add first unittests

satrs-minisim/Cargo.toml

@@ -18,3 +18,6 @@ path = "../../asynchronix/asynchronix"
 
 [dependencies.satrs]
 path = "../satrs"
+
+[dev-dependencies]
+delegate = "0.12"

satrs-minisim/src/acs.rs

@@ -53,6 +53,8 @@ impl MagnetometerModel {
     }
 
     pub async fn send_sensor_values(&mut self, _: (), scheduler: &Scheduler<Self>) {
+        let current_time = scheduler.time();
+        println!("current monotonic time: {:?}", current_time);
         let value = self.calculate_current_mgm_tuple(current_millis(scheduler.time()));
         let reply = SimReply {
             device: SimDevice::Mgm,

satrs-minisim/src/controller.rs

@@ -21,20 +21,38 @@ pub struct SimController {
 }
 
 impl SimController {
-    pub fn run(&mut self, t0: MonotonicTime) {
-        let mut t = t0 + Duration::from_millis(10);
+    pub fn run(&mut self, start_time: MonotonicTime) {
+        let mut t = start_time + Duration::from_millis(1);
+        self.sys_clock.synchronize(t);
         loop {
             self.simulation
                 .step_until(t)
                 .expect("simulation step failed");
-            t += Duration::from_millis(10);
-            // TODO: Received and handle requests.
+            // Check for UDP requests every millisecond.
+            t += Duration::from_millis(1);
+            self.handle_sim_requests();
 
-            // TODO: Incorporate network latency.
             self.sys_clock.synchronize(t);
         }
     }
 
+    pub fn handle_sim_requests(&mut self) {
+        loop {
+            match self.request_receiver.try_recv() {
+                Ok(request) => match request.device {
+                    satrs_minisim::SimDevice::Mgm => self.handle_mgm_request(&request.request),
+                    satrs_minisim::SimDevice::Mgt => self.handle_mgt_request(&request.request),
+                    satrs_minisim::SimDevice::Pcdu => self.handle_pcdu_request(&request.request),
+                },
+                Err(e) => match e {
+                    mpsc::TryRecvError::Empty => break,
+                    mpsc::TryRecvError::Disconnected => {
+                        panic!("all request sender disconnected")
+                    }
+                },
+            }
+        }
+    }
     fn handle_mgm_request(&mut self, request: &str) {
         let mgm_request: serde_json::Result<MgmRequest> = serde_json::from_str(request);
         if mgm_request.is_err() {
@@ -54,7 +72,7 @@ impl SimController {
     }
 
     fn handle_pcdu_request(&mut self, request: &str) {
-        let pcdu_request: serde_json::Result<PcduRequest> = serde_json::from_str(&request);
+        let pcdu_request: serde_json::Result<PcduRequest> = serde_json::from_str(request);
         if pcdu_request.is_err() {
             log::warn!(
                 "received invalid PCDU request: {}",
@@ -67,4 +85,6 @@ impl SimController {
             PcduRequest::RequestSwitchInfo => todo!(),
         }
     }
+
+    fn handle_mgt_request(&mut self, request: &str) {}
 }

satrs-minisim/src/lib.rs

@@ -1,6 +1,6 @@
 use serde::{Deserialize, Serialize};
 
-#[derive(Debug, Copy, Clone, Serialize, Deserialize)]
+#[derive(Debug, Copy, Clone, PartialEq, Eq, Serialize, Deserialize)]
 pub enum SimDevice {
     Mgm,
     Mgt,

satrs-minisim/src/main.rs

@@ -1,5 +1,4 @@
 use acs::MagnetometerModel;
-use asynchronix::model::Model;
 use asynchronix::simulation::{Mailbox, SimInit};
 use asynchronix::time::{MonotonicTime, SystemClock};
 use controller::SimController;
@@ -61,3 +60,106 @@ fn main() {
     udp_tc_thread.join().expect("joining UDP TC thread failed");
     udp_tm_thread.join().expect("joining UDP TM thread failed");
 }
+
+#[cfg(test)]
+mod tests {
+    use delegate::delegate;
+    use satrs_minisim::{
+        acs::{MgmRequest, MgmSensorValues},
+        SimDevice, SimReply, SimRequest,
+    };
+
+    use super::*;
+
+    struct SimTestbench {
+        pub sim_controller: SimController,
+        pub reply_receiver: mpsc::Receiver<SimReply>,
+        pub request_sender: mpsc::Sender<SimRequest>,
+    }
+
+    impl SimTestbench {
+        fn new() -> Self {
+            let (request_sender, request_receiver) = mpsc::channel();
+            let (reply_sender, reply_receiver) = mpsc::channel();
+            // Instantiate models and their mailboxes.
+            let mgm_sim = 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();
+
+            // Instantiate the simulator
+            let t0 = MonotonicTime::EPOCH;
+            let sys_clock = SystemClock::from_system_time(t0, SystemTime::now());
+            let simulation = SimInit::with_num_threads(1)
+                .add_model(mgm_sim, mgm_mailbox)
+                .init(t0);
+
+            Self {
+                sim_controller: SimController {
+                    sys_clock,
+                    request_receiver,
+                    simulation,
+                    mgm_addr,
+                    pcdu_addr,
+                },
+                reply_receiver,
+                request_sender,
+            }
+        }
+
+        delegate! {
+            to self.sim_controller {
+                pub fn handle_sim_requests(&mut self);
+            }
+            to self.sim_controller.simulation {
+                pub fn step(&mut self);
+            }
+        }
+
+        pub fn send_request(&self, request: SimRequest) -> Result<(), mpsc::SendError<SimRequest>> {
+            self.request_sender.send(request)
+        }
+
+        pub fn try_receive_next_reply(&self) -> Option<SimReply> {
+            match self.reply_receiver.try_recv() {
+                Ok(reply) => Some(reply),
+                Err(e) => {
+                    if e == mpsc::TryRecvError::Empty {
+                        None
+                    } else {
+                        panic!("reply_receiver disconnected");
+                    }
+                }
+            }
+        }
+    }
+
+    #[test]
+    fn test_basic_mgm_request() {
+        let mut sim_testbench = SimTestbench::new();
+        let mgm_request = MgmRequest::RequestSensorData;
+        let request = SimRequest {
+            device: SimDevice::Mgm,
+            request: serde_json::to_string(&mgm_request).unwrap(),
+        };
+        sim_testbench
+            .send_request(request)
+            .expect("sending MGM request failed");
+        sim_testbench.handle_sim_requests();
+        sim_testbench.step();
+        let sim_reply = sim_testbench.try_receive_next_reply();
+        assert!(sim_reply.is_some());
+        let sim_reply = sim_reply.unwrap();
+        assert_eq!(sim_reply.device, SimDevice::Mgm);
+        let reply: MgmSensorValues = serde_json::from_str(&sim_reply.reply)
+            .expect("failed to deserialize MGM sensor values");
+        assert_eq!(reply.x, 0.0);
+        assert_eq!(reply.y, 0.0);
+        assert_eq!(reply.z, 0.0);
+    }
+
+    #[test]
+    fn test_basic_mgm_request_switched_on() {}
+}