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Extend scheduler and tests 

1. `reset` and `release_telecommands`: Add store handling to avoid memory leaks
2. Add first documentation
3. Add `new_with_current_time` method.
This commit is contained in:
Robin Müller 2023-01-25 01:40:44 +01:00
parent 75697797ed
commit 19d43b1b2c
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GPG Key ID: 71B58F8A3CDFA9AC
2 changed files with 147 additions and 94 deletions
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19
.idea/runConfigurations/Test_satrs_core.xml Normal file
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@ -0,0 +1,19 @@
<component name="ProjectRunConfigurationManager">
<configuration default="false" name="Test satrs-core" type="CargoCommandRunConfiguration" factoryName="Cargo Command">
<option name="command" value="test -p satrs-core --all-features" />
<option name="workingDirectory" value="file://$PROJECT_DIR$" />
<option name="channel" value="DEFAULT" />
<option name="requiredFeatures" value="true" />
<option name="allFeatures" value="true" />
<option name="emulateTerminal" value="false" />
<option name="withSudo" value="false" />
<option name="buildTarget" value="REMOTE" />
<option name="backtrace" value="SHORT" />
<envs />
<option name="isRedirectInput" value="false" />
<option name="redirectInputPath" value="" />
<method v="2">
<option name="CARGO.BUILD_TASK_PROVIDER" enabled="true" />
</method>
</configuration>
</component>

222
satrs-core/src/pus/scheduling.rs
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@ -1,12 +1,20 @@
use crate::pool::StoreAddr;
use crate::pool::{PoolProvider, StoreAddr, StoreError};
use alloc::collections::btree_map::{Entry, Range};
use alloc::vec;
use alloc::vec::Vec;
use core::time::Duration;
use spacepackets::time::UnixTimestamp;
use std::collections::BTreeMap;
#[cfg(feature = "std")]
use std::time::SystemTimeError;
use std::vec;
use std::vec::Vec;
/// This is the core data structure for scheduling PUS telecommands with [alloc] support.
///
/// The ECSS standard specifies that the PUS scheduler can be enabled and disabled.
/// A disabled scheduler should still delete commands where the execution time has been reached
/// but should not release them to be executed.
///
/// Currently, sub-schedules and groups are not supported.
#[derive(Debug)]
pub struct PusScheduler {
tc_map: BTreeMap<UnixTimestamp, Vec<StoreAddr>>,
@ -16,6 +24,14 @@ pub struct PusScheduler {
}
impl PusScheduler {
/// Create a new PUS scheduler.
///
/// # Arguments
///
/// * `init_current_time` - The time to initialize the scheduler with.
/// * `time_margin` - This time margin is used when inserting new telecommands into the
/// schedule. If the release time of a new telecommand is earlier than the time margin
/// added to the current time, it will not be inserted into the schedule.
pub fn new(init_current_time: UnixTimestamp, time_margin: Duration) -> Self {
PusScheduler {
tc_map: Default::default(),
@ -25,6 +41,13 @@ impl PusScheduler {
}
}
/// Like [Self::new], but sets the `init_current_time` parameter to the current system time.
#[cfg(feature = "std")]
#[cfg_attr(doc_cfg, doc(cfg(feature = "std")))]
pub fn new_with_current_init_time(time_margin: Duration) -> Result<Self, SystemTimeError> {
Ok(Self::new(UnixTimestamp::from_now()?, time_margin))
}
pub fn num_scheduled_telecommands(&self) -> u64 {
let mut num_entries = 0;
for entries in &self.tc_map {
@ -45,9 +68,25 @@ impl PusScheduler {
self.enabled = false;
}
pub fn reset(&mut self) {
/// This will disable the scheduler and clear the schedule as specified in 6.11.4.4.
/// Be careful with this command as it will delete all the commands in the schedule.
///
/// The holding store for the telecommands needs to be passed so all the stored telecommands
/// can be deleted to avoid a memory leak. If at last one deletion operation fails, the error
/// will be returned but the method will still try to delete all the commands in the schedule.
pub fn reset(&mut self, store: &mut impl PoolProvider) -> Result<(), StoreError> {
self.enabled = false;
let mut deletion_ok = Ok(());
for tc_lists in &mut self.tc_map {
for tc in tc_lists.1 {
let res = store.delete(*tc);
if res.is_err() {
deletion_ok = res;
}
}
}
self.tc_map.clear();
deletion_ok
}
pub fn update_time(&mut self, current_time: UnixTimestamp) {
@ -84,27 +123,42 @@ impl PusScheduler {
Ok(())
}
pub fn release_telecommands<R: FnMut(bool, &StoreAddr)>(&mut self, mut releaser: R) {
/// Utility method which calls [Self::telecommands_to_release] and then calls a releaser
/// closure for each telecommand which should be released. This function will also delete
/// the telecommands from the holding store after calling the release closure.
pub fn release_telecommands<R: FnMut(bool, &StoreAddr)>(
&mut self,
mut releaser: R,
store: &mut impl PoolProvider,
) -> Result<u64, (u64, StoreError)> {
let tcs_to_release = self.telecommands_to_release();
let mut released_tcs = 0;
let mut store_error = Ok(());
for tc in tcs_to_release {
for addr in tc.1 {
releaser(self.enabled, addr);
released_tcs += 1;
let res = store.delete(*addr);
if res.is_err() {
store_error = res;
}
}
}
self.tc_map.retain(|k, _| k > &self.current_time);
store_error
.map(|_| released_tcs)
.map_err(|e| (released_tcs, e))
}
}
#[cfg(test)]
mod tests {
use crate::pool::StoreAddr;
use crate::pool::{LocalPool, PoolCfg, PoolProvider, StoreAddr};
use crate::pus::scheduling::PusScheduler;
use spacepackets::ecss::PacketTypeCodes::UnsignedInt;
use alloc::vec::Vec;
use spacepackets::time::UnixTimestamp;
use std::sync::mpsc;
use std::sync::mpsc::{channel, Receiver, TryRecvError};
use std::time::Duration;
use std::vec::Vec;
#[allow(unused_imports)]
use std::{println, vec};
#[test]
@ -118,44 +172,33 @@ mod tests {
#[test]
fn reset() {
let mut pool = LocalPool::new(PoolCfg::new(vec![(10, 32), (5, 64)]));
let mut scheduler =
PusScheduler::new(UnixTimestamp::new_only_seconds(0), Duration::from_secs(5));
let worked = scheduler.insert_tc(
UnixTimestamp::new_only_seconds(100),
StoreAddr {
pool_idx: 0,
packet_idx: 1,
},
);
let first_addr = pool.add(&[0, 1, 2]).unwrap();
let worked = scheduler.insert_tc(UnixTimestamp::new_only_seconds(100), first_addr.clone());
assert!(worked);
let worked = scheduler.insert_tc(
UnixTimestamp::new_only_seconds(200),
StoreAddr {
pool_idx: 0,
packet_idx: 2,
},
);
let second_addr = pool.add(&[2, 3, 4]).unwrap();
let worked = scheduler.insert_tc(UnixTimestamp::new_only_seconds(200), second_addr.clone());
assert!(worked);
let worked = scheduler.insert_tc(
UnixTimestamp::new_only_seconds(300),
StoreAddr {
pool_idx: 0,
packet_idx: 2,
},
);
let third_addr = pool.add(&[5, 6, 7]).unwrap();
let worked = scheduler.insert_tc(UnixTimestamp::new_only_seconds(300), third_addr.clone());
assert!(worked);
assert_eq!(scheduler.num_scheduled_telecommands(), 3);
assert!(scheduler.is_enabled());
scheduler.reset();
scheduler.reset(&mut pool).expect("deletion of TCs failed");
assert!(!scheduler.is_enabled());
assert_eq!(scheduler.num_scheduled_telecommands(), 0);
assert!(!pool.has_element_at(&first_addr).unwrap());
assert!(!pool.has_element_at(&second_addr).unwrap());
assert!(!pool.has_element_at(&third_addr).unwrap());
}
#[test]
@ -205,69 +248,66 @@ mod tests {
assert_eq!(scheduler.current_time(), &time);
}
fn common_check(
enabled: bool,
store_addr: &StoreAddr,
expected_store_addrs: Vec<StoreAddr>,
counter: &mut usize,
) {
assert_eq!(enabled, true);
assert!(expected_store_addrs.contains(store_addr));
*counter += 1;
}
#[test]
fn release_basic() {
let mut pool = LocalPool::new(PoolCfg::new(vec![(10, 32), (5, 64)]));
let mut scheduler =
PusScheduler::new(UnixTimestamp::new_only_seconds(0), Duration::from_secs(5));
scheduler.insert_tc(
UnixTimestamp::new_only_seconds(100),
StoreAddr {
pool_idx: 0,
packet_idx: 1,
},
);
let first_addr = pool.add(&[2, 2, 2]).unwrap();
scheduler.insert_tc(UnixTimestamp::new_only_seconds(100), first_addr);
scheduler.insert_tc(
UnixTimestamp::new_only_seconds(200),
StoreAddr {
pool_idx: 0,
packet_idx: 2,
},
);
let second_addr = pool.add(&[5, 6, 7]).unwrap();
scheduler.insert_tc(UnixTimestamp::new_only_seconds(200), second_addr);
let mut i = 0;
let mut test_closure_1 = |boolvar: bool, store_addr: &StoreAddr| {
assert_eq!(boolvar, true);
assert_eq!(
store_addr,
&StoreAddr {
pool_idx: 0,
packet_idx: 1,
}
);
i += 1;
common_check(boolvar, store_addr, vec![first_addr], &mut i);
};
// test 1: too early, no tcs
scheduler.update_time(UnixTimestamp::new_only_seconds(99));
scheduler.release_telecommands(&mut test_closure_1);
scheduler
.release_telecommands(&mut test_closure_1, &mut pool)
.expect("deletion failed");
// test 2: exact time stamp of tc, releases 1 tc
scheduler.update_time(UnixTimestamp::new_only_seconds(100));
scheduler.release_telecommands(&mut test_closure_1);
let mut released = scheduler
.release_telecommands(&mut test_closure_1, &mut pool)
.expect("deletion failed");
assert_eq!(released, 1);
assert!(!pool.has_element_at(&first_addr).unwrap());
// test 3, late timestamp, release 1 overdue tc
let mut test_closure_2 = |boolvar: bool, store_addr: &StoreAddr| {
assert_eq!(boolvar, true);
assert_eq!(
store_addr,
&StoreAddr {
pool_idx: 0,
packet_idx: 2,
}
);
i += 1;
common_check(boolvar, store_addr, vec![second_addr], &mut i);
};
scheduler.update_time(UnixTimestamp::new_only_seconds(206));
scheduler.release_telecommands(&mut test_closure_2);
released = scheduler
.release_telecommands(&mut test_closure_2, &mut pool)
.expect("deletion failed");
assert_eq!(released, 1);
assert!(!pool.has_element_at(&second_addr).unwrap());
//test 4: no tcs left
scheduler.release_telecommands(&mut test_closure_2);
scheduler
.release_telecommands(&mut test_closure_2, &mut pool)
.expect("deletion failed");
// check that 2 total tcs have been released
assert_eq!(i, 2);
@ -275,50 +315,44 @@ mod tests {
#[test]
fn release_multi_with_same_time() {
let mut pool = LocalPool::new(PoolCfg::new(vec![(10, 32), (5, 64)]));
let mut scheduler =
PusScheduler::new(UnixTimestamp::new_only_seconds(0), Duration::from_secs(5));
scheduler.insert_tc(
UnixTimestamp::new_only_seconds(100),
StoreAddr {
pool_idx: 0,
packet_idx: 1,
},
);
let first_addr = pool.add(&[2, 2, 2]).unwrap();
scheduler.insert_tc(UnixTimestamp::new_only_seconds(100), first_addr);
scheduler.insert_tc(
UnixTimestamp::new_only_seconds(100),
StoreAddr {
pool_idx: 0,
packet_idx: 1,
},
);
let second_addr = pool.add(&[2, 2, 2]).unwrap();
scheduler.insert_tc(UnixTimestamp::new_only_seconds(100), second_addr);
let mut i = 0;
let mut test_closure = |boolvar: bool, store_addr: &StoreAddr| {
assert_eq!(boolvar, true);
assert_eq!(
store_addr,
&StoreAddr {
pool_idx: 0,
packet_idx: 1,
}
);
i += 1;
common_check(boolvar, store_addr, vec![first_addr, second_addr], &mut i);
};
// test 1: too early, no tcs
scheduler.update_time(UnixTimestamp::new_only_seconds(99));
scheduler.release_telecommands(&mut test_closure);
let mut released = scheduler
.release_telecommands(&mut test_closure, &mut pool)
.expect("deletion failed");
assert_eq!(released, 0);
// test 2: exact time stamp of tc, releases 2 tc
scheduler.update_time(UnixTimestamp::new_only_seconds(100));
scheduler.release_telecommands(&mut test_closure);
released = scheduler
.release_telecommands(&mut test_closure, &mut pool)
.expect("deletion failed");
assert_eq!(released, 2);
assert!(!pool.has_element_at(&first_addr).unwrap());
assert!(!pool.has_element_at(&second_addr).unwrap());
//test 3: no tcs left
scheduler.release_telecommands(&mut test_closure);
released = scheduler
.release_telecommands(&mut test_closure, &mut pool)
.expect("deletion failed");
assert_eq!(released, 0);
// check that 2 total tcs have been released
assert_eq!(i, 2);