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|
@ -0,0 +1,64 @@
|
|||
name: ci
|
||||
on: [push, pull_request]
|
||||
|
||||
jobs:
|
||||
check:
|
||||
name: Check build
|
||||
strategy:
|
||||
matrix:
|
||||
os: [ubuntu-latest, macos-latest, windows-latest]
|
||||
runs-on: ${{ matrix.os }}
|
||||
steps:
|
||||
- uses: actions/checkout@v4
|
||||
- uses: dtolnay/rust-toolchain@stable
|
||||
- run: cargo check --release
|
||||
|
||||
test:
|
||||
name: Run Tests
|
||||
runs-on: ubuntu-latest
|
||||
steps:
|
||||
- uses: actions/checkout@v4
|
||||
- uses: dtolnay/rust-toolchain@stable
|
||||
- name: Install nextest
|
||||
uses: taiki-e/install-action@nextest
|
||||
- run: cargo nextest run --all-features
|
||||
- run: cargo test --doc
|
||||
|
||||
cross-check:
|
||||
name: Check Cross-Compilation
|
||||
runs-on: ubuntu-latest
|
||||
strategy:
|
||||
matrix:
|
||||
target:
|
||||
- armv7-unknown-linux-gnueabihf
|
||||
- thumbv7em-none-eabihf
|
||||
steps:
|
||||
- uses: actions/checkout@v4
|
||||
- uses: dtolnay/rust-toolchain@stable
|
||||
with:
|
||||
targets: "armv7-unknown-linux-gnueabihf, thumbv7em-none-eabihf"
|
||||
- run: cargo check -p satrs --release --target=${{matrix.target}} --no-default-features
|
||||
|
||||
fmt:
|
||||
name: Check formatting
|
||||
runs-on: ubuntu-latest
|
||||
steps:
|
||||
- uses: actions/checkout@v4
|
||||
- uses: dtolnay/rust-toolchain@stable
|
||||
- run: cargo fmt --all -- --check
|
||||
|
||||
docs:
|
||||
name: Check Documentation Build
|
||||
runs-on: ubuntu-latest
|
||||
steps:
|
||||
- uses: actions/checkout@v4
|
||||
- uses: dtolnay/rust-toolchain@nightly
|
||||
- run: cargo +nightly doc --all-features --config 'build.rustdocflags=["--cfg", "docs_rs"]'
|
||||
|
||||
clippy:
|
||||
name: Clippy
|
||||
runs-on: ubuntu-latest
|
||||
steps:
|
||||
- uses: actions/checkout@v4
|
||||
- uses: dtolnay/rust-toolchain@stable
|
||||
- run: cargo clippy -- -D warnings
|
|
@ -1,5 +1,10 @@
|
|||
/target
|
||||
target/
|
||||
|
||||
output.log
|
||||
/Cargo.lock
|
||||
output.log
|
||||
|
||||
output.log
|
||||
|
||||
/.idea/*
|
||||
!/.idea/runConfigurations
|
||||
|
|
|
@ -4,6 +4,7 @@ members = [
|
|||
"satrs",
|
||||
"satrs-mib",
|
||||
"satrs-example",
|
||||
"satrs-minisim",
|
||||
"satrs-shared",
|
||||
]
|
||||
|
||||
|
|
11
README.md
11
README.md
|
@ -1,4 +1,4 @@
|
|||
<p align="center"> <img src="misc/satrs-logo.png" width="40%"> </p>
|
||||
<p align="center"> <img src="misc/satrs-logo-v2.png" width="40%"> </p>
|
||||
|
||||
[![sat-rs website](https://img.shields.io/badge/sat--rs-website-darkgreen?style=flat)](https://absatsw.irs.uni-stuttgart.de/projects/sat-rs/)
|
||||
[![sat-rs book](https://img.shields.io/badge/sat--rs-book-darkgreen?style=flat)](https://absatsw.irs.uni-stuttgart.de/projects/sat-rs/book/)
|
||||
|
@ -8,12 +8,17 @@
|
|||
sat-rs
|
||||
=========
|
||||
|
||||
This is the repository of the sat-rs framework. Its primary goal is to provide re-usable components
|
||||
This is the repository of the sat-rs library. Its primary goal is to provide re-usable components
|
||||
to write on-board software for remote systems like rovers or satellites. It is specifically written
|
||||
for the special requirements for these systems. You can find an overview of the project and the
|
||||
link to the [more high-level sat-rs book](https://absatsw.irs.uni-stuttgart.de/projects/sat-rs/)
|
||||
at the [IRS software projects website](https://absatsw.irs.uni-stuttgart.de/projects/sat-rs/).
|
||||
|
||||
This is early-stage software. Important features are missing. New releases
|
||||
with breaking changes are released regularly, with all changes documented inside respective
|
||||
changelog files. You should only use this library if your are willing to work in this
|
||||
environment.
|
||||
|
||||
A lot of the architecture and general design considerations are based on the
|
||||
[FSFW](https://egit.irs.uni-stuttgart.de/fsfw/fsfw) C++ framework which has flight heritage
|
||||
through the 2 missions [FLP](https://www.irs.uni-stuttgart.de/en/research/satellitetechnology-and-instruments/smallsatelliteprogram/flying-laptop/)
|
||||
|
@ -35,7 +40,7 @@ This project currently contains following crates:
|
|||
* [`satrs-mib`](https://egit.irs.uni-stuttgart.de/rust/sat-rs/src/branch/main/satrs-mib):
|
||||
Components to build a mission information base from the on-board software directly.
|
||||
* [`satrs-example-stm32f3-disco`](https://egit.irs.uni-stuttgart.de/rust/sat-rs/src/branch/main/satrs-example-stm32f3-disco):
|
||||
Example of a simple example on-board software using sat-rs components on a bare-metal system
|
||||
Example of a simple example using low-level sat-rs components on a bare-metal system
|
||||
with constrained resources.
|
||||
|
||||
Each project has its own `CHANGELOG.md`.
|
||||
|
|
|
@ -33,6 +33,7 @@ pipeline {
|
|||
stage('Test') {
|
||||
steps {
|
||||
sh 'cargo nextest r --all-features'
|
||||
sh 'cargo test --doc'
|
||||
}
|
||||
}
|
||||
stage('Check with all features') {
|
||||
|
|
10
coverage.py
10
coverage.py
|
@ -18,15 +18,19 @@ def generate_cov_report(open_report: bool, format: str, package: str):
|
|||
out_path = "./target/debug/coverage"
|
||||
if format == "lcov":
|
||||
out_path = "./target/debug/lcov.info"
|
||||
os.system(
|
||||
grcov_cmd = (
|
||||
f"grcov . -s . --binary-path ./target/debug/ -t {format} --branch --ignore-not-existing "
|
||||
f"-o {out_path}"
|
||||
)
|
||||
print(f"Running: {grcov_cmd}")
|
||||
os.system(grcov_cmd)
|
||||
if format == "lcov":
|
||||
os.system(
|
||||
lcov_cmd = (
|
||||
"genhtml -o ./target/debug/coverage/ --show-details --highlight --ignore-errors source "
|
||||
"--legend ./target/debug/lcov.info"
|
||||
)
|
||||
print(f"Running: {lcov_cmd}")
|
||||
os.system(lcov_cmd)
|
||||
if open_report:
|
||||
coverage_report_path = os.path.abspath("./target/debug/coverage/index.html")
|
||||
webbrowser.open_new_tab(coverage_report_path)
|
||||
|
@ -43,7 +47,7 @@ def main():
|
|||
parser.add_argument(
|
||||
"-p",
|
||||
"--package",
|
||||
choices=["satrs"],
|
||||
choices=["satrs", "satrs-minisim", "satrs-example"],
|
||||
default="satrs",
|
||||
help="Choose project to generate coverage for",
|
||||
)
|
||||
|
|
|
@ -166,7 +166,7 @@ Subsystem<y:LabelModel><y:SmartNodeLabelModel distance="4.0"/></y:LabelModel><y:
|
|||
<y:Geometry height="30.0" width="125.0" x="1151.9280499999995" y="281.84403125000006"/>
|
||||
<y:Fill color="#CCFFFF" transparent="false"/>
|
||||
<y:BorderStyle color="#000000" raised="false" type="line" width="1.0"/>
|
||||
<y:NodeLabel alignment="center" autoSizePolicy="content" fontFamily="Dialog" fontSize="14" fontStyle="plain" hasBackgroundColor="false" hasLineColor="false" height="20.296875" horizontalTextPosition="center" iconTextGap="4" modelName="custom" textColor="#000000" verticalTextPosition="bottom" visible="true" width="76.255859375" x="24.3720703125" xml:space="preserve" y="4.8515625">TM Funnel<y:LabelModel><y:SmartNodeLabelModel distance="4.0"/></y:LabelModel><y:ModelParameter><y:SmartNodeLabelModelParameter labelRatioX="0.0" labelRatioY="0.0" nodeRatioX="0.0" nodeRatioY="0.0" offsetX="0.0" offsetY="0.0" upX="0.0" upY="-1.0"/></y:ModelParameter></y:NodeLabel>
|
||||
<y:NodeLabel alignment="center" autoSizePolicy="content" fontFamily="Dialog" fontSize="14" fontStyle="plain" hasBackgroundColor="false" hasLineColor="false" height="20.296875" horizontalTextPosition="center" iconTextGap="4" modelName="custom" textColor="#000000" verticalTextPosition="bottom" visible="true" width="58.837890625" x="33.0810546875" xml:space="preserve" y="4.8515625">TM Sink<y:LabelModel><y:SmartNodeLabelModel distance="4.0"/></y:LabelModel><y:ModelParameter><y:SmartNodeLabelModelParameter labelRatioX="0.0" labelRatioY="0.0" nodeRatioX="0.0" nodeRatioY="0.0" offsetX="0.0" offsetY="0.0" upX="0.0" upY="-1.0"/></y:ModelParameter></y:NodeLabel>
|
||||
<y:Shape type="rectangle"/>
|
||||
</y:ShapeNode>
|
||||
</data>
|
||||
|
@ -260,7 +260,7 @@ Mode Tree<y:LabelModel><y:SmartNodeLabelModel distance="4.0"/></y:LabelModel><y:
|
|||
<y:Geometry height="57.265600000000006" width="631.1152" x="810.8847999999999" y="411.39428125"/>
|
||||
<y:Fill hasColor="false" transparent="false"/>
|
||||
<y:BorderStyle color="#000000" raised="false" type="line" width="1.0"/>
|
||||
<y:NodeLabel alignment="center" autoSizePolicy="content" fontFamily="Dialog" fontSize="16" fontStyle="plain" hasBackgroundColor="false" hasLineColor="false" height="41.25" horizontalTextPosition="center" iconTextGap="4" modelName="custom" textColor="#000000" verticalTextPosition="bottom" visible="true" width="261.8125" x="166.89412267941418" xml:space="preserve" y="3.144146301369915">satrs-satellite
|
||||
<y:NodeLabel alignment="center" autoSizePolicy="content" fontFamily="Dialog" fontSize="16" fontStyle="plain" hasBackgroundColor="false" hasLineColor="false" height="41.25" horizontalTextPosition="center" iconTextGap="4" modelName="custom" textColor="#000000" verticalTextPosition="bottom" visible="true" width="261.8125" x="166.89412267941418" xml:space="preserve" y="3.144146301369915">satrs-minisim
|
||||
Simulator based on asynchronix<y:LabelModel><y:SmartNodeLabelModel distance="4.0"/></y:LabelModel><y:ModelParameter><y:SmartNodeLabelModelParameter labelRatioX="0.0" labelRatioY="0.0" nodeRatioX="-0.028136269449041573" nodeRatioY="-0.08493150684931505" offsetX="0.0" offsetY="0.0" upX="0.0" upY="-1.0"/></y:ModelParameter></y:NodeLabel>
|
||||
<y:Shape type="rectangle"/>
|
||||
</y:ShapeNode>
|
||||
|
@ -272,7 +272,7 @@ Simulator based on asynchronix<y:LabelModel><y:SmartNodeLabelModel distance="4.0
|
|||
<y:Geometry height="50.0" width="631.1152000000002" x="810.8847999999998" y="476.2958625000002"/>
|
||||
<y:Fill hasColor="false" transparent="false"/>
|
||||
<y:BorderStyle color="#000000" raised="false" type="line" width="1.0"/>
|
||||
<y:NodeLabel alignment="center" autoSizePolicy="content" fontFamily="Dialog" fontSize="16" fontStyle="plain" hasBackgroundColor="false" hasLineColor="false" height="41.25" horizontalTextPosition="center" iconTextGap="4" modelName="custom" textColor="#000000" verticalTextPosition="bottom" visible="true" width="374.8359375" x="110.3824039294143" xml:space="preserve" y="0.12842465753431043">satrs-tmtc
|
||||
<y:NodeLabel alignment="center" autoSizePolicy="content" fontFamily="Dialog" fontSize="16" fontStyle="plain" hasBackgroundColor="false" hasLineColor="false" height="41.25" horizontalTextPosition="center" iconTextGap="4" modelName="custom" textColor="#000000" verticalTextPosition="bottom" visible="true" width="374.8359375" x="110.3824039294143" xml:space="preserve" y="0.12842465753431043">pytmtc
|
||||
Command-line interface based TMTC handling<y:LabelModel><y:SmartNodeLabelModel distance="4.0"/></y:LabelModel><y:ModelParameter><y:SmartNodeLabelModelParameter labelRatioX="0.0" labelRatioY="0.0" nodeRatioX="-0.028136269449041573" nodeRatioY="-0.08493150684931505" offsetX="0.0" offsetY="0.0" upX="0.0" upY="-1.0"/></y:ModelParameter></y:NodeLabel>
|
||||
<y:Shape type="rectangle"/>
|
||||
</y:ShapeNode>
|
||||
|
|
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|
@ -15,7 +15,7 @@ action commanding could look like.
|
|||
2. Target ID and Action String based. The target ID is the same as in the first proposal, but
|
||||
the unique action is identified by a string.
|
||||
|
||||
The framework provides an `ActionRequest` abstraction to model both of these cases.
|
||||
The library provides an `ActionRequest` abstraction to model both of these cases.
|
||||
|
||||
## Commanding with ECSS PUS 8
|
||||
|
||||
|
|
|
@ -17,10 +17,10 @@ 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/latest/satrs/hal/host/udp_server/index.html).
|
||||
1. [UDP TMTC Server](https://docs.rs/satrs/latest/satrs/hal/std/udp_server/index.html).
|
||||
UDP is already packet based which makes it an excellent fit for exchanging space packets.
|
||||
2. [TCP TMTC Server Components](https://docs.rs/satrs/latest/satrs/hal/std/tcp_server/index.html).
|
||||
TCP is a stream based protocol, so the framework provides building blocks to parse telemetry
|
||||
TCP is a stream based protocol, so the library provides building blocks to parse telemetry
|
||||
from an arbitrary bytestream. Two concrete implementations are provided:
|
||||
- [TCP spacepackets server](https://docs.rs/satrs/latest/satrs/hal/std/tcp_server/struct.TcpSpacepacketsServer.html)
|
||||
to parse tightly packed CCSDS Spacepackets.
|
||||
|
@ -39,8 +39,12 @@ task might be to store all arriving telemetry persistently. This is especially i
|
|||
space systems which do not have permanent contact like low-earth-orbit (LEO) satellites.
|
||||
|
||||
The most important task of a TC source is to deliver the telecommands to the correct recipients.
|
||||
For modern component oriented software using message passing, this usually includes staged
|
||||
demultiplexing components to determine where a command needs to be sent.
|
||||
For component oriented software using message passing, this usually includes staged demultiplexing
|
||||
components to determine where a command needs to be sent.
|
||||
|
||||
Using a generic concept of a TC source and a TM sink as part of the software design simplifies
|
||||
the flexibility of the TMTC infrastructure: Newly added TM generators and TC receiver only have to
|
||||
forward their generated or received packets to those handler objects.
|
||||
|
||||
# Low-level protocols and the bridge to the communcation subsystem
|
||||
|
||||
|
|
|
@ -1,13 +1,14 @@
|
|||
# Framework Design
|
||||
# Library Design
|
||||
|
||||
Satellites and space systems in general are complex systems with a wide range of requirements for
|
||||
both the hardware and the software. Consequently, the general design of the framework is centered
|
||||
both the hardware and the software. Consequently, the general design of the library is centered
|
||||
around many light-weight components which try to impose as few restrictions as possible on how to
|
||||
solve certain problems.
|
||||
solve certain problems. This is also the reason why sat-rs is explicitely called a library
|
||||
instead of a framework.
|
||||
|
||||
There are still a lot of common patterns and architectures across these systems where guidance
|
||||
of how to solve a problem and a common structure would still be extremely useful to avoid pitfalls
|
||||
which were already solved and to avoid boilerplate code. This framework tries to provide this
|
||||
which were already solved and to avoid boilerplate code. This library tries to provide this
|
||||
structure and guidance the following way:
|
||||
|
||||
1. Providing this book which explains the architecture and design patterns in respect to common
|
||||
|
@ -18,7 +19,7 @@ structure and guidance the following way:
|
|||
3. Providing a good test suite. This includes both unittests and integration tests. The integration
|
||||
tests can also serve as smaller usage examples than the large `satrs-example` application.
|
||||
|
||||
This framework has special support for standards used in the space industry. This especially
|
||||
This library has special support for standards used in the space industry. This especially
|
||||
includes standards provided by Consultative Committee for Space Data Systems (CCSDS) and European
|
||||
Cooperation for Space Standardization (ECSS). It does not enforce using any of those standards,
|
||||
but it is always recommended to use some sort of standard for interoperability.
|
||||
|
@ -30,10 +31,10 @@ Flying Laptop Project by the University of Stuttgart with Airbus Defence and Spa
|
|||
It has flight heritage through the 2 mssions [FLP](https://www.irs.uni-stuttgart.de/en/research/satellitetechnology-and-instruments/smallsatelliteprogram/flying-laptop/)
|
||||
and [EIVE](https://www.irs.uni-stuttgart.de/en/research/satellitetechnology-and-instruments/smallsatelliteprogram/EIVE/).
|
||||
Therefore, a lot of the design concepts were ported more or less unchanged to the `sat-rs`
|
||||
framework.
|
||||
library.
|
||||
FLP is a medium-size small satellite with a higher budget and longer development time than EIVE,
|
||||
which allowed to build a highly reliable system while EIVE is a smaller 6U+ cubesat which had a
|
||||
shorter development cycle and was built using cheaper COTS components. This framework also tries
|
||||
shorter development cycle and was built using cheaper COTS components. This library also tries
|
||||
to accumulate the knowledge of developing the OBSW and operating the satellite for both these
|
||||
different systems and provide a solution for a wider range of small satellite systems.
|
||||
|
||||
|
|
|
@ -1,16 +1,24 @@
|
|||
# Events
|
||||
|
||||
Events can be an extremely important mechanism used for remote systems to monitor unexpected
|
||||
or expected anomalies and events occuring on these systems. They are oftentimes tied to
|
||||
Events are an important mechanism used for remote systems to monitor unexpected
|
||||
or expected anomalies and events occuring on these systems.
|
||||
|
||||
One common use case for events on remote systems is to offer a light-weight publish-subscribe
|
||||
mechanism and IPC mechanism for software and hardware events which are also packaged as telemetry
|
||||
(TM) or can trigger a system response. They can also be tied to
|
||||
Fault Detection, Isolation and Recovery (FDIR) operations, which need to happen autonomously.
|
||||
|
||||
Events can also be used as a convenient Inter-Process Communication (IPC) mechansism, which is
|
||||
also observable for the Ground segment. The PUS Service 5 standardizes how the ground interface
|
||||
for events might look like, but does not specify how other software components might react
|
||||
to those events. There is the PUS Service 19, which might be used for that purpose, but the
|
||||
event components recommended by this framework do not really need this service.
|
||||
The PUS Service 5 standardizes how the ground interface for events might look like, but does not
|
||||
specify how other software components might react to those events. There is the PUS Service 19,
|
||||
which might be used for that purpose, but the event components recommended by this framework do not
|
||||
rely on the present of this service.
|
||||
|
||||
The following images shows how the flow of events could look like in a system where components
|
||||
can generate events, and where other system components might be interested in those events:
|
||||
|
||||
![Event flow](images/events/event_man_arch.png)
|
||||
|
||||
For the concrete implementation of your own event management and/or event routing system, you
|
||||
can have a look at the event management documentation inside the
|
||||
[API documentation](https://docs.rs/satrs/latest/satrs/event_man/index.html) where you can also
|
||||
find references to all examples.
|
||||
|
|
|
@ -1,6 +1,6 @@
|
|||
# sat-rs Example Application
|
||||
|
||||
The `sat-rs` framework includes a monolithic example application which can be found inside
|
||||
The `sat-rs` library 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
|
||||
|
|
|
@ -1,7 +1,7 @@
|
|||
The sat-rs book
|
||||
======
|
||||
|
||||
This book is the primary information resource for the [sat-rs framework](https://egit.irs.uni-stuttgart.de/rust/sat-rs)
|
||||
This book is the primary information resource for the [sat-rs library](https://egit.irs.uni-stuttgart.de/rust/sat-rs)
|
||||
in addition to the regular API documentation. It contains the following resources:
|
||||
|
||||
1. Architecture informations and consideration which would exceeds the scope of the regular API.
|
||||
|
@ -12,10 +12,15 @@ in addition to the regular API documentation. It contains the following resource
|
|||
|
||||
# Introduction
|
||||
|
||||
The primary goal of the sat-rs framework is to provide re-usable components
|
||||
The primary goal of the sat-rs library is to provide re-usable components
|
||||
to write on-board software for remote systems like rovers or satellites. It is specifically written
|
||||
for the special requirements for these systems.
|
||||
|
||||
It should be noted that sat-rs is early-stage software. Important features are missing. New releases
|
||||
with breaking changes are released regularly, with all changes documented inside respective
|
||||
changelog files. You should only use this library if your are willing to work in this
|
||||
environment.
|
||||
|
||||
A lot of the architecture and general design considerations are based on the
|
||||
[FSFW](https://egit.irs.uni-stuttgart.de/fsfw/fsfw) C++ framework which has flight heritage
|
||||
through the 2 missions [FLP](https://www.irs.uni-stuttgart.de/en/research/satellitetechnology-and-instruments/smallsatelliteprogram/flying-laptop/)
|
||||
|
|
|
@ -1,11 +1,11 @@
|
|||
# Modes
|
||||
|
||||
Modes are an extremely useful concept for complex system in general. They also allow simplified
|
||||
system reasoning for both system operators and OBSW developers. They model the behaviour of a
|
||||
component and also provide observability of a system. A few examples of how to model
|
||||
different components of a space system with modes will be given.
|
||||
Modes are an extremely useful concept to model complex systems. They allow simplified
|
||||
system reasoning for both system operators and OBSW developers. They also provide a way to alter
|
||||
the behaviour of a component and also provide observability of a system. A few examples of how to
|
||||
model the mode of different components within a space system with modes will be given.
|
||||
|
||||
## Modelling a pyhsical devices with modes
|
||||
## Pyhsical device component with modes
|
||||
|
||||
The following simple mode scheme with the following three mode
|
||||
|
||||
|
@ -13,7 +13,8 @@ The following simple mode scheme with the following three mode
|
|||
- `ON`
|
||||
- `NORMAL`
|
||||
|
||||
can be applied to a large number of simpler devices of a remote system, for example sensors.
|
||||
can be applied to a large number of simpler device controllers of a remote system, for example
|
||||
sensors.
|
||||
|
||||
1. `OFF` means that a device is physically switched off, and the corresponding software component
|
||||
does not poll the device regularly.
|
||||
|
@ -31,7 +32,7 @@ for the majority of devices:
|
|||
2. `NORMAL` or `ON` to `OFF`: Any important shutdown configuration or handling must be performed
|
||||
before powering off the device.
|
||||
|
||||
## Modelling a controller with modes
|
||||
## Controller components with modes
|
||||
|
||||
Controller components are not modelling physical devices, but a mode scheme is still the best
|
||||
way to model most of these components.
|
||||
|
|
|
@ -0,0 +1,37 @@
|
|||
[target.'cfg(all(target_arch = "arm", target_os = "none"))']
|
||||
# uncomment ONE of these three option to make `cargo run` start a GDB session
|
||||
# which option to pick depends on your system
|
||||
# You can also replace openocd.gdb by jlink.gdb when using a J-Link.
|
||||
# runner = "arm-none-eabi-gdb -q -x openocd.gdb"
|
||||
# runner = "gdb-multiarch -q -x openocd.gdb"
|
||||
# runner = "gdb -q -x openocd.gdb"
|
||||
runner = "probe-rs run --chip STM32F303VCTx"
|
||||
|
||||
rustflags = [
|
||||
"-C", "linker=flip-link",
|
||||
# LLD (shipped with the Rust toolchain) is used as the default linker
|
||||
"-C", "link-arg=-Tlink.x",
|
||||
"-C", "link-arg=-Tdefmt.x",
|
||||
|
||||
# This is needed if your flash or ram addresses are not aligned to 0x10000 in memory.x
|
||||
# See https://github.com/rust-embedded/cortex-m-quickstart/pull/95
|
||||
"-C", "link-arg=--nmagic",
|
||||
|
||||
# if you run into problems with LLD switch to the GNU linker by commenting out
|
||||
# this line
|
||||
# "-C", "linker=arm-none-eabi-ld",
|
||||
|
||||
# if you need to link to pre-compiled C libraries provided by a C toolchain
|
||||
# use GCC as the linker by commenting out both lines above and then
|
||||
# uncommenting the three lines below
|
||||
# "-C", "linker=arm-none-eabi-gcc",
|
||||
# "-C", "link-arg=-Wl,-Tlink.x",
|
||||
# "-C", "link-arg=-nostartfiles",
|
||||
]
|
||||
|
||||
[build]
|
||||
# comment out the following line if you intend to run unit tests on host machine
|
||||
target = "thumbv7em-none-eabihf" # Cortex-M4F and Cortex-M7F (with FPU)
|
||||
|
||||
[env]
|
||||
DEFMT_LOG = "info"
|
|
@ -1,3 +1,4 @@
|
|||
/target
|
||||
/itm.txt
|
||||
/.cargo/config*
|
||||
/.vscode
|
||||
|
|
|
@ -1,66 +0,0 @@
|
|||
{
|
||||
/*
|
||||
* Requires the Rust Language Server (RLS) and Cortex-Debug extensions
|
||||
* https://marketplace.visualstudio.com/items?itemName=rust-lang.rust
|
||||
* https://marketplace.visualstudio.com/items?itemName=marus25.cortex-debug
|
||||
*/
|
||||
"version": "0.2.0",
|
||||
"configurations": [
|
||||
{
|
||||
/* Launches debug session for currently open example */
|
||||
"type": "cortex-debug",
|
||||
"request": "launch",
|
||||
"name": "Debug",
|
||||
"servertype": "openocd",
|
||||
"cwd": "${workspaceRoot}",
|
||||
"preLaunchTask": "cargo build",
|
||||
"runToEntryPoint": "true",
|
||||
"executable": "./target/thumbv7em-none-eabihf/debug/satrs-example-stm32f3-disco",
|
||||
"preLaunchCommands": ["break rust_begin_unwind"],
|
||||
"device": "STM32F303VCT6",
|
||||
"configFiles": [
|
||||
"${workspaceRoot}/.vscode/openocd-helpers.tcl",
|
||||
"interface/stlink.cfg",
|
||||
"target/stm32f3x.cfg"
|
||||
],
|
||||
"svdFile": "${env:HOME}/.svd/STM32F303.svd",
|
||||
"swoConfig": {
|
||||
"enabled": true,
|
||||
"cpuFrequency": 8000000,
|
||||
"swoFrequency": 2000000,
|
||||
"source": "probe",
|
||||
"decoders": [
|
||||
{ "type": "console", "label": "ITM", "port": 0 }
|
||||
]
|
||||
}
|
||||
},
|
||||
{
|
||||
/* Launches debug session for currently open example */
|
||||
"type": "cortex-debug",
|
||||
"request": "launch",
|
||||
"name": "Release",
|
||||
"servertype": "openocd",
|
||||
"cwd": "${workspaceRoot}",
|
||||
"preLaunchTask": "cargo build",
|
||||
"runToEntryPoint": "true",
|
||||
"executable": "./target/thumbv7em-none-eabihf/release/satrs-example-stm32f3-disco",
|
||||
"preLaunchCommands": ["break rust_begin_unwind"],
|
||||
"device": "STM32F303VCT6",
|
||||
"configFiles": [
|
||||
"${workspaceRoot}/.vscode/openocd-helpers.tcl",
|
||||
"interface/stlink.cfg",
|
||||
"target/stm32f3x.cfg"
|
||||
],
|
||||
"svdFile": "${env:HOME}/.svd/STM32F303.svd",
|
||||
"swoConfig": {
|
||||
"enabled": true,
|
||||
"cpuFrequency": 8000000,
|
||||
"swoFrequency": 2000000,
|
||||
"source": "probe",
|
||||
"decoders": [
|
||||
{ "type": "console", "label": "ITM", "port": 0 }
|
||||
]
|
||||
}
|
||||
}
|
||||
]
|
||||
}
|
|
@ -1,3 +0,0 @@
|
|||
{
|
||||
"cortex-debug.gdbPath.linux": "gdb-multiarch"
|
||||
}
|
|
@ -13,18 +13,18 @@ dependencies = [
|
|||
|
||||
[[package]]
|
||||
name = "atomic-polyfill"
|
||||
version = "0.1.11"
|
||||
version = "1.0.3"
|
||||
source = "registry+https://github.com/rust-lang/crates.io-index"
|
||||
checksum = "e3ff7eb3f316534d83a8a2c3d1674ace8a5a71198eba31e2e2b597833f699b28"
|
||||
checksum = "8cf2bce30dfe09ef0bfaef228b9d414faaf7e563035494d7fe092dba54b300f4"
|
||||
dependencies = [
|
||||
"critical-section",
|
||||
]
|
||||
|
||||
[[package]]
|
||||
name = "autocfg"
|
||||
version = "1.1.0"
|
||||
version = "1.2.0"
|
||||
source = "registry+https://github.com/rust-lang/crates.io-index"
|
||||
checksum = "d468802bab17cbc0cc575e9b053f41e72aa36bfa6b7f55e3529ffa43161b97fa"
|
||||
checksum = "f1fdabc7756949593fe60f30ec81974b613357de856987752631dea1e3394c80"
|
||||
|
||||
[[package]]
|
||||
name = "bare-metal"
|
||||
|
@ -55,20 +55,21 @@ checksum = "bef38d45163c2f1dde094a7dfd33ccf595c92905c8f8f4fdc18d06fb1037718a"
|
|||
|
||||
[[package]]
|
||||
name = "bxcan"
|
||||
version = "0.6.2"
|
||||
version = "0.7.0"
|
||||
source = "registry+https://github.com/rust-lang/crates.io-index"
|
||||
checksum = "4b13b4b2ea9ab2ba924063ebb86ad895cb79f4a79bf90f27949eb20c335b30f9"
|
||||
checksum = "40ac3d0c0a542d0ab5521211f873f62706a7136df415676f676d347e5a41dd80"
|
||||
dependencies = [
|
||||
"bitflags",
|
||||
"nb 1.0.0",
|
||||
"embedded-hal 0.2.7",
|
||||
"nb 1.1.0",
|
||||
"vcell",
|
||||
]
|
||||
|
||||
[[package]]
|
||||
name = "byteorder"
|
||||
version = "1.4.3"
|
||||
version = "1.5.0"
|
||||
source = "registry+https://github.com/rust-lang/crates.io-index"
|
||||
checksum = "14c189c53d098945499cdfa7ecc63567cf3886b3332b312a5b4585d8d3a6a610"
|
||||
checksum = "1fd0f2584146f6f2ef48085050886acf353beff7305ebd1ae69500e27c67f64b"
|
||||
|
||||
[[package]]
|
||||
name = "cast"
|
||||
|
@ -87,31 +88,36 @@ checksum = "baf1de4339761588bc0619e3cbc0120ee582ebb74b53b4efbf79117bd2da40fd"
|
|||
|
||||
[[package]]
|
||||
name = "chrono"
|
||||
version = "0.4.23"
|
||||
version = "0.4.37"
|
||||
source = "registry+https://github.com/rust-lang/crates.io-index"
|
||||
checksum = "16b0a3d9ed01224b22057780a37bb8c5dbfe1be8ba48678e7bf57ec4b385411f"
|
||||
checksum = "8a0d04d43504c61aa6c7531f1871dd0d418d91130162063b789da00fd7057a5e"
|
||||
dependencies = [
|
||||
"num-integer",
|
||||
"num-traits",
|
||||
]
|
||||
|
||||
[[package]]
|
||||
name = "cobs"
|
||||
version = "0.2.3"
|
||||
source = "git+https://github.com/robamu/cobs.rs.git?branch=all_features#c70a7f30fd00a7cbdb7666dec12b437977385d40"
|
||||
|
||||
[[package]]
|
||||
name = "cortex-m"
|
||||
version = "0.7.6"
|
||||
version = "0.7.7"
|
||||
source = "registry+https://github.com/rust-lang/crates.io-index"
|
||||
checksum = "70858629a458fdfd39f9675c4dc309411f2a3f83bede76988d81bf1a0ecee9e0"
|
||||
checksum = "8ec610d8f49840a5b376c69663b6369e71f4b34484b9b2eb29fb918d92516cb9"
|
||||
dependencies = [
|
||||
"bare-metal 0.2.5",
|
||||
"bitfield",
|
||||
"embedded-hal",
|
||||
"critical-section",
|
||||
"embedded-hal 0.2.7",
|
||||
"volatile-register",
|
||||
]
|
||||
|
||||
[[package]]
|
||||
name = "cortex-m-rt"
|
||||
version = "0.7.2"
|
||||
version = "0.7.3"
|
||||
source = "registry+https://github.com/rust-lang/crates.io-index"
|
||||
checksum = "d6d3328b8b5534f0c90acd66b68950f2763b37e0173cac4d8b4937c4a80761f9"
|
||||
checksum = "ee84e813d593101b1723e13ec38b6ab6abbdbaaa4546553f5395ed274079ddb1"
|
||||
dependencies = [
|
||||
"cortex-m-rt-macros",
|
||||
]
|
||||
|
@ -124,48 +130,44 @@ checksum = "f0f6f3e36f203cfedbc78b357fb28730aa2c6dc1ab060ee5c2405e843988d3c7"
|
|||
dependencies = [
|
||||
"proc-macro2",
|
||||
"quote",
|
||||
"syn",
|
||||
"syn 1.0.109",
|
||||
]
|
||||
|
||||
[[package]]
|
||||
name = "cortex-m-rtic"
|
||||
version = "1.1.3"
|
||||
name = "cortex-m-semihosting"
|
||||
version = "0.5.0"
|
||||
source = "registry+https://github.com/rust-lang/crates.io-index"
|
||||
checksum = "c6b82f1c39acd6c3a35c2013b6110c20f5bc534522791fabadeed49ccada2dce"
|
||||
checksum = "c23234600452033cc77e4b761e740e02d2c4168e11dbf36ab14a0f58973592b0"
|
||||
dependencies = [
|
||||
"bare-metal 1.0.0",
|
||||
"cortex-m",
|
||||
"cortex-m-rtic-macros",
|
||||
"heapless",
|
||||
"rtic-core",
|
||||
"rtic-monotonic",
|
||||
"version_check",
|
||||
]
|
||||
|
||||
[[package]]
|
||||
name = "cortex-m-rtic-macros"
|
||||
version = "1.1.5"
|
||||
name = "crc"
|
||||
version = "3.0.1"
|
||||
source = "registry+https://github.com/rust-lang/crates.io-index"
|
||||
checksum = "9e8e9645ef54bec1cf70ac33e9bf9566e6507ab5b41ae6baf3735662194e8607"
|
||||
checksum = "86ec7a15cbe22e59248fc7eadb1907dab5ba09372595da4d73dd805ed4417dfe"
|
||||
dependencies = [
|
||||
"proc-macro-error",
|
||||
"proc-macro2",
|
||||
"quote",
|
||||
"rtic-syntax",
|
||||
"syn",
|
||||
"crc-catalog",
|
||||
]
|
||||
|
||||
[[package]]
|
||||
name = "crc-catalog"
|
||||
version = "2.4.0"
|
||||
source = "registry+https://github.com/rust-lang/crates.io-index"
|
||||
checksum = "19d374276b40fb8bbdee95aef7c7fa6b5316ec764510eb64b8dd0e2ed0d7e7f5"
|
||||
|
||||
[[package]]
|
||||
name = "critical-section"
|
||||
version = "1.1.1"
|
||||
version = "1.1.2"
|
||||
source = "registry+https://github.com/rust-lang/crates.io-index"
|
||||
checksum = "6548a0ad5d2549e111e1f6a11a6c2e2d00ce6a3dafe22948d67c2b443f775e52"
|
||||
checksum = "7059fff8937831a9ae6f0fe4d658ffabf58f2ca96aa9dec1c889f936f705f216"
|
||||
|
||||
[[package]]
|
||||
name = "darling"
|
||||
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|
||||
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|
||||
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|
||||
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|
||||
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|
||||
dependencies = [
|
||||
"darling_core",
|
||||
"darling_macro",
|
||||
|
@ -173,26 +175,102 @@ dependencies = [
|
|||
|
||||
[[package]]
|
||||
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|
||||
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|
||||
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|
||||
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||||
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||||
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|
||||
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|
||||
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|
||||
"ident_case",
|
||||
"proc-macro2",
|
||||
"quote",
|
||||
"syn",
|
||||
"syn 2.0.58",
|
||||
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|
||||
|
||||
[[package]]
|
||||
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|
||||
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|
||||
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|
||||
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||||
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||||
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|
||||
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|
||||
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|
||||
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|
||||
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|
||||
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|
||||
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|
||||
|
||||
[[package]]
|
||||
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|
||||
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|
||||
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||||
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|
||||
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|
||||
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|
||||
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|
||||
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|
||||
|
||||
[[package]]
|
||||
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|
||||
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|
||||
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|
||||
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|
||||
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|
||||
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|
||||
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|
||||
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|
||||
|
||||
[[package]]
|
||||
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|
||||
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|
||||
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|
||||
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|
||||
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|
||||
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|
||||
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|
||||
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|
||||
"quote",
|
||||
"syn 2.0.58",
|
||||
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|
||||
|
||||
[[package]]
|
||||
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|
||||
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|
||||
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|
||||
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|
||||
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|
||||
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|
||||
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|
||||
|
||||
[[package]]
|
||||
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|
||||
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|
||||
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|
||||
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|
||||
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|
||||
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|
||||
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|
||||
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|
||||
"defmt-test-macros",
|
||||
]
|
||||
|
||||
[[package]]
|
||||
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|
||||
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|
||||
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|
||||
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|
||||
dependencies = [
|
||||
"proc-macro2",
|
||||
"quote",
|
||||
"syn 2.0.58",
|
||||
]
|
||||
|
||||
[[package]]
|
||||
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|
||||
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|
||||
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|
||||
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|
||||
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|
||||
"proc-macro2",
|
||||
"quote",
|
||||
"syn 1.0.109",
|
||||
]
|
||||
|
||||
[[package]]
|
||||
|
@ -214,6 +292,12 @@ dependencies = [
|
|||
"void",
|
||||
]
|
||||
|
||||
[[package]]
|
||||
name = "embedded-hal"
|
||||
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|
||||
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|
||||
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|
||||
|
||||
[[package]]
|
||||
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|
||||
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|
||||
|
@ -225,25 +309,31 @@ dependencies = [
|
|||
|
||||
[[package]]
|
||||
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|
||||
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|
||||
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|
||||
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||||
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||||
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|
||||
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|
||||
"enumset_derive",
|
||||
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|
||||
|
||||
[[package]]
|
||||
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|
||||
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|
||||
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|
||||
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|
||||
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|
||||
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|
||||
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|
||||
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|
||||
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|
||||
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|
||||
"syn",
|
||||
"syn 2.0.58",
|
||||
]
|
||||
|
||||
[[package]]
|
||||
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|
||||
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|
||||
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|
||||
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|
||||
|
||||
[[package]]
|
||||
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|
||||
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|
||||
|
@ -252,18 +342,42 @@ checksum = "3f9eec918d3f24069decb9af1554cad7c880e2da24a9afd88aca000531ab82c1"
|
|||
|
||||
[[package]]
|
||||
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|
||||
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|
||||
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|
||||
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||||
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|
||||
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|
||||
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|
||||
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|
||||
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|
||||
|
||||
[[package]]
|
||||
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|
||||
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|
||||
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|
||||
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|
||||
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||||
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||||
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|
||||
|
||||
[[package]]
|
||||
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|
||||
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|
||||
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|
||||
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|
||||
|
||||
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|
||||
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|
||||
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|
||||
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||||
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|
||||
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|
||||
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|
||||
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|
||||
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|
||||
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|
||||
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|
||||
|
||||
[[package]]
|
||||
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|
||||
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|
||||
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|
||||
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|
||||
|
||||
[[package]]
|
||||
name = "generic-array"
|
||||
|
@ -276,9 +390,9 @@ dependencies = [
|
|||
|
||||
[[package]]
|
||||
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|
||||
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|
||||
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|
||||
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||||
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|
||||
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|
||||
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|
||||
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|
||||
|
@ -286,29 +400,26 @@ dependencies = [
|
|||
|
||||
[[package]]
|
||||
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|
||||
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||||
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||||
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||||
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|
||||
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|
||||
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|
||||
|
||||
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|
||||
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|
||||
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||||
|
||||
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||||
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|
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|
||||
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|
||||
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||||
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||||
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||||
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|
||||
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|
||||
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|
||||
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|
||||
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|
||||
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|
||||
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|
||||
|
||||
|
@ -320,41 +431,14 @@ checksum = "b9e0384b61958566e926dc50660321d12159025e767c18e043daf26b70104c39"
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|||
|
||||
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|
||||
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|
||||
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||||
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||||
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|
||||
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|
||||
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|
||||
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|
||||
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|
||||
|
||||
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|
||||
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|
||||
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|
||||
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|
||||
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|
||||
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|
||||
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|
||||
|
||||
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|
||||
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|
||||
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|
||||
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||||
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|
||||
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|
||||
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|
||||
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|
||||
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|
||||
|
||||
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|
||||
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|
||||
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|
||||
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|
||||
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|
||||
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|
||||
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|
||||
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|
||||
|
||||
[[package]]
|
||||
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|
||||
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|
||||
|
@ -362,7 +446,7 @@ source = "registry+https://github.com/rust-lang/crates.io-index"
|
|||
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|
||||
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|
||||
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|
||||
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|
||||
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|
||||
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|
||||
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|
||||
|
||||
|
@ -372,7 +456,7 @@ version = "1.1.1"
|
|||
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|
||||
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|
||||
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|
||||
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|
||||
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|
||||
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|
||||
|
||||
[[package]]
|
||||
|
@ -381,14 +465,14 @@ version = "0.1.3"
|
|||
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|
||||
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|
||||
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|
||||
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|
||||
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|
||||
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|
||||
|
||||
[[package]]
|
||||
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|
||||
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|
||||
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|
||||
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|
||||
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||||
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|
||||
|
||||
[[package]]
|
||||
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|
||||
|
@ -414,19 +498,18 @@ dependencies = [
|
|||
|
||||
[[package]]
|
||||
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|
||||
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|
||||
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|
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||||
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|
||||
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||||
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|
||||
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|
||||
|
||||
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|
||||
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|
||||
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|
||||
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|
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|
@ -446,27 +529,60 @@ dependencies = [
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|
||||
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|
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|
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||||
|
||||
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|
||||
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||||
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|
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||||
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|
||||
|
||||
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|
||||
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|
||||
"proc-macro2",
|
||||
"quote",
|
||||
"syn 2.0.58",
|
||||
]
|
||||
|
||||
[[package]]
|
||||
name = "panic-probe"
|
||||
version = "0.3.1"
|
||||
source = "registry+https://github.com/rust-lang/crates.io-index"
|
||||
checksum = "aa6fa5645ef5a760cd340eaa92af9c1ce131c8c09e7f8926d8a24b59d26652b9"
|
||||
dependencies = [
|
||||
"cortex-m",
|
||||
"defmt",
|
||||
]
|
||||
|
||||
[[package]]
|
||||
name = "paste"
|
||||
version = "1.0.11"
|
||||
version = "1.0.14"
|
||||
source = "registry+https://github.com/rust-lang/crates.io-index"
|
||||
checksum = "d01a5bd0424d00070b0098dd17ebca6f961a959dead1dbcbbbc1d1cd8d3deeba"
|
||||
checksum = "de3145af08024dea9fa9914f381a17b8fc6034dfb00f3a84013f7ff43f29ed4c"
|
||||
|
||||
[[package]]
|
||||
name = "pin-project-lite"
|
||||
version = "0.2.14"
|
||||
source = "registry+https://github.com/rust-lang/crates.io-index"
|
||||
checksum = "bda66fc9667c18cb2758a2ac84d1167245054bcf85d5d1aaa6923f45801bdd02"
|
||||
|
||||
[[package]]
|
||||
name = "pin-utils"
|
||||
version = "0.1.0"
|
||||
source = "registry+https://github.com/rust-lang/crates.io-index"
|
||||
checksum = "8b870d8c151b6f2fb93e84a13146138f05d02ed11c7e7c54f8826aaaf7c9f184"
|
||||
|
||||
[[package]]
|
||||
name = "proc-macro-error"
|
||||
|
@ -477,7 +593,7 @@ dependencies = [
|
|||
"proc-macro-error-attr",
|
||||
"proc-macro2",
|
||||
"quote",
|
||||
"syn",
|
||||
"syn 1.0.109",
|
||||
"version_check",
|
||||
]
|
||||
|
||||
|
@ -494,31 +610,54 @@ dependencies = [
|
|||
|
||||
[[package]]
|
||||
name = "proc-macro2"
|
||||
version = "1.0.49"
|
||||
version = "1.0.79"
|
||||
source = "registry+https://github.com/rust-lang/crates.io-index"
|
||||
checksum = "57a8eca9f9c4ffde41714334dee777596264c7825420f521abc92b5b5deb63a5"
|
||||
checksum = "e835ff2298f5721608eb1a980ecaee1aef2c132bf95ecc026a11b7bf3c01c02e"
|
||||
dependencies = [
|
||||
"unicode-ident",
|
||||
]
|
||||
|
||||
[[package]]
|
||||
name = "quote"
|
||||
version = "1.0.23"
|
||||
version = "1.0.35"
|
||||
source = "registry+https://github.com/rust-lang/crates.io-index"
|
||||
checksum = "8856d8364d252a14d474036ea1358d63c9e6965c8e5c1885c18f73d70bff9c7b"
|
||||
checksum = "291ec9ab5efd934aaf503a6466c5d5251535d108ee747472c3977cc5acc868ef"
|
||||
dependencies = [
|
||||
"proc-macro2",
|
||||
]
|
||||
|
||||
[[package]]
|
||||
name = "rtcc"
|
||||
version = "0.3.0"
|
||||
version = "0.3.2"
|
||||
source = "registry+https://github.com/rust-lang/crates.io-index"
|
||||
checksum = "3623619ce77c09a7d87cf7c61c5c887b9c7dee8805f66af6c4aa5824be4d9930"
|
||||
checksum = "95973c3a0274adc4f3c5b70d2b5b85618d6de9559a6737d3293ecae9a2fc0839"
|
||||
dependencies = [
|
||||
"chrono",
|
||||
]
|
||||
|
||||
[[package]]
|
||||
name = "rtic"
|
||||
version = "2.1.1"
|
||||
source = "registry+https://github.com/rust-lang/crates.io-index"
|
||||
checksum = "c443db16326376bdd64377da268f6616d5f804aba8ce799bac7d1f7f244e9d51"
|
||||
dependencies = [
|
||||
"atomic-polyfill",
|
||||
"bare-metal 1.0.0",
|
||||
"cortex-m",
|
||||
"critical-section",
|
||||
"rtic-core",
|
||||
"rtic-macros",
|
||||
]
|
||||
|
||||
[[package]]
|
||||
name = "rtic-common"
|
||||
version = "1.0.0"
|
||||
source = "registry+https://github.com/rust-lang/crates.io-index"
|
||||
checksum = "0786b50b81ef9d2a944a000f60405bb28bf30cd45da2d182f3fe636b2321f35c"
|
||||
dependencies = [
|
||||
"critical-section",
|
||||
]
|
||||
|
||||
[[package]]
|
||||
name = "rtic-core"
|
||||
version = "1.0.0"
|
||||
|
@ -526,21 +665,41 @@ source = "registry+https://github.com/rust-lang/crates.io-index"
|
|||
checksum = "d9369355b04d06a3780ec0f51ea2d225624db777acbc60abd8ca4832da5c1a42"
|
||||
|
||||
[[package]]
|
||||
name = "rtic-monotonic"
|
||||
version = "1.0.0"
|
||||
name = "rtic-macros"
|
||||
version = "2.1.0"
|
||||
source = "registry+https://github.com/rust-lang/crates.io-index"
|
||||
checksum = "fb8b0b822d1a366470b9cea83a1d4e788392db763539dc4ba022bcc787fece82"
|
||||
|
||||
[[package]]
|
||||
name = "rtic-syntax"
|
||||
version = "1.0.2"
|
||||
source = "registry+https://github.com/rust-lang/crates.io-index"
|
||||
checksum = "3ad3ae243dd8d0a1b064615f664d4fa7e63929939074c564cbe5efdc4c503065"
|
||||
checksum = "54053598ea24b1b74937724e366558412a1777eb2680b91ef646db540982789a"
|
||||
dependencies = [
|
||||
"indexmap",
|
||||
"proc-macro-error",
|
||||
"proc-macro2",
|
||||
"quote",
|
||||
"syn",
|
||||
"syn 2.0.58",
|
||||
]
|
||||
|
||||
[[package]]
|
||||
name = "rtic-monotonics"
|
||||
version = "1.5.0"
|
||||
source = "registry+https://github.com/rust-lang/crates.io-index"
|
||||
checksum = "058c2397dbd5bb4c5650a0e368c3920953e458805ff5097a0511b8147b3619d7"
|
||||
dependencies = [
|
||||
"atomic-polyfill",
|
||||
"cfg-if",
|
||||
"cortex-m",
|
||||
"embedded-hal 1.0.0",
|
||||
"fugit",
|
||||
"rtic-time",
|
||||
]
|
||||
|
||||
[[package]]
|
||||
name = "rtic-time"
|
||||
version = "1.3.0"
|
||||
source = "registry+https://github.com/rust-lang/crates.io-index"
|
||||
checksum = "75b232e7aebc045cfea81cdd164bc2727a10aca9a4568d406d0a5661cdfd0f19"
|
||||
dependencies = [
|
||||
"critical-section",
|
||||
"futures-util",
|
||||
"rtic-common",
|
||||
]
|
||||
|
||||
[[package]]
|
||||
|
@ -558,31 +717,52 @@ version = "0.4.0"
|
|||
source = "registry+https://github.com/rust-lang/crates.io-index"
|
||||
checksum = "bfa0f585226d2e68097d4f95d113b15b83a82e819ab25717ec0590d9584ef366"
|
||||
dependencies = [
|
||||
"semver 1.0.16",
|
||||
"semver 1.0.22",
|
||||
]
|
||||
|
||||
[[package]]
|
||||
name = "sat-rs-example-stm32f-disco"
|
||||
name = "satrs"
|
||||
version = "0.2.0-rc.0"
|
||||
dependencies = [
|
||||
"cobs",
|
||||
"crc",
|
||||
"delegate",
|
||||
"num-traits",
|
||||
"num_enum",
|
||||
"paste",
|
||||
"satrs-shared",
|
||||
"smallvec",
|
||||
"spacepackets",
|
||||
]
|
||||
|
||||
[[package]]
|
||||
name = "satrs-example-stm32f3-disco"
|
||||
version = "0.1.0"
|
||||
dependencies = [
|
||||
"cobs",
|
||||
"cortex-m",
|
||||
"cortex-m-rt",
|
||||
"cortex-m-rtic",
|
||||
"embedded-hal",
|
||||
"cortex-m-semihosting",
|
||||
"defmt",
|
||||
"defmt-brtt",
|
||||
"defmt-test",
|
||||
"embedded-hal 0.2.7",
|
||||
"enumset",
|
||||
"heapless",
|
||||
"itm_logger",
|
||||
"panic-itm",
|
||||
"panic-probe",
|
||||
"rtic",
|
||||
"rtic-monotonics",
|
||||
"satrs",
|
||||
"stm32f3-discovery",
|
||||
"stm32f3xx-hal",
|
||||
"systick-monotonic",
|
||||
]
|
||||
|
||||
[[package]]
|
||||
name = "scopeguard"
|
||||
version = "1.1.0"
|
||||
source = "registry+https://github.com/rust-lang/crates.io-index"
|
||||
checksum = "d29ab0c6d3fc0ee92fe66e2d99f700eab17a8d57d1c1d3b748380fb20baa78cd"
|
||||
name = "satrs-shared"
|
||||
version = "0.1.3"
|
||||
dependencies = [
|
||||
"spacepackets",
|
||||
]
|
||||
|
||||
[[package]]
|
||||
name = "semver"
|
||||
|
@ -595,9 +775,9 @@ dependencies = [
|
|||
|
||||
[[package]]
|
||||
name = "semver"
|
||||
version = "1.0.16"
|
||||
version = "1.0.22"
|
||||
source = "registry+https://github.com/rust-lang/crates.io-index"
|
||||
checksum = "58bc9567378fc7690d6b2addae4e60ac2eeea07becb2c64b9f218b53865cba2a"
|
||||
checksum = "92d43fe69e652f3df9bdc2b85b2854a0825b86e4fb76bc44d945137d053639ca"
|
||||
|
||||
[[package]]
|
||||
name = "semver-parser"
|
||||
|
@ -607,17 +787,28 @@ checksum = "388a1df253eca08550bef6c72392cfe7c30914bf41df5269b68cbd6ff8f570a3"
|
|||
|
||||
[[package]]
|
||||
name = "slice-group-by"
|
||||
version = "0.3.0"
|
||||
version = "0.3.1"
|
||||
source = "registry+https://github.com/rust-lang/crates.io-index"
|
||||
checksum = "03b634d87b960ab1a38c4fe143b508576f075e7c978bfad18217645ebfdfa2ec"
|
||||
checksum = "826167069c09b99d56f31e9ae5c99049e932a98c9dc2dac47645b08dbbf76ba7"
|
||||
|
||||
[[package]]
|
||||
name = "spin"
|
||||
version = "0.9.4"
|
||||
name = "smallvec"
|
||||
version = "1.13.2"
|
||||
source = "registry+https://github.com/rust-lang/crates.io-index"
|
||||
checksum = "7f6002a767bff9e83f8eeecf883ecb8011875a21ae8da43bffb817a57e78cc09"
|
||||
checksum = "3c5e1a9a646d36c3599cd173a41282daf47c44583ad367b8e6837255952e5c67"
|
||||
|
||||
[[package]]
|
||||
name = "spacepackets"
|
||||
version = "0.11.0-rc.2"
|
||||
source = "registry+https://github.com/rust-lang/crates.io-index"
|
||||
checksum = "c2cfd5f9a4c7f10714d21f9bc61f2d176cb7ae092cdd687e7ade2d4e6f7d7125"
|
||||
dependencies = [
|
||||
"lock_api",
|
||||
"crc",
|
||||
"defmt",
|
||||
"delegate",
|
||||
"num-traits",
|
||||
"num_enum",
|
||||
"zerocopy",
|
||||
]
|
||||
|
||||
[[package]]
|
||||
|
@ -639,9 +830,9 @@ dependencies = [
|
|||
|
||||
[[package]]
|
||||
name = "stm32f3"
|
||||
version = "0.14.0"
|
||||
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|
||||
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|
||||
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|
||||
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|
||||
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|
||||
"bare-metal 1.0.0",
|
||||
"cortex-m",
|
||||
|
@ -651,7 +842,8 @@ dependencies = [
|
|||
|
||||
[[package]]
|
||||
name = "stm32f3-discovery"
|
||||
version = "0.8.0-pre.0"
|
||||
version = "0.8.0-alpha.0"
|
||||
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|
||||
dependencies = [
|
||||
"accelerometer",
|
||||
"cortex-m",
|
||||
|
@ -663,20 +855,20 @@ dependencies = [
|
|||
|
||||
[[package]]
|
||||
name = "stm32f3xx-hal"
|
||||
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|
||||
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|
||||
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|
||||
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|
||||
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|
||||
dependencies = [
|
||||
"bare-metal 1.0.0",
|
||||
"bxcan",
|
||||
"cfg-if",
|
||||
"cortex-m",
|
||||
"cortex-m-rt",
|
||||
"critical-section",
|
||||
"embedded-dma",
|
||||
"embedded-hal",
|
||||
"embedded-hal 0.2.7",
|
||||
"embedded-time",
|
||||
"enumset",
|
||||
"nb 1.0.0",
|
||||
"nb 1.1.0",
|
||||
"num-traits",
|
||||
"paste",
|
||||
"rtcc",
|
||||
"slice-group-by",
|
||||
|
@ -691,14 +883,14 @@ version = "0.4.0"
|
|||
source = "registry+https://github.com/rust-lang/crates.io-index"
|
||||
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|
||||
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|
||||
"embedded-hal",
|
||||
"embedded-hal 0.2.7",
|
||||
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|
||||
|
||||
[[package]]
|
||||
name = "syn"
|
||||
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|
||||
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|
||||
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|
||||
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|
||||
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|
||||
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|
||||
"proc-macro2",
|
||||
"quote",
|
||||
|
@ -706,27 +898,47 @@ dependencies = [
|
|||
]
|
||||
|
||||
[[package]]
|
||||
name = "systick-monotonic"
|
||||
version = "1.0.1"
|
||||
name = "syn"
|
||||
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|
||||
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|
||||
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|
||||
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|
||||
dependencies = [
|
||||
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|
||||
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|
||||
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|
||||
"proc-macro2",
|
||||
"quote",
|
||||
"unicode-ident",
|
||||
]
|
||||
|
||||
[[package]]
|
||||
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|
||||
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|
||||
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|
||||
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|
||||
dependencies = [
|
||||
"thiserror-impl",
|
||||
]
|
||||
|
||||
[[package]]
|
||||
name = "thiserror-impl"
|
||||
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|
||||
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|
||||
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|
||||
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|
||||
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|
||||
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|
||||
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|
||||
]
|
||||
|
||||
[[package]]
|
||||
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|
||||
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|
||||
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|
||||
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|
||||
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|
||||
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|
||||
|
||||
[[package]]
|
||||
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|
||||
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|
||||
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|
||||
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|
||||
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|
||||
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|
||||
|
||||
[[package]]
|
||||
name = "usb-device"
|
||||
|
@ -754,9 +966,30 @@ checksum = "6a02e4885ed3bc0f2de90ea6dd45ebcbb66dacffe03547fadbb0eeae2770887d"
|
|||
|
||||
[[package]]
|
||||
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|
||||
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|
||||
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|
||||
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|
||||
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|
||||
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|
||||
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|
||||
"vcell",
|
||||
]
|
||||
|
||||
[[package]]
|
||||
name = "zerocopy"
|
||||
version = "0.7.32"
|
||||
source = "registry+https://github.com/rust-lang/crates.io-index"
|
||||
checksum = "74d4d3961e53fa4c9a25a8637fc2bfaf2595b3d3ae34875568a5cf64787716be"
|
||||
dependencies = [
|
||||
"byteorder",
|
||||
"zerocopy-derive",
|
||||
]
|
||||
|
||||
[[package]]
|
||||
name = "zerocopy-derive"
|
||||
version = "0.7.32"
|
||||
source = "registry+https://github.com/rust-lang/crates.io-index"
|
||||
checksum = "9ce1b18ccd8e73a9321186f97e46f9f04b778851177567b1975109d26a08d2a6"
|
||||
dependencies = [
|
||||
"proc-macro2",
|
||||
"quote",
|
||||
"syn 2.0.58",
|
||||
]
|
||||
|
|
|
@ -2,58 +2,82 @@
|
|||
name = "satrs-example-stm32f3-disco"
|
||||
version = "0.1.0"
|
||||
edition = "2021"
|
||||
default-run = "satrs-example-stm32f3-disco"
|
||||
|
||||
# See more keys and their definitions at https://doc.rust-lang.org/cargo/reference/manifest.html
|
||||
|
||||
[dependencies]
|
||||
cortex-m = "0.7"
|
||||
cortex-m = { version = "0.7", features = ["critical-section-single-core"] }
|
||||
cortex-m-rt = "0.7"
|
||||
embedded-hal = "0.2.6"
|
||||
cortex-m-rtic = "1.0"
|
||||
enumset = "1.0"
|
||||
heapless = "0.7"
|
||||
systick-monotonic = "1.0"
|
||||
defmt = "0.3"
|
||||
defmt-brtt = { version = "0.1", default-features = false, features = ["rtt"] }
|
||||
panic-probe = { version = "0.3", features = ["print-defmt"] }
|
||||
embedded-hal = "0.2.7"
|
||||
cortex-m-semihosting = "0.5.0"
|
||||
enumset = "1"
|
||||
heapless = "0.8"
|
||||
|
||||
[dependencies.rtic]
|
||||
version = "2"
|
||||
features = ["thumbv7-backend"]
|
||||
|
||||
[dependencies.rtic-monotonics]
|
||||
version = "1"
|
||||
features = ["cortex-m-systick"]
|
||||
|
||||
[dependencies.cobs]
|
||||
git = "https://github.com/robamu/cobs.rs.git"
|
||||
branch = "all_features"
|
||||
default-features = false
|
||||
|
||||
[dependencies.panic-itm]
|
||||
version = "0.4"
|
||||
|
||||
[dependencies.itm_logger]
|
||||
git = "https://github.com/robamu/itm_logger.rs.git"
|
||||
branch = "all_features"
|
||||
version = "0.1.3-alpha.0"
|
||||
|
||||
[dependencies.stm32f3xx-hal]
|
||||
git = "https://github.com/robamu/stm32f3xx-hal"
|
||||
version = "0.10.0-alpha.0"
|
||||
version = "0.11.0-alpha.0"
|
||||
features = ["stm32f303xc", "rt", "enumset"]
|
||||
branch = "all_features"
|
||||
branch = "complete-dma-update"
|
||||
# Can be used in workspace to develop and update HAL
|
||||
# path = "../stm32f3xx-hal"
|
||||
|
||||
[dependencies.stm32f3-discovery]
|
||||
git = "https://github.com/robamu/stm32f3-discovery"
|
||||
version = "0.8.0-alpha.0"
|
||||
branch = "all_features"
|
||||
branch = "complete-dma-update-hal"
|
||||
# Can be used in workspace to develop and update BSP
|
||||
# path = "../stm32f3-discovery"
|
||||
|
||||
[dependencies.satrs-core]
|
||||
git = "https://egit.irs.uni-stuttgart.de/rust/satrs-core.git"
|
||||
version = "0.1.0-alpha.0"
|
||||
[dependencies.satrs]
|
||||
path = "../satrs"
|
||||
default-features = false
|
||||
features = ["defmt"]
|
||||
|
||||
# this lets you use `cargo fix`!
|
||||
# [[bin]]
|
||||
# name = "stm32f3-blinky"
|
||||
# test = false
|
||||
# bench = false
|
||||
[dev-dependencies]
|
||||
defmt-test = "0.3"
|
||||
|
||||
# cargo test
|
||||
[profile.test]
|
||||
codegen-units = 1
|
||||
debug = 2
|
||||
debug-assertions = true # <-
|
||||
incremental = false
|
||||
opt-level = "s" # <-
|
||||
overflow-checks = true # <-
|
||||
|
||||
# cargo build/run --release
|
||||
[profile.release]
|
||||
codegen-units = 1 # better optimizations
|
||||
debug = true # symbols are nice and they don't increase the size on Flash
|
||||
lto = true # better optimizations
|
||||
codegen-units = 1
|
||||
debug = 2
|
||||
debug-assertions = false # <-
|
||||
incremental = false
|
||||
lto = 'fat'
|
||||
opt-level = "s" # <-
|
||||
overflow-checks = false # <-
|
||||
|
||||
# cargo test --release
|
||||
[profile.bench]
|
||||
codegen-units = 1
|
||||
debug = 2
|
||||
debug-assertions = false # <-
|
||||
incremental = false
|
||||
lto = 'fat'
|
||||
opt-level = "s" # <-
|
||||
overflow-checks = false # <-
|
||||
|
|
|
@ -2,15 +2,25 @@ sat-rs example for the STM32F3-Discovery board
|
|||
=======
|
||||
|
||||
This example application shows how the [sat-rs framework](https://egit.irs.uni-stuttgart.de/rust/satrs-launchpad)
|
||||
can be used on an embedded target. It also shows how a relatively simple OBSW could be built when no
|
||||
standard runtime is available. It uses [RTIC](https://rtic.rs/1/book/en/) as the concurrency
|
||||
framework.
|
||||
can be used on an embedded target.
|
||||
It also shows how a relatively simple OBSW could be built when no standard runtime is available.
|
||||
It uses [RTIC](https://rtic.rs/1/book/en/) as the concurrency framework and the
|
||||
[defmt](https://defmt.ferrous-systems.com/) framework for logging.
|
||||
|
||||
The STM32F3-Discovery device was picked because it is a cheap Cortex-M4 based device which is also
|
||||
used by the [Rust Embedded Book](https://docs.rust-embedded.org/book/intro/hardware.html) and the
|
||||
[Rust Discovery](https://docs.rust-embedded.org/discovery/f3discovery/) book as an introduction
|
||||
to embedded Rust.
|
||||
|
||||
## Pre-Requisites
|
||||
|
||||
Make sure the following tools are installed:
|
||||
|
||||
1. [`probe-rs`](https://probe.rs/): Application used to flash and debug the MCU.
|
||||
2. Optional and recommended: [VS Code](https://code.visualstudio.com/) with
|
||||
[probe-rs plugin](https://marketplace.visualstudio.com/items?itemName=probe-rs.probe-rs-debugger)
|
||||
for debugging.
|
||||
|
||||
## Preparing Rust and the repository
|
||||
|
||||
Building an application requires the `thumbv7em-none-eabihf` cross-compiler toolchain.
|
||||
|
@ -40,15 +50,23 @@ you can simply build the application with
|
|||
cargo build
|
||||
```
|
||||
|
||||
## Flashing and Debugging from the command line
|
||||
## Flashing from the command line
|
||||
|
||||
TODO
|
||||
You can flash the application from the command line using `probe-rs`:
|
||||
|
||||
```sh
|
||||
probe-rs run --chip STM32F303VCTx
|
||||
```
|
||||
|
||||
## Debugging with VS Code
|
||||
|
||||
The STM32F3-Discovery comes with an on-board ST-Link so all that is required to flash and debug
|
||||
the board is a Mini-USB cable. The code in this repository was debugged using `openocd`
|
||||
and the VS Code [`Cortex-Debug` plugin](https://marketplace.visualstudio.com/items?itemName=marus25.cortex-debug).
|
||||
the board is a Mini-USB cable. The code in this repository was debugged using [`probe-rs`](https://probe.rs/docs/tools/debuggerA)
|
||||
and the VS Code [`probe-rs` plugin](https://marketplace.visualstudio.com/items?itemName=probe-rs.probe-rs-debugger).
|
||||
Make sure to install this plugin first.
|
||||
|
||||
Sample configuration files are provided inside the `vscode` folder.
|
||||
Use `cp vscode .vscode -r` to use them for your project.
|
||||
|
||||
Some sample configuration files for VS Code were provided as well. You can simply use `Run` and `Debug`
|
||||
to automatically rebuild and flash your application.
|
||||
|
@ -56,20 +74,41 @@ to automatically rebuild and flash your application.
|
|||
The `tasks.json` and `launch.json` files are generic and you can use them immediately by opening
|
||||
the folder in VS code or adding it to a workspace.
|
||||
|
||||
If you would like to use a custom GDB application, you can specify the gdb binary in the following
|
||||
configuration variables in your `settings.json`:
|
||||
|
||||
- `"cortex-debug.gdbPath"`
|
||||
- `"cortex-debug.gdbPath.linux"`
|
||||
- `"cortex-debug.gdbPath.windows"`
|
||||
- `"cortex-debug.gdbPath.osx"`
|
||||
|
||||
## Commanding with Python
|
||||
|
||||
When the SW is running on the Discovery board, you can command the MCU via a serial interface,
|
||||
using COBS encoded CCSDS packets.
|
||||
|
||||
TODO:
|
||||
- How and where to connect serial interface on the MCU
|
||||
- How to set up Python venv (or at least strongly recommend it) and install deps
|
||||
- How to copy `def_tmtc_conf.json` to `tmtc_conf.json` and adapt it for custom serial port
|
||||
using COBS encoded PUS packets.
|
||||
|
||||
It is recommended to use a virtual environment to do this. To set up one in the command line,
|
||||
you can use `python3 -m venv venv` on Unix systems or `py -m venv venv` on Windows systems.
|
||||
After doing this, you can check the [venv tutorial](https://docs.python.org/3/tutorial/venv.html)
|
||||
on how to activate the environment and then use the following command to install the required
|
||||
dependency:
|
||||
|
||||
```sh
|
||||
pip install -r requirements.txt
|
||||
```
|
||||
|
||||
The packets are exchanged using a dedicated serial interface. You can use any generic USB-to-UART
|
||||
converter device with the TX pin connected to the PA3 pin and the RX pin connected to the PA2 pin.
|
||||
|
||||
A default configuration file for the python application is provided and can be used by running
|
||||
|
||||
```sh
|
||||
cp def_tmtc_conf.json tmtc_conf.json
|
||||
```
|
||||
|
||||
After that, you can for example send a ping to the MCU using the following command
|
||||
|
||||
```sh
|
||||
./main.py -p /ping
|
||||
```
|
||||
|
||||
You can configure the blinky frequency using
|
||||
|
||||
```sh
|
||||
./main.py -p /change_blink_freq
|
||||
```
|
||||
|
||||
All these commands will package a PUS telecommand which will be sent to the MCU using the COBS
|
||||
format as the packet framing format.
|
||||
|
|
File diff suppressed because it is too large
Load Diff
|
@ -1,18 +0,0 @@
|
|||
use std::env;
|
||||
use std::fs::File;
|
||||
use std::io::Write;
|
||||
use std::path::PathBuf;
|
||||
|
||||
fn main() {
|
||||
// Put the linker script somewhere the linker can find it
|
||||
let out = &PathBuf::from(env::var_os("OUT_DIR").unwrap());
|
||||
File::create(out.join("memory.x"))
|
||||
.unwrap()
|
||||
.write_all(include_bytes!("memory.x"))
|
||||
.unwrap();
|
||||
println!("cargo:rustc-link-search={}", out.display());
|
||||
|
||||
// Only re-run the build script when memory.x is changed,
|
||||
// instead of when any part of the source code changes.
|
||||
println!("cargo:rerun-if-changed=memory.x");
|
||||
}
|
|
@ -24,7 +24,9 @@ break main
|
|||
# # send captured ITM to the file itm.fifo
|
||||
# # (the microcontroller SWO pin must be connected to the programmer SWO pin)
|
||||
# # 8000000 must match the core clock frequency
|
||||
monitor tpiu config internal itm.txt uart off 8000000
|
||||
# # 2000000 is the frequency of the SWO pin. This was added for newer
|
||||
# openocd versions like v0.12.0.
|
||||
# monitor tpiu config internal itm.txt uart off 8000000 2000000
|
||||
|
||||
# # OR: make the microcontroller SWO pin output compatible with UART (8N1)
|
||||
# # 8000000 must match the core clock frequency
|
||||
|
@ -32,7 +34,7 @@ monitor tpiu config internal itm.txt uart off 8000000
|
|||
# monitor tpiu config external uart off 8000000 2000000
|
||||
|
||||
# # enable ITM port 0
|
||||
monitor itm port 0 on
|
||||
# monitor itm port 0 on
|
||||
|
||||
load
|
||||
|
|
@ -1,4 +1,5 @@
|
|||
/venv
|
||||
/.tmtc-history.txt
|
||||
/log
|
||||
/.idea/*
|
||||
!/.idea/runConfigurations
|
||||
|
|
|
@ -1,4 +1,4 @@
|
|||
{
|
||||
"com_if": "serial_cobs",
|
||||
"serial_baudrate": 115200
|
||||
}
|
||||
}
|
||||
|
|
|
@ -1,39 +1,40 @@
|
|||
#!/usr/bin/env python3
|
||||
"""Example client for the sat-rs example application"""
|
||||
import enum
|
||||
import struct
|
||||
import logging
|
||||
import sys
|
||||
import time
|
||||
from typing import Optional, cast
|
||||
from typing import Any, Optional, cast
|
||||
from prompt_toolkit.history import FileHistory, History
|
||||
from spacepackets.ecss.tm import CdsShortTimestamp
|
||||
|
||||
import tmtccmd
|
||||
from spacepackets.ecss import PusTelemetry, PusTelecommand, PusVerificator
|
||||
from spacepackets.ecss.pus_17_test import Service17Tm
|
||||
from spacepackets.ecss.pus_1_verification import UnpackParams, Service1Tm
|
||||
|
||||
from tmtccmd import CcsdsTmtcBackend, TcHandlerBase, ProcedureParamsWrapper
|
||||
from tmtccmd import TcHandlerBase, ProcedureParamsWrapper
|
||||
from tmtccmd.core.base import BackendRequest
|
||||
from tmtccmd.core.ccsds_backend import QueueWrapper
|
||||
from tmtccmd.logging import add_colorlog_console_logger
|
||||
from tmtccmd.pus import VerificationWrapper
|
||||
from tmtccmd.tm import CcsdsTmHandler, SpecificApidHandlerBase
|
||||
from tmtccmd.com_if import ComInterface
|
||||
from tmtccmd.tmtc import CcsdsTmHandler, SpecificApidHandlerBase
|
||||
from tmtccmd.com import ComInterface
|
||||
from tmtccmd.config import (
|
||||
CmdTreeNode,
|
||||
default_json_path,
|
||||
SetupParams,
|
||||
TmTcCfgHookBase,
|
||||
TmtcDefinitionWrapper,
|
||||
CoreServiceList,
|
||||
OpCodeEntry,
|
||||
HookBase,
|
||||
params_to_procedure_conversion,
|
||||
)
|
||||
from tmtccmd.config.com_if import SerialCfgWrapper
|
||||
from tmtccmd.config.com import SerialCfgWrapper
|
||||
from tmtccmd.config import PreArgsParsingWrapper, SetupWrapper
|
||||
from tmtccmd.logging import get_console_logger
|
||||
from tmtccmd.logging.pus import (
|
||||
RegularTmtcLogWrapper,
|
||||
RawTmtcTimedLogWrapper,
|
||||
TimedLogWhen,
|
||||
)
|
||||
from tmtccmd.tc import (
|
||||
from tmtccmd.tmtc import (
|
||||
TcQueueEntryType,
|
||||
ProcedureWrapper,
|
||||
TcProcedureType,
|
||||
|
@ -41,27 +42,26 @@ from tmtccmd.tc import (
|
|||
SendCbParams,
|
||||
DefaultPusQueueHelper,
|
||||
)
|
||||
from tmtccmd.tm.pus_5_event import Service5Tm
|
||||
from tmtccmd.pus.s5_fsfw_event import Service5Tm
|
||||
from tmtccmd.util import FileSeqCountProvider, PusFileSeqCountProvider
|
||||
from tmtccmd.util.obj_id import ObjectIdDictT
|
||||
|
||||
from tmtccmd.util.tmtc_printer import FsfwTmTcPrinter
|
||||
|
||||
LOGGER = get_console_logger()
|
||||
_LOGGER = logging.getLogger()
|
||||
|
||||
EXAMPLE_PUS_APID = 0x02
|
||||
|
||||
|
||||
class SatRsConfigHook(TmTcCfgHookBase):
|
||||
class SatRsConfigHook(HookBase):
|
||||
def __init__(self, json_cfg_path: str):
|
||||
super().__init__(json_cfg_path=json_cfg_path)
|
||||
|
||||
def assign_communication_interface(self, com_if_key: str) -> Optional[ComInterface]:
|
||||
from tmtccmd.config.com_if import (
|
||||
def get_communication_interface(self, com_if_key: str) -> Optional[ComInterface]:
|
||||
from tmtccmd.config.com import (
|
||||
create_com_interface_default,
|
||||
create_com_interface_cfg_default,
|
||||
)
|
||||
|
||||
assert self.cfg_path is not None
|
||||
cfg = create_com_interface_cfg_default(
|
||||
com_if_key=com_if_key,
|
||||
json_cfg_path=self.cfg_path,
|
||||
|
@ -76,35 +76,14 @@ class SatRsConfigHook(TmTcCfgHookBase):
|
|||
cfg.serial_cfg.serial_timeout = 0.5
|
||||
return create_com_interface_default(cfg)
|
||||
|
||||
def get_tmtc_definitions(self) -> TmtcDefinitionWrapper:
|
||||
from tmtccmd.config.globals import get_default_tmtc_defs
|
||||
def get_command_definitions(self) -> CmdTreeNode:
|
||||
"""This function should return the root node of the command definition tree."""
|
||||
return create_cmd_definition_tree()
|
||||
|
||||
defs = get_default_tmtc_defs()
|
||||
srv_5 = OpCodeEntry()
|
||||
srv_5.add("0", "Event Test")
|
||||
defs.add_service(
|
||||
name=CoreServiceList.SERVICE_5.value,
|
||||
info="PUS Service 5 Event",
|
||||
op_code_entry=srv_5,
|
||||
)
|
||||
srv_17 = OpCodeEntry()
|
||||
srv_17.add("0", "Ping Test")
|
||||
defs.add_service(
|
||||
name=CoreServiceList.SERVICE_17_ALT,
|
||||
info="PUS Service 17 Test",
|
||||
op_code_entry=srv_17,
|
||||
)
|
||||
srv_3 = OpCodeEntry()
|
||||
defs.add_service(
|
||||
name=CoreServiceList.SERVICE_3,
|
||||
info="PUS Service 3 Housekeeping",
|
||||
op_code_entry=srv_3,
|
||||
)
|
||||
return defs
|
||||
|
||||
def perform_mode_operation(self, tmtc_backend: CcsdsTmtcBackend, mode: int):
|
||||
LOGGER.info("Mode operation hook was called")
|
||||
pass
|
||||
def get_cmd_history(self) -> Optional[History]:
|
||||
"""Optionlly return a history class for the past command paths which will be used
|
||||
when prompting a command path from the user in CLI mode."""
|
||||
return FileHistory(".tmtc-history.txt")
|
||||
|
||||
def get_object_ids(self) -> ObjectIdDictT:
|
||||
from tmtccmd.config.objects import get_core_object_ids
|
||||
|
@ -112,74 +91,76 @@ class SatRsConfigHook(TmTcCfgHookBase):
|
|||
return get_core_object_ids()
|
||||
|
||||
|
||||
def create_cmd_definition_tree() -> CmdTreeNode:
|
||||
root_node = CmdTreeNode.root_node()
|
||||
root_node.add_child(CmdTreeNode("ping", "Send PUS ping TC"))
|
||||
root_node.add_child(CmdTreeNode("change_blink_freq", "Change blink frequency"))
|
||||
return root_node
|
||||
|
||||
|
||||
class PusHandler(SpecificApidHandlerBase):
|
||||
def __init__(
|
||||
self,
|
||||
file_logger: logging.Logger,
|
||||
verif_wrapper: VerificationWrapper,
|
||||
printer: FsfwTmTcPrinter,
|
||||
raw_logger: RawTmtcTimedLogWrapper,
|
||||
):
|
||||
super().__init__(EXAMPLE_PUS_APID, None)
|
||||
self.printer = printer
|
||||
self.file_logger = file_logger
|
||||
self.raw_logger = raw_logger
|
||||
self.verif_wrapper = verif_wrapper
|
||||
|
||||
def handle_tm(self, packet: bytes, _user_args: any):
|
||||
def handle_tm(self, packet: bytes, _user_args: Any):
|
||||
time_reader = CdsShortTimestamp.empty()
|
||||
try:
|
||||
tm_packet = PusTelemetry.unpack(packet)
|
||||
pus_tm = PusTelemetry.unpack(packet, time_reader=CdsShortTimestamp.empty())
|
||||
except ValueError as e:
|
||||
LOGGER.warning("Could not generate PUS TM object from raw data")
|
||||
LOGGER.warning(f"Raw Packet: [{packet.hex(sep=',')}], REPR: {packet!r}")
|
||||
_LOGGER.warning("Could not generate PUS TM object from raw data")
|
||||
_LOGGER.warning(f"Raw Packet: [{packet.hex(sep=',')}], REPR: {packet!r}")
|
||||
raise e
|
||||
service = tm_packet.service
|
||||
dedicated_handler = False
|
||||
service = pus_tm.service
|
||||
tm_packet = None
|
||||
if service == 1:
|
||||
tm_packet = Service1Tm.unpack(data=packet, params=UnpackParams(1, 2))
|
||||
tm_packet = Service1Tm.unpack(
|
||||
data=packet, params=UnpackParams(time_reader, 1, 2)
|
||||
)
|
||||
res = self.verif_wrapper.add_tm(tm_packet)
|
||||
if res is None:
|
||||
LOGGER.info(
|
||||
_LOGGER.info(
|
||||
f"Received Verification TM[{tm_packet.service}, {tm_packet.subservice}] "
|
||||
f"with Request ID {tm_packet.tc_req_id.as_u32():#08x}"
|
||||
)
|
||||
LOGGER.warning(
|
||||
_LOGGER.warning(
|
||||
f"No matching telecommand found for {tm_packet.tc_req_id}"
|
||||
)
|
||||
else:
|
||||
self.verif_wrapper.log_to_console(tm_packet, res)
|
||||
self.verif_wrapper.log_to_file(tm_packet, res)
|
||||
dedicated_handler = True
|
||||
if service == 3:
|
||||
LOGGER.info("No handling for HK packets implemented")
|
||||
LOGGER.info(f"Raw packet: 0x[{packet.hex(sep=',')}]")
|
||||
pus_tm = PusTelemetry.unpack(packet)
|
||||
_LOGGER.info("No handling for HK packets implemented")
|
||||
_LOGGER.info(f"Raw packet: 0x[{packet.hex(sep=',')}]")
|
||||
pus_tm = PusTelemetry.unpack(packet, CdsShortTimestamp.empty())
|
||||
if pus_tm.subservice == 25:
|
||||
if len(pus_tm.source_data) < 8:
|
||||
raise ValueError("No addressable ID in HK packet")
|
||||
json_str = pus_tm.source_data[8:]
|
||||
dedicated_handler = True
|
||||
_LOGGER.info("received JSON string: " + json_str.decode("utf-8"))
|
||||
if service == 5:
|
||||
tm_packet = Service5Tm.unpack(packet)
|
||||
tm_packet = Service5Tm.unpack(packet, time_reader)
|
||||
if service == 17:
|
||||
tm_packet = Service17Tm.unpack(packet)
|
||||
dedicated_handler = True
|
||||
tm_packet = Service17Tm.unpack(packet, time_reader)
|
||||
if tm_packet.subservice == 2:
|
||||
self.printer.file_logger.info("Received Ping Reply TM[17,2]")
|
||||
LOGGER.info("Received Ping Reply TM[17,2]")
|
||||
_LOGGER.info("Received Ping Reply TM[17,2]")
|
||||
else:
|
||||
self.printer.file_logger.info(
|
||||
f"Received Test Packet with unknown subservice {tm_packet.subservice}"
|
||||
)
|
||||
LOGGER.info(
|
||||
_LOGGER.info(
|
||||
f"Received Test Packet with unknown subservice {tm_packet.subservice}"
|
||||
)
|
||||
if tm_packet is None:
|
||||
LOGGER.info(
|
||||
_LOGGER.info(
|
||||
f"The service {service} is not implemented in Telemetry Factory"
|
||||
)
|
||||
tm_packet = PusTelemetry.unpack(packet)
|
||||
self.raw_logger.log_tm(tm_packet)
|
||||
if not dedicated_handler and tm_packet is not None:
|
||||
self.printer.handle_long_tm_print(packet_if=tm_packet, info_if=tm_packet)
|
||||
tm_packet = PusTelemetry.unpack(packet, time_reader)
|
||||
self.raw_logger.log_tm(pus_tm)
|
||||
|
||||
|
||||
def make_addressable_id(target_id: int, unique_id: int) -> bytes:
|
||||
|
@ -198,8 +179,11 @@ class TcHandler(TcHandlerBase):
|
|||
self.seq_count_provider = seq_count_provider
|
||||
self.verif_wrapper = verif_wrapper
|
||||
self.queue_helper = DefaultPusQueueHelper(
|
||||
queue_wrapper=None,
|
||||
queue_wrapper=QueueWrapper.empty(),
|
||||
tc_sched_timestamp_len=7,
|
||||
seq_cnt_provider=seq_count_provider,
|
||||
pus_verificator=verif_wrapper.pus_verificator,
|
||||
default_pus_apid=EXAMPLE_PUS_APID,
|
||||
)
|
||||
|
||||
def send_cb(self, send_params: SendCbParams):
|
||||
|
@ -212,61 +196,74 @@ class TcHandler(TcHandlerBase):
|
|||
)
|
||||
self.verif_wrapper.add_tc(pus_tc_wrapper.pus_tc)
|
||||
raw_tc = pus_tc_wrapper.pus_tc.pack()
|
||||
LOGGER.info(f"Sending {pus_tc_wrapper.pus_tc}")
|
||||
_LOGGER.info(f"Sending {pus_tc_wrapper.pus_tc}")
|
||||
send_params.com_if.send(raw_tc)
|
||||
elif entry_helper.entry_type == TcQueueEntryType.LOG:
|
||||
log_entry = entry_helper.to_log_entry()
|
||||
LOGGER.info(log_entry.log_str)
|
||||
_LOGGER.info(log_entry.log_str)
|
||||
|
||||
def queue_finished_cb(self, helper: ProcedureWrapper):
|
||||
if helper.proc_type == TcProcedureType.DEFAULT:
|
||||
def_proc = helper.to_def_procedure()
|
||||
LOGGER.info(
|
||||
f"Queue handling finished for service {def_proc.service} and "
|
||||
f"op code {def_proc.op_code}"
|
||||
)
|
||||
def queue_finished_cb(self, info: ProcedureWrapper):
|
||||
if info.proc_type == TcProcedureType.DEFAULT:
|
||||
def_proc = info.to_def_procedure()
|
||||
_LOGGER.info(f"Queue handling finished for command {def_proc.cmd_path}")
|
||||
|
||||
def feed_cb(self, helper: ProcedureWrapper, wrapper: FeedWrapper):
|
||||
def feed_cb(self, info: ProcedureWrapper, wrapper: FeedWrapper):
|
||||
q = self.queue_helper
|
||||
q.queue_wrapper = wrapper.queue_wrapper
|
||||
if helper.proc_type == TcProcedureType.DEFAULT:
|
||||
def_proc = helper.to_def_procedure()
|
||||
service = def_proc.service
|
||||
op_code = def_proc.op_code
|
||||
if (
|
||||
service == CoreServiceList.SERVICE_17
|
||||
or service == CoreServiceList.SERVICE_17_ALT
|
||||
):
|
||||
if info.proc_type == TcProcedureType.DEFAULT:
|
||||
def_proc = info.to_def_procedure()
|
||||
cmd_path = def_proc.cmd_path
|
||||
if cmd_path == "/ping":
|
||||
q.add_log_cmd("Sending PUS ping telecommand")
|
||||
return q.add_pus_tc(PusTelecommand(service=17, subservice=1))
|
||||
q.add_pus_tc(PusTelecommand(service=17, subservice=1))
|
||||
if cmd_path == "/change_blink_freq":
|
||||
self.create_change_blink_freq_command(q)
|
||||
|
||||
def create_change_blink_freq_command(self, q: DefaultPusQueueHelper):
|
||||
q.add_log_cmd("Changing blink frequency")
|
||||
while True:
|
||||
blink_freq = int(
|
||||
input(
|
||||
"Please specify new blink frequency in ms. Valid Range [2..10000]: "
|
||||
)
|
||||
)
|
||||
if blink_freq < 2 or blink_freq > 10000:
|
||||
print(
|
||||
"Invalid blink frequency. Please specify a value between 2 and 10000."
|
||||
)
|
||||
continue
|
||||
break
|
||||
app_data = struct.pack("!I", blink_freq)
|
||||
q.add_pus_tc(PusTelecommand(service=8, subservice=1, app_data=app_data))
|
||||
|
||||
|
||||
def main():
|
||||
add_colorlog_console_logger(_LOGGER)
|
||||
tmtccmd.init_printout(False)
|
||||
hook_obj = SatRsConfigHook(json_cfg_path=default_json_path())
|
||||
parser_wrapper = PreArgsParsingWrapper()
|
||||
parser_wrapper.create_default_parent_parser()
|
||||
parser_wrapper.create_default_parser()
|
||||
parser_wrapper.add_def_proc_args()
|
||||
post_args_wrapper = parser_wrapper.parse(hook_obj)
|
||||
params = SetupParams()
|
||||
post_args_wrapper = parser_wrapper.parse(hook_obj, params)
|
||||
proc_wrapper = ProcedureParamsWrapper()
|
||||
if post_args_wrapper.use_gui:
|
||||
post_args_wrapper.set_params_without_prompts(params, proc_wrapper)
|
||||
post_args_wrapper.set_params_without_prompts(proc_wrapper)
|
||||
else:
|
||||
post_args_wrapper.set_params_with_prompts(params, proc_wrapper)
|
||||
post_args_wrapper.set_params_with_prompts(proc_wrapper)
|
||||
params.apid = EXAMPLE_PUS_APID
|
||||
setup_args = SetupWrapper(
|
||||
hook_obj=hook_obj, setup_params=params, proc_param_wrapper=proc_wrapper
|
||||
)
|
||||
# Create console logger helper and file loggers
|
||||
tmtc_logger = RegularTmtcLogWrapper()
|
||||
printer = FsfwTmTcPrinter(tmtc_logger.logger)
|
||||
file_logger = tmtc_logger.logger
|
||||
raw_logger = RawTmtcTimedLogWrapper(when=TimedLogWhen.PER_HOUR, interval=1)
|
||||
verificator = PusVerificator()
|
||||
verification_wrapper = VerificationWrapper(verificator, LOGGER, printer.file_logger)
|
||||
verification_wrapper = VerificationWrapper(verificator, _LOGGER, file_logger)
|
||||
# Create primary TM handler and add it to the CCSDS Packet Handler
|
||||
tm_handler = PusHandler(verification_wrapper, printer, raw_logger)
|
||||
tm_handler = PusHandler(file_logger, verification_wrapper, raw_logger)
|
||||
ccsds_handler = CcsdsTmHandler(generic_handler=None)
|
||||
ccsds_handler.add_apid_handler(tm_handler)
|
||||
|
||||
|
@ -288,7 +285,7 @@ def main():
|
|||
if state.request == BackendRequest.TERMINATION_NO_ERROR:
|
||||
sys.exit(0)
|
||||
elif state.request == BackendRequest.DELAY_IDLE:
|
||||
LOGGER.info("TMTC Client in IDLE mode")
|
||||
_LOGGER.info("TMTC Client in IDLE mode")
|
||||
time.sleep(3.0)
|
||||
elif state.request == BackendRequest.DELAY_LISTENER:
|
||||
time.sleep(0.8)
|
||||
|
|
|
@ -1,2 +1,2 @@
|
|||
tmtccmd == 4.0.0a0
|
||||
tmtccmd == 8.0.0rc.0
|
||||
# -e git+https://github.com/robamu-org/tmtccmd.git@main#egg=tmtccmd
|
||||
|
|
|
@ -1,17 +1,15 @@
|
|||
#![no_std]
|
||||
#![no_main]
|
||||
use satrs_example_stm32f3_disco as _;
|
||||
|
||||
extern crate panic_itm;
|
||||
|
||||
use cortex_m_rt::entry;
|
||||
|
||||
use stm32f3_discovery::leds::Leds;
|
||||
use stm32f3_discovery::stm32f3xx_hal::delay::Delay;
|
||||
use stm32f3_discovery::stm32f3xx_hal::{pac, prelude::*};
|
||||
use stm32f3_discovery::leds::Leds;
|
||||
use stm32f3_discovery::switch_hal::{OutputSwitch, ToggleableOutputSwitch};
|
||||
|
||||
#[entry]
|
||||
fn main()-> ! {
|
||||
#[cortex_m_rt::entry]
|
||||
fn main() -> ! {
|
||||
defmt::println!("STM32F3 Discovery Blinky");
|
||||
let dp = pac::Peripherals::take().unwrap();
|
||||
let mut rcc = dp.RCC.constrain();
|
||||
let cp = cortex_m::Peripherals::take().unwrap();
|
||||
|
@ -30,49 +28,49 @@ fn main()-> ! {
|
|||
gpioe.pe14,
|
||||
gpioe.pe15,
|
||||
&mut gpioe.moder,
|
||||
&mut gpioe.otyper
|
||||
&mut gpioe.otyper,
|
||||
);
|
||||
let delay_ms = 200u16;
|
||||
loop {
|
||||
leds.ld3.toggle().ok();
|
||||
leds.ld3_n.toggle().ok();
|
||||
delay.delay_ms(delay_ms);
|
||||
leds.ld3.toggle().ok();
|
||||
leds.ld3_n.toggle().ok();
|
||||
delay.delay_ms(delay_ms);
|
||||
|
||||
//explicit on/off
|
||||
leds.ld4.on().ok();
|
||||
leds.ld4_nw.on().ok();
|
||||
delay.delay_ms(delay_ms);
|
||||
leds.ld4.off().ok();
|
||||
leds.ld4_nw.off().ok();
|
||||
delay.delay_ms(delay_ms);
|
||||
|
||||
leds.ld5.on().ok();
|
||||
leds.ld5_ne.on().ok();
|
||||
delay.delay_ms(delay_ms);
|
||||
leds.ld5.off().ok();
|
||||
leds.ld5_ne.off().ok();
|
||||
delay.delay_ms(delay_ms);
|
||||
|
||||
leds.ld6.on().ok();
|
||||
leds.ld6_w.on().ok();
|
||||
delay.delay_ms(delay_ms);
|
||||
leds.ld6.off().ok();
|
||||
delay.delay_ms(delay_ms);
|
||||
|
||||
leds.ld7.on().ok();
|
||||
delay.delay_ms(delay_ms);
|
||||
leds.ld7.off().ok();
|
||||
delay.delay_ms(delay_ms);
|
||||
|
||||
leds.ld8.on().ok();
|
||||
delay.delay_ms(delay_ms);
|
||||
leds.ld8.off().ok();
|
||||
delay.delay_ms(delay_ms);
|
||||
|
||||
leds.ld9.on().ok();
|
||||
delay.delay_ms(delay_ms);
|
||||
leds.ld9.off().ok();
|
||||
leds.ld6_w.off().ok();
|
||||
delay.delay_ms(delay_ms);
|
||||
|
||||
leds.ld10.on().ok();
|
||||
leds.ld7_e.on().ok();
|
||||
delay.delay_ms(delay_ms);
|
||||
leds.ld10.off().ok();
|
||||
leds.ld7_e.off().ok();
|
||||
delay.delay_ms(delay_ms);
|
||||
|
||||
leds.ld8_sw.on().ok();
|
||||
delay.delay_ms(delay_ms);
|
||||
leds.ld8_sw.off().ok();
|
||||
delay.delay_ms(delay_ms);
|
||||
|
||||
leds.ld9_se.on().ok();
|
||||
delay.delay_ms(delay_ms);
|
||||
leds.ld9_se.off().ok();
|
||||
delay.delay_ms(delay_ms);
|
||||
|
||||
leds.ld10_s.on().ok();
|
||||
delay.delay_ms(delay_ms);
|
||||
leds.ld10_s.off().ok();
|
||||
delay.delay_ms(delay_ms);
|
||||
}
|
||||
}
|
|
@ -0,0 +1,51 @@
|
|||
#![no_main]
|
||||
#![no_std]
|
||||
|
||||
use cortex_m_semihosting::debug;
|
||||
|
||||
use defmt_brtt as _; // global logger
|
||||
|
||||
use stm32f3xx_hal as _; // memory layout
|
||||
|
||||
use panic_probe as _;
|
||||
|
||||
// same panicking *behavior* as `panic-probe` but doesn't print a panic message
|
||||
// this prevents the panic message being printed *twice* when `defmt::panic` is invoked
|
||||
#[defmt::panic_handler]
|
||||
fn panic() -> ! {
|
||||
cortex_m::asm::udf()
|
||||
}
|
||||
|
||||
/// Terminates the application and makes a semihosting-capable debug tool exit
|
||||
/// with status code 0.
|
||||
pub fn exit() -> ! {
|
||||
loop {
|
||||
debug::exit(debug::EXIT_SUCCESS);
|
||||
}
|
||||
}
|
||||
|
||||
/// Hardfault handler.
|
||||
///
|
||||
/// Terminates the application and makes a semihosting-capable debug tool exit
|
||||
/// with an error. This seems better than the default, which is to spin in a
|
||||
/// loop.
|
||||
#[cortex_m_rt::exception]
|
||||
unsafe fn HardFault(_frame: &cortex_m_rt::ExceptionFrame) -> ! {
|
||||
loop {
|
||||
debug::exit(debug::EXIT_FAILURE);
|
||||
}
|
||||
}
|
||||
|
||||
// defmt-test 0.3.0 has the limitation that this `#[tests]` attribute can only be used
|
||||
// once within a crate. the module can be in any file but there can only be at most
|
||||
// one `#[tests]` module in this library crate
|
||||
#[cfg(test)]
|
||||
#[defmt_test::tests]
|
||||
mod unit_tests {
|
||||
use defmt::assert;
|
||||
|
||||
#[test]
|
||||
fn it_works() {
|
||||
assert!(true)
|
||||
}
|
||||
}
|
|
@ -1,38 +1,40 @@
|
|||
#![no_std]
|
||||
#![no_main]
|
||||
extern crate panic_itm;
|
||||
use satrs::pus::verification::{
|
||||
FailParams, TcStateAccepted, VerificationReportCreator, VerificationToken,
|
||||
};
|
||||
use satrs::spacepackets::ecss::tc::PusTcReader;
|
||||
use satrs::spacepackets::ecss::tm::{PusTmCreator, PusTmSecondaryHeader};
|
||||
use satrs::spacepackets::ecss::EcssEnumU16;
|
||||
use satrs::spacepackets::CcsdsPacket;
|
||||
use satrs::spacepackets::{ByteConversionError, SpHeader};
|
||||
// global logger + panicking-behavior + memory layout
|
||||
use satrs_example_stm32f3_disco as _;
|
||||
|
||||
use rtic::app;
|
||||
|
||||
use heapless::{
|
||||
mpmc::Q16,
|
||||
pool,
|
||||
pool::singleton::{Box, Pool},
|
||||
};
|
||||
use heapless::{mpmc::Q8, Vec};
|
||||
#[allow(unused_imports)]
|
||||
use itm_logger::{debug, info, logger_init, warn};
|
||||
use satrs_core::spacepackets::{ecss::PusPacket, tm::PusTm};
|
||||
use satrs_core::{
|
||||
pus::{EcssTmErrorWithSend, EcssTmSenderCore},
|
||||
seq_count::SequenceCountProviderCore,
|
||||
};
|
||||
use rtic_monotonics::systick::fugit::{MillisDurationU32, TimerInstantU32};
|
||||
use rtic_monotonics::systick::ExtU32;
|
||||
use satrs::seq_count::SequenceCountProviderCore;
|
||||
use satrs::spacepackets::{ecss::PusPacket, ecss::WritablePusPacket};
|
||||
use stm32f3xx_hal::dma::dma1;
|
||||
use stm32f3xx_hal::gpio::{PushPull, AF7, PA2, PA3};
|
||||
use stm32f3xx_hal::pac::USART2;
|
||||
use stm32f3xx_hal::serial::{Rx, RxEvent, Serial, SerialDmaRx, SerialDmaTx, Tx, TxEvent};
|
||||
use systick_monotonic::{fugit::Duration, Systick};
|
||||
|
||||
const UART_BAUD: u32 = 115200;
|
||||
const BLINK_FREQ_MS: u64 = 1000;
|
||||
const TX_HANDLER_FREQ_MS: u64 = 20;
|
||||
const MIN_DELAY_BETWEEN_TX_PACKETS_MS: u16 = 5;
|
||||
const MAX_TC_LEN: usize = 200;
|
||||
const MAX_TM_LEN: usize = 200;
|
||||
const DEFAULT_BLINK_FREQ_MS: u32 = 1000;
|
||||
const TX_HANDLER_FREQ_MS: u32 = 20;
|
||||
const MIN_DELAY_BETWEEN_TX_PACKETS_MS: u32 = 5;
|
||||
const MAX_TC_LEN: usize = 128;
|
||||
const MAX_TM_LEN: usize = 128;
|
||||
pub const PUS_APID: u16 = 0x02;
|
||||
|
||||
type TxType = Tx<USART2, PA2<AF7<PushPull>>>;
|
||||
type RxType = Rx<USART2, PA3<AF7<PushPull>>>;
|
||||
type MsDuration = Duration<u64, 1, 1000>;
|
||||
type InstantFugit = TimerInstantU32<1000>;
|
||||
type TxDmaTransferType = SerialDmaTx<&'static [u8], dma1::C7, TxType>;
|
||||
type RxDmaTransferType = SerialDmaRx<&'static mut [u8], dma1::C6, RxType>;
|
||||
|
||||
|
@ -51,10 +53,11 @@ static mut DMA_TX_BUF: [u8; TM_BUF_LEN] = [0; TM_BUF_LEN];
|
|||
// transfer buffer.
|
||||
static mut DMA_RX_BUF: [u8; TC_BUF_LEN] = [0; TC_BUF_LEN];
|
||||
|
||||
static TX_REQUESTS: Q16<(Box<poolmod::TM>, usize)> = Q16::new();
|
||||
type TmPacket = Vec<u8, MAX_TM_LEN>;
|
||||
type TcPacket = Vec<u8, MAX_TC_LEN>;
|
||||
|
||||
static TM_REQUESTS: Q8<TmPacket> = Q8::new();
|
||||
|
||||
const TC_POOL_SLOTS: usize = 12;
|
||||
const TM_POOL_SLOTS: usize = 12;
|
||||
use core::sync::atomic::{AtomicU16, Ordering};
|
||||
|
||||
pub struct SeqCountProviderAtomicRef {
|
||||
|
@ -88,72 +91,50 @@ impl SequenceCountProviderCore<u16> for SeqCountProviderAtomicRef {
|
|||
static SEQ_COUNT_PROVIDER: SeqCountProviderAtomicRef =
|
||||
SeqCountProviderAtomicRef::new(Ordering::Relaxed);
|
||||
|
||||
// Otherwise, warnings because of heapless pool macro.
|
||||
#[allow(non_camel_case_types)]
|
||||
mod poolmod {
|
||||
use super::*;
|
||||
// Must hold full TC length including COBS overhead.
|
||||
pool!(TC: [u8; TC_BUF_LEN]);
|
||||
// Only encoded at the end, so no need to account for COBS overhead.
|
||||
pool!(TM: [u8; MAX_TM_LEN]);
|
||||
}
|
||||
|
||||
pub struct TxIdle {
|
||||
tx: TxType,
|
||||
dma_channel: dma1::C7,
|
||||
}
|
||||
|
||||
#[derive(Debug)]
|
||||
pub enum TmStoreError {
|
||||
StoreFull,
|
||||
StoreSlotsTooSmall,
|
||||
#[derive(Debug, defmt::Format)]
|
||||
pub enum TmSendError {
|
||||
ByteConversion(ByteConversionError),
|
||||
Queue,
|
||||
}
|
||||
|
||||
impl From<TmStoreError> for EcssTmErrorWithSend<TmStoreError> {
|
||||
fn from(value: TmStoreError) -> Self {
|
||||
Self::SendError(value)
|
||||
impl From<ByteConversionError> for TmSendError {
|
||||
fn from(value: ByteConversionError) -> Self {
|
||||
Self::ByteConversion(value)
|
||||
}
|
||||
}
|
||||
|
||||
pub struct TmSender {
|
||||
mem_block: Option<Box<poolmod::TM>>,
|
||||
ctx: &'static str,
|
||||
fn send_tm(tm_creator: PusTmCreator) -> Result<(), TmSendError> {
|
||||
if tm_creator.len_written() > MAX_TM_LEN {
|
||||
return Err(ByteConversionError::ToSliceTooSmall {
|
||||
expected: tm_creator.len_written(),
|
||||
found: MAX_TM_LEN,
|
||||
}
|
||||
.into());
|
||||
}
|
||||
let mut tm_vec = TmPacket::new();
|
||||
tm_vec
|
||||
.resize(tm_creator.len_written(), 0)
|
||||
.expect("vec resize failed");
|
||||
tm_creator.write_to_bytes(tm_vec.as_mut_slice())?;
|
||||
defmt::info!(
|
||||
"Sending TM[{},{}] with size {}",
|
||||
tm_creator.service(),
|
||||
tm_creator.subservice(),
|
||||
tm_creator.len_written()
|
||||
);
|
||||
TM_REQUESTS
|
||||
.enqueue(tm_vec)
|
||||
.map_err(|_| TmSendError::Queue)?;
|
||||
Ok(())
|
||||
}
|
||||
|
||||
impl TmSender {
|
||||
pub fn new(mem_block: Box<poolmod::TM>, ctx: &'static str) -> Self {
|
||||
Self {
|
||||
mem_block: Some(mem_block),
|
||||
ctx,
|
||||
}
|
||||
}
|
||||
}
|
||||
|
||||
impl EcssTmSenderCore for TmSender {
|
||||
type Error = TmStoreError;
|
||||
|
||||
fn send_tm(
|
||||
&mut self,
|
||||
tm: PusTm,
|
||||
) -> Result<(), satrs_core::pus::EcssTmErrorWithSend<Self::Error>> {
|
||||
let mem_block = self.mem_block.take();
|
||||
if mem_block.is_none() {
|
||||
panic!("send_tm should only be called once");
|
||||
}
|
||||
let mut mem_block = mem_block.unwrap();
|
||||
if tm.len_packed() > MAX_TM_LEN {
|
||||
return Err(EcssTmErrorWithSend::SendError(
|
||||
TmStoreError::StoreSlotsTooSmall,
|
||||
));
|
||||
}
|
||||
tm.write_to_bytes(mem_block.as_mut_slice())
|
||||
.map_err(|e| EcssTmErrorWithSend::EcssTmError(e.into()))?;
|
||||
info!(target: self.ctx, "Sending TM[{},{}] with size {}", tm.service(), tm.subservice(), tm.len_packed());
|
||||
TX_REQUESTS
|
||||
.enqueue((mem_block, tm.len_packed()))
|
||||
.map_err(|_| TmStoreError::StoreFull)?;
|
||||
Ok(())
|
||||
}
|
||||
fn handle_tm_send_error(error: TmSendError) {
|
||||
defmt::warn!("sending tm failed with error {}", error);
|
||||
}
|
||||
|
||||
pub enum UartTxState {
|
||||
|
@ -163,56 +144,144 @@ pub enum UartTxState {
|
|||
Transmitting(Option<TxDmaTransferType>),
|
||||
}
|
||||
|
||||
#[app(device = stm32f3xx_hal::pac, peripherals = true, dispatchers = [TIM20_BRK, TIM20_UP, TIM20_TRG_COM])]
|
||||
pub struct UartTxShared {
|
||||
last_completed: Option<InstantFugit>,
|
||||
state: UartTxState,
|
||||
}
|
||||
|
||||
pub struct RequestWithToken {
|
||||
token: VerificationToken<TcStateAccepted>,
|
||||
request: Request,
|
||||
}
|
||||
|
||||
#[derive(Debug, defmt::Format)]
|
||||
pub enum Request {
|
||||
Ping,
|
||||
ChangeBlinkFrequency(u32),
|
||||
}
|
||||
|
||||
#[derive(Debug, defmt::Format)]
|
||||
pub enum RequestError {
|
||||
InvalidApid = 1,
|
||||
InvalidService = 2,
|
||||
InvalidSubservice = 3,
|
||||
NotEnoughAppData = 4,
|
||||
}
|
||||
|
||||
pub fn convert_pus_tc_to_request(
|
||||
tc: &PusTcReader,
|
||||
verif_reporter: &mut VerificationReportCreator,
|
||||
src_data_buf: &mut [u8],
|
||||
timestamp: &[u8],
|
||||
) -> Result<RequestWithToken, RequestError> {
|
||||
defmt::info!(
|
||||
"Found PUS TC [{},{}] with length {}",
|
||||
tc.service(),
|
||||
tc.subservice(),
|
||||
tc.len_packed()
|
||||
);
|
||||
|
||||
let token = verif_reporter.add_tc(tc);
|
||||
if tc.apid() != PUS_APID {
|
||||
defmt::warn!("Received tc with unknown APID {}", tc.apid());
|
||||
let result = send_tm(
|
||||
verif_reporter
|
||||
.acceptance_failure(
|
||||
src_data_buf,
|
||||
token,
|
||||
SEQ_COUNT_PROVIDER.get_and_increment(),
|
||||
0,
|
||||
FailParams::new(timestamp, &EcssEnumU16::new(0), &[]),
|
||||
)
|
||||
.unwrap(),
|
||||
);
|
||||
if let Err(e) = result {
|
||||
handle_tm_send_error(e);
|
||||
}
|
||||
return Err(RequestError::InvalidApid);
|
||||
}
|
||||
let (tm_creator, accepted_token) = verif_reporter
|
||||
.acceptance_success(
|
||||
src_data_buf,
|
||||
token,
|
||||
SEQ_COUNT_PROVIDER.get_and_increment(),
|
||||
0,
|
||||
timestamp,
|
||||
)
|
||||
.unwrap();
|
||||
|
||||
if let Err(e) = send_tm(tm_creator) {
|
||||
handle_tm_send_error(e);
|
||||
}
|
||||
|
||||
if tc.service() == 17 && tc.subservice() == 1 {
|
||||
if tc.subservice() == 1 {
|
||||
return Ok(RequestWithToken {
|
||||
request: Request::Ping,
|
||||
token: accepted_token,
|
||||
});
|
||||
} else {
|
||||
return Err(RequestError::InvalidSubservice);
|
||||
}
|
||||
} else if tc.service() == 8 {
|
||||
if tc.subservice() == 1 {
|
||||
if tc.user_data().len() < 4 {
|
||||
return Err(RequestError::NotEnoughAppData);
|
||||
}
|
||||
let new_freq_ms = u32::from_be_bytes(tc.user_data()[0..4].try_into().unwrap());
|
||||
return Ok(RequestWithToken {
|
||||
request: Request::ChangeBlinkFrequency(new_freq_ms),
|
||||
token: accepted_token,
|
||||
});
|
||||
} else {
|
||||
return Err(RequestError::InvalidSubservice);
|
||||
}
|
||||
} else {
|
||||
return Err(RequestError::InvalidService);
|
||||
}
|
||||
}
|
||||
|
||||
#[app(device = stm32f3xx_hal::pac, peripherals = true)]
|
||||
mod app {
|
||||
use super::*;
|
||||
use core::slice::Iter;
|
||||
use cortex_m::iprintln;
|
||||
use satrs_core::pus::verification::FailParams;
|
||||
use satrs_core::pus::verification::VerificationReporterCore;
|
||||
use satrs_core::spacepackets::{
|
||||
ecss::EcssEnumU16,
|
||||
tc::PusTc,
|
||||
time::cds::P_FIELD_BASE,
|
||||
tm::{PusTm, PusTmSecondaryHeader},
|
||||
CcsdsPacket, SpHeader,
|
||||
};
|
||||
use rtic_monotonics::systick::Systick;
|
||||
use rtic_monotonics::Monotonic;
|
||||
use satrs::pus::verification::{TcStateStarted, VerificationReportCreator};
|
||||
use satrs::spacepackets::{ecss::tc::PusTcReader, time::cds::P_FIELD_BASE};
|
||||
#[allow(unused_imports)]
|
||||
use stm32f3_discovery::leds::Direction;
|
||||
use stm32f3_discovery::leds::Leds;
|
||||
use stm32f3xx_hal::prelude::*;
|
||||
use stm32f3xx_hal::Toggle;
|
||||
|
||||
use stm32f3_discovery::switch_hal::OutputSwitch;
|
||||
use stm32f3xx_hal::Switch;
|
||||
#[allow(dead_code)]
|
||||
type SerialType = Serial<USART2, (PA2<AF7<PushPull>>, PA3<AF7<PushPull>>)>;
|
||||
|
||||
#[shared]
|
||||
struct Shared {
|
||||
tx_transfer: UartTxState,
|
||||
blink_freq: MillisDurationU32,
|
||||
tx_shared: UartTxShared,
|
||||
rx_transfer: Option<RxDmaTransferType>,
|
||||
}
|
||||
|
||||
#[local]
|
||||
struct Local {
|
||||
verif_reporter: VerificationReportCreator,
|
||||
leds: Leds,
|
||||
last_dir: Direction,
|
||||
verif_reporter: VerificationReporterCore,
|
||||
curr_dir: Iter<'static, Direction>,
|
||||
}
|
||||
|
||||
#[monotonic(binds = SysTick, default = true)]
|
||||
type MonoTimer = Systick<1000>;
|
||||
|
||||
#[init(local = [
|
||||
tc_pool_mem: [u8; TC_BUF_LEN * TC_POOL_SLOTS] = [0; TC_BUF_LEN * TC_POOL_SLOTS],
|
||||
tm_pool_mem: [u8; MAX_TM_LEN * TM_POOL_SLOTS] = [0; MAX_TM_LEN * TM_POOL_SLOTS]
|
||||
])]
|
||||
fn init(mut cx: init::Context) -> (Shared, Local, init::Monotonics) {
|
||||
#[init]
|
||||
fn init(cx: init::Context) -> (Shared, Local) {
|
||||
let mut rcc = cx.device.RCC.constrain();
|
||||
|
||||
let mono = Systick::new(cx.core.SYST, 8_000_000);
|
||||
logger_init();
|
||||
// Initialize the systick interrupt & obtain the token to prove that we did
|
||||
let systick_mono_token = rtic_monotonics::create_systick_token!();
|
||||
Systick::start(cx.core.SYST, 8_000_000, systick_mono_token);
|
||||
|
||||
let mut flash = cx.device.FLASH.constrain();
|
||||
let clocks = rcc
|
||||
.cfgr
|
||||
|
@ -220,17 +289,12 @@ mod app {
|
|||
.sysclk(8.MHz())
|
||||
.pclk1(8.MHz())
|
||||
.freeze(&mut flash.acr);
|
||||
// setup ITM output
|
||||
iprintln!(
|
||||
&mut cx.core.ITM.stim[0],
|
||||
"Starting sat-rs demo application for the STM32F3-Discovery"
|
||||
);
|
||||
let mut gpioe = cx.device.GPIOE.split(&mut rcc.ahb);
|
||||
// Assign memory to the pools.
|
||||
poolmod::TC::grow(cx.local.tc_pool_mem);
|
||||
poolmod::TM::grow(cx.local.tm_pool_mem);
|
||||
|
||||
let verif_reporter = VerificationReporterCore::new(PUS_APID).unwrap();
|
||||
// Set up monotonic timer.
|
||||
//let mono_timer = MonoTimer::new(cx.core.DWT, clocks, &mut cx.core.DCB);
|
||||
|
||||
defmt::info!("Starting sat-rs demo application for the STM32F3-Discovery");
|
||||
let mut gpioe = cx.device.GPIOE.split(&mut rcc.ahb);
|
||||
|
||||
let leds = Leds::new(
|
||||
gpioe.pe8,
|
||||
|
@ -264,125 +328,160 @@ mod app {
|
|||
clocks,
|
||||
&mut rcc.apb1,
|
||||
);
|
||||
usart2.configure_rx_interrupt(RxEvent::Idle, Toggle::On);
|
||||
usart2.configure_rx_interrupt(RxEvent::Idle, Switch::On);
|
||||
// This interrupt is enabled to re-schedule new transfers in the interrupt handler immediately.
|
||||
usart2.configure_tx_interrupt(TxEvent::TransmissionComplete, Toggle::On);
|
||||
usart2.configure_tx_interrupt(TxEvent::TransmissionComplete, Switch::On);
|
||||
|
||||
let dma1 = cx.device.DMA1.split(&mut rcc.ahb);
|
||||
let (tx_serial, mut rx_serial) = usart2.split();
|
||||
let (mut tx_serial, mut rx_serial) = usart2.split();
|
||||
|
||||
// This interrupt is immediately triggered, clear it. It will only be reset
|
||||
// by the hardware when data is received on RX (RXNE event)
|
||||
rx_serial.clear_event(RxEvent::Idle);
|
||||
// For some reason, this is also immediately triggered..
|
||||
tx_serial.clear_event(TxEvent::TransmissionComplete);
|
||||
let rx_transfer = rx_serial.read_exact(unsafe { DMA_RX_BUF.as_mut_slice() }, dma1.ch6);
|
||||
info!(target: "init", "Spawning tasks");
|
||||
defmt::info!("Spawning tasks");
|
||||
blink::spawn().unwrap();
|
||||
serial_tx_handler::spawn().unwrap();
|
||||
|
||||
let verif_reporter = VerificationReportCreator::new(PUS_APID).unwrap();
|
||||
|
||||
(
|
||||
Shared {
|
||||
tx_transfer: UartTxState::Idle(Some(TxIdle {
|
||||
tx: tx_serial,
|
||||
dma_channel: dma1.ch7,
|
||||
})),
|
||||
blink_freq: MillisDurationU32::from_ticks(DEFAULT_BLINK_FREQ_MS),
|
||||
tx_shared: UartTxShared {
|
||||
last_completed: None,
|
||||
state: UartTxState::Idle(Some(TxIdle {
|
||||
tx: tx_serial,
|
||||
dma_channel: dma1.ch7,
|
||||
})),
|
||||
},
|
||||
rx_transfer: Some(rx_transfer),
|
||||
},
|
||||
Local {
|
||||
verif_reporter,
|
||||
leds,
|
||||
last_dir: Direction::North,
|
||||
curr_dir: Direction::iter(),
|
||||
verif_reporter,
|
||||
},
|
||||
init::Monotonics(mono),
|
||||
)
|
||||
}
|
||||
|
||||
#[task(local = [leds, curr_dir, last_dir])]
|
||||
fn blink(cx: blink::Context) {
|
||||
let toggle_leds = |dir: &Direction| {
|
||||
let leds = cx.local.leds;
|
||||
let last_led = leds.for_direction(*cx.local.last_dir);
|
||||
#[task(local = [leds, curr_dir, last_dir], shared=[blink_freq])]
|
||||
async fn blink(mut cx: blink::Context) {
|
||||
let blink::LocalResources {
|
||||
leds,
|
||||
curr_dir,
|
||||
last_dir,
|
||||
..
|
||||
} = cx.local;
|
||||
let mut toggle_leds = |dir: &Direction| {
|
||||
let last_led = leds.for_direction(*last_dir);
|
||||
last_led.off().ok();
|
||||
let led = leds.for_direction(*dir);
|
||||
led.on().ok();
|
||||
*cx.local.last_dir = *dir;
|
||||
*last_dir = *dir;
|
||||
};
|
||||
|
||||
match cx.local.curr_dir.next() {
|
||||
Some(dir) => {
|
||||
toggle_leds(dir);
|
||||
}
|
||||
None => {
|
||||
*cx.local.curr_dir = Direction::iter();
|
||||
toggle_leds(cx.local.curr_dir.next().unwrap());
|
||||
loop {
|
||||
match curr_dir.next() {
|
||||
Some(dir) => {
|
||||
toggle_leds(dir);
|
||||
}
|
||||
None => {
|
||||
*curr_dir = Direction::iter();
|
||||
toggle_leds(curr_dir.next().unwrap());
|
||||
}
|
||||
}
|
||||
let current_blink_freq = cx.shared.blink_freq.lock(|current| *current);
|
||||
Systick::delay(current_blink_freq).await;
|
||||
}
|
||||
blink::spawn_after(MsDuration::from_ticks(BLINK_FREQ_MS)).unwrap();
|
||||
}
|
||||
|
||||
#[task(
|
||||
shared = [tx_transfer],
|
||||
local = []
|
||||
shared = [tx_shared],
|
||||
)]
|
||||
fn serial_tx_handler(mut cx: serial_tx_handler::Context) {
|
||||
if let Some((buf, len)) = TX_REQUESTS.dequeue() {
|
||||
cx.shared.tx_transfer.lock(|tx_state| match tx_state {
|
||||
UartTxState::Idle(tx) => {
|
||||
//debug!(target: "serial_tx_handler", "bytes: {:x?}", &buf[0..len]);
|
||||
// Safety: We only copy the data into the TX DMA buffer in this task.
|
||||
// If the DMA is active, another branch will be taken.
|
||||
let mut_tx_dma_buf = unsafe { &mut DMA_TX_BUF };
|
||||
// 0 sentinel value as start marker
|
||||
mut_tx_dma_buf[0] = 0;
|
||||
// Should never panic, we accounted for the overhead.
|
||||
// Write into transfer buffer directly, no need for intermediate
|
||||
// encoding buffer.
|
||||
let encoded_len = cobs::encode(&buf[0..len], &mut mut_tx_dma_buf[1..]);
|
||||
// 0 end marker
|
||||
mut_tx_dma_buf[encoded_len + 1] = 0;
|
||||
//debug!(target: "serial_tx_handler", "Sending {} bytes", encoded_len + 2);
|
||||
//debug!("sent: {:x?}", &mut_tx_dma_buf[0..encoded_len + 2]);
|
||||
let tx_idle = tx.take().unwrap();
|
||||
// Transfer completion and re-scheduling of new TX transfers will be done
|
||||
// by the IRQ handler.
|
||||
let transfer = tx_idle
|
||||
.tx
|
||||
.write_all(&mut_tx_dma_buf[0..encoded_len + 2], tx_idle.dma_channel);
|
||||
*tx_state = UartTxState::Transmitting(Some(transfer));
|
||||
// The memory block is automatically returned to the pool when it is dropped.
|
||||
}
|
||||
UartTxState::Transmitting(_) => {
|
||||
// This is a SW configuration error. Only the ISR which
|
||||
// detects transfer completion should be able to spawn a new
|
||||
// task, and that ISR should set the state to IDLE.
|
||||
panic!("invalid internal tx state detected")
|
||||
}
|
||||
})
|
||||
} else {
|
||||
cx.shared.tx_transfer.lock(|tx_state| {
|
||||
if let UartTxState::Idle(_) = tx_state {
|
||||
serial_tx_handler::spawn_after(MsDuration::from_ticks(TX_HANDLER_FREQ_MS))
|
||||
.unwrap();
|
||||
async fn serial_tx_handler(mut cx: serial_tx_handler::Context) {
|
||||
loop {
|
||||
let is_idle = cx.shared.tx_shared.lock(|tx_shared| {
|
||||
if let UartTxState::Idle(_) = tx_shared.state {
|
||||
return true;
|
||||
}
|
||||
false
|
||||
});
|
||||
if is_idle {
|
||||
let last_completed = cx.shared.tx_shared.lock(|shared| shared.last_completed);
|
||||
if let Some(last_completed) = last_completed {
|
||||
let elapsed_ms = (Systick::now() - last_completed).to_millis();
|
||||
if elapsed_ms < MIN_DELAY_BETWEEN_TX_PACKETS_MS {
|
||||
Systick::delay((MIN_DELAY_BETWEEN_TX_PACKETS_MS - elapsed_ms).millis())
|
||||
.await;
|
||||
}
|
||||
}
|
||||
} else {
|
||||
// Check for completion after 1 ms
|
||||
Systick::delay(1.millis()).await;
|
||||
continue;
|
||||
}
|
||||
if let Some(vec) = TM_REQUESTS.dequeue() {
|
||||
cx.shared
|
||||
.tx_shared
|
||||
.lock(|tx_shared| match &mut tx_shared.state {
|
||||
UartTxState::Idle(tx) => {
|
||||
let encoded_len;
|
||||
//debug!(target: "serial_tx_handler", "bytes: {:x?}", &buf[0..len]);
|
||||
// Safety: We only copy the data into the TX DMA buffer in this task.
|
||||
// If the DMA is active, another branch will be taken.
|
||||
unsafe {
|
||||
// 0 sentinel value as start marker
|
||||
DMA_TX_BUF[0] = 0;
|
||||
encoded_len =
|
||||
cobs::encode(&vec[0..vec.len()], &mut DMA_TX_BUF[1..]);
|
||||
// Should never panic, we accounted for the overhead.
|
||||
// Write into transfer buffer directly, no need for intermediate
|
||||
// encoding buffer.
|
||||
// 0 end marker
|
||||
DMA_TX_BUF[encoded_len + 1] = 0;
|
||||
}
|
||||
//debug!(target: "serial_tx_handler", "Sending {} bytes", encoded_len + 2);
|
||||
//debug!("sent: {:x?}", &mut_tx_dma_buf[0..encoded_len + 2]);
|
||||
let tx_idle = tx.take().unwrap();
|
||||
// Transfer completion and re-scheduling of new TX transfers will be done
|
||||
// by the IRQ handler.
|
||||
// SAFETY: The DMA is the exclusive writer to the DMA buffer now.
|
||||
let transfer = tx_idle.tx.write_all(
|
||||
unsafe { &DMA_TX_BUF[0..encoded_len + 2] },
|
||||
tx_idle.dma_channel,
|
||||
);
|
||||
tx_shared.state = UartTxState::Transmitting(Some(transfer));
|
||||
// The memory block is automatically returned to the pool when it is dropped.
|
||||
}
|
||||
UartTxState::Transmitting(_) => (),
|
||||
});
|
||||
// Check for completion after 1 ms
|
||||
Systick::delay(1.millis()).await;
|
||||
continue;
|
||||
}
|
||||
// Nothing to do, and we are idle.
|
||||
Systick::delay(TX_HANDLER_FREQ_MS.millis()).await;
|
||||
}
|
||||
}
|
||||
|
||||
#[task(
|
||||
local = [
|
||||
stamp_buf: [u8; 7] = [0; 7],
|
||||
verif_reporter,
|
||||
decode_buf: [u8; MAX_TC_LEN] = [0; MAX_TC_LEN],
|
||||
src_data_buf: [u8; MAX_TM_LEN] = [0; MAX_TM_LEN],
|
||||
verif_reporter
|
||||
timestamp: [u8; 7] = [0; 7],
|
||||
],
|
||||
shared = [blink_freq]
|
||||
)]
|
||||
fn serial_rx_handler(
|
||||
cx: serial_rx_handler::Context,
|
||||
received_packet: Box<poolmod::TC>,
|
||||
rx_len: usize,
|
||||
async fn serial_rx_handler(
|
||||
mut cx: serial_rx_handler::Context,
|
||||
received_packet: Vec<u8, MAX_TC_LEN>,
|
||||
) {
|
||||
let tgt: &'static str = "serial_rx_handler";
|
||||
cx.local.stamp_buf[0] = P_FIELD_BASE;
|
||||
info!(target: tgt, "Received packet with {} bytes", rx_len);
|
||||
cx.local.timestamp[0] = P_FIELD_BASE;
|
||||
defmt::info!("Received packet with {} bytes", received_packet.len());
|
||||
let decode_buf = cx.local.decode_buf;
|
||||
let packet = received_packet.as_slice();
|
||||
let mut start_idx = None;
|
||||
|
@ -393,168 +492,149 @@ mod app {
|
|||
}
|
||||
}
|
||||
if start_idx.is_none() {
|
||||
warn!(
|
||||
target: tgt,
|
||||
"decoding error, can only process cobs encoded frames, data is all 0"
|
||||
);
|
||||
defmt::warn!("decoding error, can only process cobs encoded frames, data is all 0");
|
||||
return;
|
||||
}
|
||||
let start_idx = start_idx.unwrap();
|
||||
match cobs::decode(&received_packet.as_slice()[start_idx..], decode_buf) {
|
||||
Ok(len) => {
|
||||
info!(target: tgt, "Decoded packet length: {}", len);
|
||||
let pus_tc = PusTc::from_bytes(decode_buf);
|
||||
let verif_reporter = cx.local.verif_reporter;
|
||||
defmt::info!("Decoded packet length: {}", len);
|
||||
let pus_tc = PusTcReader::new(decode_buf);
|
||||
match pus_tc {
|
||||
Ok((tc, tc_len)) => handle_tc(
|
||||
tc,
|
||||
tc_len,
|
||||
verif_reporter,
|
||||
cx.local.src_data_buf,
|
||||
cx.local.stamp_buf,
|
||||
tgt,
|
||||
),
|
||||
Ok((tc, _tc_len)) => {
|
||||
match convert_pus_tc_to_request(
|
||||
&tc,
|
||||
cx.local.verif_reporter,
|
||||
cx.local.src_data_buf,
|
||||
cx.local.timestamp,
|
||||
) {
|
||||
Ok(request_with_token) => {
|
||||
let started_token = handle_start_verification(
|
||||
request_with_token.token,
|
||||
cx.local.verif_reporter,
|
||||
cx.local.src_data_buf,
|
||||
cx.local.timestamp,
|
||||
);
|
||||
|
||||
match request_with_token.request {
|
||||
Request::Ping => {
|
||||
handle_ping_request(cx.local.timestamp);
|
||||
}
|
||||
Request::ChangeBlinkFrequency(new_freq_ms) => {
|
||||
defmt::info!("Received blink frequency change request with new frequncy {}", new_freq_ms);
|
||||
cx.shared.blink_freq.lock(|blink_freq| {
|
||||
*blink_freq =
|
||||
MillisDurationU32::from_ticks(new_freq_ms);
|
||||
});
|
||||
}
|
||||
}
|
||||
handle_completion_verification(
|
||||
started_token,
|
||||
cx.local.verif_reporter,
|
||||
cx.local.src_data_buf,
|
||||
cx.local.timestamp,
|
||||
);
|
||||
}
|
||||
Err(e) => {
|
||||
// TODO: Error handling: Send verification failure based on request error.
|
||||
defmt::warn!("request error {}", e);
|
||||
}
|
||||
}
|
||||
}
|
||||
Err(e) => {
|
||||
warn!(target: tgt, "Error unpacking PUS TC: {}", e);
|
||||
defmt::warn!("Error unpacking PUS TC: {}", e);
|
||||
}
|
||||
}
|
||||
}
|
||||
Err(_) => {
|
||||
warn!(
|
||||
target: tgt,
|
||||
"decoding error, can only process cobs encoded frames"
|
||||
)
|
||||
defmt::warn!("decoding error, can only process cobs encoded frames")
|
||||
}
|
||||
}
|
||||
}
|
||||
|
||||
fn handle_tc(
|
||||
tc: PusTc,
|
||||
tc_len: usize,
|
||||
verif_reporter: &mut VerificationReporterCore,
|
||||
src_data_buf: &mut [u8; MAX_TM_LEN],
|
||||
stamp_buf: &[u8; 7],
|
||||
tgt: &'static str,
|
||||
) {
|
||||
info!(
|
||||
target: tgt,
|
||||
"Found PUS TC [{},{}] with length {}",
|
||||
tc.service(),
|
||||
tc.subservice(),
|
||||
tc_len
|
||||
);
|
||||
|
||||
let token = verif_reporter.add_tc(&tc);
|
||||
if tc.apid() != PUS_APID {
|
||||
warn!(target: tgt, "Received tc with unknown APID {}", tc.apid());
|
||||
let sendable = verif_reporter
|
||||
.acceptance_failure(
|
||||
src_data_buf,
|
||||
token,
|
||||
&SEQ_COUNT_PROVIDER,
|
||||
FailParams::new(stamp_buf, &EcssEnumU16::new(0), None),
|
||||
)
|
||||
.unwrap();
|
||||
let mem_block = poolmod::TM::alloc().unwrap().init([0u8; MAX_TM_LEN]);
|
||||
let mut sender = TmSender::new(mem_block, tgt);
|
||||
if let Err(e) =
|
||||
verif_reporter.send_acceptance_failure(sendable, &SEQ_COUNT_PROVIDER, &mut sender)
|
||||
{
|
||||
warn!(target: tgt, "Sending acceptance failure failed: {:?}", e.0);
|
||||
};
|
||||
fn handle_ping_request(timestamp: &[u8]) {
|
||||
defmt::info!("Received PUS ping telecommand, sending ping reply TM[17,2]");
|
||||
let sp_header =
|
||||
SpHeader::new_for_unseg_tc(PUS_APID, SEQ_COUNT_PROVIDER.get_and_increment(), 0);
|
||||
let sec_header = PusTmSecondaryHeader::new_simple(17, 2, timestamp);
|
||||
let ping_reply = PusTmCreator::new(sp_header, sec_header, &[], true);
|
||||
let mut tm_packet = TmPacket::new();
|
||||
tm_packet
|
||||
.resize(ping_reply.len_written(), 0)
|
||||
.expect("vec resize failed");
|
||||
ping_reply.write_to_bytes(&mut tm_packet).unwrap();
|
||||
if TM_REQUESTS.enqueue(tm_packet).is_err() {
|
||||
defmt::warn!("TC queue full");
|
||||
return;
|
||||
}
|
||||
let sendable = verif_reporter
|
||||
.acceptance_success(src_data_buf, token, &SEQ_COUNT_PROVIDER, stamp_buf)
|
||||
}
|
||||
|
||||
fn handle_start_verification(
|
||||
accepted_token: VerificationToken<TcStateAccepted>,
|
||||
verif_reporter: &mut VerificationReportCreator,
|
||||
src_data_buf: &mut [u8],
|
||||
timestamp: &[u8],
|
||||
) -> VerificationToken<TcStateStarted> {
|
||||
let (tm_creator, started_token) = verif_reporter
|
||||
.start_success(
|
||||
src_data_buf,
|
||||
accepted_token,
|
||||
SEQ_COUNT_PROVIDER.get(),
|
||||
0,
|
||||
×tamp,
|
||||
)
|
||||
.unwrap();
|
||||
let result = send_tm(tm_creator);
|
||||
if let Err(e) = result {
|
||||
handle_tm_send_error(e);
|
||||
}
|
||||
started_token
|
||||
}
|
||||
|
||||
let mem_block = poolmod::TM::alloc().unwrap().init([0u8; MAX_TM_LEN]);
|
||||
let mut sender = TmSender::new(mem_block, tgt);
|
||||
let accepted_token = match verif_reporter.send_acceptance_success(
|
||||
sendable,
|
||||
&SEQ_COUNT_PROVIDER,
|
||||
&mut sender,
|
||||
) {
|
||||
Ok(token) => token,
|
||||
Err(e) => {
|
||||
warn!(target: "serial_rx_handler", "Sending acceptance success failed: {:?}", e.0);
|
||||
return;
|
||||
}
|
||||
};
|
||||
|
||||
if tc.service() == 17 {
|
||||
if tc.subservice() == 1 {
|
||||
let sendable = verif_reporter
|
||||
.start_success(src_data_buf, accepted_token, &SEQ_COUNT_PROVIDER, stamp_buf)
|
||||
.unwrap();
|
||||
let mem_block = poolmod::TM::alloc().unwrap().init([0u8; MAX_TM_LEN]);
|
||||
let mut sender = TmSender::new(mem_block, tgt);
|
||||
let started_token = match verif_reporter.send_start_success(
|
||||
sendable,
|
||||
&SEQ_COUNT_PROVIDER,
|
||||
&mut sender,
|
||||
) {
|
||||
Ok(token) => token,
|
||||
Err(e) => {
|
||||
warn!(target: tgt, "Sending acceptance success failed: {:?}", e.0);
|
||||
return;
|
||||
}
|
||||
};
|
||||
info!(
|
||||
target: tgt,
|
||||
"Received PUS ping telecommand, sending ping reply TM[17,2]"
|
||||
);
|
||||
let mut sp_header =
|
||||
SpHeader::tc_unseg(PUS_APID, SEQ_COUNT_PROVIDER.get(), 0).unwrap();
|
||||
let sec_header = PusTmSecondaryHeader::new_simple(17, 2, stamp_buf);
|
||||
let ping_reply = PusTm::new(&mut sp_header, sec_header, None, true);
|
||||
let mut mem_block = poolmod::TM::alloc().unwrap().init([0u8; MAX_TM_LEN]);
|
||||
let reply_len = ping_reply.write_to_bytes(mem_block.as_mut_slice()).unwrap();
|
||||
if TX_REQUESTS.enqueue((mem_block, reply_len)).is_err() {
|
||||
warn!(target: tgt, "TC queue full");
|
||||
return;
|
||||
}
|
||||
SEQ_COUNT_PROVIDER.increment();
|
||||
let sendable = verif_reporter
|
||||
.completion_success(src_data_buf, started_token, &SEQ_COUNT_PROVIDER, stamp_buf)
|
||||
.unwrap();
|
||||
let mem_block = poolmod::TM::alloc().unwrap().init([0u8; MAX_TM_LEN]);
|
||||
let mut sender = TmSender::new(mem_block, tgt);
|
||||
if let Err(e) = verif_reporter.send_step_or_completion_success(
|
||||
sendable,
|
||||
&SEQ_COUNT_PROVIDER,
|
||||
&mut sender,
|
||||
) {
|
||||
warn!(target: tgt, "Sending completion success failed: {:?}", e.0);
|
||||
}
|
||||
} else {
|
||||
// TODO: Invalid subservice
|
||||
}
|
||||
fn handle_completion_verification(
|
||||
started_token: VerificationToken<TcStateStarted>,
|
||||
verif_reporter: &mut VerificationReportCreator,
|
||||
src_data_buf: &mut [u8],
|
||||
timestamp: &[u8],
|
||||
) {
|
||||
let result = send_tm(
|
||||
verif_reporter
|
||||
.completion_success(
|
||||
src_data_buf,
|
||||
started_token,
|
||||
SEQ_COUNT_PROVIDER.get(),
|
||||
0,
|
||||
timestamp,
|
||||
)
|
||||
.unwrap(),
|
||||
);
|
||||
if let Err(e) = result {
|
||||
handle_tm_send_error(e);
|
||||
}
|
||||
}
|
||||
|
||||
#[task(binds = DMA1_CH6, shared = [rx_transfer])]
|
||||
fn rx_dma_isr(mut cx: rx_dma_isr::Context) {
|
||||
let mut tc_packet = TcPacket::new();
|
||||
cx.shared.rx_transfer.lock(|rx_transfer| {
|
||||
let rx_ref = rx_transfer.as_ref().unwrap();
|
||||
if rx_ref.is_complete() {
|
||||
let uart_rx_owned = rx_transfer.take().unwrap();
|
||||
let (buf, c, rx) = uart_rx_owned.stop();
|
||||
// The received data is transferred to another task now to avoid any processing overhead
|
||||
// during the interrupt. There are multiple ways to do this, we use a memory pool here
|
||||
// during the interrupt. There are multiple ways to do this, we use a stack allocaed vector here
|
||||
// to do this.
|
||||
let mut mem_block = poolmod::TC::alloc()
|
||||
.expect("allocating memory block for rx failed")
|
||||
.init([0u8; TC_BUF_LEN]);
|
||||
// Copy data into memory pool.
|
||||
mem_block.copy_from_slice(buf);
|
||||
tc_packet.resize(buf.len(), 0).expect("vec resize failed");
|
||||
tc_packet.copy_from_slice(buf);
|
||||
|
||||
// Start the next transfer as soon as possible.
|
||||
*rx_transfer = Some(rx.read_exact(buf, c));
|
||||
// Only send owning pointer to pool memory and the received packet length.
|
||||
serial_rx_handler::spawn(mem_block, TC_BUF_LEN)
|
||||
.expect("spawning rx handler task failed");
|
||||
|
||||
// Send the vector to a regular task.
|
||||
serial_rx_handler::spawn(tc_packet).expect("spawning rx handler task failed");
|
||||
// If this happens, there is a high chance that the maximum packet length was
|
||||
// exceeded. Circular mode is not used here, so data might be missed.
|
||||
warn!(
|
||||
defmt::warn!(
|
||||
"rx transfer with maximum length {}, might miss data",
|
||||
TC_BUF_LEN
|
||||
);
|
||||
|
@ -562,23 +642,26 @@ mod app {
|
|||
});
|
||||
}
|
||||
|
||||
#[task(binds = USART2_EXTI26, shared = [rx_transfer, tx_transfer])]
|
||||
#[task(binds = USART2_EXTI26, shared = [rx_transfer, tx_shared])]
|
||||
fn serial_isr(mut cx: serial_isr::Context) {
|
||||
cx.shared.tx_transfer.lock(|tx_state| match tx_state {
|
||||
UartTxState::Idle(_) => (),
|
||||
UartTxState::Transmitting(transfer) => {
|
||||
let transfer_ref = transfer.as_ref().unwrap();
|
||||
if transfer_ref.is_complete() {
|
||||
let transfer = transfer.take().unwrap();
|
||||
let (_, dma_channel, tx) = transfer.stop();
|
||||
*tx_state = UartTxState::Idle(Some(TxIdle { tx, dma_channel }));
|
||||
serial_tx_handler::spawn_after(MsDuration::from_ticks(
|
||||
MIN_DELAY_BETWEEN_TX_PACKETS_MS.into(),
|
||||
))
|
||||
.unwrap();
|
||||
cx.shared
|
||||
.tx_shared
|
||||
.lock(|tx_shared| match &mut tx_shared.state {
|
||||
UartTxState::Idle(_) => (),
|
||||
UartTxState::Transmitting(transfer) => {
|
||||
let transfer_ref = transfer.as_ref().unwrap();
|
||||
if transfer_ref.is_complete() {
|
||||
let transfer = transfer.take().unwrap();
|
||||
let (_, dma_channel, mut tx) = transfer.stop();
|
||||
tx.clear_event(TxEvent::TransmissionComplete);
|
||||
tx_shared.state = UartTxState::Idle(Some(TxIdle { tx, dma_channel }));
|
||||
// We cache the last completed time to ensure that there is a minimum delay between consecutive
|
||||
// transferred packets.
|
||||
tx_shared.last_completed = Some(Systick::now());
|
||||
}
|
||||
}
|
||||
}
|
||||
});
|
||||
});
|
||||
let mut tc_packet = TcPacket::new();
|
||||
cx.shared.rx_transfer.lock(|rx_transfer| {
|
||||
let rx_transfer_ref = rx_transfer.as_ref().unwrap();
|
||||
// Received a partial packet.
|
||||
|
@ -586,17 +669,14 @@ mod app {
|
|||
let rx_transfer_owned = rx_transfer.take().unwrap();
|
||||
let (buf, ch, mut rx, rx_len) = rx_transfer_owned.stop_and_return_received_bytes();
|
||||
// The received data is transferred to another task now to avoid any processing overhead
|
||||
// during the interrupt. There are multiple ways to do this, we use a memory pool here
|
||||
// to do this.
|
||||
let mut mem_block = poolmod::TC::alloc()
|
||||
.expect("allocating memory block for rx failed")
|
||||
.init([0u8; TC_BUF_LEN]);
|
||||
// Copy data into memory pool.
|
||||
mem_block[0..rx_len as usize].copy_from_slice(&buf[0..rx_len as usize]);
|
||||
// during the interrupt. There are multiple ways to do this, we use a stack
|
||||
// allocated vector to do this.
|
||||
tc_packet
|
||||
.resize(rx_len as usize, 0)
|
||||
.expect("vec resize failed");
|
||||
tc_packet[0..rx_len as usize].copy_from_slice(&buf[0..rx_len as usize]);
|
||||
rx.clear_event(RxEvent::Idle);
|
||||
// Only send owning pointer to pool memory and the received packet length.
|
||||
serial_rx_handler::spawn(mem_block, rx_len as usize)
|
||||
.expect("spawning rx handler task failed");
|
||||
serial_rx_handler::spawn(tc_packet).expect("spawning rx handler failed");
|
||||
*rx_transfer = Some(rx.read_exact(buf, ch));
|
||||
}
|
||||
});
|
||||
|
|
|
@ -5,8 +5,8 @@
|
|||
// List of extensions which should be recommended for users of this workspace.
|
||||
"recommendations": [
|
||||
"rust-lang.rust",
|
||||
"marus25.cortex-debug",
|
||||
"probe-rs.probe-rs-debugger"
|
||||
],
|
||||
// List of extensions recommended by VS Code that should not be recommended for users of this workspace.
|
||||
"unwantedRecommendations": []
|
||||
}
|
||||
}
|
|
@ -0,0 +1,22 @@
|
|||
{
|
||||
"version": "0.2.0",
|
||||
"configurations": [
|
||||
{
|
||||
"preLaunchTask": "${defaultBuildTask}",
|
||||
"type": "probe-rs-debug",
|
||||
"request": "launch",
|
||||
"name": "probe-rs Debugging ",
|
||||
"flashingConfig": {
|
||||
"flashingEnabled": true
|
||||
},
|
||||
"chip": "STM32F303VCTx",
|
||||
"coreConfigs": [
|
||||
{
|
||||
"programBinary": "${workspaceFolder}/target/thumbv7em-none-eabihf/debug/satrs-example-stm32f3-disco",
|
||||
"rttEnabled": true,
|
||||
"svdFile": "STM32F303.svd"
|
||||
}
|
||||
]
|
||||
}
|
||||
]
|
||||
}
|
|
@ -11,7 +11,8 @@ proc CDSWOConfigure { CDCPUFreqHz CDSWOFreqHz CDSWOOutput } {
|
|||
# Alternative option: Pipe ITM output into itm.txt file
|
||||
# tpiu config internal itm.txt uart off $CDCPUFreqHz
|
||||
|
||||
# Default option so SWO display of VS code works.
|
||||
# Default option so SWO display of VS code works. Please note that this might not be required
|
||||
# anymore starting at openocd v0.12.0
|
||||
tpiu config internal $CDSWOOutput uart off $CDCPUFreqHz $CDSWOFreqHz
|
||||
itm port 0 on
|
||||
}
|
|
@ -17,16 +17,23 @@ zerocopy = "0.6"
|
|||
csv = "1"
|
||||
num_enum = "0.7"
|
||||
thiserror = "1"
|
||||
lazy_static = "1"
|
||||
strum = { version = "0.26", features = ["derive"] }
|
||||
derive-new = "0.5"
|
||||
serde = { version = "1", features = ["derive"] }
|
||||
serde_json = "1"
|
||||
|
||||
[dependencies.satrs]
|
||||
version = "0.2.0-rc.0"
|
||||
# path = "../satrs"
|
||||
path = "../satrs"
|
||||
features = ["test_util"]
|
||||
|
||||
[dependencies.satrs-mib]
|
||||
version = "0.1.1"
|
||||
# path = "../satrs-mib"
|
||||
path = "../satrs-mib"
|
||||
|
||||
[features]
|
||||
dyn_tmtc = []
|
||||
default = ["dyn_tmtc"]
|
||||
|
||||
[dev-dependencies]
|
||||
env_logger = "0.11"
|
||||
|
|
|
@ -4,11 +4,13 @@ import dataclasses
|
|||
import enum
|
||||
import struct
|
||||
|
||||
from spacepackets.ecss.tc import PacketId, PacketType
|
||||
|
||||
EXAMPLE_PUS_APID = 0x02
|
||||
EXAMPLE_PUS_PACKET_ID_TM = PacketId(PacketType.TM, True, EXAMPLE_PUS_APID)
|
||||
TM_PACKET_IDS = [EXAMPLE_PUS_PACKET_ID_TM]
|
||||
class Apid(enum.IntEnum):
|
||||
SCHED = 1
|
||||
GENERIC_PUS = 2
|
||||
ACS = 3
|
||||
CFDP = 4
|
||||
TMTC = 5
|
||||
|
||||
|
||||
class EventSeverity(enum.IntEnum):
|
||||
|
@ -36,8 +38,8 @@ class EventU32:
|
|||
)
|
||||
|
||||
|
||||
class RequestTargetId(enum.IntEnum):
|
||||
ACS = 1
|
||||
class AcsId(enum.IntEnum):
|
||||
MGM_0 = 0
|
||||
|
||||
|
||||
class AcsHkIds(enum.IntEnum):
|
|
@ -3,10 +3,11 @@
|
|||
import logging
|
||||
import sys
|
||||
import time
|
||||
from typing import Optional
|
||||
from typing import Any, Optional
|
||||
from prompt_toolkit.history import History
|
||||
from prompt_toolkit.history import FileHistory
|
||||
|
||||
from spacepackets.ccsds import PacketId, PacketType
|
||||
import tmtccmd
|
||||
from spacepackets.ecss import PusTelemetry, PusVerificator
|
||||
from spacepackets.ecss.pus_17_test import Service17Tm
|
||||
|
@ -16,7 +17,7 @@ from spacepackets.ccsds.time import CdsShortTimestamp
|
|||
from tmtccmd import TcHandlerBase, ProcedureParamsWrapper
|
||||
from tmtccmd.core.base import BackendRequest
|
||||
from tmtccmd.pus import VerificationWrapper
|
||||
from tmtccmd.tmtc import CcsdsTmHandler, SpecificApidHandlerBase
|
||||
from tmtccmd.tmtc import CcsdsTmHandler, GenericApidHandlerBase
|
||||
from tmtccmd.com import ComInterface
|
||||
from tmtccmd.config import (
|
||||
CmdTreeNode,
|
||||
|
@ -46,7 +47,7 @@ from tmtccmd.util.obj_id import ObjectIdDictT
|
|||
|
||||
|
||||
import pus_tc
|
||||
from common import EXAMPLE_PUS_APID, TM_PACKET_IDS, EventU32
|
||||
from common import Apid, EventU32
|
||||
|
||||
_LOGGER = logging.getLogger()
|
||||
|
||||
|
@ -62,10 +63,13 @@ class SatRsConfigHook(HookBase):
|
|||
)
|
||||
|
||||
assert self.cfg_path is not None
|
||||
packet_id_list = []
|
||||
for apid in Apid:
|
||||
packet_id_list.append(PacketId(PacketType.TM, True, apid))
|
||||
cfg = create_com_interface_cfg_default(
|
||||
com_if_key=com_if_key,
|
||||
json_cfg_path=self.cfg_path,
|
||||
space_packet_ids=TM_PACKET_IDS,
|
||||
space_packet_ids=packet_id_list,
|
||||
)
|
||||
assert cfg is not None
|
||||
return create_com_interface_default(cfg)
|
||||
|
@ -85,21 +89,23 @@ class SatRsConfigHook(HookBase):
|
|||
return get_core_object_ids()
|
||||
|
||||
|
||||
class PusHandler(SpecificApidHandlerBase):
|
||||
class PusHandler(GenericApidHandlerBase):
|
||||
def __init__(
|
||||
self,
|
||||
file_logger: logging.Logger,
|
||||
verif_wrapper: VerificationWrapper,
|
||||
raw_logger: RawTmtcTimedLogWrapper,
|
||||
):
|
||||
super().__init__(EXAMPLE_PUS_APID, None)
|
||||
super().__init__(None)
|
||||
self.file_logger = file_logger
|
||||
self.raw_logger = raw_logger
|
||||
self.verif_wrapper = verif_wrapper
|
||||
|
||||
def handle_tm(self, packet: bytes, _user_args: any):
|
||||
def handle_tm(self, apid: int, packet: bytes, _user_args: Any):
|
||||
try:
|
||||
pus_tm = PusTelemetry.unpack(packet, time_reader=CdsShortTimestamp.empty())
|
||||
pus_tm = PusTelemetry.unpack(
|
||||
packet, timestamp_len=CdsShortTimestamp.TIMESTAMP_SIZE
|
||||
)
|
||||
except ValueError as e:
|
||||
_LOGGER.warning("Could not generate PUS TM object from raw data")
|
||||
_LOGGER.warning(f"Raw Packet: [{packet.hex(sep=',')}], REPR: {packet!r}")
|
||||
|
@ -107,7 +113,7 @@ class PusHandler(SpecificApidHandlerBase):
|
|||
service = pus_tm.service
|
||||
if service == 1:
|
||||
tm_packet = Service1Tm.unpack(
|
||||
data=packet, params=UnpackParams(CdsShortTimestamp.empty(), 1, 2)
|
||||
data=packet, params=UnpackParams(CdsShortTimestamp.TIMESTAMP_SIZE, 1, 2)
|
||||
)
|
||||
res = self.verif_wrapper.add_tm(tm_packet)
|
||||
if res is None:
|
||||
|
@ -124,7 +130,9 @@ class PusHandler(SpecificApidHandlerBase):
|
|||
elif service == 3:
|
||||
_LOGGER.info("No handling for HK packets implemented")
|
||||
_LOGGER.info(f"Raw packet: 0x[{packet.hex(sep=',')}]")
|
||||
pus_tm = PusTelemetry.unpack(packet, time_reader=CdsShortTimestamp.empty())
|
||||
pus_tm = PusTelemetry.unpack(
|
||||
packet, timestamp_len=CdsShortTimestamp.TIMESTAMP_SIZE
|
||||
)
|
||||
if pus_tm.subservice == 25:
|
||||
if len(pus_tm.source_data) < 8:
|
||||
raise ValueError("No addressable ID in HK packet")
|
||||
|
@ -132,16 +140,18 @@ class PusHandler(SpecificApidHandlerBase):
|
|||
_LOGGER.info(json_str)
|
||||
elif service == 5:
|
||||
tm_packet = PusTelemetry.unpack(
|
||||
packet, time_reader=CdsShortTimestamp.empty()
|
||||
packet, timestamp_len=CdsShortTimestamp.TIMESTAMP_SIZE
|
||||
)
|
||||
src_data = tm_packet.source_data
|
||||
event_u32 = EventU32.unpack(src_data)
|
||||
_LOGGER.info(f"Received event packet. Event: {event_u32}")
|
||||
_LOGGER.info(
|
||||
f"Received event packet. Source APID: {Apid(tm_packet.apid)!r}, Event: {event_u32}"
|
||||
)
|
||||
if event_u32.group_id == 0 and event_u32.unique_id == 0:
|
||||
_LOGGER.info("Received test event")
|
||||
elif service == 17:
|
||||
tm_packet = Service17Tm.unpack(
|
||||
packet, time_reader=CdsShortTimestamp.empty()
|
||||
packet, timestamp_len=CdsShortTimestamp.TIMESTAMP_SIZE
|
||||
)
|
||||
if tm_packet.subservice == 2:
|
||||
self.file_logger.info("Received Ping Reply TM[17,2]")
|
||||
|
@ -158,7 +168,7 @@ class PusHandler(SpecificApidHandlerBase):
|
|||
f"The service {service} is not implemented in Telemetry Factory"
|
||||
)
|
||||
tm_packet = PusTelemetry.unpack(
|
||||
packet, time_reader=CdsShortTimestamp.empty()
|
||||
packet, timestamp_len=CdsShortTimestamp.TIMESTAMP_SIZE
|
||||
)
|
||||
self.raw_logger.log_tm(pus_tm)
|
||||
|
||||
|
@ -177,7 +187,7 @@ class TcHandler(TcHandlerBase):
|
|||
tc_sched_timestamp_len=CdsShortTimestamp.TIMESTAMP_SIZE,
|
||||
seq_cnt_provider=seq_count_provider,
|
||||
pus_verificator=self.verif_wrapper.pus_verificator,
|
||||
default_pus_apid=EXAMPLE_PUS_APID,
|
||||
default_pus_apid=None,
|
||||
)
|
||||
|
||||
def send_cb(self, send_params: SendCbParams):
|
||||
|
@ -193,15 +203,15 @@ class TcHandler(TcHandlerBase):
|
|||
_LOGGER.info(log_entry.log_str)
|
||||
|
||||
def queue_finished_cb(self, info: ProcedureWrapper):
|
||||
if info.proc_type == TcProcedureType.DEFAULT:
|
||||
def_proc = info.to_def_procedure()
|
||||
if info.proc_type == TcProcedureType.TREE_COMMANDING:
|
||||
def_proc = info.to_tree_commanding_procedure()
|
||||
_LOGGER.info(f"Queue handling finished for command {def_proc.cmd_path}")
|
||||
|
||||
def feed_cb(self, info: ProcedureWrapper, wrapper: FeedWrapper):
|
||||
q = self.queue_helper
|
||||
q.queue_wrapper = wrapper.queue_wrapper
|
||||
if info.proc_type == TcProcedureType.DEFAULT:
|
||||
def_proc = info.to_def_procedure()
|
||||
if info.proc_type == TcProcedureType.TREE_COMMANDING:
|
||||
def_proc = info.to_tree_commanding_procedure()
|
||||
assert def_proc.cmd_path is not None
|
||||
pus_tc.pack_pus_telecommands(q, def_proc.cmd_path)
|
||||
|
||||
|
@ -221,7 +231,6 @@ def main():
|
|||
post_args_wrapper.set_params_without_prompts(proc_wrapper)
|
||||
else:
|
||||
post_args_wrapper.set_params_with_prompts(proc_wrapper)
|
||||
params.apid = EXAMPLE_PUS_APID
|
||||
setup_args = SetupWrapper(
|
||||
hook_obj=hook_obj, setup_params=params, proc_param_wrapper=proc_wrapper
|
||||
)
|
||||
|
@ -233,8 +242,9 @@ def main():
|
|||
verification_wrapper = VerificationWrapper(verificator, _LOGGER, file_logger)
|
||||
# Create primary TM handler and add it to the CCSDS Packet Handler
|
||||
tm_handler = PusHandler(file_logger, verification_wrapper, raw_logger)
|
||||
ccsds_handler = CcsdsTmHandler(generic_handler=None)
|
||||
ccsds_handler.add_apid_handler(tm_handler)
|
||||
ccsds_handler = CcsdsTmHandler(generic_handler=tm_handler)
|
||||
# TODO: We could add the CFDP handler for the CFDP APID at a later stage.
|
||||
# ccsds_handler.add_apid_handler(tm_handler)
|
||||
|
||||
# Create TC handler
|
||||
seq_count_provider = PusFileSeqCountProvider()
|
||||
|
@ -252,6 +262,7 @@ def main():
|
|||
while True:
|
||||
state = tmtc_backend.periodic_op(None)
|
||||
if state.request == BackendRequest.TERMINATION_NO_ERROR:
|
||||
tmtc_backend.close_com_if()
|
||||
sys.exit(0)
|
||||
elif state.request == BackendRequest.DELAY_IDLE:
|
||||
_LOGGER.info("TMTC Client in IDLE mode")
|
||||
|
@ -266,6 +277,7 @@ def main():
|
|||
elif state.request == BackendRequest.CALL_NEXT:
|
||||
pass
|
||||
except KeyboardInterrupt:
|
||||
tmtc_backend.close_com_if()
|
||||
sys.exit(0)
|
||||
|
||||
|
|
@ -0,0 +1,143 @@
|
|||
import datetime
|
||||
import struct
|
||||
import logging
|
||||
|
||||
from spacepackets.ccsds import CdsShortTimestamp
|
||||
from spacepackets.ecss import PusTelecommand
|
||||
from tmtccmd.config import CmdTreeNode
|
||||
from tmtccmd.pus.tc.s200_fsfw_mode import Mode
|
||||
from tmtccmd.tmtc import DefaultPusQueueHelper
|
||||
from tmtccmd.pus.s11_tc_sched import create_time_tagged_cmd
|
||||
from tmtccmd.pus.s200_fsfw_mode import Subservice as ModeSubservice
|
||||
|
||||
from common import AcsId, Apid
|
||||
|
||||
_LOGGER = logging.getLogger(__name__)
|
||||
|
||||
|
||||
def create_set_mode_cmd(
|
||||
apid: int, unique_id: int, mode: int, submode: int
|
||||
) -> PusTelecommand:
|
||||
app_data = bytearray()
|
||||
app_data.extend(struct.pack("!I", unique_id))
|
||||
app_data.extend(struct.pack("!I", mode))
|
||||
app_data.extend(struct.pack("!H", submode))
|
||||
return PusTelecommand(
|
||||
service=200,
|
||||
subservice=ModeSubservice.TC_MODE_COMMAND,
|
||||
apid=apid,
|
||||
app_data=app_data,
|
||||
)
|
||||
|
||||
|
||||
def create_cmd_definition_tree() -> CmdTreeNode:
|
||||
|
||||
root_node = CmdTreeNode.root_node()
|
||||
|
||||
hk_node = CmdTreeNode("hk", "Housekeeping Node", hide_children_for_print=True)
|
||||
hk_node.add_child(CmdTreeNode("one_shot_hk", "Request One Shot HK set"))
|
||||
hk_node.add_child(
|
||||
CmdTreeNode("enable", "Enable periodic housekeeping data generation")
|
||||
)
|
||||
hk_node.add_child(
|
||||
CmdTreeNode("disable", "Disable periodic housekeeping data generation")
|
||||
)
|
||||
|
||||
mode_node = CmdTreeNode("mode", "Mode Node", hide_children_for_print=True)
|
||||
set_mode_node = CmdTreeNode(
|
||||
"set_mode", "Set Node", hide_children_which_are_leaves=True
|
||||
)
|
||||
set_mode_node.add_child(CmdTreeNode("off", "Set OFF Mode"))
|
||||
set_mode_node.add_child(CmdTreeNode("on", "Set ON Mode"))
|
||||
set_mode_node.add_child(CmdTreeNode("normal", "Set NORMAL Mode"))
|
||||
mode_node.add_child(set_mode_node)
|
||||
mode_node.add_child(CmdTreeNode("read_mode", "Read Mode"))
|
||||
|
||||
test_node = CmdTreeNode("test", "Test Node")
|
||||
test_node.add_child(CmdTreeNode("ping", "Send PUS ping TC"))
|
||||
test_node.add_child(CmdTreeNode("trigger_event", "Send PUS test to trigger event"))
|
||||
root_node.add_child(test_node)
|
||||
|
||||
scheduler_node = CmdTreeNode("scheduler", "Scheduler Node")
|
||||
scheduler_node.add_child(
|
||||
CmdTreeNode(
|
||||
"schedule_ping_10_secs_ahead", "Schedule Ping to execute in 10 seconds"
|
||||
)
|
||||
)
|
||||
root_node.add_child(scheduler_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
|
||||
|
||||
|
||||
def pack_pus_telecommands(q: DefaultPusQueueHelper, cmd_path: str):
|
||||
# It should always be at least the root path "/", so we split of the empty portion left of it.
|
||||
cmd_path_list = cmd_path.split("/")[1:]
|
||||
if len(cmd_path_list) == 0:
|
||||
_LOGGER.warning("empty command path")
|
||||
return
|
||||
if cmd_path_list[0] == "test":
|
||||
assert len(cmd_path_list) >= 2
|
||||
if cmd_path_list[1] == "ping":
|
||||
q.add_log_cmd("Sending PUS ping telecommand")
|
||||
return q.add_pus_tc(
|
||||
PusTelecommand(apid=Apid.GENERIC_PUS, service=17, subservice=1)
|
||||
)
|
||||
elif cmd_path_list[1] == "trigger_event":
|
||||
q.add_log_cmd("Triggering test event")
|
||||
return q.add_pus_tc(
|
||||
PusTelecommand(apid=Apid.GENERIC_PUS, service=17, subservice=128)
|
||||
)
|
||||
if cmd_path_list[0] == "scheduler":
|
||||
assert len(cmd_path_list) >= 2
|
||||
if cmd_path_list[1] == "schedule_ping_10_secs_ahead":
|
||||
q.add_log_cmd("Sending PUS scheduled TC telecommand")
|
||||
crt_time = CdsShortTimestamp.from_now()
|
||||
time_stamp = crt_time + datetime.timedelta(seconds=10)
|
||||
time_stamp = time_stamp.pack()
|
||||
return q.add_pus_tc(
|
||||
create_time_tagged_cmd(
|
||||
time_stamp,
|
||||
PusTelecommand(service=17, subservice=1),
|
||||
apid=Apid.SCHED,
|
||||
)
|
||||
)
|
||||
if cmd_path_list[0] == "acs":
|
||||
assert len(cmd_path_list) >= 2
|
||||
if cmd_path_list[1] == "mgms":
|
||||
assert len(cmd_path_list) >= 3
|
||||
if cmd_path_list[2] == "hk":
|
||||
if cmd_path_list[3] == "one_shot_hk":
|
||||
q.add_log_cmd("Sending HK one shot request")
|
||||
# TODO: Fix
|
||||
# q.add_pus_tc(
|
||||
# create_request_one_hk_command(
|
||||
# make_addressable_id(Apid.ACS, AcsId.MGM_SET)
|
||||
# )
|
||||
# )
|
||||
if cmd_path_list[2] == "mode":
|
||||
if cmd_path_list[3] == "set_mode":
|
||||
handle_set_mode_cmd(
|
||||
q, "MGM 0", cmd_path_list[4], Apid.ACS, AcsId.MGM_0
|
||||
)
|
||||
|
||||
|
||||
def handle_set_mode_cmd(
|
||||
q: DefaultPusQueueHelper, target_str: str, mode_str: str, apid: int, unique_id: int
|
||||
):
|
||||
if mode_str == "off":
|
||||
q.add_log_cmd(f"Sending Mode OFF to {target_str}")
|
||||
q.add_pus_tc(create_set_mode_cmd(apid, unique_id, Mode.OFF, 0))
|
||||
elif mode_str == "on":
|
||||
q.add_log_cmd(f"Sending Mode ON to {target_str}")
|
||||
q.add_pus_tc(create_set_mode_cmd(apid, unique_id, Mode.ON, 0))
|
||||
elif mode_str == "normal":
|
||||
q.add_log_cmd(f"Sending Mode NORMAL to {target_str}")
|
||||
q.add_pus_tc(create_set_mode_cmd(apid, unique_id, Mode.NORMAL, 0))
|
|
@ -1,2 +1,2 @@
|
|||
tmtccmd == 8.0.0rc1
|
||||
tmtccmd == 8.0.0rc2
|
||||
# -e git+https://github.com/robamu-org/tmtccmd@97e5e51101a08b21472b3ddecc2063359f7e307a#egg=tmtccmd
|
|
@ -1,85 +0,0 @@
|
|||
import datetime
|
||||
import logging
|
||||
|
||||
from spacepackets.ccsds import CdsShortTimestamp
|
||||
from spacepackets.ecss import PusTelecommand
|
||||
from tmtccmd.config import CmdTreeNode
|
||||
from tmtccmd.tmtc import DefaultPusQueueHelper
|
||||
from tmtccmd.pus.s11_tc_sched import create_time_tagged_cmd
|
||||
from tmtccmd.pus.tc.s3_fsfw_hk import create_request_one_hk_command
|
||||
|
||||
from common import (
|
||||
EXAMPLE_PUS_APID,
|
||||
make_addressable_id,
|
||||
RequestTargetId,
|
||||
AcsHkIds,
|
||||
)
|
||||
|
||||
_LOGGER = logging.getLogger(__name__)
|
||||
|
||||
|
||||
def create_cmd_definition_tree() -> CmdTreeNode:
|
||||
|
||||
root_node = CmdTreeNode.root_node()
|
||||
|
||||
test_node = CmdTreeNode("test", "Test Node")
|
||||
test_node.add_child(CmdTreeNode("ping", "Send PUS ping TC"))
|
||||
test_node.add_child(CmdTreeNode("trigger_event", "Send PUS test to trigger event"))
|
||||
root_node.add_child(test_node)
|
||||
|
||||
scheduler_node = CmdTreeNode("scheduler", "Scheduler Node")
|
||||
scheduler_node.add_child(
|
||||
CmdTreeNode(
|
||||
"schedule_ping_10_secs_ahead", "Schedule Ping to execute in 10 seconds"
|
||||
)
|
||||
)
|
||||
root_node.add_child(scheduler_node)
|
||||
|
||||
acs_node = CmdTreeNode("acs", "ACS Subsystem Node")
|
||||
mgm_node = CmdTreeNode("mgms", "MGM devices node")
|
||||
mgm_node.add_child(CmdTreeNode("one_shot_hk", "Request one shot HK"))
|
||||
acs_node.add_child(mgm_node)
|
||||
root_node.add_child(acs_node)
|
||||
|
||||
return root_node
|
||||
|
||||
|
||||
def pack_pus_telecommands(q: DefaultPusQueueHelper, cmd_path: str):
|
||||
# It should always be at least the root path "/", so we split of the empty portion left of it.
|
||||
cmd_path_list = cmd_path.split("/")[1:]
|
||||
if len(cmd_path_list) == 0:
|
||||
_LOGGER.warning("empty command path")
|
||||
return
|
||||
if cmd_path_list[0] == "test":
|
||||
assert len(cmd_path_list) >= 2
|
||||
if cmd_path_list[1] == "ping":
|
||||
q.add_log_cmd("Sending PUS ping telecommand")
|
||||
return q.add_pus_tc(PusTelecommand(service=17, subservice=1))
|
||||
elif cmd_path_list[1] == "trigger_event":
|
||||
q.add_log_cmd("Triggering test event")
|
||||
return q.add_pus_tc(PusTelecommand(service=17, subservice=128))
|
||||
if cmd_path_list[0] == "scheduler":
|
||||
assert len(cmd_path_list) >= 2
|
||||
if cmd_path_list[1] == "schedule_ping_10_secs_ahead":
|
||||
q.add_log_cmd("Sending PUS scheduled TC telecommand")
|
||||
crt_time = CdsShortTimestamp.from_now()
|
||||
time_stamp = crt_time + datetime.timedelta(seconds=10)
|
||||
time_stamp = time_stamp.pack()
|
||||
return q.add_pus_tc(
|
||||
create_time_tagged_cmd(
|
||||
time_stamp,
|
||||
PusTelecommand(service=17, subservice=1),
|
||||
apid=EXAMPLE_PUS_APID,
|
||||
)
|
||||
)
|
||||
if cmd_path_list[0] == "acs":
|
||||
assert len(cmd_path_list) >= 2
|
||||
if cmd_path_list[1] == "mgm":
|
||||
assert len(cmd_path_list) >= 3
|
||||
if cmd_path_list[2] == "one_shot_hk":
|
||||
q.add_log_cmd("Sending HK one shot request")
|
||||
q.add_pus_tc(
|
||||
create_request_one_hk_command(
|
||||
make_addressable_id(RequestTargetId.ACS, AcsHkIds.MGM_SET)
|
||||
)
|
||||
)
|
|
@ -1,118 +0,0 @@
|
|||
use std::sync::mpsc::{self, TryRecvError};
|
||||
|
||||
use log::{info, warn};
|
||||
use satrs::pus::verification::{VerificationReporterWithSender, VerificationReportingProvider};
|
||||
use satrs::pus::{EcssTmSender, PusTmWrapper};
|
||||
use satrs::request::TargetAndApidId;
|
||||
use satrs::spacepackets::ecss::hk::Subservice as HkSubservice;
|
||||
use satrs::{
|
||||
hk::HkRequest,
|
||||
spacepackets::{
|
||||
ecss::tm::{PusTmCreator, PusTmSecondaryHeader},
|
||||
time::cds::{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
|
||||
);
|
||||
let target_and_apid_id = TargetAndApidId::from(request.targeted_request.target_id);
|
||||
match request.targeted_request.request {
|
||||
Request::Hk(hk_req) => match hk_req {
|
||||
HkRequest::OneShot(unique_id) => {
|
||||
self.handle_hk_request(target_and_apid_id.target(), unique_id)
|
||||
}
|
||||
HkRequest::Enable(_) => {}
|
||||
HkRequest::Disable(_) => {}
|
||||
HkRequest::ModifyCollectionInterval(_, _) => {}
|
||||
},
|
||||
Request::Mode(_mode_req) => {
|
||||
warn!("mode request handling not implemented yet")
|
||||
}
|
||||
Request::Action(_action_req) => {
|
||||
warn!("action request handling not implemented yet")
|
||||
}
|
||||
}
|
||||
let started_token = self
|
||||
.verif_reporter
|
||||
.start_success(request.token, &self.timestamp)
|
||||
.expect("Sending start success failed");
|
||||
self.verif_reporter
|
||||
.completion_success(started_token, &self.timestamp)
|
||||
.expect("Sending completion success failed");
|
||||
true
|
||||
}
|
||||
Err(e) => match e {
|
||||
TryRecvError::Empty => false,
|
||||
TryRecvError::Disconnected => {
|
||||
warn!("ACS thread: Message Queue TX disconnected!");
|
||||
false
|
||||
}
|
||||
},
|
||||
}
|
||||
}
|
||||
|
||||
pub fn periodic_operation(&mut self) {
|
||||
update_time(&mut self.time_provider, &mut self.timestamp);
|
||||
loop {
|
||||
if !self.try_reading_one_request() {
|
||||
break;
|
||||
}
|
||||
}
|
||||
}
|
||||
}
|
|
@ -0,0 +1,282 @@
|
|||
use derive_new::new;
|
||||
use satrs::hk::{HkRequest, HkRequestVariant};
|
||||
use satrs::queue::{GenericSendError, GenericTargetedMessagingError};
|
||||
use satrs::spacepackets::ecss::hk;
|
||||
use satrs::spacepackets::ecss::tm::{PusTmCreator, PusTmSecondaryHeader};
|
||||
use satrs::spacepackets::SpHeader;
|
||||
use satrs_example::{DeviceMode, TimeStampHelper};
|
||||
use std::sync::mpsc::{self};
|
||||
use std::sync::{Arc, Mutex};
|
||||
|
||||
use satrs::mode::{
|
||||
ModeAndSubmode, ModeError, ModeProvider, ModeReply, ModeRequest, ModeRequestHandler,
|
||||
};
|
||||
use satrs::pus::{EcssTmSender, PusTmVariant};
|
||||
use satrs::request::{GenericMessage, MessageMetadata, UniqueApidTargetId};
|
||||
use satrs_example::config::components::PUS_MODE_SERVICE;
|
||||
|
||||
use crate::pus::hk::{HkReply, HkReplyVariant};
|
||||
use crate::requests::CompositeRequest;
|
||||
|
||||
use serde::{Deserialize, Serialize};
|
||||
|
||||
const GAUSS_TO_MICROTESLA_FACTOR: f32 = 100.0;
|
||||
// This is the selected resoltion for the STM LIS3MDL device for the 4 Gauss sensitivity setting.
|
||||
const FIELD_LSB_PER_GAUSS_4_SENS: f32 = 1.0 / 6842.0;
|
||||
|
||||
pub trait SpiInterface {
|
||||
type Error;
|
||||
fn transfer(&mut self, tx: &[u8], rx: &mut [u8]) -> Result<(), Self::Error>;
|
||||
}
|
||||
|
||||
#[derive(Default)]
|
||||
pub struct SpiDummyInterface {
|
||||
pub dummy_val_0: i16,
|
||||
pub dummy_val_1: i16,
|
||||
pub dummy_val_2: i16,
|
||||
}
|
||||
|
||||
impl SpiInterface for SpiDummyInterface {
|
||||
type Error = ();
|
||||
|
||||
fn transfer(&mut self, _tx: &[u8], rx: &mut [u8]) -> Result<(), Self::Error> {
|
||||
rx[0..2].copy_from_slice(&self.dummy_val_0.to_be_bytes());
|
||||
rx[2..4].copy_from_slice(&self.dummy_val_1.to_be_bytes());
|
||||
rx[4..6].copy_from_slice(&self.dummy_val_2.to_be_bytes());
|
||||
Ok(())
|
||||
}
|
||||
}
|
||||
|
||||
#[derive(Default, Debug, Copy, Clone, Serialize, Deserialize)]
|
||||
pub struct MgmData {
|
||||
pub valid: bool,
|
||||
pub x: f32,
|
||||
pub y: f32,
|
||||
pub z: f32,
|
||||
}
|
||||
|
||||
pub struct MpscModeLeafInterface {
|
||||
pub request_rx: mpsc::Receiver<GenericMessage<ModeRequest>>,
|
||||
pub reply_tx_to_pus: mpsc::Sender<GenericMessage<ModeReply>>,
|
||||
pub reply_tx_to_parent: mpsc::Sender<GenericMessage<ModeReply>>,
|
||||
}
|
||||
|
||||
/// Example MGM device handler strongly based on the LIS3MDL MEMS device.
|
||||
#[derive(new)]
|
||||
#[allow(clippy::too_many_arguments)]
|
||||
pub struct MgmHandlerLis3Mdl<ComInterface: SpiInterface, TmSender: EcssTmSender> {
|
||||
id: UniqueApidTargetId,
|
||||
dev_str: &'static str,
|
||||
mode_interface: MpscModeLeafInterface,
|
||||
composite_request_receiver: mpsc::Receiver<GenericMessage<CompositeRequest>>,
|
||||
hk_reply_sender: mpsc::Sender<GenericMessage<HkReply>>,
|
||||
tm_sender: TmSender,
|
||||
com_interface: ComInterface,
|
||||
shared_mgm_set: Arc<Mutex<MgmData>>,
|
||||
#[new(value = "ModeAndSubmode::new(satrs_example::DeviceMode::Off as u32, 0)")]
|
||||
mode_and_submode: ModeAndSubmode,
|
||||
#[new(default)]
|
||||
tx_buf: [u8; 12],
|
||||
#[new(default)]
|
||||
rx_buf: [u8; 12],
|
||||
#[new(default)]
|
||||
tm_buf: [u8; 16],
|
||||
#[new(default)]
|
||||
stamp_helper: TimeStampHelper,
|
||||
}
|
||||
|
||||
impl<ComInterface: SpiInterface, TmSender: EcssTmSender> MgmHandlerLis3Mdl<ComInterface, TmSender> {
|
||||
pub fn periodic_operation(&mut self) {
|
||||
self.stamp_helper.update_from_now();
|
||||
// Handle requests.
|
||||
self.handle_composite_requests();
|
||||
self.handle_mode_requests();
|
||||
if self.mode() == DeviceMode::Normal as u32 {
|
||||
log::trace!("polling LIS3MDL sensor {}", self.dev_str);
|
||||
// Communicate with the device.
|
||||
let result = self.com_interface.transfer(&self.tx_buf, &mut self.rx_buf);
|
||||
assert!(result.is_ok());
|
||||
// Actual data begins on the second byte, similarly to how a lot of SPI devices behave.
|
||||
let x_raw = i16::from_be_bytes(self.rx_buf[1..3].try_into().unwrap());
|
||||
let y_raw = i16::from_be_bytes(self.rx_buf[3..5].try_into().unwrap());
|
||||
let z_raw = i16::from_be_bytes(self.rx_buf[5..7].try_into().unwrap());
|
||||
// Simple scaling to retrieve the float value, assuming a sensor resolution of
|
||||
let mut mgm_guard = self.shared_mgm_set.lock().unwrap();
|
||||
mgm_guard.x = x_raw as f32 * GAUSS_TO_MICROTESLA_FACTOR * FIELD_LSB_PER_GAUSS_4_SENS;
|
||||
mgm_guard.y = y_raw as f32 * GAUSS_TO_MICROTESLA_FACTOR * FIELD_LSB_PER_GAUSS_4_SENS;
|
||||
mgm_guard.z = z_raw as f32 * GAUSS_TO_MICROTESLA_FACTOR * FIELD_LSB_PER_GAUSS_4_SENS;
|
||||
drop(mgm_guard);
|
||||
}
|
||||
}
|
||||
|
||||
pub fn handle_composite_requests(&mut self) {
|
||||
loop {
|
||||
match self.composite_request_receiver.try_recv() {
|
||||
Ok(ref msg) => match &msg.message {
|
||||
CompositeRequest::Hk(hk_request) => {
|
||||
self.handle_hk_request(&msg.requestor_info, hk_request)
|
||||
}
|
||||
// TODO: This object does not have actions (yet).. Still send back completion failure
|
||||
// reply.
|
||||
CompositeRequest::Action(_action_req) => {}
|
||||
},
|
||||
|
||||
Err(e) => {
|
||||
if e != mpsc::TryRecvError::Empty {
|
||||
log::warn!(
|
||||
"{}: failed to receive composite request: {:?}",
|
||||
self.dev_str,
|
||||
e
|
||||
);
|
||||
} else {
|
||||
break;
|
||||
}
|
||||
}
|
||||
}
|
||||
}
|
||||
}
|
||||
|
||||
pub fn handle_hk_request(&mut self, requestor_info: &MessageMetadata, hk_request: &HkRequest) {
|
||||
match hk_request.variant {
|
||||
HkRequestVariant::OneShot => {
|
||||
self.hk_reply_sender
|
||||
.send(GenericMessage::new(
|
||||
*requestor_info,
|
||||
HkReply::new(hk_request.unique_id, HkReplyVariant::Ack),
|
||||
))
|
||||
.expect("failed to send HK reply");
|
||||
let sec_header = PusTmSecondaryHeader::new(
|
||||
3,
|
||||
hk::Subservice::TmHkPacket as u8,
|
||||
0,
|
||||
0,
|
||||
self.stamp_helper.stamp(),
|
||||
);
|
||||
let mgm_snapshot = *self.shared_mgm_set.lock().unwrap();
|
||||
// Use binary serialization here. We want the data to be tightly packed.
|
||||
self.tm_buf[0] = mgm_snapshot.valid as u8;
|
||||
self.tm_buf[1..5].copy_from_slice(&mgm_snapshot.x.to_be_bytes());
|
||||
self.tm_buf[5..9].copy_from_slice(&mgm_snapshot.y.to_be_bytes());
|
||||
self.tm_buf[9..13].copy_from_slice(&mgm_snapshot.z.to_be_bytes());
|
||||
let hk_tm = PusTmCreator::new(
|
||||
SpHeader::new_from_apid(self.id.apid),
|
||||
sec_header,
|
||||
&self.tm_buf[0..12],
|
||||
true,
|
||||
);
|
||||
self.tm_sender
|
||||
.send_tm(self.id.id(), PusTmVariant::Direct(hk_tm))
|
||||
.expect("failed to send HK TM");
|
||||
}
|
||||
HkRequestVariant::EnablePeriodic => todo!(),
|
||||
HkRequestVariant::DisablePeriodic => todo!(),
|
||||
HkRequestVariant::ModifyCollectionInterval(_) => todo!(),
|
||||
}
|
||||
}
|
||||
|
||||
pub fn handle_mode_requests(&mut self) {
|
||||
loop {
|
||||
// TODO: Only allow one set mode request per cycle?
|
||||
match self.mode_interface.request_rx.try_recv() {
|
||||
Ok(msg) => {
|
||||
let result = self.handle_mode_request(msg);
|
||||
// TODO: Trigger event?
|
||||
if result.is_err() {
|
||||
log::warn!(
|
||||
"{}: mode request failed with error {:?}",
|
||||
self.dev_str,
|
||||
result.err().unwrap()
|
||||
);
|
||||
}
|
||||
}
|
||||
Err(e) => {
|
||||
if e != mpsc::TryRecvError::Empty {
|
||||
log::warn!("{}: failed to receive mode request: {:?}", self.dev_str, e);
|
||||
} else {
|
||||
break;
|
||||
}
|
||||
}
|
||||
}
|
||||
}
|
||||
}
|
||||
}
|
||||
|
||||
impl<ComInterface: SpiInterface, TmSender: EcssTmSender> ModeProvider
|
||||
for MgmHandlerLis3Mdl<ComInterface, TmSender>
|
||||
{
|
||||
fn mode_and_submode(&self) -> ModeAndSubmode {
|
||||
self.mode_and_submode
|
||||
}
|
||||
}
|
||||
|
||||
impl<ComInterface: SpiInterface, TmSender: EcssTmSender> ModeRequestHandler
|
||||
for MgmHandlerLis3Mdl<ComInterface, TmSender>
|
||||
{
|
||||
type Error = ModeError;
|
||||
fn start_transition(
|
||||
&mut self,
|
||||
requestor: MessageMetadata,
|
||||
mode_and_submode: ModeAndSubmode,
|
||||
) -> Result<(), satrs::mode::ModeError> {
|
||||
log::info!(
|
||||
"{}: transitioning to mode {:?}",
|
||||
self.dev_str,
|
||||
mode_and_submode
|
||||
);
|
||||
self.mode_and_submode = mode_and_submode;
|
||||
self.handle_mode_reached(Some(requestor))?;
|
||||
Ok(())
|
||||
}
|
||||
|
||||
fn announce_mode(&self, _requestor_info: Option<MessageMetadata>, _recursive: bool) {
|
||||
log::info!(
|
||||
"{} announcing mode: {:?}",
|
||||
self.dev_str,
|
||||
self.mode_and_submode
|
||||
);
|
||||
}
|
||||
|
||||
fn handle_mode_reached(
|
||||
&mut self,
|
||||
requestor: Option<MessageMetadata>,
|
||||
) -> Result<(), Self::Error> {
|
||||
self.announce_mode(requestor, false);
|
||||
if let Some(requestor) = requestor {
|
||||
if requestor.sender_id() != PUS_MODE_SERVICE.id() {
|
||||
log::warn!(
|
||||
"can not send back mode reply to sender {}",
|
||||
requestor.sender_id()
|
||||
);
|
||||
} else {
|
||||
self.send_mode_reply(requestor, ModeReply::ModeReply(self.mode_and_submode()))?;
|
||||
}
|
||||
}
|
||||
Ok(())
|
||||
}
|
||||
|
||||
fn send_mode_reply(
|
||||
&self,
|
||||
requestor: MessageMetadata,
|
||||
reply: ModeReply,
|
||||
) -> Result<(), Self::Error> {
|
||||
if requestor.sender_id() != PUS_MODE_SERVICE.id() {
|
||||
log::warn!(
|
||||
"can not send back mode reply to sender {}",
|
||||
requestor.sender_id()
|
||||
);
|
||||
}
|
||||
self.mode_interface
|
||||
.reply_tx_to_pus
|
||||
.send(GenericMessage::new(requestor, reply))
|
||||
.map_err(|_| GenericTargetedMessagingError::Send(GenericSendError::RxDisconnected))?;
|
||||
Ok(())
|
||||
}
|
||||
|
||||
fn handle_mode_info(
|
||||
&mut self,
|
||||
_requestor_info: MessageMetadata,
|
||||
_info: ModeAndSubmode,
|
||||
) -> Result<(), Self::Error> {
|
||||
Ok(())
|
||||
}
|
||||
}
|
|
@ -0,0 +1 @@
|
|||
pub mod mgm;
|
|
@ -12,8 +12,7 @@ use std::time::Duration;
|
|||
fn main() {
|
||||
let mut buf = [0; 32];
|
||||
let addr = SocketAddr::new(IpAddr::V4(OBSW_SERVER_ADDR), SERVER_PORT);
|
||||
let mut sph = SpHeader::tc_unseg(0x02, 0, 0).unwrap();
|
||||
let pus_tc = PusTcCreator::new_simple(&mut sph, 17, 1, None, true);
|
||||
let pus_tc = PusTcCreator::new_simple(SpHeader::new_from_apid(0x02), 17, 1, &[], true);
|
||||
let client = UdpSocket::bind("127.0.0.1:7302").expect("Connecting to UDP server failed");
|
||||
let tc_req_id = RequestId::new(&pus_tc);
|
||||
println!("Packing and sending PUS ping command TC[17,1] with request ID {tc_req_id}");
|
||||
|
|
|
@ -1,44 +0,0 @@
|
|||
use satrs::pus::ReceivesEcssPusTc;
|
||||
use satrs::spacepackets::{CcsdsPacket, SpHeader};
|
||||
use satrs::tmtc::{CcsdsPacketHandler, ReceivesCcsdsTc};
|
||||
use satrs_example::config::PUS_APID;
|
||||
|
||||
#[derive(Clone)]
|
||||
pub struct CcsdsReceiver<
|
||||
TcSource: ReceivesCcsdsTc<Error = E> + ReceivesEcssPusTc<Error = E> + Clone,
|
||||
E,
|
||||
> {
|
||||
pub tc_source: TcSource,
|
||||
}
|
||||
|
||||
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]
|
||||
}
|
||||
|
||||
fn handle_known_apid(
|
||||
&mut self,
|
||||
sp_header: &SpHeader,
|
||||
tc_raw: &[u8],
|
||||
) -> Result<(), Self::Error> {
|
||||
if sp_header.apid() == PUS_APID {
|
||||
return self.tc_source.pass_ccsds(sp_header, tc_raw);
|
||||
}
|
||||
Ok(())
|
||||
}
|
||||
|
||||
fn handle_unknown_apid(
|
||||
&mut self,
|
||||
sp_header: &SpHeader,
|
||||
_tc_raw: &[u8],
|
||||
) -> Result<(), Self::Error> {
|
||||
println!("Unknown APID 0x{:x?} detected", sp_header.apid());
|
||||
Ok(())
|
||||
}
|
||||
}
|
|
@ -1,7 +1,12 @@
|
|||
use satrs::res_code::ResultU16;
|
||||
use lazy_static::lazy_static;
|
||||
use satrs::{
|
||||
res_code::ResultU16,
|
||||
spacepackets::{PacketId, PacketType},
|
||||
};
|
||||
use satrs_mib::res_code::ResultU16Info;
|
||||
use satrs_mib::resultcode;
|
||||
use std::net::Ipv4Addr;
|
||||
use std::{collections::HashSet, net::Ipv4Addr};
|
||||
use strum::IntoEnumIterator;
|
||||
|
||||
use num_enum::{IntoPrimitive, TryFromPrimitive};
|
||||
use satrs::{
|
||||
|
@ -9,8 +14,6 @@ use satrs::{
|
|||
pool::{StaticMemoryPool, StaticPoolConfig},
|
||||
};
|
||||
|
||||
pub const PUS_APID: u16 = 0x02;
|
||||
|
||||
#[derive(Copy, Clone, PartialEq, Eq, Debug, TryFromPrimitive, IntoPrimitive)]
|
||||
#[repr(u8)]
|
||||
pub enum CustomPusServiceId {
|
||||
|
@ -29,13 +32,30 @@ pub const AOCS_APID: u16 = 1;
|
|||
pub enum GroupId {
|
||||
Tmtc = 0,
|
||||
Hk = 1,
|
||||
Mode = 2,
|
||||
}
|
||||
|
||||
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 const TEST_EVENT: EventU32TypedSev<SeverityInfo> = EventU32TypedSev::<SeverityInfo>::new(0, 0);
|
||||
|
||||
lazy_static! {
|
||||
pub static ref PACKET_ID_VALIDATOR: HashSet<PacketId> = {
|
||||
let mut set = HashSet::new();
|
||||
for id in components::Apid::iter() {
|
||||
set.insert(PacketId::new(PacketType::Tc, true, id as u16));
|
||||
}
|
||||
set
|
||||
};
|
||||
pub static ref APID_VALIDATOR: HashSet<u16> = {
|
||||
let mut set = HashSet::new();
|
||||
for id in components::Apid::iter() {
|
||||
set.insert(id as u16);
|
||||
}
|
||||
set
|
||||
};
|
||||
}
|
||||
|
||||
pub mod tmtc_err {
|
||||
|
||||
|
@ -53,6 +73,8 @@ pub mod tmtc_err {
|
|||
pub const UNKNOWN_TARGET_ID: ResultU16 = ResultU16::new(GroupId::Tmtc as u8, 4);
|
||||
#[resultcode]
|
||||
pub const ROUTING_ERROR: ResultU16 = ResultU16::new(GroupId::Tmtc as u8, 5);
|
||||
#[resultcode(info = "Request timeout for targeted PUS request. P1: Request ID. P2: Target ID")]
|
||||
pub const REQUEST_TIMEOUT: ResultU16 = ResultU16::new(GroupId::Tmtc as u8, 6);
|
||||
|
||||
#[resultcode(
|
||||
info = "Not enough data inside the TC application data field. Optionally includes: \
|
||||
|
@ -92,27 +114,70 @@ pub mod hk_err {
|
|||
];
|
||||
}
|
||||
|
||||
#[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,
|
||||
pub mod mode_err {
|
||||
use super::*;
|
||||
|
||||
#[resultcode]
|
||||
pub const WRONG_MODE: ResultU16 = ResultU16::new(GroupId::Mode as u8, 0);
|
||||
}
|
||||
|
||||
#[derive(Copy, Clone, PartialEq, Eq)]
|
||||
pub enum TcReceiverId {
|
||||
PusTest = 1,
|
||||
PusEvent = 2,
|
||||
PusHk = 3,
|
||||
PusAction = 4,
|
||||
PusSched = 5,
|
||||
pub mod components {
|
||||
use satrs::request::UniqueApidTargetId;
|
||||
use strum::EnumIter;
|
||||
|
||||
#[derive(Copy, Clone, PartialEq, Eq, EnumIter)]
|
||||
pub enum Apid {
|
||||
Sched = 1,
|
||||
GenericPus = 2,
|
||||
Acs = 3,
|
||||
Cfdp = 4,
|
||||
Tmtc = 5,
|
||||
}
|
||||
|
||||
// Component IDs for components with the PUS APID.
|
||||
#[derive(Copy, Clone, PartialEq, Eq)]
|
||||
pub enum PusId {
|
||||
PusEventManagement = 0,
|
||||
PusRouting = 1,
|
||||
PusTest = 2,
|
||||
PusAction = 3,
|
||||
PusMode = 4,
|
||||
PusHk = 5,
|
||||
}
|
||||
|
||||
#[derive(Copy, Clone, PartialEq, Eq)]
|
||||
pub enum AcsId {
|
||||
Mgm0 = 0,
|
||||
}
|
||||
|
||||
#[derive(Copy, Clone, PartialEq, Eq)]
|
||||
pub enum TmtcId {
|
||||
UdpServer = 0,
|
||||
TcpServer = 1,
|
||||
}
|
||||
|
||||
pub const PUS_ACTION_SERVICE: UniqueApidTargetId =
|
||||
UniqueApidTargetId::new(Apid::GenericPus as u16, PusId::PusAction as u32);
|
||||
pub const PUS_EVENT_MANAGEMENT: UniqueApidTargetId =
|
||||
UniqueApidTargetId::new(Apid::GenericPus as u16, 0);
|
||||
pub const PUS_ROUTING_SERVICE: UniqueApidTargetId =
|
||||
UniqueApidTargetId::new(Apid::GenericPus as u16, PusId::PusRouting as u32);
|
||||
pub const PUS_TEST_SERVICE: UniqueApidTargetId =
|
||||
UniqueApidTargetId::new(Apid::GenericPus as u16, PusId::PusTest as u32);
|
||||
pub const PUS_MODE_SERVICE: UniqueApidTargetId =
|
||||
UniqueApidTargetId::new(Apid::GenericPus as u16, PusId::PusMode as u32);
|
||||
pub const PUS_HK_SERVICE: UniqueApidTargetId =
|
||||
UniqueApidTargetId::new(Apid::GenericPus as u16, PusId::PusHk as u32);
|
||||
pub const PUS_SCHED_SERVICE: UniqueApidTargetId =
|
||||
UniqueApidTargetId::new(Apid::Sched as u16, 0);
|
||||
pub const MGM_HANDLER_0: UniqueApidTargetId =
|
||||
UniqueApidTargetId::new(Apid::Acs as u16, AcsId::Mgm0 as u32);
|
||||
pub const UDP_SERVER: UniqueApidTargetId =
|
||||
UniqueApidTargetId::new(Apid::Tmtc as u16, TmtcId::UdpServer as u32);
|
||||
pub const TCP_SERVER: UniqueApidTargetId =
|
||||
UniqueApidTargetId::new(Apid::Tmtc as u16, TmtcId::TcpServer as u32);
|
||||
}
|
||||
|
||||
pub mod pool {
|
||||
use super::*;
|
||||
pub fn create_static_pools() -> (StaticMemoryPool, StaticMemoryPool) {
|
||||
|
|
|
@ -1,71 +1,90 @@
|
|||
use std::sync::mpsc::{self, SendError};
|
||||
use std::sync::mpsc::{self};
|
||||
|
||||
use crate::pus::create_verification_reporter;
|
||||
use satrs::event_man::{EventMessageU32, EventRoutingError};
|
||||
use satrs::pus::event::EventTmHookProvider;
|
||||
use satrs::pus::verification::VerificationReporter;
|
||||
use satrs::pus::EcssTmSender;
|
||||
use satrs::request::UniqueApidTargetId;
|
||||
use satrs::{
|
||||
event_man::{
|
||||
EventManager, EventManagerWithMpscQueue, MpscEventReceiver, MpscEventU32SendProvider,
|
||||
SendEventProvider,
|
||||
},
|
||||
events::EventU32,
|
||||
params::Params,
|
||||
event_man::{EventManagerWithBoundedMpsc, EventSendProvider, EventU32SenderMpscBounded},
|
||||
pus::{
|
||||
event_man::{
|
||||
DefaultPusMgmtBackendProvider, EventReporter, EventRequest, EventRequestWithToken,
|
||||
PusEventDispatcher,
|
||||
DefaultPusEventU32TmCreator, EventReporter, EventRequest, EventRequestWithToken,
|
||||
},
|
||||
verification::{
|
||||
TcStateStarted, VerificationReporterWithSender, VerificationReportingProvider,
|
||||
VerificationToken,
|
||||
},
|
||||
EcssTmSender,
|
||||
verification::{TcStateStarted, VerificationReportingProvider, VerificationToken},
|
||||
},
|
||||
spacepackets::time::cds::{self, TimeProvider},
|
||||
spacepackets::time::cds::CdsTime,
|
||||
};
|
||||
use satrs_example::config::PUS_APID;
|
||||
use satrs_example::config::components::PUS_EVENT_MANAGEMENT;
|
||||
|
||||
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,
|
||||
// This helper sets the APID of the event sender for the PUS telemetry.
|
||||
#[derive(Default)]
|
||||
pub struct EventApidSetter {
|
||||
pub next_apid: u16,
|
||||
}
|
||||
/*
|
||||
*/
|
||||
|
||||
impl PusEventHandler {
|
||||
impl EventTmHookProvider for EventApidSetter {
|
||||
fn modify_tm(&self, tm: &mut satrs::spacepackets::ecss::tm::PusTmCreator) {
|
||||
tm.set_apid(self.next_apid);
|
||||
}
|
||||
}
|
||||
|
||||
/// The PUS event handler subscribes for all events and converts them into ECSS PUS 5 event
|
||||
/// packets. It also handles the verification completion of PUS event service requests.
|
||||
pub struct PusEventHandler<TmSender: EcssTmSender> {
|
||||
event_request_rx: mpsc::Receiver<EventRequestWithToken>,
|
||||
pus_event_tm_creator: DefaultPusEventU32TmCreator<EventApidSetter>,
|
||||
pus_event_man_rx: mpsc::Receiver<EventMessageU32>,
|
||||
tm_sender: TmSender,
|
||||
time_provider: CdsTime,
|
||||
timestamp: [u8; 7],
|
||||
small_data_buf: [u8; 64],
|
||||
verif_handler: VerificationReporter,
|
||||
}
|
||||
|
||||
impl<TmSender: EcssTmSender> PusEventHandler<TmSender> {
|
||||
pub fn new(
|
||||
verif_handler: VerificationReporterWithSender,
|
||||
event_manager: &mut MpscEventManager,
|
||||
tm_sender: TmSender,
|
||||
verif_handler: VerificationReporter,
|
||||
event_manager: &mut EventManagerWithBoundedMpsc,
|
||||
event_request_rx: mpsc::Receiver<EventRequestWithToken>,
|
||||
tm_sender: impl EcssTmSender,
|
||||
) -> Self {
|
||||
let (pus_event_man_tx, pus_event_man_rx) = mpsc::channel();
|
||||
let event_queue_cap = 30;
|
||||
let (pus_event_man_tx, pus_event_man_rx) = mpsc::sync_channel(event_queue_cap);
|
||||
|
||||
// All events sent to the manager are routed to the PUS event manager, which generates PUS event
|
||||
// telemetry for each event.
|
||||
let event_reporter = EventReporter::new(PUS_APID, 128).unwrap();
|
||||
let pus_tm_backend = DefaultPusMgmtBackendProvider::<EventU32>::default();
|
||||
let event_reporter = EventReporter::new_with_hook(
|
||||
PUS_EVENT_MANAGEMENT.raw(),
|
||||
0,
|
||||
0,
|
||||
128,
|
||||
EventApidSetter::default(),
|
||||
)
|
||||
.unwrap();
|
||||
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);
|
||||
DefaultPusEventU32TmCreator::new_with_default_backend(event_reporter);
|
||||
let pus_event_man_send_provider = EventU32SenderMpscBounded::new(
|
||||
PUS_EVENT_MANAGEMENT.raw(),
|
||||
pus_event_man_tx,
|
||||
event_queue_cap,
|
||||
);
|
||||
|
||||
event_manager.subscribe_all(pus_event_man_send_provider.id());
|
||||
event_manager.subscribe_all(pus_event_man_send_provider.target_id());
|
||||
event_manager.add_sender(pus_event_man_send_provider);
|
||||
|
||||
Self {
|
||||
event_request_rx,
|
||||
pus_event_dispatcher,
|
||||
pus_event_tm_creator: pus_event_dispatcher,
|
||||
pus_event_man_rx,
|
||||
time_provider: cds::TimeProvider::new_with_u16_days(0, 0),
|
||||
time_provider: CdsTime::new_with_u16_days(0, 0),
|
||||
timestamp: [0; 7],
|
||||
small_data_buf: [0; 64],
|
||||
verif_handler,
|
||||
tm_sender: Box::new(tm_sender),
|
||||
tm_sender,
|
||||
}
|
||||
}
|
||||
|
||||
|
@ -76,115 +95,203 @@ impl PusEventHandler {
|
|||
.try_into()
|
||||
.expect("expected start verification token");
|
||||
self.verif_handler
|
||||
.completion_success(started_token, timestamp)
|
||||
.completion_success(&self.tm_sender, started_token, timestamp)
|
||||
.expect("Sending completion success failed");
|
||||
};
|
||||
// handle event requests
|
||||
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);
|
||||
}
|
||||
loop {
|
||||
// handle event requests
|
||||
match self.event_request_rx.try_recv() {
|
||||
Ok(event_req) => match event_req.request {
|
||||
EventRequest::Enable(event) => {
|
||||
self.pus_event_tm_creator
|
||||
.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_tm_creator
|
||||
.disable_tm_for_event(&event)
|
||||
.expect("Disabling TM failed");
|
||||
update_time(&mut self.time_provider, &mut self.timestamp);
|
||||
report_completion(event_req, &self.timestamp);
|
||||
}
|
||||
},
|
||||
Err(e) => match e {
|
||||
mpsc::TryRecvError::Empty => break,
|
||||
mpsc::TryRecvError::Disconnected => {
|
||||
log::warn!("all event request senders have disconnected");
|
||||
break;
|
||||
}
|
||||
},
|
||||
}
|
||||
}
|
||||
}
|
||||
|
||||
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");
|
||||
loop {
|
||||
// Perform the generation of PUS event packets
|
||||
match self.pus_event_man_rx.try_recv() {
|
||||
Ok(event_msg) => {
|
||||
// We use the TM modification hook to set the sender APID for each event.
|
||||
self.pus_event_tm_creator.reporter.tm_hook.next_apid =
|
||||
UniqueApidTargetId::from(event_msg.sender_id()).apid;
|
||||
update_time(&mut self.time_provider, &mut self.timestamp);
|
||||
let generation_result = self
|
||||
.pus_event_tm_creator
|
||||
.generate_pus_event_tm_generic_with_generic_params(
|
||||
&self.tm_sender,
|
||||
&self.timestamp,
|
||||
event_msg.event(),
|
||||
&mut self.small_data_buf,
|
||||
event_msg.params(),
|
||||
)
|
||||
.expect("Sending TM as event failed");
|
||||
if !generation_result.params_were_propagated {
|
||||
log::warn!(
|
||||
"Event TM parameters were not propagated: {:?}",
|
||||
event_msg.params()
|
||||
);
|
||||
}
|
||||
}
|
||||
Err(e) => match e {
|
||||
mpsc::TryRecvError::Empty => break,
|
||||
mpsc::TryRecvError::Disconnected => {
|
||||
log::warn!("All event senders have disconnected");
|
||||
break;
|
||||
}
|
||||
},
|
||||
}
|
||||
}
|
||||
}
|
||||
}
|
||||
|
||||
pub struct EventManagerWrapper {
|
||||
event_manager: MpscEventManager,
|
||||
event_sender: mpsc::Sender<(EventU32, Option<Params>)>,
|
||||
pub struct EventHandler<TmSender: EcssTmSender> {
|
||||
pub pus_event_handler: PusEventHandler<TmSender>,
|
||||
event_manager: EventManagerWithBoundedMpsc,
|
||||
}
|
||||
|
||||
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 {
|
||||
impl<TmSender: EcssTmSender> EventHandler<TmSender> {
|
||||
pub fn new(
|
||||
tm_sender: impl EcssTmSender,
|
||||
verif_handler: VerificationReporterWithSender,
|
||||
tm_sender: TmSender,
|
||||
event_rx: mpsc::Receiver<EventMessageU32>,
|
||||
event_request_rx: mpsc::Receiver<EventRequestWithToken>,
|
||||
) -> Self {
|
||||
let mut event_man_wrapper = EventManagerWrapper::new();
|
||||
let mut event_manager = EventManagerWithBoundedMpsc::new(event_rx);
|
||||
let pus_event_handler = PusEventHandler::new(
|
||||
verif_handler,
|
||||
event_man_wrapper.event_manager(),
|
||||
event_request_rx,
|
||||
tm_sender,
|
||||
create_verification_reporter(PUS_EVENT_MANAGEMENT.id(), PUS_EVENT_MANAGEMENT.apid),
|
||||
&mut event_manager,
|
||||
event_request_rx,
|
||||
);
|
||||
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()
|
||||
Self {
|
||||
pus_event_handler,
|
||||
event_manager,
|
||||
}
|
||||
}
|
||||
|
||||
#[allow(dead_code)]
|
||||
pub fn event_manager(&mut self) -> &mut MpscEventManager {
|
||||
self.event_man_wrapper.event_manager()
|
||||
pub fn event_manager(&mut self) -> &mut EventManagerWithBoundedMpsc {
|
||||
&mut self.event_manager
|
||||
}
|
||||
|
||||
pub fn periodic_operation(&mut self) {
|
||||
self.pus_event_handler.handle_event_requests();
|
||||
self.event_man_wrapper.try_event_routing();
|
||||
self.try_event_routing();
|
||||
self.pus_event_handler.generate_pus_event_tm();
|
||||
}
|
||||
|
||||
pub fn try_event_routing(&mut self) {
|
||||
let error_handler = |event_msg: &EventMessageU32, error: EventRoutingError| {
|
||||
self.routing_error_handler(event_msg, error)
|
||||
};
|
||||
// Perform the event routing.
|
||||
self.event_manager.try_event_handling(error_handler);
|
||||
}
|
||||
|
||||
pub fn routing_error_handler(&self, event_msg: &EventMessageU32, error: EventRoutingError) {
|
||||
log::warn!("event routing error for event {event_msg:?}: {error:?}");
|
||||
}
|
||||
}
|
||||
|
||||
#[cfg(test)]
|
||||
mod tests {
|
||||
use satrs::{
|
||||
events::EventU32,
|
||||
pus::verification::VerificationReporterCfg,
|
||||
spacepackets::{
|
||||
ecss::{tm::PusTmReader, PusPacket},
|
||||
CcsdsPacket,
|
||||
},
|
||||
tmtc::PacketAsVec,
|
||||
};
|
||||
|
||||
use super::*;
|
||||
|
||||
const TEST_CREATOR_ID: UniqueApidTargetId = UniqueApidTargetId::new(1, 2);
|
||||
const TEST_EVENT: EventU32 = EventU32::new(satrs::events::Severity::Info, 1, 1);
|
||||
|
||||
pub struct EventManagementTestbench {
|
||||
pub event_tx: mpsc::SyncSender<EventMessageU32>,
|
||||
pub event_manager: EventManagerWithBoundedMpsc,
|
||||
pub tm_receiver: mpsc::Receiver<PacketAsVec>,
|
||||
pub pus_event_handler: PusEventHandler<mpsc::Sender<PacketAsVec>>,
|
||||
}
|
||||
|
||||
impl EventManagementTestbench {
|
||||
pub fn new() -> Self {
|
||||
let (event_tx, event_rx) = mpsc::sync_channel(10);
|
||||
let (_event_req_tx, event_req_rx) = mpsc::sync_channel(10);
|
||||
let (tm_sender, tm_receiver) = mpsc::channel();
|
||||
let verif_reporter_cfg = VerificationReporterCfg::new(0x05, 2, 2, 128).unwrap();
|
||||
let verif_reporter =
|
||||
VerificationReporter::new(PUS_EVENT_MANAGEMENT.id(), &verif_reporter_cfg);
|
||||
let mut event_manager = EventManagerWithBoundedMpsc::new(event_rx);
|
||||
let pus_event_handler = PusEventHandler::<mpsc::Sender<PacketAsVec>>::new(
|
||||
tm_sender,
|
||||
verif_reporter,
|
||||
&mut event_manager,
|
||||
event_req_rx,
|
||||
);
|
||||
Self {
|
||||
event_tx,
|
||||
tm_receiver,
|
||||
event_manager,
|
||||
pus_event_handler,
|
||||
}
|
||||
}
|
||||
}
|
||||
|
||||
#[test]
|
||||
fn test_basic_event_generation() {
|
||||
let mut testbench = EventManagementTestbench::new();
|
||||
testbench
|
||||
.event_tx
|
||||
.send(EventMessageU32::new(
|
||||
TEST_CREATOR_ID.id(),
|
||||
EventU32::new(satrs::events::Severity::Info, 1, 1),
|
||||
))
|
||||
.expect("failed to send event");
|
||||
testbench.pus_event_handler.handle_event_requests();
|
||||
testbench.event_manager.try_event_handling(|_, _| {});
|
||||
testbench.pus_event_handler.generate_pus_event_tm();
|
||||
let tm_packet = testbench
|
||||
.tm_receiver
|
||||
.try_recv()
|
||||
.expect("failed to receive TM packet");
|
||||
assert_eq!(tm_packet.sender_id, PUS_EVENT_MANAGEMENT.id());
|
||||
let tm_reader = PusTmReader::new(&tm_packet.packet, 7)
|
||||
.expect("failed to create TM reader")
|
||||
.0;
|
||||
assert_eq!(tm_reader.apid(), TEST_CREATOR_ID.apid);
|
||||
assert_eq!(tm_reader.user_data().len(), 4);
|
||||
let event_read_back = EventU32::from_be_bytes(tm_reader.user_data().try_into().unwrap());
|
||||
assert_eq!(event_read_back, TEST_EVENT);
|
||||
}
|
||||
|
||||
#[test]
|
||||
fn test_basic_event_disabled() {
|
||||
// TODO: Add test.
|
||||
}
|
||||
}
|
||||
|
|
|
@ -1,27 +1,25 @@
|
|||
use derive_new::new;
|
||||
use satrs::hk::UniqueId;
|
||||
use satrs::request::UniqueApidTargetId;
|
||||
use satrs::spacepackets::ByteConversionError;
|
||||
|
||||
#[derive(Debug, Copy, Clone, PartialEq, Eq)]
|
||||
pub enum AcsHkIds {
|
||||
TestMgmSet = 1,
|
||||
}
|
||||
|
||||
#[derive(Debug, new, Copy, Clone)]
|
||||
pub struct HkUniqueId {
|
||||
target_id: u32,
|
||||
set_id: u32,
|
||||
target_id: UniqueApidTargetId,
|
||||
set_id: UniqueId,
|
||||
}
|
||||
|
||||
impl HkUniqueId {
|
||||
#[allow(dead_code)]
|
||||
pub fn target_id(&self) -> u32 {
|
||||
pub fn target_id(&self) -> UniqueApidTargetId {
|
||||
self.target_id
|
||||
}
|
||||
#[allow(dead_code)]
|
||||
pub fn set_id(&self) -> u32 {
|
||||
pub fn set_id(&self) -> UniqueId {
|
||||
self.set_id
|
||||
}
|
||||
|
||||
#[allow(dead_code)]
|
||||
pub fn write_to_be_bytes(&self, buf: &mut [u8]) -> Result<usize, ByteConversionError> {
|
||||
if buf.len() < 8 {
|
||||
return Err(ByteConversionError::ToSliceTooSmall {
|
||||
|
@ -29,7 +27,7 @@ impl HkUniqueId {
|
|||
expected: 8,
|
||||
});
|
||||
}
|
||||
buf[0..4].copy_from_slice(&self.target_id.to_be_bytes());
|
||||
buf[0..4].copy_from_slice(&self.target_id.unique_id.to_be_bytes());
|
||||
buf[4..8].copy_from_slice(&self.set_id.to_be_bytes());
|
||||
|
||||
Ok(8)
|
||||
|
|
|
@ -0,0 +1,3 @@
|
|||
//! This module contains all component related to the direct interface of the example.
|
||||
pub mod tcp;
|
||||
pub mod udp;
|
|
@ -0,0 +1,154 @@
|
|||
use std::time::Duration;
|
||||
use std::{
|
||||
collections::{HashSet, VecDeque},
|
||||
fmt::Debug,
|
||||
marker::PhantomData,
|
||||
sync::{Arc, Mutex},
|
||||
};
|
||||
|
||||
use log::{info, warn};
|
||||
use satrs::{
|
||||
encoding::ccsds::{SpValidity, SpacePacketValidator},
|
||||
hal::std::tcp_server::{HandledConnectionHandler, ServerConfig, TcpSpacepacketsServer},
|
||||
spacepackets::{CcsdsPacket, PacketId},
|
||||
tmtc::{PacketSenderRaw, PacketSource},
|
||||
};
|
||||
|
||||
#[derive(Default)]
|
||||
pub struct ConnectionFinishedHandler {}
|
||||
|
||||
pub struct SimplePacketValidator {
|
||||
pub valid_ids: HashSet<PacketId>,
|
||||
}
|
||||
|
||||
impl SpacePacketValidator for SimplePacketValidator {
|
||||
fn validate(
|
||||
&self,
|
||||
sp_header: &satrs::spacepackets::SpHeader,
|
||||
_raw_buf: &[u8],
|
||||
) -> satrs::encoding::ccsds::SpValidity {
|
||||
if self.valid_ids.contains(&sp_header.packet_id()) {
|
||||
return SpValidity::Valid;
|
||||
}
|
||||
log::warn!("ignoring space packet with header {:?}", sp_header);
|
||||
// We could perform a CRC check.. but lets keep this simple and assume that TCP ensures
|
||||
// data integrity.
|
||||
SpValidity::Skip
|
||||
}
|
||||
}
|
||||
|
||||
impl HandledConnectionHandler for ConnectionFinishedHandler {
|
||||
fn handled_connection(&mut self, info: satrs::hal::std::tcp_server::HandledConnectionInfo) {
|
||||
info!(
|
||||
"Served {} TMs and {} TCs for client {:?}",
|
||||
info.num_sent_tms, info.num_received_tcs, info.addr
|
||||
);
|
||||
}
|
||||
}
|
||||
|
||||
#[derive(Default, Clone)]
|
||||
pub struct SyncTcpTmSource {
|
||||
tm_queue: Arc<Mutex<VecDeque<Vec<u8>>>>,
|
||||
max_packets_stored: usize,
|
||||
pub silent_packet_overwrite: bool,
|
||||
}
|
||||
|
||||
impl SyncTcpTmSource {
|
||||
pub fn new(max_packets_stored: usize) -> Self {
|
||||
Self {
|
||||
tm_queue: Arc::default(),
|
||||
max_packets_stored,
|
||||
silent_packet_overwrite: true,
|
||||
}
|
||||
}
|
||||
|
||||
pub fn add_tm(&mut self, tm: &[u8]) {
|
||||
let mut tm_queue = self.tm_queue.lock().expect("locking tm queue failec");
|
||||
if tm_queue.len() > self.max_packets_stored {
|
||||
if !self.silent_packet_overwrite {
|
||||
warn!("TPC TM source is full, deleting oldest packet");
|
||||
}
|
||||
tm_queue.pop_front();
|
||||
}
|
||||
tm_queue.push_back(tm.to_vec());
|
||||
}
|
||||
}
|
||||
|
||||
impl PacketSource for SyncTcpTmSource {
|
||||
type Error = ();
|
||||
|
||||
fn retrieve_packet(&mut self, buffer: &mut [u8]) -> Result<usize, Self::Error> {
|
||||
let mut tm_queue = self.tm_queue.lock().expect("locking tm queue failed");
|
||||
if !tm_queue.is_empty() {
|
||||
let next_vec = tm_queue.front().unwrap();
|
||||
if buffer.len() < next_vec.len() {
|
||||
panic!(
|
||||
"provided buffer too small, must be at least {} bytes",
|
||||
next_vec.len()
|
||||
);
|
||||
}
|
||||
let next_vec = tm_queue.pop_front().unwrap();
|
||||
buffer[0..next_vec.len()].copy_from_slice(&next_vec);
|
||||
if next_vec.len() > 9 {
|
||||
let service = next_vec[7];
|
||||
let subservice = next_vec[8];
|
||||
info!("Sending PUS TM[{service},{subservice}]")
|
||||
} else {
|
||||
info!("Sending PUS TM");
|
||||
}
|
||||
return Ok(next_vec.len());
|
||||
}
|
||||
Ok(0)
|
||||
}
|
||||
}
|
||||
|
||||
pub type TcpServer<ReceivesTc, SendError> = TcpSpacepacketsServer<
|
||||
SyncTcpTmSource,
|
||||
ReceivesTc,
|
||||
SimplePacketValidator,
|
||||
ConnectionFinishedHandler,
|
||||
(),
|
||||
SendError,
|
||||
>;
|
||||
|
||||
pub struct TcpTask<TcSender: PacketSenderRaw<Error = SendError>, SendError: Debug + 'static>(
|
||||
pub TcpServer<TcSender, SendError>,
|
||||
PhantomData<SendError>,
|
||||
);
|
||||
|
||||
impl<TcSender: PacketSenderRaw<Error = SendError>, SendError: Debug + 'static>
|
||||
TcpTask<TcSender, SendError>
|
||||
{
|
||||
pub fn new(
|
||||
cfg: ServerConfig,
|
||||
tm_source: SyncTcpTmSource,
|
||||
tc_sender: TcSender,
|
||||
valid_ids: HashSet<PacketId>,
|
||||
) -> Result<Self, std::io::Error> {
|
||||
Ok(Self(
|
||||
TcpSpacepacketsServer::new(
|
||||
cfg,
|
||||
tm_source,
|
||||
tc_sender,
|
||||
SimplePacketValidator { valid_ids },
|
||||
ConnectionFinishedHandler::default(),
|
||||
None,
|
||||
)?,
|
||||
PhantomData,
|
||||
))
|
||||
}
|
||||
|
||||
pub fn periodic_operation(&mut self) {
|
||||
loop {
|
||||
let result = self
|
||||
.0
|
||||
.handle_all_connections(Some(Duration::from_millis(400)));
|
||||
match result {
|
||||
Ok(_conn_result) => (),
|
||||
Err(e) => {
|
||||
warn!("TCP server error: {e:?}");
|
||||
}
|
||||
}
|
||||
}
|
||||
}
|
||||
}
|
|
@ -1,13 +1,13 @@
|
|||
use std::{
|
||||
net::{SocketAddr, UdpSocket},
|
||||
sync::mpsc::Receiver,
|
||||
};
|
||||
use core::fmt::Debug;
|
||||
use std::net::{SocketAddr, UdpSocket};
|
||||
use std::sync::mpsc;
|
||||
|
||||
use log::{info, warn};
|
||||
use satrs::pus::HandlingStatus;
|
||||
use satrs::tmtc::{PacketAsVec, PacketInPool, PacketSenderRaw};
|
||||
use satrs::{
|
||||
hal::std::udp_server::{ReceiveResult, UdpTcServer},
|
||||
pool::{PoolProviderWithGuards, SharedStaticMemoryPool, StoreAddr},
|
||||
tmtc::CcsdsError,
|
||||
pool::{PoolProviderWithGuards, SharedStaticMemoryPool},
|
||||
};
|
||||
|
||||
pub trait UdpTmHandler {
|
||||
|
@ -15,20 +15,20 @@ pub trait UdpTmHandler {
|
|||
}
|
||||
|
||||
pub struct StaticUdpTmHandler {
|
||||
pub tm_rx: Receiver<StoreAddr>,
|
||||
pub tm_rx: mpsc::Receiver<PacketInPool>,
|
||||
pub tm_store: SharedStaticMemoryPool,
|
||||
}
|
||||
|
||||
impl UdpTmHandler for StaticUdpTmHandler {
|
||||
fn send_tm_to_udp_client(&mut self, socket: &UdpSocket, &recv_addr: &SocketAddr) {
|
||||
while let Ok(addr) = self.tm_rx.try_recv() {
|
||||
while let Ok(pus_tm_in_pool) = self.tm_rx.try_recv() {
|
||||
let store_lock = self.tm_store.write();
|
||||
if store_lock.is_err() {
|
||||
warn!("Locking TM store failed");
|
||||
continue;
|
||||
}
|
||||
let mut store_lock = store_lock.unwrap();
|
||||
let pg = store_lock.read_with_guard(addr);
|
||||
let pg = store_lock.read_with_guard(pus_tm_in_pool.store_addr);
|
||||
let read_res = pg.read_as_vec();
|
||||
if read_res.is_err() {
|
||||
warn!("Error reading TM pool data");
|
||||
|
@ -44,20 +44,20 @@ impl UdpTmHandler for StaticUdpTmHandler {
|
|||
}
|
||||
|
||||
pub struct DynamicUdpTmHandler {
|
||||
pub tm_rx: Receiver<Vec<u8>>,
|
||||
pub tm_rx: mpsc::Receiver<PacketAsVec>,
|
||||
}
|
||||
|
||||
impl UdpTmHandler for DynamicUdpTmHandler {
|
||||
fn send_tm_to_udp_client(&mut self, socket: &UdpSocket, recv_addr: &SocketAddr) {
|
||||
while let Ok(tm) = self.tm_rx.try_recv() {
|
||||
if tm.len() > 9 {
|
||||
let service = tm[7];
|
||||
let subservice = tm[8];
|
||||
if tm.packet.len() > 9 {
|
||||
let service = tm.packet[7];
|
||||
let subservice = tm.packet[8];
|
||||
info!("Sending PUS TM[{service},{subservice}]")
|
||||
} else {
|
||||
info!("Sending PUS TM");
|
||||
}
|
||||
let result = socket.send_to(&tm, recv_addr);
|
||||
let result = socket.send_to(&tm.packet, recv_addr);
|
||||
if let Err(e) = result {
|
||||
warn!("Sending TM with UDP socket failed: {e}")
|
||||
}
|
||||
|
@ -65,49 +65,57 @@ impl UdpTmHandler for DynamicUdpTmHandler {
|
|||
}
|
||||
}
|
||||
|
||||
pub struct UdpTmtcServer<TmHandler: UdpTmHandler, SendError> {
|
||||
pub udp_tc_server: UdpTcServer<CcsdsError<SendError>>,
|
||||
pub struct UdpTmtcServer<
|
||||
TcSender: PacketSenderRaw<Error = SendError>,
|
||||
TmHandler: UdpTmHandler,
|
||||
SendError,
|
||||
> {
|
||||
pub udp_tc_server: UdpTcServer<TcSender, SendError>,
|
||||
pub tm_handler: TmHandler,
|
||||
}
|
||||
|
||||
impl<TmHandler: UdpTmHandler, SendError: core::fmt::Debug + 'static>
|
||||
UdpTmtcServer<TmHandler, SendError>
|
||||
impl<
|
||||
TcSender: PacketSenderRaw<Error = SendError>,
|
||||
TmHandler: UdpTmHandler,
|
||||
SendError: Debug + 'static,
|
||||
> UdpTmtcServer<TcSender, TmHandler, SendError>
|
||||
{
|
||||
pub fn periodic_operation(&mut self) {
|
||||
while self.poll_tc_server() {}
|
||||
loop {
|
||||
if self.poll_tc_server() == HandlingStatus::Empty {
|
||||
break;
|
||||
}
|
||||
}
|
||||
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 {
|
||||
fn poll_tc_server(&mut self) -> HandlingStatus {
|
||||
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
|
||||
Ok(_) => HandlingStatus::HandledOne,
|
||||
Err(e) => {
|
||||
match e {
|
||||
ReceiveResult::NothingReceived => (),
|
||||
ReceiveResult::Io(e) => {
|
||||
warn!("IO error {e}");
|
||||
}
|
||||
CcsdsError::CustomError(e) => {
|
||||
warn!("mpsc custom error {e:?}");
|
||||
true
|
||||
ReceiveResult::Send(send_error) => {
|
||||
warn!("send error {send_error:?}");
|
||||
}
|
||||
},
|
||||
ReceiveResult::IoError(e) => {
|
||||
warn!("IO error {e}");
|
||||
false
|
||||
}
|
||||
ReceiveResult::NothingReceived => false,
|
||||
},
|
||||
HandlingStatus::Empty
|
||||
}
|
||||
}
|
||||
}
|
||||
}
|
||||
|
||||
#[cfg(test)]
|
||||
mod tests {
|
||||
use std::net::Ipv4Addr;
|
||||
use std::{
|
||||
cell::RefCell,
|
||||
collections::VecDeque,
|
||||
net::IpAddr,
|
||||
sync::{Arc, Mutex},
|
||||
|
@ -118,21 +126,26 @@ mod tests {
|
|||
ecss::{tc::PusTcCreator, WritablePusPacket},
|
||||
SpHeader,
|
||||
},
|
||||
tmtc::ReceivesTcCore,
|
||||
tmtc::PacketSenderRaw,
|
||||
ComponentId,
|
||||
};
|
||||
use satrs_example::config::{OBSW_SERVER_ADDR, PUS_APID};
|
||||
use satrs_example::config::{components, OBSW_SERVER_ADDR};
|
||||
|
||||
use super::*;
|
||||
|
||||
#[derive(Default, Debug, Clone)]
|
||||
pub struct TestReceiver {
|
||||
tc_vec: Arc<Mutex<VecDeque<Vec<u8>>>>,
|
||||
const UDP_SERVER_ID: ComponentId = 0x05;
|
||||
|
||||
#[derive(Default, Debug)]
|
||||
pub struct TestSender {
|
||||
tc_vec: RefCell<VecDeque<PacketAsVec>>,
|
||||
}
|
||||
|
||||
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());
|
||||
impl PacketSenderRaw for TestSender {
|
||||
type Error = ();
|
||||
|
||||
fn send_packet(&self, sender_id: ComponentId, tc_raw: &[u8]) -> Result<(), Self::Error> {
|
||||
let mut mut_queue = self.tc_vec.borrow_mut();
|
||||
mut_queue.push_back(PacketAsVec::new(sender_id, tc_raw.to_vec()));
|
||||
Ok(())
|
||||
}
|
||||
}
|
||||
|
@ -151,9 +164,10 @@ mod tests {
|
|||
#[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 test_receiver = TestSender::default();
|
||||
// let tc_queue = test_receiver.tc_vec.clone();
|
||||
let udp_tc_server =
|
||||
UdpTcServer::new(UDP_SERVER_ID, sock_addr, 2048, 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 {
|
||||
|
@ -161,16 +175,18 @@ mod tests {
|
|||
tm_handler,
|
||||
};
|
||||
udp_dyn_server.periodic_operation();
|
||||
assert!(tc_queue.lock().unwrap().is_empty());
|
||||
let queue = udp_dyn_server.udp_tc_server.tc_sender.tc_vec.borrow();
|
||||
assert!(queue.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 sock_addr = SocketAddr::new(IpAddr::V4(Ipv4Addr::LOCALHOST), 0);
|
||||
let test_receiver = TestSender::default();
|
||||
// let tc_queue = test_receiver.tc_vec.clone();
|
||||
let udp_tc_server =
|
||||
UdpTcServer::new(UDP_SERVER_ID, sock_addr, 2048, 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();
|
||||
|
@ -178,20 +194,21 @@ mod tests {
|
|||
udp_tc_server,
|
||||
tm_handler,
|
||||
};
|
||||
let mut sph = SpHeader::tc_unseg(PUS_APID, 0, 0).unwrap();
|
||||
let ping_tc = PusTcCreator::new_simple(&mut sph, 17, 1, None, true)
|
||||
let sph = SpHeader::new_for_unseg_tc(components::Apid::GenericPus as u16, 0, 0);
|
||||
let ping_tc = PusTcCreator::new_simple(sph, 17, 1, &[], true)
|
||||
.to_vec()
|
||||
.unwrap();
|
||||
let client = UdpSocket::bind("127.0.0.1:0").expect("Connecting to UDP server failed");
|
||||
let client_addr = client.local_addr().unwrap();
|
||||
client.connect(server_addr).unwrap();
|
||||
client.send(&ping_tc).unwrap();
|
||||
println!("{}", server_addr);
|
||||
client.send_to(&ping_tc, server_addr).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 queue = udp_dyn_server.udp_tc_server.tc_sender.tc_vec.borrow_mut();
|
||||
assert!(!queue.is_empty());
|
||||
let packet_with_sender = queue.pop_front().unwrap();
|
||||
assert_eq!(packet_with_sender.packet, ping_tc);
|
||||
assert_eq!(packet_with_sender.sender_id, UDP_SERVER_ID);
|
||||
}
|
||||
|
||||
{
|
||||
|
@ -202,7 +219,9 @@ mod tests {
|
|||
assert_eq!(received_addr, client_addr);
|
||||
}
|
||||
udp_dyn_server.periodic_operation();
|
||||
assert!(tc_queue.lock().unwrap().is_empty());
|
||||
let queue = udp_dyn_server.udp_tc_server.tc_sender.tc_vec.borrow();
|
||||
assert!(queue.is_empty());
|
||||
drop(queue);
|
||||
// Still tries to send to the same client.
|
||||
{
|
||||
let mut tm_handler_calls = tm_handler_calls.lock().unwrap();
|
|
@ -1 +1,39 @@
|
|||
use satrs::spacepackets::time::{cds::CdsTime, TimeWriter};
|
||||
|
||||
pub mod config;
|
||||
|
||||
#[derive(Debug, PartialEq, Eq, Copy, Clone)]
|
||||
pub enum DeviceMode {
|
||||
Off = 0,
|
||||
On = 1,
|
||||
Normal = 2,
|
||||
}
|
||||
|
||||
pub struct TimeStampHelper {
|
||||
stamper: CdsTime,
|
||||
time_stamp: [u8; 7],
|
||||
}
|
||||
|
||||
impl TimeStampHelper {
|
||||
pub fn stamp(&self) -> &[u8] {
|
||||
&self.time_stamp
|
||||
}
|
||||
|
||||
pub fn update_from_now(&mut self) {
|
||||
self.stamper
|
||||
.update_from_now()
|
||||
.expect("Updating timestamp failed");
|
||||
self.stamper
|
||||
.write_to_bytes(&mut self.time_stamp)
|
||||
.expect("Writing timestamp failed");
|
||||
}
|
||||
}
|
||||
|
||||
impl Default for TimeStampHelper {
|
||||
fn default() -> Self {
|
||||
Self {
|
||||
stamper: CdsTime::now_with_u16_days().expect("creating time stamper failed"),
|
||||
time_stamp: Default::default(),
|
||||
}
|
||||
}
|
||||
}
|
||||
|
|
|
@ -1,227 +1,223 @@
|
|||
mod acs;
|
||||
mod ccsds;
|
||||
mod events;
|
||||
mod hk;
|
||||
mod interface;
|
||||
mod logger;
|
||||
mod pus;
|
||||
mod requests;
|
||||
mod tcp;
|
||||
mod tm_funnel;
|
||||
mod tmtc;
|
||||
mod udp;
|
||||
|
||||
use crate::events::EventHandler;
|
||||
use crate::interface::udp::DynamicUdpTmHandler;
|
||||
use crate::pus::stack::PusStack;
|
||||
use crate::tm_funnel::{TmFunnelDynamic, TmFunnelStatic};
|
||||
use crate::tmtc::tc_source::{TcSourceTaskDynamic, TcSourceTaskStatic};
|
||||
use crate::tmtc::tm_sink::{TmSinkDynamic, TmSinkStatic};
|
||||
use log::info;
|
||||
use pus::test::create_test_service_dynamic;
|
||||
use satrs::hal::std::tcp_server::ServerConfig;
|
||||
use satrs::hal::std::udp_server::UdpTcServer;
|
||||
use satrs::request::TargetAndApidId;
|
||||
use satrs::tmtc::tm_helper::SharedTmPool;
|
||||
use satrs::request::GenericMessage;
|
||||
use satrs::tmtc::{PacketSenderWithSharedPool, SharedPacketPool};
|
||||
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 satrs_example::config::{OBSW_SERVER_ADDR, PACKET_ID_VALIDATOR, SERVER_PORT};
|
||||
|
||||
use crate::acs::AcsTask;
|
||||
use crate::ccsds::CcsdsReceiver;
|
||||
use crate::acs::mgm::{MgmHandlerLis3Mdl, MpscModeLeafInterface, SpiDummyInterface};
|
||||
use crate::interface::tcp::{SyncTcpTmSource, TcpTask};
|
||||
use crate::interface::udp::{StaticUdpTmHandler, UdpTmtcServer};
|
||||
use crate::logger::setup_logger;
|
||||
use crate::pus::action::{create_action_service_dynamic, create_action_service_static};
|
||||
use crate::pus::event::{create_event_service_dynamic, create_event_service_static};
|
||||
use crate::pus::hk::{create_hk_service_dynamic, create_hk_service_static};
|
||||
use crate::pus::mode::{create_mode_service_dynamic, create_mode_service_static};
|
||||
use crate::pus::scheduler::{create_scheduler_service_dynamic, create_scheduler_service_static};
|
||||
use crate::pus::test::create_test_service_static;
|
||||
use crate::pus::{PusReceiver, PusTcMpscRouter};
|
||||
use crate::requests::{GenericRequestRouter, RequestWithToken};
|
||||
use crate::tcp::{SyncTcpTmSource, TcpTask};
|
||||
use crate::tmtc::{
|
||||
PusTcSourceProviderSharedPool, SharedTcPool, TcSourceTaskDynamic, TcSourceTaskStatic,
|
||||
};
|
||||
use crate::udp::{StaticUdpTmHandler, UdpTmtcServer};
|
||||
use crate::pus::{PusTcDistributor, PusTcMpscRouter};
|
||||
use crate::requests::{CompositeRequest, GenericRequestRouter};
|
||||
use satrs::mode::ModeRequest;
|
||||
use satrs::pus::event_man::EventRequestWithToken;
|
||||
use satrs::pus::verification::{VerificationReporterCfg, VerificationReporterWithSender};
|
||||
use satrs::pus::{EcssTmSender, MpscTmAsVecSender, MpscTmInSharedPoolSender};
|
||||
use satrs::spacepackets::{time::cds::TimeProvider, time::TimeWriter};
|
||||
use satrs::tmtc::CcsdsDistributor;
|
||||
use satrs::ChannelId;
|
||||
use satrs::spacepackets::{time::cds::CdsTime, time::TimeWriter};
|
||||
use satrs_example::config::components::{MGM_HANDLER_0, TCP_SERVER, UDP_SERVER};
|
||||
use std::net::{IpAddr, SocketAddr};
|
||||
use std::sync::mpsc::{self, channel};
|
||||
use std::sync::mpsc;
|
||||
use std::sync::{Arc, RwLock};
|
||||
use std::thread;
|
||||
use std::time::Duration;
|
||||
|
||||
fn create_verification_reporter(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.
|
||||
VerificationReporterWithSender::new(&verif_cfg, Box::new(verif_sender))
|
||||
}
|
||||
|
||||
#[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();
|
||||
let shared_tm_pool = Arc::new(RwLock::new(tm_pool));
|
||||
let shared_tc_pool = Arc::new(RwLock::new(tc_pool));
|
||||
let shared_tm_pool_wrapper = SharedPacketPool::new(&shared_tm_pool);
|
||||
let shared_tc_pool_wrapper = SharedPacketPool::new(&shared_tc_pool);
|
||||
let (tc_source_tx, tc_source_rx) = mpsc::sync_channel(50);
|
||||
let (tm_sink_tx, tm_sink_rx) = mpsc::sync_channel(50);
|
||||
let (tm_server_tx, tm_server_rx) = mpsc::sync_channel(50);
|
||||
|
||||
// Every software component which needs to generate verification telemetry, receives a cloned
|
||||
// verification reporter.
|
||||
let verif_reporter = create_verification_reporter(MpscTmInSharedPoolSender::new(
|
||||
TmSenderId::PusVerification as ChannelId,
|
||||
"verif_sender",
|
||||
shared_tm_pool.clone(),
|
||||
tm_funnel_tx.clone(),
|
||||
));
|
||||
let tm_sink_tx_sender =
|
||||
PacketSenderWithSharedPool::new(tm_sink_tx.clone(), shared_tm_pool_wrapper.clone());
|
||||
|
||||
let (mgm_handler_composite_tx, mgm_handler_composite_rx) =
|
||||
mpsc::channel::<GenericMessage<CompositeRequest>>();
|
||||
let (mgm_handler_mode_tx, mgm_handler_mode_rx) = mpsc::channel::<GenericMessage<ModeRequest>>();
|
||||
|
||||
let acs_target_id = TargetAndApidId::new(PUS_APID, RequestTargetId::AcsSubsystem as u32);
|
||||
let (acs_thread_tx, acs_thread_rx) = channel::<RequestWithToken>();
|
||||
// Some request are targetable. This map is used to retrieve sender handles based on a target ID.
|
||||
let mut request_map = GenericRequestRouter::default();
|
||||
request_map.0.insert(acs_target_id.into(), acs_thread_tx);
|
||||
request_map
|
||||
.composite_router_map
|
||||
.insert(MGM_HANDLER_0.id(), mgm_handler_composite_tx);
|
||||
request_map
|
||||
.mode_router_map
|
||||
.insert(MGM_HANDLER_0.id(), mgm_handler_mode_tx);
|
||||
|
||||
// This helper structure is used by all telecommand providers which need to send telecommands
|
||||
// to the TC source.
|
||||
let tc_source = PusTcSourceProviderSharedPool {
|
||||
shared_pool: shared_tc_pool.clone(),
|
||||
tc_source: tc_source_tx,
|
||||
};
|
||||
let tc_source = PacketSenderWithSharedPool::new(tc_source_tx, shared_tc_pool_wrapper.clone());
|
||||
|
||||
// Create event handling components
|
||||
// These sender handles are used to send event requests, for example to enable or disable
|
||||
// certain events.
|
||||
let (event_tx, event_rx) = mpsc::sync_channel(100);
|
||||
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(
|
||||
MpscTmInSharedPoolSender::new(
|
||||
TmSenderId::AllEvents as ChannelId,
|
||||
"ALL_EVENTS_TX",
|
||||
shared_tm_pool.clone(),
|
||||
tm_funnel_tx.clone(),
|
||||
),
|
||||
verif_reporter.clone(),
|
||||
event_request_rx,
|
||||
);
|
||||
let mut event_handler = EventHandler::new(tm_sink_tx.clone(), event_rx, event_request_rx);
|
||||
|
||||
let (pus_test_tx, pus_test_rx) = mpsc::channel();
|
||||
let (pus_event_tx, pus_event_rx) = mpsc::channel();
|
||||
let (pus_sched_tx, pus_sched_rx) = mpsc::channel();
|
||||
let (pus_hk_tx, pus_hk_rx) = mpsc::channel();
|
||||
let (pus_action_tx, pus_action_rx) = mpsc::channel();
|
||||
let (pus_mode_tx, pus_mode_rx) = mpsc::channel();
|
||||
|
||||
let (_pus_action_reply_tx, pus_action_reply_rx) = mpsc::channel();
|
||||
let (pus_hk_reply_tx, pus_hk_reply_rx) = mpsc::channel();
|
||||
let (pus_mode_reply_tx, pus_mode_reply_rx) = mpsc::channel();
|
||||
|
||||
let (pus_test_tx, pus_test_rx) = channel();
|
||||
let (pus_event_tx, pus_event_rx) = channel();
|
||||
let (pus_sched_tx, pus_sched_rx) = channel();
|
||||
let (pus_hk_tx, pus_hk_rx) = channel();
|
||||
let (pus_action_tx, pus_action_rx) = channel();
|
||||
let pus_router = PusTcMpscRouter {
|
||||
test_service_receiver: pus_test_tx,
|
||||
event_service_receiver: pus_event_tx,
|
||||
sched_service_receiver: pus_sched_tx,
|
||||
hk_service_receiver: pus_hk_tx,
|
||||
action_service_receiver: pus_action_tx,
|
||||
test_tc_sender: pus_test_tx,
|
||||
event_tc_sender: pus_event_tx,
|
||||
sched_tc_sender: pus_sched_tx,
|
||||
hk_tc_sender: pus_hk_tx,
|
||||
action_tc_sender: pus_action_tx,
|
||||
mode_tc_sender: pus_mode_tx,
|
||||
};
|
||||
let pus_test_service = create_test_service_static(
|
||||
shared_tm_pool.clone(),
|
||||
tm_funnel_tx.clone(),
|
||||
verif_reporter.clone(),
|
||||
shared_tc_pool.pool.clone(),
|
||||
event_handler.clone_event_sender(),
|
||||
tm_sink_tx_sender.clone(),
|
||||
shared_tc_pool.clone(),
|
||||
event_tx.clone(),
|
||||
pus_test_rx,
|
||||
);
|
||||
let pus_scheduler_service = create_scheduler_service_static(
|
||||
shared_tm_pool.clone(),
|
||||
tm_funnel_tx.clone(),
|
||||
verif_reporter.clone(),
|
||||
tm_sink_tx_sender.clone(),
|
||||
tc_source.clone(),
|
||||
pus_sched_rx,
|
||||
create_sched_tc_pool(),
|
||||
);
|
||||
let pus_event_service = create_event_service_static(
|
||||
shared_tm_pool.clone(),
|
||||
tm_funnel_tx.clone(),
|
||||
verif_reporter.clone(),
|
||||
shared_tc_pool.pool.clone(),
|
||||
tm_sink_tx_sender.clone(),
|
||||
shared_tc_pool.clone(),
|
||||
pus_event_rx,
|
||||
event_request_tx,
|
||||
);
|
||||
let pus_action_service = create_action_service_static(
|
||||
shared_tm_pool.clone(),
|
||||
tm_funnel_tx.clone(),
|
||||
verif_reporter.clone(),
|
||||
shared_tc_pool.pool.clone(),
|
||||
tm_sink_tx_sender.clone(),
|
||||
shared_tc_pool.clone(),
|
||||
pus_action_rx,
|
||||
request_map.clone(),
|
||||
pus_action_reply_rx,
|
||||
);
|
||||
let pus_hk_service = create_hk_service_static(
|
||||
shared_tm_pool.clone(),
|
||||
tm_funnel_tx.clone(),
|
||||
verif_reporter.clone(),
|
||||
shared_tc_pool.pool.clone(),
|
||||
tm_sink_tx_sender.clone(),
|
||||
shared_tc_pool.clone(),
|
||||
pus_hk_rx,
|
||||
request_map.clone(),
|
||||
pus_hk_reply_rx,
|
||||
);
|
||||
let pus_mode_service = create_mode_service_static(
|
||||
tm_sink_tx_sender.clone(),
|
||||
shared_tc_pool.clone(),
|
||||
pus_mode_rx,
|
||||
request_map,
|
||||
pus_mode_reply_rx,
|
||||
);
|
||||
let mut pus_stack = PusStack::new(
|
||||
pus_test_service,
|
||||
pus_hk_service,
|
||||
pus_event_service,
|
||||
pus_action_service,
|
||||
pus_scheduler_service,
|
||||
pus_test_service,
|
||||
pus_mode_service,
|
||||
);
|
||||
|
||||
let ccsds_receiver = CcsdsReceiver { tc_source };
|
||||
let mut tmtc_task = TcSourceTaskStatic::new(
|
||||
shared_tc_pool.clone(),
|
||||
shared_tc_pool_wrapper.clone(),
|
||||
tc_source_rx,
|
||||
PusReceiver::new(verif_reporter.clone(), pus_router),
|
||||
PusTcDistributor::new(tm_sink_tx_sender, 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))
|
||||
let udp_tc_server = UdpTcServer::new(UDP_SERVER.id(), sock_addr, 2048, tc_source.clone())
|
||||
.expect("creating UDP TMTC server failed");
|
||||
let mut udp_tmtc_server = UdpTmtcServer {
|
||||
udp_tc_server,
|
||||
tm_handler: StaticUdpTmHandler {
|
||||
tm_rx: tm_server_rx,
|
||||
tm_store: shared_tm_pool.clone_backing_pool(),
|
||||
tm_store: shared_tm_pool.clone(),
|
||||
},
|
||||
};
|
||||
|
||||
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 tcp_server_cfg = ServerConfig::new(
|
||||
TCP_SERVER.id(),
|
||||
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,
|
||||
tc_source.clone(),
|
||||
PACKET_ID_VALIDATOR.clone(),
|
||||
)
|
||||
.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_sink = TmSinkStatic::new(
|
||||
shared_tm_pool_wrapper,
|
||||
sync_tm_tcp_source,
|
||||
tm_sink_rx,
|
||||
tm_server_tx,
|
||||
);
|
||||
|
||||
let mut tm_funnel = TmFunnelStatic::new(
|
||||
shared_tm_pool,
|
||||
sync_tm_tcp_source,
|
||||
tm_funnel_rx,
|
||||
tm_server_tx,
|
||||
let (mgm_handler_mode_reply_to_parent_tx, _mgm_handler_mode_reply_to_parent_rx) =
|
||||
mpsc::channel();
|
||||
|
||||
let dummy_spi_interface = SpiDummyInterface::default();
|
||||
let shared_mgm_set = Arc::default();
|
||||
let mode_leaf_interface = MpscModeLeafInterface {
|
||||
request_rx: mgm_handler_mode_rx,
|
||||
reply_tx_to_pus: pus_mode_reply_tx,
|
||||
reply_tx_to_parent: mgm_handler_mode_reply_to_parent_tx,
|
||||
};
|
||||
let mut mgm_handler = MgmHandlerLis3Mdl::new(
|
||||
MGM_HANDLER_0,
|
||||
"MGM_0",
|
||||
mode_leaf_interface,
|
||||
mgm_handler_composite_rx,
|
||||
pus_hk_reply_tx,
|
||||
tm_sink_tx,
|
||||
dummy_spi_interface,
|
||||
shared_mgm_set,
|
||||
);
|
||||
|
||||
info!("Starting TMTC and UDP task");
|
||||
let jh_udp_tmtc = thread::Builder::new()
|
||||
.name("TMTC and UDP".to_string())
|
||||
.name("SATRS tmtc-udp".to_string())
|
||||
.spawn(move || {
|
||||
info!("Running UDP server on port {SERVER_PORT}");
|
||||
loop {
|
||||
|
@ -234,7 +230,7 @@ fn static_tmtc_pool_main() {
|
|||
|
||||
info!("Starting TCP task");
|
||||
let jh_tcp = thread::Builder::new()
|
||||
.name("TCP".to_string())
|
||||
.name("sat-rs tcp".to_string())
|
||||
.spawn(move || {
|
||||
info!("Running TCP server on port {SERVER_PORT}");
|
||||
loop {
|
||||
|
@ -245,15 +241,15 @@ fn static_tmtc_pool_main() {
|
|||
|
||||
info!("Starting TM funnel task");
|
||||
let jh_tm_funnel = thread::Builder::new()
|
||||
.name("TM Funnel".to_string())
|
||||
.name("tm sink".to_string())
|
||||
.spawn(move || loop {
|
||||
tm_funnel.operation();
|
||||
tm_sink.operation();
|
||||
})
|
||||
.unwrap();
|
||||
|
||||
info!("Starting event handling task");
|
||||
let jh_event_handling = thread::Builder::new()
|
||||
.name("Event".to_string())
|
||||
.name("sat-rs events".to_string())
|
||||
.spawn(move || loop {
|
||||
event_handler.periodic_operation();
|
||||
thread::sleep(Duration::from_millis(FREQ_MS_EVENT_HANDLING));
|
||||
|
@ -262,16 +258,16 @@ fn static_tmtc_pool_main() {
|
|||
|
||||
info!("Starting AOCS thread");
|
||||
let jh_aocs = thread::Builder::new()
|
||||
.name("AOCS".to_string())
|
||||
.name("sat-rs aocs".to_string())
|
||||
.spawn(move || loop {
|
||||
acs_task.periodic_operation();
|
||||
mgm_handler.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())
|
||||
.name("sat-rs pus".to_string())
|
||||
.spawn(move || loop {
|
||||
pus_stack.periodic_operation();
|
||||
thread::sleep(Duration::from_millis(FREQ_MS_PUS_STACK));
|
||||
|
@ -298,104 +294,98 @@ fn static_tmtc_pool_main() {
|
|||
|
||||
#[allow(dead_code)]
|
||||
fn dyn_tmtc_pool_main() {
|
||||
let (tc_source_tx, tc_source_rx) = channel();
|
||||
let (tm_funnel_tx, tm_funnel_rx) = channel();
|
||||
let (tm_server_tx, tm_server_rx) = channel();
|
||||
// Every software component which needs to generate verification telemetry, gets a cloned
|
||||
// verification reporter.
|
||||
let verif_reporter = create_verification_reporter(MpscTmAsVecSender::new(
|
||||
TmSenderId::PusVerification as ChannelId,
|
||||
"verif_sender",
|
||||
tm_funnel_tx.clone(),
|
||||
));
|
||||
let (tc_source_tx, tc_source_rx) = mpsc::channel();
|
||||
let (tm_funnel_tx, tm_funnel_rx) = mpsc::channel();
|
||||
let (tm_server_tx, tm_server_rx) = mpsc::channel();
|
||||
|
||||
// Some request are targetable. This map is used to retrieve sender handles based on a target ID.
|
||||
let (mgm_handler_composite_tx, mgm_handler_composite_rx) =
|
||||
mpsc::channel::<GenericMessage<CompositeRequest>>();
|
||||
let (mgm_handler_mode_tx, mgm_handler_mode_rx) = mpsc::channel::<GenericMessage<ModeRequest>>();
|
||||
|
||||
let acs_target_id = TargetAndApidId::new(PUS_APID, RequestTargetId::AcsSubsystem as u32);
|
||||
let (acs_thread_tx, acs_thread_rx) = channel::<RequestWithToken>();
|
||||
// Some request are targetable. This map is used to retrieve sender handles based on a target ID.
|
||||
let mut request_map = GenericRequestRouter::default();
|
||||
request_map.0.insert(acs_target_id.into(), acs_thread_tx);
|
||||
|
||||
let tc_source = PusTcSourceProviderDynamic(tc_source_tx);
|
||||
request_map
|
||||
.composite_router_map
|
||||
.insert(MGM_HANDLER_0.raw(), mgm_handler_composite_tx);
|
||||
request_map
|
||||
.mode_router_map
|
||||
.insert(MGM_HANDLER_0.raw(), mgm_handler_mode_tx);
|
||||
|
||||
// Create event handling components
|
||||
// These sender handles are used to send event requests, for example to enable or disable
|
||||
// certain events.
|
||||
let (event_tx, event_rx) = mpsc::sync_channel(100);
|
||||
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 mut event_handler = EventHandler::new(tm_funnel_tx.clone(), event_rx, event_request_rx);
|
||||
|
||||
let (pus_test_tx, pus_test_rx) = mpsc::channel();
|
||||
let (pus_event_tx, pus_event_rx) = mpsc::channel();
|
||||
let (pus_sched_tx, pus_sched_rx) = mpsc::channel();
|
||||
let (pus_hk_tx, pus_hk_rx) = mpsc::channel();
|
||||
let (pus_action_tx, pus_action_rx) = mpsc::channel();
|
||||
let (pus_mode_tx, pus_mode_rx) = mpsc::channel();
|
||||
|
||||
let (_pus_action_reply_tx, pus_action_reply_rx) = mpsc::channel();
|
||||
let (pus_hk_reply_tx, pus_hk_reply_rx) = mpsc::channel();
|
||||
let (pus_mode_reply_tx, pus_mode_reply_rx) = mpsc::channel();
|
||||
|
||||
let (pus_test_tx, pus_test_rx) = channel();
|
||||
let (pus_event_tx, pus_event_rx) = channel();
|
||||
let (pus_sched_tx, pus_sched_rx) = channel();
|
||||
let (pus_hk_tx, pus_hk_rx) = channel();
|
||||
let (pus_action_tx, pus_action_rx) = channel();
|
||||
let pus_router = PusTcMpscRouter {
|
||||
test_service_receiver: pus_test_tx,
|
||||
event_service_receiver: pus_event_tx,
|
||||
sched_service_receiver: pus_sched_tx,
|
||||
hk_service_receiver: pus_hk_tx,
|
||||
action_service_receiver: pus_action_tx,
|
||||
test_tc_sender: pus_test_tx,
|
||||
event_tc_sender: pus_event_tx,
|
||||
sched_tc_sender: pus_sched_tx,
|
||||
hk_tc_sender: pus_hk_tx,
|
||||
action_tc_sender: pus_action_tx,
|
||||
mode_tc_sender: pus_mode_tx,
|
||||
};
|
||||
|
||||
let pus_test_service = create_test_service_dynamic(
|
||||
tm_funnel_tx.clone(),
|
||||
verif_reporter.clone(),
|
||||
event_handler.clone_event_sender(),
|
||||
pus_test_rx,
|
||||
);
|
||||
let pus_test_service =
|
||||
create_test_service_dynamic(tm_funnel_tx.clone(), event_tx.clone(), pus_test_rx);
|
||||
let pus_scheduler_service = create_scheduler_service_dynamic(
|
||||
tm_funnel_tx.clone(),
|
||||
verif_reporter.clone(),
|
||||
tc_source.0.clone(),
|
||||
tc_source_tx.clone(),
|
||||
pus_sched_rx,
|
||||
create_sched_tc_pool(),
|
||||
);
|
||||
|
||||
let pus_event_service = create_event_service_dynamic(
|
||||
tm_funnel_tx.clone(),
|
||||
verif_reporter.clone(),
|
||||
pus_event_rx,
|
||||
event_request_tx,
|
||||
);
|
||||
let pus_event_service =
|
||||
create_event_service_dynamic(tm_funnel_tx.clone(), pus_event_rx, event_request_tx);
|
||||
let pus_action_service = create_action_service_dynamic(
|
||||
tm_funnel_tx.clone(),
|
||||
verif_reporter.clone(),
|
||||
pus_action_rx,
|
||||
request_map.clone(),
|
||||
pus_action_reply_rx,
|
||||
);
|
||||
let pus_hk_service = create_hk_service_dynamic(
|
||||
tm_funnel_tx.clone(),
|
||||
verif_reporter.clone(),
|
||||
pus_hk_rx,
|
||||
request_map.clone(),
|
||||
pus_hk_reply_rx,
|
||||
);
|
||||
let pus_mode_service = create_mode_service_dynamic(
|
||||
tm_funnel_tx.clone(),
|
||||
pus_mode_rx,
|
||||
request_map,
|
||||
pus_mode_reply_rx,
|
||||
);
|
||||
let mut pus_stack = PusStack::new(
|
||||
pus_test_service,
|
||||
pus_hk_service,
|
||||
pus_event_service,
|
||||
pus_action_service,
|
||||
pus_scheduler_service,
|
||||
pus_test_service,
|
||||
pus_mode_service,
|
||||
);
|
||||
|
||||
let ccsds_receiver = CcsdsReceiver { tc_source };
|
||||
|
||||
let mut tmtc_task = TcSourceTaskDynamic::new(
|
||||
tc_source_rx,
|
||||
PusReceiver::new(verif_reporter.clone(), pus_router),
|
||||
PusTcDistributor::new(tm_funnel_tx.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))
|
||||
let udp_tc_server = UdpTcServer::new(UDP_SERVER.id(), sock_addr, 2048, tc_source_tx.clone())
|
||||
.expect("creating UDP TMTC server failed");
|
||||
let mut udp_tmtc_server = UdpTmtcServer {
|
||||
udp_tc_server,
|
||||
|
@ -404,30 +394,47 @@ fn dyn_tmtc_pool_main() {
|
|||
},
|
||||
};
|
||||
|
||||
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 tcp_server_cfg = ServerConfig::new(
|
||||
TCP_SERVER.id(),
|
||||
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,
|
||||
tc_source_tx.clone(),
|
||||
PACKET_ID_VALIDATOR.clone(),
|
||||
)
|
||||
.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 = TmSinkDynamic::new(sync_tm_tcp_source, tm_funnel_rx, tm_server_tx);
|
||||
|
||||
let (mgm_handler_mode_reply_to_parent_tx, _mgm_handler_mode_reply_to_parent_rx) =
|
||||
mpsc::channel();
|
||||
let dummy_spi_interface = SpiDummyInterface::default();
|
||||
let shared_mgm_set = Arc::default();
|
||||
let mode_leaf_interface = MpscModeLeafInterface {
|
||||
request_rx: mgm_handler_mode_rx,
|
||||
reply_tx_to_pus: pus_mode_reply_tx,
|
||||
reply_tx_to_parent: mgm_handler_mode_reply_to_parent_tx,
|
||||
};
|
||||
let mut mgm_handler = MgmHandlerLis3Mdl::new(
|
||||
MGM_HANDLER_0,
|
||||
"MGM_0",
|
||||
mode_leaf_interface,
|
||||
mgm_handler_composite_rx,
|
||||
pus_hk_reply_tx,
|
||||
tm_funnel_tx,
|
||||
dummy_spi_interface,
|
||||
shared_mgm_set,
|
||||
);
|
||||
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())
|
||||
.name("sat-rs tmtc-udp".to_string())
|
||||
.spawn(move || {
|
||||
info!("Running UDP server on port {SERVER_PORT}");
|
||||
loop {
|
||||
|
@ -440,7 +447,7 @@ fn dyn_tmtc_pool_main() {
|
|||
|
||||
info!("Starting TCP task");
|
||||
let jh_tcp = thread::Builder::new()
|
||||
.name("TCP".to_string())
|
||||
.name("sat-rs tcp".to_string())
|
||||
.spawn(move || {
|
||||
info!("Running TCP server on port {SERVER_PORT}");
|
||||
loop {
|
||||
|
@ -451,7 +458,7 @@ fn dyn_tmtc_pool_main() {
|
|||
|
||||
info!("Starting TM funnel task");
|
||||
let jh_tm_funnel = thread::Builder::new()
|
||||
.name("TM Funnel".to_string())
|
||||
.name("sat-rs tm-sink".to_string())
|
||||
.spawn(move || loop {
|
||||
tm_funnel.operation();
|
||||
})
|
||||
|
@ -459,7 +466,7 @@ fn dyn_tmtc_pool_main() {
|
|||
|
||||
info!("Starting event handling task");
|
||||
let jh_event_handling = thread::Builder::new()
|
||||
.name("Event".to_string())
|
||||
.name("sat-rs events".to_string())
|
||||
.spawn(move || loop {
|
||||
event_handler.periodic_operation();
|
||||
thread::sleep(Duration::from_millis(FREQ_MS_EVENT_HANDLING));
|
||||
|
@ -468,16 +475,16 @@ fn dyn_tmtc_pool_main() {
|
|||
|
||||
info!("Starting AOCS thread");
|
||||
let jh_aocs = thread::Builder::new()
|
||||
.name("AOCS".to_string())
|
||||
.name("sat-rs aocs".to_string())
|
||||
.spawn(move || loop {
|
||||
acs_task.periodic_operation();
|
||||
mgm_handler.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())
|
||||
.name("sat-rs pus".to_string())
|
||||
.spawn(move || loop {
|
||||
pus_stack.periodic_operation();
|
||||
thread::sleep(Duration::from_millis(FREQ_MS_PUS_STACK));
|
||||
|
@ -511,7 +518,7 @@ fn main() {
|
|||
dyn_tmtc_pool_main();
|
||||
}
|
||||
|
||||
pub fn update_time(time_provider: &mut TimeProvider, timestamp: &mut [u8]) {
|
||||
pub fn update_time(time_provider: &mut CdsTime, timestamp: &mut [u8]) {
|
||||
time_provider
|
||||
.update_from_now()
|
||||
.expect("Could not get current time");
|
||||
|
|
|
@ -1,174 +1,747 @@
|
|||
use log::{error, warn};
|
||||
use satrs::action::ActionRequest;
|
||||
use satrs::pool::{SharedStaticMemoryPool, StoreAddr};
|
||||
use satrs::pus::action::{PusActionToRequestConverter, PusService8ActionHandler};
|
||||
use log::warn;
|
||||
use satrs::action::{ActionRequest, ActionRequestVariant};
|
||||
use satrs::pool::SharedStaticMemoryPool;
|
||||
use satrs::pus::action::{
|
||||
ActionReplyPus, ActionReplyVariant, ActivePusActionRequestStd, DefaultActiveActionRequestMap,
|
||||
};
|
||||
use satrs::pus::verification::{
|
||||
FailParams, TcStateAccepted, VerificationReporterWithSender, VerificationReportingProvider,
|
||||
VerificationToken,
|
||||
handle_completion_failure_with_generic_params, handle_step_failure_with_generic_params,
|
||||
FailParamHelper, FailParams, TcStateAccepted, TcStateStarted, VerificationReporter,
|
||||
VerificationReportingProvider, VerificationToken,
|
||||
};
|
||||
use satrs::pus::{
|
||||
EcssTcAndToken, EcssTcInMemConverter, EcssTcInSharedStoreConverter, EcssTcInVecConverter,
|
||||
MpscTcReceiver, MpscTmAsVecSender, MpscTmInSharedPoolSender, PusPacketHandlerResult,
|
||||
PusPacketHandlingError, PusServiceHelper,
|
||||
ActiveRequestProvider, EcssTcAndToken, EcssTcInMemConverter, EcssTcInSharedStoreConverter,
|
||||
EcssTcInVecConverter, EcssTmSender, EcssTmtcError, GenericConversionError, MpscTcReceiver,
|
||||
MpscTmAsVecSender, PusPacketHandlingError, PusReplyHandler, PusServiceHelper,
|
||||
PusTcToRequestConverter,
|
||||
};
|
||||
use satrs::request::TargetAndApidId;
|
||||
use satrs::request::{GenericMessage, UniqueApidTargetId};
|
||||
use satrs::spacepackets::ecss::tc::PusTcReader;
|
||||
use satrs::spacepackets::ecss::PusPacket;
|
||||
use satrs::tmtc::tm_helper::SharedTmPool;
|
||||
use satrs::{ChannelId, TargetId};
|
||||
use satrs_example::config::{tmtc_err, TcReceiverId, TmSenderId, PUS_APID};
|
||||
use std::sync::mpsc::{self};
|
||||
use satrs::spacepackets::ecss::{EcssEnumU16, PusPacket, PusServiceId};
|
||||
use satrs::tmtc::{PacketAsVec, PacketSenderWithSharedPool};
|
||||
use satrs_example::config::components::PUS_ACTION_SERVICE;
|
||||
use satrs_example::config::tmtc_err;
|
||||
use std::sync::mpsc;
|
||||
use std::time::Duration;
|
||||
|
||||
use crate::requests::GenericRequestRouter;
|
||||
|
||||
use super::GenericRoutingErrorHandler;
|
||||
use super::{
|
||||
create_verification_reporter, generic_pus_request_timeout_handler, HandlingStatus,
|
||||
PusTargetedRequestService, TargetedPusService,
|
||||
};
|
||||
|
||||
pub struct ActionReplyHandler {
|
||||
fail_data_buf: [u8; 128],
|
||||
}
|
||||
|
||||
impl Default for ActionReplyHandler {
|
||||
fn default() -> Self {
|
||||
Self {
|
||||
fail_data_buf: [0; 128],
|
||||
}
|
||||
}
|
||||
}
|
||||
|
||||
impl PusReplyHandler<ActivePusActionRequestStd, ActionReplyPus> for ActionReplyHandler {
|
||||
type Error = EcssTmtcError;
|
||||
|
||||
fn handle_unrequested_reply(
|
||||
&mut self,
|
||||
reply: &GenericMessage<ActionReplyPus>,
|
||||
_tm_sender: &impl EcssTmSender,
|
||||
) -> Result<(), Self::Error> {
|
||||
warn!("received unexpected reply for service 8: {reply:?}");
|
||||
Ok(())
|
||||
}
|
||||
|
||||
fn handle_reply(
|
||||
&mut self,
|
||||
reply: &GenericMessage<ActionReplyPus>,
|
||||
active_request: &ActivePusActionRequestStd,
|
||||
tm_sender: &(impl EcssTmSender + ?Sized),
|
||||
verification_handler: &impl VerificationReportingProvider,
|
||||
timestamp: &[u8],
|
||||
) -> Result<bool, Self::Error> {
|
||||
let verif_token: VerificationToken<TcStateStarted> = active_request
|
||||
.token()
|
||||
.try_into()
|
||||
.expect("invalid token state");
|
||||
let remove_entry = match &reply.message.variant {
|
||||
ActionReplyVariant::CompletionFailed { error_code, params } => {
|
||||
let error_propagated = handle_completion_failure_with_generic_params(
|
||||
tm_sender,
|
||||
verif_token,
|
||||
verification_handler,
|
||||
FailParamHelper {
|
||||
error_code,
|
||||
params: params.as_ref(),
|
||||
timestamp,
|
||||
small_data_buf: &mut self.fail_data_buf,
|
||||
},
|
||||
)?;
|
||||
if !error_propagated {
|
||||
log::warn!(
|
||||
"error params for completion failure were not propated: {:?}",
|
||||
params.as_ref()
|
||||
);
|
||||
}
|
||||
true
|
||||
}
|
||||
ActionReplyVariant::StepFailed {
|
||||
error_code,
|
||||
step,
|
||||
params,
|
||||
} => {
|
||||
let error_propagated = handle_step_failure_with_generic_params(
|
||||
tm_sender,
|
||||
verif_token,
|
||||
verification_handler,
|
||||
FailParamHelper {
|
||||
error_code,
|
||||
params: params.as_ref(),
|
||||
timestamp,
|
||||
small_data_buf: &mut self.fail_data_buf,
|
||||
},
|
||||
&EcssEnumU16::new(*step),
|
||||
)?;
|
||||
if !error_propagated {
|
||||
log::warn!(
|
||||
"error params for completion failure were not propated: {:?}",
|
||||
params.as_ref()
|
||||
);
|
||||
}
|
||||
true
|
||||
}
|
||||
ActionReplyVariant::Completed => {
|
||||
verification_handler.completion_success(tm_sender, verif_token, timestamp)?;
|
||||
true
|
||||
}
|
||||
ActionReplyVariant::StepSuccess { step } => {
|
||||
verification_handler.step_success(
|
||||
tm_sender,
|
||||
&verif_token,
|
||||
timestamp,
|
||||
EcssEnumU16::new(*step),
|
||||
)?;
|
||||
false
|
||||
}
|
||||
_ => false,
|
||||
};
|
||||
Ok(remove_entry)
|
||||
}
|
||||
|
||||
fn handle_request_timeout(
|
||||
&mut self,
|
||||
active_request: &ActivePusActionRequestStd,
|
||||
tm_sender: &impl EcssTmSender,
|
||||
verification_handler: &impl VerificationReportingProvider,
|
||||
time_stamp: &[u8],
|
||||
) -> Result<(), Self::Error> {
|
||||
generic_pus_request_timeout_handler(
|
||||
tm_sender,
|
||||
active_request,
|
||||
verification_handler,
|
||||
time_stamp,
|
||||
"action",
|
||||
)
|
||||
}
|
||||
}
|
||||
|
||||
#[derive(Default)]
|
||||
pub struct ExampleActionRequestConverter {}
|
||||
pub struct ActionRequestConverter {}
|
||||
|
||||
impl PusActionToRequestConverter for ExampleActionRequestConverter {
|
||||
type Error = PusPacketHandlingError;
|
||||
impl PusTcToRequestConverter<ActivePusActionRequestStd, ActionRequest> for ActionRequestConverter {
|
||||
type Error = GenericConversionError;
|
||||
|
||||
fn convert(
|
||||
&mut self,
|
||||
token: VerificationToken<TcStateAccepted>,
|
||||
tc: &PusTcReader,
|
||||
time_stamp: &[u8],
|
||||
tm_sender: &(impl EcssTmSender + ?Sized),
|
||||
verif_reporter: &impl VerificationReportingProvider,
|
||||
) -> Result<(TargetId, ActionRequest), Self::Error> {
|
||||
time_stamp: &[u8],
|
||||
) -> Result<(ActivePusActionRequestStd, ActionRequest), Self::Error> {
|
||||
let subservice = tc.subservice();
|
||||
let user_data = tc.user_data();
|
||||
if user_data.len() < 8 {
|
||||
verif_reporter
|
||||
.start_failure(
|
||||
tm_sender,
|
||||
token,
|
||||
FailParams::new_no_fail_data(time_stamp, &tmtc_err::NOT_ENOUGH_APP_DATA),
|
||||
)
|
||||
.expect("Sending start failure failed");
|
||||
return Err(PusPacketHandlingError::NotEnoughAppData {
|
||||
return Err(GenericConversionError::NotEnoughAppData {
|
||||
expected: 8,
|
||||
found: user_data.len(),
|
||||
});
|
||||
}
|
||||
let target_id = TargetAndApidId::from_pus_tc(tc).unwrap();
|
||||
let target_id_and_apid = UniqueApidTargetId::from_pus_tc(tc).unwrap();
|
||||
let action_id = u32::from_be_bytes(user_data[4..8].try_into().unwrap());
|
||||
if subservice == 128 {
|
||||
let req_variant = if user_data.len() == 8 {
|
||||
ActionRequestVariant::NoData
|
||||
} else {
|
||||
ActionRequestVariant::VecData(user_data[8..].to_vec())
|
||||
};
|
||||
Ok((
|
||||
target_id.raw(),
|
||||
ActionRequest::UnsignedIdAndVecData {
|
||||
ActivePusActionRequestStd::new(
|
||||
action_id,
|
||||
data: user_data[8..].to_vec(),
|
||||
},
|
||||
target_id_and_apid.into(),
|
||||
token.into(),
|
||||
Duration::from_secs(30),
|
||||
),
|
||||
ActionRequest::new(action_id, req_variant),
|
||||
))
|
||||
} else {
|
||||
verif_reporter
|
||||
.start_failure(
|
||||
tm_sender,
|
||||
token,
|
||||
FailParams::new_no_fail_data(time_stamp, &tmtc_err::INVALID_PUS_SUBSERVICE),
|
||||
)
|
||||
.expect("Sending start failure failed");
|
||||
Err(PusPacketHandlingError::InvalidSubservice(subservice))
|
||||
Err(GenericConversionError::InvalidSubservice(subservice))
|
||||
}
|
||||
}
|
||||
}
|
||||
|
||||
pub fn create_action_service_static(
|
||||
shared_tm_store: SharedTmPool,
|
||||
tm_funnel_tx: mpsc::Sender<StoreAddr>,
|
||||
verif_reporter: VerificationReporterWithSender,
|
||||
tm_sender: PacketSenderWithSharedPool,
|
||||
tc_pool: SharedStaticMemoryPool,
|
||||
pus_action_rx: mpsc::Receiver<EcssTcAndToken>,
|
||||
action_router: GenericRequestRouter,
|
||||
) -> 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(
|
||||
reply_receiver: mpsc::Receiver<GenericMessage<ActionReplyPus>>,
|
||||
) -> ActionServiceWrapper<PacketSenderWithSharedPool, EcssTcInSharedStoreConverter> {
|
||||
let action_request_handler = PusTargetedRequestService::new(
|
||||
PusServiceHelper::new(
|
||||
Box::new(action_srv_receiver),
|
||||
Box::new(action_srv_tm_sender),
|
||||
PUS_APID,
|
||||
verif_reporter.clone(),
|
||||
PUS_ACTION_SERVICE.id(),
|
||||
pus_action_rx,
|
||||
tm_sender,
|
||||
create_verification_reporter(PUS_ACTION_SERVICE.id(), PUS_ACTION_SERVICE.apid),
|
||||
EcssTcInSharedStoreConverter::new(tc_pool.clone(), 2048),
|
||||
),
|
||||
ExampleActionRequestConverter::default(),
|
||||
ActionRequestConverter::default(),
|
||||
// TODO: Implementation which does not use run-time allocation? Maybe something like
|
||||
// a bounded wrapper which pre-allocates using [HashMap::with_capacity]..
|
||||
DefaultActiveActionRequestMap::default(),
|
||||
ActionReplyHandler::default(),
|
||||
action_router,
|
||||
GenericRoutingErrorHandler::<8>::default(),
|
||||
reply_receiver,
|
||||
);
|
||||
Pus8Wrapper { pus_8_handler }
|
||||
ActionServiceWrapper {
|
||||
service: action_request_handler,
|
||||
}
|
||||
}
|
||||
|
||||
pub fn create_action_service_dynamic(
|
||||
tm_funnel_tx: mpsc::Sender<Vec<u8>>,
|
||||
verif_reporter: VerificationReporterWithSender,
|
||||
tm_funnel_tx: mpsc::Sender<PacketAsVec>,
|
||||
pus_action_rx: mpsc::Receiver<EcssTcAndToken>,
|
||||
action_router: GenericRequestRouter,
|
||||
) -> 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(
|
||||
reply_receiver: mpsc::Receiver<GenericMessage<ActionReplyPus>>,
|
||||
) -> ActionServiceWrapper<MpscTmAsVecSender, EcssTcInVecConverter> {
|
||||
let action_request_handler = PusTargetedRequestService::new(
|
||||
PusServiceHelper::new(
|
||||
Box::new(action_srv_receiver),
|
||||
Box::new(action_srv_tm_sender),
|
||||
PUS_APID,
|
||||
verif_reporter.clone(),
|
||||
PUS_ACTION_SERVICE.id(),
|
||||
pus_action_rx,
|
||||
tm_funnel_tx,
|
||||
create_verification_reporter(PUS_ACTION_SERVICE.id(), PUS_ACTION_SERVICE.apid),
|
||||
EcssTcInVecConverter::default(),
|
||||
),
|
||||
ExampleActionRequestConverter::default(),
|
||||
ActionRequestConverter::default(),
|
||||
DefaultActiveActionRequestMap::default(),
|
||||
ActionReplyHandler::default(),
|
||||
action_router,
|
||||
GenericRoutingErrorHandler::<8>::default(),
|
||||
reply_receiver,
|
||||
);
|
||||
Pus8Wrapper { pus_8_handler }
|
||||
ActionServiceWrapper {
|
||||
service: action_request_handler,
|
||||
}
|
||||
}
|
||||
|
||||
pub struct Pus8Wrapper<TcInMemConverter: EcssTcInMemConverter> {
|
||||
pub(crate) pus_8_handler: PusService8ActionHandler<
|
||||
pub struct ActionServiceWrapper<TmSender: EcssTmSender, TcInMemConverter: EcssTcInMemConverter> {
|
||||
pub(crate) service: PusTargetedRequestService<
|
||||
MpscTcReceiver,
|
||||
TmSender,
|
||||
TcInMemConverter,
|
||||
VerificationReporterWithSender,
|
||||
ExampleActionRequestConverter,
|
||||
GenericRequestRouter,
|
||||
GenericRoutingErrorHandler<8>,
|
||||
VerificationReporter,
|
||||
ActionRequestConverter,
|
||||
ActionReplyHandler,
|
||||
DefaultActiveActionRequestMap,
|
||||
ActivePusActionRequestStd,
|
||||
ActionRequest,
|
||||
ActionReplyPus,
|
||||
>,
|
||||
}
|
||||
|
||||
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 {
|
||||
PusPacketHandlerResult::RequestHandled => {}
|
||||
PusPacketHandlerResult::RequestHandledPartialSuccess(e) => {
|
||||
warn!("PUS 8 partial packet handling success: {e:?}")
|
||||
}
|
||||
PusPacketHandlerResult::CustomSubservice(invalid, _) => {
|
||||
warn!("PUS 8 invalid subservice {invalid}");
|
||||
}
|
||||
PusPacketHandlerResult::SubserviceNotImplemented(subservice, _) => {
|
||||
warn!("PUS 8 subservice {subservice} not implemented");
|
||||
}
|
||||
PusPacketHandlerResult::Empty => {
|
||||
return true;
|
||||
}
|
||||
},
|
||||
Err(error) => {
|
||||
error!("PUS packet handling error: {error:?}")
|
||||
}
|
||||
impl<TmSender: EcssTmSender, TcInMemConverter: EcssTcInMemConverter> TargetedPusService
|
||||
for ActionServiceWrapper<TmSender, TcInMemConverter>
|
||||
{
|
||||
const SERVICE_ID: u8 = PusServiceId::Action as u8;
|
||||
const SERVICE_STR: &'static str = "action";
|
||||
|
||||
delegate::delegate! {
|
||||
to self.service {
|
||||
fn poll_and_handle_next_tc(
|
||||
&mut self,
|
||||
time_stamp: &[u8],
|
||||
) -> Result<HandlingStatus, PusPacketHandlingError>;
|
||||
|
||||
fn poll_and_handle_next_reply(
|
||||
&mut self,
|
||||
time_stamp: &[u8],
|
||||
) -> Result<HandlingStatus, EcssTmtcError>;
|
||||
|
||||
fn check_for_request_timeouts(&mut self);
|
||||
}
|
||||
false
|
||||
}
|
||||
}
|
||||
|
||||
#[cfg(test)]
|
||||
mod tests {
|
||||
use satrs::pus::test_util::{
|
||||
TEST_APID, TEST_COMPONENT_ID_0, TEST_COMPONENT_ID_1, TEST_UNIQUE_ID_0, TEST_UNIQUE_ID_1,
|
||||
};
|
||||
use satrs::pus::verification;
|
||||
use satrs::pus::verification::test_util::TestVerificationReporter;
|
||||
use satrs::request::MessageMetadata;
|
||||
use satrs::ComponentId;
|
||||
use satrs::{
|
||||
res_code::ResultU16,
|
||||
spacepackets::{
|
||||
ecss::{
|
||||
tc::{PusTcCreator, PusTcSecondaryHeader},
|
||||
tm::PusTmReader,
|
||||
WritablePusPacket,
|
||||
},
|
||||
SpHeader,
|
||||
},
|
||||
};
|
||||
|
||||
use crate::{
|
||||
pus::tests::{PusConverterTestbench, ReplyHandlerTestbench, TargetedPusRequestTestbench},
|
||||
requests::CompositeRequest,
|
||||
};
|
||||
|
||||
use super::*;
|
||||
|
||||
impl
|
||||
TargetedPusRequestTestbench<
|
||||
ActionRequestConverter,
|
||||
ActionReplyHandler,
|
||||
DefaultActiveActionRequestMap,
|
||||
ActivePusActionRequestStd,
|
||||
ActionRequest,
|
||||
ActionReplyPus,
|
||||
>
|
||||
{
|
||||
pub fn new_for_action(owner_id: ComponentId, target_id: ComponentId) -> Self {
|
||||
let _ = env_logger::builder().is_test(true).try_init();
|
||||
let (tm_funnel_tx, tm_funnel_rx) = mpsc::channel();
|
||||
let (pus_action_tx, pus_action_rx) = mpsc::channel();
|
||||
let (action_reply_tx, action_reply_rx) = mpsc::channel();
|
||||
let (action_req_tx, action_req_rx) = mpsc::channel();
|
||||
let verif_reporter = TestVerificationReporter::new(owner_id);
|
||||
let mut generic_req_router = GenericRequestRouter::default();
|
||||
generic_req_router
|
||||
.composite_router_map
|
||||
.insert(target_id, action_req_tx);
|
||||
Self {
|
||||
service: PusTargetedRequestService::new(
|
||||
PusServiceHelper::new(
|
||||
owner_id,
|
||||
pus_action_rx,
|
||||
tm_funnel_tx.clone(),
|
||||
verif_reporter,
|
||||
EcssTcInVecConverter::default(),
|
||||
),
|
||||
ActionRequestConverter::default(),
|
||||
DefaultActiveActionRequestMap::default(),
|
||||
ActionReplyHandler::default(),
|
||||
generic_req_router,
|
||||
action_reply_rx,
|
||||
),
|
||||
request_id: None,
|
||||
pus_packet_tx: pus_action_tx,
|
||||
tm_funnel_rx,
|
||||
reply_tx: action_reply_tx,
|
||||
request_rx: action_req_rx,
|
||||
}
|
||||
}
|
||||
|
||||
pub fn verify_packet_started(&self) {
|
||||
self.service
|
||||
.service_helper
|
||||
.common
|
||||
.verif_reporter
|
||||
.check_next_is_started_success(
|
||||
self.service.service_helper.id(),
|
||||
self.request_id.expect("request ID not set").into(),
|
||||
);
|
||||
}
|
||||
|
||||
pub fn verify_packet_completed(&self) {
|
||||
self.service
|
||||
.service_helper
|
||||
.common
|
||||
.verif_reporter
|
||||
.check_next_is_completion_success(
|
||||
self.service.service_helper.id(),
|
||||
self.request_id.expect("request ID not set").into(),
|
||||
);
|
||||
}
|
||||
|
||||
pub fn verify_tm_empty(&self) {
|
||||
let packet = self.tm_funnel_rx.try_recv();
|
||||
if let Err(mpsc::TryRecvError::Empty) = packet {
|
||||
} else {
|
||||
let tm = packet.unwrap();
|
||||
let unexpected_tm = PusTmReader::new(&tm.packet, 7).unwrap().0;
|
||||
panic!("unexpected TM packet {unexpected_tm:?}");
|
||||
}
|
||||
}
|
||||
|
||||
pub fn verify_next_tc_is_handled_properly(&mut self, time_stamp: &[u8]) {
|
||||
let result = self.service.poll_and_handle_next_tc(time_stamp);
|
||||
if let Err(e) = result {
|
||||
panic!("unexpected error {:?}", e);
|
||||
}
|
||||
let result = result.unwrap();
|
||||
match result {
|
||||
HandlingStatus::HandledOne => (),
|
||||
_ => panic!("unexpected result {result:?}"),
|
||||
}
|
||||
}
|
||||
|
||||
pub fn verify_all_tcs_handled(&mut self, time_stamp: &[u8]) {
|
||||
let result = self.service.poll_and_handle_next_tc(time_stamp);
|
||||
if let Err(e) = result {
|
||||
panic!("unexpected error {:?}", e);
|
||||
}
|
||||
let result = result.unwrap();
|
||||
match result {
|
||||
HandlingStatus::Empty => (),
|
||||
_ => panic!("unexpected result {result:?}"),
|
||||
}
|
||||
}
|
||||
|
||||
pub fn verify_next_reply_is_handled_properly(&mut self, time_stamp: &[u8]) {
|
||||
let result = self.service.poll_and_handle_next_reply(time_stamp);
|
||||
assert!(result.is_ok());
|
||||
assert_eq!(result.unwrap(), HandlingStatus::HandledOne);
|
||||
}
|
||||
|
||||
pub fn verify_all_replies_handled(&mut self, time_stamp: &[u8]) {
|
||||
let result = self.service.poll_and_handle_next_reply(time_stamp);
|
||||
assert!(result.is_ok());
|
||||
assert_eq!(result.unwrap(), HandlingStatus::Empty);
|
||||
}
|
||||
|
||||
pub fn add_tc(&mut self, tc: &PusTcCreator) {
|
||||
self.request_id = Some(verification::RequestId::new(tc).into());
|
||||
let token = self.service.service_helper.verif_reporter_mut().add_tc(tc);
|
||||
let accepted_token = self
|
||||
.service
|
||||
.service_helper
|
||||
.verif_reporter()
|
||||
.acceptance_success(self.service.service_helper.tm_sender(), token, &[0; 7])
|
||||
.expect("TC acceptance failed");
|
||||
self.service
|
||||
.service_helper
|
||||
.verif_reporter()
|
||||
.check_next_was_added(accepted_token.request_id());
|
||||
let id = self.service.service_helper.id();
|
||||
self.service
|
||||
.service_helper
|
||||
.verif_reporter()
|
||||
.check_next_is_acceptance_success(id, accepted_token.request_id());
|
||||
self.pus_packet_tx
|
||||
.send(EcssTcAndToken::new(
|
||||
PacketAsVec::new(self.service.service_helper.id(), tc.to_vec().unwrap()),
|
||||
accepted_token,
|
||||
))
|
||||
.unwrap();
|
||||
}
|
||||
}
|
||||
|
||||
#[test]
|
||||
fn basic_request() {
|
||||
let mut testbench = TargetedPusRequestTestbench::new_for_action(
|
||||
TEST_COMPONENT_ID_0.id(),
|
||||
TEST_COMPONENT_ID_1.id(),
|
||||
);
|
||||
// Create a basic action request and verify forwarding.
|
||||
let sp_header = SpHeader::new_from_apid(TEST_APID);
|
||||
let sec_header = PusTcSecondaryHeader::new_simple(8, 128);
|
||||
let action_id = 5_u32;
|
||||
let mut app_data: [u8; 8] = [0; 8];
|
||||
app_data[0..4].copy_from_slice(&TEST_UNIQUE_ID_1.to_be_bytes());
|
||||
app_data[4..8].copy_from_slice(&action_id.to_be_bytes());
|
||||
let pus8_packet = PusTcCreator::new(sp_header, sec_header, &app_data, true);
|
||||
testbench.add_tc(&pus8_packet);
|
||||
let time_stamp: [u8; 7] = [0; 7];
|
||||
testbench.verify_next_tc_is_handled_properly(&time_stamp);
|
||||
testbench.verify_all_tcs_handled(&time_stamp);
|
||||
|
||||
testbench.verify_packet_started();
|
||||
|
||||
let possible_req = testbench.request_rx.try_recv();
|
||||
assert!(possible_req.is_ok());
|
||||
let req = possible_req.unwrap();
|
||||
if let CompositeRequest::Action(action_req) = req.message {
|
||||
assert_eq!(action_req.action_id, action_id);
|
||||
assert_eq!(action_req.variant, ActionRequestVariant::NoData);
|
||||
let action_reply = ActionReplyPus::new(action_id, ActionReplyVariant::Completed);
|
||||
testbench
|
||||
.reply_tx
|
||||
.send(GenericMessage::new(req.requestor_info, action_reply))
|
||||
.unwrap();
|
||||
} else {
|
||||
panic!("unexpected request type");
|
||||
}
|
||||
testbench.verify_next_reply_is_handled_properly(&time_stamp);
|
||||
testbench.verify_all_replies_handled(&time_stamp);
|
||||
|
||||
testbench.verify_packet_completed();
|
||||
testbench.verify_tm_empty();
|
||||
}
|
||||
|
||||
#[test]
|
||||
fn basic_request_routing_error() {
|
||||
let mut testbench = TargetedPusRequestTestbench::new_for_action(
|
||||
TEST_COMPONENT_ID_0.id(),
|
||||
TEST_COMPONENT_ID_1.id(),
|
||||
);
|
||||
// Create a basic action request and verify forwarding.
|
||||
let sec_header = PusTcSecondaryHeader::new_simple(8, 128);
|
||||
let action_id = 5_u32;
|
||||
let mut app_data: [u8; 8] = [0; 8];
|
||||
// Invalid ID, routing should fail.
|
||||
app_data[0..4].copy_from_slice(&0_u32.to_be_bytes());
|
||||
app_data[4..8].copy_from_slice(&action_id.to_be_bytes());
|
||||
let pus8_packet = PusTcCreator::new(
|
||||
SpHeader::new_from_apid(TEST_APID),
|
||||
sec_header,
|
||||
&app_data,
|
||||
true,
|
||||
);
|
||||
testbench.add_tc(&pus8_packet);
|
||||
let time_stamp: [u8; 7] = [0; 7];
|
||||
|
||||
let result = testbench.service.poll_and_handle_next_tc(&time_stamp);
|
||||
assert!(result.is_err());
|
||||
// Verify the correct result and completion failure.
|
||||
}
|
||||
|
||||
#[test]
|
||||
fn converter_action_req_no_data() {
|
||||
let mut testbench = PusConverterTestbench::new(
|
||||
TEST_COMPONENT_ID_0.raw(),
|
||||
ActionRequestConverter::default(),
|
||||
);
|
||||
let sec_header = PusTcSecondaryHeader::new_simple(8, 128);
|
||||
let action_id = 5_u32;
|
||||
let mut app_data: [u8; 8] = [0; 8];
|
||||
// Invalid ID, routing should fail.
|
||||
app_data[0..4].copy_from_slice(&TEST_UNIQUE_ID_0.to_be_bytes());
|
||||
app_data[4..8].copy_from_slice(&action_id.to_be_bytes());
|
||||
let pus8_packet = PusTcCreator::new(
|
||||
SpHeader::new_from_apid(TEST_APID),
|
||||
sec_header,
|
||||
&app_data,
|
||||
true,
|
||||
);
|
||||
let token = testbench.add_tc(&pus8_packet);
|
||||
let result = testbench.convert(token, &[], TEST_APID, TEST_UNIQUE_ID_0);
|
||||
assert!(result.is_ok());
|
||||
let (active_req, request) = result.unwrap();
|
||||
if let ActionRequestVariant::NoData = request.variant {
|
||||
assert_eq!(request.action_id, action_id);
|
||||
assert_eq!(active_req.action_id, action_id);
|
||||
assert_eq!(
|
||||
active_req.target_id(),
|
||||
UniqueApidTargetId::new(TEST_APID, TEST_UNIQUE_ID_0).raw()
|
||||
);
|
||||
assert_eq!(
|
||||
active_req.token().request_id(),
|
||||
testbench.request_id().unwrap()
|
||||
);
|
||||
} else {
|
||||
panic!("unexpected action request variant");
|
||||
}
|
||||
}
|
||||
|
||||
#[test]
|
||||
fn converter_action_req_with_data() {
|
||||
let mut testbench =
|
||||
PusConverterTestbench::new(TEST_COMPONENT_ID_0.id(), ActionRequestConverter::default());
|
||||
let sec_header = PusTcSecondaryHeader::new_simple(8, 128);
|
||||
let action_id = 5_u32;
|
||||
let mut app_data: [u8; 16] = [0; 16];
|
||||
// Invalid ID, routing should fail.
|
||||
app_data[0..4].copy_from_slice(&TEST_UNIQUE_ID_0.to_be_bytes());
|
||||
app_data[4..8].copy_from_slice(&action_id.to_be_bytes());
|
||||
for i in 0..8 {
|
||||
app_data[i + 8] = i as u8;
|
||||
}
|
||||
let pus8_packet = PusTcCreator::new(
|
||||
SpHeader::new_from_apid(TEST_APID),
|
||||
sec_header,
|
||||
&app_data,
|
||||
true,
|
||||
);
|
||||
let token = testbench.add_tc(&pus8_packet);
|
||||
let result = testbench.convert(token, &[], TEST_APID, TEST_UNIQUE_ID_0);
|
||||
assert!(result.is_ok());
|
||||
let (active_req, request) = result.unwrap();
|
||||
if let ActionRequestVariant::VecData(vec) = request.variant {
|
||||
assert_eq!(request.action_id, action_id);
|
||||
assert_eq!(active_req.action_id, action_id);
|
||||
assert_eq!(vec, app_data[8..].to_vec());
|
||||
} else {
|
||||
panic!("unexpected action request variant");
|
||||
}
|
||||
}
|
||||
|
||||
#[test]
|
||||
fn reply_handling_completion_success() {
|
||||
let mut testbench =
|
||||
ReplyHandlerTestbench::new(TEST_COMPONENT_ID_0.id(), ActionReplyHandler::default());
|
||||
let action_id = 5_u32;
|
||||
let (req_id, active_req) = testbench.add_tc(TEST_APID, TEST_UNIQUE_ID_0, &[]);
|
||||
let active_action_req =
|
||||
ActivePusActionRequestStd::new_from_common_req(action_id, active_req);
|
||||
let reply = ActionReplyPus::new(action_id, ActionReplyVariant::Completed);
|
||||
let generic_reply = GenericMessage::new(MessageMetadata::new(req_id.into(), 0), reply);
|
||||
let result = testbench.handle_reply(&generic_reply, &active_action_req, &[]);
|
||||
assert!(result.is_ok());
|
||||
assert!(result.unwrap());
|
||||
testbench.verif_reporter.assert_full_completion_success(
|
||||
TEST_COMPONENT_ID_0.id(),
|
||||
req_id,
|
||||
None,
|
||||
);
|
||||
}
|
||||
|
||||
#[test]
|
||||
fn reply_handling_completion_failure() {
|
||||
let mut testbench =
|
||||
ReplyHandlerTestbench::new(TEST_COMPONENT_ID_0.id(), ActionReplyHandler::default());
|
||||
let action_id = 5_u32;
|
||||
let (req_id, active_req) = testbench.add_tc(TEST_APID, TEST_UNIQUE_ID_0, &[]);
|
||||
let active_action_req =
|
||||
ActivePusActionRequestStd::new_from_common_req(action_id, active_req);
|
||||
let error_code = ResultU16::new(2, 3);
|
||||
let reply = ActionReplyPus::new(
|
||||
action_id,
|
||||
ActionReplyVariant::CompletionFailed {
|
||||
error_code,
|
||||
params: None,
|
||||
},
|
||||
);
|
||||
let generic_reply = GenericMessage::new(MessageMetadata::new(req_id.into(), 0), reply);
|
||||
let result = testbench.handle_reply(&generic_reply, &active_action_req, &[]);
|
||||
assert!(result.is_ok());
|
||||
assert!(result.unwrap());
|
||||
testbench.verif_reporter.assert_completion_failure(
|
||||
TEST_COMPONENT_ID_0.into(),
|
||||
req_id,
|
||||
None,
|
||||
error_code.raw() as u64,
|
||||
);
|
||||
}
|
||||
|
||||
#[test]
|
||||
fn reply_handling_step_success() {
|
||||
let mut testbench =
|
||||
ReplyHandlerTestbench::new(TEST_COMPONENT_ID_0.id(), ActionReplyHandler::default());
|
||||
let action_id = 5_u32;
|
||||
let (req_id, active_req) = testbench.add_tc(TEST_APID, TEST_UNIQUE_ID_0, &[]);
|
||||
let active_action_req =
|
||||
ActivePusActionRequestStd::new_from_common_req(action_id, active_req);
|
||||
let reply = ActionReplyPus::new(action_id, ActionReplyVariant::StepSuccess { step: 1 });
|
||||
let generic_reply = GenericMessage::new(MessageMetadata::new(req_id.into(), 0), reply);
|
||||
let result = testbench.handle_reply(&generic_reply, &active_action_req, &[]);
|
||||
assert!(result.is_ok());
|
||||
// Entry should not be removed, completion not done yet.
|
||||
assert!(!result.unwrap());
|
||||
testbench.verif_reporter.check_next_was_added(req_id);
|
||||
testbench
|
||||
.verif_reporter
|
||||
.check_next_is_acceptance_success(TEST_COMPONENT_ID_0.raw(), req_id);
|
||||
testbench
|
||||
.verif_reporter
|
||||
.check_next_is_started_success(TEST_COMPONENT_ID_0.raw(), req_id);
|
||||
testbench
|
||||
.verif_reporter
|
||||
.check_next_is_step_success(TEST_COMPONENT_ID_0.raw(), req_id, 1);
|
||||
}
|
||||
|
||||
#[test]
|
||||
fn reply_handling_step_failure() {
|
||||
let mut testbench =
|
||||
ReplyHandlerTestbench::new(TEST_COMPONENT_ID_0.id(), ActionReplyHandler::default());
|
||||
let action_id = 5_u32;
|
||||
let (req_id, active_req) = testbench.add_tc(TEST_APID, TEST_UNIQUE_ID_0, &[]);
|
||||
let active_action_req =
|
||||
ActivePusActionRequestStd::new_from_common_req(action_id, active_req);
|
||||
let error_code = ResultU16::new(2, 3);
|
||||
let reply = ActionReplyPus::new(
|
||||
action_id,
|
||||
ActionReplyVariant::StepFailed {
|
||||
error_code,
|
||||
step: 1,
|
||||
params: None,
|
||||
},
|
||||
);
|
||||
let generic_reply = GenericMessage::new(MessageMetadata::new(req_id.into(), 0), reply);
|
||||
let result = testbench.handle_reply(&generic_reply, &active_action_req, &[]);
|
||||
assert!(result.is_ok());
|
||||
assert!(result.unwrap());
|
||||
testbench.verif_reporter.check_next_was_added(req_id);
|
||||
testbench
|
||||
.verif_reporter
|
||||
.check_next_is_acceptance_success(TEST_COMPONENT_ID_0.id(), req_id);
|
||||
testbench
|
||||
.verif_reporter
|
||||
.check_next_is_started_success(TEST_COMPONENT_ID_0.id(), req_id);
|
||||
testbench.verif_reporter.check_next_is_step_failure(
|
||||
TEST_COMPONENT_ID_0.id(),
|
||||
req_id,
|
||||
error_code.raw().into(),
|
||||
);
|
||||
}
|
||||
|
||||
#[test]
|
||||
fn reply_handling_unrequested_reply() {
|
||||
let mut testbench =
|
||||
ReplyHandlerTestbench::new(TEST_COMPONENT_ID_0.id(), ActionReplyHandler::default());
|
||||
let action_reply = ActionReplyPus::new(5_u32, ActionReplyVariant::Completed);
|
||||
let unrequested_reply =
|
||||
GenericMessage::new(MessageMetadata::new(10_u32, 15_u64), action_reply);
|
||||
// Right now this function does not do a lot. We simply check that it does not panic or do
|
||||
// weird stuff.
|
||||
let result = testbench.handle_unrequested_reply(&unrequested_reply);
|
||||
assert!(result.is_ok());
|
||||
}
|
||||
|
||||
#[test]
|
||||
fn reply_handling_reply_timeout() {
|
||||
let mut testbench =
|
||||
ReplyHandlerTestbench::new(TEST_COMPONENT_ID_0.id(), ActionReplyHandler::default());
|
||||
let action_id = 5_u32;
|
||||
let (req_id, active_request) = testbench.add_tc(TEST_APID, TEST_UNIQUE_ID_0, &[]);
|
||||
let result = testbench.handle_request_timeout(
|
||||
&ActivePusActionRequestStd::new_from_common_req(action_id, active_request),
|
||||
&[],
|
||||
);
|
||||
assert!(result.is_ok());
|
||||
testbench.verif_reporter.assert_completion_failure(
|
||||
TEST_COMPONENT_ID_0.raw(),
|
||||
req_id,
|
||||
None,
|
||||
tmtc_err::REQUEST_TIMEOUT.raw() as u64,
|
||||
);
|
||||
}
|
||||
}
|
||||
|
|
|
@ -1,106 +1,115 @@
|
|||
use std::sync::mpsc;
|
||||
|
||||
use log::{error, warn};
|
||||
use satrs::pool::{SharedStaticMemoryPool, StoreAddr};
|
||||
use crate::pus::create_verification_reporter;
|
||||
use satrs::pool::SharedStaticMemoryPool;
|
||||
use satrs::pus::event_man::EventRequestWithToken;
|
||||
use satrs::pus::event_srv::PusService5EventHandler;
|
||||
use satrs::pus::verification::VerificationReporterWithSender;
|
||||
use satrs::pus::event_srv::PusEventServiceHandler;
|
||||
use satrs::pus::verification::VerificationReporter;
|
||||
use satrs::pus::{
|
||||
EcssTcAndToken, EcssTcInMemConverter, EcssTcInSharedStoreConverter, EcssTcInVecConverter,
|
||||
MpscTcReceiver, MpscTmAsVecSender, MpscTmInSharedPoolSender, PusPacketHandlerResult,
|
||||
PusServiceHelper,
|
||||
DirectPusPacketHandlerResult, EcssTcAndToken, EcssTcInMemConverter,
|
||||
EcssTcInSharedStoreConverter, EcssTcInVecConverter, EcssTmSender, MpscTcReceiver,
|
||||
MpscTmAsVecSender, PartialPusHandlingError, PusServiceHelper,
|
||||
};
|
||||
use satrs::tmtc::tm_helper::SharedTmPool;
|
||||
use satrs::ChannelId;
|
||||
use satrs_example::config::{TcReceiverId, TmSenderId, PUS_APID};
|
||||
use satrs::spacepackets::ecss::PusServiceId;
|
||||
use satrs::tmtc::{PacketAsVec, PacketSenderWithSharedPool};
|
||||
use satrs_example::config::components::PUS_EVENT_MANAGEMENT;
|
||||
|
||||
use super::{DirectPusService, HandlingStatus};
|
||||
|
||||
pub fn create_event_service_static(
|
||||
shared_tm_store: SharedTmPool,
|
||||
tm_funnel_tx: mpsc::Sender<StoreAddr>,
|
||||
verif_reporter: VerificationReporterWithSender,
|
||||
tm_sender: PacketSenderWithSharedPool,
|
||||
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(
|
||||
) -> EventServiceWrapper<PacketSenderWithSharedPool, EcssTcInSharedStoreConverter> {
|
||||
let pus_5_handler = PusEventServiceHandler::new(
|
||||
PusServiceHelper::new(
|
||||
Box::new(event_srv_receiver),
|
||||
Box::new(event_srv_tm_sender),
|
||||
PUS_APID,
|
||||
verif_reporter.clone(),
|
||||
PUS_EVENT_MANAGEMENT.id(),
|
||||
pus_event_rx,
|
||||
tm_sender,
|
||||
create_verification_reporter(PUS_EVENT_MANAGEMENT.id(), PUS_EVENT_MANAGEMENT.apid),
|
||||
EcssTcInSharedStoreConverter::new(tc_pool.clone(), 2048),
|
||||
),
|
||||
event_request_tx,
|
||||
);
|
||||
Pus5Wrapper { pus_5_handler }
|
||||
EventServiceWrapper {
|
||||
handler: pus_5_handler,
|
||||
}
|
||||
}
|
||||
|
||||
pub fn create_event_service_dynamic(
|
||||
tm_funnel_tx: mpsc::Sender<Vec<u8>>,
|
||||
verif_reporter: VerificationReporterWithSender,
|
||||
tm_funnel_tx: mpsc::Sender<PacketAsVec>,
|
||||
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(
|
||||
) -> EventServiceWrapper<MpscTmAsVecSender, EcssTcInVecConverter> {
|
||||
let pus_5_handler = PusEventServiceHandler::new(
|
||||
PusServiceHelper::new(
|
||||
Box::new(event_srv_receiver),
|
||||
Box::new(event_srv_tm_sender),
|
||||
PUS_APID,
|
||||
verif_reporter.clone(),
|
||||
PUS_EVENT_MANAGEMENT.id(),
|
||||
pus_event_rx,
|
||||
tm_funnel_tx,
|
||||
create_verification_reporter(PUS_EVENT_MANAGEMENT.id(), PUS_EVENT_MANAGEMENT.apid),
|
||||
EcssTcInVecConverter::default(),
|
||||
),
|
||||
event_request_tx,
|
||||
);
|
||||
Pus5Wrapper { pus_5_handler }
|
||||
}
|
||||
|
||||
pub struct Pus5Wrapper<TcInMemConverter: EcssTcInMemConverter> {
|
||||
pub pus_5_handler: PusService5EventHandler<TcInMemConverter, VerificationReporterWithSender>,
|
||||
}
|
||||
|
||||
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 {
|
||||
PusPacketHandlerResult::RequestHandled => {}
|
||||
PusPacketHandlerResult::RequestHandledPartialSuccess(e) => {
|
||||
warn!("PUS 5 partial packet handling success: {e:?}")
|
||||
}
|
||||
PusPacketHandlerResult::CustomSubservice(invalid, _) => {
|
||||
warn!("PUS 5 invalid subservice {invalid}");
|
||||
}
|
||||
PusPacketHandlerResult::SubserviceNotImplemented(subservice, _) => {
|
||||
warn!("PUS 5 subservice {subservice} not implemented");
|
||||
}
|
||||
PusPacketHandlerResult::Empty => {
|
||||
return true;
|
||||
}
|
||||
},
|
||||
Err(error) => {
|
||||
error!("PUS packet handling error: {error:?}")
|
||||
}
|
||||
}
|
||||
false
|
||||
EventServiceWrapper {
|
||||
handler: pus_5_handler,
|
||||
}
|
||||
}
|
||||
|
||||
pub struct EventServiceWrapper<TmSender: EcssTmSender, TcInMemConverter: EcssTcInMemConverter> {
|
||||
pub handler:
|
||||
PusEventServiceHandler<MpscTcReceiver, TmSender, TcInMemConverter, VerificationReporter>,
|
||||
}
|
||||
|
||||
impl<TmSender: EcssTmSender, TcInMemConverter: EcssTcInMemConverter> DirectPusService
|
||||
for EventServiceWrapper<TmSender, TcInMemConverter>
|
||||
{
|
||||
const SERVICE_ID: u8 = PusServiceId::Event as u8;
|
||||
|
||||
const SERVICE_STR: &'static str = "events";
|
||||
|
||||
fn poll_and_handle_next_tc(&mut self, time_stamp: &[u8]) -> HandlingStatus {
|
||||
let error_handler = |partial_error: &PartialPusHandlingError| {
|
||||
log::warn!(
|
||||
"PUS {}({}) partial error: {:?}",
|
||||
Self::SERVICE_ID,
|
||||
Self::SERVICE_STR,
|
||||
partial_error
|
||||
);
|
||||
};
|
||||
let result = self
|
||||
.handler
|
||||
.poll_and_handle_next_tc(error_handler, time_stamp);
|
||||
if let Err(e) = result {
|
||||
log::warn!(
|
||||
"PUS {}({}) error: {:?}",
|
||||
Self::SERVICE_ID,
|
||||
Self::SERVICE_STR,
|
||||
e
|
||||
);
|
||||
// To avoid permanent loops on continuous errors.
|
||||
return HandlingStatus::Empty;
|
||||
}
|
||||
match result.unwrap() {
|
||||
DirectPusPacketHandlerResult::Handled(handling_status) => return handling_status,
|
||||
DirectPusPacketHandlerResult::CustomSubservice(subservice, _) => {
|
||||
log::warn!(
|
||||
"PUS {}({}) subservice {} not implemented",
|
||||
Self::SERVICE_ID,
|
||||
Self::SERVICE_STR,
|
||||
subservice
|
||||
);
|
||||
}
|
||||
DirectPusPacketHandlerResult::SubserviceNotImplemented(subservice, _) => {
|
||||
log::warn!(
|
||||
"PUS {}({}) subservice {} not implemented",
|
||||
Self::SERVICE_ID,
|
||||
Self::SERVICE_STR,
|
||||
subservice
|
||||
);
|
||||
}
|
||||
}
|
||||
HandlingStatus::HandledOne
|
||||
}
|
||||
}
|
||||
|
|
|
@ -1,47 +1,126 @@
|
|||
use log::{error, warn};
|
||||
use satrs::hk::{CollectionIntervalFactor, HkRequest};
|
||||
use satrs::pool::{SharedStaticMemoryPool, StoreAddr};
|
||||
use satrs::pus::hk::{PusHkToRequestConverter, PusService3HkHandler};
|
||||
use derive_new::new;
|
||||
use satrs::hk::{CollectionIntervalFactor, HkRequest, HkRequestVariant, UniqueId};
|
||||
use satrs::pool::SharedStaticMemoryPool;
|
||||
use satrs::pus::verification::{
|
||||
FailParams, TcStateAccepted, VerificationReporterWithSender, VerificationReportingProvider,
|
||||
VerificationToken,
|
||||
FailParams, TcStateAccepted, TcStateStarted, VerificationReporter,
|
||||
VerificationReportingProvider, VerificationToken,
|
||||
};
|
||||
use satrs::pus::{
|
||||
EcssTcAndToken, EcssTcInMemConverter, EcssTcInSharedStoreConverter, EcssTcInVecConverter,
|
||||
MpscTcReceiver, MpscTmAsVecSender, MpscTmInSharedPoolSender, PusPacketHandlerResult,
|
||||
PusPacketHandlingError, PusServiceHelper,
|
||||
ActivePusRequestStd, ActiveRequestProvider, DefaultActiveRequestMap, EcssTcAndToken,
|
||||
EcssTcInMemConverter, EcssTcInSharedStoreConverter, EcssTcInVecConverter, EcssTmSender,
|
||||
EcssTmtcError, GenericConversionError, MpscTcReceiver, MpscTmAsVecSender,
|
||||
PusPacketHandlingError, PusReplyHandler, PusServiceHelper, PusTcToRequestConverter,
|
||||
};
|
||||
use satrs::request::TargetAndApidId;
|
||||
use satrs::request::{GenericMessage, UniqueApidTargetId};
|
||||
use satrs::spacepackets::ecss::tc::PusTcReader;
|
||||
use satrs::spacepackets::ecss::{hk, PusPacket};
|
||||
use satrs::tmtc::tm_helper::SharedTmPool;
|
||||
use satrs::{ChannelId, TargetId};
|
||||
use satrs_example::config::{hk_err, tmtc_err, TcReceiverId, TmSenderId, PUS_APID};
|
||||
use std::sync::mpsc::{self};
|
||||
use satrs::spacepackets::ecss::{hk, PusPacket, PusServiceId};
|
||||
use satrs::tmtc::{PacketAsVec, PacketSenderWithSharedPool};
|
||||
use satrs_example::config::components::PUS_HK_SERVICE;
|
||||
use satrs_example::config::{hk_err, tmtc_err};
|
||||
use std::sync::mpsc;
|
||||
use std::time::Duration;
|
||||
|
||||
use crate::pus::{create_verification_reporter, generic_pus_request_timeout_handler};
|
||||
use crate::requests::GenericRequestRouter;
|
||||
|
||||
use super::GenericRoutingErrorHandler;
|
||||
use super::{HandlingStatus, PusTargetedRequestService, TargetedPusService};
|
||||
|
||||
#[derive(Clone, PartialEq, Debug, new)]
|
||||
pub struct HkReply {
|
||||
pub unique_id: UniqueId,
|
||||
pub variant: HkReplyVariant,
|
||||
}
|
||||
|
||||
#[derive(Clone, PartialEq, Debug)]
|
||||
pub enum HkReplyVariant {
|
||||
Ack,
|
||||
}
|
||||
|
||||
#[derive(Default)]
|
||||
pub struct ExampleHkRequestConverter {}
|
||||
pub struct HkReplyHandler {}
|
||||
|
||||
impl PusHkToRequestConverter for ExampleHkRequestConverter {
|
||||
type Error = PusPacketHandlingError;
|
||||
impl PusReplyHandler<ActivePusRequestStd, HkReply> for HkReplyHandler {
|
||||
type Error = EcssTmtcError;
|
||||
|
||||
fn handle_unrequested_reply(
|
||||
&mut self,
|
||||
reply: &GenericMessage<HkReply>,
|
||||
_tm_sender: &impl EcssTmSender,
|
||||
) -> Result<(), Self::Error> {
|
||||
log::warn!("received unexpected reply for service 3: {reply:?}");
|
||||
Ok(())
|
||||
}
|
||||
|
||||
fn handle_reply(
|
||||
&mut self,
|
||||
reply: &GenericMessage<HkReply>,
|
||||
active_request: &ActivePusRequestStd,
|
||||
tm_sender: &impl EcssTmSender,
|
||||
verification_handler: &impl VerificationReportingProvider,
|
||||
time_stamp: &[u8],
|
||||
) -> Result<bool, Self::Error> {
|
||||
let started_token: VerificationToken<TcStateStarted> = active_request
|
||||
.token()
|
||||
.try_into()
|
||||
.expect("invalid token state");
|
||||
match reply.message.variant {
|
||||
HkReplyVariant::Ack => {
|
||||
verification_handler
|
||||
.completion_success(tm_sender, started_token, time_stamp)
|
||||
.expect("sending completion success verification failed");
|
||||
}
|
||||
};
|
||||
Ok(true)
|
||||
}
|
||||
|
||||
fn handle_request_timeout(
|
||||
&mut self,
|
||||
active_request: &ActivePusRequestStd,
|
||||
tm_sender: &impl EcssTmSender,
|
||||
verification_handler: &impl VerificationReportingProvider,
|
||||
time_stamp: &[u8],
|
||||
) -> Result<(), Self::Error> {
|
||||
generic_pus_request_timeout_handler(
|
||||
tm_sender,
|
||||
active_request,
|
||||
verification_handler,
|
||||
time_stamp,
|
||||
"HK",
|
||||
)?;
|
||||
Ok(())
|
||||
}
|
||||
}
|
||||
|
||||
pub struct HkRequestConverter {
|
||||
timeout: Duration,
|
||||
}
|
||||
|
||||
impl Default for HkRequestConverter {
|
||||
fn default() -> Self {
|
||||
Self {
|
||||
timeout: Duration::from_secs(60),
|
||||
}
|
||||
}
|
||||
}
|
||||
|
||||
impl PusTcToRequestConverter<ActivePusRequestStd, HkRequest> for HkRequestConverter {
|
||||
type Error = GenericConversionError;
|
||||
|
||||
fn convert(
|
||||
&mut self,
|
||||
token: VerificationToken<TcStateAccepted>,
|
||||
tc: &PusTcReader,
|
||||
time_stamp: &[u8],
|
||||
tm_sender: &(impl EcssTmSender + ?Sized),
|
||||
verif_reporter: &impl VerificationReportingProvider,
|
||||
) -> Result<(TargetId, HkRequest), Self::Error> {
|
||||
time_stamp: &[u8],
|
||||
) -> Result<(ActivePusRequestStd, HkRequest), Self::Error> {
|
||||
let user_data = tc.user_data();
|
||||
if user_data.is_empty() {
|
||||
let user_data_len = user_data.len() as u32;
|
||||
let user_data_len_raw = user_data_len.to_be_bytes();
|
||||
verif_reporter
|
||||
.start_failure(
|
||||
tm_sender,
|
||||
token,
|
||||
FailParams::new(
|
||||
time_stamp,
|
||||
|
@ -50,7 +129,7 @@ impl PusHkToRequestConverter for ExampleHkRequestConverter {
|
|||
),
|
||||
)
|
||||
.expect("Sending start failure TM failed");
|
||||
return Err(PusPacketHandlingError::NotEnoughAppData {
|
||||
return Err(GenericConversionError::NotEnoughAppData {
|
||||
expected: 4,
|
||||
found: 0,
|
||||
});
|
||||
|
@ -64,174 +143,402 @@ impl PusHkToRequestConverter for ExampleHkRequestConverter {
|
|||
let user_data_len = user_data.len() as u32;
|
||||
let user_data_len_raw = user_data_len.to_be_bytes();
|
||||
verif_reporter
|
||||
.start_failure(token, FailParams::new(time_stamp, err, &user_data_len_raw))
|
||||
.start_failure(
|
||||
tm_sender,
|
||||
token,
|
||||
FailParams::new(time_stamp, err, &user_data_len_raw),
|
||||
)
|
||||
.expect("Sending start failure TM failed");
|
||||
return Err(PusPacketHandlingError::NotEnoughAppData {
|
||||
return Err(GenericConversionError::NotEnoughAppData {
|
||||
expected: 8,
|
||||
found: 4,
|
||||
});
|
||||
}
|
||||
let subservice = tc.subservice();
|
||||
let target_id = TargetAndApidId::from_pus_tc(tc).expect("invalid tc format");
|
||||
let target_id_and_apid = UniqueApidTargetId::from_pus_tc(tc).expect("invalid tc format");
|
||||
let unique_id = u32::from_be_bytes(tc.user_data()[4..8].try_into().unwrap());
|
||||
|
||||
let standard_subservice = hk::Subservice::try_from(subservice);
|
||||
if standard_subservice.is_err() {
|
||||
verif_reporter
|
||||
.start_failure(
|
||||
tm_sender,
|
||||
token,
|
||||
FailParams::new(time_stamp, &tmtc_err::INVALID_PUS_SUBSERVICE, &[subservice]),
|
||||
)
|
||||
.expect("Sending start failure TM failed");
|
||||
return Err(PusPacketHandlingError::InvalidSubservice(subservice));
|
||||
return Err(GenericConversionError::InvalidSubservice(subservice));
|
||||
}
|
||||
Ok((
|
||||
target_id.into(),
|
||||
match standard_subservice.unwrap() {
|
||||
hk::Subservice::TcEnableHkGeneration | hk::Subservice::TcEnableDiagGeneration => {
|
||||
HkRequest::Enable(unique_id)
|
||||
}
|
||||
hk::Subservice::TcDisableHkGeneration | hk::Subservice::TcDisableDiagGeneration => {
|
||||
HkRequest::Disable(unique_id)
|
||||
}
|
||||
hk::Subservice::TcReportHkReportStructures => todo!(),
|
||||
hk::Subservice::TmHkPacket => todo!(),
|
||||
hk::Subservice::TcGenerateOneShotHk | hk::Subservice::TcGenerateOneShotDiag => {
|
||||
HkRequest::OneShot(unique_id)
|
||||
}
|
||||
hk::Subservice::TcModifyDiagCollectionInterval
|
||||
| hk::Subservice::TcModifyHkCollectionInterval => {
|
||||
if user_data.len() < 12 {
|
||||
verif_reporter
|
||||
.start_failure(
|
||||
token,
|
||||
FailParams::new_no_fail_data(
|
||||
time_stamp,
|
||||
&tmtc_err::NOT_ENOUGH_APP_DATA,
|
||||
),
|
||||
)
|
||||
.expect("Sending start failure TM failed");
|
||||
return Err(PusPacketHandlingError::NotEnoughAppData {
|
||||
expected: 12,
|
||||
found: user_data.len(),
|
||||
});
|
||||
}
|
||||
HkRequest::ModifyCollectionInterval(
|
||||
unique_id,
|
||||
CollectionIntervalFactor::from_be_bytes(
|
||||
user_data[8..12].try_into().unwrap(),
|
||||
),
|
||||
)
|
||||
}
|
||||
_ => {
|
||||
let request = match standard_subservice.unwrap() {
|
||||
hk::Subservice::TcEnableHkGeneration | hk::Subservice::TcEnableDiagGeneration => {
|
||||
HkRequest::new(unique_id, HkRequestVariant::EnablePeriodic)
|
||||
}
|
||||
hk::Subservice::TcDisableHkGeneration | hk::Subservice::TcDisableDiagGeneration => {
|
||||
HkRequest::new(unique_id, HkRequestVariant::DisablePeriodic)
|
||||
}
|
||||
hk::Subservice::TcReportHkReportStructures => todo!(),
|
||||
hk::Subservice::TmHkPacket => todo!(),
|
||||
hk::Subservice::TcGenerateOneShotHk | hk::Subservice::TcGenerateOneShotDiag => {
|
||||
HkRequest::new(unique_id, HkRequestVariant::OneShot)
|
||||
}
|
||||
hk::Subservice::TcModifyDiagCollectionInterval
|
||||
| hk::Subservice::TcModifyHkCollectionInterval => {
|
||||
if user_data.len() < 12 {
|
||||
verif_reporter
|
||||
.start_failure(
|
||||
tm_sender,
|
||||
token,
|
||||
FailParams::new(
|
||||
FailParams::new_no_fail_data(
|
||||
time_stamp,
|
||||
&tmtc_err::PUS_SUBSERVICE_NOT_IMPLEMENTED,
|
||||
&[subservice],
|
||||
&tmtc_err::NOT_ENOUGH_APP_DATA,
|
||||
),
|
||||
)
|
||||
.expect("Sending start failure TM failed");
|
||||
return Err(PusPacketHandlingError::InvalidSubservice(subservice));
|
||||
return Err(GenericConversionError::NotEnoughAppData {
|
||||
expected: 12,
|
||||
found: user_data.len(),
|
||||
});
|
||||
}
|
||||
},
|
||||
HkRequest::new(
|
||||
unique_id,
|
||||
HkRequestVariant::ModifyCollectionInterval(
|
||||
CollectionIntervalFactor::from_be_bytes(
|
||||
user_data[8..12].try_into().unwrap(),
|
||||
),
|
||||
),
|
||||
)
|
||||
}
|
||||
_ => {
|
||||
verif_reporter
|
||||
.start_failure(
|
||||
tm_sender,
|
||||
token,
|
||||
FailParams::new(
|
||||
time_stamp,
|
||||
&tmtc_err::PUS_SUBSERVICE_NOT_IMPLEMENTED,
|
||||
&[subservice],
|
||||
),
|
||||
)
|
||||
.expect("Sending start failure TM failed");
|
||||
return Err(GenericConversionError::InvalidSubservice(subservice));
|
||||
}
|
||||
};
|
||||
Ok((
|
||||
ActivePusRequestStd::new(target_id_and_apid.into(), token, self.timeout),
|
||||
request,
|
||||
))
|
||||
}
|
||||
}
|
||||
|
||||
pub fn create_hk_service_static(
|
||||
shared_tm_store: SharedTmPool,
|
||||
tm_funnel_tx: mpsc::Sender<StoreAddr>,
|
||||
verif_reporter: VerificationReporterWithSender,
|
||||
tm_sender: PacketSenderWithSharedPool,
|
||||
tc_pool: SharedStaticMemoryPool,
|
||||
pus_hk_rx: mpsc::Receiver<EcssTcAndToken>,
|
||||
request_router: GenericRequestRouter,
|
||||
) -> 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(
|
||||
reply_receiver: mpsc::Receiver<GenericMessage<HkReply>>,
|
||||
) -> HkServiceWrapper<PacketSenderWithSharedPool, EcssTcInSharedStoreConverter> {
|
||||
let pus_3_handler = PusTargetedRequestService::new(
|
||||
PusServiceHelper::new(
|
||||
Box::new(hk_srv_receiver),
|
||||
Box::new(hk_srv_tm_sender),
|
||||
PUS_APID,
|
||||
verif_reporter.clone(),
|
||||
PUS_HK_SERVICE.id(),
|
||||
pus_hk_rx,
|
||||
tm_sender,
|
||||
create_verification_reporter(PUS_HK_SERVICE.id(), PUS_HK_SERVICE.apid),
|
||||
EcssTcInSharedStoreConverter::new(tc_pool, 2048),
|
||||
),
|
||||
ExampleHkRequestConverter::default(),
|
||||
HkRequestConverter::default(),
|
||||
DefaultActiveRequestMap::default(),
|
||||
HkReplyHandler::default(),
|
||||
request_router,
|
||||
GenericRoutingErrorHandler::default(),
|
||||
reply_receiver,
|
||||
);
|
||||
Pus3Wrapper { pus_3_handler }
|
||||
HkServiceWrapper {
|
||||
service: pus_3_handler,
|
||||
}
|
||||
}
|
||||
|
||||
pub fn create_hk_service_dynamic(
|
||||
tm_funnel_tx: mpsc::Sender<Vec<u8>>,
|
||||
verif_reporter: VerificationReporterWithSender,
|
||||
tm_funnel_tx: mpsc::Sender<PacketAsVec>,
|
||||
pus_hk_rx: mpsc::Receiver<EcssTcAndToken>,
|
||||
request_router: GenericRequestRouter,
|
||||
) -> 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(
|
||||
reply_receiver: mpsc::Receiver<GenericMessage<HkReply>>,
|
||||
) -> HkServiceWrapper<MpscTmAsVecSender, EcssTcInVecConverter> {
|
||||
let pus_3_handler = PusTargetedRequestService::new(
|
||||
PusServiceHelper::new(
|
||||
Box::new(hk_srv_receiver),
|
||||
Box::new(hk_srv_tm_sender),
|
||||
PUS_APID,
|
||||
verif_reporter.clone(),
|
||||
PUS_HK_SERVICE.id(),
|
||||
pus_hk_rx,
|
||||
tm_funnel_tx,
|
||||
create_verification_reporter(PUS_HK_SERVICE.id(), PUS_HK_SERVICE.apid),
|
||||
EcssTcInVecConverter::default(),
|
||||
),
|
||||
ExampleHkRequestConverter::default(),
|
||||
HkRequestConverter::default(),
|
||||
DefaultActiveRequestMap::default(),
|
||||
HkReplyHandler::default(),
|
||||
request_router,
|
||||
GenericRoutingErrorHandler::default(),
|
||||
reply_receiver,
|
||||
);
|
||||
Pus3Wrapper { pus_3_handler }
|
||||
HkServiceWrapper {
|
||||
service: pus_3_handler,
|
||||
}
|
||||
}
|
||||
|
||||
pub struct Pus3Wrapper<TcInMemConverter: EcssTcInMemConverter> {
|
||||
pub(crate) pus_3_handler: PusService3HkHandler<
|
||||
pub struct HkServiceWrapper<TmSender: EcssTmSender, TcInMemConverter: EcssTcInMemConverter> {
|
||||
pub(crate) service: PusTargetedRequestService<
|
||||
MpscTcReceiver,
|
||||
TmSender,
|
||||
TcInMemConverter,
|
||||
VerificationReporterWithSender,
|
||||
ExampleHkRequestConverter,
|
||||
GenericRequestRouter,
|
||||
GenericRoutingErrorHandler<3>,
|
||||
VerificationReporter,
|
||||
HkRequestConverter,
|
||||
HkReplyHandler,
|
||||
DefaultActiveRequestMap<ActivePusRequestStd>,
|
||||
ActivePusRequestStd,
|
||||
HkRequest,
|
||||
HkReply,
|
||||
>,
|
||||
}
|
||||
|
||||
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 {
|
||||
PusPacketHandlerResult::RequestHandled => {}
|
||||
PusPacketHandlerResult::RequestHandledPartialSuccess(e) => {
|
||||
warn!("PUS 3 partial packet handling success: {e:?}")
|
||||
}
|
||||
PusPacketHandlerResult::CustomSubservice(invalid, _) => {
|
||||
warn!("PUS 3 invalid subservice {invalid}");
|
||||
}
|
||||
PusPacketHandlerResult::SubserviceNotImplemented(subservice, _) => {
|
||||
warn!("PUS 3 subservice {subservice} not implemented");
|
||||
}
|
||||
PusPacketHandlerResult::Empty => {
|
||||
return true;
|
||||
}
|
||||
},
|
||||
Err(error) => {
|
||||
error!("PUS packet handling error: {error:?}")
|
||||
}
|
||||
impl<TmSender: EcssTmSender, TcInMemConverter: EcssTcInMemConverter> TargetedPusService
|
||||
for HkServiceWrapper<TmSender, TcInMemConverter>
|
||||
{
|
||||
const SERVICE_ID: u8 = PusServiceId::Housekeeping as u8;
|
||||
const SERVICE_STR: &'static str = "housekeeping";
|
||||
|
||||
delegate::delegate! {
|
||||
to self.service {
|
||||
fn poll_and_handle_next_tc(
|
||||
&mut self,
|
||||
time_stamp: &[u8],
|
||||
) -> Result<HandlingStatus, PusPacketHandlingError>;
|
||||
|
||||
fn poll_and_handle_next_reply(
|
||||
&mut self,
|
||||
time_stamp: &[u8],
|
||||
) -> Result<HandlingStatus, EcssTmtcError>;
|
||||
|
||||
fn check_for_request_timeouts(&mut self);
|
||||
}
|
||||
false
|
||||
}
|
||||
}
|
||||
|
||||
#[cfg(test)]
|
||||
mod tests {
|
||||
use satrs::pus::test_util::{
|
||||
TEST_COMPONENT_ID_0, TEST_COMPONENT_ID_1, TEST_UNIQUE_ID_0, TEST_UNIQUE_ID_1,
|
||||
};
|
||||
use satrs::request::MessageMetadata;
|
||||
use satrs::{
|
||||
hk::HkRequestVariant,
|
||||
pus::test_util::TEST_APID,
|
||||
request::GenericMessage,
|
||||
spacepackets::{
|
||||
ecss::{hk::Subservice, tc::PusTcCreator},
|
||||
SpHeader,
|
||||
},
|
||||
};
|
||||
use satrs_example::config::tmtc_err;
|
||||
|
||||
use crate::pus::{
|
||||
hk::HkReplyVariant,
|
||||
tests::{PusConverterTestbench, ReplyHandlerTestbench},
|
||||
};
|
||||
|
||||
use super::{HkReply, HkReplyHandler, HkRequestConverter};
|
||||
|
||||
#[test]
|
||||
fn hk_converter_one_shot_req() {
|
||||
let mut hk_bench =
|
||||
PusConverterTestbench::new(TEST_COMPONENT_ID_0.id(), HkRequestConverter::default());
|
||||
let sp_header = SpHeader::new_for_unseg_tc(TEST_APID, 0, 0);
|
||||
let target_id = TEST_UNIQUE_ID_0;
|
||||
let unique_id = 5_u32;
|
||||
let mut app_data: [u8; 8] = [0; 8];
|
||||
app_data[0..4].copy_from_slice(&target_id.to_be_bytes());
|
||||
app_data[4..8].copy_from_slice(&unique_id.to_be_bytes());
|
||||
|
||||
let hk_req = PusTcCreator::new_simple(
|
||||
sp_header,
|
||||
3,
|
||||
Subservice::TcGenerateOneShotHk as u8,
|
||||
&app_data,
|
||||
true,
|
||||
);
|
||||
let accepted_token = hk_bench.add_tc(&hk_req);
|
||||
let (_active_req, req) = hk_bench
|
||||
.convert(accepted_token, &[], TEST_APID, TEST_UNIQUE_ID_0)
|
||||
.expect("conversion failed");
|
||||
|
||||
assert_eq!(req.unique_id, unique_id);
|
||||
if let HkRequestVariant::OneShot = req.variant {
|
||||
} else {
|
||||
panic!("unexpected HK request")
|
||||
}
|
||||
}
|
||||
|
||||
#[test]
|
||||
fn hk_converter_enable_periodic_generation() {
|
||||
let mut hk_bench =
|
||||
PusConverterTestbench::new(TEST_COMPONENT_ID_0.id(), HkRequestConverter::default());
|
||||
let sp_header = SpHeader::new_for_unseg_tc(TEST_APID, 0, 0);
|
||||
let target_id = TEST_UNIQUE_ID_0;
|
||||
let unique_id = 5_u32;
|
||||
let mut app_data: [u8; 8] = [0; 8];
|
||||
app_data[0..4].copy_from_slice(&target_id.to_be_bytes());
|
||||
app_data[4..8].copy_from_slice(&unique_id.to_be_bytes());
|
||||
let mut generic_check = |tc: &PusTcCreator| {
|
||||
let accepted_token = hk_bench.add_tc(tc);
|
||||
let (_active_req, req) = hk_bench
|
||||
.convert(accepted_token, &[], TEST_APID, TEST_UNIQUE_ID_0)
|
||||
.expect("conversion failed");
|
||||
assert_eq!(req.unique_id, unique_id);
|
||||
if let HkRequestVariant::EnablePeriodic = req.variant {
|
||||
} else {
|
||||
panic!("unexpected HK request")
|
||||
}
|
||||
};
|
||||
let tc0 = PusTcCreator::new_simple(
|
||||
sp_header,
|
||||
3,
|
||||
Subservice::TcEnableHkGeneration as u8,
|
||||
&app_data,
|
||||
true,
|
||||
);
|
||||
generic_check(&tc0);
|
||||
let tc1 = PusTcCreator::new_simple(
|
||||
sp_header,
|
||||
3,
|
||||
Subservice::TcEnableDiagGeneration as u8,
|
||||
&app_data,
|
||||
true,
|
||||
);
|
||||
generic_check(&tc1);
|
||||
}
|
||||
|
||||
#[test]
|
||||
fn hk_conversion_disable_periodic_generation() {
|
||||
let mut hk_bench =
|
||||
PusConverterTestbench::new(TEST_COMPONENT_ID_0.id(), HkRequestConverter::default());
|
||||
let sp_header = SpHeader::new_for_unseg_tc(TEST_APID, 0, 0);
|
||||
let target_id = TEST_UNIQUE_ID_0;
|
||||
let unique_id = 5_u32;
|
||||
let mut app_data: [u8; 8] = [0; 8];
|
||||
app_data[0..4].copy_from_slice(&target_id.to_be_bytes());
|
||||
app_data[4..8].copy_from_slice(&unique_id.to_be_bytes());
|
||||
let mut generic_check = |tc: &PusTcCreator| {
|
||||
let accepted_token = hk_bench.add_tc(tc);
|
||||
let (_active_req, req) = hk_bench
|
||||
.convert(accepted_token, &[], TEST_APID, TEST_UNIQUE_ID_0)
|
||||
.expect("conversion failed");
|
||||
assert_eq!(req.unique_id, unique_id);
|
||||
if let HkRequestVariant::DisablePeriodic = req.variant {
|
||||
} else {
|
||||
panic!("unexpected HK request")
|
||||
}
|
||||
};
|
||||
let tc0 = PusTcCreator::new_simple(
|
||||
sp_header,
|
||||
3,
|
||||
Subservice::TcDisableHkGeneration as u8,
|
||||
&app_data,
|
||||
true,
|
||||
);
|
||||
generic_check(&tc0);
|
||||
let tc1 = PusTcCreator::new_simple(
|
||||
sp_header,
|
||||
3,
|
||||
Subservice::TcDisableDiagGeneration as u8,
|
||||
&app_data,
|
||||
true,
|
||||
);
|
||||
generic_check(&tc1);
|
||||
}
|
||||
|
||||
#[test]
|
||||
fn hk_conversion_modify_interval() {
|
||||
let mut hk_bench =
|
||||
PusConverterTestbench::new(TEST_COMPONENT_ID_0.id(), HkRequestConverter::default());
|
||||
let sp_header = SpHeader::new_for_unseg_tc(TEST_APID, 0, 0);
|
||||
let target_id = TEST_UNIQUE_ID_0;
|
||||
let unique_id = 5_u32;
|
||||
let mut app_data: [u8; 12] = [0; 12];
|
||||
let collection_interval_factor = 5_u32;
|
||||
app_data[0..4].copy_from_slice(&target_id.to_be_bytes());
|
||||
app_data[4..8].copy_from_slice(&unique_id.to_be_bytes());
|
||||
app_data[8..12].copy_from_slice(&collection_interval_factor.to_be_bytes());
|
||||
|
||||
let mut generic_check = |tc: &PusTcCreator| {
|
||||
let accepted_token = hk_bench.add_tc(tc);
|
||||
let (_active_req, req) = hk_bench
|
||||
.convert(accepted_token, &[], TEST_APID, TEST_UNIQUE_ID_0)
|
||||
.expect("conversion failed");
|
||||
assert_eq!(req.unique_id, unique_id);
|
||||
if let HkRequestVariant::ModifyCollectionInterval(interval_factor) = req.variant {
|
||||
assert_eq!(interval_factor, collection_interval_factor);
|
||||
} else {
|
||||
panic!("unexpected HK request")
|
||||
}
|
||||
};
|
||||
let tc0 = PusTcCreator::new_simple(
|
||||
sp_header,
|
||||
3,
|
||||
Subservice::TcModifyHkCollectionInterval as u8,
|
||||
&app_data,
|
||||
true,
|
||||
);
|
||||
generic_check(&tc0);
|
||||
let tc1 = PusTcCreator::new_simple(
|
||||
sp_header,
|
||||
3,
|
||||
Subservice::TcModifyDiagCollectionInterval as u8,
|
||||
&app_data,
|
||||
true,
|
||||
);
|
||||
generic_check(&tc1);
|
||||
}
|
||||
|
||||
#[test]
|
||||
fn hk_reply_handler() {
|
||||
let mut reply_testbench =
|
||||
ReplyHandlerTestbench::new(TEST_COMPONENT_ID_0.id(), HkReplyHandler::default());
|
||||
let sender_id = 2_u64;
|
||||
let apid_target_id = 3_u32;
|
||||
let unique_id = 5_u32;
|
||||
let (req_id, active_req) = reply_testbench.add_tc(TEST_APID, apid_target_id, &[]);
|
||||
let reply = GenericMessage::new(
|
||||
MessageMetadata::new(req_id.into(), sender_id),
|
||||
HkReply::new(unique_id, HkReplyVariant::Ack),
|
||||
);
|
||||
let result = reply_testbench.handle_reply(&reply, &active_req, &[]);
|
||||
assert!(result.is_ok());
|
||||
assert!(result.unwrap());
|
||||
reply_testbench
|
||||
.verif_reporter
|
||||
.assert_full_completion_success(TEST_COMPONENT_ID_0.raw(), req_id, None);
|
||||
}
|
||||
|
||||
#[test]
|
||||
fn reply_handling_unrequested_reply() {
|
||||
let mut testbench =
|
||||
ReplyHandlerTestbench::new(TEST_COMPONENT_ID_1.id(), HkReplyHandler::default());
|
||||
let action_reply = HkReply::new(5_u32, HkReplyVariant::Ack);
|
||||
let unrequested_reply =
|
||||
GenericMessage::new(MessageMetadata::new(10_u32, 15_u64), action_reply);
|
||||
// Right now this function does not do a lot. We simply check that it does not panic or do
|
||||
// weird stuff.
|
||||
let result = testbench.handle_unrequested_reply(&unrequested_reply);
|
||||
assert!(result.is_ok());
|
||||
}
|
||||
|
||||
#[test]
|
||||
fn reply_handling_reply_timeout() {
|
||||
let mut testbench =
|
||||
ReplyHandlerTestbench::new(TEST_COMPONENT_ID_1.id(), HkReplyHandler::default());
|
||||
let (req_id, active_request) = testbench.add_tc(TEST_APID, TEST_UNIQUE_ID_1, &[]);
|
||||
let result = testbench.handle_request_timeout(&active_request, &[]);
|
||||
assert!(result.is_ok());
|
||||
testbench.verif_reporter.assert_completion_failure(
|
||||
TEST_COMPONENT_ID_1.raw(),
|
||||
req_id,
|
||||
None,
|
||||
tmtc_err::REQUEST_TIMEOUT.raw() as u64,
|
||||
);
|
||||
}
|
||||
}
|
||||
|
|
|
@ -1,122 +1,149 @@
|
|||
use crate::tmtc::MpscStoreAndSendError;
|
||||
use crate::requests::GenericRequestRouter;
|
||||
use log::warn;
|
||||
use satrs::pool::PoolAddr;
|
||||
use satrs::pus::verification::{
|
||||
FailParams, StdVerifReporterWithSender, VerificationReportingProvider,
|
||||
self, FailParams, TcStateAccepted, TcStateStarted, VerificationReporter,
|
||||
VerificationReporterCfg, VerificationReportingProvider, VerificationToken,
|
||||
};
|
||||
use satrs::pus::{
|
||||
EcssTcAndToken, GenericRoutingError, PusPacketHandlerResult, PusRoutingErrorHandler, TcInMemory,
|
||||
ActiveRequestMapProvider, ActiveRequestProvider, EcssTcAndToken, EcssTcInMemConverter,
|
||||
EcssTcReceiver, EcssTmSender, EcssTmtcError, GenericConversionError, GenericRoutingError,
|
||||
HandlingStatus, PusPacketHandlingError, PusReplyHandler, PusRequestRouter, PusServiceHelper,
|
||||
PusTcToRequestConverter, TcInMemory,
|
||||
};
|
||||
use satrs::queue::{GenericReceiveError, GenericSendError};
|
||||
use satrs::request::{Apid, GenericMessage, MessageMetadata};
|
||||
use satrs::spacepackets::ecss::tc::PusTcReader;
|
||||
use satrs::spacepackets::ecss::PusServiceId;
|
||||
use satrs::spacepackets::time::cds::TimeProvider;
|
||||
use satrs::spacepackets::time::TimeWriter;
|
||||
use satrs::spacepackets::ecss::{PusPacket, PusServiceId};
|
||||
use satrs::tmtc::{PacketAsVec, PacketInPool};
|
||||
use satrs::ComponentId;
|
||||
use satrs_example::config::components::PUS_ROUTING_SERVICE;
|
||||
use satrs_example::config::{tmtc_err, CustomPusServiceId};
|
||||
use std::sync::mpsc::Sender;
|
||||
use satrs_example::TimeStampHelper;
|
||||
use std::fmt::Debug;
|
||||
use std::sync::mpsc::{self, Sender};
|
||||
|
||||
pub mod action;
|
||||
pub mod event;
|
||||
pub mod hk;
|
||||
pub mod mode;
|
||||
pub mod scheduler;
|
||||
pub mod stack;
|
||||
pub mod test;
|
||||
|
||||
pub struct PusTcMpscRouter {
|
||||
pub test_service_receiver: Sender<EcssTcAndToken>,
|
||||
pub event_service_receiver: Sender<EcssTcAndToken>,
|
||||
pub sched_service_receiver: Sender<EcssTcAndToken>,
|
||||
pub hk_service_receiver: Sender<EcssTcAndToken>,
|
||||
pub action_service_receiver: Sender<EcssTcAndToken>,
|
||||
pub fn create_verification_reporter(owner_id: ComponentId, apid: Apid) -> VerificationReporter {
|
||||
let verif_cfg = VerificationReporterCfg::new(apid, 1, 2, 8).unwrap();
|
||||
// Every software component which needs to generate verification telemetry, gets a cloned
|
||||
// verification reporter.
|
||||
VerificationReporter::new(owner_id, &verif_cfg)
|
||||
}
|
||||
|
||||
pub struct PusReceiver {
|
||||
pub verif_reporter: StdVerifReporterWithSender,
|
||||
/// Simple router structure which forwards PUS telecommands to dedicated handlers.
|
||||
pub struct PusTcMpscRouter {
|
||||
pub test_tc_sender: Sender<EcssTcAndToken>,
|
||||
pub event_tc_sender: Sender<EcssTcAndToken>,
|
||||
pub sched_tc_sender: Sender<EcssTcAndToken>,
|
||||
pub hk_tc_sender: Sender<EcssTcAndToken>,
|
||||
pub action_tc_sender: Sender<EcssTcAndToken>,
|
||||
pub mode_tc_sender: Sender<EcssTcAndToken>,
|
||||
}
|
||||
|
||||
pub struct PusTcDistributor<TmSender: EcssTmSender> {
|
||||
pub id: ComponentId,
|
||||
pub tm_sender: TmSender,
|
||||
pub verif_reporter: VerificationReporter,
|
||||
pub pus_router: PusTcMpscRouter,
|
||||
stamp_helper: TimeStampHelper,
|
||||
}
|
||||
|
||||
struct TimeStampHelper {
|
||||
stamper: TimeProvider,
|
||||
time_stamp: [u8; 7],
|
||||
}
|
||||
|
||||
impl TimeStampHelper {
|
||||
pub fn new() -> Self {
|
||||
impl<TmSender: EcssTmSender> PusTcDistributor<TmSender> {
|
||||
pub fn new(tm_sender: TmSender, pus_router: PusTcMpscRouter) -> Self {
|
||||
Self {
|
||||
stamper: TimeProvider::new_with_u16_days(0, 0),
|
||||
time_stamp: [0; 7],
|
||||
}
|
||||
}
|
||||
|
||||
pub fn stamp(&self) -> &[u8] {
|
||||
&self.time_stamp
|
||||
}
|
||||
|
||||
pub fn update_from_now(&mut self) {
|
||||
self.stamper
|
||||
.update_from_now()
|
||||
.expect("Updating timestamp failed");
|
||||
self.stamper
|
||||
.write_to_bytes(&mut self.time_stamp)
|
||||
.expect("Writing timestamp failed");
|
||||
}
|
||||
}
|
||||
|
||||
impl PusReceiver {
|
||||
pub fn new(verif_reporter: StdVerifReporterWithSender, pus_router: PusTcMpscRouter) -> Self {
|
||||
Self {
|
||||
verif_reporter,
|
||||
id: PUS_ROUTING_SERVICE.raw(),
|
||||
tm_sender,
|
||||
verif_reporter: create_verification_reporter(
|
||||
PUS_ROUTING_SERVICE.id(),
|
||||
PUS_ROUTING_SERVICE.apid,
|
||||
),
|
||||
pus_router,
|
||||
stamp_helper: TimeStampHelper::new(),
|
||||
stamp_helper: TimeStampHelper::default(),
|
||||
}
|
||||
}
|
||||
}
|
||||
|
||||
impl PusReceiver {
|
||||
pub fn handle_tc_packet(
|
||||
pub fn handle_tc_packet_vec(
|
||||
&mut self,
|
||||
tc_in_memory: TcInMemory,
|
||||
service: u8,
|
||||
pus_tc: &PusTcReader,
|
||||
) -> Result<PusPacketHandlerResult, MpscStoreAndSendError> {
|
||||
let init_token = self.verif_reporter.add_tc(pus_tc);
|
||||
packet_as_vec: PacketAsVec,
|
||||
) -> Result<HandlingStatus, GenericSendError> {
|
||||
self.handle_tc_generic(packet_as_vec.sender_id, None, &packet_as_vec.packet)
|
||||
}
|
||||
|
||||
pub fn handle_tc_packet_in_store(
|
||||
&mut self,
|
||||
packet_in_pool: PacketInPool,
|
||||
pus_tc_copy: &[u8],
|
||||
) -> Result<HandlingStatus, GenericSendError> {
|
||||
self.handle_tc_generic(
|
||||
packet_in_pool.sender_id,
|
||||
Some(packet_in_pool.store_addr),
|
||||
pus_tc_copy,
|
||||
)
|
||||
}
|
||||
|
||||
pub fn handle_tc_generic(
|
||||
&mut self,
|
||||
sender_id: ComponentId,
|
||||
addr_opt: Option<PoolAddr>,
|
||||
raw_tc: &[u8],
|
||||
) -> Result<HandlingStatus, GenericSendError> {
|
||||
let pus_tc_result = PusTcReader::new(raw_tc);
|
||||
if pus_tc_result.is_err() {
|
||||
log::warn!(
|
||||
"error creating PUS TC from raw data received from {}: {}",
|
||||
sender_id,
|
||||
pus_tc_result.unwrap_err()
|
||||
);
|
||||
log::warn!("raw data: {:x?}", raw_tc);
|
||||
// TODO: Shouldn't this be an error?
|
||||
return Ok(HandlingStatus::HandledOne);
|
||||
}
|
||||
let pus_tc = pus_tc_result.unwrap().0;
|
||||
let init_token = self.verif_reporter.add_tc(&pus_tc);
|
||||
self.stamp_helper.update_from_now();
|
||||
let accepted_token = self
|
||||
.verif_reporter
|
||||
.acceptance_success(init_token, self.stamp_helper.stamp())
|
||||
.acceptance_success(&self.tm_sender, init_token, self.stamp_helper.stamp())
|
||||
.expect("Acceptance success failure");
|
||||
let service = PusServiceId::try_from(service);
|
||||
let service = PusServiceId::try_from(pus_tc.service());
|
||||
let tc_in_memory: TcInMemory = if let Some(store_addr) = addr_opt {
|
||||
PacketInPool::new(sender_id, store_addr).into()
|
||||
} else {
|
||||
PacketAsVec::new(sender_id, Vec::from(raw_tc)).into()
|
||||
};
|
||||
match service {
|
||||
Ok(standard_service) => match standard_service {
|
||||
PusServiceId::Test => {
|
||||
self.pus_router.test_service_receiver.send(EcssTcAndToken {
|
||||
tc_in_memory,
|
||||
token: Some(accepted_token.into()),
|
||||
})?
|
||||
}
|
||||
PusServiceId::Test => self.pus_router.test_tc_sender.send(EcssTcAndToken {
|
||||
tc_in_memory,
|
||||
token: Some(accepted_token.into()),
|
||||
})?,
|
||||
PusServiceId::Housekeeping => {
|
||||
self.pus_router.hk_service_receiver.send(EcssTcAndToken {
|
||||
self.pus_router.hk_tc_sender.send(EcssTcAndToken {
|
||||
tc_in_memory,
|
||||
token: Some(accepted_token.into()),
|
||||
})?
|
||||
}
|
||||
PusServiceId::Event => {
|
||||
self.pus_router
|
||||
.event_service_receiver
|
||||
.send(EcssTcAndToken {
|
||||
tc_in_memory,
|
||||
token: Some(accepted_token.into()),
|
||||
})?
|
||||
}
|
||||
PusServiceId::Event => self.pus_router.event_tc_sender.send(EcssTcAndToken {
|
||||
tc_in_memory,
|
||||
token: Some(accepted_token.into()),
|
||||
})?,
|
||||
PusServiceId::Scheduling => {
|
||||
self.pus_router
|
||||
.sched_service_receiver
|
||||
.send(EcssTcAndToken {
|
||||
tc_in_memory,
|
||||
token: Some(accepted_token.into()),
|
||||
})?
|
||||
self.pus_router.sched_tc_sender.send(EcssTcAndToken {
|
||||
tc_in_memory,
|
||||
token: Some(accepted_token.into()),
|
||||
})?
|
||||
}
|
||||
_ => {
|
||||
let result = self.verif_reporter.start_failure(
|
||||
&self.tm_sender,
|
||||
accepted_token,
|
||||
FailParams::new(
|
||||
self.stamp_helper.stamp(),
|
||||
|
@ -132,15 +159,20 @@ impl PusReceiver {
|
|||
Err(e) => {
|
||||
if let Ok(custom_service) = CustomPusServiceId::try_from(e.number) {
|
||||
match custom_service {
|
||||
CustomPusServiceId::Mode => {
|
||||
// TODO: Fix mode service.
|
||||
//self.handle_mode_service(pus_tc, accepted_token)
|
||||
}
|
||||
CustomPusServiceId::Mode => self
|
||||
.pus_router
|
||||
.mode_tc_sender
|
||||
.send(EcssTcAndToken {
|
||||
tc_in_memory,
|
||||
token: Some(accepted_token.into()),
|
||||
})
|
||||
.map_err(|_| GenericSendError::RxDisconnected)?,
|
||||
CustomPusServiceId::Health => {}
|
||||
}
|
||||
} else {
|
||||
self.verif_reporter
|
||||
.start_failure(
|
||||
&self.tm_sender,
|
||||
accepted_token,
|
||||
FailParams::new(
|
||||
self.stamp_helper.stamp(),
|
||||
|
@ -152,59 +184,600 @@ impl PusReceiver {
|
|||
}
|
||||
}
|
||||
}
|
||||
Ok(PusPacketHandlerResult::RequestHandled)
|
||||
Ok(HandlingStatus::HandledOne)
|
||||
}
|
||||
}
|
||||
|
||||
#[derive(Default)]
|
||||
pub struct GenericRoutingErrorHandler<const SERVICE_ID: u8> {}
|
||||
pub trait TargetedPusService {
|
||||
const SERVICE_ID: u8;
|
||||
const SERVICE_STR: &'static str;
|
||||
|
||||
impl<const SERVICE_ID: u8> PusRoutingErrorHandler for GenericRoutingErrorHandler<SERVICE_ID> {
|
||||
type Error = satrs::pus::GenericRoutingError;
|
||||
fn poll_and_handle_next_tc_default_handler(&mut self, time_stamp: &[u8]) -> HandlingStatus {
|
||||
let result = self.poll_and_handle_next_tc(time_stamp);
|
||||
if let Err(e) = result {
|
||||
log::error!(
|
||||
"PUS service {}({})packet handling error: {:?}",
|
||||
Self::SERVICE_ID,
|
||||
Self::SERVICE_STR,
|
||||
e
|
||||
);
|
||||
// To avoid permanent loops on error cases.
|
||||
return HandlingStatus::Empty;
|
||||
}
|
||||
result.unwrap()
|
||||
}
|
||||
|
||||
fn handle_error(
|
||||
&self,
|
||||
target_id: satrs::TargetId,
|
||||
token: satrs::pus::verification::VerificationToken<
|
||||
satrs::pus::verification::TcStateAccepted,
|
||||
>,
|
||||
_tc: &PusTcReader,
|
||||
error: Self::Error,
|
||||
fn poll_and_handle_next_reply_default_handler(&mut self, time_stamp: &[u8]) -> HandlingStatus {
|
||||
// This only fails if all senders disconnected. Treat it like an empty queue.
|
||||
self.poll_and_handle_next_reply(time_stamp)
|
||||
.unwrap_or_else(|e| {
|
||||
warn!(
|
||||
"PUS servce {}({}): Handling reply failed with error {:?}",
|
||||
Self::SERVICE_ID,
|
||||
Self::SERVICE_STR,
|
||||
e
|
||||
);
|
||||
HandlingStatus::Empty
|
||||
})
|
||||
}
|
||||
|
||||
fn poll_and_handle_next_tc(
|
||||
&mut self,
|
||||
time_stamp: &[u8],
|
||||
) -> Result<HandlingStatus, PusPacketHandlingError>;
|
||||
|
||||
fn poll_and_handle_next_reply(
|
||||
&mut self,
|
||||
time_stamp: &[u8],
|
||||
) -> Result<HandlingStatus, EcssTmtcError>;
|
||||
|
||||
fn check_for_request_timeouts(&mut self);
|
||||
}
|
||||
|
||||
/// Generic trait for services which handle packets directly. Kept minimal right now because
|
||||
/// of the difficulty to allow flexible user code for these services..
|
||||
pub trait DirectPusService {
|
||||
const SERVICE_ID: u8;
|
||||
const SERVICE_STR: &'static str;
|
||||
|
||||
fn poll_and_handle_next_tc(&mut self, timestamp: &[u8]) -> HandlingStatus;
|
||||
}
|
||||
|
||||
/// This is a generic handler class for all PUS services where a PUS telecommand is converted
|
||||
/// to a targeted request.
|
||||
///
|
||||
/// The generic steps for this process are the following
|
||||
///
|
||||
/// 1. Poll for TC packets
|
||||
/// 2. Convert the raw packets to a [PusTcReader].
|
||||
/// 3. Convert the PUS TC to a typed request using the [PusTcToRequestConverter].
|
||||
/// 4. Route the requests using the [GenericRequestRouter].
|
||||
/// 5. Add the request to the active request map using the [ActiveRequestMapProvider] abstraction.
|
||||
/// 6. Check for replies which complete the forwarded request. The handler takes care of
|
||||
/// the verification process.
|
||||
/// 7. Check for timeouts of active requests. Generally, the timeout on the service level should
|
||||
/// be highest expected timeout for the given target.
|
||||
///
|
||||
/// The handler exposes the following API:
|
||||
///
|
||||
/// 1. [Self::poll_and_handle_next_tc] which tries to poll and handle one TC packet, covering
|
||||
/// steps 1-5.
|
||||
/// 2. [Self::poll_and_check_next_reply] which tries to poll and handle one reply, covering step 6.
|
||||
/// 3. [Self::check_for_request_timeouts] which checks for request timeouts, covering step 7.
|
||||
pub struct PusTargetedRequestService<
|
||||
TcReceiver: EcssTcReceiver,
|
||||
TmSender: EcssTmSender,
|
||||
TcInMemConverter: EcssTcInMemConverter,
|
||||
VerificationReporter: VerificationReportingProvider,
|
||||
RequestConverter: PusTcToRequestConverter<ActiveRequestInfo, RequestType, Error = GenericConversionError>,
|
||||
ReplyHandler: PusReplyHandler<ActiveRequestInfo, ReplyType, Error = EcssTmtcError>,
|
||||
ActiveRequestMap: ActiveRequestMapProvider<ActiveRequestInfo>,
|
||||
ActiveRequestInfo: ActiveRequestProvider,
|
||||
RequestType,
|
||||
ReplyType,
|
||||
> {
|
||||
pub service_helper:
|
||||
PusServiceHelper<TcReceiver, TmSender, TcInMemConverter, VerificationReporter>,
|
||||
pub request_router: GenericRequestRouter,
|
||||
pub request_converter: RequestConverter,
|
||||
pub active_request_map: ActiveRequestMap,
|
||||
pub reply_handler: ReplyHandler,
|
||||
pub reply_receiver: mpsc::Receiver<GenericMessage<ReplyType>>,
|
||||
phantom: std::marker::PhantomData<(RequestType, ActiveRequestInfo, ReplyType)>,
|
||||
}
|
||||
|
||||
impl<
|
||||
TcReceiver: EcssTcReceiver,
|
||||
TmSender: EcssTmSender,
|
||||
TcInMemConverter: EcssTcInMemConverter,
|
||||
VerificationReporter: VerificationReportingProvider,
|
||||
RequestConverter: PusTcToRequestConverter<ActiveRequestInfo, RequestType, Error = GenericConversionError>,
|
||||
ReplyHandler: PusReplyHandler<ActiveRequestInfo, ReplyType, Error = EcssTmtcError>,
|
||||
ActiveRequestMap: ActiveRequestMapProvider<ActiveRequestInfo>,
|
||||
ActiveRequestInfo: ActiveRequestProvider,
|
||||
RequestType,
|
||||
ReplyType,
|
||||
>
|
||||
PusTargetedRequestService<
|
||||
TcReceiver,
|
||||
TmSender,
|
||||
TcInMemConverter,
|
||||
VerificationReporter,
|
||||
RequestConverter,
|
||||
ReplyHandler,
|
||||
ActiveRequestMap,
|
||||
ActiveRequestInfo,
|
||||
RequestType,
|
||||
ReplyType,
|
||||
>
|
||||
where
|
||||
GenericRequestRouter: PusRequestRouter<RequestType, Error = GenericRoutingError>,
|
||||
{
|
||||
pub fn new(
|
||||
service_helper: PusServiceHelper<
|
||||
TcReceiver,
|
||||
TmSender,
|
||||
TcInMemConverter,
|
||||
VerificationReporter,
|
||||
>,
|
||||
request_converter: RequestConverter,
|
||||
active_request_map: ActiveRequestMap,
|
||||
reply_hook: ReplyHandler,
|
||||
request_router: GenericRequestRouter,
|
||||
reply_receiver: mpsc::Receiver<GenericMessage<ReplyType>>,
|
||||
) -> Self {
|
||||
Self {
|
||||
service_helper,
|
||||
request_converter,
|
||||
active_request_map,
|
||||
reply_handler: reply_hook,
|
||||
request_router,
|
||||
reply_receiver,
|
||||
phantom: std::marker::PhantomData,
|
||||
}
|
||||
}
|
||||
|
||||
pub fn poll_and_handle_next_tc(
|
||||
&mut self,
|
||||
time_stamp: &[u8],
|
||||
) -> Result<HandlingStatus, PusPacketHandlingError> {
|
||||
let possible_packet = self.service_helper.retrieve_and_accept_next_packet()?;
|
||||
if possible_packet.is_none() {
|
||||
return Ok(HandlingStatus::Empty);
|
||||
}
|
||||
let ecss_tc_and_token = possible_packet.unwrap();
|
||||
self.service_helper
|
||||
.tc_in_mem_converter_mut()
|
||||
.cache(&ecss_tc_and_token.tc_in_memory)?;
|
||||
let tc = self.service_helper.tc_in_mem_converter().convert()?;
|
||||
let (mut request_info, request) = match self.request_converter.convert(
|
||||
ecss_tc_and_token.token,
|
||||
&tc,
|
||||
self.service_helper.tm_sender(),
|
||||
&self.service_helper.common.verif_reporter,
|
||||
time_stamp,
|
||||
) {
|
||||
Ok((info, req)) => (info, req),
|
||||
Err(e) => {
|
||||
self.handle_conversion_to_request_error(&e, ecss_tc_and_token.token, time_stamp);
|
||||
return Err(e.into());
|
||||
}
|
||||
};
|
||||
let accepted_token: VerificationToken<TcStateAccepted> = request_info
|
||||
.token()
|
||||
.try_into()
|
||||
.expect("token not in expected accepted state");
|
||||
let verif_request_id = verification::RequestId::new(&tc).raw();
|
||||
match self.request_router.route(
|
||||
MessageMetadata::new(verif_request_id, self.service_helper.id()),
|
||||
request_info.target_id(),
|
||||
request,
|
||||
) {
|
||||
Ok(()) => {
|
||||
let started_token = self
|
||||
.service_helper
|
||||
.verif_reporter()
|
||||
.start_success(
|
||||
&self.service_helper.common.tm_sender,
|
||||
accepted_token,
|
||||
time_stamp,
|
||||
)
|
||||
.expect("Start success failure");
|
||||
request_info.set_token(started_token.into());
|
||||
self.active_request_map
|
||||
.insert(&verif_request_id, request_info);
|
||||
}
|
||||
Err(e) => {
|
||||
self.request_router.handle_error_generic(
|
||||
&request_info,
|
||||
&tc,
|
||||
e.clone(),
|
||||
self.service_helper.tm_sender(),
|
||||
self.service_helper.verif_reporter(),
|
||||
time_stamp,
|
||||
);
|
||||
return Err(e.into());
|
||||
}
|
||||
}
|
||||
Ok(HandlingStatus::HandledOne)
|
||||
}
|
||||
|
||||
fn handle_conversion_to_request_error(
|
||||
&mut self,
|
||||
error: &GenericConversionError,
|
||||
token: VerificationToken<TcStateAccepted>,
|
||||
time_stamp: &[u8],
|
||||
verif_reporter: &impl VerificationReportingProvider,
|
||||
) {
|
||||
warn!("Routing request for service {SERVICE_ID} failed: {error:?}");
|
||||
match error {
|
||||
GenericRoutingError::UnknownTargetId(id) => {
|
||||
let mut fail_data: [u8; 8] = [0; 8];
|
||||
fail_data.copy_from_slice(&id.to_be_bytes());
|
||||
verif_reporter
|
||||
.start_failure(
|
||||
GenericConversionError::WrongService(service) => {
|
||||
let service_slice: [u8; 1] = [*service];
|
||||
self.service_helper
|
||||
.verif_reporter()
|
||||
.completion_failure(
|
||||
self.service_helper.tm_sender(),
|
||||
token,
|
||||
FailParams::new(time_stamp, &tmtc_err::UNKNOWN_TARGET_ID, &fail_data),
|
||||
FailParams::new(time_stamp, &tmtc_err::INVALID_PUS_SERVICE, &service_slice),
|
||||
)
|
||||
.expect("Sending start failure failed");
|
||||
.expect("Sending completion failure failed");
|
||||
}
|
||||
GenericRoutingError::SendError(_) => {
|
||||
let mut fail_data: [u8; 8] = [0; 8];
|
||||
fail_data.copy_from_slice(&target_id.to_be_bytes());
|
||||
verif_reporter
|
||||
.start_failure(
|
||||
GenericConversionError::InvalidSubservice(subservice) => {
|
||||
let subservice_slice: [u8; 1] = [*subservice];
|
||||
self.service_helper
|
||||
.verif_reporter()
|
||||
.completion_failure(
|
||||
self.service_helper.tm_sender(),
|
||||
token,
|
||||
FailParams::new(time_stamp, &tmtc_err::ROUTING_ERROR, &fail_data),
|
||||
FailParams::new(
|
||||
time_stamp,
|
||||
&tmtc_err::INVALID_PUS_SUBSERVICE,
|
||||
&subservice_slice,
|
||||
),
|
||||
)
|
||||
.expect("Sending start failure failed");
|
||||
.expect("Sending completion failure failed");
|
||||
}
|
||||
GenericRoutingError::NotEnoughAppData { expected, found } => {
|
||||
let mut context_info = (found as u32).to_be_bytes().to_vec();
|
||||
context_info.extend_from_slice(&(expected as u32).to_be_bytes());
|
||||
verif_reporter
|
||||
.start_failure(
|
||||
GenericConversionError::NotEnoughAppData { expected, found } => {
|
||||
let mut context_info = (*found as u32).to_be_bytes().to_vec();
|
||||
context_info.extend_from_slice(&(*expected as u32).to_be_bytes());
|
||||
self.service_helper
|
||||
.verif_reporter()
|
||||
.completion_failure(
|
||||
self.service_helper.tm_sender(),
|
||||
token,
|
||||
FailParams::new(time_stamp, &tmtc_err::NOT_ENOUGH_APP_DATA, &context_info),
|
||||
)
|
||||
.expect("Sending start failure failed");
|
||||
.expect("Sending completion failure failed");
|
||||
}
|
||||
// Do nothing.. this is service-level and can not be handled generically here.
|
||||
GenericConversionError::InvalidAppData(_) => (),
|
||||
}
|
||||
}
|
||||
|
||||
pub fn poll_and_handle_next_reply(
|
||||
&mut self,
|
||||
time_stamp: &[u8],
|
||||
) -> Result<HandlingStatus, EcssTmtcError> {
|
||||
match self.reply_receiver.try_recv() {
|
||||
Ok(reply) => {
|
||||
self.handle_reply(&reply, time_stamp)?;
|
||||
Ok(HandlingStatus::HandledOne)
|
||||
}
|
||||
Err(e) => match e {
|
||||
mpsc::TryRecvError::Empty => Ok(HandlingStatus::Empty),
|
||||
mpsc::TryRecvError::Disconnected => Err(EcssTmtcError::Receive(
|
||||
GenericReceiveError::TxDisconnected(None),
|
||||
)),
|
||||
},
|
||||
}
|
||||
}
|
||||
|
||||
pub fn handle_reply(
|
||||
&mut self,
|
||||
reply: &GenericMessage<ReplyType>,
|
||||
time_stamp: &[u8],
|
||||
) -> Result<(), EcssTmtcError> {
|
||||
let active_req_opt = self.active_request_map.get(reply.request_id());
|
||||
if active_req_opt.is_none() {
|
||||
self.reply_handler
|
||||
.handle_unrequested_reply(reply, &self.service_helper.common.tm_sender)?;
|
||||
return Ok(());
|
||||
}
|
||||
let active_request = active_req_opt.unwrap();
|
||||
let result = self.reply_handler.handle_reply(
|
||||
reply,
|
||||
active_request,
|
||||
&self.service_helper.common.tm_sender,
|
||||
&self.service_helper.common.verif_reporter,
|
||||
time_stamp,
|
||||
);
|
||||
if result.is_err() || (result.is_ok() && *result.as_ref().unwrap()) {
|
||||
self.active_request_map.remove(reply.request_id());
|
||||
}
|
||||
result.map(|_| ())
|
||||
}
|
||||
|
||||
pub fn check_for_request_timeouts(&mut self) {
|
||||
let mut requests_to_delete = Vec::new();
|
||||
self.active_request_map
|
||||
.for_each(|request_id, request_info| {
|
||||
if request_info.has_timed_out() {
|
||||
requests_to_delete.push(*request_id);
|
||||
}
|
||||
});
|
||||
if !requests_to_delete.is_empty() {
|
||||
for request_id in requests_to_delete {
|
||||
self.active_request_map.remove(request_id);
|
||||
}
|
||||
}
|
||||
}
|
||||
}
|
||||
|
||||
/// Generic timeout handling: Handle the verification failure with a dedicated return code
|
||||
/// and also log the error.
|
||||
pub fn generic_pus_request_timeout_handler(
|
||||
sender: &(impl EcssTmSender + ?Sized),
|
||||
active_request: &(impl ActiveRequestProvider + Debug),
|
||||
verification_handler: &impl VerificationReportingProvider,
|
||||
time_stamp: &[u8],
|
||||
service_str: &'static str,
|
||||
) -> Result<(), EcssTmtcError> {
|
||||
log::warn!("timeout for active request {active_request:?} on {service_str} service");
|
||||
let started_token: VerificationToken<TcStateStarted> = active_request
|
||||
.token()
|
||||
.try_into()
|
||||
.expect("token not in expected started state");
|
||||
verification_handler.completion_failure(
|
||||
sender,
|
||||
started_token,
|
||||
FailParams::new(time_stamp, &tmtc_err::REQUEST_TIMEOUT, &[]),
|
||||
)?;
|
||||
Ok(())
|
||||
}
|
||||
|
||||
#[cfg(test)]
|
||||
pub(crate) mod tests {
|
||||
use std::time::Duration;
|
||||
|
||||
use satrs::pus::test_util::TEST_COMPONENT_ID_0;
|
||||
use satrs::pus::{MpscTmAsVecSender, PusTmVariant};
|
||||
use satrs::request::RequestId;
|
||||
use satrs::{
|
||||
pus::{
|
||||
verification::test_util::TestVerificationReporter, ActivePusRequestStd,
|
||||
ActiveRequestMapProvider, EcssTcInVecConverter, MpscTcReceiver,
|
||||
},
|
||||
request::UniqueApidTargetId,
|
||||
spacepackets::{
|
||||
ecss::{
|
||||
tc::{PusTcCreator, PusTcSecondaryHeader},
|
||||
WritablePusPacket,
|
||||
},
|
||||
SpHeader,
|
||||
},
|
||||
};
|
||||
|
||||
use crate::requests::CompositeRequest;
|
||||
|
||||
use super::*;
|
||||
|
||||
// Testbench dedicated to the testing of [PusReplyHandler]s
|
||||
pub struct ReplyHandlerTestbench<
|
||||
ReplyHandler: PusReplyHandler<ActiveRequestInfo, Reply, Error = EcssTmtcError>,
|
||||
ActiveRequestInfo: ActiveRequestProvider,
|
||||
Reply,
|
||||
> {
|
||||
pub id: ComponentId,
|
||||
pub verif_reporter: TestVerificationReporter,
|
||||
pub reply_handler: ReplyHandler,
|
||||
pub tm_receiver: mpsc::Receiver<PacketAsVec>,
|
||||
pub default_timeout: Duration,
|
||||
tm_sender: MpscTmAsVecSender,
|
||||
phantom: std::marker::PhantomData<(ActiveRequestInfo, Reply)>,
|
||||
}
|
||||
|
||||
impl<
|
||||
ReplyHandler: PusReplyHandler<ActiveRequestInfo, Reply, Error = EcssTmtcError>,
|
||||
ActiveRequestInfo: ActiveRequestProvider,
|
||||
Reply,
|
||||
> ReplyHandlerTestbench<ReplyHandler, ActiveRequestInfo, Reply>
|
||||
{
|
||||
pub fn new(owner_id: ComponentId, reply_handler: ReplyHandler) -> Self {
|
||||
let test_verif_reporter = TestVerificationReporter::new(owner_id);
|
||||
let (tm_sender, tm_receiver) = mpsc::channel();
|
||||
Self {
|
||||
id: TEST_COMPONENT_ID_0.raw(),
|
||||
verif_reporter: test_verif_reporter,
|
||||
reply_handler,
|
||||
default_timeout: Duration::from_secs(30),
|
||||
tm_sender,
|
||||
tm_receiver,
|
||||
phantom: std::marker::PhantomData,
|
||||
}
|
||||
}
|
||||
|
||||
pub fn add_tc(
|
||||
&mut self,
|
||||
apid: u16,
|
||||
apid_target: u32,
|
||||
time_stamp: &[u8],
|
||||
) -> (verification::RequestId, ActivePusRequestStd) {
|
||||
let sp_header = SpHeader::new_from_apid(apid);
|
||||
let sec_header_dummy = PusTcSecondaryHeader::new_simple(0, 0);
|
||||
let init = self.verif_reporter.add_tc(&PusTcCreator::new(
|
||||
sp_header,
|
||||
sec_header_dummy,
|
||||
&[],
|
||||
true,
|
||||
));
|
||||
let accepted = self
|
||||
.verif_reporter
|
||||
.acceptance_success(&self.tm_sender, init, time_stamp)
|
||||
.expect("acceptance failed");
|
||||
let started = self
|
||||
.verif_reporter
|
||||
.start_success(&self.tm_sender, accepted, time_stamp)
|
||||
.expect("start failed");
|
||||
(
|
||||
started.request_id(),
|
||||
ActivePusRequestStd::new(
|
||||
UniqueApidTargetId::new(apid, apid_target).raw(),
|
||||
started,
|
||||
self.default_timeout,
|
||||
),
|
||||
)
|
||||
}
|
||||
|
||||
pub fn handle_reply(
|
||||
&mut self,
|
||||
reply: &GenericMessage<Reply>,
|
||||
active_request: &ActiveRequestInfo,
|
||||
time_stamp: &[u8],
|
||||
) -> Result<bool, ReplyHandler::Error> {
|
||||
self.reply_handler.handle_reply(
|
||||
reply,
|
||||
active_request,
|
||||
&self.tm_sender,
|
||||
&self.verif_reporter,
|
||||
time_stamp,
|
||||
)
|
||||
}
|
||||
|
||||
pub fn handle_unrequested_reply(
|
||||
&mut self,
|
||||
reply: &GenericMessage<Reply>,
|
||||
) -> Result<(), ReplyHandler::Error> {
|
||||
self.reply_handler
|
||||
.handle_unrequested_reply(reply, &self.tm_sender)
|
||||
}
|
||||
pub fn handle_request_timeout(
|
||||
&mut self,
|
||||
active_request_info: &ActiveRequestInfo,
|
||||
time_stamp: &[u8],
|
||||
) -> Result<(), ReplyHandler::Error> {
|
||||
self.reply_handler.handle_request_timeout(
|
||||
active_request_info,
|
||||
&self.tm_sender,
|
||||
&self.verif_reporter,
|
||||
time_stamp,
|
||||
)
|
||||
}
|
||||
}
|
||||
|
||||
#[derive(Default)]
|
||||
pub struct DummySender {}
|
||||
|
||||
/// Dummy sender component which does nothing on the [Self::send_tm] call.
|
||||
///
|
||||
/// Useful for unit tests.
|
||||
impl EcssTmSender for DummySender {
|
||||
fn send_tm(&self, _source_id: ComponentId, _tm: PusTmVariant) -> Result<(), EcssTmtcError> {
|
||||
Ok(())
|
||||
}
|
||||
}
|
||||
|
||||
// Testbench dedicated to the testing of [PusTcToRequestConverter]s
|
||||
pub struct PusConverterTestbench<
|
||||
Converter: PusTcToRequestConverter<ActiveRequestInfo, Request, Error = GenericConversionError>,
|
||||
ActiveRequestInfo: ActiveRequestProvider,
|
||||
Request,
|
||||
> {
|
||||
pub id: ComponentId,
|
||||
pub verif_reporter: TestVerificationReporter,
|
||||
pub converter: Converter,
|
||||
dummy_sender: DummySender,
|
||||
current_request_id: Option<verification::RequestId>,
|
||||
current_packet: Option<Vec<u8>>,
|
||||
phantom: std::marker::PhantomData<(ActiveRequestInfo, Request)>,
|
||||
}
|
||||
|
||||
impl<
|
||||
Converter: PusTcToRequestConverter<ActiveRequestInfo, Request, Error = GenericConversionError>,
|
||||
ActiveRequestInfo: ActiveRequestProvider,
|
||||
Request,
|
||||
> PusConverterTestbench<Converter, ActiveRequestInfo, Request>
|
||||
{
|
||||
pub fn new(owner_id: ComponentId, converter: Converter) -> Self {
|
||||
let test_verif_reporter = TestVerificationReporter::new(owner_id);
|
||||
Self {
|
||||
id: owner_id,
|
||||
verif_reporter: test_verif_reporter,
|
||||
converter,
|
||||
dummy_sender: DummySender::default(),
|
||||
current_request_id: None,
|
||||
current_packet: None,
|
||||
phantom: std::marker::PhantomData,
|
||||
}
|
||||
}
|
||||
|
||||
pub fn add_tc(&mut self, tc: &PusTcCreator) -> VerificationToken<TcStateAccepted> {
|
||||
let token = self.verif_reporter.add_tc(tc);
|
||||
self.current_request_id = Some(verification::RequestId::new(tc));
|
||||
self.current_packet = Some(tc.to_vec().unwrap());
|
||||
self.verif_reporter
|
||||
.acceptance_success(&self.dummy_sender, token, &[])
|
||||
.expect("acceptance failed")
|
||||
}
|
||||
|
||||
pub fn request_id(&self) -> Option<verification::RequestId> {
|
||||
self.current_request_id
|
||||
}
|
||||
|
||||
pub fn convert(
|
||||
&mut self,
|
||||
token: VerificationToken<TcStateAccepted>,
|
||||
time_stamp: &[u8],
|
||||
expected_apid: u16,
|
||||
expected_apid_target: u32,
|
||||
) -> Result<(ActiveRequestInfo, Request), Converter::Error> {
|
||||
if self.current_packet.is_none() {
|
||||
return Err(GenericConversionError::InvalidAppData(
|
||||
"call add_tc first".to_string(),
|
||||
));
|
||||
}
|
||||
let current_packet = self.current_packet.take().unwrap();
|
||||
let tc_reader = PusTcReader::new(¤t_packet).unwrap();
|
||||
let (active_info, request) = self.converter.convert(
|
||||
token,
|
||||
&tc_reader.0,
|
||||
&self.dummy_sender,
|
||||
&self.verif_reporter,
|
||||
time_stamp,
|
||||
)?;
|
||||
assert_eq!(
|
||||
active_info.token().request_id(),
|
||||
self.request_id().expect("no request id is set")
|
||||
);
|
||||
assert_eq!(
|
||||
active_info.target_id(),
|
||||
UniqueApidTargetId::new(expected_apid, expected_apid_target).raw()
|
||||
);
|
||||
Ok((active_info, request))
|
||||
}
|
||||
}
|
||||
|
||||
pub struct TargetedPusRequestTestbench<
|
||||
RequestConverter: PusTcToRequestConverter<ActiveRequestInfo, RequestType, Error = GenericConversionError>,
|
||||
ReplyHandler: PusReplyHandler<ActiveRequestInfo, ReplyType, Error = EcssTmtcError>,
|
||||
ActiveRequestMap: ActiveRequestMapProvider<ActiveRequestInfo>,
|
||||
ActiveRequestInfo: ActiveRequestProvider,
|
||||
RequestType,
|
||||
ReplyType,
|
||||
> {
|
||||
pub service: PusTargetedRequestService<
|
||||
MpscTcReceiver,
|
||||
MpscTmAsVecSender,
|
||||
EcssTcInVecConverter,
|
||||
TestVerificationReporter,
|
||||
RequestConverter,
|
||||
ReplyHandler,
|
||||
ActiveRequestMap,
|
||||
ActiveRequestInfo,
|
||||
RequestType,
|
||||
ReplyType,
|
||||
>,
|
||||
pub request_id: Option<RequestId>,
|
||||
pub tm_funnel_rx: mpsc::Receiver<PacketAsVec>,
|
||||
pub pus_packet_tx: mpsc::Sender<EcssTcAndToken>,
|
||||
pub reply_tx: mpsc::Sender<GenericMessage<ReplyType>>,
|
||||
pub request_rx: mpsc::Receiver<GenericMessage<CompositeRequest>>,
|
||||
}
|
||||
}
|
||||
|
|
|
@ -0,0 +1,416 @@
|
|||
use derive_new::new;
|
||||
use satrs::tmtc::{PacketAsVec, PacketSenderWithSharedPool};
|
||||
use std::sync::mpsc;
|
||||
use std::time::Duration;
|
||||
|
||||
use crate::requests::GenericRequestRouter;
|
||||
use satrs::pool::SharedStaticMemoryPool;
|
||||
use satrs::pus::verification::VerificationReporter;
|
||||
use satrs::pus::{
|
||||
DefaultActiveRequestMap, EcssTcAndToken, EcssTcInMemConverter, EcssTcInSharedStoreConverter,
|
||||
EcssTcInVecConverter, MpscTcReceiver, MpscTmAsVecSender, PusPacketHandlingError,
|
||||
PusServiceHelper,
|
||||
};
|
||||
use satrs::request::GenericMessage;
|
||||
use satrs::{
|
||||
mode::{ModeAndSubmode, ModeReply, ModeRequest},
|
||||
pus::{
|
||||
mode::Subservice,
|
||||
verification::{
|
||||
self, FailParams, TcStateAccepted, TcStateStarted, VerificationReportingProvider,
|
||||
VerificationToken,
|
||||
},
|
||||
ActivePusRequestStd, ActiveRequestProvider, EcssTmSender, EcssTmtcError,
|
||||
GenericConversionError, PusReplyHandler, PusTcToRequestConverter, PusTmVariant,
|
||||
},
|
||||
request::UniqueApidTargetId,
|
||||
spacepackets::{
|
||||
ecss::{
|
||||
tc::PusTcReader,
|
||||
tm::{PusTmCreator, PusTmSecondaryHeader},
|
||||
PusPacket,
|
||||
},
|
||||
SpHeader,
|
||||
},
|
||||
ComponentId,
|
||||
};
|
||||
use satrs_example::config::components::PUS_MODE_SERVICE;
|
||||
use satrs_example::config::{mode_err, tmtc_err, CustomPusServiceId};
|
||||
|
||||
use super::{
|
||||
create_verification_reporter, generic_pus_request_timeout_handler, HandlingStatus,
|
||||
PusTargetedRequestService, TargetedPusService,
|
||||
};
|
||||
|
||||
#[derive(new)]
|
||||
pub struct ModeReplyHandler {
|
||||
owner_id: ComponentId,
|
||||
}
|
||||
|
||||
impl PusReplyHandler<ActivePusRequestStd, ModeReply> for ModeReplyHandler {
|
||||
type Error = EcssTmtcError;
|
||||
|
||||
fn handle_unrequested_reply(
|
||||
&mut self,
|
||||
reply: &GenericMessage<ModeReply>,
|
||||
_tm_sender: &impl EcssTmSender,
|
||||
) -> Result<(), Self::Error> {
|
||||
log::warn!("received unexpected reply for mode service 5: {reply:?}");
|
||||
Ok(())
|
||||
}
|
||||
|
||||
fn handle_reply(
|
||||
&mut self,
|
||||
reply: &GenericMessage<ModeReply>,
|
||||
active_request: &ActivePusRequestStd,
|
||||
tm_sender: &impl EcssTmSender,
|
||||
verification_handler: &impl VerificationReportingProvider,
|
||||
time_stamp: &[u8],
|
||||
) -> Result<bool, Self::Error> {
|
||||
let started_token: VerificationToken<TcStateStarted> = active_request
|
||||
.token()
|
||||
.try_into()
|
||||
.expect("invalid token state");
|
||||
match reply.message {
|
||||
ModeReply::ModeReply(mode_reply) => {
|
||||
let mut source_data: [u8; 12] = [0; 12];
|
||||
mode_reply
|
||||
.write_to_be_bytes(&mut source_data)
|
||||
.expect("writing mode reply failed");
|
||||
let req_id = verification::RequestId::from(reply.request_id());
|
||||
let sp_header = SpHeader::new_for_unseg_tm(req_id.packet_id().apid(), 0, 0);
|
||||
let sec_header =
|
||||
PusTmSecondaryHeader::new(200, Subservice::TmModeReply as u8, 0, 0, time_stamp);
|
||||
let pus_tm = PusTmCreator::new(sp_header, sec_header, &source_data, true);
|
||||
tm_sender.send_tm(self.owner_id, PusTmVariant::Direct(pus_tm))?;
|
||||
verification_handler.completion_success(tm_sender, started_token, time_stamp)?;
|
||||
}
|
||||
ModeReply::CantReachMode(error_code) => {
|
||||
verification_handler.completion_failure(
|
||||
tm_sender,
|
||||
started_token,
|
||||
FailParams::new(time_stamp, &error_code, &[]),
|
||||
)?;
|
||||
}
|
||||
ModeReply::WrongMode { expected, reached } => {
|
||||
let mut error_info: [u8; 24] = [0; 24];
|
||||
let mut written_len = expected
|
||||
.write_to_be_bytes(&mut error_info[0..ModeAndSubmode::RAW_LEN])
|
||||
.expect("writing expected mode failed");
|
||||
written_len += reached
|
||||
.write_to_be_bytes(&mut error_info[ModeAndSubmode::RAW_LEN..])
|
||||
.expect("writing reached mode failed");
|
||||
verification_handler.completion_failure(
|
||||
tm_sender,
|
||||
started_token,
|
||||
FailParams::new(
|
||||
time_stamp,
|
||||
&mode_err::WRONG_MODE,
|
||||
&error_info[..written_len],
|
||||
),
|
||||
)?;
|
||||
}
|
||||
};
|
||||
Ok(true)
|
||||
}
|
||||
|
||||
fn handle_request_timeout(
|
||||
&mut self,
|
||||
active_request: &ActivePusRequestStd,
|
||||
tm_sender: &impl EcssTmSender,
|
||||
verification_handler: &impl VerificationReportingProvider,
|
||||
time_stamp: &[u8],
|
||||
) -> Result<(), Self::Error> {
|
||||
generic_pus_request_timeout_handler(
|
||||
tm_sender,
|
||||
active_request,
|
||||
verification_handler,
|
||||
time_stamp,
|
||||
"HK",
|
||||
)?;
|
||||
Ok(())
|
||||
}
|
||||
}
|
||||
|
||||
#[derive(Default)]
|
||||
pub struct ModeRequestConverter {}
|
||||
|
||||
impl PusTcToRequestConverter<ActivePusRequestStd, ModeRequest> for ModeRequestConverter {
|
||||
type Error = GenericConversionError;
|
||||
|
||||
fn convert(
|
||||
&mut self,
|
||||
token: VerificationToken<TcStateAccepted>,
|
||||
tc: &PusTcReader,
|
||||
tm_sender: &(impl EcssTmSender + ?Sized),
|
||||
verif_reporter: &impl VerificationReportingProvider,
|
||||
time_stamp: &[u8],
|
||||
) -> Result<(ActivePusRequestStd, ModeRequest), Self::Error> {
|
||||
let subservice = tc.subservice();
|
||||
let user_data = tc.user_data();
|
||||
let not_enough_app_data = |expected: usize| {
|
||||
verif_reporter
|
||||
.start_failure(
|
||||
tm_sender,
|
||||
token,
|
||||
FailParams::new_no_fail_data(time_stamp, &tmtc_err::NOT_ENOUGH_APP_DATA),
|
||||
)
|
||||
.expect("Sending start failure failed");
|
||||
Err(GenericConversionError::NotEnoughAppData {
|
||||
expected,
|
||||
found: user_data.len(),
|
||||
})
|
||||
};
|
||||
if user_data.len() < core::mem::size_of::<u32>() {
|
||||
return not_enough_app_data(4);
|
||||
}
|
||||
let target_id_and_apid = UniqueApidTargetId::from_pus_tc(tc).unwrap();
|
||||
let active_request =
|
||||
ActivePusRequestStd::new(target_id_and_apid.into(), token, Duration::from_secs(30));
|
||||
let subservice_typed = Subservice::try_from(subservice);
|
||||
let invalid_subservice = || {
|
||||
// Invalid subservice
|
||||
verif_reporter
|
||||
.start_failure(
|
||||
tm_sender,
|
||||
token,
|
||||
FailParams::new_no_fail_data(time_stamp, &tmtc_err::INVALID_PUS_SUBSERVICE),
|
||||
)
|
||||
.expect("Sending start failure failed");
|
||||
Err(GenericConversionError::InvalidSubservice(subservice))
|
||||
};
|
||||
if subservice_typed.is_err() {
|
||||
return invalid_subservice();
|
||||
}
|
||||
let subservice_typed = subservice_typed.unwrap();
|
||||
match subservice_typed {
|
||||
Subservice::TcSetMode => {
|
||||
if user_data.len() < core::mem::size_of::<u32>() + ModeAndSubmode::RAW_LEN {
|
||||
return not_enough_app_data(4 + ModeAndSubmode::RAW_LEN);
|
||||
}
|
||||
let mode_and_submode = ModeAndSubmode::from_be_bytes(&tc.user_data()[4..])
|
||||
.expect("mode and submode extraction failed");
|
||||
Ok((active_request, ModeRequest::SetMode(mode_and_submode)))
|
||||
}
|
||||
Subservice::TcReadMode => Ok((active_request, ModeRequest::ReadMode)),
|
||||
Subservice::TcAnnounceMode => Ok((active_request, ModeRequest::AnnounceMode)),
|
||||
Subservice::TcAnnounceModeRecursive => {
|
||||
Ok((active_request, ModeRequest::AnnounceModeRecursive))
|
||||
}
|
||||
_ => invalid_subservice(),
|
||||
}
|
||||
}
|
||||
}
|
||||
|
||||
pub fn create_mode_service_static(
|
||||
tm_sender: PacketSenderWithSharedPool,
|
||||
tc_pool: SharedStaticMemoryPool,
|
||||
pus_action_rx: mpsc::Receiver<EcssTcAndToken>,
|
||||
mode_router: GenericRequestRouter,
|
||||
reply_receiver: mpsc::Receiver<GenericMessage<ModeReply>>,
|
||||
) -> ModeServiceWrapper<PacketSenderWithSharedPool, EcssTcInSharedStoreConverter> {
|
||||
let mode_request_handler = PusTargetedRequestService::new(
|
||||
PusServiceHelper::new(
|
||||
PUS_MODE_SERVICE.id(),
|
||||
pus_action_rx,
|
||||
tm_sender,
|
||||
create_verification_reporter(PUS_MODE_SERVICE.id(), PUS_MODE_SERVICE.apid),
|
||||
EcssTcInSharedStoreConverter::new(tc_pool, 2048),
|
||||
),
|
||||
ModeRequestConverter::default(),
|
||||
DefaultActiveRequestMap::default(),
|
||||
ModeReplyHandler::new(PUS_MODE_SERVICE.id()),
|
||||
mode_router,
|
||||
reply_receiver,
|
||||
);
|
||||
ModeServiceWrapper {
|
||||
service: mode_request_handler,
|
||||
}
|
||||
}
|
||||
|
||||
pub fn create_mode_service_dynamic(
|
||||
tm_funnel_tx: mpsc::Sender<PacketAsVec>,
|
||||
pus_action_rx: mpsc::Receiver<EcssTcAndToken>,
|
||||
mode_router: GenericRequestRouter,
|
||||
reply_receiver: mpsc::Receiver<GenericMessage<ModeReply>>,
|
||||
) -> ModeServiceWrapper<MpscTmAsVecSender, EcssTcInVecConverter> {
|
||||
let mode_request_handler = PusTargetedRequestService::new(
|
||||
PusServiceHelper::new(
|
||||
PUS_MODE_SERVICE.id(),
|
||||
pus_action_rx,
|
||||
tm_funnel_tx,
|
||||
create_verification_reporter(PUS_MODE_SERVICE.id(), PUS_MODE_SERVICE.apid),
|
||||
EcssTcInVecConverter::default(),
|
||||
),
|
||||
ModeRequestConverter::default(),
|
||||
DefaultActiveRequestMap::default(),
|
||||
ModeReplyHandler::new(PUS_MODE_SERVICE.id()),
|
||||
mode_router,
|
||||
reply_receiver,
|
||||
);
|
||||
ModeServiceWrapper {
|
||||
service: mode_request_handler,
|
||||
}
|
||||
}
|
||||
|
||||
pub struct ModeServiceWrapper<TmSender: EcssTmSender, TcInMemConverter: EcssTcInMemConverter> {
|
||||
pub(crate) service: PusTargetedRequestService<
|
||||
MpscTcReceiver,
|
||||
TmSender,
|
||||
TcInMemConverter,
|
||||
VerificationReporter,
|
||||
ModeRequestConverter,
|
||||
ModeReplyHandler,
|
||||
DefaultActiveRequestMap<ActivePusRequestStd>,
|
||||
ActivePusRequestStd,
|
||||
ModeRequest,
|
||||
ModeReply,
|
||||
>,
|
||||
}
|
||||
|
||||
impl<TmSender: EcssTmSender, TcInMemConverter: EcssTcInMemConverter> TargetedPusService
|
||||
for ModeServiceWrapper<TmSender, TcInMemConverter>
|
||||
{
|
||||
const SERVICE_ID: u8 = CustomPusServiceId::Mode as u8;
|
||||
const SERVICE_STR: &'static str = "mode";
|
||||
|
||||
delegate::delegate! {
|
||||
to self.service {
|
||||
fn poll_and_handle_next_tc(
|
||||
&mut self,
|
||||
time_stamp: &[u8],
|
||||
) -> Result<HandlingStatus, PusPacketHandlingError>;
|
||||
|
||||
fn poll_and_handle_next_reply(
|
||||
&mut self,
|
||||
time_stamp: &[u8],
|
||||
) -> Result<HandlingStatus, EcssTmtcError>;
|
||||
|
||||
fn check_for_request_timeouts(&mut self);
|
||||
}
|
||||
}
|
||||
}
|
||||
|
||||
#[cfg(test)]
|
||||
mod tests {
|
||||
use satrs::pus::test_util::{TEST_APID, TEST_COMPONENT_ID_0, TEST_UNIQUE_ID_0};
|
||||
use satrs::request::MessageMetadata;
|
||||
use satrs::{
|
||||
mode::{ModeAndSubmode, ModeReply, ModeRequest},
|
||||
pus::mode::Subservice,
|
||||
request::GenericMessage,
|
||||
spacepackets::{
|
||||
ecss::tc::{PusTcCreator, PusTcSecondaryHeader},
|
||||
SpHeader,
|
||||
},
|
||||
};
|
||||
use satrs_example::config::tmtc_err;
|
||||
|
||||
use crate::pus::{
|
||||
mode::ModeReplyHandler,
|
||||
tests::{PusConverterTestbench, ReplyHandlerTestbench},
|
||||
};
|
||||
|
||||
use super::ModeRequestConverter;
|
||||
|
||||
#[test]
|
||||
fn mode_converter_read_mode_request() {
|
||||
let mut testbench =
|
||||
PusConverterTestbench::new(TEST_COMPONENT_ID_0.id(), ModeRequestConverter::default());
|
||||
let sp_header = SpHeader::new_for_unseg_tc(TEST_APID, 0, 0);
|
||||
let sec_header = PusTcSecondaryHeader::new_simple(200, Subservice::TcReadMode as u8);
|
||||
let mut app_data: [u8; 4] = [0; 4];
|
||||
app_data[0..4].copy_from_slice(&TEST_UNIQUE_ID_0.to_be_bytes());
|
||||
let tc = PusTcCreator::new(sp_header, sec_header, &app_data, true);
|
||||
let token = testbench.add_tc(&tc);
|
||||
let (_active_req, req) = testbench
|
||||
.convert(token, &[], TEST_APID, TEST_UNIQUE_ID_0)
|
||||
.expect("conversion has failed");
|
||||
assert_eq!(req, ModeRequest::ReadMode);
|
||||
}
|
||||
|
||||
#[test]
|
||||
fn mode_converter_set_mode_request() {
|
||||
let mut testbench =
|
||||
PusConverterTestbench::new(TEST_COMPONENT_ID_0.id(), ModeRequestConverter::default());
|
||||
let sp_header = SpHeader::new_for_unseg_tc(TEST_APID, 0, 0);
|
||||
let sec_header = PusTcSecondaryHeader::new_simple(200, Subservice::TcSetMode as u8);
|
||||
let mut app_data: [u8; 4 + ModeAndSubmode::RAW_LEN] = [0; 4 + ModeAndSubmode::RAW_LEN];
|
||||
let mode_and_submode = ModeAndSubmode::new(2, 1);
|
||||
app_data[0..4].copy_from_slice(&TEST_UNIQUE_ID_0.to_be_bytes());
|
||||
mode_and_submode
|
||||
.write_to_be_bytes(&mut app_data[4..])
|
||||
.unwrap();
|
||||
let tc = PusTcCreator::new(sp_header, sec_header, &app_data, true);
|
||||
let token = testbench.add_tc(&tc);
|
||||
let (_active_req, req) = testbench
|
||||
.convert(token, &[], TEST_APID, TEST_UNIQUE_ID_0)
|
||||
.expect("conversion has failed");
|
||||
assert_eq!(req, ModeRequest::SetMode(mode_and_submode));
|
||||
}
|
||||
|
||||
#[test]
|
||||
fn mode_converter_announce_mode() {
|
||||
let mut testbench =
|
||||
PusConverterTestbench::new(TEST_COMPONENT_ID_0.id(), ModeRequestConverter::default());
|
||||
let sp_header = SpHeader::new_for_unseg_tc(TEST_APID, 0, 0);
|
||||
let sec_header = PusTcSecondaryHeader::new_simple(200, Subservice::TcAnnounceMode as u8);
|
||||
let mut app_data: [u8; 4] = [0; 4];
|
||||
app_data[0..4].copy_from_slice(&TEST_UNIQUE_ID_0.to_be_bytes());
|
||||
let tc = PusTcCreator::new(sp_header, sec_header, &app_data, true);
|
||||
let token = testbench.add_tc(&tc);
|
||||
let (_active_req, req) = testbench
|
||||
.convert(token, &[], TEST_APID, TEST_UNIQUE_ID_0)
|
||||
.expect("conversion has failed");
|
||||
assert_eq!(req, ModeRequest::AnnounceMode);
|
||||
}
|
||||
|
||||
#[test]
|
||||
fn mode_converter_announce_mode_recursively() {
|
||||
let mut testbench =
|
||||
PusConverterTestbench::new(TEST_COMPONENT_ID_0.id(), ModeRequestConverter::default());
|
||||
let sp_header = SpHeader::new_for_unseg_tc(TEST_APID, 0, 0);
|
||||
let sec_header =
|
||||
PusTcSecondaryHeader::new_simple(200, Subservice::TcAnnounceModeRecursive as u8);
|
||||
let mut app_data: [u8; 4] = [0; 4];
|
||||
app_data[0..4].copy_from_slice(&TEST_UNIQUE_ID_0.to_be_bytes());
|
||||
let tc = PusTcCreator::new(sp_header, sec_header, &app_data, true);
|
||||
let token = testbench.add_tc(&tc);
|
||||
let (_active_req, req) = testbench
|
||||
.convert(token, &[], TEST_APID, TEST_UNIQUE_ID_0)
|
||||
.expect("conversion has failed");
|
||||
assert_eq!(req, ModeRequest::AnnounceModeRecursive);
|
||||
}
|
||||
|
||||
#[test]
|
||||
fn reply_handling_unrequested_reply() {
|
||||
let mut testbench = ReplyHandlerTestbench::new(
|
||||
TEST_COMPONENT_ID_0.id(),
|
||||
ModeReplyHandler::new(TEST_COMPONENT_ID_0.id()),
|
||||
);
|
||||
let mode_reply = ModeReply::ModeReply(ModeAndSubmode::new(5, 1));
|
||||
let unrequested_reply =
|
||||
GenericMessage::new(MessageMetadata::new(10_u32, 15_u64), mode_reply);
|
||||
// Right now this function does not do a lot. We simply check that it does not panic or do
|
||||
// weird stuff.
|
||||
let result = testbench.handle_unrequested_reply(&unrequested_reply);
|
||||
assert!(result.is_ok());
|
||||
}
|
||||
|
||||
#[test]
|
||||
fn reply_handling_reply_timeout() {
|
||||
let mut testbench = ReplyHandlerTestbench::new(
|
||||
TEST_COMPONENT_ID_0.id(),
|
||||
ModeReplyHandler::new(TEST_COMPONENT_ID_0.id()),
|
||||
);
|
||||
let (req_id, active_request) = testbench.add_tc(TEST_APID, TEST_UNIQUE_ID_0, &[]);
|
||||
let result = testbench.handle_request_timeout(&active_request, &[]);
|
||||
assert!(result.is_ok());
|
||||
testbench.verif_reporter.assert_completion_failure(
|
||||
TEST_COMPONENT_ID_0.raw(),
|
||||
req_id,
|
||||
None,
|
||||
tmtc_err::REQUEST_TIMEOUT.raw() as u64,
|
||||
);
|
||||
}
|
||||
}
|
|
@ -1,68 +1,146 @@
|
|||
use std::sync::mpsc;
|
||||
use std::time::Duration;
|
||||
|
||||
use log::{error, info, warn};
|
||||
use satrs::pool::{PoolProvider, StaticMemoryPool, StoreAddr};
|
||||
use crate::pus::create_verification_reporter;
|
||||
use log::info;
|
||||
use satrs::pool::{PoolProvider, StaticMemoryPool};
|
||||
use satrs::pus::scheduler::{PusScheduler, TcInfo};
|
||||
use satrs::pus::scheduler_srv::PusService11SchedHandler;
|
||||
use satrs::pus::verification::VerificationReporterWithSender;
|
||||
use satrs::pus::scheduler_srv::PusSchedServiceHandler;
|
||||
use satrs::pus::verification::VerificationReporter;
|
||||
use satrs::pus::{
|
||||
EcssTcAndToken, EcssTcInMemConverter, EcssTcInSharedStoreConverter, EcssTcInVecConverter,
|
||||
MpscTcReceiver, MpscTmAsVecSender, MpscTmInSharedPoolSender, PusPacketHandlerResult,
|
||||
PusServiceHelper,
|
||||
DirectPusPacketHandlerResult, EcssTcAndToken, EcssTcInMemConverter,
|
||||
EcssTcInSharedStoreConverter, EcssTcInVecConverter, EcssTmSender, MpscTcReceiver,
|
||||
MpscTmAsVecSender, PartialPusHandlingError, PusServiceHelper,
|
||||
};
|
||||
use satrs::tmtc::tm_helper::SharedTmPool;
|
||||
use satrs::ChannelId;
|
||||
use satrs_example::config::{TcReceiverId, TmSenderId, PUS_APID};
|
||||
use satrs::spacepackets::ecss::PusServiceId;
|
||||
use satrs::tmtc::{PacketAsVec, PacketInPool, PacketSenderWithSharedPool};
|
||||
use satrs::ComponentId;
|
||||
use satrs_example::config::components::PUS_SCHED_SERVICE;
|
||||
|
||||
use crate::tmtc::PusTcSourceProviderSharedPool;
|
||||
use super::{DirectPusService, HandlingStatus};
|
||||
|
||||
pub trait TcReleaser {
|
||||
fn release(&mut self, enabled: bool, info: &TcInfo, tc: &[u8]) -> bool;
|
||||
fn release(&mut self, sender_id: ComponentId, enabled: bool, info: &TcInfo, tc: &[u8]) -> bool;
|
||||
}
|
||||
|
||||
impl TcReleaser for PusTcSourceProviderSharedPool {
|
||||
fn release(&mut self, enabled: bool, _info: &TcInfo, tc: &[u8]) -> bool {
|
||||
impl TcReleaser for PacketSenderWithSharedPool {
|
||||
fn release(
|
||||
&mut self,
|
||||
sender_id: ComponentId,
|
||||
enabled: bool,
|
||||
_info: &TcInfo,
|
||||
tc: &[u8],
|
||||
) -> bool {
|
||||
if enabled {
|
||||
let shared_pool = self.shared_pool.get_mut();
|
||||
// Transfer TC from scheduler TC pool to shared TC pool.
|
||||
let released_tc_addr = self
|
||||
.shared_pool
|
||||
.pool
|
||||
let released_tc_addr = shared_pool
|
||||
.0
|
||||
.write()
|
||||
.expect("locking pool failed")
|
||||
.add(tc)
|
||||
.expect("adding TC to shared pool failed");
|
||||
self.tc_source
|
||||
.send(released_tc_addr)
|
||||
self.sender
|
||||
.send(PacketInPool::new(sender_id, 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 {
|
||||
impl TcReleaser for mpsc::Sender<PacketAsVec> {
|
||||
fn release(
|
||||
&mut self,
|
||||
sender_id: ComponentId,
|
||||
enabled: bool,
|
||||
_info: &TcInfo,
|
||||
tc: &[u8],
|
||||
) -> bool {
|
||||
if enabled {
|
||||
// Send released TC to centralized TC source.
|
||||
self.send(tc.to_vec())
|
||||
self.send(PacketAsVec::new(sender_id, tc.to_vec()))
|
||||
.expect("sending TC to TC source failed");
|
||||
}
|
||||
true
|
||||
}
|
||||
}
|
||||
|
||||
pub struct Pus11Wrapper<TcInMemConverter: EcssTcInMemConverter> {
|
||||
pub pus_11_handler:
|
||||
PusService11SchedHandler<TcInMemConverter, VerificationReporterWithSender, PusScheduler>,
|
||||
pub struct SchedulingServiceWrapper<TmSender: EcssTmSender, TcInMemConverter: EcssTcInMemConverter>
|
||||
{
|
||||
pub pus_11_handler: PusSchedServiceHandler<
|
||||
MpscTcReceiver,
|
||||
TmSender,
|
||||
TcInMemConverter,
|
||||
VerificationReporter,
|
||||
PusScheduler,
|
||||
>,
|
||||
pub sched_tc_pool: StaticMemoryPool,
|
||||
pub releaser_buf: [u8; 4096],
|
||||
pub tc_releaser: Box<dyn TcReleaser + Send>,
|
||||
}
|
||||
|
||||
impl<TcInMemConverter: EcssTcInMemConverter> Pus11Wrapper<TcInMemConverter> {
|
||||
impl<TmSender: EcssTmSender, TcInMemConverter: EcssTcInMemConverter> DirectPusService
|
||||
for SchedulingServiceWrapper<TmSender, TcInMemConverter>
|
||||
{
|
||||
const SERVICE_ID: u8 = PusServiceId::Verification as u8;
|
||||
|
||||
const SERVICE_STR: &'static str = "verification";
|
||||
|
||||
fn poll_and_handle_next_tc(&mut self, time_stamp: &[u8]) -> HandlingStatus {
|
||||
let error_handler = |partial_error: &PartialPusHandlingError| {
|
||||
log::warn!(
|
||||
"PUS {}({}) partial error: {:?}",
|
||||
Self::SERVICE_ID,
|
||||
Self::SERVICE_STR,
|
||||
partial_error
|
||||
);
|
||||
};
|
||||
|
||||
let result = self.pus_11_handler.poll_and_handle_next_tc(
|
||||
error_handler,
|
||||
time_stamp,
|
||||
&mut self.sched_tc_pool,
|
||||
);
|
||||
if let Err(e) = result {
|
||||
log::warn!(
|
||||
"PUS {}({}) error: {:?}",
|
||||
Self::SERVICE_ID,
|
||||
Self::SERVICE_STR,
|
||||
e
|
||||
);
|
||||
// To avoid permanent loops on continuous errors.
|
||||
return HandlingStatus::Empty;
|
||||
}
|
||||
match result.unwrap() {
|
||||
DirectPusPacketHandlerResult::Handled(handling_status) => return handling_status,
|
||||
DirectPusPacketHandlerResult::CustomSubservice(subservice, _) => {
|
||||
log::warn!(
|
||||
"PUS {}({}) subservice {} not implemented",
|
||||
Self::SERVICE_ID,
|
||||
Self::SERVICE_STR,
|
||||
subservice
|
||||
);
|
||||
}
|
||||
DirectPusPacketHandlerResult::SubserviceNotImplemented(subservice, _) => {
|
||||
log::warn!(
|
||||
"PUS {}({}) subservice {} not implemented",
|
||||
Self::SERVICE_ID,
|
||||
Self::SERVICE_STR,
|
||||
subservice
|
||||
);
|
||||
}
|
||||
}
|
||||
HandlingStatus::HandledOne
|
||||
}
|
||||
}
|
||||
|
||||
impl<TmSender: EcssTmSender, TcInMemConverter: EcssTcInMemConverter>
|
||||
SchedulingServiceWrapper<TmSender, TcInMemConverter>
|
||||
{
|
||||
pub fn release_tcs(&mut self) {
|
||||
let id = self.pus_11_handler.service_helper.id();
|
||||
let releaser = |enabled: bool, info: &TcInfo, tc: &[u8]| -> bool {
|
||||
self.tc_releaser.release(enabled, info, tc)
|
||||
self.tc_releaser.release(id, enabled, info, tc)
|
||||
};
|
||||
|
||||
self.pus_11_handler
|
||||
|
@ -82,64 +160,27 @@ impl<TcInMemConverter: EcssTcInMemConverter> Pus11Wrapper<TcInMemConverter> {
|
|||
info!("{released_tcs} TC(s) released from scheduler");
|
||||
}
|
||||
}
|
||||
|
||||
pub fn handle_next_packet(&mut self) -> bool {
|
||||
match self.pus_11_handler.handle_one_tc(&mut self.sched_tc_pool) {
|
||||
Ok(result) => match result {
|
||||
PusPacketHandlerResult::RequestHandled => {}
|
||||
PusPacketHandlerResult::RequestHandledPartialSuccess(e) => {
|
||||
warn!("PUS11 partial packet handling success: {e:?}")
|
||||
}
|
||||
PusPacketHandlerResult::CustomSubservice(invalid, _) => {
|
||||
warn!("PUS11 invalid subservice {invalid}");
|
||||
}
|
||||
PusPacketHandlerResult::SubserviceNotImplemented(subservice, _) => {
|
||||
warn!("PUS11: Subservice {subservice} not implemented");
|
||||
}
|
||||
PusPacketHandlerResult::Empty => {
|
||||
return true;
|
||||
}
|
||||
},
|
||||
Err(error) => {
|
||||
error!("PUS packet handling error: {error:?}")
|
||||
}
|
||||
}
|
||||
false
|
||||
}
|
||||
}
|
||||
|
||||
pub fn create_scheduler_service_static(
|
||||
shared_tm_store: SharedTmPool,
|
||||
tm_funnel_tx: mpsc::Sender<StoreAddr>,
|
||||
verif_reporter: VerificationReporterWithSender,
|
||||
tc_releaser: PusTcSourceProviderSharedPool,
|
||||
tm_sender: PacketSenderWithSharedPool,
|
||||
tc_releaser: PacketSenderWithSharedPool,
|
||||
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,
|
||||
);
|
||||
) -> SchedulingServiceWrapper<PacketSenderWithSharedPool, EcssTcInSharedStoreConverter> {
|
||||
let scheduler = PusScheduler::new_with_current_init_time(Duration::from_secs(5))
|
||||
.expect("Creating PUS Scheduler failed");
|
||||
let pus_11_handler = PusService11SchedHandler::new(
|
||||
let pus_11_handler = PusSchedServiceHandler::new(
|
||||
PusServiceHelper::new(
|
||||
Box::new(sched_srv_receiver),
|
||||
Box::new(sched_srv_tm_sender),
|
||||
PUS_APID,
|
||||
verif_reporter.clone(),
|
||||
EcssTcInSharedStoreConverter::new(tc_releaser.clone_backing_pool(), 2048),
|
||||
PUS_SCHED_SERVICE.id(),
|
||||
pus_sched_rx,
|
||||
tm_sender,
|
||||
create_verification_reporter(PUS_SCHED_SERVICE.id(), PUS_SCHED_SERVICE.apid),
|
||||
EcssTcInSharedStoreConverter::new(tc_releaser.shared_packet_store().0.clone(), 2048),
|
||||
),
|
||||
scheduler,
|
||||
);
|
||||
Pus11Wrapper {
|
||||
SchedulingServiceWrapper {
|
||||
pus_11_handler,
|
||||
sched_tc_pool,
|
||||
releaser_buf: [0; 4096],
|
||||
|
@ -148,35 +189,26 @@ pub fn create_scheduler_service_static(
|
|||
}
|
||||
|
||||
pub fn create_scheduler_service_dynamic(
|
||||
tm_funnel_tx: mpsc::Sender<Vec<u8>>,
|
||||
verif_reporter: VerificationReporterWithSender,
|
||||
tc_source_sender: mpsc::Sender<Vec<u8>>,
|
||||
tm_funnel_tx: mpsc::Sender<PacketAsVec>,
|
||||
tc_source_sender: mpsc::Sender<PacketAsVec>,
|
||||
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,
|
||||
);
|
||||
) -> SchedulingServiceWrapper<MpscTmAsVecSender, EcssTcInVecConverter> {
|
||||
//let sched_srv_receiver =
|
||||
//MpscTcReceiver::new(PUS_SCHED_SERVICE.raw(), "PUS_11_TC_RECV", pus_sched_rx);
|
||||
let scheduler = PusScheduler::new_with_current_init_time(Duration::from_secs(5))
|
||||
.expect("Creating PUS Scheduler failed");
|
||||
let pus_11_handler = PusService11SchedHandler::new(
|
||||
let pus_11_handler = PusSchedServiceHandler::new(
|
||||
PusServiceHelper::new(
|
||||
Box::new(sched_srv_receiver),
|
||||
Box::new(sched_srv_tm_sender),
|
||||
PUS_APID,
|
||||
verif_reporter.clone(),
|
||||
PUS_SCHED_SERVICE.id(),
|
||||
pus_sched_rx,
|
||||
tm_funnel_tx,
|
||||
create_verification_reporter(PUS_SCHED_SERVICE.id(), PUS_SCHED_SERVICE.apid),
|
||||
EcssTcInVecConverter::default(),
|
||||
),
|
||||
scheduler,
|
||||
);
|
||||
Pus11Wrapper {
|
||||
SchedulingServiceWrapper {
|
||||
pus_11_handler,
|
||||
sched_tc_pool,
|
||||
releaser_buf: [0; 4096],
|
||||
|
|
|
@ -1,52 +1,95 @@
|
|||
use satrs::pus::EcssTcInMemConverter;
|
||||
|
||||
use super::{
|
||||
action::Pus8Wrapper, event::Pus5Wrapper, hk::Pus3Wrapper, scheduler::Pus11Wrapper,
|
||||
test::Service17CustomWrapper,
|
||||
use crate::pus::mode::ModeServiceWrapper;
|
||||
use derive_new::new;
|
||||
use satrs::{
|
||||
pus::{EcssTcInMemConverter, EcssTmSender},
|
||||
spacepackets::time::{cds, TimeWriter},
|
||||
};
|
||||
|
||||
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>,
|
||||
use super::{
|
||||
action::ActionServiceWrapper, event::EventServiceWrapper, hk::HkServiceWrapper,
|
||||
scheduler::SchedulingServiceWrapper, test::TestCustomServiceWrapper, DirectPusService,
|
||||
HandlingStatus, TargetedPusService,
|
||||
};
|
||||
|
||||
// TODO: For better extensibility, we could create 2 vectors: One for direct PUS services and one
|
||||
// for targeted services..
|
||||
#[derive(new)]
|
||||
pub struct PusStack<TmSender: EcssTmSender, TcInMemConverter: EcssTcInMemConverter> {
|
||||
test_srv: TestCustomServiceWrapper<TmSender, TcInMemConverter>,
|
||||
hk_srv_wrapper: HkServiceWrapper<TmSender, TcInMemConverter>,
|
||||
event_srv: EventServiceWrapper<TmSender, TcInMemConverter>,
|
||||
action_srv_wrapper: ActionServiceWrapper<TmSender, TcInMemConverter>,
|
||||
schedule_srv: SchedulingServiceWrapper<TmSender, TcInMemConverter>,
|
||||
mode_srv: ModeServiceWrapper<TmSender, TcInMemConverter>,
|
||||
}
|
||||
|
||||
impl<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,
|
||||
}
|
||||
}
|
||||
|
||||
impl<TmSender: EcssTmSender, TcInMemConverter: EcssTcInMemConverter>
|
||||
PusStack<TmSender, TcInMemConverter>
|
||||
{
|
||||
pub fn periodic_operation(&mut self) {
|
||||
// Release all telecommands which reached their release time before calling the service
|
||||
// handlers.
|
||||
self.schedule_srv.release_tcs();
|
||||
let timestamp = cds::CdsTime::now_with_u16_days()
|
||||
.expect("time stamp generation error")
|
||||
.to_vec()
|
||||
.unwrap();
|
||||
let mut loop_count = 0_u32;
|
||||
// Hot loop which will run continuously until all request and reply handling is done.
|
||||
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 {
|
||||
let mut nothing_to_do = true;
|
||||
Self::direct_service_checker(&mut self.test_srv, ×tamp, &mut nothing_to_do);
|
||||
Self::direct_service_checker(&mut self.schedule_srv, ×tamp, &mut nothing_to_do);
|
||||
Self::direct_service_checker(&mut self.event_srv, ×tamp, &mut nothing_to_do);
|
||||
Self::targeted_service_checker(
|
||||
&mut self.action_srv_wrapper,
|
||||
×tamp,
|
||||
&mut nothing_to_do,
|
||||
);
|
||||
Self::targeted_service_checker(
|
||||
&mut self.hk_srv_wrapper,
|
||||
×tamp,
|
||||
&mut nothing_to_do,
|
||||
);
|
||||
Self::targeted_service_checker(&mut self.mode_srv, ×tamp, &mut nothing_to_do);
|
||||
if nothing_to_do {
|
||||
// Timeout checking is only done once.
|
||||
self.action_srv_wrapper.check_for_request_timeouts();
|
||||
self.hk_srv_wrapper.check_for_request_timeouts();
|
||||
self.mode_srv.check_for_request_timeouts();
|
||||
break;
|
||||
}
|
||||
// Safety mechanism to avoid infinite loops.
|
||||
loop_count += 1;
|
||||
if loop_count >= 500 {
|
||||
log::warn!("reached PUS stack loop count 500, breaking");
|
||||
break;
|
||||
}
|
||||
}
|
||||
}
|
||||
|
||||
pub fn direct_service_checker<S: DirectPusService>(
|
||||
service: &mut S,
|
||||
timestamp: &[u8],
|
||||
nothing_to_do: &mut bool,
|
||||
) {
|
||||
let handling_status = service.poll_and_handle_next_tc(timestamp);
|
||||
if handling_status == HandlingStatus::HandledOne {
|
||||
*nothing_to_do = false;
|
||||
}
|
||||
}
|
||||
|
||||
pub fn targeted_service_checker<S: TargetedPusService>(
|
||||
service: &mut S,
|
||||
timestamp: &[u8],
|
||||
nothing_to_do: &mut bool,
|
||||
) {
|
||||
let request_handling = service.poll_and_handle_next_tc_default_handler(timestamp);
|
||||
let reply_handling = service.poll_and_handle_next_reply_default_handler(timestamp);
|
||||
if request_handling == HandlingStatus::HandledOne
|
||||
|| reply_handling == HandlingStatus::HandledOne
|
||||
{
|
||||
*nothing_to_do = false;
|
||||
}
|
||||
}
|
||||
}
|
||||
|
|
|
@ -1,150 +1,158 @@
|
|||
use log::{info, warn};
|
||||
use satrs::params::Params;
|
||||
use satrs::pool::{SharedStaticMemoryPool, StoreAddr};
|
||||
use crate::pus::create_verification_reporter;
|
||||
use log::info;
|
||||
use satrs::event_man::{EventMessage, EventMessageU32};
|
||||
use satrs::pool::SharedStaticMemoryPool;
|
||||
use satrs::pus::test::PusService17TestHandler;
|
||||
use satrs::pus::verification::{
|
||||
FailParams, VerificationReporterWithSender, VerificationReportingProvider,
|
||||
};
|
||||
use satrs::pus::verification::{FailParams, VerificationReporter, VerificationReportingProvider};
|
||||
use satrs::pus::{
|
||||
EcssTcAndToken, EcssTcInMemConverter, EcssTcInVecConverter, MpscTcReceiver, MpscTmAsVecSender,
|
||||
MpscTmInSharedPoolSender, PusPacketHandlerResult, PusServiceHelper,
|
||||
DirectPusPacketHandlerResult, EcssTcAndToken, EcssTcInMemConverter, EcssTcInVecConverter,
|
||||
EcssTmSender, MpscTcReceiver, MpscTmAsVecSender, PusServiceHelper,
|
||||
};
|
||||
use satrs::pus::{EcssTcInSharedStoreConverter, PartialPusHandlingError};
|
||||
use satrs::spacepackets::ecss::tc::PusTcReader;
|
||||
use satrs::spacepackets::ecss::PusPacket;
|
||||
use satrs::spacepackets::time::cds::TimeProvider;
|
||||
use satrs::spacepackets::time::TimeWriter;
|
||||
use satrs::tmtc::tm_helper::SharedTmPool;
|
||||
use satrs::ChannelId;
|
||||
use satrs::{events::EventU32, pus::EcssTcInSharedStoreConverter};
|
||||
use satrs_example::config::{tmtc_err, TcReceiverId, TmSenderId, PUS_APID, TEST_EVENT};
|
||||
use std::sync::mpsc::{self, Sender};
|
||||
use satrs::spacepackets::ecss::{PusPacket, PusServiceId};
|
||||
use satrs::tmtc::{PacketAsVec, PacketSenderWithSharedPool};
|
||||
use satrs_example::config::components::PUS_TEST_SERVICE;
|
||||
use satrs_example::config::{tmtc_err, TEST_EVENT};
|
||||
use std::sync::mpsc;
|
||||
|
||||
use super::{DirectPusService, HandlingStatus};
|
||||
|
||||
pub fn create_test_service_static(
|
||||
shared_tm_store: SharedTmPool,
|
||||
tm_funnel_tx: mpsc::Sender<StoreAddr>,
|
||||
verif_reporter: VerificationReporterWithSender,
|
||||
tm_sender: PacketSenderWithSharedPool,
|
||||
tc_pool: SharedStaticMemoryPool,
|
||||
event_sender: mpsc::Sender<(EventU32, Option<Params>)>,
|
||||
event_sender: mpsc::SyncSender<EventMessageU32>,
|
||||
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,
|
||||
);
|
||||
) -> TestCustomServiceWrapper<PacketSenderWithSharedPool, EcssTcInSharedStoreConverter> {
|
||||
let pus17_handler = PusService17TestHandler::new(PusServiceHelper::new(
|
||||
Box::new(test_srv_receiver),
|
||||
Box::new(test_srv_tm_sender),
|
||||
PUS_APID,
|
||||
verif_reporter.clone(),
|
||||
PUS_TEST_SERVICE.id(),
|
||||
pus_test_rx,
|
||||
tm_sender,
|
||||
create_verification_reporter(PUS_TEST_SERVICE.id(), PUS_TEST_SERVICE.apid),
|
||||
EcssTcInSharedStoreConverter::new(tc_pool, 2048),
|
||||
));
|
||||
Service17CustomWrapper {
|
||||
pus17_handler,
|
||||
test_srv_event_sender: event_sender,
|
||||
TestCustomServiceWrapper {
|
||||
handler: pus17_handler,
|
||||
event_tx: 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>)>,
|
||||
tm_funnel_tx: mpsc::Sender<PacketAsVec>,
|
||||
event_sender: mpsc::SyncSender<EventMessageU32>,
|
||||
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,
|
||||
);
|
||||
) -> TestCustomServiceWrapper<MpscTmAsVecSender, EcssTcInVecConverter> {
|
||||
let pus17_handler = PusService17TestHandler::new(PusServiceHelper::new(
|
||||
Box::new(test_srv_receiver),
|
||||
Box::new(test_srv_tm_sender),
|
||||
PUS_APID,
|
||||
verif_reporter.clone(),
|
||||
PUS_TEST_SERVICE.id(),
|
||||
pus_test_rx,
|
||||
tm_funnel_tx,
|
||||
create_verification_reporter(PUS_TEST_SERVICE.id(), PUS_TEST_SERVICE.apid),
|
||||
EcssTcInVecConverter::default(),
|
||||
));
|
||||
Service17CustomWrapper {
|
||||
pus17_handler,
|
||||
test_srv_event_sender: event_sender,
|
||||
TestCustomServiceWrapper {
|
||||
handler: pus17_handler,
|
||||
event_tx: event_sender,
|
||||
}
|
||||
}
|
||||
|
||||
pub struct Service17CustomWrapper<TcInMemConverter: EcssTcInMemConverter> {
|
||||
pub pus17_handler: PusService17TestHandler<TcInMemConverter, VerificationReporterWithSender>,
|
||||
pub test_srv_event_sender: Sender<(EventU32, Option<Params>)>,
|
||||
pub struct TestCustomServiceWrapper<TmSender: EcssTmSender, TcInMemConverter: EcssTcInMemConverter>
|
||||
{
|
||||
pub handler:
|
||||
PusService17TestHandler<MpscTcReceiver, TmSender, TcInMemConverter, VerificationReporter>,
|
||||
pub event_tx: mpsc::SyncSender<EventMessageU32>,
|
||||
}
|
||||
|
||||
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() {
|
||||
warn!("PUS17 handler failed with error {:?}", res.unwrap_err());
|
||||
return true;
|
||||
impl<TmSender: EcssTmSender, TcInMemConverter: EcssTcInMemConverter> DirectPusService
|
||||
for TestCustomServiceWrapper<TmSender, TcInMemConverter>
|
||||
{
|
||||
const SERVICE_ID: u8 = PusServiceId::Test as u8;
|
||||
|
||||
const SERVICE_STR: &'static str = "test";
|
||||
|
||||
fn poll_and_handle_next_tc(&mut self, timestamp: &[u8]) -> HandlingStatus {
|
||||
let error_handler = |partial_error: &PartialPusHandlingError| {
|
||||
log::warn!(
|
||||
"PUS {}({}) partial error: {:?}",
|
||||
Self::SERVICE_ID,
|
||||
Self::SERVICE_STR,
|
||||
partial_error
|
||||
);
|
||||
};
|
||||
let res = self
|
||||
.handler
|
||||
.poll_and_handle_next_tc(error_handler, timestamp);
|
||||
if let Err(e) = res {
|
||||
log::warn!(
|
||||
"PUS {}({}) error: {:?}",
|
||||
Self::SERVICE_ID,
|
||||
Self::SERVICE_STR,
|
||||
e
|
||||
);
|
||||
// To avoid permanent loops on continuous errors.
|
||||
return HandlingStatus::Empty;
|
||||
}
|
||||
match res.unwrap() {
|
||||
PusPacketHandlerResult::RequestHandled => {
|
||||
info!("Received PUS ping command TC[17,1]");
|
||||
info!("Sent ping reply PUS TM[17,2]");
|
||||
DirectPusPacketHandlerResult::Handled(handling_status) => {
|
||||
if handling_status == HandlingStatus::HandledOne {
|
||||
info!("Received PUS ping command TC[17,1]");
|
||||
info!("Sent ping reply PUS TM[17,2]");
|
||||
}
|
||||
return handling_status;
|
||||
}
|
||||
PusPacketHandlerResult::RequestHandledPartialSuccess(partial_err) => {
|
||||
warn!(
|
||||
"Handled PUS ping command with partial success: {:?}",
|
||||
partial_err
|
||||
DirectPusPacketHandlerResult::SubserviceNotImplemented(subservice, _) => {
|
||||
log::warn!(
|
||||
"PUS {}({}) subservice {} not implemented",
|
||||
Self::SERVICE_ID,
|
||||
Self::SERVICE_STR,
|
||||
subservice
|
||||
);
|
||||
}
|
||||
PusPacketHandlerResult::SubserviceNotImplemented(subservice, _) => {
|
||||
warn!("PUS17: Subservice {subservice} not implemented")
|
||||
}
|
||||
PusPacketHandlerResult::CustomSubservice(subservice, token) => {
|
||||
DirectPusPacketHandlerResult::CustomSubservice(subservice, token) => {
|
||||
let (tc, _) = PusTcReader::new(
|
||||
self.pus17_handler
|
||||
self.handler
|
||||
.service_helper
|
||||
.tc_in_mem_converter
|
||||
.tc_slice_raw(),
|
||||
)
|
||||
.unwrap();
|
||||
let time_stamper = TimeProvider::from_now_with_u16_days().unwrap();
|
||||
let mut stamp_buf: [u8; 7] = [0; 7];
|
||||
time_stamper.write_to_bytes(&mut stamp_buf).unwrap();
|
||||
if subservice == 128 {
|
||||
info!("Generating test event");
|
||||
self.test_srv_event_sender
|
||||
.send((TEST_EVENT.into(), None))
|
||||
info!("generating test event");
|
||||
self.event_tx
|
||||
.send(EventMessage::new(PUS_TEST_SERVICE.id(), TEST_EVENT.into()))
|
||||
.expect("Sending test event failed");
|
||||
let start_token = self
|
||||
.pus17_handler
|
||||
.service_helper
|
||||
.common
|
||||
.verification_handler
|
||||
.start_success(token, &stamp_buf)
|
||||
.expect("Error sending start success");
|
||||
self.pus17_handler
|
||||
.service_helper
|
||||
.common
|
||||
.verification_handler
|
||||
.completion_success(start_token, &stamp_buf)
|
||||
.expect("Error sending completion success");
|
||||
match self.handler.service_helper.verif_reporter().start_success(
|
||||
self.handler.service_helper.tm_sender(),
|
||||
token,
|
||||
timestamp,
|
||||
) {
|
||||
Ok(started_token) => {
|
||||
if let Err(e) = self
|
||||
.handler
|
||||
.service_helper
|
||||
.verif_reporter()
|
||||
.completion_success(
|
||||
self.handler.service_helper.tm_sender(),
|
||||
started_token,
|
||||
timestamp,
|
||||
)
|
||||
{
|
||||
error_handler(&PartialPusHandlingError::Verification(e));
|
||||
}
|
||||
}
|
||||
Err(e) => {
|
||||
error_handler(&PartialPusHandlingError::Verification(e));
|
||||
}
|
||||
}
|
||||
} else {
|
||||
let fail_data = [tc.subservice()];
|
||||
self.pus17_handler
|
||||
self.handler
|
||||
.service_helper
|
||||
.common
|
||||
.verification_handler
|
||||
.verif_reporter()
|
||||
.start_failure(
|
||||
self.handler.service_helper.tm_sender(),
|
||||
token,
|
||||
FailParams::new(
|
||||
&stamp_buf,
|
||||
timestamp,
|
||||
&tmtc_err::INVALID_PUS_SUBSERVICE,
|
||||
&fail_data,
|
||||
),
|
||||
|
@ -152,10 +160,7 @@ impl<TcInMemConverter: EcssTcInMemConverter> Service17CustomWrapper<TcInMemConve
|
|||
.expect("Sending start failure verification failed");
|
||||
}
|
||||
}
|
||||
PusPacketHandlerResult::Empty => {
|
||||
return true;
|
||||
}
|
||||
}
|
||||
false
|
||||
HandlingStatus::HandledOne
|
||||
}
|
||||
}
|
||||
|
|
|
@ -1,45 +0,0 @@
|
|||
/// Generic error type for sending something via a message queue.
|
||||
#[derive(Debug, Copy, Clone)]
|
||||
pub enum GenericSendError {
|
||||
RxDisconnected,
|
||||
QueueFull(Option<u32>),
|
||||
}
|
||||
|
||||
impl Display for GenericSendError {
|
||||
fn fmt(&self, f: &mut Formatter<'_>) -> core::fmt::Result {
|
||||
match self {
|
||||
GenericSendError::RxDisconnected => {
|
||||
write!(f, "rx side has disconnected")
|
||||
}
|
||||
GenericSendError::QueueFull(max_cap) => {
|
||||
write!(f, "queue with max capacity of {max_cap:?} is full")
|
||||
}
|
||||
}
|
||||
}
|
||||
}
|
||||
|
||||
#[cfg(feature = "std")]
|
||||
impl Error for GenericSendError {}
|
||||
|
||||
/// Generic error type for sending something via a message queue.
|
||||
#[derive(Debug, Copy, Clone)]
|
||||
pub enum GenericRecvError {
|
||||
Empty,
|
||||
TxDisconnected,
|
||||
}
|
||||
|
||||
impl Display for GenericRecvError {
|
||||
fn fmt(&self, f: &mut Formatter<'_>) -> core::fmt::Result {
|
||||
match self {
|
||||
Self::TxDisconnected => {
|
||||
write!(f, "tx side has disconnected")
|
||||
}
|
||||
Self::Empty => {
|
||||
write!(f, "nothing to receive")
|
||||
}
|
||||
}
|
||||
}
|
||||
}
|
||||
|
||||
#[cfg(feature = "std")]
|
||||
impl Error for GenericRecvError {}
|
|
@ -1,94 +1,152 @@
|
|||
use std::collections::HashMap;
|
||||
use std::sync::mpsc;
|
||||
|
||||
use derive_new::new;
|
||||
use log::warn;
|
||||
use satrs::action::ActionRequest;
|
||||
use satrs::hk::HkRequest;
|
||||
use satrs::mode::ModeRequest;
|
||||
use satrs::pus::action::PusActionRequestRouter;
|
||||
use satrs::pus::hk::PusHkRequestRouter;
|
||||
use satrs::pus::verification::{TcStateAccepted, VerificationToken};
|
||||
use satrs::pus::GenericRoutingError;
|
||||
use satrs::pus::verification::{
|
||||
FailParams, TcStateAccepted, VerificationReportingProvider, VerificationToken,
|
||||
};
|
||||
use satrs::pus::{ActiveRequestProvider, EcssTmSender, GenericRoutingError, PusRequestRouter};
|
||||
use satrs::queue::GenericSendError;
|
||||
use satrs::TargetId;
|
||||
use satrs::request::{GenericMessage, MessageMetadata, UniqueApidTargetId};
|
||||
use satrs::spacepackets::ecss::tc::PusTcReader;
|
||||
use satrs::spacepackets::ecss::PusPacket;
|
||||
use satrs::ComponentId;
|
||||
use satrs_example::config::components::PUS_ROUTING_SERVICE;
|
||||
use satrs_example::config::tmtc_err;
|
||||
|
||||
#[allow(dead_code)]
|
||||
#[derive(Clone, Eq, PartialEq, Debug)]
|
||||
#[derive(Clone, Debug)]
|
||||
#[non_exhaustive]
|
||||
pub enum Request {
|
||||
pub enum CompositeRequest {
|
||||
Hk(HkRequest),
|
||||
Mode(ModeRequest),
|
||||
Action(ActionRequest),
|
||||
}
|
||||
|
||||
#[derive(Clone, Eq, PartialEq, Debug, new)]
|
||||
pub struct TargetedRequest {
|
||||
pub(crate) target_id: TargetId,
|
||||
pub(crate) request: Request,
|
||||
#[derive(Clone)]
|
||||
pub struct GenericRequestRouter {
|
||||
pub id: ComponentId,
|
||||
// All messages which do not have a dedicated queue.
|
||||
pub composite_router_map: HashMap<ComponentId, mpsc::Sender<GenericMessage<CompositeRequest>>>,
|
||||
pub mode_router_map: HashMap<ComponentId, mpsc::Sender<GenericMessage<ModeRequest>>>,
|
||||
}
|
||||
|
||||
#[derive(Clone, Eq, PartialEq, Debug)]
|
||||
pub struct RequestWithToken {
|
||||
pub(crate) targeted_request: TargetedRequest,
|
||||
pub(crate) token: VerificationToken<TcStateAccepted>,
|
||||
}
|
||||
|
||||
impl RequestWithToken {
|
||||
pub fn new(
|
||||
target_id: TargetId,
|
||||
request: Request,
|
||||
token: VerificationToken<TcStateAccepted>,
|
||||
) -> Self {
|
||||
impl Default for GenericRequestRouter {
|
||||
fn default() -> Self {
|
||||
Self {
|
||||
targeted_request: TargetedRequest::new(target_id, request),
|
||||
token,
|
||||
id: PUS_ROUTING_SERVICE.raw(),
|
||||
composite_router_map: Default::default(),
|
||||
mode_router_map: Default::default(),
|
||||
}
|
||||
}
|
||||
}
|
||||
|
||||
#[derive(Default, Clone)]
|
||||
pub struct GenericRequestRouter(pub HashMap<TargetId, mpsc::Sender<RequestWithToken>>);
|
||||
|
||||
impl PusHkRequestRouter for GenericRequestRouter {
|
||||
impl GenericRequestRouter {
|
||||
pub(crate) fn handle_error_generic(
|
||||
&self,
|
||||
active_request: &impl ActiveRequestProvider,
|
||||
tc: &PusTcReader,
|
||||
error: GenericRoutingError,
|
||||
tm_sender: &(impl EcssTmSender + ?Sized),
|
||||
verif_reporter: &impl VerificationReportingProvider,
|
||||
time_stamp: &[u8],
|
||||
) {
|
||||
warn!(
|
||||
"Routing request for service {} failed: {error:?}",
|
||||
tc.service()
|
||||
);
|
||||
let accepted_token: VerificationToken<TcStateAccepted> = active_request
|
||||
.token()
|
||||
.try_into()
|
||||
.expect("token is not in accepted state");
|
||||
match error {
|
||||
GenericRoutingError::UnknownTargetId(id) => {
|
||||
let apid_target_id = UniqueApidTargetId::from(id);
|
||||
warn!("Target APID for request: {}", apid_target_id.apid);
|
||||
warn!("Target Unique ID for request: {}", apid_target_id.unique_id);
|
||||
let mut fail_data: [u8; 8] = [0; 8];
|
||||
fail_data.copy_from_slice(&id.to_be_bytes());
|
||||
verif_reporter
|
||||
.completion_failure(
|
||||
tm_sender,
|
||||
accepted_token,
|
||||
FailParams::new(time_stamp, &tmtc_err::UNKNOWN_TARGET_ID, &fail_data),
|
||||
)
|
||||
.expect("Sending start failure failed");
|
||||
}
|
||||
GenericRoutingError::Send(_) => {
|
||||
let mut fail_data: [u8; 8] = [0; 8];
|
||||
fail_data.copy_from_slice(&active_request.target_id().to_be_bytes());
|
||||
verif_reporter
|
||||
.completion_failure(
|
||||
tm_sender,
|
||||
accepted_token,
|
||||
FailParams::new(time_stamp, &tmtc_err::ROUTING_ERROR, &fail_data),
|
||||
)
|
||||
.expect("Sending start failure failed");
|
||||
}
|
||||
}
|
||||
}
|
||||
}
|
||||
impl PusRequestRouter<HkRequest> for GenericRequestRouter {
|
||||
type Error = GenericRoutingError;
|
||||
|
||||
fn route(
|
||||
&self,
|
||||
target_id: TargetId,
|
||||
requestor_info: MessageMetadata,
|
||||
target_id: ComponentId,
|
||||
hk_request: HkRequest,
|
||||
token: VerificationToken<TcStateAccepted>,
|
||||
) -> Result<(), Self::Error> {
|
||||
if let Some(sender) = self.0.get(&target_id) {
|
||||
if let Some(sender) = self.composite_router_map.get(&target_id) {
|
||||
sender
|
||||
.send(RequestWithToken::new(
|
||||
target_id,
|
||||
Request::Hk(hk_request),
|
||||
token,
|
||||
.send(GenericMessage::new(
|
||||
requestor_info,
|
||||
CompositeRequest::Hk(hk_request),
|
||||
))
|
||||
.map_err(|_| GenericRoutingError::SendError(GenericSendError::RxDisconnected))?;
|
||||
.map_err(|_| GenericRoutingError::Send(GenericSendError::RxDisconnected))?;
|
||||
return Ok(());
|
||||
}
|
||||
Ok(())
|
||||
Err(GenericRoutingError::UnknownTargetId(target_id))
|
||||
}
|
||||
}
|
||||
|
||||
impl PusActionRequestRouter for GenericRequestRouter {
|
||||
impl PusRequestRouter<ActionRequest> for GenericRequestRouter {
|
||||
type Error = GenericRoutingError;
|
||||
|
||||
fn route(
|
||||
&self,
|
||||
target_id: TargetId,
|
||||
requestor_info: MessageMetadata,
|
||||
target_id: ComponentId,
|
||||
action_request: ActionRequest,
|
||||
token: VerificationToken<TcStateAccepted>,
|
||||
) -> Result<(), Self::Error> {
|
||||
if let Some(sender) = self.0.get(&target_id) {
|
||||
if let Some(sender) = self.composite_router_map.get(&target_id) {
|
||||
sender
|
||||
.send(RequestWithToken::new(
|
||||
target_id,
|
||||
Request::Action(action_request),
|
||||
token,
|
||||
.send(GenericMessage::new(
|
||||
requestor_info,
|
||||
CompositeRequest::Action(action_request),
|
||||
))
|
||||
.map_err(|_| GenericRoutingError::SendError(GenericSendError::RxDisconnected))?;
|
||||
.map_err(|_| GenericRoutingError::Send(GenericSendError::RxDisconnected))?;
|
||||
return Ok(());
|
||||
}
|
||||
Ok(())
|
||||
Err(GenericRoutingError::UnknownTargetId(target_id))
|
||||
}
|
||||
}
|
||||
|
||||
impl PusRequestRouter<ModeRequest> for GenericRequestRouter {
|
||||
type Error = GenericRoutingError;
|
||||
|
||||
fn route(
|
||||
&self,
|
||||
requestor_info: MessageMetadata,
|
||||
target_id: ComponentId,
|
||||
request: ModeRequest,
|
||||
) -> Result<(), Self::Error> {
|
||||
if let Some(sender) = self.mode_router_map.get(&target_id) {
|
||||
sender
|
||||
.send(GenericMessage::new(requestor_info, request))
|
||||
.map_err(|_| GenericRoutingError::Send(GenericSendError::RxDisconnected))?;
|
||||
return Ok(());
|
||||
}
|
||||
Err(GenericRoutingError::UnknownTargetId(target_id))
|
||||
}
|
||||
}
|
||||
|
|
|
@ -1,113 +0,0 @@
|
|||
use std::{
|
||||
collections::VecDeque,
|
||||
sync::{Arc, Mutex},
|
||||
};
|
||||
|
||||
use log::{info, warn};
|
||||
use satrs::{
|
||||
hal::std::tcp_server::{ServerConfig, TcpSpacepacketsServer},
|
||||
spacepackets::PacketId,
|
||||
tmtc::{CcsdsDistributor, CcsdsError, TmPacketSourceCore},
|
||||
};
|
||||
use satrs_example::config::PUS_APID;
|
||||
|
||||
pub const PACKET_ID_LOOKUP: &[PacketId] = &[PacketId::const_tc(true, PUS_APID)];
|
||||
|
||||
#[derive(Default, Clone)]
|
||||
pub struct SyncTcpTmSource {
|
||||
tm_queue: Arc<Mutex<VecDeque<Vec<u8>>>>,
|
||||
max_packets_stored: usize,
|
||||
pub silent_packet_overwrite: bool,
|
||||
}
|
||||
|
||||
impl SyncTcpTmSource {
|
||||
pub fn new(max_packets_stored: usize) -> Self {
|
||||
Self {
|
||||
tm_queue: Arc::default(),
|
||||
max_packets_stored,
|
||||
silent_packet_overwrite: true,
|
||||
}
|
||||
}
|
||||
|
||||
pub fn add_tm(&mut self, tm: &[u8]) {
|
||||
let mut tm_queue = self.tm_queue.lock().expect("locking tm queue failec");
|
||||
if tm_queue.len() > self.max_packets_stored {
|
||||
if !self.silent_packet_overwrite {
|
||||
warn!("TPC TM source is full, deleting oldest packet");
|
||||
}
|
||||
tm_queue.pop_front();
|
||||
}
|
||||
tm_queue.push_back(tm.to_vec());
|
||||
}
|
||||
}
|
||||
|
||||
impl TmPacketSourceCore for SyncTcpTmSource {
|
||||
type Error = ();
|
||||
|
||||
fn retrieve_packet(&mut self, buffer: &mut [u8]) -> Result<usize, Self::Error> {
|
||||
let mut tm_queue = self.tm_queue.lock().expect("locking tm queue failed");
|
||||
if !tm_queue.is_empty() {
|
||||
let next_vec = tm_queue.front().unwrap();
|
||||
if buffer.len() < next_vec.len() {
|
||||
panic!(
|
||||
"provided buffer too small, must be at least {} bytes",
|
||||
next_vec.len()
|
||||
);
|
||||
}
|
||||
let next_vec = tm_queue.pop_front().unwrap();
|
||||
buffer[0..next_vec.len()].copy_from_slice(&next_vec);
|
||||
if next_vec.len() > 9 {
|
||||
let service = next_vec[7];
|
||||
let subservice = next_vec[8];
|
||||
info!("Sending PUS TM[{service},{subservice}]")
|
||||
} else {
|
||||
info!("Sending PUS TM");
|
||||
}
|
||||
return Ok(next_vec.len());
|
||||
}
|
||||
Ok(0)
|
||||
}
|
||||
}
|
||||
|
||||
pub struct TcpTask<MpscErrorType: 'static> {
|
||||
server: TcpSpacepacketsServer<
|
||||
(),
|
||||
CcsdsError<MpscErrorType>,
|
||||
SyncTcpTmSource,
|
||||
CcsdsDistributor<MpscErrorType>,
|
||||
>,
|
||||
}
|
||||
|
||||
impl<MpscErrorType: 'static + core::fmt::Debug> TcpTask<MpscErrorType> {
|
||||
pub fn new(
|
||||
cfg: ServerConfig,
|
||||
tm_source: SyncTcpTmSource,
|
||||
tc_receiver: CcsdsDistributor<MpscErrorType>,
|
||||
) -> Result<Self, std::io::Error> {
|
||||
Ok(Self {
|
||||
server: TcpSpacepacketsServer::new(
|
||||
cfg,
|
||||
tm_source,
|
||||
tc_receiver,
|
||||
Box::new(PACKET_ID_LOOKUP),
|
||||
)?,
|
||||
})
|
||||
}
|
||||
|
||||
pub fn periodic_operation(&mut self) {
|
||||
loop {
|
||||
let result = self.server.handle_next_connection();
|
||||
match result {
|
||||
Ok(conn_result) => {
|
||||
info!(
|
||||
"Served {} TMs and {} TCs for client {:?}",
|
||||
conn_result.num_sent_tms, conn_result.num_received_tcs, conn_result.addr
|
||||
);
|
||||
}
|
||||
Err(e) => {
|
||||
warn!("TCP server error: {e:?}");
|
||||
}
|
||||
}
|
||||
}
|
||||
}
|
||||
}
|
|
@ -1,207 +0,0 @@
|
|||
use log::warn;
|
||||
use satrs::pus::{EcssTcAndToken, ReceivesEcssPusTc};
|
||||
use satrs::spacepackets::SpHeader;
|
||||
use std::sync::mpsc::{self, Receiver, SendError, Sender, TryRecvError};
|
||||
use thiserror::Error;
|
||||
|
||||
use crate::pus::PusReceiver;
|
||||
use satrs::pool::{PoolProvider, SharedStaticMemoryPool, StoreAddr, StoreError};
|
||||
use satrs::spacepackets::ecss::tc::PusTcReader;
|
||||
use satrs::spacepackets::ecss::PusPacket;
|
||||
use satrs::tmtc::ReceivesCcsdsTc;
|
||||
|
||||
#[derive(Debug, Clone, PartialEq, Eq, Error)]
|
||||
pub enum MpscStoreAndSendError {
|
||||
#[error("Store error: {0}")]
|
||||
Store(#[from] StoreError),
|
||||
#[error("TC send error: {0}")]
|
||||
TcSend(#[from] SendError<EcssTcAndToken>),
|
||||
#[error("TMTC send error: {0}")]
|
||||
TmTcSend(#[from] SendError<StoreAddr>),
|
||||
}
|
||||
|
||||
#[derive(Clone)]
|
||||
pub struct SharedTcPool {
|
||||
pub pool: SharedStaticMemoryPool,
|
||||
}
|
||||
|
||||
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 = pg.free_element(pus_tc.len_packed(), |buf| {
|
||||
buf[0..pus_tc.len_packed()].copy_from_slice(pus_tc.raw_data());
|
||||
})?;
|
||||
Ok(addr)
|
||||
}
|
||||
}
|
||||
|
||||
#[derive(Clone)]
|
||||
pub struct PusTcSourceProviderSharedPool {
|
||||
pub tc_source: Sender<StoreAddr>,
|
||||
pub shared_pool: SharedTcPool,
|
||||
}
|
||||
|
||||
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.shared_pool.add_pus_tc(pus_tc)?;
|
||||
self.tc_source.send(addr)?;
|
||||
Ok(())
|
||||
}
|
||||
}
|
||||
|
||||
impl ReceivesCcsdsTc for PusTcSourceProviderSharedPool {
|
||||
type Error = MpscStoreAndSendError;
|
||||
|
||||
fn pass_ccsds(&mut self, _: &SpHeader, tc_raw: &[u8]) -> Result<(), Self::Error> {
|
||||
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)?;
|
||||
Ok(())
|
||||
}
|
||||
}
|
||||
|
||||
// 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 TcSourceTaskStatic {
|
||||
pub fn new(
|
||||
shared_tc_pool: SharedTcPool,
|
||||
tc_receiver: Receiver<StoreAddr>,
|
||||
pus_receiver: PusReceiver,
|
||||
) -> Self {
|
||||
Self {
|
||||
shared_tc_pool,
|
||||
tc_receiver,
|
||||
tc_buf: [0; 4096],
|
||||
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(addr) => {
|
||||
let pool = self
|
||||
.shared_tc_pool
|
||||
.pool
|
||||
.read()
|
||||
.expect("locking tc pool failed");
|
||||
pool.read(&addr, &mut self.tc_buf)
|
||||
.expect("reading pool failed");
|
||||
drop(pool);
|
||||
match PusTcReader::new(&self.tc_buf) {
|
||||
Ok((pus_tc, _)) => {
|
||||
self.pus_receiver
|
||||
.handle_tc_packet(
|
||||
satrs::pus::TcInMemory::StoreAddr(addr),
|
||||
pus_tc.service(),
|
||||
&pus_tc,
|
||||
)
|
||||
.ok();
|
||||
true
|
||||
}
|
||||
Err(e) => {
|
||||
warn!("error creating PUS TC from raw data: {e}");
|
||||
warn!("raw data: {:x?}", self.tc_buf);
|
||||
true
|
||||
}
|
||||
}
|
||||
}
|
||||
Err(e) => match e {
|
||||
TryRecvError::Empty => false,
|
||||
TryRecvError::Disconnected => {
|
||||
warn!("tmtc thread: sender disconnected");
|
||||
false
|
||||
}
|
||||
},
|
||||
}
|
||||
}
|
||||
}
|
||||
|
||||
// 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::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
|
||||
}
|
||||
},
|
||||
}
|
||||
}
|
||||
}
|
|
@ -0,0 +1,2 @@
|
|||
pub mod tc_source;
|
||||
pub mod tm_sink;
|
|
@ -0,0 +1,107 @@
|
|||
use satrs::{
|
||||
pool::PoolProvider,
|
||||
pus::HandlingStatus,
|
||||
tmtc::{PacketAsVec, PacketInPool, PacketSenderWithSharedPool, SharedPacketPool},
|
||||
};
|
||||
use std::sync::mpsc::{self, TryRecvError};
|
||||
|
||||
use satrs::pus::MpscTmAsVecSender;
|
||||
|
||||
use crate::pus::PusTcDistributor;
|
||||
|
||||
// TC source components where static pools are the backing memory of the received telecommands.
|
||||
pub struct TcSourceTaskStatic {
|
||||
shared_tc_pool: SharedPacketPool,
|
||||
tc_receiver: mpsc::Receiver<PacketInPool>,
|
||||
tc_buf: [u8; 4096],
|
||||
pus_distributor: PusTcDistributor<PacketSenderWithSharedPool>,
|
||||
}
|
||||
|
||||
impl TcSourceTaskStatic {
|
||||
pub fn new(
|
||||
shared_tc_pool: SharedPacketPool,
|
||||
tc_receiver: mpsc::Receiver<PacketInPool>,
|
||||
pus_receiver: PusTcDistributor<PacketSenderWithSharedPool>,
|
||||
) -> Self {
|
||||
Self {
|
||||
shared_tc_pool,
|
||||
tc_receiver,
|
||||
tc_buf: [0; 4096],
|
||||
pus_distributor: pus_receiver,
|
||||
}
|
||||
}
|
||||
|
||||
pub fn periodic_operation(&mut self) {
|
||||
self.poll_tc();
|
||||
}
|
||||
|
||||
pub fn poll_tc(&mut self) -> HandlingStatus {
|
||||
// Right now, we only expect ECSS PUS packets.
|
||||
// If packets like CFDP are expected, we might have to check the APID first.
|
||||
match self.tc_receiver.try_recv() {
|
||||
Ok(packet_in_pool) => {
|
||||
let pool = self
|
||||
.shared_tc_pool
|
||||
.0
|
||||
.read()
|
||||
.expect("locking tc pool failed");
|
||||
pool.read(&packet_in_pool.store_addr, &mut self.tc_buf)
|
||||
.expect("reading pool failed");
|
||||
drop(pool);
|
||||
self.pus_distributor
|
||||
.handle_tc_packet_in_store(packet_in_pool, &self.tc_buf)
|
||||
.ok();
|
||||
HandlingStatus::HandledOne
|
||||
}
|
||||
Err(e) => match e {
|
||||
TryRecvError::Empty => HandlingStatus::Empty,
|
||||
TryRecvError::Disconnected => {
|
||||
log::warn!("tmtc thread: sender disconnected");
|
||||
HandlingStatus::Empty
|
||||
}
|
||||
},
|
||||
}
|
||||
}
|
||||
}
|
||||
|
||||
// TC source components where the heap is the backing memory of the received telecommands.
|
||||
pub struct TcSourceTaskDynamic {
|
||||
pub tc_receiver: mpsc::Receiver<PacketAsVec>,
|
||||
pus_distributor: PusTcDistributor<MpscTmAsVecSender>,
|
||||
}
|
||||
|
||||
impl TcSourceTaskDynamic {
|
||||
pub fn new(
|
||||
tc_receiver: mpsc::Receiver<PacketAsVec>,
|
||||
pus_receiver: PusTcDistributor<MpscTmAsVecSender>,
|
||||
) -> Self {
|
||||
Self {
|
||||
tc_receiver,
|
||||
pus_distributor: pus_receiver,
|
||||
}
|
||||
}
|
||||
|
||||
pub fn periodic_operation(&mut self) {
|
||||
self.poll_tc();
|
||||
}
|
||||
|
||||
pub fn poll_tc(&mut self) -> HandlingStatus {
|
||||
// Right now, we only expect ECSS PUS packets.
|
||||
// If packets like CFDP are expected, we might have to check the APID first.
|
||||
match self.tc_receiver.try_recv() {
|
||||
Ok(packet_as_vec) => {
|
||||
self.pus_distributor
|
||||
.handle_tc_packet_vec(packet_as_vec)
|
||||
.ok();
|
||||
HandlingStatus::HandledOne
|
||||
}
|
||||
Err(e) => match e {
|
||||
TryRecvError::Empty => HandlingStatus::Empty,
|
||||
TryRecvError::Disconnected => {
|
||||
log::warn!("tmtc thread: sender disconnected");
|
||||
HandlingStatus::Empty
|
||||
}
|
||||
},
|
||||
}
|
||||
}
|
||||
}
|
|
@ -1,21 +1,21 @@
|
|||
use std::{
|
||||
collections::HashMap,
|
||||
sync::mpsc::{Receiver, Sender},
|
||||
sync::mpsc::{self},
|
||||
};
|
||||
|
||||
use log::info;
|
||||
use satrs::tmtc::{PacketAsVec, PacketInPool, SharedPacketPool};
|
||||
use satrs::{
|
||||
pool::{PoolProvider, StoreAddr},
|
||||
pool::PoolProvider,
|
||||
seq_count::{CcsdsSimpleSeqCountProvider, SequenceCountProviderCore},
|
||||
spacepackets::{
|
||||
ecss::{tm::PusTmZeroCopyWriter, PusPacket},
|
||||
time::cds::MIN_CDS_FIELD_LEN,
|
||||
CcsdsPacket,
|
||||
},
|
||||
tmtc::tm_helper::SharedTmPool,
|
||||
};
|
||||
|
||||
use crate::tcp::SyncTcpTmSource;
|
||||
use crate::interface::tcp::SyncTcpTmSource;
|
||||
|
||||
#[derive(Default)]
|
||||
pub struct CcsdsSeqCounterMap {
|
||||
|
@ -70,23 +70,28 @@ impl TmFunnelCommon {
|
|||
}
|
||||
|
||||
fn packet_printout(tm: &PusTmZeroCopyWriter) {
|
||||
info!("Sending PUS TM[{},{}]", tm.service(), tm.subservice());
|
||||
info!(
|
||||
"Sending PUS TM[{},{}] with APID {}",
|
||||
tm.service(),
|
||||
tm.subservice(),
|
||||
tm.apid()
|
||||
);
|
||||
}
|
||||
}
|
||||
|
||||
pub struct TmFunnelStatic {
|
||||
pub struct TmSinkStatic {
|
||||
common: TmFunnelCommon,
|
||||
shared_tm_store: SharedTmPool,
|
||||
tm_funnel_rx: Receiver<StoreAddr>,
|
||||
tm_server_tx: Sender<StoreAddr>,
|
||||
shared_tm_store: SharedPacketPool,
|
||||
tm_funnel_rx: mpsc::Receiver<PacketInPool>,
|
||||
tm_server_tx: mpsc::SyncSender<PacketInPool>,
|
||||
}
|
||||
|
||||
impl TmFunnelStatic {
|
||||
impl TmSinkStatic {
|
||||
pub fn new(
|
||||
shared_tm_store: SharedTmPool,
|
||||
shared_tm_store: SharedPacketPool,
|
||||
sync_tm_tcp_source: SyncTcpTmSource,
|
||||
tm_funnel_rx: Receiver<StoreAddr>,
|
||||
tm_server_tx: Sender<StoreAddr>,
|
||||
tm_funnel_rx: mpsc::Receiver<PacketInPool>,
|
||||
tm_server_tx: mpsc::SyncSender<PacketInPool>,
|
||||
) -> Self {
|
||||
Self {
|
||||
common: TmFunnelCommon::new(sync_tm_tcp_source),
|
||||
|
@ -97,14 +102,14 @@ impl TmFunnelStatic {
|
|||
}
|
||||
|
||||
pub fn operation(&mut self) {
|
||||
if let Ok(addr) = self.tm_funnel_rx.recv() {
|
||||
if let Ok(pus_tm_in_pool) = self.tm_funnel_rx.recv() {
|
||||
// Read the TM, set sequence counter and message counter, and finally update
|
||||
// the CRC.
|
||||
let shared_pool = self.shared_tm_store.clone_backing_pool();
|
||||
let shared_pool = self.shared_tm_store.0.clone();
|
||||
let mut pool_guard = shared_pool.write().expect("Locking TM pool failed");
|
||||
let mut tm_copy = Vec::new();
|
||||
pool_guard
|
||||
.modify(&addr, |buf| {
|
||||
.modify(&pus_tm_in_pool.store_addr, |buf| {
|
||||
let zero_copy_writer = PusTmZeroCopyWriter::new(buf, MIN_CDS_FIELD_LEN)
|
||||
.expect("Creating TM zero copy writer failed");
|
||||
self.common.apply_packet_processing(zero_copy_writer);
|
||||
|
@ -112,7 +117,7 @@ impl TmFunnelStatic {
|
|||
})
|
||||
.expect("Reading TM from pool failed");
|
||||
self.tm_server_tx
|
||||
.send(addr)
|
||||
.send(pus_tm_in_pool)
|
||||
.expect("Sending TM to server failed");
|
||||
// We could also do this step in the update closure, but I'd rather avoid this, could
|
||||
// lead to nested locking.
|
||||
|
@ -121,17 +126,17 @@ impl TmFunnelStatic {
|
|||
}
|
||||
}
|
||||
|
||||
pub struct TmFunnelDynamic {
|
||||
pub struct TmSinkDynamic {
|
||||
common: TmFunnelCommon,
|
||||
tm_funnel_rx: Receiver<Vec<u8>>,
|
||||
tm_server_tx: Sender<Vec<u8>>,
|
||||
tm_funnel_rx: mpsc::Receiver<PacketAsVec>,
|
||||
tm_server_tx: mpsc::Sender<PacketAsVec>,
|
||||
}
|
||||
|
||||
impl TmFunnelDynamic {
|
||||
impl TmSinkDynamic {
|
||||
pub fn new(
|
||||
sync_tm_tcp_source: SyncTcpTmSource,
|
||||
tm_funnel_rx: Receiver<Vec<u8>>,
|
||||
tm_server_tx: Sender<Vec<u8>>,
|
||||
tm_funnel_rx: mpsc::Receiver<PacketAsVec>,
|
||||
tm_server_tx: mpsc::Sender<PacketAsVec>,
|
||||
) -> Self {
|
||||
Self {
|
||||
common: TmFunnelCommon::new(sync_tm_tcp_source),
|
||||
|
@ -144,13 +149,13 @@ impl TmFunnelDynamic {
|
|||
if let Ok(mut tm) = self.tm_funnel_rx.recv() {
|
||||
// Read the TM, set sequence counter and message counter, and finally update
|
||||
// the CRC.
|
||||
let zero_copy_writer = PusTmZeroCopyWriter::new(&mut tm, MIN_CDS_FIELD_LEN)
|
||||
let zero_copy_writer = PusTmZeroCopyWriter::new(&mut tm.packet, MIN_CDS_FIELD_LEN)
|
||||
.expect("Creating TM zero copy writer failed");
|
||||
self.common.apply_packet_processing(zero_copy_writer);
|
||||
self.common.sync_tm_tcp_source.add_tm(&tm.packet);
|
||||
self.tm_server_tx
|
||||
.send(tm.clone())
|
||||
.send(tm)
|
||||
.expect("Sending TM to server failed");
|
||||
self.common.sync_tm_tcp_source.add_tm(&tm);
|
||||
}
|
||||
}
|
||||
}
|
|
@ -8,6 +8,10 @@ and this project adheres to [Semantic Versioning](http://semver.org/).
|
|||
|
||||
# [unreleased]
|
||||
|
||||
# [v0.1.2] 2024-04-17
|
||||
|
||||
Allow `satrs-shared` from `v0.1.3` to `<v0.2`.
|
||||
|
||||
# [v0.1.1] 2024-02-17
|
||||
|
||||
- Bumped `spacepackets` to v0.10.0
|
||||
|
|
|
@ -1,6 +1,6 @@
|
|||
[package]
|
||||
name = "satrs-mib"
|
||||
version = "0.1.1"
|
||||
version = "0.1.2"
|
||||
edition = "2021"
|
||||
rust-version = "1.61"
|
||||
authors = ["Robin Mueller <muellerr@irs.uni-stuttgart.de>"]
|
||||
|
@ -23,12 +23,12 @@ version = "1"
|
|||
optional = true
|
||||
|
||||
[dependencies.satrs-shared]
|
||||
version = "0.1.2"
|
||||
version = ">=0.1.3, <0.2"
|
||||
features = ["serde"]
|
||||
|
||||
[dependencies.satrs-mib-codegen]
|
||||
path = "codegen"
|
||||
version = "0.1.1"
|
||||
version = "0.1.2"
|
||||
|
||||
[dependencies.serde]
|
||||
version = "1"
|
||||
|
|
|
@ -1,6 +1,6 @@
|
|||
[package]
|
||||
name = "satrs-mib-codegen"
|
||||
version = "0.1.1"
|
||||
version = "0.1.2"
|
||||
edition = "2021"
|
||||
description = "satrs-mib proc macro implementation"
|
||||
homepage = "https://egit.irs.uni-stuttgart.de/rust/sat-rs"
|
||||
|
@ -26,7 +26,9 @@ features = ["full"]
|
|||
|
||||
[dev-dependencies]
|
||||
trybuild = { version = "1", features = ["diff"] }
|
||||
satrs-shared = "0.1.2"
|
||||
|
||||
[dev-dependencies.satrs-shared]
|
||||
version = ">=0.1.3, <0.2"
|
||||
|
||||
[dev-dependencies.satrs-mib]
|
||||
path = ".."
|
||||
|
|
|
@ -0,0 +1,26 @@
|
|||
[package]
|
||||
name = "satrs-minisim"
|
||||
version = "0.1.0"
|
||||
edition = "2021"
|
||||
|
||||
# See more keys and their definitions at https://doc.rust-lang.org/cargo/reference/manifest.html
|
||||
|
||||
[dependencies]
|
||||
serde = { version = "1", features = ["derive"] }
|
||||
serde_json = "1"
|
||||
log = "0.4"
|
||||
thiserror = "1"
|
||||
fern = "0.5"
|
||||
humantime = "2"
|
||||
|
||||
[dependencies.asynchronix]
|
||||
version = "0.2.1"
|
||||
git = "https://github.com/asynchronics/asynchronix.git"
|
||||
branch = "main"
|
||||
features = ["serde"]
|
||||
|
||||
[dependencies.satrs]
|
||||
path = "../satrs"
|
||||
|
||||
[dev-dependencies]
|
||||
delegate = "0.12"
|
|
@ -0,0 +1,338 @@
|
|||
use std::{f32::consts::PI, sync::mpsc, time::Duration};
|
||||
|
||||
use asynchronix::{
|
||||
model::{Model, Output},
|
||||
time::Scheduler,
|
||||
};
|
||||
use satrs::power::SwitchStateBinary;
|
||||
use satrs_minisim::{
|
||||
acs::{MgmReply, MgmSensorValues, MgtDipole, MgtHkSet, MgtReply, MGT_GEN_MAGNETIC_FIELD},
|
||||
SimReply,
|
||||
};
|
||||
|
||||
use crate::time::current_millis;
|
||||
|
||||
// Earth magnetic field varies between -30 uT and 30 uT
|
||||
const AMPLITUDE_MGM: f32 = 0.03;
|
||||
// Lets start with a simple frequency here.
|
||||
const FREQUENCY_MGM: f32 = 1.0;
|
||||
const PHASE_X: f32 = 0.0;
|
||||
// Different phases to have different values on the other axes.
|
||||
const PHASE_Y: f32 = 0.1;
|
||||
const PHASE_Z: f32 = 0.2;
|
||||
|
||||
/// Simple model for a magnetometer where the measure magnetic fields are modeled with sine waves.
|
||||
///
|
||||
/// Please note that that a more realistic MGM model wouold include the following components
|
||||
/// which are not included here to simplify the model:
|
||||
///
|
||||
/// 1. It would probably generate signed [i16] values which need to be converted to SI units
|
||||
/// because it is a digital sensor
|
||||
/// 2. It would sample the magnetic field at a high fixed rate. This might not be possible for
|
||||
/// a general purpose OS, but self self-sampling at a relatively high rate (20-40 ms) might
|
||||
/// stil lbe possible.
|
||||
pub struct MagnetometerModel {
|
||||
pub switch_state: SwitchStateBinary,
|
||||
pub periodicity: Duration,
|
||||
pub external_mag_field: Option<MgmSensorValues>,
|
||||
pub reply_sender: mpsc::Sender<SimReply>,
|
||||
}
|
||||
|
||||
impl MagnetometerModel {
|
||||
pub fn new(periodicity: Duration, reply_sender: mpsc::Sender<SimReply>) -> Self {
|
||||
Self {
|
||||
switch_state: SwitchStateBinary::Off,
|
||||
periodicity,
|
||||
external_mag_field: None,
|
||||
reply_sender,
|
||||
}
|
||||
}
|
||||
|
||||
pub async fn switch_device(&mut self, switch_state: SwitchStateBinary) {
|
||||
self.switch_state = switch_state;
|
||||
}
|
||||
|
||||
pub async fn send_sensor_values(&mut self, _: (), scheduler: &Scheduler<Self>) {
|
||||
self.reply_sender
|
||||
.send(SimReply::new(MgmReply {
|
||||
switch_state: self.switch_state,
|
||||
sensor_values: self.calculate_current_mgm_tuple(current_millis(scheduler.time())),
|
||||
}))
|
||||
.expect("sending MGM sensor values failed");
|
||||
}
|
||||
|
||||
// Devices like magnetorquers generate a strong magnetic field which overrides the default
|
||||
// model for the measured magnetic field.
|
||||
pub async fn apply_external_magnetic_field(&mut self, field: MgmSensorValues) {
|
||||
self.external_mag_field = Some(field);
|
||||
}
|
||||
|
||||
fn calculate_current_mgm_tuple(&self, time_ms: u64) -> MgmSensorValues {
|
||||
if SwitchStateBinary::On == self.switch_state {
|
||||
if let Some(ext_field) = self.external_mag_field {
|
||||
return ext_field;
|
||||
}
|
||||
let base_sin_val = 2.0 * PI * FREQUENCY_MGM * (time_ms as f32 / 1000.0);
|
||||
return MgmSensorValues {
|
||||
x: AMPLITUDE_MGM * (base_sin_val + PHASE_X).sin(),
|
||||
y: AMPLITUDE_MGM * (base_sin_val + PHASE_Y).sin(),
|
||||
z: AMPLITUDE_MGM * (base_sin_val + PHASE_Z).sin(),
|
||||
};
|
||||
}
|
||||
MgmSensorValues {
|
||||
x: 0.0,
|
||||
y: 0.0,
|
||||
z: 0.0,
|
||||
}
|
||||
}
|
||||
}
|
||||
|
||||
impl Model for MagnetometerModel {}
|
||||
|
||||
pub struct MagnetorquerModel {
|
||||
switch_state: SwitchStateBinary,
|
||||
torquing: bool,
|
||||
torque_dipole: MgtDipole,
|
||||
pub gen_magnetic_field: Output<MgmSensorValues>,
|
||||
reply_sender: mpsc::Sender<SimReply>,
|
||||
}
|
||||
|
||||
impl MagnetorquerModel {
|
||||
pub fn new(reply_sender: mpsc::Sender<SimReply>) -> Self {
|
||||
Self {
|
||||
switch_state: SwitchStateBinary::Off,
|
||||
torquing: false,
|
||||
torque_dipole: MgtDipole::default(),
|
||||
gen_magnetic_field: Output::new(),
|
||||
reply_sender,
|
||||
}
|
||||
}
|
||||
|
||||
pub async fn apply_torque(
|
||||
&mut self,
|
||||
duration_and_dipole: (Duration, MgtDipole),
|
||||
scheduler: &Scheduler<Self>,
|
||||
) {
|
||||
self.torque_dipole = duration_and_dipole.1;
|
||||
self.torquing = true;
|
||||
if scheduler
|
||||
.schedule_event(duration_and_dipole.0, Self::clear_torque, ())
|
||||
.is_err()
|
||||
{
|
||||
log::warn!("torque clearing can only be set for a future time.");
|
||||
}
|
||||
self.generate_magnetic_field(()).await;
|
||||
}
|
||||
|
||||
pub async fn clear_torque(&mut self, _: ()) {
|
||||
self.torque_dipole = MgtDipole::default();
|
||||
self.torquing = false;
|
||||
self.generate_magnetic_field(()).await;
|
||||
}
|
||||
|
||||
pub async fn switch_device(&mut self, switch_state: SwitchStateBinary) {
|
||||
self.switch_state = switch_state;
|
||||
self.generate_magnetic_field(()).await;
|
||||
}
|
||||
|
||||
pub async fn request_housekeeping_data(&mut self, _: (), scheduler: &Scheduler<Self>) {
|
||||
if self.switch_state != SwitchStateBinary::On {
|
||||
return;
|
||||
}
|
||||
scheduler
|
||||
.schedule_event(Duration::from_millis(15), Self::send_housekeeping_data, ())
|
||||
.expect("requesting housekeeping data failed")
|
||||
}
|
||||
|
||||
pub fn send_housekeeping_data(&mut self) {
|
||||
self.reply_sender
|
||||
.send(SimReply::new(MgtReply::Hk(MgtHkSet {
|
||||
dipole: self.torque_dipole,
|
||||
torquing: self.torquing,
|
||||
})))
|
||||
.unwrap();
|
||||
}
|
||||
|
||||
fn calc_magnetic_field(&self, _: MgtDipole) -> MgmSensorValues {
|
||||
// Simplified model: Just returns some fixed magnetic field for now.
|
||||
// Later, we could make this more fancy by incorporating the commanded dipole.
|
||||
MGT_GEN_MAGNETIC_FIELD
|
||||
}
|
||||
|
||||
/// A torquing magnetorquer generates a magnetic field. This function can be used to apply
|
||||
/// the magnetic field.
|
||||
async fn generate_magnetic_field(&mut self, _: ()) {
|
||||
if self.switch_state != SwitchStateBinary::On || !self.torquing {
|
||||
return;
|
||||
}
|
||||
self.gen_magnetic_field
|
||||
.send(self.calc_magnetic_field(self.torque_dipole))
|
||||
.await;
|
||||
}
|
||||
}
|
||||
|
||||
impl Model for MagnetorquerModel {}
|
||||
|
||||
#[cfg(test)]
|
||||
pub mod tests {
|
||||
use std::time::Duration;
|
||||
|
||||
use satrs::power::SwitchStateBinary;
|
||||
use satrs_minisim::{
|
||||
acs::{MgmReply, MgmRequest, MgtDipole, MgtHkSet, MgtReply, MgtRequest},
|
||||
eps::PcduSwitch,
|
||||
SerializableSimMsgPayload, SimMessageProvider, SimRequest, SimTarget,
|
||||
};
|
||||
|
||||
use crate::{eps::tests::switch_device_on, test_helpers::SimTestbench};
|
||||
|
||||
#[test]
|
||||
fn test_basic_mgm_request() {
|
||||
let mut sim_testbench = SimTestbench::new();
|
||||
let request = SimRequest::new_with_epoch_time(MgmRequest::RequestSensorData);
|
||||
sim_testbench
|
||||
.send_request(request)
|
||||
.expect("sending MGM request failed");
|
||||
sim_testbench.handle_sim_requests_time_agnostic();
|
||||
sim_testbench.step();
|
||||
let sim_reply = sim_testbench.try_receive_next_reply();
|
||||
assert!(sim_reply.is_some());
|
||||
let sim_reply = sim_reply.unwrap();
|
||||
assert_eq!(sim_reply.target(), SimTarget::Mgm);
|
||||
let reply = MgmReply::from_sim_message(&sim_reply)
|
||||
.expect("failed to deserialize MGM sensor values");
|
||||
assert_eq!(reply.switch_state, SwitchStateBinary::Off);
|
||||
assert_eq!(reply.sensor_values.x, 0.0);
|
||||
assert_eq!(reply.sensor_values.y, 0.0);
|
||||
assert_eq!(reply.sensor_values.z, 0.0);
|
||||
}
|
||||
|
||||
#[test]
|
||||
fn test_basic_mgm_request_switched_on() {
|
||||
let mut sim_testbench = SimTestbench::new();
|
||||
switch_device_on(&mut sim_testbench, PcduSwitch::Mgm);
|
||||
|
||||
let mut request = SimRequest::new_with_epoch_time(MgmRequest::RequestSensorData);
|
||||
sim_testbench
|
||||
.send_request(request)
|
||||
.expect("sending MGM request failed");
|
||||
sim_testbench.handle_sim_requests_time_agnostic();
|
||||
sim_testbench.step();
|
||||
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.target(), SimTarget::Mgm);
|
||||
let first_reply = MgmReply::from_sim_message(&sim_reply)
|
||||
.expect("failed to deserialize MGM sensor values");
|
||||
sim_testbench.step_by(Duration::from_millis(50));
|
||||
|
||||
request = SimRequest::new_with_epoch_time(MgmRequest::RequestSensorData);
|
||||
sim_testbench
|
||||
.send_request(request)
|
||||
.expect("sending MGM request failed");
|
||||
sim_testbench.handle_sim_requests_time_agnostic();
|
||||
sim_testbench.step();
|
||||
sim_reply_res = sim_testbench.try_receive_next_reply();
|
||||
assert!(sim_reply_res.is_some());
|
||||
sim_reply = sim_reply_res.unwrap();
|
||||
|
||||
let second_reply = MgmReply::from_sim_message(&sim_reply)
|
||||
.expect("failed to deserialize MGM sensor values");
|
||||
// Check that the values are changing.
|
||||
assert!(first_reply != second_reply);
|
||||
}
|
||||
|
||||
#[test]
|
||||
fn test_basic_mgt_request_is_off() {
|
||||
let mut sim_testbench = SimTestbench::new();
|
||||
let request = SimRequest::new_with_epoch_time(MgtRequest::RequestHk);
|
||||
sim_testbench
|
||||
.send_request(request)
|
||||
.expect("sending MGM request failed");
|
||||
sim_testbench.handle_sim_requests_time_agnostic();
|
||||
sim_testbench.step();
|
||||
let sim_reply_res = sim_testbench.try_receive_next_reply();
|
||||
assert!(sim_reply_res.is_none());
|
||||
}
|
||||
|
||||
#[test]
|
||||
fn test_basic_mgt_request_is_on() {
|
||||
let mut sim_testbench = SimTestbench::new();
|
||||
switch_device_on(&mut sim_testbench, PcduSwitch::Mgt);
|
||||
let request = SimRequest::new_with_epoch_time(MgtRequest::RequestHk);
|
||||
|
||||
sim_testbench
|
||||
.send_request(request)
|
||||
.expect("sending MGM request failed");
|
||||
sim_testbench.handle_sim_requests_time_agnostic();
|
||||
sim_testbench.step();
|
||||
let sim_reply_res = sim_testbench.try_receive_next_reply();
|
||||
assert!(sim_reply_res.is_some());
|
||||
let sim_reply = sim_reply_res.unwrap();
|
||||
let mgt_reply = MgtReply::from_sim_message(&sim_reply)
|
||||
.expect("failed to deserialize MGM sensor values");
|
||||
match mgt_reply {
|
||||
MgtReply::Hk(hk) => {
|
||||
assert_eq!(hk.dipole, MgtDipole::default());
|
||||
assert!(!hk.torquing);
|
||||
}
|
||||
_ => panic!("unexpected reply"),
|
||||
}
|
||||
}
|
||||
|
||||
fn check_mgt_hk(sim_testbench: &mut SimTestbench, expected_hk_set: MgtHkSet) {
|
||||
let request = SimRequest::new_with_epoch_time(MgtRequest::RequestHk);
|
||||
sim_testbench
|
||||
.send_request(request)
|
||||
.expect("sending MGM request failed");
|
||||
sim_testbench.handle_sim_requests_time_agnostic();
|
||||
sim_testbench.step();
|
||||
let sim_reply_res = sim_testbench.try_receive_next_reply();
|
||||
assert!(sim_reply_res.is_some());
|
||||
let sim_reply = sim_reply_res.unwrap();
|
||||
let mgt_reply = MgtReply::from_sim_message(&sim_reply)
|
||||
.expect("failed to deserialize MGM sensor values");
|
||||
match mgt_reply {
|
||||
MgtReply::Hk(hk) => {
|
||||
assert_eq!(hk, expected_hk_set);
|
||||
}
|
||||
_ => panic!("unexpected reply"),
|
||||
}
|
||||
}
|
||||
|
||||
#[test]
|
||||
fn test_basic_mgt_request_is_on_and_torquing() {
|
||||
let mut sim_testbench = SimTestbench::new();
|
||||
switch_device_on(&mut sim_testbench, PcduSwitch::Mgt);
|
||||
let commanded_dipole = MgtDipole {
|
||||
x: -200,
|
||||
y: 200,
|
||||
z: 1000,
|
||||
};
|
||||
let request = SimRequest::new_with_epoch_time(MgtRequest::ApplyTorque {
|
||||
duration: Duration::from_millis(100),
|
||||
dipole: commanded_dipole,
|
||||
});
|
||||
sim_testbench
|
||||
.send_request(request)
|
||||
.expect("sending MGM request failed");
|
||||
sim_testbench.handle_sim_requests_time_agnostic();
|
||||
sim_testbench.step_by(Duration::from_millis(5));
|
||||
|
||||
check_mgt_hk(
|
||||
&mut sim_testbench,
|
||||
MgtHkSet {
|
||||
dipole: commanded_dipole,
|
||||
torquing: true,
|
||||
},
|
||||
);
|
||||
sim_testbench.step_by(Duration::from_millis(100));
|
||||
check_mgt_hk(
|
||||
&mut sim_testbench,
|
||||
MgtHkSet {
|
||||
dipole: MgtDipole::default(),
|
||||
torquing: false,
|
||||
},
|
||||
);
|
||||
}
|
||||
}
|
|
@ -0,0 +1,191 @@
|
|||
use std::{sync::mpsc, time::Duration};
|
||||
|
||||
use asynchronix::{
|
||||
simulation::{Address, Simulation},
|
||||
time::{Clock, MonotonicTime, SystemClock},
|
||||
};
|
||||
use satrs_minisim::{
|
||||
acs::{MgmRequest, MgtRequest},
|
||||
eps::PcduRequest,
|
||||
SerializableSimMsgPayload, SimCtrlReply, SimCtrlRequest, SimMessageProvider, SimReply,
|
||||
SimRequest, SimRequestError, SimTarget,
|
||||
};
|
||||
|
||||
use crate::{
|
||||
acs::{MagnetometerModel, MagnetorquerModel},
|
||||
eps::PcduModel,
|
||||
};
|
||||
|
||||
// The simulation controller processes requests and drives the simulation.
|
||||
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>,
|
||||
pub pcdu_addr: Address<PcduModel>,
|
||||
pub mgt_addr: Address<MagnetorquerModel>,
|
||||
}
|
||||
|
||||
impl SimController {
|
||||
pub fn new(
|
||||
sys_clock: SystemClock,
|
||||
request_receiver: mpsc::Receiver<SimRequest>,
|
||||
reply_sender: mpsc::Sender<SimReply>,
|
||||
simulation: Simulation,
|
||||
mgm_addr: Address<MagnetometerModel>,
|
||||
pcdu_addr: Address<PcduModel>,
|
||||
mgt_addr: Address<MagnetorquerModel>,
|
||||
) -> Self {
|
||||
Self {
|
||||
sys_clock,
|
||||
request_receiver,
|
||||
reply_sender,
|
||||
simulation,
|
||||
mgm_addr,
|
||||
pcdu_addr,
|
||||
mgt_addr,
|
||||
}
|
||||
}
|
||||
|
||||
pub fn run(&mut self, start_time: MonotonicTime, udp_polling_interval_ms: u64) {
|
||||
let mut t = start_time;
|
||||
loop {
|
||||
let t_old = t;
|
||||
// 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);
|
||||
self.handle_sim_requests(t_old);
|
||||
self.simulation
|
||||
.step_until(t)
|
||||
.expect("simulation step failed");
|
||||
}
|
||||
}
|
||||
|
||||
pub fn handle_sim_requests(&mut self, old_timestamp: MonotonicTime) {
|
||||
loop {
|
||||
match self.request_receiver.try_recv() {
|
||||
Ok(request) => {
|
||||
if request.timestamp < old_timestamp {
|
||||
log::warn!("stale data with timestamp {:?} received", request.timestamp);
|
||||
}
|
||||
if let Err(e) = match request.target() {
|
||||
SimTarget::SimCtrl => self.handle_ctrl_request(&request),
|
||||
SimTarget::Mgm => self.handle_mgm_request(&request),
|
||||
SimTarget::Mgt => self.handle_mgt_request(&request),
|
||||
SimTarget::Pcdu => self.handle_pcdu_request(&request),
|
||||
} {
|
||||
self.handle_invalid_request_with_valid_target(e, &request)
|
||||
}
|
||||
}
|
||||
Err(e) => match e {
|
||||
mpsc::TryRecvError::Empty => break,
|
||||
mpsc::TryRecvError::Disconnected => {
|
||||
panic!("all request sender disconnected")
|
||||
}
|
||||
},
|
||||
}
|
||||
}
|
||||
}
|
||||
|
||||
fn handle_ctrl_request(&mut self, request: &SimRequest) -> Result<(), SimRequestError> {
|
||||
let sim_ctrl_request = SimCtrlRequest::from_sim_message(request)?;
|
||||
match sim_ctrl_request {
|
||||
SimCtrlRequest::Ping => {
|
||||
self.reply_sender
|
||||
.send(SimReply::new(SimCtrlReply::Pong))
|
||||
.expect("sending reply from sim controller failed");
|
||||
}
|
||||
}
|
||||
Ok(())
|
||||
}
|
||||
fn handle_mgm_request(&mut self, request: &SimRequest) -> Result<(), SimRequestError> {
|
||||
let mgm_request = MgmRequest::from_sim_message(request)?;
|
||||
match mgm_request {
|
||||
MgmRequest::RequestSensorData => {
|
||||
self.simulation.send_event(
|
||||
MagnetometerModel::send_sensor_values,
|
||||
(),
|
||||
&self.mgm_addr,
|
||||
);
|
||||
}
|
||||
}
|
||||
Ok(())
|
||||
}
|
||||
|
||||
fn handle_pcdu_request(&mut self, request: &SimRequest) -> Result<(), SimRequestError> {
|
||||
let pcdu_request = PcduRequest::from_sim_message(request)?;
|
||||
match pcdu_request {
|
||||
PcduRequest::RequestSwitchInfo => {
|
||||
self.simulation
|
||||
.send_event(PcduModel::request_switch_info, (), &self.pcdu_addr);
|
||||
}
|
||||
PcduRequest::SwitchDevice { switch, state } => {
|
||||
self.simulation.send_event(
|
||||
PcduModel::switch_device,
|
||||
(switch, state),
|
||||
&self.pcdu_addr,
|
||||
);
|
||||
}
|
||||
}
|
||||
Ok(())
|
||||
}
|
||||
|
||||
fn handle_mgt_request(&mut self, request: &SimRequest) -> Result<(), SimRequestError> {
|
||||
let mgt_request = MgtRequest::from_sim_message(request)?;
|
||||
match mgt_request {
|
||||
MgtRequest::ApplyTorque { duration, dipole } => self.simulation.send_event(
|
||||
MagnetorquerModel::apply_torque,
|
||||
(duration, dipole),
|
||||
&self.mgt_addr,
|
||||
),
|
||||
MgtRequest::RequestHk => self.simulation.send_event(
|
||||
MagnetorquerModel::request_housekeeping_data,
|
||||
(),
|
||||
&self.mgt_addr,
|
||||
),
|
||||
}
|
||||
Ok(())
|
||||
}
|
||||
|
||||
fn handle_invalid_request_with_valid_target(
|
||||
&self,
|
||||
error: SimRequestError,
|
||||
request: &SimRequest,
|
||||
) {
|
||||
log::warn!(
|
||||
"received invalid {:?} request: {:?}",
|
||||
request.target(),
|
||||
error
|
||||
);
|
||||
self.reply_sender
|
||||
.send(SimReply::new(SimCtrlReply::from(error)))
|
||||
.expect("sending reply from sim controller failed");
|
||||
}
|
||||
}
|
||||
|
||||
#[cfg(test)]
|
||||
mod tests {
|
||||
use crate::test_helpers::SimTestbench;
|
||||
|
||||
use super::*;
|
||||
|
||||
#[test]
|
||||
fn test_basic_ping() {
|
||||
let mut sim_testbench = SimTestbench::new();
|
||||
let request = SimRequest::new_with_epoch_time(SimCtrlRequest::Ping);
|
||||
sim_testbench
|
||||
.send_request(request)
|
||||
.expect("sending sim ctrl request failed");
|
||||
sim_testbench.handle_sim_requests_time_agnostic();
|
||||
sim_testbench.step();
|
||||
let sim_reply = sim_testbench.try_receive_next_reply();
|
||||
assert!(sim_reply.is_some());
|
||||
let sim_reply = sim_reply.unwrap();
|
||||
assert_eq!(sim_reply.target(), SimTarget::SimCtrl);
|
||||
let reply = SimCtrlReply::from_sim_message(&sim_reply)
|
||||
.expect("failed to deserialize MGM sensor values");
|
||||
assert_eq!(reply, SimCtrlReply::Pong);
|
||||
}
|
||||
}
|
|
@ -0,0 +1,185 @@
|
|||
use std::{collections::HashMap, sync::mpsc, time::Duration};
|
||||
|
||||
use asynchronix::{
|
||||
model::{Model, Output},
|
||||
time::Scheduler,
|
||||
};
|
||||
use satrs::power::SwitchStateBinary;
|
||||
use satrs_minisim::{
|
||||
eps::{PcduReply, PcduSwitch, SwitchMap},
|
||||
SimReply,
|
||||
};
|
||||
|
||||
pub const SWITCH_INFO_DELAY_MS: u64 = 10;
|
||||
|
||||
pub struct PcduModel {
|
||||
pub switcher_map: SwitchMap,
|
||||
pub mgm_switch: Output<SwitchStateBinary>,
|
||||
pub mgt_switch: Output<SwitchStateBinary>,
|
||||
pub reply_sender: mpsc::Sender<SimReply>,
|
||||
}
|
||||
|
||||
impl PcduModel {
|
||||
pub fn new(reply_sender: mpsc::Sender<SimReply>) -> Self {
|
||||
let mut switcher_map = HashMap::new();
|
||||
switcher_map.insert(PcduSwitch::Mgm, SwitchStateBinary::Off);
|
||||
switcher_map.insert(PcduSwitch::Mgt, SwitchStateBinary::Off);
|
||||
|
||||
Self {
|
||||
switcher_map,
|
||||
mgm_switch: Output::new(),
|
||||
mgt_switch: Output::new(),
|
||||
reply_sender,
|
||||
}
|
||||
}
|
||||
|
||||
pub async fn request_switch_info(&mut self, _: (), scheduler: &Scheduler<Self>) {
|
||||
scheduler
|
||||
.schedule_event(
|
||||
Duration::from_millis(SWITCH_INFO_DELAY_MS),
|
||||
Self::send_switch_info,
|
||||
(),
|
||||
)
|
||||
.expect("requesting switch info failed");
|
||||
}
|
||||
|
||||
pub fn send_switch_info(&mut self) {
|
||||
let reply = SimReply::new(PcduReply::SwitchInfo(self.switcher_map.clone()));
|
||||
self.reply_sender.send(reply).unwrap();
|
||||
}
|
||||
|
||||
pub async fn switch_device(
|
||||
&mut self,
|
||||
switch_and_target_state: (PcduSwitch, SwitchStateBinary),
|
||||
) {
|
||||
let val = self
|
||||
.switcher_map
|
||||
.get_mut(&switch_and_target_state.0)
|
||||
.unwrap_or_else(|| panic!("switch {:?} not found", switch_and_target_state.0));
|
||||
*val = switch_and_target_state.1;
|
||||
match switch_and_target_state.0 {
|
||||
PcduSwitch::Mgm => {
|
||||
self.mgm_switch.send(switch_and_target_state.1).await;
|
||||
}
|
||||
PcduSwitch::Mgt => {
|
||||
self.mgt_switch.send(switch_and_target_state.1).await;
|
||||
}
|
||||
}
|
||||
}
|
||||
}
|
||||
|
||||
impl Model for PcduModel {}
|
||||
|
||||
#[cfg(test)]
|
||||
pub(crate) mod tests {
|
||||
use super::*;
|
||||
use std::time::Duration;
|
||||
|
||||
use satrs_minisim::{
|
||||
eps::PcduRequest, SerializableSimMsgPayload, SimMessageProvider, SimRequest, SimTarget,
|
||||
};
|
||||
|
||||
use crate::test_helpers::SimTestbench;
|
||||
|
||||
fn switch_device(
|
||||
sim_testbench: &mut SimTestbench,
|
||||
switch: PcduSwitch,
|
||||
target: SwitchStateBinary,
|
||||
) {
|
||||
let request = SimRequest::new_with_epoch_time(PcduRequest::SwitchDevice {
|
||||
switch,
|
||||
state: target,
|
||||
});
|
||||
sim_testbench
|
||||
.send_request(request)
|
||||
.expect("sending MGM switch request failed");
|
||||
sim_testbench.handle_sim_requests_time_agnostic();
|
||||
sim_testbench.step();
|
||||
}
|
||||
|
||||
#[allow(dead_code)]
|
||||
pub(crate) fn switch_device_off(sim_testbench: &mut SimTestbench, switch: PcduSwitch) {
|
||||
switch_device(sim_testbench, switch, SwitchStateBinary::Off);
|
||||
}
|
||||
pub(crate) fn switch_device_on(sim_testbench: &mut SimTestbench, switch: PcduSwitch) {
|
||||
switch_device(sim_testbench, switch, SwitchStateBinary::On);
|
||||
}
|
||||
|
||||
pub(crate) fn get_all_off_switch_map() -> SwitchMap {
|
||||
let mut switcher_map = SwitchMap::new();
|
||||
switcher_map.insert(super::PcduSwitch::Mgm, super::SwitchStateBinary::Off);
|
||||
switcher_map.insert(super::PcduSwitch::Mgt, super::SwitchStateBinary::Off);
|
||||
switcher_map
|
||||
}
|
||||
|
||||
fn check_switch_state(sim_testbench: &mut SimTestbench, expected_switch_map: &SwitchMap) {
|
||||
let request = SimRequest::new_with_epoch_time(PcduRequest::RequestSwitchInfo);
|
||||
sim_testbench
|
||||
.send_request(request)
|
||||
.expect("sending MGM request failed");
|
||||
sim_testbench.handle_sim_requests_time_agnostic();
|
||||
sim_testbench.step();
|
||||
let sim_reply = sim_testbench.try_receive_next_reply();
|
||||
assert!(sim_reply.is_some());
|
||||
let sim_reply = sim_reply.unwrap();
|
||||
assert_eq!(sim_reply.target(), SimTarget::Pcdu);
|
||||
let pcdu_reply = PcduReply::from_sim_message(&sim_reply)
|
||||
.expect("failed to deserialize PCDU switch info");
|
||||
match pcdu_reply {
|
||||
PcduReply::SwitchInfo(switch_map) => {
|
||||
assert_eq!(switch_map, *expected_switch_map);
|
||||
}
|
||||
}
|
||||
}
|
||||
|
||||
fn test_pcdu_switching_single_switch(switch: PcduSwitch, target: SwitchStateBinary) {
|
||||
let mut sim_testbench = SimTestbench::new();
|
||||
switch_device(&mut sim_testbench, switch, target);
|
||||
let mut switcher_map = get_all_off_switch_map();
|
||||
*switcher_map.get_mut(&switch).unwrap() = target;
|
||||
check_switch_state(&mut sim_testbench, &switcher_map);
|
||||
}
|
||||
|
||||
#[test]
|
||||
fn test_pcdu_switcher_request() {
|
||||
let mut sim_testbench = SimTestbench::new();
|
||||
let request = SimRequest::new_with_epoch_time(PcduRequest::RequestSwitchInfo);
|
||||
sim_testbench
|
||||
.send_request(request)
|
||||
.expect("sending MGM request failed");
|
||||
sim_testbench.handle_sim_requests_time_agnostic();
|
||||
sim_testbench.step_by(Duration::from_millis(1));
|
||||
|
||||
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));
|
||||
let sim_reply = sim_testbench.try_receive_next_reply();
|
||||
assert!(sim_reply.is_some());
|
||||
let sim_reply = sim_reply.unwrap();
|
||||
assert_eq!(sim_reply.target(), SimTarget::Pcdu);
|
||||
let pcdu_reply = PcduReply::from_sim_message(&sim_reply)
|
||||
.expect("failed to deserialize PCDU switch info");
|
||||
match pcdu_reply {
|
||||
PcduReply::SwitchInfo(switch_map) => {
|
||||
assert_eq!(switch_map, get_all_off_switch_map());
|
||||
}
|
||||
}
|
||||
}
|
||||
|
||||
#[test]
|
||||
fn test_pcdu_switching_mgm_on() {
|
||||
test_pcdu_switching_single_switch(PcduSwitch::Mgm, SwitchStateBinary::On);
|
||||
}
|
||||
|
||||
#[test]
|
||||
fn test_pcdu_switching_mgt_on() {
|
||||
test_pcdu_switching_single_switch(PcduSwitch::Mgt, SwitchStateBinary::On);
|
||||
}
|
||||
|
||||
#[test]
|
||||
fn test_pcdu_switching_mgt_off() {
|
||||
test_pcdu_switching_single_switch(PcduSwitch::Mgt, SwitchStateBinary::On);
|
||||
test_pcdu_switching_single_switch(PcduSwitch::Mgt, SwitchStateBinary::Off);
|
||||
}
|
||||
}
|
|
@ -0,0 +1,397 @@
|
|||
use asynchronix::time::MonotonicTime;
|
||||
use serde::{de::DeserializeOwned, Deserialize, Serialize};
|
||||
|
||||
pub const SIM_CTRL_UDP_PORT: u16 = 7303;
|
||||
|
||||
#[derive(Debug, Copy, Clone, PartialEq, Eq, Serialize, Deserialize)]
|
||||
pub enum SimTarget {
|
||||
SimCtrl,
|
||||
Mgm,
|
||||
Mgt,
|
||||
Pcdu,
|
||||
}
|
||||
|
||||
#[derive(Debug, Clone, PartialEq, Eq, Serialize, Deserialize)]
|
||||
pub struct SimMessage {
|
||||
pub target: SimTarget,
|
||||
pub payload: String,
|
||||
}
|
||||
|
||||
/// A generic simulation request type. Right now, the payload data is expected to be
|
||||
/// JSON, which might be changed in the future.
|
||||
#[derive(Debug, Clone, PartialEq, Eq, Serialize, Deserialize)]
|
||||
pub struct SimRequest {
|
||||
inner: SimMessage,
|
||||
pub timestamp: MonotonicTime,
|
||||
}
|
||||
|
||||
#[derive(Debug, Clone, PartialEq, Eq, Serialize, Deserialize)]
|
||||
pub enum SimMessageType {
|
||||
Request,
|
||||
Reply,
|
||||
}
|
||||
|
||||
/// Generic trait implemented by simulation request or reply payloads. It ties the request or
|
||||
/// reply to a specific target and provides an API which does boilerplate tasks like checking the
|
||||
/// validity of the target.
|
||||
pub trait SerializableSimMsgPayload<P: SimMessageProvider>:
|
||||
Serialize + DeserializeOwned + Sized
|
||||
{
|
||||
const TARGET: SimTarget;
|
||||
|
||||
fn from_sim_message(sim_message: &P) -> Result<Self, SimMessageError<P>> {
|
||||
if sim_message.target() == Self::TARGET {
|
||||
return Ok(serde_json::from_str(sim_message.payload())?);
|
||||
}
|
||||
Err(SimMessageError::TargetRequestMissmatch(sim_message.clone()))
|
||||
}
|
||||
}
|
||||
|
||||
pub trait SimMessageProvider: Serialize + DeserializeOwned + Clone + Sized {
|
||||
fn msg_type(&self) -> SimMessageType;
|
||||
fn target(&self) -> SimTarget;
|
||||
fn payload(&self) -> &String;
|
||||
fn from_raw_data(data: &[u8]) -> serde_json::Result<Self> {
|
||||
serde_json::from_slice(data)
|
||||
}
|
||||
}
|
||||
|
||||
impl SimRequest {
|
||||
pub fn new_with_epoch_time<T: SerializableSimMsgPayload<SimRequest>>(
|
||||
serializable_request: T,
|
||||
) -> Self {
|
||||
Self::new(serializable_request, MonotonicTime::EPOCH)
|
||||
}
|
||||
|
||||
pub fn new<T: SerializableSimMsgPayload<SimRequest>>(
|
||||
serializable_request: T,
|
||||
timestamp: MonotonicTime,
|
||||
) -> Self {
|
||||
Self {
|
||||
inner: SimMessage {
|
||||
target: T::TARGET,
|
||||
payload: serde_json::to_string(&serializable_request).unwrap(),
|
||||
},
|
||||
timestamp,
|
||||
}
|
||||
}
|
||||
}
|
||||
|
||||
impl SimMessageProvider for SimRequest {
|
||||
fn target(&self) -> SimTarget {
|
||||
self.inner.target
|
||||
}
|
||||
fn payload(&self) -> &String {
|
||||
&self.inner.payload
|
||||
}
|
||||
|
||||
fn msg_type(&self) -> SimMessageType {
|
||||
SimMessageType::Request
|
||||
}
|
||||
}
|
||||
|
||||
/// A generic simulation reply type. Right now, the payload data is expected to be
|
||||
/// JSON, which might be changed inthe future.
|
||||
#[derive(Debug, Clone, PartialEq, Eq, Serialize, Deserialize)]
|
||||
pub struct SimReply {
|
||||
inner: SimMessage,
|
||||
}
|
||||
|
||||
impl SimReply {
|
||||
pub fn new<T: SerializableSimMsgPayload<SimReply>>(serializable_reply: T) -> Self {
|
||||
Self {
|
||||
inner: SimMessage {
|
||||
target: T::TARGET,
|
||||
payload: serde_json::to_string(&serializable_reply).unwrap(),
|
||||
},
|
||||
}
|
||||
}
|
||||
}
|
||||
|
||||
impl SimMessageProvider for SimReply {
|
||||
fn target(&self) -> SimTarget {
|
||||
self.inner.target
|
||||
}
|
||||
fn payload(&self) -> &String {
|
||||
&self.inner.payload
|
||||
}
|
||||
fn msg_type(&self) -> SimMessageType {
|
||||
SimMessageType::Reply
|
||||
}
|
||||
}
|
||||
|
||||
#[derive(Debug, Copy, Clone, PartialEq, Eq, Serialize, Deserialize)]
|
||||
pub enum SimCtrlRequest {
|
||||
Ping,
|
||||
}
|
||||
|
||||
impl SerializableSimMsgPayload<SimRequest> for SimCtrlRequest {
|
||||
const TARGET: SimTarget = SimTarget::SimCtrl;
|
||||
}
|
||||
|
||||
pub type SimReplyError = SimMessageError<SimReply>;
|
||||
pub type SimRequestError = SimMessageError<SimRequest>;
|
||||
|
||||
#[derive(Debug, Clone, PartialEq, Eq, Serialize, Deserialize)]
|
||||
pub enum SimMessageError<P> {
|
||||
SerdeJson(String),
|
||||
TargetRequestMissmatch(P),
|
||||
}
|
||||
|
||||
impl<P> From<serde_json::Error> for SimMessageError<P> {
|
||||
fn from(error: serde_json::Error) -> SimMessageError<P> {
|
||||
SimMessageError::SerdeJson(error.to_string())
|
||||
}
|
||||
}
|
||||
|
||||
#[derive(Debug, Clone, PartialEq, Eq, Serialize, Deserialize)]
|
||||
pub enum SimCtrlReply {
|
||||
Pong,
|
||||
InvalidRequest(SimRequestError),
|
||||
}
|
||||
|
||||
impl SerializableSimMsgPayload<SimReply> for SimCtrlReply {
|
||||
const TARGET: SimTarget = SimTarget::SimCtrl;
|
||||
}
|
||||
|
||||
impl From<SimRequestError> for SimCtrlReply {
|
||||
fn from(error: SimRequestError) -> Self {
|
||||
SimCtrlReply::InvalidRequest(error)
|
||||
}
|
||||
}
|
||||
|
||||
pub mod eps {
|
||||
use super::*;
|
||||
use std::collections::HashMap;
|
||||
|
||||
use satrs::power::SwitchStateBinary;
|
||||
|
||||
pub type SwitchMap = HashMap<PcduSwitch, SwitchStateBinary>;
|
||||
|
||||
#[derive(Debug, Copy, Clone, PartialEq, Eq, Serialize, Deserialize, Hash)]
|
||||
pub enum PcduSwitch {
|
||||
Mgm = 0,
|
||||
Mgt = 1,
|
||||
}
|
||||
|
||||
#[derive(Debug, Copy, Clone, Serialize, Deserialize)]
|
||||
pub enum PcduRequest {
|
||||
SwitchDevice {
|
||||
switch: PcduSwitch,
|
||||
state: SwitchStateBinary,
|
||||
},
|
||||
RequestSwitchInfo,
|
||||
}
|
||||
|
||||
impl SerializableSimMsgPayload<SimRequest> for PcduRequest {
|
||||
const TARGET: SimTarget = SimTarget::Pcdu;
|
||||
}
|
||||
|
||||
#[derive(Debug, Clone, Serialize, Deserialize)]
|
||||
pub enum PcduReply {
|
||||
SwitchInfo(SwitchMap),
|
||||
}
|
||||
|
||||
impl SerializableSimMsgPayload<SimReply> for PcduReply {
|
||||
const TARGET: SimTarget = SimTarget::Pcdu;
|
||||
}
|
||||
}
|
||||
|
||||
pub mod acs {
|
||||
use std::time::Duration;
|
||||
|
||||
use satrs::power::SwitchStateBinary;
|
||||
|
||||
use super::*;
|
||||
|
||||
#[derive(Debug, Copy, Clone, Serialize, Deserialize)]
|
||||
pub enum MgmRequest {
|
||||
RequestSensorData,
|
||||
}
|
||||
|
||||
impl SerializableSimMsgPayload<SimRequest> for MgmRequest {
|
||||
const TARGET: SimTarget = SimTarget::Mgm;
|
||||
}
|
||||
|
||||
// Normally, small magnetometers generate their output as a signed 16 bit raw format or something
|
||||
// similar which needs to be converted to a signed float value with physical units. We will
|
||||
// simplify this now and generate the signed float values directly.
|
||||
#[derive(Debug, Copy, Clone, PartialEq, Serialize, Deserialize)]
|
||||
pub struct MgmSensorValues {
|
||||
pub x: f32,
|
||||
pub y: f32,
|
||||
pub z: f32,
|
||||
}
|
||||
|
||||
#[derive(Debug, Copy, Clone, PartialEq, Serialize, Deserialize)]
|
||||
pub struct MgmReply {
|
||||
pub switch_state: SwitchStateBinary,
|
||||
pub sensor_values: MgmSensorValues,
|
||||
}
|
||||
|
||||
impl SerializableSimMsgPayload<SimReply> for MgmReply {
|
||||
const TARGET: SimTarget = SimTarget::Mgm;
|
||||
}
|
||||
|
||||
pub const MGT_GEN_MAGNETIC_FIELD: MgmSensorValues = MgmSensorValues {
|
||||
x: 0.03,
|
||||
y: -0.03,
|
||||
z: 0.03,
|
||||
};
|
||||
|
||||
// Simple model using i16 values.
|
||||
#[derive(Default, Debug, Copy, Clone, PartialEq, Eq, Serialize, Deserialize)]
|
||||
pub struct MgtDipole {
|
||||
pub x: i16,
|
||||
pub y: i16,
|
||||
pub z: i16,
|
||||
}
|
||||
|
||||
#[derive(Debug, Copy, Clone, PartialEq, Serialize, Deserialize)]
|
||||
pub enum MgtRequestType {
|
||||
ApplyTorque,
|
||||
}
|
||||
|
||||
#[derive(Debug, Copy, Clone, Serialize, Deserialize)]
|
||||
pub enum MgtRequest {
|
||||
ApplyTorque {
|
||||
duration: Duration,
|
||||
dipole: MgtDipole,
|
||||
},
|
||||
RequestHk,
|
||||
}
|
||||
|
||||
impl SerializableSimMsgPayload<SimRequest> for MgtRequest {
|
||||
const TARGET: SimTarget = SimTarget::Mgt;
|
||||
}
|
||||
|
||||
#[derive(Debug, Copy, Clone, PartialEq, Eq, Serialize, Deserialize)]
|
||||
pub struct MgtHkSet {
|
||||
pub dipole: MgtDipole,
|
||||
pub torquing: bool,
|
||||
}
|
||||
|
||||
#[derive(Debug, Copy, Clone, Serialize, Deserialize)]
|
||||
pub enum MgtReply {
|
||||
Ack(MgtRequestType),
|
||||
Nak(MgtRequestType),
|
||||
Hk(MgtHkSet),
|
||||
}
|
||||
|
||||
impl SerializableSimMsgPayload<SimReply> for MgtReply {
|
||||
const TARGET: SimTarget = SimTarget::Mgm;
|
||||
}
|
||||
}
|
||||
|
||||
pub mod udp {
|
||||
use std::{
|
||||
net::{SocketAddr, UdpSocket},
|
||||
time::Duration,
|
||||
};
|
||||
|
||||
use thiserror::Error;
|
||||
|
||||
use crate::{SimReply, SimRequest};
|
||||
|
||||
#[derive(Error, Debug)]
|
||||
pub enum ReceptionError {
|
||||
#[error("IO error: {0}")]
|
||||
Io(#[from] std::io::Error),
|
||||
#[error("Serde JSON error: {0}")]
|
||||
SerdeJson(#[from] serde_json::Error),
|
||||
}
|
||||
|
||||
pub struct SimUdpClient {
|
||||
socket: UdpSocket,
|
||||
pub reply_buf: [u8; 4096],
|
||||
}
|
||||
|
||||
impl SimUdpClient {
|
||||
pub fn new(
|
||||
server_addr: &SocketAddr,
|
||||
non_blocking: bool,
|
||||
read_timeot_ms: Option<u64>,
|
||||
) -> std::io::Result<Self> {
|
||||
let socket = UdpSocket::bind("127.0.0.1:0")?;
|
||||
socket.set_nonblocking(non_blocking)?;
|
||||
socket
|
||||
.connect(server_addr)
|
||||
.expect("could not connect to server addr");
|
||||
if let Some(read_timeout) = read_timeot_ms {
|
||||
// Set a read timeout so the test does not hang on failures.
|
||||
socket.set_read_timeout(Some(Duration::from_millis(read_timeout)))?;
|
||||
}
|
||||
Ok(Self {
|
||||
socket,
|
||||
reply_buf: [0; 4096],
|
||||
})
|
||||
}
|
||||
|
||||
pub fn set_nonblocking(&self, non_blocking: bool) -> std::io::Result<()> {
|
||||
self.socket.set_nonblocking(non_blocking)
|
||||
}
|
||||
|
||||
pub fn set_read_timeout(&self, read_timeout_ms: u64) -> std::io::Result<()> {
|
||||
self.socket
|
||||
.set_read_timeout(Some(Duration::from_millis(read_timeout_ms)))
|
||||
}
|
||||
|
||||
pub fn send_request(&self, sim_request: &SimRequest) -> std::io::Result<usize> {
|
||||
self.socket.send(
|
||||
&serde_json::to_vec(sim_request).expect("conversion of request to vector failed"),
|
||||
)
|
||||
}
|
||||
|
||||
pub fn recv_raw(&mut self) -> std::io::Result<usize> {
|
||||
self.socket.recv(&mut self.reply_buf)
|
||||
}
|
||||
|
||||
pub fn recv_sim_reply(&mut self) -> Result<SimReply, ReceptionError> {
|
||||
let read_len = self.recv_raw()?;
|
||||
Ok(serde_json::from_slice(&self.reply_buf[0..read_len])?)
|
||||
}
|
||||
}
|
||||
}
|
||||
|
||||
#[cfg(test)]
|
||||
pub mod tests {
|
||||
use super::*;
|
||||
|
||||
#[derive(Debug, Copy, Clone, PartialEq, Eq, Serialize, Deserialize)]
|
||||
pub enum DummyRequest {
|
||||
Ping,
|
||||
}
|
||||
|
||||
impl SerializableSimMsgPayload<SimRequest> for DummyRequest {
|
||||
const TARGET: SimTarget = SimTarget::SimCtrl;
|
||||
}
|
||||
|
||||
#[derive(Debug, Copy, Clone, PartialEq, Eq, Serialize, Deserialize)]
|
||||
pub enum DummyReply {
|
||||
Pong,
|
||||
}
|
||||
|
||||
impl SerializableSimMsgPayload<SimReply> for DummyReply {
|
||||
const TARGET: SimTarget = SimTarget::SimCtrl;
|
||||
}
|
||||
|
||||
#[test]
|
||||
fn test_basic_request() {
|
||||
let sim_request = SimRequest::new_with_epoch_time(DummyRequest::Ping);
|
||||
assert_eq!(sim_request.target(), SimTarget::SimCtrl);
|
||||
assert_eq!(sim_request.msg_type(), SimMessageType::Request);
|
||||
let dummy_request =
|
||||
DummyRequest::from_sim_message(&sim_request).expect("deserialization failed");
|
||||
assert_eq!(dummy_request, DummyRequest::Ping);
|
||||
}
|
||||
|
||||
#[test]
|
||||
fn test_basic_reply() {
|
||||
let sim_reply = SimReply::new(DummyReply::Pong);
|
||||
assert_eq!(sim_reply.target(), SimTarget::SimCtrl);
|
||||
assert_eq!(sim_reply.msg_type(), SimMessageType::Reply);
|
||||
let dummy_request =
|
||||
DummyReply::from_sim_message(&sim_reply).expect("deserialization failed");
|
||||
assert_eq!(dummy_request, DummyReply::Pong);
|
||||
}
|
||||
}
|
|
@ -0,0 +1,127 @@
|
|||
use acs::{MagnetometerModel, MagnetorquerModel};
|
||||
use asynchronix::simulation::{Mailbox, SimInit};
|
||||
use asynchronix::time::{MonotonicTime, SystemClock};
|
||||
use controller::SimController;
|
||||
use eps::PcduModel;
|
||||
use satrs_minisim::{SimReply, SimRequest, SIM_CTRL_UDP_PORT};
|
||||
use std::sync::mpsc;
|
||||
use std::thread;
|
||||
use std::time::{Duration, SystemTime};
|
||||
use udp::SimUdpServer;
|
||||
|
||||
mod acs;
|
||||
mod controller;
|
||||
mod eps;
|
||||
#[cfg(test)]
|
||||
mod test_helpers;
|
||||
mod time;
|
||||
mod udp;
|
||||
|
||||
#[derive(Debug, Copy, Clone, PartialEq, Eq)]
|
||||
pub enum ThreadingModel {
|
||||
Default = 0,
|
||||
Single = 1,
|
||||
}
|
||||
|
||||
fn create_sim_controller(
|
||||
threading_model: ThreadingModel,
|
||||
start_time: MonotonicTime,
|
||||
reply_sender: mpsc::Sender<SimReply>,
|
||||
request_receiver: mpsc::Receiver<SimRequest>,
|
||||
) -> SimController {
|
||||
// Instantiate models and their mailboxes.
|
||||
let mgm_model = MagnetometerModel::new(Duration::from_millis(50), reply_sender.clone());
|
||||
|
||||
let mgm_mailbox = Mailbox::new();
|
||||
let mgm_addr = mgm_mailbox.address();
|
||||
let pcdu_mailbox = Mailbox::new();
|
||||
let pcdu_addr = pcdu_mailbox.address();
|
||||
let mgt_mailbox = Mailbox::new();
|
||||
let mgt_addr = mgt_mailbox.address();
|
||||
|
||||
let mut pcdu_model = PcduModel::new(reply_sender.clone());
|
||||
pcdu_model
|
||||
.mgm_switch
|
||||
.connect(MagnetometerModel::switch_device, &mgm_addr);
|
||||
|
||||
let mut mgt_model = MagnetorquerModel::new(reply_sender.clone());
|
||||
// Input connections.
|
||||
pcdu_model
|
||||
.mgt_switch
|
||||
.connect(MagnetorquerModel::switch_device, &mgt_addr);
|
||||
// Output connections.
|
||||
mgt_model
|
||||
.gen_magnetic_field
|
||||
.connect(MagnetometerModel::apply_external_magnetic_field, &mgm_addr);
|
||||
|
||||
// Instantiate the simulator
|
||||
let sys_clock = SystemClock::from_system_time(start_time, SystemTime::now());
|
||||
let sim_init = if threading_model == ThreadingModel::Single {
|
||||
SimInit::with_num_threads(1)
|
||||
} else {
|
||||
SimInit::new()
|
||||
};
|
||||
let simulation = sim_init
|
||||
.add_model(mgm_model, mgm_mailbox)
|
||||
.add_model(pcdu_model, pcdu_mailbox)
|
||||
.add_model(mgt_model, mgt_mailbox)
|
||||
.init(start_time);
|
||||
SimController::new(
|
||||
sys_clock,
|
||||
request_receiver,
|
||||
reply_sender,
|
||||
simulation,
|
||||
mgm_addr,
|
||||
pcdu_addr,
|
||||
mgt_addr,
|
||||
)
|
||||
}
|
||||
|
||||
fn main() {
|
||||
let (request_sender, request_receiver) = mpsc::channel();
|
||||
let (reply_sender, reply_receiver) = mpsc::channel();
|
||||
let t0 = MonotonicTime::EPOCH;
|
||||
let mut sim_ctrl =
|
||||
create_sim_controller(ThreadingModel::Default, t0, reply_sender, request_receiver);
|
||||
// Configure logger at runtime
|
||||
fern::Dispatch::new()
|
||||
// Perform allocation-free log formatting
|
||||
.format(|out, message, record| {
|
||||
out.finish(format_args!(
|
||||
"[{} {} {}] {}",
|
||||
humantime::format_rfc3339(std::time::SystemTime::now()),
|
||||
record.level(),
|
||||
record.target(),
|
||||
message
|
||||
))
|
||||
})
|
||||
// Add blanket level filter -
|
||||
.level(log::LevelFilter::Debug)
|
||||
// - and per-module overrides
|
||||
// Output to stdout, files, and other Dispatch configurations
|
||||
.chain(std::io::stdout())
|
||||
.chain(fern::log_file("output.log").expect("could not open log output file"))
|
||||
// Apply globally
|
||||
.apply()
|
||||
.expect("could not apply logger configuration");
|
||||
|
||||
log::info!("starting simulation thread");
|
||||
// This thread schedules the simulator.
|
||||
let sim_thread = thread::spawn(move || {
|
||||
sim_ctrl.run(t0, 1);
|
||||
});
|
||||
|
||||
let mut udp_server =
|
||||
SimUdpServer::new(SIM_CTRL_UDP_PORT, request_sender, reply_receiver, 200, None)
|
||||
.expect("could not create UDP request server");
|
||||
log::info!("starting UDP server on port {}", SIM_CTRL_UDP_PORT);
|
||||
// This thread manages the simulator UDP server.
|
||||
let udp_tc_thread = thread::spawn(move || {
|
||||
udp_server.run();
|
||||
});
|
||||
|
||||
sim_thread.join().expect("joining simulation thread failed");
|
||||
udp_tc_thread
|
||||
.join()
|
||||
.expect("joining UDP server thread failed");
|
||||
}
|
|
@ -0,0 +1,59 @@
|
|||
use delegate::delegate;
|
||||
use std::{sync::mpsc, time::Duration};
|
||||
|
||||
use asynchronix::time::MonotonicTime;
|
||||
use satrs_minisim::{SimReply, SimRequest};
|
||||
|
||||
use crate::{controller::SimController, create_sim_controller, ThreadingModel};
|
||||
|
||||
pub struct SimTestbench {
|
||||
pub sim_controller: SimController,
|
||||
pub reply_receiver: mpsc::Receiver<SimReply>,
|
||||
pub request_sender: mpsc::Sender<SimRequest>,
|
||||
}
|
||||
|
||||
impl SimTestbench {
|
||||
pub fn new() -> Self {
|
||||
let (request_sender, request_receiver) = mpsc::channel();
|
||||
let (reply_sender, reply_receiver) = mpsc::channel();
|
||||
let t0 = MonotonicTime::EPOCH;
|
||||
let sim_ctrl =
|
||||
create_sim_controller(ThreadingModel::Single, t0, reply_sender, request_receiver);
|
||||
|
||||
Self {
|
||||
sim_controller: sim_ctrl,
|
||||
reply_receiver,
|
||||
request_sender,
|
||||
}
|
||||
}
|
||||
pub fn handle_sim_requests_time_agnostic(&mut self) {
|
||||
self.handle_sim_requests(MonotonicTime::EPOCH);
|
||||
}
|
||||
|
||||
delegate! {
|
||||
to self.sim_controller {
|
||||
pub fn handle_sim_requests(&mut self, old_timestamp: MonotonicTime);
|
||||
}
|
||||
to self.sim_controller.simulation {
|
||||
pub fn step(&mut self);
|
||||
pub fn step_by(&mut self, duration: Duration);
|
||||
}
|
||||
}
|
||||
|
||||
pub fn send_request(&self, request: SimRequest) -> Result<(), mpsc::SendError<SimRequest>> {
|
||||
self.request_sender.send(request)
|
||||
}
|
||||
|
||||
pub fn try_receive_next_reply(&self) -> Option<SimReply> {
|
||||
match self.reply_receiver.try_recv() {
|
||||
Ok(reply) => Some(reply),
|
||||
Err(e) => {
|
||||
if e == mpsc::TryRecvError::Empty {
|
||||
None
|
||||
} else {
|
||||
panic!("reply_receiver disconnected");
|
||||
}
|
||||
}
|
||||
}
|
||||
}
|
||||
}
|
|
@ -0,0 +1,5 @@
|
|||
use asynchronix::time::MonotonicTime;
|
||||
|
||||
pub fn current_millis(time: MonotonicTime) -> u64 {
|
||||
(time.as_secs() as u64 * 1000) + (time.subsec_nanos() as u64 / 1_000_000)
|
||||
}
|
|
@ -0,0 +1,390 @@
|
|||
use std::{
|
||||
collections::VecDeque,
|
||||
io::ErrorKind,
|
||||
net::{SocketAddr, UdpSocket},
|
||||
sync::{atomic::AtomicBool, mpsc, Arc},
|
||||
time::Duration,
|
||||
};
|
||||
|
||||
use satrs_minisim::{SimMessageProvider, SimReply, SimRequest};
|
||||
|
||||
// A UDP server which handles all TC received by a client application.
|
||||
pub struct SimUdpServer {
|
||||
socket: UdpSocket,
|
||||
request_sender: mpsc::Sender<SimRequest>,
|
||||
// shared_last_sender: SharedSocketAddr,
|
||||
reply_receiver: mpsc::Receiver<SimReply>,
|
||||
reply_queue: VecDeque<SimReply>,
|
||||
max_num_replies: usize,
|
||||
// Stop signal to stop the server. Required for unittests and useful to allow clean shutdown
|
||||
// of the application.
|
||||
stop_signal: Option<Arc<AtomicBool>>,
|
||||
idle_sleep_period_ms: u64,
|
||||
req_buf: [u8; 4096],
|
||||
sender_addr: Option<SocketAddr>,
|
||||
}
|
||||
|
||||
impl SimUdpServer {
|
||||
pub fn new(
|
||||
local_port: u16,
|
||||
request_sender: mpsc::Sender<SimRequest>,
|
||||
reply_receiver: mpsc::Receiver<SimReply>,
|
||||
max_num_replies: usize,
|
||||
stop_signal: Option<Arc<AtomicBool>>,
|
||||
) -> std::io::Result<Self> {
|
||||
let socket = UdpSocket::bind(SocketAddr::from(([0, 0, 0, 0], local_port)))?;
|
||||
socket.set_nonblocking(true)?;
|
||||
Ok(Self {
|
||||
socket,
|
||||
request_sender,
|
||||
reply_receiver,
|
||||
reply_queue: VecDeque::new(),
|
||||
max_num_replies,
|
||||
stop_signal,
|
||||
idle_sleep_period_ms: 3,
|
||||
req_buf: [0; 4096],
|
||||
sender_addr: None,
|
||||
})
|
||||
}
|
||||
|
||||
#[allow(dead_code)]
|
||||
pub fn server_addr(&self) -> std::io::Result<SocketAddr> {
|
||||
self.socket.local_addr()
|
||||
}
|
||||
|
||||
pub fn run(&mut self) {
|
||||
loop {
|
||||
if let Some(stop_signal) = &self.stop_signal {
|
||||
if stop_signal.load(std::sync::atomic::Ordering::Relaxed) {
|
||||
break;
|
||||
}
|
||||
}
|
||||
let processed_requests = self.process_requests();
|
||||
let processed_replies = self.process_replies();
|
||||
let sent_replies = self.send_replies();
|
||||
// Sleep for a bit if there is nothing to do to prevent burning CPU cycles. Delay
|
||||
// should be kept short to ensure responsiveness of the system.
|
||||
if !processed_requests && !processed_replies && !sent_replies {
|
||||
std::thread::sleep(Duration::from_millis(self.idle_sleep_period_ms));
|
||||
}
|
||||
}
|
||||
}
|
||||
|
||||
fn process_requests(&mut self) -> bool {
|
||||
let mut processed_requests = false;
|
||||
loop {
|
||||
// Blocks for a certain amount of time until data is received to allow doing periodic
|
||||
// work like checking the stop signal.
|
||||
let (bytes_read, src) = match self.socket.recv_from(&mut self.req_buf) {
|
||||
Ok((bytes_read, src)) => (bytes_read, src),
|
||||
Err(e) if e.kind() == ErrorKind::WouldBlock => {
|
||||
// Continue to perform regular checks like the stop signal.
|
||||
break;
|
||||
}
|
||||
Err(e) => {
|
||||
// Handle unexpected errors (e.g., socket closed) here.
|
||||
log::error!("unexpected request server error: {e}");
|
||||
break;
|
||||
}
|
||||
};
|
||||
|
||||
self.sender_addr = Some(src);
|
||||
|
||||
let sim_req = SimRequest::from_raw_data(&self.req_buf[..bytes_read]);
|
||||
if sim_req.is_err() {
|
||||
log::warn!(
|
||||
"received UDP request with invalid format: {}",
|
||||
sim_req.unwrap_err()
|
||||
);
|
||||
return processed_requests;
|
||||
}
|
||||
self.request_sender.send(sim_req.unwrap()).unwrap();
|
||||
processed_requests = true;
|
||||
}
|
||||
processed_requests
|
||||
}
|
||||
|
||||
fn process_replies(&mut self) -> bool {
|
||||
let mut processed_replies = false;
|
||||
loop {
|
||||
match self.reply_receiver.try_recv() {
|
||||
Ok(reply) => {
|
||||
if self.reply_queue.len() >= self.max_num_replies {
|
||||
self.reply_queue.pop_front();
|
||||
}
|
||||
self.reply_queue.push_back(reply);
|
||||
processed_replies = true;
|
||||
}
|
||||
Err(e) => match e {
|
||||
mpsc::TryRecvError::Empty => return processed_replies,
|
||||
mpsc::TryRecvError::Disconnected => {
|
||||
log::error!("all UDP reply senders disconnected")
|
||||
}
|
||||
},
|
||||
}
|
||||
}
|
||||
}
|
||||
|
||||
fn send_replies(&mut self) -> bool {
|
||||
if self.sender_addr.is_none() {
|
||||
return false;
|
||||
}
|
||||
let mut sent_replies = false;
|
||||
while !self.reply_queue.is_empty() {
|
||||
let next_reply_to_send = self.reply_queue.pop_front().unwrap();
|
||||
self.socket
|
||||
.send_to(
|
||||
serde_json::to_string(&next_reply_to_send)
|
||||
.unwrap()
|
||||
.as_bytes(),
|
||||
self.sender_addr.unwrap(),
|
||||
)
|
||||
.expect("sending reply failed");
|
||||
sent_replies = true;
|
||||
}
|
||||
sent_replies
|
||||
}
|
||||
}
|
||||
|
||||
#[cfg(test)]
|
||||
mod tests {
|
||||
use std::{
|
||||
io::ErrorKind,
|
||||
sync::{
|
||||
atomic::{AtomicBool, Ordering},
|
||||
mpsc, Arc,
|
||||
},
|
||||
time::Duration,
|
||||
};
|
||||
|
||||
use satrs_minisim::{
|
||||
eps::{PcduReply, PcduRequest},
|
||||
udp::{ReceptionError, SimUdpClient},
|
||||
SimCtrlReply, SimCtrlRequest, SimReply, SimRequest,
|
||||
};
|
||||
|
||||
use crate::eps::tests::get_all_off_switch_map;
|
||||
use delegate::delegate;
|
||||
|
||||
use super::SimUdpServer;
|
||||
|
||||
// Wait time to ensure even possibly laggy systems like CI servers can run the tests.
|
||||
const SERVER_WAIT_TIME_MS: u64 = 50;
|
||||
|
||||
struct UdpTestbench {
|
||||
client: SimUdpClient,
|
||||
stop_signal: Arc<AtomicBool>,
|
||||
request_receiver: mpsc::Receiver<SimRequest>,
|
||||
reply_sender: mpsc::Sender<SimReply>,
|
||||
}
|
||||
|
||||
impl UdpTestbench {
|
||||
pub fn new(
|
||||
client_non_blocking: bool,
|
||||
client_read_timeout_ms: Option<u64>,
|
||||
max_num_replies: usize,
|
||||
) -> std::io::Result<(Self, SimUdpServer)> {
|
||||
let (request_sender, request_receiver) = mpsc::channel();
|
||||
let (reply_sender, reply_receiver) = mpsc::channel();
|
||||
let stop_signal = Arc::new(AtomicBool::new(false));
|
||||
let server = SimUdpServer::new(
|
||||
0,
|
||||
request_sender,
|
||||
reply_receiver,
|
||||
max_num_replies,
|
||||
Some(stop_signal.clone()),
|
||||
)?;
|
||||
let server_addr = server.server_addr()?;
|
||||
Ok((
|
||||
Self {
|
||||
client: SimUdpClient::new(
|
||||
&server_addr,
|
||||
client_non_blocking,
|
||||
client_read_timeout_ms,
|
||||
)?,
|
||||
stop_signal,
|
||||
request_receiver,
|
||||
reply_sender,
|
||||
},
|
||||
server,
|
||||
))
|
||||
}
|
||||
|
||||
pub fn try_recv_request(&self) -> Result<SimRequest, mpsc::TryRecvError> {
|
||||
self.request_receiver.try_recv()
|
||||
}
|
||||
|
||||
pub fn stop(&self) {
|
||||
self.stop_signal.store(true, Ordering::Relaxed);
|
||||
}
|
||||
|
||||
pub fn send_reply(&self, sim_reply: &SimReply) {
|
||||
self.reply_sender
|
||||
.send(sim_reply.clone())
|
||||
.expect("sending sim reply failed");
|
||||
}
|
||||
|
||||
delegate! {
|
||||
to self.client {
|
||||
pub fn send_request(&self, sim_request: &SimRequest) -> std::io::Result<usize>;
|
||||
pub fn recv_sim_reply(&mut self) -> Result<SimReply, ReceptionError>;
|
||||
}
|
||||
}
|
||||
|
||||
pub fn check_no_sim_reply_available(&mut self) {
|
||||
if let Err(ReceptionError::Io(ref io_error)) = self.recv_sim_reply() {
|
||||
if io_error.kind() == ErrorKind::WouldBlock {
|
||||
// Continue to perform regular checks like the stop signal.
|
||||
return;
|
||||
} else {
|
||||
// Handle unexpected errors (e.g., socket closed) here.
|
||||
panic!("unexpected request server error: {io_error}");
|
||||
}
|
||||
}
|
||||
panic!("unexpected reply available");
|
||||
}
|
||||
|
||||
pub fn check_next_sim_reply(&mut self, expected_reply: &SimReply) {
|
||||
match self.recv_sim_reply() {
|
||||
Ok(received_sim_reply) => assert_eq!(expected_reply, &received_sim_reply),
|
||||
Err(e) => match e {
|
||||
ReceptionError::Io(ref io_error) => {
|
||||
if io_error.kind() == ErrorKind::WouldBlock {
|
||||
// Continue to perform regular checks like the stop signal.
|
||||
panic!("no simulation reply received");
|
||||
} else {
|
||||
// Handle unexpected errors (e.g., socket closed) here.
|
||||
panic!("unexpected request server error: {e}");
|
||||
}
|
||||
}
|
||||
ReceptionError::SerdeJson(json_error) => {
|
||||
panic!("unexpected JSON error: {json_error}");
|
||||
}
|
||||
},
|
||||
}
|
||||
}
|
||||
}
|
||||
#[test]
|
||||
fn test_basic_udp_request_reception() {
|
||||
let (udp_testbench, mut udp_server) =
|
||||
UdpTestbench::new(true, Some(SERVER_WAIT_TIME_MS), 10)
|
||||
.expect("could not create testbench");
|
||||
let server_thread = std::thread::spawn(move || udp_server.run());
|
||||
let sim_request = SimRequest::new_with_epoch_time(PcduRequest::RequestSwitchInfo);
|
||||
udp_testbench
|
||||
.send_request(&sim_request)
|
||||
.expect("sending request failed");
|
||||
std::thread::sleep(Duration::from_millis(SERVER_WAIT_TIME_MS));
|
||||
// Check that the sim request has arrives and was forwarded.
|
||||
let received_sim_request = udp_testbench
|
||||
.try_recv_request()
|
||||
.expect("did not receive request");
|
||||
assert_eq!(sim_request, received_sim_request);
|
||||
// Stop the server.
|
||||
udp_testbench.stop();
|
||||
server_thread.join().unwrap();
|
||||
}
|
||||
|
||||
#[test]
|
||||
fn test_udp_reply_server() {
|
||||
let (mut udp_testbench, mut udp_server) =
|
||||
UdpTestbench::new(false, Some(SERVER_WAIT_TIME_MS), 10)
|
||||
.expect("could not create testbench");
|
||||
let server_thread = std::thread::spawn(move || udp_server.run());
|
||||
udp_testbench
|
||||
.send_request(&SimRequest::new_with_epoch_time(SimCtrlRequest::Ping))
|
||||
.expect("sending request failed");
|
||||
|
||||
let sim_reply = SimReply::new(PcduReply::SwitchInfo(get_all_off_switch_map()));
|
||||
udp_testbench.send_reply(&sim_reply);
|
||||
|
||||
udp_testbench.check_next_sim_reply(&sim_reply);
|
||||
|
||||
// Stop the server.
|
||||
udp_testbench.stop();
|
||||
server_thread.join().unwrap();
|
||||
}
|
||||
|
||||
#[test]
|
||||
fn test_udp_req_server_and_reply_sender() {
|
||||
let (mut udp_testbench, mut udp_server) =
|
||||
UdpTestbench::new(false, Some(SERVER_WAIT_TIME_MS), 10)
|
||||
.expect("could not create testbench");
|
||||
|
||||
let server_thread = std::thread::spawn(move || udp_server.run());
|
||||
|
||||
// Send a ping so that the server knows the address of the client.
|
||||
// Do not check that the request arrives on the receiver side, is done by other test.
|
||||
udp_testbench
|
||||
.send_request(&SimRequest::new_with_epoch_time(SimCtrlRequest::Ping))
|
||||
.expect("sending request failed");
|
||||
|
||||
// Send a reply to the server, ensure it gets forwarded to the client.
|
||||
let sim_reply = SimReply::new(PcduReply::SwitchInfo(get_all_off_switch_map()));
|
||||
udp_testbench.send_reply(&sim_reply);
|
||||
std::thread::sleep(Duration::from_millis(SERVER_WAIT_TIME_MS));
|
||||
|
||||
// Now we check that the reply server can send back replies to the client.
|
||||
udp_testbench.check_next_sim_reply(&sim_reply);
|
||||
|
||||
udp_testbench.stop();
|
||||
server_thread.join().unwrap();
|
||||
}
|
||||
|
||||
#[test]
|
||||
fn test_udp_replies_client_unconnected() {
|
||||
let (mut udp_testbench, mut udp_server) =
|
||||
UdpTestbench::new(true, None, 10).expect("could not create testbench");
|
||||
|
||||
let server_thread = std::thread::spawn(move || udp_server.run());
|
||||
|
||||
// Send a reply to the server. The client is not connected, so it won't get forwarded.
|
||||
let sim_reply = SimReply::new(PcduReply::SwitchInfo(get_all_off_switch_map()));
|
||||
udp_testbench.send_reply(&sim_reply);
|
||||
std::thread::sleep(Duration::from_millis(10));
|
||||
|
||||
udp_testbench.check_no_sim_reply_available();
|
||||
|
||||
// Connect by sending a ping.
|
||||
udp_testbench
|
||||
.send_request(&SimRequest::new_with_epoch_time(SimCtrlRequest::Ping))
|
||||
.expect("sending request failed");
|
||||
std::thread::sleep(Duration::from_millis(SERVER_WAIT_TIME_MS));
|
||||
|
||||
udp_testbench.check_next_sim_reply(&sim_reply);
|
||||
|
||||
// Now we check that the reply server can sent back replies to the client.
|
||||
udp_testbench.stop();
|
||||
server_thread.join().unwrap();
|
||||
}
|
||||
|
||||
#[test]
|
||||
fn test_udp_reply_server_old_replies_overwritten() {
|
||||
let (mut udp_testbench, mut udp_server) =
|
||||
UdpTestbench::new(true, None, 3).expect("could not create testbench");
|
||||
|
||||
let server_thread = std::thread::spawn(move || udp_server.run());
|
||||
|
||||
// The server only caches up to 3 replies.
|
||||
let sim_reply = SimReply::new(SimCtrlReply::Pong);
|
||||
for _ in 0..4 {
|
||||
udp_testbench.send_reply(&sim_reply);
|
||||
}
|
||||
std::thread::sleep(Duration::from_millis(20));
|
||||
|
||||
udp_testbench.check_no_sim_reply_available();
|
||||
|
||||
// Connect by sending a ping.
|
||||
udp_testbench
|
||||
.send_request(&SimRequest::new_with_epoch_time(SimCtrlRequest::Ping))
|
||||
.expect("sending request failed");
|
||||
std::thread::sleep(Duration::from_millis(SERVER_WAIT_TIME_MS));
|
||||
|
||||
for _ in 0..3 {
|
||||
udp_testbench.check_next_sim_reply(&sim_reply);
|
||||
}
|
||||
udp_testbench.check_no_sim_reply_available();
|
||||
udp_testbench.stop();
|
||||
server_thread.join().unwrap();
|
||||
}
|
||||
}
|
|
@ -8,6 +8,19 @@ and this project adheres to [Semantic Versioning](http://semver.org/).
|
|||
|
||||
# [unreleased]
|
||||
|
||||
# [v0.1.4] 2024-04-24
|
||||
|
||||
## Added
|
||||
|
||||
- `ResultU16::from_be_bytes`
|
||||
- `From<u16>` impl for `ResultU16`.
|
||||
- Optional `defmt` support: `defmt::Format` impl on `ResultU16` if the `defmt` feature is
|
||||
activated.
|
||||
|
||||
# [v0.1.3] 2024-04-16
|
||||
|
||||
Allow `spacepackets` range starting with v0.10 and v0.11.
|
||||
|
||||
# [v0.1.2] 2024-02-17
|
||||
|
||||
- Bumped `spacepackets` to v0.10.0 for `UnsignedEnum` trait change.
|
||||
|
|
|
@ -1,7 +1,7 @@
|
|||
[package]
|
||||
name = "satrs-shared"
|
||||
description = "Components shared by multiple sat-rs crates"
|
||||
version = "0.1.2"
|
||||
version = "0.1.4"
|
||||
edition = "2021"
|
||||
authors = ["Robin Mueller <muellerr@irs.uni-stuttgart.de>"]
|
||||
homepage = "https://absatsw.irs.uni-stuttgart.de/projects/sat-rs/"
|
||||
|
@ -17,12 +17,17 @@ version = "1"
|
|||
default-features = false
|
||||
optional = true
|
||||
|
||||
[dependencies.defmt]
|
||||
version = "0.3"
|
||||
optional = true
|
||||
|
||||
[dependencies.spacepackets]
|
||||
version = "0.10"
|
||||
version = ">0.9, <=0.11"
|
||||
default-features = false
|
||||
|
||||
[features]
|
||||
serde = ["dep:serde", "spacepackets/serde"]
|
||||
spacepackets = ["dep:defmt", "spacepackets/defmt"]
|
||||
|
||||
[package.metadata.docs.rs]
|
||||
rustdoc-args = ["--cfg", "doc_cfg", "--generate-link-to-definition"]
|
||||
rustdoc-args = ["--cfg", "docs_rs", "--generate-link-to-definition"]
|
||||
|
|
|
@ -1,3 +1,4 @@
|
|||
//! This crates contains modules shared among other sat-rs framework crates.
|
||||
#![no_std]
|
||||
#![cfg_attr(docs_rs, feature(doc_auto_cfg))]
|
||||
pub mod res_code;
|
||||
|
|
|
@ -7,6 +7,7 @@ use spacepackets::ByteConversionError;
|
|||
/// Simple [u16] based result code type which also allows to group related resultcodes.
|
||||
#[derive(Debug, Copy, Clone, PartialEq, Eq)]
|
||||
#[cfg_attr(feature = "serde", derive(Serialize, Deserialize))]
|
||||
#[cfg_attr(feature = "defmt", derive(defmt::Format))]
|
||||
pub struct ResultU16 {
|
||||
group_id: u8,
|
||||
unique_id: u8,
|
||||
|
@ -19,15 +20,28 @@ impl ResultU16 {
|
|||
unique_id,
|
||||
}
|
||||
}
|
||||
|
||||
pub fn raw(&self) -> u16 {
|
||||
((self.group_id as u16) << 8) | self.unique_id as u16
|
||||
}
|
||||
|
||||
pub fn group_id(&self) -> u8 {
|
||||
self.group_id
|
||||
}
|
||||
|
||||
pub fn unique_id(&self) -> u8 {
|
||||
self.unique_id
|
||||
}
|
||||
|
||||
pub fn from_be_bytes(bytes: [u8; 2]) -> Self {
|
||||
Self::from(u16::from_be_bytes(bytes))
|
||||
}
|
||||
}
|
||||
|
||||
impl From<u16> for ResultU16 {
|
||||
fn from(value: u16) -> Self {
|
||||
Self::new(((value >> 8) & 0xff) as u8, (value & 0xff) as u8)
|
||||
}
|
||||
}
|
||||
|
||||
impl From<ResultU16> for EcssEnumU16 {
|
||||
|
@ -84,5 +98,14 @@ mod tests {
|
|||
assert_eq!(written, 2);
|
||||
assert_eq!(buf[0], 1);
|
||||
assert_eq!(buf[1], 1);
|
||||
let read_back = ResultU16::from_be_bytes(buf);
|
||||
assert_eq!(read_back, result_code);
|
||||
}
|
||||
|
||||
#[test]
|
||||
fn test_from_u16() {
|
||||
let result_code = ResultU16::new(1, 1);
|
||||
let result_code_2 = ResultU16::from(result_code.raw());
|
||||
assert_eq!(result_code, result_code_2);
|
||||
}
|
||||
}
|
||||
|
|
|
@ -8,6 +8,136 @@ and this project adheres to [Semantic Versioning](http://semver.org/).
|
|||
|
||||
# [unreleased]
|
||||
|
||||
# [v0.2.0] 2024-05-02
|
||||
|
||||
## Changed
|
||||
|
||||
- Various improvements for the PUS stack components.
|
||||
|
||||
## Added
|
||||
|
||||
- Added `HandlingStatus` enumeration.
|
||||
|
||||
# [v0.2.0-rc.5] 2024-04-24
|
||||
|
||||
## Added
|
||||
|
||||
- Optional `defmt::Format` support for the event types, if the `defmt` feature is activated.
|
||||
|
||||
## Changed
|
||||
|
||||
- Removed `MpscEventReceiver`, the `EventReceiveProvider` trait is implemented directly
|
||||
on `mpsc::Receiver<EventMessage<Event>>`
|
||||
- Renamed `PusEventDispatcher` to `PusEventTmCreatorWithMap`.
|
||||
- Renamed `DefaultPusEventU32Dispatcher` to `DefaultPusEventU32EventCreator`.
|
||||
- Renamed `PusEventMgmtBackendProvider` renamed to `PusEventReportingMap`.
|
||||
- Reanmed Event `const_new` methods to `new` and the former `new` methods to `new_checked`
|
||||
|
||||
# [v0.2.0-rc.4] 2024-04-23
|
||||
|
||||
## Changed
|
||||
|
||||
- The `parse_for_ccsds_space_packets` method now expects a non-mutable slice and does not copy
|
||||
broken tail packets anymore. It also does not expect a mutable `next_write_idx` argument anymore.
|
||||
Instead, a `ParseResult` structure is returned which contains the `packets_found` and an
|
||||
optional `incomplete_tail_start` value.
|
||||
|
||||
## Fixed
|
||||
|
||||
- `parse_for_ccsds_space_packets` did not detect CCSDS space packets at the buffer end with the
|
||||
smallest possible size of 7 bytes.
|
||||
- TCP server component now re-registers the internal `mio::Poll` object if the client reset
|
||||
the connection unexpectedly. Not doing so prevented the server from functioning properly
|
||||
after a re-connect.
|
||||
|
||||
# [v0.2.0-rc.3] 2024-04-17
|
||||
|
||||
docs-rs hotfix 2
|
||||
|
||||
# [v0.2.0-rc.2] 2024-04-17
|
||||
|
||||
docs-rs hotfix
|
||||
|
||||
# [v0.2.0-rc.1] 2024-04-17
|
||||
|
||||
- `spacepackets` v0.11
|
||||
|
||||
## Added
|
||||
|
||||
- Added `params::WritableToBeBytes::to_vec`.
|
||||
- New `ComponentId` (`u64` typedef for now) which replaces former `TargetId` as a generic
|
||||
way to identify components.
|
||||
- Various abstraction and objects for targeted requests. This includes mode request/reply
|
||||
types for actions, HK and modes.
|
||||
- `VerificationReportingProvider::owner_id` method.
|
||||
- Introduced generic `EventMessage` which is generic over the event type and the additional
|
||||
parameter type. This message also contains the sender ID which can be useful for debugging
|
||||
or application layer / FDIR logic.
|
||||
- Stop signal handling for the TCP servers.
|
||||
- TCP server now uses `mio` crate to allow non-blocking operation. The server can now handle
|
||||
multiple connections at once, and the context information about handled transfers is
|
||||
passed via a callback which is inserted as a generic as well.
|
||||
|
||||
## Changed
|
||||
|
||||
- Renamed `ReceivesTcCore` to `PacketSenderRaw` to better show its primary purpose. It now contains
|
||||
a `send_raw_tc` method which is not mutable anymore.
|
||||
- Renamed `TmPacketSourceCore` to `TmPacketSource`.
|
||||
- Renamed `EcssTmSenderCore` to `EcssTmSender`.
|
||||
- Renamed `StoreAddr` to `PoolAddr`.
|
||||
- Reanmed `StoreError` to `PoolError`.
|
||||
- TCP server generics order. The error generics come last now.
|
||||
- `encoding::ccsds::PacketIdValidator` renamed to `ValidatorU16Id`, which lives in the crate root.
|
||||
It can be used for both CCSDS packet ID and CCSDS APID validation.
|
||||
- `EventManager::try_event_handling` not expects a mutable error handling closure instead of
|
||||
returning the occured errors.
|
||||
- Renamed `EventManagerBase` to `EventReportCreator`
|
||||
- Renamed `VerificationReporterCore` to `VerificationReportCreator`.
|
||||
- Removed `VerificationReporterCore`. The high-level API exposed by `VerificationReporter` and
|
||||
the low level API exposed by `VerificationReportCreator` should be sufficient for all use-cases.
|
||||
- Refactored `EventManager` to heavily use generics instead of trait objects.
|
||||
- `SendEventProvider` -> `EventSendProvider`. `id` trait method renamed to `channel_id`.
|
||||
- `ListenerTable` -> `ListenerMapProvider`
|
||||
- `SenderTable` -> `SenderMapProvider`
|
||||
- There is an `EventManagerWithMpsc` and a `EventManagerWithBoundedMpsc` helper type now.
|
||||
- Refactored ECSS TM sender abstractions to be generic over different message queue backends.
|
||||
- Refactored Verification Reporter abstractions and implementation to be generic over the sender
|
||||
instead of using trait objects.
|
||||
- Renamed `WritableToBeBytes::raw_len` to `WritableToBeBytes::written_len` for consistency.
|
||||
- `PusServiceProvider` renamed to `PusServiceDistributor` to make the purpose of the object
|
||||
more clear
|
||||
- `PusServiceProvider::handle_pus_tc_packet` renamed to `PusServiceDistributor::distribute_packet`.
|
||||
- `PusServiceDistibutor` and `CcsdsDistributor` now use generics instead of trait objects.
|
||||
This makes accessing the concrete trait implementations more easy as well.
|
||||
- Major overhaul of the PUS handling module.
|
||||
- Replace `TargetId` by `ComponentId`.
|
||||
- Replace most usages of `ChannelId` by `ComponentId`. A dedicated channel ID has limited usage
|
||||
due to the nature of typed channels in Rust.
|
||||
- `CheckTimer` renamed to `CountdownProvider`.
|
||||
- Renamed `TargetId` to `ComponentId`.
|
||||
- Replaced most `ChannelId` occurences with `ComponentId`. For typed channels, there is generally
|
||||
no need for dedicated channel IDs.
|
||||
- Changed `params::WritableToBeBytes::raw_len` to `written_len` for consistency.
|
||||
- `EventReporter` caches component ID.
|
||||
- Renamed `PusService11SchedHandler` to `PusSchedServiceHandler`.
|
||||
- Fixed general naming of PUS handlers from `handle_one_tc` to `poll_and_handle_next_tc`.
|
||||
- Reworked verification module: The sender (`impl EcssTmSenderCore`)
|
||||
now needs to be passed explicitely to the `VerificationReportingProvider` abstraction. This
|
||||
allows easier sharing of the TM sender component.
|
||||
|
||||
## Fixed
|
||||
|
||||
- Update deprecated API for `PusScheduler::insert_wrapped_tc_cds_short`
|
||||
and `PusScheduler::insert_wrapped_tc_cds_long`.
|
||||
- `EventReporter` uses interior mutability pattern to allow non-mutable API.
|
||||
|
||||
## Removed
|
||||
|
||||
- Remove `objects` module.
|
||||
- Removed CCSDS and PUS distributor modules. Their worth is questionable in an architecture
|
||||
where routing traits are sufficient and the core logic to demultiplex and distribute packets
|
||||
is simple enough to be application code.
|
||||
|
||||
# [v0.2.0-rc.0] 2024-02-21
|
||||
|
||||
## Added
|
||||
|
|
|
@ -1,8 +1,8 @@
|
|||
[package]
|
||||
name = "satrs"
|
||||
version = "0.2.0-rc.0"
|
||||
version = "0.2.0"
|
||||
edition = "2021"
|
||||
rust-version = "1.61"
|
||||
rust-version = "1.71.1"
|
||||
authors = ["Robin Mueller <muellerr@irs.uni-stuttgart.de>"]
|
||||
description = "A framework to build software for remote systems"
|
||||
homepage = "https://absatsw.irs.uni-stuttgart.de/projects/sat-rs/"
|
||||
|
@ -15,14 +15,31 @@ categories = ["aerospace", "aerospace::space-protocols", "no-std", "hardware-sup
|
|||
[dependencies]
|
||||
delegate = ">0.7, <=0.10"
|
||||
paste = "1"
|
||||
derive-new = "0.6"
|
||||
smallvec = "1"
|
||||
crc = "3"
|
||||
satrs-shared = "0.1.2"
|
||||
|
||||
[dependencies.satrs-shared]
|
||||
version = ">=0.1.3, <0.2"
|
||||
|
||||
[dependencies.num_enum]
|
||||
version = ">0.5, <=0.7"
|
||||
default-features = false
|
||||
|
||||
[dependencies.spacepackets]
|
||||
version = "0.11"
|
||||
default-features = false
|
||||
|
||||
[dependencies.cobs]
|
||||
git = "https://github.com/robamu/cobs.rs.git"
|
||||
version = "0.2.3"
|
||||
branch = "all_features"
|
||||
default-features = false
|
||||
|
||||
[dependencies.num-traits]
|
||||
version = "0.2"
|
||||
default-features = false
|
||||
|
||||
[dependencies.dyn-clone]
|
||||
version = "1"
|
||||
optional = true
|
||||
|
@ -35,10 +52,6 @@ optional = true
|
|||
version = "0.7"
|
||||
optional = true
|
||||
|
||||
[dependencies.num-traits]
|
||||
version = "0.2"
|
||||
default-features = false
|
||||
|
||||
[dependencies.downcast-rs]
|
||||
version = "1.2"
|
||||
default-features = false
|
||||
|
@ -67,20 +80,19 @@ version = "0.5.4"
|
|||
features = ["all"]
|
||||
optional = true
|
||||
|
||||
[dependencies.spacepackets]
|
||||
version = "0.10"
|
||||
default-features = false
|
||||
[dependencies.mio]
|
||||
version = "0.8"
|
||||
features = ["os-poll", "net"]
|
||||
optional = true
|
||||
|
||||
[dependencies.cobs]
|
||||
git = "https://github.com/robamu/cobs.rs.git"
|
||||
version = "0.2.3"
|
||||
branch = "all_features"
|
||||
default-features = false
|
||||
[dependencies.defmt]
|
||||
version = "0.3"
|
||||
optional = true
|
||||
|
||||
[dev-dependencies]
|
||||
serde = "1"
|
||||
zerocopy = "0.7"
|
||||
once_cell = "1.13"
|
||||
once_cell = "1"
|
||||
serde_json = "1"
|
||||
rand = "0.8"
|
||||
tempfile = "3"
|
||||
|
@ -100,7 +112,8 @@ std = [
|
|||
"spacepackets/std",
|
||||
"num_enum/std",
|
||||
"thiserror",
|
||||
"socket2"
|
||||
"socket2",
|
||||
"mio"
|
||||
]
|
||||
alloc = [
|
||||
"serde/alloc",
|
||||
|
@ -112,8 +125,10 @@ alloc = [
|
|||
serde = ["dep:serde", "spacepackets/serde", "satrs-shared/serde"]
|
||||
crossbeam = ["crossbeam-channel"]
|
||||
heapless = ["dep:heapless"]
|
||||
defmt = ["dep:defmt", "spacepackets/defmt"]
|
||||
test_util = []
|
||||
doc-images = []
|
||||
|
||||
[package.metadata.docs.rs]
|
||||
all-features = true
|
||||
rustdoc-args = ["--cfg", "doc_cfg", "--generate-link-to-definition"]
|
||||
rustdoc-args = ["--cfg", "docs_rs", "--generate-link-to-definition"]
|
||||
|
|
|
@ -4,11 +4,11 @@ Checklist for new releases
|
|||
# Pre-Release
|
||||
|
||||
1. Make sure any new modules are documented sufficiently enough and check docs with
|
||||
`cargo +nightly doc --all-features --config 'rustdocflags=["--cfg", "doc_cfg"]' --open`.
|
||||
`cargo +nightly doc --all-features --config 'build.rustdocflags=["--cfg", "docs_rs"]' --open`.
|
||||
2. Bump version specifier in `Cargo.toml`.
|
||||
3. Update `CHANGELOG.md`: Convert `unreleased` section into version section with date and add new
|
||||
`unreleased` section.
|
||||
4. Run `cargo test --all-features`.
|
||||
4. Run `cargo test --all-features` or `cargo nextest r --all-features` and `cargo test --doc`.
|
||||
5. Run `cargo fmt` and `cargo clippy`. Check `cargo msrv` against MSRV in `Cargo.toml`.
|
||||
6. Wait for CI/CD results for EGit and Github. These also check cross-compilation for bare-metal
|
||||
targets.
|
||||
|
|
|
@ -1,42 +1,68 @@
|
|||
use crate::{pool::StoreAddr, TargetId};
|
||||
use crate::{params::Params, pool::PoolAddr};
|
||||
|
||||
#[cfg(feature = "alloc")]
|
||||
pub use alloc_mod::*;
|
||||
|
||||
pub type ActionId = u32;
|
||||
|
||||
#[non_exhaustive]
|
||||
#[derive(Clone, Eq, PartialEq, Debug)]
|
||||
pub enum ActionRequest {
|
||||
UnsignedIdAndStoreData {
|
||||
action_id: ActionId,
|
||||
data_addr: StoreAddr,
|
||||
},
|
||||
#[cfg(feature = "alloc")]
|
||||
UnsignedIdAndVecData {
|
||||
action_id: ActionId,
|
||||
data: alloc::vec::Vec<u8>,
|
||||
},
|
||||
#[cfg(feature = "alloc")]
|
||||
StringIdAndVecData {
|
||||
action_id: alloc::string::String,
|
||||
data: alloc::vec::Vec<u8>,
|
||||
},
|
||||
#[cfg(feature = "alloc")]
|
||||
StringIdAndStoreData {
|
||||
action_id: alloc::string::String,
|
||||
data: StoreAddr,
|
||||
},
|
||||
#[derive(Debug, Eq, PartialEq, Clone)]
|
||||
pub struct ActionRequest {
|
||||
pub action_id: ActionId,
|
||||
pub variant: ActionRequestVariant,
|
||||
}
|
||||
|
||||
#[derive(Debug, Clone, PartialEq, Eq)]
|
||||
pub struct TargetedActionRequest {
|
||||
target: TargetId,
|
||||
action_request: ActionRequest,
|
||||
}
|
||||
|
||||
impl TargetedActionRequest {
|
||||
pub fn new(target: TargetId, action_request: ActionRequest) -> Self {
|
||||
Self {
|
||||
target,
|
||||
action_request,
|
||||
}
|
||||
impl ActionRequest {
|
||||
pub fn new(action_id: ActionId, variant: ActionRequestVariant) -> Self {
|
||||
Self { action_id, variant }
|
||||
}
|
||||
}
|
||||
|
||||
#[non_exhaustive]
|
||||
#[derive(Clone, Eq, PartialEq, Debug)]
|
||||
pub enum ActionRequestVariant {
|
||||
NoData,
|
||||
StoreData(PoolAddr),
|
||||
#[cfg(feature = "alloc")]
|
||||
VecData(alloc::vec::Vec<u8>),
|
||||
}
|
||||
|
||||
#[derive(Debug, PartialEq, Clone)]
|
||||
pub struct ActionReply {
|
||||
pub action_id: ActionId,
|
||||
pub variant: ActionReplyVariant,
|
||||
}
|
||||
|
||||
/// A reply to an action request.
|
||||
#[non_exhaustive]
|
||||
#[derive(Clone, Debug, PartialEq)]
|
||||
pub enum ActionReplyVariant {
|
||||
CompletionFailed(Params),
|
||||
StepFailed { step: u32, reason: Params },
|
||||
Completed,
|
||||
}
|
||||
|
||||
#[cfg(feature = "alloc")]
|
||||
pub mod alloc_mod {
|
||||
use super::*;
|
||||
|
||||
#[derive(Debug, Eq, PartialEq, Clone)]
|
||||
pub struct ActionRequestStringId {
|
||||
pub action_id: alloc::string::String,
|
||||
pub variant: ActionRequestVariant,
|
||||
}
|
||||
|
||||
impl ActionRequestStringId {
|
||||
pub fn new(action_id: alloc::string::String, variant: ActionRequestVariant) -> Self {
|
||||
Self { action_id, variant }
|
||||
}
|
||||
}
|
||||
|
||||
#[derive(Debug, PartialEq, Clone)]
|
||||
pub struct ActionReplyStringId {
|
||||
pub action_id: alloc::string::String,
|
||||
pub variant: ActionReplyVariant,
|
||||
}
|
||||
}
|
||||
|
||||
#[cfg(test)]
|
||||
mod tests {}
|
||||
|
|
|
@ -5,7 +5,7 @@ use std::path::{Path, PathBuf};
|
|||
use super::{
|
||||
filestore::{FilestoreError, VirtualFilestore},
|
||||
user::{CfdpUser, FileSegmentRecvdParams, MetadataReceivedParams},
|
||||
CheckTimer, CheckTimerCreator, EntityType, LocalEntityConfig, PacketInfo, PacketTarget,
|
||||
CheckTimerCreator, CountdownProvider, EntityType, LocalEntityConfig, PacketInfo, PacketTarget,
|
||||
RemoteEntityConfig, RemoteEntityConfigProvider, State, TimerContext, TransactionId,
|
||||
TransactionStep,
|
||||
};
|
||||
|
@ -54,7 +54,7 @@ struct TransferState {
|
|||
completion_disposition: CompletionDisposition,
|
||||
checksum: u32,
|
||||
current_check_count: u32,
|
||||
current_check_timer: Option<Box<dyn CheckTimer>>,
|
||||
current_check_timer: Option<Box<dyn CountdownProvider>>,
|
||||
}
|
||||
|
||||
impl Default for TransferState {
|
||||
|
@ -799,9 +799,9 @@ mod tests {
|
|||
};
|
||||
|
||||
use crate::cfdp::{
|
||||
filestore::NativeFilestore, user::OwnedMetadataRecvdParams, CheckTimer, CheckTimerCreator,
|
||||
DefaultFaultHandler, IndicationConfig, RemoteEntityConfig, StdRemoteEntityConfigProvider,
|
||||
UserFaultHandler, CRC_32,
|
||||
filestore::NativeFilestore, user::OwnedMetadataRecvdParams, CheckTimerCreator,
|
||||
CountdownProvider, DefaultFaultHandler, IndicationConfig, RemoteEntityConfig,
|
||||
StdRemoteEntityConfigProvider, UserFaultHandler, CRC_32,
|
||||
};
|
||||
|
||||
use super::*;
|
||||
|
@ -1057,7 +1057,7 @@ mod tests {
|
|||
expired: Arc<AtomicBool>,
|
||||
}
|
||||
|
||||
impl CheckTimer for TestCheckTimer {
|
||||
impl CountdownProvider for TestCheckTimer {
|
||||
fn has_expired(&self) -> bool {
|
||||
self.expired.load(core::sync::atomic::Ordering::Relaxed)
|
||||
}
|
||||
|
@ -1088,7 +1088,10 @@ mod tests {
|
|||
}
|
||||
|
||||
impl CheckTimerCreator for TestCheckTimerCreator {
|
||||
fn get_check_timer_provider(&self, timer_context: TimerContext) -> Box<dyn CheckTimer> {
|
||||
fn get_check_timer_provider(
|
||||
&self,
|
||||
timer_context: TimerContext,
|
||||
) -> Box<dyn CountdownProvider> {
|
||||
match timer_context {
|
||||
TimerContext::CheckLimit { .. } => {
|
||||
Box::new(TestCheckTimer::new(self.check_limit_expired_flag.clone()))
|
||||
|
|
|
@ -7,7 +7,7 @@ use spacepackets::ByteConversionError;
|
|||
use std::error::Error;
|
||||
use std::path::Path;
|
||||
#[cfg(feature = "std")]
|
||||
pub use stdmod::*;
|
||||
pub use std_mod::*;
|
||||
|
||||
pub const CRC_32: Crc<u32> = Crc::<u32>::new(&CRC_32_CKSUM);
|
||||
|
||||
|
@ -148,12 +148,11 @@ pub trait VirtualFilestore {
|
|||
}
|
||||
|
||||
#[cfg(feature = "std")]
|
||||
pub mod stdmod {
|
||||
pub mod std_mod {
|
||||
use super::*;
|
||||
use std::{
|
||||
fs::{self, File, OpenOptions},
|
||||
io::{BufReader, Read, Seek, SeekFrom, Write},
|
||||
path::Path,
|
||||
};
|
||||
|
||||
#[derive(Default)]
|
||||
|
|
Some files were not shown because too many files have changed in this diff Show More
Loading…
Reference in New Issue