rust/sat-rs
rust/sat-rs
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continue mode tree

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This commit is contained in:
Robin Müller 2025-01-17 14:39:28 +01:00
parent 3a02fcf77a
commit a6aa20d09b
2 changed files with 50 additions and 9 deletions
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7
satrs/src/mode_tree.rs
View File

@ -317,6 +317,7 @@ pub mod alloc_mod {
&mut self,
sender_id: ComponentId,
reported_mode_and_submode: Option<ModeAndSubmode>,
handle_reply_awaition: bool,
) -> bool {
let mut still_awating_replies = false;
self.0.iter_mut().for_each(|val| {
@ -324,9 +325,11 @@ pub mod alloc_mod {
if let Some(mode_and_submode) = reported_mode_and_submode {
val.mode_and_submode = mode_and_submode;
}
val.awaiting_reply = false;
if handle_reply_awaition {
val.awaiting_reply = false;
}
}
if val.awaiting_reply {
if handle_reply_awaition && val.awaiting_reply {
still_awating_replies = true;
}
});

52
satrs/tests/mode_tree.rs
View File

@ -108,6 +108,7 @@ pub struct SubsystemCommandingHelper {
pub current_mode: ModeAndSubmode,
pub state: ModeTreeHelperState,
pub children_mode_store: ModeStoreVec,
pub active_request_id: Option<RequestId>,
pub target_tables: TargetModeTables,
pub sequence_tables: SequenceModeTables,
pub helper: SequenceExecutionHelper,
@ -119,6 +120,7 @@ impl Default for SubsystemCommandingHelper {
current_mode: UNKNOWN_MODE,
state: Default::default(),
children_mode_store: Default::default(),
active_request_id: None,
target_tables: Default::default(),
sequence_tables: Default::default(),
helper: Default::default(),
@ -136,6 +138,7 @@ impl SubsystemCommandingHelper {
current_mode: UNKNOWN_MODE,
state: ModeTreeHelperState::Idle,
children_mode_store,
active_request_id: None,
target_tables,
sequence_tables,
helper: Default::default(),
@ -206,6 +209,7 @@ impl SubsystemCommandingHelper {
// mode after an executed sequence.
if let ModeCommandingResult::CommandingDone = result {
self.state = ModeTreeHelperState::TargetKeeping;
self.active_request_id = None;
self.current_mode = ModeAndSubmode::new(self.helper.target_mode().unwrap(), 0);
}
Ok(result.into())
@ -219,9 +223,21 @@ impl SubsystemCommandingHelper {
}
let mut generic_mode_reply_handler =
|sender_id, mode_and_submode: Option<ModeAndSubmode>| {
let still_awating_replies = self
.children_mode_store
.generic_reply_handler(sender_id, mode_and_submode);
// Tying the reply awaition to the request ID ensures that something like replies
// belonging to older requests do not interfere with the completion handling of
// the mode commanding. This is important for forced mode commands.
let mut handle_awaition = false;
if self.state == ModeTreeHelperState::ModeCommanding
&& self.active_request_id.is_some()
&& reply.request_id() == self.active_request_id.unwrap()
{
handle_awaition = true;
}
let still_awating_replies = self.children_mode_store.generic_reply_handler(
sender_id,
mode_and_submode,
handle_awaition,
);
if self.state == ModeTreeHelperState::ModeCommanding && !still_awating_replies {
self.helper.confirm_sequence_done();
}
@ -655,6 +671,8 @@ pub struct AssemblyCommandingHelper {
pub children_mode_store: ModeStoreVec,
/// Target mode used for mode commanding.
pub target_mode: Option<ModeAndSubmode>,
/// Request ID of active mode commanding request.
pub active_request_id: Option<RequestId>,
pub state: ModeTreeHelperState,
}
@ -678,6 +696,7 @@ impl AssemblyCommandingHelper {
)?;
child.awaiting_reply = true;
}
self.active_request_id = Some(request_id);
Ok(())
}
@ -704,9 +723,21 @@ impl AssemblyCommandingHelper {
return AssemblyHelperResult::Idle;
}
let mut generic_mode_reply_handler = |mode_and_submode: Option<ModeAndSubmode>| {
let still_awating_replies = self
.children_mode_store
.generic_reply_handler(mode_reply.sender_id(), mode_and_submode);
// Tying the reply awaition to the request ID ensures that something like replies
// belonging to older requests do not interfere with the completion handling of
// the mode commanding. This is important for forced mode commands.
let mut handle_awaition = false;
if self.state == ModeTreeHelperState::ModeCommanding
&& self.active_request_id.is_some()
&& mode_reply.request_id() == self.active_request_id.unwrap()
{
handle_awaition = true;
}
let still_awating_replies = self.children_mode_store.generic_reply_handler(
mode_reply.sender_id(),
mode_and_submode,
handle_awaition,
);
if self.state == ModeTreeHelperState::TargetKeeping
&& mode_and_submode.is_some()
&& self.target_mode.is_some()
@ -714,8 +745,12 @@ impl AssemblyCommandingHelper {
{
return AssemblyHelperResult::TargetKeepingViolation(mode_reply.sender_id());
}
if self.state == ModeTreeHelperState::ModeCommanding && !still_awating_replies {
if self.state == ModeTreeHelperState::ModeCommanding
&& handle_awaition
&& !still_awating_replies
{
self.state = ModeTreeHelperState::TargetKeeping;
self.active_request_id = None;
return AssemblyHelperResult::ModeCommandingDone;
}
AssemblyHelperResult::Idle
@ -760,6 +795,7 @@ impl MgmAssembly {
self.check_mode_requests().expect("mode messaging error");
self.check_mode_replies().expect("mode messaging error");
}
pub fn get_num_mode_requests(&mut self) -> usize {
self.mode_req_mock.mode_messages_received()
}
@ -829,6 +865,8 @@ impl ModeRequestHandler for MgmAssembly {
forced: bool,
) -> Result<(), Self::Error> {
// Always accept forced commands and commands to mode OFF.
// TODO: Forced transitions are special because now we might receive a reply where the
// request ID is relevant!
if self.assembly_helper.target_mode.is_some()
&& !forced
&& mode_and_submode.mode() != DefaultMode::OFF as u32