1189 lines
40 KiB
Rust
1189 lines
40 KiB
Rust
//! # PUS support modules
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//!
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//! This module contains structures to make working with the PUS C standard easier.
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//! The satrs-example application contains various usage examples of these components.
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use crate::ChannelId;
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use core::fmt::{Display, Formatter};
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#[cfg(feature = "alloc")]
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use downcast_rs::{impl_downcast, Downcast};
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#[cfg(feature = "alloc")]
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use dyn_clone::DynClone;
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#[cfg(feature = "std")]
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use std::error::Error;
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use spacepackets::ecss::tc::{PusTcCreator, PusTcReader};
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use spacepackets::ecss::tm::PusTmCreator;
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use spacepackets::ecss::PusError;
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use spacepackets::{ByteConversionError, SpHeader};
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pub mod event;
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pub mod event_man;
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#[cfg(feature = "std")]
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pub mod event_srv;
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pub mod hk;
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pub mod mode;
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pub mod scheduler;
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#[cfg(feature = "std")]
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pub mod scheduler_srv;
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#[cfg(feature = "std")]
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pub mod test;
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pub mod verification;
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#[cfg(feature = "alloc")]
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pub use alloc_mod::*;
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use crate::pool::{StoreAddr, StoreError};
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use crate::pus::verification::{TcStateAccepted, TcStateToken, VerificationToken};
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#[cfg(feature = "std")]
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pub use std_mod::*;
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#[derive(Debug, PartialEq, Eq, Clone)]
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pub enum PusTmWrapper<'tm> {
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InStore(StoreAddr),
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Direct(PusTmCreator<'tm>),
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}
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impl From<StoreAddr> for PusTmWrapper<'_> {
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fn from(value: StoreAddr) -> Self {
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Self::InStore(value)
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}
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}
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impl<'tm> From<PusTmCreator<'tm>> for PusTmWrapper<'tm> {
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fn from(value: PusTmCreator<'tm>) -> Self {
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Self::Direct(value)
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}
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}
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/// Generic error type for sending something via a message queue.
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#[derive(Debug, Copy, Clone)]
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pub enum GenericSendError {
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RxDisconnected,
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QueueFull(Option<u32>),
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}
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impl Display for GenericSendError {
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fn fmt(&self, f: &mut Formatter<'_>) -> core::fmt::Result {
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match self {
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GenericSendError::RxDisconnected => {
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write!(f, "rx side has disconnected")
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}
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GenericSendError::QueueFull(max_cap) => {
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write!(f, "queue with max capacity of {max_cap:?} is full")
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}
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}
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}
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}
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#[cfg(feature = "std")]
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impl Error for GenericSendError {}
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/// Generic error type for sending something via a message queue.
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#[derive(Debug, Copy, Clone)]
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pub enum GenericRecvError {
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Empty,
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TxDisconnected,
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}
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impl Display for GenericRecvError {
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fn fmt(&self, f: &mut Formatter<'_>) -> core::fmt::Result {
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match self {
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Self::TxDisconnected => {
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write!(f, "tx side has disconnected")
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}
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Self::Empty => {
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write!(f, "nothing to receive")
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}
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}
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}
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}
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#[cfg(feature = "std")]
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impl Error for GenericRecvError {}
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#[derive(Debug, Clone)]
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pub enum EcssTmtcError {
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StoreLock,
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Store(StoreError),
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Pus(PusError),
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CantSendAddr(StoreAddr),
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Send(GenericSendError),
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Recv(GenericRecvError),
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}
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impl Display for EcssTmtcError {
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fn fmt(&self, f: &mut Formatter<'_>) -> core::fmt::Result {
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match self {
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EcssTmtcError::StoreLock => {
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write!(f, "store lock error")
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}
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EcssTmtcError::Store(store) => {
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write!(f, "store error: {store}")
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}
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EcssTmtcError::Pus(pus_e) => {
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write!(f, "PUS error: {pus_e}")
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}
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EcssTmtcError::CantSendAddr(addr) => {
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write!(f, "can not send address {addr}")
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}
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EcssTmtcError::Send(send_e) => {
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write!(f, "send error {send_e}")
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}
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EcssTmtcError::Recv(recv_e) => {
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write!(f, "recv error {recv_e}")
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}
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}
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}
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}
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impl From<StoreError> for EcssTmtcError {
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fn from(value: StoreError) -> Self {
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Self::Store(value)
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}
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}
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impl From<PusError> for EcssTmtcError {
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fn from(value: PusError) -> Self {
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Self::Pus(value)
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}
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}
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impl From<GenericSendError> for EcssTmtcError {
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fn from(value: GenericSendError) -> Self {
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Self::Send(value)
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}
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}
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impl From<GenericRecvError> for EcssTmtcError {
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fn from(value: GenericRecvError) -> Self {
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Self::Recv(value)
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}
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}
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#[cfg(feature = "std")]
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impl Error for EcssTmtcError {
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fn source(&self) -> Option<&(dyn Error + 'static)> {
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match self {
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EcssTmtcError::Store(e) => Some(e),
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EcssTmtcError::Pus(e) => Some(e),
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EcssTmtcError::Send(e) => Some(e),
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_ => None,
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}
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}
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}
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pub trait EcssChannel: Send {
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/// Each sender can have an ID associated with it
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fn id(&self) -> ChannelId;
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fn name(&self) -> &'static str {
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"unset"
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}
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}
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/// Generic trait for a user supplied sender object.
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///
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/// This sender object is responsible for sending PUS telemetry to a TM sink.
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pub trait EcssTmSenderCore: EcssChannel {
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fn send_tm(&self, tm: PusTmWrapper) -> Result<(), EcssTmtcError>;
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}
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/// Generic trait for a user supplied sender object.
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///
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/// This sender object is responsible for sending PUS telecommands to a TC recipient. Each
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/// telecommand can optionally have a token which contains its verification state.
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pub trait EcssTcSenderCore: EcssChannel {
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fn send_tc(&self, tc: PusTcCreator, token: Option<TcStateToken>) -> Result<(), EcssTmtcError>;
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}
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/// A PUS telecommand packet can be stored in memory using different methods. Right now,
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/// storage inside a pool structure like [crate::pool::StaticMemoryPool], and storage inside a
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/// `Vec<u8>` are supported.
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#[non_exhaustive]
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#[derive(Debug, Clone, PartialEq, Eq)]
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pub enum TcInMemory {
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StoreAddr(StoreAddr),
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#[cfg(feature = "alloc")]
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Vec(alloc::vec::Vec<u8>),
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}
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impl From<StoreAddr> for TcInMemory {
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fn from(value: StoreAddr) -> Self {
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Self::StoreAddr(value)
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}
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}
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#[cfg(feature = "alloc")]
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impl From<alloc::vec::Vec<u8>> for TcInMemory {
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fn from(value: alloc::vec::Vec<u8>) -> Self {
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Self::Vec(value)
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}
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}
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/// Generic structure for an ECSS PUS Telecommand and its correspoding verification token.
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#[derive(Debug, Clone, PartialEq, Eq)]
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pub struct EcssTcAndToken {
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pub tc_in_memory: TcInMemory,
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pub token: Option<TcStateToken>,
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}
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impl EcssTcAndToken {
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pub fn new(tc_in_memory: impl Into<TcInMemory>, token: impl Into<TcStateToken>) -> Self {
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Self {
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tc_in_memory: tc_in_memory.into(),
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token: Some(token.into()),
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}
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}
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}
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/// Generic abstraction for a telecommand being sent around after is has been accepted.
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pub struct AcceptedEcssTcAndToken {
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pub tc_in_memory: TcInMemory,
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pub token: VerificationToken<TcStateAccepted>,
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}
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impl From<AcceptedEcssTcAndToken> for EcssTcAndToken {
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fn from(value: AcceptedEcssTcAndToken) -> Self {
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EcssTcAndToken {
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tc_in_memory: value.tc_in_memory,
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token: Some(value.token.into()),
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}
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}
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}
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impl TryFrom<EcssTcAndToken> for AcceptedEcssTcAndToken {
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type Error = ();
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fn try_from(value: EcssTcAndToken) -> Result<Self, Self::Error> {
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if let Some(TcStateToken::Accepted(token)) = value.token {
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return Ok(AcceptedEcssTcAndToken {
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tc_in_memory: value.tc_in_memory,
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token,
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});
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}
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Err(())
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}
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}
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#[derive(Debug, Clone)]
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pub enum TryRecvTmtcError {
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Error(EcssTmtcError),
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Empty,
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}
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impl From<EcssTmtcError> for TryRecvTmtcError {
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fn from(value: EcssTmtcError) -> Self {
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Self::Error(value)
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}
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}
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impl From<PusError> for TryRecvTmtcError {
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fn from(value: PusError) -> Self {
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Self::Error(value.into())
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}
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}
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impl From<StoreError> for TryRecvTmtcError {
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fn from(value: StoreError) -> Self {
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Self::Error(value.into())
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}
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}
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/// Generic trait for a user supplied receiver object.
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pub trait EcssTcReceiverCore: EcssChannel {
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fn recv_tc(&self) -> Result<EcssTcAndToken, TryRecvTmtcError>;
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}
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/// Generic trait for objects which can receive ECSS PUS telecommands. This trait is
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/// implemented by the [crate::tmtc::pus_distrib::PusDistributor] objects to allow passing PUS TC
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/// packets into it. It is generally assumed that the telecommand is stored in some pool structure,
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/// and the store address is passed as well. This allows efficient zero-copy forwarding of
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/// telecommands.
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pub trait ReceivesEcssPusTc {
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type Error;
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fn pass_pus_tc(&mut self, header: &SpHeader, pus_tc: &PusTcReader) -> Result<(), Self::Error>;
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}
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#[cfg(feature = "alloc")]
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mod alloc_mod {
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use super::*;
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/// Extension trait for [EcssTmSenderCore].
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///
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/// It provides additional functionality, for example by implementing the [Downcast] trait
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/// and the [DynClone] trait.
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///
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/// [Downcast] is implemented to allow passing the sender as a boxed trait object and still
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/// retrieve the concrete type at a later point.
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///
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/// [DynClone] allows cloning the trait object as long as the boxed object implements
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/// [Clone].
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#[cfg(feature = "alloc")]
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#[cfg_attr(doc_cfg, doc(cfg(feature = "alloc")))]
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pub trait EcssTmSender: EcssTmSenderCore + Downcast + DynClone {
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// Remove this once trait upcasting coercion has been implemented.
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// Tracking issue: https://github.com/rust-lang/rust/issues/65991
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fn upcast(&self) -> &dyn EcssTmSenderCore;
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// Remove this once trait upcasting coercion has been implemented.
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// Tracking issue: https://github.com/rust-lang/rust/issues/65991
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fn upcast_mut(&mut self) -> &mut dyn EcssTmSenderCore;
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}
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/// Blanket implementation for all types which implement [EcssTmSenderCore] and are clonable.
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impl<T> EcssTmSender for T
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where
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T: EcssTmSenderCore + Clone + 'static,
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{
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// Remove this once trait upcasting coercion has been implemented.
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// Tracking issue: https://github.com/rust-lang/rust/issues/65991
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fn upcast(&self) -> &dyn EcssTmSenderCore {
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self
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}
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// Remove this once trait upcasting coercion has been implemented.
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// Tracking issue: https://github.com/rust-lang/rust/issues/65991
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fn upcast_mut(&mut self) -> &mut dyn EcssTmSenderCore {
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self
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}
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}
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dyn_clone::clone_trait_object!(EcssTmSender);
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impl_downcast!(EcssTmSender);
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/// Extension trait for [EcssTcSenderCore].
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///
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/// It provides additional functionality, for example by implementing the [Downcast] trait
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/// and the [DynClone] trait.
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///
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/// [Downcast] is implemented to allow passing the sender as a boxed trait object and still
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/// retrieve the concrete type at a later point.
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///
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/// [DynClone] allows cloning the trait object as long as the boxed object implements
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/// [Clone].
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#[cfg(feature = "alloc")]
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#[cfg_attr(doc_cfg, doc(cfg(feature = "alloc")))]
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pub trait EcssTcSender: EcssTcSenderCore + Downcast + DynClone {}
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/// Blanket implementation for all types which implement [EcssTcSenderCore] and are clonable.
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impl<T> EcssTcSender for T where T: EcssTcSenderCore + Clone + 'static {}
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dyn_clone::clone_trait_object!(EcssTcSender);
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impl_downcast!(EcssTcSender);
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/// Extension trait for [EcssTcReceiverCore].
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///
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/// It provides additional functionality, for example by implementing the [Downcast] trait
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/// and the [DynClone] trait.
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///
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/// [Downcast] is implemented to allow passing the sender as a boxed trait object and still
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/// retrieve the concrete type at a later point.
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///
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/// [DynClone] allows cloning the trait object as long as the boxed object implements
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/// [Clone].
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#[cfg(feature = "alloc")]
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#[cfg_attr(doc_cfg, doc(cfg(feature = "alloc")))]
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pub trait EcssTcReceiver: EcssTcReceiverCore + Downcast {}
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/// Blanket implementation for all types which implement [EcssTcReceiverCore] and are clonable.
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impl<T> EcssTcReceiver for T where T: EcssTcReceiverCore + 'static {}
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impl_downcast!(EcssTcReceiver);
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}
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#[cfg(feature = "std")]
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#[cfg_attr(doc_cfg, doc(cfg(feature = "std")))]
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pub mod std_mod {
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use crate::pool::{PoolProviderMemInPlaceWithGuards, SharedStaticMemoryPool, StoreAddr};
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use crate::pus::verification::{
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StdVerifReporterWithSender, TcStateAccepted, VerificationToken,
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};
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use crate::pus::{
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EcssChannel, EcssTcAndToken, EcssTcReceiver, EcssTcReceiverCore, EcssTmSender,
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EcssTmSenderCore, EcssTmtcError, GenericRecvError, GenericSendError, PusTmWrapper,
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TryRecvTmtcError,
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};
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use crate::tmtc::tm_helper::SharedTmStore;
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use crate::ChannelId;
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use alloc::boxed::Box;
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use alloc::vec::Vec;
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use crossbeam_channel as cb;
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use spacepackets::ecss::tc::PusTcReader;
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use spacepackets::ecss::tm::PusTmCreator;
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use spacepackets::ecss::PusError;
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use spacepackets::time::cds::TimeProvider;
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use spacepackets::time::StdTimestampError;
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use spacepackets::time::TimeWriter;
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use std::cell::RefCell;
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use std::string::String;
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use std::sync::mpsc;
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use std::sync::mpsc::TryRecvError;
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use thiserror::Error;
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use super::verification::VerificationReporterWithSender;
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use super::{AcceptedEcssTcAndToken, TcInMemory};
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impl From<mpsc::SendError<StoreAddr>> for EcssTmtcError {
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fn from(_: mpsc::SendError<StoreAddr>) -> Self {
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Self::Send(GenericSendError::RxDisconnected)
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}
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}
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impl From<cb::SendError<StoreAddr>> for EcssTmtcError {
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fn from(_: cb::SendError<StoreAddr>) -> Self {
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Self::Send(GenericSendError::RxDisconnected)
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}
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}
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impl From<cb::TrySendError<StoreAddr>> for EcssTmtcError {
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fn from(value: cb::TrySendError<StoreAddr>) -> Self {
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match value {
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cb::TrySendError::Full(_) => Self::Send(GenericSendError::QueueFull(None)),
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cb::TrySendError::Disconnected(_) => Self::Send(GenericSendError::RxDisconnected),
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}
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}
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}
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#[derive(Clone)]
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pub struct MpscTmInStoreSender {
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id: ChannelId,
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name: &'static str,
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shared_tm_store: SharedTmStore,
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sender: mpsc::Sender<StoreAddr>,
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}
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impl EcssChannel for MpscTmInStoreSender {
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fn id(&self) -> ChannelId {
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self.id
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}
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fn name(&self) -> &'static str {
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self.name
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}
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}
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impl MpscTmInStoreSender {
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pub fn send_direct_tm(&self, tm: PusTmCreator) -> Result<(), EcssTmtcError> {
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let addr = self.shared_tm_store.add_pus_tm(&tm)?;
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self.sender
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.send(addr)
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.map_err(|_| EcssTmtcError::Send(GenericSendError::RxDisconnected))
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}
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}
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impl EcssTmSenderCore for MpscTmInStoreSender {
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fn send_tm(&self, tm: PusTmWrapper) -> Result<(), EcssTmtcError> {
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match tm {
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PusTmWrapper::InStore(addr) => {
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self.sender.send(addr)?;
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Ok(())
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}
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PusTmWrapper::Direct(tm) => self.send_direct_tm(tm),
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}
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}
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}
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impl MpscTmInStoreSender {
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pub fn new(
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id: ChannelId,
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name: &'static str,
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shared_tm_store: SharedTmStore,
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sender: mpsc::Sender<StoreAddr>,
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) -> Self {
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Self {
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id,
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name,
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shared_tm_store,
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sender,
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}
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}
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}
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|
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pub struct MpscTcReceiver {
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id: ChannelId,
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name: &'static str,
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receiver: mpsc::Receiver<EcssTcAndToken>,
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}
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impl EcssChannel for MpscTcReceiver {
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fn id(&self) -> ChannelId {
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self.id
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}
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fn name(&self) -> &'static str {
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self.name
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}
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}
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impl EcssTcReceiverCore for MpscTcReceiver {
|
|
fn recv_tc(&self) -> Result<EcssTcAndToken, TryRecvTmtcError> {
|
|
self.receiver.try_recv().map_err(|e| match e {
|
|
TryRecvError::Empty => TryRecvTmtcError::Empty,
|
|
TryRecvError::Disconnected => {
|
|
TryRecvTmtcError::Error(EcssTmtcError::from(GenericRecvError::TxDisconnected))
|
|
}
|
|
})
|
|
}
|
|
}
|
|
|
|
impl MpscTcReceiver {
|
|
pub fn new(
|
|
id: ChannelId,
|
|
name: &'static str,
|
|
receiver: mpsc::Receiver<EcssTcAndToken>,
|
|
) -> Self {
|
|
Self { id, name, receiver }
|
|
}
|
|
}
|
|
|
|
/// This class can be used if frequent heap allocations during run-time are not an issue.
|
|
/// PUS TM packets will be sent around as [Vec]s. Please note that the current implementation
|
|
/// of this class can not deal with store addresses, so it is assumed that is is always
|
|
/// going to be called with direct packets.
|
|
#[derive(Clone)]
|
|
pub struct MpscTmAsVecSender {
|
|
id: ChannelId,
|
|
name: &'static str,
|
|
sender: mpsc::Sender<Vec<u8>>,
|
|
}
|
|
|
|
impl From<mpsc::SendError<Vec<u8>>> for EcssTmtcError {
|
|
fn from(_: mpsc::SendError<Vec<u8>>) -> Self {
|
|
Self::Send(GenericSendError::RxDisconnected)
|
|
}
|
|
}
|
|
|
|
impl MpscTmAsVecSender {
|
|
pub fn new(id: u32, name: &'static str, sender: mpsc::Sender<Vec<u8>>) -> Self {
|
|
Self { id, sender, name }
|
|
}
|
|
}
|
|
|
|
impl EcssChannel for MpscTmAsVecSender {
|
|
fn id(&self) -> ChannelId {
|
|
self.id
|
|
}
|
|
fn name(&self) -> &'static str {
|
|
self.name
|
|
}
|
|
}
|
|
|
|
impl EcssTmSenderCore for MpscTmAsVecSender {
|
|
fn send_tm(&self, tm: PusTmWrapper) -> Result<(), EcssTmtcError> {
|
|
match tm {
|
|
PusTmWrapper::InStore(addr) => Err(EcssTmtcError::CantSendAddr(addr)),
|
|
PusTmWrapper::Direct(tm) => {
|
|
let mut vec = Vec::new();
|
|
tm.append_to_vec(&mut vec).map_err(EcssTmtcError::Pus)?;
|
|
self.sender.send(vec)?;
|
|
Ok(())
|
|
}
|
|
}
|
|
}
|
|
}
|
|
|
|
#[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 CrossbeamTcReceiver {
|
|
id: ChannelId,
|
|
name: &'static str,
|
|
receiver: cb::Receiver<EcssTcAndToken>,
|
|
}
|
|
|
|
impl CrossbeamTcReceiver {
|
|
pub fn new(
|
|
id: ChannelId,
|
|
name: &'static str,
|
|
receiver: cb::Receiver<EcssTcAndToken>,
|
|
) -> Self {
|
|
Self { id, name, receiver }
|
|
}
|
|
}
|
|
|
|
impl EcssChannel for CrossbeamTcReceiver {
|
|
fn id(&self) -> ChannelId {
|
|
self.id
|
|
}
|
|
|
|
fn name(&self) -> &'static str {
|
|
self.name
|
|
}
|
|
}
|
|
|
|
impl EcssTcReceiverCore for CrossbeamTcReceiver {
|
|
fn recv_tc(&self) -> Result<EcssTcAndToken, TryRecvTmtcError> {
|
|
self.receiver.try_recv().map_err(|e| match e {
|
|
cb::TryRecvError::Empty => TryRecvTmtcError::Empty,
|
|
cb::TryRecvError::Disconnected => {
|
|
TryRecvTmtcError::Error(EcssTmtcError::from(GenericRecvError::TxDisconnected))
|
|
}
|
|
})
|
|
}
|
|
}
|
|
|
|
#[derive(Debug, Clone, Error)]
|
|
pub enum PusPacketHandlingError {
|
|
#[error("generic PUS error: {0}")]
|
|
Pus(#[from] PusError),
|
|
#[error("wrong service number {0} for packet handler")]
|
|
WrongService(u8),
|
|
#[error("invalid subservice {0}")]
|
|
InvalidSubservice(u8),
|
|
#[error("not enough application data available: {0}")]
|
|
NotEnoughAppData(String),
|
|
#[error("PUS packet too large, does not fit in buffer: {0}")]
|
|
PusPacketTooLarge(usize),
|
|
#[error("invalid application data")]
|
|
InvalidAppData(String),
|
|
#[error("invalid format of TC in memory: {0:?}")]
|
|
InvalidTcInMemoryFormat(TcInMemory),
|
|
#[error("generic ECSS tmtc error: {0}")]
|
|
EcssTmtc(#[from] EcssTmtcError),
|
|
#[error("invalid verification token")]
|
|
InvalidVerificationToken,
|
|
#[error("other error {0}")]
|
|
Other(String),
|
|
}
|
|
|
|
#[derive(Debug, Clone, Error)]
|
|
pub enum PartialPusHandlingError {
|
|
#[error("generic timestamp generation error")]
|
|
Time(#[from] StdTimestampError),
|
|
#[error("error sending telemetry: {0}")]
|
|
TmSend(#[from] EcssTmtcError),
|
|
#[error("error sending verification message")]
|
|
Verification,
|
|
#[error("invalid verification token")]
|
|
NoVerificationToken,
|
|
}
|
|
|
|
/// Generic result type for handlers which can process PUS packets.
|
|
#[derive(Debug, Clone)]
|
|
pub enum PusPacketHandlerResult {
|
|
RequestHandled,
|
|
RequestHandledPartialSuccess(PartialPusHandlingError),
|
|
SubserviceNotImplemented(u8, VerificationToken<TcStateAccepted>),
|
|
CustomSubservice(u8, VerificationToken<TcStateAccepted>),
|
|
Empty,
|
|
}
|
|
|
|
impl From<PartialPusHandlingError> for PusPacketHandlerResult {
|
|
fn from(value: PartialPusHandlingError) -> Self {
|
|
Self::RequestHandledPartialSuccess(value)
|
|
}
|
|
}
|
|
|
|
pub trait EcssTcInMemConverter {
|
|
fn cache_ecss_tc_in_memory(
|
|
&mut self,
|
|
possible_packet: &TcInMemory,
|
|
) -> Result<(), PusPacketHandlingError>;
|
|
|
|
fn tc_slice_raw(&self) -> &[u8];
|
|
|
|
fn convert_ecss_tc_in_memory_to_reader(
|
|
&mut self,
|
|
possible_packet: &TcInMemory,
|
|
) -> Result<PusTcReader<'_>, PusPacketHandlingError> {
|
|
self.cache_ecss_tc_in_memory(possible_packet)?;
|
|
Ok(PusTcReader::new(self.tc_slice_raw())?.0)
|
|
}
|
|
}
|
|
|
|
/// Converter structure for PUS telecommands which are stored inside a `Vec<u8>` structure.
|
|
/// Please note that this structure is not able to convert TCs which are stored inside a
|
|
/// [SharedStaticMemoryPool].
|
|
#[derive(Default, Clone)]
|
|
pub struct EcssTcInVecConverter {
|
|
pub pus_tc_raw: Option<Vec<u8>>,
|
|
}
|
|
|
|
impl EcssTcInMemConverter for EcssTcInVecConverter {
|
|
fn cache_ecss_tc_in_memory(
|
|
&mut self,
|
|
tc_in_memory: &TcInMemory,
|
|
) -> Result<(), PusPacketHandlingError> {
|
|
self.pus_tc_raw = None;
|
|
match tc_in_memory {
|
|
super::TcInMemory::StoreAddr(_) => {
|
|
return Err(PusPacketHandlingError::InvalidTcInMemoryFormat(
|
|
tc_in_memory.clone(),
|
|
));
|
|
}
|
|
super::TcInMemory::Vec(vec) => {
|
|
self.pus_tc_raw = Some(vec.clone());
|
|
}
|
|
};
|
|
Ok(())
|
|
}
|
|
|
|
fn tc_slice_raw(&self) -> &[u8] {
|
|
if self.pus_tc_raw.is_none() {
|
|
return &[];
|
|
}
|
|
self.pus_tc_raw.as_ref().unwrap()
|
|
}
|
|
}
|
|
|
|
/// Converter structure for PUS telecommands which are stored inside
|
|
/// [SharedStaticMemoryPool] structure. This is useful if run-time allocation for these
|
|
/// packets should be avoided. Please note that this structure is not able to convert TCs which
|
|
/// are stored as a `Vec<u8>`.
|
|
pub struct EcssTcInSharedStoreConverter {
|
|
shared_tc_store: SharedStaticMemoryPool,
|
|
pus_buf: Vec<u8>,
|
|
}
|
|
|
|
impl EcssTcInSharedStoreConverter {
|
|
pub fn new(shared_tc_store: SharedStaticMemoryPool, max_expected_tc_size: usize) -> Self {
|
|
Self {
|
|
shared_tc_store,
|
|
pus_buf: alloc::vec![0; max_expected_tc_size],
|
|
}
|
|
}
|
|
|
|
pub fn copy_tc_to_buf(&mut self, addr: StoreAddr) -> Result<(), PusPacketHandlingError> {
|
|
// Keep locked section as short as possible.
|
|
let mut tc_pool = self
|
|
.shared_tc_store
|
|
.write()
|
|
.map_err(|_| PusPacketHandlingError::EcssTmtc(EcssTmtcError::StoreLock))?;
|
|
let tc_guard = tc_pool.read_with_guard(addr);
|
|
let tc_raw = tc_guard.read().unwrap();
|
|
if tc_raw.len() > self.pus_buf.len() {
|
|
return Err(PusPacketHandlingError::PusPacketTooLarge(tc_raw.len()));
|
|
}
|
|
self.pus_buf[0..tc_raw.len()].copy_from_slice(tc_raw);
|
|
Ok(())
|
|
}
|
|
}
|
|
|
|
impl EcssTcInMemConverter for EcssTcInSharedStoreConverter {
|
|
fn cache_ecss_tc_in_memory(
|
|
&mut self,
|
|
tc_in_memory: &TcInMemory,
|
|
) -> Result<(), PusPacketHandlingError> {
|
|
match tc_in_memory {
|
|
super::TcInMemory::StoreAddr(addr) => {
|
|
self.copy_tc_to_buf(*addr)?;
|
|
}
|
|
super::TcInMemory::Vec(_) => {
|
|
return Err(PusPacketHandlingError::InvalidTcInMemoryFormat(
|
|
tc_in_memory.clone(),
|
|
));
|
|
}
|
|
};
|
|
Ok(())
|
|
}
|
|
|
|
fn tc_slice_raw(&self) -> &[u8] {
|
|
self.pus_buf.as_ref()
|
|
}
|
|
}
|
|
|
|
pub struct PusServiceBase {
|
|
pub tc_receiver: Box<dyn EcssTcReceiver>,
|
|
pub tm_sender: Box<dyn EcssTmSender>,
|
|
pub tm_apid: u16,
|
|
/// The verification handler is wrapped in a [RefCell] to allow the interior mutability
|
|
/// pattern. This makes writing methods which are not mutable a lot easier.
|
|
pub verification_handler: RefCell<StdVerifReporterWithSender>,
|
|
}
|
|
|
|
impl PusServiceBase {
|
|
#[cfg(feature = "std")]
|
|
pub fn get_current_timestamp(
|
|
partial_error: &mut Option<PartialPusHandlingError>,
|
|
) -> [u8; 7] {
|
|
let mut time_stamp: [u8; 7] = [0; 7];
|
|
let time_provider =
|
|
TimeProvider::from_now_with_u16_days().map_err(PartialPusHandlingError::Time);
|
|
if let Ok(time_provider) = time_provider {
|
|
// Can't fail, we have a buffer with the exact required size.
|
|
time_provider.write_to_bytes(&mut time_stamp).unwrap();
|
|
} else {
|
|
*partial_error = Some(time_provider.unwrap_err());
|
|
}
|
|
time_stamp
|
|
}
|
|
|
|
#[cfg(feature = "std")]
|
|
pub fn get_current_timestamp_ignore_error() -> [u8; 7] {
|
|
let mut dummy = None;
|
|
Self::get_current_timestamp(&mut dummy)
|
|
}
|
|
}
|
|
|
|
/// This is a high-level PUS packet handler helper.
|
|
///
|
|
/// It performs some of the boilerplate acitivities involved when handling PUS telecommands and
|
|
/// it can be used to implement the handling of PUS telecommands for certain PUS telecommands
|
|
/// groups (for example individual services).
|
|
///
|
|
/// This base class can handle PUS telecommands backed by different memory storage machanisms
|
|
/// by using the [EcssTcInMemConverter] abstraction. This object provides some convenience
|
|
/// methods to make the generic parts of TC handling easier.
|
|
pub struct PusServiceHelper<TcInMemConverter: EcssTcInMemConverter> {
|
|
pub common: PusServiceBase,
|
|
pub tc_in_mem_converter: TcInMemConverter,
|
|
}
|
|
|
|
impl<TcInMemConverter: EcssTcInMemConverter> PusServiceHelper<TcInMemConverter> {
|
|
pub fn new(
|
|
tc_receiver: Box<dyn EcssTcReceiver>,
|
|
tm_sender: Box<dyn EcssTmSender>,
|
|
tm_apid: u16,
|
|
verification_handler: VerificationReporterWithSender,
|
|
tc_in_mem_converter: TcInMemConverter,
|
|
) -> Self {
|
|
Self {
|
|
common: PusServiceBase {
|
|
tc_receiver,
|
|
tm_sender,
|
|
tm_apid,
|
|
verification_handler: RefCell::new(verification_handler),
|
|
},
|
|
tc_in_mem_converter,
|
|
}
|
|
}
|
|
|
|
/// This function can be used to poll the internal [EcssTcReceiver] object for the next
|
|
/// telecommand packet. It will return `Ok(None)` if there are not packets available.
|
|
/// In any other case, it will perform the acceptance of the ECSS TC packet using the
|
|
/// internal [VerificationReporterWithSender] object. It will then return the telecommand
|
|
/// and the according accepted token.
|
|
pub fn retrieve_and_accept_next_packet(
|
|
&mut self,
|
|
) -> Result<Option<AcceptedEcssTcAndToken>, PusPacketHandlingError> {
|
|
match self.common.tc_receiver.recv_tc() {
|
|
Ok(EcssTcAndToken {
|
|
tc_in_memory,
|
|
token,
|
|
}) => {
|
|
if token.is_none() {
|
|
return Err(PusPacketHandlingError::InvalidVerificationToken);
|
|
}
|
|
let token = token.unwrap();
|
|
let accepted_token = VerificationToken::<TcStateAccepted>::try_from(token)
|
|
.map_err(|_| PusPacketHandlingError::InvalidVerificationToken)?;
|
|
Ok(Some(AcceptedEcssTcAndToken {
|
|
tc_in_memory,
|
|
token: accepted_token,
|
|
}))
|
|
}
|
|
Err(e) => match e {
|
|
TryRecvTmtcError::Error(e) => Err(PusPacketHandlingError::EcssTmtc(e)),
|
|
TryRecvTmtcError::Empty => Ok(None),
|
|
},
|
|
}
|
|
}
|
|
}
|
|
}
|
|
|
|
pub(crate) fn source_buffer_large_enough(cap: usize, len: usize) -> Result<(), EcssTmtcError> {
|
|
if len > cap {
|
|
return Err(
|
|
PusError::ByteConversion(ByteConversionError::ToSliceTooSmall {
|
|
found: cap,
|
|
expected: len,
|
|
})
|
|
.into(),
|
|
);
|
|
}
|
|
Ok(())
|
|
}
|
|
|
|
#[cfg(test)]
|
|
pub mod tests {
|
|
use std::sync::mpsc::TryRecvError;
|
|
use std::sync::{mpsc, RwLock};
|
|
|
|
use alloc::boxed::Box;
|
|
use alloc::vec;
|
|
use spacepackets::ecss::tc::PusTcCreator;
|
|
use spacepackets::ecss::tm::{GenericPusTmSecondaryHeader, PusTmCreator, PusTmReader};
|
|
use spacepackets::ecss::{PusPacket, WritablePusPacket};
|
|
use spacepackets::CcsdsPacket;
|
|
|
|
use crate::pool::{
|
|
PoolProviderMemInPlace, SharedStaticMemoryPool, StaticMemoryPool, StaticPoolConfig,
|
|
StoreAddr,
|
|
};
|
|
use crate::pus::verification::RequestId;
|
|
use crate::tmtc::tm_helper::SharedTmStore;
|
|
|
|
use super::verification::{
|
|
TcStateAccepted, VerificationReporterCfg, VerificationReporterWithSender, VerificationToken,
|
|
};
|
|
use super::{
|
|
EcssTcAndToken, EcssTcInSharedStoreConverter, EcssTcInVecConverter, MpscTcReceiver,
|
|
MpscTmAsVecSender, MpscTmInStoreSender, PusPacketHandlerResult, PusPacketHandlingError,
|
|
PusServiceHelper, TcInMemory,
|
|
};
|
|
|
|
pub const TEST_APID: u16 = 0x101;
|
|
|
|
#[derive(Debug, Eq, PartialEq, Clone)]
|
|
pub(crate) struct CommonTmInfo {
|
|
pub subservice: u8,
|
|
pub apid: u16,
|
|
pub msg_counter: u16,
|
|
pub dest_id: u16,
|
|
pub time_stamp: [u8; 7],
|
|
}
|
|
|
|
pub trait PusTestHarness {
|
|
fn send_tc(&mut self, tc: &PusTcCreator) -> VerificationToken<TcStateAccepted>;
|
|
fn read_next_tm(&mut self) -> PusTmReader<'_>;
|
|
fn check_no_tm_available(&self) -> bool;
|
|
fn check_next_verification_tm(&self, subservice: u8, expected_request_id: RequestId);
|
|
}
|
|
|
|
pub trait SimplePusPacketHandler {
|
|
fn handle_one_tc(&mut self) -> Result<PusPacketHandlerResult, PusPacketHandlingError>;
|
|
}
|
|
|
|
impl CommonTmInfo {
|
|
pub fn new_from_tm(tm: &PusTmCreator) -> Self {
|
|
let mut time_stamp = [0; 7];
|
|
time_stamp.clone_from_slice(&tm.timestamp()[0..7]);
|
|
Self {
|
|
subservice: PusPacket::subservice(tm),
|
|
apid: tm.apid(),
|
|
msg_counter: tm.msg_counter(),
|
|
dest_id: tm.dest_id(),
|
|
time_stamp,
|
|
}
|
|
}
|
|
}
|
|
|
|
/// Common fields for a PUS service test harness.
|
|
pub struct PusServiceHandlerWithSharedStoreCommon {
|
|
pus_buf: [u8; 2048],
|
|
tm_buf: [u8; 2048],
|
|
tc_pool: SharedStaticMemoryPool,
|
|
tm_pool: SharedTmStore,
|
|
tc_sender: mpsc::Sender<EcssTcAndToken>,
|
|
tm_receiver: mpsc::Receiver<StoreAddr>,
|
|
verification_handler: VerificationReporterWithSender,
|
|
}
|
|
|
|
impl PusServiceHandlerWithSharedStoreCommon {
|
|
/// This function generates the structure in addition to the PUS service handler
|
|
/// [PusServiceHandler] which might be required for a specific PUS service handler.
|
|
///
|
|
/// The PUS service handler is instantiated with a [EcssTcInStoreConverter].
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pub fn new() -> (Self, PusServiceHelper<EcssTcInSharedStoreConverter>) {
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let pool_cfg = StaticPoolConfig::new(vec![(16, 16), (8, 32), (4, 64)]);
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let tc_pool = StaticMemoryPool::new(pool_cfg.clone());
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let tm_pool = StaticMemoryPool::new(pool_cfg);
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let shared_tc_pool = SharedStaticMemoryPool::new(RwLock::new(tc_pool));
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let shared_tm_pool = SharedTmStore::new(tm_pool);
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let (test_srv_tc_tx, test_srv_tc_rx) = mpsc::channel();
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let (tm_tx, tm_rx) = mpsc::channel();
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let verif_sender =
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MpscTmInStoreSender::new(0, "verif_sender", shared_tm_pool.clone(), tm_tx.clone());
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let verif_cfg = VerificationReporterCfg::new(TEST_APID, 1, 2, 8).unwrap();
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let verification_handler =
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VerificationReporterWithSender::new(&verif_cfg, Box::new(verif_sender));
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let test_srv_tm_sender =
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MpscTmInStoreSender::new(0, "TEST_SENDER", shared_tm_pool.clone(), tm_tx);
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let test_srv_tc_receiver = MpscTcReceiver::new(0, "TEST_RECEIVER", test_srv_tc_rx);
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let in_store_converter =
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EcssTcInSharedStoreConverter::new(shared_tc_pool.clone(), 2048);
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(
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Self {
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pus_buf: [0; 2048],
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tm_buf: [0; 2048],
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tc_pool: shared_tc_pool,
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tm_pool: shared_tm_pool,
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tc_sender: test_srv_tc_tx,
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tm_receiver: tm_rx,
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verification_handler: verification_handler.clone(),
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},
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PusServiceHelper::new(
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Box::new(test_srv_tc_receiver),
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Box::new(test_srv_tm_sender),
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TEST_APID,
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verification_handler,
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in_store_converter,
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),
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)
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}
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pub fn send_tc(&mut self, tc: &PusTcCreator) -> VerificationToken<TcStateAccepted> {
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let token = self.verification_handler.add_tc(tc);
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let token = self
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.verification_handler
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.acceptance_success(token, Some(&[0; 7]))
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.unwrap();
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let tc_size = tc.write_to_bytes(&mut self.pus_buf).unwrap();
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let mut tc_pool = self.tc_pool.write().unwrap();
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let addr = tc_pool.add(&self.pus_buf[..tc_size]).unwrap();
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drop(tc_pool);
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// Send accepted TC to test service handler.
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self.tc_sender
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.send(EcssTcAndToken::new(addr, token))
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.expect("sending tc failed");
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token
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}
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pub fn read_next_tm(&mut self) -> PusTmReader<'_> {
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let next_msg = self.tm_receiver.try_recv();
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assert!(next_msg.is_ok());
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let tm_addr = next_msg.unwrap();
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let tm_pool = self.tm_pool.shared_pool.read().unwrap();
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let tm_raw = tm_pool.read(&tm_addr).unwrap();
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self.tm_buf[0..tm_raw.len()].copy_from_slice(tm_raw);
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PusTmReader::new(&self.tm_buf, 7).unwrap().0
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}
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pub fn check_no_tm_available(&self) -> bool {
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let next_msg = self.tm_receiver.try_recv();
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if let TryRecvError::Empty = next_msg.unwrap_err() {
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return true;
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}
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false
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}
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pub fn check_next_verification_tm(&self, subservice: u8, expected_request_id: RequestId) {
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let next_msg = self.tm_receiver.try_recv();
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assert!(next_msg.is_ok());
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let tm_addr = next_msg.unwrap();
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let tm_pool = self.tm_pool.shared_pool.read().unwrap();
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let tm_raw = tm_pool.read(&tm_addr).unwrap();
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let tm = PusTmReader::new(tm_raw, 7).unwrap().0;
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assert_eq!(PusPacket::service(&tm), 1);
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assert_eq!(PusPacket::subservice(&tm), subservice);
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assert_eq!(tm.apid(), TEST_APID);
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let req_id =
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RequestId::from_bytes(tm.user_data()).expect("generating request ID failed");
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assert_eq!(req_id, expected_request_id);
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}
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}
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pub struct PusServiceHandlerWithVecCommon {
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current_tm: Option<alloc::vec::Vec<u8>>,
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tc_sender: mpsc::Sender<EcssTcAndToken>,
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tm_receiver: mpsc::Receiver<alloc::vec::Vec<u8>>,
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verification_handler: VerificationReporterWithSender,
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}
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impl PusServiceHandlerWithVecCommon {
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pub fn new() -> (Self, PusServiceHelper<EcssTcInVecConverter>) {
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let (test_srv_tc_tx, test_srv_tc_rx) = mpsc::channel();
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let (tm_tx, tm_rx) = mpsc::channel();
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let verif_sender = MpscTmAsVecSender::new(0, "verififcatio-sender", tm_tx.clone());
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let verif_cfg = VerificationReporterCfg::new(TEST_APID, 1, 2, 8).unwrap();
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let verification_handler =
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VerificationReporterWithSender::new(&verif_cfg, Box::new(verif_sender));
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let test_srv_tm_sender = MpscTmAsVecSender::new(0, "test-sender", tm_tx);
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let test_srv_tc_receiver = MpscTcReceiver::new(0, "test-receiver", test_srv_tc_rx);
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let in_store_converter = EcssTcInVecConverter::default();
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(
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Self {
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current_tm: None,
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tc_sender: test_srv_tc_tx,
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tm_receiver: tm_rx,
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verification_handler: verification_handler.clone(),
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},
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PusServiceHelper::new(
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Box::new(test_srv_tc_receiver),
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Box::new(test_srv_tm_sender),
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TEST_APID,
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verification_handler,
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in_store_converter,
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),
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)
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}
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pub fn send_tc(&mut self, tc: &PusTcCreator) -> VerificationToken<TcStateAccepted> {
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let token = self.verification_handler.add_tc(tc);
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let token = self
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.verification_handler
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.acceptance_success(token, Some(&[0; 7]))
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.unwrap();
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// Send accepted TC to test service handler.
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self.tc_sender
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.send(EcssTcAndToken::new(
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TcInMemory::Vec(tc.to_vec().expect("pus tc conversion to vec failed")),
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token,
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))
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.expect("sending tc failed");
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token
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}
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pub fn read_next_tm(&mut self) -> PusTmReader<'_> {
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let next_msg = self.tm_receiver.try_recv();
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assert!(next_msg.is_ok());
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self.current_tm = Some(next_msg.unwrap());
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PusTmReader::new(self.current_tm.as_ref().unwrap(), 7)
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.unwrap()
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.0
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}
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pub fn check_no_tm_available(&self) -> bool {
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let next_msg = self.tm_receiver.try_recv();
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if let TryRecvError::Empty = next_msg.unwrap_err() {
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return true;
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}
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false
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}
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pub fn check_next_verification_tm(&self, subservice: u8, expected_request_id: RequestId) {
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let next_msg = self.tm_receiver.try_recv();
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assert!(next_msg.is_ok());
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let next_msg = next_msg.unwrap();
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let tm = PusTmReader::new(next_msg.as_slice(), 7).unwrap().0;
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assert_eq!(PusPacket::service(&tm), 1);
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assert_eq!(PusPacket::subservice(&tm), subservice);
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assert_eq!(tm.apid(), TEST_APID);
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let req_id =
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RequestId::from_bytes(tm.user_data()).expect("generating request ID failed");
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assert_eq!(req_id, expected_request_id);
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}
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}
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}
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