add more tests
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@ -299,6 +299,7 @@ impl SubsystemCommandingHelper {
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#[derive(Default, Debug)]
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pub struct ModeRequestHandlerMock {
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pub id: ComponentId,
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get_mode_calls: RefCell<usize>,
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start_transition_calls: VecDeque<(MessageMetadata, ModeAndSubmode)>,
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announce_mode_calls: RefCell<VecDeque<AnnounceModeInfo>>,
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@ -307,6 +308,15 @@ pub struct ModeRequestHandlerMock {
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send_mode_reply_calls: RefCell<VecDeque<(MessageMetadata, ModeReply)>>,
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}
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impl ModeRequestHandlerMock {
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pub fn new(id: ComponentId) -> Self {
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Self {
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id,
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..Default::default()
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}
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}
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}
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impl ModeRequestHandlerMock {
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pub fn clear(&mut self) {
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self.get_mode_calls.replace(0);
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@ -388,8 +398,9 @@ impl ModeRequestHandler for ModeRequestHandlerMock {
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}
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}
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#[derive(Default, Debug)]
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#[derive(Debug)]
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pub struct ModeReplyHandlerMock {
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pub id: ComponentId,
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mode_info_messages: VecDeque<(MessageMetadata, ModeAndSubmode)>,
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mode_reply_messages: VecDeque<(MessageMetadata, ModeAndSubmode)>,
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cant_reach_mode_messages: VecDeque<(MessageMetadata, ResultU16)>,
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@ -397,6 +408,23 @@ pub struct ModeReplyHandlerMock {
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}
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impl ModeReplyHandlerMock {
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pub fn new(id: ComponentId) -> Self {
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Self {
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id,
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mode_info_messages: Default::default(),
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mode_reply_messages: Default::default(),
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cant_reach_mode_messages: Default::default(),
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wrong_mode_messages: Default::default(),
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}
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}
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pub fn num_of_received_mode_replies(&self) -> usize {
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self.mode_info_messages.len()
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+ self.mode_reply_messages.len()
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+ self.cant_reach_mode_messages.len()
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+ self.wrong_mode_messages.len()
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}
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pub fn handle_mode_reply(&mut self, request: &GenericMessage<ModeReply>) {
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match request.message {
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ModeReply::ModeInfo(mode_and_submode) => {
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@ -481,16 +509,22 @@ struct AcsSubsystem {
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pub target_mode_and_submode: Option<ModeAndSubmode>,
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pub subsystem_helper: SubsystemCommandingHelper,
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pub mode_req_mock: ModeRequestHandlerMock,
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pub mode_reply_mock: ModeReplyHandlerMock,
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}
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impl AcsSubsystem {
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pub fn id() -> ComponentId {
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TestComponentId::AcsSubsystem as u64
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}
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pub fn new(mode_node: ModeRequestorAndHandlerMpscBounded) -> Self {
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Self {
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mode_node,
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mode_requestor_info: None,
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target_mode_and_submode: None,
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subsystem_helper: SubsystemCommandingHelper::default(),
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mode_req_mock: Default::default(),
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mode_req_mock: ModeRequestHandlerMock::new(Self::id()),
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mode_reply_mock: ModeReplyHandlerMock::new(Self::id()),
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}
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}
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@ -542,6 +576,7 @@ impl AcsSubsystem {
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let mut received_reply = false;
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while let Some(mode_reply) = self.mode_node.try_recv_mode_reply().unwrap() {
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received_reply = true;
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self.mode_reply_mock.handle_mode_reply(&mode_reply);
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let result = self
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.subsystem_helper
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.state_machine(Some(mode_reply), &self.mode_node);
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@ -689,7 +724,7 @@ impl ModeRequestHandler for AcsSubsystem {
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/// For example, this could be used in an Assembly component which manages multiple redundant
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/// child components. It can also be used inside a manager component which only manages one device.
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#[derive(Debug, Default)]
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pub struct DevManagerCommandingHelper {
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pub struct AssemblyCommandingHelper {
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/// The IDs, modes and reply awaition status of all children are tracked in this data
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/// structure.
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pub children_mode_store: ModeStoreVec,
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@ -700,7 +735,9 @@ pub struct DevManagerCommandingHelper {
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pub state: ModeTreeHelperState,
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}
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impl DevManagerCommandingHelper {
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pub type DevManagerCommandingHelper = AssemblyCommandingHelper;
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impl AssemblyCommandingHelper {
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pub fn send_mode_cmd_to_all_children_with_reply_awaition(
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&mut self,
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request_id: RequestId,
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@ -817,20 +854,23 @@ struct MgmAssembly {
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pub mode_node: ModeRequestorAndHandlerMpscBounded,
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pub mode_requestor_info: Option<MessageMetadata>,
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pub mode_and_submode: ModeAndSubmode,
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pub commanding_helper: DevManagerCommandingHelper,
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pub commanding_helper: AssemblyCommandingHelper,
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pub mode_req_mock: ModeRequestHandlerMock,
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pub mode_reply_mock: ModeReplyHandlerMock,
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}
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impl MgmAssembly {
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pub fn id() -> ComponentId {
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TestComponentId::MagnetometerAssembly as u64
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}
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pub fn new(mode_node: ModeRequestorAndHandlerMpscBounded) -> Self {
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Self {
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mode_node,
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mode_requestor_info: None,
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mode_and_submode: UNKNOWN_MODE,
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commanding_helper: Default::default(),
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mode_req_mock: Default::default(),
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mode_reply_mock: Default::default(),
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mode_req_mock: ModeRequestHandlerMock::new(Self::id()),
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mode_reply_mock: ModeReplyHandlerMock::new(Self::id()),
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}
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}
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@ -862,8 +902,8 @@ impl MgmAssembly {
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AssemblyHelperResult::ModeCommandingDone => {
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if self.commanding_helper.target_mode.is_some() {
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// Complete the mode command.
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self.handle_mode_reached(self.mode_requestor_info)?;
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self.mode_and_submode = self.commanding_helper.target_mode.take().unwrap();
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self.handle_mode_reached(self.mode_requestor_info)?;
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}
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}
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}
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@ -874,7 +914,7 @@ impl MgmAssembly {
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impl ModeNode for MgmAssembly {
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fn id(&self) -> ComponentId {
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TestComponentId::MagnetometerAssembly as u64
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Self::id()
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}
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}
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impl ModeParent for MgmAssembly {
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@ -982,7 +1022,7 @@ impl ModeRequestHandler for MgmAssembly {
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struct DeviceManager {
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name: &'static str,
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pub id: ComponentId,
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pub commanding_helper: DevManagerCommandingHelper,
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pub commanding_helper: AssemblyCommandingHelper,
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pub mode_node: ModeRequestorAndHandlerMpscBounded,
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pub mode_requestor_info: Option<MessageMetadata>,
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pub mode_and_submode: ModeAndSubmode,
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@ -1003,8 +1043,8 @@ impl DeviceManager {
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mode_requestor_info: None,
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commanding_helper: Default::default(),
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mode_and_submode: UNKNOWN_MODE,
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mode_req_mock: Default::default(),
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mode_reply_mock: Default::default(),
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mode_req_mock: ModeRequestHandlerMock::new(id),
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mode_reply_mock: ModeReplyHandlerMock::new(id),
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}
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}
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@ -1041,6 +1081,18 @@ impl DeviceManager {
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AssemblyHelperResult::TargetKeepingViolation(_id) => {
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// TODO: Check whether enough children are available to keep the mode.
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// Otherwise, we command everything OFF, because we can not keep the mode.
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if self
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.commanding_helper
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.count_number_of_children_with_target_mode()
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.unwrap()
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< 1
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{
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if let Err(_e) = self.start_transition(
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MessageMetadata::new(0, self.id()),
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ModeAndSubmode::new(DefaultMode::OFF as Mode, 0),
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false,
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) {}
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}
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}
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AssemblyHelperResult::ModeCommandingDone => {
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if self.commanding_helper.target_mode.is_some() {
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@ -1179,7 +1231,7 @@ impl CommonDevice {
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id,
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mode_node,
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mode_and_submode: UNKNOWN_MODE,
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mode_req_mock: Default::default(),
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mode_req_mock: ModeRequestHandlerMock::new(id),
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}
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}
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@ -1302,7 +1354,7 @@ impl AcsController {
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mode_node,
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mode_and_submode: UNKNOWN_MODE,
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announce_mode_queue: Default::default(),
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mode_req_mock: Default::default(),
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mode_req_mock: ModeRequestHandlerMock::new(TestComponentId::AcsController as u64),
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}
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}
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pub fn run(&mut self) {
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@ -1508,7 +1560,7 @@ impl TreeTestbench {
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let mut pus_service = PusModeService {
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request_id_counter: Cell::new(0),
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mode_node: mode_node_pus,
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mode_reply_mock: Default::default(),
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mode_reply_mock: ModeReplyHandlerMock::new(TestComponentId::PusModeService as u64),
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};
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// ACS subsystem tables
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@ -1767,6 +1819,17 @@ fn command_safe_mode() {
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drop(handle_mode_reached_ref);
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assert_eq!(mock.send_mode_reply_calls.borrow().len(), 1);
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let mode_reply_call = *mock.send_mode_reply_calls.borrow_mut().front().unwrap();
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assert_eq!(mode_reply_call.0.request_id(), request_id);
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if let ModeReply::ModeReply(mode_and_submode) = mode_reply_call.1 {
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assert_eq!(
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mode_and_submode, expected_mode_for_transition,
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"unexpected mode for component {}",
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mock.id
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);
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} else {
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panic!("Unexpected mode reply for component {}", mock.id);
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}
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// TODO: Check all mode replies
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assert_eq!(mock.mode_messages_received(), 3);
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mock.clear();
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@ -1776,6 +1839,15 @@ fn command_safe_mode() {
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&mut tb.subsystem.mode_req_mock,
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ModeAndSubmode::new(AcsMode::SAFE as u32, 0),
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);
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assert!(tb.subsystem.subsystem_helper.active_request_id.is_none());
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assert_eq!(
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tb.subsystem.subsystem_helper.state,
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ModeTreeHelperState::TargetKeeping
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);
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assert_eq!(
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tb.subsystem.subsystem_helper.current_mode,
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ModeAndSubmode::new(AcsMode::SAFE as u32, 0),
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);
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generic_mock_check(
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&mut tb.ctrl.mode_req_mock,
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ModeAndSubmode::new(AcsMode::SAFE as u32, 0),
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