Implement periodic events

asynchronix/examples/espresso_machine.rs

@@ -104,7 +104,7 @@ impl Controller {
         if state == WaterSenseState::Empty && self.water_sense == WaterSenseState::NotEmpty {
             // If a brew was ongoing, we must cancel it.
             if let Some(key) = self.stop_brew_key.take() {
-                key.cancel_event();
+                key.cancel();
                 self.pump_cmd.send(PumpCommand::Off).await;
             }
         }
@@ -128,7 +128,7 @@ impl Controller {
             self.pump_cmd.send(PumpCommand::Off).await;
 
             // Abort the scheduled call to `stop_brew()`.
-            key.cancel_event();
+            key.cancel();
 
             return;
         }
@@ -204,7 +204,7 @@ impl Tank {
         // schedule a new update.
         if let Some(state) = self.dynamic_state.take() {
             // Abort the scheduled call to `set_empty()`.
-            state.set_empty_key.cancel_event();
+            state.set_empty_key.cancel();
 
             // Update the volume, saturating at 0 in case of rounding errors.
             let time = scheduler.time();
@@ -237,7 +237,7 @@ impl Tank {
         // If the flow rate was non-zero up to now, update the volume.
         if let Some(state) = self.dynamic_state.take() {
             // Abort the scheduled call to `set_empty()`.
-            state.set_empty_key.cancel_event();
+            state.set_empty_key.cancel();
 
             // Update the volume, saturating at 0 in case of rounding errors.
             let elapsed_time = time.duration_since(state.last_volume_update).as_secs_f64();

asynchronix/src/lib.rs

@@ -353,13 +353,11 @@
 //!    process `M1` before `M3`.
 //!
 //! The first guarantee (and only the first) also extends to events scheduled
-//! from a simulation with
+//! from a simulation with a
-//! [`Simulation::schedule_event_in()`](simulation::Simulation::schedule_event_in)
+//! [`Simulation::schedule_*()`](simulation::Simulation::schedule_event_at)
-//! or
+//! method: if the scheduler contains several events to be delivered at the same
-//! [`Simulation::schedule_event_at()`](simulation::Simulation::schedule_event_at):
+//! time to the same model, these events will always be processed in the order
-//! if the scheduler contains several events to be delivered at the same time to
+//! in which they were scheduled.
-//! the same model, these events will always be processed in the order in which
-//! they were scheduled.
 //!
 //! [actor_model]: https://en.wikipedia.org/wiki/Actor_model
 //! [pony]: https://www.ponylang.io/

asynchronix/src/simulation.rs

@@ -136,8 +136,10 @@ use recycle_box::{coerce_box, RecycleBox};
 
 use crate::executor::Executor;
 use crate::model::{InputFn, Model, ReplierFn};
-use crate::time::{self, MonotonicTime, TearableAtomicTime};
+use crate::time::{
-use crate::time::{EventKey, ScheduledTimeError, SchedulerQueue};
+    self, EventKey, MonotonicTime, ScheduledEvent, SchedulerQueue, SchedulingError,
+    TearableAtomicTime,
+};
 use crate::util::futures::SeqFuture;
 use crate::util::slot;
 use crate::util::sync_cell::SyncCell;
@@ -152,10 +154,10 @@ use crate::util::sync_cell::SyncCell;
 /// 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
-/// [`&Scheduler`][crate::time::Scheduler] argument of input and replier port
+/// [`&Scheduler`][time::Scheduler] 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
-/// [`Scheduler::time()`](crate::time::Scheduler::time) method.
+/// [`Scheduler::time()`](time::Scheduler::time) method.
 ///
 /// Events and queries can be scheduled immediately, *i.e.* for the current
 /// simulation time, using [`send_event()`](Simulation::send_event) and
@@ -163,9 +165,8 @@ use crate::util::sync_cell::SyncCell;
 /// until all computations triggered by such event or query have completed. In
 /// the case of queries, the response is returned.
 ///
-/// Events can also be scheduled at a future simulation time using
+/// Events can also be scheduled at a future simulation time using one of the
-/// [`schedule_event_in()`](Simulation::schedule_event_in) or
+/// [`schedule_*()`](Simulation::schedule_event_at) method. These methods queue
-/// [`schedule_event_at()`](Simulation::schedule_event_at). These methods queue
 /// an event without blocking.
 ///
 /// Finally, the [`Simulation`] instance manages simulation time. Calling
@@ -229,66 +230,138 @@ impl Simulation {
     /// This method may block. Once it returns, it is guaranteed that (i) all
     /// events scheduled up to the specified target time have completed and (ii)
     /// the final simulation time matches the target time.
-    pub fn step_until(&mut self, target_time: MonotonicTime) -> Result<(), ScheduledTimeError<()>> {
+    pub fn step_until(&mut self, target_time: MonotonicTime) -> Result<(), SchedulingError> {
         if self.time.read() >= target_time {
-            return Err(ScheduledTimeError(()));
+            return Err(SchedulingError::InvalidScheduledTime);
         }
         self.step_until_unchecked(target_time);
 
         Ok(())
     }
 
-    /// Schedules an event at the lapse of the specified duration.
+    /// Schedules an event at a future time.
     ///
-    /// An error is returned if the specified duration is null.
+    /// An error is returned if the specified time is not in the future of the
+    /// current simulation time.
     ///
     /// Events scheduled for the same time and targeting the same model are
     /// guaranteed to be processed according to the scheduling order.
-    pub fn schedule_event_in<M, F, T, S>(
+    ///
+    /// See also: [`time::Scheduler::schedule_event_at`].
+    pub fn schedule_event_at<M, F, T, S>(
         &mut self,
-        duration: Duration,
+        time: MonotonicTime,
         func: F,
         arg: T,
         address: impl Into<Address<M>>,
-    ) -> Result<(), ScheduledTimeError<T>>
+    ) -> Result<(), SchedulingError>
     where
         M: Model,
         F: for<'a> InputFn<'a, M, T, S>,
         T: Send + Clone + 'static,
+        S: Send + 'static,
     {
-        if duration.is_zero() {
+        if self.time.read() >= time {
-            return Err(ScheduledTimeError(arg));
+            return Err(SchedulingError::InvalidScheduledTime);
         }
-        let time = self.time.read() + duration;
+        time::schedule_event_at_unchecked(time, func, arg, address.into().0, &self.scheduler_queue);
+
+        Ok(())
+    }
+
+    /// Schedules an event at the lapse of the specified duration.
+    ///
+    /// An error is returned if the specified delay is null.
+    ///
+    /// Events scheduled for the same time and targeting the same model are
+    /// guaranteed to be processed according to the scheduling order.
+    ///
+    /// See also: [`time::Scheduler::schedule_event_in`].
+    pub fn schedule_event_in<M, F, T, S>(
+        &mut self,
+        delay: Duration,
+        func: F,
+        arg: T,
+        address: impl Into<Address<M>>,
+    ) -> Result<(), SchedulingError>
+    where
+        M: Model,
+        F: for<'a> InputFn<'a, M, T, S>,
+        T: Send + Clone + 'static,
+        S: Send + 'static,
+    {
+        if delay.is_zero() {
+            return Err(SchedulingError::InvalidScheduledTime);
+        }
+        let time = self.time.read() + delay;
 
         time::schedule_event_at_unchecked(time, func, arg, address.into().0, &self.scheduler_queue);
 
         Ok(())
     }
 
-    /// Schedules an event at the lapse of the specified duration and returns an
+    /// Schedules a cancellable event at a future time and returns an event key.
-    /// event key.
     ///
-    /// An error is returned if the specified duration is null.
+    /// An error is returned if the specified time is not in the future of the
+    /// current simulation time.
     ///
     /// Events scheduled for the same time and targeting the same model are
     /// guaranteed to be processed according to the scheduling order.
-    pub fn schedule_keyed_event_in<M, F, T, S>(
+    ///
+    /// See also: [`time::Scheduler::schedule_keyed_event_at`].
+    pub fn schedule_keyed_event_at<M, F, T, S>(
         &mut self,
-        duration: Duration,
+        time: MonotonicTime,
         func: F,
         arg: T,
         address: impl Into<Address<M>>,
-    ) -> Result<EventKey, ScheduledTimeError<T>>
+    ) -> Result<EventKey, SchedulingError>
     where
         M: Model,
         F: for<'a> InputFn<'a, M, T, S>,
         T: Send + Clone + 'static,
+        S: Send + 'static,
     {
-        if duration.is_zero() {
+        if self.time.read() >= time {
-            return Err(ScheduledTimeError(arg));
+            return Err(SchedulingError::InvalidScheduledTime);
         }
-        let time = self.time.read() + duration;
+        let event_key = time::schedule_keyed_event_at_unchecked(
+            time,
+            func,
+            arg,
+            address.into().0,
+            &self.scheduler_queue,
+        );
+
+        Ok(event_key)
+    }
+
+    /// Schedules a cancellable event at the lapse of the specified duration and
+    /// returns an event key.
+    ///
+    /// An error is returned if the specified delay is null.
+    ///
+    /// Events scheduled for the same time and targeting the same model are
+    /// guaranteed to be processed according to the scheduling order.
+    ///
+    /// See also: [`time::Scheduler::schedule_keyed_event_in`].
+    pub fn schedule_keyed_event_in<M, F, T, S>(
+        &mut self,
+        delay: Duration,
+        func: F,
+        arg: T,
+        address: impl Into<Address<M>>,
+    ) -> Result<EventKey, SchedulingError>
+    where
+        M: Model,
+        F: for<'a> InputFn<'a, M, T, S>,
+        T: Send + Clone + 'static,
+        S: Send + 'static,
+    {
+        if delay.is_zero() {
+            return Err(SchedulingError::InvalidScheduledTime);
+        }
+        let time = self.time.read() + delay;
 
         let event_key = time::schedule_keyed_event_at_unchecked(
             time,
@@ -301,57 +374,168 @@ impl Simulation {
         Ok(event_key)
     }
 
-    /// Schedules an event at a future time.
+    /// Schedules a periodically recurring event at a future time.
     ///
     /// An error is returned if the specified time is not in the future of the
-    /// current simulation time.
+    /// current simulation time or if the specified period is null.
     ///
     /// Events scheduled for the same time and targeting the same model are
     /// guaranteed to be processed according to the scheduling order.
-    pub fn schedule_event_at<M, F, T, S>(
+    ///
+    /// See also: [`time::Scheduler::schedule_periodic_event_at`].
+    pub fn schedule_periodic_event_at<M, F, T, S>(
         &mut self,
         time: MonotonicTime,
+        period: Duration,
         func: F,
         arg: T,
         address: impl Into<Address<M>>,
-    ) -> Result<(), ScheduledTimeError<T>>
+    ) -> Result<(), SchedulingError>
     where
         M: Model,
-        F: for<'a> InputFn<'a, M, T, S>,
+        F: for<'a> InputFn<'a, M, T, S> + Clone,
         T: Send + Clone + 'static,
+        S: Send + 'static,
     {
         if self.time.read() >= time {
-            return Err(ScheduledTimeError(arg));
+            return Err(SchedulingError::InvalidScheduledTime);
         }
-        time::schedule_event_at_unchecked(time, func, arg, address.into().0, &self.scheduler_queue);
+        if period.is_zero() {
+            return Err(SchedulingError::NullRepetitionPeriod);
+        }
+        time::schedule_periodic_event_at_unchecked(
+            time,
+            period,
+            func,
+            arg,
+            address.into().0,
+            &self.scheduler_queue,
+        );
 
         Ok(())
     }
 
-    /// Schedules an event at a future time and returns an event key.
+    /// Schedules a periodically recurring event at the lapse of the specified
+    /// duration.
     ///
-    /// An error is returned if the specified time is not in the future of the
+    /// An error is returned if the specified delay or the specified period are
-    /// current simulation time.
+    /// null.
     ///
     /// Events scheduled for the same time and targeting the same model are
     /// guaranteed to be processed according to the scheduling order.
-    pub fn schedule_keyed_event_at<M, F, T, S>(
+    ///
+    /// See also: [`time::Scheduler::schedule_periodic_event_in`].
+    pub fn schedule_periodic_event_in<M, F, T, S>(
         &mut self,
-        time: MonotonicTime,
+        delay: Duration,
+        period: Duration,
         func: F,
         arg: T,
         address: impl Into<Address<M>>,
-    ) -> Result<EventKey, ScheduledTimeError<T>>
+    ) -> Result<(), SchedulingError>
     where
         M: Model,
-        F: for<'a> InputFn<'a, M, T, S>,
+        F: for<'a> InputFn<'a, M, T, S> + Clone,
         T: Send + Clone + 'static,
+        S: Send + 'static,
+    {
+        if delay.is_zero() {
+            return Err(SchedulingError::InvalidScheduledTime);
+        }
+        if period.is_zero() {
+            return Err(SchedulingError::NullRepetitionPeriod);
+        }
+        let time = self.time.read() + delay;
+
+        time::schedule_periodic_event_at_unchecked(
+            time,
+            period,
+            func,
+            arg,
+            address.into().0,
+            &self.scheduler_queue,
+        );
+
+        Ok(())
+    }
+
+    /// Schedules a cancellable, periodically recurring event at a future time
+    /// and returns an event key.
+    ///
+    /// An error is returned if the specified time is not in the future of the
+    /// current simulation time or if the specified period is null.
+    ///
+    /// Events scheduled for the same time and targeting the same model are
+    /// guaranteed to be processed according to the scheduling order.
+    ///
+    /// See also: [`time::Scheduler::schedule_periodic_keyed_event_at`].
+    pub fn schedule_periodic_keyed_event_at<M, F, T, S>(
+        &mut self,
+        time: MonotonicTime,
+        period: Duration,
+        func: F,
+        arg: T,
+        address: impl Into<Address<M>>,
+    ) -> Result<EventKey, SchedulingError>
+    where
+        M: Model,
+        F: for<'a> InputFn<'a, M, T, S> + Clone,
+        T: Send + Clone + 'static,
+        S: Send + 'static,
     {
         if self.time.read() >= time {
-            return Err(ScheduledTimeError(arg));
+            return Err(SchedulingError::InvalidScheduledTime);
         }
-        let event_key = time::schedule_keyed_event_at_unchecked(
+        if period.is_zero() {
+            return Err(SchedulingError::NullRepetitionPeriod);
+        }
+        let event_key = time::schedule_periodic_keyed_event_at_unchecked(
             time,
+            period,
+            func,
+            arg,
+            address.into().0,
+            &self.scheduler_queue,
+        );
+
+        Ok(event_key)
+    }
+
+    /// Schedules a cancellable, periodically recurring event at the lapse of
+    /// the specified duration and returns an event key.
+    ///
+    /// An error is returned if the specified delay or the specified period are
+    /// null.
+    ///
+    /// Events scheduled for the same time and targeting the same model are
+    /// guaranteed to be processed according to the scheduling order.
+    ///
+    /// See also: [`time::Scheduler::schedule_periodic_keyed_event_in`].
+    pub fn schedule_periodic_keyed_event_in<M, F, T, S>(
+        &mut self,
+        delay: Duration,
+        period: Duration,
+        func: F,
+        arg: T,
+        address: impl Into<Address<M>>,
+    ) -> Result<EventKey, SchedulingError>
+    where
+        M: Model,
+        F: for<'a> InputFn<'a, M, T, S> + Clone,
+        T: Send + Clone + 'static,
+        S: Send + 'static,
+    {
+        if delay.is_zero() {
+            return Err(SchedulingError::InvalidScheduledTime);
+        }
+        if period.is_zero() {
+            return Err(SchedulingError::NullRepetitionPeriod);
+        }
+        let time = self.time.read() + delay;
+
+        let event_key = time::schedule_periodic_keyed_event_at_unchecked(
+            time,
+            period,
             func,
             arg,
             address.into().0,
@@ -441,9 +625,22 @@ impl Simulation {
     /// If at least one event was found that satisfied the time bound, the
     /// corresponding new simulation time is returned.
     fn step_to_next_bounded(&mut self, upper_time_bound: MonotonicTime) -> Option<MonotonicTime> {
+        // Function pulling the next event. If the event is periodic, it is
+        // immediately cloned and re-scheduled.
+        fn pull_next_event(
+            scheduler_queue: &mut MutexGuard<SchedulerQueue>,
+        ) -> Box<dyn ScheduledEvent> {
+            let ((time, channel_id), event) = scheduler_queue.pull().unwrap();
+            if let Some((event_clone, period)) = event.next() {
+                scheduler_queue.insert((time + period, channel_id), event_clone);
+            }
+
+            event
+        }
+
         // Closure returning the next key which time stamp is no older than the
-        // upper bound, if any. Cancelled events are discarded.
+        // upper bound, if any. Cancelled events are pulled and discarded.
-        let get_next_key = |scheduler_queue: &mut MutexGuard<SchedulerQueue>| {
+        let peek_next_key = |scheduler_queue: &mut MutexGuard<SchedulerQueue>| {
             loop {
                 match scheduler_queue.peek() {
                     Some((&k, t)) if k.0 <= upper_time_bound => {
@@ -460,34 +657,32 @@ impl Simulation {
 
         // Move to the next scheduled time.
         let mut scheduler_queue = self.scheduler_queue.lock().unwrap();
-        let mut current_key = get_next_key(&mut scheduler_queue)?;
+        let mut current_key = peek_next_key(&mut scheduler_queue)?;
         self.time.write(current_key.0);
 
         loop {
-            let event = scheduler_queue.pull().unwrap().1;
+            let event = pull_next_event(&mut scheduler_queue);
-
+            let mut next_key = peek_next_key(&mut scheduler_queue);
-            let mut next_key = get_next_key(&mut scheduler_queue);
             if next_key != Some(current_key) {
                 // Since there are no other events targeting the same mailbox
                 // and the same time, the event is spawned immediately.
-                self.executor.spawn_and_forget(Box::into_pin(event));
+                event.spawn_and_forget(&self.executor);
             } else {
                 // To ensure that their relative order of execution is
                 // preserved, all event targeting the same mailbox are executed
                 // sequentially within a single compound future.
                 let mut event_sequence = SeqFuture::new();
-
+                event_sequence.push(event.into_future());
-                event_sequence.push(Box::into_pin(event));
                 loop {
-                    let event = scheduler_queue.pull().unwrap().1;
+                    let event = pull_next_event(&mut scheduler_queue);
-                    event_sequence.push(Box::into_pin(event));
+                    event_sequence.push(event.into_future());
-                    next_key = get_next_key(&mut scheduler_queue);
+                    next_key = peek_next_key(&mut scheduler_queue);
                     if next_key != Some(current_key) {
                         break;
                     }
                 }
 
-                // Spawn a parent event that sequentially polls all events
+                // Spawn a compound future that sequentially polls all events
                 // targeting the same mailbox.
                 self.executor.spawn_and_forget(event_sequence);
             }

asynchronix/src/time.rs

@@ -51,6 +51,8 @@ mod scheduler;
 pub(crate) use monotonic_time::TearableAtomicTime;
 pub use monotonic_time::{MonotonicTime, SystemTimeError};
 pub(crate) use scheduler::{
-    schedule_event_at_unchecked, schedule_keyed_event_at_unchecked, SchedulerQueue,
+    schedule_event_at_unchecked, schedule_keyed_event_at_unchecked,
+    schedule_periodic_event_at_unchecked, schedule_periodic_keyed_event_at_unchecked,
+    ScheduledEvent, SchedulerQueue,
 };
-pub use scheduler::{EventKey, ScheduledTimeError, Scheduler};
+pub use scheduler::{EventKey, Scheduler, SchedulingError};