rust/sat-rs
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continue mode tree

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This commit is contained in:
Robin Müller 2025-01-22 12:35:07 +01:00
parent 3233044266
commit 6ba8a410f4
Signed by: muellerr
GPG Key ID: A649FB78196E3849
5 changed files with 189 additions and 68 deletions
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3
docs.sh Executable file
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@ -0,0 +1,3 @@
#!/bin/sh
export RUSTDOCFLAGS="--cfg docsrs --generate-link-to-definition -Z unstable-options"
cargo +nightly doc --all-features --open

43
satrs/src/mode_tree.rs
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@ -144,7 +144,7 @@ impl TargetTableEntry {
/// An entry for the sequence tables.
///
/// The `check_success` field instructs the mode sequence executor to verify that the
/// The [Self::check_success] field specifies that a mode sequence executor should check that the
/// target mode was actually reached before executing the next sequence.
#[derive(Debug)]
pub struct SequenceTableEntry {
@ -232,6 +232,10 @@ pub mod alloc_mod {
}
}
/// One sequence of a [SequenceTablesMapValue] in a [SequenceModeTables].
///
/// It contains all mode requests which need to be executed for a sequence step and it also
/// associates a [Self::name] with the sequence.
#[derive(Debug)]
pub struct SequenceTableMapTable {
/// Name for a given mode sequence.
@ -253,6 +257,11 @@ pub mod alloc_mod {
}
}
/// A sequence table entry.
///
/// This is simply a list of [SequenceTableMapTable]s which also associates a [Self::name]
/// with the sequence. The order of sub-tables in the list also specifies the execution order
/// in the mode sequence.
#[derive(Debug)]
pub struct SequenceTablesMapValue {
/// Name for a given mode sequence.
@ -276,17 +285,26 @@ pub mod alloc_mod {
#[derive(Debug, Default)]
pub struct TargetModeTables(pub HashMap<Mode, TargetTablesMapValue>);
/// This is the core data structure used to store mode sequence tables.
///
/// A mode sequence table specifies which commands have to be sent in which order
/// to reach a certain [Mode]. Therefore, it simply maps a [Mode] to a [SequenceTablesMapValue].
#[derive(Debug, Default)]
pub struct SequenceModeTables(pub HashMap<Mode, SequenceTablesMapValue>);
#[derive(Debug)]
pub struct ModeStoreVecValue {
/// Mode store value type.
#[derive(Debug, Copy, Clone)]
pub struct ModeStoreValue {
/// ID of the mode component.
id: ComponentId,
/// Current mode and submode of the component.
pub mode_and_submode: ModeAndSubmode,
/// State information to track whether a reply should be awaited for the mode component.
pub awaiting_reply: bool,
}
impl ModeStoreVecValue {
impl ModeStoreValue {
pub fn new(id: ComponentId, mode_and_submode: ModeAndSubmode) -> Self {
Self {
id,
@ -304,10 +322,13 @@ pub mod alloc_mod {
}
}
/// Mode store which tracks the [mode information][ModeStoreValue] inside a [Vec]
#[derive(Debug, Default)]
pub struct ModeStoreVec(pub alloc::vec::Vec<ModeStoreVecValue>);
pub struct ModeStoreVec(pub alloc::vec::Vec<ModeStoreValue>);
/// Mode store which tracks the mode information inside a [hashbrown::HashMap]
#[derive(Debug, Default)]
pub struct ModeStoreMap(pub hashbrown::HashMap<ComponentId, ModeAndSubmode>);
pub struct ModeStoreMap(pub hashbrown::HashMap<ComponentId, ModeStoreValue>);
impl ModeStoreVec {
/// Generic handler for mode replies received from child components.
@ -338,7 +359,7 @@ pub mod alloc_mod {
}
impl ModeStoreProvider for ModeStoreVec {
fn add_component(&mut self, target_id: ComponentId, mode: ModeAndSubmode) {
self.0.push(ModeStoreVecValue::new(target_id, mode));
self.0.push(ModeStoreValue::new(target_id, mode));
}
fn has_component(&self, target_id: ComponentId) -> bool {
@ -369,7 +390,8 @@ pub mod alloc_mod {
impl ModeStoreProvider for ModeStoreMap {
fn add_component(&mut self, target_id: ComponentId, mode: ModeAndSubmode) {
self.0.insert(target_id, mode);
self.0
.insert(target_id, ModeStoreValue::new(target_id, mode));
}
fn has_component(&self, target_id: ComponentId) -> bool {
@ -377,14 +399,15 @@ pub mod alloc_mod {
}
fn get_mode(&self, target_id: ComponentId) -> Option<ModeAndSubmode> {
self.0.get(&target_id).copied()
self.0.get(&target_id).map(|v| v.mode_and_submode())
}
fn set_mode_for_contained_component(
&mut self,
target_id: ComponentId,
mode_to_set: ModeAndSubmode,
) {
self.0.insert(target_id, mode_to_set);
self.0.get_mut(&target_id).unwrap().mode_and_submode = mode_to_set;
}
}
}

2
satrs/src/scheduling.rs
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@ -154,7 +154,7 @@ pub mod std_mod {
}
/// Can be used to set the start of the slot to the current time. This is useful if a custom
/// runner implementation is used instead of the [Self::start] method.
/// runner implementation is used instead of the [Self::run_one_task_cycle] method.
pub fn init_start_of_slot(&mut self) {
self.start_of_slot = Instant::now();
}

198
satrs/src/subsystem.rs
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@ -10,18 +10,15 @@ use crate::{
};
#[derive(Debug, PartialEq, Eq, Copy, Clone)]
pub enum SequenceExecutionHelperStates {
pub enum SequenceExecutionHelperState {
/// The sequence execution is IDLE, no command is loaded or the sequence exection has
/// finished
Idle,
/// The sequence helper is executing a sequence and no replies need to be awaited.
Busy,
/// The sequence helper is still awaiting a reply from a mode children. The reply awaition
/// is a property of a mode commanding sequence
AwaitingCheckSuccess,
Done,
}
pub trait CheckSuccessProvider {
fn mode_request_requires_success_check(
&mut self,
target_id: ComponentId,
target_mode: ModeAndSubmode,
);
}
#[derive(Debug)]
@ -32,8 +29,11 @@ pub enum TargetKeepingResult {
#[derive(Debug)]
pub enum ModeCommandingResult {
/// The commanding of all children is finished
CommandingDone,
/// One step of a commanding chain is finished
CommandingStepDone,
/// Reply awaition is required for some children
AwaitingSuccessCheck,
}
@ -41,11 +41,17 @@ pub enum ModeCommandingResult {
#[error("Mode {0} does not exist")]
pub struct ModeDoesNotExistError(Mode);
/// This sequence execution helper includes some boilerplate logic to
/// execute [SequenceModeTables].
///
/// It takes care of commanding the [ModeRequest]s specified in those tables and also includes the
/// states required to track the current progress of a sequence execution and take care of
/// reply and success awaition.
#[derive(Debug)]
pub struct SequenceExecutionHelper {
target_mode: Option<Mode>,
state: SequenceExecutionHelperStates,
request_id: RequestId,
state: SequenceExecutionHelperState,
request_id: Option<RequestId>,
current_sequence_index: Option<usize>,
}
@ -53,14 +59,19 @@ impl Default for SequenceExecutionHelper {
fn default() -> Self {
Self {
target_mode: None,
state: SequenceExecutionHelperStates::Idle,
request_id: 0,
state: SequenceExecutionHelperState::Idle,
request_id: None,
current_sequence_index: None,
}
}
}
impl SequenceExecutionHelper {
pub fn new() -> Self {
Default::default()
}
/// Load a new mode sequence to be executed
pub fn load(
&mut self,
mode: Mode,
@ -71,43 +82,52 @@ impl SequenceExecutionHelper {
return Err(ModeDoesNotExistError(mode));
}
self.target_mode = Some(mode);
self.request_id = request_id;
self.request_id = Some(request_id);
self.state = SequenceExecutionHelperState::Busy;
self.current_sequence_index = None;
Ok(())
}
pub fn target_mode(&self) -> Option<Mode> {
self.target_mode
}
pub fn confirm_sequence_done(&mut self) {
if let SequenceExecutionHelperStates::AwaitingCheckSuccess = self.state {
self.state = SequenceExecutionHelperStates::Idle;
}
}
pub fn state(&self) -> SequenceExecutionHelperStates {
self.state
}
pub fn awaiting_check_success(&self) -> bool {
matches!(
self.state,
SequenceExecutionHelperStates::AwaitingCheckSuccess
)
}
pub fn current_sequence_index(&self) -> Option<usize> {
self.current_sequence_index
}
/// Run the sequence execution helper.
///
/// This function will execute the sequence in the given [SequenceModeTables] based on the
/// mode loaded in [Self::load]. It calls [Self::execute_sequence_and_map_to_result] and
/// automatically takes care of state management, including increments of the sequence table
/// index.
///
/// The returnvalues of the helper have the following meaning.
///
/// * [ModeCommandingResult::AwaitingSuccessCheck] - The sequence is still awaiting a success.
/// The user should check whether all children have reached the commanded target mode, for
/// example by checking [mode replies][ModeReply] received by the children components, and
/// then calling [Self::confirm_sequence_done] to advance to the sequence or complete the
/// sequence.
/// * [ModeCommandingResult::CommandingDone] - The sequence is done. The user can load a new
/// sequence now without overwriting the last one. The sequence executor is in
/// [SequenceExecutionHelperState::Idle] again.
/// * [ModeCommandingResult::CommandingStepDone] - The sequence has advanced one step. The user
/// can now call [Self::run] again to immediately execute the next step in the sequence.
///
/// Generally, periodic execution of the [Self::run] method should be performed while
/// [Self::state] is not [SequenceExecutionHelperState::Idle].
///
/// # Arguments
///
/// * `table` - This table contains the sequence tables to reach the mode previously loaded
/// with [Self::load]
/// * `sender` - The sender to send mode requests to the components
/// * `children_mode_store` - The mode store vector to keep track of the mode states of
/// children components
pub fn run(
&mut self,
table: &SequenceModeTables,
sender: &impl ModeRequestSender,
mode_store_vec: &mut ModeStoreVec,
children_mode_store: &mut ModeStoreVec,
) -> Result<ModeCommandingResult, GenericTargetedMessagingError> {
if self.state == SequenceExecutionHelperStates::AwaitingCheckSuccess {
if self.state == SequenceExecutionHelperState::Idle {
return Ok(ModeCommandingResult::CommandingDone);
}
if self.state == SequenceExecutionHelperState::AwaitingCheckSuccess {
return Ok(ModeCommandingResult::AwaitingSuccessCheck);
}
if self.target_mode.is_none() {
@ -121,7 +141,7 @@ impl SequenceExecutionHelper {
seq_table_value,
idx,
sender,
mode_store_vec,
children_mode_store,
)
}
None => {
@ -135,13 +155,42 @@ impl SequenceExecutionHelper {
seq_table_value,
0,
sender,
mode_store_vec,
children_mode_store,
)
}
}
}
}
/// Retrieve the currently loaded target mode
pub fn target_mode(&self) -> Option<Mode> {
self.target_mode
}
/// Confirm that a sequence which is awaiting a success check is done
pub fn confirm_sequence_done(&mut self) {
if let SequenceExecutionHelperState::AwaitingCheckSuccess = self.state {
self.state = SequenceExecutionHelperState::Idle;
}
}
/// Internal state of the execution helper.
pub fn state(&self) -> SequenceExecutionHelperState {
self.state
}
pub fn awaiting_check_success(&self) -> bool {
self.state == SequenceExecutionHelperState::AwaitingCheckSuccess
}
pub fn current_sequence_index(&self) -> Option<usize> {
self.current_sequence_index
}
/// Execute a sequence at the given sequence index for a given [SequenceTablesMapValue].
///
/// This method calls [Self::execute_sequence] and maps the result to a [ModeCommandingResult].
/// It is also called by the [Self::run] method of this helper.
pub fn execute_sequence_and_map_to_result(
&mut self,
seq_table_value: &SequenceTablesMapValue,
@ -149,15 +198,19 @@ impl SequenceExecutionHelper {
sender: &impl ModeRequestSender,
mode_store_vec: &mut ModeStoreVec,
) -> Result<ModeCommandingResult, GenericTargetedMessagingError> {
if self.state() == SequenceExecutionHelperState::Idle || self.request_id.is_none() {
return Ok(ModeCommandingResult::CommandingDone);
}
if Self::execute_sequence(
self.request_id,
self.request_id.unwrap(),
&seq_table_value.entries[sequence_idx],
sender,
mode_store_vec,
)? {
self.state = SequenceExecutionHelperStates::AwaitingCheckSuccess;
self.state = SequenceExecutionHelperState::AwaitingCheckSuccess;
Ok(ModeCommandingResult::AwaitingSuccessCheck)
} else if seq_table_value.entries.len() - 1 == sequence_idx {
self.state = SequenceExecutionHelperState::Idle;
return Ok(ModeCommandingResult::CommandingDone);
} else {
self.current_sequence_index = Some(sequence_idx + 1);
@ -165,11 +218,22 @@ impl SequenceExecutionHelper {
}
}
/// Generic stateless execution helper method.
///
/// The [RequestId] and the [SequenceTableMapTable] to be executed are passed explicitely
/// here. This method is called by [Self::execute_sequence_and_map_to_result].
///
/// This method itereates through the entries of the given sequence table and sends out
/// [ModeRequest]s to set the modes of the children according to the table entries.
/// It also sets the reply awaition field in the children mode store where a success
/// check is required to true.
///
/// It returns whether any commanding success check is required by any entry in the table.
pub fn execute_sequence(
request_id: RequestId,
map_table: &SequenceTableMapTable,
sender: &impl ModeRequestSender,
mode_store_vec: &mut ModeStoreVec,
children_mode_store: &mut ModeStoreVec,
) -> Result<bool, GenericTargetedMessagingError> {
let mut some_succes_check_required = false;
for entry in &map_table.entries {
@ -181,12 +245,12 @@ impl SequenceExecutionHelper {
forced: false,
},
)?;
mode_store_vec.0.iter_mut().for_each(|val| {
if entry.check_success {
children_mode_store.0.iter_mut().for_each(|val| {
if val.id() == entry.common.target_id {
val.awaiting_reply = true;
}
});
if entry.check_success {
some_succes_check_required = true;
}
}
@ -198,15 +262,19 @@ impl SequenceExecutionHelper {
pub enum ModeTreeHelperState {
#[default]
Idle,
TargetKeeping = 1,
ModeCommanding = 2,
/// The helper is currently trying to keep a target mode.
TargetKeeping,
/// The helper is currently busy to command a mode.
ModeCommanding,
}
#[derive(Debug, Default)]
pub enum SubsystemHelperResult {
#[default]
Idle,
/// Result of a target keeping operation
TargetKeeping(TargetKeepingResult),
/// Result of a mode commanding operation
ModeCommanding(ModeCommandingResult),
}
@ -230,13 +298,30 @@ pub enum ModeTreeHelperError {
CurrentModeNotInTargetTable(Mode),
}
/// This is a helper object which can be used by a subsystem component to execute mode sequences
/// and perform target keeping.
///
/// This helper object tries to compose as much data and state information as possible which is
/// required for this process.
pub struct SubsystemCommandingHelper {
/// Current mode of the owner subsystem.
pub current_mode: ModeAndSubmode,
/// State of the helper.
pub state: ModeTreeHelperState,
/// This data structure is used to track all mode children.
pub children_mode_store: ModeStoreVec,
/// This field is set when a mode sequence is executed. It is used to determine whether mode
/// replies are relevant for reply awaition logic.
pub active_request_id: Option<RequestId>,
/// The primary data structure to keep the target state information for subsystem
/// [modes][Mode]. it specifies the mode each child should have for a certain subsystem mode
/// and is relevant for target keeping.
pub target_tables: TargetModeTables,
/// The primary data structure to keep the sequence commanding information for commanded
/// subsystem [modes][Mode]. It specifies the actual commands and the order they should be
/// sent in to reach a certain [mode][Mode].
pub sequence_tables: SequenceModeTables,
/// The sequence execution helper is used to execute sequences in the [Self::sequence_tables].
pub seq_exec_helper: SequenceExecutionHelper,
}
@ -255,6 +340,8 @@ impl Default for SubsystemCommandingHelper {
}
impl SubsystemCommandingHelper {
/// Create a new substem commanding helper with an intial [ModeTreeHelperState::Idle] state,
/// an empty mode children store and empty target and sequence mode tables.
pub fn new(
children_mode_store: ModeStoreVec,
target_tables: TargetModeTables,
@ -271,10 +358,12 @@ impl SubsystemCommandingHelper {
}
}
/// Add a mode child to the internal [Self::children_mode_store].
pub fn add_mode_child(&mut self, child: ComponentId, mode: ModeAndSubmode) {
self.children_mode_store.add_component(child, mode);
}
/// Add a target mode table and an associated sequence mode table.
pub fn add_target_and_sequence_table(
&mut self,
mode: Mode,
@ -285,12 +374,14 @@ impl SubsystemCommandingHelper {
self.sequence_tables.0.insert(mode, sequence_table_val);
}
/// Starts a command sequence for a given [mode][Mode].
pub fn start_command_sequence(
&mut self,
mode: Mode,
request_id: RequestId,
) -> Result<(), ModeDoesNotExistError> {
self.seq_exec_helper.load(mode, request_id, &self.sequence_tables)?;
self.seq_exec_helper
.load(mode, request_id, &self.sequence_tables)?;
self.state = ModeTreeHelperState::ModeCommanding;
Ok(())
}
@ -339,7 +430,8 @@ impl SubsystemCommandingHelper {
if let ModeCommandingResult::CommandingDone = result {
self.state = ModeTreeHelperState::TargetKeeping;
self.active_request_id = None;
self.current_mode = ModeAndSubmode::new(self.seq_exec_helper.target_mode().unwrap(), 0);
self.current_mode =
ModeAndSubmode::new(self.seq_exec_helper.target_mode().unwrap(), 0);
}
Ok(result.into())
}

5
satrs/tests/mode_tree.rs
View File

@ -981,12 +981,15 @@ pub struct AcsController {
}
impl AcsController {
pub fn id() -> ComponentId {
TestComponentId::AcsController as u64
}
pub fn new(mode_node: ModeRequestHandlerMpscBounded) -> Self {
Self {
mode_node,
mode_and_submode: UNKNOWN_MODE,
announce_mode_queue: Default::default(),
mode_req_mock: ModeRequestHandlerMock::new(TestComponentId::AcsController as u64),
mode_req_mock: ModeRequestHandlerMock::new(Self::id()),
}
}
pub fn run(&mut self) {