Compare commits
4 Commits
satrs-v0.2
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30e2a354cb
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30e2a354cb
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0af6b5283d
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3e5f05e634
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6
.gitignore
vendored
6
.gitignore
vendored
@ -1,9 +1,5 @@
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target/
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output.log
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/target
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/Cargo.lock
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output.log
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/.idea/*
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!/.idea/runConfigurations
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@ -1,11 +1,9 @@
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[workspace]
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resolver = "2"
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members = [
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"satrs",
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"satrs-core",
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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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exclude = [
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28
README.md
28
README.md
@ -1,23 +1,13 @@
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<p align="center"> <img src="misc/satrs-logo-v2.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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<p align="center"> <img src="misc/satrs-logo.png" width="40%"> </p>
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sat-rs
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=========
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This is the repository of the sat-rs library. Its primary goal is to provide re-usable components
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This is the repository of the sat-rs framework. Its primary goal is to provide re-usable components
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to write on-board software for remote systems like rovers or satellites. It is specifically written
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for the special requirements for these systems. You can find an overview of the project and the
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link to the [more high-level sat-rs book](https://absatsw.irs.uni-stuttgart.de/projects/sat-rs/)
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at the [IRS software projects website](https://absatsw.irs.uni-stuttgart.de/projects/sat-rs/).
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This is early-stage software. Important features are missing. New releases
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with breaking changes are released regularly, with all changes documented inside respective
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changelog files. You should only use this library if your are willing to work in this
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environment.
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at the [IRS documentation website](https://absatsw.irs.uni-stuttgart.de/sat-rs.html).
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A lot of the architecture and general design considerations are based on the
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[FSFW](https://egit.irs.uni-stuttgart.de/fsfw/fsfw) C++ framework which has flight heritage
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@ -32,15 +22,15 @@ This project currently contains following crates:
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Primary information resource in addition to the API documentation, hosted
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[here](https://documentation.irs.uni-stuttgart.de/projects/sat-rs/). It can be useful to read
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this first before delving into the example application and the API documentation.
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* [`satrs`](https://egit.irs.uni-stuttgart.de/rust/sat-rs/src/branch/main/satrs):
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Primary crate.
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* [`satrs-example`](https://egit.irs.uni-stuttgart.de/rust/sat-rs/src/branch/main/satrs-example):
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* [`satrs-core`](https://egit.irs.uni-stuttgart.de/rust/satrs-launchpad/src/branch/main/satrs-core):
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Core components of sat-rs.
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* [`satrs-example`](https://egit.irs.uni-stuttgart.de/rust/satrs-launchpad/src/branch/main/satrs-example):
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Example of a simple example on-board software using various sat-rs components which can be run
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on a host computer or on any system with a standard runtime like a Raspberry Pi.
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* [`satrs-mib`](https://egit.irs.uni-stuttgart.de/rust/sat-rs/src/branch/main/satrs-mib):
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* [`satrs-mib`](https://egit.irs.uni-stuttgart.de/rust/satrs-launchpad/src/branch/main/satrs-mib):
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Components to build a mission information base from the on-board software directly.
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* [`satrs-example-stm32f3-disco`](https://egit.irs.uni-stuttgart.de/rust/sat-rs/src/branch/main/satrs-example-stm32f3-disco):
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Example of a simple example using low-level sat-rs components on a bare-metal system
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Example of a simple example on-board software using sat-rs components on a bare-metal system
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with constrained resources.
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Each project has its own `CHANGELOG.md`.
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@ -51,7 +41,7 @@ Each project has its own `CHANGELOG.md`.
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* [`spacepackets`](https://egit.irs.uni-stuttgart.de/rust/spacepackets): Basic ECSS and CCSDS
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packet protocol implementations. This repository is re-exported in the
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[`satrs`](https://egit.irs.uni-stuttgart.de/rust/satrs/src/branch/main/satrs)
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[`satrs-core`](https://egit.irs.uni-stuttgart.de/rust/satrs-launchpad/src/branch/main/satrs-core)
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crate.
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# Coverage
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@ -15,9 +15,7 @@ RUN rustup install nightly && \
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rustup component add rustfmt clippy
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WORKDIR "/tmp"
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# Install cargo-nextest
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RUN curl -LsSf https://get.nexte.st/latest/linux | tar zxf - -C ${CARGO_HOME:-~/.cargo}/bin
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# Install mdbook and mdbook-linkcheck
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# RUN cargo install mdbook --no-default-features --features search --vers "^0.4" --locked
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RUN curl -sSL https://github.com/rust-lang/mdBook/releases/download/v0.4.37/mdbook-v0.4.37-x86_64-unknown-linux-gnu.tar.gz | tar -xz --directory /usr/local/bin
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||||
RUN curl -sSL https://github.com/Michael-F-Bryan/mdbook-linkcheck/releases/latest/download/mdbook-linkcheck.x86_64-unknown-linux-gnu.zip -o mdbook-linkcheck.zip && \
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unzip mdbook-linkcheck.zip && \
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4
automation/Jenkinsfile
vendored
4
automation/Jenkinsfile
vendored
@ -32,7 +32,7 @@ pipeline {
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||||
}
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stage('Test') {
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steps {
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sh 'cargo nextest r --all-features'
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sh 'cargo test --all-features'
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}
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}
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stage('Check with all features') {
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||||
@ -47,7 +47,7 @@ pipeline {
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||||
}
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stage('Check Cross Embedded Bare Metal') {
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steps {
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sh 'cargo check -p satrs --target thumbv7em-none-eabihf --no-default-features'
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sh 'cargo check -p satrs-core --target thumbv7em-none-eabihf --no-default-features'
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}
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}
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stage('Check Cross Embedded Linux') {
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||||
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||||
12
coverage.py
12
coverage.py
@ -18,19 +18,15 @@ def generate_cov_report(open_report: bool, format: str, package: str):
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out_path = "./target/debug/coverage"
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||||
if format == "lcov":
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||||
out_path = "./target/debug/lcov.info"
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||||
grcov_cmd = (
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||||
os.system(
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||||
f"grcov . -s . --binary-path ./target/debug/ -t {format} --branch --ignore-not-existing "
|
||||
f"-o {out_path}"
|
||||
)
|
||||
print(f"Running: {grcov_cmd}")
|
||||
os.system(grcov_cmd)
|
||||
if format == "lcov":
|
||||
lcov_cmd = (
|
||||
os.system(
|
||||
"genhtml -o ./target/debug/coverage/ --show-details --highlight --ignore-errors source "
|
||||
"--legend ./target/debug/lcov.info"
|
||||
)
|
||||
print(f"Running: {lcov_cmd}")
|
||||
os.system(lcov_cmd)
|
||||
if open_report:
|
||||
coverage_report_path = os.path.abspath("./target/debug/coverage/index.html")
|
||||
webbrowser.open_new_tab(coverage_report_path)
|
||||
@ -47,8 +43,8 @@ def main():
|
||||
parser.add_argument(
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||||
"-p",
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||||
"--package",
|
||||
choices=["satrs", "satrs-minisim", "satrs-example"],
|
||||
default="satrs",
|
||||
choices=["satrs-core"],
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||||
default="satrs-core",
|
||||
help="Choose project to generate coverage for",
|
||||
)
|
||||
parser.add_argument(
|
||||
|
||||
@ -1,650 +0,0 @@
|
||||
<?xml version="1.0" encoding="UTF-8" standalone="no"?>
|
||||
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||||
<center>
|
||||
<h4>ACS Mode Tree</h4>
|
||||
</center>
|
||||
|
||||
<table border="1">
|
||||
<tr>
|
||||
<th>Mode</th>
|
||||
<th>MGMs</th>
|
||||
<th>SUSs</th>
|
||||
<th>STR</th>
|
||||
<th>MGT</th>
|
||||
<th>RWs</th>
|
||||
<th>ACS CTRL</th>
|
||||
</tr>
|
||||
|
||||
<tr>
|
||||
<td>OFF</td>
|
||||
<td>OFF</td>
|
||||
<td>OFF</td>
|
||||
<td>OFF</td>
|
||||
<td>OFF</td>
|
||||
<td>OFF</td>
|
||||
<td>OFF</td>
|
||||
</tr>
|
||||
|
||||
<tr>
|
||||
<td>SAFE</td>
|
||||
<td>NORMAL</td>
|
||||
<td>NORMAL</td>
|
||||
<td>OFF</td>
|
||||
<td>OFF</td>
|
||||
<td>NORMAL</td>
|
||||
<td>SAFE</td>
|
||||
</tr>
|
||||
|
||||
<tr>
|
||||
<td>IDLE</td>
|
||||
<td>NORMAL</td>
|
||||
<td>NORMAL</td>
|
||||
<td>NORMAL</td>
|
||||
<td>NORMAL</td>
|
||||
<td>NORMAL</td>
|
||||
<td>IDLE</td>
|
||||
</tr>
|
||||
|
||||
</table>
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|
||||
<center>
|
||||
<h4>ACS IDLE Sequence</h4>
|
||||
</center>
|
||||
|
||||
<table border="1">
|
||||
<tr>
|
||||
<th>Step</th>
|
||||
<th>MGMs</th>
|
||||
<th>SUS</th>
|
||||
<th>STR</th>
|
||||
<th>MGT</th>
|
||||
<th>RWs</th>
|
||||
<th>ACS CTRL</th>
|
||||
</tr>
|
||||
|
||||
<tr>
|
||||
<td>1</td>
|
||||
<td>NORMAL</td>
|
||||
<td>NORMAL</td>
|
||||
<td>NORMAL</td>
|
||||
<td>NORMAL</td>
|
||||
<td>NORMAL</td>
|
||||
<td></td>
|
||||
</tr>
|
||||
|
||||
<tr>
|
||||
<td>2</td>
|
||||
<td></td>
|
||||
<td></td>
|
||||
<td></td>
|
||||
<td></td>
|
||||
<td></td>
|
||||
<td>SAFE</td>
|
||||
</tr>
|
||||
|
||||
</table>
|
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|
||||
Binary file not shown.
|
Before Width: | Height: | Size: 49 KiB |
@ -5,14 +5,7 @@ High-level documentation of the [sat-rs project](https://absatsw.irs.uni-stuttga
|
||||
|
||||
## Building
|
||||
|
||||
If you have not done so, install the pre-requisites first:
|
||||
|
||||
```sh
|
||||
cargo install mdbook --locked
|
||||
cargo install mdbook-linkcheck --locked
|
||||
```
|
||||
|
||||
After that, you can build the book with:
|
||||
If you have not done so, install `mdbook` using `cargo install mdbook --locked`.
|
||||
|
||||
```sh
|
||||
mdbook build
|
||||
|
||||
@ -15,7 +15,7 @@ action commanding could look like.
|
||||
2. Target ID and Action String based. The target ID is the same as in the first proposal, but
|
||||
the unique action is identified by a string.
|
||||
|
||||
The library provides an `ActionRequest` abstraction to model both of these cases.
|
||||
The framework provides an `ActionRequest` abstraction to model both of these cases.
|
||||
|
||||
## Commanding with ECSS PUS 8
|
||||
|
||||
|
||||
@ -17,14 +17,14 @@ it is still centered around small packets. `sat-rs` provides support for these E
|
||||
standards and also attempts to fill the gap to the internet protocol by providing the following
|
||||
components.
|
||||
|
||||
1. [UDP TMTC Server](https://docs.rs/satrs/latest/satrs/hal/std/udp_server/index.html).
|
||||
1. [UDP TMTC Server](https://docs.rs/satrs-core/0.1.0-alpha.0/satrs_core/hal/host/udp_server/index.html).
|
||||
UDP is already packet based which makes it an excellent fit for exchanging space packets.
|
||||
2. [TCP TMTC Server Components](https://docs.rs/satrs/latest/satrs/hal/std/tcp_server/index.html).
|
||||
TCP is a stream based protocol, so the library provides building blocks to parse telemetry
|
||||
2. [TCP TMTC Server Components](https://docs.rs/satrs-core/0.1.0-alpha.1/satrs_core/hal/std/tcp_server/index.html).
|
||||
TCP is a stream based protocol, so the framework provides building blocks to parse telemetry
|
||||
from an arbitrary bytestream. Two concrete implementations are provided:
|
||||
- [TCP spacepackets server](https://docs.rs/satrs/latest/satrs/hal/std/tcp_server/struct.TcpSpacepacketsServer.html)
|
||||
- [TCP spacepackets server](https://docs.rs/satrs-core/0.1.0-alpha.1/satrs_core/hal/std/tcp_server/struct.TcpSpacepacketsServer.html)
|
||||
to parse tightly packed CCSDS Spacepackets.
|
||||
- [TCP COBS server](https://docs.rs/satrs/latest/satrs/hal/std/tcp_server/struct.TcpTmtcInCobsServer.html)
|
||||
- [TCP COBS server](https://docs.rs/satrs-core/0.1.0-alpha.1/satrs_core/hal/std/tcp_server/struct.TcpTmtcInCobsServer.html)
|
||||
to parse generic frames wrapped with the
|
||||
[COBS protocol](https://en.wikipedia.org/wiki/Consistent_Overhead_Byte_Stuffing).
|
||||
|
||||
@ -39,12 +39,8 @@ task might be to store all arriving telemetry persistently. This is especially i
|
||||
space systems which do not have permanent contact like low-earth-orbit (LEO) satellites.
|
||||
|
||||
The most important task of a TC source is to deliver the telecommands to the correct recipients.
|
||||
For component oriented software using message passing, this usually includes staged demultiplexing
|
||||
components to determine where a command needs to be sent.
|
||||
|
||||
Using a generic concept of a TC source and a TM sink as part of the software design simplifies
|
||||
the flexibility of the TMTC infrastructure: Newly added TM generators and TC receiver only have to
|
||||
forward their generated or received packets to those handler objects.
|
||||
For modern component oriented software using message passing, this usually includes staged
|
||||
demultiplexing components to determine where a command needs to be sent.
|
||||
|
||||
# Low-level protocols and the bridge to the communcation subsystem
|
||||
|
||||
|
||||
@ -11,8 +11,7 @@ time where the OBSW might be running on Linux based systems with hundreds of MBs
|
||||
|
||||
A useful pattern used commonly in space systems is to limit heap allocations to program
|
||||
initialization time and avoid frequent run-time allocations. This prevents issues like
|
||||
running out of memory (something even Rust can not protect from) or heap fragmentation on systems
|
||||
without a MMU.
|
||||
running out of memory (something even Rust can not protect from) or heap fragmentation.
|
||||
|
||||
# Using pre-allocated pool structures
|
||||
|
||||
@ -20,47 +19,15 @@ A huge candidate for heap allocations is the TMTC and handling. TC, TMs and IPC
|
||||
candidates where the data size might vary greatly. The regular solution for host systems
|
||||
might be to send around this data as a `Vec<u8>` until it is dropped. `sat-rs` provides
|
||||
another solution to avoid run-time allocations by offering pre-allocated static
|
||||
pools. These pools are split into subpools where each subpool can have different page sizes.
|
||||
For example, a very small telecommand (TC) pool might look like this:
|
||||
pools.
|
||||
|
||||
|
||||
These pools are split into subpools where each subpool can have different page sizes.
|
||||
For example, a very small TC pool might look like this:
|
||||
|
||||
The core of the pool abstractions is the
|
||||
[PoolProvider trait](https://docs.rs/satrs/latest/satrs/pool/trait.PoolProvider.html).
|
||||
This trait specifies the general API a pool structure should have without making assumption
|
||||
of how the data is stored.
|
||||
TODO: Add image
|
||||
|
||||
This trait is implemented by a static memory pool implementation.
|
||||
The code to generate this static pool would look like this:
|
||||
|
||||
<!-- Would be nice to test this code sample, but need to wait
|
||||
for https://github.com/rust-lang/mdBook/issues/706 to be merged.. -->
|
||||
```rust, ignore
|
||||
use satrs::pool::{StaticMemoryPool, StaticPoolConfig};
|
||||
|
||||
let tc_pool = StaticMemoryPool::new(StaticPoolConfig::new(vec![
|
||||
(6, 16),
|
||||
(4, 32),
|
||||
(2, 64),
|
||||
(1, 128)
|
||||
]));
|
||||
```
|
||||
|
||||
It should be noted that the buckets only show the maximum size of data being stored inside them.
|
||||
The store will keep a separate structure to track the actual size of the data being stored.
|
||||
A TC entry inside this pool has a store address which can then be sent around without having
|
||||
to dynamically allocate memory. The same principle can also be applied to the telemetry (TM) and
|
||||
inter-process communication (IPC) data.
|
||||
|
||||
You can read
|
||||
|
||||
- [`StaticPoolConfig` API](https://docs.rs/satrs/latest/satrs/pool/struct.StaticPoolConfig.html)
|
||||
- [`StaticMemoryPool` API](https://docs.rs/satrs/latest/satrs/pool/struct.StaticMemoryPool.html)
|
||||
|
||||
for more details.
|
||||
|
||||
In the future, optimized pool structures which use standard containers or are
|
||||
[`Sync`](https://doc.rust-lang.org/std/marker/trait.Sync.html) by default might be added as well.
|
||||
to dynamically allocate memory. The same principle can also be applied to the TM and IPC data.
|
||||
|
||||
# Using special crates to prevent smaller allocations
|
||||
|
||||
@ -68,7 +35,7 @@ Another common way to use the heap on host systems is using containers like `Str
|
||||
to work with data where the size is not known beforehand. The most common solution for embedded
|
||||
systems is to determine the maximum expected size and then use a pre-allocated `u8` buffer and a
|
||||
size variable. Alternatively, you can use the following crates for more convenience or a smart
|
||||
behaviour which at the very least reduces heap allocations:
|
||||
behaviour which at the very least reduce heap allocations:
|
||||
|
||||
1. [`smallvec`](https://docs.rs/smallvec/latest/smallvec/).
|
||||
2. [`arrayvec`](https://docs.rs/arrayvec/latest/arrayvec/index.html) which also contains an
|
||||
|
||||
@ -1,14 +1,13 @@
|
||||
# Library Design
|
||||
# Framework Design
|
||||
|
||||
Satellites and space systems in general are complex systems with a wide range of requirements for
|
||||
both the hardware and the software. Consequently, the general design of the library is centered
|
||||
both the hardware and the software. Consequently, the general design of the framework is centered
|
||||
around many light-weight components which try to impose as few restrictions as possible on how to
|
||||
solve certain problems. This is also the reason why sat-rs is explicitely called a library
|
||||
instead of a framework.
|
||||
solve certain problems.
|
||||
|
||||
There are still a lot of common patterns and architectures across these systems where guidance
|
||||
of how to solve a problem and a common structure would still be extremely useful to avoid pitfalls
|
||||
which were already solved and to avoid boilerplate code. This library tries to provide this
|
||||
which were already solved and to avoid boilerplate code. This framework tries to provide this
|
||||
structure and guidance the following way:
|
||||
|
||||
1. Providing this book which explains the architecture and design patterns in respect to common
|
||||
@ -19,7 +18,7 @@ structure and guidance the following way:
|
||||
3. Providing a good test suite. This includes both unittests and integration tests. The integration
|
||||
tests can also serve as smaller usage examples than the large `satrs-example` application.
|
||||
|
||||
This library has special support for standards used in the space industry. This especially
|
||||
This framework has special support for standards used in the space industry. This especially
|
||||
includes standards provided by Consultative Committee for Space Data Systems (CCSDS) and European
|
||||
Cooperation for Space Standardization (ECSS). It does not enforce using any of those standards,
|
||||
but it is always recommended to use some sort of standard for interoperability.
|
||||
@ -31,10 +30,10 @@ Flying Laptop Project by the University of Stuttgart with Airbus Defence and Spa
|
||||
It has flight heritage through the 2 mssions [FLP](https://www.irs.uni-stuttgart.de/en/research/satellitetechnology-and-instruments/smallsatelliteprogram/flying-laptop/)
|
||||
and [EIVE](https://www.irs.uni-stuttgart.de/en/research/satellitetechnology-and-instruments/smallsatelliteprogram/EIVE/).
|
||||
Therefore, a lot of the design concepts were ported more or less unchanged to the `sat-rs`
|
||||
library.
|
||||
framework.
|
||||
FLP is a medium-size small satellite with a higher budget and longer development time than EIVE,
|
||||
which allowed to build a highly reliable system while EIVE is a smaller 6U+ cubesat which had a
|
||||
shorter development cycle and was built using cheaper COTS components. This library also tries
|
||||
shorter development cycle and was built using cheaper COTS components. This framework also tries
|
||||
to accumulate the knowledge of developing the OBSW and operating the satellite for both these
|
||||
different systems and provide a solution for a wider range of small satellite systems.
|
||||
|
||||
|
||||
@ -1,6 +1,6 @@
|
||||
# sat-rs Example Application
|
||||
|
||||
The `sat-rs` library includes a monolithic example application which can be found inside
|
||||
The `sat-rs` framework includes a monolithic example application which can be found inside
|
||||
the [`satrs-example`](https://egit.irs.uni-stuttgart.de/rust/sat-rs/src/branch/main/satrs-example)
|
||||
subdirectory of the repository. The primary purpose of this example application is to show how
|
||||
the various components of the sat-rs framework could be used as part of a larger on-board
|
||||
@ -23,11 +23,11 @@ Some additional explanation is provided for the various components.
|
||||
The example includes a UDP and TCP server to receive telecommands and poll telemetry from. This
|
||||
might be an optional component for an OBSW which is only used during the development phase on
|
||||
ground. The UDP server is strongly based on the
|
||||
[UDP TC server](https://docs.rs/satrs/latest/satrs/hal/std/udp_server/struct.UdpTcServer.html).
|
||||
[UDP TC server](https://docs.rs/satrs-core/0.1.0-alpha.1/satrs_core/hal/std/udp_server/struct.UdpTcServer.html).
|
||||
This server component is wrapped by a TMTC server which handles all telemetry to the last connected
|
||||
client.
|
||||
|
||||
The TCP server is based on the [TCP Spacepacket Server](https://docs.rs/satrs/latest/satrs/hal/std/tcp_server/struct.TcpSpacepacketsServer.html)
|
||||
The TCP server is based on the [TCP Spacepacket Server](https://docs.rs/satrs-core/0.1.0-alpha.1/satrs_core/hal/std/tcp_server/struct.TcpSpacepacketsServer.html)
|
||||
class. It parses space packets by using the CCSDS space packet ID as the packet
|
||||
start delimiter. All available telemetry will be sent back to a client after having read all
|
||||
telecommands from the client.
|
||||
@ -51,13 +51,13 @@ services. This currently includes the following services:
|
||||
|
||||
- Service 1 for telecommand verification. The verification handling is handled locally: Each
|
||||
component which generates verification telemetry in some shape or form receives a
|
||||
[reporter](https://docs.rs/satrs/latest/satrs/pus/verification/struct.VerificationReporterWithSender.html)
|
||||
[reporter](https://docs.rs/satrs-core/0.1.0-alpha.1/satrs_core/pus/verification/struct.VerificationReporterWithSender.html)
|
||||
object which can be used to send PUS 1 verification telemetry to the TM funnel.
|
||||
- Service 3 for housekeeping telemetry handling.
|
||||
- Service 5 for management and downlink of on-board events.
|
||||
- Service 8 for handling on-board actions.
|
||||
- Service 11 for scheduling telecommands to be released at a specific time. This component
|
||||
uses the [PUS scheduler class](https://docs.rs/satrs/latest/satrs/pus/scheduler/alloc_mod/struct.PusScheduler.html)
|
||||
uses the [PUS scheduler class](https://docs.rs/satrs-core/0.1.0-alpha.1/satrs_core/pus/scheduler/alloc_mod/struct.PusScheduler.html)
|
||||
which performs the core logic of scheduling telecommands. All telecommands released by the
|
||||
scheduler are sent to the central TC source using a message.
|
||||
- Service 17 for test purposes like pings.
|
||||
@ -65,10 +65,10 @@ services. This currently includes the following services:
|
||||
### Event Management Component
|
||||
|
||||
An event manager based on the sat-rs
|
||||
[event manager component](https://docs.rs/satrs/latest/satrs/event_man/index.html)
|
||||
[event manager component](https://docs.rs/satrs-core/0.1.0-alpha.1/satrs_core/event_man/index.html)
|
||||
is provided to handle the event IPC and FDIR mechanism. The event message are converted to PUS 5
|
||||
telemetry by the
|
||||
[PUS event dispatcher](https://docs.rs/satrs/latest/satrs/pus/event_man/alloc_mod/struct.PusEventDispatcher.html).
|
||||
[PUS event dispatcher](https://docs.rs/satrs-core/0.1.0-alpha.1/satrs_core/pus/event_man/alloc_mod/struct.PusEventDispatcher.html).
|
||||
|
||||
You can read the [events](./events.md) chapter for more in-depth information about event management.
|
||||
|
||||
|
||||
Binary file not shown.
|
Before Width: | Height: | Size: 38 KiB |
@ -1,7 +1,7 @@
|
||||
The sat-rs book
|
||||
======
|
||||
|
||||
This book is the primary information resource for the [sat-rs library](https://egit.irs.uni-stuttgart.de/rust/sat-rs)
|
||||
This book is the primary information resource for the [sat-rs framework](https://egit.irs.uni-stuttgart.de/rust/sat-rs)
|
||||
in addition to the regular API documentation. It contains the following resources:
|
||||
|
||||
1. Architecture informations and consideration which would exceeds the scope of the regular API.
|
||||
@ -12,15 +12,10 @@ in addition to the regular API documentation. It contains the following resource
|
||||
|
||||
# Introduction
|
||||
|
||||
The primary goal of the sat-rs library is to provide re-usable components
|
||||
The primary goal of the sat-rs framework is to provide re-usable components
|
||||
to write on-board software for remote systems like rovers or satellites. It is specifically written
|
||||
for the special requirements for these systems.
|
||||
|
||||
It should be noted that sat-rs is early-stage software. Important features are missing. New releases
|
||||
with breaking changes are released regularly, with all changes documented inside respective
|
||||
changelog files. You should only use this library if your are willing to work in this
|
||||
environment.
|
||||
|
||||
A lot of the architecture and general design considerations are based on the
|
||||
[FSFW](https://egit.irs.uni-stuttgart.de/fsfw/fsfw) C++ framework which has flight heritage
|
||||
through the 2 missions [FLP](https://www.irs.uni-stuttgart.de/en/research/satellitetechnology-and-instruments/smallsatelliteprogram/flying-laptop/)
|
||||
|
||||
@ -1,11 +1,11 @@
|
||||
# Modes
|
||||
|
||||
Modes are an extremely useful concept to model complex systems. They allow simplified
|
||||
system reasoning for both system operators and OBSW developers. They also provide a way to alter
|
||||
the behaviour of a component and also provide observability of a system. A few examples of how to
|
||||
model the mode of different components within a space system with modes will be given.
|
||||
Modes are an extremely useful concept for complex system in general. They also allow simplified
|
||||
system reasoning for both system operators and OBSW developers. They model the behaviour of a
|
||||
component and also provide observability of a system. A few examples of how to model
|
||||
different components of a space system with modes will be given.
|
||||
|
||||
## Pyhsical device component with modes
|
||||
## Modelling a pyhsical devices with modes
|
||||
|
||||
The following simple mode scheme with the following three mode
|
||||
|
||||
@ -13,8 +13,7 @@ The following simple mode scheme with the following three mode
|
||||
- `ON`
|
||||
- `NORMAL`
|
||||
|
||||
can be applied to a large number of simpler device controllers of a remote system, for example
|
||||
sensors.
|
||||
can be applied to a large number of simpler devices of a remote system, for example sensors.
|
||||
|
||||
1. `OFF` means that a device is physically switched off, and the corresponding software component
|
||||
does not poll the device regularly.
|
||||
@ -32,7 +31,7 @@ for the majority of devices:
|
||||
2. `NORMAL` or `ON` to `OFF`: Any important shutdown configuration or handling must be performed
|
||||
before powering off the device.
|
||||
|
||||
## Controller components with modes
|
||||
## Modelling a controller with modes
|
||||
|
||||
Controller components are not modelling physical devices, but a mode scheme is still the best
|
||||
way to model most of these components.
|
||||
|
||||
9
satrs-core/CHANGELOG.md
Normal file
9
satrs-core/CHANGELOG.md
Normal file
@ -0,0 +1,9 @@
|
||||
Change Log
|
||||
=======
|
||||
|
||||
All notable changes to this project will be documented in this file.
|
||||
|
||||
The format is based on [Keep a Changelog](http://keepachangelog.com/)
|
||||
and this project adheres to [Semantic Versioning](http://semver.org/).
|
||||
|
||||
# [unreleased]
|
||||
@ -1,43 +1,30 @@
|
||||
[package]
|
||||
name = "satrs"
|
||||
version = "0.2.0-rc.1"
|
||||
name = "satrs-core"
|
||||
version = "0.1.0-alpha.2"
|
||||
edition = "2021"
|
||||
rust-version = "1.61"
|
||||
authors = ["Robin Mueller <muellerr@irs.uni-stuttgart.de>"]
|
||||
description = "A framework to build software for remote systems"
|
||||
homepage = "https://absatsw.irs.uni-stuttgart.de/projects/sat-rs/"
|
||||
description = "Core components of the sat-rs framework to build software for remote systems"
|
||||
homepage = "https://egit.irs.uni-stuttgart.de/rust/sat-rs"
|
||||
repository = "https://egit.irs.uni-stuttgart.de/rust/sat-rs"
|
||||
license = "Apache-2.0"
|
||||
keywords = ["no-std", "space", "aerospace"]
|
||||
# See more keys and their definitions at https://doc.rust-lang.org/cargo/reference/manifest.html
|
||||
categories = ["aerospace", "aerospace::space-protocols", "no-std", "hardware-support", "embedded"]
|
||||
# See more keys and their definitions at https://doc.rust-lang.org/cargo/reference/manifest.html
|
||||
|
||||
[dependencies]
|
||||
delegate = ">0.7, <=0.10"
|
||||
paste = "1"
|
||||
smallvec = "1"
|
||||
crc = "3"
|
||||
|
||||
[dependencies.satrs-shared]
|
||||
version = ">=0.1.3, <0.2"
|
||||
[dependencies.smallvec]
|
||||
version = "1"
|
||||
|
||||
[dependencies.num_enum]
|
||||
version = ">0.5, <=0.7"
|
||||
default-features = false
|
||||
|
||||
[dependencies.spacepackets]
|
||||
version = "0.11"
|
||||
default-features = false
|
||||
|
||||
[dependencies.cobs]
|
||||
git = "https://github.com/robamu/cobs.rs.git"
|
||||
version = "0.2.3"
|
||||
branch = "all_features"
|
||||
default-features = false
|
||||
|
||||
[dependencies.num-traits]
|
||||
version = "0.2"
|
||||
default-features = false
|
||||
[dependencies.crc]
|
||||
version = "3"
|
||||
|
||||
[dependencies.dyn-clone]
|
||||
version = "1"
|
||||
@ -51,6 +38,10 @@ optional = true
|
||||
version = "0.7"
|
||||
optional = true
|
||||
|
||||
[dependencies.num-traits]
|
||||
version = "0.2"
|
||||
default-features = false
|
||||
|
||||
[dependencies.downcast-rs]
|
||||
version = "1.2"
|
||||
default-features = false
|
||||
@ -79,10 +70,18 @@ version = "0.5.4"
|
||||
features = ["all"]
|
||||
optional = true
|
||||
|
||||
[dependencies.mio]
|
||||
version = "0.8"
|
||||
features = ["os-poll", "net"]
|
||||
optional = true
|
||||
[dependencies.spacepackets]
|
||||
version = "0.9.0"
|
||||
default-features = false
|
||||
# git = "https://egit.irs.uni-stuttgart.de/rust/spacepackets.git"
|
||||
# rev = "297cfad22637d3b07a1b27abe56d9a607b5b82a7"
|
||||
# branch = "main"
|
||||
|
||||
[dependencies.cobs]
|
||||
git = "https://github.com/robamu/cobs.rs.git"
|
||||
version = "0.2.3"
|
||||
branch = "all_features"
|
||||
default-features = false
|
||||
|
||||
[dev-dependencies]
|
||||
serde = "1"
|
||||
@ -107,8 +106,7 @@ std = [
|
||||
"spacepackets/std",
|
||||
"num_enum/std",
|
||||
"thiserror",
|
||||
"socket2",
|
||||
"mio"
|
||||
"socket2"
|
||||
]
|
||||
alloc = [
|
||||
"serde/alloc",
|
||||
@ -117,11 +115,9 @@ alloc = [
|
||||
"dyn-clone",
|
||||
"downcast-rs"
|
||||
]
|
||||
serde = ["dep:serde", "spacepackets/serde", "satrs-shared/serde"]
|
||||
serde = ["dep:serde", "spacepackets/serde"]
|
||||
crossbeam = ["crossbeam-channel"]
|
||||
heapless = ["dep:heapless"]
|
||||
defmt = ["spacepackets/defmt"]
|
||||
test_util = []
|
||||
doc-images = []
|
||||
|
||||
[package.metadata.docs.rs]
|
||||
9
satrs-core/README.md
Normal file
9
satrs-core/README.md
Normal file
@ -0,0 +1,9 @@
|
||||
[](https://crates.io/crates/satrs-core)
|
||||
[](https://docs.rs/satrs-core)
|
||||
|
||||
satrs-core
|
||||
======
|
||||
|
||||
This crate contains the core components of the sat-rs framework.
|
||||
You can find more information on [homepage](https://egit.irs.uni-stuttgart.de/rust/sat-rs).
|
||||
|
||||
@ -4,11 +4,11 @@ Checklist for new releases
|
||||
# Pre-Release
|
||||
|
||||
1. Make sure any new modules are documented sufficiently enough and check docs with
|
||||
`cargo +nightly doc --all-features --config 'build.rustdocflags=["--cfg", "docs_rs"]' --open`.
|
||||
`cargo +nightly doc --all-features --config 'rustdocflags=["--cfg", "doc_cfg"]' --open`.
|
||||
2. Bump version specifier in `Cargo.toml`.
|
||||
3. Update `CHANGELOG.md`: Convert `unreleased` section into version section with date and add new
|
||||
`unreleased` section.
|
||||
4. Run `cargo test --all-features` or `cargo nextest r --all-features` and `cargo test --doc`.
|
||||
4. Run `cargo test --all-features`.
|
||||
5. Run `cargo fmt` and `cargo clippy`. Check `cargo msrv` against MSRV in `Cargo.toml`.
|
||||
6. Wait for CI/CD results for EGit and Github. These also check cross-compilation for bare-metal
|
||||
targets.
|
||||
@ -19,5 +19,7 @@ Checklist for new releases
|
||||
|
||||
# Post-Release
|
||||
|
||||
1. Create a new release on `EGit` with the name `satrs-<version>`.
|
||||
1. Create a new annotaged tag and push it with `git tag -a satrs-core-<version>` and
|
||||
`git push -u origin satrs-core-<version>`
|
||||
2. Create a new release on `EGit` based on the tag.
|
||||
|
||||
@ -5,7 +5,7 @@ use std::path::{Path, PathBuf};
|
||||
use super::{
|
||||
filestore::{FilestoreError, VirtualFilestore},
|
||||
user::{CfdpUser, FileSegmentRecvdParams, MetadataReceivedParams},
|
||||
CheckTimerCreator, CountdownProvider, EntityType, LocalEntityConfig, PacketInfo, PacketTarget,
|
||||
CheckTimer, CheckTimerCreator, EntityType, LocalEntityConfig, PacketInfo, PacketTarget,
|
||||
RemoteEntityConfig, RemoteEntityConfigProvider, State, TimerContext, TransactionId,
|
||||
TransactionStep,
|
||||
};
|
||||
@ -23,7 +23,7 @@ use spacepackets::{
|
||||
tlv::{msg_to_user::MsgToUserTlv, EntityIdTlv, GenericTlv, TlvType},
|
||||
ChecksumType, ConditionCode, FaultHandlerCode, PduType, TransmissionMode,
|
||||
},
|
||||
util::{UnsignedByteField, UnsignedEnum},
|
||||
util::UnsignedByteField,
|
||||
};
|
||||
use thiserror::Error;
|
||||
|
||||
@ -54,7 +54,7 @@ struct TransferState {
|
||||
completion_disposition: CompletionDisposition,
|
||||
checksum: u32,
|
||||
current_check_count: u32,
|
||||
current_check_timer: Option<Box<dyn CountdownProvider>>,
|
||||
current_check_timer: Option<Box<dyn CheckTimer>>,
|
||||
}
|
||||
|
||||
impl Default for TransferState {
|
||||
@ -799,9 +799,9 @@ mod tests {
|
||||
};
|
||||
|
||||
use crate::cfdp::{
|
||||
filestore::NativeFilestore, user::OwnedMetadataRecvdParams, CheckTimerCreator,
|
||||
CountdownProvider, DefaultFaultHandler, IndicationConfig, RemoteEntityConfig,
|
||||
StdRemoteEntityConfigProvider, UserFaultHandler, CRC_32,
|
||||
filestore::NativeFilestore, user::OwnedMetadataRecvdParams, CheckTimer, CheckTimerCreator,
|
||||
DefaultFaultHandler, IndicationConfig, RemoteEntityConfig, StdRemoteEntityConfigProvider,
|
||||
UserFaultHandler, CRC_32,
|
||||
};
|
||||
|
||||
use super::*;
|
||||
@ -1057,7 +1057,7 @@ mod tests {
|
||||
expired: Arc<AtomicBool>,
|
||||
}
|
||||
|
||||
impl CountdownProvider for TestCheckTimer {
|
||||
impl CheckTimer for TestCheckTimer {
|
||||
fn has_expired(&self) -> bool {
|
||||
self.expired.load(core::sync::atomic::Ordering::Relaxed)
|
||||
}
|
||||
@ -1088,10 +1088,7 @@ mod tests {
|
||||
}
|
||||
|
||||
impl CheckTimerCreator for TestCheckTimerCreator {
|
||||
fn get_check_timer_provider(
|
||||
&self,
|
||||
timer_context: TimerContext,
|
||||
) -> Box<dyn CountdownProvider> {
|
||||
fn get_check_timer_provider(&self, timer_context: TimerContext) -> Box<dyn CheckTimer> {
|
||||
match timer_context {
|
||||
TimerContext::CheckLimit { .. } => {
|
||||
Box::new(TestCheckTimer::new(self.check_limit_expired_flag.clone()))
|
||||
@ -7,7 +7,7 @@ use spacepackets::ByteConversionError;
|
||||
use std::error::Error;
|
||||
use std::path::Path;
|
||||
#[cfg(feature = "std")]
|
||||
pub use std_mod::*;
|
||||
pub use stdmod::*;
|
||||
|
||||
pub const CRC_32: Crc<u32> = Crc::<u32>::new(&CRC_32_CKSUM);
|
||||
|
||||
@ -148,11 +148,12 @@ pub trait VirtualFilestore {
|
||||
}
|
||||
|
||||
#[cfg(feature = "std")]
|
||||
pub mod std_mod {
|
||||
pub mod stdmod {
|
||||
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, UnsignedEnum},
|
||||
util::UnsignedByteField,
|
||||
};
|
||||
|
||||
#[cfg(feature = "alloc")]
|
||||
@ -17,8 +17,6 @@ use alloc::boxed::Box;
|
||||
#[cfg(feature = "serde")]
|
||||
use serde::{Deserialize, Serialize};
|
||||
|
||||
use crate::time::CountdownProvider;
|
||||
|
||||
#[cfg(feature = "std")]
|
||||
pub mod dest;
|
||||
#[cfg(feature = "alloc")]
|
||||
@ -47,15 +45,7 @@ pub enum TimerContext {
|
||||
},
|
||||
}
|
||||
|
||||
/// A generic trait which allows CFDP entities to create check timers which are required to
|
||||
/// implement special procedures in unacknowledged transmission mode, as specified in 4.6.3.2
|
||||
/// and 4.6.3.3.
|
||||
///
|
||||
/// This trait also allows the creation of different check timers depending on context and purpose
|
||||
/// of the timer, the runtime environment (e.g. standard clock timer vs. timer using a RTC) or
|
||||
/// other factors.
|
||||
///
|
||||
/// The countdown timer is used by 3 mechanisms of the CFDP protocol.
|
||||
/// Generic abstraction for a check timer which is used by 3 mechanisms of the CFDP protocol.
|
||||
///
|
||||
/// ## 1. Check limit handling
|
||||
///
|
||||
@ -84,9 +74,22 @@ pub enum TimerContext {
|
||||
/// The timer will be used to perform the Positive Acknowledgement Procedures as specified in
|
||||
/// 4.7. 1of the CFDP standard. The expiration period will be provided by the Positive ACK timer
|
||||
/// interval of the remote entity configuration.
|
||||
pub trait CheckTimer: Debug {
|
||||
fn has_expired(&self) -> bool;
|
||||
fn reset(&mut self);
|
||||
}
|
||||
|
||||
/// A generic trait which allows CFDP entities to create check timers which are required to
|
||||
/// implement special procedures in unacknowledged transmission mode, as specified in 4.6.3.2
|
||||
/// and 4.6.3.3. The [CheckTimer] documentation provides more information about the purpose of the
|
||||
/// check timer in the context of CFDP.
|
||||
///
|
||||
/// This trait also allows the creation of different check timers depending on context and purpose
|
||||
/// of the timer, the runtime environment (e.g. standard clock timer vs. timer using a RTC) or
|
||||
/// other factors.
|
||||
#[cfg(feature = "alloc")]
|
||||
pub trait CheckTimerCreator {
|
||||
fn get_check_timer_provider(&self, timer_context: TimerContext) -> Box<dyn CountdownProvider>;
|
||||
fn get_check_timer_provider(&self, timer_context: TimerContext) -> Box<dyn CheckTimer>;
|
||||
}
|
||||
|
||||
/// Simple implementation of the [CheckTimerCreator] trait assuming a standard runtime.
|
||||
@ -109,7 +112,7 @@ impl StdCheckTimer {
|
||||
}
|
||||
|
||||
#[cfg(feature = "std")]
|
||||
impl CountdownProvider for StdCheckTimer {
|
||||
impl CheckTimer for StdCheckTimer {
|
||||
fn has_expired(&self) -> bool {
|
||||
let elapsed_time = self.start_time.elapsed();
|
||||
if elapsed_time.as_secs() > self.expiry_time_seconds {
|
||||
281
satrs-core/src/encoding/ccsds.rs
Normal file
281
satrs-core/src/encoding/ccsds.rs
Normal file
@ -0,0 +1,281 @@
|
||||
#[cfg(feature = "alloc")]
|
||||
use alloc::vec::Vec;
|
||||
#[cfg(feature = "alloc")]
|
||||
use hashbrown::HashSet;
|
||||
use spacepackets::PacketId;
|
||||
|
||||
use crate::tmtc::ReceivesTcCore;
|
||||
|
||||
pub trait PacketIdLookup {
|
||||
fn validate(&self, packet_id: u16) -> bool;
|
||||
}
|
||||
|
||||
#[cfg(feature = "alloc")]
|
||||
impl PacketIdLookup for Vec<u16> {
|
||||
fn validate(&self, packet_id: u16) -> bool {
|
||||
self.contains(&packet_id)
|
||||
}
|
||||
}
|
||||
|
||||
#[cfg(feature = "alloc")]
|
||||
impl PacketIdLookup for HashSet<u16> {
|
||||
fn validate(&self, packet_id: u16) -> bool {
|
||||
self.contains(&packet_id)
|
||||
}
|
||||
}
|
||||
|
||||
impl PacketIdLookup for [u16] {
|
||||
fn validate(&self, packet_id: u16) -> bool {
|
||||
self.binary_search(&packet_id).is_ok()
|
||||
}
|
||||
}
|
||||
|
||||
impl PacketIdLookup for &[u16] {
|
||||
fn validate(&self, packet_id: u16) -> bool {
|
||||
self.binary_search(&packet_id).is_ok()
|
||||
}
|
||||
}
|
||||
|
||||
#[cfg(feature = "alloc")]
|
||||
impl PacketIdLookup for Vec<PacketId> {
|
||||
fn validate(&self, packet_id: u16) -> bool {
|
||||
self.contains(&PacketId::from(packet_id))
|
||||
}
|
||||
}
|
||||
#[cfg(feature = "alloc")]
|
||||
impl PacketIdLookup for HashSet<PacketId> {
|
||||
fn validate(&self, packet_id: u16) -> bool {
|
||||
self.contains(&PacketId::from(packet_id))
|
||||
}
|
||||
}
|
||||
|
||||
impl PacketIdLookup for [PacketId] {
|
||||
fn validate(&self, packet_id: u16) -> bool {
|
||||
self.binary_search(&PacketId::from(packet_id)).is_ok()
|
||||
}
|
||||
}
|
||||
|
||||
impl PacketIdLookup for &[PacketId] {
|
||||
fn validate(&self, packet_id: u16) -> bool {
|
||||
self.binary_search(&PacketId::from(packet_id)).is_ok()
|
||||
}
|
||||
}
|
||||
|
||||
/// This function parses a given buffer for tightly packed CCSDS space packets. It uses the
|
||||
/// [PacketId] field of the CCSDS packets to detect the start of a CCSDS space packet and then
|
||||
/// uses the length field of the packet to extract CCSDS packets.
|
||||
///
|
||||
/// This function is also able to deal with broken tail packets at the end as long a the parser
|
||||
/// can read the full 7 bytes which constitue a space packet header plus one byte minimal size.
|
||||
/// If broken tail packets are detected, they are moved to the front of the buffer, and the write
|
||||
/// index for future write operations will be written to the `next_write_idx` argument.
|
||||
///
|
||||
/// The parser will write all packets which were decoded successfully to the given `tc_receiver`
|
||||
/// and return the number of packets found. If the [ReceivesTcCore::pass_tc] calls fails, the
|
||||
/// error will be returned.
|
||||
pub fn parse_buffer_for_ccsds_space_packets<E>(
|
||||
buf: &mut [u8],
|
||||
packet_id_lookup: &(impl PacketIdLookup + ?Sized),
|
||||
tc_receiver: &mut (impl ReceivesTcCore<Error = E> + ?Sized),
|
||||
next_write_idx: &mut usize,
|
||||
) -> Result<u32, E> {
|
||||
*next_write_idx = 0;
|
||||
let mut packets_found = 0;
|
||||
let mut current_idx = 0;
|
||||
let buf_len = buf.len();
|
||||
loop {
|
||||
if current_idx + 7 >= buf.len() {
|
||||
break;
|
||||
}
|
||||
let packet_id = u16::from_be_bytes(buf[current_idx..current_idx + 2].try_into().unwrap());
|
||||
if packet_id_lookup.validate(packet_id) {
|
||||
let length_field =
|
||||
u16::from_be_bytes(buf[current_idx + 4..current_idx + 6].try_into().unwrap());
|
||||
let packet_size = length_field + 7;
|
||||
if (current_idx + packet_size as usize) <= buf_len {
|
||||
tc_receiver.pass_tc(&buf[current_idx..current_idx + packet_size as usize])?;
|
||||
packets_found += 1;
|
||||
} else {
|
||||
// Move packet to start of buffer if applicable.
|
||||
if current_idx > 0 {
|
||||
buf.copy_within(current_idx.., 0);
|
||||
*next_write_idx = buf.len() - current_idx;
|
||||
}
|
||||
}
|
||||
current_idx += packet_size as usize;
|
||||
continue;
|
||||
}
|
||||
current_idx += 1;
|
||||
}
|
||||
Ok(packets_found)
|
||||
}
|
||||
|
||||
#[cfg(test)]
|
||||
mod tests {
|
||||
use spacepackets::{
|
||||
ecss::{tc::PusTcCreator, WritablePusPacket},
|
||||
PacketId, SpHeader,
|
||||
};
|
||||
|
||||
use crate::encoding::tests::TcCacher;
|
||||
|
||||
use super::parse_buffer_for_ccsds_space_packets;
|
||||
|
||||
const TEST_APID_0: u16 = 0x02;
|
||||
const TEST_APID_1: u16 = 0x10;
|
||||
const TEST_PACKET_ID_0: PacketId = PacketId::const_tc(true, TEST_APID_0);
|
||||
const TEST_PACKET_ID_1: PacketId = PacketId::const_tc(true, TEST_APID_1);
|
||||
|
||||
#[test]
|
||||
fn test_basic() {
|
||||
let mut sph = SpHeader::tc_unseg(TEST_APID_0, 0, 0).unwrap();
|
||||
let ping_tc = PusTcCreator::new_simple(&mut sph, 17, 1, None, true);
|
||||
let mut buffer: [u8; 32] = [0; 32];
|
||||
let packet_len = ping_tc
|
||||
.write_to_bytes(&mut buffer)
|
||||
.expect("writing packet failed");
|
||||
let valid_packet_ids = [TEST_PACKET_ID_0];
|
||||
let mut tc_cacher = TcCacher::default();
|
||||
let mut next_write_idx = 0;
|
||||
let parse_result = parse_buffer_for_ccsds_space_packets(
|
||||
&mut buffer,
|
||||
valid_packet_ids.as_slice(),
|
||||
&mut tc_cacher,
|
||||
&mut next_write_idx,
|
||||
);
|
||||
assert!(parse_result.is_ok());
|
||||
let parsed_packets = parse_result.unwrap();
|
||||
assert_eq!(parsed_packets, 1);
|
||||
assert_eq!(tc_cacher.tc_queue.len(), 1);
|
||||
assert_eq!(
|
||||
tc_cacher.tc_queue.pop_front().unwrap(),
|
||||
buffer[..packet_len]
|
||||
);
|
||||
}
|
||||
|
||||
#[test]
|
||||
fn test_multi_packet() {
|
||||
let mut sph = SpHeader::tc_unseg(TEST_APID_0, 0, 0).unwrap();
|
||||
let ping_tc = PusTcCreator::new_simple(&mut sph, 17, 1, None, true);
|
||||
let action_tc = PusTcCreator::new_simple(&mut sph, 8, 0, None, true);
|
||||
let mut buffer: [u8; 32] = [0; 32];
|
||||
let packet_len_ping = ping_tc
|
||||
.write_to_bytes(&mut buffer)
|
||||
.expect("writing packet failed");
|
||||
let packet_len_action = action_tc
|
||||
.write_to_bytes(&mut buffer[packet_len_ping..])
|
||||
.expect("writing packet failed");
|
||||
let valid_packet_ids = [TEST_PACKET_ID_0];
|
||||
let mut tc_cacher = TcCacher::default();
|
||||
let mut next_write_idx = 0;
|
||||
let parse_result = parse_buffer_for_ccsds_space_packets(
|
||||
&mut buffer,
|
||||
valid_packet_ids.as_slice(),
|
||||
&mut tc_cacher,
|
||||
&mut next_write_idx,
|
||||
);
|
||||
assert!(parse_result.is_ok());
|
||||
let parsed_packets = parse_result.unwrap();
|
||||
assert_eq!(parsed_packets, 2);
|
||||
assert_eq!(tc_cacher.tc_queue.len(), 2);
|
||||
assert_eq!(
|
||||
tc_cacher.tc_queue.pop_front().unwrap(),
|
||||
buffer[..packet_len_ping]
|
||||
);
|
||||
assert_eq!(
|
||||
tc_cacher.tc_queue.pop_front().unwrap(),
|
||||
buffer[packet_len_ping..packet_len_ping + packet_len_action]
|
||||
);
|
||||
}
|
||||
|
||||
#[test]
|
||||
fn test_multi_apid() {
|
||||
let mut sph = SpHeader::tc_unseg(TEST_APID_0, 0, 0).unwrap();
|
||||
let ping_tc = PusTcCreator::new_simple(&mut sph, 17, 1, None, true);
|
||||
sph = SpHeader::tc_unseg(TEST_APID_1, 0, 0).unwrap();
|
||||
let action_tc = PusTcCreator::new_simple(&mut sph, 8, 0, None, true);
|
||||
let mut buffer: [u8; 32] = [0; 32];
|
||||
let packet_len_ping = ping_tc
|
||||
.write_to_bytes(&mut buffer)
|
||||
.expect("writing packet failed");
|
||||
let packet_len_action = action_tc
|
||||
.write_to_bytes(&mut buffer[packet_len_ping..])
|
||||
.expect("writing packet failed");
|
||||
let valid_packet_ids = [TEST_PACKET_ID_0, TEST_PACKET_ID_1];
|
||||
let mut tc_cacher = TcCacher::default();
|
||||
let mut next_write_idx = 0;
|
||||
let parse_result = parse_buffer_for_ccsds_space_packets(
|
||||
&mut buffer,
|
||||
valid_packet_ids.as_slice(),
|
||||
&mut tc_cacher,
|
||||
&mut next_write_idx,
|
||||
);
|
||||
assert!(parse_result.is_ok());
|
||||
let parsed_packets = parse_result.unwrap();
|
||||
assert_eq!(parsed_packets, 2);
|
||||
assert_eq!(tc_cacher.tc_queue.len(), 2);
|
||||
assert_eq!(
|
||||
tc_cacher.tc_queue.pop_front().unwrap(),
|
||||
buffer[..packet_len_ping]
|
||||
);
|
||||
assert_eq!(
|
||||
tc_cacher.tc_queue.pop_front().unwrap(),
|
||||
buffer[packet_len_ping..packet_len_ping + packet_len_action]
|
||||
);
|
||||
}
|
||||
|
||||
#[test]
|
||||
fn test_split_packet_multi() {
|
||||
let mut sph = SpHeader::tc_unseg(TEST_APID_0, 0, 0).unwrap();
|
||||
let ping_tc = PusTcCreator::new_simple(&mut sph, 17, 1, None, true);
|
||||
sph = SpHeader::tc_unseg(TEST_APID_1, 0, 0).unwrap();
|
||||
let action_tc = PusTcCreator::new_simple(&mut sph, 8, 0, None, true);
|
||||
let mut buffer: [u8; 32] = [0; 32];
|
||||
let packet_len_ping = ping_tc
|
||||
.write_to_bytes(&mut buffer)
|
||||
.expect("writing packet failed");
|
||||
let packet_len_action = action_tc
|
||||
.write_to_bytes(&mut buffer[packet_len_ping..])
|
||||
.expect("writing packet failed");
|
||||
let valid_packet_ids = [TEST_PACKET_ID_0, TEST_PACKET_ID_1];
|
||||
let mut tc_cacher = TcCacher::default();
|
||||
let mut next_write_idx = 0;
|
||||
let parse_result = parse_buffer_for_ccsds_space_packets(
|
||||
&mut buffer[..packet_len_ping + packet_len_action - 4],
|
||||
valid_packet_ids.as_slice(),
|
||||
&mut tc_cacher,
|
||||
&mut next_write_idx,
|
||||
);
|
||||
assert!(parse_result.is_ok());
|
||||
let parsed_packets = parse_result.unwrap();
|
||||
assert_eq!(parsed_packets, 1);
|
||||
assert_eq!(tc_cacher.tc_queue.len(), 1);
|
||||
// The broken packet was moved to the start, so the next write index should be after the
|
||||
// last segment missing 4 bytes.
|
||||
assert_eq!(next_write_idx, packet_len_action - 4);
|
||||
}
|
||||
|
||||
#[test]
|
||||
fn test_one_split_packet() {
|
||||
let mut sph = SpHeader::tc_unseg(TEST_APID_0, 0, 0).unwrap();
|
||||
let ping_tc = PusTcCreator::new_simple(&mut sph, 17, 1, None, true);
|
||||
let mut buffer: [u8; 32] = [0; 32];
|
||||
let packet_len_ping = ping_tc
|
||||
.write_to_bytes(&mut buffer)
|
||||
.expect("writing packet failed");
|
||||
let valid_packet_ids = [TEST_PACKET_ID_0, TEST_PACKET_ID_1];
|
||||
let mut tc_cacher = TcCacher::default();
|
||||
let mut next_write_idx = 0;
|
||||
let parse_result = parse_buffer_for_ccsds_space_packets(
|
||||
&mut buffer[..packet_len_ping - 4],
|
||||
valid_packet_ids.as_slice(),
|
||||
&mut tc_cacher,
|
||||
&mut next_write_idx,
|
||||
);
|
||||
assert_eq!(next_write_idx, 0);
|
||||
assert!(parse_result.is_ok());
|
||||
let parsed_packets = parse_result.unwrap();
|
||||
assert_eq!(parsed_packets, 0);
|
||||
assert_eq!(tc_cacher.tc_queue.len(), 0);
|
||||
}
|
||||
}
|
||||
@ -1,4 +1,4 @@
|
||||
use crate::{tmtc::PacketSenderRaw, ComponentId};
|
||||
use crate::tmtc::ReceivesTcCore;
|
||||
use cobs::{decode_in_place, encode, max_encoding_length};
|
||||
|
||||
/// This function encodes the given packet with COBS and also wraps the encoded packet with
|
||||
@ -13,7 +13,7 @@ use cobs::{decode_in_place, encode, max_encoding_length};
|
||||
///
|
||||
/// ```
|
||||
/// use cobs::decode_in_place_report;
|
||||
/// use satrs::encoding::{encode_packet_with_cobs};
|
||||
/// use satrs_core::encoding::{encode_packet_with_cobs};
|
||||
//
|
||||
/// const SIMPLE_PACKET: [u8; 5] = [1, 2, 3, 4, 5];
|
||||
/// const INVERTED_PACKET: [u8; 5] = [5, 4, 3, 2, 1];
|
||||
@ -55,12 +55,11 @@ pub fn encode_packet_with_cobs(
|
||||
/// future write operations will be written to the `next_write_idx` argument.
|
||||
///
|
||||
/// The parser will write all packets which were decoded successfully to the given `tc_receiver`.
|
||||
pub fn parse_buffer_for_cobs_encoded_packets<SendError>(
|
||||
pub fn parse_buffer_for_cobs_encoded_packets<E>(
|
||||
buf: &mut [u8],
|
||||
sender_id: ComponentId,
|
||||
packet_sender: &(impl PacketSenderRaw<Error = SendError> + ?Sized),
|
||||
tc_receiver: &mut dyn ReceivesTcCore<Error = E>,
|
||||
next_write_idx: &mut usize,
|
||||
) -> Result<u32, SendError> {
|
||||
) -> Result<u32, E> {
|
||||
let mut start_index_packet = 0;
|
||||
let mut start_found = false;
|
||||
let mut last_byte = false;
|
||||
@ -79,10 +78,8 @@ pub fn parse_buffer_for_cobs_encoded_packets<SendError>(
|
||||
let decode_result = decode_in_place(&mut buf[start_index_packet..i]);
|
||||
if let Ok(packet_len) = decode_result {
|
||||
packets_found += 1;
|
||||
packet_sender.send_packet(
|
||||
sender_id,
|
||||
&buf[start_index_packet..start_index_packet + packet_len],
|
||||
)?;
|
||||
tc_receiver
|
||||
.pass_tc(&buf[start_index_packet..start_index_packet + packet_len])?;
|
||||
}
|
||||
start_found = false;
|
||||
} else {
|
||||
@ -103,39 +100,32 @@ pub fn parse_buffer_for_cobs_encoded_packets<SendError>(
|
||||
pub(crate) mod tests {
|
||||
use cobs::encode;
|
||||
|
||||
use crate::{
|
||||
encoding::tests::{encode_simple_packet, TcCacher, INVERTED_PACKET, SIMPLE_PACKET},
|
||||
ComponentId,
|
||||
};
|
||||
use crate::encoding::tests::{encode_simple_packet, TcCacher, INVERTED_PACKET, SIMPLE_PACKET};
|
||||
|
||||
use super::parse_buffer_for_cobs_encoded_packets;
|
||||
|
||||
const PARSER_ID: ComponentId = 0x05;
|
||||
|
||||
#[test]
|
||||
fn test_parsing_simple_packet() {
|
||||
let test_sender = TcCacher::default();
|
||||
let mut test_sender = TcCacher::default();
|
||||
let mut encoded_buf: [u8; 16] = [0; 16];
|
||||
let mut current_idx = 0;
|
||||
encode_simple_packet(&mut encoded_buf, &mut current_idx);
|
||||
let mut next_read_idx = 0;
|
||||
let packets = parse_buffer_for_cobs_encoded_packets(
|
||||
&mut encoded_buf[0..current_idx],
|
||||
PARSER_ID,
|
||||
&test_sender,
|
||||
&mut test_sender,
|
||||
&mut next_read_idx,
|
||||
)
|
||||
.unwrap();
|
||||
assert_eq!(packets, 1);
|
||||
let queue = test_sender.tc_queue.borrow();
|
||||
assert_eq!(queue.len(), 1);
|
||||
let packet = &queue[0];
|
||||
assert_eq!(packet.packet, &SIMPLE_PACKET);
|
||||
assert_eq!(test_sender.tc_queue.len(), 1);
|
||||
let packet = &test_sender.tc_queue[0];
|
||||
assert_eq!(packet, &SIMPLE_PACKET);
|
||||
}
|
||||
|
||||
#[test]
|
||||
fn test_parsing_consecutive_packets() {
|
||||
let test_sender = TcCacher::default();
|
||||
let mut test_sender = TcCacher::default();
|
||||
let mut encoded_buf: [u8; 16] = [0; 16];
|
||||
let mut current_idx = 0;
|
||||
encode_simple_packet(&mut encoded_buf, &mut current_idx);
|
||||
@ -149,23 +139,21 @@ pub(crate) mod tests {
|
||||
let mut next_read_idx = 0;
|
||||
let packets = parse_buffer_for_cobs_encoded_packets(
|
||||
&mut encoded_buf[0..current_idx],
|
||||
PARSER_ID,
|
||||
&test_sender,
|
||||
&mut test_sender,
|
||||
&mut next_read_idx,
|
||||
)
|
||||
.unwrap();
|
||||
assert_eq!(packets, 2);
|
||||
let queue = test_sender.tc_queue.borrow();
|
||||
assert_eq!(queue.len(), 2);
|
||||
let packet0 = &queue[0];
|
||||
assert_eq!(packet0.packet, &SIMPLE_PACKET);
|
||||
let packet1 = &queue[1];
|
||||
assert_eq!(packet1.packet, &INVERTED_PACKET);
|
||||
assert_eq!(test_sender.tc_queue.len(), 2);
|
||||
let packet0 = &test_sender.tc_queue[0];
|
||||
assert_eq!(packet0, &SIMPLE_PACKET);
|
||||
let packet1 = &test_sender.tc_queue[1];
|
||||
assert_eq!(packet1, &INVERTED_PACKET);
|
||||
}
|
||||
|
||||
#[test]
|
||||
fn test_split_tail_packet_only() {
|
||||
let test_sender = TcCacher::default();
|
||||
let mut test_sender = TcCacher::default();
|
||||
let mut encoded_buf: [u8; 16] = [0; 16];
|
||||
let mut current_idx = 0;
|
||||
encode_simple_packet(&mut encoded_buf, &mut current_idx);
|
||||
@ -173,19 +161,17 @@ pub(crate) mod tests {
|
||||
let packets = parse_buffer_for_cobs_encoded_packets(
|
||||
// Cut off the sentinel byte at the end.
|
||||
&mut encoded_buf[0..current_idx - 1],
|
||||
PARSER_ID,
|
||||
&test_sender,
|
||||
&mut test_sender,
|
||||
&mut next_read_idx,
|
||||
)
|
||||
.unwrap();
|
||||
assert_eq!(packets, 0);
|
||||
let queue = test_sender.tc_queue.borrow();
|
||||
assert_eq!(queue.len(), 0);
|
||||
assert_eq!(test_sender.tc_queue.len(), 0);
|
||||
assert_eq!(next_read_idx, 0);
|
||||
}
|
||||
|
||||
fn generic_test_split_packet(cut_off: usize) {
|
||||
let test_sender = TcCacher::default();
|
||||
let mut test_sender = TcCacher::default();
|
||||
let mut encoded_buf: [u8; 16] = [0; 16];
|
||||
assert!(cut_off < INVERTED_PACKET.len() + 1);
|
||||
let mut current_idx = 0;
|
||||
@ -207,15 +193,13 @@ pub(crate) mod tests {
|
||||
let packets = parse_buffer_for_cobs_encoded_packets(
|
||||
// Cut off the sentinel byte at the end.
|
||||
&mut encoded_buf[0..current_idx - cut_off],
|
||||
PARSER_ID,
|
||||
&test_sender,
|
||||
&mut test_sender,
|
||||
&mut next_write_idx,
|
||||
)
|
||||
.unwrap();
|
||||
assert_eq!(packets, 1);
|
||||
let queue = test_sender.tc_queue.borrow();
|
||||
assert_eq!(queue.len(), 1);
|
||||
assert_eq!(&queue[0].packet, &SIMPLE_PACKET);
|
||||
assert_eq!(test_sender.tc_queue.len(), 1);
|
||||
assert_eq!(&test_sender.tc_queue[0], &SIMPLE_PACKET);
|
||||
assert_eq!(next_write_idx, next_expected_write_idx);
|
||||
assert_eq!(encoded_buf[..next_expected_write_idx], expected_at_start);
|
||||
}
|
||||
@ -237,7 +221,7 @@ pub(crate) mod tests {
|
||||
|
||||
#[test]
|
||||
fn test_zero_at_end() {
|
||||
let test_sender = TcCacher::default();
|
||||
let mut test_sender = TcCacher::default();
|
||||
let mut encoded_buf: [u8; 16] = [0; 16];
|
||||
let mut next_write_idx = 0;
|
||||
let mut current_idx = 0;
|
||||
@ -249,35 +233,31 @@ pub(crate) mod tests {
|
||||
let packets = parse_buffer_for_cobs_encoded_packets(
|
||||
// Cut off the sentinel byte at the end.
|
||||
&mut encoded_buf[0..current_idx],
|
||||
PARSER_ID,
|
||||
&test_sender,
|
||||
&mut test_sender,
|
||||
&mut next_write_idx,
|
||||
)
|
||||
.unwrap();
|
||||
assert_eq!(packets, 1);
|
||||
let queue = test_sender.tc_queue.borrow_mut();
|
||||
assert_eq!(queue.len(), 1);
|
||||
assert_eq!(&queue[0].packet, &SIMPLE_PACKET);
|
||||
assert_eq!(test_sender.tc_queue.len(), 1);
|
||||
assert_eq!(&test_sender.tc_queue[0], &SIMPLE_PACKET);
|
||||
assert_eq!(next_write_idx, 1);
|
||||
assert_eq!(encoded_buf[0], 0);
|
||||
}
|
||||
|
||||
#[test]
|
||||
fn test_all_zeroes() {
|
||||
let test_sender = TcCacher::default();
|
||||
let mut test_sender = TcCacher::default();
|
||||
let mut all_zeroes: [u8; 5] = [0; 5];
|
||||
let mut next_write_idx = 0;
|
||||
let packets = parse_buffer_for_cobs_encoded_packets(
|
||||
// Cut off the sentinel byte at the end.
|
||||
&mut all_zeroes,
|
||||
PARSER_ID,
|
||||
&test_sender,
|
||||
&mut test_sender,
|
||||
&mut next_write_idx,
|
||||
)
|
||||
.unwrap();
|
||||
assert_eq!(packets, 0);
|
||||
let queue = test_sender.tc_queue.borrow();
|
||||
assert!(queue.is_empty());
|
||||
assert!(test_sender.tc_queue.is_empty());
|
||||
assert_eq!(next_write_idx, 0);
|
||||
}
|
||||
}
|
||||
@ -6,14 +6,9 @@ pub use crate::encoding::cobs::{encode_packet_with_cobs, parse_buffer_for_cobs_e
|
||||
|
||||
#[cfg(test)]
|
||||
pub(crate) mod tests {
|
||||
use core::cell::RefCell;
|
||||
use alloc::{collections::VecDeque, vec::Vec};
|
||||
|
||||
use alloc::collections::VecDeque;
|
||||
|
||||
use crate::{
|
||||
tmtc::{PacketAsVec, PacketSenderRaw},
|
||||
ComponentId,
|
||||
};
|
||||
use crate::tmtc::ReceivesTcCore;
|
||||
|
||||
use super::cobs::encode_packet_with_cobs;
|
||||
|
||||
@ -22,15 +17,14 @@ pub(crate) mod tests {
|
||||
|
||||
#[derive(Default)]
|
||||
pub(crate) struct TcCacher {
|
||||
pub(crate) tc_queue: RefCell<VecDeque<PacketAsVec>>,
|
||||
pub(crate) tc_queue: VecDeque<Vec<u8>>,
|
||||
}
|
||||
|
||||
impl PacketSenderRaw for TcCacher {
|
||||
impl ReceivesTcCore for TcCacher {
|
||||
type Error = ();
|
||||
|
||||
fn send_packet(&self, sender_id: ComponentId, tc_raw: &[u8]) -> Result<(), Self::Error> {
|
||||
let mut mut_queue = self.tc_queue.borrow_mut();
|
||||
mut_queue.push_back(PacketAsVec::new(sender_id, tc_raw.to_vec()));
|
||||
fn pass_tc(&mut self, tc_raw: &[u8]) -> Result<(), Self::Error> {
|
||||
self.tc_queue.push_back(tc_raw.to_vec());
|
||||
Ok(())
|
||||
}
|
||||
}
|
||||
710
satrs-core/src/event_man.rs
Normal file
710
satrs-core/src/event_man.rs
Normal file
@ -0,0 +1,710 @@
|
||||
//! Event management and forwarding
|
||||
//!
|
||||
//! This module provides components to perform event routing. The most important component for this
|
||||
//! task is the [EventManager]. It receives all events and then routes them to event subscribers
|
||||
//! where appropriate. One common use case for satellite systems is to offer a light-weight
|
||||
//! publish-subscribe mechanism and IPC mechanism for software and hardware events which are also
|
||||
//! packaged as telemetry (TM) or can trigger a system response.
|
||||
//!
|
||||
//! It is recommended to read the
|
||||
//! [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
|
||||
//! 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
|
||||
//! 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
|
||||
//! 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]
|
||||
//! 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.
|
||||
//! 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.
|
||||
//!
|
||||
//! Some components like a PUS Event Service or PUS Event Action Service might require all
|
||||
//! events to package them as telemetry or start actions where applicable.
|
||||
//! Other components might only be interested in certain events. For example, a thermal system
|
||||
//! handler might only be interested in temperature events generated by a thermal sensor component.
|
||||
//!
|
||||
//! # Examples
|
||||
//!
|
||||
//! You can check [integration test](https://egit.irs.uni-stuttgart.de/rust/sat-rs/src/branch/main/satrs-core/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 core::slice::Iter;
|
||||
#[cfg(feature = "alloc")]
|
||||
use hashbrown::HashMap;
|
||||
|
||||
use crate::ChannelId;
|
||||
#[cfg(feature = "std")]
|
||||
pub use stdmod::*;
|
||||
|
||||
#[derive(PartialEq, Eq, Hash, Copy, Clone, Debug)]
|
||||
pub enum ListenerKey {
|
||||
Single(LargestEventRaw),
|
||||
Group(LargestGroupIdRaw),
|
||||
All,
|
||||
}
|
||||
|
||||
pub type EventWithHeaplessAuxData<Event> = (Event, Option<ParamsHeapless>);
|
||||
pub type EventU32WithHeaplessAuxData = EventWithHeaplessAuxData<EventU32>;
|
||||
pub type EventU16WithHeaplessAuxData = EventWithHeaplessAuxData<EventU16>;
|
||||
|
||||
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;
|
||||
|
||||
fn id(&self) -> ChannelId;
|
||||
fn send_no_data(&self, event: Provider) -> Result<(), Self::Error> {
|
||||
self.send(event, None)
|
||||
}
|
||||
fn send(&self, event: Provider, aux_data: Option<AuxDataProvider>) -> Result<(), Self::Error>;
|
||||
}
|
||||
|
||||
/// 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 ListenerTable {
|
||||
fn get_listeners(&self) -> 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> {
|
||||
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;
|
||||
}
|
||||
|
||||
/// 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>>,
|
||||
}
|
||||
|
||||
/// 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> {
|
||||
/// 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>),
|
||||
}
|
||||
|
||||
#[derive(Debug)]
|
||||
pub enum EventRoutingError<E> {
|
||||
SendError(E),
|
||||
NoSendersForKey(ListenerKey),
|
||||
NoSenderForId(ChannelId),
|
||||
}
|
||||
|
||||
#[derive(Debug)]
|
||||
pub struct EventRoutingErrorsWithResult<Event: GenericEvent, AuxDataProvider, E> {
|
||||
pub result: EventRoutingResult<Event, AuxDataProvider>,
|
||||
pub errors: [Option<EventRoutingError<E>>; 3],
|
||||
}
|
||||
|
||||
impl<E, Event: GenericEvent + Copy> EventManager<E, Event> {
|
||||
pub fn remove_duplicates(&mut self, key: &ListenerKey) {
|
||||
self.listener_table.remove_duplicates(key)
|
||||
}
|
||||
|
||||
/// Subscribe for a unique event.
|
||||
pub fn subscribe_single(&mut self, event: &Event, sender_id: ChannelId) {
|
||||
self.update_listeners(ListenerKey::Single(event.raw_as_largest_type()), sender_id);
|
||||
}
|
||||
|
||||
/// Subscribe for an event group.
|
||||
pub fn subscribe_group(&mut self, group_id: LargestGroupIdRaw, sender_id: ChannelId) {
|
||||
self.update_listeners(ListenerKey::Group(group_id), sender_id);
|
||||
}
|
||||
|
||||
/// Subscribe for all events received by the manager.
|
||||
///
|
||||
/// For example, this can be useful for a handler component which sends every event as
|
||||
/// a telemetry packet.
|
||||
pub fn subscribe_all(&mut self, sender_id: ChannelId) {
|
||||
self.update_listeners(ListenerKey::All, sender_id);
|
||||
}
|
||||
}
|
||||
|
||||
impl<E: 'static, Event: GenericEvent + Copy + 'static, AuxDataProvider: Clone + 'static>
|
||||
EventManager<E, Event, AuxDataProvider>
|
||||
{
|
||||
/// 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 {
|
||||
EventManager {
|
||||
listener_table,
|
||||
sender_table,
|
||||
event_receiver,
|
||||
}
|
||||
}
|
||||
|
||||
pub fn add_sender(
|
||||
&mut self,
|
||||
send_provider: impl SendEventProvider<Event, AuxDataProvider, Error = E> + 'static,
|
||||
) {
|
||||
if !self
|
||||
.sender_table
|
||||
.contains_send_event_provider(&send_provider.id())
|
||||
{
|
||||
self.sender_table
|
||||
.add_send_event_provider(Box::new(send_provider));
|
||||
}
|
||||
}
|
||||
|
||||
fn update_listeners(&mut self, key: ListenerKey, sender_id: ChannelId) {
|
||||
self.listener_table.add_listener(key, sender_id);
|
||||
}
|
||||
|
||||
/// This function will use the cached event receiver and try to receive one event.
|
||||
/// If an event was received, it will try to route that event to all subscribed event listeners.
|
||||
/// If this works without any issues, the [EventRoutingResult] will contain context information
|
||||
/// about the routed event.
|
||||
///
|
||||
/// This function will track up to 3 errors returned as part of the
|
||||
/// [EventRoutingErrorsWithResult] error struct.
|
||||
pub fn try_event_handling(
|
||||
&self,
|
||||
) -> Result<
|
||||
EventRoutingResult<Event, AuxDataProvider>,
|
||||
EventRoutingErrorsWithResult<Event, AuxDataProvider, E>,
|
||||
> {
|
||||
let mut err_idx = 0;
|
||||
let mut err_slice = [None, None, None];
|
||||
let mut num_recipients = 0;
|
||||
let mut add_error = |error: EventRoutingError<E>| {
|
||||
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) {
|
||||
for id in ids {
|
||||
if let Some(sender) = self.sender_table.get_send_event_provider(id) {
|
||||
if let Err(e) = sender.send(event, aux_data.clone()) {
|
||||
add_error(EventRoutingError::SendError(e));
|
||||
} else {
|
||||
num_recipients += 1;
|
||||
}
|
||||
} else {
|
||||
add_error(EventRoutingError::NoSenderForId(*id));
|
||||
}
|
||||
}
|
||||
} else {
|
||||
add_error(EventRoutingError::NoSendersForKey(*key));
|
||||
}
|
||||
}
|
||||
};
|
||||
if let Some((event, aux_data)) = self.event_receiver.receive() {
|
||||
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());
|
||||
send_handler(&group_key, event, &aux_data);
|
||||
send_handler(&ListenerKey::All, event, &aux_data);
|
||||
if err_idx > 0 {
|
||||
return Err(EventRoutingErrorsWithResult {
|
||||
result: EventRoutingResult::Handled(num_recipients, event, aux_data),
|
||||
errors: err_slice,
|
||||
});
|
||||
}
|
||||
return Ok(EventRoutingResult::Handled(num_recipients, event, aux_data));
|
||||
}
|
||||
Ok(EventRoutingResult::Empty)
|
||||
}
|
||||
}
|
||||
|
||||
#[derive(Default)]
|
||||
pub struct DefaultListenerTableProvider {
|
||||
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 {
|
||||
fn get_listeners(&self) -> Vec<ListenerKey> {
|
||||
let mut key_list = Vec::new();
|
||||
for key in self.listeners.keys() {
|
||||
key_list.push(*key);
|
||||
}
|
||||
key_list
|
||||
}
|
||||
|
||||
fn contains_listener(&self, key: &ListenerKey) -> bool {
|
||||
self.listeners.contains_key(key)
|
||||
}
|
||||
|
||||
fn get_listener_ids(&self, key: &ListenerKey) -> Option<Iter<ChannelId>> {
|
||||
self.listeners.get(key).map(|vec| vec.iter())
|
||||
}
|
||||
|
||||
fn add_listener(&mut self, key: ListenerKey, sender_id: ChannelId) -> bool {
|
||||
if let Some(existing_list) = self.listeners.get_mut(&key) {
|
||||
existing_list.push(sender_id);
|
||||
} else {
|
||||
let new_list = vec![sender_id];
|
||||
self.listeners.insert(key, new_list);
|
||||
}
|
||||
true
|
||||
}
|
||||
|
||||
fn remove_duplicates(&mut self, key: &ListenerKey) {
|
||||
if let Some(list) = self.listeners.get_mut(key) {
|
||||
list.sort_unstable();
|
||||
list.dedup();
|
||||
}
|
||||
}
|
||||
}
|
||||
|
||||
impl<SendProviderError, Event: GenericEvent, AuxDataProvider>
|
||||
SenderTable<SendProviderError, Event, AuxDataProvider>
|
||||
for DefaultSenderTableProvider<SendProviderError, Event, AuxDataProvider>
|
||||
{
|
||||
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>> {
|
||||
self.senders
|
||||
.get(id)
|
||||
.filter(|sender| sender.id() == *id)
|
||||
.map(|v| v.as_ref())
|
||||
}
|
||||
|
||||
fn add_send_event_provider(
|
||||
&mut self,
|
||||
send_provider: Box<
|
||||
dyn SendEventProvider<Event, AuxDataProvider, Error = SendProviderError>,
|
||||
>,
|
||||
) -> bool {
|
||||
let id = send_provider.id();
|
||||
if self.senders.contains_key(&id) {
|
||||
return false;
|
||||
}
|
||||
self.senders.insert(id, send_provider).is_none()
|
||||
}
|
||||
}
|
||||
|
||||
#[cfg(feature = "std")]
|
||||
pub mod stdmod {
|
||||
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};
|
||||
|
||||
pub struct MpscEventReceiver<Event: GenericEvent + Send = EventU32> {
|
||||
mpsc_receiver: Receiver<(Event, Option<Params>)>,
|
||||
}
|
||||
|
||||
impl<Event: GenericEvent + Send> MpscEventReceiver<Event> {
|
||||
pub fn new(receiver: Receiver<(Event, Option<Params>)>) -> Self {
|
||||
Self {
|
||||
mpsc_receiver: receiver,
|
||||
}
|
||||
}
|
||||
}
|
||||
impl<Event: GenericEvent + Send> EventReceiver<Event> for MpscEventReceiver<Event> {
|
||||
fn receive(&self) -> Option<EventWithAuxData<Event>> {
|
||||
if let Ok(event_and_data) = self.mpsc_receiver.try_recv() {
|
||||
return Some(event_and_data);
|
||||
}
|
||||
None
|
||||
}
|
||||
}
|
||||
|
||||
pub type MpscEventU32Receiver = MpscEventReceiver<EventU32>;
|
||||
pub type MpscEventU16Receiver = MpscEventReceiver<EventU16>;
|
||||
|
||||
#[derive(Clone)]
|
||||
pub struct MpscEventSendProvider<Event: GenericEvent + Send> {
|
||||
id: u32,
|
||||
sender: Sender<(Event, Option<Params>)>,
|
||||
}
|
||||
|
||||
impl<Event: GenericEvent + Send> MpscEventSendProvider<Event> {
|
||||
pub fn new(id: u32, sender: 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 {
|
||||
self.id
|
||||
}
|
||||
fn send(&self, event: Event, aux_data: Option<Params>) -> Result<(), Self::Error> {
|
||||
self.sender.send((event, aux_data))
|
||||
}
|
||||
}
|
||||
|
||||
pub type MpscEventU32SendProvider = MpscEventSendProvider<EventU32>;
|
||||
pub type MpscEventU16SendProvider = MpscEventSendProvider<EventU16>;
|
||||
}
|
||||
|
||||
#[cfg(test)]
|
||||
mod tests {
|
||||
use super::*;
|
||||
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};
|
||||
|
||||
#[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))
|
||||
}
|
||||
}
|
||||
|
||||
fn check_next_event(
|
||||
expected: EventU32,
|
||||
receiver: &Receiver<EventU32WithAuxData>,
|
||||
) -> Option<Params> {
|
||||
if let Ok(event) = receiver.try_recv() {
|
||||
assert_eq!(event.0, expected);
|
||||
return event.1;
|
||||
}
|
||||
None
|
||||
}
|
||||
|
||||
fn check_handled_event(
|
||||
res: EventRoutingResult<EventU32, Params>,
|
||||
expected: EventU32,
|
||||
expected_num_sent: u32,
|
||||
) {
|
||||
assert!(matches!(res, EventRoutingResult::Handled { .. }));
|
||||
if let EventRoutingResult::Handled(num_recipients, event, _aux_data) = res {
|
||||
assert_eq!(event, expected);
|
||||
assert_eq!(num_recipients, expected_num_sent);
|
||||
}
|
||||
}
|
||||
|
||||
fn generic_event_man() -> (
|
||||
Sender<EventU32WithAuxData>,
|
||||
EventManager<SendError<EventU32WithAuxData>>,
|
||||
) {
|
||||
let (event_sender, manager_queue) = channel();
|
||||
let event_man_receiver = MpscEventReceiver::new(manager_queue);
|
||||
(
|
||||
event_sender,
|
||||
EventManager::new(Box::new(event_man_receiver)),
|
||||
)
|
||||
}
|
||||
|
||||
#[test]
|
||||
fn test_basic() {
|
||||
let (event_sender, mut event_man) = generic_event_man();
|
||||
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());
|
||||
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());
|
||||
event_man.add_sender(group_event_listener);
|
||||
|
||||
// Test event with one listener
|
||||
event_sender
|
||||
.send((event_grp_0, None))
|
||||
.expect("Sending single error failed");
|
||||
let res = event_man.try_event_handling();
|
||||
assert!(res.is_ok());
|
||||
check_handled_event(res.unwrap(), event_grp_0, 1);
|
||||
check_next_event(event_grp_0, &single_event_receiver);
|
||||
|
||||
// Test event which is sent to all group listeners
|
||||
event_sender
|
||||
.send((event_grp_1_0, None))
|
||||
.expect("Sending group error failed");
|
||||
let res = event_man.try_event_handling();
|
||||
assert!(res.is_ok());
|
||||
check_handled_event(res.unwrap(), event_grp_1_0, 1);
|
||||
check_next_event(event_grp_1_0, &group_event_receiver_0);
|
||||
}
|
||||
|
||||
#[test]
|
||||
fn test_with_basic_aux_data() {
|
||||
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());
|
||||
event_man.add_sender(single_event_listener);
|
||||
event_sender
|
||||
.send((event_grp_0, Some(Params::Heapless((2_u32, 3_u32).into()))))
|
||||
.expect("Sending group error failed");
|
||||
let res = event_man.try_event_handling();
|
||||
assert!(res.is_ok());
|
||||
check_handled_event(res.unwrap(), event_grp_0, 1);
|
||||
let aux = check_next_event(event_grp_0, &single_event_receiver);
|
||||
assert!(aux.is_some());
|
||||
let aux = aux.unwrap();
|
||||
if let Params::Heapless(ParamsHeapless::Raw(ParamsRaw::U32Pair(pair))) = aux {
|
||||
assert_eq!(pair.0, 2);
|
||||
assert_eq!(pair.1, 3);
|
||||
} else {
|
||||
panic!("{}", format!("Unexpected auxiliary value type {:?}", aux));
|
||||
}
|
||||
}
|
||||
|
||||
/// Test listening for multiple groups
|
||||
#[test]
|
||||
fn test_multi_group() {
|
||||
let (event_sender, mut event_man) = generic_event_man();
|
||||
let res = event_man.try_event_handling();
|
||||
assert!(res.is_ok());
|
||||
let hres = res.unwrap();
|
||||
assert!(matches!(hres, EventRoutingResult::Empty));
|
||||
|
||||
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());
|
||||
event_man.add_sender(event_grp_0_and_1_listener);
|
||||
|
||||
event_sender
|
||||
.send((event_grp_0, None))
|
||||
.expect("Sending Event Group 0 failed");
|
||||
event_sender
|
||||
.send((event_grp_1_0, None))
|
||||
.expect("Sendign Event Group 1 failed");
|
||||
let res = event_man.try_event_handling();
|
||||
assert!(res.is_ok());
|
||||
check_handled_event(res.unwrap(), event_grp_0, 1);
|
||||
let res = event_man.try_event_handling();
|
||||
assert!(res.is_ok());
|
||||
check_handled_event(res.unwrap(), event_grp_1_0, 1);
|
||||
|
||||
check_next_event(event_grp_0, &event_grp_0_receiver);
|
||||
check_next_event(event_grp_1_0, &event_grp_0_receiver);
|
||||
}
|
||||
|
||||
/// Test listening to the same event from multiple listeners. Also test listening
|
||||
/// to both group and single events from one listener
|
||||
#[test]
|
||||
fn test_listening_to_same_event_and_multi_type() {
|
||||
let (event_sender, mut event_man) = generic_event_man();
|
||||
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, 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();
|
||||
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();
|
||||
event_man.subscribe_single(&event_0, event_listener_1_sender_id);
|
||||
event_man.add_sender(event_listener_1);
|
||||
event_sender
|
||||
.send((event_0, None))
|
||||
.expect("Triggering Event 0 failed");
|
||||
let res = event_man.try_event_handling();
|
||||
assert!(res.is_ok());
|
||||
check_handled_event(res.unwrap(), event_0, 2);
|
||||
check_next_event(event_0, &event_0_rx_0);
|
||||
check_next_event(event_0, &event_0_rx_1);
|
||||
event_man.subscribe_group(event_1.group_id(), event_listener_0_sender_id);
|
||||
event_sender
|
||||
.send((event_0, None))
|
||||
.expect("Triggering Event 0 failed");
|
||||
event_sender
|
||||
.send((event_1, None))
|
||||
.expect("Triggering Event 1 failed");
|
||||
|
||||
// 3 Events messages will be sent now
|
||||
let res = event_man.try_event_handling();
|
||||
assert!(res.is_ok());
|
||||
check_handled_event(res.unwrap(), event_0, 2);
|
||||
let res = event_man.try_event_handling();
|
||||
assert!(res.is_ok());
|
||||
check_handled_event(res.unwrap(), event_1, 1);
|
||||
// Both the single event and the group event should arrive now
|
||||
check_next_event(event_0, &event_0_rx_0);
|
||||
check_next_event(event_1, &event_0_rx_0);
|
||||
|
||||
// Do double insertion and then remove duplicates
|
||||
event_man.subscribe_group(event_1.group_id(), event_listener_0_sender_id);
|
||||
event_man.remove_duplicates(&ListenerKey::Group(event_1.group_id()));
|
||||
event_sender
|
||||
.send((event_1, None))
|
||||
.expect("Triggering Event 1 failed");
|
||||
let res = event_man.try_event_handling();
|
||||
assert!(res.is_ok());
|
||||
check_handled_event(res.unwrap(), event_1, 1);
|
||||
}
|
||||
|
||||
#[test]
|
||||
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 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());
|
||||
event_man.add_sender(all_events_listener);
|
||||
event_sender
|
||||
.send((event_0, None))
|
||||
.expect("Triggering event 0 failed");
|
||||
event_sender
|
||||
.send((event_1, None))
|
||||
.expect("Triggering event 1 failed");
|
||||
let res = event_man.try_event_handling();
|
||||
assert!(res.is_ok());
|
||||
check_handled_event(res.unwrap(), event_0, 1);
|
||||
let res = event_man.try_event_handling();
|
||||
assert!(res.is_ok());
|
||||
check_handled_event(res.unwrap(), event_1, 1);
|
||||
check_next_event(event_0, &all_events_rx);
|
||||
check_next_event(event_1, &all_events_rx);
|
||||
}
|
||||
}
|
||||
@ -18,7 +18,7 @@
|
||||
//! # Examples
|
||||
//!
|
||||
//! ```
|
||||
//! use satrs::events::{EventU16, EventU32, EventU32TypedSev, Severity, SeverityHigh, SeverityInfo};
|
||||
//! use satrs_core::events::{EventU16, EventU32, EventU32TypedSev, Severity, SeverityHigh, SeverityInfo};
|
||||
//!
|
||||
//! const MSG_RECVD: EventU32TypedSev<SeverityInfo> = EventU32TypedSev::const_new(1, 0);
|
||||
//! const MSG_FAILED: EventU32 = EventU32::const_new(Severity::LOW, 1, 1);
|
||||
@ -80,7 +80,7 @@ impl HasSeverity for SeverityHigh {
|
||||
const SEVERITY: Severity = Severity::HIGH;
|
||||
}
|
||||
|
||||
pub trait GenericEvent: EcssEnumeration + Copy + Clone {
|
||||
pub trait GenericEvent: EcssEnumeration {
|
||||
type Raw;
|
||||
type GroupId;
|
||||
type UniqueId;
|
||||
@ -412,10 +412,6 @@ 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 {
|
||||
@ -429,7 +425,6 @@ 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;
|
||||
});
|
||||
}
|
||||
|
||||
@ -565,10 +560,6 @@ 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]
|
||||
@ -582,7 +573,6 @@ 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;
|
||||
});
|
||||
}
|
||||
|
||||
@ -1,3 +1,4 @@
|
||||
//! # Hardware Abstraction Layer module
|
||||
#[cfg(feature = "std")]
|
||||
#[cfg_attr(doc_cfg, doc(cfg(feature = "std")))]
|
||||
pub mod std;
|
||||
@ -1,25 +1,19 @@
|
||||
use alloc::sync::Arc;
|
||||
use alloc::vec;
|
||||
use cobs::encode;
|
||||
use core::sync::atomic::AtomicBool;
|
||||
use core::time::Duration;
|
||||
use delegate::delegate;
|
||||
use mio::net::{TcpListener, TcpStream};
|
||||
use std::io::Write;
|
||||
use std::net::SocketAddr;
|
||||
use std::net::TcpListener;
|
||||
use std::net::TcpStream;
|
||||
use std::vec::Vec;
|
||||
|
||||
use crate::encoding::parse_buffer_for_cobs_encoded_packets;
|
||||
use crate::tmtc::PacketSenderRaw;
|
||||
use crate::tmtc::PacketSource;
|
||||
use crate::tmtc::ReceivesTc;
|
||||
use crate::tmtc::TmPacketSource;
|
||||
|
||||
use crate::hal::std::tcp_server::{
|
||||
ConnectionResult, ServerConfig, TcpTcParser, TcpTmSender, TcpTmtcError, TcpTmtcGenericServer,
|
||||
};
|
||||
use crate::ComponentId;
|
||||
|
||||
use super::tcp_server::HandledConnectionHandler;
|
||||
use super::tcp_server::HandledConnectionInfo;
|
||||
|
||||
/// Concrete [TcpTcParser] implementation for the [TcpTmtcInCobsServer].
|
||||
#[derive(Default)]
|
||||
@ -29,16 +23,14 @@ impl<TmError, TcError: 'static> TcpTcParser<TmError, TcError> for CobsTcParser {
|
||||
fn handle_tc_parsing(
|
||||
&mut self,
|
||||
tc_buffer: &mut [u8],
|
||||
sender_id: ComponentId,
|
||||
tc_sender: &(impl PacketSenderRaw<Error = TcError> + ?Sized),
|
||||
conn_result: &mut HandledConnectionInfo,
|
||||
tc_receiver: &mut (impl ReceivesTc<Error = TcError> + ?Sized),
|
||||
conn_result: &mut ConnectionResult,
|
||||
current_write_idx: usize,
|
||||
next_write_idx: &mut usize,
|
||||
) -> Result<(), TcpTmtcError<TmError, TcError>> {
|
||||
conn_result.num_received_tcs += parse_buffer_for_cobs_encoded_packets(
|
||||
&mut tc_buffer[..current_write_idx],
|
||||
sender_id,
|
||||
tc_sender,
|
||||
tc_receiver.upcast_mut(),
|
||||
next_write_idx,
|
||||
)
|
||||
.map_err(|e| TcpTmtcError::TcError(e))?;
|
||||
@ -65,8 +57,8 @@ impl<TmError, TcError> TcpTmSender<TmError, TcError> for CobsTmSender {
|
||||
fn handle_tm_sending(
|
||||
&mut self,
|
||||
tm_buffer: &mut [u8],
|
||||
tm_source: &mut (impl PacketSource<Error = TmError> + ?Sized),
|
||||
conn_result: &mut HandledConnectionInfo,
|
||||
tm_source: &mut (impl TmPacketSource<Error = TmError> + ?Sized),
|
||||
conn_result: &mut ConnectionResult,
|
||||
stream: &mut TcpStream,
|
||||
) -> Result<bool, TcpTmtcError<TmError, TcError>> {
|
||||
let mut tm_was_sent = false;
|
||||
@ -104,7 +96,7 @@ impl<TmError, TcError> TcpTmSender<TmError, TcError> for CobsTmSender {
|
||||
/// Telemetry will be encoded with the COBS protocol using [cobs::encode] in addition to being
|
||||
/// wrapped with the sentinel value 0 as the packet delimiter as well before being sent back to
|
||||
/// the client. Please note that the server will send as much data as it can retrieve from the
|
||||
/// [PacketSource] in its current implementation.
|
||||
/// [TmPacketSource] in its current implementation.
|
||||
///
|
||||
/// Using a framing protocol like COBS imposes minimal restrictions on the type of TMTC data
|
||||
/// exchanged while also allowing packets with flexible size and a reliable way to reconstruct full
|
||||
@ -115,33 +107,24 @@ 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/tests/tcp_servers.rs)
|
||||
/// The [TCP integration tests](https://egit.irs.uni-stuttgart.de/rust/sat-rs/src/branch/main/satrs-core/tests/tcp_servers.rs)
|
||||
/// test also serves as the example application for this module.
|
||||
pub struct TcpTmtcInCobsServer<
|
||||
TmSource: PacketSource<Error = TmError>,
|
||||
TcSender: PacketSenderRaw<Error = SendError>,
|
||||
HandledConnection: HandledConnectionHandler,
|
||||
TmError,
|
||||
SendError: 'static,
|
||||
TcError: 'static,
|
||||
TmSource: TmPacketSource<Error = TmError>,
|
||||
TcReceiver: ReceivesTc<Error = TcError>,
|
||||
> {
|
||||
pub generic_server: TcpTmtcGenericServer<
|
||||
TmSource,
|
||||
TcSender,
|
||||
CobsTmSender,
|
||||
CobsTcParser,
|
||||
HandledConnection,
|
||||
TmError,
|
||||
SendError,
|
||||
>,
|
||||
generic_server:
|
||||
TcpTmtcGenericServer<TmError, TcError, TmSource, TcReceiver, CobsTmSender, CobsTcParser>,
|
||||
}
|
||||
|
||||
impl<
|
||||
TmSource: PacketSource<Error = TmError>,
|
||||
TcReceiver: PacketSenderRaw<Error = TcError>,
|
||||
HandledConnection: HandledConnectionHandler,
|
||||
TmError: 'static,
|
||||
TcError: 'static,
|
||||
> TcpTmtcInCobsServer<TmSource, TcReceiver, HandledConnection, TmError, TcError>
|
||||
TmSource: TmPacketSource<Error = TmError>,
|
||||
TcReceiver: ReceivesTc<Error = TcError>,
|
||||
> TcpTmtcInCobsServer<TmError, TcError, TmSource, TcReceiver>
|
||||
{
|
||||
/// Create a new TCP TMTC server which exchanges TMTC packets encoded with
|
||||
/// [COBS protocol](https://en.wikipedia.org/wiki/Consistent_Overhead_Byte_Stuffing).
|
||||
@ -157,8 +140,6 @@ impl<
|
||||
cfg: ServerConfig,
|
||||
tm_source: TmSource,
|
||||
tc_receiver: TcReceiver,
|
||||
handled_connection: HandledConnection,
|
||||
stop_signal: Option<Arc<AtomicBool>>,
|
||||
) -> Result<Self, std::io::Error> {
|
||||
Ok(Self {
|
||||
generic_server: TcpTmtcGenericServer::new(
|
||||
@ -167,8 +148,6 @@ impl<
|
||||
CobsTmSender::new(cfg.tm_buffer_size),
|
||||
tm_source,
|
||||
tc_receiver,
|
||||
handled_connection,
|
||||
stop_signal,
|
||||
)?,
|
||||
})
|
||||
}
|
||||
@ -181,10 +160,9 @@ impl<
|
||||
/// useful if using the port number 0 for OS auto-assignment.
|
||||
pub fn local_addr(&self) -> std::io::Result<SocketAddr>;
|
||||
|
||||
/// Delegation to the [TcpTmtcGenericServer::handle_all_connections] call.
|
||||
pub fn handle_all_connections(
|
||||
/// Delegation to the [TcpTmtcGenericServer::handle_next_connection] call.
|
||||
pub fn handle_next_connection(
|
||||
&mut self,
|
||||
poll_duration: Option<Duration>,
|
||||
) -> Result<ConnectionResult, TcpTmtcError<TmError, TcError>>;
|
||||
}
|
||||
}
|
||||
@ -199,29 +177,21 @@ mod tests {
|
||||
use std::{
|
||||
io::{Read, Write},
|
||||
net::{IpAddr, Ipv4Addr, SocketAddr, TcpStream},
|
||||
panic,
|
||||
sync::mpsc,
|
||||
thread,
|
||||
time::Instant,
|
||||
};
|
||||
|
||||
use crate::{
|
||||
encoding::tests::{INVERTED_PACKET, SIMPLE_PACKET},
|
||||
hal::std::tcp_server::{
|
||||
tests::{ConnectionFinishedHandler, SyncTmSource},
|
||||
ConnectionResult, ServerConfig,
|
||||
tests::{SyncTcCacher, SyncTmSource},
|
||||
ServerConfig,
|
||||
},
|
||||
queue::GenericSendError,
|
||||
tmtc::PacketAsVec,
|
||||
ComponentId,
|
||||
};
|
||||
use alloc::sync::Arc;
|
||||
use cobs::encode;
|
||||
|
||||
use super::TcpTmtcInCobsServer;
|
||||
|
||||
const TCP_SERVER_ID: ComponentId = 0x05;
|
||||
|
||||
fn encode_simple_packet(encoded_buf: &mut [u8], current_idx: &mut usize) {
|
||||
encode_packet(&SIMPLE_PACKET, encoded_buf, current_idx)
|
||||
}
|
||||
@ -240,22 +210,13 @@ mod tests {
|
||||
|
||||
fn generic_tmtc_server(
|
||||
addr: &SocketAddr,
|
||||
tc_sender: mpsc::Sender<PacketAsVec>,
|
||||
tc_receiver: SyncTcCacher,
|
||||
tm_source: SyncTmSource,
|
||||
stop_signal: Option<Arc<AtomicBool>>,
|
||||
) -> TcpTmtcInCobsServer<
|
||||
SyncTmSource,
|
||||
mpsc::Sender<PacketAsVec>,
|
||||
ConnectionFinishedHandler,
|
||||
(),
|
||||
GenericSendError,
|
||||
> {
|
||||
) -> TcpTmtcInCobsServer<(), (), SyncTmSource, SyncTcCacher> {
|
||||
TcpTmtcInCobsServer::new(
|
||||
ServerConfig::new(TCP_SERVER_ID, *addr, Duration::from_millis(2), 1024, 1024),
|
||||
ServerConfig::new(*addr, Duration::from_millis(2), 1024, 1024),
|
||||
tm_source,
|
||||
tc_sender,
|
||||
ConnectionFinishedHandler::default(),
|
||||
stop_signal,
|
||||
tc_receiver,
|
||||
)
|
||||
.expect("TCP server generation failed")
|
||||
}
|
||||
@ -263,10 +224,9 @@ mod tests {
|
||||
#[test]
|
||||
fn test_server_basic_no_tm() {
|
||||
let auto_port_addr = SocketAddr::new(IpAddr::V4(Ipv4Addr::new(127, 0, 0, 1)), 0);
|
||||
let (tc_sender, tc_receiver) = mpsc::channel();
|
||||
let tc_receiver = SyncTcCacher::default();
|
||||
let tm_source = SyncTmSource::default();
|
||||
let mut tcp_server =
|
||||
generic_tmtc_server(&auto_port_addr, tc_sender.clone(), tm_source, None);
|
||||
let mut tcp_server = generic_tmtc_server(&auto_port_addr, tc_receiver.clone(), tm_source);
|
||||
let dest_addr = tcp_server
|
||||
.local_addr()
|
||||
.expect("retrieving dest addr failed");
|
||||
@ -274,20 +234,13 @@ mod tests {
|
||||
let set_if_done = conn_handled.clone();
|
||||
// Call the connection handler in separate thread, does block.
|
||||
thread::spawn(move || {
|
||||
let result = tcp_server.handle_all_connections(Some(Duration::from_millis(100)));
|
||||
let result = tcp_server.handle_next_connection();
|
||||
if result.is_err() {
|
||||
panic!("handling connection failed: {:?}", result.unwrap_err());
|
||||
}
|
||||
let result = result.unwrap();
|
||||
assert_eq!(result, ConnectionResult::HandledConnections(1));
|
||||
tcp_server
|
||||
.generic_server
|
||||
.finished_handler
|
||||
.check_last_connection(0, 1);
|
||||
tcp_server
|
||||
.generic_server
|
||||
.finished_handler
|
||||
.check_no_connections_left();
|
||||
let conn_result = result.unwrap();
|
||||
assert_eq!(conn_result.num_received_tcs, 1);
|
||||
assert_eq!(conn_result.num_sent_tms, 0);
|
||||
set_if_done.store(true, Ordering::Relaxed);
|
||||
});
|
||||
// Send TC to server now.
|
||||
@ -309,20 +262,24 @@ mod tests {
|
||||
panic!("connection was not handled properly");
|
||||
}
|
||||
// Check that the packet was received and decoded successfully.
|
||||
let packet_with_sender = tc_receiver.recv().expect("receiving TC failed");
|
||||
assert_eq!(packet_with_sender.packet, &SIMPLE_PACKET);
|
||||
matches!(tc_receiver.try_recv(), Err(mpsc::TryRecvError::Empty));
|
||||
let mut tc_queue = tc_receiver
|
||||
.tc_queue
|
||||
.lock()
|
||||
.expect("locking tc queue failed");
|
||||
assert_eq!(tc_queue.len(), 1);
|
||||
assert_eq!(tc_queue.pop_front().unwrap(), &SIMPLE_PACKET);
|
||||
drop(tc_queue);
|
||||
}
|
||||
|
||||
#[test]
|
||||
fn test_server_basic_multi_tm_multi_tc() {
|
||||
let auto_port_addr = SocketAddr::new(IpAddr::V4(Ipv4Addr::new(127, 0, 0, 1)), 0);
|
||||
let (tc_sender, tc_receiver) = mpsc::channel();
|
||||
let tc_receiver = SyncTcCacher::default();
|
||||
let mut tm_source = SyncTmSource::default();
|
||||
tm_source.add_tm(&INVERTED_PACKET);
|
||||
tm_source.add_tm(&SIMPLE_PACKET);
|
||||
let mut tcp_server =
|
||||
generic_tmtc_server(&auto_port_addr, tc_sender.clone(), tm_source.clone(), None);
|
||||
generic_tmtc_server(&auto_port_addr, tc_receiver.clone(), tm_source.clone());
|
||||
let dest_addr = tcp_server
|
||||
.local_addr()
|
||||
.expect("retrieving dest addr failed");
|
||||
@ -330,20 +287,13 @@ mod tests {
|
||||
let set_if_done = conn_handled.clone();
|
||||
// Call the connection handler in separate thread, does block.
|
||||
thread::spawn(move || {
|
||||
let result = tcp_server.handle_all_connections(Some(Duration::from_millis(100)));
|
||||
let result = tcp_server.handle_next_connection();
|
||||
if result.is_err() {
|
||||
panic!("handling connection failed: {:?}", result.unwrap_err());
|
||||
}
|
||||
let result = result.unwrap();
|
||||
assert_eq!(result, ConnectionResult::HandledConnections(1));
|
||||
tcp_server
|
||||
.generic_server
|
||||
.finished_handler
|
||||
.check_last_connection(2, 2);
|
||||
tcp_server
|
||||
.generic_server
|
||||
.finished_handler
|
||||
.check_no_connections_left();
|
||||
let conn_result = result.unwrap();
|
||||
assert_eq!(conn_result.num_received_tcs, 2, "Not enough TCs received");
|
||||
assert_eq!(conn_result.num_sent_tms, 2, "Not enough TMs received");
|
||||
set_if_done.store(true, Ordering::Relaxed);
|
||||
});
|
||||
// Send TC to server now.
|
||||
@ -417,78 +367,13 @@ mod tests {
|
||||
panic!("connection was not handled properly");
|
||||
}
|
||||
// Check that the packet was received and decoded successfully.
|
||||
let packet_with_sender = tc_receiver.recv().expect("receiving TC failed");
|
||||
let packet = &packet_with_sender.packet;
|
||||
assert_eq!(packet, &SIMPLE_PACKET);
|
||||
let packet_with_sender = tc_receiver.recv().expect("receiving TC failed");
|
||||
let packet = &packet_with_sender.packet;
|
||||
assert_eq!(packet, &INVERTED_PACKET);
|
||||
matches!(tc_receiver.try_recv(), Err(mpsc::TryRecvError::Empty));
|
||||
}
|
||||
|
||||
#[test]
|
||||
fn test_server_accept_timeout() {
|
||||
let auto_port_addr = SocketAddr::new(IpAddr::V4(Ipv4Addr::new(127, 0, 0, 1)), 0);
|
||||
let (tc_sender, _tc_receiver) = mpsc::channel();
|
||||
let tm_source = SyncTmSource::default();
|
||||
let mut tcp_server =
|
||||
generic_tmtc_server(&auto_port_addr, tc_sender.clone(), tm_source, None);
|
||||
let start = Instant::now();
|
||||
// Call the connection handler in separate thread, does block.
|
||||
let thread_jh = thread::spawn(move || loop {
|
||||
let result = tcp_server.handle_all_connections(Some(Duration::from_millis(20)));
|
||||
if result.is_err() {
|
||||
panic!("handling connection failed: {:?}", result.unwrap_err());
|
||||
}
|
||||
let result = result.unwrap();
|
||||
if result == ConnectionResult::AcceptTimeout {
|
||||
break;
|
||||
}
|
||||
if Instant::now() - start > Duration::from_millis(100) {
|
||||
panic!("regular stop signal handling failed");
|
||||
}
|
||||
});
|
||||
thread_jh.join().expect("thread join failed");
|
||||
}
|
||||
|
||||
#[test]
|
||||
fn test_server_stop_signal() {
|
||||
let auto_port_addr = SocketAddr::new(IpAddr::V4(Ipv4Addr::new(127, 0, 0, 1)), 0);
|
||||
let (tc_sender, _tc_receiver) = mpsc::channel();
|
||||
let tm_source = SyncTmSource::default();
|
||||
let stop_signal = Arc::new(AtomicBool::new(false));
|
||||
let mut tcp_server = generic_tmtc_server(
|
||||
&auto_port_addr,
|
||||
tc_sender.clone(),
|
||||
tm_source,
|
||||
Some(stop_signal.clone()),
|
||||
);
|
||||
let dest_addr = tcp_server
|
||||
.local_addr()
|
||||
.expect("retrieving dest addr failed");
|
||||
let stop_signal_copy = stop_signal.clone();
|
||||
let start = Instant::now();
|
||||
// Call the connection handler in separate thread, does block.
|
||||
let thread_jh = thread::spawn(move || loop {
|
||||
let result = tcp_server.handle_all_connections(Some(Duration::from_millis(20)));
|
||||
if result.is_err() {
|
||||
panic!("handling connection failed: {:?}", result.unwrap_err());
|
||||
}
|
||||
let result = result.unwrap();
|
||||
if result == ConnectionResult::AcceptTimeout {
|
||||
panic!("unexpected accept timeout");
|
||||
}
|
||||
if stop_signal_copy.load(Ordering::Relaxed) {
|
||||
break;
|
||||
}
|
||||
if Instant::now() - start > Duration::from_millis(100) {
|
||||
panic!("regular stop signal handling failed");
|
||||
}
|
||||
});
|
||||
// We connect but do not do anything.
|
||||
let _stream = TcpStream::connect(dest_addr).expect("connecting to TCP server failed");
|
||||
stop_signal.store(true, Ordering::Relaxed);
|
||||
// No need to drop the connection, the stop signal should take take of everything.
|
||||
thread_jh.join().expect("thread join failed");
|
||||
let mut tc_queue = tc_receiver
|
||||
.tc_queue
|
||||
.lock()
|
||||
.expect("locking tc queue failed");
|
||||
assert_eq!(tc_queue.len(), 2);
|
||||
assert_eq!(tc_queue.pop_front().unwrap(), &SIMPLE_PACKET);
|
||||
assert_eq!(tc_queue.pop_front().unwrap(), &INVERTED_PACKET);
|
||||
drop(tc_queue);
|
||||
}
|
||||
}
|
||||
@ -1,25 +1,21 @@
|
||||
//! Generic TCP TMTC servers with different TMTC format flavours.
|
||||
use alloc::sync::Arc;
|
||||
use alloc::vec;
|
||||
use alloc::vec::Vec;
|
||||
use core::sync::atomic::AtomicBool;
|
||||
use core::time::Duration;
|
||||
use mio::net::{TcpListener, TcpStream};
|
||||
use mio::{Events, Interest, Poll, Token};
|
||||
use socket2::{Domain, Socket, Type};
|
||||
use std::io::{self, Read};
|
||||
use std::net::SocketAddr;
|
||||
// use std::net::TcpListener;
|
||||
// use std::net::{SocketAddr, TcpStream};
|
||||
use std::io::Read;
|
||||
use std::net::TcpListener;
|
||||
use std::net::{SocketAddr, TcpStream};
|
||||
use std::thread;
|
||||
|
||||
use crate::tmtc::{PacketSenderRaw, PacketSource};
|
||||
use crate::ComponentId;
|
||||
use crate::tmtc::{ReceivesTc, TmPacketSource};
|
||||
use thiserror::Error;
|
||||
|
||||
// Re-export the TMTC in COBS server.
|
||||
pub use crate::hal::std::tcp_cobs_server::{CobsTcParser, CobsTmSender, TcpTmtcInCobsServer};
|
||||
pub use crate::hal::std::tcp_spacepackets_server::{SpacepacketsTmSender, TcpSpacepacketsServer};
|
||||
pub use crate::hal::std::tcp_spacepackets_server::{
|
||||
SpacepacketsTcParser, SpacepacketsTmSender, TcpSpacepacketsServer,
|
||||
};
|
||||
|
||||
/// Configuration struct for the generic TCP TMTC server
|
||||
///
|
||||
@ -29,7 +25,7 @@ pub use crate::hal::std::tcp_spacepackets_server::{SpacepacketsTmSender, TcpSpac
|
||||
/// * `inner_loop_delay` - If a client connects for a longer period, but no TC is received or
|
||||
/// no TM needs to be sent, the TCP server will delay for the specified amount of time
|
||||
/// to reduce CPU load.
|
||||
/// * `tm_buffer_size` - Size of the TM buffer used to read TM from the [PacketSource] and
|
||||
/// * `tm_buffer_size` - Size of the TM buffer used to read TM from the [TmPacketSource] and
|
||||
/// encoding of that data. This buffer should at large enough to hold the maximum expected
|
||||
/// TM size read from the packet source.
|
||||
/// * `tc_buffer_size` - Size of the TC buffer used to read encoded telecommands sent from
|
||||
@ -45,7 +41,6 @@ pub use crate::hal::std::tcp_spacepackets_server::{SpacepacketsTmSender, TcpSpac
|
||||
/// default.
|
||||
#[derive(Debug, Copy, Clone)]
|
||||
pub struct ServerConfig {
|
||||
pub id: ComponentId,
|
||||
pub addr: SocketAddr,
|
||||
pub inner_loop_delay: Duration,
|
||||
pub tm_buffer_size: usize,
|
||||
@ -56,14 +51,12 @@ pub struct ServerConfig {
|
||||
|
||||
impl ServerConfig {
|
||||
pub fn new(
|
||||
id: ComponentId,
|
||||
addr: SocketAddr,
|
||||
inner_loop_delay: Duration,
|
||||
tm_buffer_size: usize,
|
||||
tc_buffer_size: usize,
|
||||
) -> Self {
|
||||
Self {
|
||||
id,
|
||||
addr,
|
||||
inner_loop_delay,
|
||||
tm_buffer_size,
|
||||
@ -86,62 +79,37 @@ pub enum TcpTmtcError<TmError, TcError> {
|
||||
|
||||
/// Result of one connection attempt. Contains the client address if a connection was established,
|
||||
/// in addition to the number of telecommands and telemetry packets exchanged.
|
||||
#[derive(Debug, PartialEq, Eq)]
|
||||
pub enum ConnectionResult {
|
||||
AcceptTimeout,
|
||||
HandledConnections(u32),
|
||||
}
|
||||
|
||||
#[derive(Debug)]
|
||||
pub struct HandledConnectionInfo {
|
||||
pub addr: SocketAddr,
|
||||
#[derive(Debug, Default)]
|
||||
pub struct ConnectionResult {
|
||||
pub addr: Option<SocketAddr>,
|
||||
pub num_received_tcs: u32,
|
||||
pub num_sent_tms: u32,
|
||||
/// The generic TCP server can be stopped using an external signal. If this happened, this
|
||||
/// boolean will be set to true.
|
||||
pub stopped_by_signal: bool,
|
||||
}
|
||||
|
||||
impl HandledConnectionInfo {
|
||||
pub fn new(addr: SocketAddr) -> Self {
|
||||
Self {
|
||||
addr,
|
||||
num_received_tcs: 0,
|
||||
num_sent_tms: 0,
|
||||
stopped_by_signal: false,
|
||||
}
|
||||
}
|
||||
}
|
||||
|
||||
pub trait HandledConnectionHandler {
|
||||
fn handled_connection(&mut self, info: HandledConnectionInfo);
|
||||
}
|
||||
|
||||
/// Generic parser abstraction for an object which can parse for telecommands given a raw
|
||||
/// bytestream received from a TCP socket and send them using a generic [PacketSenderRaw]
|
||||
/// implementation. This allows different encoding schemes for telecommands.
|
||||
pub trait TcpTcParser<TmError, SendError> {
|
||||
/// bytestream received from a TCP socket and send them to a generic [ReceivesTc] telecommand
|
||||
/// receiver. This allows different encoding schemes for telecommands.
|
||||
pub trait TcpTcParser<TmError, TcError> {
|
||||
fn handle_tc_parsing(
|
||||
&mut self,
|
||||
tc_buffer: &mut [u8],
|
||||
sender_id: ComponentId,
|
||||
tc_sender: &(impl PacketSenderRaw<Error = SendError> + ?Sized),
|
||||
conn_result: &mut HandledConnectionInfo,
|
||||
tc_receiver: &mut (impl ReceivesTc<Error = TcError> + ?Sized),
|
||||
conn_result: &mut ConnectionResult,
|
||||
current_write_idx: usize,
|
||||
next_write_idx: &mut usize,
|
||||
) -> Result<(), TcpTmtcError<TmError, SendError>>;
|
||||
) -> Result<(), TcpTmtcError<TmError, TcError>>;
|
||||
}
|
||||
|
||||
/// Generic sender abstraction for an object which can pull telemetry from a given TM source
|
||||
/// using a [PacketSource] and then send them back to a client using a given [TcpStream].
|
||||
/// using a [TmPacketSource] and then send them back to a client using a given [TcpStream].
|
||||
/// The concrete implementation can also perform any encoding steps which are necessary before
|
||||
/// sending back the data to a client.
|
||||
pub trait TcpTmSender<TmError, TcError> {
|
||||
fn handle_tm_sending(
|
||||
&mut self,
|
||||
tm_buffer: &mut [u8],
|
||||
tm_source: &mut (impl PacketSource<Error = TmError> + ?Sized),
|
||||
conn_result: &mut HandledConnectionInfo,
|
||||
tm_source: &mut (impl TmPacketSource<Error = TmError> + ?Sized),
|
||||
conn_result: &mut ConnectionResult,
|
||||
stream: &mut TcpStream,
|
||||
) -> Result<bool, TcpTmtcError<TmError, TcError>>;
|
||||
}
|
||||
@ -153,9 +121,9 @@ pub trait TcpTmSender<TmError, TcError> {
|
||||
/// through the following 4 core abstractions:
|
||||
///
|
||||
/// 1. [TcpTcParser] to parse for telecommands from the raw bytestream received from a client.
|
||||
/// 2. Parsed telecommands will be sent using the [PacketSenderRaw] object.
|
||||
/// 2. Parsed telecommands will be sent to the [ReceivesTc] telecommand receiver.
|
||||
/// 3. [TcpTmSender] to send telemetry pulled from a TM source back to the client.
|
||||
/// 4. [PacketSource] as a generic TM source used by the [TcpTmSender].
|
||||
/// 4. [TmPacketSource] as a generic TM source used by the [TcpTmSender].
|
||||
///
|
||||
/// It is possible to specify custom abstractions to build a dedicated TCP TMTC server without
|
||||
/// having to re-implement common logic.
|
||||
@ -163,49 +131,32 @@ pub trait TcpTmSender<TmError, TcError> {
|
||||
/// Currently, this framework offers the following concrete implementations:
|
||||
///
|
||||
/// 1. [TcpTmtcInCobsServer] to exchange TMTC wrapped inside the COBS framing protocol.
|
||||
/// 2. [TcpSpacepacketsServer] to exchange space packets via TCP.
|
||||
pub struct TcpTmtcGenericServer<
|
||||
TmSource: PacketSource<Error = TmError>,
|
||||
TcSender: PacketSenderRaw<Error = TcSendError>,
|
||||
TmSender: TcpTmSender<TmError, TcSendError>,
|
||||
TcParser: TcpTcParser<TmError, TcSendError>,
|
||||
HandledConnection: HandledConnectionHandler,
|
||||
TmError,
|
||||
TcSendError,
|
||||
TcError,
|
||||
TmSource: TmPacketSource<Error = TmError>,
|
||||
TcReceiver: ReceivesTc<Error = TcError>,
|
||||
TmSender: TcpTmSender<TmError, TcError>,
|
||||
TcParser: TcpTcParser<TmError, TcError>,
|
||||
> {
|
||||
pub id: ComponentId,
|
||||
pub finished_handler: HandledConnection,
|
||||
pub(crate) listener: TcpListener,
|
||||
pub(crate) inner_loop_delay: Duration,
|
||||
pub(crate) tm_source: TmSource,
|
||||
pub(crate) tm_buffer: Vec<u8>,
|
||||
pub(crate) tc_sender: TcSender,
|
||||
pub(crate) tc_receiver: TcReceiver,
|
||||
pub(crate) tc_buffer: Vec<u8>,
|
||||
poll: Poll,
|
||||
events: Events,
|
||||
pub tc_handler: TcParser,
|
||||
pub tm_handler: TmSender,
|
||||
stop_signal: Option<Arc<AtomicBool>>,
|
||||
tc_handler: TcParser,
|
||||
tm_handler: TmSender,
|
||||
}
|
||||
|
||||
impl<
|
||||
TmSource: PacketSource<Error = TmError>,
|
||||
TcSender: PacketSenderRaw<Error = TcSendError>,
|
||||
TmSender: TcpTmSender<TmError, TcSendError>,
|
||||
TcParser: TcpTcParser<TmError, TcSendError>,
|
||||
HandledConnection: HandledConnectionHandler,
|
||||
TmError: 'static,
|
||||
TcSendError: 'static,
|
||||
>
|
||||
TcpTmtcGenericServer<
|
||||
TmSource,
|
||||
TcSender,
|
||||
TmSender,
|
||||
TcParser,
|
||||
HandledConnection,
|
||||
TmError,
|
||||
TcSendError,
|
||||
>
|
||||
TcError: 'static,
|
||||
TmSource: TmPacketSource<Error = TmError>,
|
||||
TcReceiver: ReceivesTc<Error = TcError>,
|
||||
TmSender: TcpTmSender<TmError, TcError>,
|
||||
TcParser: TcpTcParser<TmError, TcError>,
|
||||
> TcpTmtcGenericServer<TmError, TcError, TmSource, TcReceiver, TmSender, TcParser>
|
||||
{
|
||||
/// Create a new generic TMTC server instance.
|
||||
///
|
||||
@ -217,55 +168,32 @@ impl<
|
||||
/// * `tm_sender` - Sends back telemetry to the client using the specified TM source.
|
||||
/// * `tm_source` - Generic TM source used by the server to pull telemetry packets which are
|
||||
/// then sent back to the client.
|
||||
/// * `tc_sender` - Any received telecommand which was decoded successfully will be forwarded
|
||||
/// using this TC sender.
|
||||
/// * `stop_signal` - Can be used to stop the server even if a connection is ongoing.
|
||||
/// * `tc_receiver` - Any received telecommand which was decoded successfully will be forwarded
|
||||
/// to this TC receiver.
|
||||
pub fn new(
|
||||
cfg: ServerConfig,
|
||||
tc_parser: TcParser,
|
||||
tm_sender: TmSender,
|
||||
tm_source: TmSource,
|
||||
tc_receiver: TcSender,
|
||||
finished_handler: HandledConnection,
|
||||
stop_signal: Option<Arc<AtomicBool>>,
|
||||
tc_receiver: TcReceiver,
|
||||
) -> Result<Self, std::io::Error> {
|
||||
// Create a TCP listener bound to two addresses.
|
||||
let socket = Socket::new(Domain::IPV4, Type::STREAM, None)?;
|
||||
|
||||
socket.set_reuse_address(cfg.reuse_addr)?;
|
||||
#[cfg(unix)]
|
||||
socket.set_reuse_port(cfg.reuse_port)?;
|
||||
// MIO does not do this for us. We want the accept calls to be non-blocking.
|
||||
socket.set_nonblocking(true)?;
|
||||
let addr = (cfg.addr).into();
|
||||
socket.bind(&addr)?;
|
||||
socket.listen(128)?;
|
||||
|
||||
// Create a poll instance.
|
||||
let poll = Poll::new()?;
|
||||
// Create storage for events.
|
||||
let events = Events::with_capacity(10);
|
||||
let listener: std::net::TcpListener = socket.into();
|
||||
let mut mio_listener = TcpListener::from_std(listener);
|
||||
|
||||
// Start listening for incoming connections.
|
||||
poll.registry()
|
||||
.register(&mut mio_listener, Token(0), Interest::READABLE)?;
|
||||
|
||||
Ok(Self {
|
||||
id: cfg.id,
|
||||
tc_handler: tc_parser,
|
||||
tm_handler: tm_sender,
|
||||
poll,
|
||||
events,
|
||||
listener: mio_listener,
|
||||
listener: socket.into(),
|
||||
inner_loop_delay: cfg.inner_loop_delay,
|
||||
tm_source,
|
||||
tm_buffer: vec![0; cfg.tm_buffer_size],
|
||||
tc_sender: tc_receiver,
|
||||
tc_receiver,
|
||||
tc_buffer: vec![0; cfg.tc_buffer_size],
|
||||
stop_signal,
|
||||
finished_handler,
|
||||
})
|
||||
}
|
||||
|
||||
@ -293,52 +221,15 @@ impl<
|
||||
/// The server will delay for a user-specified period if the client connects to the server
|
||||
/// for prolonged periods and there is no traffic for the server. This is the case if the
|
||||
/// client does not send any telecommands and no telemetry needs to be sent back to the client.
|
||||
pub fn handle_all_connections(
|
||||
pub fn handle_next_connection(
|
||||
&mut self,
|
||||
poll_timeout: Option<Duration>,
|
||||
) -> Result<ConnectionResult, TcpTmtcError<TmError, TcSendError>> {
|
||||
let mut handled_connections = 0;
|
||||
// Poll Mio for events.
|
||||
self.poll.poll(&mut self.events, poll_timeout)?;
|
||||
let mut acceptable_connection = false;
|
||||
// Process each event.
|
||||
for event in self.events.iter() {
|
||||
if event.token() == Token(0) {
|
||||
acceptable_connection = true;
|
||||
} else {
|
||||
// Should never happen..
|
||||
panic!("unexpected TCP event token");
|
||||
}
|
||||
}
|
||||
// I'd love to do this in the loop above, but there are issues with multiple borrows.
|
||||
if acceptable_connection {
|
||||
// There might be mutliple connections available. Accept until all of them have
|
||||
// been handled.
|
||||
loop {
|
||||
match self.listener.accept() {
|
||||
Ok((stream, addr)) => {
|
||||
self.handle_accepted_connection(stream, addr)?;
|
||||
handled_connections += 1;
|
||||
}
|
||||
Err(ref err) if err.kind() == io::ErrorKind::WouldBlock => break,
|
||||
Err(err) => return Err(TcpTmtcError::Io(err)),
|
||||
}
|
||||
}
|
||||
}
|
||||
if handled_connections > 0 {
|
||||
return Ok(ConnectionResult::HandledConnections(handled_connections));
|
||||
}
|
||||
Ok(ConnectionResult::AcceptTimeout)
|
||||
}
|
||||
|
||||
fn handle_accepted_connection(
|
||||
&mut self,
|
||||
mut stream: TcpStream,
|
||||
addr: SocketAddr,
|
||||
) -> Result<(), TcpTmtcError<TmError, TcSendError>> {
|
||||
) -> Result<ConnectionResult, TcpTmtcError<TmError, TcError>> {
|
||||
let mut connection_result = ConnectionResult::default();
|
||||
let mut current_write_idx;
|
||||
let mut next_write_idx = 0;
|
||||
let mut connection_result = HandledConnectionInfo::new(addr);
|
||||
let (mut stream, addr) = self.listener.accept()?;
|
||||
stream.set_nonblocking(true)?;
|
||||
connection_result.addr = Some(addr);
|
||||
current_write_idx = next_write_idx;
|
||||
loop {
|
||||
let read_result = stream.read(&mut self.tc_buffer[current_write_idx..]);
|
||||
@ -349,8 +240,7 @@ impl<
|
||||
if current_write_idx > 0 {
|
||||
self.tc_handler.handle_tc_parsing(
|
||||
&mut self.tc_buffer,
|
||||
self.id,
|
||||
&self.tc_sender,
|
||||
&mut self.tc_receiver,
|
||||
&mut connection_result,
|
||||
current_write_idx,
|
||||
&mut next_write_idx,
|
||||
@ -364,8 +254,7 @@ impl<
|
||||
if current_write_idx == self.tc_buffer.capacity() {
|
||||
self.tc_handler.handle_tc_parsing(
|
||||
&mut self.tc_buffer,
|
||||
self.id,
|
||||
&self.tc_sender,
|
||||
&mut self.tc_receiver,
|
||||
&mut connection_result,
|
||||
current_write_idx,
|
||||
&mut next_write_idx,
|
||||
@ -379,8 +268,7 @@ impl<
|
||||
std::io::ErrorKind::WouldBlock | std::io::ErrorKind::TimedOut => {
|
||||
self.tc_handler.handle_tc_parsing(
|
||||
&mut self.tc_buffer,
|
||||
self.id,
|
||||
&self.tc_sender,
|
||||
&mut self.tc_receiver,
|
||||
&mut connection_result,
|
||||
current_write_idx,
|
||||
&mut next_write_idx,
|
||||
@ -396,18 +284,6 @@ impl<
|
||||
// No TC read, no TM was sent, but the client has not disconnected.
|
||||
// Perform an inner delay to avoid burning CPU time.
|
||||
thread::sleep(self.inner_loop_delay);
|
||||
// Optional stop signal handling.
|
||||
if self.stop_signal.is_some()
|
||||
&& self
|
||||
.stop_signal
|
||||
.as_ref()
|
||||
.unwrap()
|
||||
.load(std::sync::atomic::Ordering::Relaxed)
|
||||
{
|
||||
connection_result.stopped_by_signal = true;
|
||||
self.finished_handler.handled_connection(connection_result);
|
||||
return Ok(());
|
||||
}
|
||||
}
|
||||
}
|
||||
_ => {
|
||||
@ -422,8 +298,7 @@ impl<
|
||||
&mut connection_result,
|
||||
&mut stream,
|
||||
)?;
|
||||
self.finished_handler.handled_connection(connection_result);
|
||||
Ok(())
|
||||
Ok(connection_result)
|
||||
}
|
||||
}
|
||||
|
||||
@ -433,9 +308,21 @@ pub(crate) mod tests {
|
||||
|
||||
use alloc::{collections::VecDeque, sync::Arc, vec::Vec};
|
||||
|
||||
use crate::tmtc::PacketSource;
|
||||
use crate::tmtc::{ReceivesTcCore, TmPacketSourceCore};
|
||||
|
||||
use super::*;
|
||||
#[derive(Default, Clone)]
|
||||
pub(crate) struct SyncTcCacher {
|
||||
pub(crate) tc_queue: Arc<Mutex<VecDeque<Vec<u8>>>>,
|
||||
}
|
||||
impl ReceivesTcCore for SyncTcCacher {
|
||||
type Error = ();
|
||||
|
||||
fn pass_tc(&mut self, tc_raw: &[u8]) -> Result<(), Self::Error> {
|
||||
let mut tc_queue = self.tc_queue.lock().expect("tc forwarder failed");
|
||||
tc_queue.push_back(tc_raw.to_vec());
|
||||
Ok(())
|
||||
}
|
||||
}
|
||||
|
||||
#[derive(Default, Clone)]
|
||||
pub(crate) struct SyncTmSource {
|
||||
@ -449,7 +336,7 @@ pub(crate) mod tests {
|
||||
}
|
||||
}
|
||||
|
||||
impl PacketSource for SyncTmSource {
|
||||
impl TmPacketSourceCore for SyncTmSource {
|
||||
type Error = ();
|
||||
|
||||
fn retrieve_packet(&mut self, buffer: &mut [u8]) -> Result<usize, Self::Error> {
|
||||
@ -469,30 +356,4 @@ pub(crate) mod tests {
|
||||
Ok(0)
|
||||
}
|
||||
}
|
||||
|
||||
#[derive(Default)]
|
||||
pub struct ConnectionFinishedHandler {
|
||||
connection_info: VecDeque<HandledConnectionInfo>,
|
||||
}
|
||||
|
||||
impl HandledConnectionHandler for ConnectionFinishedHandler {
|
||||
fn handled_connection(&mut self, info: HandledConnectionInfo) {
|
||||
self.connection_info.push_back(info);
|
||||
}
|
||||
}
|
||||
|
||||
impl ConnectionFinishedHandler {
|
||||
pub fn check_last_connection(&mut self, num_tms: u32, num_tcs: u32) {
|
||||
let last_conn_result = self
|
||||
.connection_info
|
||||
.pop_back()
|
||||
.expect("no connection info available");
|
||||
assert_eq!(last_conn_result.num_received_tcs, num_tcs);
|
||||
assert_eq!(last_conn_result.num_sent_tms, num_tms);
|
||||
}
|
||||
|
||||
pub fn check_no_connections_left(&self) {
|
||||
assert!(self.connection_info.is_empty());
|
||||
}
|
||||
}
|
||||
}
|
||||
@ -1,36 +1,45 @@
|
||||
use alloc::sync::Arc;
|
||||
use core::{sync::atomic::AtomicBool, time::Duration};
|
||||
use delegate::delegate;
|
||||
use mio::net::{TcpListener, TcpStream};
|
||||
use std::{io::Write, net::SocketAddr};
|
||||
use std::{
|
||||
io::Write,
|
||||
net::{SocketAddr, TcpListener, TcpStream},
|
||||
};
|
||||
|
||||
use alloc::boxed::Box;
|
||||
|
||||
use crate::{
|
||||
encoding::{ccsds::SpacePacketValidator, parse_buffer_for_ccsds_space_packets},
|
||||
tmtc::{PacketSenderRaw, PacketSource},
|
||||
ComponentId,
|
||||
encoding::{ccsds::PacketIdLookup, parse_buffer_for_ccsds_space_packets},
|
||||
tmtc::{ReceivesTc, TmPacketSource},
|
||||
};
|
||||
|
||||
use super::tcp_server::{
|
||||
ConnectionResult, HandledConnectionHandler, HandledConnectionInfo, ServerConfig, TcpTcParser,
|
||||
TcpTmSender, TcpTmtcError, TcpTmtcGenericServer,
|
||||
ConnectionResult, ServerConfig, TcpTcParser, TcpTmSender, TcpTmtcError, TcpTmtcGenericServer,
|
||||
};
|
||||
|
||||
impl<T: SpacePacketValidator, TmError, TcError: 'static> TcpTcParser<TmError, TcError> for T {
|
||||
/// Concrete [TcpTcParser] implementation for the [TcpSpacepacketsServer].
|
||||
pub struct SpacepacketsTcParser {
|
||||
packet_id_lookup: Box<dyn PacketIdLookup + Send>,
|
||||
}
|
||||
|
||||
impl SpacepacketsTcParser {
|
||||
pub fn new(packet_id_lookup: Box<dyn PacketIdLookup + Send>) -> Self {
|
||||
Self { packet_id_lookup }
|
||||
}
|
||||
}
|
||||
|
||||
impl<TmError, TcError: 'static> TcpTcParser<TmError, TcError> for SpacepacketsTcParser {
|
||||
fn handle_tc_parsing(
|
||||
&mut self,
|
||||
tc_buffer: &mut [u8],
|
||||
sender_id: ComponentId,
|
||||
tc_sender: &(impl PacketSenderRaw<Error = TcError> + ?Sized),
|
||||
conn_result: &mut HandledConnectionInfo,
|
||||
tc_receiver: &mut (impl ReceivesTc<Error = TcError> + ?Sized),
|
||||
conn_result: &mut ConnectionResult,
|
||||
current_write_idx: usize,
|
||||
next_write_idx: &mut usize,
|
||||
) -> Result<(), TcpTmtcError<TmError, TcError>> {
|
||||
// Reader vec full, need to parse for packets.
|
||||
conn_result.num_received_tcs += parse_buffer_for_ccsds_space_packets(
|
||||
&mut tc_buffer[..current_write_idx],
|
||||
self,
|
||||
sender_id,
|
||||
tc_sender,
|
||||
self.packet_id_lookup.as_ref(),
|
||||
tc_receiver.upcast_mut(),
|
||||
next_write_idx,
|
||||
)
|
||||
.map_err(|e| TcpTmtcError::TcError(e))?;
|
||||
@ -46,8 +55,8 @@ impl<TmError, TcError> TcpTmSender<TmError, TcError> for SpacepacketsTmSender {
|
||||
fn handle_tm_sending(
|
||||
&mut self,
|
||||
tm_buffer: &mut [u8],
|
||||
tm_source: &mut (impl PacketSource<Error = TmError> + ?Sized),
|
||||
conn_result: &mut HandledConnectionInfo,
|
||||
tm_source: &mut (impl TmPacketSource<Error = TmError> + ?Sized),
|
||||
conn_result: &mut ConnectionResult,
|
||||
stream: &mut TcpStream,
|
||||
) -> Result<bool, TcpTmtcError<TmError, TcError>> {
|
||||
let mut tm_was_sent = false;
|
||||
@ -74,41 +83,35 @@ impl<TmError, TcError> TcpTmSender<TmError, TcError> for SpacepacketsTmSender {
|
||||
///
|
||||
/// This serves only works if
|
||||
/// [CCSDS 133.0-B-2 space packets](https://public.ccsds.org/Pubs/133x0b2e1.pdf) are the only
|
||||
/// packet type being exchanged. It uses the CCSDS space packet header [spacepackets::SpHeader] and
|
||||
/// a user specified [SpacePacketValidator] to determine the space packets relevant for further
|
||||
/// processing.
|
||||
/// packet type being exchanged. It uses the CCSDS [spacepackets::PacketId] as the packet delimiter
|
||||
/// and start marker when parsing for packets. The user specifies a set of expected
|
||||
/// [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/tests/tcp_servers.rs)
|
||||
/// The [TCP server integration tests](https://egit.irs.uni-stuttgart.de/rust/sat-rs/src/branch/main/satrs-core/tests/tcp_servers.rs)
|
||||
/// also serves as the example application for this module.
|
||||
pub struct TcpSpacepacketsServer<
|
||||
TmSource: PacketSource<Error = TmError>,
|
||||
TcSender: PacketSenderRaw<Error = SendError>,
|
||||
Validator: SpacePacketValidator,
|
||||
HandledConnection: HandledConnectionHandler,
|
||||
TmError,
|
||||
SendError: 'static,
|
||||
TcError: 'static,
|
||||
TmSource: TmPacketSource<Error = TmError>,
|
||||
TcReceiver: ReceivesTc<Error = TcError>,
|
||||
> {
|
||||
pub generic_server: TcpTmtcGenericServer<
|
||||
TmSource,
|
||||
TcSender,
|
||||
SpacepacketsTmSender,
|
||||
Validator,
|
||||
HandledConnection,
|
||||
generic_server: TcpTmtcGenericServer<
|
||||
TmError,
|
||||
SendError,
|
||||
TcError,
|
||||
TmSource,
|
||||
TcReceiver,
|
||||
SpacepacketsTmSender,
|
||||
SpacepacketsTcParser,
|
||||
>,
|
||||
}
|
||||
|
||||
impl<
|
||||
TmSource: PacketSource<Error = TmError>,
|
||||
TcSender: PacketSenderRaw<Error = TcError>,
|
||||
Validator: SpacePacketValidator,
|
||||
HandledConnection: HandledConnectionHandler,
|
||||
TmError: 'static,
|
||||
TcError: 'static,
|
||||
> TcpSpacepacketsServer<TmSource, TcSender, Validator, HandledConnection, TmError, TcError>
|
||||
TmSource: TmPacketSource<Error = TmError>,
|
||||
TcReceiver: ReceivesTc<Error = TcError>,
|
||||
> TcpSpacepacketsServer<TmError, TcError, TmSource, TcReceiver>
|
||||
{
|
||||
///
|
||||
/// ## Parameter
|
||||
@ -116,31 +119,23 @@ impl<
|
||||
/// * `cfg` - Configuration of the server.
|
||||
/// * `tm_source` - Generic TM source used by the server to pull telemetry packets which are
|
||||
/// then sent back to the client.
|
||||
/// * `tc_sender` - Any received telecommands which were decoded successfully will be
|
||||
/// forwarded using this [PacketSenderRaw].
|
||||
/// * `validator` - Used to determine the space packets relevant for further processing and
|
||||
/// to detect broken space packets.
|
||||
/// * `handled_connection_hook` - Called to notify the user about a succesfully handled
|
||||
/// connection.
|
||||
/// * `stop_signal` - Can be used to shut down the TCP server even for longer running
|
||||
/// connections.
|
||||
/// * `tc_receiver` - Any received telecommands which were decoded successfully will be
|
||||
/// forwarded to this TC receiver.
|
||||
/// * `packet_id_lookup` - This lookup table contains the relevant packets IDs for packet
|
||||
/// parsing. This mechanism is used to have a start marker for finding CCSDS packets.
|
||||
pub fn new(
|
||||
cfg: ServerConfig,
|
||||
tm_source: TmSource,
|
||||
tc_sender: TcSender,
|
||||
validator: Validator,
|
||||
handled_connection_hook: HandledConnection,
|
||||
stop_signal: Option<Arc<AtomicBool>>,
|
||||
tc_receiver: TcReceiver,
|
||||
packet_id_lookup: Box<dyn PacketIdLookup + Send>,
|
||||
) -> Result<Self, std::io::Error> {
|
||||
Ok(Self {
|
||||
generic_server: TcpTmtcGenericServer::new(
|
||||
cfg,
|
||||
validator,
|
||||
SpacepacketsTcParser::new(packet_id_lookup),
|
||||
SpacepacketsTmSender::default(),
|
||||
tm_source,
|
||||
tc_sender,
|
||||
handled_connection_hook,
|
||||
stop_signal,
|
||||
tc_receiver,
|
||||
)?,
|
||||
})
|
||||
}
|
||||
@ -153,10 +148,9 @@ impl<
|
||||
/// useful if using the port number 0 for OS auto-assignment.
|
||||
pub fn local_addr(&self) -> std::io::Result<SocketAddr>;
|
||||
|
||||
/// Delegation to the [TcpTmtcGenericServer::handle_all_connections] call.
|
||||
pub fn handle_all_connections(
|
||||
/// Delegation to the [TcpTmtcGenericServer::handle_next_connection] call.
|
||||
pub fn handle_next_connection(
|
||||
&mut self,
|
||||
poll_timeout: Option<Duration>
|
||||
) -> Result<ConnectionResult, TcpTmtcError<TmError, TcError>>;
|
||||
}
|
||||
}
|
||||
@ -173,70 +167,39 @@ mod tests {
|
||||
use std::{
|
||||
io::{Read, Write},
|
||||
net::{IpAddr, Ipv4Addr, SocketAddr, TcpStream},
|
||||
sync::mpsc,
|
||||
thread,
|
||||
};
|
||||
|
||||
use alloc::sync::Arc;
|
||||
use alloc::{boxed::Box, sync::Arc};
|
||||
use hashbrown::HashSet;
|
||||
use spacepackets::{
|
||||
ecss::{tc::PusTcCreator, WritablePusPacket},
|
||||
CcsdsPacket, PacketId, SpHeader,
|
||||
PacketId, SpHeader,
|
||||
};
|
||||
|
||||
use crate::{
|
||||
encoding::ccsds::{SpValidity, SpacePacketValidator},
|
||||
hal::std::tcp_server::{
|
||||
tests::{ConnectionFinishedHandler, SyncTmSource},
|
||||
ConnectionResult, ServerConfig,
|
||||
},
|
||||
queue::GenericSendError,
|
||||
tmtc::PacketAsVec,
|
||||
ComponentId,
|
||||
use crate::hal::std::tcp_server::{
|
||||
tests::{SyncTcCacher, SyncTmSource},
|
||||
ServerConfig,
|
||||
};
|
||||
|
||||
use super::TcpSpacepacketsServer;
|
||||
|
||||
const TCP_SERVER_ID: ComponentId = 0x05;
|
||||
const TEST_APID_0: u16 = 0x02;
|
||||
const TEST_PACKET_ID_0: PacketId = PacketId::new_for_tc(true, TEST_APID_0);
|
||||
const TEST_PACKET_ID_0: PacketId = PacketId::const_tc(true, TEST_APID_0);
|
||||
const TEST_APID_1: u16 = 0x10;
|
||||
const TEST_PACKET_ID_1: PacketId = PacketId::new_for_tc(true, TEST_APID_1);
|
||||
|
||||
#[derive(Default)]
|
||||
pub struct SimpleValidator(pub HashSet<PacketId>);
|
||||
|
||||
impl SpacePacketValidator for SimpleValidator {
|
||||
fn validate(&self, sp_header: &SpHeader, _raw_buf: &[u8]) -> SpValidity {
|
||||
if self.0.contains(&sp_header.packet_id()) {
|
||||
return SpValidity::Valid;
|
||||
}
|
||||
// Simple case: Assume that the interface always contains valid space packets.
|
||||
SpValidity::Skip
|
||||
}
|
||||
}
|
||||
const TEST_PACKET_ID_1: PacketId = PacketId::const_tc(true, TEST_APID_1);
|
||||
|
||||
fn generic_tmtc_server(
|
||||
addr: &SocketAddr,
|
||||
tc_sender: mpsc::Sender<PacketAsVec>,
|
||||
tc_receiver: SyncTcCacher,
|
||||
tm_source: SyncTmSource,
|
||||
validator: SimpleValidator,
|
||||
stop_signal: Option<Arc<AtomicBool>>,
|
||||
) -> TcpSpacepacketsServer<
|
||||
SyncTmSource,
|
||||
mpsc::Sender<PacketAsVec>,
|
||||
SimpleValidator,
|
||||
ConnectionFinishedHandler,
|
||||
(),
|
||||
GenericSendError,
|
||||
> {
|
||||
packet_id_lookup: HashSet<PacketId>,
|
||||
) -> TcpSpacepacketsServer<(), (), SyncTmSource, SyncTcCacher> {
|
||||
TcpSpacepacketsServer::new(
|
||||
ServerConfig::new(TCP_SERVER_ID, *addr, Duration::from_millis(2), 1024, 1024),
|
||||
ServerConfig::new(*addr, Duration::from_millis(2), 1024, 1024),
|
||||
tm_source,
|
||||
tc_sender,
|
||||
validator,
|
||||
ConnectionFinishedHandler::default(),
|
||||
stop_signal,
|
||||
tc_receiver,
|
||||
Box::new(packet_id_lookup),
|
||||
)
|
||||
.expect("TCP server generation failed")
|
||||
}
|
||||
@ -244,16 +207,15 @@ mod tests {
|
||||
#[test]
|
||||
fn test_basic_tc_only() {
|
||||
let auto_port_addr = SocketAddr::new(IpAddr::V4(Ipv4Addr::new(127, 0, 0, 1)), 0);
|
||||
let (tc_sender, tc_receiver) = mpsc::channel();
|
||||
let tc_receiver = SyncTcCacher::default();
|
||||
let tm_source = SyncTmSource::default();
|
||||
let mut validator = SimpleValidator::default();
|
||||
validator.0.insert(TEST_PACKET_ID_0);
|
||||
let mut packet_id_lookup = HashSet::new();
|
||||
packet_id_lookup.insert(TEST_PACKET_ID_0);
|
||||
let mut tcp_server = generic_tmtc_server(
|
||||
&auto_port_addr,
|
||||
tc_sender.clone(),
|
||||
tc_receiver.clone(),
|
||||
tm_source,
|
||||
validator,
|
||||
None,
|
||||
packet_id_lookup,
|
||||
);
|
||||
let dest_addr = tcp_server
|
||||
.local_addr()
|
||||
@ -262,24 +224,17 @@ mod tests {
|
||||
let set_if_done = conn_handled.clone();
|
||||
// Call the connection handler in separate thread, does block.
|
||||
thread::spawn(move || {
|
||||
let result = tcp_server.handle_all_connections(Some(Duration::from_millis(100)));
|
||||
let result = tcp_server.handle_next_connection();
|
||||
if result.is_err() {
|
||||
panic!("handling connection failed: {:?}", result.unwrap_err());
|
||||
}
|
||||
let conn_result = result.unwrap();
|
||||
matches!(conn_result, ConnectionResult::HandledConnections(1));
|
||||
tcp_server
|
||||
.generic_server
|
||||
.finished_handler
|
||||
.check_last_connection(0, 1);
|
||||
tcp_server
|
||||
.generic_server
|
||||
.finished_handler
|
||||
.check_no_connections_left();
|
||||
assert_eq!(conn_result.num_received_tcs, 1);
|
||||
assert_eq!(conn_result.num_sent_tms, 0);
|
||||
set_if_done.store(true, Ordering::Relaxed);
|
||||
});
|
||||
let ping_tc =
|
||||
PusTcCreator::new_simple(SpHeader::new_from_apid(TEST_APID_0), 17, 1, &[], true);
|
||||
let mut sph = SpHeader::tc_unseg(TEST_APID_0, 0, 0).unwrap();
|
||||
let ping_tc = PusTcCreator::new_simple(&mut sph, 17, 1, None, true);
|
||||
let tc_0 = ping_tc.to_vec().expect("packet generation failed");
|
||||
let mut stream = TcpStream::connect(dest_addr).expect("connecting to TCP server failed");
|
||||
stream
|
||||
@ -296,40 +251,40 @@ mod tests {
|
||||
if !conn_handled.load(Ordering::Relaxed) {
|
||||
panic!("connection was not handled properly");
|
||||
}
|
||||
let packet = tc_receiver.try_recv().expect("receiving TC failed");
|
||||
assert_eq!(packet.packet, tc_0);
|
||||
matches!(tc_receiver.try_recv(), Err(mpsc::TryRecvError::Empty));
|
||||
// Check that TC has arrived.
|
||||
let mut tc_queue = tc_receiver.tc_queue.lock().unwrap();
|
||||
assert_eq!(tc_queue.len(), 1);
|
||||
assert_eq!(tc_queue.pop_front().unwrap(), tc_0);
|
||||
}
|
||||
|
||||
#[test]
|
||||
fn test_multi_tc_multi_tm() {
|
||||
let auto_port_addr = SocketAddr::new(IpAddr::V4(Ipv4Addr::new(127, 0, 0, 1)), 0);
|
||||
let (tc_sender, tc_receiver) = mpsc::channel();
|
||||
let tc_receiver = SyncTcCacher::default();
|
||||
let mut tm_source = SyncTmSource::default();
|
||||
|
||||
// Add telemetry
|
||||
let mut total_tm_len = 0;
|
||||
let verif_tm =
|
||||
PusTcCreator::new_simple(SpHeader::new_from_apid(TEST_APID_0), 1, 1, &[], true);
|
||||
let mut sph = SpHeader::tc_unseg(TEST_APID_0, 0, 0).unwrap();
|
||||
let verif_tm = PusTcCreator::new_simple(&mut sph, 1, 1, None, true);
|
||||
let tm_0 = verif_tm.to_vec().expect("writing packet failed");
|
||||
total_tm_len += tm_0.len();
|
||||
tm_source.add_tm(&tm_0);
|
||||
let verif_tm =
|
||||
PusTcCreator::new_simple(SpHeader::new_from_apid(TEST_APID_1), 1, 3, &[], true);
|
||||
let mut sph = SpHeader::tc_unseg(TEST_APID_1, 0, 0).unwrap();
|
||||
let verif_tm = PusTcCreator::new_simple(&mut sph, 1, 3, None, true);
|
||||
let tm_1 = verif_tm.to_vec().expect("writing packet failed");
|
||||
total_tm_len += tm_1.len();
|
||||
tm_source.add_tm(&tm_1);
|
||||
|
||||
// Set up server
|
||||
let mut validator = SimpleValidator::default();
|
||||
validator.0.insert(TEST_PACKET_ID_0);
|
||||
validator.0.insert(TEST_PACKET_ID_1);
|
||||
let mut packet_id_lookup = HashSet::new();
|
||||
packet_id_lookup.insert(TEST_PACKET_ID_0);
|
||||
packet_id_lookup.insert(TEST_PACKET_ID_1);
|
||||
let mut tcp_server = generic_tmtc_server(
|
||||
&auto_port_addr,
|
||||
tc_sender.clone(),
|
||||
tc_receiver.clone(),
|
||||
tm_source,
|
||||
validator,
|
||||
None,
|
||||
packet_id_lookup,
|
||||
);
|
||||
let dest_addr = tcp_server
|
||||
.local_addr()
|
||||
@ -339,20 +294,16 @@ mod tests {
|
||||
|
||||
// Call the connection handler in separate thread, does block.
|
||||
thread::spawn(move || {
|
||||
let result = tcp_server.handle_all_connections(Some(Duration::from_millis(100)));
|
||||
let result = tcp_server.handle_next_connection();
|
||||
if result.is_err() {
|
||||
panic!("handling connection failed: {:?}", result.unwrap_err());
|
||||
}
|
||||
let conn_result = result.unwrap();
|
||||
matches!(conn_result, ConnectionResult::HandledConnections(1));
|
||||
tcp_server
|
||||
.generic_server
|
||||
.finished_handler
|
||||
.check_last_connection(2, 2);
|
||||
tcp_server
|
||||
.generic_server
|
||||
.finished_handler
|
||||
.check_no_connections_left();
|
||||
assert_eq!(
|
||||
conn_result.num_received_tcs, 2,
|
||||
"wrong number of received TCs"
|
||||
);
|
||||
assert_eq!(conn_result.num_sent_tms, 2, "wrong number of sent TMs");
|
||||
set_if_done.store(true, Ordering::Relaxed);
|
||||
});
|
||||
let mut stream = TcpStream::connect(dest_addr).expect("connecting to TCP server failed");
|
||||
@ -361,14 +312,14 @@ mod tests {
|
||||
.expect("setting reas timeout failed");
|
||||
|
||||
// Send telecommands
|
||||
let ping_tc =
|
||||
PusTcCreator::new_simple(SpHeader::new_from_apid(TEST_APID_0), 17, 1, &[], true);
|
||||
let mut sph = SpHeader::tc_unseg(TEST_APID_0, 0, 0).unwrap();
|
||||
let ping_tc = PusTcCreator::new_simple(&mut sph, 17, 1, None, true);
|
||||
let tc_0 = ping_tc.to_vec().expect("ping tc creation failed");
|
||||
stream
|
||||
.write_all(&tc_0)
|
||||
.expect("writing to TCP server failed");
|
||||
let action_tc =
|
||||
PusTcCreator::new_simple(SpHeader::new_from_apid(TEST_APID_1), 8, 0, &[], true);
|
||||
let mut sph = SpHeader::tc_unseg(TEST_APID_1, 0, 0).unwrap();
|
||||
let action_tc = PusTcCreator::new_simple(&mut sph, 8, 0, None, true);
|
||||
let tc_1 = action_tc.to_vec().expect("action tc creation failed");
|
||||
stream
|
||||
.write_all(&tc_1)
|
||||
@ -403,10 +354,9 @@ mod tests {
|
||||
panic!("connection was not handled properly");
|
||||
}
|
||||
// Check that TC has arrived.
|
||||
let packet_0 = tc_receiver.try_recv().expect("receiving TC failed");
|
||||
assert_eq!(packet_0.packet, tc_0);
|
||||
let packet_1 = tc_receiver.try_recv().expect("receiving TC failed");
|
||||
assert_eq!(packet_1.packet, tc_1);
|
||||
matches!(tc_receiver.try_recv(), Err(mpsc::TryRecvError::Empty));
|
||||
let mut tc_queue = tc_receiver.tc_queue.lock().unwrap();
|
||||
assert_eq!(tc_queue.len(), 2);
|
||||
assert_eq!(tc_queue.pop_front().unwrap(), tc_0);
|
||||
assert_eq!(tc_queue.pop_front().unwrap(), tc_1);
|
||||
}
|
||||
}
|
||||
@ -1,8 +1,7 @@
|
||||
//! Generic UDP TC server.
|
||||
use crate::tmtc::PacketSenderRaw;
|
||||
use crate::ComponentId;
|
||||
use core::fmt::Debug;
|
||||
use std::io::{self, ErrorKind};
|
||||
use crate::tmtc::{ReceivesTc, ReceivesTcCore};
|
||||
use std::boxed::Box;
|
||||
use std::io::{Error, ErrorKind};
|
||||
use std::net::{SocketAddr, ToSocketAddrs, UdpSocket};
|
||||
use std::vec;
|
||||
use std::vec::Vec;
|
||||
@ -12,46 +11,45 @@ use std::vec::Vec;
|
||||
///
|
||||
/// It caches all received telecomands into a vector. The maximum expected telecommand size should
|
||||
/// be declared upfront. This avoids dynamic allocation during run-time. The user can specify a TC
|
||||
/// sender in form of a special trait object which implements [PacketSenderRaw]. For example, this
|
||||
/// can be used to send the telecommands to a centralized TC source component for further
|
||||
/// processing and routing.
|
||||
/// receiver in form of a special trait object which implements [ReceivesTc]. Please note that the
|
||||
/// receiver should copy out the received data if it the data is required past the
|
||||
/// [ReceivesTcCore::pass_tc] call.
|
||||
///
|
||||
/// # Examples
|
||||
///
|
||||
/// ```
|
||||
/// use std::net::{IpAddr, Ipv4Addr, SocketAddr, UdpSocket};
|
||||
/// use std::sync::mpsc;
|
||||
/// use spacepackets::ecss::WritablePusPacket;
|
||||
/// use satrs::hal::std::udp_server::UdpTcServer;
|
||||
/// use satrs::ComponentId;
|
||||
/// use satrs::tmtc::PacketSenderRaw;
|
||||
/// use satrs_core::hal::std::udp_server::UdpTcServer;
|
||||
/// use satrs_core::tmtc::{ReceivesTc, ReceivesTcCore};
|
||||
/// use spacepackets::SpHeader;
|
||||
/// use spacepackets::ecss::tc::PusTcCreator;
|
||||
///
|
||||
/// const UDP_SERVER_ID: ComponentId = 0x05;
|
||||
/// #[derive (Default)]
|
||||
/// struct PingReceiver {}
|
||||
/// impl ReceivesTcCore for PingReceiver {
|
||||
/// type Error = ();
|
||||
/// fn pass_tc(&mut self, tc_raw: &[u8]) -> Result<(), Self::Error> {
|
||||
/// assert_eq!(tc_raw.len(), 13);
|
||||
/// Ok(())
|
||||
/// }
|
||||
/// }
|
||||
///
|
||||
/// let (packet_sender, packet_receiver) = mpsc::channel();
|
||||
/// let mut buf = [0; 32];
|
||||
/// let dest_addr = SocketAddr::new(IpAddr::V4(Ipv4Addr::new(127, 0, 0, 1)), 7777);
|
||||
/// let mut udp_tc_server = UdpTcServer::new(UDP_SERVER_ID, dest_addr, 2048, packet_sender)
|
||||
/// let ping_receiver = PingReceiver::default();
|
||||
/// let mut udp_tc_server = UdpTcServer::new(dest_addr, 2048, Box::new(ping_receiver))
|
||||
/// .expect("Creating UDP TMTC server failed");
|
||||
/// let sph = SpHeader::new_from_apid(0x02);
|
||||
/// let pus_tc = PusTcCreator::new_simple(sph, 17, 1, &[], true);
|
||||
/// // Can not fail.
|
||||
/// let ping_tc_raw = pus_tc.to_vec().unwrap();
|
||||
///
|
||||
/// // Now create a UDP client and send the ping telecommand to the server.
|
||||
/// let client = UdpSocket::bind("127.0.0.1:0").expect("creating UDP client failed");
|
||||
/// let mut sph = SpHeader::tc_unseg(0x02, 0, 0).unwrap();
|
||||
/// let pus_tc = PusTcCreator::new_simple(&mut sph, 17, 1, None, true);
|
||||
/// let len = pus_tc
|
||||
/// .write_to_bytes(&mut buf)
|
||||
/// .expect("Error writing PUS TC packet");
|
||||
/// assert_eq!(len, 13);
|
||||
/// let client = UdpSocket::bind("127.0.0.1:7778").expect("Connecting to UDP server failed");
|
||||
/// client
|
||||
/// .send_to(&ping_tc_raw, dest_addr)
|
||||
/// .send_to(&buf[0..len], dest_addr)
|
||||
/// .expect("Error sending PUS TC via UDP");
|
||||
/// let recv_result = udp_tc_server.try_recv_tc();
|
||||
/// assert!(recv_result.is_ok());
|
||||
/// // The packet is received by the UDP TC server and sent via the mpsc channel.
|
||||
/// let sent_packet_with_sender = packet_receiver.try_recv().expect("expected telecommand");
|
||||
/// assert_eq!(sent_packet_with_sender.packet, ping_tc_raw);
|
||||
/// assert_eq!(sent_packet_with_sender.sender_id, UDP_SERVER_ID);
|
||||
/// // No more packets received.
|
||||
/// matches!(packet_receiver.try_recv(), Err(mpsc::TryRecvError::Empty));
|
||||
/// ```
|
||||
///
|
||||
/// The [satrs-example crate](https://egit.irs.uni-stuttgart.de/rust/fsrc-launchpad/src/branch/main/satrs-example)
|
||||
@ -59,45 +57,65 @@ use std::vec::Vec;
|
||||
/// [example code](https://egit.irs.uni-stuttgart.de/rust/sat-rs/src/branch/main/satrs-example/src/tmtc.rs#L67)
|
||||
/// on how to use this TC server. It uses the server to receive PUS telecommands on a specific port
|
||||
/// and then forwards them to a generic CCSDS packet receiver.
|
||||
pub struct UdpTcServer<TcSender: PacketSenderRaw<Error = SendError>, SendError> {
|
||||
pub id: ComponentId,
|
||||
pub struct UdpTcServer<E> {
|
||||
pub socket: UdpSocket,
|
||||
recv_buf: Vec<u8>,
|
||||
sender_addr: Option<SocketAddr>,
|
||||
pub tc_sender: TcSender,
|
||||
tc_receiver: Box<dyn ReceivesTc<Error = E>>,
|
||||
}
|
||||
|
||||
#[derive(Debug, thiserror::Error)]
|
||||
pub enum ReceiveResult<SendError: Debug + 'static> {
|
||||
#[error("nothing was received")]
|
||||
#[derive(Debug)]
|
||||
pub enum ReceiveResult<E> {
|
||||
NothingReceived,
|
||||
#[error(transparent)]
|
||||
Io(#[from] io::Error),
|
||||
#[error(transparent)]
|
||||
Send(SendError),
|
||||
IoError(Error),
|
||||
ReceiverError(E),
|
||||
}
|
||||
|
||||
impl<TcSender: PacketSenderRaw<Error = SendError>, SendError: Debug + 'static>
|
||||
UdpTcServer<TcSender, SendError>
|
||||
{
|
||||
impl<E> From<Error> for ReceiveResult<E> {
|
||||
fn from(e: Error) -> Self {
|
||||
ReceiveResult::IoError(e)
|
||||
}
|
||||
}
|
||||
|
||||
impl<E: PartialEq> PartialEq for ReceiveResult<E> {
|
||||
fn eq(&self, other: &Self) -> bool {
|
||||
use ReceiveResult::*;
|
||||
match (self, other) {
|
||||
(IoError(ref e), IoError(ref other_e)) => e.kind() == other_e.kind(),
|
||||
(NothingReceived, NothingReceived) => true,
|
||||
(ReceiverError(e), ReceiverError(other_e)) => e == other_e,
|
||||
_ => false,
|
||||
}
|
||||
}
|
||||
}
|
||||
|
||||
impl<E: Eq + PartialEq> Eq for ReceiveResult<E> {}
|
||||
|
||||
impl<E: 'static> ReceivesTcCore for UdpTcServer<E> {
|
||||
type Error = E;
|
||||
|
||||
fn pass_tc(&mut self, tc_raw: &[u8]) -> Result<(), Self::Error> {
|
||||
self.tc_receiver.pass_tc(tc_raw)
|
||||
}
|
||||
}
|
||||
|
||||
impl<E: 'static> UdpTcServer<E> {
|
||||
pub fn new<A: ToSocketAddrs>(
|
||||
id: ComponentId,
|
||||
addr: A,
|
||||
max_recv_size: usize,
|
||||
tc_sender: TcSender,
|
||||
) -> Result<Self, io::Error> {
|
||||
tc_receiver: Box<dyn ReceivesTc<Error = E>>,
|
||||
) -> Result<Self, Error> {
|
||||
let server = Self {
|
||||
id,
|
||||
socket: UdpSocket::bind(addr)?,
|
||||
recv_buf: vec![0; max_recv_size],
|
||||
sender_addr: None,
|
||||
tc_sender,
|
||||
tc_receiver,
|
||||
};
|
||||
server.socket.set_nonblocking(true)?;
|
||||
Ok(server)
|
||||
}
|
||||
|
||||
pub fn try_recv_tc(&mut self) -> Result<(usize, SocketAddr), ReceiveResult<SendError>> {
|
||||
pub fn try_recv_tc(&mut self) -> Result<(usize, SocketAddr), ReceiveResult<E>> {
|
||||
let res = match self.socket.recv_from(&mut self.recv_buf) {
|
||||
Ok(res) => res,
|
||||
Err(e) => {
|
||||
@ -110,9 +128,9 @@ impl<TcSender: PacketSenderRaw<Error = SendError>, SendError: Debug + 'static>
|
||||
};
|
||||
let (num_bytes, from) = res;
|
||||
self.sender_addr = Some(from);
|
||||
self.tc_sender
|
||||
.send_packet(self.id, &self.recv_buf[0..num_bytes])
|
||||
.map_err(ReceiveResult::Send)?;
|
||||
self.tc_receiver
|
||||
.pass_tc(&self.recv_buf[0..num_bytes])
|
||||
.map_err(|e| ReceiveResult::ReceiverError(e))?;
|
||||
Ok(res)
|
||||
}
|
||||
|
||||
@ -124,35 +142,29 @@ impl<TcSender: PacketSenderRaw<Error = SendError>, SendError: Debug + 'static>
|
||||
#[cfg(test)]
|
||||
mod tests {
|
||||
use crate::hal::std::udp_server::{ReceiveResult, UdpTcServer};
|
||||
use crate::queue::GenericSendError;
|
||||
use crate::tmtc::PacketSenderRaw;
|
||||
use crate::ComponentId;
|
||||
use core::cell::RefCell;
|
||||
use crate::tmtc::ReceivesTcCore;
|
||||
use spacepackets::ecss::tc::PusTcCreator;
|
||||
use spacepackets::ecss::WritablePusPacket;
|
||||
use spacepackets::SpHeader;
|
||||
use std::boxed::Box;
|
||||
use std::collections::VecDeque;
|
||||
use std::net::{IpAddr, Ipv4Addr, SocketAddr, UdpSocket};
|
||||
use std::vec::Vec;
|
||||
|
||||
fn is_send<T: Send>(_: &T) {}
|
||||
|
||||
const UDP_SERVER_ID: ComponentId = 0x05;
|
||||
|
||||
#[derive(Default)]
|
||||
struct PingReceiver {
|
||||
pub sent_cmds: RefCell<VecDeque<Vec<u8>>>,
|
||||
pub sent_cmds: VecDeque<Vec<u8>>,
|
||||
}
|
||||
|
||||
impl PacketSenderRaw for PingReceiver {
|
||||
type Error = GenericSendError;
|
||||
impl ReceivesTcCore for PingReceiver {
|
||||
type Error = ();
|
||||
|
||||
fn send_packet(&self, sender_id: ComponentId, tc_raw: &[u8]) -> Result<(), Self::Error> {
|
||||
assert_eq!(sender_id, UDP_SERVER_ID);
|
||||
fn pass_tc(&mut self, tc_raw: &[u8]) -> Result<(), Self::Error> {
|
||||
let mut sent_data = Vec::new();
|
||||
sent_data.extend_from_slice(tc_raw);
|
||||
let mut queue = self.sent_cmds.borrow_mut();
|
||||
queue.push_back(sent_data);
|
||||
self.sent_cmds.push_back(sent_data);
|
||||
Ok(())
|
||||
}
|
||||
}
|
||||
@ -163,11 +175,11 @@ mod tests {
|
||||
let dest_addr = SocketAddr::new(IpAddr::V4(Ipv4Addr::new(127, 0, 0, 1)), 7777);
|
||||
let ping_receiver = PingReceiver::default();
|
||||
is_send(&ping_receiver);
|
||||
let mut udp_tc_server = UdpTcServer::new(UDP_SERVER_ID, dest_addr, 2048, ping_receiver)
|
||||
let mut udp_tc_server = UdpTcServer::new(dest_addr, 2048, Box::new(ping_receiver))
|
||||
.expect("Creating UDP TMTC server failed");
|
||||
is_send(&udp_tc_server);
|
||||
let sph = SpHeader::new_from_apid(0x02);
|
||||
let pus_tc = PusTcCreator::new_simple(sph, 17, 1, &[], true);
|
||||
let mut sph = SpHeader::tc_unseg(0x02, 0, 0).unwrap();
|
||||
let pus_tc = PusTcCreator::new_simple(&mut sph, 17, 1, None, true);
|
||||
let len = pus_tc
|
||||
.write_to_bytes(&mut buf)
|
||||
.expect("Error writing PUS TC packet");
|
||||
@ -183,10 +195,9 @@ mod tests {
|
||||
udp_tc_server.last_sender().expect("No sender set"),
|
||||
local_addr
|
||||
);
|
||||
let ping_receiver = &mut udp_tc_server.tc_sender;
|
||||
let mut queue = ping_receiver.sent_cmds.borrow_mut();
|
||||
assert_eq!(queue.len(), 1);
|
||||
let sent_cmd = queue.pop_front().unwrap();
|
||||
let ping_receiver: &mut PingReceiver = udp_tc_server.tc_receiver.downcast_mut().unwrap();
|
||||
assert_eq!(ping_receiver.sent_cmds.len(), 1);
|
||||
let sent_cmd = ping_receiver.sent_cmds.pop_front().unwrap();
|
||||
assert_eq!(sent_cmd, buf[0..len]);
|
||||
}
|
||||
|
||||
@ -194,11 +205,11 @@ mod tests {
|
||||
fn test_nothing_received() {
|
||||
let dest_addr = SocketAddr::new(IpAddr::V4(Ipv4Addr::new(127, 0, 0, 1)), 7779);
|
||||
let ping_receiver = PingReceiver::default();
|
||||
let mut udp_tc_server = UdpTcServer::new(UDP_SERVER_ID, dest_addr, 2048, ping_receiver)
|
||||
let mut udp_tc_server = UdpTcServer::new(dest_addr, 2048, Box::new(ping_receiver))
|
||||
.expect("Creating UDP TMTC server failed");
|
||||
let res = udp_tc_server.try_recv_tc();
|
||||
assert!(res.is_err());
|
||||
let err = res.unwrap_err();
|
||||
matches!(err, ReceiveResult::NothingReceived);
|
||||
assert_eq!(err, ReceiveResult::NothingReceived);
|
||||
}
|
||||
}
|
||||
16
satrs-core/src/hk.rs
Normal file
16
satrs-core/src/hk.rs
Normal file
@ -0,0 +1,16 @@
|
||||
pub type CollectionIntervalFactor = u32;
|
||||
pub type UniqueId = u32;
|
||||
|
||||
#[derive(Debug, Copy, Clone, PartialEq, Eq)]
|
||||
pub enum HkRequest {
|
||||
OneShot(UniqueId),
|
||||
Enable(UniqueId),
|
||||
Disable(UniqueId),
|
||||
ModifyCollectionInterval(UniqueId, CollectionIntervalFactor),
|
||||
}
|
||||
|
||||
#[derive(Debug, Copy, Clone, PartialEq, Eq)]
|
||||
pub struct TargetedHkRequest {
|
||||
target: u32,
|
||||
hk_request: HkRequest,
|
||||
}
|
||||
50
satrs-core/src/lib.rs
Normal file
50
satrs-core/src/lib.rs
Normal file
@ -0,0 +1,50 @@
|
||||
//! # Core components of the sat-rs framework
|
||||
//!
|
||||
//! You can find more information about the sat-rs framework on the
|
||||
//! [homepage](https://egit.irs.uni-stuttgart.de/rust/sat-rs).
|
||||
//!
|
||||
//! ## Overview
|
||||
//!
|
||||
//! The core modules of this crate include
|
||||
//!
|
||||
//! - The [event manager][event_man] module which provides a publish and
|
||||
//! and subscribe to route events.
|
||||
//! - The [pus] module which provides special support for projects using
|
||||
//! the [ECSS PUS C standard](https://ecss.nl/standard/ecss-e-st-70-41c-space-engineering-telemetry-and-telecommand-packet-utilization-15-april-2016/).
|
||||
#![no_std]
|
||||
#![cfg_attr(doc_cfg, feature(doc_cfg))]
|
||||
#[cfg(feature = "alloc")]
|
||||
extern crate alloc;
|
||||
#[cfg(feature = "alloc")]
|
||||
extern crate downcast_rs;
|
||||
#[cfg(any(feature = "std", test))]
|
||||
extern crate std;
|
||||
|
||||
#[cfg(feature = "alloc")]
|
||||
#[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 request;
|
||||
pub mod res_code;
|
||||
pub mod seq_count;
|
||||
pub mod tmtc;
|
||||
|
||||
pub use spacepackets;
|
||||
|
||||
// Generic channel ID type.
|
||||
pub type ChannelId = u32;
|
||||
94
satrs-core/src/mode.rs
Normal file
94
satrs-core/src/mode.rs
Normal file
@ -0,0 +1,94 @@
|
||||
use crate::tmtc::TargetId;
|
||||
use core::mem::size_of;
|
||||
#[cfg(feature = "serde")]
|
||||
use serde::{Deserialize, Serialize};
|
||||
use spacepackets::ByteConversionError;
|
||||
|
||||
#[derive(Debug, Copy, Clone, PartialEq, Eq)]
|
||||
#[cfg_attr(feature = "serde", derive(Serialize, Deserialize))]
|
||||
pub struct ModeAndSubmode {
|
||||
mode: u32,
|
||||
submode: u16,
|
||||
}
|
||||
|
||||
impl ModeAndSubmode {
|
||||
pub const fn new_mode_only(mode: u32) -> Self {
|
||||
Self { mode, submode: 0 }
|
||||
}
|
||||
|
||||
pub const fn new(mode: u32, submode: u16) -> Self {
|
||||
Self { mode, submode }
|
||||
}
|
||||
|
||||
pub fn raw_len() -> usize {
|
||||
size_of::<u32>() + size_of::<u16>()
|
||||
}
|
||||
|
||||
pub fn from_be_bytes(buf: &[u8]) -> Result<Self, ByteConversionError> {
|
||||
if buf.len() < 6 {
|
||||
return Err(ByteConversionError::FromSliceTooSmall {
|
||||
expected: 6,
|
||||
found: buf.len(),
|
||||
});
|
||||
}
|
||||
Ok(Self {
|
||||
mode: u32::from_be_bytes(buf[0..4].try_into().unwrap()),
|
||||
submode: u16::from_be_bytes(buf[4..6].try_into().unwrap()),
|
||||
})
|
||||
}
|
||||
|
||||
pub fn mode(&self) -> u32 {
|
||||
self.mode
|
||||
}
|
||||
|
||||
pub fn submode(&self) -> u16 {
|
||||
self.submode
|
||||
}
|
||||
}
|
||||
#[derive(Debug, Copy, Clone, PartialEq, Eq)]
|
||||
#[cfg_attr(feature = "serde", derive(Serialize, Deserialize))]
|
||||
pub struct ModeCommand {
|
||||
pub address: TargetId,
|
||||
pub mode_submode: ModeAndSubmode,
|
||||
}
|
||||
|
||||
impl ModeCommand {
|
||||
pub const fn new(address: TargetId, mode_submode: ModeAndSubmode) -> Self {
|
||||
Self {
|
||||
address,
|
||||
mode_submode,
|
||||
}
|
||||
}
|
||||
|
||||
pub fn address(&self) -> TargetId {
|
||||
self.address
|
||||
}
|
||||
|
||||
pub fn mode_submode(&self) -> ModeAndSubmode {
|
||||
self.mode_submode
|
||||
}
|
||||
|
||||
pub fn mode(&self) -> u32 {
|
||||
self.mode_submode.mode
|
||||
}
|
||||
|
||||
pub fn submode(&self) -> u16 {
|
||||
self.mode_submode.submode
|
||||
}
|
||||
}
|
||||
|
||||
#[derive(Debug, Copy, Clone, PartialEq, Eq)]
|
||||
#[cfg_attr(feature = "serde", derive(Serialize, Deserialize))]
|
||||
pub enum ModeRequest {
|
||||
SetMode(ModeAndSubmode),
|
||||
ReadMode,
|
||||
AnnounceMode,
|
||||
AnnounceModeRecursive,
|
||||
}
|
||||
|
||||
#[derive(Debug, Copy, Clone, PartialEq, Eq)]
|
||||
#[cfg_attr(feature = "serde", derive(Serialize, Deserialize))]
|
||||
pub struct TargetedModeRequest {
|
||||
target_id: TargetId,
|
||||
mode_request: ModeRequest,
|
||||
}
|
||||
307
satrs-core/src/objects.rs
Normal file
307
satrs-core/src/objects.rs
Normal file
@ -0,0 +1,307 @@
|
||||
//! # Module providing addressable object support and a manager for them
|
||||
//!
|
||||
//! Each addressable object can be identified using an [object ID][ObjectId].
|
||||
//! The [system object][ManagedSystemObject] trait also allows storing these objects into the
|
||||
//! [object manager][ObjectManager]. They can then be retrieved and casted back to a known type
|
||||
//! using the object ID.
|
||||
//!
|
||||
//! # Examples
|
||||
//!
|
||||
//! ```rust
|
||||
//! use std::any::Any;
|
||||
//! use std::error::Error;
|
||||
//! use satrs_core::objects::{ManagedSystemObject, ObjectId, ObjectManager, SystemObject};
|
||||
//!
|
||||
//! struct ExampleSysObj {
|
||||
//! id: ObjectId,
|
||||
//! dummy: u32,
|
||||
//! was_initialized: bool,
|
||||
//! }
|
||||
//!
|
||||
//! impl ExampleSysObj {
|
||||
//! fn new(id: ObjectId, dummy: u32) -> ExampleSysObj {
|
||||
//! ExampleSysObj {
|
||||
//! id,
|
||||
//! dummy,
|
||||
//! was_initialized: false,
|
||||
//! }
|
||||
//! }
|
||||
//! }
|
||||
//!
|
||||
//! impl SystemObject for ExampleSysObj {
|
||||
//! type Error = ();
|
||||
//! fn get_object_id(&self) -> &ObjectId {
|
||||
//! &self.id
|
||||
//! }
|
||||
//!
|
||||
//! fn initialize(&mut self) -> Result<(), Self::Error> {
|
||||
//! self.was_initialized = true;
|
||||
//! Ok(())
|
||||
//! }
|
||||
//! }
|
||||
//!
|
||||
//! impl ManagedSystemObject for ExampleSysObj {}
|
||||
//!
|
||||
//! let mut obj_manager = ObjectManager::default();
|
||||
//! let obj_id = ObjectId { id: 0, name: "Example 0"};
|
||||
//! let example_obj = ExampleSysObj::new(obj_id, 42);
|
||||
//! obj_manager.insert(Box::new(example_obj));
|
||||
//! let obj_back_casted: Option<&ExampleSysObj> = obj_manager.get_ref(&obj_id);
|
||||
//! let example_obj = obj_back_casted.unwrap();
|
||||
//! 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")]
|
||||
pub use alloc_mod::*;
|
||||
#[cfg(feature = "alloc")]
|
||||
use downcast_rs::Downcast;
|
||||
#[cfg(feature = "alloc")]
|
||||
use hashbrown::HashMap;
|
||||
#[cfg(feature = "std")]
|
||||
use std::error::Error;
|
||||
|
||||
#[derive(PartialEq, Eq, Hash, Copy, Clone, Debug)]
|
||||
pub struct ObjectId {
|
||||
pub id: TargetId,
|
||||
pub name: &'static str,
|
||||
}
|
||||
|
||||
#[cfg(feature = "alloc")]
|
||||
pub mod alloc_mod {
|
||||
use super::*;
|
||||
|
||||
/// Each object which is stored inside the [object manager][ObjectManager] needs to implemented
|
||||
/// this trait
|
||||
pub trait SystemObject: Downcast {
|
||||
type Error;
|
||||
fn get_object_id(&self) -> &ObjectId;
|
||||
fn initialize(&mut self) -> Result<(), Self::Error>;
|
||||
}
|
||||
downcast_rs::impl_downcast!(SystemObject assoc Error);
|
||||
|
||||
pub trait ManagedSystemObject: SystemObject + Send {}
|
||||
downcast_rs::impl_downcast!(ManagedSystemObject assoc Error);
|
||||
|
||||
/// Helper module to manage multiple [ManagedSystemObjects][ManagedSystemObject] by mapping them
|
||||
/// using an [object ID][ObjectId]
|
||||
#[cfg(feature = "alloc")]
|
||||
pub struct ObjectManager<E> {
|
||||
obj_map: HashMap<ObjectId, Box<dyn ManagedSystemObject<Error = E>>>,
|
||||
}
|
||||
|
||||
#[cfg(feature = "alloc")]
|
||||
impl<E: 'static> Default for ObjectManager<E> {
|
||||
fn default() -> Self {
|
||||
Self::new()
|
||||
}
|
||||
}
|
||||
|
||||
#[cfg(feature = "alloc")]
|
||||
impl<E: 'static> ObjectManager<E> {
|
||||
pub fn new() -> Self {
|
||||
ObjectManager {
|
||||
obj_map: HashMap::new(),
|
||||
}
|
||||
}
|
||||
pub fn insert(&mut self, sys_obj: Box<dyn ManagedSystemObject<Error = E>>) -> bool {
|
||||
let obj_id = sys_obj.get_object_id();
|
||||
if self.obj_map.contains_key(obj_id) {
|
||||
return false;
|
||||
}
|
||||
self.obj_map.insert(*obj_id, sys_obj).is_none()
|
||||
}
|
||||
|
||||
/// Initializes all System Objects in the hash map and returns the number of successful
|
||||
/// initializations
|
||||
pub fn initialize(&mut self) -> Result<u32, Box<dyn Error>> {
|
||||
let mut init_success = 0;
|
||||
for val in self.obj_map.values_mut() {
|
||||
if val.initialize().is_ok() {
|
||||
init_success += 1
|
||||
}
|
||||
}
|
||||
Ok(init_success)
|
||||
}
|
||||
|
||||
/// Retrieve a reference to an object stored inside the manager. The type to retrieve needs to
|
||||
/// be explicitly passed as a generic parameter or specified on the left hand side of the
|
||||
/// expression.
|
||||
pub fn get_ref<T: ManagedSystemObject<Error = E>>(&self, key: &ObjectId) -> Option<&T> {
|
||||
self.obj_map.get(key).and_then(|o| o.downcast_ref::<T>())
|
||||
}
|
||||
|
||||
/// Retrieve a mutable reference to an object stored inside the manager. The type to retrieve
|
||||
/// needs to be explicitly passed as a generic parameter or specified on the left hand side
|
||||
/// of the expression.
|
||||
pub fn get_mut<T: ManagedSystemObject<Error = E>>(
|
||||
&mut self,
|
||||
key: &ObjectId,
|
||||
) -> Option<&mut T> {
|
||||
self.obj_map
|
||||
.get_mut(key)
|
||||
.and_then(|o| o.downcast_mut::<T>())
|
||||
}
|
||||
}
|
||||
}
|
||||
|
||||
#[cfg(test)]
|
||||
mod tests {
|
||||
use crate::objects::{ManagedSystemObject, ObjectId, ObjectManager, SystemObject};
|
||||
use std::boxed::Box;
|
||||
use std::string::String;
|
||||
use std::sync::{Arc, Mutex};
|
||||
use std::thread;
|
||||
|
||||
struct ExampleSysObj {
|
||||
id: ObjectId,
|
||||
dummy: u32,
|
||||
was_initialized: bool,
|
||||
}
|
||||
|
||||
impl ExampleSysObj {
|
||||
fn new(id: ObjectId, dummy: u32) -> ExampleSysObj {
|
||||
ExampleSysObj {
|
||||
id,
|
||||
dummy,
|
||||
was_initialized: false,
|
||||
}
|
||||
}
|
||||
}
|
||||
|
||||
impl SystemObject for ExampleSysObj {
|
||||
type Error = ();
|
||||
fn get_object_id(&self) -> &ObjectId {
|
||||
&self.id
|
||||
}
|
||||
|
||||
fn initialize(&mut self) -> Result<(), Self::Error> {
|
||||
self.was_initialized = true;
|
||||
Ok(())
|
||||
}
|
||||
}
|
||||
|
||||
impl ManagedSystemObject for ExampleSysObj {}
|
||||
|
||||
struct OtherExampleObject {
|
||||
id: ObjectId,
|
||||
string: String,
|
||||
was_initialized: bool,
|
||||
}
|
||||
|
||||
impl SystemObject for OtherExampleObject {
|
||||
type Error = ();
|
||||
fn get_object_id(&self) -> &ObjectId {
|
||||
&self.id
|
||||
}
|
||||
|
||||
fn initialize(&mut self) -> Result<(), Self::Error> {
|
||||
self.was_initialized = true;
|
||||
Ok(())
|
||||
}
|
||||
}
|
||||
|
||||
impl ManagedSystemObject for OtherExampleObject {}
|
||||
|
||||
#[test]
|
||||
fn test_obj_manager_simple() {
|
||||
let mut obj_manager = ObjectManager::default();
|
||||
let expl_obj_id = ObjectId {
|
||||
id: 0,
|
||||
name: "Example 0",
|
||||
};
|
||||
let example_obj = ExampleSysObj::new(expl_obj_id, 42);
|
||||
assert!(obj_manager.insert(Box::new(example_obj)));
|
||||
let res = obj_manager.initialize();
|
||||
assert!(res.is_ok());
|
||||
assert_eq!(res.unwrap(), 1);
|
||||
let obj_back_casted: Option<&ExampleSysObj> = obj_manager.get_ref(&expl_obj_id);
|
||||
assert!(obj_back_casted.is_some());
|
||||
let expl_obj_back_casted = obj_back_casted.unwrap();
|
||||
assert_eq!(expl_obj_back_casted.dummy, 42);
|
||||
assert!(expl_obj_back_casted.was_initialized);
|
||||
|
||||
let second_obj_id = ObjectId {
|
||||
id: 12,
|
||||
name: "Example 1",
|
||||
};
|
||||
let second_example_obj = OtherExampleObject {
|
||||
id: second_obj_id,
|
||||
string: String::from("Hello Test"),
|
||||
was_initialized: false,
|
||||
};
|
||||
|
||||
assert!(obj_manager.insert(Box::new(second_example_obj)));
|
||||
let res = obj_manager.initialize();
|
||||
assert!(res.is_ok());
|
||||
assert_eq!(res.unwrap(), 2);
|
||||
let obj_back_casted: Option<&OtherExampleObject> = obj_manager.get_ref(&second_obj_id);
|
||||
assert!(obj_back_casted.is_some());
|
||||
let expl_obj_back_casted = obj_back_casted.unwrap();
|
||||
assert_eq!(expl_obj_back_casted.string, String::from("Hello Test"));
|
||||
assert!(expl_obj_back_casted.was_initialized);
|
||||
|
||||
let existing_obj_id = ObjectId {
|
||||
id: 12,
|
||||
name: "Example 1",
|
||||
};
|
||||
let invalid_obj = OtherExampleObject {
|
||||
id: existing_obj_id,
|
||||
string: String::from("Hello Test"),
|
||||
was_initialized: false,
|
||||
};
|
||||
|
||||
assert!(!obj_manager.insert(Box::new(invalid_obj)));
|
||||
}
|
||||
|
||||
#[test]
|
||||
fn object_man_threaded() {
|
||||
let obj_manager = Arc::new(Mutex::new(ObjectManager::new()));
|
||||
let expl_obj_id = ObjectId {
|
||||
id: 0,
|
||||
name: "Example 0",
|
||||
};
|
||||
let example_obj = ExampleSysObj::new(expl_obj_id, 42);
|
||||
let second_obj_id = ObjectId {
|
||||
id: 12,
|
||||
name: "Example 1",
|
||||
};
|
||||
let second_example_obj = OtherExampleObject {
|
||||
id: second_obj_id,
|
||||
string: String::from("Hello Test"),
|
||||
was_initialized: false,
|
||||
};
|
||||
|
||||
let mut obj_man_handle = obj_manager.lock().expect("Mutex lock failed");
|
||||
assert!(obj_man_handle.insert(Box::new(example_obj)));
|
||||
assert!(obj_man_handle.insert(Box::new(second_example_obj)));
|
||||
let res = obj_man_handle.initialize();
|
||||
std::mem::drop(obj_man_handle);
|
||||
assert!(res.is_ok());
|
||||
assert_eq!(res.unwrap(), 2);
|
||||
let obj_man_0 = obj_manager.clone();
|
||||
let jh0 = thread::spawn(move || {
|
||||
let locked_man = obj_man_0.lock().expect("Mutex lock failed");
|
||||
let obj_back_casted: Option<&ExampleSysObj> = locked_man.get_ref(&expl_obj_id);
|
||||
assert!(obj_back_casted.is_some());
|
||||
let expl_obj_back_casted = obj_back_casted.unwrap();
|
||||
assert_eq!(expl_obj_back_casted.dummy, 42);
|
||||
assert!(expl_obj_back_casted.was_initialized);
|
||||
std::mem::drop(locked_man)
|
||||
});
|
||||
|
||||
let jh1 = thread::spawn(move || {
|
||||
let locked_man = obj_manager.lock().expect("Mutex lock failed");
|
||||
let obj_back_casted: Option<&OtherExampleObject> = locked_man.get_ref(&second_obj_id);
|
||||
assert!(obj_back_casted.is_some());
|
||||
let expl_obj_back_casted = obj_back_casted.unwrap();
|
||||
assert_eq!(expl_obj_back_casted.string, String::from("Hello Test"));
|
||||
assert!(expl_obj_back_casted.was_initialized);
|
||||
std::mem::drop(locked_man)
|
||||
});
|
||||
jh0.join().expect("Joining thread 0 failed");
|
||||
jh1.join().expect("Joining thread 1 failed");
|
||||
}
|
||||
}
|
||||
679
satrs-core/src/params.rs
Normal file
679
satrs-core/src/params.rs
Normal file
@ -0,0 +1,679 @@
|
||||
//! Parameter types and enums.
|
||||
//!
|
||||
//! This module contains various helper types.
|
||||
//!
|
||||
//! # Primtive Parameter Wrappers and Enumeration
|
||||
//!
|
||||
//! This module includes wrapper for primitive rust types using the newtype pattern.
|
||||
//! This was also done for pairs and triplets of these primitive types.
|
||||
//! The [WritableToBeBytes] was implemented for all those types as well, which allows to easily
|
||||
//! convert them into a network friendly raw byte format. The [ParamsRaw] enumeration groups
|
||||
//! all newtypes and implements the [WritableToBeBytes] trait itself.
|
||||
//!
|
||||
//! ## Example for primitive type wrapper
|
||||
//!
|
||||
//! ```
|
||||
//! use satrs_core::params::{ParamsRaw, ToBeBytes, U32Pair, WritableToBeBytes};
|
||||
//!
|
||||
//! let u32_pair = U32Pair(0x1010, 25);
|
||||
//! assert_eq!(u32_pair.0, 0x1010);
|
||||
//! assert_eq!(u32_pair.1, 25);
|
||||
//! // Convert to raw stream
|
||||
//! let raw_buf = u32_pair.to_be_bytes();
|
||||
//! assert_eq!(raw_buf, [0, 0, 0x10, 0x10, 0, 0, 0, 25]);
|
||||
//!
|
||||
//! // Convert to enum variant
|
||||
//! let params_raw: ParamsRaw = u32_pair.into();
|
||||
//! assert_eq!(params_raw, (0x1010_u32, 25_u32).into());
|
||||
//!
|
||||
//! // Convert to stream using the enum variant
|
||||
//! let mut other_raw_buf: [u8; 8] = [0; 8];
|
||||
//! params_raw.write_to_be_bytes(&mut other_raw_buf).expect("Writing parameter to buffer failed");
|
||||
//! assert_eq!(other_raw_buf, [0, 0, 0x10, 0x10, 0, 0, 0, 25]);
|
||||
//!
|
||||
//! // Create a pair from a raw stream
|
||||
//! let u32_pair_from_stream: U32Pair = raw_buf.as_slice().try_into().unwrap();
|
||||
//! assert_eq!(u32_pair_from_stream.0, 0x1010);
|
||||
//! assert_eq!(u32_pair_from_stream.1, 25);
|
||||
//! ```
|
||||
//!
|
||||
//! # Generic Parameter Enumeration
|
||||
//!
|
||||
//! The module also contains generic parameter enumerations.
|
||||
//! 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};
|
||||
use spacepackets::util::UnsignedEnum;
|
||||
use spacepackets::ByteConversionError;
|
||||
|
||||
#[cfg(feature = "alloc")]
|
||||
pub use alloc_mod::*;
|
||||
pub use spacepackets::util::ToBeBytes;
|
||||
|
||||
/// Generic trait which is used for objects which can be converted into a raw network (big) endian
|
||||
/// byte format.
|
||||
pub trait WritableToBeBytes {
|
||||
fn raw_len(&self) -> usize;
|
||||
/// Writes the object to a raw buffer in network endianness (big)
|
||||
fn write_to_be_bytes(&self, buf: &mut [u8]) -> Result<usize, ByteConversionError>;
|
||||
}
|
||||
|
||||
macro_rules! param_to_be_bytes_impl {
|
||||
($Newtype: ident) => {
|
||||
impl WritableToBeBytes for $Newtype {
|
||||
#[inline]
|
||||
fn raw_len(&self) -> usize {
|
||||
size_of::<<Self as ToBeBytes>::ByteArray>()
|
||||
}
|
||||
|
||||
fn write_to_be_bytes(&self, buf: &mut [u8]) -> Result<usize, ByteConversionError> {
|
||||
let raw_len = self.raw_len();
|
||||
if buf.len() < raw_len {
|
||||
return Err(ByteConversionError::ToSliceTooSmall {
|
||||
found: buf.len(),
|
||||
expected: raw_len,
|
||||
});
|
||||
}
|
||||
buf[0..raw_len].copy_from_slice(&self.to_be_bytes());
|
||||
Ok(raw_len)
|
||||
}
|
||||
}
|
||||
};
|
||||
}
|
||||
|
||||
macro_rules! primitive_newtypes_with_eq {
|
||||
($($ty: ty,)+) => {
|
||||
$(
|
||||
paste! {
|
||||
#[derive(Debug, Copy, Clone, PartialEq, Eq)]
|
||||
pub struct [<$ty:upper>](pub $ty);
|
||||
#[derive(Debug, Copy, Clone, PartialEq, Eq)]
|
||||
pub struct [<$ty:upper Pair>](pub $ty, pub $ty);
|
||||
#[derive(Debug, Copy, Clone, PartialEq, Eq)]
|
||||
pub struct [<$ty:upper Triplet>](pub $ty, pub $ty, pub $ty);
|
||||
|
||||
param_to_be_bytes_impl!([<$ty:upper>]);
|
||||
param_to_be_bytes_impl!([<$ty:upper Pair>]);
|
||||
param_to_be_bytes_impl!([<$ty:upper Triplet>]);
|
||||
|
||||
impl From<$ty> for [<$ty:upper>] {
|
||||
fn from(v: $ty) -> Self {
|
||||
Self(v)
|
||||
}
|
||||
}
|
||||
impl From<($ty, $ty)> for [<$ty:upper Pair>] {
|
||||
fn from(v: ($ty, $ty)) -> Self {
|
||||
Self(v.0, v.1)
|
||||
}
|
||||
}
|
||||
impl From<($ty, $ty, $ty)> for [<$ty:upper Triplet>] {
|
||||
fn from(v: ($ty, $ty, $ty)) -> Self {
|
||||
Self(v.0, v.1, v.2)
|
||||
}
|
||||
}
|
||||
}
|
||||
)+
|
||||
}
|
||||
}
|
||||
|
||||
macro_rules! primitive_newtypes {
|
||||
($($ty: ty,)+) => {
|
||||
$(
|
||||
paste! {
|
||||
#[derive(Debug, Copy, Clone, PartialEq)]
|
||||
pub struct [<$ty:upper>](pub $ty);
|
||||
#[derive(Debug, Copy, Clone, PartialEq)]
|
||||
pub struct [<$ty:upper Pair>](pub $ty, pub $ty);
|
||||
#[derive(Debug, Copy, Clone, PartialEq)]
|
||||
pub struct [<$ty:upper Triplet>](pub $ty, pub $ty, pub $ty);
|
||||
|
||||
param_to_be_bytes_impl!([<$ty:upper>]);
|
||||
param_to_be_bytes_impl!([<$ty:upper Pair>]);
|
||||
param_to_be_bytes_impl!([<$ty:upper Triplet>]);
|
||||
|
||||
impl From<$ty> for [<$ty:upper>] {
|
||||
fn from(v: $ty) -> Self {
|
||||
Self(v)
|
||||
}
|
||||
}
|
||||
impl From<($ty, $ty)> for [<$ty:upper Pair>] {
|
||||
fn from(v: ($ty, $ty)) -> Self {
|
||||
Self(v.0, v.1)
|
||||
}
|
||||
}
|
||||
impl From<($ty, $ty, $ty)> for [<$ty:upper Triplet>] {
|
||||
fn from(v: ($ty, $ty, $ty)) -> Self {
|
||||
Self(v.0, v.1, v.2)
|
||||
}
|
||||
}
|
||||
}
|
||||
)+
|
||||
}
|
||||
}
|
||||
|
||||
primitive_newtypes_with_eq!(u8, u16, u32, u64, i8, i16, i32, i64,);
|
||||
primitive_newtypes!(f32, f64,);
|
||||
|
||||
macro_rules! scalar_byte_conversions_impl {
|
||||
($($ty: ty,)+) => {
|
||||
$(
|
||||
paste! {
|
||||
impl ToBeBytes for [<$ty:upper>] {
|
||||
type ByteArray = [u8; size_of::<$ty>()];
|
||||
|
||||
fn written_len(&self) -> usize {
|
||||
size_of::<Self::ByteArray>()
|
||||
}
|
||||
|
||||
fn to_be_bytes(&self) -> Self::ByteArray {
|
||||
self.0.to_be_bytes()
|
||||
}
|
||||
}
|
||||
|
||||
impl TryFrom<&[u8]> for [<$ty:upper>] {
|
||||
type Error = ByteConversionError;
|
||||
|
||||
fn try_from(v: &[u8]) -> Result<Self, Self::Error> {
|
||||
if v.len() < size_of::<$ty>() {
|
||||
return Err(ByteConversionError::FromSliceTooSmall{
|
||||
expected: size_of::<$ty>(),
|
||||
found: v.len()
|
||||
});
|
||||
}
|
||||
Ok([<$ty:upper>]($ty::from_be_bytes(v[0..size_of::<$ty>()].try_into().unwrap())))
|
||||
}
|
||||
}
|
||||
}
|
||||
)+
|
||||
}
|
||||
}
|
||||
|
||||
macro_rules! pair_byte_conversions_impl {
|
||||
($($ty: ty,)+) => {
|
||||
$(
|
||||
paste! {
|
||||
impl ToBeBytes for [<$ty:upper Pair>] {
|
||||
type ByteArray = [u8; size_of::<$ty>() * 2];
|
||||
|
||||
fn written_len(&self) -> usize {
|
||||
size_of::<Self::ByteArray>()
|
||||
}
|
||||
|
||||
fn to_be_bytes(&self) -> Self::ByteArray {
|
||||
let mut array = [0; size_of::<$ty>() * 2];
|
||||
array[0..size_of::<$ty>()].copy_from_slice(&self.0.to_be_bytes());
|
||||
array[
|
||||
size_of::<$ty>()..2 * size_of::<$ty>()
|
||||
].copy_from_slice(&self.1.to_be_bytes());
|
||||
array
|
||||
}
|
||||
}
|
||||
|
||||
impl TryFrom<&[u8]> for [<$ty:upper Pair>] {
|
||||
type Error = ByteConversionError;
|
||||
|
||||
fn try_from(v: &[u8]) -> Result<Self, Self::Error> {
|
||||
if v.len() < 2 * size_of::<$ty>() {
|
||||
return Err(ByteConversionError::FromSliceTooSmall{
|
||||
expected: 2 * size_of::<$ty>(),
|
||||
found: v.len()
|
||||
});
|
||||
}
|
||||
Ok([<$ty:upper Pair>](
|
||||
$ty::from_be_bytes(v[0..size_of::<$ty>()].try_into().unwrap()),
|
||||
$ty::from_be_bytes(v[size_of::<$ty>()..2 * size_of::<$ty>()].try_into().unwrap())
|
||||
))
|
||||
}
|
||||
}
|
||||
}
|
||||
)+
|
||||
}
|
||||
}
|
||||
|
||||
macro_rules! triplet_to_be_bytes_impl {
|
||||
($($ty: ty,)+) => {
|
||||
$(
|
||||
paste! {
|
||||
impl ToBeBytes for [<$ty:upper Triplet>] {
|
||||
type ByteArray = [u8; size_of::<$ty>() * 3];
|
||||
|
||||
fn written_len(&self) -> usize {
|
||||
size_of::<Self::ByteArray>()
|
||||
}
|
||||
|
||||
fn to_be_bytes(&self) -> Self::ByteArray {
|
||||
let mut array = [0; size_of::<$ty>() * 3];
|
||||
array[0..size_of::<$ty>()].copy_from_slice(&self.0.to_be_bytes());
|
||||
array[
|
||||
size_of::<$ty>()..2 * size_of::<$ty>()
|
||||
].copy_from_slice(&self.1.to_be_bytes());
|
||||
array[
|
||||
2 * size_of::<$ty>()..3 * size_of::<$ty>()
|
||||
].copy_from_slice(&self.2.to_be_bytes());
|
||||
array
|
||||
}
|
||||
}
|
||||
impl TryFrom<&[u8]> for [<$ty:upper Triplet>] {
|
||||
type Error = ByteConversionError;
|
||||
|
||||
fn try_from(v: &[u8]) -> Result<Self, Self::Error> {
|
||||
if v.len() < 3 * size_of::<$ty>() {
|
||||
return Err(ByteConversionError::FromSliceTooSmall{
|
||||
expected: 3 * size_of::<$ty>(),
|
||||
found: v.len()
|
||||
});
|
||||
}
|
||||
Ok([<$ty:upper Triplet>](
|
||||
$ty::from_be_bytes(v[0..size_of::<$ty>()].try_into().unwrap()),
|
||||
$ty::from_be_bytes(v[size_of::<$ty>()..2 * size_of::<$ty>()].try_into().unwrap()),
|
||||
$ty::from_be_bytes(v[2 * size_of::<$ty>()..3 * size_of::<$ty>()].try_into().unwrap())
|
||||
))
|
||||
}
|
||||
}
|
||||
}
|
||||
)+
|
||||
}
|
||||
}
|
||||
|
||||
scalar_byte_conversions_impl!(u8, u16, u32, u64, i8, i16, i32, i64, f32, f64,);
|
||||
|
||||
impl ToBeBytes for U8Pair {
|
||||
type ByteArray = [u8; 2];
|
||||
|
||||
fn written_len(&self) -> usize {
|
||||
size_of::<Self::ByteArray>()
|
||||
}
|
||||
|
||||
fn to_be_bytes(&self) -> Self::ByteArray {
|
||||
let mut array = [0; 2];
|
||||
array[0] = self.0;
|
||||
array[1] = self.1;
|
||||
array
|
||||
}
|
||||
}
|
||||
|
||||
impl ToBeBytes for I8Pair {
|
||||
type ByteArray = [u8; 2];
|
||||
|
||||
fn written_len(&self) -> usize {
|
||||
size_of::<Self::ByteArray>()
|
||||
}
|
||||
|
||||
fn to_be_bytes(&self) -> Self::ByteArray {
|
||||
let mut array = [0; 2];
|
||||
array[0] = self.0 as u8;
|
||||
array[1] = self.1 as u8;
|
||||
array
|
||||
}
|
||||
}
|
||||
|
||||
impl ToBeBytes for U8Triplet {
|
||||
type ByteArray = [u8; 3];
|
||||
|
||||
fn written_len(&self) -> usize {
|
||||
size_of::<Self::ByteArray>()
|
||||
}
|
||||
|
||||
fn to_be_bytes(&self) -> Self::ByteArray {
|
||||
let mut array = [0; 3];
|
||||
array[0] = self.0;
|
||||
array[1] = self.1;
|
||||
array[2] = self.2;
|
||||
array
|
||||
}
|
||||
}
|
||||
|
||||
impl ToBeBytes for I8Triplet {
|
||||
type ByteArray = [u8; 3];
|
||||
|
||||
fn written_len(&self) -> usize {
|
||||
size_of::<Self::ByteArray>()
|
||||
}
|
||||
|
||||
fn to_be_bytes(&self) -> Self::ByteArray {
|
||||
let mut array = [0; 3];
|
||||
array[0] = self.0 as u8;
|
||||
array[1] = self.1 as u8;
|
||||
array[2] = self.2 as u8;
|
||||
array
|
||||
}
|
||||
}
|
||||
|
||||
pair_byte_conversions_impl!(u16, u32, u64, i16, i32, i64, f32, f64,);
|
||||
triplet_to_be_bytes_impl!(u16, u32, u64, i16, i32, i64, f32, f64,);
|
||||
|
||||
/// Generic enumeration for additonal parameters only consisting of primitive data types.
|
||||
///
|
||||
/// All contained variants and the enum itself implement the [WritableToBeBytes] trait, which
|
||||
/// allows to easily convert them into a network-friendly format.
|
||||
#[derive(Debug, Copy, Clone, PartialEq)]
|
||||
pub enum ParamsRaw {
|
||||
U8(U8),
|
||||
U8Pair(U8Pair),
|
||||
U8Triplet(U8Triplet),
|
||||
I8(I8),
|
||||
I8Pair(I8Pair),
|
||||
I8Triplet(I8Triplet),
|
||||
U16(U16),
|
||||
U16Pair(U16Pair),
|
||||
U16Triplet(U16Triplet),
|
||||
I16(I16),
|
||||
I16Pair(I16Pair),
|
||||
I16Triplet(I16Triplet),
|
||||
U32(U32),
|
||||
U32Pair(U32Pair),
|
||||
U32Triplet(U32Triplet),
|
||||
I32(I32),
|
||||
I32Pair(I32Pair),
|
||||
I32Triplet(I32Triplet),
|
||||
F32(F32),
|
||||
F32Pair(F32Pair),
|
||||
F32Triplet(F32Triplet),
|
||||
U64(U64),
|
||||
I64(I64),
|
||||
F64(F64),
|
||||
}
|
||||
|
||||
impl WritableToBeBytes for ParamsRaw {
|
||||
fn raw_len(&self) -> usize {
|
||||
match self {
|
||||
ParamsRaw::U8(v) => v.raw_len(),
|
||||
ParamsRaw::U8Pair(v) => v.raw_len(),
|
||||
ParamsRaw::U8Triplet(v) => v.raw_len(),
|
||||
ParamsRaw::I8(v) => v.raw_len(),
|
||||
ParamsRaw::I8Pair(v) => v.raw_len(),
|
||||
ParamsRaw::I8Triplet(v) => v.raw_len(),
|
||||
ParamsRaw::U16(v) => v.raw_len(),
|
||||
ParamsRaw::U16Pair(v) => v.raw_len(),
|
||||
ParamsRaw::U16Triplet(v) => v.raw_len(),
|
||||
ParamsRaw::I16(v) => v.raw_len(),
|
||||
ParamsRaw::I16Pair(v) => v.raw_len(),
|
||||
ParamsRaw::I16Triplet(v) => v.raw_len(),
|
||||
ParamsRaw::U32(v) => v.raw_len(),
|
||||
ParamsRaw::U32Pair(v) => v.raw_len(),
|
||||
ParamsRaw::U32Triplet(v) => v.raw_len(),
|
||||
ParamsRaw::I32(v) => v.raw_len(),
|
||||
ParamsRaw::I32Pair(v) => v.raw_len(),
|
||||
ParamsRaw::I32Triplet(v) => v.raw_len(),
|
||||
ParamsRaw::F32(v) => v.raw_len(),
|
||||
ParamsRaw::F32Pair(v) => v.raw_len(),
|
||||
ParamsRaw::F32Triplet(v) => v.raw_len(),
|
||||
ParamsRaw::U64(v) => v.raw_len(),
|
||||
ParamsRaw::I64(v) => v.raw_len(),
|
||||
ParamsRaw::F64(v) => v.raw_len(),
|
||||
}
|
||||
}
|
||||
|
||||
fn write_to_be_bytes(&self, buf: &mut [u8]) -> Result<usize, ByteConversionError> {
|
||||
match self {
|
||||
ParamsRaw::U8(v) => v.write_to_be_bytes(buf),
|
||||
ParamsRaw::U8Pair(v) => v.write_to_be_bytes(buf),
|
||||
ParamsRaw::U8Triplet(v) => v.write_to_be_bytes(buf),
|
||||
ParamsRaw::I8(v) => v.write_to_be_bytes(buf),
|
||||
ParamsRaw::I8Pair(v) => v.write_to_be_bytes(buf),
|
||||
ParamsRaw::I8Triplet(v) => v.write_to_be_bytes(buf),
|
||||
ParamsRaw::U16(v) => v.write_to_be_bytes(buf),
|
||||
ParamsRaw::U16Pair(v) => v.write_to_be_bytes(buf),
|
||||
ParamsRaw::U16Triplet(v) => v.write_to_be_bytes(buf),
|
||||
ParamsRaw::I16(v) => v.write_to_be_bytes(buf),
|
||||
ParamsRaw::I16Pair(v) => v.write_to_be_bytes(buf),
|
||||
ParamsRaw::I16Triplet(v) => v.write_to_be_bytes(buf),
|
||||
ParamsRaw::U32(v) => v.write_to_be_bytes(buf),
|
||||
ParamsRaw::U32Pair(v) => v.write_to_be_bytes(buf),
|
||||
ParamsRaw::U32Triplet(v) => v.write_to_be_bytes(buf),
|
||||
ParamsRaw::I32(v) => v.write_to_be_bytes(buf),
|
||||
ParamsRaw::I32Pair(v) => v.write_to_be_bytes(buf),
|
||||
ParamsRaw::I32Triplet(v) => v.write_to_be_bytes(buf),
|
||||
ParamsRaw::F32(v) => v.write_to_be_bytes(buf),
|
||||
ParamsRaw::F32Pair(v) => v.write_to_be_bytes(buf),
|
||||
ParamsRaw::F32Triplet(v) => v.write_to_be_bytes(buf),
|
||||
ParamsRaw::U64(v) => v.write_to_be_bytes(buf),
|
||||
ParamsRaw::I64(v) => v.write_to_be_bytes(buf),
|
||||
ParamsRaw::F64(v) => v.write_to_be_bytes(buf),
|
||||
}
|
||||
}
|
||||
}
|
||||
|
||||
macro_rules! params_raw_from_newtype {
|
||||
($($newtype: ident,)+) => {
|
||||
$(
|
||||
impl From<$newtype> for ParamsRaw {
|
||||
fn from(v: $newtype) -> Self {
|
||||
Self::$newtype(v)
|
||||
}
|
||||
}
|
||||
)+
|
||||
}
|
||||
}
|
||||
|
||||
params_raw_from_newtype!(
|
||||
U8, U8Pair, U8Triplet, U16, U16Pair, U16Triplet, U32, U32Pair, U32Triplet, I8, I8Pair,
|
||||
I8Triplet, I16, I16Pair, I16Triplet, I32, I32Pair, I32Triplet, F32, F32Pair, F32Triplet, U64,
|
||||
I64, F64,
|
||||
);
|
||||
|
||||
#[derive(Debug, Copy, Clone, PartialEq, Eq)]
|
||||
pub enum EcssEnumParams {
|
||||
U8(EcssEnumU8),
|
||||
U16(EcssEnumU16),
|
||||
U32(EcssEnumU32),
|
||||
U64(EcssEnumU64),
|
||||
}
|
||||
|
||||
macro_rules! writable_as_be_bytes_ecss_enum_impl {
|
||||
($EnumIdent: ident) => {
|
||||
impl WritableToBeBytes for $EnumIdent {
|
||||
fn raw_len(&self) -> usize {
|
||||
self.size()
|
||||
}
|
||||
|
||||
fn write_to_be_bytes(&self, buf: &mut [u8]) -> Result<usize, ByteConversionError> {
|
||||
<Self as UnsignedEnum>::write_to_be_bytes(self, buf).map(|_| self.raw_len())
|
||||
}
|
||||
}
|
||||
};
|
||||
}
|
||||
|
||||
writable_as_be_bytes_ecss_enum_impl!(EcssEnumU8);
|
||||
writable_as_be_bytes_ecss_enum_impl!(EcssEnumU16);
|
||||
writable_as_be_bytes_ecss_enum_impl!(EcssEnumU32);
|
||||
writable_as_be_bytes_ecss_enum_impl!(EcssEnumU64);
|
||||
|
||||
impl WritableToBeBytes for EcssEnumParams {
|
||||
fn raw_len(&self) -> usize {
|
||||
match self {
|
||||
EcssEnumParams::U8(e) => e.raw_len(),
|
||||
EcssEnumParams::U16(e) => e.raw_len(),
|
||||
EcssEnumParams::U32(e) => e.raw_len(),
|
||||
EcssEnumParams::U64(e) => e.raw_len(),
|
||||
}
|
||||
}
|
||||
|
||||
fn write_to_be_bytes(&self, buf: &mut [u8]) -> Result<usize, ByteConversionError> {
|
||||
match self {
|
||||
EcssEnumParams::U8(e) => WritableToBeBytes::write_to_be_bytes(e, buf),
|
||||
EcssEnumParams::U16(e) => WritableToBeBytes::write_to_be_bytes(e, buf),
|
||||
EcssEnumParams::U32(e) => WritableToBeBytes::write_to_be_bytes(e, buf),
|
||||
EcssEnumParams::U64(e) => WritableToBeBytes::write_to_be_bytes(e, buf),
|
||||
}
|
||||
}
|
||||
}
|
||||
|
||||
/// Generic enumeration for parameters which do not rely on heap allocations.
|
||||
#[derive(Debug, Copy, Clone, PartialEq)]
|
||||
pub enum ParamsHeapless {
|
||||
Raw(ParamsRaw),
|
||||
EcssEnum(EcssEnumParams),
|
||||
}
|
||||
|
||||
macro_rules! from_conversions_for_raw {
|
||||
($(($raw_ty: ty, $TargetPath: path),)+) => {
|
||||
$(
|
||||
impl From<$raw_ty> for ParamsRaw {
|
||||
fn from(val: $raw_ty) -> Self {
|
||||
$TargetPath(val.into())
|
||||
}
|
||||
}
|
||||
|
||||
impl From<$raw_ty> for ParamsHeapless {
|
||||
fn from(val: $raw_ty) -> Self {
|
||||
ParamsHeapless::Raw(val.into())
|
||||
}
|
||||
}
|
||||
)+
|
||||
};
|
||||
}
|
||||
|
||||
from_conversions_for_raw!(
|
||||
(u8, Self::U8),
|
||||
((u8, u8), Self::U8Pair),
|
||||
((u8, u8, u8), Self::U8Triplet),
|
||||
(i8, Self::I8),
|
||||
((i8, i8), Self::I8Pair),
|
||||
((i8, i8, i8), Self::I8Triplet),
|
||||
(u16, Self::U16),
|
||||
((u16, u16), Self::U16Pair),
|
||||
((u16, u16, u16), Self::U16Triplet),
|
||||
(i16, Self::I16),
|
||||
((i16, i16), Self::I16Pair),
|
||||
((i16, i16, i16), Self::I16Triplet),
|
||||
(u32, Self::U32),
|
||||
((u32, u32), Self::U32Pair),
|
||||
((u32, u32, u32), Self::U32Triplet),
|
||||
(i32, Self::I32),
|
||||
((i32, i32), Self::I32Pair),
|
||||
((i32, i32, i32), Self::I32Triplet),
|
||||
(f32, Self::F32),
|
||||
((f32, f32), Self::F32Pair),
|
||||
((f32, f32, f32), Self::F32Triplet),
|
||||
(u64, Self::U64),
|
||||
(f64, Self::F64),
|
||||
);
|
||||
|
||||
#[cfg(feature = "alloc")]
|
||||
mod alloc_mod {
|
||||
use super::*;
|
||||
/// Generic enumeration for additional parameters, including parameters which rely on heap
|
||||
/// allocations.
|
||||
#[cfg_attr(doc_cfg, doc(cfg(feature = "alloc")))]
|
||||
#[derive(Debug, Clone)]
|
||||
pub enum Params {
|
||||
Heapless(ParamsHeapless),
|
||||
Store(StoreAddr),
|
||||
Vec(Vec<u8>),
|
||||
String(String),
|
||||
}
|
||||
|
||||
impl From<StoreAddr> for Params {
|
||||
fn from(x: StoreAddr) -> Self {
|
||||
Self::Store(x)
|
||||
}
|
||||
}
|
||||
|
||||
impl From<ParamsHeapless> for Params {
|
||||
fn from(x: ParamsHeapless) -> Self {
|
||||
Self::Heapless(x)
|
||||
}
|
||||
}
|
||||
|
||||
impl From<Vec<u8>> for Params {
|
||||
fn from(val: Vec<u8>) -> Self {
|
||||
Self::Vec(val)
|
||||
}
|
||||
}
|
||||
|
||||
/// Converts a byte slice into the [Params::Vec] variant
|
||||
impl From<&[u8]> for Params {
|
||||
fn from(val: &[u8]) -> Self {
|
||||
Self::Vec(val.to_vec())
|
||||
}
|
||||
}
|
||||
|
||||
impl From<String> for Params {
|
||||
fn from(val: String) -> Self {
|
||||
Self::String(val)
|
||||
}
|
||||
}
|
||||
|
||||
/// Converts a string slice into the [Params::String] variant
|
||||
impl From<&str> for Params {
|
||||
fn from(val: &str) -> Self {
|
||||
Self::String(val.to_string())
|
||||
}
|
||||
}
|
||||
}
|
||||
|
||||
#[cfg(test)]
|
||||
mod tests {
|
||||
use super::*;
|
||||
|
||||
#[test]
|
||||
fn test_basic_u32_pair() {
|
||||
let u32_pair = U32Pair(4, 8);
|
||||
assert_eq!(u32_pair.0, 4);
|
||||
assert_eq!(u32_pair.1, 8);
|
||||
let raw = u32_pair.to_be_bytes();
|
||||
let mut u32_conv_back = u32::from_be_bytes(raw[0..4].try_into().unwrap());
|
||||
assert_eq!(u32_conv_back, 4);
|
||||
u32_conv_back = u32::from_be_bytes(raw[4..8].try_into().unwrap());
|
||||
assert_eq!(u32_conv_back, 8);
|
||||
}
|
||||
|
||||
#[test]
|
||||
fn basic_signed_test_pair() {
|
||||
let i8_pair = I8Pair(-3, -16);
|
||||
assert_eq!(i8_pair.0, -3);
|
||||
assert_eq!(i8_pair.1, -16);
|
||||
let raw = i8_pair.to_be_bytes();
|
||||
let mut i8_conv_back = i8::from_be_bytes(raw[0..1].try_into().unwrap());
|
||||
assert_eq!(i8_conv_back, -3);
|
||||
i8_conv_back = i8::from_be_bytes(raw[1..2].try_into().unwrap());
|
||||
assert_eq!(i8_conv_back, -16);
|
||||
}
|
||||
|
||||
#[test]
|
||||
fn basic_signed_test_triplet() {
|
||||
let i8_triplet = I8Triplet(-3, -16, -126);
|
||||
assert_eq!(i8_triplet.0, -3);
|
||||
assert_eq!(i8_triplet.1, -16);
|
||||
assert_eq!(i8_triplet.2, -126);
|
||||
let raw = i8_triplet.to_be_bytes();
|
||||
let mut i8_conv_back = i8::from_be_bytes(raw[0..1].try_into().unwrap());
|
||||
assert_eq!(i8_conv_back, -3);
|
||||
i8_conv_back = i8::from_be_bytes(raw[1..2].try_into().unwrap());
|
||||
assert_eq!(i8_conv_back, -16);
|
||||
i8_conv_back = i8::from_be_bytes(raw[2..3].try_into().unwrap());
|
||||
assert_eq!(i8_conv_back, -126);
|
||||
}
|
||||
|
||||
#[test]
|
||||
fn conversion_test_string() {
|
||||
let param: Params = "Test String".into();
|
||||
if let Params::String(str) = param {
|
||||
assert_eq!(str, String::from("Test String"));
|
||||
} else {
|
||||
panic!("Params type is not String")
|
||||
}
|
||||
}
|
||||
|
||||
#[test]
|
||||
fn conversion_from_slice() {
|
||||
let test_slice: [u8; 5] = [0; 5];
|
||||
let vec_param: Params = test_slice.as_slice().into();
|
||||
if let Params::Vec(vec) = vec_param {
|
||||
assert_eq!(vec, test_slice.to_vec());
|
||||
} else {
|
||||
panic!("Params type is not a vector")
|
||||
}
|
||||
}
|
||||
}
|
||||
@ -1,19 +1,12 @@
|
||||
//! # Pool implementation providing memory pools for packet storage.
|
||||
//!
|
||||
//! This module provides generic abstractions for memory pools which provide a storage
|
||||
//! machanism for variable sized data like Telemetry and Telecommand (TMTC) packets. The core
|
||||
//! abstraction for this is the [PoolProvider] trait.
|
||||
//!
|
||||
//! It also contains the [StaticMemoryPool] as a concrete implementation which can be used to avoid
|
||||
//! dynamic run-time allocations for the storage of TMTC packets.
|
||||
//!
|
||||
//! # Example for the [StaticMemoryPool]
|
||||
//!
|
||||
//! ```
|
||||
//! use satrs::pool::{PoolProvider, StaticMemoryPool, StaticPoolConfig};
|
||||
//! use satrs_core::pool::{PoolProvider, StaticMemoryPool, StaticPoolConfig};
|
||||
//!
|
||||
//! // 4 buckets of 4 bytes, 2 of 8 bytes and 1 of 16 bytes
|
||||
//! let pool_cfg = StaticPoolConfig::new(vec![(4, 4), (2, 8), (1, 16)], false);
|
||||
//! let pool_cfg = StaticPoolConfig::new(vec![(4, 4), (2, 8), (1, 16)]);
|
||||
//! let mut local_pool = StaticMemoryPool::new(pool_cfg);
|
||||
//! let mut read_buf: [u8; 16] = [0; 16];
|
||||
//! let mut addr;
|
||||
@ -72,6 +65,7 @@
|
||||
//! }
|
||||
//! ```
|
||||
#[cfg(feature = "alloc")]
|
||||
#[cfg_attr(doc_cfg, doc(cfg(feature = "alloc")))]
|
||||
pub use alloc_mod::*;
|
||||
use core::fmt::{Display, Formatter};
|
||||
use delegate::delegate;
|
||||
@ -82,7 +76,7 @@ use spacepackets::ByteConversionError;
|
||||
use std::error::Error;
|
||||
|
||||
type NumBlocks = u16;
|
||||
pub type PoolAddr = u64;
|
||||
pub type StoreAddr = u64;
|
||||
|
||||
/// Simple address type used for transactions with the local pool.
|
||||
#[derive(Debug, Copy, Clone, PartialEq, Eq)]
|
||||
@ -100,14 +94,14 @@ impl StaticPoolAddr {
|
||||
}
|
||||
}
|
||||
|
||||
impl From<StaticPoolAddr> for PoolAddr {
|
||||
impl From<StaticPoolAddr> for StoreAddr {
|
||||
fn from(value: StaticPoolAddr) -> Self {
|
||||
((value.pool_idx as u64) << 16) | value.packet_idx as u64
|
||||
}
|
||||
}
|
||||
|
||||
impl From<PoolAddr> for StaticPoolAddr {
|
||||
fn from(value: PoolAddr) -> Self {
|
||||
impl From<StoreAddr> for StaticPoolAddr {
|
||||
fn from(value: StoreAddr) -> Self {
|
||||
Self {
|
||||
pool_idx: ((value >> 16) & 0xff) as u16,
|
||||
packet_idx: (value & 0xff) as u16,
|
||||
@ -150,115 +144,113 @@ impl Error for StoreIdError {}
|
||||
|
||||
#[derive(Debug, Clone, PartialEq, Eq)]
|
||||
#[cfg_attr(feature = "serde", derive(Serialize, Deserialize))]
|
||||
pub enum PoolError {
|
||||
pub enum StoreError {
|
||||
/// Requested data block is too large
|
||||
DataTooLarge(usize),
|
||||
/// The store is full. Contains the index of the full subpool
|
||||
StoreFull(u16),
|
||||
/// Store ID is invalid. This also includes partial errors where only the subpool is invalid
|
||||
InvalidStoreId(StoreIdError, Option<PoolAddr>),
|
||||
InvalidStoreId(StoreIdError, Option<StoreAddr>),
|
||||
/// Valid subpool and packet index, but no data is stored at the given address
|
||||
DataDoesNotExist(PoolAddr),
|
||||
DataDoesNotExist(StoreAddr),
|
||||
ByteConversionError(spacepackets::ByteConversionError),
|
||||
LockError,
|
||||
/// Internal or configuration errors
|
||||
InternalError(u32),
|
||||
}
|
||||
|
||||
impl Display for PoolError {
|
||||
impl Display for StoreError {
|
||||
fn fmt(&self, f: &mut Formatter<'_>) -> core::fmt::Result {
|
||||
match self {
|
||||
PoolError::DataTooLarge(size) => {
|
||||
StoreError::DataTooLarge(size) => {
|
||||
write!(f, "data to store with size {size} is too large")
|
||||
}
|
||||
PoolError::StoreFull(u16) => {
|
||||
StoreError::StoreFull(u16) => {
|
||||
write!(f, "store is too full. index for full subpool: {u16}")
|
||||
}
|
||||
PoolError::InvalidStoreId(id_e, addr) => {
|
||||
StoreError::InvalidStoreId(id_e, addr) => {
|
||||
write!(f, "invalid store ID: {id_e}, address: {addr:?}")
|
||||
}
|
||||
PoolError::DataDoesNotExist(addr) => {
|
||||
StoreError::DataDoesNotExist(addr) => {
|
||||
write!(f, "no data exists at address {addr:?}")
|
||||
}
|
||||
PoolError::InternalError(e) => {
|
||||
StoreError::InternalError(e) => {
|
||||
write!(f, "internal error: {e}")
|
||||
}
|
||||
PoolError::ByteConversionError(e) => {
|
||||
StoreError::ByteConversionError(e) => {
|
||||
write!(f, "store error: {e}")
|
||||
}
|
||||
PoolError::LockError => {
|
||||
StoreError::LockError => {
|
||||
write!(f, "lock error")
|
||||
}
|
||||
}
|
||||
}
|
||||
}
|
||||
|
||||
impl From<ByteConversionError> for PoolError {
|
||||
impl From<ByteConversionError> for StoreError {
|
||||
fn from(value: ByteConversionError) -> Self {
|
||||
Self::ByteConversionError(value)
|
||||
}
|
||||
}
|
||||
|
||||
#[cfg(feature = "std")]
|
||||
impl Error for PoolError {
|
||||
impl Error for StoreError {
|
||||
fn source(&self) -> Option<&(dyn Error + 'static)> {
|
||||
if let PoolError::InvalidStoreId(e, _) = self {
|
||||
if let StoreError::InvalidStoreId(e, _) = self {
|
||||
return Some(e);
|
||||
}
|
||||
None
|
||||
}
|
||||
}
|
||||
|
||||
/// Generic trait for pool providers which provide memory pools for variable sized data.
|
||||
///
|
||||
/// It specifies a basic API to [Self::add], [Self::modify], [Self::read] and [Self::delete] data
|
||||
/// in the store at its core. The API was designed so internal optimizations can be performed
|
||||
/// more easily and that is is also possible to make the pool structure [Sync] without the whole
|
||||
/// pool structure being wrapped inside a lock.
|
||||
/// Generic trait for pool providers where the data can be modified and read in-place. This
|
||||
/// generally means that a shared pool structure has to be wrapped inside a lock structure.
|
||||
pub trait PoolProvider {
|
||||
/// Add new data to the pool. The provider should attempt to reserve a memory block with the
|
||||
/// appropriate size and then copy the given data to the block. Yields a [PoolAddr] which can
|
||||
/// appropriate size and then copy the given data to the block. Yields a [StoreAddr] which can
|
||||
/// be used to access the data stored in the pool
|
||||
fn add(&mut self, data: &[u8]) -> Result<PoolAddr, PoolError>;
|
||||
fn add(&mut self, data: &[u8]) -> Result<StoreAddr, StoreError>;
|
||||
|
||||
/// The provider should attempt to reserve a free memory block with the appropriate size first.
|
||||
/// It then executes a user-provided closure and passes a mutable reference to that memory
|
||||
/// block to the closure. This allows the user to write data to the memory block.
|
||||
/// The function should yield a [PoolAddr] which can be used to access the data stored in the
|
||||
/// The function should yield a [StoreAddr] which can be used to access the data stored in the
|
||||
/// pool.
|
||||
fn free_element<W: FnMut(&mut [u8])>(
|
||||
&mut self,
|
||||
len: usize,
|
||||
writer: W,
|
||||
) -> Result<PoolAddr, PoolError>;
|
||||
) -> Result<StoreAddr, StoreError>;
|
||||
|
||||
/// Modify data added previously using a given [PoolAddr]. The provider should use the store
|
||||
/// Modify data added previously using a given [StoreAddr]. The provider should use the store
|
||||
/// address to determine if a memory block exists for that address. If it does, it should
|
||||
/// call the user-provided closure and pass a mutable reference to the memory block
|
||||
/// to the closure. This allows the user to modify the memory block.
|
||||
fn modify<U: FnMut(&mut [u8])>(&mut self, addr: &PoolAddr, updater: U)
|
||||
-> Result<(), PoolError>;
|
||||
fn modify<U: FnMut(&mut [u8])>(
|
||||
&mut self,
|
||||
addr: &StoreAddr,
|
||||
updater: U,
|
||||
) -> Result<(), StoreError>;
|
||||
|
||||
/// The provider should copy the data from the memory block to the user-provided buffer if
|
||||
/// it exists.
|
||||
fn read(&self, addr: &PoolAddr, buf: &mut [u8]) -> Result<usize, PoolError>;
|
||||
fn read(&self, addr: &StoreAddr, buf: &mut [u8]) -> Result<usize, StoreError>;
|
||||
|
||||
/// Delete data inside the pool given a [PoolAddr].
|
||||
fn delete(&mut self, addr: PoolAddr) -> Result<(), PoolError>;
|
||||
fn has_element_at(&self, addr: &PoolAddr) -> Result<bool, PoolError>;
|
||||
/// Delete data inside the pool given a [StoreAddr].
|
||||
fn delete(&mut self, addr: StoreAddr) -> Result<(), StoreError>;
|
||||
fn has_element_at(&self, addr: &StoreAddr) -> Result<bool, StoreError>;
|
||||
|
||||
/// Retrieve the length of the data at the given store address.
|
||||
fn len_of_data(&self, addr: &PoolAddr) -> Result<usize, PoolError>;
|
||||
fn len_of_data(&self, addr: &StoreAddr) -> Result<usize, StoreError>;
|
||||
|
||||
#[cfg(feature = "alloc")]
|
||||
fn read_as_vec(&self, addr: &PoolAddr) -> Result<alloc::vec::Vec<u8>, PoolError> {
|
||||
fn read_as_vec(&self, addr: &StoreAddr) -> Result<alloc::vec::Vec<u8>, StoreError> {
|
||||
let mut vec = alloc::vec![0; self.len_of_data(addr)?];
|
||||
self.read(addr, &mut vec)?;
|
||||
Ok(vec)
|
||||
}
|
||||
}
|
||||
|
||||
/// Extension trait which adds guarded pool access classes.
|
||||
pub trait PoolProviderWithGuards: PoolProvider {
|
||||
/// This function behaves like [PoolProvider::read], but consumes the provided address
|
||||
/// and returns a RAII conformant guard object.
|
||||
@ -268,7 +260,7 @@ pub trait PoolProviderWithGuards: PoolProvider {
|
||||
/// This can prevent memory leaks. Users can read the data and release the guard
|
||||
/// if the data in the store is valid for further processing. If the data is faulty, no
|
||||
/// manual deletion is necessary when returning from a processing function prematurely.
|
||||
fn read_with_guard(&mut self, addr: PoolAddr) -> PoolGuard<Self>;
|
||||
fn read_with_guard(&mut self, addr: StoreAddr) -> PoolGuard<Self>;
|
||||
|
||||
/// This function behaves like [PoolProvider::modify], but consumes the provided
|
||||
/// address and returns a RAII conformant guard object.
|
||||
@ -278,20 +270,19 @@ pub trait PoolProviderWithGuards: PoolProvider {
|
||||
/// This can prevent memory leaks. Users can read (and modify) the data and release the guard
|
||||
/// if the data in the store is valid for further processing. If the data is faulty, no
|
||||
/// manual deletion is necessary when returning from a processing function prematurely.
|
||||
fn modify_with_guard(&mut self, addr: PoolAddr) -> PoolRwGuard<Self>;
|
||||
fn modify_with_guard(&mut self, addr: StoreAddr) -> PoolRwGuard<Self>;
|
||||
}
|
||||
|
||||
pub struct PoolGuard<'a, MemProvider: PoolProvider + ?Sized> {
|
||||
pool: &'a mut MemProvider,
|
||||
pub addr: PoolAddr,
|
||||
pub addr: StoreAddr,
|
||||
no_deletion: bool,
|
||||
deletion_failed_error: Option<PoolError>,
|
||||
deletion_failed_error: Option<StoreError>,
|
||||
}
|
||||
|
||||
/// This helper object can be used to safely access pool data without worrying about memory
|
||||
/// leaks.
|
||||
/// This helper object
|
||||
impl<'a, MemProvider: PoolProvider> PoolGuard<'a, MemProvider> {
|
||||
pub fn new(pool: &'a mut MemProvider, addr: PoolAddr) -> Self {
|
||||
pub fn new(pool: &'a mut MemProvider, addr: StoreAddr) -> Self {
|
||||
Self {
|
||||
pool,
|
||||
addr,
|
||||
@ -300,12 +291,12 @@ impl<'a, MemProvider: PoolProvider> PoolGuard<'a, MemProvider> {
|
||||
}
|
||||
}
|
||||
|
||||
pub fn read(&self, buf: &mut [u8]) -> Result<usize, PoolError> {
|
||||
pub fn read(&self, buf: &mut [u8]) -> Result<usize, StoreError> {
|
||||
self.pool.read(&self.addr, buf)
|
||||
}
|
||||
|
||||
#[cfg(feature = "alloc")]
|
||||
pub fn read_as_vec(&self) -> Result<alloc::vec::Vec<u8>, PoolError> {
|
||||
pub fn read_as_vec(&self) -> Result<alloc::vec::Vec<u8>, StoreError> {
|
||||
self.pool.read_as_vec(&self.addr)
|
||||
}
|
||||
|
||||
@ -331,19 +322,19 @@ pub struct PoolRwGuard<'a, MemProvider: PoolProvider + ?Sized> {
|
||||
}
|
||||
|
||||
impl<'a, MemProvider: PoolProvider> PoolRwGuard<'a, MemProvider> {
|
||||
pub fn new(pool: &'a mut MemProvider, addr: PoolAddr) -> Self {
|
||||
pub fn new(pool: &'a mut MemProvider, addr: StoreAddr) -> Self {
|
||||
Self {
|
||||
guard: PoolGuard::new(pool, addr),
|
||||
}
|
||||
}
|
||||
|
||||
pub fn update<U: FnMut(&mut [u8])>(&mut self, updater: &mut U) -> Result<(), PoolError> {
|
||||
pub fn update<U: FnMut(&mut [u8])>(&mut self, updater: &mut U) -> Result<(), StoreError> {
|
||||
self.guard.pool.modify(&self.guard.addr, updater)
|
||||
}
|
||||
|
||||
delegate!(
|
||||
to self.guard {
|
||||
pub fn read(&self, buf: &mut [u8]) -> Result<usize, PoolError>;
|
||||
pub fn read(&self, buf: &mut [u8]) -> Result<usize, StoreError>;
|
||||
/// Releasing the pool guard will disable the automatic deletion of the data when the guard
|
||||
/// is dropped.
|
||||
pub fn release(&mut self);
|
||||
@ -354,7 +345,7 @@ impl<'a, MemProvider: PoolProvider> PoolRwGuard<'a, MemProvider> {
|
||||
#[cfg(feature = "alloc")]
|
||||
mod alloc_mod {
|
||||
use super::{PoolGuard, PoolProvider, PoolProviderWithGuards, PoolRwGuard, StaticPoolAddr};
|
||||
use crate::pool::{NumBlocks, PoolAddr, PoolError, StoreIdError};
|
||||
use crate::pool::{NumBlocks, StoreAddr, StoreError, StoreIdError};
|
||||
use alloc::vec;
|
||||
use alloc::vec::Vec;
|
||||
use spacepackets::ByteConversionError;
|
||||
@ -372,24 +363,16 @@ mod alloc_mod {
|
||||
///
|
||||
/// # Parameters
|
||||
///
|
||||
/// * `cfg` - Vector of tuples which represent a subpool. The first entry in the tuple specifies
|
||||
/// the number of memory blocks in the subpool, the second entry the size of the blocks
|
||||
/// * `spill_to_higher_subpools` - Specifies whether data will be spilled to higher subpools
|
||||
/// if the next fitting subpool is full. This is useful to ensure the pool remains useful
|
||||
/// for all data sizes as long as possible. However, an undesirable side-effect might be
|
||||
/// the chocking of larger subpools by underdimensioned smaller subpools.
|
||||
/// * `cfg`: Vector of tuples which represent a subpool. The first entry in the tuple specifies the
|
||||
/// number of memory blocks in the subpool, the second entry the size of the blocks
|
||||
#[derive(Clone)]
|
||||
pub struct StaticPoolConfig {
|
||||
cfg: Vec<(NumBlocks, usize)>,
|
||||
spill_to_higher_subpools: bool,
|
||||
}
|
||||
|
||||
impl StaticPoolConfig {
|
||||
pub fn new(cfg: Vec<(NumBlocks, usize)>, spill_to_higher_subpools: bool) -> Self {
|
||||
StaticPoolConfig {
|
||||
cfg,
|
||||
spill_to_higher_subpools,
|
||||
}
|
||||
pub fn new(cfg: Vec<(NumBlocks, usize)>) -> Self {
|
||||
StaticPoolConfig { cfg }
|
||||
}
|
||||
|
||||
pub fn cfg(&self) -> &Vec<(NumBlocks, usize)> {
|
||||
@ -407,21 +390,16 @@ mod alloc_mod {
|
||||
|
||||
/// Pool implementation providing sub-pools with fixed size memory blocks.
|
||||
///
|
||||
/// This is a simple memory pool implementation which pre-allocates all subpools using a given
|
||||
/// pool configuration. After the pre-allocation, no dynamic memory allocation will be
|
||||
/// performed during run-time. This makes the implementation suitable for real-time
|
||||
/// applications and embedded environments.
|
||||
///
|
||||
/// The subpool bucket sizes only denote the maximum possible data size being stored inside
|
||||
/// them and the pool implementation will still track the size of the data stored inside it.
|
||||
/// The implementation will generally determine the best fitting subpool for given data to
|
||||
/// add. Currently, the pool does not support spilling to larger subpools if the closest
|
||||
/// fitting subpool is full. This might be added in the future.
|
||||
/// This is a simple memory pool implementation which pre-allocates all sub-pools using a given pool
|
||||
/// configuration. After the pre-allocation, no dynamic memory allocation will be performed
|
||||
/// during run-time. This makes the implementation suitable for real-time applications and
|
||||
/// embedded environments. The pool implementation will also track the size of the data stored
|
||||
/// inside it.
|
||||
///
|
||||
/// Transactions with the [pool][StaticMemoryPool] are done using a generic
|
||||
/// [address][PoolAddr] type. Adding any data to the pool will yield a store address.
|
||||
/// Modification and read operations are done using a reference to a store address. Deletion
|
||||
/// will consume the store address.
|
||||
/// [address][StoreAddr] type.
|
||||
/// Adding any data to the pool will yield a store address. Modification and read operations are
|
||||
/// done using a reference to a store address. Deletion will consume the store address.
|
||||
pub struct StaticMemoryPool {
|
||||
pool_cfg: StaticPoolConfig,
|
||||
pool: Vec<Vec<u8>>,
|
||||
@ -449,46 +427,36 @@ mod alloc_mod {
|
||||
local_pool
|
||||
}
|
||||
|
||||
fn addr_check(&self, addr: &StaticPoolAddr) -> Result<usize, PoolError> {
|
||||
fn addr_check(&self, addr: &StaticPoolAddr) -> Result<usize, StoreError> {
|
||||
self.validate_addr(addr)?;
|
||||
let pool_idx = addr.pool_idx as usize;
|
||||
let size_list = self.sizes_lists.get(pool_idx).unwrap();
|
||||
let curr_size = size_list[addr.packet_idx as usize];
|
||||
if curr_size == STORE_FREE {
|
||||
return Err(PoolError::DataDoesNotExist(PoolAddr::from(*addr)));
|
||||
return Err(StoreError::DataDoesNotExist(StoreAddr::from(*addr)));
|
||||
}
|
||||
Ok(curr_size)
|
||||
}
|
||||
|
||||
fn validate_addr(&self, addr: &StaticPoolAddr) -> Result<(), PoolError> {
|
||||
fn validate_addr(&self, addr: &StaticPoolAddr) -> Result<(), StoreError> {
|
||||
let pool_idx = addr.pool_idx as usize;
|
||||
if pool_idx >= self.pool_cfg.cfg.len() {
|
||||
return Err(PoolError::InvalidStoreId(
|
||||
return Err(StoreError::InvalidStoreId(
|
||||
StoreIdError::InvalidSubpool(addr.pool_idx),
|
||||
Some(PoolAddr::from(*addr)),
|
||||
Some(StoreAddr::from(*addr)),
|
||||
));
|
||||
}
|
||||
if addr.packet_idx >= self.pool_cfg.cfg[addr.pool_idx as usize].0 {
|
||||
return Err(PoolError::InvalidStoreId(
|
||||
return Err(StoreError::InvalidStoreId(
|
||||
StoreIdError::InvalidPacketIdx(addr.packet_idx),
|
||||
Some(PoolAddr::from(*addr)),
|
||||
Some(StoreAddr::from(*addr)),
|
||||
));
|
||||
}
|
||||
Ok(())
|
||||
}
|
||||
|
||||
fn reserve(&mut self, data_len: usize) -> Result<StaticPoolAddr, PoolError> {
|
||||
let mut subpool_idx = self.find_subpool(data_len, 0)?;
|
||||
|
||||
if self.pool_cfg.spill_to_higher_subpools {
|
||||
while let Err(PoolError::StoreFull(_)) = self.find_empty(subpool_idx) {
|
||||
if (subpool_idx + 1) as usize == self.sizes_lists.len() {
|
||||
return Err(PoolError::StoreFull(subpool_idx));
|
||||
}
|
||||
subpool_idx += 1;
|
||||
}
|
||||
}
|
||||
|
||||
fn reserve(&mut self, data_len: usize) -> Result<StaticPoolAddr, StoreError> {
|
||||
let subpool_idx = self.find_subpool(data_len, 0)?;
|
||||
let (slot, size_slot_ref) = self.find_empty(subpool_idx)?;
|
||||
*size_slot_ref = data_len;
|
||||
Ok(StaticPoolAddr {
|
||||
@ -497,7 +465,7 @@ mod alloc_mod {
|
||||
})
|
||||
}
|
||||
|
||||
fn find_subpool(&self, req_size: usize, start_at_subpool: u16) -> Result<u16, PoolError> {
|
||||
fn find_subpool(&self, req_size: usize, start_at_subpool: u16) -> Result<u16, StoreError> {
|
||||
for (i, &(_, elem_size)) in self.pool_cfg.cfg.iter().enumerate() {
|
||||
if i < start_at_subpool as usize {
|
||||
continue;
|
||||
@ -506,21 +474,21 @@ mod alloc_mod {
|
||||
return Ok(i as u16);
|
||||
}
|
||||
}
|
||||
Err(PoolError::DataTooLarge(req_size))
|
||||
Err(StoreError::DataTooLarge(req_size))
|
||||
}
|
||||
|
||||
fn write(&mut self, addr: &StaticPoolAddr, data: &[u8]) -> Result<(), PoolError> {
|
||||
let packet_pos = self.raw_pos(addr).ok_or(PoolError::InternalError(0))?;
|
||||
fn write(&mut self, addr: &StaticPoolAddr, data: &[u8]) -> Result<(), StoreError> {
|
||||
let packet_pos = self.raw_pos(addr).ok_or(StoreError::InternalError(0))?;
|
||||
let subpool = self
|
||||
.pool
|
||||
.get_mut(addr.pool_idx as usize)
|
||||
.ok_or(PoolError::InternalError(1))?;
|
||||
.ok_or(StoreError::InternalError(1))?;
|
||||
let pool_slice = &mut subpool[packet_pos..packet_pos + data.len()];
|
||||
pool_slice.copy_from_slice(data);
|
||||
Ok(())
|
||||
}
|
||||
|
||||
fn find_empty(&mut self, subpool: u16) -> Result<(u16, &mut usize), PoolError> {
|
||||
fn find_empty(&mut self, subpool: u16) -> Result<(u16, &mut usize), StoreError> {
|
||||
if let Some(size_list) = self.sizes_lists.get_mut(subpool as usize) {
|
||||
for (i, elem_size) in size_list.iter_mut().enumerate() {
|
||||
if *elem_size == STORE_FREE {
|
||||
@ -528,12 +496,12 @@ mod alloc_mod {
|
||||
}
|
||||
}
|
||||
} else {
|
||||
return Err(PoolError::InvalidStoreId(
|
||||
return Err(StoreError::InvalidStoreId(
|
||||
StoreIdError::InvalidSubpool(subpool),
|
||||
None,
|
||||
));
|
||||
}
|
||||
Err(PoolError::StoreFull(subpool))
|
||||
Err(StoreError::StoreFull(subpool))
|
||||
}
|
||||
|
||||
fn raw_pos(&self, addr: &StaticPoolAddr) -> Option<usize> {
|
||||
@ -543,10 +511,10 @@ mod alloc_mod {
|
||||
}
|
||||
|
||||
impl PoolProvider for StaticMemoryPool {
|
||||
fn add(&mut self, data: &[u8]) -> Result<PoolAddr, PoolError> {
|
||||
fn add(&mut self, data: &[u8]) -> Result<StoreAddr, StoreError> {
|
||||
let data_len = data.len();
|
||||
if data_len > POOL_MAX_SIZE {
|
||||
return Err(PoolError::DataTooLarge(data_len));
|
||||
return Err(StoreError::DataTooLarge(data_len));
|
||||
}
|
||||
let addr = self.reserve(data_len)?;
|
||||
self.write(&addr, data)?;
|
||||
@ -557,9 +525,9 @@ mod alloc_mod {
|
||||
&mut self,
|
||||
len: usize,
|
||||
mut writer: W,
|
||||
) -> Result<PoolAddr, PoolError> {
|
||||
) -> Result<StoreAddr, StoreError> {
|
||||
if len > POOL_MAX_SIZE {
|
||||
return Err(PoolError::DataTooLarge(len));
|
||||
return Err(StoreError::DataTooLarge(len));
|
||||
}
|
||||
let addr = self.reserve(len)?;
|
||||
let raw_pos = self.raw_pos(&addr).unwrap();
|
||||
@ -571,9 +539,9 @@ mod alloc_mod {
|
||||
|
||||
fn modify<U: FnMut(&mut [u8])>(
|
||||
&mut self,
|
||||
addr: &PoolAddr,
|
||||
addr: &StoreAddr,
|
||||
mut updater: U,
|
||||
) -> Result<(), PoolError> {
|
||||
) -> Result<(), StoreError> {
|
||||
let addr = StaticPoolAddr::from(*addr);
|
||||
let curr_size = self.addr_check(&addr)?;
|
||||
let raw_pos = self.raw_pos(&addr).unwrap();
|
||||
@ -583,7 +551,7 @@ mod alloc_mod {
|
||||
Ok(())
|
||||
}
|
||||
|
||||
fn read(&self, addr: &PoolAddr, buf: &mut [u8]) -> Result<usize, PoolError> {
|
||||
fn read(&self, addr: &StoreAddr, buf: &mut [u8]) -> Result<usize, StoreError> {
|
||||
let addr = StaticPoolAddr::from(*addr);
|
||||
let curr_size = self.addr_check(&addr)?;
|
||||
if buf.len() < curr_size {
|
||||
@ -601,7 +569,7 @@ mod alloc_mod {
|
||||
Ok(curr_size)
|
||||
}
|
||||
|
||||
fn delete(&mut self, addr: PoolAddr) -> Result<(), PoolError> {
|
||||
fn delete(&mut self, addr: StoreAddr) -> Result<(), StoreError> {
|
||||
let addr = StaticPoolAddr::from(addr);
|
||||
self.addr_check(&addr)?;
|
||||
let block_size = self.pool_cfg.cfg.get(addr.pool_idx as usize).unwrap().1;
|
||||
@ -614,7 +582,7 @@ mod alloc_mod {
|
||||
Ok(())
|
||||
}
|
||||
|
||||
fn has_element_at(&self, addr: &PoolAddr) -> Result<bool, PoolError> {
|
||||
fn has_element_at(&self, addr: &StoreAddr) -> Result<bool, StoreError> {
|
||||
let addr = StaticPoolAddr::from(*addr);
|
||||
self.validate_addr(&addr)?;
|
||||
let pool_idx = addr.pool_idx as usize;
|
||||
@ -626,7 +594,7 @@ mod alloc_mod {
|
||||
Ok(true)
|
||||
}
|
||||
|
||||
fn len_of_data(&self, addr: &PoolAddr) -> Result<usize, PoolError> {
|
||||
fn len_of_data(&self, addr: &StoreAddr) -> Result<usize, StoreError> {
|
||||
let addr = StaticPoolAddr::from(*addr);
|
||||
self.validate_addr(&addr)?;
|
||||
let pool_idx = addr.pool_idx as usize;
|
||||
@ -640,11 +608,11 @@ mod alloc_mod {
|
||||
}
|
||||
|
||||
impl PoolProviderWithGuards for StaticMemoryPool {
|
||||
fn modify_with_guard(&mut self, addr: PoolAddr) -> PoolRwGuard<Self> {
|
||||
fn modify_with_guard(&mut self, addr: StoreAddr) -> PoolRwGuard<Self> {
|
||||
PoolRwGuard::new(self, addr)
|
||||
}
|
||||
|
||||
fn read_with_guard(&mut self, addr: PoolAddr) -> PoolGuard<Self> {
|
||||
fn read_with_guard(&mut self, addr: StoreAddr) -> PoolGuard<Self> {
|
||||
PoolGuard::new(self, addr)
|
||||
}
|
||||
}
|
||||
@ -653,29 +621,29 @@ mod alloc_mod {
|
||||
#[cfg(test)]
|
||||
mod tests {
|
||||
use crate::pool::{
|
||||
PoolError, PoolGuard, PoolProvider, PoolProviderWithGuards, PoolRwGuard, StaticMemoryPool,
|
||||
StaticPoolAddr, StaticPoolConfig, StoreIdError, POOL_MAX_SIZE,
|
||||
PoolGuard, PoolProvider, PoolProviderWithGuards, PoolRwGuard, StaticMemoryPool,
|
||||
StaticPoolAddr, StaticPoolConfig, StoreError, StoreIdError, POOL_MAX_SIZE,
|
||||
};
|
||||
use std::vec;
|
||||
|
||||
fn basic_small_pool() -> StaticMemoryPool {
|
||||
// 4 buckets of 4 bytes, 2 of 8 bytes and 1 of 16 bytes
|
||||
let pool_cfg = StaticPoolConfig::new(vec![(4, 4), (2, 8), (1, 16)], false);
|
||||
let pool_cfg = StaticPoolConfig::new(vec![(4, 4), (2, 8), (1, 16)]);
|
||||
StaticMemoryPool::new(pool_cfg)
|
||||
}
|
||||
|
||||
#[test]
|
||||
fn test_cfg() {
|
||||
// Values where number of buckets is 0 or size is too large should be removed
|
||||
let mut pool_cfg = StaticPoolConfig::new(vec![(0, 0), (1, 0), (2, POOL_MAX_SIZE)], false);
|
||||
let mut pool_cfg = StaticPoolConfig::new(vec![(0, 0), (1, 0), (2, POOL_MAX_SIZE)]);
|
||||
pool_cfg.sanitize();
|
||||
assert_eq!(*pool_cfg.cfg(), vec![(1, 0)]);
|
||||
// Entries should be ordered according to bucket size
|
||||
pool_cfg = StaticPoolConfig::new(vec![(16, 6), (32, 3), (8, 12)], false);
|
||||
pool_cfg = StaticPoolConfig::new(vec![(16, 6), (32, 3), (8, 12)]);
|
||||
pool_cfg.sanitize();
|
||||
assert_eq!(*pool_cfg.cfg(), vec![(32, 3), (16, 6), (8, 12)]);
|
||||
// Unstable sort is used, so order of entries with same block length should not matter
|
||||
pool_cfg = StaticPoolConfig::new(vec![(12, 12), (14, 16), (10, 12)], false);
|
||||
pool_cfg = StaticPoolConfig::new(vec![(12, 12), (14, 16), (10, 12)]);
|
||||
pool_cfg.sanitize();
|
||||
assert!(
|
||||
*pool_cfg.cfg() == vec![(12, 12), (10, 12), (14, 16)]
|
||||
@ -778,7 +746,7 @@ mod tests {
|
||||
let res = local_pool.free_element(8, |_| {});
|
||||
assert!(res.is_err());
|
||||
let err = res.unwrap_err();
|
||||
assert_eq!(err, PoolError::StoreFull(1));
|
||||
assert_eq!(err, StoreError::StoreFull(1));
|
||||
|
||||
// Verify that the two deletions are successful
|
||||
assert!(local_pool.delete(addr0).is_ok());
|
||||
@ -800,7 +768,7 @@ mod tests {
|
||||
assert!(res.is_err());
|
||||
assert!(matches!(
|
||||
res.unwrap_err(),
|
||||
PoolError::DataDoesNotExist { .. }
|
||||
StoreError::DataDoesNotExist { .. }
|
||||
));
|
||||
}
|
||||
|
||||
@ -813,8 +781,8 @@ mod tests {
|
||||
let res = local_pool.add(&test_buf);
|
||||
assert!(res.is_err());
|
||||
let err = res.unwrap_err();
|
||||
assert!(matches!(err, PoolError::StoreFull { .. }));
|
||||
if let PoolError::StoreFull(subpool) = err {
|
||||
assert!(matches!(err, StoreError::StoreFull { .. }));
|
||||
if let StoreError::StoreFull(subpool) = err {
|
||||
assert_eq!(subpool, 2);
|
||||
}
|
||||
}
|
||||
@ -832,7 +800,7 @@ mod tests {
|
||||
let err = res.unwrap_err();
|
||||
assert!(matches!(
|
||||
err,
|
||||
PoolError::InvalidStoreId(StoreIdError::InvalidSubpool(3), Some(_))
|
||||
StoreError::InvalidStoreId(StoreIdError::InvalidSubpool(3), Some(_))
|
||||
));
|
||||
}
|
||||
|
||||
@ -849,7 +817,7 @@ mod tests {
|
||||
let err = res.unwrap_err();
|
||||
assert!(matches!(
|
||||
err,
|
||||
PoolError::InvalidStoreId(StoreIdError::InvalidPacketIdx(1), Some(_))
|
||||
StoreError::InvalidStoreId(StoreIdError::InvalidPacketIdx(1), Some(_))
|
||||
));
|
||||
}
|
||||
|
||||
@ -860,7 +828,7 @@ mod tests {
|
||||
let res = local_pool.add(&data_too_large);
|
||||
assert!(res.is_err());
|
||||
let err = res.unwrap_err();
|
||||
assert_eq!(err, PoolError::DataTooLarge(20));
|
||||
assert_eq!(err, StoreError::DataTooLarge(20));
|
||||
}
|
||||
|
||||
#[test]
|
||||
@ -868,7 +836,10 @@ mod tests {
|
||||
let mut local_pool = basic_small_pool();
|
||||
let res = local_pool.free_element(POOL_MAX_SIZE + 1, |_| {});
|
||||
assert!(res.is_err());
|
||||
assert_eq!(res.unwrap_err(), PoolError::DataTooLarge(POOL_MAX_SIZE + 1));
|
||||
assert_eq!(
|
||||
res.unwrap_err(),
|
||||
StoreError::DataTooLarge(POOL_MAX_SIZE + 1)
|
||||
);
|
||||
}
|
||||
|
||||
#[test]
|
||||
@ -877,7 +848,7 @@ mod tests {
|
||||
// Try to request a slot which is too large
|
||||
let res = local_pool.free_element(20, |_| {});
|
||||
assert!(res.is_err());
|
||||
assert_eq!(res.unwrap_err(), PoolError::DataTooLarge(20));
|
||||
assert_eq!(res.unwrap_err(), StoreError::DataTooLarge(20));
|
||||
}
|
||||
|
||||
#[test]
|
||||
@ -965,72 +936,4 @@ mod tests {
|
||||
})
|
||||
.expect("Modifying data failed");
|
||||
}
|
||||
|
||||
#[test]
|
||||
fn test_spills_to_higher_subpools() {
|
||||
let pool_cfg = StaticPoolConfig::new(vec![(2, 8), (2, 16)], true);
|
||||
let mut local_pool = StaticMemoryPool::new(pool_cfg);
|
||||
local_pool.free_element(8, |_| {}).unwrap();
|
||||
local_pool.free_element(8, |_| {}).unwrap();
|
||||
let mut in_larger_subpool_now = local_pool.free_element(8, |_| {});
|
||||
assert!(in_larger_subpool_now.is_ok());
|
||||
let generic_addr = in_larger_subpool_now.unwrap();
|
||||
let pool_addr = StaticPoolAddr::from(generic_addr);
|
||||
assert_eq!(pool_addr.pool_idx, 1);
|
||||
assert_eq!(pool_addr.packet_idx, 0);
|
||||
assert!(local_pool.has_element_at(&generic_addr).unwrap());
|
||||
in_larger_subpool_now = local_pool.free_element(8, |_| {});
|
||||
assert!(in_larger_subpool_now.is_ok());
|
||||
let generic_addr = in_larger_subpool_now.unwrap();
|
||||
let pool_addr = StaticPoolAddr::from(generic_addr);
|
||||
assert_eq!(pool_addr.pool_idx, 1);
|
||||
assert_eq!(pool_addr.packet_idx, 1);
|
||||
assert!(local_pool.has_element_at(&generic_addr).unwrap());
|
||||
}
|
||||
|
||||
#[test]
|
||||
fn test_spillage_fails_as_well() {
|
||||
let pool_cfg = StaticPoolConfig::new(vec![(1, 8), (1, 16)], true);
|
||||
let mut local_pool = StaticMemoryPool::new(pool_cfg);
|
||||
local_pool.free_element(8, |_| {}).unwrap();
|
||||
local_pool.free_element(8, |_| {}).unwrap();
|
||||
let should_fail = local_pool.free_element(8, |_| {});
|
||||
assert!(should_fail.is_err());
|
||||
if let Err(err) = should_fail {
|
||||
assert_eq!(err, PoolError::StoreFull(1));
|
||||
} else {
|
||||
panic!("unexpected store address");
|
||||
}
|
||||
}
|
||||
|
||||
#[test]
|
||||
fn test_spillage_works_across_multiple_subpools() {
|
||||
let pool_cfg = StaticPoolConfig::new(vec![(1, 8), (1, 12), (1, 16)], true);
|
||||
let mut local_pool = StaticMemoryPool::new(pool_cfg);
|
||||
local_pool.free_element(8, |_| {}).unwrap();
|
||||
local_pool.free_element(12, |_| {}).unwrap();
|
||||
let in_larger_subpool_now = local_pool.free_element(8, |_| {});
|
||||
assert!(in_larger_subpool_now.is_ok());
|
||||
let generic_addr = in_larger_subpool_now.unwrap();
|
||||
let pool_addr = StaticPoolAddr::from(generic_addr);
|
||||
assert_eq!(pool_addr.pool_idx, 2);
|
||||
assert_eq!(pool_addr.packet_idx, 0);
|
||||
assert!(local_pool.has_element_at(&generic_addr).unwrap());
|
||||
}
|
||||
|
||||
#[test]
|
||||
fn test_spillage_fails_across_multiple_subpools() {
|
||||
let pool_cfg = StaticPoolConfig::new(vec![(1, 8), (1, 12), (1, 16)], true);
|
||||
let mut local_pool = StaticMemoryPool::new(pool_cfg);
|
||||
local_pool.free_element(8, |_| {}).unwrap();
|
||||
local_pool.free_element(12, |_| {}).unwrap();
|
||||
local_pool.free_element(16, |_| {}).unwrap();
|
||||
let should_fail = local_pool.free_element(8, |_| {});
|
||||
assert!(should_fail.is_err());
|
||||
if let Err(err) = should_fail {
|
||||
assert_eq!(err, PoolError::StoreFull(2));
|
||||
} else {
|
||||
panic!("unexpected store address");
|
||||
}
|
||||
}
|
||||
}
|
||||
@ -24,42 +24,6 @@ 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.
|
||||
@ -1,129 +1,153 @@
|
||||
use crate::pus::source_buffer_large_enough;
|
||||
use crate::pus::{source_buffer_large_enough, EcssTmtcError};
|
||||
use spacepackets::ecss::tm::PusTmCreator;
|
||||
use spacepackets::ecss::tm::PusTmSecondaryHeader;
|
||||
use spacepackets::ecss::EcssEnumeration;
|
||||
use spacepackets::ByteConversionError;
|
||||
use spacepackets::ecss::{EcssEnumeration, PusError};
|
||||
use spacepackets::{SpHeader, MAX_APID};
|
||||
|
||||
use crate::pus::EcssTmSenderCore;
|
||||
#[cfg(feature = "alloc")]
|
||||
pub use alloc_mod::*;
|
||||
|
||||
pub use alloc_mod::EventReporter;
|
||||
pub use spacepackets::ecss::event::*;
|
||||
|
||||
pub struct EventReportCreator {
|
||||
pub struct EventReporterBase {
|
||||
msg_count: u16,
|
||||
apid: u16,
|
||||
pub dest_id: u16,
|
||||
}
|
||||
|
||||
impl EventReportCreator {
|
||||
pub fn new(apid: u16, dest_id: u16) -> Option<Self> {
|
||||
impl EventReporterBase {
|
||||
pub fn new(apid: u16) -> Option<Self> {
|
||||
if apid > MAX_APID {
|
||||
return None;
|
||||
}
|
||||
Some(Self { dest_id, apid })
|
||||
Some(Self {
|
||||
msg_count: 0,
|
||||
dest_id: 0,
|
||||
apid,
|
||||
})
|
||||
}
|
||||
|
||||
pub fn event_info<'time, 'src_data>(
|
||||
&self,
|
||||
time_stamp: &'time [u8],
|
||||
pub fn event_info(
|
||||
&mut self,
|
||||
buf: &mut [u8],
|
||||
sender: &mut (impl EcssTmSenderCore + ?Sized),
|
||||
time_stamp: &[u8],
|
||||
event_id: impl EcssEnumeration,
|
||||
params: Option<&'src_data [u8]>,
|
||||
src_data_buf: &'src_data mut [u8],
|
||||
) -> Result<PusTmCreator<'time, 'src_data>, ByteConversionError> {
|
||||
aux_data: Option<&[u8]>,
|
||||
) -> Result<(), EcssTmtcError> {
|
||||
self.generate_and_send_generic_tm(
|
||||
Subservice::TmInfoReport,
|
||||
time_stamp,
|
||||
event_id,
|
||||
params,
|
||||
src_data_buf,
|
||||
)
|
||||
}
|
||||
|
||||
pub fn event_low_severity<'time, 'src_data>(
|
||||
&self,
|
||||
time_stamp: &'time [u8],
|
||||
event_id: impl EcssEnumeration,
|
||||
params: Option<&'src_data [u8]>,
|
||||
src_data_buf: &'src_data mut [u8],
|
||||
) -> Result<PusTmCreator<'time, 'src_data>, ByteConversionError> {
|
||||
self.generate_and_send_generic_tm(
|
||||
Subservice::TmLowSeverityReport,
|
||||
time_stamp,
|
||||
event_id,
|
||||
params,
|
||||
src_data_buf,
|
||||
)
|
||||
}
|
||||
|
||||
pub fn event_medium_severity<'time, 'src_data>(
|
||||
&self,
|
||||
time_stamp: &'time [u8],
|
||||
event_id: impl EcssEnumeration,
|
||||
params: Option<&'src_data [u8]>,
|
||||
buf: &'src_data mut [u8],
|
||||
) -> Result<PusTmCreator<'time, 'src_data>, ByteConversionError> {
|
||||
self.generate_and_send_generic_tm(
|
||||
Subservice::TmMediumSeverityReport,
|
||||
time_stamp,
|
||||
event_id,
|
||||
params,
|
||||
buf,
|
||||
)
|
||||
}
|
||||
|
||||
pub fn event_high_severity<'time, 'src_data>(
|
||||
&self,
|
||||
time_stamp: &'time [u8],
|
||||
event_id: impl EcssEnumeration,
|
||||
params: Option<&'src_data [u8]>,
|
||||
src_data_buf: &'src_data mut [u8],
|
||||
) -> Result<PusTmCreator<'time, 'src_data>, ByteConversionError> {
|
||||
self.generate_and_send_generic_tm(
|
||||
Subservice::TmHighSeverityReport,
|
||||
Subservice::TmInfoReport,
|
||||
sender,
|
||||
time_stamp,
|
||||
event_id,
|
||||
params,
|
||||
src_data_buf,
|
||||
aux_data,
|
||||
)
|
||||
}
|
||||
|
||||
fn generate_and_send_generic_tm<'time, 'src_data>(
|
||||
&self,
|
||||
subservice: Subservice,
|
||||
time_stamp: &'time [u8],
|
||||
pub fn event_low_severity(
|
||||
&mut self,
|
||||
buf: &mut [u8],
|
||||
sender: &mut (impl EcssTmSenderCore + ?Sized),
|
||||
time_stamp: &[u8],
|
||||
event_id: impl EcssEnumeration,
|
||||
params: Option<&'src_data [u8]>,
|
||||
src_data_buf: &'src_data mut [u8],
|
||||
) -> Result<PusTmCreator<'time, 'src_data>, ByteConversionError> {
|
||||
self.generate_generic_event_tm(subservice, time_stamp, event_id, params, src_data_buf)
|
||||
aux_data: Option<&[u8]>,
|
||||
) -> Result<(), EcssTmtcError> {
|
||||
self.generate_and_send_generic_tm(
|
||||
buf,
|
||||
Subservice::TmLowSeverityReport,
|
||||
sender,
|
||||
time_stamp,
|
||||
event_id,
|
||||
aux_data,
|
||||
)
|
||||
}
|
||||
|
||||
fn generate_generic_event_tm<'time, 'src_data>(
|
||||
&self,
|
||||
subservice: Subservice,
|
||||
time_stamp: &'time [u8],
|
||||
pub fn event_medium_severity(
|
||||
&mut self,
|
||||
buf: &mut [u8],
|
||||
sender: &mut (impl EcssTmSenderCore + ?Sized),
|
||||
time_stamp: &[u8],
|
||||
event_id: impl EcssEnumeration,
|
||||
params: Option<&'src_data [u8]>,
|
||||
src_data_buf: &'src_data mut [u8],
|
||||
) -> Result<PusTmCreator<'time, 'src_data>, ByteConversionError> {
|
||||
aux_data: Option<&[u8]>,
|
||||
) -> Result<(), EcssTmtcError> {
|
||||
self.generate_and_send_generic_tm(
|
||||
buf,
|
||||
Subservice::TmMediumSeverityReport,
|
||||
sender,
|
||||
time_stamp,
|
||||
event_id,
|
||||
aux_data,
|
||||
)
|
||||
}
|
||||
|
||||
pub fn event_high_severity(
|
||||
&mut self,
|
||||
buf: &mut [u8],
|
||||
sender: &mut (impl EcssTmSenderCore + ?Sized),
|
||||
time_stamp: &[u8],
|
||||
event_id: impl EcssEnumeration,
|
||||
aux_data: Option<&[u8]>,
|
||||
) -> Result<(), EcssTmtcError> {
|
||||
self.generate_and_send_generic_tm(
|
||||
buf,
|
||||
Subservice::TmHighSeverityReport,
|
||||
sender,
|
||||
time_stamp,
|
||||
event_id,
|
||||
aux_data,
|
||||
)
|
||||
}
|
||||
|
||||
fn generate_and_send_generic_tm(
|
||||
&mut self,
|
||||
buf: &mut [u8],
|
||||
subservice: Subservice,
|
||||
sender: &mut (impl EcssTmSenderCore + ?Sized),
|
||||
time_stamp: &[u8],
|
||||
event_id: impl EcssEnumeration,
|
||||
aux_data: Option<&[u8]>,
|
||||
) -> Result<(), EcssTmtcError> {
|
||||
let tm = self.generate_generic_event_tm(buf, subservice, time_stamp, event_id, aux_data)?;
|
||||
sender.send_tm(tm.into())?;
|
||||
self.msg_count += 1;
|
||||
Ok(())
|
||||
}
|
||||
|
||||
fn generate_generic_event_tm<'a>(
|
||||
&'a self,
|
||||
buf: &'a mut [u8],
|
||||
subservice: Subservice,
|
||||
time_stamp: &'a [u8],
|
||||
event_id: impl EcssEnumeration,
|
||||
aux_data: Option<&[u8]>,
|
||||
) -> Result<PusTmCreator, EcssTmtcError> {
|
||||
let mut src_data_len = event_id.size();
|
||||
if let Some(aux_data) = params {
|
||||
if let Some(aux_data) = aux_data {
|
||||
src_data_len += aux_data.len();
|
||||
}
|
||||
source_buffer_large_enough(src_data_buf.len(), src_data_len)?;
|
||||
let sec_header =
|
||||
PusTmSecondaryHeader::new(5, subservice.into(), 0, self.dest_id, time_stamp);
|
||||
source_buffer_large_enough(buf.len(), src_data_len)?;
|
||||
let mut sp_header = SpHeader::tm_unseg(self.apid, 0, 0).unwrap();
|
||||
let sec_header = PusTmSecondaryHeader::new(
|
||||
5,
|
||||
subservice.into(),
|
||||
self.msg_count,
|
||||
self.dest_id,
|
||||
Some(time_stamp),
|
||||
);
|
||||
let mut current_idx = 0;
|
||||
event_id.write_to_be_bytes(&mut src_data_buf[0..event_id.size()])?;
|
||||
event_id
|
||||
.write_to_be_bytes(&mut buf[0..event_id.size()])
|
||||
.map_err(PusError::ByteConversion)?;
|
||||
current_idx += event_id.size();
|
||||
if let Some(aux_data) = params {
|
||||
src_data_buf[current_idx..current_idx + aux_data.len()].copy_from_slice(aux_data);
|
||||
if let Some(aux_data) = aux_data {
|
||||
buf[current_idx..current_idx + aux_data.len()].copy_from_slice(aux_data);
|
||||
current_idx += aux_data.len();
|
||||
}
|
||||
Ok(PusTmCreator::new(
|
||||
SpHeader::new_from_apid(self.apid),
|
||||
&mut sp_header,
|
||||
sec_header,
|
||||
&src_data_buf[0..current_idx],
|
||||
&buf[0..current_idx],
|
||||
true,
|
||||
))
|
||||
}
|
||||
@ -132,132 +156,84 @@ impl EventReportCreator {
|
||||
#[cfg(feature = "alloc")]
|
||||
mod alloc_mod {
|
||||
use super::*;
|
||||
use crate::pus::{EcssTmSender, EcssTmtcError};
|
||||
use crate::ComponentId;
|
||||
use alloc::vec;
|
||||
use alloc::vec::Vec;
|
||||
use core::cell::RefCell;
|
||||
use spacepackets::ecss::PusError;
|
||||
|
||||
pub trait EventTmHookProvider {
|
||||
fn modify_tm(&self, tm: &mut PusTmCreator);
|
||||
pub struct EventReporter {
|
||||
source_data_buf: Vec<u8>,
|
||||
pub reporter: EventReporterBase,
|
||||
}
|
||||
|
||||
#[derive(Default)]
|
||||
pub struct DummyEventHook {}
|
||||
|
||||
impl EventTmHookProvider for DummyEventHook {
|
||||
fn modify_tm(&self, _tm: &mut PusTmCreator) {}
|
||||
}
|
||||
|
||||
pub struct EventReporter<EventTmHook: EventTmHookProvider = DummyEventHook> {
|
||||
id: ComponentId,
|
||||
// Use interior mutability pattern here. This is just an intermediate buffer to the PUS event packet
|
||||
// generation.
|
||||
source_data_buf: RefCell<Vec<u8>>,
|
||||
pub report_creator: EventReportCreator,
|
||||
pub tm_hook: EventTmHook,
|
||||
}
|
||||
|
||||
impl EventReporter<DummyEventHook> {
|
||||
pub fn new(
|
||||
id: ComponentId,
|
||||
default_apid: u16,
|
||||
default_dest_id: u16,
|
||||
max_event_id_and_aux_data_size: usize,
|
||||
) -> Option<Self> {
|
||||
let reporter = EventReportCreator::new(default_apid, default_dest_id)?;
|
||||
impl EventReporter {
|
||||
pub fn new(apid: u16, max_event_id_and_aux_data_size: usize) -> Option<Self> {
|
||||
let reporter = EventReporterBase::new(apid)?;
|
||||
Some(Self {
|
||||
id,
|
||||
source_data_buf: RefCell::new(vec![0; max_event_id_and_aux_data_size]),
|
||||
report_creator: reporter,
|
||||
tm_hook: DummyEventHook::default(),
|
||||
source_data_buf: vec![0; max_event_id_and_aux_data_size],
|
||||
reporter,
|
||||
})
|
||||
}
|
||||
}
|
||||
impl<EventTmHook: EventTmHookProvider> EventReporter<EventTmHook> {
|
||||
pub fn new_with_hook(
|
||||
id: ComponentId,
|
||||
default_apid: u16,
|
||||
default_dest_id: u16,
|
||||
max_event_id_and_aux_data_size: usize,
|
||||
tm_hook: EventTmHook,
|
||||
) -> Option<Self> {
|
||||
let reporter = EventReportCreator::new(default_apid, default_dest_id)?;
|
||||
Some(Self {
|
||||
id,
|
||||
source_data_buf: RefCell::new(vec![0; max_event_id_and_aux_data_size]),
|
||||
report_creator: reporter,
|
||||
tm_hook,
|
||||
})
|
||||
}
|
||||
|
||||
pub fn event_info(
|
||||
&self,
|
||||
sender: &(impl EcssTmSender + ?Sized),
|
||||
&mut self,
|
||||
sender: &mut (impl EcssTmSenderCore + ?Sized),
|
||||
time_stamp: &[u8],
|
||||
event_id: impl EcssEnumeration,
|
||||
params: Option<&[u8]>,
|
||||
aux_data: Option<&[u8]>,
|
||||
) -> Result<(), EcssTmtcError> {
|
||||
let mut mut_buf = self.source_data_buf.borrow_mut();
|
||||
let mut tm_creator = self
|
||||
.report_creator
|
||||
.event_info(time_stamp, event_id, params, mut_buf.as_mut_slice())
|
||||
.map_err(PusError::ByteConversion)?;
|
||||
self.tm_hook.modify_tm(&mut tm_creator);
|
||||
sender.send_tm(self.id, tm_creator.into())?;
|
||||
Ok(())
|
||||
self.reporter.event_info(
|
||||
self.source_data_buf.as_mut_slice(),
|
||||
sender,
|
||||
time_stamp,
|
||||
event_id,
|
||||
aux_data,
|
||||
)
|
||||
}
|
||||
|
||||
pub fn event_low_severity(
|
||||
&self,
|
||||
sender: &(impl EcssTmSender + ?Sized),
|
||||
&mut self,
|
||||
sender: &mut (impl EcssTmSenderCore + ?Sized),
|
||||
time_stamp: &[u8],
|
||||
event_id: impl EcssEnumeration,
|
||||
params: Option<&[u8]>,
|
||||
aux_data: Option<&[u8]>,
|
||||
) -> Result<(), EcssTmtcError> {
|
||||
let mut mut_buf = self.source_data_buf.borrow_mut();
|
||||
let mut tm_creator = self
|
||||
.report_creator
|
||||
.event_low_severity(time_stamp, event_id, params, mut_buf.as_mut_slice())
|
||||
.map_err(PusError::ByteConversion)?;
|
||||
self.tm_hook.modify_tm(&mut tm_creator);
|
||||
sender.send_tm(self.id, tm_creator.into())?;
|
||||
Ok(())
|
||||
self.reporter.event_low_severity(
|
||||
self.source_data_buf.as_mut_slice(),
|
||||
sender,
|
||||
time_stamp,
|
||||
event_id,
|
||||
aux_data,
|
||||
)
|
||||
}
|
||||
|
||||
pub fn event_medium_severity(
|
||||
&self,
|
||||
sender: &(impl EcssTmSender + ?Sized),
|
||||
&mut self,
|
||||
sender: &mut (impl EcssTmSenderCore + ?Sized),
|
||||
time_stamp: &[u8],
|
||||
event_id: impl EcssEnumeration,
|
||||
params: Option<&[u8]>,
|
||||
aux_data: Option<&[u8]>,
|
||||
) -> Result<(), EcssTmtcError> {
|
||||
let mut mut_buf = self.source_data_buf.borrow_mut();
|
||||
let mut tm_creator = self
|
||||
.report_creator
|
||||
.event_medium_severity(time_stamp, event_id, params, mut_buf.as_mut_slice())
|
||||
.map_err(PusError::ByteConversion)?;
|
||||
self.tm_hook.modify_tm(&mut tm_creator);
|
||||
sender.send_tm(self.id, tm_creator.into())?;
|
||||
Ok(())
|
||||
self.reporter.event_medium_severity(
|
||||
self.source_data_buf.as_mut_slice(),
|
||||
sender,
|
||||
time_stamp,
|
||||
event_id,
|
||||
aux_data,
|
||||
)
|
||||
}
|
||||
|
||||
pub fn event_high_severity(
|
||||
&self,
|
||||
sender: &(impl EcssTmSender + ?Sized),
|
||||
&mut self,
|
||||
sender: &mut (impl EcssTmSenderCore + ?Sized),
|
||||
time_stamp: &[u8],
|
||||
event_id: impl EcssEnumeration,
|
||||
params: Option<&[u8]>,
|
||||
aux_data: Option<&[u8]>,
|
||||
) -> Result<(), EcssTmtcError> {
|
||||
let mut mut_buf = self.source_data_buf.borrow_mut();
|
||||
let mut tm_creator = self
|
||||
.report_creator
|
||||
.event_high_severity(time_stamp, event_id, params, mut_buf.as_mut_slice())
|
||||
.map_err(PusError::ByteConversion)?;
|
||||
self.tm_hook.modify_tm(&mut tm_creator);
|
||||
sender.send_tm(self.id, tm_creator.into())?;
|
||||
Ok(())
|
||||
self.reporter.event_high_severity(
|
||||
self.source_data_buf.as_mut_slice(),
|
||||
sender,
|
||||
time_stamp,
|
||||
event_id,
|
||||
aux_data,
|
||||
)
|
||||
}
|
||||
}
|
||||
}
|
||||
@ -266,11 +242,9 @@ mod alloc_mod {
|
||||
mod tests {
|
||||
use super::*;
|
||||
use crate::events::{EventU32, Severity};
|
||||
use crate::pus::test_util::TEST_COMPONENT_ID_0;
|
||||
use crate::pus::tests::CommonTmInfo;
|
||||
use crate::pus::{ChannelWithId, EcssTmSender, EcssTmtcError, PusTmVariant};
|
||||
use crate::ComponentId;
|
||||
use spacepackets::ecss::PusError;
|
||||
use crate::pus::{EcssChannel, PusTmWrapper};
|
||||
use crate::ChannelId;
|
||||
use spacepackets::ByteConversionError;
|
||||
use std::cell::RefCell;
|
||||
use std::collections::VecDeque;
|
||||
@ -284,7 +258,6 @@ mod tests {
|
||||
|
||||
#[derive(Debug, Eq, PartialEq, Clone)]
|
||||
struct TmInfo {
|
||||
pub sender_id: ComponentId,
|
||||
pub common: CommonTmInfo,
|
||||
pub event: EventU32,
|
||||
pub aux_data: Vec<u8>,
|
||||
@ -295,19 +268,19 @@ mod tests {
|
||||
pub service_queue: RefCell<VecDeque<TmInfo>>,
|
||||
}
|
||||
|
||||
impl ChannelWithId for TestSender {
|
||||
fn id(&self) -> ComponentId {
|
||||
impl EcssChannel for TestSender {
|
||||
fn id(&self) -> ChannelId {
|
||||
0
|
||||
}
|
||||
}
|
||||
|
||||
impl EcssTmSender for TestSender {
|
||||
fn send_tm(&self, sender_id: ComponentId, tm: PusTmVariant) -> Result<(), EcssTmtcError> {
|
||||
impl EcssTmSenderCore for TestSender {
|
||||
fn send_tm(&self, tm: PusTmWrapper) -> Result<(), EcssTmtcError> {
|
||||
match tm {
|
||||
PusTmVariant::InStore(_) => {
|
||||
PusTmWrapper::InStore(_) => {
|
||||
panic!("TestSender: unexpected call with address");
|
||||
}
|
||||
PusTmVariant::Direct(tm) => {
|
||||
PusTmWrapper::Direct(tm) => {
|
||||
assert!(!tm.source_data().is_empty());
|
||||
let src_data = tm.source_data();
|
||||
assert!(src_data.len() >= 4);
|
||||
@ -318,7 +291,6 @@ mod tests {
|
||||
aux_data.extend_from_slice(&src_data[4..]);
|
||||
}
|
||||
self.service_queue.borrow_mut().push_back(TmInfo {
|
||||
sender_id,
|
||||
common: CommonTmInfo::new_from_tm(&tm),
|
||||
event,
|
||||
aux_data,
|
||||
@ -376,12 +348,7 @@ mod tests {
|
||||
error_data: Option<&[u8]>,
|
||||
) {
|
||||
let mut sender = TestSender::default();
|
||||
let reporter = EventReporter::new(
|
||||
TEST_COMPONENT_ID_0.id(),
|
||||
EXAMPLE_APID,
|
||||
0,
|
||||
max_event_aux_data_buf,
|
||||
);
|
||||
let reporter = EventReporter::new(EXAMPLE_APID, max_event_aux_data_buf);
|
||||
assert!(reporter.is_some());
|
||||
let mut reporter = reporter.unwrap();
|
||||
let time_stamp_empty: [u8; 7] = [0; 7];
|
||||
@ -411,7 +378,6 @@ mod tests {
|
||||
assert_eq!(tm_info.common.msg_counter, 0);
|
||||
assert_eq!(tm_info.common.apid, EXAMPLE_APID);
|
||||
assert_eq!(tm_info.event, event);
|
||||
assert_eq!(tm_info.sender_id, TEST_COMPONENT_ID_0.id());
|
||||
assert_eq!(tm_info.aux_data, error_copy);
|
||||
}
|
||||
|
||||
@ -474,7 +440,7 @@ mod tests {
|
||||
fn insufficient_buffer() {
|
||||
let mut sender = TestSender::default();
|
||||
for i in 0..3 {
|
||||
let reporter = EventReporter::new(0, EXAMPLE_APID, 0, i);
|
||||
let reporter = EventReporter::new(EXAMPLE_APID, i);
|
||||
assert!(reporter.is_some());
|
||||
let mut reporter = reporter.unwrap();
|
||||
check_buf_too_small(&mut reporter, &mut sender, i);
|
||||
@ -2,6 +2,8 @@ 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;
|
||||
@ -10,7 +12,7 @@ use hashbrown::HashSet;
|
||||
pub use crate::pus::event::EventReporter;
|
||||
use crate::pus::verification::TcStateToken;
|
||||
#[cfg(feature = "alloc")]
|
||||
use crate::pus::EcssTmSender;
|
||||
use crate::pus::EcssTmSenderCore;
|
||||
use crate::pus::EcssTmtcError;
|
||||
#[cfg(feature = "alloc")]
|
||||
#[cfg_attr(doc_cfg, doc(cfg(feature = "alloc")))]
|
||||
@ -30,19 +32,19 @@ 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<Event: GenericEvent> {
|
||||
pub trait PusEventMgmtBackendProvider<Provider: GenericEvent> {
|
||||
type 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>;
|
||||
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>;
|
||||
}
|
||||
|
||||
#[cfg(feature = "heapless")]
|
||||
pub mod heapless_mod {
|
||||
use super::*;
|
||||
use crate::events::LargestEventRaw;
|
||||
use core::marker::PhantomData;
|
||||
use crate::events::{GenericEvent, LargestEventRaw};
|
||||
use std::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
|
||||
@ -106,10 +108,6 @@ 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
|
||||
@ -117,11 +115,14 @@ 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 DefaultPusEventMgmtBackend<Event: GenericEvent = EventU32> {
|
||||
pub struct DefaultPusMgmtBackendProvider<Event: GenericEvent = EventU32> {
|
||||
disabled: HashSet<Event>,
|
||||
}
|
||||
|
||||
impl<Event: GenericEvent> Default for DefaultPusEventMgmtBackend<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> {
|
||||
fn default() -> Self {
|
||||
Self {
|
||||
disabled: HashSet::default(),
|
||||
@ -129,59 +130,55 @@ pub mod alloc_mod {
|
||||
}
|
||||
}
|
||||
|
||||
impl<EV: GenericEvent + PartialEq + Eq + Hash + Copy + Clone> PusEventMgmtBackendProvider<EV>
|
||||
for DefaultPusEventMgmtBackend<EV>
|
||||
impl<Provider: GenericEvent + PartialEq + Eq + Hash + Copy + Clone>
|
||||
PusEventMgmtBackendProvider<Provider> for DefaultPusMgmtBackendProvider<Provider>
|
||||
{
|
||||
type Error = ();
|
||||
|
||||
fn event_enabled(&self, event: &EV) -> bool {
|
||||
fn event_enabled(&self, event: &Provider) -> bool {
|
||||
!self.disabled.contains(event)
|
||||
}
|
||||
|
||||
fn enable_event_reporting(&mut self, event: &EV) -> Result<bool, Self::Error> {
|
||||
fn enable_event_reporting(&mut self, event: &Provider) -> Result<bool, Self::Error> {
|
||||
Ok(self.disabled.remove(event))
|
||||
}
|
||||
|
||||
fn disable_event_reporting(&mut self, event: &EV) -> Result<bool, Self::Error> {
|
||||
fn disable_event_reporting(&mut self, event: &Provider) -> Result<bool, Self::Error> {
|
||||
Ok(self.disabled.insert(*event))
|
||||
}
|
||||
}
|
||||
|
||||
pub struct PusEventDispatcher<
|
||||
B: PusEventMgmtBackendProvider<EV, Error = E>,
|
||||
EV: GenericEvent,
|
||||
E,
|
||||
> {
|
||||
pub struct PusEventDispatcher<BackendError, Provider: GenericEvent> {
|
||||
reporter: EventReporter,
|
||||
backend: B,
|
||||
phantom: PhantomData<(E, EV)>,
|
||||
backend: Box<dyn PusEventMgmtBackendProvider<Provider, Error = BackendError>>,
|
||||
}
|
||||
|
||||
impl<B: PusEventMgmtBackendProvider<Event, Error = E>, Event: GenericEvent, E>
|
||||
PusEventDispatcher<B, Event, E>
|
||||
{
|
||||
pub fn new(reporter: EventReporter, backend: B) -> Self {
|
||||
Self {
|
||||
reporter,
|
||||
backend,
|
||||
phantom: PhantomData,
|
||||
}
|
||||
}
|
||||
/// Safety: All contained fields are send as well.
|
||||
unsafe impl<E: Send, Event: GenericEvent + Send> Send for PusEventDispatcher<E, Event> {}
|
||||
|
||||
pub fn enable_tm_for_event(&mut self, event: &Event) -> Result<bool, E> {
|
||||
impl<BackendError, Provider: GenericEvent> PusEventDispatcher<BackendError, Provider> {
|
||||
pub fn new(
|
||||
reporter: EventReporter,
|
||||
backend: Box<dyn PusEventMgmtBackendProvider<Provider, Error = BackendError>>,
|
||||
) -> Self {
|
||||
Self { reporter, backend }
|
||||
}
|
||||
}
|
||||
|
||||
impl<BackendError, Event: GenericEvent> PusEventDispatcher<BackendError, Event> {
|
||||
pub fn enable_tm_for_event(&mut self, event: &Event) -> Result<bool, BackendError> {
|
||||
self.backend.enable_event_reporting(event)
|
||||
}
|
||||
|
||||
pub fn disable_tm_for_event(&mut self, event: &Event) -> Result<bool, E> {
|
||||
pub fn disable_tm_for_event(&mut self, event: &Event) -> Result<bool, BackendError> {
|
||||
self.backend.disable_event_reporting(event)
|
||||
}
|
||||
|
||||
pub fn generate_pus_event_tm_generic(
|
||||
&self,
|
||||
sender: &(impl EcssTmSender + ?Sized),
|
||||
&mut self,
|
||||
sender: &mut (impl EcssTmSenderCore + ?Sized),
|
||||
time_stamp: &[u8],
|
||||
event: Event,
|
||||
params: Option<&[u8]>,
|
||||
aux_data: Option<&[u8]>,
|
||||
) -> Result<bool, EventManError> {
|
||||
if !self.backend.event_enabled(&event) {
|
||||
return Ok(false);
|
||||
@ -189,58 +186,46 @@ pub mod alloc_mod {
|
||||
match event.severity() {
|
||||
Severity::INFO => self
|
||||
.reporter
|
||||
.event_info(sender, time_stamp, event, params)
|
||||
.event_info(sender, time_stamp, event, aux_data)
|
||||
.map(|_| true)
|
||||
.map_err(|e| e.into()),
|
||||
Severity::LOW => self
|
||||
.reporter
|
||||
.event_low_severity(sender, time_stamp, event, params)
|
||||
.event_low_severity(sender, time_stamp, event, aux_data)
|
||||
.map(|_| true)
|
||||
.map_err(|e| e.into()),
|
||||
Severity::MEDIUM => self
|
||||
.reporter
|
||||
.event_medium_severity(sender, time_stamp, event, params)
|
||||
.event_medium_severity(sender, time_stamp, event, aux_data)
|
||||
.map(|_| true)
|
||||
.map_err(|e| e.into()),
|
||||
Severity::HIGH => self
|
||||
.reporter
|
||||
.event_high_severity(sender, time_stamp, event, params)
|
||||
.event_high_severity(sender, time_stamp, event, aux_data)
|
||||
.map(|_| true)
|
||||
.map_err(|e| e.into()),
|
||||
}
|
||||
}
|
||||
}
|
||||
|
||||
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> {
|
||||
impl<BackendError> PusEventDispatcher<BackendError, EventU32> {
|
||||
pub fn enable_tm_for_event_with_sev<Severity: HasSeverity>(
|
||||
&mut self,
|
||||
event: &EventU32TypedSev<Severity>,
|
||||
) -> Result<bool, E> {
|
||||
) -> Result<bool, BackendError> {
|
||||
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, E> {
|
||||
) -> Result<bool, BackendError> {
|
||||
self.backend.disable_event_reporting(event.as_ref())
|
||||
}
|
||||
|
||||
pub fn generate_pus_event_tm<Severity: HasSeverity>(
|
||||
&self,
|
||||
sender: &(impl EcssTmSender + ?Sized),
|
||||
&mut self,
|
||||
sender: &mut (impl EcssTmSenderCore + ?Sized),
|
||||
time_stamp: &[u8],
|
||||
event: EventU32TypedSev<Severity>,
|
||||
aux_data: Option<&[u8]>,
|
||||
@ -248,44 +233,32 @@ 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::request::UniqueApidTargetId;
|
||||
use crate::{events::SeverityInfo, tmtc::PacketAsVec};
|
||||
use std::sync::mpsc::{self, TryRecvError};
|
||||
use crate::events::SeverityInfo;
|
||||
use crate::pus::MpscTmAsVecSender;
|
||||
use std::sync::mpsc::{channel, 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];
|
||||
const TEST_APID: u16 = 0x02;
|
||||
const TEST_ID: UniqueApidTargetId = UniqueApidTargetId::new(TEST_APID, 0x05);
|
||||
|
||||
fn create_basic_man_1() -> DefaultPusEventU32Dispatcher<()> {
|
||||
let reporter = EventReporter::new(TEST_ID.raw(), TEST_APID, 0, 128)
|
||||
.expect("Creating event repoter failed");
|
||||
PusEventDispatcher::new_with_default_backend(reporter)
|
||||
}
|
||||
fn create_basic_man_2() -> DefaultPusEventU32Dispatcher<()> {
|
||||
let reporter = EventReporter::new(TEST_ID.raw(), TEST_APID, 0, 128)
|
||||
.expect("Creating event repoter failed");
|
||||
let backend = DefaultPusEventMgmtBackend::default();
|
||||
PusEventDispatcher::new(reporter, backend)
|
||||
fn create_basic_man() -> PusEventDispatcher<(), EventU32> {
|
||||
let reporter = EventReporter::new(0x02, 128).expect("Creating event repoter failed");
|
||||
let backend = DefaultPusMgmtBackendProvider::<EventU32>::default();
|
||||
PusEventDispatcher::new(reporter, Box::new(backend))
|
||||
}
|
||||
|
||||
#[test]
|
||||
fn test_basic() {
|
||||
let event_man = create_basic_man_1();
|
||||
let (event_tx, event_rx) = mpsc::channel::<PacketAsVec>();
|
||||
let mut event_man = create_basic_man();
|
||||
let (event_tx, event_rx) = channel();
|
||||
let mut sender = MpscTmAsVecSender::new(0, "test_sender", event_tx);
|
||||
let event_sent = event_man
|
||||
.generate_pus_event_tm(&event_tx, &EMPTY_STAMP, INFO_EVENT, None)
|
||||
.generate_pus_event_tm(&mut sender, &EMPTY_STAMP, INFO_EVENT, None)
|
||||
.expect("Sending info event failed");
|
||||
|
||||
assert!(event_sent);
|
||||
@ -295,14 +268,14 @@ mod tests {
|
||||
|
||||
#[test]
|
||||
fn test_disable_event() {
|
||||
let mut event_man = create_basic_man_2();
|
||||
let (event_tx, event_rx) = mpsc::channel::<PacketAsVec>();
|
||||
// let mut sender = TmAsVecSenderWithMpsc::new(0, "test", event_tx);
|
||||
let mut event_man = create_basic_man();
|
||||
let (event_tx, event_rx) = channel();
|
||||
let mut sender = MpscTmAsVecSender::new(0, "test", event_tx);
|
||||
let res = event_man.disable_tm_for_event(&LOW_SEV_EVENT);
|
||||
assert!(res.is_ok());
|
||||
assert!(res.unwrap());
|
||||
let mut event_sent = event_man
|
||||
.generate_pus_event_tm_generic(&event_tx, &EMPTY_STAMP, LOW_SEV_EVENT, None)
|
||||
.generate_pus_event_tm_generic(&mut sender, &EMPTY_STAMP, LOW_SEV_EVENT, None)
|
||||
.expect("Sending low severity event failed");
|
||||
assert!(!event_sent);
|
||||
let res = event_rx.try_recv();
|
||||
@ -310,7 +283,7 @@ mod tests {
|
||||
assert!(matches!(res.unwrap_err(), TryRecvError::Empty));
|
||||
// Check that only the low severity event was disabled
|
||||
event_sent = event_man
|
||||
.generate_pus_event_tm(&event_tx, &EMPTY_STAMP, INFO_EVENT, None)
|
||||
.generate_pus_event_tm(&mut sender, &EMPTY_STAMP, INFO_EVENT, None)
|
||||
.expect("Sending info event failed");
|
||||
assert!(event_sent);
|
||||
event_rx.try_recv().expect("No info event received");
|
||||
@ -318,8 +291,9 @@ mod tests {
|
||||
|
||||
#[test]
|
||||
fn test_reenable_event() {
|
||||
let mut event_man = create_basic_man_1();
|
||||
let (event_tx, event_rx) = mpsc::channel::<PacketAsVec>();
|
||||
let mut event_man = create_basic_man();
|
||||
let (event_tx, event_rx) = channel();
|
||||
let mut sender = MpscTmAsVecSender::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());
|
||||
@ -327,7 +301,7 @@ mod tests {
|
||||
assert!(res.is_ok());
|
||||
assert!(res.unwrap());
|
||||
let event_sent = event_man
|
||||
.generate_pus_event_tm(&event_tx, &EMPTY_STAMP, INFO_EVENT, None)
|
||||
.generate_pus_event_tm(&mut sender, &EMPTY_STAMP, INFO_EVENT, None)
|
||||
.expect("Sending info event failed");
|
||||
assert!(event_sent);
|
||||
event_rx.try_recv().expect("No info event received");
|
||||
@ -2,63 +2,38 @@ use crate::events::EventU32;
|
||||
use crate::pus::event_man::{EventRequest, EventRequestWithToken};
|
||||
use crate::pus::verification::TcStateToken;
|
||||
use crate::pus::{PartialPusHandlingError, PusPacketHandlerResult, PusPacketHandlingError};
|
||||
use crate::queue::GenericSendError;
|
||||
use spacepackets::ecss::event::Subservice;
|
||||
use spacepackets::ecss::PusPacket;
|
||||
use std::sync::mpsc::Sender;
|
||||
|
||||
use super::verification::VerificationReportingProvider;
|
||||
use super::{
|
||||
EcssTcInMemConverter, EcssTcReceiver, EcssTmSender, GenericConversionError,
|
||||
GenericRoutingError, PusServiceHelper,
|
||||
};
|
||||
use super::{EcssTcInMemConverter, PusServiceBase, PusServiceHelper};
|
||||
|
||||
pub struct PusEventServiceHandler<
|
||||
TcReceiver: EcssTcReceiver,
|
||||
TmSender: EcssTmSender,
|
||||
TcInMemConverter: EcssTcInMemConverter,
|
||||
VerificationReporter: VerificationReportingProvider,
|
||||
> {
|
||||
pub service_helper:
|
||||
PusServiceHelper<TcReceiver, TmSender, TcInMemConverter, VerificationReporter>,
|
||||
pub struct PusService5EventHandler<TcInMemConverter: EcssTcInMemConverter> {
|
||||
pub service_helper: PusServiceHelper<TcInMemConverter>,
|
||||
event_request_tx: Sender<EventRequestWithToken>,
|
||||
}
|
||||
|
||||
impl<
|
||||
TcReceiver: EcssTcReceiver,
|
||||
TmSender: EcssTmSender,
|
||||
TcInMemConverter: EcssTcInMemConverter,
|
||||
VerificationReporter: VerificationReportingProvider,
|
||||
> PusEventServiceHandler<TcReceiver, TmSender, TcInMemConverter, VerificationReporter>
|
||||
{
|
||||
impl<TcInMemConverter: EcssTcInMemConverter> PusService5EventHandler<TcInMemConverter> {
|
||||
pub fn new(
|
||||
service_helper: PusServiceHelper<
|
||||
TcReceiver,
|
||||
TmSender,
|
||||
TcInMemConverter,
|
||||
VerificationReporter,
|
||||
>,
|
||||
service_handler: PusServiceHelper<TcInMemConverter>,
|
||||
event_request_tx: Sender<EventRequestWithToken>,
|
||||
) -> Self {
|
||||
Self {
|
||||
service_helper,
|
||||
service_helper: service_handler,
|
||||
event_request_tx,
|
||||
}
|
||||
}
|
||||
|
||||
pub fn poll_and_handle_next_tc(
|
||||
&mut self,
|
||||
time_stamp: &[u8],
|
||||
) -> Result<PusPacketHandlerResult, PusPacketHandlingError> {
|
||||
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();
|
||||
self.service_helper
|
||||
.tc_in_mem_converter_mut()
|
||||
.cache(&ecss_tc_and_token.tc_in_memory)?;
|
||||
let tc = self.service_helper.tc_in_mem_converter().convert()?;
|
||||
let tc = self
|
||||
.service_helper
|
||||
.tc_in_mem_converter
|
||||
.convert_ecss_tc_in_memory_to_reader(&ecss_tc_and_token.tc_in_memory)?;
|
||||
let subservice = tc.subservice();
|
||||
let srv = Subservice::try_from(subservice);
|
||||
if srv.is_err() {
|
||||
@ -67,73 +42,63 @@ impl<
|
||||
ecss_tc_and_token.token,
|
||||
));
|
||||
}
|
||||
let handle_enable_disable_request =
|
||||
|enable: bool| -> Result<PusPacketHandlerResult, PusPacketHandlingError> {
|
||||
if tc.user_data().len() < 4 {
|
||||
return Err(GenericConversionError::NotEnoughAppData {
|
||||
expected: 4,
|
||||
found: tc.user_data().len(),
|
||||
}
|
||||
.into());
|
||||
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(),
|
||||
));
|
||||
}
|
||||
let user_data = tc.user_data();
|
||||
let event_u32 = EventU32::from(u32::from_be_bytes(user_data[0..4].try_into().unwrap()));
|
||||
let start_token = self
|
||||
.service_helper
|
||||
.common
|
||||
.verification_handler
|
||||
.borrow_mut()
|
||||
.start_success(ecss_tc_and_token.token, Some(&stamp))
|
||||
.map_err(|_| PartialPusHandlingError::Verification);
|
||||
let partial_error = start_token.clone().err();
|
||||
let mut token: TcStateToken = ecss_tc_and_token.token.into();
|
||||
if let Ok(start_token) = start_token {
|
||||
token = start_token.into();
|
||||
}
|
||||
let event_req_with_token = if enable {
|
||||
EventRequestWithToken {
|
||||
request: EventRequest::Enable(event_u32),
|
||||
token,
|
||||
}
|
||||
let user_data = tc.user_data();
|
||||
let event_u32 =
|
||||
EventU32::from(u32::from_be_bytes(user_data[0..4].try_into().unwrap()));
|
||||
let start_token = self
|
||||
.service_helper
|
||||
.common
|
||||
.verif_reporter
|
||||
.start_success(
|
||||
&self.service_helper.common.tm_sender,
|
||||
ecss_tc_and_token.token,
|
||||
time_stamp,
|
||||
)
|
||||
.map_err(|_| PartialPusHandlingError::Verification);
|
||||
let partial_error = start_token.clone().err();
|
||||
let mut token: TcStateToken = ecss_tc_and_token.token.into();
|
||||
if let Ok(start_token) = start_token {
|
||||
token = start_token.into();
|
||||
} else {
|
||||
EventRequestWithToken {
|
||||
request: EventRequest::Disable(event_u32),
|
||||
token,
|
||||
}
|
||||
let event_req_with_token = if enable {
|
||||
EventRequestWithToken {
|
||||
request: EventRequest::Enable(event_u32),
|
||||
token,
|
||||
}
|
||||
} else {
|
||||
EventRequestWithToken {
|
||||
request: EventRequest::Disable(event_u32),
|
||||
token,
|
||||
}
|
||||
};
|
||||
self.event_request_tx
|
||||
.send(event_req_with_token)
|
||||
.map_err(|_| {
|
||||
PusPacketHandlingError::RequestRouting(GenericRoutingError::Send(
|
||||
GenericSendError::RxDisconnected,
|
||||
))
|
||||
})?;
|
||||
if let Some(partial_error) = partial_error {
|
||||
return Ok(PusPacketHandlerResult::RequestHandledPartialSuccess(
|
||||
partial_error,
|
||||
));
|
||||
}
|
||||
Ok(PusPacketHandlerResult::RequestHandled)
|
||||
};
|
||||
|
||||
self.event_request_tx
|
||||
.send(event_req_with_token)
|
||||
.map_err(|_| {
|
||||
PusPacketHandlingError::Other("Forwarding event request failed".into())
|
||||
})?;
|
||||
if let Some(partial_error) = partial_error {
|
||||
return Ok(PusPacketHandlerResult::RequestHandledPartialSuccess(
|
||||
partial_error,
|
||||
));
|
||||
}
|
||||
Ok(PusPacketHandlerResult::RequestHandled)
|
||||
};
|
||||
let mut partial_error = None;
|
||||
let time_stamp = PusServiceBase::get_current_timestamp(&mut partial_error);
|
||||
match srv.unwrap() {
|
||||
Subservice::TmInfoReport
|
||||
| Subservice::TmLowSeverityReport
|
||||
| Subservice::TmMediumSeverityReport
|
||||
| Subservice::TmHighSeverityReport => {
|
||||
return Err(PusPacketHandlingError::RequestConversion(
|
||||
GenericConversionError::WrongService(tc.subservice()),
|
||||
))
|
||||
return Err(PusPacketHandlingError::InvalidSubservice(tc.subservice()))
|
||||
}
|
||||
Subservice::TcEnableEventGeneration => {
|
||||
handle_enable_disable_request(true)?;
|
||||
handle_enable_disable_request(true, time_stamp)?;
|
||||
}
|
||||
Subservice::TcDisableEventGeneration => {
|
||||
handle_enable_disable_request(false)?;
|
||||
handle_enable_disable_request(false, time_stamp)?;
|
||||
}
|
||||
Subservice::TcReportDisabledList | Subservice::TmDisabledEventsReport => {
|
||||
return Ok(PusPacketHandlerResult::SubserviceNotImplemented(
|
||||
@ -151,75 +116,52 @@ impl<
|
||||
mod tests {
|
||||
use delegate::delegate;
|
||||
use spacepackets::ecss::event::Subservice;
|
||||
use spacepackets::time::{cds, TimeWriter};
|
||||
use spacepackets::util::UnsignedEnum;
|
||||
use spacepackets::{
|
||||
ecss::{
|
||||
tc::{PusTcCreator, PusTcSecondaryHeader},
|
||||
tm::PusTmReader,
|
||||
},
|
||||
SpHeader,
|
||||
SequenceFlags, SpHeader,
|
||||
};
|
||||
use std::sync::mpsc::{self, Sender};
|
||||
|
||||
use crate::pus::event_man::EventRequest;
|
||||
use crate::pus::test_util::{PusTestHarness, SimplePusPacketHandler, TEST_APID};
|
||||
use crate::pus::verification::{
|
||||
RequestId, VerificationReporter, VerificationReportingProvider,
|
||||
};
|
||||
use crate::pus::{GenericConversionError, MpscTcReceiver};
|
||||
use crate::tmtc::PacketSenderWithSharedPool;
|
||||
use crate::pus::tests::SimplePusPacketHandler;
|
||||
use crate::pus::verification::RequestId;
|
||||
use crate::{
|
||||
events::EventU32,
|
||||
pus::{
|
||||
event_man::EventRequestWithToken,
|
||||
tests::PusServiceHandlerWithSharedStoreCommon,
|
||||
tests::{PusServiceHandlerWithSharedStoreCommon, PusTestHarness, TEST_APID},
|
||||
verification::{TcStateAccepted, VerificationToken},
|
||||
EcssTcInSharedStoreConverter, PusPacketHandlerResult, PusPacketHandlingError,
|
||||
},
|
||||
};
|
||||
|
||||
use super::PusEventServiceHandler;
|
||||
use super::PusService5EventHandler;
|
||||
|
||||
const TEST_EVENT_0: EventU32 = EventU32::const_new(crate::events::Severity::INFO, 5, 25);
|
||||
|
||||
struct Pus5HandlerWithStoreTester {
|
||||
common: PusServiceHandlerWithSharedStoreCommon,
|
||||
handler: PusEventServiceHandler<
|
||||
MpscTcReceiver,
|
||||
PacketSenderWithSharedPool,
|
||||
EcssTcInSharedStoreConverter,
|
||||
VerificationReporter,
|
||||
>,
|
||||
handler: PusService5EventHandler<EcssTcInSharedStoreConverter>,
|
||||
}
|
||||
|
||||
impl Pus5HandlerWithStoreTester {
|
||||
pub fn new(event_request_tx: Sender<EventRequestWithToken>) -> Self {
|
||||
let (common, srv_handler) = PusServiceHandlerWithSharedStoreCommon::new(0);
|
||||
let (common, srv_handler) = PusServiceHandlerWithSharedStoreCommon::new();
|
||||
Self {
|
||||
common,
|
||||
handler: PusEventServiceHandler::new(srv_handler, event_request_tx),
|
||||
handler: PusService5EventHandler::new(srv_handler, event_request_tx),
|
||||
}
|
||||
}
|
||||
}
|
||||
|
||||
impl PusTestHarness for Pus5HandlerWithStoreTester {
|
||||
fn init_verification(&mut self, tc: &PusTcCreator) -> VerificationToken<TcStateAccepted> {
|
||||
let init_token = self.handler.service_helper.verif_reporter_mut().add_tc(tc);
|
||||
self.handler
|
||||
.service_helper
|
||||
.verif_reporter()
|
||||
.acceptance_success(self.handler.service_helper.tm_sender(), init_token, &[0; 7])
|
||||
.expect("acceptance success failure")
|
||||
}
|
||||
|
||||
fn send_tc(&self, token: &VerificationToken<TcStateAccepted>, tc: &PusTcCreator) {
|
||||
self.common
|
||||
.send_tc(self.handler.service_helper.id(), token, tc);
|
||||
}
|
||||
|
||||
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);
|
||||
@ -229,9 +171,10 @@ mod tests {
|
||||
}
|
||||
|
||||
impl SimplePusPacketHandler for Pus5HandlerWithStoreTester {
|
||||
fn handle_one_tc(&mut self) -> Result<PusPacketHandlerResult, PusPacketHandlingError> {
|
||||
let time_stamp = cds::CdsTime::new_with_u16_days(0, 0).to_vec().unwrap();
|
||||
self.handler.poll_and_handle_next_tc(&time_stamp)
|
||||
delegate! {
|
||||
to self.handler {
|
||||
fn handle_one_tc(&mut self) -> Result<PusPacketHandlerResult, PusPacketHandlingError>;
|
||||
}
|
||||
}
|
||||
}
|
||||
|
||||
@ -241,16 +184,15 @@ mod tests {
|
||||
expected_event_req: EventRequest,
|
||||
event_req_receiver: mpsc::Receiver<EventRequestWithToken>,
|
||||
) {
|
||||
let sp_header = SpHeader::new_for_unseg_tc(TEST_APID, 0, 0);
|
||||
let mut sp_header = SpHeader::tc(TEST_APID, SequenceFlags::Unsegmented, 0, 0).unwrap();
|
||||
let sec_header = PusTcSecondaryHeader::new_simple(5, subservice as u8);
|
||||
let mut app_data = [0; 4];
|
||||
TEST_EVENT_0
|
||||
.write_to_be_bytes(&mut app_data)
|
||||
.expect("writing test event failed");
|
||||
let ping_tc = PusTcCreator::new(sp_header, sec_header, &app_data, true);
|
||||
let token = test_harness.init_verification(&ping_tc);
|
||||
test_harness.send_tc(&token, &ping_tc);
|
||||
let request_id = token.request_id();
|
||||
let ping_tc = PusTcCreator::new(&mut sp_header, sec_header, &app_data, true);
|
||||
let token = test_harness.send_tc(&ping_tc);
|
||||
let request_id = token.req_id();
|
||||
test_harness.handle_one_tc().unwrap();
|
||||
test_harness.check_next_verification_tm(1, request_id);
|
||||
test_harness.check_next_verification_tm(3, request_id);
|
||||
@ -303,11 +245,10 @@ mod tests {
|
||||
fn test_sending_custom_subservice() {
|
||||
let (event_request_tx, _) = mpsc::channel();
|
||||
let mut test_harness = Pus5HandlerWithStoreTester::new(event_request_tx);
|
||||
let sp_header = SpHeader::new_for_unseg_tc(TEST_APID, 0, 0);
|
||||
let mut sp_header = SpHeader::tc(TEST_APID, SequenceFlags::Unsegmented, 0, 0).unwrap();
|
||||
let sec_header = PusTcSecondaryHeader::new_simple(5, 200);
|
||||
let ping_tc = PusTcCreator::new_no_app_data(sp_header, sec_header, true);
|
||||
let token = test_harness.init_verification(&ping_tc);
|
||||
test_harness.send_tc(&token, &ping_tc);
|
||||
let ping_tc = PusTcCreator::new_no_app_data(&mut sp_header, sec_header, true);
|
||||
test_harness.send_tc(&ping_tc);
|
||||
let result = test_harness.handle_one_tc();
|
||||
assert!(result.is_ok());
|
||||
let result = result.unwrap();
|
||||
@ -322,21 +263,16 @@ mod tests {
|
||||
fn test_sending_invalid_app_data() {
|
||||
let (event_request_tx, _) = mpsc::channel();
|
||||
let mut test_harness = Pus5HandlerWithStoreTester::new(event_request_tx);
|
||||
let sp_header = SpHeader::new_for_unseg_tc(TEST_APID, 0, 0);
|
||||
let mut sp_header = SpHeader::tc(TEST_APID, SequenceFlags::Unsegmented, 0, 0).unwrap();
|
||||
let sec_header =
|
||||
PusTcSecondaryHeader::new_simple(5, Subservice::TcEnableEventGeneration as u8);
|
||||
let ping_tc = PusTcCreator::new(sp_header, sec_header, &[0, 1, 2], true);
|
||||
let token = test_harness.init_verification(&ping_tc);
|
||||
test_harness.send_tc(&token, &ping_tc);
|
||||
let ping_tc = PusTcCreator::new(&mut sp_header, sec_header, &[0, 1, 2], true);
|
||||
test_harness.send_tc(&ping_tc);
|
||||
let result = test_harness.handle_one_tc();
|
||||
assert!(result.is_err());
|
||||
let result = result.unwrap_err();
|
||||
if let PusPacketHandlingError::RequestConversion(
|
||||
GenericConversionError::NotEnoughAppData { expected, found },
|
||||
) = result
|
||||
{
|
||||
assert_eq!(expected, 4);
|
||||
assert_eq!(found, 3);
|
||||
if let PusPacketHandlingError::NotEnoughAppData(string) = result {
|
||||
assert_eq!(string, "at least 4 bytes event ID expected");
|
||||
} else {
|
||||
panic!("unexpected result type {result:?}")
|
||||
}
|
||||
1
satrs-core/src/pus/hk.rs
Normal file
1
satrs-core/src/pus/hk.rs
Normal file
@ -0,0 +1 @@
|
||||
pub use spacepackets::ecss::hk::*;
|
||||
1194
satrs-core/src/pus/mod.rs
Normal file
1194
satrs-core/src/pus/mod.rs
Normal file
File diff suppressed because it is too large
Load Diff
16
satrs-core/src/pus/mode.rs
Normal file
16
satrs-core/src/pus/mode.rs
Normal file
@ -0,0 +1,16 @@
|
||||
use num_enum::{IntoPrimitive, TryFromPrimitive};
|
||||
#[cfg(feature = "serde")]
|
||||
use serde::{Deserialize, Serialize};
|
||||
|
||||
#[derive(Debug, Eq, PartialEq, Copy, Clone, IntoPrimitive, TryFromPrimitive)]
|
||||
#[cfg_attr(feature = "serde", derive(Serialize, Deserialize))]
|
||||
#[repr(u8)]
|
||||
pub enum Subservice {
|
||||
TcSetMode = 1,
|
||||
TcReadMode = 3,
|
||||
TcAnnounceMode = 4,
|
||||
TcAnnounceModeRecursive = 5,
|
||||
TmModeReply = 6,
|
||||
TmCantReachMode = 7,
|
||||
TmWrongModeReply = 8,
|
||||
}
|
||||
File diff suppressed because it is too large
Load Diff
@ -1,55 +1,31 @@
|
||||
use super::scheduler::PusSchedulerProvider;
|
||||
use super::verification::{VerificationReporter, VerificationReportingProvider};
|
||||
use super::{
|
||||
EcssTcInMemConverter, EcssTcInSharedStoreConverter, EcssTcInVecConverter, EcssTcReceiver,
|
||||
EcssTmSender, MpscTcReceiver, PusServiceHelper,
|
||||
};
|
||||
use super::scheduler::PusSchedulerInterface;
|
||||
use super::{EcssTcInMemConverter, PusServiceBase, PusServiceHelper};
|
||||
use crate::pool::PoolProvider;
|
||||
use crate::pus::{PusPacketHandlerResult, PusPacketHandlingError};
|
||||
use crate::tmtc::{PacketAsVec, PacketSenderWithSharedPool};
|
||||
use alloc::string::ToString;
|
||||
use spacepackets::ecss::{scheduling, PusPacket};
|
||||
use spacepackets::time::cds::CdsTime;
|
||||
use std::sync::mpsc;
|
||||
use spacepackets::time::cds::TimeProvider;
|
||||
|
||||
/// This is a helper class for [std] environments to handle generic PUS 11 (scheduling service)
|
||||
/// packets. This handler is able to handle the most important PUS requests for a scheduling
|
||||
/// service which provides the [PusSchedulerProvider].
|
||||
/// service which provides the [PusSchedulerInterface].
|
||||
///
|
||||
/// Please note that this class does not do the regular periodic handling like releasing any
|
||||
/// telecommands inside the scheduler. The user can retrieve the wrapped scheduler via the
|
||||
/// [Self::scheduler] and [Self::scheduler_mut] function and then use the scheduler API to release
|
||||
/// telecommands when applicable.
|
||||
pub struct PusSchedServiceHandler<
|
||||
TcReceiver: EcssTcReceiver,
|
||||
TmSender: EcssTmSender,
|
||||
pub struct PusService11SchedHandler<
|
||||
TcInMemConverter: EcssTcInMemConverter,
|
||||
VerificationReporter: VerificationReportingProvider,
|
||||
PusScheduler: PusSchedulerProvider,
|
||||
Scheduler: PusSchedulerInterface,
|
||||
> {
|
||||
pub service_helper:
|
||||
PusServiceHelper<TcReceiver, TmSender, TcInMemConverter, VerificationReporter>,
|
||||
scheduler: PusScheduler,
|
||||
pub service_helper: PusServiceHelper<TcInMemConverter>,
|
||||
scheduler: Scheduler,
|
||||
}
|
||||
|
||||
impl<
|
||||
TcReceiver: EcssTcReceiver,
|
||||
TmSender: EcssTmSender,
|
||||
TcInMemConverter: EcssTcInMemConverter,
|
||||
VerificationReporter: VerificationReportingProvider,
|
||||
Scheduler: PusSchedulerProvider,
|
||||
>
|
||||
PusSchedServiceHandler<TcReceiver, TmSender, TcInMemConverter, VerificationReporter, Scheduler>
|
||||
impl<TcInMemConverter: EcssTcInMemConverter, Scheduler: PusSchedulerInterface>
|
||||
PusService11SchedHandler<TcInMemConverter, Scheduler>
|
||||
{
|
||||
pub fn new(
|
||||
service_helper: PusServiceHelper<
|
||||
TcReceiver,
|
||||
TmSender,
|
||||
TcInMemConverter,
|
||||
VerificationReporter,
|
||||
>,
|
||||
scheduler: Scheduler,
|
||||
) -> Self {
|
||||
pub fn new(service_helper: PusServiceHelper<TcInMemConverter>, scheduler: Scheduler) -> Self {
|
||||
Self {
|
||||
service_helper,
|
||||
scheduler,
|
||||
@ -64,9 +40,8 @@ impl<
|
||||
&self.scheduler
|
||||
}
|
||||
|
||||
pub fn poll_and_handle_next_tc(
|
||||
pub fn handle_one_tc(
|
||||
&mut self,
|
||||
time_stamp: &[u8],
|
||||
sched_tc_pool: &mut (impl PoolProvider + ?Sized),
|
||||
) -> Result<PusPacketHandlerResult, PusPacketHandlingError> {
|
||||
let possible_packet = self.service_helper.retrieve_and_accept_next_packet()?;
|
||||
@ -74,10 +49,10 @@ impl<
|
||||
return Ok(PusPacketHandlerResult::Empty);
|
||||
}
|
||||
let ecss_tc_and_token = possible_packet.unwrap();
|
||||
self.service_helper
|
||||
.tc_in_mem_converter_mut()
|
||||
.cache(&ecss_tc_and_token.tc_in_memory)?;
|
||||
let tc = self.service_helper.tc_in_mem_converter().convert()?;
|
||||
let tc = self
|
||||
.service_helper
|
||||
.tc_in_mem_converter
|
||||
.convert_ecss_tc_in_memory_to_reader(&ecss_tc_and_token.tc_in_memory)?;
|
||||
let subservice = PusPacket::subservice(&tc);
|
||||
let standard_subservice = scheduling::Subservice::try_from(subservice);
|
||||
if standard_subservice.is_err() {
|
||||
@ -86,28 +61,25 @@ impl<
|
||||
ecss_tc_and_token.token,
|
||||
));
|
||||
}
|
||||
let partial_error = None;
|
||||
let mut partial_error = None;
|
||||
let time_stamp = PusServiceBase::get_current_timestamp(&mut partial_error);
|
||||
match standard_subservice.unwrap() {
|
||||
scheduling::Subservice::TcEnableScheduling => {
|
||||
let start_token = self
|
||||
.service_helper
|
||||
.verif_reporter()
|
||||
.start_success(
|
||||
&self.service_helper.common.tm_sender,
|
||||
ecss_tc_and_token.token,
|
||||
time_stamp,
|
||||
)
|
||||
.common
|
||||
.verification_handler
|
||||
.get_mut()
|
||||
.start_success(ecss_tc_and_token.token, Some(&time_stamp))
|
||||
.expect("Error sending start success");
|
||||
|
||||
self.scheduler.enable();
|
||||
if self.scheduler.is_enabled() {
|
||||
self.service_helper
|
||||
.verif_reporter()
|
||||
.completion_success(
|
||||
&self.service_helper.common.tm_sender,
|
||||
start_token,
|
||||
time_stamp,
|
||||
)
|
||||
.common
|
||||
.verification_handler
|
||||
.get_mut()
|
||||
.completion_success(start_token, Some(&time_stamp))
|
||||
.expect("Error sending completion success");
|
||||
} else {
|
||||
return Err(PusPacketHandlingError::Other(
|
||||
@ -118,23 +90,19 @@ impl<
|
||||
scheduling::Subservice::TcDisableScheduling => {
|
||||
let start_token = self
|
||||
.service_helper
|
||||
.verif_reporter()
|
||||
.start_success(
|
||||
&self.service_helper.common.tm_sender,
|
||||
ecss_tc_and_token.token,
|
||||
time_stamp,
|
||||
)
|
||||
.common
|
||||
.verification_handler
|
||||
.get_mut()
|
||||
.start_success(ecss_tc_and_token.token, Some(&time_stamp))
|
||||
.expect("Error sending start success");
|
||||
|
||||
self.scheduler.disable();
|
||||
if !self.scheduler.is_enabled() {
|
||||
self.service_helper
|
||||
.verif_reporter()
|
||||
.completion_success(
|
||||
&self.service_helper.common.tm_sender,
|
||||
start_token,
|
||||
time_stamp,
|
||||
)
|
||||
.common
|
||||
.verification_handler
|
||||
.get_mut()
|
||||
.completion_success(start_token, Some(&time_stamp))
|
||||
.expect("Error sending completion success");
|
||||
} else {
|
||||
return Err(PusPacketHandlingError::Other(
|
||||
@ -145,12 +113,10 @@ impl<
|
||||
scheduling::Subservice::TcResetScheduling => {
|
||||
let start_token = self
|
||||
.service_helper
|
||||
.verif_reporter()
|
||||
.start_success(
|
||||
&self.service_helper.common.tm_sender,
|
||||
ecss_tc_and_token.token,
|
||||
time_stamp,
|
||||
)
|
||||
.common
|
||||
.verification_handler
|
||||
.get_mut()
|
||||
.start_success(ecss_tc_and_token.token, Some(&time_stamp))
|
||||
.expect("Error sending start success");
|
||||
|
||||
self.scheduler
|
||||
@ -158,38 +124,31 @@ impl<
|
||||
.expect("Error resetting TC Pool");
|
||||
|
||||
self.service_helper
|
||||
.verif_reporter()
|
||||
.completion_success(
|
||||
&self.service_helper.common.tm_sender,
|
||||
start_token,
|
||||
time_stamp,
|
||||
)
|
||||
.common
|
||||
.verification_handler
|
||||
.get_mut()
|
||||
.completion_success(start_token, Some(&time_stamp))
|
||||
.expect("Error sending completion success");
|
||||
}
|
||||
scheduling::Subservice::TcInsertActivity => {
|
||||
let start_token = self
|
||||
.service_helper
|
||||
.common
|
||||
.verif_reporter
|
||||
.start_success(
|
||||
&self.service_helper.common.tm_sender,
|
||||
ecss_tc_and_token.token,
|
||||
time_stamp,
|
||||
)
|
||||
.verification_handler
|
||||
.get_mut()
|
||||
.start_success(ecss_tc_and_token.token, Some(&time_stamp))
|
||||
.expect("error sending start success");
|
||||
|
||||
// let mut pool = self.sched_tc_pool.write().expect("locking pool failed");
|
||||
self.scheduler
|
||||
.insert_wrapped_tc::<CdsTime>(&tc, sched_tc_pool)
|
||||
.insert_wrapped_tc::<TimeProvider>(&tc, sched_tc_pool)
|
||||
.expect("insertion of activity into pool failed");
|
||||
|
||||
self.service_helper
|
||||
.verif_reporter()
|
||||
.completion_success(
|
||||
&self.service_helper.common.tm_sender,
|
||||
start_token,
|
||||
time_stamp,
|
||||
)
|
||||
.common
|
||||
.verification_handler
|
||||
.get_mut()
|
||||
.completion_success(start_token, Some(&time_stamp))
|
||||
.expect("sending completion success failed");
|
||||
}
|
||||
_ => {
|
||||
@ -208,57 +167,17 @@ impl<
|
||||
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> = PusSchedServiceHandler<
|
||||
MpscTcReceiver,
|
||||
mpsc::Sender<PacketAsVec>,
|
||||
EcssTcInVecConverter,
|
||||
VerificationReporter,
|
||||
PusScheduler,
|
||||
>;
|
||||
/// Helper type definition for a PUS 11 handler with a dynamic TMTC memory backend and bounded MPSC
|
||||
/// queues.
|
||||
pub type PusService11SchedHandlerDynWithBoundedMpsc<PusScheduler> = PusSchedServiceHandler<
|
||||
MpscTcReceiver,
|
||||
mpsc::SyncSender<PacketAsVec>,
|
||||
EcssTcInVecConverter,
|
||||
VerificationReporter,
|
||||
PusScheduler,
|
||||
>;
|
||||
/// Helper type definition for a PUS 11 handler with a shared store TMTC memory backend and regular
|
||||
/// mpsc queues.
|
||||
pub type PusService11SchedHandlerStaticWithMpsc<PusScheduler> = PusSchedServiceHandler<
|
||||
MpscTcReceiver,
|
||||
PacketSenderWithSharedPool,
|
||||
EcssTcInSharedStoreConverter,
|
||||
VerificationReporter,
|
||||
PusScheduler,
|
||||
>;
|
||||
/// Helper type definition for a PUS 11 handler with a shared store TMTC memory backend and bounded
|
||||
/// mpsc queues.
|
||||
pub type PusService11SchedHandlerStaticWithBoundedMpsc<PusScheduler> = PusSchedServiceHandler<
|
||||
MpscTcReceiver,
|
||||
PacketSenderWithSharedPool,
|
||||
EcssTcInSharedStoreConverter,
|
||||
VerificationReporter,
|
||||
PusScheduler,
|
||||
>;
|
||||
|
||||
#[cfg(test)]
|
||||
mod tests {
|
||||
use crate::pool::{StaticMemoryPool, StaticPoolConfig};
|
||||
use crate::pus::test_util::{PusTestHarness, TEST_APID};
|
||||
use crate::pus::verification::{VerificationReporter, VerificationReportingProvider};
|
||||
|
||||
use crate::pus::tests::TEST_APID;
|
||||
use crate::pus::{
|
||||
scheduler::{self, PusSchedulerProvider, TcInfo},
|
||||
tests::PusServiceHandlerWithSharedStoreCommon,
|
||||
scheduler::{self, PusSchedulerInterface, TcInfo},
|
||||
tests::{PusServiceHandlerWithSharedStoreCommon, PusTestHarness},
|
||||
verification::{RequestId, TcStateAccepted, VerificationToken},
|
||||
EcssTcInSharedStoreConverter,
|
||||
};
|
||||
use crate::pus::{MpscTcReceiver, PusPacketHandlerResult, PusPacketHandlingError};
|
||||
use crate::tmtc::PacketSenderWithSharedPool;
|
||||
use alloc::collections::VecDeque;
|
||||
use delegate::delegate;
|
||||
use spacepackets::ecss::scheduling::Subservice;
|
||||
@ -271,57 +190,32 @@ mod tests {
|
||||
time::cds,
|
||||
};
|
||||
|
||||
use super::PusSchedServiceHandler;
|
||||
use super::PusService11SchedHandler;
|
||||
|
||||
struct Pus11HandlerWithStoreTester {
|
||||
common: PusServiceHandlerWithSharedStoreCommon,
|
||||
handler: PusSchedServiceHandler<
|
||||
MpscTcReceiver,
|
||||
PacketSenderWithSharedPool,
|
||||
EcssTcInSharedStoreConverter,
|
||||
VerificationReporter,
|
||||
TestScheduler,
|
||||
>,
|
||||
handler: PusService11SchedHandler<EcssTcInSharedStoreConverter, TestScheduler>,
|
||||
sched_tc_pool: StaticMemoryPool,
|
||||
}
|
||||
|
||||
impl Pus11HandlerWithStoreTester {
|
||||
pub fn new() -> Self {
|
||||
let test_scheduler = TestScheduler::default();
|
||||
let pool_cfg = StaticPoolConfig::new(alloc::vec![(16, 16), (8, 32), (4, 64)], false);
|
||||
let pool_cfg = StaticPoolConfig::new(alloc::vec![(16, 16), (8, 32), (4, 64)]);
|
||||
let sched_tc_pool = StaticMemoryPool::new(pool_cfg.clone());
|
||||
let (common, srv_handler) = PusServiceHandlerWithSharedStoreCommon::new(0);
|
||||
let (common, srv_handler) = PusServiceHandlerWithSharedStoreCommon::new();
|
||||
Self {
|
||||
common,
|
||||
handler: PusSchedServiceHandler::new(srv_handler, test_scheduler),
|
||||
handler: PusService11SchedHandler::new(srv_handler, test_scheduler),
|
||||
sched_tc_pool,
|
||||
}
|
||||
}
|
||||
|
||||
pub fn handle_one_tc(&mut self) -> Result<PusPacketHandlerResult, PusPacketHandlingError> {
|
||||
let time_stamp = cds::CdsTime::new_with_u16_days(0, 0).to_vec().unwrap();
|
||||
self.handler
|
||||
.poll_and_handle_next_tc(&time_stamp, &mut self.sched_tc_pool)
|
||||
}
|
||||
}
|
||||
|
||||
impl PusTestHarness for Pus11HandlerWithStoreTester {
|
||||
fn init_verification(&mut self, tc: &PusTcCreator) -> VerificationToken<TcStateAccepted> {
|
||||
let init_token = self.handler.service_helper.verif_reporter_mut().add_tc(tc);
|
||||
self.handler
|
||||
.service_helper
|
||||
.verif_reporter()
|
||||
.acceptance_success(self.handler.service_helper.tm_sender(), init_token, &[0; 7])
|
||||
.expect("acceptance success failure")
|
||||
}
|
||||
|
||||
fn send_tc(&self, token: &VerificationToken<TcStateAccepted>, tc: &PusTcCreator) {
|
||||
self.common
|
||||
.send_tc(self.handler.service_helper.id(), token, tc);
|
||||
}
|
||||
|
||||
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);
|
||||
@ -338,13 +232,13 @@ mod tests {
|
||||
inserted_tcs: VecDeque<TcInfo>,
|
||||
}
|
||||
|
||||
impl PusSchedulerProvider for TestScheduler {
|
||||
type TimeProvider = cds::CdsTime;
|
||||
impl PusSchedulerInterface for TestScheduler {
|
||||
type TimeProvider = cds::TimeProvider;
|
||||
|
||||
fn reset(
|
||||
&mut self,
|
||||
_store: &mut (impl crate::pool::PoolProvider + ?Sized),
|
||||
) -> Result<(), crate::pool::PoolError> {
|
||||
) -> Result<(), crate::pool::StoreError> {
|
||||
self.reset_count += 1;
|
||||
Ok(())
|
||||
}
|
||||
@ -365,7 +259,7 @@ mod tests {
|
||||
|
||||
fn insert_unwrapped_and_stored_tc(
|
||||
&mut self,
|
||||
_time_stamp: spacepackets::time::UnixTime,
|
||||
_time_stamp: spacepackets::time::UnixTimestamp,
|
||||
info: crate::pus::scheduler::TcInfo,
|
||||
) -> Result<(), crate::pus::scheduler::ScheduleError> {
|
||||
self.inserted_tcs.push_back(info);
|
||||
@ -377,17 +271,15 @@ mod tests {
|
||||
test_harness: &mut Pus11HandlerWithStoreTester,
|
||||
subservice: Subservice,
|
||||
) {
|
||||
let reply_header = SpHeader::new_for_unseg_tm(TEST_APID, 0, 0);
|
||||
let mut reply_header = SpHeader::tm_unseg(TEST_APID, 0, 0).unwrap();
|
||||
let tc_header = PusTcSecondaryHeader::new_simple(11, subservice as u8);
|
||||
let enable_scheduling = PusTcCreator::new(reply_header, tc_header, &[0; 7], true);
|
||||
let token = test_harness.init_verification(&enable_scheduling);
|
||||
test_harness.send_tc(&token, &enable_scheduling);
|
||||
let enable_scheduling = PusTcCreator::new(&mut reply_header, tc_header, &[0; 7], true);
|
||||
let token = test_harness.send_tc(&enable_scheduling);
|
||||
|
||||
let request_id = token.request_id();
|
||||
let time_stamp = cds::CdsTime::new_with_u16_days(0, 0).to_vec().unwrap();
|
||||
let request_id = token.req_id();
|
||||
test_harness
|
||||
.handler
|
||||
.poll_and_handle_next_tc(&time_stamp, &mut test_harness.sched_tc_pool)
|
||||
.handle_one_tc(&mut test_harness.sched_tc_pool)
|
||||
.unwrap();
|
||||
test_harness.check_next_verification_tm(1, request_id);
|
||||
test_harness.check_next_verification_tm(3, request_id);
|
||||
@ -424,29 +316,31 @@ mod tests {
|
||||
#[test]
|
||||
fn test_insert_activity_tc() {
|
||||
let mut test_harness = Pus11HandlerWithStoreTester::new();
|
||||
let mut reply_header = SpHeader::new_for_unseg_tc(TEST_APID, 0, 0);
|
||||
let mut reply_header = SpHeader::tm_unseg(TEST_APID, 0, 0).unwrap();
|
||||
let mut sec_header = PusTcSecondaryHeader::new_simple(17, 1);
|
||||
let ping_tc = PusTcCreator::new(reply_header, sec_header, &[], true);
|
||||
let ping_tc = PusTcCreator::new(&mut reply_header, sec_header, &[], true);
|
||||
let req_id_ping_tc = scheduler::RequestId::from_tc(&ping_tc);
|
||||
let stamper = cds::CdsTime::now_with_u16_days().expect("time provider failed");
|
||||
let stamper = cds::TimeProvider::from_now_with_u16_days().expect("time provider failed");
|
||||
let mut sched_app_data: [u8; 64] = [0; 64];
|
||||
let mut written_len = stamper.write_to_bytes(&mut sched_app_data).unwrap();
|
||||
let ping_raw = ping_tc.to_vec().expect("generating raw tc failed");
|
||||
sched_app_data[written_len..written_len + ping_raw.len()].copy_from_slice(&ping_raw);
|
||||
written_len += ping_raw.len();
|
||||
reply_header = SpHeader::new_for_unseg_tc(TEST_APID, 1, 0);
|
||||
reply_header = SpHeader::tm_unseg(TEST_APID, 1, 0).unwrap();
|
||||
sec_header = PusTcSecondaryHeader::new_simple(11, Subservice::TcInsertActivity as u8);
|
||||
let enable_scheduling = PusTcCreator::new(
|
||||
reply_header,
|
||||
&mut reply_header,
|
||||
sec_header,
|
||||
&sched_app_data[..written_len],
|
||||
true,
|
||||
);
|
||||
let token = test_harness.init_verification(&enable_scheduling);
|
||||
test_harness.send_tc(&token, &enable_scheduling);
|
||||
let token = test_harness.send_tc(&enable_scheduling);
|
||||
|
||||
let request_id = token.request_id();
|
||||
test_harness.handle_one_tc().unwrap();
|
||||
let request_id = token.req_id();
|
||||
test_harness
|
||||
.handler
|
||||
.handle_one_tc(&mut test_harness.sched_tc_pool)
|
||||
.unwrap();
|
||||
test_harness.check_next_verification_tm(1, request_id);
|
||||
test_harness.check_next_verification_tm(3, request_id);
|
||||
test_harness.check_next_verification_tm(7, request_id);
|
||||
272
satrs-core/src/pus/test.rs
Normal file
272
satrs-core/src/pus/test.rs
Normal file
@ -0,0 +1,272 @@
|
||||
use crate::pus::{
|
||||
PartialPusHandlingError, PusPacketHandlerResult, PusPacketHandlingError, PusTmWrapper,
|
||||
};
|
||||
use spacepackets::ecss::tm::{PusTmCreator, PusTmSecondaryHeader};
|
||||
use spacepackets::ecss::PusPacket;
|
||||
use spacepackets::SpHeader;
|
||||
|
||||
use super::{EcssTcInMemConverter, PusServiceBase, PusServiceHelper};
|
||||
|
||||
/// 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>,
|
||||
}
|
||||
|
||||
impl<TcInMemConverter: EcssTcInMemConverter> PusService17TestHandler<TcInMemConverter> {
|
||||
pub fn new(service_helper: PusServiceHelper<TcInMemConverter>) -> Self {
|
||||
Self { service_helper }
|
||||
}
|
||||
|
||||
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)?;
|
||||
if tc.service() != 17 {
|
||||
return Err(PusPacketHandlingError::WrongService(tc.service()));
|
||||
}
|
||||
if tc.subservice() == 1 {
|
||||
let mut partial_error = None;
|
||||
let time_stamp = PusServiceBase::get_current_timestamp(&mut partial_error);
|
||||
let result = self
|
||||
.service_helper
|
||||
.common
|
||||
.verification_handler
|
||||
.get_mut()
|
||||
.start_success(ecss_tc_and_token.token, Some(&time_stamp))
|
||||
.map_err(|_| PartialPusHandlingError::Verification);
|
||||
let start_token = if let Ok(result) = result {
|
||||
Some(result)
|
||||
} else {
|
||||
partial_error = Some(result.unwrap_err());
|
||||
None
|
||||
};
|
||||
// Sequence count will be handled centrally in TM funnel.
|
||||
let mut reply_header =
|
||||
SpHeader::tm_unseg(self.service_helper.common.tm_apid, 0, 0).unwrap();
|
||||
let tc_header = PusTmSecondaryHeader::new_simple(17, 2, &time_stamp);
|
||||
let ping_reply = PusTmCreator::new(&mut reply_header, tc_header, &[], true);
|
||||
let result = self
|
||||
.service_helper
|
||||
.common
|
||||
.tm_sender
|
||||
.send_tm(PusTmWrapper::Direct(ping_reply))
|
||||
.map_err(PartialPusHandlingError::TmSend);
|
||||
if let Err(err) = result {
|
||||
partial_error = Some(err);
|
||||
}
|
||||
|
||||
if let Some(start_token) = start_token {
|
||||
if self
|
||||
.service_helper
|
||||
.common
|
||||
.verification_handler
|
||||
.get_mut()
|
||||
.completion_success(start_token, Some(&time_stamp))
|
||||
.is_err()
|
||||
{
|
||||
partial_error = Some(PartialPusHandlingError::Verification)
|
||||
}
|
||||
}
|
||||
if let Some(partial_error) = partial_error {
|
||||
return Ok(PusPacketHandlerResult::RequestHandledPartialSuccess(
|
||||
partial_error,
|
||||
));
|
||||
};
|
||||
} else {
|
||||
return Ok(PusPacketHandlerResult::CustomSubservice(
|
||||
tc.subservice(),
|
||||
ecss_tc_and_token.token,
|
||||
));
|
||||
}
|
||||
Ok(PusPacketHandlerResult::RequestHandled)
|
||||
}
|
||||
}
|
||||
|
||||
#[cfg(test)]
|
||||
mod tests {
|
||||
use crate::pus::tests::{
|
||||
PusServiceHandlerWithSharedStoreCommon, PusServiceHandlerWithVecCommon, PusTestHarness,
|
||||
SimplePusPacketHandler, TEST_APID,
|
||||
};
|
||||
use crate::pus::verification::RequestId;
|
||||
use crate::pus::verification::{TcStateAccepted, VerificationToken};
|
||||
use crate::pus::{
|
||||
EcssTcInSharedStoreConverter, EcssTcInVecConverter, PusPacketHandlerResult,
|
||||
PusPacketHandlingError,
|
||||
};
|
||||
use delegate::delegate;
|
||||
use spacepackets::ecss::tc::{PusTcCreator, PusTcSecondaryHeader};
|
||||
use spacepackets::ecss::tm::PusTmReader;
|
||||
use spacepackets::ecss::PusPacket;
|
||||
use spacepackets::{SequenceFlags, SpHeader};
|
||||
|
||||
use super::PusService17TestHandler;
|
||||
|
||||
struct Pus17HandlerWithStoreTester {
|
||||
common: PusServiceHandlerWithSharedStoreCommon,
|
||||
handler: PusService17TestHandler<EcssTcInSharedStoreConverter>,
|
||||
}
|
||||
|
||||
impl Pus17HandlerWithStoreTester {
|
||||
pub fn new() -> Self {
|
||||
let (common, srv_handler) = PusServiceHandlerWithSharedStoreCommon::new();
|
||||
let pus_17_handler = PusService17TestHandler::new(srv_handler);
|
||||
Self {
|
||||
common,
|
||||
handler: pus_17_handler,
|
||||
}
|
||||
}
|
||||
}
|
||||
|
||||
impl PusTestHarness for Pus17HandlerWithStoreTester {
|
||||
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 Pus17HandlerWithStoreTester {
|
||||
delegate! {
|
||||
to self.handler {
|
||||
fn handle_one_tc(&mut self) -> Result<PusPacketHandlerResult, PusPacketHandlingError>;
|
||||
}
|
||||
}
|
||||
}
|
||||
|
||||
struct Pus17HandlerWithVecTester {
|
||||
common: PusServiceHandlerWithVecCommon,
|
||||
handler: PusService17TestHandler<EcssTcInVecConverter>,
|
||||
}
|
||||
|
||||
impl Pus17HandlerWithVecTester {
|
||||
pub fn new() -> Self {
|
||||
let (common, srv_handler) = PusServiceHandlerWithVecCommon::new();
|
||||
Self {
|
||||
common,
|
||||
handler: PusService17TestHandler::new(srv_handler),
|
||||
}
|
||||
}
|
||||
}
|
||||
|
||||
impl PusTestHarness for Pus17HandlerWithVecTester {
|
||||
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 Pus17HandlerWithVecTester {
|
||||
delegate! {
|
||||
to self.handler {
|
||||
fn handle_one_tc(&mut self) -> Result<PusPacketHandlerResult, PusPacketHandlingError>;
|
||||
}
|
||||
}
|
||||
}
|
||||
|
||||
fn ping_test(test_harness: &mut (impl PusTestHarness + SimplePusPacketHandler)) {
|
||||
// Create a ping TC, verify acceptance.
|
||||
let mut sp_header = SpHeader::tc(TEST_APID, SequenceFlags::Unsegmented, 0, 0).unwrap();
|
||||
let sec_header = PusTcSecondaryHeader::new_simple(17, 1);
|
||||
let ping_tc = PusTcCreator::new_no_app_data(&mut sp_header, sec_header, true);
|
||||
let token = test_harness.send_tc(&ping_tc);
|
||||
let request_id = token.req_id();
|
||||
let result = test_harness.handle_one_tc();
|
||||
assert!(result.is_ok());
|
||||
// We should see 4 replies in the TM queue now: Acceptance TM, Start TM, ping reply and
|
||||
// Completion TM
|
||||
|
||||
// Acceptance TM
|
||||
test_harness.check_next_verification_tm(1, request_id);
|
||||
|
||||
// Start TM
|
||||
test_harness.check_next_verification_tm(3, request_id);
|
||||
|
||||
// Ping reply
|
||||
let tm = test_harness.read_next_tm();
|
||||
assert_eq!(tm.service(), 17);
|
||||
assert_eq!(tm.subservice(), 2);
|
||||
assert!(tm.user_data().is_empty());
|
||||
|
||||
// TM completion
|
||||
test_harness.check_next_verification_tm(7, request_id);
|
||||
}
|
||||
|
||||
#[test]
|
||||
fn test_basic_ping_processing_using_store() {
|
||||
let mut test_harness = Pus17HandlerWithStoreTester::new();
|
||||
ping_test(&mut test_harness);
|
||||
}
|
||||
|
||||
#[test]
|
||||
fn test_basic_ping_processing_using_vec() {
|
||||
let mut test_harness = Pus17HandlerWithVecTester::new();
|
||||
ping_test(&mut test_harness);
|
||||
}
|
||||
|
||||
#[test]
|
||||
fn test_empty_tc_queue() {
|
||||
let mut test_harness = Pus17HandlerWithStoreTester::new();
|
||||
let result = test_harness.handle_one_tc();
|
||||
assert!(result.is_ok());
|
||||
let result = result.unwrap();
|
||||
if let PusPacketHandlerResult::Empty = result {
|
||||
} else {
|
||||
panic!("unexpected result type {result:?}")
|
||||
}
|
||||
}
|
||||
|
||||
#[test]
|
||||
fn test_sending_unsupported_service() {
|
||||
let mut test_harness = Pus17HandlerWithStoreTester::new();
|
||||
let mut sp_header = SpHeader::tc(TEST_APID, SequenceFlags::Unsegmented, 0, 0).unwrap();
|
||||
let sec_header = PusTcSecondaryHeader::new_simple(3, 1);
|
||||
let ping_tc = PusTcCreator::new_no_app_data(&mut sp_header, sec_header, true);
|
||||
test_harness.send_tc(&ping_tc);
|
||||
let result = test_harness.handle_one_tc();
|
||||
assert!(result.is_err());
|
||||
let error = result.unwrap_err();
|
||||
if let PusPacketHandlingError::WrongService(num) = error {
|
||||
assert_eq!(num, 3);
|
||||
} else {
|
||||
panic!("unexpected error type {error}")
|
||||
}
|
||||
}
|
||||
|
||||
#[test]
|
||||
fn test_sending_custom_subservice() {
|
||||
let mut test_harness = Pus17HandlerWithStoreTester::new();
|
||||
let mut sp_header = SpHeader::tc(TEST_APID, SequenceFlags::Unsegmented, 0, 0).unwrap();
|
||||
let sec_header = PusTcSecondaryHeader::new_simple(17, 200);
|
||||
let ping_tc = PusTcCreator::new_no_app_data(&mut sp_header, sec_header, true);
|
||||
test_harness.send_tc(&ping_tc);
|
||||
let result = test_harness.handle_one_tc();
|
||||
assert!(result.is_ok());
|
||||
let result = result.unwrap();
|
||||
if let PusPacketHandlerResult::CustomSubservice(subservice, _) = result {
|
||||
assert_eq!(subservice, 200);
|
||||
} else {
|
||||
panic!("unexpected result type {result:?}")
|
||||
}
|
||||
}
|
||||
}
|
||||
2194
satrs-core/src/pus/verification.rs
Normal file
2194
satrs-core/src/pus/verification.rs
Normal file
File diff suppressed because it is too large
Load Diff
1
satrs-core/src/request.rs
Normal file
1
satrs-core/src/request.rs
Normal file
@ -0,0 +1 @@
|
||||
|
||||
@ -4,7 +4,6 @@ use spacepackets::ecss::{EcssEnumU16, EcssEnumeration};
|
||||
use spacepackets::util::UnsignedEnum;
|
||||
use spacepackets::ByteConversionError;
|
||||
|
||||
/// Simple [u16] based result code type which also allows to group related resultcodes.
|
||||
#[derive(Debug, Copy, Clone, PartialEq, Eq)]
|
||||
#[cfg_attr(feature = "serde", derive(Serialize, Deserialize))]
|
||||
pub struct ResultU16 {
|
||||
@ -13,7 +12,7 @@ pub struct ResultU16 {
|
||||
}
|
||||
|
||||
impl ResultU16 {
|
||||
pub const fn new(group_id: u8, unique_id: u8) -> Self {
|
||||
pub const fn const_new(group_id: u8, unique_id: u8) -> Self {
|
||||
Self {
|
||||
group_id,
|
||||
unique_id,
|
||||
@ -52,10 +51,6 @@ impl UnsignedEnum for ResultU16 {
|
||||
buf[1] = self.unique_id;
|
||||
Ok(self.size())
|
||||
}
|
||||
|
||||
fn value(&self) -> u64 {
|
||||
self.raw() as u64
|
||||
}
|
||||
}
|
||||
|
||||
impl EcssEnumeration for ResultU16 {
|
||||
@ -63,26 +58,3 @@ impl EcssEnumeration for ResultU16 {
|
||||
16
|
||||
}
|
||||
}
|
||||
|
||||
#[cfg(test)]
|
||||
mod tests {
|
||||
use super::*;
|
||||
|
||||
const RESULT_CODE_CONST: ResultU16 = ResultU16::new(1, 1);
|
||||
|
||||
#[test]
|
||||
pub fn test_basic() {
|
||||
let result_code = ResultU16::new(1, 1);
|
||||
assert_eq!(result_code.unique_id(), 1);
|
||||
assert_eq!(result_code.group_id(), 1);
|
||||
assert_eq!(result_code, RESULT_CODE_CONST);
|
||||
assert_eq!(result_code.raw(), (1_u16 << 8) | 1);
|
||||
assert_eq!(result_code.pfc(), 16);
|
||||
assert_eq!(result_code.size(), 2);
|
||||
let mut buf: [u8; 2] = [0; 2];
|
||||
let written = result_code.write_to_be_bytes(&mut buf).unwrap();
|
||||
assert_eq!(written, 2);
|
||||
assert_eq!(buf[0], 1);
|
||||
assert_eq!(buf[1], 1);
|
||||
}
|
||||
}
|
||||
@ -32,7 +32,7 @@ dyn_clone::clone_trait_object!(SequenceCountProvider<u16>);
|
||||
#[cfg(feature = "alloc")]
|
||||
impl<T, Raw> SequenceCountProvider<Raw> for T where T: SequenceCountProviderCore<Raw> + Clone {}
|
||||
|
||||
#[derive(Clone)]
|
||||
#[derive(Default, Clone)]
|
||||
pub struct SeqCountProviderSimple<T: Copy> {
|
||||
seq_count: Cell<T>,
|
||||
max_val: T,
|
||||
@ -43,12 +43,13 @@ macro_rules! impl_for_primitives {
|
||||
$(
|
||||
paste! {
|
||||
impl SeqCountProviderSimple<$ty> {
|
||||
pub fn [<new_custom_max_val_ $ty>](max_val: $ty) -> Self {
|
||||
pub fn [<new_ $ty _max_val>](max_val: $ty) -> Self {
|
||||
Self {
|
||||
seq_count: Cell::new(0),
|
||||
max_val,
|
||||
}
|
||||
}
|
||||
|
||||
pub fn [<new_ $ty>]() -> Self {
|
||||
Self {
|
||||
seq_count: Cell::new(0),
|
||||
@ -57,12 +58,6 @@ macro_rules! impl_for_primitives {
|
||||
}
|
||||
}
|
||||
|
||||
impl Default for SeqCountProviderSimple<$ty> {
|
||||
fn default() -> Self {
|
||||
Self::[<new_ $ty>]()
|
||||
}
|
||||
}
|
||||
|
||||
impl SequenceCountProviderCore<$ty> for SeqCountProviderSimple<$ty> {
|
||||
fn get(&self) -> $ty {
|
||||
self.seq_count.get()
|
||||
@ -91,16 +86,21 @@ macro_rules! impl_for_primitives {
|
||||
impl_for_primitives!(u8, u16, u32, u64,);
|
||||
|
||||
/// This is a sequence count provider which wraps around at [MAX_SEQ_COUNT].
|
||||
#[derive(Clone)]
|
||||
pub struct CcsdsSimpleSeqCountProvider {
|
||||
provider: SeqCountProviderSimple<u16>,
|
||||
}
|
||||
|
||||
impl CcsdsSimpleSeqCountProvider {
|
||||
pub fn new() -> Self {
|
||||
Self {
|
||||
provider: SeqCountProviderSimple::new_u16_max_val(MAX_SEQ_COUNT),
|
||||
}
|
||||
}
|
||||
}
|
||||
|
||||
impl Default for CcsdsSimpleSeqCountProvider {
|
||||
fn default() -> Self {
|
||||
Self {
|
||||
provider: SeqCountProviderSimple::new_custom_max_val_u16(MAX_SEQ_COUNT),
|
||||
}
|
||||
Self::new()
|
||||
}
|
||||
}
|
||||
|
||||
@ -187,7 +187,7 @@ mod tests {
|
||||
|
||||
#[test]
|
||||
fn test_u8_counter() {
|
||||
let u8_counter = SeqCountProviderSimple::<u8>::default();
|
||||
let u8_counter = SeqCountProviderSimple::new_u8();
|
||||
assert_eq!(u8_counter.get(), 0);
|
||||
assert_eq!(u8_counter.get_and_increment(), 0);
|
||||
assert_eq!(u8_counter.get_and_increment(), 1);
|
||||
367
satrs-core/src/tmtc/ccsds_distrib.rs
Normal file
367
satrs-core/src/tmtc/ccsds_distrib.rs
Normal file
@ -0,0 +1,367 @@
|
||||
//! CCSDS packet routing components.
|
||||
//!
|
||||
//! The routing components consist of two core components:
|
||||
//! 1. [CcsdsDistributor] component which dispatches received packets to a user-provided handler
|
||||
//! 2. [CcsdsPacketHandler] trait which should be implemented by the user-provided packet handler.
|
||||
//!
|
||||
//! The [CcsdsDistributor] implements the [ReceivesCcsdsTc] and [ReceivesTcCore] trait which allows to
|
||||
//! pass raw or CCSDS packets to it. Upon receiving a packet, it performs the following steps:
|
||||
//!
|
||||
//! 1. It tries to identify the target Application Process Identifier (APID) based on the
|
||||
//! respective CCSDS space packet header field. If that process fails, a [ByteConversionError] is
|
||||
//! returned to the user
|
||||
//! 2. If a valid APID is found and matches one of the APIDs provided by
|
||||
//! [CcsdsPacketHandler::valid_apids], it will pass the packet to the user provided
|
||||
//! [CcsdsPacketHandler::handle_known_apid] function. If no valid APID is found, the packet
|
||||
//! will be passed to the [CcsdsPacketHandler::handle_unknown_apid] function.
|
||||
//!
|
||||
//! # Example
|
||||
//!
|
||||
//! ```rust
|
||||
//! use satrs_core::tmtc::ccsds_distrib::{CcsdsPacketHandler, CcsdsDistributor};
|
||||
//! use satrs_core::tmtc::{ReceivesTc, ReceivesTcCore};
|
||||
//! use spacepackets::{CcsdsPacket, SpHeader};
|
||||
//! use spacepackets::ecss::WritablePusPacket;
|
||||
//! use spacepackets::ecss::tc::{PusTc, PusTcCreator};
|
||||
//!
|
||||
//! #[derive (Default)]
|
||||
//! struct ConcreteApidHandler {
|
||||
//! known_call_count: u32,
|
||||
//! unknown_call_count: u32
|
||||
//! }
|
||||
//!
|
||||
//! impl ConcreteApidHandler {
|
||||
//! fn mutable_foo(&mut self) {}
|
||||
//! }
|
||||
//!
|
||||
//! impl CcsdsPacketHandler for ConcreteApidHandler {
|
||||
//! type Error = ();
|
||||
//! fn valid_apids(&self) -> &'static [u16] { &[0x002] }
|
||||
//! fn handle_known_apid(&mut self, sp_header: &SpHeader, tc_raw: &[u8]) -> Result<(), Self::Error> {
|
||||
//! assert_eq!(sp_header.apid(), 0x002);
|
||||
//! assert_eq!(tc_raw.len(), 13);
|
||||
//! self.known_call_count += 1;
|
||||
//! Ok(())
|
||||
//! }
|
||||
//! fn handle_unknown_apid(&mut self, sp_header: &SpHeader, tc_raw: &[u8]) -> Result<(), Self::Error> {
|
||||
//! assert_eq!(sp_header.apid(), 0x003);
|
||||
//! assert_eq!(tc_raw.len(), 13);
|
||||
//! self.unknown_call_count += 1;
|
||||
//! Ok(())
|
||||
//! }
|
||||
//! }
|
||||
//!
|
||||
//! let apid_handler = ConcreteApidHandler::default();
|
||||
//! let mut ccsds_distributor = CcsdsDistributor::new(Box::new(apid_handler));
|
||||
//!
|
||||
//! // Create and pass PUS telecommand with a valid APID
|
||||
//! let mut space_packet_header = SpHeader::tc_unseg(0x002, 0x34, 0).unwrap();
|
||||
//! let mut pus_tc = PusTcCreator::new_simple(&mut space_packet_header, 17, 1, None, true);
|
||||
//! let mut test_buf: [u8; 32] = [0; 32];
|
||||
//! let mut size = pus_tc
|
||||
//! .write_to_bytes(test_buf.as_mut_slice())
|
||||
//! .expect("Error writing TC to buffer");
|
||||
//! let tc_slice = &test_buf[0..size];
|
||||
//! ccsds_distributor.pass_tc(&tc_slice).expect("Passing TC slice failed");
|
||||
//!
|
||||
//! // Now pass a packet with an unknown APID to the distributor
|
||||
//! pus_tc.set_apid(0x003);
|
||||
//! size = pus_tc
|
||||
//! .write_to_bytes(test_buf.as_mut_slice())
|
||||
//! .expect("Error writing TC to buffer");
|
||||
//! 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);
|
||||
//!
|
||||
//! // 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();
|
||||
//! ```
|
||||
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;
|
||||
|
||||
/// Generic trait for a handler or dispatcher object handling CCSDS packets.
|
||||
///
|
||||
/// Users should implement this trait on their custom CCSDS packet handler and then pass a boxed
|
||||
/// 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 {
|
||||
type Error;
|
||||
|
||||
fn valid_apids(&self) -> &'static [u16];
|
||||
fn handle_known_apid(&mut self, sp_header: &SpHeader, tc_raw: &[u8])
|
||||
-> Result<(), Self::Error>;
|
||||
fn handle_unknown_apid(
|
||||
&mut self,
|
||||
sp_header: &SpHeader,
|
||||
tc_raw: &[u8],
|
||||
) -> 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> {
|
||||
/// 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>>,
|
||||
}
|
||||
|
||||
#[derive(Debug, Copy, Clone, PartialEq, Eq)]
|
||||
pub enum CcsdsError<E> {
|
||||
CustomError(E),
|
||||
ByteConversionError(ByteConversionError),
|
||||
}
|
||||
|
||||
impl<E: Display> Display for CcsdsError<E> {
|
||||
fn fmt(&self, f: &mut Formatter<'_>) -> core::fmt::Result {
|
||||
match self {
|
||||
Self::CustomError(e) => write!(f, "{e}"),
|
||||
Self::ByteConversionError(e) => write!(f, "{e}"),
|
||||
}
|
||||
}
|
||||
}
|
||||
|
||||
#[cfg(feature = "std")]
|
||||
impl<E: Error> Error for CcsdsError<E> {
|
||||
fn source(&self) -> Option<&(dyn Error + 'static)> {
|
||||
match self {
|
||||
Self::CustomError(e) => e.source(),
|
||||
Self::ByteConversionError(e) => e.source(),
|
||||
}
|
||||
}
|
||||
}
|
||||
|
||||
impl<E: 'static> ReceivesCcsdsTc for CcsdsDistributor<E> {
|
||||
type Error = CcsdsError<E>;
|
||||
|
||||
fn pass_ccsds(&mut self, header: &SpHeader, tc_raw: &[u8]) -> Result<(), Self::Error> {
|
||||
self.dispatch_ccsds(header, tc_raw)
|
||||
}
|
||||
}
|
||||
|
||||
impl<E: 'static> ReceivesTcCore for CcsdsDistributor<E> {
|
||||
type Error = CcsdsError<E>;
|
||||
|
||||
fn pass_tc(&mut self, tc_raw: &[u8]) -> Result<(), Self::Error> {
|
||||
if tc_raw.len() < 7 {
|
||||
return Err(CcsdsError::ByteConversionError(
|
||||
ByteConversionError::FromSliceTooSmall {
|
||||
found: tc_raw.len(),
|
||||
expected: 7,
|
||||
},
|
||||
));
|
||||
}
|
||||
let (sp_header, _) =
|
||||
SpHeader::from_be_bytes(tc_raw).map_err(|e| CcsdsError::ByteConversionError(e))?;
|
||||
self.dispatch_ccsds(&sp_header, tc_raw)
|
||||
}
|
||||
}
|
||||
|
||||
impl<E: 'static> CcsdsDistributor<E> {
|
||||
pub fn new(apid_handler: Box<dyn SendableCcsdsPacketHandler<Error = E>>) -> Self {
|
||||
CcsdsDistributor { apid_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>()
|
||||
}
|
||||
|
||||
/// 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>()
|
||||
}
|
||||
|
||||
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();
|
||||
for &valid_apid in valid_apids {
|
||||
if valid_apid == apid {
|
||||
return self
|
||||
.apid_handler
|
||||
.handle_known_apid(sp_header, tc_raw)
|
||||
.map_err(|e| CcsdsError::CustomError(e));
|
||||
}
|
||||
}
|
||||
self.apid_handler
|
||||
.handle_unknown_apid(sp_header, tc_raw)
|
||||
.map_err(|e| CcsdsError::CustomError(e))
|
||||
}
|
||||
}
|
||||
|
||||
#[cfg(test)]
|
||||
pub(crate) mod tests {
|
||||
use super::*;
|
||||
use crate::tmtc::ccsds_distrib::{CcsdsDistributor, CcsdsPacketHandler};
|
||||
use spacepackets::ecss::tc::PusTcCreator;
|
||||
use spacepackets::ecss::WritablePusPacket;
|
||||
use spacepackets::CcsdsPacket;
|
||||
use std::collections::VecDeque;
|
||||
use std::sync::{Arc, Mutex};
|
||||
use std::vec::Vec;
|
||||
|
||||
fn is_send<T: Send>(_: &T) {}
|
||||
|
||||
pub fn generate_ping_tc(buf: &mut [u8]) -> &[u8] {
|
||||
let mut sph = SpHeader::tc_unseg(0x002, 0x34, 0).unwrap();
|
||||
let pus_tc = PusTcCreator::new_simple(&mut sph, 17, 1, None, true);
|
||||
let size = pus_tc
|
||||
.write_to_bytes(buf)
|
||||
.expect("Error writing TC to buffer");
|
||||
assert_eq!(size, 13);
|
||||
&buf[0..size]
|
||||
}
|
||||
|
||||
type SharedPacketQueue = Arc<Mutex<VecDeque<(u16, Vec<u8>)>>>;
|
||||
pub struct BasicApidHandlerSharedQueue {
|
||||
pub known_packet_queue: SharedPacketQueue,
|
||||
pub unknown_packet_queue: SharedPacketQueue,
|
||||
}
|
||||
|
||||
#[derive(Default)]
|
||||
pub struct BasicApidHandlerOwnedQueue {
|
||||
pub known_packet_queue: VecDeque<(u16, Vec<u8>)>,
|
||||
pub unknown_packet_queue: VecDeque<(u16, Vec<u8>)>,
|
||||
}
|
||||
|
||||
impl CcsdsPacketHandler for BasicApidHandlerSharedQueue {
|
||||
type Error = ();
|
||||
fn valid_apids(&self) -> &'static [u16] {
|
||||
&[0x000, 0x002]
|
||||
}
|
||||
|
||||
fn handle_known_apid(
|
||||
&mut self,
|
||||
sp_header: &SpHeader,
|
||||
tc_raw: &[u8],
|
||||
) -> Result<(), Self::Error> {
|
||||
let mut vec = Vec::new();
|
||||
vec.extend_from_slice(tc_raw);
|
||||
self.known_packet_queue
|
||||
.lock()
|
||||
.unwrap()
|
||||
.push_back((sp_header.apid(), vec));
|
||||
Ok(())
|
||||
}
|
||||
|
||||
fn handle_unknown_apid(
|
||||
&mut self,
|
||||
sp_header: &SpHeader,
|
||||
tc_raw: &[u8],
|
||||
) -> Result<(), Self::Error> {
|
||||
let mut vec = Vec::new();
|
||||
vec.extend_from_slice(tc_raw);
|
||||
self.unknown_packet_queue
|
||||
.lock()
|
||||
.unwrap()
|
||||
.push_back((sp_header.apid(), vec));
|
||||
Ok(())
|
||||
}
|
||||
}
|
||||
|
||||
impl CcsdsPacketHandler for BasicApidHandlerOwnedQueue {
|
||||
type Error = ();
|
||||
|
||||
fn valid_apids(&self) -> &'static [u16] {
|
||||
&[0x000, 0x002]
|
||||
}
|
||||
|
||||
fn handle_known_apid(
|
||||
&mut self,
|
||||
sp_header: &SpHeader,
|
||||
tc_raw: &[u8],
|
||||
) -> 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)))
|
||||
}
|
||||
|
||||
fn handle_unknown_apid(
|
||||
&mut self,
|
||||
sp_header: &SpHeader,
|
||||
tc_raw: &[u8],
|
||||
) -> 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)))
|
||||
}
|
||||
}
|
||||
|
||||
#[test]
|
||||
fn test_distribs_known_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));
|
||||
is_send(&ccsds_distrib);
|
||||
let mut test_buf: [u8; 32] = [0; 32];
|
||||
let tc_slice = generate_ping_tc(test_buf.as_mut_slice());
|
||||
|
||||
ccsds_distrib.pass_tc(tc_slice).expect("Passing TC failed");
|
||||
let recvd = known_packet_queue.lock().unwrap().pop_front();
|
||||
assert!(unknown_packet_queue.lock().unwrap().is_empty());
|
||||
assert!(recvd.is_some());
|
||||
let (apid, packet) = recvd.unwrap();
|
||||
assert_eq!(apid, 0x002);
|
||||
assert_eq!(packet, tc_slice);
|
||||
}
|
||||
|
||||
#[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));
|
||||
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];
|
||||
pus_tc
|
||||
.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!(recvd.is_some());
|
||||
let (apid, packet) = recvd.unwrap();
|
||||
assert_eq!(apid, 0x004);
|
||||
assert_eq!(packet.as_slice(), test_buf);
|
||||
}
|
||||
}
|
||||
117
satrs-core/src/tmtc/mod.rs
Normal file
117
satrs-core/src/tmtc/mod.rs
Normal file
@ -0,0 +1,117 @@
|
||||
//! Telemetry and Telecommanding (TMTC) module. Contains packet routing components with special
|
||||
//! support for CCSDS and ECSS packets.
|
||||
//!
|
||||
//! The distributor modules provided by this module use trait objects provided by the user to
|
||||
//! directly dispatch received packets to packet listeners based on packet fields like the CCSDS
|
||||
//! Application Process ID (APID) or the ECSS PUS service type. This allows for fast packet
|
||||
//! routing without the overhead and complication of using message queues. However, it also requires
|
||||
#[cfg(feature = "alloc")]
|
||||
use downcast_rs::{impl_downcast, Downcast};
|
||||
use spacepackets::SpHeader;
|
||||
|
||||
#[cfg(feature = "alloc")]
|
||||
pub mod ccsds_distrib;
|
||||
#[cfg(feature = "alloc")]
|
||||
pub mod pus_distrib;
|
||||
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;
|
||||
|
||||
/// Generic trait for object which can receive any telecommands in form of a raw bytestream, with
|
||||
/// no assumptions about the received protocol.
|
||||
///
|
||||
/// This trait is implemented by both the [crate::tmtc::pus_distrib::PusDistributor] and the
|
||||
/// [crate::tmtc::ccsds_distrib::CcsdsDistributor] which allows to pass the respective packets in
|
||||
/// raw byte format into them.
|
||||
pub trait ReceivesTcCore {
|
||||
type Error;
|
||||
fn pass_tc(&mut self, tc_raw: &[u8]) -> Result<(), Self::Error>;
|
||||
}
|
||||
|
||||
/// Extension trait of [ReceivesTcCore] which allows downcasting by implementing [Downcast] and
|
||||
/// is also sendable.
|
||||
#[cfg(feature = "alloc")]
|
||||
pub trait ReceivesTc: ReceivesTcCore + Downcast + Send {
|
||||
// Remove this once trait upcasting coercion has been implemented.
|
||||
// Tracking issue: https://github.com/rust-lang/rust/issues/65991
|
||||
fn upcast(&self) -> &dyn ReceivesTcCore<Error = Self::Error>;
|
||||
// Remove this once trait upcasting coercion has been implemented.
|
||||
// Tracking issue: https://github.com/rust-lang/rust/issues/65991
|
||||
fn upcast_mut(&mut self) -> &mut dyn ReceivesTcCore<Error = Self::Error>;
|
||||
}
|
||||
|
||||
/// Blanket implementation to automatically implement [ReceivesTc] when the [alloc] feature
|
||||
/// is enabled.
|
||||
#[cfg(feature = "alloc")]
|
||||
impl<T> ReceivesTc for T
|
||||
where
|
||||
T: ReceivesTcCore + Send + 'static,
|
||||
{
|
||||
// Remove this once trait upcasting coercion has been implemented.
|
||||
// Tracking issue: https://github.com/rust-lang/rust/issues/65991
|
||||
fn upcast(&self) -> &dyn ReceivesTcCore<Error = Self::Error> {
|
||||
self
|
||||
}
|
||||
// Remove this once trait upcasting coercion has been implemented.
|
||||
// Tracking issue: https://github.com/rust-lang/rust/issues/65991
|
||||
fn upcast_mut(&mut self) -> &mut dyn ReceivesTcCore<Error = Self::Error> {
|
||||
self
|
||||
}
|
||||
}
|
||||
|
||||
#[cfg(feature = "alloc")]
|
||||
impl_downcast!(ReceivesTc assoc Error);
|
||||
|
||||
/// Generic trait for object which can receive CCSDS space packets, for example ECSS PUS packets
|
||||
/// for CCSDS File Delivery Protocol (CFDP) packets.
|
||||
///
|
||||
/// This trait is implemented by both the [crate::tmtc::pus_distrib::PusDistributor] and the
|
||||
/// [crate::tmtc::ccsds_distrib::CcsdsDistributor] which allows
|
||||
/// to pass the respective packets in raw byte format or in CCSDS format into them.
|
||||
pub trait ReceivesCcsdsTc {
|
||||
type Error;
|
||||
fn pass_ccsds(&mut self, header: &SpHeader, tc_raw: &[u8]) -> Result<(), Self::Error>;
|
||||
}
|
||||
|
||||
/// Generic trait for a TM packet source, with no restrictions on the type of TM.
|
||||
/// Implementors write the telemetry into the provided buffer and return the size of the telemetry.
|
||||
pub trait TmPacketSourceCore {
|
||||
type Error;
|
||||
fn retrieve_packet(&mut self, buffer: &mut [u8]) -> Result<usize, Self::Error>;
|
||||
}
|
||||
|
||||
/// Extension trait of [TmPacketSourceCore] which allows downcasting by implementing [Downcast] and
|
||||
/// is also sendable.
|
||||
#[cfg(feature = "alloc")]
|
||||
pub trait TmPacketSource: TmPacketSourceCore + Downcast + Send {
|
||||
// Remove this once trait upcasting coercion has been implemented.
|
||||
// Tracking issue: https://github.com/rust-lang/rust/issues/65991
|
||||
fn upcast(&self) -> &dyn TmPacketSourceCore<Error = Self::Error>;
|
||||
// Remove this once trait upcasting coercion has been implemented.
|
||||
// Tracking issue: https://github.com/rust-lang/rust/issues/65991
|
||||
fn upcast_mut(&mut self) -> &mut dyn TmPacketSourceCore<Error = Self::Error>;
|
||||
}
|
||||
|
||||
/// Blanket implementation to automatically implement [ReceivesTc] when the [alloc] feature
|
||||
/// is enabled.
|
||||
#[cfg(feature = "alloc")]
|
||||
impl<T> TmPacketSource for T
|
||||
where
|
||||
T: TmPacketSourceCore + Send + 'static,
|
||||
{
|
||||
// Remove this once trait upcasting coercion has been implemented.
|
||||
// Tracking issue: https://github.com/rust-lang/rust/issues/65991
|
||||
fn upcast(&self) -> &dyn TmPacketSourceCore<Error = Self::Error> {
|
||||
self
|
||||
}
|
||||
// Remove this once trait upcasting coercion has been implemented.
|
||||
// Tracking issue: https://github.com/rust-lang/rust/issues/65991
|
||||
fn upcast_mut(&mut self) -> &mut dyn TmPacketSourceCore<Error = Self::Error> {
|
||||
self
|
||||
}
|
||||
}
|
||||
369
satrs-core/src/tmtc/pus_distrib.rs
Normal file
369
satrs-core/src/tmtc/pus_distrib.rs
Normal file
@ -0,0 +1,369 @@
|
||||
//! ECSS PUS packet routing components.
|
||||
//!
|
||||
//! 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
|
||||
//! handler.
|
||||
//!
|
||||
//! The [PusDistributor] implements the [ReceivesEcssPusTc], [ReceivesCcsdsTc] and the
|
||||
//! [ReceivesTcCore] trait which allows to pass raw packets, CCSDS packets and PUS TC packets into
|
||||
//! it. Upon receiving a packet, it performs the following steps:
|
||||
//!
|
||||
//! 1. It tries to extract the [SpHeader] and [spacepackets::ecss::tc::PusTcReader] objects from
|
||||
//! 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.
|
||||
//!
|
||||
//! # Example
|
||||
//!
|
||||
//! ```rust
|
||||
//! use spacepackets::ecss::WritablePusPacket;
|
||||
//! use satrs_core::tmtc::pus_distrib::{PusDistributor, PusServiceProvider};
|
||||
//! use satrs_core::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 {
|
||||
//! type Error = ();
|
||||
//! fn handle_pus_tc_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;
|
||||
//! Ok(())
|
||||
//! }
|
||||
//! }
|
||||
//!
|
||||
//! let service_handler = ConcretePusHandler {
|
||||
//! handler_call_count: 0
|
||||
//! };
|
||||
//! let mut pus_distributor = PusDistributor::new(Box::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();
|
||||
//! let mut pus_tc = PusTcCreator::new_simple(&mut space_packet_header, 17, 1, None, true);
|
||||
//! let mut test_buf: [u8; 32] = [0; 32];
|
||||
//! let mut size = pus_tc
|
||||
//! .write_to_bytes(test_buf.as_mut_slice())
|
||||
//! .expect("Error writing TC to buffer");
|
||||
//! let tc_slice = &test_buf[0..size];
|
||||
//!
|
||||
//! pus_distributor.pass_tc(tc_slice).expect("Passing PUS telecommand failed");
|
||||
//!
|
||||
//! // 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);
|
||||
//! ```
|
||||
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 {
|
||||
type Error;
|
||||
fn handle_pus_tc_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>>,
|
||||
}
|
||||
|
||||
impl<E> PusDistributor<E> {
|
||||
pub fn new(service_provider: Box<dyn SendablePusServiceProvider<Error = E>>) -> Self {
|
||||
PusDistributor { service_provider }
|
||||
}
|
||||
}
|
||||
|
||||
#[derive(Debug, Copy, Clone, PartialEq, Eq)]
|
||||
pub enum PusDistribError<E> {
|
||||
CustomError(E),
|
||||
PusError(PusError),
|
||||
}
|
||||
|
||||
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}"),
|
||||
}
|
||||
}
|
||||
}
|
||||
|
||||
#[cfg(feature = "std")]
|
||||
impl<E: Error> Error for PusDistribError<E> {
|
||||
fn source(&self) -> Option<&(dyn Error + 'static)> {
|
||||
match self {
|
||||
Self::CustomError(e) => e.source(),
|
||||
Self::PusError(e) => e.source(),
|
||||
}
|
||||
}
|
||||
}
|
||||
|
||||
impl<E: 'static> ReceivesTcCore for PusDistributor<E> {
|
||||
type Error = PusDistribError<E>;
|
||||
fn pass_tc(&mut self, tm_raw: &[u8]) -> Result<(), Self::Error> {
|
||||
// Convert to ccsds and call pass_ccsds
|
||||
let (sp_header, _) = SpHeader::from_be_bytes(tm_raw)
|
||||
.map_err(|e| PusDistribError::PusError(PusError::ByteConversion(e)))?;
|
||||
self.pass_ccsds(&sp_header, tm_raw)
|
||||
}
|
||||
}
|
||||
|
||||
impl<E: 'static> ReceivesCcsdsTc for PusDistributor<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))?;
|
||||
self.pass_pus_tc(header, &tc)
|
||||
}
|
||||
}
|
||||
|
||||
impl<E: 'static> ReceivesEcssPusTc for PusDistributor<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)
|
||||
.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>()
|
||||
}
|
||||
|
||||
pub fn service_provider_mut<T: SendablePusServiceProvider<Error = E>>(
|
||||
&mut self,
|
||||
) -> Option<&mut T> {
|
||||
self.service_provider.downcast_mut::<T>()
|
||||
}
|
||||
}
|
||||
|
||||
#[cfg(test)]
|
||||
mod tests {
|
||||
use super::*;
|
||||
use crate::tmtc::ccsds_distrib::tests::{
|
||||
generate_ping_tc, BasicApidHandlerOwnedQueue, BasicApidHandlerSharedQueue,
|
||||
};
|
||||
use crate::tmtc::ccsds_distrib::{CcsdsDistributor, CcsdsPacketHandler};
|
||||
use alloc::vec::Vec;
|
||||
use spacepackets::ecss::PusError;
|
||||
use spacepackets::CcsdsPacket;
|
||||
#[cfg(feature = "std")]
|
||||
use std::collections::VecDeque;
|
||||
#[cfg(feature = "std")]
|
||||
use std::sync::{Arc, Mutex};
|
||||
|
||||
fn is_send<T: Send>(_: &T) {}
|
||||
|
||||
struct PusHandlerSharedQueue {
|
||||
pub pus_queue: Arc<Mutex<VecDeque<(u8, u16, Vec<u8>)>>>,
|
||||
}
|
||||
|
||||
#[derive(Default)]
|
||||
struct PusHandlerOwnedQueue {
|
||||
pub pus_queue: VecDeque<(u8, u16, Vec<u8>)>,
|
||||
}
|
||||
|
||||
impl PusServiceProvider for PusHandlerSharedQueue {
|
||||
type Error = PusError;
|
||||
fn handle_pus_tc_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
|
||||
.lock()
|
||||
.expect("Mutex lock failed")
|
||||
.push_back((service, sp_header.apid(), vec)))
|
||||
}
|
||||
}
|
||||
|
||||
impl PusServiceProvider for PusHandlerOwnedQueue {
|
||||
type Error = PusError;
|
||||
fn handle_pus_tc_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)))
|
||||
}
|
||||
}
|
||||
|
||||
struct ApidHandlerShared {
|
||||
pub pus_distrib: PusDistributor<PusError>,
|
||||
pub handler_base: BasicApidHandlerSharedQueue,
|
||||
}
|
||||
|
||||
struct ApidHandlerOwned {
|
||||
pub pus_distrib: PusDistributor<PusError>,
|
||||
handler_base: BasicApidHandlerOwnedQueue,
|
||||
}
|
||||
|
||||
macro_rules! apid_handler_impl {
|
||||
() => {
|
||||
type Error = PusError;
|
||||
|
||||
fn valid_apids(&self) -> &'static [u16] {
|
||||
&[0x000, 0x002]
|
||||
}
|
||||
|
||||
fn handle_known_apid(
|
||||
&mut self,
|
||||
sp_header: &SpHeader,
|
||||
tc_raw: &[u8],
|
||||
) -> Result<(), Self::Error> {
|
||||
self.handler_base
|
||||
.handle_known_apid(&sp_header, tc_raw)
|
||||
.ok()
|
||||
.expect("Unexpected error");
|
||||
match self.pus_distrib.pass_ccsds(&sp_header, tc_raw) {
|
||||
Ok(_) => Ok(()),
|
||||
Err(e) => match e {
|
||||
PusDistribError::CustomError(_) => Ok(()),
|
||||
PusDistribError::PusError(e) => Err(e),
|
||||
},
|
||||
}
|
||||
}
|
||||
|
||||
fn handle_unknown_apid(
|
||||
&mut self,
|
||||
sp_header: &SpHeader,
|
||||
tc_raw: &[u8],
|
||||
) -> Result<(), Self::Error> {
|
||||
self.handler_base
|
||||
.handle_unknown_apid(&sp_header, tc_raw)
|
||||
.ok()
|
||||
.expect("Unexpected error");
|
||||
Ok(())
|
||||
}
|
||||
};
|
||||
}
|
||||
|
||||
impl CcsdsPacketHandler for ApidHandlerOwned {
|
||||
apid_handler_impl!();
|
||||
}
|
||||
|
||||
impl CcsdsPacketHandler for ApidHandlerShared {
|
||||
apid_handler_impl!();
|
||||
}
|
||||
|
||||
#[test]
|
||||
#[cfg(feature = "std")]
|
||||
fn test_pus_distribution() {
|
||||
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 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),
|
||||
};
|
||||
is_send(&pus_distrib);
|
||||
let apid_handler = ApidHandlerShared {
|
||||
pus_distrib,
|
||||
handler_base,
|
||||
};
|
||||
let mut ccsds_distrib = CcsdsDistributor::new(Box::new(apid_handler));
|
||||
let mut test_buf: [u8; 32] = [0; 32];
|
||||
let tc_slice = generate_ping_tc(test_buf.as_mut_slice());
|
||||
|
||||
// Pass packet to distributor
|
||||
ccsds_distrib
|
||||
.pass_tc(tc_slice)
|
||||
.expect("Passing TC slice failed");
|
||||
let recvd_ccsds = known_packet_queue.lock().unwrap().pop_front();
|
||||
assert!(unknown_packet_queue.lock().unwrap().is_empty());
|
||||
assert!(recvd_ccsds.is_some());
|
||||
let (apid, packet) = recvd_ccsds.unwrap();
|
||||
assert_eq!(apid, 0x002);
|
||||
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);
|
||||
}
|
||||
|
||||
#[test]
|
||||
fn test_as_any_cast() {
|
||||
let pus_handler = PusHandlerOwnedQueue::default();
|
||||
let handler_base = BasicApidHandlerOwnedQueue::default();
|
||||
let pus_distrib = PusDistributor {
|
||||
service_provider: Box::new(pus_handler),
|
||||
};
|
||||
|
||||
let apid_handler = ApidHandlerOwned {
|
||||
pus_distrib,
|
||||
handler_base,
|
||||
};
|
||||
let mut ccsds_distrib = CcsdsDistributor::new(Box::new(apid_handler));
|
||||
|
||||
let mut test_buf: [u8; 32] = [0; 32];
|
||||
let tc_slice = generate_ping_tc(test_buf.as_mut_slice());
|
||||
|
||||
ccsds_distrib
|
||||
.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");
|
||||
assert!(!apid_handler_casted_back
|
||||
.handler_base
|
||||
.known_packet_queue
|
||||
.is_empty());
|
||||
let handler_casted_back: &mut PusHandlerOwnedQueue = 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);
|
||||
}
|
||||
}
|
||||
@ -1,8 +1,50 @@
|
||||
use spacepackets::ecss::tm::{PusTmCreator, PusTmSecondaryHeader};
|
||||
use spacepackets::time::cds::CdsTime;
|
||||
use spacepackets::time::cds::TimeProvider;
|
||||
use spacepackets::time::TimeWriter;
|
||||
use spacepackets::SpHeader;
|
||||
|
||||
#[cfg(feature = "std")]
|
||||
pub use std_mod::*;
|
||||
|
||||
#[cfg(feature = "std")]
|
||||
pub mod std_mod {
|
||||
use crate::pool::{PoolProvider, SharedStaticMemoryPool, StaticMemoryPool, StoreAddr};
|
||||
use crate::pus::EcssTmtcError;
|
||||
use spacepackets::ecss::tm::PusTmCreator;
|
||||
use spacepackets::ecss::WritablePusPacket;
|
||||
use std::sync::{Arc, RwLock};
|
||||
|
||||
#[derive(Clone)]
|
||||
pub struct SharedTmPool(pub SharedStaticMemoryPool);
|
||||
|
||||
impl SharedTmPool {
|
||||
pub fn new(shared_pool: StaticMemoryPool) -> Self {
|
||||
Self(Arc::new(RwLock::new(shared_pool)))
|
||||
}
|
||||
|
||||
pub fn clone_backing_pool(&self) -> SharedStaticMemoryPool {
|
||||
self.0.clone()
|
||||
}
|
||||
pub fn shared_pool(&self) -> &SharedStaticMemoryPool {
|
||||
&self.0
|
||||
}
|
||||
|
||||
pub fn shared_pool_mut(&mut self) -> &mut SharedStaticMemoryPool {
|
||||
&mut self.0
|
||||
}
|
||||
|
||||
pub fn add_pus_tm(&self, pus_tm: &PusTmCreator) -> Result<StoreAddr, EcssTmtcError> {
|
||||
let mut pg = self.0.write().map_err(|_| EcssTmtcError::StoreLock)?;
|
||||
let addr = pg.free_element(pus_tm.len_written(), |buf| {
|
||||
pus_tm
|
||||
.write_to_bytes(buf)
|
||||
.expect("writing PUS TM to store failed");
|
||||
})?;
|
||||
Ok(addr)
|
||||
}
|
||||
}
|
||||
}
|
||||
|
||||
pub struct PusTmWithCdsShortHelper {
|
||||
apid: u16,
|
||||
cds_short_buf: [u8; 7],
|
||||
@ -24,7 +66,7 @@ impl PusTmWithCdsShortHelper {
|
||||
source_data: &'a [u8],
|
||||
seq_count: u16,
|
||||
) -> PusTmCreator {
|
||||
let time_stamp = CdsTime::now_with_u16_days().unwrap();
|
||||
let time_stamp = TimeProvider::from_now_with_u16_days().unwrap();
|
||||
time_stamp.write_to_bytes(&mut self.cds_short_buf).unwrap();
|
||||
self.create_pus_tm_common(service, subservice, source_data, seq_count)
|
||||
}
|
||||
@ -34,7 +76,7 @@ impl PusTmWithCdsShortHelper {
|
||||
service: u8,
|
||||
subservice: u8,
|
||||
source_data: &'a [u8],
|
||||
stamper: &CdsTime,
|
||||
stamper: &TimeProvider,
|
||||
seq_count: u16,
|
||||
) -> PusTmCreator {
|
||||
stamper.write_to_bytes(&mut self.cds_short_buf).unwrap();
|
||||
@ -48,22 +90,22 @@ impl PusTmWithCdsShortHelper {
|
||||
source_data: &'a [u8],
|
||||
seq_count: u16,
|
||||
) -> PusTmCreator {
|
||||
let reply_header = SpHeader::new_for_unseg_tm(self.apid, seq_count, 0);
|
||||
let mut reply_header = SpHeader::tm_unseg(self.apid, seq_count, 0).unwrap();
|
||||
let tc_header = PusTmSecondaryHeader::new_simple(service, subservice, &self.cds_short_buf);
|
||||
PusTmCreator::new(reply_header, tc_header, source_data, true)
|
||||
PusTmCreator::new(&mut reply_header, tc_header, source_data, true)
|
||||
}
|
||||
}
|
||||
|
||||
#[cfg(test)]
|
||||
mod tests {
|
||||
use spacepackets::{ecss::PusPacket, time::cds::CdsTime, CcsdsPacket};
|
||||
use spacepackets::{ecss::PusPacket, time::cds::TimeProvider, CcsdsPacket};
|
||||
|
||||
use super::PusTmWithCdsShortHelper;
|
||||
|
||||
#[test]
|
||||
fn test_helper_with_stamper() {
|
||||
let mut pus_tm_helper = PusTmWithCdsShortHelper::new(0x123);
|
||||
let stamper = CdsTime::new_with_u16_days(0, 0);
|
||||
let stamper = TimeProvider::new_with_u16_days(0, 0);
|
||||
let tm = pus_tm_helper.create_pus_tm_with_stamper(17, 1, &[1, 2, 3, 4], &stamper, 25);
|
||||
assert_eq!(tm.service(), 17);
|
||||
assert_eq!(tm.subservice(), 1);
|
||||
@ -2,7 +2,7 @@
|
||||
use core::mem::size_of;
|
||||
use serde::{Deserialize, Serialize};
|
||||
use spacepackets::ecss::{PfcReal, PfcUnsigned, Ptc};
|
||||
use spacepackets::time::cds::CdsTime;
|
||||
use spacepackets::time::cds::TimeProvider;
|
||||
use spacepackets::time::{CcsdsTimeProvider, TimeWriter};
|
||||
|
||||
enum NumOfParamsInfo {
|
||||
@ -36,7 +36,7 @@ struct TestMgmHkWithIndividualValidity {
|
||||
|
||||
#[derive(Serialize, Deserialize)]
|
||||
struct TestMgmHkWithGroupValidity {
|
||||
last_valid_stamp: CdsTime,
|
||||
last_valid_stamp: TimeProvider,
|
||||
valid: bool,
|
||||
temp: f32,
|
||||
mgm_vals: [u16; 3],
|
||||
@ -150,7 +150,7 @@ pub fn main() {
|
||||
// The easiest and probably best approach, trading off big advantages for TM downlink capacity:
|
||||
// Use a JSON format
|
||||
let mgm_hk_group_validity = TestMgmHkWithGroupValidity {
|
||||
last_valid_stamp: CdsTime::now_with_u16_days().unwrap(),
|
||||
last_valid_stamp: TimeProvider::from_now_with_u16_days().unwrap(),
|
||||
valid: false,
|
||||
temp: 20.0,
|
||||
mgm_vals: [0x1f1f, 0x2f2f, 0x3f3f],
|
||||
@ -1,4 +1,4 @@
|
||||
use satrs::pool::{PoolAddr, PoolGuard, PoolProvider, StaticMemoryPool, StaticPoolConfig};
|
||||
use satrs_core::pool::{PoolGuard, PoolProvider, StaticMemoryPool, StaticPoolConfig, StoreAddr};
|
||||
use std::ops::DerefMut;
|
||||
use std::sync::mpsc;
|
||||
use std::sync::mpsc::{Receiver, Sender};
|
||||
@ -9,10 +9,10 @@ const DUMMY_DATA: [u8; 4] = [0, 1, 2, 3];
|
||||
|
||||
#[test]
|
||||
fn threaded_usage() {
|
||||
let pool_cfg = StaticPoolConfig::new(vec![(16, 6), (32, 3), (8, 12)], false);
|
||||
let pool_cfg = StaticPoolConfig::new(vec![(16, 6), (32, 3), (8, 12)]);
|
||||
let shared_pool = Arc::new(RwLock::new(StaticMemoryPool::new(pool_cfg)));
|
||||
let shared_clone = shared_pool.clone();
|
||||
let (tx, rx): (Sender<PoolAddr>, Receiver<PoolAddr>) = mpsc::channel();
|
||||
let (tx, rx): (Sender<StoreAddr>, Receiver<StoreAddr>) = mpsc::channel();
|
||||
let jh0 = thread::spawn(move || {
|
||||
let mut dummy = shared_pool.write().unwrap();
|
||||
let addr = dummy.add(&DUMMY_DATA).expect("Writing data failed");
|
||||
@ -1,6 +1,6 @@
|
||||
#![allow(dead_code, unused_imports)]
|
||||
|
||||
use satrs::events::{
|
||||
use satrs_core::events::{
|
||||
EventU32, EventU32TypedSev, GenericEvent, HasSeverity, LargestEventRaw, LargestGroupIdRaw,
|
||||
Severity, SeverityInfo, SeverityLow, SeverityMedium,
|
||||
};
|
||||
@ -1,25 +1,22 @@
|
||||
use satrs::event_man::{
|
||||
EventManagerWithMpsc, EventMessage, EventMessageU32, EventRoutingError, EventSendProvider,
|
||||
EventU32SenderMpsc, MpscEventU32Receiver,
|
||||
use satrs_core::event_man::{
|
||||
EventManagerWithMpscQueue, MpscEventU32Receiver, MpscEventU32SendProvider, SendEventProvider,
|
||||
};
|
||||
use satrs::events::{EventU32, EventU32TypedSev, Severity, SeverityInfo};
|
||||
use satrs::params::U32Pair;
|
||||
use satrs::params::{Params, ParamsHeapless, WritableToBeBytes};
|
||||
use satrs::pus::event_man::{DefaultPusEventMgmtBackend, EventReporter, PusEventDispatcher};
|
||||
use satrs::pus::test_util::TEST_COMPONENT_ID_0;
|
||||
use satrs::request::UniqueApidTargetId;
|
||||
use satrs::tmtc::PacketAsVec;
|
||||
use satrs_core::events::{EventU32, EventU32TypedSev, Severity, SeverityInfo};
|
||||
use satrs_core::params::U32Pair;
|
||||
use satrs_core::params::{Params, ParamsHeapless, WritableToBeBytes};
|
||||
use satrs_core::pus::event_man::{
|
||||
DefaultPusMgmtBackendProvider, EventReporter, PusEventDispatcher,
|
||||
};
|
||||
use satrs_core::pus::MpscTmAsVecSender;
|
||||
use spacepackets::ecss::tm::PusTmReader;
|
||||
use spacepackets::ecss::{PusError, PusPacket};
|
||||
use std::sync::mpsc::{self, SendError, TryRecvError};
|
||||
use std::sync::mpsc::{channel, SendError, TryRecvError};
|
||||
use std::thread;
|
||||
|
||||
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];
|
||||
const TEST_APID: u16 = 0x02;
|
||||
const TEST_ID: UniqueApidTargetId = UniqueApidTargetId::new(TEST_APID, 0x05);
|
||||
|
||||
#[derive(Debug, Clone)]
|
||||
pub enum CustomTmSenderError {
|
||||
@ -29,55 +26,53 @@ pub enum CustomTmSenderError {
|
||||
|
||||
#[test]
|
||||
fn test_threaded_usage() {
|
||||
let (event_sender, event_man_receiver) = mpsc::channel();
|
||||
let (event_sender, event_man_receiver) = channel();
|
||||
let event_receiver = MpscEventU32Receiver::new(event_man_receiver);
|
||||
let mut event_man = EventManagerWithMpsc::new(event_receiver);
|
||||
let mut event_man = EventManagerWithMpscQueue::new(Box::new(event_receiver));
|
||||
|
||||
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.target_id());
|
||||
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());
|
||||
event_man.add_sender(pus_event_man_send_provider);
|
||||
let (event_tx, event_rx) = mpsc::channel::<PacketAsVec>();
|
||||
let reporter =
|
||||
EventReporter::new(TEST_ID.raw(), 0x02, 0, 128).expect("Creating event reporter failed");
|
||||
let pus_event_man = PusEventDispatcher::new(reporter, DefaultPusEventMgmtBackend::default());
|
||||
let error_handler = |event_msg: &EventMessageU32, error: EventRoutingError| {
|
||||
panic!("received routing error for event {event_msg:?}: {error:?}");
|
||||
};
|
||||
let (event_tx, event_rx) = 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));
|
||||
// PUS + Generic event manager thread
|
||||
let jh0 = thread::spawn(move || {
|
||||
let mut sender = MpscTmAsVecSender::new(0, "event_sender", event_tx);
|
||||
let mut event_cnt = 0;
|
||||
let mut params_array: [u8; 128] = [0; 128];
|
||||
loop {
|
||||
event_man.try_event_handling(error_handler);
|
||||
let res = event_man.try_event_handling();
|
||||
assert!(res.is_ok());
|
||||
match pus_event_man_rx.try_recv() {
|
||||
Ok(event_msg) => {
|
||||
let gen_event = |aux_data| {
|
||||
Ok((event, aux_data)) => {
|
||||
let mut gen_event = |aux_data| {
|
||||
pus_event_man.generate_pus_event_tm_generic(
|
||||
&event_tx,
|
||||
&mut sender,
|
||||
&EMPTY_STAMP,
|
||||
event_msg.event(),
|
||||
event,
|
||||
aux_data,
|
||||
)
|
||||
};
|
||||
let res = if let Some(aux_data) = event_msg.params() {
|
||||
let res = if let Some(aux_data) = aux_data {
|
||||
match aux_data {
|
||||
Params::Heapless(heapless) => match heapless {
|
||||
ParamsHeapless::Raw(raw) => {
|
||||
raw.write_to_be_bytes(&mut params_array)
|
||||
.expect("Writing raw parameter failed");
|
||||
gen_event(Some(¶ms_array[0..raw.written_len()]))
|
||||
gen_event(Some(¶ms_array[0..raw.raw_len()]))
|
||||
}
|
||||
ParamsHeapless::EcssEnum(e) => {
|
||||
e.write_to_be_bytes(&mut params_array)
|
||||
.expect("Writing ECSS enum failed");
|
||||
gen_event(Some(¶ms_array[0..e.written_len()]))
|
||||
gen_event(Some(¶ms_array[0..e.raw_len()]))
|
||||
}
|
||||
},
|
||||
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)
|
||||
@ -101,17 +96,14 @@ fn test_threaded_usage() {
|
||||
// Event sender and TM checker thread
|
||||
let jh1 = thread::spawn(move || {
|
||||
event_sender
|
||||
.send(EventMessage::new(
|
||||
TEST_COMPONENT_ID_0.id(),
|
||||
INFO_EVENT.into(),
|
||||
))
|
||||
.send((INFO_EVENT.into(), None))
|
||||
.expect("Sending info event failed");
|
||||
loop {
|
||||
match event_rx.try_recv() {
|
||||
// Event TM received successfully
|
||||
Ok(event_tm) => {
|
||||
let tm = PusTmReader::new(event_tm.packet.as_slice(), 7)
|
||||
.expect("Deserializing TM failed");
|
||||
let tm =
|
||||
PusTmReader::new(event_tm.as_slice(), 7).expect("Deserializing TM failed");
|
||||
assert_eq!(tm.0.service(), 5);
|
||||
assert_eq!(tm.0.subservice(), 1);
|
||||
let src_data = tm.0.source_data();
|
||||
@ -130,18 +122,17 @@ fn test_threaded_usage() {
|
||||
}
|
||||
}
|
||||
event_sender
|
||||
.send(EventMessage::new_with_params(
|
||||
TEST_COMPONENT_ID_0.id(),
|
||||
LOW_SEV_EVENT,
|
||||
&Params::Heapless((2_u32, 3_u32).into()),
|
||||
.send((
|
||||
LOW_SEV_EVENT.into(),
|
||||
Some(Params::Heapless((2_u32, 3_u32).into())),
|
||||
))
|
||||
.expect("Sending low severity event failed");
|
||||
loop {
|
||||
match event_rx.try_recv() {
|
||||
// Event TM received successfully
|
||||
Ok(event_tm) => {
|
||||
let tm = PusTmReader::new(event_tm.packet.as_slice(), 7)
|
||||
.expect("Deserializing TM failed");
|
||||
let tm =
|
||||
PusTmReader::new(event_tm.as_slice(), 7).expect("Deserializing TM failed");
|
||||
assert_eq!(tm.0.service(), 5);
|
||||
assert_eq!(tm.0.subservice(), 2);
|
||||
let src_data = tm.0.source_data();
|
||||
@ -1,21 +1,23 @@
|
||||
#[cfg(feature = "crossbeam")]
|
||||
//#[cfg(feature = "crossbeam")]
|
||||
pub mod crossbeam_test {
|
||||
use hashbrown::HashMap;
|
||||
use satrs::pool::{PoolProvider, PoolProviderWithGuards, StaticMemoryPool, StaticPoolConfig};
|
||||
use satrs::pus::test_util::{TEST_APID, TEST_COMPONENT_ID_0};
|
||||
use satrs::pus::verification::{
|
||||
FailParams, RequestId, VerificationReporter, VerificationReporterCfg,
|
||||
VerificationReportingProvider,
|
||||
use satrs_core::pool::{
|
||||
PoolProvider, PoolProviderWithGuards, StaticMemoryPool, StaticPoolConfig,
|
||||
};
|
||||
use satrs::tmtc::{PacketSenderWithSharedPool, SharedStaticMemoryPool};
|
||||
use satrs_core::pus::verification::{
|
||||
FailParams, RequestId, VerificationReporterCfg, VerificationReporterWithSender,
|
||||
};
|
||||
use satrs_core::pus::CrossbeamTmInStoreSender;
|
||||
use satrs_core::tmtc::tm_helper::SharedTmPool;
|
||||
use spacepackets::ecss::tc::{PusTcCreator, PusTcReader, PusTcSecondaryHeader};
|
||||
use spacepackets::ecss::tm::PusTmReader;
|
||||
use spacepackets::ecss::{EcssEnumU16, EcssEnumU8, PusPacket, WritablePusPacket};
|
||||
use spacepackets::SpHeader;
|
||||
use std::sync::RwLock;
|
||||
use std::sync::{Arc, RwLock};
|
||||
use std::thread;
|
||||
use std::time::Duration;
|
||||
|
||||
const TEST_APID: u16 = 0x03;
|
||||
const FIXED_STAMP: [u8; 7] = [0; 7];
|
||||
const PACKETS_SENT: u8 = 8;
|
||||
|
||||
@ -33,18 +35,15 @@ pub mod crossbeam_test {
|
||||
// each reporter have an own sequence count provider.
|
||||
let cfg = VerificationReporterCfg::new(TEST_APID, 1, 2, 8).unwrap();
|
||||
// Shared pool object to store the verification PUS telemetry
|
||||
let pool_cfg =
|
||||
StaticPoolConfig::new(vec![(10, 32), (10, 64), (10, 128), (10, 1024)], false);
|
||||
let shared_tm_pool =
|
||||
SharedStaticMemoryPool::new(RwLock::new(StaticMemoryPool::new(pool_cfg.clone())));
|
||||
let shared_tc_pool =
|
||||
SharedStaticMemoryPool::new(RwLock::new(StaticMemoryPool::new(pool_cfg)));
|
||||
let shared_tc_pool_1 = shared_tc_pool.clone();
|
||||
let pool_cfg = StaticPoolConfig::new(vec![(10, 32), (10, 64), (10, 128), (10, 1024)]);
|
||||
let shared_tm_pool = SharedTmPool::new(StaticMemoryPool::new(pool_cfg.clone()));
|
||||
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 =
|
||||
PacketSenderWithSharedPool::new_with_shared_packet_pool(tx.clone(), &shared_tm_pool);
|
||||
let sender_1 = sender.clone();
|
||||
let mut reporter_with_sender_0 = VerificationReporter::new(TEST_COMPONENT_ID_0.id(), &cfg);
|
||||
CrossbeamTmInStoreSender::new(0, "verif_sender", shared_tm_pool.clone(), tx.clone());
|
||||
let mut reporter_with_sender_0 =
|
||||
VerificationReporterWithSender::new(&cfg, Box::new(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.
|
||||
@ -54,10 +53,10 @@ pub mod crossbeam_test {
|
||||
let (tx_tc_0, rx_tc_0) = crossbeam_channel::bounded(3);
|
||||
let (tx_tc_1, rx_tc_1) = crossbeam_channel::bounded(3);
|
||||
{
|
||||
let mut tc_guard = shared_tc_pool.write().unwrap();
|
||||
let sph = SpHeader::new_for_unseg_tc(TEST_APID, 0, 0);
|
||||
let mut tc_guard = shared_tc_pool_0.write().unwrap();
|
||||
let mut sph = SpHeader::tc_unseg(TEST_APID, 0, 0).unwrap();
|
||||
let tc_header = PusTcSecondaryHeader::new_simple(17, 1);
|
||||
let pus_tc_0 = PusTcCreator::new_no_app_data(sph, tc_header, true);
|
||||
let pus_tc_0 = PusTcCreator::new_no_app_data(&mut sph, tc_header, true);
|
||||
req_id_0 = RequestId::new(&pus_tc_0);
|
||||
let addr = tc_guard
|
||||
.free_element(pus_tc_0.len_written(), |buf| {
|
||||
@ -65,9 +64,9 @@ pub mod crossbeam_test {
|
||||
})
|
||||
.unwrap();
|
||||
tx_tc_0.send(addr).unwrap();
|
||||
let sph = SpHeader::new_for_unseg_tc(TEST_APID, 1, 0);
|
||||
let mut sph = SpHeader::tc_unseg(TEST_APID, 1, 0).unwrap();
|
||||
let tc_header = PusTcSecondaryHeader::new_simple(5, 1);
|
||||
let pus_tc_1 = PusTcCreator::new_no_app_data(sph, tc_header, true);
|
||||
let pus_tc_1 = PusTcCreator::new_no_app_data(&mut sph, tc_header, true);
|
||||
req_id_1 = RequestId::new(&pus_tc_1);
|
||||
let addr = tc_guard
|
||||
.free_element(pus_tc_0.len_written(), |buf| {
|
||||
@ -83,7 +82,7 @@ pub mod crossbeam_test {
|
||||
.expect("Receive timeout");
|
||||
let tc_len;
|
||||
{
|
||||
let mut tc_guard = shared_tc_pool.write().unwrap();
|
||||
let mut tc_guard = shared_tc_pool_0.write().unwrap();
|
||||
let pg = tc_guard.read_with_guard(tc_addr);
|
||||
tc_len = pg.read(&mut tc_buf).unwrap();
|
||||
}
|
||||
@ -91,24 +90,24 @@ 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(&sender, token, &FIXED_STAMP)
|
||||
.acceptance_success(token, Some(&FIXED_STAMP))
|
||||
.expect("Acceptance success failed");
|
||||
|
||||
// Do some start handling here
|
||||
let started_token = reporter_with_sender_0
|
||||
.start_success(&sender, accepted_token, &FIXED_STAMP)
|
||||
.start_success(accepted_token, Some(&FIXED_STAMP))
|
||||
.expect("Start success failed");
|
||||
// Do some step handling here
|
||||
reporter_with_sender_0
|
||||
.step_success(&sender, &started_token, &FIXED_STAMP, EcssEnumU8::new(0))
|
||||
.step_success(&started_token, Some(&FIXED_STAMP), EcssEnumU8::new(0))
|
||||
.expect("Start success failed");
|
||||
|
||||
// Finish up
|
||||
reporter_with_sender_0
|
||||
.step_success(&sender, &started_token, &FIXED_STAMP, EcssEnumU8::new(1))
|
||||
.step_success(&started_token, Some(&FIXED_STAMP), EcssEnumU8::new(1))
|
||||
.expect("Start success failed");
|
||||
reporter_with_sender_0
|
||||
.completion_success(&sender, started_token, &FIXED_STAMP)
|
||||
.completion_success(started_token, Some(&FIXED_STAMP))
|
||||
.expect("Completion success failed");
|
||||
});
|
||||
|
||||
@ -126,15 +125,15 @@ 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(&sender_1, token, &FIXED_STAMP)
|
||||
.acceptance_success(token, Some(&FIXED_STAMP))
|
||||
.expect("Acceptance success failed");
|
||||
let started_token = reporter_with_sender_1
|
||||
.start_success(&sender_1, accepted_token, &FIXED_STAMP)
|
||||
.start_success(accepted_token, Some(&FIXED_STAMP))
|
||||
.expect("Start success failed");
|
||||
let fail_code = EcssEnumU16::new(2);
|
||||
let params = FailParams::new_no_fail_data(&FIXED_STAMP, &fail_code);
|
||||
let params = FailParams::new(Some(&FIXED_STAMP), &fail_code, None);
|
||||
reporter_with_sender_1
|
||||
.completion_failure(&sender_1, started_token, params)
|
||||
.completion_failure(started_token, params)
|
||||
.expect("Completion success failed");
|
||||
});
|
||||
|
||||
@ -143,13 +142,14 @@ pub mod crossbeam_test {
|
||||
let mut tm_buf: [u8; 1024] = [0; 1024];
|
||||
let mut verif_map = HashMap::new();
|
||||
while packet_counter < PACKETS_SENT {
|
||||
let tm_in_pool = rx
|
||||
let verif_addr = rx
|
||||
.recv_timeout(Duration::from_millis(50))
|
||||
.expect("Packet reception timeout");
|
||||
let tm_len;
|
||||
let shared_tm_store = shared_tm_pool.clone_backing_pool();
|
||||
{
|
||||
let mut rg = shared_tm_pool.write().expect("Error locking shared pool");
|
||||
let store_guard = rg.read_with_guard(tm_in_pool.store_addr);
|
||||
let mut rg = shared_tm_store.write().expect("Error locking shared pool");
|
||||
let store_guard = rg.read_with_guard(verif_addr);
|
||||
tm_len = store_guard
|
||||
.read(&mut tm_buf)
|
||||
.expect("Error reading TM slice");
|
||||
@ -17,52 +17,34 @@ use core::{
|
||||
use std::{
|
||||
io::{Read, Write},
|
||||
net::{IpAddr, Ipv4Addr, SocketAddr, TcpStream},
|
||||
sync::{mpsc, Mutex},
|
||||
sync::Mutex,
|
||||
thread,
|
||||
};
|
||||
|
||||
use hashbrown::HashSet;
|
||||
use satrs::{
|
||||
encoding::{
|
||||
ccsds::{SpValidity, SpacePacketValidator},
|
||||
cobs::encode_packet_with_cobs,
|
||||
},
|
||||
hal::std::tcp_server::{
|
||||
ConnectionResult, HandledConnectionHandler, HandledConnectionInfo, ServerConfig,
|
||||
TcpSpacepacketsServer, TcpTmtcInCobsServer,
|
||||
},
|
||||
tmtc::PacketSource,
|
||||
ComponentId,
|
||||
use satrs_core::{
|
||||
encoding::cobs::encode_packet_with_cobs,
|
||||
hal::std::tcp_server::{ServerConfig, TcpSpacepacketsServer, TcpTmtcInCobsServer},
|
||||
tmtc::{ReceivesTcCore, TmPacketSourceCore},
|
||||
};
|
||||
use spacepackets::{
|
||||
ecss::{tc::PusTcCreator, WritablePusPacket},
|
||||
CcsdsPacket, PacketId, SpHeader,
|
||||
PacketId, SpHeader,
|
||||
};
|
||||
use std::{collections::VecDeque, sync::Arc, vec::Vec};
|
||||
use std::{boxed::Box, collections::VecDeque, sync::Arc, vec::Vec};
|
||||
|
||||
#[derive(Default)]
|
||||
pub struct ConnectionFinishedHandler {
|
||||
connection_info: VecDeque<HandledConnectionInfo>,
|
||||
#[derive(Default, Clone)]
|
||||
struct SyncTcCacher {
|
||||
tc_queue: Arc<Mutex<VecDeque<Vec<u8>>>>,
|
||||
}
|
||||
impl ReceivesTcCore for SyncTcCacher {
|
||||
type Error = ();
|
||||
|
||||
impl HandledConnectionHandler for ConnectionFinishedHandler {
|
||||
fn handled_connection(&mut self, info: HandledConnectionInfo) {
|
||||
self.connection_info.push_back(info);
|
||||
}
|
||||
}
|
||||
|
||||
impl ConnectionFinishedHandler {
|
||||
pub fn check_last_connection(&mut self, num_tms: u32, num_tcs: u32) {
|
||||
let last_conn_result = self
|
||||
.connection_info
|
||||
.pop_back()
|
||||
.expect("no connection info available");
|
||||
assert_eq!(last_conn_result.num_received_tcs, num_tcs);
|
||||
assert_eq!(last_conn_result.num_sent_tms, num_tms);
|
||||
}
|
||||
|
||||
pub fn check_no_connections_left(&self) {
|
||||
assert!(self.connection_info.is_empty());
|
||||
fn pass_tc(&mut self, tc_raw: &[u8]) -> Result<(), Self::Error> {
|
||||
let mut tc_queue = self.tc_queue.lock().expect("tc forwarder failed");
|
||||
println!("Received TC: {:x?}", tc_raw);
|
||||
tc_queue.push_back(tc_raw.to_vec());
|
||||
Ok(())
|
||||
}
|
||||
}
|
||||
|
||||
@ -78,7 +60,7 @@ impl SyncTmSource {
|
||||
}
|
||||
}
|
||||
|
||||
impl PacketSource for SyncTmSource {
|
||||
impl TmPacketSourceCore for SyncTmSource {
|
||||
type Error = ();
|
||||
|
||||
fn retrieve_packet(&mut self, buffer: &mut [u8]) -> Result<usize, Self::Error> {
|
||||
@ -100,29 +82,20 @@ impl PacketSource for SyncTmSource {
|
||||
}
|
||||
}
|
||||
|
||||
const TCP_SERVER_ID: ComponentId = 0x05;
|
||||
const SIMPLE_PACKET: [u8; 5] = [1, 2, 3, 4, 5];
|
||||
const INVERTED_PACKET: [u8; 5] = [5, 4, 3, 4, 1];
|
||||
const AUTO_PORT_ADDR: SocketAddr = SocketAddr::new(IpAddr::V4(Ipv4Addr::new(127, 0, 0, 1)), 0);
|
||||
|
||||
#[test]
|
||||
fn test_cobs_server() {
|
||||
let (tc_sender, tc_receiver) = mpsc::channel();
|
||||
let tc_receiver = SyncTcCacher::default();
|
||||
let mut tm_source = SyncTmSource::default();
|
||||
// Insert a telemetry packet which will be read back by the client at a later stage.
|
||||
tm_source.add_tm(&INVERTED_PACKET);
|
||||
let mut tcp_server = TcpTmtcInCobsServer::new(
|
||||
ServerConfig::new(
|
||||
TCP_SERVER_ID,
|
||||
AUTO_PORT_ADDR,
|
||||
Duration::from_millis(2),
|
||||
1024,
|
||||
1024,
|
||||
),
|
||||
ServerConfig::new(AUTO_PORT_ADDR, Duration::from_millis(2), 1024, 1024),
|
||||
tm_source,
|
||||
tc_sender.clone(),
|
||||
ConnectionFinishedHandler::default(),
|
||||
None,
|
||||
tc_receiver.clone(),
|
||||
)
|
||||
.expect("TCP server generation failed");
|
||||
let dest_addr = tcp_server
|
||||
@ -133,20 +106,13 @@ fn test_cobs_server() {
|
||||
|
||||
// Call the connection handler in separate thread, does block.
|
||||
thread::spawn(move || {
|
||||
let result = tcp_server.handle_all_connections(Some(Duration::from_millis(400)));
|
||||
let result = tcp_server.handle_next_connection();
|
||||
if result.is_err() {
|
||||
panic!("handling connection failed: {:?}", result.unwrap_err());
|
||||
}
|
||||
let conn_result = result.unwrap();
|
||||
assert_eq!(conn_result, ConnectionResult::HandledConnections(1));
|
||||
tcp_server
|
||||
.generic_server
|
||||
.finished_handler
|
||||
.check_last_connection(1, 1);
|
||||
tcp_server
|
||||
.generic_server
|
||||
.finished_handler
|
||||
.check_no_connections_left();
|
||||
assert_eq!(conn_result.num_received_tcs, 1, "No TC received");
|
||||
assert_eq!(conn_result.num_sent_tms, 1, "No TM received");
|
||||
// Signal the main thread we are done.
|
||||
set_if_done.store(true, Ordering::Relaxed);
|
||||
});
|
||||
@ -186,56 +152,33 @@ fn test_cobs_server() {
|
||||
panic!("connection was not handled properly");
|
||||
}
|
||||
// Check that the packet was received and decoded successfully.
|
||||
let tc_with_sender = tc_receiver.try_recv().expect("no TC received");
|
||||
assert_eq!(tc_with_sender.packet, SIMPLE_PACKET);
|
||||
assert_eq!(tc_with_sender.sender_id, TCP_SERVER_ID);
|
||||
matches!(tc_receiver.try_recv(), Err(mpsc::TryRecvError::Empty));
|
||||
let mut tc_queue = tc_receiver
|
||||
.tc_queue
|
||||
.lock()
|
||||
.expect("locking tc queue failed");
|
||||
assert_eq!(tc_queue.len(), 1);
|
||||
assert_eq!(tc_queue.pop_front().unwrap(), &SIMPLE_PACKET);
|
||||
drop(tc_queue);
|
||||
}
|
||||
|
||||
const TEST_APID_0: u16 = 0x02;
|
||||
const TEST_PACKET_ID_0: PacketId = PacketId::new_for_tc(true, TEST_APID_0);
|
||||
|
||||
#[derive(Default)]
|
||||
pub struct SimpleVerificator {
|
||||
pub valid_ids: HashSet<PacketId>,
|
||||
}
|
||||
|
||||
impl SpacePacketValidator for SimpleVerificator {
|
||||
fn validate(
|
||||
&self,
|
||||
sp_header: &SpHeader,
|
||||
_raw_buf: &[u8],
|
||||
) -> satrs::encoding::ccsds::SpValidity {
|
||||
if self.valid_ids.contains(&sp_header.packet_id()) {
|
||||
return SpValidity::Valid;
|
||||
}
|
||||
SpValidity::Skip
|
||||
}
|
||||
}
|
||||
const TEST_PACKET_ID_0: PacketId = PacketId::const_tc(true, TEST_APID_0);
|
||||
|
||||
#[test]
|
||||
fn test_ccsds_server() {
|
||||
let (tc_sender, tc_receiver) = mpsc::channel();
|
||||
let tc_receiver = SyncTcCacher::default();
|
||||
let mut tm_source = SyncTmSource::default();
|
||||
let sph = SpHeader::new_for_unseg_tc(TEST_APID_0, 0, 0);
|
||||
let verif_tm = PusTcCreator::new_simple(sph, 1, 1, &[], true);
|
||||
let mut sph = SpHeader::tc_unseg(TEST_APID_0, 0, 0).unwrap();
|
||||
let verif_tm = PusTcCreator::new_simple(&mut sph, 1, 1, None, true);
|
||||
let tm_0 = verif_tm.to_vec().expect("tm generation failed");
|
||||
tm_source.add_tm(&tm_0);
|
||||
let mut packet_id_lookup = SimpleVerificator::default();
|
||||
packet_id_lookup.valid_ids.insert(TEST_PACKET_ID_0);
|
||||
let mut packet_id_lookup = HashSet::new();
|
||||
packet_id_lookup.insert(TEST_PACKET_ID_0);
|
||||
let mut tcp_server = TcpSpacepacketsServer::new(
|
||||
ServerConfig::new(
|
||||
TCP_SERVER_ID,
|
||||
AUTO_PORT_ADDR,
|
||||
Duration::from_millis(2),
|
||||
1024,
|
||||
1024,
|
||||
),
|
||||
ServerConfig::new(AUTO_PORT_ADDR, Duration::from_millis(2), 1024, 1024),
|
||||
tm_source,
|
||||
tc_sender,
|
||||
packet_id_lookup,
|
||||
ConnectionFinishedHandler::default(),
|
||||
None,
|
||||
tc_receiver.clone(),
|
||||
Box::new(packet_id_lookup),
|
||||
)
|
||||
.expect("TCP server generation failed");
|
||||
let dest_addr = tcp_server
|
||||
@ -245,20 +188,13 @@ fn test_ccsds_server() {
|
||||
let set_if_done = conn_handled.clone();
|
||||
// Call the connection handler in separate thread, does block.
|
||||
thread::spawn(move || {
|
||||
let result = tcp_server.handle_all_connections(Some(Duration::from_millis(500)));
|
||||
let result = tcp_server.handle_next_connection();
|
||||
if result.is_err() {
|
||||
panic!("handling connection failed: {:?}", result.unwrap_err());
|
||||
}
|
||||
let conn_result = result.unwrap();
|
||||
assert_eq!(conn_result, ConnectionResult::HandledConnections(1));
|
||||
tcp_server
|
||||
.generic_server
|
||||
.finished_handler
|
||||
.check_last_connection(1, 1);
|
||||
tcp_server
|
||||
.generic_server
|
||||
.finished_handler
|
||||
.check_no_connections_left();
|
||||
assert_eq!(conn_result.num_received_tcs, 1);
|
||||
assert_eq!(conn_result.num_sent_tms, 1);
|
||||
set_if_done.store(true, Ordering::Relaxed);
|
||||
});
|
||||
let mut stream = TcpStream::connect(dest_addr).expect("connecting to TCP server failed");
|
||||
@ -267,8 +203,8 @@ fn test_ccsds_server() {
|
||||
.expect("setting reas timeout failed");
|
||||
|
||||
// Send ping telecommand.
|
||||
let sph = SpHeader::new_for_unseg_tc(TEST_APID_0, 0, 0);
|
||||
let ping_tc = PusTcCreator::new_simple(sph, 17, 1, &[], true);
|
||||
let mut sph = SpHeader::tc_unseg(TEST_APID_0, 0, 0).unwrap();
|
||||
let ping_tc = PusTcCreator::new_simple(&mut sph, 17, 1, None, true);
|
||||
let tc_0 = ping_tc.to_vec().expect("packet creation failed");
|
||||
stream
|
||||
.write_all(&tc_0)
|
||||
@ -299,8 +235,7 @@ fn test_ccsds_server() {
|
||||
panic!("connection was not handled properly");
|
||||
}
|
||||
// Check that TC has arrived.
|
||||
let tc_with_sender = tc_receiver.try_recv().expect("no TC received");
|
||||
assert_eq!(tc_with_sender.packet, tc_0);
|
||||
assert_eq!(tc_with_sender.sender_id, TCP_SERVER_ID);
|
||||
matches!(tc_receiver.try_recv(), Err(mpsc::TryRecvError::Empty));
|
||||
let mut tc_queue = tc_receiver.tc_queue.lock().unwrap();
|
||||
assert_eq!(tc_queue.len(), 1);
|
||||
assert_eq!(tc_queue.pop_front().unwrap(), tc_0);
|
||||
}
|
||||
@ -1,37 +0,0 @@
|
||||
[target.'cfg(all(target_arch = "arm", target_os = "none"))']
|
||||
# uncomment ONE of these three option to make `cargo run` start a GDB session
|
||||
# which option to pick depends on your system
|
||||
# You can also replace openocd.gdb by jlink.gdb when using a J-Link.
|
||||
# runner = "arm-none-eabi-gdb -q -x openocd.gdb"
|
||||
# runner = "gdb-multiarch -q -x openocd.gdb"
|
||||
# runner = "gdb -q -x openocd.gdb"
|
||||
runner = "probe-rs run --chip STM32F303VCTx"
|
||||
|
||||
rustflags = [
|
||||
"-C", "linker=flip-link",
|
||||
# LLD (shipped with the Rust toolchain) is used as the default linker
|
||||
"-C", "link-arg=-Tlink.x",
|
||||
"-C", "link-arg=-Tdefmt.x",
|
||||
|
||||
# This is needed if your flash or ram addresses are not aligned to 0x10000 in memory.x
|
||||
# See https://github.com/rust-embedded/cortex-m-quickstart/pull/95
|
||||
"-C", "link-arg=--nmagic",
|
||||
|
||||
# if you run into problems with LLD switch to the GNU linker by commenting out
|
||||
# this line
|
||||
# "-C", "linker=arm-none-eabi-ld",
|
||||
|
||||
# if you need to link to pre-compiled C libraries provided by a C toolchain
|
||||
# use GCC as the linker by commenting out both lines above and then
|
||||
# uncommenting the three lines below
|
||||
# "-C", "linker=arm-none-eabi-gcc",
|
||||
# "-C", "link-arg=-Wl,-Tlink.x",
|
||||
# "-C", "link-arg=-nostartfiles",
|
||||
]
|
||||
|
||||
[build]
|
||||
# comment out the following line if you intend to run unit tests on host machine
|
||||
target = "thumbv7em-none-eabihf" # Cortex-M4F and Cortex-M7F (with FPU)
|
||||
|
||||
[env]
|
||||
DEFMT_LOG = "info"
|
||||
1
satrs-example-stm32f3-disco/.gitignore
vendored
1
satrs-example-stm32f3-disco/.gitignore
vendored
@ -1,4 +1,3 @@
|
||||
/target
|
||||
/itm.txt
|
||||
/.cargo/config*
|
||||
/.vscode
|
||||
|
||||
@ -5,8 +5,8 @@
|
||||
// List of extensions which should be recommended for users of this workspace.
|
||||
"recommendations": [
|
||||
"rust-lang.rust",
|
||||
"probe-rs.probe-rs-debugger"
|
||||
"marus25.cortex-debug",
|
||||
],
|
||||
// List of extensions recommended by VS Code that should not be recommended for users of this workspace.
|
||||
"unwantedRecommendations": []
|
||||
}
|
||||
}
|
||||
66
satrs-example-stm32f3-disco/.vscode/launch.json
vendored
Normal file
66
satrs-example-stm32f3-disco/.vscode/launch.json
vendored
Normal file
@ -0,0 +1,66 @@
|
||||
{
|
||||
/*
|
||||
* Requires the Rust Language Server (RLS) and Cortex-Debug extensions
|
||||
* https://marketplace.visualstudio.com/items?itemName=rust-lang.rust
|
||||
* https://marketplace.visualstudio.com/items?itemName=marus25.cortex-debug
|
||||
*/
|
||||
"version": "0.2.0",
|
||||
"configurations": [
|
||||
{
|
||||
/* Launches debug session for currently open example */
|
||||
"type": "cortex-debug",
|
||||
"request": "launch",
|
||||
"name": "Debug",
|
||||
"servertype": "openocd",
|
||||
"cwd": "${workspaceRoot}",
|
||||
"preLaunchTask": "cargo build",
|
||||
"runToEntryPoint": "true",
|
||||
"executable": "./target/thumbv7em-none-eabihf/debug/satrs-example-stm32f3-disco",
|
||||
"preLaunchCommands": ["break rust_begin_unwind"],
|
||||
"device": "STM32F303VCT6",
|
||||
"configFiles": [
|
||||
"${workspaceRoot}/.vscode/openocd-helpers.tcl",
|
||||
"interface/stlink.cfg",
|
||||
"target/stm32f3x.cfg"
|
||||
],
|
||||
"svdFile": "${env:HOME}/.svd/STM32F303.svd",
|
||||
"swoConfig": {
|
||||
"enabled": true,
|
||||
"cpuFrequency": 8000000,
|
||||
"swoFrequency": 2000000,
|
||||
"source": "probe",
|
||||
"decoders": [
|
||||
{ "type": "console", "label": "ITM", "port": 0 }
|
||||
]
|
||||
}
|
||||
},
|
||||
{
|
||||
/* Launches debug session for currently open example */
|
||||
"type": "cortex-debug",
|
||||
"request": "launch",
|
||||
"name": "Release",
|
||||
"servertype": "openocd",
|
||||
"cwd": "${workspaceRoot}",
|
||||
"preLaunchTask": "cargo build",
|
||||
"runToEntryPoint": "true",
|
||||
"executable": "./target/thumbv7em-none-eabihf/release/satrs-example-stm32f3-disco",
|
||||
"preLaunchCommands": ["break rust_begin_unwind"],
|
||||
"device": "STM32F303VCT6",
|
||||
"configFiles": [
|
||||
"${workspaceRoot}/.vscode/openocd-helpers.tcl",
|
||||
"interface/stlink.cfg",
|
||||
"target/stm32f3x.cfg"
|
||||
],
|
||||
"svdFile": "${env:HOME}/.svd/STM32F303.svd",
|
||||
"swoConfig": {
|
||||
"enabled": true,
|
||||
"cpuFrequency": 8000000,
|
||||
"swoFrequency": 2000000,
|
||||
"source": "probe",
|
||||
"decoders": [
|
||||
{ "type": "console", "label": "ITM", "port": 0 }
|
||||
]
|
||||
}
|
||||
}
|
||||
]
|
||||
}
|
||||
@ -11,8 +11,7 @@ proc CDSWOConfigure { CDCPUFreqHz CDSWOFreqHz CDSWOOutput } {
|
||||
# Alternative option: Pipe ITM output into itm.txt file
|
||||
# tpiu config internal itm.txt uart off $CDCPUFreqHz
|
||||
|
||||
# Default option so SWO display of VS code works. Please note that this might not be required
|
||||
# anymore starting at openocd v0.12.0
|
||||
# Default option so SWO display of VS code works.
|
||||
tpiu config internal $CDSWOOutput uart off $CDCPUFreqHz $CDSWOFreqHz
|
||||
itm port 0 on
|
||||
}
|
||||
3
satrs-example-stm32f3-disco/.vscode/settings_default.json
vendored
Normal file
3
satrs-example-stm32f3-disco/.vscode/settings_default.json
vendored
Normal file
@ -0,0 +1,3 @@
|
||||
{
|
||||
"cortex-debug.gdbPath.linux": "gdb-multiarch"
|
||||
}
|
||||
577
satrs-example-stm32f3-disco/Cargo.lock
generated
577
satrs-example-stm32f3-disco/Cargo.lock
generated
@ -13,18 +13,18 @@ dependencies = [
|
||||
|
||||
[[package]]
|
||||
name = "atomic-polyfill"
|
||||
version = "1.0.3"
|
||||
version = "0.1.11"
|
||||
source = "registry+https://github.com/rust-lang/crates.io-index"
|
||||
checksum = "8cf2bce30dfe09ef0bfaef228b9d414faaf7e563035494d7fe092dba54b300f4"
|
||||
checksum = "e3ff7eb3f316534d83a8a2c3d1674ace8a5a71198eba31e2e2b597833f699b28"
|
||||
dependencies = [
|
||||
"critical-section",
|
||||
]
|
||||
|
||||
[[package]]
|
||||
name = "autocfg"
|
||||
version = "1.2.0"
|
||||
version = "1.1.0"
|
||||
source = "registry+https://github.com/rust-lang/crates.io-index"
|
||||
checksum = "f1fdabc7756949593fe60f30ec81974b613357de856987752631dea1e3394c80"
|
||||
checksum = "d468802bab17cbc0cc575e9b053f41e72aa36bfa6b7f55e3529ffa43161b97fa"
|
||||
|
||||
[[package]]
|
||||
name = "bare-metal"
|
||||
@ -55,21 +55,20 @@ checksum = "bef38d45163c2f1dde094a7dfd33ccf595c92905c8f8f4fdc18d06fb1037718a"
|
||||
|
||||
[[package]]
|
||||
name = "bxcan"
|
||||
version = "0.7.0"
|
||||
version = "0.6.2"
|
||||
source = "registry+https://github.com/rust-lang/crates.io-index"
|
||||
checksum = "40ac3d0c0a542d0ab5521211f873f62706a7136df415676f676d347e5a41dd80"
|
||||
checksum = "4b13b4b2ea9ab2ba924063ebb86ad895cb79f4a79bf90f27949eb20c335b30f9"
|
||||
dependencies = [
|
||||
"bitflags",
|
||||
"embedded-hal 0.2.7",
|
||||
"nb 1.1.0",
|
||||
"nb 1.0.0",
|
||||
"vcell",
|
||||
]
|
||||
|
||||
[[package]]
|
||||
name = "byteorder"
|
||||
version = "1.5.0"
|
||||
version = "1.4.3"
|
||||
source = "registry+https://github.com/rust-lang/crates.io-index"
|
||||
checksum = "1fd0f2584146f6f2ef48085050886acf353beff7305ebd1ae69500e27c67f64b"
|
||||
checksum = "14c189c53d098945499cdfa7ecc63567cf3886b3332b312a5b4585d8d3a6a610"
|
||||
|
||||
[[package]]
|
||||
name = "cast"
|
||||
@ -88,36 +87,31 @@ checksum = "baf1de4339761588bc0619e3cbc0120ee582ebb74b53b4efbf79117bd2da40fd"
|
||||
|
||||
[[package]]
|
||||
name = "chrono"
|
||||
version = "0.4.37"
|
||||
version = "0.4.23"
|
||||
source = "registry+https://github.com/rust-lang/crates.io-index"
|
||||
checksum = "8a0d04d43504c61aa6c7531f1871dd0d418d91130162063b789da00fd7057a5e"
|
||||
checksum = "16b0a3d9ed01224b22057780a37bb8c5dbfe1be8ba48678e7bf57ec4b385411f"
|
||||
dependencies = [
|
||||
"num-integer",
|
||||
"num-traits",
|
||||
]
|
||||
|
||||
[[package]]
|
||||
name = "cobs"
|
||||
version = "0.2.3"
|
||||
source = "git+https://github.com/robamu/cobs.rs.git?branch=all_features#c70a7f30fd00a7cbdb7666dec12b437977385d40"
|
||||
|
||||
[[package]]
|
||||
name = "cortex-m"
|
||||
version = "0.7.7"
|
||||
version = "0.7.6"
|
||||
source = "registry+https://github.com/rust-lang/crates.io-index"
|
||||
checksum = "8ec610d8f49840a5b376c69663b6369e71f4b34484b9b2eb29fb918d92516cb9"
|
||||
checksum = "70858629a458fdfd39f9675c4dc309411f2a3f83bede76988d81bf1a0ecee9e0"
|
||||
dependencies = [
|
||||
"bare-metal 0.2.5",
|
||||
"bitfield",
|
||||
"critical-section",
|
||||
"embedded-hal 0.2.7",
|
||||
"embedded-hal",
|
||||
"volatile-register",
|
||||
]
|
||||
|
||||
[[package]]
|
||||
name = "cortex-m-rt"
|
||||
version = "0.7.3"
|
||||
version = "0.7.2"
|
||||
source = "registry+https://github.com/rust-lang/crates.io-index"
|
||||
checksum = "ee84e813d593101b1723e13ec38b6ab6abbdbaaa4546553f5395ed274079ddb1"
|
||||
checksum = "d6d3328b8b5534f0c90acd66b68950f2763b37e0173cac4d8b4937c4a80761f9"
|
||||
dependencies = [
|
||||
"cortex-m-rt-macros",
|
||||
]
|
||||
@ -130,44 +124,48 @@ checksum = "f0f6f3e36f203cfedbc78b357fb28730aa2c6dc1ab060ee5c2405e843988d3c7"
|
||||
dependencies = [
|
||||
"proc-macro2",
|
||||
"quote",
|
||||
"syn 1.0.109",
|
||||
"syn",
|
||||
]
|
||||
|
||||
[[package]]
|
||||
name = "cortex-m-semihosting"
|
||||
version = "0.5.0"
|
||||
name = "cortex-m-rtic"
|
||||
version = "1.1.3"
|
||||
source = "registry+https://github.com/rust-lang/crates.io-index"
|
||||
checksum = "c23234600452033cc77e4b761e740e02d2c4168e11dbf36ab14a0f58973592b0"
|
||||
checksum = "c6b82f1c39acd6c3a35c2013b6110c20f5bc534522791fabadeed49ccada2dce"
|
||||
dependencies = [
|
||||
"bare-metal 1.0.0",
|
||||
"cortex-m",
|
||||
"cortex-m-rtic-macros",
|
||||
"heapless",
|
||||
"rtic-core",
|
||||
"rtic-monotonic",
|
||||
"version_check",
|
||||
]
|
||||
|
||||
[[package]]
|
||||
name = "crc"
|
||||
version = "3.0.1"
|
||||
name = "cortex-m-rtic-macros"
|
||||
version = "1.1.5"
|
||||
source = "registry+https://github.com/rust-lang/crates.io-index"
|
||||
checksum = "86ec7a15cbe22e59248fc7eadb1907dab5ba09372595da4d73dd805ed4417dfe"
|
||||
checksum = "9e8e9645ef54bec1cf70ac33e9bf9566e6507ab5b41ae6baf3735662194e8607"
|
||||
dependencies = [
|
||||
"crc-catalog",
|
||||
"proc-macro-error",
|
||||
"proc-macro2",
|
||||
"quote",
|
||||
"rtic-syntax",
|
||||
"syn",
|
||||
]
|
||||
|
||||
[[package]]
|
||||
name = "crc-catalog"
|
||||
version = "2.4.0"
|
||||
source = "registry+https://github.com/rust-lang/crates.io-index"
|
||||
checksum = "19d374276b40fb8bbdee95aef7c7fa6b5316ec764510eb64b8dd0e2ed0d7e7f5"
|
||||
|
||||
[[package]]
|
||||
name = "critical-section"
|
||||
version = "1.1.2"
|
||||
version = "1.1.1"
|
||||
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||||
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|
||||
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|
||||
"darling_macro",
|
||||
@ -175,102 +173,26 @@ dependencies = [
|
||||
|
||||
[[package]]
|
||||
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|
||||
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||||
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|
||||
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|
||||
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|
||||
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|
||||
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|
||||
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|
||||
|
||||
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|
||||
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||||
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||||
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||||
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|
||||
|
||||
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|
||||
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||||
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||||
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||||
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||||
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||||
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|
||||
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||||
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||||
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|
||||
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|
||||
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|
||||
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|
||||
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|
||||
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|
||||
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|
||||
|
||||
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|
||||
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|
||||
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|
||||
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|
||||
|
||||
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|
||||
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||||
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|
||||
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|
||||
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|
||||
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|
||||
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|
||||
|
||||
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|
||||
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|
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|
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|
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|
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|
||||
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|
||||
|
||||
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|
||||
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|
||||
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||||
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|
||||
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|
||||
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|
||||
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|
||||
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|
||||
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|
||||
|
||||
[[package]]
|
||||
@ -292,12 +214,6 @@ dependencies = [
|
||||
"void",
|
||||
]
|
||||
|
||||
[[package]]
|
||||
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|
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||||
|
||||
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|
||||
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|
||||
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|
||||
@ -309,31 +225,25 @@ dependencies = [
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||||
|
||||
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||||
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|
||||
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|
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|
||||
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|
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|
||||
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|
||||
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|
||||
|
||||
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|
||||
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|
||||
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||||
|
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||||
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|
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|
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|
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|
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|
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||||
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|
||||
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|
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|
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|
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@ -390,9 +276,9 @@ dependencies = [
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|
||||
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|
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|
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|
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|
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|
||||
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|
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||||
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|
||||
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|
||||
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|
||||
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|
||||
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|
||||
|
||||
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|
||||
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||||
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||||
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|
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||||
|
||||
[[package]]
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||||
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||||
|
||||
[[package]]
|
||||
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|
||||
@ -593,7 +477,7 @@ dependencies = [
|
||||
"proc-macro-error-attr",
|
||||
"proc-macro2",
|
||||
"quote",
|
||||
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|
||||
"syn",
|
||||
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|
||||
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|
||||
|
||||
@ -610,54 +494,31 @@ dependencies = [
|
||||
|
||||
[[package]]
|
||||
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|
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||||
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|
||||
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||||
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|
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||||
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||||
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||||
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||||
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||||
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|
||||
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|
||||
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|
||||
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|
||||
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|
||||
|
||||
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|
||||
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||||
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|
||||
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||||
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|
||||
|
||||
[[package]]
|
||||
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||||
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||||
@ -665,41 +526,21 @@ source = "registry+https://github.com/rust-lang/crates.io-index"
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||||
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||||
|
||||
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||||
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|
||||
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||||
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||||
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||||
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||||
|
||||
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||||
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||||
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|
||||
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|
||||
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||||
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|
||||
|
||||
[[package]]
|
||||
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||||
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||||
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||||
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|
||||
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|
||||
"cfg-if",
|
||||
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|
||||
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|
||||
"fugit",
|
||||
"rtic-time",
|
||||
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|
||||
|
||||
[[package]]
|
||||
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|
||||
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|
||||
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||||
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|
||||
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|
||||
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|
||||
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|
||||
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|
||||
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|
||||
|
||||
[[package]]
|
||||
@ -717,52 +558,31 @@ version = "0.4.0"
|
||||
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|
||||
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||||
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||||
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||||
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|
||||
|
||||
[[package]]
|
||||
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|
||||
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|
||||
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|
||||
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|
||||
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|
||||
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|
||||
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|
||||
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|
||||
"paste",
|
||||
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|
||||
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|
||||
"spacepackets",
|
||||
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|
||||
|
||||
[[package]]
|
||||
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|
||||
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||||
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||||
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|
||||
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||||
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||||
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|
||||
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|
||||
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|
||||
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|
||||
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|
||||
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|
||||
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|
||||
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|
||||
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|
||||
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|
||||
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|
||||
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|
||||
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|
||||
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|
||||
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|
||||
"stm32f3-discovery",
|
||||
"stm32f3xx-hal",
|
||||
"systick-monotonic",
|
||||
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|
||||
|
||||
[[package]]
|
||||
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|
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||||
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|
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|
||||
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||||
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||||
|
||||
[[package]]
|
||||
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|
||||
@ -775,9 +595,9 @@ dependencies = [
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|
||||
[[package]]
|
||||
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|
||||
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|
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||||
|
||||
[[package]]
|
||||
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@ -787,28 +607,17 @@ checksum = "388a1df253eca08550bef6c72392cfe7c30914bf41df5269b68cbd6ff8f570a3"
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||||
|
||||
[[package]]
|
||||
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||||
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||||
|
||||
[[package]]
|
||||
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|
||||
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||||
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||||
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|
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|
||||
|
||||
[[package]]
|
||||
@ -830,9 +639,9 @@ dependencies = [
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|
||||
[[package]]
|
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@ -842,8 +651,7 @@ dependencies = [
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|
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||||
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@ -855,20 +663,20 @@ dependencies = [
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|
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||||
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||||
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||||
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||||
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||||
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@ -898,47 +706,27 @@ dependencies = [
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|
||||
|
||||
[[package]]
|
||||
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||||
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||||
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||||
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||||
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||||
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|
||||
|
||||
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||||
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||||
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||||
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||||
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|
||||
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|
||||
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|
||||
|
||||
[[package]]
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||||
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||||
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|
||||
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||||
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|
||||
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|
||||
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|
||||
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|
||||
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||||
|
||||
[[package]]
|
||||
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|
||||
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||||
|
||||
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|
||||
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|
||||
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|
||||
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||||
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||||
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||||
|
||||
[[package]]
|
||||
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|
||||
@ -966,30 +754,9 @@ checksum = "6a02e4885ed3bc0f2de90ea6dd45ebcbb66dacffe03547fadbb0eeae2770887d"
|
||||
|
||||
[[package]]
|
||||
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|
||||
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|
||||
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|
||||
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checksum = "de437e2a6208b014ab52972a27e59b33fa2920d3e00fe05026167a1c509d19cc"
|
||||
checksum = "9ee8f19f9d74293faf70901bc20ad067dc1ad390d2cbf1e3f75f721ffee908b6"
|
||||
dependencies = [
|
||||
"vcell",
|
||||
]
|
||||
|
||||
[[package]]
|
||||
name = "zerocopy"
|
||||
version = "0.7.32"
|
||||
source = "registry+https://github.com/rust-lang/crates.io-index"
|
||||
checksum = "74d4d3961e53fa4c9a25a8637fc2bfaf2595b3d3ae34875568a5cf64787716be"
|
||||
dependencies = [
|
||||
"byteorder",
|
||||
"zerocopy-derive",
|
||||
]
|
||||
|
||||
[[package]]
|
||||
name = "zerocopy-derive"
|
||||
version = "0.7.32"
|
||||
source = "registry+https://github.com/rust-lang/crates.io-index"
|
||||
checksum = "9ce1b18ccd8e73a9321186f97e46f9f04b778851177567b1975109d26a08d2a6"
|
||||
dependencies = [
|
||||
"proc-macro2",
|
||||
"quote",
|
||||
"syn 2.0.58",
|
||||
]
|
||||
|
||||
@ -2,82 +2,58 @@
|
||||
name = "satrs-example-stm32f3-disco"
|
||||
version = "0.1.0"
|
||||
edition = "2021"
|
||||
default-run = "satrs-example-stm32f3-disco"
|
||||
|
||||
# See more keys and their definitions at https://doc.rust-lang.org/cargo/reference/manifest.html
|
||||
|
||||
[dependencies]
|
||||
cortex-m = { version = "0.7", features = ["critical-section-single-core"] }
|
||||
cortex-m = "0.7"
|
||||
cortex-m-rt = "0.7"
|
||||
defmt = "0.3"
|
||||
defmt-brtt = { version = "0.1", default-features = false, features = ["rtt"] }
|
||||
panic-probe = { version = "0.3", features = ["print-defmt"] }
|
||||
embedded-hal = "0.2.7"
|
||||
cortex-m-semihosting = "0.5.0"
|
||||
enumset = "1"
|
||||
heapless = "0.8"
|
||||
|
||||
[dependencies.rtic]
|
||||
version = "2"
|
||||
features = ["thumbv7-backend"]
|
||||
|
||||
[dependencies.rtic-monotonics]
|
||||
version = "1"
|
||||
features = ["cortex-m-systick"]
|
||||
embedded-hal = "0.2.6"
|
||||
cortex-m-rtic = "1.0"
|
||||
enumset = "1.0"
|
||||
heapless = "0.7"
|
||||
systick-monotonic = "1.0"
|
||||
|
||||
[dependencies.cobs]
|
||||
git = "https://github.com/robamu/cobs.rs.git"
|
||||
branch = "all_features"
|
||||
default-features = false
|
||||
|
||||
[dependencies.panic-itm]
|
||||
version = "0.4"
|
||||
|
||||
[dependencies.itm_logger]
|
||||
git = "https://github.com/robamu/itm_logger.rs.git"
|
||||
branch = "all_features"
|
||||
version = "0.1.3-alpha.0"
|
||||
|
||||
[dependencies.stm32f3xx-hal]
|
||||
git = "https://github.com/robamu/stm32f3xx-hal"
|
||||
version = "0.11.0-alpha.0"
|
||||
version = "0.10.0-alpha.0"
|
||||
features = ["stm32f303xc", "rt", "enumset"]
|
||||
branch = "complete-dma-update"
|
||||
branch = "all_features"
|
||||
# Can be used in workspace to develop and update HAL
|
||||
# path = "../stm32f3xx-hal"
|
||||
|
||||
[dependencies.stm32f3-discovery]
|
||||
git = "https://github.com/robamu/stm32f3-discovery"
|
||||
version = "0.8.0-alpha.0"
|
||||
branch = "complete-dma-update-hal"
|
||||
branch = "all_features"
|
||||
# Can be used in workspace to develop and update BSP
|
||||
# path = "../stm32f3-discovery"
|
||||
|
||||
[dependencies.satrs]
|
||||
path = "../satrs"
|
||||
[dependencies.satrs-core]
|
||||
git = "https://egit.irs.uni-stuttgart.de/rust/satrs-core.git"
|
||||
version = "0.1.0-alpha.0"
|
||||
default-features = false
|
||||
features = ["defmt"]
|
||||
|
||||
[dev-dependencies]
|
||||
defmt-test = "0.3"
|
||||
# this lets you use `cargo fix`!
|
||||
# [[bin]]
|
||||
# name = "stm32f3-blinky"
|
||||
# test = false
|
||||
# bench = false
|
||||
|
||||
# cargo test
|
||||
[profile.test]
|
||||
codegen-units = 1
|
||||
debug = 2
|
||||
debug-assertions = true # <-
|
||||
incremental = false
|
||||
opt-level = "s" # <-
|
||||
overflow-checks = true # <-
|
||||
|
||||
# cargo build/run --release
|
||||
[profile.release]
|
||||
codegen-units = 1
|
||||
debug = 2
|
||||
debug-assertions = false # <-
|
||||
incremental = false
|
||||
lto = 'fat'
|
||||
opt-level = "s" # <-
|
||||
overflow-checks = false # <-
|
||||
|
||||
# cargo test --release
|
||||
[profile.bench]
|
||||
codegen-units = 1
|
||||
debug = 2
|
||||
debug-assertions = false # <-
|
||||
incremental = false
|
||||
lto = 'fat'
|
||||
opt-level = "s" # <-
|
||||
overflow-checks = false # <-
|
||||
codegen-units = 1 # better optimizations
|
||||
debug = true # symbols are nice and they don't increase the size on Flash
|
||||
lto = true # better optimizations
|
||||
|
||||
@ -2,25 +2,15 @@ sat-rs example for the STM32F3-Discovery board
|
||||
=======
|
||||
|
||||
This example application shows how the [sat-rs framework](https://egit.irs.uni-stuttgart.de/rust/satrs-launchpad)
|
||||
can be used on an embedded target.
|
||||
It also shows how a relatively simple OBSW could be built when no standard runtime is available.
|
||||
It uses [RTIC](https://rtic.rs/1/book/en/) as the concurrency framework and the
|
||||
[defmt](https://defmt.ferrous-systems.com/) framework for logging.
|
||||
can be used on an embedded target. It also shows how a relatively simple OBSW could be built when no
|
||||
standard runtime is available. It uses [RTIC](https://rtic.rs/1/book/en/) as the concurrency
|
||||
framework.
|
||||
|
||||
The STM32F3-Discovery device was picked because it is a cheap Cortex-M4 based device which is also
|
||||
used by the [Rust Embedded Book](https://docs.rust-embedded.org/book/intro/hardware.html) and the
|
||||
[Rust Discovery](https://docs.rust-embedded.org/discovery/f3discovery/) book as an introduction
|
||||
to embedded Rust.
|
||||
|
||||
## Pre-Requisites
|
||||
|
||||
Make sure the following tools are installed:
|
||||
|
||||
1. [`probe-rs`](https://probe.rs/): Application used to flash and debug the MCU.
|
||||
2. Optional and recommended: [VS Code](https://code.visualstudio.com/) with
|
||||
[probe-rs plugin](https://marketplace.visualstudio.com/items?itemName=probe-rs.probe-rs-debugger)
|
||||
for debugging.
|
||||
|
||||
## Preparing Rust and the repository
|
||||
|
||||
Building an application requires the `thumbv7em-none-eabihf` cross-compiler toolchain.
|
||||
@ -50,23 +40,15 @@ you can simply build the application with
|
||||
cargo build
|
||||
```
|
||||
|
||||
## Flashing from the command line
|
||||
## Flashing and Debugging from the command line
|
||||
|
||||
You can flash the application from the command line using `probe-rs`:
|
||||
|
||||
```sh
|
||||
probe-rs run --chip STM32F303VCTx
|
||||
```
|
||||
TODO
|
||||
|
||||
## Debugging with VS Code
|
||||
|
||||
The STM32F3-Discovery comes with an on-board ST-Link so all that is required to flash and debug
|
||||
the board is a Mini-USB cable. The code in this repository was debugged using [`probe-rs`](https://probe.rs/docs/tools/debuggerA)
|
||||
and the VS Code [`probe-rs` plugin](https://marketplace.visualstudio.com/items?itemName=probe-rs.probe-rs-debugger).
|
||||
Make sure to install this plugin first.
|
||||
|
||||
Sample configuration files are provided inside the `vscode` folder.
|
||||
Use `cp vscode .vscode -r` to use them for your project.
|
||||
the board is a Mini-USB cable. The code in this repository was debugged using `openocd`
|
||||
and the VS Code [`Cortex-Debug` plugin](https://marketplace.visualstudio.com/items?itemName=marus25.cortex-debug).
|
||||
|
||||
Some sample configuration files for VS Code were provided as well. You can simply use `Run` and `Debug`
|
||||
to automatically rebuild and flash your application.
|
||||
@ -74,41 +56,20 @@ to automatically rebuild and flash your application.
|
||||
The `tasks.json` and `launch.json` files are generic and you can use them immediately by opening
|
||||
the folder in VS code or adding it to a workspace.
|
||||
|
||||
If you would like to use a custom GDB application, you can specify the gdb binary in the following
|
||||
configuration variables in your `settings.json`:
|
||||
|
||||
- `"cortex-debug.gdbPath"`
|
||||
- `"cortex-debug.gdbPath.linux"`
|
||||
- `"cortex-debug.gdbPath.windows"`
|
||||
- `"cortex-debug.gdbPath.osx"`
|
||||
|
||||
## Commanding with Python
|
||||
|
||||
When the SW is running on the Discovery board, you can command the MCU via a serial interface,
|
||||
using COBS encoded PUS packets.
|
||||
|
||||
It is recommended to use a virtual environment to do this. To set up one in the command line,
|
||||
you can use `python3 -m venv venv` on Unix systems or `py -m venv venv` on Windows systems.
|
||||
After doing this, you can check the [venv tutorial](https://docs.python.org/3/tutorial/venv.html)
|
||||
on how to activate the environment and then use the following command to install the required
|
||||
dependency:
|
||||
|
||||
```sh
|
||||
pip install -r requirements.txt
|
||||
```
|
||||
|
||||
The packets are exchanged using a dedicated serial interface. You can use any generic USB-to-UART
|
||||
converter device with the TX pin connected to the PA3 pin and the RX pin connected to the PA2 pin.
|
||||
|
||||
A default configuration file for the python application is provided and can be used by running
|
||||
|
||||
```sh
|
||||
cp def_tmtc_conf.json tmtc_conf.json
|
||||
```
|
||||
|
||||
After that, you can for example send a ping to the MCU using the following command
|
||||
|
||||
```sh
|
||||
./main.py -p /ping
|
||||
```
|
||||
|
||||
You can configure the blinky frequency using
|
||||
|
||||
```sh
|
||||
./main.py -p /change_blink_freq
|
||||
```
|
||||
|
||||
All these commands will package a PUS telecommand which will be sent to the MCU using the COBS
|
||||
format as the packet framing format.
|
||||
using COBS encoded CCSDS packets.
|
||||
|
||||
TODO:
|
||||
- How and where to connect serial interface on the MCU
|
||||
- How to set up Python venv (or at least strongly recommend it) and install deps
|
||||
- How to copy `def_tmtc_conf.json` to `tmtc_conf.json` and adapt it for custom serial port
|
||||
|
||||
File diff suppressed because it is too large
Load Diff
18
satrs-example-stm32f3-disco/build.rs
Normal file
18
satrs-example-stm32f3-disco/build.rs
Normal file
@ -0,0 +1,18 @@
|
||||
use std::env;
|
||||
use std::fs::File;
|
||||
use std::io::Write;
|
||||
use std::path::PathBuf;
|
||||
|
||||
fn main() {
|
||||
// Put the linker script somewhere the linker can find it
|
||||
let out = &PathBuf::from(env::var_os("OUT_DIR").unwrap());
|
||||
File::create(out.join("memory.x"))
|
||||
.unwrap()
|
||||
.write_all(include_bytes!("memory.x"))
|
||||
.unwrap();
|
||||
println!("cargo:rustc-link-search={}", out.display());
|
||||
|
||||
// Only re-run the build script when memory.x is changed,
|
||||
// instead of when any part of the source code changes.
|
||||
println!("cargo:rerun-if-changed=memory.x");
|
||||
}
|
||||
@ -24,9 +24,7 @@ break main
|
||||
# # send captured ITM to the file itm.fifo
|
||||
# # (the microcontroller SWO pin must be connected to the programmer SWO pin)
|
||||
# # 8000000 must match the core clock frequency
|
||||
# # 2000000 is the frequency of the SWO pin. This was added for newer
|
||||
# openocd versions like v0.12.0.
|
||||
# monitor tpiu config internal itm.txt uart off 8000000 2000000
|
||||
monitor tpiu config internal itm.txt uart off 8000000
|
||||
|
||||
# # OR: make the microcontroller SWO pin output compatible with UART (8N1)
|
||||
# # 8000000 must match the core clock frequency
|
||||
@ -34,7 +32,7 @@ break main
|
||||
# monitor tpiu config external uart off 8000000 2000000
|
||||
|
||||
# # enable ITM port 0
|
||||
# monitor itm port 0 on
|
||||
monitor itm port 0 on
|
||||
|
||||
load
|
||||
|
||||
@ -1,5 +1,4 @@
|
||||
/venv
|
||||
/.tmtc-history.txt
|
||||
/log
|
||||
/.idea/*
|
||||
!/.idea/runConfigurations
|
||||
|
||||
@ -1,4 +1,4 @@
|
||||
{
|
||||
"com_if": "serial_cobs",
|
||||
"serial_baudrate": 115200
|
||||
}
|
||||
}
|
||||
205
satrs-example-stm32f3-disco/pyclient/main.py
Executable file → Normal file
205
satrs-example-stm32f3-disco/pyclient/main.py
Executable file → Normal file
@ -1,40 +1,39 @@
|
||||
#!/usr/bin/env python3
|
||||
"""Example client for the sat-rs example application"""
|
||||
import enum
|
||||
import struct
|
||||
import logging
|
||||
import sys
|
||||
import time
|
||||
from typing import Any, Optional, cast
|
||||
from prompt_toolkit.history import FileHistory, History
|
||||
from spacepackets.ecss.tm import CdsShortTimestamp
|
||||
from typing import Optional, cast
|
||||
|
||||
import tmtccmd
|
||||
from spacepackets.ecss import PusTelemetry, PusTelecommand, PusVerificator
|
||||
from spacepackets.ecss.pus_17_test import Service17Tm
|
||||
from spacepackets.ecss.pus_1_verification import UnpackParams, Service1Tm
|
||||
|
||||
from tmtccmd import TcHandlerBase, ProcedureParamsWrapper
|
||||
from tmtccmd import CcsdsTmtcBackend, TcHandlerBase, ProcedureParamsWrapper
|
||||
from tmtccmd.core.base import BackendRequest
|
||||
from tmtccmd.core.ccsds_backend import QueueWrapper
|
||||
from tmtccmd.logging import add_colorlog_console_logger
|
||||
from tmtccmd.pus import VerificationWrapper
|
||||
from tmtccmd.tmtc import CcsdsTmHandler, SpecificApidHandlerBase
|
||||
from tmtccmd.com import ComInterface
|
||||
from tmtccmd.tm import CcsdsTmHandler, SpecificApidHandlerBase
|
||||
from tmtccmd.com_if import ComInterface
|
||||
from tmtccmd.config import (
|
||||
CmdTreeNode,
|
||||
default_json_path,
|
||||
SetupParams,
|
||||
HookBase,
|
||||
TmTcCfgHookBase,
|
||||
TmtcDefinitionWrapper,
|
||||
CoreServiceList,
|
||||
OpCodeEntry,
|
||||
params_to_procedure_conversion,
|
||||
)
|
||||
from tmtccmd.config.com import SerialCfgWrapper
|
||||
from tmtccmd.config.com_if import SerialCfgWrapper
|
||||
from tmtccmd.config import PreArgsParsingWrapper, SetupWrapper
|
||||
from tmtccmd.logging import get_console_logger
|
||||
from tmtccmd.logging.pus import (
|
||||
RegularTmtcLogWrapper,
|
||||
RawTmtcTimedLogWrapper,
|
||||
TimedLogWhen,
|
||||
)
|
||||
from tmtccmd.tmtc import (
|
||||
from tmtccmd.tc import (
|
||||
TcQueueEntryType,
|
||||
ProcedureWrapper,
|
||||
TcProcedureType,
|
||||
@ -42,26 +41,27 @@ from tmtccmd.tmtc import (
|
||||
SendCbParams,
|
||||
DefaultPusQueueHelper,
|
||||
)
|
||||
from tmtccmd.pus.s5_fsfw_event import Service5Tm
|
||||
from tmtccmd.tm.pus_5_event import Service5Tm
|
||||
from tmtccmd.util import FileSeqCountProvider, PusFileSeqCountProvider
|
||||
from tmtccmd.util.obj_id import ObjectIdDictT
|
||||
|
||||
_LOGGER = logging.getLogger()
|
||||
from tmtccmd.util.tmtc_printer import FsfwTmTcPrinter
|
||||
|
||||
LOGGER = get_console_logger()
|
||||
|
||||
EXAMPLE_PUS_APID = 0x02
|
||||
|
||||
|
||||
class SatRsConfigHook(HookBase):
|
||||
class SatRsConfigHook(TmTcCfgHookBase):
|
||||
def __init__(self, json_cfg_path: str):
|
||||
super().__init__(json_cfg_path=json_cfg_path)
|
||||
|
||||
def get_communication_interface(self, com_if_key: str) -> Optional[ComInterface]:
|
||||
from tmtccmd.config.com import (
|
||||
def assign_communication_interface(self, com_if_key: str) -> Optional[ComInterface]:
|
||||
from tmtccmd.config.com_if import (
|
||||
create_com_interface_default,
|
||||
create_com_interface_cfg_default,
|
||||
)
|
||||
|
||||
assert self.cfg_path is not None
|
||||
cfg = create_com_interface_cfg_default(
|
||||
com_if_key=com_if_key,
|
||||
json_cfg_path=self.cfg_path,
|
||||
@ -76,14 +76,35 @@ class SatRsConfigHook(HookBase):
|
||||
cfg.serial_cfg.serial_timeout = 0.5
|
||||
return create_com_interface_default(cfg)
|
||||
|
||||
def get_command_definitions(self) -> CmdTreeNode:
|
||||
"""This function should return the root node of the command definition tree."""
|
||||
return create_cmd_definition_tree()
|
||||
def get_tmtc_definitions(self) -> TmtcDefinitionWrapper:
|
||||
from tmtccmd.config.globals import get_default_tmtc_defs
|
||||
|
||||
def get_cmd_history(self) -> Optional[History]:
|
||||
"""Optionlly return a history class for the past command paths which will be used
|
||||
when prompting a command path from the user in CLI mode."""
|
||||
return FileHistory(".tmtc-history.txt")
|
||||
defs = get_default_tmtc_defs()
|
||||
srv_5 = OpCodeEntry()
|
||||
srv_5.add("0", "Event Test")
|
||||
defs.add_service(
|
||||
name=CoreServiceList.SERVICE_5.value,
|
||||
info="PUS Service 5 Event",
|
||||
op_code_entry=srv_5,
|
||||
)
|
||||
srv_17 = OpCodeEntry()
|
||||
srv_17.add("0", "Ping Test")
|
||||
defs.add_service(
|
||||
name=CoreServiceList.SERVICE_17_ALT,
|
||||
info="PUS Service 17 Test",
|
||||
op_code_entry=srv_17,
|
||||
)
|
||||
srv_3 = OpCodeEntry()
|
||||
defs.add_service(
|
||||
name=CoreServiceList.SERVICE_3,
|
||||
info="PUS Service 3 Housekeeping",
|
||||
op_code_entry=srv_3,
|
||||
)
|
||||
return defs
|
||||
|
||||
def perform_mode_operation(self, tmtc_backend: CcsdsTmtcBackend, mode: int):
|
||||
LOGGER.info("Mode operation hook was called")
|
||||
pass
|
||||
|
||||
def get_object_ids(self) -> ObjectIdDictT:
|
||||
from tmtccmd.config.objects import get_core_object_ids
|
||||
@ -91,76 +112,74 @@ class SatRsConfigHook(HookBase):
|
||||
return get_core_object_ids()
|
||||
|
||||
|
||||
def create_cmd_definition_tree() -> CmdTreeNode:
|
||||
root_node = CmdTreeNode.root_node()
|
||||
root_node.add_child(CmdTreeNode("ping", "Send PUS ping TC"))
|
||||
root_node.add_child(CmdTreeNode("change_blink_freq", "Change blink frequency"))
|
||||
return root_node
|
||||
|
||||
|
||||
class PusHandler(SpecificApidHandlerBase):
|
||||
def __init__(
|
||||
self,
|
||||
file_logger: logging.Logger,
|
||||
verif_wrapper: VerificationWrapper,
|
||||
printer: FsfwTmTcPrinter,
|
||||
raw_logger: RawTmtcTimedLogWrapper,
|
||||
):
|
||||
super().__init__(EXAMPLE_PUS_APID, None)
|
||||
self.file_logger = file_logger
|
||||
self.printer = printer
|
||||
self.raw_logger = raw_logger
|
||||
self.verif_wrapper = verif_wrapper
|
||||
|
||||
def handle_tm(self, packet: bytes, _user_args: Any):
|
||||
time_reader = CdsShortTimestamp.empty()
|
||||
def handle_tm(self, packet: bytes, _user_args: any):
|
||||
try:
|
||||
pus_tm = PusTelemetry.unpack(packet, time_reader=CdsShortTimestamp.empty())
|
||||
tm_packet = PusTelemetry.unpack(packet)
|
||||
except ValueError as e:
|
||||
_LOGGER.warning("Could not generate PUS TM object from raw data")
|
||||
_LOGGER.warning(f"Raw Packet: [{packet.hex(sep=',')}], REPR: {packet!r}")
|
||||
LOGGER.warning("Could not generate PUS TM object from raw data")
|
||||
LOGGER.warning(f"Raw Packet: [{packet.hex(sep=',')}], REPR: {packet!r}")
|
||||
raise e
|
||||
service = pus_tm.service
|
||||
tm_packet = None
|
||||
service = tm_packet.service
|
||||
dedicated_handler = False
|
||||
if service == 1:
|
||||
tm_packet = Service1Tm.unpack(
|
||||
data=packet, params=UnpackParams(time_reader, 1, 2)
|
||||
)
|
||||
tm_packet = Service1Tm.unpack(data=packet, params=UnpackParams(1, 2))
|
||||
res = self.verif_wrapper.add_tm(tm_packet)
|
||||
if res is None:
|
||||
_LOGGER.info(
|
||||
LOGGER.info(
|
||||
f"Received Verification TM[{tm_packet.service}, {tm_packet.subservice}] "
|
||||
f"with Request ID {tm_packet.tc_req_id.as_u32():#08x}"
|
||||
)
|
||||
_LOGGER.warning(
|
||||
LOGGER.warning(
|
||||
f"No matching telecommand found for {tm_packet.tc_req_id}"
|
||||
)
|
||||
else:
|
||||
self.verif_wrapper.log_to_console(tm_packet, res)
|
||||
self.verif_wrapper.log_to_file(tm_packet, res)
|
||||
dedicated_handler = True
|
||||
if service == 3:
|
||||
_LOGGER.info("No handling for HK packets implemented")
|
||||
_LOGGER.info(f"Raw packet: 0x[{packet.hex(sep=',')}]")
|
||||
pus_tm = PusTelemetry.unpack(packet, CdsShortTimestamp.empty())
|
||||
LOGGER.info("No handling for HK packets implemented")
|
||||
LOGGER.info(f"Raw packet: 0x[{packet.hex(sep=',')}]")
|
||||
pus_tm = PusTelemetry.unpack(packet)
|
||||
if pus_tm.subservice == 25:
|
||||
if len(pus_tm.source_data) < 8:
|
||||
raise ValueError("No addressable ID in HK packet")
|
||||
json_str = pus_tm.source_data[8:]
|
||||
_LOGGER.info("received JSON string: " + json_str.decode("utf-8"))
|
||||
dedicated_handler = True
|
||||
if service == 5:
|
||||
tm_packet = Service5Tm.unpack(packet, time_reader)
|
||||
tm_packet = Service5Tm.unpack(packet)
|
||||
if service == 17:
|
||||
tm_packet = Service17Tm.unpack(packet, time_reader)
|
||||
tm_packet = Service17Tm.unpack(packet)
|
||||
dedicated_handler = True
|
||||
if tm_packet.subservice == 2:
|
||||
_LOGGER.info("Received Ping Reply TM[17,2]")
|
||||
self.printer.file_logger.info("Received Ping Reply TM[17,2]")
|
||||
LOGGER.info("Received Ping Reply TM[17,2]")
|
||||
else:
|
||||
_LOGGER.info(
|
||||
self.printer.file_logger.info(
|
||||
f"Received Test Packet with unknown subservice {tm_packet.subservice}"
|
||||
)
|
||||
LOGGER.info(
|
||||
f"Received Test Packet with unknown subservice {tm_packet.subservice}"
|
||||
)
|
||||
if tm_packet is None:
|
||||
_LOGGER.info(
|
||||
LOGGER.info(
|
||||
f"The service {service} is not implemented in Telemetry Factory"
|
||||
)
|
||||
tm_packet = PusTelemetry.unpack(packet, time_reader)
|
||||
self.raw_logger.log_tm(pus_tm)
|
||||
tm_packet = PusTelemetry.unpack(packet)
|
||||
self.raw_logger.log_tm(tm_packet)
|
||||
if not dedicated_handler and tm_packet is not None:
|
||||
self.printer.handle_long_tm_print(packet_if=tm_packet, info_if=tm_packet)
|
||||
|
||||
|
||||
def make_addressable_id(target_id: int, unique_id: int) -> bytes:
|
||||
@ -179,11 +198,8 @@ class TcHandler(TcHandlerBase):
|
||||
self.seq_count_provider = seq_count_provider
|
||||
self.verif_wrapper = verif_wrapper
|
||||
self.queue_helper = DefaultPusQueueHelper(
|
||||
queue_wrapper=QueueWrapper.empty(),
|
||||
tc_sched_timestamp_len=7,
|
||||
queue_wrapper=None,
|
||||
seq_cnt_provider=seq_count_provider,
|
||||
pus_verificator=verif_wrapper.pus_verificator,
|
||||
default_pus_apid=EXAMPLE_PUS_APID,
|
||||
)
|
||||
|
||||
def send_cb(self, send_params: SendCbParams):
|
||||
@ -196,74 +212,61 @@ class TcHandler(TcHandlerBase):
|
||||
)
|
||||
self.verif_wrapper.add_tc(pus_tc_wrapper.pus_tc)
|
||||
raw_tc = pus_tc_wrapper.pus_tc.pack()
|
||||
_LOGGER.info(f"Sending {pus_tc_wrapper.pus_tc}")
|
||||
LOGGER.info(f"Sending {pus_tc_wrapper.pus_tc}")
|
||||
send_params.com_if.send(raw_tc)
|
||||
elif entry_helper.entry_type == TcQueueEntryType.LOG:
|
||||
log_entry = entry_helper.to_log_entry()
|
||||
_LOGGER.info(log_entry.log_str)
|
||||
LOGGER.info(log_entry.log_str)
|
||||
|
||||
def queue_finished_cb(self, info: ProcedureWrapper):
|
||||
if info.proc_type == TcProcedureType.DEFAULT:
|
||||
def_proc = info.to_def_procedure()
|
||||
_LOGGER.info(f"Queue handling finished for command {def_proc.cmd_path}")
|
||||
def queue_finished_cb(self, helper: ProcedureWrapper):
|
||||
if helper.proc_type == TcProcedureType.DEFAULT:
|
||||
def_proc = helper.to_def_procedure()
|
||||
LOGGER.info(
|
||||
f"Queue handling finished for service {def_proc.service} and "
|
||||
f"op code {def_proc.op_code}"
|
||||
)
|
||||
|
||||
def feed_cb(self, info: ProcedureWrapper, wrapper: FeedWrapper):
|
||||
def feed_cb(self, helper: ProcedureWrapper, wrapper: FeedWrapper):
|
||||
q = self.queue_helper
|
||||
q.queue_wrapper = wrapper.queue_wrapper
|
||||
if info.proc_type == TcProcedureType.DEFAULT:
|
||||
def_proc = info.to_def_procedure()
|
||||
cmd_path = def_proc.cmd_path
|
||||
if cmd_path == "/ping":
|
||||
if helper.proc_type == TcProcedureType.DEFAULT:
|
||||
def_proc = helper.to_def_procedure()
|
||||
service = def_proc.service
|
||||
op_code = def_proc.op_code
|
||||
if (
|
||||
service == CoreServiceList.SERVICE_17
|
||||
or service == CoreServiceList.SERVICE_17_ALT
|
||||
):
|
||||
q.add_log_cmd("Sending PUS ping telecommand")
|
||||
q.add_pus_tc(PusTelecommand(service=17, subservice=1))
|
||||
if cmd_path == "/change_blink_freq":
|
||||
self.create_change_blink_freq_command(q)
|
||||
|
||||
def create_change_blink_freq_command(self, q: DefaultPusQueueHelper):
|
||||
q.add_log_cmd("Changing blink frequency")
|
||||
while True:
|
||||
blink_freq = int(
|
||||
input(
|
||||
"Please specify new blink frequency in ms. Valid Range [2..10000]: "
|
||||
)
|
||||
)
|
||||
if blink_freq < 2 or blink_freq > 10000:
|
||||
print(
|
||||
"Invalid blink frequency. Please specify a value between 2 and 10000."
|
||||
)
|
||||
continue
|
||||
break
|
||||
app_data = struct.pack("!I", blink_freq)
|
||||
q.add_pus_tc(PusTelecommand(service=8, subservice=1, app_data=app_data))
|
||||
return q.add_pus_tc(PusTelecommand(service=17, subservice=1))
|
||||
|
||||
|
||||
def main():
|
||||
add_colorlog_console_logger(_LOGGER)
|
||||
tmtccmd.init_printout(False)
|
||||
hook_obj = SatRsConfigHook(json_cfg_path=default_json_path())
|
||||
parser_wrapper = PreArgsParsingWrapper()
|
||||
parser_wrapper.create_default_parent_parser()
|
||||
parser_wrapper.create_default_parser()
|
||||
parser_wrapper.add_def_proc_args()
|
||||
post_args_wrapper = parser_wrapper.parse(hook_obj)
|
||||
params = SetupParams()
|
||||
post_args_wrapper = parser_wrapper.parse(hook_obj, params)
|
||||
proc_wrapper = ProcedureParamsWrapper()
|
||||
if post_args_wrapper.use_gui:
|
||||
post_args_wrapper.set_params_without_prompts(proc_wrapper)
|
||||
post_args_wrapper.set_params_without_prompts(params, proc_wrapper)
|
||||
else:
|
||||
post_args_wrapper.set_params_with_prompts(proc_wrapper)
|
||||
post_args_wrapper.set_params_with_prompts(params, proc_wrapper)
|
||||
params.apid = EXAMPLE_PUS_APID
|
||||
setup_args = SetupWrapper(
|
||||
hook_obj=hook_obj, setup_params=params, proc_param_wrapper=proc_wrapper
|
||||
)
|
||||
# Create console logger helper and file loggers
|
||||
tmtc_logger = RegularTmtcLogWrapper()
|
||||
file_logger = tmtc_logger.logger
|
||||
printer = FsfwTmTcPrinter(tmtc_logger.logger)
|
||||
raw_logger = RawTmtcTimedLogWrapper(when=TimedLogWhen.PER_HOUR, interval=1)
|
||||
verificator = PusVerificator()
|
||||
verification_wrapper = VerificationWrapper(verificator, _LOGGER, file_logger)
|
||||
verification_wrapper = VerificationWrapper(verificator, LOGGER, printer.file_logger)
|
||||
# Create primary TM handler and add it to the CCSDS Packet Handler
|
||||
tm_handler = PusHandler(file_logger, verification_wrapper, raw_logger)
|
||||
tm_handler = PusHandler(verification_wrapper, printer, raw_logger)
|
||||
ccsds_handler = CcsdsTmHandler(generic_handler=None)
|
||||
ccsds_handler.add_apid_handler(tm_handler)
|
||||
|
||||
@ -285,7 +288,7 @@ def main():
|
||||
if state.request == BackendRequest.TERMINATION_NO_ERROR:
|
||||
sys.exit(0)
|
||||
elif state.request == BackendRequest.DELAY_IDLE:
|
||||
_LOGGER.info("TMTC Client in IDLE mode")
|
||||
LOGGER.info("TMTC Client in IDLE mode")
|
||||
time.sleep(3.0)
|
||||
elif state.request == BackendRequest.DELAY_LISTENER:
|
||||
time.sleep(0.8)
|
||||
|
||||
@ -1,2 +1,2 @@
|
||||
tmtccmd == 8.0.0rc.0
|
||||
tmtccmd == 4.0.0a0
|
||||
# -e git+https://github.com/robamu-org/tmtccmd.git@main#egg=tmtccmd
|
||||
|
||||
@ -1,15 +1,17 @@
|
||||
#![no_std]
|
||||
#![no_main]
|
||||
use satrs_example_stm32f3_disco as _;
|
||||
|
||||
use stm32f3_discovery::leds::Leds;
|
||||
extern crate panic_itm;
|
||||
|
||||
use cortex_m_rt::entry;
|
||||
|
||||
use stm32f3_discovery::stm32f3xx_hal::delay::Delay;
|
||||
use stm32f3_discovery::stm32f3xx_hal::{pac, prelude::*};
|
||||
use stm32f3_discovery::leds::Leds;
|
||||
use stm32f3_discovery::switch_hal::{OutputSwitch, ToggleableOutputSwitch};
|
||||
|
||||
#[cortex_m_rt::entry]
|
||||
fn main() -> ! {
|
||||
defmt::println!("STM32F3 Discovery Blinky");
|
||||
#[entry]
|
||||
fn main()-> ! {
|
||||
let dp = pac::Peripherals::take().unwrap();
|
||||
let mut rcc = dp.RCC.constrain();
|
||||
let cp = cortex_m::Peripherals::take().unwrap();
|
||||
@ -28,49 +30,49 @@ fn main() -> ! {
|
||||
gpioe.pe14,
|
||||
gpioe.pe15,
|
||||
&mut gpioe.moder,
|
||||
&mut gpioe.otyper,
|
||||
&mut gpioe.otyper
|
||||
);
|
||||
let delay_ms = 200u16;
|
||||
loop {
|
||||
leds.ld3_n.toggle().ok();
|
||||
leds.ld3.toggle().ok();
|
||||
delay.delay_ms(delay_ms);
|
||||
leds.ld3_n.toggle().ok();
|
||||
leds.ld3.toggle().ok();
|
||||
delay.delay_ms(delay_ms);
|
||||
|
||||
//explicit on/off
|
||||
leds.ld4_nw.on().ok();
|
||||
leds.ld4.on().ok();
|
||||
delay.delay_ms(delay_ms);
|
||||
leds.ld4_nw.off().ok();
|
||||
leds.ld4.off().ok();
|
||||
delay.delay_ms(delay_ms);
|
||||
|
||||
leds.ld5_ne.on().ok();
|
||||
leds.ld5.on().ok();
|
||||
delay.delay_ms(delay_ms);
|
||||
leds.ld5_ne.off().ok();
|
||||
leds.ld5.off().ok();
|
||||
delay.delay_ms(delay_ms);
|
||||
|
||||
leds.ld6_w.on().ok();
|
||||
leds.ld6.on().ok();
|
||||
delay.delay_ms(delay_ms);
|
||||
leds.ld6_w.off().ok();
|
||||
leds.ld6.off().ok();
|
||||
delay.delay_ms(delay_ms);
|
||||
|
||||
leds.ld7.on().ok();
|
||||
delay.delay_ms(delay_ms);
|
||||
leds.ld7.off().ok();
|
||||
delay.delay_ms(delay_ms);
|
||||
|
||||
leds.ld8.on().ok();
|
||||
delay.delay_ms(delay_ms);
|
||||
leds.ld8.off().ok();
|
||||
delay.delay_ms(delay_ms);
|
||||
|
||||
leds.ld9.on().ok();
|
||||
delay.delay_ms(delay_ms);
|
||||
leds.ld9.off().ok();
|
||||
delay.delay_ms(delay_ms);
|
||||
|
||||
leds.ld7_e.on().ok();
|
||||
leds.ld10.on().ok();
|
||||
delay.delay_ms(delay_ms);
|
||||
leds.ld7_e.off().ok();
|
||||
delay.delay_ms(delay_ms);
|
||||
|
||||
leds.ld8_sw.on().ok();
|
||||
delay.delay_ms(delay_ms);
|
||||
leds.ld8_sw.off().ok();
|
||||
delay.delay_ms(delay_ms);
|
||||
|
||||
leds.ld9_se.on().ok();
|
||||
delay.delay_ms(delay_ms);
|
||||
leds.ld9_se.off().ok();
|
||||
delay.delay_ms(delay_ms);
|
||||
|
||||
leds.ld10_s.on().ok();
|
||||
delay.delay_ms(delay_ms);
|
||||
leds.ld10_s.off().ok();
|
||||
leds.ld10.off().ok();
|
||||
delay.delay_ms(delay_ms);
|
||||
}
|
||||
}
|
||||
@ -1,51 +0,0 @@
|
||||
#![no_main]
|
||||
#![no_std]
|
||||
|
||||
use cortex_m_semihosting::debug;
|
||||
|
||||
use defmt_brtt as _; // global logger
|
||||
|
||||
use stm32f3xx_hal as _; // memory layout
|
||||
|
||||
use panic_probe as _;
|
||||
|
||||
// same panicking *behavior* as `panic-probe` but doesn't print a panic message
|
||||
// this prevents the panic message being printed *twice* when `defmt::panic` is invoked
|
||||
#[defmt::panic_handler]
|
||||
fn panic() -> ! {
|
||||
cortex_m::asm::udf()
|
||||
}
|
||||
|
||||
/// Terminates the application and makes a semihosting-capable debug tool exit
|
||||
/// with status code 0.
|
||||
pub fn exit() -> ! {
|
||||
loop {
|
||||
debug::exit(debug::EXIT_SUCCESS);
|
||||
}
|
||||
}
|
||||
|
||||
/// Hardfault handler.
|
||||
///
|
||||
/// Terminates the application and makes a semihosting-capable debug tool exit
|
||||
/// with an error. This seems better than the default, which is to spin in a
|
||||
/// loop.
|
||||
#[cortex_m_rt::exception]
|
||||
unsafe fn HardFault(_frame: &cortex_m_rt::ExceptionFrame) -> ! {
|
||||
loop {
|
||||
debug::exit(debug::EXIT_FAILURE);
|
||||
}
|
||||
}
|
||||
|
||||
// defmt-test 0.3.0 has the limitation that this `#[tests]` attribute can only be used
|
||||
// once within a crate. the module can be in any file but there can only be at most
|
||||
// one `#[tests]` module in this library crate
|
||||
#[cfg(test)]
|
||||
#[defmt_test::tests]
|
||||
mod unit_tests {
|
||||
use defmt::assert;
|
||||
|
||||
#[test]
|
||||
fn it_works() {
|
||||
assert!(true)
|
||||
}
|
||||
}
|
||||
Some files were not shown because too many files have changed in this diff Show More
Reference in New Issue
Block a user