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1 Commits
satrs-v0.2
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1c22afef31
| Author | SHA1 | Date | |
|---|---|---|---|
| 1c22afef31 |
@ -1,4 +1,4 @@
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<p align="center"> <img src="misc/satrs-logo-v2.png" width="40%"> </p>
|
||||
<p align="center"> <img src="misc/satrs-logo.png" width="40%"> </p>
|
||||
|
||||
[](https://absatsw.irs.uni-stuttgart.de/projects/sat-rs/)
|
||||
[](https://absatsw.irs.uni-stuttgart.de/projects/sat-rs/book/)
|
||||
@ -24,6 +24,11 @@ A lot of the architecture and general design considerations are based on the
|
||||
through the 2 missions [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/).
|
||||
|
||||
This framework is in the early stages of development. 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 framework if your are willing to work in this
|
||||
environment.
|
||||
|
||||
# Overview
|
||||
|
||||
This project currently contains following crates:
|
||||
@ -40,7 +45,7 @@ This project currently contains following crates:
|
||||
* [`satrs-mib`](https://egit.irs.uni-stuttgart.de/rust/sat-rs/src/branch/main/satrs-mib):
|
||||
Components to build a mission information base from the on-board software directly.
|
||||
* [`satrs-example-stm32f3-disco`](https://egit.irs.uni-stuttgart.de/rust/sat-rs/src/branch/main/satrs-example-stm32f3-disco):
|
||||
Example of a simple example 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`.
|
||||
|
||||
Binary file not shown.
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Before Width: | Height: | Size: 49 KiB |
@ -17,7 +17,7 @@ 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/latest/satrs/hal/host/udp_server/index.html).
|
||||
UDP is already packet based which makes it an excellent fit for exchanging space packets.
|
||||
2. [TCP TMTC Server Components](https://docs.rs/satrs/latest/satrs/hal/std/tcp_server/index.html).
|
||||
TCP is a stream based protocol, so the library provides building blocks to parse telemetry
|
||||
@ -39,12 +39,8 @@ task might be to store all arriving telemetry persistently. This is especially i
|
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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.
|
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For component oriented software using message passing, this usually includes staged demultiplexing
|
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components to determine where a command needs to be sent.
|
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|
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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.
|
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For modern component oriented software using message passing, this usually includes staged
|
||||
demultiplexing components to determine where a command needs to be sent.
|
||||
|
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# Low-level protocols and the bridge to the communcation subsystem
|
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|
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|
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@ -1,11 +1,11 @@
|
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# Modes
|
||||
|
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Modes are an extremely useful concept to model complex systems. They allow simplified
|
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system reasoning for both system operators and OBSW developers. They also provide a way to alter
|
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the behaviour of a component and also provide observability of a system. A few examples of how to
|
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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
|
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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
|
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## Modelling a pyhsical devices with modes
|
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|
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The following simple mode scheme with the following three mode
|
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|
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@ -13,8 +13,7 @@ The following simple mode scheme with the following three mode
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- `ON`
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- `NORMAL`
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|
||||
can be applied to a large number of simpler device controllers of a remote system, for example
|
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sensors.
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||||
can be applied to a large number of simpler devices of a remote system, for example sensors.
|
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|
||||
1. `OFF` means that a device is physically switched off, and the corresponding software component
|
||||
does not poll the device regularly.
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||||
@ -32,7 +31,7 @@ for the majority of devices:
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||||
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.
|
||||
|
||||
60
satrs-example-stm32f3-disco/Cargo.lock
generated
60
satrs-example-stm32f3-disco/Cargo.lock
generated
@ -22,9 +22,9 @@ dependencies = [
|
||||
|
||||
[[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"
|
||||
@ -88,13 +88,19 @@ checksum = "baf1de4339761588bc0619e3cbc0120ee582ebb74b53b4efbf79117bd2da40fd"
|
||||
|
||||
[[package]]
|
||||
name = "chrono"
|
||||
version = "0.4.37"
|
||||
version = "0.4.35"
|
||||
source = "registry+https://github.com/rust-lang/crates.io-index"
|
||||
checksum = "8a0d04d43504c61aa6c7531f1871dd0d418d91130162063b789da00fd7057a5e"
|
||||
checksum = "8eaf5903dcbc0a39312feb77df2ff4c76387d591b9fc7b04a238dcf8bb62639a"
|
||||
dependencies = [
|
||||
"num-traits",
|
||||
]
|
||||
|
||||
[[package]]
|
||||
name = "cobs"
|
||||
version = "0.2.3"
|
||||
source = "registry+https://github.com/rust-lang/crates.io-index"
|
||||
checksum = "67ba02a97a2bd10f4b59b25c7973101c79642302776489e030cd13cdab09ed15"
|
||||
|
||||
[[package]]
|
||||
name = "cobs"
|
||||
version = "0.2.3"
|
||||
@ -183,7 +189,7 @@ dependencies = [
|
||||
"ident_case",
|
||||
"proc-macro2",
|
||||
"quote",
|
||||
"syn 2.0.58",
|
||||
"syn 2.0.53",
|
||||
]
|
||||
|
||||
[[package]]
|
||||
@ -194,7 +200,7 @@ checksum = "a668eda54683121533a393014d8692171709ff57a7d61f187b6e782719f8933f"
|
||||
dependencies = [
|
||||
"darling_core",
|
||||
"quote",
|
||||
"syn 2.0.58",
|
||||
"syn 2.0.53",
|
||||
]
|
||||
|
||||
[[package]]
|
||||
@ -227,7 +233,7 @@ dependencies = [
|
||||
"proc-macro-error",
|
||||
"proc-macro2",
|
||||
"quote",
|
||||
"syn 2.0.58",
|
||||
"syn 2.0.53",
|
||||
]
|
||||
|
||||
[[package]]
|
||||
@ -259,7 +265,7 @@ checksum = "984bc6eca246389726ac2826acc2488ca0fe5fcd6b8d9b48797021951d76a125"
|
||||
dependencies = [
|
||||
"proc-macro2",
|
||||
"quote",
|
||||
"syn 2.0.58",
|
||||
"syn 2.0.53",
|
||||
]
|
||||
|
||||
[[package]]
|
||||
@ -325,7 +331,7 @@ dependencies = [
|
||||
"darling",
|
||||
"proc-macro2",
|
||||
"quote",
|
||||
"syn 2.0.58",
|
||||
"syn 2.0.53",
|
||||
]
|
||||
|
||||
[[package]]
|
||||
@ -553,7 +559,7 @@ checksum = "681030a937600a36906c185595136d26abfebb4aa9c65701cefcaf8578bb982b"
|
||||
dependencies = [
|
||||
"proc-macro2",
|
||||
"quote",
|
||||
"syn 2.0.58",
|
||||
"syn 2.0.53",
|
||||
]
|
||||
|
||||
[[package]]
|
||||
@ -574,9 +580,9 @@ checksum = "de3145af08024dea9fa9914f381a17b8fc6034dfb00f3a84013f7ff43f29ed4c"
|
||||
|
||||
[[package]]
|
||||
name = "pin-project-lite"
|
||||
version = "0.2.14"
|
||||
version = "0.2.13"
|
||||
source = "registry+https://github.com/rust-lang/crates.io-index"
|
||||
checksum = "bda66fc9667c18cb2758a2ac84d1167245054bcf85d5d1aaa6923f45801bdd02"
|
||||
checksum = "8afb450f006bf6385ca15ef45d71d2288452bc3683ce2e2cacc0d18e4be60b58"
|
||||
|
||||
[[package]]
|
||||
name = "pin-utils"
|
||||
@ -628,9 +634,9 @@ dependencies = [
|
||||
|
||||
[[package]]
|
||||
name = "rtcc"
|
||||
version = "0.3.2"
|
||||
version = "0.3.1"
|
||||
source = "registry+https://github.com/rust-lang/crates.io-index"
|
||||
checksum = "95973c3a0274adc4f3c5b70d2b5b85618d6de9559a6737d3293ecae9a2fc0839"
|
||||
checksum = "f4fbd0d5bed2b76e27a7ef872568b34072c1af94c277cd52c17a89d54673b3fe"
|
||||
dependencies = [
|
||||
"chrono",
|
||||
]
|
||||
@ -674,7 +680,7 @@ dependencies = [
|
||||
"proc-macro-error",
|
||||
"proc-macro2",
|
||||
"quote",
|
||||
"syn 2.0.58",
|
||||
"syn 2.0.53",
|
||||
]
|
||||
|
||||
[[package]]
|
||||
@ -723,8 +729,10 @@ dependencies = [
|
||||
[[package]]
|
||||
name = "satrs"
|
||||
version = "0.2.0-rc.0"
|
||||
source = "registry+https://github.com/rust-lang/crates.io-index"
|
||||
checksum = "c8cb19cba46a45047ff0879ebfbf9d6ae1c5b2e0e38b2e08760b10a441d4dae6"
|
||||
dependencies = [
|
||||
"cobs",
|
||||
"cobs 0.2.3 (registry+https://github.com/rust-lang/crates.io-index)",
|
||||
"crc",
|
||||
"delegate",
|
||||
"num-traits",
|
||||
@ -739,7 +747,7 @@ dependencies = [
|
||||
name = "satrs-example-stm32f3-disco"
|
||||
version = "0.1.0"
|
||||
dependencies = [
|
||||
"cobs",
|
||||
"cobs 0.2.3 (git+https://github.com/robamu/cobs.rs.git?branch=all_features)",
|
||||
"cortex-m",
|
||||
"cortex-m-rt",
|
||||
"cortex-m-semihosting",
|
||||
@ -759,7 +767,9 @@ dependencies = [
|
||||
|
||||
[[package]]
|
||||
name = "satrs-shared"
|
||||
version = "0.1.3"
|
||||
version = "0.1.2"
|
||||
source = "registry+https://github.com/rust-lang/crates.io-index"
|
||||
checksum = "75a402ba556a7f5eef707035b45e64a3259b09674311e98697f3dd0508a1bf51"
|
||||
dependencies = [
|
||||
"spacepackets",
|
||||
]
|
||||
@ -799,12 +809,12 @@ checksum = "3c5e1a9a646d36c3599cd173a41282daf47c44583ad367b8e6837255952e5c67"
|
||||
|
||||
[[package]]
|
||||
name = "spacepackets"
|
||||
version = "0.11.0-rc.2"
|
||||
version = "0.10.0"
|
||||
source = "registry+https://github.com/rust-lang/crates.io-index"
|
||||
checksum = "c2cfd5f9a4c7f10714d21f9bc61f2d176cb7ae092cdd687e7ade2d4e6f7d7125"
|
||||
checksum = "28246ae2451af240c3e3ff3c51363c7b6ad565ca6aa9bad23b8c725687c485e1"
|
||||
dependencies = [
|
||||
"chrono",
|
||||
"crc",
|
||||
"defmt",
|
||||
"delegate",
|
||||
"num-traits",
|
||||
"num_enum",
|
||||
@ -899,9 +909,9 @@ dependencies = [
|
||||
|
||||
[[package]]
|
||||
name = "syn"
|
||||
version = "2.0.58"
|
||||
version = "2.0.53"
|
||||
source = "registry+https://github.com/rust-lang/crates.io-index"
|
||||
checksum = "44cfb93f38070beee36b3fef7d4f5a16f27751d94b187b666a5cc5e9b0d30687"
|
||||
checksum = "7383cd0e49fff4b6b90ca5670bfd3e9d6a733b3f90c686605aa7eec8c4996032"
|
||||
dependencies = [
|
||||
"proc-macro2",
|
||||
"quote",
|
||||
@ -925,7 +935,7 @@ checksum = "c61f3ba182994efc43764a46c018c347bc492c79f024e705f46567b418f6d4f7"
|
||||
dependencies = [
|
||||
"proc-macro2",
|
||||
"quote",
|
||||
"syn 2.0.58",
|
||||
"syn 2.0.53",
|
||||
]
|
||||
|
||||
[[package]]
|
||||
@ -991,5 +1001,5 @@ checksum = "9ce1b18ccd8e73a9321186f97e46f9f04b778851177567b1975109d26a08d2a6"
|
||||
dependencies = [
|
||||
"proc-macro2",
|
||||
"quote",
|
||||
"syn 2.0.58",
|
||||
"syn 2.0.53",
|
||||
]
|
||||
|
||||
@ -46,9 +46,8 @@ branch = "complete-dma-update-hal"
|
||||
# path = "../stm32f3-discovery"
|
||||
|
||||
[dependencies.satrs]
|
||||
path = "../satrs"
|
||||
version = "0.2.0-rc.0"
|
||||
default-features = false
|
||||
features = ["defmt"]
|
||||
|
||||
[dev-dependencies]
|
||||
defmt-test = "0.3"
|
||||
|
||||
@ -103,12 +103,3 @@ After that, you can for example send a ping to the MCU using the following comma
|
||||
```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.
|
||||
|
||||
@ -94,7 +94,6 @@ class SatRsConfigHook(HookBase):
|
||||
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
|
||||
|
||||
|
||||
@ -216,25 +215,6 @@ class TcHandler(TcHandlerBase):
|
||||
if cmd_path == "/ping":
|
||||
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))
|
||||
|
||||
|
||||
def main():
|
||||
|
||||
@ -1,13 +1,5 @@
|
||||
#![no_std]
|
||||
#![no_main]
|
||||
use satrs::pus::verification::{
|
||||
FailParams, TcStateAccepted, VerificationReportCreator, VerificationToken,
|
||||
};
|
||||
use satrs::spacepackets::ecss::tc::PusTcReader;
|
||||
use satrs::spacepackets::ecss::tm::{PusTmCreator, PusTmSecondaryHeader};
|
||||
use satrs::spacepackets::ecss::EcssEnumU16;
|
||||
use satrs::spacepackets::CcsdsPacket;
|
||||
use satrs::spacepackets::{ByteConversionError, SpHeader};
|
||||
// global logger + panicking-behavior + memory layout
|
||||
use satrs_example_stm32f3_disco as _;
|
||||
|
||||
@ -15,17 +7,21 @@ use rtic::app;
|
||||
|
||||
use heapless::{mpmc::Q8, Vec};
|
||||
#[allow(unused_imports)]
|
||||
use rtic_monotonics::systick::fugit::{MillisDurationU32, TimerInstantU32};
|
||||
use rtic_monotonics::systick::fugit::TimerInstantU32;
|
||||
use rtic_monotonics::systick::ExtU32;
|
||||
use satrs::seq_count::SequenceCountProviderCore;
|
||||
use satrs::spacepackets::{ecss::PusPacket, ecss::WritablePusPacket};
|
||||
use satrs::{
|
||||
pool::StoreError,
|
||||
pus::{EcssChannel, EcssTmSenderCore, EcssTmtcError, PusTmWrapper},
|
||||
spacepackets::{ecss::PusPacket, ecss::WritablePusPacket},
|
||||
};
|
||||
use stm32f3xx_hal::dma::dma1;
|
||||
use stm32f3xx_hal::gpio::{PushPull, AF7, PA2, PA3};
|
||||
use stm32f3xx_hal::pac::USART2;
|
||||
use stm32f3xx_hal::serial::{Rx, RxEvent, Serial, SerialDmaRx, SerialDmaTx, Tx, TxEvent};
|
||||
|
||||
const UART_BAUD: u32 = 115200;
|
||||
const DEFAULT_BLINK_FREQ_MS: u32 = 1000;
|
||||
const BLINK_FREQ_MS: u32 = 1000;
|
||||
const TX_HANDLER_FREQ_MS: u32 = 20;
|
||||
const MIN_DELAY_BETWEEN_TX_PACKETS_MS: u32 = 5;
|
||||
const MAX_TC_LEN: usize = 128;
|
||||
@ -58,6 +54,7 @@ type TcPacket = Vec<u8, MAX_TC_LEN>;
|
||||
|
||||
static TM_REQUESTS: Q8<TmPacket> = Q8::new();
|
||||
|
||||
use core::cell::RefCell;
|
||||
use core::sync::atomic::{AtomicU16, Ordering};
|
||||
|
||||
pub struct SeqCountProviderAtomicRef {
|
||||
@ -96,45 +93,56 @@ pub struct TxIdle {
|
||||
dma_channel: dma1::C7,
|
||||
}
|
||||
|
||||
#[derive(Debug, defmt::Format)]
|
||||
pub enum TmSendError {
|
||||
ByteConversion(ByteConversionError),
|
||||
Queue,
|
||||
pub struct TmSender {
|
||||
vec: Option<RefCell<Vec<u8, MAX_TM_LEN>>>,
|
||||
}
|
||||
|
||||
impl From<ByteConversionError> for TmSendError {
|
||||
fn from(value: ByteConversionError) -> Self {
|
||||
Self::ByteConversion(value)
|
||||
}
|
||||
}
|
||||
|
||||
fn send_tm(tm_creator: PusTmCreator) -> Result<(), TmSendError> {
|
||||
if tm_creator.len_written() > MAX_TM_LEN {
|
||||
return Err(ByteConversionError::ToSliceTooSmall {
|
||||
expected: tm_creator.len_written(),
|
||||
found: MAX_TM_LEN,
|
||||
impl TmSender {
|
||||
pub fn new(tm_packet: TmPacket) -> Self {
|
||||
Self {
|
||||
vec: Some(RefCell::new(tm_packet)),
|
||||
}
|
||||
.into());
|
||||
}
|
||||
let mut tm_vec = TmPacket::new();
|
||||
tm_vec
|
||||
.resize(tm_creator.len_written(), 0)
|
||||
.expect("vec resize failed");
|
||||
tm_creator.write_to_bytes(tm_vec.as_mut_slice())?;
|
||||
defmt::info!(
|
||||
"Sending TM[{},{}] with size {}",
|
||||
tm_creator.service(),
|
||||
tm_creator.subservice(),
|
||||
tm_creator.len_written()
|
||||
);
|
||||
TM_REQUESTS
|
||||
.enqueue(tm_vec)
|
||||
.map_err(|_| TmSendError::Queue)?;
|
||||
Ok(())
|
||||
}
|
||||
|
||||
fn handle_tm_send_error(error: TmSendError) {
|
||||
defmt::warn!("sending tm failed with error {}", error);
|
||||
impl EcssChannel for TmSender {
|
||||
fn id(&self) -> satrs::ChannelId {
|
||||
0
|
||||
}
|
||||
}
|
||||
|
||||
impl EcssTmSenderCore for TmSender {
|
||||
fn send_tm(&self, tm: PusTmWrapper) -> Result<(), EcssTmtcError> {
|
||||
let vec = self.vec.as_ref();
|
||||
if vec.is_none() {
|
||||
panic!("send_tm should only be called once");
|
||||
}
|
||||
let vec_ref = vec.unwrap();
|
||||
let mut vec = vec_ref.borrow_mut();
|
||||
match tm {
|
||||
PusTmWrapper::InStore(addr) => return Err(EcssTmtcError::CantSendAddr(addr)),
|
||||
PusTmWrapper::Direct(tm) => {
|
||||
if tm.len_written() > MAX_TM_LEN {
|
||||
return Err(EcssTmtcError::Store(StoreError::DataTooLarge(
|
||||
tm.len_written(),
|
||||
)));
|
||||
}
|
||||
vec.resize(tm.len_written(), 0).expect("vec resize failed");
|
||||
tm.write_to_bytes(vec.as_mut_slice())?;
|
||||
defmt::info!(
|
||||
"Sending TM[{},{}] with size {}",
|
||||
tm.service(),
|
||||
tm.subservice(),
|
||||
tm.len_written()
|
||||
);
|
||||
drop(vec);
|
||||
TM_REQUESTS
|
||||
.enqueue(vec_ref.take())
|
||||
.map_err(|_| EcssTmtcError::Store(StoreError::StoreFull(0)))?;
|
||||
}
|
||||
}
|
||||
Ok(())
|
||||
}
|
||||
}
|
||||
|
||||
pub enum UartTxState {
|
||||
@ -149,106 +157,18 @@ pub struct UartTxShared {
|
||||
state: UartTxState,
|
||||
}
|
||||
|
||||
pub struct RequestWithToken {
|
||||
token: VerificationToken<TcStateAccepted>,
|
||||
request: Request,
|
||||
}
|
||||
|
||||
#[derive(Debug, defmt::Format)]
|
||||
pub enum Request {
|
||||
Ping,
|
||||
ChangeBlinkFrequency(u32),
|
||||
}
|
||||
|
||||
#[derive(Debug, defmt::Format)]
|
||||
pub enum RequestError {
|
||||
InvalidApid = 1,
|
||||
InvalidService = 2,
|
||||
InvalidSubservice = 3,
|
||||
NotEnoughAppData = 4,
|
||||
}
|
||||
|
||||
pub fn convert_pus_tc_to_request(
|
||||
tc: &PusTcReader,
|
||||
verif_reporter: &mut VerificationReportCreator,
|
||||
src_data_buf: &mut [u8],
|
||||
timestamp: &[u8],
|
||||
) -> Result<RequestWithToken, RequestError> {
|
||||
defmt::info!(
|
||||
"Found PUS TC [{},{}] with length {}",
|
||||
tc.service(),
|
||||
tc.subservice(),
|
||||
tc.len_packed()
|
||||
);
|
||||
|
||||
let token = verif_reporter.add_tc(tc);
|
||||
if tc.apid() != PUS_APID {
|
||||
defmt::warn!("Received tc with unknown APID {}", tc.apid());
|
||||
let result = send_tm(
|
||||
verif_reporter
|
||||
.acceptance_failure(
|
||||
src_data_buf,
|
||||
token,
|
||||
SEQ_COUNT_PROVIDER.get_and_increment(),
|
||||
0,
|
||||
FailParams::new(timestamp, &EcssEnumU16::new(0), &[]),
|
||||
)
|
||||
.unwrap(),
|
||||
);
|
||||
if let Err(e) = result {
|
||||
handle_tm_send_error(e);
|
||||
}
|
||||
return Err(RequestError::InvalidApid);
|
||||
}
|
||||
let (tm_creator, accepted_token) = verif_reporter
|
||||
.acceptance_success(
|
||||
src_data_buf,
|
||||
token,
|
||||
SEQ_COUNT_PROVIDER.get_and_increment(),
|
||||
0,
|
||||
timestamp,
|
||||
)
|
||||
.unwrap();
|
||||
|
||||
if let Err(e) = send_tm(tm_creator) {
|
||||
handle_tm_send_error(e);
|
||||
}
|
||||
|
||||
if tc.service() == 17 && tc.subservice() == 1 {
|
||||
if tc.subservice() == 1 {
|
||||
return Ok(RequestWithToken {
|
||||
request: Request::Ping,
|
||||
token: accepted_token,
|
||||
});
|
||||
} else {
|
||||
return Err(RequestError::InvalidSubservice);
|
||||
}
|
||||
} else if tc.service() == 8 {
|
||||
if tc.subservice() == 1 {
|
||||
if tc.user_data().len() < 4 {
|
||||
return Err(RequestError::NotEnoughAppData);
|
||||
}
|
||||
let new_freq_ms = u32::from_be_bytes(tc.user_data()[0..4].try_into().unwrap());
|
||||
return Ok(RequestWithToken {
|
||||
request: Request::ChangeBlinkFrequency(new_freq_ms),
|
||||
token: accepted_token,
|
||||
});
|
||||
} else {
|
||||
return Err(RequestError::InvalidSubservice);
|
||||
}
|
||||
} else {
|
||||
return Err(RequestError::InvalidService);
|
||||
}
|
||||
}
|
||||
|
||||
#[app(device = stm32f3xx_hal::pac, peripherals = true)]
|
||||
mod app {
|
||||
use super::*;
|
||||
use core::slice::Iter;
|
||||
use rtic_monotonics::systick::Systick;
|
||||
use rtic_monotonics::Monotonic;
|
||||
use satrs::pus::verification::{TcStateStarted, VerificationReportCreator};
|
||||
use satrs::spacepackets::{ecss::tc::PusTcReader, time::cds::P_FIELD_BASE};
|
||||
use satrs::pus::verification::FailParams;
|
||||
use satrs::pus::verification::VerificationReporterCore;
|
||||
use satrs::spacepackets::{
|
||||
ecss::tc::PusTcReader, ecss::tm::PusTmCreator, ecss::tm::PusTmSecondaryHeader,
|
||||
ecss::EcssEnumU16, time::cds::P_FIELD_BASE, CcsdsPacket, SpHeader,
|
||||
};
|
||||
#[allow(unused_imports)]
|
||||
use stm32f3_discovery::leds::Direction;
|
||||
use stm32f3_discovery::leds::Leds;
|
||||
@ -261,16 +181,15 @@ mod app {
|
||||
|
||||
#[shared]
|
||||
struct Shared {
|
||||
blink_freq: MillisDurationU32,
|
||||
tx_shared: UartTxShared,
|
||||
rx_transfer: Option<RxDmaTransferType>,
|
||||
}
|
||||
|
||||
#[local]
|
||||
struct Local {
|
||||
verif_reporter: VerificationReportCreator,
|
||||
leds: Leds,
|
||||
last_dir: Direction,
|
||||
verif_reporter: VerificationReporterCore,
|
||||
curr_dir: Iter<'static, Direction>,
|
||||
}
|
||||
|
||||
@ -296,6 +215,8 @@ mod app {
|
||||
defmt::info!("Starting sat-rs demo application for the STM32F3-Discovery");
|
||||
let mut gpioe = cx.device.GPIOE.split(&mut rcc.ahb);
|
||||
|
||||
let verif_reporter = VerificationReporterCore::new(PUS_APID).unwrap();
|
||||
|
||||
let leds = Leds::new(
|
||||
gpioe.pe8,
|
||||
gpioe.pe9,
|
||||
@ -344,12 +265,8 @@ mod app {
|
||||
defmt::info!("Spawning tasks");
|
||||
blink::spawn().unwrap();
|
||||
serial_tx_handler::spawn().unwrap();
|
||||
|
||||
let verif_reporter = VerificationReportCreator::new(PUS_APID).unwrap();
|
||||
|
||||
(
|
||||
Shared {
|
||||
blink_freq: MillisDurationU32::from_ticks(DEFAULT_BLINK_FREQ_MS),
|
||||
tx_shared: UartTxShared {
|
||||
last_completed: None,
|
||||
state: UartTxState::Idle(Some(TxIdle {
|
||||
@ -360,16 +277,17 @@ mod app {
|
||||
rx_transfer: Some(rx_transfer),
|
||||
},
|
||||
Local {
|
||||
verif_reporter,
|
||||
//timer: mono_timer,
|
||||
leds,
|
||||
last_dir: Direction::North,
|
||||
curr_dir: Direction::iter(),
|
||||
verif_reporter,
|
||||
},
|
||||
)
|
||||
}
|
||||
|
||||
#[task(local = [leds, curr_dir, last_dir], shared=[blink_freq])]
|
||||
async fn blink(mut cx: blink::Context) {
|
||||
#[task(local = [leds, curr_dir, last_dir])]
|
||||
async fn blink(cx: blink::Context) {
|
||||
let blink::LocalResources {
|
||||
leds,
|
||||
curr_dir,
|
||||
@ -393,8 +311,7 @@ mod app {
|
||||
toggle_leds(curr_dir.next().unwrap());
|
||||
}
|
||||
}
|
||||
let current_blink_freq = cx.shared.blink_freq.lock(|current| *current);
|
||||
Systick::delay(current_blink_freq).await;
|
||||
Systick::delay(BLINK_FREQ_MS.millis()).await;
|
||||
}
|
||||
}
|
||||
|
||||
@ -469,18 +386,18 @@ mod app {
|
||||
|
||||
#[task(
|
||||
local = [
|
||||
verif_reporter,
|
||||
stamp_buf: [u8; 7] = [0; 7],
|
||||
decode_buf: [u8; MAX_TC_LEN] = [0; MAX_TC_LEN],
|
||||
src_data_buf: [u8; MAX_TM_LEN] = [0; MAX_TM_LEN],
|
||||
timestamp: [u8; 7] = [0; 7],
|
||||
verif_reporter
|
||||
],
|
||||
shared = [blink_freq]
|
||||
)]
|
||||
async fn serial_rx_handler(
|
||||
mut cx: serial_rx_handler::Context,
|
||||
cx: serial_rx_handler::Context,
|
||||
received_packet: Vec<u8, MAX_TC_LEN>,
|
||||
) {
|
||||
cx.local.timestamp[0] = P_FIELD_BASE;
|
||||
defmt::info!("running rx handler");
|
||||
cx.local.stamp_buf[0] = P_FIELD_BASE;
|
||||
defmt::info!("Received packet with {} bytes", received_packet.len());
|
||||
let decode_buf = cx.local.decode_buf;
|
||||
let packet = received_packet.as_slice();
|
||||
@ -500,49 +417,18 @@ mod app {
|
||||
Ok(len) => {
|
||||
defmt::info!("Decoded packet length: {}", len);
|
||||
let pus_tc = PusTcReader::new(decode_buf);
|
||||
let verif_reporter = cx.local.verif_reporter;
|
||||
match pus_tc {
|
||||
Ok((tc, _tc_len)) => {
|
||||
match convert_pus_tc_to_request(
|
||||
&tc,
|
||||
cx.local.verif_reporter,
|
||||
cx.local.src_data_buf,
|
||||
cx.local.timestamp,
|
||||
) {
|
||||
Ok(request_with_token) => {
|
||||
let started_token = handle_start_verification(
|
||||
request_with_token.token,
|
||||
cx.local.verif_reporter,
|
||||
cx.local.src_data_buf,
|
||||
cx.local.timestamp,
|
||||
);
|
||||
|
||||
match request_with_token.request {
|
||||
Request::Ping => {
|
||||
handle_ping_request(cx.local.timestamp);
|
||||
}
|
||||
Request::ChangeBlinkFrequency(new_freq_ms) => {
|
||||
defmt::info!("Received blink frequency change request with new frequncy {}", new_freq_ms);
|
||||
cx.shared.blink_freq.lock(|blink_freq| {
|
||||
*blink_freq =
|
||||
MillisDurationU32::from_ticks(new_freq_ms);
|
||||
});
|
||||
}
|
||||
}
|
||||
handle_completion_verification(
|
||||
started_token,
|
||||
cx.local.verif_reporter,
|
||||
cx.local.src_data_buf,
|
||||
cx.local.timestamp,
|
||||
);
|
||||
}
|
||||
Err(e) => {
|
||||
// TODO: Error handling: Send verification failure based on request error.
|
||||
defmt::warn!("request error {}", e);
|
||||
}
|
||||
}
|
||||
}
|
||||
Err(e) => {
|
||||
defmt::warn!("Error unpacking PUS TC: {}", e);
|
||||
Ok((tc, tc_len)) => handle_tc(
|
||||
tc,
|
||||
tc_len,
|
||||
verif_reporter,
|
||||
cx.local.src_data_buf,
|
||||
cx.local.stamp_buf,
|
||||
),
|
||||
Err(_e) => {
|
||||
// TODO: Print error after API rework.
|
||||
defmt::warn!("Error unpacking PUS TC");
|
||||
}
|
||||
}
|
||||
}
|
||||
@ -552,64 +438,104 @@ mod app {
|
||||
}
|
||||
}
|
||||
|
||||
fn handle_ping_request(timestamp: &[u8]) {
|
||||
defmt::info!("Received PUS ping telecommand, sending ping reply TM[17,2]");
|
||||
let sp_header =
|
||||
SpHeader::new_for_unseg_tc(PUS_APID, SEQ_COUNT_PROVIDER.get_and_increment(), 0);
|
||||
let sec_header = PusTmSecondaryHeader::new_simple(17, 2, timestamp);
|
||||
let ping_reply = PusTmCreator::new(sp_header, sec_header, &[], true);
|
||||
let mut tm_packet = TmPacket::new();
|
||||
tm_packet
|
||||
.resize(ping_reply.len_written(), 0)
|
||||
.expect("vec resize failed");
|
||||
ping_reply.write_to_bytes(&mut tm_packet).unwrap();
|
||||
if TM_REQUESTS.enqueue(tm_packet).is_err() {
|
||||
defmt::warn!("TC queue full");
|
||||
return;
|
||||
}
|
||||
}
|
||||
|
||||
fn handle_start_verification(
|
||||
accepted_token: VerificationToken<TcStateAccepted>,
|
||||
verif_reporter: &mut VerificationReportCreator,
|
||||
src_data_buf: &mut [u8],
|
||||
timestamp: &[u8],
|
||||
) -> VerificationToken<TcStateStarted> {
|
||||
let (tm_creator, started_token) = verif_reporter
|
||||
.start_success(
|
||||
src_data_buf,
|
||||
accepted_token,
|
||||
SEQ_COUNT_PROVIDER.get(),
|
||||
0,
|
||||
×tamp,
|
||||
)
|
||||
.unwrap();
|
||||
let result = send_tm(tm_creator);
|
||||
if let Err(e) = result {
|
||||
handle_tm_send_error(e);
|
||||
}
|
||||
started_token
|
||||
}
|
||||
|
||||
fn handle_completion_verification(
|
||||
started_token: VerificationToken<TcStateStarted>,
|
||||
verif_reporter: &mut VerificationReportCreator,
|
||||
src_data_buf: &mut [u8],
|
||||
timestamp: &[u8],
|
||||
fn handle_tc(
|
||||
tc: PusTcReader,
|
||||
tc_len: usize,
|
||||
verif_reporter: &mut VerificationReporterCore,
|
||||
src_data_buf: &mut [u8; MAX_TM_LEN],
|
||||
stamp_buf: &[u8; 7],
|
||||
) {
|
||||
let result = send_tm(
|
||||
verif_reporter
|
||||
.completion_success(
|
||||
defmt::info!(
|
||||
"Found PUS TC [{},{}] with length {}",
|
||||
tc.service(),
|
||||
tc.subservice(),
|
||||
tc_len
|
||||
);
|
||||
|
||||
let token = verif_reporter.add_tc(&tc);
|
||||
if tc.apid() != PUS_APID {
|
||||
defmt::warn!("Received tc with unknown APID {}", tc.apid());
|
||||
let sendable = verif_reporter
|
||||
.acceptance_failure(
|
||||
src_data_buf,
|
||||
started_token,
|
||||
token,
|
||||
SEQ_COUNT_PROVIDER.get(),
|
||||
0,
|
||||
timestamp,
|
||||
FailParams::new(stamp_buf, &EcssEnumU16::new(0), &[]),
|
||||
)
|
||||
.unwrap(),
|
||||
);
|
||||
if let Err(e) = result {
|
||||
handle_tm_send_error(e);
|
||||
.unwrap();
|
||||
let sender = TmSender::new(TmPacket::new());
|
||||
if let Err(_e) = verif_reporter.send_acceptance_failure(sendable, &sender) {
|
||||
defmt::warn!("Sending acceptance failure failed");
|
||||
};
|
||||
return;
|
||||
}
|
||||
let sendable = verif_reporter
|
||||
.acceptance_success(src_data_buf, token, SEQ_COUNT_PROVIDER.get(), 0, stamp_buf)
|
||||
.unwrap();
|
||||
|
||||
let sender = TmSender::new(TmPacket::new());
|
||||
let accepted_token = match verif_reporter.send_acceptance_success(sendable, &sender) {
|
||||
Ok(token) => token,
|
||||
Err(_e) => {
|
||||
// TODO: Print error as soon as EcssTmtcError has Format attr.. or rework API.
|
||||
defmt::warn!("Sending acceptance success failed");
|
||||
return;
|
||||
}
|
||||
};
|
||||
|
||||
if tc.service() == 17 {
|
||||
if tc.subservice() == 1 {
|
||||
let sendable = verif_reporter
|
||||
.start_success(
|
||||
src_data_buf,
|
||||
accepted_token,
|
||||
SEQ_COUNT_PROVIDER.get(),
|
||||
0,
|
||||
stamp_buf,
|
||||
)
|
||||
.unwrap();
|
||||
// let mem_block = poolmod::TM::alloc().unwrap().init([0u8; MAX_TM_LEN]);
|
||||
let sender = TmSender::new(TmPacket::new());
|
||||
let started_token = match verif_reporter.send_start_success(sendable, &sender) {
|
||||
Ok(token) => token,
|
||||
Err(_e) => {
|
||||
// TODO: Print error as soon as EcssTmtcError has Format attr.. or rework API.
|
||||
defmt::warn!("Sending acceptance success failed");
|
||||
return;
|
||||
}
|
||||
};
|
||||
defmt::info!("Received PUS ping telecommand, sending ping reply TM[17,2]");
|
||||
let mut sp_header =
|
||||
SpHeader::tc_unseg(PUS_APID, SEQ_COUNT_PROVIDER.get(), 0).unwrap();
|
||||
let sec_header = PusTmSecondaryHeader::new_simple(17, 2, stamp_buf);
|
||||
let ping_reply = PusTmCreator::new(&mut sp_header, sec_header, &[], true);
|
||||
let mut tm_packet = TmPacket::new();
|
||||
tm_packet
|
||||
.resize(ping_reply.len_written(), 0)
|
||||
.expect("vec resize failed");
|
||||
ping_reply.write_to_bytes(&mut tm_packet).unwrap();
|
||||
if TM_REQUESTS.enqueue(tm_packet).is_err() {
|
||||
defmt::warn!("TC queue full");
|
||||
return;
|
||||
}
|
||||
SEQ_COUNT_PROVIDER.increment();
|
||||
let sendable = verif_reporter
|
||||
.completion_success(
|
||||
src_data_buf,
|
||||
started_token,
|
||||
SEQ_COUNT_PROVIDER.get(),
|
||||
0,
|
||||
stamp_buf,
|
||||
)
|
||||
.unwrap();
|
||||
let sender = TmSender::new(TmPacket::new());
|
||||
if let Err(_e) = verif_reporter.send_step_or_completion_success(sendable, &sender) {
|
||||
defmt::warn!("Sending completion success failed");
|
||||
}
|
||||
} else {
|
||||
// TODO: Invalid subservice
|
||||
}
|
||||
}
|
||||
}
|
||||
|
||||
|
||||
@ -17,8 +17,6 @@ zerocopy = "0.6"
|
||||
csv = "1"
|
||||
num_enum = "0.7"
|
||||
thiserror = "1"
|
||||
lazy_static = "1"
|
||||
strum = { version = "0.26", features = ["derive"] }
|
||||
derive-new = "0.5"
|
||||
serde = { version = "1", features = ["derive"] }
|
||||
serde_json = "1"
|
||||
|
||||
@ -4,12 +4,11 @@ import dataclasses
|
||||
import enum
|
||||
import struct
|
||||
|
||||
from spacepackets.ecss.tc import PacketId, PacketType
|
||||
|
||||
class Apid(enum.IntEnum):
|
||||
SCHED = 1
|
||||
GENERIC_PUS = 2
|
||||
ACS = 3
|
||||
CFDP = 4
|
||||
EXAMPLE_PUS_APID = 0x02
|
||||
EXAMPLE_PUS_PACKET_ID_TM = PacketId(PacketType.TM, True, EXAMPLE_PUS_APID)
|
||||
TM_PACKET_IDS = [EXAMPLE_PUS_PACKET_ID_TM]
|
||||
|
||||
|
||||
class EventSeverity(enum.IntEnum):
|
||||
@ -37,8 +36,8 @@ class EventU32:
|
||||
)
|
||||
|
||||
|
||||
class AcsId(enum.IntEnum):
|
||||
MGM_0 = 0
|
||||
class RequestTargetId(enum.IntEnum):
|
||||
ACS = 1
|
||||
|
||||
|
||||
class AcsHkIds(enum.IntEnum):
|
||||
|
||||
@ -3,11 +3,10 @@
|
||||
import logging
|
||||
import sys
|
||||
import time
|
||||
from typing import Any, Optional
|
||||
from typing import Optional
|
||||
from prompt_toolkit.history import History
|
||||
from prompt_toolkit.history import FileHistory
|
||||
|
||||
from spacepackets.ccsds import PacketId, PacketType
|
||||
import tmtccmd
|
||||
from spacepackets.ecss import PusTelemetry, PusVerificator
|
||||
from spacepackets.ecss.pus_17_test import Service17Tm
|
||||
@ -17,7 +16,7 @@ from spacepackets.ccsds.time import CdsShortTimestamp
|
||||
from tmtccmd import TcHandlerBase, ProcedureParamsWrapper
|
||||
from tmtccmd.core.base import BackendRequest
|
||||
from tmtccmd.pus import VerificationWrapper
|
||||
from tmtccmd.tmtc import CcsdsTmHandler, GenericApidHandlerBase
|
||||
from tmtccmd.tmtc import CcsdsTmHandler, SpecificApidHandlerBase
|
||||
from tmtccmd.com import ComInterface
|
||||
from tmtccmd.config import (
|
||||
CmdTreeNode,
|
||||
@ -47,7 +46,7 @@ from tmtccmd.util.obj_id import ObjectIdDictT
|
||||
|
||||
|
||||
import pus_tc
|
||||
from common import Apid, EventU32
|
||||
from common import EXAMPLE_PUS_APID, TM_PACKET_IDS, EventU32
|
||||
|
||||
_LOGGER = logging.getLogger()
|
||||
|
||||
@ -63,13 +62,10 @@ class SatRsConfigHook(HookBase):
|
||||
)
|
||||
|
||||
assert self.cfg_path is not None
|
||||
packet_id_list = []
|
||||
for apid in Apid:
|
||||
packet_id_list.append(PacketId(PacketType.TM, True, apid))
|
||||
cfg = create_com_interface_cfg_default(
|
||||
com_if_key=com_if_key,
|
||||
json_cfg_path=self.cfg_path,
|
||||
space_packet_ids=packet_id_list,
|
||||
space_packet_ids=TM_PACKET_IDS,
|
||||
)
|
||||
assert cfg is not None
|
||||
return create_com_interface_default(cfg)
|
||||
@ -89,19 +85,19 @@ class SatRsConfigHook(HookBase):
|
||||
return get_core_object_ids()
|
||||
|
||||
|
||||
class PusHandler(GenericApidHandlerBase):
|
||||
class PusHandler(SpecificApidHandlerBase):
|
||||
def __init__(
|
||||
self,
|
||||
file_logger: logging.Logger,
|
||||
verif_wrapper: VerificationWrapper,
|
||||
raw_logger: RawTmtcTimedLogWrapper,
|
||||
):
|
||||
super().__init__(None)
|
||||
super().__init__(EXAMPLE_PUS_APID, None)
|
||||
self.file_logger = file_logger
|
||||
self.raw_logger = raw_logger
|
||||
self.verif_wrapper = verif_wrapper
|
||||
|
||||
def handle_tm(self, apid: int, packet: bytes, _user_args: Any):
|
||||
def handle_tm(self, packet: bytes, _user_args: any):
|
||||
try:
|
||||
pus_tm = PusTelemetry.unpack(packet, time_reader=CdsShortTimestamp.empty())
|
||||
except ValueError as e:
|
||||
@ -181,7 +177,7 @@ class TcHandler(TcHandlerBase):
|
||||
tc_sched_timestamp_len=CdsShortTimestamp.TIMESTAMP_SIZE,
|
||||
seq_cnt_provider=seq_count_provider,
|
||||
pus_verificator=self.verif_wrapper.pus_verificator,
|
||||
default_pus_apid=None,
|
||||
default_pus_apid=EXAMPLE_PUS_APID,
|
||||
)
|
||||
|
||||
def send_cb(self, send_params: SendCbParams):
|
||||
@ -225,6 +221,7 @@ def main():
|
||||
post_args_wrapper.set_params_without_prompts(proc_wrapper)
|
||||
else:
|
||||
post_args_wrapper.set_params_with_prompts(proc_wrapper)
|
||||
params.apid = EXAMPLE_PUS_APID
|
||||
setup_args = SetupWrapper(
|
||||
hook_obj=hook_obj, setup_params=params, proc_param_wrapper=proc_wrapper
|
||||
)
|
||||
@ -236,9 +233,8 @@ def main():
|
||||
verification_wrapper = VerificationWrapper(verificator, _LOGGER, file_logger)
|
||||
# Create primary TM handler and add it to the CCSDS Packet Handler
|
||||
tm_handler = PusHandler(file_logger, verification_wrapper, raw_logger)
|
||||
ccsds_handler = CcsdsTmHandler(generic_handler=tm_handler)
|
||||
# TODO: We could add the CFDP handler for the CFDP APID at a later stage.
|
||||
# ccsds_handler.add_apid_handler(tm_handler)
|
||||
ccsds_handler = CcsdsTmHandler(generic_handler=None)
|
||||
ccsds_handler.add_apid_handler(tm_handler)
|
||||
|
||||
# Create TC handler
|
||||
seq_count_provider = PusFileSeqCountProvider()
|
||||
|
||||
@ -1,58 +1,27 @@
|
||||
import datetime
|
||||
import struct
|
||||
import logging
|
||||
|
||||
from spacepackets.ccsds import CdsShortTimestamp
|
||||
from spacepackets.ecss import PusTelecommand
|
||||
from tmtccmd.config import CmdTreeNode
|
||||
from tmtccmd.pus.tc.s200_fsfw_mode import Mode
|
||||
from tmtccmd.tmtc import DefaultPusQueueHelper
|
||||
from tmtccmd.pus.s11_tc_sched import create_time_tagged_cmd
|
||||
from tmtccmd.pus.s200_fsfw_mode import Subservice as ModeSubservice
|
||||
from tmtccmd.pus.tc.s3_fsfw_hk import create_request_one_hk_command
|
||||
|
||||
from common import AcsId, Apid
|
||||
from common import (
|
||||
EXAMPLE_PUS_APID,
|
||||
make_addressable_id,
|
||||
RequestTargetId,
|
||||
AcsHkIds,
|
||||
)
|
||||
|
||||
_LOGGER = logging.getLogger(__name__)
|
||||
|
||||
|
||||
def create_set_mode_cmd(
|
||||
apid: int, unique_id: int, mode: int, submode: int
|
||||
) -> PusTelecommand:
|
||||
app_data = bytearray()
|
||||
app_data.extend(struct.pack("!I", unique_id))
|
||||
app_data.extend(struct.pack("!I", mode))
|
||||
app_data.extend(struct.pack("!H", submode))
|
||||
return PusTelecommand(
|
||||
service=200,
|
||||
subservice=ModeSubservice.TC_MODE_COMMAND,
|
||||
apid=apid,
|
||||
app_data=app_data,
|
||||
)
|
||||
|
||||
|
||||
def create_cmd_definition_tree() -> CmdTreeNode:
|
||||
|
||||
root_node = CmdTreeNode.root_node()
|
||||
|
||||
hk_node = CmdTreeNode("hk", "Housekeeping Node", hide_children_for_print=True)
|
||||
hk_node.add_child(CmdTreeNode("one_shot_hk", "Request One Shot HK set"))
|
||||
hk_node.add_child(
|
||||
CmdTreeNode("enable", "Enable periodic housekeeping data generation")
|
||||
)
|
||||
hk_node.add_child(
|
||||
CmdTreeNode("disable", "Disable periodic housekeeping data generation")
|
||||
)
|
||||
|
||||
mode_node = CmdTreeNode("mode", "Mode Node", hide_children_for_print=True)
|
||||
set_mode_node = CmdTreeNode(
|
||||
"set_mode", "Set Node", hide_children_which_are_leaves=True
|
||||
)
|
||||
set_mode_node.add_child(CmdTreeNode("off", "Set OFF Mode"))
|
||||
set_mode_node.add_child(CmdTreeNode("on", "Set ON Mode"))
|
||||
set_mode_node.add_child(CmdTreeNode("normal", "Set NORMAL Mode"))
|
||||
mode_node.add_child(set_mode_node)
|
||||
mode_node.add_child(CmdTreeNode("read_mode", "Read Mode"))
|
||||
|
||||
test_node = CmdTreeNode("test", "Test Node")
|
||||
test_node.add_child(CmdTreeNode("ping", "Send PUS ping TC"))
|
||||
test_node.add_child(CmdTreeNode("trigger_event", "Send PUS test to trigger event"))
|
||||
@ -68,9 +37,7 @@ def create_cmd_definition_tree() -> CmdTreeNode:
|
||||
|
||||
acs_node = CmdTreeNode("acs", "ACS Subsystem Node")
|
||||
mgm_node = CmdTreeNode("mgms", "MGM devices node")
|
||||
mgm_node.add_child(mode_node)
|
||||
mgm_node.add_child(hk_node)
|
||||
|
||||
mgm_node.add_child(CmdTreeNode("one_shot_hk", "Request one shot HK"))
|
||||
acs_node.add_child(mgm_node)
|
||||
root_node.add_child(acs_node)
|
||||
|
||||
@ -87,14 +54,10 @@ def pack_pus_telecommands(q: DefaultPusQueueHelper, cmd_path: str):
|
||||
assert len(cmd_path_list) >= 2
|
||||
if cmd_path_list[1] == "ping":
|
||||
q.add_log_cmd("Sending PUS ping telecommand")
|
||||
return q.add_pus_tc(
|
||||
PusTelecommand(apid=Apid.GENERIC_PUS, service=17, subservice=1)
|
||||
)
|
||||
return q.add_pus_tc(PusTelecommand(service=17, subservice=1))
|
||||
elif cmd_path_list[1] == "trigger_event":
|
||||
q.add_log_cmd("Triggering test event")
|
||||
return q.add_pus_tc(
|
||||
PusTelecommand(apid=Apid.GENERIC_PUS, service=17, subservice=128)
|
||||
)
|
||||
return q.add_pus_tc(PusTelecommand(service=17, subservice=128))
|
||||
if cmd_path_list[0] == "scheduler":
|
||||
assert len(cmd_path_list) >= 2
|
||||
if cmd_path_list[1] == "schedule_ping_10_secs_ahead":
|
||||
@ -106,38 +69,17 @@ def pack_pus_telecommands(q: DefaultPusQueueHelper, cmd_path: str):
|
||||
create_time_tagged_cmd(
|
||||
time_stamp,
|
||||
PusTelecommand(service=17, subservice=1),
|
||||
apid=Apid.SCHED,
|
||||
apid=EXAMPLE_PUS_APID,
|
||||
)
|
||||
)
|
||||
if cmd_path_list[0] == "acs":
|
||||
assert len(cmd_path_list) >= 2
|
||||
if cmd_path_list[1] == "mgms":
|
||||
if cmd_path_list[1] == "mgm":
|
||||
assert len(cmd_path_list) >= 3
|
||||
if cmd_path_list[2] == "hk":
|
||||
if cmd_path_list[3] == "one_shot_hk":
|
||||
q.add_log_cmd("Sending HK one shot request")
|
||||
# TODO: Fix
|
||||
# q.add_pus_tc(
|
||||
# create_request_one_hk_command(
|
||||
# make_addressable_id(Apid.ACS, AcsId.MGM_SET)
|
||||
# )
|
||||
# )
|
||||
if cmd_path_list[2] == "mode":
|
||||
if cmd_path_list[3] == "set_mode":
|
||||
handle_set_mode_cmd(
|
||||
q, "MGM 0", cmd_path_list[4], Apid.ACS, AcsId.MGM_0
|
||||
if cmd_path_list[2] == "one_shot_hk":
|
||||
q.add_log_cmd("Sending HK one shot request")
|
||||
q.add_pus_tc(
|
||||
create_request_one_hk_command(
|
||||
make_addressable_id(RequestTargetId.ACS, AcsHkIds.MGM_SET)
|
||||
)
|
||||
|
||||
|
||||
def handle_set_mode_cmd(
|
||||
q: DefaultPusQueueHelper, target_str: str, mode_str: str, apid: int, unique_id: int
|
||||
):
|
||||
if mode_str == "off":
|
||||
q.add_log_cmd(f"Sending Mode OFF to {target_str}")
|
||||
q.add_pus_tc(create_set_mode_cmd(apid, unique_id, Mode.OFF, 0))
|
||||
elif mode_str == "on":
|
||||
q.add_log_cmd(f"Sending Mode ON to {target_str}")
|
||||
q.add_pus_tc(create_set_mode_cmd(apid, unique_id, Mode.ON, 0))
|
||||
elif mode_str == "normal":
|
||||
q.add_log_cmd(f"Sending Mode NORMAL to {target_str}")
|
||||
q.add_pus_tc(create_set_mode_cmd(apid, unique_id, Mode.NORMAL, 0))
|
||||
)
|
||||
|
||||
@ -1,17 +1,18 @@
|
||||
// TODO: Remove this at a later stage.
|
||||
#![allow(dead_code)]
|
||||
use derive_new::new;
|
||||
use satrs::hk::{HkRequest, HkRequestVariant};
|
||||
use satrs::queue::{GenericSendError, GenericTargetedMessagingError};
|
||||
use satrs::hk::HkRequestVariant;
|
||||
use satrs::spacepackets::ecss::hk;
|
||||
use satrs::spacepackets::ecss::tm::{PusTmCreator, PusTmSecondaryHeader};
|
||||
use satrs::spacepackets::SpHeader;
|
||||
use satrs_example::{DeviceMode, TimeStampHelper};
|
||||
use satrs_example::TimeStampHelper;
|
||||
use std::sync::mpsc::{self};
|
||||
use std::sync::{Arc, Mutex};
|
||||
|
||||
use satrs::mode::{
|
||||
ModeAndSubmode, ModeError, ModeProvider, ModeReply, ModeRequest, ModeRequestHandler,
|
||||
};
|
||||
use satrs::pus::{EcssTmSender, PusTmVariant};
|
||||
use satrs::pus::{EcssTmSenderCore, PusTmVariant};
|
||||
use satrs::request::{GenericMessage, MessageMetadata, UniqueApidTargetId};
|
||||
use satrs_example::config::components::PUS_MODE_SERVICE;
|
||||
|
||||
@ -20,36 +21,24 @@ use crate::requests::CompositeRequest;
|
||||
|
||||
use serde::{Deserialize, Serialize};
|
||||
|
||||
const GAUSS_TO_MICROTESLA_FACTOR: f32 = 100.0;
|
||||
// This is the selected resoltion for the STM LIS3MDL device for the 4 Gauss sensitivity setting.
|
||||
const FIELD_LSB_PER_GAUSS_4_SENS: f32 = 1.0 / 6842.0;
|
||||
|
||||
pub trait SpiInterface {
|
||||
type Error;
|
||||
fn transfer(&mut self, tx: &[u8], rx: &mut [u8]) -> Result<(), Self::Error>;
|
||||
fn transfer(&mut self, data: &mut [u8]) -> Result<(), Self::Error>;
|
||||
}
|
||||
|
||||
#[derive(Default)]
|
||||
pub struct SpiDummyInterface {
|
||||
pub dummy_val_0: i16,
|
||||
pub dummy_val_1: i16,
|
||||
pub dummy_val_2: i16,
|
||||
}
|
||||
pub struct SpiDummyInterface {}
|
||||
|
||||
impl SpiInterface for SpiDummyInterface {
|
||||
type Error = ();
|
||||
|
||||
fn transfer(&mut self, _tx: &[u8], rx: &mut [u8]) -> Result<(), Self::Error> {
|
||||
rx[0..2].copy_from_slice(&self.dummy_val_0.to_be_bytes());
|
||||
rx[2..4].copy_from_slice(&self.dummy_val_1.to_be_bytes());
|
||||
rx[4..6].copy_from_slice(&self.dummy_val_2.to_be_bytes());
|
||||
fn transfer(&mut self, _data: &mut [u8]) -> Result<(), Self::Error> {
|
||||
Ok(())
|
||||
}
|
||||
}
|
||||
|
||||
#[derive(Default, Debug, Copy, Clone, Serialize, Deserialize)]
|
||||
pub struct MgmData {
|
||||
pub valid: bool,
|
||||
pub x: f32,
|
||||
pub y: f32,
|
||||
pub z: f32,
|
||||
@ -61,10 +50,9 @@ pub struct MpscModeLeafInterface {
|
||||
pub reply_tx_to_parent: mpsc::Sender<GenericMessage<ModeReply>>,
|
||||
}
|
||||
|
||||
/// Example MGM device handler strongly based on the LIS3MDL MEMS device.
|
||||
#[derive(new)]
|
||||
#[allow(clippy::too_many_arguments)]
|
||||
pub struct MgmHandlerLis3Mdl<ComInterface: SpiInterface, TmSender: EcssTmSender> {
|
||||
pub struct MgmHandler<ComInterface: SpiInterface, TmSender: EcssTmSenderCore> {
|
||||
id: UniqueApidTargetId,
|
||||
dev_str: &'static str,
|
||||
mode_interface: MpscModeLeafInterface,
|
||||
@ -74,143 +62,84 @@ pub struct MgmHandlerLis3Mdl<ComInterface: SpiInterface, TmSender: EcssTmSender>
|
||||
com_interface: ComInterface,
|
||||
shared_mgm_set: Arc<Mutex<MgmData>>,
|
||||
#[new(value = "ModeAndSubmode::new(satrs_example::DeviceMode::Off as u32, 0)")]
|
||||
mode_and_submode: ModeAndSubmode,
|
||||
#[new(default)]
|
||||
tx_buf: [u8; 12],
|
||||
#[new(default)]
|
||||
rx_buf: [u8; 12],
|
||||
#[new(default)]
|
||||
tm_buf: [u8; 16],
|
||||
mode: ModeAndSubmode,
|
||||
#[new(default)]
|
||||
stamp_helper: TimeStampHelper,
|
||||
}
|
||||
|
||||
impl<ComInterface: SpiInterface, TmSender: EcssTmSender> MgmHandlerLis3Mdl<ComInterface, TmSender> {
|
||||
impl<ComInterface: SpiInterface, TmSender: EcssTmSenderCore> MgmHandler<ComInterface, TmSender> {
|
||||
pub fn periodic_operation(&mut self) {
|
||||
self.stamp_helper.update_from_now();
|
||||
// Handle requests.
|
||||
self.handle_composite_requests();
|
||||
self.handle_mode_requests();
|
||||
if self.mode() == DeviceMode::Normal as u32 {
|
||||
log::trace!("polling LIS3MDL sensor {}", self.dev_str);
|
||||
// Communicate with the device.
|
||||
let result = self.com_interface.transfer(&self.tx_buf, &mut self.rx_buf);
|
||||
assert!(result.is_ok());
|
||||
// Actual data begins on the second byte, similarly to how a lot of SPI devices behave.
|
||||
let x_raw = i16::from_be_bytes(self.rx_buf[1..3].try_into().unwrap());
|
||||
let y_raw = i16::from_be_bytes(self.rx_buf[3..5].try_into().unwrap());
|
||||
let z_raw = i16::from_be_bytes(self.rx_buf[5..7].try_into().unwrap());
|
||||
// Simple scaling to retrieve the float value, assuming a sensor resolution of
|
||||
let mut mgm_guard = self.shared_mgm_set.lock().unwrap();
|
||||
mgm_guard.x = x_raw as f32 * GAUSS_TO_MICROTESLA_FACTOR * FIELD_LSB_PER_GAUSS_4_SENS;
|
||||
mgm_guard.y = y_raw as f32 * GAUSS_TO_MICROTESLA_FACTOR * FIELD_LSB_PER_GAUSS_4_SENS;
|
||||
mgm_guard.z = z_raw as f32 * GAUSS_TO_MICROTESLA_FACTOR * FIELD_LSB_PER_GAUSS_4_SENS;
|
||||
drop(mgm_guard);
|
||||
}
|
||||
}
|
||||
|
||||
pub fn handle_composite_requests(&mut self) {
|
||||
loop {
|
||||
match self.composite_request_receiver.try_recv() {
|
||||
Ok(ref msg) => match &msg.message {
|
||||
CompositeRequest::Hk(hk_request) => {
|
||||
self.handle_hk_request(&msg.requestor_info, hk_request)
|
||||
// Handle messages.
|
||||
match self.composite_request_receiver.try_recv() {
|
||||
Ok(ref msg) => match &msg.message {
|
||||
CompositeRequest::Hk(hk_req) => match hk_req.variant {
|
||||
HkRequestVariant::OneShot => {
|
||||
self.hk_reply_sender
|
||||
.send(GenericMessage::new(
|
||||
msg.requestor_info,
|
||||
HkReply::new(hk_req.unique_id, HkReplyVariant::Ack),
|
||||
))
|
||||
.expect("failed to send HK reply");
|
||||
let mut sp_header = SpHeader::tm_unseg(self.id.apid, 0, 0).unwrap();
|
||||
let sec_header = PusTmSecondaryHeader::new(
|
||||
3,
|
||||
hk::Subservice::TmHkPacket as u8,
|
||||
0,
|
||||
0,
|
||||
Some(self.stamp_helper.stamp()),
|
||||
);
|
||||
// Let's serialize it as JSON for now.. This is a lot simpler than binary
|
||||
// serialization.
|
||||
let mgm_data_serialized =
|
||||
serde_json::to_vec(&*self.shared_mgm_set.lock().unwrap()).unwrap();
|
||||
let hk_tm = PusTmCreator::new(
|
||||
&mut sp_header,
|
||||
sec_header,
|
||||
&mgm_data_serialized,
|
||||
true,
|
||||
);
|
||||
self.tm_sender
|
||||
.send_tm(self.id.id(), PusTmVariant::Direct(hk_tm))
|
||||
.expect("failed to send HK TM");
|
||||
}
|
||||
// TODO: This object does not have actions (yet).. Still send back completion failure
|
||||
// reply.
|
||||
CompositeRequest::Action(_action_req) => {}
|
||||
HkRequestVariant::EnablePeriodic => todo!(),
|
||||
HkRequestVariant::DisablePeriodic => todo!(),
|
||||
HkRequestVariant::ModifyCollectionInterval(_) => todo!(),
|
||||
},
|
||||
|
||||
Err(e) => {
|
||||
if e != mpsc::TryRecvError::Empty {
|
||||
log::warn!(
|
||||
"{}: failed to receive composite request: {:?}",
|
||||
self.dev_str,
|
||||
e
|
||||
);
|
||||
} else {
|
||||
break;
|
||||
}
|
||||
}
|
||||
}
|
||||
// TODO: This object does not have actions (yet).. Still send back completion failure
|
||||
// reply.
|
||||
CompositeRequest::Action(_action_req) => {}
|
||||
},
|
||||
Err(_) => todo!(),
|
||||
}
|
||||
}
|
||||
|
||||
pub fn handle_hk_request(&mut self, requestor_info: &MessageMetadata, hk_request: &HkRequest) {
|
||||
match hk_request.variant {
|
||||
HkRequestVariant::OneShot => {
|
||||
self.hk_reply_sender
|
||||
.send(GenericMessage::new(
|
||||
*requestor_info,
|
||||
HkReply::new(hk_request.unique_id, HkReplyVariant::Ack),
|
||||
))
|
||||
.expect("failed to send HK reply");
|
||||
let sec_header = PusTmSecondaryHeader::new(
|
||||
3,
|
||||
hk::Subservice::TmHkPacket as u8,
|
||||
0,
|
||||
0,
|
||||
self.stamp_helper.stamp(),
|
||||
);
|
||||
let mgm_snapshot = *self.shared_mgm_set.lock().unwrap();
|
||||
// Use binary serialization here. We want the data to be tightly packed.
|
||||
self.tm_buf[0] = mgm_snapshot.valid as u8;
|
||||
self.tm_buf[1..5].copy_from_slice(&mgm_snapshot.x.to_be_bytes());
|
||||
self.tm_buf[5..9].copy_from_slice(&mgm_snapshot.y.to_be_bytes());
|
||||
self.tm_buf[9..13].copy_from_slice(&mgm_snapshot.z.to_be_bytes());
|
||||
let hk_tm = PusTmCreator::new(
|
||||
SpHeader::new_from_apid(self.id.apid),
|
||||
sec_header,
|
||||
&self.tm_buf[0..12],
|
||||
true,
|
||||
);
|
||||
self.tm_sender
|
||||
.send_tm(self.id.id(), PusTmVariant::Direct(hk_tm))
|
||||
.expect("failed to send HK TM");
|
||||
}
|
||||
HkRequestVariant::EnablePeriodic => todo!(),
|
||||
HkRequestVariant::DisablePeriodic => todo!(),
|
||||
HkRequestVariant::ModifyCollectionInterval(_) => todo!(),
|
||||
}
|
||||
}
|
||||
|
||||
pub fn handle_mode_requests(&mut self) {
|
||||
loop {
|
||||
// TODO: Only allow one set mode request per cycle?
|
||||
match self.mode_interface.request_rx.try_recv() {
|
||||
Ok(msg) => {
|
||||
let result = self.handle_mode_request(msg);
|
||||
// TODO: Trigger event?
|
||||
if result.is_err() {
|
||||
log::warn!(
|
||||
"{}: mode request failed with error {:?}",
|
||||
self.dev_str,
|
||||
result.err().unwrap()
|
||||
);
|
||||
}
|
||||
}
|
||||
Err(e) => {
|
||||
if e != mpsc::TryRecvError::Empty {
|
||||
log::warn!("{}: failed to receive mode request: {:?}", self.dev_str, e);
|
||||
} else {
|
||||
break;
|
||||
}
|
||||
match self.mode_interface.request_rx.try_recv() {
|
||||
Ok(msg) => {
|
||||
let result = self.handle_mode_request(msg);
|
||||
// TODO: Trigger event?
|
||||
if result.is_err() {
|
||||
log::warn!(
|
||||
"{}: mode request failed with error {:?}",
|
||||
self.dev_str,
|
||||
result.err().unwrap()
|
||||
);
|
||||
}
|
||||
}
|
||||
Err(_) => todo!(),
|
||||
}
|
||||
}
|
||||
}
|
||||
|
||||
impl<ComInterface: SpiInterface, TmSender: EcssTmSender> ModeProvider
|
||||
for MgmHandlerLis3Mdl<ComInterface, TmSender>
|
||||
impl<ComInterface: SpiInterface, TmSender: EcssTmSenderCore> ModeProvider
|
||||
for MgmHandler<ComInterface, TmSender>
|
||||
{
|
||||
fn mode_and_submode(&self) -> ModeAndSubmode {
|
||||
self.mode_and_submode
|
||||
self.mode
|
||||
}
|
||||
}
|
||||
|
||||
impl<ComInterface: SpiInterface, TmSender: EcssTmSender> ModeRequestHandler
|
||||
for MgmHandlerLis3Mdl<ComInterface, TmSender>
|
||||
impl<ComInterface: SpiInterface, TmSender: EcssTmSenderCore> ModeRequestHandler
|
||||
for MgmHandler<ComInterface, TmSender>
|
||||
{
|
||||
type Error = ModeError;
|
||||
fn start_transition(
|
||||
@ -218,37 +147,24 @@ impl<ComInterface: SpiInterface, TmSender: EcssTmSender> ModeRequestHandler
|
||||
requestor: MessageMetadata,
|
||||
mode_and_submode: ModeAndSubmode,
|
||||
) -> Result<(), satrs::mode::ModeError> {
|
||||
log::info!(
|
||||
"{}: transitioning to mode {:?}",
|
||||
self.dev_str,
|
||||
mode_and_submode
|
||||
);
|
||||
self.mode_and_submode = mode_and_submode;
|
||||
self.mode = mode_and_submode;
|
||||
self.handle_mode_reached(Some(requestor))?;
|
||||
Ok(())
|
||||
}
|
||||
|
||||
fn announce_mode(&self, _requestor_info: Option<MessageMetadata>, _recursive: bool) {
|
||||
log::info!(
|
||||
"{} announcing mode: {:?}",
|
||||
self.dev_str,
|
||||
self.mode_and_submode
|
||||
);
|
||||
fn announce_mode(&self, _requestor_info: MessageMetadata, _recursive: bool) {
|
||||
log::info!("{} announcing mode: {:?}", self.dev_str, self.mode);
|
||||
}
|
||||
|
||||
fn handle_mode_reached(
|
||||
&mut self,
|
||||
requestor: Option<MessageMetadata>,
|
||||
) -> Result<(), Self::Error> {
|
||||
self.announce_mode(requestor, false);
|
||||
if let Some(requestor) = requestor {
|
||||
if requestor.sender_id() != PUS_MODE_SERVICE.id() {
|
||||
log::warn!(
|
||||
"can not send back mode reply to sender {}",
|
||||
requestor.sender_id()
|
||||
);
|
||||
} else {
|
||||
self.send_mode_reply(requestor, ModeReply::ModeReply(self.mode_and_submode()))?;
|
||||
if requestor.sender_id() == PUS_MODE_SERVICE.raw() {
|
||||
// self.mode_reply_sender_to_pus.send(
|
||||
//GenericMessage::new(requestor.request_id, requestor.sender_id, ModeReply::ModeReply(self.mode))
|
||||
// )?;
|
||||
}
|
||||
}
|
||||
Ok(())
|
||||
@ -256,19 +172,9 @@ impl<ComInterface: SpiInterface, TmSender: EcssTmSender> ModeRequestHandler
|
||||
|
||||
fn send_mode_reply(
|
||||
&self,
|
||||
requestor: MessageMetadata,
|
||||
reply: ModeReply,
|
||||
_requestor: MessageMetadata,
|
||||
_reply: ModeReply,
|
||||
) -> Result<(), Self::Error> {
|
||||
if requestor.sender_id() != PUS_MODE_SERVICE.id() {
|
||||
log::warn!(
|
||||
"can not send back mode reply to sender {}",
|
||||
requestor.sender_id()
|
||||
);
|
||||
}
|
||||
self.mode_interface
|
||||
.reply_tx_to_pus
|
||||
.send(GenericMessage::new(requestor, reply))
|
||||
.map_err(|_| GenericTargetedMessagingError::Send(GenericSendError::RxDisconnected))?;
|
||||
Ok(())
|
||||
}
|
||||
|
||||
|
||||
@ -12,7 +12,8 @@ use std::time::Duration;
|
||||
fn main() {
|
||||
let mut buf = [0; 32];
|
||||
let addr = SocketAddr::new(IpAddr::V4(OBSW_SERVER_ADDR), SERVER_PORT);
|
||||
let pus_tc = PusTcCreator::new_simple(SpHeader::new_from_apid(0x02), 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 client = UdpSocket::bind("127.0.0.1:7302").expect("Connecting to UDP server failed");
|
||||
let tc_req_id = RequestId::new(&pus_tc);
|
||||
println!("Packing and sending PUS ping command TC[17,1] with request ID {tc_req_id}");
|
||||
|
||||
50
satrs-example/src/ccsds.rs
Normal file
50
satrs-example/src/ccsds.rs
Normal file
@ -0,0 +1,50 @@
|
||||
use satrs::pus::ReceivesEcssPusTc;
|
||||
use satrs::spacepackets::{CcsdsPacket, SpHeader};
|
||||
use satrs::tmtc::{CcsdsPacketHandler, ReceivesCcsdsTc};
|
||||
use satrs_example::config::components::Apid;
|
||||
|
||||
#[derive(Clone)]
|
||||
pub struct CcsdsReceiver<
|
||||
TcSource: ReceivesCcsdsTc<Error = E> + ReceivesEcssPusTc<Error = E> + Clone,
|
||||
E,
|
||||
> {
|
||||
pub tc_source: TcSource,
|
||||
}
|
||||
|
||||
impl<
|
||||
TcSource: ReceivesCcsdsTc<Error = E> + ReceivesEcssPusTc<Error = E> + Clone + 'static,
|
||||
E: 'static,
|
||||
> CcsdsPacketHandler for CcsdsReceiver<TcSource, E>
|
||||
{
|
||||
type Error = E;
|
||||
|
||||
fn valid_apids(&self) -> &'static [u16] {
|
||||
&[
|
||||
Apid::GenericPus as u16,
|
||||
Apid::Acs as u16,
|
||||
Apid::Sched as u16,
|
||||
Apid::EventTm as u16,
|
||||
]
|
||||
}
|
||||
|
||||
fn handle_known_apid(
|
||||
&mut self,
|
||||
sp_header: &SpHeader,
|
||||
tc_raw: &[u8],
|
||||
) -> Result<(), Self::Error> {
|
||||
if sp_header.apid() == Apid::Cfdp as u16 {
|
||||
} else {
|
||||
return self.tc_source.pass_ccsds(sp_header, tc_raw);
|
||||
}
|
||||
Ok(())
|
||||
}
|
||||
|
||||
fn handle_unknown_apid(
|
||||
&mut self,
|
||||
sp_header: &SpHeader,
|
||||
_tc_raw: &[u8],
|
||||
) -> Result<(), Self::Error> {
|
||||
println!("Unknown APID 0x{:x?} detected", sp_header.apid());
|
||||
Ok(())
|
||||
}
|
||||
}
|
||||
@ -1,12 +1,7 @@
|
||||
use lazy_static::lazy_static;
|
||||
use satrs::{
|
||||
res_code::ResultU16,
|
||||
spacepackets::{PacketId, PacketType},
|
||||
};
|
||||
use satrs::res_code::ResultU16;
|
||||
use satrs_mib::res_code::ResultU16Info;
|
||||
use satrs_mib::resultcode;
|
||||
use std::{collections::HashSet, net::Ipv4Addr};
|
||||
use strum::IntoEnumIterator;
|
||||
use std::net::Ipv4Addr;
|
||||
|
||||
use num_enum::{IntoPrimitive, TryFromPrimitive};
|
||||
use satrs::{
|
||||
@ -41,23 +36,6 @@ pub const SERVER_PORT: u16 = 7301;
|
||||
pub const TEST_EVENT: EventU32TypedSev<SeverityInfo> =
|
||||
EventU32TypedSev::<SeverityInfo>::const_new(0, 0);
|
||||
|
||||
lazy_static! {
|
||||
pub static ref PACKET_ID_VALIDATOR: HashSet<PacketId> = {
|
||||
let mut set = HashSet::new();
|
||||
for id in components::Apid::iter() {
|
||||
set.insert(PacketId::new(PacketType::Tc, true, id as u16));
|
||||
}
|
||||
set
|
||||
};
|
||||
pub static ref APID_VALIDATOR: HashSet<u16> = {
|
||||
let mut set = HashSet::new();
|
||||
for id in components::Apid::iter() {
|
||||
set.insert(id as u16);
|
||||
}
|
||||
set
|
||||
};
|
||||
}
|
||||
|
||||
pub mod tmtc_err {
|
||||
|
||||
use super::*;
|
||||
@ -124,26 +102,26 @@ pub mod mode_err {
|
||||
|
||||
pub mod components {
|
||||
use satrs::request::UniqueApidTargetId;
|
||||
use strum::EnumIter;
|
||||
|
||||
#[derive(Copy, Clone, PartialEq, Eq, EnumIter)]
|
||||
#[derive(Copy, Clone, PartialEq, Eq)]
|
||||
pub enum Apid {
|
||||
Sched = 1,
|
||||
GenericPus = 2,
|
||||
Acs = 3,
|
||||
Cfdp = 4,
|
||||
Tmtc = 5,
|
||||
VerificationTm = 1,
|
||||
Sched = 2,
|
||||
EventTm = 3,
|
||||
HkTm = 4,
|
||||
GenericPus = 5,
|
||||
Acs = 6,
|
||||
Cfdp = 7,
|
||||
}
|
||||
|
||||
// Component IDs for components with the PUS APID.
|
||||
#[derive(Copy, Clone, PartialEq, Eq)]
|
||||
pub enum PusId {
|
||||
PusEventManagement = 0,
|
||||
PusRouting = 1,
|
||||
PusTest = 2,
|
||||
PusAction = 3,
|
||||
PusMode = 4,
|
||||
PusHk = 5,
|
||||
PusRouting = 0,
|
||||
PusTest = 1,
|
||||
PusAction = 2,
|
||||
PusMode = 3,
|
||||
PusHk = 4,
|
||||
}
|
||||
|
||||
#[derive(Copy, Clone, PartialEq, Eq)]
|
||||
@ -151,16 +129,10 @@ pub mod components {
|
||||
Mgm0 = 0,
|
||||
}
|
||||
|
||||
#[derive(Copy, Clone, PartialEq, Eq)]
|
||||
pub enum TmtcId {
|
||||
UdpServer = 0,
|
||||
TcpServer = 1,
|
||||
}
|
||||
|
||||
pub const PUS_ACTION_SERVICE: UniqueApidTargetId =
|
||||
UniqueApidTargetId::new(Apid::GenericPus as u16, PusId::PusAction as u32);
|
||||
pub const PUS_EVENT_MANAGEMENT: UniqueApidTargetId =
|
||||
UniqueApidTargetId::new(Apid::GenericPus as u16, 0);
|
||||
UniqueApidTargetId::new(Apid::EventTm as u16, 0);
|
||||
pub const PUS_ROUTING_SERVICE: UniqueApidTargetId =
|
||||
UniqueApidTargetId::new(Apid::GenericPus as u16, PusId::PusRouting as u32);
|
||||
pub const PUS_TEST_SERVICE: UniqueApidTargetId =
|
||||
@ -173,10 +145,6 @@ pub mod components {
|
||||
UniqueApidTargetId::new(Apid::Sched as u16, 0);
|
||||
pub const MGM_HANDLER_0: UniqueApidTargetId =
|
||||
UniqueApidTargetId::new(Apid::Acs as u16, AcsId::Mgm0 as u32);
|
||||
pub const UDP_SERVER: UniqueApidTargetId =
|
||||
UniqueApidTargetId::new(Apid::Tmtc as u16, TmtcId::UdpServer as u32);
|
||||
pub const TCP_SERVER: UniqueApidTargetId =
|
||||
UniqueApidTargetId::new(Apid::Tmtc as u16, TmtcId::TcpServer as u32);
|
||||
}
|
||||
|
||||
pub mod pool {
|
||||
|
||||
@ -1,17 +1,15 @@
|
||||
use std::sync::mpsc::{self};
|
||||
|
||||
use crate::pus::create_verification_reporter;
|
||||
use satrs::event_man::{EventMessageU32, EventRoutingError};
|
||||
use satrs::params::WritableToBeBytes;
|
||||
use satrs::pus::event::EventTmHookProvider;
|
||||
use satrs::pus::verification::VerificationReporter;
|
||||
use satrs::pus::EcssTmSender;
|
||||
use satrs::request::UniqueApidTargetId;
|
||||
use satrs::pus::EcssTmSenderCore;
|
||||
use satrs::{
|
||||
event_man::{
|
||||
EventManagerWithBoundedMpsc, EventSendProvider, EventU32SenderMpscBounded,
|
||||
MpscEventReceiver,
|
||||
},
|
||||
events::EventU32,
|
||||
params::Params,
|
||||
pus::{
|
||||
event_man::{
|
||||
DefaultPusEventU32Dispatcher, EventReporter, EventRequest, EventRequestWithToken,
|
||||
@ -19,38 +17,29 @@ use satrs::{
|
||||
verification::{TcStateStarted, VerificationReportingProvider, VerificationToken},
|
||||
},
|
||||
spacepackets::time::cds::CdsTime,
|
||||
ComponentId,
|
||||
};
|
||||
use satrs_example::config::components;
|
||||
use satrs_example::config::components::PUS_EVENT_MANAGEMENT;
|
||||
|
||||
use crate::update_time;
|
||||
|
||||
// This helper sets the APID of the event sender for the PUS telemetry.
|
||||
#[derive(Default)]
|
||||
pub struct EventApidSetter {
|
||||
pub next_apid: u16,
|
||||
}
|
||||
|
||||
impl EventTmHookProvider for EventApidSetter {
|
||||
fn modify_tm(&self, tm: &mut satrs::spacepackets::ecss::tm::PusTmCreator) {
|
||||
tm.set_apid(self.next_apid);
|
||||
}
|
||||
}
|
||||
|
||||
/// The PUS event handler subscribes for all events and converts them into ECSS PUS 5 event
|
||||
/// packets. It also handles the verification completion of PUS event service requests.
|
||||
pub struct PusEventHandler<TmSender: EcssTmSender> {
|
||||
pub struct PusEventHandler<TmSender: EcssTmSenderCore> {
|
||||
id: ComponentId,
|
||||
event_request_rx: mpsc::Receiver<EventRequestWithToken>,
|
||||
pus_event_dispatcher: DefaultPusEventU32Dispatcher<()>,
|
||||
pus_event_man_rx: mpsc::Receiver<EventMessageU32>,
|
||||
pus_event_man_rx: mpsc::Receiver<(EventU32, Option<Params>)>,
|
||||
tm_sender: TmSender,
|
||||
time_provider: CdsTime,
|
||||
timestamp: [u8; 7],
|
||||
verif_handler: VerificationReporter,
|
||||
event_apid_setter: EventApidSetter,
|
||||
}
|
||||
|
||||
impl<TmSender: EcssTmSender> PusEventHandler<TmSender> {
|
||||
impl<TmSender: EcssTmSenderCore> PusEventHandler<TmSender> {
|
||||
pub fn new(
|
||||
id: ComponentId,
|
||||
tm_sender: TmSender,
|
||||
verif_handler: VerificationReporter,
|
||||
event_manager: &mut EventManagerWithBoundedMpsc,
|
||||
@ -61,7 +50,12 @@ impl<TmSender: EcssTmSender> PusEventHandler<TmSender> {
|
||||
|
||||
// All events sent to the manager are routed to the PUS event manager, which generates PUS event
|
||||
// telemetry for each event.
|
||||
let event_reporter = EventReporter::new(PUS_EVENT_MANAGEMENT.raw(), 0, 0, 128).unwrap();
|
||||
let event_reporter = EventReporter::new(
|
||||
PUS_EVENT_MANAGEMENT.raw(),
|
||||
components::Apid::EventTm as u16,
|
||||
128,
|
||||
)
|
||||
.unwrap();
|
||||
let pus_event_dispatcher =
|
||||
DefaultPusEventU32Dispatcher::new_with_default_backend(event_reporter);
|
||||
let pus_event_man_send_provider = EventU32SenderMpscBounded::new(
|
||||
@ -74,6 +68,7 @@ impl<TmSender: EcssTmSender> PusEventHandler<TmSender> {
|
||||
event_manager.add_sender(pus_event_man_send_provider);
|
||||
|
||||
Self {
|
||||
id,
|
||||
event_request_rx,
|
||||
pus_event_dispatcher,
|
||||
pus_event_man_rx,
|
||||
@ -81,7 +76,6 @@ impl<TmSender: EcssTmSender> PusEventHandler<TmSender> {
|
||||
timestamp: [0; 7],
|
||||
verif_handler,
|
||||
tm_sender,
|
||||
event_apid_setter: EventApidSetter::default(),
|
||||
}
|
||||
}
|
||||
|
||||
@ -92,7 +86,7 @@ impl<TmSender: EcssTmSender> PusEventHandler<TmSender> {
|
||||
.try_into()
|
||||
.expect("expected start verification token");
|
||||
self.verif_handler
|
||||
.completion_success(&self.tm_sender, started_token, timestamp)
|
||||
.completion_success(self.id, &self.tm_sender, started_token, timestamp)
|
||||
.expect("Sending completion success failed");
|
||||
};
|
||||
// handle event requests
|
||||
@ -118,19 +112,10 @@ impl<TmSender: EcssTmSender> PusEventHandler<TmSender> {
|
||||
|
||||
pub fn generate_pus_event_tm(&mut self) {
|
||||
// Perform the generation of PUS event packets
|
||||
if let Ok(event_msg) = self.pus_event_man_rx.try_recv() {
|
||||
if let Ok((event, _param)) = self.pus_event_man_rx.try_recv() {
|
||||
update_time(&mut self.time_provider, &mut self.timestamp);
|
||||
let param_vec = event_msg.params().map_or(Vec::new(), |param| {
|
||||
param.to_vec().expect("failed to convert params to vec")
|
||||
});
|
||||
self.event_apid_setter.next_apid = UniqueApidTargetId::from(event_msg.sender_id()).apid;
|
||||
self.pus_event_dispatcher
|
||||
.generate_pus_event_tm_generic(
|
||||
&self.tm_sender,
|
||||
&self.timestamp,
|
||||
event_msg.event(),
|
||||
Some(¶m_vec),
|
||||
)
|
||||
.generate_pus_event_tm_generic(&self.tm_sender, &self.timestamp, event, None)
|
||||
.expect("Sending TM as event failed");
|
||||
}
|
||||
}
|
||||
@ -140,7 +125,7 @@ impl<TmSender: EcssTmSender> PusEventHandler<TmSender> {
|
||||
/// used to send events to the event manager.
|
||||
pub struct EventManagerWrapper {
|
||||
event_manager: EventManagerWithBoundedMpsc,
|
||||
event_sender: mpsc::Sender<EventMessageU32>,
|
||||
event_sender: mpsc::Sender<(EventU32, Option<Params>)>,
|
||||
}
|
||||
|
||||
impl EventManagerWrapper {
|
||||
@ -148,7 +133,7 @@ impl EventManagerWrapper {
|
||||
// The sender handle is the primary sender handle for all components which want to create events.
|
||||
// The event manager will receive the RX handle to receive all the events.
|
||||
let (event_sender, event_man_rx) = mpsc::channel();
|
||||
let event_recv = MpscEventReceiver::new(event_man_rx);
|
||||
let event_recv = MpscEventReceiver::<EventU32>::new(event_man_rx);
|
||||
Self {
|
||||
event_manager: EventManagerWithBoundedMpsc::new(event_recv),
|
||||
event_sender,
|
||||
@ -156,7 +141,7 @@ impl EventManagerWrapper {
|
||||
}
|
||||
|
||||
// Returns a cached event sender to send events to the event manager for routing.
|
||||
pub fn clone_event_sender(&self) -> mpsc::Sender<EventMessageU32> {
|
||||
pub fn clone_event_sender(&self) -> mpsc::Sender<(EventU32, Option<Params>)> {
|
||||
self.event_sender.clone()
|
||||
}
|
||||
|
||||
@ -165,32 +150,28 @@ impl EventManagerWrapper {
|
||||
}
|
||||
|
||||
pub fn try_event_routing(&mut self) {
|
||||
let error_handler = |event_msg: &EventMessageU32, error: EventRoutingError| {
|
||||
self.routing_error_handler(event_msg, error)
|
||||
};
|
||||
// Perform the event routing.
|
||||
self.event_manager.try_event_handling(error_handler);
|
||||
}
|
||||
|
||||
pub fn routing_error_handler(&self, event_msg: &EventMessageU32, error: EventRoutingError) {
|
||||
log::warn!("event routing error for event {event_msg:?}: {error:?}");
|
||||
self.event_manager
|
||||
.try_event_handling()
|
||||
.expect("event handling failed");
|
||||
}
|
||||
}
|
||||
|
||||
pub struct EventHandler<TmSender: EcssTmSender> {
|
||||
pub struct EventHandler<TmSender: EcssTmSenderCore> {
|
||||
pub event_man_wrapper: EventManagerWrapper,
|
||||
pub pus_event_handler: PusEventHandler<TmSender>,
|
||||
}
|
||||
|
||||
impl<TmSender: EcssTmSender> EventHandler<TmSender> {
|
||||
impl<TmSender: EcssTmSenderCore> EventHandler<TmSender> {
|
||||
pub fn new(
|
||||
tm_sender: TmSender,
|
||||
event_request_rx: mpsc::Receiver<EventRequestWithToken>,
|
||||
) -> Self {
|
||||
let mut event_man_wrapper = EventManagerWrapper::new();
|
||||
let pus_event_handler = PusEventHandler::new(
|
||||
PUS_EVENT_MANAGEMENT.raw(),
|
||||
tm_sender,
|
||||
create_verification_reporter(PUS_EVENT_MANAGEMENT.id(), PUS_EVENT_MANAGEMENT.apid),
|
||||
create_verification_reporter(PUS_EVENT_MANAGEMENT.apid),
|
||||
event_man_wrapper.event_manager(),
|
||||
event_request_rx,
|
||||
);
|
||||
@ -200,7 +181,7 @@ impl<TmSender: EcssTmSender> EventHandler<TmSender> {
|
||||
}
|
||||
}
|
||||
|
||||
pub fn clone_event_sender(&self) -> mpsc::Sender<EventMessageU32> {
|
||||
pub fn clone_event_sender(&self) -> mpsc::Sender<(EventU32, Option<Params>)> {
|
||||
self.event_man_wrapper.clone_event_sender()
|
||||
}
|
||||
|
||||
|
||||
@ -1,3 +0,0 @@
|
||||
//! This module contains all component related to the direct interface of the example.
|
||||
pub mod tcp;
|
||||
pub mod udp;
|
||||
@ -1,32 +1,34 @@
|
||||
mod acs;
|
||||
mod ccsds;
|
||||
mod events;
|
||||
mod hk;
|
||||
mod interface;
|
||||
mod logger;
|
||||
mod pus;
|
||||
mod requests;
|
||||
mod tcp;
|
||||
mod tm_funnel;
|
||||
mod tmtc;
|
||||
mod udp;
|
||||
|
||||
use crate::events::EventHandler;
|
||||
use crate::interface::udp::DynamicUdpTmHandler;
|
||||
use crate::pus::stack::PusStack;
|
||||
use crate::tmtc::tc_source::{TcSourceTaskDynamic, TcSourceTaskStatic};
|
||||
use crate::tmtc::tm_sink::{TmFunnelDynamic, TmFunnelStatic};
|
||||
use crate::tm_funnel::{TmFunnelDynamic, TmFunnelStatic};
|
||||
use log::info;
|
||||
use pus::test::create_test_service_dynamic;
|
||||
use satrs::hal::std::tcp_server::ServerConfig;
|
||||
use satrs::hal::std::udp_server::UdpTcServer;
|
||||
use satrs::request::GenericMessage;
|
||||
use satrs::tmtc::{PacketSenderWithSharedPool, SharedPacketPool};
|
||||
use satrs::tmtc::tm_helper::SharedTmPool;
|
||||
use satrs_example::config::pool::{create_sched_tc_pool, create_static_pools};
|
||||
use satrs_example::config::tasks::{
|
||||
FREQ_MS_AOCS, FREQ_MS_EVENT_HANDLING, FREQ_MS_PUS_STACK, FREQ_MS_UDP_TMTC,
|
||||
};
|
||||
use satrs_example::config::{OBSW_SERVER_ADDR, PACKET_ID_VALIDATOR, SERVER_PORT};
|
||||
use satrs_example::config::{OBSW_SERVER_ADDR, SERVER_PORT};
|
||||
use tmtc::PusTcSourceProviderDynamic;
|
||||
use udp::DynamicUdpTmHandler;
|
||||
|
||||
use crate::acs::mgm::{MgmHandlerLis3Mdl, MpscModeLeafInterface, SpiDummyInterface};
|
||||
use crate::interface::tcp::{SyncTcpTmSource, TcpTask};
|
||||
use crate::interface::udp::{StaticUdpTmHandler, UdpTmtcServer};
|
||||
use crate::acs::mgm::{MgmHandler, MpscModeLeafInterface, SpiDummyInterface};
|
||||
use crate::ccsds::CcsdsReceiver;
|
||||
use crate::logger::setup_logger;
|
||||
use crate::pus::action::{create_action_service_dynamic, create_action_service_static};
|
||||
use crate::pus::event::{create_event_service_dynamic, create_event_service_static};
|
||||
@ -34,12 +36,19 @@ use crate::pus::hk::{create_hk_service_dynamic, create_hk_service_static};
|
||||
use crate::pus::mode::{create_mode_service_dynamic, create_mode_service_static};
|
||||
use crate::pus::scheduler::{create_scheduler_service_dynamic, create_scheduler_service_static};
|
||||
use crate::pus::test::create_test_service_static;
|
||||
use crate::pus::{PusTcDistributor, PusTcMpscRouter};
|
||||
use crate::pus::{PusReceiver, PusTcMpscRouter};
|
||||
use crate::requests::{CompositeRequest, GenericRequestRouter};
|
||||
use crate::tcp::{SyncTcpTmSource, TcpTask};
|
||||
use crate::tmtc::{
|
||||
PusTcSourceProviderSharedPool, SharedTcPool, TcSourceTaskDynamic, TcSourceTaskStatic,
|
||||
};
|
||||
use crate::udp::{StaticUdpTmHandler, UdpTmtcServer};
|
||||
use satrs::mode::ModeRequest;
|
||||
use satrs::pus::event_man::EventRequestWithToken;
|
||||
use satrs::pus::TmInSharedPoolSender;
|
||||
use satrs::spacepackets::{time::cds::CdsTime, time::TimeWriter};
|
||||
use satrs_example::config::components::{MGM_HANDLER_0, TCP_SERVER, UDP_SERVER};
|
||||
use satrs::tmtc::CcsdsDistributor;
|
||||
use satrs_example::config::components::MGM_HANDLER_0;
|
||||
use std::net::{IpAddr, SocketAddr};
|
||||
use std::sync::mpsc;
|
||||
use std::sync::{Arc, RwLock};
|
||||
@ -49,16 +58,16 @@ use std::time::Duration;
|
||||
#[allow(dead_code)]
|
||||
fn static_tmtc_pool_main() {
|
||||
let (tm_pool, tc_pool) = create_static_pools();
|
||||
let shared_tm_pool = Arc::new(RwLock::new(tm_pool));
|
||||
let shared_tc_pool = Arc::new(RwLock::new(tc_pool));
|
||||
let shared_tm_pool_wrapper = SharedPacketPool::new(&shared_tm_pool);
|
||||
let shared_tc_pool_wrapper = SharedPacketPool::new(&shared_tc_pool);
|
||||
let shared_tm_pool = SharedTmPool::new(tm_pool);
|
||||
let shared_tc_pool = SharedTcPool {
|
||||
pool: Arc::new(RwLock::new(tc_pool)),
|
||||
};
|
||||
let (tc_source_tx, tc_source_rx) = mpsc::sync_channel(50);
|
||||
let (tm_funnel_tx, tm_funnel_rx) = mpsc::sync_channel(50);
|
||||
let (tm_server_tx, tm_server_rx) = mpsc::sync_channel(50);
|
||||
|
||||
let tm_funnel_tx_sender =
|
||||
PacketSenderWithSharedPool::new(tm_funnel_tx.clone(), shared_tm_pool_wrapper.clone());
|
||||
TmInSharedPoolSender::new(shared_tm_pool.clone(), tm_funnel_tx.clone());
|
||||
|
||||
let (mgm_handler_composite_tx, mgm_handler_composite_rx) =
|
||||
mpsc::channel::<GenericMessage<CompositeRequest>>();
|
||||
@ -75,7 +84,10 @@ fn static_tmtc_pool_main() {
|
||||
|
||||
// This helper structure is used by all telecommand providers which need to send telecommands
|
||||
// to the TC source.
|
||||
let tc_source = PacketSenderWithSharedPool::new(tc_source_tx, shared_tc_pool_wrapper.clone());
|
||||
let tc_source = PusTcSourceProviderSharedPool {
|
||||
shared_pool: shared_tc_pool.clone(),
|
||||
tc_source: tc_source_tx,
|
||||
};
|
||||
|
||||
// Create event handling components
|
||||
// These sender handles are used to send event requests, for example to enable or disable
|
||||
@ -107,7 +119,7 @@ fn static_tmtc_pool_main() {
|
||||
};
|
||||
let pus_test_service = create_test_service_static(
|
||||
tm_funnel_tx_sender.clone(),
|
||||
shared_tc_pool.clone(),
|
||||
shared_tc_pool.pool.clone(),
|
||||
event_handler.clone_event_sender(),
|
||||
pus_test_rx,
|
||||
);
|
||||
@ -119,27 +131,27 @@ fn static_tmtc_pool_main() {
|
||||
);
|
||||
let pus_event_service = create_event_service_static(
|
||||
tm_funnel_tx_sender.clone(),
|
||||
shared_tc_pool.clone(),
|
||||
shared_tc_pool.pool.clone(),
|
||||
pus_event_rx,
|
||||
event_request_tx,
|
||||
);
|
||||
let pus_action_service = create_action_service_static(
|
||||
tm_funnel_tx_sender.clone(),
|
||||
shared_tc_pool.clone(),
|
||||
shared_tc_pool.pool.clone(),
|
||||
pus_action_rx,
|
||||
request_map.clone(),
|
||||
pus_action_reply_rx,
|
||||
);
|
||||
let pus_hk_service = create_hk_service_static(
|
||||
tm_funnel_tx_sender.clone(),
|
||||
shared_tc_pool.clone(),
|
||||
shared_tc_pool.pool.clone(),
|
||||
pus_hk_rx,
|
||||
request_map.clone(),
|
||||
pus_hk_reply_rx,
|
||||
);
|
||||
let pus_mode_service = create_mode_service_static(
|
||||
tm_funnel_tx_sender.clone(),
|
||||
shared_tc_pool.clone(),
|
||||
shared_tc_pool.pool.clone(),
|
||||
pus_mode_rx,
|
||||
request_map,
|
||||
pus_mode_reply_rx,
|
||||
@ -153,41 +165,37 @@ fn static_tmtc_pool_main() {
|
||||
pus_mode_service,
|
||||
);
|
||||
|
||||
let ccsds_receiver = CcsdsReceiver { tc_source };
|
||||
let mut tmtc_task = TcSourceTaskStatic::new(
|
||||
shared_tc_pool_wrapper.clone(),
|
||||
shared_tc_pool.clone(),
|
||||
tc_source_rx,
|
||||
PusTcDistributor::new(tm_funnel_tx_sender, pus_router),
|
||||
PusReceiver::new(tm_funnel_tx_sender, pus_router),
|
||||
);
|
||||
|
||||
let sock_addr = SocketAddr::new(IpAddr::V4(OBSW_SERVER_ADDR), SERVER_PORT);
|
||||
let udp_tc_server = UdpTcServer::new(UDP_SERVER.id(), sock_addr, 2048, tc_source.clone())
|
||||
let udp_ccsds_distributor = CcsdsDistributor::new(ccsds_receiver.clone());
|
||||
let udp_tc_server = UdpTcServer::new(sock_addr, 2048, Box::new(udp_ccsds_distributor))
|
||||
.expect("creating UDP TMTC server failed");
|
||||
let mut udp_tmtc_server = UdpTmtcServer {
|
||||
udp_tc_server,
|
||||
tm_handler: StaticUdpTmHandler {
|
||||
tm_rx: tm_server_rx,
|
||||
tm_store: shared_tm_pool.clone(),
|
||||
tm_store: shared_tm_pool.clone_backing_pool(),
|
||||
},
|
||||
};
|
||||
|
||||
let tcp_server_cfg = ServerConfig::new(
|
||||
TCP_SERVER.id(),
|
||||
sock_addr,
|
||||
Duration::from_millis(400),
|
||||
4096,
|
||||
8192,
|
||||
);
|
||||
let tcp_ccsds_distributor = CcsdsDistributor::new(ccsds_receiver);
|
||||
let tcp_server_cfg = ServerConfig::new(sock_addr, Duration::from_millis(400), 4096, 8192);
|
||||
let sync_tm_tcp_source = SyncTcpTmSource::new(200);
|
||||
let mut tcp_server = TcpTask::new(
|
||||
tcp_server_cfg,
|
||||
sync_tm_tcp_source.clone(),
|
||||
tc_source.clone(),
|
||||
PACKET_ID_VALIDATOR.clone(),
|
||||
tcp_ccsds_distributor,
|
||||
)
|
||||
.expect("tcp server creation failed");
|
||||
|
||||
let mut tm_funnel = TmFunnelStatic::new(
|
||||
shared_tm_pool_wrapper,
|
||||
shared_tm_pool,
|
||||
sync_tm_tcp_source,
|
||||
tm_funnel_rx,
|
||||
tm_server_tx,
|
||||
@ -203,7 +211,7 @@ fn static_tmtc_pool_main() {
|
||||
reply_tx_to_pus: pus_mode_reply_tx,
|
||||
reply_tx_to_parent: mgm_handler_mode_reply_to_parent_tx,
|
||||
};
|
||||
let mut mgm_handler = MgmHandlerLis3Mdl::new(
|
||||
let mut mgm_handler = MgmHandler::new(
|
||||
MGM_HANDLER_0,
|
||||
"MGM_0",
|
||||
mode_leaf_interface,
|
||||
@ -216,7 +224,7 @@ fn static_tmtc_pool_main() {
|
||||
|
||||
info!("Starting TMTC and UDP task");
|
||||
let jh_udp_tmtc = thread::Builder::new()
|
||||
.name("SATRS tmtc-udp".to_string())
|
||||
.name("TMTC and UDP".to_string())
|
||||
.spawn(move || {
|
||||
info!("Running UDP server on port {SERVER_PORT}");
|
||||
loop {
|
||||
@ -229,7 +237,7 @@ fn static_tmtc_pool_main() {
|
||||
|
||||
info!("Starting TCP task");
|
||||
let jh_tcp = thread::Builder::new()
|
||||
.name("sat-rs tcp".to_string())
|
||||
.name("TCP".to_string())
|
||||
.spawn(move || {
|
||||
info!("Running TCP server on port {SERVER_PORT}");
|
||||
loop {
|
||||
@ -248,7 +256,7 @@ fn static_tmtc_pool_main() {
|
||||
|
||||
info!("Starting event handling task");
|
||||
let jh_event_handling = thread::Builder::new()
|
||||
.name("sat-rs events".to_string())
|
||||
.name("Event".to_string())
|
||||
.spawn(move || loop {
|
||||
event_handler.periodic_operation();
|
||||
thread::sleep(Duration::from_millis(FREQ_MS_EVENT_HANDLING));
|
||||
@ -257,7 +265,7 @@ fn static_tmtc_pool_main() {
|
||||
|
||||
info!("Starting AOCS thread");
|
||||
let jh_aocs = thread::Builder::new()
|
||||
.name("sat-rs aocs".to_string())
|
||||
.name("AOCS".to_string())
|
||||
.spawn(move || loop {
|
||||
mgm_handler.periodic_operation();
|
||||
thread::sleep(Duration::from_millis(FREQ_MS_AOCS));
|
||||
@ -266,7 +274,7 @@ fn static_tmtc_pool_main() {
|
||||
|
||||
info!("Starting PUS handler thread");
|
||||
let jh_pus_handler = thread::Builder::new()
|
||||
.name("sat-rs pus".to_string())
|
||||
.name("PUS".to_string())
|
||||
.spawn(move || loop {
|
||||
pus_stack.periodic_operation();
|
||||
thread::sleep(Duration::from_millis(FREQ_MS_PUS_STACK));
|
||||
@ -311,6 +319,8 @@ fn dyn_tmtc_pool_main() {
|
||||
.mode_router_map
|
||||
.insert(MGM_HANDLER_0.raw(), mgm_handler_mode_tx);
|
||||
|
||||
let tc_source = PusTcSourceProviderDynamic(tc_source_tx);
|
||||
|
||||
// Create event handling components
|
||||
// These sender handles are used to send event requests, for example to enable or disable
|
||||
// certain events.
|
||||
@ -346,7 +356,7 @@ fn dyn_tmtc_pool_main() {
|
||||
);
|
||||
let pus_scheduler_service = create_scheduler_service_dynamic(
|
||||
tm_funnel_tx.clone(),
|
||||
tc_source_tx.clone(),
|
||||
tc_source.0.clone(),
|
||||
pus_sched_rx,
|
||||
create_sched_tc_pool(),
|
||||
);
|
||||
@ -380,13 +390,16 @@ fn dyn_tmtc_pool_main() {
|
||||
pus_mode_service,
|
||||
);
|
||||
|
||||
let ccsds_receiver = CcsdsReceiver { tc_source };
|
||||
|
||||
let mut tmtc_task = TcSourceTaskDynamic::new(
|
||||
tc_source_rx,
|
||||
PusTcDistributor::new(tm_funnel_tx.clone(), pus_router),
|
||||
PusReceiver::new(tm_funnel_tx.clone(), pus_router),
|
||||
);
|
||||
|
||||
let sock_addr = SocketAddr::new(IpAddr::V4(OBSW_SERVER_ADDR), SERVER_PORT);
|
||||
let udp_tc_server = UdpTcServer::new(UDP_SERVER.id(), sock_addr, 2048, tc_source_tx.clone())
|
||||
let udp_ccsds_distributor = CcsdsDistributor::new(ccsds_receiver.clone());
|
||||
let udp_tc_server = UdpTcServer::new(sock_addr, 2048, Box::new(udp_ccsds_distributor))
|
||||
.expect("creating UDP TMTC server failed");
|
||||
let mut udp_tmtc_server = UdpTmtcServer {
|
||||
udp_tc_server,
|
||||
@ -395,19 +408,13 @@ fn dyn_tmtc_pool_main() {
|
||||
},
|
||||
};
|
||||
|
||||
let tcp_server_cfg = ServerConfig::new(
|
||||
TCP_SERVER.id(),
|
||||
sock_addr,
|
||||
Duration::from_millis(400),
|
||||
4096,
|
||||
8192,
|
||||
);
|
||||
let tcp_ccsds_distributor = CcsdsDistributor::new(ccsds_receiver);
|
||||
let tcp_server_cfg = ServerConfig::new(sock_addr, Duration::from_millis(400), 4096, 8192);
|
||||
let sync_tm_tcp_source = SyncTcpTmSource::new(200);
|
||||
let mut tcp_server = TcpTask::new(
|
||||
tcp_server_cfg,
|
||||
sync_tm_tcp_source.clone(),
|
||||
tc_source_tx.clone(),
|
||||
PACKET_ID_VALIDATOR.clone(),
|
||||
tcp_ccsds_distributor,
|
||||
)
|
||||
.expect("tcp server creation failed");
|
||||
|
||||
@ -422,7 +429,7 @@ fn dyn_tmtc_pool_main() {
|
||||
reply_tx_to_pus: pus_mode_reply_tx,
|
||||
reply_tx_to_parent: mgm_handler_mode_reply_to_parent_tx,
|
||||
};
|
||||
let mut mgm_handler = MgmHandlerLis3Mdl::new(
|
||||
let mut mgm_handler = MgmHandler::new(
|
||||
MGM_HANDLER_0,
|
||||
"MGM_0",
|
||||
mode_leaf_interface,
|
||||
@ -435,7 +442,7 @@ fn dyn_tmtc_pool_main() {
|
||||
|
||||
info!("Starting TMTC and UDP task");
|
||||
let jh_udp_tmtc = thread::Builder::new()
|
||||
.name("sat-rs tmtc-udp".to_string())
|
||||
.name("TMTC and UDP".to_string())
|
||||
.spawn(move || {
|
||||
info!("Running UDP server on port {SERVER_PORT}");
|
||||
loop {
|
||||
@ -448,7 +455,7 @@ fn dyn_tmtc_pool_main() {
|
||||
|
||||
info!("Starting TCP task");
|
||||
let jh_tcp = thread::Builder::new()
|
||||
.name("sat-rs tcp".to_string())
|
||||
.name("TCP".to_string())
|
||||
.spawn(move || {
|
||||
info!("Running TCP server on port {SERVER_PORT}");
|
||||
loop {
|
||||
@ -459,7 +466,7 @@ fn dyn_tmtc_pool_main() {
|
||||
|
||||
info!("Starting TM funnel task");
|
||||
let jh_tm_funnel = thread::Builder::new()
|
||||
.name("sat-rs tm-funnel".to_string())
|
||||
.name("TM Funnel".to_string())
|
||||
.spawn(move || loop {
|
||||
tm_funnel.operation();
|
||||
})
|
||||
@ -467,7 +474,7 @@ fn dyn_tmtc_pool_main() {
|
||||
|
||||
info!("Starting event handling task");
|
||||
let jh_event_handling = thread::Builder::new()
|
||||
.name("sat-rs events".to_string())
|
||||
.name("Event".to_string())
|
||||
.spawn(move || loop {
|
||||
event_handler.periodic_operation();
|
||||
thread::sleep(Duration::from_millis(FREQ_MS_EVENT_HANDLING));
|
||||
@ -476,7 +483,7 @@ fn dyn_tmtc_pool_main() {
|
||||
|
||||
info!("Starting AOCS thread");
|
||||
let jh_aocs = thread::Builder::new()
|
||||
.name("sat-rs aocs".to_string())
|
||||
.name("AOCS".to_string())
|
||||
.spawn(move || loop {
|
||||
mgm_handler.periodic_operation();
|
||||
thread::sleep(Duration::from_millis(FREQ_MS_AOCS));
|
||||
@ -485,7 +492,7 @@ fn dyn_tmtc_pool_main() {
|
||||
|
||||
info!("Starting PUS handler thread");
|
||||
let jh_pus_handler = thread::Builder::new()
|
||||
.name("sat-rs pus".to_string())
|
||||
.name("PUS".to_string())
|
||||
.spawn(move || loop {
|
||||
pus_stack.periodic_operation();
|
||||
thread::sleep(Duration::from_millis(FREQ_MS_PUS_STACK));
|
||||
|
||||
@ -3,7 +3,7 @@ use satrs::action::{ActionRequest, ActionRequestVariant};
|
||||
use satrs::params::WritableToBeBytes;
|
||||
use satrs::pool::SharedStaticMemoryPool;
|
||||
use satrs::pus::action::{
|
||||
ActionReplyPus, ActionReplyVariant, ActivePusActionRequestStd, DefaultActiveActionRequestMap,
|
||||
ActionReplyVariant, ActivePusActionRequestStd, DefaultActiveActionRequestMap, PusActionReply,
|
||||
};
|
||||
use satrs::pus::verification::{
|
||||
FailParams, FailParamsWithStep, TcStateAccepted, TcStateStarted, VerificationReporter,
|
||||
@ -11,14 +11,14 @@ use satrs::pus::verification::{
|
||||
};
|
||||
use satrs::pus::{
|
||||
ActiveRequestProvider, EcssTcAndToken, EcssTcInMemConverter, EcssTcInSharedStoreConverter,
|
||||
EcssTcInVecConverter, EcssTmSender, EcssTmtcError, GenericConversionError, MpscTcReceiver,
|
||||
MpscTmAsVecSender, PusPacketHandlerResult, PusReplyHandler, PusServiceHelper,
|
||||
PusTcToRequestConverter,
|
||||
EcssTcInVecConverter, EcssTmSenderCore, EcssTmtcError, GenericConversionError, MpscTcReceiver,
|
||||
MpscTmAsVecSender, MpscTmInSharedPoolSenderBounded, PusPacketHandlerResult, PusReplyHandler,
|
||||
PusServiceHelper, PusTcToRequestConverter, PusTmAsVec, PusTmInPool, TmInSharedPoolSender,
|
||||
};
|
||||
use satrs::request::{GenericMessage, UniqueApidTargetId};
|
||||
use satrs::spacepackets::ecss::tc::PusTcReader;
|
||||
use satrs::spacepackets::ecss::{EcssEnumU16, PusPacket};
|
||||
use satrs::tmtc::{PacketAsVec, PacketSenderWithSharedPool};
|
||||
use satrs::ComponentId;
|
||||
use satrs_example::config::components::PUS_ACTION_SERVICE;
|
||||
use satrs_example::config::tmtc_err;
|
||||
use std::sync::mpsc;
|
||||
@ -27,8 +27,8 @@ use std::time::Duration;
|
||||
use crate::requests::GenericRequestRouter;
|
||||
|
||||
use super::{
|
||||
create_verification_reporter, generic_pus_request_timeout_handler, HandlingStatus,
|
||||
PusTargetedRequestService, TargetedPusService,
|
||||
create_verification_reporter, generic_pus_request_timeout_handler, PusTargetedRequestService,
|
||||
TargetedPusService,
|
||||
};
|
||||
|
||||
pub struct ActionReplyHandler {
|
||||
@ -43,13 +43,14 @@ impl Default for ActionReplyHandler {
|
||||
}
|
||||
}
|
||||
|
||||
impl PusReplyHandler<ActivePusActionRequestStd, ActionReplyPus> for ActionReplyHandler {
|
||||
impl PusReplyHandler<ActivePusActionRequestStd, PusActionReply> for ActionReplyHandler {
|
||||
type Error = EcssTmtcError;
|
||||
|
||||
fn handle_unrequested_reply(
|
||||
&mut self,
|
||||
reply: &GenericMessage<ActionReplyPus>,
|
||||
_tm_sender: &impl EcssTmSender,
|
||||
_caller_id: ComponentId,
|
||||
reply: &GenericMessage<PusActionReply>,
|
||||
_tm_sender: &impl EcssTmSenderCore,
|
||||
) -> Result<(), Self::Error> {
|
||||
warn!("received unexpected reply for service 8: {reply:?}");
|
||||
Ok(())
|
||||
@ -57,9 +58,10 @@ impl PusReplyHandler<ActivePusActionRequestStd, ActionReplyPus> for ActionReplyH
|
||||
|
||||
fn handle_reply(
|
||||
&mut self,
|
||||
reply: &GenericMessage<ActionReplyPus>,
|
||||
caller_id: ComponentId,
|
||||
reply: &GenericMessage<PusActionReply>,
|
||||
active_request: &ActivePusActionRequestStd,
|
||||
tm_sender: &(impl EcssTmSender + ?Sized),
|
||||
tm_sender: &(impl EcssTmSenderCore + ?Sized),
|
||||
verification_handler: &impl VerificationReportingProvider,
|
||||
time_stamp: &[u8],
|
||||
) -> Result<bool, Self::Error> {
|
||||
@ -74,6 +76,7 @@ impl PusReplyHandler<ActivePusActionRequestStd, ActionReplyPus> for ActionReplyH
|
||||
fail_data_len = params.write_to_be_bytes(&mut self.fail_data_buf)?;
|
||||
}
|
||||
verification_handler.completion_failure(
|
||||
caller_id,
|
||||
tm_sender,
|
||||
verif_token,
|
||||
FailParams::new(time_stamp, error_code, &self.fail_data_buf[..fail_data_len]),
|
||||
@ -90,6 +93,7 @@ impl PusReplyHandler<ActivePusActionRequestStd, ActionReplyPus> for ActionReplyH
|
||||
fail_data_len = params.write_to_be_bytes(&mut self.fail_data_buf)?;
|
||||
}
|
||||
verification_handler.step_failure(
|
||||
caller_id,
|
||||
tm_sender,
|
||||
verif_token,
|
||||
FailParamsWithStep::new(
|
||||
@ -102,11 +106,17 @@ impl PusReplyHandler<ActivePusActionRequestStd, ActionReplyPus> for ActionReplyH
|
||||
true
|
||||
}
|
||||
ActionReplyVariant::Completed => {
|
||||
verification_handler.completion_success(tm_sender, verif_token, time_stamp)?;
|
||||
verification_handler.completion_success(
|
||||
caller_id,
|
||||
tm_sender,
|
||||
verif_token,
|
||||
time_stamp,
|
||||
)?;
|
||||
true
|
||||
}
|
||||
ActionReplyVariant::StepSuccess { step } => {
|
||||
verification_handler.step_success(
|
||||
caller_id,
|
||||
tm_sender,
|
||||
&verif_token,
|
||||
time_stamp,
|
||||
@ -121,12 +131,14 @@ impl PusReplyHandler<ActivePusActionRequestStd, ActionReplyPus> for ActionReplyH
|
||||
|
||||
fn handle_request_timeout(
|
||||
&mut self,
|
||||
caller_id: ComponentId,
|
||||
active_request: &ActivePusActionRequestStd,
|
||||
tm_sender: &impl EcssTmSender,
|
||||
tm_sender: &impl EcssTmSenderCore,
|
||||
verification_handler: &impl VerificationReportingProvider,
|
||||
time_stamp: &[u8],
|
||||
) -> Result<(), Self::Error> {
|
||||
generic_pus_request_timeout_handler(
|
||||
caller_id,
|
||||
tm_sender,
|
||||
active_request,
|
||||
verification_handler,
|
||||
@ -144,9 +156,10 @@ impl PusTcToRequestConverter<ActivePusActionRequestStd, ActionRequest> for Actio
|
||||
|
||||
fn convert(
|
||||
&mut self,
|
||||
caller_id: ComponentId,
|
||||
token: VerificationToken<TcStateAccepted>,
|
||||
tc: &PusTcReader,
|
||||
tm_sender: &(impl EcssTmSender + ?Sized),
|
||||
tm_sender: &(impl EcssTmSenderCore + ?Sized),
|
||||
verif_reporter: &impl VerificationReportingProvider,
|
||||
time_stamp: &[u8],
|
||||
) -> Result<(ActivePusActionRequestStd, ActionRequest), Self::Error> {
|
||||
@ -155,6 +168,7 @@ impl PusTcToRequestConverter<ActivePusActionRequestStd, ActionRequest> for Actio
|
||||
if user_data.len() < 8 {
|
||||
verif_reporter
|
||||
.start_failure(
|
||||
caller_id,
|
||||
tm_sender,
|
||||
token,
|
||||
FailParams::new_no_fail_data(time_stamp, &tmtc_err::NOT_ENOUGH_APP_DATA),
|
||||
@ -185,6 +199,7 @@ impl PusTcToRequestConverter<ActivePusActionRequestStd, ActionRequest> for Actio
|
||||
} else {
|
||||
verif_reporter
|
||||
.start_failure(
|
||||
caller_id,
|
||||
tm_sender,
|
||||
token,
|
||||
FailParams::new_no_fail_data(time_stamp, &tmtc_err::INVALID_PUS_SUBSERVICE),
|
||||
@ -196,18 +211,18 @@ impl PusTcToRequestConverter<ActivePusActionRequestStd, ActionRequest> for Actio
|
||||
}
|
||||
|
||||
pub fn create_action_service_static(
|
||||
tm_sender: PacketSenderWithSharedPool,
|
||||
tm_sender: TmInSharedPoolSender<mpsc::SyncSender<PusTmInPool>>,
|
||||
tc_pool: SharedStaticMemoryPool,
|
||||
pus_action_rx: mpsc::Receiver<EcssTcAndToken>,
|
||||
action_router: GenericRequestRouter,
|
||||
reply_receiver: mpsc::Receiver<GenericMessage<ActionReplyPus>>,
|
||||
) -> ActionServiceWrapper<PacketSenderWithSharedPool, EcssTcInSharedStoreConverter> {
|
||||
reply_receiver: mpsc::Receiver<GenericMessage<PusActionReply>>,
|
||||
) -> ActionServiceWrapper<MpscTmInSharedPoolSenderBounded, EcssTcInSharedStoreConverter> {
|
||||
let action_request_handler = PusTargetedRequestService::new(
|
||||
PusServiceHelper::new(
|
||||
PUS_ACTION_SERVICE.id(),
|
||||
PUS_ACTION_SERVICE.raw(),
|
||||
pus_action_rx,
|
||||
tm_sender,
|
||||
create_verification_reporter(PUS_ACTION_SERVICE.id(), PUS_ACTION_SERVICE.apid),
|
||||
create_verification_reporter(PUS_ACTION_SERVICE.apid),
|
||||
EcssTcInSharedStoreConverter::new(tc_pool.clone(), 2048),
|
||||
),
|
||||
ActionRequestConverter::default(),
|
||||
@ -224,17 +239,17 @@ pub fn create_action_service_static(
|
||||
}
|
||||
|
||||
pub fn create_action_service_dynamic(
|
||||
tm_funnel_tx: mpsc::Sender<PacketAsVec>,
|
||||
tm_funnel_tx: mpsc::Sender<PusTmAsVec>,
|
||||
pus_action_rx: mpsc::Receiver<EcssTcAndToken>,
|
||||
action_router: GenericRequestRouter,
|
||||
reply_receiver: mpsc::Receiver<GenericMessage<ActionReplyPus>>,
|
||||
reply_receiver: mpsc::Receiver<GenericMessage<PusActionReply>>,
|
||||
) -> ActionServiceWrapper<MpscTmAsVecSender, EcssTcInVecConverter> {
|
||||
let action_request_handler = PusTargetedRequestService::new(
|
||||
PusServiceHelper::new(
|
||||
PUS_ACTION_SERVICE.id(),
|
||||
PUS_ACTION_SERVICE.raw(),
|
||||
pus_action_rx,
|
||||
tm_funnel_tx,
|
||||
create_verification_reporter(PUS_ACTION_SERVICE.id(), PUS_ACTION_SERVICE.apid),
|
||||
create_verification_reporter(PUS_ACTION_SERVICE.apid),
|
||||
EcssTcInVecConverter::default(),
|
||||
),
|
||||
ActionRequestConverter::default(),
|
||||
@ -248,7 +263,8 @@ pub fn create_action_service_dynamic(
|
||||
}
|
||||
}
|
||||
|
||||
pub struct ActionServiceWrapper<TmSender: EcssTmSender, TcInMemConverter: EcssTcInMemConverter> {
|
||||
pub struct ActionServiceWrapper<TmSender: EcssTmSenderCore, TcInMemConverter: EcssTcInMemConverter>
|
||||
{
|
||||
pub(crate) service: PusTargetedRequestService<
|
||||
MpscTcReceiver,
|
||||
TmSender,
|
||||
@ -259,15 +275,15 @@ pub struct ActionServiceWrapper<TmSender: EcssTmSender, TcInMemConverter: EcssTc
|
||||
DefaultActiveActionRequestMap,
|
||||
ActivePusActionRequestStd,
|
||||
ActionRequest,
|
||||
ActionReplyPus,
|
||||
PusActionReply,
|
||||
>,
|
||||
}
|
||||
|
||||
impl<TmSender: EcssTmSender, TcInMemConverter: EcssTcInMemConverter> TargetedPusService
|
||||
impl<TmSender: EcssTmSenderCore, TcInMemConverter: EcssTcInMemConverter> TargetedPusService
|
||||
for ActionServiceWrapper<TmSender, TcInMemConverter>
|
||||
{
|
||||
/// Returns [true] if the packet handling is finished.
|
||||
fn poll_and_handle_next_tc(&mut self, time_stamp: &[u8]) -> HandlingStatus {
|
||||
fn poll_and_handle_next_tc(&mut self, time_stamp: &[u8]) -> bool {
|
||||
match self.service.poll_and_handle_next_tc(time_stamp) {
|
||||
Ok(result) => match result {
|
||||
PusPacketHandlerResult::RequestHandled => {}
|
||||
@ -280,24 +296,23 @@ impl<TmSender: EcssTmSender, TcInMemConverter: EcssTcInMemConverter> TargetedPus
|
||||
PusPacketHandlerResult::SubserviceNotImplemented(subservice, _) => {
|
||||
warn!("PUS 8 subservice {subservice} not implemented");
|
||||
}
|
||||
PusPacketHandlerResult::Empty => return HandlingStatus::Empty,
|
||||
PusPacketHandlerResult::Empty => {
|
||||
return true;
|
||||
}
|
||||
},
|
||||
Err(error) => {
|
||||
error!("PUS packet handling error: {error:?}");
|
||||
// To avoid permanent loops on error cases.
|
||||
return HandlingStatus::Empty;
|
||||
error!("PUS packet handling error: {error:?}")
|
||||
}
|
||||
}
|
||||
HandlingStatus::HandledOne
|
||||
false
|
||||
}
|
||||
|
||||
fn poll_and_handle_next_reply(&mut self, time_stamp: &[u8]) -> HandlingStatus {
|
||||
// This only fails if all senders disconnected. Treat it like an empty queue.
|
||||
fn poll_and_handle_next_reply(&mut self, time_stamp: &[u8]) -> bool {
|
||||
self.service
|
||||
.poll_and_check_next_reply(time_stamp)
|
||||
.unwrap_or_else(|e| {
|
||||
warn!("PUS 8: Handling reply failed with error {e:?}");
|
||||
HandlingStatus::Empty
|
||||
false
|
||||
})
|
||||
}
|
||||
|
||||
@ -308,13 +323,10 @@ impl<TmSender: EcssTmSender, TcInMemConverter: EcssTcInMemConverter> TargetedPus
|
||||
|
||||
#[cfg(test)]
|
||||
mod tests {
|
||||
use satrs::pus::test_util::{
|
||||
TEST_APID, TEST_COMPONENT_ID_0, TEST_COMPONENT_ID_1, TEST_UNIQUE_ID_0, TEST_UNIQUE_ID_1,
|
||||
};
|
||||
use satrs::pus::test_util::{TEST_APID, TEST_COMPONENT_ID, TEST_UNIQUE_ID};
|
||||
use satrs::pus::verification;
|
||||
use satrs::pus::verification::test_util::TestVerificationReporter;
|
||||
use satrs::request::MessageMetadata;
|
||||
use satrs::ComponentId;
|
||||
use satrs::{
|
||||
res_code::ResultU16,
|
||||
spacepackets::{
|
||||
@ -341,24 +353,24 @@ mod tests {
|
||||
DefaultActiveActionRequestMap,
|
||||
ActivePusActionRequestStd,
|
||||
ActionRequest,
|
||||
ActionReplyPus,
|
||||
PusActionReply,
|
||||
>
|
||||
{
|
||||
pub fn new_for_action(owner_id: ComponentId, target_id: ComponentId) -> Self {
|
||||
pub fn new_for_action() -> Self {
|
||||
let _ = env_logger::builder().is_test(true).try_init();
|
||||
let (tm_funnel_tx, tm_funnel_rx) = mpsc::channel();
|
||||
let (pus_action_tx, pus_action_rx) = mpsc::channel();
|
||||
let (action_reply_tx, action_reply_rx) = mpsc::channel();
|
||||
let (action_req_tx, action_req_rx) = mpsc::channel();
|
||||
let verif_reporter = TestVerificationReporter::new(owner_id);
|
||||
let verif_reporter = TestVerificationReporter::default();
|
||||
let mut generic_req_router = GenericRequestRouter::default();
|
||||
generic_req_router
|
||||
.composite_router_map
|
||||
.insert(target_id, action_req_tx);
|
||||
.insert(TEST_COMPONENT_ID.id(), action_req_tx);
|
||||
Self {
|
||||
service: PusTargetedRequestService::new(
|
||||
PusServiceHelper::new(
|
||||
owner_id,
|
||||
0,
|
||||
pus_action_rx,
|
||||
tm_funnel_tx.clone(),
|
||||
verif_reporter,
|
||||
@ -437,13 +449,13 @@ mod tests {
|
||||
pub fn verify_next_reply_is_handled_properly(&mut self, time_stamp: &[u8]) {
|
||||
let result = self.service.poll_and_check_next_reply(time_stamp);
|
||||
assert!(result.is_ok());
|
||||
assert_eq!(result.unwrap(), HandlingStatus::HandledOne);
|
||||
assert!(!result.unwrap());
|
||||
}
|
||||
|
||||
pub fn verify_all_replies_handled(&mut self, time_stamp: &[u8]) {
|
||||
let result = self.service.poll_and_check_next_reply(time_stamp);
|
||||
assert!(result.is_ok());
|
||||
assert_eq!(result.unwrap(), HandlingStatus::Empty);
|
||||
assert!(result.unwrap());
|
||||
}
|
||||
|
||||
pub fn add_tc(&mut self, tc: &PusTcCreator) {
|
||||
@ -453,7 +465,12 @@ mod tests {
|
||||
.service
|
||||
.service_helper
|
||||
.verif_reporter()
|
||||
.acceptance_success(self.service.service_helper.tm_sender(), token, &[0; 7])
|
||||
.acceptance_success(
|
||||
self.service.service_helper.id(),
|
||||
self.service.service_helper.tm_sender(),
|
||||
token,
|
||||
&[0; 7],
|
||||
)
|
||||
.expect("TC acceptance failed");
|
||||
self.service
|
||||
.service_helper
|
||||
@ -465,28 +482,22 @@ mod tests {
|
||||
.verif_reporter()
|
||||
.check_next_is_acceptance_success(id, accepted_token.request_id());
|
||||
self.pus_packet_tx
|
||||
.send(EcssTcAndToken::new(
|
||||
PacketAsVec::new(self.service.service_helper.id(), tc.to_vec().unwrap()),
|
||||
accepted_token,
|
||||
))
|
||||
.send(EcssTcAndToken::new(tc.to_vec().unwrap(), accepted_token))
|
||||
.unwrap();
|
||||
}
|
||||
}
|
||||
|
||||
#[test]
|
||||
fn basic_request() {
|
||||
let mut testbench = TargetedPusRequestTestbench::new_for_action(
|
||||
TEST_COMPONENT_ID_0.id(),
|
||||
TEST_COMPONENT_ID_1.id(),
|
||||
);
|
||||
let mut testbench = TargetedPusRequestTestbench::new_for_action();
|
||||
// Create a basic action request and verify forwarding.
|
||||
let sp_header = SpHeader::new_from_apid(TEST_APID);
|
||||
let mut sp_header = SpHeader::tc_unseg(TEST_APID, 0, 0).unwrap();
|
||||
let sec_header = PusTcSecondaryHeader::new_simple(8, 128);
|
||||
let action_id = 5_u32;
|
||||
let mut app_data: [u8; 8] = [0; 8];
|
||||
app_data[0..4].copy_from_slice(&TEST_UNIQUE_ID_1.to_be_bytes());
|
||||
app_data[0..4].copy_from_slice(&TEST_UNIQUE_ID.to_be_bytes());
|
||||
app_data[4..8].copy_from_slice(&action_id.to_be_bytes());
|
||||
let pus8_packet = PusTcCreator::new(sp_header, sec_header, &app_data, true);
|
||||
let pus8_packet = PusTcCreator::new(&mut sp_header, sec_header, &app_data, true);
|
||||
testbench.add_tc(&pus8_packet);
|
||||
let time_stamp: [u8; 7] = [0; 7];
|
||||
testbench.verify_next_tc_is_handled_properly(&time_stamp);
|
||||
@ -500,7 +511,7 @@ mod tests {
|
||||
if let CompositeRequest::Action(action_req) = req.message {
|
||||
assert_eq!(action_req.action_id, action_id);
|
||||
assert_eq!(action_req.variant, ActionRequestVariant::NoData);
|
||||
let action_reply = ActionReplyPus::new(action_id, ActionReplyVariant::Completed);
|
||||
let action_reply = PusActionReply::new(action_id, ActionReplyVariant::Completed);
|
||||
testbench
|
||||
.reply_tx
|
||||
.send(GenericMessage::new(req.requestor_info, action_reply))
|
||||
@ -517,23 +528,16 @@ mod tests {
|
||||
|
||||
#[test]
|
||||
fn basic_request_routing_error() {
|
||||
let mut testbench = TargetedPusRequestTestbench::new_for_action(
|
||||
TEST_COMPONENT_ID_0.id(),
|
||||
TEST_COMPONENT_ID_1.id(),
|
||||
);
|
||||
let mut testbench = TargetedPusRequestTestbench::new_for_action();
|
||||
// Create a basic action request and verify forwarding.
|
||||
let mut sp_header = SpHeader::tc_unseg(TEST_APID, 0, 0).unwrap();
|
||||
let sec_header = PusTcSecondaryHeader::new_simple(8, 128);
|
||||
let action_id = 5_u32;
|
||||
let mut app_data: [u8; 8] = [0; 8];
|
||||
// Invalid ID, routing should fail.
|
||||
app_data[0..4].copy_from_slice(&0_u32.to_be_bytes());
|
||||
app_data[0..4].copy_from_slice(&(TEST_UNIQUE_ID + 1).to_be_bytes());
|
||||
app_data[4..8].copy_from_slice(&action_id.to_be_bytes());
|
||||
let pus8_packet = PusTcCreator::new(
|
||||
SpHeader::new_from_apid(TEST_APID),
|
||||
sec_header,
|
||||
&app_data,
|
||||
true,
|
||||
);
|
||||
let pus8_packet = PusTcCreator::new(&mut sp_header, sec_header, &app_data, true);
|
||||
testbench.add_tc(&pus8_packet);
|
||||
let time_stamp: [u8; 7] = [0; 7];
|
||||
|
||||
@ -544,24 +548,17 @@ mod tests {
|
||||
|
||||
#[test]
|
||||
fn converter_action_req_no_data() {
|
||||
let mut testbench = PusConverterTestbench::new(
|
||||
TEST_COMPONENT_ID_0.raw(),
|
||||
ActionRequestConverter::default(),
|
||||
);
|
||||
let mut testbench = PusConverterTestbench::new(ActionRequestConverter::default());
|
||||
let mut sp_header = SpHeader::tc_unseg(TEST_APID, 0, 0).unwrap();
|
||||
let sec_header = PusTcSecondaryHeader::new_simple(8, 128);
|
||||
let action_id = 5_u32;
|
||||
let mut app_data: [u8; 8] = [0; 8];
|
||||
// Invalid ID, routing should fail.
|
||||
app_data[0..4].copy_from_slice(&TEST_UNIQUE_ID_0.to_be_bytes());
|
||||
app_data[0..4].copy_from_slice(&TEST_UNIQUE_ID.to_be_bytes());
|
||||
app_data[4..8].copy_from_slice(&action_id.to_be_bytes());
|
||||
let pus8_packet = PusTcCreator::new(
|
||||
SpHeader::new_from_apid(TEST_APID),
|
||||
sec_header,
|
||||
&app_data,
|
||||
true,
|
||||
);
|
||||
let pus8_packet = PusTcCreator::new(&mut sp_header, sec_header, &app_data, true);
|
||||
let token = testbench.add_tc(&pus8_packet);
|
||||
let result = testbench.convert(token, &[], TEST_APID, TEST_UNIQUE_ID_0);
|
||||
let result = testbench.convert(token, &[], TEST_APID, TEST_UNIQUE_ID);
|
||||
assert!(result.is_ok());
|
||||
let (active_req, request) = result.unwrap();
|
||||
if let ActionRequestVariant::NoData = request.variant {
|
||||
@ -569,7 +566,7 @@ mod tests {
|
||||
assert_eq!(active_req.action_id, action_id);
|
||||
assert_eq!(
|
||||
active_req.target_id(),
|
||||
UniqueApidTargetId::new(TEST_APID, TEST_UNIQUE_ID_0).raw()
|
||||
UniqueApidTargetId::new(TEST_APID, TEST_UNIQUE_ID).raw()
|
||||
);
|
||||
assert_eq!(
|
||||
active_req.token().request_id(),
|
||||
@ -582,25 +579,20 @@ mod tests {
|
||||
|
||||
#[test]
|
||||
fn converter_action_req_with_data() {
|
||||
let mut testbench =
|
||||
PusConverterTestbench::new(TEST_COMPONENT_ID_0.id(), ActionRequestConverter::default());
|
||||
let mut testbench = PusConverterTestbench::new(ActionRequestConverter::default());
|
||||
let mut sp_header = SpHeader::tc_unseg(TEST_APID, 0, 0).unwrap();
|
||||
let sec_header = PusTcSecondaryHeader::new_simple(8, 128);
|
||||
let action_id = 5_u32;
|
||||
let mut app_data: [u8; 16] = [0; 16];
|
||||
// Invalid ID, routing should fail.
|
||||
app_data[0..4].copy_from_slice(&TEST_UNIQUE_ID_0.to_be_bytes());
|
||||
app_data[0..4].copy_from_slice(&TEST_UNIQUE_ID.to_be_bytes());
|
||||
app_data[4..8].copy_from_slice(&action_id.to_be_bytes());
|
||||
for i in 0..8 {
|
||||
app_data[i + 8] = i as u8;
|
||||
}
|
||||
let pus8_packet = PusTcCreator::new(
|
||||
SpHeader::new_from_apid(TEST_APID),
|
||||
sec_header,
|
||||
&app_data,
|
||||
true,
|
||||
);
|
||||
let pus8_packet = PusTcCreator::new(&mut sp_header, sec_header, &app_data, true);
|
||||
let token = testbench.add_tc(&pus8_packet);
|
||||
let result = testbench.convert(token, &[], TEST_APID, TEST_UNIQUE_ID_0);
|
||||
let result = testbench.convert(token, &[], TEST_APID, TEST_UNIQUE_ID);
|
||||
assert!(result.is_ok());
|
||||
let (active_req, request) = result.unwrap();
|
||||
if let ActionRequestVariant::VecData(vec) = request.variant {
|
||||
@ -614,19 +606,18 @@ mod tests {
|
||||
|
||||
#[test]
|
||||
fn reply_handling_completion_success() {
|
||||
let mut testbench =
|
||||
ReplyHandlerTestbench::new(TEST_COMPONENT_ID_0.id(), ActionReplyHandler::default());
|
||||
let mut testbench = ReplyHandlerTestbench::new(ActionReplyHandler::default());
|
||||
let action_id = 5_u32;
|
||||
let (req_id, active_req) = testbench.add_tc(TEST_APID, TEST_UNIQUE_ID_0, &[]);
|
||||
let (req_id, active_req) = testbench.add_tc(TEST_APID, TEST_UNIQUE_ID, &[]);
|
||||
let active_action_req =
|
||||
ActivePusActionRequestStd::new_from_common_req(action_id, active_req);
|
||||
let reply = ActionReplyPus::new(action_id, ActionReplyVariant::Completed);
|
||||
let reply = PusActionReply::new(action_id, ActionReplyVariant::Completed);
|
||||
let generic_reply = GenericMessage::new(MessageMetadata::new(req_id.into(), 0), reply);
|
||||
let result = testbench.handle_reply(&generic_reply, &active_action_req, &[]);
|
||||
assert!(result.is_ok());
|
||||
assert!(result.unwrap());
|
||||
testbench.verif_reporter.assert_full_completion_success(
|
||||
TEST_COMPONENT_ID_0.id(),
|
||||
TEST_COMPONENT_ID.id(),
|
||||
req_id,
|
||||
None,
|
||||
);
|
||||
@ -634,14 +625,13 @@ mod tests {
|
||||
|
||||
#[test]
|
||||
fn reply_handling_completion_failure() {
|
||||
let mut testbench =
|
||||
ReplyHandlerTestbench::new(TEST_COMPONENT_ID_0.id(), ActionReplyHandler::default());
|
||||
let mut testbench = ReplyHandlerTestbench::new(ActionReplyHandler::default());
|
||||
let action_id = 5_u32;
|
||||
let (req_id, active_req) = testbench.add_tc(TEST_APID, TEST_UNIQUE_ID_0, &[]);
|
||||
let (req_id, active_req) = testbench.add_tc(TEST_APID, TEST_UNIQUE_ID, &[]);
|
||||
let active_action_req =
|
||||
ActivePusActionRequestStd::new_from_common_req(action_id, active_req);
|
||||
let error_code = ResultU16::new(2, 3);
|
||||
let reply = ActionReplyPus::new(
|
||||
let reply = PusActionReply::new(
|
||||
action_id,
|
||||
ActionReplyVariant::CompletionFailed {
|
||||
error_code,
|
||||
@ -653,7 +643,7 @@ mod tests {
|
||||
assert!(result.is_ok());
|
||||
assert!(result.unwrap());
|
||||
testbench.verif_reporter.assert_completion_failure(
|
||||
TEST_COMPONENT_ID_0.into(),
|
||||
TEST_COMPONENT_ID.into(),
|
||||
req_id,
|
||||
None,
|
||||
error_code.raw() as u64,
|
||||
@ -662,13 +652,12 @@ mod tests {
|
||||
|
||||
#[test]
|
||||
fn reply_handling_step_success() {
|
||||
let mut testbench =
|
||||
ReplyHandlerTestbench::new(TEST_COMPONENT_ID_0.id(), ActionReplyHandler::default());
|
||||
let mut testbench = ReplyHandlerTestbench::new(ActionReplyHandler::default());
|
||||
let action_id = 5_u32;
|
||||
let (req_id, active_req) = testbench.add_tc(TEST_APID, TEST_UNIQUE_ID_0, &[]);
|
||||
let (req_id, active_req) = testbench.add_tc(TEST_APID, TEST_UNIQUE_ID, &[]);
|
||||
let active_action_req =
|
||||
ActivePusActionRequestStd::new_from_common_req(action_id, active_req);
|
||||
let reply = ActionReplyPus::new(action_id, ActionReplyVariant::StepSuccess { step: 1 });
|
||||
let reply = PusActionReply::new(action_id, ActionReplyVariant::StepSuccess { step: 1 });
|
||||
let generic_reply = GenericMessage::new(MessageMetadata::new(req_id.into(), 0), reply);
|
||||
let result = testbench.handle_reply(&generic_reply, &active_action_req, &[]);
|
||||
assert!(result.is_ok());
|
||||
@ -677,25 +666,24 @@ mod tests {
|
||||
testbench.verif_reporter.check_next_was_added(req_id);
|
||||
testbench
|
||||
.verif_reporter
|
||||
.check_next_is_acceptance_success(TEST_COMPONENT_ID_0.raw(), req_id);
|
||||
.check_next_is_acceptance_success(TEST_COMPONENT_ID.raw(), req_id);
|
||||
testbench
|
||||
.verif_reporter
|
||||
.check_next_is_started_success(TEST_COMPONENT_ID_0.raw(), req_id);
|
||||
.check_next_is_started_success(TEST_COMPONENT_ID.raw(), req_id);
|
||||
testbench
|
||||
.verif_reporter
|
||||
.check_next_is_step_success(TEST_COMPONENT_ID_0.raw(), req_id, 1);
|
||||
.check_next_is_step_success(TEST_COMPONENT_ID.raw(), req_id, 1);
|
||||
}
|
||||
|
||||
#[test]
|
||||
fn reply_handling_step_failure() {
|
||||
let mut testbench =
|
||||
ReplyHandlerTestbench::new(TEST_COMPONENT_ID_0.id(), ActionReplyHandler::default());
|
||||
let mut testbench = ReplyHandlerTestbench::new(ActionReplyHandler::default());
|
||||
let action_id = 5_u32;
|
||||
let (req_id, active_req) = testbench.add_tc(TEST_APID, TEST_UNIQUE_ID_0, &[]);
|
||||
let (req_id, active_req) = testbench.add_tc(TEST_APID, TEST_UNIQUE_ID, &[]);
|
||||
let active_action_req =
|
||||
ActivePusActionRequestStd::new_from_common_req(action_id, active_req);
|
||||
let error_code = ResultU16::new(2, 3);
|
||||
let reply = ActionReplyPus::new(
|
||||
let reply = PusActionReply::new(
|
||||
action_id,
|
||||
ActionReplyVariant::StepFailed {
|
||||
error_code,
|
||||
@ -710,12 +698,12 @@ mod tests {
|
||||
testbench.verif_reporter.check_next_was_added(req_id);
|
||||
testbench
|
||||
.verif_reporter
|
||||
.check_next_is_acceptance_success(TEST_COMPONENT_ID_0.id(), req_id);
|
||||
.check_next_is_acceptance_success(TEST_COMPONENT_ID.id(), req_id);
|
||||
testbench
|
||||
.verif_reporter
|
||||
.check_next_is_started_success(TEST_COMPONENT_ID_0.id(), req_id);
|
||||
.check_next_is_started_success(TEST_COMPONENT_ID.id(), req_id);
|
||||
testbench.verif_reporter.check_next_is_step_failure(
|
||||
TEST_COMPONENT_ID_0.id(),
|
||||
TEST_COMPONENT_ID.id(),
|
||||
req_id,
|
||||
error_code.raw().into(),
|
||||
);
|
||||
@ -723,9 +711,8 @@ mod tests {
|
||||
|
||||
#[test]
|
||||
fn reply_handling_unrequested_reply() {
|
||||
let mut testbench =
|
||||
ReplyHandlerTestbench::new(TEST_COMPONENT_ID_0.id(), ActionReplyHandler::default());
|
||||
let action_reply = ActionReplyPus::new(5_u32, ActionReplyVariant::Completed);
|
||||
let mut testbench = ReplyHandlerTestbench::new(ActionReplyHandler::default());
|
||||
let action_reply = PusActionReply::new(5_u32, ActionReplyVariant::Completed);
|
||||
let unrequested_reply =
|
||||
GenericMessage::new(MessageMetadata::new(10_u32, 15_u64), action_reply);
|
||||
// Right now this function does not do a lot. We simply check that it does not panic or do
|
||||
@ -736,17 +723,16 @@ mod tests {
|
||||
|
||||
#[test]
|
||||
fn reply_handling_reply_timeout() {
|
||||
let mut testbench =
|
||||
ReplyHandlerTestbench::new(TEST_COMPONENT_ID_0.id(), ActionReplyHandler::default());
|
||||
let mut testbench = ReplyHandlerTestbench::new(ActionReplyHandler::default());
|
||||
let action_id = 5_u32;
|
||||
let (req_id, active_request) = testbench.add_tc(TEST_APID, TEST_UNIQUE_ID_0, &[]);
|
||||
let (req_id, active_request) = testbench.add_tc(TEST_APID, TEST_UNIQUE_ID, &[]);
|
||||
let result = testbench.handle_request_timeout(
|
||||
&ActivePusActionRequestStd::new_from_common_req(action_id, active_request),
|
||||
&[],
|
||||
);
|
||||
assert!(result.is_ok());
|
||||
testbench.verif_reporter.assert_completion_failure(
|
||||
TEST_COMPONENT_ID_0.raw(),
|
||||
TEST_COMPONENT_ID.raw(),
|
||||
req_id,
|
||||
None,
|
||||
tmtc_err::REQUEST_TIMEOUT.raw() as u64,
|
||||
|
||||
@ -8,25 +8,23 @@ use satrs::pus::event_srv::PusEventServiceHandler;
|
||||
use satrs::pus::verification::VerificationReporter;
|
||||
use satrs::pus::{
|
||||
EcssTcAndToken, EcssTcInMemConverter, EcssTcInSharedStoreConverter, EcssTcInVecConverter,
|
||||
EcssTmSender, MpscTcReceiver, MpscTmAsVecSender, PusPacketHandlerResult, PusServiceHelper,
|
||||
EcssTmSenderCore, MpscTcReceiver, MpscTmAsVecSender, MpscTmInSharedPoolSenderBounded,
|
||||
PusPacketHandlerResult, PusServiceHelper, PusTmAsVec, PusTmInPool, TmInSharedPoolSender,
|
||||
};
|
||||
use satrs::tmtc::{PacketAsVec, PacketSenderWithSharedPool};
|
||||
use satrs_example::config::components::PUS_EVENT_MANAGEMENT;
|
||||
|
||||
use super::HandlingStatus;
|
||||
|
||||
pub fn create_event_service_static(
|
||||
tm_sender: PacketSenderWithSharedPool,
|
||||
tm_sender: TmInSharedPoolSender<mpsc::SyncSender<PusTmInPool>>,
|
||||
tc_pool: SharedStaticMemoryPool,
|
||||
pus_event_rx: mpsc::Receiver<EcssTcAndToken>,
|
||||
event_request_tx: mpsc::Sender<EventRequestWithToken>,
|
||||
) -> EventServiceWrapper<PacketSenderWithSharedPool, EcssTcInSharedStoreConverter> {
|
||||
) -> EventServiceWrapper<MpscTmInSharedPoolSenderBounded, EcssTcInSharedStoreConverter> {
|
||||
let pus_5_handler = PusEventServiceHandler::new(
|
||||
PusServiceHelper::new(
|
||||
PUS_EVENT_MANAGEMENT.id(),
|
||||
PUS_EVENT_MANAGEMENT.raw(),
|
||||
pus_event_rx,
|
||||
tm_sender,
|
||||
create_verification_reporter(PUS_EVENT_MANAGEMENT.id(), PUS_EVENT_MANAGEMENT.apid),
|
||||
create_verification_reporter(PUS_EVENT_MANAGEMENT.apid),
|
||||
EcssTcInSharedStoreConverter::new(tc_pool.clone(), 2048),
|
||||
),
|
||||
event_request_tx,
|
||||
@ -37,16 +35,16 @@ pub fn create_event_service_static(
|
||||
}
|
||||
|
||||
pub fn create_event_service_dynamic(
|
||||
tm_funnel_tx: mpsc::Sender<PacketAsVec>,
|
||||
tm_funnel_tx: mpsc::Sender<PusTmAsVec>,
|
||||
pus_event_rx: mpsc::Receiver<EcssTcAndToken>,
|
||||
event_request_tx: mpsc::Sender<EventRequestWithToken>,
|
||||
) -> EventServiceWrapper<MpscTmAsVecSender, EcssTcInVecConverter> {
|
||||
let pus_5_handler = PusEventServiceHandler::new(
|
||||
PusServiceHelper::new(
|
||||
PUS_EVENT_MANAGEMENT.id(),
|
||||
PUS_EVENT_MANAGEMENT.raw(),
|
||||
pus_event_rx,
|
||||
tm_funnel_tx,
|
||||
create_verification_reporter(PUS_EVENT_MANAGEMENT.id(), PUS_EVENT_MANAGEMENT.apid),
|
||||
create_verification_reporter(PUS_EVENT_MANAGEMENT.apid),
|
||||
EcssTcInVecConverter::default(),
|
||||
),
|
||||
event_request_tx,
|
||||
@ -56,15 +54,15 @@ pub fn create_event_service_dynamic(
|
||||
}
|
||||
}
|
||||
|
||||
pub struct EventServiceWrapper<TmSender: EcssTmSender, TcInMemConverter: EcssTcInMemConverter> {
|
||||
pub struct EventServiceWrapper<TmSender: EcssTmSenderCore, TcInMemConverter: EcssTcInMemConverter> {
|
||||
pub handler:
|
||||
PusEventServiceHandler<MpscTcReceiver, TmSender, TcInMemConverter, VerificationReporter>,
|
||||
}
|
||||
|
||||
impl<TmSender: EcssTmSender, TcInMemConverter: EcssTcInMemConverter>
|
||||
impl<TmSender: EcssTmSenderCore, TcInMemConverter: EcssTcInMemConverter>
|
||||
EventServiceWrapper<TmSender, TcInMemConverter>
|
||||
{
|
||||
pub fn poll_and_handle_next_tc(&mut self, time_stamp: &[u8]) -> HandlingStatus {
|
||||
pub fn poll_and_handle_next_tc(&mut self, time_stamp: &[u8]) -> bool {
|
||||
match self.handler.poll_and_handle_next_tc(time_stamp) {
|
||||
Ok(result) => match result {
|
||||
PusPacketHandlerResult::RequestHandled => {}
|
||||
@ -77,12 +75,14 @@ impl<TmSender: EcssTmSender, TcInMemConverter: EcssTcInMemConverter>
|
||||
PusPacketHandlerResult::SubserviceNotImplemented(subservice, _) => {
|
||||
warn!("PUS 5 subservice {subservice} not implemented");
|
||||
}
|
||||
PusPacketHandlerResult::Empty => return HandlingStatus::Empty,
|
||||
PusPacketHandlerResult::Empty => {
|
||||
return true;
|
||||
}
|
||||
},
|
||||
Err(error) => {
|
||||
error!("PUS packet handling error: {error:?}")
|
||||
}
|
||||
}
|
||||
HandlingStatus::HandledOne
|
||||
false
|
||||
}
|
||||
}
|
||||
|
||||
@ -8,14 +8,15 @@ use satrs::pus::verification::{
|
||||
};
|
||||
use satrs::pus::{
|
||||
ActivePusRequestStd, ActiveRequestProvider, DefaultActiveRequestMap, EcssTcAndToken,
|
||||
EcssTcInMemConverter, EcssTcInSharedStoreConverter, EcssTcInVecConverter, EcssTmSender,
|
||||
EcssTcInMemConverter, EcssTcInSharedStoreConverter, EcssTcInVecConverter, EcssTmSenderCore,
|
||||
EcssTmtcError, GenericConversionError, MpscTcReceiver, MpscTmAsVecSender,
|
||||
PusPacketHandlerResult, PusReplyHandler, PusServiceHelper, PusTcToRequestConverter,
|
||||
MpscTmInSharedPoolSenderBounded, PusPacketHandlerResult, PusReplyHandler, PusServiceHelper,
|
||||
PusTcToRequestConverter, PusTmAsVec, PusTmInPool, TmInSharedPoolSender,
|
||||
};
|
||||
use satrs::request::{GenericMessage, UniqueApidTargetId};
|
||||
use satrs::spacepackets::ecss::tc::PusTcReader;
|
||||
use satrs::spacepackets::ecss::{hk, PusPacket};
|
||||
use satrs::tmtc::{PacketAsVec, PacketSenderWithSharedPool};
|
||||
use satrs::ComponentId;
|
||||
use satrs_example::config::components::PUS_HK_SERVICE;
|
||||
use satrs_example::config::{hk_err, tmtc_err};
|
||||
use std::sync::mpsc;
|
||||
@ -24,7 +25,7 @@ use std::time::Duration;
|
||||
use crate::pus::{create_verification_reporter, generic_pus_request_timeout_handler};
|
||||
use crate::requests::GenericRequestRouter;
|
||||
|
||||
use super::{HandlingStatus, PusTargetedRequestService};
|
||||
use super::PusTargetedRequestService;
|
||||
|
||||
#[derive(Clone, PartialEq, Debug, new)]
|
||||
pub struct HkReply {
|
||||
@ -45,8 +46,9 @@ impl PusReplyHandler<ActivePusRequestStd, HkReply> for HkReplyHandler {
|
||||
|
||||
fn handle_unrequested_reply(
|
||||
&mut self,
|
||||
_caller_id: ComponentId,
|
||||
reply: &GenericMessage<HkReply>,
|
||||
_tm_sender: &impl EcssTmSender,
|
||||
_tm_sender: &impl EcssTmSenderCore,
|
||||
) -> Result<(), Self::Error> {
|
||||
log::warn!("received unexpected reply for service 3: {reply:?}");
|
||||
Ok(())
|
||||
@ -54,9 +56,10 @@ impl PusReplyHandler<ActivePusRequestStd, HkReply> for HkReplyHandler {
|
||||
|
||||
fn handle_reply(
|
||||
&mut self,
|
||||
caller_id: ComponentId,
|
||||
reply: &GenericMessage<HkReply>,
|
||||
active_request: &ActivePusRequestStd,
|
||||
tm_sender: &impl EcssTmSender,
|
||||
tm_sender: &impl EcssTmSenderCore,
|
||||
verification_handler: &impl VerificationReportingProvider,
|
||||
time_stamp: &[u8],
|
||||
) -> Result<bool, Self::Error> {
|
||||
@ -67,7 +70,7 @@ impl PusReplyHandler<ActivePusRequestStd, HkReply> for HkReplyHandler {
|
||||
match reply.message.variant {
|
||||
HkReplyVariant::Ack => {
|
||||
verification_handler
|
||||
.completion_success(tm_sender, started_token, time_stamp)
|
||||
.completion_success(caller_id, tm_sender, started_token, time_stamp)
|
||||
.expect("sending completion success verification failed");
|
||||
}
|
||||
};
|
||||
@ -76,12 +79,14 @@ impl PusReplyHandler<ActivePusRequestStd, HkReply> for HkReplyHandler {
|
||||
|
||||
fn handle_request_timeout(
|
||||
&mut self,
|
||||
caller_id: ComponentId,
|
||||
active_request: &ActivePusRequestStd,
|
||||
tm_sender: &impl EcssTmSender,
|
||||
tm_sender: &impl EcssTmSenderCore,
|
||||
verification_handler: &impl VerificationReportingProvider,
|
||||
time_stamp: &[u8],
|
||||
) -> Result<(), Self::Error> {
|
||||
generic_pus_request_timeout_handler(
|
||||
caller_id,
|
||||
tm_sender,
|
||||
active_request,
|
||||
verification_handler,
|
||||
@ -109,9 +114,10 @@ impl PusTcToRequestConverter<ActivePusRequestStd, HkRequest> for HkRequestConver
|
||||
|
||||
fn convert(
|
||||
&mut self,
|
||||
caller_id: ComponentId,
|
||||
token: VerificationToken<TcStateAccepted>,
|
||||
tc: &PusTcReader,
|
||||
tm_sender: &(impl EcssTmSender + ?Sized),
|
||||
tm_sender: &(impl EcssTmSenderCore + ?Sized),
|
||||
verif_reporter: &impl VerificationReportingProvider,
|
||||
time_stamp: &[u8],
|
||||
) -> Result<(ActivePusRequestStd, HkRequest), Self::Error> {
|
||||
@ -121,6 +127,7 @@ impl PusTcToRequestConverter<ActivePusRequestStd, HkRequest> for HkRequestConver
|
||||
let user_data_len_raw = user_data_len.to_be_bytes();
|
||||
verif_reporter
|
||||
.start_failure(
|
||||
caller_id,
|
||||
tm_sender,
|
||||
token,
|
||||
FailParams::new(
|
||||
@ -145,6 +152,7 @@ impl PusTcToRequestConverter<ActivePusRequestStd, HkRequest> for HkRequestConver
|
||||
let user_data_len_raw = user_data_len.to_be_bytes();
|
||||
verif_reporter
|
||||
.start_failure(
|
||||
caller_id,
|
||||
tm_sender,
|
||||
token,
|
||||
FailParams::new(time_stamp, err, &user_data_len_raw),
|
||||
@ -163,6 +171,7 @@ impl PusTcToRequestConverter<ActivePusRequestStd, HkRequest> for HkRequestConver
|
||||
if standard_subservice.is_err() {
|
||||
verif_reporter
|
||||
.start_failure(
|
||||
caller_id,
|
||||
tm_sender,
|
||||
token,
|
||||
FailParams::new(time_stamp, &tmtc_err::INVALID_PUS_SUBSERVICE, &[subservice]),
|
||||
@ -187,6 +196,7 @@ impl PusTcToRequestConverter<ActivePusRequestStd, HkRequest> for HkRequestConver
|
||||
if user_data.len() < 12 {
|
||||
verif_reporter
|
||||
.start_failure(
|
||||
caller_id,
|
||||
tm_sender,
|
||||
token,
|
||||
FailParams::new_no_fail_data(
|
||||
@ -212,6 +222,7 @@ impl PusTcToRequestConverter<ActivePusRequestStd, HkRequest> for HkRequestConver
|
||||
_ => {
|
||||
verif_reporter
|
||||
.start_failure(
|
||||
caller_id,
|
||||
tm_sender,
|
||||
token,
|
||||
FailParams::new(
|
||||
@ -232,18 +243,18 @@ impl PusTcToRequestConverter<ActivePusRequestStd, HkRequest> for HkRequestConver
|
||||
}
|
||||
|
||||
pub fn create_hk_service_static(
|
||||
tm_sender: PacketSenderWithSharedPool,
|
||||
tm_sender: TmInSharedPoolSender<mpsc::SyncSender<PusTmInPool>>,
|
||||
tc_pool: SharedStaticMemoryPool,
|
||||
pus_hk_rx: mpsc::Receiver<EcssTcAndToken>,
|
||||
request_router: GenericRequestRouter,
|
||||
reply_receiver: mpsc::Receiver<GenericMessage<HkReply>>,
|
||||
) -> HkServiceWrapper<PacketSenderWithSharedPool, EcssTcInSharedStoreConverter> {
|
||||
) -> HkServiceWrapper<MpscTmInSharedPoolSenderBounded, EcssTcInSharedStoreConverter> {
|
||||
let pus_3_handler = PusTargetedRequestService::new(
|
||||
PusServiceHelper::new(
|
||||
PUS_HK_SERVICE.id(),
|
||||
PUS_HK_SERVICE.raw(),
|
||||
pus_hk_rx,
|
||||
tm_sender,
|
||||
create_verification_reporter(PUS_HK_SERVICE.id(), PUS_HK_SERVICE.apid),
|
||||
create_verification_reporter(PUS_HK_SERVICE.apid),
|
||||
EcssTcInSharedStoreConverter::new(tc_pool, 2048),
|
||||
),
|
||||
HkRequestConverter::default(),
|
||||
@ -258,17 +269,17 @@ pub fn create_hk_service_static(
|
||||
}
|
||||
|
||||
pub fn create_hk_service_dynamic(
|
||||
tm_funnel_tx: mpsc::Sender<PacketAsVec>,
|
||||
tm_funnel_tx: mpsc::Sender<PusTmAsVec>,
|
||||
pus_hk_rx: mpsc::Receiver<EcssTcAndToken>,
|
||||
request_router: GenericRequestRouter,
|
||||
reply_receiver: mpsc::Receiver<GenericMessage<HkReply>>,
|
||||
) -> HkServiceWrapper<MpscTmAsVecSender, EcssTcInVecConverter> {
|
||||
let pus_3_handler = PusTargetedRequestService::new(
|
||||
PusServiceHelper::new(
|
||||
PUS_HK_SERVICE.id(),
|
||||
PUS_HK_SERVICE.raw(),
|
||||
pus_hk_rx,
|
||||
tm_funnel_tx,
|
||||
create_verification_reporter(PUS_HK_SERVICE.id(), PUS_HK_SERVICE.apid),
|
||||
create_verification_reporter(PUS_HK_SERVICE.apid),
|
||||
EcssTcInVecConverter::default(),
|
||||
),
|
||||
HkRequestConverter::default(),
|
||||
@ -282,7 +293,7 @@ pub fn create_hk_service_dynamic(
|
||||
}
|
||||
}
|
||||
|
||||
pub struct HkServiceWrapper<TmSender: EcssTmSender, TcInMemConverter: EcssTcInMemConverter> {
|
||||
pub struct HkServiceWrapper<TmSender: EcssTmSenderCore, TcInMemConverter: EcssTcInMemConverter> {
|
||||
pub(crate) service: PusTargetedRequestService<
|
||||
MpscTcReceiver,
|
||||
TmSender,
|
||||
@ -297,10 +308,10 @@ pub struct HkServiceWrapper<TmSender: EcssTmSender, TcInMemConverter: EcssTcInMe
|
||||
>,
|
||||
}
|
||||
|
||||
impl<TmSender: EcssTmSender, TcInMemConverter: EcssTcInMemConverter>
|
||||
impl<TmSender: EcssTmSenderCore, TcInMemConverter: EcssTcInMemConverter>
|
||||
HkServiceWrapper<TmSender, TcInMemConverter>
|
||||
{
|
||||
pub fn poll_and_handle_next_tc(&mut self, time_stamp: &[u8]) -> HandlingStatus {
|
||||
pub fn poll_and_handle_next_tc(&mut self, time_stamp: &[u8]) -> bool {
|
||||
match self.service.poll_and_handle_next_tc(time_stamp) {
|
||||
Ok(result) => match result {
|
||||
PusPacketHandlerResult::RequestHandled => {}
|
||||
@ -313,24 +324,23 @@ impl<TmSender: EcssTmSender, TcInMemConverter: EcssTcInMemConverter>
|
||||
PusPacketHandlerResult::SubserviceNotImplemented(subservice, _) => {
|
||||
warn!("PUS 3 subservice {subservice} not implemented");
|
||||
}
|
||||
PusPacketHandlerResult::Empty => return HandlingStatus::Empty,
|
||||
PusPacketHandlerResult::Empty => {
|
||||
return true;
|
||||
}
|
||||
},
|
||||
Err(error) => {
|
||||
error!("PUS packet handling error: {error:?}");
|
||||
// To avoid permanent loops on error cases.
|
||||
return HandlingStatus::Empty;
|
||||
error!("PUS packet handling error: {error:?}")
|
||||
}
|
||||
}
|
||||
HandlingStatus::HandledOne
|
||||
false
|
||||
}
|
||||
|
||||
pub fn poll_and_handle_next_reply(&mut self, time_stamp: &[u8]) -> HandlingStatus {
|
||||
// This only fails if all senders disconnected. Treat it like an empty queue.
|
||||
pub fn poll_and_handle_next_reply(&mut self, time_stamp: &[u8]) -> bool {
|
||||
self.service
|
||||
.poll_and_check_next_reply(time_stamp)
|
||||
.unwrap_or_else(|e| {
|
||||
warn!("PUS 3: Handling reply failed with error {e:?}");
|
||||
HandlingStatus::Empty
|
||||
false
|
||||
})
|
||||
}
|
||||
|
||||
@ -341,9 +351,7 @@ impl<TmSender: EcssTmSender, TcInMemConverter: EcssTcInMemConverter>
|
||||
|
||||
#[cfg(test)]
|
||||
mod tests {
|
||||
use satrs::pus::test_util::{
|
||||
TEST_COMPONENT_ID_0, TEST_COMPONENT_ID_1, TEST_UNIQUE_ID_0, TEST_UNIQUE_ID_1,
|
||||
};
|
||||
use satrs::pus::test_util::{TEST_COMPONENT_ID, TEST_UNIQUE_ID};
|
||||
use satrs::request::MessageMetadata;
|
||||
use satrs::{
|
||||
hk::HkRequestVariant,
|
||||
@ -365,25 +373,24 @@ mod tests {
|
||||
|
||||
#[test]
|
||||
fn hk_converter_one_shot_req() {
|
||||
let mut hk_bench =
|
||||
PusConverterTestbench::new(TEST_COMPONENT_ID_0.id(), HkRequestConverter::default());
|
||||
let sp_header = SpHeader::new_for_unseg_tc(TEST_APID, 0, 0);
|
||||
let target_id = TEST_UNIQUE_ID_0;
|
||||
let mut hk_bench = PusConverterTestbench::new(HkRequestConverter::default());
|
||||
let mut sp_header = SpHeader::tc_unseg(TEST_APID, 0, 0).unwrap();
|
||||
let target_id = TEST_UNIQUE_ID;
|
||||
let unique_id = 5_u32;
|
||||
let mut app_data: [u8; 8] = [0; 8];
|
||||
app_data[0..4].copy_from_slice(&target_id.to_be_bytes());
|
||||
app_data[4..8].copy_from_slice(&unique_id.to_be_bytes());
|
||||
|
||||
let hk_req = PusTcCreator::new_simple(
|
||||
sp_header,
|
||||
&mut sp_header,
|
||||
3,
|
||||
Subservice::TcGenerateOneShotHk as u8,
|
||||
&app_data,
|
||||
Some(&app_data),
|
||||
true,
|
||||
);
|
||||
let accepted_token = hk_bench.add_tc(&hk_req);
|
||||
let (_active_req, req) = hk_bench
|
||||
.convert(accepted_token, &[], TEST_APID, TEST_UNIQUE_ID_0)
|
||||
.convert(accepted_token, &[], TEST_APID, TEST_UNIQUE_ID)
|
||||
.expect("conversion failed");
|
||||
|
||||
assert_eq!(req.unique_id, unique_id);
|
||||
@ -395,10 +402,9 @@ mod tests {
|
||||
|
||||
#[test]
|
||||
fn hk_converter_enable_periodic_generation() {
|
||||
let mut hk_bench =
|
||||
PusConverterTestbench::new(TEST_COMPONENT_ID_0.id(), HkRequestConverter::default());
|
||||
let sp_header = SpHeader::new_for_unseg_tc(TEST_APID, 0, 0);
|
||||
let target_id = TEST_UNIQUE_ID_0;
|
||||
let mut hk_bench = PusConverterTestbench::new(HkRequestConverter::default());
|
||||
let mut sp_header = SpHeader::tc_unseg(TEST_APID, 0, 0).unwrap();
|
||||
let target_id = TEST_UNIQUE_ID;
|
||||
let unique_id = 5_u32;
|
||||
let mut app_data: [u8; 8] = [0; 8];
|
||||
app_data[0..4].copy_from_slice(&target_id.to_be_bytes());
|
||||
@ -406,7 +412,7 @@ mod tests {
|
||||
let mut generic_check = |tc: &PusTcCreator| {
|
||||
let accepted_token = hk_bench.add_tc(tc);
|
||||
let (_active_req, req) = hk_bench
|
||||
.convert(accepted_token, &[], TEST_APID, TEST_UNIQUE_ID_0)
|
||||
.convert(accepted_token, &[], TEST_APID, TEST_UNIQUE_ID)
|
||||
.expect("conversion failed");
|
||||
assert_eq!(req.unique_id, unique_id);
|
||||
if let HkRequestVariant::EnablePeriodic = req.variant {
|
||||
@ -415,18 +421,18 @@ mod tests {
|
||||
}
|
||||
};
|
||||
let tc0 = PusTcCreator::new_simple(
|
||||
sp_header,
|
||||
&mut sp_header,
|
||||
3,
|
||||
Subservice::TcEnableHkGeneration as u8,
|
||||
&app_data,
|
||||
Some(&app_data),
|
||||
true,
|
||||
);
|
||||
generic_check(&tc0);
|
||||
let tc1 = PusTcCreator::new_simple(
|
||||
sp_header,
|
||||
&mut sp_header,
|
||||
3,
|
||||
Subservice::TcEnableDiagGeneration as u8,
|
||||
&app_data,
|
||||
Some(&app_data),
|
||||
true,
|
||||
);
|
||||
generic_check(&tc1);
|
||||
@ -434,10 +440,9 @@ mod tests {
|
||||
|
||||
#[test]
|
||||
fn hk_conversion_disable_periodic_generation() {
|
||||
let mut hk_bench =
|
||||
PusConverterTestbench::new(TEST_COMPONENT_ID_0.id(), HkRequestConverter::default());
|
||||
let sp_header = SpHeader::new_for_unseg_tc(TEST_APID, 0, 0);
|
||||
let target_id = TEST_UNIQUE_ID_0;
|
||||
let mut hk_bench = PusConverterTestbench::new(HkRequestConverter::default());
|
||||
let mut sp_header = SpHeader::tc_unseg(TEST_APID, 0, 0).unwrap();
|
||||
let target_id = TEST_UNIQUE_ID;
|
||||
let unique_id = 5_u32;
|
||||
let mut app_data: [u8; 8] = [0; 8];
|
||||
app_data[0..4].copy_from_slice(&target_id.to_be_bytes());
|
||||
@ -445,7 +450,7 @@ mod tests {
|
||||
let mut generic_check = |tc: &PusTcCreator| {
|
||||
let accepted_token = hk_bench.add_tc(tc);
|
||||
let (_active_req, req) = hk_bench
|
||||
.convert(accepted_token, &[], TEST_APID, TEST_UNIQUE_ID_0)
|
||||
.convert(accepted_token, &[], TEST_APID, TEST_UNIQUE_ID)
|
||||
.expect("conversion failed");
|
||||
assert_eq!(req.unique_id, unique_id);
|
||||
if let HkRequestVariant::DisablePeriodic = req.variant {
|
||||
@ -454,18 +459,18 @@ mod tests {
|
||||
}
|
||||
};
|
||||
let tc0 = PusTcCreator::new_simple(
|
||||
sp_header,
|
||||
&mut sp_header,
|
||||
3,
|
||||
Subservice::TcDisableHkGeneration as u8,
|
||||
&app_data,
|
||||
Some(&app_data),
|
||||
true,
|
||||
);
|
||||
generic_check(&tc0);
|
||||
let tc1 = PusTcCreator::new_simple(
|
||||
sp_header,
|
||||
&mut sp_header,
|
||||
3,
|
||||
Subservice::TcDisableDiagGeneration as u8,
|
||||
&app_data,
|
||||
Some(&app_data),
|
||||
true,
|
||||
);
|
||||
generic_check(&tc1);
|
||||
@ -473,10 +478,9 @@ mod tests {
|
||||
|
||||
#[test]
|
||||
fn hk_conversion_modify_interval() {
|
||||
let mut hk_bench =
|
||||
PusConverterTestbench::new(TEST_COMPONENT_ID_0.id(), HkRequestConverter::default());
|
||||
let sp_header = SpHeader::new_for_unseg_tc(TEST_APID, 0, 0);
|
||||
let target_id = TEST_UNIQUE_ID_0;
|
||||
let mut hk_bench = PusConverterTestbench::new(HkRequestConverter::default());
|
||||
let mut sp_header = SpHeader::tc_unseg(TEST_APID, 0, 0).unwrap();
|
||||
let target_id = TEST_UNIQUE_ID;
|
||||
let unique_id = 5_u32;
|
||||
let mut app_data: [u8; 12] = [0; 12];
|
||||
let collection_interval_factor = 5_u32;
|
||||
@ -487,7 +491,7 @@ mod tests {
|
||||
let mut generic_check = |tc: &PusTcCreator| {
|
||||
let accepted_token = hk_bench.add_tc(tc);
|
||||
let (_active_req, req) = hk_bench
|
||||
.convert(accepted_token, &[], TEST_APID, TEST_UNIQUE_ID_0)
|
||||
.convert(accepted_token, &[], TEST_APID, TEST_UNIQUE_ID)
|
||||
.expect("conversion failed");
|
||||
assert_eq!(req.unique_id, unique_id);
|
||||
if let HkRequestVariant::ModifyCollectionInterval(interval_factor) = req.variant {
|
||||
@ -497,18 +501,18 @@ mod tests {
|
||||
}
|
||||
};
|
||||
let tc0 = PusTcCreator::new_simple(
|
||||
sp_header,
|
||||
&mut sp_header,
|
||||
3,
|
||||
Subservice::TcModifyHkCollectionInterval as u8,
|
||||
&app_data,
|
||||
Some(&app_data),
|
||||
true,
|
||||
);
|
||||
generic_check(&tc0);
|
||||
let tc1 = PusTcCreator::new_simple(
|
||||
sp_header,
|
||||
&mut sp_header,
|
||||
3,
|
||||
Subservice::TcModifyDiagCollectionInterval as u8,
|
||||
&app_data,
|
||||
Some(&app_data),
|
||||
true,
|
||||
);
|
||||
generic_check(&tc1);
|
||||
@ -516,8 +520,7 @@ mod tests {
|
||||
|
||||
#[test]
|
||||
fn hk_reply_handler() {
|
||||
let mut reply_testbench =
|
||||
ReplyHandlerTestbench::new(TEST_COMPONENT_ID_0.id(), HkReplyHandler::default());
|
||||
let mut reply_testbench = ReplyHandlerTestbench::new(HkReplyHandler::default());
|
||||
let sender_id = 2_u64;
|
||||
let apid_target_id = 3_u32;
|
||||
let unique_id = 5_u32;
|
||||
@ -531,13 +534,12 @@ mod tests {
|
||||
assert!(result.unwrap());
|
||||
reply_testbench
|
||||
.verif_reporter
|
||||
.assert_full_completion_success(TEST_COMPONENT_ID_0.raw(), req_id, None);
|
||||
.assert_full_completion_success(TEST_COMPONENT_ID.raw(), req_id, None);
|
||||
}
|
||||
|
||||
#[test]
|
||||
fn reply_handling_unrequested_reply() {
|
||||
let mut testbench =
|
||||
ReplyHandlerTestbench::new(TEST_COMPONENT_ID_1.id(), HkReplyHandler::default());
|
||||
let mut testbench = ReplyHandlerTestbench::new(HkReplyHandler::default());
|
||||
let action_reply = HkReply::new(5_u32, HkReplyVariant::Ack);
|
||||
let unrequested_reply =
|
||||
GenericMessage::new(MessageMetadata::new(10_u32, 15_u64), action_reply);
|
||||
@ -549,13 +551,12 @@ mod tests {
|
||||
|
||||
#[test]
|
||||
fn reply_handling_reply_timeout() {
|
||||
let mut testbench =
|
||||
ReplyHandlerTestbench::new(TEST_COMPONENT_ID_1.id(), HkReplyHandler::default());
|
||||
let (req_id, active_request) = testbench.add_tc(TEST_APID, TEST_UNIQUE_ID_1, &[]);
|
||||
let mut testbench = ReplyHandlerTestbench::new(HkReplyHandler::default());
|
||||
let (req_id, active_request) = testbench.add_tc(TEST_APID, TEST_UNIQUE_ID, &[]);
|
||||
let result = testbench.handle_request_timeout(&active_request, &[]);
|
||||
assert!(result.is_ok());
|
||||
testbench.verif_reporter.assert_completion_failure(
|
||||
TEST_COMPONENT_ID_1.raw(),
|
||||
TEST_COMPONENT_ID.raw(),
|
||||
req_id,
|
||||
None,
|
||||
tmtc_err::REQUEST_TIMEOUT.raw() as u64,
|
||||
|
||||
@ -1,21 +1,20 @@
|
||||
use crate::requests::GenericRequestRouter;
|
||||
use crate::tmtc::MpscStoreAndSendError;
|
||||
use log::warn;
|
||||
use satrs::pool::PoolAddr;
|
||||
use satrs::pus::verification::{
|
||||
self, FailParams, TcStateAccepted, TcStateStarted, VerificationReporter,
|
||||
VerificationReporterCfg, VerificationReportingProvider, VerificationToken,
|
||||
};
|
||||
use satrs::pus::{
|
||||
ActiveRequestMapProvider, ActiveRequestProvider, EcssTcAndToken, EcssTcInMemConverter,
|
||||
EcssTcReceiver, EcssTmSender, EcssTmtcError, GenericConversionError, GenericRoutingError,
|
||||
PusPacketHandlerResult, PusPacketHandlingError, PusReplyHandler, PusRequestRouter,
|
||||
PusServiceHelper, PusTcToRequestConverter, TcInMemory,
|
||||
EcssTcReceiverCore, EcssTmSenderCore, EcssTmtcError, GenericConversionError,
|
||||
GenericRoutingError, PusPacketHandlerResult, PusPacketHandlingError, PusReplyHandler,
|
||||
PusRequestRouter, PusServiceHelper, PusTcToRequestConverter, TcInMemory,
|
||||
};
|
||||
use satrs::queue::{GenericReceiveError, GenericSendError};
|
||||
use satrs::queue::GenericReceiveError;
|
||||
use satrs::request::{Apid, GenericMessage, MessageMetadata};
|
||||
use satrs::spacepackets::ecss::tc::PusTcReader;
|
||||
use satrs::spacepackets::ecss::{PusPacket, PusServiceId};
|
||||
use satrs::tmtc::{PacketAsVec, PacketInPool};
|
||||
use satrs::spacepackets::ecss::PusServiceId;
|
||||
use satrs::ComponentId;
|
||||
use satrs_example::config::components::PUS_ROUTING_SERVICE;
|
||||
use satrs_example::config::{tmtc_err, CustomPusServiceId};
|
||||
@ -31,17 +30,11 @@ pub mod scheduler;
|
||||
pub mod stack;
|
||||
pub mod test;
|
||||
|
||||
#[derive(Debug, PartialEq, Eq, Copy, Clone)]
|
||||
pub enum HandlingStatus {
|
||||
Empty,
|
||||
HandledOne,
|
||||
}
|
||||
|
||||
pub fn create_verification_reporter(owner_id: ComponentId, apid: Apid) -> VerificationReporter {
|
||||
pub fn create_verification_reporter(apid: Apid) -> VerificationReporter {
|
||||
let verif_cfg = VerificationReporterCfg::new(apid, 1, 2, 8).unwrap();
|
||||
// Every software component which needs to generate verification telemetry, gets a cloned
|
||||
// verification reporter.
|
||||
VerificationReporter::new(owner_id, &verif_cfg)
|
||||
VerificationReporter::new(&verif_cfg)
|
||||
}
|
||||
|
||||
/// Simple router structure which forwards PUS telecommands to dedicated handlers.
|
||||
@ -54,7 +47,7 @@ pub struct PusTcMpscRouter {
|
||||
pub mode_tc_sender: Sender<EcssTcAndToken>,
|
||||
}
|
||||
|
||||
pub struct PusTcDistributor<TmSender: EcssTmSender> {
|
||||
pub struct PusReceiver<TmSender: EcssTmSenderCore> {
|
||||
pub id: ComponentId,
|
||||
pub tm_sender: TmSender,
|
||||
pub verif_reporter: VerificationReporter,
|
||||
@ -62,68 +55,35 @@ pub struct PusTcDistributor<TmSender: EcssTmSender> {
|
||||
stamp_helper: TimeStampHelper,
|
||||
}
|
||||
|
||||
impl<TmSender: EcssTmSender> PusTcDistributor<TmSender> {
|
||||
impl<TmSender: EcssTmSenderCore> PusReceiver<TmSender> {
|
||||
pub fn new(tm_sender: TmSender, pus_router: PusTcMpscRouter) -> Self {
|
||||
Self {
|
||||
id: PUS_ROUTING_SERVICE.raw(),
|
||||
tm_sender,
|
||||
verif_reporter: create_verification_reporter(
|
||||
PUS_ROUTING_SERVICE.id(),
|
||||
PUS_ROUTING_SERVICE.apid,
|
||||
),
|
||||
verif_reporter: create_verification_reporter(PUS_ROUTING_SERVICE.apid),
|
||||
pus_router,
|
||||
stamp_helper: TimeStampHelper::default(),
|
||||
}
|
||||
}
|
||||
|
||||
pub fn handle_tc_packet_vec(
|
||||
pub fn handle_tc_packet(
|
||||
&mut self,
|
||||
packet_as_vec: PacketAsVec,
|
||||
) -> Result<PusPacketHandlerResult, GenericSendError> {
|
||||
self.handle_tc_generic(packet_as_vec.sender_id, None, &packet_as_vec.packet)
|
||||
}
|
||||
|
||||
pub fn handle_tc_packet_in_store(
|
||||
&mut self,
|
||||
packet_in_pool: PacketInPool,
|
||||
pus_tc_copy: &[u8],
|
||||
) -> Result<PusPacketHandlerResult, GenericSendError> {
|
||||
self.handle_tc_generic(
|
||||
packet_in_pool.sender_id,
|
||||
Some(packet_in_pool.store_addr),
|
||||
pus_tc_copy,
|
||||
)
|
||||
}
|
||||
|
||||
pub fn handle_tc_generic(
|
||||
&mut self,
|
||||
sender_id: ComponentId,
|
||||
addr_opt: Option<PoolAddr>,
|
||||
raw_tc: &[u8],
|
||||
) -> Result<PusPacketHandlerResult, GenericSendError> {
|
||||
let pus_tc_result = PusTcReader::new(raw_tc);
|
||||
if pus_tc_result.is_err() {
|
||||
log::warn!(
|
||||
"error creating PUS TC from raw data received from {}: {}",
|
||||
sender_id,
|
||||
pus_tc_result.unwrap_err()
|
||||
);
|
||||
log::warn!("raw data: {:x?}", raw_tc);
|
||||
return Ok(PusPacketHandlerResult::RequestHandled);
|
||||
}
|
||||
let pus_tc = pus_tc_result.unwrap().0;
|
||||
let init_token = self.verif_reporter.add_tc(&pus_tc);
|
||||
tc_in_memory: TcInMemory,
|
||||
service: u8,
|
||||
pus_tc: &PusTcReader,
|
||||
) -> Result<PusPacketHandlerResult, MpscStoreAndSendError> {
|
||||
let init_token = self.verif_reporter.add_tc(pus_tc);
|
||||
self.stamp_helper.update_from_now();
|
||||
let accepted_token = self
|
||||
.verif_reporter
|
||||
.acceptance_success(&self.tm_sender, init_token, self.stamp_helper.stamp())
|
||||
.acceptance_success(
|
||||
self.id,
|
||||
&self.tm_sender,
|
||||
init_token,
|
||||
self.stamp_helper.stamp(),
|
||||
)
|
||||
.expect("Acceptance success failure");
|
||||
let service = PusServiceId::try_from(pus_tc.service());
|
||||
let tc_in_memory: TcInMemory = if let Some(store_addr) = addr_opt {
|
||||
PacketInPool::new(sender_id, store_addr).into()
|
||||
} else {
|
||||
PacketAsVec::new(sender_id, Vec::from(raw_tc)).into()
|
||||
};
|
||||
let service = PusServiceId::try_from(service);
|
||||
match service {
|
||||
Ok(standard_service) => match standard_service {
|
||||
PusServiceId::Test => self.pus_router.test_tc_sender.send(EcssTcAndToken {
|
||||
@ -148,6 +108,7 @@ impl<TmSender: EcssTmSender> PusTcDistributor<TmSender> {
|
||||
}
|
||||
_ => {
|
||||
let result = self.verif_reporter.start_failure(
|
||||
self.id,
|
||||
&self.tm_sender,
|
||||
accepted_token,
|
||||
FailParams::new(
|
||||
@ -164,19 +125,16 @@ impl<TmSender: EcssTmSender> PusTcDistributor<TmSender> {
|
||||
Err(e) => {
|
||||
if let Ok(custom_service) = CustomPusServiceId::try_from(e.number) {
|
||||
match custom_service {
|
||||
CustomPusServiceId::Mode => self
|
||||
.pus_router
|
||||
.mode_tc_sender
|
||||
.send(EcssTcAndToken {
|
||||
tc_in_memory,
|
||||
token: Some(accepted_token.into()),
|
||||
})
|
||||
.map_err(|_| GenericSendError::RxDisconnected)?,
|
||||
CustomPusServiceId::Mode => {
|
||||
// TODO: Fix mode service.
|
||||
//self.handle_mode_service(pus_tc, accepted_token)
|
||||
}
|
||||
CustomPusServiceId::Health => {}
|
||||
}
|
||||
} else {
|
||||
self.verif_reporter
|
||||
.start_failure(
|
||||
self.id,
|
||||
&self.tm_sender,
|
||||
accepted_token,
|
||||
FailParams::new(
|
||||
@ -195,8 +153,8 @@ impl<TmSender: EcssTmSender> PusTcDistributor<TmSender> {
|
||||
|
||||
pub trait TargetedPusService {
|
||||
/// Returns [true] if the packet handling is finished.
|
||||
fn poll_and_handle_next_tc(&mut self, time_stamp: &[u8]) -> HandlingStatus;
|
||||
fn poll_and_handle_next_reply(&mut self, time_stamp: &[u8]) -> HandlingStatus;
|
||||
fn poll_and_handle_next_tc(&mut self, time_stamp: &[u8]) -> bool;
|
||||
fn poll_and_handle_next_reply(&mut self, time_stamp: &[u8]) -> bool;
|
||||
fn check_for_request_timeouts(&mut self);
|
||||
}
|
||||
|
||||
@ -217,13 +175,12 @@ pub trait TargetedPusService {
|
||||
///
|
||||
/// The handler exposes the following API:
|
||||
///
|
||||
/// 1. [Self::poll_and_handle_next_tc] which tries to poll and handle one TC packet, covering
|
||||
/// steps 1-5.
|
||||
/// 2. [Self::poll_and_check_next_reply] which tries to poll and handle one reply, covering step 6.
|
||||
/// 1. [Self::handle_one_tc] which tries to poll and handle one TC packet, covering steps 1-5.
|
||||
/// 2. [Self::check_one_reply] which tries to poll and handle one reply, covering step 6.
|
||||
/// 3. [Self::check_for_request_timeouts] which checks for request timeouts, covering step 7.
|
||||
pub struct PusTargetedRequestService<
|
||||
TcReceiver: EcssTcReceiver,
|
||||
TmSender: EcssTmSender,
|
||||
TcReceiver: EcssTcReceiverCore,
|
||||
TmSender: EcssTmSenderCore,
|
||||
TcInMemConverter: EcssTcInMemConverter,
|
||||
VerificationReporter: VerificationReportingProvider,
|
||||
RequestConverter: PusTcToRequestConverter<ActiveRequestInfo, RequestType, Error = GenericConversionError>,
|
||||
@ -244,8 +201,8 @@ pub struct PusTargetedRequestService<
|
||||
}
|
||||
|
||||
impl<
|
||||
TcReceiver: EcssTcReceiver,
|
||||
TmSender: EcssTmSender,
|
||||
TcReceiver: EcssTcReceiverCore,
|
||||
TmSender: EcssTmSenderCore,
|
||||
TcInMemConverter: EcssTcInMemConverter,
|
||||
VerificationReporter: VerificationReportingProvider,
|
||||
RequestConverter: PusTcToRequestConverter<ActiveRequestInfo, RequestType, Error = GenericConversionError>,
|
||||
@ -308,6 +265,7 @@ where
|
||||
.cache(&ecss_tc_and_token.tc_in_memory)?;
|
||||
let tc = self.service_helper.tc_in_mem_converter().convert()?;
|
||||
let (mut request_info, request) = match self.request_converter.convert(
|
||||
self.service_helper.id(),
|
||||
ecss_tc_and_token.token,
|
||||
&tc,
|
||||
self.service_helper.tm_sender(),
|
||||
@ -335,6 +293,7 @@ where
|
||||
.service_helper
|
||||
.verif_reporter()
|
||||
.start_success(
|
||||
self.service_helper.id(),
|
||||
&self.service_helper.common.tm_sender,
|
||||
accepted_token,
|
||||
time_stamp,
|
||||
@ -371,6 +330,7 @@ where
|
||||
self.service_helper
|
||||
.verif_reporter()
|
||||
.completion_failure(
|
||||
self.service_helper.id(),
|
||||
self.service_helper.tm_sender(),
|
||||
token,
|
||||
FailParams::new(time_stamp, &tmtc_err::INVALID_PUS_SERVICE, &service_slice),
|
||||
@ -382,6 +342,7 @@ where
|
||||
self.service_helper
|
||||
.verif_reporter()
|
||||
.completion_failure(
|
||||
self.service_helper.id(),
|
||||
self.service_helper.tm_sender(),
|
||||
token,
|
||||
FailParams::new(
|
||||
@ -398,6 +359,7 @@ where
|
||||
self.service_helper
|
||||
.verif_reporter()
|
||||
.completion_failure(
|
||||
self.service_helper.id(),
|
||||
self.service_helper.tm_sender(),
|
||||
token,
|
||||
FailParams::new(time_stamp, &tmtc_err::NOT_ENOUGH_APP_DATA, &context_info),
|
||||
@ -409,17 +371,14 @@ where
|
||||
}
|
||||
}
|
||||
|
||||
pub fn poll_and_check_next_reply(
|
||||
&mut self,
|
||||
time_stamp: &[u8],
|
||||
) -> Result<HandlingStatus, EcssTmtcError> {
|
||||
pub fn poll_and_check_next_reply(&mut self, time_stamp: &[u8]) -> Result<bool, EcssTmtcError> {
|
||||
match self.reply_receiver.try_recv() {
|
||||
Ok(reply) => {
|
||||
self.handle_reply(&reply, time_stamp)?;
|
||||
Ok(HandlingStatus::HandledOne)
|
||||
Ok(false)
|
||||
}
|
||||
Err(e) => match e {
|
||||
mpsc::TryRecvError::Empty => Ok(HandlingStatus::Empty),
|
||||
mpsc::TryRecvError::Empty => Ok(true),
|
||||
mpsc::TryRecvError::Disconnected => Err(EcssTmtcError::Receive(
|
||||
GenericReceiveError::TxDisconnected(None),
|
||||
)),
|
||||
@ -434,14 +393,18 @@ where
|
||||
) -> Result<(), EcssTmtcError> {
|
||||
let active_req_opt = self.active_request_map.get(reply.request_id());
|
||||
if active_req_opt.is_none() {
|
||||
self.reply_handler
|
||||
.handle_unrequested_reply(reply, &self.service_helper.common.tm_sender)?;
|
||||
self.reply_handler.handle_unrequested_reply(
|
||||
self.service_helper.id(),
|
||||
reply,
|
||||
&self.service_helper.common.tm_sender,
|
||||
)?;
|
||||
return Ok(());
|
||||
}
|
||||
let active_request = active_req_opt.unwrap();
|
||||
let request_finished = self
|
||||
.reply_handler
|
||||
.handle_reply(
|
||||
self.service_helper.id(),
|
||||
reply,
|
||||
active_request,
|
||||
&self.service_helper.common.tm_sender,
|
||||
@ -474,7 +437,8 @@ where
|
||||
/// Generic timeout handling: Handle the verification failure with a dedicated return code
|
||||
/// and also log the error.
|
||||
pub fn generic_pus_request_timeout_handler(
|
||||
sender: &(impl EcssTmSender + ?Sized),
|
||||
sender_id: ComponentId,
|
||||
sender: &(impl EcssTmSenderCore + ?Sized),
|
||||
active_request: &(impl ActiveRequestProvider + Debug),
|
||||
verification_handler: &impl VerificationReportingProvider,
|
||||
time_stamp: &[u8],
|
||||
@ -486,6 +450,7 @@ pub fn generic_pus_request_timeout_handler(
|
||||
.try_into()
|
||||
.expect("token not in expected started state");
|
||||
verification_handler.completion_failure(
|
||||
sender_id,
|
||||
sender,
|
||||
started_token,
|
||||
FailParams::new(time_stamp, &tmtc_err::REQUEST_TIMEOUT, &[]),
|
||||
@ -497,8 +462,8 @@ pub fn generic_pus_request_timeout_handler(
|
||||
pub(crate) mod tests {
|
||||
use std::time::Duration;
|
||||
|
||||
use satrs::pus::test_util::TEST_COMPONENT_ID_0;
|
||||
use satrs::pus::{MpscTmAsVecSender, PusTmVariant};
|
||||
use satrs::pus::test_util::TEST_COMPONENT_ID;
|
||||
use satrs::pus::{MpscTmAsVecSender, PusTmAsVec, PusTmVariant};
|
||||
use satrs::request::RequestId;
|
||||
use satrs::{
|
||||
pus::{
|
||||
@ -528,7 +493,7 @@ pub(crate) mod tests {
|
||||
pub id: ComponentId,
|
||||
pub verif_reporter: TestVerificationReporter,
|
||||
pub reply_handler: ReplyHandler,
|
||||
pub tm_receiver: mpsc::Receiver<PacketAsVec>,
|
||||
pub tm_receiver: mpsc::Receiver<PusTmAsVec>,
|
||||
pub default_timeout: Duration,
|
||||
tm_sender: MpscTmAsVecSender,
|
||||
phantom: std::marker::PhantomData<(ActiveRequestInfo, Reply)>,
|
||||
@ -540,11 +505,11 @@ pub(crate) mod tests {
|
||||
Reply,
|
||||
> ReplyHandlerTestbench<ReplyHandler, ActiveRequestInfo, Reply>
|
||||
{
|
||||
pub fn new(owner_id: ComponentId, reply_handler: ReplyHandler) -> Self {
|
||||
let test_verif_reporter = TestVerificationReporter::new(owner_id);
|
||||
pub fn new(reply_handler: ReplyHandler) -> Self {
|
||||
let test_verif_reporter = TestVerificationReporter::default();
|
||||
let (tm_sender, tm_receiver) = mpsc::channel();
|
||||
Self {
|
||||
id: TEST_COMPONENT_ID_0.raw(),
|
||||
id: TEST_COMPONENT_ID.raw(),
|
||||
verif_reporter: test_verif_reporter,
|
||||
reply_handler,
|
||||
default_timeout: Duration::from_secs(30),
|
||||
@ -560,21 +525,21 @@ pub(crate) mod tests {
|
||||
apid_target: u32,
|
||||
time_stamp: &[u8],
|
||||
) -> (verification::RequestId, ActivePusRequestStd) {
|
||||
let sp_header = SpHeader::new_from_apid(apid);
|
||||
let mut sp_header = SpHeader::tc_unseg(apid, 0, 0).unwrap();
|
||||
let sec_header_dummy = PusTcSecondaryHeader::new_simple(0, 0);
|
||||
let init = self.verif_reporter.add_tc(&PusTcCreator::new(
|
||||
sp_header,
|
||||
&mut sp_header,
|
||||
sec_header_dummy,
|
||||
&[],
|
||||
true,
|
||||
));
|
||||
let accepted = self
|
||||
.verif_reporter
|
||||
.acceptance_success(&self.tm_sender, init, time_stamp)
|
||||
.acceptance_success(self.id, &self.tm_sender, init, time_stamp)
|
||||
.expect("acceptance failed");
|
||||
let started = self
|
||||
.verif_reporter
|
||||
.start_success(&self.tm_sender, accepted, time_stamp)
|
||||
.start_success(self.id, &self.tm_sender, accepted, time_stamp)
|
||||
.expect("start failed");
|
||||
(
|
||||
started.request_id(),
|
||||
@ -593,6 +558,7 @@ pub(crate) mod tests {
|
||||
time_stamp: &[u8],
|
||||
) -> Result<bool, ReplyHandler::Error> {
|
||||
self.reply_handler.handle_reply(
|
||||
self.id,
|
||||
reply,
|
||||
active_request,
|
||||
&self.tm_sender,
|
||||
@ -606,7 +572,7 @@ pub(crate) mod tests {
|
||||
reply: &GenericMessage<Reply>,
|
||||
) -> Result<(), ReplyHandler::Error> {
|
||||
self.reply_handler
|
||||
.handle_unrequested_reply(reply, &self.tm_sender)
|
||||
.handle_unrequested_reply(self.id, reply, &self.tm_sender)
|
||||
}
|
||||
pub fn handle_request_timeout(
|
||||
&mut self,
|
||||
@ -614,6 +580,7 @@ pub(crate) mod tests {
|
||||
time_stamp: &[u8],
|
||||
) -> Result<(), ReplyHandler::Error> {
|
||||
self.reply_handler.handle_request_timeout(
|
||||
self.id,
|
||||
active_request_info,
|
||||
&self.tm_sender,
|
||||
&self.verif_reporter,
|
||||
@ -628,7 +595,7 @@ pub(crate) mod tests {
|
||||
/// Dummy sender component which does nothing on the [Self::send_tm] call.
|
||||
///
|
||||
/// Useful for unit tests.
|
||||
impl EcssTmSender for DummySender {
|
||||
impl EcssTmSenderCore for DummySender {
|
||||
fn send_tm(&self, _source_id: ComponentId, _tm: PusTmVariant) -> Result<(), EcssTmtcError> {
|
||||
Ok(())
|
||||
}
|
||||
@ -655,10 +622,10 @@ pub(crate) mod tests {
|
||||
Request,
|
||||
> PusConverterTestbench<Converter, ActiveRequestInfo, Request>
|
||||
{
|
||||
pub fn new(owner_id: ComponentId, converter: Converter) -> Self {
|
||||
let test_verif_reporter = TestVerificationReporter::new(owner_id);
|
||||
pub fn new(converter: Converter) -> Self {
|
||||
let test_verif_reporter = TestVerificationReporter::default();
|
||||
Self {
|
||||
id: owner_id,
|
||||
id: TEST_COMPONENT_ID.raw(),
|
||||
verif_reporter: test_verif_reporter,
|
||||
converter,
|
||||
dummy_sender: DummySender::default(),
|
||||
@ -673,7 +640,7 @@ pub(crate) mod tests {
|
||||
self.current_request_id = Some(verification::RequestId::new(tc));
|
||||
self.current_packet = Some(tc.to_vec().unwrap());
|
||||
self.verif_reporter
|
||||
.acceptance_success(&self.dummy_sender, token, &[])
|
||||
.acceptance_success(self.id, &self.dummy_sender, token, &[])
|
||||
.expect("acceptance failed")
|
||||
}
|
||||
|
||||
@ -696,6 +663,7 @@ pub(crate) mod tests {
|
||||
let current_packet = self.current_packet.take().unwrap();
|
||||
let tc_reader = PusTcReader::new(¤t_packet).unwrap();
|
||||
let (active_info, request) = self.converter.convert(
|
||||
self.id,
|
||||
token,
|
||||
&tc_reader.0,
|
||||
&self.dummy_sender,
|
||||
@ -735,7 +703,7 @@ pub(crate) mod tests {
|
||||
ReplyType,
|
||||
>,
|
||||
pub request_id: Option<RequestId>,
|
||||
pub tm_funnel_rx: mpsc::Receiver<PacketAsVec>,
|
||||
pub tm_funnel_rx: mpsc::Receiver<PusTmAsVec>,
|
||||
pub pus_packet_tx: mpsc::Sender<EcssTcAndToken>,
|
||||
pub reply_tx: mpsc::Sender<GenericMessage<ReplyType>>,
|
||||
pub request_rx: mpsc::Receiver<GenericMessage<CompositeRequest>>,
|
||||
|
||||
@ -1,6 +1,4 @@
|
||||
use derive_new::new;
|
||||
use log::{error, warn};
|
||||
use satrs::tmtc::{PacketAsVec, PacketSenderWithSharedPool};
|
||||
use std::sync::mpsc;
|
||||
use std::time::Duration;
|
||||
|
||||
@ -9,8 +7,8 @@ use satrs::pool::SharedStaticMemoryPool;
|
||||
use satrs::pus::verification::VerificationReporter;
|
||||
use satrs::pus::{
|
||||
DefaultActiveRequestMap, EcssTcAndToken, EcssTcInMemConverter, EcssTcInSharedStoreConverter,
|
||||
EcssTcInVecConverter, MpscTcReceiver, MpscTmAsVecSender, PusPacketHandlerResult,
|
||||
PusServiceHelper,
|
||||
EcssTcInVecConverter, MpscTcReceiver, MpscTmAsVecSender, MpscTmInSharedPoolSenderBounded,
|
||||
PusPacketHandlerResult, PusServiceHelper, PusTmAsVec, PusTmInPool, TmInSharedPoolSender,
|
||||
};
|
||||
use satrs::request::GenericMessage;
|
||||
use satrs::{
|
||||
@ -21,7 +19,7 @@ use satrs::{
|
||||
self, FailParams, TcStateAccepted, TcStateStarted, VerificationReportingProvider,
|
||||
VerificationToken,
|
||||
},
|
||||
ActivePusRequestStd, ActiveRequestProvider, EcssTmSender, EcssTmtcError,
|
||||
ActivePusRequestStd, ActiveRequestProvider, EcssTmSenderCore, EcssTmtcError,
|
||||
GenericConversionError, PusReplyHandler, PusTcToRequestConverter, PusTmVariant,
|
||||
},
|
||||
request::UniqueApidTargetId,
|
||||
@ -39,22 +37,21 @@ use satrs_example::config::components::PUS_MODE_SERVICE;
|
||||
use satrs_example::config::{mode_err, tmtc_err};
|
||||
|
||||
use super::{
|
||||
create_verification_reporter, generic_pus_request_timeout_handler, HandlingStatus,
|
||||
PusTargetedRequestService, TargetedPusService,
|
||||
create_verification_reporter, generic_pus_request_timeout_handler, PusTargetedRequestService,
|
||||
TargetedPusService,
|
||||
};
|
||||
|
||||
#[derive(new)]
|
||||
pub struct ModeReplyHandler {
|
||||
owner_id: ComponentId,
|
||||
}
|
||||
#[derive(Default)]
|
||||
pub struct ModeReplyHandler {}
|
||||
|
||||
impl PusReplyHandler<ActivePusRequestStd, ModeReply> for ModeReplyHandler {
|
||||
type Error = EcssTmtcError;
|
||||
|
||||
fn handle_unrequested_reply(
|
||||
&mut self,
|
||||
_caller_id: ComponentId,
|
||||
reply: &GenericMessage<ModeReply>,
|
||||
_tm_sender: &impl EcssTmSender,
|
||||
_tm_sender: &impl EcssTmSenderCore,
|
||||
) -> Result<(), Self::Error> {
|
||||
log::warn!("received unexpected reply for mode service 5: {reply:?}");
|
||||
Ok(())
|
||||
@ -62,9 +59,10 @@ impl PusReplyHandler<ActivePusRequestStd, ModeReply> for ModeReplyHandler {
|
||||
|
||||
fn handle_reply(
|
||||
&mut self,
|
||||
caller_id: ComponentId,
|
||||
reply: &GenericMessage<ModeReply>,
|
||||
active_request: &ActivePusRequestStd,
|
||||
tm_sender: &impl EcssTmSender,
|
||||
tm_sender: &impl EcssTmSenderCore,
|
||||
verification_handler: &impl VerificationReportingProvider,
|
||||
time_stamp: &[u8],
|
||||
) -> Result<bool, Self::Error> {
|
||||
@ -79,15 +77,27 @@ impl PusReplyHandler<ActivePusRequestStd, ModeReply> for ModeReplyHandler {
|
||||
.write_to_be_bytes(&mut source_data)
|
||||
.expect("writing mode reply failed");
|
||||
let req_id = verification::RequestId::from(reply.request_id());
|
||||
let sp_header = SpHeader::new_for_unseg_tm(req_id.packet_id().apid(), 0, 0);
|
||||
let sec_header =
|
||||
PusTmSecondaryHeader::new(200, Subservice::TmModeReply as u8, 0, 0, time_stamp);
|
||||
let pus_tm = PusTmCreator::new(sp_header, sec_header, &source_data, true);
|
||||
tm_sender.send_tm(self.owner_id, PusTmVariant::Direct(pus_tm))?;
|
||||
verification_handler.completion_success(tm_sender, started_token, time_stamp)?;
|
||||
let mut sp_header = SpHeader::tm_unseg(req_id.packet_id().apid(), 0, 0)
|
||||
.expect("generating SP header failed");
|
||||
let sec_header = PusTmSecondaryHeader::new(
|
||||
200,
|
||||
Subservice::TmModeReply as u8,
|
||||
0,
|
||||
0,
|
||||
Some(time_stamp),
|
||||
);
|
||||
let pus_tm = PusTmCreator::new(&mut sp_header, sec_header, &source_data, true);
|
||||
tm_sender.send_tm(caller_id, PusTmVariant::Direct(pus_tm))?;
|
||||
verification_handler.completion_success(
|
||||
caller_id,
|
||||
tm_sender,
|
||||
started_token,
|
||||
time_stamp,
|
||||
)?;
|
||||
}
|
||||
ModeReply::CantReachMode(error_code) => {
|
||||
verification_handler.completion_failure(
|
||||
caller_id,
|
||||
tm_sender,
|
||||
started_token,
|
||||
FailParams::new(time_stamp, &error_code, &[]),
|
||||
@ -102,6 +112,7 @@ impl PusReplyHandler<ActivePusRequestStd, ModeReply> for ModeReplyHandler {
|
||||
.write_to_be_bytes(&mut error_info[ModeAndSubmode::RAW_LEN..])
|
||||
.expect("writing reached mode failed");
|
||||
verification_handler.completion_failure(
|
||||
caller_id,
|
||||
tm_sender,
|
||||
started_token,
|
||||
FailParams::new(
|
||||
@ -117,12 +128,14 @@ impl PusReplyHandler<ActivePusRequestStd, ModeReply> for ModeReplyHandler {
|
||||
|
||||
fn handle_request_timeout(
|
||||
&mut self,
|
||||
caller_id: ComponentId,
|
||||
active_request: &ActivePusRequestStd,
|
||||
tm_sender: &impl EcssTmSender,
|
||||
tm_sender: &impl EcssTmSenderCore,
|
||||
verification_handler: &impl VerificationReportingProvider,
|
||||
time_stamp: &[u8],
|
||||
) -> Result<(), Self::Error> {
|
||||
generic_pus_request_timeout_handler(
|
||||
caller_id,
|
||||
tm_sender,
|
||||
active_request,
|
||||
verification_handler,
|
||||
@ -141,9 +154,11 @@ impl PusTcToRequestConverter<ActivePusRequestStd, ModeRequest> for ModeRequestCo
|
||||
|
||||
fn convert(
|
||||
&mut self,
|
||||
|
||||
caller_id: ComponentId,
|
||||
token: VerificationToken<TcStateAccepted>,
|
||||
tc: &PusTcReader,
|
||||
tm_sender: &(impl EcssTmSender + ?Sized),
|
||||
tm_sender: &(impl EcssTmSenderCore + ?Sized),
|
||||
verif_reporter: &impl VerificationReportingProvider,
|
||||
time_stamp: &[u8],
|
||||
) -> Result<(ActivePusRequestStd, ModeRequest), Self::Error> {
|
||||
@ -152,6 +167,7 @@ impl PusTcToRequestConverter<ActivePusRequestStd, ModeRequest> for ModeRequestCo
|
||||
let not_enough_app_data = |expected: usize| {
|
||||
verif_reporter
|
||||
.start_failure(
|
||||
caller_id,
|
||||
tm_sender,
|
||||
token,
|
||||
FailParams::new_no_fail_data(time_stamp, &tmtc_err::NOT_ENOUGH_APP_DATA),
|
||||
@ -173,6 +189,7 @@ impl PusTcToRequestConverter<ActivePusRequestStd, ModeRequest> for ModeRequestCo
|
||||
// Invalid subservice
|
||||
verif_reporter
|
||||
.start_failure(
|
||||
caller_id,
|
||||
tm_sender,
|
||||
token,
|
||||
FailParams::new_no_fail_data(time_stamp, &tmtc_err::INVALID_PUS_SUBSERVICE),
|
||||
@ -204,23 +221,23 @@ impl PusTcToRequestConverter<ActivePusRequestStd, ModeRequest> for ModeRequestCo
|
||||
}
|
||||
|
||||
pub fn create_mode_service_static(
|
||||
tm_sender: PacketSenderWithSharedPool,
|
||||
tm_sender: TmInSharedPoolSender<mpsc::SyncSender<PusTmInPool>>,
|
||||
tc_pool: SharedStaticMemoryPool,
|
||||
pus_action_rx: mpsc::Receiver<EcssTcAndToken>,
|
||||
mode_router: GenericRequestRouter,
|
||||
reply_receiver: mpsc::Receiver<GenericMessage<ModeReply>>,
|
||||
) -> ModeServiceWrapper<PacketSenderWithSharedPool, EcssTcInSharedStoreConverter> {
|
||||
) -> ModeServiceWrapper<MpscTmInSharedPoolSenderBounded, EcssTcInSharedStoreConverter> {
|
||||
let mode_request_handler = PusTargetedRequestService::new(
|
||||
PusServiceHelper::new(
|
||||
PUS_MODE_SERVICE.id(),
|
||||
PUS_MODE_SERVICE.raw(),
|
||||
pus_action_rx,
|
||||
tm_sender,
|
||||
create_verification_reporter(PUS_MODE_SERVICE.id(), PUS_MODE_SERVICE.apid),
|
||||
create_verification_reporter(PUS_MODE_SERVICE.apid),
|
||||
EcssTcInSharedStoreConverter::new(tc_pool, 2048),
|
||||
),
|
||||
ModeRequestConverter::default(),
|
||||
DefaultActiveRequestMap::default(),
|
||||
ModeReplyHandler::new(PUS_MODE_SERVICE.id()),
|
||||
ModeReplyHandler::default(),
|
||||
mode_router,
|
||||
reply_receiver,
|
||||
);
|
||||
@ -230,22 +247,22 @@ pub fn create_mode_service_static(
|
||||
}
|
||||
|
||||
pub fn create_mode_service_dynamic(
|
||||
tm_funnel_tx: mpsc::Sender<PacketAsVec>,
|
||||
tm_funnel_tx: mpsc::Sender<PusTmAsVec>,
|
||||
pus_action_rx: mpsc::Receiver<EcssTcAndToken>,
|
||||
mode_router: GenericRequestRouter,
|
||||
reply_receiver: mpsc::Receiver<GenericMessage<ModeReply>>,
|
||||
) -> ModeServiceWrapper<MpscTmAsVecSender, EcssTcInVecConverter> {
|
||||
let mode_request_handler = PusTargetedRequestService::new(
|
||||
PusServiceHelper::new(
|
||||
PUS_MODE_SERVICE.id(),
|
||||
PUS_MODE_SERVICE.raw(),
|
||||
pus_action_rx,
|
||||
tm_funnel_tx,
|
||||
create_verification_reporter(PUS_MODE_SERVICE.id(), PUS_MODE_SERVICE.apid),
|
||||
create_verification_reporter(PUS_MODE_SERVICE.apid),
|
||||
EcssTcInVecConverter::default(),
|
||||
),
|
||||
ModeRequestConverter::default(),
|
||||
DefaultActiveRequestMap::default(),
|
||||
ModeReplyHandler::new(PUS_MODE_SERVICE.id()),
|
||||
ModeReplyHandler::default(),
|
||||
mode_router,
|
||||
reply_receiver,
|
||||
);
|
||||
@ -254,7 +271,7 @@ pub fn create_mode_service_dynamic(
|
||||
}
|
||||
}
|
||||
|
||||
pub struct ModeServiceWrapper<TmSender: EcssTmSender, TcInMemConverter: EcssTcInMemConverter> {
|
||||
pub struct ModeServiceWrapper<TmSender: EcssTmSenderCore, TcInMemConverter: EcssTcInMemConverter> {
|
||||
pub(crate) service: PusTargetedRequestService<
|
||||
MpscTcReceiver,
|
||||
TmSender,
|
||||
@ -269,11 +286,11 @@ pub struct ModeServiceWrapper<TmSender: EcssTmSender, TcInMemConverter: EcssTcIn
|
||||
>,
|
||||
}
|
||||
|
||||
impl<TmSender: EcssTmSender, TcInMemConverter: EcssTcInMemConverter> TargetedPusService
|
||||
impl<TmSender: EcssTmSenderCore, TcInMemConverter: EcssTcInMemConverter> TargetedPusService
|
||||
for ModeServiceWrapper<TmSender, TcInMemConverter>
|
||||
{
|
||||
/// Returns [true] if the packet handling is finished.
|
||||
fn poll_and_handle_next_tc(&mut self, time_stamp: &[u8]) -> HandlingStatus {
|
||||
fn poll_and_handle_next_tc(&mut self, time_stamp: &[u8]) -> bool {
|
||||
match self.service.poll_and_handle_next_tc(time_stamp) {
|
||||
Ok(result) => match result {
|
||||
PusPacketHandlerResult::RequestHandled => {}
|
||||
@ -286,23 +303,23 @@ impl<TmSender: EcssTmSender, TcInMemConverter: EcssTcInMemConverter> TargetedPus
|
||||
PusPacketHandlerResult::SubserviceNotImplemented(subservice, _) => {
|
||||
warn!("PUS mode service: {subservice} not implemented");
|
||||
}
|
||||
PusPacketHandlerResult::Empty => return HandlingStatus::Empty,
|
||||
PusPacketHandlerResult::Empty => {
|
||||
return true;
|
||||
}
|
||||
},
|
||||
Err(error) => {
|
||||
error!("PUS mode service: packet handling error: {error:?}");
|
||||
// To avoid permanent loops on error cases.
|
||||
return HandlingStatus::Empty;
|
||||
error!("PUS mode service: packet handling error: {error:?}")
|
||||
}
|
||||
}
|
||||
HandlingStatus::HandledOne
|
||||
false
|
||||
}
|
||||
|
||||
fn poll_and_handle_next_reply(&mut self, time_stamp: &[u8]) -> HandlingStatus {
|
||||
fn poll_and_handle_next_reply(&mut self, time_stamp: &[u8]) -> bool {
|
||||
self.service
|
||||
.poll_and_check_next_reply(time_stamp)
|
||||
.unwrap_or_else(|e| {
|
||||
warn!("PUS action service: Handling reply failed with error {e:?}");
|
||||
HandlingStatus::HandledOne
|
||||
false
|
||||
})
|
||||
}
|
||||
|
||||
@ -312,7 +329,7 @@ impl<TmSender: EcssTmSender, TcInMemConverter: EcssTcInMemConverter> TargetedPus
|
||||
}
|
||||
#[cfg(test)]
|
||||
mod tests {
|
||||
use satrs::pus::test_util::{TEST_APID, TEST_COMPONENT_ID_0, TEST_UNIQUE_ID_0};
|
||||
use satrs::pus::test_util::{TEST_APID, TEST_COMPONENT_ID, TEST_UNIQUE_ID};
|
||||
use satrs::request::MessageMetadata;
|
||||
use satrs::{
|
||||
mode::{ModeAndSubmode, ModeReply, ModeRequest},
|
||||
@ -334,79 +351,72 @@ mod tests {
|
||||
|
||||
#[test]
|
||||
fn mode_converter_read_mode_request() {
|
||||
let mut testbench =
|
||||
PusConverterTestbench::new(TEST_COMPONENT_ID_0.id(), ModeRequestConverter::default());
|
||||
let sp_header = SpHeader::new_for_unseg_tc(TEST_APID, 0, 0);
|
||||
let mut testbench = PusConverterTestbench::new(ModeRequestConverter::default());
|
||||
let mut sp_header = SpHeader::tc_unseg(TEST_APID, 0, 0).unwrap();
|
||||
let sec_header = PusTcSecondaryHeader::new_simple(200, Subservice::TcReadMode as u8);
|
||||
let mut app_data: [u8; 4] = [0; 4];
|
||||
app_data[0..4].copy_from_slice(&TEST_UNIQUE_ID_0.to_be_bytes());
|
||||
let tc = PusTcCreator::new(sp_header, sec_header, &app_data, true);
|
||||
app_data[0..4].copy_from_slice(&TEST_UNIQUE_ID.to_be_bytes());
|
||||
let tc = PusTcCreator::new(&mut sp_header, sec_header, &app_data, true);
|
||||
let token = testbench.add_tc(&tc);
|
||||
let (_active_req, req) = testbench
|
||||
.convert(token, &[], TEST_APID, TEST_UNIQUE_ID_0)
|
||||
.convert(token, &[], TEST_APID, TEST_UNIQUE_ID)
|
||||
.expect("conversion has failed");
|
||||
assert_eq!(req, ModeRequest::ReadMode);
|
||||
}
|
||||
|
||||
#[test]
|
||||
fn mode_converter_set_mode_request() {
|
||||
let mut testbench =
|
||||
PusConverterTestbench::new(TEST_COMPONENT_ID_0.id(), ModeRequestConverter::default());
|
||||
let sp_header = SpHeader::new_for_unseg_tc(TEST_APID, 0, 0);
|
||||
let mut testbench = PusConverterTestbench::new(ModeRequestConverter::default());
|
||||
let mut sp_header = SpHeader::tc_unseg(TEST_APID, 0, 0).unwrap();
|
||||
let sec_header = PusTcSecondaryHeader::new_simple(200, Subservice::TcSetMode as u8);
|
||||
let mut app_data: [u8; 4 + ModeAndSubmode::RAW_LEN] = [0; 4 + ModeAndSubmode::RAW_LEN];
|
||||
let mode_and_submode = ModeAndSubmode::new(2, 1);
|
||||
app_data[0..4].copy_from_slice(&TEST_UNIQUE_ID_0.to_be_bytes());
|
||||
app_data[0..4].copy_from_slice(&TEST_UNIQUE_ID.to_be_bytes());
|
||||
mode_and_submode
|
||||
.write_to_be_bytes(&mut app_data[4..])
|
||||
.unwrap();
|
||||
let tc = PusTcCreator::new(sp_header, sec_header, &app_data, true);
|
||||
let tc = PusTcCreator::new(&mut sp_header, sec_header, &app_data, true);
|
||||
let token = testbench.add_tc(&tc);
|
||||
let (_active_req, req) = testbench
|
||||
.convert(token, &[], TEST_APID, TEST_UNIQUE_ID_0)
|
||||
.convert(token, &[], TEST_APID, TEST_UNIQUE_ID)
|
||||
.expect("conversion has failed");
|
||||
assert_eq!(req, ModeRequest::SetMode(mode_and_submode));
|
||||
}
|
||||
|
||||
#[test]
|
||||
fn mode_converter_announce_mode() {
|
||||
let mut testbench =
|
||||
PusConverterTestbench::new(TEST_COMPONENT_ID_0.id(), ModeRequestConverter::default());
|
||||
let sp_header = SpHeader::new_for_unseg_tc(TEST_APID, 0, 0);
|
||||
let mut testbench = PusConverterTestbench::new(ModeRequestConverter::default());
|
||||
let mut sp_header = SpHeader::tc_unseg(TEST_APID, 0, 0).unwrap();
|
||||
let sec_header = PusTcSecondaryHeader::new_simple(200, Subservice::TcAnnounceMode as u8);
|
||||
let mut app_data: [u8; 4] = [0; 4];
|
||||
app_data[0..4].copy_from_slice(&TEST_UNIQUE_ID_0.to_be_bytes());
|
||||
let tc = PusTcCreator::new(sp_header, sec_header, &app_data, true);
|
||||
app_data[0..4].copy_from_slice(&TEST_UNIQUE_ID.to_be_bytes());
|
||||
let tc = PusTcCreator::new(&mut sp_header, sec_header, &app_data, true);
|
||||
let token = testbench.add_tc(&tc);
|
||||
let (_active_req, req) = testbench
|
||||
.convert(token, &[], TEST_APID, TEST_UNIQUE_ID_0)
|
||||
.convert(token, &[], TEST_APID, TEST_UNIQUE_ID)
|
||||
.expect("conversion has failed");
|
||||
assert_eq!(req, ModeRequest::AnnounceMode);
|
||||
}
|
||||
|
||||
#[test]
|
||||
fn mode_converter_announce_mode_recursively() {
|
||||
let mut testbench =
|
||||
PusConverterTestbench::new(TEST_COMPONENT_ID_0.id(), ModeRequestConverter::default());
|
||||
let sp_header = SpHeader::new_for_unseg_tc(TEST_APID, 0, 0);
|
||||
let mut testbench = PusConverterTestbench::new(ModeRequestConverter::default());
|
||||
let mut sp_header = SpHeader::tc_unseg(TEST_APID, 0, 0).unwrap();
|
||||
let sec_header =
|
||||
PusTcSecondaryHeader::new_simple(200, Subservice::TcAnnounceModeRecursive as u8);
|
||||
let mut app_data: [u8; 4] = [0; 4];
|
||||
app_data[0..4].copy_from_slice(&TEST_UNIQUE_ID_0.to_be_bytes());
|
||||
let tc = PusTcCreator::new(sp_header, sec_header, &app_data, true);
|
||||
app_data[0..4].copy_from_slice(&TEST_UNIQUE_ID.to_be_bytes());
|
||||
let tc = PusTcCreator::new(&mut sp_header, sec_header, &app_data, true);
|
||||
let token = testbench.add_tc(&tc);
|
||||
let (_active_req, req) = testbench
|
||||
.convert(token, &[], TEST_APID, TEST_UNIQUE_ID_0)
|
||||
.convert(token, &[], TEST_APID, TEST_UNIQUE_ID)
|
||||
.expect("conversion has failed");
|
||||
assert_eq!(req, ModeRequest::AnnounceModeRecursive);
|
||||
}
|
||||
|
||||
#[test]
|
||||
fn reply_handling_unrequested_reply() {
|
||||
let mut testbench = ReplyHandlerTestbench::new(
|
||||
TEST_COMPONENT_ID_0.id(),
|
||||
ModeReplyHandler::new(TEST_COMPONENT_ID_0.id()),
|
||||
);
|
||||
let mut testbench = ReplyHandlerTestbench::new(ModeReplyHandler::default());
|
||||
let mode_reply = ModeReply::ModeReply(ModeAndSubmode::new(5, 1));
|
||||
let unrequested_reply =
|
||||
GenericMessage::new(MessageMetadata::new(10_u32, 15_u64), mode_reply);
|
||||
@ -418,15 +428,12 @@ mod tests {
|
||||
|
||||
#[test]
|
||||
fn reply_handling_reply_timeout() {
|
||||
let mut testbench = ReplyHandlerTestbench::new(
|
||||
TEST_COMPONENT_ID_0.id(),
|
||||
ModeReplyHandler::new(TEST_COMPONENT_ID_0.id()),
|
||||
);
|
||||
let (req_id, active_request) = testbench.add_tc(TEST_APID, TEST_UNIQUE_ID_0, &[]);
|
||||
let mut testbench = ReplyHandlerTestbench::new(ModeReplyHandler::default());
|
||||
let (req_id, active_request) = testbench.add_tc(TEST_APID, TEST_UNIQUE_ID, &[]);
|
||||
let result = testbench.handle_request_timeout(&active_request, &[]);
|
||||
assert!(result.is_ok());
|
||||
testbench.verif_reporter.assert_completion_failure(
|
||||
TEST_COMPONENT_ID_0.raw(),
|
||||
TEST_COMPONENT_ID.raw(),
|
||||
req_id,
|
||||
None,
|
||||
tmtc_err::REQUEST_TIMEOUT.raw() as u64,
|
||||
|
||||
@ -9,62 +9,51 @@ use satrs::pus::scheduler_srv::PusSchedServiceHandler;
|
||||
use satrs::pus::verification::VerificationReporter;
|
||||
use satrs::pus::{
|
||||
EcssTcAndToken, EcssTcInMemConverter, EcssTcInSharedStoreConverter, EcssTcInVecConverter,
|
||||
EcssTmSender, MpscTcReceiver, MpscTmAsVecSender, PusPacketHandlerResult, PusServiceHelper,
|
||||
EcssTmSenderCore, MpscTcReceiver, MpscTmAsVecSender, MpscTmInSharedPoolSenderBounded,
|
||||
PusPacketHandlerResult, PusServiceHelper, PusTmAsVec, PusTmInPool, TmInSharedPoolSender,
|
||||
};
|
||||
use satrs::tmtc::{PacketAsVec, PacketInPool, PacketSenderWithSharedPool};
|
||||
use satrs::ComponentId;
|
||||
use satrs_example::config::components::PUS_SCHED_SERVICE;
|
||||
|
||||
use super::HandlingStatus;
|
||||
use crate::tmtc::PusTcSourceProviderSharedPool;
|
||||
|
||||
pub trait TcReleaser {
|
||||
fn release(&mut self, sender_id: ComponentId, enabled: bool, info: &TcInfo, tc: &[u8]) -> bool;
|
||||
fn release(&mut self, enabled: bool, info: &TcInfo, tc: &[u8]) -> bool;
|
||||
}
|
||||
|
||||
impl TcReleaser for PacketSenderWithSharedPool {
|
||||
fn release(
|
||||
&mut self,
|
||||
sender_id: ComponentId,
|
||||
enabled: bool,
|
||||
_info: &TcInfo,
|
||||
tc: &[u8],
|
||||
) -> bool {
|
||||
impl TcReleaser for PusTcSourceProviderSharedPool {
|
||||
fn release(&mut self, enabled: bool, _info: &TcInfo, tc: &[u8]) -> bool {
|
||||
if enabled {
|
||||
let shared_pool = self.shared_pool.get_mut();
|
||||
// Transfer TC from scheduler TC pool to shared TC pool.
|
||||
let released_tc_addr = shared_pool
|
||||
.0
|
||||
let released_tc_addr = self
|
||||
.shared_pool
|
||||
.pool
|
||||
.write()
|
||||
.expect("locking pool failed")
|
||||
.add(tc)
|
||||
.expect("adding TC to shared pool failed");
|
||||
self.sender
|
||||
.send(PacketInPool::new(sender_id, released_tc_addr))
|
||||
self.tc_source
|
||||
.send(released_tc_addr)
|
||||
.expect("sending TC to TC source failed");
|
||||
}
|
||||
true
|
||||
}
|
||||
}
|
||||
|
||||
impl TcReleaser for mpsc::Sender<PacketAsVec> {
|
||||
fn release(
|
||||
&mut self,
|
||||
sender_id: ComponentId,
|
||||
enabled: bool,
|
||||
_info: &TcInfo,
|
||||
tc: &[u8],
|
||||
) -> bool {
|
||||
impl TcReleaser for mpsc::Sender<Vec<u8>> {
|
||||
fn release(&mut self, enabled: bool, _info: &TcInfo, tc: &[u8]) -> bool {
|
||||
if enabled {
|
||||
// Send released TC to centralized TC source.
|
||||
self.send(PacketAsVec::new(sender_id, tc.to_vec()))
|
||||
self.send(tc.to_vec())
|
||||
.expect("sending TC to TC source failed");
|
||||
}
|
||||
true
|
||||
}
|
||||
}
|
||||
|
||||
pub struct SchedulingServiceWrapper<TmSender: EcssTmSender, TcInMemConverter: EcssTcInMemConverter>
|
||||
{
|
||||
pub struct SchedulingServiceWrapper<
|
||||
TmSender: EcssTmSenderCore,
|
||||
TcInMemConverter: EcssTcInMemConverter,
|
||||
> {
|
||||
pub pus_11_handler: PusSchedServiceHandler<
|
||||
MpscTcReceiver,
|
||||
TmSender,
|
||||
@ -77,13 +66,12 @@ pub struct SchedulingServiceWrapper<TmSender: EcssTmSender, TcInMemConverter: Ec
|
||||
pub tc_releaser: Box<dyn TcReleaser + Send>,
|
||||
}
|
||||
|
||||
impl<TmSender: EcssTmSender, TcInMemConverter: EcssTcInMemConverter>
|
||||
impl<TmSender: EcssTmSenderCore, TcInMemConverter: EcssTcInMemConverter>
|
||||
SchedulingServiceWrapper<TmSender, TcInMemConverter>
|
||||
{
|
||||
pub fn release_tcs(&mut self) {
|
||||
let id = self.pus_11_handler.service_helper.id();
|
||||
let releaser = |enabled: bool, info: &TcInfo, tc: &[u8]| -> bool {
|
||||
self.tc_releaser.release(id, enabled, info, tc)
|
||||
self.tc_releaser.release(enabled, info, tc)
|
||||
};
|
||||
|
||||
self.pus_11_handler
|
||||
@ -104,7 +92,7 @@ impl<TmSender: EcssTmSender, TcInMemConverter: EcssTcInMemConverter>
|
||||
}
|
||||
}
|
||||
|
||||
pub fn poll_and_handle_next_tc(&mut self, time_stamp: &[u8]) -> HandlingStatus {
|
||||
pub fn poll_and_handle_next_tc(&mut self, time_stamp: &[u8]) -> bool {
|
||||
match self
|
||||
.pus_11_handler
|
||||
.poll_and_handle_next_tc(time_stamp, &mut self.sched_tc_pool)
|
||||
@ -120,31 +108,33 @@ impl<TmSender: EcssTmSender, TcInMemConverter: EcssTcInMemConverter>
|
||||
PusPacketHandlerResult::SubserviceNotImplemented(subservice, _) => {
|
||||
warn!("PUS11: Subservice {subservice} not implemented");
|
||||
}
|
||||
PusPacketHandlerResult::Empty => return HandlingStatus::Empty,
|
||||
PusPacketHandlerResult::Empty => {
|
||||
return true;
|
||||
}
|
||||
},
|
||||
Err(error) => {
|
||||
error!("PUS packet handling error: {error:?}")
|
||||
}
|
||||
}
|
||||
HandlingStatus::HandledOne
|
||||
false
|
||||
}
|
||||
}
|
||||
|
||||
pub fn create_scheduler_service_static(
|
||||
tm_sender: PacketSenderWithSharedPool,
|
||||
tc_releaser: PacketSenderWithSharedPool,
|
||||
tm_sender: TmInSharedPoolSender<mpsc::SyncSender<PusTmInPool>>,
|
||||
tc_releaser: PusTcSourceProviderSharedPool,
|
||||
pus_sched_rx: mpsc::Receiver<EcssTcAndToken>,
|
||||
sched_tc_pool: StaticMemoryPool,
|
||||
) -> SchedulingServiceWrapper<PacketSenderWithSharedPool, EcssTcInSharedStoreConverter> {
|
||||
) -> SchedulingServiceWrapper<MpscTmInSharedPoolSenderBounded, EcssTcInSharedStoreConverter> {
|
||||
let scheduler = PusScheduler::new_with_current_init_time(Duration::from_secs(5))
|
||||
.expect("Creating PUS Scheduler failed");
|
||||
let pus_11_handler = PusSchedServiceHandler::new(
|
||||
PusServiceHelper::new(
|
||||
PUS_SCHED_SERVICE.id(),
|
||||
PUS_SCHED_SERVICE.raw(),
|
||||
pus_sched_rx,
|
||||
tm_sender,
|
||||
create_verification_reporter(PUS_SCHED_SERVICE.id(), PUS_SCHED_SERVICE.apid),
|
||||
EcssTcInSharedStoreConverter::new(tc_releaser.shared_packet_store().0.clone(), 2048),
|
||||
create_verification_reporter(PUS_SCHED_SERVICE.apid),
|
||||
EcssTcInSharedStoreConverter::new(tc_releaser.clone_backing_pool(), 2048),
|
||||
),
|
||||
scheduler,
|
||||
);
|
||||
@ -157,8 +147,8 @@ pub fn create_scheduler_service_static(
|
||||
}
|
||||
|
||||
pub fn create_scheduler_service_dynamic(
|
||||
tm_funnel_tx: mpsc::Sender<PacketAsVec>,
|
||||
tc_source_sender: mpsc::Sender<PacketAsVec>,
|
||||
tm_funnel_tx: mpsc::Sender<PusTmAsVec>,
|
||||
tc_source_sender: mpsc::Sender<Vec<u8>>,
|
||||
pus_sched_rx: mpsc::Receiver<EcssTcAndToken>,
|
||||
sched_tc_pool: StaticMemoryPool,
|
||||
) -> SchedulingServiceWrapper<MpscTmAsVecSender, EcssTcInVecConverter> {
|
||||
@ -168,10 +158,10 @@ pub fn create_scheduler_service_dynamic(
|
||||
.expect("Creating PUS Scheduler failed");
|
||||
let pus_11_handler = PusSchedServiceHandler::new(
|
||||
PusServiceHelper::new(
|
||||
PUS_SCHED_SERVICE.id(),
|
||||
PUS_SCHED_SERVICE.raw(),
|
||||
pus_sched_rx,
|
||||
tm_funnel_tx,
|
||||
create_verification_reporter(PUS_SCHED_SERVICE.id(), PUS_SCHED_SERVICE.apid),
|
||||
create_verification_reporter(PUS_SCHED_SERVICE.apid),
|
||||
EcssTcInVecConverter::default(),
|
||||
),
|
||||
scheduler,
|
||||
|
||||
@ -1,18 +1,17 @@
|
||||
use crate::pus::mode::ModeServiceWrapper;
|
||||
use derive_new::new;
|
||||
use satrs::{
|
||||
pus::{EcssTcInMemConverter, EcssTmSender},
|
||||
pus::{EcssTcInMemConverter, EcssTmSenderCore},
|
||||
spacepackets::time::{cds, TimeWriter},
|
||||
};
|
||||
|
||||
use super::{
|
||||
action::ActionServiceWrapper, event::EventServiceWrapper, hk::HkServiceWrapper,
|
||||
scheduler::SchedulingServiceWrapper, test::TestCustomServiceWrapper, HandlingStatus,
|
||||
TargetedPusService,
|
||||
scheduler::SchedulingServiceWrapper, test::TestCustomServiceWrapper, TargetedPusService,
|
||||
};
|
||||
|
||||
#[derive(new)]
|
||||
pub struct PusStack<TmSender: EcssTmSender, TcInMemConverter: EcssTcInMemConverter> {
|
||||
pub struct PusStack<TmSender: EcssTmSenderCore, TcInMemConverter: EcssTcInMemConverter> {
|
||||
test_srv: TestCustomServiceWrapper<TmSender, TcInMemConverter>,
|
||||
hk_srv_wrapper: HkServiceWrapper<TmSender, TcInMemConverter>,
|
||||
event_srv: EventServiceWrapper<TmSender, TcInMemConverter>,
|
||||
@ -21,7 +20,7 @@ pub struct PusStack<TmSender: EcssTmSender, TcInMemConverter: EcssTcInMemConvert
|
||||
mode_srv: ModeServiceWrapper<TmSender, TcInMemConverter>,
|
||||
}
|
||||
|
||||
impl<TmSender: EcssTmSender, TcInMemConverter: EcssTcInMemConverter>
|
||||
impl<TmSender: EcssTmSenderCore, TcInMemConverter: EcssTcInMemConverter>
|
||||
PusStack<TmSender, TcInMemConverter>
|
||||
{
|
||||
pub fn periodic_operation(&mut self) {
|
||||
@ -35,29 +34,17 @@ impl<TmSender: EcssTmSender, TcInMemConverter: EcssTcInMemConverter>
|
||||
loop {
|
||||
let mut nothing_to_do = true;
|
||||
let mut is_srv_finished =
|
||||
|_srv_id: u8,
|
||||
tc_handling_status: HandlingStatus,
|
||||
reply_handling_status: Option<HandlingStatus>| {
|
||||
if tc_handling_status == HandlingStatus::HandledOne
|
||||
|| (reply_handling_status.is_some()
|
||||
&& reply_handling_status.unwrap() == HandlingStatus::HandledOne)
|
||||
|tc_handling_done: bool, reply_handling_done: Option<bool>| {
|
||||
if !tc_handling_done
|
||||
|| (reply_handling_done.is_some() && !reply_handling_done.unwrap())
|
||||
{
|
||||
nothing_to_do = false;
|
||||
}
|
||||
};
|
||||
is_srv_finished(self.test_srv.poll_and_handle_next_packet(&time_stamp), None);
|
||||
is_srv_finished(self.schedule_srv.poll_and_handle_next_tc(&time_stamp), None);
|
||||
is_srv_finished(self.event_srv.poll_and_handle_next_tc(&time_stamp), None);
|
||||
is_srv_finished(
|
||||
17,
|
||||
self.test_srv.poll_and_handle_next_packet(&time_stamp),
|
||||
None,
|
||||
);
|
||||
is_srv_finished(
|
||||
11,
|
||||
self.schedule_srv.poll_and_handle_next_tc(&time_stamp),
|
||||
None,
|
||||
);
|
||||
is_srv_finished(5, self.event_srv.poll_and_handle_next_tc(&time_stamp), None);
|
||||
is_srv_finished(
|
||||
8,
|
||||
self.action_srv_wrapper.poll_and_handle_next_tc(&time_stamp),
|
||||
Some(
|
||||
self.action_srv_wrapper
|
||||
@ -65,12 +52,10 @@ impl<TmSender: EcssTmSender, TcInMemConverter: EcssTcInMemConverter>
|
||||
),
|
||||
);
|
||||
is_srv_finished(
|
||||
3,
|
||||
self.hk_srv_wrapper.poll_and_handle_next_tc(&time_stamp),
|
||||
Some(self.hk_srv_wrapper.poll_and_handle_next_reply(&time_stamp)),
|
||||
);
|
||||
is_srv_finished(
|
||||
200,
|
||||
self.mode_srv.poll_and_handle_next_tc(&time_stamp),
|
||||
Some(self.mode_srv.poll_and_handle_next_reply(&time_stamp)),
|
||||
);
|
||||
|
||||
@ -1,36 +1,34 @@
|
||||
use crate::pus::create_verification_reporter;
|
||||
use log::{info, warn};
|
||||
use satrs::event_man::{EventMessage, EventMessageU32};
|
||||
use satrs::params::Params;
|
||||
use satrs::pool::SharedStaticMemoryPool;
|
||||
use satrs::pus::test::PusService17TestHandler;
|
||||
use satrs::pus::verification::{FailParams, VerificationReporter, VerificationReportingProvider};
|
||||
use satrs::pus::EcssTcInSharedStoreConverter;
|
||||
use satrs::pus::{
|
||||
EcssTcAndToken, EcssTcInMemConverter, EcssTcInVecConverter, EcssTmSender, MpscTcReceiver,
|
||||
MpscTmAsVecSender, PusPacketHandlerResult, PusServiceHelper,
|
||||
EcssTcAndToken, EcssTcInMemConverter, EcssTcInVecConverter, EcssTmSenderCore, MpscTcReceiver,
|
||||
MpscTmAsVecSender, MpscTmInSharedPoolSenderBounded, PusPacketHandlerResult, PusServiceHelper,
|
||||
PusTmAsVec, PusTmInPool, TmInSharedPoolSender,
|
||||
};
|
||||
use satrs::spacepackets::ecss::tc::PusTcReader;
|
||||
use satrs::spacepackets::ecss::PusPacket;
|
||||
use satrs::spacepackets::time::cds::CdsTime;
|
||||
use satrs::spacepackets::time::TimeWriter;
|
||||
use satrs::tmtc::{PacketAsVec, PacketSenderWithSharedPool};
|
||||
use satrs::{events::EventU32, pus::EcssTcInSharedStoreConverter};
|
||||
use satrs_example::config::components::PUS_TEST_SERVICE;
|
||||
use satrs_example::config::{tmtc_err, TEST_EVENT};
|
||||
use std::sync::mpsc;
|
||||
|
||||
use super::HandlingStatus;
|
||||
|
||||
pub fn create_test_service_static(
|
||||
tm_sender: PacketSenderWithSharedPool,
|
||||
tm_sender: TmInSharedPoolSender<mpsc::SyncSender<PusTmInPool>>,
|
||||
tc_pool: SharedStaticMemoryPool,
|
||||
event_sender: mpsc::Sender<EventMessageU32>,
|
||||
event_sender: mpsc::Sender<(EventU32, Option<Params>)>,
|
||||
pus_test_rx: mpsc::Receiver<EcssTcAndToken>,
|
||||
) -> TestCustomServiceWrapper<PacketSenderWithSharedPool, EcssTcInSharedStoreConverter> {
|
||||
) -> TestCustomServiceWrapper<MpscTmInSharedPoolSenderBounded, EcssTcInSharedStoreConverter> {
|
||||
let pus17_handler = PusService17TestHandler::new(PusServiceHelper::new(
|
||||
PUS_TEST_SERVICE.id(),
|
||||
PUS_TEST_SERVICE.raw(),
|
||||
pus_test_rx,
|
||||
tm_sender,
|
||||
create_verification_reporter(PUS_TEST_SERVICE.id(), PUS_TEST_SERVICE.apid),
|
||||
create_verification_reporter(PUS_TEST_SERVICE.apid),
|
||||
EcssTcInSharedStoreConverter::new(tc_pool, 2048),
|
||||
));
|
||||
TestCustomServiceWrapper {
|
||||
@ -40,15 +38,15 @@ pub fn create_test_service_static(
|
||||
}
|
||||
|
||||
pub fn create_test_service_dynamic(
|
||||
tm_funnel_tx: mpsc::Sender<PacketAsVec>,
|
||||
event_sender: mpsc::Sender<EventMessageU32>,
|
||||
tm_funnel_tx: mpsc::Sender<PusTmAsVec>,
|
||||
event_sender: mpsc::Sender<(EventU32, Option<Params>)>,
|
||||
pus_test_rx: mpsc::Receiver<EcssTcAndToken>,
|
||||
) -> TestCustomServiceWrapper<MpscTmAsVecSender, EcssTcInVecConverter> {
|
||||
let pus17_handler = PusService17TestHandler::new(PusServiceHelper::new(
|
||||
PUS_TEST_SERVICE.id(),
|
||||
PUS_TEST_SERVICE.raw(),
|
||||
pus_test_rx,
|
||||
tm_funnel_tx,
|
||||
create_verification_reporter(PUS_TEST_SERVICE.id(), PUS_TEST_SERVICE.apid),
|
||||
create_verification_reporter(PUS_TEST_SERVICE.apid),
|
||||
EcssTcInVecConverter::default(),
|
||||
));
|
||||
TestCustomServiceWrapper {
|
||||
@ -57,21 +55,23 @@ pub fn create_test_service_dynamic(
|
||||
}
|
||||
}
|
||||
|
||||
pub struct TestCustomServiceWrapper<TmSender: EcssTmSender, TcInMemConverter: EcssTcInMemConverter>
|
||||
{
|
||||
pub struct TestCustomServiceWrapper<
|
||||
TmSender: EcssTmSenderCore,
|
||||
TcInMemConverter: EcssTcInMemConverter,
|
||||
> {
|
||||
pub handler:
|
||||
PusService17TestHandler<MpscTcReceiver, TmSender, TcInMemConverter, VerificationReporter>,
|
||||
pub test_srv_event_sender: mpsc::Sender<EventMessageU32>,
|
||||
pub test_srv_event_sender: mpsc::Sender<(EventU32, Option<Params>)>,
|
||||
}
|
||||
|
||||
impl<TmSender: EcssTmSender, TcInMemConverter: EcssTcInMemConverter>
|
||||
impl<TmSender: EcssTmSenderCore, TcInMemConverter: EcssTcInMemConverter>
|
||||
TestCustomServiceWrapper<TmSender, TcInMemConverter>
|
||||
{
|
||||
pub fn poll_and_handle_next_packet(&mut self, time_stamp: &[u8]) -> HandlingStatus {
|
||||
pub fn poll_and_handle_next_packet(&mut self, time_stamp: &[u8]) -> bool {
|
||||
let res = self.handler.poll_and_handle_next_tc(time_stamp);
|
||||
if res.is_err() {
|
||||
warn!("PUS17 handler failed with error {:?}", res.unwrap_err());
|
||||
return HandlingStatus::HandledOne;
|
||||
return true;
|
||||
}
|
||||
match res.unwrap() {
|
||||
PusPacketHandlerResult::RequestHandled => {
|
||||
@ -101,18 +101,24 @@ impl<TmSender: EcssTmSender, TcInMemConverter: EcssTcInMemConverter>
|
||||
if subservice == 128 {
|
||||
info!("Generating test event");
|
||||
self.test_srv_event_sender
|
||||
.send(EventMessage::new(PUS_TEST_SERVICE.id(), TEST_EVENT.into()))
|
||||
.send((TEST_EVENT.into(), None))
|
||||
.expect("Sending test event failed");
|
||||
let start_token = self
|
||||
.handler
|
||||
.service_helper
|
||||
.verif_reporter()
|
||||
.start_success(self.handler.service_helper.tm_sender(), token, &stamp_buf)
|
||||
.start_success(
|
||||
self.handler.service_helper.common.id,
|
||||
self.handler.service_helper.tm_sender(),
|
||||
token,
|
||||
&stamp_buf,
|
||||
)
|
||||
.expect("Error sending start success");
|
||||
self.handler
|
||||
.service_helper
|
||||
.verif_reporter()
|
||||
.completion_success(
|
||||
self.handler.service_helper.id(),
|
||||
self.handler.service_helper.tm_sender(),
|
||||
start_token,
|
||||
&stamp_buf,
|
||||
@ -124,6 +130,7 @@ impl<TmSender: EcssTmSender, TcInMemConverter: EcssTcInMemConverter>
|
||||
.service_helper
|
||||
.verif_reporter()
|
||||
.start_failure(
|
||||
self.handler.service_helper.id(),
|
||||
self.handler.service_helper.tm_sender(),
|
||||
token,
|
||||
FailParams::new(
|
||||
@ -135,8 +142,10 @@ impl<TmSender: EcssTmSender, TcInMemConverter: EcssTcInMemConverter>
|
||||
.expect("Sending start failure verification failed");
|
||||
}
|
||||
}
|
||||
PusPacketHandlerResult::Empty => return HandlingStatus::Empty,
|
||||
PusPacketHandlerResult::Empty => {
|
||||
return true;
|
||||
}
|
||||
}
|
||||
HandlingStatus::HandledOne
|
||||
false
|
||||
}
|
||||
}
|
||||
|
||||
45
satrs-example/src/queue.rs
Normal file
45
satrs-example/src/queue.rs
Normal file
@ -0,0 +1,45 @@
|
||||
/// Generic error type for sending something via a message queue.
|
||||
#[derive(Debug, Copy, Clone)]
|
||||
pub enum GenericSendError {
|
||||
RxDisconnected,
|
||||
QueueFull(Option<u32>),
|
||||
}
|
||||
|
||||
impl Display for GenericSendError {
|
||||
fn fmt(&self, f: &mut Formatter<'_>) -> core::fmt::Result {
|
||||
match self {
|
||||
GenericSendError::RxDisconnected => {
|
||||
write!(f, "rx side has disconnected")
|
||||
}
|
||||
GenericSendError::QueueFull(max_cap) => {
|
||||
write!(f, "queue with max capacity of {max_cap:?} is full")
|
||||
}
|
||||
}
|
||||
}
|
||||
}
|
||||
|
||||
#[cfg(feature = "std")]
|
||||
impl Error for GenericSendError {}
|
||||
|
||||
/// Generic error type for sending something via a message queue.
|
||||
#[derive(Debug, Copy, Clone)]
|
||||
pub enum GenericRecvError {
|
||||
Empty,
|
||||
TxDisconnected,
|
||||
}
|
||||
|
||||
impl Display for GenericRecvError {
|
||||
fn fmt(&self, f: &mut Formatter<'_>) -> core::fmt::Result {
|
||||
match self {
|
||||
Self::TxDisconnected => {
|
||||
write!(f, "tx side has disconnected")
|
||||
}
|
||||
Self::Empty => {
|
||||
write!(f, "nothing to receive")
|
||||
}
|
||||
}
|
||||
}
|
||||
}
|
||||
|
||||
#[cfg(feature = "std")]
|
||||
impl Error for GenericRecvError {}
|
||||
@ -8,9 +8,9 @@ use satrs::mode::ModeRequest;
|
||||
use satrs::pus::verification::{
|
||||
FailParams, TcStateAccepted, VerificationReportingProvider, VerificationToken,
|
||||
};
|
||||
use satrs::pus::{ActiveRequestProvider, EcssTmSender, GenericRoutingError, PusRequestRouter};
|
||||
use satrs::pus::{ActiveRequestProvider, EcssTmSenderCore, GenericRoutingError, PusRequestRouter};
|
||||
use satrs::queue::GenericSendError;
|
||||
use satrs::request::{GenericMessage, MessageMetadata, UniqueApidTargetId};
|
||||
use satrs::request::{GenericMessage, MessageMetadata};
|
||||
use satrs::spacepackets::ecss::tc::PusTcReader;
|
||||
use satrs::spacepackets::ecss::PusPacket;
|
||||
use satrs::ComponentId;
|
||||
@ -47,7 +47,7 @@ impl GenericRequestRouter {
|
||||
active_request: &impl ActiveRequestProvider,
|
||||
tc: &PusTcReader,
|
||||
error: GenericRoutingError,
|
||||
tm_sender: &(impl EcssTmSender + ?Sized),
|
||||
tm_sender: &(impl EcssTmSenderCore + ?Sized),
|
||||
verif_reporter: &impl VerificationReportingProvider,
|
||||
time_stamp: &[u8],
|
||||
) {
|
||||
@ -61,13 +61,11 @@ impl GenericRequestRouter {
|
||||
.expect("token is not in accepted state");
|
||||
match error {
|
||||
GenericRoutingError::UnknownTargetId(id) => {
|
||||
let apid_target_id = UniqueApidTargetId::from(id);
|
||||
warn!("Target APID for request: {}", apid_target_id.apid);
|
||||
warn!("Target Unique ID for request: {}", apid_target_id.unique_id);
|
||||
let mut fail_data: [u8; 8] = [0; 8];
|
||||
fail_data.copy_from_slice(&id.to_be_bytes());
|
||||
verif_reporter
|
||||
.completion_failure(
|
||||
self.id,
|
||||
tm_sender,
|
||||
accepted_token,
|
||||
FailParams::new(time_stamp, &tmtc_err::UNKNOWN_TARGET_ID, &fail_data),
|
||||
@ -79,6 +77,7 @@ impl GenericRequestRouter {
|
||||
fail_data.copy_from_slice(&active_request.target_id().to_be_bytes());
|
||||
verif_reporter
|
||||
.completion_failure(
|
||||
self.id,
|
||||
tm_sender,
|
||||
accepted_token,
|
||||
FailParams::new(time_stamp, &tmtc_err::ROUTING_ERROR, &fail_data),
|
||||
|
||||
@ -1,49 +1,25 @@
|
||||
use std::{
|
||||
collections::{HashSet, VecDeque},
|
||||
fmt::Debug,
|
||||
marker::PhantomData,
|
||||
collections::VecDeque,
|
||||
sync::{Arc, Mutex},
|
||||
};
|
||||
|
||||
use log::{info, warn};
|
||||
use satrs::{
|
||||
encoding::ccsds::{SpValidity, SpacePacketValidator},
|
||||
hal::std::tcp_server::{HandledConnectionHandler, ServerConfig, TcpSpacepacketsServer},
|
||||
spacepackets::{CcsdsPacket, PacketId},
|
||||
tmtc::{PacketSenderRaw, PacketSource},
|
||||
hal::std::tcp_server::{ServerConfig, TcpSpacepacketsServer},
|
||||
pus::ReceivesEcssPusTc,
|
||||
spacepackets::PacketId,
|
||||
tmtc::{CcsdsDistributor, CcsdsError, ReceivesCcsdsTc, TmPacketSourceCore},
|
||||
};
|
||||
use satrs_example::config::components;
|
||||
|
||||
#[derive(Default)]
|
||||
pub struct ConnectionFinishedHandler {}
|
||||
use crate::ccsds::CcsdsReceiver;
|
||||
|
||||
pub struct SimplePacketValidator {
|
||||
pub valid_ids: HashSet<PacketId>,
|
||||
}
|
||||
|
||||
impl SpacePacketValidator for SimplePacketValidator {
|
||||
fn validate(
|
||||
&self,
|
||||
sp_header: &satrs::spacepackets::SpHeader,
|
||||
_raw_buf: &[u8],
|
||||
) -> satrs::encoding::ccsds::SpValidity {
|
||||
if self.valid_ids.contains(&sp_header.packet_id()) {
|
||||
return SpValidity::Valid;
|
||||
}
|
||||
log::warn!("ignoring space packet with header {:?}", sp_header);
|
||||
// We could perform a CRC check.. but lets keep this simple and assume that TCP ensures
|
||||
// data integrity.
|
||||
SpValidity::Skip
|
||||
}
|
||||
}
|
||||
|
||||
impl HandledConnectionHandler for ConnectionFinishedHandler {
|
||||
fn handled_connection(&mut self, info: satrs::hal::std::tcp_server::HandledConnectionInfo) {
|
||||
info!(
|
||||
"Served {} TMs and {} TCs for client {:?}",
|
||||
info.num_sent_tms, info.num_received_tcs, info.addr
|
||||
);
|
||||
}
|
||||
}
|
||||
pub const PACKET_ID_LOOKUP: &[PacketId] = &[
|
||||
PacketId::const_tc(true, components::Apid::GenericPus as u16),
|
||||
PacketId::const_tc(true, components::Apid::EventTm as u16),
|
||||
PacketId::const_tc(true, components::Apid::Acs as u16),
|
||||
PacketId::const_tc(true, components::Apid::Sched as u16),
|
||||
];
|
||||
|
||||
#[derive(Default, Clone)]
|
||||
pub struct SyncTcpTmSource {
|
||||
@ -73,7 +49,7 @@ impl SyncTcpTmSource {
|
||||
}
|
||||
}
|
||||
|
||||
impl PacketSource for SyncTcpTmSource {
|
||||
impl TmPacketSourceCore for SyncTcpTmSource {
|
||||
type Error = ();
|
||||
|
||||
fn retrieve_packet(&mut self, buffer: &mut [u8]) -> Result<usize, Self::Error> {
|
||||
@ -101,47 +77,58 @@ impl PacketSource for SyncTcpTmSource {
|
||||
}
|
||||
}
|
||||
|
||||
pub type TcpServer<ReceivesTc, SendError> = TcpSpacepacketsServer<
|
||||
SyncTcpTmSource,
|
||||
ReceivesTc,
|
||||
SimplePacketValidator,
|
||||
ConnectionFinishedHandler,
|
||||
pub type TcpServerType<TcSource, MpscErrorType> = TcpSpacepacketsServer<
|
||||
(),
|
||||
SendError,
|
||||
CcsdsError<MpscErrorType>,
|
||||
SyncTcpTmSource,
|
||||
CcsdsDistributor<CcsdsReceiver<TcSource, MpscErrorType>, MpscErrorType>,
|
||||
>;
|
||||
|
||||
pub struct TcpTask<TcSender: PacketSenderRaw<Error = SendError>, SendError: Debug + 'static>(
|
||||
pub TcpServer<TcSender, SendError>,
|
||||
PhantomData<SendError>,
|
||||
);
|
||||
pub struct TcpTask<
|
||||
TcSource: ReceivesCcsdsTc<Error = MpscErrorType>
|
||||
+ ReceivesEcssPusTc<Error = MpscErrorType>
|
||||
+ Clone
|
||||
+ Send
|
||||
+ 'static,
|
||||
MpscErrorType: 'static,
|
||||
> {
|
||||
server: TcpServerType<TcSource, MpscErrorType>,
|
||||
}
|
||||
|
||||
impl<TcSender: PacketSenderRaw<Error = SendError>, SendError: Debug + 'static>
|
||||
TcpTask<TcSender, SendError>
|
||||
impl<
|
||||
TcSource: ReceivesCcsdsTc<Error = MpscErrorType>
|
||||
+ ReceivesEcssPusTc<Error = MpscErrorType>
|
||||
+ Clone
|
||||
+ Send
|
||||
+ 'static,
|
||||
MpscErrorType: 'static + core::fmt::Debug,
|
||||
> TcpTask<TcSource, MpscErrorType>
|
||||
{
|
||||
pub fn new(
|
||||
cfg: ServerConfig,
|
||||
tm_source: SyncTcpTmSource,
|
||||
tc_sender: TcSender,
|
||||
valid_ids: HashSet<PacketId>,
|
||||
tc_receiver: CcsdsDistributor<CcsdsReceiver<TcSource, MpscErrorType>, MpscErrorType>,
|
||||
) -> Result<Self, std::io::Error> {
|
||||
Ok(Self(
|
||||
TcpSpacepacketsServer::new(
|
||||
Ok(Self {
|
||||
server: TcpSpacepacketsServer::new(
|
||||
cfg,
|
||||
tm_source,
|
||||
tc_sender,
|
||||
SimplePacketValidator { valid_ids },
|
||||
ConnectionFinishedHandler::default(),
|
||||
None,
|
||||
tc_receiver,
|
||||
Box::new(PACKET_ID_LOOKUP),
|
||||
)?,
|
||||
PhantomData,
|
||||
))
|
||||
})
|
||||
}
|
||||
|
||||
pub fn periodic_operation(&mut self) {
|
||||
loop {
|
||||
let result = self.0.handle_all_connections(None);
|
||||
let result = self.server.handle_next_connection();
|
||||
match result {
|
||||
Ok(_conn_result) => (),
|
||||
Ok(conn_result) => {
|
||||
info!(
|
||||
"Served {} TMs and {} TCs for client {:?}",
|
||||
conn_result.num_sent_tms, conn_result.num_received_tcs, conn_result.addr
|
||||
);
|
||||
}
|
||||
Err(e) => {
|
||||
warn!("TCP server error: {e:?}");
|
||||
}
|
||||
@ -4,7 +4,7 @@ use std::{
|
||||
};
|
||||
|
||||
use log::info;
|
||||
use satrs::tmtc::{PacketAsVec, PacketInPool, SharedPacketPool};
|
||||
use satrs::pus::{PusTmAsVec, PusTmInPool};
|
||||
use satrs::{
|
||||
pool::PoolProvider,
|
||||
seq_count::{CcsdsSimpleSeqCountProvider, SequenceCountProviderCore},
|
||||
@ -13,9 +13,10 @@ use satrs::{
|
||||
time::cds::MIN_CDS_FIELD_LEN,
|
||||
CcsdsPacket,
|
||||
},
|
||||
tmtc::tm_helper::SharedTmPool,
|
||||
};
|
||||
|
||||
use crate::interface::tcp::SyncTcpTmSource;
|
||||
use crate::tcp::SyncTcpTmSource;
|
||||
|
||||
#[derive(Default)]
|
||||
pub struct CcsdsSeqCounterMap {
|
||||
@ -76,17 +77,17 @@ impl TmFunnelCommon {
|
||||
|
||||
pub struct TmFunnelStatic {
|
||||
common: TmFunnelCommon,
|
||||
shared_tm_store: SharedPacketPool,
|
||||
tm_funnel_rx: mpsc::Receiver<PacketInPool>,
|
||||
tm_server_tx: mpsc::SyncSender<PacketInPool>,
|
||||
shared_tm_store: SharedTmPool,
|
||||
tm_funnel_rx: mpsc::Receiver<PusTmInPool>,
|
||||
tm_server_tx: mpsc::SyncSender<PusTmInPool>,
|
||||
}
|
||||
|
||||
impl TmFunnelStatic {
|
||||
pub fn new(
|
||||
shared_tm_store: SharedPacketPool,
|
||||
shared_tm_store: SharedTmPool,
|
||||
sync_tm_tcp_source: SyncTcpTmSource,
|
||||
tm_funnel_rx: mpsc::Receiver<PacketInPool>,
|
||||
tm_server_tx: mpsc::SyncSender<PacketInPool>,
|
||||
tm_funnel_rx: mpsc::Receiver<PusTmInPool>,
|
||||
tm_server_tx: mpsc::SyncSender<PusTmInPool>,
|
||||
) -> Self {
|
||||
Self {
|
||||
common: TmFunnelCommon::new(sync_tm_tcp_source),
|
||||
@ -100,7 +101,7 @@ impl TmFunnelStatic {
|
||||
if let Ok(pus_tm_in_pool) = self.tm_funnel_rx.recv() {
|
||||
// Read the TM, set sequence counter and message counter, and finally update
|
||||
// the CRC.
|
||||
let shared_pool = self.shared_tm_store.0.clone();
|
||||
let shared_pool = self.shared_tm_store.clone_backing_pool();
|
||||
let mut pool_guard = shared_pool.write().expect("Locking TM pool failed");
|
||||
let mut tm_copy = Vec::new();
|
||||
pool_guard
|
||||
@ -123,15 +124,15 @@ impl TmFunnelStatic {
|
||||
|
||||
pub struct TmFunnelDynamic {
|
||||
common: TmFunnelCommon,
|
||||
tm_funnel_rx: mpsc::Receiver<PacketAsVec>,
|
||||
tm_server_tx: mpsc::Sender<PacketAsVec>,
|
||||
tm_funnel_rx: mpsc::Receiver<PusTmAsVec>,
|
||||
tm_server_tx: mpsc::Sender<PusTmAsVec>,
|
||||
}
|
||||
|
||||
impl TmFunnelDynamic {
|
||||
pub fn new(
|
||||
sync_tm_tcp_source: SyncTcpTmSource,
|
||||
tm_funnel_rx: mpsc::Receiver<PacketAsVec>,
|
||||
tm_server_tx: mpsc::Sender<PacketAsVec>,
|
||||
tm_funnel_rx: mpsc::Receiver<PusTmAsVec>,
|
||||
tm_server_tx: mpsc::Sender<PusTmAsVec>,
|
||||
) -> Self {
|
||||
Self {
|
||||
common: TmFunnelCommon::new(sync_tm_tcp_source),
|
||||
212
satrs-example/src/tmtc.rs
Normal file
212
satrs-example/src/tmtc.rs
Normal file
@ -0,0 +1,212 @@
|
||||
use log::warn;
|
||||
use satrs::pus::{
|
||||
EcssTcAndToken, MpscTmAsVecSender, MpscTmInSharedPoolSenderBounded, ReceivesEcssPusTc,
|
||||
};
|
||||
use satrs::spacepackets::SpHeader;
|
||||
use std::sync::mpsc::{self, Receiver, SendError, Sender, SyncSender, TryRecvError};
|
||||
use thiserror::Error;
|
||||
|
||||
use crate::pus::PusReceiver;
|
||||
use satrs::pool::{PoolProvider, SharedStaticMemoryPool, StoreAddr, StoreError};
|
||||
use satrs::spacepackets::ecss::tc::PusTcReader;
|
||||
use satrs::spacepackets::ecss::PusPacket;
|
||||
use satrs::tmtc::ReceivesCcsdsTc;
|
||||
|
||||
#[derive(Debug, Clone, PartialEq, Eq, Error)]
|
||||
pub enum MpscStoreAndSendError {
|
||||
#[error("Store error: {0}")]
|
||||
Store(#[from] StoreError),
|
||||
#[error("TC send error: {0}")]
|
||||
TcSend(#[from] SendError<EcssTcAndToken>),
|
||||
#[error("TMTC send error: {0}")]
|
||||
TmTcSend(#[from] SendError<StoreAddr>),
|
||||
}
|
||||
|
||||
#[derive(Clone)]
|
||||
pub struct SharedTcPool {
|
||||
pub pool: SharedStaticMemoryPool,
|
||||
}
|
||||
|
||||
impl SharedTcPool {
|
||||
pub fn add_pus_tc(&mut self, pus_tc: &PusTcReader) -> Result<StoreAddr, StoreError> {
|
||||
let mut pg = self.pool.write().expect("error locking TC store");
|
||||
let addr = pg.free_element(pus_tc.len_packed(), |buf| {
|
||||
buf[0..pus_tc.len_packed()].copy_from_slice(pus_tc.raw_data());
|
||||
})?;
|
||||
Ok(addr)
|
||||
}
|
||||
}
|
||||
|
||||
#[derive(Clone)]
|
||||
pub struct PusTcSourceProviderSharedPool {
|
||||
pub tc_source: SyncSender<StoreAddr>,
|
||||
pub shared_pool: SharedTcPool,
|
||||
}
|
||||
|
||||
impl PusTcSourceProviderSharedPool {
|
||||
#[allow(dead_code)]
|
||||
pub fn clone_backing_pool(&self) -> SharedStaticMemoryPool {
|
||||
self.shared_pool.pool.clone()
|
||||
}
|
||||
}
|
||||
|
||||
impl ReceivesEcssPusTc for PusTcSourceProviderSharedPool {
|
||||
type Error = MpscStoreAndSendError;
|
||||
|
||||
fn pass_pus_tc(&mut self, _: &SpHeader, pus_tc: &PusTcReader) -> Result<(), Self::Error> {
|
||||
let addr = self.shared_pool.add_pus_tc(pus_tc)?;
|
||||
self.tc_source.send(addr)?;
|
||||
Ok(())
|
||||
}
|
||||
}
|
||||
|
||||
impl ReceivesCcsdsTc for PusTcSourceProviderSharedPool {
|
||||
type Error = MpscStoreAndSendError;
|
||||
|
||||
fn pass_ccsds(&mut self, _: &SpHeader, tc_raw: &[u8]) -> Result<(), Self::Error> {
|
||||
let mut pool = self.shared_pool.pool.write().expect("locking pool failed");
|
||||
let addr = pool.add(tc_raw)?;
|
||||
drop(pool);
|
||||
self.tc_source.send(addr)?;
|
||||
Ok(())
|
||||
}
|
||||
}
|
||||
|
||||
// Newtype, can not implement necessary traits on MPSC sender directly because of orphan rules.
|
||||
#[derive(Clone)]
|
||||
pub struct PusTcSourceProviderDynamic(pub Sender<Vec<u8>>);
|
||||
|
||||
impl ReceivesEcssPusTc for PusTcSourceProviderDynamic {
|
||||
type Error = SendError<Vec<u8>>;
|
||||
|
||||
fn pass_pus_tc(&mut self, _: &SpHeader, pus_tc: &PusTcReader) -> Result<(), Self::Error> {
|
||||
self.0.send(pus_tc.raw_data().to_vec())?;
|
||||
Ok(())
|
||||
}
|
||||
}
|
||||
|
||||
impl ReceivesCcsdsTc for PusTcSourceProviderDynamic {
|
||||
type Error = mpsc::SendError<Vec<u8>>;
|
||||
|
||||
fn pass_ccsds(&mut self, _: &SpHeader, tc_raw: &[u8]) -> Result<(), Self::Error> {
|
||||
self.0.send(tc_raw.to_vec())?;
|
||||
Ok(())
|
||||
}
|
||||
}
|
||||
|
||||
// TC source components where static pools are the backing memory of the received telecommands.
|
||||
pub struct TcSourceTaskStatic {
|
||||
shared_tc_pool: SharedTcPool,
|
||||
tc_receiver: Receiver<StoreAddr>,
|
||||
tc_buf: [u8; 4096],
|
||||
pus_receiver: PusReceiver<MpscTmInSharedPoolSenderBounded>,
|
||||
}
|
||||
|
||||
impl TcSourceTaskStatic {
|
||||
pub fn new(
|
||||
shared_tc_pool: SharedTcPool,
|
||||
tc_receiver: Receiver<StoreAddr>,
|
||||
pus_receiver: PusReceiver<MpscTmInSharedPoolSenderBounded>,
|
||||
) -> Self {
|
||||
Self {
|
||||
shared_tc_pool,
|
||||
tc_receiver,
|
||||
tc_buf: [0; 4096],
|
||||
pus_receiver,
|
||||
}
|
||||
}
|
||||
|
||||
pub fn periodic_operation(&mut self) {
|
||||
self.poll_tc();
|
||||
}
|
||||
|
||||
pub fn poll_tc(&mut self) -> bool {
|
||||
match self.tc_receiver.try_recv() {
|
||||
Ok(addr) => {
|
||||
let pool = self
|
||||
.shared_tc_pool
|
||||
.pool
|
||||
.read()
|
||||
.expect("locking tc pool failed");
|
||||
pool.read(&addr, &mut self.tc_buf)
|
||||
.expect("reading pool failed");
|
||||
drop(pool);
|
||||
match PusTcReader::new(&self.tc_buf) {
|
||||
Ok((pus_tc, _)) => {
|
||||
self.pus_receiver
|
||||
.handle_tc_packet(
|
||||
satrs::pus::TcInMemory::StoreAddr(addr),
|
||||
pus_tc.service(),
|
||||
&pus_tc,
|
||||
)
|
||||
.ok();
|
||||
true
|
||||
}
|
||||
Err(e) => {
|
||||
warn!("error creating PUS TC from raw data: {e}");
|
||||
warn!("raw data: {:x?}", self.tc_buf);
|
||||
true
|
||||
}
|
||||
}
|
||||
}
|
||||
Err(e) => match e {
|
||||
TryRecvError::Empty => false,
|
||||
TryRecvError::Disconnected => {
|
||||
warn!("tmtc thread: sender disconnected");
|
||||
false
|
||||
}
|
||||
},
|
||||
}
|
||||
}
|
||||
}
|
||||
|
||||
// TC source components where the heap is the backing memory of the received telecommands.
|
||||
pub struct TcSourceTaskDynamic {
|
||||
pub tc_receiver: Receiver<Vec<u8>>,
|
||||
pus_receiver: PusReceiver<MpscTmAsVecSender>,
|
||||
}
|
||||
|
||||
impl TcSourceTaskDynamic {
|
||||
pub fn new(
|
||||
tc_receiver: Receiver<Vec<u8>>,
|
||||
pus_receiver: PusReceiver<MpscTmAsVecSender>,
|
||||
) -> Self {
|
||||
Self {
|
||||
tc_receiver,
|
||||
pus_receiver,
|
||||
}
|
||||
}
|
||||
|
||||
pub fn periodic_operation(&mut self) {
|
||||
self.poll_tc();
|
||||
}
|
||||
|
||||
pub fn poll_tc(&mut self) -> bool {
|
||||
match self.tc_receiver.try_recv() {
|
||||
Ok(tc) => match PusTcReader::new(&tc) {
|
||||
Ok((pus_tc, _)) => {
|
||||
self.pus_receiver
|
||||
.handle_tc_packet(
|
||||
satrs::pus::TcInMemory::Vec(tc.clone()),
|
||||
pus_tc.service(),
|
||||
&pus_tc,
|
||||
)
|
||||
.ok();
|
||||
true
|
||||
}
|
||||
Err(e) => {
|
||||
warn!("error creating PUS TC from raw data: {e}");
|
||||
warn!("raw data: {:x?}", tc);
|
||||
true
|
||||
}
|
||||
},
|
||||
Err(e) => match e {
|
||||
TryRecvError::Empty => false,
|
||||
TryRecvError::Disconnected => {
|
||||
warn!("tmtc thread: sender disconnected");
|
||||
false
|
||||
}
|
||||
},
|
||||
}
|
||||
}
|
||||
}
|
||||
@ -1,2 +0,0 @@
|
||||
pub mod tc_source;
|
||||
pub mod tm_sink;
|
||||
@ -1,106 +0,0 @@
|
||||
use satrs::{
|
||||
pool::PoolProvider,
|
||||
tmtc::{PacketAsVec, PacketInPool, PacketSenderWithSharedPool, SharedPacketPool},
|
||||
};
|
||||
use std::sync::mpsc::{self, TryRecvError};
|
||||
|
||||
use satrs::pus::MpscTmAsVecSender;
|
||||
|
||||
use crate::pus::{HandlingStatus, PusTcDistributor};
|
||||
|
||||
// TC source components where static pools are the backing memory of the received telecommands.
|
||||
pub struct TcSourceTaskStatic {
|
||||
shared_tc_pool: SharedPacketPool,
|
||||
tc_receiver: mpsc::Receiver<PacketInPool>,
|
||||
tc_buf: [u8; 4096],
|
||||
pus_distributor: PusTcDistributor<PacketSenderWithSharedPool>,
|
||||
}
|
||||
|
||||
impl TcSourceTaskStatic {
|
||||
pub fn new(
|
||||
shared_tc_pool: SharedPacketPool,
|
||||
tc_receiver: mpsc::Receiver<PacketInPool>,
|
||||
pus_receiver: PusTcDistributor<PacketSenderWithSharedPool>,
|
||||
) -> Self {
|
||||
Self {
|
||||
shared_tc_pool,
|
||||
tc_receiver,
|
||||
tc_buf: [0; 4096],
|
||||
pus_distributor: pus_receiver,
|
||||
}
|
||||
}
|
||||
|
||||
pub fn periodic_operation(&mut self) {
|
||||
self.poll_tc();
|
||||
}
|
||||
|
||||
pub fn poll_tc(&mut self) -> HandlingStatus {
|
||||
// Right now, we only expect ECSS PUS packets.
|
||||
// If packets like CFDP are expected, we might have to check the APID first.
|
||||
match self.tc_receiver.try_recv() {
|
||||
Ok(packet_in_pool) => {
|
||||
let pool = self
|
||||
.shared_tc_pool
|
||||
.0
|
||||
.read()
|
||||
.expect("locking tc pool failed");
|
||||
pool.read(&packet_in_pool.store_addr, &mut self.tc_buf)
|
||||
.expect("reading pool failed");
|
||||
drop(pool);
|
||||
self.pus_distributor
|
||||
.handle_tc_packet_in_store(packet_in_pool, &self.tc_buf)
|
||||
.ok();
|
||||
HandlingStatus::HandledOne
|
||||
}
|
||||
Err(e) => match e {
|
||||
TryRecvError::Empty => HandlingStatus::Empty,
|
||||
TryRecvError::Disconnected => {
|
||||
log::warn!("tmtc thread: sender disconnected");
|
||||
HandlingStatus::Empty
|
||||
}
|
||||
},
|
||||
}
|
||||
}
|
||||
}
|
||||
|
||||
// TC source components where the heap is the backing memory of the received telecommands.
|
||||
pub struct TcSourceTaskDynamic {
|
||||
pub tc_receiver: mpsc::Receiver<PacketAsVec>,
|
||||
pus_distributor: PusTcDistributor<MpscTmAsVecSender>,
|
||||
}
|
||||
|
||||
impl TcSourceTaskDynamic {
|
||||
pub fn new(
|
||||
tc_receiver: mpsc::Receiver<PacketAsVec>,
|
||||
pus_receiver: PusTcDistributor<MpscTmAsVecSender>,
|
||||
) -> Self {
|
||||
Self {
|
||||
tc_receiver,
|
||||
pus_distributor: pus_receiver,
|
||||
}
|
||||
}
|
||||
|
||||
pub fn periodic_operation(&mut self) {
|
||||
self.poll_tc();
|
||||
}
|
||||
|
||||
pub fn poll_tc(&mut self) -> HandlingStatus {
|
||||
// Right now, we only expect ECSS PUS packets.
|
||||
// If packets like CFDP are expected, we might have to check the APID first.
|
||||
match self.tc_receiver.try_recv() {
|
||||
Ok(packet_as_vec) => {
|
||||
self.pus_distributor
|
||||
.handle_tc_packet_vec(packet_as_vec)
|
||||
.ok();
|
||||
HandlingStatus::HandledOne
|
||||
}
|
||||
Err(e) => match e {
|
||||
TryRecvError::Empty => HandlingStatus::Empty,
|
||||
TryRecvError::Disconnected => {
|
||||
log::warn!("tmtc thread: sender disconnected");
|
||||
HandlingStatus::Empty
|
||||
}
|
||||
},
|
||||
}
|
||||
}
|
||||
}
|
||||
@ -1,22 +1,20 @@
|
||||
use core::fmt::Debug;
|
||||
use std::net::{SocketAddr, UdpSocket};
|
||||
use std::sync::mpsc;
|
||||
|
||||
use log::{info, warn};
|
||||
use satrs::tmtc::{PacketAsVec, PacketInPool, PacketSenderRaw};
|
||||
use satrs::pus::{PusTmAsVec, PusTmInPool};
|
||||
use satrs::{
|
||||
hal::std::udp_server::{ReceiveResult, UdpTcServer},
|
||||
pool::{PoolProviderWithGuards, SharedStaticMemoryPool},
|
||||
tmtc::CcsdsError,
|
||||
};
|
||||
|
||||
use crate::pus::HandlingStatus;
|
||||
|
||||
pub trait UdpTmHandler {
|
||||
fn send_tm_to_udp_client(&mut self, socket: &UdpSocket, recv_addr: &SocketAddr);
|
||||
}
|
||||
|
||||
pub struct StaticUdpTmHandler {
|
||||
pub tm_rx: mpsc::Receiver<PacketInPool>,
|
||||
pub tm_rx: mpsc::Receiver<PusTmInPool>,
|
||||
pub tm_store: SharedStaticMemoryPool,
|
||||
}
|
||||
|
||||
@ -45,7 +43,7 @@ impl UdpTmHandler for StaticUdpTmHandler {
|
||||
}
|
||||
|
||||
pub struct DynamicUdpTmHandler {
|
||||
pub tm_rx: mpsc::Receiver<PacketAsVec>,
|
||||
pub tm_rx: mpsc::Receiver<PusTmAsVec>,
|
||||
}
|
||||
|
||||
impl UdpTmHandler for DynamicUdpTmHandler {
|
||||
@ -66,48 +64,42 @@ impl UdpTmHandler for DynamicUdpTmHandler {
|
||||
}
|
||||
}
|
||||
|
||||
pub struct UdpTmtcServer<
|
||||
TcSender: PacketSenderRaw<Error = SendError>,
|
||||
TmHandler: UdpTmHandler,
|
||||
SendError,
|
||||
> {
|
||||
pub udp_tc_server: UdpTcServer<TcSender, SendError>,
|
||||
pub struct UdpTmtcServer<TmHandler: UdpTmHandler, SendError> {
|
||||
pub udp_tc_server: UdpTcServer<CcsdsError<SendError>>,
|
||||
pub tm_handler: TmHandler,
|
||||
}
|
||||
|
||||
impl<
|
||||
TcSender: PacketSenderRaw<Error = SendError>,
|
||||
TmHandler: UdpTmHandler,
|
||||
SendError: Debug + 'static,
|
||||
> UdpTmtcServer<TcSender, TmHandler, SendError>
|
||||
impl<TmHandler: UdpTmHandler, SendError: core::fmt::Debug + 'static>
|
||||
UdpTmtcServer<TmHandler, SendError>
|
||||
{
|
||||
pub fn periodic_operation(&mut self) {
|
||||
loop {
|
||||
if self.poll_tc_server() == HandlingStatus::Empty {
|
||||
break;
|
||||
}
|
||||
}
|
||||
while self.poll_tc_server() {}
|
||||
if let Some(recv_addr) = self.udp_tc_server.last_sender() {
|
||||
self.tm_handler
|
||||
.send_tm_to_udp_client(&self.udp_tc_server.socket, &recv_addr);
|
||||
}
|
||||
}
|
||||
|
||||
fn poll_tc_server(&mut self) -> HandlingStatus {
|
||||
fn poll_tc_server(&mut self) -> bool {
|
||||
match self.udp_tc_server.try_recv_tc() {
|
||||
Ok(_) => HandlingStatus::HandledOne,
|
||||
Err(e) => {
|
||||
match e {
|
||||
ReceiveResult::NothingReceived => (),
|
||||
ReceiveResult::Io(e) => {
|
||||
warn!("IO error {e}");
|
||||
Ok(_) => true,
|
||||
Err(e) => match e {
|
||||
ReceiveResult::ReceiverError(e) => match e {
|
||||
CcsdsError::ByteConversionError(e) => {
|
||||
warn!("packet error: {e:?}");
|
||||
true
|
||||
}
|
||||
ReceiveResult::Send(send_error) => {
|
||||
warn!("send error {send_error:?}");
|
||||
CcsdsError::CustomError(e) => {
|
||||
warn!("mpsc custom error {e:?}");
|
||||
true
|
||||
}
|
||||
},
|
||||
ReceiveResult::IoError(e) => {
|
||||
warn!("IO error {e}");
|
||||
false
|
||||
}
|
||||
HandlingStatus::Empty
|
||||
}
|
||||
ReceiveResult::NothingReceived => false,
|
||||
},
|
||||
}
|
||||
}
|
||||
}
|
||||
@ -115,7 +107,6 @@ impl<
|
||||
#[cfg(test)]
|
||||
mod tests {
|
||||
use std::{
|
||||
cell::RefCell,
|
||||
collections::VecDeque,
|
||||
net::IpAddr,
|
||||
sync::{Arc, Mutex},
|
||||
@ -126,26 +117,21 @@ mod tests {
|
||||
ecss::{tc::PusTcCreator, WritablePusPacket},
|
||||
SpHeader,
|
||||
},
|
||||
tmtc::PacketSenderRaw,
|
||||
ComponentId,
|
||||
tmtc::ReceivesTcCore,
|
||||
};
|
||||
use satrs_example::config::{components, OBSW_SERVER_ADDR};
|
||||
|
||||
use super::*;
|
||||
|
||||
const UDP_SERVER_ID: ComponentId = 0x05;
|
||||
|
||||
#[derive(Default, Debug)]
|
||||
pub struct TestSender {
|
||||
tc_vec: RefCell<VecDeque<PacketAsVec>>,
|
||||
#[derive(Default, Debug, Clone)]
|
||||
pub struct TestReceiver {
|
||||
tc_vec: Arc<Mutex<VecDeque<Vec<u8>>>>,
|
||||
}
|
||||
|
||||
impl PacketSenderRaw for TestSender {
|
||||
type Error = ();
|
||||
|
||||
fn send_packet(&self, sender_id: ComponentId, tc_raw: &[u8]) -> Result<(), Self::Error> {
|
||||
let mut mut_queue = self.tc_vec.borrow_mut();
|
||||
mut_queue.push_back(PacketAsVec::new(sender_id, tc_raw.to_vec()));
|
||||
impl ReceivesTcCore for TestReceiver {
|
||||
type Error = CcsdsError<()>;
|
||||
fn pass_tc(&mut self, tc_raw: &[u8]) -> Result<(), Self::Error> {
|
||||
self.tc_vec.lock().unwrap().push_back(tc_raw.to_vec());
|
||||
Ok(())
|
||||
}
|
||||
}
|
||||
@ -164,10 +150,9 @@ mod tests {
|
||||
#[test]
|
||||
fn test_basic() {
|
||||
let sock_addr = SocketAddr::new(IpAddr::V4(OBSW_SERVER_ADDR), 0);
|
||||
let test_receiver = TestSender::default();
|
||||
// let tc_queue = test_receiver.tc_vec.clone();
|
||||
let udp_tc_server =
|
||||
UdpTcServer::new(UDP_SERVER_ID, sock_addr, 2048, test_receiver).unwrap();
|
||||
let test_receiver = TestReceiver::default();
|
||||
let tc_queue = test_receiver.tc_vec.clone();
|
||||
let udp_tc_server = UdpTcServer::new(sock_addr, 2048, Box::new(test_receiver)).unwrap();
|
||||
let tm_handler = TestTmHandler::default();
|
||||
let tm_handler_calls = tm_handler.addrs_to_send_to.clone();
|
||||
let mut udp_dyn_server = UdpTmtcServer {
|
||||
@ -175,18 +160,16 @@ mod tests {
|
||||
tm_handler,
|
||||
};
|
||||
udp_dyn_server.periodic_operation();
|
||||
let queue = udp_dyn_server.udp_tc_server.tc_sender.tc_vec.borrow();
|
||||
assert!(queue.is_empty());
|
||||
assert!(tc_queue.lock().unwrap().is_empty());
|
||||
assert!(tm_handler_calls.lock().unwrap().is_empty());
|
||||
}
|
||||
|
||||
#[test]
|
||||
fn test_transactions() {
|
||||
let sock_addr = SocketAddr::new(IpAddr::V4(OBSW_SERVER_ADDR), 0);
|
||||
let test_receiver = TestSender::default();
|
||||
// let tc_queue = test_receiver.tc_vec.clone();
|
||||
let udp_tc_server =
|
||||
UdpTcServer::new(UDP_SERVER_ID, sock_addr, 2048, test_receiver).unwrap();
|
||||
let test_receiver = TestReceiver::default();
|
||||
let tc_queue = test_receiver.tc_vec.clone();
|
||||
let udp_tc_server = UdpTcServer::new(sock_addr, 2048, Box::new(test_receiver)).unwrap();
|
||||
let server_addr = udp_tc_server.socket.local_addr().unwrap();
|
||||
let tm_handler = TestTmHandler::default();
|
||||
let tm_handler_calls = tm_handler.addrs_to_send_to.clone();
|
||||
@ -194,8 +177,8 @@ mod tests {
|
||||
udp_tc_server,
|
||||
tm_handler,
|
||||
};
|
||||
let sph = SpHeader::new_for_unseg_tc(components::Apid::GenericPus as u16, 0, 0);
|
||||
let ping_tc = PusTcCreator::new_simple(sph, 17, 1, &[], true)
|
||||
let mut sph = SpHeader::tc_unseg(components::Apid::GenericPus as u16, 0, 0).unwrap();
|
||||
let ping_tc = PusTcCreator::new_simple(&mut sph, 17, 1, None, true)
|
||||
.to_vec()
|
||||
.unwrap();
|
||||
let client = UdpSocket::bind("127.0.0.1:0").expect("Connecting to UDP server failed");
|
||||
@ -204,11 +187,10 @@ mod tests {
|
||||
client.send(&ping_tc).unwrap();
|
||||
udp_dyn_server.periodic_operation();
|
||||
{
|
||||
let mut queue = udp_dyn_server.udp_tc_server.tc_sender.tc_vec.borrow_mut();
|
||||
assert!(!queue.is_empty());
|
||||
let packet_with_sender = queue.pop_front().unwrap();
|
||||
assert_eq!(packet_with_sender.packet, ping_tc);
|
||||
assert_eq!(packet_with_sender.sender_id, UDP_SERVER_ID);
|
||||
let mut tc_queue = tc_queue.lock().unwrap();
|
||||
assert!(!tc_queue.is_empty());
|
||||
let received_tc = tc_queue.pop_front().unwrap();
|
||||
assert_eq!(received_tc, ping_tc);
|
||||
}
|
||||
|
||||
{
|
||||
@ -219,9 +201,7 @@ mod tests {
|
||||
assert_eq!(received_addr, client_addr);
|
||||
}
|
||||
udp_dyn_server.periodic_operation();
|
||||
let queue = udp_dyn_server.udp_tc_server.tc_sender.tc_vec.borrow();
|
||||
assert!(queue.is_empty());
|
||||
drop(queue);
|
||||
assert!(tc_queue.lock().unwrap().is_empty());
|
||||
// Still tries to send to the same client.
|
||||
{
|
||||
let mut tm_handler_calls = tm_handler_calls.lock().unwrap();
|
||||
@ -8,10 +8,6 @@ and this project adheres to [Semantic Versioning](http://semver.org/).
|
||||
|
||||
# [unreleased]
|
||||
|
||||
# [v0.1.2] 2024-04-17
|
||||
|
||||
Allow `satrs-shared` from `v0.1.3` to `<v0.2`.
|
||||
|
||||
# [v0.1.1] 2024-02-17
|
||||
|
||||
- Bumped `spacepackets` to v0.10.0
|
||||
|
||||
@ -1,6 +1,6 @@
|
||||
[package]
|
||||
name = "satrs-mib"
|
||||
version = "0.1.2"
|
||||
version = "0.1.1"
|
||||
edition = "2021"
|
||||
rust-version = "1.61"
|
||||
authors = ["Robin Mueller <muellerr@irs.uni-stuttgart.de>"]
|
||||
@ -23,12 +23,13 @@ version = "1"
|
||||
optional = true
|
||||
|
||||
[dependencies.satrs-shared]
|
||||
version = ">=0.1.3, <0.2"
|
||||
path = "../satrs-shared"
|
||||
version = "0.1.3"
|
||||
features = ["serde"]
|
||||
|
||||
[dependencies.satrs-mib-codegen]
|
||||
path = "codegen"
|
||||
version = "0.1.2"
|
||||
version = "0.1.1"
|
||||
|
||||
[dependencies.serde]
|
||||
version = "1"
|
||||
|
||||
@ -1,6 +1,6 @@
|
||||
[package]
|
||||
name = "satrs-mib-codegen"
|
||||
version = "0.1.2"
|
||||
version = "0.1.1"
|
||||
edition = "2021"
|
||||
description = "satrs-mib proc macro implementation"
|
||||
homepage = "https://egit.irs.uni-stuttgart.de/rust/sat-rs"
|
||||
@ -28,7 +28,8 @@ features = ["full"]
|
||||
trybuild = { version = "1", features = ["diff"] }
|
||||
|
||||
[dev-dependencies.satrs-shared]
|
||||
version = ">=0.1.3, <0.2"
|
||||
version = "0.1.3"
|
||||
path = "../../satrs-shared"
|
||||
|
||||
[dev-dependencies.satrs-mib]
|
||||
path = ".."
|
||||
|
||||
@ -8,10 +8,6 @@ and this project adheres to [Semantic Versioning](http://semver.org/).
|
||||
|
||||
# [unreleased]
|
||||
|
||||
# [v0.1.3] 2024-04-16
|
||||
|
||||
Allow `spacepackets` range starting with v0.10 and v0.11.
|
||||
|
||||
# [v0.1.2] 2024-02-17
|
||||
|
||||
- Bumped `spacepackets` to v0.10.0 for `UnsignedEnum` trait change.
|
||||
|
||||
@ -18,7 +18,9 @@ default-features = false
|
||||
optional = true
|
||||
|
||||
[dependencies.spacepackets]
|
||||
version = ">0.9, <=0.11"
|
||||
git = "https://egit.irs.uni-stuttgart.de/rust/spacepackets.git"
|
||||
version = "0.11.0-rc.0"
|
||||
branch = "main"
|
||||
default-features = false
|
||||
|
||||
[features]
|
||||
|
||||
@ -8,47 +8,8 @@ and this project adheres to [Semantic Versioning](http://semver.org/).
|
||||
|
||||
# [unreleased]
|
||||
|
||||
# [v0.2.0-rc.2] 2024-04-17
|
||||
|
||||
docs-rs hotfix
|
||||
|
||||
# [v0.2.0-rc.1] 2024-04-17
|
||||
|
||||
- `spacepackets` v0.11
|
||||
|
||||
## Added
|
||||
|
||||
- Added `params::WritableToBeBytes::to_vec`.
|
||||
- New `ComponentId` (`u64` typedef for now) which replaces former `TargetId` as a generic
|
||||
way to identify components.
|
||||
- Various abstraction and objects for targeted requests. This includes mode request/reply
|
||||
types for actions, HK and modes.
|
||||
- `VerificationReportingProvider::owner_id` method.
|
||||
- Introduced generic `EventMessage` which is generic over the event type and the additional
|
||||
parameter type. This message also contains the sender ID which can be useful for debugging
|
||||
or application layer / FDIR logic.
|
||||
- Stop signal handling for the TCP servers.
|
||||
- TCP server now uses `mio` crate to allow non-blocking operation. The server can now handle
|
||||
multiple connections at once, and the context information about handled transfers is
|
||||
passed via a callback which is inserted as a generic as well.
|
||||
|
||||
## Changed
|
||||
|
||||
- Renamed `ReceivesTcCore` to `PacketSenderRaw` to better show its primary purpose. It now contains
|
||||
a `send_raw_tc` method which is not mutable anymore.
|
||||
- Renamed `TmPacketSourceCore` to `TmPacketSource`.
|
||||
- Renamed `EcssTmSenderCore` to `EcssTmSender`.
|
||||
- Renamed `StoreAddr` to `PoolAddr`.
|
||||
- Reanmed `StoreError` to `PoolError`.
|
||||
- TCP server generics order. The error generics come last now.
|
||||
- `encoding::ccsds::PacketIdValidator` renamed to `ValidatorU16Id`, which lives in the crate root.
|
||||
It can be used for both CCSDS packet ID and CCSDS APID validation.
|
||||
- `EventManager::try_event_handling` not expects a mutable error handling closure instead of
|
||||
returning the occured errors.
|
||||
- Renamed `EventManagerBase` to `EventReportCreator`
|
||||
- Renamed `VerificationReporterCore` to `VerificationReportCreator`.
|
||||
- Removed `VerificationReporterCore`. The high-level API exposed by `VerificationReporter` and
|
||||
the low level API exposed by `VerificationReportCreator` should be sufficient for all use-cases.
|
||||
- Refactored `EventManager` to heavily use generics instead of trait objects.
|
||||
- `SendEventProvider` -> `EventSendProvider`. `id` trait method renamed to `channel_id`.
|
||||
- `ListenerTable` -> `ListenerMapProvider`
|
||||
@ -67,30 +28,11 @@ docs-rs hotfix
|
||||
- Replace `TargetId` by `ComponentId`.
|
||||
- Replace most usages of `ChannelId` by `ComponentId`. A dedicated channel ID has limited usage
|
||||
due to the nature of typed channels in Rust.
|
||||
- `CheckTimer` renamed to `CountdownProvider`.
|
||||
- Renamed `TargetId` to `ComponentId`.
|
||||
- Replaced most `ChannelId` occurences with `ComponentId`. For typed channels, there is generally
|
||||
no need for dedicated channel IDs.
|
||||
- Changed `params::WritableToBeBytes::raw_len` to `written_len` for consistency.
|
||||
- `EventReporter` caches component ID.
|
||||
- Renamed `PusService11SchedHandler` to `PusSchedServiceHandler`.
|
||||
- Fixed general naming of PUS handlers from `handle_one_tc` to `poll_and_handle_next_tc`.
|
||||
- Reworked verification module: The sender (`impl EcssTmSenderCore`)
|
||||
now needs to be passed explicitely to the `VerificationReportingProvider` abstraction. This
|
||||
allows easier sharing of the TM sender component.
|
||||
|
||||
## Fixed
|
||||
|
||||
- Update deprecated API for `PusScheduler::insert_wrapped_tc_cds_short`
|
||||
and `PusScheduler::insert_wrapped_tc_cds_long`.
|
||||
- `EventReporter` uses interior mutability pattern to allow non-mutable API.
|
||||
|
||||
## Removed
|
||||
|
||||
- Remove `objects` module.
|
||||
- Removed CCSDS and PUS distributor modules. Their worth is questionable in an architecture
|
||||
where routing traits are sufficient and the core logic to demultiplex and distribute packets
|
||||
is simple enough to be application code.
|
||||
|
||||
# [v0.2.0-rc.0] 2024-02-21
|
||||
|
||||
|
||||
@ -1,8 +1,8 @@
|
||||
[package]
|
||||
name = "satrs"
|
||||
version = "0.2.0-rc.2"
|
||||
version = "0.2.0-rc.0"
|
||||
edition = "2021"
|
||||
rust-version = "1.71.1"
|
||||
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/"
|
||||
@ -19,26 +19,13 @@ smallvec = "1"
|
||||
crc = "3"
|
||||
|
||||
[dependencies.satrs-shared]
|
||||
version = ">=0.1.3, <0.2"
|
||||
version = "0.1.3"
|
||||
path = "../satrs-shared"
|
||||
|
||||
[dependencies.num_enum]
|
||||
version = ">0.5, <=0.7"
|
||||
default-features = false
|
||||
|
||||
[dependencies.spacepackets]
|
||||
version = "0.11"
|
||||
default-features = false
|
||||
|
||||
[dependencies.cobs]
|
||||
git = "https://github.com/robamu/cobs.rs.git"
|
||||
version = "0.2.3"
|
||||
branch = "all_features"
|
||||
default-features = false
|
||||
|
||||
[dependencies.num-traits]
|
||||
version = "0.2"
|
||||
default-features = false
|
||||
|
||||
[dependencies.dyn-clone]
|
||||
version = "1"
|
||||
optional = true
|
||||
@ -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 +70,17 @@ version = "0.5.4"
|
||||
features = ["all"]
|
||||
optional = true
|
||||
|
||||
[dependencies.mio]
|
||||
version = "0.8"
|
||||
features = ["os-poll", "net"]
|
||||
optional = true
|
||||
[dependencies.spacepackets]
|
||||
git = "https://egit.irs.uni-stuttgart.de/rust/spacepackets.git"
|
||||
version = "0.11.0-rc.0"
|
||||
branch = "main"
|
||||
default-features = false
|
||||
|
||||
[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 +105,7 @@ std = [
|
||||
"spacepackets/std",
|
||||
"num_enum/std",
|
||||
"thiserror",
|
||||
"socket2",
|
||||
"mio"
|
||||
"socket2"
|
||||
]
|
||||
alloc = [
|
||||
"serde/alloc",
|
||||
@ -120,7 +117,6 @@ alloc = [
|
||||
serde = ["dep:serde", "spacepackets/serde", "satrs-shared/serde"]
|
||||
crossbeam = ["crossbeam-channel"]
|
||||
heapless = ["dep:heapless"]
|
||||
defmt = ["spacepackets/defmt"]
|
||||
test_util = []
|
||||
doc-images = []
|
||||
|
||||
|
||||
@ -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.
|
||||
|
||||
@ -1,6 +1,7 @@
|
||||
use crate::{params::Params, pool::PoolAddr};
|
||||
use crate::{params::Params, pool::StoreAddr};
|
||||
|
||||
#[cfg(feature = "alloc")]
|
||||
#[cfg_attr(doc_cfg, doc(cfg(feature = "alloc")))]
|
||||
pub use alloc_mod::*;
|
||||
|
||||
pub type ActionId = u32;
|
||||
@ -21,8 +22,9 @@ impl ActionRequest {
|
||||
#[derive(Clone, Eq, PartialEq, Debug)]
|
||||
pub enum ActionRequestVariant {
|
||||
NoData,
|
||||
StoreData(PoolAddr),
|
||||
StoreData(StoreAddr),
|
||||
#[cfg(feature = "alloc")]
|
||||
#[cfg_attr(doc_cfg, doc(cfg(feature = "alloc")))]
|
||||
VecData(alloc::vec::Vec<u8>),
|
||||
}
|
||||
|
||||
@ -42,21 +44,28 @@ pub enum ActionReplyVariant {
|
||||
}
|
||||
|
||||
#[cfg(feature = "alloc")]
|
||||
#[cfg_attr(doc_cfg, doc(cfg(feature = "alloc")))]
|
||||
pub mod alloc_mod {
|
||||
use super::*;
|
||||
|
||||
#[cfg(feature = "alloc")]
|
||||
#[cfg_attr(doc_cfg, doc(cfg(feature = "alloc")))]
|
||||
#[derive(Debug, Eq, PartialEq, Clone)]
|
||||
pub struct ActionRequestStringId {
|
||||
pub action_id: alloc::string::String,
|
||||
pub variant: ActionRequestVariant,
|
||||
}
|
||||
|
||||
#[cfg(feature = "alloc")]
|
||||
#[cfg_attr(doc_cfg, doc(cfg(feature = "alloc")))]
|
||||
impl ActionRequestStringId {
|
||||
pub fn new(action_id: alloc::string::String, variant: ActionRequestVariant) -> Self {
|
||||
Self { action_id, variant }
|
||||
}
|
||||
}
|
||||
|
||||
#[cfg(feature = "alloc")]
|
||||
#[cfg_attr(doc_cfg, doc(cfg(feature = "alloc")))]
|
||||
#[derive(Debug, PartialEq, Clone)]
|
||||
pub struct ActionReplyStringId {
|
||||
pub action_id: alloc::string::String,
|
||||
|
||||
@ -1,52 +1,84 @@
|
||||
use spacepackets::{CcsdsPacket, SpHeader};
|
||||
#[cfg(feature = "alloc")]
|
||||
use alloc::vec::Vec;
|
||||
#[cfg(feature = "alloc")]
|
||||
use hashbrown::HashSet;
|
||||
use spacepackets::PacketId;
|
||||
|
||||
use crate::{tmtc::PacketSenderRaw, ComponentId};
|
||||
use crate::tmtc::ReceivesTcCore;
|
||||
|
||||
#[derive(Debug, Copy, Clone, PartialEq, Eq)]
|
||||
pub enum SpValidity {
|
||||
Valid,
|
||||
/// The space packet can be assumed to have a valid format, but the packet should
|
||||
/// be skipped.
|
||||
Skip,
|
||||
/// The space packet or space packet header has an invalid format, for example a CRC check
|
||||
/// failed. In that case, the parser loses the packet synchronization and needs to check for
|
||||
/// the start of a new space packet header start again. The space packet header
|
||||
/// [spacepackets::PacketId] can be used as a synchronization marker to detect the start
|
||||
/// of a possible valid packet again.
|
||||
Invalid,
|
||||
pub trait PacketIdLookup {
|
||||
fn validate(&self, packet_id: u16) -> bool;
|
||||
}
|
||||
|
||||
/// Simple trait to allow user code to check the validity of a space packet.
|
||||
pub trait SpacePacketValidator {
|
||||
fn validate(&self, sp_header: &SpHeader, raw_buf: &[u8]) -> SpValidity;
|
||||
#[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
|
||||
/// [spacepackets::SpHeader] of the CCSDS packets and a user provided [SpacePacketValidator]
|
||||
/// to check whether a received space packet is relevant for processing.
|
||||
/// [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 parses will behave differently based on the [SpValidity] returned from the user provided
|
||||
/// [SpacePacketValidator]:
|
||||
///
|
||||
/// 1. [SpValidity::Valid]: The parser will forward all packets to the given `packet_sender` and
|
||||
/// return the number of packets found.If the [PacketSenderRaw::send_packet] calls fails, the
|
||||
/// error will be returned.
|
||||
/// 2. [SpValidity::Invalid]: The parser assumes that the synchronization is lost and tries to
|
||||
/// find the start of a new space packet header by scanning all the following bytes.
|
||||
/// 3. [SpValidity::Skip]: The parser skips the packet using the packet length determined from the
|
||||
/// space packet header.
|
||||
pub fn parse_buffer_for_ccsds_space_packets<SendError>(
|
||||
/// 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_validator: &(impl SpacePacketValidator + ?Sized),
|
||||
sender_id: ComponentId,
|
||||
packet_sender: &(impl PacketSenderRaw<Error = SendError> + ?Sized),
|
||||
packet_id_lookup: &(impl PacketIdLookup + ?Sized),
|
||||
tc_receiver: &mut (impl ReceivesTcCore<Error = E> + ?Sized),
|
||||
next_write_idx: &mut usize,
|
||||
) -> Result<u32, SendError> {
|
||||
) -> Result<u32, E> {
|
||||
*next_write_idx = 0;
|
||||
let mut packets_found = 0;
|
||||
let mut current_idx = 0;
|
||||
@ -55,33 +87,25 @@ pub fn parse_buffer_for_ccsds_space_packets<SendError>(
|
||||
if current_idx + 7 >= buf.len() {
|
||||
break;
|
||||
}
|
||||
let sp_header = SpHeader::from_be_bytes(&buf[current_idx..]).unwrap().0;
|
||||
// let packet_id = u16::from_be_bytes(buf[current_idx..current_idx + 2].try_into().unwrap());
|
||||
match packet_validator.validate(&sp_header, &buf[current_idx..]) {
|
||||
SpValidity::Valid => {
|
||||
let packet_size = sp_header.total_len();
|
||||
if (current_idx + packet_size) <= buf_len {
|
||||
packet_sender
|
||||
.send_packet(sender_id, &buf[current_idx..current_idx + packet_size])?;
|
||||
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;
|
||||
}
|
||||
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;
|
||||
continue;
|
||||
}
|
||||
SpValidity::Skip => {
|
||||
current_idx += sp_header.total_len();
|
||||
}
|
||||
// We might have lost sync. Try to find the start of a new space packet header.
|
||||
SpValidity::Invalid => {
|
||||
current_idx += 1;
|
||||
}
|
||||
current_idx += packet_size as usize;
|
||||
continue;
|
||||
}
|
||||
current_idx += 1;
|
||||
}
|
||||
Ok(packets_found)
|
||||
}
|
||||
@ -90,75 +114,50 @@ pub fn parse_buffer_for_ccsds_space_packets<SendError>(
|
||||
mod tests {
|
||||
use spacepackets::{
|
||||
ecss::{tc::PusTcCreator, WritablePusPacket},
|
||||
CcsdsPacket, PacketId, SpHeader,
|
||||
PacketId, SpHeader,
|
||||
};
|
||||
|
||||
use crate::{encoding::tests::TcCacher, ComponentId};
|
||||
use crate::encoding::tests::TcCacher;
|
||||
|
||||
use super::{parse_buffer_for_ccsds_space_packets, SpValidity, SpacePacketValidator};
|
||||
use super::parse_buffer_for_ccsds_space_packets;
|
||||
|
||||
const PARSER_ID: ComponentId = 0x05;
|
||||
const TEST_APID_0: u16 = 0x02;
|
||||
const TEST_APID_1: u16 = 0x10;
|
||||
const TEST_PACKET_ID_0: PacketId = PacketId::new_for_tc(true, TEST_APID_0);
|
||||
const TEST_PACKET_ID_1: PacketId = PacketId::new_for_tc(true, TEST_APID_1);
|
||||
|
||||
#[derive(Default)]
|
||||
struct SimpleVerificator {
|
||||
pub enable_second_id: bool,
|
||||
}
|
||||
|
||||
impl SimpleVerificator {
|
||||
pub fn new_with_second_id() -> Self {
|
||||
Self {
|
||||
enable_second_id: true,
|
||||
}
|
||||
}
|
||||
}
|
||||
|
||||
impl SpacePacketValidator for SimpleVerificator {
|
||||
fn validate(&self, sp_header: &SpHeader, _raw_buf: &[u8]) -> super::SpValidity {
|
||||
if sp_header.packet_id() == TEST_PACKET_ID_0
|
||||
|| (self.enable_second_id && sp_header.packet_id() == TEST_PACKET_ID_1)
|
||||
{
|
||||
return SpValidity::Valid;
|
||||
}
|
||||
SpValidity::Skip
|
||||
}
|
||||
}
|
||||
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 sph = SpHeader::new_from_apid(TEST_APID_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 mut buffer: [u8; 32] = [0; 32];
|
||||
let packet_len = ping_tc
|
||||
.write_to_bytes(&mut buffer)
|
||||
.expect("writing packet failed");
|
||||
let tc_cacher = TcCacher::default();
|
||||
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,
|
||||
&SimpleVerificator::default(),
|
||||
PARSER_ID,
|
||||
&tc_cacher,
|
||||
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);
|
||||
let mut queue = tc_cacher.tc_queue.borrow_mut();
|
||||
assert_eq!(queue.len(), 1);
|
||||
let packet_with_sender = queue.pop_front().unwrap();
|
||||
assert_eq!(packet_with_sender.packet, buffer[..packet_len]);
|
||||
assert_eq!(packet_with_sender.sender_id, PARSER_ID);
|
||||
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 sph = SpHeader::new_from_apid(TEST_APID_0);
|
||||
let ping_tc = PusTcCreator::new_simple(sph, 17, 1, &[], true);
|
||||
let action_tc = PusTcCreator::new_simple(sph, 8, 0, &[], 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 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)
|
||||
@ -166,37 +165,35 @@ mod tests {
|
||||
let packet_len_action = action_tc
|
||||
.write_to_bytes(&mut buffer[packet_len_ping..])
|
||||
.expect("writing packet failed");
|
||||
let tc_cacher = TcCacher::default();
|
||||
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,
|
||||
&SimpleVerificator::default(),
|
||||
PARSER_ID,
|
||||
&tc_cacher,
|
||||
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);
|
||||
let mut queue = tc_cacher.tc_queue.borrow_mut();
|
||||
assert_eq!(queue.len(), 2);
|
||||
let packet_with_addr = queue.pop_front().unwrap();
|
||||
assert_eq!(packet_with_addr.packet, buffer[..packet_len_ping]);
|
||||
assert_eq!(packet_with_addr.sender_id, PARSER_ID);
|
||||
let packet_with_addr = queue.pop_front().unwrap();
|
||||
assert_eq!(packet_with_addr.sender_id, PARSER_ID);
|
||||
assert_eq!(tc_cacher.tc_queue.len(), 2);
|
||||
assert_eq!(
|
||||
packet_with_addr.packet,
|
||||
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 sph = SpHeader::new_from_apid(TEST_APID_0);
|
||||
let ping_tc = PusTcCreator::new_simple(sph, 17, 1, &[], true);
|
||||
let sph = SpHeader::new_from_apid(TEST_APID_1);
|
||||
let action_tc = PusTcCreator::new_simple(sph, 8, 0, &[], 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);
|
||||
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)
|
||||
@ -204,36 +201,35 @@ mod tests {
|
||||
let packet_len_action = action_tc
|
||||
.write_to_bytes(&mut buffer[packet_len_ping..])
|
||||
.expect("writing packet failed");
|
||||
let tc_cacher = TcCacher::default();
|
||||
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 verificator = SimpleVerificator::new_with_second_id();
|
||||
let parse_result = parse_buffer_for_ccsds_space_packets(
|
||||
&mut buffer,
|
||||
&verificator,
|
||||
PARSER_ID,
|
||||
&tc_cacher,
|
||||
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);
|
||||
let mut queue = tc_cacher.tc_queue.borrow_mut();
|
||||
assert_eq!(queue.len(), 2);
|
||||
let packet_with_addr = queue.pop_front().unwrap();
|
||||
assert_eq!(packet_with_addr.packet, buffer[..packet_len_ping]);
|
||||
let packet_with_addr = queue.pop_front().unwrap();
|
||||
assert_eq!(tc_cacher.tc_queue.len(), 2);
|
||||
assert_eq!(
|
||||
packet_with_addr.packet,
|
||||
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 ping_tc =
|
||||
PusTcCreator::new_simple(SpHeader::new_from_apid(TEST_APID_0), 17, 1, &[], true);
|
||||
let action_tc =
|
||||
PusTcCreator::new_simple(SpHeader::new_from_apid(TEST_APID_1), 8, 0, &[], 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);
|
||||
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)
|
||||
@ -241,22 +237,19 @@ mod tests {
|
||||
let packet_len_action = action_tc
|
||||
.write_to_bytes(&mut buffer[packet_len_ping..])
|
||||
.expect("writing packet failed");
|
||||
let tc_cacher = TcCacher::default();
|
||||
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 verificator = SimpleVerificator::new_with_second_id();
|
||||
let parse_result = parse_buffer_for_ccsds_space_packets(
|
||||
&mut buffer[..packet_len_ping + packet_len_action - 4],
|
||||
&verificator,
|
||||
PARSER_ID,
|
||||
&tc_cacher,
|
||||
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);
|
||||
|
||||
let queue = tc_cacher.tc_queue.borrow();
|
||||
assert_eq!(queue.len(), 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);
|
||||
@ -264,28 +257,25 @@ mod tests {
|
||||
|
||||
#[test]
|
||||
fn test_one_split_packet() {
|
||||
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 mut buffer: [u8; 32] = [0; 32];
|
||||
let packet_len_ping = ping_tc
|
||||
.write_to_bytes(&mut buffer)
|
||||
.expect("writing packet failed");
|
||||
let tc_cacher = TcCacher::default();
|
||||
|
||||
let verificator = SimpleVerificator::new_with_second_id();
|
||||
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],
|
||||
&verificator,
|
||||
PARSER_ID,
|
||||
&tc_cacher,
|
||||
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);
|
||||
let queue = tc_cacher.tc_queue.borrow();
|
||||
assert_eq!(queue.len(), 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
|
||||
@ -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(())
|
||||
}
|
||||
}
|
||||
|
||||
@ -11,7 +11,7 @@
|
||||
//! about events first:
|
||||
//!
|
||||
//! The event manager has a listener table abstracted by the [ListenerMapProvider], which maps
|
||||
//! listener groups identified by [ListenerKey]s to a [listener ID][ComponentId].
|
||||
//! listener groups identified by [ListenerKey]s to a [sender ID][ComponentId].
|
||||
//! It also contains a sender table abstracted by the [SenderMapProvider] which maps these sender
|
||||
//! IDs to concrete [EventSendProvider]s. A simple approach would be to use one send event provider
|
||||
//! for each OBSW thread and then subscribe for all interesting events for a particular thread
|
||||
@ -28,8 +28,8 @@
|
||||
//! manager.
|
||||
//! 3. The event manager receives the receiver component as part of a [EventReceiveProvider]
|
||||
//! implementation so all events are routed to the manager.
|
||||
//! 4. Create the [event sender map][SenderMapProvider]s which allow routing events to
|
||||
//! subscribers. You can now use the subscriber component IDs to subscribe
|
||||
//! 4. Create the [send event providers][EventSendProvider]s which allow routing events to
|
||||
//! subscribers. You can now use their [sender IDs][EventSendProvider::channel_id] to subscribe
|
||||
//! for event groups, for example by using the [EventManager::subscribe_single] method.
|
||||
//! 5. Add the send provider as well using the [EventManager::add_sender] call so the event
|
||||
//! manager can route listener groups to a the send provider.
|
||||
@ -45,9 +45,8 @@
|
||||
//! 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;
|
||||
use crate::params::{Params, ParamsHeapless};
|
||||
use crate::queue::GenericSendError;
|
||||
use core::fmt::Debug;
|
||||
use core::marker::PhantomData;
|
||||
use core::slice::Iter;
|
||||
|
||||
@ -66,81 +65,45 @@ pub enum ListenerKey {
|
||||
All,
|
||||
}
|
||||
|
||||
#[derive(Debug)]
|
||||
pub struct EventMessage<Event: GenericEvent, ParamProvider: Debug = Params> {
|
||||
sender_id: ComponentId,
|
||||
event: Event,
|
||||
params: Option<ParamProvider>,
|
||||
}
|
||||
pub type EventWithHeaplessAuxData<Event> = (Event, Option<ParamsHeapless>);
|
||||
pub type EventU32WithHeaplessAuxData = EventWithHeaplessAuxData<EventU32>;
|
||||
pub type EventU16WithHeaplessAuxData = EventWithHeaplessAuxData<EventU16>;
|
||||
|
||||
impl<Event: GenericEvent, ParamProvider: Debug + Clone> EventMessage<Event, ParamProvider> {
|
||||
pub fn new_generic(
|
||||
sender_id: ComponentId,
|
||||
event: Event,
|
||||
params: Option<&ParamProvider>,
|
||||
) -> Self {
|
||||
Self {
|
||||
sender_id,
|
||||
event,
|
||||
params: params.cloned(),
|
||||
}
|
||||
}
|
||||
|
||||
pub fn sender_id(&self) -> ComponentId {
|
||||
self.sender_id
|
||||
}
|
||||
|
||||
pub fn event(&self) -> Event {
|
||||
self.event
|
||||
}
|
||||
|
||||
pub fn params(&self) -> Option<&ParamProvider> {
|
||||
self.params.as_ref()
|
||||
}
|
||||
|
||||
pub fn new(sender_id: ComponentId, event: Event) -> Self {
|
||||
Self::new_generic(sender_id, event, None)
|
||||
}
|
||||
|
||||
pub fn new_with_params(sender_id: ComponentId, event: Event, params: &ParamProvider) -> Self {
|
||||
Self::new_generic(sender_id, event, Some(params))
|
||||
}
|
||||
}
|
||||
|
||||
pub type EventMessageU32 = EventMessage<EventU32, Params>;
|
||||
pub type EventMessageU16 = EventMessage<EventU16, Params>;
|
||||
|
||||
/// Generic abstraction
|
||||
pub trait EventSendProvider<Event: GenericEvent, ParamProvider: Debug = Params> {
|
||||
type Error;
|
||||
pub type EventWithAuxData<Event> = (Event, Option<Params>);
|
||||
pub type EventU32WithAuxData = EventWithAuxData<EventU32>;
|
||||
pub type EventU16WithAuxData = EventWithAuxData<EventU16>;
|
||||
|
||||
pub trait EventSendProvider<EV: GenericEvent, AuxDataProvider = Params> {
|
||||
fn target_id(&self) -> ComponentId;
|
||||
|
||||
fn send(&self, message: EventMessage<Event, ParamProvider>) -> Result<(), Self::Error>;
|
||||
fn send_no_data(&self, event: EV) -> Result<(), GenericSendError> {
|
||||
self.send(event, None)
|
||||
}
|
||||
|
||||
fn send(&self, event: EV, aux_data: Option<AuxDataProvider>) -> Result<(), GenericSendError>;
|
||||
}
|
||||
|
||||
/// Generic abstraction for an event receiver.
|
||||
pub trait EventReceiveProvider<Event: GenericEvent, ParamsProvider: Debug = Params> {
|
||||
type Error;
|
||||
|
||||
pub trait EventReceiveProvider<Event: GenericEvent, AuxDataProvider = Params> {
|
||||
/// This function has to be provided by any event receiver. A call may or may not return
|
||||
/// an event and optional auxiliary data.
|
||||
fn try_recv_event(&self) -> Result<Option<EventMessage<Event, ParamsProvider>>, Self::Error>;
|
||||
fn try_recv_event(&self) -> Option<(Event, Option<AuxDataProvider>)>;
|
||||
}
|
||||
|
||||
pub trait ListenerMapProvider {
|
||||
#[cfg(feature = "alloc")]
|
||||
#[cfg_attr(doc_cfg, doc(cfg(feature = "alloc")))]
|
||||
fn get_listeners(&self) -> alloc::vec::Vec<ListenerKey>;
|
||||
fn contains_listener(&self, key: &ListenerKey) -> bool;
|
||||
fn get_listener_ids(&self, key: &ListenerKey) -> Option<Iter<ComponentId>>;
|
||||
fn add_listener(&mut self, key: ListenerKey, listener_id: ComponentId) -> bool;
|
||||
fn add_listener(&mut self, key: ListenerKey, sender_id: ComponentId) -> bool;
|
||||
fn remove_duplicates(&mut self, key: &ListenerKey);
|
||||
}
|
||||
|
||||
pub trait SenderMapProvider<
|
||||
EventSender: EventSendProvider<Event, ParamProvider>,
|
||||
Event: GenericEvent = EventU32,
|
||||
ParamProvider: Debug = Params,
|
||||
EventSender: EventSendProvider<Ev, Data>,
|
||||
Ev: GenericEvent = EventU32,
|
||||
Data = Params,
|
||||
>
|
||||
{
|
||||
fn contains_send_event_provider(&self, target_id: &ComponentId) -> bool;
|
||||
@ -161,27 +124,28 @@ pub trait SenderMapProvider<
|
||||
/// and [EventU16] are supported.
|
||||
/// * `Data`: Auxiliary data which is sent with the event to provide optional context information
|
||||
pub struct EventManager<
|
||||
EventReceiver: EventReceiveProvider<Event, ParamProvider>,
|
||||
SenderMap: SenderMapProvider<EventSender, Event, ParamProvider>,
|
||||
EventReceiver: EventReceiveProvider<Ev, Data>,
|
||||
SenderMap: SenderMapProvider<EventSender, Ev, Data>,
|
||||
ListenerMap: ListenerMapProvider,
|
||||
EventSender: EventSendProvider<Event, ParamProvider>,
|
||||
Event: GenericEvent = EventU32,
|
||||
ParamProvider: Debug = Params,
|
||||
EventSender: EventSendProvider<Ev, Data>,
|
||||
Ev: GenericEvent = EventU32,
|
||||
Data = Params,
|
||||
> {
|
||||
event_receiver: EventReceiver,
|
||||
sender_map: SenderMap,
|
||||
listener_map: ListenerMap,
|
||||
phantom: core::marker::PhantomData<(EventSender, Event, ParamProvider)>,
|
||||
phantom: core::marker::PhantomData<(EventSender, Ev, Data)>,
|
||||
}
|
||||
|
||||
#[derive(Debug)]
|
||||
pub enum EventRoutingResult<Event: GenericEvent, ParamProvider: Debug> {
|
||||
pub enum EventRoutingResult<EV: GenericEvent, AUX> {
|
||||
/// No event was received
|
||||
Empty,
|
||||
/// An event was received and routed to listeners.
|
||||
Handled {
|
||||
num_recipients: u32,
|
||||
event_msg: EventMessage<Event, ParamProvider>,
|
||||
event: EV,
|
||||
aux_data: Option<AUX>,
|
||||
},
|
||||
}
|
||||
|
||||
@ -192,21 +156,27 @@ pub enum EventRoutingError {
|
||||
NoSenderForId(ComponentId),
|
||||
}
|
||||
|
||||
#[derive(Debug)]
|
||||
pub struct EventRoutingErrorsWithResult<Ev: GenericEvent, Data> {
|
||||
pub result: EventRoutingResult<Ev, Data>,
|
||||
pub errors: [Option<EventRoutingError>; 3],
|
||||
}
|
||||
|
||||
impl<
|
||||
EventReceiver: EventReceiveProvider<Event, ParamProvider>,
|
||||
SenderMap: SenderMapProvider<EventSender, Event, ParamProvider>,
|
||||
EventReceiver: EventReceiveProvider<Ev, Data>,
|
||||
SenderMap: SenderMapProvider<EventSender, Ev, Data>,
|
||||
ListenerMap: ListenerMapProvider,
|
||||
EventSender: EventSendProvider<Event, ParamProvider>,
|
||||
Event: GenericEvent + Copy,
|
||||
ParamProvider: Debug,
|
||||
> EventManager<EventReceiver, SenderMap, ListenerMap, EventSender, Event, ParamProvider>
|
||||
EventSender: EventSendProvider<Ev, Data>,
|
||||
Ev: GenericEvent + Copy,
|
||||
Data: Clone,
|
||||
> EventManager<EventReceiver, SenderMap, ListenerMap, EventSender, Ev, Data>
|
||||
{
|
||||
pub fn remove_duplicates(&mut self, key: &ListenerKey) {
|
||||
self.listener_map.remove_duplicates(key)
|
||||
}
|
||||
|
||||
/// Subscribe for a unique event.
|
||||
pub fn subscribe_single(&mut self, event: &Event, sender_id: ComponentId) {
|
||||
pub fn subscribe_single(&mut self, event: &Ev, sender_id: ComponentId) {
|
||||
self.update_listeners(ListenerKey::Single(event.raw_as_largest_type()), sender_id);
|
||||
}
|
||||
|
||||
@ -223,20 +193,17 @@ impl<
|
||||
self.update_listeners(ListenerKey::All, sender_id);
|
||||
}
|
||||
}
|
||||
|
||||
impl<
|
||||
EventReceiver: EventReceiveProvider<Event, ParamProvider>,
|
||||
SenderMap: SenderMapProvider<EventSenderMap, Event, ParamProvider>,
|
||||
ListenerMap: ListenerMapProvider,
|
||||
EventSenderMap: EventSendProvider<Event, ParamProvider>,
|
||||
Event: GenericEvent + Copy,
|
||||
ParamProvider: Debug,
|
||||
> EventManager<EventReceiver, SenderMap, ListenerMap, EventSenderMap, Event, ParamProvider>
|
||||
ERP: EventReceiveProvider<EV, AUX>,
|
||||
SMP: SenderMapProvider<SP, EV, AUX>,
|
||||
LTR: ListenerMapProvider,
|
||||
SP: EventSendProvider<EV, AUX>,
|
||||
EV: GenericEvent + Copy,
|
||||
AUX: Clone,
|
||||
> EventManager<ERP, SMP, LTR, SP, EV, AUX>
|
||||
{
|
||||
pub fn new_with_custom_maps(
|
||||
event_receiver: EventReceiver,
|
||||
sender_map: SenderMap,
|
||||
listener_map: ListenerMap,
|
||||
) -> Self {
|
||||
pub fn new_with_custom_maps(event_receiver: ERP, sender_map: SMP, listener_map: LTR) -> Self {
|
||||
EventManager {
|
||||
listener_map,
|
||||
sender_map,
|
||||
@ -246,7 +213,7 @@ impl<
|
||||
}
|
||||
|
||||
/// Add a new sender component which can be used to send events to subscribers.
|
||||
pub fn add_sender(&mut self, send_provider: EventSenderMap) {
|
||||
pub fn add_sender(&mut self, send_provider: SP) {
|
||||
if !self
|
||||
.sender_map
|
||||
.contains_send_event_provider(&send_provider.target_id())
|
||||
@ -259,66 +226,68 @@ impl<
|
||||
fn update_listeners(&mut self, key: ListenerKey, sender_id: ComponentId) {
|
||||
self.listener_map.add_listener(key, sender_id);
|
||||
}
|
||||
}
|
||||
|
||||
impl<
|
||||
EventReceiver: EventReceiveProvider<Event, ParamProvider>,
|
||||
SenderMap: SenderMapProvider<EventSenderMap, Event, ParamProvider>,
|
||||
ListenerMap: ListenerMapProvider,
|
||||
EventSenderMap: EventSendProvider<Event, ParamProvider, Error = GenericSendError>,
|
||||
Event: GenericEvent + Copy,
|
||||
ParamProvider: Clone + Debug,
|
||||
> EventManager<EventReceiver, SenderMap, ListenerMap, EventSenderMap, Event, ParamProvider>
|
||||
{
|
||||
/// 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.
|
||||
///
|
||||
/// If an error occurs during the routing, the error handler will be called. The error handler
|
||||
/// should take a reference to the event message as the first argument, and the routing error
|
||||
/// as the second argument.
|
||||
pub fn try_event_handling<E: FnMut(&EventMessage<Event, ParamProvider>, EventRoutingError)>(
|
||||
/// This function will track up to 3 errors returned as part of the
|
||||
/// [EventRoutingErrorsWithResult] error struct.
|
||||
pub fn try_event_handling(
|
||||
&self,
|
||||
mut error_handler: E,
|
||||
) -> EventRoutingResult<Event, ParamProvider> {
|
||||
) -> Result<EventRoutingResult<EV, AUX>, EventRoutingErrorsWithResult<EV, AUX>> {
|
||||
let mut err_idx = 0;
|
||||
let mut err_slice = [None, None, None];
|
||||
let mut num_recipients = 0;
|
||||
let mut send_handler =
|
||||
|key: &ListenerKey, event_msg: &EventMessage<Event, ParamProvider>| {
|
||||
if self.listener_map.contains_listener(key) {
|
||||
if let Some(ids) = self.listener_map.get_listener_ids(key) {
|
||||
for id in ids {
|
||||
if let Some(sender) = self.sender_map.get_send_event_provider(id) {
|
||||
if let Err(e) = sender.send(EventMessage::new_generic(
|
||||
*id,
|
||||
event_msg.event,
|
||||
event_msg.params.as_ref(),
|
||||
)) {
|
||||
error_handler(event_msg, EventRoutingError::Send(e));
|
||||
} else {
|
||||
num_recipients += 1;
|
||||
}
|
||||
let mut add_error = |error: EventRoutingError| {
|
||||
if err_idx < 3 {
|
||||
err_slice[err_idx] = Some(error);
|
||||
err_idx += 1;
|
||||
}
|
||||
};
|
||||
let mut send_handler = |key: &ListenerKey, event: EV, aux_data: &Option<AUX>| {
|
||||
if self.listener_map.contains_listener(key) {
|
||||
if let Some(ids) = self.listener_map.get_listener_ids(key) {
|
||||
for id in ids {
|
||||
if let Some(sender) = self.sender_map.get_send_event_provider(id) {
|
||||
if let Err(e) = sender.send(event, aux_data.clone()) {
|
||||
add_error(EventRoutingError::Send(e));
|
||||
} else {
|
||||
error_handler(event_msg, EventRoutingError::NoSenderForId(*id));
|
||||
num_recipients += 1;
|
||||
}
|
||||
} else {
|
||||
add_error(EventRoutingError::NoSenderForId(*id));
|
||||
}
|
||||
} else {
|
||||
error_handler(event_msg, EventRoutingError::NoSendersForKey(*key));
|
||||
}
|
||||
} else {
|
||||
add_error(EventRoutingError::NoSendersForKey(*key));
|
||||
}
|
||||
};
|
||||
if let Ok(Some(event_msg)) = self.event_receiver.try_recv_event() {
|
||||
let single_key = ListenerKey::Single(event_msg.event.raw_as_largest_type());
|
||||
send_handler(&single_key, &event_msg);
|
||||
let group_key = ListenerKey::Group(event_msg.event.group_id_as_largest_type());
|
||||
send_handler(&group_key, &event_msg);
|
||||
send_handler(&ListenerKey::All, &event_msg);
|
||||
return EventRoutingResult::Handled {
|
||||
}
|
||||
};
|
||||
if let Some((event, aux_data)) = self.event_receiver.try_recv_event() {
|
||||
let single_key = ListenerKey::Single(event.raw_as_largest_type());
|
||||
send_handler(&single_key, event, &aux_data);
|
||||
let group_key = ListenerKey::Group(event.group_id_as_largest_type());
|
||||
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_msg,
|
||||
};
|
||||
event,
|
||||
aux_data,
|
||||
});
|
||||
}
|
||||
EventRoutingResult::Empty
|
||||
Ok(EventRoutingResult::Empty)
|
||||
}
|
||||
}
|
||||
|
||||
@ -342,31 +311,23 @@ pub mod alloc_mod {
|
||||
/// and the [DefaultListenerMap]. It uses
|
||||
/// [bounded mpsc senders](https://doc.rust-lang.org/std/sync/mpsc/struct.SyncSender.html) as the
|
||||
/// message queue backend.
|
||||
pub type EventManagerWithBoundedMpsc<Event = EventU32, ParamProvider = Params> = EventManager<
|
||||
pub type EventManagerWithBoundedMpsc<EV = EventU32, AUX = Params> = EventManager<
|
||||
MpscEventReceiver,
|
||||
DefaultSenderMap<EventSenderMpscBounded<Event>, Event, ParamProvider>,
|
||||
DefaultSenderMap<EventSenderMpscBounded<EV>, EV, AUX>,
|
||||
DefaultListenerMap,
|
||||
EventSenderMpscBounded<Event>,
|
||||
EventSenderMpscBounded<EV>,
|
||||
>;
|
||||
|
||||
impl<
|
||||
EventReceiver: EventReceiveProvider<Event, ParamProvider>,
|
||||
EventSender: EventSendProvider<Event, ParamProvider>,
|
||||
Event: GenericEvent + Copy,
|
||||
ParamProvider: 'static + Debug,
|
||||
>
|
||||
EventManager<
|
||||
EventReceiver,
|
||||
DefaultSenderMap<EventSender, Event, ParamProvider>,
|
||||
DefaultListenerMap,
|
||||
EventSender,
|
||||
Event,
|
||||
ParamProvider,
|
||||
>
|
||||
ER: EventReceiveProvider<EV, AUX>,
|
||||
SP: EventSendProvider<EV, AUX>,
|
||||
EV: GenericEvent + Copy,
|
||||
AUX: 'static,
|
||||
> EventManager<ER, DefaultSenderMap<SP, EV, AUX>, DefaultListenerMap, SP, EV, AUX>
|
||||
{
|
||||
/// Create an event manager where the sender table will be the [DefaultSenderMap]
|
||||
/// and the listener table will be the [DefaultListenerMap].
|
||||
pub fn new(event_receiver: EventReceiver) -> Self {
|
||||
pub fn new(event_receiver: ER) -> Self {
|
||||
Self {
|
||||
listener_map: DefaultListenerMap::default(),
|
||||
sender_map: DefaultSenderMap::default(),
|
||||
@ -423,19 +384,16 @@ pub mod alloc_mod {
|
||||
///
|
||||
/// Simple implementation which uses a [HashMap] internally.
|
||||
pub struct DefaultSenderMap<
|
||||
EventSender: EventSendProvider<Event, ParamProvider>,
|
||||
Event: GenericEvent = EventU32,
|
||||
ParamProvider: Debug = Params,
|
||||
SP: EventSendProvider<EV, AUX>,
|
||||
EV: GenericEvent = EventU32,
|
||||
AUX = Params,
|
||||
> {
|
||||
senders: HashMap<ComponentId, EventSender>,
|
||||
phantom: PhantomData<(Event, ParamProvider)>,
|
||||
senders: HashMap<ComponentId, SP>,
|
||||
phantom: PhantomData<(EV, AUX)>,
|
||||
}
|
||||
|
||||
impl<
|
||||
EventSender: EventSendProvider<Event, ParamProvider>,
|
||||
Event: GenericEvent,
|
||||
ParamProvider: Debug,
|
||||
> Default for DefaultSenderMap<EventSender, Event, ParamProvider>
|
||||
impl<SP: EventSendProvider<EV, AUX>, EV: GenericEvent, AUX> Default
|
||||
for DefaultSenderMap<SP, EV, AUX>
|
||||
{
|
||||
fn default() -> Self {
|
||||
Self {
|
||||
@ -445,24 +403,20 @@ pub mod alloc_mod {
|
||||
}
|
||||
}
|
||||
|
||||
impl<
|
||||
EventSender: EventSendProvider<Event, ParamProvider>,
|
||||
Event: GenericEvent,
|
||||
ParamProvider: Debug,
|
||||
> SenderMapProvider<EventSender, Event, ParamProvider>
|
||||
for DefaultSenderMap<EventSender, Event, ParamProvider>
|
||||
impl<SP: EventSendProvider<EV, AUX>, EV: GenericEvent, AUX> SenderMapProvider<SP, EV, AUX>
|
||||
for DefaultSenderMap<SP, EV, AUX>
|
||||
{
|
||||
fn contains_send_event_provider(&self, id: &ComponentId) -> bool {
|
||||
self.senders.contains_key(id)
|
||||
}
|
||||
|
||||
fn get_send_event_provider(&self, id: &ComponentId) -> Option<&EventSender> {
|
||||
fn get_send_event_provider(&self, id: &ComponentId) -> Option<&SP> {
|
||||
self.senders
|
||||
.get(id)
|
||||
.filter(|sender| sender.target_id() == *id)
|
||||
}
|
||||
|
||||
fn add_send_event_provider(&mut self, send_provider: EventSender) -> bool {
|
||||
fn add_send_event_provider(&mut self, send_provider: SP) -> bool {
|
||||
let id = send_provider.target_id();
|
||||
if self.senders.contains_key(&id) {
|
||||
return false;
|
||||
@ -474,33 +428,26 @@ pub mod alloc_mod {
|
||||
|
||||
#[cfg(feature = "std")]
|
||||
pub mod std_mod {
|
||||
use crate::queue::GenericReceiveError;
|
||||
|
||||
use super::*;
|
||||
use std::sync::mpsc;
|
||||
|
||||
pub struct MpscEventReceiver<Event: GenericEvent + Send = EventU32> {
|
||||
receiver: mpsc::Receiver<EventMessage<Event>>,
|
||||
mpsc_receiver: mpsc::Receiver<(Event, Option<Params>)>,
|
||||
}
|
||||
|
||||
impl<Event: GenericEvent + Send> MpscEventReceiver<Event> {
|
||||
pub fn new(receiver: mpsc::Receiver<EventMessage<Event>>) -> Self {
|
||||
Self { receiver }
|
||||
pub fn new(receiver: mpsc::Receiver<(Event, Option<Params>)>) -> Self {
|
||||
Self {
|
||||
mpsc_receiver: receiver,
|
||||
}
|
||||
}
|
||||
}
|
||||
impl<Event: GenericEvent + Send> EventReceiveProvider<Event> for MpscEventReceiver<Event> {
|
||||
type Error = GenericReceiveError;
|
||||
|
||||
fn try_recv_event(&self) -> Result<Option<EventMessage<Event>>, Self::Error> {
|
||||
match self.receiver.try_recv() {
|
||||
Ok(msg) => Ok(Some(msg)),
|
||||
Err(e) => match e {
|
||||
mpsc::TryRecvError::Empty => Ok(None),
|
||||
mpsc::TryRecvError::Disconnected => {
|
||||
Err(GenericReceiveError::TxDisconnected(None))
|
||||
}
|
||||
},
|
||||
fn try_recv_event(&self) -> Option<EventWithAuxData<Event>> {
|
||||
if let Ok(event_and_data) = self.mpsc_receiver.try_recv() {
|
||||
return Some(event_and_data);
|
||||
}
|
||||
None
|
||||
}
|
||||
}
|
||||
|
||||
@ -512,25 +459,22 @@ pub mod std_mod {
|
||||
#[derive(Clone)]
|
||||
pub struct EventSenderMpsc<Event: GenericEvent + Send> {
|
||||
target_id: ComponentId,
|
||||
sender: mpsc::Sender<EventMessage<Event>>,
|
||||
sender: mpsc::Sender<(Event, Option<Params>)>,
|
||||
}
|
||||
|
||||
impl<Event: GenericEvent + Send> EventSenderMpsc<Event> {
|
||||
pub fn new(target_id: ComponentId, sender: mpsc::Sender<EventMessage<Event>>) -> Self {
|
||||
pub fn new(target_id: ComponentId, sender: mpsc::Sender<(Event, Option<Params>)>) -> Self {
|
||||
Self { target_id, sender }
|
||||
}
|
||||
}
|
||||
|
||||
impl<Event: GenericEvent + Send> EventSendProvider<Event> for EventSenderMpsc<Event> {
|
||||
type Error = GenericSendError;
|
||||
|
||||
fn target_id(&self) -> ComponentId {
|
||||
self.target_id
|
||||
}
|
||||
|
||||
fn send(&self, event_msg: EventMessage<Event>) -> Result<(), GenericSendError> {
|
||||
fn send(&self, event: Event, aux_data: Option<Params>) -> Result<(), GenericSendError> {
|
||||
self.sender
|
||||
.send(event_msg)
|
||||
.send((event, aux_data))
|
||||
.map_err(|_| GenericSendError::RxDisconnected)
|
||||
}
|
||||
}
|
||||
@ -540,14 +484,14 @@ pub mod std_mod {
|
||||
#[derive(Clone)]
|
||||
pub struct EventSenderMpscBounded<Event: GenericEvent + Send> {
|
||||
target_id: ComponentId,
|
||||
sender: mpsc::SyncSender<EventMessage<Event>>,
|
||||
sender: mpsc::SyncSender<(Event, Option<Params>)>,
|
||||
capacity: usize,
|
||||
}
|
||||
|
||||
impl<Event: GenericEvent + Send> EventSenderMpscBounded<Event> {
|
||||
pub fn new(
|
||||
target_id: ComponentId,
|
||||
sender: mpsc::SyncSender<EventMessage<Event>>,
|
||||
sender: mpsc::SyncSender<(Event, Option<Params>)>,
|
||||
capacity: usize,
|
||||
) -> Self {
|
||||
Self {
|
||||
@ -559,14 +503,11 @@ pub mod std_mod {
|
||||
}
|
||||
|
||||
impl<Event: GenericEvent + Send> EventSendProvider<Event> for EventSenderMpscBounded<Event> {
|
||||
type Error = GenericSendError;
|
||||
|
||||
fn target_id(&self) -> ComponentId {
|
||||
self.target_id
|
||||
}
|
||||
|
||||
fn send(&self, event_msg: EventMessage<Event>) -> Result<(), Self::Error> {
|
||||
if let Err(e) = self.sender.try_send(event_msg) {
|
||||
fn send(&self, event: Event, aux_data: Option<Params>) -> Result<(), GenericSendError> {
|
||||
if let Err(e) = self.sender.try_send((event, aux_data)) {
|
||||
return match e {
|
||||
mpsc::TrySendError::Full(_) => {
|
||||
Err(GenericSendError::QueueFull(Some(self.capacity as u32)))
|
||||
@ -589,20 +530,19 @@ mod tests {
|
||||
use super::*;
|
||||
use crate::event_man::EventManager;
|
||||
use crate::events::{EventU32, GenericEvent, Severity};
|
||||
use crate::params::{ParamsHeapless, ParamsRaw};
|
||||
use crate::pus::test_util::{TEST_COMPONENT_ID_0, TEST_COMPONENT_ID_1};
|
||||
use crate::params::ParamsRaw;
|
||||
use std::format;
|
||||
use std::sync::mpsc::{self};
|
||||
use std::sync::mpsc::{self, channel, Receiver, Sender};
|
||||
|
||||
const TEST_EVENT: EventU32 = EventU32::const_new(Severity::INFO, 0, 5);
|
||||
|
||||
fn check_next_event(
|
||||
expected: EventU32,
|
||||
receiver: &mpsc::Receiver<EventMessageU32>,
|
||||
receiver: &Receiver<EventU32WithAuxData>,
|
||||
) -> Option<Params> {
|
||||
if let Ok(event_msg) = receiver.try_recv() {
|
||||
assert_eq!(event_msg.event, expected);
|
||||
return event_msg.params;
|
||||
if let Ok(event) = receiver.try_recv() {
|
||||
assert_eq!(event.0, expected);
|
||||
return event.1;
|
||||
}
|
||||
None
|
||||
}
|
||||
@ -615,16 +555,17 @@ mod tests {
|
||||
assert!(matches!(res, EventRoutingResult::Handled { .. }));
|
||||
if let EventRoutingResult::Handled {
|
||||
num_recipients,
|
||||
event_msg,
|
||||
event,
|
||||
..
|
||||
} = res
|
||||
{
|
||||
assert_eq!(event_msg.event, expected);
|
||||
assert_eq!(event, expected);
|
||||
assert_eq!(num_recipients, expected_num_sent);
|
||||
}
|
||||
}
|
||||
|
||||
fn generic_event_man() -> (mpsc::Sender<EventMessageU32>, EventManagerWithMpsc) {
|
||||
let (event_sender, manager_queue) = mpsc::channel();
|
||||
fn generic_event_man() -> (Sender<EventU32WithAuxData>, EventManagerWithMpsc) {
|
||||
let (event_sender, manager_queue) = channel();
|
||||
let event_man_receiver = MpscEventReceiver::new(manager_queue);
|
||||
(event_sender, EventManager::new(event_man_receiver))
|
||||
}
|
||||
@ -634,56 +575,48 @@ mod tests {
|
||||
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) = mpsc::channel();
|
||||
let (single_event_sender, single_event_receiver) = channel();
|
||||
let single_event_listener = EventSenderMpsc::new(0, single_event_sender);
|
||||
event_man.subscribe_single(&event_grp_0, single_event_listener.target_id());
|
||||
event_man.add_sender(single_event_listener);
|
||||
let (group_event_sender_0, group_event_receiver_0) = mpsc::channel();
|
||||
let (group_event_sender_0, group_event_receiver_0) = channel();
|
||||
let group_event_listener = EventU32SenderMpsc::new(1, group_event_sender_0);
|
||||
event_man.subscribe_group(event_grp_1_0.group_id(), group_event_listener.target_id());
|
||||
event_man.add_sender(group_event_listener);
|
||||
|
||||
let error_handler = |event_msg: &EventMessageU32, e: EventRoutingError| {
|
||||
panic!("routing error occurred for event {:?}: {:?}", event_msg, e);
|
||||
};
|
||||
// Test event with one listener
|
||||
event_sender
|
||||
.send(EventMessage::new(TEST_COMPONENT_ID_0.id(), event_grp_0))
|
||||
.send((event_grp_0, None))
|
||||
.expect("Sending single error failed");
|
||||
let res = event_man.try_event_handling(&error_handler);
|
||||
// assert!(res.is_ok());
|
||||
check_handled_event(res, event_grp_0, 1);
|
||||
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(EventMessage::new(TEST_COMPONENT_ID_1.id(), event_grp_1_0))
|
||||
.send((event_grp_1_0, None))
|
||||
.expect("Sending group error failed");
|
||||
let res = event_man.try_event_handling(&error_handler);
|
||||
check_handled_event(res, event_grp_1_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_1_0, &group_event_receiver_0);
|
||||
}
|
||||
|
||||
#[test]
|
||||
fn test_with_basic_params() {
|
||||
let error_handler = |event_msg: &EventMessageU32, e: EventRoutingError| {
|
||||
panic!("routing error occurred for event {:?}: {:?}", event_msg, e);
|
||||
};
|
||||
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) = mpsc::channel();
|
||||
let (single_event_sender, single_event_receiver) = channel();
|
||||
let single_event_listener = EventSenderMpsc::new(0, single_event_sender);
|
||||
event_man.subscribe_single(&event_grp_0, single_event_listener.target_id());
|
||||
event_man.add_sender(single_event_listener);
|
||||
event_sender
|
||||
.send(EventMessage::new_with_params(
|
||||
TEST_COMPONENT_ID_0.id(),
|
||||
event_grp_0,
|
||||
&Params::Heapless((2_u32, 3_u32).into()),
|
||||
))
|
||||
.send((event_grp_0, Some(Params::Heapless((2_u32, 3_u32).into()))))
|
||||
.expect("Sending group error failed");
|
||||
let res = event_man.try_event_handling(&error_handler);
|
||||
check_handled_event(res, event_grp_0, 1);
|
||||
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();
|
||||
@ -698,16 +631,15 @@ mod tests {
|
||||
/// Test listening for multiple groups
|
||||
#[test]
|
||||
fn test_multi_group() {
|
||||
let error_handler = |event_msg: &EventMessageU32, e: EventRoutingError| {
|
||||
panic!("routing error occurred for event {:?}: {:?}", event_msg, e);
|
||||
};
|
||||
let (event_sender, mut event_man) = generic_event_man();
|
||||
let res = event_man.try_event_handling(error_handler);
|
||||
assert!(matches!(res, EventRoutingResult::Empty));
|
||||
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) = mpsc::channel();
|
||||
let (event_grp_0_sender, event_grp_0_receiver) = channel();
|
||||
let event_grp_0_and_1_listener = EventU32SenderMpsc::new(0, event_grp_0_sender);
|
||||
event_man.subscribe_group(
|
||||
event_grp_0.group_id(),
|
||||
@ -720,15 +652,17 @@ mod tests {
|
||||
event_man.add_sender(event_grp_0_and_1_listener);
|
||||
|
||||
event_sender
|
||||
.send(EventMessage::new(TEST_COMPONENT_ID_0.id(), event_grp_0))
|
||||
.send((event_grp_0, None))
|
||||
.expect("Sending Event Group 0 failed");
|
||||
event_sender
|
||||
.send(EventMessage::new(TEST_COMPONENT_ID_1.id(), event_grp_1_0))
|
||||
.send((event_grp_1_0, None))
|
||||
.expect("Sendign Event Group 1 failed");
|
||||
let res = event_man.try_event_handling(error_handler);
|
||||
check_handled_event(res, event_grp_0, 1);
|
||||
let res = event_man.try_event_handling(error_handler);
|
||||
check_handled_event(res, event_grp_1_0, 1);
|
||||
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);
|
||||
@ -738,14 +672,11 @@ mod tests {
|
||||
/// to both group and single events from one listener
|
||||
#[test]
|
||||
fn test_listening_to_same_event_and_multi_type() {
|
||||
let error_handler = |event_msg: &EventMessageU32, e: EventRoutingError| {
|
||||
panic!("routing error occurred for event {:?}: {:?}", event_msg, e);
|
||||
};
|
||||
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) = mpsc::channel();
|
||||
let (event_0_tx_1, event_0_rx_1) = mpsc::channel();
|
||||
let (event_0_tx_0, event_0_rx_0) = channel();
|
||||
let (event_0_tx_1, event_0_rx_1) = channel();
|
||||
let event_listener_0 = EventU32SenderMpsc::new(0, event_0_tx_0);
|
||||
let event_listener_1 = EventU32SenderMpsc::new(1, event_0_tx_1);
|
||||
let event_listener_0_sender_id = event_listener_0.target_id();
|
||||
@ -755,25 +686,28 @@ mod tests {
|
||||
event_man.subscribe_single(&event_0, event_listener_1_sender_id);
|
||||
event_man.add_sender(event_listener_1);
|
||||
event_sender
|
||||
.send(EventMessage::new(TEST_COMPONENT_ID_0.id(), event_0))
|
||||
.send((event_0, None))
|
||||
.expect("Triggering Event 0 failed");
|
||||
let res = event_man.try_event_handling(error_handler);
|
||||
check_handled_event(res, event_0, 2);
|
||||
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(EventMessage::new(TEST_COMPONENT_ID_0.id(), event_0))
|
||||
.send((event_0, None))
|
||||
.expect("Triggering Event 0 failed");
|
||||
event_sender
|
||||
.send(EventMessage::new(TEST_COMPONENT_ID_1.id(), event_1))
|
||||
.send((event_1, None))
|
||||
.expect("Triggering Event 1 failed");
|
||||
|
||||
// 3 Events messages will be sent now
|
||||
let res = event_man.try_event_handling(error_handler);
|
||||
check_handled_event(res, event_0, 2);
|
||||
let res = event_man.try_event_handling(error_handler);
|
||||
check_handled_event(res, event_1, 1);
|
||||
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);
|
||||
@ -782,36 +716,36 @@ mod tests {
|
||||
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(EventMessage::new(TEST_COMPONENT_ID_0.id(), event_1))
|
||||
.send((event_1, None))
|
||||
.expect("Triggering Event 1 failed");
|
||||
let res = event_man.try_event_handling(error_handler);
|
||||
check_handled_event(res, event_1, 1);
|
||||
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 error_handler = |event_msg: &EventMessageU32, e: EventRoutingError| {
|
||||
panic!("routing error occurred for event {:?}: {:?}", event_msg, e);
|
||||
};
|
||||
let (event_sender, manager_queue) = mpsc::channel();
|
||||
let (event_sender, manager_queue) = channel();
|
||||
let event_man_receiver = MpscEventReceiver::new(manager_queue);
|
||||
let mut event_man = EventManagerWithMpsc::new(event_man_receiver);
|
||||
let event_0 = EventU32::new(Severity::INFO, 0, 5).unwrap();
|
||||
let event_1 = EventU32::new(Severity::HIGH, 1, 0).unwrap();
|
||||
let (event_0_tx_0, all_events_rx) = mpsc::channel();
|
||||
let (event_0_tx_0, all_events_rx) = channel();
|
||||
let all_events_listener = EventU32SenderMpsc::new(0, event_0_tx_0);
|
||||
event_man.subscribe_all(all_events_listener.target_id());
|
||||
event_man.add_sender(all_events_listener);
|
||||
event_sender
|
||||
.send(EventMessage::new(TEST_COMPONENT_ID_0.id(), event_0))
|
||||
.send((event_0, None))
|
||||
.expect("Triggering event 0 failed");
|
||||
event_sender
|
||||
.send(EventMessage::new(TEST_COMPONENT_ID_1.id(), event_1))
|
||||
.send((event_1, None))
|
||||
.expect("Triggering event 1 failed");
|
||||
let res = event_man.try_event_handling(error_handler);
|
||||
check_handled_event(res, event_0, 1);
|
||||
let res = event_man.try_event_handling(error_handler);
|
||||
check_handled_event(res, event_1, 1);
|
||||
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);
|
||||
}
|
||||
@ -821,15 +755,15 @@ mod tests {
|
||||
let (event_sender, _event_receiver) = mpsc::sync_channel(3);
|
||||
let event_sender = EventU32SenderMpscBounded::new(1, event_sender, 3);
|
||||
event_sender
|
||||
.send(EventMessage::new(TEST_COMPONENT_ID_0.id(), TEST_EVENT))
|
||||
.send_no_data(TEST_EVENT)
|
||||
.expect("sending test event failed");
|
||||
event_sender
|
||||
.send(EventMessage::new(TEST_COMPONENT_ID_0.id(), TEST_EVENT))
|
||||
.send_no_data(TEST_EVENT)
|
||||
.expect("sending test event failed");
|
||||
event_sender
|
||||
.send(EventMessage::new(TEST_COMPONENT_ID_0.id(), TEST_EVENT))
|
||||
.send_no_data(TEST_EVENT)
|
||||
.expect("sending test event failed");
|
||||
let error = event_sender.send(EventMessage::new(TEST_COMPONENT_ID_0.id(), TEST_EVENT));
|
||||
let error = event_sender.send_no_data(TEST_EVENT);
|
||||
if let Err(e) = error {
|
||||
assert!(matches!(e, GenericSendError::QueueFull(Some(3))));
|
||||
} else {
|
||||
@ -841,7 +775,7 @@ mod tests {
|
||||
let (event_sender, event_receiver) = mpsc::sync_channel(3);
|
||||
let event_sender = EventU32SenderMpscBounded::new(1, event_sender, 3);
|
||||
drop(event_receiver);
|
||||
if let Err(e) = event_sender.send(EventMessage::new(TEST_COMPONENT_ID_0.id(), TEST_EVENT)) {
|
||||
if let Err(e) = event_sender.send_no_data(TEST_EVENT) {
|
||||
assert!(matches!(e, GenericSendError::RxDisconnected));
|
||||
} else {
|
||||
panic!("Expected error");
|
||||
|
||||
@ -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;
|
||||
|
||||
@ -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
|
||||
@ -118,30 +110,21 @@ impl<TmError, TcError> TcpTmSender<TmError, TcError> for CobsTmSender {
|
||||
/// The [TCP integration tests](https://egit.irs.uni-stuttgart.de/rust/sat-rs/src/branch/main/satrs/tests/tcp_servers.rs)
|
||||
/// test also serves as the example application for this module.
|
||||
pub struct TcpTmtcInCobsServer<
|
||||
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)
|
||||
/// 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::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);
|
||||
}
|
||||
}
|
||||
|
||||
@ -14,7 +14,7 @@
|
||||
//! - 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(docs_rs, feature(doc_auto_cfg))]
|
||||
#![cfg_attr(doc_cfg, feature(doc_cfg))]
|
||||
#[cfg(feature = "alloc")]
|
||||
extern crate alloc;
|
||||
#[cfg(feature = "alloc")]
|
||||
@ -23,14 +23,17 @@ extern crate downcast_rs;
|
||||
extern crate std;
|
||||
|
||||
#[cfg(feature = "alloc")]
|
||||
#[cfg_attr(doc_cfg, doc(cfg(feature = "alloc")))]
|
||||
pub mod cfdp;
|
||||
pub mod encoding;
|
||||
pub mod event_man;
|
||||
pub mod events;
|
||||
#[cfg(feature = "std")]
|
||||
#[cfg_attr(doc_cfg, doc(cfg(feature = "std")))]
|
||||
pub mod executable;
|
||||
pub mod hal;
|
||||
#[cfg(feature = "std")]
|
||||
#[cfg_attr(doc_cfg, doc(cfg(feature = "std")))]
|
||||
pub mod mode_tree;
|
||||
pub mod pool;
|
||||
pub mod power;
|
||||
@ -49,82 +52,7 @@ pub mod params;
|
||||
|
||||
pub use spacepackets;
|
||||
|
||||
use spacepackets::PacketId;
|
||||
pub use queue::ChannelId;
|
||||
|
||||
/// Generic component ID type.
|
||||
pub type ComponentId = u64;
|
||||
|
||||
pub trait ValidatorU16Id {
|
||||
fn validate(&self, id: u16) -> bool;
|
||||
}
|
||||
|
||||
#[cfg(feature = "alloc")]
|
||||
impl ValidatorU16Id for alloc::vec::Vec<u16> {
|
||||
fn validate(&self, id: u16) -> bool {
|
||||
self.contains(&id)
|
||||
}
|
||||
}
|
||||
|
||||
#[cfg(feature = "alloc")]
|
||||
impl ValidatorU16Id for hashbrown::HashSet<u16> {
|
||||
fn validate(&self, id: u16) -> bool {
|
||||
self.contains(&id)
|
||||
}
|
||||
}
|
||||
|
||||
impl ValidatorU16Id for u16 {
|
||||
fn validate(&self, id: u16) -> bool {
|
||||
id == *self
|
||||
}
|
||||
}
|
||||
|
||||
impl ValidatorU16Id for &u16 {
|
||||
fn validate(&self, id: u16) -> bool {
|
||||
id == **self
|
||||
}
|
||||
}
|
||||
|
||||
impl ValidatorU16Id for [u16] {
|
||||
fn validate(&self, id: u16) -> bool {
|
||||
self.binary_search(&id).is_ok()
|
||||
}
|
||||
}
|
||||
|
||||
impl ValidatorU16Id for &[u16] {
|
||||
fn validate(&self, id: u16) -> bool {
|
||||
self.binary_search(&id).is_ok()
|
||||
}
|
||||
}
|
||||
|
||||
#[cfg(feature = "alloc")]
|
||||
impl ValidatorU16Id for alloc::vec::Vec<spacepackets::PacketId> {
|
||||
fn validate(&self, packet_id: u16) -> bool {
|
||||
self.contains(&PacketId::from(packet_id))
|
||||
}
|
||||
}
|
||||
|
||||
#[cfg(feature = "alloc")]
|
||||
impl ValidatorU16Id for hashbrown::HashSet<spacepackets::PacketId> {
|
||||
fn validate(&self, packet_id: u16) -> bool {
|
||||
self.contains(&PacketId::from(packet_id))
|
||||
}
|
||||
}
|
||||
|
||||
#[cfg(feature = "std")]
|
||||
impl ValidatorU16Id for std::collections::HashSet<PacketId> {
|
||||
fn validate(&self, packet_id: u16) -> bool {
|
||||
self.contains(&PacketId::from(packet_id))
|
||||
}
|
||||
}
|
||||
|
||||
impl ValidatorU16Id for [PacketId] {
|
||||
fn validate(&self, packet_id: u16) -> bool {
|
||||
self.binary_search(&PacketId::from(packet_id)).is_ok()
|
||||
}
|
||||
}
|
||||
|
||||
impl ValidatorU16Id for &[PacketId] {
|
||||
fn validate(&self, packet_id: u16) -> bool {
|
||||
self.binary_search(&PacketId::from(packet_id)).is_ok()
|
||||
}
|
||||
}
|
||||
|
||||
@ -179,14 +179,6 @@ impl From<GenericTargetedMessagingError> for ModeError {
|
||||
|
||||
pub trait ModeProvider {
|
||||
fn mode_and_submode(&self) -> ModeAndSubmode;
|
||||
|
||||
fn mode(&self) -> Mode {
|
||||
self.mode_and_submode().mode()
|
||||
}
|
||||
|
||||
fn submode(&self) -> Submode {
|
||||
self.mode_and_submode().submode()
|
||||
}
|
||||
}
|
||||
|
||||
pub trait ModeRequestHandler: ModeProvider {
|
||||
@ -198,7 +190,7 @@ pub trait ModeRequestHandler: ModeProvider {
|
||||
mode_and_submode: ModeAndSubmode,
|
||||
) -> Result<(), Self::Error>;
|
||||
|
||||
fn announce_mode(&self, requestor_info: Option<MessageMetadata>, recursive: bool);
|
||||
fn announce_mode(&self, requestor_info: MessageMetadata, recursive: bool);
|
||||
|
||||
fn handle_mode_reached(
|
||||
&mut self,
|
||||
@ -230,11 +222,11 @@ pub trait ModeRequestHandler: ModeProvider {
|
||||
ModeReply::ModeReply(self.mode_and_submode()),
|
||||
),
|
||||
ModeRequest::AnnounceMode => {
|
||||
self.announce_mode(Some(request.requestor_info), false);
|
||||
self.announce_mode(request.requestor_info, false);
|
||||
Ok(())
|
||||
}
|
||||
ModeRequest::AnnounceModeRecursive => {
|
||||
self.announce_mode(Some(request.requestor_info), true);
|
||||
self.announce_mode(request.requestor_info, true);
|
||||
Ok(())
|
||||
}
|
||||
ModeRequest::ModeInfo(info) => self.handle_mode_info(request.requestor_info, info),
|
||||
@ -268,9 +260,16 @@ pub trait ModeReplySender {
|
||||
}
|
||||
|
||||
#[cfg(feature = "alloc")]
|
||||
#[cfg_attr(doc_cfg, doc(cfg(feature = "alloc")))]
|
||||
pub mod alloc_mod {
|
||||
use crate::request::{
|
||||
MessageSender, MessageSenderAndReceiver, MessageSenderMap, RequestAndReplySenderAndReceiver,
|
||||
use crate::{
|
||||
mode::ModeRequest,
|
||||
queue::GenericTargetedMessagingError,
|
||||
request::{
|
||||
MessageMetadata, MessageSender, MessageSenderAndReceiver, MessageSenderMap,
|
||||
RequestAndReplySenderAndReceiver, RequestId,
|
||||
},
|
||||
ComponentId,
|
||||
};
|
||||
|
||||
use super::*;
|
||||
@ -549,9 +548,12 @@ pub mod alloc_mod {
|
||||
}
|
||||
|
||||
#[cfg(feature = "std")]
|
||||
#[cfg_attr(doc_cfg, doc(cfg(feature = "std")))]
|
||||
pub mod std_mod {
|
||||
use std::sync::mpsc;
|
||||
|
||||
use crate::request::GenericMessage;
|
||||
|
||||
use super::*;
|
||||
|
||||
pub type ModeRequestHandlerMpsc = ModeRequestHandlerInterface<
|
||||
|
||||
@ -43,7 +43,7 @@
|
||||
//! 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.
|
||||
use crate::pool::PoolAddr;
|
||||
use crate::pool::StoreAddr;
|
||||
use core::fmt::Debug;
|
||||
use core::mem::size_of;
|
||||
use paste::paste;
|
||||
@ -588,15 +588,17 @@ from_conversions_for_raw!(
|
||||
#[non_exhaustive]
|
||||
pub enum Params {
|
||||
Heapless(ParamsHeapless),
|
||||
Store(PoolAddr),
|
||||
Store(StoreAddr),
|
||||
#[cfg(feature = "alloc")]
|
||||
#[cfg_attr(doc_cfg, doc(cfg(feature = "alloc")))]
|
||||
Vec(Vec<u8>),
|
||||
#[cfg(feature = "alloc")]
|
||||
#[cfg_attr(doc_cfg, doc(cfg(feature = "alloc")))]
|
||||
String(String),
|
||||
}
|
||||
|
||||
impl From<PoolAddr> for Params {
|
||||
fn from(x: PoolAddr) -> Self {
|
||||
impl From<StoreAddr> for Params {
|
||||
fn from(x: StoreAddr) -> Self {
|
||||
Self::Store(x)
|
||||
}
|
||||
}
|
||||
@ -614,6 +616,7 @@ impl From<ParamsRaw> for Params {
|
||||
}
|
||||
|
||||
#[cfg(feature = "alloc")]
|
||||
#[cfg_attr(doc_cfg, doc(cfg(feature = "alloc")))]
|
||||
impl From<Vec<u8>> for Params {
|
||||
fn from(val: Vec<u8>) -> Self {
|
||||
Self::Vec(val)
|
||||
@ -622,6 +625,7 @@ impl From<Vec<u8>> for Params {
|
||||
|
||||
/// Converts a byte slice into the [Params::Vec] variant
|
||||
#[cfg(feature = "alloc")]
|
||||
#[cfg_attr(doc_cfg, doc(cfg(feature = "alloc")))]
|
||||
impl From<&[u8]> for Params {
|
||||
fn from(val: &[u8]) -> Self {
|
||||
Self::Vec(val.to_vec())
|
||||
@ -629,6 +633,7 @@ impl From<&[u8]> for Params {
|
||||
}
|
||||
|
||||
#[cfg(feature = "alloc")]
|
||||
#[cfg_attr(doc_cfg, doc(cfg(feature = "alloc")))]
|
||||
impl From<String> for Params {
|
||||
fn from(val: String) -> Self {
|
||||
Self::String(val)
|
||||
@ -636,6 +641,7 @@ impl From<String> for Params {
|
||||
}
|
||||
|
||||
#[cfg(feature = "alloc")]
|
||||
#[cfg_attr(doc_cfg, doc(cfg(feature = "alloc")))]
|
||||
/// Converts a string slice into the [Params::String] variant
|
||||
impl From<&str> for Params {
|
||||
fn from(val: &str) -> Self {
|
||||
|
||||
@ -72,6 +72,7 @@
|
||||
//! }
|
||||
//! ```
|
||||
#[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 +83,7 @@ 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 +101,14 @@ 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,
|
||||
@ -150,59 +151,59 @@ 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
|
||||
@ -217,41 +218,44 @@ impl Error for PoolError {
|
||||
/// pool structure being wrapped inside a lock.
|
||||
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)
|
||||
@ -268,7 +272,7 @@ 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 +282,20 @@ 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.
|
||||
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 +304,12 @@ 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 +335,19 @@ 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 +358,7 @@ 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;
|
||||
@ -419,7 +423,7 @@ mod alloc_mod {
|
||||
/// fitting subpool is full. This might be added in the future.
|
||||
///
|
||||
/// Transactions with the [pool][StaticMemoryPool] are done using a generic
|
||||
/// [address][PoolAddr] type. Adding any data to the pool will yield a 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 {
|
||||
@ -449,41 +453,41 @@ 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> {
|
||||
fn reserve(&mut self, data_len: usize) -> Result<StaticPoolAddr, StoreError> {
|
||||
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) {
|
||||
while let Err(StoreError::StoreFull(_)) = self.find_empty(subpool_idx) {
|
||||
if (subpool_idx + 1) as usize == self.sizes_lists.len() {
|
||||
return Err(PoolError::StoreFull(subpool_idx));
|
||||
return Err(StoreError::StoreFull(subpool_idx));
|
||||
}
|
||||
subpool_idx += 1;
|
||||
}
|
||||
@ -497,7 +501,7 @@ 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 +510,21 @@ 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 +532,12 @@ 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 +547,10 @@ 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 +561,9 @@ 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 +575,9 @@ 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 +587,7 @@ 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 +605,7 @@ 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 +618,7 @@ 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 +630,7 @@ 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 +644,11 @@ 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)
|
||||
}
|
||||
}
|
||||
@ -653,8 +657,8 @@ 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;
|
||||
|
||||
@ -778,7 +782,7 @@ 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 +804,7 @@ mod tests {
|
||||
assert!(res.is_err());
|
||||
assert!(matches!(
|
||||
res.unwrap_err(),
|
||||
PoolError::DataDoesNotExist { .. }
|
||||
StoreError::DataDoesNotExist { .. }
|
||||
));
|
||||
}
|
||||
|
||||
@ -813,8 +817,8 @@ 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 +836,7 @@ mod tests {
|
||||
let err = res.unwrap_err();
|
||||
assert!(matches!(
|
||||
err,
|
||||
PoolError::InvalidStoreId(StoreIdError::InvalidSubpool(3), Some(_))
|
||||
StoreError::InvalidStoreId(StoreIdError::InvalidSubpool(3), Some(_))
|
||||
));
|
||||
}
|
||||
|
||||
@ -849,7 +853,7 @@ mod tests {
|
||||
let err = res.unwrap_err();
|
||||
assert!(matches!(
|
||||
err,
|
||||
PoolError::InvalidStoreId(StoreIdError::InvalidPacketIdx(1), Some(_))
|
||||
StoreError::InvalidStoreId(StoreIdError::InvalidPacketIdx(1), Some(_))
|
||||
));
|
||||
}
|
||||
|
||||
@ -860,7 +864,7 @@ 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 +872,10 @@ 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 +884,7 @@ 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]
|
||||
@ -997,7 +1004,7 @@ mod tests {
|
||||
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));
|
||||
assert_eq!(err, StoreError::StoreFull(1));
|
||||
} else {
|
||||
panic!("unexpected store address");
|
||||
}
|
||||
@ -1028,7 +1035,7 @@ mod tests {
|
||||
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));
|
||||
assert_eq!(err, StoreError::StoreFull(2));
|
||||
} else {
|
||||
panic!("unexpected store address");
|
||||
}
|
||||
|
||||
@ -7,9 +7,11 @@ use crate::{
|
||||
use satrs_shared::res_code::ResultU16;
|
||||
|
||||
#[cfg(feature = "std")]
|
||||
#[cfg_attr(doc_cfg, doc(cfg(feature = "std")))]
|
||||
pub use std_mod::*;
|
||||
|
||||
#[cfg(feature = "alloc")]
|
||||
#[cfg_attr(doc_cfg, doc(cfg(feature = "alloc")))]
|
||||
#[allow(unused_imports)]
|
||||
pub use alloc_mod::*;
|
||||
|
||||
@ -39,18 +41,18 @@ pub enum ActionReplyVariant {
|
||||
}
|
||||
|
||||
#[derive(Debug, PartialEq, Clone)]
|
||||
pub struct ActionReplyPus {
|
||||
pub struct PusActionReply {
|
||||
pub action_id: ActionId,
|
||||
pub variant: ActionReplyVariant,
|
||||
}
|
||||
|
||||
impl ActionReplyPus {
|
||||
impl PusActionReply {
|
||||
pub fn new(action_id: ActionId, variant: ActionReplyVariant) -> Self {
|
||||
Self { action_id, variant }
|
||||
}
|
||||
}
|
||||
|
||||
pub type GenericActionReplyPus = GenericMessage<ActionReplyPus>;
|
||||
pub type GenericActionReplyPus = GenericMessage<PusActionReply>;
|
||||
|
||||
impl GenericActionReplyPus {
|
||||
pub fn new_action_reply(
|
||||
@ -58,11 +60,12 @@ impl GenericActionReplyPus {
|
||||
action_id: ActionId,
|
||||
reply: ActionReplyVariant,
|
||||
) -> Self {
|
||||
Self::new(requestor_info, ActionReplyPus::new(action_id, reply))
|
||||
Self::new(requestor_info, PusActionReply::new(action_id, reply))
|
||||
}
|
||||
}
|
||||
|
||||
#[cfg(feature = "alloc")]
|
||||
#[cfg_attr(doc_cfg, doc(cfg(feature = "alloc")))]
|
||||
pub mod alloc_mod {
|
||||
use crate::{
|
||||
action::ActionRequest,
|
||||
@ -73,13 +76,13 @@ pub mod alloc_mod {
|
||||
ComponentId,
|
||||
};
|
||||
|
||||
use super::ActionReplyPus;
|
||||
use super::PusActionReply;
|
||||
|
||||
/// Helper type definition for a mode handler which can handle mode requests.
|
||||
pub type ActionRequestHandlerInterface<S, R> =
|
||||
MessageSenderAndReceiver<ActionReplyPus, ActionRequest, S, R>;
|
||||
MessageSenderAndReceiver<PusActionReply, ActionRequest, S, R>;
|
||||
|
||||
impl<S: MessageSender<ActionReplyPus>, R: MessageReceiver<ActionRequest>>
|
||||
impl<S: MessageSender<PusActionReply>, R: MessageReceiver<ActionRequest>>
|
||||
ActionRequestHandlerInterface<S, R>
|
||||
{
|
||||
pub fn try_recv_action_request(
|
||||
@ -92,7 +95,7 @@ pub mod alloc_mod {
|
||||
&self,
|
||||
request_id: RequestId,
|
||||
target_id: ComponentId,
|
||||
reply: ActionReplyPus,
|
||||
reply: PusActionReply,
|
||||
) -> Result<(), GenericTargetedMessagingError> {
|
||||
self.send_message(request_id, target_id, reply)
|
||||
}
|
||||
@ -101,14 +104,14 @@ pub mod alloc_mod {
|
||||
/// Helper type defintion for a mode handler object which can send mode requests and receive
|
||||
/// mode replies.
|
||||
pub type ActionRequestorInterface<S, R> =
|
||||
MessageSenderAndReceiver<ActionRequest, ActionReplyPus, S, R>;
|
||||
MessageSenderAndReceiver<ActionRequest, PusActionReply, S, R>;
|
||||
|
||||
impl<S: MessageSender<ActionRequest>, R: MessageReceiver<ActionReplyPus>>
|
||||
impl<S: MessageSender<ActionRequest>, R: MessageReceiver<PusActionReply>>
|
||||
ActionRequestorInterface<S, R>
|
||||
{
|
||||
pub fn try_recv_action_reply(
|
||||
&self,
|
||||
) -> Result<Option<GenericMessage<ActionReplyPus>>, GenericTargetedMessagingError> {
|
||||
) -> Result<Option<GenericMessage<PusActionReply>>, GenericTargetedMessagingError> {
|
||||
self.try_recv_message()
|
||||
}
|
||||
|
||||
@ -124,6 +127,7 @@ pub mod alloc_mod {
|
||||
}
|
||||
|
||||
#[cfg(feature = "std")]
|
||||
#[cfg_attr(doc_cfg, doc(cfg(feature = "std")))]
|
||||
pub mod std_mod {
|
||||
use std::sync::mpsc;
|
||||
|
||||
@ -175,23 +179,626 @@ pub mod std_mod {
|
||||
pub type DefaultActiveActionRequestMap = DefaultActiveRequestMap<ActivePusActionRequestStd>;
|
||||
|
||||
pub type ActionRequestHandlerMpsc = ActionRequestHandlerInterface<
|
||||
mpsc::Sender<GenericMessage<ActionReplyPus>>,
|
||||
mpsc::Sender<GenericMessage<PusActionReply>>,
|
||||
mpsc::Receiver<GenericMessage<ActionRequest>>,
|
||||
>;
|
||||
pub type ActionRequestHandlerMpscBounded = ActionRequestHandlerInterface<
|
||||
mpsc::SyncSender<GenericMessage<ActionReplyPus>>,
|
||||
mpsc::SyncSender<GenericMessage<PusActionReply>>,
|
||||
mpsc::Receiver<GenericMessage<ActionRequest>>,
|
||||
>;
|
||||
|
||||
pub type ActionRequestorMpsc = ActionRequestorInterface<
|
||||
mpsc::Sender<GenericMessage<ActionRequest>>,
|
||||
mpsc::Receiver<GenericMessage<ActionReplyPus>>,
|
||||
mpsc::Receiver<GenericMessage<PusActionReply>>,
|
||||
>;
|
||||
pub type ActionRequestorBoundedMpsc = ActionRequestorInterface<
|
||||
mpsc::SyncSender<GenericMessage<ActionRequest>>,
|
||||
mpsc::Receiver<GenericMessage<ActionReplyPus>>,
|
||||
mpsc::Receiver<GenericMessage<PusActionReply>>,
|
||||
>;
|
||||
|
||||
/*
|
||||
pub type ModeRequestorAndHandlerMpsc = ModeInterface<
|
||||
mpsc::Sender<GenericMessage<ModeRequest>>,
|
||||
mpsc::Receiver<GenericMessage<ModeReply>>,
|
||||
mpsc::Sender<GenericMessage<ModeReply>>,
|
||||
mpsc::Receiver<GenericMessage<ModeRequest>>,
|
||||
>;
|
||||
pub type ModeRequestorAndHandlerMpscBounded = ModeInterface<
|
||||
mpsc::SyncSender<GenericMessage<ModeRequest>>,
|
||||
mpsc::Receiver<GenericMessage<ModeReply>>,
|
||||
mpsc::SyncSender<GenericMessage<ModeReply>>,
|
||||
mpsc::Receiver<GenericMessage<ModeRequest>>,
|
||||
>;
|
||||
*/
|
||||
}
|
||||
|
||||
#[cfg(test)]
|
||||
mod tests {}
|
||||
mod tests {
|
||||
/*
|
||||
use core::{cell::RefCell, time::Duration};
|
||||
use std::{sync::mpsc, time::SystemTimeError};
|
||||
|
||||
use alloc::{collections::VecDeque, vec::Vec};
|
||||
use delegate::delegate;
|
||||
|
||||
use spacepackets::{
|
||||
ecss::{
|
||||
tc::{PusTcCreator, PusTcReader},
|
||||
tm::PusTmReader,
|
||||
PusPacket,
|
||||
},
|
||||
time::{cds, TimeWriter},
|
||||
CcsdsPacket,
|
||||
};
|
||||
|
||||
use crate::{
|
||||
action::ActionRequestVariant,
|
||||
params::{self, ParamsRaw, WritableToBeBytes},
|
||||
pus::{
|
||||
tests::{
|
||||
PusServiceHandlerWithVecCommon, PusTestHarness, SimplePusPacketHandler,
|
||||
TestConverter, TestRouter, APP_DATA_TOO_SHORT,
|
||||
},
|
||||
verification::{
|
||||
self,
|
||||
tests::{SharedVerificationMap, TestVerificationReporter, VerificationStatus},
|
||||
FailParams, TcStateAccepted, TcStateNone, TcStateStarted,
|
||||
VerificationReportingProvider,
|
||||
},
|
||||
EcssTcInMemConverter, EcssTcInVecConverter, EcssTmtcError, GenericRoutingError,
|
||||
MpscTcReceiver, PusPacketHandlerResult, PusPacketHandlingError, PusRequestRouter,
|
||||
PusServiceHelper, PusTcToRequestConverter, TmAsVecSenderWithMpsc,
|
||||
},
|
||||
};
|
||||
|
||||
use super::*;
|
||||
|
||||
impl<Request> PusRequestRouter<Request> for TestRouter<Request> {
|
||||
type Error = GenericRoutingError;
|
||||
|
||||
fn route(
|
||||
&self,
|
||||
target_id: TargetId,
|
||||
request: Request,
|
||||
_token: VerificationToken<TcStateAccepted>,
|
||||
) -> Result<(), Self::Error> {
|
||||
self.routing_requests
|
||||
.borrow_mut()
|
||||
.push_back((target_id, request));
|
||||
self.check_for_injected_error()
|
||||
}
|
||||
|
||||
fn handle_error(
|
||||
&self,
|
||||
target_id: TargetId,
|
||||
token: VerificationToken<TcStateAccepted>,
|
||||
tc: &PusTcReader,
|
||||
error: Self::Error,
|
||||
time_stamp: &[u8],
|
||||
verif_reporter: &impl VerificationReportingProvider,
|
||||
) {
|
||||
self.routing_errors
|
||||
.borrow_mut()
|
||||
.push_back((target_id, error));
|
||||
}
|
||||
}
|
||||
|
||||
impl PusTcToRequestConverter<ActionRequest> for TestConverter<8> {
|
||||
type Error = PusPacketHandlingError;
|
||||
fn convert(
|
||||
&mut self,
|
||||
token: VerificationToken<TcStateAccepted>,
|
||||
tc: &PusTcReader,
|
||||
time_stamp: &[u8],
|
||||
verif_reporter: &impl VerificationReportingProvider,
|
||||
) -> Result<(TargetId, ActionRequest), Self::Error> {
|
||||
self.conversion_request.push_back(tc.raw_data().to_vec());
|
||||
self.check_service(tc)?;
|
||||
let target_id = tc.apid();
|
||||
if tc.user_data().len() < 4 {
|
||||
verif_reporter
|
||||
.start_failure(
|
||||
token,
|
||||
FailParams::new(
|
||||
time_stamp,
|
||||
&APP_DATA_TOO_SHORT,
|
||||
(tc.user_data().len() as u32).to_be_bytes().as_ref(),
|
||||
),
|
||||
)
|
||||
.expect("start success failure");
|
||||
return Err(PusPacketHandlingError::NotEnoughAppData {
|
||||
expected: 4,
|
||||
found: tc.user_data().len(),
|
||||
});
|
||||
}
|
||||
if tc.subservice() == 1 {
|
||||
verif_reporter
|
||||
.start_success(token, time_stamp)
|
||||
.expect("start success failure");
|
||||
return Ok((
|
||||
target_id.into(),
|
||||
ActionRequest {
|
||||
action_id: u32::from_be_bytes(tc.user_data()[0..4].try_into().unwrap()),
|
||||
variant: ActionRequestVariant::VecData(tc.user_data()[4..].to_vec()),
|
||||
},
|
||||
));
|
||||
}
|
||||
Err(PusPacketHandlingError::InvalidAppData(
|
||||
"unexpected app data".into(),
|
||||
))
|
||||
}
|
||||
}
|
||||
|
||||
pub struct PusDynRequestHandler<const SERVICE: u8, Request> {
|
||||
srv_helper: PusServiceHelper<
|
||||
MpscTcReceiver,
|
||||
TmAsVecSenderWithMpsc,
|
||||
EcssTcInVecConverter,
|
||||
TestVerificationReporter,
|
||||
>,
|
||||
request_converter: TestConverter<SERVICE>,
|
||||
request_router: TestRouter<Request>,
|
||||
}
|
||||
|
||||
struct Pus8RequestTestbenchWithVec {
|
||||
common: PusServiceHandlerWithVecCommon<TestVerificationReporter>,
|
||||
handler: PusDynRequestHandler<8, ActionRequest>,
|
||||
}
|
||||
|
||||
impl Pus8RequestTestbenchWithVec {
|
||||
pub fn new() -> Self {
|
||||
let (common, srv_helper) = PusServiceHandlerWithVecCommon::new_with_test_verif_sender();
|
||||
Self {
|
||||
common,
|
||||
handler: PusDynRequestHandler {
|
||||
srv_helper,
|
||||
request_converter: TestConverter::default(),
|
||||
request_router: TestRouter::default(),
|
||||
},
|
||||
}
|
||||
}
|
||||
|
||||
delegate! {
|
||||
to self.handler.request_converter {
|
||||
pub fn check_next_conversion(&mut self, tc: &PusTcCreator);
|
||||
}
|
||||
}
|
||||
delegate! {
|
||||
to self.handler.request_router {
|
||||
pub fn retrieve_next_request(&mut self) -> (TargetId, ActionRequest);
|
||||
}
|
||||
}
|
||||
delegate! {
|
||||
to self.handler.request_router {
|
||||
pub fn retrieve_next_routing_error(&mut self) -> (TargetId, GenericRoutingError);
|
||||
}
|
||||
}
|
||||
}
|
||||
|
||||
impl PusTestHarness for Pus8RequestTestbenchWithVec {
|
||||
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: verification::RequestId,
|
||||
);
|
||||
}
|
||||
}
|
||||
}
|
||||
impl SimplePusPacketHandler for Pus8RequestTestbenchWithVec {
|
||||
fn handle_one_tc(&mut self) -> Result<PusPacketHandlerResult, PusPacketHandlingError> {
|
||||
let possible_packet = self.handler.srv_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
|
||||
.handler
|
||||
.srv_helper
|
||||
.tc_in_mem_converter
|
||||
.convert_ecss_tc_in_memory_to_reader(&ecss_tc_and_token.tc_in_memory)?;
|
||||
let time_stamp = cds::TimeProvider::from_now_with_u16_days()
|
||||
.expect("timestamp generation failed")
|
||||
.to_vec()
|
||||
.unwrap();
|
||||
let (target_id, action_request) = self.handler.request_converter.convert(
|
||||
ecss_tc_and_token.token,
|
||||
&tc,
|
||||
&time_stamp,
|
||||
&self.handler.srv_helper.common.verification_handler,
|
||||
)?;
|
||||
if let Err(e) = self.handler.request_router.route(
|
||||
target_id,
|
||||
action_request,
|
||||
ecss_tc_and_token.token,
|
||||
) {
|
||||
self.handler.request_router.handle_error(
|
||||
target_id,
|
||||
ecss_tc_and_token.token,
|
||||
&tc,
|
||||
e.clone(),
|
||||
&time_stamp,
|
||||
&self.handler.srv_helper.common.verification_handler,
|
||||
);
|
||||
return Err(e.into());
|
||||
}
|
||||
Ok(PusPacketHandlerResult::RequestHandled)
|
||||
}
|
||||
}
|
||||
|
||||
const TIMEOUT_ERROR_CODE: ResultU16 = ResultU16::new(1, 2);
|
||||
const COMPLETION_ERROR_CODE: ResultU16 = ResultU16::new(2, 0);
|
||||
const COMPLETION_ERROR_CODE_STEP: ResultU16 = ResultU16::new(2, 1);
|
||||
|
||||
#[derive(Default)]
|
||||
pub struct TestReplyHandlerHook {
|
||||
pub unexpected_replies: VecDeque<GenericActionReplyPus>,
|
||||
pub timeouts: RefCell<VecDeque<ActivePusActionRequest>>,
|
||||
}
|
||||
|
||||
impl ReplyHandlerHook<ActivePusActionRequest, ActionReplyPusWithActionId> for TestReplyHandlerHook {
|
||||
fn handle_unexpected_reply(&mut self, reply: &GenericActionReplyPus) {
|
||||
self.unexpected_replies.push_back(reply.clone());
|
||||
}
|
||||
|
||||
fn timeout_callback(&self, active_request: &ActivePusActionRequest) {
|
||||
self.timeouts.borrow_mut().push_back(active_request.clone());
|
||||
}
|
||||
|
||||
fn timeout_error_code(&self) -> ResultU16 {
|
||||
TIMEOUT_ERROR_CODE
|
||||
}
|
||||
}
|
||||
|
||||
pub struct Pus8ReplyTestbench {
|
||||
verif_reporter: TestVerificationReporter,
|
||||
#[allow(dead_code)]
|
||||
ecss_tm_receiver: mpsc::Receiver<Vec<u8>>,
|
||||
handler: PusService8ReplyHandler<
|
||||
TestVerificationReporter,
|
||||
DefaultActiveActionRequestMap,
|
||||
TestReplyHandlerHook,
|
||||
mpsc::Sender<Vec<u8>>,
|
||||
>,
|
||||
}
|
||||
|
||||
impl Pus8ReplyTestbench {
|
||||
pub fn new(normal_ctor: bool) -> Self {
|
||||
let reply_handler_hook = TestReplyHandlerHook::default();
|
||||
let shared_verif_map = SharedVerificationMap::default();
|
||||
let test_verif_reporter = TestVerificationReporter::new(shared_verif_map.clone());
|
||||
let (ecss_tm_sender, ecss_tm_receiver) = mpsc::channel();
|
||||
let reply_handler = if normal_ctor {
|
||||
PusService8ReplyHandler::new_from_now_with_default_map(
|
||||
test_verif_reporter.clone(),
|
||||
128,
|
||||
reply_handler_hook,
|
||||
ecss_tm_sender,
|
||||
)
|
||||
.expect("creating reply handler failed")
|
||||
} else {
|
||||
PusService8ReplyHandler::new_from_now(
|
||||
test_verif_reporter.clone(),
|
||||
DefaultActiveActionRequestMap::default(),
|
||||
128,
|
||||
reply_handler_hook,
|
||||
ecss_tm_sender,
|
||||
)
|
||||
.expect("creating reply handler failed")
|
||||
};
|
||||
Self {
|
||||
verif_reporter: test_verif_reporter,
|
||||
ecss_tm_receiver,
|
||||
handler: reply_handler,
|
||||
}
|
||||
}
|
||||
|
||||
pub fn init_handling_for_request(
|
||||
&mut self,
|
||||
request_id: RequestId,
|
||||
_action_id: ActionId,
|
||||
) -> VerificationToken<TcStateStarted> {
|
||||
assert!(!self.handler.request_active(request_id));
|
||||
// let action_req = ActionRequest::new(action_id, ActionRequestVariant::NoData);
|
||||
let token = self.add_tc_with_req_id(request_id.into());
|
||||
let token = self
|
||||
.verif_reporter
|
||||
.acceptance_success(token, &[])
|
||||
.expect("acceptance success failure");
|
||||
let token = self
|
||||
.verif_reporter
|
||||
.start_success(token, &[])
|
||||
.expect("start success failure");
|
||||
let verif_info = self
|
||||
.verif_reporter
|
||||
.verification_info(&verification::RequestId::from(request_id))
|
||||
.expect("no verification info found");
|
||||
assert!(verif_info.started.expect("request was not started"));
|
||||
assert!(verif_info.accepted.expect("request was not accepted"));
|
||||
token
|
||||
}
|
||||
|
||||
pub fn next_unrequested_reply(&self) -> Option<GenericActionReplyPus> {
|
||||
self.handler.user_hook.unexpected_replies.front().cloned()
|
||||
}
|
||||
|
||||
pub fn assert_request_completion_success(&self, step: Option<u16>, request_id: RequestId) {
|
||||
let verif_info = self
|
||||
.verif_reporter
|
||||
.verification_info(&verification::RequestId::from(request_id))
|
||||
.expect("no verification info found");
|
||||
self.assert_request_completion_common(request_id, &verif_info, step, true);
|
||||
}
|
||||
|
||||
pub fn assert_request_completion_failure(
|
||||
&self,
|
||||
step: Option<u16>,
|
||||
request_id: RequestId,
|
||||
fail_enum: ResultU16,
|
||||
fail_data: &[u8],
|
||||
) {
|
||||
let verif_info = self
|
||||
.verif_reporter
|
||||
.verification_info(&verification::RequestId::from(request_id))
|
||||
.expect("no verification info found");
|
||||
self.assert_request_completion_common(request_id, &verif_info, step, false);
|
||||
assert_eq!(verif_info.fail_enum.unwrap(), fail_enum.raw() as u64);
|
||||
assert_eq!(verif_info.failure_data.unwrap(), fail_data);
|
||||
}
|
||||
|
||||
pub fn assert_request_completion_common(
|
||||
&self,
|
||||
request_id: RequestId,
|
||||
verif_info: &VerificationStatus,
|
||||
step: Option<u16>,
|
||||
completion_success: bool,
|
||||
) {
|
||||
if let Some(step) = step {
|
||||
assert!(verif_info.step_status.is_some());
|
||||
assert!(verif_info.step_status.unwrap());
|
||||
assert_eq!(step, verif_info.step);
|
||||
}
|
||||
assert_eq!(
|
||||
verif_info.completed.expect("request is not completed"),
|
||||
completion_success
|
||||
);
|
||||
assert!(!self.handler.request_active(request_id));
|
||||
}
|
||||
|
||||
pub fn assert_request_step_failure(&self, step: u16, request_id: RequestId) {
|
||||
let verif_info = self
|
||||
.verif_reporter
|
||||
.verification_info(&verification::RequestId::from(request_id))
|
||||
.expect("no verification info found");
|
||||
assert!(verif_info.step_status.is_some());
|
||||
assert!(!verif_info.step_status.unwrap());
|
||||
assert_eq!(step, verif_info.step);
|
||||
}
|
||||
pub fn add_routed_request(
|
||||
&mut self,
|
||||
request_id: verification::RequestId,
|
||||
target_id: TargetId,
|
||||
action_id: ActionId,
|
||||
token: VerificationToken<TcStateStarted>,
|
||||
timeout: Duration,
|
||||
) {
|
||||
if self.handler.request_active(request_id.into()) {
|
||||
panic!("request already present");
|
||||
}
|
||||
self.handler
|
||||
.add_routed_action_request(request_id, target_id, action_id, token, timeout);
|
||||
if !self.handler.request_active(request_id.into()) {
|
||||
panic!("request should be active now");
|
||||
}
|
||||
}
|
||||
|
||||
delegate! {
|
||||
to self.handler {
|
||||
pub fn request_active(&self, request_id: RequestId) -> bool;
|
||||
|
||||
pub fn handle_action_reply(
|
||||
&mut self,
|
||||
action_reply_with_ids: GenericMessage<ActionReplyPusWithActionId>,
|
||||
time_stamp: &[u8]
|
||||
) -> Result<(), EcssTmtcError>;
|
||||
|
||||
pub fn update_time_from_now(&mut self) -> Result<(), SystemTimeError>;
|
||||
|
||||
pub fn check_for_timeouts(&mut self, time_stamp: &[u8]) -> Result<(), EcssTmtcError>;
|
||||
}
|
||||
to self.verif_reporter {
|
||||
fn add_tc_with_req_id(&mut self, req_id: verification::RequestId) -> VerificationToken<TcStateNone>;
|
||||
}
|
||||
}
|
||||
}
|
||||
|
||||
#[test]
|
||||
fn test_reply_handler_completion_success() {
|
||||
let mut reply_testbench = Pus8ReplyTestbench::new(true);
|
||||
let sender_id = 0x06;
|
||||
let request_id = 0x02;
|
||||
let target_id = 0x05;
|
||||
let action_id = 0x03;
|
||||
let token = reply_testbench.init_handling_for_request(request_id, action_id);
|
||||
reply_testbench.add_routed_request(
|
||||
request_id.into(),
|
||||
target_id,
|
||||
action_id,
|
||||
token,
|
||||
Duration::from_millis(1),
|
||||
);
|
||||
assert!(reply_testbench.request_active(request_id));
|
||||
let action_reply = GenericMessage::new(
|
||||
request_id,
|
||||
sender_id,
|
||||
ActionReplyPusWithActionId {
|
||||
action_id,
|
||||
variant: ActionReplyPus::Completed,
|
||||
},
|
||||
);
|
||||
reply_testbench
|
||||
.handle_action_reply(action_reply, &[])
|
||||
.expect("reply handling failure");
|
||||
reply_testbench.assert_request_completion_success(None, request_id);
|
||||
}
|
||||
|
||||
#[test]
|
||||
fn test_reply_handler_step_success() {
|
||||
let mut reply_testbench = Pus8ReplyTestbench::new(false);
|
||||
let request_id = 0x02;
|
||||
let target_id = 0x05;
|
||||
let action_id = 0x03;
|
||||
let token = reply_testbench.init_handling_for_request(request_id, action_id);
|
||||
reply_testbench.add_routed_request(
|
||||
request_id.into(),
|
||||
target_id,
|
||||
action_id,
|
||||
token,
|
||||
Duration::from_millis(1),
|
||||
);
|
||||
let action_reply = GenericActionReplyPus::new_action_reply(
|
||||
request_id,
|
||||
action_id,
|
||||
action_id,
|
||||
ActionReplyPus::StepSuccess { step: 1 },
|
||||
);
|
||||
reply_testbench
|
||||
.handle_action_reply(action_reply, &[])
|
||||
.expect("reply handling failure");
|
||||
let action_reply = GenericActionReplyPus::new_action_reply(
|
||||
request_id,
|
||||
action_id,
|
||||
action_id,
|
||||
ActionReplyPus::Completed,
|
||||
);
|
||||
reply_testbench
|
||||
.handle_action_reply(action_reply, &[])
|
||||
.expect("reply handling failure");
|
||||
reply_testbench.assert_request_completion_success(Some(1), request_id);
|
||||
}
|
||||
|
||||
#[test]
|
||||
fn test_reply_handler_completion_failure() {
|
||||
let mut reply_testbench = Pus8ReplyTestbench::new(true);
|
||||
let sender_id = 0x01;
|
||||
let request_id = 0x02;
|
||||
let target_id = 0x05;
|
||||
let action_id = 0x03;
|
||||
let token = reply_testbench.init_handling_for_request(request_id, action_id);
|
||||
reply_testbench.add_routed_request(
|
||||
request_id.into(),
|
||||
target_id,
|
||||
action_id,
|
||||
token,
|
||||
Duration::from_millis(1),
|
||||
);
|
||||
let params_raw = ParamsRaw::U32(params::U32(5));
|
||||
let action_reply = GenericActionReplyPus::new_action_reply(
|
||||
request_id,
|
||||
sender_id,
|
||||
action_id,
|
||||
ActionReplyPus::CompletionFailed {
|
||||
error_code: COMPLETION_ERROR_CODE,
|
||||
params: params_raw.into(),
|
||||
},
|
||||
);
|
||||
reply_testbench
|
||||
.handle_action_reply(action_reply, &[])
|
||||
.expect("reply handling failure");
|
||||
reply_testbench.assert_request_completion_failure(
|
||||
None,
|
||||
request_id,
|
||||
COMPLETION_ERROR_CODE,
|
||||
¶ms_raw.to_vec().unwrap(),
|
||||
);
|
||||
}
|
||||
|
||||
#[test]
|
||||
fn test_reply_handler_step_failure() {
|
||||
let mut reply_testbench = Pus8ReplyTestbench::new(false);
|
||||
let sender_id = 0x01;
|
||||
let request_id = 0x02;
|
||||
let target_id = 0x05;
|
||||
let action_id = 0x03;
|
||||
let token = reply_testbench.init_handling_for_request(request_id, action_id);
|
||||
reply_testbench.add_routed_request(
|
||||
request_id.into(),
|
||||
target_id,
|
||||
action_id,
|
||||
token,
|
||||
Duration::from_millis(1),
|
||||
);
|
||||
let action_reply = GenericActionReplyPus::new_action_reply(
|
||||
request_id,
|
||||
sender_id,
|
||||
action_id,
|
||||
ActionReplyPus::StepFailed {
|
||||
error_code: COMPLETION_ERROR_CODE_STEP,
|
||||
step: 2,
|
||||
params: ParamsRaw::U32(crate::params::U32(5)).into(),
|
||||
},
|
||||
);
|
||||
reply_testbench
|
||||
.handle_action_reply(action_reply, &[])
|
||||
.expect("reply handling failure");
|
||||
reply_testbench.assert_request_step_failure(2, request_id);
|
||||
}
|
||||
|
||||
#[test]
|
||||
fn test_reply_handler_timeout_handling() {
|
||||
let mut reply_testbench = Pus8ReplyTestbench::new(true);
|
||||
let request_id = 0x02;
|
||||
let target_id = 0x06;
|
||||
let action_id = 0x03;
|
||||
let token = reply_testbench.init_handling_for_request(request_id, action_id);
|
||||
reply_testbench.add_routed_request(
|
||||
request_id.into(),
|
||||
target_id,
|
||||
action_id,
|
||||
token,
|
||||
Duration::from_millis(1),
|
||||
);
|
||||
let timeout_param = Duration::from_millis(1).as_millis() as u64;
|
||||
let timeout_param_raw = timeout_param.to_be_bytes();
|
||||
std::thread::sleep(Duration::from_millis(2));
|
||||
reply_testbench
|
||||
.update_time_from_now()
|
||||
.expect("time update failure");
|
||||
reply_testbench.check_for_timeouts(&[]).unwrap();
|
||||
reply_testbench.assert_request_completion_failure(
|
||||
None,
|
||||
request_id,
|
||||
TIMEOUT_ERROR_CODE,
|
||||
&timeout_param_raw,
|
||||
);
|
||||
}
|
||||
|
||||
#[test]
|
||||
fn test_unrequested_reply() {
|
||||
let mut reply_testbench = Pus8ReplyTestbench::new(true);
|
||||
let sender_id = 0x01;
|
||||
let request_id = 0x02;
|
||||
let action_id = 0x03;
|
||||
|
||||
let action_reply = GenericActionReplyPus::new_action_reply(
|
||||
request_id,
|
||||
sender_id,
|
||||
action_id,
|
||||
ActionReplyPus::Completed,
|
||||
);
|
||||
reply_testbench
|
||||
.handle_action_reply(action_reply, &[])
|
||||
.expect("reply handling failure");
|
||||
let reply = reply_testbench.next_unrequested_reply();
|
||||
assert!(reply.is_some());
|
||||
let reply = reply.unwrap();
|
||||
assert_eq!(reply.message.action_id, action_id);
|
||||
assert_eq!(reply.request_id, request_id);
|
||||
assert_eq!(reply.message.variant, ActionReplyPus::Completed);
|
||||
}
|
||||
*/
|
||||
}
|
||||
|
||||
@ -1,13 +1,13 @@
|
||||
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::ecss::{EcssEnumeration, PusError};
|
||||
use spacepackets::ByteConversionError;
|
||||
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 {
|
||||
@ -16,112 +16,117 @@ pub struct EventReportCreator {
|
||||
}
|
||||
|
||||
impl EventReportCreator {
|
||||
pub fn new(apid: u16, dest_id: u16) -> Option<Self> {
|
||||
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,
|
||||
src_data_buf: &'src_data mut [u8],
|
||||
time_stamp: &'time [u8],
|
||||
event_id: impl EcssEnumeration,
|
||||
params: Option<&'src_data [u8]>,
|
||||
src_data_buf: &'src_data mut [u8],
|
||||
aux_data: Option<&'src_data [u8]>,
|
||||
) -> Result<PusTmCreator<'time, 'src_data>, ByteConversionError> {
|
||||
self.generate_and_send_generic_tm(
|
||||
src_data_buf,
|
||||
Subservice::TmInfoReport,
|
||||
time_stamp,
|
||||
event_id,
|
||||
params,
|
||||
src_data_buf,
|
||||
aux_data,
|
||||
)
|
||||
}
|
||||
|
||||
pub fn event_low_severity<'time, 'src_data>(
|
||||
&self,
|
||||
src_data_buf: &'src_data mut [u8],
|
||||
time_stamp: &'time [u8],
|
||||
event_id: impl EcssEnumeration,
|
||||
params: Option<&'src_data [u8]>,
|
||||
src_data_buf: &'src_data mut [u8],
|
||||
aux_data: Option<&'src_data [u8]>,
|
||||
) -> Result<PusTmCreator<'time, 'src_data>, ByteConversionError> {
|
||||
self.generate_and_send_generic_tm(
|
||||
src_data_buf,
|
||||
Subservice::TmLowSeverityReport,
|
||||
time_stamp,
|
||||
event_id,
|
||||
params,
|
||||
src_data_buf,
|
||||
aux_data,
|
||||
)
|
||||
}
|
||||
|
||||
pub fn event_medium_severity<'time, 'src_data>(
|
||||
&self,
|
||||
buf: &'src_data mut [u8],
|
||||
time_stamp: &'time [u8],
|
||||
event_id: impl EcssEnumeration,
|
||||
params: Option<&'src_data [u8]>,
|
||||
buf: &'src_data mut [u8],
|
||||
aux_data: Option<&'src_data [u8]>,
|
||||
) -> Result<PusTmCreator<'time, 'src_data>, ByteConversionError> {
|
||||
self.generate_and_send_generic_tm(
|
||||
buf,
|
||||
Subservice::TmMediumSeverityReport,
|
||||
time_stamp,
|
||||
event_id,
|
||||
params,
|
||||
buf,
|
||||
aux_data,
|
||||
)
|
||||
}
|
||||
|
||||
pub fn event_high_severity<'time, 'src_data>(
|
||||
&self,
|
||||
src_data_buf: &'src_data mut [u8],
|
||||
time_stamp: &'time [u8],
|
||||
event_id: impl EcssEnumeration,
|
||||
params: Option<&'src_data [u8]>,
|
||||
src_data_buf: &'src_data mut [u8],
|
||||
aux_data: Option<&'src_data [u8]>,
|
||||
) -> Result<PusTmCreator<'time, 'src_data>, ByteConversionError> {
|
||||
self.generate_and_send_generic_tm(
|
||||
src_data_buf,
|
||||
Subservice::TmHighSeverityReport,
|
||||
time_stamp,
|
||||
event_id,
|
||||
params,
|
||||
src_data_buf,
|
||||
aux_data,
|
||||
)
|
||||
}
|
||||
|
||||
fn generate_and_send_generic_tm<'time, 'src_data>(
|
||||
&self,
|
||||
src_data_buf: &'src_data mut [u8],
|
||||
subservice: Subservice,
|
||||
time_stamp: &'time [u8],
|
||||
event_id: impl EcssEnumeration,
|
||||
params: Option<&'src_data [u8]>,
|
||||
src_data_buf: &'src_data mut [u8],
|
||||
aux_data: Option<&'src_data [u8]>,
|
||||
) -> Result<PusTmCreator<'time, 'src_data>, ByteConversionError> {
|
||||
self.generate_generic_event_tm(subservice, time_stamp, event_id, params, src_data_buf)
|
||||
self.generate_generic_event_tm(src_data_buf, subservice, time_stamp, event_id, aux_data)
|
||||
}
|
||||
|
||||
fn generate_generic_event_tm<'time, 'src_data>(
|
||||
&self,
|
||||
src_data_buf: &'src_data mut [u8],
|
||||
subservice: Subservice,
|
||||
time_stamp: &'time [u8],
|
||||
event_id: impl EcssEnumeration,
|
||||
params: Option<&'src_data [u8]>,
|
||||
src_data_buf: &'src_data mut [u8],
|
||||
aux_data: Option<&'src_data [u8]>,
|
||||
) -> Result<PusTmCreator<'time, 'src_data>, ByteConversionError> {
|
||||
let mut src_data_len = event_id.size();
|
||||
if let Some(aux_data) = 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 mut sp_header = SpHeader::tm_unseg(self.apid, 0, 0).unwrap();
|
||||
let sec_header =
|
||||
PusTmSecondaryHeader::new(5, subservice.into(), 0, self.dest_id, time_stamp);
|
||||
PusTmSecondaryHeader::new(5, subservice.into(), 0, 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()])?;
|
||||
current_idx += event_id.size();
|
||||
if let Some(aux_data) = params {
|
||||
if let Some(aux_data) = aux_data {
|
||||
src_data_buf[current_idx..current_idx + aux_data.len()].copy_from_slice(aux_data);
|
||||
current_idx += aux_data.len();
|
||||
}
|
||||
Ok(PusTmCreator::new(
|
||||
SpHeader::new_from_apid(self.apid),
|
||||
&mut sp_header,
|
||||
sec_header,
|
||||
&src_data_buf[0..current_idx],
|
||||
true,
|
||||
@ -132,130 +137,93 @@ 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);
|
||||
}
|
||||
|
||||
#[derive(Default)]
|
||||
pub struct DummyEventHook {}
|
||||
|
||||
impl EventTmHookProvider for DummyEventHook {
|
||||
fn modify_tm(&self, _tm: &mut PusTmCreator) {}
|
||||
}
|
||||
|
||||
pub struct EventReporter<EventTmHook: EventTmHookProvider = DummyEventHook> {
|
||||
pub struct EventReporter {
|
||||
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> {
|
||||
impl EventReporter {
|
||||
pub fn new(
|
||||
id: ComponentId,
|
||||
default_apid: u16,
|
||||
default_dest_id: u16,
|
||||
apid: u16,
|
||||
max_event_id_and_aux_data_size: usize,
|
||||
) -> Option<Self> {
|
||||
let reporter = EventReportCreator::new(default_apid, default_dest_id)?;
|
||||
let reporter = EventReportCreator::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(),
|
||||
})
|
||||
}
|
||||
}
|
||||
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),
|
||||
sender: &(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
|
||||
let tm_creator = self
|
||||
.report_creator
|
||||
.event_info(time_stamp, event_id, params, mut_buf.as_mut_slice())
|
||||
.event_info(mut_buf.as_mut_slice(), time_stamp, event_id, aux_data)
|
||||
.map_err(PusError::ByteConversion)?;
|
||||
self.tm_hook.modify_tm(&mut tm_creator);
|
||||
sender.send_tm(self.id, tm_creator.into())?;
|
||||
Ok(())
|
||||
}
|
||||
|
||||
pub fn event_low_severity(
|
||||
&self,
|
||||
sender: &(impl EcssTmSender + ?Sized),
|
||||
sender: &(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
|
||||
let tm_creator = self
|
||||
.report_creator
|
||||
.event_low_severity(time_stamp, event_id, params, mut_buf.as_mut_slice())
|
||||
.event_low_severity(mut_buf.as_mut_slice(), time_stamp, event_id, aux_data)
|
||||
.map_err(PusError::ByteConversion)?;
|
||||
self.tm_hook.modify_tm(&mut tm_creator);
|
||||
sender.send_tm(self.id, tm_creator.into())?;
|
||||
Ok(())
|
||||
}
|
||||
|
||||
pub fn event_medium_severity(
|
||||
&self,
|
||||
sender: &(impl EcssTmSender + ?Sized),
|
||||
sender: &(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
|
||||
let tm_creator = self
|
||||
.report_creator
|
||||
.event_medium_severity(time_stamp, event_id, params, mut_buf.as_mut_slice())
|
||||
.event_medium_severity(mut_buf.as_mut_slice(), time_stamp, event_id, aux_data)
|
||||
.map_err(PusError::ByteConversion)?;
|
||||
self.tm_hook.modify_tm(&mut tm_creator);
|
||||
sender.send_tm(self.id, tm_creator.into())?;
|
||||
Ok(())
|
||||
}
|
||||
|
||||
pub fn event_high_severity(
|
||||
&self,
|
||||
sender: &(impl EcssTmSender + ?Sized),
|
||||
sender: &(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
|
||||
let tm_creator = self
|
||||
.report_creator
|
||||
.event_high_severity(time_stamp, event_id, params, mut_buf.as_mut_slice())
|
||||
.event_high_severity(mut_buf.as_mut_slice(), time_stamp, event_id, aux_data)
|
||||
.map_err(PusError::ByteConversion)?;
|
||||
self.tm_hook.modify_tm(&mut tm_creator);
|
||||
sender.send_tm(self.id, tm_creator.into())?;
|
||||
Ok(())
|
||||
}
|
||||
@ -266,11 +234,10 @@ mod alloc_mod {
|
||||
mod tests {
|
||||
use super::*;
|
||||
use crate::events::{EventU32, Severity};
|
||||
use crate::pus::test_util::TEST_COMPONENT_ID_0;
|
||||
use crate::pus::test_util::TEST_COMPONENT_ID;
|
||||
use crate::pus::tests::CommonTmInfo;
|
||||
use crate::pus::{ChannelWithId, EcssTmSender, EcssTmtcError, PusTmVariant};
|
||||
use crate::pus::{ChannelWithId, PusTmVariant};
|
||||
use crate::ComponentId;
|
||||
use spacepackets::ecss::PusError;
|
||||
use spacepackets::ByteConversionError;
|
||||
use std::cell::RefCell;
|
||||
use std::collections::VecDeque;
|
||||
@ -301,7 +268,7 @@ mod tests {
|
||||
}
|
||||
}
|
||||
|
||||
impl EcssTmSender for TestSender {
|
||||
impl EcssTmSenderCore for TestSender {
|
||||
fn send_tm(&self, sender_id: ComponentId, tm: PusTmVariant) -> Result<(), EcssTmtcError> {
|
||||
match tm {
|
||||
PusTmVariant::InStore(_) => {
|
||||
@ -376,12 +343,8 @@ 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(TEST_COMPONENT_ID.id(), 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 +374,7 @@ 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.sender_id, TEST_COMPONENT_ID.id());
|
||||
assert_eq!(tm_info.aux_data, error_copy);
|
||||
}
|
||||
|
||||
@ -474,7 +437,7 @@ 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(0, EXAMPLE_APID, i);
|
||||
assert!(reporter.is_some());
|
||||
let mut reporter = reporter.unwrap();
|
||||
check_buf_too_small(&mut reporter, &mut sender, i);
|
||||
|
||||
@ -10,11 +10,13 @@ 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")))]
|
||||
pub use alloc_mod::*;
|
||||
#[cfg(feature = "heapless")]
|
||||
#[cfg_attr(doc_cfg, doc(cfg(feature = "heapless")))]
|
||||
pub use heapless_mod::*;
|
||||
|
||||
/// This trait allows the PUS event manager implementation to stay generic over various types
|
||||
@ -42,6 +44,7 @@ pub mod heapless_mod {
|
||||
use crate::events::LargestEventRaw;
|
||||
use core::marker::PhantomData;
|
||||
|
||||
#[cfg_attr(doc_cfg, doc(cfg(feature = "heapless")))]
|
||||
// TODO: After a new version of heapless is released which uses hash32 version 0.3, try using
|
||||
// regular Event type again.
|
||||
#[derive(Default)]
|
||||
@ -154,8 +157,8 @@ pub mod alloc_mod {
|
||||
phantom: PhantomData<(E, EV)>,
|
||||
}
|
||||
|
||||
impl<B: PusEventMgmtBackendProvider<Event, Error = E>, Event: GenericEvent, E>
|
||||
PusEventDispatcher<B, Event, E>
|
||||
impl<B: PusEventMgmtBackendProvider<EV, Error = E>, EV: GenericEvent, E>
|
||||
PusEventDispatcher<B, EV, E>
|
||||
{
|
||||
pub fn new(reporter: EventReporter, backend: B) -> Self {
|
||||
Self {
|
||||
@ -165,20 +168,20 @@ pub mod alloc_mod {
|
||||
}
|
||||
}
|
||||
|
||||
pub fn enable_tm_for_event(&mut self, event: &Event) -> Result<bool, E> {
|
||||
pub fn enable_tm_for_event(&mut self, event: &EV) -> Result<bool, E> {
|
||||
self.backend.enable_event_reporting(event)
|
||||
}
|
||||
|
||||
pub fn disable_tm_for_event(&mut self, event: &Event) -> Result<bool, E> {
|
||||
pub fn disable_tm_for_event(&mut self, event: &EV) -> Result<bool, E> {
|
||||
self.backend.disable_event_reporting(event)
|
||||
}
|
||||
|
||||
pub fn generate_pus_event_tm_generic(
|
||||
&self,
|
||||
sender: &(impl EcssTmSender + ?Sized),
|
||||
sender: &(impl EcssTmSenderCore + ?Sized),
|
||||
time_stamp: &[u8],
|
||||
event: Event,
|
||||
params: Option<&[u8]>,
|
||||
event: EV,
|
||||
aux_data: Option<&[u8]>,
|
||||
) -> Result<bool, EventManError> {
|
||||
if !self.backend.event_enabled(&event) {
|
||||
return Ok(false);
|
||||
@ -186,22 +189,22 @@ 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()),
|
||||
}
|
||||
@ -237,7 +240,7 @@ pub mod alloc_mod {
|
||||
|
||||
pub fn generate_pus_event_tm<Severity: HasSeverity>(
|
||||
&self,
|
||||
sender: &(impl EcssTmSender + ?Sized),
|
||||
sender: &(impl EcssTmSenderCore + ?Sized),
|
||||
time_stamp: &[u8],
|
||||
event: EventU32TypedSev<Severity>,
|
||||
aux_data: Option<&[u8]>,
|
||||
@ -254,8 +257,9 @@ pub mod alloc_mod {
|
||||
#[cfg(test)]
|
||||
mod tests {
|
||||
use super::*;
|
||||
use crate::events::SeverityInfo;
|
||||
use crate::pus::PusTmAsVec;
|
||||
use crate::request::UniqueApidTargetId;
|
||||
use crate::{events::SeverityInfo, tmtc::PacketAsVec};
|
||||
use std::sync::mpsc::{self, TryRecvError};
|
||||
|
||||
const INFO_EVENT: EventU32TypedSev<SeverityInfo> =
|
||||
@ -266,12 +270,12 @@ mod tests {
|
||||
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)
|
||||
let reporter = EventReporter::new(TEST_ID.raw(), TEST_APID, 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)
|
||||
let reporter = EventReporter::new(TEST_ID.raw(), TEST_APID, 128)
|
||||
.expect("Creating event repoter failed");
|
||||
let backend = DefaultPusEventMgmtBackend::default();
|
||||
PusEventDispatcher::new(reporter, backend)
|
||||
@ -280,7 +284,7 @@ mod tests {
|
||||
#[test]
|
||||
fn test_basic() {
|
||||
let event_man = create_basic_man_1();
|
||||
let (event_tx, event_rx) = mpsc::channel::<PacketAsVec>();
|
||||
let (event_tx, event_rx) = mpsc::channel::<PusTmAsVec>();
|
||||
let event_sent = event_man
|
||||
.generate_pus_event_tm(&event_tx, &EMPTY_STAMP, INFO_EVENT, None)
|
||||
.expect("Sending info event failed");
|
||||
@ -293,7 +297,7 @@ mod tests {
|
||||
#[test]
|
||||
fn test_disable_event() {
|
||||
let mut event_man = create_basic_man_2();
|
||||
let (event_tx, event_rx) = mpsc::channel::<PacketAsVec>();
|
||||
let (event_tx, event_rx) = mpsc::channel::<PusTmAsVec>();
|
||||
// let mut sender = TmAsVecSenderWithMpsc::new(0, "test", event_tx);
|
||||
let res = event_man.disable_tm_for_event(&LOW_SEV_EVENT);
|
||||
assert!(res.is_ok());
|
||||
@ -316,7 +320,7 @@ mod tests {
|
||||
#[test]
|
||||
fn test_reenable_event() {
|
||||
let mut event_man = create_basic_man_1();
|
||||
let (event_tx, event_rx) = mpsc::channel::<PacketAsVec>();
|
||||
let (event_tx, event_rx) = mpsc::channel::<PusTmAsVec>();
|
||||
let mut res = event_man.disable_tm_for_event_with_sev(&INFO_EVENT);
|
||||
assert!(res.is_ok());
|
||||
assert!(res.unwrap());
|
||||
|
||||
@ -9,13 +9,13 @@ use std::sync::mpsc::Sender;
|
||||
|
||||
use super::verification::VerificationReportingProvider;
|
||||
use super::{
|
||||
EcssTcInMemConverter, EcssTcReceiver, EcssTmSender, GenericConversionError,
|
||||
EcssTcInMemConverter, EcssTcReceiverCore, EcssTmSenderCore, GenericConversionError,
|
||||
GenericRoutingError, PusServiceHelper,
|
||||
};
|
||||
|
||||
pub struct PusEventServiceHandler<
|
||||
TcReceiver: EcssTcReceiver,
|
||||
TmSender: EcssTmSender,
|
||||
TcReceiver: EcssTcReceiverCore,
|
||||
TmSender: EcssTmSenderCore,
|
||||
TcInMemConverter: EcssTcInMemConverter,
|
||||
VerificationReporter: VerificationReportingProvider,
|
||||
> {
|
||||
@ -25,8 +25,8 @@ pub struct PusEventServiceHandler<
|
||||
}
|
||||
|
||||
impl<
|
||||
TcReceiver: EcssTcReceiver,
|
||||
TmSender: EcssTmSender,
|
||||
TcReceiver: EcssTcReceiverCore,
|
||||
TmSender: EcssTmSenderCore,
|
||||
TcInMemConverter: EcssTcInMemConverter,
|
||||
VerificationReporter: VerificationReportingProvider,
|
||||
> PusEventServiceHandler<TcReceiver, TmSender, TcInMemConverter, VerificationReporter>
|
||||
@ -84,6 +84,7 @@ impl<
|
||||
.common
|
||||
.verif_reporter
|
||||
.start_success(
|
||||
self.service_helper.common.id,
|
||||
&self.service_helper.common.tm_sender,
|
||||
ecss_tc_and_token.token,
|
||||
time_stamp,
|
||||
@ -158,7 +159,7 @@ mod tests {
|
||||
tc::{PusTcCreator, PusTcSecondaryHeader},
|
||||
tm::PusTmReader,
|
||||
},
|
||||
SpHeader,
|
||||
SequenceFlags, SpHeader,
|
||||
};
|
||||
use std::sync::mpsc::{self, Sender};
|
||||
|
||||
@ -167,8 +168,7 @@ mod tests {
|
||||
use crate::pus::verification::{
|
||||
RequestId, VerificationReporter, VerificationReportingProvider,
|
||||
};
|
||||
use crate::pus::{GenericConversionError, MpscTcReceiver};
|
||||
use crate::tmtc::PacketSenderWithSharedPool;
|
||||
use crate::pus::{GenericConversionError, MpscTcReceiver, MpscTmInSharedPoolSenderBounded};
|
||||
use crate::{
|
||||
events::EventU32,
|
||||
pus::{
|
||||
@ -187,7 +187,7 @@ mod tests {
|
||||
common: PusServiceHandlerWithSharedStoreCommon,
|
||||
handler: PusEventServiceHandler<
|
||||
MpscTcReceiver,
|
||||
PacketSenderWithSharedPool,
|
||||
MpscTmInSharedPoolSenderBounded,
|
||||
EcssTcInSharedStoreConverter,
|
||||
VerificationReporter,
|
||||
>,
|
||||
@ -209,17 +209,18 @@ mod tests {
|
||||
self.handler
|
||||
.service_helper
|
||||
.verif_reporter()
|
||||
.acceptance_success(self.handler.service_helper.tm_sender(), init_token, &[0; 7])
|
||||
.acceptance_success(
|
||||
self.handler.service_helper.id(),
|
||||
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(&self, token: &VerificationToken<TcStateAccepted>, tc: &PusTcCreator);
|
||||
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);
|
||||
@ -241,13 +242,13 @@ 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 ping_tc = PusTcCreator::new(&mut 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();
|
||||
@ -303,9 +304,9 @@ 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 ping_tc = PusTcCreator::new_no_app_data(&mut sp_header, sec_header, true);
|
||||
let token = test_harness.init_verification(&ping_tc);
|
||||
test_harness.send_tc(&token, &ping_tc);
|
||||
let result = test_harness.handle_one_tc();
|
||||
@ -322,10 +323,10 @@ 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 ping_tc = PusTcCreator::new(&mut sp_header, sec_header, &[0, 1, 2], true);
|
||||
let token = test_harness.init_verification(&ping_tc);
|
||||
test_harness.send_tc(&token, &ping_tc);
|
||||
let result = test_harness.handle_one_tc();
|
||||
|
||||
File diff suppressed because it is too large
Load Diff
@ -26,9 +26,11 @@ pub enum Subservice {
|
||||
}
|
||||
|
||||
#[cfg(feature = "alloc")]
|
||||
#[cfg_attr(doc_cfg, doc(cfg(feature = "alloc")))]
|
||||
pub mod alloc_mod {}
|
||||
|
||||
#[cfg(feature = "alloc")]
|
||||
#[cfg_attr(doc_cfg, doc(cfg(feature = "alloc")))]
|
||||
pub mod std_mod {}
|
||||
|
||||
#[cfg(test)]
|
||||
|
||||
@ -14,7 +14,7 @@ use spacepackets::{ByteConversionError, CcsdsPacket};
|
||||
#[cfg(feature = "std")]
|
||||
use std::error::Error;
|
||||
|
||||
use crate::pool::{PoolError, PoolProvider};
|
||||
use crate::pool::{PoolProvider, StoreError};
|
||||
#[cfg(feature = "alloc")]
|
||||
pub use alloc_mod::*;
|
||||
|
||||
@ -151,7 +151,7 @@ pub enum ScheduleError {
|
||||
},
|
||||
/// Nested time-tagged commands are not allowed.
|
||||
NestedScheduledTc,
|
||||
StoreError(PoolError),
|
||||
StoreError(StoreError),
|
||||
TcDataEmpty,
|
||||
TimestampError(TimestampError),
|
||||
WrongSubservice(u8),
|
||||
@ -206,8 +206,8 @@ impl From<PusError> for ScheduleError {
|
||||
}
|
||||
}
|
||||
|
||||
impl From<PoolError> for ScheduleError {
|
||||
fn from(e: PoolError) -> Self {
|
||||
impl From<StoreError> for ScheduleError {
|
||||
fn from(e: StoreError) -> Self {
|
||||
Self::StoreError(e)
|
||||
}
|
||||
}
|
||||
@ -240,7 +240,7 @@ impl Error for ScheduleError {
|
||||
pub trait PusSchedulerProvider {
|
||||
type TimeProvider: CcsdsTimeProvider + TimeReader;
|
||||
|
||||
fn reset(&mut self, store: &mut (impl PoolProvider + ?Sized)) -> Result<(), PoolError>;
|
||||
fn reset(&mut self, store: &mut (impl PoolProvider + ?Sized)) -> Result<(), StoreError>;
|
||||
|
||||
fn is_enabled(&self) -> bool;
|
||||
|
||||
@ -345,9 +345,12 @@ pub mod alloc_mod {
|
||||
},
|
||||
vec::Vec,
|
||||
};
|
||||
use spacepackets::time::cds::{self, DaysLen24Bits};
|
||||
use spacepackets::time::{
|
||||
cds::{self, DaysLen24Bits},
|
||||
UnixTime,
|
||||
};
|
||||
|
||||
use crate::pool::PoolAddr;
|
||||
use crate::pool::StoreAddr;
|
||||
|
||||
use super::*;
|
||||
|
||||
@ -368,8 +371,8 @@ pub mod alloc_mod {
|
||||
}
|
||||
|
||||
enum DeletionResult {
|
||||
WithoutStoreDeletion(Option<PoolAddr>),
|
||||
WithStoreDeletion(Result<bool, PoolError>),
|
||||
WithoutStoreDeletion(Option<StoreAddr>),
|
||||
WithStoreDeletion(Result<bool, StoreError>),
|
||||
}
|
||||
|
||||
/// This is the core data structure for scheduling PUS telecommands with [alloc] support.
|
||||
@ -378,7 +381,7 @@ pub mod alloc_mod {
|
||||
/// a [crate::pool::PoolProvider] API. This data structure just tracks the store
|
||||
/// addresses and their release times and offers a convenient API to insert and release
|
||||
/// telecommands and perform other functionality specified by the ECSS standard in section 6.11.
|
||||
/// The time is tracked as a [spacepackets::time::UnixTime] but the only requirement to
|
||||
/// The time is tracked as a [spacepackets::time::UnixTimestamp] but the only requirement to
|
||||
/// the timekeeping of the user is that it is convertible to that timestamp.
|
||||
///
|
||||
/// The standard also specifies that the PUS scheduler can be enabled and disabled.
|
||||
@ -423,6 +426,7 @@ pub mod alloc_mod {
|
||||
|
||||
/// Like [Self::new], but sets the `init_current_time` parameter to the current system time.
|
||||
#[cfg(feature = "std")]
|
||||
#[cfg_attr(doc_cfg, doc(cfg(feature = "std")))]
|
||||
pub fn new_with_current_init_time(time_margin: Duration) -> Result<Self, SystemTimeError> {
|
||||
Ok(Self::new(UnixTime::now()?, time_margin))
|
||||
}
|
||||
@ -524,7 +528,7 @@ pub mod alloc_mod {
|
||||
&mut self,
|
||||
time_window: TimeWindow<TimeProvider>,
|
||||
pool: &mut (impl PoolProvider + ?Sized),
|
||||
) -> Result<u64, (u64, PoolError)> {
|
||||
) -> Result<u64, (u64, StoreError)> {
|
||||
let range = self.retrieve_by_time_filter(time_window);
|
||||
let mut del_packets = 0;
|
||||
let mut res_if_fails = None;
|
||||
@ -554,7 +558,7 @@ pub mod alloc_mod {
|
||||
pub fn delete_all(
|
||||
&mut self,
|
||||
pool: &mut (impl PoolProvider + ?Sized),
|
||||
) -> Result<u64, (u64, PoolError)> {
|
||||
) -> Result<u64, (u64, StoreError)> {
|
||||
self.delete_by_time_filter(TimeWindow::<cds::CdsTime>::new_select_all(), pool)
|
||||
}
|
||||
|
||||
@ -600,7 +604,7 @@ pub mod alloc_mod {
|
||||
/// Please note that this function will stop on the first telecommand with a request ID match.
|
||||
/// In case of duplicate IDs (which should generally not happen), this function needs to be
|
||||
/// called repeatedly.
|
||||
pub fn delete_by_request_id(&mut self, req_id: &RequestId) -> Option<PoolAddr> {
|
||||
pub fn delete_by_request_id(&mut self, req_id: &RequestId) -> Option<StoreAddr> {
|
||||
if let DeletionResult::WithoutStoreDeletion(v) =
|
||||
self.delete_by_request_id_internal_without_store_deletion(req_id)
|
||||
{
|
||||
@ -614,7 +618,7 @@ pub mod alloc_mod {
|
||||
&mut self,
|
||||
req_id: &RequestId,
|
||||
pool: &mut (impl PoolProvider + ?Sized),
|
||||
) -> Result<bool, PoolError> {
|
||||
) -> Result<bool, StoreError> {
|
||||
if let DeletionResult::WithStoreDeletion(v) =
|
||||
self.delete_by_request_id_internal_with_store_deletion(req_id, pool)
|
||||
{
|
||||
@ -666,6 +670,7 @@ pub mod alloc_mod {
|
||||
}
|
||||
|
||||
#[cfg(feature = "std")]
|
||||
#[cfg_attr(doc_cfg, doc(cfg(feature = "std")))]
|
||||
pub fn update_time_from_now(&mut self) -> Result<(), SystemTimeError> {
|
||||
self.current_time = UnixTime::now()?;
|
||||
Ok(())
|
||||
@ -691,7 +696,7 @@ pub mod alloc_mod {
|
||||
releaser: R,
|
||||
tc_store: &mut (impl PoolProvider + ?Sized),
|
||||
tc_buf: &mut [u8],
|
||||
) -> Result<u64, (u64, PoolError)> {
|
||||
) -> Result<u64, (u64, StoreError)> {
|
||||
self.release_telecommands_internal(releaser, tc_store, Some(tc_buf))
|
||||
}
|
||||
|
||||
@ -705,7 +710,7 @@ pub mod alloc_mod {
|
||||
&mut self,
|
||||
releaser: R,
|
||||
tc_store: &mut (impl PoolProvider + ?Sized),
|
||||
) -> Result<u64, (u64, PoolError)> {
|
||||
) -> Result<u64, (u64, StoreError)> {
|
||||
self.release_telecommands_internal(releaser, tc_store, None)
|
||||
}
|
||||
|
||||
@ -714,7 +719,7 @@ pub mod alloc_mod {
|
||||
mut releaser: R,
|
||||
tc_store: &mut (impl PoolProvider + ?Sized),
|
||||
mut tc_buf: Option<&mut [u8]>,
|
||||
) -> Result<u64, (u64, PoolError)> {
|
||||
) -> Result<u64, (u64, StoreError)> {
|
||||
let tcs_to_release = self.telecommands_to_release();
|
||||
let mut released_tcs = 0;
|
||||
let mut store_error = Ok(());
|
||||
@ -760,7 +765,7 @@ pub mod alloc_mod {
|
||||
mut releaser: R,
|
||||
tc_store: &(impl PoolProvider + ?Sized),
|
||||
tc_buf: &mut [u8],
|
||||
) -> Result<alloc::vec::Vec<TcInfo>, (alloc::vec::Vec<TcInfo>, PoolError)> {
|
||||
) -> Result<alloc::vec::Vec<TcInfo>, (alloc::vec::Vec<TcInfo>, StoreError)> {
|
||||
let tcs_to_release = self.telecommands_to_release();
|
||||
let mut released_tcs = alloc::vec::Vec::new();
|
||||
for tc in tcs_to_release {
|
||||
@ -791,7 +796,7 @@ pub mod alloc_mod {
|
||||
/// The holding store for the telecommands needs to be passed so all the stored telecommands
|
||||
/// can be deleted to avoid a memory leak. If at last one deletion operation fails, the error
|
||||
/// will be returned but the method will still try to delete all the commands in the schedule.
|
||||
fn reset(&mut self, store: &mut (impl PoolProvider + ?Sized)) -> Result<(), PoolError> {
|
||||
fn reset(&mut self, store: &mut (impl PoolProvider + ?Sized)) -> Result<(), StoreError> {
|
||||
self.enabled = false;
|
||||
let mut deletion_ok = Ok(());
|
||||
for tc_lists in &mut self.tc_map {
|
||||
@ -849,7 +854,7 @@ pub mod alloc_mod {
|
||||
mod tests {
|
||||
use super::*;
|
||||
use crate::pool::{
|
||||
PoolAddr, PoolError, PoolProvider, StaticMemoryPool, StaticPoolAddr, StaticPoolConfig,
|
||||
PoolProvider, StaticMemoryPool, StaticPoolAddr, StaticPoolConfig, StoreAddr, StoreError,
|
||||
};
|
||||
use alloc::collections::btree_map::Range;
|
||||
use spacepackets::ecss::tc::{PusTcCreator, PusTcReader, PusTcSecondaryHeader};
|
||||
@ -866,28 +871,28 @@ mod tests {
|
||||
cds::CdsTime::from_unix_time_with_u16_days(×tamp, cds::SubmillisPrecision::Absent)
|
||||
.unwrap();
|
||||
let len_time_stamp = cds_time.write_to_bytes(buf).unwrap();
|
||||
let len_packet = base_ping_tc_simple_ctor(0, &[])
|
||||
let len_packet = base_ping_tc_simple_ctor(0, None)
|
||||
.write_to_bytes(&mut buf[len_time_stamp..])
|
||||
.unwrap();
|
||||
(
|
||||
SpHeader::new_for_unseg_tc(0x02, 0x34, len_packet as u16),
|
||||
SpHeader::tc_unseg(0x02, 0x34, len_packet as u16).unwrap(),
|
||||
len_packet + len_time_stamp,
|
||||
)
|
||||
}
|
||||
|
||||
fn scheduled_tc(timestamp: UnixTime, buf: &mut [u8]) -> PusTcCreator {
|
||||
let (sph, len_app_data) = pus_tc_base(timestamp, buf);
|
||||
PusTcCreator::new_simple(sph, 11, 4, &buf[..len_app_data], true)
|
||||
let (mut sph, len_app_data) = pus_tc_base(timestamp, buf);
|
||||
PusTcCreator::new_simple(&mut sph, 11, 4, Some(&buf[..len_app_data]), true)
|
||||
}
|
||||
|
||||
fn wrong_tc_service(timestamp: UnixTime, buf: &mut [u8]) -> PusTcCreator {
|
||||
let (sph, len_app_data) = pus_tc_base(timestamp, buf);
|
||||
PusTcCreator::new_simple(sph, 12, 4, &buf[..len_app_data], true)
|
||||
let (mut sph, len_app_data) = pus_tc_base(timestamp, buf);
|
||||
PusTcCreator::new_simple(&mut sph, 12, 4, Some(&buf[..len_app_data]), true)
|
||||
}
|
||||
|
||||
fn wrong_tc_subservice(timestamp: UnixTime, buf: &mut [u8]) -> PusTcCreator {
|
||||
let (sph, len_app_data) = pus_tc_base(timestamp, buf);
|
||||
PusTcCreator::new_simple(sph, 11, 5, &buf[..len_app_data], true)
|
||||
let (mut sph, len_app_data) = pus_tc_base(timestamp, buf);
|
||||
PusTcCreator::new_simple(&mut sph, 11, 5, Some(&buf[..len_app_data]), true)
|
||||
}
|
||||
|
||||
fn double_wrapped_time_tagged_tc(timestamp: UnixTime, buf: &mut [u8]) -> PusTcCreator {
|
||||
@ -895,31 +900,40 @@ mod tests {
|
||||
cds::CdsTime::from_unix_time_with_u16_days(×tamp, cds::SubmillisPrecision::Absent)
|
||||
.unwrap();
|
||||
let len_time_stamp = cds_time.write_to_bytes(buf).unwrap();
|
||||
let sph = SpHeader::new_for_unseg_tc(0x02, 0x34, 0);
|
||||
let mut sph = SpHeader::tc_unseg(0x02, 0x34, 0).unwrap();
|
||||
// app data should not matter, double wrapped time-tagged commands should be rejected right
|
||||
// away
|
||||
let inner_time_tagged_tc = PusTcCreator::new_simple(sph, 11, 4, &[], true);
|
||||
let inner_time_tagged_tc = PusTcCreator::new_simple(&mut sph, 11, 4, None, true);
|
||||
let packet_len = inner_time_tagged_tc
|
||||
.write_to_bytes(&mut buf[len_time_stamp..])
|
||||
.expect("writing inner time tagged tc failed");
|
||||
PusTcCreator::new_simple(sph, 11, 4, &buf[..len_time_stamp + packet_len], true)
|
||||
PusTcCreator::new_simple(
|
||||
&mut sph,
|
||||
11,
|
||||
4,
|
||||
Some(&buf[..len_time_stamp + packet_len]),
|
||||
true,
|
||||
)
|
||||
}
|
||||
|
||||
fn invalid_time_tagged_cmd() -> PusTcCreator<'static> {
|
||||
let sph = SpHeader::new_for_unseg_tc(0x02, 0x34, 1);
|
||||
PusTcCreator::new_simple(sph, 11, 4, &[], true)
|
||||
let mut sph = SpHeader::tc_unseg(0x02, 0x34, 1).unwrap();
|
||||
PusTcCreator::new_simple(&mut sph, 11, 4, None, true)
|
||||
}
|
||||
|
||||
fn base_ping_tc_simple_ctor(seq_count: u16, app_data: &'static [u8]) -> PusTcCreator<'static> {
|
||||
let sph = SpHeader::new_for_unseg_tc(0x02, seq_count, 0);
|
||||
PusTcCreator::new_simple(sph, 17, 1, app_data, true)
|
||||
fn base_ping_tc_simple_ctor(
|
||||
seq_count: u16,
|
||||
app_data: Option<&'static [u8]>,
|
||||
) -> PusTcCreator<'static> {
|
||||
let mut sph = SpHeader::tc_unseg(0x02, seq_count, 0).unwrap();
|
||||
PusTcCreator::new_simple(&mut sph, 17, 1, app_data, true)
|
||||
}
|
||||
|
||||
fn ping_tc_to_store(
|
||||
pool: &mut StaticMemoryPool,
|
||||
buf: &mut [u8],
|
||||
seq_count: u16,
|
||||
app_data: &'static [u8],
|
||||
app_data: Option<&'static [u8]>,
|
||||
) -> TcInfo {
|
||||
let ping_tc = base_ping_tc_simple_ctor(seq_count, app_data);
|
||||
let ping_size = ping_tc.write_to_bytes(buf).expect("writing ping TC failed");
|
||||
@ -943,7 +957,7 @@ mod tests {
|
||||
let mut scheduler = PusScheduler::new(UnixTime::new_only_secs(0), Duration::from_secs(5));
|
||||
|
||||
let mut buf: [u8; 32] = [0; 32];
|
||||
let tc_info_0 = ping_tc_to_store(&mut pool, &mut buf, 0, &[]);
|
||||
let tc_info_0 = ping_tc_to_store(&mut pool, &mut buf, 0, None);
|
||||
|
||||
scheduler
|
||||
.insert_unwrapped_and_stored_tc(
|
||||
@ -953,7 +967,7 @@ mod tests {
|
||||
.unwrap();
|
||||
|
||||
let app_data = &[0, 1, 2];
|
||||
let tc_info_1 = ping_tc_to_store(&mut pool, &mut buf, 1, app_data);
|
||||
let tc_info_1 = ping_tc_to_store(&mut pool, &mut buf, 1, Some(app_data));
|
||||
scheduler
|
||||
.insert_unwrapped_and_stored_tc(
|
||||
UnixTime::new_only_secs(200),
|
||||
@ -962,7 +976,7 @@ mod tests {
|
||||
.unwrap();
|
||||
|
||||
let app_data = &[0, 1, 2];
|
||||
let tc_info_2 = ping_tc_to_store(&mut pool, &mut buf, 2, app_data);
|
||||
let tc_info_2 = ping_tc_to_store(&mut pool, &mut buf, 2, Some(app_data));
|
||||
scheduler
|
||||
.insert_unwrapped_and_stored_tc(
|
||||
UnixTime::new_only_secs(300),
|
||||
@ -988,7 +1002,7 @@ mod tests {
|
||||
.insert_unwrapped_and_stored_tc(
|
||||
UnixTime::new_only_secs(100),
|
||||
TcInfo::new(
|
||||
PoolAddr::from(StaticPoolAddr {
|
||||
StoreAddr::from(StaticPoolAddr {
|
||||
pool_idx: 0,
|
||||
packet_idx: 1,
|
||||
}),
|
||||
@ -1005,7 +1019,7 @@ mod tests {
|
||||
.insert_unwrapped_and_stored_tc(
|
||||
UnixTime::new_only_secs(100),
|
||||
TcInfo::new(
|
||||
PoolAddr::from(StaticPoolAddr {
|
||||
StoreAddr::from(StaticPoolAddr {
|
||||
pool_idx: 0,
|
||||
packet_idx: 2,
|
||||
}),
|
||||
@ -1049,8 +1063,8 @@ mod tests {
|
||||
|
||||
fn common_check(
|
||||
enabled: bool,
|
||||
store_addr: &PoolAddr,
|
||||
expected_store_addrs: Vec<PoolAddr>,
|
||||
store_addr: &StoreAddr,
|
||||
expected_store_addrs: Vec<StoreAddr>,
|
||||
counter: &mut usize,
|
||||
) {
|
||||
assert!(enabled);
|
||||
@ -1059,8 +1073,8 @@ mod tests {
|
||||
}
|
||||
fn common_check_disabled(
|
||||
enabled: bool,
|
||||
store_addr: &PoolAddr,
|
||||
expected_store_addrs: Vec<PoolAddr>,
|
||||
store_addr: &StoreAddr,
|
||||
expected_store_addrs: Vec<StoreAddr>,
|
||||
counter: &mut usize,
|
||||
) {
|
||||
assert!(!enabled);
|
||||
@ -1073,10 +1087,10 @@ mod tests {
|
||||
let src_id_to_set = 12;
|
||||
let apid_to_set = 0x22;
|
||||
let seq_count = 105;
|
||||
let sp_header = SpHeader::new_for_unseg_tc(apid_to_set, 105, 0);
|
||||
let mut sp_header = SpHeader::tc_unseg(apid_to_set, 105, 0).unwrap();
|
||||
let mut sec_header = PusTcSecondaryHeader::new_simple(17, 1);
|
||||
sec_header.source_id = src_id_to_set;
|
||||
let ping_tc = PusTcCreator::new_no_app_data(sp_header, sec_header, true);
|
||||
let ping_tc = PusTcCreator::new_no_app_data(&mut sp_header, sec_header, true);
|
||||
let req_id = RequestId::from_tc(&ping_tc);
|
||||
assert_eq!(req_id.source_id(), src_id_to_set);
|
||||
assert_eq!(req_id.apid(), apid_to_set);
|
||||
@ -1092,13 +1106,13 @@ mod tests {
|
||||
let mut scheduler = PusScheduler::new(UnixTime::new_only_secs(0), Duration::from_secs(5));
|
||||
|
||||
let mut buf: [u8; 32] = [0; 32];
|
||||
let tc_info_0 = ping_tc_to_store(&mut pool, &mut buf, 0, &[]);
|
||||
let tc_info_0 = ping_tc_to_store(&mut pool, &mut buf, 0, None);
|
||||
|
||||
scheduler
|
||||
.insert_unwrapped_and_stored_tc(UnixTime::new_only_secs(100), tc_info_0)
|
||||
.expect("insertion failed");
|
||||
|
||||
let tc_info_1 = ping_tc_to_store(&mut pool, &mut buf, 1, &[]);
|
||||
let tc_info_1 = ping_tc_to_store(&mut pool, &mut buf, 1, None);
|
||||
scheduler
|
||||
.insert_unwrapped_and_stored_tc(UnixTime::new_only_secs(200), tc_info_1)
|
||||
.expect("insertion failed");
|
||||
@ -1157,13 +1171,13 @@ mod tests {
|
||||
let mut scheduler = PusScheduler::new(UnixTime::new_only_secs(0), Duration::from_secs(5));
|
||||
|
||||
let mut buf: [u8; 32] = [0; 32];
|
||||
let tc_info_0 = ping_tc_to_store(&mut pool, &mut buf, 0, &[]);
|
||||
let tc_info_0 = ping_tc_to_store(&mut pool, &mut buf, 0, None);
|
||||
|
||||
scheduler
|
||||
.insert_unwrapped_and_stored_tc(UnixTime::new_only_secs(100), tc_info_0)
|
||||
.expect("insertion failed");
|
||||
|
||||
let tc_info_1 = ping_tc_to_store(&mut pool, &mut buf, 1, &[]);
|
||||
let tc_info_1 = ping_tc_to_store(&mut pool, &mut buf, 1, None);
|
||||
scheduler
|
||||
.insert_unwrapped_and_stored_tc(UnixTime::new_only_secs(100), tc_info_1)
|
||||
.expect("insertion failed");
|
||||
@ -1216,13 +1230,13 @@ mod tests {
|
||||
scheduler.disable();
|
||||
|
||||
let mut buf: [u8; 32] = [0; 32];
|
||||
let tc_info_0 = ping_tc_to_store(&mut pool, &mut buf, 0, &[]);
|
||||
let tc_info_0 = ping_tc_to_store(&mut pool, &mut buf, 0, None);
|
||||
|
||||
scheduler
|
||||
.insert_unwrapped_and_stored_tc(UnixTime::new_only_secs(100), tc_info_0)
|
||||
.expect("insertion failed");
|
||||
|
||||
let tc_info_1 = ping_tc_to_store(&mut pool, &mut buf, 1, &[]);
|
||||
let tc_info_1 = ping_tc_to_store(&mut pool, &mut buf, 1, None);
|
||||
scheduler
|
||||
.insert_unwrapped_and_stored_tc(UnixTime::new_only_secs(200), tc_info_1)
|
||||
.expect("insertion failed");
|
||||
@ -1280,7 +1294,7 @@ mod tests {
|
||||
|
||||
let mut pool = StaticMemoryPool::new(StaticPoolConfig::new(vec![(10, 32), (5, 64)], false));
|
||||
let mut buf: [u8; 32] = [0; 32];
|
||||
let tc_info_0 = ping_tc_to_store(&mut pool, &mut buf, 0, &[]);
|
||||
let tc_info_0 = ping_tc_to_store(&mut pool, &mut buf, 0, None);
|
||||
|
||||
let info = scheduler
|
||||
.insert_unwrapped_tc(
|
||||
@ -1295,7 +1309,7 @@ mod tests {
|
||||
let mut read_buf: [u8; 64] = [0; 64];
|
||||
pool.read(&tc_info_0.addr(), &mut read_buf).unwrap();
|
||||
let check_tc = PusTcReader::new(&read_buf).expect("incorrect Pus tc raw data");
|
||||
assert_eq!(check_tc.0, base_ping_tc_simple_ctor(0, &[]));
|
||||
assert_eq!(check_tc.0, base_ping_tc_simple_ctor(0, None));
|
||||
|
||||
assert_eq!(scheduler.num_scheduled_telecommands(), 1);
|
||||
|
||||
@ -1318,7 +1332,7 @@ mod tests {
|
||||
let read_len = pool.read(&addr_vec[0], &mut read_buf).unwrap();
|
||||
let check_tc = PusTcReader::new(&read_buf).expect("incorrect Pus tc raw data");
|
||||
assert_eq!(read_len, check_tc.1);
|
||||
assert_eq!(check_tc.0, base_ping_tc_simple_ctor(0, &[]));
|
||||
assert_eq!(check_tc.0, base_ping_tc_simple_ctor(0, None));
|
||||
}
|
||||
|
||||
#[test]
|
||||
@ -1342,7 +1356,7 @@ mod tests {
|
||||
let read_len = pool.read(&info.addr, &mut buf).unwrap();
|
||||
let check_tc = PusTcReader::new(&buf).expect("incorrect Pus tc raw data");
|
||||
assert_eq!(read_len, check_tc.1);
|
||||
assert_eq!(check_tc.0, base_ping_tc_simple_ctor(0, &[]));
|
||||
assert_eq!(check_tc.0, base_ping_tc_simple_ctor(0, None));
|
||||
|
||||
assert_eq!(scheduler.num_scheduled_telecommands(), 1);
|
||||
|
||||
@ -1367,7 +1381,7 @@ mod tests {
|
||||
let read_len = pool.read(&addr_vec[0], &mut buf).unwrap();
|
||||
let check_tc = PusTcReader::new(&buf).expect("incorrect PUS tc raw data");
|
||||
assert_eq!(read_len, check_tc.1);
|
||||
assert_eq!(check_tc.0, base_ping_tc_simple_ctor(0, &[]));
|
||||
assert_eq!(check_tc.0, base_ping_tc_simple_ctor(0, None));
|
||||
}
|
||||
|
||||
#[test]
|
||||
@ -1492,7 +1506,7 @@ mod tests {
|
||||
let mut pool = StaticMemoryPool::new(StaticPoolConfig::new(vec![(10, 32), (5, 64)], false));
|
||||
let mut scheduler = PusScheduler::new(UnixTime::new_only_secs(0), Duration::from_secs(5));
|
||||
let mut buf: [u8; 32] = [0; 32];
|
||||
let tc_info_0 = ping_tc_to_store(&mut pool, &mut buf, 0, &[]);
|
||||
let tc_info_0 = ping_tc_to_store(&mut pool, &mut buf, 0, None);
|
||||
scheduler
|
||||
.insert_unwrapped_and_stored_tc(UnixTime::new_only_secs(100), tc_info_0)
|
||||
.expect("insertion failed");
|
||||
@ -1514,7 +1528,7 @@ mod tests {
|
||||
// TC could not even be read..
|
||||
assert_eq!(err.0, 0);
|
||||
match err.1 {
|
||||
PoolError::DataDoesNotExist(addr) => {
|
||||
StoreError::DataDoesNotExist(addr) => {
|
||||
assert_eq!(tc_info_0.addr(), addr);
|
||||
}
|
||||
_ => panic!("unexpected error {}", err.1),
|
||||
@ -1526,7 +1540,7 @@ mod tests {
|
||||
let mut pool = StaticMemoryPool::new(StaticPoolConfig::new(vec![(10, 32), (5, 64)], false));
|
||||
let mut scheduler = PusScheduler::new(UnixTime::new_only_secs(0), Duration::from_secs(5));
|
||||
let mut buf: [u8; 32] = [0; 32];
|
||||
let tc_info_0 = ping_tc_to_store(&mut pool, &mut buf, 0, &[]);
|
||||
let tc_info_0 = ping_tc_to_store(&mut pool, &mut buf, 0, None);
|
||||
scheduler
|
||||
.insert_unwrapped_and_stored_tc(UnixTime::new_only_secs(100), tc_info_0)
|
||||
.expect("insertion failed");
|
||||
@ -1537,7 +1551,7 @@ mod tests {
|
||||
assert!(reset_res.is_err());
|
||||
let err = reset_res.unwrap_err();
|
||||
match err {
|
||||
PoolError::DataDoesNotExist(addr) => {
|
||||
StoreError::DataDoesNotExist(addr) => {
|
||||
assert_eq!(addr, tc_info_0.addr());
|
||||
}
|
||||
_ => panic!("unexpected error {err}"),
|
||||
@ -1549,7 +1563,7 @@ mod tests {
|
||||
let mut pool = StaticMemoryPool::new(StaticPoolConfig::new(vec![(10, 32), (5, 64)], false));
|
||||
let mut scheduler = PusScheduler::new(UnixTime::new_only_secs(0), Duration::from_secs(5));
|
||||
let mut buf: [u8; 32] = [0; 32];
|
||||
let tc_info_0 = ping_tc_to_store(&mut pool, &mut buf, 0, &[]);
|
||||
let tc_info_0 = ping_tc_to_store(&mut pool, &mut buf, 0, None);
|
||||
scheduler
|
||||
.insert_unwrapped_and_stored_tc(UnixTime::new_only_secs(100), tc_info_0)
|
||||
.expect("inserting tc failed");
|
||||
@ -1567,7 +1581,7 @@ mod tests {
|
||||
let mut pool = StaticMemoryPool::new(StaticPoolConfig::new(vec![(10, 32), (5, 64)], false));
|
||||
let mut scheduler = PusScheduler::new(UnixTime::new_only_secs(0), Duration::from_secs(5));
|
||||
let mut buf: [u8; 32] = [0; 32];
|
||||
let tc_info_0 = ping_tc_to_store(&mut pool, &mut buf, 0, &[]);
|
||||
let tc_info_0 = ping_tc_to_store(&mut pool, &mut buf, 0, None);
|
||||
scheduler
|
||||
.insert_unwrapped_and_stored_tc(UnixTime::new_only_secs(100), tc_info_0)
|
||||
.expect("inserting tc failed");
|
||||
@ -1585,15 +1599,15 @@ mod tests {
|
||||
let mut pool = StaticMemoryPool::new(StaticPoolConfig::new(vec![(10, 32), (5, 64)], false));
|
||||
let mut scheduler = PusScheduler::new(UnixTime::new_only_secs(0), Duration::from_secs(5));
|
||||
let mut buf: [u8; 32] = [0; 32];
|
||||
let tc_info_0 = ping_tc_to_store(&mut pool, &mut buf, 0, &[]);
|
||||
let tc_info_0 = ping_tc_to_store(&mut pool, &mut buf, 0, None);
|
||||
scheduler
|
||||
.insert_unwrapped_and_stored_tc(UnixTime::new_only_secs(100), tc_info_0)
|
||||
.expect("inserting tc failed");
|
||||
let tc_info_1 = ping_tc_to_store(&mut pool, &mut buf, 1, &[]);
|
||||
let tc_info_1 = ping_tc_to_store(&mut pool, &mut buf, 1, None);
|
||||
scheduler
|
||||
.insert_unwrapped_and_stored_tc(UnixTime::new_only_secs(100), tc_info_1)
|
||||
.expect("inserting tc failed");
|
||||
let tc_info_2 = ping_tc_to_store(&mut pool, &mut buf, 2, &[]);
|
||||
let tc_info_2 = ping_tc_to_store(&mut pool, &mut buf, 2, None);
|
||||
scheduler
|
||||
.insert_unwrapped_and_stored_tc(UnixTime::new_only_secs(100), tc_info_2)
|
||||
.expect("inserting tc failed");
|
||||
@ -1639,7 +1653,7 @@ mod tests {
|
||||
let err = insert_res.unwrap_err();
|
||||
match err {
|
||||
ScheduleError::StoreError(e) => match e {
|
||||
PoolError::StoreFull(_) => {}
|
||||
StoreError::StoreFull(_) => {}
|
||||
_ => panic!("unexpected store error {e}"),
|
||||
},
|
||||
_ => panic!("unexpected error {err}"),
|
||||
@ -1653,7 +1667,7 @@ mod tests {
|
||||
release_secs: u64,
|
||||
) -> TcInfo {
|
||||
let mut buf: [u8; 32] = [0; 32];
|
||||
let tc_info = ping_tc_to_store(pool, &mut buf, seq_count, &[]);
|
||||
let tc_info = ping_tc_to_store(pool, &mut buf, seq_count, None);
|
||||
|
||||
scheduler
|
||||
.insert_unwrapped_and_stored_tc(UnixTime::new_only_secs(release_secs as i64), tc_info)
|
||||
@ -1901,13 +1915,13 @@ mod tests {
|
||||
let mut scheduler = PusScheduler::new(UnixTime::new_only_secs(0), Duration::from_secs(5));
|
||||
|
||||
let mut buf: [u8; 32] = [0; 32];
|
||||
let tc_info_0 = ping_tc_to_store(&mut pool, &mut buf, 0, &[]);
|
||||
let tc_info_0 = ping_tc_to_store(&mut pool, &mut buf, 0, None);
|
||||
|
||||
scheduler
|
||||
.insert_unwrapped_and_stored_tc(UnixTime::new_only_secs(100), tc_info_0)
|
||||
.expect("insertion failed");
|
||||
|
||||
let tc_info_1 = ping_tc_to_store(&mut pool, &mut buf, 1, &[]);
|
||||
let tc_info_1 = ping_tc_to_store(&mut pool, &mut buf, 1, None);
|
||||
scheduler
|
||||
.insert_unwrapped_and_stored_tc(UnixTime::new_only_secs(200), tc_info_1)
|
||||
.expect("insertion failed");
|
||||
@ -1935,13 +1949,13 @@ mod tests {
|
||||
#[test]
|
||||
fn test_generic_insert_app_data_test() {
|
||||
let time_writer = cds::CdsTime::new_with_u16_days(1, 1);
|
||||
let sph = SpHeader::new(
|
||||
PacketId::new(PacketType::Tc, true, 0x002),
|
||||
PacketSequenceCtrl::new(SequenceFlags::Unsegmented, 5),
|
||||
let mut sph = SpHeader::new(
|
||||
PacketId::const_new(PacketType::Tc, true, 0x002),
|
||||
PacketSequenceCtrl::const_new(SequenceFlags::Unsegmented, 5),
|
||||
0,
|
||||
);
|
||||
let sec_header = PusTcSecondaryHeader::new_simple(17, 1);
|
||||
let ping_tc = PusTcCreator::new_no_app_data(sph, sec_header, true);
|
||||
let ping_tc = PusTcCreator::new_no_app_data(&mut sph, sec_header, true);
|
||||
let mut buf: [u8; 64] = [0; 64];
|
||||
let result = generate_insert_telecommand_app_data(&mut buf, &time_writer, &ping_tc);
|
||||
assert!(result.is_ok());
|
||||
@ -1957,13 +1971,13 @@ mod tests {
|
||||
#[test]
|
||||
fn test_generic_insert_app_data_test_byte_conv_error() {
|
||||
let time_writer = cds::CdsTime::new_with_u16_days(1, 1);
|
||||
let sph = SpHeader::new(
|
||||
PacketId::new(PacketType::Tc, true, 0x002),
|
||||
PacketSequenceCtrl::new(SequenceFlags::Unsegmented, 5),
|
||||
let mut sph = SpHeader::new(
|
||||
PacketId::const_new(PacketType::Tc, true, 0x002),
|
||||
PacketSequenceCtrl::const_new(SequenceFlags::Unsegmented, 5),
|
||||
0,
|
||||
);
|
||||
let sec_header = PusTcSecondaryHeader::new_simple(17, 1);
|
||||
let ping_tc = PusTcCreator::new_no_app_data(sph, sec_header, true);
|
||||
let ping_tc = PusTcCreator::new_no_app_data(&mut sph, sec_header, true);
|
||||
let mut buf: [u8; 16] = [0; 16];
|
||||
let result = generate_insert_telecommand_app_data(&mut buf, &time_writer, &ping_tc);
|
||||
assert!(result.is_err());
|
||||
@ -1986,13 +2000,13 @@ mod tests {
|
||||
#[test]
|
||||
fn test_generic_insert_app_data_test_as_vec() {
|
||||
let time_writer = cds::CdsTime::new_with_u16_days(1, 1);
|
||||
let sph = SpHeader::new(
|
||||
PacketId::new(PacketType::Tc, true, 0x002),
|
||||
PacketSequenceCtrl::new(SequenceFlags::Unsegmented, 5),
|
||||
let mut sph = SpHeader::new(
|
||||
PacketId::const_new(PacketType::Tc, true, 0x002),
|
||||
PacketSequenceCtrl::const_new(SequenceFlags::Unsegmented, 5),
|
||||
0,
|
||||
);
|
||||
let sec_header = PusTcSecondaryHeader::new_simple(17, 1);
|
||||
let ping_tc = PusTcCreator::new_no_app_data(sph, sec_header, true);
|
||||
let ping_tc = PusTcCreator::new_no_app_data(&mut sph, sec_header, true);
|
||||
let mut buf: [u8; 64] = [0; 64];
|
||||
generate_insert_telecommand_app_data(&mut buf, &time_writer, &ping_tc).unwrap();
|
||||
let vec = generate_insert_telecommand_app_data_as_vec(&time_writer, &ping_tc)
|
||||
|
||||
@ -1,12 +1,12 @@
|
||||
use super::scheduler::PusSchedulerProvider;
|
||||
use super::verification::{VerificationReporter, VerificationReportingProvider};
|
||||
use super::{
|
||||
EcssTcInMemConverter, EcssTcInSharedStoreConverter, EcssTcInVecConverter, EcssTcReceiver,
|
||||
EcssTmSender, MpscTcReceiver, PusServiceHelper,
|
||||
EcssTcInMemConverter, EcssTcInSharedStoreConverter, EcssTcInVecConverter, EcssTcReceiverCore,
|
||||
EcssTmSenderCore, MpscTcReceiver, MpscTmInSharedPoolSender, MpscTmInSharedPoolSenderBounded,
|
||||
PusServiceHelper, PusTmAsVec,
|
||||
};
|
||||
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;
|
||||
@ -21,8 +21,8 @@ use std::sync::mpsc;
|
||||
/// [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,
|
||||
TcReceiver: EcssTcReceiverCore,
|
||||
TmSender: EcssTmSenderCore,
|
||||
TcInMemConverter: EcssTcInMemConverter,
|
||||
VerificationReporter: VerificationReportingProvider,
|
||||
PusScheduler: PusSchedulerProvider,
|
||||
@ -33,8 +33,8 @@ pub struct PusSchedServiceHandler<
|
||||
}
|
||||
|
||||
impl<
|
||||
TcReceiver: EcssTcReceiver,
|
||||
TmSender: EcssTmSender,
|
||||
TcReceiver: EcssTcReceiverCore,
|
||||
TmSender: EcssTmSenderCore,
|
||||
TcInMemConverter: EcssTcInMemConverter,
|
||||
VerificationReporter: VerificationReportingProvider,
|
||||
Scheduler: PusSchedulerProvider,
|
||||
@ -93,6 +93,7 @@ impl<
|
||||
.service_helper
|
||||
.verif_reporter()
|
||||
.start_success(
|
||||
self.service_helper.common.id,
|
||||
&self.service_helper.common.tm_sender,
|
||||
ecss_tc_and_token.token,
|
||||
time_stamp,
|
||||
@ -104,6 +105,7 @@ impl<
|
||||
self.service_helper
|
||||
.verif_reporter()
|
||||
.completion_success(
|
||||
self.service_helper.common.id,
|
||||
&self.service_helper.common.tm_sender,
|
||||
start_token,
|
||||
time_stamp,
|
||||
@ -120,6 +122,7 @@ impl<
|
||||
.service_helper
|
||||
.verif_reporter()
|
||||
.start_success(
|
||||
self.service_helper.common.id,
|
||||
&self.service_helper.common.tm_sender,
|
||||
ecss_tc_and_token.token,
|
||||
time_stamp,
|
||||
@ -131,6 +134,7 @@ impl<
|
||||
self.service_helper
|
||||
.verif_reporter()
|
||||
.completion_success(
|
||||
self.service_helper.common.id,
|
||||
&self.service_helper.common.tm_sender,
|
||||
start_token,
|
||||
time_stamp,
|
||||
@ -147,6 +151,7 @@ impl<
|
||||
.service_helper
|
||||
.verif_reporter()
|
||||
.start_success(
|
||||
self.service_helper.common.id,
|
||||
&self.service_helper.common.tm_sender,
|
||||
ecss_tc_and_token.token,
|
||||
time_stamp,
|
||||
@ -160,6 +165,7 @@ impl<
|
||||
self.service_helper
|
||||
.verif_reporter()
|
||||
.completion_success(
|
||||
self.service_helper.common.id,
|
||||
&self.service_helper.common.tm_sender,
|
||||
start_token,
|
||||
time_stamp,
|
||||
@ -172,6 +178,7 @@ impl<
|
||||
.common
|
||||
.verif_reporter
|
||||
.start_success(
|
||||
self.service_helper.common.id,
|
||||
&self.service_helper.common.tm_sender,
|
||||
ecss_tc_and_token.token,
|
||||
time_stamp,
|
||||
@ -186,6 +193,7 @@ impl<
|
||||
self.service_helper
|
||||
.verif_reporter()
|
||||
.completion_success(
|
||||
self.service_helper.common.id,
|
||||
&self.service_helper.common.tm_sender,
|
||||
start_token,
|
||||
time_stamp,
|
||||
@ -212,7 +220,7 @@ impl<
|
||||
/// mpsc queues.
|
||||
pub type PusService11SchedHandlerDynWithMpsc<PusScheduler> = PusSchedServiceHandler<
|
||||
MpscTcReceiver,
|
||||
mpsc::Sender<PacketAsVec>,
|
||||
mpsc::Sender<PusTmAsVec>,
|
||||
EcssTcInVecConverter,
|
||||
VerificationReporter,
|
||||
PusScheduler,
|
||||
@ -221,7 +229,7 @@ pub type PusService11SchedHandlerDynWithMpsc<PusScheduler> = PusSchedServiceHand
|
||||
/// queues.
|
||||
pub type PusService11SchedHandlerDynWithBoundedMpsc<PusScheduler> = PusSchedServiceHandler<
|
||||
MpscTcReceiver,
|
||||
mpsc::SyncSender<PacketAsVec>,
|
||||
mpsc::SyncSender<PusTmAsVec>,
|
||||
EcssTcInVecConverter,
|
||||
VerificationReporter,
|
||||
PusScheduler,
|
||||
@ -230,7 +238,7 @@ pub type PusService11SchedHandlerDynWithBoundedMpsc<PusScheduler> = PusSchedServ
|
||||
/// mpsc queues.
|
||||
pub type PusService11SchedHandlerStaticWithMpsc<PusScheduler> = PusSchedServiceHandler<
|
||||
MpscTcReceiver,
|
||||
PacketSenderWithSharedPool,
|
||||
MpscTmInSharedPoolSender,
|
||||
EcssTcInSharedStoreConverter,
|
||||
VerificationReporter,
|
||||
PusScheduler,
|
||||
@ -239,7 +247,7 @@ pub type PusService11SchedHandlerStaticWithMpsc<PusScheduler> = PusSchedServiceH
|
||||
/// mpsc queues.
|
||||
pub type PusService11SchedHandlerStaticWithBoundedMpsc<PusScheduler> = PusSchedServiceHandler<
|
||||
MpscTcReceiver,
|
||||
PacketSenderWithSharedPool,
|
||||
MpscTmInSharedPoolSenderBounded,
|
||||
EcssTcInSharedStoreConverter,
|
||||
VerificationReporter,
|
||||
PusScheduler,
|
||||
@ -257,8 +265,10 @@ mod tests {
|
||||
verification::{RequestId, TcStateAccepted, VerificationToken},
|
||||
EcssTcInSharedStoreConverter,
|
||||
};
|
||||
use crate::pus::{MpscTcReceiver, PusPacketHandlerResult, PusPacketHandlingError};
|
||||
use crate::tmtc::PacketSenderWithSharedPool;
|
||||
use crate::pus::{
|
||||
MpscTcReceiver, MpscTmInSharedPoolSenderBounded, PusPacketHandlerResult,
|
||||
PusPacketHandlingError,
|
||||
};
|
||||
use alloc::collections::VecDeque;
|
||||
use delegate::delegate;
|
||||
use spacepackets::ecss::scheduling::Subservice;
|
||||
@ -277,7 +287,7 @@ mod tests {
|
||||
common: PusServiceHandlerWithSharedStoreCommon,
|
||||
handler: PusSchedServiceHandler<
|
||||
MpscTcReceiver,
|
||||
PacketSenderWithSharedPool,
|
||||
MpscTmInSharedPoolSenderBounded,
|
||||
EcssTcInSharedStoreConverter,
|
||||
VerificationReporter,
|
||||
TestScheduler,
|
||||
@ -311,17 +321,18 @@ mod tests {
|
||||
self.handler
|
||||
.service_helper
|
||||
.verif_reporter()
|
||||
.acceptance_success(self.handler.service_helper.tm_sender(), init_token, &[0; 7])
|
||||
.acceptance_success(
|
||||
self.handler.service_helper.id(),
|
||||
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(&self, token: &VerificationToken<TcStateAccepted>, tc: &PusTcCreator);
|
||||
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);
|
||||
@ -344,7 +355,7 @@ mod tests {
|
||||
fn reset(
|
||||
&mut self,
|
||||
_store: &mut (impl crate::pool::PoolProvider + ?Sized),
|
||||
) -> Result<(), crate::pool::PoolError> {
|
||||
) -> Result<(), crate::pool::StoreError> {
|
||||
self.reset_count += 1;
|
||||
Ok(())
|
||||
}
|
||||
@ -377,9 +388,9 @@ 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 enable_scheduling = PusTcCreator::new(&mut reply_header, tc_header, &[0; 7], true);
|
||||
let token = test_harness.init_verification(&enable_scheduling);
|
||||
test_harness.send_tc(&token, &enable_scheduling);
|
||||
|
||||
@ -424,9 +435,9 @@ 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 mut sched_app_data: [u8; 64] = [0; 64];
|
||||
@ -434,10 +445,10 @@ mod tests {
|
||||
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,
|
||||
|
||||
@ -1,7 +1,7 @@
|
||||
use crate::pus::{
|
||||
PartialPusHandlingError, PusPacketHandlerResult, PusPacketHandlingError, PusTmVariant,
|
||||
PartialPusHandlingError, PusPacketHandlerResult, PusPacketHandlingError, PusTmAsVec,
|
||||
PusTmInPool, PusTmVariant,
|
||||
};
|
||||
use crate::tmtc::{PacketAsVec, PacketSenderWithSharedPool};
|
||||
use spacepackets::ecss::tm::{PusTmCreator, PusTmSecondaryHeader};
|
||||
use spacepackets::ecss::PusPacket;
|
||||
use spacepackets::SpHeader;
|
||||
@ -9,15 +9,16 @@ use std::sync::mpsc;
|
||||
|
||||
use super::verification::{VerificationReporter, VerificationReportingProvider};
|
||||
use super::{
|
||||
EcssTcInMemConverter, EcssTcInSharedStoreConverter, EcssTcInVecConverter, EcssTcReceiver,
|
||||
EcssTmSender, GenericConversionError, MpscTcReceiver, PusServiceHelper,
|
||||
EcssTcInMemConverter, EcssTcInSharedStoreConverter, EcssTcInVecConverter, EcssTcReceiverCore,
|
||||
EcssTmSenderCore, GenericConversionError, MpscTcReceiver, MpscTmInSharedPoolSender,
|
||||
MpscTmInSharedPoolSenderBounded, 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<
|
||||
TcReceiver: EcssTcReceiver,
|
||||
TmSender: EcssTmSender,
|
||||
TcReceiver: EcssTcReceiverCore,
|
||||
TmSender: EcssTmSenderCore,
|
||||
TcInMemConverter: EcssTcInMemConverter,
|
||||
VerificationReporter: VerificationReportingProvider,
|
||||
> {
|
||||
@ -26,8 +27,8 @@ pub struct PusService17TestHandler<
|
||||
}
|
||||
|
||||
impl<
|
||||
TcReceiver: EcssTcReceiver,
|
||||
TmSender: EcssTmSender,
|
||||
TcReceiver: EcssTcReceiverCore,
|
||||
TmSender: EcssTmSenderCore,
|
||||
TcInMemConverter: EcssTcInMemConverter,
|
||||
VerificationReporter: VerificationReportingProvider,
|
||||
> PusService17TestHandler<TcReceiver, TmSender, TcInMemConverter, VerificationReporter>
|
||||
@ -65,6 +66,7 @@ impl<
|
||||
.service_helper
|
||||
.verif_reporter()
|
||||
.start_success(
|
||||
self.service_helper.common.id,
|
||||
&self.service_helper.common.tm_sender,
|
||||
ecss_tc_and_token.token,
|
||||
time_stamp,
|
||||
@ -77,12 +79,10 @@ impl<
|
||||
None
|
||||
};
|
||||
// Sequence count will be handled centrally in TM funnel.
|
||||
// It is assumed that the verification reporter was built with a valid APID, so we use
|
||||
// the unchecked API here.
|
||||
let reply_header =
|
||||
SpHeader::new_for_unseg_tm(self.service_helper.verif_reporter().apid(), 0, 0);
|
||||
let mut reply_header =
|
||||
SpHeader::tm_unseg(self.service_helper.verif_reporter().apid(), 0, 0).unwrap();
|
||||
let tc_header = PusTmSecondaryHeader::new_simple(17, 2, time_stamp);
|
||||
let ping_reply = PusTmCreator::new(reply_header, tc_header, &[], true);
|
||||
let ping_reply = PusTmCreator::new(&mut reply_header, tc_header, &[], true);
|
||||
let result = self
|
||||
.service_helper
|
||||
.common
|
||||
@ -98,6 +98,7 @@ impl<
|
||||
.service_helper
|
||||
.verif_reporter()
|
||||
.completion_success(
|
||||
self.service_helper.common.id,
|
||||
&self.service_helper.common.tm_sender,
|
||||
start_token,
|
||||
time_stamp,
|
||||
@ -126,7 +127,7 @@ impl<
|
||||
/// mpsc queues.
|
||||
pub type PusService17TestHandlerDynWithMpsc = PusService17TestHandler<
|
||||
MpscTcReceiver,
|
||||
mpsc::Sender<PacketAsVec>,
|
||||
mpsc::Sender<PusTmAsVec>,
|
||||
EcssTcInVecConverter,
|
||||
VerificationReporter,
|
||||
>;
|
||||
@ -134,15 +135,23 @@ pub type PusService17TestHandlerDynWithMpsc = PusService17TestHandler<
|
||||
/// queues.
|
||||
pub type PusService17TestHandlerDynWithBoundedMpsc = PusService17TestHandler<
|
||||
MpscTcReceiver,
|
||||
mpsc::SyncSender<PacketAsVec>,
|
||||
mpsc::SyncSender<PusTmInPool>,
|
||||
EcssTcInVecConverter,
|
||||
VerificationReporter,
|
||||
>;
|
||||
/// Helper type definition for a PUS 17 handler with a shared store TMTC memory backend and regular
|
||||
/// mpsc queues.
|
||||
pub type PusService17TestHandlerStaticWithMpsc = PusService17TestHandler<
|
||||
MpscTcReceiver,
|
||||
MpscTmInSharedPoolSender,
|
||||
EcssTcInSharedStoreConverter,
|
||||
VerificationReporter,
|
||||
>;
|
||||
/// Helper type definition for a PUS 17 handler with a shared store TMTC memory backend and bounded
|
||||
/// mpsc queues.
|
||||
pub type PusService17TestHandlerStaticWithBoundedMpsc = PusService17TestHandler<
|
||||
MpscTcReceiver,
|
||||
PacketSenderWithSharedPool,
|
||||
MpscTmInSharedPoolSenderBounded,
|
||||
EcssTcInSharedStoreConverter,
|
||||
VerificationReporter,
|
||||
>;
|
||||
@ -159,16 +168,16 @@ mod tests {
|
||||
use crate::pus::verification::{TcStateAccepted, VerificationToken};
|
||||
use crate::pus::{
|
||||
EcssTcInSharedStoreConverter, EcssTcInVecConverter, GenericConversionError, MpscTcReceiver,
|
||||
MpscTmAsVecSender, PusPacketHandlerResult, PusPacketHandlingError,
|
||||
MpscTmAsVecSender, MpscTmInSharedPoolSenderBounded, PusPacketHandlerResult,
|
||||
PusPacketHandlingError,
|
||||
};
|
||||
use crate::tmtc::PacketSenderWithSharedPool;
|
||||
use crate::ComponentId;
|
||||
use delegate::delegate;
|
||||
use spacepackets::ecss::tc::{PusTcCreator, PusTcSecondaryHeader};
|
||||
use spacepackets::ecss::tm::PusTmReader;
|
||||
use spacepackets::ecss::PusPacket;
|
||||
use spacepackets::time::{cds, TimeWriter};
|
||||
use spacepackets::SpHeader;
|
||||
use spacepackets::{SequenceFlags, SpHeader};
|
||||
|
||||
use super::PusService17TestHandler;
|
||||
|
||||
@ -176,7 +185,7 @@ mod tests {
|
||||
common: PusServiceHandlerWithSharedStoreCommon,
|
||||
handler: PusService17TestHandler<
|
||||
MpscTcReceiver,
|
||||
PacketSenderWithSharedPool,
|
||||
MpscTmInSharedPoolSenderBounded,
|
||||
EcssTcInSharedStoreConverter,
|
||||
VerificationReporter,
|
||||
>,
|
||||
@ -199,18 +208,19 @@ mod tests {
|
||||
self.handler
|
||||
.service_helper
|
||||
.verif_reporter()
|
||||
.acceptance_success(self.handler.service_helper.tm_sender(), init_token, &[0; 7])
|
||||
.acceptance_success(
|
||||
self.handler.service_helper.id(),
|
||||
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 read_next_tm(&mut self) -> PusTmReader<'_>;
|
||||
fn send_tc(&self, token: &VerificationToken<TcStateAccepted>, tc: &PusTcCreator);
|
||||
fn check_no_tm_available(&self) -> bool;
|
||||
fn check_next_verification_tm(
|
||||
&self,
|
||||
@ -254,17 +264,18 @@ mod tests {
|
||||
self.handler
|
||||
.service_helper
|
||||
.verif_reporter()
|
||||
.acceptance_success(self.handler.service_helper.tm_sender(), init_token, &[0; 7])
|
||||
.acceptance_success(
|
||||
self.handler.service_helper.id(),
|
||||
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(&self, token: &VerificationToken<TcStateAccepted>, tc: &PusTcCreator);
|
||||
fn read_next_tm(&mut self) -> PusTmReader<'_>;
|
||||
fn check_no_tm_available(&self) -> bool;
|
||||
fn check_next_verification_tm(
|
||||
@ -284,9 +295,9 @@ mod tests {
|
||||
|
||||
fn ping_test(test_harness: &mut (impl PusTestHarness + SimplePusPacketHandler)) {
|
||||
// Create a ping TC, verify acceptance.
|
||||
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(17, 1);
|
||||
let ping_tc = PusTcCreator::new_no_app_data(sp_header, sec_header, true);
|
||||
let ping_tc = PusTcCreator::new_no_app_data(&mut sp_header, sec_header, true);
|
||||
let token = test_harness.init_verification(&ping_tc);
|
||||
test_harness.send_tc(&token, &ping_tc);
|
||||
let request_id = token.request_id();
|
||||
@ -338,9 +349,9 @@ mod tests {
|
||||
#[test]
|
||||
fn test_sending_unsupported_service() {
|
||||
let mut test_harness = Pus17HandlerWithStoreTester::new(0);
|
||||
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(3, 1);
|
||||
let ping_tc = PusTcCreator::new_no_app_data(sp_header, sec_header, true);
|
||||
let ping_tc = PusTcCreator::new_no_app_data(&mut sp_header, sec_header, true);
|
||||
let token = test_harness.init_verification(&ping_tc);
|
||||
test_harness.send_tc(&token, &ping_tc);
|
||||
let result = test_harness.handle_one_tc();
|
||||
@ -359,9 +370,9 @@ mod tests {
|
||||
#[test]
|
||||
fn test_sending_custom_subservice() {
|
||||
let mut test_harness = Pus17HandlerWithStoreTester::new(0);
|
||||
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(17, 200);
|
||||
let ping_tc = PusTcCreator::new_no_app_data(sp_header, sec_header, true);
|
||||
let ping_tc = PusTcCreator::new_no_app_data(&mut sp_header, sec_header, true);
|
||||
let token = test_harness.init_verification(&ping_tc);
|
||||
test_harness.send_tc(&token, &ping_tc);
|
||||
let result = test_harness.handle_one_tc();
|
||||
|
||||
File diff suppressed because it is too large
Load Diff
@ -3,9 +3,11 @@ use core::{fmt, marker::PhantomData};
|
||||
use serde::{Deserialize, Serialize};
|
||||
|
||||
#[cfg(feature = "alloc")]
|
||||
#[cfg_attr(doc_cfg, doc(cfg(feature = "alloc")))]
|
||||
pub use alloc_mod::*;
|
||||
|
||||
#[cfg(feature = "std")]
|
||||
#[cfg_attr(doc_cfg, doc(cfg(feature = "std")))]
|
||||
pub use std_mod::*;
|
||||
|
||||
use spacepackets::{
|
||||
@ -87,10 +89,6 @@ impl fmt::Display for UniqueApidTargetId {
|
||||
}
|
||||
}
|
||||
|
||||
/// This contains metadata information which might be useful when used together with a
|
||||
/// generic message tpye.
|
||||
///
|
||||
/// This could for example be used to build request/reply patterns or state tracking for request.
|
||||
#[derive(Debug, Copy, PartialEq, Eq, Clone)]
|
||||
#[cfg_attr(feature = "serde", derive(Serialize, Deserialize))]
|
||||
pub struct MessageMetadata {
|
||||
@ -115,16 +113,17 @@ impl MessageMetadata {
|
||||
}
|
||||
}
|
||||
|
||||
/// Generic message type which adds [metadata][MessageMetadata] to a generic message typ.
|
||||
/// Generic message type which is associated with a sender using a [ChannelId] and associated
|
||||
/// with a request using a [RequestId].
|
||||
#[derive(Debug, Clone, PartialEq, Eq)]
|
||||
#[cfg_attr(feature = "serde", derive(Serialize, Deserialize))]
|
||||
pub struct GenericMessage<Message> {
|
||||
pub struct GenericMessage<MSG> {
|
||||
pub requestor_info: MessageMetadata,
|
||||
pub message: Message,
|
||||
pub message: MSG,
|
||||
}
|
||||
|
||||
impl<Message> GenericMessage<Message> {
|
||||
pub fn new(requestor_info: MessageMetadata, message: Message) -> Self {
|
||||
impl<MSG> GenericMessage<MSG> {
|
||||
pub fn new(requestor_info: MessageMetadata, message: MSG) -> Self {
|
||||
Self {
|
||||
requestor_info,
|
||||
message,
|
||||
@ -192,7 +191,10 @@ impl<MSG, R: MessageReceiver<MSG>> MessageReceiverWithId<MSG, R> {
|
||||
}
|
||||
|
||||
#[cfg(feature = "alloc")]
|
||||
#[cfg_attr(doc_cfg, doc(cfg(feature = "alloc")))]
|
||||
pub mod alloc_mod {
|
||||
use core::marker::PhantomData;
|
||||
|
||||
use crate::queue::GenericSendError;
|
||||
|
||||
use super::*;
|
||||
@ -326,12 +328,13 @@ pub mod alloc_mod {
|
||||
}
|
||||
|
||||
#[cfg(feature = "std")]
|
||||
#[cfg_attr(doc_cfg, doc(cfg(feature = "std")))]
|
||||
pub mod std_mod {
|
||||
|
||||
use super::*;
|
||||
use std::sync::mpsc;
|
||||
|
||||
use crate::queue::{GenericReceiveError, GenericSendError};
|
||||
use crate::queue::{GenericReceiveError, GenericSendError, GenericTargetedMessagingError};
|
||||
|
||||
impl<MSG: Send> MessageSender<MSG> for mpsc::Sender<GenericMessage<MSG>> {
|
||||
fn send(&self, message: GenericMessage<MSG>) -> Result<(), GenericTargetedMessagingError> {
|
||||
@ -415,9 +418,9 @@ mod tests {
|
||||
|
||||
#[test]
|
||||
fn test_basic_target_id_with_apid_from_pus_tc() {
|
||||
let sp_header = SpHeader::new_for_unseg_tc(0x111, 5, 0);
|
||||
let mut sp_header = SpHeader::tc_unseg(0x111, 5, 0).unwrap();
|
||||
let app_data = 1_u32.to_be_bytes();
|
||||
let pus_tc = PusTcCreator::new_simple(sp_header, 17, 1, &app_data, true);
|
||||
let pus_tc = PusTcCreator::new_simple(&mut sp_header, 17, 1, Some(&app_data), true);
|
||||
let id = UniqueApidTargetId::from_pus_tc(&pus_tc).unwrap();
|
||||
assert_eq!(id.apid, 0x111);
|
||||
assert_eq!(id.unique_id, 1);
|
||||
@ -425,9 +428,9 @@ mod tests {
|
||||
|
||||
#[test]
|
||||
fn test_basic_target_id_with_apid_from_pus_tc_invalid_app_data() {
|
||||
let sp_header = SpHeader::new_for_unseg_tc(0x111, 5, 0);
|
||||
let mut sp_header = SpHeader::tc_unseg(0x111, 5, 0).unwrap();
|
||||
let sec_header = PusTcSecondaryHeader::new_simple(17, 1);
|
||||
let pus_tc = PusTcCreator::new_no_app_data(sp_header, sec_header, true);
|
||||
let pus_tc = PusTcCreator::new_no_app_data(&mut sp_header, sec_header, true);
|
||||
let error = UniqueApidTargetId::from_pus_tc(&pus_tc);
|
||||
assert!(error.is_err());
|
||||
let error = error.unwrap_err();
|
||||
|
||||
@ -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);
|
||||
|
||||
391
satrs/src/tmtc/ccsds_distrib.rs
Normal file
391
satrs/src/tmtc/ccsds_distrib.rs
Normal file
@ -0,0 +1,391 @@
|
||||
//! 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::tmtc::ccsds_distrib::{CcsdsPacketHandler, CcsdsDistributor};
|
||||
//! use satrs::tmtc::{ReceivesTc, ReceivesTcCore};
|
||||
//! use spacepackets::{CcsdsPacket, SpHeader};
|
||||
//! use spacepackets::ecss::WritablePusPacket;
|
||||
//! use spacepackets::ecss::tc::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(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");
|
||||
//!
|
||||
//! // Retrieve the APID handler.
|
||||
//! let handler_ref = ccsds_distributor.packet_handler();
|
||||
//! assert_eq!(handler_ref.known_call_count, 1);
|
||||
//! assert_eq!(handler_ref.unknown_call_count, 1);
|
||||
//!
|
||||
//! // Mutable access to the handler.
|
||||
//! let mutable_handler_ref = ccsds_distributor.packet_handler_mut();
|
||||
//! mutable_handler_ref.mutable_foo();
|
||||
//! ```
|
||||
use crate::tmtc::{ReceivesCcsdsTc, ReceivesTcCore};
|
||||
use core::fmt::{Display, Formatter};
|
||||
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.
|
||||
pub trait CcsdsPacketHandler {
|
||||
type Error;
|
||||
|
||||
// TODO: Rework this to return a boolean based on u16 input..
|
||||
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>;
|
||||
}
|
||||
|
||||
/// The CCSDS distributor dispatches received CCSDS packets to a user provided packet handler.
|
||||
pub struct CcsdsDistributor<PacketHandler: CcsdsPacketHandler<Error = E>, E> {
|
||||
/// User provided APID handler stored as a generic trait object.
|
||||
/// It can be cast back to the original concrete type using [Self::packet_handler] or
|
||||
/// the [Self::packet_handler_mut] method.
|
||||
packet_handler: PacketHandler,
|
||||
}
|
||||
|
||||
#[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<PacketHandler: CcsdsPacketHandler<Error = E>, E: 'static> ReceivesCcsdsTc
|
||||
for CcsdsDistributor<PacketHandler, E>
|
||||
{
|
||||
type Error = CcsdsError<E>;
|
||||
|
||||
fn pass_ccsds(&mut self, header: &SpHeader, tc_raw: &[u8]) -> Result<(), Self::Error> {
|
||||
self.dispatch_ccsds(header, tc_raw)
|
||||
}
|
||||
}
|
||||
|
||||
impl<PacketHandler: CcsdsPacketHandler<Error = E>, E: 'static> ReceivesTcCore
|
||||
for CcsdsDistributor<PacketHandler, E>
|
||||
{
|
||||
type Error = CcsdsError<E>;
|
||||
|
||||
fn pass_tc(&mut self, tc_raw: &[u8]) -> Result<(), Self::Error> {
|
||||
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<PacketHandler: CcsdsPacketHandler<Error = E>, E: 'static> CcsdsDistributor<PacketHandler, E> {
|
||||
pub fn new(packet_handler: PacketHandler) -> Self {
|
||||
CcsdsDistributor { packet_handler }
|
||||
}
|
||||
|
||||
pub fn packet_handler(&self) -> &PacketHandler {
|
||||
&self.packet_handler
|
||||
}
|
||||
|
||||
pub fn packet_handler_mut(&mut self) -> &mut PacketHandler {
|
||||
&mut self.packet_handler
|
||||
}
|
||||
|
||||
fn dispatch_ccsds(&mut self, sp_header: &SpHeader, tc_raw: &[u8]) -> Result<(), CcsdsError<E>> {
|
||||
let apid = sp_header.apid();
|
||||
let valid_apids = self.packet_handler.valid_apids();
|
||||
for &valid_apid in valid_apids {
|
||||
if valid_apid == apid {
|
||||
return self
|
||||
.packet_handler
|
||||
.handle_known_apid(sp_header, tc_raw)
|
||||
.map_err(|e| CcsdsError::CustomError(e));
|
||||
}
|
||||
}
|
||||
self.packet_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]
|
||||
}
|
||||
|
||||
pub fn generate_ping_tc_as_vec() -> Vec<u8> {
|
||||
let mut sph = SpHeader::tc_unseg(0x002, 0x34, 0).unwrap();
|
||||
PusTcCreator::new_simple(&mut sph, 17, 1, None, true)
|
||||
.to_vec()
|
||||
.unwrap()
|
||||
}
|
||||
|
||||
type SharedPacketQueue = Arc<Mutex<VecDeque<(u16, Vec<u8>)>>>;
|
||||
pub struct BasicApidHandlerSharedQueue {
|
||||
pub known_packet_queue: SharedPacketQueue,
|
||||
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);
|
||||
self.known_packet_queue.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.push_back((sp_header.apid(), vec));
|
||||
Ok(())
|
||||
}
|
||||
}
|
||||
|
||||
#[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(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_unknown_apid_handling() {
|
||||
let apid_handler = BasicApidHandlerOwnedQueue::default();
|
||||
let mut ccsds_distrib = CcsdsDistributor::new(apid_handler);
|
||||
let mut sph = SpHeader::tc_unseg(0x004, 0x34, 0).unwrap();
|
||||
let pus_tc = PusTcCreator::new_simple(&mut sph, 17, 1, None, true);
|
||||
let mut test_buf: [u8; 32] = [0; 32];
|
||||
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");
|
||||
assert!(ccsds_distrib.packet_handler().known_packet_queue.is_empty());
|
||||
let apid_handler = ccsds_distrib.packet_handler_mut();
|
||||
let recvd = apid_handler.unknown_packet_queue.pop_front();
|
||||
assert!(recvd.is_some());
|
||||
let (apid, packet) = recvd.unwrap();
|
||||
assert_eq!(apid, 0x004);
|
||||
assert_eq!(packet.as_slice(), test_buf);
|
||||
}
|
||||
|
||||
#[test]
|
||||
fn test_ccsds_distribution() {
|
||||
let mut ccsds_distrib = CcsdsDistributor::new(BasicApidHandlerOwnedQueue::default());
|
||||
let mut sph = SpHeader::tc_unseg(0x002, 0x34, 0).unwrap();
|
||||
let pus_tc = PusTcCreator::new_simple(&mut sph, 17, 1, None, true);
|
||||
let tc_vec = pus_tc.to_vec().unwrap();
|
||||
ccsds_distrib
|
||||
.pass_ccsds(&sph, &tc_vec)
|
||||
.expect("passing CCSDS TC failed");
|
||||
let recvd = ccsds_distrib
|
||||
.packet_handler_mut()
|
||||
.known_packet_queue
|
||||
.pop_front();
|
||||
assert!(recvd.is_some());
|
||||
let recvd = recvd.unwrap();
|
||||
assert_eq!(recvd.0, 0x002);
|
||||
assert_eq!(recvd.1, tc_vec);
|
||||
}
|
||||
|
||||
#[test]
|
||||
fn test_distribution_short_packet_fails() {
|
||||
let mut ccsds_distrib = CcsdsDistributor::new(BasicApidHandlerOwnedQueue::default());
|
||||
let mut sph = SpHeader::tc_unseg(0x002, 0x34, 0).unwrap();
|
||||
let pus_tc = PusTcCreator::new_simple(&mut sph, 17, 1, None, true);
|
||||
let tc_vec = pus_tc.to_vec().unwrap();
|
||||
let result = ccsds_distrib.pass_tc(&tc_vec[0..6]);
|
||||
assert!(result.is_err());
|
||||
let error = result.unwrap_err();
|
||||
if let CcsdsError::ByteConversionError(ByteConversionError::FromSliceTooSmall {
|
||||
found,
|
||||
expected,
|
||||
}) = error
|
||||
{
|
||||
assert_eq!(found, 6);
|
||||
assert_eq!(expected, 7);
|
||||
} else {
|
||||
panic!("Unexpected error variant");
|
||||
}
|
||||
}
|
||||
}
|
||||
@ -1,651 +1,115 @@
|
||||
//! Telemetry and Telecommanding (TMTC) module. Contains packet routing components with special
|
||||
//! support for CCSDS and ECSS packets.
|
||||
//!
|
||||
//! It is recommended to read the [sat-rs book chapter](https://absatsw.irs.uni-stuttgart.de/projects/sat-rs/book/communication.html)
|
||||
//! about communication first. The TMTC abstractions provided by this framework are based on the
|
||||
//! assumption that all telemetry is sent to a special handler object called the TM sink while
|
||||
//! all received telecommands are sent to a special handler object called TC source. Using
|
||||
//! a design like this makes it simpler to add new TC packet sources or new telemetry generators:
|
||||
//! They only need to send the received and generated data to these objects.
|
||||
use crate::queue::GenericSendError;
|
||||
use crate::{
|
||||
pool::{PoolAddr, PoolError},
|
||||
ComponentId,
|
||||
};
|
||||
#[cfg(feature = "std")]
|
||||
pub use alloc_mod::*;
|
||||
//! 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::{
|
||||
ecss::{
|
||||
tc::PusTcReader,
|
||||
tm::{PusTmCreator, PusTmReader},
|
||||
},
|
||||
SpHeader,
|
||||
};
|
||||
#[cfg(feature = "std")]
|
||||
use std::sync::mpsc;
|
||||
#[cfg(feature = "std")]
|
||||
pub use std_mod::*;
|
||||
use spacepackets::SpHeader;
|
||||
|
||||
#[cfg(feature = "alloc")]
|
||||
pub mod ccsds_distrib;
|
||||
#[cfg(feature = "alloc")]
|
||||
pub mod pus_distrib;
|
||||
pub mod tm_helper;
|
||||
|
||||
/// Simple type modelling packet stored inside a pool structure. This structure is intended to
|
||||
/// be used when sending a packet via a message queue, so it also contains the sender ID.
|
||||
#[derive(Debug, PartialEq, Eq, Clone)]
|
||||
pub struct PacketInPool {
|
||||
pub sender_id: ComponentId,
|
||||
pub store_addr: PoolAddr,
|
||||
}
|
||||
#[cfg(feature = "alloc")]
|
||||
pub use ccsds_distrib::{CcsdsDistributor, CcsdsError, CcsdsPacketHandler};
|
||||
#[cfg(feature = "alloc")]
|
||||
pub use pus_distrib::{PusDistributor, PusServiceDistributor};
|
||||
|
||||
impl PacketInPool {
|
||||
pub fn new(sender_id: ComponentId, store_addr: PoolAddr) -> Self {
|
||||
Self {
|
||||
sender_id,
|
||||
store_addr,
|
||||
}
|
||||
}
|
||||
}
|
||||
|
||||
/// Generic trait for object which can send any packets in form of a raw bytestream, with
|
||||
/// Generic trait for object which can receive any telecommands in form of a raw bytestream, with
|
||||
/// no assumptions about the received protocol.
|
||||
pub trait PacketSenderRaw: Send {
|
||||
///
|
||||
/// 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 send_packet(&self, sender_id: ComponentId, packet: &[u8]) -> Result<(), Self::Error>;
|
||||
fn pass_tc(&mut self, tc_raw: &[u8]) -> Result<(), Self::Error>;
|
||||
}
|
||||
|
||||
/// Extension trait of [PacketSenderRaw] which allows downcasting by implementing [Downcast].
|
||||
/// Extension trait of [ReceivesTcCore] which allows downcasting by implementing [Downcast] and
|
||||
/// is also sendable.
|
||||
#[cfg(feature = "alloc")]
|
||||
pub trait PacketSenderRawExt: PacketSenderRaw + Downcast {
|
||||
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 PacketSenderRaw<Error = Self::Error>;
|
||||
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 PacketSenderRaw<Error = Self::Error>;
|
||||
fn upcast_mut(&mut self) -> &mut dyn ReceivesTcCore<Error = Self::Error>;
|
||||
}
|
||||
|
||||
/// Blanket implementation to automatically implement [PacketSenderRawExt] when the [alloc]
|
||||
/// feature is enabled.
|
||||
/// Blanket implementation to automatically implement [ReceivesTc] when the [alloc] feature
|
||||
/// is enabled.
|
||||
#[cfg(feature = "alloc")]
|
||||
impl<T> PacketSenderRawExt for T
|
||||
impl<T> ReceivesTc for T
|
||||
where
|
||||
T: PacketSenderRaw + Send + 'static,
|
||||
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 PacketSenderRaw<Error = Self::Error> {
|
||||
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 PacketSenderRaw<Error = Self::Error> {
|
||||
fn upcast_mut(&mut self) -> &mut dyn ReceivesTcCore<Error = Self::Error> {
|
||||
self
|
||||
}
|
||||
}
|
||||
|
||||
#[cfg(feature = "alloc")]
|
||||
impl_downcast!(PacketSenderRawExt assoc Error);
|
||||
impl_downcast!(ReceivesTc assoc Error);
|
||||
|
||||
/// Generic trait for object which can send CCSDS space packets, for example ECSS PUS packets
|
||||
/// or CCSDS File Delivery Protocol (CFDP) packets wrapped in space packets.
|
||||
pub trait PacketSenderCcsds: Send {
|
||||
/// 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 send_ccsds(
|
||||
&self,
|
||||
sender_id: ComponentId,
|
||||
header: &SpHeader,
|
||||
tc_raw: &[u8],
|
||||
) -> Result<(), Self::Error>;
|
||||
fn pass_ccsds(&mut self, header: &SpHeader, tc_raw: &[u8]) -> Result<(), Self::Error>;
|
||||
}
|
||||
|
||||
#[cfg(feature = "std")]
|
||||
impl PacketSenderCcsds for mpsc::Sender<PacketAsVec> {
|
||||
type Error = GenericSendError;
|
||||
|
||||
fn send_ccsds(
|
||||
&self,
|
||||
sender_id: ComponentId,
|
||||
_: &SpHeader,
|
||||
tc_raw: &[u8],
|
||||
) -> Result<(), Self::Error> {
|
||||
self.send(PacketAsVec::new(sender_id, tc_raw.to_vec()))
|
||||
.map_err(|_| GenericSendError::RxDisconnected)
|
||||
}
|
||||
}
|
||||
|
||||
#[cfg(feature = "std")]
|
||||
impl PacketSenderCcsds for mpsc::SyncSender<PacketAsVec> {
|
||||
type Error = GenericSendError;
|
||||
|
||||
fn send_ccsds(
|
||||
&self,
|
||||
sender_id: ComponentId,
|
||||
_: &SpHeader,
|
||||
packet_raw: &[u8],
|
||||
) -> Result<(), Self::Error> {
|
||||
self.try_send(PacketAsVec::new(sender_id, packet_raw.to_vec()))
|
||||
.map_err(|e| match e {
|
||||
mpsc::TrySendError::Full(_) => GenericSendError::QueueFull(None),
|
||||
mpsc::TrySendError::Disconnected(_) => GenericSendError::RxDisconnected,
|
||||
})
|
||||
}
|
||||
}
|
||||
|
||||
/// Generic trait for a packet receiver, with no restrictions on the type of packet.
|
||||
/// 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 PacketSource: Send {
|
||||
pub trait TmPacketSourceCore {
|
||||
type Error;
|
||||
fn retrieve_packet(&mut self, buffer: &mut [u8]) -> Result<usize, Self::Error>;
|
||||
}
|
||||
|
||||
/// Extension trait of [PacketSource] which allows downcasting by implementing [Downcast].
|
||||
/// Extension trait of [TmPacketSourceCore] which allows downcasting by implementing [Downcast] and
|
||||
/// is also sendable.
|
||||
#[cfg(feature = "alloc")]
|
||||
pub trait PacketSourceExt: PacketSource + Downcast {
|
||||
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 PacketSource<Error = Self::Error>;
|
||||
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 PacketSource<Error = Self::Error>;
|
||||
fn upcast_mut(&mut self) -> &mut dyn TmPacketSourceCore<Error = Self::Error>;
|
||||
}
|
||||
|
||||
/// Blanket implementation to automatically implement [PacketSourceExt] when the [alloc] feature
|
||||
/// Blanket implementation to automatically implement [ReceivesTc] when the [alloc] feature
|
||||
/// is enabled.
|
||||
#[cfg(feature = "alloc")]
|
||||
impl<T> PacketSourceExt for T
|
||||
impl<T> TmPacketSource for T
|
||||
where
|
||||
T: PacketSource + 'static,
|
||||
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 PacketSource<Error = Self::Error> {
|
||||
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 PacketSource<Error = Self::Error> {
|
||||
fn upcast_mut(&mut self) -> &mut dyn TmPacketSourceCore<Error = Self::Error> {
|
||||
self
|
||||
}
|
||||
}
|
||||
|
||||
/// Helper trait for any generic (static) store which allows storing raw or CCSDS packets.
|
||||
pub trait CcsdsPacketPool {
|
||||
fn add_ccsds_tc(&mut self, _: &SpHeader, tc_raw: &[u8]) -> Result<PoolAddr, PoolError> {
|
||||
self.add_raw_tc(tc_raw)
|
||||
}
|
||||
|
||||
fn add_raw_tc(&mut self, tc_raw: &[u8]) -> Result<PoolAddr, PoolError>;
|
||||
}
|
||||
|
||||
/// Helper trait for any generic (static) store which allows storing ECSS PUS Telecommand packets.
|
||||
pub trait PusTcPool {
|
||||
fn add_pus_tc(&mut self, pus_tc: &PusTcReader) -> Result<PoolAddr, PoolError>;
|
||||
}
|
||||
|
||||
/// Helper trait for any generic (static) store which allows storing ECSS PUS Telemetry packets.
|
||||
pub trait PusTmPool {
|
||||
fn add_pus_tm_from_reader(&mut self, pus_tm: &PusTmReader) -> Result<PoolAddr, PoolError>;
|
||||
fn add_pus_tm_from_creator(&mut self, pus_tm: &PusTmCreator) -> Result<PoolAddr, PoolError>;
|
||||
}
|
||||
|
||||
/// Generic trait for any sender component able to send packets stored inside a pool structure.
|
||||
pub trait PacketInPoolSender: Send {
|
||||
fn send_packet(
|
||||
&self,
|
||||
sender_id: ComponentId,
|
||||
store_addr: PoolAddr,
|
||||
) -> Result<(), GenericSendError>;
|
||||
}
|
||||
|
||||
#[cfg(feature = "alloc")]
|
||||
pub mod alloc_mod {
|
||||
use alloc::vec::Vec;
|
||||
|
||||
use super::*;
|
||||
|
||||
/// Simple type modelling packet stored in the heap. This structure is intended to
|
||||
/// be used when sending a packet via a message queue, so it also contains the sender ID.
|
||||
#[derive(Debug, PartialEq, Eq, Clone)]
|
||||
pub struct PacketAsVec {
|
||||
pub sender_id: ComponentId,
|
||||
pub packet: Vec<u8>,
|
||||
}
|
||||
|
||||
impl PacketAsVec {
|
||||
pub fn new(sender_id: ComponentId, packet: Vec<u8>) -> Self {
|
||||
Self { sender_id, packet }
|
||||
}
|
||||
}
|
||||
}
|
||||
#[cfg(feature = "std")]
|
||||
pub mod std_mod {
|
||||
|
||||
use core::cell::RefCell;
|
||||
|
||||
#[cfg(feature = "crossbeam")]
|
||||
use crossbeam_channel as cb;
|
||||
use spacepackets::ecss::WritablePusPacket;
|
||||
use thiserror::Error;
|
||||
|
||||
use crate::pool::PoolProvider;
|
||||
use crate::pus::{EcssTmSender, EcssTmtcError, PacketSenderPusTc};
|
||||
|
||||
use super::*;
|
||||
|
||||
/// Newtype wrapper around the [SharedStaticMemoryPool] to enable extension helper traits on
|
||||
/// top of the regular shared memory pool API.
|
||||
#[derive(Clone)]
|
||||
pub struct SharedPacketPool(pub SharedStaticMemoryPool);
|
||||
|
||||
impl SharedPacketPool {
|
||||
pub fn new(pool: &SharedStaticMemoryPool) -> Self {
|
||||
Self(pool.clone())
|
||||
}
|
||||
}
|
||||
|
||||
impl PusTcPool for SharedPacketPool {
|
||||
fn add_pus_tc(&mut self, pus_tc: &PusTcReader) -> Result<PoolAddr, PoolError> {
|
||||
let mut pg = self.0.write().map_err(|_| PoolError::LockError)?;
|
||||
let addr = pg.free_element(pus_tc.len_packed(), |buf| {
|
||||
buf[0..pus_tc.len_packed()].copy_from_slice(pus_tc.raw_data());
|
||||
})?;
|
||||
Ok(addr)
|
||||
}
|
||||
}
|
||||
|
||||
impl PusTmPool for SharedPacketPool {
|
||||
fn add_pus_tm_from_reader(&mut self, pus_tm: &PusTmReader) -> Result<PoolAddr, PoolError> {
|
||||
let mut pg = self.0.write().map_err(|_| PoolError::LockError)?;
|
||||
let addr = pg.free_element(pus_tm.len_packed(), |buf| {
|
||||
buf[0..pus_tm.len_packed()].copy_from_slice(pus_tm.raw_data());
|
||||
})?;
|
||||
Ok(addr)
|
||||
}
|
||||
|
||||
fn add_pus_tm_from_creator(
|
||||
&mut self,
|
||||
pus_tm: &PusTmCreator,
|
||||
) -> Result<PoolAddr, PoolError> {
|
||||
let mut pg = self.0.write().map_err(|_| PoolError::LockError)?;
|
||||
let mut result = Ok(0);
|
||||
let addr = pg.free_element(pus_tm.len_written(), |buf| {
|
||||
result = pus_tm.write_to_bytes(buf);
|
||||
})?;
|
||||
result?;
|
||||
Ok(addr)
|
||||
}
|
||||
}
|
||||
|
||||
impl CcsdsPacketPool for SharedPacketPool {
|
||||
fn add_raw_tc(&mut self, tc_raw: &[u8]) -> Result<PoolAddr, PoolError> {
|
||||
let mut pg = self.0.write().map_err(|_| PoolError::LockError)?;
|
||||
let addr = pg.free_element(tc_raw.len(), |buf| {
|
||||
buf[0..tc_raw.len()].copy_from_slice(tc_raw);
|
||||
})?;
|
||||
Ok(addr)
|
||||
}
|
||||
}
|
||||
|
||||
#[cfg(feature = "std")]
|
||||
impl PacketSenderRaw for mpsc::Sender<PacketAsVec> {
|
||||
type Error = GenericSendError;
|
||||
|
||||
fn send_packet(&self, sender_id: ComponentId, packet: &[u8]) -> Result<(), Self::Error> {
|
||||
self.send(PacketAsVec::new(sender_id, packet.to_vec()))
|
||||
.map_err(|_| GenericSendError::RxDisconnected)
|
||||
}
|
||||
}
|
||||
|
||||
#[cfg(feature = "std")]
|
||||
impl PacketSenderRaw for mpsc::SyncSender<PacketAsVec> {
|
||||
type Error = GenericSendError;
|
||||
|
||||
fn send_packet(&self, sender_id: ComponentId, tc_raw: &[u8]) -> Result<(), Self::Error> {
|
||||
self.try_send(PacketAsVec::new(sender_id, tc_raw.to_vec()))
|
||||
.map_err(|e| match e {
|
||||
mpsc::TrySendError::Full(_) => GenericSendError::QueueFull(None),
|
||||
mpsc::TrySendError::Disconnected(_) => GenericSendError::RxDisconnected,
|
||||
})
|
||||
}
|
||||
}
|
||||
|
||||
#[derive(Debug, Clone, PartialEq, Eq, Error)]
|
||||
pub enum StoreAndSendError {
|
||||
#[error("Store error: {0}")]
|
||||
Store(#[from] PoolError),
|
||||
#[error("Genreric send error: {0}")]
|
||||
Send(#[from] GenericSendError),
|
||||
}
|
||||
|
||||
pub use crate::pool::SharedStaticMemoryPool;
|
||||
|
||||
impl PacketInPoolSender for mpsc::Sender<PacketInPool> {
|
||||
fn send_packet(
|
||||
&self,
|
||||
sender_id: ComponentId,
|
||||
store_addr: PoolAddr,
|
||||
) -> Result<(), GenericSendError> {
|
||||
self.send(PacketInPool::new(sender_id, store_addr))
|
||||
.map_err(|_| GenericSendError::RxDisconnected)
|
||||
}
|
||||
}
|
||||
|
||||
impl PacketInPoolSender for mpsc::SyncSender<PacketInPool> {
|
||||
fn send_packet(
|
||||
&self,
|
||||
sender_id: ComponentId,
|
||||
store_addr: PoolAddr,
|
||||
) -> Result<(), GenericSendError> {
|
||||
self.try_send(PacketInPool::new(sender_id, store_addr))
|
||||
.map_err(|e| match e {
|
||||
mpsc::TrySendError::Full(_) => GenericSendError::QueueFull(None),
|
||||
mpsc::TrySendError::Disconnected(_) => GenericSendError::RxDisconnected,
|
||||
})
|
||||
}
|
||||
}
|
||||
|
||||
#[cfg(feature = "crossbeam")]
|
||||
impl PacketInPoolSender for cb::Sender<PacketInPool> {
|
||||
fn send_packet(
|
||||
&self,
|
||||
sender_id: ComponentId,
|
||||
store_addr: PoolAddr,
|
||||
) -> Result<(), GenericSendError> {
|
||||
self.try_send(PacketInPool::new(sender_id, store_addr))
|
||||
.map_err(|e| match e {
|
||||
cb::TrySendError::Full(_) => GenericSendError::QueueFull(None),
|
||||
cb::TrySendError::Disconnected(_) => GenericSendError::RxDisconnected,
|
||||
})
|
||||
}
|
||||
}
|
||||
|
||||
/// This is the primary structure used to send packets stored in a dedicated memory pool
|
||||
/// structure.
|
||||
#[derive(Clone)]
|
||||
pub struct PacketSenderWithSharedPool<
|
||||
Sender: PacketInPoolSender = mpsc::SyncSender<PacketInPool>,
|
||||
PacketPool: CcsdsPacketPool = SharedPacketPool,
|
||||
> {
|
||||
pub sender: Sender,
|
||||
pub shared_pool: RefCell<PacketPool>,
|
||||
}
|
||||
|
||||
impl<Sender: PacketInPoolSender> PacketSenderWithSharedPool<Sender, SharedPacketPool> {
|
||||
pub fn new_with_shared_packet_pool(
|
||||
packet_sender: Sender,
|
||||
shared_pool: &SharedStaticMemoryPool,
|
||||
) -> Self {
|
||||
Self {
|
||||
sender: packet_sender,
|
||||
shared_pool: RefCell::new(SharedPacketPool::new(shared_pool)),
|
||||
}
|
||||
}
|
||||
}
|
||||
|
||||
impl<Sender: PacketInPoolSender, PacketStore: CcsdsPacketPool>
|
||||
PacketSenderWithSharedPool<Sender, PacketStore>
|
||||
{
|
||||
pub fn new(packet_sender: Sender, shared_pool: PacketStore) -> Self {
|
||||
Self {
|
||||
sender: packet_sender,
|
||||
shared_pool: RefCell::new(shared_pool),
|
||||
}
|
||||
}
|
||||
}
|
||||
|
||||
impl<Sender: PacketInPoolSender, PacketStore: CcsdsPacketPool + Clone>
|
||||
PacketSenderWithSharedPool<Sender, PacketStore>
|
||||
{
|
||||
pub fn shared_packet_store(&self) -> PacketStore {
|
||||
let pool = self.shared_pool.borrow();
|
||||
pool.clone()
|
||||
}
|
||||
}
|
||||
|
||||
impl<Sender: PacketInPoolSender, PacketStore: CcsdsPacketPool + Send> PacketSenderRaw
|
||||
for PacketSenderWithSharedPool<Sender, PacketStore>
|
||||
{
|
||||
type Error = StoreAndSendError;
|
||||
|
||||
fn send_packet(&self, sender_id: ComponentId, packet: &[u8]) -> Result<(), Self::Error> {
|
||||
let mut shared_pool = self.shared_pool.borrow_mut();
|
||||
let store_addr = shared_pool.add_raw_tc(packet)?;
|
||||
drop(shared_pool);
|
||||
self.sender
|
||||
.send_packet(sender_id, store_addr)
|
||||
.map_err(StoreAndSendError::Send)?;
|
||||
Ok(())
|
||||
}
|
||||
}
|
||||
|
||||
impl<Sender: PacketInPoolSender, PacketStore: CcsdsPacketPool + PusTcPool + Send>
|
||||
PacketSenderPusTc for PacketSenderWithSharedPool<Sender, PacketStore>
|
||||
{
|
||||
type Error = StoreAndSendError;
|
||||
|
||||
fn send_pus_tc(
|
||||
&self,
|
||||
sender_id: ComponentId,
|
||||
_: &SpHeader,
|
||||
pus_tc: &PusTcReader,
|
||||
) -> Result<(), Self::Error> {
|
||||
let mut shared_pool = self.shared_pool.borrow_mut();
|
||||
let store_addr = shared_pool.add_raw_tc(pus_tc.raw_data())?;
|
||||
drop(shared_pool);
|
||||
self.sender
|
||||
.send_packet(sender_id, store_addr)
|
||||
.map_err(StoreAndSendError::Send)?;
|
||||
Ok(())
|
||||
}
|
||||
}
|
||||
|
||||
impl<Sender: PacketInPoolSender, PacketStore: CcsdsPacketPool + Send> PacketSenderCcsds
|
||||
for PacketSenderWithSharedPool<Sender, PacketStore>
|
||||
{
|
||||
type Error = StoreAndSendError;
|
||||
|
||||
fn send_ccsds(
|
||||
&self,
|
||||
sender_id: ComponentId,
|
||||
_sp_header: &SpHeader,
|
||||
tc_raw: &[u8],
|
||||
) -> Result<(), Self::Error> {
|
||||
self.send_packet(sender_id, tc_raw)
|
||||
}
|
||||
}
|
||||
|
||||
impl<Sender: PacketInPoolSender, PacketStore: CcsdsPacketPool + PusTmPool + Send> EcssTmSender
|
||||
for PacketSenderWithSharedPool<Sender, PacketStore>
|
||||
{
|
||||
fn send_tm(
|
||||
&self,
|
||||
sender_id: crate::ComponentId,
|
||||
tm: crate::pus::PusTmVariant,
|
||||
) -> Result<(), crate::pus::EcssTmtcError> {
|
||||
let send_addr = |store_addr: PoolAddr| {
|
||||
self.sender
|
||||
.send_packet(sender_id, store_addr)
|
||||
.map_err(EcssTmtcError::Send)
|
||||
};
|
||||
match tm {
|
||||
crate::pus::PusTmVariant::InStore(store_addr) => send_addr(store_addr),
|
||||
crate::pus::PusTmVariant::Direct(tm_creator) => {
|
||||
let mut pool = self.shared_pool.borrow_mut();
|
||||
let store_addr = pool.add_pus_tm_from_creator(&tm_creator)?;
|
||||
send_addr(store_addr)
|
||||
}
|
||||
}
|
||||
}
|
||||
}
|
||||
}
|
||||
|
||||
#[cfg(test)]
|
||||
pub(crate) mod tests {
|
||||
use alloc::vec;
|
||||
|
||||
use std::sync::RwLock;
|
||||
|
||||
use crate::pool::{PoolProviderWithGuards, StaticMemoryPool, StaticPoolConfig};
|
||||
|
||||
use super::*;
|
||||
use std::sync::mpsc;
|
||||
|
||||
pub(crate) fn send_with_sender<SendError>(
|
||||
sender_id: ComponentId,
|
||||
packet_sender: &(impl PacketSenderRaw<Error = SendError> + ?Sized),
|
||||
packet: &[u8],
|
||||
) -> Result<(), SendError> {
|
||||
packet_sender.send_packet(sender_id, packet)
|
||||
}
|
||||
|
||||
#[test]
|
||||
fn test_basic_mpsc_channel_sender_bounded() {
|
||||
let (tx, rx) = mpsc::channel();
|
||||
let some_packet = vec![1, 2, 3, 4, 5];
|
||||
send_with_sender(1, &tx, &some_packet).expect("failed to send packet");
|
||||
let rx_packet = rx.try_recv().unwrap();
|
||||
assert_eq!(some_packet, rx_packet.packet);
|
||||
assert_eq!(1, rx_packet.sender_id);
|
||||
}
|
||||
|
||||
#[test]
|
||||
fn test_basic_mpsc_channel_receiver_dropped() {
|
||||
let (tx, rx) = mpsc::channel();
|
||||
let some_packet = vec![1, 2, 3, 4, 5];
|
||||
drop(rx);
|
||||
let result = send_with_sender(2, &tx, &some_packet);
|
||||
assert!(result.is_err());
|
||||
matches!(result.unwrap_err(), GenericSendError::RxDisconnected);
|
||||
}
|
||||
|
||||
#[test]
|
||||
fn test_basic_mpsc_sync_sender() {
|
||||
let (tx, rx) = mpsc::sync_channel(3);
|
||||
let some_packet = vec![1, 2, 3, 4, 5];
|
||||
send_with_sender(3, &tx, &some_packet).expect("failed to send packet");
|
||||
let rx_packet = rx.try_recv().unwrap();
|
||||
assert_eq!(some_packet, rx_packet.packet);
|
||||
assert_eq!(3, rx_packet.sender_id);
|
||||
}
|
||||
|
||||
#[test]
|
||||
fn test_basic_mpsc_sync_sender_receiver_dropped() {
|
||||
let (tx, rx) = mpsc::sync_channel(3);
|
||||
let some_packet = vec![1, 2, 3, 4, 5];
|
||||
drop(rx);
|
||||
let result = send_with_sender(0, &tx, &some_packet);
|
||||
assert!(result.is_err());
|
||||
matches!(result.unwrap_err(), GenericSendError::RxDisconnected);
|
||||
}
|
||||
|
||||
#[test]
|
||||
fn test_basic_mpsc_sync_sender_queue_full() {
|
||||
let (tx, rx) = mpsc::sync_channel(1);
|
||||
let some_packet = vec![1, 2, 3, 4, 5];
|
||||
send_with_sender(0, &tx, &some_packet).expect("failed to send packet");
|
||||
let result = send_with_sender(1, &tx, &some_packet);
|
||||
assert!(result.is_err());
|
||||
matches!(result.unwrap_err(), GenericSendError::QueueFull(None));
|
||||
let rx_packet = rx.try_recv().unwrap();
|
||||
assert_eq!(some_packet, rx_packet.packet);
|
||||
}
|
||||
|
||||
#[test]
|
||||
fn test_basic_shared_store_sender_unbounded_sender() {
|
||||
let (tc_tx, tc_rx) = mpsc::channel();
|
||||
let pool_cfg = StaticPoolConfig::new(vec![(2, 8)], true);
|
||||
let shared_pool = SharedPacketPool::new(&SharedStaticMemoryPool::new(RwLock::new(
|
||||
StaticMemoryPool::new(pool_cfg),
|
||||
)));
|
||||
let some_packet = vec![1, 2, 3, 4, 5];
|
||||
let tc_sender = PacketSenderWithSharedPool::new(tc_tx, shared_pool.clone());
|
||||
send_with_sender(5, &tc_sender, &some_packet).expect("failed to send packet");
|
||||
let packet_in_pool = tc_rx.try_recv().unwrap();
|
||||
let mut pool = shared_pool.0.write().unwrap();
|
||||
let read_guard = pool.read_with_guard(packet_in_pool.store_addr);
|
||||
assert_eq!(read_guard.read_as_vec().unwrap(), some_packet);
|
||||
assert_eq!(packet_in_pool.sender_id, 5)
|
||||
}
|
||||
|
||||
#[test]
|
||||
fn test_basic_shared_store_sender() {
|
||||
let (tc_tx, tc_rx) = mpsc::sync_channel(10);
|
||||
let pool_cfg = StaticPoolConfig::new(vec![(2, 8)], true);
|
||||
let shared_pool = SharedPacketPool::new(&SharedStaticMemoryPool::new(RwLock::new(
|
||||
StaticMemoryPool::new(pool_cfg),
|
||||
)));
|
||||
let some_packet = vec![1, 2, 3, 4, 5];
|
||||
let tc_sender = PacketSenderWithSharedPool::new(tc_tx, shared_pool.clone());
|
||||
send_with_sender(5, &tc_sender, &some_packet).expect("failed to send packet");
|
||||
let packet_in_pool = tc_rx.try_recv().unwrap();
|
||||
let mut pool = shared_pool.0.write().unwrap();
|
||||
let read_guard = pool.read_with_guard(packet_in_pool.store_addr);
|
||||
assert_eq!(read_guard.read_as_vec().unwrap(), some_packet);
|
||||
assert_eq!(packet_in_pool.sender_id, 5)
|
||||
}
|
||||
|
||||
#[test]
|
||||
fn test_basic_shared_store_sender_rx_dropped() {
|
||||
let (tc_tx, tc_rx) = mpsc::sync_channel(10);
|
||||
let pool_cfg = StaticPoolConfig::new(vec![(2, 8)], true);
|
||||
let shared_pool = SharedPacketPool::new(&SharedStaticMemoryPool::new(RwLock::new(
|
||||
StaticMemoryPool::new(pool_cfg),
|
||||
)));
|
||||
let some_packet = vec![1, 2, 3, 4, 5];
|
||||
drop(tc_rx);
|
||||
let tc_sender = PacketSenderWithSharedPool::new(tc_tx, shared_pool.clone());
|
||||
let result = send_with_sender(2, &tc_sender, &some_packet);
|
||||
assert!(result.is_err());
|
||||
matches!(
|
||||
result.unwrap_err(),
|
||||
StoreAndSendError::Send(GenericSendError::RxDisconnected)
|
||||
);
|
||||
}
|
||||
|
||||
#[test]
|
||||
fn test_basic_shared_store_sender_queue_full() {
|
||||
let (tc_tx, tc_rx) = mpsc::sync_channel(1);
|
||||
let pool_cfg = StaticPoolConfig::new(vec![(2, 8)], true);
|
||||
let shared_pool = SharedPacketPool::new(&SharedStaticMemoryPool::new(RwLock::new(
|
||||
StaticMemoryPool::new(pool_cfg),
|
||||
)));
|
||||
let some_packet = vec![1, 2, 3, 4, 5];
|
||||
let tc_sender = PacketSenderWithSharedPool::new(tc_tx, shared_pool.clone());
|
||||
send_with_sender(3, &tc_sender, &some_packet).expect("failed to send packet");
|
||||
let result = send_with_sender(3, &tc_sender, &some_packet);
|
||||
assert!(result.is_err());
|
||||
matches!(
|
||||
result.unwrap_err(),
|
||||
StoreAndSendError::Send(GenericSendError::RxDisconnected)
|
||||
);
|
||||
let packet_in_pool = tc_rx.try_recv().unwrap();
|
||||
let mut pool = shared_pool.0.write().unwrap();
|
||||
let read_guard = pool.read_with_guard(packet_in_pool.store_addr);
|
||||
assert_eq!(read_guard.read_as_vec().unwrap(), some_packet);
|
||||
assert_eq!(packet_in_pool.sender_id, 3);
|
||||
}
|
||||
|
||||
#[test]
|
||||
fn test_basic_shared_store_store_error() {
|
||||
let (tc_tx, tc_rx) = mpsc::sync_channel(1);
|
||||
let pool_cfg = StaticPoolConfig::new(vec![(1, 8)], true);
|
||||
let shared_pool = SharedPacketPool::new(&SharedStaticMemoryPool::new(RwLock::new(
|
||||
StaticMemoryPool::new(pool_cfg),
|
||||
)));
|
||||
let some_packet = vec![1, 2, 3, 4, 5];
|
||||
let tc_sender = PacketSenderWithSharedPool::new(tc_tx, shared_pool.clone());
|
||||
send_with_sender(4, &tc_sender, &some_packet).expect("failed to send packet");
|
||||
let result = send_with_sender(4, &tc_sender, &some_packet);
|
||||
assert!(result.is_err());
|
||||
matches!(
|
||||
result.unwrap_err(),
|
||||
StoreAndSendError::Store(PoolError::StoreFull(..))
|
||||
);
|
||||
let packet_in_pool = tc_rx.try_recv().unwrap();
|
||||
let mut pool = shared_pool.0.write().unwrap();
|
||||
let read_guard = pool.read_with_guard(packet_in_pool.store_addr);
|
||||
assert_eq!(read_guard.read_as_vec().unwrap(), some_packet);
|
||||
assert_eq!(packet_in_pool.sender_id, 4);
|
||||
}
|
||||
}
|
||||
|
||||
405
satrs/src/tmtc/pus_distrib.rs
Normal file
405
satrs/src/tmtc/pus_distrib.rs
Normal file
@ -0,0 +1,405 @@
|
||||
//! 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. [PusServiceDistributor] 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
|
||||
//! [PusServiceDistributor::distribute_packet] method provided by the user.
|
||||
//!
|
||||
//! # Example
|
||||
//!
|
||||
//! ```rust
|
||||
//! use spacepackets::ecss::WritablePusPacket;
|
||||
//! use satrs::tmtc::pus_distrib::{PusDistributor, PusServiceDistributor};
|
||||
//! use satrs::tmtc::{ReceivesTc, ReceivesTcCore};
|
||||
//! use spacepackets::SpHeader;
|
||||
//! use spacepackets::ecss::tc::{PusTcCreator, PusTcReader};
|
||||
//!
|
||||
//! struct ConcretePusHandler {
|
||||
//! handler_call_count: u32
|
||||
//! }
|
||||
//!
|
||||
//! // This is a very simple possible service provider. It increments an internal call count field,
|
||||
//! // which is used to verify the handler was called
|
||||
//! impl PusServiceDistributor for ConcretePusHandler {
|
||||
//! type Error = ();
|
||||
//! fn distribute_packet(&mut self, service: u8, header: &SpHeader, pus_tc: &PusTcReader) -> Result<(), Self::Error> {
|
||||
//! assert_eq!(service, 17);
|
||||
//! assert_eq!(pus_tc.len_packed(), 13);
|
||||
//! self.handler_call_count += 1;
|
||||
//! Ok(())
|
||||
//! }
|
||||
//! }
|
||||
//!
|
||||
//! let service_handler = ConcretePusHandler {
|
||||
//! handler_call_count: 0
|
||||
//! };
|
||||
//! let mut pus_distributor = PusDistributor::new(service_handler);
|
||||
//!
|
||||
//! // Create and pass PUS ping telecommand with a valid APID
|
||||
//! let mut space_packet_header = SpHeader::tc_unseg(0x002, 0x34, 0).unwrap();
|
||||
//! 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 = pus_distributor.service_distributor();
|
||||
//! assert_eq!(concrete_handler.handler_call_count, 1);
|
||||
//! ```
|
||||
use crate::pus::ReceivesEcssPusTc;
|
||||
use crate::tmtc::{ReceivesCcsdsTc, ReceivesTcCore};
|
||||
use core::fmt::{Display, Formatter};
|
||||
use spacepackets::ecss::tc::PusTcReader;
|
||||
use spacepackets::ecss::{PusError, PusPacket};
|
||||
use spacepackets::SpHeader;
|
||||
#[cfg(feature = "std")]
|
||||
use std::error::Error;
|
||||
|
||||
/// Trait for a generic distributor object which can distribute PUS packets based on packet
|
||||
/// properties like the PUS service, space packet header or any other content of the PUS packet.
|
||||
pub trait PusServiceDistributor {
|
||||
type Error;
|
||||
fn distribute_packet(
|
||||
&mut self,
|
||||
service: u8,
|
||||
header: &SpHeader,
|
||||
pus_tc: &PusTcReader,
|
||||
) -> Result<(), Self::Error>;
|
||||
}
|
||||
|
||||
/// Generic distributor object which dispatches received packets to a user provided handler.
|
||||
pub struct PusDistributor<ServiceDistributor: PusServiceDistributor<Error = E>, E> {
|
||||
service_distributor: ServiceDistributor,
|
||||
}
|
||||
|
||||
impl<ServiceDistributor: PusServiceDistributor<Error = E>, E>
|
||||
PusDistributor<ServiceDistributor, E>
|
||||
{
|
||||
pub fn new(service_provider: ServiceDistributor) -> Self {
|
||||
PusDistributor {
|
||||
service_distributor: 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, "pus distribution error: {e}"),
|
||||
PusDistribError::PusError(e) => write!(f, "pus distribution error: {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<ServiceDistributor: PusServiceDistributor<Error = E>, E: 'static> ReceivesTcCore
|
||||
for PusDistributor<ServiceDistributor, E>
|
||||
{
|
||||
type Error = PusDistribError<E>;
|
||||
fn pass_tc(&mut self, tm_raw: &[u8]) -> Result<(), Self::Error> {
|
||||
// Convert to ccsds and call pass_ccsds
|
||||
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<ServiceDistributor: PusServiceDistributor<Error = E>, E: 'static> ReceivesCcsdsTc
|
||||
for PusDistributor<ServiceDistributor, E>
|
||||
{
|
||||
type Error = PusDistribError<E>;
|
||||
fn pass_ccsds(&mut self, header: &SpHeader, tm_raw: &[u8]) -> Result<(), Self::Error> {
|
||||
let (tc, _) = PusTcReader::new(tm_raw).map_err(|e| PusDistribError::PusError(e))?;
|
||||
self.pass_pus_tc(header, &tc)
|
||||
}
|
||||
}
|
||||
|
||||
impl<ServiceDistributor: PusServiceDistributor<Error = E>, E: 'static> ReceivesEcssPusTc
|
||||
for PusDistributor<ServiceDistributor, E>
|
||||
{
|
||||
type Error = PusDistribError<E>;
|
||||
fn pass_pus_tc(&mut self, header: &SpHeader, pus_tc: &PusTcReader) -> Result<(), Self::Error> {
|
||||
self.service_distributor
|
||||
.distribute_packet(pus_tc.service(), header, pus_tc)
|
||||
.map_err(|e| PusDistribError::CustomError(e))
|
||||
}
|
||||
}
|
||||
|
||||
impl<ServiceDistributor: PusServiceDistributor<Error = E>, E: 'static>
|
||||
PusDistributor<ServiceDistributor, E>
|
||||
{
|
||||
pub fn service_distributor(&self) -> &ServiceDistributor {
|
||||
&self.service_distributor
|
||||
}
|
||||
|
||||
pub fn service_distributor_mut(&mut self) -> &mut ServiceDistributor {
|
||||
&mut self.service_distributor
|
||||
}
|
||||
}
|
||||
|
||||
#[cfg(test)]
|
||||
mod tests {
|
||||
use super::*;
|
||||
use crate::queue::GenericSendError;
|
||||
use crate::tmtc::ccsds_distrib::tests::{
|
||||
generate_ping_tc, generate_ping_tc_as_vec, BasicApidHandlerOwnedQueue,
|
||||
BasicApidHandlerSharedQueue,
|
||||
};
|
||||
use crate::tmtc::ccsds_distrib::{CcsdsDistributor, CcsdsPacketHandler};
|
||||
use alloc::format;
|
||||
use alloc::vec::Vec;
|
||||
use spacepackets::ecss::PusError;
|
||||
use spacepackets::CcsdsPacket;
|
||||
#[cfg(feature = "std")]
|
||||
use std::collections::VecDeque;
|
||||
#[cfg(feature = "std")]
|
||||
use std::sync::{Arc, Mutex};
|
||||
|
||||
fn is_send<T: Send>(_: &T) {}
|
||||
|
||||
pub struct PacketInfo {
|
||||
pub service: u8,
|
||||
pub apid: u16,
|
||||
pub packet: Vec<u8>,
|
||||
}
|
||||
|
||||
struct PusHandlerSharedQueue(Arc<Mutex<VecDeque<PacketInfo>>>);
|
||||
|
||||
#[derive(Default)]
|
||||
struct PusHandlerOwnedQueue(VecDeque<PacketInfo>);
|
||||
|
||||
impl PusServiceDistributor for PusHandlerSharedQueue {
|
||||
type Error = PusError;
|
||||
fn distribute_packet(
|
||||
&mut self,
|
||||
service: u8,
|
||||
sp_header: &SpHeader,
|
||||
pus_tc: &PusTcReader,
|
||||
) -> Result<(), Self::Error> {
|
||||
let mut packet: Vec<u8> = Vec::new();
|
||||
packet.extend_from_slice(pus_tc.raw_data());
|
||||
self.0
|
||||
.lock()
|
||||
.expect("Mutex lock failed")
|
||||
.push_back(PacketInfo {
|
||||
service,
|
||||
apid: sp_header.apid(),
|
||||
packet,
|
||||
});
|
||||
Ok(())
|
||||
}
|
||||
}
|
||||
|
||||
impl PusServiceDistributor for PusHandlerOwnedQueue {
|
||||
type Error = PusError;
|
||||
fn distribute_packet(
|
||||
&mut self,
|
||||
service: u8,
|
||||
sp_header: &SpHeader,
|
||||
pus_tc: &PusTcReader,
|
||||
) -> Result<(), Self::Error> {
|
||||
let mut packet: Vec<u8> = Vec::new();
|
||||
packet.extend_from_slice(pus_tc.raw_data());
|
||||
self.0.push_back(PacketInfo {
|
||||
service,
|
||||
apid: sp_header.apid(),
|
||||
packet,
|
||||
});
|
||||
Ok(())
|
||||
}
|
||||
}
|
||||
|
||||
struct ApidHandlerShared {
|
||||
pub pus_distrib: PusDistributor<PusHandlerSharedQueue, PusError>,
|
||||
pub handler_base: BasicApidHandlerSharedQueue,
|
||||
}
|
||||
|
||||
struct ApidHandlerOwned {
|
||||
pub pus_distrib: PusDistributor<PusHandlerOwnedQueue, 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]
|
||||
fn test_pus_distribution_as_raw_packet() {
|
||||
let mut pus_distrib = PusDistributor::new(PusHandlerOwnedQueue::default());
|
||||
let tc = generate_ping_tc_as_vec();
|
||||
let result = pus_distrib.pass_tc(&tc);
|
||||
assert!(result.is_ok());
|
||||
assert_eq!(pus_distrib.service_distributor_mut().0.len(), 1);
|
||||
let packet_info = pus_distrib.service_distributor_mut().0.pop_front().unwrap();
|
||||
assert_eq!(packet_info.service, 17);
|
||||
assert_eq!(packet_info.apid, 0x002);
|
||||
assert_eq!(packet_info.packet, tc);
|
||||
}
|
||||
|
||||
#[test]
|
||||
fn test_pus_distribution_combined_handler() {
|
||||
let known_packet_queue = Arc::new(Mutex::default());
|
||||
let unknown_packet_queue = Arc::new(Mutex::default());
|
||||
let pus_queue = Arc::new(Mutex::default());
|
||||
let pus_handler = PusHandlerSharedQueue(pus_queue.clone());
|
||||
let handler_base = BasicApidHandlerSharedQueue {
|
||||
known_packet_queue: known_packet_queue.clone(),
|
||||
unknown_packet_queue: unknown_packet_queue.clone(),
|
||||
};
|
||||
|
||||
let pus_distrib = PusDistributor::new(pus_handler);
|
||||
is_send(&pus_distrib);
|
||||
let apid_handler = ApidHandlerShared {
|
||||
pus_distrib,
|
||||
handler_base,
|
||||
};
|
||||
let mut ccsds_distrib = CcsdsDistributor::new(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 packet_info = recvd_pus.unwrap();
|
||||
assert_eq!(packet_info.service, 17);
|
||||
assert_eq!(packet_info.apid, 0x002);
|
||||
assert_eq!(packet_info.packet, tc_slice);
|
||||
}
|
||||
|
||||
#[test]
|
||||
fn test_accessing_combined_distributor() {
|
||||
let pus_handler = PusHandlerOwnedQueue::default();
|
||||
let handler_base = BasicApidHandlerOwnedQueue::default();
|
||||
let pus_distrib = PusDistributor::new(pus_handler);
|
||||
|
||||
let apid_handler = ApidHandlerOwned {
|
||||
pus_distrib,
|
||||
handler_base,
|
||||
};
|
||||
let mut ccsds_distrib = CcsdsDistributor::new(apid_handler);
|
||||
|
||||
let mut test_buf: [u8; 32] = [0; 32];
|
||||
let tc_slice = generate_ping_tc(test_buf.as_mut_slice());
|
||||
|
||||
ccsds_distrib
|
||||
.pass_tc(tc_slice)
|
||||
.expect("Passing TC slice failed");
|
||||
|
||||
let apid_handler_casted_back = ccsds_distrib.packet_handler_mut();
|
||||
assert!(!apid_handler_casted_back
|
||||
.handler_base
|
||||
.known_packet_queue
|
||||
.is_empty());
|
||||
let handler_owned_queue = apid_handler_casted_back
|
||||
.pus_distrib
|
||||
.service_distributor_mut();
|
||||
assert!(!handler_owned_queue.0.is_empty());
|
||||
let packet_info = handler_owned_queue.0.pop_front().unwrap();
|
||||
assert_eq!(packet_info.service, 17);
|
||||
assert_eq!(packet_info.apid, 0x002);
|
||||
assert_eq!(packet_info.packet, tc_slice);
|
||||
}
|
||||
|
||||
#[test]
|
||||
fn test_pus_distrib_error_custom_error() {
|
||||
let error = PusDistribError::CustomError(GenericSendError::RxDisconnected);
|
||||
let error_string = format!("{}", error);
|
||||
assert_eq!(
|
||||
error_string,
|
||||
"pus distribution error: rx side has disconnected"
|
||||
);
|
||||
}
|
||||
|
||||
#[test]
|
||||
fn test_pus_distrib_error_pus_error() {
|
||||
let error = PusDistribError::<GenericSendError>::PusError(PusError::CrcCalculationMissing);
|
||||
let error_string = format!("{}", error);
|
||||
assert_eq!(
|
||||
error_string,
|
||||
"pus distribution error: crc16 was not calculated"
|
||||
);
|
||||
}
|
||||
}
|
||||
@ -3,6 +3,50 @@ use spacepackets::time::cds::CdsTime;
|
||||
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, StoreError,
|
||||
};
|
||||
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(|_| StoreError::LockError)?;
|
||||
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],
|
||||
@ -48,9 +92,9 @@ 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)
|
||||
}
|
||||
}
|
||||
|
||||
|
||||
@ -79,7 +79,7 @@ impl ModeRequestHandler for TestDevice {
|
||||
Ok(())
|
||||
}
|
||||
|
||||
fn announce_mode(&self, _requestor_info: Option<MessageMetadata>, _recursive: bool) {
|
||||
fn announce_mode(&self, _requestor_info: MessageMetadata, _recursive: bool) {
|
||||
println!(
|
||||
"{}: announcing mode: {:?}",
|
||||
self.name, self.mode_and_submode
|
||||
@ -150,11 +150,9 @@ impl TestAssembly {
|
||||
ModeReply::ModeReply(self.mode_and_submode),
|
||||
)
|
||||
.unwrap(),
|
||||
ModeRequest::AnnounceMode => {
|
||||
self.announce_mode(Some(request.requestor_info), false)
|
||||
}
|
||||
ModeRequest::AnnounceMode => self.announce_mode(request.requestor_info, false),
|
||||
ModeRequest::AnnounceModeRecursive => {
|
||||
self.announce_mode(Some(request.requestor_info), true)
|
||||
self.announce_mode(request.requestor_info, true)
|
||||
}
|
||||
ModeRequest::ModeInfo(_) => todo!(),
|
||||
}
|
||||
@ -199,7 +197,7 @@ impl ModeRequestHandler for TestAssembly {
|
||||
Ok(())
|
||||
}
|
||||
|
||||
fn announce_mode(&self, requestor_info: Option<MessageMetadata>, recursive: bool) {
|
||||
fn announce_mode(&self, requestor_info: MessageMetadata, recursive: bool) {
|
||||
println!(
|
||||
"TestAssembly: Announcing mode (recursively: {}): {:?}",
|
||||
recursive, self.mode_and_submode
|
||||
@ -209,7 +207,6 @@ impl ModeRequestHandler for TestAssembly {
|
||||
if recursive {
|
||||
mode_request = ModeRequest::AnnounceModeRecursive;
|
||||
}
|
||||
let request_id = requestor_info.map_or(0, |info| info.request_id());
|
||||
self.mode_node
|
||||
.request_sender_map
|
||||
.0
|
||||
@ -217,7 +214,10 @@ impl ModeRequestHandler for TestAssembly {
|
||||
.for_each(|(_, sender)| {
|
||||
sender
|
||||
.send(GenericMessage::new(
|
||||
MessageMetadata::new(request_id, self.mode_node.local_channel_id_generic()),
|
||||
MessageMetadata::new(
|
||||
requestor_info.request_id(),
|
||||
self.mode_node.local_channel_id_generic(),
|
||||
),
|
||||
mode_request,
|
||||
))
|
||||
.expect("sending mode request failed");
|
||||
|
||||
@ -1,4 +1,4 @@
|
||||
use satrs::pool::{PoolAddr, PoolGuard, PoolProvider, StaticMemoryPool, StaticPoolConfig};
|
||||
use satrs::pool::{PoolGuard, PoolProvider, StaticMemoryPool, StaticPoolConfig, StoreAddr};
|
||||
use std::ops::DerefMut;
|
||||
use std::sync::mpsc;
|
||||
use std::sync::mpsc::{Receiver, Sender};
|
||||
@ -12,7 +12,7 @@ fn threaded_usage() {
|
||||
let pool_cfg = StaticPoolConfig::new(vec![(16, 6), (32, 3), (8, 12)], false);
|
||||
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");
|
||||
|
||||
@ -1,14 +1,12 @@
|
||||
use satrs::event_man::{
|
||||
EventManagerWithMpsc, EventMessage, EventMessageU32, EventRoutingError, EventSendProvider,
|
||||
EventU32SenderMpsc, MpscEventU32Receiver,
|
||||
EventManagerWithMpsc, EventSendProvider, EventU32SenderMpsc, MpscEventU32Receiver,
|
||||
};
|
||||
use satrs::events::{EventU32, EventU32TypedSev, Severity, SeverityInfo};
|
||||
use satrs::params::U32Pair;
|
||||
use satrs::params::{Params, ParamsHeapless, WritableToBeBytes};
|
||||
use satrs::pus::event_man::{DefaultPusEventMgmtBackend, EventReporter, PusEventDispatcher};
|
||||
use satrs::pus::test_util::TEST_COMPONENT_ID_0;
|
||||
use satrs::pus::PusTmAsVec;
|
||||
use satrs::request::UniqueApidTargetId;
|
||||
use satrs::tmtc::PacketAsVec;
|
||||
use spacepackets::ecss::tm::PusTmReader;
|
||||
use spacepackets::ecss::{PusError, PusPacket};
|
||||
use std::sync::mpsc::{self, SendError, TryRecvError};
|
||||
@ -37,30 +35,28 @@ fn test_threaded_usage() {
|
||||
let pus_event_man_send_provider = EventU32SenderMpsc::new(1, pus_event_man_tx);
|
||||
event_man.subscribe_all(pus_event_man_send_provider.target_id());
|
||||
event_man.add_sender(pus_event_man_send_provider);
|
||||
let (event_tx, event_rx) = mpsc::channel::<PacketAsVec>();
|
||||
let (event_tx, event_rx) = mpsc::channel::<PusTmAsVec>();
|
||||
let reporter =
|
||||
EventReporter::new(TEST_ID.raw(), 0x02, 0, 128).expect("Creating event reporter failed");
|
||||
EventReporter::new(TEST_ID.raw(), 0x02, 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:?}");
|
||||
};
|
||||
// PUS + Generic event manager thread
|
||||
let jh0 = thread::spawn(move || {
|
||||
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) => {
|
||||
Ok((event, aux_data)) => {
|
||||
let gen_event = |aux_data| {
|
||||
pus_event_man.generate_pus_event_tm_generic(
|
||||
&event_tx,
|
||||
&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) => {
|
||||
@ -101,10 +97,7 @@ 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() {
|
||||
@ -130,11 +123,7 @@ 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, Some(Params::Heapless((2_u32, 3_u32).into()))))
|
||||
.expect("Sending low severity event failed");
|
||||
loop {
|
||||
match event_rx.try_recv() {
|
||||
|
||||
@ -2,20 +2,24 @@
|
||||
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::tmtc::{PacketSenderWithSharedPool, SharedStaticMemoryPool};
|
||||
use satrs::pus::TmInSharedPoolSenderWithCrossbeam;
|
||||
use satrs::request::UniqueApidTargetId;
|
||||
use satrs::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 TEST_ID: TargetAndApidId = TargetAndApidId::new(TEST_APID, 0x05);
|
||||
|
||||
const FIXED_STAMP: [u8; 7] = [0; 7];
|
||||
const PACKETS_SENT: u8 = 8;
|
||||
|
||||
@ -35,16 +39,13 @@ pub mod crossbeam_test {
|
||||
// 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 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);
|
||||
let sender_0 = TmInSharedPoolSenderWithCrossbeam::new(shared_tm_pool.clone(), tx.clone());
|
||||
let sender_1 = sender_0.clone();
|
||||
let mut reporter_with_sender_0 = VerificationReporter::new(&cfg);
|
||||
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 +55,10 @@ 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 +66,9 @@ 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 +84,7 @@ 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 +92,36 @@ 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(TEST_ID.raw(), &sender_0, token, &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(TEST_ID.raw(), &sender_0, accepted_token, &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(
|
||||
TEST_ID.raw(),
|
||||
&sender_0,
|
||||
&started_token,
|
||||
&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(
|
||||
TEST_ID.raw(),
|
||||
&sender_0,
|
||||
&started_token,
|
||||
&FIXED_STAMP,
|
||||
EcssEnumU8::new(1),
|
||||
)
|
||||
.expect("Start success failed");
|
||||
reporter_with_sender_0
|
||||
.completion_success(&sender, started_token, &FIXED_STAMP)
|
||||
.completion_success(TEST_ID.raw(), &sender_0, started_token, &FIXED_STAMP)
|
||||
.expect("Completion success failed");
|
||||
});
|
||||
|
||||
@ -126,15 +139,15 @@ 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(TEST_ID.raw(), &sender_1, token, &FIXED_STAMP)
|
||||
.expect("Acceptance success failed");
|
||||
let started_token = reporter_with_sender_1
|
||||
.start_success(&sender_1, accepted_token, &FIXED_STAMP)
|
||||
.start_success(TEST_ID.raw(), &sender_1, accepted_token, &FIXED_STAMP)
|
||||
.expect("Start success failed");
|
||||
let fail_code = EcssEnumU16::new(2);
|
||||
let params = FailParams::new_no_fail_data(&FIXED_STAMP, &fail_code);
|
||||
reporter_with_sender_1
|
||||
.completion_failure(&sender_1, started_token, params)
|
||||
.completion_failure(TEST_ID.raw(), &sender_1, started_token, params)
|
||||
.expect("Completion success failed");
|
||||
});
|
||||
|
||||
@ -147,8 +160,9 @@ pub mod crossbeam_test {
|
||||
.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 mut rg = shared_tm_store.write().expect("Error locking shared pool");
|
||||
let store_guard = rg.read_with_guard(tm_in_pool.store_addr);
|
||||
tm_len = store_guard
|
||||
.read(&mut tm_buf)
|
||||
|
||||
@ -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,
|
||||
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);
|
||||
}
|
||||
|
||||
Reference in New Issue
Block a user