satrs-core/src/pus/mod.rs

@@ -61,7 +61,7 @@ pub type AcceptedTc = (StoreAddr, VerificationToken<TcStateAccepted>);
 #[derive(Debug, Copy, Clone)]
 pub enum GenericSendError {
     RxDisconnected,
-    QueueFull(u32),
+    QueueFull(Option<u32>),
 }
 
 impl Display for GenericSendError {
@@ -71,7 +71,7 @@ impl Display for GenericSendError {
                 write!(f, "rx side has disconnected")
             }
             GenericSendError::QueueFull(max_cap) => {
-                write!(f, "queue with max capacity of {max_cap} is full")
+                write!(f, "queue with max capacity of {max_cap:?} is full")
             }
         }
     }
@@ -319,6 +319,7 @@ pub mod std_mod {
     use crate::ChannelId;
     use alloc::boxed::Box;
     use alloc::vec::Vec;
+    use crossbeam_channel as cb;
     use spacepackets::ecss::tm::PusTmCreator;
     use spacepackets::ecss::PusError;
     use spacepackets::time::cds::TimeProvider;
@@ -327,16 +328,36 @@ pub mod std_mod {
     use std::cell::RefCell;
     use std::string::String;
     use std::sync::mpsc;
-    use std::sync::mpsc::{SendError, TryRecvError};
+    use std::sync::mpsc::TryRecvError;
     use thiserror::Error;
 
+    impl From<mpsc::SendError<StoreAddr>> for EcssTmtcError {
+        fn from(_: mpsc::SendError<StoreAddr>) -> Self {
+            Self::Send(GenericSendError::RxDisconnected)
+        }
+    }
+
+    impl From<cb::SendError<StoreAddr>> for EcssTmtcError {
+        fn from(_: cb::SendError<StoreAddr>) -> Self {
+            Self::Send(GenericSendError::RxDisconnected)
+        }
+    }
+
+    impl From<cb::TrySendError<StoreAddr>> for EcssTmtcError {
+        fn from(value: cb::TrySendError<StoreAddr>) -> Self {
+            match value {
+                cb::TrySendError::Full(_) => Self::Send(GenericSendError::QueueFull(None)),
+                cb::TrySendError::Disconnected(_) => Self::Send(GenericSendError::RxDisconnected),
+            }
+        }
+    }
+
     #[derive(Clone)]
     pub struct MpscTmInStoreSender {
         id: ChannelId,
         name: &'static str,
         shared_tm_store: SharedTmStore,
         sender: mpsc::Sender<StoreAddr>,
-        pub ignore_poison_errors: bool,
     }
 
     impl EcssChannel for MpscTmInStoreSender {
@@ -349,11 +370,6 @@ pub mod std_mod {
         }
     }
 
-    impl From<SendError<StoreAddr>> for EcssTmtcError {
-        fn from(_: SendError<StoreAddr>) -> Self {
-            Self::Send(GenericSendError::RxDisconnected)
-        }
-    }
     impl MpscTmInStoreSender {
         pub fn send_direct_tm(&self, tm: PusTmCreator) -> Result<(), EcssTmtcError> {
             let addr = self.shared_tm_store.add_pus_tm(&tm)?;
@@ -366,7 +382,10 @@ pub mod std_mod {
     impl EcssTmSenderCore for MpscTmInStoreSender {
         fn send_tm(&self, tm: PusTmWrapper) -> Result<(), EcssTmtcError> {
             match tm {
-                PusTmWrapper::InStore(addr) => self.sender.send(addr).map_err(|e| e.into()),
+                PusTmWrapper::InStore(addr) => {
+                    self.sender.send(addr)?;
+                    Ok(())
+                }
                 PusTmWrapper::Direct(tm) => self.send_direct_tm(tm),
             }
         }
@@ -384,7 +403,6 @@ pub mod std_mod {
                 name,
                 shared_tm_store,
                 sender,
-                ignore_poison_errors: false,
             }
         }
     }
@@ -393,7 +411,6 @@ pub mod std_mod {
         id: ChannelId,
         name: &'static str,
         receiver: mpsc::Receiver<TcAddrWithToken>,
-        pub ignore_poison_errors: bool,
     }
 
     impl EcssChannel for MpscTcInStoreReceiver {
@@ -427,12 +444,7 @@ pub mod std_mod {
             name: &'static str,
             receiver: mpsc::Receiver<TcAddrWithToken>,
         ) -> Self {
-            Self {
-                id,
-                name,
-                receiver,
-                ignore_poison_errors: false,
-            }
+            Self { id, name, receiver }
         }
     }
 
@@ -447,8 +459,8 @@ pub mod std_mod {
         name: &'static str,
     }
 
-    impl From<SendError<Vec<u8>>> for EcssTmtcError {
-        fn from(_: SendError<Vec<u8>>) -> Self {
+    impl From<mpsc::SendError<Vec<u8>>> for EcssTmtcError {
+        fn from(_: mpsc::SendError<Vec<u8>>) -> Self {
             Self::Send(GenericSendError::RxDisconnected)
         }
     }
@@ -482,6 +494,94 @@ pub mod std_mod {
         }
     }
 
+    #[derive(Clone)]
+    pub struct CrossbeamTmInStoreSender {
+        id: ChannelId,
+        name: &'static str,
+        shared_tm_store: SharedTmStore,
+        sender: crossbeam_channel::Sender<StoreAddr>,
+    }
+
+    impl CrossbeamTmInStoreSender {
+        pub fn new(
+            id: ChannelId,
+            name: &'static str,
+            shared_tm_store: SharedTmStore,
+            sender: crossbeam_channel::Sender<StoreAddr>,
+        ) -> Self {
+            Self {
+                id,
+                name,
+                shared_tm_store,
+                sender,
+            }
+        }
+    }
+
+    impl EcssChannel for CrossbeamTmInStoreSender {
+        fn id(&self) -> ChannelId {
+            self.id
+        }
+
+        fn name(&self) -> &'static str {
+            self.name
+        }
+    }
+
+    impl EcssTmSenderCore for CrossbeamTmInStoreSender {
+        fn send_tm(&self, tm: PusTmWrapper) -> Result<(), EcssTmtcError> {
+            match tm {
+                PusTmWrapper::InStore(addr) => self.sender.try_send(addr)?,
+                PusTmWrapper::Direct(tm) => {
+                    let addr = self.shared_tm_store.add_pus_tm(&tm)?;
+                    self.sender.try_send(addr)?;
+                }
+            }
+            Ok(())
+        }
+    }
+
+    pub struct CrossbeamTcInStoreReceiver {
+        id: ChannelId,
+        name: &'static str,
+        receiver: cb::Receiver<TcAddrWithToken>,
+    }
+
+    impl CrossbeamTcInStoreReceiver {
+        pub fn new(
+            id: ChannelId,
+            name: &'static str,
+            receiver: cb::Receiver<TcAddrWithToken>,
+        ) -> Self {
+            Self { id, name, receiver }
+        }
+    }
+
+    impl EcssChannel for CrossbeamTcInStoreReceiver {
+        fn id(&self) -> ChannelId {
+            self.id
+        }
+
+        fn name(&self) -> &'static str {
+            self.name
+        }
+    }
+
+    impl EcssTcReceiverCore for CrossbeamTcInStoreReceiver {
+        fn recv_tc(&self) -> Result<ReceivedTcWrapper, TryRecvTmtcError> {
+            let (store_addr, token) = self.receiver.try_recv().map_err(|e| match e {
+                cb::TryRecvError::Empty => TryRecvTmtcError::Empty,
+                cb::TryRecvError::Disconnected => {
+                    TryRecvTmtcError::Error(EcssTmtcError::from(GenericRecvError::TxDisconnected))
+                }
+            })?;
+            Ok(ReceivedTcWrapper {
+                store_addr,
+                token: Some(token),
+            })
+        }
+    }
+
     #[derive(Debug, Clone, Error)]
     pub enum PusPacketHandlingError {
         #[error("generic PUS error: {0}")]

satrs-core/tests/pus_verification.rs

@@ -1,5 +1,3 @@
-// TODO: Refactor this to also test the STD impl using mpsc
-// TODO: Change back to cross-beam as soon as STD impl was added back for TM.
 #[cfg(feature = "crossbeam")]
 pub mod crossbeam_test {
     use hashbrown::HashMap;
@@ -7,13 +5,13 @@ pub mod crossbeam_test {
     use satrs_core::pus::verification::{
         FailParams, RequestId, VerificationReporterCfg, VerificationReporterWithSender,
     };
-    use satrs_core::pus::MpscTmInStoreSender;
+    use satrs_core::pus::CrossbeamTmInStoreSender;
     use satrs_core::tmtc::tm_helper::SharedTmStore;
     use spacepackets::ecss::tc::{PusTcCreator, PusTcReader, PusTcSecondaryHeader};
     use spacepackets::ecss::tm::PusTmReader;
     use spacepackets::ecss::{EcssEnumU16, EcssEnumU8, PusPacket, SerializablePusPacket};
     use spacepackets::SpHeader;
-    use std::sync::{mpsc, Arc, RwLock};
+    use std::sync::{Arc, RwLock};
     use std::thread;
     use std::time::Duration;
 
@@ -39,9 +37,9 @@ pub mod crossbeam_test {
         let shared_tm_store = SharedTmStore::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) = mpsc::channel();
+        let (tx, rx) = crossbeam_channel::bounded(10);
         let sender =
-            MpscTmInStoreSender::new(0, "verif_sender", shared_tm_store.clone(), tx.clone());
+            CrossbeamTmInStoreSender::new(0, "verif_sender", shared_tm_store.clone(), tx.clone());
         let mut reporter_with_sender_0 =
             VerificationReporterWithSender::new(&cfg, Box::new(sender));
         let mut reporter_with_sender_1 = reporter_with_sender_0.clone();