sat-rs/satrs/src/event_man.rs

//! Event management and forwarding
//!
//! This module provides components to perform event routing. The most important component for this
//! task is the [EventManager]. It receives all events and then routes them to event subscribers
//! where appropriate. One common use case for satellite systems is to offer a light-weight
//! publish-subscribe mechanism and IPC mechanism for software and hardware events which are also
//! packaged as telemetry (TM) or can trigger a system response.
//!
//! It is recommended to read the
//! [sat-rs book chapter](https://absatsw.irs.uni-stuttgart.de/projects/sat-rs/book/events.html)
//! about events first:
//!
//! The event manager has a listener table abstracted by the [ListenerMapProvider], which maps
//! listener groups identified by [ListenerKey]s to a [sender ID][ChannelId].
//! It also contains a sender table abstracted by the [SenderMapProvider] which maps these sender
//! IDs to concrete [EventSendProvider]s. A simple approach would be to use one send event provider
//! for each OBSW thread and then subscribe for all interesting events for a particular thread
//! using the send event provider ID.
//!
//! This can be done with the [EventManager] like this:
//!
//!  1. Provide a concrete [EventReceiveProvider] implementation. This abstraction allow to use different
//!     message queue backends. A straightforward implementation where dynamic memory allocation is
//!     not a big concern could use [std::sync::mpsc::channel] to do this and is provided in
//!     form of the [MpscEventReceiver].
//!  2. To set up event creators, create channel pairs using some message queue implementation.
//!     Each event creator gets a (cloned) sender component which allows it to send events to the
//!     manager.
//!  3. The event manager receives the receiver component as part of a [EventReceiveProvider]
//!     implementation so all events are routed to the manager.
//!  4. Create the [send event providers][EventSendProvider]s which allow routing events to
//!     subscribers. You can now use their [sender IDs][EventSendProvider::channel_id] to subscribe
//!     for event groups, for example by using the [EventManager::subscribe_single] method.
//!  5. Add the send provider as well using the [EventManager::add_sender] call so the event
//!     manager can route listener groups to a the send provider.
//!
//! Some components like a PUS Event Service or PUS Event Action Service might require all
//! events to package them as telemetry or start actions where applicable.
//! Other components might only be interested in certain events. For example, a thermal system
//! handler might only be interested in temperature events generated by a thermal sensor component.
//!
//! # Examples
//!
//! You can check [integration test](https://egit.irs.uni-stuttgart.de/rust/sat-rs/src/branch/main/satrs/tests/pus_events.rs)
//! for a concrete example using multi-threading where events are routed to
//! different threads.
use crate::events::{EventU16, EventU32, GenericEvent, LargestEventRaw, LargestGroupIdRaw};
use crate::params::{Params, ParamsHeapless};
use crate::queue::GenericSendError;
use core::marker::PhantomData;
use core::slice::Iter;

use crate::ChannelId;

#[cfg(feature = "alloc")]
pub use alloc_mod::*;

#[cfg(feature = "std")]
pub use std_mod::*;

#[derive(PartialEq, Eq, Hash, Copy, Clone, Debug)]
pub enum ListenerKey {
    Single(LargestEventRaw),
    Group(LargestGroupIdRaw),
    All,
}

pub type EventWithHeaplessAuxData<Event> = (Event, Option<ParamsHeapless>);
pub type EventU32WithHeaplessAuxData = EventWithHeaplessAuxData<EventU32>;
pub type EventU16WithHeaplessAuxData = EventWithHeaplessAuxData<EventU16>;

pub type EventWithAuxData<Event> = (Event, Option<Params>);
pub type EventU32WithAuxData = EventWithAuxData<EventU32>;
pub type EventU16WithAuxData = EventWithAuxData<EventU16>;

pub trait EventSendProvider<EV: GenericEvent, AuxDataProvider = Params> {
    fn channel_id(&self) -> ChannelId;

    fn send_no_data(&self, event: EV) -> Result<(), GenericSendError> {
        self.send(event, None)
    }

    fn send(&self, event: EV, aux_data: Option<AuxDataProvider>) -> Result<(), GenericSendError>;
}

/// Generic abstraction for an event receiver.
pub trait EventReceiveProvider<Event: GenericEvent, AuxDataProvider = Params> {
    /// This function has to be provided by any event receiver. A receive call may or may not return
    /// an event.
    ///
    /// To allow returning arbitrary additional auxiliary data, a mutable slice is passed to the
    /// [Self::receive] call as well. Receivers can write data to this slice, but care must be taken
    /// to avoid panics due to size missmatches or out of bound writes.
    fn try_recv_event(&self) -> Option<(Event, Option<AuxDataProvider>)>;
}

pub trait ListenerMapProvider {
    #[cfg(feature = "alloc")]
    #[cfg_attr(doc_cfg, doc(cfg(feature = "alloc")))]
    fn get_listeners(&self) -> alloc::vec::Vec<ListenerKey>;
    fn contains_listener(&self, key: &ListenerKey) -> bool;
    fn get_listener_ids(&self, key: &ListenerKey) -> Option<Iter<ChannelId>>;
    fn add_listener(&mut self, key: ListenerKey, sender_id: ChannelId) -> bool;
    fn remove_duplicates(&mut self, key: &ListenerKey);
}

pub trait SenderMapProvider<
    SP: EventSendProvider<EV, AUX>,
    EV: GenericEvent = EventU32,
    AUX = Params,
>
{
    fn contains_send_event_provider(&self, id: &ChannelId) -> bool;

    fn get_send_event_provider(&self, id: &ChannelId) -> Option<&SP>;
    fn add_send_event_provider(&mut self, send_provider: SP) -> bool;
}

/// Generic event manager implementation.
///
/// # Generics
///
///  * `ERP`: [EventReceiveProvider] used to receive all events.
///  * `SMP`: [SenderMapProvider]  which maps channel IDs to send providers.
///  * `LTR`: [ListenerMapProvider] which maps listener keys to channel IDs.
///  * `SP`: [EventSendProvider] contained within the sender map which sends the events.
///  * `EV`: The event type. This type must implement the [GenericEvent]. Currently only [EventU32]
///     and [EventU16] are supported.
///  * `AUX`: Auxiliary data which is sent with the event to provide optional context information
pub struct EventManager<
    ERP: EventReceiveProvider<EV, AUX>,
    SMP: SenderMapProvider<SP, EV, AUX>,
    LTR: ListenerMapProvider,
    SP: EventSendProvider<EV, AUX>,
    EV: GenericEvent = EventU32,
    AUX = Params,
> {
    event_receiver: ERP,
    sender_map: SMP,
    listener_map: LTR,
    phantom: core::marker::PhantomData<(SP, EV, AUX)>,
}

#[derive(Debug)]
pub enum EventRoutingResult<EV: GenericEvent, AUX> {
    /// No event was received
    Empty,
    /// An event was received and routed to listeners.
    Handled {
        num_recipients: u32,
        event: EV,
        aux_data: Option<AUX>,
    },
}

#[derive(Debug)]
pub enum EventRoutingError {
    Send(GenericSendError),
    NoSendersForKey(ListenerKey),
    NoSenderForId(ChannelId),
}

#[derive(Debug)]
pub struct EventRoutingErrorsWithResult<EV: GenericEvent, AUX> {
    pub result: EventRoutingResult<EV, AUX>,
    pub errors: [Option<EventRoutingError>; 3],
}

impl<
        ER: EventReceiveProvider<EV, AUX>,
        S: SenderMapProvider<SP, EV, AUX>,
        L: ListenerMapProvider,
        SP: EventSendProvider<EV, AUX>,
        EV: GenericEvent + Copy,
        AUX: Clone,
    > EventManager<ER, S, L, SP, EV, AUX>
{
    pub fn remove_duplicates(&mut self, key: &ListenerKey) {
        self.listener_map.remove_duplicates(key)
    }

    /// Subscribe for a unique event.
    pub fn subscribe_single(&mut self, event: &EV, sender_id: ChannelId) {
        self.update_listeners(ListenerKey::Single(event.raw_as_largest_type()), sender_id);
    }

    /// Subscribe for an event group.
    pub fn subscribe_group(&mut self, group_id: LargestGroupIdRaw, sender_id: ChannelId) {
        self.update_listeners(ListenerKey::Group(group_id), sender_id);
    }

    /// Subscribe for all events received by the manager.
    ///
    /// For example, this can be useful for a handler component which sends every event as
    /// a telemetry packet.
    pub fn subscribe_all(&mut self, sender_id: ChannelId) {
        self.update_listeners(ListenerKey::All, sender_id);
    }
}

impl<
        ERP: EventReceiveProvider<EV, AUX>,
        SMP: SenderMapProvider<SP, EV, AUX>,
        LTR: ListenerMapProvider,
        SP: EventSendProvider<EV, AUX>,
        EV: GenericEvent + Copy,
        AUX: Clone,
    > EventManager<ERP, SMP, LTR, SP, EV, AUX>
{
    pub fn new_with_custom_maps(event_receiver: ERP, sender_map: SMP, listener_map: LTR) -> Self {
        EventManager {
            listener_map,
            sender_map,
            event_receiver,
            phantom: PhantomData,
        }
    }

    /// Add a new sender component which can be used to send events to subscribers.
    pub fn add_sender(&mut self, send_provider: SP) {
        if !self
            .sender_map
            .contains_send_event_provider(&send_provider.channel_id())
        {
            self.sender_map.add_send_event_provider(send_provider);
        }
    }

    /// Generic function to update the event subscribers.
    fn update_listeners(&mut self, key: ListenerKey, sender_id: ChannelId) {
        self.listener_map.add_listener(key, sender_id);
    }

    /// This function will use the cached event receiver and try to receive one event.
    /// If an event was received, it will try to route that event to all subscribed event listeners.
    /// If this works without any issues, the [EventRoutingResult] will contain context information
    /// about the routed event.
    ///
    /// This function will track up to 3 errors returned as part of the
    /// [EventRoutingErrorsWithResult] error struct.
    pub fn try_event_handling(
        &self,
    ) -> Result<EventRoutingResult<EV, AUX>, EventRoutingErrorsWithResult<EV, AUX>> {
        let mut err_idx = 0;
        let mut err_slice = [None, None, None];
        let mut num_recipients = 0;
        let mut add_error = |error: EventRoutingError| {
            if err_idx < 3 {
                err_slice[err_idx] = Some(error);
                err_idx += 1;
            }
        };
        let mut send_handler = |key: &ListenerKey, event: EV, aux_data: &Option<AUX>| {
            if self.listener_map.contains_listener(key) {
                if let Some(ids) = self.listener_map.get_listener_ids(key) {
                    for id in ids {
                        if let Some(sender) = self.sender_map.get_send_event_provider(id) {
                            if let Err(e) = sender.send(event, aux_data.clone()) {
                                add_error(EventRoutingError::Send(e));
                            } else {
                                num_recipients += 1;
                            }
                        } else {
                            add_error(EventRoutingError::NoSenderForId(*id));
                        }
                    }
                } else {
                    add_error(EventRoutingError::NoSendersForKey(*key));
                }
            }
        };
        if let Some((event, aux_data)) = self.event_receiver.try_recv_event() {
            let single_key = ListenerKey::Single(event.raw_as_largest_type());
            send_handler(&single_key, event, &aux_data);
            let group_key = ListenerKey::Group(event.group_id_as_largest_type());
            send_handler(&group_key, event, &aux_data);
            send_handler(&ListenerKey::All, event, &aux_data);
            if err_idx > 0 {
                return Err(EventRoutingErrorsWithResult {
                    result: EventRoutingResult::Handled {
                        num_recipients,
                        event,
                        aux_data,
                    },
                    errors: err_slice,
                });
            }
            return Ok(EventRoutingResult::Handled {
                num_recipients,
                event,
                aux_data,
            });
        }
        Ok(EventRoutingResult::Empty)
    }
}

#[cfg(feature = "alloc")]
pub mod alloc_mod {
    use alloc::vec::Vec;
    use hashbrown::HashMap;

    use super::*;

    /// Helper type which constrains the sender map and listener map generics to the [DefaultSenderMap]
    /// and the [DefaultListenerMap]. It uses regular mpsc channels as the message queue backend.
    pub type EventManagerWithMpsc<EV = EventU32, AUX = Params> = EventManager<
        MpscEventReceiver,
        DefaultSenderMap<EventSenderMpsc<EV>, EV, AUX>,
        DefaultListenerMap,
        EventSenderMpsc<EV>,
    >;

    /// Helper type which constrains the sender map and listener map generics to the [DefaultSenderMap]
    /// and the [DefaultListenerMap]. It uses
    /// [bounded mpsc senders](https://doc.rust-lang.org/std/sync/mpsc/struct.SyncSender.html) as the
    /// message queue backend.
    pub type EventManagerWithBoundedMpsc<EV = EventU32, AUX = Params> = EventManager<
        MpscEventReceiver,
        DefaultSenderMap<EventSenderMpscBounded<EV>, EV, AUX>,
        DefaultListenerMap,
        EventSenderMpscBounded<EV>,
    >;

    impl<
            ER: EventReceiveProvider<EV, AUX>,
            SP: EventSendProvider<EV, AUX>,
            EV: GenericEvent + Copy,
            AUX: 'static,
        > EventManager<ER, DefaultSenderMap<SP, EV, AUX>, DefaultListenerMap, SP, EV, AUX>
    {
        /// Create an event manager where the sender table will be the [DefaultSenderMap]
        /// and the listener table will be the [DefaultListenerMap].
        pub fn new(event_receiver: ER) -> Self {
            Self {
                listener_map: DefaultListenerMap::default(),
                sender_map: DefaultSenderMap::default(),
                event_receiver,
                phantom: PhantomData,
            }
        }
    }

    /// Default listener map.
    ///
    /// Simple implementation which uses a [HashMap] and a [Vec] internally.
    #[derive(Default)]
    pub struct DefaultListenerMap {
        listeners: HashMap<ListenerKey, Vec<ChannelId>>,
    }

    impl ListenerMapProvider for DefaultListenerMap {
        fn get_listeners(&self) -> Vec<ListenerKey> {
            let mut key_list = Vec::new();
            for key in self.listeners.keys() {
                key_list.push(*key);
            }
            key_list
        }

        fn contains_listener(&self, key: &ListenerKey) -> bool {
            self.listeners.contains_key(key)
        }

        fn get_listener_ids(&self, key: &ListenerKey) -> Option<Iter<ChannelId>> {
            self.listeners.get(key).map(|vec| vec.iter())
        }

        fn add_listener(&mut self, key: ListenerKey, sender_id: ChannelId) -> bool {
            if let Some(existing_list) = self.listeners.get_mut(&key) {
                existing_list.push(sender_id);
            } else {
                let new_list = alloc::vec![sender_id];
                self.listeners.insert(key, new_list);
            }
            true
        }

        fn remove_duplicates(&mut self, key: &ListenerKey) {
            if let Some(list) = self.listeners.get_mut(key) {
                list.sort_unstable();
                list.dedup();
            }
        }
    }

    /// Default sender map.
    ///
    /// Simple implementation which uses a [HashMap] internally.
    pub struct DefaultSenderMap<
        SP: EventSendProvider<EV, AUX>,
        EV: GenericEvent = EventU32,
        AUX = Params,
    > {
        senders: HashMap<ChannelId, SP>,
        phantom: PhantomData<(EV, AUX)>,
    }

    impl<SP: EventSendProvider<EV, AUX>, EV: GenericEvent, AUX> Default
        for DefaultSenderMap<SP, EV, AUX>
    {
        fn default() -> Self {
            Self {
                senders: Default::default(),
                phantom: Default::default(),
            }
        }
    }

    impl<SP: EventSendProvider<EV, AUX>, EV: GenericEvent, AUX> SenderMapProvider<SP, EV, AUX>
        for DefaultSenderMap<SP, EV, AUX>
    {
        fn contains_send_event_provider(&self, id: &ChannelId) -> bool {
            self.senders.contains_key(id)
        }

        fn get_send_event_provider(&self, id: &ChannelId) -> Option<&SP> {
            self.senders
                .get(id)
                .filter(|sender| sender.channel_id() == *id)
        }

        fn add_send_event_provider(&mut self, send_provider: SP) -> bool {
            let id = send_provider.channel_id();
            if self.senders.contains_key(&id) {
                return false;
            }
            self.senders.insert(id, send_provider).is_none()
        }
    }
}

#[cfg(feature = "std")]
pub mod std_mod {
    use super::*;
    use crate::event_man::{EventReceiveProvider, EventWithAuxData};
    use crate::events::{EventU16, EventU32, GenericEvent};
    use crate::params::Params;
    use std::sync::mpsc::{self};

    pub struct MpscEventReceiver<Event: GenericEvent + Send = EventU32> {
        mpsc_receiver: mpsc::Receiver<(Event, Option<Params>)>,
    }

    impl<Event: GenericEvent + Send> MpscEventReceiver<Event> {
        pub fn new(receiver: mpsc::Receiver<(Event, Option<Params>)>) -> Self {
            Self {
                mpsc_receiver: receiver,
            }
        }
    }
    impl<Event: GenericEvent + Send> EventReceiveProvider<Event> for MpscEventReceiver<Event> {
        fn try_recv_event(&self) -> Option<EventWithAuxData<Event>> {
            if let Ok(event_and_data) = self.mpsc_receiver.try_recv() {
                return Some(event_and_data);
            }
            None
        }
    }

    pub type MpscEventU32Receiver = MpscEventReceiver<EventU32>;
    pub type MpscEventU16Receiver = MpscEventReceiver<EventU16>;

    /// Generic event sender which uses a regular [mpsc::Sender] as the messaging backend to
    /// send events.
    #[derive(Clone)]
    pub struct EventSenderMpsc<Event: GenericEvent + Send> {
        id: u32,
        sender: mpsc::Sender<(Event, Option<Params>)>,
    }

    impl<Event: GenericEvent + Send> EventSenderMpsc<Event> {
        pub fn new(id: u32, sender: mpsc::Sender<(Event, Option<Params>)>) -> Self {
            Self { id, sender }
        }
    }

    impl<Event: GenericEvent + Send> EventSendProvider<Event> for EventSenderMpsc<Event> {
        fn channel_id(&self) -> u32 {
            self.id
        }
        fn send(&self, event: Event, aux_data: Option<Params>) -> Result<(), GenericSendError> {
            self.sender
                .send((event, aux_data))
                .map_err(|_| GenericSendError::RxDisconnected)
        }
    }

    /// Generic event sender which uses the [mpsc::SyncSender] as the messaging backend to send
    /// events. This has the advantage that the channel is bounded and thus more deterministic.
    #[derive(Clone)]
    pub struct EventSenderMpscBounded<Event: GenericEvent + Send> {
        channel_id: u32,
        sender: mpsc::SyncSender<(Event, Option<Params>)>,
        capacity: usize,
    }

    impl<Event: GenericEvent + Send> EventSenderMpscBounded<Event> {
        pub fn new(
            channel_id: u32,
            sender: mpsc::SyncSender<(Event, Option<Params>)>,
            capacity: usize,
        ) -> Self {
            Self {
                channel_id,
                sender,
                capacity,
            }
        }
    }

    impl<Event: GenericEvent + Send> EventSendProvider<Event> for EventSenderMpscBounded<Event> {
        fn channel_id(&self) -> u32 {
            self.channel_id
        }
        fn send(&self, event: Event, aux_data: Option<Params>) -> Result<(), GenericSendError> {
            if let Err(e) = self.sender.try_send((event, aux_data)) {
                return match e {
                    mpsc::TrySendError::Full(_) => {
                        Err(GenericSendError::QueueFull(Some(self.capacity as u32)))
                    }
                    mpsc::TrySendError::Disconnected(_) => Err(GenericSendError::RxDisconnected),
                };
            }
            Ok(())
        }
    }

    pub type EventU32SenderMpsc = EventSenderMpsc<EventU32>;
    pub type EventU16SenderMpsc = EventSenderMpsc<EventU16>;
    pub type EventU32SenderMpscBounded = EventSenderMpscBounded<EventU32>;
    pub type EventU16SenderMpscBounded = EventSenderMpscBounded<EventU16>;
}

#[cfg(test)]
mod tests {
    use super::*;
    use crate::event_man::EventManager;
    use crate::events::{EventU32, GenericEvent, Severity};
    use crate::params::ParamsRaw;
    use std::format;
    use std::sync::mpsc::{self, channel, Receiver, Sender};

    const TEST_EVENT: EventU32 = EventU32::const_new(Severity::INFO, 0, 5);

    fn check_next_event(
        expected: EventU32,
        receiver: &Receiver<EventU32WithAuxData>,
    ) -> Option<Params> {
        if let Ok(event) = receiver.try_recv() {
            assert_eq!(event.0, expected);
            return event.1;
        }
        None
    }

    fn check_handled_event(
        res: EventRoutingResult<EventU32, Params>,
        expected: EventU32,
        expected_num_sent: u32,
    ) {
        assert!(matches!(res, EventRoutingResult::Handled { .. }));
        if let EventRoutingResult::Handled {
            num_recipients,
            event,
            ..
        } = res
        {
            assert_eq!(event, expected);
            assert_eq!(num_recipients, expected_num_sent);
        }
    }

    fn generic_event_man() -> (Sender<EventU32WithAuxData>, EventManagerWithMpsc) {
        let (event_sender, manager_queue) = channel();
        let event_man_receiver = MpscEventReceiver::new(manager_queue);
        (event_sender, EventManager::new(event_man_receiver))
    }

    #[test]
    fn test_basic() {
        let (event_sender, mut event_man) = generic_event_man();
        let event_grp_0 = EventU32::new(Severity::INFO, 0, 0).unwrap();
        let event_grp_1_0 = EventU32::new(Severity::HIGH, 1, 0).unwrap();
        let (single_event_sender, single_event_receiver) = channel();
        let single_event_listener = EventSenderMpsc::new(0, single_event_sender);
        event_man.subscribe_single(&event_grp_0, single_event_listener.channel_id());
        event_man.add_sender(single_event_listener);
        let (group_event_sender_0, group_event_receiver_0) = channel();
        let group_event_listener = EventU32SenderMpsc::new(1, group_event_sender_0);
        event_man.subscribe_group(event_grp_1_0.group_id(), group_event_listener.channel_id());
        event_man.add_sender(group_event_listener);

        // Test event with one listener
        event_sender
            .send((event_grp_0, None))
            .expect("Sending single error failed");
        let res = event_man.try_event_handling();
        assert!(res.is_ok());
        check_handled_event(res.unwrap(), event_grp_0, 1);
        check_next_event(event_grp_0, &single_event_receiver);

        // Test event which is sent to all group listeners
        event_sender
            .send((event_grp_1_0, None))
            .expect("Sending group error failed");
        let res = event_man.try_event_handling();
        assert!(res.is_ok());
        check_handled_event(res.unwrap(), event_grp_1_0, 1);
        check_next_event(event_grp_1_0, &group_event_receiver_0);
    }

    #[test]
    fn test_with_basic_aux_data() {
        let (event_sender, mut event_man) = generic_event_man();
        let event_grp_0 = EventU32::new(Severity::INFO, 0, 0).unwrap();
        let (single_event_sender, single_event_receiver) = channel();
        let single_event_listener = EventSenderMpsc::new(0, single_event_sender);
        event_man.subscribe_single(&event_grp_0, single_event_listener.channel_id());
        event_man.add_sender(single_event_listener);
        event_sender
            .send((event_grp_0, Some(Params::Heapless((2_u32, 3_u32).into()))))
            .expect("Sending group error failed");
        let res = event_man.try_event_handling();
        assert!(res.is_ok());
        check_handled_event(res.unwrap(), event_grp_0, 1);
        let aux = check_next_event(event_grp_0, &single_event_receiver);
        assert!(aux.is_some());
        let aux = aux.unwrap();
        if let Params::Heapless(ParamsHeapless::Raw(ParamsRaw::U32Pair(pair))) = aux {
            assert_eq!(pair.0, 2);
            assert_eq!(pair.1, 3);
        } else {
            panic!("{}", format!("Unexpected auxiliary value type {:?}", aux));
        }
    }

    /// Test listening for multiple groups
    #[test]
    fn test_multi_group() {
        let (event_sender, mut event_man) = generic_event_man();
        let res = event_man.try_event_handling();
        assert!(res.is_ok());
        let hres = res.unwrap();
        assert!(matches!(hres, EventRoutingResult::Empty));

        let event_grp_0 = EventU32::new(Severity::INFO, 0, 0).unwrap();
        let event_grp_1_0 = EventU32::new(Severity::HIGH, 1, 0).unwrap();
        let (event_grp_0_sender, event_grp_0_receiver) = channel();
        let event_grp_0_and_1_listener = EventU32SenderMpsc::new(0, event_grp_0_sender);
        event_man.subscribe_group(
            event_grp_0.group_id(),
            event_grp_0_and_1_listener.channel_id(),
        );
        event_man.subscribe_group(
            event_grp_1_0.group_id(),
            event_grp_0_and_1_listener.channel_id(),
        );
        event_man.add_sender(event_grp_0_and_1_listener);

        event_sender
            .send((event_grp_0, None))
            .expect("Sending Event Group 0 failed");
        event_sender
            .send((event_grp_1_0, None))
            .expect("Sendign Event Group 1 failed");
        let res = event_man.try_event_handling();
        assert!(res.is_ok());
        check_handled_event(res.unwrap(), event_grp_0, 1);
        let res = event_man.try_event_handling();
        assert!(res.is_ok());
        check_handled_event(res.unwrap(), event_grp_1_0, 1);

        check_next_event(event_grp_0, &event_grp_0_receiver);
        check_next_event(event_grp_1_0, &event_grp_0_receiver);
    }

    /// Test listening to the same event from multiple listeners. Also test listening
    /// to both group and single events from one listener
    #[test]
    fn test_listening_to_same_event_and_multi_type() {
        let (event_sender, mut event_man) = generic_event_man();
        let event_0 = EventU32::new(Severity::INFO, 0, 5).unwrap();
        let event_1 = EventU32::new(Severity::HIGH, 1, 0).unwrap();
        let (event_0_tx_0, event_0_rx_0) = channel();
        let (event_0_tx_1, event_0_rx_1) = channel();
        let event_listener_0 = EventU32SenderMpsc::new(0, event_0_tx_0);
        let event_listener_1 = EventU32SenderMpsc::new(1, event_0_tx_1);
        let event_listener_0_sender_id = event_listener_0.channel_id();
        event_man.subscribe_single(&event_0, event_listener_0_sender_id);
        event_man.add_sender(event_listener_0);
        let event_listener_1_sender_id = event_listener_1.channel_id();
        event_man.subscribe_single(&event_0, event_listener_1_sender_id);
        event_man.add_sender(event_listener_1);
        event_sender
            .send((event_0, None))
            .expect("Triggering Event 0 failed");
        let res = event_man.try_event_handling();
        assert!(res.is_ok());
        check_handled_event(res.unwrap(), event_0, 2);
        check_next_event(event_0, &event_0_rx_0);
        check_next_event(event_0, &event_0_rx_1);
        event_man.subscribe_group(event_1.group_id(), event_listener_0_sender_id);
        event_sender
            .send((event_0, None))
            .expect("Triggering Event 0 failed");
        event_sender
            .send((event_1, None))
            .expect("Triggering Event 1 failed");

        // 3 Events messages will be sent now
        let res = event_man.try_event_handling();
        assert!(res.is_ok());
        check_handled_event(res.unwrap(), event_0, 2);
        let res = event_man.try_event_handling();
        assert!(res.is_ok());
        check_handled_event(res.unwrap(), event_1, 1);
        // Both the single event and the group event should arrive now
        check_next_event(event_0, &event_0_rx_0);
        check_next_event(event_1, &event_0_rx_0);

        // Do double insertion and then remove duplicates
        event_man.subscribe_group(event_1.group_id(), event_listener_0_sender_id);
        event_man.remove_duplicates(&ListenerKey::Group(event_1.group_id()));
        event_sender
            .send((event_1, None))
            .expect("Triggering Event 1 failed");
        let res = event_man.try_event_handling();
        assert!(res.is_ok());
        check_handled_event(res.unwrap(), event_1, 1);
    }

    #[test]
    fn test_all_events_listener() {
        let (event_sender, manager_queue) = channel();
        let event_man_receiver = MpscEventReceiver::new(manager_queue);
        let mut event_man = EventManagerWithMpsc::new(event_man_receiver);
        let event_0 = EventU32::new(Severity::INFO, 0, 5).unwrap();
        let event_1 = EventU32::new(Severity::HIGH, 1, 0).unwrap();
        let (event_0_tx_0, all_events_rx) = channel();
        let all_events_listener = EventU32SenderMpsc::new(0, event_0_tx_0);
        event_man.subscribe_all(all_events_listener.channel_id());
        event_man.add_sender(all_events_listener);
        event_sender
            .send((event_0, None))
            .expect("Triggering event 0 failed");
        event_sender
            .send((event_1, None))
            .expect("Triggering event 1 failed");
        let res = event_man.try_event_handling();
        assert!(res.is_ok());
        check_handled_event(res.unwrap(), event_0, 1);
        let res = event_man.try_event_handling();
        assert!(res.is_ok());
        check_handled_event(res.unwrap(), event_1, 1);
        check_next_event(event_0, &all_events_rx);
        check_next_event(event_1, &all_events_rx);
    }

    #[test]
    fn test_bounded_event_sender_queue_full() {
        let (event_sender, _event_receiver) = mpsc::sync_channel(3);
        let event_sender = EventU32SenderMpscBounded::new(1, event_sender, 3);
        event_sender
            .send_no_data(TEST_EVENT)
            .expect("sending test event failed");
        event_sender
            .send_no_data(TEST_EVENT)
            .expect("sending test event failed");
        event_sender
            .send_no_data(TEST_EVENT)
            .expect("sending test event failed");
        let error = event_sender.send_no_data(TEST_EVENT);
        if let Err(e) = error {
            assert!(matches!(e, GenericSendError::QueueFull(Some(3))));
        } else {
            panic!("unexpected error {error:?}");
        }
    }
    #[test]
    fn test_bounded_event_sender_rx_dropped() {
        let (event_sender, event_receiver) = mpsc::sync_channel(3);
        let event_sender = EventU32SenderMpscBounded::new(1, event_sender, 3);
        drop(event_receiver);
        if let Err(e) = event_sender.send_no_data(TEST_EVENT) {
            assert!(matches!(e, GenericSendError::RxDisconnected));
        } else {
            panic!("Expected error");
        }
    }
}