Major refactoring and update of PUS module
This commit is contained in:
358
satrs/tests/mode_tree.rs
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358
satrs/tests/mode_tree.rs
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@ -0,0 +1,358 @@
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use core::cell::Cell;
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use std::{println, sync::mpsc};
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use satrs::mode::{
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ModeError, ModeProvider, ModeReplyReceiver, ModeReplySender, ModeRequestHandler,
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ModeRequestHandlerMpscBounded, ModeRequestReceiver, ModeRequestorAndHandlerMpscBounded,
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ModeRequestorBoundedMpsc,
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};
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use satrs::request::MessageMetadata;
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use satrs::{
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mode::{ModeAndSubmode, ModeReply, ModeRequest},
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queue::GenericTargetedMessagingError,
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request::GenericMessage,
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ComponentId,
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};
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use std::string::{String, ToString};
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pub enum TestComponentId {
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Device1 = 1,
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Device2 = 2,
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Assembly = 3,
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PusModeService = 4,
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}
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struct PusModeService {
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pub request_id_counter: Cell<u32>,
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pub mode_node: ModeRequestorBoundedMpsc,
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}
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impl PusModeService {
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pub fn send_announce_mode_cmd_to_assy(&self) {
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self.mode_node
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.send_mode_request(
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self.request_id_counter.get(),
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TestComponentId::Assembly as ComponentId,
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ModeRequest::AnnounceModeRecursive,
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)
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.unwrap();
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self.request_id_counter
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.replace(self.request_id_counter.get() + 1);
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}
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}
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struct TestDevice {
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pub name: String,
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pub mode_node: ModeRequestHandlerMpscBounded,
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pub mode_and_submode: ModeAndSubmode,
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}
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impl TestDevice {
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pub fn run(&mut self) {
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self.check_mode_requests().expect("mode messaging error");
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}
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pub fn check_mode_requests(&mut self) -> Result<(), ModeError> {
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if let Some(request) = self.mode_node.try_recv_mode_request()? {
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self.handle_mode_request(request)?
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}
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Ok(())
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}
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}
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impl ModeProvider for TestDevice {
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fn mode_and_submode(&self) -> ModeAndSubmode {
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self.mode_and_submode
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}
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}
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impl ModeRequestHandler for TestDevice {
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type Error = ModeError;
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fn start_transition(
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&mut self,
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requestor: MessageMetadata,
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mode_and_submode: ModeAndSubmode,
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) -> Result<(), ModeError> {
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self.mode_and_submode = mode_and_submode;
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self.handle_mode_reached(Some(requestor))?;
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Ok(())
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}
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fn announce_mode(&self, _requestor_info: Option<MessageMetadata>, _recursive: bool) {
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println!(
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"{}: announcing mode: {:?}",
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self.name, self.mode_and_submode
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);
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}
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fn handle_mode_reached(&mut self, requestor: Option<MessageMetadata>) -> Result<(), ModeError> {
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if let Some(requestor) = requestor {
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self.send_mode_reply(requestor, ModeReply::ModeReply(self.mode_and_submode))?;
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}
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Ok(())
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}
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fn send_mode_reply(
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&self,
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requestor_info: MessageMetadata,
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reply: ModeReply,
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) -> Result<(), ModeError> {
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self.mode_node.send_mode_reply(requestor_info, reply)?;
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Ok(())
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}
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fn handle_mode_info(
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&mut self,
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requestor_info: MessageMetadata,
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info: ModeAndSubmode,
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) -> Result<(), ModeError> {
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// A device is a leaf in the tree.. so this really should not happen
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println!(
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"{}: unexpected mode info from {:?} with mode: {:?}",
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self.name,
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requestor_info.sender_id(),
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info
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);
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Ok(())
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}
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}
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struct TestAssembly {
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pub mode_node: ModeRequestorAndHandlerMpscBounded,
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pub mode_requestor_info: Option<MessageMetadata>,
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pub mode_and_submode: ModeAndSubmode,
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pub target_mode_and_submode: Option<ModeAndSubmode>,
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}
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impl ModeProvider for TestAssembly {
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fn mode_and_submode(&self) -> ModeAndSubmode {
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self.mode_and_submode
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}
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}
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impl TestAssembly {
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pub fn run(&mut self) {
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self.check_mode_requests().expect("mode messaging error");
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self.check_mode_replies().expect("mode messaging error");
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}
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pub fn check_mode_requests(&mut self) -> Result<(), GenericTargetedMessagingError> {
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if let Some(request) = self.mode_node.try_recv_mode_request()? {
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match request.message {
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ModeRequest::SetMode(mode_and_submode) => {
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self.start_transition(request.requestor_info, mode_and_submode)
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.unwrap();
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}
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ModeRequest::ReadMode => self
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.mode_node
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.send_mode_reply(
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request.requestor_info,
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ModeReply::ModeReply(self.mode_and_submode),
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)
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.unwrap(),
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ModeRequest::AnnounceMode => {
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self.announce_mode(Some(request.requestor_info), false)
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}
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ModeRequest::AnnounceModeRecursive => {
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self.announce_mode(Some(request.requestor_info), true)
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}
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ModeRequest::ModeInfo(_) => todo!(),
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}
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}
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Ok(())
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}
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pub fn check_mode_replies(&mut self) -> Result<(), GenericTargetedMessagingError> {
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if let Some(reply_and_id) = self.mode_node.try_recv_mode_reply()? {
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match reply_and_id.message {
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ModeReply::ModeReply(reply) => {
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println!(
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"TestAssembly: Received mode reply from {:?}, reached: {:?}",
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reply_and_id.sender_id(),
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reply
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);
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}
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ModeReply::CantReachMode(_) => todo!(),
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ModeReply::WrongMode { expected, reached } => {
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println!(
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"TestAssembly: Wrong mode reply from {:?}, reached {:?}, expected {:?}",
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reply_and_id.sender_id(),
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reached,
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expected
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);
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}
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}
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}
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Ok(())
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}
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}
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impl ModeRequestHandler for TestAssembly {
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type Error = ModeError;
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fn start_transition(
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&mut self,
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requestor: MessageMetadata,
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mode_and_submode: ModeAndSubmode,
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) -> Result<(), Self::Error> {
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self.mode_requestor_info = Some(requestor);
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self.target_mode_and_submode = Some(mode_and_submode);
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Ok(())
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}
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fn announce_mode(&self, requestor_info: Option<MessageMetadata>, recursive: bool) {
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println!(
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"TestAssembly: Announcing mode (recursively: {}): {:?}",
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recursive, self.mode_and_submode
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);
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// self.mode_requestor_info = Some((request_id, sender_id));
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let mut mode_request = ModeRequest::AnnounceMode;
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if recursive {
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mode_request = ModeRequest::AnnounceModeRecursive;
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}
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let request_id = requestor_info.map_or(0, |info| info.request_id());
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self.mode_node
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.request_sender_map
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.0
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.iter()
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.for_each(|(_, sender)| {
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sender
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.send(GenericMessage::new(
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MessageMetadata::new(request_id, self.mode_node.local_channel_id_generic()),
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mode_request,
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))
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.expect("sending mode request failed");
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});
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}
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fn handle_mode_reached(
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&mut self,
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mode_requestor: Option<MessageMetadata>,
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) -> Result<(), Self::Error> {
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if let Some(requestor) = mode_requestor {
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self.send_mode_reply(requestor, ModeReply::ModeReply(self.mode_and_submode))?;
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}
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Ok(())
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}
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fn send_mode_reply(
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&self,
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requestor: MessageMetadata,
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reply: ModeReply,
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) -> Result<(), Self::Error> {
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self.mode_node.send_mode_reply(requestor, reply)?;
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Ok(())
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}
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fn handle_mode_info(
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&mut self,
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_requestor_info: MessageMetadata,
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_info: ModeAndSubmode,
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) -> Result<(), Self::Error> {
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// TODO: A proper assembly must reach to mode changes of its children..
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Ok(())
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}
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}
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fn main() {
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// All request channel handles.
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let (request_sender_to_dev1, request_receiver_dev1) = mpsc::sync_channel(10);
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let (request_sender_to_dev2, request_receiver_dev2) = mpsc::sync_channel(10);
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let (request_sender_to_assy, request_receiver_assy) = mpsc::sync_channel(10);
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// All reply channel handles.
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let (reply_sender_to_assy, reply_receiver_assy) = mpsc::sync_channel(10);
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let (reply_sender_to_pus, reply_receiver_pus) = mpsc::sync_channel(10);
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// Mode requestors and handlers.
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let mut mode_node_assy = ModeRequestorAndHandlerMpscBounded::new(
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TestComponentId::Assembly as ComponentId,
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request_receiver_assy,
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reply_receiver_assy,
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);
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// Mode requestors only.
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let mut mode_node_pus = ModeRequestorBoundedMpsc::new(
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TestComponentId::PusModeService as ComponentId,
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reply_receiver_pus,
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);
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// Request handlers only.
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let mut mode_node_dev1 = ModeRequestHandlerMpscBounded::new(
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TestComponentId::Device1 as ComponentId,
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request_receiver_dev1,
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);
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let mut mode_node_dev2 = ModeRequestHandlerMpscBounded::new(
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TestComponentId::Device2 as ComponentId,
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request_receiver_dev2,
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);
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// Set up mode request senders first.
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mode_node_pus.add_message_target(
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TestComponentId::Assembly as ComponentId,
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request_sender_to_assy,
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);
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mode_node_pus.add_message_target(
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TestComponentId::Device1 as ComponentId,
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request_sender_to_dev1.clone(),
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);
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mode_node_pus.add_message_target(
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TestComponentId::Device2 as ComponentId,
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request_sender_to_dev2.clone(),
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);
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mode_node_assy.add_request_target(
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TestComponentId::Device1 as ComponentId,
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request_sender_to_dev1,
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);
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mode_node_assy.add_request_target(
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TestComponentId::Device2 as ComponentId,
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request_sender_to_dev2,
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);
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// Set up mode reply senders.
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mode_node_dev1.add_message_target(
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TestComponentId::Assembly as ComponentId,
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reply_sender_to_assy.clone(),
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);
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mode_node_dev1.add_message_target(
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TestComponentId::PusModeService as ComponentId,
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reply_sender_to_pus.clone(),
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);
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mode_node_dev2.add_message_target(
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TestComponentId::Assembly as ComponentId,
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reply_sender_to_assy,
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);
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mode_node_dev2.add_message_target(
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TestComponentId::PusModeService as ComponentId,
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reply_sender_to_pus.clone(),
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);
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mode_node_assy.add_reply_target(
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TestComponentId::PusModeService as ComponentId,
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reply_sender_to_pus,
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);
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let mut device1 = TestDevice {
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name: "Test Device 1".to_string(),
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mode_node: mode_node_dev1,
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mode_and_submode: ModeAndSubmode::new(0, 0),
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};
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let mut device2 = TestDevice {
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name: "Test Device 2".to_string(),
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mode_node: mode_node_dev2,
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mode_and_submode: ModeAndSubmode::new(0, 0),
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};
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let mut assy = TestAssembly {
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mode_node: mode_node_assy,
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mode_requestor_info: None,
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mode_and_submode: ModeAndSubmode::new(0, 0),
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target_mode_and_submode: None,
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};
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let pus_service = PusModeService {
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request_id_counter: Cell::new(0),
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mode_node: mode_node_pus,
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};
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pus_service.send_announce_mode_cmd_to_assy();
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assy.run();
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device1.run();
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device2.run();
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assy.run();
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}
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