Integration of the mini simulator into the sat-rs example

satrs-example/src/interface/mod.rs

@@ -1,3 +1,4 @@
 //! This module contains all component related to the direct interface of the example.
+pub mod sim_client_udp;
 pub mod tcp;
 pub mod udp;

satrs-example/src/interface/sim_client_udp.rs

@@ -0,0 +1,420 @@
+use std::{
+    collections::HashMap,
+    net::{Ipv4Addr, SocketAddr, SocketAddrV4, UdpSocket},
+    sync::mpsc,
+    time::Duration,
+};
+
+use satrs::pus::HandlingStatus;
+use satrs_minisim::{
+    udp::SIM_CTRL_PORT, SerializableSimMsgPayload, SimComponent, SimMessageProvider, SimReply,
+    SimRequest,
+};
+use satrs_minisim::{SimCtrlReply, SimCtrlRequest};
+
+struct SimReplyMap(pub HashMap<SimComponent, mpsc::Sender<SimReply>>);
+
+pub fn create_sim_client(sim_request_rx: mpsc::Receiver<SimRequest>) -> Option<SimClientUdp> {
+    match SimClientUdp::new(
+        SocketAddr::V4(SocketAddrV4::new(Ipv4Addr::LOCALHOST, SIM_CTRL_PORT)),
+        sim_request_rx,
+    ) {
+        Ok(sim_client) => {
+            log::info!("simulator client connection success");
+            return Some(sim_client);
+        }
+        Err(e) => {
+            log::warn!("sim client creation error: {}", e);
+        }
+    }
+    None
+}
+
+#[derive(thiserror::Error, Debug)]
+pub enum SimClientCreationError {
+    #[error("io error: {0}")]
+    Io(#[from] std::io::Error),
+    #[error("timeout when trying to connect to sim UDP server")]
+    Timeout,
+    #[error("invalid ping reply when trying connection to UDP sim server")]
+    InvalidReplyJsonError(#[from] serde_json::Error),
+    #[error("invalid sim reply, not pong reply as expected: {0:?}")]
+    ReplyIsNotPong(SimReply),
+}
+
+pub struct SimClientUdp {
+    udp_client: UdpSocket,
+    simulator_addr: SocketAddr,
+    sim_request_rx: mpsc::Receiver<SimRequest>,
+    reply_map: SimReplyMap,
+    reply_buf: [u8; 4096],
+}
+
+impl SimClientUdp {
+    pub fn new(
+        simulator_addr: SocketAddr,
+        sim_request_rx: mpsc::Receiver<SimRequest>,
+    ) -> Result<Self, SimClientCreationError> {
+        let mut reply_buf: [u8; 4096] = [0; 4096];
+        let mut udp_client = UdpSocket::bind("127.0.0.1:0")?;
+        udp_client.set_read_timeout(Some(Duration::from_millis(100)))?;
+        Self::attempt_connection(&mut udp_client, simulator_addr, &mut reply_buf)?;
+        udp_client.set_nonblocking(true)?;
+        Ok(Self {
+            udp_client,
+            simulator_addr,
+            sim_request_rx,
+            reply_map: SimReplyMap(HashMap::new()),
+            reply_buf,
+        })
+    }
+
+    pub fn attempt_connection(
+        udp_client: &mut UdpSocket,
+        simulator_addr: SocketAddr,
+        reply_buf: &mut [u8],
+    ) -> Result<(), SimClientCreationError> {
+        let sim_req = SimRequest::new_with_epoch_time(SimCtrlRequest::Ping);
+        let sim_req_json = serde_json::to_string(&sim_req).expect("failed to serialize SimRequest");
+        udp_client.send_to(sim_req_json.as_bytes(), simulator_addr)?;
+        match udp_client.recv(reply_buf) {
+            Ok(reply_len) => {
+                let sim_reply: SimReply = serde_json::from_slice(&reply_buf[0..reply_len])?;
+                if sim_reply.component() != SimComponent::SimCtrl {
+                    return Err(SimClientCreationError::ReplyIsNotPong(sim_reply));
+                }
+                let sim_ctrl_reply =
+                    SimCtrlReply::from_sim_message(&sim_reply).expect("invalid SIM reply");
+                match sim_ctrl_reply {
+                    SimCtrlReply::InvalidRequest(_) => {
+                        panic!("received invalid request reply from UDP sim server")
+                    }
+                    SimCtrlReply::Pong => Ok(()),
+                }
+            }
+            Err(e) => {
+                if e.kind() == std::io::ErrorKind::TimedOut
+                    || e.kind() == std::io::ErrorKind::WouldBlock
+                {
+                    Err(SimClientCreationError::Timeout)
+                } else {
+                    Err(SimClientCreationError::Io(e))
+                }
+            }
+        }
+    }
+
+    pub fn operation(&mut self) -> HandlingStatus {
+        let mut no_sim_requests_handled = true;
+        let mut no_data_from_udp_server_received = true;
+        loop {
+            match self.sim_request_rx.try_recv() {
+                Ok(request) => {
+                    let request_json =
+                        serde_json::to_string(&request).expect("failed to serialize SimRequest");
+                    if let Err(e) = self
+                        .udp_client
+                        .send_to(request_json.as_bytes(), self.simulator_addr)
+                    {
+                        log::error!("error sending data to UDP SIM server: {}", e);
+                        break;
+                    } else {
+                        no_sim_requests_handled = false;
+                    }
+                }
+                Err(e) => match e {
+                    mpsc::TryRecvError::Empty => {
+                        break;
+                    }
+                    mpsc::TryRecvError::Disconnected => {
+                        log::warn!("SIM request sender disconnected");
+                        break;
+                    }
+                },
+            }
+        }
+        loop {
+            match self.udp_client.recv(&mut self.reply_buf) {
+                Ok(recvd_bytes) => {
+                    no_data_from_udp_server_received = false;
+                    let sim_reply_result: serde_json::Result<SimReply> =
+                        serde_json::from_slice(&self.reply_buf[0..recvd_bytes]);
+                    match sim_reply_result {
+                        Ok(sim_reply) => {
+                            if let Some(sender) = self.reply_map.0.get(&sim_reply.component()) {
+                                sender.send(sim_reply).expect("failed to send SIM reply");
+                            } else {
+                                log::warn!(
+                                    "no recipient for SIM reply from component {:?}",
+                                    sim_reply.component()
+                                );
+                            }
+                        }
+                        Err(e) => {
+                            log::warn!("failed to deserialize SIM reply: {}", e);
+                        }
+                    }
+                }
+                Err(e) => {
+                    if e.kind() == std::io::ErrorKind::WouldBlock
+                        || e.kind() == std::io::ErrorKind::TimedOut
+                    {
+                        break;
+                    }
+                    log::error!("error receiving data from UDP SIM server: {}", e);
+                    break;
+                }
+            }
+        }
+        if no_sim_requests_handled && no_data_from_udp_server_received {
+            return HandlingStatus::Empty;
+        }
+        HandlingStatus::HandledOne
+    }
+
+    pub fn add_reply_recipient(
+        &mut self,
+        component: SimComponent,
+        reply_sender: mpsc::Sender<SimReply>,
+    ) {
+        self.reply_map.0.insert(component, reply_sender);
+    }
+}
+
+#[cfg(test)]
+pub mod tests {
+    use std::{
+        collections::HashMap,
+        net::{SocketAddr, UdpSocket},
+        sync::{
+            atomic::{AtomicBool, Ordering},
+            mpsc, Arc,
+        },
+        time::Duration,
+    };
+
+    use satrs_minisim::{
+        eps::{PcduReply, PcduRequest},
+        SerializableSimMsgPayload, SimComponent, SimCtrlReply, SimCtrlRequest, SimMessageProvider,
+        SimReply, SimRequest,
+    };
+
+    use super::SimClientUdp;
+
+    struct UdpSimTestServer {
+        udp_server: UdpSocket,
+        request_tx: mpsc::Sender<SimRequest>,
+        reply_rx: mpsc::Receiver<SimReply>,
+        last_sender: Option<SocketAddr>,
+        stop_signal: Arc<AtomicBool>,
+        recv_buf: [u8; 1024],
+    }
+
+    impl UdpSimTestServer {
+        pub fn new(
+            request_tx: mpsc::Sender<SimRequest>,
+            reply_rx: mpsc::Receiver<SimReply>,
+            stop_signal: Arc<AtomicBool>,
+        ) -> Self {
+            let udp_server = UdpSocket::bind("127.0.0.1:0").expect("creating UDP server failed");
+            udp_server
+                .set_nonblocking(true)
+                .expect("failed to set UDP server to non-blocking");
+            Self {
+                udp_server,
+                request_tx,
+                reply_rx,
+                last_sender: None,
+                stop_signal,
+                recv_buf: [0; 1024],
+            }
+        }
+
+        pub fn operation(&mut self) {
+            loop {
+                let mut no_sim_replies_handled = true;
+                let mut no_data_received = true;
+                if self.stop_signal.load(Ordering::Relaxed) {
+                    break;
+                }
+                if let Some(last_sender) = self.last_sender {
+                    loop {
+                        match self.reply_rx.try_recv() {
+                            Ok(sim_reply) => {
+                                let sim_reply_json = serde_json::to_string(&sim_reply)
+                                    .expect("failed to serialize SimReply");
+                                self.udp_server
+                                    .send_to(sim_reply_json.as_bytes(), last_sender)
+                                    .expect("failed to send reply to client from UDP server");
+                                no_sim_replies_handled = false;
+                            }
+                            Err(e) => match e {
+                                mpsc::TryRecvError::Empty => break,
+                                mpsc::TryRecvError::Disconnected => {
+                                    panic!("reply sender disconnected")
+                                }
+                            },
+                        }
+                    }
+                }
+
+                loop {
+                    match self.udp_server.recv_from(&mut self.recv_buf) {
+                        Ok((read_bytes, from)) => {
+                            let sim_request: SimRequest =
+                                serde_json::from_slice(&self.recv_buf[0..read_bytes])
+                                    .expect("failed to deserialize SimRequest");
+                            if sim_request.component() == SimComponent::SimCtrl {
+                                // For a ping, we perform the reply handling here directly
+                                let sim_ctrl_request =
+                                    SimCtrlRequest::from_sim_message(&sim_request)
+                                        .expect("failed to convert SimRequest to SimCtrlRequest");
+                                match sim_ctrl_request {
+                                    SimCtrlRequest::Ping => {
+                                        no_data_received = false;
+                                        self.last_sender = Some(from);
+                                        let sim_reply = SimReply::new(&SimCtrlReply::Pong);
+                                        let sim_reply_json = serde_json::to_string(&sim_reply)
+                                            .expect("failed to serialize SimReply");
+                                        self.udp_server
+                                            .send_to(sim_reply_json.as_bytes(), from)
+                                            .expect(
+                                                "failed to send reply to client from UDP server",
+                                            );
+                                    }
+                                };
+                            }
+                            // Forward each SIM request for testing purposes.
+                            self.request_tx
+                                .send(sim_request)
+                                .expect("failed to send request");
+                        }
+                        Err(e) => {
+                            if e.kind() != std::io::ErrorKind::WouldBlock
+                                && e.kind() != std::io::ErrorKind::TimedOut
+                            {
+                                panic!("UDP server error: {}", e);
+                            }
+                            break;
+                        }
+                    }
+                }
+                if no_sim_replies_handled && no_data_received {
+                    std::thread::sleep(Duration::from_millis(5));
+                }
+            }
+        }
+
+        pub fn local_addr(&self) -> SocketAddr {
+            self.udp_server.local_addr().unwrap()
+        }
+    }
+
+    #[test]
+    fn basic_connection_test() {
+        let (server_sim_request_tx, server_sim_request_rx) = mpsc::channel();
+        let (_server_sim_reply_tx, server_sim_reply_rx) = mpsc::channel();
+        let stop_signal = Arc::new(AtomicBool::new(false));
+        let mut udp_server = UdpSimTestServer::new(
+            server_sim_request_tx,
+            server_sim_reply_rx,
+            stop_signal.clone(),
+        );
+        let server_addr = udp_server.local_addr();
+        let (_client_sim_req_tx, client_sim_req_rx) = mpsc::channel();
+        // Need to spawn the simulator UDP server before calling the client constructor.
+        let jh0 = std::thread::spawn(move || {
+            udp_server.operation();
+        });
+        // Creating the client also performs the connection test.
+        SimClientUdp::new(server_addr, client_sim_req_rx).unwrap();
+        let sim_request = server_sim_request_rx
+            .recv_timeout(Duration::from_millis(50))
+            .expect("no SIM request received");
+        let ping_request = SimCtrlRequest::from_sim_message(&sim_request)
+            .expect("failed to create SimCtrlRequest");
+        assert_eq!(ping_request, SimCtrlRequest::Ping);
+        // Stop the server.
+        stop_signal.store(true, Ordering::Relaxed);
+        jh0.join().unwrap();
+    }
+
+    #[test]
+    fn basic_request_reply_test() {
+        let (server_sim_request_tx, server_sim_request_rx) = mpsc::channel();
+        let (server_sim_reply_tx, sever_sim_reply_rx) = mpsc::channel();
+        let stop_signal = Arc::new(AtomicBool::new(false));
+        let mut udp_server = UdpSimTestServer::new(
+            server_sim_request_tx,
+            sever_sim_reply_rx,
+            stop_signal.clone(),
+        );
+        let server_addr = udp_server.local_addr();
+        let (client_sim_req_tx, client_sim_req_rx) = mpsc::channel();
+        let (client_pcdu_reply_tx, client_pcdu_reply_rx) = mpsc::channel();
+        // Need to spawn the simulator UDP server before calling the client constructor.
+        let jh0 = std::thread::spawn(move || {
+            udp_server.operation();
+        });
+
+        // Creating the client also performs the connection test.
+        let mut client = SimClientUdp::new(server_addr, client_sim_req_rx).unwrap();
+        client.add_reply_recipient(SimComponent::Pcdu, client_pcdu_reply_tx);
+
+        let sim_request = server_sim_request_rx
+            .recv_timeout(Duration::from_millis(50))
+            .expect("no SIM request received");
+        let ping_request = SimCtrlRequest::from_sim_message(&sim_request)
+            .expect("failed to create SimCtrlRequest");
+        assert_eq!(ping_request, SimCtrlRequest::Ping);
+
+        let pcdu_req = PcduRequest::RequestSwitchInfo;
+        client_sim_req_tx
+            .send(SimRequest::new_with_epoch_time(pcdu_req))
+            .expect("send failed");
+        client.operation();
+
+        // Check that the request arrives properly at the server.
+        let sim_request = server_sim_request_rx
+            .recv_timeout(Duration::from_millis(50))
+            .expect("no SIM request received");
+        let req_recvd_on_server =
+            PcduRequest::from_sim_message(&sim_request).expect("failed to create SimCtrlRequest");
+        matches!(req_recvd_on_server, PcduRequest::RequestSwitchInfo);
+
+        // We inject the reply ourselves.
+        let pcdu_reply = PcduReply::SwitchInfo(HashMap::new());
+        server_sim_reply_tx
+            .send(SimReply::new(&pcdu_reply))
+            .expect("sending PCDU reply failed");
+
+        // Now we verify that the reply is sent by the UDP server back to the client, and then
+        // forwarded by the clients internal map.
+        let mut pcdu_reply_received = false;
+        for _ in 0..3 {
+            client.operation();
+
+            match client_pcdu_reply_rx.try_recv() {
+                Ok(sim_reply) => {
+                    assert_eq!(sim_reply.component(), SimComponent::Pcdu);
+                    let pcdu_reply_from_client = PcduReply::from_sim_message(&sim_reply)
+                        .expect("failed to create PcduReply");
+                    assert_eq!(pcdu_reply_from_client, pcdu_reply);
+                    pcdu_reply_received = true;
+                    break;
+                }
+                Err(e) => match e {
+                    mpsc::TryRecvError::Empty => std::thread::sleep(Duration::from_millis(10)),
+                    mpsc::TryRecvError::Disconnected => panic!("reply sender disconnected"),
+                },
+            }
+        }
+        if !pcdu_reply_received {
+            panic!("no reply received");
+        }
+
+        // Stop the server.
+        stop_signal.store(true, Ordering::Relaxed);
+        jh0.join().unwrap();
+    }
+}