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39 Commits
satrs-v0.1
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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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@ -1,5 +1,10 @@
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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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@ -43,8 +43,8 @@ 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"],
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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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<center>
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<h4>ACS Mode Tree</h4>
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</center>
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<table border="1">
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<tr>
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<th>Mode</th>
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<th>MGMs</th>
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<th>SUSs</th>
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<th>STR</th>
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<th>MGT</th>
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<th>RWs</th>
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<th>ACS CTRL</th>
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<tr>
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<td>OFF</td>
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<td>OFF</td>
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<td>OFF</td>
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<td>OFF</td>
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<td>OFF</td>
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<td>OFF</td>
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<td>OFF</td>
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<td>SAFE</td>
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<td>NORMAL</td>
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<td>NORMAL</td>
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<td>OFF</td>
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<td>OFF</td>
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<td>NORMAL</td>
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<td>SAFE</td>
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</tr>
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<tr>
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<td>IDLE</td>
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<td>NORMAL</td>
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<td>NORMAL</td>
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<td>NORMAL</td>
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<td>NORMAL</td>
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<td>NORMAL</td>
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<td>IDLE</td>
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<center>
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<h4>ACS IDLE Sequence</h4>
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||||
</center>
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<table border="1">
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<tr>
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||||
<th>Step</th>
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<th>MGMs</th>
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<th>STR</th>
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<th>MGT</th>
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<th>RWs</th>
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<th>ACS CTRL</th>
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||||
</tr>
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||||
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||||
<tr>
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||||
<td>1</td>
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||||
<td>NORMAL</td>
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||||
<td>NORMAL</td>
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||||
<td>NORMAL</td>
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||||
<td>NORMAL</td>
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||||
<td>NORMAL</td>
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||||
<td></td>
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</tr>
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||||
<tr>
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<td>2</td>
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||||
<td></td>
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||||
<td></td>
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||||
<td></td>
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||||
<td></td>
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||||
<td></td>
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<td>SAFE</td>
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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
@ -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"
|
||||
@ -20,12 +20,12 @@ 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"
|
||||
path = "../satrs-mib"
|
||||
version = "0.1.1"
|
||||
# path = "../satrs-mib"
|
||||
|
||||
[features]
|
||||
dyn_tmtc = []
|
||||
|
||||
@ -1,8 +1,9 @@
|
||||
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,
|
||||
@ -20,19 +21,19 @@ use crate::{
|
||||
update_time,
|
||||
};
|
||||
|
||||
pub struct AcsTask {
|
||||
pub struct AcsTask<VerificationReporter: VerificationReportingProvider> {
|
||||
timestamp: [u8; 7],
|
||||
time_provider: TimeProvider<DaysLen16Bits>,
|
||||
verif_reporter: VerificationReporterWithSender,
|
||||
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],
|
||||
@ -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)]
|
||||
|
||||
@ -1,18 +1,17 @@
|
||||
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},
|
||||
@ -21,38 +20,37 @@ 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,
|
||||
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 {
|
||||
@ -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::pus::{EcssTmSender, TmAsVecSenderWithId, TmInSharedPoolSenderWithId};
|
||||
use satrs::spacepackets::{time::cds::TimeProvider, time::TimeWriter};
|
||||
use satrs::tmtc::{CcsdsDistributor, TargetId};
|
||||
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(),
|
||||
|
||||
@ -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 {
|
||||
|
||||
@ -1,7 +1,9 @@
|
||||
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;
|
||||
@ -24,8 +26,8 @@ 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,
|
||||
}
|
||||
@ -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,
|
||||
|
||||
@ -2,10 +2,15 @@ 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;
|
||||
@ -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() {
|
||||
@ -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 +23,12 @@ version = "1"
|
||||
optional = true
|
||||
|
||||
[dependencies.satrs-shared]
|
||||
version = "0.1.1"
|
||||
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"
|
||||
@ -26,9 +26,7 @@ features = ["full"]
|
||||
|
||||
[dev-dependencies]
|
||||
trybuild = { version = "1", features = ["diff"] }
|
||||
satrs-shared = "0.1.2"
|
||||
|
||||
[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,
|
||||
|
||||
23
satrs-minisim/Cargo.toml
Normal file
23
satrs-minisim/Cargo.toml
Normal file
@ -0,0 +1,23 @@
|
||||
[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"
|
||||
|
||||
[dependencies.asynchronix]
|
||||
version = "0.2.1"
|
||||
# path = "../../asynchronix/asynchronix"
|
||||
# git = "https://github.com/us-irs/asynchronix.git"
|
||||
# branch = "clock-not-sendable"
|
||||
|
||||
[dependencies.satrs]
|
||||
path = "../satrs"
|
||||
|
||||
[dev-dependencies]
|
||||
delegate = "0.12"
|
||||
261
satrs-minisim/src/acs.rs
Normal file
261
satrs-minisim/src/acs.rs
Normal file
@ -0,0 +1,261 @@
|
||||
use std::{f32::consts::PI, sync::mpsc, time::Duration};
|
||||
|
||||
use asynchronix::{
|
||||
model::{Model, Output},
|
||||
time::Scheduler,
|
||||
};
|
||||
use satrs::power::SwitchStateBinary;
|
||||
use satrs_minisim::{
|
||||
acs::{MgmSensorValues, MgtDipole, MgtReply, MGT_GEN_MAGNETIC_FIELD},
|
||||
SimDevice, 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>) {
|
||||
let current_time = scheduler.time();
|
||||
println!("current monotonic time: {:?}", current_time);
|
||||
let value = self.calculate_current_mgm_tuple(current_millis(scheduler.time()));
|
||||
let reply = SimReply {
|
||||
device: SimDevice::Mgm,
|
||||
reply: serde_json::to_string(&value).unwrap(),
|
||||
};
|
||||
self.reply_sender
|
||||
.send(reply)
|
||||
.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(&mut 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>) {
|
||||
scheduler
|
||||
.schedule_event(Duration::from_millis(15), Self::send_housekeeping_data, ())
|
||||
.expect("requesting housekeeping data failed")
|
||||
}
|
||||
|
||||
pub fn send_housekeeping_data(&mut self) {
|
||||
let mgt_reply = MgtReply::Hk(self.torque_dipole);
|
||||
self.reply_sender
|
||||
.send(SimReply::new(SimDevice::Mgt, mgt_reply))
|
||||
.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::{MgmRequest, MgmSensorValues},
|
||||
SimDevice, SimRequest,
|
||||
};
|
||||
|
||||
use crate::{
|
||||
eps::{self, PcduRequest},
|
||||
test_helpers::SimTestbench,
|
||||
};
|
||||
|
||||
#[test]
|
||||
fn test_basic_mgm_request() {
|
||||
let mut sim_testbench = SimTestbench::new();
|
||||
let mgm_request = MgmRequest::RequestSensorData;
|
||||
let request = SimRequest::new(SimDevice::Mgm, mgm_request);
|
||||
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.device, SimDevice::Mgm);
|
||||
let reply: MgmSensorValues = serde_json::from_str(&sim_reply.reply)
|
||||
.expect("failed to deserialize MGM sensor values");
|
||||
assert_eq!(reply.x, 0.0);
|
||||
assert_eq!(reply.y, 0.0);
|
||||
assert_eq!(reply.z, 0.0);
|
||||
}
|
||||
|
||||
#[test]
|
||||
fn test_basic_mgm_request_switched_on() {
|
||||
let mut sim_testbench = SimTestbench::new();
|
||||
let pcdu_request = PcduRequest::SwitchDevice {
|
||||
switch: eps::PcduSwitch::Mgm,
|
||||
state: SwitchStateBinary::On,
|
||||
};
|
||||
let mut request = SimRequest::new(SimDevice::Pcdu, pcdu_request);
|
||||
sim_testbench
|
||||
.send_request(request)
|
||||
.expect("sending MGM switch 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_none());
|
||||
|
||||
let mgm_request = MgmRequest::RequestSensorData;
|
||||
request = SimRequest::new(SimDevice::Mgm, mgm_request);
|
||||
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());
|
||||
let mut sim_reply = sim_reply_res.unwrap();
|
||||
assert_eq!(sim_reply.device, SimDevice::Mgm);
|
||||
let first_reply: MgmSensorValues = serde_json::from_str(&sim_reply.reply)
|
||||
.expect("failed to deserialize MGM sensor values");
|
||||
let mgm_request = MgmRequest::RequestSensorData;
|
||||
sim_testbench.step_by(Duration::from_millis(50));
|
||||
|
||||
request = SimRequest::new(SimDevice::Mgm, mgm_request);
|
||||
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: MgmSensorValues = serde_json::from_str(&sim_reply.reply)
|
||||
.expect("failed to deserialize MGM sensor values");
|
||||
// Check that the values are changing.
|
||||
assert!(first_reply != second_reply);
|
||||
}
|
||||
|
||||
#[test]
|
||||
fn test_mgm_request_with_mgt_switched_on() {}
|
||||
}
|
||||
145
satrs-minisim/src/controller.rs
Normal file
145
satrs-minisim/src/controller.rs
Normal file
@ -0,0 +1,145 @@
|
||||
use std::{sync::mpsc, time::Duration};
|
||||
|
||||
use asynchronix::{
|
||||
simulation::{Address, Simulation},
|
||||
time::{Clock, MonotonicTime, SystemClock},
|
||||
};
|
||||
use satrs_minisim::{
|
||||
acs::{MgmRequest, MgtRequest},
|
||||
SimRequest,
|
||||
};
|
||||
|
||||
use crate::{
|
||||
acs::{MagnetometerModel, MagnetorquerModel},
|
||||
eps::{PcduModel, PcduRequest},
|
||||
};
|
||||
|
||||
// The simulation controller processes requests and drives the simulation.
|
||||
pub struct SimController {
|
||||
pub sys_clock: SystemClock,
|
||||
pub request_receiver: mpsc::Receiver<SimRequest>,
|
||||
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>,
|
||||
simulation: Simulation,
|
||||
mgm_addr: Address<MagnetometerModel>,
|
||||
pcdu_addr: Address<PcduModel>,
|
||||
mgt_addr: Address<MagnetorquerModel>,
|
||||
) -> Self {
|
||||
Self {
|
||||
sys_clock,
|
||||
request_receiver,
|
||||
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) => match request.device() {
|
||||
satrs_minisim::SimDevice::Mgm => self.handle_mgm_request(request.request()),
|
||||
satrs_minisim::SimDevice::Mgt => self.handle_mgt_request(request.request()),
|
||||
satrs_minisim::SimDevice::Pcdu => self.handle_pcdu_request(request.request()),
|
||||
},
|
||||
Err(e) => match e {
|
||||
mpsc::TryRecvError::Empty => break,
|
||||
mpsc::TryRecvError::Disconnected => {
|
||||
panic!("all request sender disconnected")
|
||||
}
|
||||
},
|
||||
}
|
||||
}
|
||||
}
|
||||
fn handle_mgm_request(&mut self, request: &str) {
|
||||
let mgm_request: serde_json::Result<MgmRequest> = serde_json::from_str(request);
|
||||
if mgm_request.is_err() {
|
||||
log::warn!("received invalid MGM request: {}", mgm_request.unwrap_err());
|
||||
return;
|
||||
}
|
||||
let mgm_request = mgm_request.unwrap();
|
||||
match mgm_request {
|
||||
MgmRequest::RequestSensorData => {
|
||||
self.simulation.send_event(
|
||||
MagnetometerModel::send_sensor_values,
|
||||
(),
|
||||
&self.mgm_addr,
|
||||
);
|
||||
}
|
||||
}
|
||||
}
|
||||
|
||||
fn handle_pcdu_request(&mut self, request: &str) {
|
||||
let pcdu_request: serde_json::Result<PcduRequest> = serde_json::from_str(request);
|
||||
if pcdu_request.is_err() {
|
||||
log::warn!(
|
||||
"received invalid PCDU request: {}",
|
||||
pcdu_request.unwrap_err()
|
||||
);
|
||||
return;
|
||||
}
|
||||
let pcdu_request = pcdu_request.unwrap();
|
||||
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,
|
||||
);
|
||||
}
|
||||
}
|
||||
}
|
||||
|
||||
fn handle_mgt_request(&mut self, request: &str) {
|
||||
let mgt_request: serde_json::Result<MgtRequest> = serde_json::from_str(request);
|
||||
if mgt_request.is_err() {
|
||||
log::warn!(
|
||||
"received invalid PCDU request: {}",
|
||||
mgt_request.unwrap_err()
|
||||
);
|
||||
return;
|
||||
}
|
||||
let mgt_request = mgt_request.unwrap();
|
||||
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,
|
||||
),
|
||||
}
|
||||
}
|
||||
}
|
||||
172
satrs-minisim/src/eps.rs
Normal file
172
satrs-minisim/src/eps.rs
Normal file
@ -0,0 +1,172 @@
|
||||
use std::{collections::HashMap, sync::mpsc, time::Duration};
|
||||
|
||||
use asynchronix::{
|
||||
model::{Model, Output},
|
||||
time::Scheduler,
|
||||
};
|
||||
use satrs::power::SwitchStateBinary;
|
||||
use satrs_minisim::{SimDevice, SimReply};
|
||||
use serde::{Deserialize, Serialize};
|
||||
|
||||
pub const SWITCH_INFO_DELAY_MS: u64 = 10;
|
||||
|
||||
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,
|
||||
}
|
||||
|
||||
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 switch_info = self.switcher_map.clone();
|
||||
let reply = SimReply::new(SimDevice::Pcdu, switch_info);
|
||||
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 mod tests {
|
||||
use super::*;
|
||||
use std::time::Duration;
|
||||
|
||||
use satrs_minisim::{SimDevice, SimRequest};
|
||||
|
||||
use crate::test_helpers::SimTestbench;
|
||||
|
||||
fn check_switch_state(sim_testbench: &mut SimTestbench, expected_switch_map: &SwitchMap) {
|
||||
let pcdu_request = PcduRequest::RequestSwitchInfo;
|
||||
let request = SimRequest::new(SimDevice::Pcdu, pcdu_request);
|
||||
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.device, SimDevice::Pcdu);
|
||||
let switch_map: super::SwitchMap =
|
||||
serde_json::from_str(&sim_reply.reply).expect("failed to deserialize PCDU switch info");
|
||||
assert_eq!(&switch_map, expected_switch_map);
|
||||
}
|
||||
|
||||
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 test_pcdu_switching_single_switch(switch: PcduSwitch) {
|
||||
let mut sim_testbench = SimTestbench::new();
|
||||
let pcdu_request = PcduRequest::SwitchDevice {
|
||||
switch,
|
||||
state: SwitchStateBinary::On,
|
||||
};
|
||||
let request = SimRequest::new(SimDevice::Pcdu, pcdu_request);
|
||||
sim_testbench
|
||||
.send_request(request)
|
||||
.expect("sending MGM request failed");
|
||||
sim_testbench.handle_sim_requests();
|
||||
sim_testbench.step();
|
||||
let mut switcher_map = get_all_off_switch_map();
|
||||
*switcher_map.get_mut(&switch).unwrap() = SwitchStateBinary::On;
|
||||
check_switch_state(&mut sim_testbench, &switcher_map);
|
||||
}
|
||||
|
||||
#[test]
|
||||
fn test_pcdu_switcher_request() {
|
||||
let mut sim_testbench = SimTestbench::new();
|
||||
let pcdu_request = PcduRequest::RequestSwitchInfo;
|
||||
let request = SimRequest::new(SimDevice::Pcdu, pcdu_request);
|
||||
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.device, SimDevice::Pcdu);
|
||||
let switch_map: super::SwitchMap =
|
||||
serde_json::from_str(&sim_reply.reply).expect("failed to deserialize PCDU switch info");
|
||||
assert_eq!(switch_map, get_all_off_switch_map());
|
||||
}
|
||||
|
||||
#[test]
|
||||
fn test_pcdu_switching_mgm() {
|
||||
test_pcdu_switching_single_switch(PcduSwitch::Mgm);
|
||||
}
|
||||
|
||||
#[test]
|
||||
fn test_pcdu_switching_mgt() {
|
||||
test_pcdu_switching_single_switch(PcduSwitch::Mgt);
|
||||
}
|
||||
}
|
||||
99
satrs-minisim/src/lib.rs
Normal file
99
satrs-minisim/src/lib.rs
Normal file
@ -0,0 +1,99 @@
|
||||
use serde::{Deserialize, Serialize};
|
||||
|
||||
#[derive(Debug, Copy, Clone, PartialEq, Eq, Serialize, Deserialize)]
|
||||
pub enum SimDevice {
|
||||
Mgm,
|
||||
Mgt,
|
||||
Pcdu,
|
||||
}
|
||||
|
||||
#[derive(Debug, Clone, Serialize, Deserialize)]
|
||||
pub struct SimRequest {
|
||||
device: SimDevice,
|
||||
request: String,
|
||||
}
|
||||
|
||||
impl SimRequest {
|
||||
pub fn new<T: Serialize>(device: SimDevice, reply: T) -> Self {
|
||||
Self {
|
||||
device,
|
||||
request: serde_json::to_string(&reply).unwrap(),
|
||||
}
|
||||
}
|
||||
|
||||
pub fn device(&self) -> SimDevice {
|
||||
self.device
|
||||
}
|
||||
|
||||
pub fn request(&self) -> &String {
|
||||
&self.request
|
||||
}
|
||||
}
|
||||
|
||||
#[derive(Debug, Clone, Serialize, Deserialize)]
|
||||
pub struct SimReply {
|
||||
pub device: SimDevice,
|
||||
pub reply: String,
|
||||
}
|
||||
|
||||
impl SimReply {
|
||||
pub fn new<T: Serialize>(device: SimDevice, reply: T) -> Self {
|
||||
Self {
|
||||
device,
|
||||
reply: serde_json::to_string(&reply).unwrap(),
|
||||
}
|
||||
}
|
||||
|
||||
pub fn reply(&self) -> &String {
|
||||
&self.reply
|
||||
}
|
||||
}
|
||||
|
||||
pub mod acs {
|
||||
use std::time::Duration;
|
||||
|
||||
use super::*;
|
||||
|
||||
#[derive(Debug, Copy, Clone, Serialize, Deserialize)]
|
||||
pub enum MgmRequest {
|
||||
RequestSensorData,
|
||||
}
|
||||
|
||||
// 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,
|
||||
}
|
||||
|
||||
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, Serialize, Deserialize)]
|
||||
pub struct MgtDipole {
|
||||
pub x: i16,
|
||||
pub y: i16,
|
||||
pub z: i16,
|
||||
}
|
||||
|
||||
#[derive(Debug, Copy, Clone, Serialize, Deserialize)]
|
||||
pub enum MgtRequest {
|
||||
ApplyTorque {
|
||||
duration: Duration,
|
||||
dipole: MgtDipole,
|
||||
},
|
||||
RequestHk,
|
||||
}
|
||||
|
||||
#[derive(Debug, Copy, Clone, Serialize, Deserialize)]
|
||||
pub enum MgtReply {
|
||||
Hk(MgtDipole),
|
||||
}
|
||||
}
|
||||
107
satrs-minisim/src/main.rs
Normal file
107
satrs-minisim/src/main.rs
Normal file
@ -0,0 +1,107 @@
|
||||
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::{SharedSocketAddr, UdpTcServer, UdpTmClient};
|
||||
|
||||
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,
|
||||
simulation,
|
||||
mgm_addr,
|
||||
pcdu_addr,
|
||||
mgt_addr,
|
||||
)
|
||||
}
|
||||
|
||||
fn main() {
|
||||
let shared_socket_addr = SharedSocketAddr::default();
|
||||
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 server = UdpTcServer::new(request_sender, shared_socket_addr.clone()).unwrap();
|
||||
// This thread manages the simulator UDP TC server.
|
||||
let udp_tc_thread = thread::spawn(move || {
|
||||
server.run();
|
||||
});
|
||||
|
||||
let mut client = UdpTmClient::new(reply_receiver, 200, shared_socket_addr);
|
||||
// This thread manages the simulator UDP TM client.
|
||||
let udp_tm_thread = thread::spawn(move || {
|
||||
client.run();
|
||||
});
|
||||
|
||||
sim_thread.join().expect("joining simulation thread failed");
|
||||
udp_tc_thread.join().expect("joining UDP TC thread failed");
|
||||
udp_tm_thread.join().expect("joining UDP TM 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)
|
||||
}
|
||||
158
satrs-minisim/src/udp.rs
Normal file
158
satrs-minisim/src/udp.rs
Normal file
@ -0,0 +1,158 @@
|
||||
use std::{
|
||||
collections::VecDeque,
|
||||
net::{SocketAddr, UdpSocket},
|
||||
sync::{mpsc, Arc, Mutex},
|
||||
time::Duration,
|
||||
};
|
||||
|
||||
use satrs_minisim::{SimReply, SimRequest};
|
||||
|
||||
pub type SharedSocketAddr = Arc<Mutex<Option<SocketAddr>>>;
|
||||
|
||||
// A UDP server which handles all TC received by a client application.
|
||||
pub struct UdpTcServer {
|
||||
socket: UdpSocket,
|
||||
request_sender: mpsc::Sender<SimRequest>,
|
||||
shared_last_sender: SharedSocketAddr,
|
||||
}
|
||||
|
||||
impl UdpTcServer {
|
||||
pub fn new(
|
||||
request_sender: mpsc::Sender<SimRequest>,
|
||||
shared_last_sender: SharedSocketAddr,
|
||||
) -> std::io::Result<Self> {
|
||||
let socket = UdpSocket::bind("0.0.0.0:7303")?;
|
||||
Ok(Self {
|
||||
socket,
|
||||
request_sender,
|
||||
shared_last_sender,
|
||||
})
|
||||
}
|
||||
|
||||
pub fn run(&mut self) {
|
||||
let mut last_socket_addr = None;
|
||||
loop {
|
||||
// Buffer to store incoming data.
|
||||
let mut buffer = [0u8; 4096];
|
||||
// Block until data is received. `recv_from` returns the number of bytes read and the
|
||||
// sender's address.
|
||||
let (bytes_read, src) = self
|
||||
.socket
|
||||
.recv_from(&mut buffer)
|
||||
.expect("could not read from socket");
|
||||
|
||||
// Convert the buffer into a string slice and print the message.
|
||||
let req_string = std::str::from_utf8(&buffer[..bytes_read])
|
||||
.expect("Could not write buffer as string");
|
||||
println!("Received from {}: {}", src, req_string);
|
||||
let sim_req: serde_json::Result<SimRequest> = serde_json::from_str(req_string);
|
||||
if sim_req.is_err() {
|
||||
log::warn!(
|
||||
"received UDP request with invalid format: {}",
|
||||
sim_req.unwrap_err()
|
||||
);
|
||||
continue;
|
||||
}
|
||||
self.request_sender.send(sim_req.unwrap()).unwrap();
|
||||
// Only set last sender if it has changed.
|
||||
if last_socket_addr.is_some() && src != last_socket_addr.unwrap() {
|
||||
self.shared_last_sender.lock().unwrap().replace(src);
|
||||
}
|
||||
last_socket_addr = Some(src);
|
||||
}
|
||||
}
|
||||
}
|
||||
|
||||
// A helper object which sends back all replies to the UDP client.
|
||||
//
|
||||
// This helper is scheduled separately to minimize the delay between the requests and replies.
|
||||
pub struct UdpTmClient {
|
||||
reply_receiver: mpsc::Receiver<SimReply>,
|
||||
reply_queue: VecDeque<SimReply>,
|
||||
max_num_replies: usize,
|
||||
socket: UdpSocket,
|
||||
last_sender: SharedSocketAddr,
|
||||
}
|
||||
|
||||
impl UdpTmClient {
|
||||
pub fn new(
|
||||
reply_receiver: mpsc::Receiver<SimReply>,
|
||||
max_num_replies: usize,
|
||||
last_sender: SharedSocketAddr,
|
||||
) -> Self {
|
||||
let socket =
|
||||
UdpSocket::bind("127.0.0.1:0").expect("creating UDP client for TM sender failed");
|
||||
Self {
|
||||
reply_receiver,
|
||||
reply_queue: VecDeque::new(),
|
||||
max_num_replies,
|
||||
socket,
|
||||
last_sender,
|
||||
}
|
||||
}
|
||||
|
||||
pub fn run(&mut self) {
|
||||
loop {
|
||||
let processed_replies = self.process_replies();
|
||||
let last_sender_lock = self
|
||||
.last_sender
|
||||
.lock()
|
||||
.expect("locking last UDP sender failed");
|
||||
let last_sender = *last_sender_lock;
|
||||
drop(last_sender_lock);
|
||||
let mut sent_replies = false;
|
||||
if let Some(last_sender) = last_sender {
|
||||
sent_replies = self.send_replies(last_sender);
|
||||
}
|
||||
if !processed_replies && !sent_replies {
|
||||
std::thread::sleep(Duration::from_millis(20));
|
||||
}
|
||||
}
|
||||
}
|
||||
|
||||
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, last_sender: SocketAddr) -> bool {
|
||||
let mut sent_replies = false;
|
||||
self.socket
|
||||
.connect(last_sender)
|
||||
.expect("connecting to last sender failed");
|
||||
while !self.reply_queue.is_empty() {
|
||||
let next_reply_to_send = self.reply_queue.pop_front().unwrap();
|
||||
self.socket
|
||||
.send(
|
||||
serde_json::to_string(&next_reply_to_send)
|
||||
.unwrap()
|
||||
.as_bytes(),
|
||||
)
|
||||
.expect("sending reply failed");
|
||||
sent_replies = true;
|
||||
}
|
||||
sent_replies
|
||||
}
|
||||
}
|
||||
|
||||
#[cfg(test)]
|
||||
mod tests {
|
||||
#[test]
|
||||
fn test_basic_udp_tc_reception() {}
|
||||
}
|
||||
@ -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 +18,7 @@ default-features = false
|
||||
optional = true
|
||||
|
||||
[dependencies.spacepackets]
|
||||
version = "0.9"
|
||||
version = "0.10"
|
||||
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 +17,7 @@ delegate = ">0.7, <=0.10"
|
||||
paste = "1"
|
||||
smallvec = "1"
|
||||
crc = "3"
|
||||
satrs-shared = "0.1.1"
|
||||
satrs-shared = "0.1.2"
|
||||
|
||||
[dependencies.num_enum]
|
||||
version = ">0.5, <=0.7"
|
||||
@ -68,7 +68,7 @@ features = ["all"]
|
||||
optional = true
|
||||
|
||||
[dependencies.spacepackets]
|
||||
version = "0.9"
|
||||
version = "0.10"
|
||||
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)
|
||||
}
|
||||
}
|
||||
|
||||
#[cfg(feature = "alloc")]
|
||||
pub mod alloc_mod {
|
||||
use alloc::vec::Vec;
|
||||
use hashbrown::HashMap;
|
||||
|
||||
use super::*;
|
||||
|
||||
/// 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 {
|
||||
listener_map: DefaultListenerMap::default(),
|
||||
sender_map: DefaultSenderMap::default(),
|
||||
event_receiver,
|
||||
phantom: PhantomData,
|
||||
}
|
||||
}
|
||||
}
|
||||
|
||||
/// Default listener map.
|
||||
///
|
||||
/// Simple implementation which uses a [HashMap] and a [Vec] internally.
|
||||
#[derive(Default)]
|
||||
pub struct DefaultListenerTableProvider {
|
||||
pub struct DefaultListenerMap {
|
||||
listeners: HashMap<ListenerKey, Vec<ChannelId>>,
|
||||
}
|
||||
|
||||
pub struct DefaultSenderTableProvider<
|
||||
SendProviderError,
|
||||
Event: GenericEvent = EventU32,
|
||||
AuxDataProvider = Params,
|
||||
> {
|
||||
senders: HashMap<
|
||||
ChannelId,
|
||||
Box<dyn SendEventProvider<Event, AuxDataProvider, Error = SendProviderError>>,
|
||||
>,
|
||||
}
|
||||
|
||||
impl<SendProviderError, Event: GenericEvent, AuxDataProvider> Default
|
||||
for DefaultSenderTableProvider<SendProviderError, Event, AuxDataProvider>
|
||||
{
|
||||
fn default() -> Self {
|
||||
Self {
|
||||
senders: HashMap::new(),
|
||||
}
|
||||
}
|
||||
}
|
||||
|
||||
impl ListenerTable for DefaultListenerTableProvider {
|
||||
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
|
||||
@ -360,59 +380,70 @@ impl ListenerTable for DefaultListenerTableProvider {
|
||||
}
|
||||
}
|
||||
|
||||
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.
|
||||
@ -560,17 +557,18 @@ 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)]
|
||||
#[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),
|
||||
}
|
||||
|
||||
@ -586,6 +584,8 @@ mod alloc_mod {
|
||||
}
|
||||
}
|
||||
|
||||
#[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)
|
||||
@ -593,25 +593,30 @@ mod alloc_mod {
|
||||
}
|
||||
|
||||
/// 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())
|
||||
}
|
||||
}
|
||||
|
||||
#[cfg(feature = "alloc")]
|
||||
#[cfg_attr(doc_cfg, doc(cfg(feature = "alloc")))]
|
||||
impl From<String> for Params {
|
||||
fn from(val: String) -> Self {
|
||||
Self::String(val)
|
||||
}
|
||||
}
|
||||
|
||||
#[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)]
|
||||
mod tests {
|
||||
|
||||
@ -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);
|
||||
}
|
||||
}
|
||||
@ -269,7 +269,7 @@ 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
@ -340,18 +340,18 @@ pub fn generate_insert_telecommand_app_data(
|
||||
|
||||
#[cfg(feature = "alloc")]
|
||||
pub mod alloc_mod {
|
||||
use alloc::{
|
||||
collections::{
|
||||
btree_map::{Entry, Range},
|
||||
BTreeMap,
|
||||
},
|
||||
vec::Vec,
|
||||
};
|
||||
use spacepackets::time::cds::{self, DaysLen24Bits};
|
||||
|
||||
use crate::pool::StoreAddr;
|
||||
|
||||
use super::*;
|
||||
use crate::pool::{PoolProvider, StoreAddr, StoreError};
|
||||
use alloc::collections::btree_map::{Entry, Range};
|
||||
use alloc::collections::BTreeMap;
|
||||
use alloc::vec;
|
||||
use alloc::vec::Vec;
|
||||
use core::time::Duration;
|
||||
use spacepackets::ecss::scheduling::TimeWindowType;
|
||||
use spacepackets::ecss::tc::{PusTc, PusTcReader};
|
||||
use spacepackets::ecss::PusPacket;
|
||||
use spacepackets::time::cds::DaysLen24Bits;
|
||||
use spacepackets::time::{cds, CcsdsTimeProvider, UnixTimestamp};
|
||||
|
||||
#[cfg(feature = "std")]
|
||||
use std::time::SystemTimeError;
|
||||
@ -461,7 +461,7 @@ pub mod alloc_mod {
|
||||
}
|
||||
match self.tc_map.entry(time_stamp) {
|
||||
Entry::Vacant(e) => {
|
||||
e.insert(vec![info]);
|
||||
e.insert(alloc::vec![info]);
|
||||
}
|
||||
Entry::Occupied(mut v) => {
|
||||
v.get_mut().push(info);
|
||||
@ -498,7 +498,7 @@ pub mod alloc_mod {
|
||||
/// short timestamp with 16-bit length of days field.
|
||||
pub fn insert_wrapped_tc_cds_short(
|
||||
&mut self,
|
||||
pus_tc: &PusTc,
|
||||
pus_tc: &(impl IsPusTelecommand + PusPacket + GenericPusTcSecondaryHeader),
|
||||
pool: &mut (impl PoolProvider + ?Sized),
|
||||
) -> Result<TcInfo, ScheduleError> {
|
||||
self.insert_wrapped_tc::<cds::TimeProvider>(pus_tc, pool)
|
||||
@ -508,7 +508,7 @@ pub mod alloc_mod {
|
||||
/// long timestamp with a 24-bit length of days field.
|
||||
pub fn insert_wrapped_tc_cds_long(
|
||||
&mut self,
|
||||
pus_tc: &PusTc,
|
||||
pus_tc: &(impl IsPusTelecommand + PusPacket + GenericPusTcSecondaryHeader),
|
||||
pool: &mut (impl PoolProvider + ?Sized),
|
||||
) -> Result<TcInfo, ScheduleError> {
|
||||
self.insert_wrapped_tc::<cds::TimeProvider<DaysLen24Bits>>(pus_tc, pool)
|
||||
@ -530,7 +530,7 @@ pub mod alloc_mod {
|
||||
let range = self.retrieve_by_time_filter(time_window);
|
||||
let mut del_packets = 0;
|
||||
let mut res_if_fails = None;
|
||||
let mut keys_to_delete = Vec::new();
|
||||
let mut keys_to_delete = alloc::vec::Vec::new();
|
||||
for time_bucket in range {
|
||||
for tc in time_bucket.1 {
|
||||
match pool.delete(tc.addr) {
|
||||
@ -561,7 +561,10 @@ pub mod alloc_mod {
|
||||
}
|
||||
|
||||
/// Retrieve a range over all scheduled commands.
|
||||
pub fn retrieve_all(&mut self) -> Range<'_, UnixTimestamp, Vec<TcInfo>> {
|
||||
pub fn retrieve_all(
|
||||
&mut self,
|
||||
) -> alloc::collections::btree_map::Range<'_, UnixTimestamp, alloc::vec::Vec<TcInfo>>
|
||||
{
|
||||
self.tc_map.range(..)
|
||||
}
|
||||
|
||||
@ -572,7 +575,7 @@ pub mod alloc_mod {
|
||||
pub fn retrieve_by_time_filter<TimeProvider: CcsdsTimeProvider>(
|
||||
&mut self,
|
||||
time_window: TimeWindow<TimeProvider>,
|
||||
) -> Range<'_, UnixTimestamp, Vec<TcInfo>> {
|
||||
) -> Range<'_, UnixTimestamp, alloc::vec::Vec<TcInfo>> {
|
||||
match time_window.time_window_type() {
|
||||
TimeWindowType::SelectAll => self.tc_map.range(..),
|
||||
TimeWindowType::TimeTagToTimeTag => {
|
||||
@ -761,9 +764,9 @@ pub mod alloc_mod {
|
||||
mut releaser: R,
|
||||
tc_store: &(impl PoolProvider + ?Sized),
|
||||
tc_buf: &mut [u8],
|
||||
) -> Result<Vec<TcInfo>, (Vec<TcInfo>, StoreError)> {
|
||||
) -> Result<alloc::vec::Vec<TcInfo>, (alloc::vec::Vec<TcInfo>, StoreError)> {
|
||||
let tcs_to_release = self.telecommands_to_release();
|
||||
let mut released_tcs = Vec::new();
|
||||
let mut released_tcs = alloc::vec::Vec::new();
|
||||
for tc in tcs_to_release {
|
||||
for info in tc.1 {
|
||||
tc_store
|
||||
@ -835,7 +838,7 @@ pub mod alloc_mod {
|
||||
}
|
||||
match self.tc_map.entry(time_stamp) {
|
||||
Entry::Vacant(e) => {
|
||||
e.insert(vec![info]);
|
||||
e.insert(alloc::vec![info]);
|
||||
}
|
||||
Entry::Occupied(mut v) => {
|
||||
v.get_mut().push(info);
|
||||
|
||||
@ -1,5 +1,15 @@
|
||||
use super::scheduler::PusSchedulerProvider;
|
||||
use super::{EcssTcInMemConverter, PusServiceBase, PusServiceHelper};
|
||||
use super::verification::{
|
||||
VerificationReporterWithSharedPoolMpscBoundedSender,
|
||||
VerificationReporterWithSharedPoolMpscSender, VerificationReporterWithVecMpscBoundedSender,
|
||||
VerificationReporterWithVecMpscSender, VerificationReportingProvider,
|
||||
};
|
||||
use super::{
|
||||
get_current_cds_short_timestamp, EcssTcInMemConverter, EcssTcInSharedStoreConverter,
|
||||
EcssTcInVecConverter, EcssTcReceiverCore, EcssTmSenderCore, MpscTcReceiver, PusServiceHelper,
|
||||
TmAsVecSenderWithBoundedMpsc, TmAsVecSenderWithMpsc, TmInSharedPoolSenderWithBoundedMpsc,
|
||||
TmInSharedPoolSenderWithMpsc,
|
||||
};
|
||||
use crate::pool::PoolProvider;
|
||||
use crate::pus::{PusPacketHandlerResult, PusPacketHandlingError};
|
||||
use alloc::string::ToString;
|
||||
@ -15,17 +25,41 @@ use spacepackets::time::cds::TimeProvider;
|
||||
/// [Self::scheduler] and [Self::scheduler_mut] function and then use the scheduler API to release
|
||||
/// telecommands when applicable.
|
||||
pub struct PusService11SchedHandler<
|
||||
TcReceiver: EcssTcReceiverCore,
|
||||
TmSender: EcssTmSenderCore,
|
||||
TcInMemConverter: EcssTcInMemConverter,
|
||||
VerificationReporter: VerificationReportingProvider,
|
||||
PusScheduler: PusSchedulerProvider,
|
||||
> {
|
||||
pub service_helper: PusServiceHelper<TcInMemConverter>,
|
||||
pub service_helper:
|
||||
PusServiceHelper<TcReceiver, TmSender, TcInMemConverter, VerificationReporter>,
|
||||
scheduler: PusScheduler,
|
||||
}
|
||||
|
||||
impl<TcInMemConverter: EcssTcInMemConverter, Scheduler: PusSchedulerProvider>
|
||||
PusService11SchedHandler<TcInMemConverter, Scheduler>
|
||||
impl<
|
||||
TcReceiver: EcssTcReceiverCore,
|
||||
TmSender: EcssTmSenderCore,
|
||||
TcInMemConverter: EcssTcInMemConverter,
|
||||
VerificationReporter: VerificationReportingProvider,
|
||||
Scheduler: PusSchedulerProvider,
|
||||
>
|
||||
PusService11SchedHandler<
|
||||
TcReceiver,
|
||||
TmSender,
|
||||
TcInMemConverter,
|
||||
VerificationReporter,
|
||||
Scheduler,
|
||||
>
|
||||
{
|
||||
pub fn new(service_helper: PusServiceHelper<TcInMemConverter>, scheduler: Scheduler) -> Self {
|
||||
pub fn new(
|
||||
service_helper: PusServiceHelper<
|
||||
TcReceiver,
|
||||
TmSender,
|
||||
TcInMemConverter,
|
||||
VerificationReporter,
|
||||
>,
|
||||
scheduler: Scheduler,
|
||||
) -> Self {
|
||||
Self {
|
||||
service_helper,
|
||||
scheduler,
|
||||
@ -62,15 +96,14 @@ impl<TcInMemConverter: EcssTcInMemConverter, Scheduler: PusSchedulerProvider>
|
||||
));
|
||||
}
|
||||
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 standard_subservice.unwrap() {
|
||||
scheduling::Subservice::TcEnableScheduling => {
|
||||
let start_token = self
|
||||
.service_helper
|
||||
.common
|
||||
.verification_handler
|
||||
.get_mut()
|
||||
.start_success(ecss_tc_and_token.token, Some(&time_stamp))
|
||||
.start_success(ecss_tc_and_token.token, &time_stamp)
|
||||
.expect("Error sending start success");
|
||||
|
||||
self.scheduler.enable();
|
||||
@ -78,8 +111,7 @@ impl<TcInMemConverter: EcssTcInMemConverter, Scheduler: PusSchedulerProvider>
|
||||
self.service_helper
|
||||
.common
|
||||
.verification_handler
|
||||
.get_mut()
|
||||
.completion_success(start_token, Some(&time_stamp))
|
||||
.completion_success(start_token, &time_stamp)
|
||||
.expect("Error sending completion success");
|
||||
} else {
|
||||
return Err(PusPacketHandlingError::Other(
|
||||
@ -92,8 +124,7 @@ impl<TcInMemConverter: EcssTcInMemConverter, Scheduler: PusSchedulerProvider>
|
||||
.service_helper
|
||||
.common
|
||||
.verification_handler
|
||||
.get_mut()
|
||||
.start_success(ecss_tc_and_token.token, Some(&time_stamp))
|
||||
.start_success(ecss_tc_and_token.token, &time_stamp)
|
||||
.expect("Error sending start success");
|
||||
|
||||
self.scheduler.disable();
|
||||
@ -101,8 +132,7 @@ impl<TcInMemConverter: EcssTcInMemConverter, Scheduler: PusSchedulerProvider>
|
||||
self.service_helper
|
||||
.common
|
||||
.verification_handler
|
||||
.get_mut()
|
||||
.completion_success(start_token, Some(&time_stamp))
|
||||
.completion_success(start_token, &time_stamp)
|
||||
.expect("Error sending completion success");
|
||||
} else {
|
||||
return Err(PusPacketHandlingError::Other(
|
||||
@ -115,8 +145,7 @@ impl<TcInMemConverter: EcssTcInMemConverter, Scheduler: PusSchedulerProvider>
|
||||
.service_helper
|
||||
.common
|
||||
.verification_handler
|
||||
.get_mut()
|
||||
.start_success(ecss_tc_and_token.token, Some(&time_stamp))
|
||||
.start_success(ecss_tc_and_token.token, &time_stamp)
|
||||
.expect("Error sending start success");
|
||||
|
||||
self.scheduler
|
||||
@ -126,8 +155,7 @@ impl<TcInMemConverter: EcssTcInMemConverter, Scheduler: PusSchedulerProvider>
|
||||
self.service_helper
|
||||
.common
|
||||
.verification_handler
|
||||
.get_mut()
|
||||
.completion_success(start_token, Some(&time_stamp))
|
||||
.completion_success(start_token, &time_stamp)
|
||||
.expect("Error sending completion success");
|
||||
}
|
||||
scheduling::Subservice::TcInsertActivity => {
|
||||
@ -135,8 +163,7 @@ impl<TcInMemConverter: EcssTcInMemConverter, Scheduler: PusSchedulerProvider>
|
||||
.service_helper
|
||||
.common
|
||||
.verification_handler
|
||||
.get_mut()
|
||||
.start_success(ecss_tc_and_token.token, Some(&time_stamp))
|
||||
.start_success(ecss_tc_and_token.token, &time_stamp)
|
||||
.expect("error sending start success");
|
||||
|
||||
// let mut pool = self.sched_tc_pool.write().expect("locking pool failed");
|
||||
@ -147,8 +174,7 @@ impl<TcInMemConverter: EcssTcInMemConverter, Scheduler: PusSchedulerProvider>
|
||||
self.service_helper
|
||||
.common
|
||||
.verification_handler
|
||||
.get_mut()
|
||||
.completion_success(start_token, Some(&time_stamp))
|
||||
.completion_success(start_token, &time_stamp)
|
||||
.expect("sending completion success failed");
|
||||
}
|
||||
_ => {
|
||||
@ -167,17 +193,55 @@ impl<TcInMemConverter: EcssTcInMemConverter, Scheduler: PusSchedulerProvider>
|
||||
Ok(PusPacketHandlerResult::RequestHandled)
|
||||
}
|
||||
}
|
||||
/// Helper type definition for a PUS 11 handler with a dynamic TMTC memory backend and regular
|
||||
/// mpsc queues.
|
||||
pub type PusService11SchedHandlerDynWithMpsc<PusScheduler> = PusService11SchedHandler<
|
||||
MpscTcReceiver,
|
||||
TmAsVecSenderWithMpsc,
|
||||
EcssTcInVecConverter,
|
||||
VerificationReporterWithVecMpscSender,
|
||||
PusScheduler,
|
||||
>;
|
||||
/// Helper type definition for a PUS 11 handler with a dynamic TMTC memory backend and bounded MPSC
|
||||
/// queues.
|
||||
pub type PusService11SchedHandlerDynWithBoundedMpsc<PusScheduler> = PusService11SchedHandler<
|
||||
MpscTcReceiver,
|
||||
TmAsVecSenderWithBoundedMpsc,
|
||||
EcssTcInVecConverter,
|
||||
VerificationReporterWithVecMpscBoundedSender,
|
||||
PusScheduler,
|
||||
>;
|
||||
/// Helper type definition for a PUS 11 handler with a shared store TMTC memory backend and regular
|
||||
/// mpsc queues.
|
||||
pub type PusService11SchedHandlerStaticWithMpsc<PusScheduler> = PusService11SchedHandler<
|
||||
MpscTcReceiver,
|
||||
TmInSharedPoolSenderWithMpsc,
|
||||
EcssTcInSharedStoreConverter,
|
||||
VerificationReporterWithSharedPoolMpscSender,
|
||||
PusScheduler,
|
||||
>;
|
||||
/// Helper type definition for a PUS 11 handler with a shared store TMTC memory backend and bounded
|
||||
/// mpsc queues.
|
||||
pub type PusService11SchedHandlerStaticWithBoundedMpsc<PusScheduler> = PusService11SchedHandler<
|
||||
MpscTcReceiver,
|
||||
TmInSharedPoolSenderWithBoundedMpsc,
|
||||
EcssTcInSharedStoreConverter,
|
||||
VerificationReporterWithSharedPoolMpscBoundedSender,
|
||||
PusScheduler,
|
||||
>;
|
||||
|
||||
#[cfg(test)]
|
||||
mod tests {
|
||||
use crate::pool::{StaticMemoryPool, StaticPoolConfig};
|
||||
use crate::pus::tests::TEST_APID;
|
||||
use crate::pus::verification::VerificationReporterWithSharedPoolMpscBoundedSender;
|
||||
use crate::pus::{
|
||||
scheduler::{self, PusSchedulerProvider, TcInfo},
|
||||
tests::{PusServiceHandlerWithSharedStoreCommon, PusTestHarness},
|
||||
verification::{RequestId, TcStateAccepted, VerificationToken},
|
||||
EcssTcInSharedStoreConverter,
|
||||
};
|
||||
use crate::pus::{MpscTcReceiver, TmInSharedPoolSenderWithBoundedMpsc};
|
||||
use alloc::collections::VecDeque;
|
||||
use delegate::delegate;
|
||||
use spacepackets::ecss::scheduling::Subservice;
|
||||
@ -194,7 +258,13 @@ mod tests {
|
||||
|
||||
struct Pus11HandlerWithStoreTester {
|
||||
common: PusServiceHandlerWithSharedStoreCommon,
|
||||
handler: PusService11SchedHandler<EcssTcInSharedStoreConverter, TestScheduler>,
|
||||
handler: PusService11SchedHandler<
|
||||
MpscTcReceiver,
|
||||
TmInSharedPoolSenderWithBoundedMpsc,
|
||||
EcssTcInSharedStoreConverter,
|
||||
VerificationReporterWithSharedPoolMpscBoundedSender,
|
||||
TestScheduler,
|
||||
>,
|
||||
sched_tc_pool: StaticMemoryPool,
|
||||
}
|
||||
|
||||
|
||||
@ -5,16 +5,45 @@ use spacepackets::ecss::tm::{PusTmCreator, PusTmSecondaryHeader};
|
||||
use spacepackets::ecss::PusPacket;
|
||||
use spacepackets::SpHeader;
|
||||
|
||||
use super::{EcssTcInMemConverter, PusServiceBase, PusServiceHelper};
|
||||
use super::verification::{
|
||||
VerificationReporterWithSharedPoolMpscBoundedSender,
|
||||
VerificationReporterWithSharedPoolMpscSender, VerificationReporterWithVecMpscBoundedSender,
|
||||
VerificationReporterWithVecMpscSender, VerificationReportingProvider,
|
||||
};
|
||||
use super::{
|
||||
get_current_cds_short_timestamp, EcssTcInMemConverter, EcssTcInSharedStoreConverter,
|
||||
EcssTcInVecConverter, EcssTcReceiverCore, EcssTmSenderCore, MpscTcReceiver, PusServiceHelper,
|
||||
TmAsVecSenderWithBoundedMpsc, TmAsVecSenderWithMpsc, TmInSharedPoolSenderWithBoundedMpsc,
|
||||
TmInSharedPoolSenderWithMpsc,
|
||||
};
|
||||
|
||||
/// This is a helper class for [std] environments to handle generic PUS 17 (test service) packets.
|
||||
/// This handler only processes ping requests and generates a ping reply for them accordingly.
|
||||
pub struct PusService17TestHandler<TcInMemConverter: EcssTcInMemConverter> {
|
||||
pub service_helper: PusServiceHelper<TcInMemConverter>,
|
||||
pub struct PusService17TestHandler<
|
||||
TcReceiver: EcssTcReceiverCore,
|
||||
TmSender: EcssTmSenderCore,
|
||||
TcInMemConverter: EcssTcInMemConverter,
|
||||
VerificationReporter: VerificationReportingProvider,
|
||||
> {
|
||||
pub service_helper:
|
||||
PusServiceHelper<TcReceiver, TmSender, TcInMemConverter, VerificationReporter>,
|
||||
}
|
||||
|
||||
impl<TcInMemConverter: EcssTcInMemConverter> PusService17TestHandler<TcInMemConverter> {
|
||||
pub fn new(service_helper: PusServiceHelper<TcInMemConverter>) -> Self {
|
||||
impl<
|
||||
TcReceiver: EcssTcReceiverCore,
|
||||
TmSender: EcssTmSenderCore,
|
||||
TcInMemConverter: EcssTcInMemConverter,
|
||||
VerificationReporter: VerificationReportingProvider,
|
||||
> PusService17TestHandler<TcReceiver, TmSender, TcInMemConverter, VerificationReporter>
|
||||
{
|
||||
pub fn new(
|
||||
service_helper: PusServiceHelper<
|
||||
TcReceiver,
|
||||
TmSender,
|
||||
TcInMemConverter,
|
||||
VerificationReporter,
|
||||
>,
|
||||
) -> Self {
|
||||
Self { service_helper }
|
||||
}
|
||||
|
||||
@ -33,13 +62,12 @@ impl<TcInMemConverter: EcssTcInMemConverter> PusService17TestHandler<TcInMemConv
|
||||
}
|
||||
if tc.subservice() == 1 {
|
||||
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);
|
||||
let result = self
|
||||
.service_helper
|
||||
.common
|
||||
.verification_handler
|
||||
.get_mut()
|
||||
.start_success(ecss_tc_and_token.token, Some(&time_stamp))
|
||||
.start_success(ecss_tc_and_token.token, &time_stamp)
|
||||
.map_err(|_| PartialPusHandlingError::Verification);
|
||||
let start_token = if let Ok(result) = result {
|
||||
Some(result)
|
||||
@ -67,8 +95,7 @@ impl<TcInMemConverter: EcssTcInMemConverter> PusService17TestHandler<TcInMemConv
|
||||
.service_helper
|
||||
.common
|
||||
.verification_handler
|
||||
.get_mut()
|
||||
.completion_success(start_token, Some(&time_stamp))
|
||||
.completion_success(start_token, &time_stamp)
|
||||
.is_err()
|
||||
{
|
||||
partial_error = Some(PartialPusHandlingError::Verification)
|
||||
@ -89,17 +116,53 @@ impl<TcInMemConverter: EcssTcInMemConverter> PusService17TestHandler<TcInMemConv
|
||||
}
|
||||
}
|
||||
|
||||
/// Helper type definition for a PUS 17 handler with a dynamic TMTC memory backend and regular
|
||||
/// mpsc queues.
|
||||
pub type PusService17TestHandlerDynWithMpsc = PusService17TestHandler<
|
||||
MpscTcReceiver,
|
||||
TmAsVecSenderWithMpsc,
|
||||
EcssTcInVecConverter,
|
||||
VerificationReporterWithVecMpscSender,
|
||||
>;
|
||||
/// Helper type definition for a PUS 17 handler with a dynamic TMTC memory backend and bounded MPSC
|
||||
/// queues.
|
||||
pub type PusService17TestHandlerDynWithBoundedMpsc = PusService17TestHandler<
|
||||
MpscTcReceiver,
|
||||
TmAsVecSenderWithBoundedMpsc,
|
||||
EcssTcInVecConverter,
|
||||
VerificationReporterWithVecMpscBoundedSender,
|
||||
>;
|
||||
/// Helper type definition for a PUS 17 handler with a shared store TMTC memory backend and regular
|
||||
/// mpsc queues.
|
||||
pub type PusService17TestHandlerStaticWithMpsc = PusService17TestHandler<
|
||||
MpscTcReceiver,
|
||||
TmInSharedPoolSenderWithMpsc,
|
||||
EcssTcInSharedStoreConverter,
|
||||
VerificationReporterWithSharedPoolMpscSender,
|
||||
>;
|
||||
/// Helper type definition for a PUS 17 handler with a shared store TMTC memory backend and bounded
|
||||
/// mpsc queues.
|
||||
pub type PusService17TestHandlerStaticWithBoundedMpsc = PusService17TestHandler<
|
||||
MpscTcReceiver,
|
||||
TmInSharedPoolSenderWithBoundedMpsc,
|
||||
EcssTcInSharedStoreConverter,
|
||||
VerificationReporterWithSharedPoolMpscBoundedSender,
|
||||
>;
|
||||
|
||||
#[cfg(test)]
|
||||
mod tests {
|
||||
use crate::pus::tests::{
|
||||
PusServiceHandlerWithSharedStoreCommon, PusServiceHandlerWithVecCommon, PusTestHarness,
|
||||
SimplePusPacketHandler, TEST_APID,
|
||||
};
|
||||
use crate::pus::verification::std_mod::{
|
||||
VerificationReporterWithSharedPoolMpscBoundedSender, VerificationReporterWithVecMpscSender,
|
||||
};
|
||||
use crate::pus::verification::RequestId;
|
||||
use crate::pus::verification::{TcStateAccepted, VerificationToken};
|
||||
use crate::pus::{
|
||||
EcssTcInSharedStoreConverter, EcssTcInVecConverter, PusPacketHandlerResult,
|
||||
PusPacketHandlingError,
|
||||
EcssTcInSharedStoreConverter, EcssTcInVecConverter, MpscTcReceiver, PusPacketHandlerResult,
|
||||
PusPacketHandlingError, TmAsVecSenderWithMpsc, TmInSharedPoolSenderWithBoundedMpsc,
|
||||
};
|
||||
use delegate::delegate;
|
||||
use spacepackets::ecss::tc::{PusTcCreator, PusTcSecondaryHeader};
|
||||
@ -111,7 +174,12 @@ mod tests {
|
||||
|
||||
struct Pus17HandlerWithStoreTester {
|
||||
common: PusServiceHandlerWithSharedStoreCommon,
|
||||
handler: PusService17TestHandler<EcssTcInSharedStoreConverter>,
|
||||
handler: PusService17TestHandler<
|
||||
MpscTcReceiver,
|
||||
TmInSharedPoolSenderWithBoundedMpsc,
|
||||
EcssTcInSharedStoreConverter,
|
||||
VerificationReporterWithSharedPoolMpscBoundedSender,
|
||||
>,
|
||||
}
|
||||
|
||||
impl Pus17HandlerWithStoreTester {
|
||||
@ -148,13 +216,19 @@ mod tests {
|
||||
}
|
||||
|
||||
struct Pus17HandlerWithVecTester {
|
||||
common: PusServiceHandlerWithVecCommon,
|
||||
handler: PusService17TestHandler<EcssTcInVecConverter>,
|
||||
common: PusServiceHandlerWithVecCommon<VerificationReporterWithVecMpscSender>,
|
||||
handler: PusService17TestHandler<
|
||||
MpscTcReceiver,
|
||||
TmAsVecSenderWithMpsc,
|
||||
EcssTcInVecConverter,
|
||||
VerificationReporterWithVecMpscSender,
|
||||
>,
|
||||
}
|
||||
|
||||
impl Pus17HandlerWithVecTester {
|
||||
pub fn new() -> Self {
|
||||
let (common, srv_handler) = PusServiceHandlerWithVecCommon::new();
|
||||
let (common, srv_handler) =
|
||||
PusServiceHandlerWithVecCommon::new_with_standard_verif_reporter();
|
||||
Self {
|
||||
common,
|
||||
handler: PusService17TestHandler::new(srv_handler),
|
||||
|
||||
File diff suppressed because it is too large
Load Diff
85
satrs/src/queue.rs
Normal file
85
satrs/src/queue.rs
Normal file
@ -0,0 +1,85 @@
|
||||
use core::fmt::{Display, Formatter};
|
||||
#[cfg(feature = "std")]
|
||||
use std::error::Error;
|
||||
#[cfg(feature = "std")]
|
||||
use std::sync::mpsc;
|
||||
|
||||
/// 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 {}
|
||||
|
||||
#[cfg(feature = "std")]
|
||||
impl<T> From<mpsc::SendError<T>> for GenericSendError {
|
||||
fn from(_: mpsc::SendError<T>) -> Self {
|
||||
GenericSendError::RxDisconnected
|
||||
}
|
||||
}
|
||||
|
||||
#[cfg(feature = "std")]
|
||||
impl<T> From<mpsc::TrySendError<T>> for GenericSendError {
|
||||
fn from(err: mpsc::TrySendError<T>) -> Self {
|
||||
match err {
|
||||
mpsc::TrySendError::Full(_) => GenericSendError::QueueFull(None),
|
||||
mpsc::TrySendError::Disconnected(_) => GenericSendError::RxDisconnected,
|
||||
}
|
||||
}
|
||||
}
|
||||
|
||||
#[cfg(feature = "crossbeam")]
|
||||
impl<T> From<crossbeam_channel::SendError<T>> for GenericSendError {
|
||||
fn from(_: crossbeam_channel::SendError<T>) -> Self {
|
||||
GenericSendError::RxDisconnected
|
||||
}
|
||||
}
|
||||
|
||||
#[cfg(feature = "crossbeam")]
|
||||
impl<T> From<crossbeam_channel::TrySendError<T>> for GenericSendError {
|
||||
fn from(err: crossbeam_channel::TrySendError<T>) -> Self {
|
||||
match err {
|
||||
crossbeam_channel::TrySendError::Full(_) => GenericSendError::QueueFull(None),
|
||||
crossbeam_channel::TrySendError::Disconnected(_) => GenericSendError::RxDisconnected,
|
||||
}
|
||||
}
|
||||
}
|
||||
@ -1 +1,110 @@
|
||||
use core::fmt;
|
||||
#[cfg(feature = "std")]
|
||||
use std::error::Error;
|
||||
|
||||
use spacepackets::{
|
||||
ecss::{tc::IsPusTelecommand, PusPacket},
|
||||
ByteConversionError, CcsdsPacket,
|
||||
};
|
||||
|
||||
use crate::TargetId;
|
||||
|
||||
pub type Apid = u16;
|
||||
|
||||
#[derive(Debug, Clone, PartialEq, Eq)]
|
||||
pub enum TargetIdCreationError {
|
||||
ByteConversion(ByteConversionError),
|
||||
NotEnoughAppData(usize),
|
||||
}
|
||||
|
||||
impl From<ByteConversionError> for TargetIdCreationError {
|
||||
fn from(e: ByteConversionError) -> Self {
|
||||
Self::ByteConversion(e)
|
||||
}
|
||||
}
|
||||
|
||||
impl fmt::Display for TargetIdCreationError {
|
||||
fn fmt(&self, f: &mut fmt::Formatter) -> fmt::Result {
|
||||
match self {
|
||||
Self::ByteConversion(e) => write!(f, "target ID creation: {}", e),
|
||||
Self::NotEnoughAppData(len) => {
|
||||
write!(f, "not enough app data to generate target ID: {}", len)
|
||||
}
|
||||
}
|
||||
}
|
||||
}
|
||||
|
||||
#[cfg(feature = "std")]
|
||||
impl Error for TargetIdCreationError {
|
||||
fn source(&self) -> Option<&(dyn Error + 'static)> {
|
||||
if let Self::ByteConversion(e) = self {
|
||||
return Some(e);
|
||||
}
|
||||
None
|
||||
}
|
||||
}
|
||||
|
||||
#[derive(Copy, Clone, PartialEq, Eq, Hash, Debug)]
|
||||
pub struct TargetAndApidId {
|
||||
pub apid: Apid,
|
||||
pub target: u32,
|
||||
}
|
||||
|
||||
impl TargetAndApidId {
|
||||
pub fn new(apid: Apid, target: u32) -> Self {
|
||||
Self { apid, target }
|
||||
}
|
||||
|
||||
pub fn apid(&self) -> Apid {
|
||||
self.apid
|
||||
}
|
||||
|
||||
pub fn target(&self) -> u32 {
|
||||
self.target
|
||||
}
|
||||
|
||||
pub fn raw(&self) -> TargetId {
|
||||
((self.apid as u64) << 32) | (self.target as u64)
|
||||
}
|
||||
|
||||
pub fn target_id(&self) -> TargetId {
|
||||
self.raw()
|
||||
}
|
||||
|
||||
pub fn from_pus_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()),
|
||||
})
|
||||
}
|
||||
}
|
||||
|
||||
impl From<u64> for TargetAndApidId {
|
||||
fn from(raw: u64) -> Self {
|
||||
Self {
|
||||
apid: (raw >> 32) as u16,
|
||||
target: raw as u32,
|
||||
}
|
||||
}
|
||||
}
|
||||
|
||||
impl From<TargetAndApidId> for u64 {
|
||||
fn from(target_and_apid_id: TargetAndApidId) -> Self {
|
||||
target_and_apid_id.raw()
|
||||
}
|
||||
}
|
||||
|
||||
impl fmt::Display for TargetAndApidId {
|
||||
fn fmt(&self, f: &mut fmt::Formatter) -> fmt::Result {
|
||||
write!(f, "{}, {}", self.apid, self.target)
|
||||
}
|
||||
}
|
||||
|
||||
@ -52,7 +52,7 @@
|
||||
//! }
|
||||
//!
|
||||
//! let apid_handler = ConcreteApidHandler::default();
|
||||
//! let mut ccsds_distributor = CcsdsDistributor::new(Box::new(apid_handler));
|
||||
//! let mut ccsds_distributor = CcsdsDistributor::new(apid_handler);
|
||||
//!
|
||||
//! // Create and pass PUS telecommand with a valid APID
|
||||
//! let mut space_packet_header = SpHeader::tc_unseg(0x002, 0x34, 0).unwrap();
|
||||
@ -72,23 +72,17 @@
|
||||
//! let tc_slice = &test_buf[0..size];
|
||||
//! ccsds_distributor.pass_tc(&tc_slice).expect("Passing TC slice failed");
|
||||
//!
|
||||
//! // User helper function to retrieve concrete class
|
||||
//! let concrete_handler_ref: &ConcreteApidHandler = ccsds_distributor
|
||||
//! .apid_handler_ref()
|
||||
//! .expect("Casting back to concrete type failed");
|
||||
//! assert_eq!(concrete_handler_ref.known_call_count, 1);
|
||||
//! assert_eq!(concrete_handler_ref.unknown_call_count, 1);
|
||||
//! // Retrieve the APID handler.
|
||||
//! let handler_ref = ccsds_distributor.packet_handler();
|
||||
//! assert_eq!(handler_ref.known_call_count, 1);
|
||||
//! assert_eq!(handler_ref.unknown_call_count, 1);
|
||||
//!
|
||||
//! // It's also possible to retrieve a mutable reference
|
||||
//! let mutable_ref: &mut ConcreteApidHandler = ccsds_distributor
|
||||
//! .apid_handler_mut()
|
||||
//! .expect("Casting back to concrete type failed");
|
||||
//! mutable_ref.mutable_foo();
|
||||
//! // Mutable access to the handler.
|
||||
//! let mutable_handler_ref = ccsds_distributor.packet_handler_mut();
|
||||
//! mutable_handler_ref.mutable_foo();
|
||||
//! ```
|
||||
use crate::tmtc::{ReceivesCcsdsTc, ReceivesTcCore};
|
||||
use alloc::boxed::Box;
|
||||
use core::fmt::{Display, Formatter};
|
||||
use downcast_rs::Downcast;
|
||||
use spacepackets::{ByteConversionError, CcsdsPacket, SpHeader};
|
||||
#[cfg(feature = "std")]
|
||||
use std::error::Error;
|
||||
@ -99,11 +93,7 @@ use std::error::Error;
|
||||
/// instance of this handler to the [CcsdsDistributor]. The distributor will use the trait
|
||||
/// interface to dispatch received packets to the user based on the Application Process Identifier
|
||||
/// (APID) field of the CCSDS packet.
|
||||
///
|
||||
/// This trait automatically implements the [downcast_rs::Downcast] to allow a more convenient API
|
||||
/// to cast trait objects back to their concrete type after the handler was passed to the
|
||||
/// distributor.
|
||||
pub trait CcsdsPacketHandler: Downcast {
|
||||
pub trait CcsdsPacketHandler {
|
||||
type Error;
|
||||
|
||||
fn valid_apids(&self) -> &'static [u16];
|
||||
@ -116,23 +106,12 @@ pub trait CcsdsPacketHandler: Downcast {
|
||||
) -> Result<(), Self::Error>;
|
||||
}
|
||||
|
||||
downcast_rs::impl_downcast!(CcsdsPacketHandler assoc Error);
|
||||
|
||||
pub trait SendableCcsdsPacketHandler: CcsdsPacketHandler + Send {}
|
||||
|
||||
impl<T: CcsdsPacketHandler + Send> SendableCcsdsPacketHandler for T {}
|
||||
|
||||
downcast_rs::impl_downcast!(SendableCcsdsPacketHandler assoc Error);
|
||||
|
||||
/// The CCSDS distributor dispatches received CCSDS packets to a user provided packet handler.
|
||||
///
|
||||
/// The passed APID handler is required to be [Send]able to allow more ergonomic usage with
|
||||
/// threads.
|
||||
pub struct CcsdsDistributor<E> {
|
||||
pub struct CcsdsDistributor<PacketHandler: CcsdsPacketHandler<Error = E>, E> {
|
||||
/// User provided APID handler stored as a generic trait object.
|
||||
/// It can be cast back to the original concrete type using the [Self::apid_handler_ref] or
|
||||
/// the [Self::apid_handler_mut] method.
|
||||
pub apid_handler: Box<dyn SendableCcsdsPacketHandler<Error = E>>,
|
||||
/// It can be cast back to the original concrete type using [Self::packet_handler] or
|
||||
/// the [Self::packet_handler_mut] method.
|
||||
packet_handler: PacketHandler,
|
||||
}
|
||||
|
||||
#[derive(Debug, Copy, Clone, PartialEq, Eq)]
|
||||
@ -160,7 +139,9 @@ impl<E: Error> Error for CcsdsError<E> {
|
||||
}
|
||||
}
|
||||
|
||||
impl<E: 'static> ReceivesCcsdsTc for CcsdsDistributor<E> {
|
||||
impl<PacketHandler: CcsdsPacketHandler<Error = E>, E: 'static> ReceivesCcsdsTc
|
||||
for CcsdsDistributor<PacketHandler, E>
|
||||
{
|
||||
type Error = CcsdsError<E>;
|
||||
|
||||
fn pass_ccsds(&mut self, header: &SpHeader, tc_raw: &[u8]) -> Result<(), Self::Error> {
|
||||
@ -168,7 +149,9 @@ impl<E: 'static> ReceivesCcsdsTc for CcsdsDistributor<E> {
|
||||
}
|
||||
}
|
||||
|
||||
impl<E: 'static> ReceivesTcCore for CcsdsDistributor<E> {
|
||||
impl<PacketHandler: CcsdsPacketHandler<Error = E>, E: 'static> ReceivesTcCore
|
||||
for CcsdsDistributor<PacketHandler, E>
|
||||
{
|
||||
type Error = CcsdsError<E>;
|
||||
|
||||
fn pass_tc(&mut self, tc_raw: &[u8]) -> Result<(), Self::Error> {
|
||||
@ -186,36 +169,31 @@ impl<E: 'static> ReceivesTcCore for CcsdsDistributor<E> {
|
||||
}
|
||||
}
|
||||
|
||||
impl<E: 'static> CcsdsDistributor<E> {
|
||||
pub fn new(apid_handler: Box<dyn SendableCcsdsPacketHandler<Error = E>>) -> Self {
|
||||
CcsdsDistributor { apid_handler }
|
||||
impl<PacketHandler: CcsdsPacketHandler<Error = E>, E: 'static> CcsdsDistributor<PacketHandler, E> {
|
||||
pub fn new(packet_handler: PacketHandler) -> Self {
|
||||
CcsdsDistributor { packet_handler }
|
||||
}
|
||||
|
||||
/// This function can be used to retrieve a reference to the concrete instance of the APID
|
||||
/// handler after it was passed to the distributor. See the
|
||||
/// [module documentation][crate::tmtc::ccsds_distrib] for an fsrc-example.
|
||||
pub fn apid_handler_ref<T: SendableCcsdsPacketHandler<Error = E>>(&self) -> Option<&T> {
|
||||
self.apid_handler.downcast_ref::<T>()
|
||||
pub fn packet_handler(&self) -> &PacketHandler {
|
||||
&self.packet_handler
|
||||
}
|
||||
|
||||
/// This function can be used to retrieve a mutable reference to the concrete instance of the
|
||||
/// APID handler after it was passed to the distributor.
|
||||
pub fn apid_handler_mut<T: SendableCcsdsPacketHandler<Error = E>>(&mut self) -> Option<&mut T> {
|
||||
self.apid_handler.downcast_mut::<T>()
|
||||
pub fn packet_handler_mut(&mut self) -> &mut PacketHandler {
|
||||
&mut self.packet_handler
|
||||
}
|
||||
|
||||
fn dispatch_ccsds(&mut self, sp_header: &SpHeader, tc_raw: &[u8]) -> Result<(), CcsdsError<E>> {
|
||||
let apid = sp_header.apid();
|
||||
let valid_apids = self.apid_handler.valid_apids();
|
||||
let valid_apids = self.packet_handler.valid_apids();
|
||||
for &valid_apid in valid_apids {
|
||||
if valid_apid == apid {
|
||||
return self
|
||||
.apid_handler
|
||||
.packet_handler
|
||||
.handle_known_apid(sp_header, tc_raw)
|
||||
.map_err(|e| CcsdsError::CustomError(e));
|
||||
}
|
||||
}
|
||||
self.apid_handler
|
||||
self.packet_handler
|
||||
.handle_unknown_apid(sp_header, tc_raw)
|
||||
.map_err(|e| CcsdsError::CustomError(e))
|
||||
}
|
||||
@ -244,6 +222,13 @@ pub(crate) mod tests {
|
||||
&buf[0..size]
|
||||
}
|
||||
|
||||
pub fn generate_ping_tc_as_vec() -> Vec<u8> {
|
||||
let mut sph = SpHeader::tc_unseg(0x002, 0x34, 0).unwrap();
|
||||
PusTcCreator::new_simple(&mut sph, 17, 1, None, true)
|
||||
.to_vec()
|
||||
.unwrap()
|
||||
}
|
||||
|
||||
type SharedPacketQueue = Arc<Mutex<VecDeque<(u16, Vec<u8>)>>>;
|
||||
pub struct BasicApidHandlerSharedQueue {
|
||||
pub known_packet_queue: SharedPacketQueue,
|
||||
@ -305,7 +290,8 @@ pub(crate) mod tests {
|
||||
) -> Result<(), Self::Error> {
|
||||
let mut vec = Vec::new();
|
||||
vec.extend_from_slice(tc_raw);
|
||||
Ok(self.known_packet_queue.push_back((sp_header.apid(), vec)))
|
||||
self.known_packet_queue.push_back((sp_header.apid(), vec));
|
||||
Ok(())
|
||||
}
|
||||
|
||||
fn handle_unknown_apid(
|
||||
@ -315,7 +301,8 @@ pub(crate) mod tests {
|
||||
) -> Result<(), Self::Error> {
|
||||
let mut vec = Vec::new();
|
||||
vec.extend_from_slice(tc_raw);
|
||||
Ok(self.unknown_packet_queue.push_back((sp_header.apid(), vec)))
|
||||
self.unknown_packet_queue.push_back((sp_header.apid(), vec));
|
||||
Ok(())
|
||||
}
|
||||
}
|
||||
|
||||
@ -327,7 +314,7 @@ pub(crate) mod tests {
|
||||
known_packet_queue: known_packet_queue.clone(),
|
||||
unknown_packet_queue: unknown_packet_queue.clone(),
|
||||
};
|
||||
let mut ccsds_distrib = CcsdsDistributor::new(Box::new(apid_handler));
|
||||
let mut ccsds_distrib = CcsdsDistributor::new(apid_handler);
|
||||
is_send(&ccsds_distrib);
|
||||
let mut test_buf: [u8; 32] = [0; 32];
|
||||
let tc_slice = generate_ping_tc(test_buf.as_mut_slice());
|
||||
@ -342,14 +329,9 @@ pub(crate) mod tests {
|
||||
}
|
||||
|
||||
#[test]
|
||||
fn test_distribs_unknown_apid() {
|
||||
let known_packet_queue = Arc::new(Mutex::default());
|
||||
let unknown_packet_queue = Arc::new(Mutex::default());
|
||||
let apid_handler = BasicApidHandlerSharedQueue {
|
||||
known_packet_queue: known_packet_queue.clone(),
|
||||
unknown_packet_queue: unknown_packet_queue.clone(),
|
||||
};
|
||||
let mut ccsds_distrib = CcsdsDistributor::new(Box::new(apid_handler));
|
||||
fn test_unknown_apid_handling() {
|
||||
let apid_handler = BasicApidHandlerOwnedQueue::default();
|
||||
let mut ccsds_distrib = CcsdsDistributor::new(apid_handler);
|
||||
let mut sph = SpHeader::tc_unseg(0x004, 0x34, 0).unwrap();
|
||||
let pus_tc = PusTcCreator::new_simple(&mut sph, 17, 1, None, true);
|
||||
let mut test_buf: [u8; 32] = [0; 32];
|
||||
@ -357,11 +339,52 @@ pub(crate) mod tests {
|
||||
.write_to_bytes(test_buf.as_mut_slice())
|
||||
.expect("Error writing TC to buffer");
|
||||
ccsds_distrib.pass_tc(&test_buf).expect("Passing TC failed");
|
||||
let recvd = unknown_packet_queue.lock().unwrap().pop_front();
|
||||
assert!(known_packet_queue.lock().unwrap().is_empty());
|
||||
assert!(ccsds_distrib.packet_handler().known_packet_queue.is_empty());
|
||||
let apid_handler = ccsds_distrib.packet_handler_mut();
|
||||
let recvd = apid_handler.unknown_packet_queue.pop_front();
|
||||
assert!(recvd.is_some());
|
||||
let (apid, packet) = recvd.unwrap();
|
||||
assert_eq!(apid, 0x004);
|
||||
assert_eq!(packet.as_slice(), test_buf);
|
||||
}
|
||||
|
||||
#[test]
|
||||
fn test_ccsds_distribution() {
|
||||
let mut ccsds_distrib = CcsdsDistributor::new(BasicApidHandlerOwnedQueue::default());
|
||||
let mut sph = SpHeader::tc_unseg(0x002, 0x34, 0).unwrap();
|
||||
let pus_tc = PusTcCreator::new_simple(&mut sph, 17, 1, None, true);
|
||||
let tc_vec = pus_tc.to_vec().unwrap();
|
||||
ccsds_distrib
|
||||
.pass_ccsds(&sph, &tc_vec)
|
||||
.expect("passing CCSDS TC failed");
|
||||
let recvd = ccsds_distrib
|
||||
.packet_handler_mut()
|
||||
.known_packet_queue
|
||||
.pop_front();
|
||||
assert!(recvd.is_some());
|
||||
let recvd = recvd.unwrap();
|
||||
assert_eq!(recvd.0, 0x002);
|
||||
assert_eq!(recvd.1, tc_vec);
|
||||
}
|
||||
|
||||
#[test]
|
||||
fn test_distribution_short_packet_fails() {
|
||||
let mut ccsds_distrib = CcsdsDistributor::new(BasicApidHandlerOwnedQueue::default());
|
||||
let mut sph = SpHeader::tc_unseg(0x002, 0x34, 0).unwrap();
|
||||
let pus_tc = PusTcCreator::new_simple(&mut sph, 17, 1, None, true);
|
||||
let tc_vec = pus_tc.to_vec().unwrap();
|
||||
let result = ccsds_distrib.pass_tc(&tc_vec[0..6]);
|
||||
assert!(result.is_err());
|
||||
let error = result.unwrap_err();
|
||||
if let CcsdsError::ByteConversionError(ByteConversionError::FromSliceTooSmall {
|
||||
found,
|
||||
expected,
|
||||
}) = error
|
||||
{
|
||||
assert_eq!(found, 6);
|
||||
assert_eq!(expected, 7);
|
||||
} else {
|
||||
panic!("Unexpected error variant");
|
||||
}
|
||||
}
|
||||
}
|
||||
|
||||
@ -18,9 +18,7 @@ pub mod tm_helper;
|
||||
#[cfg(feature = "alloc")]
|
||||
pub use ccsds_distrib::{CcsdsDistributor, CcsdsError, CcsdsPacketHandler};
|
||||
#[cfg(feature = "alloc")]
|
||||
pub use pus_distrib::{PusDistributor, PusServiceProvider};
|
||||
|
||||
pub type TargetId = u32;
|
||||
pub use pus_distrib::{PusDistributor, PusServiceDistributor};
|
||||
|
||||
/// Generic trait for object which can receive any telecommands in form of a raw bytestream, with
|
||||
/// no assumptions about the received protocol.
|
||||
|
||||
@ -2,7 +2,7 @@
|
||||
//!
|
||||
//! The routing components consist of two core components:
|
||||
//! 1. [PusDistributor] component which dispatches received packets to a user-provided handler.
|
||||
//! 2. [PusServiceProvider] trait which should be implemented by the user-provided PUS packet
|
||||
//! 2. [PusServiceDistributor] trait which should be implemented by the user-provided PUS packet
|
||||
//! handler.
|
||||
//!
|
||||
//! The [PusDistributor] implements the [ReceivesEcssPusTc], [ReceivesCcsdsTc] and the
|
||||
@ -13,25 +13,26 @@
|
||||
//! the raw bytestream. If this process fails, a [PusDistribError::PusError] is returned to the
|
||||
//! user.
|
||||
//! 2. If it was possible to extract both components, the packet will be passed to the
|
||||
//! [PusServiceProvider::handle_pus_tc_packet] method provided by the user.
|
||||
//! [PusServiceDistributor::distribute_packet] method provided by the user.
|
||||
//!
|
||||
//! # Example
|
||||
//!
|
||||
//! ```rust
|
||||
//! use spacepackets::ecss::WritablePusPacket;
|
||||
//! use satrs::tmtc::pus_distrib::{PusDistributor, PusServiceProvider};
|
||||
//! use satrs::tmtc::pus_distrib::{PusDistributor, PusServiceDistributor};
|
||||
//! use satrs::tmtc::{ReceivesTc, ReceivesTcCore};
|
||||
//! use spacepackets::SpHeader;
|
||||
//! use spacepackets::ecss::tc::{PusTcCreator, PusTcReader};
|
||||
//!
|
||||
//! struct ConcretePusHandler {
|
||||
//! handler_call_count: u32
|
||||
//! }
|
||||
//!
|
||||
//! // This is a very simple possible service provider. It increments an internal call count field,
|
||||
//! // which is used to verify the handler was called
|
||||
//! impl PusServiceProvider for ConcretePusHandler {
|
||||
//! impl PusServiceDistributor for ConcretePusHandler {
|
||||
//! type Error = ();
|
||||
//! fn handle_pus_tc_packet(&mut self, service: u8, header: &SpHeader, pus_tc: &PusTcReader) -> Result<(), Self::Error> {
|
||||
//! fn distribute_packet(&mut self, service: u8, header: &SpHeader, pus_tc: &PusTcReader) -> Result<(), Self::Error> {
|
||||
//! assert_eq!(service, 17);
|
||||
//! assert_eq!(pus_tc.len_packed(), 13);
|
||||
//! self.handler_call_count += 1;
|
||||
@ -42,7 +43,7 @@
|
||||
//! let service_handler = ConcretePusHandler {
|
||||
//! handler_call_count: 0
|
||||
//! };
|
||||
//! let mut pus_distributor = PusDistributor::new(Box::new(service_handler));
|
||||
//! let mut pus_distributor = PusDistributor::new(service_handler);
|
||||
//!
|
||||
//! // Create and pass PUS ping telecommand with a valid APID
|
||||
//! let mut space_packet_header = SpHeader::tc_unseg(0x002, 0x34, 0).unwrap();
|
||||
@ -57,50 +58,42 @@
|
||||
//!
|
||||
//! // User helper function to retrieve concrete class. We check the call count here to verify
|
||||
//! // that the PUS ping telecommand was routed successfully.
|
||||
//! let concrete_handler_ref: &ConcretePusHandler = pus_distributor
|
||||
//! .service_provider_ref()
|
||||
//! .expect("Casting back to concrete type failed");
|
||||
//! assert_eq!(concrete_handler_ref.handler_call_count, 1);
|
||||
//! let concrete_handler = pus_distributor.service_distributor();
|
||||
//! assert_eq!(concrete_handler.handler_call_count, 1);
|
||||
//! ```
|
||||
use crate::pus::ReceivesEcssPusTc;
|
||||
use crate::tmtc::{ReceivesCcsdsTc, ReceivesTcCore};
|
||||
use alloc::boxed::Box;
|
||||
use core::fmt::{Display, Formatter};
|
||||
use downcast_rs::Downcast;
|
||||
use spacepackets::ecss::tc::PusTcReader;
|
||||
use spacepackets::ecss::{PusError, PusPacket};
|
||||
use spacepackets::SpHeader;
|
||||
#[cfg(feature = "std")]
|
||||
use std::error::Error;
|
||||
|
||||
pub trait PusServiceProvider: Downcast {
|
||||
/// Trait for a generic distributor object which can distribute PUS packets based on packet
|
||||
/// properties like the PUS service, space packet header or any other content of the PUS packet.
|
||||
pub trait PusServiceDistributor {
|
||||
type Error;
|
||||
fn handle_pus_tc_packet(
|
||||
fn distribute_packet(
|
||||
&mut self,
|
||||
service: u8,
|
||||
header: &SpHeader,
|
||||
pus_tc: &PusTcReader,
|
||||
) -> Result<(), Self::Error>;
|
||||
}
|
||||
downcast_rs::impl_downcast!(PusServiceProvider assoc Error);
|
||||
|
||||
pub trait SendablePusServiceProvider: PusServiceProvider + Send {}
|
||||
|
||||
impl<T: Send + PusServiceProvider> SendablePusServiceProvider for T {}
|
||||
|
||||
downcast_rs::impl_downcast!(SendablePusServiceProvider assoc Error);
|
||||
|
||||
/// Generic distributor object which dispatches received packets to a user provided handler.
|
||||
///
|
||||
/// This distributor expects the passed trait object to be [Send]able to allow more ergonomic
|
||||
/// usage with threads.
|
||||
pub struct PusDistributor<E> {
|
||||
pub service_provider: Box<dyn SendablePusServiceProvider<Error = E>>,
|
||||
pub struct PusDistributor<ServiceDistributor: PusServiceDistributor<Error = E>, E> {
|
||||
service_distributor: ServiceDistributor,
|
||||
}
|
||||
|
||||
impl<E> PusDistributor<E> {
|
||||
pub fn new(service_provider: Box<dyn SendablePusServiceProvider<Error = E>>) -> Self {
|
||||
PusDistributor { service_provider }
|
||||
impl<ServiceDistributor: PusServiceDistributor<Error = E>, E>
|
||||
PusDistributor<ServiceDistributor, E>
|
||||
{
|
||||
pub fn new(service_provider: ServiceDistributor) -> Self {
|
||||
PusDistributor {
|
||||
service_distributor: service_provider,
|
||||
}
|
||||
}
|
||||
}
|
||||
|
||||
@ -113,8 +106,8 @@ pub enum PusDistribError<E> {
|
||||
impl<E: Display> Display for PusDistribError<E> {
|
||||
fn fmt(&self, f: &mut Formatter<'_>) -> core::fmt::Result {
|
||||
match self {
|
||||
PusDistribError::CustomError(e) => write!(f, "{e}"),
|
||||
PusDistribError::PusError(e) => write!(f, "{e}"),
|
||||
PusDistribError::CustomError(e) => write!(f, "pus distribution error: {e}"),
|
||||
PusDistribError::PusError(e) => write!(f, "pus distribution error: {e}"),
|
||||
}
|
||||
}
|
||||
}
|
||||
@ -129,7 +122,9 @@ impl<E: Error> Error for PusDistribError<E> {
|
||||
}
|
||||
}
|
||||
|
||||
impl<E: 'static> ReceivesTcCore for PusDistributor<E> {
|
||||
impl<ServiceDistributor: PusServiceDistributor<Error = E>, E: 'static> ReceivesTcCore
|
||||
for PusDistributor<ServiceDistributor, E>
|
||||
{
|
||||
type Error = PusDistribError<E>;
|
||||
fn pass_tc(&mut self, tm_raw: &[u8]) -> Result<(), Self::Error> {
|
||||
// Convert to ccsds and call pass_ccsds
|
||||
@ -139,7 +134,9 @@ impl<E: 'static> ReceivesTcCore for PusDistributor<E> {
|
||||
}
|
||||
}
|
||||
|
||||
impl<E: 'static> ReceivesCcsdsTc for PusDistributor<E> {
|
||||
impl<ServiceDistributor: PusServiceDistributor<Error = E>, E: 'static> ReceivesCcsdsTc
|
||||
for PusDistributor<ServiceDistributor, E>
|
||||
{
|
||||
type Error = PusDistribError<E>;
|
||||
fn pass_ccsds(&mut self, header: &SpHeader, tm_raw: &[u8]) -> Result<(), Self::Error> {
|
||||
let (tc, _) = PusTcReader::new(tm_raw).map_err(|e| PusDistribError::PusError(e))?;
|
||||
@ -147,34 +144,39 @@ impl<E: 'static> ReceivesCcsdsTc for PusDistributor<E> {
|
||||
}
|
||||
}
|
||||
|
||||
impl<E: 'static> ReceivesEcssPusTc for PusDistributor<E> {
|
||||
impl<ServiceDistributor: PusServiceDistributor<Error = E>, E: 'static> ReceivesEcssPusTc
|
||||
for PusDistributor<ServiceDistributor, E>
|
||||
{
|
||||
type Error = PusDistribError<E>;
|
||||
fn pass_pus_tc(&mut self, header: &SpHeader, pus_tc: &PusTcReader) -> Result<(), Self::Error> {
|
||||
self.service_provider
|
||||
.handle_pus_tc_packet(pus_tc.service(), header, pus_tc)
|
||||
self.service_distributor
|
||||
.distribute_packet(pus_tc.service(), header, pus_tc)
|
||||
.map_err(|e| PusDistribError::CustomError(e))
|
||||
}
|
||||
}
|
||||
|
||||
impl<E: 'static> PusDistributor<E> {
|
||||
pub fn service_provider_ref<T: SendablePusServiceProvider<Error = E>>(&self) -> Option<&T> {
|
||||
self.service_provider.downcast_ref::<T>()
|
||||
impl<ServiceDistributor: PusServiceDistributor<Error = E>, E: 'static>
|
||||
PusDistributor<ServiceDistributor, E>
|
||||
{
|
||||
pub fn service_distributor(&self) -> &ServiceDistributor {
|
||||
&self.service_distributor
|
||||
}
|
||||
|
||||
pub fn service_provider_mut<T: SendablePusServiceProvider<Error = E>>(
|
||||
&mut self,
|
||||
) -> Option<&mut T> {
|
||||
self.service_provider.downcast_mut::<T>()
|
||||
pub fn service_distributor_mut(&mut self) -> &mut ServiceDistributor {
|
||||
&mut self.service_distributor
|
||||
}
|
||||
}
|
||||
|
||||
#[cfg(test)]
|
||||
mod tests {
|
||||
use super::*;
|
||||
use crate::queue::GenericSendError;
|
||||
use crate::tmtc::ccsds_distrib::tests::{
|
||||
generate_ping_tc, BasicApidHandlerOwnedQueue, BasicApidHandlerSharedQueue,
|
||||
generate_ping_tc, generate_ping_tc_as_vec, BasicApidHandlerOwnedQueue,
|
||||
BasicApidHandlerSharedQueue,
|
||||
};
|
||||
use crate::tmtc::ccsds_distrib::{CcsdsDistributor, CcsdsPacketHandler};
|
||||
use alloc::format;
|
||||
use alloc::vec::Vec;
|
||||
use spacepackets::ecss::PusError;
|
||||
use spacepackets::CcsdsPacket;
|
||||
@ -185,54 +187,65 @@ mod tests {
|
||||
|
||||
fn is_send<T: Send>(_: &T) {}
|
||||
|
||||
struct PusHandlerSharedQueue {
|
||||
pub pus_queue: Arc<Mutex<VecDeque<(u8, u16, Vec<u8>)>>>,
|
||||
pub struct PacketInfo {
|
||||
pub service: u8,
|
||||
pub apid: u16,
|
||||
pub packet: Vec<u8>,
|
||||
}
|
||||
|
||||
struct PusHandlerSharedQueue(Arc<Mutex<VecDeque<PacketInfo>>>);
|
||||
|
||||
#[derive(Default)]
|
||||
struct PusHandlerOwnedQueue {
|
||||
pub pus_queue: VecDeque<(u8, u16, Vec<u8>)>,
|
||||
}
|
||||
struct PusHandlerOwnedQueue(VecDeque<PacketInfo>);
|
||||
|
||||
impl PusServiceProvider for PusHandlerSharedQueue {
|
||||
impl PusServiceDistributor for PusHandlerSharedQueue {
|
||||
type Error = PusError;
|
||||
fn handle_pus_tc_packet(
|
||||
fn distribute_packet(
|
||||
&mut self,
|
||||
service: u8,
|
||||
sp_header: &SpHeader,
|
||||
pus_tc: &PusTcReader,
|
||||
) -> Result<(), Self::Error> {
|
||||
let mut vec: Vec<u8> = Vec::new();
|
||||
vec.extend_from_slice(pus_tc.raw_data());
|
||||
Ok(self
|
||||
.pus_queue
|
||||
let mut packet: Vec<u8> = Vec::new();
|
||||
packet.extend_from_slice(pus_tc.raw_data());
|
||||
self.0
|
||||
.lock()
|
||||
.expect("Mutex lock failed")
|
||||
.push_back((service, sp_header.apid(), vec)))
|
||||
.push_back(PacketInfo {
|
||||
service,
|
||||
apid: sp_header.apid(),
|
||||
packet,
|
||||
});
|
||||
Ok(())
|
||||
}
|
||||
}
|
||||
|
||||
impl PusServiceProvider for PusHandlerOwnedQueue {
|
||||
impl PusServiceDistributor for PusHandlerOwnedQueue {
|
||||
type Error = PusError;
|
||||
fn handle_pus_tc_packet(
|
||||
fn distribute_packet(
|
||||
&mut self,
|
||||
service: u8,
|
||||
sp_header: &SpHeader,
|
||||
pus_tc: &PusTcReader,
|
||||
) -> Result<(), Self::Error> {
|
||||
let mut vec: Vec<u8> = Vec::new();
|
||||
vec.extend_from_slice(pus_tc.raw_data());
|
||||
Ok(self.pus_queue.push_back((service, sp_header.apid(), vec)))
|
||||
let mut packet: Vec<u8> = Vec::new();
|
||||
packet.extend_from_slice(pus_tc.raw_data());
|
||||
self.0.push_back(PacketInfo {
|
||||
service,
|
||||
apid: sp_header.apid(),
|
||||
packet,
|
||||
});
|
||||
Ok(())
|
||||
}
|
||||
}
|
||||
|
||||
struct ApidHandlerShared {
|
||||
pub pus_distrib: PusDistributor<PusError>,
|
||||
pub pus_distrib: PusDistributor<PusHandlerSharedQueue, PusError>,
|
||||
pub handler_base: BasicApidHandlerSharedQueue,
|
||||
}
|
||||
|
||||
struct ApidHandlerOwned {
|
||||
pub pus_distrib: PusDistributor<PusError>,
|
||||
pub pus_distrib: PusDistributor<PusHandlerOwnedQueue, PusError>,
|
||||
handler_base: BasicApidHandlerOwnedQueue,
|
||||
}
|
||||
|
||||
@ -285,28 +298,36 @@ mod tests {
|
||||
}
|
||||
|
||||
#[test]
|
||||
#[cfg(feature = "std")]
|
||||
fn test_pus_distribution() {
|
||||
fn test_pus_distribution_as_raw_packet() {
|
||||
let mut pus_distrib = PusDistributor::new(PusHandlerOwnedQueue::default());
|
||||
let tc = generate_ping_tc_as_vec();
|
||||
let result = pus_distrib.pass_tc(&tc);
|
||||
assert!(result.is_ok());
|
||||
assert_eq!(pus_distrib.service_distributor_mut().0.len(), 1);
|
||||
let packet_info = pus_distrib.service_distributor_mut().0.pop_front().unwrap();
|
||||
assert_eq!(packet_info.service, 17);
|
||||
assert_eq!(packet_info.apid, 0x002);
|
||||
assert_eq!(packet_info.packet, tc);
|
||||
}
|
||||
|
||||
#[test]
|
||||
fn test_pus_distribution_combined_handler() {
|
||||
let known_packet_queue = Arc::new(Mutex::default());
|
||||
let unknown_packet_queue = Arc::new(Mutex::default());
|
||||
let pus_queue = Arc::new(Mutex::default());
|
||||
let pus_handler = PusHandlerSharedQueue {
|
||||
pus_queue: pus_queue.clone(),
|
||||
};
|
||||
let pus_handler = PusHandlerSharedQueue(pus_queue.clone());
|
||||
let handler_base = BasicApidHandlerSharedQueue {
|
||||
known_packet_queue: known_packet_queue.clone(),
|
||||
unknown_packet_queue: unknown_packet_queue.clone(),
|
||||
};
|
||||
|
||||
let pus_distrib = PusDistributor {
|
||||
service_provider: Box::new(pus_handler),
|
||||
};
|
||||
let pus_distrib = PusDistributor::new(pus_handler);
|
||||
is_send(&pus_distrib);
|
||||
let apid_handler = ApidHandlerShared {
|
||||
pus_distrib,
|
||||
handler_base,
|
||||
};
|
||||
let mut ccsds_distrib = CcsdsDistributor::new(Box::new(apid_handler));
|
||||
let mut ccsds_distrib = CcsdsDistributor::new(apid_handler);
|
||||
let mut test_buf: [u8; 32] = [0; 32];
|
||||
let tc_slice = generate_ping_tc(test_buf.as_mut_slice());
|
||||
|
||||
@ -322,25 +343,23 @@ mod tests {
|
||||
assert_eq!(packet.as_slice(), tc_slice);
|
||||
let recvd_pus = pus_queue.lock().unwrap().pop_front();
|
||||
assert!(recvd_pus.is_some());
|
||||
let (service, apid, tc_raw) = recvd_pus.unwrap();
|
||||
assert_eq!(service, 17);
|
||||
assert_eq!(apid, 0x002);
|
||||
assert_eq!(tc_raw, tc_slice);
|
||||
let packet_info = recvd_pus.unwrap();
|
||||
assert_eq!(packet_info.service, 17);
|
||||
assert_eq!(packet_info.apid, 0x002);
|
||||
assert_eq!(packet_info.packet, tc_slice);
|
||||
}
|
||||
|
||||
#[test]
|
||||
fn test_as_any_cast() {
|
||||
fn test_accessing_combined_distributor() {
|
||||
let pus_handler = PusHandlerOwnedQueue::default();
|
||||
let handler_base = BasicApidHandlerOwnedQueue::default();
|
||||
let pus_distrib = PusDistributor {
|
||||
service_provider: Box::new(pus_handler),
|
||||
};
|
||||
let pus_distrib = PusDistributor::new(pus_handler);
|
||||
|
||||
let apid_handler = ApidHandlerOwned {
|
||||
pus_distrib,
|
||||
handler_base,
|
||||
};
|
||||
let mut ccsds_distrib = CcsdsDistributor::new(Box::new(apid_handler));
|
||||
let mut ccsds_distrib = CcsdsDistributor::new(apid_handler);
|
||||
|
||||
let mut test_buf: [u8; 32] = [0; 32];
|
||||
let tc_slice = generate_ping_tc(test_buf.as_mut_slice());
|
||||
@ -349,21 +368,38 @@ mod tests {
|
||||
.pass_tc(tc_slice)
|
||||
.expect("Passing TC slice failed");
|
||||
|
||||
let apid_handler_casted_back: &mut ApidHandlerOwned = ccsds_distrib
|
||||
.apid_handler_mut()
|
||||
.expect("Cast to concrete type ApidHandler failed");
|
||||
let apid_handler_casted_back = ccsds_distrib.packet_handler_mut();
|
||||
assert!(!apid_handler_casted_back
|
||||
.handler_base
|
||||
.known_packet_queue
|
||||
.is_empty());
|
||||
let handler_casted_back: &mut PusHandlerOwnedQueue = apid_handler_casted_back
|
||||
let handler_owned_queue = apid_handler_casted_back
|
||||
.pus_distrib
|
||||
.service_provider_mut()
|
||||
.expect("Cast to concrete type PusHandlerOwnedQueue failed");
|
||||
assert!(!handler_casted_back.pus_queue.is_empty());
|
||||
let (service, apid, packet_raw) = handler_casted_back.pus_queue.pop_front().unwrap();
|
||||
assert_eq!(service, 17);
|
||||
assert_eq!(apid, 0x002);
|
||||
assert_eq!(packet_raw.as_slice(), tc_slice);
|
||||
.service_distributor_mut();
|
||||
assert!(!handler_owned_queue.0.is_empty());
|
||||
let packet_info = handler_owned_queue.0.pop_front().unwrap();
|
||||
assert_eq!(packet_info.service, 17);
|
||||
assert_eq!(packet_info.apid, 0x002);
|
||||
assert_eq!(packet_info.packet, tc_slice);
|
||||
}
|
||||
|
||||
#[test]
|
||||
fn test_pus_distrib_error_custom_error() {
|
||||
let error = PusDistribError::CustomError(GenericSendError::RxDisconnected);
|
||||
let error_string = format!("{}", error);
|
||||
assert_eq!(
|
||||
error_string,
|
||||
"pus distribution error: rx side has disconnected"
|
||||
);
|
||||
}
|
||||
|
||||
#[test]
|
||||
fn test_pus_distrib_error_pus_error() {
|
||||
let error = PusDistribError::<GenericSendError>::PusError(PusError::CrcCalculationMissing);
|
||||
let error_string = format!("{}", error);
|
||||
assert_eq!(
|
||||
error_string,
|
||||
"pus distribution error: crc16 was not calculated"
|
||||
);
|
||||
}
|
||||
}
|
||||
|
||||
@ -1,14 +1,14 @@
|
||||
use satrs::event_man::{
|
||||
EventManagerWithMpscQueue, MpscEventU32Receiver, MpscEventU32SendProvider, SendEventProvider,
|
||||
EventManagerWithMpsc, EventSendProvider, EventU32SenderMpsc, MpscEventU32Receiver,
|
||||
};
|
||||
use satrs::events::{EventU32, EventU32TypedSev, Severity, SeverityInfo};
|
||||
use satrs::params::U32Pair;
|
||||
use satrs::params::{Params, ParamsHeapless, WritableToBeBytes};
|
||||
use satrs::pus::event_man::{DefaultPusMgmtBackendProvider, EventReporter, PusEventDispatcher};
|
||||
use satrs::pus::MpscTmAsVecSender;
|
||||
use satrs::pus::event_man::{DefaultPusEventMgmtBackend, EventReporter, PusEventDispatcher};
|
||||
use satrs::pus::TmAsVecSenderWithMpsc;
|
||||
use spacepackets::ecss::tm::PusTmReader;
|
||||
use spacepackets::ecss::{PusError, PusPacket};
|
||||
use std::sync::mpsc::{channel, SendError, TryRecvError};
|
||||
use std::sync::mpsc::{self, SendError, TryRecvError};
|
||||
use std::thread;
|
||||
|
||||
const INFO_EVENT: EventU32TypedSev<SeverityInfo> =
|
||||
@ -24,21 +24,21 @@ pub enum CustomTmSenderError {
|
||||
|
||||
#[test]
|
||||
fn test_threaded_usage() {
|
||||
let (event_sender, event_man_receiver) = channel();
|
||||
let (event_sender, event_man_receiver) = mpsc::channel();
|
||||
let event_receiver = MpscEventU32Receiver::new(event_man_receiver);
|
||||
let mut event_man = EventManagerWithMpscQueue::new(Box::new(event_receiver));
|
||||
let mut event_man = EventManagerWithMpsc::new(event_receiver);
|
||||
|
||||
let (pus_event_man_tx, pus_event_man_rx) = channel();
|
||||
let pus_event_man_send_provider = MpscEventU32SendProvider::new(1, pus_event_man_tx);
|
||||
event_man.subscribe_all(pus_event_man_send_provider.id());
|
||||
let (pus_event_man_tx, pus_event_man_rx) = mpsc::channel();
|
||||
let pus_event_man_send_provider = EventU32SenderMpsc::new(1, pus_event_man_tx);
|
||||
event_man.subscribe_all(pus_event_man_send_provider.channel_id());
|
||||
event_man.add_sender(pus_event_man_send_provider);
|
||||
let (event_tx, event_rx) = channel();
|
||||
let (event_tx, event_rx) = mpsc::channel();
|
||||
let reporter = EventReporter::new(0x02, 128).expect("Creating event reporter failed");
|
||||
let backend = DefaultPusMgmtBackendProvider::<EventU32>::default();
|
||||
let mut pus_event_man = PusEventDispatcher::new(reporter, Box::new(backend));
|
||||
let mut pus_event_man =
|
||||
PusEventDispatcher::new(reporter, DefaultPusEventMgmtBackend::default());
|
||||
// PUS + Generic event manager thread
|
||||
let jh0 = thread::spawn(move || {
|
||||
let mut sender = MpscTmAsVecSender::new(0, "event_sender", event_tx);
|
||||
let mut sender = TmAsVecSenderWithMpsc::new(0, "event_sender", event_tx);
|
||||
let mut event_cnt = 0;
|
||||
let mut params_array: [u8; 128] = [0; 128];
|
||||
loop {
|
||||
@ -71,6 +71,7 @@ fn test_threaded_usage() {
|
||||
Params::Vec(vec) => gen_event(Some(vec.as_slice())),
|
||||
Params::String(str) => gen_event(Some(str.as_bytes())),
|
||||
Params::Store(_) => gen_event(None),
|
||||
_ => panic!("unsupported parameter type"),
|
||||
}
|
||||
} else {
|
||||
gen_event(None)
|
||||
@ -120,10 +121,7 @@ fn test_threaded_usage() {
|
||||
}
|
||||
}
|
||||
event_sender
|
||||
.send((
|
||||
LOW_SEV_EVENT.into(),
|
||||
Some(Params::Heapless((2_u32, 3_u32).into())),
|
||||
))
|
||||
.send((LOW_SEV_EVENT, Some(Params::Heapless((2_u32, 3_u32).into()))))
|
||||
.expect("Sending low severity event failed");
|
||||
loop {
|
||||
match event_rx.try_recv() {
|
||||
|
||||
@ -1,11 +1,12 @@
|
||||
//#[cfg(feature = "crossbeam")]
|
||||
#[cfg(feature = "crossbeam")]
|
||||
pub mod crossbeam_test {
|
||||
use hashbrown::HashMap;
|
||||
use satrs::pool::{PoolProvider, PoolProviderWithGuards, StaticMemoryPool, StaticPoolConfig};
|
||||
use satrs::pus::verification::{
|
||||
FailParams, RequestId, VerificationReporterCfg, VerificationReporterWithSender,
|
||||
VerificationReportingProvider,
|
||||
};
|
||||
use satrs::pus::CrossbeamTmInStoreSender;
|
||||
use satrs::pus::TmInSharedPoolSenderWithCrossbeam;
|
||||
use satrs::tmtc::tm_helper::SharedTmPool;
|
||||
use spacepackets::ecss::tc::{PusTcCreator, PusTcReader, PusTcSecondaryHeader};
|
||||
use spacepackets::ecss::tm::PusTmReader;
|
||||
@ -39,10 +40,13 @@ pub mod crossbeam_test {
|
||||
let shared_tc_pool_0 = Arc::new(RwLock::new(StaticMemoryPool::new(pool_cfg)));
|
||||
let shared_tc_pool_1 = shared_tc_pool_0.clone();
|
||||
let (tx, rx) = crossbeam_channel::bounded(10);
|
||||
let sender =
|
||||
CrossbeamTmInStoreSender::new(0, "verif_sender", shared_tm_pool.clone(), tx.clone());
|
||||
let mut reporter_with_sender_0 =
|
||||
VerificationReporterWithSender::new(&cfg, Box::new(sender));
|
||||
let sender = TmInSharedPoolSenderWithCrossbeam::new(
|
||||
0,
|
||||
"verif_sender",
|
||||
shared_tm_pool.clone(),
|
||||
tx.clone(),
|
||||
);
|
||||
let mut reporter_with_sender_0 = VerificationReporterWithSender::new(&cfg, sender);
|
||||
let mut reporter_with_sender_1 = reporter_with_sender_0.clone();
|
||||
// For test purposes, we retrieve the request ID from the TCs and pass them to the receiver
|
||||
// tread.
|
||||
@ -89,24 +93,24 @@ pub mod crossbeam_test {
|
||||
|
||||
let token = reporter_with_sender_0.add_tc_with_req_id(req_id_0);
|
||||
let accepted_token = reporter_with_sender_0
|
||||
.acceptance_success(token, Some(&FIXED_STAMP))
|
||||
.acceptance_success(token, &FIXED_STAMP)
|
||||
.expect("Acceptance success failed");
|
||||
|
||||
// Do some start handling here
|
||||
let started_token = reporter_with_sender_0
|
||||
.start_success(accepted_token, Some(&FIXED_STAMP))
|
||||
.start_success(accepted_token, &FIXED_STAMP)
|
||||
.expect("Start success failed");
|
||||
// Do some step handling here
|
||||
reporter_with_sender_0
|
||||
.step_success(&started_token, Some(&FIXED_STAMP), EcssEnumU8::new(0))
|
||||
.step_success(&started_token, &FIXED_STAMP, EcssEnumU8::new(0))
|
||||
.expect("Start success failed");
|
||||
|
||||
// Finish up
|
||||
reporter_with_sender_0
|
||||
.step_success(&started_token, Some(&FIXED_STAMP), EcssEnumU8::new(1))
|
||||
.step_success(&started_token, &FIXED_STAMP, EcssEnumU8::new(1))
|
||||
.expect("Start success failed");
|
||||
reporter_with_sender_0
|
||||
.completion_success(started_token, Some(&FIXED_STAMP))
|
||||
.completion_success(started_token, &FIXED_STAMP)
|
||||
.expect("Completion success failed");
|
||||
});
|
||||
|
||||
@ -124,13 +128,13 @@ pub mod crossbeam_test {
|
||||
let (tc, _) = PusTcReader::new(&tc_buf[0..tc_len]).unwrap();
|
||||
let token = reporter_with_sender_1.add_tc(&tc);
|
||||
let accepted_token = reporter_with_sender_1
|
||||
.acceptance_success(token, Some(&FIXED_STAMP))
|
||||
.acceptance_success(token, &FIXED_STAMP)
|
||||
.expect("Acceptance success failed");
|
||||
let started_token = reporter_with_sender_1
|
||||
.start_success(accepted_token, Some(&FIXED_STAMP))
|
||||
.start_success(accepted_token, &FIXED_STAMP)
|
||||
.expect("Start success failed");
|
||||
let fail_code = EcssEnumU16::new(2);
|
||||
let params = FailParams::new(Some(&FIXED_STAMP), &fail_code, None);
|
||||
let params = FailParams::new_no_fail_data(&FIXED_STAMP, &fail_code);
|
||||
reporter_with_sender_1
|
||||
.completion_failure(started_token, params)
|
||||
.expect("Completion success failed");
|
||||
|
||||
Reference in New Issue
Block a user