fixed tc insertion, added unit tests for releasing single tcs as well as inserting and releasing multiple tcs with same timestamp

satrs-core/src/pus/scheduling.rs

@@ -6,6 +6,7 @@ use std::collections::BTreeMap;
 use std::time::SystemTimeError;
 use std::vec;
 use std::vec::Vec;
+use std::sync::{mpsc, Arc, RwLock};
 
 #[derive(Debug)]
 pub struct PusScheduler {
@@ -59,7 +60,7 @@ impl PusScheduler {
     }
 
     pub fn insert_tc(&mut self, time_stamp: UnixTimestamp, addr: StoreAddr) -> bool {
-        if time_stamp > self.current_time + self.time_margin {
+        if time_stamp < self.current_time + self.time_margin {
             return false;
         }
         match self.tc_map.entry(time_stamp) {
@@ -97,10 +98,15 @@ impl PusScheduler {
 
 #[cfg(test)]
 mod tests {
+    use std::{println, vec};
+    use std::sync::mpsc;
+    use std::sync::mpsc::{channel, Receiver, TryRecvError};
     use crate::pool::StoreAddr;
     use crate::pus::scheduling::PusScheduler;
     use spacepackets::time::UnixTimestamp;
     use std::time::Duration;
+    use spacepackets::ecss::PacketTypeCodes::UnsignedInt;
+    use std::vec::Vec;
 
     #[test]
     fn basic() {
@@ -115,20 +121,65 @@ mod tests {
     fn reset() {
         let mut scheduler =
             PusScheduler::new(UnixTimestamp::new_only_seconds(0), Duration::from_secs(5));
-        scheduler.insert_tc(
-            UnixTimestamp::new_only_seconds(200),
+
+        let worked = scheduler.insert_tc(
+            UnixTimestamp::new_only_seconds(100),
             StoreAddr {
                 pool_idx: 0,
                 packet_idx: 1,
             },
         );
-        scheduler.insert_tc(
+
+        assert!(worked);
+
+        let worked = scheduler.insert_tc(
             UnixTimestamp::new_only_seconds(200),
             StoreAddr {
                 pool_idx: 0,
                 packet_idx: 2,
             },
         );
+
+        assert!(worked);
+
+        let worked =  scheduler.insert_tc(
+            UnixTimestamp::new_only_seconds(300),
+            StoreAddr {
+                pool_idx: 0,
+                packet_idx: 2,
+            },
+        );
+
+        assert!(worked);
+
+        assert_eq!(scheduler.num_scheduled_telecommands(), 3);
+        assert!(scheduler.is_enabled());
+        scheduler.reset();
+        assert!(!scheduler.is_enabled());
+        assert_eq!(scheduler.num_scheduled_telecommands(), 0);
+    }
+
+    #[test]
+    fn insert_multi_with_same_time() {
+        let mut scheduler =
+            PusScheduler::new(UnixTimestamp::new_only_seconds(0), Duration::from_secs(5));
+
+        scheduler.insert_tc(
+            UnixTimestamp::new_only_seconds(100),
+            StoreAddr {
+                pool_idx: 0,
+                packet_idx: 1,
+            },
+        );
+
+        let worked = scheduler.insert_tc(
+            UnixTimestamp::new_only_seconds(100),
+            StoreAddr {
+                pool_idx: 0,
+                packet_idx: 2,
+            },
+        );
+
         scheduler.insert_tc(
             UnixTimestamp::new_only_seconds(300),
             StoreAddr {
@@ -136,10 +187,127 @@ mod tests {
                 packet_idx: 2,
             },
         );
+
         assert_eq!(scheduler.num_scheduled_telecommands(), 3);
-        assert!(scheduler.is_enabled());
-        scheduler.reset();
-        assert!(!scheduler.is_enabled());
-        assert_eq!(scheduler.num_scheduled_telecommands(), 0);
+    }
+
+
+    #[test]
+    fn time() {
+        let mut scheduler =
+            PusScheduler::new(UnixTimestamp::new_only_seconds(0), Duration::from_secs(5));
+        let time = UnixTimestamp::new(1,2).unwrap();
+        scheduler.update_time(time);
+        assert_eq!(scheduler.current_time(), &time);
+    }
+
+    #[test]
+    fn release_basic() {
+        let mut scheduler =
+            PusScheduler::new(UnixTimestamp::new_only_seconds(0), Duration::from_secs(5));
+
+        scheduler.insert_tc(
+            UnixTimestamp::new_only_seconds(100),
+            StoreAddr {
+                pool_idx: 0,
+                packet_idx: 1,
+            },
+        );
+
+        scheduler.insert_tc(
+            UnixTimestamp::new_only_seconds(200),
+            StoreAddr {
+                pool_idx: 0,
+                packet_idx: 2,
+            },
+        );
+
+        let mut i = 0;
+        let mut test_closure_1 = |boolvar: bool, store_addr: &StoreAddr| {
+            assert_eq!(boolvar, true);
+            assert_eq!(store_addr, &StoreAddr {
+                pool_idx: 0,
+                packet_idx: 1,
+            });
+            i += 1;
+        };
+
+        // test 1: too early, no tcs
+        scheduler.update_time(UnixTimestamp::new_only_seconds(99));
+
+        scheduler.release_telecommands( &mut test_closure_1);
+
+        // test 2: exact time stamp of tc, releases 1 tc
+        scheduler.update_time(UnixTimestamp::new_only_seconds(100));
+
+        scheduler.release_telecommands(&mut test_closure_1);
+
+        // test 3, late timestamp, release 1 overdue tc
+        let mut test_closure_2 = |boolvar: bool, store_addr: &StoreAddr| {
+            assert_eq!(boolvar, true);
+            assert_eq!(store_addr, &StoreAddr {
+                pool_idx: 0,
+                packet_idx: 2,
+            });
+            i += 1;
+        };
+
+        scheduler.update_time(UnixTimestamp::new_only_seconds(206));
+
+        scheduler.release_telecommands(&mut test_closure_2);
+
+        //test 4: no tcs left
+        scheduler.release_telecommands(&mut test_closure_2);
+
+        // check that 2 total tcs have been released
+        assert_eq!(i, 2);
+    }
+
+    #[test]
+    fn release_multi_with_same_time() {
+        let mut scheduler =
+            PusScheduler::new(UnixTimestamp::new_only_seconds(0), Duration::from_secs(5));
+
+        scheduler.insert_tc(
+            UnixTimestamp::new_only_seconds(100),
+            StoreAddr {
+                pool_idx: 0,
+                packet_idx: 1,
+            },
+        );
+
+        scheduler.insert_tc(
+            UnixTimestamp::new_only_seconds(100),
+            StoreAddr {
+                pool_idx: 0,
+                packet_idx: 1,
+            },
+        );
+
+        let mut i = 0;
+        let mut test_closure = |boolvar: bool, store_addr: &StoreAddr| {
+            assert_eq!(boolvar, true);
+            assert_eq!(store_addr, &StoreAddr {
+                pool_idx: 0,
+                packet_idx: 1,
+            });
+            i += 1;
+        };
+
+        // test 1: too early, no tcs
+        scheduler.update_time(UnixTimestamp::new_only_seconds(99));
+
+        scheduler.release_telecommands( &mut test_closure);
+
+        // test 2: exact time stamp of tc, releases 2 tc
+        scheduler.update_time(UnixTimestamp::new_only_seconds(100));
+
+        scheduler.release_telecommands(&mut test_closure);
+
+        //test 3: no tcs left
+        scheduler.release_telecommands(&mut test_closure);
+
+        // check that 2 total tcs have been released
+        assert_eq!(i, 2);
     }
 }