sat-rs/satrs/tests/mode_tree.rs

951 lines
30 KiB
Rust
Raw Normal View History

use core::cell::Cell;
use satrs::mode::{
2024-11-26 10:25:56 +01:00
Mode, ModeError, ModeProvider, ModeReplyReceiver, ModeReplySender, ModeRequestHandler,
ModeRequestHandlerMpscBounded, ModeRequestReceiver, ModeRequestSender,
ModeRequestorAndHandlerMpscBounded, ModeRequestorBoundedMpsc,
};
2024-11-26 10:25:56 +01:00
use satrs::mode_tree::alloc_mod::{
ModeStoreVec, SequenceModeTables, SequenceTableMapValue, TargetModeTables, TargetTableMapValue,
};
use satrs::mode_tree::ModeStoreProvider;
use satrs::request::{MessageMetadata, MessageSender};
use satrs::{
mode::{ModeAndSubmode, ModeReply, ModeRequest},
queue::GenericTargetedMessagingError,
request::GenericMessage,
ComponentId,
};
2024-11-26 18:11:00 +01:00
use std::cell::RefCell;
use std::collections::VecDeque;
use std::convert::Infallible;
use std::string::{String, ToString};
2024-11-26 18:11:00 +01:00
use std::{println, sync::mpsc};
2024-11-26 10:25:56 +01:00
const INVALID_MODE: ModeAndSubmode = ModeAndSubmode::new(0xffffffff, 0);
const UNKNOWN_MODE: ModeAndSubmode = ModeAndSubmode::new(0xffffffff - 1, 0);
2024-11-26 18:11:00 +01:00
pub const OFF_MODE: ModeAndSubmode = ModeAndSubmode::new(0, 0);
#[derive(Debug)]
pub enum AcsMode {
OFF = 0,
SAFE = 1,
IDLE = 2
}
2024-11-26 10:25:56 +01:00
pub enum TestComponentId {
2024-11-26 10:25:56 +01:00
MagnetometerDevice = 1,
MagnetorquerDevice = 2,
ReactionWheelDevice = 3,
StartrackerDevice = 4,
ReactionWheelAssembly = 8,
MagnetometerAssembly = 9,
AcsController = 14,
AcsSubsystem = 15,
PusModeService = 16,
}
pub type RequestSenderType = mpsc::SyncSender<GenericMessage<ModeRequest>>;
pub type ReplySenderType = mpsc::SyncSender<GenericMessage<ModeReply>>;
2024-11-26 18:11:00 +01:00
#[derive(Default, Debug)]
pub struct ModeRequestHandlerMock {
get_mode_calls: RefCell<u32>,
start_transition_calls: VecDeque<(MessageMetadata, ModeAndSubmode)>,
announce_mode_calls: RefCell<VecDeque<AnnounceModeInfo>>,
handle_mode_info_calls: VecDeque<(MessageMetadata, ModeAndSubmode)>,
handle_mode_reached_calls: RefCell<VecDeque<Option<MessageMetadata>>>,
send_mode_reply_calls: RefCell<VecDeque<(MessageMetadata, ModeReply)>>,
}
impl ModeRequestHandlerMock {
pub fn clear(&mut self) {
self.get_mode_calls.replace(0);
self.start_transition_calls.clear();
self.announce_mode_calls.borrow_mut().clear();
self.handle_mode_reached_calls.borrow_mut().clear();
self.handle_mode_info_calls.clear();
self.send_mode_reply_calls.borrow_mut().clear();
}
}
impl ModeProvider for ModeRequestHandlerMock {
fn mode_and_submode(&self) -> ModeAndSubmode {
*self.get_mode_calls.borrow_mut() += 1;
INVALID_MODE
}
}
impl ModeRequestHandler for ModeRequestHandlerMock {
type Error = Infallible;
fn start_transition(
&mut self,
requestor: MessageMetadata,
mode_and_submode: ModeAndSubmode,
) -> Result<(), Self::Error> {
self.start_transition_calls
.push_back((requestor, mode_and_submode));
Ok(())
}
fn announce_mode(&self, requestor_info: Option<MessageMetadata>, recursive: bool) {
self.announce_mode_calls
.borrow_mut()
.push_back(AnnounceModeInfo {
requestor: requestor_info,
recursive,
});
}
fn handle_mode_reached(
&mut self,
requestor_info: Option<MessageMetadata>,
) -> Result<(), Self::Error> {
self.handle_mode_reached_calls
.borrow_mut()
.push_back(requestor_info);
Ok(())
}
fn handle_mode_info(
&mut self,
requestor_info: MessageMetadata,
info: ModeAndSubmode,
) -> Result<(), Self::Error> {
self.handle_mode_info_calls
.push_back((requestor_info, info));
todo!()
}
fn send_mode_reply(
&self,
requestor_info: MessageMetadata,
reply: ModeReply,
) -> Result<(), Self::Error> {
self.send_mode_reply_calls
.borrow_mut()
.push_back((requestor_info, reply));
Ok(())
}
}
2024-11-26 10:25:56 +01:00
/// Trait which denotes that an object is a parent in a mode tree.
///
/// A mode parent is capable of sending mode requests to child objects and has a unique component
/// ID.
pub trait ModeParent {
type Sender: MessageSender<ModeRequest>;
fn id(&self) -> ComponentId;
fn add_mode_child(&mut self, id: ComponentId, request_sender: Self::Sender);
}
/// Trait which denotes that an object is a child in a mode tree.
///
/// A child is capable of sending mode replies to parent objects and has a unique component ID.
pub trait ModeChild {
type Sender: MessageSender<ModeReply>;
fn id(&self) -> ComponentId;
fn add_mode_parent(&mut self, id: ComponentId, reply_sender: Self::Sender);
}
/// Utility method which connects a mode tree parent object to a child object by calling
/// [ModeParent::add_mode_child] on the [parent][ModeParent] and calling
/// [ModeChild::add_mode_parent] on the [child][ModeChild].
///
/// # Arguments
///
/// * `parent` - The parent object which implements [ModeParent].
/// * `request_sender` - Sender object to send mode requests to the child.
/// * `child` - The child object which implements [ModeChild].
/// * `reply_sender` - Sender object to send mode replies to the parent.
pub fn connect_mode_nodes<ReqSender, ReplySender>(
2024-11-26 18:11:00 +01:00
parent: &mut impl ModeParent<Sender = ReqSender>,
2024-11-26 10:25:56 +01:00
request_sender: ReqSender,
2024-11-26 18:11:00 +01:00
child: &mut impl ModeChild<Sender = ReplySender>,
2024-11-26 10:25:56 +01:00
reply_sender: ReplySender,
) {
parent.add_mode_child(child.id(), request_sender);
child.add_mode_parent(parent.id(), reply_sender);
}
struct PusModeService {
pub request_id_counter: Cell<u32>,
pub mode_node: ModeRequestorBoundedMpsc,
}
impl PusModeService {
2024-11-26 18:11:00 +01:00
pub fn announce_modes_recursively(&self) {
self.mode_node
.send_mode_request(
self.request_id_counter.get(),
2024-11-26 10:25:56 +01:00
TestComponentId::AcsSubsystem as ComponentId,
ModeRequest::AnnounceModeRecursive,
)
.unwrap();
self.request_id_counter
.replace(self.request_id_counter.get() + 1);
}
}
2024-11-26 10:25:56 +01:00
impl ModeParent for PusModeService {
type Sender = RequestSenderType;
fn id(&self) -> ComponentId {
TestComponentId::PusModeService as ComponentId
}
2024-11-26 18:11:00 +01:00
fn add_mode_child(&mut self, id: ComponentId, request_sender: Self::Sender) {
2024-11-26 10:25:56 +01:00
self.mode_node.add_message_target(id, request_sender);
}
}
struct AcsSubsystem {
2024-11-21 18:35:16 +01:00
pub mode_node: ModeRequestorAndHandlerMpscBounded,
pub mode_requestor_info: Option<MessageMetadata>,
pub mode_and_submode: ModeAndSubmode,
2024-11-21 18:35:16 +01:00
pub target_mode_and_submode: Option<ModeAndSubmode>,
2024-11-26 10:25:56 +01:00
pub children_mode_store: ModeStoreVec,
pub target_tables: TargetModeTables,
pub sequence_tables: SequenceModeTables,
2024-11-26 18:11:00 +01:00
pub mode_req_handler_mock: ModeRequestHandlerMock,
}
2024-11-26 10:25:56 +01:00
impl AcsSubsystem {
2024-11-26 18:11:00 +01:00
pub fn run(&mut self) {
if let Some(request) = self.mode_node.try_recv_mode_request().unwrap() {
self.handle_mode_request(request)
.expect("mode messaging error");
}
}
fn id(&self) -> ComponentId {
TestComponentId::AcsSubsystem as ComponentId
}
2024-11-26 10:25:56 +01:00
pub fn add_target_and_sequence_table(
&mut self,
mode: Mode,
target_table_val: TargetTableMapValue,
sequence_table_val: SequenceTableMapValue,
) {
self.target_tables.0.insert(mode, target_table_val);
self.sequence_tables.0.insert(mode, sequence_table_val);
}
}
impl ModeParent for AcsSubsystem {
type Sender = RequestSenderType;
fn id(&self) -> ComponentId {
2024-11-26 18:11:00 +01:00
self.id()
2024-11-26 10:25:56 +01:00
}
fn add_mode_child(&mut self, id: ComponentId, request_sender: RequestSenderType) {
self.children_mode_store.add_component(id, UNKNOWN_MODE);
self.mode_node.add_request_target(id, request_sender);
}
}
impl ModeChild for AcsSubsystem {
type Sender = ReplySenderType;
fn id(&self) -> ComponentId {
2024-11-26 18:11:00 +01:00
self.id()
2024-11-26 10:25:56 +01:00
}
2024-11-26 18:11:00 +01:00
2024-11-26 10:25:56 +01:00
fn add_mode_parent(&mut self, id: ComponentId, reply_sender: ReplySenderType) {
self.mode_node.add_reply_target(id, reply_sender);
}
}
impl ModeProvider for AcsSubsystem {
fn mode_and_submode(&self) -> ModeAndSubmode {
self.mode_and_submode
}
}
2024-11-26 10:25:56 +01:00
impl ModeRequestHandler for AcsSubsystem {
type Error = ModeError;
fn start_transition(
&mut self,
requestor: MessageMetadata,
mode_and_submode: ModeAndSubmode,
2024-11-21 18:35:16 +01:00
) -> Result<(), Self::Error> {
self.mode_requestor_info = Some(requestor);
self.target_mode_and_submode = Some(mode_and_submode);
2024-11-26 18:11:00 +01:00
self.mode_req_handler_mock
.start_transition(requestor, mode_and_submode)
.unwrap();
2024-11-21 18:35:16 +01:00
// Execute mode map by executing the transition table(s).
Ok(())
}
2024-11-21 18:35:16 +01:00
fn announce_mode(&self, requestor_info: Option<MessageMetadata>, recursive: bool) {
println!(
2024-11-21 18:35:16 +01:00
"TestAssembly: Announcing mode (recursively: {}): {:?}",
recursive, self.mode_and_submode
);
2024-11-21 18:35:16 +01:00
let mut mode_request = ModeRequest::AnnounceMode;
if recursive {
mode_request = ModeRequest::AnnounceModeRecursive;
}
let request_id = requestor_info.map_or(0, |info| info.request_id());
self.mode_node
.request_sender_map
.0
.iter()
.for_each(|(_, sender)| {
sender
.send(GenericMessage::new(
MessageMetadata::new(request_id, self.mode_node.local_channel_id_generic()),
mode_request,
))
.expect("sending mode request failed");
});
2024-11-26 18:11:00 +01:00
self.mode_req_handler_mock
.announce_mode(requestor_info, recursive);
}
2024-11-21 18:35:16 +01:00
fn handle_mode_reached(
&mut self,
requestor_info: Option<MessageMetadata>,
) -> Result<(), Self::Error> {
if let Some(requestor) = requestor_info {
self.send_mode_reply(requestor, ModeReply::ModeReply(self.mode_and_submode))?;
}
2024-11-26 18:11:00 +01:00
self.mode_req_handler_mock
.handle_mode_reached(requestor_info)
.unwrap();
Ok(())
}
fn handle_mode_info(
&mut self,
requestor_info: MessageMetadata,
info: ModeAndSubmode,
2024-11-21 18:35:16 +01:00
) -> Result<(), Self::Error> {
2024-11-26 18:11:00 +01:00
self.mode_req_handler_mock
.handle_mode_info(requestor_info, info)
.unwrap();
2024-11-21 18:35:16 +01:00
// TODO: Need to check whether mode table execution is finished.
// This works by checking the children modes received through replies against the
// mode table after all transition tables were executed.
Ok(())
}
fn send_mode_reply(
&self,
requestor_info: MessageMetadata,
reply: ModeReply,
) -> Result<(), Self::Error> {
2024-11-26 18:11:00 +01:00
self.mode_req_handler_mock
.send_mode_reply(requestor_info, reply)
.unwrap();
2024-11-21 18:35:16 +01:00
self.mode_node.send_mode_reply(requestor_info, reply)?;
Ok(())
}
}
2024-11-26 10:25:56 +01:00
struct MgmAssembly {
pub mode_node: ModeRequestorAndHandlerMpscBounded,
pub mode_requestor_info: Option<MessageMetadata>,
pub mode_and_submode: ModeAndSubmode,
pub target_mode_and_submode: Option<ModeAndSubmode>,
2024-11-26 18:11:00 +01:00
pub mode_req_mock: ModeRequestHandlerMock,
}
2024-11-26 10:25:56 +01:00
impl MgmAssembly {
pub fn run(&mut self) {
self.check_mode_requests().expect("mode messaging error");
self.check_mode_replies().expect("mode messaging error");
}
2024-11-26 18:11:00 +01:00
fn id(&self) -> ComponentId {
TestComponentId::MagnetometerAssembly as u64
}
pub fn check_mode_requests(&mut self) -> Result<(), GenericTargetedMessagingError> {
if let Some(request) = self.mode_node.try_recv_mode_request()? {
2024-11-26 18:11:00 +01:00
self.handle_mode_request(request).unwrap();
}
Ok(())
}
pub fn check_mode_replies(&mut self) -> Result<(), GenericTargetedMessagingError> {
if let Some(reply_and_id) = self.mode_node.try_recv_mode_reply()? {
match reply_and_id.message {
ModeReply::ModeReply(reply) => {
println!(
"TestAssembly: Received mode reply from {:?}, reached: {:?}",
reply_and_id.sender_id(),
reply
);
}
ModeReply::CantReachMode(_) => todo!(),
ModeReply::WrongMode { expected, reached } => {
println!(
"TestAssembly: Wrong mode reply from {:?}, reached {:?}, expected {:?}",
reply_and_id.sender_id(),
reached,
expected
);
}
}
}
Ok(())
}
}
2024-11-26 10:25:56 +01:00
impl ModeParent for MgmAssembly {
type Sender = RequestSenderType;
fn id(&self) -> ComponentId {
2024-11-26 18:11:00 +01:00
self.id()
2024-11-26 10:25:56 +01:00
}
fn add_mode_child(&mut self, id: ComponentId, request_sender: RequestSenderType) {
self.mode_node.add_request_target(id, request_sender);
}
}
impl ModeChild for MgmAssembly {
type Sender = ReplySenderType;
fn id(&self) -> ComponentId {
2024-11-26 18:11:00 +01:00
self.id()
2024-11-26 10:25:56 +01:00
}
fn add_mode_parent(&mut self, id: ComponentId, reply_sender: ReplySenderType) {
self.mode_node.add_reply_target(id, reply_sender);
}
}
impl ModeProvider for MgmAssembly {
fn mode_and_submode(&self) -> ModeAndSubmode {
self.mode_and_submode
}
}
impl ModeRequestHandler for MgmAssembly {
type Error = ModeError;
fn start_transition(
&mut self,
requestor: MessageMetadata,
mode_and_submode: ModeAndSubmode,
) -> Result<(), Self::Error> {
self.mode_requestor_info = Some(requestor);
self.target_mode_and_submode = Some(mode_and_submode);
2024-11-26 18:11:00 +01:00
self.mode_req_mock
.start_transition(requestor, mode_and_submode)
.unwrap();
Ok(())
}
fn announce_mode(&self, requestor_info: Option<MessageMetadata>, recursive: bool) {
println!(
"TestAssembly: Announcing mode (recursively: {}): {:?}",
recursive, self.mode_and_submode
);
let mut mode_request = ModeRequest::AnnounceMode;
if recursive {
mode_request = ModeRequest::AnnounceModeRecursive;
}
let request_id = requestor_info.map_or(0, |info| info.request_id());
self.mode_node
.request_sender_map
.0
.iter()
.for_each(|(_, sender)| {
sender
.send(GenericMessage::new(
MessageMetadata::new(request_id, self.mode_node.local_channel_id_generic()),
mode_request,
))
.expect("sending mode request failed");
});
2024-11-26 18:11:00 +01:00
self.mode_req_mock.announce_mode(requestor_info, recursive);
}
fn handle_mode_reached(
&mut self,
mode_requestor: Option<MessageMetadata>,
) -> Result<(), Self::Error> {
if let Some(requestor) = mode_requestor {
self.send_mode_reply(requestor, ModeReply::ModeReply(self.mode_and_submode))?;
}
2024-11-26 18:11:00 +01:00
self.mode_req_mock
.handle_mode_reached(mode_requestor)
.unwrap();
Ok(())
}
fn send_mode_reply(
&self,
requestor: MessageMetadata,
reply: ModeReply,
) -> Result<(), Self::Error> {
self.mode_node.send_mode_reply(requestor, reply)?;
2024-11-26 18:11:00 +01:00
self.mode_req_mock
.send_mode_reply(requestor, reply)
.unwrap();
Ok(())
}
fn handle_mode_info(
&mut self,
2024-11-26 18:11:00 +01:00
requestor_info: MessageMetadata,
info: ModeAndSubmode,
) -> Result<(), Self::Error> {
2024-11-26 18:11:00 +01:00
self.mode_req_mock
.handle_mode_info(requestor_info, info)
.unwrap();
// TODO: A proper assembly must reach to mode changes of its children..
Ok(())
}
}
2024-11-26 10:25:56 +01:00
struct CommonDevice {
name: String,
pub id: ComponentId,
2024-11-21 18:35:16 +01:00
pub mode_node: ModeRequestHandlerMpscBounded,
pub mode_and_submode: ModeAndSubmode,
2024-11-26 18:11:00 +01:00
pub mode_req_mock: ModeRequestHandlerMock,
2024-11-21 18:35:16 +01:00
}
2024-11-26 10:25:56 +01:00
impl CommonDevice {
pub fn new(name: String, id: ComponentId, mode_node: ModeRequestHandlerMpscBounded) -> Self {
Self {
name,
id,
mode_node,
mode_and_submode: ModeAndSubmode::new(0, 0),
2024-11-26 18:11:00 +01:00
mode_req_mock: Default::default(),
2024-11-26 10:25:56 +01:00
}
}
2024-11-21 18:35:16 +01:00
pub fn run(&mut self) {
self.check_mode_requests().expect("mode messaging error");
}
pub fn check_mode_requests(&mut self) -> Result<(), ModeError> {
if let Some(request) = self.mode_node.try_recv_mode_request()? {
self.handle_mode_request(request)?
}
Ok(())
}
}
2024-11-26 10:25:56 +01:00
impl ModeChild for CommonDevice {
type Sender = ReplySenderType;
fn id(&self) -> ComponentId {
self.id
}
fn add_mode_parent(&mut self, id: ComponentId, reply_sender: ReplySenderType) {
self.mode_node.add_message_target(id, reply_sender);
}
}
impl ModeProvider for CommonDevice {
2024-11-21 18:35:16 +01:00
fn mode_and_submode(&self) -> ModeAndSubmode {
self.mode_and_submode
}
}
2024-11-26 10:25:56 +01:00
impl ModeRequestHandler for CommonDevice {
2024-11-21 18:35:16 +01:00
type Error = ModeError;
fn start_transition(
&mut self,
requestor: MessageMetadata,
mode_and_submode: ModeAndSubmode,
) -> Result<(), ModeError> {
self.mode_and_submode = mode_and_submode;
self.handle_mode_reached(Some(requestor))?;
2024-11-26 18:11:00 +01:00
self.mode_req_mock
.start_transition(requestor, mode_and_submode)
.unwrap();
2024-11-21 18:35:16 +01:00
Ok(())
}
2024-11-26 18:11:00 +01:00
fn announce_mode(&self, requestor_info: Option<MessageMetadata>, recursive: bool) {
2024-11-21 18:35:16 +01:00
println!(
"{}: announcing mode: {:?}",
self.name, self.mode_and_submode
);
2024-11-26 18:11:00 +01:00
self.mode_req_mock.announce_mode(requestor_info, recursive);
2024-11-21 18:35:16 +01:00
}
fn handle_mode_reached(&mut self, requestor: Option<MessageMetadata>) -> Result<(), ModeError> {
if let Some(requestor) = requestor {
self.send_mode_reply(requestor, ModeReply::ModeReply(self.mode_and_submode))?;
}
2024-11-26 18:11:00 +01:00
self.mode_req_mock.handle_mode_reached(requestor).unwrap();
2024-11-21 18:35:16 +01:00
Ok(())
}
fn send_mode_reply(
&self,
requestor_info: MessageMetadata,
reply: ModeReply,
) -> Result<(), ModeError> {
self.mode_node.send_mode_reply(requestor_info, reply)?;
2024-11-26 18:11:00 +01:00
self.mode_req_mock
.send_mode_reply(requestor_info, reply)
.unwrap();
2024-11-21 18:35:16 +01:00
Ok(())
}
fn handle_mode_info(
&mut self,
requestor_info: MessageMetadata,
info: ModeAndSubmode,
) -> Result<(), ModeError> {
// A device is a leaf in the tree.. so this really should not happen
println!(
"{}: unexpected mode info from {:?} with mode: {:?}",
self.name,
requestor_info.sender_id(),
info
);
2024-11-26 18:11:00 +01:00
self.mode_req_mock
.handle_mode_info(requestor_info, info)
.unwrap();
2024-11-21 18:35:16 +01:00
Ok(())
}
}
2024-11-26 18:11:00 +01:00
#[derive(Debug, Default)]
pub struct AnnounceModeInfo {
pub requestor: Option<MessageMetadata>,
pub recursive: bool,
}
2024-11-26 10:25:56 +01:00
pub struct AcsController {
pub mode_node: ModeRequestHandlerMpscBounded,
pub mode_and_submode: ModeAndSubmode,
2024-11-26 18:11:00 +01:00
pub announce_mode_queue: RefCell<VecDeque<AnnounceModeInfo>>,
pub mode_req_mock: ModeRequestHandlerMock,
2024-11-26 10:25:56 +01:00
}
impl AcsController {
pub fn run(&mut self) {
self.check_mode_requests().expect("mode messaging error");
}
pub fn check_mode_requests(&mut self) -> Result<(), ModeError> {
if let Some(request) = self.mode_node.try_recv_mode_request()? {
self.handle_mode_request(request)?
}
Ok(())
}
}
impl ModeChild for AcsController {
type Sender = ReplySenderType;
fn id(&self) -> ComponentId {
TestComponentId::AcsController as u64
}
fn add_mode_parent(&mut self, id: ComponentId, reply_sender: ReplySenderType) {
self.mode_node.add_message_target(id, reply_sender);
}
}
impl ModeProvider for AcsController {
fn mode_and_submode(&self) -> ModeAndSubmode {
self.mode_and_submode
}
}
impl ModeRequestHandler for AcsController {
type Error = ModeError;
fn start_transition(
&mut self,
requestor: MessageMetadata,
mode_and_submode: ModeAndSubmode,
) -> Result<(), Self::Error> {
self.mode_and_submode = mode_and_submode;
self.handle_mode_reached(Some(requestor))?;
2024-11-26 18:11:00 +01:00
self.mode_req_mock
.start_transition(requestor, mode_and_submode)
.unwrap();
2024-11-26 10:25:56 +01:00
Ok(())
}
fn announce_mode(&self, requestor_info: Option<MessageMetadata>, recursive: bool) {
2024-11-26 18:11:00 +01:00
self.announce_mode_queue
.borrow_mut()
.push_back(AnnounceModeInfo {
requestor: requestor_info,
recursive,
});
self.mode_req_mock.announce_mode(requestor_info, recursive);
2024-11-26 10:25:56 +01:00
}
fn handle_mode_reached(
&mut self,
requestor_info: Option<MessageMetadata>,
) -> Result<(), Self::Error> {
if let Some(requestor) = requestor_info {
self.send_mode_reply(requestor, ModeReply::ModeReply(self.mode_and_submode))?;
}
2024-11-26 18:11:00 +01:00
self.mode_req_mock
.handle_mode_reached(requestor_info)
.unwrap();
2024-11-26 10:25:56 +01:00
Ok(())
}
fn handle_mode_info(
&mut self,
requestor_info: MessageMetadata,
info: ModeAndSubmode,
) -> Result<(), Self::Error> {
// The controller is a leaf in the tree.. so this really should not happen
println!(
"ACS Controller: unexpected mode info from {:?} with mode: {:?}",
requestor_info.sender_id(),
info
);
2024-11-26 18:11:00 +01:00
self.mode_req_mock
.handle_mode_info(requestor_info, info)
.unwrap();
2024-11-26 10:25:56 +01:00
Ok(())
}
fn send_mode_reply(
&self,
requestor_info: MessageMetadata,
reply: ModeReply,
) -> Result<(), Self::Error> {
self.mode_node.send_mode_reply(requestor_info, reply)?;
2024-11-26 18:11:00 +01:00
self.mode_req_mock
.send_mode_reply(requestor_info, reply)
.unwrap();
2024-11-26 10:25:56 +01:00
Ok(())
}
}
2024-11-26 18:11:00 +01:00
pub struct TreeTestbench {
pus: PusModeService,
subsystem: AcsSubsystem,
ctrl: AcsController,
mgm_assy: MgmAssembly,
mgm_dev: CommonDevice,
mgt_dev: CommonDevice,
}
impl Default for TreeTestbench {
fn default() -> Self {
Self::new()
}
}
impl TreeTestbench {
pub fn new() -> Self {
// All request channel handles.
let (request_sender_to_mgm_dev, request_receiver_mgm_dev) = mpsc::sync_channel(10);
let (request_sender_to_mgt_dev, request_receiver_mgt_dev) = mpsc::sync_channel(10);
let (request_sender_to_mgm_assy, request_receiver_mgm_assy) = mpsc::sync_channel(10);
let (request_sender_to_acs_subsystem, request_receiver_acs_subsystem) =
mpsc::sync_channel(10);
let (request_sender_to_acs_ctrl, request_receiver_acs_ctrl) = mpsc::sync_channel(10);
// All reply channel handles.
let (reply_sender_to_mgm_assy, reply_receiver_mgm_assy) = mpsc::sync_channel(10);
let (reply_sender_to_acs_subsystem, reply_receiver_acs_subsystem) = mpsc::sync_channel(10);
let (reply_sender_to_pus, reply_receiver_pus) = mpsc::sync_channel(10);
// Mode requestors and handlers.
let mut mgm_assy_node = ModeRequestorAndHandlerMpscBounded::new(
TestComponentId::MagnetometerAssembly as ComponentId,
request_receiver_mgm_assy,
reply_receiver_mgm_assy,
);
let acs_subsystem_node = ModeRequestorAndHandlerMpscBounded::new(
TestComponentId::AcsSubsystem as ComponentId,
request_receiver_acs_subsystem,
reply_receiver_acs_subsystem,
);
// Mode requestors only.
let mode_node_pus = ModeRequestorBoundedMpsc::new(
TestComponentId::PusModeService as ComponentId,
reply_receiver_pus,
);
// Request handlers only.
let mut mgm_dev_node = ModeRequestHandlerMpscBounded::new(
TestComponentId::MagnetometerDevice as ComponentId,
request_receiver_mgm_dev,
);
let mut mgt_dev_node = ModeRequestHandlerMpscBounded::new(
TestComponentId::MagnetorquerDevice as ComponentId,
request_receiver_mgt_dev,
);
let acs_ctrl_node = ModeRequestHandlerMpscBounded::new(
TestComponentId::AcsController as ComponentId,
request_receiver_acs_ctrl,
);
// Set up mode reply senders.
mgm_dev_node.add_message_target(
TestComponentId::MagnetometerAssembly as ComponentId,
reply_sender_to_mgm_assy.clone(),
);
mgt_dev_node.add_message_target(
TestComponentId::MagnetometerAssembly as ComponentId,
reply_sender_to_mgm_assy.clone(),
);
mgm_assy_node.add_reply_target(
TestComponentId::PusModeService as ComponentId,
reply_sender_to_pus.clone(),
);
mgm_assy_node.add_reply_target(
TestComponentId::AcsSubsystem as ComponentId,
reply_sender_to_pus.clone(),
);
let mut mode_store_acs_subsystem = ModeStoreVec::default();
let mut target_tables_acs_subsystem = TargetModeTables::default();
let mut sequence_tables_acs_subsystem = SequenceModeTables::default();
let mut mgm_dev = CommonDevice::new(
"MGM".to_string(),
TestComponentId::MagnetometerDevice as u64,
mgm_dev_node,
);
let mut mgt_dev = CommonDevice::new(
"MGT".to_string(),
TestComponentId::MagnetorquerDevice as u64,
mgt_dev_node,
);
let mut mgm_assy = MgmAssembly {
mode_node: mgm_assy_node,
mode_requestor_info: None,
mode_and_submode: ModeAndSubmode::new(0, 0),
target_mode_and_submode: None,
mode_req_mock: ModeRequestHandlerMock::default(),
};
let mut acs_subsystem = AcsSubsystem {
mode_node: acs_subsystem_node,
mode_requestor_info: None,
mode_and_submode: ModeAndSubmode::new(0, 0),
target_mode_and_submode: None,
children_mode_store: mode_store_acs_subsystem,
target_tables: target_tables_acs_subsystem,
sequence_tables: sequence_tables_acs_subsystem,
mode_req_handler_mock: Default::default(),
};
let mut acs_ctrl = AcsController {
mode_node: acs_ctrl_node,
mode_and_submode: UNKNOWN_MODE,
announce_mode_queue: RefCell::new(Default::default()),
mode_req_mock: Default::default(),
};
let mut pus_service = PusModeService {
request_id_counter: Cell::new(0),
mode_node: mode_node_pus,
};
// Connect the PUS mode service to all mode objects.
connect_mode_nodes(
&mut pus_service,
request_sender_to_acs_subsystem,
&mut acs_subsystem,
reply_sender_to_pus.clone(),
);
connect_mode_nodes(
&mut pus_service,
request_sender_to_acs_ctrl.clone(),
&mut acs_ctrl,
reply_sender_to_pus.clone(),
);
connect_mode_nodes(
&mut pus_service,
request_sender_to_mgm_dev.clone(),
&mut mgm_dev,
reply_sender_to_pus.clone(),
);
connect_mode_nodes(
&mut pus_service,
request_sender_to_mgm_assy.clone(),
&mut mgm_assy,
reply_sender_to_pus.clone(),
);
connect_mode_nodes(
&mut pus_service,
request_sender_to_mgt_dev.clone(),
&mut mgt_dev,
reply_sender_to_pus.clone(),
);
// Connect the ACS subsystem to all children.
connect_mode_nodes(
&mut acs_subsystem,
request_sender_to_mgm_assy,
&mut mgm_assy,
reply_sender_to_acs_subsystem.clone(),
);
connect_mode_nodes(
&mut acs_subsystem,
request_sender_to_acs_ctrl,
&mut acs_ctrl,
reply_sender_to_acs_subsystem.clone(),
);
connect_mode_nodes(
&mut acs_subsystem,
request_sender_to_mgt_dev,
&mut mgt_dev,
reply_sender_to_acs_subsystem.clone(),
);
connect_mode_nodes(
&mut mgm_assy,
request_sender_to_mgm_dev,
&mut mgm_dev,
reply_sender_to_mgm_assy,
);
Self {
pus: pus_service,
subsystem: acs_subsystem,
ctrl: acs_ctrl,
mgm_assy,
mgm_dev,
mgt_dev,
}
}
}
2024-11-26 10:25:56 +01:00
#[test]
2024-11-26 18:11:00 +01:00
fn announce_recursively() {
let mut tb = TreeTestbench::new();
tb.pus.announce_modes_recursively();
tb.subsystem.run();
tb.ctrl.run();
tb.mgm_assy.run();
tb.mgm_dev.run();
tb.mgt_dev.run();
let mut announces = tb
.subsystem
.mode_req_handler_mock
.announce_mode_calls
.borrow_mut();
assert_eq!(announces.len(), 1);
announces = tb.ctrl.mode_req_mock.announce_mode_calls.borrow_mut();
assert_eq!(tb.ctrl.mode_req_mock.start_transition_calls.len(), 0);
assert_eq!(tb.ctrl.mode_and_submode(), UNKNOWN_MODE);
assert_eq!(announces.len(), 1);
announces = tb.mgm_assy.mode_req_mock.announce_mode_calls.borrow_mut();
assert_eq!(tb.mgm_assy.mode_req_mock.start_transition_calls.len(), 0);
assert_eq!(announces.len(), 1);
announces = tb.mgm_dev.mode_req_mock.announce_mode_calls.borrow_mut();
assert_eq!(tb.mgm_dev.mode_req_mock.start_transition_calls.len(), 0);
assert_eq!(announces.len(), 1);
announces = tb.mgt_dev.mode_req_mock.announce_mode_calls.borrow_mut();
assert_eq!(tb.mgt_dev.mode_req_mock.start_transition_calls.len(), 0);
assert_eq!(announces.len(), 1);
}