satrs-core/src/pus/mod.rs

@@ -136,13 +136,13 @@ mod alloc_mod {
 pub mod std_mod {
     use crate::pool::{ShareablePoolProvider, SharedPool, StoreAddr, StoreError};
     use crate::pus::verification::{
-        StdVerifReporterWithSender, TcStateAccepted, VerificationToken,
+        FailParams, StdVerifReporterWithSender, TcStateAccepted, VerificationToken,
     };
     use crate::pus::{EcssSender, EcssTcSenderCore, EcssTmSenderCore};
     use crate::tmtc::tm_helper::SharedTmStore;
     use crate::SenderId;
     use alloc::vec::Vec;
-    use spacepackets::ecss::{PusError, SerializablePusPacket};
+    use spacepackets::ecss::{EcssEnumeration, PusError, SerializablePusPacket};
     use spacepackets::tc::PusTc;
     use spacepackets::time::cds::TimeProvider;
     use spacepackets::time::{StdTimestampError, TimeWriter};
@@ -315,7 +315,7 @@ pub mod std_mod {
     pub enum PusPacketHandlerResult {
         RequestHandled,
         RequestHandledPartialSuccess(PartialPusHandlingError),
-        CustomSubservice(VerificationToken<TcStateAccepted>),
+        CustomSubservice(u8, VerificationToken<TcStateAccepted>),
         Empty,
     }
 
@@ -372,6 +372,20 @@ pub mod std_mod {
                 Err(time_provider.unwrap_err())
             }
         }
+
+        pub fn report_start_failure(
+            &mut self,
+            token: VerificationToken<TcStateAccepted>,
+            failure_code: &impl EcssEnumeration,
+            failure_data: Option<&[u8]>,
+        ) -> Result<(), VerificationToken<TcStateAccepted>> {
+            self.verification_handler
+                .start_failure(
+                    token,
+                    FailParams::new(Some(&self.stamp_buf), failure_code, failure_data),
+                )
+                .map_err(|e| e.1)
+        }
     }
 
     pub trait PusServiceHandler {

satrs-core/src/pus/scheduler_srv.rs

@@ -69,7 +69,10 @@ impl PusServiceHandler for PusService11SchedHandler {
         let (tc, _) = PusTc::from_bytes(&self.psb.pus_buf).unwrap();
         let std_service = scheduling::Subservice::try_from(tc.subservice());
         if std_service.is_err() {
-            return Ok(PusPacketHandlerResult::CustomSubservice(token));
+            return Ok(PusPacketHandlerResult::CustomSubservice(
+                tc.subservice(),
+                token,
+            ));
         }
         //let partial_error = self.psb.update_stamp().err();
         let time_provider =
@@ -155,7 +158,10 @@ impl PusServiceHandler for PusService11SchedHandler {
                     .expect("sending completion success failed");
             }
             _ => {
-                return Ok(PusPacketHandlerResult::CustomSubservice(token));
+                return Ok(PusPacketHandlerResult::CustomSubservice(
+                    tc.subservice(),
+                    token,
+                ));
             }
         }
         if let Some(partial_error) = partial_error {
@@ -163,6 +169,9 @@ impl PusServiceHandler for PusService11SchedHandler {
                 partial_error,
             ));
         }
-        Ok(PusPacketHandlerResult::CustomSubservice(token))
+        Ok(PusPacketHandlerResult::CustomSubservice(
+            tc.subservice(),
+            token,
+        ))
     }
 }

satrs-core/src/pus/test.rs

@@ -109,6 +109,9 @@ impl PusServiceHandler for PusService17TestHandler {
             };
             return Ok(PusPacketHandlerResult::RequestHandled);
         }
-        Ok(PusPacketHandlerResult::CustomSubservice(token))
+        Ok(PusPacketHandlerResult::CustomSubservice(
+            tc.subservice(),
+            token,
+        ))
     }
 }

satrs-example/src/main.rs

@@ -9,6 +9,7 @@ use log::{info, warn};
 
 use crate::hk::AcsHkIds;
 use crate::logging::setup_logger;
+use crate::pus::scheduler::Pus11Wrapper;
 use crate::pus::test::Service17CustomWrapper;
 use crate::pus::PusTcMpscRouter;
 use crate::requests::{Request, RequestWithToken};
@@ -26,6 +27,8 @@ use satrs_core::pus::event_man::{
     PusEventDispatcher,
 };
 use satrs_core::pus::hk::Subservice as HkSubservice;
+use satrs_core::pus::scheduler::PusScheduler;
+use satrs_core::pus::scheduler_srv::PusService11SchedHandler;
 use satrs_core::pus::test::PusService17TestHandler;
 use satrs_core::pus::verification::{
     MpscVerifSender, VerificationReporterCfg, VerificationReporterWithSender,
@@ -173,12 +176,24 @@ fn main() {
         tm_funnel_tx.clone(),
         tm_store.clone(),
         PUS_APID,
-        verif_reporter,
+        verif_reporter.clone(),
     );
-    let mut srv_17_wrapper = Service17CustomWrapper {
+    let mut pus_17_wrapper = Service17CustomWrapper {
         pus17_handler,
         test_srv_event_sender,
     };
+    let scheduler = PusScheduler::new_with_current_init_time(Duration::from_secs(5))
+        .expect("Creating PUS Scheduler failed");
+    let pus11_handler = PusService11SchedHandler::new(
+        pus_sched_rx,
+        tc_store.pool.clone(),
+        tm_funnel_tx.clone(),
+        tm_store.clone(),
+        PUS_APID,
+        verif_reporter,
+        scheduler,
+    );
+    let mut pus_11_wrapper = Pus11Wrapper { pus11_handler };
 
     info!("Starting TMTC task");
     let jh0 = thread::Builder::new()
@@ -343,8 +358,15 @@ fn main() {
     let jh4 = thread::Builder::new()
         .name("PUS".to_string())
         .spawn(move || loop {
-            let queue_empty = srv_17_wrapper.perform_operation();
+            let mut all_queues_empty = true;
-            if queue_empty {
+            let mut is_srv_finished = |srv_handler_finished: bool| {
+                if !srv_handler_finished {
+                    all_queues_empty = false;
+                }
+            };
+            is_srv_finished(pus_17_wrapper.perform_operation());
+            is_srv_finished(pus_11_wrapper.perform_operation());
+            if all_queues_empty {
                 thread::sleep(Duration::from_millis(200));
             }
         })

satrs-example/src/pus/events.rs

@@ -0,0 +1,59 @@
+use satrs_core::event_man::{EventManager, EventManagerWithMpscQueue};
+use satrs_core::events::EventU32;
+use satrs_core::params::Params;
+use satrs_core::pool::{SharedPool, StoreAddr};
+use satrs_core::pus::event_man::EventReporter;
+use satrs_core::pus::verification::{
+    StdVerifReporterWithSender, TcStateAccepted, VerificationToken,
+};
+use satrs_core::pus::{
+    AcceptedTc, PusPacketHandlerResult, PusPacketHandlingError, PusServiceBase, PusServiceHandler,
+};
+use satrs_core::tmtc::tm_helper::SharedTmStore;
+use std::sync::mpsc::{Receiver, Sender};
+
+pub struct PusService5EventHandler {
+    psb: PusServiceBase,
+    event_manager: EventManagerWithMpscQueue<EventU32, Params>,
+}
+
+impl PusService5EventHandler {
+    pub fn new(
+        receiver: Receiver<AcceptedTc>,
+        tc_pool: SharedPool,
+        tm_tx: Sender<StoreAddr>,
+        tm_store: SharedTmStore,
+        tm_apid: u16,
+        verification_handler: StdVerifReporterWithSender,
+        event_manager: EventManagerWithMpscQueue<EventU32, Params>,
+    ) -> Self {
+        Self {
+            psb: PusServiceBase::new(
+                receiver,
+                tc_pool,
+                tm_tx,
+                tm_store,
+                tm_apid,
+                verification_handler,
+            ),
+            event_manager,
+        }
+    }
+}
+
+impl PusServiceHandler for PusService5EventHandler {
+    fn psb_mut(&mut self) -> &mut PusServiceBase {
+        &mut self.psb
+    }
+    fn psb(&self) -> &PusServiceBase {
+        &self.psb
+    }
+
+    fn handle_one_tc(
+        &mut self,
+        addr: StoreAddr,
+        token: VerificationToken<TcStateAccepted>,
+    ) -> Result<PusPacketHandlerResult, PusPacketHandlingError> {
+        Ok(PusPacketHandlerResult::RequestHandled)
+    }
+}

satrs-example/src/pus/mod.rs

@@ -13,14 +13,10 @@ use satrs_core::tmtc::tm_helper::{PusTmWithCdsShortHelper, SharedTmStore};
 use satrs_example::{tmtc_err, CustomPusServiceId};
 use std::sync::mpsc::Sender;
 
+pub mod events;
 pub mod scheduler;
 pub mod test;
 
-pub enum PusTcWrapper<'tc> {
-    PusTc(&'tc PusTc<'tc>),
-    StoreAddr(StoreAddr),
-}
-
 pub struct PusTcMpscRouter {
     pub test_service_receiver: Sender<AcceptedTc>,
     pub event_service_receiver: Sender<AcceptedTc>,

satrs-example/src/pus/scheduler.rs

@@ -1 +1,30 @@
+use log::{error, warn};
+use satrs_core::pus::scheduler_srv::PusService11SchedHandler;
+use satrs_core::pus::{PusPacketHandlerResult, PusServiceHandler};
 
+pub struct Pus11Wrapper {
+    pub pus11_handler: PusService11SchedHandler,
+}
+
+impl Pus11Wrapper {
+    pub fn perform_operation(&mut self) -> bool {
+        match self.pus11_handler.handle_next_packet() {
+            Ok(result) => match result {
+                PusPacketHandlerResult::RequestHandled => {}
+                PusPacketHandlerResult::RequestHandledPartialSuccess(e) => {
+                    warn!("PUS11 partial packet handling success: {e:?}")
+                }
+                PusPacketHandlerResult::CustomSubservice(invalid, _) => {
+                    warn!("PUS11 invalid subservice {invalid}");
+                }
+                PusPacketHandlerResult::Empty => {
+                    return true;
+                }
+            },
+            Err(error) => {
+                error!("PUS packet handling error: {error:?}")
+            }
+        }
+        false
+    }
+}

satrs-example/src/pus/test.rs

@@ -2,7 +2,6 @@ use log::{info, warn};
 use satrs_core::events::EventU32;
 use satrs_core::params::Params;
 use satrs_core::pus::test::PusService17TestHandler;
-use satrs_core::pus::verification::FailParams;
 use satrs_core::pus::{PusPacketHandlerResult, PusServiceHandler};
 use satrs_core::spacepackets::ecss::PusPacket;
 use satrs_core::spacepackets::tc::PusTc;
@@ -34,13 +33,13 @@ impl Service17CustomWrapper {
                     partial_err
                 );
             }
-            PusPacketHandlerResult::CustomSubservice(token) => {
+            PusPacketHandlerResult::CustomSubservice(subservice, token) => {
                 let (buf, _) = self.pus17_handler.pus_tc_buf();
                 let (tc, _) = PusTc::from_bytes(buf).unwrap();
                 let time_stamper = TimeProvider::from_now_with_u16_days().unwrap();
                 let mut stamp_buf: [u8; 7] = [0; 7];
                 time_stamper.write_to_bytes(&mut stamp_buf).unwrap();
-                if tc.subservice() == 128 {
+                if subservice == 128 {
                     info!("Generating test event");
                     self.test_srv_event_sender
                         .send((TEST_EVENT.into(), None))
@@ -57,14 +56,11 @@ impl Service17CustomWrapper {
                 } else {
                     let fail_data = [tc.subservice()];
                     self.pus17_handler
-                        .verification_reporter()
+                        .psb_mut()
-                        .start_failure(
+                        .report_start_failure(
                             token,
-                            FailParams::new(
-                                Some(&stamp_buf),
                             &tmtc_err::INVALID_PUS_SUBSERVICE,
                             Some(&fail_data),
-                            ),
                         )
                         .expect("Sending start failure verification failed");
                 }