introducing more generics
This commit is contained in:
parent
28523e065f
commit
69b441cd39
@ -5,21 +5,14 @@ use hashbrown::HashMap;
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use crate::{
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mode::{Mode, ModeAndSubmode, ModeReply, ModeRequest, Submode},
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queue::{GenericReceiveError, GenericSendError},
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queue::GenericTargetedMessagingError,
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request::{
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MessageWithSenderId, MpscMessageReceiverWithIds, MpscMessageSenderAndReceiver,
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MpscMessageSenderMap, MpscMessageSenderWithId, MpscRequestAndReplySenderAndReceiver,
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},
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ChannelId,
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};
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pub struct ModeRequestWithSenderId {
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pub sender_id: ChannelId,
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pub request: ModeRequest,
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}
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impl ModeRequestWithSenderId {
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pub fn new(sender_id: ChannelId, request: ModeRequest) -> Self {
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Self { sender_id, request }
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}
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}
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#[derive(Debug, Copy, Clone, PartialEq, Eq)]
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pub enum TableEntryType {
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/// Target table containing information of the expected children modes for given mode.
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@ -47,228 +40,236 @@ pub struct ModeTableMapValue {
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pub type ModeTable = HashMap<Mode, ModeTableMapValue>;
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#[derive(Debug, Clone)]
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pub enum ModeMessagingError {
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TargetDoesNotExist(ChannelId),
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Send(GenericSendError),
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Receive(GenericReceiveError),
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}
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impl From<GenericSendError> for ModeMessagingError {
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fn from(value: GenericSendError) -> Self {
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Self::Send(value)
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}
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pub trait ModeRequestSender {
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fn local_channel_id(&self) -> ChannelId;
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fn send_mode_request(
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&self,
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target_id: ChannelId,
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request: ModeRequest,
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) -> Result<(), GenericTargetedMessagingError>;
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}
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impl From<GenericReceiveError> for ModeMessagingError {
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fn from(value: GenericReceiveError) -> Self {
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Self::Receive(value)
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}
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}
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pub trait ModeReplySendProvider {
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pub trait ModeReplySender {
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fn local_channel_id(&self) -> ChannelId;
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fn send_mode_reply(
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&mut self,
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&self,
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target_id: ChannelId,
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reply: ModeReply,
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) -> Result<(), ModeMessagingError>;
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}
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pub struct MpscModeReplyRouter {
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pub local_id: ChannelId,
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pub reply_sender_map: HashMap<ChannelId, mpsc::Sender<ModeReplyWithSenderId>>,
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}
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impl ModeReplySendProvider for MpscModeReplyRouter {
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fn send_mode_reply(
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&mut self,
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target_channel_id: ChannelId,
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reply: ModeReply,
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) -> Result<(), ModeMessagingError> {
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if self.reply_sender_map.contains_key(&target_channel_id) {
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self.reply_sender_map
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.get(&target_channel_id)
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.unwrap()
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.send(ModeReplyWithSenderId {
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sender_id: self.local_channel_id(),
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reply,
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})
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.map_err(|_| GenericSendError::RxDisconnected)?;
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return Ok(());
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}
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Err(ModeMessagingError::TargetDoesNotExist(target_channel_id))
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}
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fn local_channel_id(&self) -> ChannelId {
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self.local_id
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}
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}
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impl MpscModeReplyRouter {
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pub fn new(local_id: ChannelId) -> Self {
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Self {
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local_id,
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reply_sender_map: HashMap::new(),
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}
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}
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pub fn add_reply_target(
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&mut self,
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target_id: ChannelId,
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reply_sender: mpsc::Sender<ModeReplyWithSenderId>,
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) {
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self.reply_sender_map.insert(target_id, reply_sender);
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}
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}
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pub struct ModeReplyWithSenderId {
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pub sender_id: ChannelId,
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pub reply: ModeReply,
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}
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pub trait ModeReplyReceiver {
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fn try_recv_mode_reply(&self) -> Result<Option<ModeReplyWithSenderId>, ModeMessagingError>;
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}
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pub struct MpscModeReplyReceiver {
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local_channel_id: ChannelId,
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reply_receiver: mpsc::Receiver<ModeReplyWithSenderId>,
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}
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impl MpscModeReplyReceiver {
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pub fn new(
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local_channel_id: ChannelId,
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reply_receiver: mpsc::Receiver<ModeReplyWithSenderId>,
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) -> Self {
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Self {
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local_channel_id,
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reply_receiver,
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}
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}
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pub fn local_channel_id(&self) -> ChannelId {
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self.local_channel_id
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}
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}
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impl ModeReplyReceiver for MpscModeReplyReceiver {
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fn try_recv_mode_reply(&self) -> Result<Option<ModeReplyWithSenderId>, ModeMessagingError> {
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match self.reply_receiver.try_recv() {
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Ok(reply) => {
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return Ok(Some(reply));
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}
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Err(e) => {
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if e == mpsc::TryRecvError::Disconnected {
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return Err(
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GenericReceiveError::TxDisconnected(Some(self.local_channel_id())).into(),
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);
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}
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}
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}
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Ok(None)
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}
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) -> Result<(), GenericTargetedMessagingError>;
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}
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pub trait ModeRequestReceiver {
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fn try_recv_mode_reply(&self) -> Result<Option<ModeRequestWithSenderId>, ModeMessagingError>;
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}
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pub struct MpscModeRequestReceiver {
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local_channel_id: ChannelId,
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receiver: mpsc::Receiver<ModeRequestWithSenderId>,
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}
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impl MpscModeRequestReceiver {
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pub fn new(
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local_channel_id: ChannelId,
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receiver: mpsc::Receiver<ModeRequestWithSenderId>,
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) -> Self {
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Self {
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local_channel_id,
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receiver,
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}
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}
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pub fn local_channel_id(&self) -> ChannelId {
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self.local_channel_id
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}
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}
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impl ModeRequestReceiver for MpscModeRequestReceiver {
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fn try_recv_mode_reply(&self) -> Result<Option<ModeRequestWithSenderId>, ModeMessagingError> {
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match self.receiver.try_recv() {
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Ok(request_and_sender) => {
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return Ok(Some(ModeRequestWithSenderId {
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sender_id: request_and_sender.sender_id,
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request: request_and_sender.request,
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}))
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}
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Err(e) => {
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if e == mpsc::TryRecvError::Disconnected {
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return Err(
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GenericReceiveError::TxDisconnected(Some(self.local_channel_id)).into(),
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);
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}
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}
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}
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Ok(None)
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}
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}
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pub trait ModeRequestSendProvider {
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fn local_channel_id(&self) -> Option<ChannelId>;
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fn send_mode_request(
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fn try_recv_mode_request(
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&self,
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) -> Result<Option<MessageWithSenderId<ModeRequest>>, GenericTargetedMessagingError>;
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}
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pub trait ModeReplyReceiver {
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fn try_recv_mode_reply(
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&self,
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) -> Result<Option<MessageWithSenderId<ModeReply>>, GenericTargetedMessagingError>;
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}
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impl MpscMessageSenderMap<ModeRequest> {
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pub fn send_mode_request(
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&self,
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local_id: ChannelId,
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target_id: ChannelId,
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request: ModeRequest,
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) -> Result<(), ModeMessagingError>;
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}
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pub struct MpscModeRequestRouter {
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pub local_channel_id: ChannelId,
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pub request_sender_map: HashMap<ChannelId, mpsc::Sender<ModeRequestWithSenderId>>,
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}
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impl ModeRequestSendProvider for MpscModeRequestRouter {
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fn send_mode_request(
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&self,
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target_id: ChannelId,
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request: ModeRequest,
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) -> Result<(), ModeMessagingError> {
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if self.request_sender_map.contains_key(&target_id) {
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self.request_sender_map
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.get(&target_id)
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.unwrap()
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.send(ModeRequestWithSenderId::new(
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self.local_channel_id().unwrap(),
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request,
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))
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.map_err(|_| GenericSendError::RxDisconnected)?;
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return Ok(());
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}
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Err(ModeMessagingError::TargetDoesNotExist(target_id))
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}
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fn local_channel_id(&self) -> Option<ChannelId> {
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Some(self.local_channel_id)
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}
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}
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impl MpscModeRequestRouter {
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pub fn new(local_channel_id: ChannelId) -> Self {
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Self {
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local_channel_id,
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request_sender_map: HashMap::new(),
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}
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) -> Result<(), GenericTargetedMessagingError> {
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self.send_message(local_id, target_id, request)
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}
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pub fn add_request_target(
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&mut self,
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target_id: ChannelId,
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request_sender: mpsc::Sender<ModeRequestWithSenderId>,
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request_sender: mpsc::Sender<MessageWithSenderId<ModeRequest>>,
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) {
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self.request_sender_map.insert(target_id, request_sender);
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self.add_message_target(target_id, request_sender)
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}
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}
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impl MpscMessageSenderMap<ModeReply> {
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pub fn send_mode_reply(
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&self,
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local_id: ChannelId,
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target_id: ChannelId,
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request: ModeReply,
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) -> Result<(), GenericTargetedMessagingError> {
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self.send_message(local_id, target_id, request)
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}
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pub fn add_reply_target(
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&mut self,
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target_id: ChannelId,
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request_sender: mpsc::Sender<MessageWithSenderId<ModeReply>>,
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) {
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self.add_message_target(target_id, request_sender)
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}
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}
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impl ModeReplySender for MpscMessageSenderWithId<ModeReply> {
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fn send_mode_reply(
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&self,
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target_channel_id: ChannelId,
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reply: ModeReply,
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) -> Result<(), GenericTargetedMessagingError> {
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self.send_message(target_channel_id, reply)
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}
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fn local_channel_id(&self) -> ChannelId {
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self.local_channel_id
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}
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}
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impl ModeRequestSender for MpscMessageSenderWithId<ModeRequest> {
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fn local_channel_id(&self) -> ChannelId {
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self.local_channel_id
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}
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fn send_mode_request(
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&self,
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target_id: ChannelId,
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request: ModeRequest,
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) -> Result<(), GenericTargetedMessagingError> {
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self.send_message(target_id, request)
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}
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}
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impl ModeReplyReceiver for MpscMessageReceiverWithIds<ModeReply> {
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fn try_recv_mode_reply(
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&self,
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) -> Result<Option<MessageWithSenderId<ModeReply>>, GenericTargetedMessagingError> {
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self.try_recv_message()
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}
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}
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impl ModeRequestReceiver for MpscMessageReceiverWithIds<ModeRequest> {
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fn try_recv_mode_request(
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&self,
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) -> Result<Option<MessageWithSenderId<ModeRequest>>, GenericTargetedMessagingError> {
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self.try_recv_message()
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}
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}
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impl<FROM> ModeRequestSender for MpscMessageSenderAndReceiver<ModeRequest, FROM> {
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fn local_channel_id(&self) -> ChannelId {
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self.local_channel_id_generic()
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}
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fn send_mode_request(
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&self,
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target_id: ChannelId,
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request: ModeRequest,
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) -> Result<(), GenericTargetedMessagingError> {
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self.message_sender_map
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.send_mode_request(self.local_channel_id(), target_id, request)
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}
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}
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impl<FROM> ModeReplySender for MpscMessageSenderAndReceiver<ModeReply, FROM> {
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fn local_channel_id(&self) -> ChannelId {
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self.local_channel_id_generic()
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}
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fn send_mode_reply(
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&self,
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target_id: ChannelId,
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request: ModeReply,
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) -> Result<(), GenericTargetedMessagingError> {
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self.message_sender_map
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.send_mode_reply(self.local_channel_id(), target_id, request)
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}
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}
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impl<TO> ModeReplyReceiver for MpscMessageSenderAndReceiver<TO, ModeReply> {
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fn try_recv_mode_reply(
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&self,
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) -> Result<Option<MessageWithSenderId<ModeReply>>, GenericTargetedMessagingError> {
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self.message_receiver
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.try_recv_message(self.local_channel_id_generic())
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}
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}
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impl<TO> ModeRequestReceiver for MpscMessageSenderAndReceiver<TO, ModeRequest> {
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fn try_recv_mode_request(
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&self,
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) -> Result<Option<MessageWithSenderId<ModeRequest>>, GenericTargetedMessagingError> {
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self.message_receiver
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.try_recv_message(self.local_channel_id_generic())
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}
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}
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pub type MpscModeRequestHandlerConnector = MpscMessageSenderAndReceiver<ModeReply, ModeRequest>;
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pub type MpscModeRequestorConnector = MpscMessageSenderAndReceiver<ModeRequest, ModeReply>;
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pub type MpscModeConnector = MpscRequestAndReplySenderAndReceiver<ModeRequest, ModeReply>;
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impl<REPLY> MpscRequestAndReplySenderAndReceiver<ModeRequest, REPLY> {
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pub fn add_request_target(
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&mut self,
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target_id: ChannelId,
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request_sender: mpsc::Sender<MessageWithSenderId<ModeRequest>>,
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) {
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self.request_sender_map
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.add_message_target(target_id, request_sender)
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}
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}
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impl<REQUEST> MpscRequestAndReplySenderAndReceiver<REQUEST, ModeReply> {
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pub fn add_reply_target(
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&mut self,
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target_id: ChannelId,
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reply_sender: mpsc::Sender<MessageWithSenderId<ModeReply>>,
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) {
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self.reply_sender_map
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.add_message_target(target_id, reply_sender)
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}
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}
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impl<REPLY> ModeRequestSender for MpscRequestAndReplySenderAndReceiver<ModeRequest, REPLY> {
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fn local_channel_id(&self) -> ChannelId {
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self.local_channel_id_generic()
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}
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fn send_mode_request(
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&self,
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target_id: ChannelId,
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request: ModeRequest,
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) -> Result<(), GenericTargetedMessagingError> {
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self.request_sender_map
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.send_mode_request(self.local_channel_id(), target_id, request)
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}
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}
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impl<REQUEST> ModeReplySender for MpscRequestAndReplySenderAndReceiver<REQUEST, ModeReply> {
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fn local_channel_id(&self) -> ChannelId {
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self.local_channel_id_generic()
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}
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fn send_mode_reply(
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&self,
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target_id: ChannelId,
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request: ModeReply,
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) -> Result<(), GenericTargetedMessagingError> {
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self.reply_sender_map
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.send_mode_reply(self.local_channel_id(), target_id, request)
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}
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}
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impl<REQUEST> ModeReplyReceiver for MpscRequestAndReplySenderAndReceiver<REQUEST, ModeReply> {
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fn try_recv_mode_reply(
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&self,
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) -> Result<Option<MessageWithSenderId<ModeReply>>, GenericTargetedMessagingError> {
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self.reply_receiver
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.try_recv_message(self.local_channel_id_generic())
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}
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}
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impl<REPLY> ModeRequestReceiver for MpscRequestAndReplySenderAndReceiver<ModeRequest, REPLY> {
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fn try_recv_mode_request(
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&self,
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) -> Result<Option<MessageWithSenderId<ModeRequest>>, GenericTargetedMessagingError> {
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self.request_receiver
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.try_recv_message(self.local_channel_id_generic())
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}
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}
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@ -278,24 +279,32 @@ pub trait ModeProvider {
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#[derive(Debug, Clone)]
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pub enum ModeError {
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Messaging(ModeMessagingError),
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Messaging(GenericTargetedMessagingError),
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}
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impl From<GenericTargetedMessagingError> for ModeError {
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fn from(value: GenericTargetedMessagingError) -> Self {
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Self::Messaging(value)
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}
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}
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pub trait ModeRequestHandler: ModeProvider {
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fn start_transition(&mut self, mode_and_submode: ModeAndSubmode) -> Result<(), ModeError>;
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fn announce_mode(&self, recursive: bool);
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fn handle_mode_reached(&mut self) -> Result<(), ModeMessagingError>;
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fn handle_mode_reached(&mut self) -> Result<(), GenericTargetedMessagingError>;
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}
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#[cfg(test)]
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mod tests {
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use std::{println, sync::mpsc};
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use alloc::string::{String, ToString};
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use super::*;
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use crate::{
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mode::{ModeAndSubmode, ModeReply, ModeRequest},
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mode_tree::ModeRequestSendProvider,
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mode_tree::ModeRequestSender,
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ChannelId,
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};
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@ -307,15 +316,12 @@ mod tests {
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}
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struct PusModeService {
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// This contains ALL objects which are able to process mode requests.
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pub mode_request_recipients: MpscModeRequestRouter,
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||||
// 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();
|
||||
}
|
||||
}
|
||||
|
@ -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)
|
||||
}
|
||||
}
|
||||
|
@ -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
|
||||
}
|
||||
}
|
||||
}
|
||||
|
Loading…
x
Reference in New Issue
Block a user