rust/sat-rs
rust/sat-rs
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device manager works

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This commit is contained in:
Robin Müller 2025-01-20 11:51:12 +01:00
parent 7f674dd5bf
commit ce92ab9b2f
1 changed files with 78 additions and 27 deletions
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105
satrs/tests/mode_tree.rs
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@ -145,6 +145,10 @@ impl SubsystemCommandingHelper {
}
}
pub fn add_mode_child(&mut self, child: ComponentId, mode: ModeAndSubmode) {
self.children_mode_store.add_component(child, mode);
}
pub fn start_command_sequence(
&mut self,
mode: Mode,
@ -535,9 +539,7 @@ impl ModeParent for AcsSubsystem {
type Sender = RequestSenderType;
fn add_mode_child(&mut self, id: ComponentId, request_sender: RequestSenderType) {
self.subsystem_helper
.children_mode_store
.add_component(id, UNKNOWN_MODE);
self.subsystem_helper.add_mode_child(id, UNKNOWN_MODE);
self.mode_node.add_request_target(id, request_sender);
}
}
@ -658,7 +660,7 @@ impl ModeRequestHandler for AcsSubsystem {
}
#[derive(Debug, Default)]
pub struct AssemblyCommandingHelper {
pub struct DevManagerCommandingHelper {
/// The IDs, modes and reply awaition status of all children are tracked in this data
/// structure.
pub children_mode_store: ModeStoreVec,
@ -669,7 +671,7 @@ pub struct AssemblyCommandingHelper {
pub state: ModeTreeHelperState,
}
impl AssemblyCommandingHelper {
impl DevManagerCommandingHelper {
pub fn send_mode_cmd_to_all_children_with_reply_awaition(
&mut self,
request_id: RequestId,
@ -694,6 +696,10 @@ impl AssemblyCommandingHelper {
Ok(())
}
pub fn add_mode_child(&mut self, target_id: ComponentId, mode: ModeAndSubmode) {
self.children_mode_store.add_component(target_id, mode);
}
pub fn count_number_of_children_with_target_mode(&self) -> Option<usize> {
self.target_mode?;
let target_mode = self.target_mode.unwrap();
@ -768,7 +774,7 @@ struct MgmAssembly {
pub mode_node: ModeRequestorAndHandlerMpscBounded,
pub mode_requestor_info: Option<MessageMetadata>,
pub mode_and_submode: ModeAndSubmode,
pub assembly_helper: AssemblyCommandingHelper,
pub commanding_helper: DevManagerCommandingHelper,
pub mode_req_mock: ModeRequestHandlerMock,
pub mode_reply_mock: ModeReplyHandlerMock,
}
@ -779,7 +785,7 @@ impl MgmAssembly {
mode_node,
mode_requestor_info: None,
mode_and_submode: UNKNOWN_MODE,
assembly_helper: Default::default(),
commanding_helper: Default::default(),
mode_req_mock: Default::default(),
mode_reply_mock: Default::default(),
}
@ -804,17 +810,17 @@ impl MgmAssembly {
pub fn check_mode_replies(&mut self) -> Result<(), ModeError> {
while let Some(reply_and_id) = self.mode_node.try_recv_mode_reply()? {
self.mode_reply_mock.handle_mode_reply(&reply_and_id);
match self.assembly_helper.handle_mode_reply(&reply_and_id) {
match self.commanding_helper.handle_mode_reply(&reply_and_id) {
AssemblyHelperResult::Idle => (),
AssemblyHelperResult::TargetKeepingViolation(_id) => {
// TODO: Check whether enough children are available to keep the mode.
// Otherwise, we command everything OFF, because we can not keep the mode.
}
AssemblyHelperResult::ModeCommandingDone => {
if self.assembly_helper.target_mode.is_some() {
if self.commanding_helper.target_mode.is_some() {
// Complete the mode command.
self.handle_mode_reached(self.mode_requestor_info)?;
self.mode_and_submode = self.assembly_helper.target_mode.take().unwrap();
self.mode_and_submode = self.commanding_helper.target_mode.take().unwrap();
}
}
}
@ -833,9 +839,7 @@ impl ModeParent for MgmAssembly {
fn add_mode_child(&mut self, id: ComponentId, request_sender: RequestSenderType) {
self.mode_node.add_request_target(id, request_sender);
self.assembly_helper
.children_mode_store
.add_component(id, UNKNOWN_MODE);
self.commanding_helper.add_mode_child(id, UNKNOWN_MODE);
}
}
@ -862,9 +866,7 @@ 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()
if self.commanding_helper.target_mode.is_some()
&& !forced
&& mode_and_submode.mode() != DefaultMode::OFF as u32
{
@ -874,7 +876,7 @@ impl ModeRequestHandler for MgmAssembly {
self.mode_req_mock
.start_transition(requestor, mode_and_submode, forced)
.unwrap();
self.assembly_helper
self.commanding_helper
.send_mode_cmd_to_all_children_with_reply_awaition(
requestor.request_id(),
mode_and_submode,
@ -950,10 +952,12 @@ impl ModeRequestHandler for MgmAssembly {
struct DeviceManager {
name: &'static str,
pub id: ComponentId,
pub commanding_helper: DevManagerCommandingHelper,
pub mode_node: ModeRequestorAndHandlerMpscBounded,
pub mode_requestor_info: Option<MessageMetadata>,
pub mode_and_submode: ModeAndSubmode,
pub mode_req_mock: ModeRequestHandlerMock,
pub mode_req_recvd: u32,
pub mode_reply_mock: ModeReplyHandlerMock,
}
impl DeviceManager {
@ -966,29 +970,58 @@ impl DeviceManager {
name,
id,
mode_node,
mode_requestor_info: None,
commanding_helper: Default::default(),
mode_and_submode: UNKNOWN_MODE,
mode_req_mock: Default::default(),
mode_req_recvd: 0,
mode_reply_mock: Default::default(),
}
}
pub fn get_and_clear_num_mode_requests(&mut self) -> u32 {
let tmp = self.mode_req_recvd;
self.mode_req_recvd = 0;
tmp
pub fn get_num_mode_requests(&mut self) -> usize {
self.mode_req_mock.mode_messages_received()
}
pub fn run(&mut self) {
self.check_mode_requests().expect("mode messaging error");
self.check_mode_replies().expect("mode reply error");
}
pub fn check_mode_requests(&mut self) -> Result<(), ModeError> {
if let Some(request) = self.mode_node.try_recv_mode_request()? {
self.mode_req_recvd += 1;
while let Some(request) = self.mode_node.try_recv_mode_request()? {
self.handle_mode_request(request)?
}
Ok(())
}
pub fn check_mode_replies(&mut self) -> Result<(), ModeError> {
while let Some(reply) = self.mode_node.try_recv_mode_reply()? {
self.handle_mode_reply(&reply)?;
}
Ok(())
}
pub fn handle_mode_reply(
&mut self,
mode_reply: &GenericMessage<ModeReply>,
) -> Result<(), ModeError> {
self.mode_reply_mock.handle_mode_reply(mode_reply);
match self.commanding_helper.handle_mode_reply(mode_reply) {
AssemblyHelperResult::Idle => (),
AssemblyHelperResult::TargetKeepingViolation(_id) => {
// TODO: Check whether enough children are available to keep the mode.
// Otherwise, we command everything OFF, because we can not keep the mode.
}
AssemblyHelperResult::ModeCommandingDone => {
if self.commanding_helper.target_mode.is_some() {
// Complete the mode command.
self.handle_mode_reached(self.mode_requestor_info)?;
self.mode_and_submode = self.commanding_helper.target_mode.take().unwrap();
}
}
}
Ok(())
}
}
impl ModeNode for DeviceManager {
@ -1009,6 +1042,9 @@ impl ModeParent for DeviceManager {
type Sender = RequestSenderType;
fn add_mode_child(&mut self, id: ComponentId, request_sender: Self::Sender) {
self.commanding_helper
.children_mode_store
.add_component(id, UNKNOWN_MODE);
self.mode_node.add_request_target(id, request_sender);
}
}
@ -1029,10 +1065,17 @@ impl ModeRequestHandler for DeviceManager {
forced: bool,
) -> Result<(), ModeError> {
self.mode_and_submode = mode_and_submode;
self.handle_mode_reached(Some(requestor))?;
self.mode_requestor_info = Some(requestor);
self.mode_req_mock
.start_transition(requestor, mode_and_submode, forced)
.unwrap();
self.commanding_helper
.send_mode_cmd_to_all_children_with_reply_awaition(
requestor.request_id(),
mode_and_submode,
forced,
&self.mode_node,
)?;
Ok(())
}
@ -1638,7 +1681,7 @@ fn announce_recursively() {
assert_eq!(tb.mgt_dev.mode_req_mock.start_transition_calls.len(), 0);
assert_eq!(tb.mgt_dev.mode_and_submode(), UNKNOWN_MODE);
assert_eq!(announces.len(), 1);
assert_eq!(tb.mgt_manager.get_and_clear_num_mode_requests(), 1);
assert_eq!(tb.mgt_manager.get_num_mode_requests(), 1);
announces = tb
.mgt_manager
.mode_req_mock
@ -1676,4 +1719,12 @@ fn command_safe_mode() {
tb.mgm_assy.mode_and_submode(),
ModeAndSubmode::new(DefaultMode::NORMAL as u32, 0)
);
assert_eq!(
tb.mgt_manager.mode_and_submode(),
ModeAndSubmode::new(DefaultMode::NORMAL as u32, 0)
);
assert_eq!(
tb.mgt_dev.mode_and_submode(),
ModeAndSubmode::new(DefaultMode::NORMAL as u32, 0)
);
}