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Init spacepackets crate

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Robin Müller 2022-06-18 22:48:51 +02:00
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[package]
name = "spacepackets"
version = "0.1.0"
edition = "2021"
authors = ["Robin Mueller <muellerr@irs.uni-stuttgart.de>"]
description = "Generic implementations for various CCSDS and ECSS packet standards"
homepage = "https://egit.irs.uni-stuttgart.de/rust/spacepackets"
repository = "https://egit.irs.uni-stuttgart.de/rust/spacepackets"
license = "Apache-2.0"
keywords = ["no-std", "space", "packets", "ccsds", "ecss"]
categories = ["aerospace", "aerospace::space-protocols", "no-std", "hardware-support", "embedded"]
# See more keys and their definitions at https://doc.rust-lang.org/cargo/reference/manifest.html
[dependencies]
num = "0.4"
serde = "1.0.137"
zerocopy = "0.6.1"
crc = "3.0.0"
delegate = "0.7.0"
[dependencies.heapless]
version = "0.7.14"
optional = true
[dev-dependencies]
[dev-dependencies.postcard]
version = "0.7.3"
features = ["use-std"]
[features]
default = ["heapless", "alloc"]
alloc = ["serde/alloc"]

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Apache License
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Generic implementations for various CCSDS and ECSS packet standards.
This software contains code developed at the University of Stuttgart.

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use postcard::{from_bytes, to_stdvec};
use serde::{Deserialize, Serialize};
use zerocopy::byteorder::{I32, U16};
use zerocopy::{AsBytes, FromBytes, NetworkEndian, Unaligned};
#[derive(AsBytes, FromBytes, Unaligned, Debug, Eq, PartialEq)]
#[repr(C, packed)]
struct ZeroCopyTest {
some_bool: u8,
some_u16: U16<NetworkEndian>,
some_i32: I32<NetworkEndian>,
some_float: [u8; 4],
}
#[derive(Serialize, Deserialize, Debug, PartialEq)]
struct PostcardTest {
some_bool: u8,
some_u16: u16,
some_i32: i32,
some_float: f32,
}
#[derive(Serialize, Deserialize, Debug, PartialEq)]
struct SliceSerTest<'slice> {
some_u8: u8,
some_u32: u32,
some_slice: &'slice [u8],
}
fn main() {
let pc_test = PostcardTest {
some_bool: true as u8,
some_u16: 0x42,
some_i32: -200,
some_float: 7.7_f32,
};
let out = to_stdvec(&pc_test).unwrap();
println!("{:#04x?}", out);
let sample_hk = ZeroCopyTest {
some_bool: true as u8,
some_u16: U16::from(0x42),
some_i32: I32::from(-200),
some_float: 7.7_f32.to_be_bytes(),
};
let mut slice = [0; 11];
sample_hk.write_to(slice.as_mut_slice());
println!("{:#04x?}", slice);
let ser_vec;
{
let test_buf = [0, 1, 2, 3];
let test_with_slice = SliceSerTest {
some_u8: 12,
some_u32: 1,
some_slice: test_buf.as_slice(),
};
ser_vec = to_stdvec(&test_with_slice).unwrap();
println!("{:#04x?}", out);
}
{
let test_deser: SliceSerTest = from_bytes(ser_vec.as_slice()).unwrap();
println!("{:?}", test_deser);
}
}

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use crate::{CcsdsPacket, PacketError};
use core::mem::size_of;
use crc::{Crc, CRC_16_IBM_3740};
use serde::{Deserialize, Serialize};
/// CRC algorithm used by the PUS standard
pub const CRC_CCITT_FALSE: Crc<u16> = Crc::<u16>::new(&CRC_16_IBM_3740);
pub const CCSDS_HEADER_LEN: usize = size_of::<crate::zc::SpHeader>();
/// All PUS versions. Only PUS C is supported by this library
#[derive(PartialEq, Copy, Clone, Serialize, Deserialize, Debug)]
pub enum PusVersion {
EsaPus = 0,
PusA = 1,
PusC = 2,
}
#[derive(Debug, Copy, Clone, PartialEq)]
pub enum PusError {
VersionNotSupported(PusVersion),
IncorrectCrc(u16),
RawDataTooShort(usize),
NoRawData,
/// CRC16 needs to be calculated first
CrcCalculationMissing,
OtherPacketError(PacketError),
}
pub trait PusPacket: CcsdsPacket {
const PUS_VERSION: PusVersion = PusVersion::PusC;
fn service(&self) -> u8;
fn subservice(&self) -> u8;
fn user_data(&self) -> Option<&[u8]>;
fn crc16(&self) -> Option<u16>;
}

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//! # Space related components including CCSDS and ECSS packet standards
#![no_std]
extern crate alloc;
use crate::ecss::CCSDS_HEADER_LEN;
use serde::{Deserialize, Serialize};
pub mod ecss;
pub mod tc;
pub mod tm;
#[derive(Debug, Copy, Clone, PartialEq)]
pub enum PacketError {
/// The passed slice is too small. Returns the required size of the failed size chgeck
ToBytesSliceTooSmall(usize),
/// The [zerocopy] library failed to write to bytes
ToBytesZeroCopyError,
FromBytesZeroCopyError,
}
#[derive(Serialize, Deserialize, Debug, PartialEq, Copy, Clone)]
pub enum PacketType {
Tm = 0,
Tc = 1,
}
impl TryFrom<u8> for PacketType {
type Error = ();
fn try_from(value: u8) -> Result<Self, Self::Error> {
match value {
x if x == PacketType::Tm as u8 => Ok(PacketType::Tm),
x if x == PacketType::Tc as u8 => Ok(PacketType::Tc),
_ => Err(()),
}
}
}
pub fn packet_type_in_raw_packet_id(packet_id: u16) -> PacketType {
PacketType::try_from((packet_id >> 12) as u8 & 0b1).unwrap()
}
#[derive(Serialize, Deserialize, Debug, PartialEq, Copy, Clone)]
pub enum SequenceFlags {
ContinuationSegment = 0b00,
FirstSegment = 0b01,
LastSegment = 0b10,
Unsegmented = 0b11,
}
impl TryFrom<u8> for SequenceFlags {
type Error = ();
fn try_from(value: u8) -> Result<Self, Self::Error> {
match value {
x if x == SequenceFlags::ContinuationSegment as u8 => {
Ok(SequenceFlags::ContinuationSegment)
}
x if x == SequenceFlags::FirstSegment as u8 => Ok(SequenceFlags::FirstSegment),
x if x == SequenceFlags::LastSegment as u8 => Ok(SequenceFlags::LastSegment),
x if x == SequenceFlags::Unsegmented as u8 => Ok(SequenceFlags::Unsegmented),
_ => Err(()),
}
}
}
#[derive(Serialize, Deserialize, Debug, PartialEq, Copy, Clone)]
pub struct PacketId {
pub ptype: PacketType,
pub sec_header_flag: bool,
apid: u16,
}
impl PacketId {
pub fn new(ptype: PacketType, sec_header_flag: bool, apid: u16) -> Option<PacketId> {
let mut pid = PacketId {
ptype,
sec_header_flag,
apid: 0,
};
pid.set_apid(apid).then(|| pid)
}
pub fn set_apid(&mut self, apid: u16) -> bool {
if apid > num::pow(2, 11) - 1 {
return false;
}
self.apid = apid;
true
}
pub fn apid(&self) -> u16 {
self.apid
}
pub fn raw(&self) -> u16 {
((self.ptype as u16) << 12) | ((self.sec_header_flag as u16) << 11) | self.apid
}
}
impl From<u16> for PacketId {
fn from(raw_id: u16) -> Self {
PacketId {
ptype: PacketType::try_from(((raw_id >> 12) & 0b1) as u8).unwrap(),
sec_header_flag: ((raw_id >> 11) & 0b1) != 0,
apid: raw_id & 0x7FF,
}
}
}
#[derive(Serialize, Deserialize, Debug, PartialEq, Copy, Clone)]
pub struct PacketSequenceCtrl {
pub seq_flags: SequenceFlags,
ssc: u16,
}
impl PacketSequenceCtrl {
pub fn new(seq_flags: SequenceFlags, ssc: u16) -> Option<PacketSequenceCtrl> {
let mut psc = PacketSequenceCtrl { seq_flags, ssc: 0 };
psc.set_ssc(ssc).then(|| psc)
}
pub fn raw(&self) -> u16 {
((self.seq_flags as u16) << 14) | self.ssc
}
pub fn set_ssc(&mut self, ssc: u16) -> bool {
if ssc > num::pow(2, 14) - 1 {
return false;
}
self.ssc = ssc;
true
}
pub fn ssc(&self) -> u16 {
self.ssc
}
}
impl From<u16> for PacketSequenceCtrl {
fn from(raw_id: u16) -> Self {
PacketSequenceCtrl {
seq_flags: SequenceFlags::try_from(((raw_id >> 14) & 0b11) as u8).unwrap(),
ssc: raw_id & SSC_MASK,
}
}
}
macro_rules! sph_from_other {
($Self: path, $other: path) => {
impl From<$other> for $Self {
fn from(other: $other) -> Self {
Self::from_composite_fields(
other.packet_id(),
other.psc(),
other.data_len(),
Some(other.ccsds_version()),
)
}
}
};
}
const SSC_MASK: u16 = 0x3FFF;
const VERSION_MASK: u16 = 0xE000;
/// Generic trait to access fields of a CCSDS space packet header according to CCSDS 133.0-B-2
pub trait CcsdsPacket {
fn ccsds_version(&self) -> u8;
fn packet_id(&self) -> PacketId;
fn psc(&self) -> PacketSequenceCtrl;
/// Retrieve data length field
fn data_len(&self) -> u16;
/// Retrieve the total packet size based on the data length field
fn total_len(&self) -> usize {
usize::from(self.data_len()) + CCSDS_HEADER_LEN + 1
}
/// Retrieve 13 bit Packet Identification field. Can usually be retrieved with a bitwise AND
/// of the first 2 bytes with 0x1FFF
#[inline]
fn packet_id_raw(&self) -> u16 {
self.packet_id().raw()
}
/// Retrieve Packet Sequence Count
#[inline]
fn psc_raw(&self) -> u16 {
self.psc().raw()
}
#[inline]
/// Retrieve Packet Type (TM: 0, TC: 1)
fn ptype(&self) -> PacketType {
// This call should never fail because only 0 and 1 can be passed to the try_from call
self.packet_id().ptype
}
#[inline]
fn is_tm(&self) -> bool {
self.ptype() == PacketType::Tm
}
#[inline]
fn is_tc(&self) -> bool {
self.ptype() == PacketType::Tc
}
/// Retrieve the secondary header flag. Returns true if a secondary header is present
/// and false if it is not
#[inline]
fn sec_header_flag(&self) -> bool {
self.packet_id().sec_header_flag
}
/// Retrieve Application Process ID
#[inline]
fn apid(&self) -> u16 {
self.packet_id().apid
}
#[inline]
fn ssc(&self) -> u16 {
self.psc().ssc
}
#[inline]
fn sequence_flags(&self) -> SequenceFlags {
// This call should never fail because the mask ensures that only valid values are passed
// into the try_from function
self.psc().seq_flags
}
}
pub trait CcsdsPrimaryHeader {
fn from_composite_fields(
packet_id: PacketId,
psc: PacketSequenceCtrl,
data_len: u16,
version: Option<u8>,
) -> Self;
}
pub mod ser {
use crate::{
CcsdsPacket, CcsdsPrimaryHeader, PacketId, PacketSequenceCtrl, PacketType, SequenceFlags,
};
/// Space Packet Primary Header according to CCSDS 133.0-B-2
#[derive(serde::Serialize, serde::Deserialize, Debug, PartialEq, Copy, Clone)]
pub struct SpHeader {
pub version: u8,
pub packet_id: PacketId,
pub psc: PacketSequenceCtrl,
pub data_len: u16,
}
impl Default for SpHeader {
fn default() -> Self {
SpHeader {
version: 0,
packet_id: PacketId {
ptype: PacketType::Tm,
apid: 0,
sec_header_flag: true,
},
psc: PacketSequenceCtrl {
seq_flags: SequenceFlags::Unsegmented,
ssc: 0,
},
data_len: 0,
}
}
}
impl SpHeader {
pub fn new(apid: u16, ptype: PacketType, ssc: u16, data_len: u16) -> Option<Self> {
if ssc > num::pow(2, 14) - 1 || apid > num::pow(2, 11) - 1 {
return None;
}
let mut header = SpHeader::default();
header.packet_id.apid = apid;
header.packet_id.ptype = ptype;
header.psc.ssc = ssc;
header.data_len = data_len;
Some(header)
}
pub fn tm(apid: u16, ssc: u16, data_len: u16) -> Option<Self> {
Self::new(apid, PacketType::Tm, ssc, data_len)
}
pub fn tc(apid: u16, ssc: u16, data_len: u16) -> Option<Self> {
Self::new(apid, PacketType::Tc, ssc, data_len)
}
}
impl CcsdsPacket for SpHeader {
#[inline]
fn ccsds_version(&self) -> u8 {
self.version
}
#[inline]
fn packet_id(&self) -> PacketId {
self.packet_id
}
#[inline]
fn psc(&self) -> PacketSequenceCtrl {
self.psc
}
#[inline]
fn data_len(&self) -> u16 {
self.data_len
}
}
impl CcsdsPrimaryHeader for SpHeader {
fn from_composite_fields(
packet_id: PacketId,
psc: PacketSequenceCtrl,
data_len: u16,
version: Option<u8>,
) -> Self {
let mut version_to_set = 0b000;
if let Some(version) = version {
version_to_set = version;
}
SpHeader {
version: version_to_set,
packet_id,
psc,
data_len,
}
}
}
sph_from_other!(SpHeader, crate::zc::SpHeader);
}
pub mod zc {
use crate::{CcsdsPacket, CcsdsPrimaryHeader, PacketId, PacketSequenceCtrl, VERSION_MASK};
use zerocopy::byteorder::NetworkEndian;
use zerocopy::{AsBytes, FromBytes, Unaligned, U16};
#[derive(FromBytes, AsBytes, Unaligned, Debug)]
#[repr(C)]
pub struct SpHeader {
version_packet_id: U16<NetworkEndian>,
psc: U16<NetworkEndian>,
data_len: U16<NetworkEndian>,
}
impl SpHeader {
pub fn new(
packet_id: PacketId,
psc: PacketSequenceCtrl,
data_len: u16,
version: Option<u8>,
) -> Self {
let mut version_packet_id = packet_id.raw();
if let Some(version) = version {
version_packet_id = ((version as u16) << 13) | packet_id.raw()
}
SpHeader {
version_packet_id: U16::from(version_packet_id),
psc: U16::from(psc.raw()),
data_len: U16::from(data_len),
}
}
pub fn from_bytes(slice: &(impl AsRef<[u8]> + ?Sized)) -> Option<Self> {
SpHeader::read_from(slice.as_ref())
}
pub fn to_bytes(&self, slice: &mut (impl AsMut<[u8]> + ?Sized)) -> Option<()> {
self.write_to(slice.as_mut())
}
}
impl CcsdsPacket for SpHeader {
#[inline]
fn ccsds_version(&self) -> u8 {
((self.version_packet_id.get() >> 13) as u8) & 0b111
}
fn packet_id(&self) -> PacketId {
PacketId::from(self.packet_id_raw())
}
fn psc(&self) -> PacketSequenceCtrl {
PacketSequenceCtrl::from(self.psc_raw())
}
#[inline]
fn data_len(&self) -> u16 {
self.data_len.get()
}
fn packet_id_raw(&self) -> u16 {
self.version_packet_id.get() & (!VERSION_MASK)
}
fn psc_raw(&self) -> u16 {
self.psc.get()
}
}
impl CcsdsPrimaryHeader for SpHeader {
fn from_composite_fields(
packet_id: PacketId,
psc: PacketSequenceCtrl,
data_len: u16,
version: Option<u8>,
) -> Self {
SpHeader::new(packet_id, psc, data_len, version)
}
}
sph_from_other!(SpHeader, crate::ser::SpHeader);
}
#[cfg(test)]
mod tests {
use crate::ser::SpHeader;
use crate::{
packet_type_in_raw_packet_id, zc, CcsdsPacket, CcsdsPrimaryHeader, PacketId,
PacketSequenceCtrl, PacketType, SequenceFlags,
};
use alloc::vec;
use postcard::{from_bytes, to_stdvec};
#[test]
fn test_helpers() {
assert_eq!(
SequenceFlags::try_from(0b00).expect("SEQ flag creation failed"),
SequenceFlags::ContinuationSegment
);
assert_eq!(
SequenceFlags::try_from(0b01).expect("SEQ flag creation failed"),
SequenceFlags::FirstSegment
);
assert_eq!(
SequenceFlags::try_from(0b10).expect("SEQ flag creation failed"),
SequenceFlags::LastSegment
);
assert_eq!(
SequenceFlags::try_from(0b11).expect("SEQ flag creation failed"),
SequenceFlags::Unsegmented
);
assert!(SequenceFlags::try_from(0b100).is_err());
assert!(PacketType::try_from(0b10).is_err());
let packet_id =
PacketId::new(PacketType::Tm, false, 0x42).expect("Packet ID creation failed");
assert_eq!(packet_id.raw(), 0x0042);
let packet_id_from_raw = PacketId::from(packet_id.raw());
assert_eq!(
packet_type_in_raw_packet_id(packet_id.raw()),
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);
let mut psc = PacketSequenceCtrl::new(SequenceFlags::ContinuationSegment, 77)
.expect("PSC creation failed");
assert_eq!(psc.raw(), 77);
let psc_from_raw = PacketSequenceCtrl::from(psc.raw());
assert_eq!(psc_from_raw, psc);
// Fails because SSC is limited to 14 bits
assert!(!psc.set_ssc(num::pow(2, 15)));
assert_eq!(psc.raw(), 77);
let psc_invalid = PacketSequenceCtrl::new(SequenceFlags::FirstSegment, 0xFFFF);
assert!(psc_invalid.is_none());
let psc_from_new = PacketSequenceCtrl::new(SequenceFlags::ContinuationSegment, 77).unwrap();
assert_eq!(psc_from_new, psc);
}
#[test]
fn test_serde_sph() {
let sp_header = SpHeader::tc(0x42, 12, 0).expect("Error creating SP header");
assert_eq!(sp_header.ccsds_version(), 0b000);
assert!(sp_header.is_tc());
assert!(sp_header.sec_header_flag());
assert_eq!(sp_header.ptype(), PacketType::Tc);
assert_eq!(sp_header.ssc(), 12);
assert_eq!(sp_header.apid(), 0x42);
assert_eq!(sp_header.sequence_flags(), SequenceFlags::Unsegmented);
assert_eq!(sp_header.data_len(), 0);
let output = to_stdvec(&sp_header).unwrap();
let sp_header: SpHeader = from_bytes(&output).unwrap();
assert_eq!(sp_header.version, 0b000);
assert!(sp_header.packet_id.sec_header_flag);
assert_eq!(sp_header.ptype(), PacketType::Tc);
assert_eq!(sp_header.ssc(), 12);
assert_eq!(sp_header.apid(), 0x42);
assert_eq!(sp_header.sequence_flags(), SequenceFlags::Unsegmented);
assert_eq!(sp_header.packet_id_raw(), 0x1842);
assert_eq!(sp_header.psc_raw(), 0xC00C);
assert_eq!(sp_header.ccsds_version(), 0b000);
assert_eq!(sp_header.data_len, 0);
let sp_header = SpHeader::tm(0x7, 22, 36).expect("Error creating SP header");
assert_eq!(sp_header.ccsds_version(), 0b000);
assert!(sp_header.is_tm());
assert!(sp_header.sec_header_flag());
assert_eq!(sp_header.ptype(), PacketType::Tm);
assert_eq!(sp_header.ssc(), 22);
assert_eq!(sp_header.apid(), 0x07);
assert_eq!(sp_header.sequence_flags(), SequenceFlags::Unsegmented);
assert_eq!(sp_header.packet_id_raw(), 0x0807);
assert_eq!(sp_header.psc_raw(), 0xC016);
assert_eq!(sp_header.data_len(), 36);
assert_eq!(sp_header.ccsds_version(), 0b000);
let from_comp_fields = SpHeader::from_composite_fields(
PacketId::new(PacketType::Tc, true, 0x42).unwrap(),
PacketSequenceCtrl::new(SequenceFlags::Unsegmented, 0x7).unwrap(),
0,
None,
);
assert_eq!(from_comp_fields.ptype(), PacketType::Tc);
assert_eq!(from_comp_fields.apid(), 0x42);
assert!(from_comp_fields.sec_header_flag());
assert_eq!(
from_comp_fields.sequence_flags(),
SequenceFlags::Unsegmented
);
assert_eq!(from_comp_fields.ssc(), 0x7);
assert_eq!(from_comp_fields.data_len(), 0);
}
#[test]
fn test_zc_sph() {
use zerocopy::AsBytes;
let sp_header =
SpHeader::tc(0x7FF, num::pow(2, 14) - 1, 0).expect("Error creating SP header");
assert_eq!(sp_header.ptype(), PacketType::Tc);
assert_eq!(sp_header.apid(), 0x7FF);
assert_eq!(sp_header.data_len(), 0);
assert_eq!(sp_header.ccsds_version(), 0b000);
assert!(sp_header.is_tc());
let sp_header_zc = zc::SpHeader::from(sp_header);
let slice = sp_header_zc.as_bytes();
assert_eq!(slice.len(), 6);
assert_eq!(slice[0], 0x1F);
assert_eq!(slice[1], 0xFF);
assert_eq!(slice[2], 0xFF);
assert_eq!(slice[3], 0xFF);
assert_eq!(slice[4], 0x00);
assert_eq!(slice[5], 0x00);
let mut slice = [0; 6];
sp_header_zc.write_to(slice.as_mut_slice());
assert_eq!(slice.len(), 6);
assert_eq!(slice[0], 0x1F);
assert_eq!(slice[1], 0xFF);
assert_eq!(slice[2], 0xFF);
assert_eq!(slice[3], 0xFF);
assert_eq!(slice[4], 0x00);
assert_eq!(slice[5], 0x00);
let mut test_vec = vec![0_u8; 6];
let slice = test_vec.as_mut_slice();
sp_header_zc.write_to(slice);
let slice = test_vec.as_slice();
assert_eq!(slice.len(), 6);
assert_eq!(slice[0], 0x1F);
assert_eq!(slice[1], 0xFF);
assert_eq!(slice[2], 0xFF);
assert_eq!(slice[3], 0xFF);
assert_eq!(slice[4], 0x00);
assert_eq!(slice[5], 0x00);
let sp_header = zc::SpHeader::from_bytes(slice);
assert!(sp_header.is_some());
let sp_header = sp_header.unwrap();
assert_eq!(sp_header.ccsds_version(), 0b000);
assert_eq!(sp_header.packet_id_raw(), 0x1FFF);
assert_eq!(sp_header.apid(), 0x7FF);
assert_eq!(sp_header.ptype(), PacketType::Tc);
assert_eq!(sp_header.data_len(), 0);
}
}

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use crate::ecss::PusVersion;
use crate::CCSDS_HEADER_LEN;
use core::mem::size_of;
type CrcType = u16;
/// PUS C secondary header length is fixed
pub const PUC_TC_SECONDARY_HEADER_LEN: usize = size_of::<zc::PusTcDataFieldHeader>();
pub const PUS_TC_MIN_LEN_WITHOUT_APP_DATA: usize =
CCSDS_HEADER_LEN + PUC_TC_SECONDARY_HEADER_LEN + size_of::<CrcType>();
const PUS_VERSION: PusVersion = PusVersion::PusC;
#[derive(Copy, Clone, PartialEq, Debug)]
enum AckOpts {
Acceptance = 0b1000,
Start = 0b0100,
Progress = 0b0010,
Completion = 0b0001,
}
pub const ACK_ALL: u8 = AckOpts::Acceptance as u8
| AckOpts::Start as u8
| AckOpts::Progress as u8
| AckOpts::Completion as u8;
pub trait PusTcSecondaryHeader {
fn ack_flags(&self) -> u8;
fn service(&self) -> u8;
fn subservice(&self) -> u8;
fn source_id(&self) -> u16;
}
pub mod zc {
use crate::ecss::{PusError, PusVersion};
use crate::tc::{ser, PusTcSecondaryHeader};
use zerocopy::{AsBytes, FromBytes, NetworkEndian, Unaligned, U16};
#[derive(FromBytes, AsBytes, Unaligned)]
#[repr(C)]
pub struct PusTcDataFieldHeader {
version_ack: u8,
service: u8,
subservice: u8,
source_id: U16<NetworkEndian>,
}
impl TryFrom<ser::PusTcDataFieldHeader> for PusTcDataFieldHeader {
type Error = PusError;
fn try_from(value: ser::PusTcDataFieldHeader) -> Result<Self, Self::Error> {
if value.version != PusVersion::PusC {
return Err(PusError::VersionNotSupported(value.version));
}
Ok(PusTcDataFieldHeader {
version_ack: ((value.version as u8) << 4) | value.ack,
service: value.service,
subservice: value.subservice,
source_id: U16::from(value.source_id),
})
}
}
impl PusTcSecondaryHeader for PusTcDataFieldHeader {
fn ack_flags(&self) -> u8 {
self.version_ack & 0b1111
}
fn service(&self) -> u8 {
self.service
}
fn subservice(&self) -> u8 {
self.subservice
}
fn source_id(&self) -> u16 {
self.source_id.get()
}
}
impl PusTcDataFieldHeader {
pub fn to_bytes(&self, slice: &mut (impl AsMut<[u8]> + ?Sized)) -> Option<()> {
self.write_to(slice.as_mut())
}
pub fn from_bytes(slice: &(impl AsRef<[u8]> + ?Sized)) -> Option<Self> {
Self::read_from(slice.as_ref())
}
}
}
pub mod ser {
use crate::ecss::{PusError, PusPacket, PusVersion, CRC_CCITT_FALSE};
use crate::ser::SpHeader;
use crate::tc::{
PusTcSecondaryHeader, ACK_ALL, PUC_TC_SECONDARY_HEADER_LEN,
PUS_TC_MIN_LEN_WITHOUT_APP_DATA, PUS_VERSION,
};
use crate::{zc, CcsdsPacket, PacketError, PacketId, PacketSequenceCtrl, PacketType};
use alloc::vec::Vec;
use core::mem::size_of;
use delegate::delegate;
use serde::{Deserialize, Serialize};
use zerocopy::AsBytes;
#[derive(PartialEq, Copy, Clone, Serialize, Deserialize)]
pub struct PusTcDataFieldHeader {
pub service: u8,
pub subservice: u8,
pub source_id: u16,
pub ack: u8,
pub version: PusVersion,
}
impl PusTcSecondaryHeader for PusTcDataFieldHeader {
fn ack_flags(&self) -> u8 {
self.ack
}
fn service(&self) -> u8 {
self.service
}
fn subservice(&self) -> u8 {
self.subservice
}
fn source_id(&self) -> u16 {
self.source_id
}
}
impl TryFrom<super::zc::PusTcDataFieldHeader> for PusTcDataFieldHeader {
type Error = ();
fn try_from(value: super::zc::PusTcDataFieldHeader) -> Result<Self, Self::Error> {
Ok(PusTcDataFieldHeader {
service: value.service(),
subservice: value.subservice(),
source_id: value.source_id(),
ack: value.ack_flags(),
version: PUS_VERSION,
})
}
}
impl PusTcDataFieldHeader {
pub fn new(service: u8, subservice: u8, ack: u8) -> Self {
PusTcDataFieldHeader {
service,
subservice,
ack: ack & 0b1111,
source_id: 0,
version: PusVersion::PusC,
}
}
}
#[derive(PartialEq, Copy, Clone, Serialize, Deserialize)]
pub struct PusTc<'slice> {
pub sph: SpHeader,
pub data_field_header: PusTcDataFieldHeader,
#[serde(skip)]
raw_data: Option<&'slice [u8]>,
app_data: Option<&'slice [u8]>,
crc16: Option<u16>,
}
impl<'slice> PusTc<'slice> {
pub fn new(
sph: &mut SpHeader,
service: u8,
subservice: u8,
app_data: Option<&'slice [u8]>,
) -> Self {
sph.packet_id.ptype = PacketType::Tc;
PusTc {
sph: *sph,
raw_data: None,
app_data,
data_field_header: PusTcDataFieldHeader::new(service, subservice, ACK_ALL),
crc16: None,
}
}
pub fn len_packed(&self) -> usize {
let mut length = super::PUS_TC_MIN_LEN_WITHOUT_APP_DATA;
if let Some(app_data) = self.app_data {
length += app_data.len();
}
length
}
/// Calculate the CCSDS space packet data length field and sets it
pub fn set_ccsds_data_len(&mut self) {
self.sph.data_len =
self.len_packed() as u16 - size_of::<crate::zc::SpHeader>() as u16 - 1;
}
fn crc_from_raw_data(&self) -> Result<u16, PusError> {
if let Some(raw_data) = self.raw_data {
if raw_data.len() < 2 {
return Err(PusError::RawDataTooShort(raw_data.len()));
}
return Ok(u16::from_be_bytes(
raw_data[raw_data.len() - 2..raw_data.len()]
.try_into()
.unwrap(),
));
}
Err(PusError::NoRawData)
}
pub fn calc_crc16(&mut self) {
let mut digest = CRC_CCITT_FALSE.digest();
let sph_zc = crate::zc::SpHeader::from(self.sph);
digest.update(sph_zc.as_bytes());
let pus_tc_header =
super::zc::PusTcDataFieldHeader::try_from(self.data_field_header).unwrap();
digest.update(pus_tc_header.as_bytes());
if let Some(app_data) = self.app_data {
digest.update(app_data);
}
self.crc16 = Some(digest.finalize())
}
/// This function updates two important internal fields: The CCSDS packet length in the
/// 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.calc_crc16();
}
pub fn copy_to_buf(
&self,
slice: &mut (impl AsMut<[u8]> + ?Sized),
) -> Result<usize, PusError> {
if self.crc16.is_none() {
return Err(PusError::CrcCalculationMissing);
}
let mut_slice = slice.as_mut();
let mut curr_idx = 0;
let sph_zc = crate::zc::SpHeader::from(self.sph);
let tc_header_len = size_of::<super::zc::PusTcDataFieldHeader>();
let mut total_size = super::PUS_TC_MIN_LEN_WITHOUT_APP_DATA;
if let Some(app_data) = self.app_data {
total_size += app_data.len();
};
if total_size > mut_slice.len() {
return Err(PusError::OtherPacketError(
PacketError::ToBytesSliceTooSmall(total_size),
));
}
sph_zc
.to_bytes(&mut mut_slice[curr_idx..curr_idx + 6])
.ok_or(PusError::OtherPacketError(
PacketError::ToBytesZeroCopyError,
))?;
curr_idx += 6;
// The PUS version is hardcoded to PUS C
let pus_tc_header =
super::zc::PusTcDataFieldHeader::try_from(self.data_field_header).unwrap();
pus_tc_header
.to_bytes(&mut mut_slice[curr_idx..curr_idx + tc_header_len])
.ok_or(PusError::OtherPacketError(
PacketError::ToBytesZeroCopyError,
))?;
curr_idx += tc_header_len;
if let Some(app_data) = self.app_data {
mut_slice[curr_idx..curr_idx + app_data.len()].copy_from_slice(app_data);
curr_idx += app_data.len();
}
mut_slice[curr_idx..curr_idx + 2]
.copy_from_slice(self.crc16.unwrap().to_be_bytes().as_slice());
curr_idx += 2;
Ok(curr_idx)
}
pub fn append_to_vec(&self, vec: &mut Vec<u8>) -> Result<usize, PusError> {
if self.crc16.is_none() {
return Err(PusError::CrcCalculationMissing);
}
let sph_zc = crate::zc::SpHeader::from(self.sph);
let mut appended_len = super::PUS_TC_MIN_LEN_WITHOUT_APP_DATA;
if let Some(app_data) = self.app_data {
appended_len += app_data.len();
};
vec.extend_from_slice(sph_zc.as_bytes());
// The PUS version is hardcoded to PUS C
let pus_tc_header =
super::zc::PusTcDataFieldHeader::try_from(self.data_field_header).unwrap();
vec.extend_from_slice(pus_tc_header.as_bytes());
if let Some(app_data) = self.app_data {
vec.extend_from_slice(app_data);
}
vec.extend_from_slice(self.crc16.unwrap().to_be_bytes().as_slice());
Ok(appended_len)
}
pub fn new_from_raw_slice(
slice: &'slice (impl AsRef<[u8]> + ?Sized),
) -> Result<(Self, usize), PusError> {
let slice_ref = slice.as_ref();
let raw_data_len = slice_ref.len();
if raw_data_len < PUS_TC_MIN_LEN_WITHOUT_APP_DATA {
return Err(PusError::RawDataTooShort(raw_data_len));
}
let mut current_idx = 0;
let sph = zc::SpHeader::from_bytes(&slice_ref[current_idx..current_idx + 6]).ok_or(
PusError::OtherPacketError(PacketError::FromBytesZeroCopyError),
)?;
current_idx += 6;
let total_len = sph.total_len();
if raw_data_len < total_len || total_len < PUS_TC_MIN_LEN_WITHOUT_APP_DATA {
return Err(PusError::RawDataTooShort(raw_data_len));
}
let sec_header = crate::tc::zc::PusTcDataFieldHeader::from_bytes(
&slice_ref[current_idx..current_idx + PUC_TC_SECONDARY_HEADER_LEN],
)
.ok_or(PusError::OtherPacketError(
PacketError::FromBytesZeroCopyError,
))?;
current_idx += PUC_TC_SECONDARY_HEADER_LEN;
let mut pus_tc = PusTc {
sph: SpHeader::from(sph),
data_field_header: PusTcDataFieldHeader::try_from(sec_header).unwrap(),
raw_data: Some(slice_ref),
app_data: match current_idx {
_ if current_idx == total_len - 2 => None,
_ if current_idx > total_len - 2 => {
return Err(PusError::RawDataTooShort(raw_data_len))
}
_ => Some(&slice_ref[current_idx..total_len - 2]),
},
crc16: None,
};
pus_tc.crc_from_raw_data()?;
pus_tc.verify()?;
Ok((pus_tc, total_len))
}
fn verify(&mut self) -> Result<(), PusError> {
let mut digest = CRC_CCITT_FALSE.digest();
if self.raw_data.is_none() {
return Err(PusError::NoRawData);
}
let raw_data = self.raw_data.unwrap();
digest.update(raw_data.as_ref());
if digest.finalize() == 0 {
return Ok(());
}
let crc16 = self.crc_from_raw_data()?;
Err(PusError::IncorrectCrc(crc16))
}
}
//noinspection RsTraitImplementation
impl CcsdsPacket for PusTc<'_> {
delegate!(to self.sph {
fn ccsds_version(&self) -> u8;
fn packet_id(&self) -> PacketId;
fn psc(&self) -> PacketSequenceCtrl;
fn data_len(&self) -> u16;
});
}
//noinspection RsTraitImplementation
impl PusPacket for PusTc<'_> {
delegate!(to self.data_field_header {
fn service(&self) -> u8;
fn subservice(&self) -> u8;
});
fn user_data(&self) -> Option<&[u8]> {
self.app_data
}
fn crc16(&self) -> Option<u16> {
self.crc16
}
}
//noinspection RsTraitImplementation
impl PusTcSecondaryHeader for PusTc<'_> {
delegate!(to self.data_field_header {
fn service(&self) -> u8;
fn subservice(&self) -> u8;
fn source_id(&self) -> u16;
fn ack_flags(&self) -> u8;
});
}
}
#[cfg(test)]
mod tests {
use crate::ecss::PusPacket;
use crate::ser::SpHeader;
use crate::tc::ser::PusTc;
use crate::tc::PusTcSecondaryHeader;
use crate::tc::ACK_ALL;
use crate::{CcsdsPacket, PacketType};
use alloc::vec::Vec;
use postcard::to_stdvec;
#[test]
fn test_tc() {
let mut sph = SpHeader::tc(0x01, 0, 0).unwrap();
let mut pus_tc = PusTc::new(&mut sph, 17, 1, None);
let _out = to_stdvec(&pus_tc).unwrap();
assert_eq!(pus_tc.crc16(), None);
let mut test_buf: [u8; 32] = [0; 32];
pus_tc.update_packet_fields();
verify_test_tc(&pus_tc);
assert_eq!(pus_tc.len_packed(), 13);
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)
.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);
let mut test_vec = Vec::new();
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());
}
fn verify_test_tc(tc: &PusTc) {
assert_eq!(PusPacket::service(tc), 17);
assert_eq!(PusPacket::subservice(tc), 1);
assert_eq!(tc.user_data(), None);
assert_eq!(tc.source_id(), 0);
assert_eq!(tc.apid(), 0x01);
assert_eq!(tc.ack_flags(), ACK_ALL);
assert_eq!(tc.sph, SpHeader::tc(0x01, 0, 6).unwrap());
}
fn verify_test_tc_raw(ptype: PacketType, slice: &impl AsRef<[u8]>) {
// Reference comparison implementation:
// https://github.com/robamu-org/py-spacepackets/blob/main/examples/example_pus.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);
}
// APID is 0x01
assert_eq!(slice[1], 0x01);
// Unsegmented packets
assert_eq!(slice[2], 0xc0);
// Sequence count 0
assert_eq!(slice[3], 0x00);
assert_eq!(slice[4], 0x00);
// Space data length of 6 equals total packet length of 13
assert_eq!(slice[5], 0x06);
// PUS Version C 0b0010 and ACK flags 0b1111
assert_eq!(slice[6], 0x2f);
// Service 17
assert_eq!(slice[7], 0x11);
// Subservice 1
assert_eq!(slice[8], 0x01);
// Source ID 0
assert_eq!(slice[9], 0x00);
assert_eq!(slice[10], 0x00);
// CRC first byte assuming big endian format is 0x16 and 0x1d
assert_eq!(slice[11], 0x16);
assert_eq!(slice[12], 0x1d);
}
}

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