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Major refactoring and update of PUS module

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This commit is contained in:
Robin Müller
2024-04-04 15:18:53 +02:00
parent 344fe6a4c0
commit df2733a176
75 changed files with 9295 additions and 4764 deletions
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580
satrs/src/event_man.rs
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@ -11,7 +11,7 @@
//! about events first:
//!
//! The event manager has a listener table abstracted by the [ListenerMapProvider], which maps
//! listener groups identified by [ListenerKey]s to a [sender ID][ChannelId].
//! listener groups identified by [ListenerKey]s to a [listener ID][ComponentId].
//! It also contains a sender table abstracted by the [SenderMapProvider] which maps these sender
//! IDs to concrete [EventSendProvider]s. A simple approach would be to use one send event provider
//! for each OBSW thread and then subscribe for all interesting events for a particular thread
@ -28,8 +28,8 @@
//! manager.
//! 3. The event manager receives the receiver component as part of a [EventReceiveProvider]
//! implementation so all events are routed to the manager.
//! 4. Create the [send event providers][EventSendProvider]s which allow routing events to
//! subscribers. You can now use their [sender IDs][EventSendProvider::channel_id] to subscribe
//! 4. Create the [event sender map][SenderMapProvider]s which allow routing events to
//! subscribers. You can now use the subscriber component IDs to subscribe
//! for event groups, for example by using the [EventManager::subscribe_single] method.
//! 5. Add the send provider as well using the [EventManager::add_sender] call so the event
//! manager can route listener groups to a the send provider.
@ -45,12 +45,13 @@
//! for a concrete example using multi-threading where events are routed to
//! different threads.
use crate::events::{EventU16, EventU32, GenericEvent, LargestEventRaw, LargestGroupIdRaw};
use crate::params::{Params, ParamsHeapless};
use crate::params::Params;
use crate::queue::GenericSendError;
use core::fmt::Debug;
use core::marker::PhantomData;
use core::slice::Iter;
use crate::ChannelId;
use crate::ComponentId;
#[cfg(feature = "alloc")]
pub use alloc_mod::*;
@ -65,87 +66,122 @@ pub enum ListenerKey {
All,
}
pub type EventWithHeaplessAuxData<Event> = (Event, Option<ParamsHeapless>);
pub type EventU32WithHeaplessAuxData = EventWithHeaplessAuxData<EventU32>;
pub type EventU16WithHeaplessAuxData = EventWithHeaplessAuxData<EventU16>;
#[derive(Debug)]
pub struct EventMessage<Event: GenericEvent, ParamProvider: Debug = Params> {
sender_id: ComponentId,
event: Event,
params: Option<ParamProvider>,
}
pub type EventWithAuxData<Event> = (Event, Option<Params>);
pub type EventU32WithAuxData = EventWithAuxData<EventU32>;
pub type EventU16WithAuxData = EventWithAuxData<EventU16>;
pub trait EventSendProvider<EV: GenericEvent, AuxDataProvider = Params> {
fn channel_id(&self) -> ChannelId;
fn send_no_data(&self, event: EV) -> Result<(), GenericSendError> {
self.send(event, None)
impl<Event: GenericEvent, ParamProvider: Debug + Clone> EventMessage<Event, ParamProvider> {
pub fn new_generic(
sender_id: ComponentId,
event: Event,
params: Option<&ParamProvider>,
) -> Self {
Self {
sender_id,
event,
params: params.cloned(),
}
}
fn send(&self, event: EV, aux_data: Option<AuxDataProvider>) -> Result<(), GenericSendError>;
pub fn sender_id(&self) -> ComponentId {
self.sender_id
}
pub fn event(&self) -> Event {
self.event
}
pub fn params(&self) -> Option<&ParamProvider> {
self.params.as_ref()
}
pub fn new(sender_id: ComponentId, event: Event) -> Self {
Self::new_generic(sender_id, event, None)
}
pub fn new_with_params(sender_id: ComponentId, event: Event, params: &ParamProvider) -> Self {
Self::new_generic(sender_id, event, Some(params))
}
}
pub type EventMessageU32 = EventMessage<EventU32, Params>;
pub type EventMessageU16 = EventMessage<EventU16, Params>;
/// Generic abstraction
pub trait EventSendProvider<Event: GenericEvent, ParamProvider: Debug = Params> {
type Error;
fn target_id(&self) -> ComponentId;
fn send(&self, message: EventMessage<Event, ParamProvider>) -> Result<(), Self::Error>;
}
/// Generic abstraction for an event receiver.
pub trait EventReceiveProvider<Event: GenericEvent, AuxDataProvider = Params> {
pub trait EventReceiveProvider<Event: GenericEvent, ParamsProvider: Debug = Params> {
type Error;
/// This function has to be provided by any event receiver. A call may or may not return
/// an event and optional auxiliary data.
fn try_recv_event(&self) -> Option<(Event, Option<AuxDataProvider>)>;
fn try_recv_event(&self) -> Result<Option<EventMessage<Event, ParamsProvider>>, Self::Error>;
}
pub trait ListenerMapProvider {
#[cfg(feature = "alloc")]
#[cfg_attr(doc_cfg, doc(cfg(feature = "alloc")))]
fn get_listeners(&self) -> alloc::vec::Vec<ListenerKey>;
fn contains_listener(&self, key: &ListenerKey) -> bool;
fn get_listener_ids(&self, key: &ListenerKey) -> Option<Iter<ChannelId>>;
fn add_listener(&mut self, key: ListenerKey, sender_id: ChannelId) -> bool;
fn get_listener_ids(&self, key: &ListenerKey) -> Option<Iter<ComponentId>>;
fn add_listener(&mut self, key: ListenerKey, listener_id: ComponentId) -> bool;
fn remove_duplicates(&mut self, key: &ListenerKey);
}
pub trait SenderMapProvider<
SP: EventSendProvider<EV, AUX>,
EV: GenericEvent = EventU32,
AUX = Params,
EventSender: EventSendProvider<Event, ParamProvider>,
Event: GenericEvent = EventU32,
ParamProvider: Debug = Params,
>
{
fn contains_send_event_provider(&self, id: &ChannelId) -> bool;
fn contains_send_event_provider(&self, target_id: &ComponentId) -> bool;
fn get_send_event_provider(&self, id: &ChannelId) -> Option<&SP>;
fn add_send_event_provider(&mut self, send_provider: SP) -> bool;
fn get_send_event_provider(&self, target_id: &ComponentId) -> Option<&EventSender>;
fn add_send_event_provider(&mut self, send_provider: EventSender) -> bool;
}
/// Generic event manager implementation.
///
/// # Generics
///
/// * `ERP`: [EventReceiveProvider] used to receive all events.
/// * `SMP`: [SenderMapProvider] which maps channel IDs to send providers.
/// * `LTR`: [ListenerMapProvider] which maps listener keys to channel IDs.
/// * `SP`: [EventSendProvider] contained within the sender map which sends the events.
/// * `EV`: The event type. This type must implement the [GenericEvent]. Currently only [EventU32]
/// * `EventReceiver`: [EventReceiveProvider] used to receive all events.
/// * `SenderMap`: [SenderMapProvider] which maps channel IDs to send providers.
/// * `ListenerMap`: [ListenerMapProvider] which maps listener keys to channel IDs.
/// * `EventSender`: [EventSendProvider] contained within the sender map which sends the events.
/// * `Ev`: The event type. This type must implement the [GenericEvent]. Currently only [EventU32]
/// and [EventU16] are supported.
/// * `AUX`: Auxiliary data which is sent with the event to provide optional context information
/// * `Data`: Auxiliary data which is sent with the event to provide optional context information
pub struct EventManager<
ERP: EventReceiveProvider<EV, AUX>,
SMP: SenderMapProvider<SP, EV, AUX>,
LTR: ListenerMapProvider,
SP: EventSendProvider<EV, AUX>,
EV: GenericEvent = EventU32,
AUX = Params,
EventReceiver: EventReceiveProvider<Event, ParamProvider>,
SenderMap: SenderMapProvider<EventSender, Event, ParamProvider>,
ListenerMap: ListenerMapProvider,
EventSender: EventSendProvider<Event, ParamProvider>,
Event: GenericEvent = EventU32,
ParamProvider: Debug = Params,
> {
event_receiver: ERP,
sender_map: SMP,
listener_map: LTR,
phantom: core::marker::PhantomData<(SP, EV, AUX)>,
event_receiver: EventReceiver,
sender_map: SenderMap,
listener_map: ListenerMap,
phantom: core::marker::PhantomData<(EventSender, Event, ParamProvider)>,
}
#[derive(Debug)]
pub enum EventRoutingResult<EV: GenericEvent, AUX> {
pub enum EventRoutingResult<Event: GenericEvent, ParamProvider: Debug> {
/// No event was received
Empty,
/// An event was received and routed to listeners.
Handled {
num_recipients: u32,
event: EV,
aux_data: Option<AUX>,
event_msg: EventMessage<Event, ParamProvider>,
},
}
@ -153,35 +189,29 @@ pub enum EventRoutingResult<EV: GenericEvent, AUX> {
pub enum EventRoutingError {
Send(GenericSendError),
NoSendersForKey(ListenerKey),
NoSenderForId(ChannelId),
}
#[derive(Debug)]
pub struct EventRoutingErrorsWithResult<EV: GenericEvent, AUX> {
pub result: EventRoutingResult<EV, AUX>,
pub errors: [Option<EventRoutingError>; 3],
NoSenderForId(ComponentId),
}
impl<
ER: EventReceiveProvider<EV, AUX>,
S: SenderMapProvider<SP, EV, AUX>,
L: ListenerMapProvider,
SP: EventSendProvider<EV, AUX>,
EV: GenericEvent + Copy,
AUX: Clone,
> EventManager<ER, S, L, SP, EV, AUX>
EventReceiver: EventReceiveProvider<Event, ParamProvider>,
SenderMap: SenderMapProvider<EventSender, Event, ParamProvider>,
ListenerMap: ListenerMapProvider,
EventSender: EventSendProvider<Event, ParamProvider>,
Event: GenericEvent + Copy,
ParamProvider: Debug,
> EventManager<EventReceiver, SenderMap, ListenerMap, EventSender, Event, ParamProvider>
{
pub fn remove_duplicates(&mut self, key: &ListenerKey) {
self.listener_map.remove_duplicates(key)
}
/// Subscribe for a unique event.
pub fn subscribe_single(&mut self, event: &EV, sender_id: ChannelId) {
pub fn subscribe_single(&mut self, event: &Event, sender_id: ComponentId) {
self.update_listeners(ListenerKey::Single(event.raw_as_largest_type()), sender_id);
}
/// Subscribe for an event group.
pub fn subscribe_group(&mut self, group_id: LargestGroupIdRaw, sender_id: ChannelId) {
pub fn subscribe_group(&mut self, group_id: LargestGroupIdRaw, sender_id: ComponentId) {
self.update_listeners(ListenerKey::Group(group_id), sender_id);
}
@ -189,21 +219,24 @@ impl<
///
/// For example, this can be useful for a handler component which sends every event as
/// a telemetry packet.
pub fn subscribe_all(&mut self, sender_id: ChannelId) {
pub fn subscribe_all(&mut self, sender_id: ComponentId) {
self.update_listeners(ListenerKey::All, sender_id);
}
}
impl<
ERP: EventReceiveProvider<EV, AUX>,
SMP: SenderMapProvider<SP, EV, AUX>,
LTR: ListenerMapProvider,
SP: EventSendProvider<EV, AUX>,
EV: GenericEvent + Copy,
AUX: Clone,
> EventManager<ERP, SMP, LTR, SP, EV, AUX>
EventReceiver: EventReceiveProvider<Event, ParamProvider>,
SenderMap: SenderMapProvider<EventSenderMap, Event, ParamProvider>,
ListenerMap: ListenerMapProvider,
EventSenderMap: EventSendProvider<Event, ParamProvider>,
Event: GenericEvent + Copy,
ParamProvider: Debug,
> EventManager<EventReceiver, SenderMap, ListenerMap, EventSenderMap, Event, ParamProvider>
{
pub fn new_with_custom_maps(event_receiver: ERP, sender_map: SMP, listener_map: LTR) -> Self {
pub fn new_with_custom_maps(
event_receiver: EventReceiver,
sender_map: SenderMap,
listener_map: ListenerMap,
) -> Self {
EventManager {
listener_map,
sender_map,
@ -213,81 +246,79 @@ impl<
}
/// Add a new sender component which can be used to send events to subscribers.
pub fn add_sender(&mut self, send_provider: SP) {
pub fn add_sender(&mut self, send_provider: EventSenderMap) {
if !self
.sender_map
.contains_send_event_provider(&send_provider.channel_id())
.contains_send_event_provider(&send_provider.target_id())
{
self.sender_map.add_send_event_provider(send_provider);
}
}
/// Generic function to update the event subscribers.
fn update_listeners(&mut self, key: ListenerKey, sender_id: ChannelId) {
fn update_listeners(&mut self, key: ListenerKey, sender_id: ComponentId) {
self.listener_map.add_listener(key, sender_id);
}
}
impl<
EventReceiver: EventReceiveProvider<Event, ParamProvider>,
SenderMap: SenderMapProvider<EventSenderMap, Event, ParamProvider>,
ListenerMap: ListenerMapProvider,
EventSenderMap: EventSendProvider<Event, ParamProvider, Error = GenericSendError>,
Event: GenericEvent + Copy,
ParamProvider: Clone + Debug,
> EventManager<EventReceiver, SenderMap, ListenerMap, EventSenderMap, Event, ParamProvider>
{
/// This function will use the cached event receiver and try to receive one event.
/// If an event was received, it will try to route that event to all subscribed event listeners.
/// If this works without any issues, the [EventRoutingResult] will contain context information
/// about the routed event.
///
/// This function will track up to 3 errors returned as part of the
/// [EventRoutingErrorsWithResult] error struct.
pub fn try_event_handling(
/// If an error occurs during the routing, the error handler will be called. The error handler
/// should take a reference to the event message as the first argument, and the routing error
/// as the second argument.
pub fn try_event_handling<E: FnMut(&EventMessage<Event, ParamProvider>, EventRoutingError)>(
&self,
) -> Result<EventRoutingResult<EV, AUX>, EventRoutingErrorsWithResult<EV, AUX>> {
let mut err_idx = 0;
let mut err_slice = [None, None, None];
mut error_handler: E,
) -> EventRoutingResult<Event, ParamProvider> {
let mut num_recipients = 0;
let mut add_error = |error: EventRoutingError| {
if err_idx < 3 {
err_slice[err_idx] = Some(error);
err_idx += 1;
}
};
let mut send_handler = |key: &ListenerKey, event: EV, aux_data: &Option<AUX>| {
if self.listener_map.contains_listener(key) {
if let Some(ids) = self.listener_map.get_listener_ids(key) {
for id in ids {
if let Some(sender) = self.sender_map.get_send_event_provider(id) {
if let Err(e) = sender.send(event, aux_data.clone()) {
add_error(EventRoutingError::Send(e));
let mut send_handler =
|key: &ListenerKey, event_msg: &EventMessage<Event, ParamProvider>| {
if self.listener_map.contains_listener(key) {
if let Some(ids) = self.listener_map.get_listener_ids(key) {
for id in ids {
if let Some(sender) = self.sender_map.get_send_event_provider(id) {
if let Err(e) = sender.send(EventMessage::new_generic(
*id,
event_msg.event,
event_msg.params.as_ref(),
)) {
error_handler(event_msg, EventRoutingError::Send(e));
} else {
num_recipients += 1;
}
} else {
num_recipients += 1;
error_handler(event_msg, EventRoutingError::NoSenderForId(*id));
}
} else {
add_error(EventRoutingError::NoSenderForId(*id));
}
} else {
error_handler(event_msg, EventRoutingError::NoSendersForKey(*key));
}
} else {
add_error(EventRoutingError::NoSendersForKey(*key));
}
}
};
if let Some((event, aux_data)) = self.event_receiver.try_recv_event() {
let single_key = ListenerKey::Single(event.raw_as_largest_type());
send_handler(&single_key, event, &aux_data);
let group_key = ListenerKey::Group(event.group_id_as_largest_type());
send_handler(&group_key, event, &aux_data);
send_handler(&ListenerKey::All, event, &aux_data);
if err_idx > 0 {
return Err(EventRoutingErrorsWithResult {
result: EventRoutingResult::Handled {
num_recipients,
event,
aux_data,
},
errors: err_slice,
});
}
return Ok(EventRoutingResult::Handled {
};
if let Ok(Some(event_msg)) = self.event_receiver.try_recv_event() {
let single_key = ListenerKey::Single(event_msg.event.raw_as_largest_type());
send_handler(&single_key, &event_msg);
let group_key = ListenerKey::Group(event_msg.event.group_id_as_largest_type());
send_handler(&group_key, &event_msg);
send_handler(&ListenerKey::All, &event_msg);
return EventRoutingResult::Handled {
num_recipients,
event,
aux_data,
});
event_msg,
};
}
Ok(EventRoutingResult::Empty)
EventRoutingResult::Empty
}
}
@ -311,23 +342,31 @@ pub mod alloc_mod {
/// and the [DefaultListenerMap]. It uses
/// [bounded mpsc senders](https://doc.rust-lang.org/std/sync/mpsc/struct.SyncSender.html) as the
/// message queue backend.
pub type EventManagerWithBoundedMpsc<EV = EventU32, AUX = Params> = EventManager<
pub type EventManagerWithBoundedMpsc<Event = EventU32, ParamProvider = Params> = EventManager<
MpscEventReceiver,
DefaultSenderMap<EventSenderMpscBounded<EV>, EV, AUX>,
DefaultSenderMap<EventSenderMpscBounded<Event>, Event, ParamProvider>,
DefaultListenerMap,
EventSenderMpscBounded<EV>,
EventSenderMpscBounded<Event>,
>;
impl<
ER: EventReceiveProvider<EV, AUX>,
SP: EventSendProvider<EV, AUX>,
EV: GenericEvent + Copy,
AUX: 'static,
> EventManager<ER, DefaultSenderMap<SP, EV, AUX>, DefaultListenerMap, SP, EV, AUX>
EventReceiver: EventReceiveProvider<Event, ParamProvider>,
EventSender: EventSendProvider<Event, ParamProvider>,
Event: GenericEvent + Copy,
ParamProvider: 'static + Debug,
>
EventManager<
EventReceiver,
DefaultSenderMap<EventSender, Event, ParamProvider>,
DefaultListenerMap,
EventSender,
Event,
ParamProvider,
>
{
/// Create an event manager where the sender table will be the [DefaultSenderMap]
/// and the listener table will be the [DefaultListenerMap].
pub fn new(event_receiver: ER) -> Self {
pub fn new(event_receiver: EventReceiver) -> Self {
Self {
listener_map: DefaultListenerMap::default(),
sender_map: DefaultSenderMap::default(),
@ -342,7 +381,7 @@ pub mod alloc_mod {
/// Simple implementation which uses a [HashMap] and a [Vec] internally.
#[derive(Default)]
pub struct DefaultListenerMap {
listeners: HashMap<ListenerKey, Vec<ChannelId>>,
listeners: HashMap<ListenerKey, Vec<ComponentId>>,
}
impl ListenerMapProvider for DefaultListenerMap {
@ -358,11 +397,11 @@ pub mod alloc_mod {
self.listeners.contains_key(key)
}
fn get_listener_ids(&self, key: &ListenerKey) -> Option<Iter<ChannelId>> {
fn get_listener_ids(&self, key: &ListenerKey) -> Option<Iter<ComponentId>> {
self.listeners.get(key).map(|vec| vec.iter())
}
fn add_listener(&mut self, key: ListenerKey, sender_id: ChannelId) -> bool {
fn add_listener(&mut self, key: ListenerKey, sender_id: ComponentId) -> bool {
if let Some(existing_list) = self.listeners.get_mut(&key) {
existing_list.push(sender_id);
} else {
@ -384,16 +423,19 @@ pub mod alloc_mod {
///
/// Simple implementation which uses a [HashMap] internally.
pub struct DefaultSenderMap<
SP: EventSendProvider<EV, AUX>,
EV: GenericEvent = EventU32,
AUX = Params,
EventSender: EventSendProvider<Event, ParamProvider>,
Event: GenericEvent = EventU32,
ParamProvider: Debug = Params,
> {
senders: HashMap<ChannelId, SP>,
phantom: PhantomData<(EV, AUX)>,
senders: HashMap<ComponentId, EventSender>,
phantom: PhantomData<(Event, ParamProvider)>,
}
impl<SP: EventSendProvider<EV, AUX>, EV: GenericEvent, AUX> Default
for DefaultSenderMap<SP, EV, AUX>
impl<
EventSender: EventSendProvider<Event, ParamProvider>,
Event: GenericEvent,
ParamProvider: Debug,
> Default for DefaultSenderMap<EventSender, Event, ParamProvider>
{
fn default() -> Self {
Self {
@ -403,21 +445,25 @@ pub mod alloc_mod {
}
}
impl<SP: EventSendProvider<EV, AUX>, EV: GenericEvent, AUX> SenderMapProvider<SP, EV, AUX>
for DefaultSenderMap<SP, EV, AUX>
impl<
EventSender: EventSendProvider<Event, ParamProvider>,
Event: GenericEvent,
ParamProvider: Debug,
> SenderMapProvider<EventSender, Event, ParamProvider>
for DefaultSenderMap<EventSender, Event, ParamProvider>
{
fn contains_send_event_provider(&self, id: &ChannelId) -> bool {
fn contains_send_event_provider(&self, id: &ComponentId) -> bool {
self.senders.contains_key(id)
}
fn get_send_event_provider(&self, id: &ChannelId) -> Option<&SP> {
fn get_send_event_provider(&self, id: &ComponentId) -> Option<&EventSender> {
self.senders
.get(id)
.filter(|sender| sender.channel_id() == *id)
.filter(|sender| sender.target_id() == *id)
}
fn add_send_event_provider(&mut self, send_provider: SP) -> bool {
let id = send_provider.channel_id();
fn add_send_event_provider(&mut self, send_provider: EventSender) -> bool {
let id = send_provider.target_id();
if self.senders.contains_key(&id) {
return false;
}
@ -428,26 +474,33 @@ pub mod alloc_mod {
#[cfg(feature = "std")]
pub mod std_mod {
use crate::queue::GenericReceiveError;
use super::*;
use std::sync::mpsc;
pub struct MpscEventReceiver<Event: GenericEvent + Send = EventU32> {
mpsc_receiver: mpsc::Receiver<(Event, Option<Params>)>,
receiver: mpsc::Receiver<EventMessage<Event>>,
}
impl<Event: GenericEvent + Send> MpscEventReceiver<Event> {
pub fn new(receiver: mpsc::Receiver<(Event, Option<Params>)>) -> Self {
Self {
mpsc_receiver: receiver,
}
pub fn new(receiver: mpsc::Receiver<EventMessage<Event>>) -> Self {
Self { receiver }
}
}
impl<Event: GenericEvent + Send> EventReceiveProvider<Event> for MpscEventReceiver<Event> {
fn try_recv_event(&self) -> Option<EventWithAuxData<Event>> {
if let Ok(event_and_data) = self.mpsc_receiver.try_recv() {
return Some(event_and_data);
type Error = GenericReceiveError;
fn try_recv_event(&self) -> Result<Option<EventMessage<Event>>, Self::Error> {
match self.receiver.try_recv() {
Ok(msg) => Ok(Some(msg)),
Err(e) => match e {
mpsc::TryRecvError::Empty => Ok(None),
mpsc::TryRecvError::Disconnected => {
Err(GenericReceiveError::TxDisconnected(None))
}
},
}
None
}
}
@ -458,23 +511,26 @@ pub mod std_mod {
/// send events.
#[derive(Clone)]
pub struct EventSenderMpsc<Event: GenericEvent + Send> {
id: u32,
sender: mpsc::Sender<(Event, Option<Params>)>,
target_id: ComponentId,
sender: mpsc::Sender<EventMessage<Event>>,
}
impl<Event: GenericEvent + Send> EventSenderMpsc<Event> {
pub fn new(id: u32, sender: mpsc::Sender<(Event, Option<Params>)>) -> Self {
Self { id, sender }
pub fn new(target_id: ComponentId, sender: mpsc::Sender<EventMessage<Event>>) -> Self {
Self { target_id, sender }
}
}
impl<Event: GenericEvent + Send> EventSendProvider<Event> for EventSenderMpsc<Event> {
fn channel_id(&self) -> u32 {
self.id
type Error = GenericSendError;
fn target_id(&self) -> ComponentId {
self.target_id
}
fn send(&self, event: Event, aux_data: Option<Params>) -> Result<(), GenericSendError> {
fn send(&self, event_msg: EventMessage<Event>) -> Result<(), GenericSendError> {
self.sender
.send((event, aux_data))
.send(event_msg)
.map_err(|_| GenericSendError::RxDisconnected)
}
}
@ -483,19 +539,19 @@ pub mod std_mod {
/// events. This has the advantage that the channel is bounded and thus more deterministic.
#[derive(Clone)]
pub struct EventSenderMpscBounded<Event: GenericEvent + Send> {
channel_id: u32,
sender: mpsc::SyncSender<(Event, Option<Params>)>,
target_id: ComponentId,
sender: mpsc::SyncSender<EventMessage<Event>>,
capacity: usize,
}
impl<Event: GenericEvent + Send> EventSenderMpscBounded<Event> {
pub fn new(
channel_id: u32,
sender: mpsc::SyncSender<(Event, Option<Params>)>,
target_id: ComponentId,
sender: mpsc::SyncSender<EventMessage<Event>>,
capacity: usize,
) -> Self {
Self {
channel_id,
target_id,
sender,
capacity,
}
@ -503,11 +559,14 @@ pub mod std_mod {
}
impl<Event: GenericEvent + Send> EventSendProvider<Event> for EventSenderMpscBounded<Event> {
fn channel_id(&self) -> u32 {
self.channel_id
type Error = GenericSendError;
fn target_id(&self) -> ComponentId {
self.target_id
}
fn send(&self, event: Event, aux_data: Option<Params>) -> Result<(), GenericSendError> {
if let Err(e) = self.sender.try_send((event, aux_data)) {
fn send(&self, event_msg: EventMessage<Event>) -> Result<(), Self::Error> {
if let Err(e) = self.sender.try_send(event_msg) {
return match e {
mpsc::TrySendError::Full(_) => {
Err(GenericSendError::QueueFull(Some(self.capacity as u32)))
@ -530,19 +589,20 @@ mod tests {
use super::*;
use crate::event_man::EventManager;
use crate::events::{EventU32, GenericEvent, Severity};
use crate::params::ParamsRaw;
use crate::params::{ParamsHeapless, ParamsRaw};
use crate::pus::test_util::{TEST_COMPONENT_ID_0, TEST_COMPONENT_ID_1};
use std::format;
use std::sync::mpsc::{self, channel, Receiver, Sender};
use std::sync::mpsc::{self};
const TEST_EVENT: EventU32 = EventU32::const_new(Severity::INFO, 0, 5);
fn check_next_event(
expected: EventU32,
receiver: &Receiver<EventU32WithAuxData>,
receiver: &mpsc::Receiver<EventMessageU32>,
) -> Option<Params> {
if let Ok(event) = receiver.try_recv() {
assert_eq!(event.0, expected);
return event.1;
if let Ok(event_msg) = receiver.try_recv() {
assert_eq!(event_msg.event, expected);
return event_msg.params;
}
None
}
@ -555,17 +615,16 @@ mod tests {
assert!(matches!(res, EventRoutingResult::Handled { .. }));
if let EventRoutingResult::Handled {
num_recipients,
event,
..
event_msg,
} = res
{
assert_eq!(event, expected);
assert_eq!(event_msg.event, expected);
assert_eq!(num_recipients, expected_num_sent);
}
}
fn generic_event_man() -> (Sender<EventU32WithAuxData>, EventManagerWithMpsc) {
let (event_sender, manager_queue) = channel();
fn generic_event_man() -> (mpsc::Sender<EventMessageU32>, EventManagerWithMpsc) {
let (event_sender, manager_queue) = mpsc::channel();
let event_man_receiver = MpscEventReceiver::new(manager_queue);
(event_sender, EventManager::new(event_man_receiver))
}
@ -575,48 +634,56 @@ mod tests {
let (event_sender, mut event_man) = generic_event_man();
let event_grp_0 = EventU32::new(Severity::INFO, 0, 0).unwrap();
let event_grp_1_0 = EventU32::new(Severity::HIGH, 1, 0).unwrap();
let (single_event_sender, single_event_receiver) = channel();
let (single_event_sender, single_event_receiver) = mpsc::channel();
let single_event_listener = EventSenderMpsc::new(0, single_event_sender);
event_man.subscribe_single(&event_grp_0, single_event_listener.channel_id());
event_man.subscribe_single(&event_grp_0, single_event_listener.target_id());
event_man.add_sender(single_event_listener);
let (group_event_sender_0, group_event_receiver_0) = channel();
let (group_event_sender_0, group_event_receiver_0) = mpsc::channel();
let group_event_listener = EventU32SenderMpsc::new(1, group_event_sender_0);
event_man.subscribe_group(event_grp_1_0.group_id(), group_event_listener.channel_id());
event_man.subscribe_group(event_grp_1_0.group_id(), group_event_listener.target_id());
event_man.add_sender(group_event_listener);
let error_handler = |event_msg: &EventMessageU32, e: EventRoutingError| {
panic!("routing error occurred for event {:?}: {:?}", event_msg, e);
};
// Test event with one listener
event_sender
.send((event_grp_0, None))
.send(EventMessage::new(TEST_COMPONENT_ID_0.id(), event_grp_0))
.expect("Sending single error failed");
let res = event_man.try_event_handling();
assert!(res.is_ok());
check_handled_event(res.unwrap(), event_grp_0, 1);
let res = event_man.try_event_handling(&error_handler);
// assert!(res.is_ok());
check_handled_event(res, event_grp_0, 1);
check_next_event(event_grp_0, &single_event_receiver);
// Test event which is sent to all group listeners
event_sender
.send((event_grp_1_0, None))
.send(EventMessage::new(TEST_COMPONENT_ID_1.id(), event_grp_1_0))
.expect("Sending group error failed");
let res = event_man.try_event_handling();
assert!(res.is_ok());
check_handled_event(res.unwrap(), event_grp_1_0, 1);
let res = event_man.try_event_handling(&error_handler);
check_handled_event(res, event_grp_1_0, 1);
check_next_event(event_grp_1_0, &group_event_receiver_0);
}
#[test]
fn test_with_basic_aux_data() {
fn test_with_basic_params() {
let error_handler = |event_msg: &EventMessageU32, e: EventRoutingError| {
panic!("routing error occurred for event {:?}: {:?}", event_msg, e);
};
let (event_sender, mut event_man) = generic_event_man();
let event_grp_0 = EventU32::new(Severity::INFO, 0, 0).unwrap();
let (single_event_sender, single_event_receiver) = channel();
let (single_event_sender, single_event_receiver) = mpsc::channel();
let single_event_listener = EventSenderMpsc::new(0, single_event_sender);
event_man.subscribe_single(&event_grp_0, single_event_listener.channel_id());
event_man.subscribe_single(&event_grp_0, single_event_listener.target_id());
event_man.add_sender(single_event_listener);
event_sender
.send((event_grp_0, Some(Params::Heapless((2_u32, 3_u32).into()))))
.send(EventMessage::new_with_params(
TEST_COMPONENT_ID_0.id(),
event_grp_0,
&Params::Heapless((2_u32, 3_u32).into()),
))
.expect("Sending group error failed");
let res = event_man.try_event_handling();
assert!(res.is_ok());
check_handled_event(res.unwrap(), event_grp_0, 1);
let res = event_man.try_event_handling(&error_handler);
check_handled_event(res, event_grp_0, 1);
let aux = check_next_event(event_grp_0, &single_event_receiver);
assert!(aux.is_some());
let aux = aux.unwrap();
@ -631,38 +698,37 @@ mod tests {
/// Test listening for multiple groups
#[test]
fn test_multi_group() {
let error_handler = |event_msg: &EventMessageU32, e: EventRoutingError| {
panic!("routing error occurred for event {:?}: {:?}", event_msg, e);
};
let (event_sender, mut event_man) = generic_event_man();
let res = event_man.try_event_handling();
assert!(res.is_ok());
let hres = res.unwrap();
assert!(matches!(hres, EventRoutingResult::Empty));
let res = event_man.try_event_handling(error_handler);
assert!(matches!(res, EventRoutingResult::Empty));
let event_grp_0 = EventU32::new(Severity::INFO, 0, 0).unwrap();
let event_grp_1_0 = EventU32::new(Severity::HIGH, 1, 0).unwrap();
let (event_grp_0_sender, event_grp_0_receiver) = channel();
let (event_grp_0_sender, event_grp_0_receiver) = mpsc::channel();
let event_grp_0_and_1_listener = EventU32SenderMpsc::new(0, event_grp_0_sender);
event_man.subscribe_group(
event_grp_0.group_id(),
event_grp_0_and_1_listener.channel_id(),
event_grp_0_and_1_listener.target_id(),
);
event_man.subscribe_group(
event_grp_1_0.group_id(),
event_grp_0_and_1_listener.channel_id(),
event_grp_0_and_1_listener.target_id(),
);
event_man.add_sender(event_grp_0_and_1_listener);
event_sender
.send((event_grp_0, None))
.send(EventMessage::new(TEST_COMPONENT_ID_0.id(), event_grp_0))
.expect("Sending Event Group 0 failed");
event_sender
.send((event_grp_1_0, None))
.send(EventMessage::new(TEST_COMPONENT_ID_1.id(), event_grp_1_0))
.expect("Sendign Event Group 1 failed");
let res = event_man.try_event_handling();
assert!(res.is_ok());
check_handled_event(res.unwrap(), event_grp_0, 1);
let res = event_man.try_event_handling();
assert!(res.is_ok());
check_handled_event(res.unwrap(), event_grp_1_0, 1);
let res = event_man.try_event_handling(error_handler);
check_handled_event(res, event_grp_0, 1);
let res = event_man.try_event_handling(error_handler);
check_handled_event(res, event_grp_1_0, 1);
check_next_event(event_grp_0, &event_grp_0_receiver);
check_next_event(event_grp_1_0, &event_grp_0_receiver);
@ -672,42 +738,42 @@ mod tests {
/// to both group and single events from one listener
#[test]
fn test_listening_to_same_event_and_multi_type() {
let error_handler = |event_msg: &EventMessageU32, e: EventRoutingError| {
panic!("routing error occurred for event {:?}: {:?}", event_msg, e);
};
let (event_sender, mut event_man) = generic_event_man();
let event_0 = EventU32::new(Severity::INFO, 0, 5).unwrap();
let event_1 = EventU32::new(Severity::HIGH, 1, 0).unwrap();
let (event_0_tx_0, event_0_rx_0) = channel();
let (event_0_tx_1, event_0_rx_1) = channel();
let (event_0_tx_0, event_0_rx_0) = mpsc::channel();
let (event_0_tx_1, event_0_rx_1) = mpsc::channel();
let event_listener_0 = EventU32SenderMpsc::new(0, event_0_tx_0);
let event_listener_1 = EventU32SenderMpsc::new(1, event_0_tx_1);
let event_listener_0_sender_id = event_listener_0.channel_id();
let event_listener_0_sender_id = event_listener_0.target_id();
event_man.subscribe_single(&event_0, event_listener_0_sender_id);
event_man.add_sender(event_listener_0);
let event_listener_1_sender_id = event_listener_1.channel_id();
let event_listener_1_sender_id = event_listener_1.target_id();
event_man.subscribe_single(&event_0, event_listener_1_sender_id);
event_man.add_sender(event_listener_1);
event_sender
.send((event_0, None))
.send(EventMessage::new(TEST_COMPONENT_ID_0.id(), event_0))
.expect("Triggering Event 0 failed");
let res = event_man.try_event_handling();
assert!(res.is_ok());
check_handled_event(res.unwrap(), event_0, 2);
let res = event_man.try_event_handling(error_handler);
check_handled_event(res, event_0, 2);
check_next_event(event_0, &event_0_rx_0);
check_next_event(event_0, &event_0_rx_1);
event_man.subscribe_group(event_1.group_id(), event_listener_0_sender_id);
event_sender
.send((event_0, None))
.send(EventMessage::new(TEST_COMPONENT_ID_0.id(), event_0))
.expect("Triggering Event 0 failed");
event_sender
.send((event_1, None))
.send(EventMessage::new(TEST_COMPONENT_ID_1.id(), event_1))
.expect("Triggering Event 1 failed");
// 3 Events messages will be sent now
let res = event_man.try_event_handling();
assert!(res.is_ok());
check_handled_event(res.unwrap(), event_0, 2);
let res = event_man.try_event_handling();
assert!(res.is_ok());
check_handled_event(res.unwrap(), event_1, 1);
let res = event_man.try_event_handling(error_handler);
check_handled_event(res, event_0, 2);
let res = event_man.try_event_handling(error_handler);
check_handled_event(res, event_1, 1);
// Both the single event and the group event should arrive now
check_next_event(event_0, &event_0_rx_0);
check_next_event(event_1, &event_0_rx_0);
@ -716,36 +782,36 @@ mod tests {
event_man.subscribe_group(event_1.group_id(), event_listener_0_sender_id);
event_man.remove_duplicates(&ListenerKey::Group(event_1.group_id()));
event_sender
.send((event_1, None))
.send(EventMessage::new(TEST_COMPONENT_ID_0.id(), event_1))
.expect("Triggering Event 1 failed");
let res = event_man.try_event_handling();
assert!(res.is_ok());
check_handled_event(res.unwrap(), event_1, 1);
let res = event_man.try_event_handling(error_handler);
check_handled_event(res, event_1, 1);
}
#[test]
fn test_all_events_listener() {
let (event_sender, manager_queue) = channel();
let error_handler = |event_msg: &EventMessageU32, e: EventRoutingError| {
panic!("routing error occurred for event {:?}: {:?}", event_msg, e);
};
let (event_sender, manager_queue) = mpsc::channel();
let event_man_receiver = MpscEventReceiver::new(manager_queue);
let mut event_man = EventManagerWithMpsc::new(event_man_receiver);
let event_0 = EventU32::new(Severity::INFO, 0, 5).unwrap();
let event_1 = EventU32::new(Severity::HIGH, 1, 0).unwrap();
let (event_0_tx_0, all_events_rx) = channel();
let (event_0_tx_0, all_events_rx) = mpsc::channel();
let all_events_listener = EventU32SenderMpsc::new(0, event_0_tx_0);
event_man.subscribe_all(all_events_listener.channel_id());
event_man.subscribe_all(all_events_listener.target_id());
event_man.add_sender(all_events_listener);
event_sender
.send((event_0, None))
.send(EventMessage::new(TEST_COMPONENT_ID_0.id(), event_0))
.expect("Triggering event 0 failed");
event_sender
.send((event_1, None))
.send(EventMessage::new(TEST_COMPONENT_ID_1.id(), event_1))
.expect("Triggering event 1 failed");
let res = event_man.try_event_handling();
assert!(res.is_ok());
check_handled_event(res.unwrap(), event_0, 1);
let res = event_man.try_event_handling();
assert!(res.is_ok());
check_handled_event(res.unwrap(), event_1, 1);
let res = event_man.try_event_handling(error_handler);
check_handled_event(res, event_0, 1);
let res = event_man.try_event_handling(error_handler);
check_handled_event(res, event_1, 1);
check_next_event(event_0, &all_events_rx);
check_next_event(event_1, &all_events_rx);
}
@ -755,15 +821,15 @@ mod tests {
let (event_sender, _event_receiver) = mpsc::sync_channel(3);
let event_sender = EventU32SenderMpscBounded::new(1, event_sender, 3);
event_sender
.send_no_data(TEST_EVENT)
.send(EventMessage::new(TEST_COMPONENT_ID_0.id(), TEST_EVENT))
.expect("sending test event failed");
event_sender
.send_no_data(TEST_EVENT)
.send(EventMessage::new(TEST_COMPONENT_ID_0.id(), TEST_EVENT))
.expect("sending test event failed");
event_sender
.send_no_data(TEST_EVENT)
.send(EventMessage::new(TEST_COMPONENT_ID_0.id(), TEST_EVENT))
.expect("sending test event failed");
let error = event_sender.send_no_data(TEST_EVENT);
let error = event_sender.send(EventMessage::new(TEST_COMPONENT_ID_0.id(), TEST_EVENT));
if let Err(e) = error {
assert!(matches!(e, GenericSendError::QueueFull(Some(3))));
} else {
@ -775,7 +841,7 @@ mod tests {
let (event_sender, event_receiver) = mpsc::sync_channel(3);
let event_sender = EventU32SenderMpscBounded::new(1, event_sender, 3);
drop(event_receiver);
if let Err(e) = event_sender.send_no_data(TEST_EVENT) {
if let Err(e) = event_sender.send(EventMessage::new(TEST_COMPONENT_ID_0.id(), TEST_EVENT)) {
assert!(matches!(e, GenericSendError::RxDisconnected));
} else {
panic!("Expected error");