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base: rust:satrs-shared-v0.2.2
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rust:main rust:mode-tree-extension-in-example rust:serialization-prototyping
rust:satrs-shared-v0.2.2 rust:satrs-v0.3.0-alpha.0 rust:satrs-shared-v0.2.1 rust:satrs-shared-v0.2.0 rust:satrs-v0.2.1 rust:satrs-v0.2.0 rust:satrs-v0.2.0-rc.4 rust:satrs-v0.2.0-rc.3 rust:satrs-v0.2.0-rc.2 rust:satrs-mib-v0.1.2 rust:satrs-v0.2.0-rc.0 rust:satrs-v0.2.0-rc.1 rust:satrs-example-v0.1.1 rust:satrs-mib-v0.1.1 rust:satrs-example-v0.1.0 rust:satrs-v0.1.1 rust:satrs-v0.1.0 rust:satrs-mib-v0.1.0 rust:satrs-mib-v0.1.0-alpha.2 rust:satrs-core-v0.1.0-alpha.3 rust:satrs-core-v0.1.0-alpha.2 rust:satrs-mib-v0.1.0-alpha.1 rust:satrs-core-v0.1.0-alpha.1 rust:satrs-core-v0.1.0-alpha.0
..
compare: rust:5699c4212f23d637eb1fd36d79b60fe82d22e7dd
Branches Tags
rust:mode-tree-extension-in-example rust:main rust:serialization-prototyping
rust:satrs-shared-v0.2.2 rust:satrs-v0.3.0-alpha.0 rust:satrs-shared-v0.2.1 rust:satrs-shared-v0.2.0 rust:satrs-v0.2.1 rust:satrs-v0.2.0 rust:satrs-v0.2.0-rc.4 rust:satrs-v0.2.0-rc.3 rust:satrs-v0.2.0-rc.2 rust:satrs-mib-v0.1.2 rust:satrs-v0.2.0-rc.0 rust:satrs-v0.2.0-rc.1 rust:satrs-example-v0.1.1 rust:satrs-mib-v0.1.1 rust:satrs-example-v0.1.0 rust:satrs-v0.1.1 rust:satrs-v0.1.0 rust:satrs-mib-v0.1.0 rust:satrs-mib-v0.1.0-alpha.2 rust:satrs-core-v0.1.0-alpha.3 rust:satrs-core-v0.1.0-alpha.2 rust:satrs-mib-v0.1.0-alpha.1 rust:satrs-core-v0.1.0-alpha.1 rust:satrs-core-v0.1.0-alpha.0

1 Commits
satrs-shar ... 5699c4212f

Author SHA1 Message Date
Robin Mueller
5699c4212f Mode Tree Feature Update 2025-02-05 13:57:21 +01:00
69 changed files with 1562 additions and 1424 deletions
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6
.github/workflows/ci.yml vendored
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@ -11,9 +11,7 @@ jobs:
steps:
- uses: actions/checkout@v4
- uses: dtolnay/rust-toolchain@stable
- run: cargo check
# Check example with static pool configuration
- run: cargo check -p satrs-example --no-default-features
- run: cargo check --release
test:
name: Run Tests
@ -39,7 +37,7 @@ jobs:
- uses: dtolnay/rust-toolchain@stable
with:
targets: "armv7-unknown-linux-gnueabihf, thumbv7em-none-eabihf"
- run: cargo check -p satrs --target=${{matrix.target}} --no-default-features
- run: cargo check -p satrs --release --target=${{matrix.target}} --no-default-features
fmt:
name: Check formatting

6
README.md
View File

@ -1,7 +1,7 @@
<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://robamu.github.io/sat-rs/book/)
[![sat-rs book](https://img.shields.io/badge/sat--rs-book-darkgreen?style=flat)](https://absatsw.irs.uni-stuttgart.de/projects/sat-rs/book/)
[![Crates.io](https://img.shields.io/crates/v/satrs)](https://crates.io/crates/satrs)
[![docs.rs](https://img.shields.io/docsrs/satrs)](https://docs.rs/satrs)
@ -11,7 +11,7 @@ sat-rs
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://robamu.github.io/sat-rs/book/)
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
@ -38,7 +38,7 @@ This project currently contains following crates:
Example of a simple example on-board software using various sat-rs components which can be run
on a host computer or on any system with a standard runtime like a Raspberry Pi.
* [`satrs-minisim`](https://egit.irs.uni-stuttgart.de/rust/sat-rs/src/branch/main/satrs-minisim):
Mini-Simulator based on [nexosim](https://github.com/asynchronics/nexosim) which
Mini-Simulator based on [asynchronix](https://github.com/asynchronics/asynchronix) which
simulates some physical devices for the `satrs-example` application device handlers.
* [`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.

10
embedded-examples/stm32h7-nucleo-rtic/Cargo.lock generated
View File

@ -631,7 +631,6 @@ dependencies = [
"satrs-shared",
"smallvec",
"spacepackets",
"static_cell",
"thiserror",
]
@ -721,15 +720,6 @@ version = "1.2.0"
source = "registry+https://github.com/rust-lang/crates.io-index"
checksum = "a8f112729512f8e442d81f95a8a7ddf2b7c6b8a1a6f509a95864142b30cab2d3"
[[package]]
name = "static_cell"
version = "2.1.0"
source = "registry+https://github.com/rust-lang/crates.io-index"
checksum = "d89b0684884a883431282db1e4343f34afc2ff6996fe1f4a1664519b66e14c1e"
dependencies = [
"portable-atomic",
]
[[package]]
name = "stm32h7"
version = "0.15.1"

7
embedded-examples/stm32h7-nucleo-rtic/src/main.rs
View File

@ -3,6 +3,7 @@
extern crate alloc;
use rtic::app;
use rtic_monotonics::fugit::TimerInstantU32;
use rtic_monotonics::systick::prelude::*;
use satrs::pool::{PoolAddr, PoolProvider, StaticHeaplessMemoryPool};
use satrs::static_subpool;
@ -73,7 +74,9 @@ impl Net {
let mut iface = Interface::new(
config,
&mut ethdev,
smoltcp::time::Instant::from_millis(Mono::now().duration_since_epoch().to_millis()),
smoltcp::time::Instant::from_millis(
(Mono::now() - TimerInstantU32::<1000>::from_ticks(0)).to_millis(),
),
);
// Create sockets
let dhcp_socket = dhcpv4::Socket::new();
@ -92,7 +95,7 @@ impl Net {
/// Polls on the ethernet interface. You should refer to the smoltcp
/// documentation for poll() to understand how to call poll efficiently
pub fn poll<'a>(&mut self, sockets: &'a mut SocketSet) -> bool {
let uptime = Mono::now().duration_since_epoch();
let uptime = Mono::now() - TimerInstantU32::<1000>::from_ticks(0);
let timestamp = smoltcp::time::Instant::from_millis(uptime.to_millis());
self.iface.poll(timestamp, &mut self.ethdev, sockets)

8
satrs-book/src/constrained-systems.md
View File

@ -3,20 +3,20 @@
Software for space systems oftentimes has different requirements than the software for host
systems or servers. Currently, most space systems are considered embedded systems.
For these systems, the computation power and the available heap are important resources
which are also constrained. This might make completeley heap based memory management schemes which
For these systems, the computation power and the available heap are the most important resources
which are constrained. This might make completeley heap based memory management schemes which
are oftentimes used on host and server based systems unfeasable. Still, completely forbidding
heap allocations might make software development unnecessarilly difficult, especially in a
time where the OBSW might be running on Linux based systems with hundreds of MBs of RAM.
A useful pattern commonly used in space systems is to limit heap allocations to program
A useful pattern used commonly in space systems is to limit heap allocations to program
initialization time and avoid frequent run-time allocations. This prevents issues like
running out of memory (something even Rust can not protect from) or heap fragmentation on systems
without a MMU.
# Using pre-allocated pool structures
A candidate for heap allocations is the TMTC and handling. TC, TMs and IPC data are all
A huge candidate for heap allocations is the TMTC and handling. TC, TMs and IPC data are all
candidates where the data size might vary greatly. The regular solution for host systems
might be to send around this data as a `Vec<u8>` until it is dropped. `sat-rs` provides
another solution to avoid run-time allocations by offering pre-allocated static

5
satrs-example/Cargo.toml
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@ -20,7 +20,6 @@ thiserror = "2"
lazy_static = "1"
strum = { version = "0.26", features = ["derive"] }
derive-new = "0.7"
cfg-if = "1"
serde = { version = "1", features = ["derive"] }
serde_json = "1"
@ -36,8 +35,8 @@ version = "0.1.1"
path = "../satrs-mib"
[features]
heap_tmtc = []
default = ["heap_tmtc"]
dyn_tmtc = []
default = ["dyn_tmtc"]
[dev-dependencies]
env_logger = "0.11"

2
satrs-example/README.md
View File

@ -14,7 +14,7 @@ You can run the application using `cargo run`.
# Features
The example has the `heap_tmtc` feature which is enabled by default. With this feature enabled,
The example has the `dyn_tmtc` feature which is enabled by default. With this feature enabled,
TMTC packets are exchanged using the heap as the backing memory instead of pre-allocated static
stores.

5
satrs-example/pytmtc/pytmtc/common.py
View File

@ -39,10 +39,7 @@ class EventU32:
class AcsId(enum.IntEnum):
SUBSYSTEM = 1
MGM_ASSEMBLY = 2
MGM_0 = 3
MGM_1 = 4
MGM_0 = 0
class AcsHkIds(enum.IntEnum):

1
satrs-example/src/acs/assembly.rs
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@ -1 +0,0 @@
// TODO: Write the assembly

1
satrs-example/src/acs/ctrl.rs
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@ -1 +0,0 @@
// TODO: Write dummy controller

194
satrs-example/src/acs/mgm.rs
View File

@ -1,8 +1,7 @@
use derive_new::new;
use satrs::hk::{HkRequest, HkRequestVariant};
use satrs::mode_tree::{ModeChild, ModeNode};
use satrs::power::{PowerSwitchInfo, PowerSwitcherCommandSender};
use satrs_example::config::pus::PUS_MODE_SERVICE;
use satrs::queue::{GenericSendError, GenericTargetedMessagingError};
use satrs_example::{DeviceMode, TimestampHelper};
use satrs_minisim::acs::lis3mdl::{
MgmLis3MdlReply, MgmLis3RawValues, FIELD_LSB_PER_GAUSS_4_SENS, GAUSS_TO_MICROTESLA_FACTOR,
@ -16,18 +15,15 @@ use std::sync::{Arc, Mutex};
use std::time::Duration;
use satrs::mode::{
ModeAndSubmode, ModeError, ModeProvider, ModeReply, ModeRequestHandler,
ModeRequestHandlerMpscBounded,
ModeAndSubmode, ModeError, ModeProvider, ModeReply, ModeRequest, ModeRequestHandler,
};
use satrs::pus::{EcssTmSender, PusTmVariant};
use satrs::request::{GenericMessage, MessageMetadata, UniqueApidTargetId};
use satrs_example::config::components::NO_SENDER;
use satrs_example::config::components::{NO_SENDER, PUS_MODE_SERVICE};
use crate::hk::PusHkHelper;
use crate::pus::hk::{HkReply, HkReplyVariant};
use crate::requests::CompositeRequest;
use crate::spi::SpiInterface;
use crate::tmtc::sender::TmTcSender;
use serde::{Deserialize, Serialize};
@ -52,6 +48,11 @@ pub enum TransitionState {
Done,
}
pub trait SpiInterface {
type Error: Debug;
fn transfer(&mut self, tx: &[u8], rx: &mut [u8]) -> Result<(), Self::Error>;
}
#[derive(Default)]
pub struct SpiDummyInterface {
pub dummy_values: MgmLis3RawValues,
@ -128,6 +129,13 @@ pub struct MgmData {
pub z: f32,
}
pub struct MpscModeLeafInterface {
pub request_rx: mpsc::Receiver<GenericMessage<ModeRequest>>,
pub reply_to_pus_tx: mpsc::Sender<GenericMessage<ModeReply>>,
#[allow(dead_code)]
pub reply_to_parent_tx: mpsc::SyncSender<GenericMessage<ModeReply>>,
}
#[derive(Default)]
pub struct BufWrapper {
tx_buf: [u8; 32],
@ -158,15 +166,16 @@ impl Default for ModeHelpers {
#[allow(clippy::too_many_arguments)]
pub struct MgmHandlerLis3Mdl<
ComInterface: SpiInterface,
TmSender: EcssTmSender,
SwitchHelper: PowerSwitchInfo<PcduSwitch> + PowerSwitcherCommandSender<PcduSwitch>,
> {
id: UniqueApidTargetId,
dev_str: &'static str,
mode_node: ModeRequestHandlerMpscBounded,
mode_interface: MpscModeLeafInterface,
composite_request_rx: mpsc::Receiver<GenericMessage<CompositeRequest>>,
hk_reply_tx: mpsc::SyncSender<GenericMessage<HkReply>>,
hk_reply_tx: mpsc::Sender<GenericMessage<HkReply>>,
switch_helper: SwitchHelper,
tm_sender: TmTcSender,
tm_sender: TmSender,
pub com_interface: ComInterface,
shared_mgm_set: Arc<Mutex<MgmData>>,
#[new(value = "PusHkHelper::new(id)")]
@ -181,8 +190,9 @@ pub struct MgmHandlerLis3Mdl<
impl<
ComInterface: SpiInterface,
TmSender: EcssTmSender,
SwitchHelper: PowerSwitchInfo<PcduSwitch> + PowerSwitcherCommandSender<PcduSwitch>,
> MgmHandlerLis3Mdl<ComInterface, SwitchHelper>
> MgmHandlerLis3Mdl<ComInterface, TmSender, SwitchHelper>
{
pub fn periodic_operation(&mut self) {
self.stamp_helper.update_from_now();
@ -265,28 +275,25 @@ impl<
pub fn handle_mode_requests(&mut self) {
loop {
// TODO: Only allow one set mode request per cycle?
match self.mode_node.try_recv_mode_request() {
Ok(opt_msg) => {
if let Some(msg) = opt_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()
);
}
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;
}
}
Err(e) => match e {
satrs::queue::GenericReceiveError::Empty => break,
satrs::queue::GenericReceiveError::TxDisconnected(e) => {
log::warn!("{}: failed to receive mode request: {:?}", self.dev_str, e);
}
},
}
}
}
@ -358,8 +365,9 @@ impl<
impl<
ComInterface: SpiInterface,
TmSender: EcssTmSender,
SwitchHelper: PowerSwitchInfo<PcduSwitch> + PowerSwitcherCommandSender<PcduSwitch>,
> ModeProvider for MgmHandlerLis3Mdl<ComInterface, SwitchHelper>
> ModeProvider for MgmHandlerLis3Mdl<ComInterface, TmSender, SwitchHelper>
{
fn mode_and_submode(&self) -> ModeAndSubmode {
self.mode_helpers.current
@ -368,8 +376,9 @@ impl<
impl<
ComInterface: SpiInterface,
TmSender: EcssTmSender,
SwitchHelper: PowerSwitchInfo<PcduSwitch> + PowerSwitcherCommandSender<PcduSwitch>,
> ModeRequestHandler for MgmHandlerLis3Mdl<ComInterface, SwitchHelper>
> ModeRequestHandler for MgmHandlerLis3Mdl<ComInterface, TmSender, SwitchHelper>
{
type Error = ModeError;
@ -440,9 +449,10 @@ impl<
requestor.sender_id()
);
}
self.mode_node
.send_mode_reply(requestor, reply)
.map_err(ModeError::Send)?;
self.mode_interface
.reply_to_pus_tx
.send(GenericMessage::new(requestor, reply))
.map_err(|_| GenericTargetedMessagingError::Send(GenericSendError::RxDisconnected))?;
Ok(())
}
@ -455,44 +465,17 @@ impl<
}
}
impl<
ComInterface: SpiInterface,
SwitchHelper: PowerSwitchInfo<PcduSwitch> + PowerSwitcherCommandSender<PcduSwitch>,
> ModeNode for MgmHandlerLis3Mdl<ComInterface, SwitchHelper>
{
fn id(&self) -> satrs::ComponentId {
self.id.into()
}
}
impl<
ComInterface: SpiInterface,
SwitchHelper: PowerSwitchInfo<PcduSwitch> + PowerSwitcherCommandSender<PcduSwitch>,
> ModeChild for MgmHandlerLis3Mdl<ComInterface, SwitchHelper>
{
type Sender = mpsc::SyncSender<GenericMessage<ModeReply>>;
fn add_mode_parent(&mut self, id: satrs::ComponentId, reply_sender: Self::Sender) {
self.mode_node.add_message_target(id, reply_sender);
}
}
#[cfg(test)]
mod tests {
use std::{
collections::HashMap,
sync::{mpsc, Arc},
};
use std::sync::{mpsc, Arc};
use satrs::{
mode::{ModeReply, ModeRequest},
mode_tree::ModeParent,
power::SwitchStateBinary,
request::{GenericMessage, UniqueApidTargetId},
tmtc::PacketAsVec,
ComponentId,
};
use satrs_example::config::{acs::MGM_ASSEMBLY, components::Apid};
use satrs_example::config::components::Apid;
use satrs_minisim::acs::lis3mdl::MgmLis3RawValues;
use crate::{eps::TestSwitchHelper, pus::hk::HkReply, requests::CompositeRequest};
@ -520,88 +503,49 @@ mod tests {
}
}
#[allow(dead_code)]
pub struct MgmTestbench {
pub mode_request_tx: mpsc::SyncSender<GenericMessage<ModeRequest>>,
pub mode_request_tx: mpsc::Sender<GenericMessage<ModeRequest>>,
pub mode_reply_rx_to_pus: mpsc::Receiver<GenericMessage<ModeReply>>,
pub mode_reply_rx_to_parent: mpsc::Receiver<GenericMessage<ModeReply>>,
pub composite_request_tx: mpsc::Sender<GenericMessage<CompositeRequest>>,
pub hk_reply_rx: mpsc::Receiver<GenericMessage<HkReply>>,
pub tm_rx: mpsc::Receiver<PacketAsVec>,
pub handler: MgmHandlerLis3Mdl<TestSpiInterface, TestSwitchHelper>,
}
#[derive(Default)]
pub struct MgmAssemblyMock(
pub HashMap<ComponentId, mpsc::SyncSender<GenericMessage<ModeRequest>>>,
);
impl ModeNode for MgmAssemblyMock {
fn id(&self) -> satrs::ComponentId {
PUS_MODE_SERVICE.into()
}
}
impl ModeParent for MgmAssemblyMock {
type Sender = mpsc::SyncSender<GenericMessage<ModeRequest>>;
fn add_mode_child(&mut self, id: satrs::ComponentId, request_sender: Self::Sender) {
self.0.insert(id, request_sender);
}
}
#[derive(Default)]
pub struct PusMock {
pub request_sender_map: HashMap<ComponentId, mpsc::SyncSender<GenericMessage<ModeRequest>>>,
}
impl ModeNode for PusMock {
fn id(&self) -> satrs::ComponentId {
PUS_MODE_SERVICE.into()
}
}
impl ModeParent for PusMock {
type Sender = mpsc::SyncSender<GenericMessage<ModeRequest>>;
fn add_mode_child(&mut self, id: satrs::ComponentId, request_sender: Self::Sender) {
self.request_sender_map.insert(id, request_sender);
}
pub handler:
MgmHandlerLis3Mdl<TestSpiInterface, mpsc::Sender<PacketAsVec>, TestSwitchHelper>,
}
impl MgmTestbench {
pub fn new() -> Self {
let (request_tx, request_rx) = mpsc::sync_channel(5);
let (reply_tx_to_pus, reply_rx_to_pus) = mpsc::sync_channel(5);
let (request_tx, request_rx) = mpsc::channel();
let (reply_tx_to_pus, reply_rx_to_pus) = mpsc::channel();
let (reply_tx_to_parent, reply_rx_to_parent) = mpsc::sync_channel(5);
let id = UniqueApidTargetId::new(Apid::Acs as u16, 1);
let mode_node = ModeRequestHandlerMpscBounded::new(id.into(), request_rx);
let mode_interface = MpscModeLeafInterface {
request_rx,
reply_to_pus_tx: reply_tx_to_pus,
reply_to_parent_tx: reply_tx_to_parent,
};
let (composite_request_tx, composite_request_rx) = mpsc::channel();
let (hk_reply_tx, hk_reply_rx) = mpsc::sync_channel(10);
let (tm_tx, tm_rx) = mpsc::sync_channel(10);
let tm_sender = TmTcSender::Heap(tm_tx);
let (hk_reply_tx, hk_reply_rx) = mpsc::channel();
let (tm_tx, tm_rx) = mpsc::channel::<PacketAsVec>();
let shared_mgm_set = Arc::default();
let mut handler = MgmHandlerLis3Mdl::new(
id,
"TEST_MGM",
mode_node,
composite_request_rx,
hk_reply_tx,
TestSwitchHelper::default(),
tm_sender,
TestSpiInterface::default(),
shared_mgm_set,
);
handler.add_mode_parent(PUS_MODE_SERVICE.into(), reply_tx_to_pus);
handler.add_mode_parent(MGM_ASSEMBLY.into(), reply_tx_to_parent);
Self {
mode_request_tx: request_tx,
mode_reply_rx_to_pus: reply_rx_to_pus,
mode_reply_rx_to_parent: reply_rx_to_parent,
composite_request_tx,
handler,
tm_rx,
hk_reply_rx,
handler: MgmHandlerLis3Mdl::new(
UniqueApidTargetId::new(Apid::Acs as u16, 1),
"TEST_MGM",
mode_interface,
composite_request_rx,
hk_reply_tx,
TestSwitchHelper::default(),
tm_tx,
TestSpiInterface::default(),
shared_mgm_set,
),
}
}
}

3
satrs-example/src/acs/mod.rs
View File

@ -1,4 +1 @@
pub mod assembly;
pub mod ctrl;
pub mod mgm;
pub mod subsystem;

1
satrs-example/src/acs/subsystem.rs
View File

@ -1 +0,0 @@
// TODO: Write subsystem

2
satrs-example/src/bin/simpleclient.rs
View File

@ -29,7 +29,7 @@ fn main() {
let res = client.recv(&mut buf);
match res {
Ok(_len) => {
let pus_tm = PusTmReader::new(&buf, 7).expect("Parsing PUS TM failed");
let (pus_tm, size) = PusTmReader::new(&buf, 7).expect("Parsing PUS TM failed");
if pus_tm.service() == 17 && pus_tm.subservice() == 2 {
println!("Received PUS Ping Reply TM[17,2]")
} else if pus_tm.service() == 1 {

69
satrs-example/src/config.rs
View File

@ -135,33 +135,6 @@ pub mod components {
Eps = 6,
}
#[derive(Copy, Clone, PartialEq, Eq)]
pub enum EpsId {
Pcdu = 0,
Subsystem = 1,
}
#[derive(Copy, Clone, PartialEq, Eq)]
pub enum TmtcId {
UdpServer = 0,
TcpServer = 1,
}
pub const EPS_SUBSYSTEM: UniqueApidTargetId =
UniqueApidTargetId::new(Apid::Eps as u16, EpsId::Subsystem as u32);
pub const PCDU_HANDLER: UniqueApidTargetId =
UniqueApidTargetId::new(Apid::Eps as u16, EpsId::Pcdu 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 const NO_SENDER: ComponentId = ComponentId::MAX;
}
pub mod pus {
use super::components::Apid;
use satrs::request::UniqueApidTargetId;
// Component IDs for components with the PUS APID.
#[derive(Copy, Clone, PartialEq, Eq)]
pub enum PusId {
@ -172,6 +145,23 @@ pub mod pus {
PusMode = 4,
PusHk = 5,
}
#[derive(Copy, Clone, PartialEq, Eq)]
pub enum AcsId {
Mgm0 = 0,
}
#[derive(Copy, Clone, PartialEq, Eq)]
pub enum EpsId {
Pcdu = 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 =
@ -186,26 +176,15 @@ pub mod pus {
UniqueApidTargetId::new(Apid::GenericPus as u16, PusId::PusHk as u32);
pub const PUS_SCHED_SERVICE: UniqueApidTargetId =
UniqueApidTargetId::new(Apid::Sched as u16, 0);
}
pub mod acs {
use super::components::Apid;
use satrs::request::UniqueApidTargetId;
#[derive(Copy, Clone, PartialEq, Eq)]
pub enum AcsId {
Subsystem = 1,
Assembly = 2,
Mgm0 = 3,
Mgm1 = 4,
}
pub const MGM_ASSEMBLY: UniqueApidTargetId =
UniqueApidTargetId::new(Apid::Acs as u16, AcsId::Assembly as u32);
pub const MGM_HANDLER_0: UniqueApidTargetId =
UniqueApidTargetId::new(Apid::Acs as u16, AcsId::Mgm0 as u32);
pub const MGM_HANDLER_1: UniqueApidTargetId =
UniqueApidTargetId::new(Apid::Acs as u16, AcsId::Mgm0 as u32);
pub const PCDU_HANDLER: UniqueApidTargetId =
UniqueApidTargetId::new(Apid::Eps as u16, EpsId::Pcdu 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 const NO_SENDER: ComponentId = ComponentId::MAX;
}
pub mod pool {

138
satrs-example/src/eps/pcdu.rs
View File

@ -8,22 +8,15 @@ use derive_new::new;
use num_enum::{IntoPrimitive, TryFromPrimitive};
use satrs::{
hk::{HkRequest, HkRequestVariant},
mode::{
ModeAndSubmode, ModeError, ModeProvider, ModeReply, ModeRequestHandler,
ModeRequestHandlerMpscBounded,
},
mode_tree::{ModeChild, ModeNode},
mode::{ModeAndSubmode, ModeError, ModeProvider, ModeReply, ModeRequestHandler},
power::SwitchRequest,
pus::{EcssTmSender, PusTmVariant},
queue::GenericSendError,
queue::{GenericSendError, GenericTargetedMessagingError},
request::{GenericMessage, MessageMetadata, UniqueApidTargetId},
spacepackets::ByteConversionError,
};
use satrs_example::{
config::{
components::{NO_SENDER, PCDU_HANDLER},
pus::PUS_MODE_SERVICE,
},
config::components::{NO_SENDER, PUS_MODE_SERVICE},
DeviceMode, TimestampHelper,
};
use satrs_minisim::{
@ -35,10 +28,10 @@ use satrs_minisim::{
use serde::{Deserialize, Serialize};
use crate::{
acs::mgm::MpscModeLeafInterface,
hk::PusHkHelper,
pus::hk::{HkReply, HkReplyVariant},
requests::CompositeRequest,
tmtc::sender::TmTcSender,
};
pub trait SerialInterface {
@ -207,14 +200,14 @@ pub type SharedSwitchSet = Arc<Mutex<SwitchSet>>;
/// Example PCDU device handler.
#[derive(new)]
#[allow(clippy::too_many_arguments)]
pub struct PcduHandler<ComInterface: SerialInterface> {
pub struct PcduHandler<ComInterface: SerialInterface, TmSender: EcssTmSender> {
id: UniqueApidTargetId,
dev_str: &'static str,
mode_node: ModeRequestHandlerMpscBounded,
mode_interface: MpscModeLeafInterface,
composite_request_rx: mpsc::Receiver<GenericMessage<CompositeRequest>>,
hk_reply_tx: mpsc::SyncSender<GenericMessage<HkReply>>,
hk_reply_tx: mpsc::Sender<GenericMessage<HkReply>>,
switch_request_rx: mpsc::Receiver<GenericMessage<SwitchRequest>>,
tm_sender: TmTcSender,
tm_sender: TmSender,
pub com_interface: ComInterface,
shared_switch_map: Arc<Mutex<SwitchSet>>,
#[new(value = "PusHkHelper::new(id)")]
@ -227,7 +220,7 @@ pub struct PcduHandler<ComInterface: SerialInterface> {
tm_buf: [u8; 256],
}
impl<ComInterface: SerialInterface> PcduHandler<ComInterface> {
impl<ComInterface: SerialInterface, TmSender: EcssTmSender> PcduHandler<ComInterface, TmSender> {
pub fn periodic_operation(&mut self, op_code: OpCode) {
match op_code {
OpCode::RegularOp => {
@ -331,30 +324,25 @@ impl<ComInterface: SerialInterface> PcduHandler<ComInterface> {
pub fn handle_mode_requests(&mut self) {
loop {
// TODO: Only allow one set mode request per cycle?
match self.mode_node.try_recv_mode_request() {
Ok(opt_msg) => {
if let Some(msg) = opt_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()
);
}
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;
}
}
Err(e) => match e {
satrs::queue::GenericReceiveError::Empty => {
break;
}
satrs::queue::GenericReceiveError::TxDisconnected(_) => {
log::warn!("{}: failed to receive mode request: {:?}", self.dev_str, e);
}
},
}
}
}
@ -408,13 +396,17 @@ impl<ComInterface: SerialInterface> PcduHandler<ComInterface> {
}
}
impl<ComInterface: SerialInterface> ModeProvider for PcduHandler<ComInterface> {
impl<ComInterface: SerialInterface, TmSender: EcssTmSender> ModeProvider
for PcduHandler<ComInterface, TmSender>
{
fn mode_and_submode(&self) -> ModeAndSubmode {
self.mode_and_submode
}
}
impl<ComInterface: SerialInterface> ModeRequestHandler for PcduHandler<ComInterface> {
impl<ComInterface: SerialInterface, TmSender: EcssTmSender> ModeRequestHandler
for PcduHandler<ComInterface, TmSender>
{
type Error = ModeError;
fn start_transition(
&mut self,
@ -475,9 +467,10 @@ impl<ComInterface: SerialInterface> ModeRequestHandler for PcduHandler<ComInterf
requestor.sender_id()
);
}
self.mode_node
.send_mode_reply(requestor, reply)
.map_err(|_| GenericSendError::RxDisconnected)?;
self.mode_interface
.reply_to_pus_tx
.send(GenericMessage::new(requestor, reply))
.map_err(|_| GenericTargetedMessagingError::Send(GenericSendError::RxDisconnected))?;
Ok(())
}
@ -490,20 +483,6 @@ impl<ComInterface: SerialInterface> ModeRequestHandler for PcduHandler<ComInterf
}
}
impl<ComInterface: SerialInterface> ModeNode for PcduHandler<ComInterface> {
fn id(&self) -> satrs::ComponentId {
PCDU_HANDLER.into()
}
}
impl<ComInterface: SerialInterface> ModeChild for PcduHandler<ComInterface> {
type Sender = mpsc::SyncSender<GenericMessage<ModeReply>>;
fn add_mode_parent(&mut self, id: satrs::ComponentId, reply_sender: Self::Sender) {
self.mode_node.add_message_target(id, reply_sender);
}
}
#[cfg(test)]
mod tests {
use std::sync::mpsc;
@ -511,10 +490,7 @@ mod tests {
use satrs::{
mode::ModeRequest, power::SwitchStateBinary, request::GenericMessage, tmtc::PacketAsVec,
};
use satrs_example::config::{
acs::MGM_HANDLER_0,
components::{Apid, EPS_SUBSYSTEM, PCDU_HANDLER},
};
use satrs_example::config::components::{Apid, MGM_HANDLER_0};
use satrs_minisim::eps::SwitchMapBinary;
use super::*;
@ -555,41 +531,31 @@ mod tests {
}
pub struct PcduTestbench {
pub mode_request_tx: mpsc::SyncSender<GenericMessage<ModeRequest>>,
pub mode_request_tx: mpsc::Sender<GenericMessage<ModeRequest>>,
pub mode_reply_rx_to_pus: mpsc::Receiver<GenericMessage<ModeReply>>,
pub mode_reply_rx_to_parent: mpsc::Receiver<GenericMessage<ModeReply>>,
pub composite_request_tx: mpsc::Sender<GenericMessage<CompositeRequest>>,
pub hk_reply_rx: mpsc::Receiver<GenericMessage<HkReply>>,
pub tm_rx: mpsc::Receiver<PacketAsVec>,
pub switch_request_tx: mpsc::Sender<GenericMessage<SwitchRequest>>,
pub handler: PcduHandler<SerialInterfaceTest>,
pub handler: PcduHandler<SerialInterfaceTest, mpsc::Sender<PacketAsVec>>,
}
impl PcduTestbench {
pub fn new() -> Self {
let (mode_request_tx, mode_request_rx) = mpsc::sync_channel(5);
let (mode_reply_tx_to_pus, mode_reply_rx_to_pus) = mpsc::sync_channel(5);
let (mode_request_tx, mode_request_rx) = mpsc::channel();
let (mode_reply_tx_to_pus, mode_reply_rx_to_pus) = mpsc::channel();
let (mode_reply_tx_to_parent, mode_reply_rx_to_parent) = mpsc::sync_channel(5);
let mode_node =
ModeRequestHandlerMpscBounded::new(PCDU_HANDLER.into(), mode_request_rx);
let mode_interface = MpscModeLeafInterface {
request_rx: mode_request_rx,
reply_to_pus_tx: mode_reply_tx_to_pus,
reply_to_parent_tx: mode_reply_tx_to_parent,
};
let (composite_request_tx, composite_request_rx) = mpsc::channel();
let (hk_reply_tx, hk_reply_rx) = mpsc::sync_channel(10);
let (tm_tx, tm_rx) = mpsc::sync_channel::<PacketAsVec>(5);
let (hk_reply_tx, hk_reply_rx) = mpsc::channel();
let (tm_tx, tm_rx) = mpsc::channel::<PacketAsVec>();
let (switch_request_tx, switch_reqest_rx) = mpsc::channel();
let shared_switch_map = Arc::new(Mutex::new(SwitchSet::default()));
let mut handler = PcduHandler::new(
UniqueApidTargetId::new(Apid::Eps as u16, 0),
"TEST_PCDU",
mode_node,
composite_request_rx,
hk_reply_tx,
switch_reqest_rx,
TmTcSender::Heap(tm_tx.clone()),
SerialInterfaceTest::default(),
shared_switch_map,
);
handler.add_mode_parent(EPS_SUBSYSTEM.into(), mode_reply_tx_to_parent);
handler.add_mode_parent(PUS_MODE_SERVICE.into(), mode_reply_tx_to_pus);
Self {
mode_request_tx,
mode_reply_rx_to_pus,
@ -598,7 +564,17 @@ mod tests {
hk_reply_rx,
tm_rx,
switch_request_tx,
handler,
handler: PcduHandler::new(
UniqueApidTargetId::new(Apid::Eps as u16, 0),
"TEST_PCDU",
mode_interface,
composite_request_rx,
hk_reply_tx,
switch_reqest_rx,
tm_tx,
SerialInterfaceTest::default(),
shared_switch_map,
),
}
}

6
satrs-example/src/events.rs
View File

@ -16,7 +16,7 @@ use satrs::{
},
spacepackets::time::cds::CdsTime,
};
use satrs_example::config::pus::PUS_EVENT_MANAGEMENT;
use satrs_example::config::components::PUS_EVENT_MANAGEMENT;
use crate::update_time;
@ -281,7 +281,9 @@ mod tests {
.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");
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());

37
satrs-example/src/interface/tcp.rs
View File

@ -1,20 +1,19 @@
use std::time::Duration;
use std::{
collections::{HashSet, VecDeque},
fmt::Debug,
marker::PhantomData,
sync::{Arc, Mutex},
};
use log::{info, warn};
use satrs::tmtc::StoreAndSendError;
use satrs::{
encoding::ccsds::{SpValidity, SpacePacketValidator},
hal::std::tcp_server::{HandledConnectionHandler, ServerConfig, TcpSpacepacketsServer},
spacepackets::{CcsdsPacket, PacketId},
tmtc::PacketSource,
tmtc::{PacketSenderRaw, PacketSource},
};
use crate::tmtc::sender::TmTcSender;
#[derive(Default)]
pub struct ConnectionFinishedHandler {}
@ -112,23 +111,31 @@ pub type TcpServer<ReceivesTc, SendError> = TcpSpacepacketsServer<
SendError,
>;
pub struct TcpTask(pub TcpServer<TmTcSender, StoreAndSendError>);
pub struct TcpTask<TcSender: PacketSenderRaw<Error = SendError>, SendError: Debug + 'static>(
pub TcpServer<TcSender, SendError>,
PhantomData<SendError>,
);
impl TcpTask {
impl<TcSender: PacketSenderRaw<Error = SendError>, SendError: Debug + 'static>
TcpTask<TcSender, SendError>
{
pub fn new(
cfg: ServerConfig,
tm_source: SyncTcpTmSource,
tc_sender: TmTcSender,
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,
)?))
Ok(Self(
TcpSpacepacketsServer::new(
cfg,
tm_source,
tc_sender,
SimplePacketValidator { valid_ids },
ConnectionFinishedHandler::default(),
None,
)?,
PhantomData,
))
}
pub fn periodic_operation(&mut self) {

69
satrs-example/src/interface/udp.rs
View File

@ -1,16 +1,15 @@
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, StoreAndSendError};
use satrs::tmtc::{PacketAsVec, PacketInPool, PacketSenderRaw};
use satrs::{
hal::std::udp_server::{ReceiveResult, UdpTcServer},
pool::{PoolProviderWithGuards, SharedStaticMemoryPool},
};
use crate::tmtc::sender::TmTcSender;
pub trait UdpTmHandler {
fn send_tm_to_udp_client(&mut self, socket: &UdpSocket, recv_addr: &SocketAddr);
}
@ -66,12 +65,21 @@ impl UdpTmHandler for DynamicUdpTmHandler {
}
}
pub struct UdpTmtcServer<TmHandler: UdpTmHandler> {
pub udp_tc_server: UdpTcServer<TmTcSender, StoreAndSendError>,
pub struct UdpTmtcServer<
TcSender: PacketSenderRaw<Error = SendError>,
TmHandler: UdpTmHandler,
SendError,
> {
pub udp_tc_server: UdpTcServer<TcSender, SendError>,
pub tm_handler: TmHandler,
}
impl<TmHandler: UdpTmHandler> UdpTmtcServer<TmHandler> {
impl<
TcSender: PacketSenderRaw<Error = SendError>,
TmHandler: UdpTmHandler,
SendError: Debug + 'static,
> UdpTmtcServer<TcSender, TmHandler, SendError>
{
pub fn periodic_operation(&mut self) {
loop {
if self.poll_tc_server() == HandlingStatus::Empty {
@ -107,6 +115,7 @@ impl<TmHandler: UdpTmHandler> UdpTmtcServer<TmHandler> {
mod tests {
use std::net::Ipv4Addr;
use std::{
cell::RefCell,
collections::VecDeque,
net::IpAddr,
sync::{Arc, Mutex},
@ -117,16 +126,30 @@ mod tests {
ecss::{tc::PusTcCreator, WritablePusPacket},
SpHeader,
},
tmtc::PacketSenderRaw,
ComponentId,
};
use satrs_example::config::{components, OBSW_SERVER_ADDR};
use crate::tmtc::sender::{MockSender, TmTcSender};
use super::*;
const UDP_SERVER_ID: ComponentId = 0x05;
#[derive(Default, Debug)]
pub struct TestSender {
tc_vec: RefCell<VecDeque<PacketAsVec>>,
}
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(())
}
}
#[derive(Default, Debug, Clone)]
pub struct TestTmHandler {
addrs_to_send_to: Arc<Mutex<VecDeque<SocketAddr>>>,
@ -141,7 +164,8 @@ mod tests {
#[test]
fn test_basic() {
let sock_addr = SocketAddr::new(IpAddr::V4(OBSW_SERVER_ADDR), 0);
let test_receiver = TmTcSender::Mock(MockSender::default());
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();
@ -151,13 +175,7 @@ mod tests {
tm_handler,
};
udp_dyn_server.periodic_operation();
let queue = udp_dyn_server
.udp_tc_server
.tc_sender
.get_mock_sender()
.unwrap()
.0
.borrow();
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());
}
@ -165,7 +183,8 @@ mod tests {
#[test]
fn test_transactions() {
let sock_addr = SocketAddr::new(IpAddr::V4(Ipv4Addr::LOCALHOST), 0);
let test_receiver = TmTcSender::Mock(MockSender::default());
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();
@ -185,13 +204,7 @@ mod tests {
client.send_to(&ping_tc, server_addr).unwrap();
udp_dyn_server.periodic_operation();
{
let mut queue = udp_dyn_server
.udp_tc_server
.tc_sender
.get_mock_sender()
.unwrap()
.0
.borrow_mut();
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);
@ -206,13 +219,7 @@ mod tests {
assert_eq!(received_addr, client_addr);
}
udp_dyn_server.periodic_operation();
let queue = udp_dyn_server
.udp_tc_server
.tc_sender
.get_mock_sender()
.unwrap()
.0
.borrow();
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.

741
satrs-example/src/main.rs
View File

@ -1,73 +1,3 @@
use std::{
net::{IpAddr, SocketAddr},
sync::{mpsc, Arc, Mutex},
thread,
time::Duration,
};
use acs::mgm::{MgmHandlerLis3Mdl, SpiDummyInterface, SpiSimInterface, SpiSimInterfaceWrapper};
use eps::{
pcdu::{PcduHandler, SerialInterfaceDummy, SerialInterfaceToSim, SerialSimInterfaceWrapper},
PowerSwitchHelper,
};
use events::EventHandler;
use interface::{
sim_client_udp::create_sim_client,
tcp::{SyncTcpTmSource, TcpTask},
udp::UdpTmtcServer,
};
use log::info;
use logger::setup_logger;
use pus::{
action::create_action_service,
event::create_event_service,
hk::create_hk_service,
mode::create_mode_service,
scheduler::{create_scheduler_service, TcReleaser},
stack::PusStack,
test::create_test_service,
PusTcDistributor, PusTcMpscRouter,
};
use requests::GenericRequestRouter;
use satrs::{
hal::std::{tcp_server::ServerConfig, udp_server::UdpTcServer},
mode::{Mode, ModeAndSubmode, ModeRequest, ModeRequestHandlerMpscBounded},
mode_tree::connect_mode_nodes,
pus::{event_man::EventRequestWithToken, EcssTcInMemConverter, HandlingStatus},
request::{GenericMessage, MessageMetadata},
spacepackets::time::{cds::CdsTime, TimeWriter},
};
use satrs_example::{
config::{
acs::{MGM_HANDLER_0, MGM_HANDLER_1},
components::{NO_SENDER, PCDU_HANDLER, TCP_SERVER, UDP_SERVER},
pool::create_sched_tc_pool,
tasks::{FREQ_MS_AOCS, FREQ_MS_PUS_STACK, FREQ_MS_UDP_TMTC, SIM_CLIENT_IDLE_DELAY_MS},
OBSW_SERVER_ADDR, PACKET_ID_VALIDATOR, SERVER_PORT,
},
DeviceMode,
};
use tmtc::sender::TmTcSender;
use tmtc::{tc_source::TcSourceTask, tm_sink::TmSink};
cfg_if::cfg_if! {
if #[cfg(feature = "heap_tmtc")] {
use interface::udp::DynamicUdpTmHandler;
use satrs::pus::EcssTcInVecConverter;
use tmtc::{tc_source::TcSourceTaskDynamic, tm_sink::TmSinkDynamic};
} else {
use std::sync::RwLock;
use interface::udp::StaticUdpTmHandler;
use satrs::pus::EcssTcInSharedPoolConverter;
use satrs::tmtc::{PacketSenderWithSharedPool, SharedPacketPool};
use satrs_example::config::pool::create_static_pools;
use tmtc::{
tc_source::TcSourceTaskStatic,
tm_sink::TmSinkStatic,
};
}
}
mod acs;
mod eps;
mod events;
@ -76,74 +6,106 @@ mod interface;
mod logger;
mod pus;
mod requests;
mod spi;
mod tmtc;
fn main() {
setup_logger().expect("setting up logging with fern failed");
println!("Running OBSW example");
use crate::eps::pcdu::{
PcduHandler, SerialInterfaceDummy, SerialInterfaceToSim, SerialSimInterfaceWrapper,
};
use crate::eps::PowerSwitchHelper;
use crate::events::EventHandler;
use crate::interface::udp::DynamicUdpTmHandler;
use crate::pus::stack::PusStack;
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::pus::HandlingStatus;
use satrs::request::{GenericMessage, MessageMetadata};
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_PUS_STACK, FREQ_MS_UDP_TMTC, SIM_CLIENT_IDLE_DELAY_MS,
};
use satrs_example::config::{OBSW_SERVER_ADDR, PACKET_ID_VALIDATOR, SERVER_PORT};
use satrs_example::DeviceMode;
cfg_if::cfg_if! {
if #[cfg(not(feature = "heap_tmtc"))] {
let (tm_pool, tc_pool) = create_static_pools();
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);
}
}
use crate::acs::mgm::{
MgmHandlerLis3Mdl, MpscModeLeafInterface, SpiDummyInterface, SpiSimInterface,
SpiSimInterfaceWrapper,
};
use crate::interface::sim_client_udp::create_sim_client;
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::{PusTcDistributor, PusTcMpscRouter};
use crate::requests::{CompositeRequest, GenericRequestRouter};
use satrs::mode::{Mode, ModeAndSubmode, ModeRequest};
use satrs::pus::event_man::EventRequestWithToken;
use satrs::spacepackets::{time::cds::CdsTime, time::TimeWriter};
use satrs_example::config::components::{
MGM_HANDLER_0, NO_SENDER, PCDU_HANDLER, TCP_SERVER, UDP_SERVER,
};
use std::net::{IpAddr, SocketAddr};
use std::sync::{mpsc, Mutex};
use std::sync::{Arc, RwLock};
use std::thread;
use std::time::Duration;
#[allow(dead_code)]
fn static_tmtc_pool_main() {
let (tm_pool, tc_pool) = create_static_pools();
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);
cfg_if::cfg_if! {
if #[cfg(not(feature = "heap_tmtc"))] {
let tm_sender = TmTcSender::Static(
PacketSenderWithSharedPool::new(tm_sink_tx.clone(), shared_tm_pool_wrapper.clone())
);
} else if #[cfg(feature = "heap_tmtc")] {
let tm_sender = TmTcSender::Heap(tm_sink_tx.clone());
}
}
let tm_sink_tx_sender =
PacketSenderWithSharedPool::new(tm_sink_tx.clone(), shared_tm_pool_wrapper.clone());
let (sim_request_tx, sim_request_rx) = mpsc::channel();
let (mgm_0_sim_reply_tx, mgm_0_sim_reply_rx) = mpsc::channel();
let (mgm_1_sim_reply_tx, mgm_1_sim_reply_rx) = mpsc::channel();
let (mgm_sim_reply_tx, mgm_sim_reply_rx) = mpsc::channel();
let (pcdu_sim_reply_tx, pcdu_sim_reply_rx) = mpsc::channel();
let mut opt_sim_client = create_sim_client(sim_request_rx);
let (mgm_0_handler_composite_tx, mgm_0_handler_composite_rx) = mpsc::sync_channel(10);
let (mgm_1_handler_composite_tx, mgm_1_handler_composite_rx) = mpsc::sync_channel(10);
let (pcdu_handler_composite_tx, pcdu_handler_composite_rx) = mpsc::sync_channel(30);
let (mgm_0_handler_mode_tx, mgm_0_handler_mode_rx) = mpsc::sync_channel(5);
let (mgm_1_handler_mode_tx, mgm_1_handler_mode_rx) = mpsc::sync_channel(5);
let (pcdu_handler_mode_tx, pcdu_handler_mode_rx) = mpsc::sync_channel(5);
let (mgm_handler_composite_tx, mgm_handler_composite_rx) =
mpsc::sync_channel::<GenericMessage<CompositeRequest>>(10);
let (pcdu_handler_composite_tx, pcdu_handler_composite_rx) =
mpsc::sync_channel::<GenericMessage<CompositeRequest>>(30);
let (mgm_handler_mode_tx, mgm_handler_mode_rx) =
mpsc::sync_channel::<GenericMessage<ModeRequest>>(5);
let (pcdu_handler_mode_tx, pcdu_handler_mode_rx) =
mpsc::sync_channel::<GenericMessage<ModeRequest>>(5);
// 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
.composite_router_map
.insert(MGM_HANDLER_0.id(), mgm_0_handler_composite_tx);
.insert(MGM_HANDLER_0.id(), mgm_handler_composite_tx);
request_map
.composite_router_map
.insert(MGM_HANDLER_0.id(), mgm_1_handler_composite_tx);
.mode_router_map
.insert(MGM_HANDLER_0.id(), mgm_handler_mode_tx);
request_map
.composite_router_map
.insert(PCDU_HANDLER.id(), pcdu_handler_composite_tx);
request_map
.mode_router_map
.insert(PCDU_HANDLER.id(), pcdu_handler_mode_tx.clone());
// This helper structure is used by all telecommand providers which need to send telecommands
// to the TC source.
cfg_if::cfg_if! {
if #[cfg(not(feature = "heap_tmtc"))] {
let tc_sender_with_shared_pool =
PacketSenderWithSharedPool::new(tc_source_tx, shared_tc_pool_wrapper.clone());
let tc_in_mem_converter =
EcssTcInMemConverter::Static(EcssTcInSharedPoolConverter::new(shared_tc_pool, 4096));
} else if #[cfg(feature = "heap_tmtc")] {
let tc_in_mem_converter = EcssTcInMemConverter::Heap(EcssTcInVecConverter::default());
}
}
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
@ -155,24 +117,17 @@ fn main() {
// in the sat-rs documentation.
let mut event_handler = EventHandler::new(tm_sink_tx.clone(), event_rx, event_request_rx);
let (pus_test_tx, pus_test_rx) = mpsc::sync_channel(20);
let (pus_event_tx, pus_event_rx) = mpsc::sync_channel(10);
let (pus_sched_tx, pus_sched_rx) = mpsc::sync_channel(50);
let (pus_hk_tx, pus_hk_rx) = mpsc::sync_channel(50);
let (pus_action_tx, pus_action_rx) = mpsc::sync_channel(50);
let (pus_mode_tx, pus_mode_rx) = mpsc::sync_channel(50);
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::sync_channel(50);
let (pus_mode_reply_tx, pus_mode_reply_rx) = mpsc::sync_channel(30);
let (pus_hk_reply_tx, pus_hk_reply_rx) = mpsc::channel();
let (pus_mode_reply_tx, pus_mode_reply_rx) = mpsc::channel();
cfg_if::cfg_if! {
if #[cfg(not(feature = "heap_tmtc"))] {
let tc_releaser = TcReleaser::Static(tc_sender_with_shared_pool.clone());
} else if #[cfg(feature = "heap_tmtc")] {
let tc_releaser = TcReleaser::Heap(tc_source_tx.clone());
}
}
let pus_router = PusTcMpscRouter {
test_tc_sender: pus_test_tx,
event_tc_sender: pus_event_tx,
@ -181,42 +136,41 @@ fn main() {
action_tc_sender: pus_action_tx,
mode_tc_sender: pus_mode_tx,
};
let pus_test_service = create_test_service(
tm_sender.clone(),
tc_in_mem_converter.clone(),
let pus_test_service = create_test_service_static(
tm_sink_tx_sender.clone(),
shared_tc_pool.clone(),
event_tx.clone(),
pus_test_rx,
);
let pus_scheduler_service = create_scheduler_service(
tm_sender.clone(),
tc_in_mem_converter.clone(),
tc_releaser,
let pus_scheduler_service = create_scheduler_service_static(
tm_sink_tx_sender.clone(),
tc_source.clone(),
pus_sched_rx,
create_sched_tc_pool(),
);
let pus_event_service = create_event_service(
tm_sender.clone(),
tc_in_mem_converter.clone(),
let pus_event_service = create_event_service_static(
tm_sink_tx_sender.clone(),
shared_tc_pool.clone(),
pus_event_rx,
event_request_tx,
);
let pus_action_service = create_action_service(
tm_sender.clone(),
tc_in_mem_converter.clone(),
let pus_action_service = create_action_service_static(
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(
tm_sender.clone(),
tc_in_mem_converter.clone(),
let pus_hk_service = create_hk_service_static(
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(
tm_sender.clone(),
tc_in_mem_converter.clone(),
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,
@ -230,36 +184,21 @@ fn main() {
pus_mode_service,
);
cfg_if::cfg_if! {
if #[cfg(not(feature = "heap_tmtc"))] {
let mut tmtc_task = TcSourceTask::Static(TcSourceTaskStatic::new(
shared_tc_pool_wrapper.clone(),
tc_source_rx,
PusTcDistributor::new(tm_sender.clone(), pus_router),
));
let tc_sender = TmTcSender::Static(tc_sender_with_shared_pool);
let udp_tm_handler = StaticUdpTmHandler {
tm_rx: tm_server_rx,
tm_store: shared_tm_pool.clone(),
};
} else if #[cfg(feature = "heap_tmtc")] {
let mut tmtc_task = TcSourceTask::Heap(TcSourceTaskDynamic::new(
tc_source_rx,
PusTcDistributor::new(tm_sender.clone(), pus_router),
));
let tc_sender = TmTcSender::Heap(tc_source_tx.clone());
let udp_tm_handler = DynamicUdpTmHandler {
tm_rx: tm_server_rx,
};
}
}
let mut tmtc_task = TcSourceTaskStatic::new(
shared_tc_pool_wrapper.clone(),
tc_source_rx,
PusTcDistributor::new(tm_sink_tx_sender, pus_router),
);
let sock_addr = SocketAddr::new(IpAddr::V4(OBSW_SERVER_ADDR), SERVER_PORT);
let udp_tc_server = UdpTcServer::new(UDP_SERVER.id(), sock_addr, 2048, tc_sender.clone())
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: udp_tm_handler,
tm_handler: StaticUdpTmHandler {
tm_rx: tm_server_rx,
tm_store: shared_tm_pool.clone(),
},
};
let tcp_server_cfg = ServerConfig::new(
@ -273,96 +212,60 @@ fn main() {
let mut tcp_server = TcpTask::new(
tcp_server_cfg,
sync_tm_tcp_source.clone(),
tc_sender,
tc_source.clone(),
PACKET_ID_VALIDATOR.clone(),
)
.expect("tcp server creation failed");
cfg_if::cfg_if! {
if #[cfg(not(feature = "heap_tmtc"))] {
let mut tm_sink = TmSink::Static(TmSinkStatic::new(
shared_tm_pool_wrapper,
sync_tm_tcp_source,
tm_sink_rx,
tm_server_tx,
));
} else if #[cfg(feature = "heap_tmtc")] {
let mut tm_sink = TmSink::Heap(TmSinkDynamic::new(
sync_tm_tcp_source,
tm_sink_rx,
tm_server_tx,
));
}
}
let mut tm_sink = TmSinkStatic::new(
shared_tm_pool_wrapper,
sync_tm_tcp_source,
tm_sink_rx,
tm_server_tx,
);
let (mgm_handler_mode_reply_to_parent_tx, _mgm_handler_mode_reply_to_parent_rx) =
mpsc::sync_channel(5);
let shared_switch_set = Arc::new(Mutex::default());
let (switch_request_tx, switch_request_rx) = mpsc::sync_channel(20);
let switch_helper = PowerSwitchHelper::new(switch_request_tx, shared_switch_set.clone());
let shared_mgm_0_set = Arc::default();
let shared_mgm_1_set = Arc::default();
let mgm_0_mode_node =
ModeRequestHandlerMpscBounded::new(MGM_HANDLER_0.into(), mgm_0_handler_mode_rx);
let mgm_1_mode_node =
ModeRequestHandlerMpscBounded::new(MGM_HANDLER_1.into(), mgm_1_handler_mode_rx);
let (mgm_0_spi_interface, mgm_1_spi_interface) =
if let Some(sim_client) = opt_sim_client.as_mut() {
sim_client
.add_reply_recipient(satrs_minisim::SimComponent::Mgm0Lis3Mdl, mgm_0_sim_reply_tx);
sim_client
.add_reply_recipient(satrs_minisim::SimComponent::Mgm1Lis3Mdl, mgm_1_sim_reply_tx);
(
SpiSimInterfaceWrapper::Sim(SpiSimInterface {
sim_request_tx: sim_request_tx.clone(),
sim_reply_rx: mgm_0_sim_reply_rx,
}),
SpiSimInterfaceWrapper::Sim(SpiSimInterface {
sim_request_tx: sim_request_tx.clone(),
sim_reply_rx: mgm_1_sim_reply_rx,
}),
)
} else {
(
SpiSimInterfaceWrapper::Dummy(SpiDummyInterface::default()),
SpiSimInterfaceWrapper::Dummy(SpiDummyInterface::default()),
)
};
let mut mgm_0_handler = MgmHandlerLis3Mdl::new(
let shared_mgm_set = Arc::default();
let mgm_mode_leaf_interface = MpscModeLeafInterface {
request_rx: mgm_handler_mode_rx,
reply_to_pus_tx: pus_mode_reply_tx.clone(),
reply_to_parent_tx: mgm_handler_mode_reply_to_parent_tx,
};
let mgm_spi_interface = if let Some(sim_client) = opt_sim_client.as_mut() {
sim_client.add_reply_recipient(satrs_minisim::SimComponent::MgmLis3Mdl, mgm_sim_reply_tx);
SpiSimInterfaceWrapper::Sim(SpiSimInterface {
sim_request_tx: sim_request_tx.clone(),
sim_reply_rx: mgm_sim_reply_rx,
})
} else {
SpiSimInterfaceWrapper::Dummy(SpiDummyInterface::default())
};
let mut mgm_handler = MgmHandlerLis3Mdl::new(
MGM_HANDLER_0,
"MGM_0",
mgm_0_mode_node,
mgm_0_handler_composite_rx,
mgm_mode_leaf_interface,
mgm_handler_composite_rx,
pus_hk_reply_tx.clone(),
switch_helper.clone(),
tm_sender.clone(),
mgm_0_spi_interface,
shared_mgm_0_set,
);
let mut mgm_1_handler = MgmHandlerLis3Mdl::new(
MGM_HANDLER_1,
"MGM_1",
mgm_1_mode_node,
mgm_1_handler_composite_rx,
pus_hk_reply_tx.clone(),
switch_helper.clone(),
tm_sender.clone(),
mgm_1_spi_interface,
shared_mgm_1_set,
);
// Connect PUS service to device handlers.
connect_mode_nodes(
&mut pus_stack.mode_srv,
mgm_0_handler_mode_tx,
&mut mgm_0_handler,
pus_mode_reply_tx.clone(),
);
connect_mode_nodes(
&mut pus_stack.mode_srv,
mgm_1_handler_mode_tx,
&mut mgm_1_handler,
pus_mode_reply_tx.clone(),
tm_sink_tx.clone(),
mgm_spi_interface,
shared_mgm_set,
);
let (pcdu_handler_mode_reply_to_parent_tx, _pcdu_handler_mode_reply_to_parent_rx) =
mpsc::sync_channel(10);
let pcdu_mode_leaf_interface = MpscModeLeafInterface {
request_rx: pcdu_handler_mode_rx,
reply_to_pus_tx: pus_mode_reply_tx,
reply_to_parent_tx: pcdu_handler_mode_reply_to_parent_tx,
};
let pcdu_serial_interface = if let Some(sim_client) = opt_sim_client.as_mut() {
sim_client.add_reply_recipient(satrs_minisim::SimComponent::Pcdu, pcdu_sim_reply_tx);
SerialSimInterfaceWrapper::Sim(SerialInterfaceToSim::new(
@ -372,26 +275,18 @@ fn main() {
} else {
SerialSimInterfaceWrapper::Dummy(SerialInterfaceDummy::default())
};
let pcdu_mode_node =
ModeRequestHandlerMpscBounded::new(PCDU_HANDLER.into(), pcdu_handler_mode_rx);
let mut pcdu_handler = PcduHandler::new(
PCDU_HANDLER,
"PCDU",
pcdu_mode_node,
pcdu_mode_leaf_interface,
pcdu_handler_composite_rx,
pus_hk_reply_tx,
switch_request_rx,
tm_sender.clone(),
tm_sink_tx,
pcdu_serial_interface,
shared_switch_set,
);
connect_mode_nodes(
&mut pus_stack.mode_srv,
pcdu_handler_mode_tx.clone(),
&mut pcdu_handler,
pus_mode_reply_tx,
);
// The PCDU is a critical component which should be in normal mode immediately.
pcdu_handler_mode_tx
.send(GenericMessage::new(
@ -454,8 +349,7 @@ fn main() {
let jh_aocs = thread::Builder::new()
.name("sat-rs aocs".to_string())
.spawn(move || loop {
mgm_0_handler.periodic_operation();
mgm_1_handler.periodic_operation();
mgm_handler.periodic_operation();
thread::sleep(Duration::from_millis(FREQ_MS_AOCS));
})
.unwrap();
@ -466,13 +360,11 @@ fn main() {
.spawn(move || loop {
// TODO: We should introduce something like a fixed timeslot helper to allow a more
// declarative API. It would also be very useful for the AOCS task.
//
// TODO: The fixed timeslot handler exists.. use it.
pcdu_handler.periodic_operation(crate::eps::pcdu::OpCode::RegularOp);
pcdu_handler.periodic_operation(eps::pcdu::OpCode::RegularOp);
thread::sleep(Duration::from_millis(50));
pcdu_handler.periodic_operation(crate::eps::pcdu::OpCode::PollAndRecvReplies);
pcdu_handler.periodic_operation(eps::pcdu::OpCode::PollAndRecvReplies);
thread::sleep(Duration::from_millis(50));
pcdu_handler.periodic_operation(crate::eps::pcdu::OpCode::PollAndRecvReplies);
pcdu_handler.periodic_operation(eps::pcdu::OpCode::PollAndRecvReplies);
thread::sleep(Duration::from_millis(300));
})
.unwrap();
@ -508,6 +400,325 @@ fn main() {
.expect("Joining PUS handler thread failed");
}
#[allow(dead_code)]
fn dyn_tmtc_pool_main() {
let (tc_source_tx, tc_source_rx) = mpsc::channel();
let (tm_sink_tx, tm_sink_rx) = mpsc::channel();
let (tm_server_tx, tm_server_rx) = mpsc::channel();
let (sim_request_tx, sim_request_rx) = mpsc::channel();
let (mgm_sim_reply_tx, mgm_sim_reply_rx) = mpsc::channel();
let (pcdu_sim_reply_tx, pcdu_sim_reply_rx) = mpsc::channel();
let mut opt_sim_client = create_sim_client(sim_request_rx);
// 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::sync_channel::<GenericMessage<CompositeRequest>>(5);
let (pcdu_handler_composite_tx, pcdu_handler_composite_rx) =
mpsc::sync_channel::<GenericMessage<CompositeRequest>>(10);
let (mgm_handler_mode_tx, mgm_handler_mode_rx) =
mpsc::sync_channel::<GenericMessage<ModeRequest>>(5);
let (pcdu_handler_mode_tx, pcdu_handler_mode_rx) =
mpsc::sync_channel::<GenericMessage<ModeRequest>>(10);
// 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
.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);
request_map
.composite_router_map
.insert(PCDU_HANDLER.id(), pcdu_handler_composite_tx);
request_map
.mode_router_map
.insert(PCDU_HANDLER.id(), pcdu_handler_mode_tx.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(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_router = PusTcMpscRouter {
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_sink_tx.clone(), event_tx.clone(), pus_test_rx);
let pus_scheduler_service = create_scheduler_service_dynamic(
tm_sink_tx.clone(),
tc_source_tx.clone(),
pus_sched_rx,
create_sched_tc_pool(),
);
let pus_event_service =
create_event_service_dynamic(tm_sink_tx.clone(), pus_event_rx, event_request_tx);
let pus_action_service = create_action_service_dynamic(
tm_sink_tx.clone(),
pus_action_rx,
request_map.clone(),
pus_action_reply_rx,
);
let pus_hk_service = create_hk_service_dynamic(
tm_sink_tx.clone(),
pus_hk_rx,
request_map.clone(),
pus_hk_reply_rx,
);
let pus_mode_service = create_mode_service_dynamic(
tm_sink_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_mode_service,
);
let mut tmtc_task = TcSourceTaskDynamic::new(
tc_source_rx,
PusTcDistributor::new(tm_sink_tx.clone(), pus_router),
);
let sock_addr = SocketAddr::new(IpAddr::V4(OBSW_SERVER_ADDR), SERVER_PORT);
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,
tm_handler: DynamicUdpTmHandler {
tm_rx: tm_server_rx,
},
};
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(),
tc_source_tx.clone(),
PACKET_ID_VALIDATOR.clone(),
)
.expect("tcp server creation failed");
let mut tm_funnel = TmSinkDynamic::new(sync_tm_tcp_source, tm_sink_rx, tm_server_tx);
let shared_switch_set = Arc::new(Mutex::default());
let (switch_request_tx, switch_request_rx) = mpsc::sync_channel(20);
let switch_helper = PowerSwitchHelper::new(switch_request_tx, shared_switch_set.clone());
let (mgm_handler_mode_reply_to_parent_tx, _mgm_handler_mode_reply_to_parent_rx) =
mpsc::sync_channel(5);
let shared_mgm_set = Arc::default();
let mode_leaf_interface = MpscModeLeafInterface {
request_rx: mgm_handler_mode_rx,
reply_to_pus_tx: pus_mode_reply_tx.clone(),
reply_to_parent_tx: mgm_handler_mode_reply_to_parent_tx,
};
let mgm_spi_interface = if let Some(sim_client) = opt_sim_client.as_mut() {
sim_client.add_reply_recipient(satrs_minisim::SimComponent::MgmLis3Mdl, mgm_sim_reply_tx);
SpiSimInterfaceWrapper::Sim(SpiSimInterface {
sim_request_tx: sim_request_tx.clone(),
sim_reply_rx: mgm_sim_reply_rx,
})
} else {
SpiSimInterfaceWrapper::Dummy(SpiDummyInterface::default())
};
let mut mgm_handler = MgmHandlerLis3Mdl::new(
MGM_HANDLER_0,
"MGM_0",
mode_leaf_interface,
mgm_handler_composite_rx,
pus_hk_reply_tx.clone(),
switch_helper.clone(),
tm_sink_tx.clone(),
mgm_spi_interface,
shared_mgm_set,
);
let (pcdu_handler_mode_reply_to_parent_tx, _pcdu_handler_mode_reply_to_parent_rx) =
mpsc::sync_channel(10);
let pcdu_mode_leaf_interface = MpscModeLeafInterface {
request_rx: pcdu_handler_mode_rx,
reply_to_pus_tx: pus_mode_reply_tx,
reply_to_parent_tx: pcdu_handler_mode_reply_to_parent_tx,
};
let pcdu_serial_interface = if let Some(sim_client) = opt_sim_client.as_mut() {
sim_client.add_reply_recipient(satrs_minisim::SimComponent::Pcdu, pcdu_sim_reply_tx);
SerialSimInterfaceWrapper::Sim(SerialInterfaceToSim::new(
sim_request_tx.clone(),
pcdu_sim_reply_rx,
))
} else {
SerialSimInterfaceWrapper::Dummy(SerialInterfaceDummy::default())
};
let mut pcdu_handler = PcduHandler::new(
PCDU_HANDLER,
"PCDU",
pcdu_mode_leaf_interface,
pcdu_handler_composite_rx,
pus_hk_reply_tx,
switch_request_rx,
tm_sink_tx,
pcdu_serial_interface,
shared_switch_set,
);
// The PCDU is a critical component which should be in normal mode immediately.
pcdu_handler_mode_tx
.send(GenericMessage::new(
MessageMetadata::new(0, NO_SENDER),
ModeRequest::SetMode {
mode_and_submode: ModeAndSubmode::new(DeviceMode::Normal as Mode, 0),
forced: false,
},
))
.expect("sending initial mode request failed");
info!("Starting TMTC and UDP task");
let jh_udp_tmtc = thread::Builder::new()
.name("sat-rs tmtc-udp".to_string())
.spawn(move || {
info!("Running UDP server on port {SERVER_PORT}");
loop {
udp_tmtc_server.periodic_operation();
tmtc_task.periodic_operation();
thread::sleep(Duration::from_millis(FREQ_MS_UDP_TMTC));
}
})
.unwrap();
info!("Starting TCP task");
let jh_tcp = thread::Builder::new()
.name("sat-rs tcp".to_string())
.spawn(move || {
info!("Running TCP server on port {SERVER_PORT}");
loop {
tcp_server.periodic_operation();
}
})
.unwrap();
info!("Starting TM funnel task");
let jh_tm_funnel = thread::Builder::new()
.name("sat-rs tm-sink".to_string())
.spawn(move || loop {
tm_funnel.operation();
})
.unwrap();
let mut opt_jh_sim_client = None;
if let Some(mut sim_client) = opt_sim_client {
info!("Starting UDP sim client task");
opt_jh_sim_client = Some(
thread::Builder::new()
.name("sat-rs sim adapter".to_string())
.spawn(move || loop {
if sim_client.operation() == HandlingStatus::Empty {
std::thread::sleep(Duration::from_millis(SIM_CLIENT_IDLE_DELAY_MS));
}
})
.unwrap(),
);
}
info!("Starting AOCS thread");
let jh_aocs = thread::Builder::new()
.name("sat-rs aocs".to_string())
.spawn(move || loop {
mgm_handler.periodic_operation();
thread::sleep(Duration::from_millis(FREQ_MS_AOCS));
})
.unwrap();
info!("Starting EPS thread");
let jh_eps = thread::Builder::new()
.name("sat-rs eps".to_string())
.spawn(move || loop {
// TODO: We should introduce something like a fixed timeslot helper to allow a more
// declarative API. It would also be very useful for the AOCS task.
pcdu_handler.periodic_operation(eps::pcdu::OpCode::RegularOp);
thread::sleep(Duration::from_millis(50));
pcdu_handler.periodic_operation(eps::pcdu::OpCode::PollAndRecvReplies);
thread::sleep(Duration::from_millis(50));
pcdu_handler.periodic_operation(eps::pcdu::OpCode::PollAndRecvReplies);
thread::sleep(Duration::from_millis(300));
})
.unwrap();
info!("Starting PUS handler thread");
let jh_pus_handler = thread::Builder::new()
.name("sat-rs pus".to_string())
.spawn(move || loop {
pus_stack.periodic_operation();
event_handler.periodic_operation();
thread::sleep(Duration::from_millis(FREQ_MS_PUS_STACK));
})
.unwrap();
jh_udp_tmtc
.join()
.expect("Joining UDP TMTC server thread failed");
jh_tcp
.join()
.expect("Joining TCP TMTC server thread failed");
jh_tm_funnel
.join()
.expect("Joining TM Funnel thread failed");
if let Some(jh_sim_client) = opt_jh_sim_client {
jh_sim_client
.join()
.expect("Joining SIM client thread failed");
}
jh_aocs.join().expect("Joining AOCS thread failed");
jh_eps.join().expect("Joining EPS thread failed");
jh_pus_handler
.join()
.expect("Joining PUS handler thread failed");
}
fn main() {
setup_logger().expect("setting up logging with fern failed");
println!("Running OBSW example");
#[cfg(not(feature = "dyn_tmtc"))]
static_tmtc_pool_main();
#[cfg(feature = "dyn_tmtc")]
dyn_tmtc_pool_main();
}
pub fn update_time(time_provider: &mut CdsTime, timestamp: &mut [u8]) {
time_provider
.update_from_now()

72
satrs-example/src/pus/action.rs
View File

@ -1,5 +1,6 @@
use log::warn;
use satrs::action::{ActionRequest, ActionRequestVariant};
use satrs::pool::SharedStaticMemoryPool;
use satrs::pus::action::{
ActionReplyPus, ActionReplyVariant, ActivePusActionRequestStd, DefaultActiveActionRequestMap,
};
@ -9,20 +10,21 @@ use satrs::pus::verification::{
VerificationReportingProvider, VerificationToken,
};
use satrs::pus::{
ActiveRequestProvider, EcssTcAndToken, EcssTcInMemConverter, EcssTmSender, EcssTmtcError,
GenericConversionError, MpscTcReceiver, PusPacketHandlingError, PusReplyHandler,
PusServiceHelper, PusTcToRequestConverter,
ActiveRequestProvider, EcssTcAndToken, EcssTcInMemConverter, EcssTcInSharedStoreConverter,
EcssTcInVecConverter, EcssTmSender, EcssTmtcError, GenericConversionError, MpscTcReceiver,
MpscTmAsVecSender, PusPacketHandlingError, PusReplyHandler, PusServiceHelper,
PusTcToRequestConverter,
};
use satrs::request::{GenericMessage, UniqueApidTargetId};
use satrs::spacepackets::ecss::tc::PusTcReader;
use satrs::spacepackets::ecss::{EcssEnumU16, PusPacket, PusServiceId};
use satrs_example::config::pus::PUS_ACTION_SERVICE;
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 crate::tmtc::sender::TmTcSender;
use super::{
create_verification_reporter, generic_pus_request_timeout_handler, HandlingStatus,
@ -205,20 +207,20 @@ impl PusTcToRequestConverter<ActivePusActionRequestStd, ActionRequest> for Actio
}
}
pub fn create_action_service(
tm_sender: TmTcSender,
tc_in_mem_converter: EcssTcInMemConverter,
pub fn create_action_service_static(
tm_sender: PacketSenderWithSharedPool,
tc_pool: SharedStaticMemoryPool,
pus_action_rx: mpsc::Receiver<EcssTcAndToken>,
action_router: GenericRequestRouter,
reply_receiver: mpsc::Receiver<GenericMessage<ActionReplyPus>>,
) -> ActionServiceWrapper {
) -> ActionServiceWrapper<PacketSenderWithSharedPool, EcssTcInSharedStoreConverter> {
let action_request_handler = PusTargetedRequestService::new(
PusServiceHelper::new(
PUS_ACTION_SERVICE.id(),
pus_action_rx,
tm_sender,
create_verification_reporter(PUS_ACTION_SERVICE.id(), PUS_ACTION_SERVICE.apid),
tc_in_mem_converter,
EcssTcInSharedStoreConverter::new(tc_pool.clone(), 2048),
),
ActionRequestConverter::default(),
// TODO: Implementation which does not use run-time allocation? Maybe something like
@ -233,9 +235,36 @@ pub fn create_action_service(
}
}
pub struct ActionServiceWrapper {
pub fn create_action_service_dynamic(
tm_funnel_tx: mpsc::Sender<PacketAsVec>,
pus_action_rx: mpsc::Receiver<EcssTcAndToken>,
action_router: GenericRequestRouter,
reply_receiver: mpsc::Receiver<GenericMessage<ActionReplyPus>>,
) -> ActionServiceWrapper<MpscTmAsVecSender, EcssTcInVecConverter> {
let action_request_handler = PusTargetedRequestService::new(
PusServiceHelper::new(
PUS_ACTION_SERVICE.id(),
pus_action_rx,
tm_funnel_tx,
create_verification_reporter(PUS_ACTION_SERVICE.id(), PUS_ACTION_SERVICE.apid),
EcssTcInVecConverter::default(),
),
ActionRequestConverter::default(),
DefaultActiveActionRequestMap::default(),
ActionReplyHandler::default(),
action_router,
reply_receiver,
);
ActionServiceWrapper {
service: action_request_handler,
}
}
pub struct ActionServiceWrapper<TmSender: EcssTmSender, TcInMemConverter: EcssTcInMemConverter> {
pub(crate) service: PusTargetedRequestService<
MpscTcReceiver,
TmSender,
TcInMemConverter,
VerificationReporter,
ActionRequestConverter,
ActionReplyHandler,
@ -246,7 +275,9 @@ pub struct ActionServiceWrapper {
>,
}
impl TargetedPusService for ActionServiceWrapper {
impl<TmSender: EcssTmSender, TcInMemConverter: EcssTcInMemConverter> TargetedPusService
for ActionServiceWrapper<TmSender, TcInMemConverter>
{
const SERVICE_ID: u8 = PusServiceId::Action as u8;
const SERVICE_STR: &'static str = "action";
@ -272,10 +303,9 @@ 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::pus::{verification, EcssTcInVecConverter};
use satrs::request::MessageMetadata;
use satrs::tmtc::PacketAsVec;
use satrs::ComponentId;
use satrs::{
res_code::ResultU16,
@ -308,7 +338,7 @@ mod tests {
{
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::sync_channel(5);
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::sync_channel(10);
@ -322,9 +352,9 @@ mod tests {
PusServiceHelper::new(
owner_id,
pus_action_rx,
TmTcSender::Heap(tm_funnel_tx.clone()),
tm_funnel_tx.clone(),
verif_reporter,
EcssTcInMemConverter::Heap(EcssTcInVecConverter::default()),
EcssTcInVecConverter::default(),
),
ActionRequestConverter::default(),
DefaultActiveActionRequestMap::default(),
@ -367,7 +397,7 @@ mod tests {
if let Err(mpsc::TryRecvError::Empty) = packet {
} else {
let tm = packet.unwrap();
let unexpected_tm = PusTmReader::new(&tm.packet, 7).unwrap();
let unexpected_tm = PusTmReader::new(&tm.packet, 7).unwrap().0;
panic!("unexpected TM packet {unexpected_tm:?}");
}
}
@ -410,11 +440,7 @@ mod tests {
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()
.start_verification(tc);
let token = self.service.service_helper.verif_reporter_mut().add_tc(tc);
let accepted_token = self
.service
.service_helper

54
satrs-example/src/pus/event.rs
View File

@ -1,32 +1,34 @@
use std::sync::mpsc;
use crate::pus::create_verification_reporter;
use crate::tmtc::sender::TmTcSender;
use satrs::pool::SharedStaticMemoryPool;
use satrs::pus::event_man::EventRequestWithToken;
use satrs::pus::event_srv::PusEventServiceHandler;
use satrs::pus::verification::VerificationReporter;
use satrs::pus::{
DirectPusPacketHandlerResult, EcssTcAndToken, EcssTcInMemConverter, MpscTcReceiver,
PartialPusHandlingError, PusServiceHelper,
DirectPusPacketHandlerResult, EcssTcAndToken, EcssTcInMemConverter,
EcssTcInSharedStoreConverter, EcssTcInVecConverter, EcssTmSender, MpscTcReceiver,
MpscTmAsVecSender, PartialPusHandlingError, PusServiceHelper,
};
use satrs::spacepackets::ecss::PusServiceId;
use satrs_example::config::pus::PUS_EVENT_MANAGEMENT;
use satrs::tmtc::{PacketAsVec, PacketSenderWithSharedPool};
use satrs_example::config::components::PUS_EVENT_MANAGEMENT;
use super::{DirectPusService, HandlingStatus};
pub fn create_event_service(
tm_sender: TmTcSender,
tm_in_pool_converter: EcssTcInMemConverter,
pub fn create_event_service_static(
tm_sender: PacketSenderWithSharedPool,
tc_pool: SharedStaticMemoryPool,
pus_event_rx: mpsc::Receiver<EcssTcAndToken>,
event_request_tx: mpsc::Sender<EventRequestWithToken>,
) -> EventServiceWrapper {
) -> EventServiceWrapper<PacketSenderWithSharedPool, EcssTcInSharedStoreConverter> {
let pus_5_handler = PusEventServiceHandler::new(
PusServiceHelper::new(
PUS_EVENT_MANAGEMENT.id(),
pus_event_rx,
tm_sender,
create_verification_reporter(PUS_EVENT_MANAGEMENT.id(), PUS_EVENT_MANAGEMENT.apid),
tm_in_pool_converter,
EcssTcInSharedStoreConverter::new(tc_pool.clone(), 2048),
),
event_request_tx,
);
@ -35,16 +37,34 @@ pub fn create_event_service(
}
}
pub struct EventServiceWrapper {
pub handler: PusEventServiceHandler<
MpscTcReceiver,
TmTcSender,
EcssTcInMemConverter,
VerificationReporter,
>,
pub fn create_event_service_dynamic(
tm_funnel_tx: mpsc::Sender<PacketAsVec>,
pus_event_rx: mpsc::Receiver<EcssTcAndToken>,
event_request_tx: mpsc::Sender<EventRequestWithToken>,
) -> EventServiceWrapper<MpscTmAsVecSender, EcssTcInVecConverter> {
let pus_5_handler = PusEventServiceHandler::new(
PusServiceHelper::new(
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,
);
EventServiceWrapper {
handler: pus_5_handler,
}
}
impl DirectPusService for EventServiceWrapper {
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";

51
satrs-example/src/pus/hk.rs
View File

@ -1,26 +1,28 @@
use derive_new::new;
use satrs::hk::{CollectionIntervalFactor, HkRequest, HkRequestVariant, UniqueId};
use satrs::pool::SharedStaticMemoryPool;
use satrs::pus::verification::{
FailParams, TcStateAccepted, TcStateStarted, VerificationReporter,
VerificationReportingProvider, VerificationToken,
};
use satrs::pus::{
ActivePusRequestStd, ActiveRequestProvider, DefaultActiveRequestMap, EcssTcAndToken,
EcssTcInMemConverter, EcssTmSender, EcssTmtcError, GenericConversionError, MpscTcReceiver,
EcssTcInMemConverter, EcssTcInSharedStoreConverter, EcssTcInVecConverter, EcssTmSender,
EcssTmtcError, GenericConversionError, MpscTcReceiver, MpscTmAsVecSender,
PusPacketHandlingError, PusReplyHandler, PusServiceHelper, PusTcToRequestConverter,
};
use satrs::request::{GenericMessage, UniqueApidTargetId};
use satrs::res_code::ResultU16;
use satrs::spacepackets::ecss::tc::PusTcReader;
use satrs::spacepackets::ecss::{hk, PusPacket, PusServiceId};
use satrs_example::config::pus::PUS_HK_SERVICE;
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 crate::tmtc::sender::TmTcSender;
use super::{HandlingStatus, PusTargetedRequestService, TargetedPusService};
@ -240,20 +242,20 @@ impl PusTcToRequestConverter<ActivePusRequestStd, HkRequest> for HkRequestConver
}
}
pub fn create_hk_service(
tm_sender: TmTcSender,
tc_in_mem_converter: EcssTcInMemConverter,
pub fn create_hk_service_static(
tm_sender: PacketSenderWithSharedPool,
tc_pool: SharedStaticMemoryPool,
pus_hk_rx: mpsc::Receiver<EcssTcAndToken>,
request_router: GenericRequestRouter,
reply_receiver: mpsc::Receiver<GenericMessage<HkReply>>,
) -> HkServiceWrapper {
) -> HkServiceWrapper<PacketSenderWithSharedPool, EcssTcInSharedStoreConverter> {
let pus_3_handler = PusTargetedRequestService::new(
PusServiceHelper::new(
PUS_HK_SERVICE.id(),
pus_hk_rx,
tm_sender,
create_verification_reporter(PUS_HK_SERVICE.id(), PUS_HK_SERVICE.apid),
tc_in_mem_converter,
EcssTcInSharedStoreConverter::new(tc_pool, 2048),
),
HkRequestConverter::default(),
DefaultActiveRequestMap::default(),
@ -266,9 +268,36 @@ pub fn create_hk_service(
}
}
pub struct HkServiceWrapper {
pub fn create_hk_service_dynamic(
tm_funnel_tx: mpsc::Sender<PacketAsVec>,
pus_hk_rx: mpsc::Receiver<EcssTcAndToken>,
request_router: GenericRequestRouter,
reply_receiver: mpsc::Receiver<GenericMessage<HkReply>>,
) -> HkServiceWrapper<MpscTmAsVecSender, EcssTcInVecConverter> {
let pus_3_handler = PusTargetedRequestService::new(
PusServiceHelper::new(
PUS_HK_SERVICE.id(),
pus_hk_rx,
tm_funnel_tx,
create_verification_reporter(PUS_HK_SERVICE.id(), PUS_HK_SERVICE.apid),
EcssTcInVecConverter::default(),
),
HkRequestConverter::default(),
DefaultActiveRequestMap::default(),
HkReplyHandler::default(),
request_router,
reply_receiver,
);
HkServiceWrapper {
service: pus_3_handler,
}
}
pub struct HkServiceWrapper<TmSender: EcssTmSender, TcInMemConverter: EcssTcInMemConverter> {
pub(crate) service: PusTargetedRequestService<
MpscTcReceiver,
TmSender,
TcInMemConverter,
VerificationReporter,
HkRequestConverter,
HkReplyHandler,
@ -279,7 +308,9 @@ pub struct HkServiceWrapper {
>,
}
impl TargetedPusService for HkServiceWrapper {
impl<TmSender: EcssTmSender, TcInMemConverter: EcssTcInMemConverter> TargetedPusService
for HkServiceWrapper<TmSender, TcInMemConverter>
{
const SERVICE_ID: u8 = PusServiceId::Housekeeping as u8;
const SERVICE_STR: &'static str = "housekeeping";

59
satrs-example/src/pus/mod.rs
View File

@ -1,5 +1,4 @@
use crate::requests::GenericRequestRouter;
use crate::tmtc::sender::TmTcSender;
use log::warn;
use satrs::pool::PoolAddr;
use satrs::pus::verification::{
@ -7,10 +6,10 @@ use satrs::pus::verification::{
VerificationReporterCfg, VerificationReportingProvider, VerificationToken,
};
use satrs::pus::{
ActiveRequestMapProvider, ActiveRequestProvider, EcssTcAndToken, EcssTcInMemConversionProvider,
EcssTcInMemConverter, EcssTcReceiver, EcssTmSender, EcssTmtcError, GenericConversionError,
GenericRoutingError, HandlingStatus, PusPacketHandlingError, PusReplyHandler, PusRequestRouter,
PusServiceHelper, PusTcToRequestConverter, 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};
@ -18,11 +17,11 @@ use satrs::spacepackets::ecss::tc::PusTcReader;
use satrs::spacepackets::ecss::{PusPacket, PusServiceId};
use satrs::tmtc::{PacketAsVec, PacketInPool};
use satrs::ComponentId;
use satrs_example::config::pus::PUS_ROUTING_SERVICE;
use satrs_example::config::components::PUS_ROUTING_SERVICE;
use satrs_example::config::{tmtc_err, CustomPusServiceId};
use satrs_example::TimestampHelper;
use std::fmt::Debug;
use std::sync::mpsc;
use std::sync::mpsc::{self, Sender};
pub mod action;
pub mod event;
@ -41,26 +40,26 @@ pub fn create_verification_reporter(owner_id: ComponentId, apid: Apid) -> Verifi
/// Simple router structure which forwards PUS telecommands to dedicated handlers.
pub struct PusTcMpscRouter {
pub test_tc_sender: mpsc::SyncSender<EcssTcAndToken>,
pub event_tc_sender: mpsc::SyncSender<EcssTcAndToken>,
pub sched_tc_sender: mpsc::SyncSender<EcssTcAndToken>,
pub hk_tc_sender: mpsc::SyncSender<EcssTcAndToken>,
pub test_tc_sender: Sender<EcssTcAndToken>,
pub event_tc_sender: Sender<EcssTcAndToken>,
pub sched_tc_sender: Sender<EcssTcAndToken>,
pub hk_tc_sender: Sender<EcssTcAndToken>,
#[allow(dead_code)]
pub action_tc_sender: mpsc::SyncSender<EcssTcAndToken>,
pub mode_tc_sender: mpsc::SyncSender<EcssTcAndToken>,
pub action_tc_sender: Sender<EcssTcAndToken>,
pub mode_tc_sender: Sender<EcssTcAndToken>,
}
pub struct PusTcDistributor {
pub struct PusTcDistributor<TmSender: EcssTmSender> {
#[allow(dead_code)]
pub id: ComponentId,
pub tm_sender: TmTcSender,
pub tm_sender: TmSender,
pub verif_reporter: VerificationReporter,
pub pus_router: PusTcMpscRouter,
stamp_helper: TimestampHelper,
}
impl PusTcDistributor {
pub fn new(tm_sender: TmTcSender, pus_router: PusTcMpscRouter) -> Self {
impl<TmSender: EcssTmSender> PusTcDistributor<TmSender> {
pub fn new(tm_sender: TmSender, pus_router: PusTcMpscRouter) -> Self {
Self {
id: PUS_ROUTING_SERVICE.raw(),
tm_sender,
@ -109,8 +108,8 @@ impl PusTcDistributor {
// TODO: Shouldn't this be an error?
return Ok(HandlingStatus::HandledOne);
}
let pus_tc = pus_tc_result.unwrap();
let init_token = self.verif_reporter.start_verification(&pus_tc);
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
@ -269,6 +268,8 @@ pub trait DirectPusService {
/// 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>,
@ -278,7 +279,7 @@ pub struct PusTargetedRequestService<
ReplyType,
> {
pub service_helper:
PusServiceHelper<TcReceiver, TmTcSender, EcssTcInMemConverter, VerificationReporter>,
PusServiceHelper<TcReceiver, TmSender, TcInMemConverter, VerificationReporter>,
pub request_router: GenericRequestRouter,
pub request_converter: RequestConverter,
pub active_request_map: ActiveRequestMap,
@ -289,6 +290,8 @@ pub struct PusTargetedRequestService<
impl<
TcReceiver: EcssTcReceiver,
TmSender: EcssTmSender,
TcInMemConverter: EcssTcInMemConverter,
VerificationReporter: VerificationReportingProvider,
RequestConverter: PusTcToRequestConverter<ActiveRequestInfo, RequestType, Error = GenericConversionError>,
ReplyHandler: PusReplyHandler<ActiveRequestInfo, ReplyType, Error = EcssTmtcError>,
@ -299,6 +302,8 @@ impl<
>
PusTargetedRequestService<
TcReceiver,
TmSender,
TcInMemConverter,
VerificationReporter,
RequestConverter,
ReplyHandler,
@ -313,8 +318,8 @@ where
pub fn new(
service_helper: PusServiceHelper<
TcReceiver,
TmTcSender,
EcssTcInMemConverter,
TmSender,
TcInMemConverter,
VerificationReporter,
>,
request_converter: RequestConverter,
@ -540,7 +545,7 @@ pub(crate) mod tests {
use satrs::{
pus::{
verification::test_util::TestVerificationReporter, ActivePusRequestStd,
ActiveRequestMapProvider, MpscTcReceiver,
ActiveRequestMapProvider, EcssTcInVecConverter, MpscTcReceiver,
},
request::UniqueApidTargetId,
spacepackets::{
@ -599,7 +604,7 @@ pub(crate) mod tests {
) -> (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.start_verification(&PusTcCreator::new(
let init = self.verif_reporter.add_tc(&PusTcCreator::new(
sp_header,
sec_header_dummy,
&[],
@ -706,7 +711,7 @@ pub(crate) mod tests {
}
pub fn add_tc(&mut self, tc: &PusTcCreator) -> VerificationToken<TcStateAccepted> {
let token = self.verif_reporter.start_verification(tc);
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
@ -734,7 +739,7 @@ pub(crate) mod tests {
let tc_reader = PusTcReader::new(&current_packet).unwrap();
let (active_info, request) = self.converter.convert(
token,
&tc_reader,
&tc_reader.0,
&self.dummy_sender,
&self.verif_reporter,
time_stamp,
@ -761,6 +766,8 @@ pub(crate) mod tests {
> {
pub service: PusTargetedRequestService<
MpscTcReceiver,
MpscTmAsVecSender,
EcssTcInVecConverter,
TestVerificationReporter,
RequestConverter,
ReplyHandler,

71
satrs-example/src/pus/mode.rs
View File

@ -1,15 +1,15 @@
use derive_new::new;
use satrs::mode_tree::{ModeNode, ModeParent};
use satrs_example::config::pus::PUS_MODE_SERVICE;
use satrs::tmtc::{PacketAsVec, PacketSenderWithSharedPool};
use std::sync::mpsc;
use std::time::Duration;
use crate::requests::GenericRequestRouter;
use crate::tmtc::sender::TmTcSender;
use satrs::pool::SharedStaticMemoryPool;
use satrs::pus::verification::VerificationReporter;
use satrs::pus::{
DefaultActiveRequestMap, EcssTcAndToken, EcssTcInMemConverter, MpscTcReceiver,
PusPacketHandlingError, PusServiceHelper,
DefaultActiveRequestMap, EcssTcAndToken, EcssTcInMemConverter, EcssTcInSharedStoreConverter,
EcssTcInVecConverter, MpscTcReceiver, MpscTmAsVecSender, PusPacketHandlingError,
PusServiceHelper,
};
use satrs::request::GenericMessage;
use satrs::{
@ -34,6 +34,7 @@ use satrs::{
},
ComponentId,
};
use satrs_example::config::components::PUS_MODE_SERVICE;
use satrs_example::config::{mode_err, tmtc_err, CustomPusServiceId};
use super::{
@ -208,20 +209,20 @@ impl PusTcToRequestConverter<ActivePusRequestStd, ModeRequest> for ModeRequestCo
}
}
pub fn create_mode_service(
tm_sender: TmTcSender,
tc_in_mem_converter: EcssTcInMemConverter,
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 {
) -> 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),
tc_in_mem_converter,
EcssTcInSharedStoreConverter::new(tc_pool, 2048),
),
ModeRequestConverter::default(),
DefaultActiveRequestMap::default(),
@ -234,9 +235,36 @@ pub fn create_mode_service(
}
}
pub struct ModeServiceWrapper {
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,
@ -247,24 +275,9 @@ pub struct ModeServiceWrapper {
>,
}
impl ModeNode for ModeServiceWrapper {
fn id(&self) -> ComponentId {
self.service.service_helper.id()
}
}
impl ModeParent for ModeServiceWrapper {
type Sender = mpsc::SyncSender<GenericMessage<ModeRequest>>;
fn add_mode_child(&mut self, id: ComponentId, request_sender: Self::Sender) {
self.service
.request_router
.mode_router_map
.insert(id, request_sender);
}
}
impl TargetedPusService for ModeServiceWrapper {
impl<TmSender: EcssTmSender, TcInMemConverter: EcssTcInMemConverter> TargetedPusService
for ModeServiceWrapper<TmSender, TcInMemConverter>
{
const SERVICE_ID: u8 = CustomPusServiceId::Mode as u8;
const SERVICE_STR: &'static str = "mode";

87
satrs-example/src/pus/scheduler.rs
View File

@ -2,28 +2,28 @@ use std::sync::mpsc;
use std::time::Duration;
use crate::pus::create_verification_reporter;
use crate::tmtc::sender::TmTcSender;
use log::info;
use satrs::pool::{PoolProvider, StaticMemoryPool};
use satrs::pus::scheduler::{PusScheduler, TcInfo};
use satrs::pus::scheduler_srv::PusSchedServiceHandler;
use satrs::pus::verification::VerificationReporter;
use satrs::pus::{
DirectPusPacketHandlerResult, EcssTcAndToken, EcssTcInMemConverter, MpscTcReceiver,
PartialPusHandlingError, PusServiceHelper,
DirectPusPacketHandlerResult, EcssTcAndToken, EcssTcInMemConverter,
EcssTcInSharedStoreConverter, EcssTcInVecConverter, EcssTmSender, MpscTcReceiver,
MpscTmAsVecSender, PartialPusHandlingError, PusServiceHelper,
};
use satrs::spacepackets::ecss::PusServiceId;
use satrs::tmtc::{PacketAsVec, PacketInPool, PacketSenderWithSharedPool};
use satrs::ComponentId;
use satrs_example::config::pus::PUS_SCHED_SERVICE;
use satrs_example::config::components::PUS_SCHED_SERVICE;
use super::{DirectPusService, HandlingStatus};
pub trait TcReleaseProvider {
pub trait TcReleaser {
fn release(&mut self, sender_id: ComponentId, enabled: bool, info: &TcInfo, tc: &[u8]) -> bool;
}
impl TcReleaseProvider for PacketSenderWithSharedPool {
impl TcReleaser for PacketSenderWithSharedPool {
fn release(
&mut self,
sender_id: ComponentId,
@ -48,7 +48,7 @@ impl TcReleaseProvider for PacketSenderWithSharedPool {
}
}
impl TcReleaseProvider for mpsc::SyncSender<PacketAsVec> {
impl TcReleaser for mpsc::Sender<PacketAsVec> {
fn release(
&mut self,
sender_id: ComponentId,
@ -65,35 +65,23 @@ impl TcReleaseProvider for mpsc::SyncSender<PacketAsVec> {
}
}
#[allow(dead_code)]
pub enum TcReleaser {
Static(PacketSenderWithSharedPool),
Heap(mpsc::SyncSender<PacketAsVec>),
}
impl TcReleaseProvider for TcReleaser {
fn release(&mut self, sender_id: ComponentId, enabled: bool, info: &TcInfo, tc: &[u8]) -> bool {
match self {
TcReleaser::Static(sender) => sender.release(sender_id, enabled, info, tc),
TcReleaser::Heap(sender) => sender.release(sender_id, enabled, info, tc),
}
}
}
pub struct SchedulingServiceWrapper {
pub struct SchedulingServiceWrapper<TmSender: EcssTmSender, TcInMemConverter: EcssTcInMemConverter>
{
pub pus_11_handler: PusSchedServiceHandler<
MpscTcReceiver,
TmTcSender,
EcssTcInMemConverter,
TmSender,
TcInMemConverter,
VerificationReporter,
PusScheduler,
>,
pub sched_tc_pool: StaticMemoryPool,
pub releaser_buf: [u8; 4096],
pub tc_releaser: TcReleaser,
pub tc_releaser: Box<dyn TcReleaser + Send>,
}
impl DirectPusService for SchedulingServiceWrapper {
impl<TmSender: EcssTmSender, TcInMemConverter: EcssTcInMemConverter> DirectPusService
for SchedulingServiceWrapper<TmSender, TcInMemConverter>
{
const SERVICE_ID: u8 = PusServiceId::Verification as u8;
const SERVICE_STR: &'static str = "verification";
@ -146,7 +134,9 @@ impl DirectPusService for SchedulingServiceWrapper {
}
}
impl SchedulingServiceWrapper {
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 {
@ -172,13 +162,12 @@ impl SchedulingServiceWrapper {
}
}
pub fn create_scheduler_service(
tm_sender: TmTcSender,
tc_in_mem_converter: EcssTcInMemConverter,
tc_releaser: TcReleaser,
pub fn create_scheduler_service_static(
tm_sender: PacketSenderWithSharedPool,
tc_releaser: PacketSenderWithSharedPool,
pus_sched_rx: mpsc::Receiver<EcssTcAndToken>,
sched_tc_pool: StaticMemoryPool,
) -> SchedulingServiceWrapper {
) -> SchedulingServiceWrapper<PacketSenderWithSharedPool, EcssTcInSharedStoreConverter> {
let scheduler = PusScheduler::new_with_current_init_time(Duration::from_secs(5))
.expect("Creating PUS Scheduler failed");
let pus_11_handler = PusSchedServiceHandler::new(
@ -187,7 +176,7 @@ pub fn create_scheduler_service(
pus_sched_rx,
tm_sender,
create_verification_reporter(PUS_SCHED_SERVICE.id(), PUS_SCHED_SERVICE.apid),
tc_in_mem_converter,
EcssTcInSharedStoreConverter::new(tc_releaser.shared_packet_store().0.clone(), 2048),
),
scheduler,
);
@ -195,6 +184,34 @@ pub fn create_scheduler_service(
pus_11_handler,
sched_tc_pool,
releaser_buf: [0; 4096],
tc_releaser,
tc_releaser: Box::new(tc_releaser),
}
}
pub fn create_scheduler_service_dynamic(
tm_funnel_tx: mpsc::Sender<PacketAsVec>,
tc_source_sender: mpsc::Sender<PacketAsVec>,
pus_sched_rx: mpsc::Receiver<EcssTcAndToken>,
sched_tc_pool: StaticMemoryPool,
) -> 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 = PusSchedServiceHandler::new(
PusServiceHelper::new(
PUS_SCHED_SERVICE.id(),
pus_sched_rx,
tm_funnel_tx,
create_verification_reporter(PUS_SCHED_SERVICE.id(), PUS_SCHED_SERVICE.apid),
EcssTcInVecConverter::default(),
),
scheduler,
);
SchedulingServiceWrapper {
pus_11_handler,
sched_tc_pool,
releaser_buf: [0; 4096],
tc_releaser: Box::new(tc_source_sender),
}
}

25
satrs-example/src/pus/stack.rs
View File

@ -1,6 +1,9 @@
use crate::pus::mode::ModeServiceWrapper;
use derive_new::new;
use satrs::spacepackets::time::{cds, TimeWriter};
use satrs::{
pus::{EcssTcInMemConverter, EcssTmSender},
spacepackets::time::{cds, TimeWriter},
};
use super::{
action::ActionServiceWrapper, event::EventServiceWrapper, hk::HkServiceWrapper,
@ -8,17 +11,21 @@ use super::{
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 {
pub test_srv: TestCustomServiceWrapper,
pub hk_srv_wrapper: HkServiceWrapper,
pub event_srv: EventServiceWrapper,
pub action_srv_wrapper: ActionServiceWrapper,
pub schedule_srv: SchedulingServiceWrapper,
pub mode_srv: ModeServiceWrapper,
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 PusStack {
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.

56
satrs-example/src/pus/test.rs
View File

@ -1,34 +1,35 @@
use crate::pus::create_verification_reporter;
use crate::tmtc::sender::TmTcSender;
use log::info;
use satrs::event_man::{EventMessage, EventMessageU32};
use satrs::pool::SharedStaticMemoryPool;
use satrs::pus::test::PusService17TestHandler;
use satrs::pus::verification::{FailParams, VerificationReporter, VerificationReportingProvider};
use satrs::pus::PartialPusHandlingError;
use satrs::pus::{
DirectPusPacketHandlerResult, EcssTcAndToken, EcssTcInMemConversionProvider,
EcssTcInMemConverter, MpscTcReceiver, 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, PusServiceId};
use satrs_example::config::pus::PUS_TEST_SERVICE;
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(
tm_sender: TmTcSender,
tc_in_mem_converter: EcssTcInMemConverter,
pub fn create_test_service_static(
tm_sender: PacketSenderWithSharedPool,
tc_pool: SharedStaticMemoryPool,
event_sender: mpsc::SyncSender<EventMessageU32>,
pus_test_rx: mpsc::Receiver<EcssTcAndToken>,
) -> TestCustomServiceWrapper {
) -> TestCustomServiceWrapper<PacketSenderWithSharedPool, EcssTcInSharedStoreConverter> {
let pus17_handler = PusService17TestHandler::new(PusServiceHelper::new(
PUS_TEST_SERVICE.id(),
pus_test_rx,
tm_sender,
create_verification_reporter(PUS_TEST_SERVICE.id(), PUS_TEST_SERVICE.apid),
tc_in_mem_converter,
EcssTcInSharedStoreConverter::new(tc_pool, 2048),
));
TestCustomServiceWrapper {
handler: pus17_handler,
@ -36,17 +37,34 @@ pub fn create_test_service(
}
}
pub struct TestCustomServiceWrapper {
pub handler: PusService17TestHandler<
MpscTcReceiver,
TmTcSender,
EcssTcInMemConverter,
VerificationReporter,
>,
pub fn create_test_service_dynamic(
tm_funnel_tx: mpsc::Sender<PacketAsVec>,
event_sender: mpsc::SyncSender<EventMessageU32>,
pus_test_rx: mpsc::Receiver<EcssTcAndToken>,
) -> TestCustomServiceWrapper<MpscTmAsVecSender, EcssTcInVecConverter> {
let pus17_handler = PusService17TestHandler::new(PusServiceHelper::new(
PUS_TEST_SERVICE.id(),
pus_test_rx,
tm_funnel_tx,
create_verification_reporter(PUS_TEST_SERVICE.id(), PUS_TEST_SERVICE.apid),
EcssTcInVecConverter::default(),
));
TestCustomServiceWrapper {
handler: pus17_handler,
event_tx: event_sender,
}
}
pub struct TestCustomServiceWrapper<TmSender: EcssTmSender, TcInMemConverter: EcssTcInMemConverter>
{
pub handler:
PusService17TestHandler<MpscTcReceiver, TmSender, TcInMemConverter, VerificationReporter>,
pub event_tx: mpsc::SyncSender<EventMessageU32>,
}
impl DirectPusService for TestCustomServiceWrapper {
impl<TmSender: EcssTmSender, TcInMemConverter: EcssTcInMemConverter> DirectPusService
for TestCustomServiceWrapper<TmSender, TcInMemConverter>
{
const SERVICE_ID: u8 = PusServiceId::Test as u8;
const SERVICE_STR: &'static str = "test";
@ -90,7 +108,7 @@ impl DirectPusService for TestCustomServiceWrapper {
);
}
DirectPusPacketHandlerResult::CustomSubservice(subservice, token) => {
let tc = PusTcReader::new(
let (tc, _) = PusTcReader::new(
self.handler
.service_helper
.tc_in_mem_converter

2
satrs-example/src/requests.rs
View File

@ -14,7 +14,7 @@ use satrs::request::{GenericMessage, MessageMetadata, UniqueApidTargetId};
use satrs::spacepackets::ecss::tc::PusTcReader;
use satrs::spacepackets::ecss::PusPacket;
use satrs::ComponentId;
use satrs_example::config::pus::PUS_ROUTING_SERVICE;
use satrs_example::config::components::PUS_ROUTING_SERVICE;
use satrs_example::config::tmtc_err;
#[derive(Clone, Debug)]

6
satrs-example/src/spi.rs
View File

@ -1,6 +0,0 @@
use core::fmt::Debug;
pub trait SpiInterface {
type Error: Debug;
fn transfer(&mut self, tx: &[u8], rx: &mut [u8]) -> Result<(), Self::Error>;
}

1
satrs-example/src/tmtc/mod.rs
View File

@ -1,3 +1,2 @@
pub mod sender;
pub mod tc_source;
pub mod tm_sink;

75
satrs-example/src/tmtc/sender.rs
View File

@ -1,75 +0,0 @@
use std::{cell::RefCell, collections::VecDeque, sync::mpsc};
use satrs::{
pus::EcssTmSender,
queue::GenericSendError,
spacepackets::ecss::WritablePusPacket,
tmtc::{PacketAsVec, PacketSenderRaw, PacketSenderWithSharedPool, StoreAndSendError},
ComponentId,
};
#[derive(Default, Debug, Clone)]
pub struct MockSender(pub RefCell<VecDeque<PacketAsVec>>);
#[allow(dead_code)]
#[derive(Debug, Clone)]
pub enum TmTcSender {
Static(PacketSenderWithSharedPool),
Heap(mpsc::SyncSender<PacketAsVec>),
Mock(MockSender),
}
impl TmTcSender {
#[allow(dead_code)]
pub fn get_mock_sender(&mut self) -> Option<&mut MockSender> {
match self {
TmTcSender::Mock(sender) => Some(sender),
_ => None,
}
}
}
impl EcssTmSender for TmTcSender {
fn send_tm(
&self,
sender_id: satrs::ComponentId,
tm: satrs::pus::PusTmVariant,
) -> Result<(), satrs::pus::EcssTmtcError> {
match self {
TmTcSender::Static(sync_sender) => sync_sender.send_tm(sender_id, tm),
TmTcSender::Heap(sync_sender) => match tm {
satrs::pus::PusTmVariant::InStore(_) => panic!("can not send TM in store"),
satrs::pus::PusTmVariant::Direct(pus_tm_creator) => sync_sender
.send(PacketAsVec::new(sender_id, pus_tm_creator.to_vec()?))
.map_err(|_| GenericSendError::RxDisconnected.into()),
},
TmTcSender::Mock(_) => Ok(()),
}
}
}
impl PacketSenderRaw for TmTcSender {
type Error = StoreAndSendError;
fn send_packet(&self, sender_id: ComponentId, packet: &[u8]) -> Result<(), Self::Error> {
match self {
TmTcSender::Static(packet_sender_with_shared_pool) => {
packet_sender_with_shared_pool.send_packet(sender_id, packet)
}
TmTcSender::Heap(sync_sender) => sync_sender
.send_packet(sender_id, packet)
.map_err(StoreAndSendError::Send),
TmTcSender::Mock(sender) => sender.send_packet(sender_id, packet),
}
}
}
impl PacketSenderRaw for MockSender {
type Error = StoreAndSendError;
fn send_packet(&self, sender_id: ComponentId, tc_raw: &[u8]) -> Result<(), Self::Error> {
let mut mut_queue = self.0.borrow_mut();
mut_queue.push_back(PacketAsVec::new(sender_id, tc_raw.to_vec()));
Ok(())
}
}

32
satrs-example/src/tmtc/tc_source.rs
View File

@ -1,10 +1,12 @@
use satrs::{
pool::PoolProvider,
pus::HandlingStatus,
tmtc::{PacketAsVec, PacketInPool, SharedPacketPool},
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.
@ -12,15 +14,14 @@ pub struct TcSourceTaskStatic {
shared_tc_pool: SharedPacketPool,
tc_receiver: mpsc::Receiver<PacketInPool>,
tc_buf: [u8; 4096],
pus_distributor: PusTcDistributor,
pus_distributor: PusTcDistributor<PacketSenderWithSharedPool>,
}
#[allow(dead_code)]
impl TcSourceTaskStatic {
pub fn new(
shared_tc_pool: SharedPacketPool,
tc_receiver: mpsc::Receiver<PacketInPool>,
pus_receiver: PusTcDistributor,
pus_receiver: PusTcDistributor<PacketSenderWithSharedPool>,
) -> Self {
Self {
shared_tc_pool,
@ -66,12 +67,14 @@ impl TcSourceTaskStatic {
// 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,
pus_distributor: PusTcDistributor<MpscTmAsVecSender>,
}
#[allow(dead_code)]
impl TcSourceTaskDynamic {
pub fn new(tc_receiver: mpsc::Receiver<PacketAsVec>, pus_receiver: PusTcDistributor) -> Self {
pub fn new(
tc_receiver: mpsc::Receiver<PacketAsVec>,
pus_receiver: PusTcDistributor<MpscTmAsVecSender>,
) -> Self {
Self {
tc_receiver,
pus_distributor: pus_receiver,
@ -102,18 +105,3 @@ impl TcSourceTaskDynamic {
}
}
}
#[allow(dead_code)]
pub enum TcSourceTask {
Static(TcSourceTaskStatic),
Heap(TcSourceTaskDynamic),
}
impl TcSourceTask {
pub fn periodic_operation(&mut self) {
match self {
TcSourceTask::Static(task) => task.periodic_operation(),
TcSourceTask::Heap(task) => task.periodic_operation(),
}
}
}

21
satrs-example/src/tmtc/tm_sink.rs
View File

@ -89,7 +89,6 @@ pub struct TmSinkStatic {
tm_server_tx: mpsc::SyncSender<PacketInPool>,
}
#[allow(dead_code)]
impl TmSinkStatic {
pub fn new(
shared_tm_store: SharedPacketPool,
@ -133,15 +132,14 @@ impl TmSinkStatic {
pub struct TmSinkDynamic {
common: TmFunnelCommon,
tm_funnel_rx: mpsc::Receiver<PacketAsVec>,
tm_server_tx: mpsc::SyncSender<PacketAsVec>,
tm_server_tx: mpsc::Sender<PacketAsVec>,
}
#[allow(dead_code)]
impl TmSinkDynamic {
pub fn new(
sync_tm_tcp_source: SyncTcpTmSource,
tm_funnel_rx: mpsc::Receiver<PacketAsVec>,
tm_server_tx: mpsc::SyncSender<PacketAsVec>,
tm_server_tx: mpsc::Sender<PacketAsVec>,
) -> Self {
Self {
common: TmFunnelCommon::new(sync_tm_tcp_source),
@ -164,18 +162,3 @@ impl TmSinkDynamic {
}
}
}
#[allow(dead_code)]
pub enum TmSink {
Static(TmSinkStatic),
Heap(TmSinkDynamic),
}
impl TmSink {
pub fn operation(&mut self) {
match self {
TmSink::Static(static_sink) => static_sink.operation(),
TmSink::Heap(dynamic_sink) => dynamic_sink.operation(),
}
}
}

1
satrs-mib/Cargo.toml
View File

@ -24,7 +24,6 @@ optional = true
[dependencies.satrs-shared]
version = ">=0.1.3, <=0.2"
path = "../satrs-shared"
features = ["serde"]
[dependencies.satrs-mib-codegen]

1
satrs-mib/codegen/Cargo.toml
View File

@ -28,7 +28,6 @@ features = ["full"]
trybuild = { version = "1", features = ["diff"] }
[dev-dependencies.satrs-shared]
path = "../../satrs-shared"
version = ">=0.1.3, <=0.2"
[dev-dependencies.satrs-mib]

4
satrs-minisim/src/acs.rs
View File

@ -203,7 +203,7 @@ pub mod tests {
let sim_reply = sim_testbench.try_receive_next_reply();
assert!(sim_reply.is_some());
let sim_reply = sim_reply.unwrap();
assert_eq!(sim_reply.component(), SimComponent::Mgm0Lis3Mdl);
assert_eq!(sim_reply.component(), SimComponent::MgmLis3Mdl);
let reply = MgmLis3MdlReply::from_sim_message(&sim_reply)
.expect("failed to deserialize MGM sensor values");
assert_eq!(reply.common.switch_state, SwitchStateBinary::Off);
@ -226,7 +226,7 @@ pub mod tests {
let mut sim_reply_res = sim_testbench.try_receive_next_reply();
assert!(sim_reply_res.is_some());
let mut sim_reply = sim_reply_res.unwrap();
assert_eq!(sim_reply.component(), SimComponent::Mgm0Lis3Mdl);
assert_eq!(sim_reply.component(), SimComponent::MgmLis3Mdl);
let first_reply = MgmLis3MdlReply::from_sim_message(&sim_reply)
.expect("failed to deserialize MGM sensor values");
sim_testbench.step_until(Duration::from_millis(50)).unwrap();

30
satrs-minisim/src/controller.rs
View File

@ -24,8 +24,7 @@ const PCDU_REQ_WIRETAPPING: bool = false;
const MGT_REQ_WIRETAPPING: bool = false;
pub struct ModelAddrWrapper {
mgm_0_addr: Address<MagnetometerModel<MgmLis3MdlReply>>,
mgm_1_addr: Address<MagnetometerModel<MgmLis3MdlReply>>,
mgm_addr: Address<MagnetometerModel<MgmLis3MdlReply>>,
pcdu_addr: Address<PcduModel>,
mgt_addr: Address<MagnetorquerModel>,
}
@ -43,14 +42,12 @@ pub struct SimController {
impl ModelAddrWrapper {
pub fn new(
mgm_0_addr: Address<MagnetometerModel<MgmLis3MdlReply>>,
mgm_1_addr: Address<MagnetometerModel<MgmLis3MdlReply>>,
mgm_addr: Address<MagnetometerModel<MgmLis3MdlReply>>,
pcdu_addr: Address<PcduModel>,
mgt_addr: Address<MagnetorquerModel>,
) -> Self {
Self {
mgm_0_addr,
mgm_1_addr,
mgm_addr,
pcdu_addr,
mgt_addr,
}
@ -99,8 +96,7 @@ impl SimController {
}
if let Err(e) = match request.component() {
SimComponent::SimCtrl => self.handle_ctrl_request(&request),
SimComponent::Mgm0Lis3Mdl => self.handle_mgm_request(0, &request),
SimComponent::Mgm1Lis3Mdl => self.handle_mgm_request(1, &request),
SimComponent::MgmLis3Mdl => self.handle_mgm_request(&request),
SimComponent::Mgt => self.handle_mgt_request(&request),
SimComponent::Pcdu => self.handle_pcdu_request(&request),
} {
@ -132,25 +128,19 @@ impl SimController {
Ok(())
}
fn handle_mgm_request(
&mut self,
mgm_idx: usize,
request: &SimRequest,
) -> Result<(), SimRequestError> {
fn handle_mgm_request(&mut self, request: &SimRequest) -> Result<(), SimRequestError> {
let mgm_request = MgmRequestLis3Mdl::from_sim_message(request)?;
if MGM_REQ_WIRETAPPING {
log::info!("received MGM request: {:?}", mgm_request);
}
match mgm_request {
MgmRequestLis3Mdl::RequestSensorData => {
let addr = match mgm_idx {
0 => &self.addr_wrapper.mgm_0_addr,
1 => &self.addr_wrapper.mgm_1_addr,
_ => panic!("invalid mgm index"),
};
self.simulation
.process_event(MagnetometerModel::send_sensor_values, (), addr)
.process_event(
MagnetometerModel::send_sensor_values,
(),
&self.addr_wrapper.mgm_addr,
)
.expect("event execution error for mgm");
}
}

8
satrs-minisim/src/eps.rs
View File

@ -14,8 +14,7 @@ pub const SWITCH_INFO_DELAY_MS: u64 = 10;
pub struct PcduModel {
pub switcher_map: SwitchMapBinaryWrapper,
pub mgm_0_switch: Output<SwitchStateBinary>,
pub mgm_1_switch: Output<SwitchStateBinary>,
pub mgm_switch: Output<SwitchStateBinary>,
pub mgt_switch: Output<SwitchStateBinary>,
pub reply_sender: mpsc::Sender<SimReply>,
}
@ -24,8 +23,7 @@ impl PcduModel {
pub fn new(reply_sender: mpsc::Sender<SimReply>) -> Self {
Self {
switcher_map: Default::default(),
mgm_0_switch: Output::new(),
mgm_1_switch: Output::new(),
mgm_switch: Output::new(),
mgt_switch: Output::new(),
reply_sender,
}
@ -57,7 +55,7 @@ impl PcduModel {
*val = switch_and_target_state.1;
match switch_and_target_state.0 {
PcduSwitch::Mgm => {
self.mgm_0_switch.send(switch_and_target_state.1).await;
self.mgm_switch.send(switch_and_target_state.1).await;
}
PcduSwitch::Mgt => {
self.mgt_switch.send(switch_and_target_state.1).await;

9
satrs-minisim/src/lib.rs
View File

@ -5,8 +5,7 @@ use serde::{de::DeserializeOwned, Deserialize, Serialize};
#[derive(Debug, Copy, Clone, PartialEq, Eq, Serialize, Deserialize, Hash)]
pub enum SimComponent {
SimCtrl,
Mgm0Lis3Mdl,
Mgm1Lis3Mdl,
MgmLis3Mdl,
Mgt,
Pcdu,
}
@ -278,7 +277,7 @@ pub mod acs {
}
impl SerializableSimMsgPayload<SimRequest> for MgmRequestLis3Mdl {
const TARGET: SimComponent = SimComponent::Mgm0Lis3Mdl;
const TARGET: SimComponent = SimComponent::MgmLis3Mdl;
}
// Normally, small magnetometers generate their output as a signed 16 bit raw format or something
@ -369,7 +368,7 @@ pub mod acs {
}
impl SerializableSimMsgPayload<SimReply> for MgmLis3MdlReply {
const TARGET: SimComponent = SimComponent::Mgm0Lis3Mdl;
const TARGET: SimComponent = SimComponent::MgmLis3Mdl;
}
impl MgmReplyProvider for MgmLis3MdlReply {
@ -419,7 +418,7 @@ pub mod acs {
}
impl SerializableSimMsgPayload<SimReply> for MgtReply {
const TARGET: SimComponent = SimComponent::Mgm0Lis3Mdl;
const TARGET: SimComponent = SimComponent::MgmLis3Mdl;
}
}

33
satrs-minisim/src/main.rs
View File

@ -31,15 +31,11 @@ fn create_sim_controller(
request_receiver: mpsc::Receiver<SimRequest>,
) -> SimController {
// Instantiate models and their mailboxes.
let mgm_0_model =
MagnetometerModel::new_for_lis3mdl(Duration::from_millis(50), reply_sender.clone());
let mgm_1_model =
let mgm_model =
MagnetometerModel::new_for_lis3mdl(Duration::from_millis(50), reply_sender.clone());
let mgm_0_mailbox = Mailbox::new();
let mgm_0_addr = mgm_0_mailbox.address();
let mgm_1_mailbox = Mailbox::new();
let mgm_1_addr = mgm_1_mailbox.address();
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();
@ -47,11 +43,8 @@ fn create_sim_controller(
let mut pcdu_model = PcduModel::new(reply_sender.clone());
pcdu_model
.mgm_0_switch
.connect(MagnetometerModel::switch_device, &mgm_0_addr);
pcdu_model
.mgm_1_switch
.connect(MagnetometerModel::switch_device, &mgm_1_addr);
.mgm_switch
.connect(MagnetometerModel::switch_device, &mgm_addr);
let mut mgt_model = MagnetorquerModel::new(reply_sender.clone());
// Input connections.
@ -59,14 +52,9 @@ fn create_sim_controller(
.mgt_switch
.connect(MagnetorquerModel::switch_device, &mgt_addr);
// Output connections.
mgt_model.gen_magnetic_field.connect(
MagnetometerModel::apply_external_magnetic_field,
&mgm_0_addr,
);
mgt_model.gen_magnetic_field.connect(
MagnetometerModel::apply_external_magnetic_field,
&mgm_1_addr,
);
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());
@ -75,10 +63,9 @@ fn create_sim_controller(
} else {
SimInit::new()
};
let addrs = ModelAddrWrapper::new(mgm_0_addr, mgm_1_addr, pcdu_addr, mgt_addr);
let addrs = ModelAddrWrapper::new(mgm_addr, pcdu_addr, mgt_addr);
let (simulation, scheduler) = sim_init
.add_model(mgm_0_model, mgm_0_mailbox, "MGM 0 model")
.add_model(mgm_1_model, mgm_1_mailbox, "MGM 1 model")
.add_model(mgm_model, mgm_mailbox, "MGM model")
.add_model(pcdu_model, pcdu_mailbox, "PCDU model")
.add_model(mgt_model, mgt_mailbox, "MGT model")
.init(start_time)

7
satrs-shared/CHANGELOG.md
View File

@ -8,10 +8,6 @@ and this project adheres to [Semantic Versioning](http://semver.org/).
# [unreleased]
# [v0.2.2] 2025-05-10
- Bump to `spacepackests` v0.14
# [v0.2.1] 2024-11-15
Increased allowed spacepackets to v0.13
@ -45,6 +41,3 @@ Allow `spacepackets` range starting with v0.10 and v0.11.
# [v0.1.0] 2024-02-12
Initial release.
[unreleased]: https://egit.irs.uni-stuttgart.de/rust/sat-rs/compare/satrs-shared-v0.2.2...HEAD
[v0.2.2]: https://egit.irs.uni-stuttgart.de/rust/sat-rs/compare/satrs-shared-v0.2.1...satrs-shared-v0.2.2

6
satrs-shared/Cargo.toml
View File

@ -1,7 +1,7 @@
[package]
name = "satrs-shared"
description = "Components shared by multiple sat-rs crates"
version = "0.2.2"
version = "0.2.1"
edition = "2021"
authors = ["Robin Mueller <muellerr@irs.uni-stuttgart.de>"]
homepage = "https://absatsw.irs.uni-stuttgart.de/projects/sat-rs/"
@ -18,11 +18,11 @@ default-features = false
optional = true
[dependencies.defmt]
version = "1"
version = "0.3"
optional = true
[dependencies.spacepackets]
version = "0.14"
version = ">0.9, <=0.13"
default-features = false
[features]

15
satrs/CHANGELOG.md
View File

@ -8,10 +8,6 @@ and this project adheres to [Semantic Versioning](http://semver.org/).
# [unreleased]
# [v0.3.0-alpha.0] 2025-02-18
`spacepackets` v0.13
## Changed
- Renamed `StaticPoolConfig::new` to `StaticPoolConfig::new_from_subpool_cfg_tuples`. The new
@ -24,17 +20,6 @@ and this project adheres to [Semantic Versioning](http://semver.org/).
- `StaticHeaplessMemoryPool` which can be grown with user-provided static buffers.
- Scheduling table for systems with a standard runtime
- Mode Tree Feature which allows building a network of mode components which can send mode
messages to each other.
- Added first helper features like the `SubsystemExecutionHelper` and the
`SubsystemCommandingHelper` which allows to build subsystem components. Subsystem components
are able to execute mode sequences and perform target keeping based on a declarative table
format.
- Added `DevManagerCommandingHelper` which performs some of the boilerplate logik required
by Assembly and Device Management components. This includes forwarding mode requests and
handling mode replies.
- First basic health module with `HealthState`s and the `HealthTableProvider` trait. These
components are important for any FDIR components which get added in the future.
# [v0.2.1] 2024-05-19

89
satrs/Cargo.toml
View File

@ -1,6 +1,6 @@
[package]
name = "satrs"
version = "0.3.0-alpha.0"
version = "0.2.1"
edition = "2021"
rust-version = "1.82.0"
authors = ["Robin Mueller <muellerr@irs.uni-stuttgart.de>"]
@ -13,26 +13,79 @@ keywords = ["no-std", "space", "aerospace"]
categories = ["aerospace", "aerospace::space-protocols", "no-std", "hardware-support", "embedded"]
[dependencies]
satrs-shared = { version = ">=0.1.3, <=0.2", path = "../satrs-shared" }
delegate = ">0.7, <=0.13"
paste = "1"
derive-new = ">=0.6, <=0.7"
num_enum = { version = ">0.5, <=0.7", default-features = false }
spacepackets = { version = "0.14", default-features = false }
cobs = { version = "0.4", default-features = false, git = "https://github.com/jamesmunns/cobs.rs.git", branch = "main" }
thiserror = { version = "2", default-features = false }
smallvec = "1"
crc = "3"
hashbrown = { version = ">=0.14, <=0.15", optional = true }
static_cell = { version = "2", optional = true }
dyn-clone = { version = "1", optional = true }
heapless = { version = "0.8", optional = true }
downcast-rs = { version = "2", default-features = false, optional = true }
bus = { version = "2.2", optional = true }
crossbeam-channel = { version = "0.5", default-features = false, optional = true }
serde = { version = "1", default-features = false, optional = true }
socket2 = { version = "0.5", features = ["all"], optional = true }
mio = { version = "1", features = ["os-poll", "net"], optional = true }
defmt = { version = "0.3", optional = true }
[dependencies.satrs-shared]
version = ">=0.1.3, <=0.2"
[dependencies.num_enum]
version = ">0.5, <=0.7"
default-features = false
[dependencies.spacepackets]
version = "0.13"
default-features = false
[dependencies.cobs]
version = "0.3"
default-features = false
[dependencies.num-traits]
version = "0.2"
default-features = false
[dependencies.dyn-clone]
version = "1"
optional = true
[dependencies.hashbrown]
version = ">=0.14, <=0.15"
optional = true
[dependencies.heapless]
version = "0.8"
optional = true
[dependencies.downcast-rs]
version = "2"
default-features = false
optional = true
[dependencies.bus]
version = "2.2"
optional = true
[dependencies.crossbeam-channel]
version= "0.5"
default-features = false
optional = true
[dependencies.thiserror]
version = "2"
default-features = false
[dependencies.serde]
version = "1"
default-features = false
optional = true
[dependencies.socket2]
version = "0.5.4"
features = ["all"]
optional = true
[dependencies.mio]
version = "1"
features = ["os-poll", "net"]
optional = true
[dependencies.defmt]
version = "0.3"
optional = true
[dev-dependencies]
serde = "1"
@ -68,7 +121,7 @@ alloc = [
]
serde = ["dep:serde", "spacepackets/serde", "satrs-shared/serde"]
crossbeam = ["crossbeam-channel"]
heapless = ["dep:heapless", "static_cell"]
heapless = ["dep:heapless"]
defmt = ["dep:defmt", "spacepackets/defmt"]
test_util = []

12
satrs/src/dev_mgmt.rs
View File

@ -35,7 +35,7 @@ pub trait DevManagerUserHook: Debug {
forced: bool,
children_mode_store: &mut ModeStoreVec,
mode_req_sender: &impl ModeRequestSender,
) -> Result<(), GenericSendError>;
) -> Result<(), GenericTargetedMessagingError>;
fn send_mode_cmds_to_children(
&self,
@ -44,7 +44,7 @@ pub trait DevManagerUserHook: Debug {
forced: bool,
children_mode_store: &mut ModeStoreVec,
mode_req_sender: &impl ModeRequestSender,
) -> Result<(), GenericSendError>;
) -> Result<(), GenericTargetedMessagingError>;
}
#[derive(Debug, Default)]
@ -58,7 +58,7 @@ impl DevManagerUserHook for TransparentDevManagerHook {
forced: bool,
children_mode_store: &mut ModeStoreVec,
mode_req_sender: &impl ModeRequestSender,
) -> Result<(), GenericSendError> {
) -> Result<(), GenericTargetedMessagingError> {
for child in children_mode_store {
mode_req_sender.send_mode_request(
request_id,
@ -81,7 +81,7 @@ impl DevManagerUserHook for TransparentDevManagerHook {
forced: bool,
children_mode_store: &mut ModeStoreVec,
mode_req_sender: &impl ModeRequestSender,
) -> Result<(), GenericSendError> {
) -> Result<(), GenericTargetedMessagingError> {
let mut_val = children_mode_store
.get_mut(target_id)
.ok_or(GenericSendError::TargetDoesNotExist(target_id))?;
@ -144,7 +144,7 @@ impl<UserHook: DevManagerUserHook> DevManagerCommandingHelper<UserHook> {
mode_and_submode: ModeAndSubmode,
forced: bool,
mode_req_sender: &impl ModeRequestSender,
) -> Result<(), GenericSendError> {
) -> Result<(), GenericTargetedMessagingError> {
self.state = DevManagerCommandingState::new_active_cmd(mode_and_submode, request_id);
self.user_hook.send_mode_cmd_to_child(
request_id,
@ -163,7 +163,7 @@ impl<UserHook: DevManagerUserHook> DevManagerCommandingHelper<UserHook> {
mode_and_submode: ModeAndSubmode,
forced: bool,
mode_req_sender: &impl ModeRequestSender,
) -> Result<(), GenericSendError> {
) -> Result<(), GenericTargetedMessagingError> {
self.state = DevManagerCommandingState::new_active_cmd(mode_and_submode, request_id);
self.user_hook.send_mode_cmds_to_children(
request_id,

4
satrs/src/encoding/cobs.rs
View File

@ -24,8 +24,8 @@ use cobs::{decode_in_place, encode, max_encoding_length};
/// assert!(encode_packet_with_cobs(&INVERTED_PACKET, &mut encoding_buf, &mut current_idx));
/// assert_eq!(encoding_buf[0], 0);
/// let dec_report = decode_in_place_report(&mut encoding_buf[1..]).expect("decoding failed");
/// assert_eq!(encoding_buf[1 + dec_report.parsed_size()], 0);
/// assert_eq!(dec_report.frame_size(), 5);
/// assert_eq!(encoding_buf[1 + dec_report.src_used], 0);
/// assert_eq!(dec_report.dst_used, 5);
/// assert_eq!(current_idx, 16);
/// ```
pub fn encode_packet_with_cobs(

2
satrs/src/event_man.rs
View File

@ -162,7 +162,7 @@ pub trait SenderMapProvider<
/// * `ListenerMap`: [ListenerMapProvider] which maps listener keys to channel IDs.
/// * `EventSender`: [EventSendProvider] contained within the sender map which sends the events.
/// * `Event`: The event type. This type must implement the [GenericEvent]. Currently only [EventU32]
/// and [EventU16] are supported.
/// and [EventU16] are supported.
/// * `ParamProvider`: Auxiliary data which is sent with the event to provide optional context
/// information
pub struct EventManager<

12
satrs/src/events.rs
View File

@ -312,11 +312,11 @@ impl EventU32 {
/// # Parameter
///
/// * `severity`: Each event has a [severity][Severity]. The raw value of the severity will
/// be stored inside the uppermost 2 bits of the raw event ID
/// be stored inside the uppermost 2 bits of the raw event ID
/// * `group_id`: Related events can be grouped using a group ID. The group ID will occupy the
/// next 14 bits after the severity. Therefore, the size is limited by dec 16383 hex 0x3FFF.
/// next 14 bits after the severity. Therefore, the size is limited by dec 16383 hex 0x3FFF.
/// * `unique_id`: Each event has a unique 16 bit ID occupying the last 16 bits of the
/// raw event ID
/// raw event ID
pub fn new_checked(
severity: Severity,
group_id: <Self as GenericEvent>::GroupId,
@ -486,11 +486,11 @@ impl EventU16 {
/// # Parameter
///
/// * `severity`: Each event has a [severity][Severity]. The raw value of the severity will
/// be stored inside the uppermost 2 bits of the raw event ID
/// be stored inside the uppermost 2 bits of the raw event ID
/// * `group_id`: Related events can be grouped using a group ID. The group ID will occupy the
/// next 6 bits after the severity. Therefore, the size is limited by dec 63 hex 0x3F.
/// next 6 bits after the severity. Therefore, the size is limited by dec 63 hex 0x3F.
/// * `unique_id`: Each event has a unique 8 bit ID occupying the last 8 bits of the
/// raw event ID
/// raw event ID
pub fn new_checked(
severity: Severity,
group_id: <Self as GenericEvent>::GroupId,

4
satrs/src/executable.rs
View File

@ -39,9 +39,9 @@ pub trait ExecutableWithType: Executable {
///
/// * `executable`: Executable task
/// * `task_freq`: Optional frequency of task. Required for periodic and fixed cycle tasks.
/// If [None] is passed, no sleeping will be performed.
/// If [None] is passed, no sleeping will be performed.
/// * `op_code`: Operation code which is passed to the executable task
/// [operation call][Executable::periodic_op]
/// [operation call][Executable::periodic_op]
/// * `termination`: Optional termination handler which can cancel threads with a broadcast
pub fn exec_sched_single<
T: ExecutableWithType<Error = E> + Send + 'static + ?Sized,

12
satrs/src/hal/std/tcp_cobs_server.rs
View File

@ -150,9 +150,9 @@ impl<
///
/// * `cfg` - Configuration of the server.
/// * `tm_source` - Generic TM source used by the server to pull telemetry packets which are
/// then sent back to the client.
/// then sent back to the client.
/// * `tc_receiver` - Any received telecommands which were decoded successfully will be
/// forwarded to this TC receiver.
/// forwarded to this TC receiver.
pub fn new(
cfg: ServerConfig,
tm_source: TmSource,
@ -377,13 +377,13 @@ mod tests {
current_idx += 1;
let mut dec_report = cobs::decode_in_place_report(&mut read_buf[current_idx..])
.expect("COBS decoding failed");
assert_eq!(dec_report.frame_size(), 5);
assert_eq!(dec_report.dst_used, 5);
// Skip first sentinel byte.
assert_eq!(
&read_buf[current_idx..current_idx + INVERTED_PACKET.len()],
&INVERTED_PACKET
);
current_idx += dec_report.parsed_size();
current_idx += dec_report.src_used;
// End sentinel.
assert_eq!(read_buf[current_idx], 0, "invalid sentinel end byte");
current_idx += 1;
@ -393,13 +393,13 @@ mod tests {
current_idx += 1;
dec_report = cobs::decode_in_place_report(&mut read_buf[current_idx..])
.expect("COBS decoding failed");
assert_eq!(dec_report.frame_size(), 5);
assert_eq!(dec_report.dst_used, 5);
// Skip first sentinel byte.
assert_eq!(
&read_buf[current_idx..current_idx + SIMPLE_PACKET.len()],
&SIMPLE_PACKET
);
current_idx += dec_report.parsed_size();
current_idx += dec_report.src_used;
// End sentinel.
assert_eq!(read_buf[current_idx], 0);
break;

30
satrs/src/hal/std/tcp_server.rs
View File

@ -25,22 +25,22 @@ pub use crate::hal::std::tcp_spacepackets_server::{SpacepacketsTmSender, TcpSpac
///
/// * `addr` - Address of the TCP server.
/// * `inner_loop_delay` - If a client connects for a longer period, but no TC is received or
/// no TM needs to be sent, the TCP server will delay for the specified amount of time
/// to reduce CPU load.
/// no TM needs to be sent, the TCP server will delay for the specified amount of time
/// to reduce CPU load.
/// * `tm_buffer_size` - Size of the TM buffer used to read TM from the [PacketSource] and
/// encoding of that data. This buffer should at large enough to hold the maximum expected
/// TM size read from the packet source.
/// encoding of that data. This buffer should at large enough to hold the maximum expected
/// TM size read from the packet source.
/// * `tc_buffer_size` - Size of the TC buffer used to read encoded telecommands sent from
/// the client. It is recommended to make this buffer larger to allow reading multiple
/// consecutive packets as well, for example by using common buffer sizes like 4096 or 8192
/// byte. The buffer should at the very least be large enough to hold the maximum expected
/// telecommand size.
/// the client. It is recommended to make this buffer larger to allow reading multiple
/// consecutive packets as well, for example by using common buffer sizes like 4096 or 8192
/// byte. The buffer should at the very least be large enough to hold the maximum expected
/// telecommand size.
/// * `reuse_addr` - Can be used to set the `SO_REUSEADDR` option on the raw socket. This is
/// especially useful if the address and port are static for the server. Set to false by
/// default.
/// especially useful if the address and port are static for the server. Set to false by
/// default.
/// * `reuse_port` - Can be used to set the `SO_REUSEPORT` option on the raw socket. This is
/// especially useful if the address and port are static for the server. Set to false by
/// default.
/// especially useful if the address and port are static for the server. Set to false by
/// default.
#[derive(Debug, Copy, Clone)]
pub struct ServerConfig {
pub id: ComponentId,
@ -211,12 +211,12 @@ impl<
///
/// * `cfg` - Configuration of the server.
/// * `tc_parser` - Parser which extracts telecommands from the raw bytestream received from
/// the client.
/// the client.
/// * `tm_sender` - Sends back telemetry to the client using the specified TM source.
/// * `tm_source` - Generic TM source used by the server to pull telemetry packets which are
/// then sent back to the client.
/// then sent back to the client.
/// * `tc_sender` - Any received telecommand which was decoded successfully will be forwarded
/// using this TC sender.
/// using this TC sender.
/// * `stop_signal` - Can be used to stop the server even if a connection is ongoing.
pub fn new(
cfg: ServerConfig,

10
satrs/src/hal/std/tcp_spacepackets_server.rs
View File

@ -120,15 +120,15 @@ impl<
///
/// * `cfg` - Configuration of the server.
/// * `tm_source` - Generic TM source used by the server to pull telemetry packets which are
/// then sent back to the client.
/// then sent back to the client.
/// * `tc_sender` - Any received telecommands which were decoded successfully will be
/// forwarded using this [PacketSenderRaw].
/// forwarded using this [PacketSenderRaw].
/// * `validator` - Used to determine the space packets relevant for further processing and
/// to detect broken space packets.
/// to detect broken space packets.
/// * `handled_connection_hook` - Called to notify the user about a succesfully handled
/// connection.
/// connection.
/// * `stop_signal` - Can be used to shut down the TCP server even for longer running
/// connections.
/// connections.
pub fn new(
cfg: ServerConfig,
tm_source: TmSource,

62
satrs/src/mode.rs
View File

@ -11,7 +11,7 @@ pub use alloc_mod::*;
pub use std_mod::*;
use crate::{
queue::{GenericReceiveError, GenericSendError},
queue::GenericTargetedMessagingError,
request::{
GenericMessage, MessageMetadata, MessageReceiverProvider, MessageReceiverWithId, RequestId,
},
@ -159,13 +159,13 @@ pub trait ModeRequestSender {
request_id: RequestId,
target_id: ComponentId,
request: ModeRequest,
) -> Result<(), GenericSendError>;
) -> Result<(), GenericTargetedMessagingError>;
}
pub trait ModeRequestReceiver {
fn try_recv_mode_request(
&self,
) -> Result<Option<GenericMessage<ModeRequest>>, GenericReceiveError>;
) -> Result<Option<GenericMessage<ModeRequest>>, GenericTargetedMessagingError>;
}
impl<R: MessageReceiverProvider<ModeRequest>> ModeRequestReceiver
@ -173,17 +173,15 @@ impl<R: MessageReceiverProvider<ModeRequest>> ModeRequestReceiver
{
fn try_recv_mode_request(
&self,
) -> Result<Option<GenericMessage<ModeRequest>>, GenericReceiveError> {
) -> Result<Option<GenericMessage<ModeRequest>>, GenericTargetedMessagingError> {
self.try_recv_message()
}
}
#[derive(Debug, Clone, thiserror::Error)]
pub enum ModeError {
#[error("Messaging send error: {0}")]
Send(#[from] GenericSendError),
#[error("Messaging receive error: {0}")]
Receive(#[from] GenericReceiveError),
#[error("Messaging error: {0}")]
Messaging(#[from] GenericTargetedMessagingError),
#[error("busy with other mode request")]
Busy,
}
@ -256,8 +254,9 @@ pub trait ModeRequestHandler: ModeProvider {
}
pub trait ModeReplyReceiver {
fn try_recv_mode_reply(&self)
-> Result<Option<GenericMessage<ModeReply>>, GenericReceiveError>;
fn try_recv_mode_reply(
&self,
) -> Result<Option<GenericMessage<ModeReply>>, GenericTargetedMessagingError>;
}
impl<R: MessageReceiverProvider<ModeReply>> ModeReplyReceiver
@ -265,7 +264,7 @@ impl<R: MessageReceiverProvider<ModeReply>> ModeReplyReceiver
{
fn try_recv_mode_reply(
&self,
) -> Result<Option<GenericMessage<ModeReply>>, GenericReceiveError> {
) -> Result<Option<GenericMessage<ModeReply>>, GenericTargetedMessagingError> {
self.try_recv_message()
}
}
@ -278,17 +277,14 @@ pub trait ModeReplySender {
&self,
requestor_info: MessageMetadata,
reply: ModeReply,
) -> Result<(), GenericSendError>;
) -> Result<(), GenericTargetedMessagingError>;
}
#[cfg(feature = "alloc")]
pub mod alloc_mod {
use crate::{
queue::{GenericReceiveError, GenericSendError},
request::{
MessageSenderAndReceiver, MessageSenderMap, MessageSenderProvider,
MessageSenderStoreProvider, RequestAndReplySenderAndReceiver,
},
use crate::request::{
MessageSenderAndReceiver, MessageSenderMap, MessageSenderProvider,
MessageSenderStoreProvider, RequestAndReplySenderAndReceiver,
};
use super::*;
@ -299,7 +295,7 @@ pub mod alloc_mod {
requestor_info: MessageMetadata,
target_id: ComponentId,
request: ModeReply,
) -> Result<(), GenericSendError> {
) -> Result<(), GenericTargetedMessagingError> {
self.send_message(requestor_info, target_id, request)
}
@ -324,7 +320,7 @@ pub mod alloc_mod {
&self,
requestor_info: MessageMetadata,
request: ModeReply,
) -> Result<(), GenericSendError> {
) -> Result<(), GenericTargetedMessagingError> {
self.message_sender_store.send_message(
MessageMetadata::new(requestor_info.request_id(), self.local_channel_id()),
requestor_info.sender_id(),
@ -343,7 +339,7 @@ pub mod alloc_mod {
{
fn try_recv_mode_reply(
&self,
) -> Result<Option<GenericMessage<ModeReply>>, GenericReceiveError> {
) -> Result<Option<GenericMessage<ModeReply>>, GenericTargetedMessagingError> {
self.message_receiver.try_recv_message()
}
}
@ -403,7 +399,7 @@ pub mod alloc_mod {
&self,
requestor_info: MessageMetadata,
reply: ModeReply,
) -> Result<(), GenericSendError> {
) -> Result<(), GenericTargetedMessagingError> {
self.reply_sender_store.send_message(
MessageMetadata::new(requestor_info.request_id(), self.local_channel_id()),
requestor_info.sender_id(),
@ -434,7 +430,7 @@ pub mod alloc_mod {
{
fn try_recv_mode_reply(
&self,
) -> Result<Option<GenericMessage<ModeReply>>, GenericReceiveError> {
) -> Result<Option<GenericMessage<ModeReply>>, GenericTargetedMessagingError> {
self.reply_receiver.try_recv_message()
}
}
@ -451,7 +447,7 @@ pub mod alloc_mod {
{
pub fn try_recv_mode_request(
&self,
) -> Result<Option<GenericMessage<ModeRequest>>, GenericReceiveError> {
) -> Result<Option<GenericMessage<ModeRequest>>, GenericTargetedMessagingError> {
self.try_recv_message()
}
@ -459,7 +455,7 @@ pub mod alloc_mod {
&self,
requestor_info: MessageMetadata,
reply: ModeReply,
) -> Result<(), GenericSendError> {
) -> Result<(), GenericTargetedMessagingError> {
self.send_message(
requestor_info.request_id(),
requestor_info.sender_id(),
@ -481,7 +477,7 @@ pub mod alloc_mod {
{
pub fn try_recv_mode_reply(
&self,
) -> Result<Option<GenericMessage<ModeReply>>, GenericReceiveError> {
) -> Result<Option<GenericMessage<ModeReply>>, GenericTargetedMessagingError> {
self.try_recv_message()
}
@ -490,7 +486,7 @@ pub mod alloc_mod {
request_id: RequestId,
target_id: ComponentId,
reply: ModeRequest,
) -> Result<(), GenericSendError> {
) -> Result<(), GenericTargetedMessagingError> {
self.send_message(request_id, target_id, reply)
}
}
@ -521,7 +517,7 @@ pub mod alloc_mod {
requestor_info: MessageMetadata,
target_id: ComponentId,
request: ModeRequest,
) -> Result<(), GenericSendError> {
) -> Result<(), GenericTargetedMessagingError> {
self.send_message(requestor_info, target_id, request)
}
@ -540,7 +536,7 @@ pub mod alloc_mod {
{
fn try_recv_mode_request(
&self,
) -> Result<Option<GenericMessage<ModeRequest>>, GenericReceiveError> {
) -> Result<Option<GenericMessage<ModeRequest>>, GenericTargetedMessagingError> {
self.message_receiver.try_recv_message()
}
}
@ -562,7 +558,7 @@ pub mod alloc_mod {
request_id: RequestId,
target_id: ComponentId,
request: ModeRequest,
) -> Result<(), GenericSendError> {
) -> Result<(), GenericTargetedMessagingError> {
self.message_sender_store.send_message(
MessageMetadata::new(request_id, self.local_channel_id()),
target_id,
@ -626,7 +622,7 @@ pub mod alloc_mod {
request_id: RequestId,
target_id: ComponentId,
request: ModeRequest,
) -> Result<(), GenericSendError> {
) -> Result<(), GenericTargetedMessagingError> {
self.request_sender_store.send_message(
MessageMetadata::new(request_id, self.local_channel_id()),
target_id,
@ -657,7 +653,7 @@ pub mod alloc_mod {
{
fn try_recv_mode_request(
&self,
) -> Result<Option<GenericMessage<ModeRequest>>, GenericReceiveError> {
) -> Result<Option<GenericMessage<ModeRequest>>, GenericTargetedMessagingError> {
self.request_receiver.try_recv_message()
}
}
@ -751,7 +747,7 @@ pub(crate) mod tests {
request_id: RequestId,
target_id: ComponentId,
request: ModeRequest,
) -> Result<(), GenericSendError> {
) -> Result<(), GenericTargetedMessagingError> {
self.requests.borrow_mut().push_back(ModeReqWrapper {
request_id,
target_id,

149
satrs/src/pool.rs
View File

@ -378,27 +378,74 @@ pub struct SubpoolConfig {
#[cfg(feature = "heapless")]
pub mod heapless_mod {
use super::*;
use core::cell::UnsafeCell;
use core::sync::atomic::{AtomicBool, Ordering};
#[derive(Debug, Copy, Clone, PartialEq, Eq)]
#[cfg_attr(feature = "defmt", derive(defmt::Format))]
pub struct PoolIsFull;
#[derive(Debug)]
pub struct UnsafeCellBufWrapper<T> {
val: UnsafeCell<T>,
once: AtomicBool,
}
// `Sync` is required because `UnsafeCell` is not `Sync` by default.
// This is safe as long as access is manually synchronized.
unsafe impl<T> Sync for UnsafeCellBufWrapper<T> {}
impl<T: Sync> UnsafeCellBufWrapper<T> {
/// Creates a new wrapper around an arbitrary value which should be [Sync].
pub const fn new(v: T) -> Self {
unsafe { Self::new_unchecked(v) }
}
}
impl<T> UnsafeCellBufWrapper<T> {
/// Creates a new wrapper around a buffer.
///
/// # Safety
///
/// Currently, the [Sync] trait is implemented for all T and ignores the usual [Sync] bound
/// on T. This API should only be called for declaring byte buffers statically or if T is
/// known to be [Sync]. You can use [new] to let the compiler do the [Sync] check.
pub const unsafe fn new_unchecked(v: T) -> Self {
Self {
val: UnsafeCell::new(v),
once: AtomicBool::new(false),
}
}
/// Retrieves a mutable reference to the internal value once.
///
/// All subsequent calls return None.
pub fn get_mut(&self) -> Option<&mut T> {
if self.once.load(Ordering::Relaxed) {
return None;
}
// Safety: We ensure that this is only done once with an [AtomicBool].
let mut_ref = unsafe { &mut *self.val.get() };
self.once.store(true, Ordering::Relaxed);
Some(mut_ref)
}
}
/// Helper macro to generate static buffers for the [crate::pool::StaticHeaplessMemoryPool].
#[macro_export]
macro_rules! static_subpool {
($pool_name: ident, $sizes_list_name: ident, $num_blocks: expr, $block_size: expr) => {
static $pool_name: static_cell::ConstStaticCell<[u8; $num_blocks * $block_size]> =
static_cell::ConstStaticCell::new([0; $num_blocks * $block_size]);
static $sizes_list_name: static_cell::ConstStaticCell<[usize; $num_blocks]> =
static_cell::ConstStaticCell::new([$crate::pool::STORE_FREE; $num_blocks]);
static $pool_name: $crate::pool::UnsafeCellBufWrapper<[u8; $num_blocks * $block_size]> =
$crate::pool::UnsafeCellBufWrapper::new([0; $num_blocks * $block_size]);
static $sizes_list_name: $crate::pool::UnsafeCellBufWrapper<[usize; $num_blocks]> =
$crate::pool::UnsafeCellBufWrapper::new([$crate::pool::STORE_FREE; $num_blocks]);
};
($pool_name: ident, $sizes_list_name: ident, $num_blocks: expr, $block_size: expr, $meta_data: meta) => {
#[$meta_data]
static $pool_name: static_cell::ConstStaticCell<[u8; $num_blocks * $block_size]> =
static_cell::ConstStaticCell::new([0; $num_blocks * $block_size]);
static $pool_name: $crate::pool::UnsafeCellBufWrapper<[u8; $num_blocks * $block_size]> =
$crate::pool::UnsafeCellBufWrapper::new([0; $num_blocks * $block_size]);
#[$meta_data]
static $sizes_list_name: static_cell::ConstStaticCell<[usize; $num_blocks]> =
static_cell::ConstStaticCell::new([$crate::pool::STORE_FREE; $num_blocks]);
static $sizes_list_name: $crate::pool::UnsafeCellBufWrapper<[usize; $num_blocks]> =
$crate::pool::UnsafeCellBufWrapper::new([$crate::pool::STORE_FREE; $num_blocks]);
};
}
@ -435,14 +482,14 @@ pub mod heapless_mod {
///
/// let mut mem_pool: StaticHeaplessMemoryPool<2> = StaticHeaplessMemoryPool::new(true);
/// mem_pool.grow(
/// SUBPOOL_SMALL.take(),
/// SUBPOOL_SMALL_SIZES.take(),
/// SUBPOOL_SMALL.get_mut().unwrap(),
/// SUBPOOL_SMALL_SIZES.get_mut().unwrap(),
/// SUBPOOL_SMALL_NUM_BLOCKS,
/// false
/// ).unwrap();
/// mem_pool.grow(
/// SUBPOOL_LARGE.take(),
/// SUBPOOL_LARGE_SIZES.take(),
/// SUBPOOL_LARGE.get_mut().unwrap(),
/// SUBPOOL_LARGE_SIZES.get_mut().unwrap(),
/// SUBPOOL_LARGE_NUM_BLOCKS,
/// false
/// ).unwrap();
@ -770,12 +817,12 @@ mod alloc_mod {
/// # Parameters
///
/// * `cfg` - Vector of tuples which represent a subpool. The first entry in the tuple specifies
/// the number of memory blocks in the subpool, the second entry the size of the blocks
/// the number of memory blocks in the subpool, the second entry the size of the blocks
/// * `spill_to_higher_subpools` - Specifies whether data will be spilled to higher subpools
/// if the next fitting subpool is full. This is useful to ensure the pool remains useful
/// for all data sizes as long as possible. However, an undesirable side-effect might be
/// the chocking of larger subpools by underdimensioned smaller subpools.
#[derive(Debug, Clone)]
/// if the next fitting subpool is full. This is useful to ensure the pool remains useful
/// for all data sizes as long as possible. However, an undesirable side-effect might be
/// the chocking of larger subpools by underdimensioned smaller subpools.
#[derive(Clone)]
pub struct StaticPoolConfig {
cfg: Vec<SubpoolConfig>,
spill_to_higher_subpools: bool,
@ -834,7 +881,6 @@ mod alloc_mod {
/// [address][PoolAddr] type. Adding any data to the pool will yield a store address.
/// Modification and read operations are done using a reference to a store address. Deletion
/// will consume the store address.
#[derive(Debug)]
pub struct StaticMemoryPool {
pool_cfg: StaticPoolConfig,
pool: Vec<Vec<u8>>,
@ -1593,11 +1639,9 @@ mod tests {
const SUBPOOL_1_BLOCK_SIZE: usize = 4;
const SUBPOOL_1_NUM_ELEMENTS: u16 = 4;
static SUBPOOL_1: static_cell::ConstStaticCell<
static SUBPOOL_1: UnsafeCellBufWrapper<
[u8; SUBPOOL_1_NUM_ELEMENTS as usize * SUBPOOL_1_BLOCK_SIZE],
> = static_cell::ConstStaticCell::new(
[0; SUBPOOL_1_NUM_ELEMENTS as usize * SUBPOOL_1_BLOCK_SIZE],
);
> = UnsafeCellBufWrapper::new([0; SUBPOOL_1_NUM_ELEMENTS as usize * SUBPOOL_1_BLOCK_SIZE]);
static SUBPOOL_1_SIZES: Mutex<UnsafeCell<[usize; SUBPOOL_1_NUM_ELEMENTS as usize]>> =
Mutex::new(UnsafeCell::new(
@ -1606,14 +1650,11 @@ mod tests {
const SUBPOOL_2_NUM_ELEMENTS: u16 = 2;
const SUBPOOL_2_BLOCK_SIZE: usize = 8;
static SUBPOOL_2: static_cell::ConstStaticCell<
static SUBPOOL_2: UnsafeCellBufWrapper<
[u8; SUBPOOL_2_NUM_ELEMENTS as usize * SUBPOOL_2_BLOCK_SIZE],
> = static_cell::ConstStaticCell::new(
[0; SUBPOOL_2_NUM_ELEMENTS as usize * SUBPOOL_2_BLOCK_SIZE],
);
static SUBPOOL_2_SIZES: static_cell::ConstStaticCell<
[usize; SUBPOOL_2_NUM_ELEMENTS as usize],
> = static_cell::ConstStaticCell::new([STORE_FREE; SUBPOOL_2_NUM_ELEMENTS as usize]);
> = UnsafeCellBufWrapper::new([0; SUBPOOL_2_NUM_ELEMENTS as usize * SUBPOOL_2_BLOCK_SIZE]);
static SUBPOOL_2_SIZES: UnsafeCellBufWrapper<[usize; SUBPOOL_2_NUM_ELEMENTS as usize]> =
UnsafeCellBufWrapper::new([STORE_FREE; SUBPOOL_2_NUM_ELEMENTS as usize]);
const SUBPOOL_3_NUM_ELEMENTS: u16 = 1;
const SUBPOOL_3_BLOCK_SIZE: usize = 16;
@ -1656,7 +1697,7 @@ mod tests {
StaticHeaplessMemoryPool::new(false);
assert!(heapless_pool
.grow(
SUBPOOL_1.take(),
SUBPOOL_1.get_mut().unwrap(),
unsafe { &mut *SUBPOOL_1_SIZES.lock().unwrap().get() },
SUBPOOL_1_NUM_ELEMENTS,
true
@ -1664,16 +1705,16 @@ mod tests {
.is_ok());
assert!(heapless_pool
.grow(
SUBPOOL_2.take(),
SUBPOOL_2_SIZES.take(),
SUBPOOL_2.get_mut().unwrap(),
SUBPOOL_2_SIZES.get_mut().unwrap(),
SUBPOOL_2_NUM_ELEMENTS,
true
)
.is_ok());
assert!(heapless_pool
.grow(
SUBPOOL_3.take(),
SUBPOOL_3_SIZES.take(),
SUBPOOL_3.get_mut().unwrap(),
SUBPOOL_3_SIZES.get_mut().unwrap(),
SUBPOOL_3_NUM_ELEMENTS,
true
)
@ -1795,16 +1836,16 @@ mod tests {
StaticHeaplessMemoryPool::new(true);
assert!(heapless_pool
.grow(
SUBPOOL_2.take(),
SUBPOOL_2_SIZES.take(),
SUBPOOL_2.get_mut().unwrap(),
SUBPOOL_2_SIZES.get_mut().unwrap(),
SUBPOOL_2_NUM_ELEMENTS,
true
)
.is_ok());
assert!(heapless_pool
.grow(
SUBPOOL_4.take(),
SUBPOOL_4_SIZES.take(),
SUBPOOL_4.get_mut().unwrap(),
SUBPOOL_4_SIZES.get_mut().unwrap(),
SUBPOOL_4_NUM_ELEMENTS,
true
)
@ -1818,16 +1859,16 @@ mod tests {
StaticHeaplessMemoryPool::new(true);
assert!(heapless_pool
.grow(
SUBPOOL_5.take(),
SUBPOOL_5_SIZES.take(),
SUBPOOL_5.get_mut().unwrap(),
SUBPOOL_5_SIZES.get_mut().unwrap(),
SUBPOOL_5_NUM_ELEMENTS,
true
)
.is_ok());
assert!(heapless_pool
.grow(
SUBPOOL_3.take(),
SUBPOOL_3_SIZES.take(),
SUBPOOL_3.get_mut().unwrap(),
SUBPOOL_3_SIZES.get_mut().unwrap(),
SUBPOOL_3_NUM_ELEMENTS,
true
)
@ -1841,24 +1882,24 @@ mod tests {
StaticHeaplessMemoryPool::new(true);
assert!(heapless_pool
.grow(
SUBPOOL_5.take(),
SUBPOOL_5_SIZES.take(),
SUBPOOL_5.get_mut().unwrap(),
SUBPOOL_5_SIZES.get_mut().unwrap(),
SUBPOOL_5_NUM_ELEMENTS,
true
)
.is_ok());
assert!(heapless_pool
.grow(
SUBPOOL_6.take(),
SUBPOOL_6_SIZES.take(),
SUBPOOL_6.get_mut().unwrap(),
SUBPOOL_6_SIZES.get_mut().unwrap(),
SUBPOOL_6_NUM_ELEMENTS,
true
)
.is_ok());
assert!(heapless_pool
.grow(
SUBPOOL_3.take(),
SUBPOOL_3_SIZES.take(),
SUBPOOL_3.get_mut().unwrap(),
SUBPOOL_3_SIZES.get_mut().unwrap(),
SUBPOOL_3_NUM_ELEMENTS,
true
)
@ -1872,24 +1913,24 @@ mod tests {
StaticHeaplessMemoryPool::new(true);
assert!(heapless_pool
.grow(
SUBPOOL_5.take(),
SUBPOOL_5_SIZES.take(),
SUBPOOL_5.get_mut().unwrap(),
SUBPOOL_5_SIZES.get_mut().unwrap(),
SUBPOOL_5_NUM_ELEMENTS,
true
)
.is_ok());
assert!(heapless_pool
.grow(
SUBPOOL_6.take(),
SUBPOOL_6_SIZES.take(),
SUBPOOL_6.get_mut().unwrap(),
SUBPOOL_6_SIZES.get_mut().unwrap(),
SUBPOOL_6_NUM_ELEMENTS,
true
)
.is_ok());
assert!(heapless_pool
.grow(
SUBPOOL_3.take(),
SUBPOOL_3_SIZES.take(),
SUBPOOL_3.get_mut().unwrap(),
SUBPOOL_3_SIZES.get_mut().unwrap(),
SUBPOOL_3_NUM_ELEMENTS,
true
)

10
satrs/src/pus/action.rs
View File

@ -66,7 +66,7 @@ impl GenericActionReplyPus {
pub mod alloc_mod {
use crate::{
action::ActionRequest,
queue::{GenericReceiveError, GenericSendError},
queue::GenericTargetedMessagingError,
request::{
GenericMessage, MessageReceiverProvider, MessageSenderAndReceiver,
MessageSenderProvider, MessageSenderStoreProvider, RequestId,
@ -88,7 +88,7 @@ pub mod alloc_mod {
{
pub fn try_recv_action_request(
&self,
) -> Result<Option<GenericMessage<ActionRequest>>, GenericReceiveError> {
) -> Result<Option<GenericMessage<ActionRequest>>, GenericTargetedMessagingError> {
self.try_recv_message()
}
@ -97,7 +97,7 @@ pub mod alloc_mod {
request_id: RequestId,
target_id: ComponentId,
reply: ActionReplyPus,
) -> Result<(), GenericSendError> {
) -> Result<(), GenericTargetedMessagingError> {
self.send_message(request_id, target_id, reply)
}
}
@ -121,7 +121,7 @@ pub mod alloc_mod {
{
pub fn try_recv_action_reply(
&self,
) -> Result<Option<GenericMessage<ActionReplyPus>>, GenericReceiveError> {
) -> Result<Option<GenericMessage<ActionReplyPus>>, GenericTargetedMessagingError> {
self.try_recv_message()
}
@ -130,7 +130,7 @@ pub mod alloc_mod {
request_id: RequestId,
target_id: ComponentId,
request: ActionRequest,
) -> Result<(), GenericSendError> {
) -> Result<(), GenericTargetedMessagingError> {
self.send_message(request_id, target_id, request)
}
}

4
satrs/src/pus/event_man.rs
View File

@ -409,7 +409,7 @@ mod tests {
assert!(res.event_was_enabled);
assert!(res.params_were_propagated);
let event_tm = event_rx.try_recv().expect("no event received");
let tm = PusTmReader::new(&event_tm.packet, 7).expect("reading TM failed");
let (tm, _) = PusTmReader::new(&event_tm.packet, 7).expect("reading TM failed");
assert_eq!(tm.service(), 5);
assert_eq!(tm.subservice(), Subservice::TmInfoReport as u8);
assert_eq!(tm.user_data().len(), 4 + param_data.len());
@ -437,7 +437,7 @@ mod tests {
assert!(res.event_was_enabled);
assert!(res.params_were_propagated);
let event_tm = event_rx.try_recv().expect("no event received");
let tm = PusTmReader::new(&event_tm.packet, 7).expect("reading TM failed");
let (tm, _) = PusTmReader::new(&event_tm.packet, 7).expect("reading TM failed");
assert_eq!(tm.service(), 5);
assert_eq!(tm.subservice(), Subservice::TmInfoReport as u8);
assert_eq!(tm.user_data().len(), 4 + param_data.len());

24
satrs/src/pus/event_srv.rs
View File

@ -9,14 +9,14 @@ use std::sync::mpsc::Sender;
use super::verification::VerificationReportingProvider;
use super::{
EcssTcInMemConversionProvider, EcssTcReceiver, EcssTmSender, GenericConversionError,
EcssTcInMemConverter, EcssTcReceiver, EcssTmSender, GenericConversionError,
GenericRoutingError, HandlingStatus, PusServiceHelper,
};
pub struct PusEventServiceHandler<
TcReceiver: EcssTcReceiver,
TmSender: EcssTmSender,
TcInMemConverter: EcssTcInMemConversionProvider,
TcInMemConverter: EcssTcInMemConverter,
VerificationReporter: VerificationReportingProvider,
> {
pub service_helper:
@ -27,7 +27,7 @@ pub struct PusEventServiceHandler<
impl<
TcReceiver: EcssTcReceiver,
TmSender: EcssTmSender,
TcInMemConverter: EcssTcInMemConversionProvider,
TcInMemConverter: EcssTcInMemConverter,
VerificationReporter: VerificationReportingProvider,
> PusEventServiceHandler<TcReceiver, TmSender, TcInMemConverter, VerificationReporter>
{
@ -170,7 +170,7 @@ mod tests {
event_man::EventRequestWithToken,
tests::PusServiceHandlerWithSharedStoreCommon,
verification::{TcStateAccepted, VerificationToken},
DirectPusPacketHandlerResult, EcssTcInSharedPoolConverter, PusPacketHandlingError,
DirectPusPacketHandlerResult, EcssTcInSharedStoreConverter, PusPacketHandlingError,
},
};
@ -183,7 +183,7 @@ mod tests {
handler: PusEventServiceHandler<
MpscTcReceiver,
PacketSenderWithSharedPool,
EcssTcInSharedPoolConverter,
EcssTcInSharedStoreConverter,
VerificationReporter,
>,
}
@ -199,12 +199,8 @@ mod tests {
}
impl PusTestHarness for Pus5HandlerWithStoreTester {
fn start_verification(&mut self, tc: &PusTcCreator) -> VerificationToken<TcStateAccepted> {
let init_token = self
.handler
.service_helper
.verif_reporter_mut()
.start_verification(tc);
fn init_verification(&mut self, tc: &PusTcCreator) -> VerificationToken<TcStateAccepted> {
let init_token = self.handler.service_helper.verif_reporter_mut().add_tc(tc);
self.handler
.service_helper
.verif_reporter()
@ -249,7 +245,7 @@ mod tests {
.write_to_be_bytes(&mut app_data)
.expect("writing test event failed");
let ping_tc = PusTcCreator::new(sp_header, sec_header, &app_data, true);
let token = test_harness.start_verification(&ping_tc);
let token = test_harness.init_verification(&ping_tc);
test_harness.send_tc(&token, &ping_tc);
let request_id = token.request_id();
test_harness.handle_one_tc().unwrap();
@ -310,7 +306,7 @@ mod tests {
let sp_header = SpHeader::new_for_unseg_tc(TEST_APID, 0, 0);
let sec_header = PusTcSecondaryHeader::new_simple(5, 200);
let ping_tc = PusTcCreator::new_no_app_data(sp_header, sec_header, true);
let token = test_harness.start_verification(&ping_tc);
let token = test_harness.init_verification(&ping_tc);
test_harness.send_tc(&token, &ping_tc);
let result = test_harness.handle_one_tc();
assert!(result.is_ok());
@ -330,7 +326,7 @@ mod tests {
let sec_header =
PusTcSecondaryHeader::new_simple(5, Subservice::TcEnableEventGeneration as u8);
let ping_tc = PusTcCreator::new(sp_header, sec_header, &[0, 1, 2], true);
let token = test_harness.start_verification(&ping_tc);
let token = test_harness.init_verification(&ping_tc);
test_harness.send_tc(&token, &ping_tc);
let result = test_harness.handle_one_tc();
assert!(result.is_err());

84
satrs/src/pus/mod.rs
View File

@ -947,7 +947,7 @@ pub mod std_mod {
}
}
pub trait EcssTcInMemConversionProvider {
pub trait EcssTcInMemConverter {
fn cache(&mut self, possible_packet: &TcInMemory) -> Result<(), PusTcFromMemError>;
fn tc_slice_raw(&self) -> &[u8];
@ -959,11 +959,15 @@ pub mod std_mod {
possible_packet: &TcInMemory,
) -> Result<PusTcReader<'_>, PusTcFromMemError> {
self.cache(possible_packet)?;
Ok(PusTcReader::new(self.tc_slice_raw()).map_err(EcssTmtcError::Pus)?)
Ok(PusTcReader::new(self.tc_slice_raw())
.map_err(EcssTmtcError::Pus)?
.0)
}
fn convert(&self) -> Result<PusTcReader<'_>, PusTcFromMemError> {
Ok(PusTcReader::new(self.tc_slice_raw()).map_err(EcssTmtcError::Pus)?)
Ok(PusTcReader::new(self.tc_slice_raw())
.map_err(EcssTmtcError::Pus)?
.0)
}
}
@ -976,7 +980,7 @@ pub mod std_mod {
pub pus_tc_raw: Option<Vec<u8>>,
}
impl EcssTcInMemConversionProvider for EcssTcInVecConverter {
impl EcssTcInMemConverter for EcssTcInVecConverter {
fn cache(&mut self, tc_in_memory: &TcInMemory) -> Result<(), PusTcFromMemError> {
self.pus_tc_raw = None;
match tc_in_memory {
@ -1007,25 +1011,24 @@ pub mod std_mod {
/// [SharedStaticMemoryPool] structure. This is useful if run-time allocation for these
/// packets should be avoided. Please note that this structure is not able to convert TCs which
/// are stored as a `Vec<u8>`.
#[derive(Clone)]
pub struct EcssTcInSharedPoolConverter {
pub struct EcssTcInSharedStoreConverter {
sender_id: Option<ComponentId>,
shared_tc_pool: SharedStaticMemoryPool,
shared_tc_store: SharedStaticMemoryPool,
pus_buf: Vec<u8>,
}
impl EcssTcInSharedPoolConverter {
impl EcssTcInSharedStoreConverter {
pub fn new(shared_tc_store: SharedStaticMemoryPool, max_expected_tc_size: usize) -> Self {
Self {
sender_id: None,
shared_tc_pool: shared_tc_store,
shared_tc_store,
pus_buf: alloc::vec![0; max_expected_tc_size],
}
}
pub fn copy_tc_to_buf(&mut self, addr: PoolAddr) -> Result<(), PusTcFromMemError> {
// Keep locked section as short as possible.
let mut tc_pool = self.shared_tc_pool.write().map_err(|_| {
let mut tc_pool = self.shared_tc_store.write().map_err(|_| {
PusTcFromMemError::EcssTmtc(EcssTmtcError::Store(PoolError::LockError))
})?;
let tc_size = tc_pool.len_of_data(&addr).map_err(EcssTmtcError::Store)?;
@ -1045,7 +1048,7 @@ pub mod std_mod {
}
}
impl EcssTcInMemConversionProvider for EcssTcInSharedPoolConverter {
impl EcssTcInMemConverter for EcssTcInSharedStoreConverter {
fn cache(&mut self, tc_in_memory: &TcInMemory) -> Result<(), PusTcFromMemError> {
match tc_in_memory {
super::TcInMemory::Pool(packet_in_pool) => {
@ -1068,44 +1071,6 @@ pub mod std_mod {
}
}
// TODO: alloc feature flag?
#[derive(Clone)]
pub enum EcssTcInMemConverter {
Static(EcssTcInSharedPoolConverter),
Heap(EcssTcInVecConverter),
}
impl EcssTcInMemConverter {
pub fn new_static(static_store_converter: EcssTcInSharedPoolConverter) -> Self {
EcssTcInMemConverter::Static(static_store_converter)
}
pub fn new_heap(heap_converter: EcssTcInVecConverter) -> Self {
EcssTcInMemConverter::Heap(heap_converter)
}
}
impl EcssTcInMemConversionProvider for EcssTcInMemConverter {
fn cache(&mut self, tc_in_memory: &TcInMemory) -> Result<(), PusTcFromMemError> {
match self {
EcssTcInMemConverter::Static(converter) => converter.cache(tc_in_memory),
EcssTcInMemConverter::Heap(converter) => converter.cache(tc_in_memory),
}
}
fn tc_slice_raw(&self) -> &[u8] {
match self {
EcssTcInMemConverter::Static(converter) => converter.tc_slice_raw(),
EcssTcInMemConverter::Heap(converter) => converter.tc_slice_raw(),
}
}
fn sender_id(&self) -> Option<ComponentId> {
match self {
EcssTcInMemConverter::Static(converter) => converter.sender_id(),
EcssTcInMemConverter::Heap(converter) => converter.sender_id(),
}
}
}
pub struct PusServiceBase<
TcReceiver: EcssTcReceiver,
TmSender: EcssTmSender,
@ -1129,7 +1094,7 @@ pub mod std_mod {
pub struct PusServiceHelper<
TcReceiver: EcssTcReceiver,
TmSender: EcssTmSender,
TcInMemConverter: EcssTcInMemConversionProvider,
TcInMemConverter: EcssTcInMemConverter,
VerificationReporter: VerificationReportingProvider,
> {
pub common: PusServiceBase<TcReceiver, TmSender, VerificationReporter>,
@ -1139,7 +1104,7 @@ pub mod std_mod {
impl<
TcReceiver: EcssTcReceiver,
TmSender: EcssTmSender,
TcInMemConverter: EcssTcInMemConversionProvider,
TcInMemConverter: EcssTcInMemConverter,
VerificationReporter: VerificationReportingProvider,
> PusServiceHelper<TcReceiver, TmSender, TcInMemConverter, VerificationReporter>
{
@ -1275,7 +1240,7 @@ pub mod test_util {
UniqueApidTargetId::new(TEST_APID, TEST_UNIQUE_ID_1);
pub trait PusTestHarness {
fn start_verification(&mut self, tc: &PusTcCreator) -> VerificationToken<TcStateAccepted>;
fn init_verification(&mut self, tc: &PusTcCreator) -> VerificationToken<TcStateAccepted>;
fn send_tc(&self, token: &VerificationToken<TcStateAccepted>, tc: &PusTcCreator);
fn read_next_tm(&mut self) -> PusTmReader<'_>;
fn check_no_tm_available(&self) -> bool;
@ -1382,7 +1347,7 @@ pub mod tests {
pub type PusServiceHelperStatic = PusServiceHelper<
MpscTcReceiver,
PacketSenderWithSharedPool,
EcssTcInSharedPoolConverter,
EcssTcInSharedStoreConverter,
VerificationReporter,
>;
@ -1409,7 +1374,8 @@ pub mod tests {
VerificationReporter::new(TEST_COMPONENT_ID_0.id(), &verif_cfg);
let test_srv_tm_sender =
PacketSenderWithSharedPool::new(tm_tx, shared_tm_pool_wrapper.clone());
let in_store_converter = EcssTcInSharedPoolConverter::new(shared_tc_pool.clone(), 2048);
let in_store_converter =
EcssTcInSharedStoreConverter::new(shared_tc_pool.clone(), 2048);
(
Self {
pus_buf: RefCell::new([0; 2048]),
@ -1455,7 +1421,7 @@ pub mod tests {
let tm_pool = self.tm_pool.0.read().unwrap();
let tm_raw = tm_pool.read_as_vec(&tm_in_pool.store_addr).unwrap();
self.tm_buf[0..tm_raw.len()].copy_from_slice(&tm_raw);
PusTmReader::new(&self.tm_buf, 7).unwrap()
PusTmReader::new(&self.tm_buf, 7).unwrap().0
}
pub fn check_no_tm_available(&self) -> bool {
@ -1472,7 +1438,7 @@ pub mod tests {
let tm_in_pool = next_msg.unwrap();
let tm_pool = self.tm_pool.0.read().unwrap();
let tm_raw = tm_pool.read_as_vec(&tm_in_pool.store_addr).unwrap();
let tm = PusTmReader::new(&tm_raw, 7).unwrap();
let tm = PusTmReader::new(&tm_raw, 7).unwrap().0;
assert_eq!(PusPacket::service(&tm), 1);
assert_eq!(PusPacket::subservice(&tm), subservice);
assert_eq!(tm.apid(), TEST_APID);
@ -1580,7 +1546,9 @@ pub mod tests {
let next_msg = self.tm_receiver.try_recv();
assert!(next_msg.is_ok());
self.current_tm = Some(next_msg.unwrap().packet);
PusTmReader::new(self.current_tm.as_ref().unwrap(), 7).unwrap()
PusTmReader::new(self.current_tm.as_ref().unwrap(), 7)
.unwrap()
.0
}
pub fn check_no_tm_available(&self) -> bool {
@ -1595,7 +1563,7 @@ pub mod tests {
let next_msg = self.tm_receiver.try_recv();
assert!(next_msg.is_ok());
let next_msg = next_msg.unwrap();
let tm = PusTmReader::new(next_msg.packet.as_slice(), 7).unwrap();
let tm = PusTmReader::new(next_msg.packet.as_slice(), 7).unwrap().0;
assert_eq!(PusPacket::service(&tm), 1);
assert_eq!(PusPacket::subservice(&tm), subservice);
assert_eq!(tm.apid(), TEST_APID);

38
satrs/src/pus/scheduler.rs
View File

@ -292,10 +292,10 @@ pub trait PusSchedulerProvider {
pool: &mut (impl PoolProvider + ?Sized),
) -> Result<TcInfo, ScheduleError> {
let check_tc = PusTcReader::new(tc)?;
if PusPacket::service(&check_tc) == 11 && PusPacket::subservice(&check_tc) == 4 {
if PusPacket::service(&check_tc.0) == 11 && PusPacket::subservice(&check_tc.0) == 4 {
return Err(ScheduleError::NestedScheduledTc);
}
let req_id = RequestId::from_tc(&check_tc);
let req_id = RequestId::from_tc(&check_tc.0);
match pool.add(tc) {
Ok(addr) => {
@ -411,10 +411,10 @@ pub mod alloc_mod {
///
/// * `init_current_time` - The time to initialize the scheduler with.
/// * `time_margin` - This time margin is used when inserting new telecommands into the
/// schedule. If the release time of a new telecommand is earlier than the time margin
/// added to the current time, it will not be inserted into the schedule.
/// schedule. If the release time of a new telecommand is earlier than the time margin
/// added to the current time, it will not be inserted into the schedule.
/// * `tc_buf_size` - Buffer for temporary storage of telecommand packets. This buffer
/// should be large enough to accomodate the largest expected TC packets.
/// should be large enough to accomodate the largest expected TC packets.
pub fn new(init_current_time: UnixTime, time_margin: Duration) -> Self {
PusScheduler {
tc_map: Default::default(),
@ -480,10 +480,10 @@ pub mod alloc_mod {
pool: &mut (impl PoolProvider + ?Sized),
) -> Result<TcInfo, ScheduleError> {
let check_tc = PusTcReader::new(tc)?;
if PusPacket::service(&check_tc) == 11 && PusPacket::subservice(&check_tc) == 4 {
if PusPacket::service(&check_tc.0) == 11 && PusPacket::subservice(&check_tc.0) == 4 {
return Err(ScheduleError::NestedScheduledTc);
}
let req_id = RequestId::from_tc(&check_tc);
let req_id = RequestId::from_tc(&check_tc.0);
match pool.add(tc) {
Ok(addr) => {
@ -683,10 +683,10 @@ pub mod alloc_mod {
/// # Arguments
///
/// * `releaser` - Closure where the first argument is whether the scheduler is enabled and
/// the second argument is the telecommand information also containing the store
/// address. This closure should return whether the command should be deleted. Please
/// note that returning false might lead to memory leaks if the TC is not cleared from
/// the store in some other way.
/// the second argument is the telecommand information also containing the store
/// address. This closure should return whether the command should be deleted. Please
/// note that returning false might lead to memory leaks if the TC is not cleared from
/// the store in some other way.
/// * `tc_store` - The holding store of the telecommands.
/// * `tc_buf` - Buffer to hold each telecommand being released.
pub fn release_telecommands_with_buffer<R: FnMut(bool, &TcInfo, &[u8]) -> bool>(
@ -1313,7 +1313,7 @@ mod tests {
let mut read_buf: [u8; 64] = [0; 64];
pool.read(&tc_info_0.addr(), &mut read_buf).unwrap();
let check_tc = PusTcReader::new(&read_buf).expect("incorrect Pus tc raw data");
assert_eq!(check_tc, base_ping_tc_simple_ctor(0, &[]));
assert_eq!(check_tc.0, base_ping_tc_simple_ctor(0, &[]));
assert_eq!(scheduler.num_scheduled_telecommands(), 1);
@ -1335,8 +1335,8 @@ mod tests {
let read_len = pool.read(&addr_vec[0], &mut read_buf).unwrap();
let check_tc = PusTcReader::new(&read_buf).expect("incorrect Pus tc raw data");
assert_eq!(read_len, check_tc.total_len());
assert_eq!(check_tc, base_ping_tc_simple_ctor(0, &[]));
assert_eq!(read_len, check_tc.1);
assert_eq!(check_tc.0, base_ping_tc_simple_ctor(0, &[]));
}
#[test]
@ -1362,8 +1362,8 @@ mod tests {
let read_len = pool.read(&info.addr, &mut buf).unwrap();
let check_tc = PusTcReader::new(&buf).expect("incorrect Pus tc raw data");
assert_eq!(read_len, check_tc.total_len());
assert_eq!(check_tc, base_ping_tc_simple_ctor(0, &[]));
assert_eq!(read_len, check_tc.1);
assert_eq!(check_tc.0, base_ping_tc_simple_ctor(0, &[]));
assert_eq!(scheduler.num_scheduled_telecommands(), 1);
@ -1387,8 +1387,8 @@ mod tests {
let read_len = pool.read(&addr_vec[0], &mut buf).unwrap();
let check_tc = PusTcReader::new(&buf).expect("incorrect PUS tc raw data");
assert_eq!(read_len, check_tc.total_len());
assert_eq!(check_tc, base_ping_tc_simple_ctor(0, &[]));
assert_eq!(read_len, check_tc.1);
assert_eq!(check_tc.0, base_ping_tc_simple_ctor(0, &[]));
}
#[test]
@ -2031,7 +2031,7 @@ mod tests {
assert_eq!(n, 1);
let time_reader = cds::CdsTime::from_bytes_with_u16_days(&buf[2..2 + 7]).unwrap();
assert_eq!(time_reader, time_writer);
let pus_tc_reader = PusTcReader::new(&buf[9..]).unwrap();
let pus_tc_reader = PusTcReader::new(&buf[9..]).unwrap().0;
assert_eq!(pus_tc_reader, ping_tc);
}

26
satrs/src/pus/scheduler_srv.rs
View File

@ -1,7 +1,7 @@
use super::scheduler::PusSchedulerProvider;
use super::verification::{VerificationReporter, VerificationReportingProvider};
use super::{
DirectPusPacketHandlerResult, EcssTcInMemConversionProvider, EcssTcInSharedPoolConverter,
DirectPusPacketHandlerResult, EcssTcInMemConverter, EcssTcInSharedStoreConverter,
EcssTcInVecConverter, EcssTcReceiver, EcssTmSender, HandlingStatus, MpscTcReceiver,
PartialPusHandlingError, PusServiceHelper,
};
@ -24,7 +24,7 @@ use std::sync::mpsc;
pub struct PusSchedServiceHandler<
TcReceiver: EcssTcReceiver,
TmSender: EcssTmSender,
TcInMemConverter: EcssTcInMemConversionProvider,
TcInMemConverter: EcssTcInMemConverter,
VerificationReporter: VerificationReportingProvider,
PusScheduler: PusSchedulerProvider,
> {
@ -36,7 +36,7 @@ pub struct PusSchedServiceHandler<
impl<
TcReceiver: EcssTcReceiver,
TmSender: EcssTmSender,
TcInMemConverter: EcssTcInMemConversionProvider,
TcInMemConverter: EcssTcInMemConverter,
VerificationReporter: VerificationReportingProvider,
Scheduler: PusSchedulerProvider,
>
@ -229,7 +229,7 @@ pub type PusService11SchedHandlerDynWithBoundedMpsc<PusScheduler> = PusSchedServ
pub type PusService11SchedHandlerStaticWithMpsc<PusScheduler> = PusSchedServiceHandler<
MpscTcReceiver,
PacketSenderWithSharedPool,
EcssTcInSharedPoolConverter,
EcssTcInSharedStoreConverter,
VerificationReporter,
PusScheduler,
>;
@ -238,7 +238,7 @@ pub type PusService11SchedHandlerStaticWithMpsc<PusScheduler> = PusSchedServiceH
pub type PusService11SchedHandlerStaticWithBoundedMpsc<PusScheduler> = PusSchedServiceHandler<
MpscTcReceiver,
PacketSenderWithSharedPool,
EcssTcInSharedPoolConverter,
EcssTcInSharedStoreConverter,
VerificationReporter,
PusScheduler,
>;
@ -253,7 +253,7 @@ mod tests {
scheduler::{self, PusSchedulerProvider, TcInfo},
tests::PusServiceHandlerWithSharedStoreCommon,
verification::{RequestId, TcStateAccepted, VerificationToken},
EcssTcInSharedPoolConverter,
EcssTcInSharedStoreConverter,
};
use crate::pus::{DirectPusPacketHandlerResult, MpscTcReceiver, PusPacketHandlingError};
use crate::tmtc::PacketSenderWithSharedPool;
@ -276,7 +276,7 @@ mod tests {
handler: PusSchedServiceHandler<
MpscTcReceiver,
PacketSenderWithSharedPool,
EcssTcInSharedPoolConverter,
EcssTcInSharedStoreConverter,
VerificationReporter,
TestScheduler,
>,
@ -309,12 +309,8 @@ mod tests {
}
impl PusTestHarness for Pus11HandlerWithStoreTester {
fn start_verification(&mut self, tc: &PusTcCreator) -> VerificationToken<TcStateAccepted> {
let init_token = self
.handler
.service_helper
.verif_reporter_mut()
.start_verification(tc);
fn init_verification(&mut self, tc: &PusTcCreator) -> VerificationToken<TcStateAccepted> {
let init_token = self.handler.service_helper.verif_reporter_mut().add_tc(tc);
self.handler
.service_helper
.verif_reporter()
@ -387,7 +383,7 @@ mod tests {
let reply_header = SpHeader::new_for_unseg_tm(TEST_APID, 0, 0);
let tc_header = PusTcSecondaryHeader::new_simple(11, subservice as u8);
let enable_scheduling = PusTcCreator::new(reply_header, tc_header, &[0; 7], true);
let token = test_harness.start_verification(&enable_scheduling);
let token = test_harness.init_verification(&enable_scheduling);
test_harness.send_tc(&token, &enable_scheduling);
let request_id = token.request_id();
@ -449,7 +445,7 @@ mod tests {
&sched_app_data[..written_len],
true,
);
let token = test_harness.start_verification(&enable_scheduling);
let token = test_harness.init_verification(&enable_scheduling);
test_harness.send_tc(&token, &enable_scheduling);
let request_id = token.request_id();

37
satrs/src/pus/test.rs
View File

@ -9,9 +9,8 @@ use std::sync::mpsc;
use super::verification::{VerificationReporter, VerificationReportingProvider};
use super::{
EcssTcInMemConversionProvider, EcssTcInSharedPoolConverter, EcssTcInVecConverter,
EcssTcReceiver, EcssTmSender, GenericConversionError, HandlingStatus, MpscTcReceiver,
PusServiceHelper,
EcssTcInMemConverter, EcssTcInSharedStoreConverter, EcssTcInVecConverter, EcssTcReceiver,
EcssTmSender, GenericConversionError, HandlingStatus, MpscTcReceiver, PusServiceHelper,
};
/// This is a helper class for [std] environments to handle generic PUS 17 (test service) packets.
@ -19,7 +18,7 @@ use super::{
pub struct PusService17TestHandler<
TcReceiver: EcssTcReceiver,
TmSender: EcssTmSender,
TcInMemConverter: EcssTcInMemConversionProvider,
TcInMemConverter: EcssTcInMemConverter,
VerificationReporter: VerificationReportingProvider,
> {
pub service_helper:
@ -29,7 +28,7 @@ pub struct PusService17TestHandler<
impl<
TcReceiver: EcssTcReceiver,
TmSender: EcssTmSender,
TcInMemConverter: EcssTcInMemConversionProvider,
TcInMemConverter: EcssTcInMemConverter,
VerificationReporter: VerificationReportingProvider,
> PusService17TestHandler<TcReceiver, TmSender, TcInMemConverter, VerificationReporter>
{
@ -128,7 +127,7 @@ pub type PusService17TestHandlerDynWithBoundedMpsc = PusService17TestHandler<
pub type PusService17TestHandlerStaticWithBoundedMpsc = PusService17TestHandler<
MpscTcReceiver,
PacketSenderWithSharedPool,
EcssTcInSharedPoolConverter,
EcssTcInSharedStoreConverter,
VerificationReporter,
>;
@ -143,7 +142,7 @@ mod tests {
};
use crate::pus::verification::{TcStateAccepted, VerificationToken};
use crate::pus::{
DirectPusPacketHandlerResult, EcssTcInSharedPoolConverter, EcssTcInVecConverter,
DirectPusPacketHandlerResult, EcssTcInSharedStoreConverter, EcssTcInVecConverter,
GenericConversionError, HandlingStatus, MpscTcReceiver, MpscTmAsVecSender,
PartialPusHandlingError, PusPacketHandlingError,
};
@ -163,7 +162,7 @@ mod tests {
handler: PusService17TestHandler<
MpscTcReceiver,
PacketSenderWithSharedPool,
EcssTcInSharedPoolConverter,
EcssTcInSharedStoreConverter,
VerificationReporter,
>,
}
@ -180,12 +179,8 @@ mod tests {
}
impl PusTestHarness for Pus17HandlerWithStoreTester {
fn start_verification(&mut self, tc: &PusTcCreator) -> VerificationToken<TcStateAccepted> {
let init_token = self
.handler
.service_helper
.verif_reporter_mut()
.start_verification(tc);
fn init_verification(&mut self, tc: &PusTcCreator) -> VerificationToken<TcStateAccepted> {
let init_token = self.handler.service_helper.verif_reporter_mut().add_tc(tc);
self.handler
.service_helper
.verif_reporter()
@ -242,12 +237,8 @@ mod tests {
}
impl PusTestHarness for Pus17HandlerWithVecTester {
fn start_verification(&mut self, tc: &PusTcCreator) -> VerificationToken<TcStateAccepted> {
let init_token = self
.handler
.service_helper
.verif_reporter_mut()
.start_verification(tc);
fn init_verification(&mut self, tc: &PusTcCreator) -> VerificationToken<TcStateAccepted> {
let init_token = self.handler.service_helper.verif_reporter_mut().add_tc(tc);
self.handler
.service_helper
.verif_reporter()
@ -287,7 +278,7 @@ mod tests {
let sp_header = SpHeader::new_for_unseg_tc(TEST_APID, 0, 0);
let sec_header = PusTcSecondaryHeader::new_simple(17, 1);
let ping_tc = PusTcCreator::new_no_app_data(sp_header, sec_header, true);
let token = test_harness.start_verification(&ping_tc);
let token = test_harness.init_verification(&ping_tc);
test_harness.send_tc(&token, &ping_tc);
let request_id = token.request_id();
let result = test_harness.handle_one_tc();
@ -342,7 +333,7 @@ mod tests {
let sp_header = SpHeader::new_for_unseg_tc(TEST_APID, 0, 0);
let sec_header = PusTcSecondaryHeader::new_simple(3, 1);
let ping_tc = PusTcCreator::new_no_app_data(sp_header, sec_header, true);
let token = test_harness.start_verification(&ping_tc);
let token = test_harness.init_verification(&ping_tc);
test_harness.send_tc(&token, &ping_tc);
let result = test_harness.handle_one_tc();
assert!(result.is_err());
@ -363,7 +354,7 @@ mod tests {
let sp_header = SpHeader::new_for_unseg_tc(TEST_APID, 0, 0);
let sec_header = PusTcSecondaryHeader::new_simple(17, 200);
let ping_tc = PusTcCreator::new_no_app_data(sp_header, sec_header, true);
let token = test_harness.start_verification(&ping_tc);
let token = test_harness.init_verification(&ping_tc);
test_harness.send_tc(&token, &ping_tc);
let result = test_harness.handle_one_tc();
assert!(result.is_ok());

236
satrs/src/pus/verification.rs
View File

@ -47,7 +47,7 @@
//! tc_header,
//! true
//! );
//! let init_token = reporter.start_verification(&pus_tc_0);
//! let init_token = reporter.add_tc(&pus_tc_0);
//!
//! // Complete success sequence for a telecommand
//! let accepted_token = reporter.acceptance_success(&sender, init_token, &EMPTY_STAMP).unwrap();
@ -65,7 +65,8 @@
//! let store_guard = rg.read_with_guard(tm_in_store.store_addr);
//! tm_len = store_guard.read(&mut tm_buf).expect("Error reading TM slice");
//! }
//! let pus_tm = PusTmReader::new(&tm_buf[0..tm_len], 7).expect("Error reading verification TM");
//! let (pus_tm, _) = PusTmReader::new(&tm_buf[0..tm_len], 7)
//! .expect("Error reading verification TM");
//! if packet_idx == 0 {
//! assert_eq!(pus_tm.subservice(), 1);
//! } else if packet_idx == 1 {
@ -227,7 +228,7 @@ pub struct VerificationToken<STATE> {
}
impl<STATE> VerificationToken<STATE> {
pub fn new(req_id: RequestId) -> VerificationToken<TcStateNone> {
fn new(req_id: RequestId) -> VerificationToken<TcStateNone> {
VerificationToken {
state: PhantomData,
request_id: req_id,
@ -407,10 +408,14 @@ pub trait VerificationReportingProvider {
fn set_apid(&mut self, apid: Apid);
fn apid(&self) -> Apid;
fn start_verification(
&self,
fn add_tc(
&mut self,
pus_tc: &(impl CcsdsPacket + IsPusTelecommand),
) -> VerificationToken<TcStateNone>;
) -> VerificationToken<TcStateNone> {
self.add_tc_with_req_id(RequestId::new(pus_tc))
}
fn add_tc_with_req_id(&mut self, req_id: RequestId) -> VerificationToken<TcStateNone>;
fn acceptance_success(
&self,
@ -477,7 +482,7 @@ pub trait VerificationReportingProvider {
/// the buffer passed to the API exposes by this struct will be used to serialize the source data.
/// This buffer may not be re-used to serialize the whole telemetry because that would overwrite
/// the source data itself.
#[derive(Debug, Clone)]
#[derive(Clone)]
pub struct VerificationReportCreator {
pub dest_id: u16,
apid: u16,
@ -513,15 +518,24 @@ impl VerificationReportCreator {
/// Initialize verification handling by passing a TC reference. This returns a token required
/// to call the acceptance functions
pub fn read_request_id_from_tc(pus_tc: &(impl CcsdsPacket + IsPusTelecommand)) -> RequestId {
RequestId::new(pus_tc)
pub fn add_tc(
&mut self,
pus_tc: &(impl CcsdsPacket + IsPusTelecommand),
) -> VerificationToken<TcStateNone> {
self.add_tc_with_req_id(RequestId::new(pus_tc))
}
fn success_verification_no_step<'time, 'src_data>(
/// Same as [Self::add_tc] but pass a request ID instead of the direct telecommand.
/// This can be useful if the executing thread does not have full access to the telecommand.
pub fn add_tc_with_req_id(&mut self, req_id: RequestId) -> VerificationToken<TcStateNone> {
VerificationToken::<TcStateNone>::new(req_id)
}
fn success_verification_no_step<'time, 'src_data, State: Copy>(
&self,
src_data_buf: &'src_data mut [u8],
subservice: u8,
request_id: &RequestId,
token: VerificationToken<State>,
seq_count: u16,
msg_count: u16,
time_stamp: &'time [u8],
@ -531,7 +545,7 @@ impl VerificationReportCreator {
subservice,
seq_count,
msg_count,
request_id,
&token.request_id(),
time_stamp,
None::<&dyn EcssEnumeration>,
)?;
@ -540,11 +554,11 @@ impl VerificationReportCreator {
// Internal helper function, too many arguments is acceptable for this case.
#[allow(clippy::too_many_arguments)]
fn failure_verification_no_step<'time, 'src_data>(
fn failure_verification_no_step<'time, 'src_data, State: Copy>(
&self,
src_data_buf: &'src_data mut [u8],
subservice: u8,
request_id: &RequestId,
token: VerificationToken<State>,
seq_count: u16,
msg_count: u16,
step: Option<&(impl EcssEnumeration + ?Sized)>,
@ -555,7 +569,7 @@ impl VerificationReportCreator {
subservice,
seq_count,
msg_count,
request_id,
&token.request_id(),
step,
params,
)?;
@ -566,27 +580,39 @@ impl VerificationReportCreator {
pub fn acceptance_success<'time, 'src_data>(
&self,
src_data_buf: &'src_data mut [u8],
request_id: &RequestId,
token: VerificationToken<TcStateNone>,
seq_count: u16,
msg_count: u16,
time_stamp: &'time [u8],
) -> Result<PusTmCreator<'time, 'src_data>, ByteConversionError> {
) -> Result<
(
PusTmCreator<'time, 'src_data>,
VerificationToken<TcStateAccepted>,
),
ByteConversionError,
> {
let tm_creator = self.success_verification_no_step(
src_data_buf,
Subservice::TmAcceptanceSuccess.into(),
request_id,
token,
seq_count,
msg_count,
time_stamp,
)?;
Ok(tm_creator)
Ok((
tm_creator,
VerificationToken {
state: PhantomData,
request_id: token.request_id(),
},
))
}
/// Package a PUS TM\[1, 2\] packet, see 8.1.2.2 of the PUS standard.
pub fn acceptance_failure<'time, 'src_data>(
&self,
src_data_buf: &'src_data mut [u8],
request_id: &RequestId,
token: VerificationToken<TcStateNone>,
seq_count: u16,
msg_count: u16,
params: FailParams<'time, '_>,
@ -594,7 +620,7 @@ impl VerificationReportCreator {
self.failure_verification_no_step(
src_data_buf,
Subservice::TmAcceptanceFailure.into(),
request_id,
token,
seq_count,
msg_count,
None::<&dyn EcssEnumeration>,
@ -608,20 +634,32 @@ impl VerificationReportCreator {
pub fn start_success<'time, 'src_data>(
&self,
src_data_buf: &'src_data mut [u8],
request_id: &RequestId,
token: VerificationToken<TcStateAccepted>,
seq_count: u16,
msg_count: u16,
time_stamp: &'time [u8],
) -> Result<PusTmCreator<'time, 'src_data>, ByteConversionError> {
) -> Result<
(
PusTmCreator<'time, 'src_data>,
VerificationToken<TcStateStarted>,
),
ByteConversionError,
> {
let tm_creator = self.success_verification_no_step(
src_data_buf,
Subservice::TmStartSuccess.into(),
request_id,
token,
seq_count,
msg_count,
time_stamp,
)?;
Ok(tm_creator)
Ok((
tm_creator,
VerificationToken {
state: PhantomData,
request_id: token.request_id(),
},
))
}
/// Package and send a PUS TM\[1, 4\] packet, see 8.1.2.4 of the PUS standard.
@ -631,7 +669,7 @@ impl VerificationReportCreator {
pub fn start_failure<'time, 'src_data>(
&self,
src_data_buf: &'src_data mut [u8],
request_id: &RequestId,
token: VerificationToken<TcStateAccepted>,
seq_count: u16,
msg_count: u16,
params: FailParams<'time, '_>,
@ -639,7 +677,7 @@ impl VerificationReportCreator {
self.failure_verification_no_step(
src_data_buf,
Subservice::TmStartFailure.into(),
request_id,
token,
seq_count,
msg_count,
None::<&dyn EcssEnumeration>,
@ -653,7 +691,7 @@ impl VerificationReportCreator {
pub fn step_success<'time, 'src_data>(
&self,
src_data_buf: &'src_data mut [u8],
request_id: &RequestId,
token: &VerificationToken<TcStateStarted>,
seq_count: u16,
msg_count: u16,
time_stamp: &'time [u8],
@ -664,7 +702,7 @@ impl VerificationReportCreator {
Subservice::TmStepSuccess.into(),
seq_count,
msg_count,
request_id,
&token.request_id(),
time_stamp,
Some(&step),
)
@ -697,10 +735,10 @@ impl VerificationReportCreator {
///
/// Requires a token previously acquired by calling [Self::start_success]. It consumes the
/// token because verification handling is done.
pub fn completion_success<'time, 'src_data>(
pub fn completion_success<'time, 'src_data, TcState: WasAtLeastAccepted + Copy>(
&self,
src_data_buf: &'src_data mut [u8],
request_id: &RequestId,
token: VerificationToken<TcState>,
seq_counter: u16,
msg_counter: u16,
time_stamp: &'time [u8],
@ -708,7 +746,7 @@ impl VerificationReportCreator {
self.success_verification_no_step(
src_data_buf,
Subservice::TmCompletionSuccess.into(),
request_id,
token,
seq_counter,
msg_counter,
time_stamp,
@ -719,10 +757,10 @@ impl VerificationReportCreator {
///
/// Requires a token previously acquired by calling [Self::start_success]. It consumes the
/// token because verification handling is done.
pub fn completion_failure<'time, 'src_data>(
pub fn completion_failure<'time, 'src_data, TcState: WasAtLeastAccepted + Copy>(
&self,
src_data_buf: &'src_data mut [u8],
request_id: &RequestId,
token: VerificationToken<TcState>,
seq_count: u16,
msg_count: u16,
params: FailParams<'time, '_>,
@ -730,7 +768,7 @@ impl VerificationReportCreator {
self.failure_verification_no_step(
src_data_buf,
Subservice::TmCompletionFailure.into(),
request_id,
token,
seq_count,
msg_count,
None::<&dyn EcssEnumeration>,
@ -948,26 +986,12 @@ pub mod alloc_mod {
}
}
pub fn start_verification(
&self,
pus_tc: &(impl CcsdsPacket + IsPusTelecommand),
) -> VerificationToken<TcStateNone> {
VerificationToken::<TcStateNone>::new(
VerificationReportCreator::read_request_id_from_tc(pus_tc),
)
}
pub fn start_verification_with_req_id(
&self,
request_id: RequestId,
) -> VerificationToken<TcStateNone> {
VerificationToken::<TcStateNone>::new(request_id)
}
delegate!(
to self.reporter_creator {
pub fn set_apid(&mut self, apid: u16) -> bool;
pub fn apid(&self) -> u16;
pub fn add_tc(&mut self, pus_tc: &(impl CcsdsPacket + IsPusTelecommand)) -> VerificationToken<TcStateNone>;
pub fn add_tc_with_req_id(&mut self, req_id: RequestId) -> VerificationToken<TcStateNone>;
pub fn dest_id(&self) -> u16;
pub fn set_dest_id(&mut self, dest_id: u16);
}
@ -985,16 +1009,11 @@ pub mod alloc_mod {
to self.reporter_creator {
fn set_apid(&mut self, apid: Apid);
fn apid(&self) -> Apid;
fn add_tc(&mut self, pus_tc: &(impl CcsdsPacket + IsPusTelecommand)) -> VerificationToken<TcStateNone>;
fn add_tc_with_req_id(&mut self, req_id: RequestId) -> VerificationToken<TcStateNone>;
}
);
fn start_verification(
&self,
pus_tc: &(impl CcsdsPacket + IsPusTelecommand),
) -> VerificationToken<TcStateNone> {
VerificationToken::<TcStateNone>::new(RequestId::new(pus_tc))
}
fn owner_id(&self) -> ComponentId {
self.owner_id
}
@ -1007,19 +1026,13 @@ pub mod alloc_mod {
time_stamp: &[u8],
) -> Result<VerificationToken<TcStateAccepted>, EcssTmtcError> {
let mut source_data_buf = self.source_data_buf.borrow_mut();
let mut tm_creator = self
let (mut tm_creator, token) = self
.reporter_creator
.acceptance_success(
source_data_buf.as_mut_slice(),
&token.request_id(),
0,
0,
time_stamp,
)
.acceptance_success(source_data_buf.as_mut_slice(), token, 0, 0, time_stamp)
.map_err(PusError::ByteConversion)?;
self.tm_hook.modify_tm(&mut tm_creator);
sender.send_tm(self.owner_id(), PusTmVariant::Direct(tm_creator))?;
Ok(VerificationToken::new_accepted_state(token.request_id()))
Ok(token)
}
/// Package and send a PUS TM\[1, 2\] packet, see 8.1.2.2 of the PUS standard
@ -1032,7 +1045,7 @@ pub mod alloc_mod {
let mut buf = self.source_data_buf.borrow_mut();
let mut tm_creator = self
.reporter_creator
.acceptance_failure(buf.as_mut_slice(), &token.request_id(), 0, 0, params)
.acceptance_failure(buf.as_mut_slice(), token, 0, 0, params)
.map_err(PusError::ByteConversion)?;
self.tm_hook.modify_tm(&mut tm_creator);
sender.send_tm(self.owner_id(), PusTmVariant::Direct(tm_creator))?;
@ -1049,13 +1062,13 @@ pub mod alloc_mod {
time_stamp: &[u8],
) -> Result<VerificationToken<TcStateStarted>, EcssTmtcError> {
let mut buf = self.source_data_buf.borrow_mut();
let mut tm_creator = self
let (mut tm_creator, started_token) = self
.reporter_creator
.start_success(buf.as_mut_slice(), &token.request_id(), 0, 0, time_stamp)
.start_success(buf.as_mut_slice(), token, 0, 0, time_stamp)
.map_err(PusError::ByteConversion)?;
self.tm_hook.modify_tm(&mut tm_creator);
sender.send_tm(self.owner_id(), PusTmVariant::Direct(tm_creator))?;
Ok(VerificationToken::new_started_state(token.request_id()))
Ok(started_token)
}
/// Package and send a PUS TM\[1, 4\] packet, see 8.1.2.4 of the PUS standard.
@ -1071,7 +1084,7 @@ pub mod alloc_mod {
let mut buf = self.source_data_buf.borrow_mut();
let mut tm_creator = self
.reporter_creator
.start_failure(buf.as_mut_slice(), &token.request_id(), 0, 0, params)
.start_failure(buf.as_mut_slice(), token, 0, 0, params)
.map_err(PusError::ByteConversion)?;
self.tm_hook.modify_tm(&mut tm_creator);
sender.send_tm(self.owner_id(), PusTmVariant::Direct(tm_creator))?;
@ -1091,14 +1104,7 @@ pub mod alloc_mod {
let mut buf = self.source_data_buf.borrow_mut();
let mut tm_creator = self
.reporter_creator
.step_success(
buf.as_mut_slice(),
&token.request_id(),
0,
0,
time_stamp,
step,
)
.step_success(buf.as_mut_slice(), token, 0, 0, time_stamp, step)
.map_err(PusError::ByteConversion)?;
self.tm_hook.modify_tm(&mut tm_creator);
sender.send_tm(self.owner_id(), PusTmVariant::Direct(tm_creator))?;
@ -1139,7 +1145,7 @@ pub mod alloc_mod {
let mut buf = self.source_data_buf.borrow_mut();
let mut tm_creator = self
.reporter_creator
.completion_success(buf.as_mut_slice(), &token.request_id(), 0, 0, time_stamp)
.completion_success(buf.as_mut_slice(), token, 0, 0, time_stamp)
.map_err(PusError::ByteConversion)?;
self.tm_hook.modify_tm(&mut tm_creator);
sender.send_tm(self.owner_id, PusTmVariant::Direct(tm_creator))?;
@ -1159,7 +1165,7 @@ pub mod alloc_mod {
let mut buf = self.source_data_buf.borrow_mut();
let mut tm_creator = self
.reporter_creator
.completion_failure(buf.as_mut_slice(), &token.request_id(), 0, 00, params)
.completion_failure(buf.as_mut_slice(), token, 0, 00, params)
.map_err(PusError::ByteConversion)?;
self.tm_hook.modify_tm(&mut tm_creator);
sender.send_tm(self.owner_id(), PusTmVariant::Direct(tm_creator))?;
@ -1356,23 +1362,22 @@ pub mod test_util {
}
impl VerificationReportingProvider for TestVerificationReporter {
fn start_verification(
&self,
pus_tc: &(impl CcsdsPacket + IsPusTelecommand),
) -> VerificationToken<TcStateNone> {
let request_id = RequestId::new(pus_tc);
self.report_queue
.borrow_mut()
.push_back((request_id, VerificationReportInfo::Added));
VerificationToken::<TcStateNone>::new(RequestId::new(pus_tc))
}
fn set_apid(&mut self, _apid: Apid) {}
fn apid(&self) -> Apid {
0
}
fn add_tc_with_req_id(&mut self, req_id: RequestId) -> VerificationToken<TcStateNone> {
self.report_queue
.borrow_mut()
.push_back((req_id, VerificationReportInfo::Added));
VerificationToken {
state: PhantomData,
request_id: req_id,
}
}
fn acceptance_success(
&self,
_sender: &(impl EcssTmSender + ?Sized),
@ -1829,16 +1834,15 @@ pub mod tests {
}
}
pub fn start_verification(&self) -> VerificationToken<TcStateNone> {
let tc_reader = PusTcReader::new(&self.tc).unwrap();
self.reporter.start_verification(&tc_reader)
}
#[allow(dead_code)]
fn set_dest_id(&mut self, dest_id: u16) {
self.reporter.set_dest_id(dest_id);
}
fn init(&mut self) -> VerificationToken<TcStateNone> {
self.reporter.add_tc(&PusTcReader::new(&self.tc).unwrap().0)
}
fn acceptance_success(
&self,
token: VerificationToken<TcStateNone>,
@ -1916,7 +1920,7 @@ pub mod tests {
additional_data: None,
};
let mut service_queue = self.sender.service_queue.borrow_mut();
assert!(!service_queue.is_empty());
assert!(service_queue.len() >= 1);
let info = service_queue.pop_front().unwrap();
assert_eq!(info, cmp_info);
}
@ -2088,8 +2092,8 @@ pub mod tests {
#[test]
fn test_basic_acceptance_success() {
let testbench = VerificationReporterTestbench::new(0, create_generic_ping(), 16);
let token = testbench.start_verification();
let mut testbench = VerificationReporterTestbench::new(0, create_generic_ping(), 16);
let token = testbench.init();
testbench
.acceptance_success(token, &EMPTY_STAMP)
.expect("sending acceptance success failed");
@ -2099,7 +2103,7 @@ pub mod tests {
#[test]
fn test_basic_acceptance_failure() {
let mut testbench = VerificationReporterTestbench::new(0, create_generic_ping(), 16);
let init_token = testbench.start_verification();
let init_token = testbench.init();
let timestamp = [1, 2, 3, 4, 5, 6, 7];
let fail_code = EcssEnumU16::new(2);
let fail_params = FailParams::new_no_fail_data(timestamp.as_slice(), &fail_code);
@ -2112,7 +2116,7 @@ pub mod tests {
#[test]
fn test_basic_acceptance_failure_with_helper() {
let mut testbench = VerificationReporterTestbench::new(0, create_generic_ping(), 16);
let init_token = testbench.start_verification();
let init_token = testbench.init();
let timestamp = [1, 2, 3, 4, 5, 6, 7];
let fail_code = EcssEnumU16::new(2);
let fail_params = FailParams::new_no_fail_data(timestamp.as_slice(), &fail_code);
@ -2124,8 +2128,8 @@ pub mod tests {
#[test]
fn test_acceptance_fail_data_too_large() {
let testbench = VerificationReporterTestbench::new(0, create_generic_ping(), 8);
let init_token = testbench.start_verification();
let mut testbench = VerificationReporterTestbench::new(0, create_generic_ping(), 8);
let init_token = testbench.init();
let stamp_buf = [1, 2, 3, 4, 5, 6, 7];
let fail_code = EcssEnumU16::new(2);
let fail_data: [u8; 16] = [0; 16];
@ -2156,13 +2160,13 @@ pub mod tests {
#[test]
fn test_basic_acceptance_failure_with_fail_data() {
let testbench = VerificationReporterTestbench::new(0, create_generic_ping(), 16);
let mut testbench = VerificationReporterTestbench::new(0, create_generic_ping(), 16);
let fail_code = EcssEnumU8::new(10);
let fail_data = EcssEnumU32::new(12);
let mut fail_data_raw = [0; 4];
fail_data.write_to_be_bytes(&mut fail_data_raw).unwrap();
let fail_params = FailParams::new(&EMPTY_STAMP, &fail_code, fail_data_raw.as_slice());
let init_token = testbench.start_verification();
let init_token = testbench.init();
testbench
.acceptance_failure(init_token, fail_params)
.expect("sending acceptance failure failed");
@ -2180,7 +2184,7 @@ pub mod tests {
#[test]
fn test_start_failure() {
let mut testbench = VerificationReporterTestbench::new(0, create_generic_ping(), 16);
let init_token = testbench.start_verification();
let init_token = testbench.init();
let fail_code = EcssEnumU8::new(22);
let fail_data: i32 = -12;
let mut fail_data_raw = [0; 4];
@ -2199,7 +2203,7 @@ pub mod tests {
#[test]
fn test_start_failure_with_helper() {
let mut testbench = VerificationReporterTestbench::new(0, create_generic_ping(), 16);
let token = testbench.start_verification();
let token = testbench.init();
let fail_code = EcssEnumU8::new(22);
let fail_data: i32 = -12;
let mut fail_data_raw = [0; 4];
@ -2218,7 +2222,7 @@ pub mod tests {
#[test]
fn test_steps_success() {
let mut testbench = VerificationReporterTestbench::new(0, create_generic_ping(), 16);
let token = testbench.start_verification();
let token = testbench.init();
let accepted_token = testbench
.acceptance_success(token, &EMPTY_STAMP)
.expect("acceptance failed");
@ -2241,7 +2245,7 @@ pub mod tests {
#[test]
fn test_step_failure() {
let mut testbench = VerificationReporterTestbench::new(0, create_generic_ping(), 16);
let token = testbench.start_verification();
let token = testbench.init();
let fail_code = EcssEnumU32::new(0x1020);
let fail_data: f32 = -22.3232;
let mut fail_data_raw = [0; 4];
@ -2275,7 +2279,7 @@ pub mod tests {
#[test]
fn test_completion_failure() {
let mut testbench = VerificationReporterTestbench::new(0, create_generic_ping(), 16);
let token = testbench.start_verification();
let token = testbench.init();
let fail_code = EcssEnumU32::new(0x1020);
let fail_params = FailParams::new_no_fail_data(&EMPTY_STAMP, &fail_code);
@ -2298,7 +2302,7 @@ pub mod tests {
fn test_complete_success_sequence() {
let mut testbench =
VerificationReporterTestbench::new(TEST_COMPONENT_ID_0.id(), create_generic_ping(), 16);
let token = testbench.start_verification();
let token = testbench.init();
let accepted_token = testbench
.acceptance_success(token, &EMPTY_STAMP)
.expect("Sending acceptance success failed");
@ -2320,7 +2324,7 @@ pub mod tests {
create_generic_ping(),
SequenceCounterHook::default(),
);
let token = testbench.start_verification();
let token = testbench.init();
let accepted_token = testbench
.acceptance_success(token, &EMPTY_STAMP)
.expect("Sending acceptance success failed");
@ -2338,7 +2342,7 @@ pub mod tests {
#[test]
fn test_completion_failure_helper_string_param() {
let mut testbench = VerificationReporterTestbench::new(0, create_generic_ping(), 32);
let token = testbench.start_verification();
let token = testbench.init();
let accepted_token = testbench
.acceptance_success(token, &EMPTY_STAMP)
.expect("Sending acceptance success failed");
@ -2365,7 +2369,7 @@ pub mod tests {
#[test]
fn test_step_failure_helper_string_param() {
let mut testbench = VerificationReporterTestbench::new(0, create_generic_ping(), 32);
let token = testbench.start_verification();
let token = testbench.init();
let accepted_token = testbench
.acceptance_success(token, &EMPTY_STAMP)
.expect("Sending acceptance success failed");

63
satrs/src/request.rs
View File

@ -13,10 +13,7 @@ use spacepackets::{
ByteConversionError,
};
use crate::{
queue::{GenericReceiveError, GenericSendError},
ComponentId,
};
use crate::{queue::GenericTargetedMessagingError, ComponentId};
/// Generic request ID type. Requests can be associated with an ID to have a unique identifier
/// for them. This can be useful for tasks like tracking their progress.
@ -144,12 +141,12 @@ impl<Message> GenericMessage<Message> {
/// Generic trait for objects which can send targeted messages.
pub trait MessageSenderProvider<MSG>: Send {
fn send(&self, message: GenericMessage<MSG>) -> Result<(), GenericSendError>;
fn send(&self, message: GenericMessage<MSG>) -> Result<(), GenericTargetedMessagingError>;
}
// Generic trait for objects which can receive targeted messages.
pub trait MessageReceiverProvider<MSG> {
fn try_recv(&self) -> Result<Option<GenericMessage<MSG>>, GenericReceiveError>;
fn try_recv(&self) -> Result<Option<GenericMessage<MSG>>, GenericTargetedMessagingError>;
}
pub struct MessageWithSenderIdReceiver<Msg, Receiver: MessageReceiverProvider<Msg>>(
@ -164,7 +161,9 @@ impl<MSG, R: MessageReceiverProvider<MSG>> From<R> for MessageWithSenderIdReceiv
}
impl<MSG, R: MessageReceiverProvider<MSG>> MessageWithSenderIdReceiver<MSG, R> {
pub fn try_recv_message(&self) -> Result<Option<GenericMessage<MSG>>, GenericReceiveError> {
pub fn try_recv_message(
&self,
) -> Result<Option<GenericMessage<MSG>>, GenericTargetedMessagingError> {
self.0.try_recv()
}
}
@ -188,7 +187,9 @@ impl<MSG, R: MessageReceiverProvider<MSG>> MessageReceiverWithId<MSG, R> {
}
impl<MSG, R: MessageReceiverProvider<MSG>> MessageReceiverWithId<MSG, R> {
pub fn try_recv_message(&self) -> Result<Option<GenericMessage<MSG>>, GenericReceiveError> {
pub fn try_recv_message(
&self,
) -> Result<Option<GenericMessage<MSG>>, GenericTargetedMessagingError> {
self.reply_receiver.0.try_recv()
}
}
@ -201,7 +202,7 @@ pub trait MessageSenderStoreProvider<Message, Sender>: Default {
requestor_info: MessageMetadata,
target_channel_id: ComponentId,
message: Message,
) -> Result<(), GenericSendError>;
) -> Result<(), GenericTargetedMessagingError>;
}
#[cfg(feature = "alloc")]
@ -241,14 +242,14 @@ pub mod alloc_mod {
requestor_info: MessageMetadata,
target_channel_id: ComponentId,
message: Msg,
) -> Result<(), GenericSendError> {
) -> Result<(), GenericTargetedMessagingError> {
if let Some((current_id, sender)) = &self.id_and_sender {
if *current_id == target_channel_id {
sender.send(GenericMessage::new(requestor_info, message))?;
return Ok(());
}
}
Err(GenericSendError::TargetDoesNotExist(target_channel_id))
Err(GenericSendError::TargetDoesNotExist(target_channel_id).into())
}
}
@ -275,14 +276,14 @@ pub mod alloc_mod {
requestor_info: MessageMetadata,
target_channel_id: ComponentId,
message: Msg,
) -> Result<(), GenericSendError> {
) -> Result<(), GenericTargetedMessagingError> {
for (current_id, sender) in &self.0 {
if *current_id == target_channel_id {
sender.send(GenericMessage::new(requestor_info, message))?;
return Ok(());
}
}
Err(GenericSendError::TargetDoesNotExist(target_channel_id))
Err(GenericSendError::TargetDoesNotExist(target_channel_id).into())
}
}
@ -309,7 +310,7 @@ pub mod alloc_mod {
requestor_info: MessageMetadata,
target_channel_id: ComponentId,
message: Msg,
) -> Result<(), GenericSendError> {
) -> Result<(), GenericTargetedMessagingError> {
if self.0.contains_key(&target_channel_id) {
return self
.0
@ -317,7 +318,7 @@ pub mod alloc_mod {
.unwrap()
.send(GenericMessage::new(requestor_info, message));
}
Err(GenericSendError::TargetDoesNotExist(target_channel_id))
Err(GenericSendError::TargetDoesNotExist(target_channel_id).into())
}
}
@ -366,7 +367,7 @@ pub mod alloc_mod {
request_id: RequestId,
target_id: ComponentId,
message: To,
) -> Result<(), GenericSendError> {
) -> Result<(), GenericTargetedMessagingError> {
self.message_sender_store.send_message(
MessageMetadata::new(request_id, self.local_channel_id_generic()),
target_id,
@ -377,7 +378,7 @@ pub mod alloc_mod {
/// Try to receive a message, which can be a reply or a request, depending on the generics.
pub fn try_recv_message(
&self,
) -> Result<Option<GenericMessage<From>>, GenericReceiveError> {
) -> Result<Option<GenericMessage<From>>, GenericTargetedMessagingError> {
self.message_receiver.try_recv_message()
}
}
@ -453,18 +454,20 @@ pub mod std_mod {
use crate::queue::{GenericReceiveError, GenericSendError};
impl<MSG: Send> MessageSenderProvider<MSG> for mpsc::Sender<GenericMessage<MSG>> {
fn send(&self, message: GenericMessage<MSG>) -> Result<(), GenericSendError> {
fn send(&self, message: GenericMessage<MSG>) -> Result<(), GenericTargetedMessagingError> {
self.send(message)
.map_err(|_| GenericSendError::RxDisconnected)?;
Ok(())
}
}
impl<MSG: Send> MessageSenderProvider<MSG> for mpsc::SyncSender<GenericMessage<MSG>> {
fn send(&self, message: GenericMessage<MSG>) -> Result<(), GenericSendError> {
fn send(&self, message: GenericMessage<MSG>) -> Result<(), GenericTargetedMessagingError> {
if let Err(e) = self.try_send(message) {
return match e {
mpsc::TrySendError::Full(_) => Err(GenericSendError::QueueFull(None)),
mpsc::TrySendError::Disconnected(_) => Err(GenericSendError::RxDisconnected),
mpsc::TrySendError::Full(_) => Err(GenericSendError::QueueFull(None).into()),
mpsc::TrySendError::Disconnected(_) => {
Err(GenericSendError::RxDisconnected.into())
}
};
}
Ok(())
@ -475,13 +478,13 @@ pub mod std_mod {
pub type MessageSenderMapBoundedMpsc<MSG> = MessageReceiverWithId<MSG, mpsc::SyncSender<MSG>>;
impl<MSG> MessageReceiverProvider<MSG> for mpsc::Receiver<GenericMessage<MSG>> {
fn try_recv(&self) -> Result<Option<GenericMessage<MSG>>, GenericReceiveError> {
fn try_recv(&self) -> Result<Option<GenericMessage<MSG>>, GenericTargetedMessagingError> {
match self.try_recv() {
Ok(msg) => Ok(Some(msg)),
Err(e) => match e {
mpsc::TryRecvError::Empty => Ok(None),
mpsc::TryRecvError::Disconnected => {
Err(GenericReceiveError::TxDisconnected(None))
Err(GenericReceiveError::TxDisconnected(None).into())
}
},
}
@ -502,7 +505,7 @@ mod tests {
};
use crate::{
queue::{GenericReceiveError, GenericSendError},
queue::{GenericReceiveError, GenericSendError, GenericTargetedMessagingError},
request::{MessageMetadata, MessageSenderMap, MessageSenderStoreProvider},
};
@ -595,7 +598,9 @@ mod tests {
let reply = receiver.try_recv_message();
assert!(reply.is_err());
let error = reply.unwrap_err();
if let GenericReceiveError::TxDisconnected(None) = error {
if let GenericTargetedMessagingError::Receive(GenericReceiveError::TxDisconnected(None)) =
error
{
} else {
panic!("unexpected error type");
}
@ -644,7 +649,9 @@ mod tests {
);
assert!(result.is_err());
let error = result.unwrap_err();
if let GenericSendError::TargetDoesNotExist(target) = error {
if let GenericTargetedMessagingError::Send(GenericSendError::TargetDoesNotExist(target)) =
error
{
assert_eq!(target, TEST_CHANNEL_ID_2);
} else {
panic!("Unexpected error type");
@ -669,7 +676,7 @@ mod tests {
);
assert!(result.is_err());
let error = result.unwrap_err();
if let GenericSendError::QueueFull(capacity) = error {
if let GenericTargetedMessagingError::Send(GenericSendError::QueueFull(capacity)) = error {
assert!(capacity.is_none());
} else {
panic!("Unexpected error type {}", error);
@ -689,7 +696,7 @@ mod tests {
);
assert!(result.is_err());
let error = result.unwrap_err();
if let GenericSendError::RxDisconnected = error {
if let GenericTargetedMessagingError::Send(GenericSendError::RxDisconnected) = error {
} else {
panic!("Unexpected error type {}", error);
}

6
satrs/src/subsystem.rs
View File

@ -121,10 +121,10 @@ impl SequenceExecutionHelper {
/// example by checking [mode replies][ModeReply] received by the children components, and
/// then calling [Self::confirm_sequence_done] to advance to the sequence or complete the
/// sequence.
/// * [ModeCommandingResult::Done] - The sequence is done. The user can load a new
/// * [ModeCommandingResult::CommandingDone] - The sequence is done. The user can load a new
/// sequence now without overwriting the last one. The sequence executor is in
/// [SequenceExecutionHelperState::Idle] again.
/// * [ModeCommandingResult::StepDone] - The sequence has advanced one step. The user
/// * [ModeCommandingResult::CommandingStepDone] - The sequence has advanced one step. The user
/// can now call [Self::run] again to immediately execute the next step in the sequence.
///
/// Generally, periodic execution of the [Self::run] method should be performed while
@ -136,7 +136,7 @@ impl SequenceExecutionHelper {
/// with [Self::load]
/// * `sender` - The sender to send mode requests to the components
/// * `children_mode_store` - The mode store vector to keep track of the mode states of
/// children components
/// children components
pub fn run(
&mut self,
table: &SequenceModeTables,

11
satrs/src/tmtc/mod.rs
View File

@ -14,7 +14,6 @@ use crate::{
};
#[cfg(feature = "std")]
pub use alloc_mod::*;
use core::fmt::Debug;
#[cfg(feature = "alloc")]
use downcast_rs::{impl_downcast, Downcast};
use spacepackets::{
@ -171,7 +170,7 @@ where
}
/// Helper trait for any generic (static) store which allows storing raw or CCSDS packets.
pub trait CcsdsPacketPool: Debug {
pub trait CcsdsPacketPool {
fn add_ccsds_tc(&mut self, _: &SpHeader, tc_raw: &[u8]) -> Result<PoolAddr, PoolError> {
self.add_raw_tc(tc_raw)
}
@ -191,7 +190,7 @@ pub trait PusTmPool {
}
/// Generic trait for any sender component able to send packets stored inside a pool structure.
pub trait PacketInPoolSender: Debug + Send {
pub trait PacketInPoolSender: Send {
fn send_packet(
&self,
sender_id: ComponentId,
@ -236,7 +235,7 @@ pub mod std_mod {
/// Newtype wrapper around the [SharedStaticMemoryPool] to enable extension helper traits on
/// top of the regular shared memory pool API.
#[derive(Debug, Clone)]
#[derive(Clone)]
pub struct SharedPacketPool(pub SharedStaticMemoryPool);
impl SharedPacketPool {
@ -288,6 +287,7 @@ pub mod std_mod {
}
}
#[cfg(feature = "std")]
impl PacketSenderRaw for mpsc::Sender<PacketAsVec> {
type Error = GenericSendError;
@ -297,6 +297,7 @@ pub mod std_mod {
}
}
#[cfg(feature = "std")]
impl PacketSenderRaw for mpsc::SyncSender<PacketAsVec> {
type Error = GenericSendError;
@ -361,7 +362,7 @@ pub mod std_mod {
/// This is the primary structure used to send packets stored in a dedicated memory pool
/// structure.
#[derive(Debug, Clone)]
#[derive(Clone)]
pub struct PacketSenderWithSharedPool<
Sender: PacketInPoolSender = mpsc::SyncSender<PacketInPool>,
PacketPool: CcsdsPacketPool = SharedPacketPool,

2
satrs/tests/mode_tree.rs
View File

@ -502,7 +502,7 @@ impl ModeRequestHandler for AcsSubsystem {
.unwrap();
self.mode_node
.send_mode_reply(requestor_info, reply)
.map_err(ModeError::Send)?;
.map_err(ModeError::Messaging)?;
Ok(())
}
}

12
satrs/tests/pus_events.rs
View File

@ -107,9 +107,9 @@ fn test_threaded_usage() {
Ok(event_tm) => {
let tm = PusTmReader::new(event_tm.packet.as_slice(), 7)
.expect("Deserializing TM failed");
assert_eq!(tm.service(), 5);
assert_eq!(tm.subservice(), 1);
let src_data = tm.source_data();
assert_eq!(tm.0.service(), 5);
assert_eq!(tm.0.subservice(), 1);
let src_data = tm.0.source_data();
assert!(!src_data.is_empty());
assert_eq!(src_data.len(), 4);
let event =
@ -137,9 +137,9 @@ fn test_threaded_usage() {
Ok(event_tm) => {
let tm = PusTmReader::new(event_tm.packet.as_slice(), 7)
.expect("Deserializing TM failed");
assert_eq!(tm.service(), 5);
assert_eq!(tm.subservice(), 2);
let src_data = tm.source_data();
assert_eq!(tm.0.service(), 5);
assert_eq!(tm.0.subservice(), 2);
let src_data = tm.0.source_data();
assert!(!src_data.is_empty());
assert_eq!(src_data.len(), 12);
let event =

10
satrs/tests/pus_verification.rs
View File

@ -89,9 +89,9 @@ pub mod crossbeam_test {
let pg = tc_guard.read_with_guard(tc_addr);
tc_len = pg.read(&mut tc_buf).unwrap();
}
let _tc = PusTcReader::new(&tc_buf[0..tc_len]).unwrap();
let (_tc, _) = PusTcReader::new(&tc_buf[0..tc_len]).unwrap();
let token = reporter_with_sender_0.start_verification_with_req_id(req_id_0);
let token = reporter_with_sender_0.add_tc_with_req_id(req_id_0);
let accepted_token = reporter_with_sender_0
.acceptance_success(&sender, token, &FIXED_STAMP)
.expect("Acceptance success failed");
@ -125,8 +125,8 @@ pub mod crossbeam_test {
let pg = tc_guard.read_with_guard(tc_addr);
tc_len = pg.read(&mut tc_buf).unwrap();
}
let tc = PusTcReader::new(&tc_buf[0..tc_len]).unwrap();
let token = reporter_with_sender_1.start_verification(&tc);
let (tc, _) = PusTcReader::new(&tc_buf[0..tc_len]).unwrap();
let token = reporter_with_sender_1.add_tc(&tc);
let accepted_token = reporter_with_sender_1
.acceptance_success(&sender_1, token, &FIXED_STAMP)
.expect("Acceptance success failed");
@ -156,7 +156,7 @@ pub mod crossbeam_test {
.read(&mut tm_buf)
.expect("Error reading TM slice");
}
let pus_tm =
let (pus_tm, _) =
PusTmReader::new(&tm_buf[0..tm_len], 7).expect("Error reading verification TM");
let req_id =
RequestId::from_bytes(&pus_tm.source_data()[0..RequestId::SIZE_AS_BYTES])