added some more tests

satrs-minisim/src/acs.rs

@@ -4,9 +4,9 @@ use asynchronix::{
     model::{Model, Output},
     time::Scheduler,
 };
-use satrs::power::{SwitchState, SwitchStateBinary};
+use satrs::power::SwitchStateBinary;
 use satrs_minisim::{
-    acs::{MgmSensorValues, MgtDipole, MGT_GEN_MAGNETIC_FIELD},
+    acs::{MgmSensorValues, MgtDipole, MgtReply, MGT_GEN_MAGNETIC_FIELD},
     SimDevice, SimReply,
 };
 
@@ -76,7 +76,7 @@ impl MagnetometerModel {
             if let Some(ext_field) = self.external_mag_field {
                 return ext_field;
             }
-            let base_sin_val = 2.0 * PI as f32 * FREQUENCY_MGM * (time_ms as f32 / 1000.0);
+            let base_sin_val = 2.0 * PI * FREQUENCY_MGM * (time_ms as f32 / 1000.0);
             return MgmSensorValues {
                 x: AMPLITUDE_MGM * (base_sin_val + PHASE_X).sin(),
                 y: AMPLITUDE_MGM * (base_sin_val + PHASE_Y).sin(),
@@ -94,23 +94,33 @@ impl MagnetometerModel {
 impl Model for MagnetometerModel {}
 
 pub struct MagnetorquerModel {
-    switch_state: SwitchState,
+    switch_state: SwitchStateBinary,
     torquing: bool,
-    torque_dipole: Option<MgtDipole>,
-    gen_magnetic_field: Output<MgmSensorValues>,
+    torque_dipole: MgtDipole,
+    pub gen_magnetic_field: Output<MgmSensorValues>,
+    reply_sender: mpsc::Sender<SimReply>,
 }
 
 impl MagnetorquerModel {
+    pub fn new(reply_sender: mpsc::Sender<SimReply>) -> Self {
+        Self {
+            switch_state: SwitchStateBinary::Off,
+            torquing: false,
+            torque_dipole: MgtDipole::default(),
+            gen_magnetic_field: Output::new(),
+            reply_sender,
+        }
+    }
+
     pub async fn apply_torque(
         &mut self,
-        dipole: MgtDipole,
-        torque_duration: Duration,
+        duration_and_dipole: (Duration, MgtDipole),
         scheduler: &Scheduler<Self>,
     ) {
-        self.torque_dipole = Some(dipole);
+        self.torque_dipole = duration_and_dipole.1;
         self.torquing = true;
         if scheduler
-            .schedule_event(torque_duration, Self::clear_torque, ())
+            .schedule_event(duration_and_dipole.0, Self::clear_torque, ())
             .is_err()
         {
             log::warn!("torque clearing can only be set for a future time.");
@@ -119,16 +129,32 @@ impl MagnetorquerModel {
     }
 
     pub async fn clear_torque(&mut self, _: ()) {
-        self.torque_dipole = None;
+        self.torque_dipole = MgtDipole::default();
         self.torquing = false;
         self.generate_magnetic_field(()).await;
     }
 
-    pub async fn switch_device(&mut self, switch_state: SwitchState) {
+    pub async fn switch_device(&mut self, switch_state: SwitchStateBinary) {
         self.switch_state = switch_state;
         self.generate_magnetic_field(()).await;
     }
 
+    pub async fn request_housekeeping_data(&mut self, _: (), scheduler: &Scheduler<Self>) {
+        scheduler
+            .schedule_event(Duration::from_millis(15), Self::send_housekeeping_data, ())
+            .expect("requesting housekeeping data failed")
+    }
+
+    pub fn send_housekeeping_data(&mut self) {
+        let mgt_reply = MgtReply::Hk(self.torque_dipole);
+        self.reply_sender
+            .send(SimReply {
+                device: SimDevice::Mgt,
+                reply: serde_json::to_string(&mgt_reply).expect("failed to serialize MgtReply"),
+            })
+            .unwrap();
+    }
+
     fn calc_magnetic_field(&self, _: MgtDipole) -> MgmSensorValues {
         // Simplified model: Just returns some fixed magnetic field for now.
         // Later, we could make this more fancy by incorporating the commanded dipole.
@@ -138,13 +164,101 @@ impl MagnetorquerModel {
     /// A torquing magnetorquer generates a magnetic field. This function can be used to apply
     /// the magnetic field.
     async fn generate_magnetic_field(&mut self, _: ()) {
-        if self.switch_state != SwitchState::On || !self.torquing {
+        if self.switch_state != SwitchStateBinary::On || !self.torquing {
             return;
         }
         self.gen_magnetic_field
-            .send(self.calc_magnetic_field(self.torque_dipole.expect("expected valid dipole")))
+            .send(self.calc_magnetic_field(self.torque_dipole))
             .await;
     }
 }
 
 impl Model for MagnetorquerModel {}
+
+#[cfg(test)]
+pub mod tests {
+    use std::time::Duration;
+
+    use satrs::power::SwitchStateBinary;
+    use satrs_minisim::{
+        acs::{MgmRequest, MgmSensorValues},
+        SimDevice, SimRequest,
+    };
+
+    use crate::{
+        eps::{self, PcduRequest},
+        test_helpers::SimTestbench,
+    };
+
+    #[test]
+    fn test_basic_mgm_request() {
+        let mut sim_testbench = SimTestbench::new();
+        let mgm_request = MgmRequest::RequestSensorData;
+        let request = SimRequest::new(SimDevice::Mgm, mgm_request);
+        sim_testbench
+            .send_request(request)
+            .expect("sending MGM request failed");
+        sim_testbench.handle_sim_requests();
+        sim_testbench.step();
+        let sim_reply = sim_testbench.try_receive_next_reply();
+        assert!(sim_reply.is_some());
+        let sim_reply = sim_reply.unwrap();
+        assert_eq!(sim_reply.device, SimDevice::Mgm);
+        let reply: MgmSensorValues = serde_json::from_str(&sim_reply.reply)
+            .expect("failed to deserialize MGM sensor values");
+        assert_eq!(reply.x, 0.0);
+        assert_eq!(reply.y, 0.0);
+        assert_eq!(reply.z, 0.0);
+    }
+
+    #[test]
+    fn test_basic_mgm_request_switched_on() {
+        let mut sim_testbench = SimTestbench::new();
+        let pcdu_request = PcduRequest::SwitchDevice {
+            switch: eps::PcduSwitch::Mgm,
+            state: SwitchStateBinary::On,
+        };
+        let mut request = SimRequest::new(SimDevice::Pcdu, pcdu_request);
+        sim_testbench
+            .send_request(request)
+            .expect("sending MGM switch request failed");
+        sim_testbench.handle_sim_requests();
+        sim_testbench.step();
+        let mut sim_reply_res = sim_testbench.try_receive_next_reply();
+        assert!(sim_reply_res.is_none());
+
+        let mgm_request = MgmRequest::RequestSensorData;
+        request = SimRequest::new(SimDevice::Mgm, mgm_request);
+        sim_testbench
+            .send_request(request)
+            .expect("sending MGM request failed");
+        sim_testbench.handle_sim_requests();
+        sim_testbench.step();
+        sim_reply_res = sim_testbench.try_receive_next_reply();
+        assert!(sim_reply_res.is_some());
+        let mut sim_reply = sim_reply_res.unwrap();
+        assert_eq!(sim_reply.device, SimDevice::Mgm);
+        let first_reply: MgmSensorValues = serde_json::from_str(&sim_reply.reply)
+            .expect("failed to deserialize MGM sensor values");
+        let mgm_request = MgmRequest::RequestSensorData;
+        sim_testbench.step_by(Duration::from_millis(50));
+
+        request = SimRequest::new(SimDevice::Mgm, mgm_request);
+        sim_testbench
+            .send_request(request)
+            .expect("sending MGM request failed");
+        sim_testbench.handle_sim_requests();
+        sim_testbench.step();
+        sim_reply_res = sim_testbench.try_receive_next_reply();
+        assert!(sim_reply_res.is_some());
+        sim_reply = sim_reply_res.unwrap();
+
+        let second_reply: MgmSensorValues = serde_json::from_str(&sim_reply.reply)
+            .expect("failed to deserialize MGM sensor values");
+        // Check that the values are changing.
+        assert!(first_reply != second_reply);
+    }
+
+    #[test]
+    fn test_mgm_request_with_mgt_switched_on() {}
+}

satrs-minisim/src/controller.rs

@@ -1,16 +1,16 @@
-use std::{
-    sync::mpsc,
-    time::{Duration, SystemTime},
-};
+use std::{sync::mpsc, time::Duration};
 
 use asynchronix::{
-    simulation::{Address, Mailbox, SimInit, Simulation},
+    simulation::{Address, Simulation},
     time::{Clock, MonotonicTime, SystemClock},
 };
-use satrs_minisim::{acs::MgmRequest, SimRequest};
+use satrs_minisim::{
+    acs::{MgmRequest, MgtRequest},
+    SimRequest,
+};
 
 use crate::{
-    acs::MagnetometerModel,
+    acs::{MagnetometerModel, MagnetorquerModel},
     eps::{PcduModel, PcduRequest},
 };
 
@@ -21,6 +21,7 @@ pub struct SimController {
     pub simulation: Simulation,
     pub mgm_addr: Address<MagnetometerModel>,
     pub pcdu_addr: Address<PcduModel>,
+    pub mgt_addr: Address<MagnetorquerModel>,
 }
 
 impl SimController {
@@ -30,6 +31,7 @@ impl SimController {
         simulation: Simulation,
         mgm_addr: Address<MagnetometerModel>,
         pcdu_addr: Address<PcduModel>,
+        mgt_addr: Address<MagnetorquerModel>,
     ) -> Self {
         Self {
             sys_clock,
@@ -37,18 +39,20 @@ impl SimController {
             simulation,
             mgm_addr,
             pcdu_addr,
+            mgt_addr,
         }
     }
 
-    pub fn run(&mut self, start_time: MonotonicTime) {
-        let mut t = start_time + Duration::from_millis(1);
+    pub fn run(&mut self, start_time: MonotonicTime, udp_polling_interval_ms: u64) {
+        let mut t = start_time + Duration::from_millis(udp_polling_interval_ms);
         self.sys_clock.synchronize(t);
         loop {
+            // Check for UDP requests every millisecond. Shift the simulator ahead here to prevent
+            // replies lying in the past.
+            t += Duration::from_millis(udp_polling_interval_ms);
             self.simulation
                 .step_until(t)
                 .expect("simulation step failed");
-            // Check for UDP requests every millisecond.
-            t += Duration::from_millis(1);
             self.handle_sim_requests();
 
             self.sys_clock.synchronize(t);
@@ -101,10 +105,41 @@ impl SimController {
         }
         let pcdu_request = pcdu_request.unwrap();
         match pcdu_request {
-            PcduRequest::RequestSwitchInfo => todo!(),
-            PcduRequest::SwitchDevice => todo!(),
+            PcduRequest::RequestSwitchInfo => {
+                self.simulation
+                    .send_event(PcduModel::request_switch_info, (), &self.pcdu_addr);
+            }
+            PcduRequest::SwitchDevice { switch, state } => {
+                self.simulation.send_event(
+                    PcduModel::switch_device,
+                    (switch, state),
+                    &self.pcdu_addr,
+                );
+            }
         }
     }
 
-    fn handle_mgt_request(&mut self, request: &str) {}
+    fn handle_mgt_request(&mut self, request: &str) {
+        let mgt_request: serde_json::Result<MgtRequest> = serde_json::from_str(request);
+        if mgt_request.is_err() {
+            log::warn!(
+                "received invalid PCDU request: {}",
+                mgt_request.unwrap_err()
+            );
+            return;
+        }
+        let mgt_request = mgt_request.unwrap();
+        match mgt_request {
+            MgtRequest::ApplyTorque { duration, dipole } => self.simulation.send_event(
+                MagnetorquerModel::apply_torque,
+                (duration, dipole),
+                &self.mgt_addr,
+            ),
+            MgtRequest::RequestHk => self.simulation.send_event(
+                MagnetorquerModel::request_housekeeping_data,
+                (),
+                &self.mgt_addr,
+            ),
+        }
+    }
 }

satrs-minisim/src/eps.rs

@@ -1,4 +1,4 @@
-use std::{sync::mpsc, time::Duration};
+use std::{collections::HashMap, sync::mpsc, time::Duration};
 
 use asynchronix::{
     model::{Model, Output},
@@ -10,23 +10,25 @@ use serde::{Deserialize, Serialize};
 
 pub const SWITCH_INFO_DELAY_MS: u64 = 10;
 
-#[derive(Debug, Clone, PartialEq, Serialize)]
-pub struct SwitchInfo(Vec<SwitchStateBinary>);
+pub type SwitchMap = HashMap<PcduSwitch, SwitchStateBinary>;
 
-#[derive(Debug, Copy, Clone, PartialEq, Eq, Serialize, Deserialize)]
-pub enum PcduSwitches {
+#[derive(Debug, Copy, Clone, PartialEq, Eq, Serialize, Deserialize, Hash)]
+pub enum PcduSwitch {
     Mgm = 0,
     Mgt = 1,
 }
 
 #[derive(Debug, Copy, Clone, Serialize, Deserialize)]
 pub enum PcduRequest {
-    SwitchDevice,
+    SwitchDevice {
+        switch: PcduSwitch,
+        state: SwitchStateBinary,
+    },
     RequestSwitchInfo,
 }
 
 pub struct PcduModel {
-    pub current_switch_info: Vec<SwitchStateBinary>,
+    pub switcher_map: SwitchMap,
     pub mgm_switch: Output<SwitchStateBinary>,
     pub mgt_switch: Output<SwitchStateBinary>,
     pub reply_sender: mpsc::Sender<SimReply>,
@@ -34,8 +36,12 @@ pub struct PcduModel {
 
 impl PcduModel {
     pub fn new(reply_sender: mpsc::Sender<SimReply>) -> Self {
+        let mut switcher_map = HashMap::new();
+        switcher_map.insert(PcduSwitch::Mgm, SwitchStateBinary::Off);
+        switcher_map.insert(PcduSwitch::Mgt, SwitchStateBinary::Off);
+
         Self {
-            current_switch_info: vec![SwitchStateBinary::Off; 2],
+            switcher_map,
             mgm_switch: Output::new(),
             mgt_switch: Output::new(),
             reply_sender,
@@ -53,22 +59,114 @@ impl PcduModel {
     }
 
     pub fn send_switch_info(&mut self) {
-        let switch_info = SwitchInfo(self.current_switch_info.clone());
+        let switch_info = self.switcher_map.clone();
         let reply = SimReply::new(SimDevice::Pcdu, switch_info);
         self.reply_sender.send(reply).unwrap();
     }
 
-    pub async fn switch_device(&mut self, switch: PcduSwitches, switch_state: SwitchStateBinary) {
-        self.current_switch_info[switch as usize] = switch_state;
-        match switch {
-            PcduSwitches::Mgm => {
-                self.mgm_switch.send(switch_state).await;
+    pub async fn switch_device(
+        &mut self,
+        switch_and_target_state: (PcduSwitch, SwitchStateBinary),
+    ) {
+        let val = self
+            .switcher_map
+            .get_mut(&switch_and_target_state.0)
+            .unwrap_or_else(|| panic!("switch {:?} not found", switch_and_target_state.0));
+        *val = switch_and_target_state.1;
+        match switch_and_target_state.0 {
+            PcduSwitch::Mgm => {
+                self.mgm_switch.send(switch_and_target_state.1).await;
             }
-            PcduSwitches::Mgt => {
-                self.mgt_switch.send(switch_state).await;
+            PcduSwitch::Mgt => {
+                self.mgt_switch.send(switch_and_target_state.1).await;
             }
         }
     }
 }
 
 impl Model for PcduModel {}
+
+#[cfg(test)]
+pub mod tests {
+    use super::*;
+    use std::time::Duration;
+
+    use satrs_minisim::{SimDevice, SimRequest};
+
+    use crate::test_helpers::SimTestbench;
+
+    fn check_switch_state(sim_testbench: &mut SimTestbench, expected_switch_map: &SwitchMap) {
+        let pcdu_request = PcduRequest::RequestSwitchInfo;
+        let request = SimRequest::new(SimDevice::Pcdu, pcdu_request);
+        sim_testbench
+            .send_request(request)
+            .expect("sending MGM request failed");
+        sim_testbench.handle_sim_requests();
+        sim_testbench.step();
+        let sim_reply = sim_testbench.try_receive_next_reply();
+        assert!(sim_reply.is_some());
+        let sim_reply = sim_reply.unwrap();
+        assert_eq!(sim_reply.device, SimDevice::Pcdu);
+        let switch_map: super::SwitchMap =
+            serde_json::from_str(&sim_reply.reply).expect("failed to deserialize PCDU switch info");
+        assert_eq!(&switch_map, expected_switch_map);
+    }
+
+    fn get_all_off_switch_map() -> SwitchMap {
+        let mut switcher_map = SwitchMap::new();
+        switcher_map.insert(super::PcduSwitch::Mgm, super::SwitchStateBinary::Off);
+        switcher_map.insert(super::PcduSwitch::Mgt, super::SwitchStateBinary::Off);
+        switcher_map
+    }
+
+    fn test_pcdu_switching_single_switch(switch: PcduSwitch) {
+        let mut sim_testbench = SimTestbench::new();
+        let pcdu_request = PcduRequest::SwitchDevice {
+            switch,
+            state: SwitchStateBinary::On,
+        };
+        let request = SimRequest::new(SimDevice::Pcdu, pcdu_request);
+        sim_testbench
+            .send_request(request)
+            .expect("sending MGM request failed");
+        sim_testbench.handle_sim_requests();
+        sim_testbench.step();
+        let mut switcher_map = get_all_off_switch_map();
+        *switcher_map.get_mut(&switch).unwrap() = SwitchStateBinary::On;
+        check_switch_state(&mut sim_testbench, &switcher_map);
+    }
+
+    #[test]
+    fn test_pcdu_switcher_request() {
+        let mut sim_testbench = SimTestbench::new();
+        let pcdu_request = PcduRequest::RequestSwitchInfo;
+        let request = SimRequest::new(SimDevice::Pcdu, pcdu_request);
+        sim_testbench
+            .send_request(request)
+            .expect("sending MGM request failed");
+        sim_testbench.handle_sim_requests();
+        sim_testbench.step_by(Duration::from_millis(1));
+
+        let sim_reply = sim_testbench.try_receive_next_reply();
+        assert!(sim_reply.is_none());
+        // Reply takes 20ms
+        sim_testbench.step_by(Duration::from_millis(25));
+        let sim_reply = sim_testbench.try_receive_next_reply();
+        assert!(sim_reply.is_some());
+        let sim_reply = sim_reply.unwrap();
+        assert_eq!(sim_reply.device, SimDevice::Pcdu);
+        let switch_map: super::SwitchMap =
+            serde_json::from_str(&sim_reply.reply).expect("failed to deserialize PCDU switch info");
+        assert_eq!(switch_map, get_all_off_switch_map());
+    }
+
+    #[test]
+    fn test_pcdu_switching_mgm() {
+        test_pcdu_switching_single_switch(PcduSwitch::Mgm);
+    }
+
+    #[test]
+    fn test_pcdu_switching_mgt() {
+        test_pcdu_switching_single_switch(PcduSwitch::Mgt);
+    }
+}

satrs-minisim/src/lib.rs

@@ -30,7 +30,7 @@ impl SimRequest {
     }
 }
 
-#[derive(Serialize, Deserialize)]
+#[derive(Debug, Clone, Serialize, Deserialize)]
 pub struct SimReply {
     pub device: SimDevice,
     pub reply: String,
@@ -50,6 +50,8 @@ impl SimReply {
 }
 
 pub mod acs {
+    use std::time::Duration;
+
     use super::*;
 
     #[derive(Debug, Copy, Clone, Serialize, Deserialize)]
@@ -74,10 +76,24 @@ pub mod acs {
     };
 
     // Simple model using i16 values.
-    #[derive(Debug, Copy, Clone, PartialEq, Serialize, Deserialize)]
+    #[derive(Default, Debug, Copy, Clone, PartialEq, Serialize, Deserialize)]
     pub struct MgtDipole {
         pub x: i16,
         pub y: i16,
         pub z: i16,
     }
+
+    #[derive(Debug, Copy, Clone, Serialize, Deserialize)]
+    pub enum MgtRequest {
+        ApplyTorque {
+            duration: Duration,
+            dipole: MgtDipole,
+        },
+        RequestHk,
+    }
+
+    #[derive(Debug, Copy, Clone, Serialize, Deserialize)]
+    pub enum MgtReply {
+        Hk(MgtDipole),
+    }
 }

satrs-minisim/src/main.rs

@@ -1,4 +1,4 @@
-use acs::MagnetometerModel;
+use acs::{MagnetometerModel, MagnetorquerModel};
 use asynchronix::simulation::{Mailbox, SimInit};
 use asynchronix::time::{MonotonicTime, SystemClock};
 use controller::SimController;
@@ -12,6 +12,8 @@ use udp::{SharedSocketAddr, UdpTcServer, UdpTmClient};
 mod acs;
 mod controller;
 mod eps;
+#[cfg(test)]
+mod test_helpers;
 mod time;
 mod udp;
 
@@ -34,13 +36,24 @@ fn create_sim_controller(
     let mgm_addr = mgm_mailbox.address();
     let pcdu_mailbox = Mailbox::new();
     let pcdu_addr = pcdu_mailbox.address();
+    let mgt_mailbox = Mailbox::new();
+    let mgt_addr = mgt_mailbox.address();
 
     let mut pcdu_model = PcduModel::new(reply_sender.clone());
-
     pcdu_model
         .mgm_switch
         .connect(MagnetometerModel::switch_device, &mgm_addr);
 
+    let mut mgt_model = MagnetorquerModel::new(reply_sender.clone());
+    // Input connections.
+    pcdu_model
+        .mgt_switch
+        .connect(MagnetorquerModel::switch_device, &mgt_addr);
+    // Output connections.
+    mgt_model
+        .gen_magnetic_field
+        .connect(MagnetometerModel::apply_external_magnetic_field, &mgm_addr);
+
     // Instantiate the simulator
     let sys_clock = SystemClock::from_system_time(start_time, SystemTime::now());
     let sim_init = if threading_model == ThreadingModel::Single {
@@ -51,8 +64,16 @@ fn create_sim_controller(
     let simulation = sim_init
         .add_model(mgm_model, mgm_mailbox)
         .add_model(pcdu_model, pcdu_mailbox)
+        .add_model(mgt_model, mgt_mailbox)
         .init(start_time);
-    SimController::new(sys_clock, request_receiver, simulation, mgm_addr, pcdu_addr)
+    SimController::new(
+        sys_clock,
+        request_receiver,
+        simulation,
+        mgm_addr,
+        pcdu_addr,
+        mgt_addr,
+    )
 }
 
 fn main() {
@@ -65,7 +86,7 @@ fn main() {
 
     // This thread schedules the simulator.
     let sim_thread = thread::spawn(move || {
-        sim_ctrl.run(t0);
+        sim_ctrl.run(t0, 1);
     });
 
     let mut server = UdpTcServer::new(request_sender, shared_socket_addr.clone()).unwrap();
@@ -84,92 +105,3 @@ fn main() {
     udp_tc_thread.join().expect("joining UDP TC thread failed");
     udp_tm_thread.join().expect("joining UDP TM thread failed");
 }
-
-#[cfg(test)]
-mod tests {
-    use delegate::delegate;
-    use satrs_minisim::{
-        acs::{MgmRequest, MgmSensorValues},
-        SimDevice, SimReply, SimRequest,
-    };
-
-    use crate::eps::PcduRequest;
-
-    use super::*;
-
-    struct SimTestbench {
-        pub sim_controller: SimController,
-        pub reply_receiver: mpsc::Receiver<SimReply>,
-        pub request_sender: mpsc::Sender<SimRequest>,
-    }
-
-    impl SimTestbench {
-        fn new() -> Self {
-            let (request_sender, request_receiver) = mpsc::channel();
-            let (reply_sender, reply_receiver) = mpsc::channel();
-            let t0 = MonotonicTime::EPOCH;
-            let sim_ctrl =
-                create_sim_controller(ThreadingModel::Single, t0, reply_sender, request_receiver);
-
-            Self {
-                sim_controller: sim_ctrl,
-                reply_receiver,
-                request_sender,
-            }
-        }
-
-        delegate! {
-            to self.sim_controller {
-                pub fn handle_sim_requests(&mut self);
-            }
-            to self.sim_controller.simulation {
-                pub fn step(&mut self);
-            }
-        }
-
-        pub fn send_request(&self, request: SimRequest) -> Result<(), mpsc::SendError<SimRequest>> {
-            self.request_sender.send(request)
-        }
-
-        pub fn try_receive_next_reply(&self) -> Option<SimReply> {
-            match self.reply_receiver.try_recv() {
-                Ok(reply) => Some(reply),
-                Err(e) => {
-                    if e == mpsc::TryRecvError::Empty {
-                        None
-                    } else {
-                        panic!("reply_receiver disconnected");
-                    }
-                }
-            }
-        }
-    }
-
-    #[test]
-    fn test_basic_mgm_request() {
-        let mut sim_testbench = SimTestbench::new();
-        let mgm_request = MgmRequest::RequestSensorData;
-        let request = SimRequest::new(SimDevice::Mgm, mgm_request);
-        sim_testbench
-            .send_request(request)
-            .expect("sending MGM request failed");
-        sim_testbench.handle_sim_requests();
-        sim_testbench.step();
-        let sim_reply = sim_testbench.try_receive_next_reply();
-        assert!(sim_reply.is_some());
-        let sim_reply = sim_reply.unwrap();
-        assert_eq!(sim_reply.device, SimDevice::Mgm);
-        let reply: MgmSensorValues = serde_json::from_str(&sim_reply.reply)
-            .expect("failed to deserialize MGM sensor values");
-        assert_eq!(reply.x, 0.0);
-        assert_eq!(reply.y, 0.0);
-        assert_eq!(reply.z, 0.0);
-    }
-
-    #[test]
-    fn test_basic_mgm_request_switched_on() {
-        let mut sim_testbench = SimTestbench::new();
-        let pcdu_request = PcduRequest::RequestSwitchInfo;
-        let request = SimRequest::new(SimDevice::Pcdu, pcdu_request);
-    }
-}

satrs-minisim/src/test_helpers.rs

@@ -0,0 +1,56 @@
+use delegate::delegate;
+use std::{sync::mpsc, time::Duration};
+
+use asynchronix::time::MonotonicTime;
+use satrs_minisim::{SimReply, SimRequest};
+
+use crate::{controller::SimController, create_sim_controller, ThreadingModel};
+
+pub struct SimTestbench {
+    pub sim_controller: SimController,
+    pub reply_receiver: mpsc::Receiver<SimReply>,
+    pub request_sender: mpsc::Sender<SimRequest>,
+}
+
+impl SimTestbench {
+    pub fn new() -> Self {
+        let (request_sender, request_receiver) = mpsc::channel();
+        let (reply_sender, reply_receiver) = mpsc::channel();
+        let t0 = MonotonicTime::EPOCH;
+        let sim_ctrl =
+            create_sim_controller(ThreadingModel::Single, t0, reply_sender, request_receiver);
+
+        Self {
+            sim_controller: sim_ctrl,
+            reply_receiver,
+            request_sender,
+        }
+    }
+
+    delegate! {
+        to self.sim_controller {
+            pub fn handle_sim_requests(&mut self);
+        }
+        to self.sim_controller.simulation {
+            pub fn step(&mut self);
+            pub fn step_by(&mut self, duration: Duration);
+        }
+    }
+
+    pub fn send_request(&self, request: SimRequest) -> Result<(), mpsc::SendError<SimRequest>> {
+        self.request_sender.send(request)
+    }
+
+    pub fn try_receive_next_reply(&self) -> Option<SimReply> {
+        match self.reply_receiver.try_recv() {
+            Ok(reply) => Some(reply),
+            Err(e) => {
+                if e == mpsc::TryRecvError::Empty {
+                    None
+                } else {
+                    panic!("reply_receiver disconnected");
+                }
+            }
+        }
+    }
+}

satrs-minisim/src/udp.rs

@@ -150,3 +150,9 @@ impl UdpTmClient {
         sent_replies
     }
 }
+
+#[cfg(test)]
+mod tests {
+    #[test]
+    fn test_basic_udp_tc_reception() {}
+}