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continue mode tree feature

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This commit is contained in:
Robin Müller
2024-12-02 16:37:28 +01:00
parent a27e1e308d
commit 51e723a45f
5 changed files with 288 additions and 152 deletions
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109
satrs/tests/mode_tree.rs
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@ -1,8 +1,12 @@
use core::cell::Cell;
use satrs::mode::{Mode, ModeError, ModeProvider, ModeReplyReceiver, ModeReplySender, ModeRequestHandler, ModeRequestHandlerOneParentMpscBounded, ModeRequestReceiver, ModeRequestSender, ModeRequestorAndHandlerOneParentMpscBounded, ModeRequestorOneChildBoundedMpsc};
use satrs::mode::{
Mode, ModeError, ModeProvider, ModeReplyReceiver, ModeReplySender, ModeRequestHandler,
ModeRequestHandlerMpscBounded, ModeRequestReceiver, ModeRequestorAndHandlerMpscBounded,
ModeRequestorOneChildBoundedMpsc,
};
use satrs::mode_tree::{
connect_mode_nodes, ModeChild, ModeNode, ModeParent, ModeStoreProvider, SequenceTableMapTable,
TargetTableEntry,
connect_mode_nodes, ModeChild, ModeNode, ModeParent, ModeStoreProvider, SequenceTableEntry,
SequenceTableMapTable, TargetTableEntry,
};
use satrs::mode_tree::{
ModeStoreVec, SequenceModeTables, SequenceTablesMapValue, TargetModeTables,
@ -187,17 +191,17 @@ impl ModeParent for PusModeService {
}
struct AcsSubsystem {
pub mode_node: ModeRequestorAndHandlerOneParentMpscBounded,
pub mode_node: ModeRequestorAndHandlerMpscBounded,
pub mode_requestor_info: Option<MessageMetadata>,
pub mode_and_submode: ModeAndSubmode,
pub target_mode_and_submode: Option<ModeAndSubmode>,
pub subsystem_helper: SubsystemHelper,
pub mode_req_handler_mock: ModeRequestHandlerMock,
pub mode_msgs_recvd: u32,
pub mode_req_recvd: u32,
}
impl AcsSubsystem {
pub fn new(mode_node: ModeRequestorAndHandlerOneParentMpscBounded) -> Self {
pub fn new(mode_node: ModeRequestorAndHandlerMpscBounded) -> Self {
Self {
mode_node,
mode_requestor_info: None,
@ -205,23 +209,23 @@ impl AcsSubsystem {
target_mode_and_submode: None,
subsystem_helper: Default::default(),
mode_req_handler_mock: Default::default(),
mode_msgs_recvd: 0,
mode_req_recvd: 0,
}
}
pub fn get_and_clear_num_mode_msgs(&mut self) -> u32 {
let tmp = self.mode_msgs_recvd;
self.mode_msgs_recvd = 0;
pub fn get_and_clear_num_mode_requests(&mut self) -> u32 {
let tmp = self.mode_req_recvd;
self.mode_req_recvd = 0;
tmp
}
pub fn run(&mut self) {
if let Some(request) = self.mode_node.try_recv_mode_request().unwrap() {
self.mode_msgs_recvd += 1;
self.mode_req_recvd += 1;
self.handle_mode_request(request)
.expect("mode messaging error");
}
if let Some(_reply) = self.mode_node.try_recv_mode_reply().unwrap(){
if let Some(_reply) = self.mode_node.try_recv_mode_reply().unwrap() {
// TODO: Implementation.
}
}
@ -298,7 +302,7 @@ impl ModeRequestHandler for AcsSubsystem {
}
let request_id = requestor_info.map_or(0, |info| info.request_id());
self.mode_node
.request_sender_map
.request_sender_store
.0
.iter()
.for_each(|(_, sender)| {
@ -354,7 +358,7 @@ impl ModeRequestHandler for AcsSubsystem {
}
struct MgmAssembly {
pub mode_node: ModeRequestorAndHandlerOneParentMpscBounded,
pub mode_node: ModeRequestorAndHandlerMpscBounded,
pub mode_requestor_info: Option<MessageMetadata>,
pub mode_and_submode: ModeAndSubmode,
pub target_mode_and_submode: Option<ModeAndSubmode>,
@ -363,7 +367,7 @@ struct MgmAssembly {
}
impl MgmAssembly {
pub fn new(mode_node: ModeRequestorAndHandlerOneParentMpscBounded) -> Self {
pub fn new(mode_node: ModeRequestorAndHandlerMpscBounded) -> Self {
Self {
mode_node,
mode_requestor_info: None,
@ -386,6 +390,7 @@ impl MgmAssembly {
pub fn check_mode_requests(&mut self) -> Result<(), GenericTargetedMessagingError> {
if let Some(request) = self.mode_node.try_recv_mode_request()? {
self.mode_msgs_recvd += 1;
self.handle_mode_request(request).unwrap();
}
Ok(())
@ -469,7 +474,7 @@ impl ModeRequestHandler for MgmAssembly {
}
let request_id = requestor_info.map_or(0, |info| info.request_id());
self.mode_node
.request_sender_map
.request_sender_store
.0
.iter()
.for_each(|(_, sender)| {
@ -524,17 +529,17 @@ impl ModeRequestHandler for MgmAssembly {
struct DeviceManager {
name: &'static str,
pub id: ComponentId,
pub mode_node: ModeRequestorAndHandlerOneParentMpscBounded,
pub mode_node: ModeRequestorAndHandlerMpscBounded,
pub mode_and_submode: ModeAndSubmode,
pub mode_req_mock: ModeRequestHandlerMock,
pub mode_msgs_recvd: u32,
pub mode_req_recvd: u32,
}
impl DeviceManager {
pub fn new(
name: &'static str,
id: ComponentId,
mode_node: ModeRequestorAndHandlerOneParentMpscBounded,
mode_node: ModeRequestorAndHandlerMpscBounded,
) -> Self {
Self {
name,
@ -542,13 +547,13 @@ impl DeviceManager {
mode_node,
mode_and_submode: UNKNOWN_MODE,
mode_req_mock: Default::default(),
mode_msgs_recvd: 0,
mode_req_recvd: 0,
}
}
pub fn get_and_clear_num_mode_msgs(&mut self) -> u32 {
let tmp = self.mode_msgs_recvd;
self.mode_msgs_recvd = 0;
pub fn get_and_clear_num_mode_requests(&mut self) -> u32 {
let tmp = self.mode_req_recvd;
self.mode_req_recvd = 0;
tmp
}
@ -558,6 +563,7 @@ impl DeviceManager {
pub fn check_mode_requests(&mut self) -> Result<(), ModeError> {
if let Some(request) = self.mode_node.try_recv_mode_request()? {
self.mode_req_recvd += 1;
self.handle_mode_request(request)?
}
Ok(())
@ -619,7 +625,7 @@ impl ModeRequestHandler for DeviceManager {
}
let request_id = requestor_info.map_or(0, |info| info.request_id());
self.mode_node
.request_sender_map
.request_sender_store
.0
.iter()
.for_each(|(_, sender)| {
@ -674,7 +680,7 @@ impl ModeRequestHandler for DeviceManager {
struct CommonDevice {
name: &'static str,
pub id: ComponentId,
pub mode_node: ModeRequestHandlerOneParentMpscBounded,
pub mode_node: ModeRequestHandlerMpscBounded,
pub mode_and_submode: ModeAndSubmode,
pub mode_req_mock: ModeRequestHandlerMock,
pub num_mode_msgs_recvd: u32,
@ -684,7 +690,7 @@ impl CommonDevice {
pub fn new(
name: &'static str,
id: ComponentId,
mode_node: ModeRequestHandlerOneParentMpscBounded,
mode_node: ModeRequestHandlerMpscBounded,
) -> Self {
Self {
name,
@ -804,7 +810,7 @@ pub struct AnnounceModeInfo {
}
pub struct AcsController {
pub mode_node: ModeRequestHandlerOneParentMpscBounded,
pub mode_node: ModeRequestHandlerMpscBounded,
pub mode_and_submode: ModeAndSubmode,
pub announce_mode_queue: RefCell<VecDeque<AnnounceModeInfo>>,
pub mode_req_mock: ModeRequestHandlerMock,
@ -953,36 +959,36 @@ impl TreeTestbench {
);
// Mode requestors and handlers.
let mgm_assy_node = ModeRequestorAndHandlerOneParentMpscBounded::new(
let mgm_assy_node = ModeRequestorAndHandlerMpscBounded::new(
TestComponentId::MagnetometerAssembly as ComponentId,
request_receiver_mgm_assy,
reply_receiver_mgm_assy,
);
let mgt_dev_mgmt_node = ModeRequestorAndHandlerOneParentMpscBounded::new(
let mgt_dev_mgmt_node = ModeRequestorAndHandlerMpscBounded::new(
TestComponentId::MgtDevManager as ComponentId,
request_receiver_mgt_man,
reply_receiver_mgt_man,
);
let acs_subsystem_node = ModeRequestorAndHandlerOneParentMpscBounded::new(
let acs_subsystem_node = ModeRequestorAndHandlerMpscBounded::new(
TestComponentId::AcsSubsystem as ComponentId,
request_receiver_acs_subsystem,
reply_receiver_acs_subsystem,
);
// Request handlers only.
let mgm_dev_node_0 = ModeRequestHandlerOneParentMpscBounded::new(
let mgm_dev_node_0 = ModeRequestHandlerMpscBounded::new(
TestComponentId::MagnetometerDevice0 as ComponentId,
request_receiver_mgm_dev_0,
);
let mgm_dev_node_1 = ModeRequestHandlerOneParentMpscBounded::new(
let mgm_dev_node_1 = ModeRequestHandlerMpscBounded::new(
TestComponentId::MagnetometerDevice1 as ComponentId,
request_receiver_mgm_dev_1,
);
let mgt_dev_node = ModeRequestHandlerOneParentMpscBounded::new(
let mgt_dev_node = ModeRequestHandlerMpscBounded::new(
TestComponentId::MagnetorquerDevice as ComponentId,
request_receiver_mgt_dev,
);
let acs_ctrl_node = ModeRequestHandlerOneParentMpscBounded::new(
let acs_ctrl_node = ModeRequestHandlerMpscBounded::new(
TestComponentId::AcsController as ComponentId,
request_receiver_acs_ctrl,
);
@ -1036,9 +1042,35 @@ impl TreeTestbench {
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");
target_table_safe.add_entry(TargetTableEntry::new_with_precise_submode(
"MGT_MAN_NML",
TestComponentId::MgtDevManager as u64,
ModeAndSubmode::new(DefaultMode::NORMAL as u32, 0),
true,
));
let mut sequence_tbl_safe_0 = SequenceTableMapTable::new("SAFE_SEQ_0_TBL");
sequence_tbl_safe_0.add_entry(SequenceTableEntry::new(
"SAFE_SEQ_0_MGM_A",
TestComponentId::MagnetometerAssembly as u64,
ModeAndSubmode::new(DefaultMode::NORMAL as Mode, 0),
false,
));
sequence_tbl_safe_0.add_entry(SequenceTableEntry::new(
"SAFE_SEQ_0_MGT_MAN",
TestComponentId::MgtDevManager as u64,
ModeAndSubmode::new(DefaultMode::NORMAL as Mode, 0),
false,
));
let mut sequence_tbl_safe_1 = SequenceTableMapTable::new("SAFE_SEQ_1_TBL");
sequence_tbl_safe_1.add_entry(SequenceTableEntry::new(
"SAFE_SEQ_1_ACS_CTRL",
TestComponentId::AcsController as u64,
ModeAndSubmode::new(AcsMode::IDLE as Mode, 0),
false,
));
let mut sequence_tbl_safe = SequenceTablesMapValue::new("SAFE_SEQ_TBL");
sequence_tbl_safe.add_sequence_table(sequence_tbl_safe_0);
sequence_tbl_safe.add_sequence_table(sequence_tbl_safe_1);
acs_subsystem.add_target_and_sequence_table(
AcsMode::SAFE as u32,
target_table_safe,
@ -1154,6 +1186,7 @@ fn announce_recursively() {
tb.mgm_devs[1].run();
tb.mgt_dev.run();
}
assert_eq!(tb.subsystem.get_and_clear_num_mode_requests(), 1);
let mut announces = tb
.subsystem
.mode_req_handler_mock
@ -1164,6 +1197,7 @@ fn announce_recursively() {
assert_eq!(tb.ctrl.mode_req_mock.start_transition_calls.len(), 0);
assert_eq!(tb.ctrl.mode_and_submode(), UNKNOWN_MODE);
assert_eq!(announces.len(), 1);
assert_eq!(tb.mgm_assy.get_and_clear_num_mode_msgs(), 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);
@ -1181,6 +1215,7 @@ fn announce_recursively() {
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);
assert_eq!(tb.mgt_manager.get_and_clear_num_mode_requests(), 1);
announces = tb
.mgt_manager
.mode_req_mock