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continued PUS TC impl

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This commit is contained in:
Robin Müller 2022-07-24 15:19:05 +02:00
parent 4dcd6210a8
commit 716bc906a1
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GPG Key ID: 71B58F8A3CDFA9AC
2 changed files with 417 additions and 333 deletions
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45
src/lib.rs
View File

@ -111,28 +111,31 @@ impl From<u16> for PacketId {
#[derive(Serialize, Deserialize, Debug, PartialEq, Copy, Clone)]
pub struct PacketSequenceCtrl {
pub seq_flags: SequenceFlags,
ssc: u16,
seq_count: 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)
let mut psc = PacketSequenceCtrl {
seq_flags,
seq_count: 0,
};
psc.set_seq_count(ssc).then(|| psc)
}
pub fn raw(&self) -> u16 {
((self.seq_flags as u16) << 14) | self.ssc
((self.seq_flags as u16) << 14) | self.seq_count
}
pub fn set_ssc(&mut self, ssc: u16) -> bool {
pub fn set_seq_count(&mut self, ssc: u16) -> bool {
if ssc > num::pow(2, 14) - 1 {
return false;
}
self.ssc = ssc;
self.seq_count = ssc;
true
}
pub fn ssc(&self) -> u16 {
self.ssc
self.seq_count
}
}
@ -140,7 +143,7 @@ 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,
seq_count: raw_id & SSC_MASK,
}
}
}
@ -219,8 +222,8 @@ pub trait CcsdsPacket {
}
#[inline]
fn ssc(&self) -> u16 {
self.psc().ssc
fn seq_count(&self) -> u16 {
self.psc().seq_count
}
#[inline]
@ -264,7 +267,7 @@ pub mod ser {
},
psc: PacketSequenceCtrl {
seq_flags: SequenceFlags::Unsegmented,
ssc: 0,
seq_count: 0,
},
data_len: 0,
}
@ -278,17 +281,17 @@ pub mod ser {
let mut header = SpHeader::default();
header.packet_id.apid = apid;
header.packet_id.ptype = ptype;
header.psc.ssc = ssc;
header.psc.seq_count = 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 tm(apid: u16, seq_count: u16, data_len: u16) -> Option<Self> {
Self::new(apid, PacketType::Tm, seq_count, data_len)
}
pub fn tc(apid: u16, ssc: u16, data_len: u16) -> Option<Self> {
Self::new(apid, PacketType::Tc, ssc, data_len)
pub fn tc(apid: u16, seq_count: u16, data_len: u16) -> Option<Self> {
Self::new(apid, PacketType::Tc, seq_count, data_len)
}
}
@ -468,7 +471,7 @@ mod tests {
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!(!psc.set_seq_count(num::pow(2, 15)));
assert_eq!(psc.raw(), 77);
let psc_invalid = PacketSequenceCtrl::new(SequenceFlags::FirstSegment, 0xFFFF);
@ -484,7 +487,7 @@ mod tests {
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.seq_count(), 12);
assert_eq!(sp_header.apid(), 0x42);
assert_eq!(sp_header.sequence_flags(), SequenceFlags::Unsegmented);
assert_eq!(sp_header.data_len(), 0);
@ -493,7 +496,7 @@ mod tests {
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.seq_count(), 12);
assert_eq!(sp_header.apid(), 0x42);
assert_eq!(sp_header.sequence_flags(), SequenceFlags::Unsegmented);
assert_eq!(sp_header.packet_id_raw(), 0x1842);
@ -506,7 +509,7 @@ mod tests {
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.seq_count(), 22);
assert_eq!(sp_header.apid(), 0x07);
assert_eq!(sp_header.sequence_flags(), SequenceFlags::Unsegmented);
assert_eq!(sp_header.packet_id_raw(), 0x0807);
@ -527,7 +530,7 @@ mod tests {
from_comp_fields.sequence_flags(),
SequenceFlags::Unsegmented
);
assert_eq!(from_comp_fields.ssc(), 0x7);
assert_eq!(from_comp_fields.seq_count(), 0x7);
assert_eq!(from_comp_fields.data_len(), 0);
}

705
src/tc.rs
View File

@ -1,6 +1,11 @@
use crate::ecss::PusVersion;
use crate::CCSDS_HEADER_LEN;
use crate::ecss::{PusError, PusPacket, PusVersion, CRC_CCITT_FALSE};
use crate::ser::SpHeader;
use crate::{CcsdsPacket, PacketError, PacketType, CCSDS_HEADER_LEN};
use alloc::vec::Vec;
use core::mem::size_of;
use delegate::delegate;
use serde::{Deserialize, Serialize};
use zerocopy::AsBytes;
type CrcType = u16;
@ -32,7 +37,7 @@ pub trait PusTcSecondaryHeader {
pub mod zc {
use crate::ecss::{PusError, PusVersion};
use crate::tc::{ser, PusTcSecondaryHeader};
use crate::tc::PusTcSecondaryHeader;
use zerocopy::{AsBytes, FromBytes, NetworkEndian, Unaligned, U16};
#[derive(FromBytes, AsBytes, Unaligned)]
@ -44,9 +49,9 @@ pub mod zc {
source_id: U16<NetworkEndian>,
}
impl TryFrom<ser::PusTcDataFieldHeader> for PusTcDataFieldHeader {
impl TryFrom<crate::tc::PusTcDataFieldHeader> for PusTcDataFieldHeader {
type Error = PusError;
fn try_from(value: ser::PusTcDataFieldHeader) -> Result<Self, Self::Error> {
fn try_from(value: crate::tc::PusTcDataFieldHeader) -> Result<Self, Self::Error> {
if value.version != PusVersion::PusC {
return Err(PusError::VersionNotSupported(value.version));
}
@ -88,330 +93,404 @@ pub mod zc {
}
}
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,
}
#[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
}
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,
})
}
fn service(&self) -> u8 {
self.service
}
impl PusTcDataFieldHeader {
pub fn new(service: u8, subservice: u8, ack: u8) -> Self {
PusTcDataFieldHeader {
service,
subservice,
ack: ack & 0b1111,
source_id: 0,
version: PusVersion::PusC,
}
}
fn subservice(&self) -> u8 {
self.subservice
}
#[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>,
fn source_id(&self) -> u16 {
self.source_id
}
}
impl TryFrom<zc::PusTcDataFieldHeader> for PusTcDataFieldHeader {
type Error = ();
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;
});
fn try_from(value: 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_simple(service: u8, subservice: u8) -> Self {
PusTcDataFieldHeader {
service,
subservice,
ack: ACK_ALL,
source_id: 0,
version: PusVersion::PusC,
}
}
pub fn new(service: u8, subservice: u8, ack: u8, source_id: u16) -> Self {
PusTcDataFieldHeader {
service,
subservice,
ack: ack & 0b1111,
source_id,
version: PusVersion::PusC,
}
}
}
#[derive(PartialEq, Copy, Clone, Serialize, Deserialize)]
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.
pub calc_crc_on_serialization: bool,
#[serde(skip)]
raw_data: Option<&'slice [u8]>,
app_data: Option<&'slice [u8]>,
crc16: Option<u16>,
}
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.
///
/// # Arguments
///
/// * `sph` - Space packet header information. The correct packet type will be set
/// automatically
/// * `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
/// * `app_data` - Custom application data
pub fn new(
sph: &mut SpHeader,
pus_params: PusTcDataFieldHeader,
app_data: Option<&'slice [u8]>,
set_ccsds_len: bool,
) -> Self {
sph.packet_id.ptype = PacketType::Tc;
let mut pus_tc = PusTc {
sph: *sph,
raw_data: None,
app_data,
data_field_header: pus_params,
calc_crc_on_serialization: true,
crc16: None,
};
if set_ccsds_len {
pus_tc.set_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
pub fn new_simple(
sph: &mut SpHeader,
service: u8,
subservice: u8,
app_data: Option<&'slice [u8]>,
set_ccsds_len: bool,
) -> Self {
Self::new(
sph,
PusTcDataFieldHeader::new(service, subservice, ACK_ALL, 0),
app_data,
set_ccsds_len,
)
}
pub fn len_packed(&self) -> usize {
let mut length = PUS_TC_MIN_LEN_WITHOUT_APP_DATA;
if let Some(app_data) = self.app_data {
length += app_data.len();
}
length
}
pub fn set_ack_field(&mut self, ack: u8) -> bool {
if ack > 0b1111 {
return false;
}
self.data_field_header.ack = ack & 0b1111;
true
}
pub fn set_source_id(&mut self, source_id: u16) {
self.data_field_header.source_id = source_id;
}
pub fn set_apid(&mut self, apid: u16) -> bool {
self.sph.packet_id.set_apid(apid)
}
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) {
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(bytes: &[u8]) -> u16 {
let mut digest = CRC_CCITT_FALSE.digest();
digest.update(bytes);
digest.finalize()
}
pub fn calc_own_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 = 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_own_crc16();
}
pub fn copy_to_buf(&self, slice: &mut (impl AsMut<[u8]> + ?Sized)) -> Result<usize, PusError> {
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::<zc::PusTcDataFieldHeader>();
let mut total_size = 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 = 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();
}
let crc16;
if self.calc_crc_on_serialization {
crc16 = Self::calc_crc16(&mut_slice[0..curr_idx])
} else if self.crc16.is_none() {
return Err(PusError::CrcCalculationMissing);
} else {
crc16 = self.crc16.unwrap();
}
mut_slice[curr_idx..curr_idx + 2].copy_from_slice(crc16.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 = 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 = 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)
}
/// Create a PusTc instance from a raw slice. On success, it returns a tuple containing
/// the instance and the found byte length of the packet
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 = crate::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]),
},
calc_crc_on_serialization: false,
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) -> crate::PacketId;
fn psc(&self) -> crate::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::tc::{PusTc, PusTcDataFieldHeader, PusTcSecondaryHeader};
use crate::{CcsdsPacket, PacketType};
use alloc::vec::Vec;
use postcard::to_stdvec;
fn base_ping_tc_full_ctor() -> PusTc<'static> {
let mut sph = SpHeader::tc(0x02, 0x34, 0).unwrap();
let tc_header = PusTcDataFieldHeader::new_simple(17, 1);
PusTc::new(&mut sph, tc_header, None, true)
}
#[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();
fn test_tc_fields() {
let mut pus_tc = base_ping_tc_full_ctor();
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);
}
#[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 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!(size, 13);
}
#[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 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");
@ -435,10 +514,12 @@ mod tests {
assert_eq!(PusPacket::service(tc), 17);
assert_eq!(PusPacket::subservice(tc), 1);
assert_eq!(tc.user_data(), None);
assert_eq!(tc.seq_count(), 0x34);
assert_eq!(tc.source_id(), 0);
assert_eq!(tc.apid(), 0x01);
assert_eq!(tc.apid(), 0x02);
assert_eq!(tc.ack_flags(), ACK_ALL);
assert_eq!(tc.sph, SpHeader::tc(0x01, 0, 6).unwrap());
assert_eq!(tc.sph, SpHeader::tc(0x02, 0x34, 6).unwrap());
assert_eq!(tc.len_packed(), 13);
}
fn verify_test_tc_raw(ptype: PacketType, slice: &impl AsRef<[u8]>) {
@ -452,11 +533,11 @@ mod tests {
assert_eq!(slice[0], 0x08);
}
// APID is 0x01
assert_eq!(slice[1], 0x01);
assert_eq!(slice[1], 0x02);
// Unsegmented packets
assert_eq!(slice[2], 0xc0);
// Sequence count 0
assert_eq!(slice[3], 0x00);
// Sequence count 0x34
assert_eq!(slice[3], 0x34);
assert_eq!(slice[4], 0x00);
// Space data length of 6 equals total packet length of 13
assert_eq!(slice[5], 0x06);
@ -470,7 +551,7 @@ mod tests {
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);
assert_eq!(slice[11], 0xee);
assert_eq!(slice[12], 0x63);
}
}