Return both simulation and scheduler at init

asynchronix-util/examples/observables.rs

@@ -182,7 +182,10 @@ fn main() -> Result<(), SimulationError> {
     let t0 = MonotonicTime::EPOCH;
 
     // Assembly and initialization.
-    let mut simu = SimInit::new().add_model(proc, proc_mbox, "proc").init(t0)?;
+    let mut simu = SimInit::new()
+        .add_model(proc, proc_mbox, "proc")
+        .init(t0)?
+        .0;
 
     // ----------
     // Simulation.

asynchronix/examples/assembly.rs

@@ -133,12 +133,10 @@ fn main() -> Result<(), SimulationError> {
     let t0 = MonotonicTime::EPOCH;
 
     // Assembly and initialization.
-    let mut simu = SimInit::new()
+    let (mut simu, scheduler) = SimInit::new()
         .add_model(assembly, assembly_mbox, "assembly")
         .init(t0)?;
 
-    let scheduler = simu.scheduler();
-
     // ----------
     // Simulation.
     // ----------

asynchronix/examples/espresso_machine.rs

@@ -366,14 +366,12 @@ fn main() -> Result<(), SimulationError> {
     let t0 = MonotonicTime::EPOCH;
 
     // Assembly and initialization.
-    let mut simu = SimInit::new()
+    let (mut simu, scheduler) = SimInit::new()
         .add_model(controller, controller_mbox, "controller")
         .add_model(pump, pump_mbox, "pump")
         .add_model(tank, tank_mbox, "tank")
         .init(t0)?;
 
-    let scheduler = simu.scheduler();
-
     // ----------
     // Simulation.
     // ----------

asynchronix/examples/external_input.rs

@@ -210,7 +210,8 @@ fn main() -> Result<(), SimulationError> {
     let mut simu = SimInit::new()
         .add_model(listener, listener_mbox, "listener")
         .set_clock(AutoSystemClock::new())
-        .init(t0)?;
+        .init(t0)?
+        .0;
 
     // ----------
     // Simulation.

asynchronix/examples/power_supply.rs

@@ -144,7 +144,8 @@ fn main() -> Result<(), SimulationError> {
         .add_model(load1, load1_mbox, "load1")
         .add_model(load2, load2_mbox, "load2")
         .add_model(load3, load3_mbox, "load3")
-        .init(t0)?;
+        .init(t0)?
+        .0;
 
     // ----------
     // Simulation.

asynchronix/examples/stepper_motor.rs

@@ -206,13 +206,11 @@ fn main() -> Result<(), asynchronix::simulation::SimulationError> {
     let t0 = MonotonicTime::EPOCH;
 
     // Assembly and initialization.
-    let mut simu = SimInit::new()
+    let (mut simu, scheduler) = SimInit::new()
         .add_model(driver, driver_mbox, "driver")
         .add_model(motor, motor_mbox, "motor")
         .init(t0)?;
 
-    let scheduler = simu.scheduler();
-
     // ----------
     // Simulation.
     // ----------

asynchronix/src/grpc/run.rs

@@ -102,9 +102,10 @@ impl simulation_server::Simulation for GrpcSimulationService {
 
         let (reply, bench) = self.initializer().init(request);
 
-        if let Some((simulation, endpoint_registry)) = bench {
+        if let Some((simulation, scheduler, endpoint_registry)) = bench {
             *self.controller() = ControllerService::Started {
                 simulation,
+                scheduler,
                 event_source_registry: endpoint_registry.event_source_registry,
                 query_source_registry: endpoint_registry.query_source_registry,
                 key_registry: KeyRegistry::default(),

asynchronix/src/grpc/services.rs

@@ -8,7 +8,7 @@ use prost_types::Timestamp;
 use tai_time::MonotonicTime;
 
 use super::codegen::simulation::{Error, ErrorCode};
-use crate::simulation::ExecutionError;
+use crate::simulation::{ExecutionError, SchedulingError};
 
 pub(crate) use controller_service::ControllerService;
 pub(crate) use init_service::InitService;
@@ -47,6 +47,18 @@ fn map_execution_error(error: ExecutionError) -> Error {
     to_error(error_code, error_message)
 }
 
+/// Map a `SchedulingError` to a Protobuf error.
+fn map_scheduling_error(error: SchedulingError) -> Error {
+    let error_code = match error {
+        SchedulingError::InvalidScheduledTime => ErrorCode::InvalidDeadline,
+        SchedulingError::NullRepetitionPeriod => ErrorCode::InvalidPeriod,
+    };
+
+    let error_message = error.to_string();
+
+    to_error(error_code, error_message)
+}
+
 /// Attempts a cast from a `MonotonicTime` to a protobuf `Timestamp`.
 ///
 /// This will fail if the time is outside the protobuf-specified range for

asynchronix/src/grpc/services/controller_service.rs

@@ -4,12 +4,13 @@ use prost_types::Timestamp;
 
 use crate::grpc::key_registry::{KeyRegistry, KeyRegistryId};
 use crate::registry::{EventSourceRegistry, QuerySourceRegistry};
-use crate::simulation::Simulation;
+use crate::simulation::{Scheduler, Simulation};
 
 use super::super::codegen::simulation::*;
 use super::{
-    map_execution_error, monotonic_to_timestamp, simulation_not_started_error,
+    map_execution_error, map_scheduling_error, monotonic_to_timestamp,
-    timestamp_to_monotonic, to_error, to_positive_duration, to_strictly_positive_duration,
+    simulation_not_started_error, timestamp_to_monotonic, to_error, to_positive_duration,
+    to_strictly_positive_duration,
 };
 
 /// Protobuf-based simulation manager.
@@ -24,6 +25,7 @@ pub(crate) enum ControllerService {
     NotStarted,
     Started {
         simulation: Simulation,
+        scheduler: Scheduler,
         event_source_registry: EventSourceRegistry,
         query_source_registry: QuerySourceRegistry,
         key_registry: KeyRegistry,
@@ -147,6 +149,7 @@ impl ControllerService {
         let reply = match self {
             Self::Started {
                 simulation,
+                scheduler,
                 event_source_registry,
                 key_registry,
                 ..
@@ -224,7 +227,9 @@ impl ControllerService {
                     }
                 });
 
-                simulation.process(action).map_err(map_execution_error)?;
+                scheduler
+                    .schedule(deadline, action)
+                    .map_err(map_scheduling_error)?;
 
                 Ok(key_id)
             }(),

asynchronix/src/grpc/services/init_service.rs

@@ -2,8 +2,7 @@ use ciborium;
 use serde::de::DeserializeOwned;
 
 use crate::registry::EndpointRegistry;
-use crate::simulation::SimInit;
+use crate::simulation::{Scheduler, SimInit, Simulation};
-use crate::simulation::Simulation;
 
 use super::{map_execution_error, timestamp_to_monotonic, to_error};
 
@@ -51,7 +50,7 @@ impl InitService {
     pub(crate) fn init(
         &mut self,
         request: InitRequest,
-    ) -> (InitReply, Option<(Simulation, EndpointRegistry)>) {
+    ) -> (InitReply, Option<(Simulation, Scheduler, EndpointRegistry)>) {
         let start_time = request.time.unwrap_or_default();
 
         let reply = (self.sim_gen)(&request.cfg)
@@ -73,7 +72,7 @@ impl InitService {
                         sim_init
                             .init(start_time)
                             .map_err(map_execution_error)
-                            .map(|sim| (sim, registry))
+                            .map(|(sim, sched)| (sim, sched, registry))
                     })
             });
 

asynchronix/src/lib.rs

@@ -325,7 +325,8 @@
 //! #     .add_model(multiplier2, multiplier2_mbox, "multiplier2")
 //! #     .add_model(delay1, delay1_mbox, "delay1")
 //! #     .add_model(delay2, delay2_mbox, "delay2")
-//! #     .init(t0)?;
+//! #     .init(t0)?
+//! #     .0;
 //! // Send a value to the first multiplier.
 //! simu.process_event(Multiplier::input, 21.0, &input_address)?;
 //!

asynchronix/src/simulation.rs

@@ -107,7 +107,7 @@
 //! # impl Model for ModelB {};
 //! # let modelA_addr = Mailbox::<ModelA>::new().address();
 //! # let modelB_addr = Mailbox::<ModelB>::new().address();
-//! # let mut simu = SimInit::new().init(MonotonicTime::EPOCH)?;
+//! # let mut simu = SimInit::new().init(MonotonicTime::EPOCH)?.0;
 //! simu.process_event(
 //!     |m: &mut ModelA| {
 //!         m.output.connect(ModelB::input, modelB_addr);
@@ -164,11 +164,11 @@ thread_local! { pub(crate) static CURRENT_MODEL_ID: Cell<ModelId> = const { Cell
 ///
 /// A [`Simulation`] object also manages an event scheduling queue and
 /// simulation time. The scheduling queue can be accessed from the simulation
-/// itself, but also from models via the optional
+/// itself, but also from models via the optional [`&mut
-/// [`&mut Context`](crate::model::Context) argument of input and replier port
+/// Context`](crate::model::Context) argument of input and replier port methods.
-/// methods.  Likewise, simulation time can be accessed with the
+/// Likewise, simulation time can be accessed with the [`Simulation::time()`]
-/// [`Simulation::time()`] method, or from models with the
+/// method, or from models with the
-/// [`LocalScheduler::time()`](crate::simulation::LocalScheduler::time) method.
+/// [`Context::time()`](crate::simulation::Context::time) method.
 ///
 /// Events and queries can be scheduled immediately, *i.e.* for the current
 /// simulation time, using [`process_event()`](Simulation::process_event) and
@@ -276,11 +276,6 @@ impl Simulation {
         self.step_until_unchecked(target_time)
     }
 
-    /// Returns an owned scheduler handle.
-    pub fn scheduler(&self) -> Scheduler {
-        Scheduler::new(self.scheduler_queue.clone(), self.time.reader())
-    }
-
     /// Processes an action immediately, blocking until completion.
     ///
     /// Simulation time remains unchanged. The periodicity of the action, if

asynchronix/src/simulation/scheduler.rs

@@ -69,8 +69,6 @@ impl Scheduler {
     ///
     /// Events scheduled for the same time and targeting the same model are
     /// guaranteed to be processed according to the scheduling order.
-    ///
-    /// See also: [`LocalScheduler::schedule_event`](LocalScheduler::schedule_event).
     pub fn schedule_event<M, F, T, S>(
         &self,
         deadline: impl Deadline,
@@ -95,8 +93,6 @@ impl Scheduler {
     ///
     /// Events scheduled for the same time and targeting the same model are
     /// guaranteed to be processed according to the scheduling order.
-    ///
-    /// See also: [`LocalScheduler::schedule_keyed_event`](LocalScheduler::schedule_keyed_event).
     pub fn schedule_keyed_event<M, F, T, S>(
         &self,
         deadline: impl Deadline,
@@ -121,8 +117,6 @@ impl Scheduler {
     ///
     /// Events scheduled for the same time and targeting the same model are
     /// guaranteed to be processed according to the scheduling order.
-    ///
-    /// See also: [`LocalScheduler::schedule_periodic_event`](LocalScheduler::schedule_periodic_event).
     pub fn schedule_periodic_event<M, F, T, S>(
         &self,
         deadline: impl Deadline,
@@ -155,8 +149,6 @@ impl Scheduler {
     ///
     /// Events scheduled for the same time and targeting the same model are
     /// guaranteed to be processed according to the scheduling order.
-    ///
-    /// See also: [`LocalScheduler::schedule_keyed_periodic_event`](LocalScheduler::schedule_keyed_periodic_event).
     pub fn schedule_keyed_periodic_event<M, F, T, S>(
         &self,
         deadline: impl Deadline,

asynchronix/src/simulation/sim_init.rs

@@ -11,7 +11,8 @@ use crate::util::priority_queue::PriorityQueue;
 use crate::util::sync_cell::SyncCell;
 
 use super::{
-    add_model, ExecutionError, Mailbox, GlobalScheduler, SchedulerQueue, Signal, Simulation,
+    add_model, ExecutionError, GlobalScheduler, Mailbox, Scheduler, SchedulerQueue, Signal,
+    Simulation,
 };
 
 /// Builder for a multi-threaded, discrete-event simulation.
@@ -146,10 +147,17 @@ impl SimInit {
     /// Builds a simulation initialized at the specified simulation time,
     /// executing the [`Model::init()`](crate::model::Model::init) method on all
     /// model initializers.
-    pub fn init(mut self, start_time: MonotonicTime) -> Result<Simulation, ExecutionError> {
+    ///
+    /// The simulation object and its associated scheduler are returned upon
+    /// success.
+    pub fn init(
+        mut self,
+        start_time: MonotonicTime,
+    ) -> Result<(Simulation, Scheduler), ExecutionError> {
         self.time.write(start_time);
         self.clock.synchronize(start_time);
 
+        let scheduler = Scheduler::new(self.scheduler_queue.clone(), self.time.reader());
         let mut simulation = Simulation::new(
             self.executor,
             self.scheduler_queue,
@@ -162,7 +170,7 @@ impl SimInit {
         );
         simulation.run()?;
 
-        Ok(simulation)
+        Ok((simulation, scheduler))
     }
 }
 

asynchronix/tests/integration/model_scheduling.rs

@@ -36,7 +36,8 @@ fn model_schedule_event(num_threads: usize) {
     let mut simu = SimInit::with_num_threads(num_threads)
         .add_model(model, mbox, "")
         .init(t0)
-        .unwrap();
+        .unwrap()
+        .0;
 
     simu.process_event(TestModel::trigger, (), addr).unwrap();
     simu.step().unwrap();
@@ -82,7 +83,8 @@ fn model_cancel_future_keyed_event(num_threads: usize) {
     let mut simu = SimInit::with_num_threads(num_threads)
         .add_model(model, mbox, "")
         .init(t0)
-        .unwrap();
+        .unwrap()
+        .0;
 
     simu.process_event(TestModel::trigger, (), addr).unwrap();
     simu.step().unwrap();
@@ -129,7 +131,8 @@ fn model_cancel_same_time_keyed_event(num_threads: usize) {
     let mut simu = SimInit::with_num_threads(num_threads)
         .add_model(model, mbox, "")
         .init(t0)
-        .unwrap();
+        .unwrap()
+        .0;
 
     simu.process_event(TestModel::trigger, (), addr).unwrap();
     simu.step().unwrap();
@@ -172,7 +175,8 @@ fn model_schedule_periodic_event(num_threads: usize) {
     let mut simu = SimInit::with_num_threads(num_threads)
         .add_model(model, mbox, "")
         .init(t0)
-        .unwrap();
+        .unwrap()
+        .0;
 
     simu.process_event(TestModel::trigger, (), addr).unwrap();
 
@@ -224,7 +228,8 @@ fn model_cancel_periodic_event(num_threads: usize) {
     let mut simu = SimInit::with_num_threads(num_threads)
         .add_model(model, mbox, "")
         .init(t0)
-        .unwrap();
+        .unwrap()
+        .0;
 
     simu.process_event(TestModel::trigger, (), addr).unwrap();
 

asynchronix/tests/integration/simulation_clock_sync.rs

@@ -39,14 +39,13 @@ fn clock_sync(
     let addr = mbox.address();
 
     let t0 = MonotonicTime::EPOCH;
-    let mut simu = SimInit::with_num_threads(num_threads)
+    let (mut simu, scheduler) = SimInit::with_num_threads(num_threads)
         .add_model(model, mbox, "test")
         .set_clock(clock)
         .set_clock_tolerance(clock_tolerance)
         .init(t0)
         .unwrap();
 
-    let scheduler = simu.scheduler();
     let mut delta = Duration::ZERO;
     for tick_ms in ticks_ms {
         let tick = Duration::from_millis(*tick_ms);

asynchronix/tests/integration/simulation_deadlock.rs

@@ -45,7 +45,8 @@ fn deadlock_on_mailbox_overflow(num_threads: usize) {
     let mut simu = SimInit::with_num_threads(num_threads)
         .add_model(model, mbox, MODEL_NAME)
         .init(t0)
-        .unwrap();
+        .unwrap()
+        .0;
 
     match simu.process_event(TestModel::activate_output, (), addr) {
         Err(ExecutionError::Deadlock(deadlock_info)) => {
@@ -80,7 +81,8 @@ fn deadlock_on_query_loopback(num_threads: usize) {
     let mut simu = SimInit::with_num_threads(num_threads)
         .add_model(model, mbox, MODEL_NAME)
         .init(t0)
-        .unwrap();
+        .unwrap()
+        .0;
 
     match simu.process_query(TestModel::activate_requestor, (), addr) {
         Err(ExecutionError::Deadlock(deadlock_info)) => {
@@ -124,7 +126,8 @@ fn deadlock_on_transitive_query_loopback(num_threads: usize) {
         .add_model(model1, mbox1, MODEL1_NAME)
         .add_model(model2, mbox2, MODEL2_NAME)
         .init(t0)
-        .unwrap();
+        .unwrap()
+        .0;
 
     match simu.process_query(TestModel::activate_requestor, (), addr1) {
         Err(ExecutionError::Deadlock(deadlock_info)) => {
@@ -181,7 +184,8 @@ fn deadlock_on_multiple_query_loopback(num_threads: usize) {
         .add_model(model1, mbox1, MODEL1_NAME)
         .add_model(model2, mbox2, MODEL2_NAME)
         .init(t0)
-        .unwrap();
+        .unwrap()
+        .0;
 
     match simu.process_query(TestModel::activate_requestor, (), addr0) {
         Err(ExecutionError::Deadlock(deadlock_info)) => {

asynchronix/tests/integration/simulation_panic.rs

@@ -48,7 +48,7 @@ fn model_panic(num_threads: usize) {
 
     // Run the simulation.
     let t0 = MonotonicTime::EPOCH;
-    let mut simu = siminit.init(t0).unwrap();
+    let mut simu = siminit.init(t0).unwrap().0;
 
     match simu.process_event(TestModel::countdown_in, INIT_COUNTDOWN, addr0) {
         Err(ExecutionError::Panic { model, payload }) => {

asynchronix/tests/integration/simulation_scheduling.rs

@@ -6,7 +6,7 @@ use std::time::Duration;
 use asynchronix::model::Context;
 use asynchronix::model::Model;
 use asynchronix::ports::{EventBuffer, Output};
-use asynchronix::simulation::{Address, Mailbox, SimInit, Simulation};
+use asynchronix::simulation::{Address, Mailbox, Scheduler, SimInit, Simulation};
 use asynchronix::time::MonotonicTime;
 
 const MT_NUM_THREADS: usize = 4;
@@ -32,7 +32,12 @@ impl<T: Clone + Send + 'static> Model for PassThroughModel<T> {}
 fn passthrough_bench<T: Clone + Send + 'static>(
     num_threads: usize,
     t0: MonotonicTime,
-) -> (Simulation, Address<PassThroughModel<T>>, EventBuffer<T>) {
+) -> (
+    Simulation,
+    Scheduler,
+    Address<PassThroughModel<T>>,
+    EventBuffer<T>,
+) {
     // Bench assembly.
     let mut model = PassThroughModel::new();
     let mbox = Mailbox::new();
@@ -41,19 +46,17 @@ fn passthrough_bench<T: Clone + Send + 'static>(
     model.output.connect_sink(&out_stream);
     let addr = mbox.address();
 
-    let simu = SimInit::with_num_threads(num_threads)
+    let (simu, scheduler) = SimInit::with_num_threads(num_threads)
         .add_model(model, mbox, "")
         .init(t0)
         .unwrap();
 
-    (simu, addr, out_stream)
+    (simu, scheduler, addr, out_stream)
 }
 
 fn schedule_events(num_threads: usize) {
     let t0 = MonotonicTime::EPOCH;
-    let (mut simu, addr, mut output) = passthrough_bench(num_threads, t0);
+    let (mut simu, scheduler, addr, mut output) = passthrough_bench(num_threads, t0);
-
-    let scheduler = simu.scheduler();
 
     // Queue 2 events at t0+3s and t0+2s, in reverse order.
     scheduler
@@ -92,9 +95,7 @@ fn schedule_events(num_threads: usize) {
 
 fn schedule_keyed_events(num_threads: usize) {
     let t0 = MonotonicTime::EPOCH;
-    let (mut simu, addr, mut output) = passthrough_bench(num_threads, t0);
+    let (mut simu, scheduler, addr, mut output) = passthrough_bench(num_threads, t0);
-
-    let scheduler = simu.scheduler();
 
     let event_t1 = scheduler
         .schedule_keyed_event(
@@ -133,9 +134,7 @@ fn schedule_keyed_events(num_threads: usize) {
 
 fn schedule_periodic_events(num_threads: usize) {
     let t0 = MonotonicTime::EPOCH;
-    let (mut simu, addr, mut output) = passthrough_bench(num_threads, t0);
+    let (mut simu, scheduler, addr, mut output) = passthrough_bench(num_threads, t0);
-
-    let scheduler = simu.scheduler();
 
     // Queue 2 periodic events at t0 + 3s + k*2s.
     scheduler
@@ -172,9 +171,7 @@ fn schedule_periodic_events(num_threads: usize) {
 
 fn schedule_periodic_keyed_events(num_threads: usize) {
     let t0 = MonotonicTime::EPOCH;
-    let (mut simu, addr, mut output) = passthrough_bench(num_threads, t0);
+    let (mut simu, scheduler, addr, mut output) = passthrough_bench(num_threads, t0);
-
-    let scheduler = simu.scheduler();
 
     // Queue 2 periodic events at t0 + 3s + k*2s.
     scheduler
@@ -292,6 +289,7 @@ fn timestamp_bench(
     clock: impl Clock + 'static,
 ) -> (
     Simulation,
+    Scheduler,
     Address<TimestampModel>,
     EventBuffer<(Instant, SystemTime)>,
 ) {
@@ -303,13 +301,13 @@ fn timestamp_bench(
     model.stamp.connect_sink(&stamp_stream);
     let addr = mbox.address();
 
-    let simu = SimInit::with_num_threads(num_threads)
+    let (simu, scheduler) = SimInit::with_num_threads(num_threads)
         .add_model(model, mbox, "")
         .set_clock(clock)
         .init(t0)
         .unwrap();
 
-    (simu, addr, stamp_stream)
+    (simu, scheduler, addr, stamp_stream)
 }
 
 #[cfg(not(miri))]
@@ -335,9 +333,7 @@ fn system_clock_from_instant(num_threads: usize) {
 
         let clock = SystemClock::from_instant(simulation_ref, wall_clock_ref);
 
-        let (mut simu, addr, mut stamp) = timestamp_bench(num_threads, t0, clock);
+        let (mut simu, scheduler, addr, mut stamp) = timestamp_bench(num_threads, t0, clock);
-
-        let scheduler = simu.scheduler();
 
         // Queue a single event at t0 + 0.1s.
         scheduler
@@ -391,9 +387,7 @@ fn system_clock_from_system_time(num_threads: usize) {
 
         let clock = SystemClock::from_system_time(simulation_ref, wall_clock_ref);
 
-        let (mut simu, addr, mut stamp) = timestamp_bench(num_threads, t0, clock);
+        let (mut simu, scheduler, addr, mut stamp) = timestamp_bench(num_threads, t0, clock);
-
-        let scheduler = simu.scheduler();
 
         // Queue a single event at t0 + 0.1s.
         scheduler
@@ -435,11 +429,10 @@ fn auto_system_clock(num_threads: usize) {
     let t0 = MonotonicTime::EPOCH;
     const TOLERANCE: f64 = 0.005; // [s]
 
-    let (mut simu, addr, mut stamp) = timestamp_bench(num_threads, t0, AutoSystemClock::new());
+    let (mut simu, scheduler, addr, mut stamp) =
+        timestamp_bench(num_threads, t0, AutoSystemClock::new());
     let instant_t0 = Instant::now();
 
-    let scheduler = simu.scheduler();
-
     // Queue a periodic event at t0 + 0.2s + k*0.2s.
     scheduler
         .schedule_periodic_event(

asynchronix/tests/integration/simulation_timeout.rs

@@ -51,7 +51,8 @@ fn timeout_untriggered(num_threads: usize) {
         .add_model(model, mbox, "test")
         .set_timeout(Duration::from_secs(1))
         .init(t0)
-        .unwrap();
+        .unwrap()
+        .0;
 
     assert!(simu.process_event(TestModel::input, (), addr).is_ok());
 }
@@ -69,7 +70,8 @@ fn timeout_triggered(num_threads: usize) {
         .add_model(model, mbox, "test")
         .set_timeout(Duration::from_secs(1))
         .init(t0)
-        .unwrap();
+        .unwrap()
+        .0;
 
     assert!(matches!(
         simu.process_event(TestModel::input, (), addr),