rust/sat-rs
rust/sat-rs
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move generic components to library

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This commit is contained in:
Robin Müller 2024-11-28 12:36:43 +01:00
parent d97ae401e5
commit 31074dc1aa
3 changed files with 398 additions and 160 deletions
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76
satrs/src/mode_tree.rs
View File

@ -2,13 +2,57 @@ use alloc::vec::Vec;
use hashbrown::HashMap;
use crate::{
mode::{Mode, ModeAndSubmode, Submode},
mode::{Mode, ModeAndSubmode, ModeReply, ModeRequest, Submode},
request::MessageSender,
ComponentId,
};
#[cfg(feature = "alloc")]
pub use alloc_mod::*;
/// Common trait for node modes which can have mode parents or mode children.
pub trait ModeNode {
fn id(&self) -> ComponentId;
}
/// 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: ModeNode {
type Sender: MessageSender<ModeRequest>;
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: ModeNode {
type Sender: MessageSender<ModeReply>;
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>(
parent: &mut impl ModeParent<Sender = ReqSender>,
request_sender: ReqSender,
child: &mut impl ModeChild<Sender = ReplySender>,
reply_sender: ReplySender,
) {
parent.add_mode_child(child.id(), request_sender);
child.add_mode_parent(parent.id(), reply_sender);
}
#[derive(Debug, Copy, Clone, PartialEq, Eq)]
pub enum TableEntryType {
/// Target table containing information of the expected children modes for given mode.
@ -62,6 +106,24 @@ impl TargetTableEntry {
target_id: ComponentId,
mode_submode: ModeAndSubmode,
monitor_state: bool,
allowed_submode_mask: Option<Submode>,
) -> Self {
Self {
common: ModeTableEntryCommon {
name,
target_id,
mode_submode,
allowed_submode_mask,
},
monitor_state,
}
}
pub fn new_with_precise_submode(
name: &'static str,
target_id: ComponentId,
mode_submode: ModeAndSubmode,
monitor_state: bool,
) -> Self {
Self {
common: ModeTableEntryCommon {
@ -129,14 +191,14 @@ pub mod alloc_mod {
use super::*;
#[derive(Debug)]
pub struct TargetTableMapValue {
pub struct TargetTablesMapValue {
/// Name for a given mode table entry.
pub name: &'static str,
/// These are the rows of the a target table.
pub entries: Vec<TargetTableEntry>,
}
impl TargetTableMapValue {
impl TargetTablesMapValue {
pub fn new(name: &'static str) -> Self {
Self {
name,
@ -171,14 +233,14 @@ pub mod alloc_mod {
}
#[derive(Debug)]
pub struct SequenceTableMapValue {
pub struct SequenceTablesMapValue {
/// Name for a given mode sequence.
pub name: &'static str,
/// Each sequence can consists of multiple sequences that are executed consecutively.
pub entries: Vec<SequenceTableMapTable>,
}
impl SequenceTableMapValue {
impl SequenceTablesMapValue {
pub fn new(name: &'static str) -> Self {
Self {
name,
@ -192,9 +254,9 @@ pub mod alloc_mod {
}
#[derive(Debug, Default)]
pub struct TargetModeTables(pub HashMap<Mode, TargetTableMapValue>);
pub struct TargetModeTables(pub HashMap<Mode, TargetTablesMapValue>);
#[derive(Debug, Default)]
pub struct SequenceModeTables(pub HashMap<Mode, SequenceTableMapValue>);
pub struct SequenceModeTables(pub HashMap<Mode, SequenceTablesMapValue>);
#[derive(Debug, Default)]
pub struct ModeStoreVec(pub alloc::vec::Vec<(ComponentId, ModeAndSubmode)>);

4
satrs/src/subsystem.rs
View File

@ -1,6 +1,6 @@
use crate::{
mode::{Mode, ModeAndSubmode, ModeRequest, ModeRequestSender},
mode_tree::{SequenceModeTables, SequenceTableMapTable, SequenceTableMapValue},
mode_tree::{SequenceModeTables, SequenceTableMapTable, SequenceTablesMapValue},
queue::GenericTargetedMessagingError,
request::RequestId,
ComponentId,
@ -88,7 +88,7 @@ impl SequenceExecutionHelper {
pub fn execute_sequence_and_map_to_result(
&mut self,
seq_table_value: &SequenceTableMapValue,
seq_table_value: &SequenceTablesMapValue,
sequence_idx: usize,
sender: &impl ModeRequestSender,
) -> Result<SequenceHandlerResult, GenericTargetedMessagingError> {

478
satrs/tests/mode_tree.rs
View File

@ -1,14 +1,18 @@
use core::cell::Cell;
use satrs::mode::{
Mode, ModeError, ModeProvider, ModeReplyReceiver, ModeReplySender, ModeRequestHandler,
ModeRequestHandlerMpscBounded, ModeRequestReceiver, ModeRequestSender,
ModeRequestorAndHandlerMpscBounded, ModeRequestorBoundedMpsc,
ModeRequestHandlerMpscBounded, ModeRequestReceiver, ModeRequestorAndHandlerMpscBounded,
ModeRequestorBoundedMpsc,
};
use satrs::mode_tree::alloc_mod::{
ModeStoreVec, SequenceModeTables, SequenceTableMapValue, TargetModeTables, TargetTableMapValue,
use satrs::mode_tree::{
connect_mode_nodes, ModeChild, ModeNode, ModeParent, ModeStoreProvider, SequenceTableMapTable,
TargetTableEntry,
};
use satrs::mode_tree::ModeStoreProvider;
use satrs::request::{MessageMetadata, MessageSender};
use satrs::mode_tree::{
ModeStoreVec, SequenceModeTables, SequenceTablesMapValue, TargetModeTables,
TargetTablesMapValue,
};
use satrs::request::MessageMetadata;
use satrs::{
mode::{ModeAndSubmode, ModeReply, ModeRequest},
queue::GenericTargetedMessagingError,
@ -18,27 +22,33 @@ use satrs::{
use std::cell::RefCell;
use std::collections::VecDeque;
use std::convert::Infallible;
use std::string::{String, ToString};
use std::{println, sync::mpsc};
const INVALID_MODE: ModeAndSubmode = ModeAndSubmode::new(0xffffffff, 0);
const UNKNOWN_MODE: ModeAndSubmode = ModeAndSubmode::new(0xffffffff - 1, 0);
pub const OFF_MODE: ModeAndSubmode = ModeAndSubmode::new(0, 0);
pub enum DefaultMode {
OFF = 0,
ON = 1,
NORMAL = 2,
}
#[derive(Debug)]
pub enum AcsMode {
OFF = 0,
SAFE = 1,
IDLE = 2
IDLE = 2,
}
pub enum TestComponentId {
MagnetometerDevice = 1,
MagnetorquerDevice = 2,
ReactionWheelDevice = 3,
StartrackerDevice = 4,
ReactionWheelAssembly = 8,
MagnetometerAssembly = 9,
MagnetometerDevice0 = 1,
MagnetometerDevice1 = 2,
MagnetorquerDevice = 5,
ReactionWheelDevice = 6,
StartrackerDevice = 7,
MgtDevManager = 8,
ReactionWheelAssembly = 10,
MagnetometerAssembly = 11,
AcsController = 14,
AcsSubsystem = 15,
PusModeService = 16,
@ -47,6 +57,24 @@ pub enum TestComponentId {
pub type RequestSenderType = mpsc::SyncSender<GenericMessage<ModeRequest>>;
pub type ReplySenderType = mpsc::SyncSender<GenericMessage<ModeReply>>;
#[derive(Default)]
pub struct SubsystemHelper {
pub children_mode_store: ModeStoreVec,
pub target_tables: TargetModeTables,
pub sequence_tables: SequenceModeTables,
}
impl SubsystemHelper {
pub fn add_target_and_sequence_table(
&mut self,
mode: Mode,
target_table_val: TargetTablesMapValue,
sequence_table_val: SequenceTablesMapValue,
) {
self.target_tables.0.insert(mode, target_table_val);
self.sequence_tables.0.insert(mode, sequence_table_val);
}
}
#[derive(Default, Debug)]
pub struct ModeRequestHandlerMock {
get_mode_calls: RefCell<u32>,
@ -129,47 +157,6 @@ impl ModeRequestHandler for ModeRequestHandlerMock {
}
}
/// 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>(
parent: &mut impl ModeParent<Sender = ReqSender>,
request_sender: ReqSender,
child: &mut impl ModeChild<Sender = ReplySender>,
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,
@ -189,12 +176,14 @@ impl PusModeService {
}
}
impl ModeParent for PusModeService {
type Sender = RequestSenderType;
impl ModeNode for PusModeService {
fn id(&self) -> ComponentId {
TestComponentId::PusModeService as ComponentId
}
}
impl ModeParent for PusModeService {
type Sender = RequestSenderType;
fn add_mode_child(&mut self, id: ComponentId, request_sender: Self::Sender) {
self.mode_node.add_message_target(id, request_sender);
@ -206,43 +195,54 @@ struct AcsSubsystem {
pub mode_requestor_info: Option<MessageMetadata>,
pub mode_and_submode: ModeAndSubmode,
pub target_mode_and_submode: Option<ModeAndSubmode>,
pub children_mode_store: ModeStoreVec,
pub target_tables: TargetModeTables,
pub sequence_tables: SequenceModeTables,
pub subsystem_helper: SubsystemHelper,
pub mode_req_handler_mock: ModeRequestHandlerMock,
}
impl AcsSubsystem {
pub fn new(mode_node: ModeRequestorAndHandlerMpscBounded) -> Self {
Self {
mode_node,
mode_requestor_info: None,
mode_and_submode: UNKNOWN_MODE,
target_mode_and_submode: None,
subsystem_helper: Default::default(),
mode_req_handler_mock: Default::default(),
}
}
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
}
pub fn add_target_and_sequence_table(
&mut self,
mode: Mode,
target_table_val: TargetTableMapValue,
sequence_table_val: SequenceTableMapValue,
target_table_val: TargetTablesMapValue,
sequence_table_val: SequenceTablesMapValue,
) {
self.target_tables.0.insert(mode, target_table_val);
self.sequence_tables.0.insert(mode, sequence_table_val);
self.subsystem_helper.add_target_and_sequence_table(
mode,
target_table_val,
sequence_table_val,
);
}
}
impl ModeNode for AcsSubsystem {
fn id(&self) -> ComponentId {
TestComponentId::AcsSubsystem as ComponentId
}
}
impl ModeParent for AcsSubsystem {
type Sender = RequestSenderType;
fn id(&self) -> ComponentId {
self.id()
}
fn add_mode_child(&mut self, id: ComponentId, request_sender: RequestSenderType) {
self.children_mode_store.add_component(id, UNKNOWN_MODE);
self.subsystem_helper
.children_mode_store
.add_component(id, UNKNOWN_MODE);
self.mode_node.add_request_target(id, request_sender);
}
}
@ -250,10 +250,6 @@ impl ModeParent for AcsSubsystem {
impl ModeChild for AcsSubsystem {
type Sender = ReplySenderType;
fn id(&self) -> ComponentId {
self.id()
}
fn add_mode_parent(&mut self, id: ComponentId, reply_sender: ReplySenderType) {
self.mode_node.add_reply_target(id, reply_sender);
}
@ -397,12 +393,13 @@ impl MgmAssembly {
}
}
impl ModeParent for MgmAssembly {
type Sender = RequestSenderType;
impl ModeNode for MgmAssembly {
fn id(&self) -> ComponentId {
self.id()
}
}
impl ModeParent for MgmAssembly {
type Sender = RequestSenderType;
fn add_mode_child(&mut self, id: ComponentId, request_sender: RequestSenderType) {
self.mode_node.add_request_target(id, request_sender);
@ -412,10 +409,6 @@ impl ModeParent for MgmAssembly {
impl ModeChild for MgmAssembly {
type Sender = ReplySenderType;
fn id(&self) -> ComponentId {
self.id()
}
fn add_mode_parent(&mut self, id: ComponentId, reply_sender: ReplySenderType) {
self.mode_node.add_reply_target(id, reply_sender);
}
@ -505,8 +498,122 @@ impl ModeRequestHandler for MgmAssembly {
}
}
struct DeviceManager {
name: &'static str,
pub id: ComponentId,
pub mode_node: ModeRequestorAndHandlerMpscBounded,
pub mode_and_submode: ModeAndSubmode,
pub mode_req_mock: ModeRequestHandlerMock,
}
impl DeviceManager {
pub fn new(
name: &'static str,
id: ComponentId,
mode_node: ModeRequestorAndHandlerMpscBounded,
) -> Self {
Self {
name,
id,
mode_node,
mode_and_submode: UNKNOWN_MODE,
mode_req_mock: Default::default(),
}
}
}
impl ModeNode for DeviceManager {
fn id(&self) -> ComponentId {
self.id
}
}
impl ModeChild for DeviceManager {
type Sender = ReplySenderType;
fn add_mode_parent(&mut self, id: ComponentId, reply_sender: ReplySenderType) {
self.mode_node.add_reply_target(id, reply_sender);
}
}
impl ModeParent for DeviceManager {
type Sender = RequestSenderType;
fn add_mode_child(&mut self, id: ComponentId, request_sender: Self::Sender) {
self.mode_node.add_request_target(id, request_sender);
}
}
impl ModeProvider for DeviceManager {
fn mode_and_submode(&self) -> ModeAndSubmode {
self.mode_and_submode
}
}
impl ModeRequestHandler for DeviceManager {
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))?;
self.mode_req_mock
.start_transition(requestor, mode_and_submode)
.unwrap();
Ok(())
}
fn announce_mode(&self, requestor_info: Option<MessageMetadata>, recursive: bool) {
println!(
"{}: announcing mode: {:?}",
self.name, self.mode_and_submode
);
self.mode_req_mock.announce_mode(requestor_info, recursive);
}
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))?;
}
self.mode_req_mock.handle_mode_reached(requestor).unwrap();
Ok(())
}
fn send_mode_reply(
&self,
requestor_info: MessageMetadata,
reply: ModeReply,
) -> Result<(), ModeError> {
self.mode_node.send_mode_reply(requestor_info, reply)?;
self.mode_req_mock
.send_mode_reply(requestor_info, reply)
.unwrap();
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
);
self.mode_req_mock
.handle_mode_info(requestor_info, info)
.unwrap();
Ok(())
}
}
struct CommonDevice {
name: String,
name: &'static str,
pub id: ComponentId,
pub mode_node: ModeRequestHandlerMpscBounded,
pub mode_and_submode: ModeAndSubmode,
@ -514,12 +621,16 @@ struct CommonDevice {
}
impl CommonDevice {
pub fn new(name: String, id: ComponentId, mode_node: ModeRequestHandlerMpscBounded) -> Self {
pub fn new(
name: &'static str,
id: ComponentId,
mode_node: ModeRequestHandlerMpscBounded,
) -> Self {
Self {
name,
id,
mode_node,
mode_and_submode: ModeAndSubmode::new(0, 0),
mode_and_submode: UNKNOWN_MODE,
mode_req_mock: Default::default(),
}
}
@ -536,12 +647,14 @@ impl CommonDevice {
}
}
impl ModeChild for CommonDevice {
type Sender = ReplySenderType;
impl ModeNode for CommonDevice {
fn id(&self) -> ComponentId {
self.id
}
}
impl ModeChild for CommonDevice {
type Sender = ReplySenderType;
fn add_mode_parent(&mut self, id: ComponentId, reply_sender: ReplySenderType) {
self.mode_node.add_message_target(id, reply_sender);
@ -642,12 +755,14 @@ impl AcsController {
}
}
impl ModeChild for AcsController {
type Sender = ReplySenderType;
impl ModeNode for AcsController {
fn id(&self) -> ComponentId {
TestComponentId::AcsController as u64
}
}
impl ModeChild for AcsController {
type Sender = ReplySenderType;
fn add_mode_parent(&mut self, id: ComponentId, reply_sender: ReplySenderType) {
self.mode_node.add_message_target(id, reply_sender);
@ -733,8 +848,9 @@ pub struct TreeTestbench {
pus: PusModeService,
subsystem: AcsSubsystem,
ctrl: AcsController,
mgt_manager: DeviceManager,
mgm_assy: MgmAssembly,
mgm_dev: CommonDevice,
mgm_devs: [CommonDevice; 2],
mgt_dev: CommonDevice,
}
@ -747,8 +863,10 @@ impl Default for TreeTestbench {
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_mgm_dev_0, request_receiver_mgm_dev_0) = mpsc::sync_channel(10);
let (request_sender_to_mgm_dev_1, request_receiver_mgm_dev_1) = mpsc::sync_channel(10);
let (request_sender_to_mgt_dev, request_receiver_mgt_dev) = mpsc::sync_channel(10);
let (request_sender_to_mgt_man, request_receiver_mgt_man) = 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);
@ -758,6 +876,13 @@ impl TreeTestbench {
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);
let (reply_sender_to_mgt_man, reply_receiver_mgt_man) = mpsc::sync_channel(10);
// Mode requestors only.
let mode_node_pus = ModeRequestorBoundedMpsc::new(
TestComponentId::PusModeService as ComponentId,
reply_receiver_pus,
);
// Mode requestors and handlers.
let mut mgm_assy_node = ModeRequestorAndHandlerMpscBounded::new(
@ -765,21 +890,25 @@ impl TreeTestbench {
request_receiver_mgm_assy,
reply_receiver_mgm_assy,
);
let mut mgt_dev_mgmt_node = ModeRequestorAndHandlerMpscBounded::new(
TestComponentId::MgtDevManager as ComponentId,
request_receiver_mgt_man,
reply_receiver_mgt_man,
);
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 mgm_dev_node_0 = ModeRequestHandlerMpscBounded::new(
TestComponentId::MagnetometerDevice0 as ComponentId,
request_receiver_mgm_dev_0,
);
let mut mgm_dev_node_1 = ModeRequestHandlerMpscBounded::new(
TestComponentId::MagnetometerDevice1 as ComponentId,
request_receiver_mgm_dev_1,
);
let mut mgt_dev_node = ModeRequestHandlerMpscBounded::new(
TestComponentId::MagnetorquerDevice as ComponentId,
@ -790,55 +919,34 @@ impl TreeTestbench {
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(),
let mut mgm_dev_0 = CommonDevice::new(
"MGM_0",
TestComponentId::MagnetometerDevice0 as u64,
mgm_dev_node_0,
);
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 mgm_dev_1 = CommonDevice::new(
"MGM_1",
TestComponentId::MagnetometerDevice0 as u64,
mgm_dev_node_1,
);
let mut mgt_dev = CommonDevice::new(
"MGT".to_string(),
"MGT",
TestComponentId::MagnetorquerDevice as u64,
mgt_dev_node,
);
let mut mgt_manager = DeviceManager::new(
"MGT_MANAGER",
TestComponentId::MgtDevManager as u64,
mgt_dev_mgmt_node,
);
let mut mgm_assy = MgmAssembly {
mode_node: mgm_assy_node,
mode_requestor_info: None,
mode_and_submode: ModeAndSubmode::new(0, 0),
mode_and_submode: UNKNOWN_MODE,
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_subsystem = AcsSubsystem::new(acs_subsystem_node);
let mut acs_ctrl = AcsController {
mode_node: acs_ctrl_node,
mode_and_submode: UNKNOWN_MODE,
@ -850,6 +958,31 @@ impl TreeTestbench {
mode_node: mode_node_pus,
};
// ACS subsystem tables
let mut target_table_safe = TargetTablesMapValue::new("SAFE_TARGET_TBL");
target_table_safe.add_entry(TargetTableEntry::new(
"CTRL_SAFE",
TestComponentId::AcsController as u64,
ModeAndSubmode::new(AcsMode::SAFE as u32, 0),
true,
// All submodes allowed.
Some(0xffff),
));
target_table_safe.add_entry(TargetTableEntry::new_with_precise_submode(
"MGM_A_NML",
TestComponentId::MagnetometerAssembly as u64,
ModeAndSubmode::new(DefaultMode::NORMAL as u32, 0),
true,
));
let sequence_tbl_safe_0 = SequenceTableMapTable::new("SAFE_SEQ_0_TBL");
let sequence_tbl_safe_1 = SequenceTableMapTable::new("SAFE_SEQ_1_TBL");
let sequence_tbl_safe = SequenceTablesMapValue::new("SAFE_SEQ_TBL");
acs_subsystem.add_target_and_sequence_table(
AcsMode::SAFE as u32,
target_table_safe,
sequence_tbl_safe,
);
// Connect the PUS mode service to all mode objects.
connect_mode_nodes(
&mut pus_service,
@ -865,8 +998,14 @@ impl TreeTestbench {
);
connect_mode_nodes(
&mut pus_service,
request_sender_to_mgm_dev.clone(),
&mut mgm_dev,
request_sender_to_mgm_dev_0.clone(),
&mut mgm_dev_0,
reply_sender_to_pus.clone(),
);
connect_mode_nodes(
&mut pus_service,
request_sender_to_mgm_dev_1.clone(),
&mut mgm_dev_1,
reply_sender_to_pus.clone(),
);
connect_mode_nodes(
@ -875,6 +1014,12 @@ impl TreeTestbench {
&mut mgm_assy,
reply_sender_to_pus.clone(),
);
connect_mode_nodes(
&mut pus_service,
request_sender_to_mgt_man.clone(),
&mut mgt_manager,
reply_sender_to_pus.clone(),
);
connect_mode_nodes(
&mut pus_service,
request_sender_to_mgt_dev.clone(),
@ -897,24 +1042,37 @@ impl TreeTestbench {
);
connect_mode_nodes(
&mut acs_subsystem,
request_sender_to_mgt_dev,
request_sender_to_mgt_dev.clone(),
&mut mgt_dev,
reply_sender_to_acs_subsystem.clone(),
);
connect_mode_nodes(
&mut mgm_assy,
request_sender_to_mgm_dev,
&mut mgm_dev,
request_sender_to_mgm_dev_0,
&mut mgm_dev_0,
reply_sender_to_mgm_assy.clone(),
);
connect_mode_nodes(
&mut mgm_assy,
request_sender_to_mgm_dev_1,
&mut mgm_dev_1,
reply_sender_to_mgm_assy,
);
connect_mode_nodes(
&mut mgt_manager,
request_sender_to_mgt_dev,
&mut mgt_dev,
reply_sender_to_mgt_man,
);
Self {
pus: pus_service,
subsystem: acs_subsystem,
ctrl: acs_ctrl,
mgm_assy,
mgm_dev,
mgt_dev,
mgt_manager,
mgm_devs: [mgm_dev_0, mgm_dev_1],
}
}
}
@ -926,7 +1084,8 @@ fn announce_recursively() {
tb.subsystem.run();
tb.ctrl.run();
tb.mgm_assy.run();
tb.mgm_dev.run();
tb.mgm_devs[0].run();
tb.mgm_devs[1].run();
tb.mgt_dev.run();
let mut announces = tb
.subsystem
@ -940,11 +1099,28 @@ fn announce_recursively() {
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!(tb.mgm_assy.mode_and_submode(), UNKNOWN_MODE);
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);
for mgm_dev in &tb.mgm_devs {
announces = mgm_dev.mode_req_mock.announce_mode_calls.borrow_mut();
assert_eq!(mgm_dev.mode_req_mock.start_transition_calls.len(), 0);
assert_eq!(mgm_dev.mode_and_submode(), UNKNOWN_MODE);
assert_eq!(announces.len(), 1);
}
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!(tb.mgt_dev.mode_and_submode(), UNKNOWN_MODE);
assert_eq!(announces.len(), 1);
}
#[test]
fn command_safe_mode() {
let mut tb = TreeTestbench::new();
tb.subsystem.run();
tb.ctrl.run();
tb.mgm_assy.run();
tb.mgt_dev.run();
tb.mgm_devs[0].run();
tb.mgm_devs[1].run();
}