Merge branch 'mode-tree-init' into action-pain

satrs/src/action.rs

@@ -41,7 +41,7 @@ impl TargetedActionRequest {
     }
 }
 
-/// A reply to an action request.
+/// A reply to an action request specific to PUS.
 #[non_exhaustive]
 #[derive(Clone, Debug)]
 pub enum ActionReply {

satrs/src/lib.rs

@@ -32,6 +32,9 @@ pub mod events;
 #[cfg_attr(doc_cfg, doc(cfg(feature = "std")))]
 pub mod executable;
 pub mod hal;
+#[cfg(feature = "std")]
+#[cfg_attr(doc_cfg, doc(cfg(feature = "std")))]
+pub mod mode_tree;
 pub mod objects;
 pub mod pool;
 pub mod power;
@@ -49,8 +52,7 @@ pub mod params;
 
 pub use spacepackets;
 
-/// Generic channel ID type.
-pub type ChannelId = u32;
+pub use queue::ChannelId;
 
 /// Generic target ID type.
 pub type TargetId = u64;

satrs/src/mode.rs

@@ -5,19 +5,22 @@ use spacepackets::ByteConversionError;
 
 use crate::TargetId;
 
+pub type Mode = u32;
+pub type Submode = u16;
+
 #[derive(Debug, Copy, Clone, PartialEq, Eq)]
 #[cfg_attr(feature = "serde", derive(Serialize, Deserialize))]
 pub struct ModeAndSubmode {
-    mode: u32,
-    submode: u16,
+    mode: Mode,
+    submode: Submode,
 }
 
 impl ModeAndSubmode {
-    pub const fn new_mode_only(mode: u32) -> Self {
+    pub const fn new_mode_only(mode: Mode) -> Self {
         Self { mode, submode: 0 }
     }
 
-    pub const fn new(mode: u32, submode: u16) -> Self {
+    pub const fn new(mode: Mode, submode: Submode) -> Self {
         Self { mode, submode }
     }
 
@@ -33,16 +36,20 @@ impl ModeAndSubmode {
             });
         }
         Ok(Self {
-            mode: u32::from_be_bytes(buf[0..4].try_into().unwrap()),
-            submode: u16::from_be_bytes(buf[4..6].try_into().unwrap()),
+            mode: Mode::from_be_bytes(buf[0..size_of::<Mode>()].try_into().unwrap()),
+            submode: Submode::from_be_bytes(
+                buf[size_of::<Mode>()..size_of::<Mode>() + size_of::<Submode>()]
+                    .try_into()
+                    .unwrap(),
+            ),
         })
     }
 
-    pub fn mode(&self) -> u32 {
+    pub fn mode(&self) -> Mode {
         self.mode
     }
 
-    pub fn submode(&self) -> u16 {
+    pub fn submode(&self) -> Submode {
         self.submode
     }
 }
@@ -87,6 +94,20 @@ pub enum ModeRequest {
     AnnounceModeRecursive,
 }
 
+#[derive(Debug, Copy, Clone, PartialEq, Eq)]
+#[cfg_attr(feature = "serde", derive(Serialize, Deserialize))]
+pub enum ModeReply {
+    /// Unrequest mode information. Can be used to notify other components of changed modes.
+    ModeInfo(ModeAndSubmode),
+    /// Reply to a mode request to confirm the commanded mode was reached.
+    ModeReply(ModeAndSubmode),
+    CantReachMode(ModeAndSubmode),
+    WrongMode {
+        expected: ModeAndSubmode,
+        reached: ModeAndSubmode,
+    },
+}
+
 #[derive(Debug, Copy, Clone, PartialEq, Eq)]
 #[cfg_attr(feature = "serde", derive(Serialize, Deserialize))]
 pub struct TargetedModeRequest {

satrs/src/mode_tree.rs

@@ -0,0 +1,367 @@
+use alloc::vec::Vec;
+use hashbrown::HashMap;
+use std::sync::mpsc;
+
+use crate::{
+    mode::{Mode, ModeAndSubmode, ModeReply, ModeRequest, Submode},
+    queue::GenericTargetedMessagingError,
+    request::{
+        MessageReceiver, MessageReceiverWithId, MessageSender, MessageSenderAndReceiver,
+        MessageSenderMap, MessageSenderMapWithId, MessageWithSenderId,
+        RequestAndReplySenderAndReceiver,
+    },
+    ChannelId,
+};
+
+#[derive(Debug, Copy, Clone, PartialEq, Eq)]
+pub enum TableEntryType {
+    /// Target table containing information of the expected children modes for  given mode.
+    Target,
+    /// Sequence table which contains information about how to reach a target table, including
+    /// the order of the sequences.
+    Sequence,
+}
+
+pub struct ModeTableEntry {
+    /// Name of respective table entry.
+    pub name: &'static str,
+    /// Target channel ID.
+    pub channel_id: ChannelId,
+    pub mode_submode: ModeAndSubmode,
+    pub allowed_submode_mask: Option<Submode>,
+    pub check_success: bool,
+}
+
+pub struct ModeTableMapValue {
+    /// Name for a given mode table entry.
+    pub name: &'static str,
+    pub entries: Vec<ModeTableEntry>,
+}
+
+pub type ModeTable = HashMap<Mode, ModeTableMapValue>;
+
+pub trait ModeRequestSender {
+    fn local_channel_id(&self) -> ChannelId;
+    fn send_mode_request(
+        &self,
+        target_id: ChannelId,
+        request: ModeRequest,
+    ) -> Result<(), GenericTargetedMessagingError>;
+}
+
+pub trait ModeReplySender {
+    fn local_channel_id(&self) -> ChannelId;
+
+    fn send_mode_reply(
+        &self,
+        target_id: ChannelId,
+        reply: ModeReply,
+    ) -> Result<(), GenericTargetedMessagingError>;
+}
+
+pub trait ModeRequestReceiver {
+    fn try_recv_mode_request(
+        &self,
+    ) -> Result<Option<MessageWithSenderId<ModeRequest>>, GenericTargetedMessagingError>;
+}
+
+pub trait ModeReplyReceiver {
+    fn try_recv_mode_reply(
+        &self,
+    ) -> Result<Option<MessageWithSenderId<ModeReply>>, GenericTargetedMessagingError>;
+}
+
+impl<S: MessageSender<ModeRequest>> MessageSenderMap<ModeRequest, S> {
+    pub fn send_mode_request(
+        &self,
+        local_id: ChannelId,
+        target_id: ChannelId,
+        request: ModeRequest,
+    ) -> Result<(), GenericTargetedMessagingError> {
+        self.send_message(local_id, target_id, request)
+    }
+
+    pub fn add_request_target(&mut self, target_id: ChannelId, request_sender: S) {
+        self.add_message_target(target_id, request_sender)
+    }
+}
+
+impl<S: MessageSender<ModeReply>> MessageSenderMap<ModeReply, S> {
+    pub fn send_mode_reply(
+        &self,
+        local_id: ChannelId,
+        target_id: ChannelId,
+        request: ModeReply,
+    ) -> Result<(), GenericTargetedMessagingError> {
+        self.send_message(local_id, target_id, request)
+    }
+
+    pub fn add_reply_target(&mut self, target_id: ChannelId, request_sender: S) {
+        self.add_message_target(target_id, request_sender)
+    }
+}
+
+impl<S: MessageSender<ModeReply>> ModeReplySender for MessageSenderMapWithId<ModeReply, S> {
+    fn send_mode_reply(
+        &self,
+        target_channel_id: ChannelId,
+        reply: ModeReply,
+    ) -> Result<(), GenericTargetedMessagingError> {
+        self.send_message(target_channel_id, reply)
+    }
+
+    fn local_channel_id(&self) -> ChannelId {
+        self.local_channel_id
+    }
+}
+
+impl<S: MessageSender<ModeRequest>> ModeRequestSender for MessageSenderMapWithId<ModeRequest, S> {
+    fn local_channel_id(&self) -> ChannelId {
+        self.local_channel_id
+    }
+
+    fn send_mode_request(
+        &self,
+        target_id: ChannelId,
+        request: ModeRequest,
+    ) -> Result<(), GenericTargetedMessagingError> {
+        self.send_message(target_id, request)
+    }
+}
+
+impl<R: MessageReceiver<ModeReply>> ModeReplyReceiver for MessageReceiverWithId<ModeReply, R> {
+    fn try_recv_mode_reply(
+        &self,
+    ) -> Result<Option<MessageWithSenderId<ModeReply>>, GenericTargetedMessagingError> {
+        self.try_recv_message()
+    }
+}
+
+impl<R: MessageReceiver<ModeRequest>> ModeRequestReceiver
+    for MessageReceiverWithId<ModeRequest, R>
+{
+    fn try_recv_mode_request(
+        &self,
+    ) -> Result<Option<MessageWithSenderId<ModeRequest>>, GenericTargetedMessagingError> {
+        self.try_recv_message()
+    }
+}
+
+impl<FROM, S: MessageSender<ModeRequest>, R: MessageReceiver<FROM>> ModeRequestSender
+    for MessageSenderAndReceiver<ModeRequest, FROM, S, R>
+{
+    fn local_channel_id(&self) -> ChannelId {
+        self.local_channel_id_generic()
+    }
+
+    fn send_mode_request(
+        &self,
+        target_id: ChannelId,
+        request: ModeRequest,
+    ) -> Result<(), GenericTargetedMessagingError> {
+        self.message_sender_map
+            .send_mode_request(self.local_channel_id(), target_id, request)
+    }
+}
+
+impl<FROM, S: MessageSender<ModeReply>, R: MessageReceiver<FROM>> ModeReplySender
+    for MessageSenderAndReceiver<ModeReply, FROM, S, R>
+{
+    fn local_channel_id(&self) -> ChannelId {
+        self.local_channel_id_generic()
+    }
+
+    fn send_mode_reply(
+        &self,
+        target_id: ChannelId,
+        request: ModeReply,
+    ) -> Result<(), GenericTargetedMessagingError> {
+        self.message_sender_map
+            .send_mode_reply(self.local_channel_id(), target_id, request)
+    }
+}
+
+impl<TO, S: MessageSender<TO>, R: MessageReceiver<ModeReply>> ModeReplyReceiver
+    for MessageSenderAndReceiver<TO, ModeReply, S, R>
+{
+    fn try_recv_mode_reply(
+        &self,
+    ) -> Result<Option<MessageWithSenderId<ModeReply>>, GenericTargetedMessagingError> {
+        self.message_receiver
+            .try_recv_message(self.local_channel_id_generic())
+    }
+}
+impl<TO, S: MessageSender<TO>, R: MessageReceiver<ModeRequest>> ModeRequestReceiver
+    for MessageSenderAndReceiver<TO, ModeRequest, S, R>
+{
+    fn try_recv_mode_request(
+        &self,
+    ) -> Result<Option<MessageWithSenderId<ModeRequest>>, GenericTargetedMessagingError> {
+        self.message_receiver
+            .try_recv_message(self.local_channel_id_generic())
+    }
+}
+
+pub type ModeRequestHandlerConnector<S, R> = MessageSenderAndReceiver<ModeReply, ModeRequest, S, R>;
+pub type MpscModeRequestHandlerConnector = ModeRequestHandlerConnector<
+    mpsc::Sender<MessageWithSenderId<ModeReply>>,
+    mpsc::Receiver<MessageWithSenderId<ModeRequest>>,
+>;
+pub type MpscBoundedModeRequestHandlerConnector = ModeRequestHandlerConnector<
+    mpsc::SyncSender<MessageWithSenderId<ModeReply>>,
+    mpsc::Receiver<MessageWithSenderId<ModeRequest>>,
+>;
+
+pub type ModeRequestorConnector<S, R> = MessageSenderAndReceiver<ModeRequest, ModeReply, S, R>;
+pub type MpscModeRequestorConnector = ModeRequestorConnector<
+    mpsc::Sender<MessageWithSenderId<ModeRequest>>,
+    mpsc::Receiver<MessageWithSenderId<ModeReply>>,
+>;
+pub type MpscBoundedModeRequestorConnector = ModeRequestorConnector<
+    mpsc::SyncSender<MessageWithSenderId<ModeRequest>>,
+    mpsc::Receiver<MessageWithSenderId<ModeReply>>,
+>;
+
+pub type ModeConnector<S0, R0, S1, R1> =
+    RequestAndReplySenderAndReceiver<ModeRequest, ModeReply, S0, R0, S1, R1>;
+pub type MpscModeConnector = ModeConnector<
+    mpsc::Sender<MessageWithSenderId<ModeRequest>>,
+    mpsc::Receiver<MessageWithSenderId<ModeReply>>,
+    mpsc::Sender<MessageWithSenderId<ModeReply>>,
+    mpsc::Receiver<MessageWithSenderId<ModeRequest>>,
+>;
+pub type MpscBoundedModeConnector = ModeConnector<
+    mpsc::SyncSender<MessageWithSenderId<ModeRequest>>,
+    mpsc::Receiver<MessageWithSenderId<ModeReply>>,
+    mpsc::SyncSender<MessageWithSenderId<ModeReply>>,
+    mpsc::Receiver<MessageWithSenderId<ModeRequest>>,
+>;
+
+impl<
+        REPLY,
+        S0: MessageSender<ModeRequest>,
+        R0: MessageReceiver<REPLY>,
+        S1: MessageSender<REPLY>,
+        R1: MessageReceiver<ModeRequest>,
+    > RequestAndReplySenderAndReceiver<ModeRequest, REPLY, S0, R0, S1, R1>
+{
+    pub fn add_request_target(&mut self, target_id: ChannelId, request_sender: S0) {
+        self.request_sender_map
+            .add_message_target(target_id, request_sender)
+    }
+}
+
+impl<
+        REQUEST,
+        S0: MessageSender<REQUEST>,
+        R0: MessageReceiver<ModeReply>,
+        S1: MessageSender<ModeReply>,
+        R1: MessageReceiver<REQUEST>,
+    > RequestAndReplySenderAndReceiver<REQUEST, ModeReply, S0, R0, S1, R1>
+{
+    pub fn add_reply_target(&mut self, target_id: ChannelId, reply_sender: S1) {
+        self.reply_sender_map
+            .add_message_target(target_id, reply_sender)
+    }
+}
+
+impl<
+        REPLY,
+        S0: MessageSender<ModeRequest>,
+        R0: MessageReceiver<REPLY>,
+        S1: MessageSender<REPLY>,
+        R1: MessageReceiver<ModeRequest>,
+    > ModeRequestSender for RequestAndReplySenderAndReceiver<ModeRequest, REPLY, S0, R0, S1, R1>
+{
+    fn local_channel_id(&self) -> ChannelId {
+        self.local_channel_id_generic()
+    }
+
+    fn send_mode_request(
+        &self,
+        target_id: ChannelId,
+        request: ModeRequest,
+    ) -> Result<(), GenericTargetedMessagingError> {
+        self.request_sender_map
+            .send_mode_request(self.local_channel_id(), target_id, request)
+    }
+}
+
+impl<
+        REQUEST,
+        S0: MessageSender<REQUEST>,
+        R0: MessageReceiver<ModeReply>,
+        S1: MessageSender<ModeReply>,
+        R1: MessageReceiver<REQUEST>,
+    > ModeReplySender for RequestAndReplySenderAndReceiver<REQUEST, ModeReply, S0, R0, S1, R1>
+{
+    fn local_channel_id(&self) -> ChannelId {
+        self.local_channel_id_generic()
+    }
+
+    fn send_mode_reply(
+        &self,
+        target_id: ChannelId,
+        request: ModeReply,
+    ) -> Result<(), GenericTargetedMessagingError> {
+        self.reply_sender_map
+            .send_mode_reply(self.local_channel_id(), target_id, request)
+    }
+}
+
+impl<
+        REQUEST,
+        S0: MessageSender<REQUEST>,
+        R0: MessageReceiver<ModeReply>,
+        S1: MessageSender<ModeReply>,
+        R1: MessageReceiver<REQUEST>,
+    > ModeReplyReceiver for RequestAndReplySenderAndReceiver<REQUEST, ModeReply, S0, R0, S1, R1>
+{
+    fn try_recv_mode_reply(
+        &self,
+    ) -> Result<Option<MessageWithSenderId<ModeReply>>, GenericTargetedMessagingError> {
+        self.reply_receiver
+            .try_recv_message(self.local_channel_id_generic())
+    }
+}
+
+impl<
+        REPLY,
+        S0: MessageSender<ModeRequest>,
+        R0: MessageReceiver<REPLY>,
+        S1: MessageSender<REPLY>,
+        R1: MessageReceiver<ModeRequest>,
+    > ModeRequestReceiver for RequestAndReplySenderAndReceiver<ModeRequest, REPLY, S0, R0, S1, R1>
+{
+    fn try_recv_mode_request(
+        &self,
+    ) -> Result<Option<MessageWithSenderId<ModeRequest>>, GenericTargetedMessagingError> {
+        self.request_receiver
+            .try_recv_message(self.local_channel_id_generic())
+    }
+}
+
+pub trait ModeProvider {
+    fn mode_and_submode(&self) -> ModeAndSubmode;
+}
+
+#[derive(Debug, Clone)]
+pub enum ModeError {
+    Messaging(GenericTargetedMessagingError),
+}
+
+impl From<GenericTargetedMessagingError> for ModeError {
+    fn from(value: GenericTargetedMessagingError) -> Self {
+        Self::Messaging(value)
+    }
+}
+
+pub trait ModeRequestHandler: ModeProvider {
+    fn start_transition(&mut self, mode_and_submode: ModeAndSubmode) -> Result<(), ModeError>;
+
+    fn announce_mode(&self, recursive: bool);
+    fn handle_mode_reached(&mut self) -> Result<(), GenericTargetedMessagingError>;
+}
+
+#[cfg(test)]
+mod tests {}

satrs/src/pus/mod.rs

@@ -566,9 +566,9 @@ pub mod std_mod {
         fn recv_tc(&self) -> Result<EcssTcAndToken, TryRecvTmtcError> {
             self.receiver.try_recv().map_err(|e| match e {
                 TryRecvError::Empty => TryRecvTmtcError::Empty,
-                TryRecvError::Disconnected => {
-                    TryRecvTmtcError::Tmtc(EcssTmtcError::from(GenericReceiveError::TxDisconnected))
-                }
+                TryRecvError::Disconnected => TryRecvTmtcError::Tmtc(EcssTmtcError::from(
+                    GenericReceiveError::TxDisconnected(Some(self.channel_id())),
+                )),
             })
         }
     }
@@ -662,7 +662,7 @@ pub mod std_mod {
                 self.receiver.try_recv().map_err(|e| match e {
                     cb::TryRecvError::Empty => TryRecvTmtcError::Empty,
                     cb::TryRecvError::Disconnected => TryRecvTmtcError::Tmtc(EcssTmtcError::from(
-                        GenericReceiveError::TxDisconnected,
+                        GenericReceiveError::TxDisconnected(Some(self.id())),
                     )),
                 })
             }

satrs/src/queue.rs

@@ -4,11 +4,15 @@ use std::error::Error;
 #[cfg(feature = "std")]
 use std::sync::mpsc;
 
+/// Generic channel ID type.
+pub type ChannelId = u32;
+
 /// Generic error type for sending something via a message queue.
 #[derive(Debug, Copy, Clone)]
 pub enum GenericSendError {
     RxDisconnected,
     QueueFull(Option<u32>),
+    TargetDoesNotExist(ChannelId),
 }
 
 impl Display for GenericSendError {
@@ -20,6 +24,9 @@ impl Display for GenericSendError {
             GenericSendError::QueueFull(max_cap) => {
                 write!(f, "queue with max capacity of {max_cap:?} is full")
             }
+            GenericSendError::TargetDoesNotExist(target) => {
+                write!(f, "target queue with ID {target} does not exist")
+            }
         }
     }
 }
@@ -31,14 +38,14 @@ impl Error for GenericSendError {}
 #[derive(Debug, Copy, Clone)]
 pub enum GenericReceiveError {
     Empty,
-    TxDisconnected,
+    TxDisconnected(Option<ChannelId>),
 }
 
 impl Display for GenericReceiveError {
     fn fmt(&self, f: &mut Formatter<'_>) -> core::fmt::Result {
         match self {
-            Self::TxDisconnected => {
-                write!(f, "tx side has disconnected")
+            Self::TxDisconnected(channel_id) => {
+                write!(f, "tx side with id {channel_id:?} has disconnected")
             }
             Self::Empty => {
                 write!(f, "nothing to receive")
@@ -50,6 +57,23 @@ impl Display for GenericReceiveError {
 #[cfg(feature = "std")]
 impl Error for GenericReceiveError {}
 
+#[derive(Debug, Clone)]
+pub enum GenericTargetedMessagingError {
+    Send(GenericSendError),
+    Receive(GenericReceiveError),
+}
+impl From<GenericSendError> for GenericTargetedMessagingError {
+    fn from(value: GenericSendError) -> Self {
+        Self::Send(value)
+    }
+}
+
+impl From<GenericReceiveError> for GenericTargetedMessagingError {
+    fn from(value: GenericReceiveError) -> Self {
+        Self::Receive(value)
+    }
+}
+
 #[cfg(feature = "std")]
 impl<T> From<mpsc::SendError<T>> for GenericSendError {
     fn from(_: mpsc::SendError<T>) -> Self {

satrs/src/request.rs

@@ -2,12 +2,16 @@ use core::fmt;
 #[cfg(feature = "std")]
 use std::error::Error;
 
+#[cfg(feature = "std")]
+#[cfg_attr(doc_cfg, doc(cfg(feature = "std")))]
+pub use std_mod::*;
+
 use spacepackets::{
     ecss::{tc::IsPusTelecommand, PusPacket},
     ByteConversionError, CcsdsPacket,
 };
 
-use crate::TargetId;
+use crate::{queue::GenericTargetedMessagingError, ChannelId, TargetId};
 
 pub type Apid = u16;
 
@@ -108,3 +112,264 @@ impl fmt::Display for TargetAndApidId {
         write!(f, "{}, {}", self.apid, self.target)
     }
 }
+
+pub struct MessageWithSenderId<MSG> {
+    pub sender_id: ChannelId,
+    pub message: MSG,
+}
+
+impl<MSG> MessageWithSenderId<MSG> {
+    pub fn new(sender_id: ChannelId, message: MSG) -> Self {
+        Self { sender_id, message }
+    }
+}
+
+/// Generic trait for objects which can send targeted messages.
+pub trait MessageSender<MSG>: Send {
+    fn send(&self, message: MessageWithSenderId<MSG>) -> Result<(), GenericTargetedMessagingError>;
+}
+
+// Generic trait for objects which can receive targeted messages.
+pub trait MessageReceiver<MSG> {
+    fn try_recv(&self) -> Result<Option<MessageWithSenderId<MSG>>, GenericTargetedMessagingError>;
+}
+
+#[cfg(feature = "std")]
+#[cfg_attr(doc_cfg, doc(cfg(feature = "std")))]
+mod std_mod {
+    use core::marker::PhantomData;
+    use std::sync::mpsc;
+
+    use hashbrown::HashMap;
+
+    use crate::{
+        queue::{GenericReceiveError, GenericSendError, GenericTargetedMessagingError},
+        ChannelId,
+    };
+
+    use super::{MessageReceiver, MessageSender, MessageWithSenderId};
+
+    impl<MSG: Send> MessageSender<MSG> for mpsc::Sender<MessageWithSenderId<MSG>> {
+        fn send(
+            &self,
+            message: MessageWithSenderId<MSG>,
+        ) -> Result<(), GenericTargetedMessagingError> {
+            self.send(message)
+                .map_err(|_| GenericSendError::RxDisconnected)?;
+            Ok(())
+        }
+    }
+    impl<MSG: Send> MessageSender<MSG> for mpsc::SyncSender<MessageWithSenderId<MSG>> {
+        fn send(
+            &self,
+            message: MessageWithSenderId<MSG>,
+        ) -> Result<(), GenericTargetedMessagingError> {
+            if let Err(e) = self.try_send(message) {
+                match e {
+                    mpsc::TrySendError::Full(_) => {
+                        return Err(GenericSendError::QueueFull(None).into());
+                    }
+                    mpsc::TrySendError::Disconnected(_) => todo!(),
+                }
+            }
+            Ok(())
+        }
+    }
+
+    pub struct MessageSenderMap<MSG, S: MessageSender<MSG>>(
+        pub HashMap<ChannelId, S>,
+        PhantomData<MSG>,
+    );
+
+    pub type MpscSenderMap<MSG> = MessageReceiverWithId<MSG, mpsc::Sender<MSG>>;
+    pub type MpscBoundedSenderMap<MSG> = MessageReceiverWithId<MSG, mpsc::SyncSender<MSG>>;
+
+    impl<MSG, S: MessageSender<MSG>> Default for MessageSenderMap<MSG, S> {
+        fn default() -> Self {
+            Self(Default::default(), PhantomData)
+        }
+    }
+
+    impl<MSG, S: MessageSender<MSG>> MessageSenderMap<MSG, S> {
+        pub fn add_message_target(&mut self, target_id: ChannelId, message_sender: S) {
+            self.0.insert(target_id, message_sender);
+        }
+
+        pub fn send_message(
+            &self,
+            local_channel_id: ChannelId,
+            target_channel_id: ChannelId,
+            message: MSG,
+        ) -> Result<(), GenericTargetedMessagingError> {
+            if self.0.contains_key(&target_channel_id) {
+                self.0
+                    .get(&target_channel_id)
+                    .unwrap()
+                    .send(MessageWithSenderId::new(local_channel_id, message))
+                    .map_err(|_| GenericSendError::RxDisconnected)?;
+                return Ok(());
+            }
+            Err(GenericSendError::TargetDoesNotExist(target_channel_id).into())
+        }
+    }
+
+    pub struct MessageSenderMapWithId<MSG, S: MessageSender<MSG>> {
+        pub local_channel_id: ChannelId,
+        pub message_sender_map: MessageSenderMap<MSG, S>,
+    }
+
+    impl<MSG, S: MessageSender<MSG>> MessageSenderMapWithId<MSG, S> {
+        pub fn new(local_channel_id: ChannelId) -> Self {
+            Self {
+                local_channel_id,
+                message_sender_map: Default::default(),
+            }
+        }
+
+        pub fn send_message(
+            &self,
+            target_channel_id: ChannelId,
+            message: MSG,
+        ) -> Result<(), GenericTargetedMessagingError> {
+            self.message_sender_map
+                .send_message(self.local_channel_id, target_channel_id, message)
+        }
+
+        pub fn add_message_target(&mut self, target_id: ChannelId, message_sender: S) {
+            self.message_sender_map
+                .add_message_target(target_id, message_sender)
+        }
+    }
+
+    impl<MSG> MessageReceiver<MSG> for mpsc::Receiver<MessageWithSenderId<MSG>> {
+        fn try_recv(
+            &self,
+        ) -> Result<Option<MessageWithSenderId<MSG>>, GenericTargetedMessagingError> {
+            match self.try_recv() {
+                Ok(msg) => Ok(Some(msg)),
+                Err(e) => match e {
+                    mpsc::TryRecvError::Empty => Ok(None),
+                    mpsc::TryRecvError::Disconnected => {
+                        Err(GenericReceiveError::TxDisconnected(None).into())
+                    }
+                },
+            }
+        }
+    }
+
+    pub struct MessageWithSenderIdReceiver<MSG, R: MessageReceiver<MSG>>(pub R, PhantomData<MSG>);
+
+    impl<MSG, R: MessageReceiver<MSG>> From<R> for MessageWithSenderIdReceiver<MSG, R> {
+        fn from(receiver: R) -> Self {
+            MessageWithSenderIdReceiver(receiver, PhantomData)
+        }
+    }
+
+    impl<MSG, R: MessageReceiver<MSG>> MessageWithSenderIdReceiver<MSG, R> {
+        pub fn try_recv_message(
+            &self,
+            _local_id: ChannelId,
+        ) -> Result<Option<MessageWithSenderId<MSG>>, GenericTargetedMessagingError> {
+            self.0.try_recv()
+        }
+    }
+
+    pub struct MessageReceiverWithId<MSG, R: MessageReceiver<MSG>> {
+        local_channel_id: ChannelId,
+        reply_receiver: MessageWithSenderIdReceiver<MSG, R>,
+    }
+
+    pub type MpscMessageReceiverWithId<MSG> = MessageReceiverWithId<MSG, mpsc::Receiver<MSG>>;
+
+    impl<MSG, R: MessageReceiver<MSG>> MessageReceiverWithId<MSG, R> {
+        pub fn new(
+            local_channel_id: ChannelId,
+            reply_receiver: MessageWithSenderIdReceiver<MSG, R>,
+        ) -> Self {
+            Self {
+                local_channel_id,
+                reply_receiver,
+            }
+        }
+
+        pub fn local_channel_id(&self) -> ChannelId {
+            self.local_channel_id
+        }
+    }
+
+    impl<MSG, R: MessageReceiver<MSG>> MessageReceiverWithId<MSG, R> {
+        pub fn try_recv_message(
+            &self,
+        ) -> Result<Option<MessageWithSenderId<MSG>>, GenericTargetedMessagingError> {
+            self.reply_receiver.0.try_recv()
+        }
+    }
+
+    pub struct MessageSenderAndReceiver<TO, FROM, S: MessageSender<TO>, R: MessageReceiver<FROM>> {
+        pub local_channel_id: ChannelId,
+        pub message_sender_map: MessageSenderMap<TO, S>,
+        pub message_receiver: MessageWithSenderIdReceiver<FROM, R>,
+    }
+
+    impl<TO, FROM, S: MessageSender<TO>, R: MessageReceiver<FROM>>
+        MessageSenderAndReceiver<TO, FROM, S, R>
+    {
+        pub fn new(local_channel_id: ChannelId, message_receiver: R) -> Self {
+            Self {
+                local_channel_id,
+                message_sender_map: Default::default(),
+                message_receiver: MessageWithSenderIdReceiver::from(message_receiver),
+            }
+        }
+
+        pub fn add_message_target(&mut self, target_id: ChannelId, message_sender: S) {
+            self.message_sender_map
+                .add_message_target(target_id, message_sender)
+        }
+
+        pub fn local_channel_id_generic(&self) -> ChannelId {
+            self.local_channel_id
+        }
+    }
+
+    pub struct RequestAndReplySenderAndReceiver<
+        REQUEST,
+        REPLY,
+        S0: MessageSender<REQUEST>,
+        R0: MessageReceiver<REPLY>,
+        S1: MessageSender<REPLY>,
+        R1: MessageReceiver<REQUEST>,
+    > {
+        pub local_channel_id: ChannelId,
+        // These 2 are a functional group.
+        pub request_sender_map: MessageSenderMap<REQUEST, S0>,
+        pub reply_receiver: MessageWithSenderIdReceiver<REPLY, R0>,
+        // These 2 are a functional group.
+        pub request_receiver: MessageWithSenderIdReceiver<REQUEST, R1>,
+        pub reply_sender_map: MessageSenderMap<REPLY, S1>,
+    }
+
+    impl<
+            REQUEST,
+            REPLY,
+            S0: MessageSender<REQUEST>,
+            R0: MessageReceiver<REPLY>,
+            S1: MessageSender<REPLY>,
+            R1: MessageReceiver<REQUEST>,
+        > RequestAndReplySenderAndReceiver<REQUEST, REPLY, S0, R0, S1, R1>
+    {
+        pub fn new(local_channel_id: ChannelId, request_receiver: R1, reply_receiver: R0) -> Self {
+            Self {
+                local_channel_id,
+                request_receiver: request_receiver.into(),
+                reply_receiver: reply_receiver.into(),
+                request_sender_map: Default::default(),
+                reply_sender_map: Default::default(),
+            }
+        }
+
+        pub fn local_channel_id_generic(&self) -> ChannelId {
+            self.local_channel_id
+        }
+    }
+}

satrs/tests/mode_tree.rs

@@ -0,0 +1,287 @@
+use std::{println, sync::mpsc};
+
+use satrs::mode_tree::ModeRequestSender;
+use satrs::{
+    mode::{ModeAndSubmode, ModeReply, ModeRequest},
+    mode_tree::{
+        ModeError, ModeProvider, ModeReplyReceiver, ModeReplySender, ModeRequestHandler,
+        ModeRequestReceiver, MpscBoundedModeConnector, MpscBoundedModeRequestHandlerConnector,
+        MpscBoundedModeRequestorConnector,
+    },
+    queue::GenericTargetedMessagingError,
+    request::MessageWithSenderId,
+    ChannelId,
+};
+use std::string::{String, ToString};
+
+pub enum TestChannelId {
+    Device1 = 1,
+    Device2 = 2,
+    Assembly = 3,
+    PusModeService = 4,
+}
+
+struct PusModeService {
+    pub mode_node: MpscBoundedModeRequestorConnector,
+}
+
+impl PusModeService {
+    pub fn send_announce_mode_cmd_to_assy(&self) {
+        self.mode_node
+            .send_mode_request(
+                TestChannelId::Assembly as u32,
+                ModeRequest::AnnounceModeRecursive,
+            )
+            .unwrap();
+    }
+}
+
+struct TestDevice {
+    pub name: String,
+    pub mode_node: MpscBoundedModeRequestHandlerConnector,
+    pub mode_and_submode: ModeAndSubmode,
+    pub mode_req_commander: Option<ChannelId>,
+}
+
+impl TestDevice {
+    pub fn run(&mut self) {
+        self.check_mode_requests().expect("mode messaging error");
+    }
+
+    pub fn check_mode_requests(&mut self) -> Result<(), GenericTargetedMessagingError> {
+        if let Some(request_and_id) = self.mode_node.try_recv_mode_request()? {
+            match request_and_id.message {
+                ModeRequest::SetMode(mode_and_submode) => {
+                    self.start_transition(mode_and_submode).unwrap();
+                    self.mode_req_commander = Some(request_and_id.sender_id);
+                }
+                ModeRequest::ReadMode => self
+                    .mode_node
+                    .send_mode_reply(
+                        request_and_id.sender_id,
+                        ModeReply::ModeReply(self.mode_and_submode),
+                    )
+                    .unwrap(),
+                ModeRequest::AnnounceMode => self.announce_mode(false),
+                ModeRequest::AnnounceModeRecursive => self.announce_mode(true),
+            }
+        }
+        Ok(())
+    }
+}
+
+impl ModeProvider for TestDevice {
+    fn mode_and_submode(&self) -> ModeAndSubmode {
+        self.mode_and_submode
+    }
+}
+impl ModeRequestHandler for TestDevice {
+    fn start_transition(&mut self, mode_and_submode: ModeAndSubmode) -> Result<(), ModeError> {
+        self.mode_and_submode = mode_and_submode;
+        self.handle_mode_reached()?;
+        Ok(())
+    }
+
+    fn announce_mode(&self, _recursive: bool) {
+        println!(
+            "{}: announcing mode: {:?}",
+            self.name, self.mode_and_submode
+        );
+    }
+
+    fn handle_mode_reached(&mut self) -> Result<(), GenericTargetedMessagingError> {
+        self.mode_node.send_mode_reply(
+            self.mode_req_commander.unwrap(),
+            ModeReply::ModeReply(self.mode_and_submode),
+        )?;
+        Ok(())
+    }
+}
+
+struct TestAssembly {
+    pub mode_node: MpscBoundedModeConnector,
+    pub mode_req_commander: Option<ChannelId>,
+    pub mode_and_submode: ModeAndSubmode,
+    pub target_mode_and_submode: Option<ModeAndSubmode>,
+}
+
+impl ModeProvider for TestAssembly {
+    fn mode_and_submode(&self) -> ModeAndSubmode {
+        self.mode_and_submode
+    }
+}
+
+impl TestAssembly {
+    pub fn run(&mut self) {
+        self.check_mode_requests().expect("mode messaging error");
+        self.check_mode_replies().expect("mode messaging error");
+    }
+
+    pub fn check_mode_requests(&mut self) -> Result<(), GenericTargetedMessagingError> {
+        if let Some(request_and_id) = self.mode_node.try_recv_mode_request()? {
+            match request_and_id.message {
+                ModeRequest::SetMode(mode_and_submode) => {
+                    self.start_transition(mode_and_submode).unwrap();
+                    self.mode_req_commander = Some(request_and_id.sender_id);
+                }
+                ModeRequest::ReadMode => self
+                    .mode_node
+                    .send_mode_reply(
+                        request_and_id.sender_id,
+                        ModeReply::ModeReply(self.mode_and_submode),
+                    )
+                    .unwrap(),
+                ModeRequest::AnnounceMode => self.announce_mode(false),
+                ModeRequest::AnnounceModeRecursive => self.announce_mode(true),
+            }
+        }
+        Ok(())
+    }
+
+    pub fn check_mode_replies(&mut self) -> Result<(), GenericTargetedMessagingError> {
+        if let Some(reply_and_id) = self.mode_node.try_recv_mode_reply()? {
+            match reply_and_id.message {
+                ModeReply::ModeInfo(_) => todo!(),
+                ModeReply::ModeReply(reply) => {
+                    println!(
+                        "TestAssembly: Received mode reply from {:?}, reached: {:?}",
+                        reply_and_id.sender_id, reply
+                    );
+                }
+                ModeReply::CantReachMode(_) => todo!(),
+                ModeReply::WrongMode { expected, reached } => {
+                    println!(
+                        "TestAssembly: Wrong mode reply from {:?}, reached {:?}, expected {:?}",
+                        reply_and_id.sender_id, reached, expected
+                    );
+                }
+            }
+        }
+        Ok(())
+    }
+}
+
+impl ModeRequestHandler for TestAssembly {
+    fn start_transition(&mut self, mode_and_submode: ModeAndSubmode) -> Result<(), ModeError> {
+        self.target_mode_and_submode = Some(mode_and_submode);
+        Ok(())
+    }
+
+    fn announce_mode(&self, recursive: bool) {
+        println!(
+            "TestAssembly: Announcing mode (recursively: {}): {:?}",
+            recursive, self.mode_and_submode
+        );
+        let mut mode_request = ModeRequest::AnnounceMode;
+        if recursive {
+            mode_request = ModeRequest::AnnounceModeRecursive;
+        }
+        self.mode_node
+            .request_sender_map
+            .0
+            .iter()
+            .for_each(|(_, sender)| {
+                sender
+                    .send(MessageWithSenderId::new(
+                        self.mode_node.local_channel_id_generic(),
+                        mode_request,
+                    ))
+                    .expect("sending mode request failed");
+            });
+    }
+
+    fn handle_mode_reached(&mut self) -> Result<(), GenericTargetedMessagingError> {
+        self.mode_node.send_mode_reply(
+            self.mode_req_commander.unwrap(),
+            ModeReply::ModeReply(self.mode_and_submode),
+        )?;
+        Ok(())
+    }
+}
+
+fn main() {
+    // All request channel handles.
+    let (request_sender_to_dev1, request_receiver_dev1) = mpsc::sync_channel(10);
+    let (request_sender_to_dev2, request_receiver_dev2) = mpsc::sync_channel(10);
+    let (request_sender_to_assy, request_receiver_assy) = mpsc::sync_channel(10);
+
+    // All reply channel handles.
+    let (reply_sender_to_assy, reply_receiver_assy) = mpsc::sync_channel(10);
+    let (reply_sender_to_pus, reply_receiver_pus) = mpsc::sync_channel(10);
+
+    // Mode requestors and handlers.
+    let mut mode_node_assy = MpscBoundedModeConnector::new(
+        TestChannelId::Assembly as u32,
+        request_receiver_assy,
+        reply_receiver_assy,
+    );
+    // Mode requestors only.
+    let mut mode_node_pus = MpscBoundedModeRequestorConnector::new(
+        TestChannelId::PusModeService as u32,
+        reply_receiver_pus,
+    );
+
+    // Request handlers only.
+    let mut mode_node_dev1 = MpscBoundedModeRequestHandlerConnector::new(
+        TestChannelId::Device1 as u32,
+        request_receiver_dev1,
+    );
+    let mut mode_node_dev2 = MpscBoundedModeRequestHandlerConnector::new(
+        TestChannelId::Device2 as u32,
+        request_receiver_dev2,
+    );
+
+    // Set up mode request senders first.
+    mode_node_pus.add_message_target(TestChannelId::Assembly as u32, request_sender_to_assy);
+    mode_node_pus.add_message_target(
+        TestChannelId::Device1 as u32,
+        request_sender_to_dev1.clone(),
+    );
+    mode_node_pus.add_message_target(
+        TestChannelId::Device2 as u32,
+        request_sender_to_dev2.clone(),
+    );
+    mode_node_assy.add_request_target(TestChannelId::Device1 as u32, request_sender_to_dev1);
+    mode_node_assy.add_request_target(TestChannelId::Device2 as u32, request_sender_to_dev2);
+
+    // Set up mode reply senders.
+    mode_node_dev1.add_message_target(TestChannelId::Assembly as u32, reply_sender_to_assy.clone());
+    mode_node_dev1.add_message_target(
+        TestChannelId::PusModeService as u32,
+        reply_sender_to_pus.clone(),
+    );
+    mode_node_dev2.add_message_target(TestChannelId::Assembly as u32, reply_sender_to_assy);
+    mode_node_dev2.add_message_target(
+        TestChannelId::PusModeService as u32,
+        reply_sender_to_pus.clone(),
+    );
+    mode_node_assy.add_reply_target(TestChannelId::PusModeService as u32, reply_sender_to_pus);
+
+    let mut device1 = TestDevice {
+        name: "Test Device 1".to_string(),
+        mode_node: mode_node_dev1,
+        mode_req_commander: None,
+        mode_and_submode: ModeAndSubmode::new(0, 0),
+    };
+    let mut device2 = TestDevice {
+        name: "Test Device 2".to_string(),
+        mode_node: mode_node_dev2,
+        mode_req_commander: None,
+        mode_and_submode: ModeAndSubmode::new(0, 0),
+    };
+    let mut assy = TestAssembly {
+        mode_node: mode_node_assy,
+        mode_req_commander: None,
+        mode_and_submode: ModeAndSubmode::new(0, 0),
+        target_mode_and_submode: None,
+    };
+    let pus_service = PusModeService {
+        mode_node: mode_node_pus,
+    };
+
+    pus_service.send_announce_mode_cmd_to_assy();
+    assy.run();
+    device1.run();
+    device2.run();
+    assy.run();
+}