583 lines
23 KiB
Rust
583 lines
23 KiB
Rust
use crate::requests::{Request, RequestWithToken};
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use crate::tmtc::{PusTcSource, TmStore};
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use satrs_core::events::EventU32;
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use satrs_core::hk::{CollectionIntervalFactor, HkRequest};
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use satrs_core::mode::{ModeAndSubmode, ModeCommand, ModeRequest};
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use satrs_core::params::Params;
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use satrs_core::pool::StoreAddr;
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use satrs_core::pus::event_man::{EventRequest, EventRequestWithToken};
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use satrs_core::pus::hk;
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use satrs_core::pus::mode;
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use satrs_core::pus::mode::Subservice;
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use satrs_core::pus::scheduling::PusScheduler;
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use satrs_core::pus::verification::{
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pus_11_generic_tc_check, FailParams, StdVerifReporterWithSender, TcStateAccepted,
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VerificationToken,
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};
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use satrs_core::pus::{event, GenericTcCheckError};
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use satrs_core::res_code::ResultU16;
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use satrs_core::spacepackets::ecss::{scheduling, PusServiceId};
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use satrs_core::tmtc::tm_helper::PusTmWithCdsShortHelper;
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use satrs_core::tmtc::{AddressableId, PusServiceProvider, TargetId};
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use satrs_core::{
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spacepackets::ecss::PusPacket, spacepackets::tc::PusTc, spacepackets::time::cds::TimeProvider,
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spacepackets::time::TimeWriter, spacepackets::SpHeader,
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};
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use satrs_example::{hk_err, tmtc_err, CustomPusServiceId, TEST_EVENT};
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use std::cell::RefCell;
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use std::collections::HashMap;
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use std::convert::TryFrom;
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use std::rc::Rc;
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use std::sync::mpsc::Sender;
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pub struct PusReceiver {
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pub tm_helper: PusTmWithCdsShortHelper,
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pub tm_args: PusTmArgs,
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pub tc_args: PusTcArgs,
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stamp_helper: TimeStampHelper,
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}
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pub struct PusTmArgs {
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/// All telemetry is sent with this sender handle.
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pub tm_tx: Sender<StoreAddr>,
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/// All TM to be sent is stored here
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pub tm_store: TmStore,
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/// All verification reporting is done with this reporter.
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pub verif_reporter: StdVerifReporterWithSender,
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}
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impl PusTmArgs {
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fn vr(&mut self) -> &mut StdVerifReporterWithSender {
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&mut self.verif_reporter
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}
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}
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pub struct PusTcArgs {
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pub event_request_tx: Sender<EventRequestWithToken>,
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/// Request routing helper. Maps targeted request to their recipient.
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pub request_map: HashMap<TargetId, Sender<RequestWithToken>>,
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/// Required for scheduling of telecommands.
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pub tc_source: PusTcSource,
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pub event_sender: Sender<(EventU32, Option<Params>)>,
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pub scheduler: Rc<RefCell<PusScheduler>>,
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}
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struct TimeStampHelper {
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stamper: TimeProvider,
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time_stamp: [u8; 7],
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}
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impl TimeStampHelper {
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pub fn new() -> Self {
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Self {
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stamper: TimeProvider::new_with_u16_days(0, 0),
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time_stamp: [0; 7],
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}
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}
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pub fn stamp(&self) -> &[u8] {
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&self.time_stamp
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}
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pub fn update_from_now(&mut self) {
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self.stamper
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.update_from_now()
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.expect("Updating timestamp failed");
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self.stamper
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.write_to_bytes(&mut self.time_stamp)
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.expect("Writing timestamp failed");
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}
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}
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impl PusReceiver {
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pub fn new(apid: u16, tm_arguments: PusTmArgs, tc_arguments: PusTcArgs) -> Self {
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Self {
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tm_helper: PusTmWithCdsShortHelper::new(apid),
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tm_args: tm_arguments,
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tc_args: tc_arguments,
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stamp_helper: TimeStampHelper::new(),
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}
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}
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}
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impl PusServiceProvider for PusReceiver {
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type Error = ();
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fn handle_pus_tc_packet(
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&mut self,
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service: u8,
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_header: &SpHeader,
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pus_tc: &PusTc,
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) -> Result<(), Self::Error> {
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let init_token = self.tm_args.verif_reporter.add_tc(pus_tc);
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self.stamp_helper.update_from_now();
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let accepted_token = self
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.tm_args
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.vr()
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.acceptance_success(init_token, Some(self.stamp_helper.stamp()))
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.expect("Acceptance success failure");
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let service = PusServiceId::try_from(service);
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match service {
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Ok(standard_service) => match standard_service {
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PusServiceId::Test => self.handle_test_service(pus_tc, accepted_token),
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PusServiceId::Housekeeping => self.handle_hk_request(pus_tc, accepted_token),
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PusServiceId::Event => self.handle_event_request(pus_tc, accepted_token),
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PusServiceId::Scheduling => self.handle_scheduled_tc(pus_tc, accepted_token),
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_ => self
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.tm_args
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.verif_reporter
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.start_failure(
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accepted_token,
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FailParams::new(
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Some(self.stamp_helper.stamp()),
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&tmtc_err::PUS_SERVICE_NOT_IMPLEMENTED,
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Some(&[standard_service as u8]),
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),
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)
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.expect("Start failure verification failed"),
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},
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Err(e) => {
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if let Ok(custom_service) = CustomPusServiceId::try_from(e.number) {
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match custom_service {
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CustomPusServiceId::Mode => {
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self.handle_mode_service(pus_tc, accepted_token)
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}
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CustomPusServiceId::Health => {}
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}
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} else {
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self.tm_args
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.verif_reporter
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.start_failure(
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accepted_token,
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FailParams::new(
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Some(self.stamp_helper.stamp()),
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&tmtc_err::INVALID_PUS_SUBSERVICE,
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Some(&[e.number]),
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),
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)
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.expect("Start failure verification failed")
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}
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}
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}
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Ok(())
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}
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}
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impl PusReceiver {
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fn handle_test_service(&mut self, pus_tc: &PusTc, token: VerificationToken<TcStateAccepted>) {
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match PusPacket::subservice(pus_tc) {
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1 => {
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println!("Received PUS ping command TC[17,1]");
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println!("Sending ping reply PUS TM[17,2]");
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let start_token = self
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.tm_args
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.verif_reporter
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.start_success(token, Some(self.stamp_helper.stamp()))
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.expect("Error sending start success");
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let ping_reply = self.tm_helper.create_pus_tm_timestamp_now(17, 2, None);
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let addr = self.tm_args.tm_store.add_pus_tm(&ping_reply);
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self.tm_args
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.tm_tx
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.send(addr)
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.expect("Sending TM to TM funnel failed");
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self.tm_args
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.verif_reporter
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.completion_success(start_token, Some(self.stamp_helper.stamp()))
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.expect("Error sending completion success");
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}
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128 => {
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self.tc_args.event_sender
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.send((TEST_EVENT.into(), None))
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.expect("Sending test event failed");
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let start_token = self
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.tm_args
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.verif_reporter
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.start_success(token, Some(self.stamp_helper.stamp()))
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.expect("Error sending start success");
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self.tm_args
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.verif_reporter
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.completion_success(start_token, Some(self.stamp_helper.stamp()))
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.expect("Error sending completion success");
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}
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_ => {
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self.tm_args
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.verif_reporter
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.start_failure(
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token,
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FailParams::new(
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Some(self.stamp_helper.stamp()),
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&tmtc_err::INVALID_PUS_SUBSERVICE,
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None,
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),
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)
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.expect("Sending start failure TM failed");
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}
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}
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}
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fn handle_hk_request(&mut self, pus_tc: &PusTc, token: VerificationToken<TcStateAccepted>) {
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if pus_tc.user_data().is_none() {
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self.tm_args
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.verif_reporter
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.start_failure(
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token,
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FailParams::new(
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Some(self.stamp_helper.stamp()),
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&tmtc_err::NOT_ENOUGH_APP_DATA,
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None,
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),
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)
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.expect("Sending start failure TM failed");
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return;
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}
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let user_data = pus_tc.user_data().unwrap();
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if user_data.len() < 8 {
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let err = if user_data.len() < 4 {
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&hk_err::TARGET_ID_MISSING
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} else {
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&hk_err::UNIQUE_ID_MISSING
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};
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self.tm_args
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.verif_reporter
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.start_failure(
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token,
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FailParams::new(Some(self.stamp_helper.stamp()), err, None),
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)
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.expect("Sending start failure TM failed");
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return;
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}
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let addressable_id = AddressableId::from_raw_be(user_data).unwrap();
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if !self.tc_args.request_map.contains_key(&addressable_id.target_id) {
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self.tm_args
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.verif_reporter
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.start_failure(
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token,
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FailParams::new(
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Some(self.stamp_helper.stamp()),
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&hk_err::UNKNOWN_TARGET_ID,
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None,
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),
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)
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.expect("Sending start failure TM failed");
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return;
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}
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let send_request = |request: HkRequest| {
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let sender = self.tc_args.request_map.get(&addressable_id.target_id).unwrap();
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sender
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.send(RequestWithToken(Request::HkRequest(request), token))
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.unwrap_or_else(|_| panic!("Sending HK request {request:?} failed"));
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};
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if PusPacket::subservice(pus_tc) == hk::Subservice::TcEnableHkGeneration as u8 {
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send_request(HkRequest::Enable(addressable_id));
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} else if PusPacket::subservice(pus_tc) == hk::Subservice::TcDisableHkGeneration as u8 {
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send_request(HkRequest::Disable(addressable_id));
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} else if PusPacket::subservice(pus_tc) == hk::Subservice::TcGenerateOneShotHk as u8 {
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send_request(HkRequest::OneShot(addressable_id));
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} else if PusPacket::subservice(pus_tc)
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== hk::Subservice::TcModifyHkCollectionInterval as u8
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{
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if user_data.len() < 12 {
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self.tm_args
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.verif_reporter
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.start_failure(
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token,
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FailParams::new(
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Some(self.stamp_helper.stamp()),
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&hk_err::COLLECTION_INTERVAL_MISSING,
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None,
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),
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)
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.expect("Sending start failure TM failed");
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return;
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}
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send_request(HkRequest::ModifyCollectionInterval(
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addressable_id,
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CollectionIntervalFactor::from_be_bytes(user_data[8..12].try_into().unwrap()),
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));
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}
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}
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fn handle_event_request(&mut self, pus_tc: &PusTc, token: VerificationToken<TcStateAccepted>) {
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let send_start_failure = |vr: &mut StdVerifReporterWithSender,
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timestamp: &[u8],
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failure_code: &ResultU16,
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failure_data: Option<&[u8]>| {
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vr.start_failure(
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token,
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FailParams::new(Some(timestamp), failure_code, failure_data),
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)
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.expect("Sending start failure TM failed");
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};
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let send_start_acceptance = |vr: &mut StdVerifReporterWithSender, timestamp: &[u8]| {
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vr.start_success(token, Some(timestamp))
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.expect("Sending start success TM failed")
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};
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if pus_tc.user_data().is_none() {
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send_start_failure(
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&mut self.tm_args.verif_reporter,
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self.stamp_helper.stamp(),
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&tmtc_err::NOT_ENOUGH_APP_DATA,
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None,
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);
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return;
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}
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let app_data = pus_tc.user_data().unwrap();
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if app_data.len() < 4 {
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send_start_failure(
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&mut self.tm_args.verif_reporter,
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self.stamp_helper.stamp(),
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&tmtc_err::NOT_ENOUGH_APP_DATA,
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None,
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);
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return;
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}
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let event_id = EventU32::from(u32::from_be_bytes(app_data.try_into().unwrap()));
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match PusPacket::subservice(pus_tc).try_into() {
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Ok(event::Subservice::TcEnableEventGeneration) => {
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let start_token = send_start_acceptance(
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&mut self.tm_args.verif_reporter,
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self.stamp_helper.stamp(),
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);
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self.tc_args.event_request_tx
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.send(EventRequestWithToken {
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request: EventRequest::Enable(event_id),
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token: start_token,
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})
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.expect("Sending event request failed");
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}
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Ok(event::Subservice::TcDisableEventGeneration) => {
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let start_token = send_start_acceptance(
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&mut self.tm_args.verif_reporter,
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self.stamp_helper.stamp(),
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);
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self.tc_args.event_request_tx
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.send(EventRequestWithToken {
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request: EventRequest::Disable(event_id),
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token: start_token,
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})
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.expect("Sending event request failed");
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}
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_ => {
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send_start_failure(
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&mut self.tm_args.verif_reporter,
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self.stamp_helper.stamp(),
|
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&tmtc_err::INVALID_PUS_SUBSERVICE,
|
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None,
|
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);
|
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}
|
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}
|
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}
|
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|
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fn handle_scheduled_tc(&mut self, pus_tc: &PusTc, token: VerificationToken<TcStateAccepted>) {
|
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let subservice = match pus_11_generic_tc_check(pus_tc) {
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Ok(subservice) => subservice,
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Err(e) => match e {
|
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GenericTcCheckError::NotEnoughAppData => {
|
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self.tm_args
|
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.verif_reporter
|
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.start_failure(
|
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token,
|
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FailParams::new(
|
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Some(self.stamp_helper.stamp()),
|
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&tmtc_err::NOT_ENOUGH_APP_DATA,
|
|
None,
|
|
),
|
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)
|
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.expect("could not sent verification error");
|
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return;
|
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}
|
|
GenericTcCheckError::InvalidSubservice => {
|
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self.tm_args
|
|
.verif_reporter
|
|
.start_failure(
|
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token,
|
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FailParams::new(
|
|
Some(self.stamp_helper.stamp()),
|
|
&tmtc_err::INVALID_PUS_SUBSERVICE,
|
|
None,
|
|
),
|
|
)
|
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.expect("could not sent verification error");
|
|
return;
|
|
}
|
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},
|
|
};
|
|
match subservice {
|
|
scheduling::Subservice::TcEnableScheduling => {
|
|
let start_token = self
|
|
.tm_args
|
|
.verif_reporter
|
|
.start_success(token, Some(self.stamp_helper.stamp()))
|
|
.expect("Error sending start success");
|
|
|
|
let mut scheduler = self.tc_args.scheduler.borrow_mut();
|
|
scheduler.enable();
|
|
if scheduler.is_enabled() {
|
|
self.tm_args
|
|
.verif_reporter
|
|
.completion_success(start_token, Some(self.stamp_helper.stamp()))
|
|
.expect("Error sending completion success");
|
|
} else {
|
|
panic!("Failed to enable scheduler");
|
|
}
|
|
}
|
|
scheduling::Subservice::TcDisableScheduling => {
|
|
let start_token = self
|
|
.tm_args
|
|
.verif_reporter
|
|
.start_success(token, Some(self.stamp_helper.stamp()))
|
|
.expect("Error sending start success");
|
|
|
|
let mut scheduler = self.tc_args.scheduler.borrow_mut();
|
|
scheduler.disable();
|
|
if !scheduler.is_enabled() {
|
|
self.tm_args
|
|
.verif_reporter
|
|
.completion_success(start_token, Some(self.stamp_helper.stamp()))
|
|
.expect("Error sending completion success");
|
|
} else {
|
|
panic!("Failed to disable scheduler");
|
|
}
|
|
}
|
|
scheduling::Subservice::TcResetScheduling => {
|
|
let start_token = self
|
|
.tm_args
|
|
.verif_reporter
|
|
.start_success(token, Some(self.stamp_helper.stamp()))
|
|
.expect("Error sending start success");
|
|
|
|
let mut pool = self
|
|
.tc_args
|
|
.tc_source
|
|
.tc_store
|
|
.pool
|
|
.write()
|
|
.expect("Locking pool failed");
|
|
|
|
let mut scheduler = self.tc_args.scheduler.borrow_mut();
|
|
scheduler
|
|
.reset(pool.as_mut())
|
|
.expect("Error resetting TC Pool");
|
|
drop(scheduler);
|
|
|
|
self.tm_args
|
|
.verif_reporter
|
|
.completion_success(start_token, Some(self.stamp_helper.stamp()))
|
|
.expect("Error sending completion success");
|
|
}
|
|
scheduling::Subservice::TcInsertActivity => {
|
|
let start_token = self
|
|
.tm_args
|
|
.verif_reporter
|
|
.start_success(token, Some(self.stamp_helper.stamp()))
|
|
.expect("error sending start success");
|
|
|
|
let mut pool = self
|
|
.tc_args
|
|
.tc_source
|
|
.tc_store
|
|
.pool
|
|
.write()
|
|
.expect("locking pool failed");
|
|
let mut scheduler = self.tc_args.scheduler.borrow_mut();
|
|
scheduler
|
|
.insert_wrapped_tc::<TimeProvider>(pus_tc, pool.as_mut())
|
|
.expect("insertion of activity into pool failed");
|
|
drop(scheduler);
|
|
|
|
self.tm_args
|
|
.verif_reporter
|
|
.completion_success(start_token, Some(self.stamp_helper.stamp()))
|
|
.expect("sending completion success failed");
|
|
}
|
|
_ => {}
|
|
}
|
|
}
|
|
|
|
fn handle_mode_service(&mut self, pus_tc: &PusTc, token: VerificationToken<TcStateAccepted>) {
|
|
let mut app_data_len = 0;
|
|
let app_data = pus_tc.user_data();
|
|
if app_data.is_some() {
|
|
app_data_len = pus_tc.user_data().unwrap().len();
|
|
}
|
|
if app_data_len < 4 {
|
|
self.tm_args
|
|
.verif_reporter
|
|
.start_failure(
|
|
token,
|
|
FailParams::new(
|
|
Some(self.stamp_helper.stamp()),
|
|
&tmtc_err::NOT_ENOUGH_APP_DATA,
|
|
Some(format!("expected {} bytes, found {}", 4, app_data_len).as_bytes()),
|
|
),
|
|
)
|
|
.expect("Sending start failure TM failed");
|
|
}
|
|
let app_data = app_data.unwrap();
|
|
let subservice = mode::Subservice::try_from(PusPacket::subservice(pus_tc));
|
|
if let Ok(subservice) = subservice {
|
|
match subservice {
|
|
Subservice::TcSetMode => {
|
|
let target_id = u32::from_be_bytes(app_data[0..4].try_into().unwrap());
|
|
let min_len = ModeAndSubmode::raw_len() + 4;
|
|
if app_data_len < min_len {
|
|
self.tm_args
|
|
.verif_reporter
|
|
.start_failure(
|
|
token,
|
|
FailParams::new(
|
|
Some(self.stamp_helper.stamp()),
|
|
&tmtc_err::NOT_ENOUGH_APP_DATA,
|
|
Some(
|
|
format!(
|
|
"expected {} bytes, found {}",
|
|
min_len, app_data_len
|
|
)
|
|
.as_bytes(),
|
|
),
|
|
),
|
|
)
|
|
.expect("Sending start failure TM failed");
|
|
}
|
|
// Should never fail after size check
|
|
let mode_submode = ModeAndSubmode::from_be_bytes(
|
|
app_data[4..4 + ModeAndSubmode::raw_len()]
|
|
.try_into()
|
|
.unwrap(),
|
|
)
|
|
.unwrap();
|
|
let mode_request = Request::ModeRequest(ModeRequest::SetMode(
|
|
ModeCommand::new(target_id, mode_submode),
|
|
));
|
|
match self.tc_args.request_map.get(&target_id) {
|
|
None => {}
|
|
Some(sender_to_recipient) => {
|
|
sender_to_recipient
|
|
.send(RequestWithToken(mode_request, token))
|
|
.expect("sending mode request failed");
|
|
}
|
|
}
|
|
}
|
|
Subservice::TcReadMode => {}
|
|
Subservice::TcAnnounceMode => {}
|
|
Subservice::TcAnnounceModeRecursive => {}
|
|
Subservice::TmModeReply => {}
|
|
Subservice::TmCantReachMode => {}
|
|
Subservice::TmWrongModeReply => {}
|
|
}
|
|
} else {
|
|
self.tm_args
|
|
.verif_reporter
|
|
.start_failure(
|
|
token,
|
|
FailParams::new(
|
|
Some(self.stamp_helper.stamp()),
|
|
&tmtc_err::INVALID_PUS_SUBSERVICE,
|
|
Some(&[PusPacket::subservice(pus_tc)]),
|
|
),
|
|
)
|
|
.expect("Sending start failure TM failed");
|
|
}
|
|
}
|
|
}
|