satrs-core/src/pus/mod.rs

@@ -1,4 +1,7 @@
 //! # PUS support modules
+//!
+//! This module contains structures to make working with the PUS C standard easier.
+//! The satrs-example application contains various usage examples of these components.
 #[cfg(feature = "alloc")]
 use downcast_rs::{impl_downcast, Downcast};
 #[cfg(feature = "alloc")]
@@ -296,6 +299,8 @@ pub mod std_mod {
         InvalidSubservice(u8),
         #[error("Not enough application data available: {0}")]
         NotEnoughAppData(String),
+        #[error("Invalid application data")]
+        InvalidAppData(String),
         #[error("Generic store error: {0}")]
         StoreError(#[from] StoreError),
         #[error("Error with the pool RwGuard: {0}")]
@@ -318,6 +323,7 @@ pub mod std_mod {
         VerificationError,
     }
 
+    /// Generic result type for handlers which can process PUS packets.
     #[derive(Debug, Clone)]
     pub enum PusPacketHandlerResult {
         RequestHandled,
@@ -333,8 +339,13 @@ pub mod std_mod {
         }
     }
 
+    /// Generic abstraction for a telecommand being sent around after is has been accepted.
+    /// The actual telecommand is stored inside a pre-allocated pool structure.
     pub type AcceptedTc = (StoreAddr, VerificationToken<TcStateAccepted>);
 
+    /// Base class for handlers which can handle PUS TC packets. Right now, the message queue
+    /// backend is constrained to [mpsc::channel]s and the verification reporter
+    /// is constrained to the [StdVerifReporterWithSender].
     pub struct PusServiceBase {
         pub tc_rx: mpsc::Receiver<AcceptedTc>,
         pub tc_store: SharedPool,
@@ -383,6 +394,7 @@ pub mod std_mod {
             }
             time_stamp
         }
+
         pub fn get_current_timestamp_ignore_error(&self) -> [u8; 7] {
             let mut dummy = None;
             self.get_current_timestamp(&mut dummy)

satrs-core/src/pus/scheduler_srv.rs

@@ -10,6 +10,14 @@ use spacepackets::tc::PusTc;
 use spacepackets::time::cds::TimeProvider;
 use std::sync::mpsc::{Receiver, Sender};
 
+/// This is a helper class for [std] environments to handle generic PUS 11 (scheduling service)
+/// packets. This handler is constrained to using the [PusScheduler], but is able to process
+/// the most important PUS requests for a scheduling service.
+///
+/// Please note that this class does not do the regular periodic handling like releasing any
+/// telecommands inside the scheduler. The user can retrieve the wrapped scheduler via the
+/// [Self::scheduler] and [Self::scheduler_mut] function and then use the scheduler API to release
+/// telecommands when applicable.
 pub struct PusService11SchedHandler {
     psb: PusServiceBase,
     scheduler: PusScheduler,
@@ -41,6 +49,10 @@ impl PusService11SchedHandler {
     pub fn scheduler_mut(&mut self) -> &mut PusScheduler {
         &mut self.scheduler
     }
+
+    pub fn scheduler(&self) -> &PusScheduler {
+        &self.scheduler
+    }
 }
 
 impl PusServiceHandler for PusService11SchedHandler {

satrs-core/src/pus/test.rs

@@ -12,6 +12,8 @@ use spacepackets::SpHeader;
 use std::format;
 use std::sync::mpsc::{Receiver, Sender};
 
+/// 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 {
     psb: PusServiceBase,
 }