Merge branch 'main' into add-timestamp-to-sim-request

README.md

@@ -24,11 +24,6 @@ A lot of the architecture and general design considerations are based on the
 through the 2 missions [FLP](https://www.irs.uni-stuttgart.de/en/research/satellitetechnology-and-instruments/smallsatelliteprogram/flying-laptop/)
 and [EIVE](https://www.irs.uni-stuttgart.de/en/research/satellitetechnology-and-instruments/smallsatelliteprogram/EIVE/).
 
-This framework is in the early stages of development. Important features are missing. New releases
-with breaking changes are released regularly, with all changes documented inside respective
-changelog files. You should only use this framework if your are willing to work in this
-environment.
-
 # Overview
 
 This project currently contains following crates:

satrs-book/src/communication.md

@@ -17,7 +17,7 @@ it is still centered around small packets. `sat-rs` provides support for these E
 standards and also attempts to fill the gap to the internet protocol by providing the following
 components.
 
-1. [UDP TMTC Server](https://docs.rs/satrs/latest/satrs/hal/host/udp_server/index.html).
+1. [UDP TMTC Server](https://docs.rs/satrs/latest/satrs/hal/std/udp_server/index.html).
    UDP is already packet based which makes it an excellent fit for exchanging space packets.
 2. [TCP TMTC Server Components](https://docs.rs/satrs/latest/satrs/hal/std/tcp_server/index.html).
    TCP is a stream based protocol, so the library provides building blocks to parse telemetry
@@ -39,8 +39,12 @@ task might be to store all arriving telemetry persistently. This is especially i
 space systems which do not have permanent contact like low-earth-orbit (LEO) satellites.
 
 The most important task of a TC source is to deliver the telecommands to the correct recipients.
-For modern component oriented software using message passing, this usually includes staged
-demultiplexing components to determine where a command needs to be sent.
+For component oriented software using message passing, this usually includes staged demultiplexing
+components to determine where a command needs to be sent.
+
+Using a generic concept of a TC source and a TM sink as part of the software design simplifies
+the flexibility of the TMTC infrastructure: Newly added TM generators and TC receiver only have to
+forward their generated or received packets to those handler objects.
 
 # Low-level protocols and the bridge to the communcation subsystem
 

satrs-book/src/modes-and-health.md

@@ -1,19 +1,20 @@
 # Modes
 
-Modes are an extremely useful concept for complex system in general. They also allow simplified
-system reasoning for both system operators and OBSW developers. They model the behaviour of a
-component and also provide observability of a system. A few examples of how to model
-different components of a space system with modes will be given.
+Modes are an extremely useful concept to model complex systems. They allow simplified
+system reasoning for both system operators and OBSW developers. They also provide a way to alter
+the behaviour of a component and also provide observability of a system. A few examples of how to
+model the mode of different components within a space system with modes will be given.
 
-## Modelling a pyhsical devices with modes
+## Pyhsical device component with modes
 
 The following simple mode scheme with the following three mode
 
 - `OFF`
 - `ON`
 - `NORMAL`
 
-can be applied to a large number of simpler devices of a remote system, for example sensors.
+can be applied to a large number of simpler device controllers of a remote system, for example
+sensors.
 
 1. `OFF` means that a device is physically switched off, and the corresponding software component
 does not poll the device regularly.
@@ -31,7 +32,7 @@ for the majority of devices:
 2. `NORMAL` or `ON` to `OFF`: Any important shutdown configuration or handling must be performed
    before powering off the device.
 
-## Modelling a controller with modes
+## Controller components with modes
 
 Controller components are not modelling physical devices, but a mode scheme is still the best
 way to model most of these components.

satrs-example/satrs-tmtc/main.py → satrs-example/pytmtc/main.py

@@ -103,15 +103,17 @@ def __init__(
 
     def handle_tm(self, apid: int, packet: bytes, _user_args: Any):
         try:
-            pus_tm = PusTelemetry.unpack(packet, time_reader=CdsShortTimestamp.empty())
+            pus_tm = PusTelemetry.unpack(
+                packet, timestamp_len=CdsShortTimestamp.TIMESTAMP_SIZE
+            )
         except ValueError as e:
             _LOGGER.warning("Could not generate PUS TM object from raw data")
             _LOGGER.warning(f"Raw Packet: [{packet.hex(sep=',')}], REPR: {packet!r}")
             raise e
         service = pus_tm.service
         if service == 1:
             tm_packet = Service1Tm.unpack(
-                data=packet, params=UnpackParams(CdsShortTimestamp.empty(), 1, 2)
+                data=packet, params=UnpackParams(CdsShortTimestamp.TIMESTAMP_SIZE, 1, 2)
             )
             res = self.verif_wrapper.add_tm(tm_packet)
             if res is None:
@@ -128,15 +130,17 @@ def handle_tm(self, apid: int, packet: bytes, _user_args: Any):
         elif service == 3:
             _LOGGER.info("No handling for HK packets implemented")
             _LOGGER.info(f"Raw packet: 0x[{packet.hex(sep=',')}]")
-            pus_tm = PusTelemetry.unpack(packet, time_reader=CdsShortTimestamp.empty())
+            pus_tm = PusTelemetry.unpack(
+                packet, timestamp_len=CdsShortTimestamp.TIMESTAMP_SIZE
+            )
             if pus_tm.subservice == 25:
                 if len(pus_tm.source_data) < 8:
                     raise ValueError("No addressable ID in HK packet")
                 json_str = pus_tm.source_data[8:]
                 _LOGGER.info(json_str)
         elif service == 5:
             tm_packet = PusTelemetry.unpack(
-                packet, time_reader=CdsShortTimestamp.empty()
+                packet, timestamp_len=CdsShortTimestamp.TIMESTAMP_SIZE
             )
             src_data = tm_packet.source_data
             event_u32 = EventU32.unpack(src_data)
@@ -145,7 +149,7 @@ def handle_tm(self, apid: int, packet: bytes, _user_args: Any):
                 _LOGGER.info("Received test event")
         elif service == 17:
             tm_packet = Service17Tm.unpack(
-                packet, time_reader=CdsShortTimestamp.empty()
+                packet, timestamp_len=CdsShortTimestamp.TIMESTAMP_SIZE
             )
             if tm_packet.subservice == 2:
                 self.file_logger.info("Received Ping Reply TM[17,2]")
@@ -162,7 +166,7 @@ def handle_tm(self, apid: int, packet: bytes, _user_args: Any):
                 f"The service {service} is not implemented in Telemetry Factory"
             )
             tm_packet = PusTelemetry.unpack(
-                packet, time_reader=CdsShortTimestamp.empty()
+                packet, timestamp_len=CdsShortTimestamp.TIMESTAMP_SIZE
             )
         self.raw_logger.log_tm(pus_tm)
 
@@ -197,15 +201,15 @@ def send_cb(self, send_params: SendCbParams):
             _LOGGER.info(log_entry.log_str)
 
     def queue_finished_cb(self, info: ProcedureWrapper):
-        if info.proc_type == TcProcedureType.DEFAULT:
-            def_proc = info.to_def_procedure()
+        if info.proc_type == TcProcedureType.TREE_COMMANDING:
+            def_proc = info.to_tree_commanding_procedure()
             _LOGGER.info(f"Queue handling finished for command {def_proc.cmd_path}")
 
     def feed_cb(self, info: ProcedureWrapper, wrapper: FeedWrapper):
         q = self.queue_helper
         q.queue_wrapper = wrapper.queue_wrapper
-        if info.proc_type == TcProcedureType.DEFAULT:
-            def_proc = info.to_def_procedure()
+        if info.proc_type == TcProcedureType.TREE_COMMANDING:
+            def_proc = info.to_tree_commanding_procedure()
             assert def_proc.cmd_path is not None
             pus_tc.pack_pus_telecommands(q, def_proc.cmd_path)
 
@@ -256,6 +260,7 @@ def main():
         while True:
             state = tmtc_backend.periodic_op(None)
             if state.request == BackendRequest.TERMINATION_NO_ERROR:
+                tmtc_backend.close_com_if()
                 sys.exit(0)
             elif state.request == BackendRequest.DELAY_IDLE:
                 _LOGGER.info("TMTC Client in IDLE mode")
@@ -270,6 +275,7 @@ def main():
             elif state.request == BackendRequest.CALL_NEXT:
                 pass
     except KeyboardInterrupt:
+        tmtc_backend.close_com_if()
         sys.exit(0)
 
 

satrs-example/satrs-tmtc/requirements.txt → satrs-example/pytmtc/requirements.txt

@@ -1,2 +1,2 @@
-tmtccmd == 8.0.0rc1
+tmtccmd == 8.0.0rc2
 # -e git+https://github.com/robamu-org/tmtccmd@97e5e51101a08b21472b3ddecc2063359f7e307a#egg=tmtccmd

satrs-example/src/acs/mgm.rs

@@ -11,7 +11,7 @@ use std::sync::{Arc, Mutex};
 use satrs::mode::{
     ModeAndSubmode, ModeError, ModeProvider, ModeReply, ModeRequest, ModeRequestHandler,
 };
-use satrs::pus::{EcssTmSenderCore, PusTmVariant};
+use satrs::pus::{EcssTmSender, PusTmVariant};
 use satrs::request::{GenericMessage, MessageMetadata, UniqueApidTargetId};
 use satrs_example::config::components::PUS_MODE_SERVICE;
 
@@ -64,7 +64,7 @@ pub struct MpscModeLeafInterface {
 /// Example MGM device handler strongly based on the LIS3MDL MEMS device.
 #[derive(new)]
 #[allow(clippy::too_many_arguments)]
-pub struct MgmHandlerLis3Mdl<ComInterface: SpiInterface, TmSender: EcssTmSenderCore> {
+pub struct MgmHandlerLis3Mdl<ComInterface: SpiInterface, TmSender: EcssTmSender> {
     id: UniqueApidTargetId,
     dev_str: &'static str,
     mode_interface: MpscModeLeafInterface,
@@ -85,9 +85,7 @@ pub struct MgmHandlerLis3Mdl<ComInterface: SpiInterface, TmSender: EcssTmSenderC
     stamp_helper: TimeStampHelper,
 }
 
-impl<ComInterface: SpiInterface, TmSender: EcssTmSenderCore>
-    MgmHandlerLis3Mdl<ComInterface, TmSender>
-{
+impl<ComInterface: SpiInterface, TmSender: EcssTmSender> MgmHandlerLis3Mdl<ComInterface, TmSender> {
     pub fn periodic_operation(&mut self) {
         self.stamp_helper.update_from_now();
         // Handle requests.
@@ -203,15 +201,15 @@ impl<ComInterface: SpiInterface, TmSender: EcssTmSenderCore>
     }
 }
 
-impl<ComInterface: SpiInterface, TmSender: EcssTmSenderCore> ModeProvider
+impl<ComInterface: SpiInterface, TmSender: EcssTmSender> ModeProvider
     for MgmHandlerLis3Mdl<ComInterface, TmSender>
 {
     fn mode_and_submode(&self) -> ModeAndSubmode {
         self.mode_and_submode
     }
 }
 
-impl<ComInterface: SpiInterface, TmSender: EcssTmSenderCore> ModeRequestHandler
+impl<ComInterface: SpiInterface, TmSender: EcssTmSender> ModeRequestHandler
     for MgmHandlerLis3Mdl<ComInterface, TmSender>
 {
     type Error = ModeError;

satrs-example/src/config.rs

@@ -132,6 +132,7 @@ pub mod components {
         GenericPus = 2,
         Acs = 3,
         Cfdp = 4,
+        Tmtc = 5,
     }
 
     // Component IDs for components with the PUS APID.
@@ -150,6 +151,12 @@ pub mod components {
         Mgm0 = 0,
     }
 
+    #[derive(Copy, Clone, PartialEq, Eq)]
+    pub enum TmtcId {
+        UdpServer = 0,
+        TcpServer = 1,
+    }
+
     pub const PUS_ACTION_SERVICE: UniqueApidTargetId =
         UniqueApidTargetId::new(Apid::GenericPus as u16, PusId::PusAction as u32);
     pub const PUS_EVENT_MANAGEMENT: UniqueApidTargetId =
@@ -166,6 +173,10 @@ pub mod components {
         UniqueApidTargetId::new(Apid::Sched as u16, 0);
     pub const MGM_HANDLER_0: UniqueApidTargetId =
         UniqueApidTargetId::new(Apid::Acs as u16, AcsId::Mgm0 as u32);
+    pub const UDP_SERVER: UniqueApidTargetId =
+        UniqueApidTargetId::new(Apid::Tmtc as u16, TmtcId::UdpServer as u32);
+    pub const TCP_SERVER: UniqueApidTargetId =
+        UniqueApidTargetId::new(Apid::Tmtc as u16, TmtcId::TcpServer as u32);
 }
 
 pub mod pool {

satrs-example/src/events.rs

@@ -5,7 +5,7 @@ use satrs::event_man::{EventMessageU32, EventRoutingError};
 use satrs::params::WritableToBeBytes;
 use satrs::pus::event::EventTmHookProvider;
 use satrs::pus::verification::VerificationReporter;
-use satrs::pus::EcssTmSenderCore;
+use satrs::pus::EcssTmSender;
 use satrs::request::UniqueApidTargetId;
 use satrs::{
     event_man::{
@@ -38,7 +38,7 @@ impl EventTmHookProvider for EventApidSetter {
 
 /// The PUS event handler subscribes for all events and converts them into ECSS PUS 5 event
 /// packets. It also handles the verification completion of PUS event service requests.
-pub struct PusEventHandler<TmSender: EcssTmSenderCore> {
+pub struct PusEventHandler<TmSender: EcssTmSender> {
     event_request_rx: mpsc::Receiver<EventRequestWithToken>,
     pus_event_dispatcher: DefaultPusEventU32Dispatcher<()>,
     pus_event_man_rx: mpsc::Receiver<EventMessageU32>,
@@ -49,7 +49,7 @@ pub struct PusEventHandler<TmSender: EcssTmSenderCore> {
     event_apid_setter: EventApidSetter,
 }
 
-impl<TmSender: EcssTmSenderCore> PusEventHandler<TmSender> {
+impl<TmSender: EcssTmSender> PusEventHandler<TmSender> {
     pub fn new(
         tm_sender: TmSender,
         verif_handler: VerificationReporter,
@@ -177,12 +177,12 @@ impl EventManagerWrapper {
     }
 }
 
-pub struct EventHandler<TmSender: EcssTmSenderCore> {
+pub struct EventHandler<TmSender: EcssTmSender> {
     pub event_man_wrapper: EventManagerWrapper,
     pub pus_event_handler: PusEventHandler<TmSender>,
 }
 
-impl<TmSender: EcssTmSenderCore> EventHandler<TmSender> {
+impl<TmSender: EcssTmSender> EventHandler<TmSender> {
     pub fn new(
         tm_sender: TmSender,
         event_request_rx: mpsc::Receiver<EventRequestWithToken>,

satrs-example/src/interface/mod.rs

@@ -0,0 +1,3 @@
+//! This module contains all component related to the direct interface of the example.
+pub mod tcp;
+pub mod udp;