diff --git a/src/lib.rs b/src/lib.rs index cf098d4..dcdb111 100644 --- a/src/lib.rs +++ b/src/lib.rs @@ -81,6 +81,9 @@ impl PacketId { pid.set_apid(apid).then(|| pid) } + /// Set a new Application Process ID (APID). If the passed number is invalid, the APID will + /// not be set and false will be returned. The maximum allowed value for the 11-bit field is + /// 2047 pub fn set_apid(&mut self, apid: u16) -> bool { if apid > num::pow(2, 11) - 1 { return false; @@ -126,6 +129,8 @@ impl PacketSequenceCtrl { ((self.seq_flags as u16) << 14) | self.seq_count } + /// Set a new sequence count. If the passed number is invalid, the sequence count will not be + /// set and false will be returned. The maximum allowed value for the 14-bit field is 16383 pub fn set_seq_count(&mut self, ssc: u16) -> bool { if ssc > num::pow(2, 14) - 1 { return false; @@ -432,7 +437,7 @@ mod tests { use postcard::{from_bytes, to_stdvec}; #[test] - fn test_helpers() { + fn test_seq_flag_helpers() { assert_eq!( SequenceFlags::try_from(0b00).expect("SEQ flag creation failed"), SequenceFlags::ContinuationSegment @@ -450,7 +455,17 @@ mod tests { SequenceFlags::Unsegmented ); assert!(SequenceFlags::try_from(0b100).is_err()); + } + + #[test] + fn test_packet_type_helper() { + assert_eq!(PacketType::try_from(0b00).unwrap(), PacketType::Tm); + assert_eq!(PacketType::try_from(0b01).unwrap(), PacketType::Tc); assert!(PacketType::try_from(0b10).is_err()); + } + + #[test] + fn test_packet_id() { let packet_id = PacketId::new(PacketType::Tm, false, 0x42).expect("Packet ID creation failed"); assert_eq!(packet_id.raw(), 0x0042); @@ -460,11 +475,32 @@ mod tests { PacketType::Tm ); assert_eq!(packet_id_from_raw, packet_id); - - let packet_id_invalid = PacketId::new(PacketType::Tc, true, 0xFFFF); - assert!(packet_id_invalid.is_none()); let packet_id_from_new = PacketId::new(PacketType::Tm, false, 0x42).unwrap(); assert_eq!(packet_id_from_new, packet_id); + } + + #[test] + fn test_invalid_packet_id() { + let packet_id_invalid = PacketId::new(PacketType::Tc, true, 0xFFFF); + assert!(packet_id_invalid.is_none()); + } + + #[test] + fn test_invalid_apid_setter() { + let mut packet_id = + PacketId::new(PacketType::Tm, false, 0x42).expect("Packet ID creation failed"); + assert!(!packet_id.set_apid(0xffff)); + } + + #[test] + fn test_invalid_seq_count() { + let mut psc = PacketSequenceCtrl::new(SequenceFlags::ContinuationSegment, 77) + .expect("PSC creation failed"); + assert!(!psc.set_seq_count(0xffff)); + } + + #[test] + fn test_packet_seq_ctrl() { let mut psc = PacketSequenceCtrl::new(SequenceFlags::ContinuationSegment, 77) .expect("PSC creation failed"); assert_eq!(psc.raw(), 77); diff --git a/src/tc.rs b/src/tc.rs index 0d6531d..05c2b7d 100644 --- a/src/tc.rs +++ b/src/tc.rs @@ -1,6 +1,6 @@ use crate::ecss::{PusError, PusPacket, PusVersion, CRC_CCITT_FALSE}; use crate::ser::SpHeader; -use crate::{CcsdsPacket, PacketError, PacketType, CCSDS_HEADER_LEN}; +use crate::{CcsdsPacket, PacketError, PacketType, SequenceFlags, CCSDS_HEADER_LEN}; use alloc::vec::Vec; use core::mem::size_of; use delegate::delegate; @@ -93,7 +93,7 @@ pub mod zc { } } -#[derive(PartialEq, Copy, Clone, Serialize, Deserialize)] +#[derive(PartialEq, Copy, Clone, Serialize, Deserialize, Debug)] pub struct PusTcDataFieldHeader { pub service: u8, pub subservice: u8, @@ -155,12 +155,15 @@ impl PusTcDataFieldHeader { } } -#[derive(PartialEq, Copy, Clone, Serialize, Deserialize)] +/// This struct models a PUS telecommand and which can also be used. It is the primary data +/// structure to generate the raw byte representation of a PUS telecommand or to +/// deserialize from one from raw bytes. +#[derive(PartialEq, Copy, Clone, Serialize, Deserialize, Debug)] pub struct PusTc<'slice> { pub sph: SpHeader, pub data_field_header: PusTcDataFieldHeader, - /// If this is set to false, a manual call to [update_own_crc16] is necessary for the serialized - /// or cached CRC16 to be valid. + /// If this is set to false, a manual call to [PusTc::calc_own_crc16] is necessary for the + /// serialized or cached CRC16 to be valid. pub calc_crc_on_serialization: bool, #[serde(skip)] raw_data: Option<&'slice [u8]>, @@ -169,8 +172,7 @@ pub struct PusTc<'slice> { } impl<'slice> PusTc<'slice> { - /// Returns a new PusTc structure which models a PUS telecommand and which can also be used - /// to generate the raw byte representation of a PUS telecommand. + /// Generates a new struct instance. /// /// # Arguments /// @@ -179,7 +181,8 @@ impl<'slice> PusTc<'slice> { /// * `pus_params` - Information contained in the data field header, including the service /// and subservice type /// * `set_ccsds_len` - Can be used to automatically update the CCSDS space packet data length - /// field + /// field. If this is not set to true, [PusTc::update_ccsds_data_len] can be called to set + /// the correct value to this field manually /// * `app_data` - Custom application data pub fn new( sph: &mut SpHeader, @@ -197,13 +200,13 @@ impl<'slice> PusTc<'slice> { crc16: None, }; if set_ccsds_len { - pus_tc.set_ccsds_data_len(); + pus_tc.update_ccsds_data_len(); } pus_tc } - /// Simplified version of the [new] function which allows to only specify service and subservice - /// instead of the full PUS TC secondary header + /// Simplified version of the [PusTc::new] function which allows to only specify service and + /// subservice instead of the full PUS TC secondary header pub fn new_simple( sph: &mut SpHeader, service: u8, @@ -227,6 +230,10 @@ impl<'slice> PusTc<'slice> { length } + pub fn set_seq_flags(&mut self, seq_flag: SequenceFlags) { + self.sph.psc.seq_flags = seq_flag; + } + pub fn set_ack_field(&mut self, ack: u8) -> bool { if ack > 0b1111 { return false; @@ -239,16 +246,18 @@ impl<'slice> PusTc<'slice> { self.data_field_header.source_id = source_id; } + /// Forwards the call to [crate::PacketId::set_apid] pub fn set_apid(&mut self, apid: u16) -> bool { self.sph.packet_id.set_apid(apid) } + /// Forwards the call to [crate::PacketSequenceCtrl::set_seq_count] pub fn set_seq_count(&mut self, seq_count: u16) -> bool { self.sph.psc.set_seq_count(seq_count) } /// Calculate the CCSDS space packet data length field and sets it - pub fn set_ccsds_data_len(&mut self) { + pub fn update_ccsds_data_len(&mut self) { self.sph.data_len = self.len_packed() as u16 - size_of::() as u16 - 1; } @@ -288,7 +297,7 @@ impl<'slice> PusTc<'slice> { /// space packet header and the CRC16 field. This function should be called before /// the TC packet is serialized pub fn update_packet_fields(&mut self) { - self.set_ccsds_data_len(); + self.update_ccsds_data_len(); self.calc_own_crc16(); } @@ -339,22 +348,32 @@ impl<'slice> PusTc<'slice> { } pub fn append_to_vec(&self, vec: &mut Vec) -> Result { - if self.crc16.is_none() { - return Err(PusError::CrcCalculationMissing); - } let sph_zc = crate::zc::SpHeader::from(self.sph); let mut appended_len = PUS_TC_MIN_LEN_WITHOUT_APP_DATA; if let Some(app_data) = self.app_data { appended_len += app_data.len(); }; + let start_idx = vec.len(); + let mut curr_idx = vec.len(); vec.extend_from_slice(sph_zc.as_bytes()); + curr_idx += sph_zc.as_bytes().len(); // The PUS version is hardcoded to PUS C let pus_tc_header = zc::PusTcDataFieldHeader::try_from(self.data_field_header).unwrap(); vec.extend_from_slice(pus_tc_header.as_bytes()); + curr_idx += pus_tc_header.as_bytes().len(); if let Some(app_data) = self.app_data { vec.extend_from_slice(app_data); + curr_idx += app_data.len(); } - vec.extend_from_slice(self.crc16.unwrap().to_be_bytes().as_slice()); + let crc16; + if self.calc_crc_on_serialization { + crc16 = Self::calc_crc16(&vec[start_idx..curr_idx]) + } else if self.crc16.is_none() { + return Err(PusError::CrcCalculationMissing); + } else { + crc16 = self.crc16.unwrap(); + } + vec.extend_from_slice(crc16.to_be_bytes().as_slice()); Ok(appended_len) } @@ -455,11 +474,11 @@ impl PusTcSecondaryHeader for PusTc<'_> { } #[cfg(test)] mod tests { - use crate::ecss::PusPacket; + use crate::ecss::{PusError, PusPacket}; use crate::ser::SpHeader; use crate::tc::ACK_ALL; use crate::tc::{PusTc, PusTcDataFieldHeader, PusTcSecondaryHeader}; - use crate::{CcsdsPacket, PacketType}; + use crate::{CcsdsPacket, SequenceFlags}; use alloc::vec::Vec; fn base_ping_tc_full_ctor() -> PusTc<'static> { @@ -467,18 +486,27 @@ mod tests { let tc_header = PusTcDataFieldHeader::new_simple(17, 1); PusTc::new(&mut sph, tc_header, None, true) } + + fn base_ping_tc_simple_ctor() -> PusTc<'static> { + let mut sph = SpHeader::tc(0x02, 0x34, 0).unwrap(); + PusTc::new_simple(&mut sph, 17, 1, None, true) + } + + fn base_ping_tc_simple_ctor_with_app_data(app_data: &'static [u8]) -> PusTc<'static> { + let mut sph = SpHeader::tc(0x02, 0x34, 0).unwrap(); + PusTc::new_simple(&mut sph, 17, 1, Some(app_data), true) + } + #[test] fn test_tc_fields() { - let mut pus_tc = base_ping_tc_full_ctor(); + let pus_tc = base_ping_tc_full_ctor(); assert_eq!(pus_tc.crc16(), None); - pus_tc.update_packet_fields(); - verify_test_tc(&pus_tc); + verify_test_tc(&pus_tc, false, 13); } #[test] fn test_serialization() { - let mut sph = SpHeader::tc(0x02, 0x34, 0).unwrap(); - let pus_tc = PusTc::new_simple(&mut sph, 17, 1, None, true); + let pus_tc = base_ping_tc_simple_ctor(); let mut test_buf: [u8; 32] = [0; 32]; let size = pus_tc .copy_to_buf(test_buf.as_mut_slice()) @@ -487,51 +515,149 @@ mod tests { } #[test] fn test_deserialization() { - let mut sph = SpHeader::tc(0x02, 0x34, 0).unwrap(); - let mut pus_tc = PusTc::new_simple(&mut sph, 17, 1, None, true); + let pus_tc = base_ping_tc_simple_ctor(); let mut test_buf: [u8; 32] = [0; 32]; - pus_tc.update_packet_fields(); let size = pus_tc .copy_to_buf(test_buf.as_mut_slice()) .expect("Error writing TC to buffer"); assert_eq!(size, 13); - let (tc_from_raw, mut size) = PusTc::new_from_raw_slice(&test_buf) + let (tc_from_raw, size) = PusTc::new_from_raw_slice(&test_buf) .expect("Creating PUS TC struct from raw buffer failed"); assert_eq!(size, 13); - verify_test_tc(&tc_from_raw); - verify_test_tc_raw(PacketType::Tm, &test_buf); + verify_test_tc(&tc_from_raw, false, 13); + verify_test_tc_raw(&test_buf); + verify_crc_no_app_data(&test_buf); + } + #[test] + fn test_vec_ser_deser() { + let pus_tc = base_ping_tc_simple_ctor(); let mut test_vec = Vec::new(); - size = pus_tc + let size = pus_tc .append_to_vec(&mut test_vec) .expect("Error writing TC to vector"); assert_eq!(size, 13); - assert_eq!(&test_buf[0..pus_tc.len_packed()], test_vec.as_slice()); - verify_test_tc_raw(PacketType::Tm, &test_vec.as_slice()); + verify_test_tc_raw(&test_vec.as_slice()); + verify_crc_no_app_data(&test_vec.as_slice()); } - fn verify_test_tc(tc: &PusTc) { + #[test] + fn test_incorrect_crc() { + let pus_tc = base_ping_tc_simple_ctor(); + let mut test_buf: [u8; 32] = [0; 32]; + pus_tc + .copy_to_buf(test_buf.as_mut_slice()) + .expect("Error writing TC to buffer"); + test_buf[12] = 0; + let res = PusTc::new_from_raw_slice(&test_buf); + assert!(res.is_err()); + let err = res.unwrap_err(); + assert!(matches!(err, PusError::IncorrectCrc { .. })); + } + + #[test] + fn test_manual_crc_calculation() { + let mut pus_tc = base_ping_tc_simple_ctor(); + pus_tc.calc_crc_on_serialization = false; + let mut test_buf: [u8; 32] = [0; 32]; + pus_tc.calc_own_crc16(); + pus_tc + .copy_to_buf(test_buf.as_mut_slice()) + .expect("Error writing TC to buffer"); + verify_test_tc_raw(&test_buf); + verify_crc_no_app_data(&test_buf); + } + + #[test] + fn test_manual_crc_calculation_no_calc_call() { + let mut pus_tc = base_ping_tc_simple_ctor(); + pus_tc.calc_crc_on_serialization = false; + let mut test_buf: [u8; 32] = [0; 32]; + let res = pus_tc.copy_to_buf(test_buf.as_mut_slice()); + assert!(res.is_err()); + let err = res.unwrap_err(); + assert!(matches!(err, PusError::CrcCalculationMissing { .. })); + } + + #[test] + fn test_with_application_data_vec() { + let pus_tc = base_ping_tc_simple_ctor_with_app_data(&[1, 2, 3]); + verify_test_tc(&pus_tc, true, 16); + let mut test_vec = Vec::new(); + let size = pus_tc + .append_to_vec(&mut test_vec) + .expect("Error writing TC to vector"); + assert_eq!(test_vec[11], 1); + assert_eq!(test_vec[12], 2); + assert_eq!(test_vec[13], 3); + assert_eq!(size, 16); + } + + #[test] + fn test_with_application_data_buf() { + let pus_tc = base_ping_tc_simple_ctor_with_app_data(&[1, 2, 3]); + verify_test_tc(&pus_tc, true, 16); + let mut test_buf: [u8; 32] = [0; 32]; + let size = pus_tc + .copy_to_buf(test_buf.as_mut_slice()) + .expect("Error writing TC to buffer"); + assert_eq!(test_buf[11], 1); + assert_eq!(test_buf[12], 2); + assert_eq!(test_buf[13], 3); + assert_eq!(size, 16); + } + + #[test] + fn test_custom_setters() { + let mut pus_tc = base_ping_tc_simple_ctor(); + let mut test_buf: [u8; 32] = [0; 32]; + pus_tc.set_apid(0x7ff); + pus_tc.set_seq_count(0x3fff); + pus_tc.set_ack_field(0b11); + pus_tc.set_source_id(0xffff); + pus_tc.set_seq_flags(SequenceFlags::Unsegmented); + assert_eq!(pus_tc.source_id(), 0xffff); + assert_eq!(pus_tc.seq_count(), 0x3fff); + assert_eq!(pus_tc.ack_flags(), 0b11); + assert_eq!(pus_tc.apid(), 0x7ff); + assert_eq!(pus_tc.sequence_flags(), SequenceFlags::Unsegmented); + pus_tc.calc_own_crc16(); + pus_tc + .copy_to_buf(test_buf.as_mut_slice()) + .expect("Error writing TC to buffer"); + assert_eq!(test_buf[0], 0x1f); + assert_eq!(test_buf[1], 0xff); + assert_eq!(test_buf[2], 0xff); + assert_eq!(test_buf[3], 0xff); + assert_eq!(test_buf[6], 0x23); + // Source ID 0 + assert_eq!(test_buf[9], 0xff); + assert_eq!(test_buf[10], 0xff); + } + + fn verify_test_tc(tc: &PusTc, has_user_data: bool, exp_full_len: usize) { assert_eq!(PusPacket::service(tc), 17); assert_eq!(PusPacket::subservice(tc), 1); - assert_eq!(tc.user_data(), None); + if !has_user_data { + assert_eq!(tc.user_data(), None); + } assert_eq!(tc.seq_count(), 0x34); assert_eq!(tc.source_id(), 0); assert_eq!(tc.apid(), 0x02); assert_eq!(tc.ack_flags(), ACK_ALL); - assert_eq!(tc.sph, SpHeader::tc(0x02, 0x34, 6).unwrap()); - assert_eq!(tc.len_packed(), 13); + assert_eq!(tc.len_packed(), exp_full_len); + assert_eq!( + tc.sph, + SpHeader::tc(0x02, 0x34, exp_full_len as u16 - 7).unwrap() + ); } - fn verify_test_tc_raw(ptype: PacketType, slice: &impl AsRef<[u8]>) { + fn verify_test_tc_raw(slice: &impl AsRef<[u8]>) { // Reference comparison implementation: - // https://github.com/robamu-org/py-spacepackets/blob/main/examples/example_pus.py + // https://github.com/us-irs/py-spacepackets/blob/v0.13.0/tests/ecss/test_pus_tc.py let slice = slice.as_ref(); // 0x1801 is the generic - if ptype == PacketType::Tm { - assert_eq!(slice[0], 0x18); - } else { - assert_eq!(slice[0], 0x08); - } + assert_eq!(slice[0], 0x18); // APID is 0x01 assert_eq!(slice[1], 0x02); // Unsegmented packets @@ -550,7 +676,12 @@ mod tests { // Source ID 0 assert_eq!(slice[9], 0x00); assert_eq!(slice[10], 0x00); - // CRC first byte assuming big endian format is 0x16 and 0x1d + } + + fn verify_crc_no_app_data(slice: &impl AsRef<[u8]>) { + // Reference comparison implementation: + // https://github.com/us-irs/py-spacepackets/blob/v0.13.0/tests/ecss/test_pus_tc.py + let slice = slice.as_ref(); assert_eq!(slice[11], 0xee); assert_eq!(slice[12], 0x63); }