sat-rs/satrs-example/src/tmtc.rs
2023-07-06 00:49:18 +02:00

257 lines
7.4 KiB
Rust

use log::info;
use satrs_core::hal::host::udp_server::{ReceiveResult, UdpTcServer};
use std::error::Error;
use std::fmt::{Display, Formatter};
use std::net::SocketAddr;
use std::sync::mpsc::{Receiver, SendError, Sender, TryRecvError};
use std::thread;
use std::time::Duration;
use crate::ccsds::CcsdsReceiver;
use crate::pus::{PusReceiver, PusTcMpscRouter};
use satrs_core::pool::{SharedPool, StoreAddr, StoreError};
use satrs_core::pus::verification::StdVerifReporterWithSender;
use satrs_core::spacepackets::ecss::{PusPacket, SerializablePusPacket};
use satrs_core::spacepackets::tc::PusTc;
use satrs_core::spacepackets::SpHeader;
use satrs_core::tmtc::tm_helper::SharedTmStore;
use satrs_core::tmtc::{CcsdsDistributor, CcsdsError, ReceivesCcsdsTc, ReceivesEcssPusTc};
pub const PUS_APID: u16 = 0x02;
pub struct TmArgs {
pub tm_store: SharedTmStore,
pub tm_sink_sender: Sender<StoreAddr>,
pub tm_server_rx: Receiver<StoreAddr>,
}
pub struct TcArgs {
pub tc_source: PusTcSource,
pub tc_receiver: Receiver<StoreAddr>,
}
impl TcArgs {
#[allow(dead_code)]
fn split(self) -> (PusTcSource, Receiver<StoreAddr>) {
(self.tc_source, self.tc_receiver)
}
}
#[derive(Debug, Clone, PartialEq, Eq)]
pub enum MpscStoreAndSendError {
StoreError(StoreError),
SendError(SendError<StoreAddr>),
}
impl Display for MpscStoreAndSendError {
fn fmt(&self, f: &mut Formatter<'_>) -> std::fmt::Result {
match self {
MpscStoreAndSendError::StoreError(s) => {
write!(f, "store error {s}")
}
MpscStoreAndSendError::SendError(s) => {
write!(f, "send error {s}")
}
}
}
}
impl Error for MpscStoreAndSendError {
fn source(&self) -> Option<&(dyn Error + 'static)> {
match self {
MpscStoreAndSendError::StoreError(s) => Some(s),
MpscStoreAndSendError::SendError(s) => Some(s),
}
}
}
impl From<StoreError> for MpscStoreAndSendError {
fn from(value: StoreError) -> Self {
Self::StoreError(value)
}
}
impl From<SendError<StoreAddr>> for MpscStoreAndSendError {
fn from(value: SendError<StoreAddr>) -> Self {
Self::SendError(value)
}
}
#[derive(Clone)]
pub struct TcStore {
pub pool: SharedPool,
}
impl TcStore {
pub fn add_pus_tc(&mut self, pus_tc: &PusTc) -> Result<StoreAddr, StoreError> {
let mut pg = self.pool.write().expect("error locking TC store");
let (addr, buf) = pg.free_element(pus_tc.len_packed())?;
pus_tc
.write_to_bytes(buf)
.expect("writing PUS TC to store failed");
Ok(addr)
}
}
pub struct TmFunnel {
pub tm_funnel_rx: Receiver<StoreAddr>,
pub tm_server_tx: Sender<StoreAddr>,
}
pub struct UdpTmtcServer {
udp_tc_server: UdpTcServer<CcsdsError<MpscStoreAndSendError>>,
tm_rx: Receiver<StoreAddr>,
tm_store: SharedPool,
}
#[derive(Clone)]
pub struct PusTcSource {
pub tc_source: Sender<StoreAddr>,
pub tc_store: TcStore,
}
impl ReceivesEcssPusTc for PusTcSource {
type Error = MpscStoreAndSendError;
fn pass_pus_tc(&mut self, _: &SpHeader, pus_tc: &PusTc) -> Result<(), Self::Error> {
let addr = self.tc_store.add_pus_tc(pus_tc)?;
self.tc_source.send(addr)?;
Ok(())
}
}
impl ReceivesCcsdsTc for PusTcSource {
type Error = MpscStoreAndSendError;
fn pass_ccsds(&mut self, _: &SpHeader, tc_raw: &[u8]) -> Result<(), Self::Error> {
let mut pool = self.tc_store.pool.write().expect("locking pool failed");
let addr = pool.add(tc_raw)?;
drop(pool);
self.tc_source.send(addr)?;
Ok(())
}
}
pub fn core_tmtc_task(
socket_addr: SocketAddr,
mut tc_args: TcArgs,
tm_args: TmArgs,
verif_reporter: StdVerifReporterWithSender,
pus_router: PusTcMpscRouter,
) {
let mut pus_receiver = PusReceiver::new(verif_reporter, pus_router);
let ccsds_receiver = CcsdsReceiver {
tc_source: tc_args.tc_source.clone(),
};
let ccsds_distributor = CcsdsDistributor::new(Box::new(ccsds_receiver));
let udp_tc_server = UdpTcServer::new(socket_addr, 2048, Box::new(ccsds_distributor))
.expect("Creating UDP TMTC server failed");
let mut udp_tmtc_server = UdpTmtcServer {
udp_tc_server,
tm_rx: tm_args.tm_server_rx,
tm_store: tm_args.tm_store.backing_pool(),
};
let mut tc_buf: [u8; 4096] = [0; 4096];
loop {
core_tmtc_loop(
&mut udp_tmtc_server,
&mut tc_args,
&mut tc_buf,
&mut pus_receiver,
);
thread::sleep(Duration::from_millis(400));
}
}
fn core_tmtc_loop(
udp_tmtc_server: &mut UdpTmtcServer,
tc_args: &mut TcArgs,
tc_buf: &mut [u8],
pus_receiver: &mut PusReceiver,
) {
while poll_tc_server(udp_tmtc_server) {}
match tc_args.tc_receiver.try_recv() {
Ok(addr) => {
let pool = tc_args
.tc_source
.tc_store
.pool
.read()
.expect("locking tc pool failed");
let data = pool.read(&addr).expect("reading pool failed");
tc_buf[0..data.len()].copy_from_slice(data);
drop(pool);
match PusTc::from_bytes(tc_buf) {
Ok((pus_tc, _)) => {
pus_receiver
.handle_tc_packet(addr, pus_tc.service(), &pus_tc)
.ok();
}
Err(e) => {
println!("error creating PUS TC from raw data: {e}");
println!("raw data: {tc_buf:x?}");
}
}
}
Err(e) => {
if let TryRecvError::Disconnected = e {
println!("tmtc thread: sender disconnected")
}
}
}
if let Some(recv_addr) = udp_tmtc_server.udp_tc_server.last_sender() {
core_tm_handling(udp_tmtc_server, &recv_addr);
}
}
fn poll_tc_server(udp_tmtc_server: &mut UdpTmtcServer) -> bool {
match udp_tmtc_server.udp_tc_server.try_recv_tc() {
Ok(_) => true,
Err(e) => match e {
ReceiveResult::ReceiverError(e) => match e {
CcsdsError::ByteConversionError(e) => {
println!("Got packet error: {e:?}");
true
}
CcsdsError::CustomError(_) => {
println!("Unknown receiver error");
true
}
},
ReceiveResult::IoError(e) => {
println!("IO error {e}");
false
}
ReceiveResult::NothingReceived => false,
},
}
}
fn core_tm_handling(udp_tmtc_server: &mut UdpTmtcServer, recv_addr: &SocketAddr) {
while let Ok(addr) = udp_tmtc_server.tm_rx.try_recv() {
let mut store_lock = udp_tmtc_server
.tm_store
.write()
.expect("locking TM store failed");
let pg = store_lock.read_with_guard(addr);
let buf = pg.read().expect("error reading TM pool data");
if buf.len() > 9 {
let service = buf[7];
let subservice = buf[8];
info!("Sending PUS TM[{service},{subservice}]")
} else {
info!("Sending PUS TM");
}
udp_tmtc_server
.udp_tc_server
.socket
.send_to(buf, recv_addr)
.expect("sending TM failed");
}
}