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sat-rs/satrs-core/src/pus/verification.rs
Robin Mueller 176a9f1612
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Improvements for example and documentation 
- Added diagrams for sat-rs example for both structure and data flow.
- Added explanations for those diagrams as well.
- Some renaming: Use `Pool` instead of `Store` for pool components.
- General improvements for satrs-book.
2024-02-08 17:42:36 +01:00

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//! # PUS Service 1 Verification Module
//!
//! This module allows packaging and sending PUS Service 1 packets. It is conforming to section
//! 8 of the PUS standard ECSS-E-ST-70-41C.
//!
//! The core object to report TC verification progress is the [VerificationReporter]. It exposes
//! an API which uses type-state programming to avoid calling the verification steps in
//! an invalid order.
//!
//! # Examples
//!
//! Basic single-threaded example where a full success sequence for a given ping telecommand is
//! executed. Note that the verification part could also be done in a separate thread.
//!
//! ```
//! use std::sync::{Arc, mpsc, RwLock};
//! use std::time::Duration;
//! use satrs_core::pool::{PoolProviderMemInPlaceWithGuards, StaticMemoryPool, StaticPoolConfig};
//! use satrs_core::pus::verification::{VerificationReporterCfg, VerificationReporterWithSender};
//! use satrs_core::seq_count::SeqCountProviderSimple;
//! use satrs_core::pus::MpscTmInSharedPoolSender;
//! use satrs_core::tmtc::tm_helper::SharedTmPool;
//! use spacepackets::ecss::PusPacket;
//! use spacepackets::SpHeader;
//! use spacepackets::ecss::tc::{PusTcCreator, PusTcSecondaryHeader};
//! use spacepackets::ecss::tm::PusTmReader;
//!
//! const EMPTY_STAMP: [u8; 7] = [0; 7];
//! const TEST_APID: u16 = 0x02;
//!
//! let pool_cfg = StaticPoolConfig::new(vec![(10, 32), (10, 64), (10, 128), (10, 1024)]);
//! let tm_pool = StaticMemoryPool::new(pool_cfg.clone());
//! let shared_tm_store = SharedTmPool::new(tm_pool);
//! let tm_store = shared_tm_store.clone_backing_pool();
//! let (verif_tx, verif_rx) = mpsc::channel();
//! let sender = MpscTmInSharedPoolSender::new(0, "Test Sender", shared_tm_store, verif_tx);
//! let cfg = VerificationReporterCfg::new(TEST_APID, 1, 2, 8).unwrap();
//! let mut reporter = VerificationReporterWithSender::new(&cfg , Box::new(sender));
//!
//! let mut sph = SpHeader::tc_unseg(TEST_APID, 0, 0).unwrap();
//! let tc_header = PusTcSecondaryHeader::new_simple(17, 1);
//! let pus_tc_0 = PusTcCreator::new_no_app_data(&mut sph, tc_header, true);
//! let init_token = reporter.add_tc(&pus_tc_0);
//!
//! // Complete success sequence for a telecommand
//! let accepted_token = reporter.acceptance_success(init_token, Some(&EMPTY_STAMP)).unwrap();
//! let started_token = reporter.start_success(accepted_token, Some(&EMPTY_STAMP)).unwrap();
//! reporter.completion_success(started_token, Some(&EMPTY_STAMP)).unwrap();
//!
//! // Verify it arrives correctly on receiver end
//! let mut tm_buf: [u8; 1024] = [0; 1024];
//! let mut packet_idx = 0;
//! while packet_idx < 3 {
//! let addr = verif_rx.recv_timeout(Duration::from_millis(10)).unwrap();
//! let tm_len;
//! {
//! let mut rg = tm_store.write().expect("Error locking shared pool");
//! let store_guard = rg.read_with_guard(addr);
//! let slice = store_guard.read().expect("Error reading TM slice");
//! tm_len = slice.len();
//! tm_buf[0..tm_len].copy_from_slice(slice);
//! }
//! let (pus_tm, _) = PusTmReader::new(&tm_buf[0..tm_len], 7)
//! .expect("Error reading verification TM");
//! if packet_idx == 0 {
//! assert_eq!(pus_tm.subservice(), 1);
//! } else if packet_idx == 1 {
//! assert_eq!(pus_tm.subservice(), 3);
//! } else if packet_idx == 2 {
//! assert_eq!(pus_tm.subservice(), 7);
//! }
//! packet_idx += 1;
//! }
//! ```
//!
//! The [integration test](https://egit.irs.uni-stuttgart.de/rust/fsrc-launchpad/src/branch/main/fsrc-core/tests/verification_test.rs)
//! for the verification module contains examples how this module could be used in a more complex
//! context involving multiple threads
use crate::pus::{source_buffer_large_enough, EcssTmSenderCore, EcssTmtcError};
use core::fmt::{Debug, Display, Formatter};
use core::hash::{Hash, Hasher};
use core::marker::PhantomData;
use core::mem::size_of;
#[cfg(feature = "alloc")]
use delegate::delegate;
#[cfg(feature = "serde")]
use serde::{Deserialize, Serialize};
use spacepackets::ecss::tc::IsPusTelecommand;
use spacepackets::ecss::tm::{PusTmCreator, PusTmSecondaryHeader};
use spacepackets::ecss::{EcssEnumeration, PusError, WritablePusPacket};
use spacepackets::{CcsdsPacket, PacketId, PacketSequenceCtrl};
use spacepackets::{SpHeader, MAX_APID};
pub use crate::seq_count::SeqCountProviderSimple;
pub use spacepackets::ecss::verification::*;
#[cfg(feature = "alloc")]
pub use alloc_mod::{
VerificationReporter, VerificationReporterCfg, VerificationReporterWithSender,
};
#[cfg(feature = "std")]
pub use std_mod::*;
/// This is a request identifier as specified in 5.4.11.2 c. of the PUS standard.
///
/// This field equivalent to the first two bytes of the CCSDS space packet header.
/// This version of the request ID is supplied in the verification reports and does not contain
/// the source ID.
#[derive(Debug, Eq, Copy, Clone)]
#[cfg_attr(feature = "serde", derive(Serialize, Deserialize))]
pub struct RequestId {
version_number: u8,
packet_id: PacketId,
psc: PacketSequenceCtrl,
}
impl Display for RequestId {
fn fmt(&self, f: &mut Formatter<'_>) -> core::fmt::Result {
write!(f, "{:#08x}", self.raw())
}
}
impl Hash for RequestId {
fn hash<H: Hasher>(&self, state: &mut H) {
self.raw().hash(state);
}
}
// Implement manually to satisfy derive_hash_xor_eq lint
impl PartialEq for RequestId {
fn eq(&self, other: &Self) -> bool {
self.version_number == other.version_number
&& self.packet_id == other.packet_id
&& self.psc == other.psc
}
}
impl RequestId {
pub const SIZE_AS_BYTES: usize = size_of::<u32>();
pub fn raw(&self) -> u32 {
((self.version_number as u32) << 29)
| ((self.packet_id.raw() as u32) << 16)
| self.psc.raw() as u32
}
pub fn to_bytes(&self, buf: &mut [u8]) {
let raw = self.raw();
buf.copy_from_slice(raw.to_be_bytes().as_slice());
}
pub fn from_bytes(buf: &[u8]) -> Option<Self> {
if buf.len() < 4 {
return None;
}
let raw = u32::from_be_bytes(buf[0..Self::SIZE_AS_BYTES].try_into().unwrap());
Some(Self {
version_number: ((raw >> 29) & 0b111) as u8,
packet_id: PacketId::from(((raw >> 16) & 0xffff) as u16),
psc: PacketSequenceCtrl::from((raw & 0xffff) as u16),
})
}
}
impl RequestId {
/// This allows extracting the request ID from a given PUS telecommand.
pub fn new(tc: &(impl CcsdsPacket + IsPusTelecommand)) -> Self {
RequestId {
version_number: tc.ccsds_version(),
packet_id: tc.packet_id(),
psc: tc.psc(),
}
}
}
/// If a verification operation fails, the passed token will be returned as well. This allows
/// re-trying the operation at a later point.
#[derive(Debug, Clone)]
pub struct VerificationOrSendErrorWithToken<T>(pub EcssTmtcError, pub VerificationToken<T>);
#[derive(Debug, Clone)]
pub struct VerificationErrorWithToken<T>(pub EcssTmtcError, pub VerificationToken<T>);
impl<T> From<VerificationErrorWithToken<T>> for VerificationOrSendErrorWithToken<T> {
fn from(value: VerificationErrorWithToken<T>) -> Self {
VerificationOrSendErrorWithToken(value.0, value.1)
}
}
/// Support token to allow type-state programming. This prevents calling the verification
/// steps in an invalid order.
#[derive(Debug, Clone, Copy, Eq, PartialEq)]
pub struct VerificationToken<STATE> {
state: PhantomData<STATE>,
req_id: RequestId,
}
pub trait WasAtLeastAccepted {}
#[derive(Copy, Clone, Debug, Eq, PartialEq)]
pub struct TcStateNone;
#[derive(Copy, Clone, Debug, Eq, PartialEq)]
pub struct TcStateAccepted;
#[derive(Copy, Clone, Debug, Eq, PartialEq)]
pub struct TcStateStarted;
#[derive(Copy, Clone, Debug, Eq, PartialEq)]
pub struct TcStateCompleted;
impl WasAtLeastAccepted for TcStateAccepted {}
impl WasAtLeastAccepted for TcStateStarted {}
impl WasAtLeastAccepted for TcStateCompleted {}
/// Token wrapper to model all possible verification tokens. These tokens are used to
/// enforce the correct order for the verification steps when doing verification reporting.
#[derive(Debug, Copy, Clone, Eq, PartialEq)]
pub enum TcStateToken {
None(VerificationToken<TcStateNone>),
Accepted(VerificationToken<TcStateAccepted>),
Started(VerificationToken<TcStateStarted>),
Completed(VerificationToken<TcStateCompleted>),
}
impl From<VerificationToken<TcStateNone>> for TcStateToken {
fn from(t: VerificationToken<TcStateNone>) -> Self {
TcStateToken::None(t)
}
}
impl TryFrom<TcStateToken> for VerificationToken<TcStateAccepted> {
type Error = ();
fn try_from(value: TcStateToken) -> Result<Self, Self::Error> {
if let TcStateToken::Accepted(token) = value {
Ok(token)
} else {
Err(())
}
}
}
impl TryFrom<TcStateToken> for VerificationToken<TcStateStarted> {
type Error = ();
fn try_from(value: TcStateToken) -> Result<Self, Self::Error> {
if let TcStateToken::Started(token) = value {
Ok(token)
} else {
Err(())
}
}
}
impl From<VerificationToken<TcStateAccepted>> for TcStateToken {
fn from(t: VerificationToken<TcStateAccepted>) -> Self {
TcStateToken::Accepted(t)
}
}
impl From<VerificationToken<TcStateStarted>> for TcStateToken {
fn from(t: VerificationToken<TcStateStarted>) -> Self {
TcStateToken::Started(t)
}
}
impl From<VerificationToken<TcStateCompleted>> for TcStateToken {
fn from(t: VerificationToken<TcStateCompleted>) -> Self {
TcStateToken::Completed(t)
}
}
impl<STATE> VerificationToken<STATE> {
fn new(req_id: RequestId) -> VerificationToken<TcStateNone> {
VerificationToken {
state: PhantomData,
req_id,
}
}
pub fn req_id(&self) -> RequestId {
self.req_id
}
}
/// Composite helper struct to pass failure parameters to the [VerificationReporter]
pub struct FailParams<'stamp, 'fargs> {
time_stamp: Option<&'stamp [u8]>,
failure_code: &'fargs dyn EcssEnumeration,
failure_data: Option<&'fargs [u8]>,
}
impl<'stamp, 'fargs> FailParams<'stamp, 'fargs> {
pub fn new(
time_stamp: Option<&'stamp [u8]>,
failure_code: &'fargs impl EcssEnumeration,
failure_data: Option<&'fargs [u8]>,
) -> Self {
Self {
time_stamp,
failure_code,
failure_data,
}
}
}
/// Composite helper struct to pass step failure parameters to the [VerificationReporter]
pub struct FailParamsWithStep<'stamp, 'fargs> {
bp: FailParams<'stamp, 'fargs>,
step: &'fargs dyn EcssEnumeration,
}
impl<'stamp, 'fargs> FailParamsWithStep<'stamp, 'fargs> {
pub fn new(
time_stamp: Option<&'stamp [u8]>,
step: &'fargs impl EcssEnumeration,
failure_code: &'fargs impl EcssEnumeration,
failure_data: Option<&'fargs [u8]>,
) -> Self {
Self {
bp: FailParams::new(time_stamp, failure_code, failure_data),
step,
}
}
}
#[derive(Clone)]
pub struct VerificationReporterCore {
pub dest_id: u16,
apid: u16,
}
pub enum VerifSuccess {}
pub enum VerifFailure {}
/// Abstraction for a sendable PUS TM. The user is expected to send the TM packet to a TM sink.
///
/// This struct generally mutably borrows the source data buffer.
pub struct VerificationSendable<'src_data, State, SuccessOrFailure> {
token: Option<VerificationToken<State>>,
pus_tm: Option<PusTmCreator<'src_data>>,
phantom: PhantomData<SuccessOrFailure>,
}
impl<'src_data, State, SuccessOrFailure> VerificationSendable<'src_data, State, SuccessOrFailure> {
pub(crate) fn new(pus_tm: PusTmCreator<'src_data>, token: VerificationToken<State>) -> Self {
Self {
token: Some(token),
pus_tm: Some(pus_tm),
phantom: PhantomData,
}
}
pub(crate) fn new_no_token(pus_tm: PusTmCreator<'src_data>) -> Self {
Self {
token: None,
pus_tm: Some(pus_tm),
phantom: PhantomData,
}
}
pub fn len_packed(&self) -> usize {
self.pus_tm.as_ref().unwrap().len_written()
}
pub fn pus_tm(&self) -> &PusTmCreator<'src_data> {
self.pus_tm.as_ref().unwrap()
}
pub fn pus_tm_mut(&mut self) -> &mut PusTmCreator<'src_data> {
self.pus_tm.as_mut().unwrap()
}
}
impl<'src_data, State> VerificationSendable<'src_data, State, VerifFailure> {
pub fn send_success_verif_failure(self) {}
}
impl<'src_data, State> VerificationSendable<'src_data, State, VerifFailure> {
pub fn send_failure(self) -> (PusTmCreator<'src_data>, VerificationToken<State>) {
(self.pus_tm.unwrap(), self.token.unwrap())
}
}
impl<'src_data> VerificationSendable<'src_data, TcStateNone, VerifSuccess> {
pub fn send_success_acceptance_success(self) -> VerificationToken<TcStateAccepted> {
VerificationToken {
state: PhantomData,
req_id: self.token.unwrap().req_id(),
}
}
}
impl<'src_data> VerificationSendable<'src_data, TcStateAccepted, VerifSuccess> {
pub fn send_success_start_success(self) -> VerificationToken<TcStateStarted> {
VerificationToken {
state: PhantomData,
req_id: self.token.unwrap().req_id(),
}
}
}
impl<'src_data, TcState: WasAtLeastAccepted + Copy>
VerificationSendable<'src_data, TcState, VerifSuccess>
{
pub fn send_success_step_or_completion_success(self) {}
}
/// Primary verification handler. It provides an API to send PUS 1 verification telemetry packets
/// and verify the various steps of telecommand handling as specified in the PUS standard.
///
/// This is the core component which can be used without [`alloc`] support. Please note that
/// the buffer passed to the API exposes by this struct will be used to serialize the source data.
/// This buffer may not be re-used to serialize the whole telemetry because that would overwrite
/// the source data itself.
impl VerificationReporterCore {
pub fn new(apid: u16) -> Option<Self> {
if apid > MAX_APID {
return None;
}
Some(Self { apid, dest_id: 0 })
}
pub fn set_apid(&mut self, apid: u16) -> bool {
if apid > MAX_APID {
return false;
}
self.apid = apid;
true
}
pub fn apid(&self) -> u16 {
self.apid
}
pub fn dest_id(&self) -> u16 {
self.dest_id
}
pub fn set_dest_id(&mut self, dest_id: u16) {
self.dest_id = dest_id;
}
/// Initialize verification handling by passing a TC reference. This returns a token required
/// to call the acceptance functions
pub fn add_tc(
&mut self,
pus_tc: &(impl CcsdsPacket + IsPusTelecommand),
) -> VerificationToken<TcStateNone> {
self.add_tc_with_req_id(RequestId::new(pus_tc))
}
/// Same as [Self::add_tc] but pass a request ID instead of the direct telecommand.
/// This can be useful if the executing thread does not have full access to the telecommand.
pub fn add_tc_with_req_id(&mut self, req_id: RequestId) -> VerificationToken<TcStateNone> {
VerificationToken::<TcStateNone>::new(req_id)
}
fn sendable_success_no_step<'src_data, State: Copy>(
&self,
src_data_buf: &'src_data mut [u8],
subservice: u8,
token: VerificationToken<State>,
seq_count: u16,
msg_count: u16,
time_stamp: Option<&'src_data [u8]>,
) -> Result<
VerificationSendable<'src_data, State, VerifSuccess>,
VerificationErrorWithToken<State>,
> {
Ok(VerificationSendable::new(
self.create_pus_verif_success_tm(
src_data_buf,
subservice,
seq_count,
msg_count,
&token.req_id,
time_stamp,
None::<&dyn EcssEnumeration>,
)
.map_err(|e| VerificationErrorWithToken(e, token))?,
token,
))
}
// Internal helper function, too many arguments is acceptable for this case.
#[allow(clippy::too_many_arguments)]
fn sendable_failure_no_step<'src_data, State: Copy>(
&self,
src_data_buf: &'src_data mut [u8],
subservice: u8,
token: VerificationToken<State>,
seq_count: u16,
msg_count: u16,
step: Option<&(impl EcssEnumeration + ?Sized)>,
params: &FailParams<'src_data, '_>,
) -> Result<
VerificationSendable<'src_data, State, VerifFailure>,
VerificationErrorWithToken<State>,
> {
Ok(VerificationSendable::new(
self.create_pus_verif_fail_tm(
src_data_buf,
subservice,
seq_count,
msg_count,
&token.req_id,
step,
params,
)
.map_err(|e| VerificationErrorWithToken(e, token))?,
token,
))
}
/// Package a PUS TM\[1, 1\] packet, see 8.1.2.1 of the PUS standard.
pub fn acceptance_success<'src_data>(
&self,
src_data_buf: &'src_data mut [u8],
token: VerificationToken<TcStateNone>,
seq_count: u16,
msg_count: u16,
time_stamp: Option<&'src_data [u8]>,
) -> Result<
VerificationSendable<'src_data, TcStateNone, VerifSuccess>,
VerificationErrorWithToken<TcStateNone>,
> {
self.sendable_success_no_step(
src_data_buf,
Subservice::TmAcceptanceSuccess.into(),
token,
seq_count,
msg_count,
time_stamp,
)
}
pub fn send_acceptance_success(
&self,
mut sendable: VerificationSendable<'_, TcStateNone, VerifSuccess>,
sender: &(impl EcssTmSenderCore + ?Sized),
) -> Result<VerificationToken<TcStateAccepted>, VerificationOrSendErrorWithToken<TcStateNone>>
{
sender
.send_tm(sendable.pus_tm.take().unwrap().into())
.map_err(|e| VerificationOrSendErrorWithToken(e, sendable.token.unwrap()))?;
Ok(sendable.send_success_acceptance_success())
}
pub fn send_acceptance_failure(
&self,
mut sendable: VerificationSendable<'_, TcStateNone, VerifFailure>,
sender: &(impl EcssTmSenderCore + ?Sized),
) -> Result<(), VerificationOrSendErrorWithToken<TcStateNone>> {
sender
.send_tm(sendable.pus_tm.take().unwrap().into())
.map_err(|e| VerificationOrSendErrorWithToken(e, sendable.token.unwrap()))?;
sendable.send_success_verif_failure();
Ok(())
}
/// Package a PUS TM\[1, 2\] packet, see 8.1.2.2 of the PUS standard.
pub fn acceptance_failure<'src_data>(
&self,
src_data_buf: &'src_data mut [u8],
token: VerificationToken<TcStateNone>,
seq_count: u16,
msg_count: u16,
params: FailParams<'src_data, '_>,
) -> Result<
VerificationSendable<'src_data, TcStateNone, VerifFailure>,
VerificationErrorWithToken<TcStateNone>,
> {
self.sendable_failure_no_step(
src_data_buf,
Subservice::TmAcceptanceFailure.into(),
token,
seq_count,
msg_count,
None::<&dyn EcssEnumeration>,
&params,
)
}
/// Package and send a PUS TM\[1, 3\] packet, see 8.1.2.3 of the PUS standard.
///
/// Requires a token previously acquired by calling [Self::acceptance_success].
pub fn start_success<'src_data>(
&self,
src_data_buf: &'src_data mut [u8],
token: VerificationToken<TcStateAccepted>,
seq_count: u16,
msg_count: u16,
time_stamp: Option<&'src_data [u8]>,
) -> Result<
VerificationSendable<'src_data, TcStateAccepted, VerifSuccess>,
VerificationErrorWithToken<TcStateAccepted>,
> {
self.sendable_success_no_step(
src_data_buf,
Subservice::TmStartSuccess.into(),
token,
seq_count,
msg_count,
time_stamp,
)
}
pub fn send_start_success(
&self,
mut sendable: VerificationSendable<'_, TcStateAccepted, VerifSuccess>,
sender: &(impl EcssTmSenderCore + ?Sized),
) -> Result<VerificationToken<TcStateStarted>, VerificationOrSendErrorWithToken<TcStateAccepted>>
{
sender
.send_tm(sendable.pus_tm.take().unwrap().into())
.map_err(|e| VerificationOrSendErrorWithToken(e, sendable.token.unwrap()))?;
Ok(sendable.send_success_start_success())
}
/// Package and send a PUS TM\[1, 4\] packet, see 8.1.2.4 of the PUS standard.
///
/// Requires a token previously acquired by calling [Self::acceptance_success]. It consumes
/// the token because verification handling is done.
pub fn start_failure<'src_data>(
&self,
src_data_buf: &'src_data mut [u8],
token: VerificationToken<TcStateAccepted>,
seq_count: u16,
msg_count: u16,
params: FailParams<'src_data, '_>,
) -> Result<
VerificationSendable<'src_data, TcStateAccepted, VerifFailure>,
VerificationErrorWithToken<TcStateAccepted>,
> {
self.sendable_failure_no_step(
src_data_buf,
Subservice::TmStartFailure.into(),
token,
seq_count,
msg_count,
None::<&dyn EcssEnumeration>,
&params,
)
}
pub fn send_start_failure(
&self,
mut sendable: VerificationSendable<'_, TcStateAccepted, VerifFailure>,
sender: &(impl EcssTmSenderCore + ?Sized),
) -> Result<(), VerificationOrSendErrorWithToken<TcStateAccepted>> {
sender
.send_tm(sendable.pus_tm.take().unwrap().into())
.map_err(|e| VerificationOrSendErrorWithToken(e, sendable.token.unwrap()))?;
sendable.send_success_verif_failure();
Ok(())
}
/// Package and send a PUS TM\[1, 5\] packet, see 8.1.2.5 of the PUS standard.
///
/// Requires a token previously acquired by calling [Self::start_success].
pub fn step_success<'src_data>(
&self,
src_data_buf: &'src_data mut [u8],
token: &VerificationToken<TcStateStarted>,
seq_count: u16,
msg_count: u16,
time_stamp: Option<&'src_data [u8]>,
step: impl EcssEnumeration,
) -> Result<VerificationSendable<'src_data, TcStateStarted, VerifSuccess>, EcssTmtcError> {
Ok(VerificationSendable::new_no_token(
self.create_pus_verif_success_tm(
src_data_buf,
Subservice::TmStepSuccess.into(),
seq_count,
msg_count,
&token.req_id,
time_stamp,
Some(&step),
)?,
))
}
/// Package and send a PUS TM\[1, 6\] packet, see 8.1.2.6 of the PUS standard.
///
/// Requires a token previously acquired by calling [Self::start_success]. It consumes the
/// token because verification handling is done.
pub fn step_failure<'src_data>(
&self,
src_data_buf: &'src_data mut [u8],
token: VerificationToken<TcStateStarted>,
seq_count: u16,
msg_count: u16,
params: FailParamsWithStep<'src_data, '_>,
) -> Result<
VerificationSendable<'src_data, TcStateStarted, VerifFailure>,
VerificationErrorWithToken<TcStateStarted>,
> {
Ok(VerificationSendable::new(
self.create_pus_verif_fail_tm(
src_data_buf,
Subservice::TmStepFailure.into(),
seq_count,
msg_count,
&token.req_id,
Some(params.step),
&params.bp,
)
.map_err(|e| VerificationErrorWithToken(e, token))?,
token,
))
}
/// Package and send a PUS TM\[1, 7\] packet, see 8.1.2.7 of the PUS standard.
///
/// Requires a token previously acquired by calling [Self::start_success]. It consumes the
/// token because verification handling is done.
pub fn completion_success<'src_data, TcState: WasAtLeastAccepted + Copy>(
&self,
src_data_buf: &'src_data mut [u8],
token: VerificationToken<TcState>,
seq_counter: u16,
msg_counter: u16,
time_stamp: Option<&'src_data [u8]>,
) -> Result<
VerificationSendable<'src_data, TcState, VerifSuccess>,
VerificationErrorWithToken<TcState>,
> {
self.sendable_success_no_step(
src_data_buf,
Subservice::TmCompletionSuccess.into(),
token,
seq_counter,
msg_counter,
time_stamp,
)
}
/// Package and send a PUS TM\[1, 8\] packet, see 8.1.2.8 of the PUS standard.
///
/// Requires a token previously acquired by calling [Self::start_success]. It consumes the
/// token because verification handling is done.
pub fn completion_failure<'src_data, TcState: WasAtLeastAccepted + Copy>(
&self,
src_data_buf: &'src_data mut [u8],
token: VerificationToken<TcState>,
seq_count: u16,
msg_count: u16,
params: FailParams<'src_data, '_>,
) -> Result<
VerificationSendable<'src_data, TcState, VerifFailure>,
VerificationErrorWithToken<TcState>,
> {
self.sendable_failure_no_step(
src_data_buf,
Subservice::TmCompletionFailure.into(),
token,
seq_count,
msg_count,
None::<&dyn EcssEnumeration>,
&params,
)
}
pub fn send_step_or_completion_success<TcState: WasAtLeastAccepted + Copy>(
&self,
mut sendable: VerificationSendable<'_, TcState, VerifSuccess>,
sender: &(impl EcssTmSenderCore + ?Sized),
) -> Result<(), VerificationOrSendErrorWithToken<TcState>> {
sender
.send_tm(sendable.pus_tm.take().unwrap().into())
.map_err(|e| VerificationOrSendErrorWithToken(e, sendable.token.unwrap()))?;
sendable.send_success_step_or_completion_success();
Ok(())
}
pub fn send_step_or_completion_failure<TcState: WasAtLeastAccepted + Copy>(
&self,
mut sendable: VerificationSendable<'_, TcState, VerifFailure>,
sender: &(impl EcssTmSenderCore + ?Sized),
) -> Result<(), VerificationOrSendErrorWithToken<TcState>> {
sender
.send_tm(sendable.pus_tm.take().unwrap().into())
.map_err(|e| VerificationOrSendErrorWithToken(e, sendable.token.unwrap()))?;
sendable.send_success_verif_failure();
Ok(())
}
// Internal helper function, too many arguments is acceptable for this case.
#[allow(clippy::too_many_arguments)]
fn create_pus_verif_success_tm<'src_data>(
&self,
src_data_buf: &'src_data mut [u8],
subservice: u8,
seq_count: u16,
msg_counter: u16,
req_id: &RequestId,
time_stamp: Option<&'src_data [u8]>,
step: Option<&(impl EcssEnumeration + ?Sized)>,
) -> Result<PusTmCreator<'src_data>, EcssTmtcError> {
let mut source_data_len = size_of::<u32>();
if let Some(step) = step {
source_data_len += step.size();
}
source_buffer_large_enough(src_data_buf.len(), source_data_len)?;
let mut idx = 0;
req_id.to_bytes(&mut src_data_buf[0..RequestId::SIZE_AS_BYTES]);
idx += RequestId::SIZE_AS_BYTES;
if let Some(step) = step {
// Size check was done beforehand
step.write_to_be_bytes(&mut src_data_buf[idx..idx + step.size()])
.unwrap();
}
let mut sp_header = SpHeader::tm_unseg(self.apid(), seq_count, 0).unwrap();
Ok(self.create_pus_verif_tm_base(
src_data_buf,
subservice,
msg_counter,
&mut sp_header,
time_stamp,
source_data_len,
))
}
// Internal helper function, too many arguments is acceptable for this case.
#[allow(clippy::too_many_arguments)]
fn create_pus_verif_fail_tm<'src_data>(
&self,
src_data_buf: &'src_data mut [u8],
subservice: u8,
seq_count: u16,
msg_counter: u16,
req_id: &RequestId,
step: Option<&(impl EcssEnumeration + ?Sized)>,
params: &FailParams<'src_data, '_>,
) -> Result<PusTmCreator<'src_data>, EcssTmtcError> {
let mut idx = 0;
let mut source_data_len = RequestId::SIZE_AS_BYTES + params.failure_code.size();
if let Some(step) = step {
source_data_len += step.size();
}
if let Some(failure_data) = params.failure_data {
source_data_len += failure_data.len();
}
source_buffer_large_enough(src_data_buf.len(), source_data_len)?;
req_id.to_bytes(&mut src_data_buf[0..RequestId::SIZE_AS_BYTES]);
idx += RequestId::SIZE_AS_BYTES;
if let Some(step) = step {
// Size check done beforehand
step.write_to_be_bytes(&mut src_data_buf[idx..idx + step.size()])
.unwrap();
idx += step.size();
}
params
.failure_code
.write_to_be_bytes(&mut src_data_buf[idx..idx + params.failure_code.size()])
.map_err(PusError::ByteConversion)?;
idx += params.failure_code.size();
if let Some(failure_data) = params.failure_data {
src_data_buf[idx..idx + failure_data.len()].copy_from_slice(failure_data);
}
let mut sp_header = SpHeader::tm_unseg(self.apid(), seq_count, 0).unwrap();
Ok(self.create_pus_verif_tm_base(
src_data_buf,
subservice,
msg_counter,
&mut sp_header,
params.time_stamp,
source_data_len,
))
}
fn create_pus_verif_tm_base<'src_data>(
&self,
src_data_buf: &'src_data mut [u8],
subservice: u8,
msg_counter: u16,
sp_header: &mut SpHeader,
time_stamp: Option<&'src_data [u8]>,
source_data_len: usize,
) -> PusTmCreator<'src_data> {
let tm_sec_header =
PusTmSecondaryHeader::new(1, subservice, msg_counter, self.dest_id, time_stamp);
PusTmCreator::new(
sp_header,
tm_sec_header,
&src_data_buf[0..source_data_len],
true,
)
}
}
#[cfg(feature = "alloc")]
mod alloc_mod {
use super::*;
use crate::pus::alloc_mod::EcssTmSender;
use crate::seq_count::SequenceCountProvider;
use alloc::boxed::Box;
use alloc::vec;
use alloc::vec::Vec;
use core::cell::RefCell;
use spacepackets::ecss::tc::IsPusTelecommand;
#[derive(Clone)]
pub struct VerificationReporterCfg {
apid: u16,
pub step_field_width: usize,
pub fail_code_field_width: usize,
pub max_fail_data_len: usize,
}
impl VerificationReporterCfg {
pub fn new(
apid: u16,
step_field_width: usize,
fail_code_field_width: usize,
max_fail_data_len: usize,
) -> Option<Self> {
if apid > MAX_APID {
return None;
}
Some(Self {
apid,
step_field_width,
fail_code_field_width,
max_fail_data_len,
})
}
}
/// Primary verification handler. It provides an API to send PUS 1 verification telemetry packets
/// and verify the various steps of telecommand handling as specified in the PUS standard.
/// It is assumed that the sequence counter and message counters are updated in a central
/// TM funnel. This helper will always set those fields to 0.
#[derive(Clone)]
pub struct VerificationReporter {
source_data_buf: RefCell<Vec<u8>>,
pub seq_count_provider: Option<Box<dyn SequenceCountProvider<u16> + Send>>,
pub msg_count_provider: Option<Box<dyn SequenceCountProvider<u16> + Send>>,
pub reporter: VerificationReporterCore,
}
impl VerificationReporter {
pub fn new(cfg: &VerificationReporterCfg) -> Self {
let reporter = VerificationReporterCore::new(cfg.apid).unwrap();
Self {
source_data_buf: RefCell::new(vec![
0;
RequestId::SIZE_AS_BYTES
+ cfg.step_field_width
+ cfg.fail_code_field_width
+ cfg.max_fail_data_len
]),
seq_count_provider: None,
msg_count_provider: None,
reporter,
}
}
delegate!(
to self.reporter {
pub fn set_apid(&mut self, apid: u16) -> bool;
pub fn apid(&self) -> u16;
pub fn add_tc(&mut self, pus_tc: &(impl CcsdsPacket + IsPusTelecommand)) -> VerificationToken<TcStateNone>;
pub fn add_tc_with_req_id(&mut self, req_id: RequestId) -> VerificationToken<TcStateNone>;
pub fn dest_id(&self) -> u16;
pub fn set_dest_id(&mut self, dest_id: u16);
}
);
pub fn allowed_source_data_len(&self) -> usize {
self.source_data_buf.borrow().capacity()
}
/// Package and send a PUS TM\[1, 1\] packet, see 8.1.2.1 of the PUS standard
pub fn acceptance_success(
&self,
token: VerificationToken<TcStateNone>,
sender: &(impl EcssTmSenderCore + ?Sized),
time_stamp: Option<&[u8]>,
) -> Result<VerificationToken<TcStateAccepted>, VerificationOrSendErrorWithToken<TcStateNone>>
{
let seq_count = self
.seq_count_provider
.as_ref()
.map_or(0, |v| v.get_and_increment());
let msg_count = self
.seq_count_provider
.as_ref()
.map_or(0, |v| v.get_and_increment());
let mut source_data_buf = self.source_data_buf.borrow_mut();
let sendable = self.reporter.acceptance_success(
source_data_buf.as_mut_slice(),
token,
seq_count,
msg_count,
time_stamp,
)?;
self.reporter.send_acceptance_success(sendable, sender)
}
/// Package and send a PUS TM\[1, 2\] packet, see 8.1.2.2 of the PUS standard
pub fn acceptance_failure(
&self,
token: VerificationToken<TcStateNone>,
sender: &(impl EcssTmSenderCore + ?Sized),
params: FailParams,
) -> Result<(), VerificationOrSendErrorWithToken<TcStateNone>> {
let seq_count = self
.seq_count_provider
.as_ref()
.map_or(0, |v| v.get_and_increment());
let msg_count = self
.seq_count_provider
.as_ref()
.map_or(0, |v| v.get_and_increment());
let mut buf = self.source_data_buf.borrow_mut();
let sendable = self.reporter.acceptance_failure(
buf.as_mut_slice(),
token,
seq_count,
msg_count,
params,
)?;
self.reporter.send_acceptance_failure(sendable, sender)
}
/// Package and send a PUS TM\[1, 3\] packet, see 8.1.2.3 of the PUS standard.
///
/// Requires a token previously acquired by calling [Self::acceptance_success].
pub fn start_success(
&self,
token: VerificationToken<TcStateAccepted>,
sender: &(impl EcssTmSenderCore + ?Sized),
time_stamp: Option<&[u8]>,
) -> Result<
VerificationToken<TcStateStarted>,
VerificationOrSendErrorWithToken<TcStateAccepted>,
> {
let seq_count = self
.seq_count_provider
.as_ref()
.map_or(0, |v| v.get_and_increment());
let msg_count = self
.seq_count_provider
.as_ref()
.map_or(0, |v| v.get_and_increment());
let mut buf = self.source_data_buf.borrow_mut();
let sendable = self.reporter.start_success(
buf.as_mut_slice(),
token,
seq_count,
msg_count,
time_stamp,
)?;
self.reporter.send_start_success(sendable, sender)
}
/// Package and send a PUS TM\[1, 4\] packet, see 8.1.2.4 of the PUS standard.
///
/// Requires a token previously acquired by calling [Self::acceptance_success]. It consumes
/// the token because verification handling is done.
pub fn start_failure(
&self,
token: VerificationToken<TcStateAccepted>,
sender: &(impl EcssTmSenderCore + ?Sized),
params: FailParams,
) -> Result<(), VerificationOrSendErrorWithToken<TcStateAccepted>> {
let seq_count = self
.seq_count_provider
.as_ref()
.map_or(0, |v| v.get_and_increment());
let msg_count = self
.seq_count_provider
.as_ref()
.map_or(0, |v| v.get_and_increment());
let mut buf = self.source_data_buf.borrow_mut();
let sendable = self.reporter.start_failure(
buf.as_mut_slice(),
token,
seq_count,
msg_count,
params,
)?;
self.reporter.send_start_failure(sendable, sender)
}
/// Package and send a PUS TM\[1, 5\] packet, see 8.1.2.5 of the PUS standard.
///
/// Requires a token previously acquired by calling [Self::start_success].
pub fn step_success(
&self,
token: &VerificationToken<TcStateStarted>,
sender: &(impl EcssTmSenderCore + ?Sized),
time_stamp: Option<&[u8]>,
step: impl EcssEnumeration,
) -> Result<(), EcssTmtcError> {
let seq_count = self
.seq_count_provider
.as_ref()
.map_or(0, |v| v.get_and_increment());
let msg_count = self
.seq_count_provider
.as_ref()
.map_or(0, |v| v.get_and_increment());
let mut buf = self.source_data_buf.borrow_mut();
let sendable = self.reporter.step_success(
buf.as_mut_slice(),
token,
seq_count,
msg_count,
time_stamp,
step,
)?;
self.reporter
.send_step_or_completion_success(sendable, sender)
.map_err(|e| e.0)
}
/// Package and send a PUS TM\[1, 6\] packet, see 8.1.2.6 of the PUS standard.
///
/// Requires a token previously acquired by calling [Self::start_success]. It consumes the
/// token because verification handling is done.
pub fn step_failure(
&self,
token: VerificationToken<TcStateStarted>,
sender: &(impl EcssTmSenderCore + ?Sized),
params: FailParamsWithStep,
) -> Result<(), VerificationOrSendErrorWithToken<TcStateStarted>> {
let seq_count = self
.seq_count_provider
.as_ref()
.map_or(0, |v| v.get_and_increment());
let msg_count = self
.seq_count_provider
.as_ref()
.map_or(0, |v| v.get_and_increment());
let mut buf = self.source_data_buf.borrow_mut();
let sendable = self.reporter.step_failure(
buf.as_mut_slice(),
token,
seq_count,
msg_count,
params,
)?;
self.reporter
.send_step_or_completion_failure(sendable, sender)
}
/// Package and send a PUS TM\[1, 7\] packet, see 8.1.2.7 of the PUS standard.
///
/// Requires a token previously acquired by calling [Self::start_success]. It consumes the
/// token because verification handling is done.
pub fn completion_success<TcState: WasAtLeastAccepted + Copy>(
&self,
token: VerificationToken<TcState>,
sender: &(impl EcssTmSenderCore + ?Sized),
time_stamp: Option<&[u8]>,
) -> Result<(), VerificationOrSendErrorWithToken<TcState>> {
let seq_count = self
.seq_count_provider
.as_ref()
.map_or(0, |v| v.get_and_increment());
let msg_count = self
.seq_count_provider
.as_ref()
.map_or(0, |v| v.get_and_increment());
let mut buf = self.source_data_buf.borrow_mut();
let sendable = self.reporter.completion_success(
buf.as_mut_slice(),
token,
seq_count,
msg_count,
time_stamp,
)?;
self.reporter
.send_step_or_completion_success(sendable, sender)
}
/// Package and send a PUS TM\[1, 8\] packet, see 8.1.2.8 of the PUS standard.
///
/// Requires a token previously acquired by calling [Self::start_success]. It consumes the
/// token because verification handling is done.
pub fn completion_failure<TcState: WasAtLeastAccepted + Copy>(
&self,
token: VerificationToken<TcState>,
sender: &(impl EcssTmSenderCore + ?Sized),
params: FailParams,
) -> Result<(), VerificationOrSendErrorWithToken<TcState>> {
let seq_count = self
.seq_count_provider
.as_ref()
.map_or(0, |v| v.get_and_increment());
let msg_count = self
.seq_count_provider
.as_ref()
.map_or(0, |v| v.get_and_increment());
let mut buf = self.source_data_buf.borrow_mut();
let sendable = self.reporter.completion_failure(
buf.as_mut_slice(),
token,
seq_count,
msg_count,
params,
)?;
self.reporter
.send_step_or_completion_failure(sendable, sender)
}
}
/// Helper object which caches the sender passed as a trait object. Provides the same
/// API as [VerificationReporter] but without the explicit sender arguments.
#[derive(Clone)]
pub struct VerificationReporterWithSender {
pub reporter: VerificationReporter,
pub sender: Box<dyn EcssTmSender>,
}
impl VerificationReporterWithSender {
pub fn new(cfg: &VerificationReporterCfg, sender: Box<dyn EcssTmSender>) -> Self {
let reporter = VerificationReporter::new(cfg);
Self::new_from_reporter(reporter, sender)
}
pub fn new_from_reporter(
reporter: VerificationReporter,
sender: Box<dyn EcssTmSender>,
) -> Self {
Self { reporter, sender }
}
delegate! {
to self.reporter {
pub fn set_apid(&mut self, apid: u16) -> bool;
pub fn apid(&self) -> u16;
pub fn add_tc(&mut self, pus_tc: &(impl CcsdsPacket + IsPusTelecommand)) -> VerificationToken<TcStateNone>;
pub fn add_tc_with_req_id(&mut self, req_id: RequestId) -> VerificationToken<TcStateNone>;
pub fn dest_id(&self) -> u16;
pub fn set_dest_id(&mut self, dest_id: u16);
}
}
pub fn acceptance_success(
&self,
token: VerificationToken<TcStateNone>,
time_stamp: Option<&[u8]>,
) -> Result<VerificationToken<TcStateAccepted>, VerificationOrSendErrorWithToken<TcStateNone>>
{
self.reporter
.acceptance_success(token, self.sender.as_ref(), time_stamp)
}
pub fn acceptance_failure(
&self,
token: VerificationToken<TcStateNone>,
params: FailParams,
) -> Result<(), VerificationOrSendErrorWithToken<TcStateNone>> {
self.reporter
.acceptance_failure(token, self.sender.as_ref(), params)
}
pub fn start_success(
&self,
token: VerificationToken<TcStateAccepted>,
time_stamp: Option<&[u8]>,
) -> Result<
VerificationToken<TcStateStarted>,
VerificationOrSendErrorWithToken<TcStateAccepted>,
> {
self.reporter
.start_success(token, self.sender.as_ref(), time_stamp)
}
pub fn start_failure(
&self,
token: VerificationToken<TcStateAccepted>,
params: FailParams,
) -> Result<(), VerificationOrSendErrorWithToken<TcStateAccepted>> {
self.reporter
.start_failure(token, self.sender.as_ref(), params)
}
pub fn step_success(
&self,
token: &VerificationToken<TcStateStarted>,
time_stamp: Option<&[u8]>,
step: impl EcssEnumeration,
) -> Result<(), EcssTmtcError> {
self.reporter
.step_success(token, self.sender.as_ref(), time_stamp, step)
}
pub fn step_failure(
&self,
token: VerificationToken<TcStateStarted>,
params: FailParamsWithStep,
) -> Result<(), VerificationOrSendErrorWithToken<TcStateStarted>> {
self.reporter
.step_failure(token, self.sender.as_ref(), params)
}
pub fn completion_success<TcState: WasAtLeastAccepted + Copy>(
&self,
token: VerificationToken<TcState>,
time_stamp: Option<&[u8]>,
) -> Result<(), VerificationOrSendErrorWithToken<TcState>> {
self.reporter
.completion_success(token, self.sender.as_ref(), time_stamp)
}
pub fn completion_failure<TcState: WasAtLeastAccepted + Copy>(
&self,
token: VerificationToken<TcState>,
params: FailParams,
) -> Result<(), VerificationOrSendErrorWithToken<TcState>> {
self.reporter
.completion_failure(token, self.sender.as_ref(), params)
}
}
}
#[cfg(feature = "std")]
mod std_mod {
use crate::pus::verification::VerificationReporterWithSender;
use std::sync::{Arc, Mutex};
pub type StdVerifReporterWithSender = VerificationReporterWithSender;
pub type SharedStdVerifReporterWithSender = Arc<Mutex<StdVerifReporterWithSender>>;
}
#[cfg(test)]
mod tests {
use crate::pool::{PoolProviderMemInPlaceWithGuards, StaticMemoryPool, StaticPoolConfig};
use crate::pus::tests::CommonTmInfo;
use crate::pus::verification::{
EcssTmSenderCore, EcssTmtcError, FailParams, FailParamsWithStep, RequestId, TcStateNone,
VerificationReporter, VerificationReporterCfg, VerificationReporterWithSender,
VerificationToken,
};
use crate::pus::{EcssChannel, MpscTmInSharedPoolSender, PusTmWrapper};
use crate::tmtc::tm_helper::SharedTmPool;
use crate::ChannelId;
use alloc::boxed::Box;
use alloc::format;
use spacepackets::ecss::tc::{PusTcCreator, PusTcSecondaryHeader};
use spacepackets::ecss::tm::PusTmReader;
use spacepackets::ecss::{EcssEnumU16, EcssEnumU32, EcssEnumU8, PusError, PusPacket};
use spacepackets::util::UnsignedEnum;
use spacepackets::{ByteConversionError, CcsdsPacket, SpHeader};
use std::cell::RefCell;
use std::collections::VecDeque;
use std::sync::mpsc;
use std::time::Duration;
use std::vec;
use std::vec::Vec;
fn is_send<T: Send>(_: &T) {}
#[allow(dead_code)]
fn is_sync<T: Sync>(_: &T) {}
const TEST_APID: u16 = 0x02;
const EMPTY_STAMP: [u8; 7] = [0; 7];
#[derive(Debug, Eq, PartialEq, Clone)]
struct TmInfo {
pub common: CommonTmInfo,
pub req_id: RequestId,
pub additional_data: Option<Vec<u8>>,
}
#[derive(Default, Clone)]
struct TestSender {
pub service_queue: RefCell<VecDeque<TmInfo>>,
}
impl EcssChannel for TestSender {
fn id(&self) -> ChannelId {
0
}
fn name(&self) -> &'static str {
"test_sender"
}
}
impl EcssTmSenderCore for TestSender {
fn send_tm(&self, tm: PusTmWrapper) -> Result<(), EcssTmtcError> {
match tm {
PusTmWrapper::InStore(_) => {
panic!("TestSender: Can not deal with addresses");
}
PusTmWrapper::Direct(tm) => {
assert_eq!(PusPacket::service(&tm), 1);
assert!(!tm.source_data().is_empty());
let mut time_stamp = [0; 7];
time_stamp.clone_from_slice(&tm.timestamp()[0..7]);
let src_data = tm.source_data();
assert!(src_data.len() >= 4);
let req_id =
RequestId::from_bytes(&src_data[0..RequestId::SIZE_AS_BYTES]).unwrap();
let mut vec = None;
if src_data.len() > 4 {
let mut new_vec = Vec::new();
new_vec.extend_from_slice(&src_data[RequestId::SIZE_AS_BYTES..]);
vec = Some(new_vec);
}
self.service_queue.borrow_mut().push_back(TmInfo {
common: CommonTmInfo::new_from_tm(&tm),
req_id,
additional_data: vec,
});
Ok(())
}
}
}
}
struct TestBase<'a> {
vr: VerificationReporter,
#[allow(dead_code)]
tc: PusTcCreator<'a>,
}
impl<'a> TestBase<'a> {
fn rep(&mut self) -> &mut VerificationReporter {
&mut self.vr
}
}
struct TestBaseWithHelper<'a> {
helper: VerificationReporterWithSender,
#[allow(dead_code)]
tc: PusTcCreator<'a>,
}
impl<'a> TestBaseWithHelper<'a> {
fn rep(&mut self) -> &mut VerificationReporter {
&mut self.helper.reporter
}
}
fn base_reporter() -> VerificationReporter {
let cfg = VerificationReporterCfg::new(TEST_APID, 1, 2, 8).unwrap();
VerificationReporter::new(&cfg)
}
fn base_tc_init(app_data: Option<&[u8]>) -> (PusTcCreator, RequestId) {
let mut sph = SpHeader::tc_unseg(TEST_APID, 0x34, 0).unwrap();
let tc_header = PusTcSecondaryHeader::new_simple(17, 1);
let app_data = app_data.unwrap_or(&[]);
let pus_tc = PusTcCreator::new(&mut sph, tc_header, app_data, true);
let req_id = RequestId::new(&pus_tc);
(pus_tc, req_id)
}
fn base_init(api_sel: bool) -> (TestBase<'static>, VerificationToken<TcStateNone>) {
let mut reporter = base_reporter();
let (tc, req_id) = base_tc_init(None);
let init_tok = if api_sel {
reporter.add_tc_with_req_id(req_id)
} else {
reporter.add_tc(&tc)
};
(TestBase { vr: reporter, tc }, init_tok)
}
fn base_with_helper_init() -> (TestBaseWithHelper<'static>, VerificationToken<TcStateNone>) {
let mut reporter = base_reporter();
let (tc, _) = base_tc_init(None);
let init_tok = reporter.add_tc(&tc);
let sender = TestSender::default();
let helper = VerificationReporterWithSender::new_from_reporter(reporter, Box::new(sender));
(TestBaseWithHelper { helper, tc }, init_tok)
}
fn acceptance_check(sender: &mut TestSender, req_id: &RequestId) {
let cmp_info = TmInfo {
common: CommonTmInfo {
subservice: 1,
apid: TEST_APID,
msg_counter: 0,
dest_id: 0,
time_stamp: EMPTY_STAMP,
},
additional_data: None,
req_id: *req_id,
};
let mut service_queue = sender.service_queue.borrow_mut();
assert_eq!(service_queue.len(), 1);
let info = service_queue.pop_front().unwrap();
assert_eq!(info, cmp_info);
}
#[test]
fn test_mpsc_verif_send_sync() {
let pool = StaticMemoryPool::new(StaticPoolConfig::new(vec![(8, 8)]));
let shared_tm_store = SharedTmPool::new(pool);
let (tx, _) = mpsc::channel();
let mpsc_verif_sender =
MpscTmInSharedPoolSender::new(0, "verif_sender", shared_tm_store, tx);
is_send(&mpsc_verif_sender);
}
#[test]
fn test_state() {
let (mut b, _) = base_init(false);
assert_eq!(b.vr.apid(), TEST_APID);
b.vr.set_apid(TEST_APID + 1);
assert_eq!(b.vr.apid(), TEST_APID + 1);
}
#[test]
fn test_basic_acceptance_success() {
let (b, tok) = base_init(false);
let mut sender = TestSender::default();
b.vr.acceptance_success(tok, &sender, Some(&EMPTY_STAMP))
.expect("Sending acceptance success failed");
acceptance_check(&mut sender, &tok.req_id);
}
#[test]
fn test_basic_acceptance_success_with_helper() {
let (mut b, tok) = base_with_helper_init();
b.helper
.acceptance_success(tok, Some(&EMPTY_STAMP))
.expect("Sending acceptance success failed");
let sender: &mut TestSender = b.helper.sender.downcast_mut().unwrap();
acceptance_check(sender, &tok.req_id);
}
fn acceptance_fail_check(sender: &mut TestSender, req_id: RequestId, stamp_buf: [u8; 7]) {
let cmp_info = TmInfo {
common: CommonTmInfo {
subservice: 2,
apid: TEST_APID,
msg_counter: 0,
dest_id: 5,
time_stamp: stamp_buf,
},
additional_data: Some([0, 2].to_vec()),
req_id,
};
let mut service_queue = sender.service_queue.borrow_mut();
assert_eq!(service_queue.len(), 1);
let info = service_queue.pop_front().unwrap();
assert_eq!(info, cmp_info);
}
#[test]
fn test_basic_acceptance_failure() {
let (mut b, tok) = base_init(true);
b.rep().reporter.dest_id = 5;
let stamp_buf = [1, 2, 3, 4, 5, 6, 7];
let mut sender = TestSender::default();
let fail_code = EcssEnumU16::new(2);
let fail_params = FailParams::new(Some(stamp_buf.as_slice()), &fail_code, None);
b.vr.acceptance_failure(tok, &mut sender, fail_params)
.expect("Sending acceptance success failed");
acceptance_fail_check(&mut sender, tok.req_id, stamp_buf);
}
#[test]
fn test_basic_acceptance_failure_with_helper() {
let (mut b, tok) = base_with_helper_init();
b.rep().reporter.dest_id = 5;
let stamp_buf = [1, 2, 3, 4, 5, 6, 7];
let fail_code = EcssEnumU16::new(2);
let fail_params = FailParams::new(Some(stamp_buf.as_slice()), &fail_code, None);
b.helper
.acceptance_failure(tok, fail_params)
.expect("Sending acceptance success failed");
let sender: &mut TestSender = b.helper.sender.downcast_mut().unwrap();
acceptance_fail_check(sender, tok.req_id, stamp_buf);
}
#[test]
fn test_acceptance_fail_data_too_large() {
let (mut b, tok) = base_with_helper_init();
b.rep().reporter.dest_id = 5;
let stamp_buf = [1, 2, 3, 4, 5, 6, 7];
let fail_code = EcssEnumU16::new(2);
let fail_data: [u8; 16] = [0; 16];
// 4 req ID + 1 byte step + 2 byte error code + 8 byte fail data
assert_eq!(b.rep().allowed_source_data_len(), 15);
let fail_params = FailParams::new(
Some(stamp_buf.as_slice()),
&fail_code,
Some(fail_data.as_slice()),
);
let res = b.helper.acceptance_failure(tok, fail_params);
assert!(res.is_err());
let err_with_token = res.unwrap_err();
assert_eq!(err_with_token.1, tok);
match err_with_token.0 {
EcssTmtcError::Pus(PusError::ByteConversion(e)) => match e {
ByteConversionError::ToSliceTooSmall { found, expected } => {
assert_eq!(
expected,
fail_data.len() + RequestId::SIZE_AS_BYTES + fail_code.size()
);
assert_eq!(found, b.rep().allowed_source_data_len());
}
_ => {
panic!("{}", format!("Unexpected error {:?}", e))
}
},
_ => {
panic!("{}", format!("Unexpected error {:?}", err_with_token.0))
}
}
}
#[test]
fn test_basic_acceptance_failure_with_fail_data() {
let (b, tok) = base_init(false);
let sender = TestSender::default();
let fail_code = EcssEnumU8::new(10);
let fail_data = EcssEnumU32::new(12);
let mut fail_data_raw = [0; 4];
fail_data.write_to_be_bytes(&mut fail_data_raw).unwrap();
let fail_params = FailParams::new(
Some(&EMPTY_STAMP),
&fail_code,
Some(fail_data_raw.as_slice()),
);
b.vr.acceptance_failure(tok, &sender, fail_params)
.expect("Sending acceptance success failed");
let cmp_info = TmInfo {
common: CommonTmInfo {
subservice: 2,
apid: TEST_APID,
msg_counter: 0,
dest_id: 0,
time_stamp: EMPTY_STAMP,
},
additional_data: Some([10, 0, 0, 0, 12].to_vec()),
req_id: tok.req_id,
};
let mut service_queue = sender.service_queue.borrow_mut();
assert_eq!(service_queue.len(), 1);
let info = service_queue.pop_front().unwrap();
assert_eq!(info, cmp_info);
}
fn start_fail_check(sender: &mut TestSender, req_id: RequestId, fail_data_raw: [u8; 4]) {
let mut srv_queue = sender.service_queue.borrow_mut();
assert_eq!(srv_queue.len(), 2);
let mut cmp_info = TmInfo {
common: CommonTmInfo {
subservice: 1,
apid: TEST_APID,
msg_counter: 0,
dest_id: 0,
time_stamp: EMPTY_STAMP,
},
additional_data: None,
req_id,
};
let mut info = srv_queue.pop_front().unwrap();
assert_eq!(info, cmp_info);
cmp_info = TmInfo {
common: CommonTmInfo {
subservice: 4,
apid: TEST_APID,
msg_counter: 0,
dest_id: 0,
time_stamp: EMPTY_STAMP,
},
additional_data: Some([&[22], fail_data_raw.as_slice()].concat().to_vec()),
req_id,
};
info = srv_queue.pop_front().unwrap();
assert_eq!(info, cmp_info);
}
#[test]
fn test_start_failure() {
let (b, tok) = base_init(false);
let mut sender = TestSender::default();
let fail_code = EcssEnumU8::new(22);
let fail_data: i32 = -12;
let mut fail_data_raw = [0; 4];
fail_data_raw.copy_from_slice(fail_data.to_be_bytes().as_slice());
let fail_params = FailParams::new(
Some(&EMPTY_STAMP),
&fail_code,
Some(fail_data_raw.as_slice()),
);
let accepted_token =
b.vr.acceptance_success(tok, &mut sender, Some(&EMPTY_STAMP))
.expect("Sending acceptance success failed");
let empty =
b.vr.start_failure(accepted_token, &mut sender, fail_params)
.expect("Start failure failure");
assert_eq!(empty, ());
start_fail_check(&mut sender, tok.req_id, fail_data_raw);
}
#[test]
fn test_start_failure_with_helper() {
let (mut b, tok) = base_with_helper_init();
let fail_code = EcssEnumU8::new(22);
let fail_data: i32 = -12;
let mut fail_data_raw = [0; 4];
fail_data_raw.copy_from_slice(fail_data.to_be_bytes().as_slice());
let fail_params = FailParams::new(
Some(&EMPTY_STAMP),
&fail_code,
Some(fail_data_raw.as_slice()),
);
let accepted_token = b
.helper
.acceptance_success(tok, Some(&EMPTY_STAMP))
.expect("Sending acceptance success failed");
let empty = b
.helper
.start_failure(accepted_token, fail_params)
.expect("Start failure failure");
assert_eq!(empty, ());
let sender: &mut TestSender = b.helper.sender.downcast_mut().unwrap();
start_fail_check(sender, tok.req_id, fail_data_raw);
}
fn step_success_check(sender: &mut TestSender, req_id: RequestId) {
let mut cmp_info = TmInfo {
common: CommonTmInfo {
subservice: 1,
apid: TEST_APID,
msg_counter: 0,
dest_id: 0,
time_stamp: EMPTY_STAMP,
},
additional_data: None,
req_id,
};
let mut srv_queue = sender.service_queue.borrow_mut();
let mut info = srv_queue.pop_front().unwrap();
assert_eq!(info, cmp_info);
cmp_info = TmInfo {
common: CommonTmInfo {
subservice: 3,
apid: TEST_APID,
msg_counter: 0,
dest_id: 0,
time_stamp: [0, 1, 0, 1, 0, 1, 0],
},
additional_data: None,
req_id,
};
info = srv_queue.pop_front().unwrap();
assert_eq!(info, cmp_info);
cmp_info = TmInfo {
common: CommonTmInfo {
subservice: 5,
apid: TEST_APID,
msg_counter: 0,
dest_id: 0,
time_stamp: EMPTY_STAMP,
},
additional_data: Some([0].to_vec()),
req_id,
};
info = srv_queue.pop_front().unwrap();
assert_eq!(info, cmp_info);
cmp_info = TmInfo {
common: CommonTmInfo {
subservice: 5,
apid: TEST_APID,
msg_counter: 0,
dest_id: 0,
time_stamp: EMPTY_STAMP,
},
additional_data: Some([1].to_vec()),
req_id,
};
info = srv_queue.pop_front().unwrap();
assert_eq!(info, cmp_info);
}
#[test]
fn test_steps_success() {
let (mut b, tok) = base_init(false);
let mut sender = TestSender::default();
let accepted_token = b
.rep()
.acceptance_success(tok, &mut sender, Some(&EMPTY_STAMP))
.expect("Sending acceptance success failed");
let started_token = b
.rep()
.start_success(accepted_token, &mut sender, Some(&[0, 1, 0, 1, 0, 1, 0]))
.expect("Sending start success failed");
b.rep()
.step_success(
&started_token,
&mut sender,
Some(&EMPTY_STAMP),
EcssEnumU8::new(0),
)
.expect("Sending step 0 success failed");
b.vr.step_success(
&started_token,
&mut sender,
Some(&EMPTY_STAMP),
EcssEnumU8::new(1),
)
.expect("Sending step 1 success failed");
assert_eq!(sender.service_queue.borrow().len(), 4);
step_success_check(&mut sender, tok.req_id);
}
#[test]
fn test_steps_success_with_helper() {
let (mut b, tok) = base_with_helper_init();
let accepted_token = b
.helper
.acceptance_success(tok, Some(&EMPTY_STAMP))
.expect("Sending acceptance success failed");
let started_token = b
.helper
.start_success(accepted_token, Some(&[0, 1, 0, 1, 0, 1, 0]))
.expect("Sending start success failed");
b.helper
.step_success(&started_token, Some(&EMPTY_STAMP), EcssEnumU8::new(0))
.expect("Sending step 0 success failed");
b.helper
.step_success(&started_token, Some(&EMPTY_STAMP), EcssEnumU8::new(1))
.expect("Sending step 1 success failed");
let sender: &mut TestSender = b.helper.sender.downcast_mut().unwrap();
assert_eq!(sender.service_queue.borrow().len(), 4);
step_success_check(sender, tok.req_id);
}
fn check_step_failure(sender: &mut TestSender, req_id: RequestId, fail_data_raw: [u8; 4]) {
assert_eq!(sender.service_queue.borrow().len(), 4);
let mut cmp_info = TmInfo {
common: CommonTmInfo {
subservice: 1,
apid: TEST_APID,
msg_counter: 0,
dest_id: 0,
time_stamp: EMPTY_STAMP,
},
additional_data: None,
req_id,
};
let mut info = sender.service_queue.borrow_mut().pop_front().unwrap();
assert_eq!(info, cmp_info);
cmp_info = TmInfo {
common: CommonTmInfo {
subservice: 3,
apid: TEST_APID,
msg_counter: 0,
dest_id: 0,
time_stamp: [0, 1, 0, 1, 0, 1, 0],
},
additional_data: None,
req_id,
};
info = sender.service_queue.borrow_mut().pop_front().unwrap();
assert_eq!(info, cmp_info);
cmp_info = TmInfo {
common: CommonTmInfo {
subservice: 5,
apid: TEST_APID,
msg_counter: 0,
dest_id: 0,
time_stamp: EMPTY_STAMP,
},
additional_data: Some([0].to_vec()),
req_id,
};
info = sender.service_queue.get_mut().pop_front().unwrap();
assert_eq!(info, cmp_info);
cmp_info = TmInfo {
common: CommonTmInfo {
subservice: 6,
apid: TEST_APID,
msg_counter: 0,
dest_id: 0,
time_stamp: EMPTY_STAMP,
},
additional_data: Some(
[
[1].as_slice(),
&[0, 0, 0x10, 0x20],
fail_data_raw.as_slice(),
]
.concat()
.to_vec(),
),
req_id,
};
info = sender.service_queue.get_mut().pop_front().unwrap();
assert_eq!(info, cmp_info);
}
#[test]
fn test_step_failure() {
let (b, tok) = base_init(false);
let mut sender = TestSender::default();
let req_id = tok.req_id;
let fail_code = EcssEnumU32::new(0x1020);
let fail_data: f32 = -22.3232;
let mut fail_data_raw = [0; 4];
fail_data_raw.copy_from_slice(fail_data.to_be_bytes().as_slice());
let fail_step = EcssEnumU8::new(1);
let fail_params = FailParamsWithStep::new(
Some(&EMPTY_STAMP),
&fail_step,
&fail_code,
Some(fail_data_raw.as_slice()),
);
let accepted_token =
b.vr.acceptance_success(tok, &mut sender, Some(&EMPTY_STAMP))
.expect("Sending acceptance success failed");
let started_token =
b.vr.start_success(accepted_token, &mut sender, Some(&[0, 1, 0, 1, 0, 1, 0]))
.expect("Sending start success failed");
let mut empty =
b.vr.step_success(
&started_token,
&mut sender,
Some(&EMPTY_STAMP),
EcssEnumU8::new(0),
)
.expect("Sending completion success failed");
assert_eq!(empty, ());
empty =
b.vr.step_failure(started_token, &mut sender, fail_params)
.expect("Step failure failed");
assert_eq!(empty, ());
check_step_failure(&mut sender, req_id, fail_data_raw);
}
#[test]
fn test_steps_failure_with_helper() {
let (mut b, tok) = base_with_helper_init();
let req_id = tok.req_id;
let fail_code = EcssEnumU32::new(0x1020);
let fail_data: f32 = -22.3232;
let mut fail_data_raw = [0; 4];
fail_data_raw.copy_from_slice(fail_data.to_be_bytes().as_slice());
let fail_step = EcssEnumU8::new(1);
let fail_params = FailParamsWithStep::new(
Some(&EMPTY_STAMP),
&fail_step,
&fail_code,
Some(fail_data_raw.as_slice()),
);
let accepted_token = b
.helper
.acceptance_success(tok, Some(&EMPTY_STAMP))
.expect("Sending acceptance success failed");
let started_token = b
.helper
.start_success(accepted_token, Some(&[0, 1, 0, 1, 0, 1, 0]))
.expect("Sending start success failed");
let mut empty = b
.helper
.step_success(&started_token, Some(&EMPTY_STAMP), EcssEnumU8::new(0))
.expect("Sending completion success failed");
assert_eq!(empty, ());
empty = b
.helper
.step_failure(started_token, fail_params)
.expect("Step failure failed");
assert_eq!(empty, ());
let sender: &mut TestSender = b.helper.sender.downcast_mut().unwrap();
check_step_failure(sender, req_id, fail_data_raw);
}
fn completion_fail_check(sender: &mut TestSender, req_id: RequestId) {
assert_eq!(sender.service_queue.borrow().len(), 3);
let mut cmp_info = TmInfo {
common: CommonTmInfo {
subservice: 1,
apid: TEST_APID,
msg_counter: 0,
dest_id: 0,
time_stamp: EMPTY_STAMP,
},
additional_data: None,
req_id,
};
let mut info = sender.service_queue.get_mut().pop_front().unwrap();
assert_eq!(info, cmp_info);
cmp_info = TmInfo {
common: CommonTmInfo {
subservice: 3,
apid: TEST_APID,
msg_counter: 0,
dest_id: 0,
time_stamp: [0, 1, 0, 1, 0, 1, 0],
},
additional_data: None,
req_id,
};
info = sender.service_queue.get_mut().pop_front().unwrap();
assert_eq!(info, cmp_info);
cmp_info = TmInfo {
common: CommonTmInfo {
subservice: 8,
apid: TEST_APID,
msg_counter: 0,
dest_id: 0,
time_stamp: EMPTY_STAMP,
},
additional_data: Some([0, 0, 0x10, 0x20].to_vec()),
req_id,
};
info = sender.service_queue.get_mut().pop_front().unwrap();
assert_eq!(info, cmp_info);
}
#[test]
fn test_completion_failure() {
let (b, tok) = base_init(false);
let mut sender = TestSender::default();
let req_id = tok.req_id;
let fail_code = EcssEnumU32::new(0x1020);
let fail_params = FailParams::new(Some(&EMPTY_STAMP), &fail_code, None);
let accepted_token =
b.vr.acceptance_success(tok, &mut sender, Some(&EMPTY_STAMP))
.expect("Sending acceptance success failed");
let started_token =
b.vr.start_success(accepted_token, &mut sender, Some(&[0, 1, 0, 1, 0, 1, 0]))
.expect("Sending start success failed");
let empty =
b.vr.completion_failure(started_token, &mut sender, fail_params)
.expect("Completion failure");
assert_eq!(empty, ());
completion_fail_check(&mut sender, req_id);
}
#[test]
fn test_completion_failure_with_helper() {
let (mut b, tok) = base_with_helper_init();
let req_id = tok.req_id;
let fail_code = EcssEnumU32::new(0x1020);
let fail_params = FailParams::new(Some(&EMPTY_STAMP), &fail_code, None);
let accepted_token = b
.helper
.acceptance_success(tok, Some(&EMPTY_STAMP))
.expect("Sending acceptance success failed");
let started_token = b
.helper
.start_success(accepted_token, Some(&[0, 1, 0, 1, 0, 1, 0]))
.expect("Sending start success failed");
let empty = b
.helper
.completion_failure(started_token, fail_params)
.expect("Completion failure");
assert_eq!(empty, ());
let sender: &mut TestSender = b.helper.sender.downcast_mut().unwrap();
completion_fail_check(sender, req_id);
}
fn completion_success_check(sender: &mut TestSender, req_id: RequestId) {
assert_eq!(sender.service_queue.borrow().len(), 3);
let cmp_info = TmInfo {
common: CommonTmInfo {
subservice: 1,
apid: TEST_APID,
msg_counter: 0,
dest_id: 0,
time_stamp: EMPTY_STAMP,
},
additional_data: None,
req_id,
};
let mut info = sender.service_queue.borrow_mut().pop_front().unwrap();
assert_eq!(info, cmp_info);
let cmp_info = TmInfo {
common: CommonTmInfo {
subservice: 3,
apid: TEST_APID,
msg_counter: 0,
dest_id: 0,
time_stamp: [0, 1, 0, 1, 0, 1, 0],
},
additional_data: None,
req_id,
};
info = sender.service_queue.borrow_mut().pop_front().unwrap();
assert_eq!(info, cmp_info);
let cmp_info = TmInfo {
common: CommonTmInfo {
subservice: 7,
apid: TEST_APID,
msg_counter: 0,
dest_id: 0,
time_stamp: EMPTY_STAMP,
},
additional_data: None,
req_id,
};
info = sender.service_queue.borrow_mut().pop_front().unwrap();
assert_eq!(info, cmp_info);
}
#[test]
fn test_complete_success_sequence() {
let (b, tok) = base_init(false);
let mut sender = TestSender::default();
let accepted_token =
b.vr.acceptance_success(tok, &mut sender, Some(&EMPTY_STAMP))
.expect("Sending acceptance success failed");
let started_token =
b.vr.start_success(accepted_token, &mut sender, Some(&[0, 1, 0, 1, 0, 1, 0]))
.expect("Sending start success failed");
b.vr.completion_success(started_token, &mut sender, Some(&EMPTY_STAMP))
.expect("Sending completion success failed");
completion_success_check(&mut sender, tok.req_id);
}
#[test]
fn test_complete_success_sequence_with_helper() {
let (mut b, tok) = base_with_helper_init();
let accepted_token = b
.helper
.acceptance_success(tok, Some(&EMPTY_STAMP))
.expect("Sending acceptance success failed");
let started_token = b
.helper
.start_success(accepted_token, Some(&[0, 1, 0, 1, 0, 1, 0]))
.expect("Sending start success failed");
b.helper
.completion_success(started_token, Some(&EMPTY_STAMP))
.expect("Sending completion success failed");
let sender: &mut TestSender = b.helper.sender.downcast_mut().unwrap();
completion_success_check(sender, tok.req_id);
}
#[test]
// TODO: maybe a bit more extensive testing, all I have time for right now
fn test_seq_count_increment() {
let pool_cfg = StaticPoolConfig::new(vec![(10, 32), (10, 64), (10, 128), (10, 1024)]);
let tm_pool = StaticMemoryPool::new(pool_cfg.clone());
let shared_tm_store = SharedTmPool::new(tm_pool);
let shared_tm_pool = shared_tm_store.clone_backing_pool();
let (verif_tx, verif_rx) = mpsc::channel();
let sender =
MpscTmInSharedPoolSender::new(0, "Verification Sender", shared_tm_store, verif_tx);
let cfg = VerificationReporterCfg::new(TEST_APID, 1, 2, 8).unwrap();
let mut reporter = VerificationReporterWithSender::new(&cfg, Box::new(sender));
let mut sph = SpHeader::tc_unseg(TEST_APID, 0, 0).unwrap();
let tc_header = PusTcSecondaryHeader::new_simple(17, 1);
let pus_tc_0 = PusTcCreator::new_no_app_data(&mut sph, tc_header, true);
let init_token = reporter.add_tc(&pus_tc_0);
// Complete success sequence for a telecommand
let accepted_token = reporter
.acceptance_success(init_token, Some(&EMPTY_STAMP))
.unwrap();
let started_token = reporter
.start_success(accepted_token, Some(&EMPTY_STAMP))
.unwrap();
reporter
.completion_success(started_token, Some(&EMPTY_STAMP))
.unwrap();
// Verify it arrives correctly on receiver end
let mut tm_buf: [u8; 1024] = [0; 1024];
let mut packet_idx = 0;
while packet_idx < 3 {
let addr = verif_rx.recv_timeout(Duration::from_millis(10)).unwrap();
let tm_len;
{
let mut rg = shared_tm_pool.write().expect("Error locking shared pool");
let store_guard = rg.read_with_guard(addr);
let slice = store_guard.read().expect("Error reading TM slice");
tm_len = slice.len();
tm_buf[0..tm_len].copy_from_slice(slice);
}
let (pus_tm, _) =
PusTmReader::new(&tm_buf[0..tm_len], 7).expect("Error reading verification TM");
if packet_idx == 0 {
assert_eq!(pus_tm.subservice(), 1);
assert_eq!(pus_tm.sp_header.seq_count(), 0);
} else if packet_idx == 1 {
assert_eq!(pus_tm.subservice(), 3);
assert_eq!(pus_tm.sp_header.seq_count(), 0);
} else if packet_idx == 2 {
assert_eq!(pus_tm.subservice(), 7);
assert_eq!(pus_tm.sp_header.seq_count(), 0);
}
packet_idx += 1;
}
}
}
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