add health module

Reviewed-on: #215

3

@@ -0,0 +1,85 @@
+use spacepackets::ecss::tm::{PusTmCreator, PusTmSecondaryHeader};
+use spacepackets::time::cds::CdsTime;
+use spacepackets::time::TimeWriter;
+use spacepackets::SpHeader;
+
+pub struct PusTmWithCdsShortHelper {
+    apid: u16,
+    cds_short_buf: [u8; 7],
+}
+
+impl PusTmWithCdsShortHelper {
+    pub fn new(apid: u16) -> Self {
+        Self {
+            apid,
+            cds_short_buf: [0; 7],
+        }
+    }
+
+    #[cfg(feature = "std")]
+    pub fn create_pus_tm_timestamp_now<'data>(
+        &mut self,
+        service: u8,
+        subservice: u8,
+        source_data: &'data [u8],
+        seq_count: u16,
+    ) -> PusTmCreator<'_, 'data> {
+        let time_stamp = CdsTime::now_with_u16_days().unwrap();
+        time_stamp.write_to_bytes(&mut self.cds_short_buf).unwrap();
+        self.create_pus_tm_common(service, subservice, source_data, seq_count)
+    }
+
+    pub fn create_pus_tm_with_stamper<'data>(
+        &mut self,
+        service: u8,
+        subservice: u8,
+        source_data: &'data [u8],
+        stamper: &CdsTime,
+        seq_count: u16,
+    ) -> PusTmCreator<'_, 'data> {
+        stamper.write_to_bytes(&mut self.cds_short_buf).unwrap();
+        self.create_pus_tm_common(service, subservice, source_data, seq_count)
+    }
+
+    fn create_pus_tm_common<'data>(
+        &self,
+        service: u8,
+        subservice: u8,
+        source_data: &'data [u8],
+        seq_count: u16,
+    ) -> PusTmCreator<'_, 'data> {
+        let reply_header = SpHeader::new_for_unseg_tm(self.apid, seq_count, 0);
+        let tc_header = PusTmSecondaryHeader::new_simple(service, subservice, &self.cds_short_buf);
+        PusTmCreator::new(reply_header, tc_header, source_data, true)
+    }
+}
+
+#[cfg(test)]
+mod tests {
+    use spacepackets::{ecss::PusPacket, time::cds::CdsTime, CcsdsPacket};
+
+    use super::PusTmWithCdsShortHelper;
+
+    #[test]
+    fn test_helper_with_stamper() {
+        let mut pus_tm_helper = PusTmWithCdsShortHelper::new(0x123);
+        let stamper = CdsTime::new_with_u16_days(0, 0);
+        let tm = pus_tm_helper.create_pus_tm_with_stamper(17, 1, &[1, 2, 3, 4], &stamper, 25);
+        assert_eq!(tm.service(), 17);
+        assert_eq!(tm.subservice(), 1);
+        assert_eq!(tm.user_data(), &[1, 2, 3, 4]);
+        assert_eq!(tm.seq_count(), 25);
+        assert_eq!(tm.timestamp(), [64, 0, 0, 0, 0, 0, 0])
+    }
+
+    #[test]
+    fn test_helper_from_now() {
+        let mut pus_tm_helper = PusTmWithCdsShortHelper::new(0x123);
+        let tm = pus_tm_helper.create_pus_tm_timestamp_now(17, 1, &[1, 2, 3, 4], 25);
+        assert_eq!(tm.service(), 17);
+        assert_eq!(tm.subservice(), 1);
+        assert_eq!(tm.user_data(), &[1, 2, 3, 4]);
+        assert_eq!(tm.seq_count(), 25);
+        assert_eq!(tm.timestamp().len(), 7);
+    }
+}

satrs-example/pytmtc/main.py

@@ -1,5 +1,6 @@
 #!/usr/bin/env python3
 """Example client for the sat-rs example application"""
+
 import logging
 import sys
 import time

satrs-example/pytmtc/pyproject.toml

@@ -12,7 +12,7 @@ authors = [
   {name = "Robin Mueller", email = "robin.mueller.m@gmail.com"},
 ]
 dependencies = [
-    "tmtccmd~=8.0",
+    "tmtccmd~=8.1",
     "pydantic~=2.7"
 ]
 

satrs-example/pytmtc/pytmtc/acs/__init__.py

@@ -0,0 +1,11 @@
+from tmtccmd.config import CmdTreeNode
+
+
+def create_acs_node(mode_node: CmdTreeNode, hk_node: CmdTreeNode) -> CmdTreeNode:
+    acs_node = CmdTreeNode("acs", "ACS Subsystem Node")
+    mgm_node = CmdTreeNode("mgms", "MGM devices node")
+    mgm_node.add_child(mode_node)
+    mgm_node.add_child(hk_node)
+
+    acs_node.add_child(mgm_node)
+    return acs_node

satrs-example/pytmtc/pytmtc/config.py

@@ -12,7 +12,7 @@ from pytmtc.pus_tc import create_cmd_definition_tree
 
 class SatrsConfigHook(HookBase):
     def __init__(self, json_cfg_path: str):
-        super().__init__(json_cfg_path=json_cfg_path)
+        super().__init__(json_cfg_path)
 
     def get_communication_interface(self, com_if_key: str) -> Optional[ComInterface]:
         from tmtccmd.config.com import (

satrs-example/pytmtc/pytmtc/hk.py

@@ -4,7 +4,7 @@ from spacepackets.ecss.pus_3_hk import Subservice
 from spacepackets.ecss import PusTm
 
 from pytmtc.common import AcsId, Apid
-from pytmtc.mgms import handle_mgm_hk_report
+from pytmtc.acs.mgms import handle_mgm_hk_report
 
 
 _LOGGER = logging.getLogger(__name__)

satrs-example/pytmtc/pytmtc/pus_tc.py

@@ -17,8 +17,9 @@ from tmtccmd.tmtc import (
 )
 from tmtccmd.pus.s11_tc_sched import create_time_tagged_cmd
 
+from pytmtc.acs import create_acs_node
 from pytmtc.common import Apid
-from pytmtc.mgms import create_mgm_cmds
+from pytmtc.acs.mgms import create_mgm_cmds
 
 _LOGGER = logging.getLogger(__name__)
 
@@ -67,7 +68,6 @@ class TcHandler(TcHandlerBase):
 
 
 def create_cmd_definition_tree() -> CmdTreeNode:
-
     root_node = CmdTreeNode.root_node()
 
     hk_node = CmdTreeNode("hk", "Housekeeping Node", hide_children_for_print=True)
@@ -101,15 +101,7 @@ def create_cmd_definition_tree() -> CmdTreeNode:
         )
     )
     root_node.add_child(scheduler_node)
-
+    root_node.add_child(create_acs_node(mode_node, hk_node))
-    acs_node = CmdTreeNode("acs", "ACS Subsystem Node")
-    mgm_node = CmdTreeNode("mgms", "MGM devices node")
-    mgm_node.add_child(mode_node)
-    mgm_node.add_child(hk_node)
-
-    acs_node.add_child(mgm_node)
-    root_node.add_child(acs_node)
-
     return root_node
 
 

satrs-minisim/Cargo.toml

@@ -14,12 +14,10 @@ fern = "0.7"
 strum = { version = "0.26", features = ["derive"] }
 num_enum = "0.7"
 humantime = "2"
+tai-time = { version = "0.3", features = ["serde"] }
 
-[dependencies.asynchronix]
+[dependencies.nexosim]
-version = "0.2.2"
+version = "0.3.1"
-# git = "https://github.com/asynchronics/asynchronix.git"
-# branch = "main"
-features = ["serde"]
 
 [dependencies.satrs]
 path = "../satrs"

satrs-minisim/src/acs.rs

@@ -1,8 +1,8 @@
 use std::{f32::consts::PI, sync::mpsc, time::Duration};
 
-use asynchronix::{
+use nexosim::{
-    model::{Model, Output},
+    model::{Context, Model},
-    time::Scheduler,
+    ports::Output,
 };
 use satrs::power::SwitchStateBinary;
 use satrs_minisim::{
@@ -55,7 +55,7 @@ impl<ReplyProvider: MgmReplyProvider> MagnetometerModel<ReplyProvider> {
         self.switch_state = switch_state;
     }
 
-    pub async fn send_sensor_values(&mut self, _: (), scheduler: &Scheduler<Self>) {
+    pub async fn send_sensor_values(&mut self, _: (), scheduler: &mut Context<Self>) {
         self.reply_sender
             .send(ReplyProvider::create_mgm_reply(MgmReplyCommon {
                 switch_state: self.switch_state,
@@ -114,11 +114,11 @@ impl MagnetorquerModel {
     pub async fn apply_torque(
         &mut self,
         duration_and_dipole: (Duration, MgtDipole),
-        scheduler: &Scheduler<Self>,
+        cx: &mut Context<Self>,
     ) {
         self.torque_dipole = duration_and_dipole.1;
         self.torquing = true;
-        if scheduler
+        if cx
             .schedule_event(duration_and_dipole.0, Self::clear_torque, ())
             .is_err()
         {
@@ -138,12 +138,11 @@ impl MagnetorquerModel {
         self.generate_magnetic_field(()).await;
     }
 
-    pub async fn request_housekeeping_data(&mut self, _: (), scheduler: &Scheduler<Self>) {
+    pub async fn request_housekeeping_data(&mut self, _: (), cx: &mut Context<Self>) {
         if self.switch_state != SwitchStateBinary::On {
             return;
         }
-        scheduler
+        cx.schedule_event(Duration::from_millis(15), Self::send_housekeeping_data, ())
-            .schedule_event(Duration::from_millis(15), Self::send_housekeeping_data, ())
             .expect("requesting housekeeping data failed")
     }
 
@@ -200,7 +199,7 @@ pub mod tests {
             .send_request(request)
             .expect("sending MGM request failed");
         sim_testbench.handle_sim_requests_time_agnostic();
-        sim_testbench.step();
+        sim_testbench.step().unwrap();
         let sim_reply = sim_testbench.try_receive_next_reply();
         assert!(sim_reply.is_some());
         let sim_reply = sim_reply.unwrap();
@@ -223,21 +222,21 @@ pub mod tests {
             .send_request(request)
             .expect("sending MGM request failed");
         sim_testbench.handle_sim_requests_time_agnostic();
-        sim_testbench.step();
+        sim_testbench.step().unwrap();
         let mut sim_reply_res = sim_testbench.try_receive_next_reply();
         assert!(sim_reply_res.is_some());
         let mut sim_reply = sim_reply_res.unwrap();
         assert_eq!(sim_reply.component(), SimComponent::MgmLis3Mdl);
         let first_reply = MgmLis3MdlReply::from_sim_message(&sim_reply)
             .expect("failed to deserialize MGM sensor values");
-        sim_testbench.step_by(Duration::from_millis(50));
+        sim_testbench.step_until(Duration::from_millis(50)).unwrap();
 
         request = SimRequest::new_with_epoch_time(MgmRequestLis3Mdl::RequestSensorData);
         sim_testbench
             .send_request(request)
             .expect("sending MGM request failed");
         sim_testbench.handle_sim_requests_time_agnostic();
-        sim_testbench.step();
+        sim_testbench.step().unwrap();
         sim_reply_res = sim_testbench.try_receive_next_reply();
         assert!(sim_reply_res.is_some());
         sim_reply = sim_reply_res.unwrap();
@@ -272,7 +271,7 @@ pub mod tests {
             .send_request(request)
             .expect("sending MGM request failed");
         sim_testbench.handle_sim_requests_time_agnostic();
-        sim_testbench.step();
+        sim_testbench.step().unwrap();
         let sim_reply_res = sim_testbench.try_receive_next_reply();
         assert!(sim_reply_res.is_none());
     }
@@ -287,7 +286,7 @@ pub mod tests {
             .send_request(request)
             .expect("sending MGM request failed");
         sim_testbench.handle_sim_requests_time_agnostic();
-        sim_testbench.step();
+        sim_testbench.step().unwrap();
         let sim_reply_res = sim_testbench.try_receive_next_reply();
         assert!(sim_reply_res.is_some());
         let sim_reply = sim_reply_res.unwrap();
@@ -308,7 +307,7 @@ pub mod tests {
             .send_request(request)
             .expect("sending MGM request failed");
         sim_testbench.handle_sim_requests_time_agnostic();
-        sim_testbench.step();
+        sim_testbench.step().unwrap();
         let sim_reply_res = sim_testbench.try_receive_next_reply();
         assert!(sim_reply_res.is_some());
         let sim_reply = sim_reply_res.unwrap();
@@ -339,7 +338,7 @@ pub mod tests {
             .send_request(request)
             .expect("sending MGM request failed");
         sim_testbench.handle_sim_requests_time_agnostic();
-        sim_testbench.step_by(Duration::from_millis(5));
+        sim_testbench.step_until(Duration::from_millis(5)).unwrap();
 
         check_mgt_hk(
             &mut sim_testbench,
@@ -348,7 +347,9 @@ pub mod tests {
                 torquing: true,
             },
         );
-        sim_testbench.step_by(Duration::from_millis(100));
+        sim_testbench
+            .step_until(Duration::from_millis(100))
+            .unwrap();
         check_mgt_hk(
             &mut sim_testbench,
             MgtHkSet {

satrs-minisim/src/controller.rs

@@ -1,7 +1,7 @@
 use std::{sync::mpsc, time::Duration};
 
-use asynchronix::{
+use nexosim::{
-    simulation::{Address, Simulation},
+    simulation::{Address, Scheduler, Simulation},
     time::{Clock, MonotonicTime, SystemClock},
 };
 use satrs_minisim::{
@@ -23,35 +23,52 @@ const MGM_REQ_WIRETAPPING: bool = false;
 const PCDU_REQ_WIRETAPPING: bool = false;
 const MGT_REQ_WIRETAPPING: bool = false;
 
+pub struct ModelAddrWrapper {
+    mgm_addr: Address<MagnetometerModel<MgmLis3MdlReply>>,
+    pcdu_addr: Address<PcduModel>,
+    mgt_addr: Address<MagnetorquerModel>,
+}
+
 // The simulation controller processes requests and drives the simulation.
+#[allow(dead_code)]
 pub struct SimController {
     pub sys_clock: SystemClock,
     pub request_receiver: mpsc::Receiver<SimRequest>,
     pub reply_sender: mpsc::Sender<SimReply>,
     pub simulation: Simulation,
-    pub mgm_addr: Address<MagnetometerModel<MgmLis3MdlReply>>,
+    pub scheduler: Scheduler,
-    pub pcdu_addr: Address<PcduModel>,
+    pub addr_wrapper: ModelAddrWrapper,
-    pub mgt_addr: Address<MagnetorquerModel>,
 }
 
+impl ModelAddrWrapper {
+    pub fn new(
+        mgm_addr: Address<MagnetometerModel<MgmLis3MdlReply>>,
+        pcdu_addr: Address<PcduModel>,
+        mgt_addr: Address<MagnetorquerModel>,
+    ) -> Self {
+        Self {
+            mgm_addr,
+            pcdu_addr,
+            mgt_addr,
+        }
+    }
+}
 impl SimController {
     pub fn new(
         sys_clock: SystemClock,
         request_receiver: mpsc::Receiver<SimRequest>,
         reply_sender: mpsc::Sender<SimReply>,
         simulation: Simulation,
-        mgm_addr: Address<MagnetometerModel<MgmLis3MdlReply>>,
+        scheduler: Scheduler,
-        pcdu_addr: Address<PcduModel>,
+        addr_wrapper: ModelAddrWrapper,
-        mgt_addr: Address<MagnetorquerModel>,
     ) -> Self {
         Self {
             sys_clock,
             request_receiver,
             reply_sender,
             simulation,
-            mgm_addr,
+            scheduler,
-            pcdu_addr,
+            addr_wrapper,
-            mgt_addr,
         }
     }
 
@@ -62,7 +79,7 @@ impl SimController {
             // Check for UDP requests every millisecond. Shift the simulator ahead here to prevent
             // replies lying in the past.
             t += Duration::from_millis(udp_polling_interval_ms);
-            self.sys_clock.synchronize(t);
+            let _synch_status = self.sys_clock.synchronize(t);
             self.handle_sim_requests(t_old);
             self.simulation
                 .step_until(t)
@@ -118,11 +135,13 @@ impl SimController {
         }
         match mgm_request {
             MgmRequestLis3Mdl::RequestSensorData => {
-                self.simulation.send_event(
+                self.simulation
-                    MagnetometerModel::send_sensor_values,
+                    .process_event(
-                    (),
+                        MagnetometerModel::send_sensor_values,
-                    &self.mgm_addr,
+                        (),
-                );
+                        &self.addr_wrapper.mgm_addr,
+                    )
+                    .expect("event execution error for mgm");
             }
         }
         Ok(())
@@ -136,14 +155,21 @@ impl SimController {
         match pcdu_request {
             PcduRequest::RequestSwitchInfo => {
                 self.simulation
-                    .send_event(PcduModel::request_switch_info, (), &self.pcdu_addr);
+                    .process_event(
+                        PcduModel::request_switch_info,
+                        (),
+                        &self.addr_wrapper.pcdu_addr,
+                    )
+                    .unwrap();
             }
             PcduRequest::SwitchDevice { switch, state } => {
-                self.simulation.send_event(
+                self.simulation
-                    PcduModel::switch_device,
+                    .process_event(
-                    (switch, state),
+                        PcduModel::switch_device,
-                    &self.pcdu_addr,
+                        (switch, state),
-                );
+                        &self.addr_wrapper.pcdu_addr,
+                    )
+                    .unwrap();
             }
         }
         Ok(())
@@ -155,17 +181,23 @@ impl SimController {
             log::info!("received MGT request: {:?}", mgt_request);
         }
         match mgt_request {
-            MgtRequest::ApplyTorque { duration, dipole } => self.simulation.send_event(
+            MgtRequest::ApplyTorque { duration, dipole } => self
-                MagnetorquerModel::apply_torque,
+                .simulation
-                (duration, dipole),
+                .process_event(
-                &self.mgt_addr,
+                    MagnetorquerModel::apply_torque,
-            ),
+                    (duration, dipole),
-            MgtRequest::RequestHk => self.simulation.send_event(
+                    &self.addr_wrapper.mgt_addr,
-                MagnetorquerModel::request_housekeeping_data,
+                )
-                (),
+                .unwrap(),
-                &self.mgt_addr,
+            MgtRequest::RequestHk => self
-            ),
+                .simulation
-        }
+                .process_event(
+                    MagnetorquerModel::request_housekeeping_data,
+                    (),
+                    &self.addr_wrapper.mgt_addr,
+                )
+                .unwrap(),
+        };
         Ok(())
     }
 
@@ -199,7 +231,7 @@ mod tests {
             .send_request(request)
             .expect("sending sim ctrl request failed");
         sim_testbench.handle_sim_requests_time_agnostic();
-        sim_testbench.step();
+        sim_testbench.step().unwrap();
         let sim_reply = sim_testbench.try_receive_next_reply();
         assert!(sim_reply.is_some());
         let sim_reply = sim_reply.unwrap();

satrs-minisim/src/eps.rs

@@ -1,8 +1,8 @@
 use std::{sync::mpsc, time::Duration};
 
-use asynchronix::{
+use nexosim::{
-    model::{Model, Output},
+    model::{Context, Model},
-    time::Scheduler,
+    ports::Output,
 };
 use satrs::power::SwitchStateBinary;
 use satrs_minisim::{
@@ -29,14 +29,13 @@ impl PcduModel {
         }
     }
 
-    pub async fn request_switch_info(&mut self, _: (), scheduler: &Scheduler<Self>) {
+    pub async fn request_switch_info(&mut self, _: (), cx: &mut Context<Self>) {
-        scheduler
+        cx.schedule_event(
-            .schedule_event(
+            Duration::from_millis(SWITCH_INFO_DELAY_MS),
-                Duration::from_millis(SWITCH_INFO_DELAY_MS),
+            Self::send_switch_info,
-                Self::send_switch_info,
+            (),
-                (),
+        )
-            )
+        .expect("requesting switch info failed");
-            .expect("requesting switch info failed");
     }
 
     pub fn send_switch_info(&mut self) {
@@ -92,7 +91,7 @@ pub(crate) mod tests {
             .send_request(request)
             .expect("sending MGM switch request failed");
         sim_testbench.handle_sim_requests_time_agnostic();
-        sim_testbench.step();
+        sim_testbench.step().unwrap();
     }
 
     #[allow(dead_code)]
@@ -113,7 +112,7 @@ pub(crate) mod tests {
             .send_request(request)
             .expect("sending MGM request failed");
         sim_testbench.handle_sim_requests_time_agnostic();
-        sim_testbench.step();
+        sim_testbench.step().unwrap();
         let sim_reply = sim_testbench.try_receive_next_reply();
         assert!(sim_reply.is_some());
         let sim_reply = sim_reply.unwrap();
@@ -143,12 +142,12 @@ pub(crate) mod tests {
             .send_request(request)
             .expect("sending MGM request failed");
         sim_testbench.handle_sim_requests_time_agnostic();
-        sim_testbench.step_by(Duration::from_millis(1));
+        sim_testbench.step_until(Duration::from_millis(1)).unwrap();
 
         let sim_reply = sim_testbench.try_receive_next_reply();
         assert!(sim_reply.is_none());
         // Reply takes 20ms
-        sim_testbench.step_by(Duration::from_millis(25));
+        sim_testbench.step_until(Duration::from_millis(25)).unwrap();
         let sim_reply = sim_testbench.try_receive_next_reply();
         assert!(sim_reply.is_some());
         let sim_reply = sim_reply.unwrap();

satrs-minisim/src/lib.rs

@@ -1,4 +1,4 @@
-use asynchronix::time::MonotonicTime;
+use nexosim::time::MonotonicTime;
 use num_enum::{IntoPrimitive, TryFromPrimitive};
 use serde::{de::DeserializeOwned, Deserialize, Serialize};
 

satrs-minisim/src/main.rs

@@ -1,8 +1,8 @@
 use acs::{MagnetometerModel, MagnetorquerModel};
-use asynchronix::simulation::{Mailbox, SimInit};
+use controller::{ModelAddrWrapper, SimController};
-use asynchronix::time::{MonotonicTime, SystemClock};
-use controller::SimController;
 use eps::PcduModel;
+use nexosim::simulation::{Mailbox, SimInit};
+use nexosim::time::{MonotonicTime, SystemClock};
 use satrs_minisim::udp::SIM_CTRL_PORT;
 use satrs_minisim::{SimReply, SimRequest};
 use std::sync::mpsc;
@@ -63,19 +63,20 @@ fn create_sim_controller(
     } else {
         SimInit::new()
     };
-    let simulation = sim_init
+    let addrs = ModelAddrWrapper::new(mgm_addr, pcdu_addr, mgt_addr);
-        .add_model(mgm_model, mgm_mailbox)
+    let (simulation, scheduler) = sim_init
-        .add_model(pcdu_model, pcdu_mailbox)
+        .add_model(mgm_model, mgm_mailbox, "MGM model")
-        .add_model(mgt_model, mgt_mailbox)
+        .add_model(pcdu_model, pcdu_mailbox, "PCDU model")
-        .init(start_time);
+        .add_model(mgt_model, mgt_mailbox, "MGT model")
+        .init(start_time)
+        .unwrap();
     SimController::new(
         sys_clock,
         request_receiver,
         reply_sender,
         simulation,
-        mgm_addr,
+        scheduler,
-        pcdu_addr,
+        addrs,
-        mgt_addr,
     )
 }
 

satrs-minisim/src/test_helpers.rs

@@ -1,7 +1,10 @@
 use delegate::delegate;
-use std::{sync::mpsc, time::Duration};
+use std::sync::mpsc;
 
-use asynchronix::time::MonotonicTime;
+use nexosim::{
+    simulation::ExecutionError,
+    time::{Deadline, MonotonicTime},
+};
 use satrs_minisim::{SimReply, SimRequest};
 
 use crate::{controller::SimController, create_sim_controller, ThreadingModel};
@@ -35,8 +38,8 @@ impl SimTestbench {
             pub fn handle_sim_requests(&mut self, old_timestamp: MonotonicTime);
         }
         to self.sim_controller.simulation {
-            pub fn step(&mut self);
+            pub fn step(&mut self) -> Result<(), ExecutionError>;
-            pub fn step_by(&mut self, duration: Duration);
+            pub fn step_until(&mut self, duration: impl Deadline) -> Result<(), ExecutionError>;
         }
     }
 

satrs-minisim/src/time.rs

@@ -1,4 +1,4 @@
-use asynchronix::time::MonotonicTime;
+use nexosim::time::MonotonicTime;
 
 pub fn current_millis(time: MonotonicTime) -> u64 {
     (time.as_secs() as u64 * 1000) + (time.subsec_nanos() as u64 / 1_000_000)

satrs/Cargo.toml

@@ -31,9 +31,9 @@ version = "0.13"
 default-features = false
 
 [dependencies.cobs]
-git = "https://github.com/robamu/cobs.rs.git"
+git = "https://github.com/jamesmunns/cobs.rs.git"
 version = "0.2.3"
-branch = "all_features"
+branch = "main"
 default-features = false
 
 [dependencies.num-traits]

satrs/src/pool.rs

@@ -378,27 +378,74 @@ pub struct SubpoolConfig {
 #[cfg(feature = "heapless")]
 pub mod heapless_mod {
     use super::*;
+    use core::cell::UnsafeCell;
+    use core::sync::atomic::{AtomicBool, Ordering};
 
     #[derive(Debug, Copy, Clone, PartialEq, Eq)]
     #[cfg_attr(feature = "defmt", derive(defmt::Format))]
     pub struct PoolIsFull;
 
+    #[derive(Debug)]
+    pub struct UnsafeCellBufWrapper<T> {
+        val: UnsafeCell<T>,
+        once: AtomicBool,
+    }
+    // `Sync` is required because `UnsafeCell` is not `Sync` by default.
+    // This is safe as long as access is manually synchronized.
+    unsafe impl<T> Sync for UnsafeCellBufWrapper<T> {}
+
+    impl<T: Sync> UnsafeCellBufWrapper<T> {
+        /// Creates a new wrapper around an arbitrary value which should be [Sync].
+        pub const fn new(v: T) -> Self {
+            unsafe { Self::new_unchecked(v) }
+        }
+    }
+
+    impl<T> UnsafeCellBufWrapper<T> {
+        /// Creates a new wrapper around a buffer.
+        ///
+        /// # Safety
+        ///
+        /// Currently, the [Sync] trait is implemented for all T and ignores the usual [Sync] bound
+        /// on T. This API should only be called for declaring byte buffers statically or if T is
+        /// known to be [Sync]. You can use [new] to let the compiler do the [Sync] check.
+        pub const unsafe fn new_unchecked(v: T) -> Self {
+            Self {
+                val: UnsafeCell::new(v),
+                once: AtomicBool::new(false),
+            }
+        }
+
+        /// Retrieves a mutable reference to the internal value once.
+        ///
+        /// All subsequent calls return None.
+        pub fn get_mut(&self) -> Option<&mut T> {
+            if self.once.load(Ordering::Relaxed) {
+                return None;
+            }
+            // Safety: We ensure that this is only done once with an [AtomicBool].
+            let mut_ref = unsafe { &mut *self.val.get() };
+            self.once.store(true, Ordering::Relaxed);
+            Some(mut_ref)
+        }
+    }
+
     /// Helper macro to generate static buffers for the [crate::pool::StaticHeaplessMemoryPool].
     #[macro_export]
     macro_rules! static_subpool {
         ($pool_name: ident, $sizes_list_name: ident, $num_blocks: expr, $block_size: expr) => {
-            static mut $pool_name: core::mem::MaybeUninit<[u8; $num_blocks * $block_size]> =
+            static $pool_name: $crate::pool::UnsafeCellBufWrapper<[u8; $num_blocks * $block_size]> =
-                core::mem::MaybeUninit::new([0; $num_blocks * $block_size]);
+                $crate::pool::UnsafeCellBufWrapper::new([0; $num_blocks * $block_size]);
-            static mut $sizes_list_name: core::mem::MaybeUninit<[usize; $num_blocks]> =
+            static $sizes_list_name: $crate::pool::UnsafeCellBufWrapper<[usize; $num_blocks]> =
-                core::mem::MaybeUninit::new([$crate::pool::STORE_FREE; $num_blocks]);
+                $crate::pool::UnsafeCellBufWrapper::new([$crate::pool::STORE_FREE; $num_blocks]);
         };
         ($pool_name: ident, $sizes_list_name: ident, $num_blocks: expr, $block_size: expr, $meta_data: meta) => {
             #[$meta_data]
-            static mut $pool_name: core::mem::MaybeUninit<[u8; $num_blocks * $block_size]> =
+            static $pool_name: $crate::pool::UnsafeCellBufWrapper<[u8; $num_blocks * $block_size]> =
-                core::mem::MaybeUninit::new([0; $num_blocks * $block_size]);
+                $crate::pool::UnsafeCellBufWrapper::new([0; $num_blocks * $block_size]);
             #[$meta_data]
-            static mut $sizes_list_name: core::mem::MaybeUninit<[usize; $num_blocks]> =
+            static $sizes_list_name: $crate::pool::UnsafeCellBufWrapper<[usize; $num_blocks]> =
-                core::mem::MaybeUninit::new([$crate::pool::STORE_FREE; $num_blocks]);
+                $crate::pool::UnsafeCellBufWrapper::new([$crate::pool::STORE_FREE; $num_blocks]);
         };
     }
 
@@ -435,17 +482,17 @@ pub mod heapless_mod {
     ///
     /// let mut mem_pool: StaticHeaplessMemoryPool<2> = StaticHeaplessMemoryPool::new(true);
     /// mem_pool.grow(
-    ///     unsafe { SUBPOOL_SMALL.assume_init_mut() },
+    ///     SUBPOOL_SMALL.get_mut().unwrap(),
-    ///     unsafe { SUBPOOL_SMALL_SIZES.assume_init_mut() },
+    ///     SUBPOOL_SMALL_SIZES.get_mut().unwrap(),
     ///     SUBPOOL_SMALL_NUM_BLOCKS,
     ///     false
-    /// );
+    /// ).unwrap();
     /// mem_pool.grow(
-    ///     unsafe { SUBPOOL_LARGE.assume_init_mut() },
+    ///     SUBPOOL_LARGE.get_mut().unwrap(),
-    ///     unsafe { SUBPOOL_LARGE_SIZES.assume_init_mut() },
+    ///     SUBPOOL_LARGE_SIZES.get_mut().unwrap(),
     ///     SUBPOOL_LARGE_NUM_BLOCKS,
     ///     false
-    /// );
+    /// ).unwrap();
     ///
     /// let mut read_buf: [u8; 16] = [0; 16];
     /// let mut addr;
@@ -522,12 +569,14 @@ pub mod heapless_mod {
             num_blocks: NumBlocks,
             set_sizes_list_to_all_free: bool,
         ) -> Result<(), PoolIsFull> {
-            assert!(
+            assert_eq!(
-                (subpool_memory.len() % num_blocks as usize) == 0,
+                (subpool_memory.len() % num_blocks as usize),
+                0,
                 "pool slice length must be multiple of number of blocks"
             );
-            assert!(
+            assert_eq!(
-                num_blocks as usize == sizes_list.len(),
+                num_blocks as usize,
+                sizes_list.len(),
                 "used block size list slice must be of same length as number of blocks"
             );
             let subpool_config = SubpoolConfig {
@@ -1584,21 +1633,28 @@ mod tests {
     mod heapless_tests {
         use super::*;
         use crate::static_subpool;
-        use core::ptr::addr_of_mut;
+        use std::cell::UnsafeCell;
+        use std::sync::Mutex;
 
         const SUBPOOL_1_BLOCK_SIZE: usize = 4;
         const SUBPOOL_1_NUM_ELEMENTS: u16 = 4;
-        static mut SUBPOOL_1: [u8; SUBPOOL_1_NUM_ELEMENTS as usize * SUBPOOL_1_BLOCK_SIZE] =
+
-            [0; SUBPOOL_1_NUM_ELEMENTS as usize * SUBPOOL_1_BLOCK_SIZE];
+        static SUBPOOL_1: UnsafeCellBufWrapper<
-        static mut SUBPOOL_1_SIZES: [usize; SUBPOOL_1_NUM_ELEMENTS as usize] =
+            [u8; SUBPOOL_1_NUM_ELEMENTS as usize * SUBPOOL_1_BLOCK_SIZE],
-            [STORE_FREE; SUBPOOL_1_NUM_ELEMENTS as usize];
+        > = UnsafeCellBufWrapper::new([0; SUBPOOL_1_NUM_ELEMENTS as usize * SUBPOOL_1_BLOCK_SIZE]);
+
+        static SUBPOOL_1_SIZES: Mutex<UnsafeCell<[usize; SUBPOOL_1_NUM_ELEMENTS as usize]>> =
+            Mutex::new(UnsafeCell::new(
+                [STORE_FREE; SUBPOOL_1_NUM_ELEMENTS as usize],
+            ));
 
         const SUBPOOL_2_NUM_ELEMENTS: u16 = 2;
         const SUBPOOL_2_BLOCK_SIZE: usize = 8;
-        static mut SUBPOOL_2: [u8; SUBPOOL_2_NUM_ELEMENTS as usize * SUBPOOL_2_BLOCK_SIZE] =
+        static SUBPOOL_2: UnsafeCellBufWrapper<
-            [0; SUBPOOL_2_NUM_ELEMENTS as usize * SUBPOOL_2_BLOCK_SIZE];
+            [u8; SUBPOOL_2_NUM_ELEMENTS as usize * SUBPOOL_2_BLOCK_SIZE],
-        static mut SUBPOOL_2_SIZES: [usize; SUBPOOL_2_NUM_ELEMENTS as usize] =
+        > = UnsafeCellBufWrapper::new([0; SUBPOOL_2_NUM_ELEMENTS as usize * SUBPOOL_2_BLOCK_SIZE]);
-            [STORE_FREE; SUBPOOL_2_NUM_ELEMENTS as usize];
+        static SUBPOOL_2_SIZES: UnsafeCellBufWrapper<[usize; SUBPOOL_2_NUM_ELEMENTS as usize]> =
+            UnsafeCellBufWrapper::new([STORE_FREE; SUBPOOL_2_NUM_ELEMENTS as usize]);
 
         const SUBPOOL_3_NUM_ELEMENTS: u16 = 1;
         const SUBPOOL_3_BLOCK_SIZE: usize = 16;
@@ -1641,24 +1697,24 @@ mod tests {
                 StaticHeaplessMemoryPool::new(false);
             assert!(heapless_pool
                 .grow(
-                    unsafe { &mut *addr_of_mut!(SUBPOOL_1) },
+                    SUBPOOL_1.get_mut().unwrap(),
-                    unsafe { &mut *addr_of_mut!(SUBPOOL_1_SIZES) },
+                    unsafe { &mut *SUBPOOL_1_SIZES.lock().unwrap().get() },
                     SUBPOOL_1_NUM_ELEMENTS,
                     true
                 )
                 .is_ok());
             assert!(heapless_pool
                 .grow(
-                    unsafe { &mut *addr_of_mut!(SUBPOOL_2) },
+                    SUBPOOL_2.get_mut().unwrap(),
-                    unsafe { &mut *addr_of_mut!(SUBPOOL_2_SIZES) },
+                    SUBPOOL_2_SIZES.get_mut().unwrap(),
                     SUBPOOL_2_NUM_ELEMENTS,
                     true
                 )
                 .is_ok());
             assert!(heapless_pool
                 .grow(
-                    unsafe { SUBPOOL_3.assume_init_mut() },
+                    SUBPOOL_3.get_mut().unwrap(),
-                    unsafe { SUBPOOL_3_SIZES.assume_init_mut() },
+                    SUBPOOL_3_SIZES.get_mut().unwrap(),
                     SUBPOOL_3_NUM_ELEMENTS,
                     true
                 )
@@ -1780,16 +1836,16 @@ mod tests {
                 StaticHeaplessMemoryPool::new(true);
             assert!(heapless_pool
                 .grow(
-                    unsafe { &mut *addr_of_mut!(SUBPOOL_2) },
+                    SUBPOOL_2.get_mut().unwrap(),
-                    unsafe { &mut *addr_of_mut!(SUBPOOL_2_SIZES) },
+                    SUBPOOL_2_SIZES.get_mut().unwrap(),
                     SUBPOOL_2_NUM_ELEMENTS,
                     true
                 )
                 .is_ok());
             assert!(heapless_pool
                 .grow(
-                    unsafe { SUBPOOL_4.assume_init_mut() },
+                    SUBPOOL_4.get_mut().unwrap(),
-                    unsafe { SUBPOOL_4_SIZES.assume_init_mut() },
+                    SUBPOOL_4_SIZES.get_mut().unwrap(),
                     SUBPOOL_4_NUM_ELEMENTS,
                     true
                 )
@@ -1803,16 +1859,16 @@ mod tests {
                 StaticHeaplessMemoryPool::new(true);
             assert!(heapless_pool
                 .grow(
-                    unsafe { SUBPOOL_5.assume_init_mut() },
+                    SUBPOOL_5.get_mut().unwrap(),
-                    unsafe { SUBPOOL_5_SIZES.assume_init_mut() },
+                    SUBPOOL_5_SIZES.get_mut().unwrap(),
                     SUBPOOL_5_NUM_ELEMENTS,
                     true
                 )
                 .is_ok());
             assert!(heapless_pool
                 .grow(
-                    unsafe { SUBPOOL_3.assume_init_mut() },
+                    SUBPOOL_3.get_mut().unwrap(),
-                    unsafe { SUBPOOL_3_SIZES.assume_init_mut() },
+                    SUBPOOL_3_SIZES.get_mut().unwrap(),
                     SUBPOOL_3_NUM_ELEMENTS,
                     true
                 )
@@ -1826,24 +1882,24 @@ mod tests {
                 StaticHeaplessMemoryPool::new(true);
             assert!(heapless_pool
                 .grow(
-                    unsafe { SUBPOOL_5.assume_init_mut() },
+                    SUBPOOL_5.get_mut().unwrap(),
-                    unsafe { SUBPOOL_5_SIZES.assume_init_mut() },
+                    SUBPOOL_5_SIZES.get_mut().unwrap(),
                     SUBPOOL_5_NUM_ELEMENTS,
                     true
                 )
                 .is_ok());
             assert!(heapless_pool
                 .grow(
-                    unsafe { SUBPOOL_6.assume_init_mut() },
+                    SUBPOOL_6.get_mut().unwrap(),
-                    unsafe { SUBPOOL_6_SIZES.assume_init_mut() },
+                    SUBPOOL_6_SIZES.get_mut().unwrap(),
                     SUBPOOL_6_NUM_ELEMENTS,
                     true
                 )
                 .is_ok());
             assert!(heapless_pool
                 .grow(
-                    unsafe { SUBPOOL_3.assume_init_mut() },
+                    SUBPOOL_3.get_mut().unwrap(),
-                    unsafe { SUBPOOL_3_SIZES.assume_init_mut() },
+                    SUBPOOL_3_SIZES.get_mut().unwrap(),
                     SUBPOOL_3_NUM_ELEMENTS,
                     true
                 )
@@ -1857,24 +1913,24 @@ mod tests {
                 StaticHeaplessMemoryPool::new(true);
             assert!(heapless_pool
                 .grow(
-                    unsafe { SUBPOOL_5.assume_init_mut() },
+                    SUBPOOL_5.get_mut().unwrap(),
-                    unsafe { SUBPOOL_5_SIZES.assume_init_mut() },
+                    SUBPOOL_5_SIZES.get_mut().unwrap(),
                     SUBPOOL_5_NUM_ELEMENTS,
                     true
                 )
                 .is_ok());
             assert!(heapless_pool
                 .grow(
-                    unsafe { SUBPOOL_6.assume_init_mut() },
+                    SUBPOOL_6.get_mut().unwrap(),
-                    unsafe { SUBPOOL_6_SIZES.assume_init_mut() },
+                    SUBPOOL_6_SIZES.get_mut().unwrap(),
                     SUBPOOL_6_NUM_ELEMENTS,
                     true
                 )
                 .is_ok());
             assert!(heapless_pool
                 .grow(
-                    unsafe { SUBPOOL_3.assume_init_mut() },
+                    SUBPOOL_3.get_mut().unwrap(),
-                    unsafe { SUBPOOL_3_SIZES.assume_init_mut() },
+                    SUBPOOL_3_SIZES.get_mut().unwrap(),
                     SUBPOOL_3_NUM_ELEMENTS,
                     true
                 )