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56 Commits
satrs-v0.1
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5
.gitignore
vendored
5
.gitignore
vendored
@ -1,5 +1,8 @@
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/target
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target/
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/Cargo.lock
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output.log
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/.idea/*
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!/.idea/runConfigurations
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@ -4,6 +4,7 @@ members = [
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"satrs",
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"satrs-mib",
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"satrs-example",
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"satrs-minisim",
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"satrs-shared",
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]
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12
README.md
12
README.md
@ -1,14 +1,24 @@
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<p align="center"> <img src="misc/satrs-logo.png" width="40%"> </p>
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[](https://absatsw.irs.uni-stuttgart.de/projects/sat-rs/)
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[](https://absatsw.irs.uni-stuttgart.de/projects/sat-rs/book/)
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[](https://crates.io/crates/satrs)
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[](https://docs.rs/satrs)
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sat-rs
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=========
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This is the repository of the sat-rs framework. Its primary goal is to provide re-usable components
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This is the repository of the sat-rs library. Its primary goal is to provide re-usable components
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to write on-board software for remote systems like rovers or satellites. It is specifically written
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for the special requirements for these systems. You can find an overview of the project and the
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link to the [more high-level sat-rs book](https://absatsw.irs.uni-stuttgart.de/projects/sat-rs/)
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at the [IRS software projects website](https://absatsw.irs.uni-stuttgart.de/projects/sat-rs/).
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This is early-stage software. Important features are missing. New releases
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with breaking changes are released regularly, with all changes documented inside respective
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changelog files. You should only use this library if your are willing to work in this
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environment.
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A lot of the architecture and general design considerations are based on the
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[FSFW](https://egit.irs.uni-stuttgart.de/fsfw/fsfw) C++ framework which has flight heritage
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through the 2 missions [FLP](https://www.irs.uni-stuttgart.de/en/research/satellitetechnology-and-instruments/smallsatelliteprogram/flying-laptop/)
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12
coverage.py
12
coverage.py
@ -18,15 +18,19 @@ def generate_cov_report(open_report: bool, format: str, package: str):
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out_path = "./target/debug/coverage"
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if format == "lcov":
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out_path = "./target/debug/lcov.info"
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os.system(
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grcov_cmd = (
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f"grcov . -s . --binary-path ./target/debug/ -t {format} --branch --ignore-not-existing "
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f"-o {out_path}"
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)
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print(f"Running: {grcov_cmd}")
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os.system(grcov_cmd)
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if format == "lcov":
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os.system(
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lcov_cmd = (
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"genhtml -o ./target/debug/coverage/ --show-details --highlight --ignore-errors source "
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"--legend ./target/debug/lcov.info"
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)
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print(f"Running: {lcov_cmd}")
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os.system(lcov_cmd)
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if open_report:
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coverage_report_path = os.path.abspath("./target/debug/coverage/index.html")
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webbrowser.open_new_tab(coverage_report_path)
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@ -43,8 +47,8 @@ def main():
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parser.add_argument(
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"-p",
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"--package",
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choices=["satrs-core"],
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default="satrs-core",
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choices=["satrs", "satrs-minisim"],
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default="satrs",
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help="Choose project to generate coverage for",
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)
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parser.add_argument(
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650
images/mode-tree/mode-tree.graphml
Normal file
650
images/mode-tree/mode-tree.graphml
Normal file
@ -0,0 +1,650 @@
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||||
<?xml version="1.0" encoding="UTF-8" standalone="no"?>
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<center>
|
||||
<h4>ACS Mode Tree</h4>
|
||||
</center>
|
||||
|
||||
<table border="1">
|
||||
<tr>
|
||||
<th>Mode</th>
|
||||
<th>MGMs</th>
|
||||
<th>SUSs</th>
|
||||
<th>STR</th>
|
||||
<th>MGT</th>
|
||||
<th>RWs</th>
|
||||
<th>ACS CTRL</th>
|
||||
</tr>
|
||||
|
||||
<tr>
|
||||
<td>OFF</td>
|
||||
<td>OFF</td>
|
||||
<td>OFF</td>
|
||||
<td>OFF</td>
|
||||
<td>OFF</td>
|
||||
<td>OFF</td>
|
||||
<td>OFF</td>
|
||||
</tr>
|
||||
|
||||
<tr>
|
||||
<td>SAFE</td>
|
||||
<td>NORMAL</td>
|
||||
<td>NORMAL</td>
|
||||
<td>OFF</td>
|
||||
<td>OFF</td>
|
||||
<td>NORMAL</td>
|
||||
<td>SAFE</td>
|
||||
</tr>
|
||||
|
||||
<tr>
|
||||
<td>IDLE</td>
|
||||
<td>NORMAL</td>
|
||||
<td>NORMAL</td>
|
||||
<td>NORMAL</td>
|
||||
<td>NORMAL</td>
|
||||
<td>NORMAL</td>
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<td>IDLE</td>
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<h4>ACS IDLE Sequence</h4>
|
||||
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|
||||
|
||||
<table border="1">
|
||||
<tr>
|
||||
<th>Step</th>
|
||||
<th>MGMs</th>
|
||||
<th>SUS</th>
|
||||
<th>STR</th>
|
||||
<th>MGT</th>
|
||||
<th>RWs</th>
|
||||
<th>ACS CTRL</th>
|
||||
</tr>
|
||||
|
||||
<tr>
|
||||
<td>1</td>
|
||||
<td>NORMAL</td>
|
||||
<td>NORMAL</td>
|
||||
<td>NORMAL</td>
|
||||
<td>NORMAL</td>
|
||||
<td>NORMAL</td>
|
||||
<td></td>
|
||||
</tr>
|
||||
|
||||
<tr>
|
||||
<td>2</td>
|
||||
<td></td>
|
||||
<td></td>
|
||||
<td></td>
|
||||
<td></td>
|
||||
<td></td>
|
||||
<td>SAFE</td>
|
||||
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</table>
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1051
images/satrs-example-goal/satrs-example-goal.pdf
Normal file
1051
images/satrs-example-goal/satrs-example-goal.pdf
Normal file
File diff suppressed because it is too large
Load Diff
@ -15,7 +15,7 @@ action commanding could look like.
|
||||
2. Target ID and Action String based. The target ID is the same as in the first proposal, but
|
||||
the unique action is identified by a string.
|
||||
|
||||
The framework provides an `ActionRequest` abstraction to model both of these cases.
|
||||
The library provides an `ActionRequest` abstraction to model both of these cases.
|
||||
|
||||
## Commanding with ECSS PUS 8
|
||||
|
||||
|
||||
@ -20,7 +20,7 @@ components.
|
||||
1. [UDP TMTC Server](https://docs.rs/satrs/latest/satrs/hal/host/udp_server/index.html).
|
||||
UDP is already packet based which makes it an excellent fit for exchanging space packets.
|
||||
2. [TCP TMTC Server Components](https://docs.rs/satrs/latest/satrs/hal/std/tcp_server/index.html).
|
||||
TCP is a stream based protocol, so the framework provides building blocks to parse telemetry
|
||||
TCP is a stream based protocol, so the library provides building blocks to parse telemetry
|
||||
from an arbitrary bytestream. Two concrete implementations are provided:
|
||||
- [TCP spacepackets server](https://docs.rs/satrs/latest/satrs/hal/std/tcp_server/struct.TcpSpacepacketsServer.html)
|
||||
to parse tightly packed CCSDS Spacepackets.
|
||||
|
||||
@ -1,13 +1,14 @@
|
||||
# Framework Design
|
||||
# Library Design
|
||||
|
||||
Satellites and space systems in general are complex systems with a wide range of requirements for
|
||||
both the hardware and the software. Consequently, the general design of the framework is centered
|
||||
both the hardware and the software. Consequently, the general design of the library is centered
|
||||
around many light-weight components which try to impose as few restrictions as possible on how to
|
||||
solve certain problems.
|
||||
solve certain problems. This is also the reason why sat-rs is explicitely called a library
|
||||
instead of a framework.
|
||||
|
||||
There are still a lot of common patterns and architectures across these systems where guidance
|
||||
of how to solve a problem and a common structure would still be extremely useful to avoid pitfalls
|
||||
which were already solved and to avoid boilerplate code. This framework tries to provide this
|
||||
which were already solved and to avoid boilerplate code. This library tries to provide this
|
||||
structure and guidance the following way:
|
||||
|
||||
1. Providing this book which explains the architecture and design patterns in respect to common
|
||||
@ -18,7 +19,7 @@ structure and guidance the following way:
|
||||
3. Providing a good test suite. This includes both unittests and integration tests. The integration
|
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tests can also serve as smaller usage examples than the large `satrs-example` application.
|
||||
|
||||
This framework has special support for standards used in the space industry. This especially
|
||||
This library has special support for standards used in the space industry. This especially
|
||||
includes standards provided by Consultative Committee for Space Data Systems (CCSDS) and European
|
||||
Cooperation for Space Standardization (ECSS). It does not enforce using any of those standards,
|
||||
but it is always recommended to use some sort of standard for interoperability.
|
||||
@ -30,10 +31,10 @@ Flying Laptop Project by the University of Stuttgart with Airbus Defence and Spa
|
||||
It has flight heritage through the 2 mssions [FLP](https://www.irs.uni-stuttgart.de/en/research/satellitetechnology-and-instruments/smallsatelliteprogram/flying-laptop/)
|
||||
and [EIVE](https://www.irs.uni-stuttgart.de/en/research/satellitetechnology-and-instruments/smallsatelliteprogram/EIVE/).
|
||||
Therefore, a lot of the design concepts were ported more or less unchanged to the `sat-rs`
|
||||
framework.
|
||||
library.
|
||||
FLP is a medium-size small satellite with a higher budget and longer development time than EIVE,
|
||||
which allowed to build a highly reliable system while EIVE is a smaller 6U+ cubesat which had a
|
||||
shorter development cycle and was built using cheaper COTS components. This framework also tries
|
||||
shorter development cycle and was built using cheaper COTS components. This library also tries
|
||||
to accumulate the knowledge of developing the OBSW and operating the satellite for both these
|
||||
different systems and provide a solution for a wider range of small satellite systems.
|
||||
|
||||
|
||||
@ -1,6 +1,6 @@
|
||||
# sat-rs Example Application
|
||||
|
||||
The `sat-rs` framework includes a monolithic example application which can be found inside
|
||||
The `sat-rs` library includes a monolithic example application which can be found inside
|
||||
the [`satrs-example`](https://egit.irs.uni-stuttgart.de/rust/sat-rs/src/branch/main/satrs-example)
|
||||
subdirectory of the repository. The primary purpose of this example application is to show how
|
||||
the various components of the sat-rs framework could be used as part of a larger on-board
|
||||
|
||||
@ -1,7 +1,7 @@
|
||||
The sat-rs book
|
||||
======
|
||||
|
||||
This book is the primary information resource for the [sat-rs framework](https://egit.irs.uni-stuttgart.de/rust/sat-rs)
|
||||
This book is the primary information resource for the [sat-rs library](https://egit.irs.uni-stuttgart.de/rust/sat-rs)
|
||||
in addition to the regular API documentation. It contains the following resources:
|
||||
|
||||
1. Architecture informations and consideration which would exceeds the scope of the regular API.
|
||||
@ -12,10 +12,15 @@ in addition to the regular API documentation. It contains the following resource
|
||||
|
||||
# Introduction
|
||||
|
||||
The primary goal of the sat-rs framework is to provide re-usable components
|
||||
The primary goal of the sat-rs library is to provide re-usable components
|
||||
to write on-board software for remote systems like rovers or satellites. It is specifically written
|
||||
for the special requirements for these systems.
|
||||
|
||||
It should be noted that sat-rs is early-stage software. Important features are missing. New releases
|
||||
with breaking changes are released regularly, with all changes documented inside respective
|
||||
changelog files. You should only use this library if your are willing to work in this
|
||||
environment.
|
||||
|
||||
A lot of the architecture and general design considerations are based on the
|
||||
[FSFW](https://egit.irs.uni-stuttgart.de/fsfw/fsfw) C++ framework which has flight heritage
|
||||
through the 2 missions [FLP](https://www.irs.uni-stuttgart.de/en/research/satellitetechnology-and-instruments/smallsatelliteprogram/flying-laptop/)
|
||||
|
||||
37
satrs-example-stm32f3-disco/.cargo/def_config.toml
Normal file
37
satrs-example-stm32f3-disco/.cargo/def_config.toml
Normal file
@ -0,0 +1,37 @@
|
||||
[target.'cfg(all(target_arch = "arm", target_os = "none"))']
|
||||
# uncomment ONE of these three option to make `cargo run` start a GDB session
|
||||
# which option to pick depends on your system
|
||||
# You can also replace openocd.gdb by jlink.gdb when using a J-Link.
|
||||
# runner = "arm-none-eabi-gdb -q -x openocd.gdb"
|
||||
# runner = "gdb-multiarch -q -x openocd.gdb"
|
||||
# runner = "gdb -q -x openocd.gdb"
|
||||
runner = "probe-rs run --chip STM32F303VCTx"
|
||||
|
||||
rustflags = [
|
||||
"-C", "linker=flip-link",
|
||||
# LLD (shipped with the Rust toolchain) is used as the default linker
|
||||
"-C", "link-arg=-Tlink.x",
|
||||
"-C", "link-arg=-Tdefmt.x",
|
||||
|
||||
# This is needed if your flash or ram addresses are not aligned to 0x10000 in memory.x
|
||||
# See https://github.com/rust-embedded/cortex-m-quickstart/pull/95
|
||||
"-C", "link-arg=--nmagic",
|
||||
|
||||
# if you run into problems with LLD switch to the GNU linker by commenting out
|
||||
# this line
|
||||
# "-C", "linker=arm-none-eabi-ld",
|
||||
|
||||
# if you need to link to pre-compiled C libraries provided by a C toolchain
|
||||
# use GCC as the linker by commenting out both lines above and then
|
||||
# uncommenting the three lines below
|
||||
# "-C", "linker=arm-none-eabi-gcc",
|
||||
# "-C", "link-arg=-Wl,-Tlink.x",
|
||||
# "-C", "link-arg=-nostartfiles",
|
||||
]
|
||||
|
||||
[build]
|
||||
# comment out the following line if you intend to run unit tests on host machine
|
||||
target = "thumbv7em-none-eabihf" # Cortex-M4F and Cortex-M7F (with FPU)
|
||||
|
||||
[env]
|
||||
DEFMT_LOG = "info"
|
||||
1
satrs-example-stm32f3-disco/.gitignore
vendored
1
satrs-example-stm32f3-disco/.gitignore
vendored
@ -1,3 +1,4 @@
|
||||
/target
|
||||
/itm.txt
|
||||
/.cargo/config*
|
||||
/.vscode
|
||||
|
||||
66
satrs-example-stm32f3-disco/.vscode/launch.json
vendored
66
satrs-example-stm32f3-disco/.vscode/launch.json
vendored
@ -1,66 +0,0 @@
|
||||
{
|
||||
/*
|
||||
* Requires the Rust Language Server (RLS) and Cortex-Debug extensions
|
||||
* https://marketplace.visualstudio.com/items?itemName=rust-lang.rust
|
||||
* https://marketplace.visualstudio.com/items?itemName=marus25.cortex-debug
|
||||
*/
|
||||
"version": "0.2.0",
|
||||
"configurations": [
|
||||
{
|
||||
/* Launches debug session for currently open example */
|
||||
"type": "cortex-debug",
|
||||
"request": "launch",
|
||||
"name": "Debug",
|
||||
"servertype": "openocd",
|
||||
"cwd": "${workspaceRoot}",
|
||||
"preLaunchTask": "cargo build",
|
||||
"runToEntryPoint": "true",
|
||||
"executable": "./target/thumbv7em-none-eabihf/debug/satrs-example-stm32f3-disco",
|
||||
"preLaunchCommands": ["break rust_begin_unwind"],
|
||||
"device": "STM32F303VCT6",
|
||||
"configFiles": [
|
||||
"${workspaceRoot}/.vscode/openocd-helpers.tcl",
|
||||
"interface/stlink.cfg",
|
||||
"target/stm32f3x.cfg"
|
||||
],
|
||||
"svdFile": "${env:HOME}/.svd/STM32F303.svd",
|
||||
"swoConfig": {
|
||||
"enabled": true,
|
||||
"cpuFrequency": 8000000,
|
||||
"swoFrequency": 2000000,
|
||||
"source": "probe",
|
||||
"decoders": [
|
||||
{ "type": "console", "label": "ITM", "port": 0 }
|
||||
]
|
||||
}
|
||||
},
|
||||
{
|
||||
/* Launches debug session for currently open example */
|
||||
"type": "cortex-debug",
|
||||
"request": "launch",
|
||||
"name": "Release",
|
||||
"servertype": "openocd",
|
||||
"cwd": "${workspaceRoot}",
|
||||
"preLaunchTask": "cargo build",
|
||||
"runToEntryPoint": "true",
|
||||
"executable": "./target/thumbv7em-none-eabihf/release/satrs-example-stm32f3-disco",
|
||||
"preLaunchCommands": ["break rust_begin_unwind"],
|
||||
"device": "STM32F303VCT6",
|
||||
"configFiles": [
|
||||
"${workspaceRoot}/.vscode/openocd-helpers.tcl",
|
||||
"interface/stlink.cfg",
|
||||
"target/stm32f3x.cfg"
|
||||
],
|
||||
"svdFile": "${env:HOME}/.svd/STM32F303.svd",
|
||||
"swoConfig": {
|
||||
"enabled": true,
|
||||
"cpuFrequency": 8000000,
|
||||
"swoFrequency": 2000000,
|
||||
"source": "probe",
|
||||
"decoders": [
|
||||
{ "type": "console", "label": "ITM", "port": 0 }
|
||||
]
|
||||
}
|
||||
}
|
||||
]
|
||||
}
|
||||
@ -1,3 +0,0 @@
|
||||
{
|
||||
"cortex-debug.gdbPath.linux": "gdb-multiarch"
|
||||
}
|
||||
585
satrs-example-stm32f3-disco/Cargo.lock
generated
585
satrs-example-stm32f3-disco/Cargo.lock
generated
@ -13,9 +13,9 @@ dependencies = [
|
||||
|
||||
[[package]]
|
||||
name = "atomic-polyfill"
|
||||
version = "0.1.11"
|
||||
version = "1.0.3"
|
||||
source = "registry+https://github.com/rust-lang/crates.io-index"
|
||||
checksum = "e3ff7eb3f316534d83a8a2c3d1674ace8a5a71198eba31e2e2b597833f699b28"
|
||||
checksum = "8cf2bce30dfe09ef0bfaef228b9d414faaf7e563035494d7fe092dba54b300f4"
|
||||
dependencies = [
|
||||
"critical-section",
|
||||
]
|
||||
@ -55,20 +55,21 @@ checksum = "bef38d45163c2f1dde094a7dfd33ccf595c92905c8f8f4fdc18d06fb1037718a"
|
||||
|
||||
[[package]]
|
||||
name = "bxcan"
|
||||
version = "0.6.2"
|
||||
version = "0.7.0"
|
||||
source = "registry+https://github.com/rust-lang/crates.io-index"
|
||||
checksum = "4b13b4b2ea9ab2ba924063ebb86ad895cb79f4a79bf90f27949eb20c335b30f9"
|
||||
checksum = "40ac3d0c0a542d0ab5521211f873f62706a7136df415676f676d347e5a41dd80"
|
||||
dependencies = [
|
||||
"bitflags",
|
||||
"nb 1.0.0",
|
||||
"embedded-hal 0.2.7",
|
||||
"nb 1.1.0",
|
||||
"vcell",
|
||||
]
|
||||
|
||||
[[package]]
|
||||
name = "byteorder"
|
||||
version = "1.4.3"
|
||||
version = "1.5.0"
|
||||
source = "registry+https://github.com/rust-lang/crates.io-index"
|
||||
checksum = "14c189c53d098945499cdfa7ecc63567cf3886b3332b312a5b4585d8d3a6a610"
|
||||
checksum = "1fd0f2584146f6f2ef48085050886acf353beff7305ebd1ae69500e27c67f64b"
|
||||
|
||||
[[package]]
|
||||
name = "cast"
|
||||
@ -87,31 +88,42 @@ checksum = "baf1de4339761588bc0619e3cbc0120ee582ebb74b53b4efbf79117bd2da40fd"
|
||||
|
||||
[[package]]
|
||||
name = "chrono"
|
||||
version = "0.4.23"
|
||||
version = "0.4.35"
|
||||
source = "registry+https://github.com/rust-lang/crates.io-index"
|
||||
checksum = "16b0a3d9ed01224b22057780a37bb8c5dbfe1be8ba48678e7bf57ec4b385411f"
|
||||
checksum = "8eaf5903dcbc0a39312feb77df2ff4c76387d591b9fc7b04a238dcf8bb62639a"
|
||||
dependencies = [
|
||||
"num-integer",
|
||||
"num-traits",
|
||||
]
|
||||
|
||||
[[package]]
|
||||
name = "cortex-m"
|
||||
version = "0.7.6"
|
||||
name = "cobs"
|
||||
version = "0.2.3"
|
||||
source = "registry+https://github.com/rust-lang/crates.io-index"
|
||||
checksum = "70858629a458fdfd39f9675c4dc309411f2a3f83bede76988d81bf1a0ecee9e0"
|
||||
checksum = "67ba02a97a2bd10f4b59b25c7973101c79642302776489e030cd13cdab09ed15"
|
||||
|
||||
[[package]]
|
||||
name = "cobs"
|
||||
version = "0.2.3"
|
||||
source = "git+https://github.com/robamu/cobs.rs.git?branch=all_features#c70a7f30fd00a7cbdb7666dec12b437977385d40"
|
||||
|
||||
[[package]]
|
||||
name = "cortex-m"
|
||||
version = "0.7.7"
|
||||
source = "registry+https://github.com/rust-lang/crates.io-index"
|
||||
checksum = "8ec610d8f49840a5b376c69663b6369e71f4b34484b9b2eb29fb918d92516cb9"
|
||||
dependencies = [
|
||||
"bare-metal 0.2.5",
|
||||
"bitfield",
|
||||
"embedded-hal",
|
||||
"critical-section",
|
||||
"embedded-hal 0.2.7",
|
||||
"volatile-register",
|
||||
]
|
||||
|
||||
[[package]]
|
||||
name = "cortex-m-rt"
|
||||
version = "0.7.2"
|
||||
version = "0.7.3"
|
||||
source = "registry+https://github.com/rust-lang/crates.io-index"
|
||||
checksum = "d6d3328b8b5534f0c90acd66b68950f2763b37e0173cac4d8b4937c4a80761f9"
|
||||
checksum = "ee84e813d593101b1723e13ec38b6ab6abbdbaaa4546553f5395ed274079ddb1"
|
||||
dependencies = [
|
||||
"cortex-m-rt-macros",
|
||||
]
|
||||
@ -124,48 +136,44 @@ checksum = "f0f6f3e36f203cfedbc78b357fb28730aa2c6dc1ab060ee5c2405e843988d3c7"
|
||||
dependencies = [
|
||||
"proc-macro2",
|
||||
"quote",
|
||||
"syn",
|
||||
"syn 1.0.109",
|
||||
]
|
||||
|
||||
[[package]]
|
||||
name = "cortex-m-rtic"
|
||||
version = "1.1.3"
|
||||
name = "cortex-m-semihosting"
|
||||
version = "0.5.0"
|
||||
source = "registry+https://github.com/rust-lang/crates.io-index"
|
||||
checksum = "c6b82f1c39acd6c3a35c2013b6110c20f5bc534522791fabadeed49ccada2dce"
|
||||
checksum = "c23234600452033cc77e4b761e740e02d2c4168e11dbf36ab14a0f58973592b0"
|
||||
dependencies = [
|
||||
"bare-metal 1.0.0",
|
||||
"cortex-m",
|
||||
"cortex-m-rtic-macros",
|
||||
"heapless",
|
||||
"rtic-core",
|
||||
"rtic-monotonic",
|
||||
"version_check",
|
||||
]
|
||||
|
||||
[[package]]
|
||||
name = "cortex-m-rtic-macros"
|
||||
version = "1.1.5"
|
||||
name = "crc"
|
||||
version = "3.0.1"
|
||||
source = "registry+https://github.com/rust-lang/crates.io-index"
|
||||
checksum = "9e8e9645ef54bec1cf70ac33e9bf9566e6507ab5b41ae6baf3735662194e8607"
|
||||
checksum = "86ec7a15cbe22e59248fc7eadb1907dab5ba09372595da4d73dd805ed4417dfe"
|
||||
dependencies = [
|
||||
"proc-macro-error",
|
||||
"proc-macro2",
|
||||
"quote",
|
||||
"rtic-syntax",
|
||||
"syn",
|
||||
"crc-catalog",
|
||||
]
|
||||
|
||||
[[package]]
|
||||
name = "crc-catalog"
|
||||
version = "2.4.0"
|
||||
source = "registry+https://github.com/rust-lang/crates.io-index"
|
||||
checksum = "19d374276b40fb8bbdee95aef7c7fa6b5316ec764510eb64b8dd0e2ed0d7e7f5"
|
||||
|
||||
[[package]]
|
||||
name = "critical-section"
|
||||
version = "1.1.1"
|
||||
version = "1.1.2"
|
||||
source = "registry+https://github.com/rust-lang/crates.io-index"
|
||||
checksum = "6548a0ad5d2549e111e1f6a11a6c2e2d00ce6a3dafe22948d67c2b443f775e52"
|
||||
checksum = "7059fff8937831a9ae6f0fe4d658ffabf58f2ca96aa9dec1c889f936f705f216"
|
||||
|
||||
[[package]]
|
||||
name = "darling"
|
||||
version = "0.14.2"
|
||||
version = "0.20.8"
|
||||
source = "registry+https://github.com/rust-lang/crates.io-index"
|
||||
checksum = "b0dd3cd20dc6b5a876612a6e5accfe7f3dd883db6d07acfbf14c128f61550dfa"
|
||||
checksum = "54e36fcd13ed84ffdfda6f5be89b31287cbb80c439841fe69e04841435464391"
|
||||
dependencies = [
|
||||
"darling_core",
|
||||
"darling_macro",
|
||||
@ -173,26 +181,102 @@ dependencies = [
|
||||
|
||||
[[package]]
|
||||
name = "darling_core"
|
||||
version = "0.14.2"
|
||||
version = "0.20.8"
|
||||
source = "registry+https://github.com/rust-lang/crates.io-index"
|
||||
checksum = "a784d2ccaf7c98501746bf0be29b2022ba41fd62a2e622af997a03e9f972859f"
|
||||
checksum = "9c2cf1c23a687a1feeb728783b993c4e1ad83d99f351801977dd809b48d0a70f"
|
||||
dependencies = [
|
||||
"fnv",
|
||||
"ident_case",
|
||||
"proc-macro2",
|
||||
"quote",
|
||||
"syn",
|
||||
"syn 2.0.53",
|
||||
]
|
||||
|
||||
[[package]]
|
||||
name = "darling_macro"
|
||||
version = "0.14.2"
|
||||
version = "0.20.8"
|
||||
source = "registry+https://github.com/rust-lang/crates.io-index"
|
||||
checksum = "7618812407e9402654622dd402b0a89dff9ba93badd6540781526117b92aab7e"
|
||||
checksum = "a668eda54683121533a393014d8692171709ff57a7d61f187b6e782719f8933f"
|
||||
dependencies = [
|
||||
"darling_core",
|
||||
"quote",
|
||||
"syn",
|
||||
"syn 2.0.53",
|
||||
]
|
||||
|
||||
[[package]]
|
||||
name = "defmt"
|
||||
version = "0.3.6"
|
||||
source = "registry+https://github.com/rust-lang/crates.io-index"
|
||||
checksum = "3939552907426de152b3c2c6f51ed53f98f448babd26f28694c95f5906194595"
|
||||
dependencies = [
|
||||
"bitflags",
|
||||
"defmt-macros",
|
||||
]
|
||||
|
||||
[[package]]
|
||||
name = "defmt-brtt"
|
||||
version = "0.1.1"
|
||||
source = "registry+https://github.com/rust-lang/crates.io-index"
|
||||
checksum = "c2f0ac3635d0c89d12b8101fcb44a7625f5f030a1c0491124b74467eb5a58a78"
|
||||
dependencies = [
|
||||
"critical-section",
|
||||
"defmt",
|
||||
]
|
||||
|
||||
[[package]]
|
||||
name = "defmt-macros"
|
||||
version = "0.3.7"
|
||||
source = "registry+https://github.com/rust-lang/crates.io-index"
|
||||
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|
||||
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|
||||
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|
||||
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|
||||
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|
||||
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|
||||
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|
||||
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|
||||
|
||||
[[package]]
|
||||
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||||
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|
||||
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|
||||
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|
||||
|
||||
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|
||||
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|
||||
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|
||||
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|
||||
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|
||||
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|
||||
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|
||||
|
||||
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|
||||
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|
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||||
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|
||||
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|
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|
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|
||||
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|
||||
|
||||
[[package]]
|
||||
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|
||||
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||||
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|
||||
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|
||||
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|
||||
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|
||||
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|
||||
|
||||
[[package]]
|
||||
@ -214,6 +298,12 @@ dependencies = [
|
||||
"void",
|
||||
]
|
||||
|
||||
[[package]]
|
||||
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|
||||
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||||
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|
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||||
@ -225,25 +315,31 @@ dependencies = [
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||||
|
||||
[[package]]
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|
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|
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|
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|
||||
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|
||||
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|
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|
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|
||||
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|
||||
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|
||||
|
||||
[[package]]
|
||||
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|
||||
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|
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|
||||
|
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|
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|
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|
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@ -252,18 +348,42 @@ checksum = "3f9eec918d3f24069decb9af1554cad7c880e2da24a9afd88aca000531ab82c1"
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|
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[[package]]
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||||
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|
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|
||||
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|
||||
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|
||||
|
||||
[[package]]
|
||||
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|
||||
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|
||||
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|
||||
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|
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||||
|
||||
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|
||||
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|
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||||
|
||||
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|
||||
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||||
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|
||||
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|
||||
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|
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|
||||
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|
||||
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|
||||
|
||||
[[package]]
|
||||
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|
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|
||||
|
||||
[[package]]
|
||||
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|
||||
@ -276,9 +396,9 @@ dependencies = [
|
||||
|
||||
[[package]]
|
||||
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|
||||
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|
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|
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|
||||
@ -286,29 +406,26 @@ dependencies = [
|
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|
||||
[[package]]
|
||||
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|
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|
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@ -320,41 +437,14 @@ checksum = "b9e0384b61958566e926dc50660321d12159025e767c18e043daf26b70104c39"
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|
||||
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|
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|
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|
||||
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|
||||
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|
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|
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|
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|
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@ -381,14 +471,14 @@ version = "0.1.3"
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|
||||
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|
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|
||||
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|
||||
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|
||||
@ -414,19 +504,18 @@ dependencies = [
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|
||||
[[package]]
|
||||
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|
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|
||||
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|
||||
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|
||||
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||||
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|
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|
||||
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|
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||||
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|
||||
|
||||
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|
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||||
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||||
|
||||
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|
||||
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||||
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||||
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||||
|
||||
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|
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||||
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||||
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|
||||
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|
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|
||||
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|
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@ -494,31 +616,54 @@ dependencies = [
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|
||||
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|
||||
checksum = "291ec9ab5efd934aaf503a6466c5d5251535d108ee747472c3977cc5acc868ef"
|
||||
dependencies = [
|
||||
"proc-macro2",
|
||||
]
|
||||
|
||||
[[package]]
|
||||
name = "rtcc"
|
||||
version = "0.3.0"
|
||||
version = "0.3.1"
|
||||
source = "registry+https://github.com/rust-lang/crates.io-index"
|
||||
checksum = "3623619ce77c09a7d87cf7c61c5c887b9c7dee8805f66af6c4aa5824be4d9930"
|
||||
checksum = "f4fbd0d5bed2b76e27a7ef872568b34072c1af94c277cd52c17a89d54673b3fe"
|
||||
dependencies = [
|
||||
"chrono",
|
||||
]
|
||||
|
||||
[[package]]
|
||||
name = "rtic"
|
||||
version = "2.1.1"
|
||||
source = "registry+https://github.com/rust-lang/crates.io-index"
|
||||
checksum = "c443db16326376bdd64377da268f6616d5f804aba8ce799bac7d1f7f244e9d51"
|
||||
dependencies = [
|
||||
"atomic-polyfill",
|
||||
"bare-metal 1.0.0",
|
||||
"cortex-m",
|
||||
"critical-section",
|
||||
"rtic-core",
|
||||
"rtic-macros",
|
||||
]
|
||||
|
||||
[[package]]
|
||||
name = "rtic-common"
|
||||
version = "1.0.0"
|
||||
source = "registry+https://github.com/rust-lang/crates.io-index"
|
||||
checksum = "0786b50b81ef9d2a944a000f60405bb28bf30cd45da2d182f3fe636b2321f35c"
|
||||
dependencies = [
|
||||
"critical-section",
|
||||
]
|
||||
|
||||
[[package]]
|
||||
name = "rtic-core"
|
||||
version = "1.0.0"
|
||||
@ -526,21 +671,41 @@ source = "registry+https://github.com/rust-lang/crates.io-index"
|
||||
checksum = "d9369355b04d06a3780ec0f51ea2d225624db777acbc60abd8ca4832da5c1a42"
|
||||
|
||||
[[package]]
|
||||
name = "rtic-monotonic"
|
||||
version = "1.0.0"
|
||||
name = "rtic-macros"
|
||||
version = "2.1.0"
|
||||
source = "registry+https://github.com/rust-lang/crates.io-index"
|
||||
checksum = "fb8b0b822d1a366470b9cea83a1d4e788392db763539dc4ba022bcc787fece82"
|
||||
|
||||
[[package]]
|
||||
name = "rtic-syntax"
|
||||
version = "1.0.2"
|
||||
source = "registry+https://github.com/rust-lang/crates.io-index"
|
||||
checksum = "3ad3ae243dd8d0a1b064615f664d4fa7e63929939074c564cbe5efdc4c503065"
|
||||
checksum = "54053598ea24b1b74937724e366558412a1777eb2680b91ef646db540982789a"
|
||||
dependencies = [
|
||||
"indexmap",
|
||||
"proc-macro-error",
|
||||
"proc-macro2",
|
||||
"quote",
|
||||
"syn",
|
||||
"syn 2.0.53",
|
||||
]
|
||||
|
||||
[[package]]
|
||||
name = "rtic-monotonics"
|
||||
version = "1.5.0"
|
||||
source = "registry+https://github.com/rust-lang/crates.io-index"
|
||||
checksum = "058c2397dbd5bb4c5650a0e368c3920953e458805ff5097a0511b8147b3619d7"
|
||||
dependencies = [
|
||||
"atomic-polyfill",
|
||||
"cfg-if",
|
||||
"cortex-m",
|
||||
"embedded-hal 1.0.0",
|
||||
"fugit",
|
||||
"rtic-time",
|
||||
]
|
||||
|
||||
[[package]]
|
||||
name = "rtic-time"
|
||||
version = "1.3.0"
|
||||
source = "registry+https://github.com/rust-lang/crates.io-index"
|
||||
checksum = "75b232e7aebc045cfea81cdd164bc2727a10aca9a4568d406d0a5661cdfd0f19"
|
||||
dependencies = [
|
||||
"critical-section",
|
||||
"futures-util",
|
||||
"rtic-common",
|
||||
]
|
||||
|
||||
[[package]]
|
||||
@ -558,31 +723,56 @@ version = "0.4.0"
|
||||
source = "registry+https://github.com/rust-lang/crates.io-index"
|
||||
checksum = "bfa0f585226d2e68097d4f95d113b15b83a82e819ab25717ec0590d9584ef366"
|
||||
dependencies = [
|
||||
"semver 1.0.16",
|
||||
"semver 1.0.22",
|
||||
]
|
||||
|
||||
[[package]]
|
||||
name = "sat-rs-example-stm32f-disco"
|
||||
name = "satrs"
|
||||
version = "0.2.0-rc.0"
|
||||
source = "registry+https://github.com/rust-lang/crates.io-index"
|
||||
checksum = "c8cb19cba46a45047ff0879ebfbf9d6ae1c5b2e0e38b2e08760b10a441d4dae6"
|
||||
dependencies = [
|
||||
"cobs 0.2.3 (registry+https://github.com/rust-lang/crates.io-index)",
|
||||
"crc",
|
||||
"delegate",
|
||||
"num-traits",
|
||||
"num_enum",
|
||||
"paste",
|
||||
"satrs-shared",
|
||||
"smallvec",
|
||||
"spacepackets",
|
||||
]
|
||||
|
||||
[[package]]
|
||||
name = "satrs-example-stm32f3-disco"
|
||||
version = "0.1.0"
|
||||
dependencies = [
|
||||
"cobs 0.2.3 (git+https://github.com/robamu/cobs.rs.git?branch=all_features)",
|
||||
"cortex-m",
|
||||
"cortex-m-rt",
|
||||
"cortex-m-rtic",
|
||||
"embedded-hal",
|
||||
"cortex-m-semihosting",
|
||||
"defmt",
|
||||
"defmt-brtt",
|
||||
"defmt-test",
|
||||
"embedded-hal 0.2.7",
|
||||
"enumset",
|
||||
"heapless",
|
||||
"itm_logger",
|
||||
"panic-itm",
|
||||
"panic-probe",
|
||||
"rtic",
|
||||
"rtic-monotonics",
|
||||
"satrs",
|
||||
"stm32f3-discovery",
|
||||
"stm32f3xx-hal",
|
||||
"systick-monotonic",
|
||||
]
|
||||
|
||||
[[package]]
|
||||
name = "scopeguard"
|
||||
version = "1.1.0"
|
||||
name = "satrs-shared"
|
||||
version = "0.1.2"
|
||||
source = "registry+https://github.com/rust-lang/crates.io-index"
|
||||
checksum = "d29ab0c6d3fc0ee92fe66e2d99f700eab17a8d57d1c1d3b748380fb20baa78cd"
|
||||
checksum = "75a402ba556a7f5eef707035b45e64a3259b09674311e98697f3dd0508a1bf51"
|
||||
dependencies = [
|
||||
"spacepackets",
|
||||
]
|
||||
|
||||
[[package]]
|
||||
name = "semver"
|
||||
@ -595,9 +785,9 @@ dependencies = [
|
||||
|
||||
[[package]]
|
||||
name = "semver"
|
||||
version = "1.0.16"
|
||||
version = "1.0.22"
|
||||
source = "registry+https://github.com/rust-lang/crates.io-index"
|
||||
checksum = "58bc9567378fc7690d6b2addae4e60ac2eeea07becb2c64b9f218b53865cba2a"
|
||||
checksum = "92d43fe69e652f3df9bdc2b85b2854a0825b86e4fb76bc44d945137d053639ca"
|
||||
|
||||
[[package]]
|
||||
name = "semver-parser"
|
||||
@ -607,17 +797,28 @@ checksum = "388a1df253eca08550bef6c72392cfe7c30914bf41df5269b68cbd6ff8f570a3"
|
||||
|
||||
[[package]]
|
||||
name = "slice-group-by"
|
||||
version = "0.3.0"
|
||||
version = "0.3.1"
|
||||
source = "registry+https://github.com/rust-lang/crates.io-index"
|
||||
checksum = "03b634d87b960ab1a38c4fe143b508576f075e7c978bfad18217645ebfdfa2ec"
|
||||
checksum = "826167069c09b99d56f31e9ae5c99049e932a98c9dc2dac47645b08dbbf76ba7"
|
||||
|
||||
[[package]]
|
||||
name = "spin"
|
||||
version = "0.9.4"
|
||||
name = "smallvec"
|
||||
version = "1.13.2"
|
||||
source = "registry+https://github.com/rust-lang/crates.io-index"
|
||||
checksum = "7f6002a767bff9e83f8eeecf883ecb8011875a21ae8da43bffb817a57e78cc09"
|
||||
checksum = "3c5e1a9a646d36c3599cd173a41282daf47c44583ad367b8e6837255952e5c67"
|
||||
|
||||
[[package]]
|
||||
name = "spacepackets"
|
||||
version = "0.10.0"
|
||||
source = "registry+https://github.com/rust-lang/crates.io-index"
|
||||
checksum = "28246ae2451af240c3e3ff3c51363c7b6ad565ca6aa9bad23b8c725687c485e1"
|
||||
dependencies = [
|
||||
"lock_api",
|
||||
"chrono",
|
||||
"crc",
|
||||
"delegate",
|
||||
"num-traits",
|
||||
"num_enum",
|
||||
"zerocopy",
|
||||
]
|
||||
|
||||
[[package]]
|
||||
@ -639,9 +840,9 @@ dependencies = [
|
||||
|
||||
[[package]]
|
||||
name = "stm32f3"
|
||||
version = "0.14.0"
|
||||
version = "0.15.1"
|
||||
source = "registry+https://github.com/rust-lang/crates.io-index"
|
||||
checksum = "265cda62ac13307414de4aca58dbbbd8038ddba85cffbb335823aa216f2e3200"
|
||||
checksum = "b28b37228ef3fa47956af38c6abd756e912f244c1657f14e66d42fc8d74ea96f"
|
||||
dependencies = [
|
||||
"bare-metal 1.0.0",
|
||||
"cortex-m",
|
||||
@ -651,7 +852,8 @@ dependencies = [
|
||||
|
||||
[[package]]
|
||||
name = "stm32f3-discovery"
|
||||
version = "0.8.0-pre.0"
|
||||
version = "0.8.0-alpha.0"
|
||||
source = "git+https://github.com/robamu/stm32f3-discovery?branch=complete-dma-update-hal#5ccacae07ceff02d7d3649df67a6a0ba2a144752"
|
||||
dependencies = [
|
||||
"accelerometer",
|
||||
"cortex-m",
|
||||
@ -663,20 +865,20 @@ dependencies = [
|
||||
|
||||
[[package]]
|
||||
name = "stm32f3xx-hal"
|
||||
version = "0.9.1"
|
||||
source = "registry+https://github.com/rust-lang/crates.io-index"
|
||||
checksum = "4e422c5c044e8f3a068b1e14b83c071449e27c9d4bc0e24f972b552d79f2be03"
|
||||
version = "0.11.0-alpha.0"
|
||||
source = "git+https://github.com/robamu/stm32f3xx-hal?branch=complete-dma-update#04fc76b7912649c84b57bd0ab803ea3ccf2aadae"
|
||||
dependencies = [
|
||||
"bare-metal 1.0.0",
|
||||
"bxcan",
|
||||
"cfg-if",
|
||||
"cortex-m",
|
||||
"cortex-m-rt",
|
||||
"critical-section",
|
||||
"embedded-dma",
|
||||
"embedded-hal",
|
||||
"embedded-hal 0.2.7",
|
||||
"embedded-time",
|
||||
"enumset",
|
||||
"nb 1.0.0",
|
||||
"nb 1.1.0",
|
||||
"num-traits",
|
||||
"paste",
|
||||
"rtcc",
|
||||
"slice-group-by",
|
||||
@ -691,14 +893,14 @@ version = "0.4.0"
|
||||
source = "registry+https://github.com/rust-lang/crates.io-index"
|
||||
checksum = "90a4adc8cbd1726249b161898e48e0f3f1ce74d34dc784cbbc98fba4ed283fbf"
|
||||
dependencies = [
|
||||
"embedded-hal",
|
||||
"embedded-hal 0.2.7",
|
||||
]
|
||||
|
||||
[[package]]
|
||||
name = "syn"
|
||||
version = "1.0.107"
|
||||
version = "1.0.109"
|
||||
source = "registry+https://github.com/rust-lang/crates.io-index"
|
||||
checksum = "1f4064b5b16e03ae50984a5a8ed5d4f8803e6bc1fd170a3cda91a1be4b18e3f5"
|
||||
checksum = "72b64191b275b66ffe2469e8af2c1cfe3bafa67b529ead792a6d0160888b4237"
|
||||
dependencies = [
|
||||
"proc-macro2",
|
||||
"quote",
|
||||
@ -706,27 +908,47 @@ dependencies = [
|
||||
]
|
||||
|
||||
[[package]]
|
||||
name = "systick-monotonic"
|
||||
version = "1.0.1"
|
||||
name = "syn"
|
||||
version = "2.0.53"
|
||||
source = "registry+https://github.com/rust-lang/crates.io-index"
|
||||
checksum = "67fb822d5c615a0ae3a4795ee5b1d06381c7faf488d861c0a4fa8e6a88d5ff84"
|
||||
checksum = "7383cd0e49fff4b6b90ca5670bfd3e9d6a733b3f90c686605aa7eec8c4996032"
|
||||
dependencies = [
|
||||
"cortex-m",
|
||||
"fugit",
|
||||
"rtic-monotonic",
|
||||
"proc-macro2",
|
||||
"quote",
|
||||
"unicode-ident",
|
||||
]
|
||||
|
||||
[[package]]
|
||||
name = "thiserror"
|
||||
version = "1.0.58"
|
||||
source = "registry+https://github.com/rust-lang/crates.io-index"
|
||||
checksum = "03468839009160513471e86a034bb2c5c0e4baae3b43f79ffc55c4a5427b3297"
|
||||
dependencies = [
|
||||
"thiserror-impl",
|
||||
]
|
||||
|
||||
[[package]]
|
||||
name = "thiserror-impl"
|
||||
version = "1.0.58"
|
||||
source = "registry+https://github.com/rust-lang/crates.io-index"
|
||||
checksum = "c61f3ba182994efc43764a46c018c347bc492c79f024e705f46567b418f6d4f7"
|
||||
dependencies = [
|
||||
"proc-macro2",
|
||||
"quote",
|
||||
"syn 2.0.53",
|
||||
]
|
||||
|
||||
[[package]]
|
||||
name = "typenum"
|
||||
version = "1.16.0"
|
||||
version = "1.17.0"
|
||||
source = "registry+https://github.com/rust-lang/crates.io-index"
|
||||
checksum = "497961ef93d974e23eb6f433eb5fe1b7930b659f06d12dec6fc44a8f554c0bba"
|
||||
checksum = "42ff0bf0c66b8238c6f3b578df37d0b7848e55df8577b3f74f92a69acceeb825"
|
||||
|
||||
[[package]]
|
||||
name = "unicode-ident"
|
||||
version = "1.0.6"
|
||||
version = "1.0.12"
|
||||
source = "registry+https://github.com/rust-lang/crates.io-index"
|
||||
checksum = "84a22b9f218b40614adcb3f4ff08b703773ad44fa9423e4e0d346d5db86e4ebc"
|
||||
checksum = "3354b9ac3fae1ff6755cb6db53683adb661634f67557942dea4facebec0fee4b"
|
||||
|
||||
[[package]]
|
||||
name = "usb-device"
|
||||
@ -754,9 +976,30 @@ checksum = "6a02e4885ed3bc0f2de90ea6dd45ebcbb66dacffe03547fadbb0eeae2770887d"
|
||||
|
||||
[[package]]
|
||||
name = "volatile-register"
|
||||
version = "0.2.1"
|
||||
version = "0.2.2"
|
||||
source = "registry+https://github.com/rust-lang/crates.io-index"
|
||||
checksum = "9ee8f19f9d74293faf70901bc20ad067dc1ad390d2cbf1e3f75f721ffee908b6"
|
||||
checksum = "de437e2a6208b014ab52972a27e59b33fa2920d3e00fe05026167a1c509d19cc"
|
||||
dependencies = [
|
||||
"vcell",
|
||||
]
|
||||
|
||||
[[package]]
|
||||
name = "zerocopy"
|
||||
version = "0.7.32"
|
||||
source = "registry+https://github.com/rust-lang/crates.io-index"
|
||||
checksum = "74d4d3961e53fa4c9a25a8637fc2bfaf2595b3d3ae34875568a5cf64787716be"
|
||||
dependencies = [
|
||||
"byteorder",
|
||||
"zerocopy-derive",
|
||||
]
|
||||
|
||||
[[package]]
|
||||
name = "zerocopy-derive"
|
||||
version = "0.7.32"
|
||||
source = "registry+https://github.com/rust-lang/crates.io-index"
|
||||
checksum = "9ce1b18ccd8e73a9321186f97e46f9f04b778851177567b1975109d26a08d2a6"
|
||||
dependencies = [
|
||||
"proc-macro2",
|
||||
"quote",
|
||||
"syn 2.0.53",
|
||||
]
|
||||
|
||||
@ -2,58 +2,81 @@
|
||||
name = "satrs-example-stm32f3-disco"
|
||||
version = "0.1.0"
|
||||
edition = "2021"
|
||||
default-run = "satrs-example-stm32f3-disco"
|
||||
|
||||
# See more keys and their definitions at https://doc.rust-lang.org/cargo/reference/manifest.html
|
||||
|
||||
[dependencies]
|
||||
cortex-m = "0.7"
|
||||
cortex-m = { version = "0.7", features = ["critical-section-single-core"] }
|
||||
cortex-m-rt = "0.7"
|
||||
embedded-hal = "0.2.6"
|
||||
cortex-m-rtic = "1.0"
|
||||
enumset = "1.0"
|
||||
heapless = "0.7"
|
||||
systick-monotonic = "1.0"
|
||||
defmt = "0.3"
|
||||
defmt-brtt = { version = "0.1", default-features = false, features = ["rtt"] }
|
||||
panic-probe = { version = "0.3", features = ["print-defmt"] }
|
||||
embedded-hal = "0.2.7"
|
||||
cortex-m-semihosting = "0.5.0"
|
||||
enumset = "1"
|
||||
heapless = "0.8"
|
||||
|
||||
[dependencies.rtic]
|
||||
version = "2"
|
||||
features = ["thumbv7-backend"]
|
||||
|
||||
[dependencies.rtic-monotonics]
|
||||
version = "1"
|
||||
features = ["cortex-m-systick"]
|
||||
|
||||
[dependencies.cobs]
|
||||
git = "https://github.com/robamu/cobs.rs.git"
|
||||
branch = "all_features"
|
||||
default-features = false
|
||||
|
||||
[dependencies.panic-itm]
|
||||
version = "0.4"
|
||||
|
||||
[dependencies.itm_logger]
|
||||
git = "https://github.com/robamu/itm_logger.rs.git"
|
||||
branch = "all_features"
|
||||
version = "0.1.3-alpha.0"
|
||||
|
||||
[dependencies.stm32f3xx-hal]
|
||||
git = "https://github.com/robamu/stm32f3xx-hal"
|
||||
version = "0.10.0-alpha.0"
|
||||
version = "0.11.0-alpha.0"
|
||||
features = ["stm32f303xc", "rt", "enumset"]
|
||||
branch = "all_features"
|
||||
branch = "complete-dma-update"
|
||||
# Can be used in workspace to develop and update HAL
|
||||
# path = "../stm32f3xx-hal"
|
||||
|
||||
[dependencies.stm32f3-discovery]
|
||||
git = "https://github.com/robamu/stm32f3-discovery"
|
||||
version = "0.8.0-alpha.0"
|
||||
branch = "all_features"
|
||||
branch = "complete-dma-update-hal"
|
||||
# Can be used in workspace to develop and update BSP
|
||||
# path = "../stm32f3-discovery"
|
||||
|
||||
[dependencies.satrs-core]
|
||||
git = "https://egit.irs.uni-stuttgart.de/rust/satrs-core.git"
|
||||
version = "0.1.0-alpha.0"
|
||||
[dependencies.satrs]
|
||||
version = "0.2.0-rc.0"
|
||||
default-features = false
|
||||
|
||||
# this lets you use `cargo fix`!
|
||||
# [[bin]]
|
||||
# name = "stm32f3-blinky"
|
||||
# test = false
|
||||
# bench = false
|
||||
[dev-dependencies]
|
||||
defmt-test = "0.3"
|
||||
|
||||
# cargo test
|
||||
[profile.test]
|
||||
codegen-units = 1
|
||||
debug = 2
|
||||
debug-assertions = true # <-
|
||||
incremental = false
|
||||
opt-level = "s" # <-
|
||||
overflow-checks = true # <-
|
||||
|
||||
# cargo build/run --release
|
||||
[profile.release]
|
||||
codegen-units = 1 # better optimizations
|
||||
debug = true # symbols are nice and they don't increase the size on Flash
|
||||
lto = true # better optimizations
|
||||
codegen-units = 1
|
||||
debug = 2
|
||||
debug-assertions = false # <-
|
||||
incremental = false
|
||||
lto = 'fat'
|
||||
opt-level = "s" # <-
|
||||
overflow-checks = false # <-
|
||||
|
||||
# cargo test --release
|
||||
[profile.bench]
|
||||
codegen-units = 1
|
||||
debug = 2
|
||||
debug-assertions = false # <-
|
||||
incremental = false
|
||||
lto = 'fat'
|
||||
opt-level = "s" # <-
|
||||
overflow-checks = false # <-
|
||||
|
||||
@ -2,15 +2,25 @@ sat-rs example for the STM32F3-Discovery board
|
||||
=======
|
||||
|
||||
This example application shows how the [sat-rs framework](https://egit.irs.uni-stuttgart.de/rust/satrs-launchpad)
|
||||
can be used on an embedded target. It also shows how a relatively simple OBSW could be built when no
|
||||
standard runtime is available. It uses [RTIC](https://rtic.rs/1/book/en/) as the concurrency
|
||||
framework.
|
||||
can be used on an embedded target.
|
||||
It also shows how a relatively simple OBSW could be built when no standard runtime is available.
|
||||
It uses [RTIC](https://rtic.rs/1/book/en/) as the concurrency framework and the
|
||||
[defmt](https://defmt.ferrous-systems.com/) framework for logging.
|
||||
|
||||
The STM32F3-Discovery device was picked because it is a cheap Cortex-M4 based device which is also
|
||||
used by the [Rust Embedded Book](https://docs.rust-embedded.org/book/intro/hardware.html) and the
|
||||
[Rust Discovery](https://docs.rust-embedded.org/discovery/f3discovery/) book as an introduction
|
||||
to embedded Rust.
|
||||
|
||||
## Pre-Requisites
|
||||
|
||||
Make sure the following tools are installed:
|
||||
|
||||
1. [`probe-rs`](https://probe.rs/): Application used to flash and debug the MCU.
|
||||
2. Optional and recommended: [VS Code](https://code.visualstudio.com/) with
|
||||
[probe-rs plugin](https://marketplace.visualstudio.com/items?itemName=probe-rs.probe-rs-debugger)
|
||||
for debugging.
|
||||
|
||||
## Preparing Rust and the repository
|
||||
|
||||
Building an application requires the `thumbv7em-none-eabihf` cross-compiler toolchain.
|
||||
@ -40,15 +50,23 @@ you can simply build the application with
|
||||
cargo build
|
||||
```
|
||||
|
||||
## Flashing and Debugging from the command line
|
||||
## Flashing from the command line
|
||||
|
||||
TODO
|
||||
You can flash the application from the command line using `probe-rs`:
|
||||
|
||||
```sh
|
||||
probe-rs run --chip STM32F303VCTx
|
||||
```
|
||||
|
||||
## Debugging with VS Code
|
||||
|
||||
The STM32F3-Discovery comes with an on-board ST-Link so all that is required to flash and debug
|
||||
the board is a Mini-USB cable. The code in this repository was debugged using `openocd`
|
||||
and the VS Code [`Cortex-Debug` plugin](https://marketplace.visualstudio.com/items?itemName=marus25.cortex-debug).
|
||||
the board is a Mini-USB cable. The code in this repository was debugged using [`probe-rs`](https://probe.rs/docs/tools/debuggerA)
|
||||
and the VS Code [`probe-rs` plugin](https://marketplace.visualstudio.com/items?itemName=probe-rs.probe-rs-debugger).
|
||||
Make sure to install this plugin first.
|
||||
|
||||
Sample configuration files are provided inside the `vscode` folder.
|
||||
Use `cp vscode .vscode -r` to use them for your project.
|
||||
|
||||
Some sample configuration files for VS Code were provided as well. You can simply use `Run` and `Debug`
|
||||
to automatically rebuild and flash your application.
|
||||
@ -56,20 +74,32 @@ to automatically rebuild and flash your application.
|
||||
The `tasks.json` and `launch.json` files are generic and you can use them immediately by opening
|
||||
the folder in VS code or adding it to a workspace.
|
||||
|
||||
If you would like to use a custom GDB application, you can specify the gdb binary in the following
|
||||
configuration variables in your `settings.json`:
|
||||
|
||||
- `"cortex-debug.gdbPath"`
|
||||
- `"cortex-debug.gdbPath.linux"`
|
||||
- `"cortex-debug.gdbPath.windows"`
|
||||
- `"cortex-debug.gdbPath.osx"`
|
||||
|
||||
## Commanding with Python
|
||||
|
||||
When the SW is running on the Discovery board, you can command the MCU via a serial interface,
|
||||
using COBS encoded CCSDS packets.
|
||||
using COBS encoded PUS packets.
|
||||
|
||||
TODO:
|
||||
- How and where to connect serial interface on the MCU
|
||||
- How to set up Python venv (or at least strongly recommend it) and install deps
|
||||
- How to copy `def_tmtc_conf.json` to `tmtc_conf.json` and adapt it for custom serial port
|
||||
It is recommended to use a virtual environment to do this. To set up one in the command line,
|
||||
you can use `python3 -m venv venv` on Unix systems or `py -m venv venv` on Windows systems.
|
||||
After doing this, you can check the [venv tutorial](https://docs.python.org/3/tutorial/venv.html)
|
||||
on how to activate the environment and then use the following command to install the required
|
||||
dependency:
|
||||
|
||||
```sh
|
||||
pip install -r requirements.txt
|
||||
```
|
||||
|
||||
The packets are exchanged using a dedicated serial interface. You can use any generic USB-to-UART
|
||||
converter device with the TX pin connected to the PA3 pin and the RX pin connected to the PA2 pin.
|
||||
|
||||
A default configuration file for the python application is provided and can be used by running
|
||||
|
||||
```sh
|
||||
cp def_tmtc_conf.json tmtc_conf.json
|
||||
```
|
||||
|
||||
After that, you can for example send a ping to the MCU using the following command
|
||||
|
||||
```sh
|
||||
./main.py -p /ping
|
||||
```
|
||||
|
||||
38601
satrs-example-stm32f3-disco/STM32F303.svd
Normal file
38601
satrs-example-stm32f3-disco/STM32F303.svd
Normal file
File diff suppressed because it is too large
Load Diff
@ -1,18 +0,0 @@
|
||||
use std::env;
|
||||
use std::fs::File;
|
||||
use std::io::Write;
|
||||
use std::path::PathBuf;
|
||||
|
||||
fn main() {
|
||||
// Put the linker script somewhere the linker can find it
|
||||
let out = &PathBuf::from(env::var_os("OUT_DIR").unwrap());
|
||||
File::create(out.join("memory.x"))
|
||||
.unwrap()
|
||||
.write_all(include_bytes!("memory.x"))
|
||||
.unwrap();
|
||||
println!("cargo:rustc-link-search={}", out.display());
|
||||
|
||||
// Only re-run the build script when memory.x is changed,
|
||||
// instead of when any part of the source code changes.
|
||||
println!("cargo:rerun-if-changed=memory.x");
|
||||
}
|
||||
@ -24,7 +24,9 @@ break main
|
||||
# # send captured ITM to the file itm.fifo
|
||||
# # (the microcontroller SWO pin must be connected to the programmer SWO pin)
|
||||
# # 8000000 must match the core clock frequency
|
||||
monitor tpiu config internal itm.txt uart off 8000000
|
||||
# # 2000000 is the frequency of the SWO pin. This was added for newer
|
||||
# openocd versions like v0.12.0.
|
||||
# monitor tpiu config internal itm.txt uart off 8000000 2000000
|
||||
|
||||
# # OR: make the microcontroller SWO pin output compatible with UART (8N1)
|
||||
# # 8000000 must match the core clock frequency
|
||||
@ -32,7 +34,7 @@ monitor tpiu config internal itm.txt uart off 8000000
|
||||
# monitor tpiu config external uart off 8000000 2000000
|
||||
|
||||
# # enable ITM port 0
|
||||
monitor itm port 0 on
|
||||
# monitor itm port 0 on
|
||||
|
||||
load
|
||||
|
||||
@ -1,4 +1,5 @@
|
||||
/venv
|
||||
/.tmtc-history.txt
|
||||
/log
|
||||
/.idea/*
|
||||
!/.idea/runConfigurations
|
||||
|
||||
185
satrs-example-stm32f3-disco/pyclient/main.py
Normal file → Executable file
185
satrs-example-stm32f3-disco/pyclient/main.py
Normal file → Executable file
@ -1,39 +1,40 @@
|
||||
#!/usr/bin/env python3
|
||||
"""Example client for the sat-rs example application"""
|
||||
import enum
|
||||
import struct
|
||||
import logging
|
||||
import sys
|
||||
import time
|
||||
from typing import Optional, cast
|
||||
from typing import Any, Optional, cast
|
||||
from prompt_toolkit.history import FileHistory, History
|
||||
from spacepackets.ecss.tm import CdsShortTimestamp
|
||||
|
||||
import tmtccmd
|
||||
from spacepackets.ecss import PusTelemetry, PusTelecommand, PusVerificator
|
||||
from spacepackets.ecss.pus_17_test import Service17Tm
|
||||
from spacepackets.ecss.pus_1_verification import UnpackParams, Service1Tm
|
||||
|
||||
from tmtccmd import CcsdsTmtcBackend, TcHandlerBase, ProcedureParamsWrapper
|
||||
from tmtccmd import TcHandlerBase, ProcedureParamsWrapper
|
||||
from tmtccmd.core.base import BackendRequest
|
||||
from tmtccmd.core.ccsds_backend import QueueWrapper
|
||||
from tmtccmd.logging import add_colorlog_console_logger
|
||||
from tmtccmd.pus import VerificationWrapper
|
||||
from tmtccmd.tm import CcsdsTmHandler, SpecificApidHandlerBase
|
||||
from tmtccmd.com_if import ComInterface
|
||||
from tmtccmd.tmtc import CcsdsTmHandler, SpecificApidHandlerBase
|
||||
from tmtccmd.com import ComInterface
|
||||
from tmtccmd.config import (
|
||||
CmdTreeNode,
|
||||
default_json_path,
|
||||
SetupParams,
|
||||
TmTcCfgHookBase,
|
||||
TmtcDefinitionWrapper,
|
||||
CoreServiceList,
|
||||
OpCodeEntry,
|
||||
HookBase,
|
||||
params_to_procedure_conversion,
|
||||
)
|
||||
from tmtccmd.config.com_if import SerialCfgWrapper
|
||||
from tmtccmd.config.com import SerialCfgWrapper
|
||||
from tmtccmd.config import PreArgsParsingWrapper, SetupWrapper
|
||||
from tmtccmd.logging import get_console_logger
|
||||
from tmtccmd.logging.pus import (
|
||||
RegularTmtcLogWrapper,
|
||||
RawTmtcTimedLogWrapper,
|
||||
TimedLogWhen,
|
||||
)
|
||||
from tmtccmd.tc import (
|
||||
from tmtccmd.tmtc import (
|
||||
TcQueueEntryType,
|
||||
ProcedureWrapper,
|
||||
TcProcedureType,
|
||||
@ -41,27 +42,26 @@ from tmtccmd.tc import (
|
||||
SendCbParams,
|
||||
DefaultPusQueueHelper,
|
||||
)
|
||||
from tmtccmd.tm.pus_5_event import Service5Tm
|
||||
from tmtccmd.pus.s5_fsfw_event import Service5Tm
|
||||
from tmtccmd.util import FileSeqCountProvider, PusFileSeqCountProvider
|
||||
from tmtccmd.util.obj_id import ObjectIdDictT
|
||||
|
||||
from tmtccmd.util.tmtc_printer import FsfwTmTcPrinter
|
||||
|
||||
LOGGER = get_console_logger()
|
||||
_LOGGER = logging.getLogger()
|
||||
|
||||
EXAMPLE_PUS_APID = 0x02
|
||||
|
||||
|
||||
class SatRsConfigHook(TmTcCfgHookBase):
|
||||
class SatRsConfigHook(HookBase):
|
||||
def __init__(self, json_cfg_path: str):
|
||||
super().__init__(json_cfg_path=json_cfg_path)
|
||||
|
||||
def assign_communication_interface(self, com_if_key: str) -> Optional[ComInterface]:
|
||||
from tmtccmd.config.com_if import (
|
||||
def get_communication_interface(self, com_if_key: str) -> Optional[ComInterface]:
|
||||
from tmtccmd.config.com import (
|
||||
create_com_interface_default,
|
||||
create_com_interface_cfg_default,
|
||||
)
|
||||
|
||||
assert self.cfg_path is not None
|
||||
cfg = create_com_interface_cfg_default(
|
||||
com_if_key=com_if_key,
|
||||
json_cfg_path=self.cfg_path,
|
||||
@ -76,35 +76,14 @@ class SatRsConfigHook(TmTcCfgHookBase):
|
||||
cfg.serial_cfg.serial_timeout = 0.5
|
||||
return create_com_interface_default(cfg)
|
||||
|
||||
def get_tmtc_definitions(self) -> TmtcDefinitionWrapper:
|
||||
from tmtccmd.config.globals import get_default_tmtc_defs
|
||||
def get_command_definitions(self) -> CmdTreeNode:
|
||||
"""This function should return the root node of the command definition tree."""
|
||||
return create_cmd_definition_tree()
|
||||
|
||||
defs = get_default_tmtc_defs()
|
||||
srv_5 = OpCodeEntry()
|
||||
srv_5.add("0", "Event Test")
|
||||
defs.add_service(
|
||||
name=CoreServiceList.SERVICE_5.value,
|
||||
info="PUS Service 5 Event",
|
||||
op_code_entry=srv_5,
|
||||
)
|
||||
srv_17 = OpCodeEntry()
|
||||
srv_17.add("0", "Ping Test")
|
||||
defs.add_service(
|
||||
name=CoreServiceList.SERVICE_17_ALT,
|
||||
info="PUS Service 17 Test",
|
||||
op_code_entry=srv_17,
|
||||
)
|
||||
srv_3 = OpCodeEntry()
|
||||
defs.add_service(
|
||||
name=CoreServiceList.SERVICE_3,
|
||||
info="PUS Service 3 Housekeeping",
|
||||
op_code_entry=srv_3,
|
||||
)
|
||||
return defs
|
||||
|
||||
def perform_mode_operation(self, tmtc_backend: CcsdsTmtcBackend, mode: int):
|
||||
LOGGER.info("Mode operation hook was called")
|
||||
pass
|
||||
def get_cmd_history(self) -> Optional[History]:
|
||||
"""Optionlly return a history class for the past command paths which will be used
|
||||
when prompting a command path from the user in CLI mode."""
|
||||
return FileHistory(".tmtc-history.txt")
|
||||
|
||||
def get_object_ids(self) -> ObjectIdDictT:
|
||||
from tmtccmd.config.objects import get_core_object_ids
|
||||
@ -112,74 +91,75 @@ class SatRsConfigHook(TmTcCfgHookBase):
|
||||
return get_core_object_ids()
|
||||
|
||||
|
||||
def create_cmd_definition_tree() -> CmdTreeNode:
|
||||
root_node = CmdTreeNode.root_node()
|
||||
root_node.add_child(CmdTreeNode("ping", "Send PUS ping TC"))
|
||||
return root_node
|
||||
|
||||
|
||||
class PusHandler(SpecificApidHandlerBase):
|
||||
def __init__(
|
||||
self,
|
||||
file_logger: logging.Logger,
|
||||
verif_wrapper: VerificationWrapper,
|
||||
printer: FsfwTmTcPrinter,
|
||||
raw_logger: RawTmtcTimedLogWrapper,
|
||||
):
|
||||
super().__init__(EXAMPLE_PUS_APID, None)
|
||||
self.printer = printer
|
||||
self.file_logger = file_logger
|
||||
self.raw_logger = raw_logger
|
||||
self.verif_wrapper = verif_wrapper
|
||||
|
||||
def handle_tm(self, packet: bytes, _user_args: any):
|
||||
def handle_tm(self, packet: bytes, _user_args: Any):
|
||||
time_reader = CdsShortTimestamp.empty()
|
||||
try:
|
||||
tm_packet = PusTelemetry.unpack(packet)
|
||||
pus_tm = PusTelemetry.unpack(packet, time_reader=CdsShortTimestamp.empty())
|
||||
except ValueError as e:
|
||||
LOGGER.warning("Could not generate PUS TM object from raw data")
|
||||
LOGGER.warning(f"Raw Packet: [{packet.hex(sep=',')}], REPR: {packet!r}")
|
||||
_LOGGER.warning("Could not generate PUS TM object from raw data")
|
||||
_LOGGER.warning(f"Raw Packet: [{packet.hex(sep=',')}], REPR: {packet!r}")
|
||||
raise e
|
||||
service = tm_packet.service
|
||||
dedicated_handler = False
|
||||
service = pus_tm.service
|
||||
tm_packet = None
|
||||
if service == 1:
|
||||
tm_packet = Service1Tm.unpack(data=packet, params=UnpackParams(1, 2))
|
||||
tm_packet = Service1Tm.unpack(
|
||||
data=packet, params=UnpackParams(time_reader, 1, 2)
|
||||
)
|
||||
res = self.verif_wrapper.add_tm(tm_packet)
|
||||
if res is None:
|
||||
LOGGER.info(
|
||||
_LOGGER.info(
|
||||
f"Received Verification TM[{tm_packet.service}, {tm_packet.subservice}] "
|
||||
f"with Request ID {tm_packet.tc_req_id.as_u32():#08x}"
|
||||
)
|
||||
LOGGER.warning(
|
||||
_LOGGER.warning(
|
||||
f"No matching telecommand found for {tm_packet.tc_req_id}"
|
||||
)
|
||||
else:
|
||||
self.verif_wrapper.log_to_console(tm_packet, res)
|
||||
self.verif_wrapper.log_to_file(tm_packet, res)
|
||||
dedicated_handler = True
|
||||
if service == 3:
|
||||
LOGGER.info("No handling for HK packets implemented")
|
||||
LOGGER.info(f"Raw packet: 0x[{packet.hex(sep=',')}]")
|
||||
pus_tm = PusTelemetry.unpack(packet)
|
||||
_LOGGER.info("No handling for HK packets implemented")
|
||||
_LOGGER.info(f"Raw packet: 0x[{packet.hex(sep=',')}]")
|
||||
pus_tm = PusTelemetry.unpack(packet, CdsShortTimestamp.empty())
|
||||
if pus_tm.subservice == 25:
|
||||
if len(pus_tm.source_data) < 8:
|
||||
raise ValueError("No addressable ID in HK packet")
|
||||
json_str = pus_tm.source_data[8:]
|
||||
dedicated_handler = True
|
||||
_LOGGER.info("received JSON string: " + json_str.decode("utf-8"))
|
||||
if service == 5:
|
||||
tm_packet = Service5Tm.unpack(packet)
|
||||
tm_packet = Service5Tm.unpack(packet, time_reader)
|
||||
if service == 17:
|
||||
tm_packet = Service17Tm.unpack(packet)
|
||||
dedicated_handler = True
|
||||
tm_packet = Service17Tm.unpack(packet, time_reader)
|
||||
if tm_packet.subservice == 2:
|
||||
self.printer.file_logger.info("Received Ping Reply TM[17,2]")
|
||||
LOGGER.info("Received Ping Reply TM[17,2]")
|
||||
_LOGGER.info("Received Ping Reply TM[17,2]")
|
||||
else:
|
||||
self.printer.file_logger.info(
|
||||
f"Received Test Packet with unknown subservice {tm_packet.subservice}"
|
||||
)
|
||||
LOGGER.info(
|
||||
_LOGGER.info(
|
||||
f"Received Test Packet with unknown subservice {tm_packet.subservice}"
|
||||
)
|
||||
if tm_packet is None:
|
||||
LOGGER.info(
|
||||
_LOGGER.info(
|
||||
f"The service {service} is not implemented in Telemetry Factory"
|
||||
)
|
||||
tm_packet = PusTelemetry.unpack(packet)
|
||||
self.raw_logger.log_tm(tm_packet)
|
||||
if not dedicated_handler and tm_packet is not None:
|
||||
self.printer.handle_long_tm_print(packet_if=tm_packet, info_if=tm_packet)
|
||||
tm_packet = PusTelemetry.unpack(packet, time_reader)
|
||||
self.raw_logger.log_tm(pus_tm)
|
||||
|
||||
|
||||
def make_addressable_id(target_id: int, unique_id: int) -> bytes:
|
||||
@ -198,8 +178,11 @@ class TcHandler(TcHandlerBase):
|
||||
self.seq_count_provider = seq_count_provider
|
||||
self.verif_wrapper = verif_wrapper
|
||||
self.queue_helper = DefaultPusQueueHelper(
|
||||
queue_wrapper=None,
|
||||
queue_wrapper=QueueWrapper.empty(),
|
||||
tc_sched_timestamp_len=7,
|
||||
seq_cnt_provider=seq_count_provider,
|
||||
pus_verificator=verif_wrapper.pus_verificator,
|
||||
default_pus_apid=EXAMPLE_PUS_APID,
|
||||
)
|
||||
|
||||
def send_cb(self, send_params: SendCbParams):
|
||||
@ -212,61 +195,55 @@ class TcHandler(TcHandlerBase):
|
||||
)
|
||||
self.verif_wrapper.add_tc(pus_tc_wrapper.pus_tc)
|
||||
raw_tc = pus_tc_wrapper.pus_tc.pack()
|
||||
LOGGER.info(f"Sending {pus_tc_wrapper.pus_tc}")
|
||||
_LOGGER.info(f"Sending {pus_tc_wrapper.pus_tc}")
|
||||
send_params.com_if.send(raw_tc)
|
||||
elif entry_helper.entry_type == TcQueueEntryType.LOG:
|
||||
log_entry = entry_helper.to_log_entry()
|
||||
LOGGER.info(log_entry.log_str)
|
||||
_LOGGER.info(log_entry.log_str)
|
||||
|
||||
def queue_finished_cb(self, helper: ProcedureWrapper):
|
||||
if helper.proc_type == TcProcedureType.DEFAULT:
|
||||
def_proc = helper.to_def_procedure()
|
||||
LOGGER.info(
|
||||
f"Queue handling finished for service {def_proc.service} and "
|
||||
f"op code {def_proc.op_code}"
|
||||
)
|
||||
def queue_finished_cb(self, info: ProcedureWrapper):
|
||||
if info.proc_type == TcProcedureType.DEFAULT:
|
||||
def_proc = info.to_def_procedure()
|
||||
_LOGGER.info(f"Queue handling finished for command {def_proc.cmd_path}")
|
||||
|
||||
def feed_cb(self, helper: ProcedureWrapper, wrapper: FeedWrapper):
|
||||
def feed_cb(self, info: ProcedureWrapper, wrapper: FeedWrapper):
|
||||
q = self.queue_helper
|
||||
q.queue_wrapper = wrapper.queue_wrapper
|
||||
if helper.proc_type == TcProcedureType.DEFAULT:
|
||||
def_proc = helper.to_def_procedure()
|
||||
service = def_proc.service
|
||||
op_code = def_proc.op_code
|
||||
if (
|
||||
service == CoreServiceList.SERVICE_17
|
||||
or service == CoreServiceList.SERVICE_17_ALT
|
||||
):
|
||||
if info.proc_type == TcProcedureType.DEFAULT:
|
||||
def_proc = info.to_def_procedure()
|
||||
cmd_path = def_proc.cmd_path
|
||||
if cmd_path == "/ping":
|
||||
q.add_log_cmd("Sending PUS ping telecommand")
|
||||
return q.add_pus_tc(PusTelecommand(service=17, subservice=1))
|
||||
q.add_pus_tc(PusTelecommand(service=17, subservice=1))
|
||||
|
||||
|
||||
def main():
|
||||
add_colorlog_console_logger(_LOGGER)
|
||||
tmtccmd.init_printout(False)
|
||||
hook_obj = SatRsConfigHook(json_cfg_path=default_json_path())
|
||||
parser_wrapper = PreArgsParsingWrapper()
|
||||
parser_wrapper.create_default_parent_parser()
|
||||
parser_wrapper.create_default_parser()
|
||||
parser_wrapper.add_def_proc_args()
|
||||
post_args_wrapper = parser_wrapper.parse(hook_obj)
|
||||
params = SetupParams()
|
||||
post_args_wrapper = parser_wrapper.parse(hook_obj, params)
|
||||
proc_wrapper = ProcedureParamsWrapper()
|
||||
if post_args_wrapper.use_gui:
|
||||
post_args_wrapper.set_params_without_prompts(params, proc_wrapper)
|
||||
post_args_wrapper.set_params_without_prompts(proc_wrapper)
|
||||
else:
|
||||
post_args_wrapper.set_params_with_prompts(params, proc_wrapper)
|
||||
post_args_wrapper.set_params_with_prompts(proc_wrapper)
|
||||
params.apid = EXAMPLE_PUS_APID
|
||||
setup_args = SetupWrapper(
|
||||
hook_obj=hook_obj, setup_params=params, proc_param_wrapper=proc_wrapper
|
||||
)
|
||||
# Create console logger helper and file loggers
|
||||
tmtc_logger = RegularTmtcLogWrapper()
|
||||
printer = FsfwTmTcPrinter(tmtc_logger.logger)
|
||||
file_logger = tmtc_logger.logger
|
||||
raw_logger = RawTmtcTimedLogWrapper(when=TimedLogWhen.PER_HOUR, interval=1)
|
||||
verificator = PusVerificator()
|
||||
verification_wrapper = VerificationWrapper(verificator, LOGGER, printer.file_logger)
|
||||
verification_wrapper = VerificationWrapper(verificator, _LOGGER, file_logger)
|
||||
# Create primary TM handler and add it to the CCSDS Packet Handler
|
||||
tm_handler = PusHandler(verification_wrapper, printer, raw_logger)
|
||||
tm_handler = PusHandler(file_logger, verification_wrapper, raw_logger)
|
||||
ccsds_handler = CcsdsTmHandler(generic_handler=None)
|
||||
ccsds_handler.add_apid_handler(tm_handler)
|
||||
|
||||
@ -288,7 +265,7 @@ def main():
|
||||
if state.request == BackendRequest.TERMINATION_NO_ERROR:
|
||||
sys.exit(0)
|
||||
elif state.request == BackendRequest.DELAY_IDLE:
|
||||
LOGGER.info("TMTC Client in IDLE mode")
|
||||
_LOGGER.info("TMTC Client in IDLE mode")
|
||||
time.sleep(3.0)
|
||||
elif state.request == BackendRequest.DELAY_LISTENER:
|
||||
time.sleep(0.8)
|
||||
|
||||
@ -1,2 +1,2 @@
|
||||
tmtccmd == 4.0.0a0
|
||||
tmtccmd == 8.0.0rc.0
|
||||
# -e git+https://github.com/robamu-org/tmtccmd.git@main#egg=tmtccmd
|
||||
|
||||
@ -1,17 +1,15 @@
|
||||
#![no_std]
|
||||
#![no_main]
|
||||
use satrs_example_stm32f3_disco as _;
|
||||
|
||||
extern crate panic_itm;
|
||||
|
||||
use cortex_m_rt::entry;
|
||||
|
||||
use stm32f3_discovery::leds::Leds;
|
||||
use stm32f3_discovery::stm32f3xx_hal::delay::Delay;
|
||||
use stm32f3_discovery::stm32f3xx_hal::{pac, prelude::*};
|
||||
use stm32f3_discovery::leds::Leds;
|
||||
use stm32f3_discovery::switch_hal::{OutputSwitch, ToggleableOutputSwitch};
|
||||
|
||||
#[entry]
|
||||
fn main()-> ! {
|
||||
#[cortex_m_rt::entry]
|
||||
fn main() -> ! {
|
||||
defmt::println!("STM32F3 Discovery Blinky");
|
||||
let dp = pac::Peripherals::take().unwrap();
|
||||
let mut rcc = dp.RCC.constrain();
|
||||
let cp = cortex_m::Peripherals::take().unwrap();
|
||||
@ -30,49 +28,49 @@ fn main()-> ! {
|
||||
gpioe.pe14,
|
||||
gpioe.pe15,
|
||||
&mut gpioe.moder,
|
||||
&mut gpioe.otyper
|
||||
&mut gpioe.otyper,
|
||||
);
|
||||
let delay_ms = 200u16;
|
||||
loop {
|
||||
leds.ld3.toggle().ok();
|
||||
leds.ld3_n.toggle().ok();
|
||||
delay.delay_ms(delay_ms);
|
||||
leds.ld3.toggle().ok();
|
||||
leds.ld3_n.toggle().ok();
|
||||
delay.delay_ms(delay_ms);
|
||||
|
||||
//explicit on/off
|
||||
leds.ld4.on().ok();
|
||||
leds.ld4_nw.on().ok();
|
||||
delay.delay_ms(delay_ms);
|
||||
leds.ld4.off().ok();
|
||||
leds.ld4_nw.off().ok();
|
||||
delay.delay_ms(delay_ms);
|
||||
|
||||
leds.ld5.on().ok();
|
||||
leds.ld5_ne.on().ok();
|
||||
delay.delay_ms(delay_ms);
|
||||
leds.ld5.off().ok();
|
||||
leds.ld5_ne.off().ok();
|
||||
delay.delay_ms(delay_ms);
|
||||
|
||||
leds.ld6.on().ok();
|
||||
leds.ld6_w.on().ok();
|
||||
delay.delay_ms(delay_ms);
|
||||
leds.ld6.off().ok();
|
||||
leds.ld6_w.off().ok();
|
||||
delay.delay_ms(delay_ms);
|
||||
|
||||
leds.ld7.on().ok();
|
||||
leds.ld7_e.on().ok();
|
||||
delay.delay_ms(delay_ms);
|
||||
leds.ld7.off().ok();
|
||||
leds.ld7_e.off().ok();
|
||||
delay.delay_ms(delay_ms);
|
||||
|
||||
leds.ld8.on().ok();
|
||||
leds.ld8_sw.on().ok();
|
||||
delay.delay_ms(delay_ms);
|
||||
leds.ld8.off().ok();
|
||||
leds.ld8_sw.off().ok();
|
||||
delay.delay_ms(delay_ms);
|
||||
|
||||
leds.ld9.on().ok();
|
||||
leds.ld9_se.on().ok();
|
||||
delay.delay_ms(delay_ms);
|
||||
leds.ld9.off().ok();
|
||||
leds.ld9_se.off().ok();
|
||||
delay.delay_ms(delay_ms);
|
||||
|
||||
leds.ld10.on().ok();
|
||||
leds.ld10_s.on().ok();
|
||||
delay.delay_ms(delay_ms);
|
||||
leds.ld10.off().ok();
|
||||
leds.ld10_s.off().ok();
|
||||
delay.delay_ms(delay_ms);
|
||||
}
|
||||
}
|
||||
51
satrs-example-stm32f3-disco/src/lib.rs
Normal file
51
satrs-example-stm32f3-disco/src/lib.rs
Normal file
@ -0,0 +1,51 @@
|
||||
#![no_main]
|
||||
#![no_std]
|
||||
|
||||
use cortex_m_semihosting::debug;
|
||||
|
||||
use defmt_brtt as _; // global logger
|
||||
|
||||
use stm32f3xx_hal as _; // memory layout
|
||||
|
||||
use panic_probe as _;
|
||||
|
||||
// same panicking *behavior* as `panic-probe` but doesn't print a panic message
|
||||
// this prevents the panic message being printed *twice* when `defmt::panic` is invoked
|
||||
#[defmt::panic_handler]
|
||||
fn panic() -> ! {
|
||||
cortex_m::asm::udf()
|
||||
}
|
||||
|
||||
/// Terminates the application and makes a semihosting-capable debug tool exit
|
||||
/// with status code 0.
|
||||
pub fn exit() -> ! {
|
||||
loop {
|
||||
debug::exit(debug::EXIT_SUCCESS);
|
||||
}
|
||||
}
|
||||
|
||||
/// Hardfault handler.
|
||||
///
|
||||
/// Terminates the application and makes a semihosting-capable debug tool exit
|
||||
/// with an error. This seems better than the default, which is to spin in a
|
||||
/// loop.
|
||||
#[cortex_m_rt::exception]
|
||||
unsafe fn HardFault(_frame: &cortex_m_rt::ExceptionFrame) -> ! {
|
||||
loop {
|
||||
debug::exit(debug::EXIT_FAILURE);
|
||||
}
|
||||
}
|
||||
|
||||
// defmt-test 0.3.0 has the limitation that this `#[tests]` attribute can only be used
|
||||
// once within a crate. the module can be in any file but there can only be at most
|
||||
// one `#[tests]` module in this library crate
|
||||
#[cfg(test)]
|
||||
#[defmt_test::tests]
|
||||
mod unit_tests {
|
||||
use defmt::assert;
|
||||
|
||||
#[test]
|
||||
fn it_works() {
|
||||
assert!(true)
|
||||
}
|
||||
}
|
||||
@ -1,38 +1,36 @@
|
||||
#![no_std]
|
||||
#![no_main]
|
||||
extern crate panic_itm;
|
||||
// global logger + panicking-behavior + memory layout
|
||||
use satrs_example_stm32f3_disco as _;
|
||||
|
||||
use rtic::app;
|
||||
|
||||
use heapless::{
|
||||
mpmc::Q16,
|
||||
pool,
|
||||
pool::singleton::{Box, Pool},
|
||||
};
|
||||
use heapless::{mpmc::Q8, Vec};
|
||||
#[allow(unused_imports)]
|
||||
use itm_logger::{debug, info, logger_init, warn};
|
||||
use satrs_core::spacepackets::{ecss::PusPacket, tm::PusTm};
|
||||
use satrs_core::{
|
||||
pus::{EcssTmErrorWithSend, EcssTmSenderCore},
|
||||
seq_count::SequenceCountProviderCore,
|
||||
use rtic_monotonics::systick::fugit::TimerInstantU32;
|
||||
use rtic_monotonics::systick::ExtU32;
|
||||
use satrs::seq_count::SequenceCountProviderCore;
|
||||
use satrs::{
|
||||
pool::StoreError,
|
||||
pus::{EcssChannel, EcssTmSenderCore, EcssTmtcError, PusTmWrapper},
|
||||
spacepackets::{ecss::PusPacket, ecss::WritablePusPacket},
|
||||
};
|
||||
use stm32f3xx_hal::dma::dma1;
|
||||
use stm32f3xx_hal::gpio::{PushPull, AF7, PA2, PA3};
|
||||
use stm32f3xx_hal::pac::USART2;
|
||||
use stm32f3xx_hal::serial::{Rx, RxEvent, Serial, SerialDmaRx, SerialDmaTx, Tx, TxEvent};
|
||||
use systick_monotonic::{fugit::Duration, Systick};
|
||||
|
||||
const UART_BAUD: u32 = 115200;
|
||||
const BLINK_FREQ_MS: u64 = 1000;
|
||||
const TX_HANDLER_FREQ_MS: u64 = 20;
|
||||
const MIN_DELAY_BETWEEN_TX_PACKETS_MS: u16 = 5;
|
||||
const MAX_TC_LEN: usize = 200;
|
||||
const MAX_TM_LEN: usize = 200;
|
||||
const BLINK_FREQ_MS: u32 = 1000;
|
||||
const TX_HANDLER_FREQ_MS: u32 = 20;
|
||||
const MIN_DELAY_BETWEEN_TX_PACKETS_MS: u32 = 5;
|
||||
const MAX_TC_LEN: usize = 128;
|
||||
const MAX_TM_LEN: usize = 128;
|
||||
pub const PUS_APID: u16 = 0x02;
|
||||
|
||||
type TxType = Tx<USART2, PA2<AF7<PushPull>>>;
|
||||
type RxType = Rx<USART2, PA3<AF7<PushPull>>>;
|
||||
type MsDuration = Duration<u64, 1, 1000>;
|
||||
type InstantFugit = TimerInstantU32<1000>;
|
||||
type TxDmaTransferType = SerialDmaTx<&'static [u8], dma1::C7, TxType>;
|
||||
type RxDmaTransferType = SerialDmaRx<&'static mut [u8], dma1::C6, RxType>;
|
||||
|
||||
@ -51,10 +49,12 @@ static mut DMA_TX_BUF: [u8; TM_BUF_LEN] = [0; TM_BUF_LEN];
|
||||
// transfer buffer.
|
||||
static mut DMA_RX_BUF: [u8; TC_BUF_LEN] = [0; TC_BUF_LEN];
|
||||
|
||||
static TX_REQUESTS: Q16<(Box<poolmod::TM>, usize)> = Q16::new();
|
||||
type TmPacket = Vec<u8, MAX_TM_LEN>;
|
||||
type TcPacket = Vec<u8, MAX_TC_LEN>;
|
||||
|
||||
const TC_POOL_SLOTS: usize = 12;
|
||||
const TM_POOL_SLOTS: usize = 12;
|
||||
static TM_REQUESTS: Q8<TmPacket> = Q8::new();
|
||||
|
||||
use core::cell::RefCell;
|
||||
use core::sync::atomic::{AtomicU16, Ordering};
|
||||
|
||||
pub struct SeqCountProviderAtomicRef {
|
||||
@ -88,70 +88,59 @@ impl SequenceCountProviderCore<u16> for SeqCountProviderAtomicRef {
|
||||
static SEQ_COUNT_PROVIDER: SeqCountProviderAtomicRef =
|
||||
SeqCountProviderAtomicRef::new(Ordering::Relaxed);
|
||||
|
||||
// Otherwise, warnings because of heapless pool macro.
|
||||
#[allow(non_camel_case_types)]
|
||||
mod poolmod {
|
||||
use super::*;
|
||||
// Must hold full TC length including COBS overhead.
|
||||
pool!(TC: [u8; TC_BUF_LEN]);
|
||||
// Only encoded at the end, so no need to account for COBS overhead.
|
||||
pool!(TM: [u8; MAX_TM_LEN]);
|
||||
}
|
||||
|
||||
pub struct TxIdle {
|
||||
tx: TxType,
|
||||
dma_channel: dma1::C7,
|
||||
}
|
||||
|
||||
#[derive(Debug)]
|
||||
pub enum TmStoreError {
|
||||
StoreFull,
|
||||
StoreSlotsTooSmall,
|
||||
}
|
||||
|
||||
impl From<TmStoreError> for EcssTmErrorWithSend<TmStoreError> {
|
||||
fn from(value: TmStoreError) -> Self {
|
||||
Self::SendError(value)
|
||||
}
|
||||
}
|
||||
|
||||
pub struct TmSender {
|
||||
mem_block: Option<Box<poolmod::TM>>,
|
||||
ctx: &'static str,
|
||||
vec: Option<RefCell<Vec<u8, MAX_TM_LEN>>>,
|
||||
}
|
||||
|
||||
impl TmSender {
|
||||
pub fn new(mem_block: Box<poolmod::TM>, ctx: &'static str) -> Self {
|
||||
pub fn new(tm_packet: TmPacket) -> Self {
|
||||
Self {
|
||||
mem_block: Some(mem_block),
|
||||
ctx,
|
||||
vec: Some(RefCell::new(tm_packet)),
|
||||
}
|
||||
}
|
||||
}
|
||||
|
||||
impl EcssChannel for TmSender {
|
||||
fn id(&self) -> satrs::ChannelId {
|
||||
0
|
||||
}
|
||||
}
|
||||
|
||||
impl EcssTmSenderCore for TmSender {
|
||||
type Error = TmStoreError;
|
||||
|
||||
fn send_tm(
|
||||
&mut self,
|
||||
tm: PusTm,
|
||||
) -> Result<(), satrs_core::pus::EcssTmErrorWithSend<Self::Error>> {
|
||||
let mem_block = self.mem_block.take();
|
||||
if mem_block.is_none() {
|
||||
fn send_tm(&self, tm: PusTmWrapper) -> Result<(), EcssTmtcError> {
|
||||
let vec = self.vec.as_ref();
|
||||
if vec.is_none() {
|
||||
panic!("send_tm should only be called once");
|
||||
}
|
||||
let mut mem_block = mem_block.unwrap();
|
||||
if tm.len_packed() > MAX_TM_LEN {
|
||||
return Err(EcssTmErrorWithSend::SendError(
|
||||
TmStoreError::StoreSlotsTooSmall,
|
||||
));
|
||||
let vec_ref = vec.unwrap();
|
||||
let mut vec = vec_ref.borrow_mut();
|
||||
match tm {
|
||||
PusTmWrapper::InStore(addr) => return Err(EcssTmtcError::CantSendAddr(addr)),
|
||||
PusTmWrapper::Direct(tm) => {
|
||||
if tm.len_written() > MAX_TM_LEN {
|
||||
return Err(EcssTmtcError::Store(StoreError::DataTooLarge(
|
||||
tm.len_written(),
|
||||
)));
|
||||
}
|
||||
vec.resize(tm.len_written(), 0).expect("vec resize failed");
|
||||
tm.write_to_bytes(vec.as_mut_slice())?;
|
||||
defmt::info!(
|
||||
"Sending TM[{},{}] with size {}",
|
||||
tm.service(),
|
||||
tm.subservice(),
|
||||
tm.len_written()
|
||||
);
|
||||
drop(vec);
|
||||
TM_REQUESTS
|
||||
.enqueue(vec_ref.take())
|
||||
.map_err(|_| EcssTmtcError::Store(StoreError::StoreFull(0)))?;
|
||||
}
|
||||
}
|
||||
tm.write_to_bytes(mem_block.as_mut_slice())
|
||||
.map_err(|e| EcssTmErrorWithSend::EcssTmError(e.into()))?;
|
||||
info!(target: self.ctx, "Sending TM[{},{}] with size {}", tm.service(), tm.subservice(), tm.len_packed());
|
||||
TX_REQUESTS
|
||||
.enqueue((mem_block, tm.len_packed()))
|
||||
.map_err(|_| TmStoreError::StoreFull)?;
|
||||
Ok(())
|
||||
}
|
||||
}
|
||||
@ -163,33 +152,36 @@ pub enum UartTxState {
|
||||
Transmitting(Option<TxDmaTransferType>),
|
||||
}
|
||||
|
||||
#[app(device = stm32f3xx_hal::pac, peripherals = true, dispatchers = [TIM20_BRK, TIM20_UP, TIM20_TRG_COM])]
|
||||
pub struct UartTxShared {
|
||||
last_completed: Option<InstantFugit>,
|
||||
state: UartTxState,
|
||||
}
|
||||
|
||||
#[app(device = stm32f3xx_hal::pac, peripherals = true)]
|
||||
mod app {
|
||||
use super::*;
|
||||
use core::slice::Iter;
|
||||
use cortex_m::iprintln;
|
||||
use satrs_core::pus::verification::FailParams;
|
||||
use satrs_core::pus::verification::VerificationReporterCore;
|
||||
use satrs_core::spacepackets::{
|
||||
ecss::EcssEnumU16,
|
||||
tc::PusTc,
|
||||
time::cds::P_FIELD_BASE,
|
||||
tm::{PusTm, PusTmSecondaryHeader},
|
||||
CcsdsPacket, SpHeader,
|
||||
use rtic_monotonics::systick::Systick;
|
||||
use rtic_monotonics::Monotonic;
|
||||
use satrs::pus::verification::FailParams;
|
||||
use satrs::pus::verification::VerificationReporterCore;
|
||||
use satrs::spacepackets::{
|
||||
ecss::tc::PusTcReader, ecss::tm::PusTmCreator, ecss::tm::PusTmSecondaryHeader,
|
||||
ecss::EcssEnumU16, time::cds::P_FIELD_BASE, CcsdsPacket, SpHeader,
|
||||
};
|
||||
#[allow(unused_imports)]
|
||||
use stm32f3_discovery::leds::Direction;
|
||||
use stm32f3_discovery::leds::Leds;
|
||||
use stm32f3xx_hal::prelude::*;
|
||||
use stm32f3xx_hal::Toggle;
|
||||
|
||||
use stm32f3_discovery::switch_hal::OutputSwitch;
|
||||
use stm32f3xx_hal::Switch;
|
||||
#[allow(dead_code)]
|
||||
type SerialType = Serial<USART2, (PA2<AF7<PushPull>>, PA3<AF7<PushPull>>)>;
|
||||
|
||||
#[shared]
|
||||
struct Shared {
|
||||
tx_transfer: UartTxState,
|
||||
tx_shared: UartTxShared,
|
||||
rx_transfer: Option<RxDmaTransferType>,
|
||||
}
|
||||
|
||||
@ -201,18 +193,14 @@ mod app {
|
||||
curr_dir: Iter<'static, Direction>,
|
||||
}
|
||||
|
||||
#[monotonic(binds = SysTick, default = true)]
|
||||
type MonoTimer = Systick<1000>;
|
||||
|
||||
#[init(local = [
|
||||
tc_pool_mem: [u8; TC_BUF_LEN * TC_POOL_SLOTS] = [0; TC_BUF_LEN * TC_POOL_SLOTS],
|
||||
tm_pool_mem: [u8; MAX_TM_LEN * TM_POOL_SLOTS] = [0; MAX_TM_LEN * TM_POOL_SLOTS]
|
||||
])]
|
||||
fn init(mut cx: init::Context) -> (Shared, Local, init::Monotonics) {
|
||||
#[init]
|
||||
fn init(cx: init::Context) -> (Shared, Local) {
|
||||
let mut rcc = cx.device.RCC.constrain();
|
||||
|
||||
let mono = Systick::new(cx.core.SYST, 8_000_000);
|
||||
logger_init();
|
||||
// Initialize the systick interrupt & obtain the token to prove that we did
|
||||
let systick_mono_token = rtic_monotonics::create_systick_token!();
|
||||
Systick::start(cx.core.SYST, 8_000_000, systick_mono_token);
|
||||
|
||||
let mut flash = cx.device.FLASH.constrain();
|
||||
let clocks = rcc
|
||||
.cfgr
|
||||
@ -220,15 +208,12 @@ mod app {
|
||||
.sysclk(8.MHz())
|
||||
.pclk1(8.MHz())
|
||||
.freeze(&mut flash.acr);
|
||||
// setup ITM output
|
||||
iprintln!(
|
||||
&mut cx.core.ITM.stim[0],
|
||||
"Starting sat-rs demo application for the STM32F3-Discovery"
|
||||
);
|
||||
|
||||
// Set up monotonic timer.
|
||||
//let mono_timer = MonoTimer::new(cx.core.DWT, clocks, &mut cx.core.DCB);
|
||||
|
||||
defmt::info!("Starting sat-rs demo application for the STM32F3-Discovery");
|
||||
let mut gpioe = cx.device.GPIOE.split(&mut rcc.ahb);
|
||||
// Assign memory to the pools.
|
||||
poolmod::TC::grow(cx.local.tc_pool_mem);
|
||||
poolmod::TM::grow(cx.local.tm_pool_mem);
|
||||
|
||||
let verif_reporter = VerificationReporterCore::new(PUS_APID).unwrap();
|
||||
|
||||
@ -264,106 +249,138 @@ mod app {
|
||||
clocks,
|
||||
&mut rcc.apb1,
|
||||
);
|
||||
usart2.configure_rx_interrupt(RxEvent::Idle, Toggle::On);
|
||||
usart2.configure_rx_interrupt(RxEvent::Idle, Switch::On);
|
||||
// This interrupt is enabled to re-schedule new transfers in the interrupt handler immediately.
|
||||
usart2.configure_tx_interrupt(TxEvent::TransmissionComplete, Toggle::On);
|
||||
usart2.configure_tx_interrupt(TxEvent::TransmissionComplete, Switch::On);
|
||||
|
||||
let dma1 = cx.device.DMA1.split(&mut rcc.ahb);
|
||||
let (tx_serial, mut rx_serial) = usart2.split();
|
||||
let (mut tx_serial, mut rx_serial) = usart2.split();
|
||||
|
||||
// This interrupt is immediately triggered, clear it. It will only be reset
|
||||
// by the hardware when data is received on RX (RXNE event)
|
||||
rx_serial.clear_event(RxEvent::Idle);
|
||||
// For some reason, this is also immediately triggered..
|
||||
tx_serial.clear_event(TxEvent::TransmissionComplete);
|
||||
let rx_transfer = rx_serial.read_exact(unsafe { DMA_RX_BUF.as_mut_slice() }, dma1.ch6);
|
||||
info!(target: "init", "Spawning tasks");
|
||||
defmt::info!("Spawning tasks");
|
||||
blink::spawn().unwrap();
|
||||
serial_tx_handler::spawn().unwrap();
|
||||
(
|
||||
Shared {
|
||||
tx_transfer: UartTxState::Idle(Some(TxIdle {
|
||||
tx_shared: UartTxShared {
|
||||
last_completed: None,
|
||||
state: UartTxState::Idle(Some(TxIdle {
|
||||
tx: tx_serial,
|
||||
dma_channel: dma1.ch7,
|
||||
})),
|
||||
},
|
||||
rx_transfer: Some(rx_transfer),
|
||||
},
|
||||
Local {
|
||||
//timer: mono_timer,
|
||||
leds,
|
||||
last_dir: Direction::North,
|
||||
curr_dir: Direction::iter(),
|
||||
verif_reporter,
|
||||
},
|
||||
init::Monotonics(mono),
|
||||
)
|
||||
}
|
||||
|
||||
#[task(local = [leds, curr_dir, last_dir])]
|
||||
fn blink(cx: blink::Context) {
|
||||
let toggle_leds = |dir: &Direction| {
|
||||
let leds = cx.local.leds;
|
||||
let last_led = leds.for_direction(*cx.local.last_dir);
|
||||
async fn blink(cx: blink::Context) {
|
||||
let blink::LocalResources {
|
||||
leds,
|
||||
curr_dir,
|
||||
last_dir,
|
||||
..
|
||||
} = cx.local;
|
||||
let mut toggle_leds = |dir: &Direction| {
|
||||
let last_led = leds.for_direction(*last_dir);
|
||||
last_led.off().ok();
|
||||
let led = leds.for_direction(*dir);
|
||||
led.on().ok();
|
||||
*cx.local.last_dir = *dir;
|
||||
*last_dir = *dir;
|
||||
};
|
||||
|
||||
match cx.local.curr_dir.next() {
|
||||
loop {
|
||||
match curr_dir.next() {
|
||||
Some(dir) => {
|
||||
toggle_leds(dir);
|
||||
}
|
||||
None => {
|
||||
*cx.local.curr_dir = Direction::iter();
|
||||
toggle_leds(cx.local.curr_dir.next().unwrap());
|
||||
*curr_dir = Direction::iter();
|
||||
toggle_leds(curr_dir.next().unwrap());
|
||||
}
|
||||
}
|
||||
blink::spawn_after(MsDuration::from_ticks(BLINK_FREQ_MS)).unwrap();
|
||||
Systick::delay(BLINK_FREQ_MS.millis()).await;
|
||||
}
|
||||
}
|
||||
|
||||
#[task(
|
||||
shared = [tx_transfer],
|
||||
local = []
|
||||
shared = [tx_shared],
|
||||
)]
|
||||
fn serial_tx_handler(mut cx: serial_tx_handler::Context) {
|
||||
if let Some((buf, len)) = TX_REQUESTS.dequeue() {
|
||||
cx.shared.tx_transfer.lock(|tx_state| match tx_state {
|
||||
async fn serial_tx_handler(mut cx: serial_tx_handler::Context) {
|
||||
loop {
|
||||
let is_idle = cx.shared.tx_shared.lock(|tx_shared| {
|
||||
if let UartTxState::Idle(_) = tx_shared.state {
|
||||
return true;
|
||||
}
|
||||
false
|
||||
});
|
||||
if is_idle {
|
||||
let last_completed = cx.shared.tx_shared.lock(|shared| shared.last_completed);
|
||||
if let Some(last_completed) = last_completed {
|
||||
let elapsed_ms = (Systick::now() - last_completed).to_millis();
|
||||
if elapsed_ms < MIN_DELAY_BETWEEN_TX_PACKETS_MS {
|
||||
Systick::delay((MIN_DELAY_BETWEEN_TX_PACKETS_MS - elapsed_ms).millis())
|
||||
.await;
|
||||
}
|
||||
}
|
||||
} else {
|
||||
// Check for completion after 1 ms
|
||||
Systick::delay(1.millis()).await;
|
||||
continue;
|
||||
}
|
||||
if let Some(vec) = TM_REQUESTS.dequeue() {
|
||||
cx.shared
|
||||
.tx_shared
|
||||
.lock(|tx_shared| match &mut tx_shared.state {
|
||||
UartTxState::Idle(tx) => {
|
||||
let encoded_len;
|
||||
//debug!(target: "serial_tx_handler", "bytes: {:x?}", &buf[0..len]);
|
||||
// Safety: We only copy the data into the TX DMA buffer in this task.
|
||||
// If the DMA is active, another branch will be taken.
|
||||
let mut_tx_dma_buf = unsafe { &mut DMA_TX_BUF };
|
||||
unsafe {
|
||||
// 0 sentinel value as start marker
|
||||
mut_tx_dma_buf[0] = 0;
|
||||
DMA_TX_BUF[0] = 0;
|
||||
encoded_len =
|
||||
cobs::encode(&vec[0..vec.len()], &mut DMA_TX_BUF[1..]);
|
||||
// Should never panic, we accounted for the overhead.
|
||||
// Write into transfer buffer directly, no need for intermediate
|
||||
// encoding buffer.
|
||||
let encoded_len = cobs::encode(&buf[0..len], &mut mut_tx_dma_buf[1..]);
|
||||
// 0 end marker
|
||||
mut_tx_dma_buf[encoded_len + 1] = 0;
|
||||
DMA_TX_BUF[encoded_len + 1] = 0;
|
||||
}
|
||||
//debug!(target: "serial_tx_handler", "Sending {} bytes", encoded_len + 2);
|
||||
//debug!("sent: {:x?}", &mut_tx_dma_buf[0..encoded_len + 2]);
|
||||
let tx_idle = tx.take().unwrap();
|
||||
// Transfer completion and re-scheduling of new TX transfers will be done
|
||||
// by the IRQ handler.
|
||||
let transfer = tx_idle
|
||||
.tx
|
||||
.write_all(&mut_tx_dma_buf[0..encoded_len + 2], tx_idle.dma_channel);
|
||||
*tx_state = UartTxState::Transmitting(Some(transfer));
|
||||
// SAFETY: The DMA is the exclusive writer to the DMA buffer now.
|
||||
let transfer = tx_idle.tx.write_all(
|
||||
unsafe { &DMA_TX_BUF[0..encoded_len + 2] },
|
||||
tx_idle.dma_channel,
|
||||
);
|
||||
tx_shared.state = UartTxState::Transmitting(Some(transfer));
|
||||
// The memory block is automatically returned to the pool when it is dropped.
|
||||
}
|
||||
UartTxState::Transmitting(_) => {
|
||||
// This is a SW configuration error. Only the ISR which
|
||||
// detects transfer completion should be able to spawn a new
|
||||
// task, and that ISR should set the state to IDLE.
|
||||
panic!("invalid internal tx state detected")
|
||||
}
|
||||
})
|
||||
} else {
|
||||
cx.shared.tx_transfer.lock(|tx_state| {
|
||||
if let UartTxState::Idle(_) = tx_state {
|
||||
serial_tx_handler::spawn_after(MsDuration::from_ticks(TX_HANDLER_FREQ_MS))
|
||||
.unwrap();
|
||||
}
|
||||
UartTxState::Transmitting(_) => (),
|
||||
});
|
||||
// Check for completion after 1 ms
|
||||
Systick::delay(1.millis()).await;
|
||||
continue;
|
||||
}
|
||||
// Nothing to do, and we are idle.
|
||||
Systick::delay(TX_HANDLER_FREQ_MS.millis()).await;
|
||||
}
|
||||
}
|
||||
|
||||
@ -375,14 +392,13 @@ mod app {
|
||||
verif_reporter
|
||||
],
|
||||
)]
|
||||
fn serial_rx_handler(
|
||||
async fn serial_rx_handler(
|
||||
cx: serial_rx_handler::Context,
|
||||
received_packet: Box<poolmod::TC>,
|
||||
rx_len: usize,
|
||||
received_packet: Vec<u8, MAX_TC_LEN>,
|
||||
) {
|
||||
let tgt: &'static str = "serial_rx_handler";
|
||||
defmt::info!("running rx handler");
|
||||
cx.local.stamp_buf[0] = P_FIELD_BASE;
|
||||
info!(target: tgt, "Received packet with {} bytes", rx_len);
|
||||
defmt::info!("Received packet with {} bytes", received_packet.len());
|
||||
let decode_buf = cx.local.decode_buf;
|
||||
let packet = received_packet.as_slice();
|
||||
let mut start_idx = None;
|
||||
@ -393,17 +409,14 @@ mod app {
|
||||
}
|
||||
}
|
||||
if start_idx.is_none() {
|
||||
warn!(
|
||||
target: tgt,
|
||||
"decoding error, can only process cobs encoded frames, data is all 0"
|
||||
);
|
||||
defmt::warn!("decoding error, can only process cobs encoded frames, data is all 0");
|
||||
return;
|
||||
}
|
||||
let start_idx = start_idx.unwrap();
|
||||
match cobs::decode(&received_packet.as_slice()[start_idx..], decode_buf) {
|
||||
Ok(len) => {
|
||||
info!(target: tgt, "Decoded packet length: {}", len);
|
||||
let pus_tc = PusTc::from_bytes(decode_buf);
|
||||
defmt::info!("Decoded packet length: {}", len);
|
||||
let pus_tc = PusTcReader::new(decode_buf);
|
||||
let verif_reporter = cx.local.verif_reporter;
|
||||
match pus_tc {
|
||||
Ok((tc, tc_len)) => handle_tc(
|
||||
@ -412,32 +425,27 @@ mod app {
|
||||
verif_reporter,
|
||||
cx.local.src_data_buf,
|
||||
cx.local.stamp_buf,
|
||||
tgt,
|
||||
),
|
||||
Err(e) => {
|
||||
warn!(target: tgt, "Error unpacking PUS TC: {}", e);
|
||||
Err(_e) => {
|
||||
// TODO: Print error after API rework.
|
||||
defmt::warn!("Error unpacking PUS TC");
|
||||
}
|
||||
}
|
||||
}
|
||||
Err(_) => {
|
||||
warn!(
|
||||
target: tgt,
|
||||
"decoding error, can only process cobs encoded frames"
|
||||
)
|
||||
defmt::warn!("decoding error, can only process cobs encoded frames")
|
||||
}
|
||||
}
|
||||
}
|
||||
|
||||
fn handle_tc(
|
||||
tc: PusTc,
|
||||
tc: PusTcReader,
|
||||
tc_len: usize,
|
||||
verif_reporter: &mut VerificationReporterCore,
|
||||
src_data_buf: &mut [u8; MAX_TM_LEN],
|
||||
stamp_buf: &[u8; 7],
|
||||
tgt: &'static str,
|
||||
) {
|
||||
info!(
|
||||
target: tgt,
|
||||
defmt::info!(
|
||||
"Found PUS TC [{},{}] with length {}",
|
||||
tc.service(),
|
||||
tc.subservice(),
|
||||
@ -446,38 +454,32 @@ mod app {
|
||||
|
||||
let token = verif_reporter.add_tc(&tc);
|
||||
if tc.apid() != PUS_APID {
|
||||
warn!(target: tgt, "Received tc with unknown APID {}", tc.apid());
|
||||
defmt::warn!("Received tc with unknown APID {}", tc.apid());
|
||||
let sendable = verif_reporter
|
||||
.acceptance_failure(
|
||||
src_data_buf,
|
||||
token,
|
||||
&SEQ_COUNT_PROVIDER,
|
||||
FailParams::new(stamp_buf, &EcssEnumU16::new(0), None),
|
||||
SEQ_COUNT_PROVIDER.get(),
|
||||
0,
|
||||
FailParams::new(stamp_buf, &EcssEnumU16::new(0), &[]),
|
||||
)
|
||||
.unwrap();
|
||||
let mem_block = poolmod::TM::alloc().unwrap().init([0u8; MAX_TM_LEN]);
|
||||
let mut sender = TmSender::new(mem_block, tgt);
|
||||
if let Err(e) =
|
||||
verif_reporter.send_acceptance_failure(sendable, &SEQ_COUNT_PROVIDER, &mut sender)
|
||||
{
|
||||
warn!(target: tgt, "Sending acceptance failure failed: {:?}", e.0);
|
||||
let sender = TmSender::new(TmPacket::new());
|
||||
if let Err(_e) = verif_reporter.send_acceptance_failure(sendable, &sender) {
|
||||
defmt::warn!("Sending acceptance failure failed");
|
||||
};
|
||||
return;
|
||||
}
|
||||
let sendable = verif_reporter
|
||||
.acceptance_success(src_data_buf, token, &SEQ_COUNT_PROVIDER, stamp_buf)
|
||||
.acceptance_success(src_data_buf, token, SEQ_COUNT_PROVIDER.get(), 0, stamp_buf)
|
||||
.unwrap();
|
||||
|
||||
let mem_block = poolmod::TM::alloc().unwrap().init([0u8; MAX_TM_LEN]);
|
||||
let mut sender = TmSender::new(mem_block, tgt);
|
||||
let accepted_token = match verif_reporter.send_acceptance_success(
|
||||
sendable,
|
||||
&SEQ_COUNT_PROVIDER,
|
||||
&mut sender,
|
||||
) {
|
||||
let sender = TmSender::new(TmPacket::new());
|
||||
let accepted_token = match verif_reporter.send_acceptance_success(sendable, &sender) {
|
||||
Ok(token) => token,
|
||||
Err(e) => {
|
||||
warn!(target: "serial_rx_handler", "Sending acceptance success failed: {:?}", e.0);
|
||||
Err(_e) => {
|
||||
// TODO: Print error as soon as EcssTmtcError has Format attr.. or rework API.
|
||||
defmt::warn!("Sending acceptance success failed");
|
||||
return;
|
||||
}
|
||||
};
|
||||
@ -485,47 +487,51 @@ mod app {
|
||||
if tc.service() == 17 {
|
||||
if tc.subservice() == 1 {
|
||||
let sendable = verif_reporter
|
||||
.start_success(src_data_buf, accepted_token, &SEQ_COUNT_PROVIDER, stamp_buf)
|
||||
.start_success(
|
||||
src_data_buf,
|
||||
accepted_token,
|
||||
SEQ_COUNT_PROVIDER.get(),
|
||||
0,
|
||||
stamp_buf,
|
||||
)
|
||||
.unwrap();
|
||||
let mem_block = poolmod::TM::alloc().unwrap().init([0u8; MAX_TM_LEN]);
|
||||
let mut sender = TmSender::new(mem_block, tgt);
|
||||
let started_token = match verif_reporter.send_start_success(
|
||||
sendable,
|
||||
&SEQ_COUNT_PROVIDER,
|
||||
&mut sender,
|
||||
) {
|
||||
// let mem_block = poolmod::TM::alloc().unwrap().init([0u8; MAX_TM_LEN]);
|
||||
let sender = TmSender::new(TmPacket::new());
|
||||
let started_token = match verif_reporter.send_start_success(sendable, &sender) {
|
||||
Ok(token) => token,
|
||||
Err(e) => {
|
||||
warn!(target: tgt, "Sending acceptance success failed: {:?}", e.0);
|
||||
Err(_e) => {
|
||||
// TODO: Print error as soon as EcssTmtcError has Format attr.. or rework API.
|
||||
defmt::warn!("Sending acceptance success failed");
|
||||
return;
|
||||
}
|
||||
};
|
||||
info!(
|
||||
target: tgt,
|
||||
"Received PUS ping telecommand, sending ping reply TM[17,2]"
|
||||
);
|
||||
defmt::info!("Received PUS ping telecommand, sending ping reply TM[17,2]");
|
||||
let mut sp_header =
|
||||
SpHeader::tc_unseg(PUS_APID, SEQ_COUNT_PROVIDER.get(), 0).unwrap();
|
||||
let sec_header = PusTmSecondaryHeader::new_simple(17, 2, stamp_buf);
|
||||
let ping_reply = PusTm::new(&mut sp_header, sec_header, None, true);
|
||||
let mut mem_block = poolmod::TM::alloc().unwrap().init([0u8; MAX_TM_LEN]);
|
||||
let reply_len = ping_reply.write_to_bytes(mem_block.as_mut_slice()).unwrap();
|
||||
if TX_REQUESTS.enqueue((mem_block, reply_len)).is_err() {
|
||||
warn!(target: tgt, "TC queue full");
|
||||
let ping_reply = PusTmCreator::new(&mut sp_header, sec_header, &[], true);
|
||||
let mut tm_packet = TmPacket::new();
|
||||
tm_packet
|
||||
.resize(ping_reply.len_written(), 0)
|
||||
.expect("vec resize failed");
|
||||
ping_reply.write_to_bytes(&mut tm_packet).unwrap();
|
||||
if TM_REQUESTS.enqueue(tm_packet).is_err() {
|
||||
defmt::warn!("TC queue full");
|
||||
return;
|
||||
}
|
||||
SEQ_COUNT_PROVIDER.increment();
|
||||
let sendable = verif_reporter
|
||||
.completion_success(src_data_buf, started_token, &SEQ_COUNT_PROVIDER, stamp_buf)
|
||||
.completion_success(
|
||||
src_data_buf,
|
||||
started_token,
|
||||
SEQ_COUNT_PROVIDER.get(),
|
||||
0,
|
||||
stamp_buf,
|
||||
)
|
||||
.unwrap();
|
||||
let mem_block = poolmod::TM::alloc().unwrap().init([0u8; MAX_TM_LEN]);
|
||||
let mut sender = TmSender::new(mem_block, tgt);
|
||||
if let Err(e) = verif_reporter.send_step_or_completion_success(
|
||||
sendable,
|
||||
&SEQ_COUNT_PROVIDER,
|
||||
&mut sender,
|
||||
) {
|
||||
warn!(target: tgt, "Sending completion success failed: {:?}", e.0);
|
||||
let sender = TmSender::new(TmPacket::new());
|
||||
if let Err(_e) = verif_reporter.send_step_or_completion_success(sendable, &sender) {
|
||||
defmt::warn!("Sending completion success failed");
|
||||
}
|
||||
} else {
|
||||
// TODO: Invalid subservice
|
||||
@ -535,26 +541,26 @@ mod app {
|
||||
|
||||
#[task(binds = DMA1_CH6, shared = [rx_transfer])]
|
||||
fn rx_dma_isr(mut cx: rx_dma_isr::Context) {
|
||||
let mut tc_packet = TcPacket::new();
|
||||
cx.shared.rx_transfer.lock(|rx_transfer| {
|
||||
let rx_ref = rx_transfer.as_ref().unwrap();
|
||||
if rx_ref.is_complete() {
|
||||
let uart_rx_owned = rx_transfer.take().unwrap();
|
||||
let (buf, c, rx) = uart_rx_owned.stop();
|
||||
// The received data is transferred to another task now to avoid any processing overhead
|
||||
// during the interrupt. There are multiple ways to do this, we use a memory pool here
|
||||
// during the interrupt. There are multiple ways to do this, we use a stack allocaed vector here
|
||||
// to do this.
|
||||
let mut mem_block = poolmod::TC::alloc()
|
||||
.expect("allocating memory block for rx failed")
|
||||
.init([0u8; TC_BUF_LEN]);
|
||||
// Copy data into memory pool.
|
||||
mem_block.copy_from_slice(buf);
|
||||
tc_packet.resize(buf.len(), 0).expect("vec resize failed");
|
||||
tc_packet.copy_from_slice(buf);
|
||||
|
||||
// Start the next transfer as soon as possible.
|
||||
*rx_transfer = Some(rx.read_exact(buf, c));
|
||||
// Only send owning pointer to pool memory and the received packet length.
|
||||
serial_rx_handler::spawn(mem_block, TC_BUF_LEN)
|
||||
.expect("spawning rx handler task failed");
|
||||
|
||||
// Send the vector to a regular task.
|
||||
serial_rx_handler::spawn(tc_packet).expect("spawning rx handler task failed");
|
||||
// If this happens, there is a high chance that the maximum packet length was
|
||||
// exceeded. Circular mode is not used here, so data might be missed.
|
||||
warn!(
|
||||
defmt::warn!(
|
||||
"rx transfer with maximum length {}, might miss data",
|
||||
TC_BUF_LEN
|
||||
);
|
||||
@ -562,23 +568,26 @@ mod app {
|
||||
});
|
||||
}
|
||||
|
||||
#[task(binds = USART2_EXTI26, shared = [rx_transfer, tx_transfer])]
|
||||
#[task(binds = USART2_EXTI26, shared = [rx_transfer, tx_shared])]
|
||||
fn serial_isr(mut cx: serial_isr::Context) {
|
||||
cx.shared.tx_transfer.lock(|tx_state| match tx_state {
|
||||
cx.shared
|
||||
.tx_shared
|
||||
.lock(|tx_shared| match &mut tx_shared.state {
|
||||
UartTxState::Idle(_) => (),
|
||||
UartTxState::Transmitting(transfer) => {
|
||||
let transfer_ref = transfer.as_ref().unwrap();
|
||||
if transfer_ref.is_complete() {
|
||||
let transfer = transfer.take().unwrap();
|
||||
let (_, dma_channel, tx) = transfer.stop();
|
||||
*tx_state = UartTxState::Idle(Some(TxIdle { tx, dma_channel }));
|
||||
serial_tx_handler::spawn_after(MsDuration::from_ticks(
|
||||
MIN_DELAY_BETWEEN_TX_PACKETS_MS.into(),
|
||||
))
|
||||
.unwrap();
|
||||
let (_, dma_channel, mut tx) = transfer.stop();
|
||||
tx.clear_event(TxEvent::TransmissionComplete);
|
||||
tx_shared.state = UartTxState::Idle(Some(TxIdle { tx, dma_channel }));
|
||||
// We cache the last completed time to ensure that there is a minimum delay between consecutive
|
||||
// transferred packets.
|
||||
tx_shared.last_completed = Some(Systick::now());
|
||||
}
|
||||
}
|
||||
});
|
||||
let mut tc_packet = TcPacket::new();
|
||||
cx.shared.rx_transfer.lock(|rx_transfer| {
|
||||
let rx_transfer_ref = rx_transfer.as_ref().unwrap();
|
||||
// Received a partial packet.
|
||||
@ -586,17 +595,14 @@ mod app {
|
||||
let rx_transfer_owned = rx_transfer.take().unwrap();
|
||||
let (buf, ch, mut rx, rx_len) = rx_transfer_owned.stop_and_return_received_bytes();
|
||||
// The received data is transferred to another task now to avoid any processing overhead
|
||||
// during the interrupt. There are multiple ways to do this, we use a memory pool here
|
||||
// to do this.
|
||||
let mut mem_block = poolmod::TC::alloc()
|
||||
.expect("allocating memory block for rx failed")
|
||||
.init([0u8; TC_BUF_LEN]);
|
||||
// Copy data into memory pool.
|
||||
mem_block[0..rx_len as usize].copy_from_slice(&buf[0..rx_len as usize]);
|
||||
// during the interrupt. There are multiple ways to do this, we use a stack
|
||||
// allocated vector to do this.
|
||||
tc_packet
|
||||
.resize(rx_len as usize, 0)
|
||||
.expect("vec resize failed");
|
||||
tc_packet[0..rx_len as usize].copy_from_slice(&buf[0..rx_len as usize]);
|
||||
rx.clear_event(RxEvent::Idle);
|
||||
// Only send owning pointer to pool memory and the received packet length.
|
||||
serial_rx_handler::spawn(mem_block, rx_len as usize)
|
||||
.expect("spawning rx handler task failed");
|
||||
serial_rx_handler::spawn(tc_packet).expect("spawning rx handler failed");
|
||||
*rx_transfer = Some(rx.read_exact(buf, ch));
|
||||
}
|
||||
});
|
||||
|
||||
@ -5,7 +5,7 @@
|
||||
// List of extensions which should be recommended for users of this workspace.
|
||||
"recommendations": [
|
||||
"rust-lang.rust",
|
||||
"marus25.cortex-debug",
|
||||
"probe-rs.probe-rs-debugger"
|
||||
],
|
||||
// List of extensions recommended by VS Code that should not be recommended for users of this workspace.
|
||||
"unwantedRecommendations": []
|
||||
22
satrs-example-stm32f3-disco/vscode/launch.json
Normal file
22
satrs-example-stm32f3-disco/vscode/launch.json
Normal file
@ -0,0 +1,22 @@
|
||||
{
|
||||
"version": "0.2.0",
|
||||
"configurations": [
|
||||
{
|
||||
"preLaunchTask": "${defaultBuildTask}",
|
||||
"type": "probe-rs-debug",
|
||||
"request": "launch",
|
||||
"name": "probe-rs Debugging ",
|
||||
"flashingConfig": {
|
||||
"flashingEnabled": true
|
||||
},
|
||||
"chip": "STM32F303VCTx",
|
||||
"coreConfigs": [
|
||||
{
|
||||
"programBinary": "${workspaceFolder}/target/thumbv7em-none-eabihf/debug/satrs-example-stm32f3-disco",
|
||||
"rttEnabled": true,
|
||||
"svdFile": "STM32F303.svd"
|
||||
}
|
||||
]
|
||||
}
|
||||
]
|
||||
}
|
||||
@ -11,7 +11,8 @@ proc CDSWOConfigure { CDCPUFreqHz CDSWOFreqHz CDSWOOutput } {
|
||||
# Alternative option: Pipe ITM output into itm.txt file
|
||||
# tpiu config internal itm.txt uart off $CDCPUFreqHz
|
||||
|
||||
# Default option so SWO display of VS code works.
|
||||
# Default option so SWO display of VS code works. Please note that this might not be required
|
||||
# anymore starting at openocd v0.12.0
|
||||
tpiu config internal $CDSWOOutput uart off $CDCPUFreqHz $CDSWOFreqHz
|
||||
itm port 0 on
|
||||
}
|
||||
@ -1,6 +1,6 @@
|
||||
[package]
|
||||
name = "satrs-example"
|
||||
version = "0.1.0"
|
||||
version = "0.1.1"
|
||||
edition = "2021"
|
||||
authors = ["Robin Mueller <muellerr@irs.uni-stuttgart.de>"]
|
||||
default-run = "satrs-example"
|
||||
@ -20,11 +20,11 @@ thiserror = "1"
|
||||
derive-new = "0.5"
|
||||
|
||||
[dependencies.satrs]
|
||||
# version = "0.1.0-alpha.3"
|
||||
# version = "0.2.0-rc.0"
|
||||
path = "../satrs"
|
||||
|
||||
[dependencies.satrs-mib]
|
||||
# version = "0.1.0-alpha.2"
|
||||
version = "0.1.1"
|
||||
path = "../satrs-mib"
|
||||
|
||||
[features]
|
||||
|
||||
@ -1,14 +1,15 @@
|
||||
use std::sync::mpsc::{self, TryRecvError};
|
||||
|
||||
use log::{info, warn};
|
||||
use satrs::pus::verification::VerificationReporterWithSender;
|
||||
use satrs::pus::verification::VerificationReportingProvider;
|
||||
use satrs::pus::{EcssTmSender, PusTmWrapper};
|
||||
use satrs::request::TargetAndApidId;
|
||||
use satrs::spacepackets::ecss::hk::Subservice as HkSubservice;
|
||||
use satrs::{
|
||||
hk::HkRequest,
|
||||
spacepackets::{
|
||||
ecss::tm::{PusTmCreator, PusTmSecondaryHeader},
|
||||
time::cds::{DaysLen16Bits, TimeProvider},
|
||||
time::cds::{CdsTime, DaysLen16Bits},
|
||||
SequenceFlags, SpHeader,
|
||||
},
|
||||
};
|
||||
@ -20,23 +21,23 @@ use crate::{
|
||||
update_time,
|
||||
};
|
||||
|
||||
pub struct AcsTask {
|
||||
pub struct AcsTask<VerificationReporter: VerificationReportingProvider> {
|
||||
timestamp: [u8; 7],
|
||||
time_provider: TimeProvider<DaysLen16Bits>,
|
||||
verif_reporter: VerificationReporterWithSender,
|
||||
time_provider: CdsTime<DaysLen16Bits>,
|
||||
verif_reporter: VerificationReporter,
|
||||
tm_sender: Box<dyn EcssTmSender>,
|
||||
request_rx: mpsc::Receiver<RequestWithToken>,
|
||||
}
|
||||
|
||||
impl AcsTask {
|
||||
impl<VerificationReporter: VerificationReportingProvider> AcsTask<VerificationReporter> {
|
||||
pub fn new(
|
||||
tm_sender: impl EcssTmSender,
|
||||
request_rx: mpsc::Receiver<RequestWithToken>,
|
||||
verif_reporter: VerificationReporterWithSender,
|
||||
verif_reporter: VerificationReporter,
|
||||
) -> Self {
|
||||
Self {
|
||||
timestamp: [0; 7],
|
||||
time_provider: TimeProvider::new_with_u16_days(0, 0),
|
||||
time_provider: CdsTime::new_with_u16_days(0, 0),
|
||||
verif_reporter,
|
||||
tm_sender: Box::new(tm_sender),
|
||||
request_rx,
|
||||
@ -70,12 +71,12 @@ impl AcsTask {
|
||||
"ACS thread: Received HK request {:?}",
|
||||
request.targeted_request
|
||||
);
|
||||
let target_and_apid_id = TargetAndApidId::from(request.targeted_request.target_id);
|
||||
match request.targeted_request.request {
|
||||
Request::Hk(hk_req) => match hk_req {
|
||||
HkRequest::OneShot(unique_id) => self.handle_hk_request(
|
||||
request.targeted_request.target_id_with_apid.target_id(),
|
||||
unique_id,
|
||||
),
|
||||
HkRequest::OneShot(unique_id) => {
|
||||
self.handle_hk_request(target_and_apid_id.target(), unique_id)
|
||||
}
|
||||
HkRequest::Enable(_) => {}
|
||||
HkRequest::Disable(_) => {}
|
||||
HkRequest::ModifyCollectionInterval(_, _) => {}
|
||||
@ -89,10 +90,10 @@ impl AcsTask {
|
||||
}
|
||||
let started_token = self
|
||||
.verif_reporter
|
||||
.start_success(request.token, Some(&self.timestamp))
|
||||
.start_success(request.token, &self.timestamp)
|
||||
.expect("Sending start success failed");
|
||||
self.verif_reporter
|
||||
.completion_success(started_token, Some(&self.timestamp))
|
||||
.completion_success(started_token, &self.timestamp)
|
||||
.expect("Sending completion success failed");
|
||||
true
|
||||
}
|
||||
|
||||
@ -48,7 +48,11 @@ pub mod tmtc_err {
|
||||
#[resultcode]
|
||||
pub const PUS_SERVICE_NOT_IMPLEMENTED: ResultU16 = ResultU16::new(GroupId::Tmtc as u8, 2);
|
||||
#[resultcode]
|
||||
pub const UNKNOWN_TARGET_ID: ResultU16 = ResultU16::new(GroupId::Tmtc as u8, 3);
|
||||
pub const PUS_SUBSERVICE_NOT_IMPLEMENTED: ResultU16 = ResultU16::new(GroupId::Tmtc as u8, 3);
|
||||
#[resultcode]
|
||||
pub const UNKNOWN_TARGET_ID: ResultU16 = ResultU16::new(GroupId::Tmtc as u8, 4);
|
||||
#[resultcode]
|
||||
pub const ROUTING_ERROR: ResultU16 = ResultU16::new(GroupId::Tmtc as u8, 5);
|
||||
|
||||
#[resultcode(
|
||||
info = "Not enough data inside the TC application data field. Optionally includes: \
|
||||
@ -60,6 +64,9 @@ pub mod tmtc_err {
|
||||
pub const TMTC_RESULTS: &[ResultU16Info] = &[
|
||||
INVALID_PUS_SERVICE_EXT,
|
||||
INVALID_PUS_SUBSERVICE_EXT,
|
||||
PUS_SERVICE_NOT_IMPLEMENTED_EXT,
|
||||
UNKNOWN_TARGET_ID_EXT,
|
||||
ROUTING_ERROR_EXT,
|
||||
NOT_ENOUGH_APP_DATA_EXT,
|
||||
];
|
||||
}
|
||||
@ -76,6 +83,13 @@ pub mod hk_err {
|
||||
pub const UNKNOWN_TARGET_ID: ResultU16 = ResultU16::new(GroupId::Hk as u8, 2);
|
||||
#[resultcode]
|
||||
pub const COLLECTION_INTERVAL_MISSING: ResultU16 = ResultU16::new(GroupId::Hk as u8, 3);
|
||||
|
||||
pub const HK_ERR_RESULTS: &[ResultU16Info] = &[
|
||||
TARGET_ID_MISSING_EXT,
|
||||
UNKNOWN_TARGET_ID_EXT,
|
||||
UNKNOWN_TARGET_ID_EXT,
|
||||
COLLECTION_INTERVAL_MISSING_EXT,
|
||||
];
|
||||
}
|
||||
|
||||
#[allow(clippy::enum_variant_names)]
|
||||
|
||||
@ -1,65 +1,63 @@
|
||||
use std::sync::mpsc::{self, SendError};
|
||||
use std::sync::mpsc::{self};
|
||||
|
||||
use satrs::{
|
||||
event_man::{
|
||||
EventManager, EventManagerWithMpscQueue, MpscEventReceiver, MpscEventU32SendProvider,
|
||||
SendEventProvider,
|
||||
EventManagerWithBoundedMpsc, EventSendProvider, EventU32SenderMpscBounded,
|
||||
MpscEventReceiver,
|
||||
},
|
||||
events::EventU32,
|
||||
params::Params,
|
||||
pus::{
|
||||
event_man::{
|
||||
DefaultPusMgmtBackendProvider, EventReporter, EventRequest, EventRequestWithToken,
|
||||
PusEventDispatcher,
|
||||
DefaultPusEventU32Dispatcher, EventReporter, EventRequest, EventRequestWithToken,
|
||||
},
|
||||
verification::{TcStateStarted, VerificationReporterWithSender, VerificationToken},
|
||||
verification::{TcStateStarted, VerificationReportingProvider, VerificationToken},
|
||||
EcssTmSender,
|
||||
},
|
||||
spacepackets::time::cds::{self, TimeProvider},
|
||||
spacepackets::time::cds::{self, CdsTime},
|
||||
};
|
||||
use satrs_example::config::PUS_APID;
|
||||
|
||||
use crate::update_time;
|
||||
|
||||
pub type MpscEventManager = EventManager<SendError<(EventU32, Option<Params>)>>;
|
||||
|
||||
pub struct PusEventHandler {
|
||||
pub struct PusEventHandler<VerificationReporter: VerificationReportingProvider> {
|
||||
event_request_rx: mpsc::Receiver<EventRequestWithToken>,
|
||||
pus_event_dispatcher: PusEventDispatcher<(), EventU32>,
|
||||
pus_event_dispatcher: DefaultPusEventU32Dispatcher<()>,
|
||||
pus_event_man_rx: mpsc::Receiver<(EventU32, Option<Params>)>,
|
||||
tm_sender: Box<dyn EcssTmSender>,
|
||||
time_provider: TimeProvider,
|
||||
time_provider: CdsTime,
|
||||
timestamp: [u8; 7],
|
||||
verif_handler: VerificationReporterWithSender,
|
||||
verif_handler: VerificationReporter,
|
||||
}
|
||||
/*
|
||||
*/
|
||||
|
||||
impl PusEventHandler {
|
||||
impl<VerificationReporter: VerificationReportingProvider> PusEventHandler<VerificationReporter> {
|
||||
pub fn new(
|
||||
verif_handler: VerificationReporterWithSender,
|
||||
event_manager: &mut MpscEventManager,
|
||||
verif_handler: VerificationReporter,
|
||||
event_manager: &mut EventManagerWithBoundedMpsc,
|
||||
event_request_rx: mpsc::Receiver<EventRequestWithToken>,
|
||||
tm_sender: impl EcssTmSender,
|
||||
) -> Self {
|
||||
let (pus_event_man_tx, pus_event_man_rx) = mpsc::channel();
|
||||
let event_queue_cap = 30;
|
||||
let (pus_event_man_tx, pus_event_man_rx) = mpsc::sync_channel(event_queue_cap);
|
||||
|
||||
// All events sent to the manager are routed to the PUS event manager, which generates PUS event
|
||||
// telemetry for each event.
|
||||
let event_reporter = EventReporter::new(PUS_APID, 128).unwrap();
|
||||
let pus_tm_backend = DefaultPusMgmtBackendProvider::<EventU32>::default();
|
||||
let pus_event_dispatcher =
|
||||
PusEventDispatcher::new(event_reporter, Box::new(pus_tm_backend));
|
||||
let pus_event_man_send_provider = MpscEventU32SendProvider::new(1, pus_event_man_tx);
|
||||
DefaultPusEventU32Dispatcher::new_with_default_backend(event_reporter);
|
||||
let pus_event_man_send_provider =
|
||||
EventU32SenderMpscBounded::new(1, pus_event_man_tx, event_queue_cap);
|
||||
|
||||
event_manager.subscribe_all(pus_event_man_send_provider.id());
|
||||
event_manager.subscribe_all(pus_event_man_send_provider.channel_id());
|
||||
event_manager.add_sender(pus_event_man_send_provider);
|
||||
|
||||
Self {
|
||||
event_request_rx,
|
||||
pus_event_dispatcher,
|
||||
pus_event_man_rx,
|
||||
time_provider: cds::TimeProvider::new_with_u16_days(0, 0),
|
||||
time_provider: cds::CdsTime::new_with_u16_days(0, 0),
|
||||
timestamp: [0; 7],
|
||||
verif_handler,
|
||||
tm_sender: Box::new(tm_sender),
|
||||
@ -73,7 +71,7 @@ impl PusEventHandler {
|
||||
.try_into()
|
||||
.expect("expected start verification token");
|
||||
self.verif_handler
|
||||
.completion_success(started_token, Some(timestamp))
|
||||
.completion_success(started_token, timestamp)
|
||||
.expect("Sending completion success failed");
|
||||
};
|
||||
// handle event requests
|
||||
@ -114,7 +112,7 @@ impl PusEventHandler {
|
||||
}
|
||||
|
||||
pub struct EventManagerWrapper {
|
||||
event_manager: MpscEventManager,
|
||||
event_manager: EventManagerWithBoundedMpsc,
|
||||
event_sender: mpsc::Sender<(EventU32, Option<Params>)>,
|
||||
}
|
||||
|
||||
@ -125,7 +123,7 @@ impl EventManagerWrapper {
|
||||
let (event_sender, event_man_rx) = mpsc::channel();
|
||||
let event_recv = MpscEventReceiver::<EventU32>::new(event_man_rx);
|
||||
Self {
|
||||
event_manager: EventManagerWithMpscQueue::new(Box::new(event_recv)),
|
||||
event_manager: EventManagerWithBoundedMpsc::new(event_recv),
|
||||
event_sender,
|
||||
}
|
||||
}
|
||||
@ -134,7 +132,7 @@ impl EventManagerWrapper {
|
||||
self.event_sender.clone()
|
||||
}
|
||||
|
||||
pub fn event_manager(&mut self) -> &mut MpscEventManager {
|
||||
pub fn event_manager(&mut self) -> &mut EventManagerWithBoundedMpsc {
|
||||
&mut self.event_manager
|
||||
}
|
||||
|
||||
@ -146,15 +144,15 @@ impl EventManagerWrapper {
|
||||
}
|
||||
}
|
||||
|
||||
pub struct EventHandler {
|
||||
pub struct EventHandler<VerificationReporter: VerificationReportingProvider> {
|
||||
pub event_man_wrapper: EventManagerWrapper,
|
||||
pub pus_event_handler: PusEventHandler,
|
||||
pub pus_event_handler: PusEventHandler<VerificationReporter>,
|
||||
}
|
||||
|
||||
impl EventHandler {
|
||||
impl<VerificationReporter: VerificationReportingProvider> EventHandler<VerificationReporter> {
|
||||
pub fn new(
|
||||
tm_sender: impl EcssTmSender,
|
||||
verif_handler: VerificationReporterWithSender,
|
||||
verif_handler: VerificationReporter,
|
||||
event_request_rx: mpsc::Receiver<EventRequestWithToken>,
|
||||
) -> Self {
|
||||
let mut event_man_wrapper = EventManagerWrapper::new();
|
||||
@ -175,7 +173,7 @@ impl EventHandler {
|
||||
}
|
||||
|
||||
#[allow(dead_code)]
|
||||
pub fn event_manager(&mut self) -> &mut MpscEventManager {
|
||||
pub fn event_manager(&mut self) -> &mut EventManagerWithBoundedMpsc {
|
||||
self.event_man_wrapper.event_manager()
|
||||
}
|
||||
|
||||
|
||||
@ -1,59 +1 @@
|
||||
use derive_new::new;
|
||||
use satrs::spacepackets::ecss::tc::IsPusTelecommand;
|
||||
use satrs::spacepackets::ecss::PusPacket;
|
||||
use satrs::spacepackets::{ByteConversionError, CcsdsPacket};
|
||||
use satrs::tmtc::TargetId;
|
||||
use std::fmt;
|
||||
use thiserror::Error;
|
||||
|
||||
pub mod config;
|
||||
|
||||
pub type Apid = u16;
|
||||
|
||||
#[derive(Debug, Error)]
|
||||
pub enum TargetIdCreationError {
|
||||
#[error("byte conversion")]
|
||||
ByteConversion(#[from] ByteConversionError),
|
||||
#[error("not enough app data to generate target ID")]
|
||||
NotEnoughAppData(usize),
|
||||
}
|
||||
|
||||
// TODO: can these stay pub?
|
||||
#[derive(Copy, Clone, PartialEq, Eq, Hash, Debug, new)]
|
||||
pub struct TargetIdWithApid {
|
||||
pub apid: Apid,
|
||||
pub target: TargetId,
|
||||
}
|
||||
|
||||
impl fmt::Display for TargetIdWithApid {
|
||||
fn fmt(&self, f: &mut fmt::Formatter) -> fmt::Result {
|
||||
write!(f, "{}, {}", self.apid, self.target)
|
||||
}
|
||||
}
|
||||
|
||||
impl TargetIdWithApid {
|
||||
pub fn apid(&self) -> Apid {
|
||||
self.apid
|
||||
}
|
||||
pub fn target_id(&self) -> TargetId {
|
||||
self.target
|
||||
}
|
||||
}
|
||||
|
||||
impl TargetIdWithApid {
|
||||
pub fn from_tc(
|
||||
tc: &(impl CcsdsPacket + PusPacket + IsPusTelecommand),
|
||||
) -> Result<Self, TargetIdCreationError> {
|
||||
if tc.user_data().len() < 4 {
|
||||
return Err(ByteConversionError::FromSliceTooSmall {
|
||||
found: tc.user_data().len(),
|
||||
expected: 8,
|
||||
}
|
||||
.into());
|
||||
}
|
||||
Ok(Self {
|
||||
apid: tc.apid(),
|
||||
target: u32::from_be_bytes(tc.user_data()[0..4].try_into().unwrap()),
|
||||
})
|
||||
}
|
||||
}
|
||||
|
||||
@ -17,6 +17,7 @@ use log::info;
|
||||
use pus::test::create_test_service_dynamic;
|
||||
use satrs::hal::std::tcp_server::ServerConfig;
|
||||
use satrs::hal::std::udp_server::UdpTcServer;
|
||||
use satrs::request::TargetAndApidId;
|
||||
use satrs::tmtc::tm_helper::SharedTmPool;
|
||||
use satrs_example::config::pool::{create_sched_tc_pool, create_static_pools};
|
||||
use satrs_example::config::tasks::{
|
||||
@ -35,7 +36,7 @@ use crate::pus::hk::{create_hk_service_dynamic, create_hk_service_static};
|
||||
use crate::pus::scheduler::{create_scheduler_service_dynamic, create_scheduler_service_static};
|
||||
use crate::pus::test::create_test_service_static;
|
||||
use crate::pus::{PusReceiver, PusTcMpscRouter};
|
||||
use crate::requests::RequestWithToken;
|
||||
use crate::requests::{GenericRequestRouter, RequestWithToken};
|
||||
use crate::tcp::{SyncTcpTmSource, TcpTask};
|
||||
use crate::tmtc::{
|
||||
PusTcSourceProviderSharedPool, SharedTcPool, TcSourceTaskDynamic, TcSourceTaskStatic,
|
||||
@ -43,23 +44,23 @@ use crate::tmtc::{
|
||||
use crate::udp::{StaticUdpTmHandler, UdpTmtcServer};
|
||||
use satrs::pus::event_man::EventRequestWithToken;
|
||||
use satrs::pus::verification::{VerificationReporterCfg, VerificationReporterWithSender};
|
||||
use satrs::pus::{EcssTmSender, MpscTmAsVecSender, MpscTmInSharedPoolSender};
|
||||
use satrs::spacepackets::{time::cds::TimeProvider, time::TimeWriter};
|
||||
use satrs::tmtc::{CcsdsDistributor, TargetId};
|
||||
use satrs::pus::{EcssTmSender, TmAsVecSenderWithId, TmInSharedPoolSenderWithId};
|
||||
use satrs::spacepackets::{time::cds::CdsTime, time::TimeWriter};
|
||||
use satrs::tmtc::CcsdsDistributor;
|
||||
use satrs::ChannelId;
|
||||
use satrs_example::TargetIdWithApid;
|
||||
use std::collections::HashMap;
|
||||
use std::net::{IpAddr, SocketAddr};
|
||||
use std::sync::mpsc::{self, channel};
|
||||
use std::sync::{Arc, RwLock};
|
||||
use std::thread;
|
||||
use std::time::Duration;
|
||||
|
||||
fn create_verification_reporter(verif_sender: impl EcssTmSender) -> VerificationReporterWithSender {
|
||||
fn create_verification_reporter<Sender: EcssTmSender + Clone>(
|
||||
verif_sender: Sender,
|
||||
) -> VerificationReporterWithSender<Sender> {
|
||||
let verif_cfg = VerificationReporterCfg::new(PUS_APID, 1, 2, 8).unwrap();
|
||||
// Every software component which needs to generate verification telemetry, gets a cloned
|
||||
// verification reporter.
|
||||
VerificationReporterWithSender::new(&verif_cfg, Box::new(verif_sender))
|
||||
VerificationReporterWithSender::new(&verif_cfg, verif_sender)
|
||||
}
|
||||
|
||||
#[allow(dead_code)]
|
||||
@ -69,24 +70,24 @@ fn static_tmtc_pool_main() {
|
||||
let shared_tc_pool = SharedTcPool {
|
||||
pool: Arc::new(RwLock::new(tc_pool)),
|
||||
};
|
||||
let (tc_source_tx, tc_source_rx) = channel();
|
||||
let (tm_funnel_tx, tm_funnel_rx) = channel();
|
||||
let (tm_server_tx, tm_server_rx) = channel();
|
||||
let (tc_source_tx, tc_source_rx) = mpsc::sync_channel(50);
|
||||
let (tm_funnel_tx, tm_funnel_rx) = mpsc::sync_channel(50);
|
||||
let (tm_server_tx, tm_server_rx) = mpsc::sync_channel(50);
|
||||
|
||||
// Every software component which needs to generate verification telemetry, receives a cloned
|
||||
// verification reporter.
|
||||
let verif_reporter = create_verification_reporter(MpscTmInSharedPoolSender::new(
|
||||
let verif_reporter = create_verification_reporter(TmInSharedPoolSenderWithId::new(
|
||||
TmSenderId::PusVerification as ChannelId,
|
||||
"verif_sender",
|
||||
shared_tm_pool.clone(),
|
||||
tm_funnel_tx.clone(),
|
||||
));
|
||||
|
||||
let acs_target_id = TargetIdWithApid::new(PUS_APID, RequestTargetId::AcsSubsystem as TargetId);
|
||||
let acs_target_id = TargetAndApidId::new(PUS_APID, RequestTargetId::AcsSubsystem as u32);
|
||||
let (acs_thread_tx, acs_thread_rx) = channel::<RequestWithToken>();
|
||||
// Some request are targetable. This map is used to retrieve sender handles based on a target ID.
|
||||
let mut request_map = HashMap::new();
|
||||
request_map.insert(acs_target_id, acs_thread_tx);
|
||||
let mut request_map = GenericRequestRouter::default();
|
||||
request_map.0.insert(acs_target_id.into(), acs_thread_tx);
|
||||
|
||||
// This helper structure is used by all telecommand providers which need to send telecommands
|
||||
// to the TC source.
|
||||
@ -103,7 +104,7 @@ fn static_tmtc_pool_main() {
|
||||
// The event task is the core handler to perform the event routing and TM handling as specified
|
||||
// in the sat-rs documentation.
|
||||
let mut event_handler = EventHandler::new(
|
||||
MpscTmInSharedPoolSender::new(
|
||||
TmInSharedPoolSenderWithId::new(
|
||||
TmSenderId::AllEvents as ChannelId,
|
||||
"ALL_EVENTS_TX",
|
||||
shared_tm_pool.clone(),
|
||||
@ -181,7 +182,7 @@ fn static_tmtc_pool_main() {
|
||||
);
|
||||
|
||||
let sock_addr = SocketAddr::new(IpAddr::V4(OBSW_SERVER_ADDR), SERVER_PORT);
|
||||
let udp_ccsds_distributor = CcsdsDistributor::new(Box::new(ccsds_receiver.clone()));
|
||||
let udp_ccsds_distributor = CcsdsDistributor::new(ccsds_receiver.clone());
|
||||
let udp_tc_server = UdpTcServer::new(sock_addr, 2048, Box::new(udp_ccsds_distributor))
|
||||
.expect("creating UDP TMTC server failed");
|
||||
let mut udp_tmtc_server = UdpTmtcServer {
|
||||
@ -192,7 +193,7 @@ fn static_tmtc_pool_main() {
|
||||
},
|
||||
};
|
||||
|
||||
let tcp_ccsds_distributor = CcsdsDistributor::new(Box::new(ccsds_receiver));
|
||||
let tcp_ccsds_distributor = CcsdsDistributor::new(ccsds_receiver);
|
||||
let tcp_server_cfg = ServerConfig::new(sock_addr, Duration::from_millis(400), 4096, 8192);
|
||||
let sync_tm_tcp_source = SyncTcpTmSource::new(200);
|
||||
let mut tcp_server = TcpTask::new(
|
||||
@ -203,7 +204,7 @@ fn static_tmtc_pool_main() {
|
||||
.expect("tcp server creation failed");
|
||||
|
||||
let mut acs_task = AcsTask::new(
|
||||
MpscTmInSharedPoolSender::new(
|
||||
TmInSharedPoolSenderWithId::new(
|
||||
TmSenderId::AcsSubsystem as ChannelId,
|
||||
"ACS_TASK_SENDER",
|
||||
shared_tm_pool.clone(),
|
||||
@ -304,17 +305,17 @@ fn dyn_tmtc_pool_main() {
|
||||
let (tm_server_tx, tm_server_rx) = channel();
|
||||
// Every software component which needs to generate verification telemetry, gets a cloned
|
||||
// verification reporter.
|
||||
let verif_reporter = create_verification_reporter(MpscTmAsVecSender::new(
|
||||
let verif_reporter = create_verification_reporter(TmAsVecSenderWithId::new(
|
||||
TmSenderId::PusVerification as ChannelId,
|
||||
"verif_sender",
|
||||
tm_funnel_tx.clone(),
|
||||
));
|
||||
|
||||
let acs_target_id = TargetIdWithApid::new(PUS_APID, RequestTargetId::AcsSubsystem as TargetId);
|
||||
let acs_target_id = TargetAndApidId::new(PUS_APID, RequestTargetId::AcsSubsystem as u32);
|
||||
let (acs_thread_tx, acs_thread_rx) = channel::<RequestWithToken>();
|
||||
// Some request are targetable. This map is used to retrieve sender handles based on a target ID.
|
||||
let mut request_map = HashMap::new();
|
||||
request_map.insert(acs_target_id, acs_thread_tx);
|
||||
let mut request_map = GenericRequestRouter::default();
|
||||
request_map.0.insert(acs_target_id.into(), acs_thread_tx);
|
||||
|
||||
let tc_source = PusTcSourceProviderDynamic(tc_source_tx);
|
||||
|
||||
@ -325,7 +326,7 @@ fn dyn_tmtc_pool_main() {
|
||||
// The event task is the core handler to perform the event routing and TM handling as specified
|
||||
// in the sat-rs documentation.
|
||||
let mut event_handler = EventHandler::new(
|
||||
MpscTmAsVecSender::new(
|
||||
TmAsVecSenderWithId::new(
|
||||
TmSenderId::AllEvents as ChannelId,
|
||||
"ALL_EVENTS_TX",
|
||||
tm_funnel_tx.clone(),
|
||||
@ -395,7 +396,7 @@ fn dyn_tmtc_pool_main() {
|
||||
);
|
||||
|
||||
let sock_addr = SocketAddr::new(IpAddr::V4(OBSW_SERVER_ADDR), SERVER_PORT);
|
||||
let udp_ccsds_distributor = CcsdsDistributor::new(Box::new(ccsds_receiver.clone()));
|
||||
let udp_ccsds_distributor = CcsdsDistributor::new(ccsds_receiver.clone());
|
||||
let udp_tc_server = UdpTcServer::new(sock_addr, 2048, Box::new(udp_ccsds_distributor))
|
||||
.expect("creating UDP TMTC server failed");
|
||||
let mut udp_tmtc_server = UdpTmtcServer {
|
||||
@ -405,7 +406,7 @@ fn dyn_tmtc_pool_main() {
|
||||
},
|
||||
};
|
||||
|
||||
let tcp_ccsds_distributor = CcsdsDistributor::new(Box::new(ccsds_receiver));
|
||||
let tcp_ccsds_distributor = CcsdsDistributor::new(ccsds_receiver);
|
||||
let tcp_server_cfg = ServerConfig::new(sock_addr, Duration::from_millis(400), 4096, 8192);
|
||||
let sync_tm_tcp_source = SyncTcpTmSource::new(200);
|
||||
let mut tcp_server = TcpTask::new(
|
||||
@ -416,7 +417,7 @@ fn dyn_tmtc_pool_main() {
|
||||
.expect("tcp server creation failed");
|
||||
|
||||
let mut acs_task = AcsTask::new(
|
||||
MpscTmAsVecSender::new(
|
||||
TmAsVecSenderWithId::new(
|
||||
TmSenderId::AcsSubsystem as ChannelId,
|
||||
"ACS_TASK_SENDER",
|
||||
tm_funnel_tx.clone(),
|
||||
@ -512,7 +513,7 @@ fn main() {
|
||||
dyn_tmtc_pool_main();
|
||||
}
|
||||
|
||||
pub fn update_time(time_provider: &mut TimeProvider, timestamp: &mut [u8]) {
|
||||
pub fn update_time(time_provider: &mut CdsTime, timestamp: &mut [u8]) {
|
||||
time_provider
|
||||
.update_from_now()
|
||||
.expect("Could not get current time");
|
||||
|
||||
@ -1,32 +1,94 @@
|
||||
use crate::requests::{ActionRequest, Request, RequestWithToken};
|
||||
use log::{error, warn};
|
||||
use satrs::action::ActionRequest;
|
||||
use satrs::pool::{SharedStaticMemoryPool, StoreAddr};
|
||||
use satrs::pus::action::{PusActionToRequestConverter, PusService8ActionHandler};
|
||||
use satrs::pus::verification::std_mod::{
|
||||
VerificationReporterWithSharedPoolMpscBoundedSender, VerificationReporterWithVecMpscSender,
|
||||
};
|
||||
use satrs::pus::verification::{
|
||||
FailParams, TcStateAccepted, VerificationReporterWithSender, VerificationToken,
|
||||
FailParams, TcStateAccepted, VerificationReportingProvider, VerificationToken,
|
||||
};
|
||||
use satrs::pus::{
|
||||
EcssTcAndToken, EcssTcInMemConverter, EcssTcInSharedStoreConverter, EcssTcInVecConverter,
|
||||
EcssTcReceiver, EcssTmSender, MpscTcReceiver, MpscTmAsVecSender, MpscTmInSharedPoolSender,
|
||||
PusPacketHandlerResult, PusPacketHandlingError, PusServiceBase, PusServiceHelper,
|
||||
EcssTcReceiverCore, EcssTmSenderCore, MpscTcReceiver, PusPacketHandlerResult,
|
||||
PusPacketHandlingError, PusServiceHelper, TmAsVecSenderWithId, TmAsVecSenderWithMpsc,
|
||||
TmInSharedPoolSenderWithBoundedMpsc, TmInSharedPoolSenderWithId,
|
||||
};
|
||||
use satrs::request::TargetAndApidId;
|
||||
use satrs::spacepackets::ecss::tc::PusTcReader;
|
||||
use satrs::spacepackets::ecss::PusPacket;
|
||||
use satrs::tmtc::tm_helper::SharedTmPool;
|
||||
use satrs::ChannelId;
|
||||
use satrs::{ChannelId, TargetId};
|
||||
use satrs_example::config::{tmtc_err, TcReceiverId, TmSenderId, PUS_APID};
|
||||
use satrs_example::TargetIdWithApid;
|
||||
use std::collections::HashMap;
|
||||
use std::sync::mpsc::{self, Sender};
|
||||
use std::sync::mpsc::{self};
|
||||
|
||||
use crate::requests::GenericRequestRouter;
|
||||
|
||||
use super::GenericRoutingErrorHandler;
|
||||
|
||||
#[derive(Default)]
|
||||
pub struct ExampleActionRequestConverter {}
|
||||
|
||||
impl PusActionToRequestConverter for ExampleActionRequestConverter {
|
||||
type Error = PusPacketHandlingError;
|
||||
|
||||
fn convert(
|
||||
&mut self,
|
||||
token: VerificationToken<TcStateAccepted>,
|
||||
tc: &PusTcReader,
|
||||
time_stamp: &[u8],
|
||||
verif_reporter: &impl VerificationReportingProvider,
|
||||
) -> Result<(TargetId, ActionRequest), Self::Error> {
|
||||
let subservice = tc.subservice();
|
||||
let user_data = tc.user_data();
|
||||
if user_data.len() < 8 {
|
||||
verif_reporter
|
||||
.start_failure(
|
||||
token,
|
||||
FailParams::new_no_fail_data(time_stamp, &tmtc_err::NOT_ENOUGH_APP_DATA),
|
||||
)
|
||||
.expect("Sending start failure failed");
|
||||
return Err(PusPacketHandlingError::NotEnoughAppData {
|
||||
expected: 8,
|
||||
found: user_data.len(),
|
||||
});
|
||||
}
|
||||
let target_id = TargetAndApidId::from_pus_tc(tc).unwrap();
|
||||
let action_id = u32::from_be_bytes(user_data[4..8].try_into().unwrap());
|
||||
if subservice == 128 {
|
||||
Ok((
|
||||
target_id.raw(),
|
||||
ActionRequest::UnsignedIdAndVecData {
|
||||
action_id,
|
||||
data: user_data[8..].to_vec(),
|
||||
},
|
||||
))
|
||||
} else {
|
||||
verif_reporter
|
||||
.start_failure(
|
||||
token,
|
||||
FailParams::new_no_fail_data(time_stamp, &tmtc_err::INVALID_PUS_SUBSERVICE),
|
||||
)
|
||||
.expect("Sending start failure failed");
|
||||
Err(PusPacketHandlingError::InvalidSubservice(subservice))
|
||||
}
|
||||
}
|
||||
}
|
||||
|
||||
pub fn create_action_service_static(
|
||||
shared_tm_store: SharedTmPool,
|
||||
tm_funnel_tx: mpsc::Sender<StoreAddr>,
|
||||
verif_reporter: VerificationReporterWithSender,
|
||||
tm_funnel_tx: mpsc::SyncSender<StoreAddr>,
|
||||
verif_reporter: VerificationReporterWithSharedPoolMpscBoundedSender,
|
||||
tc_pool: SharedStaticMemoryPool,
|
||||
pus_action_rx: mpsc::Receiver<EcssTcAndToken>,
|
||||
request_map: HashMap<TargetIdWithApid, mpsc::Sender<RequestWithToken>>,
|
||||
) -> Pus8Wrapper<EcssTcInSharedStoreConverter> {
|
||||
let action_srv_tm_sender = MpscTmInSharedPoolSender::new(
|
||||
action_router: GenericRequestRouter,
|
||||
) -> Pus8Wrapper<
|
||||
MpscTcReceiver,
|
||||
TmInSharedPoolSenderWithBoundedMpsc,
|
||||
EcssTcInSharedStoreConverter,
|
||||
VerificationReporterWithSharedPoolMpscBoundedSender,
|
||||
> {
|
||||
let action_srv_tm_sender = TmInSharedPoolSenderWithId::new(
|
||||
TmSenderId::PusAction as ChannelId,
|
||||
"PUS_8_TM_SENDER",
|
||||
shared_tm_store.clone(),
|
||||
@ -38,23 +100,32 @@ pub fn create_action_service_static(
|
||||
pus_action_rx,
|
||||
);
|
||||
let pus_8_handler = PusService8ActionHandler::new(
|
||||
Box::new(action_srv_receiver),
|
||||
Box::new(action_srv_tm_sender),
|
||||
PusServiceHelper::new(
|
||||
action_srv_receiver,
|
||||
action_srv_tm_sender,
|
||||
PUS_APID,
|
||||
verif_reporter.clone(),
|
||||
EcssTcInSharedStoreConverter::new(tc_pool.clone(), 2048),
|
||||
request_map.clone(),
|
||||
),
|
||||
ExampleActionRequestConverter::default(),
|
||||
action_router,
|
||||
GenericRoutingErrorHandler::<8>::default(),
|
||||
);
|
||||
Pus8Wrapper { pus_8_handler }
|
||||
}
|
||||
|
||||
pub fn create_action_service_dynamic(
|
||||
tm_funnel_tx: mpsc::Sender<Vec<u8>>,
|
||||
verif_reporter: VerificationReporterWithSender,
|
||||
verif_reporter: VerificationReporterWithVecMpscSender,
|
||||
pus_action_rx: mpsc::Receiver<EcssTcAndToken>,
|
||||
request_map: HashMap<TargetIdWithApid, mpsc::Sender<RequestWithToken>>,
|
||||
) -> Pus8Wrapper<EcssTcInVecConverter> {
|
||||
let action_srv_tm_sender = MpscTmAsVecSender::new(
|
||||
action_router: GenericRequestRouter,
|
||||
) -> Pus8Wrapper<
|
||||
MpscTcReceiver,
|
||||
TmAsVecSenderWithMpsc,
|
||||
EcssTcInVecConverter,
|
||||
VerificationReporterWithVecMpscSender,
|
||||
> {
|
||||
let action_srv_tm_sender = TmAsVecSenderWithId::new(
|
||||
TmSenderId::PusAction as ChannelId,
|
||||
"PUS_8_TM_SENDER",
|
||||
tm_funnel_tx.clone(),
|
||||
@ -65,149 +136,44 @@ pub fn create_action_service_dynamic(
|
||||
pus_action_rx,
|
||||
);
|
||||
let pus_8_handler = PusService8ActionHandler::new(
|
||||
Box::new(action_srv_receiver),
|
||||
Box::new(action_srv_tm_sender),
|
||||
PusServiceHelper::new(
|
||||
action_srv_receiver,
|
||||
action_srv_tm_sender,
|
||||
PUS_APID,
|
||||
verif_reporter.clone(),
|
||||
EcssTcInVecConverter::default(),
|
||||
request_map.clone(),
|
||||
),
|
||||
ExampleActionRequestConverter::default(),
|
||||
action_router,
|
||||
GenericRoutingErrorHandler::<8>::default(),
|
||||
);
|
||||
Pus8Wrapper { pus_8_handler }
|
||||
}
|
||||
|
||||
pub struct PusService8ActionHandler<TcInMemConverter: EcssTcInMemConverter> {
|
||||
service_helper: PusServiceHelper<TcInMemConverter>,
|
||||
request_handlers: HashMap<TargetIdWithApid, Sender<RequestWithToken>>,
|
||||
pub struct Pus8Wrapper<
|
||||
TcReceiver: EcssTcReceiverCore,
|
||||
TmSender: EcssTmSenderCore,
|
||||
TcInMemConverter: EcssTcInMemConverter,
|
||||
VerificationReporter: VerificationReportingProvider,
|
||||
> {
|
||||
pub(crate) pus_8_handler: PusService8ActionHandler<
|
||||
TcReceiver,
|
||||
TmSender,
|
||||
TcInMemConverter,
|
||||
VerificationReporter,
|
||||
ExampleActionRequestConverter,
|
||||
GenericRequestRouter,
|
||||
GenericRoutingErrorHandler<8>,
|
||||
>,
|
||||
}
|
||||
|
||||
impl<TcInMemConverter: EcssTcInMemConverter> PusService8ActionHandler<TcInMemConverter> {
|
||||
pub fn new(
|
||||
tc_receiver: Box<dyn EcssTcReceiver>,
|
||||
tm_sender: Box<dyn EcssTmSender>,
|
||||
tm_apid: u16,
|
||||
verification_handler: VerificationReporterWithSender,
|
||||
tc_in_mem_converter: TcInMemConverter,
|
||||
request_handlers: HashMap<TargetIdWithApid, Sender<RequestWithToken>>,
|
||||
) -> Self {
|
||||
Self {
|
||||
service_helper: PusServiceHelper::new(
|
||||
tc_receiver,
|
||||
tm_sender,
|
||||
tm_apid,
|
||||
verification_handler,
|
||||
tc_in_mem_converter,
|
||||
),
|
||||
request_handlers,
|
||||
}
|
||||
}
|
||||
|
||||
fn handle_action_request_with_id(
|
||||
&self,
|
||||
token: VerificationToken<TcStateAccepted>,
|
||||
tc: &PusTcReader,
|
||||
time_stamp: &[u8],
|
||||
) -> Result<(), PusPacketHandlingError> {
|
||||
let user_data = tc.user_data();
|
||||
if user_data.len() < 8 {
|
||||
self.service_helper
|
||||
.common
|
||||
.verification_handler
|
||||
.borrow_mut()
|
||||
.start_failure(
|
||||
token,
|
||||
FailParams::new(Some(time_stamp), &tmtc_err::NOT_ENOUGH_APP_DATA, None),
|
||||
)
|
||||
.expect("Sending start failure failed");
|
||||
return Err(PusPacketHandlingError::NotEnoughAppData(
|
||||
"Expected at least 4 bytes".into(),
|
||||
));
|
||||
}
|
||||
//let target_id = u32::from_be_bytes(user_data[0..4].try_into().unwrap());
|
||||
let target_id = TargetIdWithApid::from_tc(tc).unwrap();
|
||||
let action_id = u32::from_be_bytes(user_data[4..8].try_into().unwrap());
|
||||
if let Some(sender) = self.request_handlers.get(&target_id) {
|
||||
sender
|
||||
.send(RequestWithToken::new(
|
||||
target_id,
|
||||
Request::Action(ActionRequest::CmdWithU32Id((
|
||||
action_id,
|
||||
Vec::from(&user_data[8..]),
|
||||
))),
|
||||
token,
|
||||
))
|
||||
.expect("Forwarding action request failed");
|
||||
} else {
|
||||
let mut fail_data: [u8; 4] = [0; 4];
|
||||
fail_data.copy_from_slice(&target_id.target.to_be_bytes());
|
||||
self.service_helper
|
||||
.common
|
||||
.verification_handler
|
||||
.borrow_mut()
|
||||
.start_failure(
|
||||
token,
|
||||
FailParams::new(
|
||||
Some(time_stamp),
|
||||
&tmtc_err::UNKNOWN_TARGET_ID,
|
||||
Some(&fail_data),
|
||||
),
|
||||
)
|
||||
.expect("Sending start failure failed");
|
||||
return Err(PusPacketHandlingError::Other(format!(
|
||||
"Unknown target ID {target_id}"
|
||||
)));
|
||||
}
|
||||
Ok(())
|
||||
}
|
||||
|
||||
fn handle_one_tc(&mut self) -> Result<PusPacketHandlerResult, PusPacketHandlingError> {
|
||||
let possible_packet = self.service_helper.retrieve_and_accept_next_packet()?;
|
||||
if possible_packet.is_none() {
|
||||
return Ok(PusPacketHandlerResult::Empty);
|
||||
}
|
||||
let ecss_tc_and_token = possible_packet.unwrap();
|
||||
self.service_helper
|
||||
.tc_in_mem_converter
|
||||
.cache_ecss_tc_in_memory(&ecss_tc_and_token.tc_in_memory)?;
|
||||
let tc = PusTcReader::new(self.service_helper.tc_in_mem_converter.tc_slice_raw())?.0;
|
||||
let subservice = tc.subservice();
|
||||
let mut partial_error = None;
|
||||
let time_stamp = PusServiceBase::get_current_timestamp(&mut partial_error);
|
||||
match subservice {
|
||||
128 => {
|
||||
self.handle_action_request_with_id(ecss_tc_and_token.token, &tc, &time_stamp)?;
|
||||
}
|
||||
_ => {
|
||||
let fail_data = [subservice];
|
||||
self.service_helper
|
||||
.common
|
||||
.verification_handler
|
||||
.get_mut()
|
||||
.start_failure(
|
||||
ecss_tc_and_token.token,
|
||||
FailParams::new(
|
||||
Some(&time_stamp),
|
||||
&tmtc_err::INVALID_PUS_SUBSERVICE,
|
||||
Some(&fail_data),
|
||||
),
|
||||
)
|
||||
.expect("Sending start failure failed");
|
||||
return Err(PusPacketHandlingError::InvalidSubservice(subservice));
|
||||
}
|
||||
}
|
||||
if let Some(partial_error) = partial_error {
|
||||
return Ok(PusPacketHandlerResult::RequestHandledPartialSuccess(
|
||||
partial_error,
|
||||
));
|
||||
}
|
||||
Ok(PusPacketHandlerResult::RequestHandled)
|
||||
}
|
||||
}
|
||||
|
||||
pub struct Pus8Wrapper<TcInMemConverter: EcssTcInMemConverter> {
|
||||
pub(crate) pus_8_handler: PusService8ActionHandler<TcInMemConverter>,
|
||||
}
|
||||
|
||||
impl<TcInMemConverter: EcssTcInMemConverter> Pus8Wrapper<TcInMemConverter> {
|
||||
impl<
|
||||
TcReceiver: EcssTcReceiverCore,
|
||||
TmSender: EcssTmSenderCore,
|
||||
TcInMemConverter: EcssTcInMemConverter,
|
||||
VerificationReporter: VerificationReportingProvider,
|
||||
> Pus8Wrapper<TcReceiver, TmSender, TcInMemConverter, VerificationReporter>
|
||||
{
|
||||
pub fn handle_next_packet(&mut self) -> bool {
|
||||
match self.pus_8_handler.handle_one_tc() {
|
||||
Ok(result) => match result {
|
||||
|
||||
@ -4,11 +4,15 @@ use log::{error, warn};
|
||||
use satrs::pool::{SharedStaticMemoryPool, StoreAddr};
|
||||
use satrs::pus::event_man::EventRequestWithToken;
|
||||
use satrs::pus::event_srv::PusService5EventHandler;
|
||||
use satrs::pus::verification::VerificationReporterWithSender;
|
||||
use satrs::pus::verification::std_mod::{
|
||||
VerificationReporterWithSharedPoolMpscBoundedSender, VerificationReporterWithVecMpscSender,
|
||||
};
|
||||
use satrs::pus::verification::VerificationReportingProvider;
|
||||
use satrs::pus::{
|
||||
EcssTcAndToken, EcssTcInMemConverter, EcssTcInSharedStoreConverter, EcssTcInVecConverter,
|
||||
MpscTcReceiver, MpscTmAsVecSender, MpscTmInSharedPoolSender, PusPacketHandlerResult,
|
||||
PusServiceHelper,
|
||||
EcssTcReceiverCore, EcssTmSenderCore, MpscTcReceiver, PusPacketHandlerResult, PusServiceHelper,
|
||||
TmAsVecSenderWithId, TmAsVecSenderWithMpsc, TmInSharedPoolSenderWithBoundedMpsc,
|
||||
TmInSharedPoolSenderWithId,
|
||||
};
|
||||
use satrs::tmtc::tm_helper::SharedTmPool;
|
||||
use satrs::ChannelId;
|
||||
@ -16,13 +20,18 @@ use satrs_example::config::{TcReceiverId, TmSenderId, PUS_APID};
|
||||
|
||||
pub fn create_event_service_static(
|
||||
shared_tm_store: SharedTmPool,
|
||||
tm_funnel_tx: mpsc::Sender<StoreAddr>,
|
||||
verif_reporter: VerificationReporterWithSender,
|
||||
tm_funnel_tx: mpsc::SyncSender<StoreAddr>,
|
||||
verif_reporter: VerificationReporterWithSharedPoolMpscBoundedSender,
|
||||
tc_pool: SharedStaticMemoryPool,
|
||||
pus_event_rx: mpsc::Receiver<EcssTcAndToken>,
|
||||
event_request_tx: mpsc::Sender<EventRequestWithToken>,
|
||||
) -> Pus5Wrapper<EcssTcInSharedStoreConverter> {
|
||||
let event_srv_tm_sender = MpscTmInSharedPoolSender::new(
|
||||
) -> Pus5Wrapper<
|
||||
MpscTcReceiver,
|
||||
TmInSharedPoolSenderWithBoundedMpsc,
|
||||
EcssTcInSharedStoreConverter,
|
||||
VerificationReporterWithSharedPoolMpscBoundedSender,
|
||||
> {
|
||||
let event_srv_tm_sender = TmInSharedPoolSenderWithId::new(
|
||||
TmSenderId::PusEvent as ChannelId,
|
||||
"PUS_5_TM_SENDER",
|
||||
shared_tm_store.clone(),
|
||||
@ -35,8 +44,8 @@ pub fn create_event_service_static(
|
||||
);
|
||||
let pus_5_handler = PusService5EventHandler::new(
|
||||
PusServiceHelper::new(
|
||||
Box::new(event_srv_receiver),
|
||||
Box::new(event_srv_tm_sender),
|
||||
event_srv_receiver,
|
||||
event_srv_tm_sender,
|
||||
PUS_APID,
|
||||
verif_reporter.clone(),
|
||||
EcssTcInSharedStoreConverter::new(tc_pool.clone(), 2048),
|
||||
@ -48,11 +57,16 @@ pub fn create_event_service_static(
|
||||
|
||||
pub fn create_event_service_dynamic(
|
||||
tm_funnel_tx: mpsc::Sender<Vec<u8>>,
|
||||
verif_reporter: VerificationReporterWithSender,
|
||||
verif_reporter: VerificationReporterWithVecMpscSender,
|
||||
pus_event_rx: mpsc::Receiver<EcssTcAndToken>,
|
||||
event_request_tx: mpsc::Sender<EventRequestWithToken>,
|
||||
) -> Pus5Wrapper<EcssTcInVecConverter> {
|
||||
let event_srv_tm_sender = MpscTmAsVecSender::new(
|
||||
) -> Pus5Wrapper<
|
||||
MpscTcReceiver,
|
||||
TmAsVecSenderWithMpsc,
|
||||
EcssTcInVecConverter,
|
||||
VerificationReporterWithVecMpscSender,
|
||||
> {
|
||||
let event_srv_tm_sender = TmAsVecSenderWithId::new(
|
||||
TmSenderId::PusEvent as ChannelId,
|
||||
"PUS_5_TM_SENDER",
|
||||
tm_funnel_tx,
|
||||
@ -64,8 +78,8 @@ pub fn create_event_service_dynamic(
|
||||
);
|
||||
let pus_5_handler = PusService5EventHandler::new(
|
||||
PusServiceHelper::new(
|
||||
Box::new(event_srv_receiver),
|
||||
Box::new(event_srv_tm_sender),
|
||||
event_srv_receiver,
|
||||
event_srv_tm_sender,
|
||||
PUS_APID,
|
||||
verif_reporter.clone(),
|
||||
EcssTcInVecConverter::default(),
|
||||
@ -75,11 +89,23 @@ pub fn create_event_service_dynamic(
|
||||
Pus5Wrapper { pus_5_handler }
|
||||
}
|
||||
|
||||
pub struct Pus5Wrapper<TcInMemConverter: EcssTcInMemConverter> {
|
||||
pub pus_5_handler: PusService5EventHandler<TcInMemConverter>,
|
||||
pub struct Pus5Wrapper<
|
||||
TcReceiver: EcssTcReceiverCore,
|
||||
TmSender: EcssTmSenderCore,
|
||||
TcInMemConverter: EcssTcInMemConverter,
|
||||
VerificationReporter: VerificationReportingProvider,
|
||||
> {
|
||||
pub pus_5_handler:
|
||||
PusService5EventHandler<TcReceiver, TmSender, TcInMemConverter, VerificationReporter>,
|
||||
}
|
||||
|
||||
impl<TcInMemConverter: EcssTcInMemConverter> Pus5Wrapper<TcInMemConverter> {
|
||||
impl<
|
||||
TcReceiver: EcssTcReceiverCore,
|
||||
TmSender: EcssTmSenderCore,
|
||||
TcInMemConverter: EcssTcInMemConverter,
|
||||
VerificationReporter: VerificationReportingProvider,
|
||||
> Pus5Wrapper<TcReceiver, TmSender, TcInMemConverter, VerificationReporter>
|
||||
{
|
||||
pub fn handle_next_packet(&mut self) -> bool {
|
||||
match self.pus_5_handler.handle_one_tc() {
|
||||
Ok(result) => match result {
|
||||
|
||||
@ -1,32 +1,163 @@
|
||||
use crate::requests::{Request, RequestWithToken};
|
||||
use log::{error, warn};
|
||||
use satrs::hk::{CollectionIntervalFactor, HkRequest};
|
||||
use satrs::pool::{SharedStaticMemoryPool, StoreAddr};
|
||||
use satrs::pus::hk::{PusHkToRequestConverter, PusService3HkHandler};
|
||||
use satrs::pus::verification::std_mod::{
|
||||
VerificationReporterWithSharedPoolMpscBoundedSender, VerificationReporterWithVecMpscSender,
|
||||
};
|
||||
use satrs::pus::verification::{
|
||||
FailParams, StdVerifReporterWithSender, VerificationReporterWithSender,
|
||||
FailParams, TcStateAccepted, VerificationReportingProvider, VerificationToken,
|
||||
};
|
||||
use satrs::pus::{
|
||||
EcssTcAndToken, EcssTcInMemConverter, EcssTcInSharedStoreConverter, EcssTcInVecConverter,
|
||||
EcssTcReceiver, EcssTmSender, MpscTcReceiver, MpscTmAsVecSender, MpscTmInSharedPoolSender,
|
||||
PusPacketHandlerResult, PusPacketHandlingError, PusServiceBase, PusServiceHelper,
|
||||
EcssTcReceiverCore, EcssTmSenderCore, MpscTcReceiver, PusPacketHandlerResult,
|
||||
PusPacketHandlingError, PusServiceHelper, TmAsVecSenderWithId, TmAsVecSenderWithMpsc,
|
||||
TmInSharedPoolSenderWithBoundedMpsc, TmInSharedPoolSenderWithId,
|
||||
};
|
||||
use satrs::request::TargetAndApidId;
|
||||
use satrs::spacepackets::ecss::tc::PusTcReader;
|
||||
use satrs::spacepackets::ecss::{hk, PusPacket};
|
||||
use satrs::tmtc::tm_helper::SharedTmPool;
|
||||
use satrs::ChannelId;
|
||||
use satrs::{ChannelId, TargetId};
|
||||
use satrs_example::config::{hk_err, tmtc_err, TcReceiverId, TmSenderId, PUS_APID};
|
||||
use satrs_example::TargetIdWithApid;
|
||||
use std::collections::HashMap;
|
||||
use std::sync::mpsc::{self, Sender};
|
||||
use std::sync::mpsc::{self};
|
||||
|
||||
use crate::requests::GenericRequestRouter;
|
||||
|
||||
use super::GenericRoutingErrorHandler;
|
||||
|
||||
#[derive(Default)]
|
||||
pub struct ExampleHkRequestConverter {}
|
||||
|
||||
impl PusHkToRequestConverter for ExampleHkRequestConverter {
|
||||
type Error = PusPacketHandlingError;
|
||||
|
||||
fn convert(
|
||||
&mut self,
|
||||
token: VerificationToken<TcStateAccepted>,
|
||||
tc: &PusTcReader,
|
||||
time_stamp: &[u8],
|
||||
verif_reporter: &impl VerificationReportingProvider,
|
||||
) -> Result<(TargetId, HkRequest), Self::Error> {
|
||||
let user_data = tc.user_data();
|
||||
if user_data.is_empty() {
|
||||
let user_data_len = user_data.len() as u32;
|
||||
let user_data_len_raw = user_data_len.to_be_bytes();
|
||||
verif_reporter
|
||||
.start_failure(
|
||||
token,
|
||||
FailParams::new(
|
||||
time_stamp,
|
||||
&tmtc_err::NOT_ENOUGH_APP_DATA,
|
||||
&user_data_len_raw,
|
||||
),
|
||||
)
|
||||
.expect("Sending start failure TM failed");
|
||||
return Err(PusPacketHandlingError::NotEnoughAppData {
|
||||
expected: 4,
|
||||
found: 0,
|
||||
});
|
||||
}
|
||||
if user_data.len() < 8 {
|
||||
let err = if user_data.len() < 4 {
|
||||
&hk_err::TARGET_ID_MISSING
|
||||
} else {
|
||||
&hk_err::UNIQUE_ID_MISSING
|
||||
};
|
||||
let user_data_len = user_data.len() as u32;
|
||||
let user_data_len_raw = user_data_len.to_be_bytes();
|
||||
verif_reporter
|
||||
.start_failure(token, FailParams::new(time_stamp, err, &user_data_len_raw))
|
||||
.expect("Sending start failure TM failed");
|
||||
return Err(PusPacketHandlingError::NotEnoughAppData {
|
||||
expected: 8,
|
||||
found: 4,
|
||||
});
|
||||
}
|
||||
let subservice = tc.subservice();
|
||||
let target_id = TargetAndApidId::from_pus_tc(tc).expect("invalid tc format");
|
||||
let unique_id = u32::from_be_bytes(tc.user_data()[4..8].try_into().unwrap());
|
||||
|
||||
let standard_subservice = hk::Subservice::try_from(subservice);
|
||||
if standard_subservice.is_err() {
|
||||
verif_reporter
|
||||
.start_failure(
|
||||
token,
|
||||
FailParams::new(time_stamp, &tmtc_err::INVALID_PUS_SUBSERVICE, &[subservice]),
|
||||
)
|
||||
.expect("Sending start failure TM failed");
|
||||
return Err(PusPacketHandlingError::InvalidSubservice(subservice));
|
||||
}
|
||||
Ok((
|
||||
target_id.into(),
|
||||
match standard_subservice.unwrap() {
|
||||
hk::Subservice::TcEnableHkGeneration | hk::Subservice::TcEnableDiagGeneration => {
|
||||
HkRequest::Enable(unique_id)
|
||||
}
|
||||
hk::Subservice::TcDisableHkGeneration | hk::Subservice::TcDisableDiagGeneration => {
|
||||
HkRequest::Disable(unique_id)
|
||||
}
|
||||
hk::Subservice::TcReportHkReportStructures => todo!(),
|
||||
hk::Subservice::TmHkPacket => todo!(),
|
||||
hk::Subservice::TcGenerateOneShotHk | hk::Subservice::TcGenerateOneShotDiag => {
|
||||
HkRequest::OneShot(unique_id)
|
||||
}
|
||||
hk::Subservice::TcModifyDiagCollectionInterval
|
||||
| hk::Subservice::TcModifyHkCollectionInterval => {
|
||||
if user_data.len() < 12 {
|
||||
verif_reporter
|
||||
.start_failure(
|
||||
token,
|
||||
FailParams::new_no_fail_data(
|
||||
time_stamp,
|
||||
&tmtc_err::NOT_ENOUGH_APP_DATA,
|
||||
),
|
||||
)
|
||||
.expect("Sending start failure TM failed");
|
||||
return Err(PusPacketHandlingError::NotEnoughAppData {
|
||||
expected: 12,
|
||||
found: user_data.len(),
|
||||
});
|
||||
}
|
||||
HkRequest::ModifyCollectionInterval(
|
||||
unique_id,
|
||||
CollectionIntervalFactor::from_be_bytes(
|
||||
user_data[8..12].try_into().unwrap(),
|
||||
),
|
||||
)
|
||||
}
|
||||
_ => {
|
||||
verif_reporter
|
||||
.start_failure(
|
||||
token,
|
||||
FailParams::new(
|
||||
time_stamp,
|
||||
&tmtc_err::PUS_SUBSERVICE_NOT_IMPLEMENTED,
|
||||
&[subservice],
|
||||
),
|
||||
)
|
||||
.expect("Sending start failure TM failed");
|
||||
return Err(PusPacketHandlingError::InvalidSubservice(subservice));
|
||||
}
|
||||
},
|
||||
))
|
||||
}
|
||||
}
|
||||
|
||||
pub fn create_hk_service_static(
|
||||
shared_tm_store: SharedTmPool,
|
||||
tm_funnel_tx: mpsc::Sender<StoreAddr>,
|
||||
verif_reporter: VerificationReporterWithSender,
|
||||
tm_funnel_tx: mpsc::SyncSender<StoreAddr>,
|
||||
verif_reporter: VerificationReporterWithSharedPoolMpscBoundedSender,
|
||||
tc_pool: SharedStaticMemoryPool,
|
||||
pus_hk_rx: mpsc::Receiver<EcssTcAndToken>,
|
||||
request_map: HashMap<TargetIdWithApid, mpsc::Sender<RequestWithToken>>,
|
||||
) -> Pus3Wrapper<EcssTcInSharedStoreConverter> {
|
||||
let hk_srv_tm_sender = MpscTmInSharedPoolSender::new(
|
||||
request_router: GenericRequestRouter,
|
||||
) -> Pus3Wrapper<
|
||||
MpscTcReceiver,
|
||||
TmInSharedPoolSenderWithBoundedMpsc,
|
||||
EcssTcInSharedStoreConverter,
|
||||
VerificationReporterWithSharedPoolMpscBoundedSender,
|
||||
> {
|
||||
let hk_srv_tm_sender = TmInSharedPoolSenderWithId::new(
|
||||
TmSenderId::PusHk as ChannelId,
|
||||
"PUS_3_TM_SENDER",
|
||||
shared_tm_store.clone(),
|
||||
@ -35,23 +166,32 @@ pub fn create_hk_service_static(
|
||||
let hk_srv_receiver =
|
||||
MpscTcReceiver::new(TcReceiverId::PusHk as ChannelId, "PUS_8_TC_RECV", pus_hk_rx);
|
||||
let pus_3_handler = PusService3HkHandler::new(
|
||||
Box::new(hk_srv_receiver),
|
||||
Box::new(hk_srv_tm_sender),
|
||||
PusServiceHelper::new(
|
||||
hk_srv_receiver,
|
||||
hk_srv_tm_sender,
|
||||
PUS_APID,
|
||||
verif_reporter.clone(),
|
||||
EcssTcInSharedStoreConverter::new(tc_pool, 2048),
|
||||
request_map,
|
||||
),
|
||||
ExampleHkRequestConverter::default(),
|
||||
request_router,
|
||||
GenericRoutingErrorHandler::default(),
|
||||
);
|
||||
Pus3Wrapper { pus_3_handler }
|
||||
}
|
||||
|
||||
pub fn create_hk_service_dynamic(
|
||||
tm_funnel_tx: mpsc::Sender<Vec<u8>>,
|
||||
verif_reporter: VerificationReporterWithSender,
|
||||
verif_reporter: VerificationReporterWithVecMpscSender,
|
||||
pus_hk_rx: mpsc::Receiver<EcssTcAndToken>,
|
||||
request_map: HashMap<TargetIdWithApid, mpsc::Sender<RequestWithToken>>,
|
||||
) -> Pus3Wrapper<EcssTcInVecConverter> {
|
||||
let hk_srv_tm_sender = MpscTmAsVecSender::new(
|
||||
request_router: GenericRequestRouter,
|
||||
) -> Pus3Wrapper<
|
||||
MpscTcReceiver,
|
||||
TmAsVecSenderWithMpsc,
|
||||
EcssTcInVecConverter,
|
||||
VerificationReporterWithVecMpscSender,
|
||||
> {
|
||||
let hk_srv_tm_sender = TmAsVecSenderWithId::new(
|
||||
TmSenderId::PusHk as ChannelId,
|
||||
"PUS_3_TM_SENDER",
|
||||
tm_funnel_tx.clone(),
|
||||
@ -59,157 +199,44 @@ pub fn create_hk_service_dynamic(
|
||||
let hk_srv_receiver =
|
||||
MpscTcReceiver::new(TcReceiverId::PusHk as ChannelId, "PUS_8_TC_RECV", pus_hk_rx);
|
||||
let pus_3_handler = PusService3HkHandler::new(
|
||||
Box::new(hk_srv_receiver),
|
||||
Box::new(hk_srv_tm_sender),
|
||||
PusServiceHelper::new(
|
||||
hk_srv_receiver,
|
||||
hk_srv_tm_sender,
|
||||
PUS_APID,
|
||||
verif_reporter.clone(),
|
||||
EcssTcInVecConverter::default(),
|
||||
request_map,
|
||||
),
|
||||
ExampleHkRequestConverter::default(),
|
||||
request_router,
|
||||
GenericRoutingErrorHandler::default(),
|
||||
);
|
||||
Pus3Wrapper { pus_3_handler }
|
||||
}
|
||||
|
||||
pub struct PusService3HkHandler<TcInMemConverter: EcssTcInMemConverter> {
|
||||
psb: PusServiceHelper<TcInMemConverter>,
|
||||
request_handlers: HashMap<TargetIdWithApid, Sender<RequestWithToken>>,
|
||||
pub struct Pus3Wrapper<
|
||||
TcReceiver: EcssTcReceiverCore,
|
||||
TmSender: EcssTmSenderCore,
|
||||
TcInMemConverter: EcssTcInMemConverter,
|
||||
VerificationReporter: VerificationReportingProvider,
|
||||
> {
|
||||
pub(crate) pus_3_handler: PusService3HkHandler<
|
||||
TcReceiver,
|
||||
TmSender,
|
||||
TcInMemConverter,
|
||||
VerificationReporter,
|
||||
ExampleHkRequestConverter,
|
||||
GenericRequestRouter,
|
||||
GenericRoutingErrorHandler<3>,
|
||||
>,
|
||||
}
|
||||
|
||||
impl<TcInMemConverter: EcssTcInMemConverter> PusService3HkHandler<TcInMemConverter> {
|
||||
pub fn new(
|
||||
tc_receiver: Box<dyn EcssTcReceiver>,
|
||||
tm_sender: Box<dyn EcssTmSender>,
|
||||
tm_apid: u16,
|
||||
verification_handler: StdVerifReporterWithSender,
|
||||
tc_in_mem_converter: TcInMemConverter,
|
||||
request_handlers: HashMap<TargetIdWithApid, Sender<RequestWithToken>>,
|
||||
) -> Self {
|
||||
Self {
|
||||
psb: PusServiceHelper::new(
|
||||
tc_receiver,
|
||||
tm_sender,
|
||||
tm_apid,
|
||||
verification_handler,
|
||||
tc_in_mem_converter,
|
||||
),
|
||||
request_handlers,
|
||||
}
|
||||
}
|
||||
|
||||
fn handle_one_tc(&mut self) -> Result<PusPacketHandlerResult, PusPacketHandlingError> {
|
||||
let possible_packet = self.psb.retrieve_and_accept_next_packet()?;
|
||||
if possible_packet.is_none() {
|
||||
return Ok(PusPacketHandlerResult::Empty);
|
||||
}
|
||||
let ecss_tc_and_token = possible_packet.unwrap();
|
||||
let tc = self
|
||||
.psb
|
||||
.tc_in_mem_converter
|
||||
.convert_ecss_tc_in_memory_to_reader(&ecss_tc_and_token.tc_in_memory)?;
|
||||
let subservice = tc.subservice();
|
||||
let mut partial_error = None;
|
||||
let time_stamp = PusServiceBase::get_current_timestamp(&mut partial_error);
|
||||
let user_data = tc.user_data();
|
||||
if user_data.is_empty() {
|
||||
self.psb
|
||||
.common
|
||||
.verification_handler
|
||||
.borrow_mut()
|
||||
.start_failure(
|
||||
ecss_tc_and_token.token,
|
||||
FailParams::new(Some(&time_stamp), &tmtc_err::NOT_ENOUGH_APP_DATA, None),
|
||||
)
|
||||
.expect("Sending start failure TM failed");
|
||||
return Err(PusPacketHandlingError::NotEnoughAppData(
|
||||
"Expected at least 8 bytes of app data".into(),
|
||||
));
|
||||
}
|
||||
if user_data.len() < 8 {
|
||||
let err = if user_data.len() < 4 {
|
||||
&hk_err::TARGET_ID_MISSING
|
||||
} else {
|
||||
&hk_err::UNIQUE_ID_MISSING
|
||||
};
|
||||
self.psb
|
||||
.common
|
||||
.verification_handler
|
||||
.borrow_mut()
|
||||
.start_failure(
|
||||
ecss_tc_and_token.token,
|
||||
FailParams::new(Some(&time_stamp), err, None),
|
||||
)
|
||||
.expect("Sending start failure TM failed");
|
||||
return Err(PusPacketHandlingError::NotEnoughAppData(
|
||||
"Expected at least 8 bytes of app data".into(),
|
||||
));
|
||||
}
|
||||
let target_id = TargetIdWithApid::from_tc(&tc).expect("invalid tc format");
|
||||
let unique_id = u32::from_be_bytes(tc.user_data()[0..4].try_into().unwrap());
|
||||
if !self.request_handlers.contains_key(&target_id) {
|
||||
self.psb
|
||||
.common
|
||||
.verification_handler
|
||||
.borrow_mut()
|
||||
.start_failure(
|
||||
ecss_tc_and_token.token,
|
||||
FailParams::new(Some(&time_stamp), &hk_err::UNKNOWN_TARGET_ID, None),
|
||||
)
|
||||
.expect("Sending start failure TM failed");
|
||||
return Err(PusPacketHandlingError::NotEnoughAppData(format!(
|
||||
"Unknown target ID {target_id}"
|
||||
)));
|
||||
}
|
||||
let send_request = |target: TargetIdWithApid, request: HkRequest| {
|
||||
let sender = self.request_handlers.get(&target).unwrap();
|
||||
sender
|
||||
.send(RequestWithToken::new(
|
||||
target,
|
||||
Request::Hk(request),
|
||||
ecss_tc_and_token.token,
|
||||
))
|
||||
.unwrap_or_else(|_| panic!("Sending HK request {request:?} failed"));
|
||||
};
|
||||
if subservice == hk::Subservice::TcEnableHkGeneration as u8 {
|
||||
send_request(target_id, HkRequest::Enable(unique_id));
|
||||
} else if subservice == hk::Subservice::TcDisableHkGeneration as u8 {
|
||||
send_request(target_id, HkRequest::Disable(unique_id));
|
||||
} else if subservice == hk::Subservice::TcGenerateOneShotHk as u8 {
|
||||
send_request(target_id, HkRequest::OneShot(unique_id));
|
||||
} else if subservice == hk::Subservice::TcModifyHkCollectionInterval as u8 {
|
||||
if user_data.len() < 12 {
|
||||
self.psb
|
||||
.common
|
||||
.verification_handler
|
||||
.borrow_mut()
|
||||
.start_failure(
|
||||
ecss_tc_and_token.token,
|
||||
FailParams::new(
|
||||
Some(&time_stamp),
|
||||
&hk_err::COLLECTION_INTERVAL_MISSING,
|
||||
None,
|
||||
),
|
||||
)
|
||||
.expect("Sending start failure TM failed");
|
||||
return Err(PusPacketHandlingError::NotEnoughAppData(
|
||||
"Collection interval missing".into(),
|
||||
));
|
||||
}
|
||||
send_request(
|
||||
target_id,
|
||||
HkRequest::ModifyCollectionInterval(
|
||||
unique_id,
|
||||
CollectionIntervalFactor::from_be_bytes(user_data[8..12].try_into().unwrap()),
|
||||
),
|
||||
);
|
||||
}
|
||||
Ok(PusPacketHandlerResult::RequestHandled)
|
||||
}
|
||||
}
|
||||
|
||||
pub struct Pus3Wrapper<TcInMemConverter: EcssTcInMemConverter> {
|
||||
pub(crate) pus_3_handler: PusService3HkHandler<TcInMemConverter>,
|
||||
}
|
||||
|
||||
impl<TcInMemConverter: EcssTcInMemConverter> Pus3Wrapper<TcInMemConverter> {
|
||||
impl<
|
||||
TcReceiver: EcssTcReceiverCore,
|
||||
TmSender: EcssTmSenderCore,
|
||||
TcInMemConverter: EcssTcInMemConverter,
|
||||
VerificationReporter: VerificationReportingProvider,
|
||||
> Pus3Wrapper<TcReceiver, TmSender, TcInMemConverter, VerificationReporter>
|
||||
{
|
||||
pub fn handle_next_packet(&mut self) -> bool {
|
||||
match self.pus_3_handler.handle_one_tc() {
|
||||
Ok(result) => match result {
|
||||
|
||||
@ -1,10 +1,12 @@
|
||||
use crate::tmtc::MpscStoreAndSendError;
|
||||
use log::warn;
|
||||
use satrs::pus::verification::{FailParams, StdVerifReporterWithSender};
|
||||
use satrs::pus::{EcssTcAndToken, PusPacketHandlerResult, TcInMemory};
|
||||
use satrs::pus::verification::{FailParams, VerificationReportingProvider};
|
||||
use satrs::pus::{
|
||||
EcssTcAndToken, GenericRoutingError, PusPacketHandlerResult, PusRoutingErrorHandler, TcInMemory,
|
||||
};
|
||||
use satrs::spacepackets::ecss::tc::PusTcReader;
|
||||
use satrs::spacepackets::ecss::PusServiceId;
|
||||
use satrs::spacepackets::time::cds::TimeProvider;
|
||||
use satrs::spacepackets::time::cds::CdsTime;
|
||||
use satrs::spacepackets::time::TimeWriter;
|
||||
use satrs_example::config::{tmtc_err, CustomPusServiceId};
|
||||
use std::sync::mpsc::Sender;
|
||||
@ -24,21 +26,21 @@ pub struct PusTcMpscRouter {
|
||||
pub action_service_receiver: Sender<EcssTcAndToken>,
|
||||
}
|
||||
|
||||
pub struct PusReceiver {
|
||||
pub verif_reporter: StdVerifReporterWithSender,
|
||||
pub struct PusReceiver<VerificationReporter: VerificationReportingProvider> {
|
||||
pub verif_reporter: VerificationReporter,
|
||||
pub pus_router: PusTcMpscRouter,
|
||||
stamp_helper: TimeStampHelper,
|
||||
}
|
||||
|
||||
struct TimeStampHelper {
|
||||
stamper: TimeProvider,
|
||||
stamper: CdsTime,
|
||||
time_stamp: [u8; 7],
|
||||
}
|
||||
|
||||
impl TimeStampHelper {
|
||||
pub fn new() -> Self {
|
||||
Self {
|
||||
stamper: TimeProvider::new_with_u16_days(0, 0),
|
||||
stamper: CdsTime::new_with_u16_days(0, 0),
|
||||
time_stamp: [0; 7],
|
||||
}
|
||||
}
|
||||
@ -57,8 +59,8 @@ impl TimeStampHelper {
|
||||
}
|
||||
}
|
||||
|
||||
impl PusReceiver {
|
||||
pub fn new(verif_reporter: StdVerifReporterWithSender, pus_router: PusTcMpscRouter) -> Self {
|
||||
impl<VerificationReporter: VerificationReportingProvider> PusReceiver<VerificationReporter> {
|
||||
pub fn new(verif_reporter: VerificationReporter, pus_router: PusTcMpscRouter) -> Self {
|
||||
Self {
|
||||
verif_reporter,
|
||||
pus_router,
|
||||
@ -67,7 +69,7 @@ impl PusReceiver {
|
||||
}
|
||||
}
|
||||
|
||||
impl PusReceiver {
|
||||
impl<VerificationReporter: VerificationReportingProvider> PusReceiver<VerificationReporter> {
|
||||
pub fn handle_tc_packet(
|
||||
&mut self,
|
||||
tc_in_memory: TcInMemory,
|
||||
@ -78,7 +80,7 @@ impl PusReceiver {
|
||||
self.stamp_helper.update_from_now();
|
||||
let accepted_token = self
|
||||
.verif_reporter
|
||||
.acceptance_success(init_token, Some(self.stamp_helper.stamp()))
|
||||
.acceptance_success(init_token, self.stamp_helper.stamp())
|
||||
.expect("Acceptance success failure");
|
||||
let service = PusServiceId::try_from(service);
|
||||
match service {
|
||||
@ -115,9 +117,9 @@ impl PusReceiver {
|
||||
let result = self.verif_reporter.start_failure(
|
||||
accepted_token,
|
||||
FailParams::new(
|
||||
Some(self.stamp_helper.stamp()),
|
||||
self.stamp_helper.stamp(),
|
||||
&tmtc_err::PUS_SERVICE_NOT_IMPLEMENTED,
|
||||
Some(&[standard_service as u8]),
|
||||
&[standard_service as u8],
|
||||
),
|
||||
);
|
||||
if result.is_err() {
|
||||
@ -139,9 +141,9 @@ impl PusReceiver {
|
||||
.start_failure(
|
||||
accepted_token,
|
||||
FailParams::new(
|
||||
Some(self.stamp_helper.stamp()),
|
||||
self.stamp_helper.stamp(),
|
||||
&tmtc_err::INVALID_PUS_SUBSERVICE,
|
||||
Some(&[e.number]),
|
||||
&[e.number],
|
||||
),
|
||||
)
|
||||
.expect("Start failure verification failed")
|
||||
@ -151,3 +153,56 @@ impl PusReceiver {
|
||||
Ok(PusPacketHandlerResult::RequestHandled)
|
||||
}
|
||||
}
|
||||
|
||||
#[derive(Default)]
|
||||
pub struct GenericRoutingErrorHandler<const SERVICE_ID: u8> {}
|
||||
|
||||
impl<const SERVICE_ID: u8> PusRoutingErrorHandler for GenericRoutingErrorHandler<SERVICE_ID> {
|
||||
type Error = satrs::pus::GenericRoutingError;
|
||||
|
||||
fn handle_error(
|
||||
&self,
|
||||
target_id: satrs::TargetId,
|
||||
token: satrs::pus::verification::VerificationToken<
|
||||
satrs::pus::verification::TcStateAccepted,
|
||||
>,
|
||||
_tc: &PusTcReader,
|
||||
error: Self::Error,
|
||||
time_stamp: &[u8],
|
||||
verif_reporter: &impl VerificationReportingProvider,
|
||||
) {
|
||||
warn!("Routing request for service {SERVICE_ID} failed: {error:?}");
|
||||
match error {
|
||||
GenericRoutingError::UnknownTargetId(id) => {
|
||||
let mut fail_data: [u8; 8] = [0; 8];
|
||||
fail_data.copy_from_slice(&id.to_be_bytes());
|
||||
verif_reporter
|
||||
.start_failure(
|
||||
token,
|
||||
FailParams::new(time_stamp, &tmtc_err::UNKNOWN_TARGET_ID, &fail_data),
|
||||
)
|
||||
.expect("Sending start failure failed");
|
||||
}
|
||||
GenericRoutingError::SendError(_) => {
|
||||
let mut fail_data: [u8; 8] = [0; 8];
|
||||
fail_data.copy_from_slice(&target_id.to_be_bytes());
|
||||
verif_reporter
|
||||
.start_failure(
|
||||
token,
|
||||
FailParams::new(time_stamp, &tmtc_err::ROUTING_ERROR, &fail_data),
|
||||
)
|
||||
.expect("Sending start failure failed");
|
||||
}
|
||||
GenericRoutingError::NotEnoughAppData { expected, found } => {
|
||||
let mut context_info = (found as u32).to_be_bytes().to_vec();
|
||||
context_info.extend_from_slice(&(expected as u32).to_be_bytes());
|
||||
verif_reporter
|
||||
.start_failure(
|
||||
token,
|
||||
FailParams::new(time_stamp, &tmtc_err::NOT_ENOUGH_APP_DATA, &context_info),
|
||||
)
|
||||
.expect("Sending start failure failed");
|
||||
}
|
||||
}
|
||||
}
|
||||
}
|
||||
|
||||
@ -5,11 +5,15 @@ use log::{error, info, warn};
|
||||
use satrs::pool::{PoolProvider, StaticMemoryPool, StoreAddr};
|
||||
use satrs::pus::scheduler::{PusScheduler, TcInfo};
|
||||
use satrs::pus::scheduler_srv::PusService11SchedHandler;
|
||||
use satrs::pus::verification::VerificationReporterWithSender;
|
||||
use satrs::pus::verification::std_mod::{
|
||||
VerificationReporterWithSharedPoolMpscBoundedSender, VerificationReporterWithVecMpscSender,
|
||||
};
|
||||
use satrs::pus::verification::VerificationReportingProvider;
|
||||
use satrs::pus::{
|
||||
EcssTcAndToken, EcssTcInMemConverter, EcssTcInSharedStoreConverter, EcssTcInVecConverter,
|
||||
MpscTcReceiver, MpscTmAsVecSender, MpscTmInSharedPoolSender, PusPacketHandlerResult,
|
||||
PusServiceHelper,
|
||||
EcssTcReceiverCore, EcssTmSenderCore, MpscTcReceiver, PusPacketHandlerResult, PusServiceHelper,
|
||||
TmAsVecSenderWithId, TmAsVecSenderWithMpsc, TmInSharedPoolSenderWithBoundedMpsc,
|
||||
TmInSharedPoolSenderWithId,
|
||||
};
|
||||
use satrs::tmtc::tm_helper::SharedTmPool;
|
||||
use satrs::ChannelId;
|
||||
@ -51,14 +55,31 @@ impl TcReleaser for mpsc::Sender<Vec<u8>> {
|
||||
}
|
||||
}
|
||||
|
||||
pub struct Pus11Wrapper<TcInMemConverter: EcssTcInMemConverter> {
|
||||
pub pus_11_handler: PusService11SchedHandler<TcInMemConverter, PusScheduler>,
|
||||
pub struct Pus11Wrapper<
|
||||
TcReceiver: EcssTcReceiverCore,
|
||||
TmSender: EcssTmSenderCore,
|
||||
TcInMemConverter: EcssTcInMemConverter,
|
||||
VerificationReporter: VerificationReportingProvider,
|
||||
> {
|
||||
pub pus_11_handler: PusService11SchedHandler<
|
||||
TcReceiver,
|
||||
TmSender,
|
||||
TcInMemConverter,
|
||||
VerificationReporter,
|
||||
PusScheduler,
|
||||
>,
|
||||
pub sched_tc_pool: StaticMemoryPool,
|
||||
pub releaser_buf: [u8; 4096],
|
||||
pub tc_releaser: Box<dyn TcReleaser + Send>,
|
||||
}
|
||||
|
||||
impl<TcInMemConverter: EcssTcInMemConverter> Pus11Wrapper<TcInMemConverter> {
|
||||
impl<
|
||||
TcReceiver: EcssTcReceiverCore,
|
||||
TmSender: EcssTmSenderCore,
|
||||
TcInMemConverter: EcssTcInMemConverter,
|
||||
VerificationReporter: VerificationReportingProvider,
|
||||
> Pus11Wrapper<TcReceiver, TmSender, TcInMemConverter, VerificationReporter>
|
||||
{
|
||||
pub fn release_tcs(&mut self) {
|
||||
let releaser = |enabled: bool, info: &TcInfo, tc: &[u8]| -> bool {
|
||||
self.tc_releaser.release(enabled, info, tc)
|
||||
@ -109,13 +130,18 @@ impl<TcInMemConverter: EcssTcInMemConverter> Pus11Wrapper<TcInMemConverter> {
|
||||
|
||||
pub fn create_scheduler_service_static(
|
||||
shared_tm_store: SharedTmPool,
|
||||
tm_funnel_tx: mpsc::Sender<StoreAddr>,
|
||||
verif_reporter: VerificationReporterWithSender,
|
||||
tm_funnel_tx: mpsc::SyncSender<StoreAddr>,
|
||||
verif_reporter: VerificationReporterWithSharedPoolMpscBoundedSender,
|
||||
tc_releaser: PusTcSourceProviderSharedPool,
|
||||
pus_sched_rx: mpsc::Receiver<EcssTcAndToken>,
|
||||
sched_tc_pool: StaticMemoryPool,
|
||||
) -> Pus11Wrapper<EcssTcInSharedStoreConverter> {
|
||||
let sched_srv_tm_sender = MpscTmInSharedPoolSender::new(
|
||||
) -> Pus11Wrapper<
|
||||
MpscTcReceiver,
|
||||
TmInSharedPoolSenderWithBoundedMpsc,
|
||||
EcssTcInSharedStoreConverter,
|
||||
VerificationReporterWithSharedPoolMpscBoundedSender,
|
||||
> {
|
||||
let sched_srv_tm_sender = TmInSharedPoolSenderWithId::new(
|
||||
TmSenderId::PusSched as ChannelId,
|
||||
"PUS_11_TM_SENDER",
|
||||
shared_tm_store.clone(),
|
||||
@ -130,8 +156,8 @@ pub fn create_scheduler_service_static(
|
||||
.expect("Creating PUS Scheduler failed");
|
||||
let pus_11_handler = PusService11SchedHandler::new(
|
||||
PusServiceHelper::new(
|
||||
Box::new(sched_srv_receiver),
|
||||
Box::new(sched_srv_tm_sender),
|
||||
sched_srv_receiver,
|
||||
sched_srv_tm_sender,
|
||||
PUS_APID,
|
||||
verif_reporter.clone(),
|
||||
EcssTcInSharedStoreConverter::new(tc_releaser.clone_backing_pool(), 2048),
|
||||
@ -148,12 +174,17 @@ pub fn create_scheduler_service_static(
|
||||
|
||||
pub fn create_scheduler_service_dynamic(
|
||||
tm_funnel_tx: mpsc::Sender<Vec<u8>>,
|
||||
verif_reporter: VerificationReporterWithSender,
|
||||
verif_reporter: VerificationReporterWithVecMpscSender,
|
||||
tc_source_sender: mpsc::Sender<Vec<u8>>,
|
||||
pus_sched_rx: mpsc::Receiver<EcssTcAndToken>,
|
||||
sched_tc_pool: StaticMemoryPool,
|
||||
) -> Pus11Wrapper<EcssTcInVecConverter> {
|
||||
let sched_srv_tm_sender = MpscTmAsVecSender::new(
|
||||
) -> Pus11Wrapper<
|
||||
MpscTcReceiver,
|
||||
TmAsVecSenderWithMpsc,
|
||||
EcssTcInVecConverter,
|
||||
VerificationReporterWithVecMpscSender,
|
||||
> {
|
||||
let sched_srv_tm_sender = TmAsVecSenderWithId::new(
|
||||
TmSenderId::PusSched as ChannelId,
|
||||
"PUS_11_TM_SENDER",
|
||||
tm_funnel_tx,
|
||||
@ -167,8 +198,8 @@ pub fn create_scheduler_service_dynamic(
|
||||
.expect("Creating PUS Scheduler failed");
|
||||
let pus_11_handler = PusService11SchedHandler::new(
|
||||
PusServiceHelper::new(
|
||||
Box::new(sched_srv_receiver),
|
||||
Box::new(sched_srv_tm_sender),
|
||||
sched_srv_receiver,
|
||||
sched_srv_tm_sender,
|
||||
PUS_APID,
|
||||
verif_reporter.clone(),
|
||||
EcssTcInVecConverter::default(),
|
||||
|
||||
@ -1,25 +1,44 @@
|
||||
use satrs::pus::EcssTcInMemConverter;
|
||||
use satrs::pus::{
|
||||
verification::VerificationReportingProvider, EcssTcInMemConverter, EcssTcReceiverCore,
|
||||
EcssTmSenderCore,
|
||||
};
|
||||
|
||||
use super::{
|
||||
action::Pus8Wrapper, event::Pus5Wrapper, hk::Pus3Wrapper, scheduler::Pus11Wrapper,
|
||||
test::Service17CustomWrapper,
|
||||
};
|
||||
|
||||
pub struct PusStack<TcInMemConverter: EcssTcInMemConverter> {
|
||||
event_srv: Pus5Wrapper<TcInMemConverter>,
|
||||
hk_srv: Pus3Wrapper<TcInMemConverter>,
|
||||
action_srv: Pus8Wrapper<TcInMemConverter>,
|
||||
schedule_srv: Pus11Wrapper<TcInMemConverter>,
|
||||
test_srv: Service17CustomWrapper<TcInMemConverter>,
|
||||
pub struct PusStack<
|
||||
TcReceiver: EcssTcReceiverCore,
|
||||
TmSender: EcssTmSenderCore,
|
||||
TcInMemConverter: EcssTcInMemConverter,
|
||||
VerificationReporter: VerificationReportingProvider,
|
||||
> {
|
||||
event_srv: Pus5Wrapper<TcReceiver, TmSender, TcInMemConverter, VerificationReporter>,
|
||||
hk_srv: Pus3Wrapper<TcReceiver, TmSender, TcInMemConverter, VerificationReporter>,
|
||||
action_srv: Pus8Wrapper<TcReceiver, TmSender, TcInMemConverter, VerificationReporter>,
|
||||
schedule_srv: Pus11Wrapper<TcReceiver, TmSender, TcInMemConverter, VerificationReporter>,
|
||||
test_srv: Service17CustomWrapper<TcReceiver, TmSender, TcInMemConverter, VerificationReporter>,
|
||||
}
|
||||
|
||||
impl<TcInMemConverter: EcssTcInMemConverter> PusStack<TcInMemConverter> {
|
||||
impl<
|
||||
TcReceiver: EcssTcReceiverCore,
|
||||
TmSender: EcssTmSenderCore,
|
||||
TcInMemConverter: EcssTcInMemConverter,
|
||||
VerificationReporter: VerificationReportingProvider,
|
||||
> PusStack<TcReceiver, TmSender, TcInMemConverter, VerificationReporter>
|
||||
{
|
||||
pub fn new(
|
||||
hk_srv: Pus3Wrapper<TcInMemConverter>,
|
||||
event_srv: Pus5Wrapper<TcInMemConverter>,
|
||||
action_srv: Pus8Wrapper<TcInMemConverter>,
|
||||
schedule_srv: Pus11Wrapper<TcInMemConverter>,
|
||||
test_srv: Service17CustomWrapper<TcInMemConverter>,
|
||||
hk_srv: Pus3Wrapper<TcReceiver, TmSender, TcInMemConverter, VerificationReporter>,
|
||||
event_srv: Pus5Wrapper<TcReceiver, TmSender, TcInMemConverter, VerificationReporter>,
|
||||
action_srv: Pus8Wrapper<TcReceiver, TmSender, TcInMemConverter, VerificationReporter>,
|
||||
schedule_srv: Pus11Wrapper<TcReceiver, TmSender, TcInMemConverter, VerificationReporter>,
|
||||
test_srv: Service17CustomWrapper<
|
||||
TcReceiver,
|
||||
TmSender,
|
||||
TcInMemConverter,
|
||||
VerificationReporter,
|
||||
>,
|
||||
) -> Self {
|
||||
Self {
|
||||
event_srv,
|
||||
|
||||
@ -2,14 +2,19 @@ use log::{info, warn};
|
||||
use satrs::params::Params;
|
||||
use satrs::pool::{SharedStaticMemoryPool, StoreAddr};
|
||||
use satrs::pus::test::PusService17TestHandler;
|
||||
use satrs::pus::verification::{FailParams, VerificationReporterWithSender};
|
||||
use satrs::pus::verification::{FailParams, VerificationReportingProvider};
|
||||
use satrs::pus::verification::{
|
||||
VerificationReporterWithSharedPoolMpscBoundedSender, VerificationReporterWithVecMpscSender,
|
||||
};
|
||||
use satrs::pus::{
|
||||
EcssTcAndToken, EcssTcInMemConverter, EcssTcInVecConverter, MpscTcReceiver, MpscTmAsVecSender,
|
||||
MpscTmInSharedPoolSender, PusPacketHandlerResult, PusServiceHelper,
|
||||
EcssTcAndToken, EcssTcInMemConverter, EcssTcInVecConverter, EcssTcReceiverCore,
|
||||
EcssTmSenderCore, MpscTcReceiver, PusPacketHandlerResult, PusServiceHelper,
|
||||
TmAsVecSenderWithId, TmAsVecSenderWithMpsc, TmInSharedPoolSenderWithBoundedMpsc,
|
||||
TmInSharedPoolSenderWithId,
|
||||
};
|
||||
use satrs::spacepackets::ecss::tc::PusTcReader;
|
||||
use satrs::spacepackets::ecss::PusPacket;
|
||||
use satrs::spacepackets::time::cds::TimeProvider;
|
||||
use satrs::spacepackets::time::cds::CdsTime;
|
||||
use satrs::spacepackets::time::TimeWriter;
|
||||
use satrs::tmtc::tm_helper::SharedTmPool;
|
||||
use satrs::ChannelId;
|
||||
@ -19,13 +24,18 @@ use std::sync::mpsc::{self, Sender};
|
||||
|
||||
pub fn create_test_service_static(
|
||||
shared_tm_store: SharedTmPool,
|
||||
tm_funnel_tx: mpsc::Sender<StoreAddr>,
|
||||
verif_reporter: VerificationReporterWithSender,
|
||||
tm_funnel_tx: mpsc::SyncSender<StoreAddr>,
|
||||
verif_reporter: VerificationReporterWithSharedPoolMpscBoundedSender,
|
||||
tc_pool: SharedStaticMemoryPool,
|
||||
event_sender: mpsc::Sender<(EventU32, Option<Params>)>,
|
||||
pus_test_rx: mpsc::Receiver<EcssTcAndToken>,
|
||||
) -> Service17CustomWrapper<EcssTcInSharedStoreConverter> {
|
||||
let test_srv_tm_sender = MpscTmInSharedPoolSender::new(
|
||||
) -> Service17CustomWrapper<
|
||||
MpscTcReceiver,
|
||||
TmInSharedPoolSenderWithBoundedMpsc,
|
||||
EcssTcInSharedStoreConverter,
|
||||
VerificationReporterWithSharedPoolMpscBoundedSender,
|
||||
> {
|
||||
let test_srv_tm_sender = TmInSharedPoolSenderWithId::new(
|
||||
TmSenderId::PusTest as ChannelId,
|
||||
"PUS_17_TM_SENDER",
|
||||
shared_tm_store.clone(),
|
||||
@ -37,8 +47,8 @@ pub fn create_test_service_static(
|
||||
pus_test_rx,
|
||||
);
|
||||
let pus17_handler = PusService17TestHandler::new(PusServiceHelper::new(
|
||||
Box::new(test_srv_receiver),
|
||||
Box::new(test_srv_tm_sender),
|
||||
test_srv_receiver,
|
||||
test_srv_tm_sender,
|
||||
PUS_APID,
|
||||
verif_reporter.clone(),
|
||||
EcssTcInSharedStoreConverter::new(tc_pool, 2048),
|
||||
@ -51,11 +61,16 @@ pub fn create_test_service_static(
|
||||
|
||||
pub fn create_test_service_dynamic(
|
||||
tm_funnel_tx: mpsc::Sender<Vec<u8>>,
|
||||
verif_reporter: VerificationReporterWithSender,
|
||||
verif_reporter: VerificationReporterWithVecMpscSender,
|
||||
event_sender: mpsc::Sender<(EventU32, Option<Params>)>,
|
||||
pus_test_rx: mpsc::Receiver<EcssTcAndToken>,
|
||||
) -> Service17CustomWrapper<EcssTcInVecConverter> {
|
||||
let test_srv_tm_sender = MpscTmAsVecSender::new(
|
||||
) -> Service17CustomWrapper<
|
||||
MpscTcReceiver,
|
||||
TmAsVecSenderWithMpsc,
|
||||
EcssTcInVecConverter,
|
||||
VerificationReporterWithVecMpscSender,
|
||||
> {
|
||||
let test_srv_tm_sender = TmAsVecSenderWithId::new(
|
||||
TmSenderId::PusTest as ChannelId,
|
||||
"PUS_17_TM_SENDER",
|
||||
tm_funnel_tx.clone(),
|
||||
@ -66,8 +81,8 @@ pub fn create_test_service_dynamic(
|
||||
pus_test_rx,
|
||||
);
|
||||
let pus17_handler = PusService17TestHandler::new(PusServiceHelper::new(
|
||||
Box::new(test_srv_receiver),
|
||||
Box::new(test_srv_tm_sender),
|
||||
test_srv_receiver,
|
||||
test_srv_tm_sender,
|
||||
PUS_APID,
|
||||
verif_reporter.clone(),
|
||||
EcssTcInVecConverter::default(),
|
||||
@ -78,12 +93,24 @@ pub fn create_test_service_dynamic(
|
||||
}
|
||||
}
|
||||
|
||||
pub struct Service17CustomWrapper<TcInMemConverter: EcssTcInMemConverter> {
|
||||
pub pus17_handler: PusService17TestHandler<TcInMemConverter>,
|
||||
pub struct Service17CustomWrapper<
|
||||
TcReceiver: EcssTcReceiverCore,
|
||||
TmSender: EcssTmSenderCore,
|
||||
TcInMemConverter: EcssTcInMemConverter,
|
||||
VerificationReporter: VerificationReportingProvider,
|
||||
> {
|
||||
pub pus17_handler:
|
||||
PusService17TestHandler<TcReceiver, TmSender, TcInMemConverter, VerificationReporter>,
|
||||
pub test_srv_event_sender: Sender<(EventU32, Option<Params>)>,
|
||||
}
|
||||
|
||||
impl<TcInMemConverter: EcssTcInMemConverter> Service17CustomWrapper<TcInMemConverter> {
|
||||
impl<
|
||||
TcReceiver: EcssTcReceiverCore,
|
||||
TmSender: EcssTmSenderCore,
|
||||
TcInMemConverter: EcssTcInMemConverter,
|
||||
VerificationReporter: VerificationReportingProvider,
|
||||
> Service17CustomWrapper<TcReceiver, TmSender, TcInMemConverter, VerificationReporter>
|
||||
{
|
||||
pub fn handle_next_packet(&mut self) -> bool {
|
||||
let res = self.pus17_handler.handle_one_tc();
|
||||
if res.is_err() {
|
||||
@ -112,7 +139,7 @@ impl<TcInMemConverter: EcssTcInMemConverter> Service17CustomWrapper<TcInMemConve
|
||||
.tc_slice_raw(),
|
||||
)
|
||||
.unwrap();
|
||||
let time_stamper = TimeProvider::from_now_with_u16_days().unwrap();
|
||||
let time_stamper = CdsTime::now_with_u16_days().unwrap();
|
||||
let mut stamp_buf: [u8; 7] = [0; 7];
|
||||
time_stamper.write_to_bytes(&mut stamp_buf).unwrap();
|
||||
if subservice == 128 {
|
||||
@ -125,15 +152,13 @@ impl<TcInMemConverter: EcssTcInMemConverter> Service17CustomWrapper<TcInMemConve
|
||||
.service_helper
|
||||
.common
|
||||
.verification_handler
|
||||
.get_mut()
|
||||
.start_success(token, Some(&stamp_buf))
|
||||
.start_success(token, &stamp_buf)
|
||||
.expect("Error sending start success");
|
||||
self.pus17_handler
|
||||
.service_helper
|
||||
.common
|
||||
.verification_handler
|
||||
.get_mut()
|
||||
.completion_success(start_token, Some(&stamp_buf))
|
||||
.completion_success(start_token, &stamp_buf)
|
||||
.expect("Error sending completion success");
|
||||
} else {
|
||||
let fail_data = [tc.subservice()];
|
||||
@ -141,13 +166,12 @@ impl<TcInMemConverter: EcssTcInMemConverter> Service17CustomWrapper<TcInMemConve
|
||||
.service_helper
|
||||
.common
|
||||
.verification_handler
|
||||
.get_mut()
|
||||
.start_failure(
|
||||
token,
|
||||
FailParams::new(
|
||||
Some(&stamp_buf),
|
||||
&stamp_buf,
|
||||
&tmtc_err::INVALID_PUS_SUBSERVICE,
|
||||
Some(&fail_data),
|
||||
&fail_data,
|
||||
),
|
||||
)
|
||||
.expect("Sending start failure verification failed");
|
||||
|
||||
45
satrs-example/src/queue.rs
Normal file
45
satrs-example/src/queue.rs
Normal file
@ -0,0 +1,45 @@
|
||||
/// Generic error type for sending something via a message queue.
|
||||
#[derive(Debug, Copy, Clone)]
|
||||
pub enum GenericSendError {
|
||||
RxDisconnected,
|
||||
QueueFull(Option<u32>),
|
||||
}
|
||||
|
||||
impl Display for GenericSendError {
|
||||
fn fmt(&self, f: &mut Formatter<'_>) -> core::fmt::Result {
|
||||
match self {
|
||||
GenericSendError::RxDisconnected => {
|
||||
write!(f, "rx side has disconnected")
|
||||
}
|
||||
GenericSendError::QueueFull(max_cap) => {
|
||||
write!(f, "queue with max capacity of {max_cap:?} is full")
|
||||
}
|
||||
}
|
||||
}
|
||||
}
|
||||
|
||||
#[cfg(feature = "std")]
|
||||
impl Error for GenericSendError {}
|
||||
|
||||
/// Generic error type for sending something via a message queue.
|
||||
#[derive(Debug, Copy, Clone)]
|
||||
pub enum GenericRecvError {
|
||||
Empty,
|
||||
TxDisconnected,
|
||||
}
|
||||
|
||||
impl Display for GenericRecvError {
|
||||
fn fmt(&self, f: &mut Formatter<'_>) -> core::fmt::Result {
|
||||
match self {
|
||||
Self::TxDisconnected => {
|
||||
write!(f, "tx side has disconnected")
|
||||
}
|
||||
Self::Empty => {
|
||||
write!(f, "nothing to receive")
|
||||
}
|
||||
}
|
||||
}
|
||||
}
|
||||
|
||||
#[cfg(feature = "std")]
|
||||
impl Error for GenericRecvError {}
|
||||
@ -1,15 +1,16 @@
|
||||
use std::collections::HashMap;
|
||||
use std::sync::mpsc;
|
||||
|
||||
use derive_new::new;
|
||||
use satrs::action::ActionRequest;
|
||||
use satrs::hk::HkRequest;
|
||||
use satrs::mode::ModeRequest;
|
||||
use satrs::pus::action::PusActionRequestRouter;
|
||||
use satrs::pus::hk::PusHkRequestRouter;
|
||||
use satrs::pus::verification::{TcStateAccepted, VerificationToken};
|
||||
use satrs_example::TargetIdWithApid;
|
||||
|
||||
#[allow(dead_code)]
|
||||
#[derive(Clone, Eq, PartialEq, Debug)]
|
||||
pub enum ActionRequest {
|
||||
CmdWithU32Id((u32, Vec<u8>)),
|
||||
CmdWithStringId((String, Vec<u8>)),
|
||||
}
|
||||
use satrs::pus::GenericRoutingError;
|
||||
use satrs::queue::GenericSendError;
|
||||
use satrs::TargetId;
|
||||
|
||||
#[allow(dead_code)]
|
||||
#[derive(Clone, Eq, PartialEq, Debug)]
|
||||
@ -22,7 +23,7 @@ pub enum Request {
|
||||
|
||||
#[derive(Clone, Eq, PartialEq, Debug, new)]
|
||||
pub struct TargetedRequest {
|
||||
pub(crate) target_id_with_apid: TargetIdWithApid,
|
||||
pub(crate) target_id: TargetId,
|
||||
pub(crate) request: Request,
|
||||
}
|
||||
|
||||
@ -34,7 +35,7 @@ pub struct RequestWithToken {
|
||||
|
||||
impl RequestWithToken {
|
||||
pub fn new(
|
||||
target_id: TargetIdWithApid,
|
||||
target_id: TargetId,
|
||||
request: Request,
|
||||
token: VerificationToken<TcStateAccepted>,
|
||||
) -> Self {
|
||||
@ -44,3 +45,50 @@ impl RequestWithToken {
|
||||
}
|
||||
}
|
||||
}
|
||||
|
||||
#[derive(Default, Clone)]
|
||||
pub struct GenericRequestRouter(pub HashMap<TargetId, mpsc::Sender<RequestWithToken>>);
|
||||
|
||||
impl PusHkRequestRouter for GenericRequestRouter {
|
||||
type Error = GenericRoutingError;
|
||||
|
||||
fn route(
|
||||
&self,
|
||||
target_id: TargetId,
|
||||
hk_request: HkRequest,
|
||||
token: VerificationToken<TcStateAccepted>,
|
||||
) -> Result<(), Self::Error> {
|
||||
if let Some(sender) = self.0.get(&target_id) {
|
||||
sender
|
||||
.send(RequestWithToken::new(
|
||||
target_id,
|
||||
Request::Hk(hk_request),
|
||||
token,
|
||||
))
|
||||
.map_err(|_| GenericRoutingError::SendError(GenericSendError::RxDisconnected))?;
|
||||
}
|
||||
Ok(())
|
||||
}
|
||||
}
|
||||
|
||||
impl PusActionRequestRouter for GenericRequestRouter {
|
||||
type Error = GenericRoutingError;
|
||||
|
||||
fn route(
|
||||
&self,
|
||||
target_id: TargetId,
|
||||
action_request: ActionRequest,
|
||||
token: VerificationToken<TcStateAccepted>,
|
||||
) -> Result<(), Self::Error> {
|
||||
if let Some(sender) = self.0.get(&target_id) {
|
||||
sender
|
||||
.send(RequestWithToken::new(
|
||||
target_id,
|
||||
Request::Action(action_request),
|
||||
token,
|
||||
))
|
||||
.map_err(|_| GenericRoutingError::SendError(GenericSendError::RxDisconnected))?;
|
||||
}
|
||||
Ok(())
|
||||
}
|
||||
}
|
||||
|
||||
@ -6,11 +6,14 @@ use std::{
|
||||
use log::{info, warn};
|
||||
use satrs::{
|
||||
hal::std::tcp_server::{ServerConfig, TcpSpacepacketsServer},
|
||||
pus::ReceivesEcssPusTc,
|
||||
spacepackets::PacketId,
|
||||
tmtc::{CcsdsDistributor, CcsdsError, TmPacketSourceCore},
|
||||
tmtc::{CcsdsDistributor, CcsdsError, ReceivesCcsdsTc, TmPacketSourceCore},
|
||||
};
|
||||
use satrs_example::config::PUS_APID;
|
||||
|
||||
use crate::ccsds::CcsdsReceiver;
|
||||
|
||||
pub const PACKET_ID_LOOKUP: &[PacketId] = &[PacketId::const_tc(true, PUS_APID)];
|
||||
|
||||
#[derive(Default, Clone)]
|
||||
@ -69,20 +72,37 @@ impl TmPacketSourceCore for SyncTcpTmSource {
|
||||
}
|
||||
}
|
||||
|
||||
pub struct TcpTask<MpscErrorType: 'static> {
|
||||
server: TcpSpacepacketsServer<
|
||||
pub type TcpServerType<TcSource, MpscErrorType> = TcpSpacepacketsServer<
|
||||
(),
|
||||
CcsdsError<MpscErrorType>,
|
||||
SyncTcpTmSource,
|
||||
CcsdsDistributor<MpscErrorType>,
|
||||
>,
|
||||
CcsdsDistributor<CcsdsReceiver<TcSource, MpscErrorType>, MpscErrorType>,
|
||||
>;
|
||||
|
||||
pub struct TcpTask<
|
||||
TcSource: ReceivesCcsdsTc<Error = MpscErrorType>
|
||||
+ ReceivesEcssPusTc<Error = MpscErrorType>
|
||||
+ Clone
|
||||
+ Send
|
||||
+ 'static,
|
||||
MpscErrorType: 'static,
|
||||
> {
|
||||
server: TcpServerType<TcSource, MpscErrorType>,
|
||||
}
|
||||
|
||||
impl<MpscErrorType: 'static + core::fmt::Debug> TcpTask<MpscErrorType> {
|
||||
impl<
|
||||
TcSource: ReceivesCcsdsTc<Error = MpscErrorType>
|
||||
+ ReceivesEcssPusTc<Error = MpscErrorType>
|
||||
+ Clone
|
||||
+ Send
|
||||
+ 'static,
|
||||
MpscErrorType: 'static + core::fmt::Debug,
|
||||
> TcpTask<TcSource, MpscErrorType>
|
||||
{
|
||||
pub fn new(
|
||||
cfg: ServerConfig,
|
||||
tm_source: SyncTcpTmSource,
|
||||
tc_receiver: CcsdsDistributor<MpscErrorType>,
|
||||
tc_receiver: CcsdsDistributor<CcsdsReceiver<TcSource, MpscErrorType>, MpscErrorType>,
|
||||
) -> Result<Self, std::io::Error> {
|
||||
Ok(Self {
|
||||
server: TcpSpacepacketsServer::new(
|
||||
|
||||
@ -1,6 +1,6 @@
|
||||
use std::{
|
||||
collections::HashMap,
|
||||
sync::mpsc::{Receiver, Sender},
|
||||
sync::mpsc::{self},
|
||||
};
|
||||
|
||||
use log::info;
|
||||
@ -77,16 +77,16 @@ impl TmFunnelCommon {
|
||||
pub struct TmFunnelStatic {
|
||||
common: TmFunnelCommon,
|
||||
shared_tm_store: SharedTmPool,
|
||||
tm_funnel_rx: Receiver<StoreAddr>,
|
||||
tm_server_tx: Sender<StoreAddr>,
|
||||
tm_funnel_rx: mpsc::Receiver<StoreAddr>,
|
||||
tm_server_tx: mpsc::SyncSender<StoreAddr>,
|
||||
}
|
||||
|
||||
impl TmFunnelStatic {
|
||||
pub fn new(
|
||||
shared_tm_store: SharedTmPool,
|
||||
sync_tm_tcp_source: SyncTcpTmSource,
|
||||
tm_funnel_rx: Receiver<StoreAddr>,
|
||||
tm_server_tx: Sender<StoreAddr>,
|
||||
tm_funnel_rx: mpsc::Receiver<StoreAddr>,
|
||||
tm_server_tx: mpsc::SyncSender<StoreAddr>,
|
||||
) -> Self {
|
||||
Self {
|
||||
common: TmFunnelCommon::new(sync_tm_tcp_source),
|
||||
@ -123,15 +123,15 @@ impl TmFunnelStatic {
|
||||
|
||||
pub struct TmFunnelDynamic {
|
||||
common: TmFunnelCommon,
|
||||
tm_funnel_rx: Receiver<Vec<u8>>,
|
||||
tm_server_tx: Sender<Vec<u8>>,
|
||||
tm_funnel_rx: mpsc::Receiver<Vec<u8>>,
|
||||
tm_server_tx: mpsc::Sender<Vec<u8>>,
|
||||
}
|
||||
|
||||
impl TmFunnelDynamic {
|
||||
pub fn new(
|
||||
sync_tm_tcp_source: SyncTcpTmSource,
|
||||
tm_funnel_rx: Receiver<Vec<u8>>,
|
||||
tm_server_tx: Sender<Vec<u8>>,
|
||||
tm_funnel_rx: mpsc::Receiver<Vec<u8>>,
|
||||
tm_server_tx: mpsc::Sender<Vec<u8>>,
|
||||
) -> Self {
|
||||
Self {
|
||||
common: TmFunnelCommon::new(sync_tm_tcp_source),
|
||||
|
||||
@ -1,7 +1,10 @@
|
||||
use log::warn;
|
||||
use satrs::pus::verification::std_mod::{
|
||||
VerificationReporterWithSharedPoolMpscBoundedSender, VerificationReporterWithVecMpscSender,
|
||||
};
|
||||
use satrs::pus::{EcssTcAndToken, ReceivesEcssPusTc};
|
||||
use satrs::spacepackets::SpHeader;
|
||||
use std::sync::mpsc::{self, Receiver, SendError, Sender, TryRecvError};
|
||||
use std::sync::mpsc::{self, Receiver, SendError, Sender, SyncSender, TryRecvError};
|
||||
use thiserror::Error;
|
||||
|
||||
use crate::pus::PusReceiver;
|
||||
@ -37,7 +40,7 @@ impl SharedTcPool {
|
||||
|
||||
#[derive(Clone)]
|
||||
pub struct PusTcSourceProviderSharedPool {
|
||||
pub tc_source: Sender<StoreAddr>,
|
||||
pub tc_source: SyncSender<StoreAddr>,
|
||||
pub shared_pool: SharedTcPool,
|
||||
}
|
||||
|
||||
@ -97,14 +100,14 @@ pub struct TcSourceTaskStatic {
|
||||
shared_tc_pool: SharedTcPool,
|
||||
tc_receiver: Receiver<StoreAddr>,
|
||||
tc_buf: [u8; 4096],
|
||||
pus_receiver: PusReceiver,
|
||||
pus_receiver: PusReceiver<VerificationReporterWithSharedPoolMpscBoundedSender>,
|
||||
}
|
||||
|
||||
impl TcSourceTaskStatic {
|
||||
pub fn new(
|
||||
shared_tc_pool: SharedTcPool,
|
||||
tc_receiver: Receiver<StoreAddr>,
|
||||
pus_receiver: PusReceiver,
|
||||
pus_receiver: PusReceiver<VerificationReporterWithSharedPoolMpscBoundedSender>,
|
||||
) -> Self {
|
||||
Self {
|
||||
shared_tc_pool,
|
||||
@ -161,11 +164,14 @@ impl TcSourceTaskStatic {
|
||||
// TC source components where the heap is the backing memory of the received telecommands.
|
||||
pub struct TcSourceTaskDynamic {
|
||||
pub tc_receiver: Receiver<Vec<u8>>,
|
||||
pus_receiver: PusReceiver,
|
||||
pus_receiver: PusReceiver<VerificationReporterWithVecMpscSender>,
|
||||
}
|
||||
|
||||
impl TcSourceTaskDynamic {
|
||||
pub fn new(tc_receiver: Receiver<Vec<u8>>, pus_receiver: PusReceiver) -> Self {
|
||||
pub fn new(
|
||||
tc_receiver: Receiver<Vec<u8>>,
|
||||
pus_receiver: PusReceiver<VerificationReporterWithVecMpscSender>,
|
||||
) -> Self {
|
||||
Self {
|
||||
tc_receiver,
|
||||
pus_receiver,
|
||||
|
||||
@ -8,6 +8,10 @@ and this project adheres to [Semantic Versioning](http://semver.org/).
|
||||
|
||||
# [unreleased]
|
||||
|
||||
# [v0.1.1] 2024-02-17
|
||||
|
||||
- Bumped `spacepackets` to v0.10.0
|
||||
|
||||
# [v0.1.0] 2024-02-12
|
||||
|
||||
Initial release containing the `resultcode` macro.
|
||||
|
||||
@ -1,6 +1,6 @@
|
||||
[package]
|
||||
name = "satrs-mib"
|
||||
version = "0.1.0"
|
||||
version = "0.1.1"
|
||||
edition = "2021"
|
||||
rust-version = "1.61"
|
||||
authors = ["Robin Mueller <muellerr@irs.uni-stuttgart.de>"]
|
||||
@ -23,12 +23,13 @@ version = "1"
|
||||
optional = true
|
||||
|
||||
[dependencies.satrs-shared]
|
||||
version = "0.1.1"
|
||||
path = "../satrs-shared"
|
||||
version = "0.1.2"
|
||||
features = ["serde"]
|
||||
|
||||
[dependencies.satrs-mib-codegen]
|
||||
path = "codegen"
|
||||
version = "0.1.0"
|
||||
version = "0.1.1"
|
||||
|
||||
[dependencies.serde]
|
||||
version = "1"
|
||||
|
||||
@ -1,6 +1,6 @@
|
||||
[package]
|
||||
name = "satrs-mib-codegen"
|
||||
version = "0.1.0"
|
||||
version = "0.1.1"
|
||||
edition = "2021"
|
||||
description = "satrs-mib proc macro implementation"
|
||||
homepage = "https://egit.irs.uni-stuttgart.de/rust/sat-rs"
|
||||
@ -27,8 +27,9 @@ features = ["full"]
|
||||
[dev-dependencies]
|
||||
trybuild = { version = "1", features = ["diff"] }
|
||||
|
||||
[dev-dependencies.satrs-shared]
|
||||
version = "0.1.2"
|
||||
path = "../../satrs-shared"
|
||||
|
||||
[dev-dependencies.satrs-mib]
|
||||
path = ".."
|
||||
|
||||
[dev-dependencies.satrs-shared]
|
||||
version = "0.1.1"
|
||||
|
||||
@ -3,10 +3,12 @@ use syn::{parse_macro_input, ItemConst, LitStr};
|
||||
|
||||
/// This macro can be used to automatically generate introspection information for return codes.
|
||||
///
|
||||
/// For example, it can be applied to types like the [satrs_shared::res_code::ResultU16] type
|
||||
/// to automatically generate [satrs_mib::res_code::ResultU16Info] instances. These instances
|
||||
/// can then be used for tasks like generating CSVs or YAML files with the list of all result
|
||||
/// codes. This information is valuable for both operators and developers.
|
||||
/// For example, it can be applied to types like the
|
||||
/// [`satrs_mib::res_code::ResultU16`](https://docs.rs/satrs-mib/latest/satrs_mib/res_code/struct.ResultU16.html#) type
|
||||
/// to automatically generate
|
||||
/// [`satrs_mib::res_code::ResultU16Info`](https://docs.rs/satrs-mib/latest/satrs_mib/res_code/struct.ResultU16Info.html)
|
||||
/// instances. These instances can then be used for tasks like generating CSVs or YAML files with
|
||||
/// the list of all result codes. This information is valuable for both operators and developers.
|
||||
#[proc_macro_attribute]
|
||||
pub fn resultcode(
|
||||
args: proc_macro::TokenStream,
|
||||
|
||||
21
satrs-minisim/Cargo.toml
Normal file
21
satrs-minisim/Cargo.toml
Normal file
@ -0,0 +1,21 @@
|
||||
[package]
|
||||
name = "satrs-minisim"
|
||||
version = "0.1.0"
|
||||
edition = "2021"
|
||||
|
||||
# See more keys and their definitions at https://doc.rust-lang.org/cargo/reference/manifest.html
|
||||
|
||||
[dependencies]
|
||||
serde = { version = "1", features = ["derive"] }
|
||||
serde_json = "1"
|
||||
log = "0.4"
|
||||
thiserror = "1"
|
||||
|
||||
[dependencies.asynchronix]
|
||||
version = "0.2.1"
|
||||
|
||||
[dependencies.satrs]
|
||||
path = "../satrs"
|
||||
|
||||
[dev-dependencies]
|
||||
delegate = "0.12"
|
||||
338
satrs-minisim/src/acs.rs
Normal file
338
satrs-minisim/src/acs.rs
Normal file
@ -0,0 +1,338 @@
|
||||
use std::{f32::consts::PI, sync::mpsc, time::Duration};
|
||||
|
||||
use asynchronix::{
|
||||
model::{Model, Output},
|
||||
time::Scheduler,
|
||||
};
|
||||
use satrs::power::SwitchStateBinary;
|
||||
use satrs_minisim::{
|
||||
acs::{MgmReply, MgmSensorValues, MgtDipole, MgtHkSet, MgtReply, MGT_GEN_MAGNETIC_FIELD},
|
||||
SimReply,
|
||||
};
|
||||
|
||||
use crate::time::current_millis;
|
||||
|
||||
// Earth magnetic field varies between -30 uT and 30 uT
|
||||
const AMPLITUDE_MGM: f32 = 0.03;
|
||||
// Lets start with a simple frequency here.
|
||||
const FREQUENCY_MGM: f32 = 1.0;
|
||||
const PHASE_X: f32 = 0.0;
|
||||
// Different phases to have different values on the other axes.
|
||||
const PHASE_Y: f32 = 0.1;
|
||||
const PHASE_Z: f32 = 0.2;
|
||||
|
||||
/// Simple model for a magnetometer where the measure magnetic fields are modeled with sine waves.
|
||||
///
|
||||
/// Please note that that a more realistic MGM model wouold include the following components
|
||||
/// which are not included here to simplify the model:
|
||||
///
|
||||
/// 1. It would probably generate signed [i16] values which need to be converted to SI units
|
||||
/// because it is a digital sensor
|
||||
/// 2. It would sample the magnetic field at a high fixed rate. This might not be possible for
|
||||
/// a general purpose OS, but self self-sampling at a relatively high rate (20-40 ms) might
|
||||
/// stil lbe possible.
|
||||
pub struct MagnetometerModel {
|
||||
pub switch_state: SwitchStateBinary,
|
||||
pub periodicity: Duration,
|
||||
pub external_mag_field: Option<MgmSensorValues>,
|
||||
pub reply_sender: mpsc::Sender<SimReply>,
|
||||
}
|
||||
|
||||
impl MagnetometerModel {
|
||||
pub fn new(periodicity: Duration, reply_sender: mpsc::Sender<SimReply>) -> Self {
|
||||
Self {
|
||||
switch_state: SwitchStateBinary::Off,
|
||||
periodicity,
|
||||
external_mag_field: None,
|
||||
reply_sender,
|
||||
}
|
||||
}
|
||||
|
||||
pub async fn switch_device(&mut self, switch_state: SwitchStateBinary) {
|
||||
self.switch_state = switch_state;
|
||||
}
|
||||
|
||||
pub async fn send_sensor_values(&mut self, _: (), scheduler: &Scheduler<Self>) {
|
||||
self.reply_sender
|
||||
.send(SimReply::new(MgmReply {
|
||||
switch_state: self.switch_state,
|
||||
sensor_values: self.calculate_current_mgm_tuple(current_millis(scheduler.time())),
|
||||
}))
|
||||
.expect("sending MGM sensor values failed");
|
||||
}
|
||||
|
||||
// Devices like magnetorquers generate a strong magnetic field which overrides the default
|
||||
// model for the measured magnetic field.
|
||||
pub async fn apply_external_magnetic_field(&mut self, field: MgmSensorValues) {
|
||||
self.external_mag_field = Some(field);
|
||||
}
|
||||
|
||||
fn calculate_current_mgm_tuple(&self, time_ms: u64) -> MgmSensorValues {
|
||||
if SwitchStateBinary::On == self.switch_state {
|
||||
if let Some(ext_field) = self.external_mag_field {
|
||||
return ext_field;
|
||||
}
|
||||
let base_sin_val = 2.0 * PI * FREQUENCY_MGM * (time_ms as f32 / 1000.0);
|
||||
return MgmSensorValues {
|
||||
x: AMPLITUDE_MGM * (base_sin_val + PHASE_X).sin(),
|
||||
y: AMPLITUDE_MGM * (base_sin_val + PHASE_Y).sin(),
|
||||
z: AMPLITUDE_MGM * (base_sin_val + PHASE_Z).sin(),
|
||||
};
|
||||
}
|
||||
MgmSensorValues {
|
||||
x: 0.0,
|
||||
y: 0.0,
|
||||
z: 0.0,
|
||||
}
|
||||
}
|
||||
}
|
||||
|
||||
impl Model for MagnetometerModel {}
|
||||
|
||||
pub struct MagnetorquerModel {
|
||||
switch_state: SwitchStateBinary,
|
||||
torquing: bool,
|
||||
torque_dipole: MgtDipole,
|
||||
pub gen_magnetic_field: Output<MgmSensorValues>,
|
||||
reply_sender: mpsc::Sender<SimReply>,
|
||||
}
|
||||
|
||||
impl MagnetorquerModel {
|
||||
pub fn new(reply_sender: mpsc::Sender<SimReply>) -> Self {
|
||||
Self {
|
||||
switch_state: SwitchStateBinary::Off,
|
||||
torquing: false,
|
||||
torque_dipole: MgtDipole::default(),
|
||||
gen_magnetic_field: Output::new(),
|
||||
reply_sender,
|
||||
}
|
||||
}
|
||||
|
||||
pub async fn apply_torque(
|
||||
&mut self,
|
||||
duration_and_dipole: (Duration, MgtDipole),
|
||||
scheduler: &Scheduler<Self>,
|
||||
) {
|
||||
self.torque_dipole = duration_and_dipole.1;
|
||||
self.torquing = true;
|
||||
if scheduler
|
||||
.schedule_event(duration_and_dipole.0, Self::clear_torque, ())
|
||||
.is_err()
|
||||
{
|
||||
log::warn!("torque clearing can only be set for a future time.");
|
||||
}
|
||||
self.generate_magnetic_field(()).await;
|
||||
}
|
||||
|
||||
pub async fn clear_torque(&mut self, _: ()) {
|
||||
self.torque_dipole = MgtDipole::default();
|
||||
self.torquing = false;
|
||||
self.generate_magnetic_field(()).await;
|
||||
}
|
||||
|
||||
pub async fn switch_device(&mut self, switch_state: SwitchStateBinary) {
|
||||
self.switch_state = switch_state;
|
||||
self.generate_magnetic_field(()).await;
|
||||
}
|
||||
|
||||
pub async fn request_housekeeping_data(&mut self, _: (), scheduler: &Scheduler<Self>) {
|
||||
if self.switch_state != SwitchStateBinary::On {
|
||||
return;
|
||||
}
|
||||
scheduler
|
||||
.schedule_event(Duration::from_millis(15), Self::send_housekeeping_data, ())
|
||||
.expect("requesting housekeeping data failed")
|
||||
}
|
||||
|
||||
pub fn send_housekeeping_data(&mut self) {
|
||||
self.reply_sender
|
||||
.send(SimReply::new(MgtReply::Hk(MgtHkSet {
|
||||
dipole: self.torque_dipole,
|
||||
torquing: self.torquing,
|
||||
})))
|
||||
.unwrap();
|
||||
}
|
||||
|
||||
fn calc_magnetic_field(&self, _: MgtDipole) -> MgmSensorValues {
|
||||
// Simplified model: Just returns some fixed magnetic field for now.
|
||||
// Later, we could make this more fancy by incorporating the commanded dipole.
|
||||
MGT_GEN_MAGNETIC_FIELD
|
||||
}
|
||||
|
||||
/// A torquing magnetorquer generates a magnetic field. This function can be used to apply
|
||||
/// the magnetic field.
|
||||
async fn generate_magnetic_field(&mut self, _: ()) {
|
||||
if self.switch_state != SwitchStateBinary::On || !self.torquing {
|
||||
return;
|
||||
}
|
||||
self.gen_magnetic_field
|
||||
.send(self.calc_magnetic_field(self.torque_dipole))
|
||||
.await;
|
||||
}
|
||||
}
|
||||
|
||||
impl Model for MagnetorquerModel {}
|
||||
|
||||
#[cfg(test)]
|
||||
pub mod tests {
|
||||
use std::time::Duration;
|
||||
|
||||
use satrs::power::SwitchStateBinary;
|
||||
use satrs_minisim::{
|
||||
acs::{MgmReply, MgmRequest, MgtDipole, MgtHkSet, MgtReply, MgtRequest},
|
||||
eps::PcduSwitch,
|
||||
SerializableSimMsgPayload, SimMessageProvider, SimRequest, SimTarget,
|
||||
};
|
||||
|
||||
use crate::{eps::tests::switch_device_on, test_helpers::SimTestbench};
|
||||
|
||||
#[test]
|
||||
fn test_basic_mgm_request() {
|
||||
let mut sim_testbench = SimTestbench::new();
|
||||
let request = SimRequest::new(MgmRequest::RequestSensorData);
|
||||
sim_testbench
|
||||
.send_request(request)
|
||||
.expect("sending MGM request failed");
|
||||
sim_testbench.handle_sim_requests();
|
||||
sim_testbench.step();
|
||||
let sim_reply = sim_testbench.try_receive_next_reply();
|
||||
assert!(sim_reply.is_some());
|
||||
let sim_reply = sim_reply.unwrap();
|
||||
assert_eq!(sim_reply.target(), SimTarget::Mgm);
|
||||
let reply = MgmReply::from_sim_message(&sim_reply)
|
||||
.expect("failed to deserialize MGM sensor values");
|
||||
assert_eq!(reply.switch_state, SwitchStateBinary::Off);
|
||||
assert_eq!(reply.sensor_values.x, 0.0);
|
||||
assert_eq!(reply.sensor_values.y, 0.0);
|
||||
assert_eq!(reply.sensor_values.z, 0.0);
|
||||
}
|
||||
|
||||
#[test]
|
||||
fn test_basic_mgm_request_switched_on() {
|
||||
let mut sim_testbench = SimTestbench::new();
|
||||
switch_device_on(&mut sim_testbench, PcduSwitch::Mgm);
|
||||
|
||||
let mut request = SimRequest::new(MgmRequest::RequestSensorData);
|
||||
sim_testbench
|
||||
.send_request(request)
|
||||
.expect("sending MGM request failed");
|
||||
sim_testbench.handle_sim_requests();
|
||||
sim_testbench.step();
|
||||
let mut sim_reply_res = sim_testbench.try_receive_next_reply();
|
||||
assert!(sim_reply_res.is_some());
|
||||
let mut sim_reply = sim_reply_res.unwrap();
|
||||
assert_eq!(sim_reply.target(), SimTarget::Mgm);
|
||||
let first_reply = MgmReply::from_sim_message(&sim_reply)
|
||||
.expect("failed to deserialize MGM sensor values");
|
||||
sim_testbench.step_by(Duration::from_millis(50));
|
||||
|
||||
request = SimRequest::new(MgmRequest::RequestSensorData);
|
||||
sim_testbench
|
||||
.send_request(request)
|
||||
.expect("sending MGM request failed");
|
||||
sim_testbench.handle_sim_requests();
|
||||
sim_testbench.step();
|
||||
sim_reply_res = sim_testbench.try_receive_next_reply();
|
||||
assert!(sim_reply_res.is_some());
|
||||
sim_reply = sim_reply_res.unwrap();
|
||||
|
||||
let second_reply = MgmReply::from_sim_message(&sim_reply)
|
||||
.expect("failed to deserialize MGM sensor values");
|
||||
// Check that the values are changing.
|
||||
assert!(first_reply != second_reply);
|
||||
}
|
||||
|
||||
#[test]
|
||||
fn test_basic_mgt_request_is_off() {
|
||||
let mut sim_testbench = SimTestbench::new();
|
||||
let request = SimRequest::new(MgtRequest::RequestHk);
|
||||
sim_testbench
|
||||
.send_request(request)
|
||||
.expect("sending MGM request failed");
|
||||
sim_testbench.handle_sim_requests();
|
||||
sim_testbench.step();
|
||||
let sim_reply_res = sim_testbench.try_receive_next_reply();
|
||||
assert!(sim_reply_res.is_none());
|
||||
}
|
||||
|
||||
#[test]
|
||||
fn test_basic_mgt_request_is_on() {
|
||||
let mut sim_testbench = SimTestbench::new();
|
||||
switch_device_on(&mut sim_testbench, PcduSwitch::Mgt);
|
||||
let request = SimRequest::new(MgtRequest::RequestHk);
|
||||
|
||||
sim_testbench
|
||||
.send_request(request)
|
||||
.expect("sending MGM request failed");
|
||||
sim_testbench.handle_sim_requests();
|
||||
sim_testbench.step();
|
||||
let sim_reply_res = sim_testbench.try_receive_next_reply();
|
||||
assert!(sim_reply_res.is_some());
|
||||
let sim_reply = sim_reply_res.unwrap();
|
||||
let mgt_reply = MgtReply::from_sim_message(&sim_reply)
|
||||
.expect("failed to deserialize MGM sensor values");
|
||||
match mgt_reply {
|
||||
MgtReply::Hk(hk) => {
|
||||
assert_eq!(hk.dipole, MgtDipole::default());
|
||||
assert!(!hk.torquing);
|
||||
}
|
||||
_ => panic!("unexpected reply"),
|
||||
}
|
||||
}
|
||||
|
||||
fn check_mgt_hk(sim_testbench: &mut SimTestbench, expected_hk_set: MgtHkSet) {
|
||||
let request = SimRequest::new(MgtRequest::RequestHk);
|
||||
sim_testbench
|
||||
.send_request(request)
|
||||
.expect("sending MGM request failed");
|
||||
sim_testbench.handle_sim_requests();
|
||||
sim_testbench.step();
|
||||
let sim_reply_res = sim_testbench.try_receive_next_reply();
|
||||
assert!(sim_reply_res.is_some());
|
||||
let sim_reply = sim_reply_res.unwrap();
|
||||
let mgt_reply = MgtReply::from_sim_message(&sim_reply)
|
||||
.expect("failed to deserialize MGM sensor values");
|
||||
match mgt_reply {
|
||||
MgtReply::Hk(hk) => {
|
||||
assert_eq!(hk, expected_hk_set);
|
||||
}
|
||||
_ => panic!("unexpected reply"),
|
||||
}
|
||||
}
|
||||
|
||||
#[test]
|
||||
fn test_basic_mgt_request_is_on_and_torquing() {
|
||||
let mut sim_testbench = SimTestbench::new();
|
||||
switch_device_on(&mut sim_testbench, PcduSwitch::Mgt);
|
||||
let commanded_dipole = MgtDipole {
|
||||
x: -200,
|
||||
y: 200,
|
||||
z: 1000,
|
||||
};
|
||||
let request = SimRequest::new(MgtRequest::ApplyTorque {
|
||||
duration: Duration::from_millis(100),
|
||||
dipole: commanded_dipole,
|
||||
});
|
||||
sim_testbench
|
||||
.send_request(request)
|
||||
.expect("sending MGM request failed");
|
||||
sim_testbench.handle_sim_requests();
|
||||
sim_testbench.step_by(Duration::from_millis(5));
|
||||
|
||||
check_mgt_hk(
|
||||
&mut sim_testbench,
|
||||
MgtHkSet {
|
||||
dipole: commanded_dipole,
|
||||
torquing: true,
|
||||
},
|
||||
);
|
||||
sim_testbench.step_by(Duration::from_millis(100));
|
||||
check_mgt_hk(
|
||||
&mut sim_testbench,
|
||||
MgtHkSet {
|
||||
dipole: MgtDipole::default(),
|
||||
torquing: false,
|
||||
},
|
||||
);
|
||||
}
|
||||
}
|
||||
189
satrs-minisim/src/controller.rs
Normal file
189
satrs-minisim/src/controller.rs
Normal file
@ -0,0 +1,189 @@
|
||||
use std::{sync::mpsc, time::Duration};
|
||||
|
||||
use asynchronix::{
|
||||
simulation::{Address, Simulation},
|
||||
time::{Clock, MonotonicTime, SystemClock},
|
||||
};
|
||||
use satrs_minisim::{
|
||||
acs::{MgmRequest, MgtRequest},
|
||||
eps::PcduRequest,
|
||||
SerializableSimMsgPayload, SimCtrlReply, SimCtrlRequest, SimMessageProvider, SimReply,
|
||||
SimRequest, SimRequestError, SimTarget,
|
||||
};
|
||||
|
||||
use crate::{
|
||||
acs::{MagnetometerModel, MagnetorquerModel},
|
||||
eps::PcduModel,
|
||||
};
|
||||
|
||||
// The simulation controller processes requests and drives the simulation.
|
||||
pub struct SimController {
|
||||
pub sys_clock: SystemClock,
|
||||
pub request_receiver: mpsc::Receiver<SimRequest>,
|
||||
pub reply_sender: mpsc::Sender<SimReply>,
|
||||
pub simulation: Simulation,
|
||||
pub mgm_addr: Address<MagnetometerModel>,
|
||||
pub pcdu_addr: Address<PcduModel>,
|
||||
pub mgt_addr: Address<MagnetorquerModel>,
|
||||
}
|
||||
|
||||
impl SimController {
|
||||
pub fn new(
|
||||
sys_clock: SystemClock,
|
||||
request_receiver: mpsc::Receiver<SimRequest>,
|
||||
reply_sender: mpsc::Sender<SimReply>,
|
||||
simulation: Simulation,
|
||||
mgm_addr: Address<MagnetometerModel>,
|
||||
pcdu_addr: Address<PcduModel>,
|
||||
mgt_addr: Address<MagnetorquerModel>,
|
||||
) -> Self {
|
||||
Self {
|
||||
sys_clock,
|
||||
request_receiver,
|
||||
reply_sender,
|
||||
simulation,
|
||||
mgm_addr,
|
||||
pcdu_addr,
|
||||
mgt_addr,
|
||||
}
|
||||
}
|
||||
|
||||
pub fn run(&mut self, start_time: MonotonicTime, udp_polling_interval_ms: u64) {
|
||||
let mut t = start_time + Duration::from_millis(udp_polling_interval_ms);
|
||||
self.sys_clock.synchronize(t);
|
||||
loop {
|
||||
// Check for UDP requests every millisecond. Shift the simulator ahead here to prevent
|
||||
// replies lying in the past.
|
||||
t += Duration::from_millis(udp_polling_interval_ms);
|
||||
self.simulation
|
||||
.step_until(t)
|
||||
.expect("simulation step failed");
|
||||
self.handle_sim_requests();
|
||||
|
||||
self.sys_clock.synchronize(t);
|
||||
}
|
||||
}
|
||||
|
||||
pub fn handle_sim_requests(&mut self) {
|
||||
loop {
|
||||
match self.request_receiver.try_recv() {
|
||||
Ok(request) => {
|
||||
if let Err(e) = match request.target() {
|
||||
SimTarget::SimCtrl => self.handle_ctrl_request(&request),
|
||||
SimTarget::Mgm => self.handle_mgm_request(&request),
|
||||
SimTarget::Mgt => self.handle_mgt_request(&request),
|
||||
SimTarget::Pcdu => self.handle_pcdu_request(&request),
|
||||
} {
|
||||
self.handle_invalid_request_with_valid_target(e, &request)
|
||||
}
|
||||
}
|
||||
Err(e) => match e {
|
||||
mpsc::TryRecvError::Empty => break,
|
||||
mpsc::TryRecvError::Disconnected => {
|
||||
panic!("all request sender disconnected")
|
||||
}
|
||||
},
|
||||
}
|
||||
}
|
||||
}
|
||||
|
||||
fn handle_ctrl_request(&mut self, request: &SimRequest) -> Result<(), SimRequestError> {
|
||||
let sim_ctrl_request = SimCtrlRequest::from_sim_message(request)?;
|
||||
match sim_ctrl_request {
|
||||
SimCtrlRequest::Ping => {
|
||||
self.reply_sender
|
||||
.send(SimReply::new(SimCtrlReply::Pong))
|
||||
.expect("sending reply from sim controller failed");
|
||||
}
|
||||
}
|
||||
Ok(())
|
||||
}
|
||||
fn handle_mgm_request(&mut self, request: &SimRequest) -> Result<(), SimRequestError> {
|
||||
let mgm_request = MgmRequest::from_sim_message(request)?;
|
||||
match mgm_request {
|
||||
MgmRequest::RequestSensorData => {
|
||||
self.simulation.send_event(
|
||||
MagnetometerModel::send_sensor_values,
|
||||
(),
|
||||
&self.mgm_addr,
|
||||
);
|
||||
}
|
||||
}
|
||||
Ok(())
|
||||
}
|
||||
|
||||
fn handle_pcdu_request(&mut self, request: &SimRequest) -> Result<(), SimRequestError> {
|
||||
let pcdu_request = PcduRequest::from_sim_message(request)?;
|
||||
match pcdu_request {
|
||||
PcduRequest::RequestSwitchInfo => {
|
||||
self.simulation
|
||||
.send_event(PcduModel::request_switch_info, (), &self.pcdu_addr);
|
||||
}
|
||||
PcduRequest::SwitchDevice { switch, state } => {
|
||||
self.simulation.send_event(
|
||||
PcduModel::switch_device,
|
||||
(switch, state),
|
||||
&self.pcdu_addr,
|
||||
);
|
||||
}
|
||||
}
|
||||
Ok(())
|
||||
}
|
||||
|
||||
fn handle_mgt_request(&mut self, request: &SimRequest) -> Result<(), SimRequestError> {
|
||||
let mgt_request = MgtRequest::from_sim_message(request)?;
|
||||
match mgt_request {
|
||||
MgtRequest::ApplyTorque { duration, dipole } => self.simulation.send_event(
|
||||
MagnetorquerModel::apply_torque,
|
||||
(duration, dipole),
|
||||
&self.mgt_addr,
|
||||
),
|
||||
MgtRequest::RequestHk => self.simulation.send_event(
|
||||
MagnetorquerModel::request_housekeeping_data,
|
||||
(),
|
||||
&self.mgt_addr,
|
||||
),
|
||||
}
|
||||
Ok(())
|
||||
}
|
||||
|
||||
fn handle_invalid_request_with_valid_target(
|
||||
&self,
|
||||
error: SimRequestError,
|
||||
request: &SimRequest,
|
||||
) {
|
||||
log::warn!(
|
||||
"received invalid {:?} request: {:?}",
|
||||
request.target(),
|
||||
error
|
||||
);
|
||||
self.reply_sender
|
||||
.send(SimReply::new(SimCtrlReply::from(error)))
|
||||
.expect("sending reply from sim controller failed");
|
||||
}
|
||||
}
|
||||
|
||||
#[cfg(test)]
|
||||
mod tests {
|
||||
use crate::test_helpers::SimTestbench;
|
||||
|
||||
use super::*;
|
||||
|
||||
#[test]
|
||||
fn test_basic_ping() {
|
||||
let mut sim_testbench = SimTestbench::new();
|
||||
let request = SimRequest::new(SimCtrlRequest::Ping);
|
||||
sim_testbench
|
||||
.send_request(request)
|
||||
.expect("sending sim ctrl request failed");
|
||||
sim_testbench.handle_sim_requests();
|
||||
sim_testbench.step();
|
||||
let sim_reply = sim_testbench.try_receive_next_reply();
|
||||
assert!(sim_reply.is_some());
|
||||
let sim_reply = sim_reply.unwrap();
|
||||
assert_eq!(sim_reply.target(), SimTarget::SimCtrl);
|
||||
let reply = SimCtrlReply::from_sim_message(&sim_reply)
|
||||
.expect("failed to deserialize MGM sensor values");
|
||||
assert_eq!(reply, SimCtrlReply::Pong);
|
||||
}
|
||||
}
|
||||
185
satrs-minisim/src/eps.rs
Normal file
185
satrs-minisim/src/eps.rs
Normal file
@ -0,0 +1,185 @@
|
||||
use std::{collections::HashMap, sync::mpsc, time::Duration};
|
||||
|
||||
use asynchronix::{
|
||||
model::{Model, Output},
|
||||
time::Scheduler,
|
||||
};
|
||||
use satrs::power::SwitchStateBinary;
|
||||
use satrs_minisim::{
|
||||
eps::{PcduReply, PcduSwitch, SwitchMap},
|
||||
SimReply,
|
||||
};
|
||||
|
||||
pub const SWITCH_INFO_DELAY_MS: u64 = 10;
|
||||
|
||||
pub struct PcduModel {
|
||||
pub switcher_map: SwitchMap,
|
||||
pub mgm_switch: Output<SwitchStateBinary>,
|
||||
pub mgt_switch: Output<SwitchStateBinary>,
|
||||
pub reply_sender: mpsc::Sender<SimReply>,
|
||||
}
|
||||
|
||||
impl PcduModel {
|
||||
pub fn new(reply_sender: mpsc::Sender<SimReply>) -> Self {
|
||||
let mut switcher_map = HashMap::new();
|
||||
switcher_map.insert(PcduSwitch::Mgm, SwitchStateBinary::Off);
|
||||
switcher_map.insert(PcduSwitch::Mgt, SwitchStateBinary::Off);
|
||||
|
||||
Self {
|
||||
switcher_map,
|
||||
mgm_switch: Output::new(),
|
||||
mgt_switch: Output::new(),
|
||||
reply_sender,
|
||||
}
|
||||
}
|
||||
|
||||
pub async fn request_switch_info(&mut self, _: (), scheduler: &Scheduler<Self>) {
|
||||
scheduler
|
||||
.schedule_event(
|
||||
Duration::from_millis(SWITCH_INFO_DELAY_MS),
|
||||
Self::send_switch_info,
|
||||
(),
|
||||
)
|
||||
.expect("requesting switch info failed");
|
||||
}
|
||||
|
||||
pub fn send_switch_info(&mut self) {
|
||||
let reply = SimReply::new(PcduReply::SwitchInfo(self.switcher_map.clone()));
|
||||
self.reply_sender.send(reply).unwrap();
|
||||
}
|
||||
|
||||
pub async fn switch_device(
|
||||
&mut self,
|
||||
switch_and_target_state: (PcduSwitch, SwitchStateBinary),
|
||||
) {
|
||||
let val = self
|
||||
.switcher_map
|
||||
.get_mut(&switch_and_target_state.0)
|
||||
.unwrap_or_else(|| panic!("switch {:?} not found", switch_and_target_state.0));
|
||||
*val = switch_and_target_state.1;
|
||||
match switch_and_target_state.0 {
|
||||
PcduSwitch::Mgm => {
|
||||
self.mgm_switch.send(switch_and_target_state.1).await;
|
||||
}
|
||||
PcduSwitch::Mgt => {
|
||||
self.mgt_switch.send(switch_and_target_state.1).await;
|
||||
}
|
||||
}
|
||||
}
|
||||
}
|
||||
|
||||
impl Model for PcduModel {}
|
||||
|
||||
#[cfg(test)]
|
||||
pub(crate) mod tests {
|
||||
use super::*;
|
||||
use std::time::Duration;
|
||||
|
||||
use satrs_minisim::{
|
||||
eps::PcduRequest, SerializableSimMsgPayload, SimMessageProvider, SimRequest, SimTarget,
|
||||
};
|
||||
|
||||
use crate::test_helpers::SimTestbench;
|
||||
|
||||
fn switch_device(
|
||||
sim_testbench: &mut SimTestbench,
|
||||
switch: PcduSwitch,
|
||||
target: SwitchStateBinary,
|
||||
) {
|
||||
let request = SimRequest::new(PcduRequest::SwitchDevice {
|
||||
switch,
|
||||
state: target,
|
||||
});
|
||||
sim_testbench
|
||||
.send_request(request)
|
||||
.expect("sending MGM switch request failed");
|
||||
sim_testbench.handle_sim_requests();
|
||||
sim_testbench.step();
|
||||
}
|
||||
|
||||
#[allow(dead_code)]
|
||||
pub(crate) fn switch_device_off(sim_testbench: &mut SimTestbench, switch: PcduSwitch) {
|
||||
switch_device(sim_testbench, switch, SwitchStateBinary::Off);
|
||||
}
|
||||
pub(crate) fn switch_device_on(sim_testbench: &mut SimTestbench, switch: PcduSwitch) {
|
||||
switch_device(sim_testbench, switch, SwitchStateBinary::On);
|
||||
}
|
||||
|
||||
pub(crate) fn get_all_off_switch_map() -> SwitchMap {
|
||||
let mut switcher_map = SwitchMap::new();
|
||||
switcher_map.insert(super::PcduSwitch::Mgm, super::SwitchStateBinary::Off);
|
||||
switcher_map.insert(super::PcduSwitch::Mgt, super::SwitchStateBinary::Off);
|
||||
switcher_map
|
||||
}
|
||||
|
||||
fn check_switch_state(sim_testbench: &mut SimTestbench, expected_switch_map: &SwitchMap) {
|
||||
let request = SimRequest::new(PcduRequest::RequestSwitchInfo);
|
||||
sim_testbench
|
||||
.send_request(request)
|
||||
.expect("sending MGM request failed");
|
||||
sim_testbench.handle_sim_requests();
|
||||
sim_testbench.step();
|
||||
let sim_reply = sim_testbench.try_receive_next_reply();
|
||||
assert!(sim_reply.is_some());
|
||||
let sim_reply = sim_reply.unwrap();
|
||||
assert_eq!(sim_reply.target(), SimTarget::Pcdu);
|
||||
let pcdu_reply = PcduReply::from_sim_message(&sim_reply)
|
||||
.expect("failed to deserialize PCDU switch info");
|
||||
match pcdu_reply {
|
||||
PcduReply::SwitchInfo(switch_map) => {
|
||||
assert_eq!(switch_map, *expected_switch_map);
|
||||
}
|
||||
}
|
||||
}
|
||||
|
||||
fn test_pcdu_switching_single_switch(switch: PcduSwitch, target: SwitchStateBinary) {
|
||||
let mut sim_testbench = SimTestbench::new();
|
||||
switch_device(&mut sim_testbench, switch, target);
|
||||
let mut switcher_map = get_all_off_switch_map();
|
||||
*switcher_map.get_mut(&switch).unwrap() = target;
|
||||
check_switch_state(&mut sim_testbench, &switcher_map);
|
||||
}
|
||||
|
||||
#[test]
|
||||
fn test_pcdu_switcher_request() {
|
||||
let mut sim_testbench = SimTestbench::new();
|
||||
let request = SimRequest::new(PcduRequest::RequestSwitchInfo);
|
||||
sim_testbench
|
||||
.send_request(request)
|
||||
.expect("sending MGM request failed");
|
||||
sim_testbench.handle_sim_requests();
|
||||
sim_testbench.step_by(Duration::from_millis(1));
|
||||
|
||||
let sim_reply = sim_testbench.try_receive_next_reply();
|
||||
assert!(sim_reply.is_none());
|
||||
// Reply takes 20ms
|
||||
sim_testbench.step_by(Duration::from_millis(25));
|
||||
let sim_reply = sim_testbench.try_receive_next_reply();
|
||||
assert!(sim_reply.is_some());
|
||||
let sim_reply = sim_reply.unwrap();
|
||||
assert_eq!(sim_reply.target(), SimTarget::Pcdu);
|
||||
let pcdu_reply = PcduReply::from_sim_message(&sim_reply)
|
||||
.expect("failed to deserialize PCDU switch info");
|
||||
match pcdu_reply {
|
||||
PcduReply::SwitchInfo(switch_map) => {
|
||||
assert_eq!(switch_map, get_all_off_switch_map());
|
||||
}
|
||||
}
|
||||
}
|
||||
|
||||
#[test]
|
||||
fn test_pcdu_switching_mgm_on() {
|
||||
test_pcdu_switching_single_switch(PcduSwitch::Mgm, SwitchStateBinary::On);
|
||||
}
|
||||
|
||||
#[test]
|
||||
fn test_pcdu_switching_mgt_on() {
|
||||
test_pcdu_switching_single_switch(PcduSwitch::Mgt, SwitchStateBinary::On);
|
||||
}
|
||||
|
||||
#[test]
|
||||
fn test_pcdu_switching_mgt_off() {
|
||||
test_pcdu_switching_single_switch(PcduSwitch::Mgt, SwitchStateBinary::On);
|
||||
test_pcdu_switching_single_switch(PcduSwitch::Mgt, SwitchStateBinary::Off);
|
||||
}
|
||||
}
|
||||
383
satrs-minisim/src/lib.rs
Normal file
383
satrs-minisim/src/lib.rs
Normal file
@ -0,0 +1,383 @@
|
||||
use serde::{de::DeserializeOwned, Deserialize, Serialize};
|
||||
|
||||
#[derive(Debug, Copy, Clone, PartialEq, Eq, Serialize, Deserialize)]
|
||||
pub enum SimTarget {
|
||||
SimCtrl,
|
||||
Mgm,
|
||||
Mgt,
|
||||
Pcdu,
|
||||
}
|
||||
|
||||
#[derive(Debug, Clone, PartialEq, Eq, Serialize, Deserialize)]
|
||||
pub struct SimMessage {
|
||||
pub target: SimTarget,
|
||||
pub payload: String,
|
||||
}
|
||||
|
||||
/// A generic simulation request type. Right now, the payload data is expected to be
|
||||
/// JSON, which might be changed in the future.
|
||||
#[derive(Debug, Clone, PartialEq, Eq, Serialize, Deserialize)]
|
||||
pub struct SimRequest {
|
||||
inner: SimMessage,
|
||||
}
|
||||
|
||||
#[derive(Debug, Clone, PartialEq, Eq, Serialize, Deserialize)]
|
||||
pub enum SimMessageType {
|
||||
Request,
|
||||
Reply,
|
||||
}
|
||||
|
||||
/// Generic trait implemented by simulation request or reply payloads. It ties the request or
|
||||
/// reply to a specific target and provides an API which does boilerplate tasks like checking the
|
||||
/// validity of the target.
|
||||
pub trait SerializableSimMsgPayload<P: SimMessageProvider>:
|
||||
Serialize + DeserializeOwned + Sized
|
||||
{
|
||||
const TARGET: SimTarget;
|
||||
|
||||
fn from_sim_message(sim_message: &P) -> Result<Self, SimMessageError<P>> {
|
||||
if sim_message.target() == Self::TARGET {
|
||||
return Ok(serde_json::from_str(sim_message.payload())?);
|
||||
}
|
||||
Err(SimMessageError::TargetRequestMissmatch(sim_message.clone()))
|
||||
}
|
||||
}
|
||||
|
||||
pub trait SimMessageProvider: Serialize + DeserializeOwned + Clone + Sized {
|
||||
fn msg_type(&self) -> SimMessageType;
|
||||
fn target(&self) -> SimTarget;
|
||||
fn payload(&self) -> &String;
|
||||
fn from_raw_data(data: &[u8]) -> serde_json::Result<Self> {
|
||||
serde_json::from_slice(data)
|
||||
}
|
||||
}
|
||||
|
||||
impl SimRequest {
|
||||
pub fn new<T: SerializableSimMsgPayload<SimRequest>>(serializable_request: T) -> Self {
|
||||
Self {
|
||||
inner: SimMessage {
|
||||
target: T::TARGET,
|
||||
payload: serde_json::to_string(&serializable_request).unwrap(),
|
||||
},
|
||||
}
|
||||
}
|
||||
}
|
||||
|
||||
impl SimMessageProvider for SimRequest {
|
||||
fn target(&self) -> SimTarget {
|
||||
self.inner.target
|
||||
}
|
||||
fn payload(&self) -> &String {
|
||||
&self.inner.payload
|
||||
}
|
||||
|
||||
fn msg_type(&self) -> SimMessageType {
|
||||
SimMessageType::Request
|
||||
}
|
||||
}
|
||||
|
||||
/// A generic simulation reply type. Right now, the payload data is expected to be
|
||||
/// JSON, which might be changed inthe future.
|
||||
#[derive(Debug, Clone, PartialEq, Eq, Serialize, Deserialize)]
|
||||
pub struct SimReply {
|
||||
inner: SimMessage,
|
||||
}
|
||||
|
||||
impl SimReply {
|
||||
pub fn new<T: SerializableSimMsgPayload<SimReply>>(serializable_reply: T) -> Self {
|
||||
Self {
|
||||
inner: SimMessage {
|
||||
target: T::TARGET,
|
||||
payload: serde_json::to_string(&serializable_reply).unwrap(),
|
||||
},
|
||||
}
|
||||
}
|
||||
}
|
||||
|
||||
impl SimMessageProvider for SimReply {
|
||||
fn target(&self) -> SimTarget {
|
||||
self.inner.target
|
||||
}
|
||||
fn payload(&self) -> &String {
|
||||
&self.inner.payload
|
||||
}
|
||||
fn msg_type(&self) -> SimMessageType {
|
||||
SimMessageType::Reply
|
||||
}
|
||||
}
|
||||
|
||||
#[derive(Debug, Copy, Clone, PartialEq, Eq, Serialize, Deserialize)]
|
||||
pub enum SimCtrlRequest {
|
||||
Ping,
|
||||
}
|
||||
|
||||
impl SerializableSimMsgPayload<SimRequest> for SimCtrlRequest {
|
||||
const TARGET: SimTarget = SimTarget::SimCtrl;
|
||||
}
|
||||
|
||||
pub type SimReplyError = SimMessageError<SimReply>;
|
||||
pub type SimRequestError = SimMessageError<SimRequest>;
|
||||
|
||||
#[derive(Debug, Clone, PartialEq, Eq, Serialize, Deserialize)]
|
||||
pub enum SimMessageError<P> {
|
||||
SerdeJson(String),
|
||||
TargetRequestMissmatch(P),
|
||||
}
|
||||
|
||||
impl<P> From<serde_json::Error> for SimMessageError<P> {
|
||||
fn from(error: serde_json::Error) -> SimMessageError<P> {
|
||||
SimMessageError::SerdeJson(error.to_string())
|
||||
}
|
||||
}
|
||||
|
||||
#[derive(Debug, Clone, PartialEq, Eq, Serialize, Deserialize)]
|
||||
pub enum SimCtrlReply {
|
||||
Pong,
|
||||
InvalidRequest(SimRequestError),
|
||||
}
|
||||
|
||||
impl SerializableSimMsgPayload<SimReply> for SimCtrlReply {
|
||||
const TARGET: SimTarget = SimTarget::SimCtrl;
|
||||
}
|
||||
|
||||
impl From<SimRequestError> for SimCtrlReply {
|
||||
fn from(error: SimRequestError) -> Self {
|
||||
SimCtrlReply::InvalidRequest(error)
|
||||
}
|
||||
}
|
||||
|
||||
pub mod eps {
|
||||
use super::*;
|
||||
use std::collections::HashMap;
|
||||
|
||||
use satrs::power::SwitchStateBinary;
|
||||
|
||||
pub type SwitchMap = HashMap<PcduSwitch, SwitchStateBinary>;
|
||||
|
||||
#[derive(Debug, Copy, Clone, PartialEq, Eq, Serialize, Deserialize, Hash)]
|
||||
pub enum PcduSwitch {
|
||||
Mgm = 0,
|
||||
Mgt = 1,
|
||||
}
|
||||
|
||||
#[derive(Debug, Copy, Clone, Serialize, Deserialize)]
|
||||
pub enum PcduRequest {
|
||||
SwitchDevice {
|
||||
switch: PcduSwitch,
|
||||
state: SwitchStateBinary,
|
||||
},
|
||||
RequestSwitchInfo,
|
||||
}
|
||||
|
||||
impl SerializableSimMsgPayload<SimRequest> for PcduRequest {
|
||||
const TARGET: SimTarget = SimTarget::Pcdu;
|
||||
}
|
||||
|
||||
#[derive(Debug, Clone, Serialize, Deserialize)]
|
||||
pub enum PcduReply {
|
||||
SwitchInfo(SwitchMap),
|
||||
}
|
||||
|
||||
impl SerializableSimMsgPayload<SimReply> for PcduReply {
|
||||
const TARGET: SimTarget = SimTarget::Pcdu;
|
||||
}
|
||||
}
|
||||
|
||||
pub mod acs {
|
||||
use std::time::Duration;
|
||||
|
||||
use satrs::power::SwitchStateBinary;
|
||||
|
||||
use super::*;
|
||||
|
||||
#[derive(Debug, Copy, Clone, Serialize, Deserialize)]
|
||||
pub enum MgmRequest {
|
||||
RequestSensorData,
|
||||
}
|
||||
|
||||
impl SerializableSimMsgPayload<SimRequest> for MgmRequest {
|
||||
const TARGET: SimTarget = SimTarget::Mgm;
|
||||
}
|
||||
|
||||
// Normally, small magnetometers generate their output as a signed 16 bit raw format or something
|
||||
// similar which needs to be converted to a signed float value with physical units. We will
|
||||
// simplify this now and generate the signed float values directly.
|
||||
#[derive(Debug, Copy, Clone, PartialEq, Serialize, Deserialize)]
|
||||
pub struct MgmSensorValues {
|
||||
pub x: f32,
|
||||
pub y: f32,
|
||||
pub z: f32,
|
||||
}
|
||||
|
||||
#[derive(Debug, Copy, Clone, PartialEq, Serialize, Deserialize)]
|
||||
pub struct MgmReply {
|
||||
pub switch_state: SwitchStateBinary,
|
||||
pub sensor_values: MgmSensorValues,
|
||||
}
|
||||
|
||||
impl SerializableSimMsgPayload<SimReply> for MgmReply {
|
||||
const TARGET: SimTarget = SimTarget::Mgm;
|
||||
}
|
||||
|
||||
pub const MGT_GEN_MAGNETIC_FIELD: MgmSensorValues = MgmSensorValues {
|
||||
x: 0.03,
|
||||
y: -0.03,
|
||||
z: 0.03,
|
||||
};
|
||||
|
||||
// Simple model using i16 values.
|
||||
#[derive(Default, Debug, Copy, Clone, PartialEq, Eq, Serialize, Deserialize)]
|
||||
pub struct MgtDipole {
|
||||
pub x: i16,
|
||||
pub y: i16,
|
||||
pub z: i16,
|
||||
}
|
||||
|
||||
#[derive(Debug, Copy, Clone, PartialEq, Serialize, Deserialize)]
|
||||
pub enum MgtRequestType {
|
||||
ApplyTorque,
|
||||
}
|
||||
|
||||
#[derive(Debug, Copy, Clone, Serialize, Deserialize)]
|
||||
pub enum MgtRequest {
|
||||
ApplyTorque {
|
||||
duration: Duration,
|
||||
dipole: MgtDipole,
|
||||
},
|
||||
RequestHk,
|
||||
}
|
||||
|
||||
impl SerializableSimMsgPayload<SimRequest> for MgtRequest {
|
||||
const TARGET: SimTarget = SimTarget::Mgt;
|
||||
}
|
||||
|
||||
#[derive(Debug, Copy, Clone, PartialEq, Eq, Serialize, Deserialize)]
|
||||
pub struct MgtHkSet {
|
||||
pub dipole: MgtDipole,
|
||||
pub torquing: bool,
|
||||
}
|
||||
|
||||
#[derive(Debug, Copy, Clone, Serialize, Deserialize)]
|
||||
pub enum MgtReply {
|
||||
Ack(MgtRequestType),
|
||||
Nak(MgtRequestType),
|
||||
Hk(MgtHkSet),
|
||||
}
|
||||
|
||||
impl SerializableSimMsgPayload<SimReply> for MgtReply {
|
||||
const TARGET: SimTarget = SimTarget::Mgm;
|
||||
}
|
||||
}
|
||||
|
||||
pub mod udp {
|
||||
use std::{
|
||||
net::{SocketAddr, UdpSocket},
|
||||
time::Duration,
|
||||
};
|
||||
|
||||
use thiserror::Error;
|
||||
|
||||
use crate::{SimReply, SimRequest};
|
||||
|
||||
#[derive(Error, Debug)]
|
||||
pub enum ReceptionError {
|
||||
#[error("IO error: {0}")]
|
||||
Io(#[from] std::io::Error),
|
||||
#[error("Serde JSON error: {0}")]
|
||||
SerdeJson(#[from] serde_json::Error),
|
||||
}
|
||||
|
||||
pub struct SimUdpClient {
|
||||
socket: UdpSocket,
|
||||
pub reply_buf: [u8; 4096],
|
||||
}
|
||||
|
||||
impl SimUdpClient {
|
||||
pub fn new(
|
||||
server_addr: &SocketAddr,
|
||||
non_blocking: bool,
|
||||
read_timeot_ms: Option<u64>,
|
||||
) -> std::io::Result<Self> {
|
||||
let socket = UdpSocket::bind("127.0.0.1:0")?;
|
||||
socket.set_nonblocking(non_blocking)?;
|
||||
socket
|
||||
.connect(server_addr)
|
||||
.expect("could not connect to server addr");
|
||||
if let Some(read_timeout) = read_timeot_ms {
|
||||
// Set a read timeout so the test does not hang on failures.
|
||||
socket.set_read_timeout(Some(Duration::from_millis(read_timeout)))?;
|
||||
}
|
||||
Ok(Self {
|
||||
socket,
|
||||
reply_buf: [0; 4096],
|
||||
})
|
||||
}
|
||||
|
||||
pub fn set_nonblocking(&self, non_blocking: bool) -> std::io::Result<()> {
|
||||
self.socket.set_nonblocking(non_blocking)
|
||||
}
|
||||
|
||||
pub fn set_read_timeout(&self, read_timeout_ms: u64) -> std::io::Result<()> {
|
||||
self.socket
|
||||
.set_read_timeout(Some(Duration::from_millis(read_timeout_ms)))
|
||||
}
|
||||
|
||||
pub fn send_request(&self, sim_request: &SimRequest) -> std::io::Result<usize> {
|
||||
self.socket.send(
|
||||
&serde_json::to_vec(sim_request).expect("conversion of request to vector failed"),
|
||||
)
|
||||
}
|
||||
|
||||
pub fn recv_raw(&mut self) -> std::io::Result<usize> {
|
||||
self.socket.recv(&mut self.reply_buf)
|
||||
}
|
||||
|
||||
pub fn recv_sim_reply(&mut self) -> Result<SimReply, ReceptionError> {
|
||||
let read_len = self.recv_raw()?;
|
||||
Ok(serde_json::from_slice(&self.reply_buf[0..read_len])?)
|
||||
}
|
||||
}
|
||||
}
|
||||
|
||||
#[cfg(test)]
|
||||
pub mod tests {
|
||||
use super::*;
|
||||
|
||||
#[derive(Debug, Copy, Clone, PartialEq, Eq, Serialize, Deserialize)]
|
||||
pub enum DummyRequest {
|
||||
Ping,
|
||||
}
|
||||
|
||||
impl SerializableSimMsgPayload<SimRequest> for DummyRequest {
|
||||
const TARGET: SimTarget = SimTarget::SimCtrl;
|
||||
}
|
||||
|
||||
#[derive(Debug, Copy, Clone, PartialEq, Eq, Serialize, Deserialize)]
|
||||
pub enum DummyReply {
|
||||
Pong,
|
||||
}
|
||||
|
||||
impl SerializableSimMsgPayload<SimReply> for DummyReply {
|
||||
const TARGET: SimTarget = SimTarget::SimCtrl;
|
||||
}
|
||||
|
||||
#[test]
|
||||
fn test_basic_request() {
|
||||
let sim_request = SimRequest::new(DummyRequest::Ping);
|
||||
assert_eq!(sim_request.target(), SimTarget::SimCtrl);
|
||||
assert_eq!(sim_request.msg_type(), SimMessageType::Request);
|
||||
let dummy_request =
|
||||
DummyRequest::from_sim_message(&sim_request).expect("deserialization failed");
|
||||
assert_eq!(dummy_request, DummyRequest::Ping);
|
||||
}
|
||||
|
||||
#[test]
|
||||
fn test_basic_reply() {
|
||||
let sim_reply = SimReply::new(DummyReply::Pong);
|
||||
assert_eq!(sim_reply.target(), SimTarget::SimCtrl);
|
||||
assert_eq!(sim_reply.msg_type(), SimMessageType::Reply);
|
||||
let dummy_request =
|
||||
DummyReply::from_sim_message(&sim_reply).expect("deserialization failed");
|
||||
assert_eq!(dummy_request, DummyReply::Pong);
|
||||
}
|
||||
}
|
||||
103
satrs-minisim/src/main.rs
Normal file
103
satrs-minisim/src/main.rs
Normal file
@ -0,0 +1,103 @@
|
||||
use acs::{MagnetometerModel, MagnetorquerModel};
|
||||
use asynchronix::simulation::{Mailbox, SimInit};
|
||||
use asynchronix::time::{MonotonicTime, SystemClock};
|
||||
use controller::SimController;
|
||||
use eps::PcduModel;
|
||||
use satrs_minisim::{SimReply, SimRequest};
|
||||
use std::sync::mpsc;
|
||||
use std::thread;
|
||||
use std::time::{Duration, SystemTime};
|
||||
use udp::SimUdpServer;
|
||||
|
||||
mod acs;
|
||||
mod controller;
|
||||
mod eps;
|
||||
#[cfg(test)]
|
||||
mod test_helpers;
|
||||
mod time;
|
||||
mod udp;
|
||||
|
||||
#[derive(Debug, Copy, Clone, PartialEq, Eq)]
|
||||
pub enum ThreadingModel {
|
||||
Default = 0,
|
||||
Single = 1,
|
||||
}
|
||||
|
||||
fn create_sim_controller(
|
||||
threading_model: ThreadingModel,
|
||||
start_time: MonotonicTime,
|
||||
reply_sender: mpsc::Sender<SimReply>,
|
||||
request_receiver: mpsc::Receiver<SimRequest>,
|
||||
) -> SimController {
|
||||
// Instantiate models and their mailboxes.
|
||||
let mgm_model = MagnetometerModel::new(Duration::from_millis(50), reply_sender.clone());
|
||||
|
||||
let mgm_mailbox = Mailbox::new();
|
||||
let mgm_addr = mgm_mailbox.address();
|
||||
let pcdu_mailbox = Mailbox::new();
|
||||
let pcdu_addr = pcdu_mailbox.address();
|
||||
let mgt_mailbox = Mailbox::new();
|
||||
let mgt_addr = mgt_mailbox.address();
|
||||
|
||||
let mut pcdu_model = PcduModel::new(reply_sender.clone());
|
||||
pcdu_model
|
||||
.mgm_switch
|
||||
.connect(MagnetometerModel::switch_device, &mgm_addr);
|
||||
|
||||
let mut mgt_model = MagnetorquerModel::new(reply_sender.clone());
|
||||
// Input connections.
|
||||
pcdu_model
|
||||
.mgt_switch
|
||||
.connect(MagnetorquerModel::switch_device, &mgt_addr);
|
||||
// Output connections.
|
||||
mgt_model
|
||||
.gen_magnetic_field
|
||||
.connect(MagnetometerModel::apply_external_magnetic_field, &mgm_addr);
|
||||
|
||||
// Instantiate the simulator
|
||||
let sys_clock = SystemClock::from_system_time(start_time, SystemTime::now());
|
||||
let sim_init = if threading_model == ThreadingModel::Single {
|
||||
SimInit::with_num_threads(1)
|
||||
} else {
|
||||
SimInit::new()
|
||||
};
|
||||
let simulation = sim_init
|
||||
.add_model(mgm_model, mgm_mailbox)
|
||||
.add_model(pcdu_model, pcdu_mailbox)
|
||||
.add_model(mgt_model, mgt_mailbox)
|
||||
.init(start_time);
|
||||
SimController::new(
|
||||
sys_clock,
|
||||
request_receiver,
|
||||
reply_sender,
|
||||
simulation,
|
||||
mgm_addr,
|
||||
pcdu_addr,
|
||||
mgt_addr,
|
||||
)
|
||||
}
|
||||
|
||||
fn main() {
|
||||
let (request_sender, request_receiver) = mpsc::channel();
|
||||
let (reply_sender, reply_receiver) = mpsc::channel();
|
||||
let t0 = MonotonicTime::EPOCH;
|
||||
let mut sim_ctrl =
|
||||
create_sim_controller(ThreadingModel::Default, t0, reply_sender, request_receiver);
|
||||
|
||||
// This thread schedules the simulator.
|
||||
let sim_thread = thread::spawn(move || {
|
||||
sim_ctrl.run(t0, 1);
|
||||
});
|
||||
|
||||
let mut udp_server = SimUdpServer::new(0, request_sender, reply_receiver, 200, None)
|
||||
.expect("could not create UDP request server");
|
||||
// This thread manages the simulator UDP server.
|
||||
let udp_tc_thread = thread::spawn(move || {
|
||||
udp_server.run();
|
||||
});
|
||||
|
||||
sim_thread.join().expect("joining simulation thread failed");
|
||||
udp_tc_thread
|
||||
.join()
|
||||
.expect("joining UDP server thread failed");
|
||||
}
|
||||
56
satrs-minisim/src/test_helpers.rs
Normal file
56
satrs-minisim/src/test_helpers.rs
Normal file
@ -0,0 +1,56 @@
|
||||
use delegate::delegate;
|
||||
use std::{sync::mpsc, time::Duration};
|
||||
|
||||
use asynchronix::time::MonotonicTime;
|
||||
use satrs_minisim::{SimReply, SimRequest};
|
||||
|
||||
use crate::{controller::SimController, create_sim_controller, ThreadingModel};
|
||||
|
||||
pub struct SimTestbench {
|
||||
pub sim_controller: SimController,
|
||||
pub reply_receiver: mpsc::Receiver<SimReply>,
|
||||
pub request_sender: mpsc::Sender<SimRequest>,
|
||||
}
|
||||
|
||||
impl SimTestbench {
|
||||
pub fn new() -> Self {
|
||||
let (request_sender, request_receiver) = mpsc::channel();
|
||||
let (reply_sender, reply_receiver) = mpsc::channel();
|
||||
let t0 = MonotonicTime::EPOCH;
|
||||
let sim_ctrl =
|
||||
create_sim_controller(ThreadingModel::Single, t0, reply_sender, request_receiver);
|
||||
|
||||
Self {
|
||||
sim_controller: sim_ctrl,
|
||||
reply_receiver,
|
||||
request_sender,
|
||||
}
|
||||
}
|
||||
|
||||
delegate! {
|
||||
to self.sim_controller {
|
||||
pub fn handle_sim_requests(&mut self);
|
||||
}
|
||||
to self.sim_controller.simulation {
|
||||
pub fn step(&mut self);
|
||||
pub fn step_by(&mut self, duration: Duration);
|
||||
}
|
||||
}
|
||||
|
||||
pub fn send_request(&self, request: SimRequest) -> Result<(), mpsc::SendError<SimRequest>> {
|
||||
self.request_sender.send(request)
|
||||
}
|
||||
|
||||
pub fn try_receive_next_reply(&self) -> Option<SimReply> {
|
||||
match self.reply_receiver.try_recv() {
|
||||
Ok(reply) => Some(reply),
|
||||
Err(e) => {
|
||||
if e == mpsc::TryRecvError::Empty {
|
||||
None
|
||||
} else {
|
||||
panic!("reply_receiver disconnected");
|
||||
}
|
||||
}
|
||||
}
|
||||
}
|
||||
}
|
||||
5
satrs-minisim/src/time.rs
Normal file
5
satrs-minisim/src/time.rs
Normal file
@ -0,0 +1,5 @@
|
||||
use asynchronix::time::MonotonicTime;
|
||||
|
||||
pub fn current_millis(time: MonotonicTime) -> u64 {
|
||||
(time.as_secs() as u64 * 1000) + (time.subsec_nanos() as u64 / 1_000_000)
|
||||
}
|
||||
390
satrs-minisim/src/udp.rs
Normal file
390
satrs-minisim/src/udp.rs
Normal file
@ -0,0 +1,390 @@
|
||||
use std::{
|
||||
collections::VecDeque,
|
||||
io::ErrorKind,
|
||||
net::{SocketAddr, UdpSocket},
|
||||
sync::{atomic::AtomicBool, mpsc, Arc},
|
||||
time::Duration,
|
||||
};
|
||||
|
||||
use satrs_minisim::{SimMessageProvider, SimReply, SimRequest};
|
||||
|
||||
// A UDP server which handles all TC received by a client application.
|
||||
pub struct SimUdpServer {
|
||||
socket: UdpSocket,
|
||||
request_sender: mpsc::Sender<SimRequest>,
|
||||
// shared_last_sender: SharedSocketAddr,
|
||||
reply_receiver: mpsc::Receiver<SimReply>,
|
||||
reply_queue: VecDeque<SimReply>,
|
||||
max_num_replies: usize,
|
||||
// Stop signal to stop the server. Required for unittests and useful to allow clean shutdown
|
||||
// of the application.
|
||||
stop_signal: Option<Arc<AtomicBool>>,
|
||||
idle_sleep_period_ms: u64,
|
||||
req_buf: [u8; 4096],
|
||||
sender_addr: Option<SocketAddr>,
|
||||
}
|
||||
|
||||
impl SimUdpServer {
|
||||
pub fn new(
|
||||
local_port: u16,
|
||||
request_sender: mpsc::Sender<SimRequest>,
|
||||
reply_receiver: mpsc::Receiver<SimReply>,
|
||||
max_num_replies: usize,
|
||||
stop_signal: Option<Arc<AtomicBool>>,
|
||||
) -> std::io::Result<Self> {
|
||||
let socket = UdpSocket::bind(SocketAddr::from(([0, 0, 0, 0], local_port)))?;
|
||||
socket.set_nonblocking(true)?;
|
||||
Ok(Self {
|
||||
socket,
|
||||
request_sender,
|
||||
reply_receiver,
|
||||
reply_queue: VecDeque::new(),
|
||||
max_num_replies,
|
||||
stop_signal,
|
||||
idle_sleep_period_ms: 3,
|
||||
req_buf: [0; 4096],
|
||||
sender_addr: None,
|
||||
})
|
||||
}
|
||||
|
||||
#[allow(dead_code)]
|
||||
pub fn server_addr(&self) -> std::io::Result<SocketAddr> {
|
||||
self.socket.local_addr()
|
||||
}
|
||||
|
||||
pub fn run(&mut self) {
|
||||
loop {
|
||||
if let Some(stop_signal) = &self.stop_signal {
|
||||
if stop_signal.load(std::sync::atomic::Ordering::Relaxed) {
|
||||
break;
|
||||
}
|
||||
}
|
||||
let processed_requests = self.process_requests();
|
||||
let processed_replies = self.process_replies();
|
||||
let sent_replies = self.send_replies();
|
||||
// Sleep for a bit if there is nothing to do to prevent burning CPU cycles. Delay
|
||||
// should be kept short to ensure responsiveness of the system.
|
||||
if !processed_requests && !processed_replies && !sent_replies {
|
||||
std::thread::sleep(Duration::from_millis(self.idle_sleep_period_ms));
|
||||
}
|
||||
}
|
||||
}
|
||||
|
||||
fn process_requests(&mut self) -> bool {
|
||||
let mut processed_requests = false;
|
||||
loop {
|
||||
// Blocks for a certain amount of time until data is received to allow doing periodic
|
||||
// work like checking the stop signal.
|
||||
let (bytes_read, src) = match self.socket.recv_from(&mut self.req_buf) {
|
||||
Ok((bytes_read, src)) => (bytes_read, src),
|
||||
Err(e) if e.kind() == ErrorKind::WouldBlock => {
|
||||
// Continue to perform regular checks like the stop signal.
|
||||
break;
|
||||
}
|
||||
Err(e) => {
|
||||
// Handle unexpected errors (e.g., socket closed) here.
|
||||
log::error!("unexpected request server error: {e}");
|
||||
break;
|
||||
}
|
||||
};
|
||||
|
||||
self.sender_addr = Some(src);
|
||||
|
||||
let sim_req = SimRequest::from_raw_data(&self.req_buf[..bytes_read]);
|
||||
if sim_req.is_err() {
|
||||
log::warn!(
|
||||
"received UDP request with invalid format: {}",
|
||||
sim_req.unwrap_err()
|
||||
);
|
||||
return processed_requests;
|
||||
}
|
||||
self.request_sender.send(sim_req.unwrap()).unwrap();
|
||||
processed_requests = true;
|
||||
}
|
||||
processed_requests
|
||||
}
|
||||
|
||||
fn process_replies(&mut self) -> bool {
|
||||
let mut processed_replies = false;
|
||||
loop {
|
||||
match self.reply_receiver.try_recv() {
|
||||
Ok(reply) => {
|
||||
if self.reply_queue.len() >= self.max_num_replies {
|
||||
self.reply_queue.pop_front();
|
||||
}
|
||||
self.reply_queue.push_back(reply);
|
||||
processed_replies = true;
|
||||
}
|
||||
Err(e) => match e {
|
||||
mpsc::TryRecvError::Empty => return processed_replies,
|
||||
mpsc::TryRecvError::Disconnected => {
|
||||
log::error!("all UDP reply senders disconnected")
|
||||
}
|
||||
},
|
||||
}
|
||||
}
|
||||
}
|
||||
|
||||
fn send_replies(&mut self) -> bool {
|
||||
if self.sender_addr.is_none() {
|
||||
return false;
|
||||
}
|
||||
let mut sent_replies = false;
|
||||
while !self.reply_queue.is_empty() {
|
||||
let next_reply_to_send = self.reply_queue.pop_front().unwrap();
|
||||
self.socket
|
||||
.send_to(
|
||||
serde_json::to_string(&next_reply_to_send)
|
||||
.unwrap()
|
||||
.as_bytes(),
|
||||
self.sender_addr.unwrap(),
|
||||
)
|
||||
.expect("sending reply failed");
|
||||
sent_replies = true;
|
||||
}
|
||||
sent_replies
|
||||
}
|
||||
}
|
||||
|
||||
#[cfg(test)]
|
||||
mod tests {
|
||||
use std::{
|
||||
io::ErrorKind,
|
||||
sync::{
|
||||
atomic::{AtomicBool, Ordering},
|
||||
mpsc, Arc,
|
||||
},
|
||||
time::Duration,
|
||||
};
|
||||
|
||||
use satrs_minisim::{
|
||||
eps::{PcduReply, PcduRequest},
|
||||
udp::{ReceptionError, SimUdpClient},
|
||||
SimCtrlReply, SimCtrlRequest, SimReply, SimRequest,
|
||||
};
|
||||
|
||||
use crate::eps::tests::get_all_off_switch_map;
|
||||
use delegate::delegate;
|
||||
|
||||
use super::SimUdpServer;
|
||||
|
||||
// Wait time to ensure even possibly laggy systems like CI servers can run the tests.
|
||||
const SERVER_WAIT_TIME_MS: u64 = 50;
|
||||
|
||||
struct UdpTestbench {
|
||||
client: SimUdpClient,
|
||||
stop_signal: Arc<AtomicBool>,
|
||||
request_receiver: mpsc::Receiver<SimRequest>,
|
||||
reply_sender: mpsc::Sender<SimReply>,
|
||||
}
|
||||
|
||||
impl UdpTestbench {
|
||||
pub fn new(
|
||||
client_non_blocking: bool,
|
||||
client_read_timeout_ms: Option<u64>,
|
||||
max_num_replies: usize,
|
||||
) -> std::io::Result<(Self, SimUdpServer)> {
|
||||
let (request_sender, request_receiver) = mpsc::channel();
|
||||
let (reply_sender, reply_receiver) = mpsc::channel();
|
||||
let stop_signal = Arc::new(AtomicBool::new(false));
|
||||
let server = SimUdpServer::new(
|
||||
0,
|
||||
request_sender,
|
||||
reply_receiver,
|
||||
max_num_replies,
|
||||
Some(stop_signal.clone()),
|
||||
)?;
|
||||
let server_addr = server.server_addr()?;
|
||||
Ok((
|
||||
Self {
|
||||
client: SimUdpClient::new(
|
||||
&server_addr,
|
||||
client_non_blocking,
|
||||
client_read_timeout_ms,
|
||||
)?,
|
||||
stop_signal,
|
||||
request_receiver,
|
||||
reply_sender,
|
||||
},
|
||||
server,
|
||||
))
|
||||
}
|
||||
|
||||
pub fn try_recv_request(&self) -> Result<SimRequest, mpsc::TryRecvError> {
|
||||
self.request_receiver.try_recv()
|
||||
}
|
||||
|
||||
pub fn stop(&self) {
|
||||
self.stop_signal.store(true, Ordering::Relaxed);
|
||||
}
|
||||
|
||||
pub fn send_reply(&self, sim_reply: &SimReply) {
|
||||
self.reply_sender
|
||||
.send(sim_reply.clone())
|
||||
.expect("sending sim reply failed");
|
||||
}
|
||||
|
||||
delegate! {
|
||||
to self.client {
|
||||
pub fn send_request(&self, sim_request: &SimRequest) -> std::io::Result<usize>;
|
||||
pub fn recv_sim_reply(&mut self) -> Result<SimReply, ReceptionError>;
|
||||
}
|
||||
}
|
||||
|
||||
pub fn check_no_sim_reply_available(&mut self) {
|
||||
if let Err(ReceptionError::Io(ref io_error)) = self.recv_sim_reply() {
|
||||
if io_error.kind() == ErrorKind::WouldBlock {
|
||||
// Continue to perform regular checks like the stop signal.
|
||||
return;
|
||||
} else {
|
||||
// Handle unexpected errors (e.g., socket closed) here.
|
||||
panic!("unexpected request server error: {io_error}");
|
||||
}
|
||||
}
|
||||
panic!("unexpected reply available");
|
||||
}
|
||||
|
||||
pub fn check_next_sim_reply(&mut self, expected_reply: &SimReply) {
|
||||
match self.recv_sim_reply() {
|
||||
Ok(received_sim_reply) => assert_eq!(expected_reply, &received_sim_reply),
|
||||
Err(e) => match e {
|
||||
ReceptionError::Io(ref io_error) => {
|
||||
if io_error.kind() == ErrorKind::WouldBlock {
|
||||
// Continue to perform regular checks like the stop signal.
|
||||
panic!("no simulation reply received");
|
||||
} else {
|
||||
// Handle unexpected errors (e.g., socket closed) here.
|
||||
panic!("unexpected request server error: {e}");
|
||||
}
|
||||
}
|
||||
ReceptionError::SerdeJson(json_error) => {
|
||||
panic!("unexpected JSON error: {json_error}");
|
||||
}
|
||||
},
|
||||
}
|
||||
}
|
||||
}
|
||||
#[test]
|
||||
fn test_basic_udp_request_reception() {
|
||||
let (udp_testbench, mut udp_server) =
|
||||
UdpTestbench::new(true, Some(SERVER_WAIT_TIME_MS), 10)
|
||||
.expect("could not create testbench");
|
||||
let server_thread = std::thread::spawn(move || udp_server.run());
|
||||
let sim_request = SimRequest::new(PcduRequest::RequestSwitchInfo);
|
||||
udp_testbench
|
||||
.send_request(&sim_request)
|
||||
.expect("sending request failed");
|
||||
std::thread::sleep(Duration::from_millis(SERVER_WAIT_TIME_MS));
|
||||
// Check that the sim request has arrives and was forwarded.
|
||||
let received_sim_request = udp_testbench
|
||||
.try_recv_request()
|
||||
.expect("did not receive request");
|
||||
assert_eq!(sim_request, received_sim_request);
|
||||
// Stop the server.
|
||||
udp_testbench.stop();
|
||||
server_thread.join().unwrap();
|
||||
}
|
||||
|
||||
#[test]
|
||||
fn test_udp_reply_server() {
|
||||
let (mut udp_testbench, mut udp_server) =
|
||||
UdpTestbench::new(false, Some(SERVER_WAIT_TIME_MS), 10)
|
||||
.expect("could not create testbench");
|
||||
let server_thread = std::thread::spawn(move || udp_server.run());
|
||||
udp_testbench
|
||||
.send_request(&SimRequest::new(SimCtrlRequest::Ping))
|
||||
.expect("sending request failed");
|
||||
|
||||
let sim_reply = SimReply::new(PcduReply::SwitchInfo(get_all_off_switch_map()));
|
||||
udp_testbench.send_reply(&sim_reply);
|
||||
|
||||
udp_testbench.check_next_sim_reply(&sim_reply);
|
||||
|
||||
// Stop the server.
|
||||
udp_testbench.stop();
|
||||
server_thread.join().unwrap();
|
||||
}
|
||||
|
||||
#[test]
|
||||
fn test_udp_req_server_and_reply_sender() {
|
||||
let (mut udp_testbench, mut udp_server) =
|
||||
UdpTestbench::new(false, Some(SERVER_WAIT_TIME_MS), 10)
|
||||
.expect("could not create testbench");
|
||||
|
||||
let server_thread = std::thread::spawn(move || udp_server.run());
|
||||
|
||||
// Send a ping so that the server knows the address of the client.
|
||||
// Do not check that the request arrives on the receiver side, is done by other test.
|
||||
udp_testbench
|
||||
.send_request(&SimRequest::new(SimCtrlRequest::Ping))
|
||||
.expect("sending request failed");
|
||||
|
||||
// Send a reply to the server, ensure it gets forwarded to the client.
|
||||
let sim_reply = SimReply::new(PcduReply::SwitchInfo(get_all_off_switch_map()));
|
||||
udp_testbench.send_reply(&sim_reply);
|
||||
std::thread::sleep(Duration::from_millis(SERVER_WAIT_TIME_MS));
|
||||
|
||||
// Now we check that the reply server can send back replies to the client.
|
||||
udp_testbench.check_next_sim_reply(&sim_reply);
|
||||
|
||||
udp_testbench.stop();
|
||||
server_thread.join().unwrap();
|
||||
}
|
||||
|
||||
#[test]
|
||||
fn test_udp_replies_client_unconnected() {
|
||||
let (mut udp_testbench, mut udp_server) =
|
||||
UdpTestbench::new(true, None, 10).expect("could not create testbench");
|
||||
|
||||
let server_thread = std::thread::spawn(move || udp_server.run());
|
||||
|
||||
// Send a reply to the server. The client is not connected, so it won't get forwarded.
|
||||
let sim_reply = SimReply::new(PcduReply::SwitchInfo(get_all_off_switch_map()));
|
||||
udp_testbench.send_reply(&sim_reply);
|
||||
std::thread::sleep(Duration::from_millis(10));
|
||||
|
||||
udp_testbench.check_no_sim_reply_available();
|
||||
|
||||
// Connect by sending a ping.
|
||||
udp_testbench
|
||||
.send_request(&SimRequest::new(SimCtrlRequest::Ping))
|
||||
.expect("sending request failed");
|
||||
std::thread::sleep(Duration::from_millis(SERVER_WAIT_TIME_MS));
|
||||
|
||||
udp_testbench.check_next_sim_reply(&sim_reply);
|
||||
|
||||
// Now we check that the reply server can sent back replies to the client.
|
||||
udp_testbench.stop();
|
||||
server_thread.join().unwrap();
|
||||
}
|
||||
|
||||
#[test]
|
||||
fn test_udp_reply_server_old_replies_overwritten() {
|
||||
let (mut udp_testbench, mut udp_server) =
|
||||
UdpTestbench::new(true, None, 3).expect("could not create testbench");
|
||||
|
||||
let server_thread = std::thread::spawn(move || udp_server.run());
|
||||
|
||||
// The server only caches up to 3 replies.
|
||||
let sim_reply = SimReply::new(SimCtrlReply::Pong);
|
||||
for _ in 0..4 {
|
||||
udp_testbench.send_reply(&sim_reply);
|
||||
}
|
||||
std::thread::sleep(Duration::from_millis(20));
|
||||
|
||||
udp_testbench.check_no_sim_reply_available();
|
||||
|
||||
// Connect by sending a ping.
|
||||
udp_testbench
|
||||
.send_request(&SimRequest::new(SimCtrlRequest::Ping))
|
||||
.expect("sending request failed");
|
||||
std::thread::sleep(Duration::from_millis(SERVER_WAIT_TIME_MS));
|
||||
|
||||
for _ in 0..3 {
|
||||
udp_testbench.check_next_sim_reply(&sim_reply);
|
||||
}
|
||||
udp_testbench.check_no_sim_reply_available();
|
||||
udp_testbench.stop();
|
||||
server_thread.join().unwrap();
|
||||
}
|
||||
}
|
||||
@ -8,6 +8,10 @@ and this project adheres to [Semantic Versioning](http://semver.org/).
|
||||
|
||||
# [unreleased]
|
||||
|
||||
# [v0.1.2] 2024-02-17
|
||||
|
||||
- Bumped `spacepackets` to v0.10.0 for `UnsignedEnum` trait change.
|
||||
|
||||
# [v0.1.1] 2024-02-12
|
||||
|
||||
- Added missing `#![no_std]` attribute for library
|
||||
|
||||
@ -1,7 +1,7 @@
|
||||
[package]
|
||||
name = "satrs-shared"
|
||||
description = "Components shared by multiple sat-rs crates"
|
||||
version = "0.1.1"
|
||||
version = "0.1.2"
|
||||
edition = "2021"
|
||||
authors = ["Robin Mueller <muellerr@irs.uni-stuttgart.de>"]
|
||||
homepage = "https://absatsw.irs.uni-stuttgart.de/projects/sat-rs/"
|
||||
@ -18,7 +18,9 @@ default-features = false
|
||||
optional = true
|
||||
|
||||
[dependencies.spacepackets]
|
||||
version = "0.9"
|
||||
git = "https://egit.irs.uni-stuttgart.de/rust/spacepackets.git"
|
||||
version = "0.11.0-rc.0"
|
||||
branch = "main"
|
||||
default-features = false
|
||||
|
||||
[features]
|
||||
|
||||
@ -52,6 +52,10 @@ impl UnsignedEnum for ResultU16 {
|
||||
buf[1] = self.unique_id;
|
||||
Ok(self.size())
|
||||
}
|
||||
|
||||
fn value(&self) -> u64 {
|
||||
self.raw() as u64
|
||||
}
|
||||
}
|
||||
|
||||
impl EcssEnumeration for ResultU16 {
|
||||
|
||||
@ -8,6 +8,41 @@ and this project adheres to [Semantic Versioning](http://semver.org/).
|
||||
|
||||
# [unreleased]
|
||||
|
||||
## Changed
|
||||
|
||||
- Refactored `EventManager` to heavily use generics instead of trait objects.
|
||||
- `SendEventProvider` -> `EventSendProvider`. `id` trait method renamed to `channel_id`.
|
||||
- `ListenerTable` -> `ListenerMapProvider`
|
||||
- `SenderTable` -> `SenderMapProvider`
|
||||
- There is an `EventManagerWithMpsc` and a `EventManagerWithBoundedMpsc` helper type now.
|
||||
- Refactored ECSS TM sender abstractions to be generic over different message queue backends.
|
||||
- Refactored Verification Reporter abstractions and implementation to be generic over the sender
|
||||
instead of using trait objects.
|
||||
- `PusServiceProvider` renamed to `PusServiceDistributor` to make the purpose of the object
|
||||
more clear
|
||||
- `PusServiceProvider::handle_pus_tc_packet` renamed to `PusServiceDistributor::distribute_packet`.
|
||||
- `PusServiceDistibutor` and `CcsdsDistributor` now use generics instead of trait objects.
|
||||
This makes accessing the concrete trait implementations more easy as well.
|
||||
|
||||
## Fixed
|
||||
|
||||
- Update deprecated API for `PusScheduler::insert_wrapped_tc_cds_short`
|
||||
and `PusScheduler::insert_wrapped_tc_cds_long`.
|
||||
|
||||
# [v0.2.0-rc.0] 2024-02-21
|
||||
|
||||
## Added
|
||||
|
||||
- New PUS service abstractions for HK (PUS 3) and actions (PUS 8). Introducing new abstractions
|
||||
allows to move some boilerplate code into the framework.
|
||||
- New `VerificationReportingProvider` abstraction to avoid relying on a concrete verification
|
||||
reporting provider.
|
||||
|
||||
## Changed
|
||||
|
||||
- Verification reporter API timestamp arguments are not `Option`al anymore. Empty timestamps
|
||||
can be passed by simply specifying the `&[]` empty slice argument.
|
||||
|
||||
# [v0.1.1] 2024-02-12
|
||||
|
||||
- Minor fixes for crate config `homepage` entries and links in documentation.
|
||||
|
||||
@ -1,6 +1,6 @@
|
||||
[package]
|
||||
name = "satrs"
|
||||
version = "0.1.1"
|
||||
version = "0.2.0-rc.0"
|
||||
edition = "2021"
|
||||
rust-version = "1.61"
|
||||
authors = ["Robin Mueller <muellerr@irs.uni-stuttgart.de>"]
|
||||
@ -17,7 +17,10 @@ delegate = ">0.7, <=0.10"
|
||||
paste = "1"
|
||||
smallvec = "1"
|
||||
crc = "3"
|
||||
satrs-shared = "0.1.1"
|
||||
|
||||
[dependencies.satrs-shared]
|
||||
version = "0.1.2"
|
||||
path = "../satrs-shared"
|
||||
|
||||
[dependencies.num_enum]
|
||||
version = ">0.5, <=0.7"
|
||||
@ -68,7 +71,9 @@ features = ["all"]
|
||||
optional = true
|
||||
|
||||
[dependencies.spacepackets]
|
||||
version = "0.9"
|
||||
git = "https://egit.irs.uni-stuttgart.de/rust/spacepackets.git"
|
||||
version = "0.11.0-rc.0"
|
||||
branch = "main"
|
||||
default-features = false
|
||||
|
||||
[dependencies.cobs]
|
||||
|
||||
63
satrs/src/action.rs
Normal file
63
satrs/src/action.rs
Normal file
@ -0,0 +1,63 @@
|
||||
use crate::{pool::StoreAddr, TargetId};
|
||||
|
||||
pub type ActionId = u32;
|
||||
|
||||
#[non_exhaustive]
|
||||
#[derive(Clone, Eq, PartialEq, Debug)]
|
||||
pub enum ActionRequest {
|
||||
UnsignedIdAndStoreData {
|
||||
action_id: ActionId,
|
||||
data_addr: StoreAddr,
|
||||
},
|
||||
#[cfg(feature = "alloc")]
|
||||
UnsignedIdAndVecData {
|
||||
action_id: ActionId,
|
||||
data: alloc::vec::Vec<u8>,
|
||||
},
|
||||
#[cfg(feature = "alloc")]
|
||||
StringIdAndVecData {
|
||||
action_id: alloc::string::String,
|
||||
data: alloc::vec::Vec<u8>,
|
||||
},
|
||||
#[cfg(feature = "alloc")]
|
||||
StringIdAndStoreData {
|
||||
action_id: alloc::string::String,
|
||||
data: StoreAddr,
|
||||
},
|
||||
}
|
||||
|
||||
#[derive(Debug, Clone, PartialEq, Eq)]
|
||||
pub struct TargetedActionRequest {
|
||||
target: TargetId,
|
||||
action_request: ActionRequest,
|
||||
}
|
||||
|
||||
impl TargetedActionRequest {
|
||||
pub fn new(target: TargetId, action_request: ActionRequest) -> Self {
|
||||
Self {
|
||||
target,
|
||||
action_request,
|
||||
}
|
||||
}
|
||||
}
|
||||
|
||||
/// A reply to an action request.
|
||||
#[non_exhaustive]
|
||||
#[derive(Clone, Eq, PartialEq, Debug)]
|
||||
pub enum ActionReply {
|
||||
CompletionFailed(ActionId),
|
||||
StepFailed {
|
||||
id: ActionId,
|
||||
step: u32,
|
||||
},
|
||||
Completed(ActionId),
|
||||
#[cfg(feature = "alloc")]
|
||||
CompletedStringId(alloc::string::String),
|
||||
#[cfg(feature = "alloc")]
|
||||
CompletionFailedStringId(alloc::string::String),
|
||||
#[cfg(feature = "alloc")]
|
||||
StepFailedStringId {
|
||||
id: alloc::string::String,
|
||||
step: u32,
|
||||
},
|
||||
}
|
||||
@ -23,7 +23,7 @@ use spacepackets::{
|
||||
tlv::{msg_to_user::MsgToUserTlv, EntityIdTlv, GenericTlv, TlvType},
|
||||
ChecksumType, ConditionCode, FaultHandlerCode, PduType, TransmissionMode,
|
||||
},
|
||||
util::UnsignedByteField,
|
||||
util::{UnsignedByteField, UnsignedEnum},
|
||||
};
|
||||
use thiserror::Error;
|
||||
|
||||
|
||||
@ -7,7 +7,7 @@ use spacepackets::ByteConversionError;
|
||||
use std::error::Error;
|
||||
use std::path::Path;
|
||||
#[cfg(feature = "std")]
|
||||
pub use stdmod::*;
|
||||
pub use std_mod::*;
|
||||
|
||||
pub const CRC_32: Crc<u32> = Crc::<u32>::new(&CRC_32_CKSUM);
|
||||
|
||||
@ -148,12 +148,11 @@ pub trait VirtualFilestore {
|
||||
}
|
||||
|
||||
#[cfg(feature = "std")]
|
||||
pub mod stdmod {
|
||||
pub mod std_mod {
|
||||
use super::*;
|
||||
use std::{
|
||||
fs::{self, File, OpenOptions},
|
||||
io::{BufReader, Read, Seek, SeekFrom, Write},
|
||||
path::Path,
|
||||
};
|
||||
|
||||
#[derive(Default)]
|
||||
|
||||
@ -9,7 +9,7 @@ use spacepackets::{
|
||||
pdu::{FileDirectiveType, PduError, PduHeader},
|
||||
ChecksumType, ConditionCode, FaultHandlerCode, PduType, TransmissionMode,
|
||||
},
|
||||
util::UnsignedByteField,
|
||||
util::{UnsignedByteField, UnsignedEnum},
|
||||
};
|
||||
|
||||
#[cfg(feature = "alloc")]
|
||||
|
||||
@ -10,27 +10,27 @@
|
||||
//! [sat-rs book chapter](https://absatsw.irs.uni-stuttgart.de/projects/sat-rs/book/events.html)
|
||||
//! about events first:
|
||||
//!
|
||||
//! The event manager has a listener table abstracted by the [ListenerTable], which maps
|
||||
//! The event manager has a listener table abstracted by the [ListenerMapProvider], which maps
|
||||
//! listener groups identified by [ListenerKey]s to a [sender ID][ChannelId].
|
||||
//! It also contains a sender table abstracted by the [SenderTable] which maps these sender IDs
|
||||
//! to a concrete [SendEventProvider]s. A simple approach would be to use one send event provider
|
||||
//! It also contains a sender table abstracted by the [SenderMapProvider] which maps these sender
|
||||
//! IDs to concrete [EventSendProvider]s. A simple approach would be to use one send event provider
|
||||
//! for each OBSW thread and then subscribe for all interesting events for a particular thread
|
||||
//! using the send event provider ID.
|
||||
//!
|
||||
//! This can be done with the [EventManager] like this:
|
||||
//!
|
||||
//! 1. Provide a concrete [EventReceiver] implementation. This abstraction allow to use different
|
||||
//! 1. Provide a concrete [EventReceiveProvider] implementation. This abstraction allow to use different
|
||||
//! message queue backends. A straightforward implementation where dynamic memory allocation is
|
||||
//! not a big concern could use [std::sync::mpsc::channel] to do this and is provided in
|
||||
//! form of the [MpscEventReceiver].
|
||||
//! 2. To set up event creators, create channel pairs using some message queue implementation.
|
||||
//! Each event creator gets a (cloned) sender component which allows it to send events to the
|
||||
//! manager.
|
||||
//! 3. The event manager receives the receiver component as part of a [EventReceiver]
|
||||
//! 3. The event manager receives the receiver component as part of a [EventReceiveProvider]
|
||||
//! implementation so all events are routed to the manager.
|
||||
//! 4. Create the [send event providers][SendEventProvider]s which allow routing events to
|
||||
//! subscribers. You can now use their [sender IDs][SendEventProvider::id] to subscribe for
|
||||
//! event groups, for example by using the [EventManager::subscribe_single] method.
|
||||
//! 4. Create the [send event providers][EventSendProvider]s which allow routing events to
|
||||
//! subscribers. You can now use their [sender IDs][EventSendProvider::channel_id] to subscribe
|
||||
//! for event groups, for example by using the [EventManager::subscribe_single] method.
|
||||
//! 5. Add the send provider as well using the [EventManager::add_sender] call so the event
|
||||
//! manager can route listener groups to a the send provider.
|
||||
//!
|
||||
@ -41,24 +41,22 @@
|
||||
//!
|
||||
//! # Examples
|
||||
//!
|
||||
//! You can check [integration test](https://egit.irs.uni-stuttgart.de/rust/sat-rs/src/branch/main/satrs-core/tests/pus_events.rs)
|
||||
//! You can check [integration test](https://egit.irs.uni-stuttgart.de/rust/sat-rs/src/branch/main/satrs/tests/pus_events.rs)
|
||||
//! for a concrete example using multi-threading where events are routed to
|
||||
//! different threads.
|
||||
use crate::events::{EventU16, EventU32, GenericEvent, LargestEventRaw, LargestGroupIdRaw};
|
||||
use crate::params::{Params, ParamsHeapless};
|
||||
#[cfg(feature = "alloc")]
|
||||
use alloc::boxed::Box;
|
||||
#[cfg(feature = "alloc")]
|
||||
use alloc::vec;
|
||||
#[cfg(feature = "alloc")]
|
||||
use alloc::vec::Vec;
|
||||
use crate::queue::GenericSendError;
|
||||
use core::marker::PhantomData;
|
||||
use core::slice::Iter;
|
||||
#[cfg(feature = "alloc")]
|
||||
use hashbrown::HashMap;
|
||||
|
||||
use crate::ChannelId;
|
||||
|
||||
#[cfg(feature = "alloc")]
|
||||
pub use alloc_mod::*;
|
||||
|
||||
#[cfg(feature = "std")]
|
||||
pub use stdmod::*;
|
||||
pub use std_mod::*;
|
||||
|
||||
#[derive(PartialEq, Eq, Hash, Copy, Clone, Debug)]
|
||||
pub enum ListenerKey {
|
||||
@ -75,108 +73,110 @@ pub type EventWithAuxData<Event> = (Event, Option<Params>);
|
||||
pub type EventU32WithAuxData = EventWithAuxData<EventU32>;
|
||||
pub type EventU16WithAuxData = EventWithAuxData<EventU16>;
|
||||
|
||||
pub trait SendEventProvider<Provider: GenericEvent, AuxDataProvider = Params> {
|
||||
type Error;
|
||||
pub trait EventSendProvider<EV: GenericEvent, AuxDataProvider = Params> {
|
||||
fn channel_id(&self) -> ChannelId;
|
||||
|
||||
fn id(&self) -> ChannelId;
|
||||
fn send_no_data(&self, event: Provider) -> Result<(), Self::Error> {
|
||||
fn send_no_data(&self, event: EV) -> Result<(), GenericSendError> {
|
||||
self.send(event, None)
|
||||
}
|
||||
fn send(&self, event: Provider, aux_data: Option<AuxDataProvider>) -> Result<(), Self::Error>;
|
||||
|
||||
fn send(&self, event: EV, aux_data: Option<AuxDataProvider>) -> Result<(), GenericSendError>;
|
||||
}
|
||||
|
||||
/// Generic abstraction for an event receiver.
|
||||
pub trait EventReceiver<Event: GenericEvent, AuxDataProvider = Params> {
|
||||
/// This function has to be provided by any event receiver. A receive call may or may not return
|
||||
/// an event.
|
||||
///
|
||||
/// To allow returning arbitrary additional auxiliary data, a mutable slice is passed to the
|
||||
/// [Self::receive] call as well. Receivers can write data to this slice, but care must be taken
|
||||
/// to avoid panics due to size missmatches or out of bound writes.
|
||||
fn receive(&self) -> Option<(Event, Option<AuxDataProvider>)>;
|
||||
pub trait EventReceiveProvider<Event: GenericEvent, AuxDataProvider = Params> {
|
||||
/// This function has to be provided by any event receiver. A call may or may not return
|
||||
/// an event and optional auxiliary data.
|
||||
fn try_recv_event(&self) -> Option<(Event, Option<AuxDataProvider>)>;
|
||||
}
|
||||
|
||||
pub trait ListenerTable {
|
||||
fn get_listeners(&self) -> Vec<ListenerKey>;
|
||||
pub trait ListenerMapProvider {
|
||||
#[cfg(feature = "alloc")]
|
||||
#[cfg_attr(doc_cfg, doc(cfg(feature = "alloc")))]
|
||||
fn get_listeners(&self) -> alloc::vec::Vec<ListenerKey>;
|
||||
fn contains_listener(&self, key: &ListenerKey) -> bool;
|
||||
fn get_listener_ids(&self, key: &ListenerKey) -> Option<Iter<ChannelId>>;
|
||||
fn add_listener(&mut self, key: ListenerKey, sender_id: ChannelId) -> bool;
|
||||
fn remove_duplicates(&mut self, key: &ListenerKey);
|
||||
}
|
||||
|
||||
pub trait SenderTable<SendProviderError, Event: GenericEvent = EventU32, AuxDataProvider = Params> {
|
||||
pub trait SenderMapProvider<
|
||||
SP: EventSendProvider<EV, AUX>,
|
||||
EV: GenericEvent = EventU32,
|
||||
AUX = Params,
|
||||
>
|
||||
{
|
||||
fn contains_send_event_provider(&self, id: &ChannelId) -> bool;
|
||||
fn get_send_event_provider(
|
||||
&self,
|
||||
id: &ChannelId,
|
||||
) -> Option<&dyn SendEventProvider<Event, AuxDataProvider, Error = SendProviderError>>;
|
||||
fn add_send_event_provider(
|
||||
&mut self,
|
||||
send_provider: Box<
|
||||
dyn SendEventProvider<Event, AuxDataProvider, Error = SendProviderError>,
|
||||
>,
|
||||
) -> bool;
|
||||
|
||||
fn get_send_event_provider(&self, id: &ChannelId) -> Option<&SP>;
|
||||
fn add_send_event_provider(&mut self, send_provider: SP) -> bool;
|
||||
}
|
||||
|
||||
/// Generic event manager implementation.
|
||||
///
|
||||
/// # Generics
|
||||
///
|
||||
/// * `SendProviderError`: [SendEventProvider] error type
|
||||
/// * `Event`: Concrete event provider, currently either [EventU32] or [EventU16]
|
||||
/// * `AuxDataProvider`: Concrete auxiliary data provider, currently either [Params] or
|
||||
/// [ParamsHeapless]
|
||||
pub struct EventManager<SendProviderError, Event: GenericEvent = EventU32, AuxDataProvider = Params>
|
||||
{
|
||||
listener_table: Box<dyn ListenerTable>,
|
||||
sender_table: Box<dyn SenderTable<SendProviderError, Event, AuxDataProvider>>,
|
||||
event_receiver: Box<dyn EventReceiver<Event, AuxDataProvider>>,
|
||||
/// * `ERP`: [EventReceiveProvider] used to receive all events.
|
||||
/// * `SMP`: [SenderMapProvider] which maps channel IDs to send providers.
|
||||
/// * `LTR`: [ListenerMapProvider] which maps listener keys to channel IDs.
|
||||
/// * `SP`: [EventSendProvider] contained within the sender map which sends the events.
|
||||
/// * `EV`: The event type. This type must implement the [GenericEvent]. Currently only [EventU32]
|
||||
/// and [EventU16] are supported.
|
||||
/// * `AUX`: Auxiliary data which is sent with the event to provide optional context information
|
||||
pub struct EventManager<
|
||||
ERP: EventReceiveProvider<EV, AUX>,
|
||||
SMP: SenderMapProvider<SP, EV, AUX>,
|
||||
LTR: ListenerMapProvider,
|
||||
SP: EventSendProvider<EV, AUX>,
|
||||
EV: GenericEvent = EventU32,
|
||||
AUX = Params,
|
||||
> {
|
||||
event_receiver: ERP,
|
||||
sender_map: SMP,
|
||||
listener_map: LTR,
|
||||
phantom: core::marker::PhantomData<(SP, EV, AUX)>,
|
||||
}
|
||||
|
||||
/// Safety: It is safe to implement [Send] because all fields in the [EventManager] are [Send]
|
||||
/// as well
|
||||
#[cfg(feature = "std")]
|
||||
unsafe impl<E, Event: GenericEvent + Send, AuxDataProvider: Send> Send
|
||||
for EventManager<E, Event, AuxDataProvider>
|
||||
{
|
||||
}
|
||||
|
||||
#[cfg(feature = "std")]
|
||||
pub type EventManagerWithMpscQueue<Event, AuxDataProvider> = EventManager<
|
||||
std::sync::mpsc::SendError<(Event, Option<AuxDataProvider>)>,
|
||||
Event,
|
||||
AuxDataProvider,
|
||||
>;
|
||||
|
||||
#[derive(Debug)]
|
||||
pub enum EventRoutingResult<Event: GenericEvent, AuxDataProvider> {
|
||||
pub enum EventRoutingResult<EV: GenericEvent, AUX> {
|
||||
/// No event was received
|
||||
Empty,
|
||||
/// An event was received and routed.
|
||||
/// The first tuple entry will contain the number of recipients.
|
||||
Handled(u32, Event, Option<AuxDataProvider>),
|
||||
/// An event was received and routed to listeners.
|
||||
Handled {
|
||||
num_recipients: u32,
|
||||
event: EV,
|
||||
aux_data: Option<AUX>,
|
||||
},
|
||||
}
|
||||
|
||||
#[derive(Debug)]
|
||||
pub enum EventRoutingError<E> {
|
||||
SendError(E),
|
||||
pub enum EventRoutingError {
|
||||
Send(GenericSendError),
|
||||
NoSendersForKey(ListenerKey),
|
||||
NoSenderForId(ChannelId),
|
||||
}
|
||||
|
||||
#[derive(Debug)]
|
||||
pub struct EventRoutingErrorsWithResult<Event: GenericEvent, AuxDataProvider, E> {
|
||||
pub result: EventRoutingResult<Event, AuxDataProvider>,
|
||||
pub errors: [Option<EventRoutingError<E>>; 3],
|
||||
pub struct EventRoutingErrorsWithResult<EV: GenericEvent, AUX> {
|
||||
pub result: EventRoutingResult<EV, AUX>,
|
||||
pub errors: [Option<EventRoutingError>; 3],
|
||||
}
|
||||
|
||||
impl<E, Event: GenericEvent + Copy> EventManager<E, Event> {
|
||||
impl<
|
||||
ER: EventReceiveProvider<EV, AUX>,
|
||||
S: SenderMapProvider<SP, EV, AUX>,
|
||||
L: ListenerMapProvider,
|
||||
SP: EventSendProvider<EV, AUX>,
|
||||
EV: GenericEvent + Copy,
|
||||
AUX: Clone,
|
||||
> EventManager<ER, S, L, SP, EV, AUX>
|
||||
{
|
||||
pub fn remove_duplicates(&mut self, key: &ListenerKey) {
|
||||
self.listener_table.remove_duplicates(key)
|
||||
self.listener_map.remove_duplicates(key)
|
||||
}
|
||||
|
||||
/// Subscribe for a unique event.
|
||||
pub fn subscribe_single(&mut self, event: &Event, sender_id: ChannelId) {
|
||||
pub fn subscribe_single(&mut self, event: &EV, sender_id: ChannelId) {
|
||||
self.update_listeners(ListenerKey::Single(event.raw_as_largest_type()), sender_id);
|
||||
}
|
||||
|
||||
@ -194,49 +194,37 @@ impl<E, Event: GenericEvent + Copy> EventManager<E, Event> {
|
||||
}
|
||||
}
|
||||
|
||||
impl<E: 'static, Event: GenericEvent + Copy + 'static, AuxDataProvider: Clone + 'static>
|
||||
EventManager<E, Event, AuxDataProvider>
|
||||
impl<
|
||||
ERP: EventReceiveProvider<EV, AUX>,
|
||||
SMP: SenderMapProvider<SP, EV, AUX>,
|
||||
LTR: ListenerMapProvider,
|
||||
SP: EventSendProvider<EV, AUX>,
|
||||
EV: GenericEvent + Copy,
|
||||
AUX: Clone,
|
||||
> EventManager<ERP, SMP, LTR, SP, EV, AUX>
|
||||
{
|
||||
/// Create an event manager where the sender table will be the [DefaultSenderTableProvider]
|
||||
/// and the listener table will be the [DefaultListenerTableProvider].
|
||||
pub fn new(event_receiver: Box<dyn EventReceiver<Event, AuxDataProvider>>) -> Self {
|
||||
let listener_table: Box<DefaultListenerTableProvider> = Box::default();
|
||||
let sender_table: Box<DefaultSenderTableProvider<E, Event, AuxDataProvider>> =
|
||||
Box::default();
|
||||
Self::new_custom_tables(listener_table, sender_table, event_receiver)
|
||||
}
|
||||
}
|
||||
|
||||
impl<E, Event: GenericEvent + Copy, AuxDataProvider: Clone>
|
||||
EventManager<E, Event, AuxDataProvider>
|
||||
{
|
||||
pub fn new_custom_tables(
|
||||
listener_table: Box<dyn ListenerTable>,
|
||||
sender_table: Box<dyn SenderTable<E, Event, AuxDataProvider>>,
|
||||
event_receiver: Box<dyn EventReceiver<Event, AuxDataProvider>>,
|
||||
) -> Self {
|
||||
pub fn new_with_custom_maps(event_receiver: ERP, sender_map: SMP, listener_map: LTR) -> Self {
|
||||
EventManager {
|
||||
listener_table,
|
||||
sender_table,
|
||||
listener_map,
|
||||
sender_map,
|
||||
event_receiver,
|
||||
phantom: PhantomData,
|
||||
}
|
||||
}
|
||||
|
||||
pub fn add_sender(
|
||||
&mut self,
|
||||
send_provider: impl SendEventProvider<Event, AuxDataProvider, Error = E> + 'static,
|
||||
) {
|
||||
/// Add a new sender component which can be used to send events to subscribers.
|
||||
pub fn add_sender(&mut self, send_provider: SP) {
|
||||
if !self
|
||||
.sender_table
|
||||
.contains_send_event_provider(&send_provider.id())
|
||||
.sender_map
|
||||
.contains_send_event_provider(&send_provider.channel_id())
|
||||
{
|
||||
self.sender_table
|
||||
.add_send_event_provider(Box::new(send_provider));
|
||||
self.sender_map.add_send_event_provider(send_provider);
|
||||
}
|
||||
}
|
||||
|
||||
/// Generic function to update the event subscribers.
|
||||
fn update_listeners(&mut self, key: ListenerKey, sender_id: ChannelId) {
|
||||
self.listener_table.add_listener(key, sender_id);
|
||||
self.listener_map.add_listener(key, sender_id);
|
||||
}
|
||||
|
||||
/// This function will use the cached event receiver and try to receive one event.
|
||||
@ -248,27 +236,23 @@ impl<E, Event: GenericEvent + Copy, AuxDataProvider: Clone>
|
||||
/// [EventRoutingErrorsWithResult] error struct.
|
||||
pub fn try_event_handling(
|
||||
&self,
|
||||
) -> Result<
|
||||
EventRoutingResult<Event, AuxDataProvider>,
|
||||
EventRoutingErrorsWithResult<Event, AuxDataProvider, E>,
|
||||
> {
|
||||
) -> Result<EventRoutingResult<EV, AUX>, EventRoutingErrorsWithResult<EV, AUX>> {
|
||||
let mut err_idx = 0;
|
||||
let mut err_slice = [None, None, None];
|
||||
let mut num_recipients = 0;
|
||||
let mut add_error = |error: EventRoutingError<E>| {
|
||||
let mut add_error = |error: EventRoutingError| {
|
||||
if err_idx < 3 {
|
||||
err_slice[err_idx] = Some(error);
|
||||
err_idx += 1;
|
||||
}
|
||||
};
|
||||
let mut send_handler =
|
||||
|key: &ListenerKey, event: Event, aux_data: &Option<AuxDataProvider>| {
|
||||
if self.listener_table.contains_listener(key) {
|
||||
if let Some(ids) = self.listener_table.get_listener_ids(key) {
|
||||
let mut send_handler = |key: &ListenerKey, event: EV, aux_data: &Option<AUX>| {
|
||||
if self.listener_map.contains_listener(key) {
|
||||
if let Some(ids) = self.listener_map.get_listener_ids(key) {
|
||||
for id in ids {
|
||||
if let Some(sender) = self.sender_table.get_send_event_provider(id) {
|
||||
if let Some(sender) = self.sender_map.get_send_event_provider(id) {
|
||||
if let Err(e) = sender.send(event, aux_data.clone()) {
|
||||
add_error(EventRoutingError::SendError(e));
|
||||
add_error(EventRoutingError::Send(e));
|
||||
} else {
|
||||
num_recipients += 1;
|
||||
}
|
||||
@ -281,7 +265,7 @@ impl<E, Event: GenericEvent + Copy, AuxDataProvider: Clone>
|
||||
}
|
||||
}
|
||||
};
|
||||
if let Some((event, aux_data)) = self.event_receiver.receive() {
|
||||
if let Some((event, aux_data)) = self.event_receiver.try_recv_event() {
|
||||
let single_key = ListenerKey::Single(event.raw_as_largest_type());
|
||||
send_handler(&single_key, event, &aux_data);
|
||||
let group_key = ListenerKey::Group(event.group_id_as_largest_type());
|
||||
@ -289,43 +273,79 @@ impl<E, Event: GenericEvent + Copy, AuxDataProvider: Clone>
|
||||
send_handler(&ListenerKey::All, event, &aux_data);
|
||||
if err_idx > 0 {
|
||||
return Err(EventRoutingErrorsWithResult {
|
||||
result: EventRoutingResult::Handled(num_recipients, event, aux_data),
|
||||
result: EventRoutingResult::Handled {
|
||||
num_recipients,
|
||||
event,
|
||||
aux_data,
|
||||
},
|
||||
errors: err_slice,
|
||||
});
|
||||
}
|
||||
return Ok(EventRoutingResult::Handled(num_recipients, event, aux_data));
|
||||
return Ok(EventRoutingResult::Handled {
|
||||
num_recipients,
|
||||
event,
|
||||
aux_data,
|
||||
});
|
||||
}
|
||||
Ok(EventRoutingResult::Empty)
|
||||
}
|
||||
}
|
||||
|
||||
#[derive(Default)]
|
||||
pub struct DefaultListenerTableProvider {
|
||||
listeners: HashMap<ListenerKey, Vec<ChannelId>>,
|
||||
}
|
||||
#[cfg(feature = "alloc")]
|
||||
pub mod alloc_mod {
|
||||
use alloc::vec::Vec;
|
||||
use hashbrown::HashMap;
|
||||
|
||||
pub struct DefaultSenderTableProvider<
|
||||
SendProviderError,
|
||||
Event: GenericEvent = EventU32,
|
||||
AuxDataProvider = Params,
|
||||
> {
|
||||
senders: HashMap<
|
||||
ChannelId,
|
||||
Box<dyn SendEventProvider<Event, AuxDataProvider, Error = SendProviderError>>,
|
||||
>,
|
||||
}
|
||||
use super::*;
|
||||
|
||||
impl<SendProviderError, Event: GenericEvent, AuxDataProvider> Default
|
||||
for DefaultSenderTableProvider<SendProviderError, Event, AuxDataProvider>
|
||||
{
|
||||
fn default() -> Self {
|
||||
/// Helper type which constrains the sender map and listener map generics to the [DefaultSenderMap]
|
||||
/// and the [DefaultListenerMap]. It uses regular mpsc channels as the message queue backend.
|
||||
pub type EventManagerWithMpsc<EV = EventU32, AUX = Params> = EventManager<
|
||||
MpscEventReceiver,
|
||||
DefaultSenderMap<EventSenderMpsc<EV>, EV, AUX>,
|
||||
DefaultListenerMap,
|
||||
EventSenderMpsc<EV>,
|
||||
>;
|
||||
|
||||
/// Helper type which constrains the sender map and listener map generics to the [DefaultSenderMap]
|
||||
/// and the [DefaultListenerMap]. It uses
|
||||
/// [bounded mpsc senders](https://doc.rust-lang.org/std/sync/mpsc/struct.SyncSender.html) as the
|
||||
/// message queue backend.
|
||||
pub type EventManagerWithBoundedMpsc<EV = EventU32, AUX = Params> = EventManager<
|
||||
MpscEventReceiver,
|
||||
DefaultSenderMap<EventSenderMpscBounded<EV>, EV, AUX>,
|
||||
DefaultListenerMap,
|
||||
EventSenderMpscBounded<EV>,
|
||||
>;
|
||||
|
||||
impl<
|
||||
ER: EventReceiveProvider<EV, AUX>,
|
||||
SP: EventSendProvider<EV, AUX>,
|
||||
EV: GenericEvent + Copy,
|
||||
AUX: 'static,
|
||||
> EventManager<ER, DefaultSenderMap<SP, EV, AUX>, DefaultListenerMap, SP, EV, AUX>
|
||||
{
|
||||
/// Create an event manager where the sender table will be the [DefaultSenderMap]
|
||||
/// and the listener table will be the [DefaultListenerMap].
|
||||
pub fn new(event_receiver: ER) -> Self {
|
||||
Self {
|
||||
senders: HashMap::new(),
|
||||
listener_map: DefaultListenerMap::default(),
|
||||
sender_map: DefaultSenderMap::default(),
|
||||
event_receiver,
|
||||
phantom: PhantomData,
|
||||
}
|
||||
}
|
||||
}
|
||||
}
|
||||
|
||||
impl ListenerTable for DefaultListenerTableProvider {
|
||||
/// Default listener map.
|
||||
///
|
||||
/// Simple implementation which uses a [HashMap] and a [Vec] internally.
|
||||
#[derive(Default)]
|
||||
pub struct DefaultListenerMap {
|
||||
listeners: HashMap<ListenerKey, Vec<ChannelId>>,
|
||||
}
|
||||
|
||||
impl ListenerMapProvider for DefaultListenerMap {
|
||||
fn get_listeners(&self) -> Vec<ListenerKey> {
|
||||
let mut key_list = Vec::new();
|
||||
for key in self.listeners.keys() {
|
||||
@ -346,7 +366,7 @@ impl ListenerTable for DefaultListenerTableProvider {
|
||||
if let Some(existing_list) = self.listeners.get_mut(&key) {
|
||||
existing_list.push(sender_id);
|
||||
} else {
|
||||
let new_list = vec![sender_id];
|
||||
let new_list = alloc::vec![sender_id];
|
||||
self.listeners.insert(key, new_list);
|
||||
}
|
||||
true
|
||||
@ -358,61 +378,72 @@ impl ListenerTable for DefaultListenerTableProvider {
|
||||
list.dedup();
|
||||
}
|
||||
}
|
||||
}
|
||||
}
|
||||
|
||||
impl<SendProviderError, Event: GenericEvent, AuxDataProvider>
|
||||
SenderTable<SendProviderError, Event, AuxDataProvider>
|
||||
for DefaultSenderTableProvider<SendProviderError, Event, AuxDataProvider>
|
||||
{
|
||||
/// Default sender map.
|
||||
///
|
||||
/// Simple implementation which uses a [HashMap] internally.
|
||||
pub struct DefaultSenderMap<
|
||||
SP: EventSendProvider<EV, AUX>,
|
||||
EV: GenericEvent = EventU32,
|
||||
AUX = Params,
|
||||
> {
|
||||
senders: HashMap<ChannelId, SP>,
|
||||
phantom: PhantomData<(EV, AUX)>,
|
||||
}
|
||||
|
||||
impl<SP: EventSendProvider<EV, AUX>, EV: GenericEvent, AUX> Default
|
||||
for DefaultSenderMap<SP, EV, AUX>
|
||||
{
|
||||
fn default() -> Self {
|
||||
Self {
|
||||
senders: Default::default(),
|
||||
phantom: Default::default(),
|
||||
}
|
||||
}
|
||||
}
|
||||
|
||||
impl<SP: EventSendProvider<EV, AUX>, EV: GenericEvent, AUX> SenderMapProvider<SP, EV, AUX>
|
||||
for DefaultSenderMap<SP, EV, AUX>
|
||||
{
|
||||
fn contains_send_event_provider(&self, id: &ChannelId) -> bool {
|
||||
self.senders.contains_key(id)
|
||||
}
|
||||
|
||||
fn get_send_event_provider(
|
||||
&self,
|
||||
id: &ChannelId,
|
||||
) -> Option<&dyn SendEventProvider<Event, AuxDataProvider, Error = SendProviderError>> {
|
||||
fn get_send_event_provider(&self, id: &ChannelId) -> Option<&SP> {
|
||||
self.senders
|
||||
.get(id)
|
||||
.filter(|sender| sender.id() == *id)
|
||||
.map(|v| v.as_ref())
|
||||
.filter(|sender| sender.channel_id() == *id)
|
||||
}
|
||||
|
||||
fn add_send_event_provider(
|
||||
&mut self,
|
||||
send_provider: Box<
|
||||
dyn SendEventProvider<Event, AuxDataProvider, Error = SendProviderError>,
|
||||
>,
|
||||
) -> bool {
|
||||
let id = send_provider.id();
|
||||
fn add_send_event_provider(&mut self, send_provider: SP) -> bool {
|
||||
let id = send_provider.channel_id();
|
||||
if self.senders.contains_key(&id) {
|
||||
return false;
|
||||
}
|
||||
self.senders.insert(id, send_provider).is_none()
|
||||
}
|
||||
}
|
||||
}
|
||||
|
||||
#[cfg(feature = "std")]
|
||||
pub mod stdmod {
|
||||
pub mod std_mod {
|
||||
use super::*;
|
||||
use crate::event_man::{EventReceiver, EventWithAuxData};
|
||||
use crate::events::{EventU16, EventU32, GenericEvent};
|
||||
use crate::params::Params;
|
||||
use std::sync::mpsc::{Receiver, SendError, Sender};
|
||||
use std::sync::mpsc;
|
||||
|
||||
pub struct MpscEventReceiver<Event: GenericEvent + Send = EventU32> {
|
||||
mpsc_receiver: Receiver<(Event, Option<Params>)>,
|
||||
mpsc_receiver: mpsc::Receiver<(Event, Option<Params>)>,
|
||||
}
|
||||
|
||||
impl<Event: GenericEvent + Send> MpscEventReceiver<Event> {
|
||||
pub fn new(receiver: Receiver<(Event, Option<Params>)>) -> Self {
|
||||
pub fn new(receiver: mpsc::Receiver<(Event, Option<Params>)>) -> Self {
|
||||
Self {
|
||||
mpsc_receiver: receiver,
|
||||
}
|
||||
}
|
||||
}
|
||||
impl<Event: GenericEvent + Send> EventReceiver<Event> for MpscEventReceiver<Event> {
|
||||
fn receive(&self) -> Option<EventWithAuxData<Event>> {
|
||||
impl<Event: GenericEvent + Send> EventReceiveProvider<Event> for MpscEventReceiver<Event> {
|
||||
fn try_recv_event(&self) -> Option<EventWithAuxData<Event>> {
|
||||
if let Ok(event_and_data) = self.mpsc_receiver.try_recv() {
|
||||
return Some(event_and_data);
|
||||
}
|
||||
@ -423,31 +454,75 @@ pub mod stdmod {
|
||||
pub type MpscEventU32Receiver = MpscEventReceiver<EventU32>;
|
||||
pub type MpscEventU16Receiver = MpscEventReceiver<EventU16>;
|
||||
|
||||
/// Generic event sender which uses a regular [mpsc::Sender] as the messaging backend to
|
||||
/// send events.
|
||||
#[derive(Clone)]
|
||||
pub struct MpscEventSendProvider<Event: GenericEvent + Send> {
|
||||
pub struct EventSenderMpsc<Event: GenericEvent + Send> {
|
||||
id: u32,
|
||||
sender: Sender<(Event, Option<Params>)>,
|
||||
sender: mpsc::Sender<(Event, Option<Params>)>,
|
||||
}
|
||||
|
||||
impl<Event: GenericEvent + Send> MpscEventSendProvider<Event> {
|
||||
pub fn new(id: u32, sender: Sender<(Event, Option<Params>)>) -> Self {
|
||||
impl<Event: GenericEvent + Send> EventSenderMpsc<Event> {
|
||||
pub fn new(id: u32, sender: mpsc::Sender<(Event, Option<Params>)>) -> Self {
|
||||
Self { id, sender }
|
||||
}
|
||||
}
|
||||
|
||||
impl<Event: GenericEvent + Send> SendEventProvider<Event> for MpscEventSendProvider<Event> {
|
||||
type Error = SendError<(Event, Option<Params>)>;
|
||||
|
||||
fn id(&self) -> u32 {
|
||||
impl<Event: GenericEvent + Send> EventSendProvider<Event> for EventSenderMpsc<Event> {
|
||||
fn channel_id(&self) -> u32 {
|
||||
self.id
|
||||
}
|
||||
fn send(&self, event: Event, aux_data: Option<Params>) -> Result<(), Self::Error> {
|
||||
self.sender.send((event, aux_data))
|
||||
fn send(&self, event: Event, aux_data: Option<Params>) -> Result<(), GenericSendError> {
|
||||
self.sender
|
||||
.send((event, aux_data))
|
||||
.map_err(|_| GenericSendError::RxDisconnected)
|
||||
}
|
||||
}
|
||||
|
||||
pub type MpscEventU32SendProvider = MpscEventSendProvider<EventU32>;
|
||||
pub type MpscEventU16SendProvider = MpscEventSendProvider<EventU16>;
|
||||
/// Generic event sender which uses the [mpsc::SyncSender] as the messaging backend to send
|
||||
/// events. This has the advantage that the channel is bounded and thus more deterministic.
|
||||
#[derive(Clone)]
|
||||
pub struct EventSenderMpscBounded<Event: GenericEvent + Send> {
|
||||
channel_id: u32,
|
||||
sender: mpsc::SyncSender<(Event, Option<Params>)>,
|
||||
capacity: usize,
|
||||
}
|
||||
|
||||
impl<Event: GenericEvent + Send> EventSenderMpscBounded<Event> {
|
||||
pub fn new(
|
||||
channel_id: u32,
|
||||
sender: mpsc::SyncSender<(Event, Option<Params>)>,
|
||||
capacity: usize,
|
||||
) -> Self {
|
||||
Self {
|
||||
channel_id,
|
||||
sender,
|
||||
capacity,
|
||||
}
|
||||
}
|
||||
}
|
||||
|
||||
impl<Event: GenericEvent + Send> EventSendProvider<Event> for EventSenderMpscBounded<Event> {
|
||||
fn channel_id(&self) -> u32 {
|
||||
self.channel_id
|
||||
}
|
||||
fn send(&self, event: Event, aux_data: Option<Params>) -> Result<(), GenericSendError> {
|
||||
if let Err(e) = self.sender.try_send((event, aux_data)) {
|
||||
return match e {
|
||||
mpsc::TrySendError::Full(_) => {
|
||||
Err(GenericSendError::QueueFull(Some(self.capacity as u32)))
|
||||
}
|
||||
mpsc::TrySendError::Disconnected(_) => Err(GenericSendError::RxDisconnected),
|
||||
};
|
||||
}
|
||||
Ok(())
|
||||
}
|
||||
}
|
||||
|
||||
pub type EventU32SenderMpsc = EventSenderMpsc<EventU32>;
|
||||
pub type EventU16SenderMpsc = EventSenderMpsc<EventU16>;
|
||||
pub type EventU32SenderMpscBounded = EventSenderMpscBounded<EventU32>;
|
||||
pub type EventU16SenderMpscBounded = EventSenderMpscBounded<EventU16>;
|
||||
}
|
||||
|
||||
#[cfg(test)]
|
||||
@ -456,32 +531,10 @@ mod tests {
|
||||
use crate::event_man::EventManager;
|
||||
use crate::events::{EventU32, GenericEvent, Severity};
|
||||
use crate::params::ParamsRaw;
|
||||
use alloc::boxed::Box;
|
||||
use std::format;
|
||||
use std::sync::mpsc::{channel, Receiver, SendError, Sender};
|
||||
use std::sync::mpsc::{self, channel, Receiver, Sender};
|
||||
|
||||
#[derive(Clone)]
|
||||
struct MpscEventSenderQueue {
|
||||
id: u32,
|
||||
mpsc_sender: Sender<EventU32WithAuxData>,
|
||||
}
|
||||
|
||||
impl MpscEventSenderQueue {
|
||||
fn new(id: u32, mpsc_sender: Sender<EventU32WithAuxData>) -> Self {
|
||||
Self { id, mpsc_sender }
|
||||
}
|
||||
}
|
||||
|
||||
impl SendEventProvider<EventU32> for MpscEventSenderQueue {
|
||||
type Error = SendError<EventU32WithAuxData>;
|
||||
|
||||
fn id(&self) -> u32 {
|
||||
self.id
|
||||
}
|
||||
fn send(&self, event: EventU32, aux_data: Option<Params>) -> Result<(), Self::Error> {
|
||||
self.mpsc_sender.send((event, aux_data))
|
||||
}
|
||||
}
|
||||
const TEST_EVENT: EventU32 = EventU32::const_new(Severity::INFO, 0, 5);
|
||||
|
||||
fn check_next_event(
|
||||
expected: EventU32,
|
||||
@ -500,22 +553,21 @@ mod tests {
|
||||
expected_num_sent: u32,
|
||||
) {
|
||||
assert!(matches!(res, EventRoutingResult::Handled { .. }));
|
||||
if let EventRoutingResult::Handled(num_recipients, event, _aux_data) = res {
|
||||
if let EventRoutingResult::Handled {
|
||||
num_recipients,
|
||||
event,
|
||||
..
|
||||
} = res
|
||||
{
|
||||
assert_eq!(event, expected);
|
||||
assert_eq!(num_recipients, expected_num_sent);
|
||||
}
|
||||
}
|
||||
|
||||
fn generic_event_man() -> (
|
||||
Sender<EventU32WithAuxData>,
|
||||
EventManager<SendError<EventU32WithAuxData>>,
|
||||
) {
|
||||
fn generic_event_man() -> (Sender<EventU32WithAuxData>, EventManagerWithMpsc) {
|
||||
let (event_sender, manager_queue) = channel();
|
||||
let event_man_receiver = MpscEventReceiver::new(manager_queue);
|
||||
(
|
||||
event_sender,
|
||||
EventManager::new(Box::new(event_man_receiver)),
|
||||
)
|
||||
(event_sender, EventManager::new(event_man_receiver))
|
||||
}
|
||||
|
||||
#[test]
|
||||
@ -524,15 +576,12 @@ mod tests {
|
||||
let event_grp_0 = EventU32::new(Severity::INFO, 0, 0).unwrap();
|
||||
let event_grp_1_0 = EventU32::new(Severity::HIGH, 1, 0).unwrap();
|
||||
let (single_event_sender, single_event_receiver) = channel();
|
||||
let single_event_listener = MpscEventSenderQueue::new(0, single_event_sender);
|
||||
event_man.subscribe_single(&event_grp_0, single_event_listener.id());
|
||||
let single_event_listener = EventSenderMpsc::new(0, single_event_sender);
|
||||
event_man.subscribe_single(&event_grp_0, single_event_listener.channel_id());
|
||||
event_man.add_sender(single_event_listener);
|
||||
let (group_event_sender_0, group_event_receiver_0) = channel();
|
||||
let group_event_listener = MpscEventSenderQueue {
|
||||
id: 1,
|
||||
mpsc_sender: group_event_sender_0,
|
||||
};
|
||||
event_man.subscribe_group(event_grp_1_0.group_id(), group_event_listener.id());
|
||||
let group_event_listener = EventU32SenderMpsc::new(1, group_event_sender_0);
|
||||
event_man.subscribe_group(event_grp_1_0.group_id(), group_event_listener.channel_id());
|
||||
event_man.add_sender(group_event_listener);
|
||||
|
||||
// Test event with one listener
|
||||
@ -559,8 +608,8 @@ mod tests {
|
||||
let (event_sender, mut event_man) = generic_event_man();
|
||||
let event_grp_0 = EventU32::new(Severity::INFO, 0, 0).unwrap();
|
||||
let (single_event_sender, single_event_receiver) = channel();
|
||||
let single_event_listener = MpscEventSenderQueue::new(0, single_event_sender);
|
||||
event_man.subscribe_single(&event_grp_0, single_event_listener.id());
|
||||
let single_event_listener = EventSenderMpsc::new(0, single_event_sender);
|
||||
event_man.subscribe_single(&event_grp_0, single_event_listener.channel_id());
|
||||
event_man.add_sender(single_event_listener);
|
||||
event_sender
|
||||
.send((event_grp_0, Some(Params::Heapless((2_u32, 3_u32).into()))))
|
||||
@ -591,12 +640,15 @@ mod tests {
|
||||
let event_grp_0 = EventU32::new(Severity::INFO, 0, 0).unwrap();
|
||||
let event_grp_1_0 = EventU32::new(Severity::HIGH, 1, 0).unwrap();
|
||||
let (event_grp_0_sender, event_grp_0_receiver) = channel();
|
||||
let event_grp_0_and_1_listener = MpscEventSenderQueue {
|
||||
id: 0,
|
||||
mpsc_sender: event_grp_0_sender,
|
||||
};
|
||||
event_man.subscribe_group(event_grp_0.group_id(), event_grp_0_and_1_listener.id());
|
||||
event_man.subscribe_group(event_grp_1_0.group_id(), event_grp_0_and_1_listener.id());
|
||||
let event_grp_0_and_1_listener = EventU32SenderMpsc::new(0, event_grp_0_sender);
|
||||
event_man.subscribe_group(
|
||||
event_grp_0.group_id(),
|
||||
event_grp_0_and_1_listener.channel_id(),
|
||||
);
|
||||
event_man.subscribe_group(
|
||||
event_grp_1_0.group_id(),
|
||||
event_grp_0_and_1_listener.channel_id(),
|
||||
);
|
||||
event_man.add_sender(event_grp_0_and_1_listener);
|
||||
|
||||
event_sender
|
||||
@ -625,18 +677,12 @@ mod tests {
|
||||
let event_1 = EventU32::new(Severity::HIGH, 1, 0).unwrap();
|
||||
let (event_0_tx_0, event_0_rx_0) = channel();
|
||||
let (event_0_tx_1, event_0_rx_1) = channel();
|
||||
let event_listener_0 = MpscEventSenderQueue {
|
||||
id: 0,
|
||||
mpsc_sender: event_0_tx_0,
|
||||
};
|
||||
let event_listener_1 = MpscEventSenderQueue {
|
||||
id: 1,
|
||||
mpsc_sender: event_0_tx_1,
|
||||
};
|
||||
let event_listener_0_sender_id = event_listener_0.id();
|
||||
let event_listener_0 = EventU32SenderMpsc::new(0, event_0_tx_0);
|
||||
let event_listener_1 = EventU32SenderMpsc::new(1, event_0_tx_1);
|
||||
let event_listener_0_sender_id = event_listener_0.channel_id();
|
||||
event_man.subscribe_single(&event_0, event_listener_0_sender_id);
|
||||
event_man.add_sender(event_listener_0);
|
||||
let event_listener_1_sender_id = event_listener_1.id();
|
||||
let event_listener_1_sender_id = event_listener_1.channel_id();
|
||||
event_man.subscribe_single(&event_0, event_listener_1_sender_id);
|
||||
event_man.add_sender(event_listener_1);
|
||||
event_sender
|
||||
@ -681,16 +727,12 @@ mod tests {
|
||||
fn test_all_events_listener() {
|
||||
let (event_sender, manager_queue) = channel();
|
||||
let event_man_receiver = MpscEventReceiver::new(manager_queue);
|
||||
let mut event_man: EventManager<SendError<EventU32WithAuxData>> =
|
||||
EventManager::new(Box::new(event_man_receiver));
|
||||
let mut event_man = EventManagerWithMpsc::new(event_man_receiver);
|
||||
let event_0 = EventU32::new(Severity::INFO, 0, 5).unwrap();
|
||||
let event_1 = EventU32::new(Severity::HIGH, 1, 0).unwrap();
|
||||
let (event_0_tx_0, all_events_rx) = channel();
|
||||
let all_events_listener = MpscEventSenderQueue {
|
||||
id: 0,
|
||||
mpsc_sender: event_0_tx_0,
|
||||
};
|
||||
event_man.subscribe_all(all_events_listener.id());
|
||||
let all_events_listener = EventU32SenderMpsc::new(0, event_0_tx_0);
|
||||
event_man.subscribe_all(all_events_listener.channel_id());
|
||||
event_man.add_sender(all_events_listener);
|
||||
event_sender
|
||||
.send((event_0, None))
|
||||
@ -707,4 +749,36 @@ mod tests {
|
||||
check_next_event(event_0, &all_events_rx);
|
||||
check_next_event(event_1, &all_events_rx);
|
||||
}
|
||||
|
||||
#[test]
|
||||
fn test_bounded_event_sender_queue_full() {
|
||||
let (event_sender, _event_receiver) = mpsc::sync_channel(3);
|
||||
let event_sender = EventU32SenderMpscBounded::new(1, event_sender, 3);
|
||||
event_sender
|
||||
.send_no_data(TEST_EVENT)
|
||||
.expect("sending test event failed");
|
||||
event_sender
|
||||
.send_no_data(TEST_EVENT)
|
||||
.expect("sending test event failed");
|
||||
event_sender
|
||||
.send_no_data(TEST_EVENT)
|
||||
.expect("sending test event failed");
|
||||
let error = event_sender.send_no_data(TEST_EVENT);
|
||||
if let Err(e) = error {
|
||||
assert!(matches!(e, GenericSendError::QueueFull(Some(3))));
|
||||
} else {
|
||||
panic!("unexpected error {error:?}");
|
||||
}
|
||||
}
|
||||
#[test]
|
||||
fn test_bounded_event_sender_rx_dropped() {
|
||||
let (event_sender, event_receiver) = mpsc::sync_channel(3);
|
||||
let event_sender = EventU32SenderMpscBounded::new(1, event_sender, 3);
|
||||
drop(event_receiver);
|
||||
if let Err(e) = event_sender.send_no_data(TEST_EVENT) {
|
||||
assert!(matches!(e, GenericSendError::RxDisconnected));
|
||||
} else {
|
||||
panic!("Expected error");
|
||||
}
|
||||
}
|
||||
}
|
||||
|
||||
@ -412,6 +412,10 @@ impl UnsignedEnum for EventU32 {
|
||||
fn write_to_be_bytes(&self, buf: &mut [u8]) -> Result<usize, ByteConversionError> {
|
||||
self.base.write_to_bytes(self.raw(), buf, self.size())
|
||||
}
|
||||
|
||||
fn value(&self) -> u64 {
|
||||
self.raw().into()
|
||||
}
|
||||
}
|
||||
|
||||
impl EcssEnumeration for EventU32 {
|
||||
@ -425,6 +429,7 @@ impl<SEVERITY: HasSeverity> UnsignedEnum for EventU32TypedSev<SEVERITY> {
|
||||
delegate!(to self.event {
|
||||
fn size(&self) -> usize;
|
||||
fn write_to_be_bytes(&self, buf: &mut [u8]) -> Result<usize, ByteConversionError>;
|
||||
fn value(&self) -> u64;
|
||||
});
|
||||
}
|
||||
|
||||
@ -560,6 +565,10 @@ impl UnsignedEnum for EventU16 {
|
||||
fn write_to_be_bytes(&self, buf: &mut [u8]) -> Result<usize, ByteConversionError> {
|
||||
self.base.write_to_bytes(self.raw(), buf, self.size())
|
||||
}
|
||||
|
||||
fn value(&self) -> u64 {
|
||||
self.raw().into()
|
||||
}
|
||||
}
|
||||
impl EcssEnumeration for EventU16 {
|
||||
#[inline]
|
||||
@ -573,6 +582,7 @@ impl<SEVERITY: HasSeverity> UnsignedEnum for EventU16TypedSev<SEVERITY> {
|
||||
delegate!(to self.event {
|
||||
fn size(&self) -> usize;
|
||||
fn write_to_be_bytes(&self, buf: &mut [u8]) -> Result<usize, ByteConversionError>;
|
||||
fn value(&self) -> u64;
|
||||
});
|
||||
}
|
||||
|
||||
|
||||
@ -107,7 +107,7 @@ impl<TmError, TcError> TcpTmSender<TmError, TcError> for CobsTmSender {
|
||||
///
|
||||
/// ## Example
|
||||
///
|
||||
/// The [TCP integration tests](https://egit.irs.uni-stuttgart.de/rust/sat-rs/src/branch/main/satrs-core/tests/tcp_servers.rs)
|
||||
/// The [TCP integration tests](https://egit.irs.uni-stuttgart.de/rust/sat-rs/src/branch/main/satrs/tests/tcp_servers.rs)
|
||||
/// test also serves as the example application for this module.
|
||||
pub struct TcpTmtcInCobsServer<
|
||||
TmError,
|
||||
|
||||
@ -88,7 +88,7 @@ impl<TmError, TcError> TcpTmSender<TmError, TcError> for SpacepacketsTmSender {
|
||||
/// [spacepackets::PacketId]s as part of the server configuration for that purpose.
|
||||
///
|
||||
/// ## Example
|
||||
/// The [TCP server integration tests](https://egit.irs.uni-stuttgart.de/rust/sat-rs/src/branch/main/satrs-core/tests/tcp_servers.rs)
|
||||
/// The [TCP server integration tests](https://egit.irs.uni-stuttgart.de/rust/sat-rs/src/branch/main/satrs/tests/tcp_servers.rs)
|
||||
/// also serves as the example application for this module.
|
||||
pub struct TcpSpacepacketsServer<
|
||||
TmError,
|
||||
|
||||
@ -1,3 +1,8 @@
|
||||
use crate::{
|
||||
pus::verification::{TcStateAccepted, VerificationToken},
|
||||
TargetId,
|
||||
};
|
||||
|
||||
pub type CollectionIntervalFactor = u32;
|
||||
pub type UniqueId = u32;
|
||||
|
||||
@ -11,6 +16,25 @@ pub enum HkRequest {
|
||||
|
||||
#[derive(Debug, Copy, Clone, PartialEq, Eq)]
|
||||
pub struct TargetedHkRequest {
|
||||
target: u32,
|
||||
hk_request: HkRequest,
|
||||
pub target_id: TargetId,
|
||||
pub hk_request: HkRequest,
|
||||
}
|
||||
|
||||
impl TargetedHkRequest {
|
||||
pub fn new(target_id: TargetId, hk_request: HkRequest) -> Self {
|
||||
Self {
|
||||
target_id,
|
||||
hk_request,
|
||||
}
|
||||
}
|
||||
}
|
||||
|
||||
pub trait PusHkRequestRouter {
|
||||
type Error;
|
||||
fn route(
|
||||
&self,
|
||||
target_id: TargetId,
|
||||
hk_request: HkRequest,
|
||||
token: VerificationToken<TcStateAccepted>,
|
||||
) -> Result<(), Self::Error>;
|
||||
}
|
||||
|
||||
@ -1,7 +1,9 @@
|
||||
//! # sat-rs: A framework to build on-board software for remote systems
|
||||
//!
|
||||
//! You can find more information about the sat-rs framework on the
|
||||
//! [homepage](https://egit.irs.uni-stuttgart.de/rust/sat-rs).
|
||||
//! [homepage](https://absatsw.irs.uni-stuttgart.de/projects/sat-rs/).
|
||||
//! The [satrs-book](https://absatsw.irs.uni-stuttgart.de/projects/sat-rs/book/) contains
|
||||
//! high-level information about this framework.
|
||||
//!
|
||||
//! ## Overview
|
||||
//!
|
||||
@ -24,27 +26,31 @@ extern crate std;
|
||||
#[cfg_attr(doc_cfg, doc(cfg(feature = "alloc")))]
|
||||
pub mod cfdp;
|
||||
pub mod encoding;
|
||||
#[cfg(feature = "alloc")]
|
||||
#[cfg_attr(doc_cfg, doc(cfg(feature = "alloc")))]
|
||||
pub mod event_man;
|
||||
pub mod events;
|
||||
#[cfg(feature = "std")]
|
||||
#[cfg_attr(doc_cfg, doc(cfg(feature = "std")))]
|
||||
pub mod executable;
|
||||
pub mod hal;
|
||||
pub mod hk;
|
||||
pub mod mode;
|
||||
pub mod objects;
|
||||
pub mod params;
|
||||
pub mod pool;
|
||||
pub mod power;
|
||||
pub mod pus;
|
||||
pub mod queue;
|
||||
pub mod request;
|
||||
pub mod res_code;
|
||||
pub mod seq_count;
|
||||
pub mod tmtc;
|
||||
|
||||
pub mod action;
|
||||
pub mod hk;
|
||||
pub mod mode;
|
||||
pub mod params;
|
||||
|
||||
pub use spacepackets;
|
||||
|
||||
// Generic channel ID type.
|
||||
/// Generic channel ID type.
|
||||
pub type ChannelId = u32;
|
||||
|
||||
/// Generic target ID type.
|
||||
pub type TargetId = u64;
|
||||
|
||||
@ -1,9 +1,10 @@
|
||||
use crate::tmtc::TargetId;
|
||||
use core::mem::size_of;
|
||||
#[cfg(feature = "serde")]
|
||||
use serde::{Deserialize, Serialize};
|
||||
use spacepackets::ByteConversionError;
|
||||
|
||||
use crate::TargetId;
|
||||
|
||||
#[derive(Debug, Copy, Clone, PartialEq, Eq)]
|
||||
#[cfg_attr(feature = "serde", derive(Serialize, Deserialize))]
|
||||
pub struct ModeAndSubmode {
|
||||
@ -47,12 +48,12 @@ impl ModeAndSubmode {
|
||||
}
|
||||
#[derive(Debug, Copy, Clone, PartialEq, Eq)]
|
||||
#[cfg_attr(feature = "serde", derive(Serialize, Deserialize))]
|
||||
pub struct ModeCommand {
|
||||
pub struct TargetedModeCommand {
|
||||
pub address: TargetId,
|
||||
pub mode_submode: ModeAndSubmode,
|
||||
}
|
||||
|
||||
impl ModeCommand {
|
||||
impl TargetedModeCommand {
|
||||
pub const fn new(address: TargetId, mode_submode: ModeAndSubmode) -> Self {
|
||||
Self {
|
||||
address,
|
||||
|
||||
@ -51,7 +51,6 @@
|
||||
//! assert_eq!(example_obj.id, obj_id);
|
||||
//! assert_eq!(example_obj.dummy, 42);
|
||||
//! ```
|
||||
use crate::tmtc::TargetId;
|
||||
#[cfg(feature = "alloc")]
|
||||
use alloc::boxed::Box;
|
||||
#[cfg(feature = "alloc")]
|
||||
@ -63,6 +62,8 @@ use hashbrown::HashMap;
|
||||
#[cfg(feature = "std")]
|
||||
use std::error::Error;
|
||||
|
||||
use crate::TargetId;
|
||||
|
||||
#[derive(PartialEq, Eq, Hash, Copy, Clone, Debug)]
|
||||
pub struct ObjectId {
|
||||
pub id: TargetId,
|
||||
|
||||
@ -43,22 +43,19 @@
|
||||
//! This includes the [ParamsHeapless] enumeration for contained values which do not require heap
|
||||
//! allocation, and the [Params] which enumerates [ParamsHeapless] and some additional types which
|
||||
//! require [alloc] support but allow for more flexbility.
|
||||
#[cfg(feature = "alloc")]
|
||||
use crate::pool::StoreAddr;
|
||||
#[cfg(feature = "alloc")]
|
||||
use alloc::string::{String, ToString};
|
||||
#[cfg(feature = "alloc")]
|
||||
use alloc::vec::Vec;
|
||||
use core::fmt::Debug;
|
||||
use core::mem::size_of;
|
||||
use paste::paste;
|
||||
use spacepackets::ecss::{EcssEnumU16, EcssEnumU32, EcssEnumU64, EcssEnumU8};
|
||||
pub use spacepackets::util::ToBeBytes;
|
||||
use spacepackets::util::UnsignedEnum;
|
||||
use spacepackets::ByteConversionError;
|
||||
|
||||
#[cfg(feature = "alloc")]
|
||||
pub use alloc_mod::*;
|
||||
pub use spacepackets::util::ToBeBytes;
|
||||
use alloc::string::{String, ToString};
|
||||
#[cfg(feature = "alloc")]
|
||||
use alloc::vec::Vec;
|
||||
|
||||
/// Generic trait which is used for objects which can be converted into a raw network (big) endian
|
||||
/// byte format.
|
||||
@ -560,57 +557,65 @@ from_conversions_for_raw!(
|
||||
(f64, Self::F64),
|
||||
);
|
||||
|
||||
#[cfg(feature = "alloc")]
|
||||
mod alloc_mod {
|
||||
use super::*;
|
||||
/// Generic enumeration for additional parameters, including parameters which rely on heap
|
||||
/// allocations.
|
||||
#[cfg_attr(doc_cfg, doc(cfg(feature = "alloc")))]
|
||||
#[derive(Debug, Clone)]
|
||||
pub enum Params {
|
||||
/// Generic enumeration for additional parameters, including parameters which rely on heap
|
||||
/// allocations.
|
||||
#[derive(Debug, Clone)]
|
||||
#[non_exhaustive]
|
||||
pub enum Params {
|
||||
Heapless(ParamsHeapless),
|
||||
Store(StoreAddr),
|
||||
#[cfg(feature = "alloc")]
|
||||
#[cfg_attr(doc_cfg, doc(cfg(feature = "alloc")))]
|
||||
Vec(Vec<u8>),
|
||||
#[cfg(feature = "alloc")]
|
||||
#[cfg_attr(doc_cfg, doc(cfg(feature = "alloc")))]
|
||||
String(String),
|
||||
}
|
||||
}
|
||||
|
||||
impl From<StoreAddr> for Params {
|
||||
impl From<StoreAddr> for Params {
|
||||
fn from(x: StoreAddr) -> Self {
|
||||
Self::Store(x)
|
||||
}
|
||||
}
|
||||
}
|
||||
|
||||
impl From<ParamsHeapless> for Params {
|
||||
impl From<ParamsHeapless> for Params {
|
||||
fn from(x: ParamsHeapless) -> Self {
|
||||
Self::Heapless(x)
|
||||
}
|
||||
}
|
||||
}
|
||||
|
||||
impl From<Vec<u8>> for Params {
|
||||
#[cfg(feature = "alloc")]
|
||||
#[cfg_attr(doc_cfg, doc(cfg(feature = "alloc")))]
|
||||
impl From<Vec<u8>> for Params {
|
||||
fn from(val: Vec<u8>) -> Self {
|
||||
Self::Vec(val)
|
||||
}
|
||||
}
|
||||
}
|
||||
|
||||
/// Converts a byte slice into the [Params::Vec] variant
|
||||
impl From<&[u8]> for Params {
|
||||
/// Converts a byte slice into the [Params::Vec] variant
|
||||
#[cfg(feature = "alloc")]
|
||||
#[cfg_attr(doc_cfg, doc(cfg(feature = "alloc")))]
|
||||
impl From<&[u8]> for Params {
|
||||
fn from(val: &[u8]) -> Self {
|
||||
Self::Vec(val.to_vec())
|
||||
}
|
||||
}
|
||||
}
|
||||
|
||||
impl From<String> for Params {
|
||||
#[cfg(feature = "alloc")]
|
||||
#[cfg_attr(doc_cfg, doc(cfg(feature = "alloc")))]
|
||||
impl From<String> for Params {
|
||||
fn from(val: String) -> Self {
|
||||
Self::String(val)
|
||||
}
|
||||
}
|
||||
}
|
||||
|
||||
/// Converts a string slice into the [Params::String] variant
|
||||
impl From<&str> for Params {
|
||||
#[cfg(feature = "alloc")]
|
||||
#[cfg_attr(doc_cfg, doc(cfg(feature = "alloc")))]
|
||||
/// Converts a string slice into the [Params::String] variant
|
||||
impl From<&str> for Params {
|
||||
fn from(val: &str) -> Self {
|
||||
Self::String(val.to_string())
|
||||
}
|
||||
}
|
||||
}
|
||||
|
||||
#[cfg(test)]
|
||||
|
||||
@ -24,6 +24,42 @@ pub enum SwitchState {
|
||||
Faulty = 3,
|
||||
}
|
||||
|
||||
#[derive(Debug, Eq, PartialEq, Copy, Clone)]
|
||||
#[cfg_attr(feature = "serde", derive(Serialize, Deserialize))]
|
||||
pub enum SwitchStateBinary {
|
||||
Off = 0,
|
||||
On = 1,
|
||||
}
|
||||
|
||||
impl TryFrom<SwitchState> for SwitchStateBinary {
|
||||
type Error = ();
|
||||
fn try_from(value: SwitchState) -> Result<Self, Self::Error> {
|
||||
match value {
|
||||
SwitchState::Off => Ok(SwitchStateBinary::Off),
|
||||
SwitchState::On => Ok(SwitchStateBinary::On),
|
||||
_ => Err(()),
|
||||
}
|
||||
}
|
||||
}
|
||||
|
||||
impl<T: Into<u64>> From<T> for SwitchStateBinary {
|
||||
fn from(value: T) -> Self {
|
||||
if value.into() == 0 {
|
||||
return SwitchStateBinary::Off;
|
||||
}
|
||||
SwitchStateBinary::On
|
||||
}
|
||||
}
|
||||
|
||||
impl From<SwitchStateBinary> for SwitchState {
|
||||
fn from(value: SwitchStateBinary) -> Self {
|
||||
match value {
|
||||
SwitchStateBinary::Off => SwitchState::Off,
|
||||
SwitchStateBinary::On => SwitchState::On,
|
||||
}
|
||||
}
|
||||
}
|
||||
|
||||
pub type SwitchId = u16;
|
||||
|
||||
/// Generic trait for a device capable of turning on and off switches.
|
||||
|
||||
397
satrs/src/pus/action.rs
Normal file
397
satrs/src/pus/action.rs
Normal file
@ -0,0 +1,397 @@
|
||||
use crate::{action::ActionRequest, TargetId};
|
||||
|
||||
use super::verification::{TcStateAccepted, VerificationToken};
|
||||
|
||||
#[cfg(feature = "std")]
|
||||
#[cfg_attr(doc_cfg, doc(cfg(feature = "std")))]
|
||||
pub use std_mod::*;
|
||||
|
||||
#[cfg(feature = "alloc")]
|
||||
#[cfg_attr(doc_cfg, doc(cfg(feature = "alloc")))]
|
||||
pub use alloc_mod::*;
|
||||
|
||||
/// This trait is an abstraction for the routing of PUS service 8 action requests to a dedicated
|
||||
/// recipient using the generic [TargetId].
|
||||
pub trait PusActionRequestRouter {
|
||||
type Error;
|
||||
fn route(
|
||||
&self,
|
||||
target_id: TargetId,
|
||||
hk_request: ActionRequest,
|
||||
token: VerificationToken<TcStateAccepted>,
|
||||
) -> Result<(), Self::Error>;
|
||||
}
|
||||
|
||||
#[cfg(feature = "alloc")]
|
||||
#[cfg_attr(doc_cfg, doc(cfg(feature = "alloc")))]
|
||||
pub mod alloc_mod {
|
||||
use spacepackets::ecss::tc::PusTcReader;
|
||||
|
||||
use crate::pus::verification::VerificationReportingProvider;
|
||||
|
||||
use super::*;
|
||||
|
||||
/// This trait is an abstraction for the conversion of a PUS service 8 action telecommand into
|
||||
/// an [ActionRequest].
|
||||
///
|
||||
/// Having a dedicated trait for this allows maximum flexiblity and tailoring of the standard.
|
||||
/// The only requirement is that a valid [TargetId] and an [ActionRequest] are returned by the
|
||||
/// core conversion function.
|
||||
///
|
||||
/// The user should take care of performing the error handling as well. Some of the following
|
||||
/// aspects might be relevant:
|
||||
///
|
||||
/// - Checking the validity of the APID, service ID, subservice ID.
|
||||
/// - Checking the validity of the user data.
|
||||
///
|
||||
/// A [VerificationReportingProvider] instance is passed to the user to also allow handling
|
||||
/// of the verification process as part of the PUS standard requirements.
|
||||
pub trait PusActionToRequestConverter {
|
||||
type Error;
|
||||
fn convert(
|
||||
&mut self,
|
||||
token: VerificationToken<TcStateAccepted>,
|
||||
tc: &PusTcReader,
|
||||
time_stamp: &[u8],
|
||||
verif_reporter: &impl VerificationReportingProvider,
|
||||
) -> Result<(TargetId, ActionRequest), Self::Error>;
|
||||
}
|
||||
}
|
||||
|
||||
#[cfg(feature = "std")]
|
||||
#[cfg_attr(doc_cfg, doc(cfg(feature = "std")))]
|
||||
pub mod std_mod {
|
||||
use crate::pus::{
|
||||
get_current_cds_short_timestamp, verification::VerificationReportingProvider,
|
||||
EcssTcInMemConverter, EcssTcReceiverCore, EcssTmSenderCore, GenericRoutingError,
|
||||
PusPacketHandlerResult, PusPacketHandlingError, PusRoutingErrorHandler, PusServiceHelper,
|
||||
};
|
||||
|
||||
use super::*;
|
||||
|
||||
/// This is a high-level handler for the PUS service 8 action service.
|
||||
///
|
||||
/// It performs the following handling steps:
|
||||
///
|
||||
/// 1. Retrieve the next TC packet from the [PusServiceHelper]. The [EcssTcInMemConverter]
|
||||
/// allows to configure the used telecommand memory backend.
|
||||
/// 2. Convert the TC to a targeted action request using the provided
|
||||
/// [PusActionToRequestConverter]. The generic error type is constrained to the
|
||||
/// [PusPacketHandlingError] for the concrete implementation which offers a packet handler.
|
||||
/// 3. Route the action request using the provided [PusActionRequestRouter].
|
||||
/// 4. Handle all routing errors using the provided [PusRoutingErrorHandler].
|
||||
pub struct PusService8ActionHandler<
|
||||
TcReceiver: EcssTcReceiverCore,
|
||||
TmSender: EcssTmSenderCore,
|
||||
TcInMemConverter: EcssTcInMemConverter,
|
||||
VerificationReporter: VerificationReportingProvider,
|
||||
RequestConverter: PusActionToRequestConverter,
|
||||
RequestRouter: PusActionRequestRouter<Error = RoutingError>,
|
||||
RoutingErrorHandler: PusRoutingErrorHandler<Error = RoutingError>,
|
||||
RoutingError = GenericRoutingError,
|
||||
> {
|
||||
service_helper:
|
||||
PusServiceHelper<TcReceiver, TmSender, TcInMemConverter, VerificationReporter>,
|
||||
pub request_converter: RequestConverter,
|
||||
pub request_router: RequestRouter,
|
||||
pub routing_error_handler: RoutingErrorHandler,
|
||||
}
|
||||
|
||||
impl<
|
||||
TcReceiver: EcssTcReceiverCore,
|
||||
TmSender: EcssTmSenderCore,
|
||||
TcInMemConverter: EcssTcInMemConverter,
|
||||
VerificationReporter: VerificationReportingProvider,
|
||||
RequestConverter: PusActionToRequestConverter<Error = PusPacketHandlingError>,
|
||||
RequestRouter: PusActionRequestRouter<Error = RoutingError>,
|
||||
RoutingErrorHandler: PusRoutingErrorHandler<Error = RoutingError>,
|
||||
RoutingError: Clone,
|
||||
>
|
||||
PusService8ActionHandler<
|
||||
TcReceiver,
|
||||
TmSender,
|
||||
TcInMemConverter,
|
||||
VerificationReporter,
|
||||
RequestConverter,
|
||||
RequestRouter,
|
||||
RoutingErrorHandler,
|
||||
RoutingError,
|
||||
>
|
||||
where
|
||||
PusPacketHandlingError: From<RoutingError>,
|
||||
{
|
||||
pub fn new(
|
||||
service_helper: PusServiceHelper<
|
||||
TcReceiver,
|
||||
TmSender,
|
||||
TcInMemConverter,
|
||||
VerificationReporter,
|
||||
>,
|
||||
request_converter: RequestConverter,
|
||||
request_router: RequestRouter,
|
||||
routing_error_handler: RoutingErrorHandler,
|
||||
) -> Self {
|
||||
Self {
|
||||
service_helper,
|
||||
request_converter,
|
||||
request_router,
|
||||
routing_error_handler,
|
||||
}
|
||||
}
|
||||
|
||||
/// Core function to poll the next TC packet and try to handle it.
|
||||
pub fn handle_one_tc(&mut self) -> Result<PusPacketHandlerResult, PusPacketHandlingError> {
|
||||
let possible_packet = self.service_helper.retrieve_and_accept_next_packet()?;
|
||||
if possible_packet.is_none() {
|
||||
return Ok(PusPacketHandlerResult::Empty);
|
||||
}
|
||||
let ecss_tc_and_token = possible_packet.unwrap();
|
||||
let tc = self
|
||||
.service_helper
|
||||
.tc_in_mem_converter
|
||||
.convert_ecss_tc_in_memory_to_reader(&ecss_tc_and_token.tc_in_memory)?;
|
||||
let mut partial_error = None;
|
||||
let time_stamp = get_current_cds_short_timestamp(&mut partial_error);
|
||||
let (target_id, action_request) = self.request_converter.convert(
|
||||
ecss_tc_and_token.token,
|
||||
&tc,
|
||||
&time_stamp,
|
||||
&self.service_helper.common.verification_handler,
|
||||
)?;
|
||||
if let Err(e) =
|
||||
self.request_router
|
||||
.route(target_id, action_request, ecss_tc_and_token.token)
|
||||
{
|
||||
self.routing_error_handler.handle_error(
|
||||
target_id,
|
||||
ecss_tc_and_token.token,
|
||||
&tc,
|
||||
e.clone(),
|
||||
&time_stamp,
|
||||
&self.service_helper.common.verification_handler,
|
||||
);
|
||||
return Err(e.into());
|
||||
}
|
||||
Ok(PusPacketHandlerResult::RequestHandled)
|
||||
}
|
||||
}
|
||||
}
|
||||
|
||||
#[cfg(test)]
|
||||
mod tests {
|
||||
use delegate::delegate;
|
||||
|
||||
use spacepackets::{
|
||||
ecss::{
|
||||
tc::{PusTcCreator, PusTcReader, PusTcSecondaryHeader},
|
||||
tm::PusTmReader,
|
||||
PusPacket,
|
||||
},
|
||||
CcsdsPacket, SequenceFlags, SpHeader,
|
||||
};
|
||||
|
||||
use crate::pus::{
|
||||
tests::{
|
||||
PusServiceHandlerWithVecCommon, PusTestHarness, SimplePusPacketHandler, TestConverter,
|
||||
TestRouter, TestRoutingErrorHandler, APP_DATA_TOO_SHORT, TEST_APID,
|
||||
},
|
||||
verification::{
|
||||
tests::TestVerificationReporter, FailParams, RequestId, VerificationReportingProvider,
|
||||
},
|
||||
EcssTcInVecConverter, GenericRoutingError, MpscTcReceiver, PusPacketHandlerResult,
|
||||
PusPacketHandlingError, TmAsVecSenderWithMpsc,
|
||||
};
|
||||
|
||||
use super::*;
|
||||
|
||||
impl PusActionRequestRouter for TestRouter<ActionRequest> {
|
||||
type Error = GenericRoutingError;
|
||||
|
||||
fn route(
|
||||
&self,
|
||||
target_id: TargetId,
|
||||
hk_request: ActionRequest,
|
||||
_token: VerificationToken<TcStateAccepted>,
|
||||
) -> Result<(), Self::Error> {
|
||||
self.routing_requests
|
||||
.borrow_mut()
|
||||
.push_back((target_id, hk_request));
|
||||
self.check_for_injected_error()
|
||||
}
|
||||
}
|
||||
|
||||
impl PusActionToRequestConverter for TestConverter<8> {
|
||||
type Error = PusPacketHandlingError;
|
||||
fn convert(
|
||||
&mut self,
|
||||
token: VerificationToken<TcStateAccepted>,
|
||||
tc: &PusTcReader,
|
||||
time_stamp: &[u8],
|
||||
verif_reporter: &impl VerificationReportingProvider,
|
||||
) -> Result<(TargetId, ActionRequest), Self::Error> {
|
||||
self.conversion_request.push_back(tc.raw_data().to_vec());
|
||||
self.check_service(tc)?;
|
||||
let target_id = tc.apid();
|
||||
if tc.user_data().len() < 4 {
|
||||
verif_reporter
|
||||
.start_failure(
|
||||
token,
|
||||
FailParams::new(
|
||||
time_stamp,
|
||||
&APP_DATA_TOO_SHORT,
|
||||
(tc.user_data().len() as u32).to_be_bytes().as_ref(),
|
||||
),
|
||||
)
|
||||
.expect("start success failure");
|
||||
return Err(PusPacketHandlingError::NotEnoughAppData {
|
||||
expected: 4,
|
||||
found: tc.user_data().len(),
|
||||
});
|
||||
}
|
||||
if tc.subservice() == 1 {
|
||||
verif_reporter
|
||||
.start_success(token, time_stamp)
|
||||
.expect("start success failure");
|
||||
return Ok((
|
||||
target_id.into(),
|
||||
ActionRequest::UnsignedIdAndVecData {
|
||||
action_id: u32::from_be_bytes(tc.user_data()[0..4].try_into().unwrap()),
|
||||
data: tc.user_data()[4..].to_vec(),
|
||||
},
|
||||
));
|
||||
}
|
||||
Err(PusPacketHandlingError::InvalidAppData(
|
||||
"unexpected app data".into(),
|
||||
))
|
||||
}
|
||||
}
|
||||
|
||||
struct Pus8HandlerWithVecTester {
|
||||
common: PusServiceHandlerWithVecCommon<TestVerificationReporter>,
|
||||
handler: PusService8ActionHandler<
|
||||
MpscTcReceiver,
|
||||
TmAsVecSenderWithMpsc,
|
||||
EcssTcInVecConverter,
|
||||
TestVerificationReporter,
|
||||
TestConverter<8>,
|
||||
TestRouter<ActionRequest>,
|
||||
TestRoutingErrorHandler,
|
||||
>,
|
||||
}
|
||||
|
||||
impl Pus8HandlerWithVecTester {
|
||||
pub fn new() -> Self {
|
||||
let (common, srv_handler) =
|
||||
PusServiceHandlerWithVecCommon::new_with_test_verif_sender();
|
||||
Self {
|
||||
common,
|
||||
handler: PusService8ActionHandler::new(
|
||||
srv_handler,
|
||||
TestConverter::default(),
|
||||
TestRouter::default(),
|
||||
TestRoutingErrorHandler::default(),
|
||||
),
|
||||
}
|
||||
}
|
||||
|
||||
delegate! {
|
||||
to self.handler.request_converter {
|
||||
pub fn check_next_conversion(&mut self, tc: &PusTcCreator);
|
||||
}
|
||||
}
|
||||
delegate! {
|
||||
to self.handler.request_router {
|
||||
pub fn retrieve_next_request(&mut self) -> (TargetId, ActionRequest);
|
||||
}
|
||||
}
|
||||
delegate! {
|
||||
to self.handler.routing_error_handler {
|
||||
pub fn retrieve_next_error(&mut self) -> (TargetId, GenericRoutingError);
|
||||
}
|
||||
}
|
||||
}
|
||||
|
||||
impl PusTestHarness for Pus8HandlerWithVecTester {
|
||||
delegate! {
|
||||
to self.common {
|
||||
fn send_tc(&mut self, tc: &PusTcCreator) -> VerificationToken<TcStateAccepted>;
|
||||
fn read_next_tm(&mut self) -> PusTmReader<'_>;
|
||||
fn check_no_tm_available(&self) -> bool;
|
||||
fn check_next_verification_tm(
|
||||
&self,
|
||||
subservice: u8,
|
||||
expected_request_id: RequestId,
|
||||
);
|
||||
}
|
||||
}
|
||||
}
|
||||
impl SimplePusPacketHandler for Pus8HandlerWithVecTester {
|
||||
delegate! {
|
||||
to self.handler {
|
||||
fn handle_one_tc(&mut self) -> Result<PusPacketHandlerResult, PusPacketHandlingError>;
|
||||
}
|
||||
}
|
||||
}
|
||||
|
||||
#[test]
|
||||
fn basic_test() {
|
||||
let mut action_handler = Pus8HandlerWithVecTester::new();
|
||||
let mut sp_header = SpHeader::tc(TEST_APID, SequenceFlags::Unsegmented, 0, 0).unwrap();
|
||||
let sec_header = PusTcSecondaryHeader::new_simple(8, 1);
|
||||
let action_id: u32 = 1;
|
||||
let action_id_raw = action_id.to_be_bytes();
|
||||
let tc = PusTcCreator::new(&mut sp_header, sec_header, action_id_raw.as_ref(), true);
|
||||
action_handler.send_tc(&tc);
|
||||
let result = action_handler.handle_one_tc();
|
||||
assert!(result.is_ok());
|
||||
action_handler.check_next_conversion(&tc);
|
||||
let (target_id, action_req) = action_handler.retrieve_next_request();
|
||||
assert_eq!(target_id, TEST_APID.into());
|
||||
if let ActionRequest::UnsignedIdAndVecData { action_id, data } = action_req {
|
||||
assert_eq!(action_id, 1);
|
||||
assert_eq!(data, &[]);
|
||||
}
|
||||
}
|
||||
|
||||
#[test]
|
||||
fn test_routing_error() {
|
||||
let mut action_handler = Pus8HandlerWithVecTester::new();
|
||||
let mut sp_header = SpHeader::tc(TEST_APID, SequenceFlags::Unsegmented, 0, 0).unwrap();
|
||||
let sec_header = PusTcSecondaryHeader::new_simple(8, 1);
|
||||
let action_id: u32 = 1;
|
||||
let action_id_raw = action_id.to_be_bytes();
|
||||
let tc = PusTcCreator::new(&mut sp_header, sec_header, action_id_raw.as_ref(), true);
|
||||
let error = GenericRoutingError::UnknownTargetId(25);
|
||||
action_handler
|
||||
.handler
|
||||
.request_router
|
||||
.inject_routing_error(error);
|
||||
action_handler.send_tc(&tc);
|
||||
let result = action_handler.handle_one_tc();
|
||||
assert!(result.is_err());
|
||||
let check_error = |routing_error: GenericRoutingError| {
|
||||
if let GenericRoutingError::UnknownTargetId(id) = routing_error {
|
||||
assert_eq!(id, 25);
|
||||
} else {
|
||||
panic!("unexpected error type");
|
||||
}
|
||||
};
|
||||
if let PusPacketHandlingError::RequestRoutingError(routing_error) = result.unwrap_err() {
|
||||
check_error(routing_error);
|
||||
} else {
|
||||
panic!("unexpected error type");
|
||||
}
|
||||
|
||||
action_handler.check_next_conversion(&tc);
|
||||
let (target_id, action_req) = action_handler.retrieve_next_request();
|
||||
assert_eq!(target_id, TEST_APID.into());
|
||||
if let ActionRequest::UnsignedIdAndVecData { action_id, data } = action_req {
|
||||
assert_eq!(action_id, 1);
|
||||
assert_eq!(data, &[]);
|
||||
}
|
||||
|
||||
let (target_id, found_error) = action_handler.retrieve_next_error();
|
||||
assert_eq!(target_id, TEST_APID.into());
|
||||
check_error(found_error);
|
||||
}
|
||||
}
|
||||
@ -2,6 +2,7 @@ use crate::pus::{source_buffer_large_enough, EcssTmtcError};
|
||||
use spacepackets::ecss::tm::PusTmCreator;
|
||||
use spacepackets::ecss::tm::PusTmSecondaryHeader;
|
||||
use spacepackets::ecss::{EcssEnumeration, PusError};
|
||||
use spacepackets::ByteConversionError;
|
||||
use spacepackets::{SpHeader, MAX_APID};
|
||||
|
||||
use crate::pus::EcssTmSenderCore;
|
||||
@ -9,145 +10,125 @@ use crate::pus::EcssTmSenderCore;
|
||||
pub use alloc_mod::EventReporter;
|
||||
pub use spacepackets::ecss::event::*;
|
||||
|
||||
pub struct EventReporterBase {
|
||||
msg_count: u16,
|
||||
pub struct EventReportCreator {
|
||||
apid: u16,
|
||||
pub dest_id: u16,
|
||||
}
|
||||
|
||||
impl EventReporterBase {
|
||||
impl EventReportCreator {
|
||||
pub fn new(apid: u16) -> Option<Self> {
|
||||
if apid > MAX_APID {
|
||||
return None;
|
||||
}
|
||||
Some(Self {
|
||||
msg_count: 0,
|
||||
// msg_count: 0,
|
||||
dest_id: 0,
|
||||
apid,
|
||||
})
|
||||
}
|
||||
|
||||
pub fn event_info(
|
||||
pub fn event_info<'time, 'src_data>(
|
||||
&mut self,
|
||||
buf: &mut [u8],
|
||||
sender: &mut (impl EcssTmSenderCore + ?Sized),
|
||||
time_stamp: &[u8],
|
||||
src_data_buf: &'src_data mut [u8],
|
||||
time_stamp: &'time [u8],
|
||||
event_id: impl EcssEnumeration,
|
||||
aux_data: Option<&[u8]>,
|
||||
) -> Result<(), EcssTmtcError> {
|
||||
aux_data: Option<&'src_data [u8]>,
|
||||
) -> Result<PusTmCreator<'time, 'src_data>, ByteConversionError> {
|
||||
self.generate_and_send_generic_tm(
|
||||
buf,
|
||||
src_data_buf,
|
||||
Subservice::TmInfoReport,
|
||||
sender,
|
||||
time_stamp,
|
||||
event_id,
|
||||
aux_data,
|
||||
)
|
||||
}
|
||||
|
||||
pub fn event_low_severity(
|
||||
pub fn event_low_severity<'time, 'src_data>(
|
||||
&mut self,
|
||||
buf: &mut [u8],
|
||||
sender: &mut (impl EcssTmSenderCore + ?Sized),
|
||||
time_stamp: &[u8],
|
||||
src_data_buf: &'src_data mut [u8],
|
||||
time_stamp: &'time [u8],
|
||||
event_id: impl EcssEnumeration,
|
||||
aux_data: Option<&[u8]>,
|
||||
) -> Result<(), EcssTmtcError> {
|
||||
aux_data: Option<&'src_data [u8]>,
|
||||
) -> Result<PusTmCreator<'time, 'src_data>, ByteConversionError> {
|
||||
self.generate_and_send_generic_tm(
|
||||
buf,
|
||||
src_data_buf,
|
||||
Subservice::TmLowSeverityReport,
|
||||
sender,
|
||||
time_stamp,
|
||||
event_id,
|
||||
aux_data,
|
||||
)
|
||||
}
|
||||
|
||||
pub fn event_medium_severity(
|
||||
pub fn event_medium_severity<'time, 'src_data>(
|
||||
&mut self,
|
||||
buf: &mut [u8],
|
||||
sender: &mut (impl EcssTmSenderCore + ?Sized),
|
||||
time_stamp: &[u8],
|
||||
buf: &'src_data mut [u8],
|
||||
time_stamp: &'time [u8],
|
||||
event_id: impl EcssEnumeration,
|
||||
aux_data: Option<&[u8]>,
|
||||
) -> Result<(), EcssTmtcError> {
|
||||
aux_data: Option<&'src_data [u8]>,
|
||||
) -> Result<PusTmCreator<'time, 'src_data>, ByteConversionError> {
|
||||
self.generate_and_send_generic_tm(
|
||||
buf,
|
||||
Subservice::TmMediumSeverityReport,
|
||||
sender,
|
||||
time_stamp,
|
||||
event_id,
|
||||
aux_data,
|
||||
)
|
||||
}
|
||||
|
||||
pub fn event_high_severity(
|
||||
pub fn event_high_severity<'time, 'src_data>(
|
||||
&mut self,
|
||||
buf: &mut [u8],
|
||||
sender: &mut (impl EcssTmSenderCore + ?Sized),
|
||||
time_stamp: &[u8],
|
||||
src_data_buf: &'src_data mut [u8],
|
||||
time_stamp: &'time [u8],
|
||||
event_id: impl EcssEnumeration,
|
||||
aux_data: Option<&[u8]>,
|
||||
) -> Result<(), EcssTmtcError> {
|
||||
aux_data: Option<&'src_data [u8]>,
|
||||
) -> Result<PusTmCreator<'time, 'src_data>, ByteConversionError> {
|
||||
self.generate_and_send_generic_tm(
|
||||
buf,
|
||||
src_data_buf,
|
||||
Subservice::TmHighSeverityReport,
|
||||
sender,
|
||||
time_stamp,
|
||||
event_id,
|
||||
aux_data,
|
||||
)
|
||||
}
|
||||
|
||||
fn generate_and_send_generic_tm(
|
||||
fn generate_and_send_generic_tm<'time, 'src_data>(
|
||||
&mut self,
|
||||
buf: &mut [u8],
|
||||
src_data_buf: &'src_data mut [u8],
|
||||
subservice: Subservice,
|
||||
sender: &mut (impl EcssTmSenderCore + ?Sized),
|
||||
time_stamp: &[u8],
|
||||
time_stamp: &'time [u8],
|
||||
event_id: impl EcssEnumeration,
|
||||
aux_data: Option<&[u8]>,
|
||||
) -> Result<(), EcssTmtcError> {
|
||||
let tm = self.generate_generic_event_tm(buf, subservice, time_stamp, event_id, aux_data)?;
|
||||
sender.send_tm(tm.into())?;
|
||||
self.msg_count += 1;
|
||||
Ok(())
|
||||
aux_data: Option<&'src_data [u8]>,
|
||||
) -> Result<PusTmCreator<'time, 'src_data>, ByteConversionError> {
|
||||
self.generate_generic_event_tm(src_data_buf, subservice, time_stamp, event_id, aux_data)
|
||||
}
|
||||
|
||||
fn generate_generic_event_tm<'a>(
|
||||
&'a self,
|
||||
buf: &'a mut [u8],
|
||||
fn generate_generic_event_tm<'time, 'src_data>(
|
||||
&self,
|
||||
src_data_buf: &'src_data mut [u8],
|
||||
subservice: Subservice,
|
||||
time_stamp: &'a [u8],
|
||||
time_stamp: &'time [u8],
|
||||
event_id: impl EcssEnumeration,
|
||||
aux_data: Option<&[u8]>,
|
||||
) -> Result<PusTmCreator, EcssTmtcError> {
|
||||
aux_data: Option<&'src_data [u8]>,
|
||||
) -> Result<PusTmCreator<'time, 'src_data>, ByteConversionError> {
|
||||
let mut src_data_len = event_id.size();
|
||||
if let Some(aux_data) = aux_data {
|
||||
src_data_len += aux_data.len();
|
||||
}
|
||||
source_buffer_large_enough(buf.len(), src_data_len)?;
|
||||
source_buffer_large_enough(src_data_buf.len(), src_data_len)?;
|
||||
let mut sp_header = SpHeader::tm_unseg(self.apid, 0, 0).unwrap();
|
||||
let sec_header = PusTmSecondaryHeader::new(
|
||||
5,
|
||||
subservice.into(),
|
||||
self.msg_count,
|
||||
self.dest_id,
|
||||
Some(time_stamp),
|
||||
);
|
||||
let sec_header =
|
||||
PusTmSecondaryHeader::new(5, subservice.into(), 0, self.dest_id, Some(time_stamp));
|
||||
let mut current_idx = 0;
|
||||
event_id
|
||||
.write_to_be_bytes(&mut buf[0..event_id.size()])
|
||||
.map_err(PusError::ByteConversion)?;
|
||||
event_id.write_to_be_bytes(&mut src_data_buf[0..event_id.size()])?;
|
||||
current_idx += event_id.size();
|
||||
if let Some(aux_data) = aux_data {
|
||||
buf[current_idx..current_idx + aux_data.len()].copy_from_slice(aux_data);
|
||||
src_data_buf[current_idx..current_idx + aux_data.len()].copy_from_slice(aux_data);
|
||||
current_idx += aux_data.len();
|
||||
}
|
||||
Ok(PusTmCreator::new(
|
||||
&mut sp_header,
|
||||
sec_header,
|
||||
&buf[0..current_idx],
|
||||
&src_data_buf[0..current_idx],
|
||||
true,
|
||||
))
|
||||
}
|
||||
@ -161,12 +142,12 @@ mod alloc_mod {
|
||||
|
||||
pub struct EventReporter {
|
||||
source_data_buf: Vec<u8>,
|
||||
pub reporter: EventReporterBase,
|
||||
pub reporter: EventReportCreator,
|
||||
}
|
||||
|
||||
impl EventReporter {
|
||||
pub fn new(apid: u16, max_event_id_and_aux_data_size: usize) -> Option<Self> {
|
||||
let reporter = EventReporterBase::new(apid)?;
|
||||
let reporter = EventReportCreator::new(apid)?;
|
||||
Some(Self {
|
||||
source_data_buf: vec![0; max_event_id_and_aux_data_size],
|
||||
reporter,
|
||||
@ -179,13 +160,17 @@ mod alloc_mod {
|
||||
event_id: impl EcssEnumeration,
|
||||
aux_data: Option<&[u8]>,
|
||||
) -> Result<(), EcssTmtcError> {
|
||||
self.reporter.event_info(
|
||||
let tm_creator = self
|
||||
.reporter
|
||||
.event_info(
|
||||
self.source_data_buf.as_mut_slice(),
|
||||
sender,
|
||||
time_stamp,
|
||||
event_id,
|
||||
aux_data,
|
||||
)
|
||||
.map_err(PusError::ByteConversion)?;
|
||||
sender.send_tm(tm_creator.into())?;
|
||||
Ok(())
|
||||
}
|
||||
|
||||
pub fn event_low_severity(
|
||||
@ -195,13 +180,17 @@ mod alloc_mod {
|
||||
event_id: impl EcssEnumeration,
|
||||
aux_data: Option<&[u8]>,
|
||||
) -> Result<(), EcssTmtcError> {
|
||||
self.reporter.event_low_severity(
|
||||
let tm_creator = self
|
||||
.reporter
|
||||
.event_low_severity(
|
||||
self.source_data_buf.as_mut_slice(),
|
||||
sender,
|
||||
time_stamp,
|
||||
event_id,
|
||||
aux_data,
|
||||
)
|
||||
.map_err(PusError::ByteConversion)?;
|
||||
sender.send_tm(tm_creator.into())?;
|
||||
Ok(())
|
||||
}
|
||||
|
||||
pub fn event_medium_severity(
|
||||
@ -211,13 +200,17 @@ mod alloc_mod {
|
||||
event_id: impl EcssEnumeration,
|
||||
aux_data: Option<&[u8]>,
|
||||
) -> Result<(), EcssTmtcError> {
|
||||
self.reporter.event_medium_severity(
|
||||
let tm_creator = self
|
||||
.reporter
|
||||
.event_medium_severity(
|
||||
self.source_data_buf.as_mut_slice(),
|
||||
sender,
|
||||
time_stamp,
|
||||
event_id,
|
||||
aux_data,
|
||||
)
|
||||
.map_err(PusError::ByteConversion)?;
|
||||
sender.send_tm(tm_creator.into())?;
|
||||
Ok(())
|
||||
}
|
||||
|
||||
pub fn event_high_severity(
|
||||
@ -227,13 +220,17 @@ mod alloc_mod {
|
||||
event_id: impl EcssEnumeration,
|
||||
aux_data: Option<&[u8]>,
|
||||
) -> Result<(), EcssTmtcError> {
|
||||
self.reporter.event_high_severity(
|
||||
let tm_creator = self
|
||||
.reporter
|
||||
.event_high_severity(
|
||||
self.source_data_buf.as_mut_slice(),
|
||||
sender,
|
||||
time_stamp,
|
||||
event_id,
|
||||
aux_data,
|
||||
)
|
||||
.map_err(PusError::ByteConversion)?;
|
||||
sender.send_tm(tm_creator.into())?;
|
||||
Ok(())
|
||||
}
|
||||
}
|
||||
}
|
||||
@ -269,7 +266,7 @@ mod tests {
|
||||
}
|
||||
|
||||
impl EcssChannel for TestSender {
|
||||
fn id(&self) -> ChannelId {
|
||||
fn channel_id(&self) -> ChannelId {
|
||||
0
|
||||
}
|
||||
}
|
||||
|
||||
@ -2,8 +2,6 @@ use crate::events::{EventU32, GenericEvent, Severity};
|
||||
#[cfg(feature = "alloc")]
|
||||
use crate::events::{EventU32TypedSev, HasSeverity};
|
||||
#[cfg(feature = "alloc")]
|
||||
use alloc::boxed::Box;
|
||||
#[cfg(feature = "alloc")]
|
||||
use core::hash::Hash;
|
||||
#[cfg(feature = "alloc")]
|
||||
use hashbrown::HashSet;
|
||||
@ -32,19 +30,19 @@ pub use heapless_mod::*;
|
||||
/// structure to track disabled events. A more primitive and embedded friendly
|
||||
/// solution could track this information in a static or pre-allocated list which contains
|
||||
/// the disabled events.
|
||||
pub trait PusEventMgmtBackendProvider<Provider: GenericEvent> {
|
||||
pub trait PusEventMgmtBackendProvider<Event: GenericEvent> {
|
||||
type Error;
|
||||
|
||||
fn event_enabled(&self, event: &Provider) -> bool;
|
||||
fn enable_event_reporting(&mut self, event: &Provider) -> Result<bool, Self::Error>;
|
||||
fn disable_event_reporting(&mut self, event: &Provider) -> Result<bool, Self::Error>;
|
||||
fn event_enabled(&self, event: &Event) -> bool;
|
||||
fn enable_event_reporting(&mut self, event: &Event) -> Result<bool, Self::Error>;
|
||||
fn disable_event_reporting(&mut self, event: &Event) -> Result<bool, Self::Error>;
|
||||
}
|
||||
|
||||
#[cfg(feature = "heapless")]
|
||||
pub mod heapless_mod {
|
||||
use super::*;
|
||||
use crate::events::{GenericEvent, LargestEventRaw};
|
||||
use std::marker::PhantomData;
|
||||
use crate::events::LargestEventRaw;
|
||||
use core::marker::PhantomData;
|
||||
|
||||
#[cfg_attr(doc_cfg, doc(cfg(feature = "heapless")))]
|
||||
// TODO: After a new version of heapless is released which uses hash32 version 0.3, try using
|
||||
@ -108,6 +106,10 @@ impl From<EcssTmtcError> for EventManError {
|
||||
|
||||
#[cfg(feature = "alloc")]
|
||||
pub mod alloc_mod {
|
||||
use core::marker::PhantomData;
|
||||
|
||||
use crate::events::EventU16;
|
||||
|
||||
use super::*;
|
||||
|
||||
/// Default backend provider which uses a hash set as the event reporting status container
|
||||
@ -115,14 +117,11 @@ pub mod alloc_mod {
|
||||
///
|
||||
/// This provider is a good option for host systems or larger embedded systems where
|
||||
/// the expected occasional memory allocation performed by the [HashSet] is not an issue.
|
||||
pub struct DefaultPusMgmtBackendProvider<Event: GenericEvent = EventU32> {
|
||||
pub struct DefaultPusEventMgmtBackend<Event: GenericEvent = EventU32> {
|
||||
disabled: HashSet<Event>,
|
||||
}
|
||||
|
||||
/// Safety: All contained field are [Send] as well
|
||||
unsafe impl<Event: GenericEvent + Send> Send for DefaultPusMgmtBackendProvider<Event> {}
|
||||
|
||||
impl<Event: GenericEvent> Default for DefaultPusMgmtBackendProvider<Event> {
|
||||
impl<Event: GenericEvent> Default for DefaultPusEventMgmtBackend<Event> {
|
||||
fn default() -> Self {
|
||||
Self {
|
||||
disabled: HashSet::default(),
|
||||
@ -130,46 +129,50 @@ pub mod alloc_mod {
|
||||
}
|
||||
}
|
||||
|
||||
impl<Provider: GenericEvent + PartialEq + Eq + Hash + Copy + Clone>
|
||||
PusEventMgmtBackendProvider<Provider> for DefaultPusMgmtBackendProvider<Provider>
|
||||
impl<EV: GenericEvent + PartialEq + Eq + Hash + Copy + Clone> PusEventMgmtBackendProvider<EV>
|
||||
for DefaultPusEventMgmtBackend<EV>
|
||||
{
|
||||
type Error = ();
|
||||
fn event_enabled(&self, event: &Provider) -> bool {
|
||||
|
||||
fn event_enabled(&self, event: &EV) -> bool {
|
||||
!self.disabled.contains(event)
|
||||
}
|
||||
|
||||
fn enable_event_reporting(&mut self, event: &Provider) -> Result<bool, Self::Error> {
|
||||
fn enable_event_reporting(&mut self, event: &EV) -> Result<bool, Self::Error> {
|
||||
Ok(self.disabled.remove(event))
|
||||
}
|
||||
|
||||
fn disable_event_reporting(&mut self, event: &Provider) -> Result<bool, Self::Error> {
|
||||
fn disable_event_reporting(&mut self, event: &EV) -> Result<bool, Self::Error> {
|
||||
Ok(self.disabled.insert(*event))
|
||||
}
|
||||
}
|
||||
|
||||
pub struct PusEventDispatcher<BackendError, Provider: GenericEvent> {
|
||||
pub struct PusEventDispatcher<
|
||||
B: PusEventMgmtBackendProvider<EV, Error = E>,
|
||||
EV: GenericEvent,
|
||||
E,
|
||||
> {
|
||||
reporter: EventReporter,
|
||||
backend: Box<dyn PusEventMgmtBackendProvider<Provider, Error = BackendError>>,
|
||||
backend: B,
|
||||
phantom: PhantomData<(E, EV)>,
|
||||
}
|
||||
|
||||
/// Safety: All contained fields are send as well.
|
||||
unsafe impl<E: Send, Event: GenericEvent + Send> Send for PusEventDispatcher<E, Event> {}
|
||||
|
||||
impl<BackendError, Provider: GenericEvent> PusEventDispatcher<BackendError, Provider> {
|
||||
pub fn new(
|
||||
reporter: EventReporter,
|
||||
backend: Box<dyn PusEventMgmtBackendProvider<Provider, Error = BackendError>>,
|
||||
) -> Self {
|
||||
Self { reporter, backend }
|
||||
impl<B: PusEventMgmtBackendProvider<EV, Error = E>, EV: GenericEvent, E>
|
||||
PusEventDispatcher<B, EV, E>
|
||||
{
|
||||
pub fn new(reporter: EventReporter, backend: B) -> Self {
|
||||
Self {
|
||||
reporter,
|
||||
backend,
|
||||
phantom: PhantomData,
|
||||
}
|
||||
}
|
||||
|
||||
impl<BackendError, Event: GenericEvent> PusEventDispatcher<BackendError, Event> {
|
||||
pub fn enable_tm_for_event(&mut self, event: &Event) -> Result<bool, BackendError> {
|
||||
pub fn enable_tm_for_event(&mut self, event: &EV) -> Result<bool, E> {
|
||||
self.backend.enable_event_reporting(event)
|
||||
}
|
||||
|
||||
pub fn disable_tm_for_event(&mut self, event: &Event) -> Result<bool, BackendError> {
|
||||
pub fn disable_tm_for_event(&mut self, event: &EV) -> Result<bool, E> {
|
||||
self.backend.disable_event_reporting(event)
|
||||
}
|
||||
|
||||
@ -177,7 +180,7 @@ pub mod alloc_mod {
|
||||
&mut self,
|
||||
sender: &mut (impl EcssTmSenderCore + ?Sized),
|
||||
time_stamp: &[u8],
|
||||
event: Event,
|
||||
event: EV,
|
||||
aux_data: Option<&[u8]>,
|
||||
) -> Result<bool, EventManError> {
|
||||
if !self.backend.event_enabled(&event) {
|
||||
@ -208,18 +211,30 @@ pub mod alloc_mod {
|
||||
}
|
||||
}
|
||||
|
||||
impl<BackendError> PusEventDispatcher<BackendError, EventU32> {
|
||||
impl<EV: GenericEvent + Copy + PartialEq + Eq + Hash>
|
||||
PusEventDispatcher<DefaultPusEventMgmtBackend<EV>, EV, ()>
|
||||
{
|
||||
pub fn new_with_default_backend(reporter: EventReporter) -> Self {
|
||||
Self {
|
||||
reporter,
|
||||
backend: DefaultPusEventMgmtBackend::default(),
|
||||
phantom: PhantomData,
|
||||
}
|
||||
}
|
||||
}
|
||||
|
||||
impl<B: PusEventMgmtBackendProvider<EventU32, Error = E>, E> PusEventDispatcher<B, EventU32, E> {
|
||||
pub fn enable_tm_for_event_with_sev<Severity: HasSeverity>(
|
||||
&mut self,
|
||||
event: &EventU32TypedSev<Severity>,
|
||||
) -> Result<bool, BackendError> {
|
||||
) -> Result<bool, E> {
|
||||
self.backend.enable_event_reporting(event.as_ref())
|
||||
}
|
||||
|
||||
pub fn disable_tm_for_event_with_sev<Severity: HasSeverity>(
|
||||
&mut self,
|
||||
event: &EventU32TypedSev<Severity>,
|
||||
) -> Result<bool, BackendError> {
|
||||
) -> Result<bool, E> {
|
||||
self.backend.disable_event_reporting(event.as_ref())
|
||||
}
|
||||
|
||||
@ -233,30 +248,38 @@ pub mod alloc_mod {
|
||||
self.generate_pus_event_tm_generic(sender, time_stamp, event.into(), aux_data)
|
||||
}
|
||||
}
|
||||
|
||||
pub type DefaultPusEventU16Dispatcher<E> =
|
||||
PusEventDispatcher<DefaultPusEventMgmtBackend<EventU16>, EventU16, E>;
|
||||
pub type DefaultPusEventU32Dispatcher<E> =
|
||||
PusEventDispatcher<DefaultPusEventMgmtBackend<EventU32>, EventU32, E>;
|
||||
}
|
||||
#[cfg(test)]
|
||||
mod tests {
|
||||
use super::*;
|
||||
use crate::events::SeverityInfo;
|
||||
use crate::pus::MpscTmAsVecSender;
|
||||
use std::sync::mpsc::{channel, TryRecvError};
|
||||
use crate::{events::SeverityInfo, pus::TmAsVecSenderWithMpsc};
|
||||
use std::sync::mpsc::{self, TryRecvError};
|
||||
|
||||
const INFO_EVENT: EventU32TypedSev<SeverityInfo> =
|
||||
EventU32TypedSev::<SeverityInfo>::const_new(1, 0);
|
||||
const LOW_SEV_EVENT: EventU32 = EventU32::const_new(Severity::LOW, 1, 5);
|
||||
const EMPTY_STAMP: [u8; 7] = [0; 7];
|
||||
|
||||
fn create_basic_man() -> PusEventDispatcher<(), EventU32> {
|
||||
fn create_basic_man_1() -> DefaultPusEventU32Dispatcher<()> {
|
||||
let reporter = EventReporter::new(0x02, 128).expect("Creating event repoter failed");
|
||||
let backend = DefaultPusMgmtBackendProvider::<EventU32>::default();
|
||||
PusEventDispatcher::new(reporter, Box::new(backend))
|
||||
PusEventDispatcher::new_with_default_backend(reporter)
|
||||
}
|
||||
fn create_basic_man_2() -> DefaultPusEventU32Dispatcher<()> {
|
||||
let reporter = EventReporter::new(0x02, 128).expect("Creating event repoter failed");
|
||||
let backend = DefaultPusEventMgmtBackend::default();
|
||||
PusEventDispatcher::new(reporter, backend)
|
||||
}
|
||||
|
||||
#[test]
|
||||
fn test_basic() {
|
||||
let mut event_man = create_basic_man();
|
||||
let (event_tx, event_rx) = channel();
|
||||
let mut sender = MpscTmAsVecSender::new(0, "test_sender", event_tx);
|
||||
let mut event_man = create_basic_man_1();
|
||||
let (event_tx, event_rx) = mpsc::channel();
|
||||
let mut sender = TmAsVecSenderWithMpsc::new(0, "test_sender", event_tx);
|
||||
let event_sent = event_man
|
||||
.generate_pus_event_tm(&mut sender, &EMPTY_STAMP, INFO_EVENT, None)
|
||||
.expect("Sending info event failed");
|
||||
@ -268,9 +291,9 @@ mod tests {
|
||||
|
||||
#[test]
|
||||
fn test_disable_event() {
|
||||
let mut event_man = create_basic_man();
|
||||
let (event_tx, event_rx) = channel();
|
||||
let mut sender = MpscTmAsVecSender::new(0, "test", event_tx);
|
||||
let mut event_man = create_basic_man_2();
|
||||
let (event_tx, event_rx) = mpsc::channel();
|
||||
let mut sender = TmAsVecSenderWithMpsc::new(0, "test", event_tx);
|
||||
let res = event_man.disable_tm_for_event(&LOW_SEV_EVENT);
|
||||
assert!(res.is_ok());
|
||||
assert!(res.unwrap());
|
||||
@ -291,9 +314,9 @@ mod tests {
|
||||
|
||||
#[test]
|
||||
fn test_reenable_event() {
|
||||
let mut event_man = create_basic_man();
|
||||
let (event_tx, event_rx) = channel();
|
||||
let mut sender = MpscTmAsVecSender::new(0, "test", event_tx);
|
||||
let mut event_man = create_basic_man_1();
|
||||
let (event_tx, event_rx) = mpsc::channel();
|
||||
let mut sender = TmAsVecSenderWithMpsc::new(0, "test", event_tx);
|
||||
let mut res = event_man.disable_tm_for_event_with_sev(&INFO_EVENT);
|
||||
assert!(res.is_ok());
|
||||
assert!(res.unwrap());
|
||||
|
||||
@ -6,20 +6,41 @@ use spacepackets::ecss::event::Subservice;
|
||||
use spacepackets::ecss::PusPacket;
|
||||
use std::sync::mpsc::Sender;
|
||||
|
||||
use super::{EcssTcInMemConverter, PusServiceBase, PusServiceHelper};
|
||||
use super::verification::VerificationReportingProvider;
|
||||
use super::{
|
||||
get_current_cds_short_timestamp, EcssTcInMemConverter, EcssTcReceiverCore, EcssTmSenderCore,
|
||||
PusServiceHelper,
|
||||
};
|
||||
|
||||
pub struct PusService5EventHandler<TcInMemConverter: EcssTcInMemConverter> {
|
||||
pub service_helper: PusServiceHelper<TcInMemConverter>,
|
||||
pub struct PusService5EventHandler<
|
||||
TcReceiver: EcssTcReceiverCore,
|
||||
TmSender: EcssTmSenderCore,
|
||||
TcInMemConverter: EcssTcInMemConverter,
|
||||
VerificationReporter: VerificationReportingProvider,
|
||||
> {
|
||||
pub service_helper:
|
||||
PusServiceHelper<TcReceiver, TmSender, TcInMemConverter, VerificationReporter>,
|
||||
event_request_tx: Sender<EventRequestWithToken>,
|
||||
}
|
||||
|
||||
impl<TcInMemConverter: EcssTcInMemConverter> PusService5EventHandler<TcInMemConverter> {
|
||||
impl<
|
||||
TcReceiver: EcssTcReceiverCore,
|
||||
TmSender: EcssTmSenderCore,
|
||||
TcInMemConverter: EcssTcInMemConverter,
|
||||
VerificationReporter: VerificationReportingProvider,
|
||||
> PusService5EventHandler<TcReceiver, TmSender, TcInMemConverter, VerificationReporter>
|
||||
{
|
||||
pub fn new(
|
||||
service_handler: PusServiceHelper<TcInMemConverter>,
|
||||
service_helper: PusServiceHelper<
|
||||
TcReceiver,
|
||||
TmSender,
|
||||
TcInMemConverter,
|
||||
VerificationReporter,
|
||||
>,
|
||||
event_request_tx: Sender<EventRequestWithToken>,
|
||||
) -> Self {
|
||||
Self {
|
||||
service_helper: service_handler,
|
||||
service_helper,
|
||||
event_request_tx,
|
||||
}
|
||||
}
|
||||
@ -44,9 +65,10 @@ impl<TcInMemConverter: EcssTcInMemConverter> PusService5EventHandler<TcInMemConv
|
||||
}
|
||||
let handle_enable_disable_request = |enable: bool, stamp: [u8; 7]| {
|
||||
if tc.user_data().len() < 4 {
|
||||
return Err(PusPacketHandlingError::NotEnoughAppData(
|
||||
"at least 4 bytes event ID expected".into(),
|
||||
));
|
||||
return Err(PusPacketHandlingError::NotEnoughAppData {
|
||||
expected: 4,
|
||||
found: tc.user_data().len(),
|
||||
});
|
||||
}
|
||||
let user_data = tc.user_data();
|
||||
let event_u32 = EventU32::from(u32::from_be_bytes(user_data[0..4].try_into().unwrap()));
|
||||
@ -54,8 +76,7 @@ impl<TcInMemConverter: EcssTcInMemConverter> PusService5EventHandler<TcInMemConv
|
||||
.service_helper
|
||||
.common
|
||||
.verification_handler
|
||||
.borrow_mut()
|
||||
.start_success(ecss_tc_and_token.token, Some(&stamp))
|
||||
.start_success(ecss_tc_and_token.token, &stamp)
|
||||
.map_err(|_| PartialPusHandlingError::Verification);
|
||||
let partial_error = start_token.clone().err();
|
||||
let mut token: TcStateToken = ecss_tc_and_token.token.into();
|
||||
@ -86,7 +107,7 @@ impl<TcInMemConverter: EcssTcInMemConverter> PusService5EventHandler<TcInMemConv
|
||||
Ok(PusPacketHandlerResult::RequestHandled)
|
||||
};
|
||||
let mut partial_error = None;
|
||||
let time_stamp = PusServiceBase::get_current_timestamp(&mut partial_error);
|
||||
let time_stamp = get_current_cds_short_timestamp(&mut partial_error);
|
||||
match srv.unwrap() {
|
||||
Subservice::TmInfoReport
|
||||
| Subservice::TmLowSeverityReport
|
||||
@ -128,7 +149,10 @@ mod tests {
|
||||
|
||||
use crate::pus::event_man::EventRequest;
|
||||
use crate::pus::tests::SimplePusPacketHandler;
|
||||
use crate::pus::verification::RequestId;
|
||||
use crate::pus::verification::{
|
||||
RequestId, VerificationReporterWithSharedPoolMpscBoundedSender,
|
||||
};
|
||||
use crate::pus::{MpscTcReceiver, TmInSharedPoolSenderWithBoundedMpsc};
|
||||
use crate::{
|
||||
events::EventU32,
|
||||
pus::{
|
||||
@ -145,7 +169,12 @@ mod tests {
|
||||
|
||||
struct Pus5HandlerWithStoreTester {
|
||||
common: PusServiceHandlerWithSharedStoreCommon,
|
||||
handler: PusService5EventHandler<EcssTcInSharedStoreConverter>,
|
||||
handler: PusService5EventHandler<
|
||||
MpscTcReceiver,
|
||||
TmInSharedPoolSenderWithBoundedMpsc,
|
||||
EcssTcInSharedStoreConverter,
|
||||
VerificationReporterWithSharedPoolMpscBoundedSender,
|
||||
>,
|
||||
}
|
||||
|
||||
impl Pus5HandlerWithStoreTester {
|
||||
@ -271,8 +300,9 @@ mod tests {
|
||||
let result = test_harness.handle_one_tc();
|
||||
assert!(result.is_err());
|
||||
let result = result.unwrap_err();
|
||||
if let PusPacketHandlingError::NotEnoughAppData(string) = result {
|
||||
assert_eq!(string, "at least 4 bytes event ID expected");
|
||||
if let PusPacketHandlingError::NotEnoughAppData { expected, found } = result {
|
||||
assert_eq!(expected, 4);
|
||||
assert_eq!(found, 3);
|
||||
} else {
|
||||
panic!("unexpected result type {result:?}")
|
||||
}
|
||||
|
||||
@ -1 +1,406 @@
|
||||
pub use spacepackets::ecss::hk::*;
|
||||
|
||||
#[cfg(feature = "std")]
|
||||
#[cfg_attr(doc_cfg, doc(cfg(feature = "std")))]
|
||||
pub use std_mod::*;
|
||||
|
||||
#[cfg(feature = "alloc")]
|
||||
#[cfg_attr(doc_cfg, doc(cfg(feature = "alloc")))]
|
||||
pub use alloc_mod::*;
|
||||
|
||||
use crate::{hk::HkRequest, TargetId};
|
||||
|
||||
use super::verification::{TcStateAccepted, VerificationToken};
|
||||
|
||||
/// This trait is an abstraction for the routing of PUS service 3 housekeeping requests to a
|
||||
/// dedicated recipient using the generic [TargetId].
|
||||
pub trait PusHkRequestRouter {
|
||||
type Error;
|
||||
fn route(
|
||||
&self,
|
||||
target_id: TargetId,
|
||||
hk_request: HkRequest,
|
||||
token: VerificationToken<TcStateAccepted>,
|
||||
) -> Result<(), Self::Error>;
|
||||
}
|
||||
|
||||
#[cfg(feature = "alloc")]
|
||||
#[cfg_attr(doc_cfg, doc(cfg(feature = "alloc")))]
|
||||
pub mod alloc_mod {
|
||||
use spacepackets::ecss::tc::PusTcReader;
|
||||
|
||||
use crate::pus::verification::VerificationReportingProvider;
|
||||
|
||||
use super::*;
|
||||
|
||||
/// This trait is an abstraction for the conversion of a PUS service 8 action telecommand into
|
||||
/// a [HkRequest].
|
||||
///
|
||||
/// Having a dedicated trait for this allows maximum flexiblity and tailoring of the standard.
|
||||
/// The only requirement is that a valid [TargetId] and a [HkRequest] are returned by the
|
||||
/// core conversion function.
|
||||
///
|
||||
/// The user should take care of performing the error handling as well. Some of the following
|
||||
/// aspects might be relevant:
|
||||
///
|
||||
/// - Checking the validity of the APID, service ID, subservice ID.
|
||||
/// - Checking the validity of the user data.
|
||||
///
|
||||
/// A [VerificationReportingProvider] is passed to the user to also allow handling
|
||||
/// of the verification process as part of the PUS standard requirements.
|
||||
pub trait PusHkToRequestConverter {
|
||||
type Error;
|
||||
fn convert(
|
||||
&mut self,
|
||||
token: VerificationToken<TcStateAccepted>,
|
||||
tc: &PusTcReader,
|
||||
time_stamp: &[u8],
|
||||
verif_reporter: &impl VerificationReportingProvider,
|
||||
) -> Result<(TargetId, HkRequest), Self::Error>;
|
||||
}
|
||||
}
|
||||
|
||||
#[cfg(feature = "std")]
|
||||
#[cfg_attr(doc_cfg, doc(cfg(feature = "std")))]
|
||||
pub mod std_mod {
|
||||
use crate::pus::{
|
||||
get_current_cds_short_timestamp, verification::VerificationReportingProvider,
|
||||
EcssTcInMemConverter, EcssTcReceiverCore, EcssTmSenderCore, GenericRoutingError,
|
||||
PusPacketHandlerResult, PusPacketHandlingError, PusRoutingErrorHandler, PusServiceHelper,
|
||||
};
|
||||
|
||||
use super::*;
|
||||
|
||||
/// This is a generic high-level handler for the PUS service 3 housekeeping service.
|
||||
///
|
||||
/// It performs the following handling steps:
|
||||
///
|
||||
/// 1. Retrieve the next TC packet from the [PusServiceHelper]. The [EcssTcInMemConverter]
|
||||
/// allows to configure the used telecommand memory backend.
|
||||
/// 2. Convert the TC to a targeted action request using the provided
|
||||
/// [PusHkToRequestConverter]. The generic error type is constrained to the
|
||||
/// [PusPacketHandlerResult] for the concrete implementation which offers a packet handler.
|
||||
/// 3. Route the action request using the provided [PusHkRequestRouter]. The generic error
|
||||
/// type is constrained to the [GenericRoutingError] for the concrete implementation.
|
||||
/// 4. Handle all routing errors using the provided [PusRoutingErrorHandler]. The generic error
|
||||
/// type is constrained to the [GenericRoutingError] for the concrete implementation.
|
||||
pub struct PusService3HkHandler<
|
||||
TcReceiver: EcssTcReceiverCore,
|
||||
TmSender: EcssTmSenderCore,
|
||||
TcInMemConverter: EcssTcInMemConverter,
|
||||
VerificationReporter: VerificationReportingProvider,
|
||||
RequestConverter: PusHkToRequestConverter,
|
||||
RequestRouter: PusHkRequestRouter<Error = RoutingError>,
|
||||
RoutingErrorHandler: PusRoutingErrorHandler<Error = RoutingError>,
|
||||
RoutingError = GenericRoutingError,
|
||||
> {
|
||||
service_helper:
|
||||
PusServiceHelper<TcReceiver, TmSender, TcInMemConverter, VerificationReporter>,
|
||||
pub request_converter: RequestConverter,
|
||||
pub request_router: RequestRouter,
|
||||
pub routing_error_handler: RoutingErrorHandler,
|
||||
}
|
||||
|
||||
impl<
|
||||
TcReceiver: EcssTcReceiverCore,
|
||||
TmSender: EcssTmSenderCore,
|
||||
TcInMemConverter: EcssTcInMemConverter,
|
||||
VerificationReporter: VerificationReportingProvider,
|
||||
RequestConverter: PusHkToRequestConverter<Error = PusPacketHandlingError>,
|
||||
RequestRouter: PusHkRequestRouter<Error = RoutingError>,
|
||||
RoutingErrorHandler: PusRoutingErrorHandler<Error = RoutingError>,
|
||||
RoutingError: Clone,
|
||||
>
|
||||
PusService3HkHandler<
|
||||
TcReceiver,
|
||||
TmSender,
|
||||
TcInMemConverter,
|
||||
VerificationReporter,
|
||||
RequestConverter,
|
||||
RequestRouter,
|
||||
RoutingErrorHandler,
|
||||
RoutingError,
|
||||
>
|
||||
where
|
||||
PusPacketHandlingError: From<RoutingError>,
|
||||
{
|
||||
pub fn new(
|
||||
service_helper: PusServiceHelper<
|
||||
TcReceiver,
|
||||
TmSender,
|
||||
TcInMemConverter,
|
||||
VerificationReporter,
|
||||
>,
|
||||
request_converter: RequestConverter,
|
||||
request_router: RequestRouter,
|
||||
routing_error_handler: RoutingErrorHandler,
|
||||
) -> Self {
|
||||
Self {
|
||||
service_helper,
|
||||
request_converter,
|
||||
request_router,
|
||||
routing_error_handler,
|
||||
}
|
||||
}
|
||||
|
||||
pub fn handle_one_tc(&mut self) -> Result<PusPacketHandlerResult, PusPacketHandlingError> {
|
||||
let possible_packet = self.service_helper.retrieve_and_accept_next_packet()?;
|
||||
if possible_packet.is_none() {
|
||||
return Ok(PusPacketHandlerResult::Empty);
|
||||
}
|
||||
let ecss_tc_and_token = possible_packet.unwrap();
|
||||
let tc = self
|
||||
.service_helper
|
||||
.tc_in_mem_converter
|
||||
.convert_ecss_tc_in_memory_to_reader(&ecss_tc_and_token.tc_in_memory)?;
|
||||
let mut partial_error = None;
|
||||
let time_stamp = get_current_cds_short_timestamp(&mut partial_error);
|
||||
let (target_id, hk_request) = self.request_converter.convert(
|
||||
ecss_tc_and_token.token,
|
||||
&tc,
|
||||
&time_stamp,
|
||||
&self.service_helper.common.verification_handler,
|
||||
)?;
|
||||
if let Err(e) =
|
||||
self.request_router
|
||||
.route(target_id, hk_request, ecss_tc_and_token.token)
|
||||
{
|
||||
self.routing_error_handler.handle_error(
|
||||
target_id,
|
||||
ecss_tc_and_token.token,
|
||||
&tc,
|
||||
e.clone(),
|
||||
&time_stamp,
|
||||
&self.service_helper.common.verification_handler,
|
||||
);
|
||||
return Err(e.into());
|
||||
}
|
||||
Ok(PusPacketHandlerResult::RequestHandled)
|
||||
}
|
||||
}
|
||||
}
|
||||
|
||||
#[cfg(test)]
|
||||
mod tests {
|
||||
use delegate::delegate;
|
||||
use spacepackets::ecss::hk::Subservice;
|
||||
|
||||
use spacepackets::{
|
||||
ecss::{
|
||||
tc::{PusTcCreator, PusTcReader, PusTcSecondaryHeader},
|
||||
tm::PusTmReader,
|
||||
PusPacket,
|
||||
},
|
||||
CcsdsPacket, SequenceFlags, SpHeader,
|
||||
};
|
||||
|
||||
use crate::pus::{MpscTcReceiver, TmAsVecSenderWithMpsc};
|
||||
use crate::{
|
||||
hk::HkRequest,
|
||||
pus::{
|
||||
tests::{
|
||||
PusServiceHandlerWithVecCommon, PusTestHarness, SimplePusPacketHandler,
|
||||
TestConverter, TestRouter, TestRoutingErrorHandler, APP_DATA_TOO_SHORT, TEST_APID,
|
||||
},
|
||||
verification::{
|
||||
tests::TestVerificationReporter, FailParams, RequestId, TcStateAccepted,
|
||||
VerificationReportingProvider, VerificationToken,
|
||||
},
|
||||
EcssTcInVecConverter, GenericRoutingError, PusPacketHandlerResult,
|
||||
PusPacketHandlingError,
|
||||
},
|
||||
TargetId,
|
||||
};
|
||||
|
||||
use super::{PusHkRequestRouter, PusHkToRequestConverter, PusService3HkHandler};
|
||||
|
||||
impl PusHkRequestRouter for TestRouter<HkRequest> {
|
||||
type Error = GenericRoutingError;
|
||||
|
||||
fn route(
|
||||
&self,
|
||||
target_id: TargetId,
|
||||
hk_request: HkRequest,
|
||||
_token: VerificationToken<TcStateAccepted>,
|
||||
) -> Result<(), Self::Error> {
|
||||
self.routing_requests
|
||||
.borrow_mut()
|
||||
.push_back((target_id, hk_request));
|
||||
self.check_for_injected_error()
|
||||
}
|
||||
}
|
||||
|
||||
impl PusHkToRequestConverter for TestConverter<3> {
|
||||
type Error = PusPacketHandlingError;
|
||||
fn convert(
|
||||
&mut self,
|
||||
token: VerificationToken<TcStateAccepted>,
|
||||
tc: &PusTcReader,
|
||||
time_stamp: &[u8],
|
||||
verif_reporter: &impl VerificationReportingProvider,
|
||||
) -> Result<(TargetId, HkRequest), Self::Error> {
|
||||
self.conversion_request.push_back(tc.raw_data().to_vec());
|
||||
self.check_service(tc)?;
|
||||
let target_id = tc.apid();
|
||||
if tc.user_data().len() < 4 {
|
||||
verif_reporter
|
||||
.start_failure(
|
||||
token,
|
||||
FailParams::new(
|
||||
time_stamp,
|
||||
&APP_DATA_TOO_SHORT,
|
||||
(tc.user_data().len() as u32).to_be_bytes().as_ref(),
|
||||
),
|
||||
)
|
||||
.expect("start success failure");
|
||||
return Err(PusPacketHandlingError::NotEnoughAppData {
|
||||
expected: 4,
|
||||
found: tc.user_data().len(),
|
||||
});
|
||||
}
|
||||
if tc.subservice() == Subservice::TcGenerateOneShotHk as u8 {
|
||||
verif_reporter
|
||||
.start_success(token, time_stamp)
|
||||
.expect("start success failure");
|
||||
return Ok((
|
||||
target_id.into(),
|
||||
HkRequest::OneShot(u32::from_be_bytes(
|
||||
tc.user_data()[0..4].try_into().unwrap(),
|
||||
)),
|
||||
));
|
||||
}
|
||||
Err(PusPacketHandlingError::InvalidAppData(
|
||||
"unexpected app data".into(),
|
||||
))
|
||||
}
|
||||
}
|
||||
|
||||
struct Pus3HandlerWithVecTester {
|
||||
common: PusServiceHandlerWithVecCommon<TestVerificationReporter>,
|
||||
handler: PusService3HkHandler<
|
||||
MpscTcReceiver,
|
||||
TmAsVecSenderWithMpsc,
|
||||
EcssTcInVecConverter,
|
||||
TestVerificationReporter,
|
||||
TestConverter<3>,
|
||||
TestRouter<HkRequest>,
|
||||
TestRoutingErrorHandler,
|
||||
>,
|
||||
}
|
||||
|
||||
impl Pus3HandlerWithVecTester {
|
||||
pub fn new() -> Self {
|
||||
let (common, srv_handler) =
|
||||
PusServiceHandlerWithVecCommon::new_with_test_verif_sender();
|
||||
Self {
|
||||
common,
|
||||
handler: PusService3HkHandler::new(
|
||||
srv_handler,
|
||||
TestConverter::default(),
|
||||
TestRouter::default(),
|
||||
TestRoutingErrorHandler::default(),
|
||||
),
|
||||
}
|
||||
}
|
||||
|
||||
delegate! {
|
||||
to self.handler.request_converter {
|
||||
pub fn check_next_conversion(&mut self, tc: &PusTcCreator);
|
||||
}
|
||||
}
|
||||
delegate! {
|
||||
to self.handler.request_router {
|
||||
pub fn retrieve_next_request(&mut self) -> (TargetId, HkRequest);
|
||||
}
|
||||
}
|
||||
delegate! {
|
||||
to self.handler.routing_error_handler {
|
||||
pub fn retrieve_next_error(&mut self) -> (TargetId, GenericRoutingError);
|
||||
}
|
||||
}
|
||||
}
|
||||
|
||||
impl PusTestHarness for Pus3HandlerWithVecTester {
|
||||
delegate! {
|
||||
to self.common {
|
||||
fn send_tc(&mut self, tc: &PusTcCreator) -> VerificationToken<TcStateAccepted>;
|
||||
fn read_next_tm(&mut self) -> PusTmReader<'_>;
|
||||
fn check_no_tm_available(&self) -> bool;
|
||||
fn check_next_verification_tm(
|
||||
&self,
|
||||
subservice: u8,
|
||||
expected_request_id: RequestId,
|
||||
);
|
||||
}
|
||||
}
|
||||
}
|
||||
impl SimplePusPacketHandler for Pus3HandlerWithVecTester {
|
||||
delegate! {
|
||||
to self.handler {
|
||||
fn handle_one_tc(&mut self) -> Result<PusPacketHandlerResult, PusPacketHandlingError>;
|
||||
}
|
||||
}
|
||||
}
|
||||
|
||||
#[test]
|
||||
fn basic_test() {
|
||||
let mut hk_handler = Pus3HandlerWithVecTester::new();
|
||||
let mut sp_header = SpHeader::tc(TEST_APID, SequenceFlags::Unsegmented, 0, 0).unwrap();
|
||||
let sec_header = PusTcSecondaryHeader::new_simple(3, Subservice::TcGenerateOneShotHk as u8);
|
||||
let unique_id: u32 = 1;
|
||||
let unique_id_raw = unique_id.to_be_bytes();
|
||||
let tc = PusTcCreator::new(&mut sp_header, sec_header, unique_id_raw.as_ref(), true);
|
||||
hk_handler.send_tc(&tc);
|
||||
let result = hk_handler.handle_one_tc();
|
||||
assert!(result.is_ok());
|
||||
hk_handler.check_next_conversion(&tc);
|
||||
let (target_id, hk_request) = hk_handler.retrieve_next_request();
|
||||
assert_eq!(target_id, TEST_APID.into());
|
||||
if let HkRequest::OneShot(id) = hk_request {
|
||||
assert_eq!(id, unique_id);
|
||||
} else {
|
||||
panic!("unexpected request");
|
||||
}
|
||||
}
|
||||
|
||||
#[test]
|
||||
fn test_routing_error() {
|
||||
let mut hk_handler = Pus3HandlerWithVecTester::new();
|
||||
let mut sp_header = SpHeader::tc(TEST_APID, SequenceFlags::Unsegmented, 0, 0).unwrap();
|
||||
let sec_header = PusTcSecondaryHeader::new_simple(3, Subservice::TcGenerateOneShotHk as u8);
|
||||
let unique_id: u32 = 1;
|
||||
let unique_id_raw = unique_id.to_be_bytes();
|
||||
let tc = PusTcCreator::new(&mut sp_header, sec_header, unique_id_raw.as_ref(), true);
|
||||
let error = GenericRoutingError::UnknownTargetId(25);
|
||||
hk_handler
|
||||
.handler
|
||||
.request_router
|
||||
.inject_routing_error(error);
|
||||
hk_handler.send_tc(&tc);
|
||||
let result = hk_handler.handle_one_tc();
|
||||
assert!(result.is_err());
|
||||
let check_error = |routing_error: GenericRoutingError| {
|
||||
if let GenericRoutingError::UnknownTargetId(id) = routing_error {
|
||||
assert_eq!(id, 25);
|
||||
} else {
|
||||
panic!("unexpected error type");
|
||||
}
|
||||
};
|
||||
if let PusPacketHandlingError::RequestRoutingError(routing_error) = result.unwrap_err() {
|
||||
check_error(routing_error);
|
||||
} else {
|
||||
panic!("unexpected error type");
|
||||
}
|
||||
|
||||
hk_handler.check_next_conversion(&tc);
|
||||
let (target_id, hk_req) = hk_handler.retrieve_next_request();
|
||||
assert_eq!(target_id, TEST_APID.into());
|
||||
if let HkRequest::OneShot(unique_id) = hk_req {
|
||||
assert_eq!(unique_id, 1);
|
||||
}
|
||||
|
||||
let (target_id, found_error) = hk_handler.retrieve_next_error();
|
||||
assert_eq!(target_id, TEST_APID.into());
|
||||
check_error(found_error);
|
||||
}
|
||||
}
|
||||
|
||||
File diff suppressed because it is too large
Load Diff
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Reference in New Issue
Block a user