Dataset using introspection is better

mission_rust/src/fsrc/datasets/mod.rs

@@ -1,21 +1,5 @@
-use core::any::Any;
-
-use crate::check_global_threading_available;
-
-use super::objectmanager::SystemObjectIF;
 use super::{mutex, objectmanager};
-
-pub trait DatapoolOwnerIF {
-    fn get_set(&self, _type_id: core::any::TypeId) -> Option<&dyn DataSetIF> {
-        None
-    }
-}
-
-pub trait DataSetIF {
-    fn get_type_id(&self) -> core::any::TypeId; // TODO can we get rid of this? Currently, it helps implementing DatapoolOwnerIF::get_set() but if we can optimize/generate that, this might be not needed any more
-    fn get_actual_data(&self) -> &dyn core::any::Any;
-    fn get_mutex(&self) -> mutex::RawMutex;
-}
+use crate::check_global_threading_available;
 
 pub struct OwnedDataset<T: Clone> {
     actual_data: T,
@@ -28,22 +12,6 @@ pub struct ReferencedDataset<T: Clone> {
     mutex: Option<mutex::RawMutex>,
 }
 
-impl<T: Clone + Default + 'static> DataSetIF for OwnedDataset<T> {
-    fn get_type_id(&self) -> core::any::TypeId {
-        core::any::TypeId::of::<T>()
-    }
-
-    fn get_actual_data(&self) -> &dyn core::any::Any {
-        // only return pointer when threading
-        check_global_threading_available!();
-        &self.actual_data
-    }
-
-    fn get_mutex(&self) -> mutex::RawMutex {
-        return self.mutex.clone();
-    }
-}
-
 impl<T: Clone + Default> OwnedDataset<T> {
     pub fn new() -> OwnedDataset<T> {
         OwnedDataset::<T> {
@@ -86,17 +54,10 @@ impl<T: Clone + Default + 'static> ReferencedDataset<T> {
     }
 
     pub fn read(&mut self) -> Result<T, ()> {
-        let _mutex_guard = match &self.mutex {
-            None => return Err(()),
-            Some(mutex) => match mutex.take() {
-                Err(()) => return Err(()),
-                Ok(guard) => guard,
-            },
-        };
-        let pointer = match self.actual_data {
-            None => return Err(()),
-            Some(data) => data,
-        };
+        let mutex = self.mutex.as_ref().ok_or(())?;
+        let _guard = mutex.take()?;
+        let pointer = self.actual_data.ok_or(())?;
+
         // we are only allowed to use the pointer during threading
         check_global_threading_available!();
         Ok(unsafe { (*pointer).clone() })
@@ -108,20 +69,21 @@ impl<T: Clone + Default + 'static> ReferencedDataset<T> {
         owner_of_the_set: objectmanager::ObjectId,
     ) -> Result<(), ()> {
         let owner = object_manager.get_object(owner_of_the_set)?;
-        let type_id = core::any::TypeId::of::<T>();
-        let other_set = match owner.get_set(type_id) {
-            None => {
-                return Err(()); //TODO panic? -> should initialize just panic if failing?
-            }
-            Some(set) => set,
-        };
-        // let's recheck that owner.get_set() did not lie about the type_id
-        if let Some(other_data) = other_set.get_actual_data().downcast_ref::<T>() {
-            self.actual_data = Some(other_data);
-        } else {
-            return Err(());
-        }
-        self.mutex = Some(other_set.get_mutex());
+        owner.for_each_member_return(&mut |x, _| {
+            self.try_initialize_from(x.downcast_ref()?);
+            None
+        });
         Ok(())
     }
+
+    fn try_initialize_from(&mut self, other: &OwnedDataset<T>) {
+        // TODO check some id to allow the other to own multiple
+        // instances of <T>. Otherwise, this will select the last
+        // one.
+        // if !self.id == other.id {
+        //     return
+        // }
+        self.actual_data = Some(&other.actual_data);
+        self.mutex = Some(other.mutex.clone());
+    }
 }

mission_rust/src/fsrc/mod.rs

@@ -7,4 +7,5 @@ pub mod tasks;
 pub mod objectmanager;
 pub mod datasets;
 pub mod store;
-mod mutex;
+mod mutex;
+pub mod introspection;

mission_rust/src/fsrc/objectmanager.rs

@@ -5,7 +5,7 @@ pub trait ObjectManager<'a> {
     fn get_object(&self, id: ObjectId) -> Result<&'a dyn SystemObjectIF, ()>;
 }
 
-pub trait SystemObjectIF: tasks::ExecutableObjectIF + datasets::DatapoolOwnerIF {
+pub trait SystemObjectIF: tasks::ExecutableObjectIF + introspection::Introspection {
     fn get_id(&self) -> ObjectId;
     fn initialize(&mut self, object_manager: &dyn ObjectManager) -> Result<(), ()>;
     fn get_command_queue(&self) -> queues::MessageQueueSender;

mission_rust/src/fsrc/store.rs

@@ -39,6 +39,7 @@ impl<'a> Store<'a> {
     }
 }
 
+// TODO needs to be able to be uninitialized as it should be usable as member
 // A smart pointer to a Store protecting insane (static) pointer usage
 // only works during threading, panics otherwise
 struct StoreAccessor {

mission_rust/src/lib.rs

@@ -3,12 +3,11 @@
 //TODO os errors in API calls
 //TODO look into a pattern for late initialized stuff, currently using Option (can we make it compile time safe?)
 
-mod fsrc;
+pub mod fsrc;
 
 use core::fmt::Write;
 use core::panic::PanicInfo;
 
-use fsrc::datasets::{DataSetIF, DatapoolOwnerIF};
 use fsrc::objectmanager::SystemObjectIF;
 use fsrc::*;
 
@@ -49,16 +48,16 @@ extern "C" fn rust_main() {
     sifln!("Mission done");
 }
 
-#[derive (Copy, Clone, Default)]
+#[derive(Copy, Clone, Default)]
 struct HandlerData {
     x: u32,
-    y: f32
+    y: f32,
 }
 
 struct Handler {
     id: objectmanager::ObjectId,
     command_queue: queues::MessageQueue<10>,
-    data: datasets::OwnedDataset<HandlerData>
+    data: datasets::OwnedDataset<HandlerData>,
 }
 
 struct HandlerSender {
@@ -66,10 +65,9 @@ struct HandlerSender {
     other_handler: objectmanager::ObjectId,
     cycle: u8,
     other_handler_queue: queues::MessageQueueSender,
-    other_data: datasets::ReferencedDataset<HandlerData>
+    other_data: datasets::ReferencedDataset<HandlerData>,
 }
 
-
 impl Handler {
     fn handle_message(&self, message: queues::Message) {
         match message {
@@ -132,17 +130,23 @@ impl SystemObjectIF for Handler {
     }
 }
 
-impl datasets::DatapoolOwnerIF for Handler {
-    fn get_set(&self, type_id: core::any::TypeId) -> Option<&dyn datasets::DataSetIF>{
-        if type_id == self.data.get_type_id(){
-            Some(&self.data)
-        } else {
-            None
-        }
-    }
+impl introspection::Introspection for HandlerSender {
+    fn for_each_member(&self, f: &mut dyn FnMut(&dyn core::any::Any, &str) -> ()) {}
+
+    fn for_each_member_return(&self, f: &mut dyn FnMut(&dyn core::any::Any, &str) -> Option<()>) {}
 }
 
-impl DatapoolOwnerIF for HandlerSender {}
+impl introspection::Introspection for Handler {
+    fn for_each_member(&self, f: &mut dyn FnMut(&dyn core::any::Any, &str) -> ()) {
+        (*f)(&self.command_queue, "command_queue");
+        (*f)(&self.data, "data");
+    }
+
+    fn for_each_member_return(&self, f: &mut dyn FnMut(&dyn core::any::Any, &str) -> Option<()>) {
+        (*f)(&self.command_queue, "command_queue");
+        (*f)(&self.data, "data");
+    }
+}
 
 impl SystemObjectIF for HandlerSender {
     fn get_command_queue(&self) -> crate::fsrc::queues::MessageQueueSender {
@@ -154,14 +158,14 @@ impl SystemObjectIF for HandlerSender {
     }
     fn initialize(&mut self, object_manager: &dyn objectmanager::ObjectManager) -> Result<(), ()> {
         let other_handler_maybe = object_manager.get_object(self.other_handler);
-        let other_handler = 
-        match other_handler_maybe {
+        let other_handler = match other_handler_maybe {
             Ok(other) => other,
             Err(_) => return Err(()),
         };
         self.other_handler_queue = other_handler.get_command_queue();
 
-        self.other_data.initialize(object_manager, self.other_handler)?;
+        self.other_data
+            .initialize(object_manager, self.other_handler)?;
         Ok(())
     }
 }
@@ -172,14 +176,14 @@ fn mission() {
     let mut h1 = Handler {
         id: 1,
         command_queue: queues::MessageQueue::new(),
-        data: datasets::OwnedDataset::new()
+        data: datasets::OwnedDataset::new(),
     };
     let mut h2 = HandlerSender {
         id: 2,
         other_handler: 3,
         cycle: 0,
         other_handler_queue: queues::MessageQueueSender::new(),
-        other_data: datasets::ReferencedDataset::new()
+        other_data: datasets::ReferencedDataset::new(),
     };
 
     let array: &mut [&mut dyn objectmanager::SystemObjectIF] = &mut [&mut h1];