sat-rs/satrs-core/src/executable.rs

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//! Task scheduling module
use bus::BusReader;
use std::boxed::Box;
use std::error::Error;
use std::sync::mpsc::TryRecvError;
use std::thread;
use std::thread::JoinHandle;
use std::time::Duration;
use std::vec;
use std::vec::Vec;
#[derive(Debug, PartialEq, Eq)]
pub enum OpResult {
Ok,
TerminationRequested,
}
pub enum ExecutionType {
Infinite,
Cycles(u32),
OneShot,
}
pub trait Executable: Send {
type Error;
fn exec_type(&self) -> ExecutionType;
fn task_name(&self) -> &'static str;
fn periodic_op(&mut self, op_code: i32) -> Result<OpResult, Self::Error>;
}
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/// This function allows executing one task which implements the [Executable] trait
///
/// # Arguments
///
/// * `executable`: Executable task
/// * `task_freq`: Optional frequency of task. Required for periodic and fixed cycle tasks
/// * `op_code`: Operation code which is passed to the executable task [operation call][Executable::periodic_op]
/// * `termination`: Optional termination handler which can cancel threads with a broadcast
pub fn exec_sched_single<
T: Executable<Error = E> + Send + 'static + ?Sized,
E: Error + Send + 'static,
>(
mut executable: Box<T>,
task_freq: Option<Duration>,
op_code: i32,
mut termination: Option<BusReader<()>>,
) -> JoinHandle<Result<OpResult, E>> {
let mut cycle_count = 0;
thread::spawn(move || loop {
if let Some(ref mut terminator) = termination {
match terminator.try_recv() {
Ok(_) | Err(TryRecvError::Disconnected) => {
return Ok(OpResult::Ok);
}
Err(TryRecvError::Empty) => (),
}
}
match executable.exec_type() {
ExecutionType::OneShot => {
executable.periodic_op(op_code)?;
return Ok(OpResult::Ok);
}
ExecutionType::Infinite => {
executable.periodic_op(op_code)?;
}
ExecutionType::Cycles(cycles) => {
executable.periodic_op(op_code)?;
cycle_count += 1;
if cycle_count == cycles {
return Ok(OpResult::Ok);
}
}
}
let freq = task_freq.unwrap_or_else(|| panic!("No task frequency specified"));
thread::sleep(freq);
})
}
/// This function allows executing multiple tasks as long as the tasks implement the
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/// [Executable] trait
///
/// # Arguments
///
/// * `executable_vec`: Vector of executable objects
/// * `task_freq`: Optional frequency of task. Required for periodic and fixed cycle tasks
/// * `op_code`: Operation code which is passed to the executable task [operation call][Executable::periodic_op]
/// * `termination`: Optional termination handler which can cancel threads with a broadcast
pub fn exec_sched_multi<
T: Executable<Error = E> + Send + 'static + ?Sized,
E: Error + Send + 'static,
>(
mut executable_vec: Vec<Box<T>>,
task_freq: Option<Duration>,
op_code: i32,
mut termination: Option<BusReader<()>>,
) -> JoinHandle<Result<OpResult, E>> {
let mut cycle_counts = vec![0; executable_vec.len()];
let mut removal_flags = vec![false; executable_vec.len()];
thread::spawn(move || loop {
if let Some(ref mut terminator) = termination {
match terminator.try_recv() {
Ok(_) | Err(TryRecvError::Disconnected) => {
removal_flags.iter_mut().for_each(|x| *x = true);
}
Err(TryRecvError::Empty) => (),
}
}
for (idx, executable) in executable_vec.iter_mut().enumerate() {
match executable.exec_type() {
ExecutionType::OneShot => {
executable.periodic_op(op_code)?;
removal_flags[idx] = true;
}
ExecutionType::Infinite => {
executable.periodic_op(op_code)?;
}
ExecutionType::Cycles(cycles) => {
executable.periodic_op(op_code)?;
cycle_counts[idx] += 1;
if cycle_counts[idx] == cycles {
removal_flags[idx] = true;
}
}
}
}
let mut removal_iter = removal_flags.iter();
executable_vec.retain(|_| !*removal_iter.next().unwrap());
removal_iter = removal_flags.iter();
cycle_counts.retain(|_| !*removal_iter.next().unwrap());
removal_flags.retain(|&i| !i);
if executable_vec.is_empty() {
return Ok(OpResult::Ok);
}
let freq = task_freq.unwrap_or_else(|| panic!("No task frequency specified"));
thread::sleep(freq);
})
}
#[cfg(test)]
mod tests {
use super::{exec_sched_multi, exec_sched_single, Executable, ExecutionType, OpResult};
use bus::Bus;
use std::boxed::Box;
use std::error::Error;
use std::string::{String, ToString};
use std::sync::{Arc, Mutex};
use std::time::Duration;
use std::vec::Vec;
use std::{fmt, thread, vec};
struct TestInfo {
exec_num: u32,
op_code: i32,
}
struct OneShotTask {
exec_num: Arc<Mutex<TestInfo>>,
}
struct FixedCyclesTask {
cycles: u32,
exec_num: Arc<Mutex<TestInfo>>,
}
struct PeriodicTask {
exec_num: Arc<Mutex<TestInfo>>,
}
#[derive(Clone, Debug)]
struct ExampleError {
kind: ErrorKind,
}
/// The kind of an error that can occur.
#[derive(Clone, Debug)]
pub enum ErrorKind {
Generic(String, i32),
}
impl ExampleError {
fn new(msg: &str, code: i32) -> ExampleError {
ExampleError {
kind: ErrorKind::Generic(msg.to_string(), code),
}
}
/// Return the kind of this error.
pub fn kind(&self) -> &ErrorKind {
&self.kind
}
}
impl fmt::Display for ExampleError {
fn fmt(&self, f: &mut fmt::Formatter) -> fmt::Result {
match self.kind() {
ErrorKind::Generic(str, code) => {
write!(f, "{str} with code {code}")
}
}
}
}
impl Error for ExampleError {}
const ONE_SHOT_TASK_NAME: &str = "One Shot Task";
impl Executable for OneShotTask {
type Error = ExampleError;
fn exec_type(&self) -> ExecutionType {
ExecutionType::OneShot
}
fn task_name(&self) -> &'static str {
ONE_SHOT_TASK_NAME
}
fn periodic_op(&mut self, op_code: i32) -> Result<OpResult, ExampleError> {
let mut data = self.exec_num.lock().expect("Locking Mutex failed");
data.exec_num += 1;
data.op_code = op_code;
std::mem::drop(data);
if op_code >= 0 {
Ok(OpResult::Ok)
} else {
Err(ExampleError::new("One Shot Task Failure", op_code))
}
}
}
const CYCLE_TASK_NAME: &str = "Fixed Cycles Task";
impl Executable for FixedCyclesTask {
type Error = ExampleError;
fn exec_type(&self) -> ExecutionType {
ExecutionType::Cycles(self.cycles)
}
fn task_name(&self) -> &'static str {
CYCLE_TASK_NAME
}
fn periodic_op(&mut self, op_code: i32) -> Result<OpResult, ExampleError> {
let mut data = self.exec_num.lock().expect("Locking Mutex failed");
data.exec_num += 1;
data.op_code = op_code;
std::mem::drop(data);
if op_code >= 0 {
Ok(OpResult::Ok)
} else {
Err(ExampleError::new("Fixed Cycle Task Failure", op_code))
}
}
}
const PERIODIC_TASK_NAME: &str = "Periodic Task";
impl Executable for PeriodicTask {
type Error = ExampleError;
fn exec_type(&self) -> ExecutionType {
ExecutionType::Infinite
}
fn task_name(&self) -> &'static str {
PERIODIC_TASK_NAME
}
fn periodic_op(&mut self, op_code: i32) -> Result<OpResult, ExampleError> {
let mut data = self.exec_num.lock().expect("Locking Mutex failed");
data.exec_num += 1;
data.op_code = op_code;
std::mem::drop(data);
if op_code >= 0 {
Ok(OpResult::Ok)
} else {
Err(ExampleError::new("Example Task Failure", op_code))
}
}
}
#[test]
fn test_simple_one_shot() {
let expected_op_code = 42;
let shared = Arc::new(Mutex::new(TestInfo {
exec_num: 0,
op_code: 0,
}));
let exec_task = OneShotTask {
exec_num: shared.clone(),
};
let task = Box::new(exec_task);
let jhandle = exec_sched_single(
task,
Some(Duration::from_millis(100)),
expected_op_code,
None,
);
let thread_res = jhandle.join().expect("One Shot Task failed");
assert!(thread_res.is_ok());
assert_eq!(thread_res.unwrap(), OpResult::Ok);
let data = shared.lock().expect("Locking Mutex failed");
assert_eq!(data.exec_num, 1);
assert_eq!(data.op_code, expected_op_code);
}
#[test]
fn test_failed_one_shot() {
let op_code_inducing_failure = -1;
let shared = Arc::new(Mutex::new(TestInfo {
exec_num: 0,
op_code: 0,
}));
let exec_task = OneShotTask {
exec_num: shared.clone(),
};
let task = Box::new(exec_task);
let jhandle = exec_sched_single(
task,
Some(Duration::from_millis(100)),
op_code_inducing_failure,
None,
);
let thread_res = jhandle.join().expect("One Shot Task failed");
assert!(thread_res.is_err());
let error = thread_res.unwrap_err();
let err = error.kind();
assert!(matches!(err, &ErrorKind::Generic { .. }));
match err {
ErrorKind::Generic(str, op_code) => {
assert_eq!(str, &String::from("One Shot Task Failure"));
assert_eq!(op_code, &op_code_inducing_failure);
}
}
let error_display = error.to_string();
assert_eq!(error_display, "One Shot Task Failure with code -1");
let data = shared.lock().expect("Locking Mutex failed");
assert_eq!(data.exec_num, 1);
assert_eq!(data.op_code, op_code_inducing_failure);
}
#[test]
fn test_simple_multi_one_shot() {
let expected_op_code = 43;
let shared = Arc::new(Mutex::new(TestInfo {
exec_num: 0,
op_code: 0,
}));
let exec_task_0 = OneShotTask {
exec_num: shared.clone(),
};
let exec_task_1 = OneShotTask {
exec_num: shared.clone(),
};
let task_vec = vec![Box::new(exec_task_0), Box::new(exec_task_1)];
for task in task_vec.iter() {
assert_eq!(task.task_name(), ONE_SHOT_TASK_NAME);
}
let jhandle = exec_sched_multi(
task_vec,
Some(Duration::from_millis(100)),
expected_op_code,
None,
);
let thread_res = jhandle.join().expect("One Shot Task failed");
assert!(thread_res.is_ok());
assert_eq!(thread_res.unwrap(), OpResult::Ok);
let data = shared.lock().expect("Locking Mutex failed");
assert_eq!(data.exec_num, 2);
assert_eq!(data.op_code, expected_op_code);
}
#[test]
fn test_cycles_single() {
let expected_op_code = 44;
let shared = Arc::new(Mutex::new(TestInfo {
exec_num: 0,
op_code: 0,
}));
let cycled_task = Box::new(FixedCyclesTask {
exec_num: shared.clone(),
cycles: 1,
});
assert_eq!(cycled_task.task_name(), CYCLE_TASK_NAME);
let jh = exec_sched_single(
cycled_task,
Some(Duration::from_millis(100)),
expected_op_code,
None,
);
let thread_res = jh.join().expect("Cycles Task failed");
assert!(thread_res.is_ok());
let data = shared.lock().expect("Locking Mutex failed");
assert_eq!(thread_res.unwrap(), OpResult::Ok);
assert_eq!(data.exec_num, 1);
assert_eq!(data.op_code, expected_op_code);
}
#[test]
fn test_single_and_cycles() {
let expected_op_code = 50;
let shared = Arc::new(Mutex::new(TestInfo {
exec_num: 0,
op_code: 0,
}));
let one_shot_task = Box::new(OneShotTask {
exec_num: shared.clone(),
});
let cycled_task_0 = Box::new(FixedCyclesTask {
exec_num: shared.clone(),
cycles: 1,
});
let cycled_task_1 = Box::new(FixedCyclesTask {
exec_num: shared.clone(),
cycles: 1,
});
assert_eq!(cycled_task_0.task_name(), CYCLE_TASK_NAME);
assert_eq!(one_shot_task.task_name(), ONE_SHOT_TASK_NAME);
let task_vec: Vec<Box<dyn Executable<Error = ExampleError>>> =
vec![one_shot_task, cycled_task_0, cycled_task_1];
let jh = exec_sched_multi(
task_vec,
Some(Duration::from_millis(100)),
expected_op_code,
None,
);
let thread_res = jh.join().expect("Cycles Task failed");
assert!(thread_res.is_ok());
let data = shared.lock().expect("Locking Mutex failed");
assert_eq!(thread_res.unwrap(), OpResult::Ok);
assert_eq!(data.exec_num, 3);
assert_eq!(data.op_code, expected_op_code);
}
#[test]
#[ignore]
fn test_periodic_single() {
let mut terminator = Bus::new(5);
let expected_op_code = 45;
let shared = Arc::new(Mutex::new(TestInfo {
exec_num: 0,
op_code: 0,
}));
let periodic_task = Box::new(PeriodicTask {
exec_num: shared.clone(),
});
assert_eq!(periodic_task.task_name(), PERIODIC_TASK_NAME);
let jh = exec_sched_single(
periodic_task,
Some(Duration::from_millis(20)),
expected_op_code,
Some(terminator.add_rx()),
);
thread::sleep(Duration::from_millis(40));
terminator.broadcast(());
let thread_res = jh.join().expect("Periodic Task failed");
assert!(thread_res.is_ok());
let data = shared.lock().expect("Locking Mutex failed");
assert_eq!(thread_res.unwrap(), OpResult::Ok);
let range = 2..4;
assert!(range.contains(&data.exec_num));
assert_eq!(data.op_code, expected_op_code);
}
#[test]
#[ignore]
fn test_periodic_multi() {
let mut terminator = Bus::new(5);
let expected_op_code = 46;
let shared = Arc::new(Mutex::new(TestInfo {
exec_num: 0,
op_code: 0,
}));
let cycled_task = Box::new(FixedCyclesTask {
exec_num: shared.clone(),
cycles: 1,
});
let periodic_task_0 = Box::new(PeriodicTask {
exec_num: shared.clone(),
});
let periodic_task_1 = Box::new(PeriodicTask {
exec_num: shared.clone(),
});
assert_eq!(periodic_task_0.task_name(), PERIODIC_TASK_NAME);
assert_eq!(periodic_task_1.task_name(), PERIODIC_TASK_NAME);
let task_vec: Vec<Box<dyn Executable<Error = ExampleError>>> =
vec![cycled_task, periodic_task_0, periodic_task_1];
let jh = exec_sched_multi(
task_vec,
Some(Duration::from_millis(20)),
expected_op_code,
Some(terminator.add_rx()),
);
thread::sleep(Duration::from_millis(60));
terminator.broadcast(());
let thread_res = jh.join().expect("Periodic Task failed");
assert!(thread_res.is_ok());
let data = shared.lock().expect("Locking Mutex failed");
assert_eq!(thread_res.unwrap(), OpResult::Ok);
let range = 7..11;
assert!(range.contains(&data.exec_num));
assert_eq!(data.op_code, expected_op_code);
}
}