satrs-core/Cargo.toml

@@ -13,8 +13,8 @@ categories = ["aerospace", "aerospace::space-protocols", "no-std", "hardware-sup
 # See more keys and their definitions at https://doc.rust-lang.org/cargo/reference/manifest.html
 
 [dependencies]
-delegate = "0.8"
+delegate = ">=0.8, <0.10"
-paste = "1.0"
+paste = "1"
 embed-doc-image = "0.1"
 
 [dependencies.dyn-clone]
@@ -53,7 +53,7 @@ default-features = false
 optional = true
 
 [dependencies.spacepackets]
-version = "0.5.1"
+version = "0.5.2"
 # path = "../spacepackets"
 # git = "https://egit.irs.uni-stuttgart.de/rust/spacepackets.git"
 # rev = "..."

satrs-core/src/pool.rs

@@ -153,10 +153,10 @@ impl Display for StoreIdError {
     fn fmt(&self, f: &mut Formatter<'_>) -> core::fmt::Result {
         match self {
             StoreIdError::InvalidSubpool(pool) => {
-                write!(f, "invalid subpool, index: {}", pool)
+                write!(f, "invalid subpool, index: {pool}")
             }
             StoreIdError::InvalidPacketIdx(packet_idx) => {
-                write!(f, "invalid packet index: {}", packet_idx)
+                write!(f, "invalid packet index: {packet_idx}")
             }
         }
     }
@@ -183,19 +183,19 @@ impl Display for StoreError {
     fn fmt(&self, f: &mut Formatter<'_>) -> core::fmt::Result {
         match self {
             StoreError::DataTooLarge(size) => {
-                write!(f, "data to store with size {} is too large", size)
+                write!(f, "data to store with size {size} is too large")
             }
             StoreError::StoreFull(u16) => {
-                write!(f, "store is too full. index for full subpool: {}", u16)
+                write!(f, "store is too full. index for full subpool: {u16}")
             }
             StoreError::InvalidStoreId(id_e, addr) => {
-                write!(f, "invalid store ID: {}, address: {:?}", id_e, addr)
+                write!(f, "invalid store ID: {id_e}, address: {addr:?}")
             }
             StoreError::DataDoesNotExist(addr) => {
-                write!(f, "no data exists at address {:?}", addr)
+                write!(f, "no data exists at address {addr:?}")
             }
             StoreError::InternalError(e) => {
-                write!(f, "internal error: {}", e)
+                write!(f, "internal error: {e}")
             }
         }
     }
@@ -330,14 +330,12 @@ impl LocalPool {
     fn write(&mut self, addr: &StoreAddr, data: &[u8]) -> Result<(), StoreError> {
         let packet_pos = self.raw_pos(addr).ok_or_else(|| {
             StoreError::InternalError(format!(
-                "write: Error in raw_pos func with address {:?}",
+                "write: Error in raw_pos func with address {addr:?}"
-                addr
             ))
         })?;
         let subpool = self.pool.get_mut(addr.pool_idx as usize).ok_or_else(|| {
             StoreError::InternalError(format!(
-                "write: Error retrieving pool slice with address {:?}",
+                "write: Error retrieving pool slice with address {addr:?}"
-                addr
             ))
         })?;
         let pool_slice = &mut subpool[packet_pos..packet_pos + data.len()];

satrs-core/src/pus/verification.rs

@@ -522,9 +522,9 @@ impl VerificationReporterCore {
         )
     }
 
-    pub fn send_acceptance_success<'src_data, E>(
+    pub fn send_acceptance_success<E>(
         &self,
-        mut sendable: VerificationSendable<'src_data, TcStateNone, VerifSuccess>,
+        mut sendable: VerificationSendable<'_, TcStateNone, VerifSuccess>,
         seq_counter: &(impl SequenceCountProviderCore<u16> + ?Sized),
         sender: &mut (impl EcssTmSenderCore<Error = E> + ?Sized),
     ) -> Result<VerificationToken<TcStateAccepted>, VerificationOrSendErrorWithToken<E, TcStateNone>>
@@ -535,9 +535,9 @@ impl VerificationReporterCore {
         Ok(sendable.send_success_acceptance_success(Some(seq_counter)))
     }
 
-    pub fn send_acceptance_failure<'src_data, E>(
+    pub fn send_acceptance_failure<E>(
         &self,
-        mut sendable: VerificationSendable<'src_data, TcStateNone, VerifFailure>,
+        mut sendable: VerificationSendable<'_, TcStateNone, VerifFailure>,
         seq_counter: &(impl SequenceCountProviderCore<u16> + ?Sized),
         sender: &mut (impl EcssTmSenderCore<Error = E> + ?Sized),
     ) -> Result<(), VerificationOrSendErrorWithToken<E, TcStateNone>> {
@@ -591,9 +591,9 @@ impl VerificationReporterCore {
         )
     }
 
-    pub fn send_start_success<'src_data, E>(
+    pub fn send_start_success<E>(
         &self,
-        mut sendable: VerificationSendable<'src_data, TcStateAccepted, VerifSuccess>,
+        mut sendable: VerificationSendable<'_, TcStateAccepted, VerifSuccess>,
         seq_counter: &(impl SequenceCountProviderCore<u16> + ?Sized),
         sender: &mut (impl EcssTmSenderCore<Error = E> + ?Sized),
     ) -> Result<
@@ -630,9 +630,9 @@ impl VerificationReporterCore {
         )
     }
 
-    pub fn send_start_failure<'src_data, E>(
+    pub fn send_start_failure<E>(
         &self,
-        mut sendable: VerificationSendable<'src_data, TcStateAccepted, VerifFailure>,
+        mut sendable: VerificationSendable<'_, TcStateAccepted, VerifFailure>,
         seq_counter: &(impl SequenceCountProviderCore<u16> + ?Sized),
         sender: &mut (impl EcssTmSenderCore<Error = E> + ?Sized),
     ) -> Result<(), VerificationOrSendErrorWithToken<E, TcStateAccepted>> {
@@ -741,9 +741,9 @@ impl VerificationReporterCore {
         )
     }
 
-    pub fn send_step_or_completion_success<'src_data, E>(
+    pub fn send_step_or_completion_success<E>(
         &self,
-        mut sendable: VerificationSendable<'src_data, TcStateStarted, VerifSuccess>,
+        mut sendable: VerificationSendable<'_, TcStateStarted, VerifSuccess>,
         seq_counter: &(impl SequenceCountProviderCore<u16> + ?Sized),
         sender: &mut (impl EcssTmSenderCore<Error = E> + ?Sized),
     ) -> Result<(), VerificationOrSendErrorWithToken<E, TcStateStarted>> {
@@ -754,9 +754,9 @@ impl VerificationReporterCore {
         Ok(())
     }
 
-    pub fn send_step_or_completion_failure<'src_data, E>(
+    pub fn send_step_or_completion_failure<E>(
         &self,
-        mut sendable: VerificationSendable<'src_data, TcStateStarted, VerifFailure>,
+        mut sendable: VerificationSendable<'_, TcStateStarted, VerifFailure>,
         seq_counter: &(impl SequenceCountProviderCore<u16> + ?Sized),
         sender: &mut (impl EcssTmSenderCore<Error = E> + ?Sized),
     ) -> Result<(), VerificationOrSendErrorWithToken<E, TcStateStarted>> {

satrs-core/src/tmtc/ccsds_distrib.rs

@@ -86,8 +86,11 @@
 //! ```
 use crate::tmtc::{ReceivesCcsdsTc, ReceivesTcCore};
 use alloc::boxed::Box;
+use core::fmt::{Display, Formatter};
 use downcast_rs::Downcast;
 use spacepackets::{ByteConversionError, CcsdsPacket, SizeMissmatch, SpHeader};
+#[cfg(feature = "std")]
+use std::error::Error;
 
 /// Generic trait for a handler or dispatcher object handling CCSDS packets.
 ///
@@ -99,7 +102,7 @@ use spacepackets::{ByteConversionError, CcsdsPacket, SizeMissmatch, 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 CcsdsPacketHandler: Downcast + Send {
+pub trait CcsdsPacketHandler: Downcast {
     type Error;
 
     fn valid_apids(&self) -> &'static [u16];
@@ -114,18 +117,46 @@ pub trait CcsdsPacketHandler: Downcast + Send {
 
 downcast_rs::impl_downcast!(CcsdsPacketHandler assoc Error);
 
+pub trait SendableCcsdsPacketHandler: CcsdsPacketHandler + Send {}
+
+impl<T: CcsdsPacketHandler + Send> SendableCcsdsPacketHandler for T {}
+
+downcast_rs::impl_downcast!(SendableCcsdsPacketHandler assoc Error);
+
 /// The CCSDS distributor dispatches received CCSDS packets to a user provided packet handler.
+///
+/// The passed APID handler is required to be [Send]able to allow more ergonomic usage with
+/// threads.
 pub struct CcsdsDistributor<E> {
     /// User provided APID handler stored as a generic trait object.
     /// It can be cast back to the original concrete type using the [Self::apid_handler_ref] or
     /// the [Self::apid_handler_mut] method.
-    pub apid_handler: Box<dyn CcsdsPacketHandler<Error = E>>,
+    pub apid_handler: Box<dyn SendableCcsdsPacketHandler<Error = E>>,
 }
 
 #[derive(Debug, Copy, Clone, PartialEq, Eq)]
 pub enum CcsdsError<E> {
     CustomError(E),
-    PacketError(ByteConversionError),
+    ByteConversionError(ByteConversionError),
+}
+
+impl<E: Display> Display for CcsdsError<E> {
+    fn fmt(&self, f: &mut Formatter<'_>) -> core::fmt::Result {
+        match self {
+            Self::CustomError(e) => write!(f, "{e}"),
+            Self::ByteConversionError(e) => write!(f, "{e}"),
+        }
+    }
+}
+
+#[cfg(feature = "std")]
+impl<E: Error> Error for CcsdsError<E> {
+    fn source(&self) -> Option<&(dyn Error + 'static)> {
+        match self {
+            Self::CustomError(e) => e.source(),
+            Self::ByteConversionError(e) => e.source(),
+        }
+    }
 }
 
 impl<E: 'static> ReceivesCcsdsTc for CcsdsDistributor<E> {
@@ -141,7 +172,7 @@ impl<E: 'static> ReceivesTcCore for CcsdsDistributor<E> {
 
     fn pass_tc(&mut self, tc_raw: &[u8]) -> Result<(), Self::Error> {
         if tc_raw.len() < 7 {
-            return Err(CcsdsError::PacketError(
+            return Err(CcsdsError::ByteConversionError(
                 ByteConversionError::FromSliceTooSmall(SizeMissmatch {
                     found: tc_raw.len(),
                     expected: 7,
@@ -149,26 +180,26 @@ impl<E: 'static> ReceivesTcCore for CcsdsDistributor<E> {
             ));
         }
         let (sp_header, _) =
-            SpHeader::from_be_bytes(tc_raw).map_err(|e| CcsdsError::PacketError(e))?;
+            SpHeader::from_be_bytes(tc_raw).map_err(|e| CcsdsError::ByteConversionError(e))?;
         self.dispatch_ccsds(&sp_header, tc_raw)
     }
 }
 
 impl<E: 'static> CcsdsDistributor<E> {
-    pub fn new(apid_handler: Box<dyn CcsdsPacketHandler<Error = E>>) -> Self {
+    pub fn new(apid_handler: Box<dyn SendableCcsdsPacketHandler<Error = E>>) -> Self {
         CcsdsDistributor { apid_handler }
     }
 
     /// This function can be used to retrieve a reference to the concrete instance of the APID
     /// handler after it was passed to the distributor. See the
     /// [module documentation][crate::tmtc::ccsds_distrib] for an fsrc-example.
-    pub fn apid_handler_ref<T: CcsdsPacketHandler<Error = E>>(&self) -> Option<&T> {
+    pub fn apid_handler_ref<T: SendableCcsdsPacketHandler<Error = E>>(&self) -> Option<&T> {
         self.apid_handler.downcast_ref::<T>()
     }
 
     /// This function can be used to retrieve a mutable reference to the concrete instance of the
     /// APID handler after it was passed to the distributor.
-    pub fn apid_handler_mut<T: CcsdsPacketHandler<Error = E>>(&mut self) -> Option<&mut T> {
+    pub fn apid_handler_mut<T: SendableCcsdsPacketHandler<Error = E>>(&mut self) -> Option<&mut T> {
         self.apid_handler.downcast_mut::<T>()
     }
 

satrs-core/src/tmtc/mod.rs

@@ -63,19 +63,20 @@ impl AddressableId {
 /// 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: Send {
+pub trait ReceivesTcCore {
     type Error;
     fn pass_tc(&mut self, tc_raw: &[u8]) -> Result<(), Self::Error>;
 }
 
-/// Extension trait of [ReceivesTcCore] which allows downcasting by implementing [Downcast]
+/// Extension trait of [ReceivesTcCore] which allows downcasting by implementing [Downcast] and
+/// is also sendable.
 #[cfg(feature = "alloc")]
-pub trait ReceivesTc: ReceivesTcCore + Downcast {}
+pub trait ReceivesTc: ReceivesTcCore + Downcast + Send {}
 
 /// Blanket implementation to automatically implement [ReceivesTc] when the [alloc] feature
 /// is enabled.
 #[cfg(feature = "alloc")]
-impl<T> ReceivesTc for T where T: ReceivesTcCore + 'static {}
+impl<T> ReceivesTc for T where T: ReceivesTcCore + Send + 'static {}
 
 #[cfg(feature = "alloc")]
 impl_downcast!(ReceivesTc assoc Error);

satrs-core/src/tmtc/pus_distrib.rs

@@ -62,12 +62,15 @@
 //! ```
 use crate::tmtc::{ReceivesCcsdsTc, ReceivesEcssPusTc, ReceivesTcCore};
 use alloc::boxed::Box;
+use core::fmt::{Display, Formatter};
 use downcast_rs::Downcast;
 use spacepackets::ecss::{PusError, PusPacket};
 use spacepackets::tc::PusTc;
 use spacepackets::SpHeader;
+#[cfg(feature = "std")]
+use std::error::Error;
 
-pub trait PusServiceProvider: Downcast + Send {
+pub trait PusServiceProvider: Downcast {
     type Error;
     fn handle_pus_tc_packet(
         &mut self,
@@ -78,12 +81,22 @@ pub trait PusServiceProvider: Downcast + Send {
 }
 downcast_rs::impl_downcast!(PusServiceProvider assoc Error);
 
+pub trait SendablePusServiceProvider: PusServiceProvider + Send {}
+
+impl<T: Send + PusServiceProvider> SendablePusServiceProvider for T {}
+
+downcast_rs::impl_downcast!(SendablePusServiceProvider assoc Error);
+
+/// Generic distributor object which dispatches received packets to a user provided handler.
+///
+/// This distributor expects the passed trait object to be [Send]able to allow more ergonomic
+/// usage with threads.
 pub struct PusDistributor<E> {
-    pub service_provider: Box<dyn PusServiceProvider<Error = E>>,
+    pub service_provider: Box<dyn SendablePusServiceProvider<Error = E>>,
 }
 
 impl<E> PusDistributor<E> {
-    pub fn new(service_provider: Box<dyn PusServiceProvider<Error = E>>) -> Self {
+    pub fn new(service_provider: Box<dyn SendablePusServiceProvider<Error = E>>) -> Self {
         PusDistributor { service_provider }
     }
 }
@@ -94,6 +107,25 @@ pub enum PusDistribError<E> {
     PusError(PusError),
 }
 
+impl<E: Display> Display for PusDistribError<E> {
+    fn fmt(&self, f: &mut Formatter<'_>) -> core::fmt::Result {
+        match self {
+            PusDistribError::CustomError(e) => write!(f, "{e}"),
+            PusDistribError::PusError(e) => write!(f, "{e}"),
+        }
+    }
+}
+
+#[cfg(feature = "std")]
+impl<E: Error> Error for PusDistribError<E> {
+    fn source(&self) -> Option<&(dyn Error + 'static)> {
+        match self {
+            Self::CustomError(e) => e.source(),
+            Self::PusError(e) => e.source(),
+        }
+    }
+}
+
 impl<E: 'static> ReceivesTcCore for PusDistributor<E> {
     type Error = PusDistribError<E>;
     fn pass_tc(&mut self, tm_raw: &[u8]) -> Result<(), Self::Error> {
@@ -122,11 +154,13 @@ impl<E: 'static> ReceivesEcssPusTc for PusDistributor<E> {
 }
 
 impl<E: 'static> PusDistributor<E> {
-    pub fn service_provider_ref<T: PusServiceProvider<Error = E>>(&self) -> Option<&T> {
+    pub fn service_provider_ref<T: SendablePusServiceProvider<Error = E>>(&self) -> Option<&T> {
         self.service_provider.downcast_ref::<T>()
     }
 
-    pub fn service_provider_mut<T: PusServiceProvider<Error = E>>(&mut self) -> Option<&mut T> {
+    pub fn service_provider_mut<T: SendablePusServiceProvider<Error = E>>(
+        &mut self,
+    ) -> Option<&mut T> {
         self.service_provider.downcast_mut::<T>()
     }
 }

satrs-core/tests/pools.rs

@@ -20,14 +20,15 @@ fn threaded_usage() {
     });
 
     let jh1 = thread::spawn(move || {
-        let mut pool_access = shared_clone.write().unwrap();
         let addr;
         {
             addr = rx.recv().expect("Receiving store address failed");
+            let mut pool_access = shared_clone.write().unwrap();
             let pg = PoolGuard::new(pool_access.deref_mut(), addr);
             let read_res = pg.read().expect("Reading failed");
             assert_eq!(read_res, DUMMY_DATA);
         }
+        let pool_access = shared_clone.read().unwrap();
         assert!(!pool_access.has_element_at(&addr).expect("Invalid address"));
     });
     jh0.join().unwrap();

satrs-example/src/bin/simpleclient.rs

@@ -14,16 +14,13 @@ fn main() {
     let pus_tc = PusTc::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!(
+    println!("Packing and sending PUS ping command TC[17,1] with request ID {tc_req_id}");
-        "Packing and sending PUS ping command TC[17,1] with request ID {}",
-        tc_req_id
-    );
     let size = pus_tc
         .write_to_bytes(&mut buf)
         .expect("Creating PUS TC failed");
     client
         .send_to(&buf[0..size], addr)
-        .unwrap_or_else(|_| panic!("Sending to {:?} failed", addr));
+        .unwrap_or_else(|_| panic!("Sending to {addr:?} failed"));
     client
         .set_read_timeout(Some(Duration::from_secs(2)))
         .expect("Setting read timeout failed");
@@ -44,33 +41,21 @@ fn main() {
                     }
                     let req_id = RequestId::from_bytes(src_data).unwrap();
                     if pus_tm.subservice() == 1 {
-                        println!(
+                        println!("Received TM[1,1] acceptance success for request ID {req_id}")
-                            "Received TM[1,1] acceptance success for request ID {}",
-                            req_id
-                        )
                     } else if pus_tm.subservice() == 2 {
-                        println!(
+                        println!("Received TM[1,2] acceptance failure for request ID {req_id}")
-                            "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)
+                        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)
+                        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)
+                        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)
+                        println!("Received TM[1,6] step failure for request ID {req_id}")
                     } else if pus_tm.subservice() == 7 {
-                        println!(
+                        println!("Received TM[1,7] completion success for request ID {req_id}")
-                            "Received TM[1,7] completion success for request ID {}",
-                            req_id
-                        )
                     } else if pus_tm.subservice() == 8 {
-                        println!(
+                        println!("Received TM[1,8] completion failure for request ID {req_id}");
-                            "Received TM[1,8] completion failure for request ID {}",
-                            req_id
-                        );
                     }
                 } else {
                     println!(

satrs-example/src/bin/test.rs

@@ -49,7 +49,7 @@ fn main() {
     let jh0 = thread::spawn(move || {
         let data = r0.recv().unwrap();
         let raw = data.get_data();
-        println!("Received data {:?}", raw);
+        println!("Received data {raw:?}");
     });
     let jh1 = thread::spawn(|| {});
     jh0.join().unwrap();

satrs-example/src/pus.rs

@@ -181,7 +181,7 @@ impl PusReceiver {
             let sender = self.request_map.get(&addressable_id.target_id).unwrap();
             sender
                 .send(RequestWithToken(Request::HkRequest(request), token))
-                .unwrap_or_else(|_| panic!("Sending HK request {:?} failed", request));
+                .unwrap_or_else(|_| panic!("Sending HK request {request:?} failed"));
         };
         if PusPacket::subservice(pus_tc) == hk::Subservice::TcEnableGeneration as u8 {
             send_request(HkRequest::Enable(addressable_id));

satrs-example/src/tmtc.rs

@@ -60,10 +60,10 @@ impl Display for MpscStoreAndSendError {
     fn fmt(&self, f: &mut Formatter<'_>) -> std::fmt::Result {
         match self {
             MpscStoreAndSendError::StoreError(s) => {
-                write!(f, "store error {}", s)
+                write!(f, "store error {s}")
             }
             MpscStoreAndSendError::SendError(s) => {
-                write!(f, "send error {}", s)
+                write!(f, "send error {s}")
             }
         }
     }
@@ -245,8 +245,8 @@ fn core_tmtc_loop(
                         .ok();
                 }
                 Err(e) => {
-                    println!("error creating PUS TC from raw data: {}", e);
+                    println!("error creating PUS TC from raw data: {e}");
-                    println!("raw data: {:x?}", data);
+                    println!("raw data: {data:x?}");
                 }
             }
         }
@@ -266,7 +266,7 @@ fn poll_tc_server(udp_tmtc_server: &mut UdpTmtcServer) -> bool {
         Ok(_) => true,
         Err(e) => match e {
             ReceiveResult::ReceiverError(e) => match e {
-                CcsdsError::PacketError(e) => {
+                CcsdsError::ByteConversionError(e) => {
                     println!("Got packet error: {e:?}");
                     true
                 }
@@ -295,7 +295,7 @@ fn core_tm_handling(udp_tmtc_server: &mut UdpTmtcServer, recv_addr: &SocketAddr)
         if buf.len() > 9 {
             let service = buf[7];
             let subservice = buf[8];
-            println!("Sending PUS TM[{},{}]", service, subservice)
+            println!("Sending PUS TM[{service},{subservice}]")
         } else {
             println!("Sending PUS TM");
         }