first version of object initialization (I hate (aka do not understand) lifetimes)

mission_rust/src/fsrc/mod.rs

@@ -2,3 +2,4 @@ pub mod sif;
 pub mod queues;
 pub mod osal;
 pub mod tasks;
+pub mod objectmanager;

mission_rust/src/fsrc/objectmanager.rs

@@ -0,0 +1,12 @@
+use super::tasks::ExecutableObjectIF;
+
+pub type ObjectId = usize;
+pub trait ObjectManager<'a> {
+    fn get_object(&self, id: ObjectId) -> Option<&'a dyn SystemObject>;
+}
+
+pub trait SystemObject: ExecutableObjectIF {
+    fn get_id(&self) -> ObjectId;
+    fn initialize(&mut self, object_manager: &dyn ObjectManager) -> Result<(),()>;
+    fn get_command_queue(&self) -> crate::fsrc::queues::MessageQueueSender;
+}

mission_rust/src/fsrc/queues/mod.rs

@@ -1,23 +1,20 @@
-pub struct MessageQueue<T> {
+pub struct MessageQueue {
     queue_id: *const cty::c_void,
-    _unused: Option<T>, //need to constrain the queue to one message type for safety, but compiler needs that to be used
 }
 
-pub struct MessageQueueSender<T> {
+pub struct MessageQueueSender {
     queue_id: Option<*const cty::c_void>,
-    _unused: Option<T>, //need to constrain the sender to one message type for safety, but compiler needs that to be used
 }
 
-impl<T: Default> MessageQueue<T> {
+impl MessageQueue {
     pub fn new(depth: usize) -> Self {
         let mut instance: Self;
         unsafe {
             instance = Self {
                 queue_id: 0 as *const cty::c_void,
-                _unused: None,
                 };
             //TODO check cast of depth
-            instance.queue_id = crate::fsrc::osal::create_queue(depth, core::mem::size_of::<T>());
+            instance.queue_id = crate::fsrc::osal::create_queue(depth, core::mem::size_of::<Message>());
 
             if instance.queue_id == 0 as *mut cty::c_void {
                 panic!("could not create Queue");
@@ -26,16 +23,15 @@ impl<T: Default> MessageQueue<T> {
         }
     }
 
-    pub fn get_sender(&self) -> MessageQueueSender<T> {
-        let instance: MessageQueueSender<T> = MessageQueueSender::<T> {
+    pub fn get_sender(&self) -> MessageQueueSender {
+        let instance: MessageQueueSender = MessageQueueSender {
             queue_id: Some(self.queue_id),
-            _unused: None,
         };
         instance
     }
 
-    pub fn receive(&self) -> Result<T, ()> {
-        let mut message: T = T::default();
+    pub fn receive(&self) -> Result<Message, ()> {
+        let mut message: Message = Message::default();
         let res: cty::uint8_t;
         unsafe {
             //message = core::mem::MaybeUninit::zeroed().assume_init(); // We only return it if the queue received something
@@ -50,15 +46,14 @@ impl<T: Default> MessageQueue<T> {
     }
 }
 
-impl<T> MessageQueueSender<T> {
+impl MessageQueueSender {
     pub fn new() -> Self {
         Self {
             queue_id: None,
-            _unused: None,
             }
     }
 
-    pub fn send(&self, message: T) -> Result<(), ()> {
+    pub fn send(&self, message: Message) -> Result<(), ()> {
         let queue_id = self.queue_id.expect("unitialized Message Queue");
         let res: cty::uint8_t;
         unsafe {

mission_rust/src/fsrc/tasks/mod.rs

@@ -1,3 +1,7 @@
+use core::slice;
+
+use super::objectmanager::ObjectManager;
+
 #[no_mangle]
 extern "C" fn task_entry(task_object: *mut cty::c_void) {
     let task: &mut dyn TaskIF;
@@ -12,23 +16,25 @@ pub trait ExecutableObjectIF {
     fn perform(&mut self);
 }
 
-pub trait TaskIF {
+pub trait TaskIF<'a> {
     fn run(&mut self);
     fn get_stack_size(&self) -> cty::size_t;
     fn set_handle(&mut self, task_handle: *const cty::c_void);
     fn get_handle(&self) -> *const cty::c_void;
+    fn get_objects(&'a self) -> &'a [&'a mut dyn crate::objectmanager::SystemObject];
+    fn initialize(&mut self, object_manager: &dyn ObjectManager) -> Result<(), ()>;
 }
 
 pub struct PeriodicTask<'a> {
     pub stack_size: cty::size_t, //TODO generic type and safety
     pub task_handle: *const cty::c_void,
     pub period: usize,
-    pub task_objects: &'a mut [&'a mut dyn ExecutableObjectIF],
+    pub task_objects: &'a mut [&'a mut dyn crate::objectmanager::SystemObject],
 }
 
 impl<'a> PeriodicTask<'a> {
     pub fn new(
-        objects: &'a mut [&'a mut dyn ExecutableObjectIF],
+        objects: &'a mut [&'a mut dyn crate::objectmanager::SystemObject],
         stack_size: usize,
         period: usize,
     ) -> PeriodicTask<'a> {
@@ -42,7 +48,7 @@ impl<'a> PeriodicTask<'a> {
     }
 }
 
-impl<'a> TaskIF for PeriodicTask<'a> {
+impl<'a> TaskIF<'a> for PeriodicTask<'a> {
     fn run(&mut self) {
         loop {
             for object in self.task_objects.iter_mut() {
@@ -63,14 +69,34 @@ impl<'a> TaskIF for PeriodicTask<'a> {
     fn get_handle(&self) -> *const cty::c_void {
         self.task_handle
     }
+    fn get_objects(&'a self) -> &'a [&'a mut dyn crate::objectmanager::SystemObject] {
+        self.task_objects
+    }
+    fn initialize(&mut self, object_manager: &dyn ObjectManager) -> Result<(), ()> {
+        for object in self.task_objects.iter_mut() {
+            let result = object.initialize(object_manager);
+            match result {
+                Ok(()) => continue,
+                Err(()) => return Err(()),
+            }
+        }
+        Ok(())
+    }
 }
 
 pub struct TaskExecutor<'a> {
-    pub tasks: &'a mut [&'a mut dyn TaskIF],
+    pub tasks: &'a mut [&'a mut dyn TaskIF<'a>],
 }
 
 impl<'a> TaskExecutor<'a> {
     pub fn run_tasks(&mut self) {
+        let object_manager = TaskObjectManager {
+            tasks: unsafe { slice::from_raw_parts(self.tasks.as_ptr(), self.tasks.len()) },
+        };
+        for task in self.tasks.iter_mut() {
+            let _ = task.initialize(&object_manager);
+        }
+        drop(object_manager);
         for task in self.tasks.iter_mut() {
             // we give away a raw pointer, to be called by an OS task
             // while this is generally very broken, we use a reference tied
@@ -80,7 +106,8 @@ impl<'a> TaskExecutor<'a> {
             let task_pointer: *const cty::c_void = *task as *mut _ as *const cty::c_void; //TODO this does work without the "*" in front of the task -> Why??
             let handle;
             unsafe {
-                handle = crate::fsrc::osal::create_task(task_entry, task_pointer, task.get_stack_size());
+                handle =
+                    crate::fsrc::osal::create_task(task_entry, task_pointer, task.get_stack_size());
             }
             if handle == 0 as *mut cty::c_void {
                 panic!("could not create Task");
@@ -91,6 +118,26 @@ impl<'a> TaskExecutor<'a> {
     }
 }
 
+struct TaskObjectManager<'a> {
+    tasks: &'a [&'a mut dyn TaskIF<'a>],
+}
+
+impl<'a> crate::objectmanager::ObjectManager<'a> for TaskObjectManager<'a> {
+    fn get_object(
+        &self,
+        id: crate::objectmanager::ObjectId,
+    ) -> Option<&'a dyn crate::objectmanager::SystemObject> {
+        for task in self.tasks.iter() {
+            for object in task.get_objects().iter() {
+                if object.get_id() == id {
+                    return Some(*object);
+                }
+            }
+        }
+        None
+    }
+}
+
 impl<'a> Drop for TaskExecutor<'a> {
     fn drop(&mut self) {
         for task in self.tasks.iter_mut() {

mission_rust/src/lib.rs

@@ -6,10 +6,10 @@
 
 mod fsrc;
 
-use core::mem::size_of;
-use core::panic::PanicInfo;
 use core::fmt::Write;
+use core::panic::PanicInfo;
 
+use fsrc::objectmanager::SystemObject;
 use fsrc::*;
 
 #[panic_handler]
@@ -33,8 +33,6 @@ fn panic(panic: &PanicInfo<'_>) -> ! {
     loop {}
 }
 
-
-
 #[no_mangle]
 extern "C" fn rust_main() {
     sifln!("Rust startup 🚀");
@@ -42,16 +40,16 @@ extern "C" fn rust_main() {
     sifln!("Mission done");
 }
 
-
 struct Handler {
-    id: u32,
-    command_queue: queues::MessageQueue<queues::Message>,
+    id: objectmanager::ObjectId,
+    command_queue: queues::MessageQueue,
 }
 
 struct HandlerSender {
-    id: u32,
+    id: objectmanager::ObjectId,
+    other_handler: objectmanager::ObjectId,
     cycle: u8,
-    other_handler: queues::MessageQueueSender<queues::Message>,
+    other_handler_queue: queues::MessageQueueSender,
 }
 
 impl Handler {
@@ -88,15 +86,15 @@ impl tasks::ExecutableObjectIF for HandlerSender {
         sifln!("HandlerSender {} performs step {}", self.id, self.cycle);
         match self.cycle {
             0 => {
-                let _ = self.other_handler.send(queues::Message::OK);
+                let _ = self.other_handler_queue.send(queues::Message::OK);
             }
             1 => {
-                let _ = self.other_handler.send(queues::Message::FAILED);
+                let _ = self.other_handler_queue.send(queues::Message::FAILED);
             }
             2 => {
-                let _ = self
-                    .other_handler
-                    .send(queues::Message::DATA(queues::GenericMessageData { p1: 13, p2: 2 }));
+                let _ = self.other_handler_queue.send(queues::Message::DATA(
+                    queues::GenericMessageData { p1: 13, p2: 2 },
+                ));
             }
             _ => (),
         }
@@ -104,6 +102,34 @@ impl tasks::ExecutableObjectIF for HandlerSender {
     }
 }
 
+impl SystemObject for Handler {
+    fn get_command_queue(&self) -> crate::fsrc::queues::MessageQueueSender {
+        self.command_queue.get_sender()
+    }
+    fn get_id(&self) -> objectmanager::ObjectId {
+        self.id
+    }
+    fn initialize(&mut self, _object_manager: &dyn objectmanager::ObjectManager) -> Result<(), ()> {
+        Ok(())
+    }
+}
+
+impl SystemObject for HandlerSender {
+    fn get_command_queue(&self) -> crate::fsrc::queues::MessageQueueSender {
+        queues::MessageQueueSender::new()
+    }
+    fn get_id(&self) -> objectmanager::ObjectId {
+        self.id
+    }
+    fn initialize(&mut self, object_manager: &dyn objectmanager::ObjectManager) -> Result<(), ()> {
+        let other_handler = object_manager.get_object(self.other_handler);
+        match other_handler {
+            Some(other) => self.other_handler_queue = other.get_command_queue(),
+            None => return Err(()),
+        }
+        Ok(())
+    }
+}
 
 fn mission() {
     sifln!("Mission enter");
@@ -114,13 +140,12 @@ fn mission() {
     };
     let mut h2 = HandlerSender {
         id: 2,
+        other_handler: 1,
         cycle: 0,
-        other_handler: queues::MessageQueueSender::<queues::Message>::new(),
+        other_handler_queue: queues::MessageQueueSender::new(),
     };
 
-    h2.other_handler = h1.command_queue.get_sender();
-
-    let array: &mut [&mut dyn tasks::ExecutableObjectIF] = &mut [&mut h1];
+    let array: &mut [&mut dyn objectmanager::SystemObject] = &mut [&mut h1];
 
     let mut t1 = tasks::PeriodicTask::new(array, 512, 200);
 
@@ -131,16 +156,10 @@ fn mission() {
         task_handle: 0 as *const cty::c_void,
     };
 
-    let _i = 1;
-
-    sifln!("sizeof {}, pointer struct {:p}, pointer element {:p}, next element{:p}", size_of::<tasks::PeriodicTask>(), &t2, t2.task_objects, &_i);
-
     let mut task_executor = tasks::TaskExecutor {
         tasks: &mut [&mut t1, &mut t2],
     };
 
-    sifln!("{:p}", task_executor.tasks[0]);
-
     task_executor.run_tasks();
 
     sifln!("Mission delay");