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OBSW-Client Example #11

Merged
muellerr merged 44 commits from obsw-client-example into main 2022-09-11 16:33:17 +02:00
Conversation 0 Commits 44 Files Changed 26 +2864 -273
26 changed files with 2864 additions and 273 deletions
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19
.idea/runConfigurations/Run_obsw_client_example.xml Normal file
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@ -0,0 +1,19 @@
<component name="ProjectRunConfigurationManager">
<configuration default="false" name="Run obsw client example" type="CargoCommandRunConfiguration" factoryName="Cargo Command">
<option name="command" value="run --package fsrc-example --bin client" />
<option name="workingDirectory" value="file://$PROJECT_DIR$" />
<option name="channel" value="DEFAULT" />
<option name="requiredFeatures" value="true" />
<option name="allFeatures" value="false" />
<option name="emulateTerminal" value="false" />
<option name="withSudo" value="false" />
<option name="buildTarget" value="REMOTE" />
<option name="backtrace" value="SHORT" />
<envs />
<option name="isRedirectInput" value="false" />
<option name="redirectInputPath" value="" />
<method v="2">
<option name="CARGO.BUILD_TASK_PROVIDER" enabled="true" />
</method>
</configuration>
</component>

19
.idea/runConfigurations/Run_obsw_example.xml Normal file
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@ -0,0 +1,19 @@
<component name="ProjectRunConfigurationManager">
<configuration default="false" name="Run obsw example" type="CargoCommandRunConfiguration" factoryName="Cargo Command">
<option name="command" value="run --package fsrc-example --bin obsw" />
<option name="workingDirectory" value="file://$PROJECT_DIR$" />
<option name="channel" value="DEFAULT" />
<option name="requiredFeatures" value="true" />
<option name="allFeatures" value="false" />
<option name="emulateTerminal" value="false" />
<option name="withSudo" value="false" />
<option name="buildTarget" value="REMOTE" />
<option name="backtrace" value="SHORT" />
<envs />
<option name="isRedirectInput" value="false" />
<option name="redirectInputPath" value="" />
<method v="2">
<option name="CARGO.BUILD_TASK_PROVIDER" enabled="true" />
</method>
</configuration>
</component>

268
Cargo.lock generated
View File

@ -15,24 +15,27 @@ dependencies = [
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@ -78,17 +81,16 @@ checksum = "bef38d45163c2f1dde094a7dfd33ccf595c92905c8f8f4fdc18d06fb1037718a"
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@ -100,12 +102,6 @@ version = "1.4.3"
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@ -114,26 +110,16 @@ checksum = "baf1de4339761588bc0619e3cbc0120ee582ebb74b53b4efbf79117bd2da40fd"
[[package]]
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@ -141,10 +127,16 @@ source = "registry+https://github.com/rust-lang/crates.io-index"
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@ -174,30 +166,29 @@ source = "registry+https://github.com/rust-lang/crates.io-index"
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@ -211,6 +202,17 @@ dependencies = [
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@ -232,7 +234,8 @@ name = "fsrc-core"
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dependencies = [
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@ -240,7 +243,6 @@ dependencies = [
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"thiserror",
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]
@ -248,6 +250,9 @@ dependencies = [
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dependencies = [
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"spacepackets",
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@ -257,7 +262,7 @@ version = "0.2.7"
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@ -282,9 +287,9 @@ dependencies = [
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@ -303,6 +308,20 @@ dependencies = [
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@ -320,15 +339,15 @@ checksum = "e2abad23fbc42b3700f2f279844dc832adb2b2eb069b2df918f455c4e18cc646"
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@ -401,29 +414,28 @@ dependencies = [
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@ -432,33 +444,36 @@ dependencies = [
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@ -467,9 +482,9 @@ dependencies = [
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@ -507,7 +522,7 @@ version = "0.4.0"
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@ -527,9 +542,9 @@ dependencies = [
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@ -539,18 +554,18 @@ checksum = "388a1df253eca08550bef6c72392cfe7c30914bf41df5269b68cbd6ff8f570a3"
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@ -593,9 +608,9 @@ checksum = "a8f112729512f8e442d81f95a8a7ddf2b7c6b8a1a6f509a95864142b30cab2d3"
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@ -614,31 +629,11 @@ dependencies = [
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dependencies = [
"windows_aarch64_msvc",
"windows_i686_gnu",
"windows_i686_msvc",
"windows_x86_64_gnu",
"windows_x86_64_msvc",
]
[[package]]
name = "windows_aarch64_msvc"
version = "0.36.1"
source = "registry+https://github.com/rust-lang/crates.io-index"
checksum = "9bb8c3fd39ade2d67e9874ac4f3db21f0d710bee00fe7cab16949ec184eeaa47"
[[package]]
name = "windows_i686_gnu"
version = "0.36.1"
source = "registry+https://github.com/rust-lang/crates.io-index"
checksum = "180e6ccf01daf4c426b846dfc66db1fc518f074baa793aa7d9b9aaeffad6a3b6"
[[package]]
name = "windows_i686_msvc"
version = "0.36.1"
source = "registry+https://github.com/rust-lang/crates.io-index"
checksum = "e2e7917148b2812d1eeafaeb22a97e4813dfa60a3f8f78ebe204bcc88f12f024"
[[package]]
name = "windows_x86_64_gnu"
version = "0.36.1"
source = "registry+https://github.com/rust-lang/crates.io-index"
checksum = "4dcd171b8776c41b97521e5da127a2d86ad280114807d0b2ab1e462bc764d9e1"
[[package]]
name = "windows_x86_64_msvc"
version = "0.36.1"
source = "registry+https://github.com/rust-lang/crates.io-index"
checksum = "c811ca4a8c853ef420abd8592ba53ddbbac90410fab6903b3e79972a631f7680"
[[package]]
name = "zerocopy"
version = "0.6.1"

13
fsrc-core/Cargo.toml
View File

@ -6,8 +6,7 @@ edition = "2021"
# See more keys and their definitions at https://doc.rust-lang.org/cargo/reference/manifest.html
[dependencies]
thiserror = "1.0"
delegate = "0.7.0"
delegate = "0.8.0"
hashbrown = "0.12.3"
[dependencies.num-traits]
@ -22,17 +21,23 @@ default-features = false
version = "2.2.3"
optional = true
[dependencies.crossbeam-channel]
version= "0.5"
default-features = false
[dependencies.spacepackets]
path = "../spacepackets"
[dev-dependencies]
postcard = { version = "1.0.1", features = ["use-std"] }
serde = "1.0.143"
zerocopy = "0.6.1"
once_cell = "1.13.1"
[dev-dependencies.postcard]
version = "1.0.1"
[features]
default = ["std"]
std = ["downcast-rs/std", "alloc", "bus"]
std = ["downcast-rs/std", "alloc", "bus", "postcard/use-std", "crossbeam-channel/std"]
alloc = []

1
fsrc-core/src/hal/host/mod.rs
View File

@ -1 +1,2 @@
//! Helper modules intended to be used on hosts with a full [std] runtime
pub mod udp_server;

192
fsrc-core/src/hal/host/udp_server.rs
View File

@ -1,40 +1,200 @@
use crate::hal::host::udp_server::ReceiveResult::{IoError, ReceiverError};
//! UDP server helper components
use crate::tmtc::ReceivesTc;
use std::boxed::Box;
use std::io::{Error, ErrorKind};
use std::net::{SocketAddr, ToSocketAddrs, UdpSocket};
use std::vec;
use std::vec::Vec;
pub struct UdpTmtcServer<E> {
socket: UdpSocket,
/// This TC server helper can be used to receive raw PUS telecommands thorough a UDP interface.
///
/// 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
/// 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
/// [ReceivesTc::pass_tc] call.
///
/// # Examples
///
/// ```
/// use std::net::{IpAddr, Ipv4Addr, SocketAddr, UdpSocket};
/// use fsrc_core::hal::host::udp_server::UdpTcServer;
/// use fsrc_core::tmtc::ReceivesTc;
/// use spacepackets::SpHeader;
/// use spacepackets::tc::PusTc;
///
/// #[derive (Default)]
/// struct PingReceiver {}
/// impl ReceivesTc for PingReceiver {
/// type Error = ();
/// fn pass_tc(&mut self, tc_raw: &[u8]) -> Result<(), Self::Error> {
/// assert_eq!(tc_raw.len(), 13);
/// Ok(())
/// }
/// }
///
/// let mut buf = [0; 32];
/// let dest_addr = SocketAddr::new(IpAddr::V4(Ipv4Addr::new(127, 0, 0, 1)), 7777);
/// 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 mut sph = SpHeader::tc(0x02, 0, 0).unwrap();
/// let pus_tc = PusTc::new_simple(&mut sph, 17, 1, None, true);
/// let len = pus_tc
/// .write_to(&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(&buf[0..len], dest_addr)
/// .expect("Error sending PUS TC via UDP");
/// ```
///
/// The [fsrc-example crate](https://egit.irs.uni-stuttgart.de/rust/fsrc-launchpad/src/branch/main/fsrc-example)
/// server code also includes
/// [example code](https://egit.irs.uni-stuttgart.de/rust/fsrc-launchpad/src/branch/main/fsrc-example/src/bin/obsw/tmtc.rs)
/// 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<E> {
pub socket: UdpSocket,
recv_buf: Vec<u8>,
sender_addr: Option<SocketAddr>,
tc_receiver: Box<dyn ReceivesTc<Error = E>>,
}
#[derive(Debug)]
pub enum ReceiveResult<E> {
IoError(std::io::Error),
NothingReceived,
IoError(Error),
ReceiverError(E),
}
impl<E> UdpTmtcServer<E> {
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> UdpTcServer<E> {
pub fn new<A: ToSocketAddrs>(
addr: A,
max_recv_size: usize,
tc_receiver: Box<dyn ReceivesTc<Error = E>>,
) -> Result<Self, std::io::Error> {
Ok(Self {
) -> Result<Self, Error> {
let server = Self {
socket: UdpSocket::bind(addr)?,
recv_buf: Vec::with_capacity(max_recv_size),
recv_buf: vec![0; max_recv_size],
sender_addr: None,
tc_receiver,
})
};
server.socket.set_nonblocking(true)?;
Ok(server)
}
pub fn recv_tc(&mut self) -> Result<(usize, SocketAddr), ReceiveResult<E>> {
let res = self
.socket
.recv_from(&mut self.recv_buf)
.map_err(|e| IoError(e))?;
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) => {
return if e.kind() == ErrorKind::WouldBlock || e.kind() == ErrorKind::TimedOut {
Err(ReceiveResult::NothingReceived)
} else {
Err(e.into())
}
}
};
let (num_bytes, from) = res;
self.sender_addr = Some(from);
self.tc_receiver
.pass_tc(&self.recv_buf[0..res.0])
.map_err(|e| ReceiverError(e))?;
.pass_tc(&self.recv_buf[0..num_bytes])
.map_err(|e| ReceiveResult::ReceiverError(e))?;
Ok(res)
}
pub fn last_sender(&self) -> Option<SocketAddr> {
self.sender_addr
}
}
#[cfg(test)]
mod tests {
use crate::hal::host::udp_server::{ReceiveResult, UdpTcServer};
use crate::tmtc::ReceivesTc;
use spacepackets::tc::PusTc;
use spacepackets::SpHeader;
use std::boxed::Box;
use std::collections::VecDeque;
use std::net::{IpAddr, Ipv4Addr, SocketAddr, UdpSocket};
use std::vec::Vec;
#[derive(Default)]
struct PingReceiver {
pub sent_cmds: VecDeque<Vec<u8>>,
}
impl ReceivesTc for PingReceiver {
type Error = ();
fn pass_tc(&mut self, tc_raw: &[u8]) -> Result<(), Self::Error> {
let mut sent_data = Vec::new();
sent_data.extend_from_slice(tc_raw);
self.sent_cmds.push_back(sent_data);
Ok(())
}
}
#[test]
fn basic_test() {
let mut buf = [0; 32];
let dest_addr = SocketAddr::new(IpAddr::V4(Ipv4Addr::new(127, 0, 0, 1)), 7777);
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 mut sph = SpHeader::tc(0x02, 0, 0).unwrap();
let pus_tc = PusTc::new_simple(&mut sph, 17, 1, None, true);
let len = pus_tc
.write_to(&mut buf)
.expect("Error writing PUS TC packet");
let client = UdpSocket::bind("127.0.0.1:7778").expect("Connecting to UDP server failed");
client
.send_to(&buf[0..len], dest_addr)
.expect("Error sending PUS TC via UDP");
let local_addr = client.local_addr().unwrap();
udp_tc_server
.try_recv_tc()
.expect("Error receiving sent telecommand");
assert_eq!(
udp_tc_server.last_sender().expect("No sender set"),
local_addr
);
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]);
}
#[test]
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(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();
assert_eq!(err, ReceiveResult::NothingReceived);
}
}

3
fsrc-core/src/hal/mod.rs
View File

@ -1,2 +1,3 @@
#[cfg(feature = "use_std")]
//! # Hardware Abstraction Layer module
#[cfg(feature = "std")]
pub mod host;

1
fsrc-core/src/lib.rs
View File

@ -23,6 +23,7 @@ pub mod hal;
pub mod objects;
#[cfg(feature = "alloc")]
pub mod pool;
pub mod pus;
pub mod tmtc;
extern crate downcast_rs;

218
fsrc-core/src/pool.rs
View File

@ -6,14 +6,14 @@
//! embedded environments. The pool implementation will also track the size of the data stored
//! inside it.
//!
//! Transaction with the [pool][LocalPool] are done using a special [address][StoreAddr] type.
//! Transactions with the [pool][LocalPool] are done using a special [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.
//!
//! # Example
//!
//! ```
//! use fsrc_core::pool::{LocalPool, PoolCfg};
//! use fsrc_core::pool::{LocalPool, PoolCfg, PoolProvider};
//!
//! // 4 buckets of 4 bytes, 2 of 8 bytes and 1 of 16 bytes
//! let pool_cfg = PoolCfg::new(vec![(4, 4), (2, 8), (1, 16)]);
@ -78,15 +78,25 @@ use alloc::string::String;
use alloc::vec;
use alloc::vec::Vec;
use delegate::delegate;
#[cfg(feature = "std")]
use std::boxed::Box;
#[cfg(feature = "std")]
use std::sync::{Arc, RwLock};
type NumBlocks = u16;
#[cfg(feature = "std")]
pub type ShareablePoolProvider = Box<dyn PoolProvider + Send + Sync>;
#[cfg(feature = "std")]
pub type SharedPool = Arc<RwLock<ShareablePoolProvider>>;
/// Configuration structure of the [local pool][LocalPool]
///
/// # Parameters
///
/// * `cfg`: Vector of tuples which represent a subpool. The first entry in the tuple specifies the
/// number of memory blocks in the subpool, the second entry the size of the blocks
#[derive(Clone)]
pub struct PoolCfg {
cfg: Vec<(NumBlocks, usize)>,
}
@ -150,10 +160,52 @@ pub enum StoreError {
InternalError(String),
}
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 [StoreAddr] which can
/// be used to access the data stored in the pool
fn add(&mut self, data: &[u8]) -> Result<StoreAddr, StoreError>;
/// The provider should attempt to reserve a free memory block with the appropriate size and
/// then return a mutable reference to it. Yields a [StoreAddr] which can be used to access
/// the data stored in the pool
fn free_element(&mut self, len: usize) -> Result<(StoreAddr, &mut [u8]), StoreError>;
/// Modify data added previously using a given [StoreAddr] by yielding a mutable reference
/// to it
fn modify(&mut self, addr: &StoreAddr) -> Result<&mut [u8], StoreError>;
/// This function behaves like [Self::modify], but consumes the provided address and returns a
/// RAII conformant guard object.
///
/// Unless the guard [PoolRwGuard::release] method is called, the data for the
/// given address will be deleted automatically when the guard is dropped.
/// 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: StoreAddr) -> PoolRwGuard;
/// Read data by yielding a read-only reference given a [StoreAddr]
fn read(&self, addr: &StoreAddr) -> Result<&[u8], StoreError>;
/// This function behaves like [Self::read], but consumes the provided address and returns a
/// RAII conformant guard object.
///
/// Unless the guard [PoolRwGuard::release] method is called, the data for the
/// given address will be deleted automatically when the guard is dropped.
/// 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: StoreAddr) -> PoolGuard;
/// 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>;
}
impl LocalPool {
const STORE_FREE: PoolSize = PoolSize::MAX;
const MAX_SIZE: PoolSize = Self::STORE_FREE - 1;
/// Create a new local pool from the [given configuration][PoolCfg]. This function will sanitize
/// the given configuration as well.
pub fn new(mut cfg: PoolCfg) -> LocalPool {
@ -174,96 +226,6 @@ impl LocalPool {
local_pool
}
/// Add new data to the pool. It will attempt to reserve a memory block with the 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
pub fn add(&mut self, data: &[u8]) -> Result<StoreAddr, StoreError> {
let data_len = data.len();
if data_len > Self::MAX_SIZE {
return Err(StoreError::DataTooLarge(data_len));
}
let addr = self.reserve(data_len)?;
self.write(&addr, data)?;
Ok(addr)
}
/// Reserves a free memory block with the appropriate size and returns a mutable reference
/// to it. Yields a [StoreAddr] which can be used to access the data stored in the pool
pub fn free_element(&mut self, len: usize) -> Result<(StoreAddr, &mut [u8]), StoreError> {
if len > Self::MAX_SIZE {
return Err(StoreError::DataTooLarge(len));
}
let addr = self.reserve(len)?;
let raw_pos = self.raw_pos(&addr).unwrap();
let block = &mut self.pool.get_mut(addr.pool_idx as usize).unwrap()[raw_pos..len];
Ok((addr, block))
}
/// Modify data added previously using a given [StoreAddr] by yielding a mutable reference
/// to it
pub fn modify(&mut self, addr: &StoreAddr) -> Result<&mut [u8], StoreError> {
let curr_size = self.addr_check(addr)?;
let raw_pos = self.raw_pos(addr).unwrap();
let block = &mut self.pool.get_mut(addr.pool_idx as usize).unwrap()[raw_pos..curr_size];
Ok(block)
}
/// This function behaves like [Self::modify], but consumes the provided address and returns a
/// RAII conformant guard object.
///
/// Unless the guard [PoolRwGuard::release] method is called, the data for the
/// given address will be deleted automatically when the guard is dropped.
/// 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.
pub fn modify_with_guard(&mut self, addr: StoreAddr) -> PoolRwGuard {
PoolRwGuard::new(self, addr)
}
/// Read data by yielding a read-only reference given a [StoreAddr]
pub fn read(&self, addr: &StoreAddr) -> Result<&[u8], StoreError> {
let curr_size = self.addr_check(addr)?;
let raw_pos = self.raw_pos(addr).unwrap();
let block = &self.pool.get(addr.pool_idx as usize).unwrap()[raw_pos..raw_pos + curr_size];
Ok(block)
}
/// This function behaves like [Self::read], but consumes the provided address and returns a
/// RAII conformant guard object.
///
/// Unless the guard [PoolRwGuard::release] method is called, the data for the
/// given address will be deleted automatically when the guard is dropped.
/// 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.
pub fn read_with_guard(&mut self, addr: StoreAddr) -> PoolGuard {
PoolGuard::new(self, addr)
}
/// Delete data inside the pool given a [StoreAddr]
pub fn delete(&mut self, addr: StoreAddr) -> Result<(), StoreError> {
self.addr_check(&addr)?;
let block_size = self.pool_cfg.cfg.get(addr.pool_idx as usize).unwrap().1;
let raw_pos = self.raw_pos(&addr).unwrap();
let block =
&mut self.pool.get_mut(addr.pool_idx as usize).unwrap()[raw_pos..raw_pos + block_size];
let size_list = self.sizes_lists.get_mut(addr.pool_idx as usize).unwrap();
size_list[addr.packet_idx as usize] = Self::STORE_FREE;
block.fill(0);
Ok(())
}
pub fn has_element_at(&self, addr: &StoreAddr) -> Result<bool, 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 == Self::STORE_FREE {
return Ok(false);
}
Ok(true)
}
fn addr_check(&self, addr: &StoreAddr) -> Result<usize, StoreError> {
self.validate_addr(addr)?;
let pool_idx = addr.pool_idx as usize;
@ -354,6 +316,73 @@ impl LocalPool {
}
}
impl PoolProvider for LocalPool {
fn add(&mut self, data: &[u8]) -> Result<StoreAddr, StoreError> {
let data_len = data.len();
if data_len > Self::MAX_SIZE {
return Err(StoreError::DataTooLarge(data_len));
}
let addr = self.reserve(data_len)?;
self.write(&addr, data)?;
Ok(addr)
}
fn free_element(&mut self, len: usize) -> Result<(StoreAddr, &mut [u8]), StoreError> {
if len > Self::MAX_SIZE {
return Err(StoreError::DataTooLarge(len));
}
let addr = self.reserve(len)?;
let raw_pos = self.raw_pos(&addr).unwrap();
let block = &mut self.pool.get_mut(addr.pool_idx as usize).unwrap()[raw_pos..raw_pos + len];
Ok((addr, block))
}
fn modify(&mut self, addr: &StoreAddr) -> Result<&mut [u8], StoreError> {
let curr_size = self.addr_check(addr)?;
let raw_pos = self.raw_pos(addr).unwrap();
let block = &mut self.pool.get_mut(addr.pool_idx as usize).unwrap()[raw_pos..curr_size];
Ok(block)
}
fn modify_with_guard(&mut self, addr: StoreAddr) -> PoolRwGuard {
PoolRwGuard::new(self, addr)
}
fn read(&self, addr: &StoreAddr) -> Result<&[u8], StoreError> {
let curr_size = self.addr_check(addr)?;
let raw_pos = self.raw_pos(addr).unwrap();
let block = &self.pool.get(addr.pool_idx as usize).unwrap()[raw_pos..raw_pos + curr_size];
Ok(block)
}
fn read_with_guard(&mut self, addr: StoreAddr) -> PoolGuard {
PoolGuard::new(self, addr)
}
fn delete(&mut self, addr: StoreAddr) -> Result<(), StoreError> {
self.addr_check(&addr)?;
let block_size = self.pool_cfg.cfg.get(addr.pool_idx as usize).unwrap().1;
let raw_pos = self.raw_pos(&addr).unwrap();
let block =
&mut self.pool.get_mut(addr.pool_idx as usize).unwrap()[raw_pos..raw_pos + block_size];
let size_list = self.sizes_lists.get_mut(addr.pool_idx as usize).unwrap();
size_list[addr.packet_idx as usize] = Self::STORE_FREE;
block.fill(0);
Ok(())
}
fn has_element_at(&self, addr: &StoreAddr) -> Result<bool, 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 == Self::STORE_FREE {
return Ok(false);
}
Ok(true)
}
}
pub struct PoolGuard<'a> {
pool: &'a mut LocalPool,
pub addr: StoreAddr,
@ -417,7 +446,8 @@ impl<'a> PoolRwGuard<'a> {
#[cfg(test)]
mod tests {
use crate::pool::{
LocalPool, PoolCfg, PoolGuard, PoolRwGuard, StoreAddr, StoreError, StoreIdError,
LocalPool, PoolCfg, PoolGuard, PoolProvider, PoolRwGuard, StoreAddr, StoreError,
StoreIdError,
};
use std::vec;

7
fsrc-core/src/pus/mod.rs Normal file
View File

@ -0,0 +1,7 @@
//! All PUS support modules
//!
//! Currenty includes:
//!
//! 1. PUS Verification Service 1 module inside [verification]. Requires [alloc] support.
#[cfg(feature = "alloc")]
pub mod verification;

1631
fsrc-core/src/pus/verification.rs Normal file
View File

File diff suppressed because it is too large Load Diff

44
fsrc-core/src/tmtc/ccsds_distrib.rs
View File

@ -2,23 +2,23 @@
//!
//! The routing components consist of two core components:
//! 1. [CcsdsDistributor] component which dispatches received packets to a user-provided handler
//! 2. [ApidPacketHandler] trait which should be implemented by the user-provided packet handler.
//! 2. [CcsdsPacketHandler] trait which should be implemented by the user-provided packet handler.
//!
//! The [CcsdsDistributor] implements the [ReceivesCcsdsTc] and [ReceivesTc] 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 [PacketError] is
//! 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
//! [ApidPacketHandler::valid_apids], it will pass the packet to the user provided
//! [ApidPacketHandler::handle_known_apid] function. If no valid APID is found, the packet
//! will be passed to the [ApidPacketHandler::handle_unknown_apid] function.
//! [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 fsrc_core::tmtc::ccsds_distrib::{ApidPacketHandler, CcsdsDistributor};
//! use fsrc_core::tmtc::ccsds_distrib::{CcsdsPacketHandler, CcsdsDistributor};
//! use fsrc_core::tmtc::ReceivesTc;
//! use spacepackets::{CcsdsPacket, SpHeader};
//! use spacepackets::tc::PusTc;
@ -33,7 +33,7 @@
//! fn mutable_foo(&mut self) {}
//! }
//!
//! impl ApidPacketHandler for ConcreteApidHandler {
//! 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> {
@ -87,7 +87,7 @@
use crate::tmtc::{ReceivesCcsdsTc, ReceivesTc};
use alloc::boxed::Box;
use downcast_rs::Downcast;
use spacepackets::{CcsdsPacket, PacketError, SpHeader};
use spacepackets::{ByteConversionError, CcsdsPacket, SizeMissmatch, SpHeader};
/// Generic trait for a handler or dispatcher object handling CCSDS packets.
///
@ -99,7 +99,7 @@ use spacepackets::{CcsdsPacket, PacketError, SpHeader};
/// This trait automatically implements the [downcast_rs::Downcast] to allow a more convenient API
/// to cast trait objects back to their concrete type after the handler was passed to the
/// distributor.
pub trait ApidPacketHandler: Downcast {
pub trait CcsdsPacketHandler: Downcast {
type Error;
fn valid_apids(&self) -> &'static [u16];
@ -112,20 +112,20 @@ pub trait ApidPacketHandler: Downcast {
) -> Result<(), Self::Error>;
}
downcast_rs::impl_downcast!(ApidPacketHandler assoc Error);
downcast_rs::impl_downcast!(CcsdsPacketHandler assoc Error);
/// The CCSDS distributor dispatches received CCSDS packets to a user provided packet handler.
pub struct CcsdsDistributor<E> {
/// User provided APID handler stored as a generic trait object.
/// It can be cast back to the original concrete type using the [Self::apid_handler_ref] or
/// the [Self::apid_handler_mut] method.
pub apid_handler: Box<dyn ApidPacketHandler<Error = E>>,
pub apid_handler: Box<dyn CcsdsPacketHandler<Error = E>>,
}
#[derive(Debug, Copy, Clone, PartialEq, Eq)]
pub enum CcsdsError<E> {
CustomError(E),
PacketError(PacketError),
PacketError(ByteConversionError),
}
impl<E: 'static> ReceivesCcsdsTc for CcsdsDistributor<E> {
@ -140,26 +140,34 @@ impl<E: 'static> ReceivesTc for CcsdsDistributor<E> {
type Error = CcsdsError<E>;
fn pass_tc(&mut self, tc_raw: &[u8]) -> Result<(), Self::Error> {
if tc_raw.len() < 7 {
return Err(CcsdsError::PacketError(
ByteConversionError::FromSliceTooSmall(SizeMissmatch {
found: tc_raw.len(),
expected: 7,
}),
));
}
let sp_header = SpHeader::from_raw_slice(tc_raw).map_err(|e| CcsdsError::PacketError(e))?;
self.dispatch_ccsds(&sp_header, tc_raw)
}
}
impl<E: 'static> CcsdsDistributor<E> {
pub fn new(apid_handler: Box<dyn ApidPacketHandler<Error = E>>) -> Self {
pub fn new(apid_handler: Box<dyn CcsdsPacketHandler<Error = E>>) -> Self {
CcsdsDistributor { apid_handler }
}
/// This function can be used to retrieve a reference to the concrete instance of the APID
/// handler after it was passed to the distributor. See the
/// [module documentation][crate::tmtc::ccsds_distrib] for an fsrc-example.
pub fn apid_handler_ref<T: ApidPacketHandler<Error = E>>(&self) -> Option<&T> {
pub fn apid_handler_ref<T: CcsdsPacketHandler<Error = E>>(&self) -> Option<&T> {
self.apid_handler.downcast_ref::<T>()
}
/// This function can be used to retrieve a mutable reference to the concrete instance of the
/// APID handler after it was passed to the distributor.
pub fn apid_handler_mut<T: ApidPacketHandler<Error = E>>(&mut self) -> Option<&mut T> {
pub fn apid_handler_mut<T: CcsdsPacketHandler<Error = E>>(&mut self) -> Option<&mut T> {
self.apid_handler.downcast_mut::<T>()
}
@ -183,7 +191,7 @@ impl<E: 'static> CcsdsDistributor<E> {
#[cfg(test)]
pub(crate) mod tests {
use super::*;
use crate::tmtc::ccsds_distrib::{ApidPacketHandler, CcsdsDistributor};
use crate::tmtc::ccsds_distrib::{CcsdsDistributor, CcsdsPacketHandler};
use spacepackets::tc::PusTc;
use spacepackets::CcsdsPacket;
use std::collections::VecDeque;
@ -209,7 +217,7 @@ pub(crate) mod tests {
pub unknown_packet_queue: VecDeque<(u16, Vec<u8>)>,
}
impl ApidPacketHandler for BasicApidHandlerSharedQueue {
impl CcsdsPacketHandler for BasicApidHandlerSharedQueue {
type Error = ();
fn valid_apids(&self) -> &'static [u16] {
&[0x000, 0x002]
@ -244,7 +252,7 @@ pub(crate) mod tests {
}
}
impl ApidPacketHandler for BasicApidHandlerOwnedQueue {
impl CcsdsPacketHandler for BasicApidHandlerOwnedQueue {
type Error = ();
fn valid_apids(&self) -> &'static [u16] {

9
fsrc-core/src/tmtc/mod.rs
View File

@ -6,6 +6,7 @@
//! 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
use crate::error::{FsrcErrorRaw, FsrcGroupIds};
use downcast_rs::{impl_downcast, Downcast};
use spacepackets::tc::PusTc;
use spacepackets::SpHeader;
@ -13,6 +14,10 @@ use spacepackets::SpHeader;
pub mod ccsds_distrib;
#[cfg(feature = "alloc")]
pub mod pus_distrib;
pub mod tm_helper;
pub use ccsds_distrib::{CcsdsDistributor, CcsdsError, CcsdsPacketHandler};
pub use pus_distrib::{PusDistributor, PusServiceProvider};
const _RAW_PACKET_ERROR: &str = "raw-tmtc";
const _CCSDS_ERROR: &str = "ccsds-tmtc";
@ -39,11 +44,13 @@ const _FROM_BYTES_ZEROCOPY_ERROR: FsrcErrorRaw = FsrcErrorRaw::new(
/// 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 ReceivesTc {
pub trait ReceivesTc: Downcast {
type Error;
fn pass_tc(&mut self, tc_raw: &[u8]) -> Result<(), Self::Error>;
}
impl_downcast!(ReceivesTc assoc Error);
/// Generic trait for object which can receive CCSDS space packets, for fsrc-example ECSS PUS packets
/// for CCSDS File Delivery Protocol (CFDP) packets.
///

6
fsrc-core/src/tmtc/pus_distrib.rs
View File

@ -138,7 +138,7 @@ mod tests {
use crate::tmtc::ccsds_distrib::tests::{
generate_ping_tc, BasicApidHandlerOwnedQueue, BasicApidHandlerSharedQueue,
};
use crate::tmtc::ccsds_distrib::{ApidPacketHandler, CcsdsDistributor};
use crate::tmtc::ccsds_distrib::{CcsdsDistributor, CcsdsPacketHandler};
use alloc::vec::Vec;
use spacepackets::ecss::PusError;
use spacepackets::tc::PusTc;
@ -239,11 +239,11 @@ mod tests {
};
}
impl ApidPacketHandler for ApidHandlerOwned {
impl CcsdsPacketHandler for ApidHandlerOwned {
apid_handler_impl!();
}
impl ApidPacketHandler for ApidHandlerShared {
impl CcsdsPacketHandler for ApidHandlerShared {
apid_handler_impl!();
}

51
fsrc-core/src/tmtc/tm_helper.rs Normal file
View File

@ -0,0 +1,51 @@
use spacepackets::time::{CdsShortTimeProvider, TimeWriter};
use spacepackets::tm::{PusTm, PusTmSecondaryHeader};
use spacepackets::SpHeader;
pub struct PusTmWithCdsShortHelper {
apid: u16,
cds_short_buf: [u8; 7],
}
impl PusTmWithCdsShortHelper {
pub fn new(apid: u16) -> Self {
Self {
apid,
cds_short_buf: [0; 7],
}
}
#[cfg(feature = "std")]
pub fn create_pus_tm_timestamp_now<'a>(
&'a mut self,
service: u8,
subservice: u8,
source_data: Option<&'a [u8]>,
) -> PusTm {
let time_stamp = CdsShortTimeProvider::from_now().unwrap();
time_stamp.write_to_bytes(&mut self.cds_short_buf).unwrap();
self.create_pus_tm_common(service, subservice, source_data)
}
pub fn create_pus_tm_with_stamp<'a>(
&'a mut self,
service: u8,
subservice: u8,
source_data: Option<&'a [u8]>,
stamper: &CdsShortTimeProvider,
) -> PusTm {
stamper.write_to_bytes(&mut self.cds_short_buf).unwrap();
self.create_pus_tm_common(service, subservice, source_data)
}
fn create_pus_tm_common<'a>(
&'a self,
service: u8,
subservice: u8,
source_data: Option<&'a [u8]>,
) -> PusTm {
let mut reply_header = SpHeader::tm(self.apid, 0, 0).unwrap();
let tc_header = PusTmSecondaryHeader::new_simple(service, subservice, &self.cds_short_buf);
PusTm::new(&mut reply_header, tc_header, source_data, true)
}
}

8
fsrc-core/tests/pool_test.rs
View File

@ -1,4 +1,4 @@
use fsrc_core::pool::{LocalPool, PoolCfg, PoolGuard, StoreAddr};
use fsrc_core::pool::{LocalPool, PoolCfg, PoolGuard, PoolProvider, StoreAddr};
use std::ops::DerefMut;
use std::sync::mpsc;
use std::sync::mpsc::{Receiver, Sender};
@ -10,11 +10,11 @@ const DUMMY_DATA: [u8; 4] = [0, 1, 2, 3];
#[test]
fn threaded_usage() {
let pool_cfg = PoolCfg::new(vec![(16, 6), (32, 3), (8, 12)]);
let shared_dummy = Arc::new(RwLock::new(LocalPool::new(pool_cfg)));
let shared_clone = shared_dummy.clone();
let shared_pool = Arc::new(RwLock::new(LocalPool::new(pool_cfg)));
let shared_clone = shared_pool.clone();
let (tx, rx): (Sender<StoreAddr>, Receiver<StoreAddr>) = mpsc::channel();
let jh0 = thread::spawn(move || {
let mut dummy = shared_dummy.write().unwrap();
let mut dummy = shared_pool.write().unwrap();
let addr = dummy.add(&DUMMY_DATA).expect("Writing data failed");
tx.send(addr).expect("Sending store address failed");
});

188
fsrc-core/tests/verification_test.rs Normal file
View File

@ -0,0 +1,188 @@
use fsrc_core::pool::{LocalPool, PoolCfg, PoolProvider, SharedPool};
use fsrc_core::pus::verification::{
CrossbeamVerifSender, FailParams, RequestId, VerificationReporterCfg,
VerificationReporterWithSender,
};
use hashbrown::HashMap;
use spacepackets::ecss::{EcssEnumU16, EcssEnumU8, PusPacket};
use spacepackets::tc::{PusTc, PusTcSecondaryHeader};
use spacepackets::tm::PusTm;
use spacepackets::SpHeader;
use std::sync::{Arc, Mutex, RwLock};
use std::thread;
use std::time::Duration;
const TEST_APID: u16 = 0x03;
const FIXED_STAMP: [u8; 7] = [0; 7];
const PACKETS_SENT: u8 = 8;
/// This test also shows how the verification report could be used in a multi-threaded context,
/// wrapping it into an [Arc] and [Mutex] and then passing it to two threads.
///
/// - The first thread generates a acceptance, a start, two steps and one completion report
/// - The second generates an acceptance and start success report and a completion failure
/// - The third thread is the verification receiver. In the test case, it verifies the other two
/// threads have sent the correct expected verification reports
#[test]
fn test_shared_reporter() {
let cfg = VerificationReporterCfg::new(TEST_APID, 1, 2, 8);
// Shared pool object to store the verification PUS telemetry
let pool_cfg = PoolCfg::new(vec![(10, 32), (10, 64), (10, 128), (10, 1024)]);
let shared_tm_pool: SharedPool =
Arc::new(RwLock::new(Box::new(LocalPool::new(pool_cfg.clone()))));
let shared_tc_pool_0 = Arc::new(RwLock::new(LocalPool::new(pool_cfg)));
let shared_tc_pool_1 = shared_tc_pool_0.clone();
let (tx, rx) = crossbeam_channel::bounded(5);
let sender = CrossbeamVerifSender::new(shared_tm_pool.clone(), tx.clone());
let reporter_with_sender_0 = Arc::new(Mutex::new(VerificationReporterWithSender::new(
cfg,
Box::new(sender),
)));
let 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.
let req_id_0;
let req_id_1;
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_0.write().unwrap();
let mut sph = SpHeader::tc(TEST_APID, 0, 0).unwrap();
let tc_header = PusTcSecondaryHeader::new_simple(17, 1);
let pus_tc_0 = PusTc::new(&mut sph, tc_header, None, true);
req_id_0 = RequestId::new(&pus_tc_0);
let (addr, mut buf) = tc_guard.free_element(pus_tc_0.len_packed()).unwrap();
pus_tc_0.write_to(&mut buf).unwrap();
tx_tc_0.send(addr).unwrap();
let mut sph = SpHeader::tc(TEST_APID, 1, 0).unwrap();
let tc_header = PusTcSecondaryHeader::new_simple(5, 1);
let pus_tc_1 = PusTc::new(&mut sph, tc_header, None, true);
req_id_1 = RequestId::new(&pus_tc_1);
let (addr, mut buf) = tc_guard.free_element(pus_tc_0.len_packed()).unwrap();
pus_tc_1.write_to(&mut buf).unwrap();
tx_tc_1.send(addr).unwrap();
}
let verif_sender_0 = thread::spawn(move || {
let mut tc_buf: [u8; 1024] = [0; 1024];
let tc_addr = rx_tc_0
.recv_timeout(Duration::from_millis(20))
.expect("Receive timeout");
let tc_len;
{
let mut tc_guard = shared_tc_pool_0.write().unwrap();
let pg = tc_guard.read_with_guard(tc_addr);
let buf = pg.read().unwrap();
tc_len = buf.len();
tc_buf[0..tc_len].copy_from_slice(buf);
}
let (_tc, _) = PusTc::new_from_raw_slice(&tc_buf[0..tc_len]).unwrap();
let accepted_token;
{
let mut mg = reporter_with_sender_0.lock().expect("Locking mutex failed");
let token = mg.add_tc_with_req_id(req_id_0);
accepted_token = mg
.acceptance_success(token, &FIXED_STAMP)
.expect("Acceptance success failed");
}
// Do some start handling here
let started_token;
{
let mut mg = reporter_with_sender_0.lock().expect("Locking mutex failed");
started_token = mg
.start_success(accepted_token, &FIXED_STAMP)
.expect("Start success failed");
// Do some step handling here
mg.step_success(&started_token, &FIXED_STAMP, EcssEnumU8::new(0))
.expect("Start success failed");
}
// Finish up
let mut mg = reporter_with_sender_0.lock().expect("Locking mutex failed");
mg.step_success(&started_token, &FIXED_STAMP, EcssEnumU8::new(1))
.expect("Start success failed");
mg.completion_success(started_token, &FIXED_STAMP)
.expect("Completion success failed");
});
let verif_sender_1 = thread::spawn(move || {
let mut tc_buf: [u8; 1024] = [0; 1024];
let tc_addr = rx_tc_1
.recv_timeout(Duration::from_millis(20))
.expect("Receive timeout");
let tc_len;
{
let mut tc_guard = shared_tc_pool_1.write().unwrap();
let pg = tc_guard.read_with_guard(tc_addr);
let buf = pg.read().unwrap();
tc_len = buf.len();
tc_buf[0..tc_len].copy_from_slice(buf);
}
let (tc, _) = PusTc::new_from_raw_slice(&tc_buf[0..tc_len]).unwrap();
let mut mg = reporter_with_sender_1
.lock()
.expect("Locking reporter failed");
let token = mg.add_tc(&tc);
let accepted_token = mg
.acceptance_success(token, &FIXED_STAMP)
.expect("Acceptance success failed");
let started_token = mg
.start_success(accepted_token, &FIXED_STAMP)
.expect("Start success failed");
let fail_code = EcssEnumU16::new(2);
let params = FailParams::new(&FIXED_STAMP, &fail_code, None);
mg.completion_failure(started_token, params)
.expect("Completion success failed");
});
let verif_receiver = thread::spawn(move || {
let mut packet_counter = 0;
let mut tm_buf: [u8; 1024] = [0; 1024];
let mut verif_map = HashMap::new();
while packet_counter < PACKETS_SENT {
let verif_addr = rx
.recv_timeout(Duration::from_millis(50))
.expect("Packet reception timeout");
let tm_len;
{
let mut rg = shared_tm_pool.write().expect("Error locking shared pool");
let store_guard = rg.read_with_guard(verif_addr);
let slice = store_guard.read().expect("Error reading TM slice");
tm_len = slice.len();
tm_buf[0..tm_len].copy_from_slice(slice);
}
let (pus_tm, _) = PusTm::new_from_raw_slice(&tm_buf[0..tm_len], 7)
.expect("Error reading verification TM");
let req_id = RequestId::from_bytes(
&pus_tm.source_data().expect("Invalid TM source data")[0..RequestId::SIZE_AS_BYTES],
)
.unwrap();
if !verif_map.contains_key(&req_id) {
let mut content = Vec::new();
content.push(pus_tm.subservice());
verif_map.insert(req_id, content);
} else {
let content = verif_map.get_mut(&req_id).unwrap();
content.push(pus_tm.subservice())
}
packet_counter += 1;
}
for (req_id, content) in verif_map {
if req_id == req_id_1 {
assert_eq!(content[0], 1);
assert_eq!(content[1], 3);
assert_eq!(content[2], 8);
} else if req_id == req_id_0 {
assert_eq!(content[0], 1);
assert_eq!(content[1], 3);
assert_eq!(content[2], 5);
assert_eq!(content[3], 5);
assert_eq!(content[4], 7);
} else {
panic!("Unexpected request ID {:?}", req_id);
}
}
});
verif_sender_0.join().expect("Joining thread 0 failed");
verif_sender_1.join().expect("Joining thread 1 failed");
verif_receiver.join().expect("Joining thread 2 failed");
}

7
fsrc-example/Cargo.toml
View File

@ -4,5 +4,12 @@ version = "0.1.0"
edition = "2021"
authors = ["Robin Mueller <muellerr@irs.uni-stuttgart.de>"]
[dependencies]
crossbeam-channel = "0.5"
delegate = "0.8"
[dependencies.spacepackets]
path = "../spacepackets"
[dependencies.fsrc-core]
path = "../fsrc-core"

81
fsrc-example/src/bin/client.rs
View File

@ -1,16 +1,95 @@
use fsrc_core::pus::verification::RequestId;
use fsrc_example::{OBSW_SERVER_ADDR, SERVER_PORT};
use spacepackets::ecss::PusPacket;
use spacepackets::tc::PusTc;
use spacepackets::tm::PusTm;
use spacepackets::SpHeader;
use std::net::{IpAddr, SocketAddr, UdpSocket};
use std::time::Duration;
fn main() {
let mut buf = [0; 32];
let addr = SocketAddr::new(IpAddr::V4(OBSW_SERVER_ADDR), SERVER_PORT);
let mut sph = SpHeader::tc(0x02, 0, 0).unwrap();
let pus_tc = PusTc::new_simple(&mut sph, 17, 1, None, true);
let client = UdpSocket::bind("127.0.0.1:7300").expect("Connecting to UDP server failed");
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
);
let size = pus_tc.write_to(&mut buf).expect("Creating PUS TC failed");
client
.send_to(&buf[0..size], &addr)
.expect(&*format!("Sending to {:?} failed", addr));
client
.set_read_timeout(Some(Duration::from_secs(2)))
.expect("Setting read timeout failed");
loop {
let res = client.recv(&mut buf);
match res {
Ok(_len) => {
let (pus_tm, size) =
PusTm::new_from_raw_slice(&buf, 7).expect("Parsing PUS TM failed");
if pus_tm.service() == 17 && pus_tm.subservice() == 2 {
println!("Received PUS Ping Reply TM[17,2]")
} else if pus_tm.service() == 1 {
if pus_tm.source_data().is_none() {
println!("Invalid verification TM, no source data");
}
let src_data = pus_tm.source_data().unwrap();
if src_data.len() < 4 {
println!("Invalid verification TM source data, less than 4 bytes")
}
let req_id = RequestId::from_bytes(src_data).unwrap();
if pus_tm.subservice() == 1 {
println!(
"Received TM[1,1] acceptance success for request ID {}",
req_id
)
} else if pus_tm.subservice() == 2 {
println!(
"Received TM[1,2] acceptance failure for request ID {}",
req_id
)
} else if pus_tm.subservice() == 3 {
println!("Received TM[1,3] start success for request ID {}", req_id)
} else if pus_tm.subservice() == 4 {
println!("Received TM[1,2] start failure for request ID {}", req_id)
} else if pus_tm.subservice() == 5 {
println!("Received TM[1,5] step success for request ID {}", req_id)
} else if pus_tm.subservice() == 6 {
println!("Received TM[1,6] step failure for request ID {}", req_id)
} else if pus_tm.subservice() == 7 {
println!(
"Received TM[1,7] completion success for request ID {}",
req_id
)
} else if pus_tm.subservice() == 8 {
println!(
"Received TM[1,8] completion failure for request ID {}",
req_id
);
}
} else {
println!(
"Received TM[{}, {}] with {} bytes",
pus_tm.service(),
pus_tm.subservice(),
size
);
}
}
Err(ref e)
if e.kind() == std::io::ErrorKind::WouldBlock
|| e.kind() == std::io::ErrorKind::TimedOut =>
{
println!("No reply received for 2 seconds");
break;
}
_ => {
println!("UDP receive error {:?}", res.unwrap_err());
}
}
}
}

15
fsrc-example/src/bin/obsw.rs
View File

@ -1,15 +0,0 @@
use fsrc_example::{OBSW_SERVER_ADDR, SERVER_PORT};
use std::net::{IpAddr, SocketAddr, UdpSocket};
fn main() {
let mut recv_buf = [0; 1024];
let addr = SocketAddr::new(IpAddr::V4(OBSW_SERVER_ADDR), SERVER_PORT);
let socket = UdpSocket::bind(&addr).expect("Error opening UDP socket");
loop {
let (num_bytes, src) = socket.recv_from(&mut recv_buf).expect("UDP Receive error");
println!(
"Received TM with len {num_bytes} from {src}: {:x?}",
&recv_buf[0..num_bytes]
);
}
}

37
fsrc-example/src/bin/obsw/ccsds.rs Normal file
View File

@ -0,0 +1,37 @@
use crate::tmtc::PUS_APID;
use fsrc_core::tmtc::{CcsdsPacketHandler, PusDistributor, ReceivesCcsdsTc};
use spacepackets::{CcsdsPacket, SpHeader};
pub struct CcsdsReceiver {
pub pus_handler: PusDistributor<()>,
}
impl CcsdsPacketHandler for CcsdsReceiver {
type Error = ();
fn valid_apids(&self) -> &'static [u16] {
&[PUS_APID]
}
fn handle_known_apid(
&mut self,
sp_header: &SpHeader,
tc_raw: &[u8],
) -> Result<(), Self::Error> {
if sp_header.apid() == PUS_APID {
self.pus_handler
.pass_ccsds(sp_header, tc_raw)
.expect("Handling PUS packet failed");
}
Ok(())
}
fn handle_unknown_apid(
&mut self,
_sp_header: &SpHeader,
_tc_raw: &[u8],
) -> Result<(), Self::Error> {
println!("Unknown APID detected");
Ok(())
}
}

73
fsrc-example/src/bin/obsw/main.rs Normal file
View File

@ -0,0 +1,73 @@
mod ccsds;
mod pus;
mod tmtc;
use crate::tmtc::{core_tmtc_task, TmStore, PUS_APID};
use fsrc_core::hal::host::udp_server::UdpTcServer;
use fsrc_core::pool::{LocalPool, PoolCfg, SharedPool, StoreAddr};
use fsrc_core::pus::verification::{
MpscVerifSender, VerificationReporterCfg, VerificationReporterWithSender,
};
use fsrc_core::tmtc::CcsdsError;
use fsrc_example::{OBSW_SERVER_ADDR, SERVER_PORT};
use std::net::{IpAddr, SocketAddr};
use std::sync::{mpsc, Arc, Mutex, RwLock};
use std::thread;
struct TmFunnel {
tm_funnel_rx: mpsc::Receiver<StoreAddr>,
tm_server_tx: mpsc::Sender<StoreAddr>,
}
struct UdpTmtcServer {
udp_tc_server: UdpTcServer<CcsdsError<()>>,
tm_rx: mpsc::Receiver<StoreAddr>,
tm_store: SharedPool,
}
unsafe impl Send for UdpTmtcServer {}
fn main() {
println!("Running OBSW example");
let pool_cfg = PoolCfg::new(vec![(8, 32), (4, 64), (2, 128)]);
let tm_pool = LocalPool::new(pool_cfg);
let tm_store: SharedPool = Arc::new(RwLock::new(Box::new(tm_pool)));
let tm_store_helper = TmStore {
pool: tm_store.clone(),
};
let addr = SocketAddr::new(IpAddr::V4(OBSW_SERVER_ADDR), SERVER_PORT);
let (tm_funnel_tx, tm_funnel_rx) = mpsc::channel();
let (tm_server_tx, tm_server_rx) = mpsc::channel();
let sender = MpscVerifSender::new(tm_store.clone(), tm_funnel_tx.clone());
let verif_cfg = VerificationReporterCfg::new(PUS_APID, 1, 2, 8);
let reporter_with_sender_0 = Arc::new(Mutex::new(VerificationReporterWithSender::new(
verif_cfg,
Box::new(sender),
)));
let jh0 = thread::spawn(move || {
core_tmtc_task(
tm_funnel_tx.clone(),
tm_server_rx,
tm_store_helper.clone(),
addr,
reporter_with_sender_0,
);
});
let jh1 = thread::spawn(move || {
let tm_funnel = TmFunnel {
tm_server_tx,
tm_funnel_rx,
};
loop {
if let Ok(addr) = tm_funnel.tm_funnel_rx.recv() {
tm_funnel
.tm_server_tx
.send(addr)
.expect("Sending TM to server failed");
}
}
});
jh0.join().expect("Joining UDP TMTC server thread failed");
jh1.join().expect("Joining TM Funnel thread failed");
}

93
fsrc-example/src/bin/obsw/pus.rs Normal file
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use crate::tmtc::TmStore;
use fsrc_core::pool::StoreAddr;
use fsrc_core::pus::verification::{
SharedStdVerifReporterWithSender, StateAccepted, VerificationToken,
};
use fsrc_core::tmtc::tm_helper::PusTmWithCdsShortHelper;
use fsrc_core::tmtc::PusServiceProvider;
use spacepackets::tc::{PusTc, PusTcSecondaryHeaderT};
use spacepackets::time::{CdsShortTimeProvider, TimeWriter};
use spacepackets::SpHeader;
use std::sync::mpsc;
pub struct PusReceiver {
pub tm_helper: PusTmWithCdsShortHelper,
pub tm_tx: mpsc::Sender<StoreAddr>,
pub tm_store: TmStore,
pub verif_reporter: SharedStdVerifReporterWithSender,
stamper: CdsShortTimeProvider,
time_stamp: [u8; 7],
}
impl PusReceiver {
pub fn new(
apid: u16,
tm_tx: mpsc::Sender<StoreAddr>,
tm_store: TmStore,
verif_reporter: SharedStdVerifReporterWithSender,
) -> Self {
Self {
tm_helper: PusTmWithCdsShortHelper::new(apid),
tm_tx,
tm_store,
verif_reporter,
stamper: CdsShortTimeProvider::default(),
time_stamp: [0; 7],
}
}
}
impl PusServiceProvider for PusReceiver {
type Error = ();
fn handle_pus_tc_packet(
&mut self,
service: u8,
_header: &SpHeader,
pus_tc: &PusTc,
) -> Result<(), Self::Error> {
let mut reporter = self
.verif_reporter
.lock()
.expect("Locking Verification Reporter failed");
let init_token = reporter.add_tc(pus_tc);
self.stamper
.update_from_now()
.expect("Updating time for time stamp failed");
self.stamper
.write_to_bytes(&mut self.time_stamp)
.expect("Writing time stamp failed");
let accepted_token = reporter
.acceptance_success(init_token, &self.time_stamp)
.expect("Acceptance success failure");
drop(reporter);
if service == 17 {
self.handle_test_service(pus_tc, accepted_token);
}
Ok(())
}
}
impl PusReceiver {
fn handle_test_service(&mut self, pus_tc: &PusTc, token: VerificationToken<StateAccepted>) {
if pus_tc.subservice() == 1 {
println!("Received PUS ping command TC[17,1]");
println!("Sending ping reply PUS TM[17,2]");
let ping_reply = self.tm_helper.create_pus_tm_timestamp_now(17, 2, None);
let addr = self.tm_store.add_pus_tm(&ping_reply);
let mut reporter = self
.verif_reporter
.lock()
.expect("Error locking verification reporter");
let start_token = reporter
.start_success(token, &self.time_stamp)
.expect("Error sending start success");
self.tm_tx
.send(addr)
.expect("Sending TM to TM funnel failed");
reporter
.completion_success(start_token, &self.time_stamp)
.expect("Error sending completion success");
}
}
}

110
fsrc-example/src/bin/obsw/tmtc.rs Normal file
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use fsrc_core::hal::host::udp_server::{ReceiveResult, UdpTcServer};
use std::net::SocketAddr;
use std::sync::mpsc;
use std::thread;
use std::time::Duration;
use crate::ccsds::CcsdsReceiver;
use crate::pus::PusReceiver;
use crate::UdpTmtcServer;
use fsrc_core::pool::{SharedPool, StoreAddr};
use fsrc_core::pus::verification::SharedStdVerifReporterWithSender;
use fsrc_core::tmtc::{CcsdsDistributor, CcsdsError, PusDistributor};
use spacepackets::tm::PusTm;
pub const PUS_APID: u16 = 0x02;
#[derive(Clone)]
pub struct TmStore {
pub pool: SharedPool,
}
impl TmStore {
pub fn add_pus_tm(&mut self, pus_tm: &PusTm) -> StoreAddr {
let mut pg = self.pool.write().expect("Error locking TM store");
let (addr, buf) = pg.free_element(pus_tm.len_packed()).expect("Store error");
pus_tm
.write_to(buf)
.expect("Writing PUS TM to store failed");
addr
}
}
pub fn core_tmtc_task(
tm_creator_tx: mpsc::Sender<StoreAddr>,
tm_server_rx: mpsc::Receiver<StoreAddr>,
tm_store_helper: TmStore,
addr: SocketAddr,
verif_reporter: SharedStdVerifReporterWithSender,
) {
let pus_receiver = PusReceiver::new(
PUS_APID,
tm_creator_tx,
tm_store_helper.clone(),
verif_reporter,
);
let pus_distributor = PusDistributor::new(Box::new(pus_receiver));
let ccsds_receiver = CcsdsReceiver {
pus_handler: pus_distributor,
};
let ccsds_distributor = CcsdsDistributor::new(Box::new(ccsds_receiver));
let udp_tc_server = UdpTcServer::new(addr, 2048, Box::new(ccsds_distributor))
.expect("Creating UDP TMTC server failed");
let mut udp_tmtc_server = UdpTmtcServer {
udp_tc_server,
tm_rx: tm_server_rx,
tm_store: tm_store_helper.pool.clone(),
};
loop {
core_tmtc_loop(&mut udp_tmtc_server);
thread::sleep(Duration::from_millis(400));
}
}
fn core_tmtc_loop(udp_tmtc_server: &mut UdpTmtcServer) {
while core_tc_handling(udp_tmtc_server) {}
if let Some(recv_addr) = udp_tmtc_server.udp_tc_server.last_sender() {
core_tm_handling(udp_tmtc_server, &recv_addr);
}
}
fn core_tc_handling(udp_tmtc_server: &mut UdpTmtcServer) -> bool {
match udp_tmtc_server.udp_tc_server.try_recv_tc() {
Ok(_) => true,
Err(e) => match e {
ReceiveResult::ReceiverError(e) => match e {
CcsdsError::PacketError(e) => {
println!("Got packet error: {e:?}");
true
}
CcsdsError::CustomError(_) => {
println!("Unknown receiver error");
true
}
},
ReceiveResult::IoError(e) => {
println!("IO error {e}");
false
}
ReceiveResult::NothingReceived => false,
},
}
}
fn core_tm_handling(udp_tmtc_server: &mut UdpTmtcServer, recv_addr: &SocketAddr) {
while let Ok(addr) = udp_tmtc_server.tm_rx.try_recv() {
let mut store_lock = udp_tmtc_server
.tm_store
.write()
.expect("Locking TM store failed");
let pg = store_lock.read_with_guard(addr);
let buf = pg.read().expect("Error reading TM pool data");
println!("Sending TM");
udp_tmtc_server
.udp_tc_server
.socket
.send_to(buf, recv_addr)
.expect("Sending TM failed");
}
}

41
fsrc-example/src/bin/test.rs Normal file
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use crossbeam_channel::{bounded, Receiver, Sender};
use std::thread;
trait FieldDataProvider: Send {
fn get_data(&self) -> &[u8];
}
struct FixedFieldDataWrapper {
data: [u8; 8],
}
impl FixedFieldDataWrapper {
pub fn from_two_u32(p0: u32, p1: u32) -> Self {
let mut data = [0; 8];
data[0..4].copy_from_slice(p0.to_be_bytes().as_slice());
data[4..8].copy_from_slice(p1.to_be_bytes().as_slice());
Self { data }
}
}
impl FieldDataProvider for FixedFieldDataWrapper {
fn get_data(&self) -> &[u8] {
self.data.as_slice()
}
}
type FieldDataTraitObj = Box<dyn FieldDataProvider>;
fn main() {
let (s0, r0): (Sender<FieldDataTraitObj>, Receiver<FieldDataTraitObj>) = bounded(5);
let data_wrapper = FixedFieldDataWrapper::from_two_u32(2, 3);
s0.send(Box::new(data_wrapper)).unwrap();
let jh0 = thread::spawn(move || {
let data = r0.recv().unwrap();
let raw = data.get_data();
println!("Received data {:?}", raw);
});
let jh1 = thread::spawn(|| {});
jh0.join().unwrap();
jh1.join().unwrap();
}

2
spacepackets

@ -1 +1 @@
Subproject commit 3970061ca1490658c3694384e57657a1dbe0cadd
Subproject commit 94489da00323dc6caf24e05e240c80fc10b5d8cc