First version of asynchronix based mini simulator

- Basic simulator with 3 devices
- Can be driven via a UDP interface
- Design allows to drive the simulation via different interface in the future
  by using Request/Reply messaging.

satrs-minisim/src/main.rs

@@ -0,0 +1,103 @@
+use acs::{MagnetometerModel, MagnetorquerModel};
+use asynchronix::simulation::{Mailbox, SimInit};
+use asynchronix::time::{MonotonicTime, SystemClock};
+use controller::SimController;
+use eps::PcduModel;
+use satrs_minisim::{SimReply, SimRequest};
+use std::sync::mpsc;
+use std::thread;
+use std::time::{Duration, SystemTime};
+use udp::SimUdpServer;
+
+mod acs;
+mod controller;
+mod eps;
+#[cfg(test)]
+mod test_helpers;
+mod time;
+mod udp;
+
+#[derive(Debug, Copy, Clone, PartialEq, Eq)]
+pub enum ThreadingModel {
+    Default = 0,
+    Single = 1,
+}
+
+fn create_sim_controller(
+    threading_model: ThreadingModel,
+    start_time: MonotonicTime,
+    reply_sender: mpsc::Sender<SimReply>,
+    request_receiver: mpsc::Receiver<SimRequest>,
+) -> SimController {
+    // Instantiate models and their mailboxes.
+    let mgm_model = MagnetometerModel::new(Duration::from_millis(50), reply_sender.clone());
+
+    let mgm_mailbox = Mailbox::new();
+    let mgm_addr = mgm_mailbox.address();
+    let pcdu_mailbox = Mailbox::new();
+    let pcdu_addr = pcdu_mailbox.address();
+    let mgt_mailbox = Mailbox::new();
+    let mgt_addr = mgt_mailbox.address();
+
+    let mut pcdu_model = PcduModel::new(reply_sender.clone());
+    pcdu_model
+        .mgm_switch
+        .connect(MagnetometerModel::switch_device, &mgm_addr);
+
+    let mut mgt_model = MagnetorquerModel::new(reply_sender.clone());
+    // Input connections.
+    pcdu_model
+        .mgt_switch
+        .connect(MagnetorquerModel::switch_device, &mgt_addr);
+    // Output connections.
+    mgt_model
+        .gen_magnetic_field
+        .connect(MagnetometerModel::apply_external_magnetic_field, &mgm_addr);
+
+    // Instantiate the simulator
+    let sys_clock = SystemClock::from_system_time(start_time, SystemTime::now());
+    let sim_init = if threading_model == ThreadingModel::Single {
+        SimInit::with_num_threads(1)
+    } else {
+        SimInit::new()
+    };
+    let simulation = sim_init
+        .add_model(mgm_model, mgm_mailbox)
+        .add_model(pcdu_model, pcdu_mailbox)
+        .add_model(mgt_model, mgt_mailbox)
+        .init(start_time);
+    SimController::new(
+        sys_clock,
+        request_receiver,
+        reply_sender,
+        simulation,
+        mgm_addr,
+        pcdu_addr,
+        mgt_addr,
+    )
+}
+
+fn main() {
+    let (request_sender, request_receiver) = mpsc::channel();
+    let (reply_sender, reply_receiver) = mpsc::channel();
+    let t0 = MonotonicTime::EPOCH;
+    let mut sim_ctrl =
+        create_sim_controller(ThreadingModel::Default, t0, reply_sender, request_receiver);
+
+    // This thread schedules the simulator.
+    let sim_thread = thread::spawn(move || {
+        sim_ctrl.run(t0, 1);
+    });
+
+    let mut udp_server = SimUdpServer::new(0, request_sender, reply_receiver, 200, None)
+        .expect("could not create UDP request server");
+    // This thread manages the simulator UDP server.
+    let udp_tc_thread = thread::spawn(move || {
+        udp_server.run();
+    });
+
+    sim_thread.join().expect("joining simulation thread failed");
+    udp_tc_thread
+        .join()
+        .expect("joining UDP server thread failed");
+}