rust/sat-rs
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introducing more generics

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This commit is contained in:
Robin Müller 2024-02-22 15:36:55 +01:00
parent 28523e065f
commit 69b441cd39
Signed by: muellerr
GPG Key ID: A649FB78196E3849
3 changed files with 648 additions and 336 deletions
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720
satrs/src/mode_tree.rs
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@ -5,21 +5,14 @@ use hashbrown::HashMap;
use crate::{
mode::{Mode, ModeAndSubmode, ModeReply, ModeRequest, Submode},
queue::{GenericReceiveError, GenericSendError},
queue::GenericTargetedMessagingError,
request::{
MessageWithSenderId, MpscMessageReceiverWithIds, MpscMessageSenderAndReceiver,
MpscMessageSenderMap, MpscMessageSenderWithId, MpscRequestAndReplySenderAndReceiver,
},
ChannelId,
};
pub struct ModeRequestWithSenderId {
pub sender_id: ChannelId,
pub request: ModeRequest,
}
impl ModeRequestWithSenderId {
pub fn new(sender_id: ChannelId, request: ModeRequest) -> Self {
Self { sender_id, request }
}
}
#[derive(Debug, Copy, Clone, PartialEq, Eq)]
pub enum TableEntryType {
/// Target table containing information of the expected children modes for given mode.
@ -47,228 +40,236 @@ pub struct ModeTableMapValue {
pub type ModeTable = HashMap<Mode, ModeTableMapValue>;
#[derive(Debug, Clone)]
pub enum ModeMessagingError {
TargetDoesNotExist(ChannelId),
Send(GenericSendError),
Receive(GenericReceiveError),
}
impl From<GenericSendError> for ModeMessagingError {
fn from(value: GenericSendError) -> Self {
Self::Send(value)
}
pub trait ModeRequestSender {
fn local_channel_id(&self) -> ChannelId;
fn send_mode_request(
&self,
target_id: ChannelId,
request: ModeRequest,
) -> Result<(), GenericTargetedMessagingError>;
}
impl From<GenericReceiveError> for ModeMessagingError {
fn from(value: GenericReceiveError) -> Self {
Self::Receive(value)
}
}
pub trait ModeReplySendProvider {
pub trait ModeReplySender {
fn local_channel_id(&self) -> ChannelId;
fn send_mode_reply(
&mut self,
&self,
target_id: ChannelId,
reply: ModeReply,
) -> Result<(), ModeMessagingError>;
}
pub struct MpscModeReplyRouter {
pub local_id: ChannelId,
pub reply_sender_map: HashMap<ChannelId, mpsc::Sender<ModeReplyWithSenderId>>,
}
impl ModeReplySendProvider for MpscModeReplyRouter {
fn send_mode_reply(
&mut self,
target_channel_id: ChannelId,
reply: ModeReply,
) -> Result<(), ModeMessagingError> {
if self.reply_sender_map.contains_key(&target_channel_id) {
self.reply_sender_map
.get(&target_channel_id)
.unwrap()
.send(ModeReplyWithSenderId {
sender_id: self.local_channel_id(),
reply,
})
.map_err(|_| GenericSendError::RxDisconnected)?;
return Ok(());
}
Err(ModeMessagingError::TargetDoesNotExist(target_channel_id))
}
fn local_channel_id(&self) -> ChannelId {
self.local_id
}
}
impl MpscModeReplyRouter {
pub fn new(local_id: ChannelId) -> Self {
Self {
local_id,
reply_sender_map: HashMap::new(),
}
}
pub fn add_reply_target(
&mut self,
target_id: ChannelId,
reply_sender: mpsc::Sender<ModeReplyWithSenderId>,
) {
self.reply_sender_map.insert(target_id, reply_sender);
}
}
pub struct ModeReplyWithSenderId {
pub sender_id: ChannelId,
pub reply: ModeReply,
}
pub trait ModeReplyReceiver {
fn try_recv_mode_reply(&self) -> Result<Option<ModeReplyWithSenderId>, ModeMessagingError>;
}
pub struct MpscModeReplyReceiver {
local_channel_id: ChannelId,
reply_receiver: mpsc::Receiver<ModeReplyWithSenderId>,
}
impl MpscModeReplyReceiver {
pub fn new(
local_channel_id: ChannelId,
reply_receiver: mpsc::Receiver<ModeReplyWithSenderId>,
) -> Self {
Self {
local_channel_id,
reply_receiver,
}
}
pub fn local_channel_id(&self) -> ChannelId {
self.local_channel_id
}
}
impl ModeReplyReceiver for MpscModeReplyReceiver {
fn try_recv_mode_reply(&self) -> Result<Option<ModeReplyWithSenderId>, ModeMessagingError> {
match self.reply_receiver.try_recv() {
Ok(reply) => {
return Ok(Some(reply));
}
Err(e) => {
if e == mpsc::TryRecvError::Disconnected {
return Err(
GenericReceiveError::TxDisconnected(Some(self.local_channel_id())).into(),
);
}
}
}
Ok(None)
}
) -> Result<(), GenericTargetedMessagingError>;
}
pub trait ModeRequestReceiver {
fn try_recv_mode_reply(&self) -> Result<Option<ModeRequestWithSenderId>, ModeMessagingError>;
}
pub struct MpscModeRequestReceiver {
local_channel_id: ChannelId,
receiver: mpsc::Receiver<ModeRequestWithSenderId>,
}
impl MpscModeRequestReceiver {
pub fn new(
local_channel_id: ChannelId,
receiver: mpsc::Receiver<ModeRequestWithSenderId>,
) -> Self {
Self {
local_channel_id,
receiver,
}
}
pub fn local_channel_id(&self) -> ChannelId {
self.local_channel_id
}
}
impl ModeRequestReceiver for MpscModeRequestReceiver {
fn try_recv_mode_reply(&self) -> Result<Option<ModeRequestWithSenderId>, ModeMessagingError> {
match self.receiver.try_recv() {
Ok(request_and_sender) => {
return Ok(Some(ModeRequestWithSenderId {
sender_id: request_and_sender.sender_id,
request: request_and_sender.request,
}))
}
Err(e) => {
if e == mpsc::TryRecvError::Disconnected {
return Err(
GenericReceiveError::TxDisconnected(Some(self.local_channel_id)).into(),
);
}
}
}
Ok(None)
}
}
pub trait ModeRequestSendProvider {
fn local_channel_id(&self) -> Option<ChannelId>;
fn send_mode_request(
fn try_recv_mode_request(
&self,
) -> Result<Option<MessageWithSenderId<ModeRequest>>, GenericTargetedMessagingError>;
}
pub trait ModeReplyReceiver {
fn try_recv_mode_reply(
&self,
) -> Result<Option<MessageWithSenderId<ModeReply>>, GenericTargetedMessagingError>;
}
impl MpscMessageSenderMap<ModeRequest> {
pub fn send_mode_request(
&self,
local_id: ChannelId,
target_id: ChannelId,
request: ModeRequest,
) -> Result<(), ModeMessagingError>;
}
pub struct MpscModeRequestRouter {
pub local_channel_id: ChannelId,
pub request_sender_map: HashMap<ChannelId, mpsc::Sender<ModeRequestWithSenderId>>,
}
impl ModeRequestSendProvider for MpscModeRequestRouter {
fn send_mode_request(
&self,
target_id: ChannelId,
request: ModeRequest,
) -> Result<(), ModeMessagingError> {
if self.request_sender_map.contains_key(&target_id) {
self.request_sender_map
.get(&target_id)
.unwrap()
.send(ModeRequestWithSenderId::new(
self.local_channel_id().unwrap(),
request,
))
.map_err(|_| GenericSendError::RxDisconnected)?;
return Ok(());
}
Err(ModeMessagingError::TargetDoesNotExist(target_id))
}
fn local_channel_id(&self) -> Option<ChannelId> {
Some(self.local_channel_id)
}
}
impl MpscModeRequestRouter {
pub fn new(local_channel_id: ChannelId) -> Self {
Self {
local_channel_id,
request_sender_map: HashMap::new(),
}
) -> Result<(), GenericTargetedMessagingError> {
self.send_message(local_id, target_id, request)
}
pub fn add_request_target(
&mut self,
target_id: ChannelId,
request_sender: mpsc::Sender<ModeRequestWithSenderId>,
request_sender: mpsc::Sender<MessageWithSenderId<ModeRequest>>,
) {
self.request_sender_map.insert(target_id, request_sender);
self.add_message_target(target_id, request_sender)
}
}
impl MpscMessageSenderMap<ModeReply> {
pub fn send_mode_reply(
&self,
local_id: ChannelId,
target_id: ChannelId,
request: ModeReply,
) -> Result<(), GenericTargetedMessagingError> {
self.send_message(local_id, target_id, request)
}
pub fn add_reply_target(
&mut self,
target_id: ChannelId,
request_sender: mpsc::Sender<MessageWithSenderId<ModeReply>>,
) {
self.add_message_target(target_id, request_sender)
}
}
impl ModeReplySender for MpscMessageSenderWithId<ModeReply> {
fn send_mode_reply(
&self,
target_channel_id: ChannelId,
reply: ModeReply,
) -> Result<(), GenericTargetedMessagingError> {
self.send_message(target_channel_id, reply)
}
fn local_channel_id(&self) -> ChannelId {
self.local_channel_id
}
}
impl ModeRequestSender for MpscMessageSenderWithId<ModeRequest> {
fn local_channel_id(&self) -> ChannelId {
self.local_channel_id
}
fn send_mode_request(
&self,
target_id: ChannelId,
request: ModeRequest,
) -> Result<(), GenericTargetedMessagingError> {
self.send_message(target_id, request)
}
}
impl ModeReplyReceiver for MpscMessageReceiverWithIds<ModeReply> {
fn try_recv_mode_reply(
&self,
) -> Result<Option<MessageWithSenderId<ModeReply>>, GenericTargetedMessagingError> {
self.try_recv_message()
}
}
impl ModeRequestReceiver for MpscMessageReceiverWithIds<ModeRequest> {
fn try_recv_mode_request(
&self,
) -> Result<Option<MessageWithSenderId<ModeRequest>>, GenericTargetedMessagingError> {
self.try_recv_message()
}
}
impl<FROM> ModeRequestSender for MpscMessageSenderAndReceiver<ModeRequest, FROM> {
fn local_channel_id(&self) -> ChannelId {
self.local_channel_id_generic()
}
fn send_mode_request(
&self,
target_id: ChannelId,
request: ModeRequest,
) -> Result<(), GenericTargetedMessagingError> {
self.message_sender_map
.send_mode_request(self.local_channel_id(), target_id, request)
}
}
impl<FROM> ModeReplySender for MpscMessageSenderAndReceiver<ModeReply, FROM> {
fn local_channel_id(&self) -> ChannelId {
self.local_channel_id_generic()
}
fn send_mode_reply(
&self,
target_id: ChannelId,
request: ModeReply,
) -> Result<(), GenericTargetedMessagingError> {
self.message_sender_map
.send_mode_reply(self.local_channel_id(), target_id, request)
}
}
impl<TO> ModeReplyReceiver for MpscMessageSenderAndReceiver<TO, ModeReply> {
fn try_recv_mode_reply(
&self,
) -> Result<Option<MessageWithSenderId<ModeReply>>, GenericTargetedMessagingError> {
self.message_receiver
.try_recv_message(self.local_channel_id_generic())
}
}
impl<TO> ModeRequestReceiver for MpscMessageSenderAndReceiver<TO, ModeRequest> {
fn try_recv_mode_request(
&self,
) -> Result<Option<MessageWithSenderId<ModeRequest>>, GenericTargetedMessagingError> {
self.message_receiver
.try_recv_message(self.local_channel_id_generic())
}
}
pub type MpscModeRequestHandlerConnector = MpscMessageSenderAndReceiver<ModeReply, ModeRequest>;
pub type MpscModeRequestorConnector = MpscMessageSenderAndReceiver<ModeRequest, ModeReply>;
pub type MpscModeConnector = MpscRequestAndReplySenderAndReceiver<ModeRequest, ModeReply>;
impl<REPLY> MpscRequestAndReplySenderAndReceiver<ModeRequest, REPLY> {
pub fn add_request_target(
&mut self,
target_id: ChannelId,
request_sender: mpsc::Sender<MessageWithSenderId<ModeRequest>>,
) {
self.request_sender_map
.add_message_target(target_id, request_sender)
}
}
impl<REQUEST> MpscRequestAndReplySenderAndReceiver<REQUEST, ModeReply> {
pub fn add_reply_target(
&mut self,
target_id: ChannelId,
reply_sender: mpsc::Sender<MessageWithSenderId<ModeReply>>,
) {
self.reply_sender_map
.add_message_target(target_id, reply_sender)
}
}
impl<REPLY> ModeRequestSender for MpscRequestAndReplySenderAndReceiver<ModeRequest, REPLY> {
fn local_channel_id(&self) -> ChannelId {
self.local_channel_id_generic()
}
fn send_mode_request(
&self,
target_id: ChannelId,
request: ModeRequest,
) -> Result<(), GenericTargetedMessagingError> {
self.request_sender_map
.send_mode_request(self.local_channel_id(), target_id, request)
}
}
impl<REQUEST> ModeReplySender for MpscRequestAndReplySenderAndReceiver<REQUEST, ModeReply> {
fn local_channel_id(&self) -> ChannelId {
self.local_channel_id_generic()
}
fn send_mode_reply(
&self,
target_id: ChannelId,
request: ModeReply,
) -> Result<(), GenericTargetedMessagingError> {
self.reply_sender_map
.send_mode_reply(self.local_channel_id(), target_id, request)
}
}
impl<REQUEST> ModeReplyReceiver for MpscRequestAndReplySenderAndReceiver<REQUEST, ModeReply> {
fn try_recv_mode_reply(
&self,
) -> Result<Option<MessageWithSenderId<ModeReply>>, GenericTargetedMessagingError> {
self.reply_receiver
.try_recv_message(self.local_channel_id_generic())
}
}
impl<REPLY> ModeRequestReceiver for MpscRequestAndReplySenderAndReceiver<ModeRequest, REPLY> {
fn try_recv_mode_request(
&self,
) -> Result<Option<MessageWithSenderId<ModeRequest>>, GenericTargetedMessagingError> {
self.request_receiver
.try_recv_message(self.local_channel_id_generic())
}
}
@ -278,24 +279,32 @@ pub trait ModeProvider {
#[derive(Debug, Clone)]
pub enum ModeError {
Messaging(ModeMessagingError),
Messaging(GenericTargetedMessagingError),
}
impl From<GenericTargetedMessagingError> for ModeError {
fn from(value: GenericTargetedMessagingError) -> Self {
Self::Messaging(value)
}
}
pub trait ModeRequestHandler: ModeProvider {
fn start_transition(&mut self, mode_and_submode: ModeAndSubmode) -> Result<(), ModeError>;
fn announce_mode(&self, recursive: bool);
fn handle_mode_reached(&mut self) -> Result<(), ModeMessagingError>;
fn handle_mode_reached(&mut self) -> Result<(), GenericTargetedMessagingError>;
}
#[cfg(test)]
mod tests {
use std::{println, sync::mpsc};
use alloc::string::{String, ToString};
use super::*;
use crate::{
mode::{ModeAndSubmode, ModeReply, ModeRequest},
mode_tree::ModeRequestSendProvider,
mode_tree::ModeRequestSender,
ChannelId,
};
@ -307,15 +316,12 @@ mod tests {
}
struct PusModeService {
// This contains ALL objects which are able to process mode requests.
pub mode_request_recipients: MpscModeRequestRouter,
// This contains all reply receivers for request recipients.
pub mode_reply_receiver_list: MpscModeReplyReceiver,
pub mode_node: MpscModeRequestorConnector,
}
impl PusModeService {
pub fn send_announce_mode_cmd_to_assy(&self) {
self.mode_request_recipients
self.mode_node
.send_mode_request(
TestChannelId::Assembly as u32,
ModeRequest::AnnounceModeRecursive,
@ -325,27 +331,70 @@ mod tests {
}
struct TestDevice {
// This object is used to receive all mode requests, for example by the PUS Mode service
// or by the parent assembly.
pub mode_request_receiver: MpscModeRequestReceiver,
// This structure contains all handles to send mode replies back to the senders.
pub mode_reply_router: MpscModeReplyRouter,
// Used to cache the receiver for mode replies.
pub mode_reply_receiver: Option<ChannelId>,
pub name: String,
pub mode_node: MpscModeRequestHandlerConnector,
pub mode_and_submode: ModeAndSubmode,
pub target_mode_and_submode: Option<ModeAndSubmode>,
pub mode_req_commander: Option<ChannelId>,
}
impl TestDevice {
pub fn run(&mut self) {
self.check_mode_requests().expect("mode messaging error");
}
pub fn check_mode_requests(&mut self) -> Result<(), GenericTargetedMessagingError> {
if let Some(request_and_id) = self.mode_node.try_recv_mode_request()? {
match request_and_id.message {
ModeRequest::SetMode(mode_and_submode) => {
self.start_transition(mode_and_submode).unwrap();
self.mode_req_commander = Some(request_and_id.sender_id);
}
ModeRequest::ReadMode => self
.mode_node
.send_mode_reply(
request_and_id.sender_id,
ModeReply::ModeReply(self.mode_and_submode),
)
.unwrap(),
ModeRequest::AnnounceMode => self.announce_mode(false),
ModeRequest::AnnounceModeRecursive => self.announce_mode(true),
}
}
Ok(())
}
}
impl ModeProvider for TestDevice {
fn mode_and_submode(&self) -> ModeAndSubmode {
self.mode_and_submode
}
}
impl ModeRequestHandler for TestDevice {
fn start_transition(&mut self, mode_and_submode: ModeAndSubmode) -> Result<(), ModeError> {
self.mode_and_submode = mode_and_submode;
self.handle_mode_reached()?;
Ok(())
}
fn announce_mode(&self, _recursive: bool) {
println!(
"{}: announcing mode: {:?}",
self.name, self.mode_and_submode
);
}
fn handle_mode_reached(&mut self) -> Result<(), GenericTargetedMessagingError> {
self.mode_node.send_mode_reply(
self.mode_req_commander.unwrap(),
ModeReply::ModeReply(self.mode_and_submode),
)?;
Ok(())
}
}
struct TestAssembly {
// This object is used to receive all mode requests, for example by the PUS Mode service
// or by the parent subsystem.
pub mode_request_receiver: MpscModeRequestReceiver,
pub mode_reply_receiver: MpscModeReplyReceiver,
// This structure contains all handles to send mode replies.
pub mode_reply_senders: MpscModeReplyRouter,
// This structure contains all handles to send mode requests to its children.
pub mode_request_senders: MpscModeRequestRouter,
pub last_mode_sender: Option<ChannelId>,
pub mode_node: MpscModeConnector,
pub mode_req_commander: Option<ChannelId>,
pub mode_and_submode: ModeAndSubmode,
pub target_mode_and_submode: Option<ModeAndSubmode>,
}
@ -358,40 +407,53 @@ mod tests {
impl TestAssembly {
pub fn run(&mut self) {
// self.check_mode_requests()
self.check_mode_requests().expect("mode messaging error");
self.check_mode_replies().expect("mode messaging error");
}
/*
pub fn check_mode_requests(&mut self) -> Result<(), ModeMessagingError> {
match self.mode_request_receiver_list.try_recv_mode_reply()? {
Some(request_and_id) => {
match request_and_id {
pub fn check_mode_requests(&mut self) -> Result<(), GenericTargetedMessagingError> {
if let Some(request_and_id) = self.mode_node.try_recv_mode_request()? {
match request_and_id.message {
ModeRequest::SetMode(mode_and_submode) => {
self.start_transition(mode_and_submode).unwrap();
self.mode_req_commander = Some(request_and_id.sender_id);
}
ModeRequest::ReadMode => {
// self.handle_read_mode_request(0, self.mode_and_submode, &mut self.mode_reply_sender).unwrap()
self.mode_node
.send_mode_reply(
request_and_id.sender_id,
ModeReply::ModeReply(self.mode_and_submode),
)
.unwrap()
}
ModeRequest::AnnounceMode => self.announce_mode(false),
ModeRequest::AnnounceModeRecursive => self.announce_mode(true),
}
Ok(ModeRequestWithSenderId { sender_id, request }) => {
match request {
ModeRequest::SetMode(mode_and_submode) => {
self.start_transition(mode_and_submode).unwrap();
self.last_mode_sender = Some(sender_id);
}
ModeRequest::ReadMode => {
// self.handle_read_mode_request(0, self.mode_and_submode, &mut self.mode_reply_sender).unwrap()
self.mode_reply_sender
.send_mode_reply(
sender_id,
ModeReply::ModeReply(self.mode_and_submode),
)
.unwrap()
}
ModeRequest::AnnounceMode => self.announce_mode(false),
ModeRequest::AnnounceModeRecursive => self.announce_mode(true),
}
Ok(())
}
pub fn check_mode_replies(&mut self) -> Result<(), GenericTargetedMessagingError> {
if let Some(reply_and_id) = self.mode_node.try_recv_mode_reply()? {
match reply_and_id.message {
ModeReply::ModeInfo(_) => todo!(),
ModeReply::ModeReply(reply) => {
println!(
"TestAssembly: Received mode reply from {:?}, reached: {:?}",
reply_and_id.sender_id, reply
);
}
ModeReply::CantReachMode(_) => todo!(),
ModeReply::WrongMode { expected, reached } => {
println!(
"TestAssembly: Wrong mode reply from {:?}, reached {:?}, expected {:?}",
reply_and_id.sender_id, reached, expected
);
}
}
Err(_) => todo!(),
};
} */
}
Ok(())
}
}
impl ModeRequestHandler for TestAssembly {
@ -405,29 +467,30 @@ mod tests {
fn announce_mode(&self, recursive: bool) {
println!(
"Announcing mode (recursively: {}): {:?}",
"TestAssembly: Announcing mode (recursively: {}): {:?}",
recursive, self.mode_and_submode
);
let mut mode_request = ModeRequest::AnnounceMode;
if recursive {
mode_request = ModeRequest::AnnounceModeRecursive;
}
self.mode_request_senders
self.mode_node
.request_sender_map
.0
.iter()
.for_each(|(_, sender)| {
sender
.send(ModeRequestWithSenderId::new(
self.mode_request_senders.local_channel_id().unwrap(),
.send(MessageWithSenderId::new(
self.mode_node.local_channel_id_generic(),
mode_request,
))
.expect("sending mode request failed");
});
}
fn handle_mode_reached(&mut self) -> Result<(), ModeMessagingError> {
self.mode_reply_senders.send_mode_reply(
self.last_mode_sender.unwrap(),
fn handle_mode_reached(&mut self) -> Result<(), GenericTargetedMessagingError> {
self.mode_node.send_mode_reply(
self.mode_req_commander.unwrap(),
ModeReply::ModeReply(self.mode_and_submode),
)?;
Ok(())
@ -445,94 +508,81 @@ mod tests {
let (reply_sender_to_assy, reply_receiver_assy) = mpsc::channel();
let (reply_sender_to_pus, reply_receiver_pus) = mpsc::channel();
// All request routers.
let mut mode_request_router_assy =
MpscModeRequestRouter::new(TestChannelId::Assembly as u32);
let mut mode_request_router_pus_mode =
MpscModeRequestRouter::new(TestChannelId::PusModeService as u32);
// Mode requestors and handlers.
let mut mode_node_assy = MpscModeConnector::new(
TestChannelId::Assembly as u32,
request_receiver_assy,
reply_receiver_assy,
);
// Mode requestors only.
let mut mode_node_pus = MpscModeRequestorConnector::new(
TestChannelId::PusModeService as u32,
reply_receiver_pus,
);
// All request receivers.
let mode_request_receiver_dev1 =
MpscModeRequestReceiver::new(TestChannelId::Device1 as u32, request_receiver_dev1);
let mode_request_receiver_dev2 =
MpscModeRequestReceiver::new(TestChannelId::Device2 as u32, request_receiver_dev2);
let mode_request_receiver_assy =
MpscModeRequestReceiver::new(TestChannelId::Assembly as u32, request_receiver_assy);
// All reply senders.
let mut mode_reply_senders_dev1 = MpscModeReplyRouter::new(TestChannelId::Device1 as u32);
let mut mode_reply_senders_dev2 = MpscModeReplyRouter::new(TestChannelId::Device2 as u32);
let mut mode_reply_senders_assy = MpscModeReplyRouter::new(TestChannelId::Assembly as u32);
// All reply receivers.
let mode_reply_receiver_list_assy =
MpscModeReplyReceiver::new(TestChannelId::Assembly as u32, reply_receiver_assy);
let mode_reply_receiver_pus_service =
MpscModeReplyReceiver::new(TestChannelId::PusModeService as u32, reply_receiver_pus);
// Request handlers only.
let mut mode_node_dev1 = MpscModeRequestHandlerConnector::new(
TestChannelId::Device1 as u32,
request_receiver_dev1,
);
let mut mode_node_dev2 = MpscModeRequestHandlerConnector::new(
TestChannelId::Device2 as u32,
request_receiver_dev2,
);
// Set up mode request senders first.
mode_request_router_pus_mode
.add_request_target(TestChannelId::Assembly as u32, request_sender_to_assy);
mode_request_router_pus_mode.add_request_target(
mode_node_pus.add_message_target(TestChannelId::Assembly as u32, request_sender_to_assy);
mode_node_pus.add_message_target(
TestChannelId::Device1 as u32,
request_sender_to_dev1.clone(),
);
mode_request_router_pus_mode.add_request_target(
mode_node_pus.add_message_target(
TestChannelId::Device2 as u32,
request_sender_to_dev2.clone(),
);
mode_request_router_assy
.add_request_target(TestChannelId::Device1 as u32, request_sender_to_dev1);
mode_request_router_assy
.add_request_target(TestChannelId::Device2 as u32, request_sender_to_dev2);
mode_node_assy.add_request_target(TestChannelId::Device1 as u32, request_sender_to_dev1);
mode_node_assy.add_request_target(TestChannelId::Device2 as u32, request_sender_to_dev2);
// Set up mode reply senders.
mode_reply_senders_dev1
.add_reply_target(TestChannelId::Assembly as u32, reply_sender_to_assy.clone());
mode_reply_senders_dev1.add_reply_target(
mode_node_dev1
.add_message_target(TestChannelId::Assembly as u32, reply_sender_to_assy.clone());
mode_node_dev1.add_message_target(
TestChannelId::PusModeService as u32,
reply_sender_to_pus.clone(),
);
mode_reply_senders_dev2
.add_reply_target(TestChannelId::Assembly as u32, reply_sender_to_assy);
mode_reply_senders_dev2.add_reply_target(
mode_node_dev2.add_message_target(TestChannelId::Assembly as u32, reply_sender_to_assy);
mode_node_dev2.add_message_target(
TestChannelId::PusModeService as u32,
reply_sender_to_pus.clone(),
);
mode_reply_senders_assy
.add_reply_target(TestChannelId::PusModeService as u32, reply_sender_to_pus);
mode_node_assy.add_reply_target(TestChannelId::PusModeService as u32, reply_sender_to_pus);
let device1 = TestDevice {
mode_request_receiver: mode_request_receiver_dev1,
mode_reply_router: mode_reply_senders_dev1,
mode_reply_receiver: None,
let mut device1 = TestDevice {
name: "Test Device 1".to_string(),
mode_node: mode_node_dev1,
mode_req_commander: None,
mode_and_submode: ModeAndSubmode::new(0, 0),
target_mode_and_submode: None,
};
let device2 = TestDevice {
mode_request_receiver: mode_request_receiver_dev2,
mode_reply_router: mode_reply_senders_dev2,
mode_reply_receiver: None,
let mut device2 = TestDevice {
name: "Test Device 2".to_string(),
mode_node: mode_node_dev2,
mode_req_commander: None,
mode_and_submode: ModeAndSubmode::new(0, 0),
target_mode_and_submode: None,
};
let assy = TestAssembly {
mode_request_receiver: mode_request_receiver_assy,
mode_reply_senders: mode_reply_senders_assy,
mode_request_senders: mode_request_router_assy,
mode_reply_receiver: mode_reply_receiver_list_assy,
last_mode_sender: None,
let mut assy = TestAssembly {
mode_node: mode_node_assy,
mode_req_commander: None,
mode_and_submode: ModeAndSubmode::new(0, 0),
target_mode_and_submode: None,
};
let pus_service = PusModeService {
mode_request_recipients: mode_request_router_pus_mode,
mode_reply_receiver_list: mode_reply_receiver_pus_service,
mode_node: mode_node_pus,
};
pus_service.send_announce_mode_cmd_to_assy();
// assy.run();
// device1.run();
// device2.run();
assy.run();
device1.run();
device2.run();
assy.run();
}
}

18
satrs/src/queue.rs
View File

@ -50,3 +50,21 @@ impl Display for GenericReceiveError {
#[cfg(feature = "std")]
impl Error for GenericReceiveError {}
#[derive(Debug, Clone)]
pub enum GenericTargetedMessagingError {
TargetDoesNotExist(ChannelId),
Send(GenericSendError),
Receive(GenericReceiveError),
}
impl From<GenericSendError> for GenericTargetedMessagingError {
fn from(value: GenericSendError) -> Self {
Self::Send(value)
}
}
impl From<GenericReceiveError> for GenericTargetedMessagingError {
fn from(value: GenericReceiveError) -> Self {
Self::Receive(value)
}
}

246
satrs/src/request.rs
View File

@ -2,12 +2,16 @@ use core::fmt;
#[cfg(feature = "std")]
use std::error::Error;
#[cfg(feature = "std")]
#[cfg_attr(doc_cfg, doc(cfg(feature = "std")))]
pub use std_mod::*;
use spacepackets::{
ecss::{tc::IsPusTelecommand, PusPacket},
ByteConversionError, CcsdsPacket,
};
use crate::TargetId;
use crate::{ChannelId, TargetId};
pub type Apid = u16;
@ -108,3 +112,243 @@ impl fmt::Display for TargetAndApidId {
write!(f, "{}, {}", self.apid, self.target)
}
}
pub struct MessageWithSenderId<MESSAGE> {
pub sender_id: ChannelId,
pub message: MESSAGE,
}
impl<MESSAGE> MessageWithSenderId<MESSAGE> {
pub fn new(sender_id: ChannelId, message: MESSAGE) -> Self {
Self { sender_id, message }
}
}
#[cfg(feature = "std")]
#[cfg_attr(doc_cfg, doc(cfg(feature = "std")))]
mod std_mod {
use std::sync::mpsc;
use hashbrown::HashMap;
use crate::{
queue::{GenericReceiveError, GenericSendError, GenericTargetedMessagingError},
ChannelId,
};
use super::MessageWithSenderId;
pub trait TargetedMessageSendProvider {
type Message;
fn send_message(
&self,
local_channel_id: ChannelId,
target_channel_id: ChannelId,
message: Self::Message,
) -> Result<(), GenericTargetedMessagingError>;
}
pub struct MpscMessageSenderMap<Message, SendProvider: TargetedMessageSendProvider<Message = Message>>(
pub HashMap<ChannelId, SendProvider>,
);
impl<Message, SendProvider> Default for MpscMessageSenderMap<Message, SendProvider> {
fn default() -> Self {
Self(Default::default())
}
}
impl<Message, SendProvider> MpscMessageSenderMap<Message, SendProvider> {
pub fn send_message(
&self,
local_channel_id: ChannelId,
target_channel_id: ChannelId,
message: Message,
) -> Result<(), GenericTargetedMessagingError> {
if self.0.contains_key(&target_channel_id) {
self.0
.get(&target_channel_id)
.unwrap()
.send(MessageWithSenderId::new(local_channel_id, message))
.map_err(|_| GenericSendError::RxDisconnected)?;
return Ok(());
}
Err(GenericTargetedMessagingError::TargetDoesNotExist(
target_channel_id,
))
}
pub fn add_message_target(
&mut self,
target_id: ChannelId,
message_sender: mpsc::Sender<MessageWithSenderId<Message>>,
) {
self.0.insert(target_id, message_sender);
}
}
pub struct MpscMessageSenderWithId<Message, SendProvider> {
pub local_channel_id: ChannelId,
pub message_sender_map: MpscMessageSenderMap<Message, SendProvider>,
}
impl<Message> MpscMessageSenderWithId<Message> {
pub fn new(local_channel_id: ChannelId) -> Self {
Self {
local_channel_id,
message_sender_map: Default::default(),
}
}
pub fn send_message(
&self,
target_channel_id: ChannelId,
message: MESSAGE,
) -> Result<(), GenericTargetedMessagingError> {
self.message_sender_map
.send_message(self.local_channel_id, target_channel_id, message)
}
pub fn add_message_target(
&mut self,
target_id: ChannelId,
message_sender: mpsc::Sender<MessageWithSenderId<MESSAGE>>,
) {
self.message_sender_map
.add_message_target(target_id, message_sender)
}
}
pub struct MpscMessageWithSenderReceiver<MESSAGE>(
pub mpsc::Receiver<MessageWithSenderId<MESSAGE>>,
);
impl<MESSAGE> From<mpsc::Receiver<MessageWithSenderId<MESSAGE>>>
for MpscMessageWithSenderReceiver<MESSAGE>
{
fn from(value: mpsc::Receiver<MessageWithSenderId<MESSAGE>>) -> Self {
Self(value)
}
}
impl<MESSAGE> MpscMessageWithSenderReceiver<MESSAGE> {
pub fn try_recv_message(
&self,
local_id: ChannelId,
) -> Result<Option<MessageWithSenderId<MESSAGE>>, GenericTargetedMessagingError> {
match self.0.try_recv() {
Ok(reply) => {
return Ok(Some(reply));
}
Err(e) => {
if e == mpsc::TryRecvError::Disconnected {
return Err(GenericReceiveError::TxDisconnected(Some(local_id)).into());
}
}
}
Ok(None)
}
}
pub struct MpscMessageReceiverWithIds<MESSAGE> {
local_channel_id: ChannelId,
reply_receiver: MpscMessageWithSenderReceiver<MESSAGE>,
}
impl<MESSAGE> MpscMessageReceiverWithIds<MESSAGE> {
pub fn new(
local_channel_id: ChannelId,
reply_receiver: MpscMessageWithSenderReceiver<MESSAGE>,
) -> Self {
Self {
local_channel_id,
reply_receiver,
}
}
pub fn local_channel_id(&self) -> ChannelId {
self.local_channel_id
}
pub fn try_recv_message(
&self,
) -> Result<Option<MessageWithSenderId<MESSAGE>>, GenericTargetedMessagingError> {
match self.reply_receiver.0.try_recv() {
Ok(reply) => {
return Ok(Some(reply));
}
Err(e) => {
if e == mpsc::TryRecvError::Disconnected {
return Err(GenericReceiveError::TxDisconnected(Some(
self.local_channel_id(),
))
.into());
}
}
}
Ok(None)
}
}
pub struct MpscMessageSenderAndReceiver<TO, FROM> {
pub local_channel_id: ChannelId,
pub message_sender_map: MpscMessageSenderMap<TO>,
pub message_receiver: MpscMessageWithSenderReceiver<FROM>,
}
impl<TO, FROM> MpscMessageSenderAndReceiver<TO, FROM> {
pub fn new(
local_channel_id: ChannelId,
message_receiver: mpsc::Receiver<MessageWithSenderId<FROM>>,
) -> Self {
Self {
local_channel_id,
message_sender_map: Default::default(),
message_receiver: MpscMessageWithSenderReceiver::from(message_receiver),
}
}
pub fn add_message_target(
&mut self,
target_id: ChannelId,
message_sender: mpsc::Sender<MessageWithSenderId<TO>>,
) {
self.message_sender_map
.add_message_target(target_id, message_sender)
}
pub fn local_channel_id_generic(&self) -> ChannelId {
self.local_channel_id
}
}
pub struct MpscRequestAndReplySenderAndReceiver<REQUEST, REPLY> {
pub local_channel_id: ChannelId,
// These 2 are a functional group.
pub request_sender_map: MpscMessageSenderMap<REQUEST>,
pub reply_receiver: MpscMessageWithSenderReceiver<REPLY>,
// These 2 are a functional group.
pub request_receiver: MpscMessageWithSenderReceiver<REQUEST>,
pub reply_sender_map: MpscMessageSenderMap<REPLY>,
}
impl<REQUEST, REPLY> MpscRequestAndReplySenderAndReceiver<REQUEST, REPLY> {
pub fn new(
local_channel_id: ChannelId,
request_receiver: mpsc::Receiver<MessageWithSenderId<REQUEST>>,
reply_receiver: mpsc::Receiver<MessageWithSenderId<REPLY>>,
) -> Self {
Self {
local_channel_id,
request_receiver: request_receiver.into(),
reply_receiver: reply_receiver.into(),
request_sender_map: Default::default(),
reply_sender_map: Default::default(),
}
}
pub fn local_channel_id_generic(&self) -> ChannelId {
self.local_channel_id
}
}
}