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continue tests

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This commit is contained in:
Robin Müller
2025-01-24 16:14:13 +01:00
parent 365f8f9e7a
commit 0870471886
4 changed files with 417 additions and 109 deletions
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53
satrs/tests/mode_tree.rs
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@ -15,7 +15,7 @@ use satrs::request::{MessageMetadata, RequestId};
use satrs::res_code::ResultU16;
use satrs::subsystem::{
ModeCommandingResult, ModeDoesNotExistError, ModeTreeHelperError, ModeTreeHelperState,
SubsystemCommandingHelper, SubsystemHelperResult, TargetKeepingResult,
SubsystemCommandingHelper, SubsystemHelperResult,
};
use satrs::{
mode::{ModeAndSubmode, ModeReply, ModeRequest},
@ -301,32 +301,27 @@ impl AcsSubsystem {
result: Result<SubsystemHelperResult, ModeTreeHelperError>,
) {
match result {
Ok(result) => match result {
SubsystemHelperResult::Idle => (),
SubsystemHelperResult::TargetKeeping(target_keeping_result) => {
match target_keeping_result {
TargetKeepingResult::Ok => (),
TargetKeepingResult::Violated { fallback_mode } => {
if let Some(fallback_mode) = fallback_mode {
self.subsystem_helper
.start_command_sequence(fallback_mode, 0)
.unwrap();
}
}
}
Ok(result) => {
if let SubsystemHelperResult::ModeCommanding(ModeCommandingResult::Done) = result {
self.handle_mode_reached(self.mode_requestor_info)
.expect("mode reply handling failed");
}
SubsystemHelperResult::ModeCommanding(mode_commanding_result) => {
if let ModeCommandingResult::Done = mode_commanding_result {
self.handle_mode_reached(self.mode_requestor_info)
.expect("mode reply handling failed");
}
}
},
}
Err(error) => match error {
ModeTreeHelperError::Message(_generic_targeted_messaging_error) => {
panic!("messaging error")
}
ModeTreeHelperError::CurrentModeNotInTargetTable(_) => panic!("mode not found"),
ModeTreeHelperError::ModeCommmandFailure { seq_table_index: _ } => {
// TODO: Cache the command failure.
}
ModeTreeHelperError::TargetKeepingViolation { fallback_mode } => {
if let Some(fallback_mode) = fallback_mode {
self.subsystem_helper
.start_command_sequence(fallback_mode, 0)
.unwrap();
}
}
},
}
}
@ -391,7 +386,7 @@ impl ModeChild for AcsSubsystem {
impl ModeProvider for AcsSubsystem {
fn mode_and_submode(&self) -> ModeAndSubmode {
self.subsystem_helper.current_mode
ModeAndSubmode::new(self.subsystem_helper.mode(), 0)
}
}
@ -412,7 +407,7 @@ impl ModeRequestHandler for AcsSubsystem {
mode_and_submode: ModeAndSubmode,
forced: bool,
) -> Result<(), Self::Error> {
if !forced && self.subsystem_helper.state == ModeTreeHelperState::ModeCommanding {
if !forced && self.subsystem_helper.state() == ModeTreeHelperState::ModeCommanding {
return Err(ModeError::Busy.into());
}
self.mode_requestor_info = Some(requestor);
@ -428,7 +423,8 @@ impl ModeRequestHandler for AcsSubsystem {
fn announce_mode(&self, requestor_info: Option<MessageMetadata>, recursive: bool) {
println!(
"TestAssembly: Announcing mode (recursively: {}): {:?}",
recursive, self.subsystem_helper.current_mode
recursive,
self.subsystem_helper.mode()
);
let request_id = requestor_info.map_or(0, |info| info.request_id());
self.subsystem_helper
@ -447,7 +443,7 @@ impl ModeRequestHandler for AcsSubsystem {
if let Some(requestor) = requestor_info {
self.send_mode_reply(
requestor,
ModeReply::ModeReply(self.subsystem_helper.current_mode),
ModeReply::ModeReply(ModeAndSubmode::new(self.subsystem_helper.mode(), 0)),
)?;
}
Ok(())
@ -1495,13 +1491,10 @@ fn command_safe_mode() {
);
assert!(tb.subsystem.subsystem_helper.active_request_id.is_none());
assert_eq!(
tb.subsystem.subsystem_helper.state,
tb.subsystem.subsystem_helper.state(),
ModeTreeHelperState::TargetKeeping
);
assert_eq!(
tb.subsystem.subsystem_helper.current_mode,
ModeAndSubmode::new(AcsMode::SAFE as u32, 0),
);
assert_eq!(tb.subsystem.subsystem_helper.mode(), AcsMode::SAFE as Mode,);
assert_eq!(
tb.subsystem.mode_reply_mock.num_of_received_mode_replies(),
3