduling module
|
||||
use alloc::string::String;
|
||||
use bus::BusReader;
|
||||
use std::boxed::Box;
|
||||
use std::error::Error;
|
||||
use std::sync::mpsc::TryRecvError;
|
||||
use std::thread;
|
||||
use std::thread::JoinHandle;
|
||||
use std::time::Duration;
|
||||
use std::vec;
|
||||
use std::vec::Vec;
|
||||
use std::{io, thread};
|
||||
|
||||
#[derive(Debug, PartialEq, Eq)]
|
||||
pub enum OpResult {
|
||||
@ -34,47 +34,49 @@ pub trait Executable: Send {
|
||||
/// # Arguments
|
||||
///
|
||||
/// * `executable`: Executable task
|
||||
/// * `task_freq`: Optional frequency of task. Required for periodic and fixed cycle tasks
|
||||
/// * `op_code`: Operation code which is passed to the executable task [operation call][Executable::periodic_op]
|
||||
/// * `task_freq`: Optional frequency of task. Required for periodic and fixed cycle tasks.
|
||||
/// If [None] is passed, no sleeping will be performed.
|
||||
/// * `op_code`: Operation code which is passed to the executable task
|
||||
/// [operation call][Executable::periodic_op]
|
||||
/// * `termination`: Optional termination handler which can cancel threads with a broadcast
|
||||
pub fn exec_sched_single<
|
||||
T: Executable<Error = E> + Send + 'static + ?Sized,
|
||||
E: Error + Send + 'static,
|
||||
>(
|
||||
pub fn exec_sched_single<T: Executable<Error = E> + Send + 'static + ?Sized, E: Send + 'static>(
|
||||
mut executable: Box<T>,
|
||||
task_freq: Option<Duration>,
|
||||
op_code: i32,
|
||||
mut termination: Option<BusReader<()>>,
|
||||
) -> JoinHandle<Result<OpResult, E>> {
|
||||
) -> Result<JoinHandle<Result<OpResult, E>>, io::Error> {
|
||||
let mut cycle_count = 0;
|
||||
thread::spawn(move || loop {
|
||||
if let Some(ref mut terminator) = termination {
|
||||
match terminator.try_recv() {
|
||||
Ok(_) | Err(TryRecvError::Disconnected) => {
|
||||
return Ok(OpResult::Ok);
|
||||
}
|
||||
Err(TryRecvError::Empty) => (),
|
||||
}
|
||||
}
|
||||
match executable.exec_type() {
|
||||
ExecutionType::OneShot => {
|
||||
executable.periodic_op(op_code)?;
|
||||
return Ok(OpResult::Ok);
|
||||
}
|
||||
ExecutionType::Infinite => {
|
||||
executable.periodic_op(op_code)?;
|
||||
}
|
||||
ExecutionType::Cycles(cycles) => {
|
||||
executable.periodic_op(op_code)?;
|
||||
cycle_count += 1;
|
||||
if cycle_count == cycles {
|
||||
return Ok(OpResult::Ok);
|
||||
thread::Builder::new()
|
||||
.name(String::from(executable.task_name()))
|
||||
.spawn(move || loop {
|
||||
if let Some(ref mut terminator) = termination {
|
||||
match terminator.try_recv() {
|
||||
Ok(_) | Err(TryRecvError::Disconnected) => {
|
||||
return Ok(OpResult::Ok);
|
||||
}
|
||||
Err(TryRecvError::Empty) => (),
|
||||
}
|
||||
}
|
||||
}
|
||||
let freq = task_freq.unwrap_or_else(|| panic!("No task frequency specified"));
|
||||
thread::sleep(freq);
|
||||
})
|
||||
match executable.exec_type() {
|
||||
ExecutionType::OneShot => {
|
||||
executable.periodic_op(op_code)?;
|
||||
return Ok(OpResult::Ok);
|
||||
}
|
||||
ExecutionType::Infinite => {
|
||||
executable.periodic_op(op_code)?;
|
||||
}
|
||||
ExecutionType::Cycles(cycles) => {
|
||||
executable.periodic_op(op_code)?;
|
||||
cycle_count += 1;
|
||||
if cycle_count == cycles {
|
||||
return Ok(OpResult::Ok);
|
||||
}
|
||||
}
|
||||
}
|
||||
if let Some(freq) = task_freq {
|
||||
thread::sleep(freq);
|
||||
}
|
||||
})
|
||||
}
|
||||
|
||||
/// This function allows executing multiple tasks as long as the tasks implement the
|
||||
@ -86,55 +88,56 @@ pub fn exec_sched_single<
|
||||
/// * `task_freq`: Optional frequency of task. Required for periodic and fixed cycle tasks
|
||||
/// * `op_code`: Operation code which is passed to the executable task [operation call][Executable::periodic_op]
|
||||
/// * `termination`: Optional termination handler which can cancel threads with a broadcast
|
||||
pub fn exec_sched_multi<
|
||||
T: Executable<Error = E> + Send + 'static + ?Sized,
|
||||
E: Error + Send + 'static,
|
||||
>(
|
||||
pub fn exec_sched_multi<T: Executable<Error = E> + Send + 'static + ?Sized, E: Send + 'static>(
|
||||
task_name: &'static str,
|
||||
mut executable_vec: Vec<Box<T>>,
|
||||
task_freq: Option<Duration>,
|
||||
op_code: i32,
|
||||
mut termination: Option<BusReader<()>>,
|
||||
) -> JoinHandle<Result<OpResult, E>> {
|
||||
) -> Result<JoinHandle<Result<OpResult, E>>, io::Error> {
|
||||
let mut cycle_counts = vec![0; executable_vec.len()];
|
||||
let mut removal_flags = vec![false; executable_vec.len()];
|
||||
thread::spawn(move || loop {
|
||||
if let Some(ref mut terminator) = termination {
|
||||
match terminator.try_recv() {
|
||||
Ok(_) | Err(TryRecvError::Disconnected) => {
|
||||
removal_flags.iter_mut().for_each(|x| *x = true);
|
||||
|
||||
thread::Builder::new()
|
||||
.name(String::from(task_name))
|
||||
.spawn(move || loop {
|
||||
if let Some(ref mut terminator) = termination {
|
||||
match terminator.try_recv() {
|
||||
Ok(_) | Err(TryRecvError::Disconnected) => {
|
||||
removal_flags.iter_mut().for_each(|x| *x = true);
|
||||
}
|
||||
Err(TryRecvError::Empty) => (),
|
||||
}
|
||||
Err(TryRecvError::Empty) => (),
|
||||
}
|
||||
}
|
||||
for (idx, executable) in executable_vec.iter_mut().enumerate() {
|
||||
match executable.exec_type() {
|
||||
ExecutionType::OneShot => {
|
||||
executable.periodic_op(op_code)?;
|
||||
removal_flags[idx] = true;
|
||||
}
|
||||
ExecutionType::Infinite => {
|
||||
executable.periodic_op(op_code)?;
|
||||
}
|
||||
ExecutionType::Cycles(cycles) => {
|
||||
executable.periodic_op(op_code)?;
|
||||
cycle_counts[idx] += 1;
|
||||
if cycle_counts[idx] == cycles {
|
||||
for (idx, executable) in executable_vec.iter_mut().enumerate() {
|
||||
match executable.exec_type() {
|
||||
ExecutionType::OneShot => {
|
||||
executable.periodic_op(op_code)?;
|
||||
removal_flags[idx] = true;
|
||||
}
|
||||
ExecutionType::Infinite => {
|
||||
executable.periodic_op(op_code)?;
|
||||
}
|
||||
ExecutionType::Cycles(cycles) => {
|
||||
executable.periodic_op(op_code)?;
|
||||
cycle_counts[idx] += 1;
|
||||
if cycle_counts[idx] == cycles {
|
||||
removal_flags[idx] = true;
|
||||
}
|
||||
}
|
||||
}
|
||||
}
|
||||
}
|
||||
let mut removal_iter = removal_flags.iter();
|
||||
executable_vec.retain(|_| !*removal_iter.next().unwrap());
|
||||
removal_iter = removal_flags.iter();
|
||||
cycle_counts.retain(|_| !*removal_iter.next().unwrap());
|
||||
removal_flags.retain(|&i| !i);
|
||||
if executable_vec.is_empty() {
|
||||
return Ok(OpResult::Ok);
|
||||
}
|
||||
let freq = task_freq.unwrap_or_else(|| panic!("No task frequency specified"));
|
||||
thread::sleep(freq);
|
||||
})
|
||||
let mut removal_iter = removal_flags.iter();
|
||||
executable_vec.retain(|_| !*removal_iter.next().unwrap());
|
||||
removal_iter = removal_flags.iter();
|
||||
cycle_counts.retain(|_| !*removal_iter.next().unwrap());
|
||||
removal_flags.retain(|&i| !i);
|
||||
if executable_vec.is_empty() {
|
||||
return Ok(OpResult::Ok);
|
||||
}
|
||||
let freq = task_freq.unwrap_or_else(|| panic!("No task frequency specified"));
|
||||
thread::sleep(freq);
|
||||
})
|
||||
}
|
||||
|
||||
#[cfg(test)]
|
||||
@ -294,7 +297,8 @@ mod tests {
|
||||
Some(Duration::from_millis(100)),
|
||||
expected_op_code,
|
||||
None,
|
||||
);
|
||||
)
|
||||
.expect("thread creation failed");
|
||||
let thread_res = jhandle.join().expect("One Shot Task failed");
|
||||
assert!(thread_res.is_ok());
|
||||
assert_eq!(thread_res.unwrap(), OpResult::Ok);
|
||||
@ -319,7 +323,8 @@ mod tests {
|
||||
Some(Duration::from_millis(100)),
|
||||
op_code_inducing_failure,
|
||||
None,
|
||||
);
|
||||
)
|
||||
.expect("thread creation failed");
|
||||
let thread_res = jhandle.join().expect("One Shot Task failed");
|
||||
assert!(thread_res.is_err());
|
||||
let error = thread_res.unwrap_err();
|
||||
@ -356,11 +361,13 @@ mod tests {
|
||||
assert_eq!(task.task_name(), ONE_SHOT_TASK_NAME);
|
||||
}
|
||||
let jhandle = exec_sched_multi(
|
||||
"multi-task-name",
|
||||
task_vec,
|
||||
Some(Duration::from_millis(100)),
|
||||
expected_op_code,
|
||||
None,
|
||||
);
|
||||
)
|
||||
.expect("thread creation failed");
|
||||
let thread_res = jhandle.join().expect("One Shot Task failed");
|
||||
assert!(thread_res.is_ok());
|
||||
assert_eq!(thread_res.unwrap(), OpResult::Ok);
|
||||
@ -386,7 +393,8 @@ mod tests {
|
||||
Some(Duration::from_millis(100)),
|
||||
expected_op_code,
|
||||
None,
|
||||
);
|
||||
)
|
||||
.expect("thread creation failed");
|
||||
let thread_res = jh.join().expect("Cycles Task failed");
|
||||
assert!(thread_res.is_ok());
|
||||
let data = shared.lock().expect("Locking Mutex failed");
|
||||
@ -418,11 +426,13 @@ mod tests {
|
||||
let task_vec: Vec<Box<dyn Executable<Error = ExampleError>>> =
|
||||
vec![one_shot_task, cycled_task_0, cycled_task_1];
|
||||
let jh = exec_sched_multi(
|
||||
"multi-task-name",
|
||||
task_vec,
|
||||
Some(Duration::from_millis(100)),
|
||||
expected_op_code,
|
||||
None,
|
||||
);
|
||||
)
|
||||
.expect("thread creation failed");
|
||||
let thread_res = jh.join().expect("Cycles Task failed");
|
||||
assert!(thread_res.is_ok());
|
||||
let data = shared.lock().expect("Locking Mutex failed");
|
||||
@ -449,7 +459,8 @@ mod tests {
|
||||
Some(Duration::from_millis(20)),
|
||||
expected_op_code,
|
||||
Some(terminator.add_rx()),
|
||||
);
|
||||
)
|
||||
.expect("thread creation failed");
|
||||
thread::sleep(Duration::from_millis(40));
|
||||
terminator.broadcast(());
|
||||
let thread_res = jh.join().expect("Periodic Task failed");
|
||||
@ -485,11 +496,13 @@ mod tests {
|
||||
let task_vec: Vec<Box<dyn Executable<Error = ExampleError>>> =
|
||||
vec![cycled_task, periodic_task_0, periodic_task_1];
|
||||
let jh = exec_sched_multi(
|
||||
"multi-task-name",
|
||||
task_vec,
|
||||
Some(Duration::from_millis(20)),
|
||||
expected_op_code,
|
||||
Some(terminator.add_rx()),
|
||||
);
|
||||
)
|
||||
.expect("thread creation failed");
|
||||
thread::sleep(Duration::from_millis(60));
|
||||
terminator.broadcast(());
|
||||
let thread_res = jh.join().expect("Periodic Task failed");
|
||||
|
||||
@ -318,10 +318,31 @@ mod alloc_mod {
|
||||
/// [Clone].
|
||||
#[cfg(feature = "alloc")]
|
||||
#[cfg_attr(doc_cfg, doc(cfg(feature = "alloc")))]
|
||||
pub trait EcssTmSender: EcssTmSenderCore + Downcast + DynClone {}
|
||||
pub trait EcssTmSender: EcssTmSenderCore + Downcast + DynClone {
|
||||
// Remove this once trait upcasting coercion has been implemented.
|
||||
// Tracking issue: https://github.com/rust-lang/rust/issues/65991
|
||||
fn upcast(&self) -> &dyn EcssTmSenderCore;
|
||||
// Remove this once trait upcasting coercion has been implemented.
|
||||
// Tracking issue: https://github.com/rust-lang/rust/issues/65991
|
||||
fn upcast_mut(&mut self) -> &mut dyn EcssTmSenderCore;
|
||||
}
|
||||
|
||||
/// Blanket implementation for all types which implement [EcssTmSenderCore] and are clonable.
|
||||
impl<T> EcssTmSender for T where T: EcssTmSenderCore + Clone + 'static {}
|
||||
impl<T> EcssTmSender for T
|
||||
where
|
||||
T: EcssTmSenderCore + Clone + 'static,
|
||||
{
|
||||
// Remove this once trait upcasting coercion has been implemented.
|
||||
// Tracking issue: https://github.com/rust-lang/rust/issues/65991
|
||||
fn upcast(&self) -> &dyn EcssTmSenderCore {
|
||||
self
|
||||
}
|
||||
// Remove this once trait upcasting coercion has been implemented.
|
||||
// Tracking issue: https://github.com/rust-lang/rust/issues/65991
|
||||
fn upcast_mut(&mut self) -> &mut dyn EcssTmSenderCore {
|
||||
self
|
||||
}
|
||||
}
|
||||
|
||||
dyn_clone::clone_trait_object!(EcssTmSender);
|
||||
impl_downcast!(EcssTmSender);
|
||||
@ -378,7 +399,7 @@ pub mod std_mod {
|
||||
EcssTmSenderCore, EcssTmtcError, GenericRecvError, GenericSendError, PusTmWrapper,
|
||||
TryRecvTmtcError,
|
||||
};
|
||||
use crate::tmtc::tm_helper::SharedTmStore;
|
||||
use crate::tmtc::tm_helper::SharedTmPool;
|
||||
use crate::ChannelId;
|
||||
use alloc::boxed::Box;
|
||||
use alloc::vec::Vec;
|
||||
@ -420,14 +441,14 @@ pub mod std_mod {
|
||||
}
|
||||
|
||||
#[derive(Clone)]
|
||||
pub struct MpscTmInStoreSender {
|
||||
pub struct MpscTmInSharedPoolSender {
|
||||
id: ChannelId,
|
||||
name: &'static str,
|
||||
shared_tm_store: SharedTmStore,
|
||||
shared_tm_store: SharedTmPool,
|
||||
sender: mpsc::Sender<StoreAddr>,
|
||||
}
|
||||
|
||||
impl EcssChannel for MpscTmInStoreSender {
|
||||
impl EcssChannel for MpscTmInSharedPoolSender {
|
||||
fn id(&self) -> ChannelId {
|
||||
self.id
|
||||
}
|
||||
@ -437,7 +458,7 @@ pub mod std_mod {
|
||||
}
|
||||
}
|
||||
|
||||
impl MpscTmInStoreSender {
|
||||
impl MpscTmInSharedPoolSender {
|
||||
pub fn send_direct_tm(&self, tm: PusTmCreator) -> Result<(), EcssTmtcError> {
|
||||
let addr = self.shared_tm_store.add_pus_tm(&tm)?;
|
||||
self.sender
|
||||
@ -446,7 +467,7 @@ pub mod std_mod {
|
||||
}
|
||||
}
|
||||
|
||||
impl EcssTmSenderCore for MpscTmInStoreSender {
|
||||
impl EcssTmSenderCore for MpscTmInSharedPoolSender {
|
||||
fn send_tm(&self, tm: PusTmWrapper) -> Result<(), EcssTmtcError> {
|
||||
match tm {
|
||||
PusTmWrapper::InStore(addr) => {
|
||||
@ -458,11 +479,11 @@ pub mod std_mod {
|
||||
}
|
||||
}
|
||||
|
||||
impl MpscTmInStoreSender {
|
||||
impl MpscTmInSharedPoolSender {
|
||||
pub fn new(
|
||||
id: ChannelId,
|
||||
name: &'static str,
|
||||
shared_tm_store: SharedTmStore,
|
||||
shared_tm_store: SharedTmPool,
|
||||
sender: mpsc::Sender<StoreAddr>,
|
||||
) -> Self {
|
||||
Self {
|
||||
@ -561,7 +582,7 @@ pub mod std_mod {
|
||||
pub struct CrossbeamTmInStoreSender {
|
||||
id: ChannelId,
|
||||
name: &'static str,
|
||||
shared_tm_store: SharedTmStore,
|
||||
shared_tm_store: SharedTmPool,
|
||||
sender: crossbeam_channel::Sender<StoreAddr>,
|
||||
}
|
||||
|
||||
@ -569,7 +590,7 @@ pub mod std_mod {
|
||||
pub fn new(
|
||||
id: ChannelId,
|
||||
name: &'static str,
|
||||
shared_tm_store: SharedTmStore,
|
||||
shared_tm_store: SharedTmPool,
|
||||
sender: crossbeam_channel::Sender<StoreAddr>,
|
||||
) -> Self {
|
||||
Self {
|
||||
@ -930,15 +951,15 @@ pub mod tests {
|
||||
StoreAddr,
|
||||
};
|
||||
use crate::pus::verification::RequestId;
|
||||
use crate::tmtc::tm_helper::SharedTmStore;
|
||||
use crate::tmtc::tm_helper::SharedTmPool;
|
||||
|
||||
use super::verification::{
|
||||
TcStateAccepted, VerificationReporterCfg, VerificationReporterWithSender, VerificationToken,
|
||||
};
|
||||
use super::{
|
||||
EcssTcAndToken, EcssTcInSharedStoreConverter, EcssTcInVecConverter, MpscTcReceiver,
|
||||
MpscTmAsVecSender, MpscTmInStoreSender, PusPacketHandlerResult, PusPacketHandlingError,
|
||||
PusServiceHelper, TcInMemory,
|
||||
MpscTmAsVecSender, MpscTmInSharedPoolSender, PusPacketHandlerResult,
|
||||
PusPacketHandlingError, PusServiceHelper, TcInMemory,
|
||||
};
|
||||
|
||||
pub const TEST_APID: u16 = 0x101;
|
||||
@ -982,7 +1003,7 @@ pub mod tests {
|
||||
pus_buf: [u8; 2048],
|
||||
tm_buf: [u8; 2048],
|
||||
tc_pool: SharedStaticMemoryPool,
|
||||
tm_pool: SharedTmStore,
|
||||
tm_pool: SharedTmPool,
|
||||
tc_sender: mpsc::Sender<EcssTcAndToken>,
|
||||
tm_receiver: mpsc::Receiver<StoreAddr>,
|
||||
verification_handler: VerificationReporterWithSender,
|
||||
@ -998,17 +1019,21 @@ pub mod tests {
|
||||
let tc_pool = StaticMemoryPool::new(pool_cfg.clone());
|
||||
let tm_pool = StaticMemoryPool::new(pool_cfg);
|
||||
let shared_tc_pool = SharedStaticMemoryPool::new(RwLock::new(tc_pool));
|
||||
let shared_tm_pool = SharedTmStore::new(tm_pool);
|
||||
let shared_tm_pool = SharedTmPool::new(tm_pool);
|
||||
let (test_srv_tc_tx, test_srv_tc_rx) = mpsc::channel();
|
||||
let (tm_tx, tm_rx) = mpsc::channel();
|
||||
|
||||
let verif_sender =
|
||||
MpscTmInStoreSender::new(0, "verif_sender", shared_tm_pool.clone(), tm_tx.clone());
|
||||
let verif_sender = MpscTmInSharedPoolSender::new(
|
||||
0,
|
||||
"verif_sender",
|
||||
shared_tm_pool.clone(),
|
||||
tm_tx.clone(),
|
||||
);
|
||||
let verif_cfg = VerificationReporterCfg::new(TEST_APID, 1, 2, 8).unwrap();
|
||||
let verification_handler =
|
||||
VerificationReporterWithSender::new(&verif_cfg, Box::new(verif_sender));
|
||||
let test_srv_tm_sender =
|
||||
MpscTmInStoreSender::new(0, "TEST_SENDER", shared_tm_pool.clone(), tm_tx);
|
||||
MpscTmInSharedPoolSender::new(0, "TEST_SENDER", shared_tm_pool.clone(), tm_tx);
|
||||
let test_srv_tc_receiver = MpscTcReceiver::new(0, "TEST_RECEIVER", test_srv_tc_rx);
|
||||
let in_store_converter =
|
||||
EcssTcInSharedStoreConverter::new(shared_tc_pool.clone(), 2048);
|
||||
@ -1052,7 +1077,7 @@ pub mod tests {
|
||||
let next_msg = self.tm_receiver.try_recv();
|
||||
assert!(next_msg.is_ok());
|
||||
let tm_addr = next_msg.unwrap();
|
||||
let tm_pool = self.tm_pool.shared_pool.read().unwrap();
|
||||
let tm_pool = self.tm_pool.0.read().unwrap();
|
||||
let tm_raw = tm_pool.read(&tm_addr).unwrap();
|
||||
self.tm_buf[0..tm_raw.len()].copy_from_slice(tm_raw);
|
||||
PusTmReader::new(&self.tm_buf, 7).unwrap().0
|
||||
@ -1070,7 +1095,7 @@ pub mod tests {
|
||||
let next_msg = self.tm_receiver.try_recv();
|
||||
assert!(next_msg.is_ok());
|
||||
let tm_addr = next_msg.unwrap();
|
||||
let tm_pool = self.tm_pool.shared_pool.read().unwrap();
|
||||
let tm_pool = self.tm_pool.0.read().unwrap();
|
||||
let tm_raw = tm_pool.read(&tm_addr).unwrap();
|
||||
let tm = PusTmReader::new(tm_raw, 7).unwrap().0;
|
||||
assert_eq!(PusPacket::service(&tm), 1);
|
||||
|
||||
@ -8,9 +8,11 @@ use core::time::Duration;
|
||||
use serde::{Deserialize, Serialize};
|
||||
use spacepackets::ecss::scheduling::TimeWindowType;
|
||||
use spacepackets::ecss::tc::{GenericPusTcSecondaryHeader, IsPusTelecommand, PusTcReader};
|
||||
use spacepackets::ecss::{PusError, PusPacket};
|
||||
use spacepackets::time::{CcsdsTimeProvider, TimeReader, TimestampError, UnixTimestamp};
|
||||
use spacepackets::CcsdsPacket;
|
||||
use spacepackets::ecss::{PusError, PusPacket, WritablePusPacket};
|
||||
use spacepackets::time::{
|
||||
CcsdsTimeProvider, TimeReader, TimeWriter, TimestampError, UnixTimestamp,
|
||||
};
|
||||
use spacepackets::{ByteConversionError, CcsdsPacket};
|
||||
#[cfg(feature = "std")]
|
||||
use std::error::Error;
|
||||
|
||||
@ -154,8 +156,9 @@ pub enum ScheduleError {
|
||||
StoreError(StoreError),
|
||||
TcDataEmpty,
|
||||
TimestampError(TimestampError),
|
||||
WrongSubservice,
|
||||
WrongService,
|
||||
WrongSubservice(u8),
|
||||
WrongService(u8),
|
||||
ByteConversionError(ByteConversionError),
|
||||
}
|
||||
|
||||
impl Display for ScheduleError {
|
||||
@ -171,26 +174,29 @@ impl Display for ScheduleError {
|
||||
} => {
|
||||
write!(
|
||||
f,
|
||||
"Error: time margin too short, current time: {current_time:?}, time margin: {time_margin:?}, release time: {release_time:?}"
|
||||
"time margin too short, current time: {current_time:?}, time margin: {time_margin:?}, release time: {release_time:?}"
|
||||
)
|
||||
}
|
||||
ScheduleError::NestedScheduledTc => {
|
||||
write!(f, "Error: nested scheduling is not allowed")
|
||||
write!(f, "nested scheduling is not allowed")
|
||||
}
|
||||
ScheduleError::StoreError(e) => {
|
||||
write!(f, "Store Error: {e}")
|
||||
write!(f, "pus scheduling: {e}")
|
||||
}
|
||||
ScheduleError::TcDataEmpty => {
|
||||
write!(f, "Error: empty Tc Data field")
|
||||
write!(f, "empty TC data field")
|
||||
}
|
||||
ScheduleError::TimestampError(e) => {
|
||||
write!(f, "Timestamp Error: {e}")
|
||||
write!(f, "pus scheduling: {e}")
|
||||
}
|
||||
ScheduleError::WrongService => {
|
||||
write!(f, "Error: Service not 11.")
|
||||
ScheduleError::WrongService(srv) => {
|
||||
write!(f, "pus scheduling: wrong service number {srv}")
|
||||
}
|
||||
ScheduleError::WrongSubservice => {
|
||||
write!(f, "Error: Subservice not 4.")
|
||||
ScheduleError::WrongSubservice(subsrv) => {
|
||||
write!(f, "pus scheduling: wrong subservice number {subsrv}")
|
||||
}
|
||||
ScheduleError::ByteConversionError(e) => {
|
||||
write!(f, "pus scheduling: {e}")
|
||||
}
|
||||
}
|
||||
}
|
||||
@ -198,24 +204,39 @@ impl Display for ScheduleError {
|
||||
|
||||
impl From<PusError> for ScheduleError {
|
||||
fn from(e: PusError) -> Self {
|
||||
ScheduleError::PusError(e)
|
||||
Self::PusError(e)
|
||||
}
|
||||
}
|
||||
|
||||
impl From<StoreError> for ScheduleError {
|
||||
fn from(e: StoreError) -> Self {
|
||||
ScheduleError::StoreError(e)
|
||||
Self::StoreError(e)
|
||||
}
|
||||
}
|
||||
|
||||
impl From<TimestampError> for ScheduleError {
|
||||
fn from(e: TimestampError) -> Self {
|
||||
ScheduleError::TimestampError(e)
|
||||
Self::TimestampError(e)
|
||||
}
|
||||
}
|
||||
impl From<ByteConversionError> for ScheduleError {
|
||||
fn from(e: ByteConversionError) -> Self {
|
||||
Self::ByteConversionError(e)
|
||||
}
|
||||
}
|
||||
|
||||
#[cfg(feature = "std")]
|
||||
impl Error for ScheduleError {}
|
||||
impl Error for ScheduleError {
|
||||
fn source(&self) -> Option<&(dyn Error + 'static)> {
|
||||
match self {
|
||||
ScheduleError::PusError(e) => Some(e),
|
||||
ScheduleError::StoreError(e) => Some(e),
|
||||
ScheduleError::TimestampError(e) => Some(e),
|
||||
ScheduleError::ByteConversionError(e) => Some(e),
|
||||
_ => None,
|
||||
}
|
||||
}
|
||||
}
|
||||
|
||||
pub trait PusSchedulerInterface {
|
||||
type TimeProvider: CcsdsTimeProvider + TimeReader;
|
||||
@ -249,10 +270,12 @@ pub trait PusSchedulerInterface {
|
||||
pool: &mut (impl PoolProviderMemInPlace + ?Sized),
|
||||
) -> Result<TcInfo, ScheduleError> {
|
||||
if PusPacket::service(pus_tc) != 11 {
|
||||
return Err(ScheduleError::WrongService);
|
||||
return Err(ScheduleError::WrongService(PusPacket::service(pus_tc)));
|
||||
}
|
||||
if PusPacket::subservice(pus_tc) != 4 {
|
||||
return Err(ScheduleError::WrongSubservice);
|
||||
return Err(ScheduleError::WrongSubservice(PusPacket::subservice(
|
||||
pus_tc,
|
||||
)));
|
||||
}
|
||||
if pus_tc.user_data().is_empty() {
|
||||
return Err(ScheduleError::TcDataEmpty);
|
||||
@ -289,6 +312,34 @@ pub trait PusSchedulerInterface {
|
||||
}
|
||||
}
|
||||
|
||||
/// Helper function to generate the application data for a PUS telecommand to insert an
|
||||
/// activity into a time-based schedule according to ECSS-E-ST-70-41C 8.11.2.4
|
||||
///
|
||||
/// Please note that the N field is set to a [u16] unsigned bytefield with the value 1.
|
||||
pub fn generate_insert_telecommand_app_data(
|
||||
buf: &mut [u8],
|
||||
release_time: &impl TimeWriter,
|
||||
request: &impl WritablePusPacket,
|
||||
) -> Result<usize, ScheduleError> {
|
||||
let required_len = 2 + release_time.len_written() + request.len_written();
|
||||
if required_len > buf.len() {
|
||||
return Err(ByteConversionError::ToSliceTooSmall {
|
||||
found: buf.len(),
|
||||
expected: required_len,
|
||||
}
|
||||
.into());
|
||||
}
|
||||
let mut current_len = 0;
|
||||
let n = 1_u16;
|
||||
buf[current_len..current_len + 2].copy_from_slice(&n.to_be_bytes());
|
||||
current_len += 2;
|
||||
current_len += release_time
|
||||
.write_to_bytes(&mut buf[current_len..current_len + release_time.len_written()])?;
|
||||
current_len +=
|
||||
request.write_to_bytes(&mut buf[current_len..current_len + request.len_written()])?;
|
||||
Ok(current_len)
|
||||
}
|
||||
|
||||
#[cfg(feature = "alloc")]
|
||||
pub mod alloc_mod {
|
||||
use super::*;
|
||||
@ -307,6 +358,19 @@ pub mod alloc_mod {
|
||||
#[cfg(feature = "std")]
|
||||
use std::time::SystemTimeError;
|
||||
|
||||
/// This function is similar to [generate_insert_telecommand_app_data] but returns the application
|
||||
/// data as a [alloc::vec::Vec].
|
||||
pub fn generate_insert_telecommand_app_data_as_vec(
|
||||
release_time: &impl TimeWriter,
|
||||
request: &impl WritablePusPacket,
|
||||
) -> Result<alloc::vec::Vec<u8>, ScheduleError> {
|
||||
let mut vec = alloc::vec::Vec::new();
|
||||
vec.extend_from_slice(&1_u16.to_be_bytes());
|
||||
vec.append(&mut release_time.to_vec()?);
|
||||
vec.append(&mut request.to_vec()?);
|
||||
Ok(vec)
|
||||
}
|
||||
|
||||
enum DeletionResult {
|
||||
WithoutStoreDeletion(Option<StoreAddr>),
|
||||
WithStoreDeletion(Result<bool, StoreError>),
|
||||
@ -757,7 +821,7 @@ mod tests {
|
||||
use spacepackets::ecss::tc::{PusTcCreator, PusTcReader, PusTcSecondaryHeader};
|
||||
use spacepackets::ecss::WritablePusPacket;
|
||||
use spacepackets::time::{cds, TimeWriter, UnixTimestamp};
|
||||
use spacepackets::SpHeader;
|
||||
use spacepackets::{PacketId, PacketSequenceCtrl, PacketType, SequenceFlags, SpHeader};
|
||||
use std::time::Duration;
|
||||
use std::vec::Vec;
|
||||
#[allow(unused_imports)]
|
||||
@ -835,7 +899,7 @@ mod tests {
|
||||
}
|
||||
|
||||
#[test]
|
||||
fn basic() {
|
||||
fn test_enable_api() {
|
||||
let mut scheduler =
|
||||
PusScheduler::new(UnixTimestamp::new_only_seconds(0), Duration::from_secs(5));
|
||||
assert!(scheduler.is_enabled());
|
||||
@ -846,7 +910,7 @@ mod tests {
|
||||
}
|
||||
|
||||
#[test]
|
||||
fn reset() {
|
||||
fn test_reset() {
|
||||
let mut pool = StaticMemoryPool::new(StaticPoolConfig::new(vec![(10, 32), (5, 64)]));
|
||||
let mut scheduler =
|
||||
PusScheduler::new(UnixTimestamp::new_only_seconds(0), Duration::from_secs(5));
|
||||
@ -857,7 +921,7 @@ mod tests {
|
||||
scheduler
|
||||
.insert_unwrapped_and_stored_tc(
|
||||
UnixTimestamp::new_only_seconds(100),
|
||||
TcInfo::new(tc_info_0.addr.clone(), tc_info_0.request_id),
|
||||
TcInfo::new(tc_info_0.addr, tc_info_0.request_id),
|
||||
)
|
||||
.unwrap();
|
||||
|
||||
@ -866,7 +930,7 @@ mod tests {
|
||||
scheduler
|
||||
.insert_unwrapped_and_stored_tc(
|
||||
UnixTimestamp::new_only_seconds(200),
|
||||
TcInfo::new(tc_info_1.addr.clone(), tc_info_1.request_id),
|
||||
TcInfo::new(tc_info_1.addr, tc_info_1.request_id),
|
||||
)
|
||||
.unwrap();
|
||||
|
||||
@ -875,7 +939,7 @@ mod tests {
|
||||
scheduler
|
||||
.insert_unwrapped_and_stored_tc(
|
||||
UnixTimestamp::new_only_seconds(300),
|
||||
TcInfo::new(tc_info_2.addr().clone(), tc_info_2.request_id()),
|
||||
TcInfo::new(tc_info_2.addr(), tc_info_2.request_id()),
|
||||
)
|
||||
.unwrap();
|
||||
|
||||
@ -950,7 +1014,7 @@ mod tests {
|
||||
}
|
||||
|
||||
#[test]
|
||||
fn time() {
|
||||
fn test_time_update() {
|
||||
let mut scheduler =
|
||||
PusScheduler::new(UnixTimestamp::new_only_seconds(0), Duration::from_secs(5));
|
||||
let time = UnixTimestamp::new(1, 2).unwrap();
|
||||
@ -964,7 +1028,7 @@ mod tests {
|
||||
expected_store_addrs: Vec<StoreAddr>,
|
||||
counter: &mut usize,
|
||||
) {
|
||||
assert_eq!(enabled, true);
|
||||
assert!(enabled);
|
||||
assert!(expected_store_addrs.contains(store_addr));
|
||||
*counter += 1;
|
||||
}
|
||||
@ -974,13 +1038,13 @@ mod tests {
|
||||
expected_store_addrs: Vec<StoreAddr>,
|
||||
counter: &mut usize,
|
||||
) {
|
||||
assert_eq!(enabled, false);
|
||||
assert!(!enabled);
|
||||
assert!(expected_store_addrs.contains(store_addr));
|
||||
*counter += 1;
|
||||
}
|
||||
|
||||
#[test]
|
||||
fn request_id() {
|
||||
fn test_request_id() {
|
||||
let src_id_to_set = 12;
|
||||
let apid_to_set = 0x22;
|
||||
let seq_count = 105;
|
||||
@ -998,7 +1062,7 @@ mod tests {
|
||||
);
|
||||
}
|
||||
#[test]
|
||||
fn release_basic() {
|
||||
fn test_release_telecommands() {
|
||||
let mut pool = StaticMemoryPool::new(StaticPoolConfig::new(vec![(10, 32), (5, 64)]));
|
||||
let mut scheduler =
|
||||
PusScheduler::new(UnixTimestamp::new_only_seconds(0), Duration::from_secs(5));
|
||||
@ -1290,7 +1354,9 @@ mod tests {
|
||||
assert!(err.is_err());
|
||||
let err = err.unwrap_err();
|
||||
match err {
|
||||
ScheduleError::WrongService => {}
|
||||
ScheduleError::WrongService(wrong_service) => {
|
||||
assert_eq!(wrong_service, 12);
|
||||
}
|
||||
_ => {
|
||||
panic!("unexpected error")
|
||||
}
|
||||
@ -1311,7 +1377,9 @@ mod tests {
|
||||
assert!(err.is_err());
|
||||
let err = err.unwrap_err();
|
||||
match err {
|
||||
ScheduleError::WrongSubservice => {}
|
||||
ScheduleError::WrongSubservice(wrong_subsrv) => {
|
||||
assert_eq!(wrong_subsrv, 5);
|
||||
}
|
||||
_ => {
|
||||
panic!("unexpected error")
|
||||
}
|
||||
@ -1487,7 +1555,7 @@ mod tests {
|
||||
let del_res =
|
||||
scheduler.delete_by_request_id_and_from_pool(&tc_info_0.request_id(), &mut pool);
|
||||
assert!(del_res.is_ok());
|
||||
assert_eq!(del_res.unwrap(), true);
|
||||
assert!(del_res.unwrap());
|
||||
assert!(!pool.has_element_at(&tc_info_0.addr()).unwrap());
|
||||
assert_eq!(scheduler.num_scheduled_telecommands(), 0);
|
||||
}
|
||||
@ -1804,4 +1872,109 @@ mod tests {
|
||||
assert!(!pool.has_element_at(&cmd_1_to_delete.addr()).unwrap());
|
||||
assert!(pool.has_element_at(&cmd_out_of_range_1.addr()).unwrap());
|
||||
}
|
||||
|
||||
#[test]
|
||||
fn test_release_without_deletion() {
|
||||
let mut pool = StaticMemoryPool::new(StaticPoolConfig::new(vec![(10, 32), (5, 64)]));
|
||||
let mut scheduler =
|
||||
PusScheduler::new(UnixTimestamp::new_only_seconds(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);
|
||||
|
||||
scheduler
|
||||
.insert_unwrapped_and_stored_tc(UnixTimestamp::new_only_seconds(100), tc_info_0)
|
||||
.expect("insertion failed");
|
||||
|
||||
let tc_info_1 = ping_tc_to_store(&mut pool, &mut buf, 1, None);
|
||||
scheduler
|
||||
.insert_unwrapped_and_stored_tc(UnixTimestamp::new_only_seconds(200), tc_info_1)
|
||||
.expect("insertion failed");
|
||||
|
||||
let mut i = 0;
|
||||
let mut test_closure_1 = |boolvar: bool, tc_info: &TcInfo, _tc: &[u8]| {
|
||||
common_check(
|
||||
boolvar,
|
||||
&tc_info.addr,
|
||||
vec![tc_info_0.addr(), tc_info_1.addr()],
|
||||
&mut i,
|
||||
);
|
||||
};
|
||||
|
||||
scheduler.update_time(UnixTimestamp::new_only_seconds(205));
|
||||
|
||||
let tc_info_vec = scheduler
|
||||
.release_telecommands_no_deletion(&mut test_closure_1, &pool)
|
||||
.expect("deletion failed");
|
||||
assert_eq!(tc_info_vec[0], tc_info_0);
|
||||
assert_eq!(tc_info_vec[1], tc_info_1);
|
||||
}
|
||||
|
||||
#[test]
|
||||
fn test_generic_insert_app_data_test() {
|
||||
let time_writer = cds::TimeProvider::new_with_u16_days(1, 1);
|
||||
let mut sph = SpHeader::new(
|
||||
PacketId::const_new(PacketType::Tc, true, 0x002),
|
||||
PacketSequenceCtrl::const_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 mut buf: [u8; 64] = [0; 64];
|
||||
let result = generate_insert_telecommand_app_data(&mut buf, &time_writer, &ping_tc);
|
||||
assert!(result.is_ok());
|
||||
assert_eq!(result.unwrap(), 2 + 7 + ping_tc.len_written());
|
||||
let n = u16::from_be_bytes(buf[0..2].try_into().unwrap());
|
||||
assert_eq!(n, 1);
|
||||
let time_reader = cds::TimeProvider::from_bytes_with_u16_days(&buf[2..2 + 7]).unwrap();
|
||||
assert_eq!(time_reader, time_writer);
|
||||
let pus_tc_reader = PusTcReader::new(&buf[9..]).unwrap().0;
|
||||
assert_eq!(pus_tc_reader, ping_tc);
|
||||
}
|
||||
|
||||
#[test]
|
||||
fn test_generic_insert_app_data_test_byte_conv_error() {
|
||||
let time_writer = cds::TimeProvider::new_with_u16_days(1, 1);
|
||||
let mut sph = SpHeader::new(
|
||||
PacketId::const_new(PacketType::Tc, true, 0x002),
|
||||
PacketSequenceCtrl::const_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 mut buf: [u8; 16] = [0; 16];
|
||||
let result = generate_insert_telecommand_app_data(&mut buf, &time_writer, &ping_tc);
|
||||
assert!(result.is_err());
|
||||
let error = result.unwrap_err();
|
||||
if let ScheduleError::ByteConversionError(ByteConversionError::ToSliceTooSmall {
|
||||
found,
|
||||
expected,
|
||||
}) = error
|
||||
{
|
||||
assert_eq!(found, 16);
|
||||
assert_eq!(
|
||||
expected,
|
||||
2 + time_writer.len_written() + ping_tc.len_written()
|
||||
);
|
||||
} else {
|
||||
panic!("unexpected error {error}")
|
||||
}
|
||||
}
|
||||
|
||||
#[test]
|
||||
fn test_generic_insert_app_data_test_as_vec() {
|
||||
let time_writer = cds::TimeProvider::new_with_u16_days(1, 1);
|
||||
let mut sph = SpHeader::new(
|
||||
PacketId::const_new(PacketType::Tc, true, 0x002),
|
||||
PacketSequenceCtrl::const_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 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)
|
||||
.expect("vec generation failed");
|
||||
assert_eq!(&buf[..vec.len()], vec);
|
||||
}
|
||||
}
|
||||
|
||||
@ -18,8 +18,8 @@
|
||||
//! use satrs_core::pool::{PoolProviderMemInPlaceWithGuards, StaticMemoryPool, StaticPoolConfig};
|
||||
//! use satrs_core::pus::verification::{VerificationReporterCfg, VerificationReporterWithSender};
|
||||
//! use satrs_core::seq_count::SeqCountProviderSimple;
|
||||
//! use satrs_core::pus::MpscTmInStoreSender;
|
||||
//! use satrs_core::tmtc::tm_helper::SharedTmStore;
|
||||
//! use satrs_core::pus::MpscTmInSharedPoolSender;
|
||||
//! use satrs_core::tmtc::tm_helper::SharedTmPool;
|
||||
//! use spacepackets::ecss::PusPacket;
|
||||
//! use spacepackets::SpHeader;
|
||||
//! use spacepackets::ecss::tc::{PusTcCreator, PusTcSecondaryHeader};
|
||||
@ -30,10 +30,10 @@
|
||||
//!
|
||||
//! let pool_cfg = StaticPoolConfig::new(vec![(10, 32), (10, 64), (10, 128), (10, 1024)]);
|
||||
//! let tm_pool = StaticMemoryPool::new(pool_cfg.clone());
|
||||
//! let shared_tm_store = SharedTmStore::new(tm_pool);
|
||||
//! let shared_tm_store = SharedTmPool::new(tm_pool);
|
||||
//! let tm_store = shared_tm_store.clone_backing_pool();
|
||||
//! let (verif_tx, verif_rx) = mpsc::channel();
|
||||
//! let sender = MpscTmInStoreSender::new(0, "Test Sender", shared_tm_store, verif_tx);
|
||||
//! let sender = MpscTmInSharedPoolSender::new(0, "Test Sender", shared_tm_store, verif_tx);
|
||||
//! let cfg = VerificationReporterCfg::new(TEST_APID, 1, 2, 8).unwrap();
|
||||
//! let mut reporter = VerificationReporterWithSender::new(&cfg , Box::new(sender));
|
||||
//!
|
||||
@ -1332,8 +1332,8 @@ mod tests {
|
||||
VerificationReporter, VerificationReporterCfg, VerificationReporterWithSender,
|
||||
VerificationToken,
|
||||
};
|
||||
use crate::pus::{EcssChannel, MpscTmInStoreSender, PusTmWrapper};
|
||||
use crate::tmtc::tm_helper::SharedTmStore;
|
||||
use crate::pus::{EcssChannel, MpscTmInSharedPoolSender, PusTmWrapper};
|
||||
use crate::tmtc::tm_helper::SharedTmPool;
|
||||
use crate::ChannelId;
|
||||
use alloc::boxed::Box;
|
||||
use alloc::format;
|
||||
@ -1487,9 +1487,10 @@ mod tests {
|
||||
#[test]
|
||||
fn test_mpsc_verif_send_sync() {
|
||||
let pool = StaticMemoryPool::new(StaticPoolConfig::new(vec![(8, 8)]));
|
||||
let shared_tm_store = SharedTmStore::new(pool);
|
||||
let shared_tm_store = SharedTmPool::new(pool);
|
||||
let (tx, _) = mpsc::channel();
|
||||
let mpsc_verif_sender = MpscTmInStoreSender::new(0, "verif_sender", shared_tm_store, tx);
|
||||
let mpsc_verif_sender =
|
||||
MpscTmInSharedPoolSender::new(0, "verif_sender", shared_tm_store, tx);
|
||||
is_send(&mpsc_verif_sender);
|
||||
}
|
||||
|
||||
@ -2142,10 +2143,11 @@ mod tests {
|
||||
fn test_seq_count_increment() {
|
||||
let pool_cfg = StaticPoolConfig::new(vec![(10, 32), (10, 64), (10, 128), (10, 1024)]);
|
||||
let tm_pool = StaticMemoryPool::new(pool_cfg.clone());
|
||||
let shared_tm_store = SharedTmStore::new(tm_pool);
|
||||
let shared_tm_store = SharedTmPool::new(tm_pool);
|
||||
let shared_tm_pool = shared_tm_store.clone_backing_pool();
|
||||
let (verif_tx, verif_rx) = mpsc::channel();
|
||||
let sender = MpscTmInStoreSender::new(0, "Verification Sender", shared_tm_store, verif_tx);
|
||||
let sender =
|
||||
MpscTmInSharedPoolSender::new(0, "Verification Sender", shared_tm_store, verif_tx);
|
||||
let cfg = VerificationReporterCfg::new(TEST_APID, 1, 2, 8).unwrap();
|
||||
let mut reporter = VerificationReporterWithSender::new(&cfg, Box::new(sender));
|
||||
|
||||
|
||||
@ -17,26 +17,26 @@ pub mod std_mod {
|
||||
use std::sync::{Arc, RwLock};
|
||||
|
||||
#[derive(Clone)]
|
||||
pub struct SharedTmStore {
|
||||
pub shared_pool: SharedStaticMemoryPool,
|
||||
}
|
||||
pub struct SharedTmPool(pub SharedStaticMemoryPool);
|
||||
|
||||
impl SharedTmStore {
|
||||
impl SharedTmPool {
|
||||
pub fn new(shared_pool: StaticMemoryPool) -> Self {
|
||||
Self {
|
||||
shared_pool: Arc::new(RwLock::new(shared_pool)),
|
||||
}
|
||||
Self(Arc::new(RwLock::new(shared_pool)))
|
||||
}
|
||||
|
||||
pub fn clone_backing_pool(&self) -> SharedStaticMemoryPool {
|
||||
self.shared_pool.clone()
|
||||
self.0.clone()
|
||||
}
|
||||
pub fn shared_pool(&self) -> &SharedStaticMemoryPool {
|
||||
&self.0
|
||||
}
|
||||
|
||||
pub fn shared_pool_mut(&mut self) -> &mut SharedStaticMemoryPool {
|
||||
&mut self.0
|
||||
}
|
||||
|
||||
pub fn add_pus_tm(&self, pus_tm: &PusTmCreator) -> Result<StoreAddr, EcssTmtcError> {
|
||||
let mut pg = self
|
||||
.shared_pool
|
||||
.write()
|
||||
.map_err(|_| EcssTmtcError::StoreLock)?;
|
||||
let mut pg = self.0.write().map_err(|_| EcssTmtcError::StoreLock)?;
|
||||
let (addr, buf) = pg.free_element(pus_tm.len_written())?;
|
||||
pus_tm
|
||||
.write_to_bytes(buf)
|
||||
|
||||
@ -1,4 +1,4 @@
|
||||
#[cfg(feature = "crossbeam")]
|
||||
//#[cfg(feature = "crossbeam")]
|
||||
pub mod crossbeam_test {
|
||||
use hashbrown::HashMap;
|
||||
use satrs_core::pool::{
|
||||
@ -9,7 +9,7 @@ pub mod crossbeam_test {
|
||||
FailParams, RequestId, VerificationReporterCfg, VerificationReporterWithSender,
|
||||
};
|
||||
use satrs_core::pus::CrossbeamTmInStoreSender;
|
||||
use satrs_core::tmtc::tm_helper::SharedTmStore;
|
||||
use satrs_core::tmtc::tm_helper::SharedTmPool;
|
||||
use spacepackets::ecss::tc::{PusTcCreator, PusTcReader, PusTcSecondaryHeader};
|
||||
use spacepackets::ecss::tm::PusTmReader;
|
||||
use spacepackets::ecss::{EcssEnumU16, EcssEnumU8, PusPacket, WritablePusPacket};
|
||||
@ -37,12 +37,12 @@ pub mod crossbeam_test {
|
||||
let cfg = VerificationReporterCfg::new(TEST_APID, 1, 2, 8).unwrap();
|
||||
// Shared pool object to store the verification PUS telemetry
|
||||
let pool_cfg = StaticPoolConfig::new(vec![(10, 32), (10, 64), (10, 128), (10, 1024)]);
|
||||
let shared_tm_store = SharedTmStore::new(StaticMemoryPool::new(pool_cfg.clone()));
|
||||
let shared_tm_pool = SharedTmPool::new(StaticMemoryPool::new(pool_cfg.clone()));
|
||||
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 =
|
||||
CrossbeamTmInStoreSender::new(0, "verif_sender", shared_tm_store.clone(), tx.clone());
|
||||
CrossbeamTmInStoreSender::new(0, "verif_sender", shared_tm_pool.clone(), tx.clone());
|
||||
let mut reporter_with_sender_0 =
|
||||
VerificationReporterWithSender::new(&cfg, Box::new(sender));
|
||||
let mut reporter_with_sender_1 = reporter_with_sender_0.clone();
|
||||
@ -145,7 +145,7 @@ pub mod crossbeam_test {
|
||||
.recv_timeout(Duration::from_millis(50))
|
||||
.expect("Packet reception timeout");
|
||||
let tm_len;
|
||||
let shared_tm_store = shared_tm_store.clone_backing_pool();
|
||||
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);
|
||||
|
||||
@ -26,3 +26,7 @@ path = "../satrs-core"
|
||||
[dependencies.satrs-mib]
|
||||
# version = "0.1.0-alpha.1"
|
||||
path = "../satrs-mib"
|
||||
|
||||
[features]
|
||||
dyn_tmtc = []
|
||||
default = ["dyn_tmtc"]
|
||||
|
||||
@ -3,10 +3,32 @@ sat-rs example
|
||||
|
||||
This crate contains an example application which simulates an on-board software.
|
||||
It uses various components provided by the sat-rs framework to do this. As such, it shows how
|
||||
a more complex real on-board software could be built from these components.
|
||||
The application opens a UDP server on port 7301 to receive telecommands.
|
||||
a more complex real on-board software could be built from these components. It is recommended to
|
||||
read the dedicated
|
||||
[example chapters](https://absatsw.irs.uni-stuttgart.de/projects/sat-rs/book/example.html) inside
|
||||
the sat-rs book.
|
||||
|
||||
You can run the application using `cargo run`. The `simpleclient` binary target sends a
|
||||
The application opens a UDP and a TCP server on port 7301 to receive telecommands.
|
||||
|
||||
You can run the application using `cargo run`.
|
||||
|
||||
# Features
|
||||
|
||||
The example has the `dyn_tmtc` feature which is enabled by default. With this feature enabled,
|
||||
TMTC packets are exchanged using the heap as the backing memory instead of pre-allocated static
|
||||
stores.
|
||||
|
||||
You can run the application without this feature using
|
||||
|
||||
```sh
|
||||
cargo run --no-default-features
|
||||
```
|
||||
|
||||
# Interacting with the sat-rs example
|
||||
|
||||
## Simple Client
|
||||
|
||||
The `simpleclient` binary target sends a
|
||||
ping telecommand and then verifies the telemetry generated by the example application.
|
||||
It can be run like this:
|
||||
|
||||
@ -17,7 +39,7 @@ cargo run --bin simpleclient
|
||||
This repository also contains a more complex client using the
|
||||
[Python tmtccmd](https://github.com/robamu-org/tmtccmd) module.
|
||||
|
||||
# <a id="tmtccmd"></a> Using the tmtccmd Python client
|
||||
## <a id="tmtccmd"></a> Using the tmtccmd Python client
|
||||
|
||||
The python client requires a valid installation of the
|
||||
[tmtccmd package](https://github.com/robamu-org/tmtccmd).
|
||||
@ -46,31 +68,7 @@ as Python code. For example, you can use the following command to send a ping li
|
||||
the `simpleclient`:
|
||||
|
||||
```sh
|
||||
./main.py -s test -o ping
|
||||
./main.py -p /test/ping
|
||||
```
|
||||
|
||||
You can also simply call the script without any arguments to view a list of services (`-s` flag)
|
||||
and corresponding op codes (`-o` flag) for each service.
|
||||
|
||||
# Structure of the example project
|
||||
|
||||
The example project contains components which could also be expected to be part of a production
|
||||
On-Board Software.
|
||||
|
||||
1. A UDP and TCP server to receive telecommands and poll telemetry from. This might be an optional
|
||||
component for an OBSW which is only used during the development phase on ground. The TCP
|
||||
server parses space packets by using the CCSDS space packet ID as the packet start delimiter.
|
||||
2. A PUS service stack which exposes some functionality conformant with the ECSS PUS service. This
|
||||
currently includes the following services:
|
||||
- Service 1 for telecommand verification.
|
||||
- Service 3 for housekeeping telemetry handling.
|
||||
- Service 5 for management and downlink of on-board events.
|
||||
- Service 8 for handling on-board actions.
|
||||
- Service 11 for scheduling telecommands to be released at a specific time.
|
||||
- Service 17 for test purposes (pings)
|
||||
3. An event manager component which handles the event IPC mechanism.
|
||||
4. A TC source component which demultiplexes and routes telecommands based on parameters like
|
||||
packet APID or PUS service and subservice type.
|
||||
5. A TM sink sink component which is the target of all sent telemetry and sends it to downlink
|
||||
handlers like the UDP and TCP server.
|
||||
6. An AOCS example task which can also process some PUS commands.
|
||||
You can also simply call the script without any arguments to view the command tree.
|
||||
|
||||
117
satrs-example/src/acs.rs
Normal file
117
satrs-example/src/acs.rs
Normal file
@ -0,0 +1,117 @@
|
||||
use std::sync::mpsc::{self, TryRecvError};
|
||||
|
||||
use log::{info, warn};
|
||||
use satrs_core::pus::verification::VerificationReporterWithSender;
|
||||
use satrs_core::pus::{EcssTmSender, PusTmWrapper};
|
||||
use satrs_core::spacepackets::ecss::hk::Subservice as HkSubservice;
|
||||
use satrs_core::{
|
||||
hk::HkRequest,
|
||||
spacepackets::{
|
||||
ecss::tm::{PusTmCreator, PusTmSecondaryHeader},
|
||||
time::cds::{DaysLen16Bits, TimeProvider},
|
||||
SequenceFlags, SpHeader,
|
||||
},
|
||||
};
|
||||
use satrs_example::config::{RequestTargetId, PUS_APID};
|
||||
|
||||
use crate::{
|
||||
hk::{AcsHkIds, HkUniqueId},
|
||||
requests::{Request, RequestWithToken},
|
||||
update_time,
|
||||
};
|
||||
|
||||
pub struct AcsTask {
|
||||
timestamp: [u8; 7],
|
||||
time_provider: TimeProvider<DaysLen16Bits>,
|
||||
verif_reporter: VerificationReporterWithSender,
|
||||
tm_sender: Box<dyn EcssTmSender>,
|
||||
request_rx: mpsc::Receiver<RequestWithToken>,
|
||||
}
|
||||
|
||||
impl AcsTask {
|
||||
pub fn new(
|
||||
tm_sender: impl EcssTmSender,
|
||||
request_rx: mpsc::Receiver<RequestWithToken>,
|
||||
verif_reporter: VerificationReporterWithSender,
|
||||
) -> Self {
|
||||
Self {
|
||||
timestamp: [0; 7],
|
||||
time_provider: TimeProvider::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
|
||||
);
|
||||
match request.targeted_request.request {
|
||||
Request::Hk(hk_req) => match hk_req {
|
||||
HkRequest::OneShot(unique_id) => self.handle_hk_request(
|
||||
request.targeted_request.target_id_with_apid.target_id(),
|
||||
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, Some(&self.timestamp))
|
||||
.expect("Sending start success failed");
|
||||
self.verif_reporter
|
||||
.completion_success(started_token, Some(&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;
|
||||
}
|
||||
}
|
||||
}
|
||||
}
|
||||
@ -5,7 +5,7 @@ use satrs_core::{
|
||||
spacepackets::ecss::{PusPacket, WritablePusPacket},
|
||||
spacepackets::SpHeader,
|
||||
};
|
||||
use satrs_example::{OBSW_SERVER_ADDR, SERVER_PORT};
|
||||
use satrs_example::config::{OBSW_SERVER_ADDR, SERVER_PORT};
|
||||
use std::net::{IpAddr, SocketAddr, UdpSocket};
|
||||
use std::time::Duration;
|
||||
|
||||
|
||||
@ -1,15 +1,22 @@
|
||||
use crate::tmtc::{MpscStoreAndSendError, PusTcSource};
|
||||
use satrs_core::pus::ReceivesEcssPusTc;
|
||||
use satrs_core::spacepackets::{CcsdsPacket, SpHeader};
|
||||
use satrs_core::tmtc::{CcsdsPacketHandler, ReceivesCcsdsTc};
|
||||
use satrs_example::PUS_APID;
|
||||
use satrs_example::config::PUS_APID;
|
||||
|
||||
#[derive(Clone)]
|
||||
pub struct CcsdsReceiver {
|
||||
pub tc_source: PusTcSource,
|
||||
pub struct CcsdsReceiver<
|
||||
TcSource: ReceivesCcsdsTc<Error = E> + ReceivesEcssPusTc<Error = E> + Clone,
|
||||
E,
|
||||
> {
|
||||
pub tc_source: TcSource,
|
||||
}
|
||||
|
||||
impl CcsdsPacketHandler for CcsdsReceiver {
|
||||
type Error = MpscStoreAndSendError;
|
||||
impl<
|
||||
TcSource: ReceivesCcsdsTc<Error = E> + ReceivesEcssPusTc<Error = E> + Clone + 'static,
|
||||
E: 'static,
|
||||
> CcsdsPacketHandler for CcsdsReceiver<TcSource, E>
|
||||
{
|
||||
type Error = E;
|
||||
|
||||
fn valid_apids(&self) -> &'static [u16] {
|
||||
&[PUS_APID]
|
||||
|
||||
142
satrs-example/src/config.rs
Normal file
142
satrs-example/src/config.rs
Normal file
@ -0,0 +1,142 @@
|
||||
use satrs_core::res_code::ResultU16;
|
||||
use satrs_mib::res_code::ResultU16Info;
|
||||
use satrs_mib::resultcode;
|
||||
use std::net::Ipv4Addr;
|
||||
|
||||
use num_enum::{IntoPrimitive, TryFromPrimitive};
|
||||
use satrs_core::{
|
||||
events::{EventU32TypedSev, SeverityInfo},
|
||||
pool::{StaticMemoryPool, StaticPoolConfig},
|
||||
};
|
||||
|
||||
pub const PUS_APID: u16 = 0x02;
|
||||
|
||||
#[derive(Copy, Clone, PartialEq, Eq, Debug, TryFromPrimitive, IntoPrimitive)]
|
||||
#[repr(u8)]
|
||||
pub enum CustomPusServiceId {
|
||||
Mode = 200,
|
||||
Health = 201,
|
||||
}
|
||||
|
||||
#[derive(Copy, Clone, Eq, PartialEq, Debug)]
|
||||
pub enum RequestTargetId {
|
||||
AcsSubsystem = 1,
|
||||
}
|
||||
|
||||
pub const AOCS_APID: u16 = 1;
|
||||
|
||||
#[derive(Debug)]
|
||||
pub enum GroupId {
|
||||
Tmtc = 0,
|
||||
Hk = 1,
|
||||
}
|
||||
|
||||
pub const OBSW_SERVER_ADDR: Ipv4Addr = Ipv4Addr::UNSPECIFIED;
|
||||
pub const SERVER_PORT: u16 = 7301;
|
||||
|
||||
pub const TEST_EVENT: EventU32TypedSev<SeverityInfo> =
|
||||
EventU32TypedSev::<SeverityInfo>::const_new(0, 0);
|
||||
|
||||
pub mod tmtc_err {
|
||||
|
||||
use super::*;
|
||||
|
||||
#[resultcode]
|
||||
pub const INVALID_PUS_SERVICE: ResultU16 = ResultU16::const_new(GroupId::Tmtc as u8, 0);
|
||||
#[resultcode]
|
||||
pub const INVALID_PUS_SUBSERVICE: ResultU16 = ResultU16::const_new(GroupId::Tmtc as u8, 1);
|
||||
#[resultcode]
|
||||
pub const PUS_SERVICE_NOT_IMPLEMENTED: ResultU16 = ResultU16::const_new(GroupId::Tmtc as u8, 2);
|
||||
#[resultcode]
|
||||
pub const UNKNOWN_TARGET_ID: ResultU16 = ResultU16::const_new(GroupId::Tmtc as u8, 3);
|
||||
|
||||
#[resultcode(
|
||||
info = "Not enough data inside the TC application data field. Optionally includes: \
|
||||
8 bytes of failure data containing 2 failure parameters, \
|
||||
P1 (u32 big endian): Expected data length, P2: Found data length"
|
||||
)]
|
||||
pub const NOT_ENOUGH_APP_DATA: ResultU16 = ResultU16::const_new(GroupId::Tmtc as u8, 2);
|
||||
|
||||
pub const TMTC_RESULTS: &[ResultU16Info] = &[
|
||||
INVALID_PUS_SERVICE_EXT,
|
||||
INVALID_PUS_SUBSERVICE_EXT,
|
||||
NOT_ENOUGH_APP_DATA_EXT,
|
||||
];
|
||||
}
|
||||
|
||||
pub mod hk_err {
|
||||
|
||||
use super::*;
|
||||
|
||||
#[resultcode]
|
||||
pub const TARGET_ID_MISSING: ResultU16 = ResultU16::const_new(GroupId::Hk as u8, 0);
|
||||
#[resultcode]
|
||||
pub const UNIQUE_ID_MISSING: ResultU16 = ResultU16::const_new(GroupId::Hk as u8, 1);
|
||||
#[resultcode]
|
||||
pub const UNKNOWN_TARGET_ID: ResultU16 = ResultU16::const_new(GroupId::Hk as u8, 2);
|
||||
#[resultcode]
|
||||
pub const COLLECTION_INTERVAL_MISSING: ResultU16 = ResultU16::const_new(GroupId::Hk as u8, 3);
|
||||
}
|
||||
|
||||
#[allow(clippy::enum_variant_names)]
|
||||
#[derive(Copy, Clone, PartialEq, Eq)]
|
||||
pub enum TmSenderId {
|
||||
PusVerification = 0,
|
||||
PusTest = 1,
|
||||
PusEvent = 2,
|
||||
PusHk = 3,
|
||||
PusAction = 4,
|
||||
PusSched = 5,
|
||||
AllEvents = 6,
|
||||
AcsSubsystem = 7,
|
||||
}
|
||||
|
||||
#[derive(Copy, Clone, PartialEq, Eq)]
|
||||
pub enum TcReceiverId {
|
||||
PusTest = 1,
|
||||
PusEvent = 2,
|
||||
PusHk = 3,
|
||||
PusAction = 4,
|
||||
PusSched = 5,
|
||||
}
|
||||
pub mod pool {
|
||||
use super::*;
|
||||
pub fn create_static_pools() -> (StaticMemoryPool, StaticMemoryPool) {
|
||||
(
|
||||
StaticMemoryPool::new(StaticPoolConfig::new(vec![
|
||||
(30, 32),
|
||||
(15, 64),
|
||||
(15, 128),
|
||||
(15, 256),
|
||||
(15, 1024),
|
||||
(15, 2048),
|
||||
])),
|
||||
StaticMemoryPool::new(StaticPoolConfig::new(vec![
|
||||
(30, 32),
|
||||
(15, 64),
|
||||
(15, 128),
|
||||
(15, 256),
|
||||
(15, 1024),
|
||||
(15, 2048),
|
||||
])),
|
||||
)
|
||||
}
|
||||
|
||||
pub fn create_sched_tc_pool() -> StaticMemoryPool {
|
||||
StaticMemoryPool::new(StaticPoolConfig::new(vec![
|
||||
(30, 32),
|
||||
(15, 64),
|
||||
(15, 128),
|
||||
(15, 256),
|
||||
(15, 1024),
|
||||
(15, 2048),
|
||||
]))
|
||||
}
|
||||
}
|
||||
|
||||
pub mod tasks {
|
||||
pub const FREQ_MS_UDP_TMTC: u64 = 200;
|
||||
pub const FREQ_MS_EVENT_HANDLING: u64 = 400;
|
||||
pub const FREQ_MS_AOCS: u64 = 500;
|
||||
pub const FREQ_MS_PUS_STACK: u64 = 200;
|
||||
}
|
||||
187
satrs-example/src/events.rs
Normal file
187
satrs-example/src/events.rs
Normal file
@ -0,0 +1,187 @@
|
||||
use std::sync::mpsc::{self, SendError};
|
||||
|
||||
use satrs_core::{
|
||||
event_man::{
|
||||
EventManager, EventManagerWithMpscQueue, MpscEventReceiver, MpscEventU32SendProvider,
|
||||
SendEventProvider,
|
||||
},
|
||||
events::EventU32,
|
||||
params::Params,
|
||||
pus::{
|
||||
event_man::{
|
||||
DefaultPusMgmtBackendProvider, EventReporter, EventRequest, EventRequestWithToken,
|
||||
PusEventDispatcher,
|
||||
},
|
||||
verification::{TcStateStarted, VerificationReporterWithSender, VerificationToken},
|
||||
EcssTmSender,
|
||||
},
|
||||
spacepackets::time::cds::{self, TimeProvider},
|
||||
};
|
||||
use satrs_example::config::PUS_APID;
|
||||
|
||||
use crate::update_time;
|
||||
|
||||
pub type MpscEventManager = EventManager<SendError<(EventU32, Option<Params>)>>;
|
||||
|
||||
pub struct PusEventHandler {
|
||||
event_request_rx: mpsc::Receiver<EventRequestWithToken>,
|
||||
pus_event_dispatcher: PusEventDispatcher<(), EventU32>,
|
||||
pus_event_man_rx: mpsc::Receiver<(EventU32, Option<Params>)>,
|
||||
tm_sender: Box<dyn EcssTmSender>,
|
||||
time_provider: TimeProvider,
|
||||
timestamp: [u8; 7],
|
||||
verif_handler: VerificationReporterWithSender,
|
||||
}
|
||||
/*
|
||||
*/
|
||||
|
||||
impl PusEventHandler {
|
||||
pub fn new(
|
||||
verif_handler: VerificationReporterWithSender,
|
||||
event_manager: &mut MpscEventManager,
|
||||
event_request_rx: mpsc::Receiver<EventRequestWithToken>,
|
||||
tm_sender: impl EcssTmSender,
|
||||
) -> Self {
|
||||
let (pus_event_man_tx, pus_event_man_rx) = mpsc::channel();
|
||||
|
||||
// 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 pus_tm_backend = DefaultPusMgmtBackendProvider::<EventU32>::default();
|
||||
let pus_event_dispatcher =
|
||||
PusEventDispatcher::new(event_reporter, Box::new(pus_tm_backend));
|
||||
let pus_event_man_send_provider = MpscEventU32SendProvider::new(1, pus_event_man_tx);
|
||||
|
||||
event_manager.subscribe_all(pus_event_man_send_provider.id());
|
||||
event_manager.add_sender(pus_event_man_send_provider);
|
||||
|
||||
Self {
|
||||
event_request_rx,
|
||||
pus_event_dispatcher,
|
||||
pus_event_man_rx,
|
||||
time_provider: cds::TimeProvider::new_with_u16_days(0, 0),
|
||||
timestamp: [0; 7],
|
||||
verif_handler,
|
||||
tm_sender: Box::new(tm_sender),
|
||||
}
|
||||
}
|
||||
|
||||
pub fn handle_event_requests(&mut self) {
|
||||
let report_completion = |event_req: EventRequestWithToken, timestamp: &[u8]| {
|
||||
let started_token: VerificationToken<TcStateStarted> = event_req
|
||||
.token
|
||||
.try_into()
|
||||
.expect("expected start verification token");
|
||||
self.verif_handler
|
||||
.completion_success(started_token, Some(timestamp))
|
||||
.expect("Sending completion success failed");
|
||||
};
|
||||
// handle event requests
|
||||
if let Ok(event_req) = self.event_request_rx.try_recv() {
|
||||
match event_req.request {
|
||||
EventRequest::Enable(event) => {
|
||||
self.pus_event_dispatcher
|
||||
.enable_tm_for_event(&event)
|
||||
.expect("Enabling TM failed");
|
||||
update_time(&mut self.time_provider, &mut self.timestamp);
|
||||
report_completion(event_req, &self.timestamp);
|
||||
}
|
||||
EventRequest::Disable(event) => {
|
||||
self.pus_event_dispatcher
|
||||
.disable_tm_for_event(&event)
|
||||
.expect("Disabling TM failed");
|
||||
update_time(&mut self.time_provider, &mut self.timestamp);
|
||||
report_completion(event_req, &self.timestamp);
|
||||
}
|
||||
}
|
||||
}
|
||||
}
|
||||
|
||||
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() {
|
||||
update_time(&mut self.time_provider, &mut self.timestamp);
|
||||
self.pus_event_dispatcher
|
||||
.generate_pus_event_tm_generic(
|
||||
self.tm_sender.upcast_mut(),
|
||||
&self.timestamp,
|
||||
event,
|
||||
None,
|
||||
)
|
||||
.expect("Sending TM as event failed");
|
||||
}
|
||||
}
|
||||
}
|
||||
|
||||
pub struct EventManagerWrapper {
|
||||
event_manager: MpscEventManager,
|
||||
event_sender: mpsc::Sender<(EventU32, Option<Params>)>,
|
||||
}
|
||||
|
||||
impl EventManagerWrapper {
|
||||
pub fn new() -> Self {
|
||||
// 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);
|
||||
Self {
|
||||
event_manager: EventManagerWithMpscQueue::new(Box::new(event_recv)),
|
||||
event_sender,
|
||||
}
|
||||
}
|
||||
|
||||
pub fn clone_event_sender(&self) -> mpsc::Sender<(EventU32, Option<Params>)> {
|
||||
self.event_sender.clone()
|
||||
}
|
||||
|
||||
pub fn event_manager(&mut self) -> &mut MpscEventManager {
|
||||
&mut self.event_manager
|
||||
}
|
||||
|
||||
pub fn try_event_routing(&mut self) {
|
||||
// Perform the event routing.
|
||||
self.event_manager
|
||||
.try_event_handling()
|
||||
.expect("event handling failed");
|
||||
}
|
||||
}
|
||||
|
||||
pub struct EventHandler {
|
||||
pub event_man_wrapper: EventManagerWrapper,
|
||||
pub pus_event_handler: PusEventHandler,
|
||||
}
|
||||
|
||||
impl EventHandler {
|
||||
pub fn new(
|
||||
tm_sender: impl EcssTmSender,
|
||||
verif_handler: VerificationReporterWithSender,
|
||||
event_request_rx: mpsc::Receiver<EventRequestWithToken>,
|
||||
) -> Self {
|
||||
let mut event_man_wrapper = EventManagerWrapper::new();
|
||||
let pus_event_handler = PusEventHandler::new(
|
||||
verif_handler,
|
||||
event_man_wrapper.event_manager(),
|
||||
event_request_rx,
|
||||
tm_sender,
|
||||
);
|
||||
Self {
|
||||
event_man_wrapper,
|
||||
pus_event_handler,
|
||||
}
|
||||
}
|
||||
|
||||
pub fn clone_event_sender(&self) -> mpsc::Sender<(EventU32, Option<Params>)> {
|
||||
self.event_man_wrapper.clone_event_sender()
|
||||
}
|
||||
|
||||
#[allow(dead_code)]
|
||||
pub fn event_manager(&mut self) -> &mut MpscEventManager {
|
||||
self.event_man_wrapper.event_manager()
|
||||
}
|
||||
|
||||
pub fn periodic_operation(&mut self) {
|
||||
self.pus_event_handler.handle_event_requests();
|
||||
self.event_man_wrapper.try_event_routing();
|
||||
self.pus_event_handler.generate_pus_event_tm();
|
||||
}
|
||||
}
|
||||
@ -1,17 +1,12 @@
|
||||
use derive_new::new;
|
||||
use num_enum::{IntoPrimitive, TryFromPrimitive};
|
||||
use satrs_core::events::{EventU32TypedSev, SeverityInfo};
|
||||
use satrs_core::objects::ObjectId;
|
||||
use satrs_core::spacepackets::ecss::tc::IsPusTelecommand;
|
||||
use satrs_core::spacepackets::ecss::PusPacket;
|
||||
use satrs_core::spacepackets::{ByteConversionError, CcsdsPacket};
|
||||
use satrs_core::tmtc::TargetId;
|
||||
use std::fmt;
|
||||
use std::net::Ipv4Addr;
|
||||
use thiserror::Error;
|
||||
|
||||
use satrs_mib::res_code::{ResultU16, ResultU16Info};
|
||||
use satrs_mib::resultcode;
|
||||
pub mod config;
|
||||
|
||||
pub type Apid = u16;
|
||||
|
||||
@ -62,96 +57,3 @@ impl TargetIdWithApid {
|
||||
})
|
||||
}
|
||||
}
|
||||
|
||||
pub const PUS_APID: u16 = 0x02;
|
||||
|
||||
#[derive(Copy, Clone, PartialEq, Eq, Debug, TryFromPrimitive, IntoPrimitive)]
|
||||
#[repr(u8)]
|
||||
pub enum CustomPusServiceId {
|
||||
Mode = 200,
|
||||
Health = 201,
|
||||
}
|
||||
|
||||
#[derive(Copy, Clone, Eq, PartialEq, Debug)]
|
||||
pub enum RequestTargetId {
|
||||
AcsSubsystem = 1,
|
||||
}
|
||||
|
||||
pub const AOCS_APID: u16 = 1;
|
||||
|
||||
pub const ACS_OBJECT_ID: ObjectId = ObjectId {
|
||||
id: RequestTargetId::AcsSubsystem as u32,
|
||||
name: "ACS_SUBSYSTEM",
|
||||
};
|
||||
|
||||
#[derive(Debug)]
|
||||
pub enum GroupId {
|
||||
Tmtc = 0,
|
||||
Hk = 1,
|
||||
}
|
||||
|
||||
pub const OBSW_SERVER_ADDR: Ipv4Addr = Ipv4Addr::UNSPECIFIED;
|
||||
pub const SERVER_PORT: u16 = 7301;
|
||||
|
||||
pub const TEST_EVENT: EventU32TypedSev<SeverityInfo> =
|
||||
EventU32TypedSev::<SeverityInfo>::const_new(0, 0);
|
||||
|
||||
pub mod tmtc_err {
|
||||
use super::*;
|
||||
|
||||
#[resultcode]
|
||||
pub const INVALID_PUS_SERVICE: ResultU16 = ResultU16::const_new(GroupId::Tmtc as u8, 0);
|
||||
#[resultcode]
|
||||
pub const INVALID_PUS_SUBSERVICE: ResultU16 = ResultU16::const_new(GroupId::Tmtc as u8, 1);
|
||||
#[resultcode]
|
||||
pub const PUS_SERVICE_NOT_IMPLEMENTED: ResultU16 = ResultU16::const_new(GroupId::Tmtc as u8, 2);
|
||||
#[resultcode]
|
||||
pub const UNKNOWN_TARGET_ID: ResultU16 = ResultU16::const_new(GroupId::Tmtc as u8, 3);
|
||||
|
||||
#[resultcode(
|
||||
info = "Not enough data inside the TC application data field. Optionally includes: \
|
||||
8 bytes of failure data containing 2 failure parameters, \
|
||||
P1 (u32 big endian): Expected data length, P2: Found data length"
|
||||
)]
|
||||
pub const NOT_ENOUGH_APP_DATA: ResultU16 = ResultU16::const_new(GroupId::Tmtc as u8, 2);
|
||||
|
||||
pub const TMTC_RESULTS: &[ResultU16Info] = &[
|
||||
INVALID_PUS_SERVICE_EXT,
|
||||
INVALID_PUS_SUBSERVICE_EXT,
|
||||
NOT_ENOUGH_APP_DATA_EXT,
|
||||
];
|
||||
}
|
||||
|
||||
pub mod hk_err {
|
||||
use super::*;
|
||||
|
||||
#[resultcode]
|
||||
pub const TARGET_ID_MISSING: ResultU16 = ResultU16::const_new(GroupId::Hk as u8, 0);
|
||||
#[resultcode]
|
||||
pub const UNIQUE_ID_MISSING: ResultU16 = ResultU16::const_new(GroupId::Hk as u8, 1);
|
||||
#[resultcode]
|
||||
pub const UNKNOWN_TARGET_ID: ResultU16 = ResultU16::const_new(GroupId::Hk as u8, 2);
|
||||
#[resultcode]
|
||||
pub const COLLECTION_INTERVAL_MISSING: ResultU16 = ResultU16::const_new(GroupId::Hk as u8, 3);
|
||||
}
|
||||
|
||||
#[allow(clippy::enum_variant_names)]
|
||||
#[derive(Copy, Clone, PartialEq, Eq)]
|
||||
pub enum TmSenderId {
|
||||
PusVerification = 0,
|
||||
PusTest = 1,
|
||||
PusEvent = 2,
|
||||
PusHk = 3,
|
||||
PusAction = 4,
|
||||
PusSched = 5,
|
||||
AllEvents = 6,
|
||||
}
|
||||
|
||||
#[derive(Copy, Clone, PartialEq, Eq)]
|
||||
pub enum TcReceiverId {
|
||||
PusTest = 1,
|
||||
PusEvent = 2,
|
||||
PusHk = 3,
|
||||
PusAction = 4,
|
||||
PusSched = 5,
|
||||
}
|
||||
|
||||
@ -1,168 +1,117 @@
|
||||
mod acs;
|
||||
mod ccsds;
|
||||
mod events;
|
||||
mod hk;
|
||||
mod logger;
|
||||
mod pus;
|
||||
mod requests;
|
||||
mod tcp;
|
||||
mod tm_funnel;
|
||||
mod tmtc;
|
||||
mod udp;
|
||||
|
||||
use log::{info, warn};
|
||||
use crate::events::EventHandler;
|
||||
use crate::pus::stack::PusStack;
|
||||
use crate::tm_funnel::{TmFunnelDynamic, TmFunnelStatic};
|
||||
use log::info;
|
||||
use pus::test::create_test_service_dynamic;
|
||||
use satrs_core::hal::std::tcp_server::ServerConfig;
|
||||
use satrs_core::hal::std::udp_server::UdpTcServer;
|
||||
use satrs_core::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 tmtc::PusTcSourceProviderDynamic;
|
||||
use udp::DynamicUdpTmHandler;
|
||||
|
||||
use crate::acs::AcsTask;
|
||||
use crate::ccsds::CcsdsReceiver;
|
||||
use crate::hk::{AcsHkIds, HkUniqueId};
|
||||
use crate::logger::setup_logger;
|
||||
use crate::pus::action::{Pus8Wrapper, PusService8ActionHandler};
|
||||
use crate::pus::event::Pus5Wrapper;
|
||||
use crate::pus::hk::{Pus3Wrapper, PusService3HkHandler};
|
||||
use crate::pus::scheduler::Pus11Wrapper;
|
||||
use crate::pus::test::Service17CustomWrapper;
|
||||
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::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::{Request, RequestWithToken};
|
||||
use crate::requests::RequestWithToken;
|
||||
use crate::tcp::{SyncTcpTmSource, TcpTask};
|
||||
use crate::tmtc::{PusTcSource, TcArgs, TcStore, TmArgs, TmFunnel, TmtcTask};
|
||||
use crate::udp::UdpTmtcServer;
|
||||
use satrs_core::event_man::{
|
||||
EventManagerWithMpscQueue, MpscEventReceiver, MpscEventU32SendProvider, SendEventProvider,
|
||||
use crate::tmtc::{
|
||||
PusTcSourceProviderSharedPool, SharedTcPool, TcSourceTaskDynamic, TcSourceTaskStatic,
|
||||
};
|
||||
use satrs_core::events::EventU32;
|
||||
use satrs_core::hk::HkRequest;
|
||||
use satrs_core::pool::{PoolProviderMemInPlace, StaticMemoryPool, StaticPoolConfig};
|
||||
use satrs_core::pus::event_man::{
|
||||
DefaultPusMgmtBackendProvider, EventReporter, EventRequest, EventRequestWithToken,
|
||||
PusEventDispatcher,
|
||||
};
|
||||
use satrs_core::pus::event_srv::PusService5EventHandler;
|
||||
use satrs_core::pus::hk::Subservice as HkSubservice;
|
||||
use satrs_core::pus::scheduler::PusScheduler;
|
||||
use satrs_core::pus::scheduler_srv::PusService11SchedHandler;
|
||||
use satrs_core::pus::test::PusService17TestHandler;
|
||||
use satrs_core::pus::verification::{
|
||||
TcStateStarted, VerificationReporterCfg, VerificationReporterWithSender, VerificationToken,
|
||||
};
|
||||
use satrs_core::pus::{
|
||||
EcssTcInSharedStoreConverter, MpscTcReceiver, MpscTmInStoreSender, PusServiceHelper,
|
||||
};
|
||||
use satrs_core::seq_count::{CcsdsSimpleSeqCountProvider, SequenceCountProviderCore};
|
||||
use satrs_core::spacepackets::ecss::tm::{PusTmCreator, PusTmZeroCopyWriter};
|
||||
use satrs_core::spacepackets::{
|
||||
ecss::tm::PusTmSecondaryHeader, time::cds::TimeProvider, time::TimeWriter, SequenceFlags,
|
||||
SpHeader,
|
||||
};
|
||||
use satrs_core::tmtc::tm_helper::SharedTmStore;
|
||||
use crate::udp::{StaticUdpTmHandler, UdpTmtcServer};
|
||||
use satrs_core::pus::event_man::EventRequestWithToken;
|
||||
use satrs_core::pus::verification::{VerificationReporterCfg, VerificationReporterWithSender};
|
||||
use satrs_core::pus::{EcssTmSender, MpscTmAsVecSender, MpscTmInSharedPoolSender};
|
||||
use satrs_core::spacepackets::{time::cds::TimeProvider, time::TimeWriter};
|
||||
use satrs_core::tmtc::{CcsdsDistributor, TargetId};
|
||||
use satrs_core::ChannelId;
|
||||
use satrs_example::{
|
||||
RequestTargetId, TargetIdWithApid, TcReceiverId, TmSenderId, OBSW_SERVER_ADDR, PUS_APID,
|
||||
SERVER_PORT,
|
||||
};
|
||||
use satrs_example::TargetIdWithApid;
|
||||
use std::collections::HashMap;
|
||||
use std::net::{IpAddr, SocketAddr};
|
||||
use std::sync::mpsc::{channel, TryRecvError};
|
||||
use std::sync::mpsc::{self, channel};
|
||||
use std::sync::{Arc, RwLock};
|
||||
use std::thread;
|
||||
use std::time::Duration;
|
||||
|
||||
fn main() {
|
||||
setup_logger().expect("setting up logging with fern failed");
|
||||
println!("Running OBSW example");
|
||||
let tm_pool = StaticMemoryPool::new(StaticPoolConfig::new(vec![
|
||||
(30, 32),
|
||||
(15, 64),
|
||||
(15, 128),
|
||||
(15, 256),
|
||||
(15, 1024),
|
||||
(15, 2048),
|
||||
]));
|
||||
let shared_tm_store = SharedTmStore::new(tm_pool);
|
||||
let tm_store_event = shared_tm_store.clone();
|
||||
let tc_pool = StaticMemoryPool::new(StaticPoolConfig::new(vec![
|
||||
(30, 32),
|
||||
(15, 64),
|
||||
(15, 128),
|
||||
(15, 256),
|
||||
(15, 1024),
|
||||
(15, 2048),
|
||||
]));
|
||||
let tc_store = TcStore {
|
||||
pool: Arc::new(RwLock::new(tc_pool)),
|
||||
};
|
||||
let sched_tc_pool = StaticMemoryPool::new(StaticPoolConfig::new(vec![
|
||||
(30, 32),
|
||||
(15, 64),
|
||||
(15, 128),
|
||||
(15, 256),
|
||||
(15, 1024),
|
||||
(15, 2048),
|
||||
]));
|
||||
|
||||
let seq_count_provider = CcsdsSimpleSeqCountProvider::new();
|
||||
let mut msg_counter_map: HashMap<u8, u16> = HashMap::new();
|
||||
let sock_addr = SocketAddr::new(IpAddr::V4(OBSW_SERVER_ADDR), SERVER_PORT);
|
||||
let (tc_source_tx, tc_source_rx) = channel();
|
||||
let (tm_funnel_tx, tm_funnel_rx) = channel();
|
||||
let (tm_server_tx, tm_server_rx) = channel();
|
||||
let verif_sender = MpscTmInStoreSender::new(
|
||||
TmSenderId::PusVerification as ChannelId,
|
||||
"verif_sender",
|
||||
shared_tm_store.clone(),
|
||||
tm_funnel_tx.clone(),
|
||||
);
|
||||
fn create_verification_reporter(verif_sender: impl EcssTmSender) -> VerificationReporterWithSender {
|
||||
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.
|
||||
let verif_reporter = VerificationReporterWithSender::new(&verif_cfg, Box::new(verif_sender));
|
||||
let reporter_event_handler = verif_reporter.clone();
|
||||
let reporter_aocs = verif_reporter.clone();
|
||||
VerificationReporterWithSender::new(&verif_cfg, Box::new(verif_sender))
|
||||
}
|
||||
|
||||
// Create event handling components
|
||||
// These sender handles are used to send event requests, for example to enable or disable
|
||||
// certain events
|
||||
let (event_request_tx, event_request_rx) = channel::<EventRequestWithToken>();
|
||||
// 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) = channel();
|
||||
let event_recv = MpscEventReceiver::<EventU32>::new(event_man_rx);
|
||||
let test_srv_event_sender = event_sender;
|
||||
let mut event_man = EventManagerWithMpscQueue::new(Box::new(event_recv));
|
||||
#[allow(dead_code)]
|
||||
fn static_tmtc_pool_main() {
|
||||
let (tm_pool, tc_pool) = create_static_pools();
|
||||
let shared_tm_pool = SharedTmPool::new(tm_pool);
|
||||
let shared_tc_pool = SharedTcPool {
|
||||
pool: Arc::new(RwLock::new(tc_pool)),
|
||||
};
|
||||
let (tc_source_tx, tc_source_rx) = channel();
|
||||
let (tm_funnel_tx, tm_funnel_rx) = channel();
|
||||
let (tm_server_tx, tm_server_rx) = channel();
|
||||
|
||||
// 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 pus_tm_backend = DefaultPusMgmtBackendProvider::<EventU32>::default();
|
||||
let mut pus_event_dispatcher =
|
||||
PusEventDispatcher::new(event_reporter, Box::new(pus_tm_backend));
|
||||
let (pus_event_man_tx, pus_event_man_rx) = channel();
|
||||
let pus_event_man_send_provider = MpscEventU32SendProvider::new(1, pus_event_man_tx);
|
||||
event_man.subscribe_all(pus_event_man_send_provider.id());
|
||||
event_man.add_sender(pus_event_man_send_provider);
|
||||
// Every software component which needs to generate verification telemetry, receives a cloned
|
||||
// verification reporter.
|
||||
let verif_reporter = create_verification_reporter(MpscTmInSharedPoolSender::new(
|
||||
TmSenderId::PusVerification as ChannelId,
|
||||
"verif_sender",
|
||||
shared_tm_pool.clone(),
|
||||
tm_funnel_tx.clone(),
|
||||
));
|
||||
|
||||
let acs_target_id = TargetIdWithApid::new(PUS_APID, RequestTargetId::AcsSubsystem as TargetId);
|
||||
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 = HashMap::new();
|
||||
let (acs_thread_tx, acs_thread_rx) = channel::<RequestWithToken>();
|
||||
let target_apid = TargetIdWithApid::new(PUS_APID, RequestTargetId::AcsSubsystem as TargetId);
|
||||
request_map.insert(target_apid, acs_thread_tx);
|
||||
request_map.insert(acs_target_id, acs_thread_tx);
|
||||
|
||||
let tc_source_wrapper = PusTcSource {
|
||||
tc_store: tc_store.clone(),
|
||||
// This helper structure is used by all telecommand providers which need to send telecommands
|
||||
// to the TC source.
|
||||
let tc_source = PusTcSourceProviderSharedPool {
|
||||
shared_pool: shared_tc_pool.clone(),
|
||||
tc_source: tc_source_tx,
|
||||
};
|
||||
|
||||
// Create clones here to allow moving the values
|
||||
let tc_args = TcArgs {
|
||||
tc_source: tc_source_wrapper.clone(),
|
||||
tc_receiver: tc_source_rx,
|
||||
};
|
||||
let tm_args = TmArgs {
|
||||
tm_store: shared_tm_store.clone(),
|
||||
tm_sink_sender: tm_funnel_tx.clone(),
|
||||
tm_udp_server_rx: tm_server_rx,
|
||||
};
|
||||
// Create event handling components
|
||||
// These sender handles are used to send event requests, for example to enable or disable
|
||||
// certain events.
|
||||
let (event_request_tx, event_request_rx) = mpsc::channel::<EventRequestWithToken>();
|
||||
|
||||
let aocs_tm_funnel = tm_funnel_tx.clone();
|
||||
let aocs_tm_store = shared_tm_store.clone();
|
||||
// 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(
|
||||
MpscTmInSharedPoolSender::new(
|
||||
TmSenderId::AllEvents as ChannelId,
|
||||
"ALL_EVENTS_TX",
|
||||
shared_tm_pool.clone(),
|
||||
tm_funnel_tx.clone(),
|
||||
),
|
||||
verif_reporter.clone(),
|
||||
event_request_rx,
|
||||
);
|
||||
|
||||
let (pus_test_tx, pus_test_rx) = channel();
|
||||
let (pus_event_tx, pus_event_rx) = channel();
|
||||
@ -176,134 +125,101 @@ fn main() {
|
||||
hk_service_receiver: pus_hk_tx,
|
||||
action_service_receiver: pus_action_tx,
|
||||
};
|
||||
let test_srv_tm_sender = MpscTmInStoreSender::new(
|
||||
TmSenderId::PusTest as ChannelId,
|
||||
"PUS_17_TM_SENDER",
|
||||
shared_tm_store.clone(),
|
||||
let pus_test_service = create_test_service_static(
|
||||
shared_tm_pool.clone(),
|
||||
tm_funnel_tx.clone(),
|
||||
);
|
||||
let test_srv_receiver = MpscTcReceiver::new(
|
||||
TcReceiverId::PusTest as ChannelId,
|
||||
"PUS_17_TC_RECV",
|
||||
verif_reporter.clone(),
|
||||
shared_tc_pool.pool.clone(),
|
||||
event_handler.clone_event_sender(),
|
||||
pus_test_rx,
|
||||
);
|
||||
let pus17_handler = PusService17TestHandler::new(PusServiceHelper::new(
|
||||
Box::new(test_srv_receiver),
|
||||
Box::new(test_srv_tm_sender),
|
||||
PUS_APID,
|
||||
let pus_scheduler_service = create_scheduler_service_static(
|
||||
shared_tm_pool.clone(),
|
||||
tm_funnel_tx.clone(),
|
||||
verif_reporter.clone(),
|
||||
EcssTcInSharedStoreConverter::new(tc_store.pool.clone(), 2048),
|
||||
));
|
||||
let mut pus_17_wrapper = Service17CustomWrapper {
|
||||
pus17_handler,
|
||||
test_srv_event_sender,
|
||||
};
|
||||
|
||||
let sched_srv_tm_sender = MpscTmInStoreSender::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",
|
||||
tc_source.clone(),
|
||||
pus_sched_rx,
|
||||
create_sched_tc_pool(),
|
||||
);
|
||||
let scheduler = PusScheduler::new_with_current_init_time(Duration::from_secs(5))
|
||||
.expect("Creating PUS Scheduler failed");
|
||||
let pus_11_handler = PusService11SchedHandler::new(
|
||||
PusServiceHelper::new(
|
||||
Box::new(sched_srv_receiver),
|
||||
Box::new(sched_srv_tm_sender),
|
||||
PUS_APID,
|
||||
verif_reporter.clone(),
|
||||
EcssTcInSharedStoreConverter::new(tc_store.pool.clone(), 2048),
|
||||
),
|
||||
scheduler,
|
||||
);
|
||||
let mut pus_11_wrapper = Pus11Wrapper {
|
||||
pus_11_handler,
|
||||
sched_tc_pool,
|
||||
tc_source_wrapper,
|
||||
};
|
||||
|
||||
let event_srv_tm_sender = MpscTmInStoreSender::new(
|
||||
TmSenderId::PusEvent as ChannelId,
|
||||
"PUS_5_TM_SENDER",
|
||||
shared_tm_store.clone(),
|
||||
let pus_event_service = create_event_service_static(
|
||||
shared_tm_pool.clone(),
|
||||
tm_funnel_tx.clone(),
|
||||
);
|
||||
let event_srv_receiver = MpscTcReceiver::new(
|
||||
TcReceiverId::PusEvent as ChannelId,
|
||||
"PUS_5_TC_RECV",
|
||||
verif_reporter.clone(),
|
||||
shared_tc_pool.pool.clone(),
|
||||
pus_event_rx,
|
||||
);
|
||||
let pus_5_handler = PusService5EventHandler::new(
|
||||
PusServiceHelper::new(
|
||||
Box::new(event_srv_receiver),
|
||||
Box::new(event_srv_tm_sender),
|
||||
PUS_APID,
|
||||
verif_reporter.clone(),
|
||||
EcssTcInSharedStoreConverter::new(tc_store.pool.clone(), 2048),
|
||||
),
|
||||
event_request_tx,
|
||||
);
|
||||
let mut pus_5_wrapper = Pus5Wrapper { pus_5_handler };
|
||||
|
||||
let action_srv_tm_sender = MpscTmInStoreSender::new(
|
||||
TmSenderId::PusAction as ChannelId,
|
||||
"PUS_8_TM_SENDER",
|
||||
shared_tm_store.clone(),
|
||||
let pus_action_service = create_action_service_static(
|
||||
shared_tm_pool.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(
|
||||
Box::new(action_srv_receiver),
|
||||
Box::new(action_srv_tm_sender),
|
||||
PUS_APID,
|
||||
verif_reporter.clone(),
|
||||
EcssTcInSharedStoreConverter::new(tc_store.pool.clone(), 2048),
|
||||
shared_tc_pool.pool.clone(),
|
||||
pus_action_rx,
|
||||
request_map.clone(),
|
||||
);
|
||||
let mut pus_8_wrapper = Pus8Wrapper { pus_8_handler };
|
||||
|
||||
let hk_srv_tm_sender = MpscTmInStoreSender::new(
|
||||
TmSenderId::PusHk as ChannelId,
|
||||
"PUS_3_TM_SENDER",
|
||||
shared_tm_store.clone(),
|
||||
let pus_hk_service = create_hk_service_static(
|
||||
shared_tm_pool.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(
|
||||
Box::new(hk_srv_receiver),
|
||||
Box::new(hk_srv_tm_sender),
|
||||
PUS_APID,
|
||||
verif_reporter.clone(),
|
||||
EcssTcInSharedStoreConverter::new(tc_store.pool.clone(), 2048),
|
||||
shared_tc_pool.pool.clone(),
|
||||
pus_hk_rx,
|
||||
request_map,
|
||||
);
|
||||
let mut pus_3_wrapper = Pus3Wrapper { pus_3_handler };
|
||||
let mut pus_stack = PusStack::new(
|
||||
pus_hk_service,
|
||||
pus_event_service,
|
||||
pus_action_service,
|
||||
pus_scheduler_service,
|
||||
pus_test_service,
|
||||
);
|
||||
|
||||
let ccsds_receiver = CcsdsReceiver {
|
||||
tc_source: tc_args.tc_source.clone(),
|
||||
};
|
||||
let mut tmtc_task = TmtcTask::new(tc_args, PusReceiver::new(verif_reporter, pus_router));
|
||||
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),
|
||||
);
|
||||
|
||||
let sock_addr = SocketAddr::new(IpAddr::V4(OBSW_SERVER_ADDR), SERVER_PORT);
|
||||
let udp_ccsds_distributor = CcsdsDistributor::new(Box::new(ccsds_receiver.clone()));
|
||||
let udp_tc_server = UdpTcServer::new(sock_addr, 2048, Box::new(udp_ccsds_distributor))
|
||||
.expect("creating UDP TMTC server failed");
|
||||
let mut udp_tmtc_server = UdpTmtcServer {
|
||||
udp_tc_server,
|
||||
tm_rx: tm_args.tm_udp_server_rx,
|
||||
tm_store: tm_args.tm_store.clone_backing_pool(),
|
||||
tm_handler: StaticUdpTmHandler {
|
||||
tm_rx: tm_server_rx,
|
||||
tm_store: shared_tm_pool.clone_backing_pool(),
|
||||
},
|
||||
};
|
||||
|
||||
let tcp_ccsds_distributor = CcsdsDistributor::new(Box::new(ccsds_receiver));
|
||||
let tcp_server_cfg = ServerConfig::new(sock_addr, Duration::from_millis(400), 4096, 8192);
|
||||
let sync_tm_tcp_source = SyncTcpTmSource::new(200);
|
||||
let mut tcp_server = TcpTask::new(
|
||||
tcp_server_cfg,
|
||||
sync_tm_tcp_source.clone(),
|
||||
tcp_ccsds_distributor,
|
||||
)
|
||||
.expect("tcp server creation failed");
|
||||
|
||||
let mut acs_task = AcsTask::new(
|
||||
MpscTmInSharedPoolSender::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,
|
||||
tm_funnel_rx,
|
||||
tm_server_tx,
|
||||
);
|
||||
|
||||
info!("Starting TMTC and UDP task");
|
||||
let jh_udp_tmtc = thread::Builder::new()
|
||||
.name("TMTC and UDP".to_string())
|
||||
@ -312,20 +228,11 @@ fn main() {
|
||||
loop {
|
||||
udp_tmtc_server.periodic_operation();
|
||||
tmtc_task.periodic_operation();
|
||||
thread::sleep(Duration::from_millis(400));
|
||||
thread::sleep(Duration::from_millis(FREQ_MS_UDP_TMTC));
|
||||
}
|
||||
})
|
||||
.unwrap();
|
||||
|
||||
let tcp_ccsds_distributor = CcsdsDistributor::new(Box::new(ccsds_receiver));
|
||||
let tcp_server_cfg = ServerConfig::new(sock_addr, Duration::from_millis(400), 4096, 8192);
|
||||
let mut sync_tm_tcp_source = SyncTcpTmSource::new(200);
|
||||
let mut tcp_server = TcpTask::new(
|
||||
tcp_server_cfg,
|
||||
sync_tm_tcp_source.clone(),
|
||||
tcp_ccsds_distributor,
|
||||
)
|
||||
.expect("tcp server creation failed");
|
||||
info!("Starting TCP task");
|
||||
let jh_tcp = thread::Builder::new()
|
||||
.name("TCP".to_string())
|
||||
@ -338,225 +245,271 @@ fn main() {
|
||||
.unwrap();
|
||||
|
||||
info!("Starting TM funnel task");
|
||||
let jh1 = thread::Builder::new()
|
||||
let jh_tm_funnel = thread::Builder::new()
|
||||
.name("TM Funnel".to_string())
|
||||
.spawn(move || {
|
||||
let tm_funnel = TmFunnel {
|
||||
tm_server_tx,
|
||||
tm_funnel_rx,
|
||||
};
|
||||
loop {
|
||||
if let Ok(addr) = tm_funnel.tm_funnel_rx.recv() {
|
||||
// Read the TM, set sequence counter and message counter, and finally update
|
||||
// the CRC.
|
||||
let shared_pool = shared_tm_store.clone_backing_pool();
|
||||
let mut pool_guard = shared_pool.write().expect("Locking TM pool failed");
|
||||
let tm_raw = pool_guard
|
||||
.modify(&addr)
|
||||
.expect("Reading TM from pool failed");
|
||||
let mut zero_copy_writer = PusTmZeroCopyWriter::new(tm_raw)
|
||||
.expect("Creating TM zero copy writer failed");
|
||||
zero_copy_writer.set_apid(PUS_APID);
|
||||
zero_copy_writer.set_seq_count(seq_count_provider.get_and_increment());
|
||||
let entry = msg_counter_map
|
||||
.entry(zero_copy_writer.service())
|
||||
.or_insert(0);
|
||||
zero_copy_writer.set_msg_count(*entry);
|
||||
if *entry == u16::MAX {
|
||||
*entry = 0;
|
||||
} else {
|
||||
*entry += 1;
|
||||
}
|
||||
|
||||
// This operation has to come last!
|
||||
zero_copy_writer.finish();
|
||||
tm_funnel
|
||||
.tm_server_tx
|
||||
.send(addr)
|
||||
.expect("Sending TM to server failed");
|
||||
sync_tm_tcp_source.add_tm(tm_raw);
|
||||
}
|
||||
}
|
||||
.spawn(move || loop {
|
||||
tm_funnel.operation();
|
||||
})
|
||||
.unwrap();
|
||||
|
||||
info!("Starting event handling task");
|
||||
let jh2 = thread::Builder::new()
|
||||
let jh_event_handling = thread::Builder::new()
|
||||
.name("Event".to_string())
|
||||
.spawn(move || {
|
||||
let mut timestamp: [u8; 7] = [0; 7];
|
||||
let mut sender = MpscTmInStoreSender::new(
|
||||
TmSenderId::AllEvents as ChannelId,
|
||||
"ALL_EVENTS_TX",
|
||||
tm_store_event.clone(),
|
||||
tm_funnel_tx,
|
||||
);
|
||||
let mut time_provider = TimeProvider::new_with_u16_days(0, 0);
|
||||
let report_completion = |event_req: EventRequestWithToken, timestamp: &[u8]| {
|
||||
let started_token: VerificationToken<TcStateStarted> = event_req
|
||||
.token
|
||||
.try_into()
|
||||
.expect("expected start verification token");
|
||||
reporter_event_handler
|
||||
.completion_success(started_token, Some(timestamp))
|
||||
.expect("Sending completion success failed");
|
||||
};
|
||||
loop {
|
||||
// handle event requests
|
||||
if let Ok(event_req) = event_request_rx.try_recv() {
|
||||
match event_req.request {
|
||||
EventRequest::Enable(event) => {
|
||||
pus_event_dispatcher
|
||||
.enable_tm_for_event(&event)
|
||||
.expect("Enabling TM failed");
|
||||
update_time(&mut time_provider, &mut timestamp);
|
||||
report_completion(event_req, ×tamp);
|
||||
}
|
||||
EventRequest::Disable(event) => {
|
||||
pus_event_dispatcher
|
||||
.disable_tm_for_event(&event)
|
||||
.expect("Disabling TM failed");
|
||||
update_time(&mut time_provider, &mut timestamp);
|
||||
report_completion(event_req, ×tamp);
|
||||
}
|
||||
}
|
||||
}
|
||||
|
||||
// Perform the event routing.
|
||||
event_man
|
||||
.try_event_handling()
|
||||
.expect("event handling failed");
|
||||
|
||||
// Perform the generation of PUS event packets
|
||||
if let Ok((event, _param)) = pus_event_man_rx.try_recv() {
|
||||
update_time(&mut time_provider, &mut timestamp);
|
||||
pus_event_dispatcher
|
||||
.generate_pus_event_tm_generic(&mut sender, ×tamp, event, None)
|
||||
.expect("Sending TM as event failed");
|
||||
}
|
||||
thread::sleep(Duration::from_millis(400));
|
||||
}
|
||||
.spawn(move || loop {
|
||||
event_handler.periodic_operation();
|
||||
thread::sleep(Duration::from_millis(FREQ_MS_EVENT_HANDLING));
|
||||
})
|
||||
.unwrap();
|
||||
|
||||
info!("Starting AOCS thread");
|
||||
let jh3 = thread::Builder::new()
|
||||
let jh_aocs = thread::Builder::new()
|
||||
.name("AOCS".to_string())
|
||||
.spawn(move || {
|
||||
let mut timestamp: [u8; 7] = [0; 7];
|
||||
let mut time_provider = TimeProvider::new_with_u16_days(0, 0);
|
||||
loop {
|
||||
// TODO: Move this into a separate function/task/module..
|
||||
match acs_thread_rx.try_recv() {
|
||||
Ok(request) => {
|
||||
info!(
|
||||
"ACS thread: Received HK request {:?}",
|
||||
request.targeted_request
|
||||
);
|
||||
update_time(&mut time_provider, &mut timestamp);
|
||||
match request.targeted_request.request {
|
||||
Request::Hk(hk_req) => match hk_req {
|
||||
HkRequest::OneShot(unique_id) => {
|
||||
// TODO: We should check whether the unique ID is even valid.
|
||||
let target = request.targeted_request.target_id;
|
||||
assert_eq!(
|
||||
target.target_id(),
|
||||
RequestTargetId::AcsSubsystem as u32
|
||||
);
|
||||
if request.targeted_request.target_id.target
|
||||
== 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,
|
||||
×tamp,
|
||||
);
|
||||
let mut buf: [u8; 8] = [0; 8];
|
||||
let hk_id = HkUniqueId::new(target.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,
|
||||
);
|
||||
let addr = aocs_tm_store
|
||||
.add_pus_tm(&pus_tm)
|
||||
.expect("Adding PUS TM failed");
|
||||
aocs_tm_funnel.send(addr).expect("Sending HK TM failed");
|
||||
}
|
||||
}
|
||||
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 = reporter_aocs
|
||||
.start_success(request.token, Some(×tamp))
|
||||
.expect("Sending start success failed");
|
||||
reporter_aocs
|
||||
.completion_success(started_token, Some(×tamp))
|
||||
.expect("Sending completion success failed");
|
||||
}
|
||||
Err(e) => match e {
|
||||
TryRecvError::Empty => {}
|
||||
TryRecvError::Disconnected => {
|
||||
warn!("ACS thread: Message Queue TX disconnected!")
|
||||
}
|
||||
},
|
||||
}
|
||||
thread::sleep(Duration::from_millis(500));
|
||||
}
|
||||
.spawn(move || loop {
|
||||
acs_task.periodic_operation();
|
||||
thread::sleep(Duration::from_millis(FREQ_MS_AOCS));
|
||||
})
|
||||
.unwrap();
|
||||
|
||||
info!("Starting PUS handler thread");
|
||||
let jh4 = thread::Builder::new()
|
||||
let jh_pus_handler = thread::Builder::new()
|
||||
.name("PUS".to_string())
|
||||
.spawn(move || loop {
|
||||
pus_11_wrapper.release_tcs();
|
||||
loop {
|
||||
let mut all_queues_empty = true;
|
||||
let mut is_srv_finished = |srv_handler_finished: bool| {
|
||||
if !srv_handler_finished {
|
||||
all_queues_empty = false;
|
||||
}
|
||||
};
|
||||
is_srv_finished(pus_17_wrapper.handle_next_packet());
|
||||
is_srv_finished(pus_11_wrapper.handle_next_packet());
|
||||
is_srv_finished(pus_5_wrapper.handle_next_packet());
|
||||
is_srv_finished(pus_8_wrapper.handle_next_packet());
|
||||
is_srv_finished(pus_3_wrapper.handle_next_packet());
|
||||
if all_queues_empty {
|
||||
break;
|
||||
}
|
||||
}
|
||||
thread::sleep(Duration::from_millis(200));
|
||||
pus_stack.periodic_operation();
|
||||
thread::sleep(Duration::from_millis(FREQ_MS_PUS_STACK));
|
||||
})
|
||||
.unwrap();
|
||||
|
||||
jh_udp_tmtc
|
||||
.join()
|
||||
.expect("Joining UDP TMTC server thread failed");
|
||||
jh_tcp
|
||||
.join()
|
||||
.expect("Joining TCP TMTC server thread failed");
|
||||
jh1.join().expect("Joining TM Funnel thread failed");
|
||||
jh2.join().expect("Joining Event Manager thread failed");
|
||||
jh3.join().expect("Joining AOCS thread failed");
|
||||
jh4.join().expect("Joining PUS handler thread failed");
|
||||
jh_tm_funnel
|
||||
.join()
|
||||
.expect("Joining TM Funnel thread failed");
|
||||
jh_event_handling
|
||||
.join()
|
||||
.expect("Joining Event Manager thread failed");
|
||||
jh_aocs.join().expect("Joining AOCS thread failed");
|
||||
jh_pus_handler
|
||||
.join()
|
||||
.expect("Joining PUS handler thread failed");
|
||||
}
|
||||
|
||||
#[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(MpscTmAsVecSender::new(
|
||||
TmSenderId::PusVerification as ChannelId,
|
||||
"verif_sender",
|
||||
tm_funnel_tx.clone(),
|
||||
));
|
||||
|
||||
let acs_target_id = TargetIdWithApid::new(PUS_APID, RequestTargetId::AcsSubsystem as TargetId);
|
||||
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 = HashMap::new();
|
||||
request_map.insert(acs_target_id, acs_thread_tx);
|
||||
|
||||
let tc_source = PusTcSourceProviderDynamic(tc_source_tx);
|
||||
|
||||
// Create event handling components
|
||||
// These sender handles are used to send event requests, for example to enable or disable
|
||||
// certain events.
|
||||
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(
|
||||
MpscTmAsVecSender::new(
|
||||
TmSenderId::AllEvents as ChannelId,
|
||||
"ALL_EVENTS_TX",
|
||||
tm_funnel_tx.clone(),
|
||||
),
|
||||
verif_reporter.clone(),
|
||||
event_request_rx,
|
||||
);
|
||||
|
||||
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,
|
||||
};
|
||||
|
||||
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_action_service = create_action_service_dynamic(
|
||||
tm_funnel_tx.clone(),
|
||||
verif_reporter.clone(),
|
||||
pus_action_rx,
|
||||
request_map.clone(),
|
||||
);
|
||||
let pus_hk_service = create_hk_service_dynamic(
|
||||
tm_funnel_tx.clone(),
|
||||
verif_reporter.clone(),
|
||||
pus_hk_rx,
|
||||
request_map,
|
||||
);
|
||||
let mut pus_stack = PusStack::new(
|
||||
pus_hk_service,
|
||||
pus_event_service,
|
||||
pus_action_service,
|
||||
pus_scheduler_service,
|
||||
pus_test_service,
|
||||
);
|
||||
|
||||
let ccsds_receiver = CcsdsReceiver { tc_source };
|
||||
|
||||
let mut tmtc_task = TcSourceTaskDynamic::new(
|
||||
tc_source_rx,
|
||||
PusReceiver::new(verif_reporter.clone(), pus_router),
|
||||
);
|
||||
|
||||
let sock_addr = SocketAddr::new(IpAddr::V4(OBSW_SERVER_ADDR), SERVER_PORT);
|
||||
let udp_ccsds_distributor = CcsdsDistributor::new(Box::new(ccsds_receiver.clone()));
|
||||
let udp_tc_server = UdpTcServer::new(sock_addr, 2048, Box::new(udp_ccsds_distributor))
|
||||
.expect("creating UDP TMTC server failed");
|
||||
let mut udp_tmtc_server = UdpTmtcServer {
|
||||
udp_tc_server,
|
||||
tm_handler: DynamicUdpTmHandler {
|
||||
tm_rx: tm_server_rx,
|
||||
},
|
||||
};
|
||||
|
||||
let tcp_ccsds_distributor = CcsdsDistributor::new(Box::new(ccsds_receiver));
|
||||
let tcp_server_cfg = ServerConfig::new(sock_addr, Duration::from_millis(400), 4096, 8192);
|
||||
let sync_tm_tcp_source = SyncTcpTmSource::new(200);
|
||||
let mut tcp_server = TcpTask::new(
|
||||
tcp_server_cfg,
|
||||
sync_tm_tcp_source.clone(),
|
||||
tcp_ccsds_distributor,
|
||||
)
|
||||
.expect("tcp server creation failed");
|
||||
|
||||
let mut acs_task = AcsTask::new(
|
||||
MpscTmAsVecSender::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);
|
||||
|
||||
info!("Starting TMTC and UDP task");
|
||||
let jh_udp_tmtc = thread::Builder::new()
|
||||
.name("TMTC and UDP".to_string())
|
||||
.spawn(move || {
|
||||
info!("Running UDP server on port {SERVER_PORT}");
|
||||
loop {
|
||||
udp_tmtc_server.periodic_operation();
|
||||
tmtc_task.periodic_operation();
|
||||
thread::sleep(Duration::from_millis(FREQ_MS_UDP_TMTC));
|
||||
}
|
||||
})
|
||||
.unwrap();
|
||||
|
||||
info!("Starting TCP task");
|
||||
let jh_tcp = thread::Builder::new()
|
||||
.name("TCP".to_string())
|
||||
.spawn(move || {
|
||||
info!("Running TCP server on port {SERVER_PORT}");
|
||||
loop {
|
||||
tcp_server.periodic_operation();
|
||||
}
|
||||
})
|
||||
.unwrap();
|
||||
|
||||
info!("Starting TM funnel task");
|
||||
let jh_tm_funnel = thread::Builder::new()
|
||||
.name("TM Funnel".to_string())
|
||||
.spawn(move || loop {
|
||||
tm_funnel.operation();
|
||||
})
|
||||
.unwrap();
|
||||
|
||||
info!("Starting event handling task");
|
||||
let jh_event_handling = thread::Builder::new()
|
||||
.name("Event".to_string())
|
||||
.spawn(move || loop {
|
||||
event_handler.periodic_operation();
|
||||
thread::sleep(Duration::from_millis(FREQ_MS_EVENT_HANDLING));
|
||||
})
|
||||
.unwrap();
|
||||
|
||||
info!("Starting AOCS thread");
|
||||
let jh_aocs = thread::Builder::new()
|
||||
.name("AOCS".to_string())
|
||||
.spawn(move || loop {
|
||||
acs_task.periodic_operation();
|
||||
thread::sleep(Duration::from_millis(FREQ_MS_AOCS));
|
||||
})
|
||||
.unwrap();
|
||||
|
||||
info!("Starting PUS handler thread");
|
||||
let jh_pus_handler = thread::Builder::new()
|
||||
.name("PUS".to_string())
|
||||
.spawn(move || loop {
|
||||
pus_stack.periodic_operation();
|
||||
thread::sleep(Duration::from_millis(FREQ_MS_PUS_STACK));
|
||||
})
|
||||
.unwrap();
|
||||
|
||||
jh_udp_tmtc
|
||||
.join()
|
||||
.expect("Joining UDP TMTC server thread failed");
|
||||
jh_tcp
|
||||
.join()
|
||||
.expect("Joining TCP TMTC server thread failed");
|
||||
jh_tm_funnel
|
||||
.join()
|
||||
.expect("Joining TM Funnel thread failed");
|
||||
jh_event_handling
|
||||
.join()
|
||||
.expect("Joining Event Manager thread failed");
|
||||
jh_aocs.join().expect("Joining AOCS thread failed");
|
||||
jh_pus_handler
|
||||
.join()
|
||||
.expect("Joining PUS handler thread failed");
|
||||
}
|
||||
|
||||
fn main() {
|
||||
setup_logger().expect("setting up logging with fern failed");
|
||||
println!("Running OBSW example");
|
||||
#[cfg(not(feature = "dyn_tmtc"))]
|
||||
static_tmtc_pool_main();
|
||||
#[cfg(feature = "dyn_tmtc")]
|
||||
dyn_tmtc_pool_main();
|
||||
}
|
||||
|
||||
pub fn update_time(time_provider: &mut TimeProvider, timestamp: &mut [u8]) {
|
||||
|
||||
@ -1,17 +1,79 @@
|
||||
use crate::requests::{ActionRequest, Request, RequestWithToken};
|
||||
use log::{error, warn};
|
||||
use satrs_core::pool::{SharedStaticMemoryPool, StoreAddr};
|
||||
use satrs_core::pus::verification::{
|
||||
FailParams, TcStateAccepted, VerificationReporterWithSender, VerificationToken,
|
||||
};
|
||||
use satrs_core::pus::{
|
||||
EcssTcInMemConverter, EcssTcInSharedStoreConverter, EcssTcReceiver, EcssTmSender,
|
||||
EcssTcAndToken, EcssTcInMemConverter, EcssTcInSharedStoreConverter, EcssTcInVecConverter,
|
||||
EcssTcReceiver, EcssTmSender, MpscTcReceiver, MpscTmAsVecSender, MpscTmInSharedPoolSender,
|
||||
PusPacketHandlerResult, PusPacketHandlingError, PusServiceBase, PusServiceHelper,
|
||||
};
|
||||
use satrs_core::spacepackets::ecss::tc::PusTcReader;
|
||||
use satrs_core::spacepackets::ecss::PusPacket;
|
||||
use satrs_example::{tmtc_err, TargetIdWithApid};
|
||||
use satrs_core::tmtc::tm_helper::SharedTmPool;
|
||||
use satrs_core::ChannelId;
|
||||
use satrs_example::config::{tmtc_err, TcReceiverId, TmSenderId, PUS_APID};
|
||||
use satrs_example::TargetIdWithApid;
|
||||
use std::collections::HashMap;
|
||||
use std::sync::mpsc::Sender;
|
||||
use std::sync::mpsc::{self, Sender};
|
||||
|
||||
pub fn create_action_service_static(
|
||||
shared_tm_store: SharedTmPool,
|
||||
tm_funnel_tx: mpsc::Sender<StoreAddr>,
|
||||
verif_reporter: VerificationReporterWithSender,
|
||||
tc_pool: SharedStaticMemoryPool,
|
||||
pus_action_rx: mpsc::Receiver<EcssTcAndToken>,
|
||||
request_map: HashMap<TargetIdWithApid, mpsc::Sender<RequestWithToken>>,
|
||||
) -> Pus8Wrapper<EcssTcInSharedStoreConverter> {
|
||||
let action_srv_tm_sender = MpscTmInSharedPoolSender::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(
|
||||
Box::new(action_srv_receiver),
|
||||
Box::new(action_srv_tm_sender),
|
||||
PUS_APID,
|
||||
verif_reporter.clone(),
|
||||
EcssTcInSharedStoreConverter::new(tc_pool.clone(), 2048),
|
||||
request_map.clone(),
|
||||
);
|
||||
Pus8Wrapper { pus_8_handler }
|
||||
}
|
||||
|
||||
pub fn create_action_service_dynamic(
|
||||
tm_funnel_tx: mpsc::Sender<Vec<u8>>,
|
||||
verif_reporter: VerificationReporterWithSender,
|
||||
pus_action_rx: mpsc::Receiver<EcssTcAndToken>,
|
||||
request_map: HashMap<TargetIdWithApid, mpsc::Sender<RequestWithToken>>,
|
||||
) -> Pus8Wrapper<EcssTcInVecConverter> {
|
||||
let action_srv_tm_sender = MpscTmAsVecSender::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(
|
||||
Box::new(action_srv_receiver),
|
||||
Box::new(action_srv_tm_sender),
|
||||
PUS_APID,
|
||||
verif_reporter.clone(),
|
||||
EcssTcInVecConverter::default(),
|
||||
request_map.clone(),
|
||||
);
|
||||
Pus8Wrapper { pus_8_handler }
|
||||
}
|
||||
|
||||
pub struct PusService8ActionHandler<TcInMemConverter: EcssTcInMemConverter> {
|
||||
service_helper: PusServiceHelper<TcInMemConverter>,
|
||||
@ -141,11 +203,11 @@ impl<TcInMemConverter: EcssTcInMemConverter> PusService8ActionHandler<TcInMemCon
|
||||
}
|
||||
}
|
||||
|
||||
pub struct Pus8Wrapper {
|
||||
pub(crate) pus_8_handler: PusService8ActionHandler<EcssTcInSharedStoreConverter>,
|
||||
pub struct Pus8Wrapper<TcInMemConverter: EcssTcInMemConverter> {
|
||||
pub(crate) pus_8_handler: PusService8ActionHandler<TcInMemConverter>,
|
||||
}
|
||||
|
||||
impl Pus8Wrapper {
|
||||
impl<TcInMemConverter: EcssTcInMemConverter> Pus8Wrapper<TcInMemConverter> {
|
||||
pub fn handle_next_packet(&mut self) -> bool {
|
||||
match self.pus_8_handler.handle_one_tc() {
|
||||
Ok(result) => match result {
|
||||
|
||||
@ -1,12 +1,85 @@
|
||||
use log::{error, warn};
|
||||
use satrs_core::pus::event_srv::PusService5EventHandler;
|
||||
use satrs_core::pus::{EcssTcInSharedStoreConverter, PusPacketHandlerResult};
|
||||
use std::sync::mpsc;
|
||||
|
||||
pub struct Pus5Wrapper {
|
||||
pub pus_5_handler: PusService5EventHandler<EcssTcInSharedStoreConverter>,
|
||||
use log::{error, warn};
|
||||
use satrs_core::pool::{SharedStaticMemoryPool, StoreAddr};
|
||||
use satrs_core::pus::event_man::EventRequestWithToken;
|
||||
use satrs_core::pus::event_srv::PusService5EventHandler;
|
||||
use satrs_core::pus::verification::VerificationReporterWithSender;
|
||||
use satrs_core::pus::{
|
||||
EcssTcAndToken, EcssTcInMemConverter, EcssTcInSharedStoreConverter, EcssTcInVecConverter,
|
||||
MpscTcReceiver, MpscTmAsVecSender, MpscTmInSharedPoolSender, PusPacketHandlerResult,
|
||||
PusServiceHelper,
|
||||
};
|
||||
use satrs_core::tmtc::tm_helper::SharedTmPool;
|
||||
use satrs_core::ChannelId;
|
||||
use satrs_example::config::{TcReceiverId, TmSenderId, PUS_APID};
|
||||
|
||||
pub fn create_event_service_static(
|
||||
shared_tm_store: SharedTmPool,
|
||||
tm_funnel_tx: mpsc::Sender<StoreAddr>,
|
||||
verif_reporter: VerificationReporterWithSender,
|
||||
tc_pool: SharedStaticMemoryPool,
|
||||
pus_event_rx: mpsc::Receiver<EcssTcAndToken>,
|
||||
event_request_tx: mpsc::Sender<EventRequestWithToken>,
|
||||
) -> Pus5Wrapper<EcssTcInSharedStoreConverter> {
|
||||
let event_srv_tm_sender = MpscTmInSharedPoolSender::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(
|
||||
PusServiceHelper::new(
|
||||
Box::new(event_srv_receiver),
|
||||
Box::new(event_srv_tm_sender),
|
||||
PUS_APID,
|
||||
verif_reporter.clone(),
|
||||
EcssTcInSharedStoreConverter::new(tc_pool.clone(), 2048),
|
||||
),
|
||||
event_request_tx,
|
||||
);
|
||||
Pus5Wrapper { pus_5_handler }
|
||||
}
|
||||
|
||||
impl Pus5Wrapper {
|
||||
pub fn create_event_service_dynamic(
|
||||
tm_funnel_tx: mpsc::Sender<Vec<u8>>,
|
||||
verif_reporter: VerificationReporterWithSender,
|
||||
pus_event_rx: mpsc::Receiver<EcssTcAndToken>,
|
||||
event_request_tx: mpsc::Sender<EventRequestWithToken>,
|
||||
) -> Pus5Wrapper<EcssTcInVecConverter> {
|
||||
let event_srv_tm_sender = MpscTmAsVecSender::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(
|
||||
PusServiceHelper::new(
|
||||
Box::new(event_srv_receiver),
|
||||
Box::new(event_srv_tm_sender),
|
||||
PUS_APID,
|
||||
verif_reporter.clone(),
|
||||
EcssTcInVecConverter::default(),
|
||||
),
|
||||
event_request_tx,
|
||||
);
|
||||
Pus5Wrapper { pus_5_handler }
|
||||
}
|
||||
|
||||
pub struct Pus5Wrapper<TcInMemConverter: EcssTcInMemConverter> {
|
||||
pub pus_5_handler: PusService5EventHandler<TcInMemConverter>,
|
||||
}
|
||||
|
||||
impl<TcInMemConverter: EcssTcInMemConverter> Pus5Wrapper<TcInMemConverter> {
|
||||
pub fn handle_next_packet(&mut self) -> bool {
|
||||
match self.pus_5_handler.handle_one_tc() {
|
||||
Ok(result) => match result {
|
||||
|
||||
@ -1,15 +1,73 @@
|
||||
use crate::requests::{Request, RequestWithToken};
|
||||
use log::{error, warn};
|
||||
use satrs_core::hk::{CollectionIntervalFactor, HkRequest};
|
||||
use satrs_core::pus::verification::{FailParams, StdVerifReporterWithSender};
|
||||
use satrs_core::pool::{SharedStaticMemoryPool, StoreAddr};
|
||||
use satrs_core::pus::verification::{
|
||||
FailParams, StdVerifReporterWithSender, VerificationReporterWithSender,
|
||||
};
|
||||
use satrs_core::pus::{
|
||||
EcssTcInMemConverter, EcssTcInSharedStoreConverter, EcssTcReceiver, EcssTmSender,
|
||||
EcssTcAndToken, EcssTcInMemConverter, EcssTcInSharedStoreConverter, EcssTcInVecConverter,
|
||||
EcssTcReceiver, EcssTmSender, MpscTcReceiver, MpscTmAsVecSender, MpscTmInSharedPoolSender,
|
||||
PusPacketHandlerResult, PusPacketHandlingError, PusServiceBase, PusServiceHelper,
|
||||
};
|
||||
use satrs_core::spacepackets::ecss::{hk, PusPacket};
|
||||
use satrs_example::{hk_err, tmtc_err, TargetIdWithApid};
|
||||
use satrs_core::tmtc::tm_helper::SharedTmPool;
|
||||
use satrs_core::ChannelId;
|
||||
use satrs_example::config::{hk_err, tmtc_err, TcReceiverId, TmSenderId, PUS_APID};
|
||||
use satrs_example::TargetIdWithApid;
|
||||
use std::collections::HashMap;
|
||||
use std::sync::mpsc::Sender;
|
||||
use std::sync::mpsc::{self, Sender};
|
||||
|
||||
pub fn create_hk_service_static(
|
||||
shared_tm_store: SharedTmPool,
|
||||
tm_funnel_tx: mpsc::Sender<StoreAddr>,
|
||||
verif_reporter: VerificationReporterWithSender,
|
||||
tc_pool: SharedStaticMemoryPool,
|
||||
pus_hk_rx: mpsc::Receiver<EcssTcAndToken>,
|
||||
request_map: HashMap<TargetIdWithApid, mpsc::Sender<RequestWithToken>>,
|
||||
) -> Pus3Wrapper<EcssTcInSharedStoreConverter> {
|
||||
let hk_srv_tm_sender = MpscTmInSharedPoolSender::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(
|
||||
Box::new(hk_srv_receiver),
|
||||
Box::new(hk_srv_tm_sender),
|
||||
PUS_APID,
|
||||
verif_reporter.clone(),
|
||||
EcssTcInSharedStoreConverter::new(tc_pool, 2048),
|
||||
request_map,
|
||||
);
|
||||
Pus3Wrapper { pus_3_handler }
|
||||
}
|
||||
|
||||
pub fn create_hk_service_dynamic(
|
||||
tm_funnel_tx: mpsc::Sender<Vec<u8>>,
|
||||
verif_reporter: VerificationReporterWithSender,
|
||||
pus_hk_rx: mpsc::Receiver<EcssTcAndToken>,
|
||||
request_map: HashMap<TargetIdWithApid, mpsc::Sender<RequestWithToken>>,
|
||||
) -> Pus3Wrapper<EcssTcInVecConverter> {
|
||||
let hk_srv_tm_sender = MpscTmAsVecSender::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(
|
||||
Box::new(hk_srv_receiver),
|
||||
Box::new(hk_srv_tm_sender),
|
||||
PUS_APID,
|
||||
verif_reporter.clone(),
|
||||
EcssTcInVecConverter::default(),
|
||||
request_map,
|
||||
);
|
||||
Pus3Wrapper { pus_3_handler }
|
||||
}
|
||||
|
||||
pub struct PusService3HkHandler<TcInMemConverter: EcssTcInMemConverter> {
|
||||
psb: PusServiceHelper<TcInMemConverter>,
|
||||
@ -147,11 +205,11 @@ impl<TcInMemConverter: EcssTcInMemConverter> PusService3HkHandler<TcInMemConvert
|
||||
}
|
||||
}
|
||||
|
||||
pub struct Pus3Wrapper {
|
||||
pub(crate) pus_3_handler: PusService3HkHandler<EcssTcInSharedStoreConverter>,
|
||||
pub struct Pus3Wrapper<TcInMemConverter: EcssTcInMemConverter> {
|
||||
pub(crate) pus_3_handler: PusService3HkHandler<TcInMemConverter>,
|
||||
}
|
||||
|
||||
impl Pus3Wrapper {
|
||||
impl<TcInMemConverter: EcssTcInMemConverter> Pus3Wrapper<TcInMemConverter> {
|
||||
pub fn handle_next_packet(&mut self) -> bool {
|
||||
match self.pus_3_handler.handle_one_tc() {
|
||||
Ok(result) => match result {
|
||||
|
||||
@ -6,13 +6,14 @@ use satrs_core::spacepackets::ecss::tc::PusTcReader;
|
||||
use satrs_core::spacepackets::ecss::PusServiceId;
|
||||
use satrs_core::spacepackets::time::cds::TimeProvider;
|
||||
use satrs_core::spacepackets::time::TimeWriter;
|
||||
use satrs_example::{tmtc_err, CustomPusServiceId};
|
||||
use satrs_example::config::{tmtc_err, CustomPusServiceId};
|
||||
use std::sync::mpsc::Sender;
|
||||
|
||||
pub mod action;
|
||||
pub mod event;
|
||||
pub mod hk;
|
||||
pub mod scheduler;
|
||||
pub mod stack;
|
||||
pub mod test;
|
||||
|
||||
pub struct PusTcMpscRouter {
|
||||
|
||||
@ -1,36 +1,66 @@
|
||||
use crate::tmtc::PusTcSource;
|
||||
use std::sync::mpsc;
|
||||
use std::time::Duration;
|
||||
|
||||
use log::{error, info, warn};
|
||||
use satrs_core::pool::{PoolProviderMemInPlace, StaticMemoryPool};
|
||||
use satrs_core::pool::{PoolProviderMemInPlace, StaticMemoryPool, StoreAddr};
|
||||
use satrs_core::pus::scheduler::{PusScheduler, TcInfo};
|
||||
use satrs_core::pus::scheduler_srv::PusService11SchedHandler;
|
||||
use satrs_core::pus::{EcssTcInSharedStoreConverter, PusPacketHandlerResult};
|
||||
use satrs_core::pus::verification::VerificationReporterWithSender;
|
||||
use satrs_core::pus::{
|
||||
EcssTcAndToken, EcssTcInMemConverter, EcssTcInSharedStoreConverter, EcssTcInVecConverter,
|
||||
MpscTcReceiver, MpscTmAsVecSender, MpscTmInSharedPoolSender, PusPacketHandlerResult,
|
||||
PusServiceHelper,
|
||||
};
|
||||
use satrs_core::tmtc::tm_helper::SharedTmPool;
|
||||
use satrs_core::ChannelId;
|
||||
use satrs_example::config::{TcReceiverId, TmSenderId, PUS_APID};
|
||||
|
||||
pub struct Pus11Wrapper {
|
||||
pub pus_11_handler: PusService11SchedHandler<EcssTcInSharedStoreConverter, PusScheduler>,
|
||||
pub sched_tc_pool: StaticMemoryPool,
|
||||
pub tc_source_wrapper: PusTcSource,
|
||||
use crate::tmtc::PusTcSourceProviderSharedPool;
|
||||
|
||||
pub trait TcReleaser {
|
||||
fn release(&mut self, enabled: bool, info: &TcInfo, tc: &[u8]) -> bool;
|
||||
}
|
||||
|
||||
impl Pus11Wrapper {
|
||||
pub fn release_tcs(&mut self) {
|
||||
let releaser = |enabled: bool, _info: &TcInfo, tc: &[u8]| -> bool {
|
||||
if enabled {
|
||||
// Transfer TC from scheduler TC pool to shared TC pool.
|
||||
let released_tc_addr = self
|
||||
.tc_source_wrapper
|
||||
.tc_store
|
||||
.pool
|
||||
.write()
|
||||
.expect("locking pool failed")
|
||||
.add(tc)
|
||||
.expect("adding TC to shared pool failed");
|
||||
impl TcReleaser for PusTcSourceProviderSharedPool {
|
||||
fn release(&mut self, enabled: bool, _info: &TcInfo, tc: &[u8]) -> bool {
|
||||
if enabled {
|
||||
// Transfer TC from scheduler TC pool to shared TC pool.
|
||||
let released_tc_addr = self
|
||||
.shared_pool
|
||||
.pool
|
||||
.write()
|
||||
.expect("locking pool failed")
|
||||
.add(tc)
|
||||
.expect("adding TC to shared pool failed");
|
||||
self.tc_source
|
||||
.send(released_tc_addr)
|
||||
.expect("sending TC to TC source failed");
|
||||
}
|
||||
true
|
||||
}
|
||||
}
|
||||
|
||||
self.tc_source_wrapper
|
||||
.tc_source
|
||||
.send(released_tc_addr)
|
||||
.expect("sending TC to TC source failed");
|
||||
}
|
||||
true
|
||||
impl TcReleaser for mpsc::Sender<Vec<u8>> {
|
||||
fn release(&mut self, enabled: bool, _info: &TcInfo, tc: &[u8]) -> bool {
|
||||
if enabled {
|
||||
// Send released TC to centralized TC source.
|
||||
self.send(tc.to_vec())
|
||||
.expect("sending TC to TC source failed");
|
||||
}
|
||||
true
|
||||
}
|
||||
}
|
||||
|
||||
pub struct Pus11Wrapper<TcInMemConverter: EcssTcInMemConverter> {
|
||||
pub pus_11_handler: PusService11SchedHandler<TcInMemConverter, PusScheduler>,
|
||||
pub sched_tc_pool: StaticMemoryPool,
|
||||
pub tc_releaser: Box<dyn TcReleaser + Send>,
|
||||
}
|
||||
|
||||
impl<TcInMemConverter: EcssTcInMemConverter> Pus11Wrapper<TcInMemConverter> {
|
||||
pub fn release_tcs(&mut self) {
|
||||
let releaser = |enabled: bool, info: &TcInfo, tc: &[u8]| -> bool {
|
||||
self.tc_releaser.release(enabled, info, tc)
|
||||
};
|
||||
|
||||
self.pus_11_handler
|
||||
@ -71,3 +101,77 @@ impl Pus11Wrapper {
|
||||
false
|
||||
}
|
||||
}
|
||||
|
||||
pub fn create_scheduler_service_static(
|
||||
shared_tm_store: SharedTmPool,
|
||||
tm_funnel_tx: mpsc::Sender<StoreAddr>,
|
||||
verif_reporter: VerificationReporterWithSender,
|
||||
tc_releaser: PusTcSourceProviderSharedPool,
|
||||
pus_sched_rx: mpsc::Receiver<EcssTcAndToken>,
|
||||
sched_tc_pool: StaticMemoryPool,
|
||||
) -> Pus11Wrapper<EcssTcInSharedStoreConverter> {
|
||||
let sched_srv_tm_sender = MpscTmInSharedPoolSender::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,
|
||||
);
|
||||
let scheduler = PusScheduler::new_with_current_init_time(Duration::from_secs(5))
|
||||
.expect("Creating PUS Scheduler failed");
|
||||
let pus_11_handler = PusService11SchedHandler::new(
|
||||
PusServiceHelper::new(
|
||||
Box::new(sched_srv_receiver),
|
||||
Box::new(sched_srv_tm_sender),
|
||||
PUS_APID,
|
||||
verif_reporter.clone(),
|
||||
EcssTcInSharedStoreConverter::new(tc_releaser.clone_backing_pool(), 2048),
|
||||
),
|
||||
scheduler,
|
||||
);
|
||||
Pus11Wrapper {
|
||||
pus_11_handler,
|
||||
sched_tc_pool,
|
||||
tc_releaser: Box::new(tc_releaser),
|
||||
}
|
||||
}
|
||||
|
||||
pub fn create_scheduler_service_dynamic(
|
||||
tm_funnel_tx: mpsc::Sender<Vec<u8>>,
|
||||
verif_reporter: VerificationReporterWithSender,
|
||||
tc_source_sender: mpsc::Sender<Vec<u8>>,
|
||||
pus_sched_rx: mpsc::Receiver<EcssTcAndToken>,
|
||||
sched_tc_pool: StaticMemoryPool,
|
||||
) -> Pus11Wrapper<EcssTcInVecConverter> {
|
||||
let sched_srv_tm_sender = MpscTmAsVecSender::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,
|
||||
);
|
||||
let scheduler = PusScheduler::new_with_current_init_time(Duration::from_secs(5))
|
||||
.expect("Creating PUS Scheduler failed");
|
||||
let pus_11_handler = PusService11SchedHandler::new(
|
||||
PusServiceHelper::new(
|
||||
Box::new(sched_srv_receiver),
|
||||
Box::new(sched_srv_tm_sender),
|
||||
PUS_APID,
|
||||
verif_reporter.clone(),
|
||||
EcssTcInVecConverter::default(),
|
||||
),
|
||||
scheduler,
|
||||
);
|
||||
Pus11Wrapper {
|
||||
pus_11_handler,
|
||||
sched_tc_pool,
|
||||
tc_releaser: Box::new(tc_source_sender),
|
||||
}
|
||||
}
|
||||
|
||||
52
satrs-example/src/pus/stack.rs
Normal file
52
satrs-example/src/pus/stack.rs
Normal file
@ -0,0 +1,52 @@
|
||||
use satrs_core::pus::EcssTcInMemConverter;
|
||||
|
||||
use super::{
|
||||
action::Pus8Wrapper, event::Pus5Wrapper, hk::Pus3Wrapper, scheduler::Pus11Wrapper,
|
||||
test::Service17CustomWrapper,
|
||||
};
|
||||
|
||||
pub struct PusStack<TcInMemConverter: EcssTcInMemConverter> {
|
||||
event_srv: Pus5Wrapper<TcInMemConverter>,
|
||||
hk_srv: Pus3Wrapper<TcInMemConverter>,
|
||||
action_srv: Pus8Wrapper<TcInMemConverter>,
|
||||
schedule_srv: Pus11Wrapper<TcInMemConverter>,
|
||||
test_srv: Service17CustomWrapper<TcInMemConverter>,
|
||||
}
|
||||
|
||||
impl<TcInMemConverter: EcssTcInMemConverter> PusStack<TcInMemConverter> {
|
||||
pub fn new(
|
||||
hk_srv: Pus3Wrapper<TcInMemConverter>,
|
||||
event_srv: Pus5Wrapper<TcInMemConverter>,
|
||||
action_srv: Pus8Wrapper<TcInMemConverter>,
|
||||
schedule_srv: Pus11Wrapper<TcInMemConverter>,
|
||||
test_srv: Service17CustomWrapper<TcInMemConverter>,
|
||||
) -> Self {
|
||||
Self {
|
||||
event_srv,
|
||||
action_srv,
|
||||
schedule_srv,
|
||||
test_srv,
|
||||
hk_srv,
|
||||
}
|
||||
}
|
||||
|
||||
pub fn periodic_operation(&mut self) {
|
||||
self.schedule_srv.release_tcs();
|
||||
loop {
|
||||
let mut all_queues_empty = true;
|
||||
let mut is_srv_finished = |srv_handler_finished: bool| {
|
||||
if !srv_handler_finished {
|
||||
all_queues_empty = 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 {
|
||||
break;
|
||||
}
|
||||
}
|
||||
}
|
||||
}
|
||||
@ -1,22 +1,89 @@
|
||||
use log::{info, warn};
|
||||
use satrs_core::params::Params;
|
||||
use satrs_core::pool::{SharedStaticMemoryPool, StoreAddr};
|
||||
use satrs_core::pus::test::PusService17TestHandler;
|
||||
use satrs_core::pus::verification::FailParams;
|
||||
use satrs_core::pus::{EcssTcInMemConverter, PusPacketHandlerResult};
|
||||
use satrs_core::pus::verification::{FailParams, VerificationReporterWithSender};
|
||||
use satrs_core::pus::{
|
||||
EcssTcAndToken, EcssTcInMemConverter, EcssTcInVecConverter, MpscTcReceiver, MpscTmAsVecSender,
|
||||
MpscTmInSharedPoolSender, PusPacketHandlerResult, PusServiceHelper,
|
||||
};
|
||||
use satrs_core::spacepackets::ecss::tc::PusTcReader;
|
||||
use satrs_core::spacepackets::ecss::PusPacket;
|
||||
use satrs_core::spacepackets::time::cds::TimeProvider;
|
||||
use satrs_core::spacepackets::time::TimeWriter;
|
||||
use satrs_core::tmtc::tm_helper::SharedTmPool;
|
||||
use satrs_core::ChannelId;
|
||||
use satrs_core::{events::EventU32, pus::EcssTcInSharedStoreConverter};
|
||||
use satrs_example::{tmtc_err, TEST_EVENT};
|
||||
use std::sync::mpsc::Sender;
|
||||
use satrs_example::config::{tmtc_err, TcReceiverId, TmSenderId, PUS_APID, TEST_EVENT};
|
||||
use std::sync::mpsc::{self, Sender};
|
||||
|
||||
pub struct Service17CustomWrapper {
|
||||
pub pus17_handler: PusService17TestHandler<EcssTcInSharedStoreConverter>,
|
||||
pub fn create_test_service_static(
|
||||
shared_tm_store: SharedTmPool,
|
||||
tm_funnel_tx: mpsc::Sender<StoreAddr>,
|
||||
verif_reporter: VerificationReporterWithSender,
|
||||
tc_pool: SharedStaticMemoryPool,
|
||||
event_sender: mpsc::Sender<(EventU32, Option<Params>)>,
|
||||
pus_test_rx: mpsc::Receiver<EcssTcAndToken>,
|
||||
) -> Service17CustomWrapper<EcssTcInSharedStoreConverter> {
|
||||
let test_srv_tm_sender = MpscTmInSharedPoolSender::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,
|
||||
);
|
||||
let pus17_handler = PusService17TestHandler::new(PusServiceHelper::new(
|
||||
Box::new(test_srv_receiver),
|
||||
Box::new(test_srv_tm_sender),
|
||||
PUS_APID,
|
||||
verif_reporter.clone(),
|
||||
EcssTcInSharedStoreConverter::new(tc_pool, 2048),
|
||||
));
|
||||
Service17CustomWrapper {
|
||||
pus17_handler,
|
||||
test_srv_event_sender: event_sender,
|
||||
}
|
||||
}
|
||||
|
||||
pub fn create_test_service_dynamic(
|
||||
tm_funnel_tx: mpsc::Sender<Vec<u8>>,
|
||||
verif_reporter: VerificationReporterWithSender,
|
||||
event_sender: mpsc::Sender<(EventU32, Option<Params>)>,
|
||||
pus_test_rx: mpsc::Receiver<EcssTcAndToken>,
|
||||
) -> Service17CustomWrapper<EcssTcInVecConverter> {
|
||||
let test_srv_tm_sender = MpscTmAsVecSender::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,
|
||||
);
|
||||
let pus17_handler = PusService17TestHandler::new(PusServiceHelper::new(
|
||||
Box::new(test_srv_receiver),
|
||||
Box::new(test_srv_tm_sender),
|
||||
PUS_APID,
|
||||
verif_reporter.clone(),
|
||||
EcssTcInVecConverter::default(),
|
||||
));
|
||||
Service17CustomWrapper {
|
||||
pus17_handler,
|
||||
test_srv_event_sender: event_sender,
|
||||
}
|
||||
}
|
||||
|
||||
pub struct Service17CustomWrapper<TcInMemConverter: EcssTcInMemConverter> {
|
||||
pub pus17_handler: PusService17TestHandler<TcInMemConverter>,
|
||||
pub test_srv_event_sender: Sender<(EventU32, Option<Params>)>,
|
||||
}
|
||||
|
||||
impl Service17CustomWrapper {
|
||||
impl<TcInMemConverter: EcssTcInMemConverter> Service17CustomWrapper<TcInMemConverter> {
|
||||
pub fn handle_next_packet(&mut self) -> bool {
|
||||
let res = self.pus17_handler.handle_one_tc();
|
||||
if res.is_err() {
|
||||
|
||||
@ -22,7 +22,7 @@ pub enum Request {
|
||||
|
||||
#[derive(Clone, Eq, PartialEq, Debug, new)]
|
||||
pub struct TargetedRequest {
|
||||
pub(crate) target_id: TargetIdWithApid,
|
||||
pub(crate) target_id_with_apid: TargetIdWithApid,
|
||||
pub(crate) request: Request,
|
||||
}
|
||||
|
||||
|
||||
@ -9,9 +9,7 @@ use satrs_core::{
|
||||
spacepackets::PacketId,
|
||||
tmtc::{CcsdsDistributor, CcsdsError, TmPacketSourceCore},
|
||||
};
|
||||
use satrs_example::PUS_APID;
|
||||
|
||||
use crate::tmtc::MpscStoreAndSendError;
|
||||
use satrs_example::config::PUS_APID;
|
||||
|
||||
pub const PACKET_ID_LOOKUP: &[PacketId] = &[PacketId::const_tc(true, PUS_APID)];
|
||||
|
||||
@ -71,20 +69,20 @@ impl TmPacketSourceCore for SyncTcpTmSource {
|
||||
}
|
||||
}
|
||||
|
||||
pub struct TcpTask {
|
||||
pub struct TcpTask<MpscErrorType: 'static> {
|
||||
server: TcpSpacepacketsServer<
|
||||
(),
|
||||
CcsdsError<MpscStoreAndSendError>,
|
||||
CcsdsError<MpscErrorType>,
|
||||
SyncTcpTmSource,
|
||||
CcsdsDistributor<MpscStoreAndSendError>,
|
||||
CcsdsDistributor<MpscErrorType>,
|
||||
>,
|
||||
}
|
||||
|
||||
impl TcpTask {
|
||||
impl<MpscErrorType: 'static + core::fmt::Debug> TcpTask<MpscErrorType> {
|
||||
pub fn new(
|
||||
cfg: ServerConfig,
|
||||
tm_source: SyncTcpTmSource,
|
||||
tc_receiver: CcsdsDistributor<MpscStoreAndSendError>,
|
||||
tc_receiver: CcsdsDistributor<MpscErrorType>,
|
||||
) -> Result<Self, std::io::Error> {
|
||||
Ok(Self {
|
||||
server: TcpSpacepacketsServer::new(
|
||||
|
||||
145
satrs-example/src/tm_funnel.rs
Normal file
145
satrs-example/src/tm_funnel.rs
Normal file
@ -0,0 +1,145 @@
|
||||
use std::{
|
||||
collections::HashMap,
|
||||
sync::mpsc::{Receiver, Sender},
|
||||
};
|
||||
|
||||
use satrs_core::{
|
||||
pool::{PoolProviderMemInPlace, StoreAddr},
|
||||
seq_count::{CcsdsSimpleSeqCountProvider, SequenceCountProviderCore},
|
||||
spacepackets::{
|
||||
ecss::{tm::PusTmZeroCopyWriter, PusPacket},
|
||||
time::cds::MIN_CDS_FIELD_LEN,
|
||||
CcsdsPacket,
|
||||
},
|
||||
tmtc::tm_helper::SharedTmPool,
|
||||
};
|
||||
|
||||
use crate::tcp::SyncTcpTmSource;
|
||||
|
||||
#[derive(Default)]
|
||||
pub struct CcsdsSeqCounterMap {
|
||||
apid_seq_counter_map: HashMap<u16, CcsdsSimpleSeqCountProvider>,
|
||||
}
|
||||
impl CcsdsSeqCounterMap {
|
||||
pub fn get_and_increment(&mut self, apid: u16) -> u16 {
|
||||
self.apid_seq_counter_map
|
||||
.entry(apid)
|
||||
.or_default()
|
||||
.get_and_increment()
|
||||
}
|
||||
}
|
||||
|
||||
pub struct TmFunnelCommon {
|
||||
seq_counter_map: CcsdsSeqCounterMap,
|
||||
msg_counter_map: HashMap<u8, u16>,
|
||||
sync_tm_tcp_source: SyncTcpTmSource,
|
||||
}
|
||||
|
||||
impl TmFunnelCommon {
|
||||
pub fn new(sync_tm_tcp_source: SyncTcpTmSource) -> Self {
|
||||
Self {
|
||||
seq_counter_map: Default::default(),
|
||||
msg_counter_map: Default::default(),
|
||||
sync_tm_tcp_source,
|
||||
}
|
||||
}
|
||||
|
||||
// Applies common packet processing operations for PUS TM packets. This includes setting
|
||||
// a sequence counter
|
||||
fn apply_packet_processing(&mut self, mut zero_copy_writer: PusTmZeroCopyWriter) {
|
||||
// zero_copy_writer.set_apid(PUS_APID);
|
||||
zero_copy_writer.set_seq_count(
|
||||
self.seq_counter_map
|
||||
.get_and_increment(zero_copy_writer.apid()),
|
||||
);
|
||||
let entry = self
|
||||
.msg_counter_map
|
||||
.entry(zero_copy_writer.service())
|
||||
.or_insert(0);
|
||||
zero_copy_writer.set_msg_count(*entry);
|
||||
if *entry == u16::MAX {
|
||||
*entry = 0;
|
||||
} else {
|
||||
*entry += 1;
|
||||
}
|
||||
|
||||
// This operation has to come last!
|
||||
zero_copy_writer.finish();
|
||||
}
|
||||
}
|
||||
|
||||
pub struct TmFunnelStatic {
|
||||
common: TmFunnelCommon,
|
||||
shared_tm_store: SharedTmPool,
|
||||
tm_funnel_rx: Receiver<StoreAddr>,
|
||||
tm_server_tx: Sender<StoreAddr>,
|
||||
}
|
||||
|
||||
impl TmFunnelStatic {
|
||||
pub fn new(
|
||||
shared_tm_store: SharedTmPool,
|
||||
sync_tm_tcp_source: SyncTcpTmSource,
|
||||
tm_funnel_rx: Receiver<StoreAddr>,
|
||||
tm_server_tx: Sender<StoreAddr>,
|
||||
) -> Self {
|
||||
Self {
|
||||
common: TmFunnelCommon::new(sync_tm_tcp_source),
|
||||
shared_tm_store,
|
||||
tm_funnel_rx,
|
||||
tm_server_tx,
|
||||
}
|
||||
}
|
||||
|
||||
pub fn operation(&mut self) {
|
||||
if let Ok(addr) = 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 tm_raw = pool_guard
|
||||
.modify(&addr)
|
||||
.expect("Reading TM from pool failed");
|
||||
let zero_copy_writer = PusTmZeroCopyWriter::new(tm_raw, MIN_CDS_FIELD_LEN)
|
||||
.expect("Creating TM zero copy writer failed");
|
||||
self.common.apply_packet_processing(zero_copy_writer);
|
||||
self.tm_server_tx
|
||||
.send(addr)
|
||||
.expect("Sending TM to server failed");
|
||||
self.common.sync_tm_tcp_source.add_tm(tm_raw);
|
||||
}
|
||||
}
|
||||
}
|
||||
|
||||
pub struct TmFunnelDynamic {
|
||||
common: TmFunnelCommon,
|
||||
tm_funnel_rx: Receiver<Vec<u8>>,
|
||||
tm_server_tx: Sender<Vec<u8>>,
|
||||
}
|
||||
|
||||
impl TmFunnelDynamic {
|
||||
pub fn new(
|
||||
sync_tm_tcp_source: SyncTcpTmSource,
|
||||
tm_funnel_rx: Receiver<Vec<u8>>,
|
||||
tm_server_tx: Sender<Vec<u8>>,
|
||||
) -> Self {
|
||||
Self {
|
||||
common: TmFunnelCommon::new(sync_tm_tcp_source),
|
||||
tm_funnel_rx,
|
||||
tm_server_tx,
|
||||
}
|
||||
}
|
||||
|
||||
pub fn operation(&mut self) {
|
||||
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)
|
||||
.expect("Creating TM zero copy writer failed");
|
||||
self.common.apply_packet_processing(zero_copy_writer);
|
||||
self.tm_server_tx
|
||||
.send(tm.clone())
|
||||
.expect("Sending TM to server failed");
|
||||
self.common.sync_tm_tcp_source.add_tm(&tm);
|
||||
}
|
||||
}
|
||||
}
|
||||
@ -1,34 +1,15 @@
|
||||
use log::warn;
|
||||
use satrs_core::pus::{EcssTcAndToken, ReceivesEcssPusTc};
|
||||
use satrs_core::spacepackets::SpHeader;
|
||||
use std::sync::mpsc::{Receiver, SendError, Sender, TryRecvError};
|
||||
use std::sync::mpsc::{self, Receiver, SendError, Sender, TryRecvError};
|
||||
use thiserror::Error;
|
||||
|
||||
use crate::pus::PusReceiver;
|
||||
use satrs_core::pool::{PoolProviderMemInPlace, SharedStaticMemoryPool, StoreAddr, StoreError};
|
||||
use satrs_core::spacepackets::ecss::tc::PusTcReader;
|
||||
use satrs_core::spacepackets::ecss::PusPacket;
|
||||
use satrs_core::tmtc::tm_helper::SharedTmStore;
|
||||
use satrs_core::tmtc::ReceivesCcsdsTc;
|
||||
|
||||
pub struct TmArgs {
|
||||
pub tm_store: SharedTmStore,
|
||||
pub tm_sink_sender: Sender<StoreAddr>,
|
||||
pub tm_udp_server_rx: Receiver<StoreAddr>,
|
||||
}
|
||||
|
||||
pub struct TcArgs {
|
||||
pub tc_source: PusTcSource,
|
||||
pub tc_receiver: Receiver<StoreAddr>,
|
||||
}
|
||||
|
||||
impl TcArgs {
|
||||
#[allow(dead_code)]
|
||||
fn split(self) -> (PusTcSource, Receiver<StoreAddr>) {
|
||||
(self.tc_source, self.tc_receiver)
|
||||
}
|
||||
}
|
||||
|
||||
#[derive(Debug, Clone, PartialEq, Eq, Error)]
|
||||
pub enum MpscStoreAndSendError {
|
||||
#[error("Store error: {0}")]
|
||||
@ -40,11 +21,11 @@ pub enum MpscStoreAndSendError {
|
||||
}
|
||||
|
||||
#[derive(Clone)]
|
||||
pub struct TcStore {
|
||||
pub struct SharedTcPool {
|
||||
pub pool: SharedStaticMemoryPool,
|
||||
}
|
||||
|
||||
impl TcStore {
|
||||
impl SharedTcPool {
|
||||
pub fn add_pus_tc(&mut self, pus_tc: &PusTcReader) -> Result<StoreAddr, StoreError> {
|
||||
let mut pg = self.pool.write().expect("error locking TC store");
|
||||
let (addr, buf) = pg.free_element(pus_tc.len_packed())?;
|
||||
@ -53,32 +34,34 @@ impl TcStore {
|
||||
}
|
||||
}
|
||||
|
||||
pub struct TmFunnel {
|
||||
pub tm_funnel_rx: Receiver<StoreAddr>,
|
||||
pub tm_server_tx: Sender<StoreAddr>,
|
||||
}
|
||||
|
||||
#[derive(Clone)]
|
||||
pub struct PusTcSource {
|
||||
pub struct PusTcSourceProviderSharedPool {
|
||||
pub tc_source: Sender<StoreAddr>,
|
||||
pub tc_store: TcStore,
|
||||
pub shared_pool: SharedTcPool,
|
||||
}
|
||||
|
||||
impl ReceivesEcssPusTc for PusTcSource {
|
||||
impl PusTcSourceProviderSharedPool {
|
||||
#[allow(dead_code)]
|
||||
pub fn clone_backing_pool(&self) -> SharedStaticMemoryPool {
|
||||
self.shared_pool.pool.clone()
|
||||
}
|
||||
}
|
||||
|
||||
impl ReceivesEcssPusTc for PusTcSourceProviderSharedPool {
|
||||
type Error = MpscStoreAndSendError;
|
||||
|
||||
fn pass_pus_tc(&mut self, _: &SpHeader, pus_tc: &PusTcReader) -> Result<(), Self::Error> {
|
||||
let addr = self.tc_store.add_pus_tc(pus_tc)?;
|
||||
let addr = self.shared_pool.add_pus_tc(pus_tc)?;
|
||||
self.tc_source.send(addr)?;
|
||||
Ok(())
|
||||
}
|
||||
}
|
||||
|
||||
impl ReceivesCcsdsTc for PusTcSource {
|
||||
impl ReceivesCcsdsTc for PusTcSourceProviderSharedPool {
|
||||
type Error = MpscStoreAndSendError;
|
||||
|
||||
fn pass_ccsds(&mut self, _: &SpHeader, tc_raw: &[u8]) -> Result<(), Self::Error> {
|
||||
let mut pool = self.tc_store.pool.write().expect("locking pool failed");
|
||||
let mut pool = self.shared_pool.pool.write().expect("locking pool failed");
|
||||
let addr = pool.add(tc_raw)?;
|
||||
drop(pool);
|
||||
self.tc_source.send(addr)?;
|
||||
@ -86,16 +69,45 @@ impl ReceivesCcsdsTc for PusTcSource {
|
||||
}
|
||||
}
|
||||
|
||||
pub struct TmtcTask {
|
||||
tc_args: TcArgs,
|
||||
// Newtype, can not implement necessary traits on MPSC sender directly because of orphan rules.
|
||||
#[derive(Clone)]
|
||||
pub struct PusTcSourceProviderDynamic(pub Sender<Vec<u8>>);
|
||||
|
||||
impl ReceivesEcssPusTc for PusTcSourceProviderDynamic {
|
||||
type Error = SendError<Vec<u8>>;
|
||||
|
||||
fn pass_pus_tc(&mut self, _: &SpHeader, pus_tc: &PusTcReader) -> Result<(), Self::Error> {
|
||||
self.0.send(pus_tc.raw_data().to_vec())?;
|
||||
Ok(())
|
||||
}
|
||||
}
|
||||
|
||||
impl ReceivesCcsdsTc for PusTcSourceProviderDynamic {
|
||||
type Error = mpsc::SendError<Vec<u8>>;
|
||||
|
||||
fn pass_ccsds(&mut self, _: &SpHeader, tc_raw: &[u8]) -> Result<(), Self::Error> {
|
||||
self.0.send(tc_raw.to_vec())?;
|
||||
Ok(())
|
||||
}
|
||||
}
|
||||
|
||||
// TC source components where static pools are the backing memory of the received telecommands.
|
||||
pub struct TcSourceTaskStatic {
|
||||
shared_tc_pool: SharedTcPool,
|
||||
tc_receiver: Receiver<StoreAddr>,
|
||||
tc_buf: [u8; 4096],
|
||||
pus_receiver: PusReceiver,
|
||||
}
|
||||
|
||||
impl TmtcTask {
|
||||
pub fn new(tc_args: TcArgs, pus_receiver: PusReceiver) -> Self {
|
||||
impl TcSourceTaskStatic {
|
||||
pub fn new(
|
||||
shared_tc_pool: SharedTcPool,
|
||||
tc_receiver: Receiver<StoreAddr>,
|
||||
pus_receiver: PusReceiver,
|
||||
) -> Self {
|
||||
Self {
|
||||
tc_args,
|
||||
shared_tc_pool,
|
||||
tc_receiver,
|
||||
tc_buf: [0; 4096],
|
||||
pus_receiver,
|
||||
}
|
||||
@ -106,12 +118,10 @@ impl TmtcTask {
|
||||
}
|
||||
|
||||
pub fn poll_tc(&mut self) -> bool {
|
||||
match self.tc_args.tc_receiver.try_recv() {
|
||||
match self.tc_receiver.try_recv() {
|
||||
Ok(addr) => {
|
||||
let pool = self
|
||||
.tc_args
|
||||
.tc_source
|
||||
.tc_store
|
||||
.shared_tc_pool
|
||||
.pool
|
||||
.read()
|
||||
.expect("locking tc pool failed");
|
||||
@ -146,3 +156,51 @@ impl TmtcTask {
|
||||
}
|
||||
}
|
||||
}
|
||||
|
||||
// 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,
|
||||
}
|
||||
|
||||
impl TcSourceTaskDynamic {
|
||||
pub fn new(tc_receiver: Receiver<Vec<u8>>, pus_receiver: PusReceiver) -> Self {
|
||||
Self {
|
||||
tc_receiver,
|
||||
pus_receiver,
|
||||
}
|
||||
}
|
||||
|
||||
pub fn periodic_operation(&mut self) {
|
||||
self.poll_tc();
|
||||
}
|
||||
|
||||
pub fn poll_tc(&mut self) -> bool {
|
||||
match self.tc_receiver.try_recv() {
|
||||
Ok(tc) => match PusTcReader::new(&tc) {
|
||||
Ok((pus_tc, _)) => {
|
||||
self.pus_receiver
|
||||
.handle_tc_packet(
|
||||
satrs_core::pus::TcInMemory::Vec(tc.clone()),
|
||||
pus_tc.service(),
|
||||
&pus_tc,
|
||||
)
|
||||
.ok();
|
||||
true
|
||||
}
|
||||
Err(e) => {
|
||||
warn!("error creating PUS TC from raw data: {e}");
|
||||
warn!("raw data: {:x?}", tc);
|
||||
true
|
||||
}
|
||||
},
|
||||
Err(e) => match e {
|
||||
TryRecvError::Empty => false,
|
||||
TryRecvError::Disconnected => {
|
||||
warn!("tmtc thread: sender disconnected");
|
||||
false
|
||||
}
|
||||
},
|
||||
}
|
||||
}
|
||||
}
|
||||
|
||||
@ -1,4 +1,7 @@
|
||||
use std::{net::SocketAddr, sync::mpsc::Receiver};
|
||||
use std::{
|
||||
net::{SocketAddr, UdpSocket},
|
||||
sync::mpsc::Receiver,
|
||||
};
|
||||
|
||||
use log::{info, warn};
|
||||
use satrs_core::{
|
||||
@ -7,45 +10,17 @@ use satrs_core::{
|
||||
tmtc::CcsdsError,
|
||||
};
|
||||
|
||||
use crate::tmtc::MpscStoreAndSendError;
|
||||
pub trait UdpTmHandler {
|
||||
fn send_tm_to_udp_client(&mut self, socket: &UdpSocket, recv_addr: &SocketAddr);
|
||||
}
|
||||
|
||||
pub struct UdpTmtcServer {
|
||||
pub udp_tc_server: UdpTcServer<CcsdsError<MpscStoreAndSendError>>,
|
||||
pub struct StaticUdpTmHandler {
|
||||
pub tm_rx: Receiver<StoreAddr>,
|
||||
pub tm_store: SharedStaticMemoryPool,
|
||||
}
|
||||
impl UdpTmtcServer {
|
||||
pub fn periodic_operation(&mut self) {
|
||||
while self.poll_tc_server() {}
|
||||
if let Some(recv_addr) = self.udp_tc_server.last_sender() {
|
||||
self.send_tm_to_udp_client(&recv_addr);
|
||||
}
|
||||
}
|
||||
|
||||
fn poll_tc_server(&mut self) -> bool {
|
||||
match self.udp_tc_server.try_recv_tc() {
|
||||
Ok(_) => true,
|
||||
Err(e) => match e {
|
||||
ReceiveResult::ReceiverError(e) => match e {
|
||||
CcsdsError::ByteConversionError(e) => {
|
||||
warn!("packet error: {e:?}");
|
||||
true
|
||||
}
|
||||
CcsdsError::CustomError(e) => {
|
||||
warn!("mpsc store and send error {e:?}");
|
||||
true
|
||||
}
|
||||
},
|
||||
ReceiveResult::IoError(e) => {
|
||||
warn!("IO error {e}");
|
||||
false
|
||||
}
|
||||
ReceiveResult::NothingReceived => false,
|
||||
},
|
||||
}
|
||||
}
|
||||
|
||||
fn send_tm_to_udp_client(&mut self, recv_addr: &SocketAddr) {
|
||||
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() {
|
||||
let store_lock = self.tm_store.write();
|
||||
if store_lock.is_err() {
|
||||
@ -67,10 +42,181 @@ impl UdpTmtcServer {
|
||||
} else {
|
||||
info!("Sending PUS TM");
|
||||
}
|
||||
let result = self.udp_tc_server.socket.send_to(buf, recv_addr);
|
||||
let result = socket.send_to(buf, recv_addr);
|
||||
if let Err(e) = result {
|
||||
warn!("Sending TM with UDP socket failed: {e}")
|
||||
}
|
||||
}
|
||||
}
|
||||
}
|
||||
|
||||
pub struct DynamicUdpTmHandler {
|
||||
pub tm_rx: Receiver<Vec<u8>>,
|
||||
}
|
||||
|
||||
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];
|
||||
info!("Sending PUS TM[{service},{subservice}]")
|
||||
} else {
|
||||
info!("Sending PUS TM");
|
||||
}
|
||||
let result = socket.send_to(&tm, recv_addr);
|
||||
if let Err(e) = result {
|
||||
warn!("Sending TM with UDP socket failed: {e}")
|
||||
}
|
||||
}
|
||||
}
|
||||
}
|
||||
|
||||
pub struct UdpTmtcServer<TmHandler: UdpTmHandler, SendError> {
|
||||
pub udp_tc_server: UdpTcServer<CcsdsError<SendError>>,
|
||||
pub tm_handler: TmHandler,
|
||||
}
|
||||
|
||||
impl<TmHandler: UdpTmHandler, SendError: core::fmt::Debug + 'static>
|
||||
UdpTmtcServer<TmHandler, SendError>
|
||||
{
|
||||
pub fn periodic_operation(&mut self) {
|
||||
while self.poll_tc_server() {}
|
||||
if let Some(recv_addr) = self.udp_tc_server.last_sender() {
|
||||
self.tm_handler
|
||||
.send_tm_to_udp_client(&self.udp_tc_server.socket, &recv_addr);
|
||||
}
|
||||
}
|
||||
|
||||
fn poll_tc_server(&mut self) -> bool {
|
||||
match self.udp_tc_server.try_recv_tc() {
|
||||
Ok(_) => true,
|
||||
Err(e) => match e {
|
||||
ReceiveResult::ReceiverError(e) => match e {
|
||||
CcsdsError::ByteConversionError(e) => {
|
||||
warn!("packet error: {e:?}");
|
||||
true
|
||||
}
|
||||
CcsdsError::CustomError(e) => {
|
||||
warn!("mpsc custom error {e:?}");
|
||||
true
|
||||
}
|
||||
},
|
||||
ReceiveResult::IoError(e) => {
|
||||
warn!("IO error {e}");
|
||||
false
|
||||
}
|
||||
ReceiveResult::NothingReceived => false,
|
||||
},
|
||||
}
|
||||
}
|
||||
}
|
||||
|
||||
#[cfg(test)]
|
||||
mod tests {
|
||||
use std::{
|
||||
collections::VecDeque,
|
||||
net::IpAddr,
|
||||
sync::{Arc, Mutex},
|
||||
};
|
||||
|
||||
use satrs_core::{
|
||||
spacepackets::{
|
||||
ecss::{tc::PusTcCreator, WritablePusPacket},
|
||||
SpHeader,
|
||||
},
|
||||
tmtc::ReceivesTcCore,
|
||||
};
|
||||
use satrs_example::config::{OBSW_SERVER_ADDR, PUS_APID};
|
||||
|
||||
use super::*;
|
||||
|
||||
#[derive(Default, Debug, Clone)]
|
||||
pub struct TestReceiver {
|
||||
tc_vec: Arc<Mutex<VecDeque<Vec<u8>>>>,
|
||||
}
|
||||
|
||||
impl ReceivesTcCore for TestReceiver {
|
||||
type Error = CcsdsError<()>;
|
||||
fn pass_tc(&mut self, tc_raw: &[u8]) -> Result<(), Self::Error> {
|
||||
self.tc_vec.lock().unwrap().push_back(tc_raw.to_vec());
|
||||
Ok(())
|
||||
}
|
||||
}
|
||||
|
||||
#[derive(Default, Debug, Clone)]
|
||||
pub struct TestTmHandler {
|
||||
addrs_to_send_to: Arc<Mutex<VecDeque<SocketAddr>>>,
|
||||
}
|
||||
|
||||
impl UdpTmHandler for TestTmHandler {
|
||||
fn send_tm_to_udp_client(&mut self, _socket: &UdpSocket, recv_addr: &SocketAddr) {
|
||||
self.addrs_to_send_to.lock().unwrap().push_back(*recv_addr);
|
||||
}
|
||||
}
|
||||
|
||||
#[test]
|
||||
fn test_basic() {
|
||||
let sock_addr = SocketAddr::new(IpAddr::V4(OBSW_SERVER_ADDR), 0);
|
||||
let test_receiver = TestReceiver::default();
|
||||
let tc_queue = test_receiver.tc_vec.clone();
|
||||
let udp_tc_server = UdpTcServer::new(sock_addr, 2048, Box::new(test_receiver)).unwrap();
|
||||
let tm_handler = TestTmHandler::default();
|
||||
let tm_handler_calls = tm_handler.addrs_to_send_to.clone();
|
||||
let mut udp_dyn_server = UdpTmtcServer {
|
||||
udp_tc_server,
|
||||
tm_handler,
|
||||
};
|
||||
udp_dyn_server.periodic_operation();
|
||||
assert!(tc_queue.lock().unwrap().is_empty());
|
||||
assert!(tm_handler_calls.lock().unwrap().is_empty());
|
||||
}
|
||||
|
||||
#[test]
|
||||
fn test_transactions() {
|
||||
let sock_addr = SocketAddr::new(IpAddr::V4(OBSW_SERVER_ADDR), 0);
|
||||
let test_receiver = TestReceiver::default();
|
||||
let tc_queue = test_receiver.tc_vec.clone();
|
||||
let udp_tc_server = UdpTcServer::new(sock_addr, 2048, Box::new(test_receiver)).unwrap();
|
||||
let server_addr = udp_tc_server.socket.local_addr().unwrap();
|
||||
let tm_handler = TestTmHandler::default();
|
||||
let tm_handler_calls = tm_handler.addrs_to_send_to.clone();
|
||||
let mut udp_dyn_server = UdpTmtcServer {
|
||||
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)
|
||||
.to_vec()
|
||||
.unwrap();
|
||||
let client = UdpSocket::bind("127.0.0.1:0").expect("Connecting to UDP server failed");
|
||||
let client_addr = client.local_addr().unwrap();
|
||||
client.connect(server_addr).unwrap();
|
||||
client.send(&ping_tc).unwrap();
|
||||
udp_dyn_server.periodic_operation();
|
||||
{
|
||||
let mut tc_queue = tc_queue.lock().unwrap();
|
||||
assert!(!tc_queue.is_empty());
|
||||
let received_tc = tc_queue.pop_front().unwrap();
|
||||
assert_eq!(received_tc, ping_tc);
|
||||
}
|
||||
|
||||
{
|
||||
let mut tm_handler_calls = tm_handler_calls.lock().unwrap();
|
||||
assert!(!tm_handler_calls.is_empty());
|
||||
assert_eq!(tm_handler_calls.len(), 1);
|
||||
let received_addr = tm_handler_calls.pop_front().unwrap();
|
||||
assert_eq!(received_addr, client_addr);
|
||||
}
|
||||
udp_dyn_server.periodic_operation();
|
||||
assert!(tc_queue.lock().unwrap().is_empty());
|
||||
// Still tries to send to the same client.
|
||||
{
|
||||
let mut tm_handler_calls = tm_handler_calls.lock().unwrap();
|
||||
assert!(!tm_handler_calls.is_empty());
|
||||
assert_eq!(tm_handler_calls.len(), 1);
|
||||
let received_addr = tm_handler_calls.pop_front().unwrap();
|
||||
assert_eq!(received_addr, client_addr);
|
||||
}
|
||||
}
|
||||
}
|
||||
|
||||
Reference in New Issue
Block a user